DIS Sensors QG65D, Руководство пользователя

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User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3
Moving average filter
The final inclination output is an average of the last N samples. The sampling rate of this filter is 10 ms. The various
application profiles have different default filter settings. This filter can be controlled via CAN object 3021
h
subindex
07
h
to 3024
h
subindex 07
h
. It can also be controlled for the active application profile via CAN object 300D
h
. In this
case, the sensor will update the correct object of the active application profile (in the range 3021
h
subindex 07
h
to
3024
h
subindex 07
h
). The moving average filter is disabled in the factory default application profile 1.
N must be a number from 0
d
-10
d
. Setting the N to 0
d
and 1
d
will disable this filter.
The TPDO event timer decides the cycle time of the TPDO message. By default, the sensor sends a new TPDO every
100 ms. This TPDO message contains an inclination measurement which is an average of the preceding N x 10ms
samples and is independent of the TPDO event time.
Example:
TPDO event timer = 50 ms, N = 7: every 50 ms, a new average inclination value from the previous 70 ms samples will be
supplied in the TPDO message.
6.4. Function mode
The QG65D can measure inclination, acceleration and rotation. By selecting the function mode via object 3007
h
, the
sensor is configured to function as an inclinometer, accelerometer, gyroscope, or a fusion sensor. Once a function
mode is selected, the TPDO mapping parameters (
→ 8.1.12, page 32) are automatically configured with the
predefined objects and object entries. The user can also define the TPDO mapping objects manually; the function
mode is then changed to Mode FF
h
(user defined mode).
Function
mode Output TPDO mapping objects
Mode 0
(default)
Inclination (
CiA410)
TPDO1: 6010
h
- 00
h
(1-axis model)
TPDO1: 6010
h
- 00
h
, 6020
h
- 00
h
(2-axis model)
TPDO2: disabled
Mode 1
Inclination (
CiA410) alternative
orientation
TPDO1: 6010
h
- 00
h
(1-axis model inverted)
TPDO1: 6020
h
- 00h
,
6010h - 00h
(2-axis model with X and Y swapped, X and Y inverted)
TPDO2: disabled
Mode 2
Inclination (CiA410)
+
Temperature TPDO1: 6511
h
- 00
h,
6010
h
- 00
h
(1-axis model)
TPDO1: 6511
h
- 00
h,
6010
h
- 00
h
, 6020
h
- 00
h,
(2-axis model)
TPDO2: disabled
Mode 3 Acceleration (3 axes)
(Pure acceleration without dynamic
effects compensation)
TPDO1: 6401
h
- 01
h,
6401
h
- 02
h,
6401
h
- 03
h
TPDO2: disabled
Mode 4 Gyroscope (3 axes)
TPDO1: 6010
h
- 07
h,
6010
h
- 08
h,
6010
h
- 09
h
TPDO2: disabled
Mode 5 Mode 0 + Mode 3 + Mode 4
(Incli Accele gyroscope)
TPDO1: 6010
h
- 00
h
, 6020
h
- 00
h,
6401
h
- 01
h,
6401
h
- 02
h
TPDO2: 6401
h
- 03
h,
6401
h
- 07
h,
6401
h
- 08
h,
6401
h
- 09
h
Mode FF User defined mode
(Output defined by t
he
user)
TPDO1: user defined
TPDO2: user defined
Table 2 – Sensor output configuration in different function modes.