Eaton GFX, Installation And Operation Manual

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GFX Manual
EATON
GFX Installation and Operation Manual April 2020 www.eaton.com
PGN 65429 (0xCFF954B) - Acceleration Data
Byte Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Field Acceleration X Acceleration Y Acceleration Z
Accl and Gyro
Who I AM Reg
Accl and Gyro
Status reg
Datatype Int 16 Int 16 Int 16 Unit 8 Uint 8
Resolution 0.001 0.001 0.001 - -
Unit g g g NA NA
Byte Sequence Accl Byte 0 Accl Byte 1 Accl Byte 0 Accl Byte 1 Accl Byte 0 Accl Byte 1
Bit Sequence Bit 7 Bit 0 Bit 15 Bit 8 Bit 7 Bit 0 Bit 15 Bit 8 Bit 7 Bit 0 Bit 15 Bit 8
Default value of Who I AM register of Acceleration and Gyroscope is 0x68, it indicates Accelerometer and Gyroscope are responding.
PGN 65430 (0xCFF964B) - Acceleration Data
Byte
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Field Angular Rate X Angular Rate Y Angular Rate Z
Accl and Gyro
Who I AM Reg
Accl and Gyro
Status reg
Datatype Int 16 Int 16 Int 16 Unit 8 Uint 8
Resolution 0.01 0.01 0.01 - -
Unit dps dps dps NA NA
Byte Sequence Gyro Byte 0 Gyro Byte 1 Gyro Byte 0 Gyro Byte 1 Gyro Byte 0 Gyro Byte 1
Bit Sequence Bit 7 Bit 0 Bit 15 Bit 8 Bit 7 Bit 0 Bit 15 Bit 8 Bit 7 Bit 0 Bit 15 Bit 8
Default value of Who I AM register of Acceleration and Gyroscope is 0x68, it indicates Accelerometer and Gyroscope are responding.
PGN 65431 (0xCFF974B) - Acceleration Data
Byte Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Field Magnetic Field X Magnetic Field Y Magnetic Field Z
Mag sensor
Who I AM Reg
Mag sensor
Status reg
Datatype Int 16 Int 16 Int 16 Unit 8 Uint 8
Resolution 0.001 0.001 0.001 - -
Unit gauss gauss gauss NA NA
Byte Sequence Mag Byte 0 Mag Byte 1 Mag Byte 0 Mag Byte 1 Mag Byte 0 Mag Byte 1
Bit Sequence Bit 7 Bit 0 Bit 15 Bit 8 Bit 7 Bit 0 Bit 15 Bit 8 Bit 7 Bit 0 Bit 15 Bit 8
Default value of Who I AM register of Magnetometer is 0x3D, it indicates Magnetometer is responding.
2. IMU message information
GFX transmits IMU data over CAN bus at 50Hz transmission rate in below defined format.
PGN 65429
This PGN provides IMU X, Y and Z Axis Acceleration data.
PGN 65430
This PGN provides IMU X, Y and Z Axis Gyroscope data.
PGN 65431
This PGN provides IMU X, Y and Z Axis Magnetometer data.