absolute inclinometer with device net interface user manual
Contents
1. 2 bis 27 2 bis 2 5 2 bis 2 Attention 5 15 version resolution 0 001 45 version resolution 0 01 Status Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit 0 Flag 0 0 0 0 0 0 _Y Axis Overrange X Axis Overrange Meaning 0 in range 0 in range T out of range 1 out of range no meaning default value 0 Reserved for extensions in future Version 04 01 page 9 of 16 UME_ANSD doc POSITAL FRABA 6 Installation 6 1 Electric connection The rotary encoder is connected by three cables The power supply is achieved with a two wire connection cable through one PG 9 Each one of the twisted pair and shielded bus lines are guided in and out through two PG 9 on the right side as seen on clamps ar ON EG 0O000OO000 O0OOOOO GL H G L H Clamp Description L Ground 24 V Supply voltage OV Supply voltage CG CAN Ground CL CAN Low CH CAN High CG CAN Ground G CAN Low CH CAN High Version 04 01 page 10 of 16 There is a resistor provided in the connection cap which must be used as a line termination on the last device Resistor Last Device Device X R R T T The settin g of the node number is achieved by 2 turn switches in the connection cap Possible addresses lie between 0 and 63 whereby every address can only be used o2. Applications are structural engineering levelling and measuring techniques or inclinations The absolute inclinometer has got a maximum resolution of 45 per each axis Totally a 2 axis version is available in one housing A update cycle time for the inclination is 5 times per second This depends on the internal measurement principle The integrated CAN Bus interface of the absolute inclinometer supports all the DeviceNet functions The following modes can be programmed and enabled or disabled Version 04 01 page 1 of 16 Polled Mode Change of State Cyclic Mode The protocol supports the programming of the following additional functions Preset value for Axis X Preset value for Axis Y Out of range measurement detection Status information The general use of absolute inclinometer with DeviceNet interface is guaranteed UME_ANSD doc POSITAL FRABA 2 Data Transmission The data transmission in the DeviceNet network is realized by message telegrams Basically these telegrams can be divided into the CAN ID and 8 following bytes as shown in the table below 2 1 The Object Dictionary Instance Attribute of the Position Sensor Objects COB ID Message Header Message Body 11 Bit Data length 1 Byte Description Out of range measurement detection Status information Class Code 65 hex Attribute ID Access Name 65 hex Get Number of Attributes 66 he
3. 04 09 00 00 Version 04 01 page 7 of 16 UME ANSD doc POSITAL FRABA Release Master Slave Connection Set Release COS Byte Offset Bit 7 Bite Bits Bits Bits Bit2 Biti Bito 0 Frag 0 XID MAC ID 1 R R 0 Service 4C Class ID 03 Instance ID 01 Release Choice 51 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 41E OA 4C 03 01 51 4 3 Saving Parameter The parameter of the inclinometer are saved in a non volatile FLASH memory Because of a limited number of writing cycles 1 000 it is useful to transmit the modified parameter in the first step only in the RAM area After adjusting and examination those values should be saved in the FLASH memory Byte Offset Bit7 Bte Bit5 0 Frag fo XID___ MAC ID 1 RR fo Service 32 Class ID 65 Instance ID 01 Example MAC ID Master 0A hex MAC ID Slave 03 hex Version 04 01 lBit4 Bits Bit2 page 8 of 16 After successful saving of the parameter the encoder is sending his MAC ID on the bus To get the process value a new allocation of the slave is required CAN ID Byte0 Byte1 Byte2 Byte3 41C oA 132 65 01 UME ANSD doc POSITAL FRABA 5 Transmission of the actual position The process value is transmitted according to the following table CAN ID process value X Axis Y Axis Status 11 Bit Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 VALUE 2 bis 2 215 bis 2
4. 04 01 page 3 of 16 UME_ANSD doc POSITAL FRABA 3 Programmable Parameter 3 1 1 Preset value X Axis The preset value is the desired position value which should be reached at a certain physical position of the axis The position value of the Attribute ID Default value 68 hex 3 1 2 Preset value Y Axis The preset value is the desired position value which should be reached at a certain physical position of the axis The position value of the Attribute ID Default value 69 hex 3 1 3 Out of range measurement detection This feature allows the user to detect an over or underrange detection of the measurement value An out of range status is indicated by a status byte in the I O connection Attribute ID Default value 70 hex 3 1 4 Status information This parameter is also transmitted in the I O connection Two flags in the status byte indicates independently an overrange for each axis Attribute ID Default value 71 hex Version 04 01 Value range Ohex total measuring range Value range Ohex total measuring range Value range Ohex 1hex Value range Ohex 3hex page 4 of 16 inclinometer is set to the desired process value by the parameter preset The preset value must not exceed the physical resolution of the sensor Data length Signed Integer 16 inclinometer is set to the desired process value by the parameter preset The preset value must not exceed the
5. of the Polling Connection on 0 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C OA 10 05 02 09 00 00 Release Master Slave Connection Set Release Polling Byte Offset Bit 7 Bte Bits pBita Bit3 Bit2 Biti Bito 0 Frag 0 XID MAC ID 1 R R 0 Service 4C Class ID 03 Instance ID 01 Release Choice 03 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 41E OA AC 03 01 03 Version 04 01 page 6 of 16 UME ANSD doc POSITAL FRABA 4 2 Change of State Mode The inclinometer is sending without any request from the host when the actual process value Is changing No telegram will occur when the position 1 Allocate COS value is not changing The result is a reduced bus loading Allocate Master Slave Connection Set Byte Offset Bit7 Bite Bt5 Bit4 Bit3 Bit2 Biti Bito 0 Frag 0 XID MAC ID 1 R R 0 Service 4B Class ID 03 Instance ID 01 Allocation Choice 51 Lo 0 Allocator MAC ID Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 41E OA 4B 03 01 51 OA 2 Setting Expected packet rate of the Explicit Message Connection on 0 Example CAN ID Byte0 _ Byte 1 Byte2 Byte3 Byte4 Byte5 _ Byte 41C OA 10 05 01 09 00 00 Setting Expected packet rate of the Change of State Connection on 0 Example CAN ID Byteo _ Byte 1 IByte2 Byte3 Byte4 Byte5 _ Bytee 41C OA 10 05
6. D check to establish a connection If the time interval is not kept the master must try allocation again The changeable values are written in an italic spelling Identity Hex 1 0 DestinationMACID 1 o lo Master to Inclinometer Set Parameter Master s Explicit Request Message CAN ID MACID Service Code Class ID Instance ID AttributelD 41C 0A 10 65 01 X desired Preset Value Inclinometer to Master Confirmation CAN ID MAC ID Service Code ytet gt Bytet gt 41B OA 90 Version 04 01 page 12 of 16 UME_ANSD doc POSITAL FRABA 7 2 2 Preset Value for Y Axis CAN Identifier Definition NS EE 2 1 0 Identity Hex o Usage gt Range 1 0 Destination MAC ID 1 0 0 Master s Explicit Request Message Master to Inclinometer Set Parameter CAN ID MACID Service Code Class ID Instance ID AttributelD 41C OA 10 65 01 69 X xX X desired Preset Value Inclinometer to Master Confirmation CAN ID MAC ID Service Code ByteO Byte1 41B OA 90 7 2 3 Operating Parameter Enables the flags in the status byte In the following table is listed which kind of flags can be configured Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bito 0 0 0 0 0 0 0 Overrange Detection for X Y axis 0 no out of range measurement detection activated 1 out of range measurement detection activated CAN Identifier Definitio
7. POSITAL FRABA ABSOLUTE INCLINOMETER WITH DEVICE NET INTERFACE USER MANUAL Version 04 01 UME_ANSD doc POSITAL FRABA Contents Page 1 Introduction rrrnnrnorrnnnrvrrnnnrvvnnnnrnvnnnnrnnnnnnennnn 1 2 Data Transmission rrrrnnnrernnnrvvnnrvnnnnrnnnnnnvnnnennn 2 2 1 The Object Dictionary rrvrrrnnnrnvvrrnnnnrvrrvnnnnnn 2 2 2 CAN Identifier Definition rrrrennrnnnrrrrnrnnnnrr 3 3 Programmable Parameter rrnnnnnnnnnnnnnnnnnnnnnnn 4 4 Operating Mode rrrrnnnnnnnnnvnnnnnnrnennrnnnerernnnnnnnn 5 4 1 Polled Mode rrrmnrnnnnnnnnnnrnnrnnnrnvnnnnrnnnnnnrnnnnnnen 5 4 2 Change of State Mode ranrnnrnnrnnvnnnnnrnnnnnnnn 7 4 3 Saving Parameter rrrnnnnnrnnnnnnnnnvnvvrnnnnnnerrnen 8 5 Transmission of the actual position 9 6 Installation osrrrrnnrrnnnrrnnnrrvrnnrrnnnnrnnnnnnnnneennnn 10 6 1 Electric connection s siskssmremisesani 10 6 2 Settings in the Connection Cap 11 7 Power ON ee 12 7 1 Operational Status rrrrrrrrnnnnnnrrrvrrnrnnnnnnnr 12 TREN FP 6610 163 190100 1 E T 12 8 Technical Data cincrrucssisiiiueorintsuseriaberdescanduanciided 15 8 1 Electrical Data rrrnnrrnnnrrnrnnrrnnnnrnnnnnnvnnernnnnr 15 8 2 Mechanical Data rrrnnnnrnonnnnrnrnnnrvnrrnnrrnnnnnnr 15 Version 04 01 UME ANSD doc POSITAL FRABA 1 Introduction Absolute inclinometers provide a definite value for every possible inclinations
8. d copy or hand over to a third party this documentation without written approval by the company FRABA POSITAL GmbH Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice Disclaimer of Warranty FRABA POSITAL GmbH makes no representations or warranties either express or implied by or with respect to anything in this manual Version 04 01 page 16 of 16 And shall not be liable for any implied warranties of merchantability and fitness for a particular purpose or for any indirect special or consequential damages Alteration of Specifications reserved Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Document information File name UME ANSD doc Stand 04 03 2001 Version number 04 01 Author KM Phone Service For technical support questions and suggestions for improving our products and documentations call our telephone line 49 0 221 96213 28 UME ANSD doc
9. n WO Se e Ne NES 2 JE O Identity Hex _ Usage ss Range 1 O Destination MAC ID 1 0 0 Master s Explicit Request Message Version 04 01 page 13 of 16 UME_ANSD doc POSITAL FRABA Master to Inclinometer Set Parameter CAN ID MACID Service Code Class ID Instance ID AttributelD ac joa jo 68 jot v x X desired Value Inclinometer to Master Confirmation CAN ID MAC ID Service Code i Byteo Bytet o o 41B OA 90 7 2 4 Status Byte The status byte offers the user very easy detection of alarm or warning messages If the inclination sensor is out of range this is indicated by a flag for each axis This flag is valid for under overflow Status Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit 0 Flag 0 0 0 0 0 0 _Y Axis Overrange X Axis Overrange Meaning 0 in range 0 in range 1 out of range 1 out of range no meaning default value 0 Reserved for extensions in future This information can only be read and is not writeable 7 2 5 Parameter Saving Master to Inclinometer Set Parameter If the transfer has been successful the inclinometer quotes after 3s with the Duplicate MAC ID After CAN ID MACID Service Class Instance that the master has got to re allocate the slave Code_ ID ID lf the transfer is not successful an error message Byteo Bytet Byte 2 B
10. nce Inside the encoder the defined address is increased by one 2 LEDs on the backside of the connection cap show the operating status of the encoder UME_ANSD doc POSITAL FRABA 6 2 Settings in the Connection Cap Baudrate in kBit s BCD Drehschalter BCD coded rotary switches 125 lo 250 E 500 2 125 3 reserved ame Bus connection The connection cap fulfills the function of a T coupler From there the wiring must be done i according to the drawing on the left side Please O0OOONOO note the assignment of incoming and outgoing bus SISISISISISISIS signals An activated bus termination resistor will lead into a separation of bus in and bus out BE GL HGLH signals LaS Bus In Bus Out Version 04 01 page 11 of 16 UME_ANSD doc POSITAL FRABA 7 Power On 7 1 Operational Status After power on the inclinometer is sending for twice times its MAG ID telegram on the bus Between each telegram is a defined pause of 1 second This behaviour is defined by the DeviceNet protocol 7 2 Programming If some parameters should not be modified you could step over this chapter The following numerical are given in hexadecimal spelling In the examples for CAN ID and MAC ID is Master 0A hex and for the slave 03 hex 7 2 1 Preset Value for X Axis CAN Identifier Definition J Before communication is possible the user must wait 1 second again after the 2nd MAC I
11. physical resolution of the sensor Data length Signed Integer 16 When this feature should be activated the operating parameter must be configured Data length Data length UME_ANSD doc POSITAL FRABA 4 Operating Mode 4 1 Polled Mode For switching the polled mode on the following Allocate Master Slave Connection Set telegrams are needed Further it is assumed in the following example a master MAC ID of OA hex and a slave MAG ID of 03 hex Allocate Polling Byte Offset Bit 7 Bite Bits Bit4 Bt3 Bit2 Bit1 Bito 0 Frag 0 XID MAC ID 1 R R 0 Service 4B Class ID 03 Instance ID 01 Allocation Choice 03 10 9181 1716 15 4 3 2 1 0 Identity Hex tt tt ft ft Usage Range 1 0 Destination MAC 1 1 0 Group 2 Only Unconnected Explicit Request ID Message reserved Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 41E OA 4B 03 01 03 OA Setting the Expected packet rate of the Explicit Message Connection on 0 CAN Identifier Definition 10 918171615141 3 121110 Identity Hex app PP pp age Range 1 10 Destination MAC ID 1 o 0 Master s Explicit Request Message Version 04 01 page 5 of 16 UME ANSD doc POSITAL FRABA Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C OA 10 05 01 09 00 00 Setting the Expected packet rate
12. x Get Attribute 67 hex Get Inclination value 68 hex Get Set Preset Value X Axis 69 hex Get Set Preset Value Y Axis 70 hex Get Set Operating Parameter 71 hex Get Status Get Set read write Version 04 01 page 2 of 16 UME ANSD doc POSITAL FRABA 2 2 CAN Identifier Definition The inclinometer is a Group 2 Server which uses the Predefined Master Salve Connection Set In the following table a user can see the necessary identifier for communication 8 7 J 41312140 Identity Hex pp PP ft L I Usage gt Range gt O Group 1 Source MAC ID GROUP 1 Message 000 3ff __ Message ID ea al jell Source MAC ID Slave s I O Change of State or Cyclic Message O 111111 1 Source MAC ID Slave s I O Poll Response or Change of State Cyclic Jj Acknowledge Message 4 1 10 MAC ID Group 2 GROUP 2 Messages 400 5ff Message 1 10 Master s Change of State or Cyclic Acknowledge Destination Message 1 Destination MAC 1 0 Master s Explicit Request Message e 1 f Destination MAC 1 0 1 Masters I O Poll Command Change of State Cyclic ID Message o 1 f Destination MAC 1 1 0 Group 2 Only Unconnected Explicit Request Message JD pp reserved 4 1 f Destination MAC 1 1 1 Duplicate MAC ID Check Messages ID Version
13. yte 3 will be send The used service code to save the 32 65 01 parameter set is manufacturer specific Version 04 01 page 14 of 16 UME_ANSD doc 8 Technical Data 8 1 Electrical Data General Layout Supply Voltage Power Consumption EMC Bus connection Resolution Code Electrical Lifetime POSITAL FRABA according to DIN VDE 0160 10 30 V DC absolute limits max 5 Watt electro magnetical emission according to EN 50 081 2 galvanically separated by opto couplings CAN Transceiver according to ISO DIS 11898 up to 45 degrees ue to 2 axis Baudrate Node Number 8 2 Mechanical Data Housing Connection Operating temperature Storage temperature Humidity Degree of protection EN 60529 Housing Version 04 01 gt 105h 3 values programmable by 2 rotary switches programmable by 1 rotary switch in the connection cap Aluminium Connection Cap as T Coupling with clamps optional axial connector D Sub 9 pins 0 70 C 40 85 98 without liquid state IP 65 page 15 of 16 UME ANSD doc electro magnetical compatibility according to EN 50 082 2 POSITAL FRABA Imprint FRABA POSITAL GmbH Schanzenstr 35 D 51063 K ln Phone 49 0 221 96213 0 Fax 49 0 221 96213 20 Internet http www posital de e mail info posital com Copyright The company FRABA POSITAL GmbH claims copyright on this documentation It is not allowed to modify exten
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