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IK360 -CAN

 

       

x

   Date: 23.01.2017                  Page 2 of 41                    Art.no. 86089                  Mod. Status 10/17 

 

Table of content 

 

1

 

GENERAL SAFETY ADVICE

 .................................................................................................................... 4

 

2

 

INTRODUCTION

 .......................................................................................................................................... 5

 

2.1

 

IK360

 ....................................................................................................................................................... 5

 

2.2

 

CAN

OPEN INTERFACE

 ............................................................................................................................. 5

 

2.3

 

IK360

 

CAN

OPEN

 ..................................................................................................................................... 5

 

3

 

IK360 

– MODES AND PARAMETERS

 .................................................................................................... 6

 

3.1

 

O

PERATING MODES

 .................................................................................................................................. 7

 

3.1.1

 

Mode: Preoperational

 ................................................................................................................... 7

 

3.1.2

 

Mode: Start Operational

 .............................................................................................................. 7

 

3.1.3

 

Mode: Stop Operation

 .................................................................................................................. 8

 

3.1.4

 

Reset of the inclinometer

 ............................................................................................................. 8

 

3.1.5

 

Reset communication of the inclinometer

 ................................................................................. 8

 

3.2

 

T

RANSMISSION MODES

 ............................................................................................................................ 8

 

3.3

 

B

OOT

-

UP PROCEDURE

 ............................................................................................................................. 9

 

4

 

INSTALLATION

 ......................................................................................................................................... 10

 

4.1

 

P

IN ASSIGNMENT

 .................................................................................................................................... 10

 

4.2

 

I

NSTALLATION PRECAUTIONS

 ................................................................................................................. 10

 

4.3

 

M

OUNTING INSTRUCTIONS

 ..................................................................................................................... 10

 

4.4

 

B

US TERMINATION

 .................................................................................................................................. 11

 

4.5

 

M

EASUREMENT AXIS

 .............................................................................................................................. 11

 

5

 

IK360 SOFTWARE CONFIGURATION

 ................................................................................................. 12

 

5.1

 

I

MPORTANT FACTORY SETTINGS

 ............................................................................................................ 12

 

5.2

 

A

CTIVE PROGRAMMING OBJECTS

 .......................................................................................................... 13

 

5.3

 

P

ROGRAMMABLE PARAMETERS

 ............................................................................................................. 13

 

5.4

 

PDO

 

T

RANSMISSION

 ............................................................................................................................. 14

 

5.5

 

E

XPLICIT 

E

XCHANGES 

(SDO)

 ............................................................................................................... 17

 

6

 

WORKING WITH SCHNEIDER PLC

 ...................................................................................................... 18

 

6.1

 

I

NTRODUCTION

 ....................................................................................................................................... 18

 

6.2

 

N

ETWORK INITIALIZATION

 ....................................................................................................................... 18

 

6.2.1

 

Hardware

 ..................................................................................................................................... 18

 

6.2.2

 

Software project information

 ..................................................................................................... 19

 

6.3

 

C

ONFIGURATION

 .................................................................................................................................... 21

 

6.4

 

D

EBUGGING

............................................................................................................................................ 23

 

6.5

 

R

UN

 ........................................................................................................................................................ 24

 

7

 

TROUBLESHOOTING

 .............................................................................................................................. 27

 

8

 

IK360 CANOPEN OBJECTS

 ................................................................................................................... 28

 

8.1

 

O

BJECT 

1000

H

:

 

D

EVICE 

T

YPE

 .............................................................................................................. 28

 

8.2

 

O

BJECT 

1001

H

:

 

E

RROR 

R

EGISTER

 ....................................................................................................... 29

 

8.3

 

O

BJECT 

1003

H

:

 

P

RE

-D

EFINED 

E

RROR 

F

IELD

 ...................................................................................... 29

 

8.4

 

O

BJECT 

1005

H

:

 

COB-ID

 

S

YNC

 ............................................................................................................ 29

 

8.5

 

O

BJECT 

1008

H

:

 

M

FR 

D

EVICE 

N

AME

 ..................................................................................................... 29

 

8.6

 

O

BJECT 

1009

H

:

 

M

FR 

H

ARDWARE 

V

ERSION

 ......................................................................................... 30

 

8.7

 

O

BJECT 

100A

H

:

 

M

FR 

S

OFTWARE 

V

ERSION

 ......................................................................................... 30

 

8.8

 

O

BJECT 

100C

H

:

 

G

UARD 

T

IME

 ............................................................................................................... 30

 

8.9

 

O

BJECT 

100D

H

:

 

L

IFE 

T

IME 

F

ACTOR

 ..................................................................................................... 30

 

8.10

 

O

BJECT 

1010

H

:

 

S

TORE 

P

ARAMETERS

 .................................................................................................. 30

 

8.11

 

O

BJECT 

1011

H

:

 

R

ESTORE 

P

ARAMETERS

 ............................................................................................. 31

 

8.12

 

O

BJECT 

1014

H

:

 

COB-ID

 

E

MERGENCY

 ................................................................................................. 31

 

Содержание IK360

Страница 1: ...User manual Inclinometer with CANopen Interface IK360...

Страница 2: ...12 5 1 IMPORTANT FACTORY SETTINGS 12 5 2 ACTIVE PROGRAMMING OBJECTS 13 5 3 PROGRAMMABLE PARAMETERS 13 5 4 PDO TRANSMISSION 14 5 5 EXPLICIT EXCHANGES SDO 17 6 WORKING WITH SCHNEIDER PLC 18 6 1 INTRODU...

Страница 3: ...T 3002H TERMINATION RESISTOR 35 8 23 OBJECT 3022H DIGITAL RECURSIVE FILTER 35 8 24 OBJECT 3100H MOVING AVERAGE FILTER 35 8 25 OBJECT 6000H RESOLUTION 35 8 26 OBJECT 6010H SLOPE LONG16 36 8 27 OBJECT 6...

Страница 4: ...abel indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used for alerting in case of potential p...

Страница 5: ...nd is nowadays used in many industrial applications The application protocol CANopen was introduced by the multi vendor association CAN in Automation CiA to ensure a full compatibility of industrial a...

Страница 6: ...ftware filters Other functions such as offset values baud rate and node number can also be configured using CANopen objects in the IK360 inclinometers with ease and according to the network Various so...

Страница 7: ...on receiving the corresponding indication Stopped on receiving the Stop Remote Node NMT indication Operational on receiving the Start Remote Node NMT indication To set one or all nodes to pre operati...

Страница 8: ...00h NMT Reset Node 0h 81h NN in hex NMT Reset Node NN node number After reinitialization the inclinometer accesses the bus in pre operational mode 3 1 5 Reset communication of the inclinometer If the...

Страница 9: ...ld not answer after each SYNC telegram on the CAN network the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again 3 3 Boot up procedure The gener...

Страница 10: ...ion The mounting surface must be plane and free of dust and grease It is absolutely necessary that the IK360 inclinometer is connected to potential equalization in a workmanlike manner For mounting we...

Страница 11: ...ck into the CAN bus The bus wires can be routed in parallel twisted or shielded form in accordance with the electromagnetic compatibility requirements A single line structure minimizes reflection The...

Страница 12: ...ethodology is described for putting the IK360 into operation and in the second part the PDO SDO programming of IK360 5 1 Important factory settings Description Object Value Device Type 1000h 0 x 3019A...

Страница 13: ...t 43h 4Bh 4Fh SDO Download Reply Parameter to Master 80h Warning Reply Transmission error Table 1 Command description The value of the command byte depends on the data length of the called parameter s...

Страница 14: ...The baud rate can be programmed via SDO Filter Objects 3100h 3022h Filter can be used to adjust the frequency of measurements and calculation of position values Object 3100h corresponds to moving aver...

Страница 15: ...ication parameter of the 2nd transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 00h Number of sub indices Unsigned 8 5 ro yes 01h COB ID Unsigned 32 280h Node ID rw...

Страница 16: ...of the object 1800 or 1801 The data transfer also takes place with no change to data The range is between 1 65536 ms Cyclic Timer The cyclic timer is useful to set the position transmission to cyclic...

Страница 17: ...has been updated the client returns a confirmation message For an unprocessed SDO In both cases if a SDO could not be processed the device master returns an error code A typical illustration of SDO fo...

Страница 18: ...connected to a TWIDO programmable logic controller with a CANopen communication interface The step by step connection procedure and the working of inclinometer in a CAN bus is illustrated in the follo...

Страница 19: ...tatus 10 17 Hardware setup and wiring 6 2 2 Software project information Once the hardware setup is done the IK360 should be configured in such a way that it is compatible to the already existing setu...

Страница 20: ...ustration below describes the connection of the elements in the CAN bus At first the CANopen communication interface is connected to the main controller Then the inclinometer is connected to the CANop...

Страница 21: ...e bus and click on Configuration A list of all the mapped PDOs appear Then according to the need the objects are mapped on to the Transmit PDOs of the IK360 IK360 CANopen node configuration Click at t...

Страница 22: ...60 Transmit PDOs Select the CANopen link of the controller Click on the configuration option The PDOs of the slave are mapped on the CANopen master so that the information contained in the objects at...

Страница 23: ...DOs It involves the following steps The serial communication port is selected and PC controller transfer is initiated Once the transfer is initiated the configured parameters and the programming done...

Страница 24: ...annot be changed But we can program the SDOs as need arises 6 5 Run Once debugged the controller goes into online mode After we can program the SDOs if needed and then run the controller Upon start up...

Страница 25: ...IK360 CAN x Date 23 01 2017 Page 25 of 41 Art no 86089 Mod Status 10 17 Resetting CANopen communication Resetting CANopen nodes Switch to operational mode Position readout position value...

Страница 26: ...10 17 Readout using animation table Illustration of measurement over full range At initial position approximately 0 IK360 position value 32 0 01 0 32 At approximately 90 IK360 position value 9138 0 01...

Страница 27: ...inometer doesn t respond Problem If the bus is active than the installed inclinometer is transmitting a false node number If the bus is inactive then it was connected with an incorrect baud rate Possi...

Страница 28: ...ber change fed to it in order to avoid the node number 0 2 For example If we want a Node Number 28 dec we need to feed 27 decimal 27 1 28 So the Node Number 1B hex has to be fed in order to set the se...

Страница 29: ...device and have been signaled via the Emergency object The error code is located in the least significant word and additional information is located in the most significant word Subindex 0 contains t...

Страница 30: ...cess Restore after BootUp 0 Unsigned 16 0 rw yes 8 9 Object 100Dh Life Time Factor This object contains the life time factor parameters The life time factor multiplied with the guard time gives the li...

Страница 31: ...nsigned 32 rw no 2 Restore communication parameters Unsigned 32 rw no 3 Restore application parameters Unsigned 32 rw no 4 Restore manufacture parameters Unsigned 32 rw no Storing procedure To load th...

Страница 32: ...bindex 1 is as follows Bit 31 to 24 23 to 16 15 to 0 Value 0h reserved Address of monitored device Monitoring time ms 8 14 Object 1017h Producer Heartbeat Time The object contains the time interval in...

Страница 33: ...o no 8 18 Object 2600h Preset X Axis IK360 2 axis Preset IK360 1 axis In IK360 1 axis inclinometers this object sets the X axis to a desired value In IK360 2 axis inclinometers this object sets the Z...

Страница 34: ...ins the node number of the device The standard node number is 1h Subindex Description Data Type Default Value Access Restore after BootUp 0 Node Number Unsigned 8 0 rw yes Note To avoid the node numbe...

Страница 35: ...al Recursive Filter This particular object controls the weighting factor of the recursive filter If set to 0 the filter is deactivated Valid values range from 0 to 1000 The value specifies the weighti...

Страница 36: ...If bit 1 is set slope long16 offset and differential slope long16 offset are added to the slope long16 Both bits can be at the same time Subindex Description Data Type Default Value Access Restore af...

Страница 37: ...tion Data Type Default Value Access Restore after BootUp 0 Offset Value Integer 16 rw no The main difference between the objects 6013h and 6014h is that 6013h is calculated automatically depending on...

Страница 38: ...within the range of the position value limits Subindex Description Data Type Default Value Access Restore after BootUp 0 Preset Value Integer 16 00 rw no Resolution Preset Range in decimal Type IK360...

Страница 39: ...only if scaling of slope long16 is enabled Please note that the values sholud be within the range of position attribute according to the resolution already set Subindex Description Data Type Default V...

Страница 40: ...IK360 CAN x Date 23 01 2017 Page 40 of 41 Art no 86089 Mod Status 10 17 IK360 2 axis X Achse Output Value Resolution 0 01 IK360 2 axis Y Achse Output Value Resolution 0 01...

Страница 41: ...object The COB ID consists of a function code and a node number N NMT Network management object This is responsible for managing the execution configuration and errors in a CAN network NN Node number...

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