Summary of Contents for Fraba TILTIX MEMS AKS
- Page 1 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE User Manual Manual TILTIX MEMS AKS Inclinometer Page 1 of 68 Version: 20180827...
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Page 2: Table Of Contents
Position Readout ......35 Data Length of Commands....20 9.11 Readout Using Animation Table ..35 Frequently Used Commands ..... 21 Frequently Asked Question ....37 PDO Transmission ......22 Manual TILTIX MEMS AKS Inclinometer Page 2 of 68 Version: 20180827... - Page 3 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Appendix A: TILTIX CANopen Objects 11.31 Object 6010h: Slope Long16 ..... 51 11.32 Object 6011h: Slope Long16 Operating 11.1 Object 1000h: Device Type ....41 Parameter......... 52 11.2 Object 1001h: Error Register .....
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Page 4: General Safety Advice
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE General Safety Advice Important Information The addition of this symbol to a Read these instructions carefully, and have a look Danger or Warning safety label at the equipment to become familiar with the indicates that an electrical hazard device before trying to install, operate, or maintain exists, which will result in personal... -
Page 5: About This Manual
CAN in Automation e.V. approval by FRABA B.V. Nor is any liability assumed for damages resulting from the use of the © FRABA B.V., all rights reserved – Claims information contained herein. Further, this copyright on this documentation. -
Page 6: Introduction
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Introduction This manual explains how to install and configure duty applications. The TILTIX CANopen is based the TILTIX AKS inclinometers with a CANopen on the DS410 standard. interface, suitable for industrial, military and heavy TILTIX Inclinomter TILTIX inclinometers sense and measure the angle... -
Page 7: Typical Applications Of Tiltix Aks
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE The inclinometer supports the following operating State change mode: The position value is modes: transmitted whenever the position of the Polled mode: The position value is inclinometerchanges (minimum time transmitted only on request. -
Page 8: Tiltix - Modes And Parameter
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE TILTIX – Modes and Parameter The purpose of this chapter is to describe the going into details the following information available configuration parameters of the TILTIX describes useful technical terms and acronyms for inclinometers with CANopen interface. -
Page 9: Pre-Operational Mode
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Pre-Operational Mode If the device is in this state, its configuration can be If configuration is complete, the device goes into modified. However, only SDOs can be used to one of the following states on receiving the read or write device-related data. -
Page 10: Stopped Mode
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Stopped Mode The device goes into the "Stopped" mode on write device-related data (SDO). Only the slave receiving the "Node Stop" indication (NMT service) monitoring function "Node Guarding" remains active. -
Page 11: Boot-Up Procedure
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Boot-up Procedure The general boot-up procedure for the TILTIX illustrated below: CANopen and the mapping of various modes are 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 12: Installation
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Installation Accessories Article No Article Description Inclinometer AKS series of Inclinometers Download Datasheet TILTIX AKS Data Sheet, Specifications and Drawings Download User Manual Installation and Configuration User Manual (English) Download EDS-File Electronic Datasheet (EDS) File for Configuration... - Page 13 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Signal 5 pin round connector Pin Assignment CAN Ground VS Supply Voltage 0 V Supply Voltage CAN High CAN Low Page 13 AKS CANopen User Manual Version: 20170215...
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Page 14: Installation Precautions
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Installation Precautions Prior installation, please check Warning: Do not remove or mount connections and mounting instructions to be while the inclinometer is under complied with. Please also observe the general power! rules and regulations on operating low voltage technical devices, for safety and sustainability of... -
Page 15: Bus Termination
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Bus Termination If the inclinometer is connected at the end or electromagnetic compatibility requirements. beginning of the bus or is used at transmission single line structure minimizes reflection. ≥... -
Page 16: Led Definition
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE LED Definition Status LED (Dual colored) Meaning Green / Red LED Green off No power supply Green single flash Device in CAN state STOPPED. Green blinking Boot Up message sent, device configuration is possible Device in CAN state PRE-OPERATIONAL Green on Normal operation mode, Encoder in CAN state... -
Page 17: Measurement Axes
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Measurement Axes TILTIX AKS-090-2 – Dual Axis Inclinometer X- and Y-Axis measure the angle position in space. Both axes are limited to ± 90°. The sensor is mounted horizontally. - Page 18 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE TILTIX AKS-180-E – Pitch and Roll Axis Inclinometer The Pitch axis monitors the position angle in The Pitch and Roll version is very usefull for any space, while the Roll axis shows the rotation with machine where a part of the application is rotating respect to the pitch angle.
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Page 19: Tiltix Software Configuration
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE TILTIX Software Configuration This chapter succeeds the hardware configuration This chapter is divided into two major parts - one as in real time. TILTIX is a very flexible device and describing the methodology for putting the TILTIX hence all the parameters are programmable via into operation and the other for PDO/SDO... -
Page 20: Programmable Parameters
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Programmable Parameters Objects are based on the CiA-DS410 CANopen communication and transmission between profile for inclinometer (www.can-cia.org). The master and slave in a CAN bus. It is quite useful following table gives a list of the command for the analysis of communication logs between identifiers sent and received by the inclinometer. -
Page 21: Frequently Used Commands
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Frequently Used Commands The following list shows the most frequently used in Appendix A. Section 6 offers important objects while programming TILTIX programming tips and FAQ which are necessary inclinometer. -
Page 22: Pdo Transmission
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE PDO Transmission Process Data Objects (PDOs) communicate Note: The PDOs can be directly mapped into process information/data and enable them to be memory locations on the controller and can be exchanged in real time. -
Page 23: Object 1801H: 2Nd Transmit Pdo Communication Parameter
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Step 3: Set Transmission Type (1800Sub2) to "Send PDO on event" (256dec = FEh) Identifier Command Index Subindex Service/Process data NN = 1 Download Byte 4 Byte 5 Byte 6 Byte 7 Step 4: Set all sensors to operational mode... -
Page 24: Transmission Mode
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 7.10 Transmission Mode The transmission mode (Sub index 2) for Objects 1800 and 1801 can be configured as described below: Transmission Mode Transfer Note Value Cyclic Acyclic Synchro- Asynchro- RTR Only... -
Page 25: Object 1A00H: 1St Transmit Pdo Mapping Parameter
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 7.14 Object 1A00h: 1st Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO. Subindex Description Data Type Default Value Access Restore after BootUp 2 –... -
Page 26: Types Of Sdo
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Step 4: Map acceleration x 16 bit value (3403Sub0) to TPDO2 Object 2 Identifier Command Index Subindex Service/Process data NN = 1 Download Byte 4 Byte 5 Byte 6 Byte 7 Step 5: Enable TPDO mapping Parameter again... - Page 27 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE A typical illustration of an SDO for explicitly reading the current baud rate value is given below: Received Message from the Device So, SDOs can be used to explicitly read or write data in TILTIX CANopen inclinometers.
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Page 28: Working With Schneider Plc
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Working with Schneider PLC Types of SDO A single axis inclinometer was connected to a programming in other control systems may vary TWIDO programmable logic controller with a individually. -
Page 29: Software Project Information
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Software Project Information Once the hardware setup is done the TILTIX compatible to the already existing setup and gives should be configured in such a way that it is a proper position output. -
Page 30: Connection Network Setup
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Once the TILTIX EDS file is being uploaded all identifies the PDOs and maps them on to the slave objects – including the PDOs – are added to the device. -
Page 31: Configuration
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Configuration TILTIX Process Data Objects (PDO) Mapping A list of all available objects is pre-programmed in the EDS file. Select the TILTIX inclinometer on the bus and click on Configuration. A list of all the mapped PDOs appears. -
Page 32: Linking Of Canopen Master And Tiltix Transmit-Pdos
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Linking of CANOpen Master and TILTIX Transmit-PDOs Select the CANopen link on the controller. Click on the configuration option. The PDOs of the slave are mapped on to the CANOpen master so that the information contained in the objects of the slave are transmitted and saved on to the controller’s memory... - Page 33 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE The serial communication port is selected and PC transferred controller real time → controller transfer is initiated. Once the transfer application. The following illustrations are the is initiated the configured parameters and the intermediate tasks during debugging.
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Page 34: Run
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Once the controller goes into the online mode, the PDOs cannot be changed. However, SDOs still can be configured if necessary. Once debugged, the controller goes into online mode. -
Page 35: Position Readout
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 9.10 Position Readout Position Value 9.11 Readout Using Animation Table The position Readout is 18416 through the to 0.01°. TILTIX Position Value = 18416 x 0.01° = memory location %MW4... - Page 36 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Illustration of measurement over full range: At initial position (approximately 0°): TILTIX Position Value = 32 * 0.01° = 0.32° At approximately 90°: TILTIX Position Value = 9138 * 0.01° = 91.38° At approximately 180°: TILTIX Position Value = 18052 * 0.01°...
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Page 37: Frequently Asked Question
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 10 Frequently Asked Question What if the inclinometer doesn’t respond after What does unexpected module / Module power on? missing / Wrong Module errors refer to? If the bus is active, then, the installed inclinometer Improper definition of node address or improper is transmitting a false node number. - Page 38 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE What is the significance of boot-up message? ease and flexibility for storing only particular objects. The boot up message signifies that the node is active and can communicate. The node number How to send sync message? can be identified from the boot-up message.
- Page 39 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE needs to transmit a sync message when a Unable to set preset? position value is required. The TILTIX While setting preset there are a few considerations replies with current position value through like resolution and range that have to be taken into the TPDO COB-ID (Default: 0x181 for consideration.
- Page 40 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE What is scaling and inversion? Explain with EFBD example? 10EB Scaling and inversion are functionalities which are F065 included in TILTIX to make the user handle and process the position output according to his need.
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Page 41: Appendix A: Tiltix Canopen Objects
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11 Appendix A: TILTIX CANopen Objects (ro- Read Only, wo- Write Only & rw – Read or Write ) 11.1 Object 1000h: Device Type The object at index 1000h describes the type of additional information about optional functionality device and its functionality. -
Page 42: Object 1005H: Cob-Id Sync
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.4 Object 1005h: COB-ID Sync This object indicates the configured COB-ID of the same COB-ID is received. (Correct setting of synchronization object. In operational mode, transmission type TxPDO(s) implied) sensor sends process data if SYNC message with... -
Page 43: Object 100Dh: Life Time Factor
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.9 Object 100Dh: Life Time Factor This object contains the life time factor parameters. The life time factor multiplied with the guard time gives the life time for the node guarding protocol. Subindex Description Data Type... -
Page 44: Object 1011H: Restore Parameters
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.11 Object 1011h: Restore Parameters This object is used to restore device and CANopen related writeable parameters to default factory settings. Subindex Description Data Type Default Value Access Unsigned 8 Number of sub indices... -
Page 45: Object 1016H: Consumer Heartbeat Time
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.13 Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected to 0 the monitoring is not active. The value of this heartbeat cycle time in ms. The device can only object must be higher than the corresponding time monitor one corresponding device. -
Page 46: Object 2200H: Cyclic Timer
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.16 Object 2200h: Cyclic Timer This object is used to determine the transmission timers of TxPDOs hold different values after power interval during cyclic transmission mode. This off/on cycle, the value of the event timers is copied object is hardwired with the event timers of to the cycle time. -
Page 47: Object 2601H: Preset Y-Axis (80º Version)
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.19 Object 2601h: Preset Y-Axis (80º Version) In TILTIX080 inclinometers, this object sets the Y-axis to a desired value. It is hard-wired with objects 6022 and 6122. Subindex Description Data Type... -
Page 48: Object 3001H: Baud Rate
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Step 2: Save this configuration by writing "save" to 1010Sub01 Identifier DLC Command Index Subindex Service/Process data NN = 1 Download Byte 4 Byte 5 Byte 6 Byte 7 10 10 Step 3: The sensor will adapt the new Node number after a reset! -
Page 49: Object 3002H: Termination Resistor
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Step 2: Save Parameters and execute a reset. The reset is needed to restart the sensor with the configured Baudrate Identifier Command Index Subindex Service/Process data NN = 1 Download Byte 4 Byte 5... -
Page 50: Object 3400H: Gyro X Axis 16
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.24 Object 3400h: Gyro x axis 16 This object provides the calibrated rate of rotation in x axis (pitch). The value is given in degree/second with the resolution of 0.1°/s. This value can be mapped to a PDO. Subindex Description Data Type... -
Page 51: Object 6000H: Resolution
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.30 Object 6000h: Resolution This object shall indicate the resolution of Slope long16 (object 6010h) and Slope lateral16 (object 6020h) objects based on 0.01°. Subindex Description Data Type Default Value Access –... -
Page 52: Object 6011H: Slope Long16 Operating Parameter
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE lateral32, slope lateral32 offset, slope lateral32 offset. 11.32 Object 6011h: Slope Long16 Operating Parameter This object controls the scaling and inversion of the slope long16 values. If bit 0 is set, inversion of slope long16 is enabled. -
Page 53: Object 6012H: Slope Long16 Preset Value
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.33 Object 6012h: Slope Long16 Preset Value This object is used to define a new, desired longitudinal slope value. The values will be set only according to the current resolution, so extreme care should be taken in order to be within the range of the position value limits. -
Page 54: Object 6014H: Differential Slope Long16 Offset
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.35 Object 6014h: Differential Slope Long16 Offset This parameter adds an additional, independent offset to slope long16, but only if scaling of slope long16 is enabled. Please note that the values should be within the range of position attribute according to the resolution already set. -
Page 55: Object 6021H: Slope Lateral16 Operating Parameter
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.37 Object 6021h: Slope Lateral16 Operating Parameter This object controls the scaling and inversion of the slope lateral16 values. If bit 0 is set, inversion of slope lateral16 is enabled. -
Page 56: Object 6022H: Slope Lateral16 Preset Value
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.38 Object 6022h: Slope Lateral16 Preset Value This object is used to define a new, desired lateral slope value. The values will be set only according to the current resolution, so extreme care should be taken in order to be within the range of the position value limits. -
Page 57: Object 6114H: Differential Slope Long32 Offset (Aks360)
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 11.41 Object 6114h: Differential Slope Long32 Offset (AKS360) This parameter adds an additional, independent offset to the slope long32, but only if scaling of slope long32 is enabled. The values will be set only according to the current resolution, so extreme care should be taken in order to be within the range of the position value limits. - Page 58 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Overview of Objects Object No. ID Access Data Type Object Name Device type 1000 Read-only UNSIGNED32 Error Register 1001 Read-only UNSIGNED8 – Predefined Error Field 1003 ARRAY Sub 0: Number of errors 1003.0 Read/write...
- Page 59 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Sub 1: COB-ID 1800.1 Read/write UNSIGNED32 Sub 2: Transmission Type 1800.2 Read/write UNSIGNED8 Sub 3: Inhibit Time 1800.3 Read/write UNSIGNED16 Sub 5: Event Timer 1800.5 Read/write UNSIGNED16 –...
- Page 60 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Slope lateral16 (only 90° version) 6020 Read-only INTEGER16 Slope lateral16 operating parameter 6021 Read/write UNSIGNED8 (only 90° version) Slope lateral16 preset value (only 90° 6022 Read/write INTEGER16 version) Slope lateral16 offset (only 90°...
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Page 61: Appendix C: Output Graphs
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 12 Appendix C: Output Graphs 12.1 TILTIX 360: CANopen Output Values AKS-360-1-CA01-Vxx-xx Page 61 AKS CANopen User Manual Version: 20170215... -
Page 62: Titix 090 : Canopen Output Values
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 12.2 TITIX 090 : CANopen Output Values AKS-090-2-CA01-Hxx-xx AKS-090-2 - X axis Output Values (Factory Setting Resolution = 0,01) 10000 8000 6000 4000 2000 -180 -160 -140 -120 -100 -80 -60 -40 -20 20 40 60 80 100 120 140 160 180 -2000 -4000... - Page 63 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 12.3 TITIX 180 : CANopen Output Values AKS-180-E-CA01-Hxx-xx AKS-180-E - X axis Output Values (Factory Setting Resolution = 0,01) 10000 8000 6000 4000 2000 -180 -160 -140 -120 -100 -80 -60 -40 -20 80 100 120 140 160 180 -2000 -4000...
- Page 64 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 13 Appendix D: Output Graphs with Preset and Offset 13.1 AKS with programmed offset of 20° and effect on X/Y/Pitch axis output AKS - X/Y/Pitch axis Output Values (Factory Setting Resolution = 0,01) 12000 10000 8000...
- Page 65 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 13.2 AKS with programmed offset of 20° and effect on Roll axis output Explanation: The position limits stay +/- 180°. This results that the jump from 180° to -180° will be shifted according to the programmed preset, as seen on the graph.
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Page 66: Glossary
TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE 14 Glossary (For more detailed information refer to CiA’s CAN Dictionary) 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. - Page 67 TILT IX ME MS AKS INCL INO METER W ITH CANOPEN INTERFA CE Determines the type of message sent via the CAN network. Function Code Heartbeat CANopen and DeviceNet use the heartbeat message to indicate that a node is still alive.
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Page 68: Contact
T +49 221 96213-0 info@posital.eu FRABA Asia T +65 6514 8880 info@posital.sg © FRABA B.V. all rights reserved. We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to change without notice. Page 68 AKS CANopen User Manual Version: 20170215...
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