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Pepperl+Fuchs INX DH-F199-B16 Series Manual
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Pepperl+Fuchs INX DH-F199-B16 Series Manual

With canopen interface
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FACTORY AUTOMATION
MANUAL
INX***DH-F199-B16-***,
INY***DH-F199-B16-***
with CANopen Interface

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Summary of Contents for Pepperl+Fuchs INX DH-F199-B16 Series

  • Page 1 FACTORY AUTOMATION MANUAL INX***DH-F199-B16-***, INY***DH-F199-B16-*** with CANopen Interface...
  • Page 2 INX***DH-F199-B16-***, INY***DH-F199-B16-*** With regard to the supply of products, the current issue of the following document is ap- plicable: The General Terms of Delivery for Products and Services of the Electrical Indus- try, published by the Central Association of the Electrical Industry (Zentralverband Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the supplementary clause: "Expanded reservation of proprietorship"...
  • Page 3 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Introduction................. 7 Content of this Document ..............7 Target Group, Personnel..............7 Symbols Used ..................8 Intended Use ..................8 General Safety Notes ................9 Declaration of conformity..............9 Product Description ..............10 Use and Application................10 Accessories ..................10 Installation.................
  • Page 4 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Software Configuration Overview .......... 18 Factory Settings ................. 18 Active Programming Objects ............18 Programmable Parameters..............18 Command Description ............... 19 Frequently Used Commands............. 20 PDO Transmission ................21 5.6.1 Object 1800h: 1st Transmit PDO Communication Parameter ... 21 5.6.2 Object 1801h: 2nd Transmit PDO Communication Parameter ..
  • Page 5 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects ..............26 CANopen Object Overview..............26 Communication Profile..............30 7.2.1 Object 1000h: Device Type .............. 30 7.2.2 Object 1001h: Error Register ............30 7.2.3 Object 1003h: Pre-Defined Error Field ..........30 7.2.4 Object 1005h: COB-ID Sync ............31 7.2.5 Object 1008h: Mfr Device Name ............
  • Page 6 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Device Profile..................39 7.4.1 Object 6000h: Resolution ..............39 7.4.2 Object 6010h: Slope Long16............39 7.4.3 Object 6011h: Slope Long16 Operating Parameter ......40 7.4.4 Object 6012h: Slope Long16............40 7.4.5 Object 6013h: Slope Long16 Offset ..........41 7.4.6 Object 6014h: Differential Slope Long16 Offset .......
  • Page 7 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Introduction Introduction Content of this Document This document contains information required to use the product in the relevant phases of the product life cycle. This may include information on the following: Product identification Delivery, transport, and storage Mounting and installation Commissioning and operation Maintenance and repair Troubleshooting...
  • Page 8 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Introduction Symbols Used This document contains symbols for the identification of warning messages and of informative messages. Warning Messages You will find warning messages, whenever dangers may arise from your actions. It is mandatory that you observe these warning messages for your personal safety and in order to avoid property damage.
  • Page 9 If serious faults occur, stop using the device. Secure the device against inadvertent operation. In the event of repairs, return the device to your local Pepperl+Fuchs representative or sales office.
  • Page 10 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Product Description Product Description Use and Application INX***DH-F199-B16-*** and the INY***DH-F199-B16-*** series inclination sensors sense and measure the tilt angle (inclination/slope/elevation) of an object in relation to the force of gravity. The basic principle behind these inclination sensors is a microelectromechanical systems (MEMS) sensor cell that is embedded in a fully molded application-specific integrated circuit (ASIC).
  • Page 11 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Installation Installation Instructions for Mechanical and Electrical Installation Observe the following instructions to ensure safe operation of the inclination sensor: Warning! Work must only be performed by trained and qualified personnel. Commissioning and operation of this electrical equipment must only be performed by trained and qualified personnel.
  • Page 12 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Installation Mounting Instructions The inclination sensors are pre-calibrated devices that can be put into immediate operation after easy installation. The mounting surface must be flat and free of dust and grease. Depending on the sensor model, ensure that the sensor is oriented correctly for inclination measurement.
  • Page 13 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Installation Electrical Connection The sensors are connected via M12 5-pin connectors with CAN bus. There are sensor models with one connector (V15) or two connectors (2V15). The one-connector sensors have a male connector type. Bus In Bus Out Signal CAN GND CAN-High...
  • Page 14 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Modes and Parameters Modes and Parameters The purpose of this chapter is to describe the available configuration parameters of these inclination sensors with CANopen interface. Before going into details the following information describes useful technical terms and acronyms for CANopen network communication. Node-ID In the CAN network each device has a Node-ID that is used to address the device in the network and to define it’s priority of.

  • Page 15: Table Of Contents

    INX***DH-F199-B16-***, INY***DH-F199-B16-*** Modes and Parameters Operational Mode The device enters the operational state if it was in the pre-operational state upon receiving the "Start Remote Node" indication. If the CANopen network is started using the "Node Start" NMT services in operational state, all device functionalities can be used. Communication can use PDOs or SDOs.
  • Page 16 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Modes and Parameters Transmission Modes Polled Mode Via a remote transmission request telegram, the connected host calls for the current process value. The inclination sensor uses the current position value, calculates set-parameters, and sends back the obtained process value by the same identifier. Cyclic Mode The inclination sensor transmits cyclically the current process value, without being called by the host.
  • Page 17 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Modes and Parameters Using Layer Settings Service (LSS) The integrated Layer Setting Services (LSS) functionality is designed in accordance with the CiA normative DS305V200 CANopen Layer Setting Services. These services and protocols can be used to inquire or to change settings of several parameters (of the physical, data link, and application layer) on a CANopen device with LSS slave capability by a CANopen device with LSS master capability via the CAN network.
  • Page 18 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Software Configuration Overview Software Configuration Overview These inclination sensors are flexible, remote-configurable devices. All parameters are programmable via CAN bus. This chapter is divided into two main parts — one describing how to put the inclination sensors into operation and the other for PDO/SDO programming of the inclination sensors. Note! Save Parameters after Modification After modifying parameters, save the new settings into the inclination sensor by using...

  • Page 19: Byte

    INX***DH-F199-B16-***, INY***DH-F199-B16-*** Software Configuration Overview Command Description Command Function Telegram Description Domain Download Write Request Parameter to inclination sensor Domain Download Write Confirmation Parameter Received Domain Upload Read Request Parameter Request Domain Upload Read Response Parameter to Master 43h, 4Bh, 4Fh Warning Error Response Transmission Error...

  • Page 20: Nnh: Node Number

    INX***DH-F199-B16-***, INY***DH-F199-B16-*** Software Configuration Overview Frequently Used Commands The following list shows the most frequently used objects for programming the inclination sensor. This list offers important programming tips and FAQ which are necessary for the proper use of the inclinometer. See chapter 7 for the whole list of CANopen objects.
  • Page 21 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Software Configuration Overview PDO Transmission Process Data Objects (PDOs) communicate process information/data and enable them to be exchanged in real time. A CANopen device's PDO set describes the implicit exchanges between this device and its communication partners on the network. The exchange of PDOs is only authorized if the device is in "Operational"...
  • Page 22 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Software Configuration Overview 5.6.3 Transmission Mode The transmission mode (Sub index 2) for Objects 1800h and 1801h can be configured as described below: Transmission Mode Transfer Value (Dec) Cyclic Acyclic Synchronous Asynchronous RTR Only Note Send PDO on first sync message following an...
  • Page 23 INX***DH-F199-B16-***, INY***DH-F199-B16-*** Software Configuration Overview 5.6.7 Object 1A00h: 1st Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO. Restore after Subindex Description Data Type Default Value Access BootUp Number of Unsigned 8 2 = INY*** 2 sub indices subindexes 1 = INX*** 1...

  • Page 24: Byte

    INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Configuration Examples CANopen Configuration Examples The following examples illustrate how you can configure the inclination sensor via CANopen objects. A transmit message basically consists of the following: COB-ID 600h + node ID (0 ... 7F) e. g. 601h at node number 1 Data byte 1: 1 command byte Data byte 2 and 3: CANopen object code Data byte 4: Subindex if applicable...
  • Page 25 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Configuration Examples Write (new) Node-ID (Object 3000h) To write a new node number into the corresponding register of the inclination sensor, you have to send CANopen object 3000h the following order. Object 3000h, Sub-Index: 00h: Write (new) Node-ID (10h) Data byte 1 Data byte 2 Data byte 3...
  • Page 26 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects CANopen Objects CANopen Object Overview The following table shows an overview of the valid CANopen objects of the INX***DH-F199- B16-*** series and the INY***DH-F199-B16-*** series inclination sensors. The CANopen objects are grouped in the following way: Communication profile: Objects 1000 ...
  • Page 27 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects Object Name Object No. ID hex Access Data Type Save communication 1010.2 Read/Write UNSIGNED32 parameters Save Application 1010.3 Read/Write UNSIGNED32 parameters Save Manufacturer 1010.4 Read/Write UNSIGNED32 parameters Restore Default 1011 – ARRAY Parameters Highest sub-index 1011.0 Read-only UNSIGNED8 supported...
  • Page 28 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects Object Name Object No. ID hex Access Data Type Sub 5: Event Timer 1801.5 Read/Write UNSIGNED16 TxPDO1 Mapping 1A00 – RECORD Sub 0: Number of 1A00.0 Read-only UNSIGNED8 entries Sub 1: 1st mapped 1A00.1 Read/Write UNSIGNED32 object Sub 2: 2nd mapped 1A00.2...
  • Page 29 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects Object Name Object No. ID hex Access Data Type Slope lateral16 preset 6022 Read/Write INTEGER16 value (Preset Value Y-Axis) Slope lateral16 offset 6023 Read-only INTEGER16 (Offset Value Y-Axis) Differential slope 6024 Read/Write INTEGER16 lateral16 offset (Offset Value Y-Axis) All 32-bit objects 61XX –...
  • Page 30 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects Communication Profile 7.2.1 Object 1000h: Device Type The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit field which describes the device profile that is used and a second 16-bit field which gives additional information about optional functionality of the device.
  • Page 31 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.2.4 Object 1005h: COB-ID Sync This object indicates the configured COB-ID of the synchronization object. In operational mode, sensor sends process data if SYNC message with same COB-ID is received. (Correct setting of transmission type of TxPDO(s) implied). Subindex Description Data Type...
  • Page 32 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.2.10 Object 1010h: Store Parameters This object controls the saving of all writable parameters in non-volatile memory. Subindex Description Data Type Default Value Access Number of Unsigned 8 subindexes Save all Unsigned 32 – parameters Save Unsigned 32 –...
  • Page 33 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects Loading procedure: To load the parameters from non volatile memory the access signature “load” has to be sent to the corresponding subindex of the device. Most Significant Word Least significant word ASCII Hex value 06Ch Table 7.15 Note! A power off/on sequence is required for the restoration to take place after the message has been transmitted.

  • Page 34: Table

    INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.2.15 Object 1018: Identity Object This object provides the general identification of the inclination sensor. Subindex Description Data Type Default Value Access Number of Unsigned 8 entries Vendor Id Unsigned 32 Product Code Unsigned 32 43415032h Revision Number Unsigned 32 00010000h Serial Number...
  • Page 35 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.2.18 Object 1A00h: 1st Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO. Restore after Subindex Description Data Type Default Value Access BootUp Number of Unsigned 8 2 = INY*** 2 sub indices subindexes 1 = INX*** 1...
  • Page 36 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.3.3 Object 2600h: Preset X-Axis This object sets the x-axis to the desired value. It is hard-wired with the objects 6012 and 6112. Subindex Description Data Type Default Value Access Integer 16 – – Table 7.26 The valid "Preset Value"...
  • Page 37 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.3.5 Object 3000h: Node Number This object contains the node number of the device. The Pepperl+Fuchs standard node number is 01 decimal. The valid node numbers range from 01 to 127. Subindex Description Data Type Default Value...
  • Page 38 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.3.7 Object 3002h: Terminator This object is used to activate the terminator in case the inclination sensor is used at the edges of the transmission line to avoid reflection of data back into the line. The terminator should also be activated in case of (and/or) high transmission rates (>...
  • Page 39 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects Device Profile 7.4.1 Object 6000h: Resolution This object is used to set the resolution, i.e, the minimum angle difference displayed by the inclination sensor. The default value is 10d (000Ah). Subindex Description Data Type Default Value Access Resolution Unsigned 16...
  • Page 40 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.4.3 Object 6011h: Slope Long16 Operating Parameter Rotation Direction Value X-Axis This object controls the scaling and inversion of the slope long16 values. If bit 0 is set, inversion of slope long16 is enabled. If bit 1 is set, slope long16 offset and differential slope long16 offset are added to the slope long16.
  • Page 41 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.4.5 Object 6013h: Slope Long16 Offset Offset Value X-Axis This is a read only parameter. The parameter is recalculated every time Slope Long16 preset (6012h), Slope Long32 Preset (6112) or Preset X (2600) objects are changed. This object does not exist for INX*** inclination sensors.
  • Page 42 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.4.8 Object 6021h: Slope Lateral16 Operating Parameter Rotation Direction Value Y-Axis This object controls the scaling and inversion of the slope lateral16 values. If bit 0 is set, inversion of slope lateral16 is enabled. If bit 1 is set, slope lateral16 offset and differential slope lateral16 offset are added to the slope lateral16.
  • Page 43 INX***DH-F199-B16-***, INY***DH-F199-B16-*** CANopen Objects 7.4.10 Object 6023h: Slope Lateral16 Offset Offset Value Y-Axis This is a read only parameter. The parameter is recalculated every time Slope Lateral16 preset (6022h), Slope Lateral32 Preset (6122h) or Preset Y (2601h) objects are changed. Subindex Description Data Type...
  • Page 44 Twinsburg, Ohio 44087 · USA Tel. +1 330 4253555 E-mail: sales@us.pepperl-fuchs.com Asia Pacific Headquarters Pepperl+Fuchs Pte Ltd. Company Registration No. 199003130E Singapore 139942 Tel. +65 67799091 E-mail: sales@sg.pepperl-fuchs.com www.pepperl-fuchs.com Subject to modifications / DOCT-6281 Copyright PEPPERL+FUCHS • Printed in Germany 01/2019...

This manual is also suitable for:

Iny dh-f199-b16 series