Kübler SAEJ1939 User manual

Manual
R67059.0002 - 3
Inclinometer IN88

Table of Contents Kübler Group
2 - EN HB SAE J1939 - IN88 - R67059.0002 - 03
Table of Contents
1 Document ........................................................................................................................ 4
2 General Information........................................................................................................ 5
2.1 Target Group........................................................................................................... 5
2.2 Symbols used / Classification of the Warnings and Safety instructions.................. 5
3 Product Description ....................................................................................................... 7
3.1 Technical Data ........................................................................................................ 7
3.2 Interface Description SAE J1939 ............................................................................ 7
3.3 Supported Standards and Protocols ....................................................................... 9
4 Installation....................................................................................................................... 10
4.1 Electrical Installation ............................................................................................... 10
4.1.1 General Information for the Connection.................................................... 10
4.1.2 Information for EMC-Compliant Installation .............................................. 10
4.1.3 Connection Color Coding.......................................................................... 11
4.1.4 Connection Legend................................................................................... 12
4.1.5 Terminal Assignment ................................................................................ 12
4.1.6 Electrical Features .................................................................................... 13
4.2 Mechanical Installation............................................................................................ 13
4.2.1 General Information for the Mounting of Inclinometers............................. 13
4.2.2 Axes Orientation........................................................................................ 14
5 Commissioning and Operation ..................................................................................... 15
5.1 Function and Status LED ........................................................................................ 15
5.2 Quick Start Guide.................................................................................................... 15
5.2.1 Default Settings......................................................................................... 15
5.2.2 Changing the Parameters ......................................................................... 16
5.3 Protocol Features.................................................................................................... 17
5.3.1 Data Transmission .................................................................................... 17
5.3.2 Layout of the Configuration Data PG ....................................................... 18
5.3.3 Layout of the Process Data PG ................................................................ 19
5.4 Configuration Parameters Description .................................................................... 20
5.4.1 Cycle Time - INCLIN_CFG_TxCycleTime................................................. 20
5.4.2 Bit Rate - INCLIN_CFG_BitRate............................................................... 20
5.4.3 Node ID - INCLIN_CFG_NodeID .............................................................. 20
5.4.4 Termination - INCLIN_CFG_CAN_Termination........................................ 20
5.4.5 Resolution - INCLIN_CFG_Resolution ..................................................... 21
5.4.6 X Axis Scaling - INCLIN_CFG_LongOperatingPar ................................... 21
5.4.7 Preset Activation X Axis - INCLIN_SlopeLongPresetActivate .................. 22
5.4.8 Preset Value X Axis - INCLIN_SlopeLongPresetValue ............................ 22
5.4.9 Y Axis Scaling - INCLIN_CFG_LatOperatingPar ...................................... 22
5.4.10 Preset Activation Y Axis – INCLIN_SlopeLatPresetActivate..................... 23
5.4.11 Preset Value Y Axis - INCLIN_SlopeLatPresetValue ............................... 23
5.4.12 Filter setting - INCLIN_CFG_FilterConfig.................................................. 24

Kübler Group Table of Contents
HB SAE J1939 - IN88 - R67059.0002 - 03 EN - 3
5.5 Process Data Description ....................................................................................... 25
5.5.1 Angle Longitudinal - IN88_Slope_Long .................................................... 25
5.5.2 Angle Lateral - IN88_Slope_Lat................................................................ 25
5.5.3 Temperature - IN88_Temperature ............................................................ 26
5.5.4 Overflow - IN88_Overflow......................................................................... 26
5.5.5 Position - IN88_BackFront ........................................................................ 27
5.5.6 Orientation - IN88_Orientation .................................................................. 27
5.5.7 Error - IN88_Error ..................................................................................... 28
5.6 Examples ................................................................................................................ 29
5.6.1 Example: Setting Configuration Data........................................................ 29
5.6.2 Example: Resetting to Factory Settings.................................................... 31
6 Disposal........................................................................................................................... 33
6.1 Disposal .................................................................................................................. 33
7 Contact ............................................................................................................................ 34
8 Annex............................................................................................................................... 35
8.1 Angle calculation..................................................................................................... 35
8.1.1 1-axis inclinometer .................................................................................... 35
8.1.2 2-axes inclinometer................................................................................... 35
8.2 Sensor filter............................................................................................................. 36
8.3 Decimal / Hexadecimal conversion table ................................................................ 38
Glossary .......................................................................................................................... 40

1 Document Kübler Group
4 - EN HB SAE J1939 - IN88 - R67059.0002 - 03
1 Document
This document is the English translation of the original German version.
Publisher Kübler Group, Fritz Kübler GmbH
Schubertstraße 47
78054 Villingen-Schwenningen
Germany
www.kuebler.com
Issue date 02/2021
Language version German is the original language
Copyright © 2021, Kübler Group, Fritz Kübler GmbH
Text sources Vector-Lösungen für Ihre SAE J1939-Vernetzung
Ixxat - SAE J1939 – eine kurze Einführung
Image sources Vector-Lösungen für Ihre SAE J1939-Vernetzung
Ixxat - SAE J1939 – eine kurze Einführung
Legal Notices
All of the contents of this document are protected by the rights of use and copyrights of Fritz
Kübler GmbH. Any duplication, modification, further use and publications in other electronic or
printed media, as well as their publication in the Internet, even partially, is subject to the previ-
ous written authorization of Fritz Kübler GmbH.
The brand names and product brands mentioned in this document are trademarks or registered
trademarks of the respective titleholders.
Subject to errors and changes. The stated product features and technical data shall not consti-
tute any guarantee declaration.

Kübler Group 2 General Information
HB SAE J1939 - IN88 - R67059.0002 - 03 EN - 5
2 General Information
Please read this document carefully before working with the product, mounting it
or starting it up.
2.1 Target Group
The device may only be planned, mounted, commissioned and serviced by persons having the
following qualifications and fulfilling the following conditions:
• Technical training.
• Briefing in the relevant safety guidelines.
• Constant access to this documentation.
2.2 Symbols used / Classification of the Warnings and
Safety instructions
DANGER Classification:
This symbol, together with the signal word DANGER, warns against
immediately imminent threat to life and health of persons.
The non-compliance with this safety instruction will lead to death or
severe adverse health effects.
WARNING Classification:
This symbol, together with the signal word WARNING, warns against
a potential danger to life and health of persons.
The non-compliance with this safety instruction may lead to death or
severe adverse health effects.
CAUTION Classification:
This symbol, together with the signal word CAUTION, warns against
a potential danger for the health of persons.
The non-compliance with this safety instruction may lead to slight or
minor adverse health effects.
ATTENTION Classification:
The non-compliance with the ATTENTION note may lead to material
damage.

2 General Information Kübler Group
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NOTICE Classification:
Additional information relating to the operation of the product, and
hints and recommendations for efficient and trouble-free operation.

Kübler Group 3 Product Description
HB SAE J1939 - IN88 - R67059.0002 - 03 EN - 7
3 Product Description
3.1 Technical Data
Operating, storage and
transport temperature range
-40°C … +85°C
Supply voltage and current consumption 10 … 30 VDC
70 mA at 10 VDC
30 mA at 24 VDC 2
6 mA at 30 VDC
2-axis sensor: Measuring range per axis ± 85,00°
1-axis sensor: Measuring range 0 … 359.99°
Internal process data cycle 20 ms
Function display Triple LED (red/green/blue)
Bus connection 1 x M12 or 2 x M12
Sensor MES system interface
Resolution 14 bits
Default scale factor Scaling off
Output SAE J1939
Communication parameters 250 kbit/s (switchable to 500 kbit/s)
8 data bytes
BAM
CMDT
Interface RS485 CAN High-Speed according to
ISO 11898,
CAN Specification 2.0 B
3.2 Interface Description SAE J1939
SAE J1939 is an open standard for networking and communication in the utility vehicles.sector.
Among possible applications, focus is set on the networking of the powertrain.
The use of the CAN technology for networking and communication and a manufacturer-inde-
pendent interoperability are characteristic for J1939. The J1939 protocol comes from the inter-
national Society of Automotive Engineers (SAE) and operates on the physical layer with CAN
Highspeed according to ISO11898.
The SAE J1939 protocol uses CAN (Controller Area Network, ISO11898-1 and ISO11898-2)
as the physical transmission layer. The CAN protocol plays a major role in the automotive net-
working and is a common method for the bit-serial communication between control units (Elec-
tronic Control Unit - ECU).
Typical control units are for example: the engine, transmission or brake control unit

3 Product Description Kübler Group
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IMG-ID: 118862859
Messages with a length exceeding 8 bytes are too large to suit in a single CAN data frame. So
they must be divided in single packets by the transmitter to be then transmitted each in a CAN
message. The receiver must reassemble the single fragments in the original order. A framework
is provided in the J1939 standard for this purpose: a so-called transport protocol.
IMG-ID: 118864779
Before a CA uses an address, it must claim this address in the network. This procedure is called
ADDRESS CLAIMING (ACL). The unique device name is used to solve conflicts during address
allocation: the smaller the numerical value, the higher the priority.
When starting up, the CA transmits an ADDRESS CLAIM PGN (ACL, PGN 00EE00h) and waits
a defined time for a response. If no other CA claims this address during this time, it can start
with the normal communication.
Several documents apply for SAE J1939 according to the OSI layer model. The document num-
ber respectively refers to the assigned layer in the layer model. As practically all field bus proto-
cols, layers 5 and 6 are not required by SAE J1939 and are therefore not specified. With J1939,
the network management is organized decentrally, i. e. every control device must implement a
minimum functionality. Since the network management can be considered as a separate unit,
which accesses up to the hardware (layer 1), it is represented as an independent functional
block on the right side of the picture..

Kübler Group 3 Product Description
HB SAE J1939 - IN88 - R67059.0002 - 03 EN - 9
IMG-ID: 118869643
3.3 Supported Standards and Protocols
SAE J1939 with two PGs:
• Configuration-receive PG (via CMDT transport protocol)
• Position and status transmit PG (without transport protocol)
The configuration PG allows performing node number allocation and CAN bit rate configuration
directly via the CANbus. Alternatively, the node address can also be modified by means of the
J1939 Commanded Address PG.
Moreover, scaling, preset values and some other additional parameters can be programmed via
the CANbus. When transmitting the configuration-receive PG to the sensor, the configuration is
immediately saved in the Flash memory of the microcontroller included in the sensor. The con-
figuration remains preserved after switching off the operating voltage.
When switching on, all parameters are loaded from the Flash memory. The distribution of the
data bytes among the transmit PG (the layout or mapping of the transmit PG) is defined in the
device.
NOTICE PG Configuration
The numbers of the J1939 PGs for sending the measured values and
for configuration receipt are permanently stored in the device.
On request, Kübler can also provide the devices with modified PG
numbers.

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4 Installation
4.1 Electrical Installation
4.1.1 General Information for the Connection
ATTENTION Destruction of the device
Before connecting or disconnecting the signal cable, always discon-
nect the power supply and secure it against switching on again.
NOTICE General safety instructions
Make sure that the whole plant remains switched off during the elec-
trical installation.
• Make sure that the operating voltage is switched on or off simultan-
eously for the device and the downstream device.
NOTICE Traction relief
Always mount all cables with traction relief.
NOTICE Interference susceptibility
Proceed as follows:
• Connect the shield to the device housing.
• Comply with the maximum cable length for stub lines and for the
total length of the bus network.
• Check the maximum supply voltage on the device.
4.1.2 Information for EMC-Compliant Installation
Requirements for cables
• Use exclusively shielded twisted-pair cables to connect the device.
• Comply with the maximum permissible connection cables length.

Kübler Group 4 Installation
HB SAE J1939 - IN88 - R67059.0002 - 03 EN - 11
EMC acc. to
EN61326-1
Criterion A
The device operates trouble-free,
user data transmission proceeds
without disturbance, internally
stored data and configurations re-
main preserved
Criterion B
During a failure, a
disturbed transmission of the
user data is allowed, internally
stored data and
configurations remain preserved
Interference immunity Is achieved with a shielded line Is not achieved with a shielded
line
Class A Industrial environment
The device has a radiation
according to Class A
Class B Living area
The device has a radiation
according to Class B
Radiation Is not achieved with a shielded
line
Is achieved with a shielded line
Shielding and equipotential bonding
• Apply the cable shield on a large contact area - ideally 360°. Use e. g. a shield terminal to this
purpose.
• Pay attention to proper cable shield fastening.
• Preferably connect the shield on both sides with low impedance to the protective earth (PE),
e.g.on the device and/or on the evaluation unit. In the event of potential differences, the
shield must only be applied on one side.
• If shielding is not possible, appropriate filtering measures must be taken.
• If the protective earth should be connected to the shield on one side only, it must be made
sure that no short-time overvoltages can appear on the signal and supply voltage lines.
4.1.3 Connection Color Coding
Part of the cables are identified by a color coding, part of them by a numerical coding. Abbrevi-
ation of the colors :
Abbreviation Color Abbreviation Color
WH White BU Blue
BN Brown RD Red
GN Green BK Black
YE Yellow VT Violet
GY Gray GY-PK Gray-Pink
PK Pink RD-BU Red-Blue

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ATTENTION Destruction of the electronics
When confectioning the sensor cable, always take care to ensure
sufficient ESD protection.
4.1.4 Connection Legend
+V: Supply voltage +V DC
0V: Ground GND (0V)
CAN_H: Positive CAN Signal (Dominant High)
CAN_L: Negated CAN-Signal (Dominant Low)
CAN_GND: CAN-Ground
PH : Connector housing (cable shield is applied on the connector housing), protective
earth
4.1.5 Terminal Assignment
Isolate unused wires individually before commissioning.
Inter-
face
Type of
connec-
tion
1 x M12 connector, 5-pin Pin arrange-
ment
3 1
Bus IN
Signal +V 0V CAN_GND CAN_H CAN_L
Pin 2 3 1 4 5
Inter-
face
Type of
connec-
tion
2 x M12 connector, 5-pin Pin arrange-
ment
3 3
Bus OUT
Signal +V 0V CAN_GND CAN_H CAN_L
Pin 2 3 1 4 5
3 3
Bus IN
Signal +V 0V CAN_GND CAN_H CAN_L
Pin 2 3 1 4 5

Kübler Group 4 Installation
HB SAE J1939 - IN88 - R67059.0002 - 03 EN - 13
NOTICE Connect the shield to the inclinometer housing
• If possible, mount all cables with traction relief.
• Check the maximum supply voltage on the device.
4.1.6 Electrical Features
Display LEDs
Interface SAE J1939 (CAN)
Bus connection 1x M12 or 2x M12
Supply voltage 10 … 30 VDC max. 20 mA
NOTICE Comply with the maximum cable length for stub lines and for
the total length of the bus system.
• If possible, mount all cables with traction relief.
• Check the maximum supply voltage on the device.
4.2 Mechanical Installation
4.2.1 General Information for the Mounting of Inclinometers
NOTICE Do not disassemble or open the inclinometer
Inclinometer function may be lost partly or entirely.
• In no case disassemble the inclinometer entirely or partly.
• Do not modify the inclinometer.
NOTICE Do not subject the appliance to shocks or overload it.
This would impair inclinometer accuracy and MEMS reliability.
• Do not use a hammer to align the inclinometer.
• Avoid impact stress.

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4.2.2 Axes Orientation
1 dimensional - Rotation angle
Z axis: "Longitudinal" (long) 0 … 360°
2 dimensional - Orientation angle
X axis: "Longitudinal" (long) ±85°
Y axis: "Lateral" (lat) ±85°

Kübler Group 5 Commissioning and Operation
HB SAE J1939 - IN88 - R67059.0002 - 03 EN - 15
5 Commissioning and Operation
5.1 Function and Status LED
A multicolored LED signals the bus, operating and error status of the sensor.
Green = BUS status
Blue = BUS internal ERR display
Red = BUS ERR display
Display LED Meaning Error cause Addition
LED off no voltage
Green J1939 Address
claimed
Device operates
error-free
no error
Connection interrup-
ted (see annex)
An interruption of
the connection can-
not be detected in
non-cyclic opera-
tion.
LED Red flashing
(500 ms) J1939 Address claimed
Configuration error,
sensor provides no
measured data
Signal IN88_Error of
the transmitted
measured data has
value 0xe, the other
measured data is
filled up with binary
1
Red (constantly on) BUS OFF status
J1939
Address conflict
J1939 Address
claim lost
Cyclic transmission
interrupted
Short-circuit on the
J1939 bus or wrong
baud rate, no ACK
on the J1939 Bus,
address conflict on
the J1939 bus
Device sends no
data on the bus
Blue flickering
(100 ms) Internal error in the sensor
Sensor provides no
measured data
(Measured data is
filled up with binary
1)
Send the device to
the Kübler support
for servicing.
Signal IN88_Error of
the transmitted
measured data has
value 0xd, the other
measured data is
filled up with binary
1
5.2 Quick Start Guide
5.2.1 Default Settings
The sensor has been set in the factory as follows:

5 Commissioning and Operation Kübler Group
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Signal name Standard value
Resolution 100 (for 1-axis variant)
10 (for 2-axes variant)
LongOperatingPar 0x02 (Scaling ON, Inversion OFF)
LatOperatingPar 0x02 (Scaling ON, Inversion OFF)
SensorCycleTime 100 (100 ms)
BitRate 0 (250 kbps)
CANBusTermination 1 (ON)
J1939 address 0x20 (dec. 32)
FilterConfig 0x06 (10 Hz)
NOTICE Resetting to the delivery condition
The device has no special function for resetting to the delivery condi-
tion, since all adjustable and storable parameters are set anew when
sending the configuration PG.
A separate frame must be sent to the sensor to reset the sensor to
the delivery condition. Example: Resetting to Factory Settings
[}31].
5.2.2 Changing the Parameters
At start-up, the sensor sends a J1939 address claim message including, among others, its
device address and the least significant bits of its serial number.
üCarry out the electrical installation (voltage supply, bus connection).
a) Switch the device on
b) Have the address claiming carried out.
ðDisplay lights red: Check of the CAN communication (CAN_H, CAN_L), active CAN node
must be present, termination, baud rate (default: 250kbit/s or 500 kbit/s).
ðDisplay lights green: J1939 address claim and configuration carried out properly.
NOTICE Sensor setting time
The measured values of the sensors require a setting time of approx-
imately 500 ms after firmware start. Setting is necessary for all sig-
nals between 0 and 0x06, which are configured to a value with
CFG_Filter_Config.
The sensor starting phase is structured as follows:
• The sensor starts its firmware after applying the power supply.
• The sensor sends the address claim as soon as the CAN bus is available.

Kübler Group 5 Commissioning and Operation
HB SAE J1939 - IN88 - R67059.0002 - 03 EN - 17
• As specified in the J1939 protocol specification, the sensor waits 250 ms for a response to
the address claim (e.g. in case its address is already occupied).
• The sensor waits additional 250 ms for the setting of the internal measured values in order to
avoid possible strong fluctuations of the measured values at the beginning (independent of
CFG_Filter_Config).
• The sensor transmits frames with measured values in the configured cycle time.
The configuration PG allows setting the following parameters:
• Resolution
• Scaling
• Preset
• Cycle time
• Device address
• Bit rate
• Termination
• Filter
The device address of the sensor can be modified by sending the COMMANDED ADDRESS
(CA) PGN to the sensor. The new address is stored in non-volatile manner in the Flash memory
of the sensor. The sensor restarts with the new address and sends its address claim and, if any,
measured values from the new address.
ATTENTION Service life of the Flash memory
Every sensor configuration by sending the configuration PG to the
sensor causes the sensor to write its configuration in the Flash
memory. This is also the case if already set configuration values are
written again.
The Flash memory used in the sensor is specified for at the max-
imum 10,000 writing cycles. The service life of the Flash memory is
reached when exceeding 10,000 writing cycles, which may lead to
sensor malfunction.
In the event of a fault, contact our support. Contact [}34]
5.3 Protocol Features
5.3.1 Data Transmission
As standard, the sensor uses the following J1939 PG numbers for data transmission:
• Configuration receipt: PG no. 0xEF00 through transport protocol CMDT
• Process data transmission: PG No. 0xFFAB

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NOTICE PG number determination
Upon customer request, other PG numbers can be set during sensor
production, according to a special agreement with Kübler.
The configuration data is - as specified in document SAE J1939/21 – transmitted via J1939
CMDT transfer.
To transmit the data in the configuration data PG to the sensor, you can use a tool such as e. g.
Vector CANoe, CANalyzer or a J1939 software stack. A configuration is also possible also
without J1939 stack or without a suitable tool.
5.3.2 Layout of the Configuration Data PG
The configuration data is - as shown in the figure - structured in blocks.
Rows (horizontal)
Bytes no. 0 to 15 of the PG
Columns (vertical)
Bits 0 to 7 of every byte

Kübler Group 5 Commissioning and Operation
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NOTICE The following signals are not used for the 2-axes sensor:
- INCLIN_CFG_LatOperatingPar
- INCLIN_CFG_LatPresetActivate
- INCLIN_CFG_LatPresetValue
Please fill their values up with zeros.
5.3.3 Layout of the Process Data PG
The process data is structured in blocks, as shown in the figure. The inclinometer transmits the
process data on PGN 0xFFAB, which results in CAN-ID
0x18FFAB20 (Extended).
Rows (horizontal)
Bytes no. 0 to 7 of the PG
Columns (vertical)
Bits 0 to 7 of every byte

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5.4 Configuration Parameters Description
5.4.1 Cycle Time - INCLIN_CFG_TxCycleTime
This signal allows setting in milliseconds the cycle time with which the process data (measured
values) of the sensor is transmitted on the bus as a CAN frame.
A value 0xFFFF retains the value stored so far in the sensor unchanged. A value 0 deactivates
the cyclic process data transmission.
5.4.2 Bit Rate - INCLIN_CFG_BitRate
This signal allows modifying the CAN bit rate of the inclinometer. If the set value is different from
the previous value, the inclinometer saves the settings and restarts after some milliseconds with
the new bit rate.
NOTICE Changing the bit rate during network operation
If possible, the bit rate should not be modified when the network is in
operation.
The selected cycle time (INCLIN_CFG_TxCycleTime) must be longer
than the bus transmission time of a measured values frame, so that
the measured data PGN can be transmitted error-free on the bus.
Value Bit rate in kBit/s
0 250 (default)
1 500
0xFF Maintain the currently active bit rate
5.4.3 Node ID - INCLIN_CFG_NodeID
This signal allows modifying the J1939 node address of the sensor and saving it immediately in
non-volatile manner in the sensor.
The node address does not change if value 0xFF is set or if the current node address is set
again.
If another value is set, the sensor accepts the new value as its node address, saves it and re-
starts the firmware with the new node address. Alternatively, the node address can by modified
with J1939 COMMANDED ADDRESS PGN (CA).
5.4.4 Termination - INCLIN_CFG_CAN_Termination
CAN 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 ohm terminating resistor
in order to prevent reflections. This is necessary even in case of very short line lengths.
The 120 ohm terminating resistor can be activated and deactivated electronically.
Setting the value 1 activates the termination, setting value 0 deactivates it.
Value 0xFF maintains the current setting unchanged.