Sick TMS/TMM61, TMS/TMM88, TMS/TMM88 Dynamic CANopen Inclination sensors Operating instructions

Sick TMS/TMM61, TMS/TMM88, TMS/TMM88 Dynamic CANopen Inclination sensors Operating instructions

TMS/TMM88, TMS/TMM61

Inclination sensors with CANopen interface

OPERATING INSTRUCTIONS

Described product

1- and 2-dimensional inclination sensors: TMS88A TMM88A TMS88B TMM88B TMS88D TMM88D TMS61B TMM61B

Manufacturer

SICK AG Erwin-Sick-Str. 1 79183 Waldkirch Germany

Legal information

This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modifica‐ tion, abridgment or translation of this document is prohibited without the express writ‐ ten permission of SICK AG.

The trademarks stated in this document are the property of their respective owner.

© SICK AG. All rights reserved.

Original document

This document is an original document of SICK AG.

2 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/ 14IT /201 9 -0 6 -2 7 | SICK Subject to change without notice

Contents CONTENTS 1 2 3 4 5 6 7 8 9

About this document........................................................................

1.1

1.2

Function of this document.......................................................................

Explanation of symbols............................................................................

Safety information............................................................................

2.1

2.2

2.3

Intended use.............................................................................................

Incorrect use.............................................................................................

Requirements for the qualification of personnel....................................

Overview.............................................................................................

Technical data....................................................................................

4.1

4.2

4.3

4.4

Technical data for TMS88A/TMM88A.....................................................

Technical data for TMS88B/TMM88B....................................................

Technical data for TMS88D/TMM88D....................................................

Technical data for TMS61B/TMM61B....................................................

7 7

8

10

11

Transport and storage....................................................................... 14

5.1

5.2

5.3

Transport...................................................................................................

Transport inspection.................................................................................

Storage......................................................................................................

14 14 14

Mounting............................................................................................. 15

4 4 4

5 5 5 5

6

Connection......................................................................................... 16

Description of operation................................................................... 17

8.1

Function overview.....................................................................................

17

CANopen interface............................................................................ 18

9.1

9.2

9.3

9.4

9.5

9.6

9.7

9.8

Communication profile.............................................................................

Node IDs and COB IDs..............................................................................

Layer setting services (LSS).....................................................................

Network management: NMT....................................................................

Service data objects (SDO)......................................................................

Process data objects (PDO).....................................................................

Object directory.........................................................................................

Error messages: Emergency....................................................................

9.9

Automatic baud rate detection (to CiA AN-801).....................................

9.10 Status LED (to CiA DR-303-3)..................................................................

18

20

21

24

28

29

32

41

42

43

8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 3

1 ABOUT THIS DOCUMENT 1

1.1

1.2

About this document

Function of this document

These operating instructions are intended to give technical personnel working for the machine manufacturer or machine operator instructions on the mounting, electrical installation, commissioning, and operation of the TMS/TMM61 and TMS/TMM88 incli‐ nation sensors.

These operating instructions do not provide information on operating the machine in which an inclination sensor is integrated. For information about this, refer to the operat‐ ing instructions of the particular machine.

Explanation of symbols

Warnings in these operating instructions are labeled with symbols. The warnings are introduced by signal words that indicate the extent of the danger. These warnings must be observed at all times and care must be taken to avoid accidents, personal injury, and material damage.

DANGER

… indicates a situation of imminent danger, which will lead to a fatality or serious injuries if not prevented.

WARNING

… indicates a potentially dangerous situation, which may lead to a fatality or serious injuries if not prevented.

CAUTION

… indicates a potentially dangerous situation, which may lead to minor/slight injuries if not prevented.

NOTICE

… indicates a potentially harmful situation, which may lead to material damage if not prevented.

NOTE

… highlights useful tips and recommendations as well as information for efficient and trouble-free operation.

4 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

2

2.1

2.2

2.3

SAFETY INFORMATION 2 Safety information

Intended use

The TMS/TMM88 and TMS/TMM61 inclination sensors are measuring devices consist‐ ing of an electronic sensor and integrated evaluation electronics. The tasks for which the measuring devices are designed include recording inclinations in solar thermal energy, photovoltaics or heavy-duty vehicle applications.

SICK AG assumes no liability for losses or damage arising from the use of the product, either directly or indirectly. This applies in particular to use of the product that does not conform to its intended purpose and is not described in this documentation.

Incorrect use

TMS/TMM88 and TMS/TMM61 inclination sensors do not constitute safety compo‐ nents in accordance with the EC Machinery Directive (2006/42/EC). The inclination sensors must not be used in explosion-hazardous areas. Any other use that is not described as intended use is prohibited. Any use of accessories not specifically approved by SICK AG is at your own risk.

WARNING Danger due to improper use!

Any incorrect use can result in dangerous situations.

Therefore, take note of the following information: ■ ■ Inclination sensors should be used only according to intended use specifications.

All information in these operating instructions must be strictly complied with.

Requirements for the qualification of personnel

The personnel who work on and with the device must be suitably authorized, trained, and sufficiently qualified. Skilled personnel refers to the following: • • • A member of staff who has received specialist training, which is backed up by additional knowledge and experience.

A member of staff who knows the relevant technical terms and regulations.

A member of staff who can appraise the work assigned to them, recognize poten‐ tial hazards, and take suitable safety precautions.

Table 1: Skilled personnel qualifications

Task Mounting Electrical installation Commissioning, configura‐ tion, and operation Qualification • • • • • • • Technical training Knowledge of current workplace safety regulations Electrotechnical training Knowledge of the current electrotechnical workplace safety regulations Knowledge of the operation and control of the sensor in the particular application Technical training Knowledge of the operation and control of the sensor in the particular application 8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 5

3 OVERVIEW 3 Overview

Properties

■ ■ ■ ■ ■ ■ ■ ■ ■ 1-dimensional inclination sensor with measuring range: 360° (±180°) 2-dimensional inclination sensor with measuring range: 90° (X/Y) High sampling rate and bandwidth High resolution (0.01°) High accuracy (up to 0.02°) Compensated cross sensitivity Configurable vibration suppression Intelligent and flexibly adaptable sensor fusion algorithm for dynamic applications (TMS/TMM88D) Convenient CANopen interface ° ° Meets the requirements of CiA DS-301, device profile CiA DSP-410 Baud rates from 10 kbit/s up to 1 Mbit/s ° ° Automatic baud rate detection Setting of node ID and baud rate via LSS service ■ ■ ° ° One or two (TMS/TMM88D) Transmit PDOs: Can be mapped dynamically (RTR, cyclic, event-driven, synchronized) SYNC consumer (sync. sending of the Transmit PDOs following receipt of a SYNC message) ° EMCY producer fault monitoring using heartbeat or node guarding/lifeguard‐ ing UV-resistant, impact-resistant plastic housing or compact and rugged aluminum housing ■ Suitable for industrial use: ° ° Temperature range: -40 °C to +80 °C Enclosure rating: IP65/67 (TMS/TMM88D: IP67/69) TMS 1-dimensional inclination sensors are used to measure inclinations in the 360° range. TMM 2-dimensional inclination sensors are used to measure inclinations in 2 ±90° ranges (X/Y). To ensure high levels of accuracy, the sensors are calibrated at the factory.

A compact and rugged design makes the sensors an ideal solution for measuring angles in harsh environments. They are compatible for use in all manner of applications in industry and automotive engineering. All parameter settings can be made easily via the CANopen interface or with the PGT-12-Pro hand-held programing tool.

■ ■ ■ ■ ■

Areas of application

Agricultural and forestry machinery Construction machinery and special-purpose vehicles Solar thermal energy and photovoltaics Automated guided systems Crane and lifting technology 6 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

TECHNICAL DATA 4 4

Notice

Technical data

NOTE

This chapter contains an extract of the technical data. For full details, see the TMS/ TMM88 (8019180), TMS/TMM88 Dynamic (8023359), TMS/TMM61 and TMM55 product information.

4.1

Technical data for TMS88A/TMM88A

Table 2: Technical data for TMS88A/TMM88A

General parame‐ ters 1) TMS88A Number of measur‐ ing axes Measuring ranges Resolution Accuracy Cross sensitivity (compensated) 1 360° 0.01° Range 0...360° Typical ±0.04° Maximum ±0.10° 2 TMM88A ±90° 0.01° Range up to ±60° up to ±70° up to ±80° up to ±85° Typical ±0.02° ±0.04° ±0.08° ±0.16° Typ. ±0.09° (±0.10%FS) Max. ±0.45° (±0.50%FS) Maximum ±0.05° ±0.10° ±0.20° ±0.40° Temperature coeffi‐ cient (zero point) Sampling rate Limit frequency Typ. ±0.008°/K 80 Hz Typ. 20 Hz, 2nd order (no digital filter) / 0.1 ... 25 Hz, 8th order (with digi‐ tal filter) -40 °C to +80 °C Operating tempera‐ ture Properties Data rates Functions 10 k, 20 k, 50 k, 62.5 k, 100 k, 125 k, 250 k, 500 k , 800 kbit/s, 1 Mbit/s Automatic detection Polling of angle, cyclic and synchronized transmission, digital filter (critically damped (default) or Butterworth low pass, 8th order), configuration via object directory Electrical parameters Supply voltage 8 to 36 V DC Current consump‐ tion <33 mA @ 24 V Mechanical parameters CAN connection Enclosure rating Dimensions / Weight 2 x 5-pin M12 plug connectors (male connector - female connector, looped through) to CiA 303-1 IP65/67 Large plastic housing: 66 mm x 90 mm x 36 mm / approx. 215 g CANopen conformity CiA DS-301, v4.2.0 Application layer and communication profile 8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 7

4 TECHNICAL DATA General parame‐ ters 1) CiA DS-410 CiA DSP-305 CiA DR-303-3 CiA AN-801 TMS88A Device profile for inclinometer Layer setting service (LSS) and protocols Indicator specification (status LED) Automatic bit-rate detection TMM88A 1) All specified angular accuracies apply after a run-in time of 10 min at 25 °C, limit frequency 0.3 Hz, absolute calibration accuracy (at 25 °C): ±0.05°

Figure 1: TMS88A measuring axis (large plastic housing)

4.2

8

Figure 2: TMS88A measuring axes (large plastic housing)

Technical data for TMS88B/TMM88B

Table 3: Technical data for TMS88B/TMM88B

General parame‐ ters 1) Number of measur‐ ing axes 1 TMS88B Measuring ranges Resolution Accuracy 360° 0.01° Range 0...360° Typical ±0.15° Maximum ±0.25° Cross sensitivity (compensated) Temperature coeffi‐ cient (zero point) Typ. ±0.008°/K 2 TMM88B ±90° 0.01° Range up to ±60° up to ±80° Typical ±0.10° ±0.20° Typ. ±0.10° (±0.11%FS) Max. ±0.20° (±0.22%FS) Maximum ±0.20° ±0.30° OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

TECHNICAL DATA 4 General parame‐ ters 1) Sampling rate Limit frequency TMS88B TMM88B 80 Hz Typ. 20 Hz, 2nd order (no digital filter) / 0.1 to 25 Hz, 8th order (with digi‐ tal filter) -40 °C to +80 °C Operating tempera‐ ture Properties Data rates Functions 10 k, 20 k, 50 k, 62.5 k, 100 k, 125 k, 250 k, 500 k, 800 kbit/s, 1 Mbit/s Automatic detection Polling of angle, cyclic and synchronized transmission, digital filter (critically damped (default) or Butterworth low pass, 8th order), configuration via object directory Electrical parameters Supply voltage 8 to 36 V DC Current consump‐ tion <16 mA @ 24 V Mechanical parameters CAN connection Enclosure rating 1 x 5-pin M12 sensor plug connector (male connector) IP65/67 Dimensions / Weight CANopen conformity Aluminum housing: 58 mm x 90 mm x 31 mm / approx. 200 g CiA DS-301, v4.2.0 Application layer and communication profile CiA DS-410 Device profile for inclinometer CiA DSP-305 CiA DR-303-3 CiA AN-801 Layer setting service (LSS) and protocols Indicator specification (status LED) Automatic bit-rate detection 1) All specified angular accuracies apply after a run-in time of 10 min at 25 °C, limit frequency 0.3 Hz, absolute calibration accuracy (at 25 °C): ±0.05° 8019054/14IT/2019-06-27 | SICK Subject to change without notice

Figure 3: TMS88B measuring axis (aluminum housing)

OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 9

4 TECHNICAL DATA

4.3

Figure 4: TMM88B measuring axis (aluminum housing)

Technical data for TMS88D/TMM88D

Table 4: General parameters for the dynamic inclination sensor

General parameters for the dynamic inclination sensor 1 Number of measuring axes Measuring ranges Resolution Static accuracy 1 360° TMS88D 0.01° ±0.3° (typi‐ cal) ±0.5° (typical) ±0.5° (maxi‐ mum) Dynamic accuracy Duration of spurious acceleration suppression (configurable) Temperature coefficient (zero point) General parameters for the IMU 2 Measuring ranges Resolution In run bias stability Angular random walk (ARW) Temperature coefficient (zero point) General parameters Sampling rate Operating temperature Properties 100 to 10000 ms ±0.01°/K (typical) Acceleration sensor ±8 g 0.244 mg – – 0.2 mg/K (typical) 200 Hz -40 °C to +80 °C Data transmission rates Functions 2 ±90° ±0.3° (typi‐ cal) Gyro sensor ±250 °/s TM88D 0.00875 °/s 6 °/h (typical) 0.2 °⁄√h ±0.5° (maxi‐ mum) 0.005 °/s/K (typical) 10k, 20k, 50k, 100k, 125k, 250k, 500k, 800k bit/s, 1 Mbit/s; Automatic detection Polling of angle, cyclic and synchronized transmission, parameterization, sensor fusion filter, digital low pass fil‐ ter (critically damped or Butterworth, 8th order), configu‐ ration via a digital interface Electrical parameters Supply voltage Current consumption Maximum output current Mechanical parameters 8 to 36 V DC 15 mA @ 24 V 350 mA Electrical connection 2 x sensor plug connectors, 5-pin M12 (male connector female connector, looped through) 10 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

TECHNICAL DATA 4 1 2 General parameters for the dynamic inclination sensor 1 Enclosure rating Dimensions of large plastic housing Weight CANopen conformity CiA DS-301, v4.2.0

CiA DS-410 CiA DSP-305 CiA DR-303-3 CiA AN-801 TMS88D IP67/69 66 mm x 90 mm x 36 mm approx. 200 g TM88D Application level and communications profile Device profile for inclinometer Layer setting service (LSS) and protocols Indicator specification (status LED) Automatic bit rate detection All specified angular accuracies apply after a run-in time of 10 min. at 25 °C, absolute calibration accu‐ racy (at 25 °C): ±0.05° All specified accuracies apply after a run-in time of 10 min. at 25 °C

Figure 5: TMS88D measuring axis (large plastic housing)

4.4

Figure 6: TMM88D measuring axes (large plastic housing)

Technical data for TMS61B/TMM61B

Table 5: Technical data for TMS61B/TMM61B

General parame‐ ters 1) TMS61B Number of measur‐ ing axes Measuring ranges Resolution 1 360° 0.01° 2 ±90° 0.01° TMM61B 8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 11

4 TECHNICAL DATA General parame‐ ters 1) Accuracy Cross sensitivity (compensated) Range 0...360° TMS61B Typical ±0.15° Maximum ±0.25° TMM61B Range up to ±60° up to ±80° Typical ±0.10° ±0.20° Typ. ±0.09° (±0.10%FS) Max. ±0.45° (±0.50%FS) Maximum ±0.20° ±0.30° Temperature coeffi‐ cient (zero point) Sampling rate Limit frequency Typ. ±0.01°/K 80 Hz Typ. 20 Hz, 2nd order (no digital filter) / 0.1 to 25 Hz, 8th order (with digi‐ tal filter) -40 °C to +80 °C Operating tempera‐ ture Properties Data rates Functions 10 k, 20 k, 50 k, 62.5 k, 100 k, 125 k, 250 k, 500 k, 800 kbit/s, 1 Mbit/s Automatic detection Polling of angle, cyclic and synchronized transmission, Digital filter (critically damped (default) or Butterworth low pass, 8th order), configuration via object directory Electrical parameters Supply voltage 8 to 36 V DC Current consump‐ tion <16 mA @ 24 V Mechanical parameters CAN connection Enclosure rating Cable, 5-wire, 0.2 m, with 5-pin M12 male connector IP65/67 Dimensions / Weight CANopen conformity Small plastic housing: 68 mm x 36.3 mm x 20.7 mm / approx. 80 g (with cable) CiA DS-301, v4.2.0 Application layer and communication profile CiA DS-410 Device profile for inclinometer CiA DSP-305 CiA DR-303-3 CiA AN-801 Layer setting service (LSS) and protocols Indicator specification (status LED) Automatic bit-rate detection 1) All specified angular accuracies apply after a run-in time of 10 min at 25 °C, limit frequency 0.3 Hz, absolute calibration accuracy (at 25 °C): ±0.05°

Figure 7: TMS61B measuring axis (small plastic housing)

12 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

Figure 8: TMS61B measuring axis (small plastic housing)

TECHNICAL DATA 4 8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 13

5 TRANSPORT AND STORAGE 5

5.1

5.2

5.3

Transport and storage

Transport

For your own safety, please read and observe the following notes: ■ ■ ■

NOTE Damage to the device due to improper transport.

■ ■ ■ The device must be packaged for transport with protection against shock and damp.

Recommendation: Use the original packaging as it provides the best protection.

Transport should be performed by trained specialist staff only.

The utmost care and attention is required at all times during unloading and trans‐ portation on company premises.

Note the symbols on the packaging.

Do not remove packaging until immediately before you start mounting.

Transport inspection

Immediately upon receipt in Goods-in, check the delivery for completeness and for any damage that may have occurred in transit. In the case of transit damage that is visible externally, proceed as follows: ■ ■ ■ Do not accept the delivery or only do so conditionally.

Note the scope of damage on the transport documents or on the transport com‐ pany's delivery note.

File a complaint.

NOTE

Complaints regarding defects should be filed as soon as these are detected. Damage claims are only valid before the applicable complaint deadlines.

Storage

■ ■ ■ ■ ■ ■ ■ ■ Store the device under the following conditions: Recommendation: Use the original packaging.

Do not store outdoors.

Store in a dry area that is protected from dust.

So that any residual damp can evaporate, do not package in airtight containers.

Do not expose to any aggressive substances.

Protect from sunlight.

Avoid mechanical shocks.

For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis.

14 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

6 MOUNTING 6 Mounting

Layout of the fixing holes

The holes for screw-mounting the sensor are located in the baseplate of the inclination sensor (dimensions in mm).

4 x 45° 4 x Ø 5.4

(0.21) 8019054/14IT/2019-06-27 | SICK Subject to change without notice 75 (2.95) 90 (3.54)

Figure 9: Fixing holes, aluminum housing

R 2,9 75 (2.95) 90 (3.54)

Figure 10: Fixing holes, large plastic housing

68 (2.68) 47.7

(1.88) Ø 5 (0.20) 57.7

(2.27)

Figure 11: Fixing holes, small plastic housing

NOTICE

There is a risk of damage to the housing if inadequate lifting accessories are used!

• Use suitable washers for plastic housings.

OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 15

7 CONNECTION 7 Connection

Plug connector pin assignment

TMS/TMM88A, TMS/TMM88B and TMS/TMM88D inclination sensors are equipped with a standard 5-pin M12 round male connector (A-coded). TMS/TMM61 inclination sensors are supplied with a 20 cm long cable at the end of which there is a 5-pin M12 round male connector (A-coded). TMS/TMM88A and TMS/TMM88D inclination sensors also have a 5-pin M12 female connector (A-coded). The pin assignment corresponds to CiA DR-303-1.

1 4 2 5 3

Table 6: CANopen M12 male connector pin assignment

Pin Signal Pin assignment 1 2 CAN_SHLD CAN_V+ Screen Supply voltage (+24 V) 3 4 5 CAN_GND CAN_H CAN_L GND / 0 V / V CAN_H bus cable CAN_L bus cable 2 5 1 3 4

Table 7: CANopen M12 female connector pin assignment

Pin Signal Pin assignment 1 2 3 4 5 CAN_SHLD CAN_V+ CAN_GND CAN_H CAN_L Screen Supply voltage (+24 V) GND / 0 V / V CAN_H bus cable CAN_L bus cable

Bus terminator NOTE

The inclination sensors do not have an internal terminator.

16 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

8

8.1

DESCRIPTION OF OPERATION 8 Description of operation

Function overview

■ ■ ■ The inclination sensors have a standardized CANopen interface according to CiA DS-301 and a device profile according to CiA DS-410. All measured values and para‐ meters can be accessed via the object directory (OD). The individual configuration can be saved in the internal permanent memory (EEPROM). The following CANopen func‐ tions are available: ■ ■ ■ One or two (TMS/TMM88D) sending data objects (Transmit PDOs), dynamically mappable to four possible operating modes: ■ Specific request via remote transmit request (RTR) message ■ ■ Cyclic transmission based on interval time Event-controlled transmission on inclination change ■ Synchronous transmission following receipt of a SYNC message One service data object (standard SDO) Error messages based on emergency object (EMCY) with support: ■ Of the general error register ■ ■ Of the manufacturer specific status register Of the pre-defined error field Monitoring mechanisms: heartbeat as well as node guarding / lifeguarding Save and restore functions for all parameters (store and load parameter field) Status and error display via bi-color LED (according to CiA DR-303-3) ■ ■ ■ ■ ■ ■ ■ There are more manufacturer-specific / profile-specific properties in addition to the CiA DS-301 functionality: Limit frequency (digital filter), freely configurable Sensor fusion filter, freely configurable (TMS/TMM88D only) Configuration of the minimum change in angle for Transmit PDO transmission event Change in direction of the inclination angle Zero-point setting of the inclination angle Setting of node ID and baud rate via LSS service according to CiA DSP-305 Automatic baud rate detection according to CiA AN-801 8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 17

9 CANOPEN INTERFACE 9

9.1

9.1.1

CANopen interface

Communication profile

The CANopen communication profile (documented in CiA DS-301) regulates how the devices in a CANopen network exchange data.

CANopen in the OSI model

The CANopen protocol is a standardized Layer 7 protocol for the CAN bus. This layer is based on the CAN Application Layer (CAL).

e.g., DS401 DSP 410 Device profile for inclinometer CAN Application Layer (CAL) defined by DS 301 e.g., DS 402

9.1.2

Data link layer Physical layer

Figure 12: CANopen in the OSI layers model

NOTE

Layers 3 to 6 are not used in the CANopen definition.

Communication channels

CANopen features various communication channels (SDO, PDO, Emergency Messages).

These channels are formed with the help of the communication object identifier (COB ID). The COB IDs are based on the node IDs of the individual devices on the CANopen

bus ( see "Node IDs and COB IDs", page 20 ).

18 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

CANOPEN INTERFACE 9 Master Node-ID = 0 LSS, NMT SDO, PDO, EMGY

9.1.3

Slave Node-ID = 1 ... 127

Figure 13: Master/slave model

• • • Layer setting services (LSS) are used to set the node ID of the inclination sensor

( see "Layer setting services (LSS)", page 21

).

After this, the inclination sensor can be addressed via the network management

services (NMT) ( see "Network management: NMT", page 24

tional, or Stopped) by the master.

) and its CANopen state machine can be switched to the necessary status (Pre-Operational, Opera‐ In Pre-Operational status, communication and configuration can be carried out via

service data objects (SDO) ( see "Service data objects (SDO)", page 28

emergency messages (EMGY).

). In Oper‐

ational status, communication is also possible via process data objects (PDO) and

Topology

T-connectors or Y-cables are used to integrate the inclination sensors into the CANopen trunk cable (the T-connectors are available as accessories). The trunk cable must be terminated at the end. This is not necessary for the stub cables that are connected to the sensors.

NOTE

Since TMS/TMM88A and TMS/TMM88D inclination sensors have a female connector with looped-through CAN bus, they can also be integrated into the trunk cable without the need for T-connectors or Y-cables.

PLC Trunk cable End Stub cables 8019054/14IT/2019-06-27 | SICK Subject to change without notice

Figure 14: Example: Network topology

OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 19

9 CANOPEN INTERFACE

9.1.4

Integrating an inclination sensor into a CANopen network

An ESD file makes it easy to link the inclination sensors to a CANopen master.

• • • • • This file contains information on the following features of the inclination sensors: Information about the device manufacturer Name, type and version number of the device Type and version number of the protocol to be used for this device Inclination sensor default parameters Process data default configuration

9.2

Figure 15: ESD file integration

Node IDs and COB IDs

There can be a maximum of 128 devices on a CANopen network: one master and up to 127 slaves. Every device has a unique node ID (node address).

The COB IDs (communication object identifiers) of the communication channels are derived from this ID.

Table 8: Overview of node IDs and COB IDs

Calculation of COB ID [dec] [hex] ID ranges [dec] [hex] 0 128 0080h 0 128 0080h 128 + node ID 0080h + node ID 384 + node ID 0180h + node ID 640 + node ID 0280 + node ID 1408 + node ID 0580h + node ID 1536 + node ID 0600h + node ID 129 … 255 0081h … 00FFh 385 … 511 0181h … 01FFh 641 to 767 0280h to 02FFh 1409 … 1535 0581h … 05FFh 1537 … 1663 0601h … 067Fh Function Direction from the point of view of the sensor Network management Receive SYNC Receive Emergency message Transmit PDO 1 Transmit PDO 2 (TMS/ TMM88D only) Transmit SDO Receive SDO Transmit Transmit Send Transmit Receive 20 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

9.3

CANOPEN INTERFACE 9 Calculation of COB ID [dec] [hex] 1792 + node ID 0700h + node ID 2020 07E4h 2021 07E5h ID ranges [dec] [hex] 1793 … 1919 0701h … 077Fh 2020 07E4h 2021 07E5h Function Node guarding, heart‐ beat, boot up Transmit LSS Direction from the point of view of the sensor Transmit Transmit Receive LSS Receive

Example

The sensor receives node ID = 5, then sends emergency messages via ID 133, Trans‐ mit PDO 1 via ID 389, and SDOs via ID 1413.

The layer setting services can be used to configure the node ID of the sensor (

see "Layer setting services (LSS)", page 21 ).

Layer setting services (LSS)

Layer setting services are supported to set the node ID and the baud rate of the inclina‐ tion sensor.

The LSS slave is accessed via its LSS address (identity object), which is stored in object 1018h.

The LSS address comprises: • • • • Manufacturer ID Product code Revision number Serial number The master uses the LSS services to request the individual services that are then exe‐ cuted by the inclination sensor. The LSS telegrams facilitate communication between LSS master and LSS slave.

The following COB IDs are used: 07E4h = LSS slave to LSS master 07E5h = LSS master to LSS slave

Format of an LSS telegram NOTE

An LSS telegram is always 8 bytes long. Byte 0 contains the command specifier (CS), followed by 7 bytes for the data. All bytes that are not in use must be set to zero.

Table 9: Format of an LSS telegram

COB-ID Byte 0 CS Byte 1 Byte 2 Byte 3 Byte 4 Data Byte 5 Byte 6 Byte 7

Switch Mode Global

The Switch Mode Global command switches the configuration mode on or off. The com‐ mand remains unconfirmed and the inclination sensor does not respond.

8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 21

9 CANOPEN INTERFACE

Table 10: Format of the Switch Mode Global command

COB-ID 07E5h Byte 0 04h Byte 1 Mode Byte 2 00h Byte 3 00h Byte 4 00h Byte 1 mode: 00h = Switches LSS configuration mode off 01h = Switches to LSS configuration mode Byte 5 00h Byte 6 00h

Configure Node ID

This command is used to set the node address.

Table 11: Format of the Configure Node ID command

COB-ID 07E5h Byte 0 11h Byte 1 Node ID Byte 2 00h Byte 3 00h Byte 4 00h Byte 5 00h Byte 6 00h Byte 7 00h Byte 1 node ID: 01h = node address 1 … 7Fh = node address 127 Response:

Table 12: Response to the Configure Node ID command

COB-ID 07E4h Byte 0 11h Byte 1 Error code Byte 2 Error extend Byte 3 00h Byte 4 00h Byte 5 00h Byte 6 00h Byte 7 00h Byte 1 error code: 00h = Configuration successful 01h = Parameter invalid FFh = Contains a specific error code Byte 2 error extend: The error extension is manufacturer-specific; it is always 00h in the case of the inclina‐ tion sensor.

Configure Bit Timing Parameters

This command is used to set the baud rate based on a baud rate table.

Table 13: Format of the Configure Bit Timing Parameters command

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 07E5h 13h 00h Table index 00h 00h 00h Byte 6 00h Byte 1 table index from the baud rate table:

Table 14: Baud rate table

Table index 0 1 2 3 4 Baud rate 1,000 kbit/s 800 kbit/s 500 kbit/s 250 kbit/s 125 kbit/s Supported Yes Yes Yes Yes Yes Byte 7 00h Byte 7 00h 22 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

8019054/14IT/2019-06-27 | SICK Subject to change without notice CANOPEN INTERFACE 9 Table index 5 6 7 8 9 Baud rate 100 kbit/s 50 kbit/s 20 kbit/s 10 kbit/s Automatic detection Supported Yes (TMS/TMM88D only) Yes Yes Yes Yes Response:

Table 15: Response to the Configure Bit Timing Parameters command

COB-ID 07E4h Byte 0 13h Byte 1 Error code Byte 2 Error extend Byte 3 00h Byte 4 00h Byte 5 00h Byte 6 00h Byte 7 00h Byte 1 error code: 00h = Configuration successful 01h = Parameter invalid FFh = Contains a specific error code Byte 2 error extend: The error extension is manufacturer-specific; it is always 00h in the case of the inclina‐ tion sensor.

Store Configuration

The command saves the configuration.

NOTE

The configuration is not saved in the non-volatile memory (EEPROM). Object 1010h – Save Parameters must be used in order to do this.

Table 16: Format of the Store Configuration command

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 07E5h 17h 00h 00h 00h 00h Response:

Table 17: Response to the Store Configuration command

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 07E4h 17h Error code Error extend 00h 00h Byte 5 00h Byte 5 00h Byte 6 00h Byte 6 00h Byte 7 00h Byte 7 00h Byte 1 error code: 00h = Store successful 01h = Store Configuration command is not supported 02h = Error occurred during store operation FFh = Contains a specific error code Byte 2 error extend: The error extension is manufacturer-specific; it is always 00h in the case of the inclina‐ tion sensor.

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9 CANOPEN INTERFACE

9.4

Inquire LSS Address Service

This command can be used to read out the node ID of the inclination sensor and, from object 1018h, the manufacturer ID, the product code, the revision number, and the ser‐ ial number.

Table 18: Format of the Inquire LSS Address Service command

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 07E5h CMD 00h 00h 00h 00h Byte 5 00h Byte 6 00h Byte 7 00h Byte 0 CMD from the command table:

Table 19: Command table

CMD 5Eh 5Dh 5Ch 5Bh 5Ah Parameter Node ID Serial number Revision number Product code Vendor ID Subindex of object 1018h .4

.3

.2

.1

Response:

Table 20: Response to the Inquire LSS Address Service command

COB-ID 07E4h Byte 0 CMD Byte 1 Data-X (LSB) Byte 2 Data-X Byte 3 Data-X Byte 4 Data-X (MSB) Byte 5 00h Byte 6 00h Byte 7 00h

NOTE

The data is 4 bytes long in little-endian byte sequence. If fewer than 4 bytes of data are read out, the remaining bytes are set to 0.

Identify Non-Configured Slave Device

The command is used to identify non-configured devices.

Table 21: Format of the Identify Non-Configured Slave Device command

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 07E5h 4Ch 00h 00h 00h 00h 00h Byte 6 00h Response:

Table 22: Response to the Identify Non-Configured Slave Device command

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 07E4h 50h 00h 00h 00h 00h 00h 00h Byte 7 00h Byte 7 00h

Network management: NMT

Network management (NMT) initializes the nodes in a CANopen network. It also adds the nodes to the network, as well as stopping and monitoring them.

There is only one NMT master (network management master) in a CANopen network. All other devices, including the inclination sensor, are NMT slaves. The NMT master moni‐ tors all devices and can change their status.

A PLC or a PC usually serves as the NMT master.

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9.4.1

9.4.2

CANOPEN INTERFACE 9

CANopen state machine

Like every CANopen slave, the inclination sensor features what is known as a CANopen state machine. The following statuses can be identified:

Table 23: Status of the CANopen state machine

Status Description Initializing Pre-Operational Initialization commences. Both the device application and device communication are initialized. After this, the node automatically switches to Pre-Operational status.

The inclination sensor is ready for configuration; acyclic communi‐ cation can take place via SDO. However, the inclination sensor is not yet able to commence PDO communication and is not sending out any emergency messages.

Operational Stopped In this status, the inclination sensor is fully ready for operation and can transmit messages autonomously (PDOs, emergency mes‐ sages).

In this status, the inclination sensor is not actively communicating (although communication is still being actively monitored via node guarding).

Network management services

NMT services are used to switch between the individual statuses of the CANopen state machine. The NMT telegrams for device monitoring use the COB ID 0 and thus have the highest priority.

Table 24: Format of the NMT telegram

COB-ID Byte 0 Byte 1 Byte 2 00h CCD Node ID 00h Byte 3 00h Byte 4 00h Byte 5 00h Byte 6 00h Byte 7 00h

Table 25: Meaning of byte 0

Byte 0, CCD 01h 02h 80h 81h 82h Parameter Start Remote Node Sets the inclination sensor to Operational status.

Stop Remote Node Sets the inclination sensor to Stopped status and stops it communicating (although communication is still being actively monitored via node guard‐ ing).

Enter Pre-Operational Sets the inclination sensor to Pre-Operational status. All communication channels except the PDOs can be used.

Reset Node Resets the values of the profile parameters to the default values. After this, the inclination sensor switches to Reset Communication status.

Reset Communication Sets the inclination sensor to Reset Communication status. After this, the inclination sensor switches to Initialization status.

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9 CANOPEN INTERFACE

Transitions between the individual operating statuses

Switch on or reset Initialization Pre-Operational Stopped

9.4.3

9.4.4

Operational

Figure 16: Process diagram of status changes Table 26: Transitions between operating statuses

Transition Description 1 2 3 and 8 After switching on, the inclination sensor switches to Initialization status.

After Initialization, the inclination sensor automatically switches to Pre-Oper‐ ational status.

The Start Remote Node command switches the inclination sensor to Opera‐ tional status.

4 and 7 5 and 6 9, 10, and 11 12, 13, and 14 The Enter Pre-Operational State command resets the inclination sensor to Pre-Operational status.

The Stop Remote Node command switches the inclination sensor to Stopped status.

The Reset Node command switches the inclination sensor to Initialization status.

The Reset Communication command switches the inclination sensor to Ini‐ tialization status.

Boot-up message

To signal that the device is ready for operation following switching on, a “boot-up mes‐ sage” is sent out. This message uses the ID of the NMT error control protocol and is permanently linked to the set device address (700h + node ID).

Node guarding and heartbeat

The inclination sensor can be monitored permanently with the node guarding protocol or the heartbeat protocol.

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CANOPEN INTERFACE 9 8019054/14IT/2019-06-27 | SICK Subject to change without notice

NOTE

It is not possible to use the node guarding protocol and the heartbeat protocol in paral‐ lel with a single node. If the heartbeat time parameter of object 1017h is not equal to 0, the heartbeat protocol is used.

Node guarding

The node guarding telegram is sent to poll the status of the inclination sensor at regular intervals. The sensor responds within the response time configured in objects 100Ch (guard time) and 100Dh (life-time factor).

This time is referred to as the node life time. It is calculated as follows: “Node life time” = “guard time” x “life-time factor” If the inclination sensor does not send a response within this time, the connection is considered to have been lost.

Table 27: Format of the node guarding telegram

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 700h + node ID Status 00h 00h 00h Byte 4 00h Byte 5 00h Byte 6 00h Byte 7 00h

Table 28: Meaning of byte 0

Byte 0, status Parameter Bit 7 Bits 6 ... 0 Toggle bit The bit changes its value every time it is polled.

Operating status of the inclination sensor: 127 = Pre-Operational 5 = Operational 4 = Stopped 0 = Boot Up Example for an inclination sensor in Operational operating status: 85h, 05h, 85h = no error 85h, 05h, 05h = error

NOTE

If node guarding is active, the inclination sensor expects to receive a corresponding sta‐ tus query from an NMT master within a certain time frame. If it does not, the slave switches to Pre-Operational status.

Heartbeat

If the heartbeat telegram is used, the inclination sensor sends its status autonomously at cyclic intervals. This can be monitored by every other node in the network.

The heartbeat time is configured with object 1017h.

Table 29: Format of the heartbeat telegram

COB-ID 700h + node ID Byte 0 Status Byte 1 00h Byte 2 00h Byte 3 00h Byte 4 00h Byte 5 00h Byte 6 00h Byte 7 00h

Table 30: Meaning of byte 0

Byte 0, status Bit 7 Parameter Toggle bit The bit changes its value every time it is polled.

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9 CANOPEN INTERFACE

9.5

Byte 0, status Bits 6 ... 0 Parameter Operating status of the inclination sensor: 127 = Pre-Operational 5 = Operational 4 = Stopped 0 = Boot Up

NOTE

Heartbeat has a significant influence on the bus load of the CANopen network but only generates half the bus load of node guarding.

Service data objects (SDO)

Service data objects (SDO) form the communication channel through which device parameters are transmitted. They are used for status queries.

SDOs can be used to transmit data of any length. The data might have to be split into several CAN messages. An SDO is always transmitted with confirmation, i.e. the receipt of every message is acknowledged by the receiver.

Transmit SDO and Receive SDO

The inclination sensor has a Transmit SDO channel and a Receive SDO channel, to which two CAN identifiers are assigned.

SDO communication corresponds to the client-server model. The inclination sensor functions as an SDO server.

In its request, the SDO client (e.g., the PLC) specifies the parameter, the access method (read/write), and the value, if applicable. The inclination sensor executes read or write access and responds to the request.

The maximum data length of a CAN telegram of 8 bytes is assigned by an SDO as fol‐ lows:

Table 31: Format of the SDO telegram

COB-ID CCD Index 600h + node ID Byte 0 Byte 1 Byte 2 Subinde x Byte 3 Byte 4 Byte 5 Data Byte 6 Byte 7 The command code (CCD) identifies whether read or write access is required. In the event of an error, the data range will contain a 4-byte error code which provides infor‐ mation about the cause of the error.

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CANOPEN INTERFACE 9 Request

9.6

Response

Figure 17: Example request/response telegram

In the example, the inclination sensor (ID = 5) receives the read request (CCD = 40h) for object 1000h from the PLC via ID 0605h (Receive SDO 0600h + inclination sensor ID).

The inclination sensor responds by sending ID 0585h (Transmit SDO 0580h + inclina‐ tion sensor ID) with feedback (CCD = 43h).

Process data objects (PDO)

Process data objects (PDO) are used for rapid and efficient data exchange of real-time data (e.g., I/O data, setpoint values or actual values).

PDOs are transmitted without confirmation.

The inclination sensor supports one or two (TMS/TMM88D) transmit PDOs.

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9 CANOPEN INTERFACE Transmit-PDO

9.6.1

Figure 18: Structure of the Transmit PDO Table 32: Format of the PDO telegram

COB-ID 0180h + node ID Byte 0 Byte 1 Byte 2 Byte 3 Data Byte 4 Byte 5 Byte 6 Byte 7

PDO mapping

The format of the PDO telegram between master and inclination sensor must be agreed through what is known as PDO mapping. The process data can be arranged at will in the PDO message. The address (i.e. index and subindex) and the size (number of bits) from the entry in the object directory are entered in the mapping object for this pur‐ pose.

Example:

Object 1A00h is factory-set to contain the following objects, depending on sensor type: 6010.00h - inclination value, axial (TMS) or longitudinal (TMM) 6020.00h - inclination value, lateral (TMM only) The content of the objects is transmitted in the Transmit PDO telegram.

Table 33: Example Transmit PDO telegram (TMS)

COB-ID 0180h + node ID Byte 0 Inclination value, axial Byte 1 Byte 2 Byte 3 Data Byte 4 Byte 5 Not used Byte 6 Byte 7

Table 34: Example Transmit PDO telegram (TMM)

COB-ID 0180h + node ID Byte 0 longitudinal Byte 1 Inclination value Byte 2 Byte 3 Data Byte 4 Inclination value lateral Byte 5 Byte 6 Not used Byte 7 The following objects can be mapped in the TPDOs: 30 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

9.6.2

CANOPEN INTERFACE 9

Table 35: Mappable objects

Index 0x3100 0x3100 0x3101 0x3101 0x3101 0x3101 0x3102 0x3102 0x3102 0x3103 Subindex 1 2 1 2 3 4 1 2 3 1 16 16 16 16 16 16 16 Size 16 16 16 0x3103 0x3103 0x6010 0x6020 0x6511 2 3 0 0 0 16 16 16 16 8 Description Euler angle: pitch Euler angle: roll Quaternion: w Quaternion: x Quaternion: y Quaternion: z Acceleration, x-axis Acceleration, y-axis Acceleration, z-axis Yaw rate, x-axis Yaw rate, y-axis Yaw rate, z-axis Slope long16 Slope lateral16 Temperature Format signed, 0.01°/bit signed, 0.01°/bit signed, 1/30000 / bit signed, 1/30000 / bit signed, 1/30000 / bit signed, 1/30000 / bit signed, 1/4096g / bit signed, 1/4096g / bit signed, 1/4096g / bit signed, 7/800°/s / bit signed, 7/800°/s / bit signed, 7/800°/s / bit signed, 0.01°/bit signed, 0.01°/bit signed, 1K/bit

PDO data transmission

The PDOs can be transmitted cyclically or acyclically. This is determined by the Transmit PDO and the transmission type defined in its subindex 02.

Synchronized data transmission

In synchronized data transmission, the process data is transmitted with the SYNC mes‐ sages. The cycle is formed from a multiple of the SYNC messages. The factor can be between 1 and 240.

Cyclic data transmission

In cyclic data transmission, the inclination sensor sends the PDO at defined intervals.

The associated period duration is configured in object 1800.05h.

Acyclic data transmission

For acyclic data transmission, the inclination sensor is triggered by one of the following criteria: • • Application-specific / device-specific triggering The sending of the PDO is triggered by an event. This event is defined in object 3001h (TPDO 1 only).

On request (RTR telegram) In this case, another bus node (usually the master) requests the process data.

NOTE

For the inclination sensor to output the PDO cyclically or acyclically, the transmission

type must be changed in the Transmit PDO in object 1800.02h ( see "Transmit PDO – Transmission type (1800h/1801h)", page 35

).

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9 CANOPEN INTERFACE

9.7

Object directory

■ ■ ■ The object directory contains all data objects which can be accessed from outside and which have an impact on communication, application and state machines. It is divided into three parts: Communication-specific part (index: 0x1000 – 0x1FFF) Manufacturer-specific part (index: 0x2000 – 0x5FFF) Profile-specific part (index: 0x6000 – 0x9FFF) The parameters it contains can be read and written with the standard SDO based on index and subindex.

The following sections describe all parameters in the object directory of an inclination sensor including index, subindex, data type, access right and default value (factory set‐ ting). The Storage column indicates whether a parameter can be saved in the internal permanent memory (write save signature to OD index 1010h/01h).

9.7.1

Communication parameters (to CiA DS-301)

Table 36: Communication parameters in the object directory

Index 1000h 1001h 1002h 1003h 1005h 1008h 100Ah 100Ch 100Dh 1010h 1011h Subindex Parameter 0 4 Device type (device profile 410) Restore manufacturer parameters (OD: 0x2000-0x5FFF) Data type UNS32 0 0 Predefined error field 0 1..5

0 0 0 0 0 Number of error entries Error code (oldest error assigned to highest index) COB ID sync message Device name Software version (“Vxx.yy”) Guard time (multiple of 1 ms) Life-time factor UNS32 UNS32 UNS32 VSTR VSTR UNS16 UNS8 Save parameters (signature: 's','a','v','e' - 65766173h in subindex 1...4) 0 1 2 3 Error register Manufacturer status register Highest subindex supported Save all parameters (OD: 0x1000-0x9FFF) Save communication parameters (OD: 0x1000-0x1FFF) Save application parameters (OD: 0x6000-0x9FFF) UNS8 UNS32 UNS32 UNS32 UNS32 UNS32 UNS32 Access Default value Storage ro 1019Ah/ 2019Ah ro ro rw ro rw const const rw rw ro rw rw rw 4 Save manufacturer parameters (OD: 0x2000-0x5FFF) UNS32 Restore default parameters (signature: 'l','o','a','d' - 64616F6Ch in subindex 1...4) rw 0 1 2 3 Highest subindex supported Restore all parameters (OD: 0x1000-0x9FFF) Restore communication parameters (OD: 0x1000-0x1FFF) Restore application parameters (OD: 0x6000-0x9FFF) UNS32 UNS32 UNS32 UNS32 ro rw rw rw rw 0 0 0 0 80h dep. on type dep. on type 0 0 4 1 1 1 1 4 1 1 1 1 x x 32 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

CANOPEN INTERFACE 9 Index 1014h Subindex Parameter 0 COB ID emergency message 1015h 1017h 1018h 0 0 Inhibit time between two EMCY messages (multi‐ ple of 100 µs) Heartbeat rate time (multiple of 1 ms, 0 deacti‐ vated) Identity object 0 Highest subindex supported 1 2 Vendor ID (SICK AG ident number) Product code 3 4 Revision number Serial number Data type UNS32 UNS16 UNS16 Access Default value Storage ro 80h + node ID rw 0 x rw 0 x UNS8 UNS32 UNS32 UNS32 UNS32 ro ro ro ro ro 4 01000056h {dep. on type} {dep. on type} {dep. on type} 1200h Server SDO1 parameters 0 1 Highest subindex supported COB ID client > server UNS8 UNS32 ro ro ro 2 600h + node ID 580h + node ID 1800h 2 Transmit PDO 1 communication parameters 0 1 COB ID server > client Highest subindex supported COB-ID UNS32 UNS8 UNS32 1801h 2 3 4 5 Transmit PDO2 communication parameters (TMS/TMM88D only) 0 Highest subindex supported 1 Transmission type (synchronous / asynchronous manufacturer-specific) Inhibit time between two Transmit PDO mes‐ sages (multiple of 100 µs) Compatibility entry Event Timer (multiple of 1 ms, 0 deactivated) COB-ID UNS8 UNS16 UNS8 UNS16 UNS8 UNS32 1A00h 2 3 4 5 Transmit PDO 1 mapping parameters 0 Highest subindex supported 1 2 3 4 Transmission type (synchronous / asynchronous manufacturer-specific) Inhibit time between two TPDO messages (multi‐ ple of 100 µs) Compatibility entry Event timer (multiple of 1 ms, 0 deactivated) Mapping entry 1, both types: TMS / TMM Mapping entry 2, type: TMS / TMM Mapping entry 3 Mapping entry 4 UNS8 UNS16 UNS8 UNS16 UNS8 UNS32 UNS32 UNS32 UNS32 ro ro rw rw rw rw ro ro rw rw rw rw ro rw rw rw rw 5 180h + node ID 1 0 0 0 5 280h + node ID 1 0 0 0 dep. on type 0x60100010 0 / 0x60200010 0 0 x x x x x x x x x x x x x 8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 33

9 CANOPEN INTERFACE Index 1A01h 1F51h Subindex Parameter 5 Mapping entry 5 6 7 Mapping entry 6 Mapping entry 7 8 Mapping entry 8 Transmit PDO2 mapping parameters (TMS/TMM88D only) 0 1 Highest subindex supported Mapping entry 1 2 3 4 5 Mapping entry 2 Mapping entry 3 Mapping entry 4 Mapping entry 5 6 7 Mapping entry 6 Mapping entry 7 8 Mapping entry 8 Program download - control 0 1 2 3 Highest subindex supported Firmware range Range for configuration 1 (access for manufacturer only) Range for configuration 2 (access for manufacturer only) 9.7.1.1

9.7.1.2

Data type UNS32 UNS32 UNS32 UNS32 Access Default value Storage rw 0 x rw rw rw 0 0 0 x x x UNS8 UNS32 UNS32 UNS32 UNS32 UNS32 UNS32 UNS32 UNS32 UNS8 UNS8 UNS8 UNS8 ro rw rw rw ro rw rw rw rw rw rw rw rw 2 0x31000110 0x31000210 0 0 0 0 0 0 3 1 1 1 Error register (1001h) The error register indicates the general error status of the device. Each bit stands for an error group. If a bit is set (= 1), at least one error in this group is currently active. The content of this register is transmitted in every EMCY message. The following error groups may be encountered:

Table 37: Error register (1001h)

Bit7 Manufac‐ turer-spe‐ cific error Bit6 Accuracy Warning Bit5 Profile-spe‐ cific error Error register (1001h) Bit4 Bit3 Communi‐ cation error Bit2 Not used Bit1 Bit0 At least one error active If the device is in error status (at least one error active), this is indicated by bit 0 being set. In the event of a communication error (overrun of send/receive buffer, guarding error or CAN controller in passive/busoff mode), bit 4 is set. A profile-specific error (sen‐ sor error) is indicated by bit 5. Bit 7 signals a manufacturer-specific error (EEPROM error).

Manufacturer status register (1002h) This register indicates the current status of all detectable errors. Each bit represents a specific error. If a bit is set (= 1), this error is currently active. The lower-value 16 bits of this register (bits 15 to 0) are transmitted in the first two bits of the manufacturer-spe‐ cific part of each EMCY message as well as in the additional information field (bits 31 to 16) of the predefined error field 1003h.

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CANOPEN INTERFACE 9 9.7.1.3

9.7.1.4

9.7.1.5

Table 38: Manufacturer status register (1002h)

Manufacturer status register (1002h) Bit31...Bit16

Bit15...Bit8

Not used Bit field Communication error Bit7...Bit0

Bit field Device error Predefined error field (1003h) Each inclination sensor keeps a list of the five most recent errors that have occurred.

Entry 1003.00h contains the number of error entries in the error field. All other subindices contain all of the error states that have occurred in chronological order. The most recent error is always listed under subindex 01h. The oldest error is located in the highest available subindex (value of 1003.00h). It is removed from the list first when more than five errors occur. When an error occurs, a new error entry is added to 1003h and an EMCY message is also sent by way of notification. An error entry is structured as follows:

Table 39: Error entry in predefined error field (1003h)

Error entry in predefined error field (1003h) Additional information field (bits 31 to 16) Bits 15 to 0 of the manufacturer-specific regis‐ ter 1002h (at the time the error occurred) Bit field Communication error Bit field Device error Error code (bits 15 to 0) 0x0000 Error reset or no more errors pending 0x5010 Sensor error / sensor error X 0x5020 Sensor error Y 0x8110 Receive / send buffer overflow 0x8120 CAN warning limit exceeded 0x8130 Node guard event 0x8140 Exit busoff status To delete the entire content of the error list, write a value of 0 to entry 1003.00h.

Saving (1010h) and restoring (1011h) parameters Changes that are made to parameters in the object directory are applied immediately.

So that the modified parameters remain active even after a reset, they must be saved in the internal permanent memory. Writing the Save signature (65766173h) to entry 1010.01h transmits all current parameters from the object directory to the permanent memory.

To reset the object directory to the factory settings, write the Load signature (64616F6Ch) to entry 1011.01h. This writes the factory parameters to the permanent memory. The changes are applied after a Reset Application (NMT command) or a Hard‐ ware Reset (if only a Reset Communication (NMT command) is sent, only the factory settings of the communication parameters are effective initially).

It is possible to save or load only parts of the object directory by writing the signature to subindex: 02h, 03h, or 04h.

Transmit PDO – Transmission type (1800h/1801h) The entries 1800.02h/1801.02h are used to define how the sending of the PDO is trig‐ gered.

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9 CANOPEN INTERFACE

9.7.2

Table 40: Transmit PDO - Transmission type (1800.02h/1801.02h)

Transmis‐ sion type 1...240

Transmit PDO - Transmission type (1800.02h/1801.02h) Description 253 254 Synchronous (cyclic) Transmission after every 1...240th receipt of the SYNC object Only synchronized transmission with SYNC possible Transmission exclusively with RTR Asynchronous, manufacturer-specific Cyclic sending and/or sending when angle changes can be activated by means of corresponding configuration.

Manufacturer-specific part

Table 41: Manufacturer-specific part of the object directory

Index 2002h Subind ex 0 Parameter Automatic busoff recovery 3000h Digital filter settings 0 1 Highest subindex supported Filter type (0=off, 1=Butterworth, 2=critically damped) Data type BOOL UNS16 UNS16 Access Default rw ro rw 2 Digital filter limit frequency (100...25000/8000, in mHz) UNS16 rw 3001h Transmit PDO 1, send when angle changes, types TMS88/TMS61 0 1 Highest subindex supported Activate/deactivate send when angle changes (1/0) UNS16 UNS16 ro rw value 0 2 2 2000 2 0 100 2 Minimum change in angle for axial axis (in °/100) UNS16 rw 3001h Transmit PDO 1, send when angle changes, types TMM88/TMM61 0 1 Highest subindex supported Activate/deactivate send when angle changes (1/0) UNS16 UNS16 ro rw rw 2 3 3002h Sensor fusion configuration (TMS/TMM88D only) 0 Highest subindex supported UNS8 1 2 Minimum change in angle for longitu‐ dinal (X) axis (in °/100) Minimum change in angle for lateral (Y) axis (in °/100) Activate/deactivate sensor fusion (1/0) Maximum interference suppression time (in ms) UNS16 UNS16 UNS8 UNS16 rw ro rw rw 3 0 100 100 2 1 5000 3 4 Activate/deactivate dynamic gyro off‐ set correction (1/0) Perform gyro offset correction.

Writing 1 performs the offset correc‐ tion and permanently saves the cal‐ culated values. The process takes approx. 2 s.

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CANOPEN INTERFACE 9 9.7.2.1

9.7.2.2

Index Subind ex 5 Parameter Level of dynamic offset correction, value range from 1 (slightly dynamic) to 10 (very highly dynamic) 3100h Output Euler angles (TMS/TMM88D only) 0 1 Highest subindex supported Pitch Euler angle (in °/100) 2 Roll Euler angle (in °/100) 3101h Output quaternion (TMS/TMM88D only) 0 1 Highest subindex supported Quaternion scalar part w (in 1/30000) Data type UNS8 UNS8 INT16 INT16 UNS8 INT16 2 3 Quaternion vector part x (in 1/30000) Quaternion vector part y (in 1/30000) INT16 INT16 4 Quaternion vector part z (in 1/30000) INT16 3102h Output acceleration sensor raw data (TMS/TMM88D only) 0 1 2 3 Highest subindex supported Acceleration, x-axis (in 1/4096 g) Acceleration, y-axis (in 1/4096 g) Acceleration, z-axis (in 1/4096 g) UNS8 INT16 INT16 INT16 Access Default value rw 3 ro ro ro ro ro ro ro ro ro ro ro ro 2 4 3 3103h Output yaw rate sensor raw data (TMS/TMM88D only) 0 Highest subindex supported UNS8 1 2 Yaw rate, x-axis (in 7/800 °/s) Yaw rate, y-axis (in 7/800 °/s) INT16 INT16 3 Yaw rate, z-axis (in 7/800 °/s) 5555h Reserved index (for manufacturer access only) INT16 ro ro ro ro 3 Storage x Automatic busoff recovery (2002h) This feature regulates the behavior of the inclination sensor whenever it is in busoff sta‐ tus. When activated, the inclination sensor can switch out of this status back to the error-active status with reset error counters. To do this, it must detected 11 consecutive recessive bits on the bus 128 times.

When deactivated, the inclination sensor remains in busoff status.

Digital filter settings (3000h/3002h) The inclination sensor supports an option to make the continuously generated angle value more insensitive to external vibration interference. Oscillation/vibration interfer‐ ence up to 0.1 Hz can be suppressed with the configurable 8th order low-pass filter.

The sensor has two digital filters which can be selected according to the area of appli‐ cation in which the sensor is being used.

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9 CANOPEN INTERFACE

Table 42: Filter selection

Filters Butterworth Configurable Frequency range 0.1 Hz to 25 Hz Critically damped 0.1 Hz to 8 Hz Areas of application Static inclination measurement with high damping against vibrations Inclination measurement for applications subject to specific dynamics / without overshoot in the event of changes in angle combined with good damping The digital filter is selected via entry 3000.01h. The limit frequency is set via object 3000.02h. Values from 100 (= 0.1 Hz) to 25,000/8,000 (= 25 Hz/8 Hz) are permitted.

Step response 8th order filter 15 10 5 0 0 1 2 3

Figure 19: Pulse response of both filters

4 5 Time [s] 6 7 Step Butterworth, f c = 2 Hz Butterworth, f c = 0.5 Hz critically damped, f c = 2 Hz critically damped, f c = 0.5 Hz 8 9 10 38 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

CANOPEN INTERFACE 9 9.7.2.3

Gain response 8th order filter 10 -10 0 -20 -30 -40 -50 -60 -70 Butterworth, f c = 2 Hz Butterworth, f c = 0.5 Hz critically damped, f critically damped, f c = 2 Hz c = 0.5 Hz -80 0.01

0.1

1 Frequency [Hz]

Figure 20: Amplitude characteristic of both filters

10 100 The sensor fusion filter uses as a measurand not only the Earth's gravitational field but also the yaw rate information from a gyroscope. This enables external accelerations and vibrations to be suppressed without causing a noticeable delay in the calculation of the angle information.

Filters Sensor fusion Configurable range 100 ms to 10.000 ms Areas of application Dynamic applications, measurements while accelerating, braking, or driving through curves, measurement with no signal delay time Transmit PDO 1, send when angle changes (3001h) The event-driven sending of Transmit PDO 1 when the angle changes can be activated (= 1) and deactivated (= 0) via entry 3001.01h.

For activation, the transmission type for Transmit PDO 1 must be set to asynchronous, manufacturer-specific (1800.02h = 254). Subindices 02h and 03h can be used to set the minimum necessary change in angle separately for the longitudinal (X) and the lat‐ eral (Y) axis. These two angle values are specified in °/100 (100x angle value) and can be set to user-defined values starting from 1 (= 0.01°).

If sending when the angle changes is activated, in Operational status, the inclination sensor will always send Transmit PDO 1 again whenever the inclination value of the lon‐ gitudinal and/or the lateral axis has changed by the angle value set under 3001.02h

and 03h. The difference in angle between the current inclination value and the last angle value sent with Transmit PDO 1 is constantly calculated and checked.

Every time the status switches to Operational, the inclination sensor signals the current position by sending Transmit PDO 1 once (only if 3001.01h = 1).

8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 39

9 CANOPEN INTERFACE

9.7.3

9.7.3.1

9.7.3.2

NOTE

If minor differences in angle are entered under 3001.02h and 03h, we recommend activating the digital filter (index 3000h) in order to minimize the effect of vibrations and thus the frequent sending of Transmit PDO 1.

Profile-specific part (to CiA DS-410)

Table 43: Profile-specific part of the object directory

Index Subind ex Parameter 6000h 6010h 0 0 Resolution (multiple of 0.001°) Inclination value, longitudinal (X axis, 100x angle value in °) 6011h 0 6012h 6013h 6014h 0 0 0 Operating parameter, longitudinal (inversion, zero-point setting) Default value for longitudinal (X) axis Offset value for longitudinal (X) axis Difference offset value for longitudi‐ nal (X) axis 6020h 6021h 6022h 6023h 6024h 0 0 0 0 0 Inclination value, lateral (Y axis, 100x angle value in °) Operating parameter, lateral (inver‐ sion, zero-point setting) Default value for lateral (Y) axis Offset value for lateral (Y) axis Difference offset value for lateral (Y) axis Data type UNS16 INT16 UNS8 INT16 INT16 INT16 INT16 UNS8 INT16 INT16 INT16 Access Default value ro 10 ro Storage rw rw rw rw ro rw rw rw rw 0 0 0 0 0 0 0 0 x x x x x x x x Resolution (6000h) The resolution of all inclination sensors is set to a fixed value of 0.01° (default: 10 * 0.001°). All angle values in the object directory (6010h, 6012h, 6013h, 6014h plus 6020h, 6022h, 6023h, 6024h) must be interpreted as a multiple of 0.01°.

Example:

Angle value = -2370 x 0.01° → -23.70° Longitudinal and lateral angle values (6010h and 6020h) Up-to-date angle values for the inclination axes can be accessed both via SDO access to the object directory (in any device status) and with a Transmit PDO. When zero-point setting is activated (operating parameters: 6011h and 6021h), the inclination angle is calculated as follows:

Inclination value = inclination value physically measured + difference offset value + offset value

When zero-point setting is deactivated:

Inclination value = physically measured inclination value

Operating parameters (6011h and 6021h)

describes how the 100x signed 16-bit incli‐ nation value (two's complement) is converted.

Example:

Value range, TMS type: -18,000 ... +17,999 → -180.00° ... +179.99° = 0 ...359.99° Value range, type TMM: -9,000 ... +9,000 → - 90.00° ... + 90.00° 40 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

CANOPEN INTERFACE 9 9.7.3.3

9.7.3.4

Operating parameters (6011h and 6021h) The operating parameter settings of an inclination sensor (6011h and 6021h) can be used to convert the mathematical sign of the inclination value and also for zero-point setting. These options are deactivated on delivery, i.e., the direction of the angle value (polarity of the axes) corresponds to the assignment indicated on the device type label.

Table 44: Operating parameters (6011h and 6021h)

Operating parameters (6011h and 6021h) Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit0 Not used Bit1 Zero-point setting 0 = /inac‐ tive 1 = active Inversion 0 = /inac‐ tive 1 = active Zero-point setting: Default value, offset value, difference offset value (60x1/2/3h) A zero-point setting for the inclination angle can be made using the values for default value, offset value, and difference offset value. This setting is only active if bit 1 is set in the operating parameters (6011h/6021h).

Table 45: Zero-point setting

Value Default value Offset value Difference offset value Object Description 6012h 6022h Default value for zero-point setting Value range depending on setting in object 6000h 6013h 6023h 6014h 6024h Calculated offset value when writing to object 6012h or 6022h Calculated offset value = default value with tacc – inclination value physically measured with tacc – difference offset value tacc: time of write access to default value (6012h,6022h) Additional offset, independent of object 6012h and 6013h / 6022h and 6023h The value entered here is added directly to the current inclination value.

9.8

Error messages: Emergency

Emergency messages are used to transmit important internal device errors and CAN communication errors to other nodes on the bus. In the event of one of these errors, the OD entries 1001h (error register), 1002h (manufacturer status register), and 1003h (predefined error field) are updated.

Once an error has been resolved, an emergency message is sent with the error code 0x0000. Any errors that are still pending are signaled in byte 2 (error register) and bytes 3 and 4 of the manufacturer-specific error field. As soon as a device is error-free, it sends an emergency message containing zeros only. The current device status (Pre Operational, Operational, or Stopped) is not affected by the error statuses, except in the case of guarding errors.

Emergency messages are sent with high priority on the bus. They are always 8 bytes long: 8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 41

9 CANOPEN INTERFACE

9.9

Table 46: Emergency object

Byte0 Byte1 Byte2 Emergency error code Error regis‐ ter (1001h) Emergency object Byte3 Byte4 Byte5 Byte6 Manufacturer-specific error field Bit field Communi‐ cation error Bit field Device error 0x00 0x00 Byte7 0x00

Table 47: Emergency error code

Emergency error codes 0x0000 An error has been reset or there are no more errors pending (error register = 0) 0x5010 Sensor error / sensor error X, angle value outside measuring range 0x5020 Sensor error Y, angle value outside measuring range 0x8110 Receive / send buffer overflow, CAN messages lost 0x8120 CAN warning limit exceeded 0x8130 Failure of the guarding master detected (node guard event) 0x8140 Exit busoff status

Table 48: Emergency: Manufacturer-specific error field

Bit field Device error 0x01 Sensor error, only types: TMS88/TMS61 0x01 0x02 Sensor error, X axis, only types: TMM88/TMM61 Sensor error, Y axis, only types: TMM88/TMM61 0x80 EEPROM error: An error occurred when saving the configuration Communication error 0x01 0x02 0x04 0x08 0x80 CAN warning limit exceeded (too many error frames) CAN busoff status reached.

An emergency message is sent after automatically exiting busoff status.

Receive queue overrun, receive buffer overrun, CAN messages lost Send queue overrun, send buffer overrun, CAN messages lost Guarding error; the failure of the guarding master has been detected (node guard event)

Automatic baud rate detection (to CiA AN-801)

Automatic baud rate detection automatically sets the baud rate of the inclination sen‐ sor to the current baud rate on the network. For this purpose, following switching on of the power supply, the inclination sensor is in what is known as listen-only mode. In this mode, it monitors the messages that are being sent and received on the CAN bus but does not acknowledge them. This operational status is indicated by the RUN LED flick‐ ering (see also chapter

Status LED (to CiA DR-303-3)

).

In this status, it is testing all available baud rates. When a valid CAN telegram is received, the correct baud rate is identified and set. After this, the inclination sensor starts up, logs in with a boot-up message, and switches to Pre-Operational mode.

42 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK Subject to change without notice

9.10

CANOPEN INTERFACE 9

NOTE

In order for baud rate detection to function correctly, telegrams from other bus nodes must be available.

Status LED (to CiA DR-303-3)

The built-in status LED shows the current device status (RUN LED, green) as well as any CAN communication errors that might have occurred (ERROR LED, red). The statuses listed in the following table can be identified based on the color and flashing frequency of the associated LEDs.

Table 49: Status and error information indicated by the status LED

Status LED RUN LED ...

...

LED sta‐ tus Off Flicker‐ ing Description The device is in Reset status or the power supply is absent.

Automatic baud rate detection in progress (active).

Flashing The device is in Pre-Operational status.

...

...

Simple flash On The device is in Stopped status.

The device is in Operational status.

...

ERROR LED LED sta‐ tus Off Description The device is operating without errors.

...

...

...

Simple flash Double flash On CAN controller error counter has reached or exceeded its warning limit.

The device has detected the failure of the guarding mas‐ ter (node guard event).

The device is in “busoff” status.

...

Key: LED off, LED on, LED flickering (50 ms on/off), / duration: 200 ms 8019054/14IT/2019-06-27 | SICK Subject to change without notice OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 43

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