User manual Inclination Sensors with CAN Bus Interface
Contents
1.2. 1 1 1 Character 6 ROMPE 1 TZ APPICAlORS P 1 2 WEG MIAN AN ANA c 2 NONU ae cn de cr cate Saba crc ie ee ee ee een 4 3 1 Posion OF Diling MOE S anne Ea 4 3 2 Definition of the AX S cccccccccseccceeeeceeeeceeeseeeeseeceaeeceeeeseeeeseueeseueesaeeesaeessueesaueeseeeeseeaeeseeseeseeseeseeees 5 A ONE CO ee ae ea En nen een een 6 4 1 Connector uie m 6 4 2 Bus Termiralor ResIs Ofen tekst Auc id dae nn Mac RU UR en anne seen 6 FUNCION IOCS UDIO nase mo T SHB ENEE E ee ae ee E nee E E E E E E E T 9 2 Zero FONC ACUS Mena ee EMEND ee T 5 3 Active compensation of thermal accuracy shift 8 SATA cd Mz D RR 8 5 5 Format of the CAN Frames 0022420 22000000000nnnnnennnnnnnnnnnnnnnnn nenne nn nika rase sis ssa grasa sata se seine sa sana sane nnns 9 9 9 1 Data Part n Ne CAN BL ass ar re 9 5 5 2 Status Byte ls TAU See ee ee re ee 9 3 6 OO UO ICS Vorne EN R PM 10 5 7 Read Write device parameters 00224002000020000nnnonnnnonnnne nenne nenn nnnnennnne anne nenne nennnnenennnnennnnenennn nenne 11 9 2 1 oet Parameter Frame sense ae ee ee 11 5 7 2 Reply Parameter Flames ne nenne ee 12 5 8 Default Dev
3. 17 6 1 Inclination sensor programming adapter sessssssesesesssseeeeeeeee nene men nnn nennen nnns 17 o2 PC somwale ISD COMO c 18 F Ord rng Momma NT E 19 Document 230xx HB 1 2 E ISxDxxP20 II List of Tables GEMAC List of Tables Table 1 TC CMA CAN Diener ee ee 2 Table 2 Electromagnetic Compatibility EMC 022220020000nnnenennnnennenennnnennnnnnnnnnnnnnnnennnnnnnn nenne neneennenn 3 Table oca ee nee era en ee une T Table 4 Status and Error Display through Status LED u022u02220022suenennenennnnnnnnnnnennnnnnnnnenennenen en 8 Table 5 Format of the CAN Frames ae dindene 9 Table 6 Status Byte type only IS1D 00 P2O us2uuusssuenennensneneneennnnnnnnnnnnnonnnnnnnnnnnnnnnnnnn nennen nennen eenenn 9 Table 7 Status Byte type only IS2D 90 P2O u222u00220022nnonenenennonnnnnnnnonnnnonennennnnennnnnnnnnnnnnnnnnnnnnnnenenn 9 Table S Boot WD MESSAGE RR I mem 10 Table 9 Supported FSC and Parameters of the Set Parameter Frames Request 11 Table 10 Function Codes and Parameters of the Reply Parameter Frames eeeeeeeeeeeeeeeee 12 Table 11 Default Settings of the Device Parameters 20022000220002nnonennenennnnnnnennnnnennnnenennennennnnen nenn 13
4. C to 80 C Characteristics Interface CAN 2 0 A and B 11 and 29 Bit ID according to ISO 11898 2 Data rates 10 k 20 k 50 k 62 5 k 100 k 125k 250 k 500 k 800 k Bit s 1 MBit s automatic detection Functions Angle request cyclical and synchronized outputs parametrization digital filter Butter worth lowpass 8 order configuration via CAN Electrical Parameters Supply voltage 8 to 48 VDC Current consumption Metal housing 200 mA 24 V PPeak lt 4 8 W Plastic housing 33 mA 24 V 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 Plastic housing 66 mm x 90 mm x 36 mm ca 215g 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 1 Technical Data 1 Allindicated angle accuracies are valid after a running time of 1
5. 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 Metal housing Document 230xx HB 1 2 E ISxDxxP20 3 Mounting 3 Mounting 3 1 Position of Drilling Holes A Sensorik Messtechnik ASIC Design The four drilling holes to mount the sensor Figure 1 and Figure 4 are situated in the base plate of the in clination sensor 82 00 sen 70 00 62 00 L AX AN Pu Ka E i ee Q NP MEME x dps e Sr D B J I EN m I ES M m 20 00 80 00 e Figure 1 Dimensioned Sketch of metal housing EX EC NY uu 2 AN RS H NA 75 0 90 0 Figure 2 Dimensioned Sketch Document 230xx HB 1 2 E ISxDxxP20 of plastic housing for hexagon socket screw M5 DIN 912 A2 4 pcs mandatory use conical spring washer M5 DIN 6796 A2 4 pcs R 2 9 4 GEMAC OU nting Sensorik Messtechnik ASIC Design 3 2 Definition of the Axes Figure
6. A GEMAC Sensorik Messtechnik ASIC Design User manual Inclination Sensors with CAN Bus Interface Version 1 2 Date 2012 05 31 GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH Phone 49 371 3377 0 Zwickauer Stra e 227 Fax 49 371 3377 272 09116 Chemnitz E mail info gemac chemnitz de Germany Web www gemac chemnitz de Revision H istory 7 Sensorik Messtechnik ASIC Design Revision History Date revision nn 2010 09 16 0 preliminary 2011 07 01 1 first version 2012 05 31 2 sensor with metal housing added critical damped digital filter added Copyright 2012 GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH This document is subject to change without notice We constantly work to further develop of 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 mbH All rights according to the copyright remain explicitly reserved for GEMAC mbH Note To use the inclination sensors and for proper understanding of this manual general knowledge of the field bus system CAN is required Document 230xx HB 1 2 E ISxDxxP20 Table of Contents GEMAC Table of Contents Ugo
7. Connector Pin Out CAN BUS nee ni Udine tunica de nean dex eee Ress 6 Impulse and amplitude response of the two filters u222u00240002200nsnnnenennenennennennnnnnnnennnn nen 7 Operational Principle of the Cyclic Mode 02220022200200000000nnnn nenne nenne nenne nennen nennen 14 wig T KK 17 PO SOMNAT AE 18 Document 230xx HB 1 2 E ISxDxxP20 IV 1 Overview 1 Overview 1 1 Characteristics 1 dimensional inclination sensor with measurement range 360 2 dimensional inclination sensor with measurement range 90 X Y High sampling rate and bandwidth High resolution 0 01 and accuracy 0 05 Compensated temperature coefficient for metal housing 10x improved temperature coefficient to plastic housing Compensated cross sensitivity Programmable vibration suppression Comfortable CAN Bus interface Freely selectable IDs Baud rates from 10 kBit s to 1 MBit s Automatic baud rate detection Functions Position request cyclical output synchronized output Configurable cut off frequency digital filter A Sensorik Messtechnik ASIC Design Metal housing with stainless steel base plate or UV resistant impact strength plastic housing Suitable for industrial use Temperature range 40 C to 80 C Degree of protection IP65 67 The inclination sensor ISTD 00 P2
8. Internal Timer Cyclic Time CAN Cyclic Position Telegrams Cyclic Time lt gt Figure 7 Operational Principle of the Cyclic Mode Document 230xx HB 1 2 E ISxDxxP20 14 GEMAC 5 Functional descri ption A Sensorik Messtechnik ASIC Design 5 10 Configuration of the inclination sensor 5 10 1 Configuration of Cyclic Mode CYZOM Cyclic Time in ms Format 16 bit unsigned integer value 1 65535 CYM De activate Cyclic Mode 0 Cyclic Mode deactivated 1 Cyclic Mode activated The section 5 9 3 Cyclic Mode contains a detailed description of the usage of the Cyclic Mode 5 10 2 Configuration of the CAN Identifier IDO 3 CAN Identifier ID 11 Bit ID CAN 2 0 A or 29 Bit ID CAN 2 0 B Format 32 bit value with the following structure 72 EG E53 E23 053 E23 Er E Ez M E53 E EG 2 0765432 17 81312 81 2 o 0 11 Bit ID CAN 2 0 A ib NES 29 Bit ID CAN 2 0 B Table 15 CAN Identifier Example CAN ID 361h 29 Bit ID CAN 2 0 B IDO 61h ID1 03h ID2 00h ID3 80h If a CAN ID is set newly it must not be used by another frame type If this occurs the error bit STATUS Cm dParamError is set in the Reply Parameter Frame and the CAN ID is refused 5 10 3 Configuration of the Baud Rate BR Code of a Baud Rate Format 8 bit unsigned integer value 0 10 Code 0 Automatic Baud Rate Detection 1 10 kBit s 2 20 kBit s 3 50 kBit s 4 100 kBit s 5 125 kBit s 6 250 kBit s 7 500 kB
9. Table 12 Request frame inclination values FSC OON ccccceccccseececeeeeeeeeeeeseeeeeseueeeaeeseeeseeeeeeeeeeeeenees 13 Table 13 Reply frame inclination values type only IS1D 00 P20 FSC 00h eeeeeeeeeeeeeeee 13 Table 14 Reply frame inclination values type only IS2D 90 P20 FSC 00h eeeeeeeeeeeesee 13 Table 15 C sem 15 Table 16 Restore Default Device Parameters 0002400200002000000n0nnnne nano nenne nenn nennen nasse nnns 16 Table 17 Save Device Parameters seesssssssssssssssssssssseesee nennen nena sese sese nnne rise sese sre n snas 16 Table 18 Ordering INON ANO sssaaa neen anina neuen nennen E ea EEEa SAADEN ENE SRTA EEEN 19 Document 230xx HB 1 2 E ISxDxxP20 Hl ar GEMAC ist of Figures Sensorik Messtechnik ASIC Design List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Dimensioned Sketch of metal NOUSING ccccecccceeeeeeeseeeeeeeeeseeeecseeeeeseeeeeseeeesseeeesseueesaeeeeseneeaeeaees 4 Dimensioned Sketch of plastic NOUSING ccccceseececeeeeeeeeeeeseeeeeeaeeeeseeeeesaueeeseeeseeeeeeaeeeeeeseeseeenees 4 Definition of the Axes metal housing factory default settings eeeeeeeeeeeeeeesesse 5 Definition of the Axes plastic housing factory default settings eeseeeeeeeeseeseeeess 5
10. be stored in a file Properties comfortable configuration of all parameters of the inclination sensor 3D imaging and display of the current angle Oscilloscope display of the current angle Firmware Download option Automatic inclination sensor search for unknown communication parameters ZA Unbenannt isd ISDControl MX jj Ansicht Extras Hilfe 3 Strom Spannung 300h 301h 10 Sensor Scan Firmware Update Sensor Auswahl X Sensor Konfiguration X ungssensor e N Alle Parameter Analogausg nge G CANopen Ausgang Kanal 4 O Kanal B IS2n AN p2 Konfiguration Unbenannt 15DControl oe Ausgang X Achse 4 ei Ansicht Extras Hilfe H Begrenzung A E a CAN CANopen i 1000 kBit s 300h 301h 10 Sensor Scan Firmwere Update M d 1 Spannungsausgang Sensor Ausmahl X niga lin Sensor Auswahl 05 45V Jungssensor 25 Ar Baudrate vd Node ID L55 Comm Parameter Manu Parameter Appl Parameter VU 0 500 V Eingabe VO 4 500 Y Eingabe Dokument Sensor a 90 00 CANopen Nodeguarding aktivieren L1 18 24 Winkelwerte IS2D 90 P21 Guard Tene nm 1 293 V Utm Strom Life Time Factor Su 90 00 Eingabe Heartbeat aktivieren m zi Spannung Intervallzeit in ms 300h 301h 10 Sensor Scan Firmware Update Synchronisiertes Senden v Nach Anzahl SYNC Telegramme 1 1 LI Standard Vollbi
11. selection 28h Status Zero Offset 28h Status Zero Offset X 29h Status Zero Offset Y 40h Status Load default device parameters factory defaults 50h Status Write device parameters in EEPROM FFh Status SetPar SetPar SetPar SetPar SWVO SWV1 Software reset amIlD amlD amlD amID FFh Status SetPar SetPar SetPar SetPar SWVO SWV1 Read alive frame Boot Up Message amIlD amlD amlD amID Table 10 Function Codes and Parameters of the Reply Parameter Frames 1 type only IS1D 00 P20 2 type only IS2D 90 P20 Changes to communication parameters such as ID and Baud Rate will take effect after reboot Document 230xx HB 1 2 E ISxDxxP20 12 GEMAC 5 Functional description A Sensorik Messtechnik ASIC Design 5 8 Default Device Parameters The inclination sensor is delivered with the default device parameters shown in Table 11 These can be re stored by a Set Parameter Frame with FSC 40h see section 5 7 Read Write device parameters Set Parameter ID 300h CAN 2 0 A Standard Frame Reply Parameter ID 301h CAN 2 0 A Standard Frame Sync ID 100h CAN 2 0 A Standard Frame Baud Rate BR 0 Automatic Baud Rate Detection Cyclic Time CYT 250 250 ms Cyclic Mode CYM 0 deactivated Cut off Frequency CF 2000 2000 mHz 2Hz Zero Offset 0 Off Table 11 Default Settings of the Device Parameters These default settings will also be set if invalid device parameters are read from the no
12. 0 is suitable to measure the inclination in the measurement range of 360 The 2 dimensional inclination sensor IS2D 90 P20 is suitable to measure the inclination in 2 dimensions X Y in the measurement 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 vehicle technology A simple configuration and putting into oper ation is possible by the standardized CAN Bus interface 1 2 Applications Solar thermal and photo voltaic systems Agricultural and forestry machinery Construction machinery Crane and hoisting technology Document 230xx HB 1 2 E ISxDxxP20 2 Technical Data GEMAC 2 Technical Data Measurement range 360 x90 Resolution 0 01 Accuracy Type IS1D 00 P20 Range typical maximum 0 360 0 04 0 10 Accuracy Type IS2D 90 P20 Range typical maximum 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 9e max 0 50 Temperature coefficient zero point Metal housing typ 0 0008 K typ lt x0 10 over range 40 C 80 C Plastic housing 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
13. 0 minutes at 25 C Cut off frequency 0 3 Hz Absolute calibration accuracy at 25 C x0 05 2 typeonly IS2D 90 P20 Document 230xx HB 1 2 E ISxDxxP20 2 2 Technical Data A 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 Anechoic chamber according to ISO 11452 2 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 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 Hl C 2a 37 V Hl B 2b 20 V Il C B 3a 150V III A 3b 150V Ill A 4 12 V III A 5a 70 V Ri210 10 Q A 5b 36 V Ri 20 50 A Immunity to Electromagnetic Discharge ESD ESD according to ISO 10605 2008 Limits according to
14. 3 Definition of the Axes metal housing factory default settings Figure 4 Definition of the Axes plastic housing factory default settings Document 230xx HB 1 2 E ISxDxxP20 5 A Connection 7 Sensorik Messtechnik ASIC Design 4 Connection 4 1 Connector Pin Out The inclination sensors IS1D 00 P20 and IS2D 90 P20 are equipped with a common 5 pole round plug M12 A coded The pin allocation fulfills CiA DR 303 1 Figure 5 1 CAN SHLD Shield 2 CAN V Supply voltage 24 V 3 CAN GND GND OV V 4 CAN H CAN H bus line 5 CAN L CAN L bus line View from the outside Figure 5 Connector Pin Out CAN Bus 4 2 Bus Termination Resistor The inclination sensors contain no internal termination resistor Document 230xx HB 1 2 E ISxDxxP20 6 5 Functional description A Sensorik Messtechnik ASIC Design 9 Functional description 5 1 Digital Filter 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 Adjustable Applications frequency range Butterworth 0 1 Hz 25 Hz Static inclination measurement with high damping to vibration Critical damped 0 1 H2 8Hz Inclination measurement in applications that requires a certain dynamism without over shoot at angle changes with go
15. ccurred for example data loss The correct function of the inclination sensor is no longer guaranteed This bit is reset by reading of the status byte Set Parameter Telegram with FSC 02h CmdParameError A received frame contained a command or parameter error invalid FSC too less data bytes invalid values This bit is also set if an error occurred in the execution of a function for example writing reading error on EEPROM It will be reset by reading of the status byte Set Parameter Frame with FSC 02h SensorError type only IS1D 00 P20 The sensor of the measuring axis is located outside of the tol erable value range limit The angle value can be incorrect This bit is reset automat ically if the sensor is inside its measuring range again SensorErrorX type only IS2D 90 P20 The sensor of the X axis is located outside of the tolerable value range limit The angle value can be incorrect This bit is reset automatically if the sensor is inside its measuring range again SensorErrory type only IS2D 90 P20 Error bit of the sensor of the Y axis like SensorErrorX AccuracyWarning This bit 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 5 6 Boot Up Message After device reset hardware or software reset the inclination sensor outputs a boot up message twice With this the correct boot process is d
16. ce is in state Bus Off Legend O LED off S LED on T LED flickering 50 ms on off Duration of O 200 ms Table 4 Status and Error Display through Status LED Document 230xx HB 1 2 E ISxDxxP20 8 5 Functional description A Sensorik Messtechnik ASIC Design 5 5 Format of the CAN Frames For reading writing device parameters and to read the inclination values a CAN ID exist for receiving data commands and one CAN ID to send the response confirmation These IDs are saved in an internal permanent memory EEPROM and can be configured freely CAN 2 0 A Standard Frame Format as well as CAN 2 0 B Extended Frame Format are supported 5 5 1 Data Part in the CAN Frame The data part of all transmission and receipt frames always contains a function select code FSC and addi tionally up to seven data bytes depending on the FSC The length of the data part of the CAN frame is defined in the DLC field Data Length Code The general format of the data part is structured as follows FSC DO Status D1 D2 D3 D4 D5 D6 Table 5 Format of the CAN Frames FSC Function Select Code Function code detailed description in the sections about the op eration modes Each frame of the inclination sensor always contains the FSC of the pre ceding request as confirmation DO D7 Data bytes depending on the function select code Status Status information which is included in each frame output by the inclination sensor see section 5 5 2 Stat
17. e 100 angle value 5 9 2 Synchronous Mode The synchronous transmission is used to receive inclination values from more than one sensor at the same time Therefore the sensor provides a synchronization frame Default Sync ID 100h The synchronization frame is a broadcast message to all CAN nodes without user data DLC 0 This synchronization frame is transmitted from a bus node usually the master cyclically at fixed intervals All inclination sensors read their current value after reception of the synchronization frame and then transmit the inclination values dir ectly as soon as the bus permits The replay frame to a synchronization frame is the same as in polling mode Table 13 14 5 9 3 Cyclic Mode The inclination sensor supports the cyclical transmission of the recent position angle position after the ex piration of a defined time interval This operation mode can be de activated separately and the needed time interval Cyclic Time can be parametrized freely Corresponding to the operational principle shown in Figure 7 the inclination sensor outputs the recent position value in periodical intervals Cyclic Time with a Reply Parameter Frame as in the polling mode with additional counter in the following data bytes Table 13 This 16 bit counter is increased after the end of the set Cycle Time regardless of whether the telegram was sent or not Thus the temporal relation in case of lost frames can be restored Cyclic Mode
18. ice Parameters cccccccccsscecceseecceseecsneecsaeeecsuseessueeecegeeesseeesueeeseueeeseseessaesausseeseeesaees 13 5 9 Transfer of the inclination VAIUCS cccceccceseecccaeeeeeeeeceeaeeeesseeeseeeeeseeeeseeeeeseueesseeeeeseeeesseeeeeaeeeesaeees 13 Oe Be aseo re nee nen 13 oe ialesenel Mise een 14 SRSA CW IOS nenne een nee EIA Q 14 5 10 Configuration of the inclination sensor uu024400B04nno nenne nnnnnn nennen nnnm nennen nenne nennen 15 5 10 1 Configuration of Cyclic Mode uu2240004440Rnennnnennn nennen nennen nenne nnnnnn nennen nnne nnn nne nnns 15 5 10 2 Configuration of the CAN Identifier u0 440044400RRnnnnnennnnennn nennen nenne nenne nnnnne nennen nennen 15 5 10 9 Configuration of the Baud Rakete near ae 15 5 10 4 Configure Automatic Bus Off Recovery uuussssusnesnennennnnnennnnnnnnn nenne nnne nennen nnn nennen nennen nnns 15 5 10 5 Configuration of Cut off FreQuency cccccecccccseeeeceeeeeeeeeeeseeeesseeeesseeeeseeeeeeeeeeeaeeeseeeaeeaeesaeeees 16 5 10 6 Configuration of Zero Point Adjustment ssessssssssssssesee eene enne nnns 16 5 10 7 Restoration of Default Device Parameters ccccccceccecseeeeeeeeeeeeeeeeseeeeeeaueesseeeeeseeeeaeeaeeseeeees 16 5 10 8 Save Device Paramelters 2 200024000000000000nn0nnnnnennnnnennnnnnnnnnne nenne nnn snn nensis nsus snas r sa sae anna ns 16 B DENSOF COM UI AU ON RP c
19. isplayed and the Set Parameter ID is notified CAN ID on that the in clination sensor can be parametrized This frame contains the following information Boot up message after device reset Reply Parameter ID default ID 301h Status SIDO SID1 SID2 SID3 SWVO SWV1 Table 8 Boot Up Message SIDO 3 Set Parameter ID description in section 5 7 Read Write device parameters SWVO 1 Software version Format 16 bit unsigned integer value Example 67h 103 corresponds to v01 03 Document 230xx HB 1 2 E ISxDxxP20 10 GEMAC 5 Functional description A Sensorik Messtechnik ASIC Design 5 7 Read Write device parameters All parameters like inclinations values CAN IDs Baud Rate Cyclic Time etc can be set and requested via the Set Parameter Frames Request frame The inclination sensor confirms each frame with a Reply Parameter Frame which also contains the needed data according to FSC Reply frame 5 7 1 Set Parameter Frame Table 9 shows all the supported function select codes and the parameters of a Set Parameter Frame bese oo J ov IC BES I ERN REN CE Read inclin values incl cyclic counter in Cyclic Mode 02h Read status 03h Read product number and revision 04h Read serial number and software version 10h Set Parameter ID 11h Reply Parameter ID 12h Sync ID 13h Baud Rate 9 14h Automatic B
20. it s 8 800 kBit s 9 1 Mbit s 10 62 5 kBit s additional baud rate 5 10 4 Configure Automatic Bus Off Recovery ABOR Enable Disable Automatic Bus Off Recovery 0 Enable Automatic Bus Off Recovery Device remains in a state Bus Off 1 Disable Automatic Bus Off Recovery Device starts up again Document 230xx HB 1 2 E ISxDxxP20 15 5 Functional description A Sensorik Messtechnik ASIC Design 5 10 5 Configuration of Cut off Frequency CFO 1 Cut off Frequency in mHz Format 16 bit unsigned integer value 100 25 000 O digital filter disabled The section 5 1 Digital Filter contains a detailed description 5 10 6 Configuration of Zero Point Adjustment OF Type IS1D 00 P20 Zero Offset Format 16 bit unsigned integer value 0 35 999 OFX OF Y Type IS2D 90 P20 Zero Offset X Y Format 16 bit signed value two s complement 9000 9000 The section 5 2 Zero Point Adjustment contains a detailed description 5 10 7 Restoration of Default Device Parameters The sensor can be reset to default device parameters by writing the signature LOAD to the sensor FSC 40h Thus the default parameters with the exception of the ID and the Baud Rate are immediately active again After a software reset of the sensor or a hardware reset the factory parameter of the IDs and the baud rate take effect again ENEZNNZONNN L O A D 4Ch 4Fh 41h 44h Table 16 Restore Default Device Parameters The sectio
21. ld J winkelwerte anzeigen Zyklischer Betriebsmodus F Zykluszeit in ms 0 02 Sensor Info x COB ID SYNC 0x 080 0x 080 PF ON S O AX E o Angeschlossener Sensor Sperrzeit EMCY in ms 10 0 0 0 0 0 dda CAN Sperrzeit TPDO1 in ms 10 0 dukt Code PR 23154 00 iennummer 00001 vice ID IS2D 90 P21 nware Version v3 21 inkelbereich 90 fl sung 0 019 tusbyte 0x01 Dokument gt Sensor Dokument lt Sensor Standard Sensor Konfiguration Sensor 3D Ansicht Sensor Oszilloskop IS2D 90 P21 Serien Nr 00001 lt gt Device ID Firmware Version V3 20 Winkelbereich 909 fl sung 0 01 atusbyte 0x01 Sensor Konfiguration Sensor 3D Ansicht Sensor Oszilloskop IS2D 90 P25 Serien Nr 00002 gt Figure 9 PC software Document 230xx HB 1 2 E ISxDxxP20 18 7 Ordering Information GEMAC Sensorik Messtechnik ASIC Design 7 Ordering Information Article Number Product Type Description Distinction PR 23050 30 IS1D 00 P20 CAN 1 dimensional 360 plastic housing PR 23020 30 IS1D 00 P20 CAN 1 dimensional 360 metal housing PR 23054 30 IS2D 90 P20 CAN 2 dimensional 90 plastic housing PR 23024 30 IS2D 90 P20 CAN 2 dimensional 90 metal housing PR 23999 01 ISPA1 Inclination sensor programming adapter Starter kit including programming adapter cables and PC software Table 18 Ordering Information Document 230xx HB 1 2 E ISxDxxP20 19
22. me The error bits of the status byte indicate insufficient or invalid parameters or errors that oc curred while writing into the nonvolatile memory refer to section 5 5 2 Status Byte STATUS The struc ture of the Reply Parameter Frames in dependence to the FSC is shown in Table 10 bese co ox oz oo oe os EEE Status WXO WX1 WY1 CNTO CNT1 Read inclin values incl cyclic counter in Cyclic Mode 02h Status Read status 03h Status PRO PR1 PR2 PR3 RVO RV1 Read product number and revision 04h Status SNO SN1 SN2 SN3 SWVO SWV1 Read serial number and software version 10h Status IDO ID1 ID2 ID3 Set Parameter ID 11h Status IDO ID 1 ID2 ID3 Reply Parameter ID 12h Status IDO ID1 ID2 ID3 Sync ID 13h Status BR Baud Rate 3 14h Status ABOR Automatic Bus Off Recovery s 15h Status CYTO CYT Cyclic Time 3 16h Status CYM Cyclic Mode 17h Status CFO CF1 FT Cut off Frequency Digital Filter Filter selection 3 18h Status OFO OF1 Zero Offset 18h Status OFXO OFX1 Zero Offset X 19h Status OFYO OFY1 Zero Offset Y 20h Status Set Parameter ID 21h Status Reply Parameter ID 22h Status Sync ID 23h Status Baud Rate 3 24h Status Automatic Bus Off Recovery 5 25h Status Cyclic Time 26h Status E Cyclic Mode E 27h Status Cut off Frequency Digital Filter Filter
23. n 5 8 Default Device Parameters contains a detailed description 5 10 8 Save Device Parameters If parameters are changed in the sensor they take effect immediately except for the IDs and the Baud Rate Thus the new parameters are still active after a reset these must be stored in the internal non volatile memory This is done by writing the signature SAVE on the FSC 50h ESENES S A V E 53h 41h 56h 45h Table 17 Save Device Parameters Document 230xx HB 1 2 E ISxDxxP20 16 6 Sensor configuration A Sensorik Messtechnik ASIC Design 6 Sensor configuration 6 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 Lamoen Rear ISDControl x A Figure 8 Starter kit Document 230xx HB 1 2 E ISxDxxP20 17 A GEMAC ensor configuration Sensorik Messtechnik ASIC Design 6 2 PC software ISDControl The parametrization of all possible values is done with the PC software ISDControl which is included in all starter kits Each configuration can then
24. nvolatile memory after device reset If the default settings have been restored this is displayed by the status bit STATUS De faultParam 1 5 9 Transfer of the inclination values For the transfer of the inclination values the sensor supports following modes E Polling Mode Synchronous Mode Cyclic Mode All three modes are active at any time and usable at the same time A switch is not necessary 5 9 1 Polling Mode The polling mode is always available The inclination value of the sensor can be requested via a Set Para meter Frame The inclination sensor replies to that frame via a Reply Parameter Frame Both frames are structured as follows Fse po pi rn2 ps3 j p ps pe 00h E A E n d _ Table 12 Request frame inclination values FSC 00h Status AngleO Angle1 CNTO CNT1 Table 13 Reply frame inclination values type only IS1D 00 P20 FSC 00h Status AngleXO AngleX1 AngleYO AngleY 1 CNTO CNT1 Table 14 Reply frame inclination values type only IS2D 90 P20 FSC 00h Document 230xx HB 1 2 E ISxDxxP20 13 5 Functional description A Sensorik Messtechnik ASIC Design Angle0 1 Type only IS1D 00 P20 Angle value Format 16 bit unsigned integer value 1 65535 Conversion Value 100 angle value Example 1065 100 10 65 AngleX YO 1 Type only IS2D 90 P20 Angle value of the X Y axis Format 16 bit signed value complement on two 9000 9000 Conversion Valu
25. od damping Table 3 Filter selection The cut off frequency is programmable by FSC 26h Set Parameter Frame Values for CF are allowed between 100 0 1 Hz and 25000 8000 25 Hz 8 Hz The filter type is selected with the parameter FT Step response 8th order filter Gain response 8th order filter T T T T El j Eod Gain dB Tilt Butterworth T 2Hz Butterworth f c 2Hz 60 H Butterworth f 0 5Hz Butterworth f 0 5Hz critically damped f 2 Hz 70H critically damped f 2 Hz critically damped f 0 5 Hz critically damped f 0 5 Hz i l l l i j j j j 80 1 1 fe 1 i iii i i i il i i iii i 3 4 5 6 7 8 9 10 0 01 0 1 1 10 100 Time s Frequency Hz Figure 6 Impulse and amplitude response of the two filters 5 2 Zero Point Adjustment For all inclination sensors the zero point can be adjusted This allows to set the zero position in the installed state of the sensor Therefore the inclination sensors have a memory for a zero offset Here registered val ues are added to the output of the internal measured inclination value In case of setting the current position as zero point the current measured inclination value must be set as negative value in the zero offset register The inclination sensor is able to perform this kind of Zero Point Ad justment equal to itself Au
26. tomatic Zero Point Adjustment This requires the user to send a telegram without parameters FSC 27h 28h DLC 1 The sensor then sets the current position at the time of re ceipt of the telegram as negative value in the zero offset register Document 230xx HB 1 2 E ISxDxxP20 T MM 4 GEMAC unctional description Sensorik Messtechnik ASIC Design 5 3 Active compensation of thermal accuracy shift The inclination sensor in metal housing features opposed to the sensor in plastic housing an active com pensation of accuracy shift This is improved by maintaining the sensor element at a constant temperature which is independent of the operation temperature of the inclination sensor 5 4 Status LED 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 in Table 4 Status LED Cn O 1e1 ONOTOSe ES The device is in state Reset or no power supply is connected Ce Or Oe Oe Oe Oe Oe Oe Oe Or GO Fr Flickering Automatic baud rate detection is currently running active T 9 9 9 99 9 9 9 9 9 On The device is in normal operating state ONU DEED OO C oO Cc Oi The device is in working condition 4 O O O O O i O O O O O Single Flash CAN Warning Limit reached T 9 9 9 9 9 9 On The devi
27. us Byte STATUS Frames which are transmitted to the inclination sensor may contain further data bytes beyond the needed ones those will not be evaluated Frames sent by the inclination sensor only contain the data bytes defined by the function select code 5 5 2 Status Byte STATUS Each frame output by the inclination sensor contains the recent status of the device in Byte1 of the CAN frame The status byte is structured as follows Ger Bis 55 Bis GENER reserved Accuracy reserved Sensor CmdParam EEPROM Autobaud Default Warning Error Error Error Detection Param Table 6 Status Byte type only IS1D 00 P20 EL NENNEN NENNEN d Bi GENER reserved Accuracy SensorY SensorX CmdParam EEPROM Autobaud Default Warning Error Error Error Error Detection Param Table 7 Status Byte type only IS2D 90 P20 Document 230xx HB 1 2 E ISxDxxP20 9 GEMAC 5 Functional description A Sensorik Messtechnik ASIC Design DefaultParam The standard device parameters are set This bit is reset only when a device para meter was changed to a different value from the factory parameter The inclination sensors are supplied with the standard device parameters so this bit is set by default refer to section 5 8 Default Device Parameters AutobaudDetection The baud rate is set to automatic detection BR 0 refer to section 5 10 3 Config uration of the Baud Rate EEPROMError While reading writing on the EEPROM an error o
28. us Off Recovery 5 Q 15h Cyclic Time Q 16h Cyclic Mode 9 17h Cut off Frequency Digital Filter Filter selection 8 18h Zero Offset i 18h Zero Offset X 19h Zero Offset Y 20h IDO ID1 ID2 ID3 Set Parameter ID 21h IDO ID1 ID2 ID3 Reply Parameter ID 22h IDO ID 1 ID2 ID3 Sync ID 23h BR Baud Rate 3 24h ABOR Automatic Bus Off Recovery 5 25h CYTO CY f Cydlic Time 26h CYM Cyclic Mode E 27h CFO CF1 FT Cut off Frequency Digital Filter Filter selection 28h OFO OF1 Zero Offset 28h OFXO OFX1 Zero Offset X 29h OFYO OFY1 Zero Offset Y 40h L O A iD Load default device parameters factory defaults 50h 9 A Vi E Write device parameters in EEPROM FFh R E S Es p Software reset FFh Read alive frame Boot Up Message Table 9 Supported FSC and Parameters of the Set Parameter Frames Request 1 typeonly IS1D 00 P20 2 type only IS2D 90 P20 Changes to communication parameters such as ID and Baud Rate will take effect after reboot Document 230xx HB 1 2 E ISxDxxP20 11 GEMAC Sensorik Messtechnik ASIC Design 5 Functional description 5 7 2 Reply Parameter Frames Each Reply Parameter Frame contains the identical FSC as confirmation to the correctly received Set Para meter Fra
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