IFM mobileIoT CR3145, Operating Instructions Manual

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mobileIoT gateway CR3145
9
Object Index Subindex Type Default Description
Gyroscope – Z-
axis 0x544D 0x05 R32
ro — Current acceleration Z-axis (unit: °/second)
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 gyro-
scope data via CAN bus (100 ms cycle)
Movement Ba-
seID 0x4005 0x05 U16 0x500 COB ID start address for acceleration and
gyroscope data transmission (100 ms 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 acceleration and gyroscope data are mapped to the following CAN messages:
COB ID Start byte
Length
(bytes)
Type Object
Movement
0x00 0 4 R32 Acceleration – X-axis
4 4 R32 Acceleration – Y-axis
Movement
0x01 0 4 R32 Acceleration – Z-axis
4 4 R32 Gyroscope – X-axis
Movement
0x02 0 4 R32 Gyroscope – Y-axis
0 4 R32 Gyroscope – Z-axis
4.6 GNSS (global navigation satellite system)
The device has a GNSS receiver. The unit can forward the position data determined by the GNSS
receiver via the CAN bus or send it via the mobile network.
The device can evaluate signals from GPS, GLONASS and BeiDou satellites. Data from two
navigation systems can be evaluated simultaneously. This enhances the accuracy.
The GNSS data is accessed via the following objects:
Object Index Subindex Type Default Description
Positioning – an-
tenna status 0x3333 0x13 U8
ro — 0 = antenna damaged or missing
1 = antenna OK
Positioning – po-
sition data valid 0x3333 0x14 U8
ro — 0 = position data invalid (no position detec-
tion)
1 = position data valid (position detection)
Positioning – ac-
tive satellites 0x5220 0x00 U8
ro — Number of currently active satellites
Positioning –
mode (GNSS) 0x5200 0x00 U8
rw — 0 = GPS only
1 = GPS + GLONASS
2 = GPS + BEIDOU
3 = G BEIDOU
GB