POSITILT® CANopen Output Specification Description CANopen Interface Inclination sensor with CANopen interface according to CiA 410. Communication profile Device profile Configuration services Error Control Node ID PDO PDO Modes SDO Certified Transmission rate Bus connection Integrated bus terminating resistor Bus, galvanic isolation Specifications Excitation voltage Excitation current Measuring rate Stability (temperature) Repeatability Operating temperature Protection EMC CANopen CiA 301 V 4.02, Slave Inclinometer CiA 410 V 1.2 LSS, CiA Draft Standard 305 (transmission rate, node ID) Node Guarding, Heartbeat, Emergency Message Adjustable via LSS or via object dictionary; default: 127 1 TxPDO, 0 RxPDO, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 Server, 0 Client Yes 50 kBaud to 1 MBaud, adjustable via LSS or via object dictionary, default: 125 kBaud M12 connector, 5 pin Configurable No 8 ... 36 V DC 15/30 mA typical for 24/12 V, 100 mA max. 1 kHz standard ±100 x 10-6 / °C f.s. 1 LSB -40 ... +85 °C Reverse polarity, short circuit EN61326-1:2006 ASM GmbH www.asm-sensor.com MAN-PT-E-10 13 POSITILT® CANopen output - set up procedure Setup procedure efore connecting to the CAN bus make sure that every node ID is used B once only and all nodes have the same baud rate. If necessary set node IDs and transmission rate. After power up the slave sends a boot-up message and is ready for configuration and start of data exchange. On the first power-up the default parameters are effective. After reading the EDS file by the control unit the parameters can be changed according to application requirements. Changed parameters become effective immediately. Non-volatile storage of the parameters by write access „save“ on object 1010/1. Node ID and bit rate can be changed via LSS (CANopen Layer Setting Services). Alternatively node ID and bitrate can be configured via object dictionary. These settings become effective not before „save“ and resetting the device. Note: Setting of some parameters may have influence on the function of other parameters, e.g. changing the resolution may also influence the cam function. For further information refer to the device profile. Warning notice • Changing the parameters can cause a sudden step of the instantaneous value and can result in unexpected machine (re)actions! 14 • Precautions to prevent danger for man or machine are necessary! • Execute parametrizing at standstill of the machine only! MAN-PT-E-10 www.asm-sensor.com ASM GmbH POSITILT® CANopen output - set up procedure Device profile SAVE LOAD Manufacturer specific Node-ID Bitrate Hysteresis send-on-change Bus termination Filter Inclinometer CiA410 Resolution (in 0,001°) Slope long16 inclination angle round x axis Oper. parameters slope long16 1 or 2 axes Slope long16 preset value Slope lateral16 inclination angle round y axis Oper. parameters slope lateral16 2nd axis Slope lateral16 preset value Index 1010-1 1011-1 Default „save“ „load“ Value range MSB...LSB 73h, 61h, 76h, 65h MSB...LSB 6Ch, 6Fh, 61h, 64h 2000 2010 2040 2050 2102 127 4 10 0 16 1 ... 127 0...6 (s. table below) 6000 6010 100 10 ... 10000 6011 0 6012 6020 0 6021 0 6022 0 0 (off), 1 (on) 1...65535 Operating Parameters Bit Code 7 m MSB ... i = 0/1 s = 0/1 m = 0/1 Bit rates 2 1 s 0 i LSB Code sequence CW/CCW Scaling function disabled/enabled Operating mode: 1 axis x ±180°/2 axes x,y ±60° Index Bit rate 0 1 2 3 4 5 6 1 MBit/s 800 kBit/s 500 kBit/s 250 kBit/s 125 kBit/s reserved 50 kBit/s ASM GmbH www.asm-sensor.com MAN-PT-E-10 15 POSITILT® CANopen output - set up procedure Process data Signal wiring / connection CAN bus wiring Preselected transmission mode PDO Inclination 4 byte TxPDO-01 LSBX MSBX LSBY MSBY Asynchronous 100 ms Signal name Wire color Connector pin Grey White Brown Green Yellow 1 2 3 4 5 Screen Excitation + GND CAN-H CAN-L View to sensor connector Connect the device by a T-connector to the CAN trunk line. Total length of stubs should be minimized. Do not use single stub lines longer than 0.5 m. Connect terminating resistors 120 Ohm at both ends of the trunk line. Terminating resistor Cable T-piece Device 1 Cable T-piece Device 2 Terminating T-piece resistor * Device n * Only if device n has no internal terminating resistor 16 MAN-PT-E-10 www.asm-sensor.com ASM GmbH