Profile Specific Portion (Per Cia Dsp-410); Inclination Values, Longitudinal And Lateral (6010H And 6020H); Stop Inversion (6011H And 6021H); Emergency Messages - Kübler IS60 Handbuch

(5001h/03h) - an EMCY message with respective error code is generated and the error is entered
into the error register (1001h), the manufacturer status register (1002h), as well as the error field
(1003h). Please refer to paragraphs „Error register (1001h)" Page 58, „Manufacturer status register
(1002h)" Page 58 and „Predefined error field (1003h)" Page 59.)

6.4.3 Profile specific portion (per CiA DSP-410)

Index Sub-
index
6000 h 0
6010 h 0
6011 h 0
6020 h 0
6021 h 0

Inclination values, longitudinal and lateral (6010h and 6020h)

The current angle values of the inclination axes are accessible via SDO access to the object register
(in every device mode), as well as via TPDO. The recalculation of the hundredfold, signed 16-Bit
inclination value (two's complement) is as follows:
Example: Value of 6010h = -2370 / 100 ®

Stop inversion (6011h and 6021h)

Reassignment of the mathematical prefix of the inclination value is made possible by the operating
parameter settings of an inclinometer (6011h and 6021h). This option is deactivated per manufactur-
er default, this means the direction of the angle value (polarity of the axes) corresponds to the map-
ping displayed on the type plate of the device.

6.5 Emergency messages

Each inclinometer supports EMCY messages which are sent in case of sensor, temperature, hard-
ware or guarding errors. If one of these errors occurs, the OR entries 1001h (Error Register), 1002h
(Manufacturer Status Register) and 1003h (Predefined Error Field) are activated (please refer to
paragraphs „Error register (1001h)" Page 12, „Manufacturer status register (1002h)" Page 12 and
„Predefined error field (1003h)" Page 12/13).
After an error has been corrected, the device sends an EMCY message with the "error reset" code
(0h) and the current status of the error register, as well as the manufacturer status register. The cur-
rent device status ("pre-operational, operational or stopped") is not impacted by the error states
except by the guarding error.
Parameter
Resolution (a multiple
of 0,001º)
Inclination value long-
itudinal (X-axis,
hundredfold angle value
in º, >> TPDO1)
Inversion longituzdinal,
acitvate/deactivate
(1 / 0)
Inclination value lateral
(Y-axis, hundredfold
angle value in º,
>> TPDO1)
Inversion lateral,
activate/deactivate
(1 / 0)
Data Acces Standard
type value
UNS16 ro typical
INT16 ro ...
UNS8 rw 0
INT16 ro ...
UNS8 rw 0
-23.70°
Store
x
x
16