EN

Manual
Inclination sensor with CANopen interface
Firmware Version 1.00 and up
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 7720 942-0
Fax +49 7720 942-900
[email protected]
www.baumer.com
11.12 · 174.02.048/7
Subject to modification in technic and design.
Errors and omissions excepted.
Contents
Page
1. Introduction
3
1.1.
1.2.
3
3
Scope of delivery
Product assignment
2. Safety and operating instructions
4
3. CAN-bus and CANopen communication
5
3.1.1.
3.2.
3.3.
3.3.1.
3.3.2.
3.3.3.
3.3.4.
3.3.5.
3.3.6.
3.4.
3.4.1.
3.4.2.
CAN-bus properties
CANopen
CANopen communication
Communication profile
CANopen message structure
Service data communication
Process data communication
Network management services
Layer Setting Services
Inclination sensor profile
Inclination sensor object overview
Detailed object list
5
6
7
7
7
8
9
11
15
18
18
21
4. Diagnostics and useful information
32
4.1.
4.2.
4.3.
32
32
33
Error diagnostics in fieldbus communication
Error diagnostics via fieldbus
Useful information on the sensor
5. Applications
34
5.1.
5.2.
5.3.
5.4.
34
35
36
37
Write and read SDO objects
Configuration
Operation
Commissioning via CAN
6. Terminal assignment and commisisoning
38
6.1.
6.2.
6.2.1.
6.2.2.
6.2.3.
6.2.4.
6.2.5.
6.3.
38
39
39
40
40
40
41
41
Mechanical mounting
Electrical connection
Setting the user address
Setting the baud rate
Terminating resistor
Connecting the inclination sensor
Terminal assignment
Status LEDs (status indicators)
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Disclaimer of liability
The present manual was compiled with utmost care, errors and omissions reserved. For this reason
Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual.
Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the
present information.
At any time we should be pleased receiving your comments and proposals for further improvement of the
present document.
1. Introduction
1.1. Scope of delivery
Please check the delivery upon completeness prior to commissioning.
Depending on sensor configuration and part number delivery is including:
Sensor
CD with describing file and manual (also available as download in the Internet)
1.2. Product assignment
Product
Product code
Device name
EDS file
Product family
GNAMG.x225xxx
0x32
GNAM
GNAMG_30.eds
Inclination sensor
GNAMG.x215xxx
0x33
GNAM
GNAMG_15.eds
Inclination sensor
GNAMG.x235xxx
0x34
GNAM
GNAMG_60.eds
Inclination sensor
GNAMG.x155xxx
0x35
GNAM
GNAMG_360.eds
Inclination sensor
Illustration: inclination sensor on base plate
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2. Safety and operating instructions
Supplementary information
This manual is intended as a supplement to already existing documentation (i.e. catalogues, product
information and mounting instructions).
The manual must be read without fail before initial commissioning of the equipment.
Intended purpose of the equipment
The inclination sensor is a sensing device. It is only used to determine angular positions and to prepare
and provide measured values as electric output signals for the downstream device. The inclination sensor
must not be used for any other purpose.
Commissioning
The inclination sensor may only be installed and mounted by suitably qualified experts.
Observe the operating instructions of the machine manufacturer.
Safety remarks
Prior to commissioning of the equipment check all electrical connections.
If installation, electrical connections or any other work performed at the inclination sensor or at t
he equipment is not duly and correctly executed this can result in a mulfunction or failure of the inclination
sensor.
Steps must be taken to eliminate any risk of personal injury, damage to corporate or operating equipment
as a result of inclination sensor failure or malfunction by providing suitable safety precautions.
The inclination sensor must not be operated outside the limit values specified in the product information.
Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property!
Transport and storage
Only ever transport or store the inclination sensor in its original packaging.
Never drop the inclination sensor nor expose it to major shocks.
Mounting
Avoid impacts or shocks on the housing.
The bus cover must fully and evenly rest on the base plate. Any tolerances in mounting the bus cover to
the base plate may affect the absolute slope angle.
Electrical commissioning
Do not modify the inclination sensor electrically.
Do not carry out any wiring work when the inclination sensor is live.
Never plug or unplug the electrical connection when the encoder is live.
Ensure that the entire equipment is installed in line with EMC requirements. Ambient conditions and wiring
affect the electromagnetic compatibility of the inclination sensor. Install inclination sensor and supply
cables separately or far away from lines with high interference emissions (frequency converters,
contactors etc.)
Provide a separate power supply for the inclination sensor where working with consumers that have high
interference emissions.
Completely shield the inclination sensor housing and connecting cables.
Connect the encoder to protective earth (PE) using shielded cables. The braided shield must be
connected to the cable gland or plug. Ideally, aim at a bilateral connection to protective earth (PE), the
housing via the mechanical assembly, the cable shield via the downstream devices. In case of earth loop
problems, earth on one side only as a minimum requirement.
Failure to observe these instructions can result in malfunctions, personal injury or damage to property!
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3. CAN-bus and CANopen communication
CAN bus (CAN: Controller Area Network) was developed by Bosch and Intel for high-speed, economic data
transmission in automotive applications. Today CAN bus has been commercialised for use in industrial
automation.
CAN bus is a fieldbus system (standards administered by CAN in Automation, CiA) for communication
between appliances, actors and sensors of different brands.
3.1.1. CAN-bus properties
• Data rate of 1 Mbaud with network length capabilities of max. 40m
• Bilateral terminated network
• Bus medium: twisted pair wire
• Realtime capability: Max. defined waiting time for high priority messages.
• In theory up to 127 users in one bus line, physically however only 32 (due to driver).
• Seized netwide data consistency. Faulty messages are made known as faulty to all nodes in the network.
• Message-oriented communication
The message comes with an identifier. All nodes in the network check by the identifier whether the message
is relevant for them or not.
• Broadcasting, Multicasting
All nodes get every message at the same time, thus enabling synchronisation.
• Multi-Master capability
Every fieldbus user is able to transmit or recieve data independently, irrespectible of a priority by master.
Every user can start his message if the bus is not busy. If several messages are transmitted at the same
time, the user with the highest priority will succeed.
• Message priorities
Message priority is determined by the identifier. Thus, the bus is quickly transmitting important messages.
• Risk of remaining errors
Reliability precautions in the network reduce the risk of faulty, inevident data transmissions to less than 10
11
. A 100% reliability in transmission can be taken for granted.
• Function guarding
Stations with malfunction or breakdown are located. The CAN protocol provides function guarding of the
nodes in the network. Defective nodes are restricted in their function or even logged off from the network.
• Data transmission with minimized error recovery time
Thanks to several error diagnostics faulty messages will be recognized with maximum reliability. Upon
recognizing an error the message will be automatically repeated.
CAN bus is networking several bus users by bus cable. Every network user is in a position to transmit and
receive messages. There is a serial data transmission between the individual network users.
Network users for CAN bus euipment might be:
• automation equipment, for example PLCs
• PCs
• input/output modules
• drive controls
• analysing equipment, for example CAN monitor
• operating and input equipment as HMI (human machine interface)
• sensors and actuators
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3.2. CANopen
The CANopen profile was developed under technical supervision of the Steinbeis Transfer Centre for
Automation and is based on layer 7 of CAL specification (CAN Application Layer). Compared to CAL,
CANopen comprises onyl the functions relevant for this application. CANopen is a user-optimized CAL
excerpt and thanks to a simplified system structure and the use of simplified appliances CANopen is
optimized for rapid data exchange in realtime systems.
Applicable standards of the corresponding profiles are administered by the organisation CAN in Automation
(CiA).
Some CANopen benefits:
• easy access to all device and communication parameters
• synchronisation of several appliances
• automated network configuration
• cyclic and event-triggered process data traffic
CANopen provides four communication objects (COB) with different properties:
• process-data objects for realtime data (PDO)
• service-data-objects for parameter and profile transmission (SDO)
• network management (NMT, Heartbeat)
• pre-defined objects (for synchronisation, emergency message)
All device and communication parameters are sectioned in an object directory. One object comprises object
name, data type, number of subindexes, parameter structure and address. According to CiA the object
directory is subdivided in three sections: communication profile, device profile and manufacturer-specific
profile (see object directory).
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3.3. CANopen communication
3.3.1. Communication profile
Communication between network users and master (PC / control) is effected by object directories and objects.
Adressing the objects is by help of a 16bit index. The individual communication objects are standardized by
CANopen communication profile DS 301. They are subdivided into several groups:
• Process DataOobjects PDO for process data transmission in realtime
• Service Data Objects SDO for write and read access to the object directory
• objects for synchronisation and error warnings of CAN users:
SYNC-object (synchronisation object) for synchronisation of network users
EMCY-object (emergency object) for error warnings of a single device or its periphery
• Network Management NMT (network management) for initialization and network control
• Layer Setting Services LSS for configuration by serial number, revision number etc within the existing
network
3.3.2. CANopen message structure
First part of the message is the COB-ID (identifier).
Structure of the 11-Bit COB-ID :
Function Code
4 Bit Function code
Node-ID
7 Bit Node-ID
The function code is defining the kind of message and priority. The lower the COB-ID, the higher the priority of
the message.
Broadcast messages:
Function code
NMT
SYNC
COB-ID
0
80h
Peer to Peer messages:
Function code
Emergency
1)
PDO1 (tx)
1)
PDO2 (tx)
1)
SDO (tx)
1)
SDO (rx)
Heartbeat
1)
LSS (tx)
1)
LSS (rx)
COB-ID
80h + Node-ID
180h + Node-ID
280h + Node-ID
580h + Node-ID
600h + Node-ID
700h + Node-ID
7E4h
7E5h
1): (tx) and (rx) from the inclination sensor’s point of
view
The Node-ID is optionally set anywhere between 1 and 127 via the CANopen bus (if rotary switch = 0). Default
setting of the inclination sensor is Node ID 1.
Changing the Node-ID is effected by using service data object 2101h or by LSS.
A CAN telegram consists of the COB-ID and a data packet of max. 8 bytes:
COB-ID DLC
Xxx
x
Byte 1
xx
Byte 2
xx
Byte 3
xx
Byte 4
xx
Byte 5
xx
Byte 6
xx
Byte 7
xx
Byte 8
xx
More detailed information on the telegram structure in later chapters.
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3.3.3. Service data communication
Service data objects are conform to CiA standards. A certain object is accessed by index and subindex. There
are data requests or, if required, data are written into the object.
General information on SDOs
SDO telegram structure:
COB-ID
DLC
Command
Object L
Object H
Subindex Data 0
Data 1
Data 2
Data 3
A SDO-COB-ID is composed as follows:
Master -> inclination sensor : 600h + Node-ID
Inclination sensor -> master : 580h + Node-ID
DLC (Data length code) defines the length of a telegram with following structure:
1 byte command + 2 bytes object + 1 byte subindex + number of data bytes (0..4).
The command byte specifies whether data are write or read only and how many data bytes are involved:
SDO command
22h
23h
2Bh
2Fh
Meaning
Download Request
Download Request
Download Request
Download Request
Data length
max. 4 Byte
4 Byte
2 Byte
1 Byte
60h
40h
Download Response
Upload Request
-
confirm download to master
request parameter upload from inclination
sensor
42h
43h
4Bh
4Fh
Upload Response
Upload Response
Upload Response
Upload Response
max. 4 Byte
4 Byte
2 Byte
1 Byte
parameter to master, max. 4 bytes
80h
Abort Message
-
Inclination sensor gives error code to
master
transmit parameter to inclination sensor
Abort Message means an error in CAN communication. SDO command byte is 80h. Object and subindex are
those of the requested objects. The error code is in bytes 5..8.
ID
DLC
580h + Node-ID 8
Byte 1
80h
Byte 2
Object L
Byte 3
Object H
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3
Byte 8..5 composes the SDO abort message (Byte 8 = MSB).
The following messages are supported:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
08000021h
: command byte not supported
: incorrect access to an object
: Read access to write only
: Write access to read only
: Object not supported
: Subindex not supported
: Value is not within the defined limits
: Value too high
: General error
: Incorrect memory signature ("save")
: No data saving possible
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SDO examples
Parameter request master to slave
Read resolution  object 6000h
COB-ID
600h+Node-ID
DLC Command
8
40h
Object L
00h
Object H
60h
Subindex Data 0
0
x
Data 1 Data 2 Data 3
x
x
x
Object H
60h
Subindex Data 0
0
a
Data 1 Data 2 Data 3
b
C
d
Response of slave to parameter request
COB-ID
580h+Node-ID
DLC Command
8
4Bh
Object L
00h
Write parameter by master into slave
Angular position Y-axis set slope long by help of object 6112h preset
COB-ID
600h+Node-ID
DLC Command
8
22h
Object L
12h
Object H
61h
Subindex Data 0
0
a
Data 1 Data 2 Data 3
b
c
d
Object L
12h
Object H
61h
Subindex Data 0
0
0
Data 1 Data 2 Data 3
0
0
0
Response of slave to write parameter
COB-ID
580h+Node-ID
DLC Command
8
60h
3.3.4. Process data communication
Process data objects serve for process data exchange in realtime. PDO transmision is synchronous or cyclic
(asynchronous). The inclination sensor supports PDO1 providing the actual angular position of the two axis of
the inclination sensor and defined in the objects 1800h, 1A00h, 6110h and 6120h .
Synchronous
For synchronous process data transmission the parameter set in object 1800h must be between 1 and F0h
(=240). If for example the parameter is 3, the PDO will be transmitted on every third sync telegram (in case
the parameter is 1, transmission will be on every sync telegram).
In synchronous operation the PDOs are requested by master via sync telegram:
byte 0
COB-ID = 80
byte 1
0
Cyclic (asynchronous)
For cyclic PDO transmission, the parameter written in object 1800h subindex 2 must be FEh or FFh. In
addition, the same object subindex 5 must provide the cycle time in milliseconds. The written time is rounded
to 1 ms. If the parameter is 0ms, the PDO’s won’t be transmitted at all. The function is disabled.
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Overview
The following table is giving an overview on several kinds of PDO transmission.
Examples:
1800h
Sub2
Sub5
FEh
3ms
FEh
0ms
3
xxx
1
xxx
Brief explanation
Cyclic transmission every 3 ms
PDO transmission off
PDO transmission on every third sync telegram
PDO transmission on every sync telegram
PDO (slope angle)
PDO1 telegram structure:
COB-ID DLC
181h
8
ID
Length
Byte 0.. 3
Byte 4.. 7
Byte 0
Xx
Byte 1
Xx
Byte 2
Xx
Byte 3
Xx
Byte 4
Xx
Byte 5
Xx
Byte 6
Xx
Byte 7
Xx
: 180h + Node-ID
: 8 DataByte
: Slope angle in degrees axis Slope Long Y
: Slope angle in degrees axis Slope Lateral X
Emergency service
Internal device errors or bus problems will result in an emergency message:
COB-ID
DLC
80h+Node8
ID
Byte 0 Byte 1
Error Code
00h
01h
Byte 2
Byte 3
Error- Xx
Register
1001h
Byte 4
Xx
Byte 5
Xx
Byte 6
Xx
Byte 7
Xx
Byte 0..1: Error Codes
Error Code (hex) Meaning
0000
Error Reset or No Error
1000
Generic Error
5530
EEProm error
6010
Software reset (Watchdog)
7510
Internal communication error
8130
Life Guard error or Hearbeat
Byte 2: Error-Register
Bit
Meaning
0
Generic Error
4
Communication error
7
manufacturer specific
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3.3.5. Network management services
The network management is subdivided into two groups:
NMT services for device guarding are for boot-up, start and stop of bus users. NMT services are also
available as connection guard.
Significance of the NMT commands
The commands are transmitted as unconfirmed objects with the following structure:
Byte 0
COB-ID = 0
Byte 1
command byte
Byte 2
Node ID
COB-ID for NMT commands is always zero. The Node-ID is transmitted in byte 2 of the NMT command.
Command byte
Command byte
01h
02h
80h
81h, 82h
Meaning
Start Remote Node
Stop Remote Node
Enter Pre-Operational Mode
Reset Remote Node
State Event Mapping
1
2
3
4, 5
The Node number is the Node-ID of the requested user. Node-ID = 0 means addressing all users.
NMT State Event
After boot-up the inclination sensor is in pre-operational mode which is the state for read and write SDO
parameters. For PDO parameter requests, the inclination sensor must be set to operational mode first.
Power on oder Hardware Reset
Init
BootUp Message
4/5
4/5
Pre-Operational
3
2
1
3
Stopped/Prepared
4/5
1
Operational
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The various NMT states
Init
After boot-up the inclination sensor will give a BootUp message at the CAN bus. Then the inclination sensor
will automatically go to PreOperational mode.
The COB-ID of the BootUp message is composed by 700h and the Node-ID.
COB-ID
Byte 0
700h + Node-ID 00
Pre-Operational Mode
Read and write of SDO’s is in Pre-Operational mode.
Operational Mode
In Operational mode the inclination sensor is transmitting the requested PDO's. In addition, this mode is for
read and write SDOs.
Stopped oder Prepared Mode
NMT communication is only possible in Stopped Mode. Read and write SDO parameters is disabled. LSS is
also only available in Stopped Mode.
Changing the operational state
Start Remote Node (1)
The start command will set the inclination sensor to operational mode.
COB-ID
0
Command byte
1h
Node-ID
0..127
Stop Remote Node (2)
The stop command will set the inclination sensor to stopped mode or prepared mode.
COB-ID
0
Command byte
2h
Node-ID
0..127
Enter Pre-Operational Mode (3)
Change to Pre-Operational Mode.
COB-ID
0
Command byte
80h
Node-ID
0..127
Reset Remote Node (4) or Reset Communication (5)
The reset command will re-init the inclination sensor.
Reset Remote Node (4):
COB-ID
0
Command byte
81h
Node-ID
0..127
Reset communication (5):
COB-ID
0
Command byte
82h
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Node und Life Guarding
For user guarding either the heartbeat
protocol (default) or the nodeguarding
protocol (object 2110h Bit 5 = 1) can be
applied.
The NMT master is able to form a data
bank with the corresponding NMT states of
every single user. This protocol is for
guarding whether a user has left the bus.In
addition, every user can monitor whether
the control is still active.
The NMT master starts the guarding
service by a Remote Frame to the
requested user. Every Remote Frame will
reset the Life-Time at the user. Further the
user responds his NMT state. This way, the
NMT master is able to check whether the
user is in the correct NMT state and can
react correspondingly in case of error.
Upon Life-Time expiry a „Node Event“ will
be triggered. The behaviour in case of error
is defined in object 1029h-1h
“Communication Error”.
Example of a nodeguarding protocol:
COB-ID
701h
701h
701h
701h
Data/ Remote
r
d
r
d
Byte 0
00h (0d)
FFh (255d)
00h (0d)
7Fh (127d)
Possible user NMT-states:
0:
BootUp-Event
4:
Stopped
5:
Operational
127:
Pre-Operational
In this example the lower 7 bits equal 7Fh, i.e. the inclination sensor is in pre-operational mode.
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Heartbeat protocol
Optionally the new Heartbeat protocol can
be utilized. Heartbeat is enabled if in object
2110h bit 5 is on “0”. We recommend for
new applications the modern guarding
protocol heartbeat.
A "Heartbeat-Producer" produces a cyclic
heartbeat indication. One or more
“Heartbeat-Consumers" can receive this
heartbeat indication.
If there is no cyclic transmission of the
heartbeat message, this will result in a
„Heartbeat Event“. The behaviour in case of
error is defined in object 1029h-1h
"Communication Error".
Example of a Heartbeat protocol
COB-ID
701h
Data/Remote
d
Byte 0
7Fh (127d)
Heartbeat messages are composed of COB-ID and one byte. This byte is transmitting the NMT state.
0:
4:
5:
127:
BootUp-Event
Stopped
Operational
Pre-Operational
i.e. the inclination sensor is in pre-operational mode (7Fh = 127).
Important :
Only one of the above nodeguarding options can be active.
Default:
Optional:
Heartbeat
NodeGuarding (see object 2110)
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3.3.6. Layer Setting Services
In spring 2000 CiA presented a new protocol to ensure a uniform presence. Proceedings are defined under
Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
The inclination sensor comes with the standard Node-ID 1 and standard baud rate 50 kBaud. Several
inclination sensors with the same Node-ID can be networked to the bus system. LSS is utilized to address the
individual inclination sensor.
Every inclination sensor comes with a unique serial number that it must be addressed to. Consequently, any
number of inclination sensor with the same Node-ID can be networked to the bus for init via LSS. Both NodeID and baud rate can be configured. LSS is only available in stopped mode.
Message structure
COB-ID:
Master  Slave : 2021 = 7E5h
Master  Slave : 2020 = 7E4h
The COB-ID is followed by a LSS command specifier and a data packet of max. 7 bytes.
COB-ID cs
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Switch Mode Global
7E5h  04h
Mode
Mode
Reserved
: 0  Operational mode
1  Configuration mode
Switch Mode Selective
The following sequence is for addressing a determined inclination sensor in the bus system
7E5h  40h
VendorId
Reserved
7E5h  41h
ProductCode
reserved
7E5h  42h
RevisionNumber
reserved
7E5h  43h
SerialNumber
reserved
7E4h  44h
Mode
reserved
VendorId
ProductCode
RevisionNumber
SerialNumber
Mode
: ECh
: Internal product code of the respective inclination sensor
: Current revision number of the inclination sensor
: Unique, successive serial number
: The inclination sensor will respond in the new mode (0=Operational mode;
1=Configuration mode)
Setting the Node-ID
7E5h  11h
Node-ID
reserved
7E4h  11h
ErrCode
Spec Error
Node-ID
ErrorCode
SpecificError
reserved
: The new Node-ID of the inclination sensor
: 0=OK; 1=Node-ID beyond the range; 2..254=reserved; 255specificError
: If ErrorCode=255  application-specific error code.
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Setting the BitTiming
7E5h  13h
tableSel tableInd reserved
7E4h  13h
ErrCode SpecError reserved
TableSel
: Selects BitTiming table
TableInd
ErrorCode
SpecificError
0
: Standard CiA Bit Timing table
1..127 : Reserved for CiA
128..255 : Manufacturer-specific tables
: BitTiming entry in table selected (see table below).
: 0=OK; 1=BitTiming beyond the range; 2..254=reserved; 255SpecificError
: If ErrorCode=255  application-specific error code.
Standard CiA Table
Baud rate
1000 kBaud
800 kBaud
500 kBaud
250 kBaud
125 kBaud
100 kBaud
50 kBaud
20 kBaud
10 kBaud
Table Index
0
1
2
3
4
5
6
7
8
Saving the configuration protocol
By this protocol the configured parameters are saved in EEPROM.
7E5h  17h
reserved
7E4h  17h
ErrCode SpecError Reserved
ErrorCode
SpecificError
: 0=OK;1=saving not supported;2=acess error;3..254=reserved;255specificError
: If ErrorCode=255  application-specific error code.
Activate BitTiming Parameters
The new BitTiming parameters are activated by command specifier 15h.
7E5h  15h
Switch Delay
Switch Delay
Reserved
: Delay in ms of slave reset.
After the delay the inclination sensor will register with the new baud rate.
VendorId request
Requesting the VendorId of a selected inclination sensor
7E5h  5Ah
Reserved
7E4h  5Ah
32 Bit Vendor ID
VendorID
Reserved
: = ECh
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Product code request
Requesting the product code of a selected inclination sensor
7E5h  5Bh
reserved
7E4h  5Bh
ProductCode
Product code
reserved
: Manufacturer-defined product code
Revision number request
Requesting the revision number of a selected inclination sensor
7E5h  5Ch
reserved
7E4h  5Ch
32 Bit Revision number
Revision number
reserved
: current revision
Serial number request
Requesting the serial number of a selected inclination sensor
7E5h  5Dh
reserved
7E4h  5Dh
32 Bit Serial number
Serial number
reserved
: unique successive serial number of the inclination sensor
Range Selection
Inclination sensors can also be selected within a defined range. To do so, the following objects are
transmitted one after the other:
7E5h  46h
VendorId
reserved
7E5h  47h
ProductCode
reserved
7E5h  48h
7E5h  49h
RevisionNumber LOW
RevisionNumber HIGH
reserved
reserved
7E5h  4Ah
7E5h  4Bh
SerialNumber LOW
SerialNumber HIGH
reserved
reserved
Every inclination sensor with the respective parameters will respond by the following message:
7E4h  4Fh
reserved
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3.4. Inclination sensor profile
3.4.1. Inclination sensor object overview
According to CiA (CAN in Automation) the objects are subdivided into three groups:
Standard objects:
1000h, 1001h, 1018h
Manufacturer-specific objects:
2000h - 5FFFh
Device-specific objects:
All remaining objects from 1000h - 1FFFh, 6000h - FFFFh
The table below is giving a summary of all SDO objects supported by the inclination sensor.
Object
Object number in Hex
Name
--Format
U/I = Unsigned/Integer, number = number bit, ARR = Array, REC = Record
Access
ro = ReadOnly, wo = WriteOnly, rw = ReadWrite
Default
Default upon first init or restore default
Save
yes  saved in EEPROM
Meaning
supplementary description
Object
Name
Format
Access
Default
Save
U32
ro
0004019Ah
Meaning
Sub-Index
1000h
Device Type
0x019A = 410 = device profile inclination
sensor
0x0004 = Two axis with resolution max.
32-bit
1001h
Error Register
1003h
PreDefined
ErrorField
00h Maximum Subindex
01h Latest entry
U8
ro
0h
rw
ro
0h
Bit0 = Generic error
Bit4 = Communication error (overrun, …)
Bit7 = Manufacturer -specific
Comprises the last 8 errors or warnings
ARR
U8
U32
ja
1000h Generic Error
5530h EEPROM Error
6010h Software Reset (Watchdog)
7510h Internal Communication Error
8130h Life Guard Error or Heartbeat Error
..
Error or warning, see Sub-Index 01h
COB-ID of Sync Oject
Device name
GNAMG inclination sensor
Product Hardware Version in ASCII
Product Software Version in ASCII
Timer Nodeguarding
Guard Time Multiplier
..
08h
1005h
1008h
..
Oldest entry
Sync COB-ID
DeviceName
..
U32
U32
U32
..
ro
rw
ro
1009h
100Ah
100Ch
100Dh
1010h
00h
01h
02h
Hardware Version
Software Version
Guard Time
Life Time factor
Store Parameters
Maximum Subindex
Save all parameters
Communication
parameters
Application
parameters
Manufacturerspecific parameters
Restore Default
Parameters
Größter Subindex
Alle Parameter
U32
U32
U16
U8
ARR
U8
U32
U32
ro
ro
rw
rw
U32
rw
=“save“ (0x73617665) to save
U32
rw
=“save“ (0x73617665) to save
03h
04h
1011h
00h
01h
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..
Number of messages saved (0..8)
Latest error or warning
80h
ja
"GNAM"
werkseitig
werkseitig
0h
0h
ja
ja
ro
rw
rw
4h
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
ARR
U8
U32
ro
rw
4h
=“load“ (0x6C6F6164) to load
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Baumer IVO GmbH & Co. KG
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Object
Name
Format
Access
Default
Save
Meaning
02h Communication
Parameters
03h Application
Parameters
04h Manufacturer
Specific Parameters
1014h Emergency COB-ID
U32
rw
=“load“ (0x6C6F6164) to load
U32
rw
=“load“ (0x6C6F6164) to load
U32
rw
=“load“ (0x6C6F6164) to load
U32
rw
1016h
ARR
Sub-Index
00h
01h
Consumer heartbeat
time
Maximum Subindex
Consumer heartbeat
time
Producer Heartbeat
Time
Identity Object
Maximum Subindex
VendorID
Product Code
80h + NodeID
yes
COB-ID of the emergency object
yes
U8
U32
ro
rw
1h
10000h
yes
U16
rw
0h
yes
Bit0..15 Consumer Heartbeat time in ms
Bit16..23 Node-ID
Producer Heartbeat time in ms
REC
U8
U32
U32
ro
ro
ro
ro
4h
ECh
32h
03h Revision Number
U32
ro
yes
Vendor ID specified by CiA
Product Code:
0x32 = GNAMG.x225xxx
0x33 = GNAMG.x215xxx
0x34 = GNAMG.x235xxx
Product revision number
04h Serial Number
U32
ro
yes
Unique successive serial number
1029h Error behaviour
ARR
00h Maximum Subindex U8
01h Communication error U8
ro
rw
1h
1h
U8
U32
U8
U16
ARR
ro
rw
rw
rw
5h
180h+id
FEh
203h
1017h
1018h
00h
01h
02h
1800h
Worksdefined
Worksdefined
Error behaviour
yes
REC
00h
01h
02h
2100h
Transmit PDO1
Parameter
Maximum subindex
COB-ID
PDO Type
EventTimer
Transmit PDO1
Mapping
Maximum Subindex
Content of PDO1
Content of PDO1
Baud rate
U8
I32
I32
U8
ro
ro
rw
2h
61100020h
61200020h
2h
2101h
Node-ID
U8
rw
1h
yes
2110h
Manufacturer_
Options
U32
rw
8h
yes
REC
U8
U32
ro
ro
3h
00h
01h
02h
05h
1A00h
2201h Statistics
00h Maximum subindex
01h Total of position
errors
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ja
ja
ja
0h = go to pre-operational mode
1h = no change of mode
2h = go to stop mode
3h = Node reset
PDO ID = 180h + Node-ID
FEh=User defined, cyclic
Cycle time in ms
Slope angle Slope Long , Y-axis
Slope angle Slope Lateral, X-axis
Setting the baud rate must be followed by
saving operation in EEPROM and re-init.
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
Node ID available from 1..127
Setting the baud rate must be followed by a
saving operation in EEPROM and re-init.
Bit3 = 0 no BusOFF reset
1 if BusOFF there is a bus reset
Bit5 = 0 Heartbeat protocol active
1 Nodeguarding protocol active
yes
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Object
Name
Format
Access
Default
Save
02h Time in seconds
03h Total of TimerReset
Watchdog
2300h Customer EEPROM
range
00h Maximum Subindex
01h Data0
02h Data1
03h Data2
04h Data3
05h Data4
06h Data5
07h Data6
6000h
Resolution
U32
U32
ro
ro
U8
U16
U16
U16
U16
U16
U16
U16
U16
ro
rw
rw
rw
rw
rw
rw
rw
rw
6110h
Slope angle
Y-axis
Slope Long
I32
ro
6111h
Parameter
Y-axis
Slope long operating
parameter
Preset value Y-axis
Slope long preset
value
Offset Y-axis
Slope long offset
Differential Offset
Y-axis
Differential slope
long offset
Slope angle
X-axis
Slope Lateral
U08
rw
(ro bei
360°)
0h yes
I32
rw
(ro bei
360°)
ro
0h yes
I32
rw
(ro bei
360°)
0h yes
I32
ro
yes
Parameters
X-axis
Slope lateral
operating parameter
Preset value X-axis
Slope lateral preset
value
Offset X-axis
Slope lateral offset
Differential Offset
X-axis
Differential slope
lateral offset
U08
rw
0h yes
I32
rw
0h yes
I32
ro
0h
yes
I32
rw
(ro bei
360°)
0h
yes
Meaning
Sub-Index
6112h
6113h
6114h
6120h
6121h
6122h
6123h
6124h
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ARR
I32
7h
0h
0h
0h
0h
0h
0h
0h
1h
yes
yes
Time elapsed since last reset
TimerWatchDog
yes
Any optional data can be saved in this object
yes
yes
yes
yes
yes
yes
yes
yes
yes
0h yes
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0001h = 0.001°
000Ah = 0.01°
0064h = 0.1°
03E8h = 1.0°
Value range
Depending on device type (measuring range)
and parameter in 6000h (resolution):
(+measuring range)/resolution ... to ...
(-measuring range)/resolution
Bit 0 = 1 inversion on
0 inversion off
Bit 1 = 1 scaling on
0 scaling off
Value range according parameter in
object 6000h
Calculated offset when writing on object
6112h
Supplementary offset, independent from
object 6112h and 6113h
Value range
Depending on device type (measuring range)
and parameter in 6000h (resolution):
(+measuring range)/resolution ... to ...
(-measuring range)/resolution
Bit 0 = 1 inversion on
0 inversion off
Bit 1 = 1 scaling on
0 scaling off
Value range according parameter in
object 6000h
Calculated offset when writing on object
6122h
Supplementary offset, independent from
object 6112h and 6123h
Baumer IVO GmbH & Co. KG
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3.4.2. Detailed object list
Object 1000
Device type
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 1001
Error register
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 1003
0
Unsigned 32
ReadOnly
0004019Ah
No
Information ond device profile and device type
0x019A = 410 = device profile inclination sensor
0x0004 = Two axis with resolution max. 32-bit
0
Unsigned 8
ReadOnly
0h
No
Current error code
Bit0 = Generic error
Bit4 = Communication error (overrun, …)
Bit7 = Manufacturer- specific
Pre-defined error field
CiA (CAN in Automation) defines here about 200 different error codes. This documentation only describes the
sensor-relevant error codes.
This object saves the latest 8 errors or warnings that occurred.
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 1005
0
Unsigned 8
ReadWrite
0
No
Read: Number of errors or warnings
Write 0: error reset
0..8
1..8
Unsigned 32
ReadOnly
0
No
Errors or warnings occured, subindex 1 being the last, subindex 2 the secondto-last,…… entry
Not yet defined
COB-ID SYNC Message
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Unsigned 32
ReadWrite
80h
Yes
Defines COB-ID of the synchronisation object (SYNC)
Bit 31
not defined
Bit 30
1=Sensor generates SYNC messages, 0=no SYNC message generated
Bit 29
1=29 Bit SYNC COB-ID (CAN 2.0B), 0=28 Bit SYNC COB-ID (CAN 2.0A)
Bit 28..11 Bit 28..11 of 29 Bit SYNC COB-ID
Bit 10..0 Bit 10..0 of SYNC COB-ID
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Object 1008
Manufacturer Device Name
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 1009
Manufacturer Hardware Version
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 100A
No
Hardware version in ASCII
Data 0..3 Example: 31h 2Eh 30h 30h
= "1.00“
0
Unsigned 32
ReadOnly
No
Software version in ASCII
Data 0..3 Example: 31h 2Eh 30h 30h
= "1.00“
Guard Time
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 100D
0
Unsigned 32
ReadOnly
Manufacturer Software Version
SubIndex
Data t type
Access
Default
EEPROM
Meaning
Parameters
Object 100C
0
Unsigned 32
ReadOnly
Depending on the utilized basic encoder
No
Device name in ASCII
Data 0..3:
"GNAM"
0
Unsigned 16
ReadWrite
0h
Yes
Timer for nodeguarding in ms
0...65535
Life Time Factor
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Unsigned 8
ReadWrite
0h
Yes
This factor multiplied by the guard time equals the life time
0...256
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Object 1010
Save parameter
By Object 1010h the relevant objects are saved non-volatile in EEPROM. To prevent any inadvertent saving
operation the message „save“ must be written.
COB-ID
600h+Node-ID
Object 1011
DLC
8
Command
23h
Object L
10h
Object H
10h
Subindex
01
Data 0
73h 's'
Data 1
61h 'a'
Data 2
76h 'v'
Data 3
65h 'e'
Restore parameter
Object 1011h restores the RAM parameters by the default parameters (see object 1010h.
The default parameters are at the same time loaded in EEPROM.
To prevent any inadvertent restore operation the message „load“ must be written.
COB-ID
600h+Node-ID
Object 1014
Command
23h
Object L
11h
Object H
10h
Data 0
6Ch 'l'
Data 1
6Fh 'o'
Data 2
61h 'a'
Data 3
64h 'd'
0
Unsigned 32
ReadWrite
80h+Node-ID
Yes
Defines COB-ID of the emergency object
80h + Node-ID
Consumer heartbeat time
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Unsigned 8
Read only
1
No
Maximum supported subIndex
1
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
1
Unsigned 32
Read write
10000h
Yes
Consumer heartbeat time
Bit 0..15 Consumer heartbeat time in ms
Bit 16..23 Node ID
Object 1017
Subindex
01
COB-ID emergency message
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 1016
DLC
8
Producer heartbeat time
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Unsigned 16
ReadWrite
0h
Yes
Defines the repetition time of the guarding service heartbeat
0 = Disabled
1..65535 = repetition time in ms
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Object 1018
Identity Object
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Unsigned 8
ReadOnly
4
No
Maximum supported subindex
4
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
1
Unsigned 32
ReadOnly
ECh
Yes
CiA -defined VendorID of Baumer IVO
ECh (in the Internet under www.can-cia.de)
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
2
Unsigned 32
ReadOnly
32h
Yes
Product Code
0x32 = GNAMG.x225xxx
0x33 = GNAMG.x215xxx
0x34 = GNAMG.x235xxx
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
3
Unsigned 32
ReadOnly
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
4
Unsigned 32
ReadOnly
0
Yes
Unique successive serial number of the sensor
Defined ex works during final test
No
Sensor revision number
Actual software version = xxyy (xx=version, yy=running number)
Data 0 = running Data 1 = running Data 2 = version
Data 3 = version
number LOW
number HIGH
LOW
HIGH
See product label
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Object 1029
Error behavior
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Unsigned 8
ReadOnly
1
No
Maximum supported subindex
1 = maximum supported subIndex
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
1
Unsigned 8
ReadWrite
1
Yes
Behaviour after communication error
0h = switch to pre-operational mode
1h = no change of mode
2h = switch to stop mode
3h = Node Id reset
Object 1800
PDO1 parameters
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameter
0
Unsigned 32
ReadOnly
5
No
Maximum supported subindex
5
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
1
Unsigned 32
ReadWrite
180h + Node-ID
Yes
COB-ID des PDO
180h + Node-ID
2
Unsigned 8
ReadWrite
FEh
Yes
PDO Type
th
1..n..F0h =
synchronous PDO (PDO transmission on every n- SYNCtelgram)
FEh,FFh =
asynchronous PDO (cyclic PDO transmission in reliance on
EventTimer)
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
5
Unsigned 16
ReadWrite
203h
Yes
Event Timer for PDO (process data object)
0 = cyclic transmission disabled
1..n..65535 =repetition time of cyclic transmission is n ms.
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Object 1A00
PDO1 Mapping
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameter
0
Unsigned 8
ReadOnly
0
No
Maximum supported subindex
2
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
1
Integer 32
ReadOnly
61100020h slope angle Slope Long , Y-axis
No
Inhalt PDO1
61100020h slope angle Slope Long , Y-axis
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
2
Integer 32
ReadOnly
61200020h slope angle Slope Lateral , X-axis
No
Contents PDO1
61200020h slope angle Slope Lateral , X-axis
Object 2100
Baud rate
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 2101
0
Unsigned 8
ReadWrite
2 = 50 kBaud
Yes
Read or set a new sensor baud rate
 After the setting operation the parameters must be stored in EEPROM by
object 1010h, followed by a sensor re-init.
0
10 kBaud
1
20 kBaud
2
50 kBaud
3
100 kBaud
4
125 kBaud
5
250 kBaud
6
500 kBaud
7
800 kBaud
8
1000 kBaud
Node-ID
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Unsigned 8
ReadWrite
1
Yes
Read or set a new sensor Node-ID.
 After the setting operation the parameters must be stored in EEPROM by
object 1010h, followed by a sensor re-init.
1..127
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Object 2110
Manufacturer_Options
SubIndex
Data type
Access
Default
EEPROM
Meaning
0
Unsigned 32
ReadWrite
8h
Yes
Parameters to guarantee compatibility to former sensors respectively to
proceed customer-specific configurations
Parameters
Object 2201
Object is not supported by EDS file.
Any parameterization should be by the manufacturer only. Any customerspecific parameterization should be strictly conform to the table below.
Bit3 = 0 no reset if BusOFF
1 bus reset if BusOFF
Bit5 = 0 Heartbeat protocol active
1 Nodeguarding protocol active
Statistics
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Unsigned 8
ReadOnly
3h
No
Maximum supported subindex
3
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
1
Unsigned 32
ReadOnly
0h
Yes
Presently not assigned
-
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
2
Unsigned 32
ReadOnly
0h
Yes
Operating time in seconds total (object 6508h time elapsed since last reset)
0... 4294967295
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
3
Unsigned 32
ReadOnly
0h
Yes
WatchDog TimerReset counter
0... 4294967295
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Object 2300
Customer EEPROM section
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameter
0
Unsigned 8
ReadOnly
8h
No
Any optional data can be saved in this object
8
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameter
1...8
Unsigned 16
ReadWrite
0h
Yes
One 16 bit parameter per each subindex (load in EEPROM by object 1010h)
0
Object list according to DS 410
Object 6000
Resolution
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Object 6110
0
Unsigned 16
ReadWrite
0001h =
Yes
Resolution
0001h =
000Ah =
0064h =
03E8h =
0.001°
0.001°
0.01°
0.1°
1.0°
Slope angle Y- axis (Slope long) (not at 360° sensor)
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Integer 32
ReadOnly
No
Slope angle
Value range
Depending on the device type (measuring range) and parameter in 6000h
(resolution):
(+measuring range)/resolution ... to ... (-measuring range)/resolution
Example:
measuring range = ±30°
Resolution = 0,001
Value range: +30000...-30000
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Object 6111
Operating parameter Y-axis (Slope long operating parameter) (not with 360° sensor)
SubIndex
Data type
Access
Default
EEPROM
Meaning
0
Unsigned 8
ReadWrite
0h
Yes
Inversion:
Inversion enable means reverse polarity of the Y-axis.
Scaling:
Scaling enable means calculating the slope of the Y-axis as follows:
Slope Y –axis = physically measured slope + differential offset Y- axis + offset
Y-axis
When scaling is disabled:
Slope Y –axis = physically measured angle
Parameters
Object 6112
Preset value Y-axis (Slope long preset value) (not with 360° Sensor)
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
Objekt 6113
Bit 0 = 1 inversion on
0 inversion off
Bit 1 = 1 scaling on
0 scaling off
0
Integer 32
ReadWrite
0h
Yes
Sets the actual slope value Y-axis to the desired value
Value range depending on parameters in object 6000h
Offset Y-axis (Slope long offset) (not with 360° sensor)
SubIndex
Data type
Access
Default
EEPROM
Meaning
0
Integer 32
ReadOnly
0h
Yes
Calculated offset when writing on object 6112h
Offset Y-axis = Preset value Y-axis at tacc – physically measured slope
value Y- axis at tacc – differential offset Y- axis
Parameters
Objekt 6114
Value range depending on parameters in object 6000h
Differential Offset Y-axis (Differential slope long offset) (not with 360° sensor)
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Integer 32
ReadWrite
0h
Yes
Supplementary offset, independent from objects 6112h and 6113h
The entered value is directly added to the current slope of the Y- axis
Value range depending on parameters in object 6000h
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Object 6120
Slope angle X- axis (Slope lateral)
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Integer 32
ReadOnly
No
Slope angle
Value range
Depending on the device type (measuring range) and parameter in 6000h
(resolution):
(+measuring range)/resolution ... to ... (-measuring range)/resolution
Example:
Measuring range = ±30°
Resolution = 0,001
Value range: +30000...-30000
Object 6121
Operating parameters X-axis (Slope lateral operating parameter)
SubIndex
Data type
Access
Default
EEPROM
Meaning
0
Unsigned 8
ReadWrite
0h
Yes
Inversion:
Inversion enabled means reverse polarity of the X-axis.
Scaling:
Scaling enabled means calculation of slope of the X-axis as follows:
Slope X –axis = physically measured slope + differential offset X- axis + offset
X-axis
If scaling is disabled:
Parameters
Object 6122
Slope X –axis = physically measured angle
Bit 0 = 1 inversion on
0 inversion off
Bit 1 = 1 scaling on
0 scaling off
Preset value X-axis (Slope lateral preset value)
SubIndex
Data type
Access
Default
EEPROM
Meaning
Parameters
0
Integer 32
ReadWrite
0h
Yes
Sets the actual slope of the X-axis to the required value
Value range depending on parameters in object 6000h
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Object 6123
Offset X-Achse (Slope lateral offset)
SubIndex
Data type
Access
Default
EEPROM
Meaning
0
Integer 32
ReadOnly
0h
Yes
Calculated offset when writing on object 6122h
Offset X-axis = Preset value X-axis ati tacc – physically measured slope Yaxis at tacc – differential offset Y- axis
Parameters
Object 6124
Value range depending on parameters in object 6000h
Differential Offset X-Achse (Differential slope lateral offset)
SubIndex
Data type
Access
Default
EEPROM
Meaning
0
Integer 32
ReadWrite
0h
Yes
Supplementary offset, independent from objects 6122h and 6123h
Parameters
The entered value is directly added on the current slope of the X-axis
Value range depending on parameters in object 6000h
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4. Diagnostics and useful information
4.1. Error diagnostics in fieldbus communication
In case the inclination sensor does not react via the CANbus, check all cable connections first.
If the cable connections are ok, test fielbus operation next. To do so you need a CAN monitor to record
CANopen communication and to map the telegrams .
Now the inclination sensor should give a BootUp message upon power off and on again.
If there is no BootUp message, check whether the baud rates of inclination sensor, CAN monitor and bus
system are in alignment.
If you have problems in establishing a connection to a user check Node- ID and baud rate.
The baud rate must be all the same. The Node- ID (identifier, address) must be within 1 and 127. Every
bus user must be assigned a unique Node-ID, i.e. by no means the same Node ID must be assigned
several times.
Node-ID and baud rate may also conveniently be assigned by LSS services.
4.2. Error diagnostics via fieldbus
The inclination sensor provides several objects and messages to indicate state or error state:
object 1001h: This object serves as error register for the device error state.
object 1003h: This object saves the last 8 error codes and warnings.
object emergency (80h + Node-ID): High-priority error message of a user including error code and error
register.
SDO Abort Message: If SDO communication does not run properly the SDO response will come with an
abort code.
Object 1001h Error register
This register is indicating an existing device error together with its kind.
See separate object meaning
Object 1003h Predefined error field
In this object the last 8 error codes occurred out of the objects 6503h and 6505h are saved, the latest error as
entry in subindex 1, the most ancient error as entry in subindex 8.
Object Emergency
Error message of a user.
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SDO Abort Message
If SDO communication does not run properly, the SDO response will come with an abort code:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
08000021h
: Command byte not supported
: Incorrect object access
: Read access on write only
: Write access on read only
: Object not supported
: Subindex not supported
: Value outside the limit
: Value too high
: General error
: Incorrect saving signature ("save")
: No data saving possible
4.3. Useful information on the sensor
Setting a new Node-ID
1. Setting a new Node-ID is by using Baumer IVO-specific object 2100h.
2. After having set the new Node-ID latter must be stored in EEPROM by object 1010h.
3. Upon next init the sensor will log in with the new Node-ID.
Setting a new baud rate
1. Setting a new baud rate is by using Baumer IVO-specific object 2101h.
2. After having set the new baud rate latter must be stored in EEPROM by object 1010h.
3. Upon next init the sensor will log in utilizing the new baud rate.
4. ! DO NOT FORGET TO ALIGN THE NEW BAUD RATE WITH MASTER!
Shield
The inclination sensor’s base plate should always be grounded. By principle the inclination sensor should be
connected by shielded cable.
Ideally, aim at a bilateral cable shield if possible. Take care that no compensating currents are drained off the
inclination sensor.
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5. Applications
5.1. Write and read SDO objects
To write or read an object (SDO) always two telegrams are transmitted
Write object
First the value to write is transmitted by master, then the inclination sensor will confirm.
Value (ba) transmitted:
COB-ID
600h+Node-ID
DLC Command
8
2Bh
Object L
00h
Object H
23h
Subindex Data 0
3h
a
Data 1 Data 2 Data 3
b
x
x
Confirmation:
COB-ID
580h+Node-ID
DLC Command
8
60h
Object L
00h
Object H
23h
Subindex Data 0
3h
0
Data 1 Data 2 Data 3
0
0
0
Read object
First the required object is requested by master, second the inclination sensor will respond by transmitting the
requested value.
Master request:
COB-ID
600h+Node-ID
DLC Command
8
40h
Object L
10h
Object H
61h
Subindex Data 0
0h
x
Data 1 Data 2 Data 3
x
x
x
Subindex Data 0
0h
a
Data 1 Data 2 Data 3
b
c
d
Response (dcba) of the inclination sensor to master request:
COB-ID
580h+Node-ID
DLC Command
8
43h
Object L
10h
Object H
61h
Commissioning
When connected the bus the inclination sensor will give a BootUp message. Now it must be configured and
adapted to its ambiance.
Changing Node-ID and baud rate by LSS
Node-ID and baud rate can be changed without having to address the inclination sensor by them. LSS
services enable sensor configuration and addressing by product code, revsion number, Vendor ID and serial
number.
Changing the Node-ID
The Node-ID can be changed in object 2101h from 1 to 127. Next step should be a saving operation using
object 1010h. Upon next init the sensor will log in with the new Node-ID.
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Changing the baud rate
Object 2100h is for changing the baud rate. Not the real baud rate is written in the object but an index:
0
1
2
3
4
5
6
7
8
Baud rate
10 kBaud
20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud
800 kBaud
1000 kBaud
Now the baud rate must be saved by object 1010-1. Upon next init the inclination sensor will log in with the
new baud rate. Prior to next sensor init the baud rate of the master should be aligned.
5.2. Configuration
Changing the resolution
See object 6000h
Setting a new slope value
See objects 6112h and 6122h
Changing polarity and scaling
See objects 6111h and 6121h
Parameter saving in EEPROM
Object 1010h saves the objects below non-volatile in EEPROM. To prevent any inadvertent saving operation
the message „save“ must be written in subindex 1.
COB-ID
600h+Node-ID
DLC Command
8
23h
Object L
10h
Object H
10h
Subindex Data 0
01h
73 's’
Data 1 Data 2 Data 3
61 'a’ 76 'v’ 65 'e’
COB-ID
580h+Node-ID
DLC Command
8
60h
Object L
10h
Object H
10h
Subindex Data 0
01h
0
Data 1 Data 2 Data 3
0
0
0
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5.3. Operation
NMT states
After init the inclination sensor is in Pre-Operational Mode which is the state for reading and writing SDOs.
To start PDO communication NMT-Start must be transmitted to switch the inclination sensor to Operational
Mode. Now the required PDO's are transmitted. Now there is also read and write access to SDOs.
Upon stopping the inclination sensor by NMT-Stop it will got to Stopped Mode. This state is only for NMT
communication including Heartbeat.
NMT-Reset means re-init of the inclination sensor that now will be in Pre-Operational Mode again .
The NMT state is indicated by LED (refer to chapter Status LED)
Setting the Heartbeat Time
For guarding the communication capability a „Producer Hearbeat Time“ must be defined in object 1017h. The
service will be utilized upon confirmation of the parameter. Example: Every 100 ms the inclination sensor shall
transmit a heartbeat (100 = 64h):
COB-ID
600h+Node-ID
DLC Command
8
2Bh
Object L
17h
Object H
10h
Subindex Data 0 Data 1
0h
64h
0h
DLC Command
8
60h
Object L
17h
Object H
10h
Subindex Data 0 Data 1
0h
0
0
Confirmation:
COB-ID
580h+Node-ID
COB-ID
701h
Data/ Remote Byte 0
d
7Fh
Hearbeat messages comprise COB-ID and one byte, latter is transmitting the NMT state.
0:
4:
5:
127:
BootUp-Event
Stopped
Operational
Pre-Operational
i.e. the inclination sensor is in pre-operational mode (7Fh = 127).
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5.4. Commissioning via CAN
Comfortable commissioning of the CANopen inclination sensor via CAN (Layer 2)
Example: Inclination sensor with Node-ID 1, some NMT and SDO commands
Tool applied: CANAnalyser32 by IXXAT
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6. Terminal assignment and commisisoning
6.1. Mechanical mounting
Release both fastening screws of the bus cover.
Carefully loosen the bus cover from the base plate and lift off in the axial direction.
Firmly screw the base plate in place using the fastening holes.
The bus cover must fully rest against the base plate. Any tolerances in mounting the bus cover to the base
plate might affect the absolute slope angle.
Alignment of coordinates (y- / y+ / x- / x+) see following diagram:
Installation position – sensing range 15°, 30° und 60°
The two-dimensional inclination sensor with a sensing range of
15°, 30° and 60° must be mounted with the base plate in
horizontal position, i.e. parallel to the horizontal line.
The inclination sensor may also be installed upside down, i.e.
turned by 180°.
The sensor can be inclined both in lateral (X-axis) and
longitudinal (Y- axis) direction at the same time. For each axis a
separate measured value is provided.
As default parameter the inclination sensor will apply the
selected sensing range to both the X and Y- axis, for example
±15° with the zero passage being precisely in the horizontal line.
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Installation position - Sensing range 360°
The inclination sensor featuring a 360º sensing range must be
installed in a way that the X-axis as in the illustration is in parallel
alignment with gravity. The deflection may not be more than ±3º.
Please note that the inclination sensor must fully and evenly rest
on the contact surface and whilst inclination/rotation must not be
subject to any misalignment in the X- or Y-direction since this
would affect the sensing accuracy.
The 360° inclination sensor default position is 0° as shown in the
following illustration but may be optionally configured by help of
the preset function.
The measuring direction may also be inverted. Default parameter
of the inclination sensor’s sensing direction is clockwise from
0...360°, in case of active inversion counter-clockwise.
6.2. Electrical connection
The inclination sensor must fully rest on the base plate and be firmly screwed in place.
For e-connection of the bus cover please proceed as follows:
Release both fastening screws of the bus cover
Carefully loosen the bus cover and lift off from the base plate in the axial direction.
6.2.1. Setting the user address
Setting the user address is by EEPROM. The Node-ID (user address) is defined in object 2101h. Another
option is decimal setting of the user address using two rotary switches provided in the bus cover. If the
switches are on 0 the Node-ID out of the EEPROM will be utilized. As soon as the switches are set to a
certain value this will be utilized as user address. Maximum user total is 99.
Decimal setting of the user address using two rotary switches 1 and 2 (default 00).
Example: 23
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6.2.2. Setting the baud rate
The baud rate is defined in object 2100h. Another option is binary setting of the baud rate using the 3-pin- DIP
switches 1 to 3 provided in the bus cover. The baud rate out of the EEPROM will be ingnored as soon as the
switches are not on 0.
Baud rate
10 kBit/s
20 kBit/s
50 kBit/s *
125 kBit/s
250 kBit/s
500 kBit/s
800 kBit/s
1 MBit/s
1
OFF
OFF
OFF
OFF
ON
ON
ON
ON
DIP-switch position
2
OFF
OFF
ON
ON
OFF
OFF
ON
ON
3
OFF
ON
OFF
ON
OFF
ON
OFF
ON
* Default
6.2.3. Terminating resistor
If the inclination sensor is the final device in the bus line the bus must be terminated using the terminating
resistor in the bus cover by switching the one-pin DIP switch to “ON” (default OFF).
ON = last user
OFF = user X
6.2.4. Connecting the inclination sensor
Release the cap nut of the cable gland
Push the cap nut and seal insert with contact sleeve onto the cable sheath.
Strip the cable sheath and cores, shorten the shield film where existing (see fig.)
Bend over the braided shield by approx. 90°
Push the seal insert with contact sleeves along as far as the braided shield. Insert the sealing insert with
contact sleeve and cable flush into the cable gland and tighten the cap nut.
Clamps of the same designation are internally connected to each other.
For supply voltage use cable gland 3 only. For the bus lines, either cable gland 1 or 2 may be used.
Please observe the admissible cable cross-sections.
Guide the cores the shortest way from the cable gland to the terminal connector. Please observe the
admissible core cross-sections. Use ferrules in case of flexible cores.
Avoid any crossings of data lines with the supply line.
Seal up the unused cable gland using a sealing bolt (included in the delivery).
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View inside the inclination sensor
Cable gland
M12 connector
6.2.5. Terminal assignment
Pin
1
2
3
4
5
Terminal
GND
UB
GND
CAN_H
CAN_L
Explanation
Ground connection relating to UB
Supply voltage 10...30 VDC
Ground connection relating to UB
CAN Bus signal (dominant High)
CAN Bus signal (dominant Low)
M12-connector (male/female)
Terminals with the same designation are connected to each other internally and identical in their functions.
Maximum load on the internal clamps UB-UB and GND-GND is 1 A each.
6.3. Status LEDs (status indicators)
An integrated DUO-LED is provided on the back of inclination sensor housing.
LED green
Off
Flashing
On
On
Off
Off
LED red
Off
Off
Off
On
Flashing
Off
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Status
No supply voltage
Pre-operational Mode
Operational Mode
Stopped/Prepared Mode
Alert/warning
Error
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