User manual CANopen
Contents
1. 21 64 DEBUGGING 24 55 MUN DIEI LEID LUI ELE 25 rai 5 Sia 27 8 1K360 IK360L CANOPEN OBJECTS 29 8 1 OBJECT 1000H DEVICE i eni E sese entere eser ees 29 8 2 OBJECT 1001H ERROR REGISTER 29 8 3 OBJECT 1003H PRE DEFINED ERROR 29 8 4 OBJECT 1005H COB ID 30 8 5 OBJECT 1008 MFR DEVICE 30 8 6 OBJECT 1009H MFR HARDWARE VERSION 30 8 7 OBJECT 100 MFR SOFTWARE VERSION ccceeesseecccceeceeesssseccccecesessssseeeeceesecsssntsseeceseeenttaes 30 88 OBJECT 100GB GUARD e quede tbe eee UR 30 8 9 OBJECT 1000 LIFE TIME 30 8 10 OBJECT 1010H STORE PARAMETERS vrsne iein tE TE EART EE2. 40 EOSSARY ere mT M AA EI M M M E M E 42 IK360 IK360L CAN Date 08 08 2013 Page 3 of 42 Art no 86089 Mod Status 292 13 1 Precision in Motion General Safety Advice Read these instructions carefully and have a look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation amp on the equipment to warn of potential hazards or to call attention towards information that clarifies simplifies a procedure The addition of this symbol to a Danger or Warning safety label 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 personal injury or hazards Obey all safety messages that follow this symbol to avoid possible injury or death Please Note Electrical equipment should be serviced only by qualified personnel No responsibility is assumed by SIKO for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons About this manual This user manual explains how to install and configure the IK360 inclinometer with a CANopen interface by illustrations IK360 IK360L CAN Date 08 08 2013 Page 4 of 42 Art no 86089 Mod Status 292 13 2 2 1
3. 9 4 PEE 10 4 1 PIN ASSIGNMENT RR 10 4 2 INSTALLATION PRECAUTIONS 10 4 3 MOUNTING 1 10 4 4 BUS TERMINATION ERREUR 11 4 5 MEASUREMENT 12 5 1 360 IK360L SOFTWARE 13 5 1 IMPORTANT FACTORY SETTINGS o iie erect 13 5 2 ACTIVE PROGRAMMING 13 5 3 PROGRAMMABLE PARAMETERS 0 ccccceeeessecccecececesssscecccecceesensscecccececsnsntsscececeeesestssseeeeeeeeensnees 13 54 PDOTRANSMISSION 15 5 5 EXPLICIT EXCHANGES SDO i etos eei Peri tae erede e ere P ed ers 17 6 WORKING WITH SCHNEIDER PL cccccssccsssssccesesssssecesssscccessscesceseccesessescessssecesesesscecesensers 19 6 1 INTRODUCTION EE E 19 6 2 19 6 2 1 19 6 2 2 Software project 20 6 9
4. Initialization Pre Operational Operational Stopped PDO Object X SDO Object X X Boot Up X X NMT X X X Programmable parameters Objects are based on the CiA 301 DS and CiA 410 DS V1 2 The following table gives the list of command identifiers sent and received by the inclinometer These are the standard commands used for communication and transmission between a master and slave in the CAN bus It is quite useful for the analysis of communication logs between the master and slave and for better understanding of the system under observation IK360 IK360L CAN Date 08 08 2013 Page 13 of 42 Art no 86089 Mod Status 292 13 Precision in Motion Command Function Telegram Description 22h SDO Upload Request Parameter to IK360 IK360L 60h SDO Upload Confirmation Acknowledge Parameter received 40h SDO Download Request Parameter request 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 see table 2 Command Data length Data length 43h 4 Byte Unsigned 32 4Bh 2 Byte Unsigned 16 4Fh 1 Byte Unsigned 8 Table 2 Data length of commands The following list of objects is the most frequently used objects while programming the IK360 IK360L inclinometer The whole list of objects is available
5. Explicit Exchanges SDO Service Data Objects 5005 allow a device s data to be accessed by using explicit requests The SDO service is available when the device is in Operational or Pre Operational state Types of SDO There are two types of SDO e Read SDOs Download 005 e Write SDOs Upload SDOs The SDO protocol is based on a Client Server model For a download SDO e server sends a request indicating the object to be read The client returns the data contained within the object IK360 IK360L CAN Date 08 08 2013 Page 17 of 42 Art no 86089 Mod Status 292 13 gt Precision in Motion For an upload SDO The server sends a request indicating the object to be written to and the desired value After the object has been updated the client returns a confirmation message For an unprocessed SDO e n both cases if a SDO could not be processed the device master returns an error code A typical illustration of SDO for reading the current baud rate value explicitly is given below Edit transmit message ID Hex Length Data 0 7 601 e 40 1 oo oo loo oo Period ol ms Extended Frame C Remote Request gus SDO passed as a new message to the device We used a PEAK CAN master for this illustration The PCAN USB adapter enables simple connection to CAN networks The PCAN USB s compact plastic casing makes it suitable
6. 35 8 23 OBJECT 3022H DIGITAL RECURSIVE FILTER ceeceeeeescccecceessssssccceeccesessncecececeesssssssseeeeeeesensnaes 35 8 24 OBJECT 3100H MOVING AVERAGE 36 8 25 OBJECT 6000H RESOLUTION cece eeeesessecccccccessssssecccccceesssssscecececessssssesececeeesesstsseeeeseestssnaes 36 8 26 OBJECT 6010H 16 36 8 27 OBJECT 6011H SLOPE LONG16 OPERATING PARAMETER cccsccccccecsesesssssccececeeeessssssececeeseessees 36 8 28 OBJECT 6012H SLOPE LONG16 PRESET 37 8 29 OBJECT 6013H SLOPE LONG16 37 8 30 OBJECT 6014H DIFFERENTIAL SLOPE LONG16 OFFSET 37 8 31 OBJECT 6020H SLOPE LATERAL TO ede tede eot pete ee bee ved 38 8 32 OBJECT 6021H SLOPE LATERAL16 OPERATING PARAMETER 38 8 33 OBJECT 6022H SLOPE LATERAL16 PRESET 39 8 34 OBJECT 6024H DIFFERENTIAL SLOPE LATERAL 16 OFFSET 39 8 35 OBJECT 6114H DIFFERENTIAL SLOPE LONG32 OFFSET 39 9 OUTPUT GRAPHS ics
7. Actual angular Value decimal Byte hex resolution T 1000 3E8h 0 1 100 91 0 012 10 8 26 Object 6010h Slope long16 In IK360 IK360L 1 axis inclinometers this object provides the Z axis value and in IK360 IK360L 2 axis this object provides the X axis value 2 um Restore after Subindex Description Data Type Default Value Access BootUp 0 Integer 16 ro no 8 27 Object 6011h Slope long16 operating parameter This object controls the scaling and inversion of the slope long16 values If bit 0 is set inversion of slope long16 is enabled 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 IK360 IK360L CAN Date 08 08 2013 Page 36 of 42 Art no 86089 Mod Status 292 13 Precision in Motion Subindex Description Data Type Default Value Access Position 0 Scaling and Unsigned 8 00 rw no Inversion Bit 1 Bit 0 Position Calculation 0 0 X 0 1 X 10000h X f r 16 bit objects 100000000h X for 32bit objects 1 0 X Object 6013h Object 6014h 1 1 X Object 6013h Object 6014h 8 28 Object 6012h Slope long16 preset Value In IK360 inclinometers this object used to define an new desired longitudinal slope value The values will be set only according to the current resolution so extreme care should be taken in
8. Upon start up we can create an animation table to monitor the necessary controller parameters and the system variables which contain the position value Now we will program the PLC in order to obtain the position values Resetting CANopen communication Date 08 08 2013 Page 25 of 42 Art no 86089 16 0001 16 0000 LD amp 3W81 X3 CAN 01 2 SW81 X4 1680001 1680001 10 5881 3 CAN CMDi MWO 2 LDN 5W81 X4 LD 1 MWO 16 0002 MWi 16 0001 LD 5W81 X3 CAN_CMD1 2 SW81 X4 Mod Status 292 13 Precision in Motion Appii Position readout 3 MWO 1 1 0 18416 4 16 0000 0 5 16 0000 fi CAN CMD1 MWO 6 16 0003 16 0001 16 6010 16 0000 0 il 2 3 4 5 6 7 Readout using animation table or wn Manage the animation tables Us Address Copy current table TEE ER Create a new table Rename the current table Delete the current table Import a table Export a table tables Name My animation table 1 Functions E Glossary Illustration of measurement over full range At initial position approximately 0 IK360 IK360L position value 32 0 01 0 32 At approximately 90 Us Address v 1 2 IK360 IK360L CAN Date 08 08 2013 Page 26 of
9. ull aul ipi 7 SIKO in Motion User manual Inclinometer with CANopen Interface IK360 IK360L gt Precision in Motion Table of content 1 GENERAL SAFETY ADVICE 4 2 SIN TIRODU GTO eee 5 2 1 136071360 ooo Eb HUP MID E MC EM ore 5 22 eere ere EE EE DU EO EUER DEPRECOR EP EUREN EU 5 23 JK960 IKSO0E GANOPEN z teret eee estet eee ce th Uto E EURO 6 3 1 360 MODES AND PARAMETERS 6 3 1 OPERATINGIMODBES 7 31 71 Mode Preoperallonal iem irte e 7 3 1 2 Mode Start 7 3 1 3 Mode Stop Operation PRU Ue Wr CRA PAAR A 8 3 1 4 Reset of the 8 3 1 5 Reset communication of the 8 3 2 TRANSMISSION MODES 05 6 s ccc cccssvescssecnecessssvecssoucbessassevevvecnteessosuevsueocnseessensvcsendansessesvsvorsssanvesessveuere 9 3 3 BOOT UP
10. After receiving a SYNC telegram by the host the inclinometer answers with the current process value If more than one node number encoder shall answer after receiving a SYNC telegram the answer telegrams of the nodes will be received by the host in order of their node numbers The programming of an offset time is not necessary If a node should 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 general boot up procedure for the IK360 IK360L CANopen and the mapping of various modes are illustrated below Initialization Reset Application Reset Communication lw Initialization Pu topped Operational IK360 IK360L CAN Date 08 08 2013 Page 9 of 42 Art no 86089 Mod Status 292 13 Precision in Motion Number Description 1 Module Power up After initialization the module automatically goes into pre operational mode NMT Start Remote Node NMT Pre operational Mode NMT Stop Remote Node NMT Reset Node NMT Reset Communication set one or all nodes to pre operational mode the master must send the following message 4 Installation 4 1 Pin assignment The inclinometer is connected via a 5 pin round M12 connector Standard M12 male connector on IK360 IK360L female conne
11. 1799 to 1800 0 01 17999 to 18000 IK360 IK360L CAN Date 08 08 2013 Page 39 of 42 Art no 86089 Mod Status 292 13 Precision in Motion 9 Output graphs IK360 IK360L 1 axis Output values Factory setting Resolutionz0 1 40000 35000 30000 25000 20000 15000 10000 5000 Value Counts IK360 IK360L 2 axis X Achse Output Value Resolution 0 01 10006 Rotational Angle X axis H 4 IK360 IK360L CAN Date 08 08 2013 Page 40 of 42 Art no 86089 Mod Status 292 13 eee Precision in Motion IK360 IK360L 2 axis Output Value Resolution 0 01 10000 Rotational Angle Y axis IK360 IK360L CAN Date 08 08 2013 Page 41 of 42 Art no 86089 Mod Status 292 13 Glossary B Baudrate COB ID NMT NN PDO RO RW SDO WO IK360 IK360L CAN Precision in Motion Transmission speed formulated in number of bits per second Controller Area Network Application layer of an industrial network based on the CAN bus CAN In Automation Organization of manufacturers and users of devices that operate on the CAN bus COB Identifier Identifies an object in a CAN network The ID determines the transmission priority of this object The COB ID consists of a function code and a node number Network management object This is responsible for managing the execution configuration and errors in
12. 2 2 Precision in Motion Introduction IK360 IK360L IK360 IK360L inclinometers sense and measure the angle of tilt Inclination Slope Elevation of an object with respect to the force of gravity The angle is measured with the relative change in electrical capacitance The basic principle behind this IK360 IK360L inclinometer is a Micro Electro Mechanical Systems MEMS sensor cell that is embedded to a fully molded ASIC A simplified version of the sensor consists of two electrodes one is fixed and the other is flexible connected with spring elements When the inclinometer is parallel to the surface of measurement a corresponding capacitance is measured If the sensor is tilted the flexible electrode will change its position relative to the fixed electrode This results in a change of the capacitance between the two electrodes which is measured by the sensor cell The change of the capacitance is converted to a corresponding inclination value Absolute inclinometers identify all the points of a movement by means of an unambiguous signal Due to their capacity to give clear and exact values to all inclinations positions inclinometers have become one of the interesting alternatives to singleturn absolute and incremental encoders and a link between the mechanical and control systems CANopen interface CANopen is based on the Controller Area Network CAN that was developed by automotive industries in the 80s and is nowadays us
13. save has to be sent to the corressponding sub index of the device Most significant word Least significant word ASCII e e5h 76h 61h 73h 8 11 Object 1011h Restore Parameters This object is used to restore device and CANopen related parameters to factory settings 7 A Default Restore after Subindex Description Data Type Vale Access BootUp Number of sub 0 indices Unsigned 8 4 ro no Restore all l 1 parameters Unsigned 32 rw no Restore 2 communication Unsigned 32 rw h parameters Restore application _ 3 parameters Unsigned 32 rw no Restore 4 manufacture Unsigned 32 rw no parameters Storing procedure To load the parameters from non volatile memory the access signature load has to be sent to the corresponding sub index of the device Most significant word Least significant word ASCII d a 64h 61h 6Fh 6Ch Note The restoration of parameters will only be taken into account after a power up or reset command IK360 IK360L CAN Date 08 08 2013 Page 31 of 42 Art no 86089 Mod Status 292 13 gt Precision in Motion 8 12 Object 1014h COB ID Emergency This object indicates the configured COB ID for the emergency write service This has the highest priority among transmitted messages Nx Restore after Subindex Description Data Type Default Value
14. so extreme care should be taken in order to be within the range of the position value limits Subindex Description Data Type Default Value Access BootUp 0 Preset Value Integer 16 00 rw no Resolution Preset Range in decimal Type IK360 2 axis 12 80 0 12 800 0 012 8000 8 34 Object 6024h Differential slope lateral16 offset This parameter adds an additional independent offset to slope long16 but 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 Value Access BootUp 0 Offset Value Integer 16 rw no The main difference between the objects 6023h and 6024h is that 6023h is calculated automatically depending on the preset value whereas object 6024h is user defined 8 35 Object 6114h Differential slope long32 offset This parameter adds an additional independent offset to slope long16 but 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 E Restore after Subindex Description Data Type Default Value Access BootUp 0 Offset Value Integer 32 rw no Resolution Preset Range in decimal Type IK360 1 axis 1 179 to 180 0 1
15. 42 Art no 86089 Mod Status 292 13 gt Precision in Motion IK360 IK360L position value 9138 0 01 91 38 At approximately 180 Us Address Symbol Current Retained Format 1 MWw4 18052 Decimal 2 IK360 IK360L position value 18052 0 01 180 52 At approximately 270 Address Symbol Current Retained Format 1 MW4 27256 Decimal 2 IK360 IK360L position value 27256 0 01 2272 56 All the above position values where obtained by programming the position value output explicitly The other method is very simple and direct Just run the controller and same position values are obtained The position is mapped with the memory location IWC1 0 0 or IWC1 1 0 through PDO mapping done in the earlier steps The steps for the mapping have been illustrated in above parts so that in real time application end users can directly follow the above steps to read out the position values from the mapped memory locations 7 Troubleshooting e Power on Inclinometer 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 Possible solution Modus pre operational Adressing the inclinometer via SDO Reset or power off Reprogram the baud rate e Malfunction of the position value during transmission Problem During the transmission of the position va
16. 86089 Mod Status 292 13 Precision in Motion Subindex Description Data Type Default Value Access BootUp Revision 3 Number Unsigned 32 0x00010500 ro no 4 Serial Number Unsigned 32 ro no Prone to change with every revision 8 16 Object 2200h Cyclic Timer This object is used to determine the transmission interval during cylic transmission mode This object is hardwired with the event timers 1 and TxPDO2 If cyclic timer and event timers od TxPDOs hold different values after power off on cycle the value of the event timers is copied to the cycle time Subindex Description Data Type Default Value Access IER BootUp 0 Unsigned 16 0 rw yes 8 17 Object 2300h Save Parameter with Reset With this object all parameters can be stored in the non volatile memory After storing the parameters a reset is executed Subindex Description Data Type Default Value Access 0 Access code Unsigned 32 55AAAA55h wo no 8 18 Object 2600h Preset X Axis IK360 IK360L 2 axis Preset IK360 IK360L 1 axis In IK360 IK360L 1 axis inclinometers this object sets the X axis to a desired value In IK360 IK360L 2 axis inclinometers this object sets the Z axis to the desired value It is hard wired with objects 6012 and 6112 Restore after Subindex Description Data Type D
17. Access BootUp 0 Unsigned 32 0x81 rw yes 8 13 Object 1016h Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms The device can only monitor one corresponding device If the time is set to 0 the monitoring is not active The value of this object must be higher than the corresponding time object 1017 of the monitored device Subindex Description Data Type Default Value Access Number of sub 0 indices Unsigned 8 1 ro yes Consumer 1 heartbeat time Unsigned 32 0 rw yes The context of subindex 1 is as follows Bit 31 to 24 23 to 16 15 to 0 Value Oh reserved Address of monitored device Monitoring time ms 8 14 Object 1017h Producer Heartbeat Time The object contains the time interval in milliseconds in which the device has to produce a heartbeat message lt Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 16 0 rw yes 8 15 Object 1018h Identity Object This object provides the general identification of the inclinometer Restore after Subindex Description Data Type Default Value Access BootUp Number of sub 0 entri s Unsigned 8 0x4 ro no 1 Vendor 14 Unsigned 32 0x195 ro no 2 Product Code Unsigned 32 0x43415032 ro no IK360 IK360L CAN Date 08 08 2013 Page 32 of 42 Art no
18. ERE CUN BootUp Activate 0 Termination Unsigned 8 0 rw yes Resistor For Activation Write 1 decimal to the sub index 0 of the object For De activation Write 0 decimal to the sub index 0 of the object If activated the termination resistor is only enabled while the device is powered 8 23 Object 3022h Digital Recursive Filter This particular object controls the weighting factor of the recursive filter If set to O the filter is deactivated Valid values range from 0 to 1000 The value specifies the weighting factor for the slope values obtained earlier divided by 1000 Therefore mathematically the weighting factor ranges from 0 to 1 IK360 IK360L CAN Date 08 08 2013 Page 35 of 42 Art no 86089 Mod Status 292 13 Precision in Motion Subindex Description Data Type Default Value Access CUN BootUp Digital 0 Recursive Unsigned 16 0 rw yes Filter 8 24 Object 3100h Moving Average Filter This object contains the number of values which are averaged Subindex Description Data Type Default Value Access BootUp Moving 0 Average Filter Unsigned 16 100 rw yes Range of values accepted Od to 250d 8 25 Object 6000h Resolution This object sets the resolution per 1 Subindex Description Data Type Default Value 0 Resolution Unsigned 16 rw no Three different possible resolutions can be used
19. for mobile applications It works as a master on the CAN bus connection via D Sub 9 pin and in accordance with CiA 102 standards e Object 3001h is to read the baud rate value from the IK360 IK360L Transmit message ID 601h Message to node number 1 Length 8 byte Data 0 Read 40h Data 1 amp 2 Object in big endian 30 01 is 01 30 in big endian format Data 3 Sub Index NA Data 4 7 Data to be written NA in read command The received message e 10 581h message from node number 1 e Data 0 length of data is 1 byte e Data 4 7 01 equates 50 kBaud s PCAN View for USB Client Transmit Help 2 GO 4 01 30 00 00 00 00 Baud Rate SOkBits sec Received Message from the device IK360 IK360L CAN Date 08 08 2013 Page 18 of 42 Art no 86089 Mod Status 292 13 QM Precision in Motion So SDOs can be used to explicitly read or write data in IK360 IK360L All the relevant objects that can be configured are described in Appendix A In the above example 701h is the boot up message received Then once we transmit the SDO command as shown above we receive a reply The received message 581h consists of the SDO downloaded 6 Working with Schneider PLC 6 1 6 2 6 2 1 Introduction An IK360 IK360L single axis inclinometer was connected to TWIDO programmable logic controller with a CANopen communication interface The step by step connection procedure and the
20. in appendix A Position Value Objects 6010h and 6020h The object 6010h and 6020h are used to get the scaled inclination positions integer 16 variables of IK360 IK360L 2 axis in the range of X80 and the object 6010h is used to get the scaled inclination position of IK360 IK360L 1 axis in the range of 0 359 99 Store Parameters Objects 1010h 2300h These objects are used to store any re configured parameters Object 1010h just stores the parameters whereas 2300h stores and saves the parameters upon reset of the IK360 IK360L Resolution per 1 The parameter resolution per degree is used to program the desired Object 6000h number of angular divisions per revolution The values 1 10 100 can be programmed Operating With the operating parameter it is possible to change the sense of Parameter rotation inversion and switch on off the scaling For using the preset Object 6011h function the scaling has to be switched on Bit 1 Bit 0 Position Calculation 0 0 X X 10000h X f r 16 0 1 bit objects 100000000h X for 32bit objects 1 0 X Object 6013h Object 6014h 1 1 X Object 6013h Object 6014h IK360 IK360L CAN Date 08 08 2013 Page 14 of 42 Art no 86089 Mod Status 292 13 5 4 IK360 IK360L CAN Precision in Motion Preset Value Object 6012h The preset value is the desired position value which should be
21. number Mode Start Operational The device goes into the Operational state if it was in the Pre Operational state on receiving the Start Remote Node indication When the CANopen network is started using the Node start NMT services in Operational state all device functionalities can be used Communication is possible by PDOs or SDOs Note Modifications to the configuration in Operational mode may have unexpected consequences and should therefore only made in Pre Operational mode IK360 IK360L CAN Date 08 08 2013 Page 7 of 42 Art no 86089 Mod Status 292 13 3 1 3 3 1 4 IK360 IK360L CAN gt Precision in Motion To put one or all nodes in the operational state the master has to send the following message Identifier Byte 0 Byte 1 Description Oh 01h 00h NMT Start Remote Node all nodes Oh Oth NN in hex NMT Start Remote Node NN NN node number Mode Stop Operation The device goes into the Stopped state on receiving the Node stop indication NMT service if it was in Pre Operational or Operational state In this state the device cannot be configured No service is available to read and write device related data SDO Only the slave monitoring function Node Guarding remains active To put one or all nodes in the stop operational state the master has to send the following message Identifier Byte 0 Byte 1 Description oh 02h 00h NMT Stop Remote
22. order to be within the range of the position value limits m Restore after Subindex Description Data Type Default Value Access BootUp 0 Preset Value Integer 16 00 rw no 8 29 Object 6013h Slope long16 offset This parameter is recalculated everytime Slope Long16 preset 6012h Slope Long32 Preset 6112h or Preset X 2600h objects are changed This object does not exist for IK360 IK360L only IK360 2 axis Subindex Description Data Type Default Value Access TESSE BootUp 0 Preset Value Integer 16 00 rw no Calculation of Slope Long16 Offset Offset Value Preset Value Physical Value x Inversion 8 30 Object 6014h Differential slope long16 offset This parameter adds an additional independent offset to slope long16 but 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 ET Restore after Subindex Description Data Type Default Value Access BootUp 0 Offset Value Integer 16 rw no IK360 IK360L CAN Date 08 08 2013 Page 37 of 42 Art no 86089 Mod Status 292 13 Precision in Motion The main difference between the objects 6013h and 6014h is that 6013h is calculated automatically depending on the preset value whereas object 6014h is user defined 8 31 X Object 6020h Slope lateral16 In IK360 2 inclinometers
23. reached at a certain physical position of the axis The position value is set to the desired process value by the parameter preset when scaling is switched on IK360 IK360L 2 axis used Object 6012h for X Axis and Object 6013h for IK360 IK360L 1 axis used Object 6012h for the Z Axis Node Number The setting of the node number is achieved via SDO Object Possible Object 3000h valid addresses lie between 1 and 127 but each address can only be used once Baud rate The baud rate can be programmed via SDO Object 3001h Filter Filter can be used to adjust the frequency of measurements and Objects calculation of position values Object 3100h corresponds to moving 3100h 3022h average filter and 3022h is for digital recursive filter Default Object 3100h Object 3022h 0 Appendix A has a detailed list of all the objects which can be programmed with IK360 IK360L CANopen The data type data size default value access definition and all sub indexes are mentioned in it It is necessary to read the appendix A for clear knowledge before programming Appendix A has a lot of important programming tips which are necessary for the proper use of the inclinometer PDO Transmission Process Data Objects PDOs communicate process information data and enable them to be exchanged in real time A CANopen device s PDO set describes the implicit exchanges between this device and its communication par
24. 1M Address 1 al 2 Description CANopen bus master module Module configuration Slave Type Supervision Init Used Address Symbol Object Size 1 Inclinomtr None Default 0 SLOPE Slope 360 16 SLOPE DUPLICATE Slope 360 16 IK360 IK360L CAN Date 08 08 2013 Page 23 of 42 Art no 86089 Mod Status 292 13 ty Y 6 4 j C Precision in Motion Debugging The debugging stage is done on completing the configuration of the PDO s It involves the following steps Connection for debugging This connection mode allows you Select a Connection to directly connectto controller to transfer an application between the PC anda controller 9 Serial COMI Punit The communication has been established Test the connection The TwidoSuite and the PLC applications are different immediate connection impossible Hardware configurations are compatible PC gt PLC Transfer is possible PLC application is not protected PLC gt PC transfer is authorized Comparison of applications Project Controller Application Name My Twido My Twido Type of base TWDLMDA20DTK TWDLMDA20D K Choose a type of exchange Transfer Transfer gt controller controller gt Confirm your type of exchange The serial communication port is selected and PC gt controller transfer is initiated Onc
25. 31 8 11 OBJECT 1011H RESTORE PARAMETERS penre ieii it e T NOAN TNR REE 31 8 12 OBJECT 1014 COB ID 32 IK360 IK360L CAN Date 08 08 2013 2 of 42 Art no 86089 Mod Status 292 13 Precision in Motion 8 13 OBJECT 1016H CONSUMER HEARTBEAT TIME ccccccccccececeeessscecccceceecsssseceececeeessssseseeeeeeseeenees 32 8 14 OBJECT 1017H PRODUCER HEARTBEAT TIME ccccececccceeceeesesceccceeceeesssseccccceeeesssssssseeesessensees 32 8 15 OBJECT 1018H IDENTITY 32 8 16 OBJECT 2200H CYCLIC TIMER 0 0 0 cceeceeeeessecccecceeesssceeccceeceessssseeecceceecstsseeeeceeeeettstteseeeeseeenesees 33 8 17 OBJECT 2300H SAVE PARAMETER WITH RESET cc0ecccccceceeessseccccceceeesssscecececeeeessssssesecesesenssees 33 8 18 OBJECT 2600H PRESET 1 360 IK360L 2 Axis PRESET IK360 IK360L 1 AXIS 33 8 19 OBJECT 2601H PRESET Y AXIS IK360 IK360L 2 34 8 20 OBJECT 3000H NODE 34 8 21 OBJECT 3001H BAUD 35 8 22 OBJECT 3002H TERMINATION RESISTOR
26. Angle Position With Factory Settings Y X Axis Inclination Y Axis Inclination IK360 IK360L CAN Date 08 08 2013 Page 12 of 42 Art no 86089 Mod Status 292 13 5 5 1 5 2 5 3 gt Precision in Motion IK360 IK360L Software Configuration This chapter succeeds the hardware configuration i e installation as in real time IK360 IK360L is a very flexible device and hence all the parameters can be programmed via CAN bus itself even when attached This enables remote configuration This chapter is primarily divided into two parts In first part the methodology is described for putting the IK360 IK360L into operation and in the second part the PDO SDO programming of IK360 IK360L Important factory settings Description Object Value Device Type 1000h 4019A IK360 IK360L 2 axis Cyclic Timer 2200h 00h 0 ms Resolution 6000h 0 01 Node Number 3000h 00h NN 1 Baud Rate 3001h O3h 125 kB PDOs 6010h Note The factory settings should be noted carefully upon installation Few of the parameters have to be re programmed in order to make IK360 IK360L inclinometers compatible with the controller or the already existing CAN bus to which it is going to be installed on Active programming objects Active CANopen objects depending on the state of IK360 IK360L The crosses in the table below indicate which CANopen objects are active in each state
27. Node all nodes Oh 02h NN in hex NMT Stop Remote Node NN NN node number Reset of the inclinometer If a node is not operating correctly it is advisable to carry out a reinitialization Identifier Byte 0 Byte 1 Description Oh 81h 00h NMT Reset Node Oh 81h NN in hex NMT Reset Node NN node number After reinitialization the inclinometer accesses the bus in pre operational mode Reset communication of the inclinometer If the communication of a node is not operating correctly it is advisable to carry out a reset of the communication Identifier Byte 0 Byte 1 Description oh 82h 00h NMT Reset Communication Oh 82h NN in hex NMT Reset Communication NN node number After reset of the communication the inclinometer accesses the bus in pre operational mode Date 08 08 2013 Page 8 of 42 Art no 86089 Mod Status 292 13 3 2 Transmission modes Precision in Motion Polled mode By a remote transmission request telegram the connected host calls for the current process value The inclinometer reads the current position value calculates eventually set parameters and sends back the obtained process value by the same identifier Cyclic mode The inclinometer cyclically transmits without being called by the host the current process value The cycle time can be programmed in milliseconds for values between 0 ms and 65536 ms SYNC mode
28. Unsigned 32 0x00 rw yes IK360 IK360L CAN Subindex Second degree identifier used in combination with the object Follows the object number Transmission mode The transmission mode Sub index 2 for Objects 1800 and 1801 can be configured as described below Transfer Transmission Mode Value Synchr Asynchr RTR Notes Dec Cyclic Acyclic onous Only Send PDO on first sync 0 X X message following an event Send PDO every x sync TARU messages 241 251 Reserved Receive sync and send 252 X X PDO on remote transmit request 253 X Update data and send PDO on remote transmit request Send PDO on event event di timer is expired Send PDO on Event 255 X position value has changed Inhibit Time The inhibit time for PDO transmissions can be entered in this 16 bit field If data is changed the PDO sender checks whether an inhibit time has expired since the last transmission A new PDO transmission can only take place if the inhibit time has expired The inhibit time is useful for asynchronous transmission transmission mode 254 and 255 to avoid overloads on the CAN bus Event Timer The event timer only works in asynchronous transmission mode transmission mode 254 and 255 If the data changes before the event timer expires a temporary telegram is sent If a value 0 is written in this 16 bit field the transmit PDO is always sent afte
29. a CAN network Node number Communication object with a high priority for sending process data Read Only Parameter that is only accessible in read mode Read Write Parameter that can be accessed in read or write mode Communication object with a low priority for messaging configuration error handling diagnostics Slave bus node that sends data at the request of the master The inclinometers are always slaves Write Only Parameter that is only accessible in write mode Date 08 08 2013 Page 42 of 42 Art no 86089 Mod Status 292 13
30. c we need to feed 27 decimal 27 1 28 So the Node Number 1B hex has to be fed in order to set the selected device to node number 28 Send a write telegram to the particular node with 1B as data on the object 3000h Use 2300h to save the parameters with the reset A boot up message with the new node number pops us IK360 IK360L CAN Date 08 08 2013 28 of 42 Art no 86089 Mod Status 292 13 8 1K360 IK360L CANopen objects 8 1 Object 1000h Device Type Precision in Motion The object at index 1000h describes the type of device and its functionality It is composed of a 16 bit field which describes the device profile that is used and a second 16 bit field which gives additional information about optional functionality of the device The additional information parameter is device profile specific Subindex Description Data Type Default Value Access 0X3019Ah 0 Unsigned 32 0X4019Ah ro no Singel Axis IK360 1 axis Dual Axis IK360 2 axis 8 2 Object 1001h Error Register This object is used by the device to display internal faults When a fault is detected the corresponding bit is therefore activated The following errors are supported Bit Description Comments 0 Generic Error The generic error is signaled at any error situation The object description for error register n Restore after Subin
31. ctor at connection cable Pin Description CAN Ground 10 30 V supply voltage 0 V supply voltage CAN High CAN Low oO Pp 4 2 Installation precautions ATTENTION Do not remove or mount while the inclinometer is under power Avert any modifications to the plastic molding Avoid mechanical load 4 3 Mounting instructions IK360 IK360L is a pre calibrated device which can be put into immediate operation upon simple and easy installation with a three point mount and setting of preset Its compact design and installation anywhere makes it versatile IK360 IK360L CAN Date 08 08 2013 Page 10 of 42 Art no 86089 Mod Status 292 13 4 4 gt Precision in Motion The IK360 IK360L inclinometer can be mounted in any number of fashions depending on the situation The mounting surface must be plane and free of dust and grease It is absolutely necessary that the IK360 IK360L inclinometer is connected to potential equalization in a workmanlike manner For mounting we recommend cheese head screws with metrical thread 4 or bolts 6 for the best possible and secure mounting Use all the 3 screws for mounting but restrict the tightening torque in the range of 1 5 2 5 Nm for the screws The M12 connectors are to be perfectly aligned and screwed till the end with a tightening torque in the range of 0 4 0 6 Nm Use all the three screws for mounting and also note to use t
32. dex Description Data Type Default Value Access BootUp 0 Unsigned 8 N A ro no 8 3 Object 1003h Pre Defined Error Field The object hold the errors that have occurred on the 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 the number of recorded errors UE Restore after Subindex Description Data Type Default Value Access BootUp Number of 0 recorded Unsigned 8 0 rw no errors Most recent 1 emos Unsigned 32 ro no To clear error Log Write data 0 into Subindex 0 of object 1003 IK360 IK360L CAN Date 08 08 2013 Page 29 of 42 Art no 86089 Mod Status 292 13 8 4 8 5 8 6 8 7 8 8 8 9 Object 1005h COB ID Sync The object contains the synchronization message identifier Precision in Motion Te Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 32 0x80h rw no Object 1008h Mfr Device Name The object contains the device name ET Restore after Subindex Description Data Type Default Value Access BootUp 0 String ro no Object 1009h Mfr Hardware Version The object contains the article name of the circuit board Restore after Subindex Description Data Ty
33. e the transfer is initiated the configured parameters and the programming done on the PC is debugged and transferred to the controller for real time application The following illustrations are the intermediate tasks during debugging to trensfera controller Transferring binery det The TwidoSuite and the PLC applications different immediate connection impossible Hardware configurations ere competible PC gt PLC Transfer is possible PLC application is not protected PLC gt PC transfer is authorized Comparison of applications Project Controller Application Name My Twido My Twido Type of base TWDLMDA20DTK TWDLMDA20D K Choose a type of exchange Confirm your type of exchange OK Cancel Creating a backup of the controller parameters before going into online mode Once the controller goes into the online mode the PDOs cannot be changed But we can program the SDOs as need arises IK360 IK360L CAN Date 08 08 2013 Page 24 of 42 Art no 86089 Mod Status 292 13 IK360 IK360L CAN Run Precision in Motion Once debugged the controller goes into online mode After we can program the SDOs if needed and then run the controller Application name My Twido Twido State Running Reference TWDLMDA20D K Firmware version 52 Current Time Failure TRUE Forced Current PLc scanning period 3 Address used Port used LAc LSt
34. ect CANopen frames containing parameters SDOs are typically used to 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 in the CAN frame Duringthe configuration phase each node receives the COB ID s of the frame s for which it is the provider or consumer The NMT protocols are used to issue state machine change commands i e to start and stop the devices detect remote device boot ups and error conditions NMT Network Management Protocol 3 1 3 1 1 Operating modes Mode Preoperational When the device is in this state its configuration can be modified However only SDOs can be used to read or write device related data The device goes into Pre Operational state e after the power up or onreceiving the Enter Pre Operational NMT indication if it was in operational state When configuration is complete the device goes into one of the following states on receiving the corresponding indication Stopped on receiving the Stop Remote Node indication e Operational on receiving the Start Remote NMT indication To set one or all nodes to pre operational mode the master must send the following message Identifier Byte 0 Byte 1 Description Oh 80h 00 NMT Pre operational Mode all nodes Oh 80h NN in hex NMT Pre operational Mode NN NN node
35. ed 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 automation products It is a multiple access system maximum 127 nodes which means that all devices can access the bus These devices nodes are the components of the CANopen bus and in our case the node is the IK360 IK360L inclinometer In simple terms CANopen works as a client server model Each device checks whether the bus is free and if it is free the device can send messages If two devices try to access the bus at the same time the device with the higher priority level lowest ID number has permission to send its message Devices with the lowest priority level must cancel their data transfer and wait before re trying to send their message Data communication is carried out via messages These messages consist of a unique COB ID refer to glossary followed by a maximum of 8 bytes of data The COB ID which determines the priority of the message consists of a function code and a node number The node number corresponds to the network address of the device It is and has to be unique on a bus in order to distinguish nodes and prevent any conflict of interests The function code varies according to the type of message being sent Management messages NMT e Messaging and service SDOs e Data exchange PDOs e Predefined messages Synchronizati
36. efault Value Access BootUp 0 Integer 16 rw yes The valid preset value ranges depend on the current resolution of the IK360 An error message will apear if the preset value is out of range Resolution Preset Range in decimal Type IK360 2 axis IK360 1 axis 1 80 0 360 0 1 800 0 3600 0 01 8000 0 36000 Resolution Preset Range in decimal IK360 IK360L CAN Date 08 08 2013 Page 33 of 42 Art no 86089 Mod Status 292 13 Precision in Motion Resolution Preset Range in decimal Type IK360L 2 axis IK360L 1 axis 0 05 80 0 360 After setting the Preset value a save command has to be given in order to set the Preset value permanently 8 19 Object 2601h Preset Y Axis IK360 IK360L 2 axis In IK360 IK360L 2 axis inclinometers this object sets the Y axis to a desired value It is hard wired with objects 6022h and 6122h Restore after BootUp 0 Integer 16 rw yes Subindex Description Data Type Default Value Access The valid preset value ranges depend on the current resolution of the IK360 IK360L An error message will apear if the preset value is out of range Resolution Preset Range in decimal Type IK360 2 axis IK360 1 axis 1 80 0 360 0 1 800 0 3600 0 01 8000 0 36000 Resolution Preset Range in decimal Type IK360L 2 axis IK360L 1 a
37. gapore Industrial Property Siko Comment Description Image Modify e Controller Description TWDLMDA20D TK Modular base controller 12 24V DC inputs 8 ouputs 0 3A source transistors Removable MIL connectors Description of the module Reference number TWDOLMDA20DTK Address 0 E 2 Description Modular base controller 12 24V DC inputs 8 ouputs 0 34 source transistors Removable MIL connectors e CANopen Master Configuration TWDNCO1M CANopen bus master module 28 Description of the module Reference number TWDNCO1M Address 1 Description bus master module IK360 IK360L CAN Date 08 08 2013 Page 20 of 42 Art no 86089 Mod Status 292 13 Citi HU 6 3 gt Precision in Motion 1 360 IK360L inclinometer Electronic Data Sheet EDS The IK360 IK360L EDS file once uploaded will load all the objects including the PDOs to the controller The Schneider system automatically identifies the PDOs and maps them on to the slave device e Connection network setup The illustration 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 CANopen communication interface CANopen Master lt 2 125 Linking of master and slave The next step after the setup of the net
38. he same tightening torque for all the screws An appropriate and well secured counter connector is also an important constraint for attaining the stated IP69K protection Prior to installation please check for all connection and mounting instructions to be complied with Please also observe the general rules and regulations on low voltage technical devices for safety and sustainability of IK360 IK360L Inclinometers over long period of time Bus termination If the inclinometer is connected at the end or beginning of the bus for higher transmission baud rates 2 50 kBaud s a termination resistor of 120 Ohm must be used in order to prevent the reflection of information back 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 following diagram shows the components for the physical layer of a two wire CAN bus Other CAN nodes IK360 IK360L IK360 IK360L BC inclinometer a gt inclinometer 1200 CAN High wire Master 120 CANope n CAN Low wire IK360 IK360L CAN Date 08 08 2013 Page 11 of 42 Art no 86089 Mod Status 292 13 Precision in Motion 4 5 Measurement axis IK360 IK360L 1 axis Initial Starting Point Factory Settings Measurement axis and mid angle position factory setting connector facing down IK360 IK360L 2 axis 0 Mid
39. lueoccasional malfunctions occur The CAN bus also can be temporabily in the bus off state Possible solution Please check if the last bus nodes have the terminal resistor If the last bus node is an inclinometer add a terminal resistor IK360 IK360L CAN Date 08 08 2013 Page 27 of 42 Art no 86089 Mod Status 292 13 gt Precision in Motion Too many ERROR Frames Problem The bus load is too high in case of too many error frames Possible solution Check if all bus nodes have the same baud rate Even if one node has a different baud rate error frames are produced automatically e Unexpected module Module missing Wrong module Problem Improper definition of node address or improper loading of EDS file Solution Reinitialize the CAN bus or re install the EDS file Node state stopped upon loading and initialization Problem Mostly because the bus transmission timeout is defined lesser than the IK360 IK360L transmission time Solution Increase the bus timeout period approximately 2 3 seconds Unable to change to another node number If all nodes are found to be in operational mode than follow the next few steps to set the required node number to a selected device 1 Calculate the required node number in hexadecimal IK360 IK360L is internally programmed to add 1 to any node number change fed to it in order to avoid the node number 0 2 For example If we want a Node Number 28 de
40. ly programmable parameters like resolution preset and software filters Other functions Such as offset values baud rate and node number can also be configured using CANopen objects in the IK360 IK360L inclinometers with ease and according to the network Various software tools for configuration and parameter setting are available from different suppliers It is easy to align and program the inclinometers using the EDS electronic data sheet configuration file provided IK360 IK360L Modes and Parameters The purpose of this chapter is to describe all the available configuration parameters of the IK360 IK360L inclinometers with a CANopen interface Before going into details the following information describes useful technical terms and acronyms for CANopen network communication EDS Electronic Data Sheet An EDS file describes the communication properties of a device on the CAN network baud rates transmission types I O features etc It is provided by the device manufacturer and is used in the configuration tool to configure a node PDO Process Data Object CANopen frame containing data We distinguish between Transmit PDOs TPDOs with data provided by a node e Receive PDOs RPDOs with data to be consumed by a node The transmission direction is always seen from a node s point of view IK360 IK360L CAN Date 08 08 2013 Page 6 of 42 Art no 86089 Mod Status 292 13 Precision in Motion SDO Service Data Obj
41. on Emergency messages IK360 IK360L CAN Date 08 08 2013 Page 5 of 42 Art no 86089 Mod Status 292 13 2 3 3 gt Precision in Motion IK360 IK360L CANopen The IK360 IK360L CANopen inclinometer corresponds to the CANopen device profile for inclinometer DS 410 in which the characteristics of inclinometers with CANopen interface are defined In addition to high resolution accuracy and protection class of IP69K it has in built active linearization and temperature compensation This makes IK360 IK360L suitable for rugged environments and versatile applications in industrial heavy duty and military applications The inclinometer supports the following operating modes e Polled mode The position value is transmitted only on request e Cyclic mode The position value is sent cyclically regular adjustable intervals on the bus e SYNC mode The position value is sent after a synchronization message SYNC is received The position value is sent every n SYNCs 2 1 e State change mode The position value is transmitted whenever the position of the inclinometer in continuous operation changes The CANopen interface of the IK360 IK360L inclinometer permits transmission rates of up to 1 MBaud s 30 m 100 ft cable for a maximum speed of 1 MBaud s 5000 m 16 500 ft cable for a maximum speed of 10 kBaud s The IK360 IK360L CANopen is a flexible measurement device This is proved by the fact that it has easi
42. pe Default Value Access BootUp 0 String ro no Object 100Ah Mfr Software Version The object contains the manufacturer software version Restore after Subindex Description Data Type Default Value Access BootUp 0 String ro no Object 100Ch Guard Time The object contains the guard time in milliseconds Subindex Description Data Type Default Value Access BootUp 0 Unsigned 16 0 rw yes Object 100Dh Life Time Factor This object contains the life time factor parameters The life time factor multiplied with the guard time gives the life time for the node guarding protocol Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 8 0 rw yes IK360 IK360L CAN Date 08 08 2013 Page 30 of 42 Art no 86089 Mod Status 292 13 eee Precision in Motion 8 10 Object 1010h Store Parameters This object is used to store device and CANopen related parameters to non volatile memory Subindex Description Data Type Default Value Access 0 Unsigned 8 4 1 Unsigned 32 rw no Save 2 communicatio Unsigned 32 rw no parameters Save 3 application Unsigned 32 rw no parameters Save 4 manufacture Unsigned 32 rw no parameters Storing Procedure To save the parameters to non volatile memory the access signature
43. r the event timer expires The value is written in sub index 5 of the object 1800 or 1801 The data transfer also takes place with no change to data The range is between 1 65536 ms Date 08 08 2013 Page 16 of 42 Art no 86089 Mod Status 292 13 5 5 gt Precision in Motion Cyclic Timer The cyclic timer is useful to set the position transmission to cyclic mode The cyclic timer can be programmed from Oms to 65536 ms When enabled the IK360 IK360L transmits the position value contained in the PDO at constant prescribed intervals even if there is no change in the position value Object 2200h is used to set the cyclic timer value Object 1A00h 1st Transmit PDO Mapping parameter This object contains the mapping parameter of the 1st transmit PDO Subindex Description Data Type Default Value Access 80 IK360 Number of sub IK360L 2 axis indices Unsigned 8 6p IK360 i yes IK360L 1 axis 1 Mapped object Unsigned 32 6010 00 10 rw yes 2 Mapped object Unsigned 32 6020 00 10 rw yes Object 1A01h 2nd Transmit PDO Mapping parameter This object contains the mapping parameter of the 2nd transmit PDO Subindex Description Data Type Default Value Access ESE BootUp 80 IK360 Number of sub IK360L 2 axis 0 indices Unsigned 8 3602 IK360 ro yes IK360L 1 axis 1 Mapped object Unsigned 32 6010 00 10 rw yes 2 Mapped object Unsigned 32 6020 00 10 rw Yes
44. the IK360 IK360L inclinometer and the PLC Select the bus configuration option to define the name of the bus the transmission speed and supervision time Make sure that the IK360 IK360L is programmed to the appropriate baud rate as that of the bus IK360 IK360L CAN Date 08 08 2013 Page 22 of 42 Art no 86089 Mod Status 292 13 Precision in Motion CANOpen Bus Parameters Baudrate Supervision e Linking of CANopen master and IK360 IK360L 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 the slave end are transmitted and saved on to the controller s memory Linking X Not Linked Slaves PDOs Linked Master PDOs Type Transmit 13 Receive Slave PDO Name COB ID g Inclinomtr PDOTX1 181 Inclinomtr 2 5 N m m m gt 1 500 Memory space 096 e 1 360 IK360L amp Controller memory configuration The current and updated position values from the IK360 IK360L encoder are mapped on to an EEPROM memory location in the controller This memory location in this case lWC1 0 0 and IWC1 1 0 will always contain the slope values obtained from the object 6010h of the IK360 IK360L when the controller is online Description of the module Reference number TWDNCO
45. this object provides the Y axis position value vU Restore after Subindex Description Data Type Default Value Access BootUp 0 gt Integer 16 ro no Resolution Preset Range in decimal Type IK360 2 axis 1 80 0 1 800 0 01 8000 Calculation of position slope value from CANopen readout Inclination Degree Slope Lateral16 Object 6020h x Resolution Object 6000h 8 32 Object 6021h Slope lateral16 operating parameter This object controls the scaling and inversion of the slope lateral16 value If bit O is set inversion of slope lateral16 is enabled If bit 1 is set slope lateral offset and differential slope lateral16 offset are added to the slope lateral16 Both bits can be set at the same time Subindex Description Data Type Default Value Access i ootUp Position 0 Scaling and Integer 8 00 rw no Inversion Bit 1 Bit 0 Position Calculation 0 0 X 0 1 X 10000h X f r 16 bit objects 100000000h X for 32bit objects 1 0 X Object 6023h Object 6024h 1 1 X Object 6023h Object 6024h IK360 IK360L CAN Date 08 08 2013 Page 38 of 42 Art no 86089 Mod Status 292 13 ee Precision in Motion 8 33 Object 6022h Slope lateral16 preset value This object is used to define a new desired lateral slope value The value will be set only according to the current resolution
46. tners on the network The exchange of PDOs is authorized when the device is in Operational mode Note The PDOs can be directly mapped in to memory locations on the controller and can be viewed upon reading those memory locations An example is provided in the next section with a SCHNEIDER TWIDO controller Object 1800h 1st Transmit PDO communication parameter This object contains the communication parameter of the 1st transmit PDO Subindex Description Data Type Default Value Access ieu Number of sub 00h indices Unsigned 8 5 ro yes 01h COB ID Unsigned 32 180h Node ID rw yes Transmission 02h Mode Unsigned 8 OxFE rw yes 03h Inhibit Time Unsigned 32 0x00 rw yes 04h Not Available 05h Event Timer Unsigned 32 0x00 rw yes Subindex Second degree identifier used in combination with the object Follows the object numbe Date 08 08 2013 Page 15 of 42 Art no 86089 Mod Status 292 13 Object 1801h 2nd communication parameter This object contains the communication parameter of the 2nd transmit PDO Precision in Motion Subindex Description Data Type Default Value Access Number of sub 00h indices Unsigned 8 5 ro yes 01h COB ID Unsigned 32 280h Node ID rw yes Transmission 02h Mode Unsigned 8 OxFE rw yes 03h Inhibit Time Unsigned 32 0x00 rw yes 04h Not Available 05h Event Timer
47. work is the configuration of all the parameters and settings to facilitate the communication between the master slave and the controller This picture is the overall description of the setup with the TWIDO TWDLMDA20DTK controller TWDNCO1M CANopen communication expansion module and the IK360 IK360L EDS file Configuration 1 360 IK360L Process Data Objects PDO Mapping The list of available objects is pre programmed in the EDS file Select the IK360 IK360L inclinometer on the 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 PDO s of the IK360 IK360L IK360 IK360L CAN Date 08 08 2013 Page 21 of 42 Art no 86089 Mod Status 292 13 Vy Il l H 1 1 iil C Precision in Motion Available Objects 6010 Slope 360 1 360 IK360L CANopen node configuration Click at the IK360 IK360L inclinometer on the bus and select the CANopen configuration option It is used to define the name type address and supervision of the node Make sure the node number and the address coincide for the inclinometer selected Configuration Name 1K360 Protocol Type Address 1 Supervision None Init Default e CANopen bus network configuration Click on the bus connecting
48. working of inclinometer in a CAN bus is illustrated in the following sections Please note that the programming in other control systems may vary individually Please have this section as a reference for IK360 s IK360L s working with programmable logic controllers Network initialization Hardware The initial step in setting up an IK360 IK360L is integrating it into the existing hardware The following illustration shows an IK360 IK360L integrated into a PLC with an CANopen communication interface It is very important to add termination resistors to the IK360 IK360L which are used at the start or end of the CANopen bus in order to prevent data corruption or missing of data at higher transmission bandwidths 2 50 kB 1200 Termination resistor Controller CAN HIGH to Pin 7 CANopen 1 CAN LOW to Pin 2 DSub8 M connector Hardware setup and wiring IK360 IK360L CAN Date 08 08 2013 Page 19 of 42 Art no 86089 Mod Status 292 13 Precision in Motion 6 2 2 Software project information Once the hardware setup is done the IK360 IK360L should be configured in such a way that it is compatible to the already existing setup and gives a proper position output Project information File information Project IK360 Directory C Program Files x86 Schneider Electric TwidoSuite My projects Project information Author ANA Department Control Engg Index Sin
49. xis 0 05 80 0 360 After setting the Preset value a save command has to be given in order to set the Preset value permanently 8 20 Object 3000h Node Number This object contains the node number of the device The standard node number is 1h ar Restore after Subindex Description Data Type Default Value Access BootUp 0 Node Number Unsigned 8 0 rw yes Note To avoid the node number zero 0 one 1 will be added to the value of this object E g 1Fh 1h 20h 32 dec IK360 IK360L CAN Date 08 08 2013 Page 34 of 42 Art no 86089 Mod Status 292 13 Precision in Motion 8 24 Object 3001h Baud rate This object contains the baud rate of the device T Restore after Subindex Description Data Type Default Value Access BootUp 0 Baud rate Unsigned 8 rw yes Eight different baud rates are provided see table below To adjust the baud rate only one byte is used The default baud rate is 125 kB Baud rate in kB Byte 20 00h 50 Oth 100 02h 125 03h 250 04h 500 05h 800 06h 1000 07h 8 22 Object 3002h Termination Resistor This object is used to activate the termination resistor in case the IK360 IK360L is used at the edges of the transmission line to avoid reflection of data back into the line and or high transmission rates gt 50 kB Subindex Description Data Type Default Value Access
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