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Example:
TPDO event timer = 50 ms, N = 7: every 50 ms, a new average inclination value from the previous 70 ms samples
will be supplied in the TPDO message.
5.4.
Function Mode
The sensor can measure inclination, acceleration and rotation. By selecting the function mode via object 3007
h
,
the sensor is configured to function as an inclinometer, accelerometer, gyroscope or a fusion sensor. Once a
function mode is selected, the TPDO mapping parameters are automatically configured with the predefined
objects and object entries. The user can also define the TPDO mapping objects manually; the function mode is
then changed to Mode FF
h
(user defined mode).
Function
Mode
Output
TPDO mapping objects
Mode 0
(default)
Inclination (CiA410)
TPDO1: 6010
h
- 00
h
(1-axis model)
TPDO1: 6010
h
- 00
h
, 6020
h
- 00
h
(2-axis model)
TPDO2: disabled
Mode 1
Inclination (CiA410) Alternative
orientation
TPDO1: 6010
h
- 00
h
(1-axis model inverted)
TPDO1: 6020
h
- 00h, 6010h - 00h
(2-axis model with X and Y swapped, X and Y inverted)
TPDO2: disabled
Mode 2
Inclination (CiA410) + Temperature
TPDO1: 6010
h
- 00
h,
6511
h
(1-axis model)
TPDO1: 6010
h
- 00
h
, 6020
h
- 00
h,
6511
h
–
00
h
(2-axis
model)
TPDO2: disabled
Mode 3
Acceleration (3 axes)
(Pure acceleration without dynamic
effects compensation)
TPDO1: 6401
h
-
01
h,
6401
h
-
02
h,
6401
h
-
03
h
TPDO2: disabled
Mode 4
Gyroscope (3 axes)
TPDO1: 6010
h
- 07
h,
6010
h
- 08
h,
6010
h
- 09
h
TPDO2: disabled
Mode 5
Mode 0 + Mode 3 + Mode 4
(Incli Accele gyroscope)
TPDO1: 6010
h
- 00
h
, 6020
h
- 00
h,
6401
h
-
01
h,
6401
h
-
02
h
TPDO2: 6401
h
-
03
h,
6401
h
- 07
h,
6401
h
- 08
h,
6401
h
- 09
h
Mode FF
User defined mode
(Output defined by user)
TPDO1: user defined
TPDO2: user defined
Table 1
– Sensor output configuration in different function modes.
