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Posital Fraba ACS080 CANopen User Manual

Accelens acs inclinometer with canopen interface
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ACCELENS (ACS) INCLINOMETER WITH CANOPEN INTERFACE
User Manual
AMERICAS
EUROPE
ASIA
FRABA Inc.
POSITAL GmbH
FRABA Pte. Ltd.
1800 East State Street, Suite 148
Carlswerkstrasse 13c
60 Alexandra Terrace,
Hamilton, NJ 08609-2020, USA
D-51063 Köln, GERMANY
#02-05 The Comtech, SINGAPORE 118502
T +1 609 750-8705, F +1 609 750-8703
T +49 221 96213-0, F +49 221 96213-20
T +65 6514 8880, F +65 6271 1792
www.posital.com, info@posital.com
www.posital.eu, info@posital.eu
www.posital.sg, info@posital.sg

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  • Page 1 ACCELENS (ACS) INCLINOMETER WITH CANOPEN INTERFACE User Manual AMERICAS EUROPE ASIA FRABA Inc. POSITAL GmbH FRABA Pte. Ltd. 1800 East State Street, Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace, Hamilton, NJ 08609-2020, USA D-51063 Köln, GERMANY #02-05 The Comtech, SINGAPORE 118502 T +1 609 750-8705, F +1 609 750-8703 T +49 221 96213-0, F +49 221 96213-20 T +65 6514 8880, F +65 6271 1792...

  • Page 2: Table Of Contents

    AC C E L E NS ( ACS ) C ANo p en TABLE OF CONTENTS 5.3 Configuration ..........25 General Security Advise ......3 5.4 Debugging ............. 27 5.4 Run..............29 About This Manual ........3 6. Troubleshooting ........32 1.

  • Page 3: General Security Advise

    G en e ral S af et y Ad vi ce Ab o ut Th i s Ma n u al Background Important Information This user manual explains how to install and Read these instructions carefully, and have a look configure the ACS inclinometer with a CANopen at the equipment to become familiar with the interface with illustrations from a Schneider...

  • Page 4: Introduction

    AC C E L E NS ( ACS ) C ANo p en entered mass markets like mobile phones or tablet 1. I n t ro du ct i o n computers. This manual explains how to install and configure The ACS series of inclinometers are available in the ACS gravity referenced inclinometers (suitable two variants.

  • Page 5: Acs Canopen

    AC C E L E NS ( ACS ) C ANo p en In simple terms, CANopen works as a client-server The ACS CANopen series of inclinometers are model. Each device checks whether the bus is available in two variants. First, a single axis free, and if it is free the device can send measurement variant with a range of 0-360°...

  • Page 6: Typical Applications Of Acs

    AC C E L E NS ( ACS ) C ANo p en The ACS-CANopen is a flexible measurement Before going into details the following information device. This is proved by the fact that it has easily describes useful technical terms and acronyms for programmable parameters like Resolution, Preset CANopen network communication.

  • Page 7: Operating Modes

    AC C E L E NS ( ACS ) C ANo p en 2.1 Operating Modes 2.1.1 Mode: Preoperational When the device is in this state, its configuration When configuration is complete, the device goes can be modified. However, only SDOs can be into one of the following states on receiving the used to read or write device-related data.

  • Page 8: Transmission Modes

    AC C E L E NS ( ACS ) C ANo p en 2.1.3 Mode: Stop Operation The device goes into the "Stopped" state on cannot be configured. No service is available to receiving the "Node stop" indication (NMT read and write device-related data (SDO). Only service) if it was in "Pre-Operational"...

  • Page 9: Boot-Up Procedure

    AC C E L E NS ( ACS ) C ANo p en 2.3 Boot-up Procedure The general boot-up procedure for the ACS CANopen and the mapping of various modes are illustrated below: Number Description Module Power up After initialization, the module automatically goes into pre-operational mode NMT: Start Remote Node NMT: Pre-operational Mode NMT: Stop Remote Node...

  • Page 10: Installation

    AC C E L E NS ( ACS ) C ANo p en 3. In st al l at io n 3.1 Accessories Article No Article Description ACS360/080 Inclinometer ACS series of Inclinometers (Industrial / Heavy-Duty) Download Datasheet* ACS Datasheet, specifications and drawings Download User Manual* Installation and Configuration User Manual (English)

  • Page 11: Mounting Instructions

    AC C E L E NS ( ACS ) C ANo p en 3.4 Mounting Instructions ACS is a pre-calibrated device which can be put the screws. The M12 connectors are to be into immediate operation, upon simple and easy perfectly aligned and screwed till the end with a installation with a three point mount and setting of tightening torque in the range of 0.4-0.6Nm.

  • Page 12: Measurement Axes

    AC C E L E NS ( ACS ) C ANo p en 3.6 Measurement Axes 3.6.1 ACS80 Industrial Heavy-Duty ACS CANopen Manual Version 20110928 12 of 44...
  • Page 13 AC C E L E NS ( ACS ) C ANo p en 3.6.2 ACS360 Industrial Heavy Duty ACS CANopen Manual Version 20110928 13 of 44...

  • Page 14: Acs Software Configuration

    AC C E L E NS ( ACS ) C ANo p en 4. AC S S of tw are Co nf i g ur at io n This chapter succeeds the hardware configuration (i.e. installation) as in real time. ACS is a very flexible device and hence all the parameters can be programmed via CAN bus itself even when attached.

  • Page 15: Programmable Parameters

    AC C E L E NS ( ACS ) C ANo p en 4.3. Programmable Parameters Objects are based on the CiA 410 DS V1.2: used for communication and transmission between CANopen profile inclinometer (www.can- a master and slave in the CAN bus. It is quite cia.org).
  • Page 16 AC C E L E NS ( ACS ) C ANo p en The parameter, resolution per degree is used to program the desired Resolution Per 1° number of angular divisions per revolution. The values 1, 10, 100, and (Object 6000h) 1000 can be programmed.

  • Page 17: Pdo Transmission

    AC C E L E NS ( ACS ) C ANo p en 4.4 PDO Transmission Process Data Objects (PDOs) communicate The exchange of PDOs is authorized when the process information/data and enable them to be device is in "Operational" mode. exchanged in real time.
  • Page 18 AC C E L E NS ( ACS ) C ANo p en Transmission Mode The transmission mode (Sub index 2) for Objects 1800 and 1801 can be configured as described below: Transfer Transmission Mode Value Notes Synchro Cyclic Acyclic Asynchronous (Dec) nous...

  • Page 19: Explicit Exchanges (Sdo)

    AC C E L E NS ( ACS ) C ANo p en Object 1A00h: 1st Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO. Default Restore after Subindex Description Data Type Access Value BootUp Number Unsigned 8...
  • Page 20 AC C E L E NS ( ACS ) C ANo p en We used a PEAK™ CAN master for this • Object 3001h is to read the baud rate ® value from the inclinometer. illustration. The PCAN -USB adapter enables •...

  • Page 21: Working With Schneider Plc

    AC C E L E NS ( ACS ) C ANo p en 5. Wo rk in g w it h S ch n eid e r P LC 5.1 Introduction 5.2 Network Initialization ACS360, single axis inclinometer connected to a TWIDO programmable logic 5.2.1 Hardware controller with...

  • Page 22: Software Project Information

    AC C E L E NS ( ACS ) C ANo p en 5.2.2 Software Project Information Once the hardware setup is done the ACS should be configured in such a way that it is compatible to the already existing setup and gives a proper position output. Controller Description •...
  • Page 23 AC C E L E NS ( ACS ) C ANo p en CANopen Master Configuration • ACS360 Inclinometer – Electronic Data Sheet (EDS) • The ACS EDS file once uploaded will load all the objects including the PDOs to the controller. The Schneider system automatically identifies the PDOs and maps them on to the slave device.
  • Page 24 AC C E L E NS ( ACS ) C ANo p en Connection network Setup • The illustration below, describes the connection of the elements in the CAN bus. At first, the CANOpen communication interface is connected to the main controller. Then the inclinometer is connected to the CANopen communication interface.

  • Page 25: Configuration

    AC C E L E NS ( ACS ) C ANo p en 5.3 Configuration ACS Process Data Objects (PDO) Mapping • The list of available objects is pre-programmed in the EDS file. Select the ACS inclinometer on the bus and click on Configuration. A list of all the mapped PDOs appear. Then, according to the need, the objects are mapped on to the Transmit-PDO’s of the ACS.
  • Page 26 AC C E L E NS ( ACS ) C ANo p en CANopen bus network configuration • Click on the bus connecting the ACS inclinometer speed and supervision time. Make sure that the and the PLC. Select the bus configuration option to ACS is programmed to the appropriate baud rate define the name of the bus, the transmission as that of the bus.

  • Page 27: Debugging

    AC C E L E NS ( ACS ) C ANo p en ACS & Controller Memory Configuration • The current and updated position values from and IWC1.1.0 will always contain the slope the ACS encoder are mapped on to an values obtained from the object 6010h of the EEPROM memory location in the controller.
  • Page 28 AC C E L E NS ( ACS ) C ANo p en debugged and transferred to the controller for illustrations are the intermediate tasks during real time application. following debugging. Converting all the programmed parameters to binary format Creating a back up of the controller parameters before going into online mode ACS CANopen Manual Version 20110928 28 of 44...

  • Page 29: Run

    AC C E L E NS ( ACS ) C ANo p en Once the controller goes into the online mode, the PDOs cannot be changed. But, we can program the SDOs as need arises. 5.4 Run Once debugged, the controller goes into online mode. We then, can program the SDOs if needed and then run the controller.
  • Page 30 AC C E L E NS ( ACS ) C ANo p en Position Readout Position Value Readout Using Animation Table The position Readout is 18422 through the memory location %MW4 (Shown in the programming). We know that the resolution is set to 0.01. ACS Position Value = 18422 * 0.01 = 184.22°...
  • Page 31 AC C E L E NS ( ACS ) C ANo p en Illustration of measurement over full range: At initial position (approximately 0°): ACS Position Value = 32 * 0.01 = 0.32° At approximately 90°: ACS Position Value = 9138 * 0.01 = 91.38° At approximately 180°: ACS Position Value = 18052 * 0.01 = 180.52°...

  • Page 32: Troubleshooting

    AC C E L E NS ( ACS ) C ANo p en 6. Tro ub l e sh o o t in g • Power on – Inclinometer doesn’t respond baudrate, error frames produced automatically. Problem: If the bus is active, then, the installed •...

  • Page 33: Appendix A: Acs Canopen Objects

    AC C E L E NS ( ACS ) C ANo p en Use 2300h to save the parameters with For example if we want a NN=28 decimal, the reset. we need to feed 27 decimal(27+1=28). A boot up message with the new node So the NN 1B hex has to be fed in order number pops us.

  • Page 34: Object 1003H: Pre-Defined Error Field

    AC C E L E NS ( ACS ) C ANo p en Object 1003h: Pre-Defined Error Field The object holds the errors that have occurred on least significant word and additional information is the device and have been signaled via the located in the most significant word.

  • Page 35: Object 100Ch: Guard Time

    AC C E L E NS ( ACS ) C ANo p en Object 100Ch: Guard Time This object contains the guard time in milliseconds. Restore after Subindex Description Data Type Default Value Access BootUp Unsigned 16 Object 100Dh: Life Time Factor This object contains the life time factor parameters.

  • Page 36: Object 1016H: Consumer Heartbeat Time

    AC C E L E NS ( ACS ) C ANo p en Most Significant Word Least significant word ASCII Hex value Note: The restoration of parameters will only be taken into account after a power up or reset command. Please check all parameters before you store them to the non volatile memory.

  • Page 37: Object 2600H: Preset X/Z-Axis

    AC C E L E NS ( ACS ) C ANo p en Object 2600h: Preset X/Z-Axis In ACS080 inclinometers, this object sets the X-axis to a desired value. In ACS360 inclinometers, this object sets the Z-axis to a desired value. Restore after Subindex Description...

  • Page 38: Object 3100H: Moving Average Filter

    AC C E L E NS ( ACS ) C ANo p en Object 3100h: Moving Average Filter This object contains the number of values which are averaged. Restore after Subindex Description Data Type Default Value Access BootUp Moving Unsigned 16 Average Filter Range of values accepted: 0d to 100d.

  • Page 39: Object 6020H: Position Value Y-Axis

    AC C E L E NS ( ACS ) C ANo p en Object 6020h: Position Value Y-Axis In ACS080 inclinometers, this object provides the Y-axis value. In ACS360 inclinometers, this object is NOT functional. Restore after Subindex Description Data Type Default Value Access BootUp...

  • Page 40: Appendix C: Output Graphs

    AC C E L E NS ( ACS ) C ANo p en Ap p e nd ix C : Ou t pu t G r ap h s ACS 360: CANopen Output Values ACS 080 : CANopen Output Values ACS CANopen Manual Version 20110928 40 of 44...

  • Page 41: Glossary

    AC C E L E NS ( ACS ) C ANo p en G lo ss a ry Address Number, assigned to each node, irrespective of whether it is a master or slave. The inclinometer address (non-volatile) is configured in the base with rotary switches. Absolute Position Value.
  • Page 42 AC C E L E NS ( ACS ) C ANo p en CAN In Automation, organization of manufacturers and users of devices that operate on the CAN bus. Elementary communication object on the CAN network. All data is transferred using a COB.
  • Page 43 AC C E L E NS ( ACS ) C ANo p en Read/Write: Parameter that can be accessed in read or write mode. Communication object, with a low priority for messaging (configuration, error handling, diagnostics). Slave Bus node that sends data at the request of the master. The inclinometers are always slaves.
  • Page 44 AC C E L E NS ( ACS ) C ANo p en NOTES ACS CANopen Manual Version 20110928 44 of 44...

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