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Related Manuals for DIS Sensors QG65N2 Series
Summary of Contents for DIS Sensors QG65N2 Series
- Page 1 USER MANUAL QG65N2 CANopen Inclinometer (Type I) V2.0, Jul-21...
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Page 2: Table Of Contents
Object 1001 Error register ......................27 8.2.2. Object 1002 Manufacturer status register ................. 27 8.2.3. Object 1003 Predefined error field .................... 28 8.2.4. Object 1005h COB-ID SYNC message ................... 28 8.2.5. Object 1006h Communication cycle period ................29 DIS SENSORS BV... - Page 3 8.4.5. Object 6401 Sensor outputs ....................... 40 8.5. Data type .............................. 40 Configuration tool ............................41 9.1. Configuration kit ........................... 41 9.2. PC software ............................43 10. Abbreviations and definitions ........................48 11. Normative references ........................... 48 DIS SENSORS BV...
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Page 4: Safety Information
An emergency message with sensor error information is detected. (→ 6.7 Emergency message) • In the event of uncertainty, contact the distributor or manufacturer. Any unauthorised modification or unapproved use will void both the warranty and any liability on the part of the manufacturer. DIS SENSORS BV... -
Page 5: About This Manual
Caution that indicates either potential damage to the sensor or explains how to avoid a problem. Important information. → Cross-reference 2.3. Copyright © Copyright 2021 DIS Sensors bv. This manual is subject to change without notice. All rights according to the copyright remain explicitly reserved for DIS Sensors bv. DIS SENSORS BV... -
Page 6: Document Revision Control
Document revision control is put to the end of chapter2 due to the page length. Correct format 1003h in table communication profile. Improved description of data processing. Correct command SYNC. Added high accuracy model name. Table 1 - Document revision DIS SENSORS BV... -
Page 7: Quick Reference
• Pre-set inclination setting available via CAN Object Dictionary (→ objects 6012 and 6022 • Bootup in NMT Operational state (→object 1F80 • Negative values: two’s complement • Byte-sequence on CAN bus: little-endian (least significant byte first) DIS SENSORS BV... -
Page 8: Installation Guide
A 2-axis inclinometer must be mounted horizontally. The factory default zero position is shown in . After installation, sensor can be zero adjusted to eliminate the Figure 2 mechanical offsets within a ±5° offset range. Figure 3 - Vertical mounting 1-axis inclination Figure 2 - Horizontal mounting 2-axes inclination DIS SENSORS BV... -
Page 9: Connection
Installation of wiring and the opening and closing of electrical connections must only be carried out in de-energized state! Short-circuits, voltage spikes, etc. can cause malfunctions and/or cause the installation to become uncontrolled, creating a serious risk of injury or damage to property. DIS SENSORS BV... -
Page 10: Can Termination
The advantage of using a separate termination plug instead of the internal termination resistor is that an external termination plug is clearly visible. This helps to prevent an inadvertent double termination that could cause the entire CAN bus to malfunction. 5. Technical data Please refer to the datasheet of your product. DIS SENSORS BV... -
Page 11: Functional Description
A single-axis inclinometer (vertical mount) measures the inclination in the vertical plane over the full range 0-360° (X-output). The default 0° position and the measuring direction are shown in Figure 8. Figure 8 - Measuring axis and direction of 1-axis inclination. DIS SENSORS BV... -
Page 12: Measuring Axis And Direction For Acceleration
(→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. Figure 10 – Measuring axis and direction of acceleration. DIS SENSORS BV... -
Page 13: Signal Processing
This filter is useful for slow-moving applications with a lower bandwidth than 10Hz. By setting a time-constant τ object 300E , the cut-off τ time in which the output changes to 70% of the step after a step response DIS SENSORS BV... - Page 14 N x 10ms samples and is totally independent of the TPDO event time. Example: TPDO event timer = 50 ms, N = 7: every 50 ms, a new average inclination value from the previous 70 ms samples will be supplied in the TPDO message. DIS SENSORS BV...
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Page 15: Function Mode
QG65N CAN firmware v6) TPDO2: disabled, 6401 - 01 6401 – 02 6401 – 03 Mode FF User defined mode TPDO1: user defined TPDO2: user defined (Output defined by user) Table 2 – Sensor output configuration in different function modes. DIS SENSORS BV... -
Page 16: Output Format
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. When initialisation is complete, a bootup message 00 will be DIS SENSORS BV... -
Page 17: Emergency Message
00 00 00 00 01 81 80 00 Cross-tilt error on X axis h — When all errors are corrected, the device enters the error-free state and transmits an emergency object with the error code ‘reset error / no error’ containing all 0 s. DIS SENSORS BV... -
Page 18: Lss (Layer Setting Service, According To Cia305-Dsp)
After changing parameters using LSS, a save action must be performed. Normally your LSS tool can be configured to perform an automatic save (store), as shown below: Figure 14 - LSS save action 6.9. Firmware management The factory-installed firmware version is stated on the device label. Figure 15 - Firmware version DIS SENSORS BV... - Page 19 The user can upload the new firmware to the device by simply clicking a button (Figure 16). Figure 16 - Firmware update via configurator The firmware release notes are available at www.dis-sensors.com under “downloads/user manuals”. DIS SENSORS BV...
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Page 20: Load Factory Default Settings
– DIS default measuring direction Pre-set enabled Pre-set inclination value 6012 , 6022 (Zero value) Offset inclination value 6013 6023 Zero offset by calibration at factory. (Zero offset) Various per sensor Table 8 – DIS standard factory default application parameters. DIS SENSORS BV... -
Page 21: Zero Adjustment
EDS file. The DCF file is in fact an emulation of the EDS file. After loading the DCF file into the device, the settings can be stored permanently into the EEPROM. (→ 8.1.6 Object 1010 Store parameters) The EDS files are available at www.dis-sensors.com under “downloads”. DIS SENSORS BV... -
Page 22: Mappable Objects
Temperature [0.1 °C] Reserved scale 0°-360° X inclination [0.01°] scale 0°-360° Y inclination [0.01°] Device Temperature [1 Sensor Outputs Highest subindex supported X acceleration [mg] Y acceleration [mg] 6511 Device Temperature [1 Table 9 - Mappable objects DIS SENSORS BV... -
Page 23: Canopen Specification
User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0 7. CANopen specification The QG65N2 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)
= Expedited Write, 1 Byte SDO abort transfer Indicates error = Error/Abort code Table 12 - Expedited SDO transfer command specifier Common SDOs to configure sensors and SDO abort codes can be found in the knowledge base. DIS SENSORS BV... -
Page 25: Nmt State
Parameters that are common for inclinometers. Other Reserved for factory use Do not use Table 14 – Structure of object dictionary All parameters in the object dictionary can be accessed with SDOs. See also 8. CAN Object dictionary overview. DIS SENSORS BV... -
Page 26: Can Object Dictionary Overview
1006 00000000 – No SYNC transmission 8.1.5 1008 VSTR const Manufacturer device name DIS Sensors QGxxN2 CANopen (High acc.) DIS Sensors QGxxN2 CANopen (Std acc.) 1009 VSTR const Manufacturer hardware version Depends on sensor. e.g. “V8.0” const Manufacturer software version... - Page 27 To permanently save communication parameters in the EEPROM of the device, use only CAN Object 1010h, otherwise the changes will be lost after a power cycle. All indices and/or subindices not described in the table are reserved exclusively for factory use. DIS SENSORS BV...
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Page 28: Object 1001 Error Register
Sensor element Error Bit 11 Watchdog Error Bit 12 Error handler activated Error Bit 13-31 Unused Error bits Table 17 - Manufacturer error code The error code can be mapped into the TPDO message via Object 301Fh. DIS SENSORS BV... -
Page 29: Object 1003 H Predefined Error Field
Byte2 Byte1 Byte0 Manufacturer-specific error (1002 Error Code (CiA301) Byte1 Byte0 Byte1 Byte0 Table 20 - message structure 1003h 8.1.4. Object 1005h COB-ID SYNC message The structure of the COB-ID of SYNC object is specified as below: DIS SENSORS BV... -
Page 30: Object 1006H Communication Cycle Period
8.1.5. Object 1006h Communication cycle period This object defines the SYNC interval. The value must be supplied as a multiple of µs. If the value is set to 0000 0000h the transmission of SYNC messages will be disabled. DIS SENSORS BV... -
Page 31: Object 1010 Store Parameters
NMT restart or new power cycle is required to enable the factory default settings after a “load”. Do not execute “save” before you restart the device, as this will cause the current working environment settings to overwrite (i.e. store) the default factory settings (see 8.1.6 above). DIS SENSORS BV... -
Page 32: Object 1014 Cob-Id Emcy
Failures include the following communication errors: Bus-off state of the CAN interface • Life guarding event with the state ‘occurred’ and the reason 'time out' • • Heartbeat event with state ‘occurred’ and the reason 'time out" • Device internal failures DIS SENSORS BV... -
Page 33: Object 1800
, subindex: 00 , data length: 10 =16bits. Inclination X-axis (longitudinal) Mapping object1 60200010 Index: 6020 , subindex: 00 , data length: 10 =16bits. Inclination Y-axis (lateral) Table 24 – Default mapping parameters of TPDO1 2-axis ±30°/±90° DIS SENSORS BV... -
Page 34: Object 1F80 H Nmt Start-Up Behaviour
To have the device start instead in “Pre-operational” state, write “00000004 ” to this object. Value Description 00000000h Start in state Operational (default setting for DIS devices) 00000004h Start in state Pre-operational Table 26 – NMT start-up state configuration DIS SENSORS BV... -
Page 35: Manufacturer-Specific Profile (2000H - 5Fffh)
To permanently save application-specific parameters in the EEPROM of the device, use only CAN Object 1010h, otherwise the changes will be lost after a power cycle. All indices and/or subindices not described in the table are reserved exclusively for factory use. DIS SENSORS BV... -
Page 36: Object 3007 Function Mode
Sensor element error Watchdog error Error handler activated error 13 ~ 30 Unused error bits ON/OFF sending of EMCY message '0x8000 Monitoring' at every change of the manufacturer status register bits. Table 30 – object 1002 Error bit DIS SENSORS BV... -
Page 37: Object 301F
Use this object to set the average number N for the moving average filter for the TPDOs (→6.3.3 Digital filters). Value Range Description Moving average filter disabled (factory default) Moving average filter disabled. – 0A Output is averaged with the last 20 ms – 100 ms samples. Table 32 – moving average filter TPDO DIS SENSORS BV... -
Page 38: Object 3014 Lowpass Filter
8.2.7. Object 3014h Lowpass filter A 2nd order Bessel filter with a cut off frequency of 10Hz. The frequency cannot be changed. It can be turned ON/OFF. (→6.3.3 Digital filters). Value Range Description Table 33 – 2 order Bessel LPF DIS SENSORS BV... -
Page 39: Standardized Device Profile (6000H - 9Fffh) (Cia410)
6511 Device Temperature [1 Table 34 - Standardized device profile To permanently save application-specific parameters permanent in the EEPROM of the device, use only CAN Object 1010h, otherwise the changes will be lost after a power cycle. DIS SENSORS BV... -
Page 40: Object 6000 Resolution
Load the default setting. Index Value Example 6013 Pre-set inclination X-axis -9007 (1-axis Sensor pre-set at -90.07° position) 6023 Pre-set inclination Y axis +0200 (2-axis Sensor pre-set at Y=+2.00° position) Table 37 – Object 6013 /6023 Offset inclination value DIS SENSORS BV... -
Page 41: Object 6401 Sensor Outputs
Unsigned 32-bit number (0 – 4294967295 S8/Integer 8 Signed integer 8-bit number (-128 – +127 S16/Integer 16 Signed integer 16-bit number (-32768 – +32767 S32/Integer 32 Signed integer 16-bit number (-2147483648 – +2147483647 VSTR Visible String Table 39 - Data type DIS SENSORS BV... -
Page 42: Configuration Tool
The QG65N2 CANopen Inclinometer can be easily configured using DIS configurator set CAN 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. DIS configurator set CAN 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. DIS SENSORS BV...
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Page 44: Pc Software
• The configurator keeps track of all changes you have made. Click the Apply button to save the changes to the sensor device. This can take a little time, after which the new settings will take effect. DIS SENSORS BV... - Page 45 User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0 Figure 22 - Overview of changes Figure 23 - Saving the changes. General configuration, Error behaviour, TPDO parameters and parameters for inclination output • can easily be configured here. Figure 24 - General configuration DIS SENSORS BV...
- Page 46 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° values are transferred in the TPDO message. Device profile inclinations ±30°, ±90° and ±180° are visible only in the live data tab. DIS SENSORS BV...
- Page 47 Figure 27 - Application profiles in configuration panel • The “Live data” tab shows the real-time sensor outputs. The chart can also be c as an image. Figure 28 - Live data • Future versions of this software will support upgrading of the firmware. DIS SENSORS BV...
- Page 48 User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0 Figure 29 - Firmware update DIS SENSORS BV...
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Page 49: Abbreviations And Definitions
CiA410 Device profile for inclinometer. Version: 1.3.0 IEC 61076-2-101 Connectors for electronic equipment - Part 2-101: Circular connectors – Detail specification for circular connectors M8 with screw- or snap-locking, M12 with screw locking for low voltage applications DIS SENSORS BV...
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