Pepperl+Fuchs INX DH-F199-B30 Series User manual

INX***DH-F199-B30-***
INY***DH-F199-B30-***
with MODBUS RTU Interface
F CTORY UTOM TION
M NU L

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-B30-***,INY***DH-F199-B30-***

INX***DH-F199-B30-***,INY***DH-F199-B30-***
3
1 Introduction................................................................................. 4
1.1 Content of this Document ................................................................... 4
1.2 Target Group, Personnel...................................................................... 4
1.3 Symbols Used ...................................................................................... 5
1.4 Intended Use ........................................................................................ 5
1.5 General Safety Notes ........................................................................... 6
1.6 Declaration of conformity.................................................................... 6
2 Product Description ................................................................... 7
2.1 Use and pplication............................................................................. 7
2.2 ccessories .......................................................................................... 7
3 Installation................................................................................... 8
3.1 Instructions for Mechanical and Electrical Installation.................... 8
3.2 Mounting Instructions ......................................................................... 9
3.3 Electrical Connection ........................................................................ 10
3.4 Configuring/Connecting the Terminator .......................................... 10
4 MODBUS RTU Device Registers and Codes .......................... 11
4.1 Communication Settings for Setup .................................................. 11
4.2 Function Codes .................................................................................. 11
4.3 Device-Specific Registers ................................................................. 12
4.4 Manufacturer-Specific Registers and Function Codes .................. 15
4.5 Device Identity.................................................................................... 17
5 MODBUS Communication Examples...................................... 18
5.1 Modbus Master Simulator Modbus Poll........................................... 18
5.2 Reading the Position Values of a 2- xis Inclination Sensor.......... 21
5.3 Setting the Preset Values of a 2- xis Inclination Sensor............... 23
5.4 Reading the Set Baud Rate ............................................................... 25

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Introduction
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
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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
INX***DH-F199-B30-*** and INY***DH-F199-B30-*** series inclination sensors detect and
measure the tilt angle of an object in relation to the force of gravity and provide inclination data
via a MODBUS RTU 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
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
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2 Product Description
2.1 Use and Application
INX***DH-F199-B30-*** and INY***DH-F199-B30-*** series inclination sensors detect 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 by the relative change in electrical capacitance in the M MS
cell.
INX***DH-F199-B30-*** sensors are 1-axis sensors that detect and measure the tilt around the
x-axis.
INY***DH-F199-B30-*** sensors are 2-axis sensors that detect and measure the tilt around the
x-axis and the y-axis.
Communication with the inclination sensors, such as configuration and data output, occurs via
a MODBUS RTU interface.
MODBUS RTU Interface
MODBUS RTU is an open serial (RS-232 or RS-485) protocol that is based on master/slave
architecture. It is a widely accepted protocol due to its ease of use and reliability. MODBUS
RTU messages are simple and, therefore, reliable. Due to this simplicity, the basic 16-bit
MODBUS RTU register structure can be used to pack in floating point, tables, ASCII text,
queues, and other unrelated data.
The MODBUS application protocol defines a simple protocol data unit (PDU) independent of
the underlying communication layers: The mapping of MODBUS protocol on a specific bus or
network introduces some additional fields on the PDU. The client that initiates a MODBUS
transaction builds the MODBUS PDU and then adds fields to build the appropriate
communication PDU.
Figure 2.1
On the MODBUS serial line, the address field only contains the slave address. The valid slave
node addresses are in the range of 0 ... 247 decimal. The individual slave devices are assigned
addresses in the range of 1 ... 247. A master addresses a slave by placing the slave address in
the address field of the message. When the slave returns its response, it places its own
address in the response address field to let the master know which slave is responding
2.2 Accessories
Various accessories are available. See datasheet or relevant product page on the Internet
www.pepperl-fuchs.com.
Address field Function code Data CRC (or LRC)
MODBUS SERIAL LINE PDU
MODBUS PDU

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Installation
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
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3.2 Mounting Instructions
The inclination sensors are pre-calibrated devices that can be put into immediate operation
following easy installation with a three point mount. The mounting surface must be flat and free
of dust and grease.
Depending on the sensor model, pay attention to the correct orientation of the sensor for
inclination measurement when mounting.
The following figures show the correct axis orientation for each model.
Figure 3.1 1-axis sensor
The 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 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 the best possible and most
secure mounting. Use all three screws for mounting. Restrict the tightening torque to the range
of 10 Nm ± 10 % for the screws. The M12 connectors are to be perfectly aligned and screwed
to the end with a tightening torque in the range of 0.4 ... 0.6 Nm. Use all three screws for
mounting, and use the same tightening torque for all the screws.
INX***DH-F199-B30-***
INY***DH-F199-B30-***
+X -X
X = 0°
+X
X = 0°
-Y
+Y
Y = 0°
-X

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Installation
3.3 lectrical Connection
The sensors are connected via M12 x 1, 5-pin connectors with MODBUS RTU. There are
sensor models with one connector (V15) or two connectors (2V15).
One-connector sensors have a male connector.
Connecting the sensor to voltage
Connect the operating voltage to pins 2 and 3 of the 5-pin connector.
3.4 Configuring/Connecting the Terminator
To ensure a secure signal transfer, both ends within a MODBUS RTU segment must be closed
with a 120 Ω terminator. If the inclination sensor is installed at the beginning or the end of the
MODBUS RTU, a terminator must be used. The inclination sensor is equipped with a built-in
terminator to be activated/deactivated by setting the correct register (See chapter 4.4). 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
n. c. 1 1
+ U
b
2 2
GND 3 3
RS485 A + 4 4
RS485 B - 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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MODBUS RTU Device Registers and Codes
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4 MODBUS RTU Device Registers and Codes
INX***DH-F199-B30-*** and INY***DH-F199-B30-*** series sensors are flexible devices. All
parameters are programmable via a MODBUS master. This enables remote configuration.
This chapter consists of 2 major parts. One describing the methodology for putting an
inclination sensor into operation and the other for programming an inclination sensor.
4.1 Communication Settings for Setup
4.2 Function Codes
Function codes are used to access the various registers. The codes supported by the
inclination sensors are as follows:
Description Value
Baud Rate 19200
Device Address 7Fh (127d)
Parity/Stop Bits ven/1 Stop-Bit
Data Format 8 Bit Binary
Table 4.1
Function Type Hex Value rror Code ( xception Codes)
Read Holding Register Public 03h 83h (01/02/03/04)
Write Multiple Register Public 10h 90h (01/02/03/04)
Write (Manufacturer
Specific)
User
Defined
44h C4h (01/02/03/04)
Read (Manufacturer
Specific)
User
Defined
45h C5h (01/02/03/04)
Read Device ID Diagnostic 2Bh/0 h ABh (01/02/03/04)
Table 4.2

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MODBUS RTU Device Registers and Codes
4.3 Device-Specific Registers
Note!
The following table describes the device-specific registers. Note that INX***DH-F199-B30-***
is a 1-axis measuring inclination sensor (x-axis) and INY***DH-F199-B30-*** is a 2-axis
measuring inclination sensor (x-axis, y-axis)
Note that data format of register "Current Postion Value Lower/Higher Register (x-Axis)"
depends on the sensor type. INX*** sensors have data format "unsigned" and INY*** sensors
have data type format "signed".
Register Name
Register
Offset Access
Function
Code Data Byte Description and Values Default
Current Position Value
Higher Register (x-Axis)
0000h RO 03h 16 bits signed
(only INY***)
16 bits
unsigned (only
INX***)
You can read this value
as current the position
value
–
Current Position Value Lower
Register (x-Axis)
0001h RO 03h 16 bits signed
(only INY***)
16 bits
unsigned (only
INX***)
You can read this value
as current the position
value
–
Current Position Value
Higher Register (y-Axis)
0002h RO 03h 16 bits signed You can read this value
as current the position
value
–
Current Position Value Lower
Register (y-Axis)
0003h RO 03h 16 bits signed You can read this value
as current the position
value
–
Preset Value Higher Register
(x-Axis)
0004h R/W 03h/ 10h 16 bits signed You can write a 0 or
current value here to
make the current value
your preset point
0000h
Preset Value Lower Register
(x-Axis)
0005h R/W 03h/ 10h 16 bits signed You can write a 0 or
current value here to
make the current value
your preset point
0000h
Preset Value Higher Register
(y-Axis)
0006h R/W 03h/ 10h 16 bits signed You can write a 0 or
current value here to
make the current value
your preset point
0000h
Preset Value Lower Register
(y-Axis)
0007h R/W 03h/ 10h 16 bits signed You can write a 0 or
current value here to
make the current value
your preset point
0000h
Resolution 0008h R/W 03h/10h 16 bits Resolution of Position
Value
Values 0 = 0.001° , 1=
0.01°, 2 = 0.1° , 3 = 1°
0001h
Measurement Direction 0009h R/W 03h/ 10h 16 bits Using this you can
invert the counting
direction
■ both axis CW: 0
■ x-axis CCW: 1
■ y-axis CCW: 2
■ both axis CCW: 3
0000h

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MODBUS RTU Device Registers and Codes
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Example of Write Process
Write preset value for x– and y–axis
Offset Value Higher Register
(x-Axis)
000Ah RO 03h 16 bits signed Read the offset value =
Physical position - set
position
–
Offset Value Lower Register
(x-Axis)
000Bh RO 03h 16 bits signed Read the offset value =
Physical position - set
position
–
Offset Value Higher Register
(y-Axis)
000Ch RO 03h 16 bits signed Read the offset value =
Physical position - set
position
–
Offset Value Lower Register
(y -Axis)
000Dh RO 03h 16 bits signed Read the offset value =
Physical position - set
position
–
Moving Average Filter Length 000 h R/W 03h/ 10h 16 bits The Moving Average
Filter length accepts
only 2n values. .g. 4,
8, 16, 32, 64, 128, 256.
If the input number isn’t
a 2n number, the next
lower 2n number will be
taken
0040h
(64d)
Table 4.3
Register Name
Register
Offset Access
Function
Code Data Byte Description and Values Default
Request ( Command) Response
Name Value Name Value
Device Address 7Fh Device Address 7Fh
Function Code 10h Function Code 10h
Starting Register
Address
0004h Starting Register
Address
0004h
Number of Register 0004h Number of Register 0004h
Number of Bytes 0008h CRC xxxxh
Data to be Written reg
1
0000h
Data to be Written reg
2
0500h
Data to be Written reg
3
0000h
Data to be Written reg
4
0000h
CRC xxxxh
Table 4.4

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MODBUS RTU Device Registers and Codes
Example of Read Process
Position value for 2–axis inclination sensor
Request (Command) Response
Name Value Name Value
Device Address 7Fh Device Address 7Fh
Function Code 03h Function Code 03h
Starting Register
Address
0000h Byte Count 8h
Number of Register 0004h Register 0 Value 0004h
CRC xxxxh Register 1 Value 1234h
Register 2 Value 0005h
Register 3 Value 1234h
CRC xxxxh
Table 4.5

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MODBUS RTU Device Registers and Codes
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4.4 Manufacturer-Specific Registers and Function Codes
The following paragraph describes the user-defined function codes 0x44h (write) and 0x45h
(read). User-defined function code 44h/45h is for less commonly used, off-line functions such
as setting serial port parameters and changing the device address. Some MODBUS hosts
cannot support this function code, but the frames can still be sent using a serial terminal
program on a PC that can send binary data on the serial port. Changes to the serial port
parameters and device address are stored in flash memory, so these settings are retained
when power is off. A soft power cycle (command AAh) or a manual power cycle is needed to
activate the new values.
Example of Write Process
Set Device Address
Register Name
Comma
nd Access
Function
Code
Data
type Description and Values Default
Baud Rate 20h R/W 45h/44h 8 bits Baud Rate values in Baud ( 0
= 2400 ; 1 =4800 ; 2 = 9600;
3 = 19200; 4 = 38400; 5 =
57600; 6 = 115200)
03h
Parity 21h R/W 45h/44h 8 bits ■ 0: no parity
■ 1: odd parity
■ 2: even parity
02h
Device Address 22h R/W 45h/44h 8 bits Used to set the device
address; Valid range from 1
to 247
7Fh
(127d)
Activate Terminator 23h R/W 45h/44h 8 bits Used to set the internal
terminating resistor of 120
ohms
■ 0 = inactive
■ 1 = active
00h
Read device HW version 30h R 45h 16 bits HW version read as a BCD
value ( e.g.: 0110 means
1.10)
Read device SW version 31h R 45h 16 bits SW version read as a BCD
value ( e.g.: 0110 means
1.10)
Restore to Factory Setting 55h W 44h 8 bits No data ( command length
smaller)
Software Power cycle AAh W 44h 8 bits No data ( command length
smaller)
Table 4.6
Request (Command) Response
Name Value Name Value
Device Address 7Fh Device Address 7Fh
Function Code 44h Command 44h
Command 22h Command 22h
Number of Bytes 01h Number of Bytes 01h
New Address 05h CRC xxxxh
CRC xxxxh
Table 4.7

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MODBUS RTU Device Registers and Codes
Example of Read Process
Read Baud Rate
Example of Write Process
Software power cycle
Request (Command) Response
Name Value Name Value
Device Address 7Fh Device Address 7Fh
Function Code 45h Function Code 45h
Command 20h Command 20h
Number of Bytes 01h Number of Bytes 01h
CRC xxxxh Response 03h
CRC xxxxh
Table 4.8
Request ( Command) Response
Name Value Name Value
Device Address 7Fh Device Address 7Fh
Function Code 44h Function Code 44h
Command AAh Command AAh
Number of Bytes 00h CRC xxxxh
CRC 00h
Table 4.9

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MODBUS RTU Device Registers and Codes
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4.5 Device Identity
This function code is used to get information regarding the device identity like manufacturer
name, software and hardware versions, product name, and serial number. We support the
basic type of object ID. The serial number is included as part of the product code. For example
INY F199 Modbus S# 00202336.
Example
Name Object ID Access Data type Value Object length
Vendor Name 00h R 8 bits (ASCII) Pepperl+Fuchs 0Dh
Product Code
(Includes
Serial
Number)
01h R 8 bits (ASCII) IN* F199
Modbus
S#xxxxxxxx
1Bh
Major Minor
Rev
02h R 8 bits (ASCII) SW-V01.00
HW-V01.00
013h
Table 4.10
Request (Command) Response
Name Value Name Value
Device Address 7Fh Device Address 7Fh
Function Code 2Bh Function Code 2Bh
M I Type 0 h M I Type 0 h
Read Dev id Code 01h Read Dev id Code 01h
Object ID 00h Conformity Level 01h
CRC xxxxh More Follows 00h
Next Object ID 00h
Number of Objects 03h
Object ID 00h
Object Length 0Dh
Object Value Pepperl+Fuchs
Object ID 01h
Object Length 1Bh
Object Value IN* F199 Modbus
S#xxxxxxxx
Object ID 02h
Object Length 13h
Object Value SW-V01.00 HW-
V01.00
Table 4.11

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MODBUS Communication xamples
5 MODBUS Communication xamples
5.1 Modbus Master Simulator Modbus Poll
In the following chapters, the MODBUS master simulator "Modbus Poll" of "Witte Software
Company" is used to display the command sequences and to establish MODBUS
communication.
"Modbus Poll" is a popular MODBUS simulator for testing and debugging slave devices. The
software supports MODBUS RTU/ASCII and MODBUS TCP/IP.
For detailed information, see the "Witte Software Company" web page:
http://www.modbustools.com/index.html
Modbus Poll
To have a general description of the command creation, the so-called "Test Center" of the
MODBUS master simulator is used. With this, the individual parameters and any function
codes can be freely entered as a hexadecimal byte sequence.
Setup of Modbus Poll for slave communication
1. Start Modbus Poll.
2. Check if communication parameters are correct for your device. Click the "Connect..."
command in the "Connection" menu.
Figure 5.1
Note!
The MODBUS address of the INX***DH-F199-B30-*** and INY***DH-F199-B30-*** series
sensors is 127d (7Fh).

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MODBUS Communication xamples
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Figure 5.2
Note!
The following communication settings (Connection, Serial Settings) are only an example and
have to be adapted to the existing hardware.

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INX***DH-F199-B30-***,INY***DH-F199-B30-***
MODBUS Communication xamples
Select the Test Center
Click the "TC" symbol to open the "Test Center."
Figure 5.3
The "Test Center" window with a command line opens.
Figure 5.4
In the upper window, you can enter individually composed command sequences in the
editor line in hexadecimal notation and send them to the MODBUS slave.
In the lower window, the communication flow is displayed line by line. The communication
flow consists of the commands sent to the MODBUS slave and the corresponding responses.