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HDA436T-CANOpen

Product catalog summary

Product Introduction
The HDA436T/HDA437T-C1 is a digital MEMS dynamic tilt sensor by RION Technology, designed for dual-axis tilt measurement in moving carriers. It features built-in acceleration and gyro sensors with a Kalman filtering algorithm for real-time motion data measurement. The sensor uses a non-contact measurement principle and CANOPEN communication protocol, suitable for complex motion scenes and harsh environments.

Main Features

Range: Biaxial ±90°
Resolution: 0.01°
Dynamic Accuracy: ±0.1°
Static Accuracy: ±0.05°
Wide Voltage Input: DC 9 ~ 36 V
Temperature Range: -40 ~ +85 ℃
Protection Grade: IP67/IP68

Application Fields

High vibration impact equipment
Satellite antenna star search
Railway locomotive monitoring
Oil drilling equipment
Ship navigation attitude measurement

Specifications

Measure Range: Roll ±180°, Pitch ±90°
Gyroscope Range: ±250°/s
Acceleration Range: HDA436T: ±8g, HDA437T: ±20g
Output Signal: CANOpen
MTBF: ≥ 98,000 hours
Waterproof Grade: Standard IP67, optional IP68

Electrical Parameters

Supply Voltage: 9-36 V
Operating Current: 40mA (12V)
Operating Temperature: -40 to +85 ℃

Ordering Information
Options for standard industrial scenarios, high-intensity impact scenarios, and different protection levels. The product can be ordered with single or double connectors and as a PCBA board.

Working Principle
The sensor uses a capacitive miniature pendulum principle to measure tilt based on earth's gravity, converting capacitance changes into tilt angles.

Electrical Connection
Details the pin definitions for male and female wiring, including power supply and CAN_H/CAN_L connections.

Operation Mode
The sensor supports various CANopen modes including polling, cycle, and synchronization modes. It operates based on the DS410 standard, allowing for multi-device communication on a CAN network.

Boot-Up Procedure
Describes the boot-up process and mode transitions, including pre-operational, operational, and stopped modes.

Layer Setup Service (LSS)
Details the LSS feature for querying or changing settings on CANopen devices, with the HDA436T acting as an LSS slave.

Specifications and Identification
The HDA436T inclinometer supports the LSS master function, focusing on application layer parameters like node numbers and baud rates. The LSS Master requests services from the inclinometer (LSS Slave) and identifies it using the LSS address, which includes vendor ID, product code, version number, and serial number.

Bus Termination Resistors
For inclinometers at the bus's end or beginning, or when baud rates are ≥ 50 kbps, a 120-ohm termination resistor is necessary to prevent signal reflection.

LED Indicators
The red LED indicates power and operational states: off for no power, flashing for pre-operational, and always bright for operational states.

Software Configuration
The HDA436T is configurable via the CAN bus, with factory defaults including a device type of 2-axis, a cycle timer of 0 ms, a resolution of 0.01°, a node number of 1, and a baud rate of 125 kB.

Active Programming Objects
CANopen objects vary in activity based on the inclinometer's state, with PDO and SDO objects active in different states.

Command Descriptions
Commands like Domain Request (22h) and Domain Confirm (60h) manage parameter writing and confirmation. Data lengths vary with command types.

Common Commands
Objects like 6010h and 6020h provide biaxial tilt angles, while 1010h and 2300h manage parameter storage. Resolution settings and preset values are crucial for accuracy.

PDO Transfer
PDOs handle real-time data exchange, with specific communication parameters for each transfer PDO.

Transmission Modes and Timers
Transmission modes can be cyclic or event-driven, with inhibit and event timers managing PDO intervals.

SDO Types
SDOs allow data access via explicit requests, with download and upload types based on client-server models.

CANOpen Object List
Objects like 1000h describe device types, while others manage error registers, synchronization, and parameter storage and restoration.

Object 1018h: Identification
This section provides general identification details for the inclinometer, including vendor ID, product code, revision number, and serial number. All values are read-only.

Object 2200h: Cyclic Timer
This object determines the transmission interval during cyclic transmission mode and is linked to event timers for TxPDO1 and TxPDO2. It ensures synchronization between the cyclic timer and event timers after power-up.

Object 2300h: Save Parameter With Reset
This object allows parameters to be stored in non-volatile memory and includes a reset function. The access code is write-only.

Object 2600H & 2601H: Preset X-Axis and Y-Axis
These objects set the X and Y axes to desired values, linked to specific objects. The preset range depends on the inclinometer's resolution, and values outside the range trigger an error message.

Object 3000h: Node ID
This object contains the device's node number, with a default of 01. The valid range is 1-127, and changes require a reset to take effect.

Object 3001H: Baudrate
This object sets the device's baud rate, with valid values ranging from 0 to 7. The default is 125 Kbps, and changes require a reset.

Object 3100H: Moving Average Filter
This object manages the number of output angle slides for averaging. The filter is disabled by default, with valid values from 0 to 250.

Objects 3400H-3405H: Gyroscope and Accelerometer Data
These objects provide calibrated rotation rates and acceleration values for the X, Y, and Z axes. Values are read-only and can be mapped to a PDO.

Object 3411H: Sensor Temperature
This object provides the sensor's temperature in degrees Celsius, with a resolution of 0.1°C. It is read-only and can be mapped to a PDO.

Object 6000H: Resolution
This object shows the resolution for specific slope objects, with three available resolutions: 0.01º, 0.1º, and 1º.

Objects 6010H-6024H: Slope and Offset Parameters
These objects manage slope values and offsets for the X and Y axes, including preset values, operating parameters, and differential offsets. They ensure angle values remain within limits based on resolution settings.

PDO Data Analysis
The output type of PDO data is determined by the mapping of TxPDO1 and TxPDO2, with the output cycle frequency set by their event times.

Introduction: This document provides technical specifications and configuration details for the HDA436T/HDA437T CANOPEN Output Dynamic Tilt Sensor. It includes data formats, object lists, and parameter settings essential for device operation and integration.

Data Format: The sensor data is transmitted in a specific format where the XH and XL values are 16-bit signed integers (INT16), with the low-order bits first. These values are multiplied by a resolution factor of 0.01 to convert to degrees. For example, XL XH: E8 03 translates to 10.00 degrees, and YL YH: 15 FC translates to -10.03 degrees.

Object List: The document lists various objects with their respective object numbers, data types, and access permissions. Key objects include:

Device Type (1000): Unsigned 32, read-only
Error Register (1001): Unsigned 8, read-only
COB-ID SYNC (1005): Unsigned 32, read-write
Device Name (1008), Hardware Version (1009), Software Version (100a): Strings, read-only
Guard Time (100c) and Life Time Factor (100d): Unsigned 16 and 8, read-write
Store and Restore Parameters (1010, 1011): Arrays with sub-indexes for saving and restoring various parameters
Heartbeat Time (1016, 1017): Arrays for consumer and producer heartbeat times
Identity Object (1018): Record containing vendor ID, product code, revision number, and serial number
TxPDO Communication Parameters (1800, 1801) and Mapping (1a00, 1a01): Records for transmission settings and object mappings

Sensor Parameters: The document details various sensor parameters including:

Cyclic Time (2200), Store Parameters (2300): Unsigned 16 and 32, read-write
Preset X-Axis (2600) and Y-Axis (2601): Signed 16, read-write
Node Number (3000) and Baud Rate (3001): Unsigned 8, read-write
Moving Average Filter (3100): Unsigned 16, read-write
Gyro and Acceleration Axes (3400-3405): Signed 16, read-only
Sensor Temperature (3411): Signed 16, read-only
Resolution (6000): Unsigned 16, read-write
Slope Parameters (6010-6024): Various signed and unsigned types, with specific read-write permissions

Conclusion: This document serves as a comprehensive guide for configuring and understanding the HDA436T/HDA437T sensor's capabilities and settings. It is crucial for ensuring proper integration and operation within a CANOPEN network.

Catalog excerpts

HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR CANOPEN OUTPUT DYNAMIC TILT SENSOR Technical Manual

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR RION QUALIFICATION CERTIFICATION ○ China National Intellectual Property Appearance Patent (Patent No.: ZL 202030439670. X) ○ CE CERTIFICATION: Registration No. AT18250EC001210 ○ Revision Date: 2024-9-9 Note: The function, parameters and appearance of the product will be adjusted with the technical upgrade. Please contact our pre-sales business for confirmation when purchasing. Disclaimer This product is developed exclusively for commercial applications and is prohibited from being used for illegal purposes, such as military activities, research...

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR ▶ PRODUCT INTRODUCTION HDA436T/HDA437T-C1 product is a new generation of digital MEMS dynamic tilt sensor launched by RION Technology, which can measure the attitude parameters (dual-axis tilt) of the moving carrier and is suitable for tilt measurement in the state of motion or vibration. The HDA436T/HDA437T-C1 has built-in acceleration and gyro sensors and incorporates a Kalman filtering algorithm to measure real-time motion data of the carrier in motion or vibration. CANOPEN communication protocol is widely used. This product adopts the non-contact...

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR ▶ SPECIFICATIONS HDA436T/437T-C1 Measure Range Measure Axis Roll&Pitch Static Accuracy Roll&Pitch Dynamic Accuracy (Rms) Gyroscope Range Zero-Bias Stability (10s Average) Zero-Bias Instability (Allan) Angular Random Walk Coefficient (Allan) Acceleration Range Zero-Bias Stability (10s Average) Zero-Bias Instability (Allan) Velocity Random Walk Coefficient (Allan) Zero Temperature Coefficient 3) Temperature Coefficient Of Sensitivity Power-On Start Time Response Time Output Signal Electromagnetic Compatibility Insulation Resistance Impact Resistance...

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR ▶ ELECTRICAL PARAMETERS Parameter Supply voltage Operating current Operating temp Storage temp ▶ ORDERING INFORMATION Optional Protection Grade Output Interface Installation Direction Application scenario S: Single connector (male) VR: Vertical Right 6: Standard industrial scenario 7: High-intensity impact scenario E.g.:HDA436T-C1:Standard industrial scenario / Horizontal installation / CANOpen output interfacel. Note: 1.7:High intensity impact scenarios include equipment such as vibration crushed stone piles. 2. This product is a double connector...

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR ▶ WORKING PRINCIPLE It adopts imported core control unit and uses the principle of capacitive miniature pendulum. According to the earth gravity principle, when the dip angle unit is inclined, the gravity of the earth can generate a gravity component on the corresponding pendulum, the corresponding capacitance can be changed, and the dip angle can be obtained by amplifying, filtering and converting the capacitance. UR, UL are the voltage between the left and right pole plates of the pendulum and their corresponding electrodes,when the tilt sensor...

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR Shell size of double connector Shell size: 72 × 47 × 22.5mm Installation size: 64 × 39 × 6.5mm Mounting screws: 4 M4 screws Shell material: aluminum alloy Size of single connector Shell size: 72 × 47 × 22.5mm Installation size: 64 × 39 × 6.5mm Mounting screws: 4 M4 screws Shell material: aluminum alloy

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR Size of corrosion-resistant IP68 protection direct outlet product Shell size: 72 × 56 × 24.5mm Installation size: 64 × 39 × 6.5mm Mounting screws: 4 M4 screws Shell material: 304 alloy steel ▶ OPERATION MODE The HDA436T CANopen is based on the DS410 standard. CANopen is based on the Controller Area Network (CAN) developed by the automotive industry in the 1980s. The application protocol CANopen was introduced by the multi-vendor association CAN in Automation (CiA) to ensure full compatibility of industrial automation products. It is a multi-access...

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR cyclically sent on the bus (periodically, at adjustable intervals). Synchronization mode: send the angle value after receiving the synchronization message (SYNC). The angle value is sent once every N synchronizations (N ≥ 1). 1.1 The purpose of this chapter is to describe the configuration parameters available for the inclinometer of the CANopen interface: Node ID In a CAN network, each device has a node ID that is used to address the device in the network and define its priority. The EDS file describes the communication attributes (baud rate,...

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR PDO or SDO. Note: Modifying the configuration in Operational mode can have unintended consequences and should only be done in Pre-Operational mode. To place one or all nodes in Operational mode, the master node must send the following message: Identifier NN: Node number 1.4 Stopped mode If the device is in Pre-Operational or Operational mode, the device enters Stopped mode when it receives a Node Stop indication (NMT service). The device cannot be configured in this mode. No device dependent data (SDO) service is available for read and writing....

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR 1.6 Boot-Up Procedure The general boot-up process of the HDA436T CANopen and the mapping of the various modes are as follows: Order After initialization, the module automatically enters the pre-operational model NMT: Start Remote Node NMT: Stop Remote Node 1.7 Instructions for Layer Setup Service (LSS) The integrated Layer Setup Service (LSS) feature is designed based on the CiA DS305V200 CANopen Layer Setup Service. These services and protocols can be used to query or change the settings of several parameters (physical layer, data link layer...

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HDA436T/HDA437T CANOPEN OUTPUT DYNAMIC TILT SENSOR ▶ SOFTWARE CONFIGURATION The HDA436T is a very flexible device and all parameters can be set via the CAN bus. This chapter is divided into two main parts: the operational description of the HDA436T and the PDO/SDO programming of the HDA436T. 2.1 Factory Default Configuration Description Device type Cycle timer Node number Baud rate Note: Factory settings can be restored at any time. An inclinometer that is compatible with the controller or the existing CAN bus by setting only a few parameters will be installed on the existing CAN bus. 2.2 Active...

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