IFM Electronic CR3150, Руководство по эксплуатации

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mobileIoT gateway CR3150
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4.5 Accelerometers and gyro sensors
The accelerometers measure acceleration along the X, Y and Z axes. The 3-axis gyro sensor
determines the angular velocity on the X, Y and Z axes. This data is evaluated and can be forwarded
to the controller via CAN bus.
The data of the acceleration/gyro sensors is accessed via the following objects:
Object Index Subindex Type Default Description
Acceleration – X-
axis 0x544D 0x00 R32
ro — Current acceleration X-axis (unit: g)
Acceleration – Y-
axis 0x544D 0x01 R32
ro — Current acceleration Y-axis (unit: g)
Acceleration – Z-
axis 0x544D 0x02 R32
ro — Current acceleration Z-axis (unit: g)
Gyroscope – X-
axis 0x544D 0x03 R32
ro — Current acceleration X-axis (unit: °/second)
Gyroscope – Y-
axis 0x544D 0x04 R32
ro — Current acceleration Y-axis (unit: °/second)
Gyroscope – Z-
axis 0x544D 0x05 R32
ro — Current acceleration Z-axis (unit: °/second)
The unit can send this data via the CAN interface. The configuration is made via the following objects:
Object Index Subindex Type Default Description
DeviceMode 0x4001 0x02 U8
rw — Bit 0: compatibility mode with unit CR3114
(1 s cycle)
Bit 1: forward device status via CAN bus (1 s
cycle)
Bit 2: forward complete GNSS data via CAN
bus (1 s cycle)
Bit 3: forward input/output data via CAN bus
(1 s cycle)
Bit 4: forward acceleration and gyro-
scope data via CAN bus (100 ms cycle)
Movement Ba-
seID 0x4005 0x05 U16 0x500 COB ID start address for acceleration and
gyroscope data transmission (100 ms cycle)
All data available in the respective device mode are sent via the CAN1 interface.
The exact index and subindex can be found in the corresponding EDS file.
The acceleration and gyroscope data are mapped to the following CAN messages:
COB ID Start byte
Length
(bytes)
Type Object
Movement
0x00 0 4 R32 Acceleration – X-axis
4 4 R32 Acceleration – Y-axis
Movement
0x01 0 4 R32 Acceleration – Z-axis
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