ACCELENS (ACS) INCLINOMETER WITH CANOPEN INTERFACE
AMERICAS
FRABA Inc.
1800 East State Street, Suite 148
Hamilton, NJ 08609-2020, USA
T +1 609 750-8705, F +1 609 750-8703
www.posital.com, info@posital.com
User Manual
EUROPE
POSITAL GmbH
Carlswerkstrasse 13c
D-51063 Köln, GERMANY
T +49 221 96213-0, F +49 221 96213-20
www.posital.eu, info@posital.eu
ASIA
FRABA Pte. Ltd.
60 Alexandra Terrace,
#02-05 The Comtech, SINGAPORE 118502
T +65 6514 8880, F +65 6271 1792
www.posital.sg, info@posital.sg
AC C EL E NS ( A C S) C A N op e n
TABLE OF CONTENTS
General Security Advise ............................. 3
About This Manual ...................................... 3
1. Introduction.............................................. 4
1.1 ACCELENS (ACS) .......................................... 4
1.2 CANopen Interface ......................................... 4
1.3 ACS CANopen ................................................ 5
1.4 Typical Applications of ACS ............................ 6
2. ACS – Modes And Parameters ............... 6
2.1 Operating Modes ............................................ 7
2.2 Transmission Modes ....................................... 8
2.3 Boot-Up Procedure ......................................... 9
3. Installation.............................................. 10
3.1 Accessories ................................................... 10
3.2 Pin Assignement ........................................... 10
3.3 Installation Precautions ................................. 10
3.4 Mounting Instructions .................................... 11
3.6 Measurement Axes ....................................... 12
4.ACS Software Configuration ................. 14
4.1 Important Factory Settings ............................ 14
4.2 Active Programming Objects ......................... 14
4.3 Programmable Parameters ........................... 15
4.4 PDO Transmission ........................................ 17
4.5 Explicit Exchanges (SDO) ............................. 19
5. Working With Schneider PLC ............... 21
5.3 Configuration ................................................. 25
5.4 Debugging ..................................................... 27
5.4 Run................................................................ 29
6. Troubleshooting ................................... 32
Appendix A: ACS CANopen Objects ....... 33
Object 1000h: Device Type ................................. 33
Object 1001h: Error Register ............................... 33
Object 1003h: Pre-Defined Error Field ................ 34
Object 1005h: Cob-Id Sync ................................. 34
Object 1008h: Mfr Device Name ......................... 34
Object 1009h: Mfr Hardware Version .................. 34
Object 100ah: Mfr Software Version ................... 34
Object 100ch: Guard Time .................................. 35
Object 100dh: Life Time Factor ........................... 35
Object 1010h: Store Parameters ......................... 35
Object 1011h: Restore Parameters ..................... 35
Object 1016h: Consumer Heartbeat Time ........... 36
Object 1017h: Producer Heartbeat Time ............. 36
Object 2200h: Cyclic Timer ................................. 36
Object 2300h: Save Parameter With Reset......... 36
Object 2600h: Preset X/Z-Axis ........................... 37
Object 3000h: Node Number ............................... 37
Object 3001h: Baudrate ...................................... 37
Object 3100h: Moving Average Filter .................. 38
Object 6000h: Resolution* ................................... 38
Object 6010h: Position Value X/Z-Axis................ 38
Object 6012h: Preset X/Z-Axis ............................ 38
Object 6020h: Position Value Y-Axis ................... 39
5.1 Introduction ................................................... 21
5.2 Network Initialization ..................................... 21
5.2.1 Hardware ................................................... 21
5.2.2 Software Project Information ...................... 22
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Appendix B: Ordering Code ..................... 39
Appendix C: Output Graphs ...…………...40
Glossary ..................................................... 40
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Ge n er a l S af e ty Ad vi ce
Important Information
Read these instructions carefully, and have a look
at the equipment to become familiar with the
device before trying to install, operate, or maintain
it.
The following special messages may appear
throughout this documentation & on the
equipment, to warn of potential hazards or to call
attention towards information that
clarifies/simplifies a procedure.
The addition of this symbol to a
Danger or Warning safety label
indicates that an electrical hazard
exists, which will result in personal
injury if the instructions are not
followed.
Please Note
Electrical equipment should be serviced only by
qualified personnel. No responsibility is assumed
by POSITAL for any consequences arising out of
the use of this material. This document is not
intended as an instruction manual for untrained
persons.
This is the safety alert symbol. It is
used for alerting, in case of potential
personal injury or hazards. Obey all
safety messages that follow this
symbol to avoid possible injury or
death.
Abo ut Th i s M an u al
Background
This user manual explains how to install and
configure the ACS inclinometer with a CANopen
interface with illustrations from a Schneider
TWIDO® PLC.
Version Management
Updated On : 20110928
Document Name:
Manual_ACS_CANopen_NewLines.pdf
Imprint
FRABA PTE LTD
60 Alexandra Terrace,
#02-05 The Comtech, SINGAPORE 118502
T +65 6514 8880
Copyright
CANopen® and CiA® are registered community
trademarks of CAN in Automation e.V.
© FRABA N.V., all rights reserved - Claims
copyright on this documentation. It is not allowed to
modify, extend, or hand over to a third party and to
copy this documentation without written approval
by FRABA PTE LTD. Nor is any liability assumed
for damages resulting from the use of the
information contained herein. Further, this
publication and features described herein are
subject to change without notice.
User Annotation
All readers are highly welcome to send us
feedback and comments about this document. You
can reach us by e-mail at
info@fraba.sg
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1. In t ro d uc t io n
This manual explains how to install and configure
the ACS gravity referenced inclinometers (suitable
for industrial, military and heavy duty applications)
with a CANopen interface. The products are fully
compliant with CANopen DS410 standards.
1.1 Accelens (ACS)
ACCELENS inclinometers sense and measure the
angle of tilt (Inclination/Slope/Elevation) of an
object with respect to the force of gravity. The
angle is measured with the relative change in
electrical capacitance.
The basic principle behind this ACS inclinometer is
a Micro-Electro-Mechanical Systems (MEMS)
sensor cell that is embedded to a fully molded
ASIC. A simplified version of the sensor consists
of two electrodes, one is fixed, and the other is
flexible (connected with spring elements). When
the inclinometer is parallel to the surface of
measurement, a corresponding capacitance is
measured. If the sensor is tilted, the flexible
electrode will change its position relative to the
fixed electrode. This results in a change of the
capacitance between the two electrodes which is
measured by the sensor cell. The change of the
capacitance is converted to a corresponding
inclination value.
The MEMS sensor cell in ACS consists of a
micromechanical structure with an array of
electrodes for better accuracy. Under the influence
of gravity, the distance between some electrodes
change and this distance can be detected by
measuring the capacitance between the
electrodes, as explained above. This technology is
available in different grades and lower grades have
entered mass markets like mobile phones or tablet
computers.
The ACS series of inclinometers are available in
two variants. First, a single axis measurement
variant with a range of 0-360° ( either clockwise or
counter-clockwise) and the other variant, a dual
axis measurement capable ACS model with a
range of ±80°.
Absolute inclinometers identify all the points of a
movement by means of an unambiguous signal.
Due to their capacity to give clear and exact values
to all inclinations positions, inclinometers have
become one of the interesting alternatives to
singleturn absolute (and incremental) encoders
and a link between the mechanical and control
systems.
Benefits of ACS:
• Small Size and Cost Efficient
• High Protection Class
• High Accuracy
• Very Robust
1.2 CANopen Interface
CANopen is based on the Controller Area Network
(CAN) that was developed by automotive
industries in the 80s and is nowadays used in
many industrial applications. The application
protocol CANopen was introduced by the multi
vendor association CAN in Automation (CiA) to
ensure a full compatibility of industrial automation
products. It is a multiple access system (maximum:
127 nodes), which means that all devices can
access the bus. These devices/nodes are the
components of the CANopen bus and in our case
the node is ACS.
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In simple terms, CANopen works as a client-server
model. Each device checks whether the bus is
free, and if it is free the device can send
messages. If two devices try to access the bus at
the same time, the device with the higher priority
level (lowest ID number) has permission to send its
message.
Devices with the lowest priority level must cancel
their data transfer and wait before re-trying to send
their message. Data communication is carried out
via messages. These messages consist of a
unique COB-ID (refer to glossary) followed by a
maximum of 8 bytes of data. The COB-ID, which
determines the priority of the message, consists of
a function code and a node number. The node
number corresponds to the network address of the
device. It is and has to be unique on a bus in order
to distinguish nodes and prevent any conflict of
interests.
The function code varies according to the type of
message being sent:
• Management messages (LMT, NMT)
• Messaging and service (SDOs)
• Data exchange (PDOs)
• Predefined messages (Synchronization,
Emergency messages)
1.3 ACS CANopen
The ACS CANopen inclinometer corresponds to
the class 2 inclinometer profile with DS 410
CANopen standards, in which the characteristics of
inclinometers with CANopen interface are defined.
The ACS is available in a completely molded and
rugged plastic housing.
The ACS CANopen series of inclinometers are
available in two variants. First, a single axis
measurement variant with a range of 0-360° (
either clockwise or anti-clockwise) and the other
variant, a dual axis measurement capable ACS
model with a range of ±80°.
In addition to high resolution, accuracy and
protection class of IP69K, it has in-built active
linearization and temperature compensation. This
makes ACS suitable for rugged environments and
versatile applications in industrial, heavy duty and
military applications.
The inclinometer supports the following operating
modes:
• Polled mode: The position value is
transmitted only on request.
• Cyclic mode: The position value is sent
cyclically (regular, adjustable intervals) on the bus.
• SYNC mode: The position value is sent after
a synchronization message (SYNC) is received.
The position value is sent every n SYNCs (n ≥ 1).
• State change mode: The position value is
transmitted whenever the position of the
inclinometer, in continuous operation, changes.
The CANopen bus interface on the ACS
inclinometers, permit transmission rates of up to
1MB (30 m/100 ft cable for a maximum
speed of 1MB, 5000 m/ 16,500 ft cable for a
maximum speed of 10 kB).
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The ACS-CANopen is a flexible measurement
device. This is proved by the fact that it has easily
programmable parameters like Resolution, Preset
and software filters. Other functions such as offset
values, baud rate, and node number can also be
configured using CAN objects in the ACS
inclinometers with ease and according to the
network.
Various software tools for configuration and
parameter-setting are available from different
suppliers. It is easy to align and program the
inclinometers using the EDS (electronic data
sheet) configuration file provided. (Refer to section
3.1)
1.4 Typical Applications of ACS
• Cranes and Construction Machinery
• Medical Systems
• Elevated Platforms
• Mobile Lifts and Fire Engines
• Automated Guided Vehivles (AGV)
• Automatic Assembling Machinery
• Boring and Drilling Applications
• Levelling and Flattening Machinery
2. AC S – Mo d es an d P a ra m et e rs
The purpose of this chapter is to describe all the
available configuration parameters of the ACS
inclinometers with a CANopen interface.
Before going into details the following information
describes useful technical terms and acronyms for
CANopen network communication.
EDS (Electronic Data Sheet)
An EDS file describes the communication
properties of a device on the CAN network (baud
rates, transmission types, I/O features, etc.). It is
provided by the device manufacturer and is used in
the configuration tool to configure a node (like a
driver in an operating system).
PDO (Process Data Object)
CANopen frame containing I/O data.
We distinguish between:
• Transmit-PDOs (TPDOs with data provided by
a node) &
• Receive-PDOs (RPDOs with data to be
consumed by a node).
The transmission direction is always seen from a
node's point of view.
SDO (Service Data Object)
CANopen frames containing parameters. SDOs
are typically used to read or write parameters while
the application is running.
COB-ID (Communication Object Identifier)
Each CANopen frame starts with a COB-ID
working as the Identifier in the CAN frame. During
the configuration phase, each node receives the
COB-ID(s) of the frame(s) for which it is the
provider (or consumer).
NMT (Network Management Protocol)
The NMT protocols are used to issue state
machine change commands (i.e. to start and stop
the devices), detect remote device boot ups and
error conditions.
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2.1 Operating Modes
2.1.1 Mode: Preoperational
When the device is in this state, its configuration
can be modified. However, only SDOs can be
used to read or write device-related data.
The device goes into "Pre-Operational" state:
• After the power up, or
• On receiving the "Enter Pre-
Operational" NMT indication, if it was in
Operational state.
To set a node to pre-operational mode, the master must send the following message:
Identifier Byte 0 Byte 1 Description
0 h 80 h 00
0 h 80 h NN NMT-PreOp, NN
NN: node number
2.1.2 Mode: Start – Operational
The device goes into the "Operational" state if it
was in the "Pre-Operational" state on receiving
the "Start Remote Node" indication. When the
CANopen network is started using the "Node
start" NMT services in "Operational" state, all
device functionalities can be used.
Communication can use PDOs or SDOs.
To put one or all nodes in the start operational state, the master has to send the following message:
Identifier Byte 0 Byte 1 Description
0 h 01 h 00h NMT-Start, all nodes
0 h 01 h NN(in hex) NMT-Start, NN
NN: node number
When configuration is complete, the device goes
into one of the following states on receiving the
corresponding indication:
• "Stopped" on receiving the "Stop
Remote Node" NMT indication,
• "Operational" on receiving the "Start
Remote Node" NMT indication.
NMT-PreOp, all nodes
NOTE: Modifications to the configuration in
"Operational" mode may have unexpected
consequences and should therefore only be
made in "Pre-Operational" mode.
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2.1.3 Mode: Stop Operation
The device goes into the "Stopped" state on
receiving the "Node stop" indication (NMT
service) if it was in "Pre-Operational" or
"Operational" state. In this state, the device
To put one or all nodes in the stop operational state, the master has to send the following message:
Identifier Byte 0 Byte 1 Description
0 h 02 h 00h NMT-Stop, all nodes
0 h 02 h NN (in hex) NMT-Stop, NN
NN: node number
2.1.4 Re-initialization of the Inclinometer
If a node is not operating correctly, it is advisable to carry out a reinitialization.
Identifier Byte 0 Byte 1 Description
0 h 82 h 00h Reset Communication
0 h 81 h NN (in hex) Reset Node
NN: node number
After reinitialization, the inclinometer accesses the bus in pre-operational mode.
2.2 Transmission Modes
By a remote-transmission-request telegram the connected host calls for the
Polled Mode
current process value. The inclinometer reads the current position value,
calculates eventually set-parameters and sends back the obtained process
value by the same identifier.
The inclinometer cyclically transmits (without being called by the host) the
Cyclic Mode
current process value. The cycle time can be programmed in milliseconds
for values between 0 ms and 65536 ms.
After receiving a sync telegram by the host, the inclinometer answers with
the current process value. If more than one node number (encoder) shall
answer after receiving a sync telegram, the answer telegrams of the nodes
Sync Mode
will be received by the host in order of their node numbers. The
programming of an offset-time is not necessary. If a node should not answer
after each sync telegram on the CAN network, the parameter sync counter
can be programmed to skip a certain number of sync telegrams before
answering again.
cannot be configured. No service is available to
read and write device-related data (SDO). Only
the slave monitoring function "Node Guarding"
remains active.
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2.3 Boot-up Procedure
The general boot-up procedure for the ACS CANopen and the mapping of various modes are illustrated
below:
Number Description
1 Module Power up
2 After initialization, the module automatically goes into pre-operational mode
3 NMT: Start Remote Node
4 NMT: Pre-operational Mode
5 NMT: Stop Remote Node
6 NMT: Reset Node
7 NMT : Reset Communication
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3. In s ta l la t io n
3.1 Accessories
Article No Article Description
ACS360/080 Inclinometer ACS series of Inclinometers (Industrial / Heavy-Duty)
Download
Download
Download
10001978 PAM5 Female M12, 5pin A-coded connector, with 2m PUR shielded cable
10012182 PAM5 2m Female M12, 5pin A-coded connector, with 5m PUR shielded cable
10005631 Terminal Resistor External terminal resistors for higher baud rate transmissions
* The documentation and the EDS file can also be downloaded from our website
Datasheet* ACS Datasheet, specifications and drawings
User Manual* Installation and Configuration User Manual (English)
EDS-File* Electronic Datasheet (EDS) file for configuration
http://www.posital.sg/
3.2 Pin Assignement
The inclinometer is connected via a 5-pin round M12 connector.
(Standard M12, Male side at sensor, Female at connector counterpart
Or connection cable).
Signal 5 pin round connector pin number
CAN Ground 1
VS Supply Voltage 2
0 V Supply Voltage 3
CAN High 4
CAN Low 5
3.3 Installation Precautions
WARNING
Do not remove or mount while the inclinometer is under power!
Do not stand on the inclinometer!
Avoid mechanical load!
Pin Assignment
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3.4 Mounting Instructions
ACS is a pre-calibrated device which can be put
into immediate operation, upon simple and easy
installation with a three point mount and setting of
preset. Its compact design and installation
“anywhere” makes it versatile.
The ACS inclinometer can be mounted in any
number of fashions, depending on the situation.
The mounting surface must be plane and free of
dust and grease. We recommend hex-head screws
with M4 or UNC bolts #6 (ACS Industrial) and M6
or UNC bolts #12 (ACS Heavy-Duty) for the best
possible and secure mounting.
Use all the 3 screws for mounting but restrict the
tightening torque in the range of 1.5 – 2.5Nm for
3.5 Bus Termination
If the inclinometer is connected at the end or
beginning of the bus or for higher transmission
baud rates ( ≥50 kB) a termination resistor of
120 Ohm must be used in order to prevent the
reflection of information back into the CAN bus.
The following diagram shows the the components for the physical layer of a two-wire CAN-bus:
the screws. The M12 connectors are to be
perfectly aligned and screwed till the end with a
tightening torque in the range of 0.4-0.6Nm. Use all
the three screws for mounting and also note to use
the same tightening torque for all the screws.
Prior to installation, please check for all connection
and mounting instructions to be complied with.
Please also observe the general rules and
regulations on low voltage technical devices. ACS
Inclination sensors that are based on a MEMS
principle are optimal for fast measurements.
The bus wires can be routed in parallel, twisted or
shielded form in accordance with the
electromagnetic compatibility requirements. A
single line structure minimizes reflection.
Inclinometer
PLC
120Ω
CANopen
Master
Can Low Wire
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ACS
Other CAN Nodes
CAN High Wire
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ACS
Inclinometer
120 Ω
3.6 Measurement Axes
3.6.1 ACS80
Industrial
Heavy-Duty
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3.6.2 ACS360
Industrial
Heavy Duty
AC C EL E NS ( A C S) C A N op e n
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4. AC S S of t w a re C on f ig ura t io n
This chapter succeeds the hardware configuration (i.e. installation) as in real time. ACS is a very flexible
device and hence all the parameters can be programmed via CAN bus itself even when attached. This
enables remote configuration. This chapter is primarily divided into two parts- One describing the
methodology for putting the ACS into operation and the other the PDO/SDO programming of ACS.
4.1 Important Factory Settings
Description Object Value
Device Type 1000h 0 x 4019A
Cyclic Timer 2200h 00h (0ms)
Resolution 6000h 64h (0.01°)
Node Number 1 3000h 1Fh (32)
Baud Rate2 3001h 00h (20kB)
ACS080 PDOs 6110h,6120h,6010h,6020h
ACS360 PDOs 6010h
Note: The factory settings should be noted carefully upon installation. Few of the parameters have
to be re-programmed in order to make the ACS inclinometers compatible with the controller or the
already existing CAN bus to which it is going to be installed on.
4.2 Active Programming Objects
Active CANopen objects depending on the state of ACS:
The crosses in the table below indicate which CANopen objects are active in each state.
Initialization Pre-Operational Operational Stopped
X
PDO Object
SDO Object
X
Boot-Up
NMT
X
X
X
X
X
X
1
The forthcoming ACS inclinometers will be programmed to a default of 1
2
The forthcoming ACS inclinometers will have a default setting of 125kB.
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4.3. Programmable Parameters
Objects are based on the CiA 410 DS V1.2:
CANopen profile for inclinometer (
www.can-
cia.org). The following table gives the list of
command identifiers sent and received by the
inclinometer. These are the standard commands
Command Function Telegram Description
22h Domain Download Request Parameter to ACS
60h Domain Download Confirmation Parameter received
40h Domain Upload Request Parameter request
43h, 4Bh, 4Fh (*) Domain Upload Reply Parameter to Master
used for communication and transmission between
a master and slave in the CAN bus. It is quite
useful for the analysis of communication logs
between the master and slave and for better
understanding of the system under observation.
80 h Warning Reply Transmission error
Table 1: Command Description
(*)The value of the command byte depends on the data length of the called parameter.
Command Data length Data length
43h 4 Byte Unsigned 32
4Bh 2 Byte Unsigned 16
4Fh 1 Byte Unsigned 8
Table 2: Data Length of Commands
The following list of objects is the most frequently used objects while programming the CANopen ACS
inclinometer. The whole list of objects is available in Appendix A.
The objects 6010h and 6020h are used to get the inclination positions
Position Value
(Objects 6010h, 6020h)
from ACS080 in the range of ±80° and the object 6010h is used to get the
inclination position from ACS360 in the range of 0 - 360°.
Store Parameters
(Objects 1010h, 2300h)
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These objects are used to store any re-configured parameters. Object
1010h just stores the parameters whereas 2300h stores and saves the
parameters upon reset of the ACS.
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Resolution Per 1°3
(Object 6000h)
Preset Value
(Objects 6012h / 6013h)
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The parameter, resolution per degree is used to program the desired
number of angular divisions per revolution. The values 1, 10, 100, and
1000 can be programmed.
The Preset value is the desired position value, which should be reached
at a certain physical position of the axis. The position value is set to the
desired process value by the parameter pre-set.
Baudrate
(Object 3001h)
The Baud rate can be programmed via SDO (default 20kB
The setting of the node number is achieved via SDO-Object. Possible
(valid) addresses lie between 1 and 96 but each address can only be
Node Number
(Object 3000h)
used once. For inclinometers programmed via SDO, the default is
20Hex = Node Number 32
Filters
(Objects 3100h/3200h)
Filters can be used to adjust the frequency of measurements and
calculation of position values.
Appendix A has a detailed list of all the objects
that can be programmed with ACS CANopen.
The data type, data size, default value, r/w
access definition and all sub-indexes are
mentioned in it. It is necessary to read the
4
).
5
appendix A for clear knowledge before
programming. Appendix A has a lot of
important programming tips which are
necessary for the proper use of the
inclinometer.
3
The resolution programming functionality is not yet fully operational.
4
The forthcoming ACS sensors will have a default baud rate of 125kB.
5
The forthcoming ACS sensors will have a default node number of 1.
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4.4 PDO Transmission
Process Data Objects (PDOs) communicate
process information/data and enable them to be
exchanged in real time.
A CANOpen device's PDO set describes the
implicit exchanges between this device and its
communication partners on the network.
Object 1800h: 1st Transmit PDO Communication Parameter
This object contains the communication parameter of the 1st transmit PDO.
Subindex * Description Data Type
0 0h Number of sub indices Unsigned 8 5 ro yes
01h COB-ID Unsigned 32
02h Transmission Mode Unsigned 8 FE rw yes
03h Inhibit Time Unsigned 32 0 rw yes
04h Not Available
05h Event Timer Unsigned 32 64h or 0 rw yes
* Subindex: Second degree identifier used in combination with the object. (Follows the object number)
Object 1801h: 2nd Transmit PDO Communication Parameter
This object contains the communication parameter of the 2nd transmit PDO.
Subindex* Description Data Type
00h Number of sub indices Unsigned 8 5 ro yes
01h COB-ID Unsigned 32
02h Transmission Mode Unsigned 8 1 rw yes
03h Inhibit Time Unsigned 32 0 rw yes
04h Not Available
05h Event Timer Unsigned 32 0 rw yes
* Subindex: Second degree identifier used in combination with the object. (Follows the object number)
The exchange of PDOs is authorized when the
device is in "Operational" mode.
Note: The PDOs can be directly mapped in to
memory locations on the controller and can be
viewed upon reading those memory locations.
An example is provided in the next section with
a SCHNEIDER-TWIDO controller.
Default
Value
180h +
Node ID
Default
Value
280h +
Node ID
Access
rw yes
Access
rw yes
Restore
after BootUp
Restore
after BootUp
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Transmission Mode
The transmission mode (Sub index 2) for Objects 1800 and 1801 can be configured as described below:
Transfer
Value
(Dec)
0 X X
1-240 X X
241-251 Reserved
252 X X
253 X
254 X Send PDO on event
255 X Send PDO on Event
Inhibit Time
For "Transmit PDOs", the "inhibit time" for PDO
transmissions can be entered in this 16 bit field. If
data is changed, the PDO sender checks whether
an "inhibit time" has expired since the last
transmission. A new PDO transmission can only
take place if the "inhibit time" has expired. The
"inhibit time" is useful for asynchronous
transmission (transmission mode 254 and 255), to
avoid overloads on the CAN bus.
Event Timer
The "event timer" only works in asynchronous
transmission mode (transmission mode 254 and
255). If the data changes before the "event timer"
Transmission Mode
Cyclic Acyclic
Synchro
nous
Asynchronous
RTR
Only
Notes
Send PDO on first sync
message following an
event
Send PDO every x sync
messages
Receive Sync and send
PDO on remote request
Update data and send
PDO on remote request
expires, a temporary telegram is sent. If a value >
0 is written in this 16-bit field, the transmit PDO is
always sent after the "event timer" expires. The
value is written in sub index 5 of a transmit PDO.
The data transfer also takes place with no change
to data. The range is between 1-65536 ms.
Cyclic Timer
The cyclic timer is useful to set the position
transmission to cyclic mode. The cyclic timer can
be programmed from 0ms to 65536ms. When
enabled, the ACS transmits the position value
contained in the PDO, at constant prescribed
intervals even if there is no change in the position
value. Object 2200h is used to set the cyclic timer
value.
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Default
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Object 1A00h: 1st Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 1st transmit PDO.
Subindex Description Data Type
0
Number of sub
indices
Unsigned 8 1 ro yes
Value
Access
1 Mapped object Unsigned 32 6010 00 10 rw yes
Object 1A01h: 2nd Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 2nd transmit PDO.
Subindex Description Data Type Default Value Access
0 Number of sub
Unsigned 8 1 ro yes
indices
1 Mapped object Unsigned 32 6010 00 10 rw yes
4.5 Explicit Exchanges (SDO)
Service Data Objects (SDOs) allow a device's data
to be accessed by using explicit requests. The
SDO service is available when the device is in an
"Operational" or "Pre-Operational" state.
Types of SDO
There are two types of SDO:
• Read SDOs (Download SDOs),
• Write SDOs (Upload SDOs).
The SDO protocol is based on a 'Client / Server'
model:
For a Download SDO:
The client sends a request indicating the object to
be read.
The server returns the data contained within the
object.
For an Upload SDO:
The client sends a request indicating the object to
be written to and the desired value.
After the object has been updated, the server
returns a confirmation message.
For an unprocessed SDO:
In both cases, if an SDO could not be processed,
the server returns an error code.
BootUp
Restore after
BootUp
A typical illustration of SDO for reading the current baud rate value explicitly is given below:
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AC C EL E NS ( A C S) C A N op e n
We used a PEAK™ CAN master for this
illustration. The PCAN®-USB adapter enables
simple connection to CAN networks.
The PCAN®-USB’s compact plastic casing makes
it suitable for mobile applications. It works as a
master on the CAN bus connection via D-Sub, 9-
pin and in accordance with CiA 102 standards.
[To learn more about Peak CAN click
So, SDOs can be used to explicitly read or write
data in ACS CANopen inclinometers. All the
relevant objects that can be configured are
described in Appendix A.
here]
Received Message from the Device
• Object 3001h is to read the baud rate
value from the inclinometer.
• Transmit Message
• ID: 601- Message to NN1
• Length: 8bit word
• Data 0: Read (40) / Write (22)
• Data 1 & 2 : Object in Big Endian
( 3001s is 0130 in
Big Endian
format)
• Data 3: Sub-Index (NA)
• Data 4-7: Data to be written (NA
in read command)
• The Received message 581h reads out
the data
In the above example, 701h is the boot up
message received. Then once we transmit the
SDO command as shown above, we receive a
reply. The received message, 581h, consists of the
domain downloaded. In this case it is the baud rate
as indicated in the above figure.
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5. Wo rk in g w it h Sc h ne i de r P L C
5.1 Introduction
An ACS360, single axis inclinometer was
connected to a TWIDO programmable logic
controller with a CANopen communication
interface.
The step-by-step connection procedure and the
working of inclinometer in a CAN bus is illustrated
in the following sections. Please note that, the
programming in other control systems may vary
individually. Please have this section as a
reference for ACS’s working with programmable
logic controllers..
: CAN HIGH to Pin 7
: CAN LOW to Pin 2
Hardware Setup and Wiring
5.2 Network Initialization
5.2.1 Hardware
The initial step in setting up a ACS is integrating it
into the existing hardware. The following illustration
shows an ACS integrated into a PLC with an
CANopen communication interface.
It is very important to add termination resistors to
the ACS inclinometers which are used at the start
or end of the CANopen bus in order to prevent
data corruption or missing of data at higher
transmisiion bandwidths ( ≥50 kB).
120Ω Termination Resistor
Controller
CANOpen
D9 (M) Connector
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5.2.2 Software Project Information
Once the hardware setup is done the ACS should be configured in such a way that it is compatible to the
already existing setup and gives a proper position output.
• Controller Description
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• CANopen Master Configuration
• ACS360 Inclinometer – Electronic Data Sheet (EDS)
The ACS EDS file once uploaded will load all the objects including the PDOs to the controller. The
Schneider system automatically identifies the PDOs and maps them on to the slave device.
.
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CANopen Master
AC C EL E NS ( A C S) C A N op e n
• Connection network Setup
The illustration below, describes the connection of the elements in the CAN bus. At first, the
CANOpen communication interface is connected to the main controller. Then the inclinometer is
connected to the CANopen communication interface.
The next step after the setup of the network is
the configuration of all the parameters and
settings, to facilitate the communication
between the master, slave and the controller.
PLC
Linking of Master and Slave
This picture is the overall description of the setup,
with the TWIDO TWDLMDA20DTK controller,
TWDNCO1M CANopen communication expansion
module and the ACS360 EDS file.
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5.3 Configuration
• ACS Process Data Objects (PDO) Mapping
The list of available objects is pre-programmed in the EDS file. Select the ACS inclinometer on
the bus and click on Configuration. A list of all the mapped PDOs appear.
Then, according to the need, the objects are mapped on to the Transmit-PDO’s of the ACS.
• ACS CANopen Node Configuration
Click on the ACS inclinometer on the bus and
select the CANopen configuration option. It is used
to define the name, type, address and supervision
of the node. Make sure the node number and the
address coincide for the inclinometer selected.
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• CANopen bus network configuration
Click on the bus connecting the ACS inclinometer
and the PLC. Select the bus configuration option to
define the name of the bus, the transmission
speed and supervision time. Make sure that the
ACS is programmed to the appropriate baud rate
as that of the bus.
• Linking of CANOpen Master and ACS Transmit-PDOs
Select the CANopen link on the controller.
Click on the configuration option. The PDOs
of the slave are mapped on to the CANOpen
master so that the information contained in
the objects at the slave end are transmitted
and saved on to the controller’s memory.
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• ACS & Controller Memory Configuration
The current and updated position values from
the ACS encoder are mapped on to an
EEPROM memory location in the controller.
and IWC1.1.0 will always contain the slope
values obtained from the object 6010h of the
ACS when the controller is Online.
This memory location, in this case %IWC1.0.0
5.4 Debugging
The debugging stage is done on completing the configuration of the PDO’s. It involves the
following steps:
The serial communication port is selected and
PC-> controller transfer is initiated. Once the
transfer is initiated the configured parameters
and the programming done on the PC is
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debugged and transferred to the controller for
real time application. The following
illustrations are the intermediate tasks during
debugging.
Converting all the programmed parameters to binary format```.
Creating a back up of the controller parameters before going into online mode``.
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Once the controller goes into the online mode, the PDOs cannot be changed. But, we can
program the SDOs as need arises.
5.4 Run
Once debugged, the controller goes into online mode. We then, can program the SDOs if needed and then
run the controller.
Upon start up, we can create an animation table to monitor the necessary controller parameters
and the system variables which contain the position value. Now, we will program the PLC in
order to obtain the position values.
Resetting CANOpen Communication
Resetting CANOpen Nodes
Switch to Operational Mode
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Posit
ion Value
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Position Readout
Readout Using Animation Table
The position Readout is 18422 through the memory location %MW4 (Shown in the programming). We
know that the resolution is set to 0.01.
ACS Position Value = 18422 * 0.01 = 184.22°
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Illustration of measurement over full range:
At initial position (approximately 0°):
ACS Position Value = 32 * 0.01 = 0.32°
At approximately 90°:
ACS Position Value = 9138 * 0.01 = 91.38°
At approximately 180°:
ACS Position Value = 18052 * 0.01 = 180.52°
At approximately 270°:
ACS Position Value = 27256 * 0.01 =272.56°
All the above position values where obtained by
programming the position value output explicitly.
The other method is very simple and direct.
Just run the controller and same position values
are obtained. The position is mapped with the
memory location %IWC1.0.0 or %IWC1.1.0
through PDO mapping done in the earlier steps.
The steps for the mapping have been illustrated in
above parts so that, in real time application, end
users can directly follow the above steps to read
out the position values from the mapped memory
locations.
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6. T r ou b le s ho o ti n g
• Power on – Inclinometer doesn’t respond
Problem:
If the bus is active, then, the installed
inclinometer is transmitting a false node
number. If the bus is inactive, then, it was
connected with an incorrect baud rate.
Possible solution:
-
Modus pre-operational
-
Adressing the inclinometer via SDO
-
Reset or power off
-
Reprogram the Baud rate
• Malfunction of the position value during
transmission
Problem:
During the transmission of the position value
occasional malfunctions occur. The CAN bus
can be temporabily in the bus off state also
Possible solution:
Please check if the last bus nodes have the
terminal resistor. If the last bus node is an
inclinometer the terminal resistor is to be
added.
• Too many ERROR-Frames
Problem:
The bus load is too high in case of too many
error frames.
Possible solution:
Check if all bus nodes have the same
baudrate. Even if one node has a different
baudrate, error frames are produced
automatically.
• Unexpected module / Module missing /
Wrong Module
Problem:
Improper definition of node address or
improper loading of EDS file.
Solution:
Reinitialize the CAN bus or re-install the EDS
file.
• Node state stopped upon loading and
initialization
Problem:
Mostly because the bus transmission timeout
is defined lesser than the ACS transmission
time.
Solution:
Increase the bus timeout period (
Approximately 2-3 seconds).
• Unable to change to another node number.
If all nodes are found to be in operational
mode, then follow the next few steps to set
the required node number to a selected
device.
1. Calculate the required node number in
hexadecimal. ( ACS is internally
programmed to add 1 to any node number
change fed to it, in order to avoid the node
number 0)
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For example if we want a NN=28 decimal,
we need to feed 27 decimal(27+1=28).
So the NN 1B hex has to be fed in order
to set the selected device to node number
28.
2. Send a write telegram to the particular
node, with 1B as data on the object
3000h.
3. Use 2300h to save the parameters with
the reset.
4. A boot up message with the new node
number pops us.
Ap p en d ix A: AC S C AN op en Ob j ect s
( ro- Read Only, wo- Write Only & rw – Read or Write )
Object 1000h: Device Type
The object at index 1000h describes the type of
device and its functionality. It is composed of a 16-
bit field which describes the device profile that is
used and a second 16-bit field which gives
Subindex Description Data Type Default Value Access
0 - Unsigned 32
* Dual Axis **Single Axis
Object 1001h: Error Register
This object is used by the device to display internal faults. When a fault is detected, the corresponding bit
is therefore activated.
The following errors are supported:
Bit Description Comments
0 Generic Error
The object description for error register.
additional information about optional functionality
of the device. The additional information parameter
is device profile specific.
Restore after
BootUp
0X3019A*
0X4019A **
ro no
The generic error is signaled at
any error situation
Subindex Description Data Type Default Value Access
0 - Unsigned 8 N/A ro no
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Object 1003h: Pre-Defined Error Field
The object holds the errors that have occurred on
the device and have been signaled via the
Emergency Object. The error code is located in the
Subindex Description Data Type Default Value Access
0
Number of recorded
errors
Unsigned 8 0 rw no
1 Most recent errors Unsigned 32 - ro no
To clear error Log: Write data 0 into sub-index 0 of object 1003.
Object 1005h: COB-ID Sync
This object contains the synchronization message identifier.
Subindex Description Data Type Default Value
0 - Unsigned 32 00000080h rw no
Object 1008h: Mfr Device Name
This object contains the device name.
Subindex Description Data Type Default Value
0 - String - ro no
Object 1009h: Mfr Hardware Version
This object contains the article name of the circuit board.
Subindex Description Data Type Default Value
0
- String - ro no
Object 100Ah: Mfr Software Version
This object contains the manufacturer software version. The new encoder line 2008 starts with version
4.00.
Subindex Description Data Type Default Value
0
- String - ro no
least significant word and additional information is
located in the most significant word. Sub-index 0
contains the number of recorded errors.
Restore
after
BootUp
Access
Access
Access
Access
Restore after
BootUp
Restore after
BootUp
Restore after
BootUp
Restore after
BootUp
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Restore after
Value
BootUp
AC C EL E NS ( A C S) C A N op e n
Object 100Ch: Guard Time
This object contains the guard time in milliseconds.
Subindex Description Data Type Default Value
0
- Unsigned 16 0 rw yes
Access
BootUp
Object 100Dh: Life Time Factor
This object contains the life time factor parameters. The life time factor multiplied with the guard time gives
the life time for the node guarding protocol.
Subindex Description Data Type Default Value
0
- Unsigned 8 0 rw yes
Access
Restore after
BootUp
Object 1010h: Store Parameters
This object is used to store device and CANopen related parameters to non volatile memory.
Subindex Description Data Type
0 Number of sub
indices
1 Store all
parameters
Unsigned
8
Unsigned
32
Default Value Access
1 ro no
“save” rw no
Restore after
BootUp
Storing Procedure: To save the parameters to non-volatile memory, the access signature “save”has to be
sent to the corressponding sub-index of the device.
Most Significant Word Least significant word
ASCII e v a s
Hex value 65h 76h 61h 73h
Object 1011h: Restore Parameters
This object is used to restore device and CANopen related parameters to factory settings.
Subindex Description Data Type Default
Access Restore after
0 Number of sub indices Unsigned 8 1 ro no
1 Restore all parameters Unsigned 32 “load” rw no
Storing procedure: To save the parameters to non volatile memory the access signature “load” has to be
sent to the corresponding subindex of the device.
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device
AC C EL E NS ( A C S) C A N op e n
Most Significant Word Least significant word
ASCII d a o l
Hex value 64h 61h 6Fh 6Ch
Note: The restoration of parameters will only be taken into account after a power up or reset command.
Please check all parameters before you store them to the non volatile memory.
Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected
heartbeat cycle time in ms. The device can only
monitor one corresponding device. If the time is set
Subindex Description Data Type Default Value
0
1
Number of
indices
Consumer
heartbeat time
Unsigned 8 1 ro no
Unsigned 32 0 rw yes
The context of subindex 1 is as follows:
to 0 the monitoring is not active. The value of this
object must be higher than the corresponding time
(object 1017) of the monitored device.
Access
Restore after
BootUp
Bit 31 to 24 23 to 16 15 to 0
Value 0h (reserved)
Address of monitored
Monitoring time (ms)
Object 1017h: Producer Heartbeat Time
The object contains the time interval in milliseconds in which the device has to produce a heartbeat
message.
Subindex Description Data Type Default Value
0
- Unsigned 16 0 rw yes
Access
Restore after
BootUp
Object 2200h: Cyclic Timer
This object contains cyclic time of the event timer in ms of PDO.
Subindex Description Data Type Default Value
Access
Restore after
BootUp
0 - Unsigned 16 - ro yes
Object 2300h: Save Parameter with Reset
With this object all parameters can be stored in the non volatile memory. After storing the parameters a
reset is necessary.
Subindex Description Data Type Default Value
Access
Restore after
BootUp
0 Access code Unsigned 32 55AAAA55h wo no
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Object 2600h: Preset X/Z-Axis
In ACS080 inclinometers, this object sets the X-axis to a desired value. In ACS360 inclinometers, this
object sets the Z-axis to a desired value.
Subindex Description Data Type Default Value
Access
BootUp
0 - Integer 16 - rw no
*Currently available only in ACS360 versions. Although it is given both Read and Write access, it is
preferable to use only write command for setting the Preset value of ACS. Upon setting the Preset
value a save command has to be given in order to set the Preset value finally.
Object 3000h: Node Number
This object contains the node number of the device. The POSITAL standard node number is 32decimal
Subindex Description Data Type Default Value
Access
Restore after
BootUp
5
.
0 Node Number Unsigned 8 1Fh rw* yes
NOTE: To avoid the node number zero (0), one (1) will be added to the value of this object.
E.g.: 1Fh+1h = 20h = 32 (dec)
*Upon changing the node number please use 2300h object to save the set node number.
Object 3001h: Baudrate
This object contains the baud rate of the device.
Subindex Description Data Type Default Value
Access
Restore after
BootUp
0 Baudrate Unsigned 8 - rw* yes
Eight different baud rates are provided. To adjust the baud rate only one byte is used.
The default baud rate is 20 kB
6
.
Baudrate
in kB
Byte
20 00h
50 01h
100 02h
125 03h
250 04h
500 05h
800 06h
1000 07h
6
Forthcoming ACS model will have a default baud rate of 125kB.
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BootUp
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Object 3100h: Moving Average Filter
This object contains the number of values which are averaged.
Subindex Description Data Type Default Value
0 Moving
Unsigned 16 0 rw yes
Access
BootUp
Average Filter
Range of values accepted: 0d to 100d.
Object 6000h: Resolution*
This object sets the resolution per 1°.
Subindex Description Data Type Default Value Access
Restore after
BootUp
0 Resolution Unsigned 16 - rw no
* Not implemented yet. Will be available in the first quarter of 2011.
Four different possible resolutions can be used:
Actual Angular Resolution Value decimal Byte hex
1° 1 1 h
0.1° 10 A h
0.01° 100 64 h
0.001° 1000 3E8 h
Object 6010h: Position Value X/Z-Axis
In ACS080 inclinometers, this object provides the X-axis value. In ACS360 inclinometers, this object
provides the Z-axis value.
Subindex Description Data Type Default Value
Access
Restore after
BootUp
0 - Integer 16 - ro no
Object 6012h: Preset X/Z-Axis
In ACS080 inclinometers, this object sets the X-axis to a desired value. In ACS360 inclinometers, this
object sets the Z-axis to a desired value.
Subindex Description Data Type Default Value
Access
Restore after
0 - Integer 16 - rw no
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Description
Type key
Description
Type key
AC C EL E NS ( A C S) C A N op e n
Object 6020h: Position Value Y-Axis
In ACS080 inclinometers, this object provides the Y-axis value. In ACS360 inclinometers, this object is
NOT functional.
Subindex Description Data Type Default Value
0 - Integer 16 - ro no
Access
Restore after
BootUp
Ap p en d ix B : O rd eri n g C od e
ACS - Industrial
ACS- XXX- X- XX XX- X X X- XX
Range
Number of axis
Interface CANopen CA
Version Software Version 01
Mounting Vertical for 360° Version V
Horizontal for ± 80° Version H
Housing Material Industrial (PBT) E
Inclinometer Series ACS II 2
Connection
ACS – Heavy-Duty
360° (1 axis)
± 80° (2 axis)
One for 360° Version
Two for ± 80° Version
Connector
360
080
1
2
PM
ACS- XXX- X- XX XX- X X X- XX
Range
Number of axis
Interface CANopen CA
Version Software Version 01
Mounting Vertical for 360° Version V
Horizontal for ± 80° Version H
Housing Material Heavy-Duty (Aluminium) H
Inclinometer Series ACS II 2
Connection
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360° (1 axis)
± 80° (2 axis)
One for 360° Version
Two for ± 80° Version
Connector
360
080
1
2
PM
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Ap p en d ix C : Ou t pu t G rap h s
ACS 360: CANopen Output Values
ACS 080 : CANopen Output Values
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Gl o ss a ry
A
Address Number, assigned to each node, irrespective of whether it is a master or slave. The
inclinometer address (non-volatile) is configured in the base with rotary switches.
APV Absolute Position Value.
B
Baud rate Transmission speed formulated in number of bits per second. Bus node Device that
can send and/or receive or amplify data by means of the bus.
Byte 8-bit unit of data = 1 byte.
C
CAL CAN application layer.
CAN Controller Area Network or CAN multiplexing network.
CANopen Application layer of an industrial network based on the CAN bus.
CCW Counter-clockwise
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CiA CAN In Automation, organization of manufacturers and users of devices that
operate on the CAN bus.
COB Elementary communication object on the CAN network. All data is transferred using
a COB.
COB-ID COB-Identifier. Identifies an object in a network. The ID determines the transmission
priority of this object. The COB-ID consists of a function code and a node number.
CW Clockwise
F
FC Function code. Determines the type of message sent via the CAN network.
L
Line terminator Resistor terminating the main segments of the bus.
LMT Network management object. This is used to configure the parameters of each layer
in the CAN. Master "Active" device within the network, that can send data without
having received a request. It controls data exchange and communication
management.
N
NMT Network management object. This is responsible for managing the execution,
configuration and errors in a CAN network.
NN Node number
P
PCV Process Value
PDO Communication object, with a high priority for sending process data.
PV Preset Value: Configuration value
R
RO Read Only: Parameter that is only accessible in read mode.
ROMAP Read Only MAPable: Parameter that can be polled by the PDO.
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RW Read/Write: Parameter that can be accessed in read or write mode.
S
SDO Communication object, with a low priority for messaging (configuration, error
handling, diagnostics). Slave Bus node that sends data at the request of the master.
The inclinometers are always slaves.
W
WO Write Only: Parameter that is only accessible in write mode.
Disclaimer
© FRABA N.V., all rights reserved. We do not assume responsibility for technical inaccuracies or
omissions. Specifications are subject to change without notice.
For more information:
ACS - Absolute Inclinometers
ACS CANopen - Datasheet
ACS CANopen EDS File
For information on other products, please visit:
POSITAL - Absolute rotary encoders and Inclinometers
INTACTON - Optical Motion Sensors
VITECTOR - Protection Sensors
Document History
1st Release : Anjan Nachiappa on September 28, 2011
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NOTES
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