0.01
0.1
1
10
100
-80
-70
-60
-50
-40
-30
-20
-10
0
10
Frequency [Hz]
Gain [
d
B
]
Gain response 8th order filter
Butterworth, f
c
= 2 Hz
Butterworth, f
c
= 0.5 Hz
critically damped, f
c
= 2 Hz
critically damped, f
c
= 0.5 Hz
Figure 20: Amplitude characteristic of both filters
The sensor fusion filter uses as a measurand not only the Earth's gravitational field but
also the yaw rate information from a gyroscope. This enables external accelerations and
vibrations to be suppressed without causing a noticeable delay in the calculation of the
angle information.
Filters
Configurable range
Areas of application
Sensor fusion
100 ms to 10.000 ms
Dynamic applications, measurements while
accelerating, braking, or driving through
curves, measurement with no signal delay time
9.7.2.3
Transmit PDO 1, send when angle changes (3001h)
The event-driven sending of Transmit PDO 1 when the angle changes can be activated
(= 1) and deactivated (= 0) via entry 3001.01h.
For activation, the transmission type for Transmit PDO 1 must be set to asynchronous,
manufacturer-specific (1800.02h = 254). Subindices 02h and 03h can be used to set
the minimum necessary change in angle separately for the longitudinal (X) and the lat‐
eral (Y) axis. These two angle values are specified in °/100 (100x angle value) and can
be set to user-defined values starting from 1 (= 0.01°).
If sending when the angle changes is activated, in Operational status, the inclination
sensor will always send Transmit PDO 1 again whenever the inclination value of the lon‐
gitudinal and/or the lateral axis has changed by the angle value set under 3001.02h
and 03h. The difference in angle between the current inclination value and the last
angle value sent with Transmit PDO 1 is constantly calculated and checked.
Every time the status switches to Operational, the inclination sensor signals the current
position by sending Transmit PDO 1 once (only if 3001.01h = 1).
CANOPEN INTERFACE
9
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
39
8019054/14IT/2019-06-27
| SICK
Subject to change without notice
