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IFM JD Device Manual

Inclination sensor with canopen interface
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Inclination sensor JD
with CANopen interface

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Summary of Contents for IFM JD

  • Page 1 Device manual Inclination sensor JD with CANopen interface...

  • Page 2: Table Of Contents

    Contents 1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�1 Explanation of symbols �...
  • Page 3 9�5 Object 1008h - Manufacturer Device Name � � � � � � � � � � � � � � � � � � � � � � � 23 9�6 Object 1009h - Manufacturer Hardware Version � � � � � � � � � � � � � � � � � � � 23 9�7 Object 100Ah - Manufacturer Software Version �...

  • Page 4: Preliminary Note

    13�4 Output Graphs with Preset and Offset � � � � � � � � � � � � � � � � � � � � � � � � � � 42 1 Preliminary note Technical data, approvals, accessories and further information at www�ifm�com� 1.1 Explanation of symbols ►...

  • Page 5: Safety Instructions

    2 Safety instructions ● Read this document before setting up the product and keep it during the entire service life� ● The product must be suitable for the corresponding applications and environmental conditions without any restrictions� ● Only use the product for its intended purpose (→ Functions and features). ●...

  • Page 6: Installation

    ● in case of a transmission rate ≥ 50 kBaud. This prevents that information will be transmitted back to the CAN bus� Dynamic ifm sensors have an integrated 120 Ω termination resistor that can be activated (1) or deactivated (0) (→ 9.23 Object 3002h - Termination Resistor).

  • Page 7: Canopen Interface

    The position value is sent every n SYNCs (n ≥ 1). – State change mode The position value is transmitted whenever the position of the inclination sensor changes (minimum time interval configurable)� The units can be set using the EDS configuration file (Electronic Data Sheet → www�ifm�com)�...

  • Page 8: 6�1 Canopen Functions

    6.1 CANopen functions The following CANopen functions are available ● 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 its priority� ● EDS (Electronic Data Sheet) –...

  • Page 9: 6�1�2 Operational Mode

    – "Operational" on receiving the "Start Remote Node" NMT indication� To set a node to pre-operational mode, the master must send the following message Identifier Byte 0 Byte 1 Meaning NMT PreOp, all nodes NMT PreOp, NN NN: node number 6.1.2 Operational Mode The device goes into the "Operational"...

  • Page 10: 6�1�4 Re-Initialisation Of The Inclination Sensor

    6.1.4 Re-initialisation of the inclination sensor If a node is not operating properly, it is advisable to carry out a re-initialisation� After re-initialisation, the inclination sensor accesses the bus in pre-operational mode� Identifier Byte 0 Byte 1 Meaning Reset communication 082h NN (in hex) Reset node...

  • Page 11: 6�3 Usage Of The Layer Settings Service (Lss)

    6.3 Usage of the Layer Settings Service (LSS) The integrated Layer Setting Services (LSS) functionality is designed according to the CiA normative DS305V200 CANopen Layer Setting Services� These services and protocols can be used to enquire 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 12: Status Led

    7 Status LED Since a dual colour LED is used, only the red LED is shown in cases where both green and red LED would light up� LED colour Flashing frequency Meaning green No power supply single flash The device is in the "Stopped" state Boot Up message sent, device configuration is possible The device is in the "pre-operational"...

  • Page 13: 8�2 Single Axis Inclination Sensor ± 0

    8.2 Single axis inclination sensor ± 0...360° The sensor is mounted vertically� A clockwise rotation around the Z-axis of the sensor increases the angle value from 0���360°� When the male connector is pointing downwards, the output is 0°� Z = 359,9°/ Z = 0°...

  • Page 14: 8�4 Active Programming Objects

    8.4 Active Programming Objects Active CANopen objects depending on the status of the unit� "Yes" in the table indicates which CANopen objects are active in the corresponding modes� Initialisation Pre-operational Operational Stopped PDO Object SDO Object Boot-up 8.5 Programmable parameters Objects are based on the CiA-DS410 CANopen profile for inclination sensors (www�can-cia�org)�...

  • Page 15: 8�8 Frequently Used Commands

    8.8 Frequently Used Commands The following list shows the most frequently used objects while programming the unit� The whole list of objects is provided in the chapter "Object overview"� Position value The objects 6010h and 6020h are used to get the scaled and acceleration compensated tilt angle (Objects 6010h, 6020h) (integer 16 variables)

  • Page 16: 8�9 Pdo Transmission

    8.9 PDO Transmission Process data objects (PDOs) communicate process information and data that is exchanged in real-time� The PDO set of a CANopen device describes the explicit exchange between the device and the communication partners in the network� The exchange of PDOs is only authorised if the device is in "Operational" mode� PDOs can be directly mapped into memory locations on the controller and can be viewed upon reading those memory locations�...

  • Page 17: 8�9�2 Object 1801H - 2Nd Transmit Pdo Communication Parameter

    Step 3 Set Transmission Type (1800Sub2) to "Send PDO on event" (254dec = FEh) Identifier Command Index Sub- Service/process data index NN = 1 Download Byte 4 Byte 5 Byte 6 Byte 7 Step 4 Set all sensors to operational mode Identifier Byte 0 Byte 1...

  • Page 18: 8�9�3 Transmission Mode

    8.9.3 Transmission mode The transmission mode (sub-index 2) for Objects 1800 and 1801 can be configured as described Transmission Transmission mode Note value (Dec) Cyclic Acyclic Synchronous Asynchronous RTR Only Send PDO on first sync message following an event 1���240 Send PDO every x sync messages 241���251...

  • Page 19: 8�9�6 Cyclic Timer

    8.9.6 Cyclic timer The cyclic timer is hardwired with both event timers of TPDO1 and TPDO2� Due to the fact that it is possible to save either communication parameters (Event Timers) or manufacturer parameter (Cyclic Time), the parameters could hold diffe- rent values after a power off/on cycle�...
  • Page 20 Programming example (for NN=1) The sensor is supposed to transmit the X-axis rotation speed and the X-axis acceleration value via the 2nd PDO� Step 1 Disable 2nd Transmit PDO Identifier Command Index Sub- Service/process data index NN = 10 Download Byte 4 Byte 5 Byte 6...

  • Page 21: 8�9�9 Types Of Sdo

    Step 6 Enable 2nd Transmit PDO Identifier Command Index Sub- Service/Process data index NN = 10 Download Byte 4 Byte 5 Byte 6 Byte 7 Step 7 Save this configuration by writing "save" to 1010Sub01 Identifier Command Index Sub- Service/process data index NN = 10 Download...

  • Page 22: Object Directory (Od)

    9 Object directory (OD) 9.1 Object 1000h - Device Type The object at index 1000h describes the type of device and its functionality� It consists of a 16 bit field and describes the device profile in use� A second 16-bit field gives additional information about optional functionality of the device�...

  • Page 23: 9�4 Object 1005H - Cob-Id Sync

    9.4 Object 1005h - COB-ID Sync This object indicates the configured COB-ID of the synchronisation object� In operational mode, sensor sends process data if SYNC message with the same COB-ID is received� (Correct setting of transmission of TxPDO(s) implied)� Sub-index Meaning Data type Access...
  • Page 24 9.10 Object 1010h - Store Parameters This object controls the saving of all writable parameters in non-volatile memory� Sub-index Meaning Data type Default value Access Number of sub-indices Unsigned 8 Save all parameters Unsigned 32 Save communication Unsigned 32 parameters Save application Unsigned 32 parameters...
  • Page 25 9.12 Object 1014h - COB-ID Emergency This object indicates the configured COB-ID for the emergency write service� This has the highest priority among transmitted messages� Sub-index Meaning Data type Default value Access – Unsigned 32 0x81 9.13 Object 1016h - Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms�...
  • Page 26 Sub-index Meaning Data type Default value Access – Unsigned 16 0xA (10ms) 9.17 Object 2300h - Save Parameter with Reset This object stores all parameters in the non-volatile memory� All parameters are saved with an additional reset executed afterwards� Sub-index Meaning Data type Default value...
  • Page 27 Access Activate quick start Unsigned 8 9.21 Object 3000h - Node Number This object contains the node number of the device� The ifm standard node number is 10 decimal� The valid node numbers range from 01 to 127� Sub-index Meaning...
  • Page 28 Baud rate Unsigned 8 Eight different baud rates are provided� To adjust the baud rate only one byte is used� The default baud rate is 125 kB (03h)� Baud rate in kB Stored value in the object 1000 The new baud rate is only effective after a "save" command and a subsequent restart�...
  • Page 29 1) If activated, the termination resistor is only enabled while the device is powered� The termination resistor is deactivated per default� 9.24 Object 3005h - Auto BootUp Enable With this object, the start-up behaviour of the encoder is defined� Sub-index Meaning Data type Default value...
  • Page 30 9.25 Object 3100h - Moving Average Filter (MAF) This object contains the number of determined values� If set to 0, the filter is deac- tivated� The filter is deactivated by default� The valid range of filter values accepted is from 0 to 250d� Sub-index Meaning Data type...
  • Page 31 9.31 Object 3403h - Acceleration x axis 16 This object provides the acceleration value in the X-axis� The value is given in mg with the resolution of 1 mg� Sub-index Meaning Data type Default value Access Acceleration x axis 16 Integer16 9.32 Object 3404h - Acceleration y axis 16 This object provides the acceleration value in the Y-axis�...
  • Page 32 9.36 Object 6010h - Slope Long16 Position value X-axis / longitudinal axis (dual axis), Z-axis (single axis) For dual axis inclination sensors, this object provides the X-axis position value, and for single axis inclination sensors, this object provides the Z-axis value� This is a Read Only object;...
  • Page 33 9.37.1 Calculation of the position value based on the operating parameter Slope Long16 = [(Physical inclination of slope long16 * Multiplier) + Slope long16 Offset + Differential Slope long16 Offset]� With – Physical slope long16 (X) – Multiplier: if inversion is disabled: 1, if inversion is enabled: -1 –...
  • Page 34 Step 1 Set preset value to 64h� If the resolution is set to 0�01°, 64h is equal to 1°� If the resolution is set to 0�1°, the preset value must be set to Ah to set the current position to 1°� Identifier Command Index...
  • Page 35 9.41 Object 6020h - Slope Lateral16 Position Value Y-Axis (JD21xx Lateral Axis) For dual axis inclination sensors, this object provides the Y-axis or roll-axis position value� This is a read only object� The position values are limited depending on the set resolution�...
  • Page 36 9.42.1 Calculation of position value based on the operating parameter Slope Lateral16 = [(Physical inclination of slope lateral16 x Multiplier) + Slope lateral16 Offset + Differential Slope lateral16 Offset] With – Physical inclination of slope long16 (X) – Multiplier if inversion is disabled: 1, if inversion is enabled: -1 –...
  • Page 37 9.44 Object 6023h - Slope Lateral16 Offset This is a read only parameter� The parameter is recalculated every time Slope Lateral16 preset (6022h), Slope Lateral32 Preset (6122) or Preset Y (2601) objects are changed� Sub-index Meaning Data type Default value access Offset value Integer 16...
  • Page 38 10 Object overview Object name Object no� ID (hex) Access Data type Type of unit 1000 Read-only UNSIGNED32 Error register 1001 Read-only UNSIGNED8 Predefined error field 1003 – ARRAY Sub 0: Number of errors 1003�0 Read/write UNSIGNED8 Sub 1: New error 1003�1 Read-only UNSIGNED32...
  • Page 39 Serial Number 1018�4 Read-only UNSIGNED32 TxPDO1 Comm Parameter 1800 – RECORD Sub 0: No� of Entries 1800�0 Read-only UNSIGNED8 Sub 1: 1st mapped object 1a01�1 Read/write UNSIGNED32 Sub 2: 2nd mapped object 1a01�2 Read/write UNSIGNED32 Cyclic Time 2200 Read/write UNSIGNED16 Store parameters 2300 Write-only...
  • Page 40 ► Dispose of the device in accordance with the national environmental regulations� 12 Approvals/standards The CE declarations of conformity and approvals can be found at www�ifm�com� 13 Graphic representation of the output functions 13.1 CANopen Output Values JD11xx (Factory setting: resolution = 0�01)
  • Page 41 13.2 CANopen output values JD21xx (X-axis) (Factory setting: resolution = 0�01) 10000 8000 6000 4000 2000 -180 -160 -140 -120 -100 -2000 -4000 -6000 -8000 -10000 1: X-axis rotation angle [°] 13.3 CANopen output values JD21xx (Y-axis) (Factory setting: resolution = 0�01) 10000 8000 6000...
  • Page 42 13.4 Output Graphs with Preset and Offset Sensor with pre-programmed offset of 20° has an effect on the X and Y angle values� X/Y/pitch axis output values (factory setting: resolution = 0�01) 12000 10000 8000 6000 4000 2000 -180 -160 -140 -120 -100...

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