IFM Electronic JN2101 User Manual
Device manual
Inclination sensor 2 axes
JN2101
from firmware 2.5.0
80269174/00 08/2017
UK
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Contents
1 Preliminary note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Symbols used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3 Functions and features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4.1 Fixing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4.2 Mounting surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
5 Scale drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
6 Electrical connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
6.1 Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
7 CANopen interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
7.1 CANopen functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
7.2 Set-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
7.3 NMT start-up (OD index 1F80h). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7.3.1 Slave Only (default) (OD index 1F80h = 0) . . . . . . . . . . . . . . . . . . . . 8
7.3.2 NMT start command (OD index 1F80h = 2). . . . . . . . . . . . . . . . . . . . 8
7.3.3 Autostart (OD index 1F80h = 8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7.4 Communication types of process data object (PDO) . . . . . . . . . . . . . . . . . 8
7.4.1 Cyclical operating mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7.4.2 Synchronised transmission after reception of a SYNC telegram . . . . 8
7.5 Object directory (OD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
7.5.1 Communication parameters (to CiA DS-301). . . . . . . . . . . . . . . . . . 12
7.6 Service data object (SDO) mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.6.1 System settings 0x2000 - 0x203F . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.6.2 Applicative 0x2040 - 0x207F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
7.6.3 System settings 0x4000 - 0x403F . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7.6.4 Informative 0x4080 - 0x40BF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7.6.5 Profile-specific part (to CiA DSP-410) . . . . . . . . . . . . . . . . . . . . . . . 15
8 Angle definition (SDO index 2044h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
8.1 Perpendicular angle (SDO index 2044h = 0) . . . . . . . . . . . . . . . . . . . . . . 16
8.2 Euler angle (SDO index 2044h = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
8.3 Gimbal angle X (SDO index 2044 = 2). . . . . . . . . . . . . . . . . . . . . . . . . . . 17
8.4 Gimbal angle Y (SDO index 2044 = 3). . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.5 Explanatory example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
9 Other sensor functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
9.1 Node ID (SDO index 2000h) and baud rate (SDO index 2001h) . . . . . . . 19
9.2 Limit frequency digital filter (SDO index 2043h) . . . . . . . . . . . . . . . . . . . . 19
9.3 Set zero point (SDO index 2046h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
9.4 Terminating resistor (SDO index 2045h) . . . . . . . . . . . . . . . . . . . . . . . . . 19
9.5 Set teach (SDO index 2042h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
9.6 Quadrant correction (SDO index 2040h) . . . . . . . . . . . . . . . . . . . . . . . . . 21
9.7 Heating (SDO index 2041h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
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9.8 MEMS self-test (SDO index 4004h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
9.9 Temperature of the measuring cell (SDO index 4080h) . . . . . . . . . . . . . . 21
9.10 Inclination values longitudinal and lateral (SDO index 6010h and SDO
index 6020h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.11 Inversion of the angle values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
9.12 Programming key (SDO index 3000h) . . . . . . . . . . . . . . . . . . . . . . . . . . 22
10 Parameter (connection set) handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
10.1 Save the connection set (OD index 1010h) . . . . . . . . . . . . . . . . . . . . . . 23
10.2 Reset the connection set (OD index 1011h). . . . . . . . . . . . . . . . . . . . . . 23
10.3 Factory reset (SDO index 207Fh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
11 Emergency messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
11.1 Failure monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
11.1.1 Node guarding / life guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
11.1.2 Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
11.2 COB IDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
11.3 Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
12 Maintenance, repair and disposal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
13 Approvals/standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
14 Factory setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
This document is the original instructions.
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1 Preliminary note
Technical data, approvals, accessories and further information at www.ifm.com.
This document applies to the device of type „inclination sensor“ (art. no.: JN2100).
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
► Instructions
> Reaction, result
[…] Designation of keys, buttons or indications
→ Cross-reference
Important note
Non-compliance may result in malfunction or interference.
Information
Supplementary note
2 Safety instructions
● Read this document before setting up the product and keep it during the entire
service life.
● The product must be suitable for the corresponding applications and environ
-
mental conditions without any restrictions.
● Only use the product for its intended purpose (Functions and features).
● If the operating instructions or the technical data are not adhered to, personal
injury and/or damage to property may occur.
● The manufacturer assumes no liability or warranty for any consequences
caused by tampering with the product or incorrect use by the operator.
● Installation, electrical connection, set-up, operation and maintenance of the unit
must be carried out by qualified personnel authorised by the machine operator.
● Protect units and cables against damage.
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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.
Properties:
● 2-axis inclination sensors with a measuring range of ±45°
● High accuracy and resolution
● CANopen interface to CiA DS-301 and device profile CiA DSP-410
● The module supports „LSS-Slave“, "node guarding" and "heartbeat"; "guard
time", "life time factor" as well as "heartbeat time" can be configured.
● High sampling rate and band width
● Configurable limit frequency (digital filter) for vibration suppression
● CANopen functions
– Transmit PDOs (RTR, cyclical, synchronised)
– SYNC consumer (synchronised transmission of the transmit PDOs 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
● Programming key
● Inversion of the angle values / reversal of direction of rotation
● Automatic data backup (autosave) and autostart function
4 Installation
4.1 Fixing
► 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.
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5 Scale drawing
33,2
4,5
90
75
22
45
62
5,3
M12x1
M12x1
6 Electrical connection
The inclination sensors are fitted with two round 5-pole M12 connectors (A-coded).
The pin connection corresponds to the CANopen specification CiA DR-303-1.
4
21
3
5
1: CAN_SHLD CAN shield
2: CAN_V+ Supply voltage 24 V DC (+U
B
)
3: CAN_GND Ground
4: CAN_H High bus cable
5: CAN_L Low bus cable
M12 connector CAN-In
3
12
4
5
1: CAN_SHLD CAN shield
2: CAN_V+ Supply voltage 24 V DC (+U
B
)
3: CAN_GND Ground
4: CAN_H High bus cable
5: CAN_L Low bus cable
M12 socket CAN-Out
6.1 Bus termination
The inclination sensors have an internal terminating resistor that can be activated
via the CANopen interface (SDO-Index 2045h; activated by default).
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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 (flash).
7.1 CANopen functions
The following CANopen functions are available:
● Several transmit data objects (TPDO) 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
● Status and error indication via LED
● In addition to the basic CANopen functions there are other manufacturer and
profile-specific features:
– setting of the node ID and the baud rate via OD
– configurable limit frequency (digital filter)
7.2 Set-up
The CANopen standard CiA DS-301 defines three possible states for sensor
nodes.
Pre-operational
The pre-operational state is used to set the sensor parameters or as standby
mode. In the pre-operational state no process data (PDO messages) can be
transmitted.
Operational
The operational state is used to exchange the process data while in operation. In
the operational state all communication services are carried out.
Stopped
The stopped state is used for network management; only NMT messages are
possible.
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The master or network manager can request the sensor via NMT messages to
change the state accordingly. This allows almost complete separation of redundant
or faulty sensors from the bus.
7.3 NMT start-up (OD index 1F80h)
The sensor has a selectable start performance. The following three options can be
selected under the index 1F80h:
7.3.1 Slave Only (default) (OD index 1F80h = 0)
The sensor starts in the pre-operational state (0x00h).
7.3.2 NMT start command (OD index 1F80h = 2)
This command is used for CAN bus networks without NMT master. If the subindex 0x02h is selected, the sensor starts after a new start as NMT master in the
operational state and sets the other network participants from the pre-operational
into the operational state.
7.3.3 Autostart (OD index 1F80h = 8)
If the value 0x08h of this index is written, the sensor automatically boots in the
operational state when rebooted.
7.4 Communication types of process data object (PDO)
The request for process data objects is made by sending a remote transmit
request telegram (RTR).
The different transmit PDOs (TPDOx) can be polled in all operating modes of the
inclination sensor individually and at any time.
7.4.1 Cyclical operating mode
The cyclical transmission of a TPDO is activated when the interval time (e.g.
OD index 1800h/05h for TPDO0) contains a value greater than 0. The type of
transmission (e.g. OV index 1800h/02h for TPDO0) has to be set to "asynchronous
– manufacturer-specific“ (value = FEh). In the "operational" state the inclination
sensor then cyclically transmits the TPDO0 with the set interval time.
7.4.2 Synchronised transmission after reception of a SYNC telegram
For the synchronised transmission CANopen provides the SYNC object at which
the TPDOs are transmitted after every "nth" reception of a SYNC telegram.
Each inclination sensor has several transmit process data objects (TPDO0). The
TPDO1 contains the current inclination values (longitudinal and lateral) as 16-bit
values.
Byte 0 Byte 1 Byte 2 Byte 3
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