Page
42
of
50
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3
8.3.5.
Object 6401
h
Sensor outputs
Various types of outputs are stored in object 6401
h
. These values can be mapped into TPDOs
Subindex
Output Types
Description
00
h
U8
Highest subindex supported
0F
h
01
h
S16
X acceleration
Acceleration value without dynamic effects compensation.
[resolution 1 mg]
Scale (high accuracy series): ±1500
Scale (std. accuracy series): ±2000
02
h
S16
Y acceleration
03
h
S16
Z acceleration
04
h
S16
X inclination scale ±180° [0.01°]
Same as 6010.00
05
h
S16
Y inclination scale ±180° [0.01°]
Same as 6020.00 (For 2-axis sensor only)
06
h
S16
Reserved
07
h
S16
X rotation (Roll) [0.01°/s]
Angular rate from gyro MEMS on a scale of -327 °/s to +327 °/s,
with clipping outside this range.
08
h
S16
Y rotation (Pitch) [0.01°/s]
09
h
S16
Z rotation (Yaw) [0.01°/s]]
0A
h
S16
Temperature [0.1 °C]
Temperature measured by internal MEMS sensing element.
0B
h
S16
X acceleration dynamic compensated
Acceleration value with dynamic effects compensation.
[resolution 0.1 mg]
Scale (high accuracy series): ±15000
Scale (std. accuracy series): ±20000
0C
h
S16
Y acceleration dynamic compensated
0D
h
S16
Z acceleration dynamic compensated
0E
h
U16
X inclination scale 0°-360° [0.01°]
X inclination output on a scale of 0° to 360° (0 - 36000). (For 1-
axis sensor only)
0F
h
U16
Reserved
Table 41
–
Sensor outputs
8.4.
Data type
Data types used in the application layers are explained in the following table.
Data type
Definitions
U8
Unsigned 8-bit number (0 ~ 255
d
)
U16
Unsigned 16-bit number (0 ~ 65535
d
)
U32
Unsigned 32-bit number (0 ~ 4294967295
d
)
S8/Integer 8
Signed integer 8-bit number (-128
d
~ +127
d
)
S16/Integer 16
Signed integer 16-bit number (-32768
d
~ +32767
d
)
S32/Integer 32
Signed integer 16-bit number (-2147483648
d
~ +2147483647
d
)
VSTR
Visible String
Table 42 - Data type
