DIS Sensors QG65N2 Series User manual

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USER MANUAL
QG65N2 CANopen Inclinometer (Type I)
V2.0, Jul-21

DIS SENSORS BV 1
User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
Contents
1. Safety information ..........................................................................................................................................3
1.1. Intended use...........................................................................................................................................3
1.2. Incorrect use...........................................................................................................................................3
1.3. Sensor defective .....................................................................................................................................3
2. About this manual...........................................................................................................................................4
2.1. Intended use...........................................................................................................................................4
2.2. Symbols used in the text ........................................................................................................................4
2.3. Copyright ................................................................................................................................................4
2.4. Document revision control.....................................................................................................................5
3. Quick reference...............................................................................................................................................6
4. Installation guide.............................................................................................................................................7
4.1. Mechanical drawing ...............................................................................................................................7
4.2. Mounting................................................................................................................................................ 7
4.3. Connection .............................................................................................................................................8
4.4. CAN termination.....................................................................................................................................9
5. Technical data .................................................................................................................................................9
6. Functional description...................................................................................................................................10
6.1. Inclination measurement principle ......................................................................................................10
6.2. Measuring axis and direction ...............................................................................................................10
6.2.1. Measuring axis and direction for Inclination ...............................................................................10
6.2.2.Measuring axis and direction for acceleration ............................................................................11
6.3. Signal processing ..................................................................................................................................12
6.3.1. Sampling rate...............................................................................................................................12
6.3.2. Filter algorithm ............................................................................................................................12
6.3.3. Digital filters.................................................................................................................................12
6.4. Function mode .....................................................................................................................................14
6.5. Output format ......................................................................................................................................15
6.6. Boot-up procedure ...............................................................................................................................15
6.7. Emergency message .............................................................................................................................16
6.8. LSS (Layer Setting Service, according to CiA305-DSP) ..........................................................................17
6.9. Firmware management ........................................................................................................................17
6.10. Load factory default settings................................................................................................................19
6.11. Zero adjustment ...................................................................................................................................20
6.12. EDS & DCF.............................................................................................................................................20
6.13. Mappable objects.................................................................................................................................21
7. CANopen specification ..................................................................................................................................22
7.1. CANopen Communication Objects (COB).............................................................................................22
7.2. Predefined CAN-IDs..............................................................................................................................22
7.3. PDO (Reading sensor output)...............................................................................................................23
7.4. SDO (configuring Object Dictionary) ....................................................................................................23
7.5. NMT state.............................................................................................................................................24
7.6. Object Dictionary (device parameters) ................................................................................................24
8. CAN Object dictionary overview ...................................................................................................................25
8.1. 25
8.2. Communication profile (Index 1000h - 1FFFh).....................................................................................25
8.2.1. Object 1001hError register..........................................................................................................27
8.2.2. Object 1002hManufacturer status register.................................................................................27
8.2.3. Object 1003hPredefined error field ............................................................................................28
8.2.4. Object 1005h COB-ID SYNC message...........................................................................................28
8.2.5. Object 1006h Communication cycle period ................................................................................29

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
8.2.6. Object 1010h Store parameters ...................................................................................................30
8.2.7. Object 1011hRestore factory default parameters ......................................................................30
8.2.8. Object 1014hCOB-ID EMCY .........................................................................................................31
8.2.9. Object 1020hverify configuration................................................................................................31
8.2.10. Object 1029herror behaviour......................................................................................................31
8.2.11. Object 1800h, 1801hTPDO communication parameter...............................................................32
8.2.12. Object 1A00h, 1A01hTPDO Mapping parameter .........................................................................32
8.2.13. Object 1F80hNMT start-up behaviour.........................................................................................33
8.3. Manufacturer-specific profile (2000h - 5FFFh).....................................................................................34
8.3.1. Object 3007hFunction mode.......................................................................................................35
8.3.2. Object 300Fh Zero adjustment Inclination ..................................................................................35
8.3.3. Object 301Eh Manufacturer status register error mask...............................................................35
8.3.4. Object 301Fh Manufacturer status register mapping ..................................................................36
8.3.5. Object 300EhOutput filter ...........................................................................................................36
8.3.6. Object 300DhMoving average filter TPDO1 and TPDO2 .............................................................36
8.3.7. Object 3014hLowpass filter ........................................................................................................37
8.4. Standardized device profile (6000h – 9FFFh) (CiA410) ........................................................................38
8.4.1. Object 6000h Resolution ..............................................................................................................39
8.4.2. Object 6011h, 6021hOperating parameter ..................................................................................39
8.4.3. Object 6012h, 6022hPre-set inclination value..............................................................................39
8.4.4. Object 6013h, 6023hOffset inclination value...............................................................................39
8.4.5.Object 6401hSensor outputs.......................................................................................................40
8.5. Data type ..............................................................................................................................................40
9. Configuration tool .........................................................................................................................................41
9.1. Configuration kit...................................................................................................................................41
9.2. PC software ..........................................................................................................................................43
10. Abbreviations and definitions .......................................................................................................................48
11. Normative references ...................................................................................................................................48

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
1. Safety information
1.1. Intended use
The QG65N2 CANopen Inclinometer is a MEMS-based inclination sensor with CANopen interface.
This device provides precise and reliable inclination measurement in (semi)static conditions. The use
of this device in a machine or system is permitted only under the following conditions:
•The user is trained and competent in the integration and use of inclination sensors in machinery.
•The user is familiar with the contents of both the datasheet and user manual.
•The user has a full understanding of CAN and CANopen.
•The device is used within the specified environmental conditions.
•The device is properly configured for its intended use.
•The device is mounted correctly as described in the datasheet and user manual.
•The device data is expressly not interpreted as safety data, except when used redundantly in a control
system that is designed and tested for cross-check functionality between the primary and redundant
devices.
1.2. Incorrect use
•Use of non-standard CAN cables.
•Device mounted incorrectly.
•Zero adjustment outside the specified range.
•Incorrect or absent CAN bus termination.
•Device used outside the specifications.
1.3. Sensor defective
The sensor is considered “defective” when
•No CAN output can be detected.
•An emergency message with sensor error information is detected. (→ 6.7 Emergency message)
In the event of uncertainty, contact the distributor or manufacturer. Any unauthorised modification
or unapproved use will void both the warranty and any liability on the part of the manufacturer.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
2. About this manual
2.1. Intended use
This manual applies solely to the QG65N2 CANopen inclinometer (Type I) with the following model
designations:
•QG65N2-KIXv-360-CAN-C(F)M-UL —— 1 axis, ± 180°, vertical mounting, std. acccuracy.
•QG65N2-KDXYh-090-CAN-C(F)M-UL —— 2 axes, ± 90°, horizontal mounting, std. acccuracy.
•QG65N2-KDXYh-030-CAN-C(F)M-UL —— 2 axes, ± 30°, horizontal mounting, std. acccuracy.
•QG65N2-KIXv-360H-CAN-C(F)M-UL —— 1 axis, ± 180°, vertical mounting, high acccuracy.
•QG65N2-KDXYh-090H-CAN-C(F)M-UL —— 2 axes, ± 90°, horizontal mounting, high acccuracy.
•QG65N2-KDXYh-030H-CAN-C(F)M-UL —— 2 axes, ± 30°, horizontal mounting, high acccuracy.
DIS product code can be identified here.
2.2. Symbols used in the text
h Subscript for hexadecimal values.
d Subscript for decimal values.
Caution that indicates either potential damage to the sensor or explains how to
avoid a problem.
Important information.
→Cross-reference
2.3. Copyright
© Copyright 2021 DIS Sensors bv.
This manual is subject to change without notice.
All rights according to the copyright remain explicitly reserved for DIS Sensors bv.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
2.4. Document revision control
Version
Date(y-m-d)
Revision
V1.0
2021-03-19
1st release.
V2.0
2021-7-2
Correct errors in function mode 2, 6 and 7.
Updated screenshots of configurator.
Added message structure of object 1003h.
Document revision control is put to the end of chapter2 due to
the page length.
Correct format 1003h in table communication profile.
Improved description of data processing.
Correct command SYNC.
Added high accuracy model name.
Table 1 - Document revision

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
3. Quick reference
General
•1-axis ± 180° and 2-axes ± 30°/± 90° inclinometer
•Output type: CANopen
•Inclination, acceleration outputs defined by Function modes (→ object 3007h)
•Sensor outputs can be customised using TPDO mapping parameters (→ object 1A00h)
•Internal sample rate MEMS: 1000Hz; output rate: 100 Hz
•2nd order Low pass Bessel filter: 10Hz (→object 3014h)
•Output filter: adjustable 1st order LPF (→ object 300Eh)
•Moving average filter: averaging time interval adjustable from 10 ms to 100 ms (→ object
300Dh)
•An optional configurator is available on request
•Approved for automotive use, approval number: E4-10R-05-4662
CAN, CANopen
•CAN interface: CAN2.0 A/B (compliant with ISO11898-1&2)
•CANopen application layer and communication profile: EN50325-4 (CiA301 v4.0 and 4.2.0)
•CANopen device profile for inclinometer: CiA410
•LSS (Layer Setting Service) implemented
•TPDO1 (CAN-ID: 180h+ Node ID) and TPDO2 (CAN-ID: 280h+ Node ID)
•Outputs: inclination X-axis (longitudinal) in object 6010h; inclination Y-axis (lateral) in object
6020h
•Internal switchable CAN termination resistor: default off (→object 3003h)
•CAN bus bit rate: default 250 kbit/s (→object 3001h)
•Node ID: default 01h(→ object 3000hrange: 01h– 7Fh, max. 127 nodes)
•Heartbeat: default on, 2 s (→ object 1017h)
•Two modes of PDO transmission (→ object 1800h / 1801h)
- Event mode: default on, event timer default 100 ms (range 10 ms – 500 ms)
- Sync mode: default off
•Vendor ID DIS: 000001BDh(→object 1018h)
•Firmware version available via CAN Object Dictionary (→ object 1018h)
•Serial number format: xxxxxx-xxx (→ object 1018h)
•Zero adjustment of inclination available via CAN Object Dictionary (→ object 300Fh).
•Pre-set inclination setting available via CAN Object Dictionary (→ objects 6012h and 6022h).
•Bootup in NMT Operational state (→object 1F80h)
•Negative values: two’s complement
•Byte-sequence on CAN bus: little-endian (least significant byte first)

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
4. Installation guide
4.1. Mechanical drawing
Figure 1 - Mechanical drawing of QG65N2 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.
•If a software zero adjustment is impossible or undesirable, DIS provides an optional
reference solution of replacing 2 of the provided screws with 2 optional 4mm Ø
positioning pins, which can serve as mechanical reference.
•Tightening torque max. 2.5 Nm. A higher torque can cause damage to the housing or the
internal electronics.
•Fix the sensor to a perfectly flat surface.
•A 1-axis inclinometer must be mounted vertically. The factory default zero position is with
the male connector pointing down as shown in Figure 2 . Sensor can be zero adjusted at
any position within the full range.
•A 2-axis inclinometer must be mounted horizontally. The factory default zero position is
shown in Figure 2. After installation, sensor can be zero adjusted to eliminate the
mechanical offsets within a ±5° offset range.
Figure 3 - Vertical mounting 1-axis inclination
Figure 2 - Horizontal mounting 2-axes inclination

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
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 single male connector; suffix CFM
indicates both a female and a male connector.
The advantage of two connectors is that devices can be daisy-chained in the CAN network. The
voltage supply is forwarded from the male to the female connector, providing both power and bus-
connection to the next sensor with a single cable harness. The connection between male and female
connector acts as an internal T-junction.
The pin assignment is according to CiA 303-1 V1.8.0.
Pin
Assignment
Pin 1
Shield
Pin 2
Vcc
Pin 3
Gnd & CAN_GND
Pin 4
CAN_H
Pin 5
CAN_L
Figure 4 - Pin definition
•The maximum current for the internal T-junction is 2.5 A. This must be taken into account when
using daisy-chained connections.
•The voltage supply must be dimensioned to prevent exceeding the specified voltage limits.
•The power consumption is about 50mA typical.
•This device must be connected to a class 2 power supply.
•Connect the sensor only to an approved CAN controller which must have a grounded shield.
Alternative: connect the sensor housing to a grounded shield. All mentioned EMC standards that are
met (see Declaration of Conformity) have been done with the housing connected to a grounded
shield.
Installation of wiring and the opening and closing of electrical connections must only be carried out in
de-energized state! Short-circuits, voltage spikes, etc. can cause malfunctions and/or cause the installation
to become uncontrolled, creating a serious risk of injury or damage to property.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
4.4. CAN termination
A CAN bus should be terminated properly to prevent signal reflections. The QG65N2 CANopen
Inclinometer has an internal 120 Ohm termination resistor. By default, this is disabled, but it can be
enabled with object 3003h.
A separate M12 termination resistor and T-connector are also available as accessories for CANopen
devices.
Figure 5 - M12 CAN terminator male 5p.
Order code: 10217
Figure 6 - M12 CAN terminator female 5p.
Order code: 10194
Figure 7 - M12 T-connector male 5p.
Order code: 11822
The advantage of using a separate termination plug instead of the internal termination resistor is
that an external termination plug is clearly visible. This helps to prevent an inadvertent double
termination that could cause the entire CAN bus to malfunction.
5. Technical data
Please refer to the datasheet of your product.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
6. Functional description
6.1. Inclination measurement principle
QG65N2 Inclinometers measure inclination by measuring static acceleration of gravity using an
accelerometer MEMS. In static conditions, inclination measurement by this principle is accurate and
reliable.
However, the vibrations or movements present on almost all industrial machines generate
undesirable g-forces. These dynamic g-forces accumulate and overlay the static g-forces, causing a
‘dirty’ inclination output that includes spurious or noise components.
A low-pass filter can stabilize the output, that can be enough for some applications. The downside of
this filtering is that it increases the reaction time (latency) of the inclinometer. In a control system
this results in a limit on the speed of movements, and reduced machine efficiency.
If the dynamic effects are dominant and acceptable delay time is limited, please consider our
Dynamic inclinometer, where with the help of a gyroscope a sort of filtering is achieved without
having the downside of delay time.
6.2. Measuring axis and direction
6.2.1. Measuring axis and direction for Inclination
A single-axis inclinometer (vertical mount) measures the inclination in the vertical plane over
the full range 0-360° (X-output). The default 0° position and the measuring direction are shown in
Figure 8.
Figure 8 - Measuring axis and direction of 1-axis inclination.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
A dual-axis inclinometer (horizontal mount) measures the inclination on both X and Y axis.
Measuring range is up to 90°. Due to the measurement principle, only one axis may tilt more than
45°.
Figure 9 – Measuring axis and direction of 2-axis inclination.
Cross-tilt error: when the cross axis (axis perpendicular to the measuring axis) tilts more than 45° during the
measurement, the measuring axis will be disabled. The sensor will send a fixed CAN output to indicate that the
sensor is now at a cross-tilt error position (→Knowledgebase): 20000d(200°) for the measuring range ±180°,
±30°/ ±90°, and 40000d(400°) for the measuring range 0°-360°. In addition, an EMCY message will also be sent,
in which the last 5 bytes (00 00 00 00 01/02h) specifies the cross-tilt error on the X or Y axis (→Object 1002h
Manufacturer status register).
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.
Figure 10 – Measuring axis and direction of acceleration.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
6.3. Signal processing
Figure 11 - Signal processing
6.3.1. Sampling rate
Each axis of the acceleration MEMS is sampled by the internal microcontroller at a rate of 1000 Hz.
Those samples are fed into the filter algorithm and will be processed further.
6.3.2. Filter algorithm
Filter algorithm is implemented to improve the quality of the sampled raw data. The calculation rate
is 100Hz.
6.3.3. Digital filters
The inclination values can be further processed with digital filters, which can significantly eliminate
noises or reduce the bandwidth, making the sensor much less sensitive to accelerations or vibrations.
Different filters can be enabled/disabled or configured with the DIS configurator set CAN, or with the
CAN object dictionary.
Bessel Low pass filter
Normally, an inclinometer with a bandwidth of 10Hz is fast enough for most applications. Therefore a
2nd order low-pass Bessel filter with a fixed cut-off frequency of 10Hz is implemented. You can only
turn this filter ON/OFF with object 3014h. This filter is ON as default and effective on all sensing axes.
For standard inclination measurements it is highly recommended to leave this filter on.
Output filter
An additional 1st order low-pass filter called ‘output filter’ is implemented for further additional
reduction of bandwidth and extra noise filtering. This filter is useful for slow-moving applications
with a lower bandwidth than 10Hz. By setting a time-constant τ1in object 300Eh, the cut-off
1τ time in which the output changes to 70% of the step after a step response
MEMS Sampling
•3 DOF raw outputs
•Sampling rate 1000Hz
Filter Algorithm
•Calculation rate 100Hz
Digital Filters
•2nd order Bessel LPF
(10Hz)
•Output filter
•Moving average filter

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
frequency can be calculated by the formula f = 1 / (2π*τ). A longer filter time results in a narrower
bandwidth and therefore less noise, but also causes a longer phase delay.
Normally this filter is used in addition to the 2nd order Bessel LPF. Therefore, it does not make sense
to set the output filter to a higher frequency than 10Hz (i.e. τshould be >16ms). Common filter time
are 50ms (3Hz), 100ms (1.6Hz) or 200ms (0.8Hz).
This -3 dB frequency is independent of TPDO event time. However, when the output filter time-
constant is set to a value lower than the TPDO event time, the output filter is automatically disabled.
For example, if TPDO event time is set to 100 ms, and output filter time is set to 50 ms, this filter will
not work.
Moving average filter
The final inclination output is an average of the last N samples. This filter can be used to reduce the
noise level further, although it has only limited effect.
The sampling rate of this filter is 10 ms. This filter can be controlled via CAN object 300Dh.
N must be a number from 0d -10d. Setting the N to 0dand 1d will disable this filter.
The TPDO event timer decides the cycle time of the TPDO message. By default, the sensor sends a
new TPDO every 100 ms. This TPDO message contains an inclination measurement which is an
average of the preceding N x 10ms samples and is totally independent of the TPDO event time.
Example:
TPDO event timer = 50 ms, N = 7: every 50 ms, a new average inclination value from the previous
70 ms samples will be supplied in the TPDO message.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
6.4. Function mode
The QG65N2 can measure inclination and acceleration. By selecting the function mode via object
3007h, the sensor is configured to function as an inclinometer or accelerometer. Once a function
mode is selected, the TPDO mapping parameters (→8.1.12, page 32) are automatically configured
with the predefined objects and object entries. The user can also define the TPDO mapping objects
manually; the function mode is then changed to Mode FFh (user defined mode).
Function
mode
Output
TPDO mapping objects (1A00
h,
1A01
h
)
Mode 0
(default)
Inclination (CiA410)
TPDO1: 6010
h
- 00
h
(1-axis model)
TPDO1: 6010h- 00h, 6020h- 00h(2-axis model)
TPDO2: disabled
Mode 1
Inclination (CiA410) alternative
orientation
TPDO1: 6010
h
- 00
h
(1-axis model inverted)
TPDO1: 6020h- 00h, 6010h- 00h
(2-axis model with X and Y swapped, X and Y inverted)
TPDO2: disabled
Mode 2
Inclination (CiA410) +
Temperature
TPDO1: 6511
h
–
00
h,
6010
h
- 00
h,
(1-axis model)
TPDO1: 6511h–00h, 6010h- 00h, 6020h- 00h, (2-axis model)
TPDO2: disabled
Mode 3
Acceleration (3 axes)
TPDO1: 6401
h
-
01
h,
6401
h
-
02
h,
6401
h
-
03
h
TPDO2: disabled
Mode 4-5
Reserved
Mode 6
Inclination (compatible with
QG65 CAN firmware v4B)
TPDO1: 6401
h
– 0E
h
, (1-axis model)
6401h- 04h, 6401h- 05h(2-axis model)
TPDO2: disabled, 6401h- 01h, 6401h – 02h, 6401h– 03h
Mode 7
Inclination (compatible with
QG65N CAN firmware v6)
TPDO1: 6401
h
- 04
h
(1-axis model)
6401h- 04h, 6401h- 05h (2-axis model)
TPDO2: disabled, 6401h- 01h, 6401h – 02h, 6401h– 03h
Mode FF
User defined mode
(Output defined by user)
TPDO1: user defined
TPDO2: user defined
Table 2 – Sensor output configuration in different function modes.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
6.5. Output format
Inclination output format: CAN output = 100*α. (α = angle in degrees, factory resolution is 0.01°).
CAN outputs are sent with PDOs (→7.3 PDO (Reading sensor output).
For example:
Figure 12 - Output 1-axis ±180° sensor
Figure 13 - Output 2-axis ±90° sensor
In Figure 12, the sensor sends 1 axis inclination output with 2 Bytes Integer (Table 3).
Byte1
Byte0
23
h
82
h
Inclination output: 2382
h
= 9090
d
= 90.9°
Table 3 - Output 1-axis ±180° sensor
In Figure 13, the sensor sends 2 axis inclination outputs with 4 bytes integer. The 1st two bytes are
the X inclination and the 2nd two bytes are the Y inclination (Table 4).
Byte3
Byte2
Byte1
Byte0
Y inclination
X inclination
00
h
82
h
0B
h
C8
h
0080
h
= 130
d
= 1.3°
0BC8
h
= 3016
d
= 30.16°
Table 4 - TPDO1 of QG65N2-KDXYh-090H-CAN-C(F)M
Besides inclination values, the device also provides acceleration, angular rate and device
temperature. The user can customise the device outputs by changing the TPDO mapping parameters.
(→Object 1A00h, 1A01hTPDO Mapping parameter). For example, 1st two bytes are the device
temperature, the 2nd two bytes are the inclination output (Table 5).
Byte3 Byte2 Byte1 Byte0
23h 82h 00h 1Ah
Inclination output: 2382h= 9090d = 90.9° Device temperature: 001Ah = 26d °C
Table 5 - Customised TPDO message
6.6. Boot-up procedure
When the device is powered on, it automatically enters NMT Initialisation state. In this state, the
device will be initialised with the default parameters of the manufacturer-specific profile area and of
the standardized device profile area. When initialisation is complete, a bootup message 00hwill be

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
sent with the heartbeat (700h+ Node ID). If an error is detected during the boot up, an emergency
message with the error information will be sent.
6.7. Emergency message
When the device detects an internal error, an emergency object (80h+Node ID) with 8-bytes message
is transmitted. The error code is inserted at the location of object 1003h (pre-defined error field), and
the device enters the error state which is defined in Object 1029hError Behaviour (default: NMT pre-
operational state).
The first 3 bytes indicates the error code specified in CiA301 and error register specified in Object
1001h. The remaining 5 bytes indicate the manufacturer-specific error specified in Object 1002h.
Byte7 Byte6 Byte5 Byte4 Byte3 Byte2 Byte1 Byte0
Manufacturer-specific error (1002h) Error register (1001h) EMCY error code (CiA301)
00 00 00 00 00h =no error
00 00 00 00 01h =X-axis Cross-Tilt Error
00 00 00 00 02h =Y axis Cross-Tilt Error
00 00 00 00 08h= EEPROM error
More:
→ 8.1.2 Object 1002h Manufacturer status register
00h =no error
01h= Generic error
05h = Voltage error
81h= Manufacturer specific error
More:
→ 8.1.1 Object 1001h Error register
00 00h =No error. Always sent at start-up
10 xxh = Generic error
50 00h= Voltage error
50 10h = Self-test error
50 30h= Error during sensor initialization
60 00h = Watchdog error
60 00h = Error handler activated
62 00h = Device software error
80 00h = Sent at every change of the
manufacturer status register
81 xxh = CANopen stack message
82 xxh = CANopen stack message
FF 20h = EEPROM error
Table 6 – format EMCY message
When all errors are corrected, the device enters the error-free state and transmits an emergency
object with the error code ‘reset error / no error’ containing all 0 s.
Examples:
00 00 00 00 01 05 50 00h— Voltage error detected during initialization
00 00 00 00 01 81 80 00h— Cross-tilt error on X axis

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6.8. LSS (Layer Setting Service, according to CiA305-DSP)
Layer setting services (LSS) and protocols are used to request or change the settings of three
parameters of the physical layer, data link layer and application layer on a 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:
•Node ID (→object 3000h)
•CAN bus bit rate (→object 3001h)
•LSS address: 128-bit number to identify each node uniquely, consisting of the vendor ID, product
code, revision number and serial number with 32 bits each (→object 1018h)
After changing parameters using LSS, a save action must be performed. Normally your LSS tool can
be configured to perform an automatic save (store), as shown below:
Figure 14 - LSS save action
6.9. Firmware management
The factory-installed firmware version is stated on the device label.
Figure 15 - Firmware version

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
It can also be requested with object 100AhManufacturer software version. The message format is
“Vx.x.x” in ASCII, for example: V1.0.0.
The currently-installed firmware version might vary from the version on the sticker due to a firmware
update. Always check the actual version in the object dictionary.
It will soon be possible to update the firmware via the DIS configuration tool. This tool can check the
current firmware version in your device and upload the new firmware to the device. The user can
upload the new firmware to the device by simply clicking a button (Figure 16).
Figure 16 - Firmware update via configurator
The firmware release notes are available at www.dis-sensors.com under “downloads/user manuals”.

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User Manual - QG65N2 CANopen Inclinometer (Type I) V2.0
6.10. 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.
With object 1011h, the factory default settings below can be restored. Customised products may
have different factory default values, which may deviate from this manual. See the datasheet of your
customized products for these customized factory default values.
DIS factory default - communication parameters
Parameters Object DIS standard default value
COB-ID SYNC 1005h 00000080h
Communication Cycle Period
1006h00h
COB-ID EMCY
1014h00000081h
Producer heartbeat time
1017h2000d – 2000 ms
Error behaviour
1029h00h- Switch to pre-operational
NMT Start-up behaviour 1F80h00000000h – Start in operational
Node ID
3000h01h
Baud Rate
3001h03h - 250 kBit/s
Termination resistor
3003h00h - Disabled
Error masks 301Eh80001D40h
Table 7 – DIS standard factory default communication parameters
DIS standard factory default - application parameters
Parameters Object DIS standard default value
Function mode 3007h00h– Inclination (CiA 410)
Moving Average filtering
3022h sub 07h and 300Dh00h– Moving Average filtering OFF
Output Filter time
3022h sub 06h and 300Eh
00h – Output filter OFF
Operating parameters 6011h, 6021h02h – DIS default measuring direction
Pre-set enabled
Pre-set inclination value
(Zero value)
Offset inclination value
(Zero offset)
6012h, 6022h
6013h, 6023h
00h
Zero offset by calibration at factory.
Various per sensor
Table 8 – DIS standard factory default application parameters.