Inclination sensor JN
16
SDO
index
Sub-
index
Type
Value
Unit
r/w
Auto-
save /
Reset
0x6120
0x0
Integer
32
Lateral Y axis
Angle [°]
rw
Yes
0x6121
0x0
u8
Slope lateral32 lateral operating
parameter
rw
Yes
8 Angle definition (SDO index 2044h)
To be able to adapt the inclination sensor to the different applications as easily
as possible, the measured inclination information is converted into different angle
indications. The requested angle indication is set by selecting the respective
option.
With this angle definition a sensor coordinate system is used which is defined as
follows:
– The mounting plane corresponds to the XY plane.
– The Z axis is perpendicular to the mounting plane (according to the right-
hand rule).
– The X axis is represented by an edge of the mounting plate which shows in
direction of the printed X arrow.
– The Y axis is then perpendicular to the plane spanned by the Z and X axes.
8.1 Perpendicular angle (SDO index 2044h = 0)
Using the indication of the two perpendicular angles the inclination of the sensor
coordinate system towards the direction of gravitation is described.
The first provided value corresponds to a rotation about the Y axis of the sensor
and is called "longitudinal inclination value" (SDO index 6010h or 6110h).
The value corresponds to the angle [°] between the gravitation vector and the YZ
plane of the sensor.
The second provided value corresponds to a rotation about the X axis of the
sensor and is called "lateral inclination value" (SDO index 6020h or 6120h). The
value corresponds to the angle [°] between the gravitation vector and the XZ plane
of the sensor.
In the case of an inclination in a plane (rotation of an axis with the second axis remaining
perpendicular) the perpendicular angle and gimbal angle are always identical.
8.2 Euler angle (SDO index 2044h = 1)
In this setting the two provided angle values are to be interpreted as Euler angle.