Siko IKM360M User Manual
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Siko IKM360M User Manual

Redundant 1-axis inclinometer
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IKM360M
Redundant 1-axis inclinometer with CANopen
Safety-interface
User manual
222/20

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Summary of Contents for Siko IKM360M

  • Page 1 IKM360M Redundant 1-axis inclinometer with CANopen Safety-interface User manual 222/20...

  • Page 2: Table Of Contents

    Node monitoring ....................21 5.6.1 Emergency service (EMCY) ..................21 5.6.2 Node Guarding ....................22 5.6.3 Heartbeat ......................23 Layer Setting Service (LSS) ..................24 5.7.1 State change ...................... 24 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 2 of 58...
  • Page 3 5.8.2.25 6000h: Resolution ................... 51 5.8.2.26 6010h: Slope long16 ..................51 5.8.2.27 6011h: Slope long16 operating parameter ............52 5.8.2.28 6012h: Slope long16 Preset value (calibration value) ..........52 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 3 of 58...
  • Page 4 5.8.2.33 6211h: Safety inverted Slope long16 (Safety inverted longitudinal slope value) ..55 5.8.2.34 63FEh: Safety application configuration .............. 56 5.8.2.35 63FFh: Safety application configuration signature (checksum) ....... 56 5.8.2.36 6511h: Device temperature ................57 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20...

  • Page 5: General Information

     EDS file (electronic data sheet); this file enables integration and configuration in a CANopen network by means of commercial CANopen configurators. You can also download these documents at http://www.siko-global.com/p/ikm360r. Definitions Decimal values are given as numbers without addition (e. g. 1234), except when indicated in direct connection with binary or hexadecimal values.

  • 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). IKM360M Date: 21.01.2021 Art. No. 90444 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 7 of 58...

  • 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 8 of 58...

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

    1200h SDO (rx) 1100b 1536d (600h) + Node ID 1200h Heartbeat message 1110b 1792d (700h) + Node ID Node Guard message 1110b 1792d (700h) + Node ID IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 9 of 58...

  • Page 10: Node Control

    The master configures, manages and monitors network nodes via the NMT service. The device is always in one of the four communication states "INITIALIZATION", "PRE-OPERATIONAL", "OPERATIONAL" or "STOPPED" (see Fig. IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 10 of 58...

  • 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. IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 11 of 58...

  • 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. IKM360M Date: 21.01.2021 Art. No. 90444 Mod.

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

    Two SDO services are available:  SDO (rx) (Master  Slave): 600h + Node ID  SDO (tx) (Slave  Master): 580h + Node ID Two SDO services are available! IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 13 of 58...

  • Page 14: Expedited Request/Response

    (high byte) in the Intel data format. Here, the index of the object to be parameterized is entered. Sub-index, byte 3: The sub-index indicates the number of the fields for objects realized as an array. IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20...

  • Page 15: Normal Request/Response

    SDO (tx), Normal Segment Report parameter to master (user Upload Response data) Error Response SDO (tx), Abort Domain Slave reports error code to master Transfer Table 11: Command coding IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 15 of 58...

  • 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod.
  • Page 17 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. IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20...

  • Page 18: Safety Data Exchange

    Safety Transmit services SRDO1 for the Slope long16 (2 bytes) according to EN50325-5 and CiA 410. The transmit behavior of SRDO is determined via the objects 1301h, 1381h and 6200h. Mapping is static and cannot be changed. IKM360M Date: 21.01.2021 Art. No. 90444 Mod.

  • 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. IKM360M Date: 21.01.2021 Art. No. 90444 Mod.

  • Page 20: Example Of Change Of A Configuration

    COB ID User data Command Index L Index Sub-index Data 0 Data 1 Data 2 Data 3 600h + Node ID IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 20 of 58...

  • Page 21: Node Monitoring

    8120h Heartbeat or life guarding error 8130h CAN recovered from bus-off error 8140h PDO error not processed due to invalid length 8210h PDO length exceeded error 8220h IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 21 of 58...

  • Page 22: Node Guarding

    Upon switching on, node guarding will be enabled by sending the first RTR frame of the master to the slave. Node Guarding is deactivated if the value of either object (100Ch or 100Dh) is set to 0h. IKM360M Date: 21.01.2021 Art. No. 90444 Mod.

  • Page 23: Heartbeat

    The identifier of the heartbeat protocol is permanently set to 700h + Node ID and cannot be changed. Heartbeat messages are sent in the NMT statuses "OPERATIONAL", "PRE- OPERATIONAL" or "STOPPED". IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20...

  • Page 24: Layer Setting Service (Lss)

    Switch states of all LSS devices (Switch state global) COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h Mode IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 24 of 58...

  • Page 25: Switch States Of Individual Lss Devices (Switch State Selective)

    Serial 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 25 of 58...

  • Page 26: Configuration

    LSS slave set to the LSS Waiting state. Another possibility of activating the new baud rate would be to execute power off/on after "Save configuration". IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20...
  • Page 27 01h: no valid baud rate FFh: Implementation error see Spec error Spec error: This byte is nonzero only in case of an implementation error and Error Code FFh. IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 27 of 58...

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

    02h: Error occurred during storing FFh: Implementation error see Spec error Spec error: This byte is nonzero only in case of an implementation error and Error Code FFh. IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 28 of 58...

  • Page 29: Requesting Parameters

    Request revision number Master  Slave COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 29 of 58...

  • Page 30: Request Serial 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) IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 30 of 58...

  • 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 31 of 58...

  • Page 32: Object Description

    UNSIGNED 32 Default 3001019Ah EEPROM Data content Device profile -number Additional information Byte 0 Byte 1 Byte 2 Byte 3 019Ah (= 410d): CANopen Device profile for inclinometer IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 32 of 58...

  • Page 33: 1001H: Error Register

     The whole error list is deleted by writing the value 0 in sub-index 00h.  The entries in the error list have the format described in chapter 5.6.1. IKM360M Date: 21.01.2021 Art. No. 90444 Mod.

  • Page 34: 1005H: Cob Id Sync Message

    0: if bit 29 = 0 X: Bits 28 … 11 of the SYNC-COB ID, if Bit 29 = 1 Bit 10 … 0 X: Bits 10 … 0 of the SYNC-COB ID IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20...

  • Page 35: 1008H: Manufacturer Device Name

    Default EEPROM Data content Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 ("0") (".") ("9") (".") ("0") ("0") ("9") IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 35 of 58...

  • Page 36: 100Ch: Guard Time

    The string "Save" must be sent as data content. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 36 of 58...
  • Page 37 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 37 of 58...
  • 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 38 of 58...

  • 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. IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 39 of 58...
  • 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. IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 40 of 58...

  • Page 41: 1014H: Cob Id Emergency Message

    The manufacturer identification number (Vendor ID) is indicated by object 1018h. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 41 of 58...
  • Page 42 Communication via CAN bus (CANopen and CANopen Safety) 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 Description Product Code Access...

  • Page 43: 1200H: Server Sdo Parameter

    The communication behavior of SRDO1 can be determined via object 1301h. Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 43 of 58...
  • Page 44 Default 20d (14h) EEPROM Data content 0d … 65535d (0000h … FFFFh) Sub-index Description Transmission Type Access PDO mapping Data type UNSIGNED 8 Default 254d (FEh) EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 44 of 58...

  • Page 45: 1381H: Srdo1 Mapping Parameter

    SRDO1 message with the COB ID1 (data byte 0) Access PDO mapping Data type UNSIGNED 32 Default 62100108h (Safety Slope long16 object 6210h, sub-index 01h, 8bit) EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 45 of 58...

  • Page 46: 13Feh: Safety Configuration

    13FFh. Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content A5h: SRDO1 configuration valid 00h … A4h and A6h … FFh: SRDO1 configuration invalid IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 46 of 58...

  • Page 47: 13Ffh: Safety Configuration Signature (Checksum)

    4 byte 62100108h Sub-index 1 byte Inverted Safety Slope 4 byte 62110108h long16 1 byte Sub-index 1 byte Safety Slope long16 2 byte 4 byte 62100208h IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 47 of 58...

  • Page 48: 1800H: 1 Transmit Pdo Parameter

    FFh (255d) depending on the "Event Timer"). Sub-index 03h (is not used, access attempt generates error message) Sub-index 04h (is not used, access attempt generates error message) IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 48 of 58...

  • Page 49: 1A00H: 1 Transmit Pdo Mapping Parameter

    Object of the PDO1 message (Data byte 0 and 1) Access PDO mapping Data type UNSIGNED 32 Default 60100010h (Slope long16 object 6010h, sub-index 00h, 16bit) EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 49 of 58...

  • Page 50: 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 50 of 58...

  • Page 51: 6000H: Resolution

    6010h: Slope long16 Object 6010h indicates the current slope long16 value (longitudinal slope). Sub-index Description slope long16 value (longitudinal slope) Access PDO mapping Data type INTEGER 16 Default EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 51 of 58...

  • Page 52: 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 52 of 58...

  • Page 53: 6013H: Slope Long16 Offset

    6200h. The Safety Slope long16 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 53 of 58...

  • Page 54: 6210H: Safety Slope Long16 (Safety Longitudinal Slope Value)

    Safety slope long16 1 byte Access PDO mapping Data type INTEGER 8 Default EEPROM Sub-index Description Safety slope long16 2 byte Access PDO mapping Data type INTEGER 8 Default EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 54 of 58...

  • Page 55: 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 55 of 58...

  • Page 56: 63Feh: Safety Application Configuration

    Before the configuration is set to valid, the checksum is checked again. Only then does a change in the configuration become valid. Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 56 of 58...

  • Page 57: 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 57 of 58...
  • Page 58 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 IKM360M Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 58 of 58...

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