IFM mobileIoT CR3145, Operating Instructions Manual

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CR3145 mobileIoT gateway
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Object Index Subindex Type Default Description
Positioning – lon-
gitude 0x5208 0x00 R32
ro — Longitude as a 32-bit floating point number
(decimal degrees)
Positioning – lati-
tude 0x5209 0x00 R32
ro — Latitude as a 32-bit floating point number
(decimal degrees)
Positioning – alti-
tude 0x520A 0x00 R32
ro — Height above mean sea level as a 32-bit
float (in mm)
Positioning –
speed over
ground 0x520B 0x00 R32
ro — Speed over ground as a 32-bit float (in m/s)
Positioning –
GPS odometer 0x520B 0x02 U32
ro — Total GNSS based distance as a 32-bit un-
signed integer (100 metres per bit)
Positioning – trig-
ger distance for
GPS odometer 0x520B 0x03 R32
ro — Distance in metres that the unit has to be
moved to start the odometer count
Positioning –
heading 0x520C 0x00 R32
ro — Course with respect to north as a 32-bit float
(decimal degrees)
Logging – cur-
rent GNSS posi-
tion 0x5200 0xF0 U8
rw — If this object is set to any value other than 0,
recording of the unit’s current GNSS position
starts.
If the unit has no GNSS reference point, it
waits for a reference point before logging the
position.
The flag remains on the written value until
the position has been recorded. It is then re-
set to 0.
The unit can send this data via the CAN interface. The configuration is made via the following objects:
Object Index Subindex Type Default Description
DeviceMode 0x4001 0x02 U8
rw — Bit 0: compatibility mode with unit CR3114
(1 s cycle)
Bit 1: forward device status via CAN bus (1 s
cycle)
Bit 2: forward complete GNSS data via
CAN bus (1 s cycle)
Bit 3: forward input/output data via CAN bus
(1 s cycle)
Bit 4: forward acceleration and gyroscope
data via CAN bus (100 ms cycle)
Position BaseID 0x4005 0x06 U16 0x300 COB ID start address for input GNSS data
transmission (1s cycle)
All data available in the respective device mode are sent via the CAN1 interface.
The exact index and subindex can be found in the corresponding EDS file.
The GNSS data is mapped to the following CAN messages:
COB ID Start byte
Length
(bytes)
Type Object
Position
0x00 0 1 U8 Positioning – position data valid
1 1 U8 Positioning – active satellites
2 1 U8 Positioning – mode (GNSS)
Position
0x01 0 4 R32 Positioning – longitude
4 4 R32 Positioning – latitude
Position
0x02 0 4 R32 Positioning – altitude
0 4 R32 Positioning – heading