RIEKER Flex H6MM User manual

User Programmable
Digital CANopen
Current 0..24mA
Voltage 0..10V
Open Collector Switc
Dual & Single Axis
Up to 360º
Sensor
Specifications,
Installation
,
& Wiring
2018
Flex™ H6MM CANopen User Guide

Flex™ H6MM-CANopen User Guide
Page 1 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Table of Contents
Sensor Description ..................................................................................................... 3
Updates & Revision History .......................................................................................... 3
Sensor Specifications ................................................................................................. 4
H6MM-CANOPEN Installation and Wiring ........................................................................... 5
Horizontal Mount Axis Orientations .......................................................................... 7
Vertical Mount Axis Orientations ............................................................................. 7
H6MM-CANOPEN Connector Wiring Tables ..................................................................... 8
H6MM-CANOPEN Bus Wiring Configurations .................................................................... 9
Analog Outputs ....................................................................................................... 11
Sensitivity & Zero Angle Calculation .......................................................................... 11
Current Output Wiring Diagrams and Connection Procedures ........................................... 11
Digital CANopen Communication ................................................................................. 13
CANopen Command Functions ................................................................................. 13
Communication Object ...................................................................................... 13
Manufacturer Specific Objects ............................................................................. 15
Inclinometer Device Specific Objects (per DSP-410) ................................................... 16
LSS: C ange Baud Rate and Node-ID .......................................................................... 17
EDS file ............................................................................................................. 17
References ............................................................................................................ 17

Flex™ H6MM-CANopen User Guide
Page 2 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
List of Figures
FIGURE 1: H6MM-CANOPEN DIMENSIONS AND MOUNTING (INCHES [MM]) ..................................................................... 5
FIGURE 2: MOUNTING POSITIONS ................................................................................................................................... 6
FIGURE 3: EXAMPLE OF SERIAL NUMBER AND FACTORY DEFAULT CONFIGURATION LABEL ......................................................... 7
FIGURE 4: SINGLE H6MM-CANOPEN SENSOR ............................................................................................................... 9
FIGURE 5: MULTIPLE DAISY-CHAIN H6MM-CANOPEN SENSORS ....................................................................................... 9
FIGURE 6: MULTIPLE MULTI-DROP H6MM-CANOPEN SENSORS ....................................................................................... 9
FIGURE 7: MAX NUMBER OF DAISY CHAIN H6MM-CANOPENS GRAPH ............................................................................ 0
FIGURE 8: CURRENT WIRING DIAGRAMS ........................................................................................................................ 2
List of Tables
TABLE : REVISION HISTORY .......................................................................................................................................... 3
TABLE 2: H6MM-CANOPEN MALE 8-PIN INPUT CONNECTOR WIRING .............................................................................. 8
TABLE 3: H6MM-CANOPEN FEMALE 5-PIN DIGITAL OUTPUT DAISY CHAIN CONNECTOR WIRING ........................................... 8
TABLE 4: H6MM-CANOPEN CURRENT SENSE ..............................................................................................................

Flex™ H6MM-CANopen User Guide
Page 3 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Sensor Description
T e H6MM-CANOPEN Flex™ Multi-Mount inclinometer provides ig ly accurate, dual axis inclination over a
range of ±180°. T ese sensors incorporate MEMS accelerometers referenced to gravity wit integrated
temperature compensation over t e full industrial operating range of -40° to +85°C for absolute accuracy. It
can be user-configured to mount eit er orizontally or vertically.
T e H6MM-CANOPEN as a digital CANopen output CiA (CAN in Automation) certified to DS-301 and DSP-410 for
inclinometers. It also includes LSS (Layer Setting Services) for baud rate and node ID c anges. It can be used to
measure t e angle of bot axes, as well as configure t e various digital parameters of t e sensor.
T e H6MM-CANOPEN additionally provides two continuous, current outputs. T ese outputs are set to 4mA and
20mA wit an angle range of ±180°.
Updates Revision History
T e information in t is guide may be subject to c ange. Please visit ttps://www.riekerinc.com/find-
product/ 6/ 6mm-documents for latest version of t is document.
TABLE 1: REVISION HISTORY
REV DATE DESCRIPTION
- 7/1/2019 Initial Release

Flex™ H6MM-CANopen User Guide
Page 4 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Sensor Specifications
INPUT PARAMETERS
SUPPLY VOLTAGE +11..36 VDC Non-Regulated
SUPPLY CURRENT
1
22mA @ 24VDC (Digital Output only)
30mA nominal @ 24VDC (Analog Output - no load)
75mA max @ 24VDC (Analog and Digital Outputs enabled)
85mA max @ 12VDC (Analog and Digital Outputs enabled)
ANALOG MEASURING RANGE ±180°
DIGITAL MEASURING RANGE ±180°
INPUT PROTECTION Reverse Polarity, ESD & Surge Protected
ABSOLUTE ACCURACY OVER FULL OPERATING TEMPERATURE
RANGE: ±180° ±0.1º typical, ±0.2º absolute max
RESOLUTION 0.05º
RESPONSE TIME
1Hz (Optional from 4Hz to 0.3Hz)
CANOPEN DIGITAL OUTPUT PARAMETERS
CERTIFICATION CiA201903-301V42/303-0233. V4.2
OUTPUT TYPE CANopen Half Duplex (2-wire) per CiA DS-301
INCLINATION OUTPUT Per CiA DSP-410
BAUD RATE Default 500Kbps (Configurable from 125K to 1M via LSS)
NODE ID Default 5 (Configurable via LSS)
FUNCTIONS TPDO (polled, cyclic, synchronized), parameterization per SDO and object
registers, SYNC Consumer, EMCY Producer, Heartbeat Producer
TEMPERATURE RANGES
OPERATING TEMPERATURE -40ºF..+185ºF (-40ºC..+85ºC)
STORAGE TEMPERATURE -49ºF..+194ºF (-45ºC..+90ºC)
MECHANICAL CHARACTERISTICS
HOUSING Aluminum, IP68, All-weather, Submersible
WEIGHT 18.6 oz. (525 Grams)
MOUNTING HOLES Accept #8 or M4.5 screws (See Dimensional Drawing)
MOUNTING PLANE Flat Horizontal or Vertical Surface
OUTLINE DIMENSIONS 4.34” x 3.26” x 1.8” [110mm x 82.8mm x 45.7mm]
ELECTRICAL CONNECTION See Electrical Connection Drawing
Notes:
1. Supply Current varies depending on outputs connected. Digital output only assumes analog output section is always
active however current loop is not connected.

Flex™ H6MM-CANopen User Guide
Page 5 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
H6MM-CANOPEN Installation and Wiring
Note: T e H6MM allows t e end user to select between orizontal and vertical mounting positions via object
4011 . T e factory default mounting position is orizontal, lid up.
1. On t e mounting plane, prepare surface wit t ree tapped oles 3.815” [96.9mm] apart for #9
mounting screws. NOTE t at t e single ole on side wit t e two slots is not meant to be used for
mounting
2. Mount inclinometer to mounting plane using #9 mounting screws.
FIGURE 1: H6MM-CANOPEN Dimensions and Mounting (Inches [Mm])

Flex™ H6MM-CANopen User Guide
Page 6 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
FIGURE 2: Mounting Positions

Flex™ H6MM-CANopen User Guide
Page 7 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Horizontal Mount Axis Orientations
As s own in t e top drawing of Figure 2 , t e 0° orientation for a orizontal mount H6MM-CANOPEN is a
desktop level position.
•For t e X-axis, looking at t e unit from t e side wit t e connector facing to t e rig t, a clockwise
rotation from t e zero position is considered positive and a counter-clockwise rotation from t e zero
position is considered negative.
•For t e Y-axis, looking at t e unit from t e front wit t e connector facing towards you, a clockwise
rotation from t e zero position is considered positive and a counter-clockwise rotation from t e zero
position is considered negative.
Vertical Mount Axis Orientations
As s own in t e bottom drawing of Figure 2, t e 0° orientation for a vertical mount H6MM-CANOPEN is wit t e
connector facing down.
•For t e X-axis, looking at t e unit from t e top wit t e connector facing down, a clockwise rotation
from t e zero position is considered positive and a counter-clockwise rotation from t e zero position is
considered negative.
•For t e Y-axis, looking at t e unit from t e side wit t e top facing to t e rig t and t e connector
facing down, a clockwise rotation from t e zero position is considered positive and a counter-
clockwise rotation from t e zero position is considered negative.
FIGURE 3: Example of Serial Number and Factory Default Configuration Label
NOTE: Important information about your sensor is llocated on t e bottom of t e H6MM-CANOPEN sensor:
•Warranty Label
•Factory Configured Defaults
•Serial Number
Sample shown is for information purposes only.

Flex™ H6MM-CANopen User Guide
Page 8 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
H6MM-CANOPEN Connector Wiring Tables
TABLE 2: H6MM-CANOPEN MALE 8-PIN INPUT CONNECTOR WIRING
PIN FUNCTION TERMINATION
1 SUPPLY VOLTAGE +11.. +36VDC WHITE
2 POWER / SIGNAL COMMON BROWN
3 CAN HI GREEN
4 CAN LO YELLOW
5 NO CONNECTION GRAY
6 ANALOG OUTPUT 1 (DEFAULT: X AXIS) PINK
7 ANALOG OUTPUT 2 (DEFAULT: Y AXIS) BLUE
8 NO CONNECTION RED
NOTES:
•T e front and back of t e connector may not
ave any pin markings in t e actual connector.
T e user will need to look at t e front-side
keyway (see drawing) to determine pin outs.
•T e termination wire colors reference t e cable
sold by Rieker.
TABLE 3: H6MM-CANOPEN FEMALE 5-PIN DIGITAL OUTPUT DAISY CHAIN CONNECTOR WIRING
PIN FUNCTION
1 NO CONNECTION
2 SUPPLY VOLTAGE +11..+36VDC
3 POWER COMMON
4 CAN HI
5 CAN LO
NOTE: T e H6MM-CANOPEN Sensor’s C assis Ground is NOT t e same as t e signal ground for t e current
output return. T e current output return must be connected to t e POWER/SIGNAL COMMON (pin 2).

Flex™ H6MM-CANopen User Guide
Page 9 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: [phone] [email protected] www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker®All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
H6MM-CANOPEN Bus Wiring Configurations
W en using t e digital output, t e H6MM-CANOPEN sensor can be connected as a single sensor or can be
connected to ot er sensors in a bus configuration. T e following figures s ow t ree possible configurations for
using t e CANopen output.
FIGURE 4: Single H6MM-CANOPEN Sensor
FIGURE 5: Multiple Daisy-Chain H6MM-CANOPEN Sensors
FIGURE 6: Multiple Multi-Drop H6MM-CANOPEN Sensors
CANopen Master
Power
120Ω Termination required at ends of bus
CANopen Master
Power
120Ω Termination required at ends of bus
CANopen Master
Power
120Ω Termination required at ends of bus