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User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3
6.6.
Output format
Inclination output format with factory default resolution: CAN
output = 100*α. (α
= angle in degrees, factory
resolution is 0.01°). The resolution can be configured with object 6000
h
. CAN outputs are sent with PDOs (
For example:
Figure 14 - Output 1-axis ±180° sensor
Figure 15 - Output 2-axis ±90° sensor
In Figure 14, the sensor sends 1 axis inclination output with 2 Bytes Integer (Table 5).
Byte1
Byte0
23
h
82
h
Inclination output: 2382
h
= 9090
d
= 90.9°
Table 5 - Output 1-axis ±180° sensor
In Figure 15, the sensor sends 2 axis inclination outputs with 4 bytes integer. The 1
st
two bytes are the X inclination
and the 2
nd
two bytes are the Y inclination (Table 6).
Byte3
Byte2
Byte1
Byte0
Y inclination
X inclination
00
h
82
h
0B
h
C8
h
0080
h
= 130
d
= 1.3°
0BC8
h
= 3016
d
= 30.16°
Table 6 - TPDO1 of QG65D-KDXYh-090H-CAN-C(F)M
Besides inclination values, the device also provides acceleration, angular rate and device temperature.
The acceleration output contains acceleration of all three axes.
“High accuracy”
model has a measuring range of
±1,5g and 10Hz as -3dB cut-off frequency, while
“Standard accuracy”
model has a measuring range of ±2g and 50Hz
instead. The raw acceleration output has a resolution of 1mg, while the dynamic compensated acceleration has a
resolution of 0.1mg. Therefore, the outputs format is different.
Figure 16 - Raw acceleration output
Figure 17 - Dynamic compensated acceleration output
