Siko IKM360R User Manual
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Siko IKM360R User Manual

Redundant 2-axis inclinometer
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IKM360R
Redundant 2-axis inclinometer with CANopen
Safety- interface
User manual
222/20

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Summary of Contents for Siko IKM360R

  • Page 1 IKM360R Redundant 2-axis inclinometer with CANopen Safety- interface User manual 222/20...

  • Page 2: Table Of Contents

    SYNC object ......................12 Process data exchange .................... 12 5.3.1 Transfer of process data objects (PDO) ..............12 5.3.1.1 Transmit-PDO (from the IKM360R to the master) ..........13 Parameter data exchange ..................13 5.4.1 Transmission of Service Data Objects (SDO) ............. 13 5.4.1.1 Expedited Request/Response ................
  • Page 3 5.8.2.25 6000h: Resolution ................... 53 5.8.2.26 6010h: Slope long16 ..................53 5.8.2.27 6011h: Slope long16 operating parameter ............54 5.8.2.28 6012h: Slope long16 Preset value (calibration value longitudinal slope) ....54 IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20...
  • Page 4 5.8.2.40 6221h: Safety inverted slope lateral16 (Safety inverted lateral slope value) ..... 60 5.8.2.41 63FEh: Safety application configuration .............. 61 5.8.2.42 63FFh: Safety application configuration signature (checksum) ....... 61 5.8.2.43 6511h: Device temperature ................62 IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20...

  • Page 5: General Information

    "h" (e. g. 280h). Intended use The IKM360R 2-axis is designed for redundant slope detection in two dimensions. The inclinometer can be parameterized and read out via the CAN interface using the CANopen protocol and CANopen Safety protocol. The sensor can be used for applications up to Performance Level D (PLd) in the overall system.

  • Page 6: Switching On The Supply Voltage

    SDO commands in accordance with the requirements of the application. This concerns both the configuration parameters of the sensor system and the way in which it makes its slope values available to the system (asynchronous or synchronous data transmission). IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20...

  • Page 7: Device Identification

    Table 1: CAN LED statuses acc. to CiA 303 CAN Run LED: NMT state LED status Pre-Operational Flashing Operational Stopped Single Flash Table 2: CAN Run LED IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 7 of 63...

  • Page 8: Functional Description

    1011h: "load" Sub-index 2 Only bus parameters Restore Parameter) Sub-index 3 Only CiA 410 parameters Sub-index 4 Only manufacturer-specific parameters Table 5: Access to factory settings IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 8 of 63...

  • Page 9: Communication Via Can Bus (Canopen And Canopen Safety)

    Communication via CAN bus (CANopen and CANopen Safety) Communication via CAN bus (CANopen and CANopen Safety) The basis for the inclinometer IKM360R is the CANopen communication profile CiA 301 V4.2, the device profile for inclinometer CiA 410 V2.0.0. The CANopen Safety protocol EN50325-5 is additionally implemented for safety-relevant applications.

  • Page 10: Node Control

    The adoption of a Node ID or baud rate which was reset occurs only after re-initialization (see chapter 5.2.1). In the case of the inclinometer IKM360R, an inclinometer with node ID 1 (1h) and the redundant inclinometer with node ID 2 (2h) are delivered ex works.

  • Page 11: Nmt Communication States

    The exchange of process data is enabled as well. However, COB ID and Transmit PDO Mapping parameters can no longer be changed in this status. NMT Status STOPPED Communication is stopped except for heartbeat and node guarding Only NMT communication is enabled. IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 11 of 63...

  • Page 12: Toggling Between The Nmt Communication States

    Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of user data can be transferred in a PDO. The IKM360R supports the Transmit PDO services TPDO1 and TPDO2 according to CiA 301 and CiA 410.

  • Page 13: Transmit-Pdo (From The Ikm360R To The Master)

    Communication via CAN bus (CANopen and CANopen Safety) 5.3.1.1 Transmit-PDO (from the IKM360R to the master) PDO transfer from the IKM360R to the bus master can be initiated as a result of various events:  asynchronous, controlled by an internal device timer ...

  • Page 14: Expedited Request/Response

    User data (parameter) Node ID byte Command byte, byte 0: The command byte determines the type of access and the number of valid data bytes. The following command bytes are valid for the IKM360R: Command byte Type Function Write Request...

  • Page 15: Normal Request/Response

    Request/Response. This procedure is also initiated by an initialization message, and the actual user data will be transferred in the subsequent segment messages. For the IKM360R this is only the case with reading of the objects 1008h: Manufacturer Device Name 100Ah: Manufacturer Software Version.

  • Page 16: Error Response In Sdo Exchange

    The calibration value stored in object 1017h of the directory of objects is to be read from the slave with device address 3h. Calculation of the identifier: 600h + Node ID = 600h +1h = 601h IKM360R Date: 21.01.2021 Art. No. 90446 Mod.
  • Page 17 Data 581h Example of reading SDO parameters with normal Request/Response: The manufacturer device name stored in object 1008h of the directory of objects is to be read from the IKM360R with device address 1h. IKM360R Date: 21.01.2021 Art. No. 90446 Mod.

  • Page 18: Safety Data Exchange

    NMT state. An SRDO consists always of 2 messages with different COB IDs and bit-by-bit inverted data. A maximum of 8 bytes of user data can be transferred in an SRDO. The IKM360R supports the Safety Transmit services SRDO1 for the Slope long16 (2 bytes) according to EN50325-5 and CiA 410.

  • Page 19: Transmission Of Service Data Objects (Sdo) Of The Safety Parameters

    In the following example the checksum CRC-16-CCITT (polynomial 1021h) for SRDO1 should be calculated. The checksum is calculated byte by byte and the low byte by the contents of the two objects 1301h and 1381h. IKM360R Date: 21.01.2021 Art. No. 90446 Mod.

  • Page 20: Example Of Change Of A Configuration

    SRDO1. Changing the direction of information: COB ID User data Command Index L Index Sub-index Data 0 Data 1 Data 2 Data 3 600h + Node ID IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 20 of 63...

  • Page 21: Node Monitoring

    0000h Device power supply error Vin 3100h Internal device power supply error Vcc, Vref 3200h Device temperature error 4200h Device hardware error 5000h Device software error 6100h IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 21 of 63...

  • Page 22: Node Guarding

    The master assumes that a node error has occurred if status or toggle bits do not correspond with those expected by the master or if there is no response. IKM360R Date: 21.01.2021 Art. No. 90446 Mod.

  • Page 23: Heartbeat

    The master monitors the state of the slave device via Heartbeat protocol. While doing this, the device sends independently its NMT status cyclically. The IKM360R is a heartbeat producer, it does not receive nor process heartbeat protocols itself. The cycle time of the heartbeat message is set via object 1017h.

  • Page 24: Layer Setting Service (Lss)

    LSS Configure bit timing parameters Configure Node ID Store configuration Request LSS address Request Node ID Table 16: State behavior of the supported LSS services IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 24 of 63...

  • Page 25: State Change

    7E5h Revision number COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h Serial number IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 25 of 63...

  • Page 26: Configuration

    01h: no valid Node ID FFh: Implementation error see Spec error Spec error: This byte is nonzero only in case of an implementation error and Error Code FFh. IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 26 of 63...

  • Page 27: Configuration Of The Baud Rate (Configure Bit Timing Parameters)

    Byte 5 Byte 6 Byte 7 Command 7E4h Error Spec code error Error Code: 00h: Transmission successful 01h: no valid baud rate FFh: Implementation error see Spec error IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 27 of 63...

  • Page 28: Activate Baud Rate (Activate Bit Timing Parameters)

    7E4h Error Spec code error Error Code: 00h: Transmission successful 01h: Store configuration is not supported 02h: Error occurred during storing FFh: Implementation error see Spec error IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 28 of 63...

  • Page 29: Requesting Parameters

    COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Product code (see object 1018.2h) IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 29 of 63...

  • Page 30: Request Revision Number

    Slave  Master COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Node ID (NID) IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 30 of 63...

  • Page 31: Directory Of Objects

    TPDO1. 2000h: Digital filter cut-off Defines the set filter time. frequency 5F0Ah: Node ID and baud rate Setting of Node ID and baud rate. Bus CAN IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 31 of 63...
  • Page 32 Safety slope (checksum) long16 and Safety slope lateral16. 6511h: Device temperature Indicates the device temperature. Table 17: Overview of objects IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 32 of 63...

  • Page 33: Object Description

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content Meaning set bit indicates the occurrence of any error condition 1 … 6 not used IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 33 of 63...

  • Page 34: 1002H: Manufacturer Status Register

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index 01h … 08h Description error messages that occurred Access PDO mapping Data type UNSIGNED 32 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 34 of 63...

  • Page 35: 1005H: Cob Id Sync Message

    Visible_String EEPROM Data content Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 ("I") ("K") ("M") ("3") ("6") ("0") ("R") IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 35 of 63...

  • Page 36: 1009H: Manufacturer Hardware Version

    The cycle time is indicated in milliseconds Value "0h" means that Node Guarding is deactivated. Sub-index Description Guard Time Access PDO mapping Data type UNSIGNED 16 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 36 of 63...

  • Page 37: 100Dh: Life Time Factor

    76h ("v") 65h ("e") Read: Bit 31 … 2 0: reserved Bit 1 0: Device does not independently store parameters Bit 0 1: Device stores parameters after command IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 37 of 63...
  • Page 38 76h ("v") 65h ("e") Read: Bit 31 … 2 0: reserved Bit 1 0: Device does not independently store parameters Bit 0 1: Device stores parameters after command IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 38 of 63...

  • Page 39: 1011H: Restore Parameter

    Byte 2 Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0: reserved Bit 0 1: Device permits loading of default parameters. IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 39 of 63...
  • Page 40 Byte 2 Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0: reserved Bit 0 1: Device permits loading of default parameters. IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 40 of 63...

  • Page 41: 1014H: Cob Id Emergency Message

    0: if bit 29 = 0b X: Bits 28 … 11 of the EMCY-COB ID, if Bit 29 = 1b Bit 10 … 0 X: Bits 10 … 0 of the EMCY-COB ID IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20...

  • Page 42: 1017H: Producer Heartbeat Time

    Access const PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description the manufacturer identification number (vendor ID) for the company SIKO GmbH allocated by the CiA Access PDO mapping Data type UNSIGNED 32 Default 00000195h EEPROM Sub-index...

  • Page 43: 1200H: Server Sdo Parameter

    Data type UNSIGNED 8 Default EEPROM Sub-index Description COB ID Client -> Server (rx) Access PDO mapping Data type UNSIGNED 32 Default 00000600h + Node ID EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 43 of 63...

  • Page 44: 1301H: Srdo1 Communication Parameters

    NMT state is operational rw, if NMT state is pre-operational PDO mapping Data type UNSIGNED 16 Default 25d (0019h) EEPROM Data content 10d … 65535d (000Ah … FFFFh) IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 44 of 63...
  • Page 45 NMT state is pre-operational PDO mapping Data type UNSIGNED 32 Default 00000100h + 2*Node ID EEPROM Data content 258d (102h) … 384d (180h) (even numerical values only) IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 45 of 63...

  • Page 46: 1381H: Srdo1 Mapping Parameter

    SRDO1 message with the COB ID1 (data byte 1) Access PDO mapping Data type UNSIGNED 32 Default 62100208h (Safety Slope long16 object 6210h, sub-index 02h, 8bit) EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 46 of 63...
  • Page 47 SRDO1 message with the COB ID1 (data byte 1) Access PDO mapping Data type UNSIGNED 32 Default 62200208h (Safety Slope lateral16 object 6210h, sub-index 02h, 8bit) EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 47 of 63...

  • Page 48: 13Feh: Safety Configuration

    Any change to the configuration will be valid only after passing. Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 48 of 63...
  • Page 49 62210108h lateral16 1 byte Sub-index 1 byte Safety Slope lateral16 2 byte 4 byte 62200208h Sub-index 1 byte Inverted Safety Slope 4 byte 62210208h lateral16 2 byte IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 49 of 63...

  • Page 50: 1800H: 1 Transmit Pdo Parameter

    FFh (255d) depending on the "Event Timer"). Sub-index 03h (is not used, access attempt generates error message g) Sub-index 04h (is not used, access attempt generates error message) IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 50 of 63...

  • Page 51: 1A00H: 1 St Transmit Pdo Mapping Parameter

    Object of the PDO1 message (Data byte 0 to 3) Access PDO mapping Data type UNSIGNED 32 Default 60200010h (Slope lateral16 object 6020h, sub-index 00h, 16bit) EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 51 of 63...

  • Page 52: 2000H: Digital Filter Cut-Off Frequency

    Data type UNSIGNED 8 Default EEPROM Sub-index Description Node ID Access PDO mapping Data type UNSIGNED 8 Default 1h (redundant inclinometer 2h) EEPROM Data content 01h … 7Fh IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 52 of 63...

  • Page 53: 6000H: Resolution

    6010h: Slope long16 Object 6010h indicates the current slope long16 value (longitudinal slope/x-axis). Sub-index Description slope long16 Wert (longitudinal slope/x-axis) Access PDO mapping Data type INTEGER 16 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 53 of 63...

  • Page 54: 6011H: Slope Long16 Operating Parameter

    6013h and is dependent on object 6014h. Sub-index Description Calibration value for longitudinal slope Access PDO mapping Data type INTEGER 16 Default EEPROM Data content 0h … FFFFh IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 54 of 63...

  • Page 55: 6013H: Slope Long16 Offset

    6020h: Slope lateral16 Object 6020h indicates the current slope lateral16 value (lateral slope/y-axis). Sub-index Description slope lateral16 Wert (lateral slope/y-axis) Access PDO mapping Data type INTEGER 16 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 55 of 63...

  • Page 56: 6021H: Slope Lateral16 Operating Parameter

    6023h and is dependent on object 6024h. Sub-index Description Calibration value for lateral slope Access PDO mapping Data type INTEGER 16 Default EEPROM Data content 0h … FFFFh IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 56 of 63...

  • Page 57: 6023H: Slope Lateral16 Offset

    Safety slope long16 preset value and Safety slope lateral16 preset value must be specified in ° with the preset resolution of object 6000h. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 57 of 63...

  • Page 58: 6210H: Safety Slope Long16 (Safety Longitudinal Slope Value)

    Access const PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety slope long16 1 byte Access PDO mapping Data type INTEGER 8 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 58 of 63...

  • Page 59: 6211H: Safety Inverted Slope Long16 (Safety Inverted Longitudinal Slope Value)

    Byte Access PDO mapping Data type INTEGER 8 Default EEPROM Sub-index Description Safety inverted slope long16 2 Byte Access PDO mapping Data type INTEGER 8 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 59 of 63...

  • Page 60: 6220H: Safety Slope Lateral16 (Safety Lateral Slope Value)

    The Safety inverted Slope lateral16 (Safety inverted lateral slope value) can be read byte by byte via object 6221h. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 60 of 63...

  • Page 61: 63Feh: Safety Application Configuration

    Safety slope long16 and Safety slope lateral16. Only a checksum valid at the time can be transferred. Before the configuration is set to valid, the checksum is checked again. Only then does a change in the configuration become valid. IKM360R Date: 21.01.2021 Art. No. 90446 Mod.

  • Page 62: 6511H: Device Temperature

    6511h: Device temperature The current device temperature can be read in object 6511h. Sub-index Description Device temperature in 1° increments. Access PDO mapping Data type INTEGER 16 Default EEPROM IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 62 of 63...
  • Page 63 SIKO GmbH Weihermattenweg 2 79256 Buchenbach Phone + 49 7661 394-0 + 49 7661 394-388 E-Mail info@siko-global.com Internet www.siko-global.com Service support@siko-global.com IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 63 of 63...

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