SICK TMM88D Operating Instructions Manual
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SICK TMM88D Operating Instructions Manual

Inclination sensors with canopen interface
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OPERATING INSTRUCTIONS
TMS/TMM88, TMS/TMM61
Inclination sensors with CANopen interface

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Summary of Contents for SICK TMM88D

  • Page 1 OPERATING INSTRUCTIONS TMS/TMM88, TMS/TMM61 Inclination sensors with CANopen interface...
  • Page 2 This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modifica‐...

  • Page 3: Table Of Contents

    Network management: NMT..............Service data objects (SDO)..............Process data objects (PDO)..............Object directory..................Error messages: Emergency..............Automatic baud rate detection (to CiA AN-801)........9.10 Status LED (to CiA DR-303-3)..............8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 4: About This Document

    … indicates a potentially harmful situation, which may lead to material damage if not prevented. NOTE … highlights useful tips and recommendations as well as information for efficient and trouble-free operation. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 5: Safety Information

    SICK AG assumes no liability for losses or damage arising from the use of the product, either directly or indirectly. This applies in particular to use of the product that does not conform to its intended purpose and is not described in this documentation.

  • Page 6: Overview

    Areas of application Agricultural and forestry machinery ■ Construction machinery and special-purpose vehicles ■ Solar thermal energy and photovoltaics ■ Automated guided systems ■ Crane and lifting technology ■ OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 7: Technical Data

    Dimensions / Large plastic housing: 66 mm x 90 mm x 36 mm / approx. 215 g Weight CANopen conformity CiA DS-301, v4.2.0 Application layer and communication profile 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 8: Technical Data For Tms88B/Tmm88B

    ±0.25° up to ±60° ±0.10° ±0.20° up to ±80° ±0.20° ±0.30° Cross sensitivity Typ. ±0.10° (±0.11%FS) (compensated) Max. ±0.20° (±0.22%FS) Temperature coeffi‐ Typ. ±0.008°/K cient (zero point) OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 9 All specified angular accuracies apply after a run-in time of 10 min at 25 °C, limit frequency 0.3 Hz, absolute calibration accuracy (at 25 °C): ±0.05° Figure 3: TMS88B measuring axis (aluminum housing) 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 10: Technical Data For Tms88D/Tmm88D

    15 mA @ 24 V Maximum output current 350 mA Mechanical parameters 2 x sensor plug connectors, 5-pin M12 (male connector - Electrical connection female connector, looped through) OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 11: Technical Data For Tms61B/Tmm61B

    Technical data for TMS61B/TMM61B Table 5: Technical data for TMS61B/TMM61B General parame‐ TMS61B TMM61B ters Number of measur‐ ing axes Measuring ranges 360° ±90° Resolution 0.01° 0.01° 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...
  • Page 12 All specified angular accuracies apply after a run-in time of 10 min at 25 °C, limit frequency 0.3 Hz, absolute calibration accuracy (at 25 °C): ±0.05° Figure 7: TMS61B measuring axis (small plastic housing) OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 13 TECHNICAL DATA Figure 8: TMS61B measuring axis (small plastic housing) 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 14: Transport And Storage

    ■ Avoid mechanical shocks. ■ For storage periods of longer than 3 months, check the general condition of all ■ components and packaging on a regular basis. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 15: Mounting

    Figure 11: Fixing holes, small plastic housing NOTICE There is a risk of damage to the housing if inadequate lifting accessories are used! • Use suitable washers for plastic housings. 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 16: Connection

    CAN_GND GND / 0 V / V- CAN_H CAN_H bus cable CAN_L CAN_L bus cable Bus terminator NOTE The inclination sensors do not have an internal terminator. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 17: Description Of Operation

    Zero-point setting of the inclination angle ■ Setting of node ID and baud rate via LSS service according to CiA DSP-305 ■ Automatic baud rate detection according to CiA AN-801 ■ 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 18: Canopen Interface

    These channels are formed with the help of the communication object identifier (COB ID). The COB IDs are based on the node IDs of the individual devices on the CANopen (see "Node IDs and COB IDs", page 20). OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 19 CAN bus, they can also be integrated into the trunk cable without the need for T-connectors or Y-cables. Trunk cable Stub cables Figure 14: Example: Network topology 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 20: Node Ids And Cob Ids

    Transmit SDO Transmit 0580h + node ID 0581h … 05FFh 1536 + node ID 1537 … 1663 Receive SDO Receive 0600h + node ID 0601h … 067Fh OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 21: Layer Setting Services (Lss)

    Switch Mode Global The Switch Mode Global command switches the configuration mode on or off. The com‐ mand remains unconfirmed and the inclination sensor does not respond. 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...
  • Page 22 Byte 1 table index from the baud rate table: Table 14: Baud rate table Table index Baud rate Supported 1,000 kbit/s 800 kbit/s 500 kbit/s 250 kbit/s 125 kbit/s OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 23 FFh = Contains a specific error code Byte 2 error extend: The error extension is manufacturer-specific; it is always 00h in the case of the inclina‐ tion sensor. 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 24: Network Management: Nmt

    NMT slaves. The NMT master moni‐ tors all devices and can change their status. A PLC or a PC usually serves as the NMT master. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 25 Reset Communication status. Reset Communication Sets the inclination sensor to Reset Communication status. After this, the inclination sensor switches to Initialization status. 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...
  • Page 26 (700h + node ID). 9.4.4 Node guarding and heartbeat The inclination sensor can be monitored permanently with the node guarding protocol or the heartbeat protocol. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 27 Status node ID Table 30: Meaning of byte 0 Byte 0, status Parameter Bit 7 Toggle bit The bit changes its value every time it is polled. 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 28: Service Data Objects (Sdo)

    The command code (CCD) identifies whether read or write access is required. In the event of an error, the data range will contain a 4-byte error code which provides infor‐ mation about the cause of the error. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 29: Process Data Objects (Pdo)

    Process data objects (PDO) are used for rapid and efficient data exchange of real-time data (e.g., I/O data, setpoint values or actual values). PDOs are transmitted without confirmation. The inclination sensor supports one or two (TMS/TMM88D) transmit PDOs. 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...
  • Page 30 Byte 4 Byte 5 Byte 6 Byte 7 node ID Inclination value Inclination value Not used longitudinal lateral The following objects can be mapped in the TPDOs: OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 31 For the inclination sensor to output the PDO cyclically or acyclically, the transmission type must be changed in the Transmit PDO in object 1800.02h (see "Transmit PDO – Transmission type (1800h/1801h)", page 35). 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 32: Object Directory

    Highest subindex supported UNS32 Restore all parameters (OD: 0x1000-0x9FFF) UNS32 Restore communication parameters UNS32 (OD: 0x1000-0x1FFF) Restore application parameters UNS32 (OD: 0x6000-0x9FFF) Restore manufacturer parameters UNS32 (OD: 0x2000-0x5FFF) OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 33 100 µs) 1017h Heartbeat rate time (multiple of 1 ms, 0 deacti‐ UNS16 vated) 1018h Identity object Highest subindex supported UNS8 Vendor ID (SICK AG ident number) UNS32 01000056h Product code UNS32 {dep. on type} Revision number UNS32 {dep.
  • Page 34 (bits 15 to 0) are transmitted in the first two bits of the manufacturer-spe‐ cific part of each EMCY message as well as in the additional information field (bits 31 to 16) of the predefined error field 1003h. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 35 02h, 03h, or 04h. 9.7.1.5 Transmit PDO – Transmission type (1800h/1801h) The entries 1800.02h/1801.02h are used to define how the sending of the PDO is trig‐ gered. 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...
  • Page 36 (1/0) Perform gyro offset correction. UNS8 Writing 1 performs the offset correc‐ tion and permanently saves the cal‐ culated values. The process takes approx. 2 s. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 37 0.1 Hz can be suppressed with the configurable 8th order low-pass filter. The sensor has two digital filters which can be selected according to the area of appli‐ cation in which the sensor is being used. 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...
  • Page 38 = 2 Hz Butterworth, f = 0.5 Hz critically damped, f = 2 Hz critically damped, f = 0.5 Hz Time [s] Figure 19: Pulse response of both filters OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...
  • Page 39 Transmit PDO 1 is constantly calculated and checked. Every time the status switches to Operational, the inclination sensor signals the current position by sending Transmit PDO 1 once (only if 3001.01h = 1). 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...
  • Page 40 Value range, TMS type: -18,000 ... +17,999 → -180.00° ... +179.99° = 0 ...359.99° Value range, type TMM: -9,000 ... +9,000 → - 90.00° ... + 90.00° OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 41: Error Messages: Emergency

    Operational, Operational, or Stopped) is not affected by the error statuses, except in the case of guarding errors. Emergency messages are sent with high priority on the bus. They are always 8 bytes long: 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...

  • Page 42: Automatic Baud Rate Detection (To Cia An-801)

    After this, the inclination sensor starts up, logs in with a boot-up message, and switches to Pre-Operational mode. OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice...

  • Page 43: Status Led (To Cia Dr-303-3)

    The device has detected the failure of the guarding mas‐ flash ter (node guard event). The device is in “busoff” status. Key: LED off, LED on, LED flickering (50 ms on/off), duration: 200 ms 8019054/14IT/2019-06-27 | SICK OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 Subject to change without notice...
  • Page 44 Phone +36 1 371 2680 Phone +386 591 78849 E-Mail ertekesites@sick.hu E-Mail office@sick.si India South Africa Phone +91-22-6119 8900 Phone +27 (0)11 472 3733 Further locations at www.sick.com E-Mail info@sick-india.com E-Mail info@sickautomation.co.za SICK AG | Waldkirch | Germany | www.sick.com...

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