SICK TMS88 Series, TMS61 Series, TMM88 Series, TMS88A, TMM88A Operating Instructions Manual
...
TMS/TMM88, TMS/TMM61
Inclination sensors with CANopen interface
OPERATING INSTRUCTIONS
Described product
1- and 2-dimensional inclina
tion sensors:
TMS88A
TMM88A
TMS88B
TMM88B
TMS88D
TMM88D
TMS61B
TMM61B
Manufacturer
SIC
G
K A
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
ork is protected by copyright. Any rights derived from the copyright shall be
This w
reserved for SICK AG. Reproduction of this document or parts of this document is only
permissible within the limits of the legal determination of Copyright Law. Any modifica‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
T
ument is an original document of SICK AG.
his doc
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice
Contents
CONTENTS
1 About this document........................................................................ 4
1.1 Function of this document....................................................................... 4
1.2 Explanation of symbols............................................................................ 4
2 Safety information............................................................................ 5
2.1 Intended use............................................................................................. 5
2.2 Incorrect use............................................................................................. 5
2.3 Requirements for the qualification of personnel.................................... 5
3 Overview............................................................................................. 6
4 Technical data.................................................................................... 7
4.1 Technical data for TMS88A/TMM88A..................................................... 7
4.2 Technical data for TMS88B/TMM88B.................................................... 8
4.3 Technical data for TMS88D/TMM88D.................................................... 10
4.4 Technical data for TMS61B/TMM61B.................................................... 11
5 Transport and storage....................................................................... 14
5.1 Transport................................................................................................... 14
5.2 Transport inspection................................................................................. 14
5.3 Storage...................................................................................................... 14
6 Mounting............................................................................................. 15
7 Connection......................................................................................... 16
8 Description of operation................................................................... 17
8.1 Function overview..................................................................................... 17
9 CANopen interface............................................................................ 18
9.1 Communication profile............................................................................. 18
9.2 Node IDs and COB IDs.............................................................................. 20
9.3 Layer setting services (LSS)..................................................................... 21
9.4 Network management: NMT.................................................................... 24
9.5 Service data objects (SDO)...................................................................... 28
9.6 Process data objects (PDO)..................................................................... 29
9.7 Object directory......................................................................................... 32
9.8 Error messages: Emergency.................................................................... 41
9.9 Automatic baud rate detection (to CiA AN-801)..................................... 42
9.10 Status LED (to CiA DR-303-3).................................................................. 43
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Subject to change without notice
OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61
3
1 ABOUT THIS DOCUMENT
1 About this document
1.1 Function of this document
These operating instructions are intended to give technical personnel working for the
machine manuf
installation, commissioning, and operation of the TMS/TMM61 and TMS/TMM88 incli‐
nation sensors.
These operating instructions do not provide information on operating the machine in
which an inclination sensor is integrated. For information about this, refer to the operat‐
ing instructions of the particular machine.
1.2 Explanation of symbols
Warnings in these operating instructions are labeled with symbols. The warnings are
int
oduced by signal words that indicate the extent of the danger. These warnings must
r
be observed at all times and care must be taken to avoid accidents, personal injury,
and material damage.
DANGER
… indica
injuries if not prevented.
tes a situation of imminent danger, which will lead to a fatality or serious
acturer or machine operator instructions on the mounting, electrical
WARNING
… indica
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indica
prevented.
NOTE
… hig
trouble-free operation.
tes a potentially dangerous situation, which may lead to a fatality or serious
tes a potentially harmful situation, which may lead to material damage if not
hlights useful tips and recommendations as well as information for efficient and
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
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2 Safety information
2.1 Intended use
The TMS/TMM88 and TMS/TMM61 inclination sensors are measuring devices consist‐
ing of an e
the measuring devices are designed include recording inclinations in solar thermal
energy, photovoltaics or heavy-duty vehicle applications.
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
2.2 Incorrect use
TMS/TMM88 and TMS/TMM61 inclination sensors do not constitute safety compo‐
nent
sensors must not be used in explosion-hazardous areas. Any other use that is not
described as intended use is prohibited. Any use of accessories not specifically
approved by SICK AG is at your own risk.
WARNING
Dan
Any incorrect use can result in dangerous situations.
Therefore, take note of the following information:
■
■
lectronic sensor and integrated evaluation electronics. The tasks for which
s in ac
ger due to improper use!
Inclination sensors should be used only according to intended use specifications.
All information in these operating instructions must be strictly complied with.
SAFETY INFORMATION 2
cordance with the EC Machinery Directive (2006/42/EC). The inclination
2.3 Requirements for the qualification of personnel
The personnel who work on and with the device must be suitably authorized, trained,
and suff
•
•
•
Table 1: Skilled personnel qualifications
Task Qualification
Mounting
Electrical installation
Commissioning, configura‐
t
iciently qualified. Skilled personnel refers to the following:
A member of staff who has received specialist training, which is backed up by
additional knowledge and experience.
A member of staff who knows the relevant technical terms and regulations.
A member of staff who can appraise the work assigned to them, recognize poten‐
tial hazards, and take suitable safety precautions.
hnical training
Tec
•
Knowledge of current workplace safety regulations
•
trotechnical training
Elec
•
Knowledge of the current electrotechnical workplace safety
•
regulations
Knowledge of the operation and control of the sensor in the
•
particular application
ec
hnical training
T
ion, and oper
ation
•
Knowledge of the operation and control of the sensor in the
•
particular application
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61
5
3 OVERVIEW
3 Overview
Properties
■
1-dimensional inclina
■
2-dimensional inclination sensor with measuring range: 90° (X/Y)
■
High sampling rate and bandwidth
■
High resolution (0.01°)
■
High accuracy (up to 0.02°)
■
Compensated cross sensitivity
■
Configurable vibration suppression
■
Intelligent and flexibly adaptable sensor fusion algorithm for dynamic applications
tion sensor with measuring range: 360° (±180°)
(TMS/TMM88D)
■
Convenient CANopen interface
Meets the requirements of CiA DS-301, device profile CiA DSP-410
°
Baud rates from 10 kbit/s up to 1 Mbit/s
°
Automatic baud rate detection
°
Setting of node ID and baud rate via LSS service
°
■
Functions:
One or two (TMS/TMM88D) Transmit PDOs: Can be mapped dynamically
°
(RTR, cyclic, event-driven, synchronized)
SYNC consumer (sync. sending of the Transmit PDOs following receipt of a
°
SYNC message)
EMCY producer fault monitoring using heartbeat or node guarding/lifeguard‐
°
ing
■
UV-resistant, impact-resistant plastic housing or compact and rugged aluminum
housing
■
Suitable for industrial use:
Temperature range: -40 °C to +80 °C
°
Enclosure rating: IP65/67 (TMS/TMM88D: IP67/69)
°
TMS 1-dimensional inclination sensors are used to measure inclinations in the 360°
range. TMM 2-dimensional inclination sensors are used to measure inclinations in 2
±90° ranges (X/Y). To ensure high levels of accuracy, the sensors are calibrated at the
factory.
A compact and rugged design makes the sensors an ideal solution for measuring
angles in harsh environments. They are compatible for use in all manner of applications
in industry and automotive engineering. All parameter settings can be made easily via
the CANopen interface or with the PGT-12-Pro hand-held programing tool.
Areas of application
■
A
ricultural and forestry machinery
g
■
Construction machinery and special-purpose vehicles
■
Solar thermal energy and photovoltaics
■
Automated guided systems
■
Crane and lifting technology
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
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4 Technical data
Notice
NOTE
This c
hapter contains an extract of the technical data. For full details, see the TMS/
TMM88 (8019180), TMS/TMM88 Dynamic (8023359), TMS/TMM61 and TMM55
product information.
4.1 Technical data for TMS88A/TMM88A
Table 2: Technical data for TMS88A/TMM88A
General parame‐
1)
s
ter
Number of measur‐
ing axes
Measuring ranges 360° ±90°
Resolution 0.01° 0.01°
Accuracy Range
Cross sensitivity
ated)
pens
(com
Temperature coeffi‐
cient (zer
Sampling rate 80 Hz
Limit frequency Typ. 20 Hz, 2nd order (no digital filter) / 0.1 ... 25 Hz, 8th order (with digi‐
Operating tempera‐
ture
Properties
Data rates 10 k, 20 k, 50 k, 62.5 k, 100 k, 125 k, 250 k, 500 k , 800 kbit/s,
Functions Polling of angle, cyclic and synchronized transmission,
Electrical parameters
Supply voltage 8 to 36 V DC
Current consump‐
tion
Mec
CAN connection 2 x 5-pin M12 plug connectors (male connector - female connector,
Enclosure rating IP65/67
Dimensions /
Weight
CANopen conformity
CiA DS-301, v4.2.0 Application layer and communication profile
o point)
hanical parameters
1 2
0...360°
- Typ. ±0.09° (±0.10%FS)
Typ. ±0.008°/K
ilter)
tal f
-40 °C to +80 °C
1 Mbit/s
omatic detection
Aut
al filter (critically damped (default) or Butterworth low pass, 8th
digit
order), configuration via object directory
<33 mA @ 24 V
looped thr
Large plastic housing: 66 mm x 90 mm x 36 mm / approx. 215 g
ough) to CiA 303-1
TECHNICAL DATA 4
TMS88A TMM88A
Typical
±0.04°
Maximum
±0.10°
Range
up to ±60°
o ±70°
up t
up to ±80°
up to ±85°
Max. ±0.45° (±0.50%FS)
Typical
±0.02°
±0.04°
±0.08°
±0.16°
Maximum
±0.05°
±0.10°
±0.20°
±0.40°
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61
7
4 TECHNICAL DATA
General parame‐
1)
ter
s
TMS88A TMM88A
CiA DS-410 Device profile for inclinometer
CiA DSP-305 Layer setting service (LSS) and protocols
CiA DR-303-3 Indicator specification (status LED)
CiA AN-801 Automatic bit-rate detection
1)
All specified angular accuracies apply after a run-in time of 10 min at 25 °C, limit frequency 0.3 Hz,
absolut
e calibration accuracy (at 25 °C): ±0.05°
Figure 1: TMS88A measuring axis (large plastic housing)
Figure 2: TMS88A measuring axes (large plastic housing)
4.2 Technical data for TMS88B/TMM88B
Table 3: Technical data for TMS88B/TMM88B
General parame‐
1)
ters
Number of measur‐
ing axes
Measuring ranges 360° ±90°
Resolution 0.01° 0.01°
Accuracy Range
Cross sensitivity
pens
(com
ated)
Temperature coeffi‐
cient (zer
o point)
1 2
0...360°
- Typ. ±0.10° (±0.11%FS)
Typ. ±0.008°/K
TMS88B TMM88B
Typical
±0.15°
Maximum
±0.25°
Range
up to ±60°
o ±80°
up t
Typical
±0.10°
±0.20°
Max. ±0.20° (±0.22%FS)
Maximum
±0.20°
±0.30°
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
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TECHNICAL DATA 4
General parame‐
1)
ter
s
TMS88B TMM88B
Sampling rate 80 Hz
Limit frequency Typ. 20 Hz, 2nd order (no digital filter) / 0.1 to 25 Hz, 8th order (with digi‐
ilter)
tal f
Operating tempera‐
-40 °C to +80 °C
ture
Properties
Data rates 10 k, 20 k, 50 k, 62.5 k, 100 k, 125 k, 250 k, 500 k, 800 kbit/s, 1 Mbit/s
omatic detection
Aut
Functions Polling of angle, cyclic and synchronized transmission,
al filter (critically damped (default) or Butterworth low pass, 8th
digit
order), configuration via object directory
Electrical parameters
Supply voltage 8 to 36 V DC
Current consump‐
<16 mA @ 24 V
tion
hanical parameters
Mec
CAN connection 1 x 5-pin M12 sensor plug connector (male connector)
Enclosure rating IP65/67
Dimensions /
ght
Wei
Aluminum housing: 58 mm x 90 mm x 31 mm / approx. 200 g
CANopen conformity
CiA DS-301, v4.2.0 Application layer and communication profile
CiA DS-410 Device profile for inclinometer
CiA DSP-305 Layer setting service (LSS) and protocols
CiA DR-303-3 Indicator specification (status LED)
CiA AN-801 Automatic bit-rate detection
1)
All specified angular accuracies apply after a run-in time of 10 min at 25 °C, limit frequency 0.3 Hz,
e calibration accuracy (at 25 °C): ±0.05°
absolut
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Subject to change without notice
Figure 3: TMS88B measuring axis (aluminum housing)
OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61
9
4 TECHNICAL DATA
Figure 4: TMM88B measuring axis (aluminum housing)
4.3 Technical data for TMS88D/TMM88D
Table 4: General parameters for the dynamic inclination sensor
General parameters for the dynamic
inclina
tion sensor
Number of measuring axes 1 2
Measuring ranges 360° ±90°
Resolution 0.01°
Static accuracy
Dynamic accuracy ±0.5° (typical)
Duration of spurious acceleration
ssion (configurable)
suppre
Temperature coefficient (zero point) ±0.01°/K (typical)
General parameters for the IMU
Measuring ranges ±8 g ±250 °/s
Resolution 0.244 mg 0.00875 °/s
In run bias stability – 6 °/h (typical)
Angular random walk (ARW) – 0.2 °⁄√h
Temperature coefficient (zero point) 0.2 mg/K (typical) 0.005 °/s/K (typical)
General parameters
Sampling rate 200 Hz
Operating temperature -40 °C to +80 °C
Properties
Data transmission rates
Functions
Electrical parameters
Supply voltage 8 to 36 V DC
Current consumption 15 mA @ 24 V
Maximum output current 350 mA
Mechanical parameters
Electrical connection
1
2
TMS88D TM88D
±0.3° (typi‐
cal)
±0.5° (ma
mum)
±0.3° (typi‐
cal)
±0.5° (maxi‐
mum)
xi‐
100 to 10000 ms
Acceleration sensor Gyro sensor
10k, 20k, 50k, 100k, 125k, 250k, 500k, 800k bit/s,
1 Mbit/s; A
utomatic detection
Polling of angle, cyclic and synchronized transmission,
terization, sensor fusion filter, digital low pass fil‐
parame
ter (critically damped or Butterworth, 8th order), configu‐
ration via a digital interface
2 x sensor plug connectors, 5-pin M12 (male connector female c
onnector, looped through)
10
OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice
TECHNICAL DATA 4
General parameters for the dynamic
inclina
tion sensor
1
TMS88D TM88D
Enclosure rating IP67/69
Dimensions of large plastic housing 66 mm x 90 mm x 36 mm
Weight approx. 200 g
CANopen conformity
CiA DS-301, v4.2.0 Application level and communications profile
CiA DS-410 Device profile for inclinometer
CiA DSP-305 Layer setting service (LSS) and protocols
CiA DR-303-3 Indicator specification (status LED)
CiA AN-801 Automatic bit rate detection
1
All specified angular accuracies apply after a run-in time of 10 min. at 25 °C, absolute calibration accu‐
y (at 25 °C): ±0.05°
rac
2
All specified accuracies apply after a run-in time of 10 min. at 25 °C
Figure 5: TMS88D measuring axis (large plastic housing)
Figure 6: TMM88D measuring axes (large plastic housing)
4.4 Technical data for TMS61B/TMM61B
Table 5: Technical data for TMS61B/TMM61B
General parame‐
1)
s
ter
Number of measur‐
ing axes
Measuring ranges 360° ±90°
Resolution 0.01° 0.01°
1 2
TMS61B TMM61B
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61
11
4 TECHNICAL DATA
General parame‐
1)
ter
s
Accuracy Range
0...360°
Cross sensitivity
pens
(com
ated)
Temperature coeffi‐
cient (zer
o point)
- Typ. ±0.09° (±0.10%FS)
Typ. ±0.01°/K
TMS61B TMM61B
Typical
±0.15°
Maximum
±0.25°
Range
up to ±60°
up to ±80°
Typical
±0.10°
±0.20°
Max. ±0.45° (±0.50%FS)
Maximum
±0.20°
±0.30°
Sampling rate 80 Hz
Limit frequency Typ. 20 Hz, 2nd order (no digital filter) / 0.1 to 25 Hz, 8th order (with digi‐
ilter)
tal f
Operating tempera‐
-40 °C to +80 °C
ture
Properties
Data rates 10 k, 20 k, 50 k, 62.5 k, 100 k, 125 k, 250 k, 500 k, 800 kbit/s, 1 Mbit/s
omatic detection
Aut
Functions Polling of angle, cyclic and synchronized transmission,
al filter (critically damped (default) or Butterworth low pass, 8th
Digit
order), configuration via object directory
Electrical parameters
Supply voltage 8 to 36 V DC
Current consump‐
<16 mA @ 24 V
tion
hanical parameters
Mec
CAN connection Cable, 5-wire, 0.2 m, with 5-pin M12 male connector
Enclosure rating IP65/67
Dimensions /
ght
Wei
Small plastic housing: 68 mm x 36.3 mm x 20.7 mm / approx. 80 g (with
cable)
CANopen conformity
CiA DS-301, v4.2.0 Application layer and communication profile
CiA DS-410 Device profile for inclinometer
CiA DSP-305 Layer setting service (LSS) and protocols
CiA DR-303-3 Indicator specification (status LED)
CiA AN-801 Automatic bit-rate detection
1)
All specified angular accuracies apply after a run-in time of 10 min at 25 °C, limit frequency 0.3 Hz,
e calibration accuracy (at 25 °C): ±0.05°
absolut
12
Figure 7: TMS61B measuring axis (small plastic housing)
OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice
Figure 8: TMS61B measuring axis (small plastic housing)
TECHNICAL DATA 4
8019054/14IT/2019-06-27 | SICK
Subject to change without notice
OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61
13
5 T
RANSPORT AND STORAGE
5 Transport and storage
5.1 Transport
For your own safety, please read and observe the following notes:
NOTE
Dama
ge to the device due to improper transport.
■
The device must be packaged for transport with protection against shock and
damp.
■
Recommendation: Use the original packaging as it provides the best protection.
■
Transport should be performed by trained specialist staff only.
■
The utmost care and attention is required at all times during unloading and trans‐
portation on company premises.
■
Note the symbols on the packaging.
■
Do not remove packaging until immediately before you start mounting.
5.2 Transport inspection
Immediately upon receipt in Goods-in, check the delivery for completeness and for any
dama
ge that may have occurred in transit. In the case of transit damage that is visible
externally, proceed as follows:
■
Do not accept the delivery or only do so conditionally.
■
Note the scope of damage on the transport documents or on the transport com‐
pany's delivery note.
■
File a complaint.
5.3 Storage
NOTE
plaints regarding defects should be filed as soon as these are detected. Damage
Com
claims are only valid before the applicable complaint deadlines.
Store the device under the following conditions:
■
ecommend
R
■
Do not store outdoors.
■
Store in a dry area that is protected from dust.
■
So that any residual damp can evaporate, do not package in airtight containers.
■
Do not expose to any aggressive substances.
■
Protect from sunlight.
■
Avoid mechanical shocks.
■
For storage periods of longer than 3 months, check the general condition of all
ation: Use the original packaging.
components and packaging on a regular basis.
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OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice
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