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CAN User Manual

Inclination Safety Sensor

(Type D) V2.0

Introduction

This manual is only valid for CAN Open safety inclination sensor (D-type inclination sensors)

DIS CAN Open safety inclination sensor (D-type) family overview:

• Three housing types: 60x50mm plastic or aluminium (QG65), 70x60 stainless steel (QG76)

• Three inclination devices: Inclination 1-axis (vertical plane) 1x ±180°

• Inclination 2 axis (horizontal plane) 2x ±30°

• Inclination 2 axis (horizontal plane) 2x ±90°

• Various CAN settings can be configured according to the CAN Open standard

• Various Sensor-settings can be configured via CAN Open

• CAN Device Profile CIA410 V2.0.0 is supported

• EDS files are available

• CRC calculation tool is available (2 different CRC calculations available, check your firmware version first)

Quick Reference Guide

• Hexadecimal figures will have suffix "h" in this manual

• CAN hardware interface: CAN2.0 A and B (complies to ISO11898-1&2)

• CAN communication profile: CAN Open (complies to CiA301 version 4.2.0 & EN50325-4)

• CAN device profile: CiA410 DSP 2.0.0 for inclinometers

• Baud-rate: default 125 kbit/s (can be set to 10, 20, 50, 125, 250, 500, 1000 kbit/s)

• Node-ID: default 01h (possible range 01h – 7Fh, so max. 127 nodes)

• Event time: default 50ms for TPDO1 and TPDO2 (range 10ms – 5000ms)

• TPDO1 output: 180h + node-ID (181h for node-ID 1). Default 'off'

• TPDO2 output: 280h + node-ID (281h for node-ID 1). Default 'off'

• SRDO1 normal: 0FFh + 2*node-ID (101h for node-ID 1).

• SRDO1 inverse: 100h + 2*node-ID (102h for node-ID 1).

• Byte-sequence on CAN-bus: little-endian (least significant byte first)

• Negative values: two's complement

• Two modes of operation: Event-mode (periodically autonomous messages) & Sync-mode

• Sync-mode: default disabled for TPDO1 and TPDO2

• Heartbeat: default off.

• Vendor-ID DIS: 000001BDh (index 1018h sub index 01h)

• Firmware-version available via CAN Object Dictionary (index 1018h sub index 03h)

• Serial number available via CAN Object Dictionary (index 1018h sub index 04h)

• Pre-set/zero adjustment available via CAN Object Dictionary (index 300Fh sub index 01h)

• Sample rate g-sensor-chip: 1600 Hz. Averaging during event-time TPDO1

• Input filter: Fixed 32 taps 45dB suppression (low-pass cut off freq. 20 Hz).

• Output filter: adjustable high- or low-pass filter 1st order. Controlled by CAN object 300Eh.

• Document data-types definition:

Unsigned 8-bits number (0 - 255)

U16 Unsigned 16-bit number (0 - 65535)

U32 Unsigned 32-bit number (0 - 4294967295)

Signed 8-bits number (-128 - +127) (also known as 'Integer 8')

S16

Signed 16-bits number (-32768 - +32767) (also known as 'Integer 16')

S32

Signed 32-bits number (-2147483648 - +2147483647) (also known as 'Integer 32')

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