Siko IK360 User manual

User manual

Inclinometer

with CANopen-Interface

IK360

IK360 -CAN xDate: 23.01.2017 Page 2 of 41 Art.no. 86089 Mod. Status 10/17

Table of content

1GENERAL SAFETY ADVICE.................................................................................................................... 4

2INTRODUCTION.......................................................................................................................................... 5

2.1 IK360.......................................................................................................................................................5

2.2 CANOPEN INTERFACE .............................................................................................................................5

2.3 IK360 CANOPEN.....................................................................................................................................5

3IK360 –MODES AND PARAMETERS .................................................................................................... 6

3.1 OPERATING MODES..................................................................................................................................7

3.1.1 Mode: Preoperational................................................................................................................... 7

3.1.2 Mode: Start Operational .............................................................................................................. 7

3.1.3 Mode: Stop Operation.................................................................................................................. 8

3.1.4 Reset of the inclinometer............................................................................................................. 8

3.1.5 Reset communication of the inclinometer................................................................................. 8

3.2 TRANSMISSION MODES ............................................................................................................................8

3.3 BOOT-UP PROCEDURE.............................................................................................................................9

4INSTALLATION ......................................................................................................................................... 10

4.1 PIN ASSIGNMENT....................................................................................................................................10

4.2 INSTALLATION PRECAUTIONS.................................................................................................................10

4.3 MOUNTING INSTRUCTIONS.....................................................................................................................10

4.4 BUS TERMINATION..................................................................................................................................11

4.5 MEASUREMENT AXIS..............................................................................................................................11

5IK360 SOFTWARE CONFIGURATION ................................................................................................. 12

5.1 IMPORTANT FACTORY SETTINGS............................................................................................................12

5.2 ACTIVE PROGRAMMING OBJECTS ..........................................................................................................13

5.3 PROGRAMMABLE PARAMETERS.............................................................................................................13

5.4 PDO TRANSMISSION .............................................................................................................................14

5.5 EXPLICIT EXCHANGES (SDO) ...............................................................................................................17

6WORKING WITH SCHNEIDER PLC...................................................................................................... 18

6.1 INTRODUCTION.......................................................................................................................................18

6.2 NETWORK INITIALIZATION.......................................................................................................................18

6.2.1 Hardware ..................................................................................................................................... 18

6.2.2 Software project information..................................................................................................... 19

6.3 CONFIGURATION ....................................................................................................................................21

6.4 DEBUGGING............................................................................................................................................23

6.5 RUN........................................................................................................................................................24

7TROUBLESHOOTING.............................................................................................................................. 27

8IK360 CANOPEN OBJECTS................................................................................................................... 28

8.1 OBJECT 1000H:DEVICE TYPE ..............................................................................................................28

8.2 OBJECT 1001H:ERROR REGISTER.......................................................................................................29

8.3 OBJECT 1003H:PRE-DEFINED ERROR FIELD ......................................................................................29

8.4 OBJECT 1005H:COB-ID SYNC ............................................................................................................29

8.5 OBJECT 1008H:MFR DEVICE NAME.....................................................................................................29

8.6 OBJECT 1009H:MFR HARDWARE VERSION.........................................................................................30

8.7 OBJECT 100AH:MFR SOFTWARE VERSION .........................................................................................30

8.8 OBJECT 100CH:GUARD TIME...............................................................................................................30

8.9 OBJECT 100DH:LIFE TIME FACTOR.....................................................................................................30

8.10 OBJECT 1010H:STORE PARAMETERS..................................................................................................30

8.11 OBJECT 1011H:RESTORE PARAMETERS.............................................................................................31

8.12 OBJECT 1014H:COB-ID EMERGENCY.................................................................................................31

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8.13 OBJECT 1016H:CONSUMER HEARTBEAT TIME....................................................................................32

8.14 OBJECT 1017H:PRODUCER HEARTBEAT TIME ....................................................................................32

8.15 OBJECT 1018H:IDENTITY OBJECT........................................................................................................32

8.16 OBJECT 2200H:CYCLIC TIMER.............................................................................................................33

8.17 OBJECT 2300H:SAVE PARAMETER WITH RESET.................................................................................33

8.18 OBJECT 2600H:PRESET X-AXIS (IK360-2 AXIS)/PRESET (IK360-1 AXIS).......................................33

8.19 OBJECT 2601H:PRESET Y-AXIS (IK360-2 AXIS).................................................................................33

8.20 OBJECT 3000H:NODE NUMBER ...........................................................................................................34

8.21 OBJECT 3001H:BAUD RATE..................................................................................................................34

8.22 OBJECT 3002H:TERMINATION RESISTOR ............................................................................................35

8.23 OBJECT 3022H:DIGITAL RECURSIVE FILTER.......................................................................................35

8.24 OBJECT 3100H:MOVING AVERAGE FILTER..........................................................................................35

8.25 OBJECT 6000H:RESOLUTION...............................................................................................................35

8.26 OBJECT 6010H:SLOPE LONG16...........................................................................................................36

8.27 OBJECT 6011H:SLOPE LONG16 OPERATING PARAMETER...................................................................36

8.28 OBJECT 6012H:SLOPE LONG16 PRESET VALUE..................................................................................36

8.29 OBJECT 6013H:SLOPE LONG16 OFFSET..............................................................................................37

8.30 OBJECT 6014H:DIFFERENTIAL SLOPE LONG16 OFFSET......................................................................37

8.31 OBJECT 6020H:SLOPE LATERAL16......................................................................................................37

8.32 OBJECT 6021H:SLOPE LATERAL16 OPERATING PARAMETER..............................................................37

8.33 OBJECT 6022H:SLOPE LATERAL16 PRESET VALUE.............................................................................38

8.34 OBJECT 6024H:DIFFERENTIAL SLOPE LATERAL16 OFFSET.................................................................38

8.35 OBJECT 6114H:DIFFERENTIAL SLOPE LONG32 OFFSET......................................................................39

9OUTPUT GRAPHS.................................................................................................................................... 39

GLOSSARY .........................................................................................................................................................41

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1 General Safety Advice

Read these instructions carefully and have a look at the equipment to become familiar with the

device before trying to install, operate or maintain it.

The following special messages may appear throughout this documentation & on the equipment

to warn of potential hazards or to call attention towards information that clarifies / simplifies a

procedure.

The addition of this symbol to a Danger or Warning safety label indicates that an

electrical hazard exists, which will result in personal injury, if the instructions are not

followed.

This is the safety alert symbol. It is used for alerting, in case of potential personal

injury or hazards. Obey all safety messages that follow this symbol to avoid possible

injury or death.

Please Note

Electrical equipment should be serviced only by qualified personnel. No responsibility is

assumed by SIKO for any consequences arising out of the use of this material. This document

is not intended as an instruction manual for untrained persons.

About this manual

This user manual explains how to install and configure the IK360 inclinometer with a CANopen

interface by illustrations.

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2 Introduction

2.1 IK360

IK360 inclinometers sense and measure the angle of tilt (Inclination/Slope/Elevation) of an

object with respect to the force of gravity. The angle is measured with the relative change in

electrical capacitance.

The basic principle behind this IK360 inclinometer is a Micro-Electro-Mechanical Systems

(MEMS) sensor cell, that is embedded to a fully molded ASIC. A simplified version of the sensor

consists of two electrodes, one is fixed, and the other is flexible (connected with spring

elements). When the inclinometer is parallel to the surface of measurement, a corresponding

capacitance is measured. If the sensor is tilted, the flexible electrode will change its position

relative to the fixed electrode. This results in a change of the capacitance between the two

electrodes, which is measured by the sensor cell. The change of the capacitance is converted to

a corresponding inclination value.

Absolute inclinometers identify all the points of a movement by means of an unambiguous

signal. Due to their capacity to give clear and exact values to all inclinations positions,

inclinometers have become one of the interesting alternatives to singleturn absolute (and

incremental) encoders and a link between the mechanical and control systems.

2.2 CANopen interface

CANopen is based on the Controller Area Network (CAN), that was developed by automotive

industries in the 80s and is nowadays used in many industrial applications. The application

protocol CANopen was introduced by the multi vendor association CAN in Automation (CiA) to

ensure a full compatibility of industrial automation products. It is a multiple access system

(maximum: 127 nodes), which means that all devices can access the bus. These devices/nodes

are the components of the CANopen bus and in our case the node is the IK360 inclinometer.

In simple terms, CANopen works as a client-server model. Each device checks whether the bus

is free and if it is free the device can send messages. If two devices try to access the bus at the

same time, the device with the higher priority level (lowest ID number) has permission to send

its message.

Devices with the lowest priority level must cancel their data transfer and wait before re-trying to

send their message. Data communication is carried out via messages. These messages consist

of a unique COB-ID (refer to glossary) followed by a maximum of 8 bytes of data. The COB-ID,

which determines the priority of the message, consists of a function code and a node number.

The node number corresponds to the network address of the device. It is and has to be unique

on a bus in order to distinguish nodes and prevent any conflict of interests.

The function code varies according to the type of message being sent:

Management messages (LMT, NMT)

Messaging and service (SDOs)

Data exchange (PDOs)

Predefined messages (Synchronization, Emergency messages)

2.3 IK360 CANopen

The IK360 CANopen inclinometer corresponds to the CANopen device profile for inclinometer

DS 410, in which the characteristics of inclinometers with CANopen interface are defined.

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In addition to high resolution, accuracy and protection class of IP69K, it has in-built active

linearization and temperature compensation. This makes IK360; IK360L suitable for rugged

environments and versatile applications in industrial, heavy duty and military applications.

The inclinometer supports the following operating modes:

Polled mode: The position value is transmitted only on request.

Cyclic mode: The position value is sent cyclically (regular, adjustable intervals) on the bus.

SYNC mode: The position value is sent, after a synchronization message (SYNC) is

received. The position value is sent every n SYNCs (n ≥ 1).

State change mode: The position value is transmitted, whenever the position of the

inclinometer, in continuous operation, changes.

The CANopen interface of the IK360 inclinometer permits transmission rates of up to 1 MBaud/s

(30 m / 100 ft cable for a maximum speed of 1 MBaud/s, 5000 m / 16,500 ft cable for a

maximum speed of 10 kBaud/s).

The IK360 CANopen is a flexible measurement device. This is proved by the fact, that it has

easily programmable parameters like resolution, preset and software filters. Other functions

such as offset values, baud rate and node number can also be configured using CANopen

objects in the IK360 inclinometers with ease and according to the network.

Various software tools for configuration and parameter-setting are available from different

suppliers. It is easy to align and program the inclinometers using the EDS (electronic data

sheet) configuration file provided.

3 IK360 –Modes and Parameters

The purpose of this chapter is to describe all the available configuration parameters of the IK360

inclinometers with a CANopen interface.

Before going into details the following information describes useful technical terms and

acronyms for CANopen network communication.

EDS (Electronic Data Sheet)

An EDS file describes the communication properties of a device on the CAN network (baud

rates, transmission types, I/O features, etc.). It is provided by the device manufacturer and is

used in the configuration tool to configure a node.

PDO (Process Data Object)

CANopen frame containing I/O data.

We distinguish between:

Transmit-PDOs (TPDOs with data provided by a node).

Receive-PDOs (RPDOs with data to be consumed by a node).

The transmission direction is always seen from a node's point of view.

SDO (Service Data Object)

CANopen frames containing parameters. SDOs are typically used to read or write parameters,

while the application is running.

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COB-ID (Communication Object Identifier)

Each CANopen frame starts with a COB-ID working as the identifier in the CAN frame.

Duringthe configuration phase each node receives the COB-ID(s) of the frame(s), for which it is

the provider (or consumer).

The NMT protocols are used to issue state machine change commands (i. e. to start and stop

the devices), detect remote device boot ups and error conditions.

NMT (Network Management Protocol)

3.1 Operating modes

3.1.1 Mode: Preoperational

When the device is in this state, its configuration can be modified. However, only SDOs can be

used to read or write device-related data.

The device goes into "Pre-Operational" state:

after the power up or

on receiving the "Enter Pre-Operational" NMT indication, if it was in operational state.

When configuration is complete, the device goes into one of the following states on receiving

the corresponding indication:

"Stopped" on receiving the "Stop Remote Node" NMT indication

"Operational" on receiving the "Start Remote Node" NMT indication.

To set one or all nodes to pre-operational mode, the master must send the following message:

Identifier

Byte 0

Byte 1

Description

80h

NMT: Pre-operational Mode, all nodes

80h

NN (in hex)

NMT: Pre-operational Mode, NN

NN: node number

3.1.2 Mode: Start Operational

The device goes into the "Operational" state, if it was in the "Pre-Operational" state on receiving

the "Start Remote Node" indication. When the CANopen network is started using the "Node

start" NMT services in "Operational" state, all device functionalities can be used.

Communication is possible by PDOs or SDOs.

Note: Modifications to the configuration in "Operational" mode may have unexpected

consequences and should therefore only made in "Pre-Operational" mode.

To put one or all nodes in the operational state, the master has to send the following message:

Identifier

Byte 0

Byte 1

Description

01h

00h

NMT: Start Remote Node, all nodes

01h

NN (in hex)

NMT: Start Remote Node, NN

NN: node number

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3.1.3 Mode: Stop Operation

The device goes into the "Stopped" state on receiving the "Node stop" indication (NMT service),

if it was in "Pre-Operational" or "Operational" state. In this state, the device cannot be

configured. No service is available to read and write device-related data (SDO). Only the slave

monitoring function "Node Guarding" remains active.

To put one or all nodes in the stop operational state, the master has to send the following

message:

Identifier

Byte 0

Byte 1

Description

02h

00h

NMT: Stop Remote Node, all nodes

02h

NN (in hex)

NMT: Stop Remote Node, NN

NN: node number

3.1.4 Reset of the inclinometer

If a node is not operating correctly, it is advisable to carry out a reinitialization.

Identifier

Byte 0

Byte 1

Description

81h

00h

NMT: Reset Node

81h

NN (in hex)

NMT: Reset Node

NN: node number

After reinitialization the inclinometer accesses the bus in pre-operational mode.

3.1.5 Reset communication of the inclinometer

If the communication of a node is not operating correctly, it is advisable to carry out a reset of

the communication.

Identifier

Byte 0

Byte 1

Description

82h

00h

NMT: Reset Communication

82h

NN (in hex)

NMT: Reset Communication

NN: node number

After reset of the communication, the inclinometer accesses the bus in pre-operational mode.

3.2 Transmission modes

Polled mode

By a remote-transmission-request telegram the connected host calls

for the current process value. The inclinometer reads the current

position value, calculates eventually set-parameters and sends back

the obtained process value by the same identifier.

Cyclic mode

The inclinometer cyclically transmits (without being called by the

host) the current process value. The cycle time can be programmed

in milliseconds for values between 0 ms and 65536 ms.

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SYNC mode

After receiving a SYNC telegram by the host the inclinometer

answers with the current process value. If more than one node

number (encoder) shall answer after receiving a SYNC telegram, the

answer telegrams of the nodes will be received by the host in order

of their node numbers. The programming of an offset-time is not

necessary. If a node should not answer after each SYNC telegram

on the CAN network, the parameter sync counter can be

programmed to skip a certain number of sync telegrams before

answering again.

3.3 Boot-up procedure

The general boot-up procedure for the IK360 CANopen and the mapping of various modes are

illustrated below.

Number

Description

Module Power up

After initialization, the module automatically goes into pre-operational

mode

NMT: Start Remote Node

NMT: Pre-operational Mode

NMT: Stop Remote Node

NMT: Reset Node

NMT: Reset Communication

To set one or all nodes to pre-operational mode, the master must send the following message.

IK360 -CAN xDate: 23.01.2017 Page 10 of 41 Art.no. 86089 Mod. Status 10/17

4 Installation

4.1 Pin assignment

The inclinometer is connected via a 5 pin round M12 connector (Standard M12, male connector

on IK360, female connector at connection cable).

Description

CAN Ground

10-30 V supply voltage

0 V supply voltage

CAN High

CAN Low

4.2 Installation precautions

ATTENTION !!!

Do not remove or mount while the inclinometer is under power!

Avert any modifications to the plastic molding!

Avoid mechanical load!

4.3 Mounting instructions

IK360 is a pre-calibrated device, which can be put into immediate operation, upon simple and

easy installation with a three point mount and setting of preset. Its compact design and

installation "anywhere" makes it versatile.

The IK360 inclinometer can be mounted in any number of fashions, depending on the situation.

The mounting surface must be plane and free of dust and grease. It is absolutely necessary,

that the IK360 inclinometer is connected to potential equalization in a workmanlike manner. For

mounting we recommend cheese head screws with metrical thread M4 or UNC bolts #6 for the

best possible and secure mounting. Use all the 3 screws for mounting, but restrict the tightening

torque in the range of 1.5 –2.5 Nm for the screws. The M12 connectors are to be perfectly

aligned and screwed till the end with a tightening torque in the range of 0.4 -0.6 Nm. Use all the

three screws for mounting and also note to use the same tightening torque for all the screws. An

appropriate and well secured counter connector is also an important constraint for attaining the

stated IP69K protection.

Prior to installation, please check for all connection and mounting instructions to be complied

with. Please also observe the general rules and regulations on low voltage technical devices, for

safety and sustainability of IK360 Inclinometers over long period of time.

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