IFM JD Series Application guide

Device manual
Inclination sensor JD
with J1939 interface
80291553/00 05/2020
UK

UK
2 3
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 Intended use � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
4 Installation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4�1 Fixing � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
5 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�1 Bus termination � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
6 Measurement axes � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6�1 Dual axis inclination sensor ± 90° (JD23xx) � � � � � � � � � � � � � � � � � � � � � � � � 7
6�2 Single axis inclination sensor 0���360° (JD13xx) � � � � � � � � � � � � � � � � � � � � 7
7 J1939 interface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
7�1 Parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
8 PGN configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
8�1 Default PGNs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
8�1�1 PGN 65280 (dual axis): angle information + acceleration x, y � � � � � � 8
8�1�2 PGN 65281 acceleration z + gyro x, y, z � � � � � � � � � � � � � � � � � � � � � � 9
8�1�3 PGN 65282 (1 axis): angle information + acceleration x, y � � � � � � � � 9
8�2 PGN 61481� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
8�3 PGN 61481: Slope Sensor Information (extended range) � � � � � � � � � � � � 10
8�4 Configuration Write Parameter� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
8�5 Resolution of pitch/x angle and roll/y angle � � � � � � � � � � � � � � � � � � � � � � � 12
8�5�1 Cycle time � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
8�5�2 Baud rate � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
8�5�3 Pitch and roll default setting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
8�6 Fast Bootup Enable � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
8�7 Configuration of read parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
8�8 Changing the device address� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
9 Status LED � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
10 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
11 Graphic representation of the output functions � � � � � � � � � � � � � � � � � � � � � � � � 16
11�1 Output Values JD23xx � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
11�2 Output Graphs with Preset and Offset � � � � � � � � � � � � � � � � � � � � � � � � � � 17

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1 Preliminary note
Technical data, approvals, accessories and further information at
www�ifm�com�
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
●Read this document before setting up the product and keep it during the entire
service life�
●The product must be suitable for the corresponding applications and
environmental conditions without any restrictions�
● Only use the product for its intended purpose (→ Functions and features).
●If the operating instructions or the technical data are not adhered to, personal
injury and/or damage to property may occur�
●The manufacturer assumes no liability or warranty for any consequences
caused by tampering with the product or incorrect use by the operator�
●Installation, electrical connection, set-up, operation and maintenance of the unit
must be carried out by qualified personnel authorised by the machine operator�
●Protect units and cables against damage�
3 Intended use
Dynamic MEMS inclination sensors detect and measure the angle of tilt
(inclination/slope/elevation) of an object in relation to the force of gravity� This is
possible while the object stands still (static) or while it is moving (dynamic)�
The unit offers integrated linearisation and temperature compensation and ignores
external accelerations�
This makes the sensor particularly apt for moving (dynamic) applications and
harsh environments�
JD1xxx: Single-axis inclination sensor with an angular range of 0���360°�
JD2xxx: Dual axis inclination sensor with an angular range of ±90°�
Properties:
●high accuracy also during external accelerations
Typical applications are:
●mobile machines
●agricultural machines
●elevating work platforms
●automated guided transport vehicle (AGV)
4 Installation
4.1 Fixing
►Choose a plane mounting surface�
►Fix the unit using 4 screws, tightening torque 1�5���2�5 Nm�
Recommendation:
M6 hex-head screws (steel or stainless steel)
►Adjust M12 connectors precisely and screw them fully into the unit, tightening
torque 1�5 Nm�

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5 Electrical connection
The inclination sensor is connected via a 5-pin M12 connector�
4
21
3
5
1: CAN_GND Ground
2: CAN_V+ supply voltage 24 V DC (+UB)
3: GND CAN_ supply voltage 0 V DC (+UB)
4: CAN_H High bus cable
5: CAN_L Low bus cable
5.1 Bus termination
One terminating resistor is required
●if the sensor is connected at the end or the beginning of the bus�
● in case of a transmission rate ≥ 50 kBaud.
This prevents that information will be transmitted back to the CAN bus�
Dynamic ifm sensors have an integrated (switchable) 120 Ω termination resistor
that can be activated (1) or deactivated (0)�
The bus wires can be routed in parallel or twisted, with or without shielding in
accordance with the electromagnetic compatibility requirements� A single line
structure minimises reflection�
The following diagram shows the components for the physical layer of a two-wire
CAN bus�
PLC
CANopen
master
120 Ω
120 Ω
Inclinometer Inclinometer
other CAN
CAN high wire
CAN low wire
6 Measurement axes
6.1 Dual axis inclination sensor ± 90° (JD23xx)
The X-axis (Roll) and the Y-axis (Pitch) measure the angular position relative to the
earth vector� Both axes are limited to ± 90°� The sensor is mounted horizontally�
The X-axis and the Y-axis provide 0° if the inclination sensor is installed in a
horizontal position�
-X
+X
-Y
+Y
6.2 Single axis inclination sensor 0...360° (JD13xx)
The sensor is mounted vertically� A clockwise rotation around the Z-axis of the
sensor increases the angle value from 0���360°� When the male connector is
pointing downwards, the output is 0°�
Z = 0°Z = 359,9°/

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7 J1939 interface
7.1 Parameters
Node ID In the network, each device has a Node ID that is
used to address the device and to define the priority
(default: 25d; 19h)�
Baud rate Baud rate setting
125 kbaud, 250 kbaud or 500 kbaud
(default: 250 kbaud)
Preset value The preset parameter is used to predefine a position
value that is to be reached at a specific physical
position�
Terminating resistor The 120 Ω termination resistor can be activated
using the software
(default: deactivated)�
Direction The counting direction is adjustable�
Cycle time The cycle time is adjustable�
8 PGN configuration
8.1 Default PGNs
The JD sensor transmits 2 PGNs by default according to the following table�
PGN 1 PGN2
JD23xx 65280 65281
JD13xx 65282 65281
8.1.1 PGN 65280 (dual axis): angle information + acceleration x, y
Roll angle - x angle rotation
Pitch angle - y angle rotation
Pitch/x angle 0���15 16 0�01° - -90���90° Pitch angle data
(Range ± 90°)
Roll/y angle 16-31 16 0�01° - -90���90° Roll angle data
(Range ± 90°)
Acceleration x 32���47 16 1 mg - -4000���
4000 mg
x axis acceleration
(± 4 g range)
Acceleration y 48���63 16 1 mg - -4000���
4000 mg
y axis acceleration
(± 4 g range)
8.1.2 PGN 65281 acceleration z + gyro x, y, z
SPN name SPN
position
(bit)
SPN
size
(bit)
Resolution Offset Data zone Description
Acceleration z 0���15 16 1 mg - -4000���
4000 mg
z axis acceleration
(± 4 g range)
Gyro x 16���31 16 0�1 s - -500�0���
500�0 °/s
x axis
Vehicle yaw rage
(± 500°/s range)
Gyro y 32���47 16 0�1 s - -500�0���
500�0 °/s
y axis
Vehicle yaw rate
(± 500°/s range)
Gyro z 48���63 16 0�1 s - -500�0���
500�0 °/s
Z axis
Vehicle yaw rate
(± 500°/s range)
8.1.3 PGN 65282 (1 axis): angle information + acceleration x, y
SPN name SPN
position
(bit)
SPN
size
(bit)
Resolution Offset Data range Description
Pitch/x angle 0���15 16 0�01° - 0 to 360° Pitch angle data
(0°-360° range)
Not used 16���31 16 - - - fixed: 0x00
Acceleration x 32���47 16 1 mg - -4000���
4000 mg
x axis acceleration
(± 4 g range)
Acceleration y 48���63 16 1 mg - -4000���
4000 mg
y axis acceleration
(± 4 g range)
8.2 PGN 61481
Position of the inclination sensor Broadcast communication
Transmission repetition rate 10 ms (default)
Data length 8 bytes
PDU Format PF 0xF0
PDU specific PS 0x29
Default priority 3
Parameter Group Number (PGN 61481

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8.3 PGN 61481: Slope Sensor Information (extended range)
Roll angle - x-angle rotation
Pitch angle - y-angle rotation
SPN name SPN
position
(bit)
SPN
size
(bit)
Resolution Offset Data zone Description
Pitch angle
(extended range)
0���23 24 1/32768°/ bit -250° -250���252° Pitch angle data
(range ± 90°)
Roll angle
(extended range)
24���47 24 1/32768°/ bit -250° -250���252° Roll angle data
(range ± 90°)
Pitch angle
compensation
48���49 2 4 states 0 0���3 00b: ON (it is always
ON)
01b: OFF
Figure of merit
Pitch angle
(extended range)
50���51 2 4 states 0 0���3 00b: Pitch angle
fully functional
(is always 00b since
the entire 360° range
is covered)
01b: Pitch angle not
fully functional
Roll angle
compensation
52���53 2 4 states 0 0���3 00b: ON (it is always
ON)
01b: OFF
Figure of merit
Roll angle
(extended range)
54���55 2 4 states 0 0���3 00b: Roll angle
fully functional (it is
always 00b since the
entire 360° range is
covered)
01b: Roll angle not
fully functional
Measurement latency
Roll and pitch angle
(extended range)
56���63 8 0�5 ms / bit 0 0���125 ms Estimated
measurement latency
(0�5 ms / bit
fixed @ 10 ms right
now) (UINT8)
8.4 Configuration Write Parameter
Identifier CAN data Meaning Data type
0x0CEF19xx 01 00 xx xx xx xx xx xx Index 0x01:
Pitch direction
(0: SAE J670, 1: opposite direction)
UINT8
0x0CEF19xx 02 00 xx xx xx xx xx xx Index 0x02:
Roll direction
(0: SAE J670, 1: opposite direction)
UINT8
0x0CEF19xx 03 xx xx xx xx xx xx xx Index 0x03:
Pitch resolution
(default: 327�68 (0�01°))
-
0x0CEF19xx 04 xx xx xx xx xx xx xx Index 0x04:
Roll resolution
(default: 327�68 (0�01°))
-
0x0CEF19xx 05 0A 00 xx xx xx xx xx Index 0x05:
Cycle time 1st PGN (1 ms / count, default: 10)
UINT16
0x0CEF19xx 06 0A 00 xx xx xx xx xx Index 0x06:
Cycle time 2nd PGN (1 ms / count, default: 10)
UINT16
0x0CEF19xx 07 19 xx xx xx xx xx xx Index 0x07:
Address (0���253 allowed, default: 25d; 19h)
UINT8
0x0CEF19xx 08 04 xx xx xx xx xx xx Index 0x08:
Baud rate (default: 04: 250 kbaud)
UINT8
0x0CEF19xx 09 00 xx xx xx xx xx xx Index 0x09:
Fast Bootup Enable
(0: disabled, 1: enabled; (default 0)
UINT8
0x0CEF19xx 0A 00 00 00 00 xx xx xx Index 0x0A:
Pitch default setting
INT32
0x0CEF19xx 0B 00 00 00 00 xx xx xx Index 0x0B:
Roll default setting
INT32
0x0CEF19xx 0E 00 xx xx xx xx xx xx Index 0x0E:
Termination resistor
(0: off; 1: on; (default: 0)
UINT8
0x0CEF19xx FA 73 61 76 65 xx xx xx Index 0xFA:
Save all parameter with reset (non-volatile)
UINT32
0x0CEF19xx FC 6C 6F 61 64 xx xx xx Index 0xFC:
Restore all parameter to factory default with reset
UINT32
xx: source/destination address

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8.5 Resolution of pitch/x angle and roll/y angle
These settings change the visualisation of the corresponding angle�
Value Resolution
1 1°
10 0�1°
100 0�01°
8.5.1 Cycle time
By programming an unsigned 16 bit integer value (0���65535), the cycle time can
be set in milliseconds�
8.5.2 Baud rate
The Baud rate can be changed by writing the following values
Value Baud rate
3 125 kbaud
4 250 kbaud
5 500 kbaud
8.5.3 Pitch and roll default setting
Writing this parameter sets the current pitch and roll position of the sensor to the
required value�
Limitation for PGN 61481
In order to not exceed the pitch/roll 24 bit data value and to prevent any roll-over
effects, the preset value needs to follow the following limitation:
Preset Value – Physical Value ≤ 155°
The equation will be checked automatically if a default setting is programmed� If
the equation does not work, the default setting will not be applied�
8.6 Fast Bootup Enable
This write parameter changes the time duration from the moment power is applied
until position data is send via the communication interface� After the power supply
is switched on, it takes about 1200 ms before the sensor provides the position
data�
For some applications it is important, that the sensor sends the data earlier� By
setting the fast bootup enable parameter to 1, the fast bootup can be enabled�
In this case, the sensor transmits the position data after 600 ms, but the position
data for the following 600 ms is incorrect�
8.7 Configuration of read parameters
Direction Identifier CAN data Meaning Data type
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 01 00 FF FF FF FF FF FF Index 0x01:
Pitch direction
(default: 0)
UINT8
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 02 00 FF FF FF FF FF FF Index 0x02:
Roll direction
(default: 0)
UINT8
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 03 64 00 FF FF FF FF FF Index 0x03:
Pitch resolution
(default: 0�01°)
UINT16
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 04 64 00 FF FF FF FF FF Index 0x04:
Roll resolution
(default: 0�01°)
UINT16
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 05 0A 00 FF FF FF FF FF Index 0x05:
Cycle time 1st PGN in ms
(default: 10 ms)
UINT16
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 06 0A 00 FF FF FF FF FF Index 0x06:
Cycle time 2nd PGN in ms
(default: 10 ms)
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 07 19 FF FF FF FF FF FF Index 0x07:
Address (default: 25)
UINT8
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 08 04 FF FF FF FF FF FF Index 0x08:
Baud rate
(default: 250 kbaud)
UINT8
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 09 00 FF FF FF FF FF FF Index 0x09:
Fast Bootup Enable
(default: 0 deactivated)
UINT8
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 0A 00 00 00 00 FF FF FF Index 0x0A:
Pitch preset
(default: 0)
INT32
Enquiry 0x0CEA19xx 00 EF 00 Read request -

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Direction Identifier CAN data Meaning Data type
Reply 0x0CEFxx19 0B 00 00 00 00 FF FF FF Index 0x0B:
Roll preset
(default: 0)
INT32
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 0C 00 00 00 00 FF FF FF Index 0x0C:
Pitch offset
(default: 0)
INT32
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 0D 00 00 00 00 FF FF FF Index 0x0D:
Roll offset
(default: 0)
INT32
Enquiry 0x0CEA19xx 00 EF 00 Read request -
Reply 0x0CEFxx19 0E 00 FF FF FF FF FF FF Index 0x0E:
Termination resistor
(default: 0���off)
UINT8
Enquiry 0x0CEA19xx 00 EF 00 Read request
Reply 0x0CEFxx19 0F 02 FF FF FF FF FF FF Index 0x0F:
Angle mode
(2 = JD23xx; 3 = JD13xx)
UINT8
Enquiry 0x0CEA19xx 00 EF 00 Read request
Reply 0x0CEFxx19 10 31 2E 32 31 FF FF FF Index 0x10:
Software version
5 bytes
(ASCII)
Enquiry 0x0CEA19xx 00 EF 00 Read request
Reply 0x0CEFxx19 11 50 4F 53 31 30 37 FF Index 0x11:
Hardware version
(default: POS107)
6 bytes
(ASCII)
Enquiry 0x0CEA19xx 00 EF 00 Read request
Reply 0x0CEFxx19 12 FF FF FF FF FF FF FF Index 0x12:
Serial number
(default: "FF FF FF FF")
UINT32
Enquiry 0x0CEA19xx 00 EF 00 Read request
Reply 0x0CEFxx19 13 32 53 4B 41 FF FF FF Index 0x13:
Product code
(1 = JD13xx; 2 = JD23xx)
UINT32
Enquiry 0x0CEA19xx 00 EF 00 Read request
Reply 0x0CEFxx19 JD1xxx:
14 4A 44 31 33 31 31 FF
JD2xxx:
14 4A 44 32 33 31 30 FF
Index 0x14:
Device name
(default: JD1xxxx / JD2xxxx)
3 bytes
(ASCII)
8.8 Changing the device address
Original address: 0x19 (25d)
New address: 0xC1 (193d)
Identifier DLC Data
0x0CEF19xx 8 06 C1 00 00 00 00 00 00
0x0CEF19xx 8 FA 73 61 76 65 xx xx xx
Row 1:
► Set address to C1 → Configuration write parameter
Note: The Address will be changed after store and reset�
►Row 2:
Execute the command save and reset�
9 Status LED
LED colour Flashing frequency Meaning
Green off No power supply
on The device is in the "pre-operational" state
Red off Normal operating mode
flashes General configuration error (e�g� wrong baud rate)
10 Maintenance, repair and disposal
The device is maintenance-free�
►Dispose of the device in accordance with the national environmental
regulations�

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11 Graphic representation of the output functions
11.1 Output Values JD23xx
PGN 65280 pitch
8000000
9000000
10000000
11000000
12000000
7000000
6000000
5000000
4000000
0-20-40-60-80-100-120-140-160-180 18016014012010080604020
PGN 65280 roll
8000000
9000000
10000000
11000000
12000000
7000000
6000000
5000000
4000000
0-20-40-60-80-100-120-140-160-180 18016014012010080604020
11.2 Output Graphs with Preset and Offset
JD23xx with a programmed pitch and roll offset of 50°
PGN 65280 pitch (offset 50°)
7000000
8000000
9000000
10000000
6000000
5000000
4000000
3000000
0-20-40-60-80-100-120-140-160-180 18016014012010080604020
PGN 65280 roll (offset 50°)
7000000
8000000
9000000
10000000
6000000
5000000
4000000
3000000
0-20-40-60-80-100-120-140-160-180 18016014012010080604020
Note: The turning point where the graph switches from positive to negative slope
stay at the physical position of ±90°�