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-***
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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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INX***DH-F199-B16-***, INY***DH-F199-B16-***
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

INX***DH-F199-B16-***, INY***DH-F199-B16-***
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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INX***DH-F199-B16-***, INY***DH-F199-B16-***
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.

INX***DH-F199-B16-***, INY***DH-F199-B16-***
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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INX***DH-F199-B16-***, INY***DH-F199-B16-***
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.