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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use

SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use
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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use

Product catalog summary
Overview: The document provides technical specifications and operational procedures for the SUBSEA-2 Dual Axis Inclinometer, designed for marine and subsea applications. It includes details on communication protocols, frequency response filters, and command examples for device configuration.
Description: The SUBSEA-2 is a dual-axis inclinometer capable of measuring angles in both pitch and roll axes with a range from ±5° to ±45°. It is suitable for depths up to 500 meters, featuring high resolution, accuracy, low temperature drift, and a compact stainless steel housing. It supports RS232, RS485, and ModBus communication protocols and is CE certified and RoHS compliant.
General Specifications:
  • Supply Voltage: 9-30 V DC
  • Operating Temperature: -40 to 85°C
  • Frequency Response: Adjustable between 16Hz & 0.125Hz
  • Mechanical Shock: 5000 G
  • Weight: 735 g
  • Depth Rating: 500 m
Performance Specifications:
  • Measuring Range: Options of ±5°, ±15°, ±30°, ±45°
  • Long Term Stability: ±0.007°
  • Resolution: 0.001° at 1Hz bandwidth
Connection Details: The device uses a male 4-pole SubConn Micro series bulkhead connector with specific pin functions for RS232 and RS485 variants.
Axis Direction and Mounting Orientation: The inclinometer can be mounted on horizontal or vertical surfaces, with specific axis usage and accuracy considerations.
Certification: Type approved according to EMC Directive 2004/108/EC and tested to BS EN61326-1:2006 and BS EN55011:2007 standards.
Control Command Set: Includes a simplified command set for RS232 and RS485 communication, with commands for reading angles, setting output formats, and adjusting device settings.
Software: A free Windows application is available for device configuration, angle reading, and data logging, compatible with various Windows versions and requiring .NET framework.
ModBus Control Command Set: Details on using ModBus RTU protocol for communication, including default settings, register locations, and command descriptions.
Specifications:
  • Angle Measurement: Returns a 16-bit signed integer value equal to the measured angle in degrees x 1000.
  • Temperature Measurement: Returns a 16-bit signed integer value equal to the sensor temperature in degrees Celsius x 100.
  • Sensor Filter Index: A 16-bit integer value between 1 and 7, corresponding to filter responses from 0.125 to 16Hz.
  • Tare Function: Allows zeroing of the device at the current position (relative mode) or returning to absolute measurement mode.
Frequency Response Filter Indexes:
Filter IndexFrequency Response (Hz)Damping Time (ms)
10.1258000
20.254000
30.52000
411000
52500
64250
78125
81662.5
ModBus Communication:
  • Reading Registers: Function code 0x03 is used to read holding registers. The command and response message formats are detailed, including error responses.
  • Writing Registers: Function code 0x06 is used to write to registers, such as those storing filter indexes.
  • Changing BAUD Rate: Special function code 0x6E and command code 0x8F are used to set the BAUD rate, with options ranging from 2400 to 115200.
  • Changing Device Address: Special function code 0x6E and command code 0x91 are used to change the device address.
Examples:
  • Reading Angle: Examples provided for reading angles from X and Y axes, with command and response formats.
  • Changing Frequency Response: Example of changing the frequency response to 0.5Hz.
  • Setting Tare Function: Example of setting the tare function to zero the current position.
  • Changing Device Address: Example of changing the device address from 100 to 1.
Contact Information: Level Developments Ltd., 97-99 Gloucester Road, Croydon, Surrey, CR0 2DN, United Kingdom. Phone: +44 (0)20 8684 1400, Fax: +44 (0)20 8684 1422, Email: [email protected], Website: www.leveldevelopments.com
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Catalog excerpts

SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-1

level developments SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use Features • Dual axis measurement, range from ±5 to ±45° • High resolution and accuracy • Designed for subsea & marine applications • Rated for use at 500m depth below sea • Fitted with a SubConn Micro subsea connector • Low temperature drift • Single-drop RS232, RS485 or multi-drop RS485 interface with ModBus protocol • Compact & stainless steel: 70 x 93 x 27mm • CE certified and RoHS compliant The SUBSEA-2 series inclinometers are specifically designed for installation on underwater structures or equipment & are rated for use up to 500m below sea level. They are a range of high performance dual axis tilt sensors for measurement of angle in both pitch and roll axes. These devices are available with standard measurement range options of ±5°, ±15°, ±30° and ±45°. The housing is a rugged and compact stainless steel assembly. They utilise a very high performance MEMS sensor which exhibits low long term drift and excellent temperature stability when compared with competitive devices. It has an RS232 and RS485 interface option with our standard communication protocol as well as a version with RS485 multi drop ModBus communication protocol. They are CE and RoHS certified, and are manufactured, calibrated and tested in our UK factory to guarantee performance to the stated specification. General Specifications Parameter Level Developments Ltd. Croydon, Surrey, CR0 2DN t : +44 (0)20 8684 1400 [email protected] 97-99 Gloucester Road United Kingdom f : +44 (0)20 8684 1422 www.leveldevelopments.com

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-2

level developments SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea UsePerformance Specifications Parameter

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-3

SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use level developmentsHousing Drawing Connection Details The fitted connection is a male 4-pole SubConn Micro series bulkhead connector, part number MCBH4MSS. The pin functions for both RS232 and RS485 variants are shown in the table below: Level Developments Ltd. Croydon, Surrey, CR0 2DN t : +44 (0)20 8684 1400 [email protected] 97-99 Gloucester Road United Kingdom f : +44 (0)20 8684 1422 www.leveldevelopments.com

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-4

level developments SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea UseAxis Direction and Mounting Orientation Mounted on a Horizontal Surface Mounted on a Vertical Surface Note: only the X axis can be used when mounted vertically & the accuracy can't be guaranteed because calibration is performed horizontally. Level Developments Ltd. Croydon, Surrey, CR0 2DN t : +44 (0)20 8684 1400 [email protected] 97-99 Gloucester Road United Kingdom f : +44 (0)20 8684 1422 www.leveldevelopments.com

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-5

SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use Part Numbering Series Prefix 05 - ±5° Full Scale Measurement Range 15 - ±15° Full Scale Measurement Range 30 - ±30° Full Scale Measurement Range 45 - ±45° Full Scale Measurement Range RS232 - RS232 Interface with LD standard communication protocol RS485 - RS485 Interface with LD standard communication protocol RS485M - RS485 Interface with ModBus communication protocol Customer Specific Options (Optional) Example: SUBSEA-2-15-RS485M SUBSEA-2 Series dual axis inclinometer ±15° Full Scale Measurement Range RS485 Interface with ModBus communication...

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-6

Data is transmitted and received over RS232 in full duplex mode and for RS485 versions in half duplex mode. The default configuration is with the baud rate set to 38.4kbps, with 8 data bits, 1 stop bit and no parity. All commands are lower case and 7 bytes long. The time between each character of the command must be less than 100ms otherwise the device will discard the command. The settings are all stored in non volatile memory.

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-7

A free Windows based application for reading angle, logging and device configuration is available from our website. It requires Windows XP SP3, Windows 7 or Windows 8, and works with 32 and 64 bit systems. It also requires the .net framework V3.5 or higher, and will prompt you to download and install this from Microsoft if it is not already installed on your system. A COM port is also required, and can either be a built in COM port, or a USB to Serial COM port. The basic features are shown below: • Automatic or manual configuration of COM port parameters • Compatible with single or dual axis...

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-8

Data is transmitted and received over RS485 in half duplex mode using the ModBus RTU protocol. The following section provides some basic information about the serial communication between the host PC or PLC and the SUBSEA-2. The full ModBus specification can be obtained from http://www.modbus.org. ModBus is a command/response protocol over a serial bus. The default ModBus serial parameters are: 38400 baud, 1 start bit, 8 data bits, no parity and 1 stop bit. The 8 data bits are sent LSB first. The baud rate can be changed to 115200, 57600, 38400, 19200, 9600, 4800 or 2400 by sending the appropriate...

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-9

The frequency response of the sensor can be changed to any of the response times shown in the table. The filter is a 2nd order Besel low pass filter implemented in a IIR algorithm. Level Developments Ltd. Croydon, Surrey, CR0 2DN t : +44 (0)20 8684 1400 [email protected] 97-99 Gloucester Road United Kingdom f : +44 (0)20 8684 1422 www.leveldevelopments.com

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SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea Use-10

level developments SUBSEA-2 : Dual Axis Inclinometer for Marine & Subsea UseWriting to a Holding Register Data can be written to some registers, such as the registers that store the filter indexes for each axis frequency response. Function code 0x06 is used to write these registers as detailed below. Level Developments Ltd. Croydon, Surrey, CR0 2DN t : +44 (0)20 8684 1400 [email protected] 97-99 Gloucester Road United Kingdom f : +44 (0)20 8684 1422 www.leveldevelopments.com

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