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SHENZHEN RION TECHNOLOGY CO.,LTD
RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR

RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR

Product catalog summary

Product Introduction
The HDA446T-C1 is a digital MEMS dynamic inclination sensor by Ruifen Technology, designed for dual-axis inclination measurement in motion or vibration. It integrates acceleration and gyro sensors with a Kalman filter for real-time data measurement and uses the CANOPEN communication protocol, suitable for harsh industrial environments.

Main Features

Measurement range: biaxial ±90°
Resolution: 0.01°
Dynamic accuracy: ±0.1°
Static accuracy: ±0.05°
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: ±300°/s
Acceleration range: ±4g, ±16g optional
Output signal: CANOpen
MTBF: ≥ 98,000 hours
Waterproof grade: IP67 standard, IP68 optional

Electrical Parameters

Supply voltage: 9-36 V
Operating current: 40mA at 12V
Operating temperature: -40 to +85 ℃

Ordering Information
Options include single or dual connectors, protection levels, and PCBA board only.

Mechanical Parameters

Connector: M12 aviation plug 5P
Shell material: Aluminum alloy
Installation: Four M4 screws

Working Principle
The sensor uses a capacitive miniature pendulum principle to measure tilt based on earth's gravity.

Installation Axial
Uses the ENU coordinate system with specific rotation orders for heading, pitch, and roll angles.

Electrical Connection
Details the pin definitions for male and female wiring.

Operation Mode
Supports polling, cyclic, and synchronous modes based on the DS410 standard for CANopen.

Modes and Parameters

Node ID: Unique identifier for each device in the network
EDS: Describes communication attributes
PDO: Contains I/O data
SDO: Used for reading or writing parameters
NMT: Used for state machine change commands

Boot-Up Procedure
Describes the sequence of operations from power-up to operational mode.

Layer Setup Service (LSS)
Allows querying or changing settings of parameters on a CANopen device.

Specifications and Identification
The inclinometer operates as an LSS Slave, with its address defined in the object 1018h Identification object, consisting of vendor ID, product code, version number, and serial number. This allows the controller to identify the inclinometer and set the node number and baud rate.

Bus Termination Resistors
A termination resistor of 120 ohms is required if the inclinometer is at the end or beginning of the bus or if the baud rate is ≥ 50 kbps to prevent signal reflection.

LED Indicators
The red LED indicates power status and operational state: off means no power or stopped state, flashing indicates pre-operational state, and always bright indicates operational state.

Software Configuration
The HDA446T device parameters can be set via the CAN bus. Factory default settings include 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 are active depending on the inclinometer's state, with PDO and SDO objects being active in various states.

Programmable Parameters
Parameters include angle value, storage parameters, resolution, preset value, baud rate, and node number. These are set via SDO and are crucial for system communication and accuracy.

PDO Transfer
PDOs deliver real-time process data and are only allowed in Operational mode. They can be mapped directly to a controller's memory address.

Communication Parameters
Objects 1800h and 1801h define communication parameters for PDOs, including COB-ID, transmission mode, inhibit time, and event timer.

SDO Types
SDOs allow access to device data using explicit requests, available in Operational or Pre-Operational states. Types include Download and Upload SDOs.

CANOpen Object List
Includes objects for device type, error register, pre-defined error field, synchronization, manufacturer details, guard time, life time factor, parameter storage and restoration, emergency COB-ID, and heartbeat times.

Specifications:
The document outlines various objects related to the HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR. Key specifications include:

Product Code: 0x43415032
Revision Number: 0x00010500
Serial Number: Not specified

Procedures:

Cyclic Timer (Object 2200h): Determines transmission intervals in cyclic mode, synchronized with event timers for TxPDO1 and TxPDO2.
Save Parameter With Reset (Object 2300h): Stores parameters in non-volatile memory and performs a reset.
Preset X-Axis (Object 2600H) & Y-Axis (Object 2601H): Sets desired axis values, dependent on inclinometer resolution. Preset values must be saved to be permanent.
Node ID (Object 3000h): Contains device node number, default is 01, valid range is 1-127. Changes require a reset to take effect.
Baudrate (Object 3001H): Sets device baud rate, with valid values from 0 to 7, default is 125 Kbps. Changes require a reset.
Moving Average Filter (Object 3100H): Controls the number of output angle slides, disabled by default.

Gyroscope and Accelerometer Data:

Gyroscope (Objects 3400H-3402H): Provides calibrated rotation rates for X, Y, and Z axes in degrees/second.
Accelerometer (Objects 3403H-3405H): Provides acceleration values for X, Y, and Z axes in mg.

Temperature and Resolution:

Sensor Temperature (Object 3411H): Provides temperature in degrees Celsius.
Resolution (Object 6000H): Shows resolution settings for slope objects, with options for 0.01º, 0.1º, and 1º.

Slope and Offset Calculations:

Slope Long16 & Lateral16 (Objects 6010H-6024H): Provides angle values for X and Y axes, with options for scaling and inversion. Includes preset and offset calculations.

PDO Data Analysis:
The document describes the output type of PDO data determined by the mapping of TxPDO1 and TxPDO2, with specific data formats and resolution settings.

Overview: The document provides technical specifications and configuration details for the HDA446T CANOPEN Output Dynamic Tilt Sensor. It includes a comprehensive list of object parameters, their data types, and access permissions.

Specifications:

Device Type: Identified by Object No. 1000, it is a read-only unsigned 32-bit integer.
Error Handling: Includes an Error Register (1001) and a Predefined Error Field (1003) with sub-indexes for error count and new errors.
Synchronization: COB-ID SYNC (1005) is a read-write unsigned 32-bit integer.
Device Information: Includes Device Name (1008), Hardware Version (1009), and Software Version (100a), all read-only strings.

Parameter Storage and Restoration:

Store Parameters: Object 1010 allows saving various parameters, including communication and application parameters.
Restore Default Parameters: Object 1011 provides options to restore all or specific parameters to default settings.

Heartbeat and Identity:

Consumer Heartbeat Time: Object 1016 manages heartbeat timing with sub-indexes for entries and time settings.
Identity Object: Object 1018 includes vendor ID, product code, revision number, and serial number.

Communication Parameters:

TxPDO1 and TxPDO2: Objects 1800 and 1801 define communication parameters, including COB-ID, transmission type, inhibit time, and event timer.

Mapping and Configuration:

TxPDO Mapping: Objects 1a00 and 1a01 detail the mapping of objects with sub-indexes for entries and mapped objects.
Node and Baud Rate: Node Number (3000) and Baud Rate (3001) are configurable unsigned 8-bit integers.

Sensor Data:

Gyro and Acceleration: Objects 3400 to 3405 provide read-only signed 16-bit integers for gyro and acceleration data across x, y, and z axes.
Temperature: Sensor temperature is available as a read-only signed 16-bit integer (3411).

Additional Parameters:

Resolution and Slope: Objects 6000 to 6024 cover resolution, slope parameters, and offsets, with various read-write and read-only access permissions.

Catalog excerpts

RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -1

HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR CANOPEN OUTPUT DYNAMIC TILT SENSOR

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -2

HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR ○ Revision Date: 2025-1-13 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 related to nuclear, chemical, or biological weapons, or any other actions that violate laws and regulations. It is strictly forbidden to engage in activities related to goods embargoed...

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -3

HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR ▶ PRODUCT INTRODUCTION HDA446T-C1 is a new generation of digital MEMS dynamic inclination sensor launched by Ruifen Technology. It can measure the attitude parameters (dual-axis inclination) of the moving carrier and is suitable for inclination measurement in motion or vibration state. HDA446T-C1 has built-in acceleration and gyro sensors and integrates the Kalman filter algorithm, so that it can measure the real-time motion data of the carrier in motion or vibration state. CANOPEN communication protocol is widely used. This product adopts the non-contact...

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -4

1) Resolution: refers to the minimum change value of the measurand that can be detected and distinguished by the sensor within the measuring range. 2) Accuracy: refers to the root mean square error between the measured value and the actual angle error after measuring the angle for many times (more than 16 times) at normal temperature. 3) Zero temperature coefficient: refers to the change rate of indication value relative to normal temperature within the rated working temperature range when the sensor is in zero state. 4) Sensitivity temperature coefficient: refers to the change rate of the percentage...

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -5

Installation direction HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR ► ELECTRICAL PARAMETERS► ORDERING INFORMATION Optional VL: Vertical Left VR: Vertical Right EV:Engineering excavators EGP:Engineering gravel piling 0. V:Vehicle MTI:Mine Truck inclination C1:CAN open E.g.:HDA446T-C1-OB: horizontal installation / CANOpen output interface / shipboard application. Note: 1. This product defaults to dual connectors. If you need a single connector, add S to the order model, example: HDA446T-OB-C1-S; 2. The protection level of this product defaults to IP67. If you need a higher protection level, add 8...

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -6

HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR ▶ INSTALLATION AXIAL HDA446T uses the ENU coordinate system, a right-hand system. According to the rotation order of Z-X-Y, when the positive direction of the Y axis points to the front of the carrier, the angle rotated around the Z axis is the heading angle, the angle rotated around the X axis is the pitch angle, and the angle rotated around the Y axis is the roll angle. ▶ ELECTRICAL CONNECTION Definition of male wiring 9~36V Power supply positive Definition of female wiring GND Power supply Negative 1 PIN(BROWN) PE Protected land 9~36V Power supply...

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -7

HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR Shell size of double connector Shell size: 96 × 47 × 22.5mm Installation size: 64 × 39 × 6.5mm Mounting screws: 4 M4 screws Shell material: aluminum alloy Size of single connector Shell size: 83 × 47 × 22.5mm Installation size: 64 × 39 × 6.5mm Mounting screws: 4 M4 screws Shell material: aluminum alloy

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -8

HDA446T 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 ▶ WORKING INDICATOR LIGHT DESCRIPTION 1. The working indicator light flashes after the product is powered on; 2. The working indicator light is on when the product has data to send.

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -9

HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR ▶ OPERATION MODE HDA446T CANopen is based on the DS410 standard. CANopen is based on the Controller Area Network (CAN) developed in the automotive industry in the 80s. 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 system (up to: 127 devices), which means that all devices can access the bus. These devices are components of the CANopen bus. Simply put, CANopen is a client-server model. Each device checks whether...

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -10

1.1 The purpose of this chapter is to describe the configuration parameters available for the inclinometer of the CANopen interface: If the device is in the Pre-Operations state when it receives the Start Remote Node command, the device enters the Operations state. If the CANOPEN network is in the "OPER" state with the "Node Start" NMT start, all device functions are available. Communication can use either PDO or SDO. Note: Modifying the configuration in Operational mode can have unintended consequences

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -11

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: The general boot-up process of the HDA446T CANopen and the mapping of the various modes are as follows:

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -13

The HDA446T 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 HDA446T and the PDO/SDO programming of the HDA446T. 2.1 Factory Default Configuration

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -14

The following table shows the objects most commonly used for inclinometers: Process Data Objects (PDOs) deliver real-time process information/data. The PDO set of a CANopen device describes the implicit exchange of information between the device and its communication devices on the network. PDO swapping is only allowed when the device is in Operational mode.

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RION HDA446T CANOPEN OUTPUT DYNAMIC TILT SENSOR -15

Note: The PDO object can be mapped directly to a memory address on the controller, and its value can be viewed by reading the contents of the corresponding memory address. 2.8 Object 1800h: 1st Transmit PDO Communication Parameters This object contains the communication parameters for the first transfer PDO.

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