AXIOMATIC Tri-Axial J1939 CAN, Руководство пользователя

Страница: 3 / 67

UMAX0608XX‐1000. Tri‐Axial J1939 CAN Inclinometer. Version 9B
iii
TABLE OF CONTENTS
1 INTRODUCTION ................................................................................................................. 5
2 INCLINOMETER DESCRIPTION ........................................................................................ 6
2.1 Theory of Operation ..................................................................................................... 6
2.1.1 Unit Coordinate System ........................................................................................ 6
2.1.2 Unit Reference Frames ......................................................................................... 6
2.1.3 Angle measurements ............................................................................................ 7
2.1.3.1 Tilt Angles ......................................................................................................... 8
2.1.3.2 Rotation Angles ................................................................................................. 9
2.1.3.2.1 Unit Rotation Angles ................................................................................. 10
2.1.3.2.2 Euler Angles ............................................................................................. 11
2.1.3.2.3 Gimbal Lock .............................................................................................. 12
2.1.3.3 Maximum Gravity Acceleration Error ............................................................... 13
2.1.3.4 Practical Recommendations ............................................................................ 13
2.1.3.5 Default Settings ............................................................................................... 15
2.2 Hardware Block Diagram ........................................................................................... 16
2.3 Software Organization ............................................................................................... 16
2.4 CAN Interface ............................................................................................................ 17
2.4.1 CAN Baud Rate .................................................................................................. 18
2.4.2 J1939 Name and Address .................................................................................. 18
2.4.3 Slew Rate Control ............................................................................................... 19
2.4.4 Network Bus Terminating Resistors .................................................................... 19
2.5 Default Settings .......................................................................................................... 19
2.5.1 CAN Interface ..................................................................................................... 19
2.5.1.1 PGN 61459, Slope Sensor Information, SSI ................................................... 19
2.5.1.2 PGN 61481, Slope Sensor Information 2, SSI2 .............................................. 21
2.5.1.3 PGN 65256, Vehicle Direction/Speed, VDS .................................................... 22
2.5.1.4 PGN 64905, Vehicle Direction/Speed 2, VDS2 ............................................... 23
2.5.2 Analog Outputs ................................................................................................... 24
3 INCLINOMETER LOGICAL STRUCTURE ....................................................................... 25
3.1 Function Block Signals ............................................................................................... 26
3.1.1 Undefined Signal ................................................................................................ 26
3.1.2 Discrete Signal .................................................................................................... 26
3.1.3 Continuous Signal ............................................................................................... 26
3.1.4 Signal Type Conversion ...................................................................................... 27
3.1.4.1 Discrete to Continuous Conversion ................................................................. 27
3.1.4.2 Continuous to Discrete Conversion ................................................................. 27
3.1.4.3 Undefined Signal Conversion .......................................................................... 27
3.2 Accelerometer ............................................................................................................ 27
3.3 Angle Measurement ................................................................................................... 28
3.4 Unit Installation .......................................................................................................... 29
3.4.1.1 Unit Frame Orientation Examples ................................................................... 30
3.5 Sensor Calibration ..................................................................................................... 32
3.6 Binary Functions ........................................................................................................ 32
3.7 Analog Signal Outputs ............................................................................................... 34
3.8 Global Parameters ..................................................................................................... 36
3.9 J1939 Network ........................................................................................................... 36
3.9.1 ECU Network Parameters ................................................................................... 37