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1. Firmware Version 13 20 E 301 0x01 m Sensor Konfiguration Sensor 3D Ansicht Sensor Oszilloskop 300h 301h 40 sorScan firmware Update Sensor Auswahl X Sensor Konfiguration x ungssensor SSS amp CAN Alle Parameter Analogausg nge canoes Ausgang kanalA OkanalB Konfiguration nbenannt ISDControl Tee z Ausgang x Achse m i Desi Ansicht Extras Hife E E Hi Begrenzung i i canycanopen m 1000 kBit s Im 200h 30th J 10 sensor Scan Firmware Update Spannungsausgang or Auswahl x TEET Neigungssensor pa XE CAN Baudrate Node ID Ls Comm Parameter Manu Parameter Appl Parameter vu 0 500 V gingabe Dokument Sensor 4 500 V Eingabe Ei CANopen Nodeguarding aktivieren o 152D 90 P eem Guard Time in ms J Strom Lfe Time Factor Heartbeat aktivieren n Spannung Intervallzit in ms Fumware Update Synchronisiertes Senden r2 Nach Anzahl SYNC Telegramme 1 1 pfe Standard tollen V Winkelwerte anzeigen Zyklischer Betriebsmodus o Zykluszei in ms S E E o f 0 02 or Info x COB ID SYNC ox 080 080 LI o PE HA oe Sperrzeit EMCY in ms 10 a a E 0 00 Te an Sperrzeit TPDO1 in ms 10 a odukt Code PR 23154 00 Seriennummer 00001 ike ID 1S20 90 P21 ware Version v3 21 Vinkelbereich 490 l sung nu us Statusbyte 0x01 m Dokument Sensor Dokument lt Sensor Standard ensor Konfiguration Sensor 3D Ansicht Sensor Osziloskop
2. Functions Angle request cyclical and synchronized outputs two programmable digital filter low pass 8 order configuration via object dictionary Electrical Parameters Supply voltage 8 to 48 VDC Current consumption 33 mA 24 V Mechanical Parameters Connector CAN 2x sensor connector 5 pole M12 loop through connector Degree of protection IP65 67 Dimensions Weight Plastic housing 66 mm x 90 mm x 36 mm ca 215g CANopen conformity Certificate CiA201108 301V402 20 0143 CiA DS 301 v4 2 0 Application layer and communication profile CiA DS 410 Device profile for inclinometer CiA DSP 305 Layer setting service LSS and protocols CiA DR 303 3 Indicator specification Status LED CiA AN 801 Automatic bit rate detection CE conformity to EC Directive 2006 42 EC EC Directives RL 2004 108 EC EMC Directive RL 2006 95 EC Low Voltage Directive LVD Harmonized standards DIN EN 50498 2010 Electromagnetic compatibility EMC Product family standard for aftermarket electronic equipment in vehicles EN 60950 1 2006 A1 2010 Information technology equipment Safety General requirements EN ISO 14982 2009 Agricultural and forestry machinery Electromagnetic compatibility Test methods and ac ceptance criteria DIN EN 13309 2010 Construction machinery Electromagnetic compatibility of machines with internal power supply Table 3 Technical Data 2 Allindicated angle accuracies are valid after a running time of 10 minute
3. 0 x 8 Mapping Entry 8 UNS8 rw 0 x 1F50h Download Program Data 0 Largest supported Sublndex DOMAIN ro 3 1 Area Firmware DOMAIN wo 2 Area Configuration 1 Access only to manufacturers DOMAIN wo 3 Area Configuration 2 Access only to manufacturers DOMAIN wo 1F50h Download Program Control 0 Largest supported SubIndex UNS8 ro 3 1 Area Firmware UNS8 rw 1 2 Area Configuration 1 Access only to manufacturers UNS8 rw 1 3 Area Configuration 2 Access only to manufacturers UNS8 rw 1 Table 10 Communication Parameters in the Object Dictionary 8 7 1 1 Error Register 1001h The error register displays the general error state of the device Each bit stands for an error group If one bit is set 1 at least one error of that specific group occurs The content of this register is transmitted in each EMCY object The following error groups can occur Error Register 1001h Lae qp ox JDosm 3p ec Lee ee ee ee Manufacturer Accuracy Profile Specific Communication Unused At least one Specific Error Warning Error Error active fault Table 11 Error Register 1001h If the device is in error state at least one active error this is shown by the set BitO 1 In the event of a communication error overflow of the transmit receive buffers guarding errors or CAN controller in the passive mode Bus Off the Bit4 is set A device profile specific error sensor error is shown by Bit5 The Bit7 indicates a vendor specific error EEPROM erro
4. 004 20 00 Figure 5 Dimensioned Sketch of metal housing t I for hexagon socket screw M5 DIN 912 A2 4 pcs mandatory use conical S spring washer M5 DIN 6796 A2 4 pcs 66 0 45 0 I I I I I I I I R29 90 0 Figure 6 Dimensioned Sketch of plastic housing Document 231xx HB 1 0 E ISxxxxxx O xL 9 GEMAC Sensorik Messtechnik ASIC Design 5 Mounting 36 3 33 9 Figure 7 Dimensioned Sketch of small plastic housing Document 231xx HB 1 0 E ISxxxxxx O xL 10 6 Connection A Sensorik Messtechnik ASIC Design 6 Connection 6 1 Connector Pin Out The inclination sensors IS1TK360 O RL IS2TK090 O RL IS1BP360 O CL and IS2BP090 O CL are equipped with a common 5 pole round plug M12 A coded and a 5 pole round female connector A coded The pin allocation fulfills CiA DR 303 1 Figure 8 Figure 9 CAN SHLD Shield 2 CAN V Supply voltage 24 V 3 CAN GND GND 0 V V 4 CAN_H CAN_H bus line 5 CAN_L CAN_L bus line Figure 8 M12 Plug Connector Pin Out CAN Bus View from the outside CAN_SHLD Shield 2 CAN_V Supply voltage 24 V 3 CAN_GND GND 0 V V 4 CAN_H CAN_H bus line 5 CAN_L CAN_L bus line Figure 9 M12 Female Connector Pin Out CAN Bus View from the outside The inclination sensors IS1SP360 O BL and IS2SP0
5. 1152D 90 P21 Serien Nr 00001 GD NUM 152D 90 P25 Serien Nr 00002 lt gt INUM 29 10 Ordering Information GEMAC Sensorik Messtechnik ASIC Design 10 Ordering Information PR 23120 30 PR 23124 30 PR 23150 30 PR 23154 30 PR 23160 00 PR 23164 00 PR 23999 01 IS1TK360 O RL IS2TK090 O RL IS1BP360 O CL IS2BP090 O CL IS1SP360 O BL IS2SP090 O BL ISPA1 CANopen 1 dimensional 360 metal housing CANopen 2 dimensional 90 metal housing CANopen 1 dimensional 360 plastic housing CANopen 2 dimensional 90 plastic housing CANopen 1 dimensional 360 small plastic housing CANopen 2 dimensional 90 small plastic housing Starter kit including programming adapter cables and PC software Table 25 Ordering Information Document 231xx HB 1 0 E ISxxxxxx O xL 30
6. 2 Definition of the Axes IS1BP360 O CL IS2BP090 O CL plastic housing mm 5 Figure 3 Definition of the Axes IS1SP360 O BL IS2SP090 O BL small plastic housing 7 Figure 4 CIA CANopen Conformance Test Certificate eee ceceeeeeeenneeeeeeeeeneeeeeeeeeeaeeeeeeeeeneeeeeeteenieeeeeeeees 8 Figure 5 Dimensioned Sketch of metal housing 44444rnsnnnnnnennennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 9 Figure 6 Dimensioned Sketch of plastic housing ssssssssseeen eene 9 Figure 7 Dimensioned Sketch of small plastic housing sssm n 10 Figure 8 M12 Plug Connector Pin Out CAN Bus sssesssssseeeeee eene anana sensns nis 11 Figure 9 M12 Female Connector Pin Out CAN Bus uuursssssssnnnssnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 11 Figure 10 M8 Plug Connector Pin Out CAN Bus sssesssseeeene nenne nennen nnne nnne nenne nnne nnns 11 Figure 11 CANopen Boite 13 Figure 12 NMT State diagram r ne en ea nennen 14 Figure 13 SDO Protocol Access to Object Dictionary esssseen nemen 16 Figure 14 Impulse and amplitude response of the two filters ssssssssseeeee 21 Figure 15 Starter Kit e Ee ED RE A te dr re ete eras eue ek o Doo De nuu da 28 Figure 16 desx on tr 29 Document 231xx HB 1 0 E ISxxxxxx O xL V Term and Abbreviation Definition GEM
7. 6012h O Preset Value longitudinal X Axis INT16 rw 0 x 6013h 0 Offset Value longitudinal X Axis INT16 rw 0 x 6014h 0 Differential Offset Value longitudinal X Axis INT16 rw 0 x 6020h 0 Inclination value lateral X axis 100fold angle value in INT16 ro 6021h 0 Operating Parameter lateral Inversion Zero Point Adjustment UNS8 rw 0 x 6022h 0 Preset Value longitudinal Y Axis INT16 rw 0 x 6023h 0 Offset Value longitudinal Y Axis INT16 rw 0 x 6024h 0 Differential Offset Value longitudinal Y Axis INT16 rw 0 x Table 17 Device Profile Specific Part of the Object Dictionary 8 7 3 1 Resolution 6000h The resolution of all inclination sensors are set to 0 01 default 10 0 001 All angle values in the object dictionary 6010h 6012h 6013h 6014h and 6020h 6022h 6023h 6024h are to be interpreted as a mul tiple of 0 01 Example Inclination value 2370 x 0 01 23 70 8 7 3 2 Inclination values longitudinal and lateral 6010h and 6020h The recent inclination values of the inclination axes are accessible by SDO access to the object dictionary in each device state as well as by TPDO If Zero Point Adjustment is enabled via the operating parameters 6011h and 6021h the inclination value is calculated as follows Inclination Value Physically Measured Inclination Value Diff Offset Value Offset Value On disabled Zero Point Adjustment Inclination Value Physically Measured Inclination Value The conversio
8. Hz 8 order with digital filter Operating temperature 40 C to 80 C Characteristics Data rates 10 k 20 k 50 k 62 5 k 100 k 125 k 250 k 500 k 800 k Bit s 1 MBit s autom detection Functions Angle request cyclical and synchronized outputs two programmable digital filter low pass 8 order configuration via object dictionary Electrical Parameters Supply voltage 8 to 48 VDC Current consumption 200mA 24V PPeak 4 8 W Mechanical Parameters Connector CAN 2x sensor connector 5 pole M12 loop through connector Degree of protection IP65 67 Dimensions Weight Metal housing 82 mm x 82 mm x 25 mm ca 310 g CANopen conformity Certificate CiA201108 301V402 20 0143 CiA DS 301 v4 2 0 Application layer and communication profile CiA DS 410 Device profile for inclinometer CiA DSP 305 Layer setting service LSS and protocols CiA DR 303 3 Indicator specification Status LED CiA AN 801 Automatic bit rate detection CE conformity to EC Directive 2006 42 EC EC Directives RL 2004 108 EC EMC Directive RL 2006 95 EC Low Voltage Directive LVD Harmonized standards DIN EN 50498 2010 Electromagnetic compatibility EMC Product family standard for aftermarket electronic equipment in vehicles EN 60950 1 2006 A1 2010 Information technology equipment Safety General requirements EN ISO 14982 2009 Agricultural and forestry machinery Electromagnetic compatibility Test methods and ac ceptance criteria DI
9. Type Device profile 410 Type IS1xx360 O xx 1S2xx090 O xx Error Register Manufacturer Status Register Pre defined Error Field 0 fl O CON ES 0 5 Number of Errors entries Error Code oldest error on highest index COB ID Sync Message Manufacturer Device Name Manufacturer Software Version Vxx yy Guard Time Multiple of 1 ms Life Time Factor Store Parameters Signature s a v e 65766173h at SubIndex 1 4 0 1j 2 3 4 0 ou Econ Erz Con ED 0 Largest supported SubIndex Save all Parameters Save Communication Parameters Save Application Parameters Save Manufacturer Parameters Largest supported SubIndex Restore all Default Parameters Restore Communication Default Parameters Restore Application Default Parameters Restore Manufacturer Default Parameters COB ID Emergency Message Inhibit Time Emergency multiple of 100 us OV 0x1000 0x9FFF OV 0x1000 0x1FFF OV 0x6000 0x9FFF OV 0x2000 0x5FFF OV 0x1000 0x9FFF OV 0x1000 0x1FFF OV 0x6000 0x9FFF OV 0x2000 0x5FFF Producer Heartbeat Time multiple of 1 ms 0 inactive Identity Object 0 1 2 3 4 Largest supported SubIndex Vendor ID Manufacturer ID GEMAC mbH Product Code Revision number Serial number 1200h Server SDO1 Parameter 1800h Transmit PDO1 Communication Parameter Document 231xx HB 1 0 E ISxxxxxx O xL 0 1 2 A O N Largest supported Sublndex COB I
10. be combined Profile Profile 0 Motion Profile a Device Application Profile CIA DS 4xx ISO OSI Layer 7 Application Laver Communication Profile CiA DS 301 ISO OSI Layer 2 Data Link Layer SOSE Te See MEW le Standard ISO 11898 CAN Figure 11 CANopen Structure CANopen describes the ISO OSI layer 7 application layer as a communication profile that was specified in the CiA standard CiA DS 301 The standard defines the method of communication for all devices consist ently In addition more device and application profiles for specific classes of devices and applications in the CiA standard DS 4xx are defined 8 2 CANopen Device Model The exchange of data between CANopen devices is realized via data objects The CANopen communica tion profile thus provides for the following types of objects The process data objects PDO are high priority messages used for the exchange of process data Access to the object dictionary of a device is done via the service data objects SDOs Network management objects are used to control the state machine of the CANopen device and to monitor the nodes Furthermore there are special objects for error messages Emergency Synchronization SYNC and time stamp Every CANopen device has a CANopen object dic tionary in which the parameters for all CANopen objects are registered Document 231xx HB 1 0 E ISxxxxxx O xL 13 8 CANopen Interface GEMAC Sensorik Messtechnik ASIC Design 8
11. ea Le Hansa 18 Table 12 Manufacturer Status Register 1002h 244444sn44nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnn nn 19 Table 13 Error Entry in Pre defined Error Field 1003h u r2244444Hnnnnnnnnnnnnennnnnnannnnnnnnnnnnnnnnnnnnnnnn 19 Table 14 Transmit PDO1 Transmission Type 1800h 02h u 24440HHnnssnnnnnnennannnnnnannnnnnnnnnnnnnn nenn 20 Table 15 Manufacturer Specific Part of the Object Dictionary ssss 20 Table 16 alice iei LE ee een 21 Table 17 Device Profile Specific Part of the Object Dictionary sss HH 22 Table 18 Operating Parameters 6011h and 6021h sssssssssssssse eene nnns 23 Table 19 Zero Point Adjustment en ua da 23 Table 20 Emergency E Bo o MM 24 Table 21 Emergency Error Codes u ehe kennen 24 Table 22 Emergency Manufacturer Specific Error Field ssssnnnnnnnnnnenennnnnnnnnnnnnnnne naar 24 Table 23 LSS Baud Rate Index according to CIA DSP 306 sse 26 Table 24 Status and Error Display through Two Color LED ee 27 Table 25 Ordering Information nennen nennen nennen ennt renes ennt nennen 30 Document 231xx HB 1 0 E ISxxxxxx O xL IV GEMAC Sensorik Messtechnik ASIC Design List of Figures List of Figures Figure 1 Definition of the Axes IS1TK360 O RL IS2TKO90 O RL metal housing ee 3 Figure
12. forestry machinery respectively EN ISO 13309 construction machinery discharge combination 330 pF 330 Q Contact discharge 8 KV bipolar metallic parts Air discharge 15 KV bipolar Performance criteria A Table 4 Electromagnetic Compatibility EMC Figure 2 Definition of the Axes ISTBP360 O CL IS2BP090 O CL plastic housing factory default settings Document 231xx HB 1 0 E ISxxxxxx O xL 5 GEMAC Sensorik Messtechnik ASIC Design 4 Technical Data S1SP360 O BL IS2SP090 O BL 4 Technical Data IS1SP360 O BL IS2SP090 O BL Measurement range 360 90 Resolution 0 01 0 01 Accuracy Range typical maximum Range typical maximum 0 360 0 15 0 25 up to 60 0 10 0 20 up to 80 0 20 0 30 Cross Sensitivity compensated typ 0 10 96 max 0 50 Temperature coefficient zero point typ 0 01 K Sampling rate 80 Hz Cut off frequency typ 20 Hz 2 order without digital filter 0 1 25 Hz 8 order with digital filter Operating temperature 40 C to 80 C Characteristics Data rates 10 k 20 k 50 k 62 5 k 100 k 125 k 250 k 500 k 800 k Bit s 1 MBit s autom detection Functions Angle request cyclical and synchronized outputs two programmable digital filter low pass 8 order configuration via object dictionary Electrical Parameters Supply voltage 8 to 45 VDC Current consumption 16 mA 24 V Mechanical Parameters Connector CAN 1x sensor connector 5 po
13. of thermal accuracy shift nne 27 8 13 Status LED according to CIA DR 303 3 sssssssssssseseseeeeeeeene eem nennen nennen nnne nennen 27 9 Sensor ConflgUFatlon sacer eon eoo uale bee cea EA near Ener 28 9 1 Inclination sensor programming adapter sse ene eee 28 9 2 PG software ISDGontrol ed een ape etse een T EEEE EEE 29 oec eielnieuiuiumcc E 30 Document 231xx HB 1 0 E ISxxxxxx O xL Ill List of Tables List GEMAC Sensorik Messtechnik ASIC Design of Tables Table 1 Technical Data 444444444Hnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 2 Table 2 Electromagnetic Compatibility EMO nennen 3 Table 3 Technical Datei E 4 Table 4 Electromagnetic Compatibility EMO enn 5 Table 5 Technical PIE 6 Table 6 Electromagnetic Compatibility EMO menn 7 Table 7 Calculation of the COB IDs for Pre defined Connection Set sssssseeee 14 Table 8 TPDO1 Default mapping Type IS1xx360 O xx ssssssssssssseeeeeenen eene n erre 15 Table 9 TPDO1 Default mapping Type IS2xx090 O XX uuuuuennessssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnn naar re 15 Table 10 Communication Parameters in the Object Dictionary ss nn 18 Table 11 Error Register T001N uuu 2
14. plastic housing an active com pensation of thermal accuracy shift This is improved by maintaining the sensor element at a constant tem perature which is independent of the operation temperature of the inclination sensor 8 13 Status LED according to CiA DR 303 3 The integrated two color Status LED signals the recent device state Run LED green as well as CAN com munication errors that might have occurred Error LED red The color and the flashing frequency of the LED distinguish the different device states as shown below Status LED UNUS NOS O O O NOE The device is in state Reset or no power supply is connected Oe Xx x c Ge Oe Xe Ge Ge He He X4 Flickering Automatic baud rate detection is currently running active O 4 O w O O i O O Blinking The device is in state Pre Operational 0o O00000 00O0 0 Single Flash The device is in state Stopped i9 9 9 9 9 9 9 9 OOO 6 On The device is in state Operational OIOIONONKONONONKOEOROKOE v Off The device is in working condition i 9O O O O O O O O O O Single Flash CAN Warning Limit reached i O i O O O O O 4 O O Double Flash The loss of the Guarding Master has been detected Node Guard Event T 9 1 9 9j 9 OCG Ce 9 On The device is in state Bus Off Legend OLED off A9 LED on I LED flickering 50 ms on off Duration of O 1 200 ms Table 24 Status and Error Display through Two Color LED Document 231xx HB 1 0 E ISxxxxxx O x
15. suitable to measure the inclination in the measurement range of 360 The 2 dimensional inclination sensor IS2xx090 O xx is suitable to measure the inclination in 2 dimen sions X Y in a range of 90 To ensure a high accuracy the sensors are calibrated at the factory The compact and robust design makes the sensor a suitable angle measurement device in rough surround ings for different applications in industry and automotive technology A simple setting of all parameters which are stored in the internal permanent memory is possible via the CANopen interface 1 2 Applications Solar thermal and photo voltaic systems Agricultural and forestry machinery Construction machinery Crane and hoisting technology Document 231xx HB 1 0 E ISxxxxxx O xL 1 GEMAC Sensorik Messtechnik ASIC Design 2 Technical Data IS1TK360 O RL IS2TK090 O RL 2 Technical Data IS1TK360 O RL IS2TK090 O RL General Parameters IS2TK090 O RL Measurement range 360 90 Resolution 0 01 0 01 Accuracy Range typical maximum Range typical maximum 0 360 0 04 0 10 up to 60 0 02 0 05 up to 70 0 04 0 10 up to 80 0 08 0 20 up to 85 0 16 0 40 Cross Sensitivity compensated typ 0 10 96 max 0 50 Temperature coefficient zero point typ 0 0008 K typ lt 0 10 over range 40 C 80 C Sampling rate 80 Hz Cut off frequency typ 20 Hz 2 order without digital filter 0 1 25
16. 22h Offset Value 6013h Calculated Offset Value when writing to object 6012h or 6021 6023h Calculated Offset Value Preset Value at tacc physically measured Inclination Value at tacc Dif ferential Offset Value tacc time when accessing object 6012h 6022h Differential Offset 6014h Additional Offset regardless of object 6012h and 6013h 6022h and 6023h Value 6024h The value you enter here will be added up directly to the inclination value Table 19 Zero Point Adjustment Document 231xx HB 1 0 E ISxxxxxx O xL 23 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface 8 8 Emergency Objects Each inclination sensor supports EMCY objects which are transmitted in case of sensor and hardware er rors If such an error occurs the OD entries 1001h Error Register 1002h Manufacturer Status Register and 1003h Pre defined Error Field are updated After abolishment of an error the device transmits an emergency message with the Error Reset Code 0x0000 Yet current errors are signaled in Byte2 Error Re gister and Bytes 3 4 in the Manufacturer specific error field Once the device is error free it sends an emer gency message which contains only zeros The current state of the device Pre Operational Operational or Stopped is not influenced by the error states except in case of a guarding error Emergency messages are sent with high priority on the bus and are always 8 bytes long The structure of the telegram is pres
17. 3 COB IDs The CAN identifier of the communication objects is determined according to the Pre defined connection set at each reset communication application and hardware reset depending on the selected Node ID Table 7 shows the calculation base with the default values Node ID 10 Communication object COB Calculation of the COB ID Default value Node ID 10 NMT Oh Oh SYNC 80h 80h EMCY 80h Node ID 8Ah TPDO1 180h Node ID 18Ah Default SDO Client gt Server 600h Node ID 60Ah Default SDO Server gt Client 580h Node ID 58Ah Heartbeat 700h Node ID 70Ah Table 7 Calculation of the COB IDs for Pre defined Connection Set 8 4 Network Management NMT Figure 12 shows the NMT state machine of a CANopen device After Initialization the device automatically goes into the state Pre Operational The device sends a Boot Up Message In this state it can be con figured via the object dictionary The service data objects SDO are already active The process data ob jects however are still locked Automatic Baud Rate Detection Boot Up NEEEETE Pre Operational A Stopped Operational Figure 12 NMT State diagram By sending the CAN message Start Remote Node the unit will go into the state Operational Now the pro cess data objects are active In Stopped state no communication with the exception of Nodeguarding and Heartbeat is possible Document 231xx HB 1 0 E ISxxx
18. 90 O BL are equipped with a common 5 pole round plug M8 B coded The pin allocation fulfills DeviceNet specification DSE 016 010 Figure 10 CAN_SHLD Shield 2 CAN_V Supply voltage 24 V 3 CAN_H CAN_H bus line 4 CAN_GND GND 0 V V 5 CANL CAN L bus line Figure 10 M8 Plug Connector Pin Out CAN Bus View from the outside 6 2 Bus Termination Resistor The inclination sensors contain no internal termination resistor Document 231xx HB 1 0 E ISxxxxxx O xL 11 GEMAC Sensorik Messtechnik ASIC Design 7 Function Description 7 Function Description 7 1 Overview of Function The inclination sensors 1S1xx360 O xx and IS2xx090 O xx contain a standardized CANopen interface ac cording to CiA DS 301 and a device profile according to CiA DSP 410 All measured values and parameters are accessible through the object dictionary OD The individual configuration can be saved in the internal permanent memory EEPROM The following CANopen functions are available EB One transmission data object TPDO1 dynamically mappable in four possible operating modes Individual request via remote transmit request message frame RTR Cyclic transmission at defined intervals Event controlled transmission on inclination change Synchronous transmission after receiving a SYNC message frame One Service Data Object Default SDO E Error messages by Emergency Object EMCY with support of the General Error Register Manufacturer specif
19. AC Sensorik Messtechnik ASIC Design Term and Abbreviation Definition Baud rate BOOL CAN CANopen CiA CiA DS CiA DS 301 CiA DP CiA DR CiA DR 303 3 CiA DSP CiA DSP 410 Client COB COB ID DOMAIN EDS EMCY xxxxh xxh Heartbeat ID INT8 INT16 longitudinal lateral LSS NMT Node ID Node Lifeguarding Operational OD PDO PDO Mapping Pre Operational Pre defined Connec tion Set ro RTR rw SDO Server Stopped UNS8 UNS16 UNS32 VSTR wo Speed of data transfer 1 Baud 1 Bit s Data type BOOLEAN 8 Bit 0 FALSE 1 TRUE Controller Area Network Standardized application layer for CAN devices CAN in Automation e V CiA Draft Standard specification published by CiA Specification of the CANopen application layer and the communication parameters in the OD CiA Device Profile device profile published by CiA CiA Draft Recommendation recommended implementation published by CiA Recommended implementation for display of CANopen device states and errors by LED s Draft Standard Proposal specification draft published by CiA Specification draft of the device profile 410 for inclination sensors CANopen station which claims the service of a server CANopen Communication Object CAN Identifier of a COB Data type DOMAIN arbitrary large block of data e g program code Electronic Data Sheet of a CANopen device Emergency Object Object that informs of errors Index Subindex position
20. ANopen provides a SYNC object a CAN message without user data transmitted with high priority on the bus This SYNC object is transmitted from a bus node usually the master cyclically at fixed intervals All inclination sensors read their current value after every n reception of the SYNC object and then transmit the TPDO1 directly as soon as the bus permits For this the entry 1800h 02h Transfer Type must contain the value n 1 240 8 5 1 4 Event controlled transmission on inclination change manufacturer specific The bus load from PDOs can be reduced if the TPDO1 is only transmitted when an appropriate angle change has occurred This function can only be configured in the manufacturer specific part of the object directory under index 3001h To this end the entry 1800h 02h transmission type must contain the value 254 asynchronous manufacturer specific Document 231xx HB 1 0 E ISxxxxxx O xL 15 8 CANopen Interface GEMAC Sensorik Messtechnik ASIC Design 8 6 Service Data SDO The parameters listed in the object dictionary are read and written through Service Data Objects SDOs As shown in Table 10 every object can directly be addressed over a 16 bit index In addition each index has an 8 bit subindex that allows an additional choice within an index The 8 bytes of the SDOs are placed in the data area of the CAN message ByteO Byte1 3 Addressing Byte4 7 1 4 Byte Parameter Command O b j e c t Uploa
21. D Client gt Server COB ID Server gt Client Largest supported Sublndex COB ID Transmission Type synchronous asynchronous manufacturer specific Inhibit Time between two TPDO Messages multiple of 100 us Compatibility Entry GEMAC Sensorik Messtechnik ASIC Design Data Default Value Save Type const 1019Ah 2019Ah UNS32 UNS8 UNS32 UNS32 UNS32 UNS32 VSTR VSTR UNS16 UNS8 UNS32 UNS32 UNS32 UNS32 UNS32 64616F6Ch at Sublndex 1 4 UNS32 UNS32 UNS32 UNS32 UNS32 UNS32 UNS16 UNS16 UNS8 UNS32 UNS32 UNS32 UNS32 UNS8 UNS32 UNS32 UNS8 UNS32 UNS8 UNS16 UNS8 ro ro ro rw const const rw ro ro ro ro ro ro ro ro ro ro z 0 0 0 0 80h dep on type dep on type 80h Node ID 159h dep on type dep on type dep on type 2 600h Node ID 580h Node ID 5 180h Node ID 1 x 0 x 0 x 17 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface 5 Event Timer Multiple of 1 ms 0 inactive UNS16 rw 0 x 1A00h Transmit PDO1 Mapping Parameter 0 Largest supported SubIndex UNS8 ro dep on type 1 Mapping Entry 1 both types 1S1xx360 O xx IS2xx090 O xx UNS8 rw 0x60100010 x 2 Mapping Entry 2 Type 1S1xx360 O xx I82xx090 O xx UNS8 rw 0 0x60200010 x 3 Mapping Entry 3 UNS8 rw 0 x 4 Mapping Entry 4 UNS8 rw 0 x 5 Mapping Entry 5 UNS8 rw 0 x 6 Mapping Entry 6 UNS8 rw 0 x 7 Mapping Entry 7 UNS8 rw
22. GEMAC Sensorik Messtechnik ASIC Design User manual Inclination Sensors with CANopen Interface Version 1 0 Date 2014 05 30 reference LINIE IS1TK360 O RL IS2TK090 O RL classic LINIE IS1BP360 O CL IS2BP090 O CL basic LINIE IS1SP360 O BL IS2SP090 O BL GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH Telephone 49 371 3377 0 Zwickauer Stra e 227 Telefax 49 371 3377 272 09116 Chemnitz E mail info gemac chemnitz de Germany Web www gemac chemnitz de GEMAC Sensorik Messtechnik ASIC Design Revision History Revision History Date Revision Changes 2014 05 30 0 first version Copyright 2014 GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH This document is subject to change without notice We constantly work to further develop our products We reserve any changes of the scope of delivery in shape equipment and technology for ourselves No claims can be made from the details illustrations and descriptions in this document Any kind of duplication reprocessing and translation of this document as well as excerpts from it require the written permission of GEMAC Gesellschaft fur Mikroelektronikanwendung Chemnitz mbH All rights according to the copyright remain explicitly reserved for GEMAC Gesellschaft fur Mikroelektroni kanwendung Chemnitz mbH Note To use the inclination sensor and for proper understanding of this manual general knowledge of
23. L 27 GEMAC Sensorik Messtechnik ASIC Design 9 Sensor configuration 9 Sensor configuration 9 1 Inclination sensor programming adapter With the optional inclination sensor programming adapter starter kit it is possible to adjust all inclination sensors with CAN CANopen current or voltage interface It consists of a programming adapter that is con nected via USB to a PC The connection with the programming adapter is realized through various also in cluded adapter cables The inclination sensor is supplied with power through this An additional power sup ply is not necessary ISDControl Fk A Figure 15 Starter kit Document 231xx HB 1 0 E ISxxxxxx O xL 28 9 Sensor configuration 9 2 PC software ISDControl GEMAC Sensorik Messtechnik ASIC Design The parametrization of all possible values is done with the PC software ISDControl which is included in all starter kits Each configuration can then be stored in a file Features EJ 3D imaging and display of the current angle Oscilloscope display of the current angle Firmware Download option Comfortable configuration of all parameters of the inclination sensor Automatic inclination sensor search for unknown communication parameters A Unbenannt isd 150Control Ansicht Extras Hilfe i a8 il A f Strom Spannung Figure 16 PC software Document 231xx HB 1 0 E ISxxxxxx O xL
24. L small plastic housing factory default settings Document 231xx HB 1 0 E ISxxxxxx O xL 7 CANO Sensorik Messtechnik ASIC Design Certificate CiA201108 301V402 20 0143 Vendor ID 00 00 01 59 Manufacturer Gemac mbH Device IS2D 90 P21 Product code 0000 5A72h Revision number 0000 001Eh Object 1018h 02h Object 1018h 03h Hardware version Software version V03 39 Object 1009h Object 100Ah EDS PR 23154 xx eds File version 1 File revision 0 EDS version 4 0 2 Nuremberg 05 08 2011 CAN in Automation GmbH Q Kontumazgarten 90429 N rnberg DE 0944 928819 0 Technical BRaues 911 928819 79 CAN in Automation GmbH Kontumazgarten 3 90429 Nuremberg C Q Germany phone 49 911 928819 0 e J fax 49 911 928819 79 Figure 4 CiA CANopen Conformance Test Certificate The device type IS2D 90 P21 conforms to IS2TK090 O RL IS2BP090 O CL and IS2SP090 O BL Document 231xx HB 1 0 E ISxxxxxx O xL 8 GEMAC Sensorik Messtechnik ASIC Design 5 Mounting 5 Mounting 5 1 Position of Drilling Holes The drilling holes to mount the sensor Figure 5 Figure 6 and Figure 7 are situated in the base plate of the inclination sensor dimensions in mm 82 00 70 00 62 00 50 00 i AA N l vr 1 y WP l K i 88 N Siete ke Oe ASS yp ee Se a ace Ie 8 SR D B i 8
25. N EN 13309 2010 Construction machinery Electromagnetic compatibility of machines with internal power supply Table 1 Technical Data 1 All indicated angle accuracies are valid after a running time of 10 minutes at 25 C Cut off frequency 0 3 Hz Absolute calibration accuracy at 25 C 0 05 Document 231xx HB 1 0 E ISxxxxxx O xL N GEMAC Sensorik Messtechnik ASIC Design 2 Technical Data IS1TK360 O RL IS2TK090 O RL Electromagnetic Compatibility EMC Transient Emissions Radiated disturbance Radio field strength Limit curves broadband and narrowband EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 30 1000 MHz vertical and horizontal Immunity to Radio Frequency Fields RF fields Strip line according to ISO 11452 5 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 20 400 MHz 200 V m 1 KHz AM Performance criteria A Anechoic chamber according to ISO 11452 2 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 200 1000 MHz vertical 400 1000 MHz horizontal 100 V m 1 KHz AM Performance criteria A Immunity to Conducted Disturbances on board power supply 24 VDC Test pulse according to ISO 7637 2 2004 Test pulse Severity level Performance criteria 1 450 V Ill C 2a 37 V tl B 2b 20 V Ill B 3
26. UNS16 ro 2 1 Enable Disable 1 0 transmission on inclination change UNS16 rw 0 x 2 Minimum inclination change for axial axis multiple of 100 UNS16 rw 100 x 3001h TPDO1 Transmission on Inclination Change Type IS2xx090 O xx 0 Largest supported SubIndex UNS16 ro 3 1 Enable Disable 1 0 transmission on inclination change UNS16 rw 0 x 2 Minimum inclination change for longitudinal X axis multiple of 100 UNS16 rw 100 x 3 Minimum inclination change for lateral Y axis multiple of 100 UNS16 rw 100 x 5555h Reserved index access for manufacturer only Table 15 Manufacturer Specific Part of the Object Dictionary 8 7 2 1 Automatic Bus Off Recovery 2002h This property determines the behavior of the inclination sensor when it is in the state Bus Off If enabled the sensor which is in Bus Off state may become error active no longer Bus Off with its error counters both set to zero after having monitored one hundred and twenty eight 128 occurrences of eleven 11 consecut ive recessive bits on the bus If disabled the inclination sensor remains in Bus Off state 8 7 2 2 Digital Filter Settings 3000h The inclination sensor offers the possibility to suppress the influence of external disturbing vibrations The internal lowpass digital filters 8th order are programmable down to 0 1 Hz The sensor has two digital fil ters that can be selected according to the application of the sensor Document 231xx HB 1 0 E ISxxxxxx O
27. a 150V Ill A 3b 150 V Ill A 4 12V LU B 5a 70 V Ri 2 100 A 5b 36 V Ri 20 5 0 A Immunity to Electromagnetic Discharge ESD ESD according to ISO 10605 2008 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery discharge combination 330 pF 330 O Contact discharge 8 KV bipolar metallic parts Air discharge 15 KV bipolar Performance criteria A Table 2 Electromagnetic Compatibility EMC Figure 1 Definition of the Axes IS1TK360 O RL IS2TK090 O RL metal housing factory default settings Document 231xx HB 1 0 E ISxxxxxx O xL 3 GEMAC Sensorik Messtechnik ASIC Design 3 Technical Data IS1BP360 O CL IS2BP090 O CL 3 Technical Data IS1BP360 O CL IS2BP090 O CL General Parameters IS2BP090 O CL Measurement range 360 90 Resolution 0 01 0 01 Accuracy Range typical maximum Range typical maximum 0 360 0 04 0 10 up to 60 0 02 0 05 up to 70 0 04 0 10 up to 80 0 08 0 20 up to 85 0 16 0 40 Cross Sensitivity compensated typ 0 10 96 max 0 50 Temperature coefficient zero point typ 0 0080 K Sampling rate 80 Hz Cut off frequency typ 20 Hz 2 order without digital filter 0 1 25 Hz 8 order with digital filter Operating temperature 40 C to 80 C Characteristics Data rates 10 k 20 k 50 k 62 5 k 100 k 125 k 250 k 500 k 800 k Bit s 1 MBit s autom detection
28. d a z CANT D ic t ionar y Data byte count Index Subindex Description Parameter Request Response Device Type 2019Ah Abort Identity Object 04h Vendor ID 0159h Product Code 5A72h 23154dec Revision number 00000001h Serial number 12345678h Slope Long16 1599 15 99 Figure 13 SDO Protocol Access to Object Dictionary 8 7 Object Dictionary The object directory contains all data objects that are accessible from the outside and affect the behavior of communication application and status machines It is divided into three parts Communication specific Part Index 0x1000 0x1FFF Manufacturer specific Part Index 0x2000 Ox5FFF m Profile specific Part Index 0x6000 Ox9FFF All parameters in the object dictionary can be read and written using the standard SDO via index and su bindex The following sections describe all the parameters in the object dictionary of the inclination sensor with in dex subindex data type access rights and default factory setting The column Save indicates whether a parameter in the internal volatile memory save signature in OD Write Index 1010h 01h can be saved Document 231xx HB 1 0 E ISxxxxxx O xL 16 8 CANopen Interface 8 7 1 igi S 1000h 1001h 1002h 1003h 1005h 1008h 100Ah 100Ch 100Dh 1010h 1011h Restore Default Parameters Signature I o a 1014h 1015h 1017h 1018h Communication Parameters according to CiA DS 301 0 0 Device
29. efault setting the master is not monitored no Lifeguarding 8 9 2 Heartbeat Heartbeat is a failure monitoring mechanism which can operate without using RTR message frames In this case the inclination sensor cyclically transmits a heartbeat message which contains the state of the device The master can monitor these message frames Heartbeat is activated once a value greater than 0 is entered in the heartbeat interval time register 1017h Remark Heartbeat has a significant influence on the bus load of the CANopen network but produces only half the high bus load of Nodeguarding Lifeguarding Document 231xx HB 1 0 E ISxxxxxx O xL 25 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface 8 10 LSS Layer Setting Service according to CiA DSP 305 8 10 1 Setting of Node ID and Baud Rate The setting of the node address Node ID and the Baud Rate is realized by the LSS Layer Setting Service For communication between LSS Master and LSS Slave inclination sensor two CAN identifiers 7E5h and 7E4h are used Each inclination sensor has a unique 128 bit LSS address at which he can be addressed in the CAN network This address is composed of the three 32 bit parameters of the Identity ob ject 1018h and the serial number Vendor ID 0000 0159h Manufacturer ID GEMAC mbH Product Code 0000 5A72h 5A72h 23154dec PR 23154 30 Revision Number 0000 001Eh 1Eh 30dec PR 23154 30 Serial Number XXXx xxxxh respective
30. ented in Table 20 Emergency Object Emergency Error Code Error Register Manufacturer Specific Error Field 1001h Bit field Bit field 0x00 0x00 0x00 Communica Device Error tion Error Table 20 Emergency Object Emergency Error Codes 0x0000 Error Reset or no Error Error Register 0 0x5010 Sensor Error Sensor Error X Inclination value out of range 0x5020 Sensor Error Y Inclination value out of range 0x8110 Overflow of the transmit receive buffers CAN messages were lost 0x8120 CAN Warning Limit reached 0x8130 Node Guard Event The loss of the Guarding Master has been detected 0x8140 Recovered from Bus Off Table 21 Emergency Error Codes Bit field Device Errors 0x01 Sensor Error type only 1S1xx360 O xx 0x01 Sensor Error X Axis type only IS2xx090 O xx 0x02 Sensor Error Y Axis type only I82xx090 O xx 0x80 EEPROM Error An error occurred while saving the configuration Bit field Communication Errors 0x01 CAN Warning Limit reached too many Error Frames 0x02 CAN Bus Off State reached An Emergency message will be transmitted after the device has recovered from Bus Off 0x04 Receive Queue Overrun CAN messages were lost 0x08 Transmit Queue Overrun CAN messages were lost 0x80 Guarding Error The loss of the Guarding Master has been detected Node Guard Event Table 22 Emergency Manufacturer Specific Error Field Document 231xx HB 1 0 E ISxxxxxx O xL 24 GEMAC Sensorik Messtechnik ASIC Design 8 CANo
31. eseeeenee nennen enhn 20 8 7 2 2 Digital Filter Settings 3000h sssssseseeeeeenennnneennm nennen nnne 20 8 7 2 3 TPDO1 Transmission on Inclination Change 3001h eeee 21 8 7 3 Device Profile Specific Part according to CIA DS 410 ssseeeeeeeeeeeeee 22 8 7 3 1 Resolution 6000h eret docu en een on ande 22 8 7 3 2 Inclination values longitudinal and lateral 6010h and 6020h ur4222424444 24H gt 22 8 7 3 3 Operating Parameters 6011h and 6021h sss 22 8 7 3 4 Zero Point Adjustment Preset Value Offset Value Differential Offset Value 60x1 2 3h 23 Document 231xx HB 1 0 E ISxxxxxx O xL Il GEMAC Sensorik Messtechnik ASIC Design Table of Contents 8 8 Emergency Objects nennen ann an ne neh 24 8 9 Fall re monitoring er ea a de bens Dk pae dde ugue nud 25 8 9 1 Nodeguarding Lifeguarding 444s4nssnnnnnnnnnnnnnnnnennnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 25 8 9 2 Heantbeat tsea el RR an 25 8 10 LSS Layer Setting Service according to CIA DSP 305 u 22244440nnsnnnnnnennannnnnnnnnnnnnnnnnnnnnn 26 8 10 1 Setting of Node ID and Baud Ratte uusurssssnnnnennennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 26 8 11 Automatic Baud Rate Detection according to CIA AN 801 uun4224440nnnnnennnnnnnnnnnnnnnnnnnnnnnnnn 26 8 12 Active compensation
32. fter a Reset Application NMT command or a hardware reset the changes will take effect a Reset Communication NMT command effects the communication parameters only By writing the signature on Sublndex 02h 03h or 04h it is possible to store or load only parts of the object directory 8 7 1 5 Transmit PDO1 Transmission Type 1800h The entry 1800h 02h can be used to define how the transmission of the PDO is triggered Document 231xx HB 1 0 E ISxxxxxx O xL 19 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface Transmit PDO1 Transmission Type 1800h 02h Transmission Type Description 1 240 Synchronous cyclic Transmission after each 1 240 reception of a SYNC message only Synchronized Transmission via SYNC possible 253 Transmission with RTR only 254 Asynchronous manufacturer specific Cyclic Transmission and or Transmission on Inclination Change activated by appropriate configuration Table 14 Transmit PDO1 Transmission Type 1800h 02h 8 7 2 Manufacturer Specific Part Parameter Data Default value Save type 2002h Automatic Bus Off Recovery BOOL 3000h Digital Filter Settings 0 Largest supported SubIndex UNS16 ro 2 1 Filter type O off 1 Butterworth 2 critical damped UNS16 rw 2 x 2 Cut off frequency digital filter 100 25000 8000 in mHz UNS16 rw 2000 x 3001h TPDO1 Transmission on Inclination Change Type 1S1xx360 O xx 0 Largest supported SubIndex
33. ic status register Manufacturer Status List of errors Pre defined Error Field Heartbeat and Nodeguarding Lifeguarding monitoring mechanisms Store and load function of all parameters Store and Load Parameter Field EB Condition and error information by two colored LED according to CiA DR 303 3 Further manufacturer and profile specific characteristics exist in addition to the CiA DS 301 functionality EB Configurable cut off frequency digital filter Configuration of the minimum angle change for TPDO1 transmit event Direction switch of the inclination value Configurable zero point of the inclination value Setting of the Node ID as well as the baud rate via LSS service according to CiA DSP 305 Automatic baud rate detection according to CiA AN 801 Document 231xx HB 1 0 E ISxxxxxx O xL 12 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface 8 CANopen Interface 8 1 CANopen Structure CANopen is a CAN based open protocol standard in automation and was standardized in association with CAN in Automation CiA Like virtually all field buses CANopen is based also on the ISO OSI 7 layer mod el The protocol makes use of the CAN bus as a transmission medium and defines the elements for network management the use of the CAN identifier message address the temporal behavior on the bus the type of data transfer and application profiles This is to ensure that CANopen devices from different manufactur ers can
34. ite ROSE 14 8 4 Network Management NMT ssssssssssseeseeeeeeeeeennn ne rennen enne rennen nnns nnne sensn nn nenne nennen nis 14 8 5 Process Data PDO TPDO1 sssssssssssssssseeeeeneee enne nennen nemen nn nnne rrr nnn nn hnhn nn enne nnne 15 8 5 1 PDO Communication Types ssssssssssssseee eene nennen EEEN RANEE nennt nenne nnns 15 8 5 1 1 Individual Request Polling sseseseeeeeeeenn nnne 15 8 5 1 2 Cyclic Transmission reed 15 8 5 1 3 Synchronous Transmission esssesssseeenn eene nme 15 8 5 1 4 Event controlled transmission on inclination change manufacturer specific 15 8 6 service Data S DO C eilt 16 3 7 Object Dictionary urn ee een 16 8 7 1 Communication Parameters according to CIA DS 301 sse 17 8 7 1 1 Error Register 1001h uuss444444400nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 18 8 7 1 2 Manufacturer Status Register 1002h 4444s444 nennen nnnnnnennnnnennnne nnn 18 8 7 1 3 Pre defined Error Field 1003h 4a 19 8 7 1 4 Saving 1010h and Loading 1011h of Parameters sseee 19 8 7 1 5 Transmit PDO1 Transmission Type 1800h ssse 19 8 7 2 Manufacturer Specific Part cec etre teta east 20 8 7 2 1 Automatic Bus Off Recovery 2002h ssssssssssesse
35. le M8 Degree of protection IP65 67 Dimensions Weight small plastic housing 68 mm x 36 3 mm x 20 7 mm ca 40g CANopen conformity Certificates CiA201108 301V402 20 0143 CiA DS 301 v4 2 0 Application layer and communication profile CiA DS 410 Device profile for inclinometer CiA DSP 305 Layer setting service LSS and protocols CiA DR 303 3 Indicator specification Status LED CiA AN 801 Automatic bit rate detection CE conformity to EC Directive 2006 42 EC EC Directives RL 2004 108 EC EMC Directive RL 2006 95 EC Low Voltage Directive LVD Harmonized standards DIN EN 50498 2010 Electromagnetic compatibility EMC Product family standard for aftermarket electronic equipment in vehicles EN 60950 1 2006 A1 2010 Information technology equipment Safety General requirements EN ISO 14982 2009 Agricultural and forestry machinery Electromagnetic compatibility Test methods and ac ceptance criteria DIN EN 13309 2010 Construction machinery Electromagnetic compatibility of machines with internal power supply Table 5 Technical Data 3 All indicated angle accuracies are valid after a running time of 10 minutes at 25 C Cut off frequency 0 3 Hz Absolute calibration accuracy at 25 C 0 05 Document 231xx HB 1 0 E ISxxxxxx O xL 6 GEMAC Sensorik Messtechnik ASIC Design 4 Technical Data S1SP360 O BL IS2SP090 O BL Electromagnetic Compatibility EMC Transient Emissions Radiated disturbance Radi
36. n of the 100fold signed 16 Bit inclination value complement on two is described in chapter 8 7 3 3 Example Value Range Type IS1xx360 O xx 18000 17999 180 00 179 99 0 359 99 Value Range Type IS2xx090 O xx 9000 9000 90 00 90 00 8 7 3 3 Operating Parameters 6011h and 6021h The operating parameters settings of an inclination sensor 6011h and 6021h allow the changing of the mathematical sign of the inclination value and a Zero Point Adjustment On Factory Default Settings these Document 231xx HB 1 0 E ISxxxxxx O xL 22 Sensorik Messtechnik ASIC Design 8 CANopen Interface GEMAC options are disabled i e the direction of the inclination value polarity of the axis corresponds to the one shown on the nameplate of the inclination sensor Operating Parameters 6011h and 6021h M Zero Point Inversion Adjustment Unused 0 inactive 0 inactive 1 active 1 active Table 18 Operating Parameters 6011h and 6021h 8 7 3 4 Zero Point Adjustment Preset Value Offset Value Differential Offset Value 60x1 2 3h Using the values Preset Value Offset Value and Differential Offset Value the adjustment of the Zero Point is possible The Zero Point Adjustment is only active if the Bit1 in the operating parameters 6011h 6021h is set Fae _ Tooer en NN Preset Value 6012h Preset Value for Zero Point Adjustment value range depends on settings in object 6000h 60
37. o field strength Limit curves broadband and narrowband EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 30 1000 MHz vertical and horizontal Immunity to Radio Frequency Fields RF fields Strip line according to ISO 11452 5 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 20 400 MHz 200 V m 1 KHz AM Performance criteria A Anechoic chamber according to ISO 11452 2 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 200 1000 MHz vertical 400 1000 MHz horizontal 100 V m 1 KHz AM Performance criteria A Immunity to Conducted Disturbances on board power supply 24 VDC Test pulse according to ISO 7637 2 2004 Test pulse Severity level Performance criteria 1 450 V Ill C 2a 37 V tl B 2b 20 V Ill C 3a 150V Ill A 3b 150 V Ill A 4 12V Ill B 5a 70 V Ri 1Q A 5b 36 V Ri 20 5 0 A Immunity to Electromagnetic Discharge ESD ESD according to ISO 10605 2008 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery discharge combination 330 pF 330 Q Contact discharge 8 KV bipolar metallic parts Air discharge 15 KV bipolar Performance criteria A Table 6 Electromagnetic Compatibility EMC Figure 3 Definition of the Axes ISTSP360 O BL IS2SP090 O B
38. of an OD parameter Surveillance mechanism for CANopen stations Identifier of a CAN message Data type INTEGERS 8 Bit complement on two 128 127 Data type INTEGER16 16 Bit two s complement 32768 32767 Axis assignment X Y axis Layer Setting Service Network Management Object Object to set and check CANopen device states Node number of a CANopen device 1 127 Surveillance mechanism for CANopen stations CANopen device state SDO PDO EMCY NMT possible Object dictionary virtual directory with device parameters addressed by index and subindex Process Data Object Object for transfer of process data without protocol offset Sequence in which process data is arranged in a PDO CANopen device state SDO EMCY NMT possible In CiA DS 301 defined concept how COB IDs of the communication objects have to be calculated in de pendence of the Node ID Read only access right read only of an object in the object dictionary Remote Transmit Request Bit which causes the receiver to send data Write and read access right write and read of an object in the object dictionary Service Data Object object for access to the object dictionary CANopen station which offers a service for one several client s CANopen device state only NMT possible Data type UNSIGNEDS 8 Bit without sign 0 255 Data type UNSIGNED 16 16 Bit without sign 0 65535 Data type UNSIGNED32 32 Bit without sign 0 4294967296 Data ty
39. onous manufacturer specific 1800h 02h 254 SubIndices 02h and 03h offer the separated setting of the minimum necessary inclination change for the longitudinal X and lateral Y axis These two angle values are mentioned in 100 100fold angle value and can be set freely from 1 0 01 to maximum If this function is enabled the inclination sensor outputs the TPDO1 object in the state OPERATIONAL in case of inclination changes of the longitudinal and or the lateral axis greater than set under 3001h 02h and 03h During operation the angle difference between the recent inclination value and the last one sent by the TPDO1 is permanently calculated and checked With each crossing to the state OPERATIONAL the inclina tion sensor posts the recent position by the TPDO1 object too only if 3001h 01h 1 Remark If small inclination differences are set under 3001h 02h and O3h it is recommended to enable the digital filter index 3000h to reduce the influence of vibrations and the frequent output of the TPDO1 Document 231xx HB 1 0 E ISxxxxxx O xL 21 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface 8 7 3 Device Profile Specific Part according to CiA DS 410 Parameter Data Default value Save type 6000h Resolution multiple of 0 001 UNS16 6010h 0 Inclination value longitudinal X axis 100fold angle value in INT16 ro 6011h 0 Operating Parameter longitudinal Inversion Zero Point Adjustment UNS8 rw 0 x
40. pe VISIBLE STRING ASCIl string inclusive end identifier Oh write only access right write only of an object in the object dictionary Document 231xx HB 1 0 E ISxxxxxx O xL VI 1 Overview GEMAC Sensorik Messtechnik ASIC Design 1 Overview 1 1 Characteristics 1 dimensional inclination sensors with measurement range 360 180 2 dimensional inclination sensors with measurement range 90 X Y High sampling rate and bandwidth High resolution 0 01 High accuracy 0 05 ISxTKxxx O RL ISxBPxxx O CL and 0 10 ISxSPxxx O BL Compensated temperature coefficient for ISxTKxxx O RL 10x improved temperature coefficient to ISxBPxxx O CL Compensated cross sensitivity Programmable vibration suppression Comfortable CANopen interface Meets the CiA DS 301 device profile CiA DSP 410 Baud rates from 10 kBit s to 1 MBit s Automatic baud rate detection m Setting Node ID and baud rate via LSS service Functions One TPDO dynamically mappable RTR cyclic event controlled synchronized amp SYNC Consumer synchronized transmission of the TPDO after receiving a SYNC message EMCY Producer Failure monitoring via Heartbeat or Nodeguarding Lifeguarding Metal housing with stainless steel base plate or UV resistant impact strength plastic housing Suitable for industrial use Temperature range plastic housing 40 C to 80 C Degree of protection IP65 67 The inclination sensor IS1xx360 O xx is
41. pen Interface 8 9 Failure monitoring Since the nodes do not respond at regular intervals with the event controlled transmission in a CANopen network Heartbeat and Nodeguarding Lifeguarding failure monitoring mechanisms are provided Only one of the two monitoring methods can be active 8 9 1 Nodeguarding Lifeguarding Nodeguarding is the monitoring of one or several nodes by the NMT master The NMT master periodically issues an RTR message frame to the slave to be monitored which responds with its status and with a toggle bit If the status or the toggle bit do not comply with the status or toggle bit expected by the guarding master or if no response is provided the master assumes a slave error The node to be monitored can also use this mechanism to detect a failure of the guarding master To this end two parameters are used The interval time after which the guarding master polls the inclination sensor to be monitored is the Guard Time 100Ch Another parameter the Life Time Factor 100Dh defines a mul tiplier after which the connection is deemed to be interrupted This time is designated as the node life time Node Life Time Guard Time x Life Time Factor If the inclination sensor does not receive a guarding request from the master within the parametrized time it also assumes a master failure sends an emergency message frame and returns to the Pre Operational state If either of the two parameters is 0 d
42. r The bit Accuracy Warning is reset only when the constant temperature for temperature compensation is reached Only in this case the accuracy values from the technical specification are valid 8 7 1 2 Manufacturer Status Register 1002h This Register shows the recent state of all detectable errors Here each bit represents a specific error If a bit is set 1 this error is active at that moment The low ordered 16 bits of this register Bit15 BitO are transmitted in the first two bytes of the manufacturer specific part of each EMCY object and are also re Document 231xx HB 1 0 E ISxxxxxx O xL 18 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface gistered in the additional information field Bit31 Bit16 of the Pre defined Error Field 1003h The definitions of the individual bits in the bit fields Device Error and Communication Error are shown in Table 22 Manufacturer Status Register 1002h Bit31 Bit16 Bit15 Bit8 Bit7 Bit0 Unused Bit field Bit field Communication Error Device Error Table 12 Manufacturer Status Register 1002h 8 7 1 3 Pre defined Error Field 1003h Each inclination sensor has an error list holding the last five errors The list 1003h 00h contains the number of error entries in the error field The other subindices contain all occurred error states in chronological or der The last occurred error is always located at Sublndex 01h The oldest error can be found in the larges
43. s at 25 C Cut off frequency 0 3 Hz Absolute calibration accuracy at 25 C 0 05 Document 231xx HB 1 0 E ISxxxxxx O xL gt GEMAC 3 Technical Data IS1BP360 O CL IS2BP090 O CL Sensorik Messtechnik ASIC Design Electromagnetic Compatibility EMC Transient Emissions Radiated disturbance Radio field strength Limit curves broadband and narrowband EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 30 1000 MHz vertical and horizontal Immunity to Radio Frequency Fields RF fields Strip line according to ISO 11452 5 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 20 400 MHz 200 V m 1 KHz AM Performance criteria A Anechoic chamber according to ISO 11452 2 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 200 1000 MHz vertical 400 1000 MHz horizontal 100 V m 1 KHz AM Performance criteria A Immunity to Conducted Disturbances on board power supply 24 VDC Test pulse according to ISO 7637 2 2004 Test pulse Severity level Performance criteria 1 450 V Ill C 2a 37 V tl B 2b 20 V Ill C 3a 150V Ill A 3b 150 V Ill A 4 12V Ill B 5a 70 V Ri 1Q A 5b 36 V Ri 20 5 0 A Immunity to Electromagnetic Discharge ESD ESD according to ISO 10605 2008 Limits according to EN ISO 14982 agricultural and
44. serial number of the incl sensor nameplate The default values for Node ID and Baud Rate at delivery factory settings are Node ID 10 Baud Rate Automatic Baud Rate Detection 0 1 MBit s 800 kBit s 500 kBit s 250 kBit s 125 kBit s unused 50 kBit s 20 kBit s 10 kBit s o o DOD OC WO N Automatic Baud Rate Detection Table 23 LSS Baud Rate Index according to CiA DSP 305 8 11 Automatic Baud Rate Detection according to CiA AN 801 The automatic baud rate detection is used to automatically adjust the baud rate of the inclination sensor on the existing baud rate in the network After power on the inclination sensor only listen to the CAN network without acknowledging the received messages on the bus This operating condition is characterized by the flickering of the RUN LED see also chapter 8 13 Status LED according to CiA DR 303 3 The sensor checks all the available baud rates Upon receipt of a valid CAN telegram the correct baud rate is adjusted Then he starts up in the mode Pre Operational using a boot up message see also Figure 12 Remark For proper operation of the automatic baud rate detection it is necessary to receive messages from other can nodes on the bus Document 231xx HB 1 0 E ISxxxxxx O xL 26 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface 8 12 Active compensation of thermal accuracy shift The inclination sensor in metal housing features opposed to the sensor in
45. t available Sublndex value of 1003h 00h and will be the first to be deleted from the list with occurrence of more than five errors If a new error occurs a new error entry is added in 1003h and is also notified by an EMCY object An error entry is structured as follows Error Entry in Pre defined Error Field 1003h 0x0000 Error reset or no error present Bit15 BitO of the manufacturer status register 1002h 0x5010 Sensor Error Sensor Error X at the moment of error occurrence 0x5020 Sensor Error Y 0x8110 Overflow of the transmit receive buffers 0x8120 CAN Warning Limit reached Bit field Bit field 0x8130 Node Guard Event Communication error Device Error 0x8140 Recovered from Bus Off Table 13 Error Entry in Pre defined Error Field 1003h The error list can be reset completely by writing 0 to entry 1003h 00h 8 7 1 4 Saving 1010h and Loading 1011h of Parameters If parameters are changed in the object dictionary those changes will take effect immediately To ensure the changed parameters are still active after Reset they have to be saved in the internal EEPROM By writing the signature save 65766173h to the entry 1010h 01h all the current parameters of the object dictionary will be saved in the internal permanent memory The object dictionary can be reset to its default settings by writing the signature load 64616F6Ch into the entry 1011h 01h By doing this the factory parameters are written in the permanent memory A
46. the field bus systems CAN and CANopen is required Document 231xx HB 1 0 E ISxxxxxx O xL l GEMAC Sensorik Messtechnik ASIC Design Table of Contents Table of Contents Iouis 1 1 1 Characteristics tecti aco an kenn ae e Rec ee 1 1 2 ADPIIGAUOMS sees P H 1 2 Technical Data IS1TK360 O RL IS2TK090 O RL sssessssseseeeeeeen ee eene rennen nennen enne nennen nnne 2 3 Technical Data I81BP360 O CL IS2BPO90 O CL uuuesssnnnnennsssnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenn 4 4 Technical Data IS1SP360 O BL IS2SP090 O BL ssssssssssseeeeeeeeeenen nennen nee ennemis 6 Meam 9 5 1 Position of Drilling Floles eiecit e ree teen edat a 9 eroe 11 6 1 Connector Plin Out 0 slaved and TEENER 11 6 2 Bus Termination Resisto sereine reti hin tig na Red oA heine 11 7 FUNCHOM Description c 12 CA OVEMIOW OF Funelion un men 12 8 CANopen Interface irme E 13 8 1 CANopen Structure 2 ccccecceceeececccececceeeeeeceeeeee eee daaaaaaeaaaaeeaeeceeeeeeeeeeeeaedaaaaacseaaaeeaeeceeeeeeeeeeeeeenaaees 13 8 2 CANopen Device Models ssi a eaae aaae a a EA a aE a ai a aa aaa 13 Exec mp een a ee es node
47. xL 20 A Sensorik Messtechnik ASIC Design Adjustable Applications frequency range Butterworth 0 1 Hz 25 Hz Static inclination measurement with high damping to vibration 0 1Hz 8Hz 8 CANopen Interface Critical damped Inclination measurement in applications that requires a certain dynamism without over shoot at angle changes with good damping Table 16 Filter selection Through the entry 3000h 01h the filter type will be selected The cut off frequency is programmable through the object 3000h 02h Step response 8th order filter Gain response 8th order filter T T T T T aaa aa ad a a i i T a 10 T sian diana tie ah te a Tit 1 Step Butterworth f 2 Hz Butterworth f 0 5 Hz critically damped f 2 Hz critically damped f 0 5 Hz I Gain dB 60H 70H Butterworth f 2 Hz Butterworth fo 0 5 Hz critically damped f 2 Hz i critically damped f 0 5 Hz i a a a A I i 5 6 I I I T 8 9 10 80 0 01 0 1 Time s Frequency Hz Figure 14 Impulse and amplitude response of the two filters 8 7 2 8 TPDO 1 Transmission on Inclination Change 3001h Through the entry 3001h 01h the event controlled transmission of the TPDO1 on inclination change can be enabled 1 or disabled 0 For the activation the transmission type of TPDO1 must be set to Asyn chr
48. xxx O xL 14 GEMAC Sensorik Messtechnik ASIC Design 8 CANopen Interface 8 5 Process Data PDO TPDO1 Each inclination sensor has exactly one transmit process data object TPDO The TPDO contains the cur rent values of inclination axial or longitudinal and lateral The PDO mapping of the measured values is dy namically adjusted The default mapping is shown inTable 8 9 Data part of the CAN Frame of the TPDO1 Inclination value axial unused OV 6010h Table 8 TPDO1 Default mapping Type I81xx360 O xx Data part of the CAN Frame of the TPDO1 Inclination value longitudinal Inclination value lateral unused X Axis OV 6010h Y Axis OV 6020h Table 9 TPDO1 Default mapping Type IS2xx090 O xx 8 5 1 PDO Communication Types 8 5 1 1 Individual Request Polling The TPDO1 can be requested at any time by transmitting a remote transmit request message frame 8 5 1 2 Cyclic Transmission The cyclic transmission of the TPDO1 is activated if the entry 1800h 05h interval time in milliseconds con tains a value greater than 0 Furthermore the entry 1800h 02h transmission type must contain the value 254 asynchronous manufacturer specific In this case the inclination sensor will transmit the TPDO1 cyc lically at the set period interval when in the OPERATIONAL state 8 5 1 3 Synchronous Transmission The synchronous transmission is used to get inclination values from more then one sensor at the same time Therefore C

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