Node Id (2000H) And Baud Rate (2001H); Limited Frequency Digital Filter (3000 H); Tpdo 1 Send When Angle Has Changed (3001 H); Internal Devide Temperature (5000 H) - Kübler IS60 Handbuch

A) Node ID (2000h) and Baud rate (2001h) are not taken into consideration when default parameters
("load" command) are reset because otherwise the inclinometer would fail to respond. Node ID
(2000h) and Baud rate (2001h) must be manually reset to default values if needed.

Node ID (2000h) and Baud rate (2001h)

After a change has occurred, the Node ID and the Baud rate only become valid after a reset ("reset
application", "reset communication" and "hardware reset"). This is why the two parameters must be
transferred to the EEPROM with the "save" command (1010h/01h) after a change has occurred.
After a reset, all COB IDs are recalculated and reset according to the predefined connection set.
The Baud rate is set in kBit/s. Table 8 displays all permissible values.
Supported Baud rates in kBit/s
10 20
Limit frequency digital filter (3000h)
The inclinometer offers the possibility to render continually forming angle values insensitive against
external, interfering vibration. With the help of a parameterizable low-pass filter parasitic vibrations
may be suppressed. The limit frequency may be set individually between 0.3 and 25 Hz. The digital
filter inside the sensor is a Butterworth Low-pass 8th Order. Values of 300 (= 0.3 Hz) to 25000 (= 25
Hz) are thereby permissable. The digital filter is deactivated by the value 0.
TPDO1 – Send when angle has changed (3001h)
Via the entry 3001h/01h the event-driven Send of the TPDO1 can be activated (= 1) or rather deacti-
vated (= 0) when the angle has changed. For activation to occur, the transmission type of the TPDO1
must be set to "asynchronous, manufacturer specific" (1800h/02h = 254).
Subindices 02h and 03h are used to separately set the minimally needed angle change for longitudi-
nal (X) and lateral (Y) axis. These two angle values are provided in°/100 (hundredfold angle value)
and may be freely set from 5 (= 0.05°, at ±10°-sensor) or rather 10 (= 0.1°, at ±45°- and ±60°-sen-
sor) to 1000 (= 10°).
If Send is activated when the angle changes, the inclinometer, while in "Operational" status, will
always reissue the TPDO1 when the inclination value of the longitudinal and/or lateral axis has
changed per the angle value preset under 3001h/02h and 03h. Here, the angle variations are always
determined and checked between the actual inclination value and the angle value sent last via the
TPDO1.
Every time the status changes into "Operational", the inclinometer alerts to the current position by a
singular send of TPDO1 (only when 3001h/01h = 1).
Note
If small angle variations are to be entered under 3001h/02h and 03h, activation of the digital filter
(index 3000h) is recommended in order to avoid vibration interference and therefore the frequent
issuance of the TPDO1.
Internal device temperature (5000h)
The internal device temperature is redetermined every 500 ms and activated in the OR. It
can be read via SDO access to the object register (in every device mode) or per TPDO. The
signed 8-Bit value (two's complement) displays the temperature in°C.

Monitoring of internal device temperature (5001h)

The internal temperature sensor can be used to monitor the internal device temperature. This type of
monitoring can be activated (= 1) or rather deactivated via the entry 5001h/01. Both temperature limit
values are individually settable. During activated monitoring and when an error occurs - temperature
underreach of the low limit value (5001h/02h) or rather temperature overreach of the high limit value
15
50 125 250 500 800 1000