IFM Electronic Efector 410 JN2100 Application guide

Device manual
Inclination sensor
2 axes
JN2100
from firmware 2.1.0
80011481/00 10/2014
UK

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Contents
1 Preliminary note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Symbols used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.3 Electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.4 Tampering with the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Functions and features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.1 Fixing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.2 Mounting surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
5 Scale drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
6 Electrical connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
6.1 Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
7 CANopen interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
7.1 CANopen functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
7.2 Set-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7.3 Communication types of process data object (PDO) . . . . . . . . . . . . . . . . . 8
7.3.1 Cyclical operating mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7.3.2 Synchronised transmission after reception of a SYNC telegram . . . . 9
7.4 Object directory (OD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
7.4.1 Communication parameters (to CiA DS-301). . . . . . . . . . . . . . . . . . 12
7.5 Service data object (SDO) mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.5.1 System settings 0x2000 - 0x203F . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.5.2 Applicative 0x2040 - 0x207F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.5.3 System settings 0x4000 - 0x403F . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7.5.4 Informative 0x4080 - 0x40BF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7.5.5 Additional functionality 0x5C10 - 0x 5D30 . . . . . . . . . . . . . . . . . . . . 16
7.5.6 Profile-specific part (to CiA DSP-410) 0x6000 – 0x9FFF. . . . . . . . . 16
8 Angle definition (2044h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
8.1 Perpendicular angle (0x2044 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
8.2 Euler angle (0x2044 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
8.3 Gimbal angle X (0x2044 = 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.4 Gimbal angle Y (0x2044 = 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.5 Explanatory example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
9 Other sensor functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
9.1 Node ID (SDO index 2000h) and baud rate (SDO index 2001h) . . . . . . . 19
9.2 Limit frequency digital filter (SDO index 2043h) . . . . . . . . . . . . . . . . . . . . 20
9.3 Set zero point (2046h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
9.4 Set teach (2042h). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
9.5 Quadrant correction (2040h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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9.6 Heating (2041h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.7 MEMS self-test (4004h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.8 Temperature of the measuring cell (SDO index 4080h) . . . . . . . . . . . . . . 22
9.9 Inclination values longitudinal and lateral (SDO index 6010h and SDO
index 6020h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
10 Vibration measurement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
10.1 Measurement mode (SDO index 2047h) . . . . . . . . . . . . . . . . . . . . . . . . 22
10.2 Configure measuring plane (SDO index 2048h) . . . . . . . . . . . . . . . . . . 23
10.3 FIR filter (SDO index 2049h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
10.4 Measuring range (SDO index 204A h) . . . . . . . . . . . . . . . . . . . . . . . . . . 24
11 Parameter (connection set) handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
11.1 Save the connection set (OD index 1010h) . . . . . . . . . . . . . . . . . . . . . . 24
11.2 Reset the connection set (OD index 1011h). . . . . . . . . . . . . . . . . . . . . . 25
11.3 Factory reset (SDO index 207Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
12 Emergency messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
12.1 Failure monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
12.1.1 Node guarding / life guarding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
12.1.2 Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
12.2 COB IDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
12.3 Status LED (to CiA DR-303-3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
13 Maintenance, repair and disposal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
14 Approvals/standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
15 Factory setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
This document is the original instructions.

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1 Preliminary note
This document applies to the device of type "inclination sensor" (art. no.: JN2100).
It is part of the device.
This document is intended for specialists. These specialists are people who are
qualified by their appropriate training and their experience to see risks and to
avoid possible hazards that may be caused during operation or maintenance of
the device. The document contains information about the correct handling of the
device.
Read this document before use to familiarise yourself with operating conditions,
installation and operation. Keep this document during the entire duration of use of
the device.
Adhere to the safety instructions.
1.1 Symbols used
►Instructions
> Reaction, result
[…] Designation of keys, buttons or indications
→Cross-reference
Important note
Non-compliance can result in malfunction or interference.
Information
Supplementary note
2 Safety instructions
2.1 General
These instructions are part of the device. They contain texts and figures
concerning the correct handling of the device and must be read before installation
or use.
Observe the operating instructions. Non-observance of the instructions, operation
which is not in accordance with use as prescribed below, wrong installation or
incorrect handling can seriously affect the safety of operators and machinery.
2.2 Target group
These instructions are intended for authorised persons according to the EMC and
low-voltage directives. The device must only be installed, connected and put into
operation by a qualified electrician.

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2.3 Electrical connection
Disconnect the unit externally before handling it.
The connection terminals may only be supplied with the signals indicated in the
technical data and/or on the device label and only the approved accessories from
ifm may be connected.
2.4 Tampering with the device
Contact the manufacturer in case of malfunction of the unit or uncertainties.
Any tampering with the device can seriously affect the safety of operators and
machinery. In case of tampering with and/or modifying the unit, any liability and
warranty is excluded.
3 Functions and features
The 2-axis inclination sensor with CANopen interface enables angle levelling and
position detection of mobile machines.
Typical applications are, for example, the position detection of access platforms,
levelling of mobile cranes or set-up of mobile machines.
Features:
●2-axis inclination sensors with a measuring range of 360° (+/- 180°)
●High accuracy and resolution
●CANopen interface to CiA DS-301 and device profile CiA DSP-410
●The module supports "node guarding" and "heartbeat"; "guard time", "life time
factor" as well as "heartbeat time" can be configured.
●High sampling rate and band width
●Configurable vibration suppression
●CANopen functions
– Transmit PDOs (RTR, cyclical, synchronised)
– SYNC consumer (synchronised transmission of the transmit PDOs after
reception of a SYNC telegram)
– EMCY producer (exceeding of limit value, monitoring of the inside device
temperature)
– Failure monitoring by means of heartbeat or node guarding / life guarding
●Freely configurable limit frequency (digital filter)
●Robust metal housing
●Suitable for industrial applications

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4 Installation
4.1 Fixing
►Fasten the device using 4 M5 screws on a flat surface.
Screw material: steel or stainless steel.
4.2 Mounting surface
The housing must not be exposed to any torsional forces or mechanical
stress.
►Use compensating elements if there is no flat mounting surface available.
5 Scale drawing
36
4,5
90
753
22
45 60
5,3

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6 Electrical connection
The inclination sensors are fitted with two round 5-pole M12 connectors (A-coded).
The pin connection corresponds to the CANopen specification CiA DR-303-1.
4
21
3
5
1: CAN_SHLD shield
2: CAN_V+ supply voltage 24 V DC
3: CAN_GND GND
4: CAN_H H bus cable
5: CAN_L L bus cable
M12 connector CAN-In
3
12
4
5
1: CAN_SHLD shield
2: CAN_V+ supply voltage 24 V DC
3: CAN_GND GND
4: CAN_H H bus cable
5: CAN_L L bus cable
M12 socket CAN-Out
6.1 Bus termination
The inclination sensors have an internal terminating resistor that can be activated
via the CANopen interface → chapter SDO register.
7 CANopen interface
The inclination sensors have a standardised CANopen interface to CiA DS-301
and a device profile to CiA DSP-410. All measured values and parameters can be
accessed via the object directory (OD). The individual configuration can be saved
in the internal permanent memory (Flash).
7.1 CANopen functions
The following CANopen functions are available:
●Several transmit data objects (TPDO) in four possible operating modes:
– individual check via a remote transmit-request telegram (RTR)
– cyclical transmission per interval time
– synchronised transmission after reception of a SYNC telegram
– a service data object (default SDO)
●Error messages per emergency object (EMCY) with support of the:
– general error register
– manufacturer-specific register
– error list (pre-defined error field)
●Monitoring mechanisms heartbeat and node guarding/life guarding

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●Status and error indication via LED to CiA DR-303-3
●In addition to the basic CANopen functions there are other manufacturer and
profile-specific features:
– Setting of the node ID and the baud rate via OD
– Freely configurable limit frequency (digital filter)
7.2 Set-up
The CANopen standard CiA DS-301 defines three possible states for sensor
nodes.
Pre-operational
The pre-operational state is used to set the sensor parameters or as standby
mode. In the pre-operational state no process data (PDO messages) can be
transmitted.
Operational
The operational state is used to exchange the process data while in operation. In
the operational state all communication services are carried out.
Stopped
The stopped state is used for network management; only NMT messages are
possible.
The master or network manager can request the sensor via NMT messages to
change the state accordingly. This allows almost complete separation of redundant
or faulty sensors from the bus.
The inclination sensor from ifm is delivered with the node ID 10 and a baud rate of 125 Kbits/s.
7.3 Communication types of process data object (PDO)
The request for process data objects is made by sending a remote transmit
request telegram (RTR).
The different transmit PDOs (TPDOx) can be polled in all operating modes of the
inclination sensor individually and at any time.
7.3.1 Cyclical operating mode
The cyclical transmission of a TPDO is activated when the interval time
(e.g. OD index 1800h/05h for TPDO1) contains a value greater than 0. The
type of transmission (e.g. OD index 1800h/02h for TPDO1) has to be set to
"asynchronous – manufacturer-specific“ (value = FEh). In the "operational" state
the inclination sensor then cyclically transmits the TPDOx with the set interval
time.

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7.3.2 Synchronised transmission after reception of a SYNC telegram
For the synchronised transmission CANopen provides the SYNC object at which
the TPDOs are transmitted after every "nth" reception of a SYNC telegram.
Each inclination sensor has several transmit process data objects (TPDOx). The
TPDO1 contains the current inclination values (longitudinal and lateral) as 16-bit
values.
Byte 0 Byte 1 Byte 2 Byte 3
Inclination value longitudinal
(x axis)
OD index: 6010h
Inclination value lateral
(y axis)
OD index: 6020h
The second transmit process data object TPDO2 contains the inclination values as
32-bit values.
Byte 0 to byte 3 Byte 4 to byte 7
Inclination value longitudinal
(x axis)
OD index: 6110h
Inclination value lateral
(y axis)
OD index: 6120h
The third transmit process data object TPDO3 contains the vibration values
(aPeak and Veff) as 32-bit value.
Byte 0 to byte 3 Byte 4 to byte 7
Veff
OD index: 5C10h
aPeak
OD index: 5C11h
The resolution of the inclination information (SDO index 6000h) can be configured
accordingly. For the settings see the device profile for inclination sensors (CiA
DSP-410: SDO index 0x6000 – 0x9FFF).
A list with the individual values can be found in chapter "7.5.5. Profile-specific
part".
With the 16-bit transmission, the measuring range from 0...360° can only be shown correctly across
the whole range (overflow of the range of numbers) with a resolution of 0.1°.
At higher resolutions the axis values have to be transmitted with 35 bits.

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7.4 Object directory (OD)
Index Sub-
index
Name (parameter) Type Default value Save
1000h
0 Type of unit
(device profile 410, 2 axes)
const u32 4019Ah
1001h 0 Error register ro u8 0
1003h Pre-defined error field
0 Number of error entries rw u32 0
1...50 Error code
(oldest error at highest index)
ro u32 0
1005h 0 COB ID sync message rw u32 80h
1008h 0 Product designation Const VSTR JN2100
1009h 0 Hardware version Const VSTR x.y.z
100A h 0 Software version ("xyy") Const VSTR x.y.z
100C h 0 Guard time
(multiple of 1 ms)
rw u16 0 Yes
100D h 0 Life time factor rw u8 0 Yes
1010h Save parameters
0 Highest supported sub-index r0 u32 1
1 Save all parameters
(command: "save" 65766173h)
rw u32 0
1011h Restore factory parameters u32
0 Highest supported sub-index r0 u32 1
1 Restore all factory parameters
(command: "load" 64616F6Ch)
rw u32 0
1014h 0 COB ID EMCY (emergency
message)
ro u32 80h + node ID
1015h 0 Disable time between EMCY
messages
(multiple of 100 µs)
rw u16 0 Yes
1017h 0 Heartbeat interval time
(multiple of 1 ms, 0 deactivated)
rw u16 0 Yes
1018h Identity object
0 Highest supported sub-index ro u8 4
1 Vendor ID ro u32 0069666Dh
2 Product code ro u32 00
3 Revision number ro u32 AA
4 Serial number ro u32 Typical
1029h Error behaviour object
0 Number of error classes ro u8 1 No
1 Error behaviour rw u8 0 0x0

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Index Sub-
index
Name (parameter) Type Default value Save
1200h Server SDO parameter
0 Highest supported sub-index ro u8 2
1 COB ID client to server ro u32 600h + node ID
2 COB ID server to client ro u32 580h + node ID
1800h Transmit PDO1 communication parameters
0 Highest supported sub-index ro u8 5
1 COB ID ro u32 180h + node ID
2 Type of transmission
(synchronous + asynchronous,
manufacturer-specific)
rw u8 1 Yes
3 Disable time between
two TPDO messages
(multiple of 100 µm)
rw u16 0
5 Interval time for cycl.
transmission
(multiple of 1 ms,
0 deactivated)
rw u16 10 Yes
1801h Transmit PDO2 communication parameter
0 Highest supported sub-index ro u8 5
1 COB ID ro u32 280h + node ID
2 Type of transmission
(synchronous/asynchronous)
rw u8 1 Yes
3 Disable time between
two TPDO messages
(multiple of 100 µs)
rw u16 0
5 Interval time for cycl.
transmission
(multiple of 1 ms,
0 deactivated)
rw u16 10 Yes
1802h Transmit PDO3 communication parameter
0 Highest supported sub-index ro u8 5
1 COB ID ro u32 380h + node ID
2 Type of transmission
(synchronous/asynchronous)
rw u8 1
3 Disable time between
two TPDO messages
(multiple of 100 µs)
rw u16 0
5 Interval time for cycl.
transmission
(multiple of 1 ms,
0 deactivated)
rw u16 10
1A00h Transmit PDO1 mapping parameters (fixed mapping)

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Index Sub-
index
Name (parameter) Type Default value Save
0 Highest supported sub-index ro u8 2 Yes
1 Inclination value longitudinal
(x axis)
ro u32 60100010h
2 Inclination value lateral
(y axis)
ro u32 60200010h
1A01h Transmit PDO2 mapping parameters (fixed mapping)
0 Highest supported sub-index ro u8 2 Yes
1 Inclination value longitudinal
(x axis)
ro u32 61100020h
2 Inclination value lateral
(y axis)
ro u32 61200020h
1A02h Transmit PDO3 mapping parameters (fixed mapping)
0 Highest supported sub-index ro u8 2 Yes
1Veff ro u32 5C100020h
2 aPeak ro u32 5C110020h
Values for error behaviour (see 1029h)
0 = pre-operational (only if current state is operational)
1 = no change of state
2 = stopped
3 .. 127 = reserved
7.4.1 Communication parameters (to CiA DS-301)
Error register (OD index 1001h)
The error register indicates the general error status of the device. Every bit stands
for an error group. If a bit is set (= 1), at least one error of this group is active at
the moment. The contents of this register are transmitted in every emergency
message (EMCY).
Error groups
Bits 5...7 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Not used Communication error
(overrun)
Temperature Voltage Not used At least one
error active

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Pre-defined error field (OD index 1003h)
Each inclination sensor has an error list with the 50 most recent errors. The pre-
defined error field (OD index 1003h) contains the number of error entries (OD
index 1003h/00h).
The other sub-indices contain the saved error states in chronological order with
the error occurred last being always found under the lowest sub-index (OD index
1003h/01h).
The oldest error is in the highest available sub-index and is the first to be removed
from the list in the case of more than 50 errors.
If an error occurs, a new error entry is added to the error field (OD index 1003h)
and also communicated via an EMCY message.
Structure of an error entry
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Emergency error
code
Error register
(object 1001h)
Manufacturer-specific error field
Emergency error code Meaning
00xxh Error reset or no error
10xxh Generic error
31xxh Mains voltage
32xxh Voltage inside the device
41xxh Ambient temperature
42xxh Device temperature
80xxh Monitoring
81xxh Communication
8110h CAN overrun (objects lost)
8120h CAN in error passive mode
8130h Life guard error or heartbeat error
8140h Recovered from bus off
8150h Transmit COB ID
82xxh Protocol error
8210h PDO not processed due to length error
8220h PDO length exceeded
90xxh External error
F0xxh Additional functions

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7.5 Service data object (SDO) mapping
7.5.1 System settings 0x2000 - 0x203F
SDO
Index
Sub-
index
Type Value Unit r/w Reset
0x2000 0x0 u8 Node ID rw x
0x2001 0x0 u16 Baud rate Kbit rw x
0x2002 0x0 u8 Flag to reset the sensor
Flag = 1 sensor reset
rw
7.5.2 Applicative 0x2040 - 0x207F
SDO
Index
Sub-
index
Type Value Unit r/w Reset
0x2040 0x0 u8 Flag for quadrant correction
0: off
1: on ± 180°
2: on 0...360°
rw
0x2041 0x0 u8 Flag for heating
Flag = 0: heating off
Flag = 1: heating on
rw
0x2042 0x0 u8 Index teach values of the x/y/z axes
0: no change
1: set teach, relative measurement
2: reset teach, absolute measurement
rw
0x2043 0x0 u8 FIR filter step
0: FIR deactivated
1: FIR 10 Hz
2: FIR 5 Hz
3: FIR 1 Hz
4: FIR 0.5 Hz
rw
0x2044 0x00 u8 Angle calculation
0: perpendicular
1: Euler
2: gimbal 1X
3: gimbal 1Y
rw
0x2045 0x00 u8 CAN 120 Ω terminating resistor
0: resistor deactivated
1: resistor activated
rw
0x2046 0x0 u8 Set zero point of the x /y axes
0: no change
1: set zero (corresponds to the
relative measurement)
2. reset set zero (corresponds to the
absolute measurement)
rw
0x2047 0x0 u8 Output value
0: angle
1: Veff (V effective ) & aPeak (a peak)
rw

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SDO
Index
Sub-
index
Type Value Unit r/w Reset
0x2048 0x0 u8 Axis selection for Veff & aPeak
x axis active -> bit 2 = 1
x axis not active -> bit 2 = 0
y axis active -> bit 1 = 1
y axis not active -> bit 1 = 0
z axis active -> bit 0 = 1
z axis not active -> bit 0 = 0
rw
0x2049 0x0 u8 FIR filter for Veff & aPeak
0: FIR deactivated
1: FIR bandpass filter 0.1 - 1 Hz
2: FIR bandpass filter 0.1 - 10 Hz
3: FIR bandpass filter 1 - 10 Hz
4: FIR bandpass filter 2 - 400 Hz
5: FIR bandpass filter 10 - 400 Hz
rw
0x204A 0x0 u8 Measuring range for Veff & aPeak
0: ± 2 g
1: ± 4 g
2: ± 8 g
rw
0x207F 0x0 u8 Factory reset
1: make factory reset
rw
7.5.3 System settings 0x4000 - 0x403F
SDO
Index
Sub-
index
Type Value Unit r/w Reset
0x4004 0x0 u8 MEMS self-test
Number of sub-indices
r
0x4004 0x01 u8 Flag to activate the self-test
Flag = 1
→ start self-test
rw
0x4004 0x02 u8 Self-test register
x axis pass
→ bit 2 = 1
x axis fail
→ bit 2 = 0
y axis pass
→ bit 1 = 1
y axis fail
→ bit 1 = 0
z axis pass
→ bit 0 = 1
z axis fail
→ bit 0 = 0
r

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7.5.4 Informative 0x4080 - 0x40BF
SDO
Index
Sub-
index
Type Value Unit r/w Reset
0x4080 0x0 Integer
32
MEMS temperature 1/10 °C r
0x4081 0x0 u16 Heating power mW r
7.5.5 Additional functionality 0x5C10 - 0x 5D30
SDO
Index
Sub-
index
Type Value Unit r/w Reset
0x5C10 0x0 u32 Veff 1/10
mm/s
r
0x5C11 0x0 u32 aPeak mg r
7.5.6 Profile-specific part (to CiA DSP-410) 0x6000 – 0x9FFF
SDO
Index
Sub-
index
Type Value Unit r/w Reset
0x6000 0x0 u16 Resolution
1d = 0.001°
10d = 0.01°
100d = 0.1°
1000d = 1.0°
rw
0x6010 0x0 Integer
16
Longitudinal x axis Angle r
0x6020 0x0 Integer
16
Lateral y axis Angle r
0x6110 0x0 Integer
32
Longitudinal x axis Angle r
0x6120 0x0 Integer
32
Lateral y axis Angle r
8 Angle definition (2044h)
To be able to adapt the inclination sensor to the different applications as easily
as possible, the measured inclination information is converted into different angle
indications. The requested angle indication is set by selecting the respective
option.
With this angle definition a sensor coordinate system is used which is defined as
follows:
– The mounting plane corresponds to the xy plane.

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– The z axis is perpendicular to the mounting plane (according to the right-
hand rule).
– The x axis is represented by an edge of the mounting plate which shows in
direction of the printed x arrow.
– The y axis is then perpendicular to the plane spanned by the z and x axes.
8.1 Perpendicular angle (0x2044 = 0)
Using the indication of the two perpendicular angles the inclination of the sensor
coordinate system towards the direction of gravitation is described.
The first provided value corresponds to a rotation about the y axis of the sensor
and is called "longitudinal inclination value" (SDO index 6010h or 6110h).
The value corresponds to the angle [°] which the gravitation vector spans with the
yz plane.
The second provided value corresponds to a rotation about the x axis of the
sensor and is called "lateral inclination value" (SDO index 6020h or 6120h). The
value corresponds to the angle [°] between the gravitation vector and the xz plane
of the sensor.
In the case of an inclination in a plane (rotation of an axis with the second axis remaining
perpendicular) the perpendicular angle and gimbal angle are always identical.
8.2 Euler angle (0x2044 = 1)
In this setting the two provided angle values are to be interpreted as Euler angle.
The current sensor orientation is determined by two successive rotations from the
horizontal position.
The "inclination value longitudinal" indicates the angle [°] at which the z axis of the
sensor is inclined. The "inclination value lateral" corresponds to the angle [°] at
which the sensor was then rotated about the (inclined) z axis.
Interpretation
The first angle value corresponds to the angle between the gravitation vector and
the sensor's z axis (slope inclination, gradient angle) whereas the second angle
value indicates the direction in which the slope inclination matches the coordinate
system.

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Value range for this option
– Inclination value longitudinal (gradient angle): -90°…+90°
– Inclination value lateral (angle of direction): 0°…360°
Critical point
With a gradient angle of 0° the sensor is in a horizontal position. In this position the
second angle (angle of direction) is useless. In practice, it is to be expected that
the value of the second angle will vary very strongly even if the sensor is virtually
motionless.
8.3 Gimbal angle X (0x2044 = 2)
As with the Euler angle the current orientation of the sensor is described by two
successive rotations from the horizontal position.
But the current orientation now arises from a rotation about the y axis with the
angle value [°] indicated by the "inclination value longitudinal" as well as from
a rotation which then follows about the (now rotated) x axis with the angle [°]
"inclination value lateral".
Interpretation
If you imagine the sensor as a plane whose body shows in x direction and
whose wings in y direction, the "inclination value longitudinal" corresponds to the
longitudinal inclination of the plane (pitch angle) and the "inclination value lateral"
to the bank angle (roll angle) of the plane.
Value range
– Inclination value longitudinal: -90°…90°
– Inclination value lateral: -180°…180°
Critical point
With a longitudinal inclination of ± 90° ("plane" flies vertically downwards or
upwards) the roll angle makes a rotation about the gravitational axis which cannot
be detected by the inclination sensor. In this condition the "inclination value lateral"
is insignificant. In practice, the "inclination value lateral" will vary very strongly
when it is close to this condition even if there is only little movement.
8.4 Gimbal angle Y (0x2044 = 3)
This setting corresponds to the setting described in 8.3 with the difference that the
order of the two rotations is now inverted.
In this option the measured object is first rotated about its x axis with the angle [°]
"inclination value lateral". The measured object is then rotated about the y axis
(which is now inclined) with the angle value [°] indicated by the "inclination value
longitudinal" of the sensor.

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As a result of this the measured values of the gimbal angle X and the gimbal angle
Y are identical as long as the measured object is only rotated about one of the
sensor's axes. The measured values of the two options do not differ until a general
rotation is made about the two sensitivity axes.
8.5 Explanatory example
The different angle definitions will be illustrated using a simple example. An
excavator moves up and down an embankment (illustration). The embankment is
angled at 30°. The inclination sensor is installed so that the positive y axis of the
sensor shows in driving direction of the excavator.
1
2
3
4
5
6
Excavator
position
Perpendicular
angle
Euler Gimbal X Gimbal Y
Longitudinal Lateral Longitudinal Lateral Longitudinal Lateral Longitudinal Lateral
10° 0° 0° Undefined 0° 0° 0° 0°
20° -30° 30° 0° 0° -30° 0° -30°
320° -20° 30° 45° 20° -22° 22° -20°
430° 0° 30° 90° 30° 0° 30° 0°
530° 0° 30° 90° 30° 0° 30° 0°
60° 30° 30° 180° 0° 30° 0° 30°
9 Other sensor functions
9.1 Node ID (SDO index 2000h) and baud rate (SDO index 2001h)
In the case of a change node ID and baud rate do not become effective until after
a reset (reset application, reset communication or hardware reset).
After a reset all COB IDs are recalculated and set according to the pre-defined connection set.
The following baud rates [Kbits/s] are supported: 10, 20, 50, 125, 250, 500, 800, 1000.

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9.2 Limit frequency digital filter (SDO index 2043h)
With the sensor it is possible to make continuously arising angle values insensitive
to external interfering vibrations.
Using a configurable filter (digital FIR filter) interfering vibrations can be
suppressed. The limit frequency of the filter is set via the FIR filter step (SDO index
2043h).
9.3 Set zero point (2046h)
To set the zero point the sensor is rotated to the requested position and the current
position is set as "0". The value of the parameter "set zero point and y axis" (SDO
index 2046h) is to be set to 1.
The sensor then calculates the offset to the zero point shift and saves it in the
permanent memory. From then on the offset is subtracted from the angle.
Terminating resistor (2045h)
In bus topology a CANopen system is terminated with terminating resistors (120 Ω)
at the beginning and end. If the sensor is at the beginning or end, the terminating
resistor (SDO index 2045h) integrated in the sensor can be activated by writing the
value 1.
9.4 Set teach (2042h)
In principle, all provided inclination values refer to the sensor's coordinate system
xs,ys,zswhich is described in chapter 7.6.
Should it not be possible to integrate the inclination sensor into the measured
object so that the coordinate system of the sensor and object match, the teach
function enables the creation of a new reference system. The new reference
system xb,yb,zbis defined so that its zbdirection corresponds to the direction of
gravitation at the teach moment. The xbdirection of the reference system results
from the projection of the xsaxis of the sensor to the xbybplane of the reference
system. The ybaxis then corresponds to the direction which is perpendicular to
both the zband the xbaxis.