Kübler IN88 User manual

Manual
Inclinometer IN88
Inclinometer 1-dimensional
Inclinometer 2-dimensional
R67910.0002 Index 1

R67910.0001 EN
Publisher Kübler Group, Fritz Kübler GmbH
Schubertstr. 47
78054 Villingen-Schwenningen
Germany
www.kuebler.com
Application support Phone [phone]
Fax [phone]
[email protected]
Document no. R67910.0002
Document title Manual – IN88 Modbus
Language version English (ENG) - German is the original version
Issue date 23.02.2017, R67910.0002 - Index 1
Copyright © 2018, Kübler Group, Fritz Kübler GmbH
Legal information All of the contents of this device description are subject to the
rights of use and copyrights of Fritz Kübler GmbH. Any
duplication, modification, further use or publication in other
electronic or printed media, as well as their publication in the
Internet, is subject to the previous written authorization of Fritz
Kübler

Table of Contents
Table of Contents
Table of Contents
List of Abbreviations
1. Contents..............................................................................................................................1
2. Identification and maintenance functionality ...................................................................2
3. Technical details and characteristics ...............................................................................3
3.1 Working temperature range..................................................................................................3
3.2 Supply voltage and current consumption..............................................................................3
3.3 Hardware characteristics......................................................................................................3
3.4 Function display and diagnostics..........................................................................................3
3.5 Supported Standards and Protocols.....................................................................................3
3.6 Orientation............................................................................................................................4
3.7 Operating modes..................................................................................................................5
3.8 Modbus access point............................................................................................................5
4. Electrical installation - Supply voltage and Modbus........................................................6
4.1 Terminal assignment ............................................................................................................6
4.2 Electrical Inclinometer Features............................................................................................7
5. Function and status LED ...................................................................................................8
6. Quick-Start Guide - General settings on the appliance ...................................................9
6.1 Register 300.........................................................................................................................9
6.2 Register 304.......................................................................................................................10
6.3 Register 305.......................................................................................................................10
6.4 Register 310.......................................................................................................................11
6.5 Register 360.......................................................................................................................11
7. Operating modes..............................................................................................................12
7.1MODBUS Message RTU Framing......................................................................................12
7.2 RTU Transmission Mode....................................................................................................13
7.3 LRC Checking ....................................................................................................................14
7.4 Modbus Communication Defaults.......................................................................................14
7.5Modbus Node number........................................................................................................14
7.6 Data Model.........................................................................................................................15
7.7 Data Addresses in Modbus Messages................................................................................15
8. Read Holding Register.....................................................................................................16

Table of Contents
R67910.0001 EN
9. Write Holding Register.....................................................................................................18
10. Supported Modbus Function Codes in Project..............................................................20
10.1 Function 03 Read Holding Registers General Description.......................................20
10.2 FUNCTION 16 (10 HEX) PRESET MULTIPLE REGISTERS...................................20
11. Function code 03..............................................................................................................22
13. Function code 16..............................................................................................................27
13.1 Register 300: Baud rate...........................................................................................28
13.2 Register 301: Parity setting......................................................................................29
13.3 Register 302: Stop bit setting...................................................................................29
13.4 Register 304: Node address....................................................................................29
13.5 Register 305: Modbus bus termination off/on...........................................................30
13.6 Register 306: Low-pass filter on/off..........................................................................30
13.7 Register 307: Filter coefficient .................................................................................31
13.8 Register 360: Save All Modbus Parameters ............................................................31
13.9 Register 361: Load Factory default Parameters.......................................................32
13.10 Register 311: Slope long16 Operating parameter....................................................33
13.11 Register 312: Slope long16 preset value .................................................................33
13.12 Register 313: Slope long16 offset............................................................................34
13.13 Register 314: Differential Slope long16 offset..........................................................35
13.14 Register 315: Slope lateral16 operating parameter..................................................35
13.15 Register 316: Slope lateral16 preset value ..............................................................36
13.16 Register 317: Slope lateral16 offset.........................................................................37
13.17 Register 318: Differential Slope lateral16 offset.......................................................37
13.18 Register 320: Euler axis Y Preset value...................................................................37
13.19 Register 261: Transmission Delay time....................................................................38
14. Sensor filter ......................................................................................................................39
15. (11 Hex) Report Slave ID..................................................................................................41
16. UNSUPPORTED MODBUS FUNCTION CODES...............................................................42
17. MODBUS EXCEPTION CODES ........................................................................................43
18. Angle calculations............................................................................................................44
18.1 2-axes inclinometer .................................................................................................44
18.2 1-axis inclinometer...................................................................................................44

List of Abbreviations
R67910.0001 EN
List of Abbreviations
Abbreviation Meaning
CRC Cyclical Redundancy Check
CRLF Carriage Return – Line Feed
ERR Error
HEX Hexadecimal
LRC Longitudinal Redundancy Check
PDU Protocol Data Unit
RTU Remote Terminal Unit

1 Contents
R67910.0001 EN - 1
1. Contents
This manual contains information about the IN88 inclinometers on the following topics:
•Firmware and device file versions
•Technical details and inclinometer characteristics
•Supply voltage and current consumption
•Hardware characteristics
•Supported Standards and Protocols
•Implemented profile
Identification and maintenance functionality
•Hardware installation
•Electrical installation
•Status LEDs
•Quick Start Guide
•Modbus implementation
•Troubleshooting
•Release information
These operating instructions do not contain information about the
installation. You will find these in separate installation instructions.
.

2 Identification and maintenance functionality
R67910.0001 EN - 2
2. Identification and maintenance functionality
•Hardware installation Electrical installation
•Status LEDs
•Quick Start Guide
•Modbus implementation
•Troubleshooting
•Release information
This manual does not contain information about the installation. You will find these in separate
installation instructions.

3 Technical details and characteristics
R67910.0001 EN - 3
3. Technical details and characteristics
3.1 Working temperature range
-40…+85°C
3.2 Supply voltage and current consumption
Output:
10…30 VDC 70 mA at 10 VDC
30 mA at 24 VDC
26 mA at 30 VDC
3.3 Hardware characteristics
2-axes sensor Measuring range per axis +/- 85.00°
1-axis sensor Measuring range 0 … 359.99°
Internal process data cycle 20 ms
3.4 Function display and diagnostics
Triple LED (red/green/blue)
3.5 Supported Standards and Protocols
•MODBUS APPLICATION PROTOCOL SPECIFICATION V1.1b3
•MODBUS over Serial Line Specification and Implementation Guide V1.02
The Modbus inclinometer supports the current MODBUS APPLICATION PROTOCOL
SPECIFICATION V1.1b3. In addition, device-specific registers are available.
The additional services integrated allow performing node number allocation and Modbus bit rate
configuration directly via the Modbus.

3 Technical details and characteristics
R67910.0001 EN - 4
3.6 Orientation
1-dimensional 0 … 360°
Figure 1
2-dimensional ±85°
Figure 2

3 Technical details and characteristics
R67910.0001 EN - 5
3.7 Operating modes
The Polled Mode operating mode can be selected. Moreover, scaling, preset values and many other
additional parameters can be programmed via the Modbus. When switching the appliance on, all
parameters are loaded from a flash memory. These parameters have previously been stored in a
zero-voltage secure manner. The output values can combine in a very variable way e. g. the angle of
the measurement axes, the temperature and the position as read-holding registers.
3.8 Modbus access point
Termination at both ends
Figure 3
Bus termination can be configured by means of a register. It allows connecting a 120 ohm resistor.

4 Electrical installation - Supply voltage and Modbus
R67910.0001 EN - 6
4. Electrical installation - Supply voltage and
Modbus
This chapter contains information about the electrical installation, configuration and commissioning of
the inclinometer.
Switch off the plant!
Make sure that the whole plant remains switched off during the electrical
installation.
Electrical installation requires connectors or connection cables (see data
sheet).
4.1 Terminal assignment
Figure 4
Connect the shield to the inclinometer housing If possible, mount all cables with traction relief.
Check the maximum supply voltage on the device.

4 Electrical installation - Supply voltage and Modbus
R67910.0001 EN - 7
4.2 Electrical Inclinometer Features
2-axes sensor:
Measuring range per axis +/- 85.00°
1-axis sensor:
Measuring range per axis 0 … 359.99°
Internal process data cycle 20 ms
Output: Modbus Protocol RTU
Communication RTU: 9600 …115200 baud, 8 data bits, no parity, 1 stop bit
Display: LED’s
Interface: RS-485 for Modbus
Bus connection: 1 or 2 M12
Sensor MES system interface
Resolution: 14-bit resolution +/- 85.00°
Default Scaling: 14-bit resolution Scaling off
Supply voltage: 10…30 VDC max. 20 mA
Comply with the maximum cable length for stub lines and for the total
length of the Modbus.
If possible, mount all cables with traction relief.
Check the maximum supply voltage on the device.

5 Function and status LED
R67910.0001 EN - 8
5. Function and status LED
A 3-color LED signals the operating and error status of the Modbus.
The device is equipped with a triple LED for displaying status and error messages
Green
Red
Blue
=
Modbus BUS status
=
Modbus ERR display
= Calibration mode in combination with Green and Red
Display LED Meaning Error cause Addition
All LEDs off No connection to
the master2Data line interruption
Wrong baud rate
Interchanged
data line
No voltage
Observe the
combination with the
ERR LED If ERR LED
is also off, check the
voltage supply.
Green
Flashing
about 250 ms
Device ready for
operation
Communication is active
Red off Device operates
error-free Observe the combination with the
green LED
Green
flashing Blue
flashing
Transmission
over Modbus
active
Combination with
bus status Bus LED flashing green Transmission running
ERR flashing Failure Modbus signaled a
system error
Blue flashing
300 ms Calibration Mode Device is neither
6-point calibrated
nor temperature-
compensated
Perform 6-point
calibration Perform
temperature calibration
Adjust 30 VDC at the
power supply
Blue and Red
flashing
alternatingy
Calibration Mode
Device is 6P
calibrated, but
not temperature-
compensated yet
Perform temperature
calibration
Adjust 30 VDC at the
power supply

6 Quick-Start Guide - General settings on the appliance
R67910.0001 EN - 9
6. Quick-Start Guide - General settings on the
appliance
Carry out the electrical installation (voltage supply, bus connection)
Function Register Designation
Switch the appliance on
Set the Modbus parameters using the register
table
Setting of the required baud rate Register 300 Baud rate
Setting of the node address Register 304 Node address
Setting of the termination Register 305 Termination
Setting of the resolution Register 310 Resolution
Saving the bus parameters Register 360 Save all Modbus Parameters
Appliance on/off cycle
6.1 Register 300
Baud rate Default setting: 19200 bit/s (Entry 2)
The baud rate can be modified with a Modbus software on Register 300. Input value: 1…5
To be taken into consideration for the corresponding baud rate:
For all baud rates, general cycle time at least 20ms
Value Baud rate in Kbit/s
1 9600
2 19200
3 38400
4 57600
5 115200

6 Quick-Start Guide - General settings on the appliance
R67910.0001 EN - 10
6.2 Register 304
Node address Default setting: 0x3F (63 decimal).
The node number can also be modified with a Modbus software on Register 304.
Node number 00 is reserved for broadcast messages and shall not be used by any node.
The resulting node numbers are in the range 1...7Fh hexadecimal (1...127 decimal). Register 360
stores the value permanently.
6.3 Register 305
Termination Default setting: 0x2 (on).
Modbus is a 2-wire bus system in which all participants are connected in parallel (that is to say with
short stub lines). The bus must be terminated at both ends with a 120 (or 121) ohm terminating
resistor in order to prevent reflections. This is necessary even in case of very short line lengths!
The termination can also be modified with a Modbus software on Register 305.
Termination value 1 switches the terminating resistor off. Termination value 2 switches the
terminating resistor on.
Figure 5

6 Quick-Start Guide - General settings on the appliance
R67910.0001 EN - 11
6.4 Register 310
Resolution Default setting 0xA (10d)
Default setting sensor: 10d = 0.01 ° Resolution
Value Definition
1d (01h) 0.001° not supported
10d (0Ah) 0.01°
100d (64h) 0.1°
1000d (3E8h) 1.0°
other not supported
Parameter "310 Resolution" influences measuring axes long16 and
lateral16 and Euler angle Y!
6.5 Register 360
Saving the parameters
This parameter (Register 360) saves all Modbus parameters permanently in the Flash memory.
Only targeted saving with parameter "save“ (hexadecimal 1010) will save permanently all Modbus
parameters and bus parameters such as baud rate, node address and termination.
The new values are only taken over after a power off/on sequence.
Figure 6

7 Operating modes
R67910.0001 EN - 12
7. Operating modes
Figure 7
7.1 MODBUS Message RTU Framing
In RTU mode, messages start with a silent interval of at least 3.5 character times.
Figure 8
This is most easily implemented as a multiple of character times at the baud rate that is being used on
the network The first field then transmitted is the device address in the range of 01…0xF7 (247)
(248-255 reserved by Modbus). The allowable characters transmitted for all fields are hexadecimal
0–9, A–F.
Networked devices monitor the network bus continuously, including during the ‘silent’ intervals. When
the first field (the address field) is received, the inclinometer decodes it to find out if it is the addressed
device.
Following the last transmitted character, a similar interval of at least 3.5 character times marks the
end of the message. A new message can begin after this interval.

7 Operating modes
R67910.0001 EN - 13
The entire message frame must be transmitted as a continuous stream. If a silent interval of more
than 1.5 character times occurs before completion of the frame, the receiving device flushes the
incomplete message and assumes that the next byte will be the address field of a new message.
Similarly, if a new message begins earlier than 3.5 character times following a previous message, the
receiving device will consider it a continuation of the previous message. This will set an error, as the
value in the final CRC field will not be valid for the combined messages.
7.2 RTU Transmission Mode
In RTU mode, messages start with a silent interval of at least 3.5 character times. This is most easily
implemented as a multiple of character times at the baud rate that is being used on the network
(shown as T1–T2–T3–T4 in the figure below). The first field then transmitted is the device address.
The allowable characters transmitted for all fields are hexadecimal 0–9, A–F. Networked devices
monitor the network bus continuously, including during the ‘silent’ intervals. When the first field (the
address field) is received, each device decodes it to find out if it is the addressed device.
Following the last transmitted character, a similar interval of at least 3.5 character times marks the
end of the message. A new message can begin after this interval. The entire message frame must be
transmitted as a continuous stream. If a silent interval of more than 1.5 character times occurs before
completion of the frame, the receiving device flushes the incomplete message and assumes that the
next byte will be the address field of a new message. Similarly, if a new message begins earlier than
3.5 character times following a previous message, the receiving device will consider it a continuation
of the previous message. This will set an error, as the value in the final CRC field will not be valid for
the combined messages. A typical message frame is shown below.
Figure 9

7 Operating modes
R67910.0001 EN - 14
7.3 LRC Checking
In ASCII mode, messages include an error–checking field that is based on a Longitudinal
Redundancy
Checking (LRC) calculation is performed on the message contents, exclusive of the beginning ‘colon’
and terminating CRLF pair characters. It is applied regardless of any parity checking method used for
the individual characters of the message.
The LRC field is one byte, containing an 8–bit binary value. The LRC value is calculated by the device
that emits, which appends the LRC to the message. The device that receives calculates an LRC
during receipt of the message, and compares the calculated value to the actual value it received in
the LRC field. If the two values are not equal, an error results.
The LRC is calculated by adding together successive 8–bit bytes of the message, discarding any
carries, and then two’s complementing the result. It is performed on the bytes of the message, before
the encoding of each byte in the two ASCII characters corresponding to the hexadecimal
representation of each nibble. The computation does not include the 'colon' character that begins the
message, and does not include the CRLF pair at the end of the message.
7.4 Modbus Communication Defaults
Standard communication parameters are:
The resulting baud rate numbers lie in the range 9600 … 115200 Baud.
Modbus RTU Default: 19200 baud, 8 data bits, no parity, 1 stop bit
7.5 Modbus Node number
Node number 0 is reserved and must not be used by any node.
The resulting node numbers lie in the range 1...F7h hexadecimal (1...247 decimal, 248-255 res).
Node ID Default: 0x3F

7 Operating modes
R67910.0001 EN - 15
7.6 Data Model
MODBUS bases its data model on a series of tables that have distinguishing characteristics.
The four primary tables
Figure 10
The distinctions between inputs and outputs, and between bit-addressable and word-addressable
data items, do not imply any application behavior.
7.7 Data Addresses in Modbus Messages
All data addresses in Modbus messages are referenced to zero.
•Holding register 40001 is addressed as register 0001 in the data address field of the message.
The function code field already specifies a ‘holding register’ operation. Therefore the ‘4XXXX’
reference is implicit.
•Holding register 40014 is addressed as register 000D hex (14 decimal).