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37
7.3.5.
Object 6401
h
Sensor outp uts
Various types of outputs are stored in object 6401
h
. These values can be mapped into TPDOs (Object 1A00h,
1A01h TPDO Mapping parameter).
Subindex
Output Types
Description
00
h
U8
Highest subindex supported
0F
h
01
h
S16
X acceleration [mg]
Acceleration value without dynamic effects
compensation.
02
h
S16
Y acceleration [mg]
03
h
S16
Z acceleration [mg]
04
h
S16
X inclination scale ±180° [0.01°]
Inclination output on a scale of -180° to
+180°.
05
h
S16
Y inclination scale ±180° [0.01°]
06
h
S16
reserved
07
h
S16
X rotation (Roll) [0.01°/s]
Angular rate from gyro MEMS on a scale of
-327°/s to +327°/s, with clipping outside
this range.
08
h
S16
Y rotation (Pitch) [0.01°/s]
09
h
S16
Z rotation (Yaw) [0.01°/s]]
0A
h
S16
Temperature [0.1 °C]
Temperature measured by internal MEMS
sensing element.
0B
h
S16
X acceleration dynamic compensated [0.1 mg]
Acceleration value with dynamic effects
compensation.
0C
h
S16
Y acceleration dynamic compensated [0.1 mg]
0D
h
S16
Z acceleration dynamic compensated [0.1 mg]
0E
h
U16
X inclination scale 0°-360° [0.01°]
X inclination output on a scale of 0° to 360°
(0 - 36000). The same value as object
6010
h
.
0F
h
U16
Y inclination scale 0°-360° [0.01°]
Y inclination output on a scale of 0° to 360°
(0 - 36000). The same value as object
6010
h
.
Table 37
– Sensor outputs
7.4.
Data type
Data types used in the application layers are explained in the following table.
Data type
Definitions
U8
Unsigned 8-bit number (0
– 255
d
)
U16
Unsigned 16-bit number (0
– 65535
d
)
U32
Unsigned 32-bit number (0
– 4294967295
d
)
S8/Integer 8
Signed integer 8-bit number (-128
d
– +127
d
)
S16/Integer 16
Signed integer 16-bit number (-32768
d
– +32767
d
)
S32/Integer 32
Signed integer 16-bit number (-2147483648
d
– +2147483647
d
)
VSTR
Visible String
Table 38 - Data type
