ifm electronic JN2100 User Manual

Device manual
Inclination sensor
2 axes
JN2100 JN2101
UK
80004974/00 10/2014
Inclination sensor JN
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2�1 General� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 2�2 Target group � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 2�3 Electrical connection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5 2�4 Tampering with the device � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4 Installation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
4�1 Fastening � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6 4�2 Mounting surface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5 Scale drawing � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
6 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6�1 Bus termination � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
7 CANopen interface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
7�1 CANopen functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 7�2 Set-up� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 7�3 Communication types of the process data object (PDO) � � � � � � � � � � � � � � 8
7�3�1 Cyclical operating mode� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 7�3�2 Synchronised transmission after reception of a SYNC telegram � � � � 9
7�4 Object directory (OD) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
7�4�1 Communication parameters (to CiA DS-301)� � � � � � � � � � � � � � � � � � 12 7�4�2 Save (1010h) and restore (1011h) parameters � � � � � � � � � � � � � � � � 13
7�5 Service data object (SDO) mapping� � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14
7�5�1 System settings 0x2000 - 0x203F � � � � � � � � � � � � � � � � � � � � � � � � � � 14 7�5�2 Applicative 0x2040 - 0x207F � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14 7�5�3 System settings 0x4000 - 0x403F � � � � � � � � � � � � � � � � � � � � � � � � � � 15 7�5�4 Informative 0x4080 - 0x40BF� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15 7�5�5 Profile-specific part (to CiA DSP-410) 0x6000 – 0x9FFF� � � � � � � � � 15
7�6 Angle definition (2044h) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
7�6�1 Perpendicular angle (0x2044 = 0) � � � � � � � � � � � � � � � � � � � � � � � � � � 16 7�6�2 Euler angle (0x2044 = 1) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16 7�6�3 Gimbal angle X (0x2044 = 2) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
7�6�4 Gimbal angle Y (0x2044 = 3) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17 7�7 Node ID (2000h) and baud rate (2001h) � � � � � � � � � � � � � � � � � � � � � � � � � 18 7�8 Limit frequency digital filter (2043h) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
7�8�1 Set zero point (2046h) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
7�8�2 Terminating resistor (2045h) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
7�8�3 Set teach (2042h) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
7�8�4 Quadrant correction (2040h) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20 7�9 Heating (2041h) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21
Inclination sensor JN
7�10 MEMS self-test (4004h) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21 7�11 Temperature of the measuring cell (4080h) � � � � � � � � � � � � � � � � � � � � � � 21 7�12 Inclination values longitudinal and lateral (6010h and 6020h) � � � � � � � � 21 7�13 Emergency messages � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22 7�14 Failure monitoring� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
7�14�1 Node guarding / life guarding� � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
7�14�2 Heartbeat � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23 7�15 COB IDs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23 7�16 Status LED (to CiA DR-303-3) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
8 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
9 Approvals/standards � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
UK
This document is the original instructions�
Inclination sensor JN

1 Preliminary note

This document applies to devices of the type "inclination sensor" (art� no�: JN210x)� It is part of the device�
This document is intended for specialists� These specialists are people who are qualified by their appropriate training and their experience to see risks and to avoid possible hazards that may be caused during operation or maintenance of the device� The document contains information about the correct handling of the device�
Read this document before use to familiarise yourself with operating conditions, installation and operation� Keep this document during the entire duration of use of the device�
Adhere to the safety instructions�

1.1 Symbols used

Instruction > Reaction, result […] Designation of pushbuttons, buttons or indications Cross-reference
Important note
Non-compliance can result in malfunction or interference�
Information
Supplementary note

2 Safety instructions

2.1 General

These instructions are part of the device� They contain information and illustrations about the correct handling of the device and must be read before installation or use�
Observe the operating instructions� Non-observance of the instructions, operation which is not in accordance with use as prescribed below, wrong installation or incorrect handling can seriously affect the safety of operators and machinery�

2.2 Target group

These instructions are intended for authorised persons according to the EMC and low-voltage directives� The device must only be installed, connected and put into operation by a qualified electrician�
Inclination sensor JN

2.3 Electrical connection

Disconnect the unit externally before handling it�
The connection terminals may only be supplied with the signals indicated in the technical data and/or on the device label and only the approved accessories of ifm electronic gmbh may be connected�

2.4 Tampering with the device

In case of malfunctions or uncertainties please contact the manufacturer� Any tampering with the device can seriously affect the safety of operators and machinery� This is not permitted and leads to the exclusion of any liability and warranty claims�
UK

3 Functions and features

The 2-axis inclination sensor with CANopen interface enables angle levelling and position detection of mobile machines�
Typical applications are, for example, the position detection of access platforms, levelling of mobile cranes or set-up of mobile machines�
2-axis inclination sensors with a measuring range of: JN2101: ± 45° JN2100: ± 360°
High resolution and precision
CANopen interface (CiA DS-301, device profile CiA DSP-410)
The module supports "node guarding" and "heartbeat"; "guard time", "life time factor" as well as "heartbeat time" can be configured�
High sampling rate and band width
Configurable vibration suppression
Functions
– A transmit PDO (RTR, cyclical, event-controlled, synchronised)
– SYNC consumer (synchronised transmission of the transmit PDO after
reception of a SYNC telegram)
– EMCY producer (exceeding of limit value, monitoring of the inside device
temperature)
– Failure monitoring by means of heartbeat or node guarding / life guarding
– Freely configurable limit frequency (digital filter)
Robust metal housing
Suitable for industrial applications
Inclination sensor JN

4 Installation

4.1 Fastening

► Fasten the device using 4 M5 screws on a flat surface�
Screw material: steel or stainless steel�

4.2 Mounting surface

The housing must not be exposed to any torsional forces or mechanical stress�
► Use compensating elements if there is no flat mounting surface available�

5 Scale drawing

60
36
45
4,5
90 753
22
5,3
Inclination sensor JN
21
12

6 Electrical connection

The inclination sensors are fitted with two round 5-pole M12 connectors (A-coded)� The pin connection corresponds to CiA DR-303-1�
1: CAN_SHLD shield
2: CAN_V+ supply voltage 24 V DC
5
3
M12 connector CAN-In
4
5
4
3
3: CAN_GND GND
4: CAN_H H bus cable
5: CAN_L L bus cable
1: CAN_SHLD shield
2: CAN_V+ supply voltage 24 V DC
3: CAN_GND GND
4: CAN_H H bus cable
5: CAN_L L bus cable
UK
M12 socket CAN-Out

6.1 Bus termination

The inclination sensors have an internal terminating resistor → chapter SDO
register�

7 CANopen interface

The inclination sensors have a standardised CANopen interface to CiA DS-301 and a device profile to CiA DSP-410� All measured values and parameters can be accessed via the object directory (OD)� The individual configuration can be saved in the internal permanent memory (EEPROM)�

7.1 CANopen functions

The following CANopen functions are available:
Two transmit data objects (TPDO1, TPDO2) in four possible operating modes:
– individual check via a remote transmit-request telegram (RTR)
– cyclical transmission per interval time
– synchronised transmission after reception of a SYNC telegram
– a service data object (default SDO)
Error messages per emergency object (EMCY) with support of the:
– general error register
– manufacturer-specific register
– error list (pre-defined error field)
Monitoring mechanisms heartbeat and node guarding/life guarding
Inclination sensor JN
Status and error indication via LED (to CiA DR-303-3)
In addition to the CiA DS-301 functionality there are more manufacturer and profile-specific characteristics:
– Setting of the node ID and the baud rate via OD
– Freely configurable limit frequency (digital filter)

7.2 Set-up

The CANopen standard CiA301 defines three possible states for sensor nodes�
Pre-operational In the pre-operational state no PDO messages (process data) can be transmitted� The pre-operational state is used to set the sensor parameters or as standby mode�
Operational In the operational state all communication services are carried out� The operational state is used to exchange the process data while in operation�
Stopped In the stopped state only NMT messages (network management) are possible� This allows almost complete separation of redundant or faulty sensors from the bus�
The master or network manager can request the sensor via NMT messages to change the state accordingly�
Inclination sensors are shipped from ifm electronic with the node ID 10 and a baud rate of 125 Kbits/s�

7.3 Communication types of the process data object (PDO)

Individual check via a remote transmit-request telegram (RTR)
The TPDO can be checked at any time by transmitting a remote transmit-request telegram� This is possible in all operating modes of the inclination sensor�

7.3.1 Cyclical operating mode

The cyclical transmission of the TPDO is activated if the entry 1800h/05h (interval time in milliseconds) contains a value greater than 0� To do so, the entry 1800h/02h (transmission type) must contain the value 254 (asynchronous, manufacturer-specific)� In the "operational" state the inclination sensor then cyclically transmits the TPDO1 with the set duration of time�
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