*mydirectindustry

Catalogs
TWK-ELEKTRONIK GmbH
Inclinometer NBN system description

Inclinometer NBN system description

Product catalog summary

General Overview
The document provides detailed specifications for the NBN 65 inclination sensor, which is designed for use in open-air systems such as cranes and solar systems. It employs a MEMS acceleration sensor and communicates data via the CANopen protocol. Special versions of the sensor can output acceleration data instead of inclination.

CANopen Functionality
The sensor supports multiple baud rates, with a default setting of 20 kBit/s. In the event of errors, it sends an emergency message and switches to a PREOPERATIONAL status. Errors are categorized into sensor system errors and communication errors.

CANopen Profile Definition
This section describes the objects used in the CANopen protocol, including:

Process Data Objects (PDOs) for transmitting inclination or acceleration data across three axes.
Service Data Objects (SDOs) for device type, error register, and manufacturer-specific information.
Diagnosis Objects for alarms and supported warnings.

Key Objects and Parameters

Object 1000: Defines sensor types based on axis and resolution.
Object 1001: Error register indicating generic, communication, and manufacturer-specific errors.
Object 1005: COB-ID-SYNC for sync messages from the master.
Object 1008-100A: Manufacturer-specific details like device name, hardware, and software versions.

Data Transmission
The sensor transmits 12 significant data bits for each axis (x, y, z) using PDOs. The standard NBN65 outputs inclination angles, while special NVA65 types output acceleration values.

Error Handling
Emergency messages are formatted with specific error codes, distinguishing between sensor system errors and communication errors. The error register consolidates all errors, with specific bits indicating the type of error.

Specifications and Parameters
The document outlines key parameters for the inclinometer using the NBN Standard CAN protocol, including:

COB-ID_GUARD: Identifies the guard message with a default value of 0x700 plus Node-Id.
COB-ID-EMCY: Used for emergency messages, default is 0x80 plus Node-Id.
Inhibit Time EMCY: Blocks time for emergency messages to reduce bus load, default is 1000 (100µs units).
Producer Heartbeat Time: Sends heartbeat messages at intervals defined by this parameter.
Identity Object: Contains manufacturer ID, product code, revision number, and serial number.

Procedures

Store Parameters (Object 1010): Saves writable objects to E²PROM when the correct password is provided.
Restore Default Parameters (Object 1011): Loads default parameters into RAM with the correct password.

Process Data Objects (PDOs)

PDO Asynchronous (Object 1800): Handles asynchronous and cyclic events with adjustable inhibit time.
PDO Synchronous (Object 1801): Manages synchronous events without an inhibit timer.

Mapping Objects
Defines the mapping for Transmit PDOs with specific coding for each mapping object.

Control and Configuration

Node-ID (Object 2000): Defines the node ID, valid after storage and power on.
Bit Rate (Object 2001): Sets the baud rate for the CAN bus, adjustable via LSS.

Manufacturer Specific Objects

Cyclic Timer (Object 6200): Sends position value cyclically based on the timer value.

Profile Definition Objects

Resolution (Object 6000): Defines the resolution of 16-bit objects.
Position and Operating Axes (Objects 6010-6031): Manage inclination/acceleration data for x, y, and z axes with scaling and inversion options.

Diagnosis Objects

Alarms (Object 6503): Monitors various errors such as EEPROM and sensor errors.
Supported Alarms (Object 6504): Lists possible error indications.
Profile and Software Version (Object 6507): Provides the current version of the inclinometer profile.

Conclusion
The document serves as a comprehensive guide to the specifications and functionality of the NBN 65 inclination sensor, emphasizing its application in open-air systems and detailing its CANopen protocol implementation.

Catalog excerpts

Specifications for Inclination sensor NBN 65- ... C3 ... Nxx In case of output of accelerations: Article number NVA65- ... Bxx, based on model NBN65 xx: special NVA versions with Standard CAN CANopen DS 301

Open the catalog to page 1

Specifications Inclinometer NBN Standard CAN

Open the catalog to page 2

TOITi Specifications Inclinometer NBN Standard CAN

Open the catalog to page 3

■tati^Specifications Inclinometer NBN Standard CAN

Open the catalog to page 4

TOITi Specifications Inclinometer NBN Standard CAN 1 General Refer to data sheet 11918 for the electrical and mechanical data. The sensor system is planned as a component for use in open-air systems such as cranes, lifting platforms, solar systems, etc. A MEMS acceleration sensor with downstream controller is used as the sensor system. Data output is carried out using the standard CANopen protocol. The sensor is equipped with a filter circuit to prevent fast transients and surge voltages on the supply up to 2 kV. Instead of the inclination, certain special NBN versions directly output the acceleration...

Open the catalog to page 5

TOITi Specifications Inclinometer NBN Standard CAN Emergency Message format:

Open the catalog to page 6

TOITi Specifications Inclinometer NBN Standard CAN

Open the catalog to page 7

TOITi Specifications Inclinometer NBN Standard CAN 3.2 Process Data Objects PDO The sensor sends 12 significant data bits. On every PDO three axis are put out from the objects 6010, 6020 and 6030. Standard type NBN65 as an inclinometer: inclination angles are output. Special NVA65 types on the basis of NBN: acceleration values are output. TOITi Specifications Inclinometer NBN Standard CAN

Open the catalog to page 9

TOITi Specifications Inclinometer NBN Standard CAN

Open the catalog to page 10

TOITi Specifications Inclinometer NBN Standard CAN 3.3.3 Object 1005 COB-ID-SYNC Identifies Sync Message, which is sent from the master. No plausibility check or area check takes place. No support of 29 Bit identifier. COB-ID-SYNC

Open the catalog to page 11

TOITi Specifications Inclinometer NBN Standard CAN 3.3.7 Object 100E COB-ID_GUARD The object list contains this object because the Guard identifier is a parameter of the manufacturer programming. Type 'read only. No relevance for the customer. No support of 29 Bit identifier. COB-ID GUARD

Open the catalog to page 12

TOITi Specifications Inclinometer NBN Standard CAN 3.3.11 Object 1015 inhibit_time_EMCY Time of blocking for reduction of bus occupation in case of EMCY messages which follow very quick. Basis unit: 100ps. inhibit time EMCY 1) Can be written in status manufacturer programming.

Open the catalog to page 13

TOITi Specifications Inclinometer NBN Standard CAN The process data are put out via two Process Data Objects (PDOs). MSB LSB

Open the catalog to page 14

TOITi Specifications Inclinometer NBN Standard CAN 3.5 Mapping Objects 3.5.1 Object 1A00 Transmit PDO 1 Mapping The parameter contains for every "Mapping" Object following Coding:

Open the catalog to page 15

TOITi Specifications Inclinometer NBN Standard CAN 3.6 LMT Objects 3.6.1 Object 2000 node-ID This is the node ID of the inclinometer. This parameter is valid after storage via object 1010 and after power on.

Open the catalog to page 16

TOITi Specifications Inclinometer NBN Standard CAN 3.7 Objects manufacturer specific 3.7.1 Object 6200 Cyclic Timer Values > 0: Object 'Position value' is sent cyclic with value ' Cyclic Timer' in ms on PDO 1. Cyclic Timer

Open the catalog to page 17

TOITi Specifications Inclinometer NBN Standard CAN 3.8.1 Object 6000 resolution Represents the resolution of the 16 bit objects in 1/1000°. If the resolution is not adjustable this parameter is read only. At NVA65 a resolution of 4096 digit/g is valid. Table: Is the scaling bit switched off, the value of object 6010 is '0'.

Open the catalog to page 18

TOITi Specifications Inclinometer NBN Standard CAN Is the scaling bit switched off, the value of object 6020 is '0'

Open the catalog to page 19

TOITi Specifications Inclinometer NBN Standard CAN Is the scaling bit switched off, the value of object 6030 is '0'. The bit Inversion inverts the position value, sign changes.

Open the catalog to page 20

TOITi Specifications Inclinometer NBN Standard CAN

Open the catalog to page 21

TOITi Specifications Inclinometer NBN Standard CAN 3.9 Diagnosis Objects 3.9.1 Object 6503 alarms Only one error byte internally. In case of alarm an Emergency Message is sended. SDO upload: the error byte is storaged in the MSB of the object. The following errore are evaluated/analyzed: 3.9.4 Object 6507 profile_and_software_version Profile and software version of the inclinometer. BCD coded by byte. Version 2.5 means 0x25.

Open the catalog to page 22