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CAN User Manual

Inclination Safety Sensor

(Type D) V2.0

Certification

EC Type examination by:

Name:

DEKRA testing and Certification GmbH

Adress:

Handwerkstraße 15, D-70565, Stuttgart, Germany

Identification Nr.:

0158

EC Type-Examination Certificate no. 4821024.21001

Certificate valid until June 14th 2026

Certified level: SIL CL2 (claim limit 2 according to IEC 62061) & PLd (according to EN ISO 13849)

Architecture: HFT=1 (according to IEC 62061) & CAT3 (according to EN ISO 13849)

Inclination sensor explained

An inclinometer measures the angle(s) of the device with respect to earth gravity, using earth gravity vector as

external reference. The inclinometer involved is based on an accelerometer. The acceleration values are used to

calculate the angle(s). The device takes both the static component (100%) and the dynamic component (partial,

depending on frequency and bandwidth-setting) into account. The device will periodically send a CAN message

on the CAN-bus containing the angle(s) in degrees.

Safety function

The safety function of the inclinometer sensor is to generate angle information based on acceleration values

(caused by gravitation) measured by a MEMS acceleration sensor chip. Based on this angle information the safety

controller of the application can switch the machine to safe-mode in order to prevent for a dangerous situation.

Example: a crane having a maximum tilt angle of the chassis. If the tilt angle of the chassis exceeds a certain

critical value, the crane will fall over. To prevent for this an inclinometer can be mounted on the chassis,

measuring the X- and Y tilt of the chassis. The safety controller of the application should monitor the X- and Y tilt

angles and should switch the crane to safe-mode as soon as a certain tilt angle for X and/or Y exceeds the limits

for the application. This will significantly reduce the risk of a dangerous situation to happen.

Hardware setup

Connection:

Default:

2x 5-pins M12 connector (A-coding), female & male, loop-through.

According to CiA303 V1.8.0

Figure 1: Layout CAN bus connector

Optional:

1x 5-pins M12 connector (A-coding) male only

CAN-Cable with 5-pins M12 connector (A-coding) male

CAN-Cable 5-wire

CAN-bus termination 120Ω

Default:

no CAN-bus termination inside

Optional:

CAN-bus termination inside

Tip: the last CAN-device in the chain should be terminated. For this purpose you can use the

M12 male 5-pin termination resistor' (DIS article number 10217) or the

M12 female 5-pin termination resistor' (DIS article number 10194).

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