MVINC-CO-X-M-x-x: User Manual

MVINC-CO-X-M-x-x
User Manual
Author: JKA
File: MVINC-CO-X_user_manual_2_04
SW: 2.17
Version:2.04
Modified: 11.12.2006 16:16
MVINC-CO-X-M user manual
User Manual
Version 2.04
Table of Contents
1.VERSION HISTORY...........................................................................................................................4
2.GENERAL.............................................................................................................................................5
2.1ABBREVIATIONS AND TERMS...................................................................................................................6
3.SUMMARY OF TECHNICAL SPECIFICATIONS........................................................................ 7
4.ORDER CODES................................................................................................................................... 9
4.1FOR INCLINOMETER MODULES............................................................................................................... 9
4.2FOR ACCESSORIES................................................................................................................................ 9
5.INTEGRATING THE DEVICE INTO THE APPLICATION...................................................... 11
5.1MEASURING AXIS AND ZERO ANGLE LEVELS............................................................................................ 11
5.2DIMENSIONS OF THE MVINC MODULE ............................................................................................... 15
5.3CONNECTORS..................................................................................................................................... 15
5.3.1Spring load PCB connector ................................................................................................. 16
5.3.2Housing connectors............................................................................................................... 16
5.3.2.1MIL4................................................................................................................................................16
5.3.2.2MIL6................................................................................................................................................17
5.4CAN BUS CABLING............................................................................................................................ 17

5.5ACCESSORIES..................................................................................................................................... 18
5.5.1Assembly sets......................................................................................................................... 18
5.5.2Mating Connectors.................................................................................................................19
5.5.3Termination stubs...................................................................................................................20
5.5.4Cables.................................................................................................................................... 20
6.SOFTWARE UPDATES.................................................................................................................... 21
6.1PROGRAMMING CABLE......................................................................................................................... 21
6.2INSTRUCTIONS TO HANDLE SOFTWARE UPGRADES ..................................................................................22
6.2.1General.................................................................................................................................. 22
6.2.2Update Procedure..................................................................................................................22
7.PROFILE AND MANUFACTURER SPECIFIC FEATURES .................................................... 24
7.1INCLINOMETER RELATED
FUNCTIONS AND CONFIGURATIONS.......................................................................26
7.1.1General.................................................................................................................................. 26
7.1.2Angle resolution..................................................................................................................... 26
7.1.3Angle inverse and offset configurations.................................................................................27
7.1.4Procedure to configure resolution, inversion and offset....................................................... 30
Copyright Axiomatic Technologies Oy
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User Manual
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7.1.5Internal timing ...................................................................................................................... 31

7.1.6Angular rate and acceleration outputs ................................................................................. 31
7.2COMMUNICATION CONFIGURATIONS .......................................................................................................32
7.2.1Device type (0x1000)............................................................................................................. 32
7.2.2Device identity (0x1018)........................................................................................................ 32
7.2.3Emergency messages............................................................................................................. 33
7.2.4CAN bus baudrate..................................................................................................................33
7.2.5Node ID.................................................................................................................................33
7.2.6PDO configurations............................................................................................................... 34
7.2.7The boot up print....................................................................................................................37
7.2.8The RS232 prints...................................................................................................................38
7.2.9The RS232 command set ...................................................................................................... 40
8.CANOPEN MANUAL AND SUPPORTED DS301 SPECIFIC OBJECTS .................................43
8.1HOW TO READ A CAN MESSAGE SEEN WITH A SIMPLE CAN TOOL............................................................43
8.2OBJECT DICTIONARY (OD).................................................................................................................. 43
8.3NETWORK MANAGEMENT (NMT).........................................................................................................43
8.4PROCESS DATA OBJECT (PDO).............................................................................................................44
8.4.1PDO COB ID......................................................................................................................... 45
8.4.2Disabling And Enabling a PDO............................................................................................ 46
8.4.3PDO transmissions................................................................................................................ 47
8.4.4PDO mappings.......................................................................................................................48
8.5SERVICE DATA OBJECT (SDO)............................................................................................................. 49
8.6SAVING THE OBJECT DICTIONARY PARAMETERS........................................................................................ 50
8.7RESTORING THE DEFAULT VALUES TO THE OBJECT DICTIONARY...................................................................51
8.8SPECIAL FUNCTIONS AND OBJECTS......................................................................................................... 51
8.8.1Boot-up message.................................................................................................................... 52
8.8.2Synchronization object (Sync)................................................................................................52
8.8.3Error Control ( Heartbeat Features).....................................................................................53
8.9LAYER SETTING SERVICE LSS.............................................................................................................. 54
8.9.1Protocol for setting the baudrate...........................................................................................54
8.9.2Protocol for setting the node ID............................................................................................ 55
9.OBJECT DICTIONARY................................................................................................................... 56
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1.
User Manual
Version 2.04
VERSION HISTORY
Versio
n
Date
Initials
Description
2.03
Nov.13th 2006
JKA
-PDO default values corrected to the PDO configurations chapter

-Version history chapter added
-Some layout corrections
-Module dimension drawing added
-Measuring axis drawings for units having MIL connectors added
2.04
Dec.11th 2006
JKA
-Filter delay spesified more preciously

-dimension and measuring axis drawings added
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2.
User Manual
Version 2.04
GENERAL
MVINC inclinometer module measures the angles of slope, elevation or inclination of an
item with respect to gravity. Measured values are provided both via CANopen and RS232
interface. The CANopen interface fullfills the CIA's communication profile DS301 and the
inclinometer profile DS410.
Depending on the module it has 1 or two measuring axis. Nominal measuring range is
0...180 degrees for MVINC-CO-1-180 (single axis) and MVINC-CO-2-180 (dual axis)
model. MVINC-CO-1-360 is capable to measure angles from 0 ...360 degrees.
Sensor elements are MEMS based which guaranties fast response time and good tolerance
against interference caused for instance by motor vibrations. Module provides also
sophisticated digital filtering which stabilizes the signal noise level below +-0.02 degrees.
The MVINC-CO-1-360 model provides additional protection against interference caused by
rotational accelerations. More information about this can be found in Integrating the device
into the application chapter.
In addition of angle data the MVINC
provides also rate and acceleration data
per each measuring axis.
MVINC modules are temperature
compensated which means that the full
accuracy of +-0.2 degrees is available
over whole temperature range.
Module is availeable with different
connector options such as 4 and 6 pin
MIL conenctors and PG outlets.
Drawing 1: MVINC-CO-x-x-PG11-2
Axiomatic Technologies provides vast variety of accessories to ease the intergration task:
Assembly sets, CAN bus termination stubs, mating connectors and cable sets are available.
More information can be found from accesories chapter.
Product highlights:
Several versions:
MVINC-CO-1-180 : single axis with meassuring range of 0...180 degrees
MVINC-CO-1-360 : single axis with meassuring range of 0...360 degrees
MVINC-CO-2-180 : dula axis with meassuring ranges of 0...180 degrees / per

axis
Operation voltage 9...35V
Fullfils CAN open DS301 ver 4.2 communication specification and inclinometer
profile 1.1
IP65 protection class
Accuracy +-0.2 degrees over whole temperature and accurate measuring range.
Applications:
Boom angle measurements (in excavators, lifts etc)
Levelling applications
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2.1
User Manual
Version 2.04
Abbreviations and terms

Abbrevation
description
CAN
Lower layer CAN protocol for upper layer CAN protocols like CAN OPEN,
J1939 and device net-
CANopen
Upper layer protocol for CAN networks
CIA
CAN in Automation, CAN open standardization organization

(www.canorg.net)
CAN ID
ID of the CAN message seen on the bus. Consists of 11 or 29 bits. Part of the
COB ID which can be found in object dictionary
COB ID
Consists of CAN ID and some control and informative bits. Found in object
dictionary
Object
Variable in obejct dictionary
Object Dictionary
Consists of objects, Accessable from CAN bus with SDO writ and read
operations
OD
Object dictionary
DS410 ver 1.1
The CAN open device profile for inclinometers. Version 1.1 is published 1.st
of January 2005
DS301 ver 4.1
The general communication profile for CAN open devices. This version is
published 21.st February 2006
MVINC-CO-1-180-x-x-x
Type of the inclinometer, single axis with accurate measuring range of +- 85

degrees, connectors and potting not defined
Type of the inclinometer, single axis with accurate measuring range of 360
degrees ,connectors and potting not defined
Type of the inclinometer, dual axis with accurate measuring range of +- 85

degrees for both axis,connectors and potting not defined
PCB
Printed circuit board
Accurate measuring range
In MVINC-CO-1-180 and MVINC-CO-2-180 modules the accurate measuring

range isn't equal to the full measuring range. Accurate range starts from +5 and
ends to + 175 degrees.
Table 1: Abbreviations and terms
Font
italic
Bold and italic
Meaning
internal inks, names of the tables and drawing
Names of the objects
Table 2: fonts and their meanings
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3.
User Manual
Version 2.04
SUMMARY OF TECHNICAL SPECIFICATIONS

All specifications typical at nominal input voltage (24 V) and 25 C unless otherwise
specified.
Operating voltage
(power supply
requirement)
Reverse polarity
protection
Current consumption
9 to 35 VDC
RS232
CAN
Baudrates up to 115200 kbits/sec, RS232 level

Philips TJA1050 Transceiver
Baudrates 50kB to 1MB
Measuring range
MVINC-CO-x-180 : 180 degrees, accurate range 5... 175 degrees.

MVINC-CO-x-360 : 360 degrees, accurate range 0...360 degrees
Accuracy
(over whole
temperature range)
MVINC-CO-x-180 :
In accurate range : +-0,2
otherwise : +-0.7 degrees
MVINC-CO-x-360 :
tilt between -30 ... +30 degrees : +-0,3 over whole measuring range
tilt between -60 ... -30 or +30 ... +60 : +-0,4 degrees
tilt between -85 ... -60 or +60 ... +85 : +-0.6 degrees
MVINC-CO-1-360: less than +-30 degrees to maintain the best accurary
between -60 ... -30 or +30 ... +60 : +-0.4 degrees
absolute maximum allowed tilt angle is +-85 degrees
MVINC-CO-1-180: less than +-70 degrees to maintain the best accurary
absolute maximum tilt is +-85 degrees
0.1 as default. SW adjustable between 0.01 and 1 degrees
70 250ms, depending on the module type and ave filter configuration
70ms (MVINC-2-X-CO or MVINC-1-360 with zero AVE)
Maximum tilt angle

(tilted perpendicural
to the measuring axis
Resolution
Delay
Provided
70mA with 24volts
Table 3: Electrical Specifications
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Operating conditions
Declaration of
conformity (CE)
Communications
LED indicators
Electrical connections
EMC compatibility
User Manual
Version 2.04
-40 to +85C (-40 to 185F)

Yes
CAN bus: CANopen
RS232
Inside the module: green power led and red/green status led.
4 and 6 pin military, PG outlets or customer spesific,
Fulfills the requirements of the heavy industrial environment.
Emissions:
EN61000-6-4:2001
Immunity:
EN61000-6-2:1999
Protection class
Vibration
Weight
IP65
Vibration compliance is suitable for mobile equipment and industrial applications.
Fully potted (MIL connector variants)
Half potted (PG outlet and MIL connector variants)
Packaging and
dimensions
Aluminium housing.
75 x 79 x 58 mm (W x L x H), mounting brackets and connectors excluded
Table 4: General specifications

Specifications are subject to update without notice.
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4.
User Manual
Version 2.04
ORDER CODES
4.1
For Inclinometer Modules
MVINC -
CO
180
MIL4
Can protocol
Amount of
measuring
axis
Measuring range per

axis
Conector type
Amount of
connectors
CO =
CANopen
1 = single
180 = nominal
range +-90 degrees
per axis, accurate
range +-88
MIL4 = 4 pin
military C5015
1 = one
2 = dual
360 = 360 degrees
MIL6= 6 -pin
military KPSE
2 = two
PG11 = PG11
outlet
Table 5: MIVINC order codes
4.2
For Accessories
C1
MIL4
D1
B1
90
250
B2
D2
C2
Connector type
Connector
dust cap
Cable boot
angle
Cable lenght in
centimeters
Cable boot
angle
Connector
dust cap
Connect
or type
MIL4 : 4 pin
military C5015
D:
dust cap
provided
90 : 90 degrees
0...20000
See B1
options
See D1
options
See C1
options
MIL6 : 6 -pin
military KPSE
0 : without
cap
0 : 0 degrees
Dust cap
selected
90 degrees
boot
2.50 meters
No boot
No cap
Free
end
0 = free end
MIL 4 connector
selected
Table 6: Order codes for cable sets
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Order Code
User Manual
Part description
Version 2.04
Supplied
quantity
AS-1
Assembly set #1
AS-2
Assembly set #2
WP
welding plate
MP-HW
Mounting plate with high sides walls
MP-LW
Mounting plate with low sides walls
CT-270
Cable tie 4*270mm
M8-ND
M8 nordlock
M8-NUT
M8 Nut
M8-25-HEX-SOCKET
M8 * 25mm Hexagon Socket Screw
MIL4-F-W
Wire connector MIL4 female , 4 pins
MIL6-F-W
Wire connector MIL6 female, 6 pins
BOOT-90
Cable boot 90 degrees angle
BOOT-0
Cable boot straight
RS232-D9F-Free
RS232 programming cable. Cable length

is 1 meter.
CAN-T_STUB-MIL4-F
120 ohm CAN termination stub in MIL4

female connector
CAN-T_STUB-MIL6-F
120 ohm CAN termination stub in MIL6

female connector
CAN-TR-120-7W
120 ohm 7 Watts termination resistor
Table 7: Order codes for accessories excluding cable sets
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5.
5.1
User Manual
Version 2.04
INTEGRATING THE DEVICE INTO THE APPLICATION

Measuring axis and zero angle levels
The drawings below describe the zero levels as well as measuring axis and the positive
direction of measuring axis for all the inclinometer types. Offset and inversion functions are
not used.
Long corresponds to the longitudal axis (object 0x6010)
Lat corresponds to the latitudal axis (object 0x6020)
The MVINC-CO-1-360-x-x module is intended to be mounted on side so that the cover
points to the side.
Illustration 1: MVINC-CO-1-360-PG-x module mounted on its side
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User Manual
Version 2.04
Illustration 2: MVINC-CO-1-360-MIL4-1
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User Manual
Version 2.04
MVINC-CO-2-180-x-x module should be installed so that the cover points upwards.
Illustration 3: MVINC-CO-2-180-PG11-x mounted on bottom
Illustration 4: MVINC-CO-2-180-MIL4-1 measuring axis
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User Manual
Version 2.04
The MVINC-CO-1-180-x-x module should be mounted on its side or so that the cover
points upwards.
Illustration 5: MVINC-CO-1-180-PG11-X module mounted on side
Illustration 6: MVINC-CO-1-180-PG11-X module mounted on its bottom
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5.2
User Manual
Version 2.04
Dimensions of the MVINC Module
Illustration 7: Dimensions and mounting holes of MVINC housing
5.3
Connectors
The MVINC module can be connected to CAN bus with MIL connectors or spring loaded
connector terminals depending on the selected connector type (MIL-4, MIL-6 or PG). All
connector types allow connecting the device to the bus as a chained node or with a drop
line.
In addition of CAN bus connection module provides also RS232 interface as data output.
RS232 connection is also used for software upgrades. RS232 signals are normally available
in spring load connector block, though in case of MIL6 connector they are also available in
housing connector.
Connector pinouts are described in the following sub chapters. The following signal types
are used:
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Abbrev.
User Manual
Version 2.04
Meaning
PWR
Power supply signal
GND
Ground level signal
CAN
CAN bus signal (ISO 11898)
RS232
RS-232 signals
Table 8: Signal Types
5.3.1
Spring load PCB connector
The PCB connector consists of ZFKKDS-5.08 spring load terminal blocks and which are
manufactured by Phonix Contacts.
Maximum allowed wire size is 1.5mm2 (AWG 16)
Pin
Signal
Type
Function
CAN sh
CAN
CAN shield
V supply
PWR
Power supply
GND
GND
Power supply ground
CAN hi
CAN
CAN bus hi signal
CAN lo
CAN
CAN bus lo signal
Table 9: Connector J1 signals

Power supply voltage range is 9...35 V.
CAN bus signals withstand short circuits to 40V and GND.
5.3.2
Housing connectors
There are two standard options for housing connector: MIL4 and MIL6. Others are
available on request. Both of twose connector types are designed to be used in harsh
environment and they are IP67 rated. Axiomatic Technologies has used them several years
succesfully in various mobile and military applications.
5.3.2.1
MIL4
ITT Cannon CA3102E14S-14S-2P-F80 , 4 pins, male, IP67

Mating connector is TT Cannon CA3106E14S-14S-2P-F80-DN , 4 pins, female, IP67, cable
clamp provided.
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Pin
User Manual
Signal
Type
Version 2.04
Function
V supply
PWR
Power supply
GND
GND
Power supply ground
CAN hi
CAN
CAN bus hi signal
CAN lo
CAN
CAN bus lo signal
Table 10: MIL4 Connector pinnout

Power supply voltage range is 9...35 V.
CAN bus signals withstand short circuits to 40V and GND.
5.3.2.2
MIL6
ITT Cannon KPSE02E10-6P

Mating connector ITT Cannon KPSE6E10-6SDN or KPSE6E10-6SDZ
Pin
Signal
Type
Function
V supply
PWR
Power supply
GND
GND
Power supply ground , used also as

RS232 GND
CAN hi
CAN
CAN bus hi signal
CAN lo
CAN
CAN bus lo signal
RS232_TX
RS232
RS232 transmit
RS232_TX
RS232
RS232 transmit
Table 11: MIL6 connector pinnout
5.4
CAN bus cabling

The bus should be routed continuously from one module to another. Though drop lines with
specified length are allowed. Maximum lenghts are specified in table below. A 120 ohms
terminating resistor must be attached to both ends of the bus. It is recommended to use at
least 7W resistors to ensure that they withstands short circuits to power supply lines.
Baudrate
Max total
bus length
Max stub length
Max accumulated
stub length
1 Mbit/s
25m
1,5m
7,5m
800 kbit/s
50m
2,5m
12,5m
500 kbit/s
100m
5,5m
27,5m
250 kbit/s
250m
11m
55m
125 kbit/s
500m
22m
110m
50 kbit/s
1000m
55m
275m
Table 12: Baudrates, bus and stub lengths
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User Manual
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The grounds of all modules must be toed together using low impedance cabling. It is
recommended to use a system ground point to which all ground lines are connected.
Common ground wires for devices consuming lot of current should also be avoided.
Otherwise potential differences may become too big.
5.5
Accessories
5.5.1
Assembly sets
There are 2 different assembly sets available. The main difference between them is the
shape of the mounting plate. Mounting plate provided in set #1 provides more protection
against mechanical impacts. All parts of the assembly sets are also available separately.
Order code
Reference in
Part name
Provided
Drawing
Quantity In
Drawing #
Set #1
Set #2
WP
Welding plate
MP-HW
Mounting plate with high sides walls
MP-LW
Mounting plate with low sides walls
CT-270
Cable Tie 4*270mm
M8-ND
M8 nordlock
M8-NUT
M8 Nut
M8-25-HEX-SOCKET
M8 * 25mm Hexagon Socket Screw
Table 13: Assembly set part lists
Illustration 8: MVINC with M4 connector(s) and

Assembly set #1
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User Manual
Version 2.04
Illustration 9: MVINC-CO-1-360-MIL4-2 with assembly set 2
5.5.2
Order
Code
Mating Connectors
The following mating connector are available:

Description
Part #
Order Codes for Mating

Dust cap
Cable Boot
MIL4-F-W
4 pin female, AWG max
CA3106E14S-14S-2P-F80-DN
DC-MIL4-F
BOOT-0, BOOT-90
MIL6-F-W
6 pin female, AWG max
KPSE6E10-6SDN
DC-MIL6-F
BOOT-0, BOOT-90
Table 14: Mating connectors, dust caps and cable boots

Mating connectors are supplied with the crimps.
Crimping should be accomplished with particular crimping tool.
Order code for the crimping tool is
Boots
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User Manual
Version 2.04
90 degrees angle :
Manufacturer Raychem, part #222K132-25/225-0, order code BOOT-90
Straight:
Manufacturer Raychem, part # 202K132-25/225-0, order code BOOT-0
Dust caps
5.5.3
Termination stubs
TBD
5.5.4
Cables
Axiomatic Technologies is also able to provide custom cable sets which fit to the MVINC
housing connectors.
Feature
Description
Cable type
Wire count
4 or 6
Temperature
range
-40...125 degrees of celsius
Oil resistant
Yes
Minimum
bend radius
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6.
User Manual
Version 2.04
SOFTWARE UPDATES
Module contains a serial interface for software downloads. The interface utilises RS232
protocol.
Serial port (COM1)

Power supply 12 / 24V
PC
MVINC
J4
J1, J2, X1
or X2
Illustration 10: Setup for software updates
6.1
Programming cable
Particular programming cable is not required. Connecting RS signals (RX, TX , GND) to
the computer's RS232 port is all what is needed. Programming cables are available from
Axiomatic Technologies Oy with order code RS232-D9M-Free
D9 Female
MVINC: connector, pin
Signal
R1, 3
GND
R2, 5
txd
R1, 5
rxd
Table 15: Programming cable pin outs
21/63
6.2
User Manual
Version 2.04
Instructions to Handle Software Upgrades

6.2.1
General
Usually the best way to handle sw upgrades is to send module to Axiomatic Technologies.
However it's possible in some cases that customer handles the update by himself. Contact
Axiomatic Technologies for new SW versions.
Note that sw upgrade results often restoring the settings to factory default values! Factory
calibration data won't normally get lost but other setting are restored!
6.2.2
Update Procedure
Software can be upgraded via RS232 interface.

What is needed :
1. PC with terminal software, for example the HyperTeminal, or the preferred one,
Teraterm
2. Programming cable. See instructions on chapter 6.1.1
.
The HyperTerminal software is found normally in the Windows Start menu ->
Programs -> Accessories -> Communications -> HyperTerminal.
The initial settings in HyperTerminal are done using the following steps:
1. Start HyperTerminal. New connection window opens, where you can type a name for
the connection. Type here MVINC sw download and press Ok.
2. Connect window opens. Select from the drop-down box at the bottom of the window
(Connect using) the serial port you have available on your PC, for example Direct to
COM1.
3. Serial port settings window opens. Enter the following values:
Bits per second:
115200
Data bits:
8
Parity:
None
Stop bits:
1
Flow control: XON/XOFF
4. Now the actual terminal window opens. Press the 'd' button down and power up the
MVINC module. The terminal window should show text Send S file. If you don't see
anything, check the connection of the serial cable, and that the COM port you have
selected is really available on your PC, and try again.
5. Now you can download new software by clicking File -> Send file. File browsing
window pops up. Select correct elf.S -file and click OK. You may also just drag and
drop the file into terminal window.
6. Reboot the module after succesfull download.
7. The bootup print should state that the SW version has changed and settings are restored
to factory defaults
sr-ldr 1.3-5mv
PORInitializing timer...done.
Initializing adc...done.
Initializing ext eeprom...done.
Init I/O...
Reading parameters...
MAGIC: 81680100 SW: 215
285 bytes in EEPROM, reading checksum
Checksum ok, loading parameters from EEPROM
Loading parameters...done.
msCAN: Node ID = 127
msCAN: Baudrate = 125 kbit/s
msCAN: Creating rx-buffer...
msCAN: Creating tx-buffer....
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msCAN: Adding id 7E5 to receive list

Initializing PDO 0, type 2...
Alloc.mem. @0x05D0, size 22 bytes
COB 00004000
-> ID: 1FF, type 254
-> Mapped objs: 4
map obj:1A00 sub:0-> Mapping index 6010, sub 00, size 10
Alloc.mem. @0x05E8, size 22 bytes
COB 0000C000
-> Mapped objs: 2
msCAN: Adding id 67F to receive list
msCAN: Adding id 080 to receive list
msCAN: Setting 2nd ID filter...done
Sync to CAN...OK
Axiomatic MVINC-CO-1-360 V2.15,RT_t_calib
Released 9.Aug.2006 16:00
SN:0
of:17108 se:13753 tar:-90.0 st:2000 min
0.4422149 ->RAW:3354
of:17108 se:13753 tar:-80.0 st:2800 min
0.0061035 ->RAW:3565
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0.0036621 ->RAW:5198
of:17108 se:13753 tar:-30.0 st:8000 min
0.0009155 ->RAW:10231
of:17108 se:13753 tar:30.0 st:22000 min
0.0009155 ->RAW:23984
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0.0036621 ->RAW:29018
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0.0061035 ->RAW:30651
of:17108 se:13753 tar:90.0 st:32000 min
0.4422149 ->RAW:30862
of:17108 se:13753 tar:-90.0 st:2000 min
0.4422149 ->RAW:3354
of:17108 se:13753 tar:-80.0 st:2800 min
0.0061035 ->RAW:3565
of:17108 se:13753 tar:-60.0 st:4000 min
0.0036621 ->RAW:5198
of:17108 se:13753 tar:-30.0 st:8000 min
0.0009155 ->RAW:10231
of:17108 se:13753 tar:30.0 st:22000 min
0.0009155 ->RAW:23984
of:17108 se:13753 tar:60.0 st:27000 min
0.0036621 ->RAW:29018
of:17108 se:13753 tar:80.0 st:28000 min
0.0061035 ->RAW:30651
of:17108 se:13753 tar:90.0 st:32000 min
0.4422149 ->RAW:30862
FIR_ORDER:141
ave:delay:50ms
1.0000 (0.00) 1.0002 (0.01) 1.0000 (0.02) 1.0000 (0.03) 1.0000 (0.04) 0.0000 (0.05) 0.9999 (0.06) 0.9999 (0.07)
0.9999 (0.08) 0.9998 (0.09) 0.9998 (0.10)
0.9998 (0.1) 0.9993 (0.2) 0.9985 (0.3) 0.9974 (0.4) 0.9959 (0.5) 0.9941 (0.6) 0.9920 (0.7) 0.9896 (0.8) 0.9868
(0.9) 0.9838 (1.0)
-0.1 (1) -0.5 (2) -1.3 (3) -2.4 (4) -3.8 (5) -5.9 (6) -8.6 (7) -12.5 (8) -19.1 (9) -100.0 (10)
-15.9 (17) -19.3 (27) -21.1 (37) -21.8 (47)
MAIN_LOOP
8. Give #SSt! and #CSa! commands to save the restored settings to nonvolatile memory
9. Reboot the application and reconfigure the module!
23/63
7.
User Manual
Version 2.04
PROFILE AND MANUFACTURER SPECIFIC FEATURES

This chapter describes the device profile and manufacturer specific features of the MVINC
inclinometer modules. DS301 specific objects and features are described mainly in CAN
open chapter.
MVINC-CO-a-m (a= number of measuring axis, m = measuring range per each axis)
modules implements the CIA's device profile for single and dual axis inclinometers
(DS410). Modules support all mandatory and some optional objects that the profile
specifies.
Module provides almost all DS410 specific features also through RS232 interface,
including angle values, preset and offset functions, inversion etc.
M: mandatory, C : conditional (ie. required if something else is supported), O : optional
24/63

Index
(Hex)
Name
User Manual
size
Type
Provided
only in
co-1360
1000
co_device_ type
U32
ro
1018
co_identity
2000
co_temperature
record
I8
ro
ro
2002
co_ave_size
U16
5001
co_manuf_1
5002
Version 2.04
Notes
Available in
RS232
co-2180
-
in boot up print
Temperature inside the module
in degrees Celsius
#STt!
rw
Size of additional ave filter
I16
ro
Manufacturer use only
co_print_cmd
U32
rw
Commads RS232 debug print

on and off
#P! ,#STf, STt!
5005
co_manuf_2
I16
rw
Manuf. use only
5009
co_manuf_3
array
ro
Manuf. use only
5010
co_manuf_4
I16
ro
Manuf. use only
5011
co_manuf_5
I16
ro
Manuf. use only
5012
co_manuf_6
array
ro
Manuf. use only
5013
co_manuf_7
array
ro
Manuf. use only
5015
co_manuf_8
array
ro
Manuf. use only
5019
co_manuf_9
array
ro
Manuf. use only
5020
co_manuf_10
I16
ro
Manuf. use only
5021
co_manuf_11
I16
ro
Manuf. use only
5022
co_manuf_12
array
ro
Manuf. use only
5023
co_manuf_13
array
ro
Manuf. use only
5025
co_manuf_14
array
ro
Manuf. use only
5515
co_slope_ long_rate
I32
ro
5516
co_slope_ long_acceleration
I32
ro
5525
co_slope_ lat_rate
I32
ro
5526
co_slope_ lat_acceleration
I32
ro
6000
co_resolution
U16
rw
#SERvvvv!
6010
co_slope_ long16
I16
ro
#STt!
6011
co_slope_
long16_oper_param
U8
rw
6012
co_slope_ long16_preset_val
I16
rw
#SEPxvvvvv!
6013
co_slope_ long16_offset
I16
rw
#SZ!
6014
co_slope_ long16_diff_offset
I16
rw
#SEDOxvvvv!
6020
co_slope_ lat16
I16
ro
6021
co_slope_ lat16_oper_param
U8
rw
6022
co_slope_ lat16_preset_val
I16
rw
#SEPyvvvvv!
6023
co_slope_ lat16_offset
I16
rw
#SZ!
6024
co_slope_ lat16_diff_offset
I16
rw
#SEDOyvvvv!
#STt!
#STt!
*
x
*
#STt!
x
#STt!
#SEIxt!, #SEIxf!
#SESxt!, #SESxf!
#STt!
#STt!
#SEIyt!, #SEIyt!
#SESyt!, #SESyf!
25/63
User Manual
Version 2.04
Table 16: Supported objects defined in the encoder profile DS406
7.1
Inclinometer related functions and configurations

7.1.1
General
Sensor provides inclination angle, rate and acceleration rata of each of its measuring axis.
User is able to configure angle resolution, inversion and offsets. Reolution is allways
common for both axis (in case of MVINC-CO-2-x) but other parameters are set individually
for each axis.
Illustration Illustration 11: angle , rate and acceleration calculations describes how sensor
output variables are calculated.
Illustration 11: angle , rate and acceleration calculations

All parameters and sensor output variables are described in their own sub chapter.
The last sub chapter [Procedure to configure resolution, inversion and offset] describes the
correct procedure to configure module's inclinometer related parameters.
7.1.2
Angle resolution
Output angle resolution is configurable with object co_resolution (0x6000). Acceptable

values are 10, 100 and 1000 and the default value is 100. Note that 0,01 degrees is not
accepted in case of MVINC-CO-1-360 module. Resolution can be set also from RS232 with
#SERvvvv! command where vvvv corresponds the same resolution set values that are user
with co_resolution object.
26/63
Value of
co_resolution object
User Manual
Version 2.04
Resulting
resolution
(degrees)
Notes
1000
100
0.1
50
NON STANDARD VALUE!! Acts as scaling.

Example real angle 12.24 -> on bus : 245
10
0.01
Not possible with MVINC-CO-1-360
0.001
Not supported
Table 17: relationship between value in resolution object and actual resolution
co_resolution
Value range of the co_slope_long or co_slope_lat
1000
-90 ... 90 , 0 ...359
100
-900 ... 900 , 0...3599
10
-9000 ... 9000 , 0...35999
Table 18: Relationship between co_resolution and sensor output

Note that the resolution does't change the unit of acceleration or rate output!
7.1.3
Angle inverse and offset configurations
Angle output can be inversed and offset can be added through the object dictionary. In
addition same functionality is available through RS232 interface. Corresponding RS232
commands can be found in chapter
Inversion can be activated from co_slope_long16_oper_param
lat16_oper_param objects by setting the bit 0 as 1.
and
co_slope_
Angle output is calculated according to the following equation in case or longitudal angle or
single axis 360 degrees sensor:
co_slope_long16 = INVERSE_IF_NEEDED( measured_long16 ) + co_slope_long16_offset +
co_slope_long16_diff_offset
User is able to adjust both co_slope_long16_offset and co_slope_long16_diff_offset

variables.
co_slope_long16_offset is intended to be set through preset_value object (co_slope_
long16_preset_val ). User should write the actual angle that he wants the output to be at the
moment to the preset_value object. Module calculates the needed offset and writes it to the
co_slope_long16_offset. Offset can be zeroed by writing 0 to the offset object
co_slope_long16_offset.
Preset method suits well to mounting offset calibration, which means that user sets zero
level after mounting the module to the application. The actual offset is not needed to be
known; for instance in case of an excavator it's enough to drive boom to level and write
then 0 to the preset_val object to get the zero level set.
Equation along which
co_slope_lat16_offset :
module
calculates
the
co_slope_long16_offset
and
27/63
User Manual
Version 2.04
co_slope_long16_offset = co_slope_long16_preset_val INVERSE_IF_NEEDED( measured_long16 ) - co_slope_long16_diff_offset
User is also able to set the offset with the diff_offset objects (co_slope_long16_diff_offset
and co_slope_lat16_diff_offset). Module uses both offsets in paraller in output angle
calculation as stated in equation given above.
Note that the offset values have to be defined after configurateing the resolution and
reconfigured after changing resolution. Example: Initial resolution is 100 (0.1 degrees) and
value in co_slope_lat16_offset is 123 (12,3 degrees). Resolution is then changed to 10
(0.01 degrees) without reseting the offset value. Effective offset is now 1.23 degrees!
Offset objects are ignored unless the scaling is enabled in co_slope_long16_oper_param
and co_slope_ lat16_oper_param objects. Feature is active if bit 1 (second lowest bit) is
set as 1.
The value range of the co_slope_long16_preset_val, co_slope_lat16_preset_var,
co_slope_long16_diff_offset and co_slope_lat16_diff_offset objects is
(measuring_range_low_end) ... ( measuring_range_high_end)
for MVINC-CO-x-180 and
(-1 *measuring_range_high_end) ... ( measuring_range_high_end)
in case of MVINC-CO-x-360 module the value range is then
-3599 ... 3599 ( 359,9) with resolution of 0.1 degrees
and for MVINC-CO-x-180 with resolution of 0.01 degrees
-9000.... 9000 (-90,00 ... 90,00 )
28/63
True physical
angle
User Manual
Value of
co_diff_offset
or co_offset
Version 2.04
Value of
co_slope_long16
MCINVCO-x-180
Notes
MCINVCO-x-360
400 (40.0)
201 (20.1)
601 (60.1)
601 (60.1)
400 (40.0)
-2002 (-200.2)
Unacceptable
offset value
1998(199.8)
400 (40.0)
901 (90.1)
1301 (130.1)
1301(130.1)
1000 (100.0)
3599 (359.9)
True angle
out of range
999 (99.9)
1000 (100.0)
4000 (400.0)
True angle
out of range
Unacceptabl
e offset
value
-622 (-62.2)
700 (70.0)
78 (7.8)
True angle
out of range
2212 (221.2)
1800 (180.0)
True angle
out of range
412 (41.2)
2212 (221.2)
-1800 (-180.0)
True angle
out of range
412 (41.2)
2212 (221.2)
2800 (280.0)
True angle
out of range
1412 (141.2)
2212 (221.2)
-2800 (-280.0)
True angle
out of range
3012 (301.2)
Used to shift the measuring range of MVINC

180 from +-90 to 0..180
Note that the good accuracy range is now
between 2...178 degrees. And sensor is most
accurate when the output is close to 90 degrees
Table 19: Examples of offsets and resulting output angles
True physical
angle
400 (40.0)
Value of
co_slope_long16 while inverse bit is on
MCINV-CO-x-180
MCINV-CO-x-360
-400 (-40.0)
3200 (320.0)
-405 (-40.5)
-405 (40.5)
True angle out of range
3014 (301.4)
586 (58.6)
-1111 (-111.1)
248.9 (248.9)
Table 20: Examples on how the inversion bit affects to the output angle
29/63
index Type
Acc.
User Manual
Name
Version 2.04
notes
0x6000
UNSIGNED16
rw
co_resolution
0x6010
INTEGER16
ro
co_slope_ long16
Longitudal angle
0x6011
UNSIGNED8
rw
co_slope_ long16_oper_param
Bit 0 controls inversion

Bit 1 controls offset features
0x6012
INTEGER16
rw
Sets output angle to this value
0x6013
INTEGER16
rw
Offset that corresponds to given preset angle
0x6014
INTEGER16
rw
Indipendent offset
0x6020
INTEGER16
ro
co_slope_ lat16
0x6021
UNSIGNED8
rw
0x6022
INTEGER16
rw
0x6023
INTEGER16
rw
0x6024
INTEGER16
rw
Following are used only in dual MVINC-CO-2-X

Latitude angle
Table 21: Objects related to the angle inversion and offset configuration
7.1.4
Procedure to configure resolution, inversion and offset
The following order must be obeyed:

1.
To avoid false angle, rate and acceleration values command the module to the preoperational state by sending a NMT command (instructions available in network
management chapter)
2.
Configure the resolution (if non default value is used) with the co_resolution
( 0x6000) object.
3.
Set inverse mode if needed by setting bit 0 of co_operating_params ( 0x6011 and

0x6021) object as 1
4.
Set the offset by co_preset_value and /or co_diff_offset objects

1. Allow scaling by setting co_operating_params ( 0x6011 and 0x6021) bit 1 as
logic 1.
2. Set current angle as something else with co_preset_value object if needed.
3. Use co_diff_offset object to add known offset.
5.
Test that the settings are OK.
6.
Save setting to the nonvolatile memory by sending save all objects command to
the module. See instructions from chapter Saving the object dictionary
parameters.
30/63
User Manual
Version 2.04
Illustration 12: Configuration procedure
NOTES:
If an upper level parameter is changed all lower level parameters have to be reconfigured
aswell! This means that offsets have to be reconfigured if resolution is changed.
Particular save command is needed to store setting to nonvolatile memory
(co_store_params object or #CSa! RS232 command, more information in CANopen
chapter).
7.1.5
Internal timing
Module calculates new angle, rate and acceleration values every 10th millisecond. 10 ms is
also minimum PDO send interval.
7.1.6
Angular rate and acceleration outputs
Device provides also angular rate (speed) and acceleration information. The angular rate is
available in co_slope_ long_rate and co_slope_ lat_rate objects. Acceleration values can be
found in co_slope_ long_acceleration and co_slope_ long_acceleration objects. All of
them can also be found from RS232 normal data print.
31/63
index
User Manual
type
access
Version 2.04
variable
description
0x5515
INTEGER32
ro
co_slope_ long_rate
Longitudal angular speed
0x5516
INTEGER32
ro
Longitudal angular acceleration
0x5525
INTEGER32
ro
co_slope_ lat_rate
Latitudal angular speed
0x5526
INTEGER32
ro
Latitudal angular acceleration
Table 22: rate and acceleration related objects

Rate is always given as degrees per second. Thee lowest numbers form the decimal part.
1234567 corresponds then 1234.567 degrees/ second. Value of the resolution object
(co_resolution) doesn't affect to the resolution of rate or acceleration objects.
Acceleration is given as degrees/ sec2. Value contains also decimal part which is formed by
three lowest numbers. 2345 corresponds then 2,345 degrees.
To use the rate and acceleration values in real time user should activate the second PDO and
in case of MVINC-CO-2-x also the third PDO. PDO chapter describes how this can be
done.
7.2
Communication configurations
7.2.1
Device type (0x1000)
The device type object (0x1000) identifies the type of the product. Data in the lower 4 bytes
0x019A ( 410 as decimal number) tells that the module fulfills the CIA inclinometer profile
DS410. Data in the four upper bytes tells the amount of measuring axis and measuring
ranges.
index
0x1000
sub
1
type
U32
Acc.
RO
variable
co_device_type
values
notes
0x1801019A
MVINC-CO-1-180
0x3601019A
MVINC-CO-1-360
0x1802019A
MVINC-CO-2-180
Table 23: The device type object
7.2.2
Device identity (0x1018)
Device identity object identifies the module vendor, vendors product code and product
revision number. Modules unic serial number is also provided in sub 4. It can also be read
from the RS232 boot up print.
32/63
index
0x1018
sub
User Manual
type
Acc.
variable
co_identity
values
Version 2.04
notes
U32
RO
U32
RO
0x55
Vendor ID (0x55 = Axiomatic

Technologies Oy)
U32
RO
0x2000
Product code
0x2000: MCINC-CO-1-180
0x2005: MCINC-CO-1-360
0x2010: MCINC-CO-2-180
U32
RO
Revision number
Bits 0-15
Application sw ver.
number
Bits 16-31
CAN behaviour ver

number
Example: 0x01020211 == CAN 1.02 ,

Application 2.17
4
U32
RO
Serial number. 0 if not set
Table 24: The device identity object
7.2.3
Emergency messages
MVINC doesn't support emergency (EMCY) messages.
7.2.4
CAN bus baudrate
Every device connected to the CAN bus has to use same baudrate. Baudrate can be changed
with the LSS protocol ( a CAN open sub protocol) or trough RS232 interface with a #SBvv!
command. The LSS protocol is described in details in CANopen manual chapter.
The serial protocol command is #SBvv! where xx is serial command index. Supported
baudrate values and correlated indexes for LSS and serial commands are listed in table
below. Baudrate of an unconfigurated device is 125 kbit/s.
baubrate
LSS index
Serial command index
Supported
1 Mbit/s
0x00
1000
800 kbit/s
0x01
800
500 kbit/s
0x02
500
250 kbit/s
0x03
250
125 kbit/s
0x04
125
50 kbit/s
0x06
50
Table 25: Supported command indexes for baudrate setup
7.2.5
Node ID
Each module connected to the same CAN bus must have an unique node ID. System
integrator may change device's node ID through CAN interface with the LSS protocol, or
through RS232 with #SNvvv! command.
Range for node IDs is 1 to 127. Usually 127 states that the node is unconfigurated.
33/63
User Manual
Version 2.04
CANopen manual chapter provides more information about the LSS protocol. The RS232
command for adjusting the node ID is #SNvvv! where vvv is the node ID as a decimal
number.
Note that the node ID changed via object dictionary won't be used until the communication
parameters are saved and module is reseted! This should be done immediately after
configuring the node ID.
Note that the PDO CAN IDs should be checked after changing the node ID with LSS
protocol. PDO CAN ids are set to the default values if RS232 #SNvvv! command is used.
System configurator should take account that Node IDs defines PDOs' priorities in case that
the default IDs are used. This means that the smaller node ID the higher priority its
messages have.
7.2.6
PDO configurations
MVINC has up to three transmit PDOs (process data object) which deliver the measurement
data from the inclinometer module to other modules connected to the CAN bus. Dual axis
sensor (MVINC-CO-2-X) provides 3 usable PDOs while other modules provide 2 usable
PDOs.
The PDO subchapter in CANopen manual chapter provides more information about the
PDOs and how they can be configured. However PDO's default settings' are described in
tables below. Default transmission types for all PDOs are asynchronous.
Note that each module type (MVINC-CO-1-180, MVINC-CO-2-180 and MVINC-CO-1360 ) has slightly different communication and mapping parameters!
index
0x1800
sub type
0
Acc.
RO
variable
co_tpdo_comm_par[0]
Def. values
notes
U32
RW
0x4000180 +
node id
PDO's CAN id is 180 + node id,

No RTR.,11 bits IDs,
PDO enabled
U8
RW
0xFE
Transmission type: Event driven,

message will be sent when the event
timer triggers
U16
RW
Inhibit time, not supported
U8
RW
Reserved
U16
RW
Event timer: 0 -> PDO is not send in

case of 0xFE transmission type.
Table 26: TPDO1's communication parameters
34/63
index
0x1A00
sub
type
User Manual
Acc.
RW
variable
co_map_comm_par[0]
Version 2.04
Def.values
notes
Number of mapped objects.

Can be edited to leave
unnecessary data out.
U32
RW
0x60100010
Mapped object: 0x6010, subindex

0, 16 bits. (long angle)
U32
RW
0x20000008

0, 8 bits. (temperature)
U32
RW
0x20010010

0, 16 bits. (aux input)
Table 27: MVINC-CO-1-180 TPDO1 mapping parameters
index
0x1A00
sub
type
Acc.
RW
variable
co_map_comm_par[0]
Def. values
notes
Number of mapped objects
U32
RW
0x60100010

0, 16 bits. (long angle)
U32
RW
0x20000008

U32
RW
0x20010010

0, 16 bits. (aux input)
U32
RW
0x20000008

Table 28:MVINC-CO-1-360 TPDO1 mapping parameters
index
0x1A00
sub
type
Acc.
RW
variable
co_map_comm_par[0]
Def.values
notes
U32
RW
0x60100010
Mapped object: 0x6010,

subindex 0, 16 bits. (long angle)
U32
RW
0x60200010

subindex 0, 16 bits. (lat angle)
U32
RW
0x20000008

subindex 0, 8 bits. (temperature)
U32
RW
0x20010010

subindex 0, 16 bits. (aux input)
Table 29: MVINC-CO-2-180 TPDO1 mapping parameters
35/63
index
0x1801
sub
type
User Manual
Acc.
RO
variable
co_tpdo_comm_par[1]
Version 2.04
Def. values
notes
U32
RW
0xC000280 +
node id
PDO's CAN id is 280 + node id

No RTR, PDO disabled
U8
RW
0xFE

timer triggers
U16
RW
U8
RW
Reserved
U16
RW

Table 30: TPDO2's communication parameters

index
0x1A01
sub
type
Acc.
RW
variable
Def.values
co_map_comm_par[1]
notes
U32
RW
0x55150020
Mapped object: 0x5515 subindex

0, 32 bits. (long rate)
U32
RW
0x55160020

0, 32 bits. (long acceleration)
Table 31: TPDO2 mapping parameters for all types

The third PDO is usable only with dual axis module (MVINC-CO-2-X). Single axis module
with 180 degrees measuring range (MVINC-CO-1-180) doesn't have it at all and in
MVINC-CO-1-360 it's a dummy PDO which can't be used.
index
0x1802
sub
type
access
RO
variable
co_tpdo_comm_par[2]
Def. values
notes
U32
RW
0xC000380 +
node id

U8
RW
0xFE

message will be sent when the
event timer triggers
U16
RW
U8
RW
Reserved
U16
RW
Event timer: 0 -> PDO is not send

in case of 0xFE transmission type.
Table 32: MVINC-CO-2-180 TPDO3 communication parameters
index
0x1A02
sub
type
Acc.
RW
variable
co_map_comm_par[2]
Def. values
notes
U32
RW
0x55250020

0, 32 bits. (lat rate)
U32
RW
0x55260020

0, 32 bits. (lat acceleration)
Table 33: TPDO3 mapping parameters for MVINC-CO-2-180
36/63
index
0x1802
sub
type
User Manual
Acc.
RO
variable
co_tpdo_comm_par[2]
Version 2.04
Def.values
notes
U32
RO
0xC000380 +
node id

U8
RO
0xFE

timer triggers
U16
RO
U8
RO
Reserved
U16
RO

Table 34: MVINC-CO-1-360 TPDO3 communication parameters
index
0x1A02
sub
type
Acc
RO
variable
Def. values
co_map_comm_par[2]
notes
U32
RO
0x55250020

0, 32 bits. (lat rate)
U32
RO
0x55260020

0, 32 bits. (lat acceleration)
Table 35: TPDO3 mapping parameters for MVINC-CO-1-360
7.2.7
The boot up print.
The following print comes through RS232 port when module is powered. The last line is
printed after module has been commanded to the operational state.
sr-ldr 1.3-5mv
PORInitializing timer...done.
Initializing adc...done.
Initializing ext eeprom...done.
Init I/O...
Reading parameters...
MAGIC: 81680100 SW: 215
285 bytes in EEPROM, reading checksum
Checksum ok, loading parameters from EEPROM
Loading parameters...done.
msCAN: Node ID = 127
msCAN: Baudrate = 125 kbit/s
msCAN: Creating rx-buffer...
msCAN: Creating tx-buffer....
msCAN: Adding id 7E5 to receive list
Alloc.mem. @0x05D0, size 22 bytes
COB 00004000
-> Mapped objs: 4
Alloc.mem. @0x05E8, size 22 bytes
COB 0000C000
-> Mapped objs: 2
37/63
User Manual
Version 2.04

msCAN: Setting 2nd ID filter...done
Sync to CAN...OK
Axiomatic MVINC-CO-1-360 V2.15,RT_t_calib
Released 9.Aug.2006 16:00
SN:0
of:17108 se:13753 tar:-90.0 st:2000 min
0.4422149 ->RAW:3354
of:17108 se:13753 tar:-80.0 st:2800 min
0.0061035 ->RAW:3565
of:17108 se:13753 tar:-60.0 st:4000 min
0.0036621 ->RAW:5198
of:17108 se:13753 tar:-30.0 st:8000 min
0.0009155 ->RAW:10231
of:17108 se:13753 tar:30.0 st:22000 min
0.0009155 ->RAW:23984
of:17108 se:13753 tar:60.0 st:27000 min
0.0036621 ->RAW:29018
of:17108 se:13753 tar:80.0 st:28000 min
0.0061035 ->RAW:30651
of:17108 se:13753 tar:90.0 st:32000 min
0.4422149 ->RAW:30862
of:17108 se:13753 tar:-90.0 st:2000 min
0.4422149 ->RAW:3354
of:17108 se:13753 tar:-80.0 st:2800 min
0.0061035 ->RAW:3565
of:17108 se:13753 tar:-60.0 st:4000 min
0.0036621 ->RAW:5198
of:17108 se:13753 tar:-30.0 st:8000 min
0.0009155 ->RAW:10231
of:17108 se:13753 tar:30.0 st:22000 min
0.0009155 ->RAW:23984
of:17108 se:13753 tar:60.0 st:27000 min
0.0036621 ->RAW:29018
of:17108 se:13753 tar:80.0 st:28000 min
0.0061035 ->RAW:30651
of:17108 se:13753 tar:90.0 st:32000 min
0.4422149 ->RAW:30862
FIR_ORDER:141
ave:delay:50ms
1.0000 (0.00) 1.0002 (0.01) 1.0000 (0.02) 1.0000 (0.03) 1.0000 (0.04) 0.0000 (0.05) 0.9999 (0.06) 0.9999 (0.07)
0.9999 (0.08) 0.9998 (0.09) 0.9998 (0.10)
0.9998 (0.1) 0.9993 (0.2) 0.9985 (0.3) 0.9974 (0.4) 0.9959 (0.5) 0.9941 (0.6) 0.9920 (0.7) 0.9896 (0.8) 0.9868
(0.9) 0.9838 (1.0)
-0.1 (1) -0.5 (2) -1.3 (3) -2.4 (4) -3.8 (5) -5.9 (6) -8.6 (7) -12.5 (8) -19.1 (9) -100.0 (10)
-15.9 (17) -19.3 (27) -21.1 (37) -21.8 (47)
MAIN_LOOP
CO: OPERATIONAL
7.2.8
The RS232 prints
The measurement data can be achieved through the RS232 interface in addition of the CAN
interface. Printing can be controlled both with object table and RS232 commands. From
Rs232 #P! command inits the debug print and #STt! normal data print. #STf! ends the
normal data print. Interval of the data print can be adjusted with #STivvvvv! command
where the send interval (vvvvv) is given as milliseconds.
Object co_print_cmd (0x5002) controls the printing from CAN bus. Writing 0x1234vvvv
to that object inits the debug print and 0xvvvv5678 inits the normal data print. vvvv tagged
numbers are ignored. All other values stops printing. Using 0x0000 is recommended
though.
RS232 Baudrate can also be adjusted with #STbvvvv! command where vvvv is the
suggested baudrate.
Note that setting won't be stored to nonvolatile memory unless save command is given
(#CSa! from RS232 or correct SDO write to the 0x1010 sub 1 from CAN). Some
parameters requires #SSt! command to get stored. See table Table 37: RS232 commands
which controls RS232 printing for further information.
index
0x5002
sub
0
type
U8
access
RW
variable
co_print_cmd
values
notes
Controls serial printing
0xYYYY5678 -> debug printing is on
0x1234YYYY -> normal data printing
is on
Table 36: Object dictionary variable related to RS232 printing
38/63
Command
Value
range
User Manual
Default
value
Available
via CAN
Description
#P!
#STx!
f ,t
#STixxx!
10, 20 ...
100000
200
No
Sets the print interval for

normal printing
#STbxx!
19200
38400
57600
115200
115200
No
#CDx!
f ,t
#SSt!
Version 2.04
Notes
Saving to
nonvolatile
memory
Restore
command
co_print_cmd
Turns the debug prints on
#CSa! ,CAN
#CRa! ,CAN
co_print_cmd
Turns the normal printing

on and off
#CSa! ,CAN
#CRa! ,CAN
#SSt!
#SRt!
Sets the baudrate for

RS232 interface
#SSt!
#SRt!
No
turns the CAN info

prints the on and off
#SSt!
#SRt!
No
Saves print interval and

baud rate to nonvolatile
memory
Multiplies of
10 ms
10 ==10ms,
100==100ms
Table 37: RS232 commands which controls RS232 printing
A print example while normal print mode is chosen. Current resolution is 0.1 degrees
long:
264 (22814) rate:
0.0 acc:
0.00, lat: -148 (13322) rate:
-0.5 acc:
-0.55, temp: 35
long:
264 (22814) rate:
0.0 acc:
0.00, lat: -148 (13323) rate:
0.0 acc:
-0.55, temp: 35
long:
264 (22814) rate:
0.0 acc:
0.00, lat: -148 (13324) rate:
0.0 acc:
0.00, temp: 35
long:
264 (22814) rate:
0.0 acc:
0.00, lat: -148 (13323) rate:
0.0 acc:
0.00, temp: 35
long:
264 (22812) rate:
-0.5 acc:
-0.55, lat: -148 (13323) rate:
0.0 acc:
0.00, temp: 35
long:
264 (22811) rate:
0.0 acc:
0.00, lat: -148 (13321) rate:
0.0 acc:
0.00, temp: 35
long:
264 (22812) rate:
0.0 acc:
0.00, lat: -148 (13322) rate:
0.0 acc:
0.00, temp: 35
long:
264 (22812) rate:
0.0 acc:
0.00, lat: -148 (13323) rate:
0.0 acc:
0.00, temp: 35
Debug print:
long(X): O:16810 S:13502 ang:
15346.2 rate:
long(X): O:16810 S:13502 ang:

15346.7 rate:
-6.07
0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:
-6.07
7.5% t: 35.0 co 35
0.02
16817.0 rate:
0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:
-6.07
7.7% t: 35.0 co 35
0.02
16817.6 rate:
0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:
-6.07
0.02
7.6% t: 35.0 co 35
16818.6 rate:
0.0 accl: 0.00 -irq:
0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:
7.6% t: 35.0 co 35
16816.9 rate:
0.0 accl: 0.00 -irq:
long(X): O:16810 S:13502 ang:

15347.2 rate:
0.02
0.0 accl: 0.00 -irq:
long(X): O:16810 S:13502 ang:

15346.6 rate:
16816.5 rate:
0.0 accl: 0.00 -irq:
long(X): O:16810 S:13502 ang:

15346.5 rate:
0.02
0.0 accl: ss0.00 -irq:
0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:
-6.07
7.6% t: 35.0 co 35
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7.2.9
User Manual
Version 2.04
The RS232 command set
Module supports quite many RS232 commands providing then almost same functionality
for both RS232 and CANopen. All value arguments (vvv ) are given as INTEGER16
without any leading zeroes.
40/63
Command
Value
range
User Manual
Def.
value
Available
trough CAN
interface
Description
Version 2.04
notes
Saving to
nonvolatile
memory, A ->
automatically
#SNvvv!
1-127
127
LSS protocol
Sets the node ID.
New node ID will be effective after

module is reseted. Sets the PDO
CAN ids as default
#SBvvv!
125, 250,
800, 500,
1000
125
Through the LSS

protocol
Sets the baudrate.
Will be effective after next reset.
#P!
off
co_print_cmd
Toggles the debug

prints on and off
#CSa! , CAN
#STv!
f ,t
co_print_cmd
Turns the normal data

prints on and off
#CSa! , CAN
#STivvv!
10, 20 ...
100000
200
No
Sets the print interval

for normal printing
#STbvvv!
19200
38400
57600
115200
115200
No
Sets the baudrate for

RS232 interface
#SSt!
#CDv!
f ,t
Turns the CAN

information prints on
and off
#SSt!
#CRa!
co_restore_params
sub 1
Restores object table to Protected objects (P) are not

factory defaults.
restored. No calibration data is lost.
#CSa!
co_store_params sub
1
Stores all object table

objects to nonvolatile
memory.
#SRt!
Restores the RS232

baudrate and normal
print intervals to
factory defaults.
#SSt!
#RO!
Multiplies of 10 milliseconds
10 ==10ms, 100 == 100ms
Doesn't save the setting

automatically to the nonvolatile
memory.
#SSt!
#SSt!
Stores the print settings

described above to
nonvolatile memory
Prints the object table
#SERvvv!
10,100,
1000
100
co_resolution
To set the resolution
#CSa! , CAN
#SEIav!
v : f, t
a: x, y
co_slope_
long16_oper_param
co_slope_
lat16_oper_param
Controls the inversion

bit of given axis
#CSa! , CAN
#SESav!
v : f, t
a: x, y
co_slope_
long16_oper_param
co_slope_
lat16_oper_param
Controls the scaling bit

of given axis
(argument a)
#CSa! , CAN
#SEPavv!
v:
measuring_r
ange
a: x, y
co_slope_
long16_preset_val
co_slope_
lat16_preset_val
Preset angle function

for given axis
#CSa! , CAN
#SZ!
co_slope_
long16_preset_val
co_slope_
Preset angle function

for all axis with preset
angle of 0 degrees.
#CSa! , CAN
41/63
Command
Value
range
Def.
value
User Manual
Available
trough CAN
interface
Description
lat16_preset_val
co_slope_
long16_oper_param
co_slope_
lat16_oper_param
Enables also scaling

from operating params
Version 2.04
notes
Saving to
nonvolatile
memory, A ->
automatically
#SECOa!
a: x, y
co_slope_
long16_offset
co_slope_
lat16_offset
Clears the offset of

given axis
#CSa! , CAN
#SEDOavvv!
v:
measuring_r
ange
a: x, y
co_slope_
long6_diff_offset
co_slope_
lat16_diff_offset
Differential slope
function.
#CSa! , CAN
Table 38: Supported RS232 commands
42/63
8.
User Manual
Version 2.04
CANOPEN MANUAL AND SUPPORTED DS301 SPECIFIC OBJECTS

CANopen is a CAN-based higher layer protocol. It was developed as a standardized
embedded network with highly flexible configuration capabilities. CANopem was targeted
for motion-oriented machine control networks, such as handling systems. By now it is used
in many various fields such as excavators mining equipment and military vehicles.
Standardized profiles developed by CiA members simplify system designer's integration
task. CANopen is flexible and open enough to allow both manufacturer specific
functionality and the generic functionality described in the device profiles to be integrated
in very same device.
CANopen provides standardized communication objects for real-time data transfers
(Process Data Objects, PDO), configuration data (Service Data Objects, SDO), and special
functions (Time Stamp, Sync message, and Emergency message) as well as network
management data (Boot-up message, NMT message, and Error Control).
8.1
How to read a CAN message seen with a simple CAN tool

The message below is a SDO read message seen with a simple CAN tool. Message is
addressed to module which node ID is 0x0A (10d). The type of CAN messages is little
endian (INTEL type).
CAN ID
Length
60A
40
00
18
01
00
00
00
00
Table 39: An example of CAN message seen with a simple CAN tool
Data corresponds to the following in human readable format:
00 00 00 00 18 01 00 40
8.2
Object dictionary (OD)

The object dictionary provides access to the application program of the device in terms of
application data as well as in terms of configuration parameters. OD is an indexed table
where an index may contain also subindexes. OD is divided in the following segments:
8.3
0x1000 0x1FFF
0x2000 0x5FFF
0x6000 0x9FFF
0xA000 0xBFFF
0xC000 0xFFFF
Communication object area

Manufacturer specific area
Device profile specific area
Interface profile specific area
Reserved
Network management (NMT)

A NMT message is mapped to a single CAN frame with the data length of 2 bytes. Its
identifier (CAN ID) is always 0. The first byte contains the command specifier (recipient go
to this state) and the second contains the Node ID of the device that should perform the
command. If Node ID is 0 all nodes have to perform the command. The following states
(commands) are specified:
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User Manual
Version 2.04
Initialization
Pre-Operational
Operational
Stopped
After power-on, each CANopen device is first in the state Initialization and automatically
transits then to the state Pre-operational. In Pre-operational state module may transmit and
receive SDOs. Nodes, that the NMT master has set into the state Operational, are also
allowed to transmit and receive PDOs. In the state Stopped no communication is allowed
excluding the NMT messages.
The Initialization state is divided into three sub-states in order to enable a complete or
partial reset of a node. In the sub-state Reset the parameters of the manufacturer-specific
profile, standardized device profile and application area are set to their power-on values. In
the sub-state Reset Communication the parameters of the communication profile area are set
to their power-on values. The third sub-state is initializing, which a node enters
automatically after power-on. Power-on values are the last stored parameters read from
nonvolatile memory.
The command specifiers (recipient go to this state) of NMT messages are:
1
2
128 (0x80)
129 (0x81)
130 (0x82)
Start (go to operational)

Stop
Enter pre-operational
Reset node
Reset communication
CAN ID
lenght
D0
D1
0x000
0x01
0x0A
D2
D3
D4
D5
D6
D7
Table 40: NMT message that commands node 10 (0x0A) into the operational state
8.4
Process data object (PDO)

Process Data Objects (PDOs) carry application data from one node to one or more nodes.
Each PDO message may contain up to 8 bytes of the data. Each PDO has a unique identifier
(CAN ID ).
PDO transmissions are not confirmed which means that the receiver will not send any kind
of PDO received message after receiving a PDO.
There are two types of PDOs. Module provides process data to other CAN modules by
sending transmit PDOs (TPDO). Receive PDOs (RPDOs) define the messages which
carries process data to the module from other modules connected to the CAN bus. Only one
module can send a PDO with certain CAN ID but may modules can receive the very same
PDO.
Devices supporting TPDOs are called PDO producers and devices which are able to receive
PDOs are called PDO consumers. The very same module may provide both those functions.
PDO communication parameters describe the communication capabilities of the PDO. PDO
mapping parameters define the contents of the PDO. The indexes of the corresponding OD
entries of the PDO communication and mapping parameters are computed according to the
following formulas:
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User Manual
Version 2.04
RPDO communication parameter index = 1400h + RPDO-number -1

TPDO communication parameter index = 1800h + TPDO-number -1
RPDO mapping parameter index = 1600h + RPDO-number -1
TPDO mapping parameter index = 1A00h + TPDO-number -1
Every PDO has to have a pair of communication and mapping parameters.

Index
Sub
Value
Parameter
Notes
0x1800
Number of parameters
For the first transmit PDO
0x1800
0x4000018A
COB ID
PDO's is CAN ID is 0x18A. PDO is enabled.

RTR not supported
0x1800
254
Transmission type
Manufacturer specific event driven . If

enabled it will be transmitted with interval
stated in sub index 5 (event timer)
0x1800
Inhibit time
Not supported always 0
0x1800
reserved
0x1800
50
Event timer
PDO is transmitted every 50 ms
Table 41: An example of communication parameters of the first transmit PDO
8.4.1
PDO COB ID
The COB ID of PDO describes part of the functionality that the PDO provides and it
defines PDO's CAN ID. In addition PDO can be disabled and enabled through it.
While defining the PDO identifier user should consider the importance of the data that PDO
should transfer. Important messages should have high priority to guarantee short response
time. Priority is defined by PDO's CAN ID. The smaller ID the higher priority message has.
Module Node ID defines the PDO priority in case that default PDO CAN IDs are used. The
smaller Node ID the smaller CAN IDs and the higher priorities module's PDO and other
messages have.
MVINC module allows editing the PDO's COB Id.
Bit
31
30
29
28
11
10
Field name
Valid bit
RTR
frame
Upper 18 bits of 29
bit CAN ID
11 bit CAN ID
Value range
0/1
Always 1
Always 0
0x0 0000
0x000 ... 0x7ff
Description
Set 0 to enable the

PDO and 1 to disable
it
RTR not
supported
29 bits
IDs not
supported
29 bits IDs not

supported
To enable the automatic CAN ID calculation

for this PDO set the CAN ID data as 0 or to
match to the current default ID of this PDO
( default id + node id, for instance 0x180 +
node id)
Field
Implemented
in MVINC
YES. But doesn't act

as a protect bit! So
PDO parameters can
be edited without
disabling PDO first!
YES
YES
NO
YES
Table 42: The structure of PDO's COB ID and one possible value set
MVINC module supports automatic CAN ID calculation, which means that the software
updates PDO's CAN ID automatically if module's NODE ID is changed and module is
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User Manual
Version 2.04
rebooted. This feature is on as default for every PDO after restoring communication
parameters. You may check the status of this feature by comparing PDO's CAN ID found in
the OD to PDO's default CAN ID. If they match the default calculation is on. The default
CAN IDs can be calculated according to the following table.
PDO
Index of the
Communication
object
1st transmit PDO
TPDO _0
TPDO _1
Default CAN
ID
0x1800
0x180 + node ID
nd
0x1801
0x280 + node ID
rd
2 transmit PDO
Notes
TPDO _2
3 transmit PDO
0x1802
0x380 + node ID
Supported only in MVINC-CO-2-X
TPDO _3
4th transmit PDO
0x1803
0x480 + node ID
Not supported in MVINC
st
RPDO _0
1 receive PDO
0x1400
0x200 + node ID
RPDO _1
2nd receive PDO
0x1401
0x300 + node ID
rd
0x1402
0x400 + node ID
th
0x1403
0x500 + node ID
RPDO _2
3 receive PDO
RPDO _3
4 receive PDO
Table 43: The relationship between the default PDO CAN ID and module node ID
8.4.2
Disabling And Enabling a PDO
Transmission (receive or transmit) of an individual PDO is enabled by clearing PDO's valid

bit. The valid bit is part of PDO's COB ID which is located for the first transmit PDO
(TPDO_1) in sub 1 of index 0x1800. A procedure to disable and enable the TPDO_1 is
described below.
1) Read PDO's current COB ID with the SDO read command. If you are using a
simple command line CAN tool send the following message (Assumes that the
node ID of the device to be configured is 0x0A) :
CAN ID
Length
60A
40
00
18
01
00
00
00
00
Module's respond in case that the request was legal:

CAN ID Length
0
1
2
3
4
58A
43
00
18
01
8A
01
00
C0
Bytes 4 - 7 are the actual data of the object 1800 sub 0. In the reply above the COB ID
received from the module is 0xC000018A.
2) If you want to enable the PDO use logic AND to clear the valid bit:
new_COB_ID = current_COB_ID & ~PDO_VALID_BIT
where ~ stands for a logical inversion operand and PDO_VALID_BIT is defined
as 0x80000000.
To disable the PDO the logic OR function has to be used to set the VALID bit:
new_COB_ID = current_COB_ID | PDO_VALID_BIT.
In this case we want to enable the PDO so we end up to the following numerical
values:
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User Manual
Version 2.04
new_COB_ID = 0xC000018A & ~PDO_VALID_BIT

= 0xC000018A & 0x7FFFFFFF = 0x4000 018A
3) Send data to the module
CAN ID
Length
60A
01
8A
01
00
40
Module's respond if write succeeded:

CAN ID Length
0
1
2
01
00
00
00
00
60
00
2
18
58A
23
00
18
4) If the change is supposed to last longer than until next reset, the store
communication parameters command has to have be send to the module. This is
done by writing save signature to the sub index 1 of the co_store object ( index
0x1010)
CAN ID Length 0
1
2
3
4
5
6
7
60A
23
10
10
Module's respond if write succeeded:

CAN ID Length 0
1
2
58A
60
10
10
01
3
01
73
4
00
61
5
00
76
6
00
65
7
00
If module is now reseted the changes should still be valid.

The easiest way to configure modules by hand is to buy a CAN open tool which provides a
straight access to the objects in the object dictionary. Contact Axiomatic Technologies to get
more information.
8.4.3
PDO transmissions
PDO transmissions may be driven by an internal event, by an internal timer, by remote

requests or by receiving Sync messages. The transmission type is defined in PDO's
communication parameter table. The transmission type variable of the TPDO_1 is located in
index 0x1800 sub index 2.
Event- or timer-driven: An event (specified in the device profile) triggers message

transmission. An elapsed timer may also trigger the transmission. Note that the
transmission interval can be configured only as multiplies of module's internal
CAN timer which is 10 ms in MVINC modules.
Remotely requested: Another device may initiate the transmission of an

asynchronous PDO by sending a remote transmission request. Results to high bus
load. Not supported in Axiomatic modules.
Synchronous transmission: In order to initiate simultaneous sampling of input

values of all nodes, a periodically transmitted Sync message is required.
Synchronous transmission of PDOs takes place in cyclic and acyclic transmission
mode. Cyclic transmission means that the node waits for the Sync message, after
which it sends its measured values. The PDO transmission type number (1 to 240)
indicates the Sync rate to which module synchronizes itself. Acyclically
transmitted synchronous PDOs are triggered by a defined application-specific
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event. The node transmits its values with the next Sync message but will not
transmit again until another application-specific event has occurred.
Value
Description
0x00
notes
synchronous
...
0xF0
synchronous
0xF1
Reserved
....
0xFB
Reserved
0xFC
RTR - synchronous
NOT SUPPORTED
0xFD
RTR event driven
NOT SUPPORTED
0xFE
Manufacturer specific Event

driven
0xFF
Device profile Event driven
NOT SUPPORTED
Table 44: PDO transmission types (value can be found in PDO's communication parameter
table sub index 2)
8.4.4
PDO mappings
The PDO mapping parameters define which objects are transmitted within a PDO. They
describe also the sequence and lengths of the mapped application objects. A device that
supports variable mapping of PDOs must allow remapping during the pre-operational state.
If dynamic mapping during operational state is supported, the SDO Client (the configurator)
is responsible for the data consistency. MVINC allows remapping during the operational
state though it's not recommended to do so. New mapping won't be effective until module is
rebooted. Size of mapped object must be multiply of one byte (8 bits).
It's not possible to map more objects to the PDO than the dafault value of sub 0 of mapping
paremeter states. MVINC doesn't check the leagality of the mapping parameters so that
remains solely on user responsibility!
Procedure to change the communication parameters or/ and mapping parameters of the first
transmit PDO (TPDO_1):
1) Disable the PDO by setting the valid bit as 1 (index 0x1800 sub index 1). Detailed
instructions are provided in chapter Disabling and enabling a PDO.
2) In case you want just to change the amount of mapped objects you can update the
amount by writing new amount to the sub 0.
3) Edit the mapping
4) Set the amount of mapped objects to correct value
5) Enable the PDO by setting the valid bit as 0.
6) Store settings by writing SAVE signature to the sub 1 of co_store_params object.
7) Reboot the module.
8) Command module to the operational state and check that PDO's contents are
correct.
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Index
Sub
User Manual
Value
Mapped
index[sub]
Version 2.04
Number of
mapped
bits
Notes
0x1A00
0x1A00
0x60100010
0x6010[0]
0x10 = 16
0x1A00
0x60200010
0x6030[1]
0x10 = 16
0x1A00
0x20000080
0x2000[0]
0x08 = 8
Not mapped because the sub 0

defines that only first two are
mapped
0x1A00
0x20010010
0x2001[0]
0x10 = 16
Not mapped because the sub 0

defines that only first two are
mapped
Table 45: An example of PDO mapping parameters

Example of a PDO. The first transmit PDO message from node 10 could look like this if
four bytes of data have been mapped.
CAN ID
length
D0
D1
D2
D3
0x01
0x23
0x45
0x67
0x18A
D4
D5
D6
D7
Table 46: An example of PDO message
8.5
Service data object (SDO)

A Service Data Object (SDO) reads object contents or writes to objects of the Object
Dictionary. The SDO transport protocol allows transmitting objects of any size. However
usually while accessing standard object only four bytes are transferred at maximum.
Below is an example where client reads data from server's object 0x1800 sub index 1.
CAN
ID
0x609
0x600 +
receiver's
node ID
length
D0
D1
D2
D3
0x40
0x00
0x18
0x01
Command
specifier. (CCS)
Lower
Index
byte
Higher
Index
byte
Sub
index
D4
D5
D6
D7
Data
byte 0
Data
byte 1
Data
byte 2
Data
byte 3
Reading object
which size is 1,
2 or 4 bytes
Table 47: An example of a SDO read message send from master (client)
49/63
CAN
ID
length
0x589
0x580 +
sender's
node ID
User Manual
D0
D1
Version 2.04
D2
D3
D4
D5
D6
D7
0x43
0x00
0x18
0x01
0x89
0x01
0x00
0x40
Command
specifier. (SCS)
Lower
Index
byte
Higher
Index
byte
Sub
index
Data
byte 0
Data
byte 1
Data
byte 2
Data
byte 3
Returning data o
which size is 4
bytes
Table 48: An example of server's (usually slave) response to client's (usually master) SDO
read message
As the following table describes a data request message (SDO read) doesn't contain any
information on the size of the requested data. Module's response (here's the data) contains
information about the size of data.
Data size
(bytes)
Client's command specifier (CCS)

( Usually master) when it sends SDO
read command (==Give data of this
sub index of this object )
Server's command spesifier

( SCS) ( usually slave ) when it
returns the data
0x40
0x4F
0x40
0x4B
0x40
0x43
Table 49: Important command specifiers of SDO reads for both client and server
As the following table describes save this data to object request (SDO write) contains
information about the size of the data. Module's response doesn't contain such information.
Data size (bytes)
CCS in write command ( ==

write this data to this sub
index of this object)
SCS in response in case of

success
0x2F
0x60
0x2B
0x60
0x23
0x60
Not defined
0x22
0x60
Table 50: Important command specifiers for SDO writes
8.6
Saving the object dictionary parameters

Parameters in the object dictionary can be saved by a simple SDO write to the
co_store_params (0x1010) object. Due to the save command parameters are stored to the
nonvolatile memory, so recent values won't be lost in case of power off.
In MVINC module user is able to save all parameters at once by writing evas signature
(0x65766173) to the sub 1 of co_store_params object. The #CSa! RS232 command has
same effect.
50/63
Index
0x1010
Sub
Type
User Manual
Acc.
Variable
co_store_params
Version 2.04
Values
Description
Notes
U32
RO
U32
RW
0x1
0x65766173
Store all
parameters
On command
U32
RW
Store
communication
parameters
NOT
SUPPORTED
U32
RW
Store application
specific
parameters
NOT
SUPPORTED
U32
RW
Store
manufacturer
specific
parameters
NOT
SUPPORTED
Table 51: Store parameters object in the object dictionary
8.7
Restoring the default values to the object dictionary

The default values can be restored to the object dictionary a simple SDO write to the
co_restore_params (0x1011) object. After the restore command parameters are restored to
the default values but they are not saved to the nonvolatile memory! This means that the
configurator has to execute the store parameters command to save the restored values to the
nonvolatile memory.
User is able to restore all parameters at the same time by writing daol signature
(0x64616F6C) to the sub 1 of co_restore_params object. The #CRa! RS232 has same
effect.
Index
0x1011
Sub
Type
Acc.
Variable
co_restore_params
Values
Description
Notes
U32
RO
U32
RW
0x1
0x64616F6C
Restore all
parameters
U32
RO
Restore
communication
parameters
NOT
SUPPORTED
U32
RO
Restore
application
specific
parameters
NOT
SUPPORTED
U32
RO
Restore
manufacturer
specific
parameters
NOT
SUPPORTED
Table 52: Restore parameters object (0x1011)
8.8
Special functions and objects

CANopen also defines four specific protocols for synchronization, emergency indication,
time-stamp transmission and device boot-up indication.
51/63
8.8.1
User Manual
Version 2.04
Boot-up message
A CANopen device sends a boot-up message during initialization when its state reaches
pre-operational. Boot-up message is similar to the heartbeat message by having CAN ID
0x700 + node-id but its data is always 0x00. The communication profile (CiA DS301)
defines the startup behavior.
In some systems the boot-up message might be sent to empty bus. Because there is no
other module accepting this message, the module keeps resending the message until it goes
to the bus-off condition. Therefore sending a boot-up message is configurable through
Object dictionary. Bit 0 of unsigned 8 bit variable at 0x5000 in the object dictionary
controls whether the boot-up message is sent or not.
Bit 0 = 0: boot-up message is disabled
Bit 0 = 1: boot-up message is enabled
index
0x5000
sub
0
type
U8
Acc.
RW
variable
values
co_CANopen_options
0,1
notes
Bit 0 enables boot-up
message if set as 1
Table 53: Object dictionary variables related to boot-up message send configuration
8.8.2
Synchronization object (Sync)
The sync object 0x1005 defines whether the module supports broadcasting a sync message
(sync producer) and the CAN ID of the sync message to be sent or received.
The Sync Object is broadcasted periodically by the Sync Producer. It's possible that there is
some jitter in transmission time due to that there are some other objects with higher prior
identifiers. MVINC module doesn't provide sync producer functionality.
31
30
29
28
11
10
Module
broadcasts sync
message bit
frame
0x0 0000
CAN ID of the sync message to be

broadcasted or received
Always 0
Always 0
29 bit CAN ID (not supported in this module)
Bit is
irrelevant
module doesn't
support this
feature
29 bits Ids not

supported
Default value is 0x80,
Can't be edited
Can't be edited
Noneditable
Table 54: The structure of the COB ID of the sync
CAN ID
0x80
length
D0
D1
D2
D3
D4
D5
D6
D7
Table 55: sync message on CAN bus if the sync generation multiplier is 0
Length of sync object is 0 or 1. Lenght is 1 if the sync producer utilises multiplied the sync
producing interval.
52/63
CAN ID
User Manual
length
0x80
D0
D1
D2
Version 2.04
D3
D4
D5
D6
D7
0x20
Table 56: sync message on CAN bus if the sync generation multiplier is 32 (0x20)
8.8.3
Error Control ( Heartbeat Features)
The Heartbeat protocol provides an error control method by both monitoring states of one
or more nodes (heart beat consumer feature) and by signaling Node's own state (heart beat
producer feature). A heartbeat error occurs if the heartbeat consumer doesn't receive a new
heartbeat message in given maximum interval or the state of the heartbeat producer node
isn't operational. In this case heartbeat consumer module switches its state to defined error
state. For MVINC module this error state is pre-operational state. No PDOs are going the
be transmitted and module's outputs (in case it have any) are driven to safe state.
A heartbeat message is a periodic message from one node to one or more nodes. Heartbeat
message contains one byte of data and message's CAN ID is 0x700 + sender's node ID.
CAN ID
length
D0
0x707
0x05
D1
D2
D3
D4
D5
D6
D7
Table 57: An example of heart beat message coming from node 7. Module is in operational
state
State
Description
0xFF
Bus off
0x7F
Pre -operational
0x05
Operational
0x04
Stopped
0x00
Boot up
Notes
Can't really be seen on bus
Only one message is send
Table 58: Module's state given in heart beat message

To configure module as a heartbeat consumer producer's node ID and maximum heartbeat
interval time have be written to the co_consumer_heartbeat_time[1] object (0x1016
subindex 1 in the object dictionary). The type object is a 32 bit unsigned.
Bits 0-15: Heartbeat maximum interval time in milliseconds (unsigned 16 bits)

Bits 16-23: Node ID to be listened (unsigned 8 bits)
Bits 24-31: Reserved
To configure the MVINC as a heartbeat producer a non zero heartbeat producing time has
to be written to the co_producer_heartbeat_time (0x1017 in the object dictionary). The
type of the object is 16 bit unsigned.
53/63
index
sub
type
User Manual
Acc.
Version 2.04
variable
notes
0x1016
U32
RW
co_consumer_heartbeat_time[1]
Heartbeat inhibit time and node ID to

be listened
0x1017
U16
RW
co_producer_heartbeat_time
Heartbeat producing interval
Table 59: Object dictionary variables related to error control

Besides the heartbeat protocol there is an old and out-dated error control service, which is
called Node and Life Guarding protocol. It is not recommend for implementation so it's not
supported in Axiomatic CAN open modules.
8.9
Layer setting service LSS

8.9.1
Protocol for setting the baudrate
Send the following message to the module to put it to the LSS configuring state
CAN ID
length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E5
0x04
0x01
Set new baudrate with the following message. D2 contains the index of new baudrate.
New baudrate is now 250 kbit/s
CAN-id
length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E5
0x13
0x00
Index
Baudrate
0x00
1 Mbps
0x01
800 kbps
0x02
500 kbps
0x03
250 kbps
0x04
125 kbps
0x06
50 kbps
0x07
20 kbps
0x08
10 kbps
0x03
Table 60: Baudrates and their LSS indexes

Modules response in case of success:
CAN ID length
D0
D1
D2
0x7E4
0x13
0x00
D3
D4
D5
D6
D7
0x00
Set the delay time until the baudrate is changed. Delay is given in milliseconds. D1 is the
lsb and D2 is the msb of the delay time. 0x1388 corresponds to 5000 ms. Same delay is
spend until the new baudrate is activated.
54/63
CAN ID
length
0x7E5
User Manual
D0
D1
D2
0x15
0x10
0x27
D3
Version 2.04
D4
D5
Exit from the configurating mode with the following command

CAN ID
length
D0
D1
D2
D3
D4
D5
0x7E5
8.9.2
0x04
D6
D6
D7
D7
0x01
Protocol for setting the node ID
Send the following message to the module to put it to the LSS configuring state:
CAN ID
length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E5
0x04
0x01
Set the new node ID. D1 contains this new node ID.
CAN ID
length
D0
D1
D2
D3
D4
0x7E5
0x11
D5
D6
D7
0x0A
Module's respponse in case of success. Any other response indicates a failure.

CAN ID
length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E4
0x11
Save configuration :
CAN ID length
D0
0x00
0x00
D1
D2
D4
D5
D6
D7
Module's response. Anything else indicates a failure.

CAN ID length
D0
D1
D2
D3
D4
D5
D6
D7
Exit from the configuration state with the followinf command.

CAN ID length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E5
0x7E4
0x7E5
D3
0x17
0x17
0x04
0x00
0x00
0x00
55/63
9.
User Manual
Version 2.04
OBJECT DICTIONARY
VAR = variable, ARRAY = array of variables, RECORD = data structure

I16 = 16 bit signed variable, U8 = 8 bit unsigned, U16 = 16 bit unsigned, U32 = 32 bit unsigned
RO = read only, RW = read write, ROP = protected read only (value won't be loaded from flash during restore), RWP = protected read write
pdo = PDO mapping, y = yes, n = no
M = mandatory, O = optional, C = conditional, m = mandatory in array, o = optional in array
Profile value = default value / value range defined by CANopen communication and device profiles, Default value = Value stored in static memory, Value range = Acceptable value
range on device (if limited).
Index
hex
sub
Obj.
type
name
1000
var
co_device_type
1001
var
1005
1010
1011
type bytes
Acc.
M/O pdo
profile value
RO
co_error_register
U8
RO
var
co_cob_id_sync
U32
RO
0x00000080
0x00000080
Module supports synchronous TPDOs and waits for sync message with CAN
ID 0x80. Module doesn't create a sync message.
array
co_store_params
U32
RO
O/m
1-127
Store parameters in non volatile memory by writing save -signature

(0x65766173) in specified subindex. You may use any CANopen object
dictionary toolkit or generate SDO message.
SDO: 600 + node-ID 2f 10 10 subindex 73 61 76 65 (all in hexadecimals).
U32
RW
All parameters, excluding calibration parameters.
U32
RO
Communication parameters, 0x1000 0x1FFF. Not supported
U32
RO
Device profile specific parameters, 0x6000 - 0x9FFF, excluding calibration

parameters. Not supported
U32
RO
Manufacturer specific parameters, 0x2000 - 0x5FFF, excluding calibration

parameters.Not supported
U32
RO
O/m
array
co_restore_params
notes
0x1801019A
0x3601019A
0x1802019A
value range
U32
0xXXX1019A
0xXXX2019A
0xXXX1019A
Default
value
1-127
0x1801019A -> MVINC-CO-1-180

0x3601019A -> MVINC-CO-1-360
0x1802019A -> MVINC-CO-2-180
Bit 0: Generic error, Bit 87 manufacturer specific error. NOT really USED
Restore parameters from non volatile memory by writing load -signature

(0x64616F6C) in specified subindex. You may use any CANopen object
dictionary toolkit or generate SDO message.
56/63
Index
hex
sub
Obj.
type
name
User Manual
type bytes
Acc.
M/O pdo
profile value
Default
value
Version 2.04
value range
notes
SDO: 600 + node-ID 2f 11 10 subindex 6C 6F 61 64 (all in hexadecimals).
1016
U32
RW
All parameters, excluding calibration parameters.
U32
RO
Communication parameters, 0x1000 0x1FFF. Not supported
U32
RO
Device profile specific parameters, 0x6000 - 0x9FFF, excluding calibration

parameters. Not supported
U32
RO
Manufacturer specific parameters, 0x2000 - 0x5FFF, excluding calibration

parameters.Not supported
U32
RO
O/m
1-127
U32
RW
Bits 0-15
Heartbeat time (ms), value range 0-10000
Bits 16-23
Node-id to be listened, value range 0...127
Heartbeat producing interval (ms)
array
co_consumer_heartbeat_time
1017
1018
1800
1-127
Maximum amount of heart beat producer nodes to be monitored. Module is

able to monitor one node..
var
co_producer_heartbeat_time
U16
RW
C/M
record
co_identity
U32
RO
M/m
1-4
Object which identifies the device
U32
RO
0x00000055
0x55
Vendor ID (0x55 = Axiomatic Technologies Oy)
U32
RO
0x2000
0x2000
0x2000 -> MCINC-CO-1-180

0x2005 -> MCINC-CO-1-360
0x2010 -> MCINC-CO-2-180
U32
RO
0x01020210
0x01020211
Revision number
Bits 0-15
Application sw version : 2.17
Bits 16-31
CAn behavior version number 1.02
U32
RO
RO
C/m
2-5
RW
0x180 + nodeID
0x4000 0000
record
co_tpdo_comm_par[0]
U32
Serial number. 0 if note set.

5
Communication parameters for the first transmit PDO

PDO COB ID. If CAN ID is zero or matches to current default CAN ID,
default CAN ID calculation for this PDO is on.
Bits 0 10
11 bit CAN-ID
57/63
Index
hex
1801
sub
Obj.
type
name
type bytes
Acc.
M/O pdo
profile value
Default
value
Version 2.04
value range
0x01 ... 0xF0

0xFE
notes
Bits 11 28
Extension for 29 bit CAN ID, always 0
Bit 29
Only 11-bit Ids supported -> always 0,
Bit 30
RTR messages not supported
Bit 31
Valid bit, 1 -> pdo disabled, 0 -> pdo enabled
U8
RW
0xFF
0xFE
U16
RW
Inhibit time.
The minimum interval for PDO transmission. Multiply of 100 microseconds.
Not supported
Transmission type.
0: Acyclic, synchronous
1 240 (0x1- 0xF0): Cyclic, synchronous
252: Synchronous, RTR only. Not supported
253: Asynchronous, RTR only. Not supported
254: Asynchronous
255: Asynchronous. Not supported
Synchronous transmission means that the transmission is related to SYNC
object. PDO will be transmitted after SYNC receiving the SYNC message.
Asynchronous transmission means that the transmission in non related to SYNC
object. Transmission type zero means that message will be transmitted
synchronous but not periodically. Transmission type 1 240 in cyclic
transmission indicates how many SYNC messages is needed trig PDO to
transmitted. 254 means that asynchronous transmission is manufacturer specific
and 255 means that the transmission is device profile specific.
U8
RW
Reserved
U16
RW
50
Event timer.
0: Not used
In asynchronous transmission mode event timer defines transmission interval.
The value is a multiply of one millisecond.
RO
C/m
2-5
Communication parameters for second transmit PDO
record
co_tpdo_comm_par[1]
1802
User Manual
U32
RW
0x280 + nodeID
0xC000 0000
See notes on 0x1801[1]
U8
RW
0xFE
0xFE
U16
RW
U8
RW
U16
RW
50
RO
C/m
2-5
Useable only in MVINC -CO-2 -x
record
co_tpdo_comm_par[1]
58/63
Index
hex
sub
Obj.
type
name
User Manual
type bytes
Acc.
M/O pdo
profile value
Default
value
Version 2.04
value range
notes
Communication parameters for second transmit PDO
1A00
U32
RW
0x380 + nodeID
0xC000 0000
U8
RW
0xFE
0xFE
U16
RW
U8
RW
U16
RW
50
U8
RW
U32
RW
record
co_tpdo_map_par[0]
3
0x60100010
0-3
0x60100010
Number of mapped objects in first transmission PDO for MVINC-CO-1-180

Mapped object
Bits 0-7
Size of the mapped object
Bits 8-15
Subindex of the mapped object
Bits 16-31
Index of the mapped object
Supported object sizes to be mapped:

0x20: 32 bit
0x10: 16 bit
0x08: 8 bit
1A00
U32
RW
0x20000008
See notes on 0x1A00[1]
U32
RW
0x20010010
U8
RW
U32
RW
record
co_tpdo_map_par[0]
4
0x60100010
0x60100010
0-4

Mapped object
Bits 0-7
Bits 8-15
Bits 16-31
Supported object sizes to map:

0x20: 32 bit
0x10: 16 bit
0x08: 8 bit
2
U32
RW
0x20000008
U32
RW
0x20010010
59/63
Index
hex
sub
Obj.
type
name
4
1A00
record
co_tpdo_map_par[0]
User Manual
type bytes
Acc.
M/O pdo
U32
RW
U8
RW
U32
RW
profile value
Default
value
Version 2.04
value range
0x20000008
4
0x60100010
notes
See notes on 0x1A00[1], for compatibility reasons.
0-4
0x60100010

Mapped object
Bits 0-7
Bits 8-15
Bits 16-31
Supported object sizes to be mapped:

0x20: 32 bit
0x10: 16 bit
0x08: 8 bit
1A01
1A02
1A02
2000
U32
RW
U32
RW
U32
RW
U8
RW
U32
U32
record
0x20000008
0x20010010
RW
0x55150020
RW
0x55160020
0-2
U8
RW
RW
0x55250020
U32
RW
0x55260020
U8
RW
U32
RW
0x55150020
U32
RW
0x55160020
I8
RO
Module's internal temperature as degrees of celsius. Resolution 1 degree:
var
co_tpdo_map_par[1]
co_temperature
0-2
Number of mapped objects in second transmission PDO, for all models
U32
record
co_tpdo_map_par[1]
0x60200010
record
co_tpdo_map_par[1]
0x60200010
0-2
Number of mapped objects in 3nd transmission PDO in MVINC-CO-2
Number of mapped objects in 3nd transmission PDO in MVINC-CO-1-360.

Dummy PDO.
60/63
Index
hex
sub
Obj.
type
name
User Manual
type bytes
Acc.
M/O pdo
profile value
Default
value
Version 2.04
value range
notes
0xF8 -> -7 degrees
2001
var
co_aux_input
U16
RO
2002
var
co_ave_size
U16
RW
10
2-20
5000
var
co_config_word
U16
RW
0
1
5001
var
co_manuf_1
I16
RO
5002
var
co_print_cmd
U32
RW
5005
var
co_manuf_2
I16
RW
For manufacturer use only
5009
array
co_manuf_3
I16
2*2
RO
5010
var
co_manuf_4
I16
RO
5011
var
co_manuf_5
I16
RO
5012
array
co_manuf_6
I16
17*2
RO
5013
array
co_manuf_7
I16
17*2
RO
5015
array
co_manuf_8
I16
8*2
RO
5019
array
co_manuf_9
I16
2*2
RO
For manufacturer use only, Not provided in MVINC-CO-1-180
5020
var
co_manuf_10
I16
RO
For manufacturer use only , Not provided in MVINC-CO-1-180
5021
var
co_manuf_11
I16
RO
5022
array
co_manuf_12
I16
17*2
RO
5023
array
co_manuf_13
I16
17*2
RO
5025
array
co_manuf_14
I16
8*2
RO
5515
var
co_slope_ long_rate
I32
RO
Value of auxialiry input on the board

Lenght of the Addiotional AVE filter
Bit 0: 1 => Boot-up message enabled.
Bits 1 15: reserved.
This object controls serial printing.

0xvvvv5678 -> debug printing is on
0x1234vvvv -> normal data printing is on
Longitudal speed, unit degrees/ second. allways 3 decimals : 1234,567 degrees/
61/63
Index
hex
sub
Obj.
type
name
User Manual
type bytes
Acc.
M/O pdo
profile value
Default
value
Version 2.04
value range
notes
second.
RO
Longitudal acceleration, unit degrees/ second2. allways 3 decimals : 1234,567

degrees/ second2
I32
RO
Latitudal speed, unit degrees/ second.

Not provided in MVINC-CO-1-180
Not useable in MVINC-CO-1-360
allways 3 decimals : 1234.,567 degrees/ second2.
I32
RO
Latitudal acceleration, unit degrees/ second2.

Not provided in MVINC-CO-1-180
Not useable in MVINC-CO-1-360
allways 3 decimals : 1234,567 degrees/ second2
var
co_resolution
U16
RW
6010
var
co_slope_ long16
I16
RO
6011
var
co_slope_ long16_oper_param
U8
RW
5516
var
5525
var
co_slope_ lat_rate
5526
var
6000
I32
10
100
10
100
1000
Resolution of the output angle and offsets

NOTE that 10 is not allowed with MVINC-CO-360
10 -> 0.01 degrees
100 -> 0.1 degrees
1000 -> 1 degrees
Depends on
sensor type,
resolution
and offset
Longitudal angle output

Value ranges while resolution is 100, no offset
MVINC-CO-1-180 : -900 ... 900
MVINC-CO-1-360 : 0...3599
MVINC-CO-2-180 :-900 ... 900
Configurates longitudal axis

Bit 0
Inversion control: 0 = no inversion , 1 = inversion on
Bit 1
Output scaling (offsests enbaled), 0 = disabled, 1 = enabled
Bits 2 -7
Reserved for manufacturer specific use
6012
var
I16
RW
For offset manipulation
6013
var
I16
RW
Current offset resulting from usage of preset_val object
6014
var
I16
RW
Offset value for output angle manipulation
6020
var
co_slope_ lat16
I16
RO
Depends on
sensor type,
Latitudal angle output

Value ranges while resolution is 100, no offset
62/63
Index
hex
sub
Obj.
type
name
User Manual
type bytes
Acc.
M/O pdo
profile value
Default
value
Version 2.04
value range
resolution
and offset
6021
var
U8
RW
notes
MVINC-CO-1-180 : -900 ... 900
MVINC-CO-1-360 : 0...3599
MVINC-CO-2-180 :-900 ... 900
Configurates latitudal axis
Bit 0
6022
var
I16
Bit 1
Output scaling (offsests enbaled), 0 = disabled, 1 = enabled
Bits 2-7
Reserved for manufacturer specific use
RW
For offset manipulation
Current offset resulting from usage of preset_val object
Offset value for output angle manipulation
6023
var
I16
RW
6024
var
I16
RW
Inversion control: 0 = no inversion , 1 = inversion on
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MVINC-CO-X-M-x-x: User Manual

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MVINC-CO-X-M user manual

5.4CAN BUS CABLING............................................................................................................................ 17

FUNCTIONS AND CONFIGURATIONS.......................................................................26

MVINC-CO-X-M user manual

7.1.5Internal timing ...................................................................................................................... 31

Copyright Axiomatic Technologies Oy

MVINC-CO-X-M user manual

-PDO default values corrected to the PDO configurations chapter

-Filter delay spesified more preciously

Copyright Axiomatic Technologies Oy

MVINC-CO-X-M user manual

MVINC-CO-1-180 : single axis with meassuring range of 0...180 degrees

MVINC-CO-1-360 : single axis with meassuring range of 0...360 degrees

MVINC-CO-2-180 : dula axis with meassuring ranges of 0...180 degrees / per

Boom angle measurements (in excavators, lifts etc)

Copyright Axiomatic Technologies Oy

MVINC-CO-X-M user manual

Abbreviations and terms

Upper layer protocol for CAN networks

CAN in Automation, CAN open standardization organization

Variable in obejct dictionary

DS410 ver 1.1

DS301 ver 4.1

Type of the inclinometer, single axis with accurate measuring range of +- 85

Type of the inclinometer, dual axis with accurate measuring range of +- 85

Printed circuit board

Accurate measuring range

In MVINC-CO-1-180 and MVINC-CO-2-180 modules the accurate measuring

Table 1: Abbreviations and terms

Names of the objects

Table 2: fonts and their meanings

Copyright Axiomatic Technologies Oy

MVINC-CO-X-M user manual

SUMMARY OF TECHNICAL SPECIFICATIONS

Baudrates up to 115200 kbits/sec, RS232 level

MVINC-CO-x-180 : 180 degrees, accurate range 5... 175 degrees.

Maximum tilt angle

Table 3: Electrical Specifications

Copyright Axiomatic Technologies Oy

MVINC-CO-X-M user manual

-40 to +85C (-40 to 185F)

Table 4: General specifications

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MVINC-CO-X-M user manual

For Inclinometer Modules

Measuring range per

360 = 360 degrees

Table 5: MIVINC order codes

Table 6: Order codes for cable sets

Copyright Axiomatic Technologies Oy

MVINC-CO-X-M user manual

Mounting plate with high sides walls

Mounting plate with low sides walls

Cable tie 4*270mm

M8 * 25mm Hexagon Socket Screw

Wire connector MIL4 female , 4 pins

Wire connector MIL6 female, 6 pins

Cable boot 90 degrees angle

Cable boot straight

RS232 programming cable. Cable length

120 ohm CAN termination stub in MIL4

120 ohm CAN termination stub in MIL6