Parker UTS-ID User manual

Effective: August 2021
Supersedes:
UTS-ID User Manual
Universal Tilt Sensor for Impact Detection

Parker Hannifin Corporation –UTS User Manual
i
Warning!
FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS AND/OR SYSTEMS
DESCRIBED HEREIN, OR RELATED ITEMS CAN CAUSE DEATH, PERSONAL INJURY AND
PROPERTY DAMAGE.
• This document and other information from Parker Hannifin Corporation, its subsidiaries and authorized
distributors provide product and/or system options for further investigation by users having technicalexpertise.
• The user, through its own analysis and testing, is solely responsible for making the final selection of the
system and components and assuring that all performance, endurance, maintenance, safety and warning
requirements of the application are met. The user must analyze all aspects of the application, follow applicable
industry standards, and follow the information concerning the product in the current product catalog and in any
other materials provided from Parker or its subsidiaries or authorized distributors.
• To the extent that Parker or its subsidiaries or authorized distributors provide component or system options
based upon data or specifications provided by the user, the user is responsible for determining that such data
and specifications are suitable and sufficient for all applications and reasonably foreseeable uses of the
components or systems.
Offer of Sale
The items described in this document are hereby offered for sale by Parker Hannifin Corporation, its subsidiaries
or its authorized distributors. This offer and its acceptance are governed by the provisions stated in the "Offer of
Sale" elsewhere in this document, or available at www.parker.com.
Parker Hannifin
Electronic Controls Division
850 Arthur Ave
Elk Grove Village, IL 60007
USA
Phone:[phone]
Fax: [phone]
Copyright 2017 © Parker Hannifin Corporation. All rights reserved. No part of this work may be
reproduced, published, or distributed in any form or by any means (electronically, mechanically,
photocopying, recording, or otherwise), or stored in a database retrieval system, without the prior written
permission of Parker Hannifin Corporation in each instance.

Parker Hannifin Corporation –UTS User Manual
ii
Publication History
The following table provides an overview of the changes made to this document over the course of its
publication history
Revision
Description of Change
Rev. 001
First release of this document

Parker Hannifin Corporation –UTS User Manual
iii
Table of Contents
Table of Contents
Publication History......................................................................................................................................................................2
Tableof Figures...........................................................................................................................................................................5
Tableof Tables............................................................................................................................................................................5
1 Safety .................................................................................................................................................................................1
Safety Symbols ...........................................................................................................................................................................1
General Safety Regulations........................................................................................................................................................1
Welding After Installation ..........................................................................................................................................................1
Construction Regulations...........................................................................................................................................................2
Safety During Installation...........................................................................................................................................................2
Safety During Start-Up ...............................................................................................................................................................2
Safety During Maintenance and Fault Diagnosis .......................................................................................................................2
2 Document Introduction.......................................................................................................................................................3
Scope..........................................................................................................................................................................................3
Terminology ...............................................................................................................................................................................3
3 Datasheet...........................................................................................................................................................................4
Characteristics............................................................................................................................................................................4
4 Installation Quick Sheets.....................................................................................................................................................5
UTS Quicksheet ..........................................................................................................................................................................5
5 Product Introduction...........................................................................................................................................................7
Overview ....................................................................................................................................................................................7
UTS Filtering Description............................................................................................................................................................8
Stage 1 –Kalman Filter...........................................................................................................................................................8
Stage 2 –User Configurable Exponential Low Pass Filter......................................................................................................9
Plotting Stage 2 Filter Responses .........................................................................................................................................10
6 Installation Guidelines ......................................................................................................................................................11
Operating Conditions ...............................................................................................................................................................11
CAN ..........................................................................................................................................................................................11
Power Supply Requirements....................................................................................................................................................11
Connector.................................................................................................................................................................................11
Mounting Requirements..........................................................................................................................................................12
7 CAN Information...............................................................................................................................................................13
SAE J1939 .................................................................................................................................................................................13
Identifier Description ...............................................................................................................................................................13
UTS Communications...............................................................................................................................................................13
Protocol Defaults......................................................................................................................................................................14
Table 7.4.1: Default Product Messages and Setup...................................................................................................................14

Parker Hannifin Corporation –UTS User Manual
iv
Table 7.4.2: Data Broadcast Message (Orientation and Acceleration)....................................................................................15
Table 7.4.3: SAE J1939 Standard Messages Received by UTS-ID.............................................................................................16
Table 7.4.4: SAE J1939 Standard Messages transmitted by UTS-ID ........................................................................................17
Table 7.4.5: Configuration Messages (Parameter Change) .....................................................................................................19
Table 7.4.6: Configuration Messages (Save)............................................................................................................................20
Table 7.4.7: Configuration Parameter Numbers (Group 0) .....................................................................................................21
Table 7.4.7: Configuration Parameter Numbers (Group 0, continued)...................................................................................22
Table 7.4.8: Configuration Parameter Numbers (Group 1) .....................................................................................................22
This table has to do with the production process and is purposfully left blank......................................................................22
Table 7.4.9: Configuration Parameter Numbers (Group 2) .....................................................................................................23
8 Application Examples/HowDo I… .....................................................................................................................................24
8.1 Direct broadcast messages ................................................................................................................................................24
8.2 Configuration messages.....................................................................................................................................................26
On demand messages..............................................................................................................................................................27
8.3 Transmitting a Command...................................................................................................................................................28
8.4 Change the UTS-ID source address....................................................................................................................................28
8.5 Change the PGN of the Impact PGN ...................................................................................................................................29
Instructions ..........................................................................................................................................................................29
Adjust the internal filtering of the UTS-ID................................................................................................................................30
Process Steps........................................................................................................................................................................30
Instructions ..........................................................................................................................................................................36
9 Performance Considerations.............................................................................................................................................37
10 UTS –ID integration with Parker IOT.................................................................................................................................38
10.1 UTS-ID Sensor integration with IoT solutions ..................................................................................................................38
10.2 Setup Impact Signals........................................................................................................................................................38
10.2 Signal Visualization...........................................................................................................................................................39
10.2 Impact Alerting and Notifications....................................................................................................................................39
10.3 Impact Reports.................................................................................................................................................................40
1 FAQ...................................................................................................................................................................................40

Parker Hannifin Corporation –UTS User Manual
v
Table of Figures
Figure 4.1.1: UTS Quick Sheet Page 1 .....................................................................................................................................5
Figure 4.1.2: UTS Quick Sheet Page 2 .....................................................................................................................................6
Figure 5.1.1: UTS with Deutsch DT04-4P Connector ..............................................................................................................7
Figure 6.4.1: UTS Mating Connector.......................................................................................................................................9
Figure 6.4.2: UTS Connector Diagram..................................................................................................................................... 9
Figure 6.5.1: Supported 2-axis and 3-axis Mounting Configurations....................................................................................10
Table of Tables
Table 2.2.1: Abbreviation List .................................................................................................................................................3
Table 3.1.1: Physical and Electrical Characteristics................................................................................................................. 4
Table 6.3.1: UTS Power Supply Requirements........................................................................................................................ 9
Table 7.2.1: J1939 CAN Identifier Structure..........................................................................................................................11
Table 7.2.2: The Data Field Structure....................................................................................................................................11
Table 7.4.1: Default Product Messages and Setup ...............................................................................................................12
Table 7.5.1: Normal Broadcast Messages.............................................................................................................................13
Table 7.5.2: General Acknowledge Message ........................................................................................................................14
Table 7.5.3: Service Mode Enable/Disable Message ............................................................................................................14
Table 7.5.4: Write Messages Received by UTS 1 –Set Source Address................................................................................14
Table 7.5.5: Write Messages Received by UTS 2 –Configure PGN, Set Offset, Subscribe to Information...........................15
Table 7.5.6: Write Messages Received by UTS 3 –Output Filter, Apply Configuration........................................................ 16
Table 7.5.7: Query Messages Received by UTS.....................................................................................................................17
Table 7.5.8: Reply Messages Transmitted by UTS ................................................................................................................18
Table 8.1.1: CAN Extended Identifier Example.....................................................................................................................19
Table 8.5.1: Example Information Data Frame.....................................................................................................................22

Parker Hannifin Corporation –UTS User Manual
1
1 Safety
Do not perform the procedures in this manual unless you are experienced in the handling of electronic
equipment.
Contact the manufacturer if there is anything you are not sure about or if you have any questions regarding the
product and its handling or maintenance.
The term "manufacturer" refers to Parker Hannifin Corporation.
Safety Symbols
The following symbols are used in this document to indicate potentially hazardous situations:
Danger! Risk of death or injury.
Warning! Risk of damage to equipment or degradation of signal.
When you see these symbols, follow the instructions carefully and proceed with caution.
General Safety Regulations
Work on the hydraulics control electronics may only be carried out by trained personnel who are well-
acquainted with the control system, the machine, and its safety regulations.
Follow the manufacturer's regulations when mounting, modifying, repairing, and maintaining
equipment. The manufacturer assumes no responsibility for any accidents caused by incorrectly
mounted or incorrectly maintained equipment. The manufacturer assumes no responsibility for the
system being incorrectly applied, or the system being programmed in a manner that jeopardizes
safety.
Do not use the product if electronic modules, cabling, or connectors are damaged or if the control
system shows error functions.
Electronic control systems in an inappropriate installation and in combination with strong
electromagnetic interference fields can, in extreme cases, cause an unintentional change of speed of
the output function
This product can expose you to chemicals including ANTIMONY TRIOXIDE, CARBON BLACK
(AIRBORNE, UNBOUND PARTICLES OF RESPIRABLE SIZE) which is known to the State of California to
cause cancer and 4,4'-(PROPANE-2,2-DIYL) DIPHENOL, BPA, P,P'-
ISOPROPYLIDENEBISPHENOL, which is known to the State of California to cause birth defects or
other reproductive harm. For more information go to www.P65Warnings.ca.gov
Welding After Installation
If welding is required for installation, complete as much as possible of the welding work before the
installation of the system. If welding must be done afterwards, proceed as follows:
Do not place the welding unit cables near the electrical wires of the control system
1. If sensor has been installed and additional welding is required, remove the 4-pin connector
fromthe sensor to avoid possible electrical damage to the unit.Disconnect the electrical
connections between the system and external equipment
2. Disconnect the negative cable from the battery
3. Disconnect the positive cable from the battery
4. Connect the welder's ground wire as close as possible to the place of the welding

Parker Hannifin Corporation –UTS User Manual
2
Construction Regulations
The vehicle must be equipped with an emergency stop which disconnects the supply voltage to the
control system's electrical units. The emergency stop must be easily accessible to the operator. If
possible, the machine must be built so that the supply voltage to the control system's electrical units is
disconnected when the operator leaves the operator’s station.
Safety During Installation
Incorrectly positioned or mounted cabling can be influenced by radio signals, which can interfere
with the functions of the system.
Safety During Start-Up
Danger! Risk of death or injury. Do not start the machine’s engine before the control system is
mounted and its electrical functions have been verified.
Do not start the machine if anyone is near the machine.
Safety During Maintenance and Fault Diagnosis
Before performing any work on the hydraulics control electronics, ensure that
The machine cannot start moving
Functions are positioned safely
The machine is turned off
The hydraulic system is relieved from any pressure
Supply voltage to the control electronics is disconnected

Parker Hannifin Corporation –UTS User Manual
3
2 Document Introduction
Scope
The purpose of this document is to detail installation recommendations and define CAN messages for the
Universal Tilt Sensor ID (Impact Detection) and its integration with IoT systems. These instructions/guidelines
are to be used as a reference tool for the manufacturer’s design, production, and service personnel. The user of
this manual should have basic knowledgein the handling of electronic equipment.
Terminology
The abbreviations and acronyms used in this manual are defined in the following table.
Table 2.2.1: Abbreviation List
Abbreviation
Explanation
UTS-ID
Universal Tilt Sensor –Impact Detection
CAN
Controller Area Network
EMI
Electromagnetic Interference
SAE
Society of Automotive Engineers
PGN
Parameter Group Number
MEMS
Micro Electro-Mechanical Systems
FIR
Finite Impulse Response
IIR
Infinite Impulse Response

Parker Hannifin Corporation –UTS User Manual
4
3 Datasheet
Characteristics
Table 3.1.1: Physical and Electrical Characteristics
General
Purchasing Part Number
167427ECD
Weight
0.14 kg
Temperature (operating)
-40°C to 85°C
Temperature (storage)
-40°C to 105°C
Number of axes
3
Acceleration Range
±16 g
Angular range
±2000 dps
Mounting
Tripod
Mechanical
Characteristics
Mounting bolt
1/4”-20 UNC or M6x1.0
Mounting torque
135 in-lb max
Mounting surface flatness
.010”
Connector
Deutsch DT06-4P
Communication
CAN protocol
SAEJ1939
CAN messages
see part drawing
CAN bus speed
250 kbps
Default
Data broadcast rate
0.1 Hz
CAN source address
0xE4
Electrical Specifications
Operating voltage
6.5 - 36 Vdc
Reverse polarity
-48 Vdc
Short circuit protection
+58 Vdc or ground
Current draw
16.5 mA (12 V);
14.0 mA (24 V)
Accuracy
±3.15%
Resolution
0.488 mG/bit
Environmental Protection
EMI
ISO 11452-2
100 V/m
ISO 7637-2 and -3
transients
ESD
ISO 10605:2008
±15 kV
Mechanical
Shock
1m drop
Vibration
40 Gs
Climate
Sealing
IP68/IP69K (with
rear connector
protection)
Chemical
Liquids (resistance)
standard
automotive

Parker Hannifin Corporation –UTS User Manual
5
4 Installation Quick Sheets
UTS Quicksheet
Figure 4.1.1: UTS Quick Sheet Page 1
Sensor communicates on CAN
bus using SAE J1939 protocol.
•CAN bus speed 250 kpbs
•CAN source address 0xE4
•Data broadcast rate 0.1 Hz
•Refer to ES-043 for CAN
message specification
Sensor communicates over CAN bus
using SAE J1939 protocol.
•CAN bus speed 250 kbps
•CAN source address 0xE4
•Data broadcast rate 0.1 Hz
•Refer to part drawing for CAN
message specification

Parker Hannifin Corporation –UTS User Manual
6
Figure 4.1.2: UTS Quick Sheet Page 2

Parker Hannifin Corporation –UTS-ID User Manual
7
5 Product Introduction
Overview
Application
The UTS-ID uses MEMS technology to provide a multi-axis acceleration sensor optimized for mobile hydraulic
applications.The UTS-ID accelerometers are used to calculate changes in orientation with respect to gravity to
compute and communicate impact events. The sensor communicates over CAN bus using SAE J1939 protocol
and has an integral Deutsch connector. UTS-ID is IoT ready and can be integrated with Parker Mobile IoT
solutions.
Reliability
The UTS-ID has a glass-filled, hybrid plastic construction for sturdiness and corrosion resistance. The sensor is
very robust and able to withstand rugged applications. For moisture protection the enclosure is sealed against
harsh environments using spin-weld technology. These features give the sensor IP69k protection for exposed
outdoor applications when mounted right side up and an IP68 rating when mounted up-side down.
Additionally, the UTS-ID design has a high level of EMI protection.
Installation
The UTS-ID comes standard with 3-axis acceleration detection and advanced algorithm to determine impact
events. It has three mounting holes in a tripod pattern to facilitate level installation and a 4-pin sealed Deutsch
DT connector type designed for automotive use. These features provide for easy installationand removal, even
in field conditions.
Figure 5.1.1: UTS-ID with Deutsch DT04-4P Connector

Parker Hannifin Corporation –UTS-ID User Manual
8
UTS Filtering Description
The UTS-ID has a two stage filtering operation –where the user has some customization opportunity in the
second stage.
Stage 1 –Kalman Filter
The first stage, a Kalman Filter, is responsible for tracking the orientation of the sensor by combing the
accelerometer and gyro readings. The filter tracks a unit vector that represents gravity, giving the orientation
of the sensor in Roll and Pitch. During the update cycle, a prediction of the orientation is made using the
previous position and the rotation rate as measured by the gyro. Additionally, the acceleration is measured
and used to create a second prediction of the orientation. The two predictions are averaged with a weight
given to each prediction based on the following:
•Acceleration variance: Gravity is always 1g in a specific direction. Variance in the acceleration vector
represents high rotation or a noisy signal. In either case more weight is given to gyro-based prediction.
•Acceleration not equal to 1g: If the measured value of acceleration is much greater or less than 1g
then the system is accelerating and the measurement cannot be used to accurately gauge the
orientation. In this case more weight is given to the gyro-based prediction.

Parker Hannifin Corporation –UTS-ID User Manual
9
Stage 2 –User Configurable Exponential Low Pass Filter
The low pass filter is used to smooth the potentially noisy accelerometer signal and measure a moving average
and moving variance. The low pass filter uses an exponential moving average algorithm. Note: Refer to Section
8.6 for examples on how to adjust this filter.
The variance of the filter is used by the Kalman filter while the smoothed average is an input to the impact
detection algorithm.
󰇟󰇠     󰇛󰇜    󰇛  󰇜
Lambda (λ)is the customizable parameter (Low Pass Filter Decay Rate), 0.01 / bit,
Parameter value = 1000
Realized value = 10.
x(n) is the current input.
y(n) is the current output.
y(n-1) is the previous output.
dt is the time difference between samples –4.8 ms. (variable is in seconds, so use 0.0048 s for calculations.
Characteristically, the larger the value of Lambda, the less aggressive the filter. Similarly, the lower value
selected for Lambda, the longer it will take to response.

Parker Hannifin Corporation –UTS-ID User Manual
10
Plotting Stage 2 Filter Responses
Figure 1: Step Response of Stage 2 IIR Filter with Default Settings
It should be noted that:
The left Y axis label represents the x(n) signal (step function) magnitude.
The right Y axis label represents the y(n) signal response after passing through the filter.
Figure 2: Impulse Response of Stage 2 IIR Filter with Default Settings
It should be noted that:
The left Y axis label represents the x(n) signal (impulse function) magnitude.
The right Y axis label represents the y(n) signal response of x(n) after passing through the filter.

Parker Hannifin Corporation –UTS-ID User Manual
11
Mating Connector:
DT06-4S
W4S
1062-16-0144
6 Installation Guidelines
Operating Conditions
The UTS should not be submerged under any liquid without added protection. The operating temperatures for
the sensor are -40 to +85°C.
CAN
The UTS uses CAN messages to report its impact events. All messages are SAE J1939 Proprietary B PGN's except
the address claim request and response which are SAE J1939 standards. The UTS is compatible with a 250kbps
CAN baud rate, qualifying it as a “High-Speed” CAN sensor. Per ISO 11898-2, the linear bus must be terminated
with two 120 Ωresistors at the ends of the transmission lines. Termination resistors are not provided with the
system. External CAN termination is required. Be sure to follow SAE J1939 standards when creating the harness
that the sensor connects to.
For a list of the default settings of the UTS refer to Table 7.4.1.
Power Supply Requirements
Table 6.3.1 shows the power supply requirements for the UTS-ID. The UTS-ID operates in 12V or 24V systems
and canoperate from 6 V to 36 V with a regulated voltage supply.
Table 6.3.1: UTS Power Supply Requirements
Parameter
Value
Operating Voltage
+6 to +36 Vdc
Input Current
16.5 mA at 12V typical
14 mA at 24V typical
Circuit Protection
Reverse Polarity
-48 Vdc
All Pins - Short to +VBAT
+58 Vdc MAX
Transients
See ISO 7637-2, -3
Connector
The UTS uses the Deutsch DT series connector type. Technical details are listed below.
Figure 6.4.1: UTS Mating Connector
Figure 6.4.2: UTS
Connector Diagram

Parker Hannifin Corporation –UTS-ID User Manual
12
Mounting Requirements
Mounting Torque
It is important to tighten the mounting fasteners enough to prevent vibration and loosening. Do not exceed 135
in-lbs (15.3 Nm).
Do not use an impact wrench as this type of device could damage the unit.
Mounting Surface
It is important for the mounting surface to be flat, clean, and clear of any imperfections that may cause false
angle readings.
Do not mount to metal with surface flatness greater than .010” (.254mm).
Avoid mounting to metal less than 1/8” (3.175mm) thick as this can cause excess vibration.
Mounting Orientation
The sensor output is agnostic to mounting orientation. Mount the sensor with regards to the desired sealing
capacity noted in Section 5.1 –Reliability.

Parker Hannifin Corporation –UTS-ID User Manual
13
7 CAN Information
SAE J1939
The J1939 standards come from the international Society of Automotive Engineers (SAE) and were developed to
provide a standard architecture by which multiple electronic systems on a vehicle can communicate. J1939 has
been implemented in a broad range of vehicles and transportation systems and provides a reliable
communication protocol over a high-speed CAN network.
The UTS-ID uses this protocol to transmit its condition as a predefined set of outputs. All messages are SAE
J1939Proprietary B PGN's except the address claim request and response.
Identifier Description
The J1939 protocol uses a 29-bit identifier. The 29-bit identifier is built up as follows:
•Bit 1-8 is Source Address (SA)
•Bit 9-24 is Parameter Group Number (PGN)
•Bit 25 is Data Page (DP)
•Bit 26 is Reserved (R)
•Bit 27-29 is Priority (P)
Table 7.2.1: J1939 CAN Identifier Structure
29-bit IDENTIFIER
Priority
R
DP
Parameter Group Number
Source Address
PDU Format
PDU Specific
CAN 29 Bit
ID Position
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Each identifier has an associated 8-byte data field. The data field is built up as shown in Table 7.2.2.
Table 7.2.2: The Data Field Structure
DATA FIELD
BYTE 1
BYTE 2
BYTE 3-7
BYTE 8
7
6
5
4
3
2
1
0
7
6
5
4
3
2
1
0
7
6
…
1
0
7
6
5
4
3
2
1
0
The Data Field is structured as Little Endian within the bytes, and Big Endian for the Data Field. This is visualized
in Table 7.2.2 above.
UTS Communications
The UTS uses two communication message types: Global and Specific Address.
oGlobal Message: This is the operational “Broadcast mode” message for all the axis accelerometer
information on the sensor. In these messages the unit broadcasts the outgoing data (status of each axis)
on the J1939 bus.
oSpecific Address Message: This is the “Service mode” message for the sensor. In these messages the
UTS-ID receives write and query messages to its node address from the J1939 bus.
Ensure there is no loss of power while making programming changes with the UTS.

Parker Hannifin Corporation –UTS-ID User Manual
14
Protocol Defaults
The default UTS settings are adjustable. The table below lists the default settings the sensor ships with. Please
refer to Section 8 for examples on how to adjust these parameters. Refer to the tables in Section 7.5 for CAN
message details
Table 7.4.1: Default Product Messages and Setup
Impact Event Notification Default Status: Enabled Default Status: Enabled
Default PGN
0xFFAA (65450)
SA 0xE4 (default)
Parameter Group Definition
Proprietary B
Default Priority
6
Broadcast Interval On impact
(1)
Data
Byte
Length
Parameter Name
Format
Resolution
Offset
Description
1
2 bytes
Impact Magnitude
Unsigned
16-bit Int
2.44244e-4
g/bit
0
Maximum Magnitude
Detected
3
2 bytes
Direction X (Unit Vector)
Unsigned
16-bit Int
3.05180e-5
unit/bit
-1
Normalized Direction x-axis
5
2 bytes
Direction Y (Unit Vector)
Unsigned
16-bit Int
3.05180e-5
unit/bit
-1
Normalized Direction y-axis
7
2 bytes
Direction Z (Unit Vector)
Unsigned
16-bit Int
3.05180e-5
unit/bit
-1
Normalized Direction z-axis
Debounce Stopped Default Status: Enabled Default Status: Enabled
Default PGN
0xFFAA (65450)
SA 0xE4 (default)
Parameter Group Definition
Proprietary B
Default Priority
6
Default Broadcast Interval
2.000 s after impact event
Data
Byte
Length
Parameter Name
Format
Resolution
Offset
Value
1
2 bytes
Impact Magnitude
Unsigned
16-bit Int
3.05180e-5
unit/bit
0
0
3
2 bytes
Direction X (Unit Vector)
Unsigned
16-bit Int
3.05180e-5
unit/bit
-1
0x7FFF
5
2 bytes
Direction Y (Unit Vector)
Unsigned
16-bit Int
3.05180e-5
unit/bit
-1
0x7FFF
7
2 bytes
Direction Z (Unit Vector)
Unsigned
16-bit Int
3.05180e-5
unit/bit
-1
0x7FFF
1) Once an impact is detected no further impacts messages will be sent out until the debounce time has passed (2.000 seconds
by default).