datasheet for T7 by US Digital

datasheet for T7 by US Digital
T7
Networked Absolute Inclinometer
Page 1 of 9
Description
The T7 is now IP68 rated. For more details, download the T7 IP68 Certification.
The T7 is a solid state absolute inclinometer that senses tilt angles over a full
360
range in a single axis. A multi-axis version is planned for the future. The
T7 is sealed against dust (IP68 rated) for operation in dirty environments. The T7
incorporates a number of breakthroughs to create a new type of inclinometer that
is rugged, compact, fast, flexible and easy to use.
The T7 is available in several interface and protocol options. The physical
interface can be RS232, RS485 or US Digital's CAN (Controller Area Network).
The protocol can be either US Digital's serial protocol or Modbus RTU. The
RS232 version supports a single T7 with up to 100 ft of cable. For users that
need longer cable lengths or multiple T7s on a single bus, the RS485 or US
Digital CAN (Controller Area Network) version can be used. The USD-CAN
protocol allows a network of up to sixty-four T7s to be connected to a single host.
Power for each T7 is supplied over the CAN network cable. The host accesses
the USD-CAN T7s through US Digital's low cost CANA-232/CANA-485 adapter
module. This module allows the host to access each T7 on the network using
simple, easy serial port commands, just like the RS232 version. The RS485
version supports up to 32 T7s on the bus.
The Modbus RTU version is suitable for users that require an industry standard,
open protocol. The host may access each T7 on the bus using standard Modbus
read/write register function codes.
The T7 calculates tilt angle (inclination) by sensing the acceleration from solid
state accelerometers integrated into a monolithic chip. Gravity, centrifugal forces,
and linear speed changes are all forms of acceleration. The T7 will report the
mathematically calculated tilt angle based on all sensed acceleration(s).
The serial port interface provides an efficient way to read and write data to a
network of T7s. All configurations and parameters are stored in nonvolatile
memory. A Windows demo application is provided for displaying the angles and
temperature as well as setting operating modes, orientation, zero position,
damping / averaging time, direction, and more for every T7 on the network. In
addition, a Windows DLL gives the user a set of simple functions to read and
write data to a network of T7s.
Features
Solid state technology - no moving parts. Field
programmable
Full 360
range, temperature compensated
from 0C to 70C
±0.1 accuracy, 0.01
resolution
RS485 or US Digital CAN interface versions
allow multiple T7s to be networked
RS485 version supports up to 1000 ft. (305m)
of cable. USD-CAN version has 700 ft. (213 m)
limit
RS232 version supports up to 100 ft. (30 m) of
cable
Modbus RTU version available
Reports temperature
Rugged and now IP68 certified
Finalist in the 2010 Golden Mousetrap Best
New Products awards
Typical applications include heavy construction equipment, dredging machinery,
mining equipment, solar tracking and warehouse automation.
Software
www.usdigital.com/support/software/t7-software
www.usdigital.com/assets/USDProducts.zip (.zip file with installer)
Mechanical Drawing
Rev. 121206153020
T7
Networked Absolute Inclinometer
Page 2 of 9
Operating Conditions
Parameter
Min.
Typ.
Max.
Units
Supply Voltage
5.5
24
30
V
Supply Current (Operating, 22C ambient)
@ 5.5V
@ 12V
@ 24V
50
30
20
Operating Temperature
-10
Storage Temperature
-40
25
mA
70
C
125
C
Acceleration Limit (for internal sensor)
± 50000
G
Bandwidth
8
Hz
Note: A lower power variant of the T7 is available on special order. Contact customer service for more information.
Mechanical
Parameter
Specification
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T7
Networked Absolute Inclinometer
Page 3 of 9
Case Material
Glass filled polycarbonate
Weight
1.2 oz (34 g) nom.
USD-CAN Version
Parameter
Max.
Units
Number of T7s in network
64
Cable length to furthest T7 in network (excluding stubs)
700
feet
Individual stub length
16
feet
Total length of all stubs
250
feet
Note: The CAN version is designed to be used with the CANA-232/CANA-485 CAN to serial port adapter
RS232 Versions
Parameter
Max.
Number of T7s on bus
1
Maximum total cable length
100
Units
feet
Note: The T7 can drive 100 ft. of cable. Some PC's have limited drive on the RS232 bus which will limit the maximum cable length to
less than 100 ft.
RS485 Versions
Parameter
Max.
Number of T7s on bus
32
Maximum total cable length
1000
Units
feet
Notes:
1) Uses RS485 two wire network
2) Uses "fail-safe" drivers so bias resistors are not required
3) In most applications, the RS485 network does not need termination at 9600 bps with less than 1000 feet of cable. If termination is
used, the RS485 network should be terminated with a 120-150 ohm resistor between BUS+ and BUS- at the source and at the last T7-1
-485/T7-1-MOD4 on the network. US Digital terminating CAN cables (CA-CM-PS-CFTR) may be used at the last T7 on the bus to te
rminate it.
RS485 Power Supply Voltage
For a given network size, a minimum T7-1-485/T7-1-MOD4 power supply voltage is needed to ensure that the last T7 on the network is
Rev. 121206153020
T7
Networked Absolute Inclinometer
Page 4 of 9
powered by at least 5.5V. The minimum power supply voltage can be calculated based on the number of networked T7s, the cable
resistance/configuration and the current consumption of each T7 as a function of voltage. The following tables show the recommended
minimum power supply voltage as a function of cable length and number of T7s for several common network wiring schemes. The
tables assume that US Digital CAN cables with a resistance of 3.3 ohms per hundred feet (#22 AWG) for the two power lines are used. U
SD CAN cables have a twisted pair for the data wires and can be used for both CAN and RS485 versions. The following data is for room te
mperature (22C) operation. Please contact customer service for other possible network configurations.
Recommended minimum power supply voltage for T7s equally spaced on a total cable length, L. Stub length from T-adapter t
o a T7 is 6 feet.
Number of T7's
Nominal supply current Total cable length, L (T7's equally spaced)
100 ft
200 ft
300 ft
400 ft
500 ft
600 ft
700 ft
800
ft
900
ft
1000
ft
1
55 mA
9
9
9
9
9
9
9
9
9
9
2
110 mA
9
9
9
9
9
9
9
9
9
9
3
150 mA
9
9
9
9
9
9
9
9
12
12
4
200 mA
9
9
9
9
9
9
12
12
12
12
5
250 mA
9
9
9
9
9
12
12
12
12
12
10
480 mA
9
9
9
12
12
12
12
15
15
15
15
700 mA
9
9
12
12
15
15
15
18
18
18
20
1A
9
12
12
15
15
15
18
18
24
24
25
1.2 A
9
12
12
15
18
18
24
24
24
24
32
1.5 A
9
12
15
18
18
24
24
24
26
26
Recommended minimum power supply voltage for T7s spaced 9 feet apart after an initial leader cable length, L. Stub length f
rom T-adapter to a T7 is 6 feet.
Rev. 121206153020
T7
Number of T7's
Networked Absolute Inclinometer
Page 5 of 9
Nominal supply current
Leader length, L (T7's spaced 9 ft. apart after leader)
100 ft
200 ft
300 ft
400 ft
500 ft
600 ft
700
ft
800
ft
900
ft
1000
ft
1
55 mA
9
9
9
9
9
9
9
9
9
9
2
110 mA
9
9
9
9
9
9
9
12
12
-
3
150 mA
9
9
9
9
9
12
12
12
12
-
4
200 mA
9
9
9
12
12
12
12
12
15
-
5
250 mA
9
9
12
12
12
12
15
15
15
-
10
480 mA
9
12
12
15
15
18
18
24
24
-
15
700 mA
12
15
15
18
24
24
24
26
-
-
20
900 mA
12
15
18
24
24
26
30
-
-
-
25
1.1 A
15
18
24
24
28
-
-
-
-
-
32
1.3 A
18
24
26
30
-
-
-
-
-
-
Accuracy and Noise
Parameter
Max.
Units
Test Conditions
Axis 2 Relative Angular Error
±0.1
Angular Degrees
0
Up to ±5
C to 70
C, on-axis
off-axis operation is possible with 2? (95%) confidence on the maximum angular error
Damping Time, milliseconds
Standard Deviation (?)
of Angle Noise, degrees
95% confidence interval
(± 2?), degrees
10
.060
.121
20
.037
.074
50
.021
.042
100
.015
.029
200
.010
.021
500
.007
.014
1000
.005
.011
2000
.004
.008
5000
.003
.006
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T7
Networked Absolute Inclinometer
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Measurements taken at 25 C
Damping time is a user programmable parameter
Axis Orientation
Axis Orientation:
Note: T7 shown with factory default configuration.
Noise Filtering
The T7 uses a FIR (Finite Impulse Response) digital filter to provide electronic damping of the angle readings. The digital filter's
impulse response has a triangular weighting that decays linearly to zero. The damping time is user programmable from 2 milliseconds
to 5000 milliseconds. Since the sensor bandwidth is 8 Hz, damping times below 125 milliseconds do not provide any faster response. I
ncreasing the damping time will average more samples together to form the reported angle. This will reduce noise in the output but
increase the response time.
Interfacing with a host computer
An inclinometer network assembled with the USD-CAN, RS232 or RS485 version of the T7 is shown below.
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T7
Networked Absolute Inclinometer
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US Digital sells all the cables and connectors needed to wire a T7 network. The T7 uses the same connector for all interface versions.
Regardless of the interface option, a host PC, PLC or microcontroller communicates with a network ofT7s by sending/receiving simple
serial port commands over the RS232 or RS485 bus. In the case of the USD-CAN version, the CAN adapter serves as a command
translator between a standard RS232/RS485 port and the USD-CAN bus used by the T7. The CAN adapter translates serial port
command to the USD-CAN protocol and handles all network functions (access, error correction, etc.) to access the T7. Conversely, the
CAN adapter also translates the reply from the T7 and sends the data to the host on the serial port. The CAN adapter frees the user
from a complicated network interface on the host side. Note that the CAN adapter is not needed for the RS232/RS485 version of the
T7. A host can communicate directly to these versions of the T7.
For more information on wiring the T7-1-CAN, see the CANA-232/CANA-485 Datasheet.
Network Address
T7-1-232, T7-1-485, or T7-1-CAN Addressing
Each T7 on the network must be assigned a unique address from 1 to 100 or 127 (decimal). Address assignment is optional for the RS
232 version. All T7s are shipped with a default address of 127. Address 126 is a special broadcast address - all T7s will listen and
respond to commands sent to this address. To assign an address to a T7 unit, connect one T7 to a PC's serial port - either directly if
using the RS232 version or through the CAN adapter for the CAN version. The address can be set using the the included PC based "T7 D
emo" software . Alternately, a host computer can send the "Set Address" serial port command to the T7. This procedure only needs to b
e done once for each T7 since the address is stored in non-volatile flash memory.
T7-1-MOD2, T7-1-MOD4 Addressing
Each T7 on the network must be assigned a unique address from 1 to 100 (decimal). AllT7
s are shipped with a default address of 127. Address 0 is the Modbus broadcast address. To assign an address to a T7 unit, connect
Rev. 121206153020
T7
Networked Absolute Inclinometer
Page 8 of 9
one T7
to a PC's serial port (an adapter is needed for the RS485 version). The address can be set using the the included PC based "T7 Demo
"
software. Alternately, a host computer can send a special "Set Address" command to the T7. This procedure only needs to be done once for
each T7 since the address is stored in non-volatile flash memory.
J1 Pin-out
Pin
Description
1
Shield
2
Vin
3
GND
4
CANH / TXD / BUS+
5
CANL / RXD / BUS-
Default Configuration
All T7
units ship from US Digital with a default configuration. Configuration parameters are stored in non-volatile flash memory and can be
easily changed by the user. The specifications are shown below. However, in larger quantities, special orders may be placed where the u
nits can be preconfigured with any of the available settings noted in the T7 Communication User Guideor T7 Modbus
Communication User Guide. Please contact customer service for special orders.
Default Configuration:
Address = 127
Single-axis version uses Axis 2
Angle output range set to +/-180 (-179.99 to 179.99) deg.
Counting Direction set to "forward"
Angle Offset set to 0
Damping time = 1000 milliseconds
USD protocol versions use 115200 bps, 8 data bits, no parity, 1 stop bit
Modbus protocol versions use 9600 bps, 8 data bits, even parity, 1 stop bit
Rev. 121206153020
T7
Networked Absolute Inclinometer
Page 9 of 9
Ordering Information
T7 -
Number of Calibrated Axis
Interface
1=
CAN =CAN
232 =RS232
485 =RS485
MOD2 =RS232 Modbus
MOD4 =RS485 Modbus
Notes
Cables and connectors are not included and
must be ordered separately.
For ordering information please see the
Compatible Cables / Connectors section above.
US Digital warrants its products against defects
in materials and workmanship for two years.
See complete warranty for details.
Base Pricing
Quantity
Price
1
$225.00
10
$205.00
For volume discounts, please contact us at [email protected] or 800.736.0194.
Rev. 121206153020
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