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9.1.4

Integrating an inclination sensor into a CANopen network

An ESD file makes it easy to link the inclination sensors to a CANopen master.

This file contains information on the following features of the inclination sensors:

•

Information about the device manufacturer

•

Name, type and version number of the device

•

Type and version number of the protocol to be used for this device

•

Inclination sensor default parameters

•

Process data default configuration

Figure 15: ESD file integration

9.2

Node IDs and COB IDs

There can be a maximum of 128 devices on a CANopen network: one master and up to
127 slaves. Every device has a unique node ID (node address).

The COB IDs (communication object identifiers) of the communication channels are
derived from this ID.

Table 8: Overview of node IDs and COB IDs

Calculation of COB ID
[dec]
[hex]

ID ranges
[dec]
[hex]

Function

Direction from the
point of view of the
sensor

Network management Receive

128
0080h

SYNC

Receive

128 + node ID
0080h + node ID

129 … 255
0081h … 00FFh

Emergency message

Transmit

384 + node ID
0180h + node ID

385 … 511
0181h … 01FFh

Transmit PDO 1

Transmit

640 + node ID
0280 + node ID

641 to 767
0280h to 02FFh

Transmit PDO 2 (TMS/
TMM88D only)

Send

1408 + node ID
0580h + node ID

1409 … 1535
0581h … 05FFh

Transmit SDO

Transmit

1536 + node ID
0600h + node ID

1537 … 1663
0601h … 067Fh

Receive SDO

Receive

CANOPEN INTERFACE

OPERATING INSTRUCTIONS

| TMS/TMM88, TMS/TMM61

8019054/14IT/2019-06-27

| SICK

Subject to change without notice

Содержание TMM61 Series

Страница 1: ...TMS TMM88 TMS TMM61 Inclination sensors with CANopen interface OPERATING INSTRUCTIONS...

Страница 2: ...ment or parts of this document is only permissible within the limits of the legal determination of Copyright Law Any modifica tion abridgment or translation of this document is prohibited without the...

Страница 3: ...rage 14 5 1 Transport 14 5 2 Transport inspection 14 5 3 Storage 14 6 Mounting 15 7 Connection 16 8 Description of operation 17 8 1 Function overview 17 9 CANopen interface 18 9 1 Communication profil...

Страница 4: ...nal words that indicate the extent of the danger These warnings must be observed at all times and care must be taken to avoid accidents personal injury and material damage DANGER indicates a situation...

Страница 5: ...mation Inclination sensors should be used only according to intended use specifications All information in these operating instructions must be strictly complied with 2 3 Requirements for the qualific...

Страница 6: ...stant impact resistant plastic housing or compact and rugged aluminum housing Suitable for industrial use Temperature range 40 C to 80 C Enclosure rating IP65 67 TMS TMM88D IP67 69 TMS 1 dimensional i...

Страница 7: ...r no digital filter 0 1 25 Hz 8th order with digi tal filter Operating tempera ture 40 C to 80 C Properties Data rates 10 k 20 k 50 k 62 5 k 100 k 125 k 250 k 500 k 800 kbit s 1 Mbit s Automatic detec...

Страница 8: ...plastic housing Figure 2 TMS88A measuring axes large plastic housing 4 2 Technical data for TMS88B TMM88B Table 3 Technical data for TMS88B TMM88B General parame ters1 TMS88B TMM88B Number of measur i...

Страница 9: ...nical parameters CAN connection 1 x 5 pin M12 sensor plug connector male connector Enclosure rating IP65 67 Dimensions Weight Aluminum housing 58 mm x 90 mm x 31 mm approx 200 g CANopen conformity CiA...

Страница 10: ...al Angular random walk ARW 0 2 h Temperature coefficient zero point 0 2 mg K typical 0 005 s K typical General parameters Sampling rate 200 Hz Operating temperature 40 C to 80 C Properties Data transm...

Страница 11: ...e detection 1 All specified angular accuracies apply after a run in time of 10 min at 25 C absolute calibration accu racy at 25 C 0 05 2 All specified accuracies apply after a run in time of 10 min at...

Страница 12: ...directory Electrical parameters Supply voltage 8 to 36 V DC Current consump tion 16 mA 24 V Mechanical parameters CAN connection Cable 5 wire 0 2 m with 5 pin M12 male connector Enclosure rating IP65...

Страница 13: ...Figure 8 TMS61B measuring axis small plastic housing TECHNICAL DATA 4 OPERATING INSTRUCTIONS TMS TMM88 TMS TMM61 13 8019054 14IT 2019 06 27 SICK Subject to change without notice...

Страница 14: ...mage that is visible externally proceed as follows Do not accept the delivery or only do so conditionally Note the scope of damage on the transport documents or on the transport com pany s delivery no...

Страница 15: ...g 90 3 54 75 2 95 45 1 77 R 2 9 66 2 60 Figure 10 Fixing holes large plastic housing 68 2 68 47 7 1 88 57 7 2 27 5 0 20 19 7 0 78 33 9 1 33 36 3 1 43 Figure 11 Fixing holes small plastic housing NOTIC...

Страница 16: ...ponds to CiA DR 303 1 1 2 3 4 5 Table 6 CANopen M12 male connector pin assignment Pin Signal Pin assignment 1 CAN_SHLD Screen 2 CAN_V Supply voltage 24 V 3 CAN_GND GND 0 V V 4 CAN_H CAN_H bus cable 5...

Страница 17: ...EMCY with support Of the general error register Of the manufacturer specific status register Of the pre defined error field Monitoring mechanisms heartbeat as well as node guarding lifeguarding Save...

Страница 18: ...ometer e g DS 402 CAN Application Layer CAL defined by DS 301 Figure 12 CANopen in the OSI layers model NOTE Layers 3 to 6 are not used in the CANopen definition 9 1 2 Communication channels CANopen f...

Страница 19: ...28 In Oper ational status communication is also possible via process data objects PDO and emergency messages EMGY 9 1 3 Topology T connectors or Y cables are used to integrate the inclination sensors...

Страница 20: ...de ID node address The COB IDs communication object identifiers of the communication channels are derived from this ID Table 8 Overview of node IDs and COB IDs Calculation of COB ID dec hex ID ranges...

Страница 21: ...address comprises Manufacturer ID Product code Revision number Serial number The master uses the LSS services to request the individual services that are then exe cuted by the inclination sensor The...

Страница 22: ...code Error extend 00h 00h 00h 00h 00h Byte 1 error code 00h Configuration successful 01h Parameter invalid FFh Contains a specific error code Byte 2 error extend The error extension is manufacturer s...

Страница 23: ...ed in the non volatile memory EEPROM Object 1010h Save Parameters must be used in order to do this Table 16 Format of the Store Configuration command COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 B...

Страница 24: ...read out the remaining bytes are set to 0 Identify Non Configured Slave Device The command is used to identify non configured devices Table 21 Format of the Identify Non Configured Slave Device comman...

Страница 25: ...ervices are used to switch between the individual statuses of the CANopen state machine The NMT telegrams for device monitoring use the COB ID 0 and thus have the highest priority Table 24 Format of t...

Страница 26: ...tus 5 and 6 The Stop Remote Node command switches the inclination sensor to Stopped status 9 10 and 11 The Reset Node command switches the inclination sensor to Initialization status 12 13 and 14 The...

Страница 27: ...t The bit changes its value every time it is polled Bits 6 0 Operating status of the inclination sensor 127 Pre Operational 5 Operational 4 Stopped 0 Boot Up Example for an inclination sensor in Opera...

Страница 28: ...d a Receive SDO channel to which two CAN identifiers are assigned SDO communication corresponds to the client server model The inclination sensor functions as an SDO server In its request the SDO clie...

Страница 29: ...5h Transmit SDO 0580h inclina tion sensor ID with feedback CCD 43h 9 6 Process data objects PDO Process data objects PDO are used for rapid and efficient data exchange of real time data e g I O data s...

Страница 30: ...t to contain the following objects depending on sensor type 6010 00h inclination value axial TMS or longitudinal TMM 6020 00h inclination value lateral TMM only The content of the objects is transmitt...

Страница 31: ...s subindex 02 Synchronized data transmission In synchronized data transmission the process data is transmitted with the SYNC mes sages The cycle is formed from a multiple of the SYNC messages The fact...

Страница 32: ...0 1002h 0 Manufacturer status register UNS32 ro 0 1003h Predefined error field 0 Number of error entries UNS32 rw 0 1 5 Error code oldest error assigned to highest index UNS32 ro 0 1005h 0 COB ID sync...

Страница 33: ...onous asynchronous manufacturer specific UNS8 rw 1 x 3 Inhibit time between two Transmit PDO mes sages multiple of 100 s UNS16 rw 0 x 4 Compatibility entry UNS8 rw 0 x 5 Event Timer multiple of 1 ms 0...

Страница 34: ...nsmitted in every EMCY message The following error groups may be encountered Table 37 Error register 1001h Error register 1001h Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Manufac turer spe cific error Ac...

Страница 35: ...buffer overflow 0x8120 CAN warning limit exceeded 0x8130 Node guard event 0x8140 Exit busoff status Bit field Communication error Bit field Device error To delete the entire content of the error list...

Страница 36: ...it PDO 1 send when angle changes types TMS88 TMS61 0 Highest subindex supported UNS16 ro 2 1 Activate deactivate send when angle changes 1 0 UNS16 rw 0 x 2 Minimum change in angle for axial axis in 10...

Страница 37: ...rate x axis in 7 800 s INT16 ro 2 Yaw rate y axis in 7 800 s INT16 ro 3 Yaw rate z axis in 7 800 s INT16 ro 5555h Reserved index for manufacturer access only 9 7 2 1 Automatic busoff recovery 2002h Th...

Страница 38: ...mbined with good damping The digital filter is selected via entry 3000 01h The limit frequency is set via object 3000 02h Values from 100 0 1 Hz to 25 000 8 000 25 Hz 8 Hz are permitted 0 1 2 3 4 5 6...

Страница 39: ...ted 0 via entry 3001 01h For activation the transmission type for Transmit PDO 1 must be set to asynchronous manufacturer specific 1800 02h 254 Subindices 02h and 03h can be used to set the minimum ne...

Страница 40: ...0 Difference offset value for lateral Y axis INT16 rw 0 x 9 7 3 1 Resolution 6000h The resolution of all inclination sensors is set to a fixed value of 0 01 default 10 0 001 All angle values in the ob...

Страница 41: ...h or 6022h Calculated offset value default value with tacc inclination value physically measured with tacc difference offset value tacc time of write access to default value 6012h 6022h Difference off...

Страница 42: ...ames 0x02 CAN busoff status reached An emergency message is sent after automatically exiting busoff status 0x04 Receive queue overrun receive buffer overrun CAN messages lost 0x08 Send queue overrun s...

Страница 43: ...The device is in Reset status or the power supply is absent Flicker ing Automatic baud rate detection in progress active Flashing The device is in Pre Operational status Simple flash The device is in...

Страница 44: ...Phone 52 472 748 9451 E Mail mario garcia sick com Netherlands Phone 31 0 30 229 25 44 E Mail info sick nl New Zealand Phone 64 9 415 0459 0800 222 278 tollfree E Mail sales sick co nz Norway Phone 4...

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