Inclination sensor JN
20
9.5 Set teach (SDO index 2042h)
Should it not be possible to integrate the inclination sensor into the measured
object so that the coordinate system of the sensor and object match, the teach
function enables the creation of a new reference system.
The new reference system X
b
,Y
b
, Z
b
is defined so that its Z
b
direction corresponds
to the direction of gravitation at the teach moment. The X
b
direction of the
reference system results from the projection of the X
s
axis of the sensor to the X
b
Y
b
plane of the reference system.
The Y
b
axis then corresponds to the direction which is perpendicular to both the Z
b
and the X
b
axis.
The result of this is that at the teach moment the Xs axis must not be parallel to the direction of
gravitation. As long as the value for the SDO index 2042h is 1, all angle indications are converted into
the new reference system.
The teach operation can, for example, be as follows:
The measured object with the non-aligned inclination sensor is brought into a
known horizontal position. In this position the teach function is carried out, thus
defining the new reference system. All provided angle values then refer to this new
reference system.
Even with an inclination sensor which is installed at an angle note that the X axis (Xs axis) of the
sensor is parallel to the XBZB plane of the requested reference system.
Explanatory example
Inclination sensor installed at an angle in the
coordinate system of the workpiece. The coordinate
system of the sensor is transferred to the coordinate
system of the workpiece by teaching the sensor
when the workpiece is horizontally aligned.
The raw data of the sensor is indicated in the
coordinate system of the sensor.
In teach mode the data is converted into the
coordinate system of the workpiece.
The example shows a rotation of 30° about the y axis of the coordinate system of
the workpiece.