SICK TMS88 Series User manual
TMS/TMM88, TMS/TMM61
Inclination sensors with CANopen interface
OPERATING INSTRUCTIONS
Described product
1- and 2-dimensional inclination sensors:
TMS88A
TMM88A
TMS88B
TMM88B
TMS88D
TMM88D
TMS61B
TMM61B
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
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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‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
2OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice
Contents
1 About this document........................................................................ 4
1.1 Function of this document....................................................................... 4
1.2 Explanation of symbols............................................................................ 4
2 Safety information............................................................................ 5
2.1 Intended use............................................................................................. 5
2.2 Incorrect use............................................................................................. 5
2.3 Requirements for the qualification of personnel.................................... 5
3 Overview............................................................................................. 6
4 Technical data.................................................................................... 7
4.1 Technical data for TMS88A/TMM88A..................................................... 7
4.2 Technical data for TMS88B/TMM88B.................................................... 8
4.3 Technical data for TMS88D/TMM88D.................................................... 10
4.4 Technical data for TMS61B/TMM61B.................................................... 11
5 Transport and storage....................................................................... 14
5.1 Transport................................................................................................... 14
5.2 Transport inspection................................................................................. 14
5.3 Storage...................................................................................................... 14
6 Mounting............................................................................................. 15
7 Connection......................................................................................... 16
8 Description of operation................................................................... 17
8.1 Function overview..................................................................................... 17
9 CANopen interface............................................................................ 18
9.1 Communication profile............................................................................. 18
9.2 Node IDs and COB IDs.............................................................................. 20
9.3 Layer setting services (LSS)..................................................................... 21
9.4 Network management: NMT.................................................................... 24
9.5 Service data objects (SDO)...................................................................... 28
9.6 Process data objects (PDO)..................................................................... 29
9.7 Object directory......................................................................................... 32
9.8 Error messages: Emergency.................................................................... 41
9.9 Automatic baud rate detection (to CiA AN-801)..................................... 42
9.10 Status LED (to CiA DR-303-3).................................................................. 43
CONTENTS
OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 3
8019054/14IT/2019-06-27 | SICK
Subject to change without notice
1 About this document
1.1 Function of this document
These operating instructions are intended to give technical personnel working for the
machine manufacturer or machine operator instructions on the mounting, electrical
installation, commissioning, and operation of the TMS/TMM61 and TMS/TMM88 incli‐
nation sensors.
These operating instructions do not provide information on operating the machine in
which an inclination sensor is integrated. For information about this, refer to the operat‐
ing instructions of the particular machine.
1.2 Explanation of symbols
Warnings in these operating instructions are labeled with symbols. The warnings are
introduced by signal words that indicate the extent of the danger. These warnings must
be observed at all times and care must be taken to avoid accidents, personal injury,
and material damage.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… 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.
1 ABOUT THIS DOCUMENT
4OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice
2 Safety information
2.1 Intended use
The TMS/TMM88 and TMS/TMM61 inclination sensors are measuring devices consist‐
ing of an electronic sensor and integrated evaluation electronics. The tasks for which
the measuring devices are designed include recording inclinations in solar thermal
energy, photovoltaics or heavy-duty vehicle applications.
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.
2.2 Incorrect use
TMS/TMM88 and TMS/TMM61 inclination sensors do not constitute safety compo‐
nents in accordance with the EC Machinery Directive (2006/42/EC). The inclination
sensors must not be used in explosion-hazardous areas. Any other use that is not
described as intended use is prohibited. Any use of accessories not specifically
approved by SICK AG is at your own risk.
WARNING
Danger due to improper use!
Any incorrect use can result in dangerous situations.
Therefore, take note of the following information:
■Inclination sensors should be used only according to intended use specifications.
■All information in these operating instructions must be strictly complied with.
2.3 Requirements for the qualification of personnel
The personnel who work on and with the device must be suitably authorized, trained,
and sufficiently qualified. Skilled personnel refers to the following:
•A member of staff who has received specialist training, which is backed up by
additional knowledge and experience.
•A member of staff who knows the relevant technical terms and regulations.
•A member of staff who can appraise the work assigned to them, recognize poten‐
tial hazards, and take suitable safety precautions.
Table 1: Skilled personnel qualifications
Task Qualification
Mounting •Technical training
•Knowledge of current workplace safety regulations
Electrical installation •Electrotechnical training
•Knowledge of the current electrotechnical workplace safety
regulations
•Knowledge of the operation and control of the sensor in the
particular application
Commissioning, configura‐
tion, and operation
•Technical training
•Knowledge of the operation and control of the sensor in the
particular application
SAFETY INFORMATION 2
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3 Overview
Properties
■1-dimensional inclination sensor with measuring range: 360° (±180°)
■2-dimensional inclination sensor with measuring range: 90° (X/Y)
■High sampling rate and bandwidth
■High resolution (0.01°)
■High accuracy (up to 0.02°)
■Compensated cross sensitivity
■Configurable vibration suppression
■Intelligent and flexibly adaptable sensor fusion algorithm for dynamic applications
(TMS/TMM88D)
■Convenient CANopen interface
°Meets the requirements of CiA DS-301, device profile CiA DSP-410
°Baud rates from 10 kbit/s up to 1 Mbit/s
°Automatic baud rate detection
°Setting of node ID and baud rate via LSS service
■Functions:
°One or two (TMS/TMM88D) Transmit PDOs: Can be mapped dynamically
(RTR, cyclic, event-driven, synchronized)
°SYNC consumer (sync. sending of the Transmit PDOs following receipt of a
SYNC message)
°EMCY producer fault monitoring using heartbeat or node guarding/lifeguard‐
ing
■UV-resistant, impact-resistant plastic housing or compact and rugged aluminum
housing
■Suitable for industrial use:
°Temperature range: -40 °C to +80 °C
°Enclosure rating: IP65/67 (TMS/TMM88D: IP67/69)
TMS 1-dimensional inclination sensors are used to measure inclinations in the 360°
range. TMM 2-dimensional inclination sensors are used to measure inclinations in 2
±90° ranges (X/Y). To ensure high levels of accuracy, the sensors are calibrated at the
factory.
A compact and rugged design makes the sensors an ideal solution for measuring
angles in harsh environments. They are compatible for use in all manner of applications
in industry and automotive engineering. All parameter settings can be made easily via
the CANopen interface or with the PGT-12-Pro hand-held programing tool.
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
3 OVERVIEW
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4 Technical data
Notice
NOTE
This chapter contains an extract of the technical data. For full details, see the TMS/
TMM88 (8019180), TMS/TMM88 Dynamic (8023359), TMS/TMM61 and TMM55
product information.
4.1 Technical data for TMS88A/TMM88A
Table 2: Technical data for TMS88A/TMM88A
General parame‐
ters1)
TMS88A TMM88A
Number of measur‐
ing axes
1 2
Measuring ranges 360° ±90°
Resolution 0.01° 0.01°
Accuracy Range
0...360°
Typical
±0.04°
Maximum
±0.10°
Range
up to ±60°
up to ±70°
up to ±80°
up to ±85°
Typical
±0.02°
±0.04°
±0.08°
±0.16°
Maximum
±0.05°
±0.10°
±0.20°
±0.40°
Cross sensitivity
(compensated)
- Typ. ±0.09° (±0.10%FS)
Max. ±0.45° (±0.50%FS)
Temperature coeffi‐
cient (zero point)
Typ. ±0.008°/K
Sampling rate 80 Hz
Limit frequency Typ. 20 Hz, 2nd order (no digital filter) / 0.1 ... 25 Hz, 8th order (with digi‐
tal filter)
Operating tempera‐
ture
-40 °C to +80 °C
Properties
Data rates 10 k, 20 k, 50 k, 62.5 k, 100 k, 125 k, 250 k, 500 k , 800 kbit/s,
1 Mbit/s
Automatic detection
Functions Polling of angle, cyclic and synchronized transmission,
digital filter (critically damped (default) or Butterworth low pass, 8th
order), configuration via object directory
Electrical parameters
Supply voltage 8 to 36 V DC
Current consump‐
tion
<33 mA @ 24 V
Mechanical parameters
CAN connection 2 x 5-pin M12 plug connectors (male connector - female connector,
looped through) to CiA 303-1
Enclosure rating IP65/67
Dimensions /
Weight
Large plastic housing: 66 mm x 90 mm x 36 mm / approx. 215 g
CANopen conformity
CiA DS-301, v4.2.0 Application layer and communication profile
TECHNICAL DATA 4
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Subject to change without notice
General parame‐
ters1)
TMS88A TMM88A
CiA DS-410 Device profile for inclinometer
CiA DSP-305 Layer setting service (LSS) and protocols
CiA DR-303-3 Indicator specification (status LED)
CiA AN-801 Automatic bit-rate detection
1) 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 1: TMS88A measuring axis (large plastic housing)
Figure 2: TMS88A measuring axes (large plastic housing)
4.2 Technical data for TMS88B/TMM88B
Table 3: Technical data for TMS88B/TMM88B
General parame‐
ters1)
TMS88B TMM88B
Number of measur‐
ing axes
1 2
Measuring ranges 360° ±90°
Resolution 0.01° 0.01°
Accuracy Range
0...360°
Typical
±0.15°
Maximum
±0.25°
Range
up to ±60°
up to ±80°
Typical
±0.10°
±0.20°
Maximum
±0.20°
±0.30°
Cross sensitivity
(compensated)
- Typ. ±0.10° (±0.11%FS)
Max. ±0.20° (±0.22%FS)
Temperature coeffi‐
cient (zero point)
Typ. ±0.008°/K
4 TECHNICAL DATA
8OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice
General parame‐
ters1)
TMS88B TMM88B
Sampling rate 80 Hz
Limit frequency Typ. 20 Hz, 2nd order (no digital filter) / 0.1 to 25 Hz, 8th order (with digi‐
tal filter)
Operating tempera‐
ture
-40 °C to +80 °C
Properties
Data rates 10 k, 20 k, 50 k, 62.5 k, 100 k, 125 k, 250 k, 500 k, 800 kbit/s, 1 Mbit/s
Automatic detection
Functions Polling of angle, cyclic and synchronized transmission,
digital filter (critically damped (default) or Butterworth low pass, 8th
order), configuration via object directory
Electrical parameters
Supply voltage 8 to 36 V DC
Current consump‐
tion
<16 mA @ 24 V
Mechanical parameters
CAN connection 1 x 5-pin M12 sensor plug connector (male connector)
Enclosure rating IP65/67
Dimensions /
Weight
Aluminum housing: 58 mm x 90 mm x 31 mm / approx. 200 g
CANopen conformity
CiA DS-301, v4.2.0 Application layer and communication profile
CiA DS-410 Device profile for inclinometer
CiA DSP-305 Layer setting service (LSS) and protocols
CiA DR-303-3 Indicator specification (status LED)
CiA AN-801 Automatic bit-rate detection
1) 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)
TECHNICAL DATA 4
OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 9
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Subject to change without notice
Figure 4: TMM88B measuring axis (aluminum housing)
4.3 Technical data for TMS88D/TMM88D
Table 4: General parameters for the dynamic inclination sensor
General parameters for the dynamic
inclination sensor1TMS88D TM88D
Number of measuring axes 1 2
Measuring ranges 360° ±90°
Resolution 0.01°
Static accuracy ±0.3° (typi‐
cal)
±0.5° (maxi‐
mum)
±0.3° (typi‐
cal)
±0.5° (maxi‐
mum)
Dynamic accuracy ±0.5° (typical)
Duration of spurious acceleration
suppression (configurable) 100 to 10000 ms
Temperature coefficient (zero point) ±0.01°/K (typical)
General parameters for the IMU2Acceleration sensor Gyro sensor
Measuring ranges ±8 g ±250 °/s
Resolution 0.244 mg 0.00875 °/s
In run bias stability – 6 °/h (typical)
Angular random walk (ARW) – 0.2 °⁄√h
Temperature coefficient (zero point) 0.2 mg/K (typical) 0.005 °/s/K (typical)
General parameters
Sampling rate 200 Hz
Operating temperature -40 °C to +80 °C
Properties
Data transmission rates 10k, 20k, 50k, 100k, 125k, 250k, 500k, 800k bit/s,
1 Mbit/s; Automatic detection
Functions
Polling of angle, cyclic and synchronized transmission,
parameterization, sensor fusion filter, digital low pass fil‐
ter (critically damped or Butterworth, 8th order), configu‐
ration via a digital interface
Electrical parameters
Supply voltage 8 to 36 V DC
Current consumption 15 mA @ 24 V
Maximum output current 350 mA
Mechanical parameters
Electrical connection 2 x sensor plug connectors, 5-pin M12 (male connector -
female connector, looped through)
4 TECHNICAL DATA
10 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice
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