H6MM CANiopen Flex Series User Guide Datasheet by Rieker Inc.

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Q RlEKER fnc.
User Programmable
Digital CANopen
Current 0..24mA
Voltage 0..10V
Open Collector Switch
Dual & Single Axis
Up to 360º
Sensor
Specifications,
Installation
,
& Wiring
2018
Flex™ H6MM CANopen User Guide
m 0 k RIEKER inc. Rieker Rugged. Rieker Reliable.”
Flex™ H6MM-CANopen User Guide
Page 1 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Table of Contents
Sensor Description ..................................................................................................... 3
Updates & Revision History .......................................................................................... 3
Sensor Specifications ................................................................................................. 4
H6MM-CANOPEN Installation and Wiring ........................................................................... 5
Horizontal Mount Axis Orientations .......................................................................... 7
Vertical Mount Axis Orientations ............................................................................. 7
H6MM-CANOPEN Connector Wiring Tables ..................................................................... 8
H6MM-CANOPEN Bus Wiring Configurations .................................................................... 9
Analog Outputs ....................................................................................................... 11
Sensitivity & Zero Angle Calculation .......................................................................... 11
Current Output Wiring Diagrams and Connection Procedures ........................................... 11
Digital CANopen Communication ................................................................................. 13
CANopen Command Functions ................................................................................. 13
Communication Object ...................................................................................... 13
Manufacturer Specific Objects ............................................................................. 15
Inclinometer Device Specific Objects (per DSP-410) ................................................... 16
LSS: Change Baud Rate and Node-ID .......................................................................... 17
EDS file ............................................................................................................. 17
References ............................................................................................................ 17
m 0 k RIEKER inc. Rieker Rugged. Rieker Reliable.”
Flex™ H6MM-CANopen User Guide
Page 2 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
List of Figures
F
IGURE
1:
H6MM-CANOPEN
D
IMENSIONS AND
M
OUNTING
(I
NCHES
[M
M
]) ..................................................................... 5
F
IGURE
2:
M
OUNTING
P
OSITIONS
................................................................................................................................... 6
F
IGURE
3:
E
XAMPLE OF
S
ERIAL
N
UMBER AND
F
ACTORY
D
EFAULT
C
ONFIGURATION
L
ABEL
......................................................... 7
F
IGURE
4:
S
INGLE
H6MM-CANOPEN
S
ENSOR
............................................................................................................... 9
F
IGURE
5:
M
ULTIPLE
D
AISY
-C
HAIN
H6MM-CANOPEN
S
ENSORS
....................................................................................... 9
F
IGURE
6:
M
ULTIPLE
M
ULTI
-D
ROP
H6MM-CANOPEN
S
ENSORS
....................................................................................... 9
F
IGURE
7:
M
AX
N
UMBER OF
D
AISY
C
HAIN
H6MM-CANOPEN
S
G
RAPH
............................................................................ 10
F
IGURE
8:
C
URRENT
W
IRING
D
IAGRAMS
........................................................................................................................ 12
List of Tables
T
ABLE
1:
R
EVISION
H
ISTORY
.......................................................................................................................................... 3
T
ABLE
2:
H6MM-CANOPEN
M
ALE
8-P
IN
I
NPUT
C
ONNECTOR
W
IRING
.............................................................................. 8
T
ABLE
3:
H6MM-CANOPEN
F
EMALE
5-
PIN
D
IGITAL
O
UTPUT
D
AISY
C
HAIN
C
ONNECTOR
W
IRING
........................................... 8
T
ABLE
4:
H6MM-CANOPEN
C
URRENT
S
ENSE
.............................................................................................................. 11
0 k RIEKER inc. hugs: l/www.n’ekerinc.mm/find- graduct/hé/hsmm-documents Rieker Rugged. Rieker Reliable.w
Flex™ H6MM-CANopen User Guide
Page 3 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Sensor Description
The H6MM-CANOPEN Flex™ Multi-Mount inclinometer provides highly accurate, dual axis inclination over a
range of ±180°. These sensors incorporate MEMS accelerometers referenced to gravity with integrated
temperature compensation over the full industrial operating range of -40° to +85°C for absolute accuracy. It
can be user-configured to mount either horizontally or vertically.
The H6MM-CANOPEN has a digital CANopen output CiA (CAN in Automation) certified to DS-301 and DSP-410 for
inclinometers. It also includes LSS (Layer Setting Services) for baud rate and node ID changes. It can be used to
measure the angle of both axes, as well as configure the various digital parameters of the sensor.
The H6MM-CANOPEN additionally provides two continuous, current outputs. These outputs are set to 4mA and
20mA with an angle range of ±180°.
Updates & Revision History
The information in this guide may be subject to change. Please visit https://www.riekerinc.com/find-
product/h6/h6mm-documents
for latest version of this document.
TABLE 1: REVISION HISTORY
REV DATE DESCRIPTION
- 7/1/2019 Initial Release
av k RIEKER inc. Rieker Rugged. Rieker Reliable.”
Flex™ H6MM-CANopen User Guide
Page 4 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
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FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Sensor Specifications
INPUT PARAMETERS
SUPPLY VOLTAGE +11..36 VDC Non-Regulated
SUPPLY CURRENT
1
22mA @ 24VDC (Digital Output only)
30mA nominal @ 24VDC (Analog Output - no load)
75mA max @ 24VDC (Analog and Digital Outputs enabled)
85mA max @ 12VDC (Analog and Digital Outputs enabled)
ANALOG MEASURING RANGE ±180°
DIGITAL MEASURING RANGE ±180°
INPUT PROTECTION Reverse Polarity, ESD & Surge Protected
ABSOLUTE ACCURACY OVER FULL OPERATING TEMPERATURE
RANGE: ±180° ±0.1º typical, ±0.2º absolute max
RESOLUTION 0.05º
RESPONSE TIME
1Hz (Optional from 4Hz to 0.3Hz)
CANOPEN DIGITAL OUTPUT PARAMETERS
CERTIFICATION CiA201903-301V42/303-0233. V4.2
OUTPUT TYPE CANopen Half Duplex (2-wire) per CiA DS-301
INCLINATION OUTPUT Per CiA DSP-410
BAUD RATE Default 500Kbps (Configurable from 125K to 1M via LSS)
NODE ID Default 5 (Configurable via LSS)
FUNCTIONS TPDO (polled, cyclic, synchronized), parameterization per SDO and object
registers, SYNC Consumer, EMCY Producer, Heartbeat Producer
TEMPERATURE RANGES
OPERATING TEMPERATURE -40ºF..+185ºF (-40ºC..+85ºC)
STORAGE TEMPERATURE -49ºF..+194ºF (-45ºC..+90ºC)
MECHANICAL CHARACTERISTICS
HOUSING Aluminum, IP68, All-weather, Submersible
WEIGHT 18.6 oz. (525 Grams)
MOUNTING HOLES Accept #8 or M4.5 screws (See Dimensional Drawing)
MOUNTING PLANE Flat Horizontal or Vertical Surface
OUTLINE DIMENSIONS 4.34” x 3.26” x 1.8” [110mm x 82.8mm x 45.7mm]
ELECTRICAL CONNECTION See Electrical Connection Drawing
Notes:
1. Supply Current varies depending on outputs connected. Digital output only assumes analog output section is always
active however current loop is not connected.
m 0 k RIEKER inc. k 4. k m # m .1 m all a .03.: L ”03],- mus! f w. m E ,,£3-‘_K9\ / TOP VIEW 175 M W m, , a, W was} mm! W, _ my Cunneam ‘ ‘ Conmmr FRONT VIEW (VVAXIS) Q 0 so‘l'roM VIEW Q sEmAL NUMBER AND SENSOR coNnGuRAnoN LOCAYION Maunlmg r‘omlmn , Hnnzomnl Sufism : n m a) .24 mm Rieker Rugged. Rieker Reliable.“
Flex™ H6MM-CANopen User Guide
Page 5 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
H6MM-CANOPEN Installation and Wiring
Note: The H6MM allows the end user to select between horizontal and vertical mounting positions via object
4011h. The factory default mounting position is horizontal, lid up.
1.
On the mounting plane, prepare surface with three tapped holes 3.815” [96.9mm] apart for #9
mounting screws. NOTE that the single hole on side with the two slots is not meant to be used for
mounting
2.
Mount inclinometer to mounting plane using #9 mounting screws.
FIGURE 1: H6MM-CANOPEN Dimensions and Mounting (Inches [Mm])
m 0 k RIEKER inc. Horizontal Surface (Default) FRONT VIEW (Nuns. SIDE VIEW (X-AXIS} -‘~" ‘11- k -.+ Harizantal Surface (Upside Down) FRONT VIEW (YAXIS’ SIDE VIEW (XAXIS) ”x" ' "1+ .("W‘nu Vertical Surface FRONT VIEW (X-AXIS] SIDE VIEW (V—AXIS) ”w "1+ 1/ "*~.+ Rieker Rugged. Rieker Reliable.”
Flex™ H6MM-CANopen User Guide
Page 6 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
FIGURE 2: Mounting Positions
m 0 k RIEKER inc. Horizontal Mount Axis Orientations Vertical Mount Axis Orientations Fwyusttomeiolkming mamas Wm} Anglal wweo" «New 1 4mm2lxfifi QMDW Smmimy I 0.133333mAi' 0.1m 01199! 123W 12.0an H60 moan/+1353 M-OSW—Oéo D1 Rieker Rugged. Rieker Reliable.“
Flex™ H6MM-CANopen User Guide
Page 7 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Horizontal Mount Axis Orientations
As shown in the top drawing of
Figure 2
, the 0° orientation for a horizontal mount H6MM-CANOPEN is a
desktop level position.
For the X-axis, looking at the unit from the side with the connector facing to the right, a clockwise
rotation from the zero position is considered positive and a counter-clockwise rotation from the zero
position is considered negative.
For the Y-axis, looking at the unit from the front with the connector facing towards you, a clockwise
rotation from the zero position is considered positive and a counter-clockwise rotation from the zero
position is considered negative.
Vertical Mount Axis Orientations
As shown in the bottom drawing of Figure 2, the 0° orientation for a vertical mount H6MM-CANOPEN is with the
connector facing down.
For the X-axis, looking at the unit from the top with the connector facing down, a clockwise rotation
from the zero position is considered positive and a counter-clockwise rotation from the zero position is
considered negative.
For the Y-axis, looking at the unit from the side with the top facing to the right and the connector
facing down, a clockwise rotation from the zero position is considered positive and a counter-
clockwise rotation from the zero position is considered negative.
FIGURE 3: Example of Serial Number and Factory Default Configuration Label
NOTE: Important information about your sensor is llocated on the bottom of the H6MM-CANOPEN sensor:
Warranty Label
Factory Configured Defaults
Serial Number
Sample shown is for information purposes only.
0 k RIEKER inc. M12 (male S-pin) Pin Assignment FRONT VIEW © \ M12 (fema‘e 5-pm) @ Pin Assignment FRONT VIEW 0 © Rieker Rugged. Rieker Reliable.“
Flex™ H6MM-CANopen User Guide
Page 8 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
H6MM-CANOPEN Connector Wiring Tables
TABLE 2: H6MM-CANOPEN MALE 8-PIN INPUT CONNECTOR WIRING
PIN FUNCTION TERMINATION
1 SUPPLY VOLTAGE +11.. +36VDC WHITE
2 POWER / SIGNAL COMMON BROWN
3 CAN HI GREEN
4 CAN LO YELLOW
5 NO CONNECTION GRAY
6 ANALOG OUTPUT 1 (DEFAULT: X AXIS) PINK
7 ANALOG OUTPUT 2 (DEFAULT: Y AXIS) BLUE
8 NO CONNECTION RED
NOTES:
The front and back of the connector may not
have any pin markings in the actual connector.
The user will need to look at the front-side
keyway (see drawing) to determine pin outs.
The termination wire colors reference the cable
sold by Rieker.
TABLE 3: H6MM-CANOPEN FEMALE 5-PIN DIGITAL OUTPUT DAISY CHAIN CONNECTOR WIRING
PIN FUNCTION
1 NO CONNECTION
2 SUPPLY VOLTAGE +11..+36VDC
3 POWER COMMON
4 CAN HI
5 CAN LO
NOTE: The H6MM-CANOPEN Sensor’s Chassis Ground is NOT the same as the signal ground for the current
output return. The current output return must be connected to the POWER/SIGNAL COMMON (pin 2).
EV RIEKER inc. Rieker Rugged. Rieker Reliable.w
Flex™ H6MM-CANopen User Guide
Page 9 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
H6MM-CANOPEN Bus Wiring Configurations
When using the digital output, the H6MM-CANOPEN sensor can be connected as a single sensor or can be
connected to other sensors in a bus configuration. The following figures show three possible configurations for
using the CANopen output.
FIGURE 4: Single H6MM-CANOPEN Sensor
FIGURE 5: Multiple Daisy-Chain H6MM-CANOPEN Sensors
FIGURE 6: Multiple Multi-Drop H6MM-CANOPEN Sensors
CANopen Master
Power
120Ω Termination required at ends of bus
CANopen Master
Power
120Ω Termination required at ends of bus
CANopen Master
Power
120Ω Termination required at ends of bus
91 O k RIEKER inc. Number 01 uuus m ‘5 E 3 Max Number of Daisy-Chained H6 Units vs‘ Distance and Supply Voltage \‘I 20 to so 9: sznc- Intwun um [R1 Rieker Rugged. Rieker Reliable.“ am no +36vnc +14an “—217an w—sznc
Flex™ H6MM-CANopen User Guide
Page 10 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
FIGURE 7: Max Number of Daisy Chain H6MM-CANOPENs Graph
NOTE: This graph is based on 22AWG wire as the daisy-chain between sensors. Also note that by using a multi-
drop configuration, additional sensors may be added, up to a maximum of 60 units due to bus loading.
0 k RIEKER Inc. CAUTION: I IN NO EVENT WILL RIEKER BE LIABLE FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES OF ANV KIND. uutgut sensit 'tx NOTE: Current outputs will not work using chassis groundt Unit ground (FIN 2) must be usedt Table 4: HGMM-CANOFEN Current Sense Rieker Rugged. Rieker ReIiabIe.“
Flex™ H6MM-CANopen User Guide
Page 11 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Analog Outputs
The H6MM-CANOPEN inclinometer comes with two, continuous, current outputs that have been factory set to 4-
20mA, ±180°. For user-configurable analog (current, voltage, and switch) outputs without CANOpen, consider
the H6MM.
NOTE: Consult the factory for CANopen models that include user-configurable analog (current, voltage, and
switch) outputs.
CAUTION: The Flex™ series of sensors are manufactured to allow end user adjustments of the analog and digital
output parameters. Purchaser assumes the responsibility of ensuring that the settings are appropriate for their
specific application. IN NO EVENT WILL RIEKER BE LIABLE FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES OF ANY
KIND.
Sensitivity & Zero Angle Calculation
The output sensitivity is calculated as follows:


. For the H6MM-CANOPEN with a ±180°
range and a 4 to 20mA output:
Sensitivity =




   
Zero Degree Angle Output = 
Current Output Wiring Diagrams and Connection Procedures
1.
Connect the power (PIN 1) to an 11-36VDC supply and the ground (PIN 2) to the supply
ground/common.
2.
Connect the corresponding output (PIN 6 for output 1, PIN 7 for output 2) to the positive terminal of
the measurement device, and the sensor ground (PIN 2) to the negative terminal/common of the
measurement device.
NOTE: Current outputs will not work using chassis ground. Unit ground (PIN 2) must be used.
3.
To convert the current to a voltage output select an appropriate load resistor (Rsense) based on the
equation defined in Table 4: H6MM-CANOPEN Current Sense
TABLE 4: H6MM-CANOPEN CURRENT SENSE
R
sense
is dependent upon supply voltage and cable/wire
resistance. Ensure the following equation is met:


 


QUICK REFERENCE
SUPPLY VOLTAGE SENSE RESISTOR
12V 200-350 OHMS
24V 200-1000 OHMS
28V 200-1000 OHMS
0 k RIEKER inc. + ‘ v» _ —o a —. 7 I— + —o 1 _ _.— + M12 (mme S-pm) FmAssIgnmem mom vwa _ + v» ~l~ 1+ %{ on + M12 lma‘e aw) PmAssvgnmem FRONTV‘EW Rieker Rugged. Rieker Reliable.“
Flex™ H6MM-CANopen User Guide
Page 12 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
FIGURE 8: CURRENT WIRING DIAGRAMS
- H6MM-CANOPEN Current Output Measurement
- H6MM-CANOPEN Current Conversion to Voltage Output Measurement
H6
Dual Axis
H6 Mating Cable
11-36VDC
Power Supply
-
+
PI
N 1
PIN 6
PIN 7
PIN 2
Digital
Multimeter,
PLC, etc.
-
+
Digital
Multimeter,
PLC, etc.
-
+
GND
OUTPUT 2
OUTPUT 1
V
IN
H6
Dual Axis
H6 Mating Cable
11-36VDC
Power Supply
-
+
PIN 1
PIN 6
PIN 7
PIN 2
Digital
Multimeter,
PLC, etc.
-
+
Digital
Multimeter,
PLC, etc.
-
+
GND
OUTPUT 2
OUTPUT 1
V
IN
LOAD RESISTOR
0 k RIEKER inc. opg Rieker Rugged. Rieker Reliable.“
Flex™ H6MM-CANopen User Guide
Page 13 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Digital CANopen Communication
The H6MM-CANOPEN inclinometer comes equipped with a standardized CANopen interface per CiA DS-301 and
device profile DSP-410. This communication can be used to read inclination angles from the device. In addition,
all measured values and parameters are accessible via the object dictionary and can be stored in non-volatile
memory. By default, the H6MM-CANOPEN has a 500kbps baud rate and Node-ID 5. Both can be configured via
LSS per CiA DS-305.
The following CANopen functions are available:
Send Data objects (TPDO1) with two possible operating modes:
o Cyclic: Send at an interval (using inhibit time)
o Synchronized: Send after receipt of any number of SYNC commands
Service Data object (Standard SDO) for read/write of the object dictionary
Error messages per emergency object (EMCY)
Heartbeat producer (device health monitoring)
Storage and reload of all parameters (Store and Load Parameter Field)
CANopen Command Functions
Communication Object
INDEX
(Hex)
SUB
-
INDEX
(Hex)
OBJECT Data Type Access Default Value
(Hex)
1000 00 Device Type (device profile 410, two axes
16-bit) UNSIGNED32 RO 0002019A
1001 00 Error Register UNSIGNED8 RO 00
1002 00 Manufacturer Status Register UNSIGNED32 RO 00
1003 00 Emergency (Number of Errors) UNSIGNED8 R/W 0
1003 01 Emergency (Standard Error Field 1) UNSIGNED32 RO
1003 02 Emergency (Standard Error Field 2) UNSIGNED32 RO
1003 03 Emergency (Standard Error Field 3) UNSIGNED32 RO
1003 04 Emergency (Standard Error Field 4) UNSIGNED32 RO
1003 06 Emergency (Standard Error Field 6) UNSIGNED32 RO
1005 00 COB-ID SYNC UNSIGNED32 CONST 00000080
1008 00 Manufacturer Device Name VISIBLE STRING RO H6 FLEX
0 k RIEKER inc. Rieker Rugged. Rieker Reliable.w
Flex™ H6MM-CANopen User Guide
Page 14 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
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The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
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FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
1009 00 Manufacturer Hardware Version VISIBLE STRING RO HW PCB067
100A 00 Manufacturer Software Version VISIBLE STRING RO SW B27*
1014 00 COB-ID EMCY UNSIGNED32 RO $NODEID+0x80
1015 00 Inhibit Time Emergency UNSIGNED16 R/W 0
1017 00 Producer Heartbeat Time UNSIGNED16 R/W 0
1018 00 Identity Object (number of entries) UNSIGNED8 CONST 4
1018 01 Identity Object (Vendor ID) UNSIGNED32 RO 0000047D
1018 02 Identity Object (Product Code) UNSIGNED32 RO AA060250
1018 03 Identity Object (Revision Number) UNSIGNED32 RO 00030500
1018 04 Identity Object (Serial Number) UNSIGNED32 RO
1029 00 Error Behavior (Number of Entries) UNSIGNED8 CONST 2
1029 01 Error Behavior (Communication Error) UNSIGNED8 R/W 0
1029 02 Error Behavior (Sensor Error) UNSIGNED8 R/W 0
1200 00 SDO Server Parameter (Number of
Entries) UNSIGNED8 CONST 2
1200 01 SDO Server Parameter (COB ID Client
Server) UNSIGNED32 RO $NODEID+0x600
1200 02 SDO Server Parameter (COB ID Server
Client) UNSIGNED32 CONST $NODEID+0x580
1800 00 TPDO1 Communication (Number of
Entries) UNSIGNED8 CONST 5
1800 01 TPDO1 Communication (COB-ID) UNSIGNED32 R/W $NODEID + 0x40000180
1800 02 TPDO1 Communication (Transmission
Type) UNSIGNED8 R/W 1
1800 03 TPDO1 Communication (Inhibit Time) UNSIGNED16 R/W 0
1800 05 TPDO1 Communication (Event Timer) UNSIGNED16 R/W 0
1A00 00 TPDO1 Mapping (Number of Entries) UNSIGNED8 RO 2
1A00 01 TPDO1 Mapping (PDO Mapping Entry) UNSIGNED32 RO 60100010
1A00 02 TPDO1 Mapping (PDO Mapping Entry) UNSIGNED32 RO 60200010
* NOTE: Software revision output correction (object 0x100A). First releases may output “SW B26”, not “SW
B27”.
0 k RIEKER inc. Send P130 1 (TPDO 1i RS485 Switch (4010)): Mounting Orientation (4011M Start in Ogeration Mode (5555b Rieker Rugged. Rieker Reliable.“
Flex™ H6MM-CANopen User Guide
Page 15 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Send PDO 1 (TPDO 1)
The default transmission rate for TPDO1 is at the receipt of every SYNC object. The transmission type can be
changed based on the following table:
Transmission Type Value
Acyclic, Synchronous 0
Cyclic, Synchronous 1-240
Manufacturer Specific 254
The Manufacturer Specific type transmits at the rate of the Inhibit Time (subindex 3).
The mapping for TPDO 1 is fixed and contains the 16-bit X and Y axis inclination angles (Objects 6010h and
6020h) mapped as follows:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
X-axis angle Y-axis angle
Manufacturer Specific Objects
INDEX
(Hex)
S
UB
-
INDEX
(Hex) OBJECT Data Type Access
Default Value
(Hex)
4010 00 RS485 Switch UNSIGNED8 R/W 0
4011 00 Mounting Orientation UNSIGNED8 R/W 0
5555 00 Start in Operational Mode UNSIGNED8 R/W 0
RS485 Switch (4010h)
Writing any value to this object will set the H6MM-CANOPEN to RS485 on next power up. This feature disables
the CAN hardware interface!
WARNING: After power reset, the device will no longer communicate on the CAN bus!
Mounting Orientation (4011h)
Writing a zero to this object (default) sets the H6MM-CANOPEN to horizontal mount orientation (see Horizontal
Mount Axis Orientations).
Writing a one to this object sets the H6MM-CANOPEN to vertical mount orientation (see Vertical Mount Axis
Orientations).
Start in Operation Mode (5555h)
Writing a one to this object will set the H6MM-CANOPEN to automatically start in Operation Mode without the
presence and Network Management of a CANopen Master. Any other value disables this feature.
WARNING: Used only for debugging. Do not use in normal operations!
0 k RIEKER inc. UB- X-axis Ogerating Parameters (6011M Y-axis Ogemting Parameters (6021h Rieker Rugged. Rieker Reliable.“
Flex™ H6MM-CANopen User Guide
Page 16 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
Inclinometer Device Specific Objects (per DSP-410)
INDEX
(Hex)
SUB
-
INDEX
(Hex) OBJECT Data Type Access
Default
Value
(Hex)
6000 00 Resolution UNSIGNED16 R/W/W A
6010 00 16-bit X Axis (Longitudinal)
Inclination INTEGER16 RO
6011 00 16-bit X Axis (Longitudinal) Operating
Parameters UNSIGNED8 RO 0
6020 00 16-bit Y Axis (Lateral) Inclination INTEGER16 RO
6021 00 16-bit Y Axis (Lateral) Operating
Parameters UNSIGNED8 RO 0
X-axis Operating Parameters (6011h)
With the current revision of H6MM-CANOPEN software, the operating parameters cannot be modified and are
fixed at no inversion and no scaling. Future revisions of the inclinometer will enable this and other Device
Specific Objects.
Y-axis Operating Parameters (6021h)
With the current revision of H6MM-CANOPEN software, the operating parameters cannot be modified and are
fixed at no inversion and no scaling. Future revisions of the inclinometer will enable this and other Device
Specific Objects.
m 0 k RIEKER inc. https: l/www. riekerinc‘com/find-pruductlhslhemm-documentsk httg: / lwww.can-cia‘org/ Rieker Rugged. Rieker Reliable.”
Flex™ H6MM-CANopen User Guide
Page 17 of 17
RIEKER INC • 34 MOUNT PLEASANT ROAD • ASTON • PA • 19014 • USA
610-500-2000 fax: 610-500-2002 support@riekerinc.com www.riekerinc.com
The information and material presented may not be published, broadcast, rewritten, or redistributed without the expressed wri
tten consent of Rieker
®
Inc.
T
he content presented is provided for informational purposes only and subject to change.
©201
9 Rieker® All Rights Reserved.
FORM NUMBER: H60023
_06/19 UPDATED: 7/3/19
LSS: Change Baud Rate and Node-ID
The Node-ID and Baud Rate of each H6MM-CANOPEN can be changed through LSS (Layer Setting Service) per CiA
DS-305. LSS allows a CANopen master to read and change the settings of certain parameters of the H6MM-
CANOPEN. The following parameters can be read and/or changed:
Node-ID
CAN bus baud rate
By using LSS, the H6MM-CANOPEN can be configured for any CANopen network without physical configuration
methods like DIP switches.
EDS file
The electronic data sheet (EDS file) for the H6MM-CANOPEN inclinometer is available here:
https://www.riekerinc.com/find-product/h6/h6mm-documents/.
References
[DS-301] CiA DS-301 V4.2 – CANopen Application Layer and Communication Profile.
[DS-305] CiA DS-305 V2.0 – Layer Setting Service (LSS) and Protocols.
[DS-410] CiA DS-410 V1.2 – CANopen profile for inclinometer.
These documents are available from the CAN in Automation website http://www.can-cia.org/.

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