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The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri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
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T
he content presented is provided for informational purposes only and subject to change.
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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
®
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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
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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
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The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
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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
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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

Flex™ H6MM-CANopen User Guide
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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 : Max Number of Daisy Chain H6MM-CANOPENs Graph
NOTE: T is grap is based on 22AWG wire as t e daisy-c ain between sensors. Also note t at by using a multi-
drop configuration, additional sensors may be added, up to a maximum of 60 units due to bus loading.

Flex™ H6MM-CANopen User Guide
Page 11 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.
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FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Analog Outputs
T e H6MM-CANOPEN inclinometer comes wit two, continuous, current outputs t at ave been factory set to 4-
20mA, ±180°. For user-configurable analog (current, voltage, and switc ) outputs wit out CANOpen, consider
t e H6MM.
NOTE: Consult t e factory for CANopen models t at include user-configurable analog (current, voltage, and
switc ) outputs.
CAUTION: T e Flex™ series of sensors are manufactured to allow end user adjustments of t e analog and digital
output parameters. Purc aser assumes t e responsibility of ensuring t at t e settings are appropriate for t eir
specific application. IN NO EVENT WILL RIEKER BE LIABLE FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES OF ANY
KIND.
Sensitivity Zero Angle Calculation
T e output sensitivity is calculated as follows:


. For t e H6MM-CANOPEN wit a ±180°
range and a 4 to 20mA output:
Sensitivity =





       
Zero Degree Angle Output = 
Current Output Wiring Diagrams and Connection Procedures
1. Connect t e power (PIN 1) to an 11-36VDC supply and t e ground (PIN 2) to t e supply
ground/common.
2. Connect t e corresponding output (PIN 6 for output 1, PIN 7 for output 2) to t e positive terminal of
t e measurement device, and t e sensor ground (PIN 2) to t e negative terminal/common of t e
measurement device.
NOTE: Current outputs will not work using c assis ground. Unit ground (PIN 2) must be used.
3. To convert t e current to a voltage output select an appropriate load resistor (Rsense) based on t e
equation defined in Table 4: H6MM-CANOPEN Current Sense
TABLE 4: H6MM-CANOPEN CURRENT SENSE
R
sense
is dependent upon supply voltage and cable/wire
resistance. Ensure the following equation is met:





 





QUICK REFERENCE
SUPPLY VOLTAGE SENSE RESISTOR
12V 200-350 OHMS
24V 200-1000 OHMS
28V 200-1000 OHMS

Flex™ H6MM-CANopen User Guide
Page 12 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 8: CURRENT WIRING DIAGRAMS
- H6MM-CANOPEN Current Output Measurement
- H6MM-CANOPEN Current Conversion to Voltage Output Measurement
H6
Dual Axis
H6 Mating Cable
11-36VDC
Power Supply
-
+
PI
N 1
PIN 6
PIN 7
PIN 2
Digital
Multimeter,
PLC, etc.
-
+
Digital
Multimeter,
PLC, etc.
-
+
GND
OUTPUT 2
OUTPUT 1
V
IN
H6
Dual Axis
H6 Mating Cable
11-36VDC
Power Supply
-
+
PIN 1
PIN 6
PIN 7
PIN 2
Digital
Multimeter,
PLC, etc.
-
+
Digital
Multimeter,
PLC, etc.
-
+
GND
OUTPUT 2
OUTPUT 1
V
IN
LOAD RESISTOR

Flex™ H6MM-CANopen User Guide
Page 13 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
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FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Digital CANopen Communication
T e H6MM-CANOPEN inclinometer comes equipped wit a standardized CANopen interface per CiA DS-301 and
device profile DSP-410. T is communication can be used to read inclination angles from t e device. In addition,
all measured values and parameters are accessible via t e object dictionary and can be stored in non-volatile
memory. By default, t e H6MM-CANOPEN as a 500kbps baud rate and Node-ID 5. Bot can be configured via
LSS per CiA DS-305.
T e following CANopen functions are available:
•Send Data objects (TPDO1) wit two possible operating modes:
oCyclic: Send at an interval (using in ibit time)
oSync ronized: Send after receipt of any number of SYNC commands
•Service Data object (Standard SDO) for read/write of t e object dictionary
•Error messages per emergency object (EMCY)
•Heartbeat producer (device ealt monitoring)
•Storage and reload of all parameters (Store and Load Parameter Field)
CANopen Command Functions
Communication Object
INDEX
(Hex)
SUB
-
INDEX
(Hex)
OBJECT Data Type Access Default Value
(Hex)
1000 00 Device Type (device profile 410, two axes
16-bit) UNSIGNED32 RO 0002019A
1001 00 Error Register UNSIGNED8 RO 00
1002 00 Manufacturer Status Register UNSIGNED32 RO 00
1003 00 Emergency (Number of Errors) UNSIGNED8 R/W 0
1003 01 Emergency (Standard Error Field 1) UNSIGNED32 RO
1003 02 Emergency (Standard Error Field 2) UNSIGNED32 RO
1003 03 Emergency (Standard Error Field 3) UNSIGNED32 RO
1003 04 Emergency (Standard Error Field 4) UNSIGNED32 RO
1003 06 Emergency (Standard Error Field 6) UNSIGNED32 RO
1005 00 COB-ID SYNC UNSIGNED32 CONST 00000080
1008 00 Manufacturer Device Name VISIBLE STRING RO H6 FLEX

Flex™ H6MM-CANopen User Guide
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RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
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®
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FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
1009 00 Manufacturer Hardware Version VISIBLE STRING RO HW PCB067
100A 00 Manufacturer Software Version VISIBLE STRING RO SW B27*
1014 00 COB-ID EMCY UNSIGNED32 RO $NODEID+0x80
1015 00 Inhibit Time Emergency UNSIGNED16 R/W 0
1017 00 Producer Heartbeat Time UNSIGNED16 R/W 0
1018 00 Identity Object (number of entries) UNSIGNED8 CONST 4
1018 01 Identity Object (Vendor ID) UNSIGNED32 RO 0000047D
1018 02 Identity Object (Product Code) UNSIGNED32 RO AA060250
1018 03 Identity Object (Revision Number) UNSIGNED32 RO 00030500
1018 04 Identity Object (Serial Number) UNSIGNED32 RO
1029 00 Error Behavior (Number of Entries) UNSIGNED8 CONST 2
1029 01 Error Behavior (Communication Error) UNSIGNED8 R/W 0
1029 02 Error Behavior (Sensor Error) UNSIGNED8 R/W 0
1200 00 SDO Server Parameter (Number of
Entries) UNSIGNED8 CONST 2
1200 01 SDO Server Parameter (COB ID Client
Server) UNSIGNED32 RO $NODEID+0x600
1200 02 SDO Server Parameter (COB ID Server
Client) UNSIGNED32 CONST $NODEID+0x580
1800 00 TPDO1 Communication (Number of
Entries) UNSIGNED8 CONST 5
1800 01 TPDO1 Communication (COB-ID) UNSIGNED32 R/W $NODEID + 0x40000180
1800 02 TPDO1 Communication (Transmission
Type) UNSIGNED8 R/W 1
1800 03 TPDO1 Communication (Inhibit Time) UNSIGNED16 R/W 0
1800 05 TPDO1 Communication (Event Timer) UNSIGNED16 R/W 0
1A00 00 TPDO1 Mapping (Number of Entries) UNSIGNED8 RO 2
1A00 01 TPDO1 Mapping (PDO Mapping Entry) UNSIGNED32 RO 60100010
1A00 02 TPDO1 Mapping (PDO Mapping Entry) UNSIGNED32 RO 60200010
* NOTE: Software revision output correction (object 0x100A). First releases may output “SW B26”, not “SW
B27”.

Flex™ H6MM-CANopen User Guide
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RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
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he content presented is provided for informational purposes only and subject to change.
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FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Send PDO (TPDO )
T e default transmission rate for TPDO1 is at t e receipt of every SYNC object. T e transmission type can be
c anged based on t e following table:
Transmission Type Value
Acyclic, Synchronous 0
Cyclic, Synchronous 1-240
Manufacturer Specific 254
T e Manufacturer Specific type transmits at t e rate of t e In ibit Time (subindex 3).
T e mapping for TPDO 1 is fixed and contains t e 16-bit X and Y axis inclination angles (Objects 6010 and
6020 ) mapped as follows:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
X-axis angle Y-axis angle
Manufacturer Specific Objects
INDEX
(Hex)
S
UB
-
INDEX
(Hex) OBJECT Data Type Access
Default Value
(Hex)
4010 00 RS485 Switch UNSIGNED8 R/W 0
4011 00 Mounting Orientation UNSIGNED8 R/W 0
5555 00 Start in Operational Mode UNSIGNED8 R/W 0
RS485 Switch (40 0h)
Writing any value to t is object will set t e H6MM-CANOPEN to RS485 on next power up. T is feature disables
t e CAN ardware interface!
WARNING: After power reset, the device will no longer communicate on the CAN bus!
Mounting Orientation (40 h)
Writing a zero to t is object (default) sets t e H6MM-CANOPEN to orizontal mount orientation (see Horizontal
Mount Axis Orientations).
Writing a one to t is object sets t e H6MM-CANOPEN to vertical mount orientation (see Vertical Mount Axis
Orientations).
Start in Operation Mode (5555h)
Writing a one to t is object will set t e H6MM-CANOPEN to automatically start in Operation Mode wit out t e
presence and Network Management of a CANopen Master. Any ot er value disables t is feature.
WARNING: Used only for debugging. Do not use in normal operations!

Flex™ H6MM-CANopen User Guide
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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
Inclinometer Device Specific Objects (per DSP-410)
INDEX
(Hex)
SUB
-
INDEX
(Hex) OBJECT Data Type Access
Default
Value
(Hex)
6000 00 Resolution UNSIGNED16 R/W/W A
6010 00 16-bit X Axis (Longitudinal)
Inclination INTEGER16 RO
6011 00 16-bit X Axis (Longitudinal) Operating
Parameters UNSIGNED8 RO 0
6020 00 16-bit Y Axis (Lateral) Inclination INTEGER16 RO
6021 00 16-bit Y Axis (Lateral) Operating
Parameters UNSIGNED8 RO 0
X-axis Operating Parameters (60 h)
Wit t e current revision of H6MM-CANOPEN software, t e operating parameters cannot be modified and are
fixed at no inversion and no scaling. Future revisions of t e inclinometer will enable t is and ot er Device
Specific Objects.
Y-axis Operating Parameters (602 h)
Wit t e current revision of H6MM-CANOPEN software, t e operating parameters cannot be modified and are
fixed at no inversion and no scaling. Future revisions of t e inclinometer will enable t is and ot er Device
Specific Objects.

Flex™ H6MM-CANopen User Guide
Page 17 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
LSS: Change Baud Rate and Node-ID
T e Node-ID and Baud Rate of eac H6MM-CANOPEN can be c anged t roug LSS (Layer Setting Service) per CiA
DS-305. LSS allows a CANopen master to read and c ange t e settings of certain parameters of t e H6MM-
CANOPEN. T e following parameters can be read and/or c anged:
•Node-ID
•CAN bus baud rate
By using LSS, t e H6MM-CANOPEN can be configured for any CANopen network wit out p ysical configuration
met ods like DIP switc es.
EDS file
T e electronic data s eet (EDS file) for t e H6MM-CANOPEN inclinometer is available ere:
ttps://www.riekerinc.com/find-product/ 6/ 6mm-documents/.
References
[DS-301] CiA DS-301 V4.2 – CANopen Application Layer and Communication Profile.
[DS-305] CiA DS-305 V2.0 – Layer Setting Service (LSS) and Protocols.
[DS-410] CiA DS-410 V1.2 – CANopen profile for inclinometer.
T ese documents are available from t e CAN in Automation website ttp://www.can-cia.org/.