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54-0215 Rev. C
4.1.2 Message
Content
Use of the 26-bit Content field depends on the Type bits, as noted below.
Rate Data
When the Type bits indicate Rate Data, the contents are in two’s complement format. The
LSB represents 60 µ°/s, or 0.216
°
/hr.
Incremental Angle Data
When the Type bits indicate Incremental Angle Data, the contents are in two’s
complement format. The LSB represents 6 µ°.
Integrated Angle Data
When the Type bits indicate Integrated Angle data, the contents can be interpreted based
on the table below.
Table 9: Message Contents (Type Bits = Integrated Angle Data)
Bit(s)
Usage
Values
25, 24, 23 360
°
modulo counter
Increment when crossing from 359 to 0.
Decrement when crossing from 0 to 359.
Bit 25 is MSB; Power-up value is 0.
22 – 0
0 <= integrated angle < 360
LSB (bit 0) value is 42.91534
µ°.
4.1.3 Message
Rates
The rate at which the Rate or Integrated Angle information actually updates depends on
the application. Standard rate is 1000 Hz.
