Siko IK360 User Manual
  1. Manuals
  2. Brands
  3. Siko Manuals
  4. Measuring Instruments
  5. IK360
  6. User manual

Siko IK360 User Manual

Inclinometer with canopen-interface
Hide thumbs Also See for IK360:
Table of Contents

Advertisement

Quick Links

Download this manual
User manual
Inclinometer
with CANopen-Interface
IK360

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the IK360 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Siko IK360

Summary of Contents for Siko IK360

  • Page 1 User manual Inclinometer with CANopen-Interface IK360...

  • Page 2: Table Of Contents

    GENERAL SAFETY ADVICE ........................4 INTRODUCTION ............................5 IK360 ............................... 5 ..........................5 OPEN INTERFACE IK360 CAN ............................. 5 OPEN IK360 – MODES AND PARAMETERS ....................6 ..........................7 PERATING MODES 3.1.1 Mode: Preoperational ........................7 3.1.2 Mode: Start Operational ......................7 3.1.3 Mode: Stop Operation ........................
  • Page 3 PRESET VALUE 8.34 6024 ..............38 BJECT IFFERENTIAL SLOPE LATERAL OFFSET 8.35 6114 ..............39 BJECT IFFERENTIAL SLOPE LONG OFFSET OUTPUT GRAPHS ............................ 39 ................................. 41 LOSSARY IK360 -CAN Date: 23.01.2017 Page 3 of 41 Art.no. 86089 Mod. Status 10/17...

  • Page 4: General Safety Advice

    Please Note Electrical equipment should be serviced only by qualified personnel. No responsibility is assumed by SIKO for any consequences arising out of the use of this material. This document is not intended as an instruction manual for untrained persons.

  • Page 5: Introduction

    (maximum: 127 nodes), which means that all devices can access the bus. These devices/nodes are the components of the CANopen bus and in our case the node is the IK360 inclinometer. In simple terms, CANopen works as a client-server model. Each device checks whether the bus is free and if it is free the device can send messages.

  • Page 6: Ik360 - Modes And Parameters

    (30 m / 100 ft cable for a maximum speed of 1 MBaud/s, 5000 m / 16,500 ft cable for a maximum speed of 10 kBaud/s). The IK360 CANopen is a flexible measurement device. This is proved by the fact, that it has easily programmable parameters like resolution, preset and software filters. Other functions such as offset values, baud rate and node number can also be configured using CANopen objects in the IK360 inclinometers with ease and according to the network.

  • Page 7: Operating Modes

    To put one or all nodes in the operational state, the master has to send the following message: Identifier Byte 0 Byte 1 Description NMT: Start Remote Node, all nodes NN (in hex) NMT: Start Remote Node, NN NN: node number IK360 -CAN Date: 23.01.2017 Page 7 of 41 Art.no. 86089 Mod. Status 10/17...

  • Page 8: Mode: Stop Operation

    The inclinometer cyclically transmits (without being called by the host) the current process value. The cycle time can be programmed in milliseconds for values between 0 ms and 65536 ms. IK360 -CAN Date: 23.01.2017 Page 8 of 41 Art.no. 86089...

  • Page 9: Boot-Up Procedure

    CAN network, the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again. Boot-up procedure The general boot-up procedure for the IK360 CANopen and the mapping of various modes are illustrated below. Number Description...

  • Page 10: Installation

    Avoid mechanical load! Mounting instructions IK360 is a pre-calibrated device, which can be put into immediate operation, upon simple and easy installation with a three point mount and setting of preset. Its compact design and installation "anywhere" makes it versatile.

  • Page 11: Bus Termination

    120Ω CAN High wire CANope Master Ω CAN Low wire Measurement axis IK360 (1 axis) Measurement axis and mid angle position (factory setting ~ connector facing down) IK360 -CAN Date: 23.01.2017 Page 11 of 41 Art.no. 86089 Mod. Status 10/17...

  • Page 12: Ik360 Software Configuration

    CAN bus itself even when attached. This enables remote configuration. This chapter is primarily divided into two parts. In first part the methodology is described for putting the IK360 into operation and in the second part the PDO/SDO programming of IK360.

  • Page 13: Active Programming Objects

    Active programming objects Active CANopen objects depending on the state of IK360. The crosses in the table below indicate, which CANopen objects are active in each state. Initialization Pre-Operational Operational Stopped PDO Object SDO Object Boot-Up Programmable parameters Objects are based on the CiA 301 DS and CiA 410 DS V1.2. The following table gives the list of command identifiers sent and received by the inclinometer.

  • Page 14: Pdo Transmission

    3022h is for digital recursive filter. Default: Object 3100h, Object 3022h: 0). Appendix A has a detailed list of all the objects, which can be programmed with IK360 CANopen. The data type, data size, default value, r/w access definition and all sub-indexes are mentioned in it.
  • Page 15 Send PDO every x sync 1-240 messages 241-251 Reserved Receive sync and send PDO on remote transmit request Update data and send PDO on remote transmit request IK360 -CAN Date: 23.01.2017 Page 15 of 41 Art.no. 86089 Mod. Status 10/17...
  • Page 16 The cyclic timer is useful to set the position transmission to cyclic mode. The cyclic timer can be programmed from 0 ms to 65536 ms. When enabled, the IK360 transmits the position value contained in the PDO at constant prescribed intervals, even if there is no change in the position value.

  • Page 17: Explicit Exchanges (Sdo)

    CAN bus connection via D-Sub, 9-pin and in accordance with CiA 102 standards.  Object 3001h is to read the baud rate value from the IK360. Transmit message  ID: 601h - Message to node number 1 ...

  • Page 18: Working With Schneider Plc

    Data 4-7: 01 equates 50 kBaud/s Received Message from the device So, SDOs can be used to explicitly read or write data in IK360. All the relevant objects, that can be configured, are described in Appendix A. In the above example 701h is the boot up message received. Then once we transmit the SDO command as shown above, we receive a reply.

  • Page 19: Software Project Information

    Hardware setup and wiring 6.2.2 Software project information Once the hardware setup is done, the IK360 should be configured in such a way, that it is compatible to the already existing setup and gives a proper position output.  Controller Description IK360 -CAN Date: 23.01.2017...
  • Page 20  IK360 inclinometer – Electronic Data Sheet (EDS) The IK360 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 21: Configuration

     IK360 Process Data Objects (PDO) Mapping The list of available objects is pre-programmed in the EDS file. Select the IK360 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-PDOs of the IK360.
  • Page 22  CANopen bus network configuration Click on the bus connecting the IK360 inclinometer and the PLC. Select the bus configuration option to define the name of the bus, the transmission speed and supervision time. Make sure, that the IK360 is programmed to the appropriate baud rate as that of the bus.

  • Page 23: Debugging

    PC is debugged and transferred to the controller for real time application. The following illustrations are the intermediate tasks during debugging. IK360 -CAN Date: 23.01.2017 Page 23 of 41 Art.no.

  • Page 24: Run

    Upon start up, we can create an animation table to monitor the necessary controller parameters and the system variables, which contain the position value. Now we will program the PLC in order to obtain the position values. IK360 -CAN Date: 23.01.2017 Page 24 of 41 Art.no.
  • Page 25 Resetting CANopen communication Resetting CANopen nodes Switch to operational mode Position readout position value IK360 -CAN Date: 23.01.2017 Page 25 of 41 Art.no. 86089 Mod. Status 10/17...
  • Page 26 Readout using animation table Illustration of measurement over full range: At initial position (approximately 0°): IK360 position value = 32 * 0.01 = 0.32° At approximately 90°: IK360 position value = 9138 * 0.01 = 91.38° At approximately 180°: IK360 position value = 18052 * 0.01 = 180.52°...

  • Page 27: Troubleshooting

    At approximately 270°: IK360 position value = 27256 * 0.01 =272.56° All the above position values where obtained by programming the position value output explicitly. The other method is very simple and direct. Just run the controller and same position values are obtained. The position is mapped with the memory location %IWC1.0.0 or %IWC1.1.0 through PDO mapping done in the earlier steps.

  • Page 28: Ik360 Canopen Objects

    If all nodes are found to be in operational mode, than follow the next few steps to set the required node number to a selected device. 1. Calculate the required node number in hexadecimal. (IK360 is internally programmed to add 1 to any node number change fed to it, in order to avoid the node number 0) 2.

  • Page 29: Object 1001H: Error Register

    Access BootUp Unsigned 32 0x80h Object 1008h: Mfr Device Name The object contains the device name. Restore after Subindex Description Data Type Default Value Access BootUp String IK360 -CAN Date: 23.01.2017 Page 29 of 41 Art.no. 86089 Mod. Status 10/17...

  • Page 30: Object 1009H: Mfr Hardware Version

    Number of sub Unsigned 8 indices Save all Unsigned 32 parameters Save communicatio Unsigned 32 n parameters Save application Unsigned 32 parameters Save manufacture Unsigned 32 parameters IK360 -CAN Date: 23.01.2017 Page 30 of 41 Art.no. 86089 Mod. Status 10/17...

  • Page 31: Object 1011H: Restore Parameters

    This object indicates the configured COB-ID for the emergency write service. This has the highest priority among transmitted messages. Restore after Subindex Description Data Type Default Value Access BootUp Unsigned 32 0x81 IK360 -CAN Date: 23.01.2017 Page 31 of 41 Art.no. 86089 Mod. Status 10/17...

  • Page 32: Object 1016 H : Consumerh

    Unsigned 8 entries Vendor Id Unsigned 32 0x195 Product Code Unsigned 32 0x43415032 Revision Unsigned 32 0x00010500* Number Serial Number Unsigned 32 *Prone to change with every revision IK360 -CAN Date: 23.01.2017 Page 32 of 41 Art.no. 86089 Mod. Status 10/17...

  • Page 33: Object 2200H: Cyclic Timer

    After setting the Preset value a save command has to be given in order to set the Preset value permanently. 8.19 Object 2601h: Preset Y-Axis (IK360-2 axis) In IK360-2 axis inclinometers this object sets the Y-axis to a desired value. It is hard-wired with objects 6022h and 6122h. Restore after Subindex...

  • Page 34: Object 3000H: Node Number

    The valid preset value ranges depend on the current resolution of the IK360. An error message will apear if the preset value is out of range. Resolution Preset Range (in decimal) Type IK360-2 axis IK360-1 axis 1° 0 - 360 0 –...

  • Page 35: Object 3002 H : Terminationr

    Object 3002h: Termination Resistor This object is used to activate the termination resistor in case the IK360 is used at the edges of the transmission line ( to avoid reflection of data back into the line) and / or high transmission rates (>50 kB).

  • Page 36: Object 6010H: Slope Long16

    1° 1000 3E8h 0.1° 0.01° 8.26 Object 6010h: Slope long16 In IK360-1 axis inclinometers this object provides the Z-axis value and in IK360-2 axis this object provides the X-axis value. Restore after Subindex Description Data Type Default Value Access...

  • Page 37: Object 6014 H : D

    8.29 Object 6013h: Slope long16 offset This parameter is recalculated everytime Slope Long16 preset (6012h), Slope Long32 Preset (6112h) or Preset X (2600h) objects are changed. This object does not exist for IK360, only IK360-2 axis. Restore after Subindex Description...

  • Page 38: Preset Value

    Access BootUp Preset Value Integer 16 Resolution Preset Range (in decimal) Type IK360-2 axis 1° 0.1° 0.01° 8000 8.34 Object 6024h: Differential slope lateral16 offset This parameter adds an additional, independent offset to slope long16, but only if scaling of slope long16 is enabled.

  • Page 39: Object 6114 H : D

    Subindex Description Data Type Default Value Access BootUp Offset Value Integer 32 Resolution Preset Range (in decimal) Type IK360-1 axis 1° -179 to +180 0.1° -1799 to +1800 0.01° -17999 to +18000 Output graphs IK360-1 axis IK360 -CAN Date: 23.01.2017 Page 39 of 41 Art.no.
  • Page 40 IK360-2 axis X-Achse Output Value (Resolution = 0.01) IK360-2 axis Y-Achse Output Value (Resolution = 0.01) IK360 -CAN Date: 23.01.2017 Page 40 of 41 Art.no. 86089 Mod. Status 10/17...

  • Page 41: Glossary

    Slave bus node, that sends data at the request of the master. The inclinometers are always slaves. Write Only: Parameter that is only accessible in write mode. IK360 -CAN Date: 23.01.2017 Page 41 of 41 Art.no. 86089...

Table of Contents