POSITAL SAE J1939 User manual

AMERICAS
FRABA Inc.
1800 East State Street, Suite 148
Hamilton, NJ 08609-2020, USA
T [phone], F [phone]
www.posital.com, in[email protected]
EUROPE
FRABA AG
Carlswerkstrasse 13c
51063 Cologne, GERMANY
T [phone], F [phone]
www.posital.com, in[email protected]
ASIA
FRABA Pte. Ltd.
20 Kallang Avenue
Singapore 339411, SINGAPORE
T [phone], F [phone]
www.posital.com, in[email protected]
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
User Manual

AMERICAS
FRABA Inc.
1800 East State Street, Suite 148
Hamilton, NJ 08609-2020, USA
T [phone], F [phone]
www.posital.com, in[email protected]
EUROPE
FRABA AG
Carlswerkstrasse 13c
51063 Cologne, GERMANY
T [phone], F [phone]
www.posital.com, in[email protected]
ASIA
FRABA Pte. Ltd.
20 Kallang Avenue
Singapore 339411, SINGAPORE
T [phone], F [phone]
www.posital.com, in[email protected]
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
Content
Content ..........................................2
1. General Safety Advice.......... 3
1.1 Important Information .........3
2. About this Manual................4
2.1 Background.........................4
2.2 Version Management ...........4
2.3 Imprint ...............................4
2.4 Copyright ............................4
2.5 User Annotation ..................4
2.6 Document History................4
3. Introduction ........................5
3.1 TILTIX Inclinomter ..............5
3.2 TILTIX J1939 ......................5
3.3 Typical Applications of TILTIX
..........................................5
4. Technical Data ....................6
4.1 Electrical Data .....................6
4.2 Mechanical Data ..................6
4.3 Programmable Parameters ...7
5. Installation..........................8
5.1 Pin Assignment....................8
5.2 Installation Precautions........8
5.3 Mounting Instructions ..........9
5.4 Bus Termination ..................9
5.5 Measurement Axes ............ 10
5.6 LED Definition ................... 11
6. PGN, SPN, read/write
parameter..................................... 12
7. Examples .......................... 18
Filter Examples............................ 18
8. Example to Change Address
of Device...................................... 19
9. Output Graphs .................. 20
9.1 TILTIX 360: J1939 Output
Values .............................. 20
9.2 TILTIX 080: J1939 Output
Values .............................. 20
Disclaimer .................................. 21

Page 3 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
1. General Safety Advice
1.1 Important Information
Read these instructions carefully, and have a look
at the equipment to become familiar with the device
before trying to install, operate, or maintain it.
The following special messages may appear
throughout this documentation or on the equipment
to warn of potential hazards or to call attention
towards information that clarifies/simplifies a
procedure.
Please Note: Electrical equipment should be
serviced only by qualified personnel. No
responsibility is assumed by POSITAL for any
consequences arising out of the use of this material.
This document is not intended as an instruction
manual for untrained personnel.
The addition of this symbol to a
Danger or Warning safety label
indicates that an electrical hazard
exists, which will result in personal
injury if the instructions are not
followed.
This is the safety alert symbol. It is
used to alert you to potential
personal injury hazards. Obey all
safety messages that follow this
symbol to avoid possible injury or
death.

Page 4 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
2. About this Manual
2.1 Background
This user manual explains how to install and
configure the TILTIX inclinometer with J1939
interface.
2.2 Version Management
- Updated On: 20200305
- Manual_TILTIX_J1939
2.3 Imprint
FRABA B.V.
Jan Campertstraat 5,
NL-6416 SG Heerlen
T [phone]
[email protected], www.fraba.com
2.4 Copyright
© FRABA B.V., all rights reserved –Claims
copyright on this documentation. It is not allowed to
modify, extend, or hand over to a third party and to
copy this documentation without written approval by
FRABA B.V. Nor is any liability assumed for
damages resulting from the use of the information
contained herein. Further, this publication and
features described herein are subject to change
without notice.
2.5 User Annotation
All readers are highly welcome to send us feedback
and comments about this document.
Depending on your region you can reach us by
e-mail at the following e-mail addresses. For
America [e-mail], for Asia [email protected],
for Europe [email protected].
2.6 Document History
Document
Manual_TILTIX_J1939
Created
20200305
Author
TSC
Reviewers
Versions
First Release –20160302

Page 5 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
3. Introduction
This manual explains how to install and configure
the TILTIX gravity referenced inclinometers with a
J1939 interface, suitable for industrial, military and
heavy duty applications.
3.1 TILTIX Inclinomter
TILTIX inclinometers sense and measure the angle
of tilt (inclination/slope/elevation) of an object with
respect to the force of gravity.
The basic principle behind this TILTIX inclinometer
is a Micro-Electro-Mechanical Systems (MEMS)
sensor cell that isembedded to a fully molded ASIC.
The angle is measured with the relative change in
electrical capacitance in the MEMS cell.
3.2 TILTIX J1939
The TILTIX J1939 inclinometer is available in
industrial and heavy-duty housings, and two
measurement axes variants. The single axis
measurement variant with a range of 360° and a
dual axis measurement capable TILTIX model with
a range of ±80°. In addition to high resolution,
accuracy and protection class of IP69K, it has built-
in active linearization and temperature
compensation. This makes TILTIX suitable for
rugged environments and versatile applications in
industrial, heavy duty and military applications.
Various software tools for configuration and
parameter-setting are available from different
suppliers.
3.3 Typical Applications of TILTIX
- Cranes and Construction Machinery
- Medical Systems
- Elevated Platforms
- Mobile Lifts and Fire Engines
- Automated Guided Vehicles (AGV)
- Automatic Assembling Machinery
- Boring and Drilling Applications
- Leveling and Flattening

Page 6 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
4. Technical Data
4.1 Electrical Data
Model
ACS-080-2-C901
ACS-080-2-C902
ACS-360-1-C901
Measurement Range
± 64°
± 80°
360°
Number of Axes
2
2
1
Resolution
0.01° (0.002 deg/bit)
Accuracy (T = -10 °C to +40 °C)*
0.1°
Temperature Gradient
0.004°/ K
Sensor Response Time
10 ms (without filter)
Recommended Measurement
Rate
Up to 10 Hz
Interface
SAE J1939
Transceiver According ISO 11898,
Galvanically Isolated by Opto-Couplers
Transmission Rate
Adjustable: Max. 1 MBaud (Default Setting : 250 kBaud )
Addressing
Default Setting: 192
Supply Voltage
10 to 30 VDC (Absolute Maximum Ratings)
Current Consumption
Max. 57 mA at 10 V DC; Max. 53 mA at 24 V DC
EMC
Emitted Interference: EN 61000-6-4
Noise Immunity : EN 61000-6-2
4.2 Mechanical Data
For additional electrical and mechanical information please refer to the product specific datasheet available
at posital.com

Page 7 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
4.3 Programmable Parameters
Resolution per 1°
The resolution parameter per 1° is used to program the desired
number (1°, 0.1° and 0.01°) of steps per 1°.
Preset Value
The Preset value is the desired position value, which should be
reached at a certain physical position of the axis. The position
value is set to the desired process value by the preset parameter.
Moving Average-Filter
This filter can be used to adjust the bandwidth of measuring values
to minimize the influence of vibration. Factory Setting: Moving
average filter activated for 20 subsequent readouts.
Digital Recursive Filter
This filter can be used for weighting the last measured value with
the last previous value. This is useful to suppress sudden peaks in
the angle measurement.

Page 8 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
5. Installation
5.1 Pin Assignment
The inclinometer is connected via an integrated
cable or a 5-pin round M12 connector. (Standard
M12, Male side at sensor, Female at connector
counterpart or connection cable).
Signal
5 pin round connector
(ACS…P_)
Cable Exit
ACS…-_W)
CAN Ground
1
Green
VS Supply Voltage
2
Red
0 V Supply Voltage
3
Yellow
CAN High
4
White
CAN Low
5
Brown
5.2 Installation Precautions
Warning: Do not remove or mount
while the inclinometer is under
power!
Avert any modifications to the
housing!
Avoid mechanical load!
Prior to installation, please check for all
connections and mounting instructions to be
complied with. Please also observe the general
rules and regulations on operating low voltage
technical devices, for safety and sustainability of
TILTIX Inclinometers over a long period of time.
Please read the installation leaflet for detailed
instructions and precautions during mounting and
installation.

Page 9 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
5.3 Mounting Instructions
TILTIX is a pre-calibrated device which can be put
into immediate operation, upon simple and easy
installation. The mounting surface must be plane
and free of dust and grease. We recommend hex-
head screws with M4 or UNC bolts #6 (TILTIX
Industrial) and M6 or UNC bolts ¼ (TILTIX Heavy-
Duty) for the best possible and secure mounting.
Use all screw holes for mounting but restrict the
tightening torque in the range of 1.5 –2.5 Nm for the
screws. The M12 connectors are to be perfectly
aligned and screwed till the end with a tightening
torque in the range of 0.4 –0.6 Nm. Use the same
tightening torque for all the screws. Strain relief
should be applied to the cable within 6” of mounting
to prevent excessive stress on the housing.
5.4 Bus Termination
If the inclinometer is connected at the end or
beginning of the bus or is used at transmission
≥50 kBaud a termination resistor of 120 Ohm must
be used in order to prevent reflection of information
back into the CAN bus. TILTIX sensors have built-
in termination resistors that can be activated (1) or
deactivated (0) if necessary.
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.
The following diagram shows the components for
the physical layer of a two-wire CAN bus:
PLC
CANopen
Master
Can Low Wire
CAN High Wire
ACS
Inclinometer
ACS
Inclinometer
120 Ω
120Ω
Other CAN
Nodes

Page 10 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
5.5 Measurement Axes
TILTIX 80 –Dual Axis Inclinometer
TILTIX360 –Single Axis Inclinometer
X=Y=0°
Mid Angle Position
(With Factory Settings)
+Y
-Y
Y=0°
X-Axis Inclination
-X
X=0°
+X
Y-Axis Inclination
TOP
Z=0°
Initial Starting Point (Factory Settings)

Page 11 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
5.6 LED Definition
Status LED (Dual colored)
Green / Red LED
Meaning
Green off
No power supply
Green on
Normal operation mode
Red off
Normal operation mode
Red single flash
At least one of the error counters of the CAN controller has reached
or exceeded the warning level (too many error frames)
Red blinking
General configuration error (e.g. wrong baud rate)
Red on
The can controller is in state bus off. No communication is possible
anymore. Too many error frames in the network.
Since a dual color LED is used, only the red LED is
shown in cases where both green and red LED
would light up.

Page 12 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
6. PGN, SPN, read/write parameter
For version ACS-080-2-C901:
SAE standard PGN 61459 (dual axis): Slope Sensor Information
Inclinometer position
Broadcast communication
Transmission repition rate
10 ms (default)
Data Length
8 bytes
PDU format PF
0xF0
PDU specific PS
0x13
Default priority
6
Parameter group number PGN
61459
PGN 61459 SPN Content
SPN name
SPN
posi-
tion
(bit)
SPN
size
(bit)
Resolution
Offset
Data range
Description
Pitch angle
0-15
16
0.002 °/bit
-64°
--64 to 64°
Pitch Angle
Roll angle
16-31
16
0.002 °/bit
-64°
--64 to 64°
Roll Angle Data
Pitch rate
32-47
2
4 states
-64°/s
--64 to 64°
Pitch rate not supported (0xffff)
Pitch angle figure of merit
48-49
2
4 states
0
0 to 3
00b: value in range,
01b: value out of range
Roll angle figure of merit
50-51
2
4 states
0
0 to 3
00b: value in range,
01b: value out of range
Pitch rate figure of merit
52-53
2
4 states
0
0 to 3
11b: not supported
Pitch and roll compensated
54-55
2
4 states
0
0 to 3
01b: compensation on
Pitch and roll measurement latency
56-63
8
0.5 ms/bit
0
0 to 125 ms
Estimated measurement
latency (0.5 ms/count ->fixed
@ 100ms right now)
Configuration write Parameter (for device address C0)
Identifier
CAN data
Meaning
Data type
0x18EFC0xx
01 00 xx xx xx xx xx xx
Index 0x01: Direction pitch ( 0: SAE J670, 1: opposite direction)
UINT8
0x18EFC0xx
02 00 xx xx xx xx xx xx
Index 0x02: Direction roll ( 0: SAE J670, 1: opposite direction)
UINT8
0x18EFC0xx
03 xx xx xx xx xx xx xx
Index 0x03: Resolution pitch ( not settable, default: 500 ->
0.002°/count)
(UINT16)
0x18EFC0xx
04 xx xx xx xx xx xx xx
Index 0x04: Resolution roll ( not settable, default: 500 -> 0.002°/count)
(UINT16)
0x18EFC0xx
05 0A 00 xx xx xx xx xx
Index 0x05: cycle time PGN 61459 (1ms/count, default: 10)
UINT16
0x18EFC0xx
06 C0 xx xx xx xx xx xx
Index 0x06: Address ( 0-253 allowed, default: 192)
UINT8
0x18EFC0xx
07 04 xx xx xx xx xx xx
Index 0x07: Baudrate (default: 4 -> 250kBaud)
UINT8
0x18EFC0xx
08 00 xx xx xx xx xx xx
Index 0x08: Active filter (0: mov. avg., 1: recursive, 2: linear
regression; default: 0)
UINT8
0x18EFC0xx
09 00 00 xx xx xx xx xx
Index 0x09: Preset pitch (max offset of 15° with respect to default
allowed)
INT16

Page 13 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
xx: source/destination address
Configuration Read Parameter (for device address C0)
Direction
Identifier
CAN data
Meaning
Data
type
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
01 00 FF FF FF FF FF FF
Index 0x01: Direction pitch (default: 0)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
02 00 FF FF FF FF FF FF
Index 0x02: Direction roll ( default: 0)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
03 F4 01 FF FF FF FF FF
Index 0x03: Resolution pitch (default: 500 ->
0.002°/count)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
04 F4 01 FF FF FF FF FF
Index 0x04: Resolution roll (default: 500 -> 0.002°/count)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
05 0A 00 FF FF FF FF FF
Index 0x05: Cycle time in ms (default: 10, 1ms/count)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
06 C0 FF FF FF FF FF FF
Index 0x06: Address (default: 192)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
07 04 FF FF FF FF FF FF
Index 0x07: Baud rate ( default: 4 -> 250kBaud)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
08 00 FF FF FF FF FF FF
Index 0x08: Active filter (default: 0 -> moving average)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
09 00 00 FF FF FF FF FF
Index 0x09: Preset pitch (default: 0)
INT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
0A 00 00 FF FF FF FF FF
Index 0x0A: Preset roll (default: 0)
INT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
0B 00 FF FF FF FF FF FF
Index 0x0B: Termination resistor (default: 0 -> off)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
Response
0x18EFxxC0
0C 00 00 FF FF FF FF FF
Index 0x0C: Recursive filter factor (default: 0 -> off)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
Response
0x18EFxxC0
0D 02 FF FF FF FF FF FF
Index 0x0D: Internal sensor update time (default: 2ms)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
Response
0x18EFxxC0
0E 64 FF FF FF FF FF FF
Index 0x0E: Moving average filter size (default: 100)
UINT8
xx: source/destination address
0x18EFC0xx
0A 00 00 xx xx xx xx xx
Index 0x0A: Preset roll (max offset of 15° with respect to default
allowed)
INT16
0x18EFC0xx
0B 00 xx xx xx xx xx xx
Index 0x0B: Termination resistor ( 0: off, 1: on)
UINT8
0x18EFC0xx
0C 00 00 xx xx xx xx xx
Index 0x0C: Recursive filter factor (0-1000 old value, scaled with
1000; default: 0)
UINT16
0x18EFC0xx
0D 02 xx xx xx xx xx xx
Index 0x0D: Internal sensor update rate (1,2,4ms; default: 2ms)
UINT8
0x18EFC0xx
0E 64 xx xx xx xx xx xx
Index 0x0E: Mov. avg. Size (0-250; default: 100)
UINT8
0x18EFC0xx
FA 73 61 76 65 xx xx xx
Index 0xFA: Save all parameter non-volatile with reset
UINT32
0x18EFC0xx
FC 6C 6F 61 64 xx xx xx
Index 0xFC: Restore all parameter to factory default with reset
UINT32

Page 14 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
For version ACS-080-2-C902:
PGN 65283 (dual axis)
Inclinometer position
Broadcast communication
Transmission repition rate
10 ms (default)
Data Length
8 bytes
PDU format PF
0xFF
PDU specific PS
0x03
Default priority
6
Parameter group number PGN
65283
xx: source/destination address
PGN 65283 SPN Content
SPN name
SPN
posi-
tion
(bit)
SPN
size
(bit)
Resolution
Offset
Data range
Description
Pitch angle (extended range)
0-15
16
0.01°
0
--80 to 80°
Pitch Angle
Roll angle (extended range)
16-31
16
0.01°
0
--80 to 80°
Roll Angle Data
Pitch rate
32-63
18
-
-
-
Reserved (0x00)
Configuration write Parameter (for device address C0)
Identifier
CAN data
Meaning
Data
type
0x18EFC0xx
01 00 xx xx xx xx xx xx
Index 0x01: Direction pitch (0: SAE J670, 1: opposite direction)
UINT8
0x18EFC0xx
02 00 xx xx xx xx xx xx
Index 0x02: Direction roll (0: SAE J670, 1: opposite direction)
UINT8
0x18EFC0xx
03 xx xx xx xx xx xx xx
Index 0x03: Resolution pitch (not configurable, default: 100)
UINT8
0x18EFC0xx
04 xx xx xx xx xx xx xx
Index 0x04: Resolution roll (not configurable, default: 100)
UINT8
0x18EFC0xx
05 0A 00 xx xx xx xx xx
Index 0x05: Cycle time PGN 65283 (1ms/count, default: 10)
UINT16
0x18EFC0xx
06 C0 xx xx xx xx xx xx
Index 0x06: Address (0-255 allowed, default: C0 h; 192d)
UINT8
0x18EFC0xx
07 04 xx xx xx xx xx xx
Index 0x07: Baudrate (default: 4 -> 250kBaud)
UINT8
0x18EFC0xx
08 00 xx xx xx xx xx xx
Index 0x08: Active filter (0: mov. avg., 1: recursive, 2: linear
regression; default: 0)
UINT8
0x18EFC0xx
09 00 00 xx xx xx xx xx
Index 0x09: Preset pitch
INT16
0x18EFC0xx
0A 00 00 xx xx xx xx xx
Index 0x0A: Preset roll
INT16
0x18EFC0xx
0B 00 xx xx xx xx xx xx
Index 0x0B: Termination resistor (0: off, 1: on)
UINT8
0x18EFC0xx
0C 00 00 xx xx xx xx xx
Index 0x0C: Recursive filter factor (0-1000 old value, scaled with
1000; default: 0)
UINT16
0x18EFC0xx
0D 02 xx xx xx xx xx xx
Index 0x0D: Internal sensor update rate (1,2,4ms; default: 2ms)
UINT8
0x18EFC0xx
0E 64 xx xx xx xx xx xx
Index 0x0E: Mov. avg. Size (0-250; default: 100)
UINT8
0x18EFC0xx
FA 73 61 76 65 xx xx xx
Index 0xFA: Save all parameter non-volatile with reset
UINT32
0x18EFC0xx
FC 6C 6F 61 64 xx xx xx
Index 0xFC: Restore all parameter to factory default with reset
UINT32

Page 15 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
Configuration Read Parameter (for device address C0)
Direction
Identifier
CAN data
Meaning
Data
type
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
01 00 FF FF FF FF FF FF
Index 0x01: Direction pitch (default: 0)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
02 00 FF FF FF FF FF FF
Index 0x02: Direction roll (default: 0)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
03 64 00 FF FF FF FF FF
Index 0x03: Resolution pitch (default: 100)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
04 64 00 FF FF FF FF FF
Index 0x04: Resolution roll (default: 100)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
05 0A 00 FF FF FF FF FF
Index 0x05: Cycle time in ms (default: 10, 1ms/count)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
06 C0 FF FF FF FF FF FF
Index 0x06: Address (default: 192)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
07 04 FF FF FF FF FF FF
Index 0x07: Baud rate (default: 4 -> 250kBaud)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
08 00 FF FF FF FF FF FF
Index 0x08: Active filter (default: 0 -> moving average)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
09 00 00 FF FF FF FF FF
Index 0x09: Preset pitch (default: 0)
INT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
0A 00 00 FF FF FF FF FF
Index 0x0A: Preset roll (default: 0)
INT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
0B 00 FF FF FF FF FF FF
Index 0x0B: Termination resistor (default: 0 -> off)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
Response
0x18EFxxC0
0C 00 00 FF FF FF FF FF
Index 0x0C: Recursive filter factor (default: 0 -> off)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
Response
0x18EFxxC0
0D 02 FF FF FF FF FF FF
Index 0x0D: Internal sensor update time (default: 2ms)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
Response
0x18EFxxC0
0E 64 FF FF FF FF FF FF
Index 0x0E: Moving average filter size (default: 100)
UINT8
xx: source/destination address

Page 16 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
For version ACS-360-1-C901:
PGN 65467 (single axis)
Inclinometer position
Broadcast communication
Transmission repition rate
10 ms (default)
Data Length
8 bytes
PDU format PF
0xFF
PDU specific PS
0xBB
Default priority
6
Parameter group number PGN
65467
xx: source/destination address
PGN 65467 (single axis) SPN Content
SPN name
SPN
posi-
tion
(bit)
SPN
size
(bit)
Resolution
Offset
Data range
Description
Angle z-axis
0-31
32
0.1°
0
0 to 360°
z-axis angle
Pitch rate
32-63
18
-
-
-
Reserved (0x00)
Configuration write Parameter (for device address C0)
Identifier
CAN data
Meaning
Data type
0x18EFC0xx
01 00 xx xx xx xx xx xx
Index 0x01: Direction z-axis according to datasheet
UINT8
0x18EFC0xx
03 F4 01 xx xx xx xx xx
Index 0x03: Resolution z-axis (default: 500 -> 0.002°/count)
UINT16
0x18EFC0xx
05 0A 00 xx xx xx xx xx
Index 0x05: cycle time PGN 65467 (1ms/count)
UINT16
0x18EFC0xx
06 C0 xx xx xx xx xx xx
Index 0x06: Address (0-255 allowed, default: 192)
UINT8
0x18EFC0xx
07 04 xx xx xx xx xx xx
Index 0x07: Baudrate (default: 4 -> 250kBaud)
UINT8
0x18EFC0xx
08 00 xx xx xx xx xx xx
Index 0x08: Active filter (0: mov. avg., 1: recursive, 2: linear
regression; default: 0)
UINT8
0x18EFC0xx
09 00 00 00 00 xx xx xx
Index 0x09: Preset z-axis (in current resolution, range 0-(360*res-1))
INT32
0x18EFC0xx
0B 00 xx xx xx xx xx xx
Index 0x0B: Termination resistor (0: off, 1: on)
UINT8
0x18EFC0xx
0C 00 00 xx xx xx xx xx
Index 0x0C: Recursive filter factor (0-1000 old value, scaled with
1000; default: 0)
UINT16
0x18EFC0xx
0D 02 xx xx xx xx xx xx
Index 0x0D: Internal sensor update rate (1,2,4ms; default: 2ms)
UINT8
0x18EFC0xx
0E 64 xx xx xx xx xx xx
Index 0x0E: Mov. avg. Size (0-250; default: 100)
UINT8
0x18EFC0xx
FA 73 61 76 65 xx xx xx
Index 0xFA: Save all parameter non-volatile with reset
UINT32
0x18EFC0xx
FC 6C 6F 61 64 xx xx xx
Index 0xFC: Restore all parameter to factory default with reset
UINT32

Page 17 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
Configuration Read Parameter (for device address C0)
Direction
Identifier
CAN data
Meaning
Data type
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
01 00 FF FF FF FF FF FF
Index 0x01: Direction z-axis (default: 0)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
03 F4 01 FF FF FF FF FF
Index 0x03: Resolution z-axis (default: 500 -> 0.002°/count)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
05 0A 00 FF FF FF FF FF
Index 0x05: Cycle time in ms (default: 10, 1ms/count)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
06 C0 FF FF FF FF FF FF
Index 0x06: Address (default: 192)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
07 04 FF FF FF FF FF FF
Index 0x07: Baud rate (default: 4 -> 250kBaud)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
08 00 FF FF FF FF FF FF
Index 0x08: Active filter (default: 0 -> moving average)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
09 00 00 00 00 FF FF FF
Index 0x09: Preset z-axis (default: 0)
INT32
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
0B 00 FF FF FF FF FF FF
Index 0x0B: Termination resistor (default: 0 -> off)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
0C 00 00 FF FF FF FF FF
Index 0x0C: Recursive filter factor (default: 0 -> off)
UINT16
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
0D 02 FF FF FF FF FF FF
Index 0x0D: Internal sensor update time (default: 2ms)
UINT8
Request
0x18EAC0xx
00 EF 00
Read request
-
Response
0x18EFxxC0
0E 64 FF FF FF FF FF FF
Index 0x0E: Moving average filter size (default: 100)
UINT8
xx: source/destination address

Page 18 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
7. Examples
Filter Examples
Moving Average Filter
Filter time 300ms, internal sensor update time 2ms
Therefore the moving average filter size: 300ms/2ms → 150
Identifier
CAN data
Description
0x18EFC0xx
08 00 xx xx xx xx xx xx
Set moving average as active filter
0x18EFC0xx
0E 96 xx xx xx xx xx xx
Set moving average filter size to 150 (96h)
0x18EFC0xx
0D 02 xx xx xx xx xx xx
Set internal sensor update time to 2ms
Recursive Filter Example
99% of end value after 200ms, internal sensor update rate 4ms
200ms/4ms = 50 iterations, 100% -99% = 1% = 0.01→ 50th root of 0.01 = 0.912 → filter value 912
(factor 1000)
Identifier
CAN data
Description
0x18EFC0xx
08 01 xx xx xx xx xx xx
Set recursive filter as active filter
0x18EFC0xx
0C 90 03 xx xx xx xx xx
Set recursive filter factor to 912 (390h)
0x18EFC0xx
0D 04 xx xx xx xx xx xx
Set internal sensor update time to 4ms
Linear Regression Example
Linear regression filter is not adjustable, but internal sensor update time is
Filter time 125ms per 1ms internal sensor update time; filter time 250ms → internal sensor update time
2ms
Identifier
CAN data
Description
0x18EFC0xx
08 02 xx xx xx xx xx xx
Set linear regression
0x18EFC0xx
0D 02 xx xx xx xx xx xx
Set internal sensor update time to 2ms

Page 19 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
8. Example to Change Address of Device
- Hardware : CAN Capture by Murphy Controls
- Software : dataTaker
- Part No: ACS-360-1-C901-VK2-PM
Original Address: 0xC0 (192d)
New Address: 0xC1 (193d)
Type
Priority
PDU-F
PDU-S
Src Addr
PGN
PID
DLC
Data
29-Bit
6
FF
BB
C0
FFBB
18FFBBC0
8
D4 AC 01 00 FF FF FF FF
29-Bit
6
EA
C0
00
EAC0
18EAC000
3
00 EF 00
29-Bit
6
EF
00
C0
EF00
18EF00C0
8
06 C1 00 FF FF FF FF FF
29-Bit
6
EF
C0
00
EFC0
18EFC000
8
FA 73 61 76 65 00 00 00
29-Bit
6
FF
BB
C1
FFBB
18FFBBC1
8
B2 B7 01 00 FF FF FF FF
Row 3 is the example for data sent to change
Row 4 is the required store and reset message
sent on the older address
Row 5 is the new position value coming from the
newly addressed 0xC1

Page 20 ACS J1939 User Manual Version: 20200305
USER MANUAL
TILTIX MEMS ACS INCLINOMETER WITH J1939 INTERFACE
9. Output Graphs
9.1 TILTIX 360: J1939 Output Values
9.2 TILTIX 080: J1939 Output Values