IFM JD, Device Manual

Page 1: ...Device manual Inclination sensor JD with CANopen interface 80279676 00 12 2020 UK...

Page 2: ...ensor 0 360 13 8 3 Default Factory Settings 13 8 4 Active Programming Objects 14 8 5 Programmable parameters 14 8 6 Command description 14 8 7 Data length of commands 14 8 8 Frequently Used Commands 1...

Page 3: ...ion Resistor 28 9 24 Object 3005h Auto BootUp Enable 29 9 25 Object 3100h Moving Average Filter MAF 30 9 26 Gyroscope signal 30 9 27 Object 3400h Gyro x axis 16 30 9 28 Object 3401h Gyro y axis 16 30...

Page 4: ...parameter 36 9 43 Object 6022h Slope Lateral16 Preset Value 36 9 44 Object 6023h Slope Lateral16 Offset 37 9 44 1 Calculation of Slope Lateral16 Offset 37 9 45 Object 6024h Differential Slope Lateral1...

Page 5: ...orised by the machine operator Protect units and cables against damage 3 Functions and features Dynamic MEMS inclination sensors detect and measure the angle of tilt inclinati on slope elevation of an...

Page 6: ...oltage 24 V DC UB 3 GND 4 CAN_H High bus cable 5 CAN_L Low bus cable M12 socket CAN Out 5 1 Bus termination One terminating resistor is required if the sensor is connected at the end or the beginning...

Page 7: ...n the internal permanent memory flash The unit supports Polled mode The position value is transmitted only on request Cyclic mode The position value is sent cyclically regular adjustable intervals on...

Page 8: ...read or write parameters while the application is running COB ID Communication Object Identifier Each CANopen frame starts with a COB ID working as the Identifier During the configuration stage each...

Page 9: ...mode may have unexpected consequences and should therefore only be made in Pre Operational mode To set one or all nodes in Operational mode the master has to send the following message Identifier Byte...

Page 10: ...programmed in milliseconds for values between 1 ms and 65536 ms Sync mode The inclination sensor answers with the current process value after receiving a sync telegram The parameter sync counter can b...

Page 11: ...of the application level number of nodes and baud rate The LSS master device requests services that are performed by the inclination sensor LSS slave devices The LSS master device requests the LSS ad...

Page 12: ...st one of the error counters of the CAN controller has reached or exceeded the warning level too many error frames double flash A guard event or a heartbeat event has occurred flashes General configur...

Page 13: ...t Factory Settings Meaning Object Value Type of unit 1000h 0x2019A two measurement axes 0x1019A one measurement axis Cyclic timer 2200h 0Ah 10ms Resolution 6000h 0Ah 0 01 Node number 3000h 0x9h Node n...

Page 14: ...ensor They are the standard commands for communication and transmission between a master and slave in a CAN bus They can be used to analyse communication protocols between the master and the slave 8 6...

Page 15: ...The resolution can be set to 1 1000d 0 1 100d or 0 01 10d Default 10d 0 01 Preset value Objects 6012h 6022h Here the value of the starting position can be set to a specific angle For greater accuracy...

Page 16: ...t value Access Recovery after boot up 00h Number of sub indices Unsigned 8 5 ro Yes 01h COB ID Unsigned 32 180h Node ID10 18Ah rw Yes 02h Transmission mode Unsigned 8 1 rw Yes 03h Inhibit time Unsigne...

Page 17: ...ransmit PDO Communication Parameter This object contains the communication parameter of the 2nd transmit PDO Sub index 1 Meaning Data type Default value Access Restore after boot up 00h Number of sub...

Page 18: ...nged while the respective PDO is in operation Calculation of inhibit time The inhibit time sets the minimum time between two process values The value is defined as multiples of 100 s Example Set the i...

Page 19: ...ransmit PDO Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO Sub index Meaning Data type Default value Access Restore after BootUp 0 Number of sub indices Unsigned...

Page 20: ...yte 5 Byte 6 Byte 7 60A 8 22 01 1 A 00 00 00 00 80 Step 3 Map gyro X 16 bit value 3400Sub0 to TPDO2 Object 1 Identifier DLC Command Index Sub index Service Process data NN 10 Download Byte 4 Byte 5 By...

Page 21: ...y using explicit requests The SDO service is available if the device is in the Operational or Pre Operational state There are two types of SDOs Read SDOs Download SDOs Write SDOs Upload SDOs The SDO p...

Page 22: ...r the corresponding bit will be activated The following errors are supported Bit Meaning Remarks 0 Generic Error The generic error is signalled in any error situation The object description for error...

Page 23: ...sion This object contains the hardware version of the circuit board Sub index Meaning Data type Default value Access 0 String ro 9 7 Object 100Ah Manufacturer Software Version This object contains the...

Page 24: ...ue 65h 76h 61h 73h 9 11 Object 1011h Restore Parameters With this object writable device and CANopen related parameters are reset to factory settings Sub index Meaning Data type Default value Access 0...

Page 25: ...ss of monitored device Node ID Monitoring time ms 9 14 Object 1017h Producer Heartbeat Time The object contains the time interval in milliseconds in which the device has to produce a heartbeat message...

Page 26: ...sensor If the preset value is outside the range an error message appears Resolution Preset range decimal Type JD2xxx 1 90 0 1 900 0 01 default 9000 9 19 Object 2601h Preset Y axis This object sets th...

Page 27: ...the node number The new node number is only adopted after the device is reset i e the node number needs to be saved prior to the reset to have an effect 9 21 1 Programming example for NN 1 Set Node Nu...

Page 28: ...00 05 00 00 00 Step 2 Save parameters and execute a reset The reset is needed to restart the sensor with the configured baud rate Identifier DLC Command Index Sub index Service process data NN 10 Dow...

Page 29: ...e With this object the start up behaviour of the encoder is defined Sub index Meaning Data type Default value Access 0 Auto BootUp Unsigned 8 0 rw True After power up the encoder enters the operationa...

Page 30: ...The value is given in degrees second with the resolution of 0 1 s This value can be mapped to a PDO Sub index Meaning Data type Default value Access 0 Gyro x axis 16 Integer16 ro 9 28 Object 3401h Gy...

Page 31: ...cceleration value in the Z axis The value is given in mg with the resolution of 1 mg Sub index Meaning Data type Default value Access 0 Acceleration z axis 16 Integer16 ro 9 34 Object 3411h Temperatur...

Page 32: ...e sensor is adapting the set parameters to the configured resolution Rounding effects have to be taken into account Attributes affected write read preset slope long16 preset slope lateral16 differenti...

Page 33: ...positive or negative to the sensor Bit 1 Bit 0 Position calculation 0 0 X 0 1 X 1 0 X Object 6013h Object 6014h 1 1 X Object 6013h Object 6014h For detailed explanation please see the corresponding o...

Page 34: ...ery time Slope Long16 preset 6012h Slope Long32 Preset 6112 or Preset X 2600 objects are changed This object does not exist for JD11xx Sub index Meaning Data type Default value Access 0 Offset value I...

Page 35: ...Range in decimal Type JD21xx 1 90 0 1 900 0 01 9000 9 41 1 Calculation of position slope value from CANopen readout Inclination Degree Slope Lateral 16 Object 6020 x Resolution Object 6000 9 42 Objec...

Page 36: ...fferential slope lateral16 offset 6024 Adds an absolute value positive or negative to the sensor output Bit 1 Bit 0 Position calculation 0 0 X 0 1 X 1 0 X Object 6023h Object 6024h 1 1 X Object 6023h...

Page 37: ...if scaling of slope lateral16 is enabled Ensure that the values of the position attribute are within the range of the reso lution that is used Sub index Meaning Data type Default value Access 0 Offse...

Page 38: ...2 Read write UNSIGNED32 Save Application parameters 1010 3 Read write UNSIGNED32 Save Manufacturer parameters 1010 4 Read write UNSIGNED32 Restore default parameters 1011 ARRAY Highest sub index supp...

Page 39: ...only INTEGER16 Gyro y axis 3401 Read only INTEGER16 Gyro z axis 3402 Read only INTEGER16 Acceleration x axis 3403 Read only INTEGER16 Acceleration y axis 3404 Read only INTEGER16 Acceleration z axis...

Page 40: ...Therefore if the values do not match the value of the event timers is copied to the Cycle Time too Preset parameters work the same way with the application parameters objects 6xxx having the higher p...

Page 41: ...0 8000 10000 0 20 40 60 80 100 120 140 160 180 180 160 140 120 100 80 60 40 20 1 X axis rotation angle 13 3 CANopen output values JD21xx Y axis Factory setting resolution 0 01 1 0 2000 4000 6000 8000...

Page 42: ...2000 4000 6000 8000 10000 0 20 40 60 80 100 120 140 160 180 180 160 140 120 100 80 60 40 20 12000 1 X axis rotation angle Declaration The position limits are adjusted to 90 offset If an offset of 20 i...

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