DIS Sensors QG65D User Manual
Canopen dynamic inclinometer
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Summary of Contents for DIS Sensors QG65D
- Page 1 1-Feb-2101/02/2021 USER MANUAL QG65D CANopen Dynamic Inclinometer (Type H) V2.3, Mar-22...
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Page 2: Table Of Contents
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 Table of 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) V2.3 8.1.6. Object 1010 Store parameters ......................30 8.1.7. Object 1011 Restore factory default parameters.................. 30 8.1.8. Object 1014 COB-ID EMCY ........................31 8.1.9. Object 1020 verify configuration ......................31 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 measurements 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) V2.3 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, ± 180°, vertical mounting, high accuracy •... -
Page 6: Document Revision Control
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 2.4. Document revision control Version Date(y-m-d) Revision V1.0 2020-11-27 release. V2.0 2021-7-2 Correct a few errors in 6.11 and 6.12. The picture of the configurator is updated.ac Extra description of the power adaptor convertor. -
Page 7: Quick Reference
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 3007h) •... -
Page 8: Installation Guide
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 9: Connection
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 a single male connector;... -
Page 10: Can Termination
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 can be enabled with object 3003 A separate M12 termination resistor and T-connector are also available as accessories for CANopen devices. -
Page 11: Functional Description
Therefore, this calculation is only accurate for a relatively short period. 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. Our smart algorithms (such as Kalman filtering) within the device can determine the balance between the accelerometer MEMS (best result in static situations) and the gyro MEMS (best result in dynamic situations). -
Page 12: Measuring Axis And Direction
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 6.2. Measuring axis and direction 6.2.1. Measuring axis and direction for Inclination measures the inclination in the vertical plane over the full range A single-axis inclinometer (vertical mount) ±180° (or 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 13: Measuring Axis And Direction For Acceleration
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 14: Signal Processing
To eliminate noise or reduce the bandwidth, the inclination values can be further processed with extra digital filters. In each application profile, those filters can be enabled and configured using the DIS QG65D configurator, or with the CAN object dictionary. -
Page 15: Function Mode
TPDO message. 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. Once a function mode is selected, the TPDO mapping parameters (→8.1.12, page 32) are automatically configured with the... -
Page 16: Application Profiles
~ 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). Figure 13 - Application profile in the configuration panel Page 15 of 50... -
Page 17: Output Format
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 6.6. Output format Inclination output format with factory default resolution: CAN output = 100*α. (α = angle in degrees, factory resolution is 0.01°). The resolution can be configured with object 6000 . -
Page 18: Boot-Up Procedure
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 The user can customise the device outputs by changing the TPDO mapping parameters. (→Object 1A00 , 1A01 TPDO Mapping parameter). For example, 1 two bytes are the device temperature, the 2 two bytes are the inclination output (Table 7). -
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: Firmware Management
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 6.10. Firmware management If a firmware version is mentioned on the label, it is the factory-installed firmware number. Figure 19 - Firmware version It can also be requested with object 100A Manufacturer software version. -
Page 21: Load Factory Default Settings
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 6.11. Load factory default settings Factory reset or load factory default settings allows users to restore the device to its original manufacturer settings. The customer settings which were saved to the EEPROM will be overwritten by the factory default settings. -
Page 22: Zero Adjustment
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 6.12. Zero adjustment Zero adjustment allows users to compensate for mechanical offsets of a horizontally mounted 2-axis device or set a customised 0° position of a vertically mounted 1-axis sensor. The measured inclination value at the 0° position will be stored in the device as a permanent offset, which is used to calculate the actual inclination output of the device. -
Page 23: Mappable Objects
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 6.14. Mappable objects Objects that can be mapped into the TPDO message. Index Subindex Type Object name and description 1001 Error register = No error = Error detected 1002 Manufacturer status register... -
Page 24: Canopen Specification
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 7. CANopen specification The QG65D series of devices commun 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. More knowledge of CANopen sensors can be found in our Knowledgebase. -
Page 25: Pdo (Reading Sensor Output)
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 CAN objects CAN-ID SYNC Emergency + Node ID TPDO1 + Node ID TPDO2 + Node ID SDO tx (server -> client) + Node ID SDO rx (client -> server) + Node ID... -
Page 26: Nmt State
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 15 shows the communication objects that exist in each NMT state. -
Page 27: Can Object Dictionary Overview
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8. CAN Object dictionary overview 8.1. Communication profile (Index 1000 - 1FFF Index Subindex Data Access Object Name and description Factory Default Detail Type 1000 Device type 0101019A = 1-axis inclination... - Page 28 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 Index Subindex Data Access Object Name and description Factory Default Detail Type … FF = reserved Profile- or manufacturer-specific error = switches to pre-operational = does not change state = switches to stopped …...
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Page 29: Object 1001 Error Register
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8.1.1. Object 1001 Error register This object indicates the type of detected error. This is a part of the EMCY message (→6.8 Emergency message). Error type Example Generic error - No error... -
Page 30: Object 1003 Predefined Error Field
Table 22 - 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: QG65D series devices are configured with a default COB-ID of 00000080h, which means: • 11-bit CAN-ID is valid by default •... -
Page 31: Object 1010 Store Parameters
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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. Users can store parameters in both NMT operational and pre-operational state. -
Page 32: Object 1014 Cob-Id Emcy
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 (bit31=0) •... -
Page 33: Object 1800 H , 1801 H Tpdo Communication Parameter
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 34: Nmt Start-Up Behaviour
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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... -
Page 35: Manufacturer-Specific Profile (2000H - 5Fffh)
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8.2. Manufacturer-specific profile (2000 - 5FFF Index Subindex Data type Access Object name and description Factory default Detail 3000 Node ID (Range: 01 - 7F 3001 Baud Rate = 1000 kBit/s... - Page 36 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 Index Subindex Data type Access Object name and description Factory default Detail 3021 Parameters for application profile 0 8.2.6 Highest subindex supported - 05 Reserved Output filter / 100 8.2.7 Moving average filter TPDO1 8.2.8...
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Page 37: Object 3004 Application Profile
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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... -
Page 38: Object 301E Manufacturer Status Register Error Mask
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8.2.4. Object 301E Manufacturer status register error mask Use the error mask to select the error bit in object 1002 that triggers the manufacturer-specific error behaviour. Set this bit to 1 to trigger the error behaviour, or 0 to ignore the error. -
Page 39: Object 3021 H ~ 3027 H User-Adjustable Parameters For Application Profile
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8.2.6. Object 3021 ~ 3027 User-adjustable parameters for application profile In each application profile, a group of parameters is used to improve the measurement of inclination values. Currently, only 3 parameters are implemented, and other subindices are reserved for future use (→ 6.5 Application profiles). -
Page 40: Object 3032 Sub Range Limits
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8.2.9. Object 3032 Sub Range Limits Use this object to change the measuring range of the sensor. Subindex Name Value Lower Sub Range Limit = sub range disabled (default) -6000 = -60°... -
Page 41: Application Profile (6000H - 9Fffh) (Cia410)
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8.3. Application profile (6000h ~ 9FFFh) (CiA410) Index Subindex Data Access Object name and description Factory default Detail Type 6000 Resolution 8.3.1 =0.01, 100 =0.1, 1000 =1.0 6010 Inclination X-axis (longitudinal) Output X-axis. -
Page 42: Object 6000 Resolution
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8.3.1. Object 6000 Resolution The resolution of the inclinometer can be configured with object 6000h. The QG65D inclinometer has a default resolution of 0.01°. 8.3.2. Object 6011 6021 Operating parameter Use the operating parameter to set the +/- direction of measurement, and whether the pre-set value should be calculated. -
Page 43: Data Type
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 8.3.5. 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). Subindex... -
Page 44: Configuration Tool
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 9. 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. - Page 45 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 a power adapter, or 0 °C to +40 °C with a power adaptor.
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Page 46: Pc Software
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 9.2. PC software The PC software and a detailed manual can be downloaded 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 47 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 • 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.
- Page 48 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 Figure 29 - Error behaviour Flexible configuration for the measuring axis, and output type (inclination/acceleration/gyroscope) Figure 30 - TPDO mapping parameters in the 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 49 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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 50 User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 • Future versions of this software will support the upgrading of the firmware. Figure 33 - Firmware update Page 49 of 50...
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Page 51: Abbreviations And Definitions
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3 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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