Pepperl+Fuchs INX DH-F199-B16 Series User manual

INX***DH-F199-B16-***,
INY***DH-F199-B16-***
with CANopen Interface
FACTO Y AUTOMATION
MANUAL

With regard to the supply of products, the current issue of the following document is ap-
plicable: The General Terms of Delivery for Products and Services of the lectrical Indus-
try, published by the Central Association of the lectrical Industry (Zentralverband
lektrotechnik und lektroindustrie (ZV I) e.V.) in its most recent version as well as the
supplementary clause: " xpanded reservation of proprietorship"
INX***DH-F199-B16-***, INY***DH-F199-B16-***

INX***DH-F199-B16-***, INY***DH-F199-B16-***
3
1 Introduction................................................................................. 7
1.1 Content of this Document ................................................................... 7
1.2 Target Group, Personnel...................................................................... 7
1.3 Symbols Used ...................................................................................... 8
1.4 Intended Use ........................................................................................ 8
1.5 General Safety Notes ........................................................................... 9
1.6 Declaration of conformity.................................................................... 9
2 Product Description ................................................................. 10
2.1 Use and Application........................................................................... 10
2.2 Accessories ........................................................................................ 10
3 Installation................................................................................. 11
3.1 Instructions for Mechanical and Electrical Installation.................. 11
3.2 Mounting Instructions ....................................................................... 12
3.3 Electrical Connection ........................................................................ 13
3.4 Configuring/Connecting the Terminator .......................................... 13
4 Modes and Parameters ............................................................ 14
4.1 Pre-Operational Mode........................................................................ 14
4.2 Operational Mode............................................................................... 15
4.3 Stopped Mode .................................................................................... 15
4.4 einitializing the Inclination Sensor ................................................ 15
4.5 Boot-Up Procedure ............................................................................ 16
4.6 Transmission Modes.......................................................................... 16
4.7 Using Layer Settings Service (LSS)................................................. 17

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INX***DH-F199-B16-***, INY***DH-F199-B16-***
5 Software Configuration Overview .......................................... 18
5.1 Factory Settings ................................................................................. 18
5.2 Active Programming Objects ............................................................18
5.3 Programmable Parameters................................................................18
5.4 Command Description .......................................................................19
5.5 Frequently Used Commands.............................................................20
5.6 PDO Transmission ..............................................................................21
5.6.1 Object 1800h: 1st Transmit PDO Communication Parameter ........... 21
5.6.2 Object 1801h: 2nd Transmit PDO Communication Parameter.......... 21
5.6.3 Transmission Mode .......................................................................... 22
5.6.4 Inhibit Time....................................................................................... 22
5.6.5 vent Timer ...................................................................................... 22
5.6.6 Cyclic Timer ..................................................................................... 22
5.6.7 Object 1A00h: 1st Transmit PDO Mapping Parameter...................... 23
5.6.8 Object 1A01h: 2nd Transmit PDO Mapping Parameter .................... 23
5.6.9 Types of SDO ................................................................................... 23
6 CANopen Configuration Examples......................................... 24
6.1 Store All Parameters (Object 1010h) ................................................24
6.2 estore All Parameters (Object 1011h)............................................24
6.3 Write (new) Node-ID (Object 3000h).................................................25
6.4 ead Baud ate (Object 3001h)........................................................25

INX***DH-F199-B16-***, INY***DH-F199-B16-***
5
7 CANopen Objects ..................................................................... 26
7.1 CANopen Object Overview................................................................ 26
7.2 Communication Profile...................................................................... 30
7.2.1 Object 1000h: Device Type .............................................................. 30
7.2.2 Object 1001h: rror Register ........................................................... 30
7.2.3 Object 1003h: Pre-Defined rror Field ............................................. 30
7.2.4 Object 1005h: COB-ID Sync ............................................................ 31
7.2.5 Object 1008h: Mfr Device Name...................................................... 31
7.2.6 Object 1009h: Mfr Hardware Version ............................................... 31
7.2.7 Object 100Ah: Mfr Software Version ................................................ 31
7.2.8 Object 100Ch: Guard Time .............................................................. 31
7.2.9 Object 100Dh: Life Time Factor ....................................................... 31
7.2.10 Object 1010h: Store Parameters ...................................................... 32
7.2.11 Object 1011h: Restore Parameters.................................................. 32
7.2.12 Object 1014h: COB-ID mergency.................................................. 33
7.2.13 Object 1016h: Consumer Heartbeat Time ....................................... 33
7.2.14 Object 1017h: Producer Heartbeat Time ......................................... 33
7.2.15 Object 1018: Identity Object ............................................................ 34
7.2.16 Object 1800h: 1st Transmit PDO Communication Parameter........... 21
7.2.17 Object 1801h: 2nd Transmit PDO Communication Parameter ......... 21
7.2.18 Object 1A00h: 1st Transmit PDO Mapping Parameter ..................... 23
7.2.19 Object 1A01h: 2nd Transmit PDO Mapping Parameter .................... 23
7.3 Manufacturer Specific ....................................................................... 35
7.3.1 Object 2200h: Cyclic Timer.............................................................. 35
7.3.2 Object 2300h: Save Parameter with Reset....................................... 35
7.3.3 Object 2600h: Preset X-Axis ............................................................ 36
7.3.4 Object 2601h: Preset Y-Axis ............................................................ 36
7.3.5 Object 3000h: Node Number ........................................................... 37
7.3.6 Object 3001h: Baud rate .................................................................. 37
7.3.7 Object 3002h: Terminator................................................................. 38
7.3.8 Object 3022h: Digital Recursive Filter .............................................. 38
7.3.9 Object 3100h: Moving Average Filter ............................................... 38

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7.4 Device Profile......................................................................................39
7.4.1 Object 6000h: Resolution ................................................................. 39
7.4.2 Object 6010h: Slope Long16............................................................ 39
7.4.3 Object 6011h: Slope Long16 Operating Parameter .......................... 40
7.4.4 Object 6012h: Slope Long16............................................................ 40
7.4.5 Object 6013h: Slope Long16 Offset ................................................. 41
7.4.6 Object 6014h: Differential Slope Long16 Offset ............................... 41
7.4.7 Object 6020h: Slope Lateral16 ......................................................... 41
7.4.8 Object 6021h: Slope Lateral16 Operating Parameter ....................... 42
7.4.9 Object 6022h: Slope Lateral16 Preset Value .................................... 42
7.4.10 Object 6023h: Slope Lateral16 Offset............................................... 43
7.4.11 Object 6024h: Differential Slope Lateral16 Offset............................. 43
7.4.12 Object 61xxh: All 32-bit Objects ....................................................... 43

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Introduction
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1 Introduction
1.1 Content of this Document
This document contains information required to use the product in the relevant phases of the
product life cycle. This may include information on the following:
■ Product identification
■ Delivery, transport, and storage
■ Mounting and installation
■ Commissioning and operation
■ Maintenance and repair
■ Troubleshooting
■ Dismounting
■ Disposal
The documentation comprises the following parts:
■ This document
■ Datasheet
In addition, the documentation may comprise the following parts, if applicable:
■ U-type examination certificate
■ U declaration of conformity
■ Attestation of conformity
■ Certificates
■ Control drawings
■ Instruction manual
■ Other documents
1.2 Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation,
commissioning, operation, maintenance, and dismounting of the product. The personnel must
have read and understood the instruction manual and the further documentation.
Prior to using the product make yourself familiar with it. Read the document carefully.
Note!
For full information on the product, refer to the further documentation on the Internet at
www.pepperl-fuchs.com.

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Introduction
1.3 Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. It is mandatory
that you observe these warning messages for your personal safety and in order to avoid
property damage.
Depending on the risk level, the warning messages are displayed in descending order as
follows:
Informative Symbols
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
1.4 Intended Use
The inclination sensors of the INX***DH-F199-B16-*** series and the INY***DH-F199-B16-***
series sense and measure the angle of tilt of an object in relation to the force of gravity and
provide inclination data via CANopen interface.
Read through these instructions thoroughly. Familiarize yourself with the device before
installing, mounting, or operating.
Always operate the device as described in these instructions to ensure that the device and
connected systems function correctly. The protection of operating personnel and plant is only
guaranteed if the device is operated in accordance with its intended use.
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Note!
This symbol brings important information to your attention.

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Introduction
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1.5 General Safety Notes
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Installation and commissioning of all devices may only be performed by trained and qualified
personnel.
The device is only approved for appropriate and intended use. Ignoring these instructions will
void any warranty and absolve the manufacturer from any liability.
If serious faults occur, stop using the device. Secure the device against inadvertent operation.
In the event of repairs, return the device to your local Pepperl+Fuchs representative or sales
office.
1.6 Declaration of conformity
This product was developed and manufactured under observance of the applicable uropean
standards and guidelines.
The product manufacturer, Pepperl+Fuchs GmbH, D-68307 Mannheim, has a certified quality
assurance system that conforms to ISO 9001.
Note!
Disposal
lectronic waste is hazardous waste. When disposing of the equipment, observe the current
statutory requirements in the respective country of use, as well as local regulations.
Note!
A Declaration of Conformity can be requested from the manufacturer.
ISO9001

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Product Description
2 Product Description
2.1 Use and Application
INX***DH-F199-B16-*** and the INY***DH-F199-B16-*** series inclination sensors sense and
measure the tilt angle (inclination/slope/elevation) of an object in relation to the force of gravity.
The basic principle behind these inclination sensors is a microelectromechanical systems
(M MS) sensor cell that is embedded in a fully molded application-specific integrated circuit
(ASIC). The angle is measured via the relative change in electrical capacitance in the M MS
cell.
INX***DH-F199-B16-*** sensors are 1-axis sensors that sense and measure tilt on the x-axis
INY***DH-F199-B16-*** sensors are 2-axis sensors that sense and measure tilt on the x-axis
and y-axis.
Communication with the inclination sensors, including configuration and data output, runs via a
CANopen interface.
CANopen Interface
CANopen is based on the Controller Area Network (CAN), which was developed by automotive
industries in the 80s. The CANopen application protocol was introduced by the multi-vendor
association CAN in Automation (CiA) to ensure full compatibility of industrial automation
products. It is a multiple-access system (maximum: 127 devices), which means that all devices
can access the bus.
These devices are the components of the CANopen bus. In simple terms, CANopen works as a
client-server model. ach device checks whether the bus is free, and if it is free the device can
send messages. If two devices try to access the bus at the same time, the device with the
higher priority level has permission to send its message first. Devices with the lowest priority
level must cancel their data transfer and wait before re-trying to send their message.
Communication Profile and Operating Modes
INX***DH-F199-B16-*** and INY***DH-F199-B16-*** series inclination sensors conform to the
CANopen communication profile CiA DS 410 for inclinometers.
Various software tools for configuration and parameter-setting are available from different
suppliers. It is easy to align and program the inclination sensors using the DS (electronic
datasheet) configuration file provided at www.pepperl-fuchs.com.
The devices support the following operating modes:
■ Polled mode: The position value is transmitted only on request.
■ Cyclic mode: The position value is sent cyclically (regular, adjustable intervals) on the
bus.
■ SYNC mode: The position value is sent after a synchronization message (SYNC) is
received. The position value is sent every n SYNCs (n ≥ 1).
■ State change mode: The position value is transmitted whenever the position of the
inclinometer changes (minimum time interval settable).
2.2 Accessories
Various accessories are available. See datasheet or relevant product page on the Internet
www.pepperl-fuchs.com.

INX***DH-F199-B16-***, INY***DH-F199-B16-***
Installation
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3 Installation
3.1 Instructions for Mechanical and lectrical Installation
Observe the following instructions to ensure safe operation of the inclination sensor:
Warning!
Work must only be performed by trained and qualified personnel.
Commissioning and operation of this electrical equipment must only be performed by trained
and qualified personnel. This means individuals who are qualified to commission (in
accordance with safety technology), connect to ground, and label devices, systems, and
circuits.
Warning!
Only perform work when the system is in a de-energized state.
De-energize your device before performing work on the electrical connections. Short circuits,
voltage peaks, and similar events can lead to faults and undefined statuses. This presents a
significant risk of personal injury and property damage.
Warning!
Check electrical connections before switching on the system.
Check all electrical connections before switching on the system. Incorrect connections present
a significant risk of personal injury and property damage. Incorrect connections can lead to
malfunctions.
Caution!
Do not remove the housing.
Do not remove the sensor housing under any circumstances, as damage and contamination
can occur as a result of taking improper action.
Caution!
Do not perform any electrical modifications.
It is not permitted to perform electrical modifications on the inclination sensor. If you open or
modify the device yourself, not only are you endangering yourself and others but you will also
void any warranty and absolve the manufacturer of any liability.
Do not allow the inclination sensor to fall or be exposed to mechanical load.
Do not make any alterations to the housing of the inclination sensor.

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Installation
3.2 Mounting Instructions
The inclination sensors are pre-calibrated devices that can be put into immediate operation
after easy installation. The mounting surface must be flat and free of dust and grease.
Depending on the sensor model, ensure that the sensor is oriented correctly for inclination
measurement.
The following figures show the correct axis orientation for each sensor model.
Figure 3.1 1-axis sensor
The above figure shows the correct axis orientation for a 1-axis sensor with one connector.
There are also models with two connectors.
Figure 3.2 2-axis sensor
The above figure shows the correct axis orientation for a 2-axis sensor with two connectors.
There are also models with one connector.
Fastening with Screws
We recommend hexagon head screws with M6 or UNC 1/4 for optimal and secure mounting.
1. Use all three screws for mounting and restrict the tightening torque to 10 Nm ± 10 %.
2. Use the same tightening torque for all three screws.
3. Align the M12 connectors perfectly and tighten them until the end with a torque in the range
of 0.4 ... 0.6 Nm.
INX***DH-F199-B16-***
INY***DH-F199-B16-***
+X -X
X = 0°
+X
X = 0°
-Y
+Y
Y = 0°
-X

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Installation
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3.3 lectrical Connection
The sensors are connected via M12 5-pin connectors with CAN bus. There are sensor models
with one connector (V15) or two connectors (2V15).
The one-connector sensors have a male connector type.
Connecting the Sensor to Voltage
Connect the operating voltage to pins 2 and 3 of the 5-pin connector.
The "Power" L D lights up green.
3.4 Configuring/Connecting the Terminator
To ensure a secure signal transfer, both ends within a CAN bus segment must be closed with a
120 Ω terminator. If the inclination sensor is installed at the beginning or the end of the CAN
bus, a terminator must be used. The inclination sensor is equipped with a built-in terminator to
be activated/deactivated by configuring Object 3002h Terminator (see chapter 7.3.7). It is also
possible to use an external terminator, which can be more suitable in some cases.
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 minimizes reflection.
Signal
Bus In
Pin
Bus Out
Pin
CAN GND 1 1
+ U
b
2 2
GND 3 3
CAN-High 4 4
CAN-Low 5 5
Pinout
Table 3.1
1
3
4
5
2
1
5
3
2
4
Warning!
Damage to the device
Connecting an alternating current or excessive supply voltage can damage the device or cause
the device to malfunction.
lectrical connections with reversed polarity can damage the device or cause the device to
malfunction.
Connect the sensor to direct current (DC). nsure that the supply voltage rating is within the
specified sensor range. nsure that the connecting wires on the cordset in use are connected
correctly.

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Modes and Parameters
4 Modes and Parameters
The purpose of this chapter is to describe the available configuration parameters of these
inclination sensors with CANopen interface. Before going into details the following information
describes useful technical terms and acronyms for CANopen network communication.
4.1 Pre-Operational Mode
If the device is in this state, its configuration can be modified. However, only SDOs can be used
to read or write device-related data.
The device enters pre-operational mode:
■ After power-up
■ Upon receiving the " nter Pre-Operational" NMT indication, if it was in operational mode
before
Once configuration is complete, the device enters one of the following states upon receiving
the corresponding indication:
■ "Stopped" upon receiving the "Stop Remote Node" NMT indication
■ "Operational" upon receiving the "Start Remote Node" NMT indication
To set a node to pre-operational mode, the master must send the following message:
NNh: node number
Node-ID In the CAN network each device has a Node-ID that is used to
address the device in the network and to define it’s priority of.
DS ( lectronic Data
Sheet)
An DS file describes the communication properties of a device on
the CAN network (baud rates, transmission types, I/O features, etc.). It
is provided by the device manufacturer and is used in the
configuration tool to configure a node (like a driver in an operating
system).
PDO (Process Data
Object)
CANopen frame containing I/O data. We distinguish between:
■ Transmit-PDO (TPDO): data provided by a node
■ Receive-PDO (RPDO): data to be consumed by a node
The transmission direction is always seen from a node's point of view.
SDO (Service Data
Object)
SDOs are typically used to read or write parameters while the
application is running.
COB-ID
(Communication
Object Identifier)
ach CANopen frame starts with a COB-ID working as the Identifier.
During the configuration phase, each node receives the COB-ID(s) for
which it is the provider (or consumer).
NMT (Network
Management
Transition)
The NMT protocols are used to issue state machine change
commands (i.e. to start and stop the devices), detect remote device
boot ups and error conditions.
Table 4.1
Identifier Byte 0 Byte 1 Description
0h 80h 00h NMT-PreOp, all nodes
0h 80h NNh NMT-PreOp, NN
Table 4.2

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Modes and Parameters
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4.2 Operational Mode
The device enters the operational state if it was in the pre-operational state upon receiving the
"Start Remote Node" indication. If the CANopen network is started using the "Node Start" NMT
services in operational state, all device functionalities can be used. Communication can use
PDOs or SDOs.
To put one or all nodes in operational mode, the master has to send the following message:
NNh: node number
4.3 Stopped Mode
The device enters stopped mode upon receiving the "Node Stop" indication (NMT service) if it
was in pre-operational or operational mode. In stopped mode, the device cannot be configured.
No service is available to read or write device-related data (SDO). Only the slave monitoring
function "Node Guarding" remains active.
To put one or all nodes in stopped mode, the master has to send the following message:
NNh: node number
4.4 Reinitializing the Inclination Sensor
If a node is not operating correctly, it is advisable to carry out a reinitialization. After
reinitialization, the inclination sensor accesses the bus in pre-operational mode.
NNh: node number
Note!
Modifications to the configuration in operational mode may have unexpected consequences
and should therefore only be made in pre-operational mode.
Identifier Byte 0 Byte 1 Description
0h 01h 00h NMT-Start, all nodes
0h 01h NNh NMT-Start, NN
Table 4.3
Identifier Byte 0 Byte 1 Description
0h 02h 00h NMT-Stop, all nodes
0h 02h NNh NMT-Stop, NN
Table 4.4
Identifier Byte 0 Byte 1 Description
0h 82h 00h Reset communication all CANopen devices
0h 82h NNh Reset communication node
0h 81h 00h Reset all CANopen devices
0h 81h NNh Reset node
Table 4.5

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Modes and Parameters
4.5 Transmission Modes
4.6 Boot-Up Procedure
The general boot-up procedure for the CANopen inclination sensors and the mapping of
various modes are illustrated below:
Polled Mode Via a remote transmission request telegram, the connected host calls
for the current process value. The inclination sensor uses the current
position value, calculates set-parameters, and sends back the
obtained process value by the same identifier.
Cyclic Mode The inclination sensor transmits cyclically the current process value,
without being called by the host. The cycle time can be programmed
in milliseconds for values between 1 ms and 65536 ms.
Sync Mode The inclination sensor answers with current process value after
receiving a sync telegram. The parameter sync counter can be
programmed to skip a certain number of sync telegrams before
answering again.
Heartbeat Function A node signals its communication status by cyclically transmitting a
heartbeat message. This message is received by one or any number
of members (heartbeat consumers) in the bus and so they can control
the dedicated node (heartbeat producer).
Table 4.6
Number Description
1 Power up inclination sensor
2 After initialization, the inclination sensor automatically enters pre-
operational mode.
3 NMT: Start Remote Node
4 NMT: Pre-Operational Mode
5 NMT: Stop Remote Node
6 NMT: Reset Node
7 NMT: Reset Communication
Table 4.7

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Modes and Parameters
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4.7 Using Layer Settings Service (LSS)
The integrated Layer Setting Services (LSS) functionality is designed in accordance with the
CiA normative DS305V200 CANopen Layer Setting Services. These services and protocols
can be used to inquire or to change settings of several parameters (of the physical, data link,
and application layer) on a CANopen device with LSS slave capability by a CANopen device
with LSS master capability via the CAN network. The inclination sensor will be the LSS slave
device and the PLC (control) has to support LSS master device functionality. The LSS-
functionality of these inclination sensors is limited to the following parameters of the application
layer, namely node number and baud rate.
The LSS master device requests the LSS address from the LSS slave device. The LSS
address is defined in object 1018h Identity Object; it consists of vendor ID, product code,
revision number, and serial number, as shown in the table below. After receiving this
information, the control system can identify the inclination sensor. The node number and baud
rate can then be set. The exact procedure varies in detail, depending on the PLC tool being
used. This object provides the general identification of the inclination sensor.
Subindex Description Data Type Default Value
0 Number of entries Unsigned 8 04h
1 Vendor ID Unsigned 32 ADh
2 Product code Unsigned 32 43415032h
3 Revision number Unsigned 32 00010000h
Prone to change with
every revision.
4 Serial number Unsigned 32 -
Table 4.8

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Software Configuration Overview
5 Software Configuration Overview
These inclination sensors are flexible, remote-configurable devices. All parameters are
programmable via CAN bus.
This chapter is divided into two main parts — one describing how to put the inclination sensors
into operation and the other for PDO/SDO programming of the inclination sensors.
5.1 Factory Settings
5.2 Active Programming Objects
Active CANopen objects depend on the state of inclination sensor: "x" in the table below
indicates which CANopen objects are active in each state.
5.3 Programmable Parameters
Objects are based on the CiA-DS410 CANopen profile for inclinometer (www.can-cia.org). The
table in the following chapter "Command Description" displays a list of the command identifiers
sent and received by the inclination sensor. These are the standard commands used for
communication and transmission between a master and a slave in a CAN bus. It is quite useful
for the analysis of communication logs between the master and slave and for better
understanding of the system under observation.
Note!
Save Parameters after Modification
After modifying parameters, save the new settings into the inclination sensor by using
operations with object 1010h or object 2300h. Otherwise, after boot-up the formerly stored
values of parameters will overwrite the current values.
Note!
The factory settings can be restored at any time. Some parameters have to be reprogrammed
to make the inclination sensor compatible with the controller or the existing CAN bus on which
it is going to be installed.
Description Object Value
Device Type 1000h 4019Ah (2-axis)
3019Ah (1-axis)
Cyclic Timer 2200h 00h (0 ms)
Resolution 6000h 0Ah (0.01°)
Node Number 3000h 00h (Node number: 1)
Baud Rate 3001h 03h (125 kB)
Table 5.1
Initialization Pre-Operational Operational Stopped
PDO Object x
SDO Object x x
Boot-Up x x
NMT x x x
Table 5.2

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Software Configuration Overview
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5.4 Command Description
1) The value of the command byte depends on the data length of the called parameter (see
next table).
Data Length of Commands
Command Function Telegram Description
22h Domain Download Write Request Parameter to
inclination sensor
60h Domain Download Write Confirmation Parameter Received
40h Domain Upload Read Request Parameter Request
43h, 4Bh, 4Fh
1
Domain Upload Read Response Parameter to Master
80h Warning rror Response Transmission rror
Table 5.3
Command Data Length Data Type
43h 4 Byte Unsigned 32
4Bh 2 Byte Unsigned 16
4Fh 1 Byte Unsigned 8
Table 5.4

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Software Configuration Overview
5.5 Frequently Used Commands
The following list shows the most frequently used objects for programming the inclination
sensor. This list offers important programming tips and FAQ which are necessary for the proper
use of the inclinometer.
See chapter 7 for the whole list of CANopen objects.
Object Name Object ID Description
Position Value X-
Axis
6010h For INX*** and INY*** inclination sensors, this object
provides the X-Axis position value. This a read only
object and the position values are limited depending on
the resolution set.
Position Value Y-
Axis
6020h For INY*** inclination sensors, this object provides the
Y-axis position value. This a read only object and the
position values are limited depending on the resolution
set.
Store Parameters 1010h This object is used to store either all parameters or only
parts of the object dictionary if necessary.
Save Parameters
with Reset
2300h This object stores and saves all current parameters with
an additional NMT reset of the inclination sensor.
Resolution in
Degree
6000h This parameter is used to program the desired
resolution. The resolution can be set to 1º (1000d), 0.1º
(100d) or 0.01º (10d)
Default is 10d = 0.01º
Preset Value X-
Axis
6012h The Preset Value is the desired position value (for
example 0°), which should be reached at a certain
physical position of the measurement x-axis. The
position value is set to the desired process value by the
parameter Preset.
Preset Value Y-
Axis
6022h The Preset Value is the desired position value (for
example 0°), which should be reached at a certain
physical position of the measurement y-axis. The
position value is set to the desired process value by the
parameter Preset.
Baud Rate 3001h The Baud rate can be programmed via SDO. (Default
125 kBaud
Node Number 3000h The setting of the Node Number can be achieved via
SDO-Object. Valid addresses range from 1 to 127, each
address can only be used once. The value set in this
object is incremented by one to prevent setting the
Node Number 0. For inclination sensors programmed
via SDO, the default is 0h = Node Number 1
Filters 3100h
3022h
The filter is a routine to process the data stream of the
base sensor. It can be used to adjust the averaging or
weighting of measurements and calculation of position
values.
■ Object 3100h corresponds to moving average filter
■ Object 3022h is for the digital recursive filter
Default: Object 3100h: 100d, Object 3022h: 0.
Table 5.5