IFM Efector 410 Application guide

Device manual
Inclination sensor
2 axes
JN2200
Firmware 1.0
80237498/00 04/2016
UK

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Content
1 Preliminary note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Symbols used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.3 Electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.4 Tampering with the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Functions and features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4.1 Fixing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4.2 Mounting surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
5 Scale drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
6 Electrical connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
7 IO-Link interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
8 Basic system settings and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
8.1 Heating (ISDU index 4102) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
8.2 Measuring method (ISDU index 4106) . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
8.3 Measuring cell and ambient temperature, heating power (ISDU index
4110...4112). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
8.4 MEMS self-test (system command 0xB2 and ISDU index 4114) . . . . . . . 12
9 Parameter setting of the inclination sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
10 Angle calculation (ISDU index 4100) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
10.1 Perpendicular angle (ISDU index 4100 = 0). . . . . . . . . . . . . . . . . . . . . . 13
10.2 Euler angle (ISDU index 4100 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
10.3 Gimbal angle X (ISDU index 4100 = 2) . . . . . . . . . . . . . . . . . . . . . . . . . 14
10.4 Gimbal angle Y (ISDU index 4100 = 3) . . . . . . . . . . . . . . . . . . . . . . . . . 15
10.5 Explanatory example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
10.6 Limit frequency digital filter (ISDU index 4101) . . . . . . . . . . . . . . . . . . . 16
10.7 Quadrant correction (ISDU index 4103) . . . . . . . . . . . . . . . . . . . . . . . . . 16
10.8 Set zero point (system commands 0xE2 and 0xE3 and ISDU index 4105)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
10.9 Set teach (system commands 0xE0 and 0xE1 and ISDU index 4104) . 16
11 Parameter setting of the vibration measurement . . . . . . . . . . . . . . . . . . . . . . 18
11.1 Configure measuring plane (ISDU index 4107) . . . . . . . . . . . . . . . . . . . 18
11.2 FIR filter with vibration measurement (ISDU index 4108) . . . . . . . . . . . 19
11.3 Measuring range of the vibration measurement (ISDU index 4109) . . . 19
12 Process data transfer via IO-Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
13 Parameter setting of the analogue outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . 20
13.1 Analogue output as current source 4...20 mA . . . . . . . . . . . . . . . . . . . . 23

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13.2 Analogue output as voltage source 2...10 V. . . . . . . . . . . . . . . . . . . . . . 24
13.3 Teach ASP and AEP via system commands . . . . . . . . . . . . . . . . . . . . . 25
13.4 Fault message on analogue outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
14 Parameter setting of the digital switching outputs . . . . . . . . . . . . . . . . . . . . . 26
14.1 Output function ou1 and ou2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
14.2 Output function "hysteresis (normally OFF; normally open)" [Hno] . . . . 30
14.3 Output function "hysteresis (normally ON; normally closed)" [Hnc] . . . . 30
14.4 Switching output "window (normally OFF; normally open)" [Fno] . . . . . 32
14.5 Switching output "window (normally ON; normally closed)" [Fnc] . . . . . 33
14.6 Set points SP and reset points rP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
14.6.1 Setting via ISDU indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
14.7 Teach SP and rP via system commands . . . . . . . . . . . . . . . . . . . . . . . . 34
14.8 Switching delay dS1 / dS2 and switch-off delay dr1 / dr2 . . . . . . . . . . . 35
14.9 Logical operation of the switching outputs . . . . . . . . . . . . . . . . . . . . . . . 36
14.10 Function of the switching outputs in case of a fault FOU1 or FOU2 . . 37
14.11 Delay of the switching outputs in case of a fault (dFo) . . . . . . . . . . . . . 37
14.12 Output driver PnP or nPn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
14.13 Restore the factory setting (system command 0x82) . . . . . . . . . . . . . . 39
15 Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
16 Maintenance, repair and disposal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
17 Approvals/standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
18 Factory setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
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.: JN2200).
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 may result in malfunction or interference.
Information
Supplementary note
2 Safety instructions
2.1 General information
These instructions are an integral 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 be installed, connected and put into
operation by a qualified electrician.
2.3 Electrical connection
Disconnect the unit externally before handling it.

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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 IO-Link interface enables angle levelling and
position detection of machines and installations.
Typical applications are, for example, levelling of mobile cranes, set-up of mobile
machines or monitoring of wind turbines.
Features
●IO-Link V1.1 interface and IO Device Description according to IEC 61131-9
●2-axis inclination sensor with a measuring range of ±180°
●Different measurement options
●High accuracy and resolution
●High sampling rate and band width
●Configurable vibration suppression
●Configurable limit frequency (digital filter)
●Robust metal housing
●Suitable for industrial applications
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.

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5 Scale drawing
33,2
4,5
90
75
22
45 62
5,3
M12x1
M12x1
6 Electrical connection
The inclination sensors are fitted with two round 4-pole M12 connectors (class A)
in accordance with IEC 60947-5-2. The M12 connectors are mechanically A-coded
in accordance with IEC 61076-2-101.



1: L+ 24 V DC (+Ub-D)
2: OUT2 switching output 2
3: L- ground (GND)
4: OUT1 switching output 1 or IO-Link
M12 connector (left)



1: L+ 24 V DC (+Ub-A)
2: A2 analogue output 2
3: L- ground (GND)
4: A1 analogue output 1
M12 connector (right)
The ground connections of the two round M12 connectors are directly
connected to each other internally; the supply voltage connections are
decoupled from each other.

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7 IO-Link interface
The inclination sensors have a standardised IO-Link interface V1.1 and an IO-Link
device description according to IEC 61131-9. All measured values and parameters
are accessible via "Indexed Service Data Unit" (ISDU).
The individual configuration can be saved in the internal permanent memory
(EEPROM).
In the context of this unit manual the operating principle of IO-Link is assumed to
be known. In this connection we refer to the latest documents "IO-Link System
Description", "IO-Link Interface and System Specification" and "IO Device
Description Specification" published by the IO-Link consortium
(http://www.io-link.com).
The following features characterise the IO-Link interface:
Communication
●IO-Link revision V1.1
●Bit rate 38,400 bits/s (COM2)
●Minimum cycle time 5 ms
●Parameters are checked for valid values (range check)
Supported are
●SIO mode
●Block parameter setting
●Data storage
●Device Access Locks
●Device status and detailed device status
Manufacturer and device identification
Vendor ID 310 / 0x0136
Vendor Name ifm electronic gmbh
Vendor Text www.ifm.com
Device ID 416 / 0x0001A0
Product Name JN2200
Product ID JN2200
Product Text 2-axis inclination Sensor

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The mandatory parameters indicated in the index range 0...63 in the IO-Link
specification are summarised in the table below
Index Sub-
index
Type Value Content Read /
Write
Length
byte
0 1...16 UINT8 Direct
Parameter
Page 1
See IO-Link specification R 1 each
1 1...16 UINT8 Direct
Parameter
Page 2
See IO-Link specification R 1 each
2 0 UINT8 System
command
0x82
→ Factory setting
0xB2
→ Start self-test
0xE0
→ Set Teach XYZ
0xE1
→ Reset Teach XYZ
0xE2
→ Set Zero XYZ
0xE3
→ Reset Zero XYZ
0xC3
→ Teach SP1
0xC5
→ Teach rP1
0xC4
→ Teach SP2
0xC6
→ Teach rP2
0xCB
→ Teach ASP1
0xCC
→ Teach AEP1
0xCD
→ Teach ASP2
0xCE
→ Teach AEP2
W 1
3 0 UINT8 Data storage See IO-Link specification R/W Var
12 0 UINT16 Device Access
Locks
See IO-Link specification R/W 2

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Index Sub-
index
Type Value Content Read /
Write
Length
byte
13 0 Profile
Characteristic
0x0001 8000 8002 8003
0001 → Smart Sensor Profile
(DeviceProfileID)
8000 → Device Identification Objects
(FunctionClassID)
8002 → ProcessDataVariable
(Function-ClassID)
8003 → Diagnostics
(FunctionClassID)
R 8
14 0 PD Input
Descriptor
0x010600 020808 031010 031020
010600→Type=SetOfBool, Len=6,
Off-set=0
020808→Type=UInteger, Len=8,
Off-set=8
031010→Type=Integer, Len=16,
Off-set=16
031020→Type=Integer, Len=16,
Off-set=32
R 12
16 0 ASCII Vendor Name ifm electronic gmbh R 19
17 0 ASCII Vendor Text www.ifm.com R 11
18 0 ASCII Product Name JN2200 R 6
19 0 ASCII Product ID JN2200 R 6
20 0 ASCII Product Text 2-axis inclination sensor R 25
21 0 ASCII Serial Number R 12
22 0 ASCII Hardware
revision
XX R 2
23 0 ASCII Firmware
Revision
xx R 5
24 0 ASCII Application
Specific Tag
*** R/W max.
16
36 0 UINT8 Device status 00
→ Device operating properly
01
→ Maintenance required
02
→ Out-of-Specification
03
→ Functional-Check
04
→ Failure
R 1
37 0 UINT8 Detailed
Device Status
Array [13] of Events
(1-byte EventQualifier each
+ 2-byte EventCode)
R 39

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Index Sub-
index
Type Value Content Read /
Write
Length
byte
40 0 --- Process Data
Input
0x cccc bbbb aaaa
cccc
→ PDVal2 (INT16)
bbbb
→ PDVal1 (INT16)
aaaa
→ Bool/DevStatus (UINT16)
Bit 0
→ --SW 1
Bit 1
→ --SW 2
Bit 2
→ --
Bit 3
→ --
Bit 4
→ Measuring method
Bit 5
→ Self-test active
Bit 6
→ --
Bit 7
→ --
Bit 8
→ DeviceStatus LSB
Bit 9
→ DeviceStatus
Bit 10
→ DeviceStatus MSB
Bit 11
→ --
Bit 12
→ --
Bit 13
→ --
Bit 14
→ --
Bit 15
→ --
R 6
8 Basic system settings and diagnostics
The JN2200 inclination sensor can be used for inclination or vibration
measurement. All parameter values that are of importance to the selected
measuring method are nevertheless always accessible and are saved in the
internal memory. They are part of the IO-Link data storage.
If the measuring method "vibration" is set, all parameters for setting the inclination
measurement and all angle-dependent parameters for the switching and analogue
outputs keep their values.
Characteristic values of the sensors such as measuring cell temperature and
current heating power as well as the results of the last self-test can be read via
own ISDU indices.

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Index Sub-
index
Type Value Content Read /
Write
Length
byte
4102 0 UINT8 Heating 0
→ Heating off
1
→ Heating on
R/W
4106 0 UINT8 Measuring
method
0
→ Angle [0.01°]
1
→ veff [0.1 mm/s] / app [mg]
R/W
4110 0 INT16 MEMS
temperature
[1/10 °C] R 2
4111 0 UINT16 Heating power [mW] R 2
4112 0 INT16 Operating
temperature
[1/10 °C] R 2
4113 0 UINT8 Self-test status 0
→ No self-test active
1
→ Self-test active
R 1
4114 0 UINT8 Self-test result Bit2 = 1
→ x axis OK
Bit2 = 0
→ x axis fault
Bit1 = 1
→ y axis OK
Bit1 = 0
→ y axis fault
Bit0 = 1
→ z axis OK
Bit0 = 0
→ z axis fault
R 1
8.1 Heating (ISDU index 4102)
To ensure good temperature stability over the whole temperature range, the
measuring cell is regulated to a constant temperature. The regulation of the
heating is activated by the factory and can be deactivated by writing the value 0 to
the parameter of the heating (ISDU index 4102).
This has the following effects
●Reduction of temperature stability
●Current consumption decreases when operating
●Accuracies deviate from the indications in the data sheet
8.2 Measuring method (ISDU index 4106)
The required measuring method is set to the inclination or vibration measurement
via the ISDU index 4106.
8.3 Measuring cell and ambient temperature, heating power (ISDU index
4110...4112)
Measuring cell and ambient temperature inside the housing are redetermined
every 200 ms. They can be read via ISDU access (in any device status). The
signed 16-bit values (two's complement) indicate the temperature in 1/10 °C.

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8.4 MEMS self-test (system command 0xB2 and ISDU index 4114)
To check the function of the measurement axes a self-test of the measuring cell
can be carried out.
►Activate the MEMS self-test per IO-Link system command 0xB2 (ISDU index 2
= 0xB2).
The self-test takes about 2 s. During the self-test both in the ISDU index 4113 and
in the process data (ISDU index 40) the status flag is set to "1".
After the end of the self-test these flags are again set to the value "0". During the
self-test no process data can be measured.
The test result of the individual axes is coded in a byte and can be read from the
self-test register (ISDU index 4114):
00000xxxb
The 3 least significant bits code the internal x, y, z measurement axes
Bit 0: axis faulty
Bit 1: axis functional
9 Parameter setting of the inclination sensor
If the measuring method is set to inclination measurement (ISDU index 4106 = 0),
it can be adapted via the following parameters:
Index Sub-
index
Type Value Content Read /
Write
Length
byte
4100 0 UINT8 Angle calculation 0
→ Perpendicular
1
→ Euler
2
→ Gimbal 1X
3
→ Gimbal 1Y
R/W
4101 0 UINT8 FIR filter step angle 0
→ FIR deactivated
1
→ FIR 10 Hz
2
→ FIR 5 Hz
3
→ FIR 1 Hz
4
→ FIR 0.5 Hz
R/W
4103 0 UINT8 Quadrant
correction
0
→ off
1
→ on (± 180°)
R/W 1
4104 0 UINT8 Teach x / y / z axis
status
1
→ Teach active
(relative measurement)
2
→ Teach inactive
(absolute measurement)
R 1

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Index Sub-
index
Type Value Content Read /
Write
Length
byte
4105 0 UINT8 Zero x / y / z axis
status
1
→ Zero active
(relative measurement)
2
→ Zero inactive
(absolute measurement)
R 1
10 Angle calculation (ISDU index 4100)
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.
– 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.
10.1 Perpendicular angle (ISDU index 4100 = 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" (index 40, process data PDVal1).
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" (index 40, process data PDVal2).
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.

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10.2 Euler angle (ISDU index 4100 = 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
X [°] at which the z axis of the sensor is inclined. The "inclination value lateral"
corresponds to the angle Y [°] at which the sensor was then rotated about the
(inclined) z axis.
Interpretation
The first angle value X corresponds to the angle between the gravitation vector
and the sensor's z axis (slope inclination, gradient angle) whereas the second
angle value Y indicates the direction in which the slope inclination matches the
coordinate system.
Value range for this option
– Inclination value longitudinal (gradient angle): -90°…+90°
– Inclination value lateral (angle of direction): -180°…+180°
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.
10.3 Gimbal angle X (ISDU index 4100 = 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 X [°] indicated by the "inclination value longitudinal" as well as from
a rotation which then follows about the (now rotated) x axis with the angle Y [°]
"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

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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.
10.4 Gimbal angle Y (ISDU index 4100 = 3)
This setting corresponds to the setting described in 10.3 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 Y [°] "inclination value lateral". The
measured object is then rotated about the y axis (which is now inclined) with the
angle value X [°] indicated by the "inclination value longitudinal" of the sensor.
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.
10.5 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°

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10.6 Limit frequency digital filter (ISDU index 4101)
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 (ISDU
index 4101).
10.7 Quadrant correction (ISDU index 4103)
Quadrant correction means an extension of the angle indication to the measuring
range ± 180° (corresponds to ISDU index 4103 = 1).
The following conditions apply to the different angle calculations:
Perpendicular angle: longitudinal (X) and lateral (Y) are corrected.
Euler: only lateral (Y) is corrected.
For the gimbal angles the roll angle is corrected.
Gimbal X: longitudinal X (pitch angle), lateral Y (roll angle)
Gimbal Y: longitudinal X (roll angle), lateral Y (pitch angle)
10.8 Set zero point (system commands 0xE2 and 0xE3 and ISDU index
4105)
To set the zero point the sensor is rotated to the requested position and the current
position is set as "0". In this respect the system command 0xE2 has to be sent via
the IO-Link interface (ISDU index 2 = 0xE2).
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.
To delete the zero point, the system command 0xE3 has to be sent via the IO-Link
interface (ISDU index 2 = 0xE3). The status of the zero point (set or deleted) can
be read at any time via the ISDU index 4105.
10.9 Set teach (system commands 0xE0 and 0xE1 and ISDU index 4104)
Should it not be possible to integrate the inclination sensor into the measured
object so that the coordinate system of the sensor and object coordinate system
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.
To set the teach point, the system command 0xE0 has to be sent via the IO-Link
interface (ISDU index 2 = 0xE0). To delete the teach point, the system command
0xE1 has to be sent via the IO-Link interface (ISDU index 2 = 0xE1).

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The status of the teach point (set or deleted) can be read at any time via the ISDU
index 4104.
The result of this is that at the teach moment the xs axis must not be parallel to the direction of
gravitation. As long as the value for the ISDU index 4104 is 1, all angle indications are converted into
the new reference system.
The teach operation can, for example, be as follows:
The measured object with the non-aligned inclination sensor is brought into a
known horizontal position. In this position the teach function is carried out, thus
defining the new reference system. All provided angle values then refer to this new
reference system.
Even with an inclination sensor which is installed at an angle note that the x axis (xsaxis) of the
sensor is parallel to the xbzbplane of the requested reference system.
Explanatory example
Inclination sensor installed at an angle in the
coordinate system of the workpiece. The coordinate
system of the sensor is transferred to the coordinate
system of the workpiece by teaching the inclination
sensor when the workpiece is horizontally aligned.
The raw data of the sensor is indicated in the
coordinate system of the sensor.
In teach mode the data is converted into the
coordinate system of the workpiece.
The example shows a rotation of 30° about the y axis of the coordinate system of
the workpiece.
Perpendicular angle
without teach
Teach mode Perpendicular angle
without teach
Teach mode
Longitudinal
angle value
Lateral
angle value
Longitudinal
angle value
Lateral angle
value
Longitudinal
angle value
Lateral angle
value
Longitudinal
angle value
Lateral angle
value
-13.2° -29.3° 0° 0° -45.5° -29.5° -30° 0°

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11 Parameter setting of the vibration measurement
If the measuring method is set to vibration measurement (ISDU index 4106 = 1),
the sensor can be adapted to the respective application via the following IO-Link
parameters.
Index Sub-
index
Type Value Content Read /
Write
Length
byte
4107 0 UINT8 Axis selection for vibration
measurement
1 (001b )
→ z axis
2 (010b)
→ y axis
4 (100b)
→ x axis
3 (011b)
→ y/z axis
5 (101b)
→ x/z axis
6 (110b)
→ x/y axis
7 (111b)
→ all 3 axes
(x/y/z)
R/W 1
4108 0 UINT8 FIR filter step
for vibration measurement
0 → FIR deactivated
1
→ FIR 0.1...1 Hz
2
→ FIR 0.1...10 Hz
3
→ FIR 1...10 Hz
4
→ FIR 2...400 Hz
5
→ FIR 10...400 Hz
R/W 1
4109 0 UINT8 Measuring range for
vibration measurement
0
→ ± 2 g
1
→ ± 4 g
2
→ ± 8 g
R/W 1
If the vibration measurement is active, the sensor provides two different
characteristic values instead of the angle values.
The X angle value now corresponds to the effective value of the vibration velocity
(veff [1/10 mm/s]), the Y angle value to the maximum vibration acceleration (apeak
[mg]).
11.1 Configure measuring plane (ISDU index 4107)
The measurement categories are calculated by default from the measurement
axes of the internal acceleration measuring cell as follows:
v effective=√(v²x+ v²y+ v²z)
a peak=√(a²x+ a²y+ a²z)
The definition of the coordinate system of the acceleration measuring cell
corresponds to the coordinate system of the sensor. The mounting plane
corresponds to the xy plane and the z axis is perpendicular to the mounting plane.

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The last three LSBs of the parameter for the configuration of the measuring plane
(ISDU index 4107) set which measuring axes are included in the calculation of the
final result. By default the characteristic values of the vibration measurement for all
3 axes are measured.
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
11.2 FIR filter with vibration measurement (ISDU index 4108)
The sensor provides the possibility to filter the vibration signal. Depending on
the application the frequency range to be measured can be adapted. The limit
frequency of the filter is set via the FIR filter step (ISDU index 4108).
When the FIR filter has been changed for Veff or apeak, the measured values are
only transferred when the filters are in the steady state. This settling time depends
on the set values and can be taken from the table below:
0.1...1 Hz: approx. 70 s
0.1...10 Hz: approx. 70 s
1...10 Hz: approx. 12 s
2...400 Hz: approx. 9 s
10...400 Hz: approx. 5 s
11.3 Measuring range of the vibration measurement (ISDU index 4109)
The measuring range of the vibration measurement can be set up to a maximum
value. The measuring range of the internal acceleration measuring cell can
be limited for different applications to 2 g, 4 g or 8 g (maximum value) (g =
gravitational acceleration).
12 Process data transfer via IO-Link
The sensors transfer the cyclic process data (process exchange data) without
mutual interference by simultaneous transfer of parameters, commands or events
(on-request data).
The process data consist of 6 object data. The meaning of process value 1
and process value 2 depends on the measuring method set via the ISDU index
4106 (inclination or vibration measurement). The selected measuring method is
displayed at any time via a status bit.

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Another status bit indicates if the process values are not informative due to a
running self-test (in addition to ISDU index 4113).
The device status is indicated at any time via a bit field (in addition to ISDU index
36).
Name Data type Bit
offset
Bit
length
Value range Unit
Switching
output 1
Boolean 0 1 0 = inactive
1 = active
Switching
output 2
Boolean 1 1 0 = inactive
1 = active
Measuring
method
Boolean 4 1 0 = inclination
1 = vibration
Self-test active Boolean 5 1 0 = self-test inactive
1 = self-test running
Device status UINT 8 3 000 = device functions reliably
001 = maintenance successful
010 = device outside the
specification
011 = check function
100 = fault
Process value
1
Int 16 16 Angle X for inclination measurement
Veff for vibration measurement
1/100 °
1/10 mm/s
Process value
2
Int 32 16 Angle Y for inclination measurement
App for vibration measurement
1/100 °
1 mg (*)
(*) 1 mg = 1/1000 g, 1 g = 9.80665 m/s² standard acceleration
13 Parameter setting of the analogue outputs
There are two analogue outputs (right M12 connector) on the sensor to pass
on the measured process values (inclination angle or vibration) to a machine
controller (PLC).




1: L+ 24 V DC (+Ub-A)
2: A2 analogue output 2
3: L- ground (GND)
4: A1 analogue output 1
M12 connector (right)
The characteristics of the analogue output can be adapted to the respective
application via the following parameters.