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Kübler IN68 Operation Manual

Inclinometers
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D000080278.0002 - 0A
Operation Manual
Inclinometers
IN68 / IN78

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  • Page 1 D000080278.0002 - 0A Operation Manual Inclinometers IN68 / IN78...

  • Page 2: Table Of Contents

    Terminating resistor .................. Technical Data ......................5.5.1 General ..................... 5.5.2 Product Conformity ................... Scope of Delivery ......................IN68 / IN78 - CANopen ................... Preparations for installation and commissioning............Installation ........................Mechanical Installation.................... 8.1.1 General Information for the Mounting of Inclinometers......8.1.2 Cable routing ....................
  • Page 3 Kübler Group Table of Contents Commissioning Help - Spirit Level ................Setting the CANopen interface ................9.3.1 Functions and properties that can be set..........9.3.2 Setting the communications profile ............9.3.3 Creating Variable PDO Mapping .............. 9.3.4 Setting the device parameters (1 axis and 2 axis devices)....... 9.3.5 Setting the device parameters (2 axis devices) ........

  • Page 4: Document

    1 Document Kübler Group 1 Document This is the translation of the original Operating instructions, source language German. Publisher Kübler Group, Fritz Kübler GmbH Schubertstraße 47 78054 Villingen-Schwenningen Germany www.kuebler.com Issue date 03/2025 Document no. ©  Copyright 2025, Kübler Group, Fritz Kübler GmbH Legal Notices All of the contents of this document are protected by the rights of use and copyrights of Fritz Kübler GmbH.

  • Page 5: Change Information

    Kübler Group 2 Change information 2 Change information Index Chapter Changes Date Name Creation of operating instructions 2/20/2025 D000080278.0002 - 0A EN | 5...

  • Page 6: General Information

    3 General Information Kübler Group 3 General Information Read this document carefully before working with the product. It guides you or the technical personnel of the machine and plant manufacturer or operator in the safe assembly, installation, commissioning, and operation of the product.

  • Page 7: Symbols Used / Classification Of The Warnings And Safety Instructions

    Kübler Group 3 General Information 3.2 Symbols used / Classification of the Warnings and Safety Instructions Classification: DANGER This symbol, together with the signal word DANGER, warns against immediately imminent threat to life and health of persons. The non-compliance with this safety instruction will lead to death or severe adverse health effects.

  • Page 8: Transport / Storage

    3 General Information Kübler Group 3.5 Transport / Storage Check the delivery immediately after receipt for possible transport damage. If you do not immediately assemble the product, it is best to leave it in the transport packaging. The storage must: •...

  • Page 9: Product Versions

    Kübler Group 4 Product versions 4 Product versions Art. no. Product name Application Measuring range Axes 8.IN68.1721.113 IN68 Static 0° ... 360° 1 axis 8.IN68.2621.113 IN68 Static ±85° 2 axis 8.IN78.1721.113 IN78 Dynamic * 0° ... 360° 1 axis 8.IN78.2621.113...
  • Page 10 4 Product versions Kübler Group Measuring axis Measurement View Angle range 1 axis The measuring axis of the 1 axis inclinometer covers the angle range of 0 to 360°. 2 axis The two-axes inclinometer covers the angle range on two axes of ±85° in all directions. There is a non measurable angle of 10°...

  • Page 11: Product Description

    Kübler Group 5 Product Description 5 Product Description 5.1 Function of an Inclinometer An inclinometer is a measuring device to record the incline angle. The sensor establishes a precise reference to the vertical direction. The Earth’s gravity is used as a reference. When the angle changes, it is recorded by a measuring cell.

  • Page 12: Use According To The Intended Purpose

    5 Product Description Kübler Group 5.2 Use According to the Intended Purpose The inclinometer can be used as a measuring system for the acquisition of the inclination or rotation angle. The device may only be operated as described in these instructions. Any other use is considered as non compliant with the intended use.

  • Page 13: Condition On Delivery

    Kübler Group 5 Product Description 5.4.3 Condition on delivery The inclinometers, on delivery, have the following basic settings. • Node-ID: 0x0A • Transmission rate 500 kbit/s • Internal terminating resistor switched off • TPDO1 active • TPDO1 synchronous mode, Cobid 80 5.4.4 Terminating resistor A bus terminating resistor can be enabled and disabled using the CANopen interface.
  • Page 14 5 Product Description Kübler Group – EMC: Directive 2014/30/EU – RoHS: Directive 2011/65/EU The declaration of conformity and all certificates relating to the product can be found on the homepage. www.kuebler.com/docu-finder 14 | EN D000080278.0002 - 0A...

  • Page 15: Scope Of Delivery

    Kübler Group 6 Scope of Delivery 6 Scope of Delivery 6.1 IN68 / IN78 - CANopen The scope of delivery includes: • Inclinometer D000080278.0002 - 0A EN | 15...

  • Page 16: Preparations For Installation And Commissioning

    7 Preparations for installation and commissioning Kübler Group 7 Preparations for installation and commissioning Observe the following information before beginning to install the inclinometer. ATTENTION Product damage due to transport or storage Product failure, malfunction, reduction in product lifespan • Check the packaging and product for possible damage. •...

  • Page 17: Installation

    Kübler Group 8 Installation 8 Installation 8.1 Mechanical Installation ATTENTION Product damage due to transport or storage Product failure, malfunction, reduction in product lifespan • Check the packaging and product for possible damage. • Do not deploy the product or put it into operation if there is visible damage.

  • Page 18: Installation Information For Inclinometers

    8 Installation Kübler Group • Separate the wiring into power groups such as motor/power supply lines and signal and data lines. • Route the signal and data lines as close as possible to ground surfaces (frames, metal rails, cabinet sides) and not parallel to motor and power supply lines or other lines carrying high interference levels.

  • Page 19: Electrical Installation

    Kübler Group 8 Installation To use the existing attachment holes when replacing an IS40 inclinometer, Kübler offers an adapter plate with a suitable hole pattern (order code: 8.0010.4066.0000). 8.2 Electrical Installation 8.2.1 General Information for the Connection ATTENTION Destruction of the device Before connecting or disconnecting the signal cable, always disconnect the power supply and secure it against switching on again.

  • Page 20: Connecting The Connecting Wires

    8 Installation Kübler Group f) For the large-area connection of the cable shield, use the shield terminal provided to this purpose. It can easily be mounted on the top-hat rail. IMG-ID: 9007199375147403 Order code 8.0000.4G06.0312 8.0000.4G06.0718 Material Spring steel, galvanized Shield diameter 3.0 …...
  • Page 21 Kübler Group 8 Installation Two M12 connectors, 5-pin Connector diagram Bus OUT Signal CAN_GND CAN_H CAN_L Bus IN Signal CAN_GND CAN_H CAN_L Supply voltage +V DC 0 V: Ground GND (0 V) CAN_GND CAN_H CAN_L D000080278.0002 - 0A EN | 21...

  • Page 22: Commissioning And Operation

    9 Commissioning and Operation Kübler Group 9 Commissioning and Operation After connecting and switching on the supply voltage, the device is automatically operational. 9.1 Status LED LED positions IMG-ID: 392843531 Display Meaning yellow Spirit level function for 1-axis inclinometers (center) Spirit level function for 2-axis inclinometers (X-center) green yellow...

  • Page 23: Commissioning Help - Spirit Level

    The spirit level function can be enabled using Object 0x2200. The function is disabled by default. 9.3 Setting the CANopen interface The IN68 / IN78 CANopen inclinometers can be set using the CANopen interface. NOTICE Unused objects All objects not described provide additional information and can be taken from device profile CiA 410.

  • Page 24: Setting The Communications Profile

    9 Commissioning and Operation Kübler Group Parameter Meaning Reestablish condition With this function the device is reset to its condition on delivery. on delivery Node ID and bit rate are exceptions. Spirit level The spirit level function can be switched on or off. The spirit level function is switched off by default.
  • Page 25 The object contains the type designation of the device Index Object Name Type Attribute name 0x1008 product name Visible String Example: 8.IN68.1721.113 9.3.2.5 Object 0x1009: Manufacturer hardware version The object contains the hardware version number. D000080278.0002 - 0A EN | 25...
  • Page 26 9 Commissioning and Operation Kübler Group Index Object name Name Type Attribute 0x1009 Manufacturer Visible String hardware version Data content: e.g., “HW-12718801 -" in ASCII code Hardware Version (127xxxxx) with change index (-, A, B, etc.) 9.3.2.6 Object 0x100A: Firmware version The object contains the software version number.
  • Page 27 Kübler Group 9 Commissioning and Operation 9.3.2.8 Object 0x1011 Restore manufacturer settings The parameters in the main memory are deleted with the command and replaced with default values (manufacturer’s values as when the inclinometer was delivered). Index Object name Name Type Attribute 0x1011...
  • Page 28 9 Commissioning and Operation Kübler Group 9.3.2.10 Object 0x100D: Lifetime factor (monitoring object nodes) The object defines a multiplier after which the connection between the guarding master and the object node to be monitored is considered to be broken. Lifetime Factor multiplied by Guard Time.
  • Page 29 Kübler Group 9 Commissioning and Operation NOTICE Heartbeat producer A heartbeat producer transmits the message cyclically with the set time. The content of the data byte corresponds to the status of the CAN node: Status of the CAN node Content of the data byte Pre-operational 0x7F Operational...
  • Page 30 9 Commissioning and Operation Kübler Group Code (decimal) Transmission type cyclically acyclically synchronous asynchronous 1…240 241…251 Reserved 252 (not supported) 253 (not supported) Meaning of the decimal code for the transmission type: Code Meaning (decimal) synchronous (0x00), after SYNC (only with a value change since the last SYNC) 1…240 Cyclic-synchronous (0xEF), value transmitted after SYNC...
  • Page 31 Kübler Group 9 Commissioning and Operation Sub-Index Value Default Meaning 0x00 – 0x03 Number of supported sub-indices (read only) 0x01 0x00 Event oriented transmission disabled 0x01 Event oriented transmission enabled 0x02 0x05…0x3E8 0x64 Minimum change of longitudinal axis angle (Angle in value/100°) 0x03 0x05…0x3E8...
  • Page 32 9 Commissioning and Operation Kübler Group Sub-Index Meaning 0x00 Number of supported sub-indices Read only Default: 0x05 0x01 COB-ID Read only Default: 0x0000 0180 + node number 0x02 Transmission type Value range: 0x01…0xF0 (cyclic, example: 0x03 = at every 3rd synchronization) Value 0xFE: event specific Default: 0x01...

  • Page 33: Creating Variable Pdo Mapping

    Kübler Group 9 Commissioning and Operation Bit length Meaning Slope long16 (X-axis) Slope lateral16 (Y-axis) Sub-Index Meaning 0x00 Number of supported sub-indices Read only Default: 0x05 0x01 COB-ID Read only Default: 0x0000 0280 + node number 0x02 Transmission type Value range: 0x01…0xF0 (cyclic, example: 0x03 = at every 3rd synchronization) Value 0xFE: event specific Default: 0x01...
  • Page 34 9 Commissioning and Operation Kübler Group The total size of mapped objects within a PDO mapping table (object 0x1A00FF) may not exceed 64 bits. The same transmission type, inhibit time, and event time have to be set for all mapped objects within a PDO mapping table (object 0x1A00FF). Example: Mapping tables for TPDO1 and TPDO2 0x1800 Mapping table TPDO 1 0x1801 Mapping table TPDO 2...
  • Page 35 Kübler Group 9 Commissioning and Operation Application object 2 occupies 1 byte in the send PDO (0x08). This is followed by application object 3 with a length of 16 bits (0x10 = 2 Bytes), and finally application object 1, which is 1 byte in length.
  • Page 36 9 Commissioning and Operation Kübler Group Sub-Index Meaning 0x00 Number of supported sub-indices Read only Value range: 0x00…0xFF 0x01 1st Application Object Default: 0x3103 0110 (gyroscope X axis) 0x02 2nd Application Object Default: 0x3103 0210 (gyroscope Y axis) 0x03 3rd Application Object Default: 0x3103 0310 (gyroscope Z axis) 0x04 4th Application Object...

  • Page 37: Setting The Device Parameters (1 Axis And 2 Axis Devices)

    Kübler Group 9 Commissioning and Operation 9.3.3.5 PDO Mapping according to CiA (from CANopen Version 4) The default allocation of process data objects (default mapping) meets the requirements of the CiA. For special application cases, the allocation can be changed using variable mapping. With variable mapping, the application objects (input and output data) can be freely allocated to the PDOs using mapping tables.
  • Page 38 9 Commissioning and Operation Kübler Group Sub-Index Value Data Transmission rate 0x00 0x00 1000 1000 kbit/s 0x01 800 kbit/s 0x02 500 kbit/s 0x03 250 kbit/s 0x04 125 kbit/s Default: 0x02 9.3.4.3 Object 0x2102: CANbus termination (switching the terminating resistor on and off) A 120-Ω...
  • Page 39 Kübler Group 9 Commissioning and Operation Index Object name Name Type Attribute 0x3000 Digital filter Unsigned16 Static inclinometers (IN6x): Sub-Index Value Meaning 0x00 0x01 Slow 0x02 Balanced Default: 0x02 Dynamic inclinometers (IN7x): Sub-Index Value Meaning 0x00 0x01 Slow 0x02 Balanced 0x03 Fast 0x04...
  • Page 40 9 Commissioning and Operation Kübler Group 9.3.4.8 Object 0x3103: Gyroscope (setting the incline axes) The incline axes can be set using the object. Index Object name Name Type Attribute 0x3103 Gyroscope Unsigned8 Sub-Index Value range Default Meaning 0x00 – 0x03 Number of supported sub- indices (read only) 0x01...
  • Page 41 Kübler Group 9 Commissioning and Operation If the resolution is changed, the following values have to be NOTICE adapted: 0x6010: Incline value Slope long16 0x6012: Preset value of Slope long16 0x6013: Offset value of Slope long16 0x6014: Offset value of the slope difference Slope long16 0x6020: Incline value Slope lateral16 0x6022: Preset value of Slope lateral16 0x6023: Offset value Slope lateral16...

  • Page 42: Setting The Device Parameters (2 Axis Devices)

    9 Commissioning and Operation Kübler Group 9.3.4.13 Object 0x6012: Slope long16 preset value Using the object, the current incline value can be set to a preset value. Thus, for example, the zero position of the device can be aligned with the machine zero position. The offset value is the preset value minus the incline value.
  • Page 43 Kübler Group 9 Commissioning and Operation Index Object name Name Type Attribute 0x6020 Slope Integer16 lateral16 Sub-Index Value range Default Meaning 0x00 0x0000…0xFFFF – Incline value Slope lateral16 9.3.5.2 Object 0x6021: Slope lateral16 Operating Parameters The object shows the calculated incline value of the lateral axis with scaling switched on or off. When scaling is enabled, the value is output as follows: Lateral incline = physically measured angle + offset value of the slope difference + offset value of the lateral incline.

  • Page 44: Network Management

    9 Commissioning and Operation Kübler Group 9.3.5.4 Object 0x6023: Slope lateral16 offset Using the object, the offset value (preset value minus the current incline value) can be set in degrees, depending on the selected resolution in 0x6000. Index Object name Name Type Attribute...

  • Page 45: Troubleshooting

    Kübler Group 9 Commissioning and Operation IMG-ID: 388558731 Initialization After switching on the supply voltage or after a reset, the node is in initialization status. After the reset or initialization routine runs, the node switches automatically to pre-operational status. Pre-operational In pre-operational status, CAN nodes can be addressed using SDO messages or NMT commands under the standard identifier.

  • Page 46: Maintenance

    10 Maintenance Kübler Group 10 Maintenance The device is maintenance free Clean it with a damp cloth as needed. In harsh environments, we recommend inspecting for secure seating and possible damage on a regular basis. If there are questions or when ordering spare parts, have ready the data printed on the device type plate, including the serial number.

  • Page 47: Disposal

    Kübler Group 11 Disposal 11 Disposal Dispose of all unusable or irreparable products in an environmentally sensitive manner, in accordance with country-specific requirements and valid waste disposal regulations. We would be more than happy to assist you in product disposal. See chapter Contact [} 50].

  • Page 48: Annex

    12 Annex Kübler Group 12 Annex 12.1 Decimal / Hexadecimal conversion table 0x33 0x66 0x99 0xCC 0x34 0x67 0x9A 0xCD 0x35 0x68 0x9B 0xCE 0x36 0x69 0x9C 0xCF 0x37 0x6A 0x9D 0xD0 0x38 0x6B 0x9E 0xD1 0x39 0x6C 0x9F 0xD2 0x3A 0x6D 0xA0...

  • Page 49: Conversion Table Data Types

    Kübler Group 12 Annex 0x1F 0x52 0x85 0xB8 0xEB 0x20 0x53 0x86 0xB9 0xEC 0x21 0x54 0x87 0xBA 0xED 0x22 0x55 0x88 0xBB 0xEE 0x23 0x56 0x89 0xBC 0xEF 0x24 0x57 0x8A 0xBD 0xF0 0x25 0x58 0x8B 0xBE 0xF1 0x26 0x59 0x8C 0xBF...

  • Page 50: Contact

    13 Contact Kübler Group 13 Contact You want to get in touch with us: Technical advice For technical advice, analysis or support during installation, Kübler is directly on site with its globally active application team. Support International (English-speaking) +49 7720 3903 849 support@kuebler.com Kübler Germany +49 7720 3903 849 Kübler Australia...
  • Page 51 Kübler Group Fritz Kübler GmbH Schubertstr. 47 D-78054 Villingen-Schwenningen Germany Phone +49 7720 3903-0 Fax +49 7720 21564 info@kuebler.com www.kuebler.com...

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