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�
4
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
5
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
6
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
7
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�
8
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