Baumer GNAMG Series Manual 

Dauchinger Strasse 58-62 DE-78056 Villingen-Schwenningen Phone +49 7720 942-0 Fax +49 7720 942-900 11.12 · 174.02.048/7 [email protected] Subject to modification in technic and design. www.baumer.com Errors and omissions excepted. Manual Inclination sensor with CANopen interface Firmware Version 1.00 and up

21.11.12 Villingen-Schwenningen, Germany Contents Page 1. Introduction 3 1.1. Scope of delivery 3 1.2. Product assignment 3 2. Safety and operating instructions 4 3. CAN-bus and CANopen communication 5 3.1.1. CAN-bus properties 5 3.2. CANopen 6 3.3. CANopen communication 7 3.3.1. Communication profile 7 3.3.2. CANopen message structure 7 3.3.3. Service data communication 8 3.3.4. Process data communication 9 3.3.5. Network management services 11 3.3.6. Layer Setting Services 15 3.4. Inclination sensor profile 18 3.4.1. Inclination sensor object overview 18 3.4.2. Detailed object list 21 4. Diagnostics and useful information 32 4.1. Error diagnostics in fieldbus communication 32 4.2. Error diagnostics via fieldbus 32 4.3. Useful information on the sensor 33 5. Applications 34 5.1. Write and read SDO objects 34 5.2. Configuration 35 5.3. Operation 36 5.4. Commissioning via CAN 37 6. Terminal assignment and commisisoning 38 6.1. Mechanical mounting 38 6.2. Electrical connection 39 6.2.1. Setting the user address 39 6.2.2. Setting the baud rate 40 6.2.3. Terminating resistor 40 6.2.4. Connecting the inclination sensor 40 6.2.5. Terminal assignment 41 6.3. Status LEDs (status indicators) 41

21.11.12 Villingen-Schwenningen, Germany Disclaimer of liability The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual. Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the present information. At any time we should be pleased receiving your comments and proposals for further improvement of the present document. 1. Introduction 1.1. Scope of delivery Please check the delivery upon completeness prior to commissioning. Depending on sensor configuration and part number delivery is including: Sensor CD with describing file and manual (also available as download in the Internet) 1.2. Product assignment Product Product code Device name EDS file Product family GNAMG.x225xxx 0x32 GNAM GNAMG_30.eds Inclination sensor GNAMG.x215xxx 0x33 GNAM GNAMG_15.eds Inclination sensor GNAMG.x235xxx 0x34 GNAM GNAMG_60.eds Inclination sensor GNAMG.x155xxx 0x35 GNAM GNAMG_360.eds Inclination sensor Illustration: inclination sensor on base plate

21.11.12 Villingen-Schwenningen, Germany 2. Safety and operating instructions Supplementary information This manual is intended as a supplement to already existing documentation (i.e. catalogues, product information and mounting instructions). The manual must be read without fail before initial commissioning of the equipment. Intended purpose of the equipment The inclination sensor is a sensing device. It is only used to determine angular positions and to prepare and provide measured values as electric output signals for the downstream device. The inclination sensor must not be used for any other purpose. Commissioning The inclination sensor may only be installed and mounted by suitably qualified experts. Observe the operating instructions of the machine manufacturer. Safety remarks Prior to commissioning of the equipment check all electrical connections. If installation, electrical connections or any other work performed at the inclination sensor or at t he equipment is not duly and correctly executed this can result in a mulfunction or failure of the inclination sensor. Steps must be taken to eliminate any risk of personal injury, damage to corporate or operating equipment as a result of inclination sensor failure or malfunction by providing suitable safety precautions. The inclination sensor must not be operated outside the limit values specified in the product information. Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property! Transport and storage Only ever transport or store the inclination sensor in its original packaging. Never drop the inclination sensor nor expose it to major shocks. Mounting Avoid impacts or shocks on the housing. The bus cover must fully and evenly rest on the base plate. Any tolerances in mounting the bus cover to the base plate may affect the absolute slope angle. Electrical commissioning Do not modify the inclination sensor electrically. Do not carry out any wiring work when the inclination sensor is live. Never plug or unplug the electrical connection when the encoder is live. Ensure that the entire equipment is installed in line with EMC requirements. Ambient conditions and wiring affect the electromagnetic compatibility of the inclination sensor. Install inclination sensor and supply cables separately or far away from lines with high interference emissions (frequency converters, contactors etc.) Provide a separate power supply for the inclination sensor where working with consumers that have high interference emissions. Completely shield the inclination sensor housing and connecting cables. Connect the encoder to protective earth (PE) using shielded cables. The braided shield must be connected to the cable gland or plug. Ideally, aim at a bilateral connection to protective earth (PE), the housing via the mechanical assembly, the cable shield via the downstream devices. In case of earth loop problems, earth on one side only as a minimum requirement. Failure to observe these instructions can result in malfunctions, personal injury or damage to property!

21.11.12 Villingen-Schwenningen, Germany 3. CAN-bus and CANopen communication CAN bus (CAN: Controller Area Network) was developed by Bosch and Intel for high-speed, economic data transmission in automotive applications. Today CAN bus has been commercialised for use in industrial automation. CAN bus is a fieldbus system (standards administered by CAN in Automation, CiA) for communication between appliances, actors and sensors of different brands. 3.1.1. CAN-bus properties • Data rate of 1 Mbaud with network length capabilities of max. 40m • Bilateral terminated network • Bus medium: twisted pair wire • Realtime capability: Max. defined waiting time for high priority messages. • In theory up to 127 users in one bus line, physically however only 32 (due to driver). • Seized netwide data consistency. Faulty messages are made known as faulty to all nodes in the network. • Message-oriented communication The message comes with an identifier. All nodes in the network check by the identifier whether the message is relevant for them or not. • Broadcasting, Multicasting All nodes get every message at the same time, thus enabling synchronisation. • Multi-Master capability Every fieldbus user is able to transmit or recieve data independently, irrespectible of a priority by master. Every user can start his message if the bus is not busy. If several messages are transmitted at the same time, the user with the highest priority will succeed. • Message priorities Message priority is determined by the identifier. Thus, the bus is quickly transmitting important messages. • Risk of remaining errors Reliability precautions in the network reduce the risk of faulty, inevident data transmissions to less than 10 - 11. A 100% reliability in transmission can be taken for granted. • Function guarding Stations with malfunction or breakdown are located. The CAN protocol provides function guarding of the nodes in the network. Defective nodes are restricted in their function or even logged off from the network. • Data transmission with minimized error recovery time Thanks to several error diagnostics faulty messages will be recognized with maximum reliability. Upon recognizing an error the message will be automatically repeated. CAN bus is networking several bus users by bus cable. Every network user is in a position to transmit and receive messages. There is a serial data transmission between the individual network users. Network users for CAN bus euipment might be: • automation equipment, for example PLCs • PCs • input/output modules • drive controls • analysing equipment, for example CAN monitor • operating and input equipment as HMI (human machine interface) • sensors and actuators

21.11.12 Villingen-Schwenningen, Germany 3.2. CANopen The CANopen profile was developed under technical supervision of the Steinbeis Transfer Centre for Automation and is based on layer 7 of CAL specification (CAN Application Layer). Compared to CAL, CANopen comprises onyl the functions relevant for this application. CANopen is a user-optimized CAL excerpt and thanks to a simplified system structure and the use of simplified appliances CANopen is optimized for rapid data exchange in realtime systems. Applicable standards of the corresponding profiles are administered by the organisation CAN in Automation (CiA). Some CANopen benefits: • easy access to all device and communication parameters • synchronisation of several appliances • automated network configuration • cyclic and event-triggered process data traffic CANopen provides four communication objects (COB) with different properties: • process-data objects for realtime data (PDO) • service-data-objects for parameter and profile transmission (SDO) • network management (NMT, Heartbeat) • pre-defined objects (for synchronisation, emergency message) All device and communication parameters are sectioned in an object directory. One object comprises object name, data type, number of subindexes, parameter structure and address. According to CiA the object directory is subdivided in three sections: communication profile, device profile and manufacturer-specific profile (see object directory).

21.11.12 Villingen-Schwenningen, Germany 3.3. CANopen communication 3.3.1. Communication profile Communication between network users and master (PC / control) is effected by object directories and objects. Adressing the objects is by help of a 16bit index. The individual communication objects are standardized by CANopen communication profile DS 301. They are subdivided into several groups: • Process DataOobjects PDO for process data transmission in realtime • Service Data Objects SDO for write and read access to the object directory • objects for synchronisation and error warnings of CAN users: SYNC-object (synchronisation object) for synchronisation of network users EMCY-object (emergency object) for error warnings of a single device or its periphery • Network Management NMT (network management) for initialization and network control • Layer Setting Services LSS for configuration by serial number, revision number etc within the existing network 3.3.2. CANopen message structure First part of the message is the COB-ID (identifier). Structure of the 11-Bit COB-ID : Function Code Node-ID 4 Bit Function code 7 Bit Node-ID The function code is defining the kind of message and priority. The lower the COB-ID, the higher the priority of the message. Broadcast messages: Function code COB-ID NMT 0 SYNC 80h Peer to Peer messages: Function code COB-ID Emergency 80h + Node-ID PDO1 (tx)1) 180h + Node-ID PDO2 (tx)1) 280h + Node-ID SDO (tx)1) 580h + Node-ID SDO (rx)1) 600h + Node-ID Heartbeat 700h + Node-ID LSS (tx) 1) 7E4h LSS (rx) 1) 7E5h 1): (tx) and (rx) from the inclination sensor’s point of view The Node-ID is optionally set anywhere between 1 and 127 via the CANopen bus (if rotary switch = 0). Default setting of the inclination sensor is Node ID 1. Changing the Node-ID is effected by using service data object 2101h or by LSS. A CAN telegram consists of the COB-ID and a data packet of max. 8 bytes: COB-ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Xxx x xx xx xx xx xx xx xx xx More detailed information on the telegram structure in later chapters.

21.11.12 Villingen-Schwenningen, Germany 3.3.3. Service data communication Service data objects are conform to CiA standards. A certain object is accessed by index and subindex. There are data requests or, if required, data are written into the object. General information on SDOs SDO telegram structure: COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 A SDO-COB-ID is composed as follows: Master -> inclination sensor : 600h + Node-ID Inclination sensor -> master : 580h + Node-ID DLC (Data length code) defines the length of a telegram with following structure: 1 byte command + 2 bytes object + 1 byte subindex + number of data bytes (0..4). The command byte specifies whether data are write or read only and how many data bytes are involved: SDO command Meaning Data length 22h Download Request max. 4 Byte transmit parameter to inclination sensor 23h Download Request 4 Byte 2Bh Download Request 2 Byte 2Fh Download Request 1 Byte 60h Download Response - confirm download to master 40h Upload Request - request parameter upload from inclination sensor 42h Upload Response max. 4 Byte parameter to master, max. 4 bytes 43h Upload Response 4 Byte 4Bh Upload Response 2 Byte 4Fh Upload Response 1 Byte 80h Abort Message - Inclination sensor gives error code to master Abort Message means an error in CAN communication. SDO command byte is 80h. Object and subindex are those of the requested objects. The error code is in bytes 5..8. ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 580h + Node-ID 8 80h Object L Object H Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3 Byte 8..5 composes the SDO abort message (Byte 8 = MSB). The following messages are supported: 05040001h : command byte not supported 06010000h : incorrect access to an object 06010001h : Read access to write only 06010002h : Write access to read only 06020000h : Object not supported 06090011h : Subindex not supported 06090030h : Value is not within the defined limits 06090031h : Value too high 08000000h : General error 08000020h : Incorrect memory signature ("save") 08000021h : No data saving possible

21.11.12 Villingen-Schwenningen, Germany SDO examples Parameter request master to slave Read resolution  object 6000h COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+Node-ID 8 40h 00h 60h 0 x x x x Response of slave to parameter request COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+Node-ID 8 4Bh 00h 60h 0 a b C d Write parameter by master into slave Angular position Y-axis set slope long by help of object 6112h preset COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+Node-ID 8 22h 12h 61h 0 a b c d Response of slave to write parameter COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+Node-ID 8 60h 12h 61h 0 0 0 0 0 3.3.4. Process data communication Process data objects serve for process data exchange in realtime. PDO transmision is synchronous or cyclic (asynchronous). The inclination sensor supports PDO1 providing the actual angular position of the two axis of the inclination sensor and defined in the objects 1800h, 1A00h, 6110h and 6120h . Synchronous For synchronous process data transmission the parameter set in object 1800h must be between 1 and F0h (=240). If for example the parameter is 3, the PDO will be transmitted on every third sync telegram (in case the parameter is 1, transmission will be on every sync telegram). In synchronous operation the PDOs are requested by master via sync telegram: byte 0 byte 1 COB-ID = 80 0 Cyclic (asynchronous) For cyclic PDO transmission, the parameter written in object 1800h subindex 2 must be FEh or FFh. In addition, the same object subindex 5 must provide the cycle time in milliseconds. The written time is rounded to 1 ms. If the parameter is 0ms, the PDO’s won’t be transmitted at all. The function is disabled.

21.11.12 Villingen-Schwenningen, Germany Overview The following table is giving an overview on several kinds of PDO transmission. Examples: 1800h Brief explanation Sub2 Sub5 FEh 3ms Cyclic transmission every 3 ms FEh 0ms PDO transmission off 3 xxx PDO transmission on every third sync telegram 1 xxx PDO transmission on every sync telegram PDO (slope angle) PDO1 telegram structure: COB-ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 181h 8 Xx Xx Xx Xx Xx Xx Xx Xx ID : 180h + Node-ID Length : 8 DataByte Byte 0.. 3 : Slope angle in degrees axis Slope Long Y Byte 4.. 7 : Slope angle in degrees axis Slope Lateral X Emergency service Internal device errors or bus problems will result in an emergency message: COB-ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80h+Node- ID 8 Error Code 00h 01h Error- Register 1001h Xx Xx Xx Xx Xx Byte 0..1: Error Codes Error Code (hex) Meaning 0000 Error Reset or No Error 1000 Generic Error 5530 EEProm error 6010 Software reset (Watchdog) 7510 Internal communication error 8130 Life Guard error or Hearbeat Byte 2: Error-Register Bit Meaning 0 Generic Error 4 Communication error 7 manufacturer specific

21.11.12 Villingen-Schwenningen, Germany 3.3.5. Network management services The network management is subdivided into two groups: NMT services for device guarding are for boot-up, start and stop of bus users. NMT services are also available as connection guard. Significance of the NMT commands The commands are transmitted as unconfirmed objects with the following structure: Byte 0 Byte 1 Byte 2 COB-ID = 0 command byte Node ID COB-ID for NMT commands is always zero. The Node-ID is transmitted in byte 2 of the NMT command. Command byte Command byte Meaning State Event Mapping 01h Start Remote Node 1 02h Stop Remote Node 2 80h Enter Pre-Operational Mode 3 81h, 82h Reset Remote Node 4, 5 The Node number is the Node-ID of the requested user. Node-ID = 0 means addressing all users. NMT State Event After boot-up the inclination sensor is in pre-operational mode which is the state for read and write SDO parameters. For PDO parameter requests, the inclination sensor must be set to operational mode first. Init Pre-Operational Operational Stopped/Prepared Power on oder Hardware Reset 1 3 2 1 3 2 4/5 BootUp Message 4/5 4/5

21.11.12 Villingen-Schwenningen, Germany The various NMT states Init After boot-up the inclination sensor will give a BootUp message at the CAN bus. Then the inclination sensor will automatically go to PreOperational mode. The COB-ID of the BootUp message is composed by 700h and the Node-ID. COB-ID Byte 0 700h + Node-ID 00 Pre-Operational Mode Read and write of SDO’s is in Pre-Operational mode. Operational Mode In Operational mode the inclination sensor is transmitting the requested PDO's. In addition, this mode is for read and write SDOs. Stopped oder Prepared Mode NMT communication is only possible in Stopped Mode. Read and write SDO parameters is disabled. LSS is also only available in Stopped Mode. Changing the operational state Start Remote Node (1) The start command will set the inclination sensor to operational mode. COB-ID Command byte Node-ID 0 1h 0..127 Stop Remote Node (2) The stop command will set the inclination sensor to stopped mode or prepared mode. COB-ID Command byte Node-ID 0 2h 0..127 Enter Pre-Operational Mode (3) Change to Pre-Operational Mode. COB-ID Command byte Node-ID 0 80h 0..127 Reset Remote Node (4) or Reset Communication (5) The reset command will re-init the inclination sensor. Reset Remote Node (4): COB-ID Command byte Node-ID 0 81h 0..127 Reset communication (5): COB-ID Command byte Node-ID 0 82h 0..127

21.11.12 Villingen-Schwenningen, Germany Node und Life Guarding For user guarding either the heartbeat protocol (default) or the nodeguarding protocol (object 2110h Bit 5 = 1) can be applied. The NMT master is able to form a data bank with the corresponding NMT states of every single user. This protocol is for guarding whether a user has left the bus.In addition, every user can monitor whether the control is still active. The NMT master starts the guarding service by a Remote Frame to the requested user. Every Remote Frame will reset the Life-Time at the user. Further the user responds his NMT state. This way, the NMT master is able to check whether the user is in the correct NMT state and can react correspondingly in case of error. Upon Life-Time expiry a „Node Event“ will be triggered. The behaviour in case of error is defined in object 1029h-1h “Communication Error”. Example of a nodeguarding protocol: COB-ID Data/ Remote Byte 0 701h r 00h (0d) 701h d FFh (255d) 701h r 00h (0d) 701h d 7Fh (127d) Possible user NMT-states: 0: BootUp-Event 4: Stopped 5: Operational 127: Pre-Operational In this example the lower 7 bits equal 7Fh, i.e. the inclination sensor is in pre-operational mode.

21.11.12 Villingen-Schwenningen, Germany Heartbeat protocol Optionally the new Heartbeat protocol can be utilized. Heartbeat is enabled if in object 2110h bit 5 is on “0”. We recommend for new applications the modern guarding protocol heartbeat. A "Heartbeat-Producer" produces a cyclic heartbeat indication. One or more “Heartbeat-Consumers" can receive this heartbeat indication. If there is no cyclic transmission of the heartbeat message, this will result in a „Heartbeat Event“. The behaviour in case of error is defined in object 1029h-1h "Communication Error". Example of a Heartbeat protocol COB-ID Data/Remote Byte 0 701h d 7Fh (127d) Heartbeat messages are composed of COB-ID and one byte. This byte is transmitting the NMT state. 0: BootUp-Event 4: Stopped 5: Operational 127: Pre-Operational i.e. the inclination sensor is in pre-operational mode (7Fh = 127). Important : Only one of the above nodeguarding options can be active. Default: Heartbeat Optional: NodeGuarding (see object 2110)

21.11.12 Villingen-Schwenningen, Germany 3.3.6. Layer Setting Services In spring 2000 CiA presented a new protocol to ensure a uniform presence. Proceedings are defined under Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS). The inclination sensor comes with the standard Node-ID 1 and standard baud rate 50 kBaud. Several inclination sensors with the same Node-ID can be networked to the bus system. LSS is utilized to address the individual inclination sensor. Every inclination sensor comes with a unique serial number that it must be addressed to. Consequently, any number of inclination sensor with the same Node-ID can be networked to the bus for init via LSS. Both Node- ID and baud rate can be configured. LSS is only available in stopped mode. Message structure COB-ID: Master  Slave : 2021 = 7E5h Master  Slave : 2020 = 7E4h The COB-ID is followed by a LSS command specifier and a data packet of max. 7 bytes. COB-ID cs Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Switch Mode Global 7E5h  04h Mode Reserved Mode : 0  Operational mode 1  Configuration mode Switch Mode Selective The following sequence is for addressing a determined inclination sensor in the bus system 7E5h  40h VendorId Reserved 7E5h  41h ProductCode reserved 7E5h  42h RevisionNumber reserved 7E5h  43h SerialNumber reserved 7E4h  44h Mode reserved VendorId : ECh ProductCode : Internal product code of the respective inclination sensor RevisionNumber : Current revision number of the inclination sensor SerialNumber : Unique, successive serial number Mode : The inclination sensor will respond in the new mode (0=Operational mode; 1=Configuration mode) Setting the Node-ID 7E5h  11h Node-ID reserved 7E4h  11h ErrCode Spec Error reserved Node-ID : The new Node-ID of the inclination sensor ErrorCode : 0=OK; 1=Node-ID beyond the range; 2..254=reserved; 255specificError SpecificError : If ErrorCode=255  application-specific error code.

21.11.12 Villingen-Schwenningen, Germany Setting the BitTiming 7E5h  13h tableSel tableInd reserved 7E4h  13h ErrCode SpecError reserved TableSel : Selects BitTiming table 0 : Standard CiA Bit Timing table 1..127 : Reserved for CiA 128..255 : Manufacturer-specific tables TableInd : BitTiming entry in table selected (see table below). ErrorCode : 0=OK; 1=BitTiming beyond the range; 2..254=reserved; 255SpecificError SpecificError : If ErrorCode=255  application-specific error code. Standard CiA Table Baud rate Table Index 1000 kBaud 0 800 kBaud 1 500 kBaud 2 250 kBaud 3 125 kBaud 4 100 kBaud 5 50 kBaud 6 20 kBaud 7 10 kBaud 8 Saving the configuration protocol By this protocol the configured parameters are saved in EEPROM. 7E5h  17h reserved 7E4h  17h ErrCode SpecError Reserved ErrorCode : 0=OK;1=saving not supported;2=acess error;3..254=reserved;255specificError SpecificError : If ErrorCode=255  application-specific error code. Activate BitTiming Parameters The new BitTiming parameters are activated by command specifier 15h. 7E5h  15h Switch Delay Reserved Switch Delay : Delay in ms of slave reset. After the delay the inclination sensor will register with the new baud rate. VendorId request Requesting the VendorId of a selected inclination sensor 7E5h  5Ah Reserved 7E4h  5Ah 32 Bit Vendor ID Reserved VendorID : = ECh

21.11.12 Villingen-Schwenningen, Germany Product code request Requesting the product code of a selected inclination sensor 7E5h  5Bh reserved 7E4h  5Bh ProductCode reserved Product code : Manufacturer-defined product code Revision number request Requesting the revision number of a selected inclination sensor 7E5h  5Ch reserved 7E4h  5Ch 32 Bit Revision number reserved Revision number : current revision Serial number request Requesting the serial number of a selected inclination sensor 7E5h  5Dh reserved 7E4h  5Dh 32 Bit Serial number reserved Serial number : unique successive serial number of the inclination sensor Range Selection Inclination sensors can also be selected within a defined range. To do so, the following objects are transmitted one after the other: 7E5h  46h VendorId reserved 7E5h  47h ProductCode reserved 7E5h  48h RevisionNumber LOW reserved 7E5h  49h RevisionNumber HIGH reserved 7E5h  4Ah SerialNumber LOW reserved 7E5h  4Bh SerialNumber HIGH reserved Every inclination sensor with the respective parameters will respond by the following message: 7E4h  4Fh reserved

21.11.12 Villingen-Schwenningen, Germany 3.4. Inclination sensor profile 3.4.1. Inclination sensor object overview According to CiA (CAN in Automation) the objects are subdivided into three groups: Standard objects: 1000h, 1001h, 1018h Manufacturer-specific objects: 2000h - 5FFFh Device-specific objects: All remaining objects from 1000h - 1FFFh, 6000h - FFFFh The table below is giving a summary of all SDO objects supported by the inclination sensor. Object Object number in Hex Name --- Format U/I = Unsigned/Integer, number = number bit, ARR = Array, REC = Record Access ro = ReadOnly, wo = WriteOnly, rw = ReadWrite Default Default upon first init or restore default Save yes  saved in EEPROM Meaning supplementary description Object Sub-Index Name Format Access Default Save Meaning 1000h Device Type U32 ro 0004019Ah 0x019A = 410 = device profile inclination sensor 0x0004 = Two axis with resolution max. 32-bit 1001h Error Register U8 ro 0h Bit0 = Generic error Bit4 = Communication error (overrun, …) Bit7 = Manufacturer -specific 1003h PreDefined ErrorField ARR Comprises the last 8 errors or warnings 00h Maximum Subindex U8 rw 0h ja Number of messages saved (0..8) 01h Latest entry U32 ro Latest error or warning 1000h Generic Error 5530h EEPROM Error 6010h Software Reset (Watchdog) 7510h Internal Communication Error 8130h Life Guard Error or Heartbeat Error .. .. .. .. .. .. 08h Oldest entry U32 ro Error or warning, see Sub-Index 01h 1005h Sync COB-ID U32 rw 80h ja COB-ID of Sync Oject 1008h DeviceName U32 ro "GNAM" Device name GNAMG inclination sensor 1009h Hardware Version U32 ro werkseitig Product Hardware Version in ASCII 100Ah Software Version U32 ro werkseitig Product Software Version in ASCII 100Ch Guard Time U16 rw 0h ja Timer Nodeguarding 100Dh Life Time factor U8 rw 0h ja Guard Time Multiplier 1010h Store Parameters ARR 00h Maximum Subindex U8 ro 4h 01h Save all parameters U32 rw =“save“ (0x73617665) to save 02h Communication parameters U32 rw =“save“ (0x73617665) to save 03h Application parameters U32 rw =“save“ (0x73617665) to save 04h Manufacturer- specific parameters U32 rw =“save“ (0x73617665) to save 1011h Restore Default Parameters ARR 00h Größter Subindex U8 ro 4h 01h Alle Parameter U32 rw =“load“ (0x6C6F6164) to load

21.11.12 Villingen-Schwenningen, Germany Object Sub-Index Name Format Access Default Save Meaning 02h Communication Parameters U32 rw =“load“ (0x6C6F6164) to load 03h Application Parameters U32 rw =“load“ (0x6C6F6164) to load 04h Manufacturer Specific Parameters U32 rw =“load“ (0x6C6F6164) to load 1014h Emergency COB-ID U32 rw 80h + Node- ID yes COB-ID of the emergency object 1016h Consumer heartbeat time ARR yes 00h Maximum Subindex U8 ro 1h 01h Consumer heartbeat time U32 rw 10000h yes Bit0..15 Consumer Heartbeat time in ms Bit16..23 Node-ID 1017h Producer Heartbeat Time U16 rw 0h yes Producer Heartbeat time in ms 1018h Identity Object REC ro 00h Maximum Subindex U8 ro 4h 01h VendorID U32 ro ECh Vendor ID specified by CiA 02h Product Code U32 ro 32h Product Code: 0x32 = GNAMG.x225xxx 0x33 = GNAMG.x215xxx 0x34 = GNAMG.x235xxx 03h Revision Number U32 ro Works- defined yes Product revision number 04h Serial Number U32 ro Works- defined yes Unique successive serial number 1029h Error behaviour ARR Error behaviour 00h Maximum Subindex U8 ro 1h 01h Communication error U8 rw 1h yes 0h = go to pre-operational mode 1h = no change of mode 2h = go to stop mode 3h = Node reset 1800h Transmit PDO1 Parameter REC 00h Maximum subindex U8 ro 5h 01h COB-ID U32 rw 180h+id ja PDO ID = 180h + Node-ID 02h PDO Type U8 rw FEh ja FEh=User defined, cyclic 05h EventTimer U16 rw 203h ja Cycle time in ms 1A00h Transmit PDO1 Mapping ARR 00h Maximum Subindex U8 ro 2h 01h Content of PDO1 I32 ro 61100020h Slope angle Slope Long , Y-axis 02h Content of PDO1 I32 61200020h Slope angle Slope Lateral, X-axis 2100h Baud rate U8 rw 2h ja Setting the baud rate must be followed by saving operation in EEPROM and re-init. 0=10 kBit/s 1=20 kBit/s 2=50 kBit/s 3=100 kBit/s 4=125 kBit/s 5=250 kBit/s 6=500 kBit/s 7=800 kBit/s 8=1000 kBit/s 2101h Node-ID U8 rw 1h yes Node ID available from 1..127 Setting the baud rate must be followed by a saving operation in EEPROM and re-init. 2110h Manufacturer_ Options U32 rw 8h yes Bit3 = 0 no BusOFF reset 1 if BusOFF there is a bus reset Bit5 = 0 Heartbeat protocol active 1 Nodeguarding protocol active 2201h Statistics REC 00h Maximum subindex U8 ro 3h 01h Total of position errors U32 ro yes

21.11.12 Villingen-Schwenningen, Germany Object Sub-Index Name Format Access Default Save Meaning 02h Time in seconds U32 ro yes Time elapsed since last reset 03h Total of TimerReset Watchdog U32 ro yes TimerWatchDog 2300h Customer EEPROM range ARR yes Any optional data can be saved in this object 00h Maximum Subindex U8 ro 7h yes 01h Data0 U16 rw 0h yes 02h Data1 U16 rw 0h yes 03h Data2 U16 rw 0h yes 04h Data3 U16 rw 0h yes 05h Data4 U16 rw 0h yes 06h Data5 U16 rw 0h yes 07h Data6 U16 rw 0h yes 6000h Resolution U16 rw 1h yes 0001h = 0.001° 000Ah = 0.01° 0064h = 0.1° 03E8h = 1.0° 6110h Slope angle Y-axis Slope Long I32 ro Value range Depending on device type (measuring range) and parameter in 6000h (resolution): (+measuring range)/resolution ... to ... (-measuring range)/resolution 6111h Parameter Y-axis Slope long operating parameter U08 rw (ro bei 360°) 0h yes Bit 0 = 1 inversion on 0 inversion off Bit 1 = 1 scaling on 0 scaling off 6112h Preset value Y-axis Slope long preset value I32 rw (ro bei 360°) 0h yes Value range according parameter in object 6000h 6113h Offset Y-axis Slope long offset I32 ro 0h yes Calculated offset when writing on object 6112h 6114h Differential Offset Y-axis Differential slope long offset I32 rw (ro bei 360°) 0h yes Supplementary offset, independent from object 6112h and 6113h 6120h Slope angle X-axis Slope Lateral I32 ro yes Value range Depending on device type (measuring range) and parameter in 6000h (resolution): (+measuring range)/resolution ... to ... (-measuring range)/resolution 6121h Parameters X-axis Slope lateral operating parameter U08 rw 0h yes Bit 0 = 1 inversion on 0 inversion off Bit 1 = 1 scaling on 0 scaling off 6122h Preset value X-axis Slope lateral preset value I32 rw 0h yes Value range according parameter in object 6000h 6123h Offset X-axis Slope lateral offset I32 ro 0h yes Calculated offset when writing on object 6122h 6124h Differential Offset X-axis Differential slope lateral offset I32 rw (ro bei 360°) 0h yes Supplementary offset, independent from object 6112h and 6123h

21.11.12 Villingen-Schwenningen, Germany 3.4.2. Detailed object list Object 1000 Device type SubIndex 0 Data type Unsigned 32 Access ReadOnly Default 0004019Ah EEPROM No Meaning Information ond device profile and device type Parameters 0x019A = 410 = device profile inclination sensor 0x0004 = Two axis with resolution max. 32-bit Object 1001 Error register SubIndex 0 Data type Unsigned 8 Access ReadOnly Default 0h EEPROM No Meaning Current error code Parameters Bit0 = Generic error Bit4 = Communication error (overrun, …) Bit7 = Manufacturer- specific Object 1003 Pre-defined error field CiA (CAN in Automation) defines here about 200 different error codes. This documentation only describes the sensor-relevant error codes. This object saves the latest 8 errors or warnings that occurred. SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 0 EEPROM No Meaning Read: Number of errors or warnings Write 0: error reset Parameters 0..8 SubIndex 1..8 Data type Unsigned 32 Access ReadOnly Default 0 EEPROM No Meaning Errors or warnings occured, subindex 1 being the last, subindex 2 the second- to-last,…… entry Parameters Not yet defined Object 1005 COB-ID SYNC Message SubIndex 0 Data type Unsigned 32 Access ReadWrite Default 80h EEPROM Yes Meaning Defines COB-ID of the synchronisation object (SYNC) Parameters Bit 31 not defined Bit 30 1=Sensor generates SYNC messages, 0=no SYNC message generated Bit 29 1=29 Bit SYNC COB-ID (CAN 2.0B), 0=28 Bit SYNC COB-ID (CAN 2.0A) Bit 28..11 Bit 28..11 of 29 Bit SYNC COB-ID Bit 10..0 Bit 10..0 of SYNC COB-ID

21.11.12 Villingen-Schwenningen, Germany Object 1008 Manufacturer Device Name SubIndex 0 Data type Unsigned 32 Access ReadOnly Default Depending on the utilized basic encoder EEPROM No Meaning Device name in ASCII Parameters Data 0..3: "GNAM" Object 1009 Manufacturer Hardware Version SubIndex 0 Data type Unsigned 32 Access ReadOnly Default EEPROM No Meaning Hardware version in ASCII Parameters Data 0..3 Example: 31h 2Eh 30h 30h = "1.00“ Object 100A Manufacturer Software Version SubIndex 0 Data t type Unsigned 32 Access ReadOnly Default EEPROM No Meaning Software version in ASCII Parameters Data 0..3 Example: 31h 2Eh 30h 30h = "1.00“ Object 100C Guard Time SubIndex 0 Data type Unsigned 16 Access ReadWrite Default 0h EEPROM Yes Meaning Timer for nodeguarding in ms Parameters 0...65535 Object 100D Life Time Factor SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 0h EEPROM Yes Meaning This factor multiplied by the guard time equals the life time Parameters 0...256

21.11.12 Villingen-Schwenningen, Germany Object 1010 Save parameter By Object 1010h the relevant objects are saved non-volatile in EEPROM. To prevent any inadvertent saving operation the message „save“ must be written. COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+Node-ID 8 23h 10h 10h 01 73h 's' 61h 'a' 76h 'v' 65h 'e' Object 1011 Restore parameter Object 1011h restores the RAM parameters by the default parameters (see object 1010h. The default parameters are at the same time loaded in EEPROM. To prevent any inadvertent restore operation the message „load“ must be written. COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+Node-ID 8 23h 11h 10h 01 6Ch 'l' 6Fh 'o' 61h 'a' 64h 'd' Object 1014 COB-ID emergency message SubIndex 0 Data type Unsigned 32 Access ReadWrite Default 80h+Node-ID EEPROM Yes Meaning Defines COB-ID of the emergency object Parameters 80h + Node-ID Object 1016 Consumer heartbeat time SubIndex 0 Data type Unsigned 8 Access Read only Default 1 EEPROM No Meaning Maximum supported subIndex Parameters 1 SubIndex 1 Data type Unsigned 32 Access Read write Default 10000h EEPROM Yes Meaning Consumer heartbeat time Parameters Bit 0..15 Consumer heartbeat time in ms Bit 16..23 Node ID Object 1017 Producer heartbeat time SubIndex 0 Data type Unsigned 16 Access ReadWrite Default 0h EEPROM Yes Meaning Defines the repetition time of the guarding service heartbeat Parameters 0 = Disabled 1..65535 = repetition time in ms

21.11.12 Villingen-Schwenningen, Germany Object 1018 Identity Object SubIndex 0 Data type Unsigned 8 Access ReadOnly Default 4 EEPROM No Meaning Maximum supported subindex Parameters 4 SubIndex 1 Data type Unsigned 32 Access ReadOnly Default ECh EEPROM Yes Meaning CiA -defined VendorID of Baumer IVO Parameters ECh (in the Internet under www.can-cia.de) SubIndex 2 Data type Unsigned 32 Access ReadOnly Default 32h EEPROM Yes Meaning Product Code Parameters 0x32 = GNAMG.x225xxx 0x33 = GNAMG.x215xxx 0x34 = GNAMG.x235xxx SubIndex 3 Data type Unsigned 32 Access ReadOnly Default EEPROM No Meaning Sensor revision number Parameters Actual software version = xxyy (xx=version, yy=running number) See product label Data 0 = running number LOW Data 1 = running number HIGH Data 2 = version LOW Data 3 = version HIGH SubIndex 4 Data type Unsigned 32 Access ReadOnly Default 0 EEPROM Yes Meaning Unique successive serial number of the sensor Parameters Defined ex works during final test

21.11.12 Villingen-Schwenningen, Germany Object 1029 Error behavior SubIndex 0 Data type Unsigned 8 Access ReadOnly Default 1 EEPROM No Meaning Maximum supported subindex Parameters 1 = maximum supported subIndex SubIndex 1 Data type Unsigned 8 Access ReadWrite Default 1 EEPROM Yes Meaning Behaviour after communication error Parameters 0h = switch to pre-operational mode 1h = no change of mode 2h = switch to stop mode 3h = Node Id reset Object 1800 PDO1 parameters SubIndex 0 Data type Unsigned 32 Access ReadOnly Default 5 EEPROM No Meaning Maximum supported subindex Parameter 5 SubIndex 1 Data type Unsigned 32 Access ReadWrite Default 180h + Node-ID EEPROM Yes Meaning COB-ID des PDO Parameters 180h + Node-ID SubIndex 2 Data type Unsigned 8 Access ReadWrite Default FEh EEPROM Yes Meaning PDO Type Parameters 1..n..F0h = synchronous PDO (PDO transmission on every n-th SYNC- telgram) FEh,FFh = asynchronous PDO (cyclic PDO transmission in reliance on EventTimer) SubIndex 5 Data type Unsigned 16 Access ReadWrite Default 203h EEPROM Yes Meaning Event Timer for PDO (process data object) Parameters 0 = cyclic transmission disabled 1..n..65535 =repetition time of cyclic transmission is n ms.

21.11.12 Villingen-Schwenningen, Germany Object 1A00 PDO1 Mapping SubIndex 0 Data type Unsigned 8 Access ReadOnly Default 0 EEPROM No Meaning Maximum supported subindex Parameter 2 SubIndex 1 Data type Integer 32 Access ReadOnly Default 61100020h slope angle Slope Long , Y-axis EEPROM No Meaning Inhalt PDO1 Parameters 61100020h slope angle Slope Long , Y-axis SubIndex 2 Data type Integer 32 Access ReadOnly Default 61200020h slope angle Slope Lateral , X-axis EEPROM No Meaning Contents PDO1 Parameters 61200020h slope angle Slope Lateral , X-axis Object 2100 Baud rate SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 2 = 50 kBaud EEPROM Yes Meaning Read or set a new sensor baud rate  After the setting operation the parameters must be stored in EEPROM by object 1010h, followed by a sensor re-init. Parameters 0 10 kBaud 1 20 kBaud 2 50 kBaud 3 100 kBaud 4 125 kBaud 5 250 kBaud 6 500 kBaud 7 800 kBaud 8 1000 kBaud Object 2101 Node-ID SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 1 EEPROM Yes Meaning Read or set a new sensor Node-ID.  After the setting operation the parameters must be stored in EEPROM by object 1010h, followed by a sensor re-init. Parameters 1..127

21.11.12 Villingen-Schwenningen, Germany Object 2110 Manufacturer_Options SubIndex 0 Data type Unsigned 32 Access ReadWrite Default 8h EEPROM Yes Meaning Parameters to guarantee compatibility to former sensors respectively to proceed customer-specific configurations Object is not supported by EDS file. Any parameterization should be by the manufacturer only. Any customer- specific parameterization should be strictly conform to the table below. Parameters Bit3 = 0 no reset if BusOFF 1 bus reset if BusOFF Bit5 = 0 Heartbeat protocol active 1 Nodeguarding protocol active Object 2201 Statistics SubIndex 0 Data type Unsigned 8 Access ReadOnly Default 3h EEPROM No Meaning Maximum supported subindex Parameters 3 SubIndex 1 Data type Unsigned 32 Access ReadOnly Default 0h EEPROM Yes Meaning Presently not assigned Parameters - SubIndex 2 Data type Unsigned 32 Access ReadOnly Default 0h EEPROM Yes Meaning Operating time in seconds total (object 6508h time elapsed since last reset) Parameters 0... 4294967295 SubIndex 3 Data type Unsigned 32 Access ReadOnly Default 0h EEPROM Yes Meaning WatchDog TimerReset counter Parameters 0... 4294967295

21.11.12 Villingen-Schwenningen, Germany Object 2300 Customer EEPROM section SubIndex 0 Data type Unsigned 8 Access ReadOnly Default 8h EEPROM No Meaning Any optional data can be saved in this object Parameter 8 SubIndex 1...8 Data type Unsigned 16 Access ReadWrite Default 0h EEPROM Yes Meaning One 16 bit parameter per each subindex (load in EEPROM by object 1010h) Parameter 0 Object list according to DS 410 Object 6000 Resolution SubIndex 0 Data type Unsigned 16 Access ReadWrite Default 0001h = 0.001° EEPROM Yes Meaning Resolution Parameters 0001h = 0.001° 000Ah = 0.01° 0064h = 0.1° 03E8h = 1.0° Object 6110 Slope angle Y- axis (Slope long) (not at 360° sensor) SubIndex 0 Data type Integer 32 Access ReadOnly Default EEPROM No Meaning Slope angle Parameters Value range Depending on the device type (measuring range) and parameter in 6000h (resolution): (+measuring range)/resolution ... to ... (-measuring range)/resolution Example: measuring range = ±30° Resolution = 0,001 Value range: +30000...-30000

21.11.12 Villingen-Schwenningen, Germany Object 6111 Operating parameter Y-axis (Slope long operating parameter) (not with 360° sensor) SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 0h EEPROM Yes Meaning Inversion: Inversion enable means reverse polarity of the Y-axis. Scaling: Scaling enable means calculating the slope of the Y-axis as follows: Slope Y –axis = physically measured slope + differential offset Y- axis + offset Y-axis When scaling is disabled: Slope Y –axis = physically measured angle Parameters Bit 0 = 1 inversion on 0 inversion off Bit 1 = 1 scaling on 0 scaling off Object 6112 Preset value Y-axis (Slope long preset value) (not with 360° Sensor) SubIndex 0 Data type Integer 32 Access ReadWrite Default 0h EEPROM Yes Meaning Sets the actual slope value Y-axis to the desired value Parameters Value range depending on parameters in object 6000h Objekt 6113 Offset Y-axis (Slope long offset) (not with 360° sensor) SubIndex 0 Data type Integer 32 Access ReadOnly Default 0h EEPROM Yes Meaning Calculated offset when writing on object 6112h Offset Y-axis = Preset value Y-axis at tacc – physically measured slope value Y- axis at tacc – differential offset Y- axis Parameters Value range depending on parameters in object 6000h Objekt 6114 Differential Offset Y-axis (Differential slope long offset) (not with 360° sensor) SubIndex 0 Data type Integer 32 Access ReadWrite Default 0h EEPROM Yes Meaning Supplementary offset, independent from objects 6112h and 6113h The entered value is directly added to the current slope of the Y- axis Parameters Value range depending on parameters in object 6000h

21.11.12 Villingen-Schwenningen, Germany Object 6120 Slope angle X- axis (Slope lateral) SubIndex 0 Data type Integer 32 Access ReadOnly Default EEPROM No Meaning Slope angle Parameters Value range Depending on the device type (measuring range) and parameter in 6000h (resolution): (+measuring range)/resolution ... to ... (-measuring range)/resolution Example: Measuring range = ±30° Resolution = 0,001 Value range: +30000...-30000 Object 6121 Operating parameters X-axis (Slope lateral operating parameter) SubIndex 0 Data type Unsigned 8 Access ReadWrite Default 0h EEPROM Yes Meaning Inversion: Inversion enabled means reverse polarity of the X-axis. Scaling: Scaling enabled means calculation of slope of the X-axis as follows: Slope X –axis = physically measured slope + differential offset X- axis + offset X-axis If scaling is disabled: Slope X –axis = physically measured angle Parameters Bit 0 = 1 inversion on 0 inversion off Bit 1 = 1 scaling on 0 scaling off Object 6122 Preset value X-axis (Slope lateral preset value) SubIndex 0 Data type Integer 32 Access ReadWrite Default 0h EEPROM Yes Meaning Sets the actual slope of the X-axis to the required value Parameters Value range depending on parameters in object 6000h

21.11.12 Villingen-Schwenningen, Germany Object 6123 Offset X-Achse (Slope lateral offset) SubIndex 0 Data type Integer 32 Access ReadOnly Default 0h EEPROM Yes Meaning Calculated offset when writing on object 6122h Offset X-axis = Preset value X-axis ati tacc – physically measured slope Y- axis at tacc – differential offset Y- axis Parameters Value range depending on parameters in object 6000h Object 6124 Differential Offset X-Achse (Differential slope lateral offset) SubIndex 0 Data type Integer 32 Access ReadWrite Default 0h EEPROM Yes Meaning Supplementary offset, independent from objects 6122h and 6123h The entered value is directly added on the current slope of the X-axis Parameters Value range depending on parameters in object 6000h

21.11.12 Villingen-Schwenningen, Germany 4. Diagnostics and useful information 4.1. Error diagnostics in fieldbus communication In case the inclination sensor does not react via the CANbus, check all cable connections first. If the cable connections are ok, test fielbus operation next. To do so you need a CAN monitor to record CANopen communication and to map the telegrams . Now the inclination sensor should give a BootUp message upon power off and on again. If there is no BootUp message, check whether the baud rates of inclination sensor, CAN monitor and bus system are in alignment. If you have problems in establishing a connection to a user check Node- ID and baud rate. The baud rate must be all the same. The Node- ID (identifier, address) must be within 1 and 127. Every bus user must be assigned a unique Node-ID, i.e. by no means the same Node ID must be assigned several times. Node-ID and baud rate may also conveniently be assigned by LSS services. 4.2. Error diagnostics via fieldbus The inclination sensor provides several objects and messages to indicate state or error state: object 1001h: This object serves as error register for the device error state. object 1003h: This object saves the last 8 error codes and warnings. object emergency (80h + Node-ID): High-priority error message of a user including error code and error register. SDO Abort Message: If SDO communication does not run properly the SDO response will come with an abort code. Object 1001h Error register This register is indicating an existing device error together with its kind. See separate object meaning Object 1003h Predefined error field In this object the last 8 error codes occurred out of the objects 6503h and 6505h are saved, the latest error as entry in subindex 1, the most ancient error as entry in subindex 8. Object Emergency Error message of a user.

21.11.12 Villingen-Schwenningen, Germany SDO Abort Message If SDO communication does not run properly, the SDO response will come with an abort code: 05040001h : Command byte not supported 06010000h : Incorrect object access 06010001h : Read access on write only 06010002h : Write access on read only 06020000h : Object not supported 06090011h : Subindex not supported 06090030h : Value outside the limit 06090031h : Value too high 08000000h : General error 08000020h : Incorrect saving signature ("save") 08000021h : No data saving possible 4.3. Useful information on the sensor Setting a new Node-ID 1. Setting a new Node-ID is by using Baumer IVO-specific object 2100h. 2. After having set the new Node-ID latter must be stored in EEPROM by object 1010h. 3. Upon next init the sensor will log in with the new Node-ID. Setting a new baud rate 1. Setting a new baud rate is by using Baumer IVO-specific object 2101h. 2. After having set the new baud rate latter must be stored in EEPROM by object 1010h. 3. Upon next init the sensor will log in utilizing the new baud rate. 4. ! DO NOT FORGET TO ALIGN THE NEW BAUD RATE WITH MASTER! Shield The inclination sensor’s base plate should always be grounded. By principle the inclination sensor should be connected by shielded cable. Ideally, aim at a bilateral cable shield if possible. Take care that no compensating currents are drained off the inclination sensor.

21.11.12 Villingen-Schwenningen, Germany 5. Applications 5.1. Write and read SDO objects To write or read an object (SDO) always two telegrams are transmitted Write object First the value to write is transmitted by master, then the inclination sensor will confirm. Value (ba) transmitted: COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+Node-ID 8 2Bh 00h 23h 3h a b x x Confirmation: COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+Node-ID 8 60h 00h 23h 3h 0 0 0 0 Read object First the required object is requested by master, second the inclination sensor will respond by transmitting the requested value. Master request: COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+Node-ID 8 40h 10h 61h 0h x x x x Response (dcba) of the inclination sensor to master request: COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+Node-ID 8 43h 10h 61h 0h a b c d Commissioning When connected the bus the inclination sensor will give a BootUp message. Now it must be configured and adapted to its ambiance. Changing Node-ID and baud rate by LSS Node-ID and baud rate can be changed without having to address the inclination sensor by them. LSS services enable sensor configuration and addressing by product code, revsion number, Vendor ID and serial number. Changing the Node-ID The Node-ID can be changed in object 2101h from 1 to 127. Next step should be a saving operation using object 1010h. Upon next init the sensor will log in with the new Node-ID.

21.11.12 Villingen-Schwenningen, Germany Changing the baud rate Object 2100h is for changing the baud rate. Not the real baud rate is written in the object but an index: Baud rate 0 10 kBaud 1 20 kBaud 2 50 kBaud 3 100 kBaud 4 125 kBaud 5 250 kBaud 6 500 kBaud 7 800 kBaud 8 1000 kBaud Now the baud rate must be saved by object 1010-1. Upon next init the inclination sensor will log in with the new baud rate. Prior to next sensor init the baud rate of the master should be aligned. 5.2. Configuration Changing the resolution See object 6000h Setting a new slope value See objects 6112h and 6122h Changing polarity and scaling See objects 6111h and 6121h Parameter saving in EEPROM Object 1010h saves the objects below non-volatile in EEPROM. To prevent any inadvertent saving operation the message „save“ must be written in subindex 1. COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+Node-ID 8 23h 10h 10h 01h 73 's’ 61 'a’ 76 'v’ 65 'e’ COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+Node-ID 8 60h 10h 10h 01h 0 0 0 0

21.11.12 Villingen-Schwenningen, Germany 5.3. Operation NMT states After init the inclination sensor is in Pre-Operational Mode which is the state for reading and writing SDOs. To start PDO communication NMT-Start must be transmitted to switch the inclination sensor to Operational Mode. Now the required PDO's are transmitted. Now there is also read and write access to SDOs. Upon stopping the inclination sensor by NMT-Stop it will got to Stopped Mode. This state is only for NMT communication including Heartbeat. NMT-Reset means re-init of the inclination sensor that now will be in Pre-Operational Mode again . The NMT state is indicated by LED (refer to chapter Status LED) Setting the Heartbeat Time For guarding the communication capability a „Producer Hearbeat Time“ must be defined in object 1017h. The service will be utilized upon confirmation of the parameter. Example: Every 100 ms the inclination sensor shall transmit a heartbeat (100 = 64h): COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 600h+Node-ID 8 2Bh 17h 10h 0h 64h 0h Confirmation: COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 580h+Node-ID 8 60h 17h 10h 0h 0 0 COB-ID Data/ Remote Byte 0 701h d 7Fh Hearbeat messages comprise COB-ID and one byte, latter is transmitting the NMT state. 0: BootUp-Event 4: Stopped 5: Operational 127: Pre-Operational i.e. the inclination sensor is in pre-operational mode (7Fh = 127).

21.11.12 Villingen-Schwenningen, Germany 5.4. Commissioning via CAN Comfortable commissioning of the CANopen inclination sensor via CAN (Layer 2) Example: Inclination sensor with Node-ID 1, some NMT and SDO commands Tool applied: CANAnalyser32 by IXXAT

21.11.12 Villingen-Schwenningen, Germany 6. Terminal assignment and commisisoning 6.1. Mechanical mounting Release both fastening screws of the bus cover. Carefully loosen the bus cover from the base plate and lift off in the axial direction. Firmly screw the base plate in place using the fastening holes. The bus cover must fully rest against the base plate. Any tolerances in mounting the bus cover to the base plate might affect the absolute slope angle. Alignment of coordinates (y- / y+ / x- / x+) see following diagram: Installation position – sensing range 15°, 30° und 60° The two-dimensional inclination sensor with a sensing range of 15°, 30° and 60° must be mounted with the base plate in horizontal position, i.e. parallel to the horizontal line. The inclination sensor may also be installed upside down, i.e. turned by 180°. The sensor can be inclined both in lateral (X-axis) and longitudinal (Y- axis) direction at the same time. For each axis a separate measured value is provided. As default parameter the inclination sensor will apply the selected sensing range to both the X and Y- axis, for example ±15° with the zero passage being precisely in the horizontal line.

21.11.12 Villingen-Schwenningen, Germany Installation position - Sensing range 360° The inclination sensor featuring a 360º sensing range must be installed in a way that the X-axis as in the illustration is in parallel alignment with gravity. The deflection may not be more than ±3º. Please note that the inclination sensor must fully and evenly rest on the contact surface and whilst inclination/rotation must not be subject to any misalignment in the X- or Y-direction since this would affect the sensing accuracy. The 360° inclination sensor default position is 0° as shown in the following illustration but may be optionally configured by help of the preset function. The measuring direction may also be inverted. Default parameter of the inclination sensor’s sensing direction is clockwise from 0...360°, in case of active inversion counter-clockwise. 6.2. Electrical connection The inclination sensor must fully rest on the base plate and be firmly screwed in place. For e-connection of the bus cover please proceed as follows: Release both fastening screws of the bus cover Carefully loosen the bus cover and lift off from the base plate in the axial direction. 6.2.1. Setting the user address Setting the user address is by EEPROM. The Node-ID (user address) is defined in object 2101h. Another option is decimal setting of the user address using two rotary switches provided in the bus cover. If the switches are on 0 the Node-ID out of the EEPROM will be utilized. As soon as the switches are set to a certain value this will be utilized as user address. Maximum user total is 99. Decimal setting of the user address using two rotary switches 1 and 2 (default 00). Example: 23

21.11.12 Villingen-Schwenningen, Germany 6.2.2. Setting the baud rate The baud rate is defined in object 2100h. Another option is binary setting of the baud rate using the 3-pin- DIP switches 1 to 3 provided in the bus cover. The baud rate out of the EEPROM will be ingnored as soon as the switches are not on 0. Baud rate DIP-switch position 1 2 3 10 kBit/s OFF OFF OFF 20 kBit/s OFF OFF ON 50 kBit/s * OFF ON OFF 125 kBit/s OFF ON ON 250 kBit/s ON OFF OFF 500 kBit/s ON OFF ON 800 kBit/s ON ON OFF 1 MBit/s ON ON ON 6.2.3. Terminating resistor If the inclination sensor is the final device in the bus line the bus must be terminated using the terminating resistor in the bus cover by switching the one-pin DIP switch to “ON” (default OFF). ON = last user OFF = user X 6.2.4. Connecting the inclination sensor Release the cap nut of the cable gland Push the cap nut and seal insert with contact sleeve onto the cable sheath. Strip the cable sheath and cores, shorten the shield film where existing (see fig.) Bend over the braided shield by approx. 90° Push the seal insert with contact sleeves along as far as the braided shield. Insert the sealing insert with contact sleeve and cable flush into the cable gland and tighten the cap nut. Clamps of the same designation are internally connected to each other. For supply voltage use cable gland 3 only. For the bus lines, either cable gland 1 or 2 may be used. Please observe the admissible cable cross-sections. Guide the cores the shortest way from the cable gland to the terminal connector. Please observe the admissible core cross-sections. Use ferrules in case of flexible cores. Avoid any crossings of data lines with the supply line. Seal up the unused cable gland using a sealing bolt (included in the delivery). * Default

21.11.12 Villingen-Schwenningen, Germany View inside the inclination sensor Cable gland M12 connector 6.2.5. Terminal assignment Pin Terminal Explanation M12-connector (male/female) 1 GND Ground connection relating to UB 2 UB Supply voltage 10...30 VDC 3 GND Ground connection relating to UB 4 CAN_H CAN Bus signal (dominant High) 5 CAN_L CAN Bus signal (dominant Low) Terminals with the same designation are connected to each other internally and identical in their functions. Maximum load on the internal clamps UB-UB and GND-GND is 1 A each. 6.3. Status LEDs (status indicators) An integrated DUO-LED is provided on the back of inclination sensor housing. LED green LED red Status Off Off No supply voltage Flashing Off Pre-operational Mode On Off Operational Mode On On Stopped/Prepared Mode Off Flashing Alert/warning Off Off Error