DIS Sensors QG65D User Manual
Canopen dynamic inclinometer
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Summary of Contents for DIS Sensors QG65D
- Page 1 USER MANUAL QG65D CANopen Dynamic Inclinometer (Type H) V1.0, 2020/12/7...
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Page 2: Table Of Contents
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Contents Safety information ............................3 1.1. Intended use ............................3 1.2. Incorrect use ............................3 1.3. Sensor defective ............................. 3 About this manual ............................4 2.1. Intended use ............................4 2.2. - Page 3 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.1.6. Object 1010 Store parameters ....................29 8.1.7. Object 1011 Restore factory default parameters ..............29 8.1.8. Object 1014 COB-ID EMCY ......................30 8.1.9. Object 1020 verify configuration ....................30 8.1.10.
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Page 4: Safety Information
1. Safety information 1.1. Intended use The QG65D CANopen Dynamic Inclinometer is a MEMS-based inclination sensor with CANopen interface. This device provides precise and reliable inclination measurement in both static and dynamic conditions. The use of this device in a machine or system is permitted only under the following conditions: •... -
Page 5: About This Manual
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 2. About this manual 2.1. Intended use This manual applies solely to the QG65D CANopen dynamic inclinometer (Type H) with the following model designations: • QG65D-KIXv-360H-CAN-C(F)M-UL —— 1 axis, measuring range ± 180°, vertical mounting •... -
Page 6: Quick Reference
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 3. Quick reference General • 1-axis ± 180° and 2-axes ± 30°/± 90° dynamic inclinometer • Output type: CANopen • Inclination, acceleration, gyroscope outputs defined by Function modes ( → object 3007 •... -
Page 7: Installation Guide
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 4. Installation guide 4.1. Mechanical drawing Figure 1 - Mechanical drawing of QG65D with a male M12. 4.2. Mounting • Use the 4 screws provided (M5x25 mm zinc plated steel Pozidrive pan head screws with self-tapping PZ DIN7500CZ) to mount the device. -
Page 8: Connection
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 4.3. Connection The sensor is equipped with either a single 5-pole M12 (A-coded) male connector according to IEC 61076-2-101, or with an additional 5-pole M12 (A-coded) female connector. This is specified in the suffix of the device model designation: suffix CM indicates single male connector;... -
Page 9: Can Termination
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 4.4. CAN termination A CAN bus should be terminated properly to prevent signal reflections. The QG65D CANopen dynamic Inclinometer has an internal 120 Ohm termination resistor. By default, this is disabled, but it... -
Page 10: Functional Description
The QG65D dynamic inclinometer combines accelerometer MEMS and gyro MEMS. This device is unaffected by vibration or movement, and can therefore measure the true angle at the sensor position in real time. -
Page 11: Measuring Axis And Direction
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 6.2. Measuring axis and direction 6.2.1. Measuring axis and direction for Inclination measures the inclination in the vertical plane over A single-axis inclinometer (vertical mount) the full range 0-360° (X-output). The default 0° position and the measuring direction are shown in Figure 9 - Measuring axis and direction of 1-axis inclination. -
Page 12: Measuring Axis And Direction For Acceleration
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 6.2.2. Measuring axis and direction for acceleration In acceleration mode (→6.4 Function mode), the device measures the acceleration values on all 3 axes. The measuring direction of three axes in the factory default setting is shown in Figure 11. -
Page 13: Signal Processing
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 6.3. Signal processing MEMS Sampling Fusion Algorithm Digital Filters •Output filter •6 DOF raw outputs •Function mode •Moving average filter •Sampling rate 1000Hz •Application profiles •User adjustable parameters •Calculation rate 100Hz •Max. - Page 14 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Moving average filter The final inclination output is an average of the last N samples. The sampling rate of this filter is 10 ms. The various application profiles have different default filter settings. This filter can be...
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Page 15: Function Mode
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 6.4. Function mode The QG65D can measure inclination, acceleration and rotation. By selecting the function mode via object 3007 , the sensor is configured to function as an inclinometer, accelerometer, gyroscope or a fusion sensor. -
Page 16: Application Profiles
The user adjustable parameters can be fine-tuned for the existing application profiles via CAN object 3021 ~ 3024 , while objects 3025 ~ 3027 are reserved for future profiles. These parameters are also easily adjusted in the configuration panel of the QG65D configurator (Figure 13). DIS SENSORS BV... -
Page 17: Output Format
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Figure 13 - Application profile in configuration panel 6.6. Output format Inclination output format: CAN output = 100*α. (α = angle in °, factory default resolution is 0.01°). CAN outputs are sent with PDOs (→7.3 PDO (Reading sensor output). -
Page 18: Boot-Up Procedure
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Byte3 Byte2 Byte1 Byte0 Inclination output: 2382 = 9090 = 90.9° Device temperature: 001A = 26 °C Table 7 - Customised TPDO message 6.7. Boot-up procedure When the device is powered on, it automatically enters NMT Initialisation state. In this state, the device will be initialised with the default parameters of the manufacturer-specific profile area and of the standardized device profile area. -
Page 19: Lss (Layer Setting Service, According To Cia305-Dsp)
CANopen device via the CAN network. It is supported only in NMT stop mode or pre-operational mode. The QG65D device is serviced as a CAN device, and a CAN master such as a PLC can detect and configure those three parameters with LSS: •... -
Page 20: Load Factory Default Settings
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 It can also be requested with object 100A Manufacturer software version. The message format is “Vx.x.x” in ASCII, for example: V1.0.0. The currently-installed firmware version might vary from the version on the sticker due to a firmware update. -
Page 21: Zero Adjustment
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Life Time factor 100D COB-ID EMCY 00000081 1014 Emergency Inhibit Time 1015 Producer heartbeat time 2000 – 2000 ms 1017 Error behaviour - Switch to pre-operational 1029 NMT Start-up behaviour 00000000 –... -
Page 22: Eds & Dcf
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 offset will be stored in Object 6013 , 6023 Offset inclination value. Those parameters must be saved to the device (→ 8.1.6 Object 1010 Store parameters.) 1-axis ±180° sensors can be zero adjusted over the full range, the position of the male connector is at customer discretion. -
Page 23: Canopen Specification
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 7. CANopen specification The QG65D series of devices communicates with the CANopen interface according to CiA 301. The device profile CiA 410 is implemented. All parameters and measured values can be accessed by the Object dictionary. -
Page 24: Pdo (Reading Sensor Output)
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 CiA has pre-defined CAN-IDs for common CAN objects as below: CAN objects CAN-ID SYNC Emergency + Node ID TPDO1 + Node ID TPDO2 + Node ID SDO tx (server -> client) + Node ID SDO rx (client ->... -
Page 25: Nmt State
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 7.5. NMT state CANopen devices are initialized, started, monitored, reset or stopped using NMT services. The NMT state of the device can be set by applications such as PLC software. Table 14 shows the communication objects that exist in each NMT state. -
Page 26: Can Object Dictionary Overview
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8. CAN Object dictionary overview 8.1. Communication profile (Index 1000h - 1FFFh) Index Subinde Data Access Object Name and description Factory Default Detail Type 1000 Device type 0101019A – 1-axis inclination... - Page 27 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Index Subinde Data Access Object Name and description Factory Default Detail Type – does not change state – switches to stopped … FF – reserved 1800 TPDO1 communication parameter 8.1.11...
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Page 28: Error Register
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.1.1. Object 1001 Error register This object indicates the type of a detected error. This is a part of the EMCY message (→6.8 Emergency message). Error type Example Generic error... -
Page 29: Object 1003 Predefined Error Field
Writing 00h to subindex 00h will delete the entire error history. 8.1.4. Object 1005h COB-ID SYNC message The structure of the COB-ID of SYNC object is specified as below: QG65D series devices are configured with a default COB-ID of 00000080h, which means: • 11-bit CAN-ID is valid by default •... -
Page 30: Store Parameters
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.1.6. Object 1010 Store parameters Use this object to save the customised settings such as Node ID, baud rate, etc. to the internal EEPROM. User can store parameters in both NMT operational and pre-operational state. -
Page 31: Object 1014 Cob-Id Emcy
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.1.8. Object 1014 COB-ID EMCY This object configures the COB-ID for the EMCY write service. The factory default COB-ID of EMCY is 00000081 , which indicates: • EMCY exists •... -
Page 32: Object 1800 H , 1801 H Tpdo Communication Parameter
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.1.11. Object 1800 , 1801 TPDO communication parameter The QG65D series device supports 2 TPDOs: object 1800h configures the communication parameters of TPDO1; object 1801h configures those of TPDO2. Subindex Description... -
Page 33: Nmt Start-Up Behaviour
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 TPDO mapping procedure The following procedure must be used for re-mapping, which may take place during either of the NMT states Pre-operational and Operational. Disable Enable Disable Modify Enable TPDO... -
Page 34: Manufacturer-Specific Profile (2000H - 5Fffh)
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.2. Manufacturer-specific profile (2000 - 5FFF Index Subindex Data Access Object name and description Factory default Detail type 3000 Node ID (Range: 01 - 7F 3001 Baud Rate = 1000 kBit/s... - Page 35 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Index Subindex Data Access Object name and description Factory default Detail type - 05 Reserved Output filter 8.2.7 Moving average filter TPDO1 8.2.8 Moving average filter TPDO2 3022 Parameters for Application Profile 1...
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Page 36: Object 3004 Application Profile
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.2.1. Object 3004 Application profile Use object index 3004 subindex 00 to select an application profile (→ 6.5 Application profiles). Configure user-adjustable parameters via objects 3021 ~ 3027 Value Profile Profile 0 –... -
Page 37: Manufacturer Status Register Mapping
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Temperature under operational Limit (e.g. T < -40°C, specified in the datasheet.) Temperature over operational Limit (e.g. T > +85°C, specified in the datasheet.) Actual power error (e.g. Supply voltage too low) -
Page 38: Output Filter
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Moving average filter TPDO1 ~ 10 Moving average filter TPDO2 ~ 10 Table 31 – Parameters for application profile 8.2.7. Subindex 06 Output filter Use subindex 06 of objects 3021 –... -
Page 39: Standardized Device Profile (6000H - 9Fffh) (Cia410)
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.3. Standardized device profile (6000h – 9FFFh) (CiA410) Index Subin Type Access Object name and description Factory default Detail 6000 Resolution =0.001, 10 =0.01, 100 =0.1, 1000 =1.0 6010 Inclination X-axis (longitudinal) Output X-axis. -
Page 40: 6021 Operating Parameter
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.3.1. Object 6011 6021 Operating parameter Use the operating parameter to set the +/- direction of measurement, and whether the pre-set value should be calculated (scaling). Index Subindex Value 6011... -
Page 41: Object 6401 Sensor Outputs
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 8.3.4. Object 6401 Sensor outputs Various types of outputs are stored in object 6401 . These values can be mapped into TPDOs (→8.1.12 Object 1A00 , 1A01 TPDO Mapping parameter). -
Page 42: Configuration Tool
The QG65D CANopen dynamic Inclinometer can be easily configured using the configuration tool developed by DIS Sensors. The tool also displays live data from the sensor. The configuration tool consists of a configuration kit and PC software. The configuration kit can be ordered separately, and the software can be downloaded from our website. - Page 43 The configuration tool can be loaned on request free of charge for pilot testing. The QG65D configuration kit may be used in an ambient temperature range of +10 °C to +50 °C without power adapter, or 0 °C to +40 °C with power adaptor.
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Page 44: Pc Software
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 9.2. PC software The PC software and a detailed manual can be download from the DIS website free of charge. The software provides a portal for both sensor configuration and live data monitoring. The description in this chapter is based on the first released version. - Page 45 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Figure 24 - Overview of changes Figure 25 - Saving the changes • General configuration, Error behaviour, TPDO parameters and parameters for inclination output can easily be configured here. Figure 26 - General configuration...
- Page 46 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Figure 27 - Error behaviour Flexible configuration for the measuring axis, and output type (inclination/acceleration/gyroscope) Figure 28 - TPDO mapping parameters in configuration panel The PC software supports all TPDO mapping options, including 0-360° output. This output can therefore be used by a pilot customer, as 0-360°...
- Page 47 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Sensor can be zero adjusted by a simple click! “Application Profiles” can be selected. Parameters for each application profile can be adjusted. “User adjustable parameters” can be fine- tuned. Parameters for each application profile can be adjusted.
- Page 48 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Figure 31 - Firmware update DIS SENSORS BV...
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Page 49: Abbreviations And Definitions
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V1.0 Abbreviations and definitions Controller area network CAN-ID CAN identifier Communication object COB-ID COB identifier Cyclic redundancy check CAN in Automation Degrees of freedom Electronic data sheet EMCY Emergency GYRO Gyroscope...
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