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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20

Commissioning

 201

8-0

5

15

4.4

PDO Mapping

The following table describes the allocation of the PDO Output data. Triaxial acceleration 

sensor and triaxial gyroscope data is provided as raw data and used as input of the sensor 

fusion algorithm. The sensor fusion algorithm is designed to compensate the measurement 

errors by combining accelerometer and gyroscope data (Sensor Fusion data). The PDO output 

data can be defined in the parameter PDO[x].Map of the respective PDO as listed in chapter 

"Parameter Table".

Mapping 

ID

Data

Data name

Data description

Data type

0

Acc X

Acceleration X

Acceleration in x direction

Raw data

1

Acc Y

Acceleration Y

Acceleration in y direction

Raw data

2

Acc Z

Acceleration Z

Acceleration in z direction

Raw data

3

Gyro X

Gyroscope X

Rotation rate around the x axis

Raw data

4

Gyro Y

Gyroscope Y

Rotation rate around the y axis

Raw data

5

Gyro Z

Gyroscope Z

Rotation rate around the z axis

Raw data

6

RotAcc X Rotational 

Acceleration X

Rotational acceleration around the 

x axis

Raw data

7

RotAcc Y Rotational 

Acceleration Y

Rotational acceleration around the 

y axis

Raw data

8

RotAcc Z Rotational 

Acceleration Z

Rotational acceleration around the 

z axis

Raw data

9

-

-

Reserved (internal use only)

Raw data

10

-

-

Reserved (internal use only)

Raw data

11

-

-

Reserved (internal use only)

Raw data

12

Grav X

Gravity Vector X

Proportion of the gravity vector in x 

direction without external 

acceleration

Sensor 

Fusion 

data

13

Grav Y

Gravity Vector Y

Proportion of the gravity vector in y 

direction without external 

acceleration

Sensor 

Fusion 

data

14

Grav Z

Gravity Vector Z

Proportion of the gravity vector in z 

direction without external 

acceleration

Sensor 

Fusion 

data

15

LinAcc X Linear Acceleration X Acceleration in x direction without 

gravity vector

Sensor 

Fusion 

data

16

LinAcc Y Linear Acceleration Y Acceleration in y direction without 

gravity vector

Sensor 

Fusion 

data

17

LinAcc Z Linear Acceleration Z Acceleration in z direction without 

gravity vector

Sensor 

Fusion 

data

18

Roll 

1)

Roll

P + F Angle INX/INY: Rotation 

about y axis

Sensor 

Fusion 

data

Euler Angle: psi 

Sensor 

Fusion 

data

Содержание IMU360D-F99-B20

Страница 1: ...F99 Fusion Inertial Measurement Unit IMU360D F99 B20 with CAN SAE J1939 Protocol FACTORY AUTOMATION MANUAL ...

Страница 2: ...r Products and Services of the Electrical Indus try published by the Central Association of the Electrical Industry Zentralverband Elektrotechnik und Elektroindustrie ZVEI e V in its most recent version as well as the supplementary clause Expanded reservation of proprietorship F99 Fusion Inertial Measurement Unit IMU360D F99 B20 ...

Страница 3: ...s 10 2 3 Accessories 10 3 Installation 11 3 1 Electrical connection 11 4 Commissioning 12 4 1 Definition of Baud Rate and Node ID 12 4 2 Identification characters for system environment 13 4 3 J1939 Messages Default Values 14 4 4 PDO Mapping 15 4 5 SLOT Definition 17 4 6 Filter Settings 18 5 J1939 Interface Description 19 5 1 J1939 Message Format 19 5 2 Interpretation of the CAN Identifier 19 5 3 ...

Страница 4: ...rtial Measurement Unit IMU360D F99 B20 5 7 Reading Parameters 21 5 8 Writing Parameters 22 5 9 Leaving Parameter Mode 22 5 10 Answer Messages 23 6 Example 24 6 1 Set Node ID 24 6 2 Factory reset 26 7 Parameter Table 28 ...

Страница 5: ...following parts if applicable EU type examination certificate EU declaration of conformity Attestation of conformity Certificates Control drawings Instruction manual Other documents 1 2 Target Group Personnel Responsibility for planning assembly commissioning operation maintenance and dismounting lies with the plant operator Only appropriately trained and qualified personnel may carry out mounting...

Страница 6: ...g mounting or operating Always operate the device as described in these instructions to ensure that the device and connected systems function correctly The protection of operating personnel and plant is only guaranteed if the device is operated in accordance with its intended use 1 5 General Safety Notes Responsibility for planning assembly commissioning operation maintenance and dismounting lies ...

Страница 7: ...is product was developed and manufactured under observance of the applicable European standards and guidelines The product manufacturer Pepperl Fuchs GmbH D 68307 Mannheim has a certified quality assurance system that conforms to ISO 9001 Note Disposal Electronic waste is hazardous waste When disposing of the equipment observe the current statutory requirements in the respective country of use as ...

Страница 8: ... adaptive sensor fusion algorithm It is developed and implemented for inclination measurement with extreme effective compensation of external acceleration disturbance Triaxial acceleration sensor and triaxial gyroscope outputs are used as input of the fusion system The adaptive sensor fusion algorithm is designed to compensate the measurement errors by combining accelerometer and gyroscope data ad...

Страница 9: ...e signal path of input and output values is illustrated Figure 2 3 Triple Axis Accelerometer Triple Axis Gyroscope Filter 0 Filter 1 Filter 2 Filter 5 Filter 4 Sensor Fusion Algorithm Acceleration Acc Mapping ID 0 2 Rotation Rate Gyro Mapping ID 3 5 Rotational Acceleration RotAcc Mapping ID 6 8 Gravity Vector Grav Mapping ID 12 14 Linear Acceleration LinAcc Mapping ID 15 17 Euler Angles EUI P F An...

Страница 10: ...nitialized Baud rate is wrong CAN high and CAN low channel are interchanged 2 3 Accessories Various accessories are available See datasheet or relevant product page on the Internet www pepperl fuchs com LED State Description Green power On Voltage ok Off No power or sensor defect Yellow run On Operational mode Blinking slowly Parameter mode user Off Error see red LED err Red err On Address claimin...

Страница 11: ...ights up green Pin Wire color Designation 1 Brown Not used 2 White UB 3 Blue GND 4 Black CAN H 5 Gray CAN L Table 3 1 Connector assignment 1 n c 2 3 UB GND CAN L 4 5 CAN H Note The wire colors listed above apply when one of the bus cables from the Pepperl Fuchs accessories range is used Warning Damage to the device Connecting an alternating current or excessive supply voltage can damage the device...

Страница 12: ...xamples The following settings are adjustable with the sensor Identification of the sensor in his system environment Parameterize the sensor idenfication characters according to section Identification characters for system environment J1939 interface Default setting Range Comment Baud rate 250 kBit s 10 kBit s 20 kBit s 50 kBit s 100 kBit s 125 kBit s 250 kBit s 500 kBit s 800 kBit s 1 MBit s J193...

Страница 13: ... if the ECU can choose another source address if it loses the address claim procedure Industry Group 0 0 7 3 bit Specifies the industry e g off highway Vehicle System Instance 0 0 15 4 bit Identifies a particular occurrence of vehicle system e g trailer 3 Vehicle System 0 0 127 7 bit Identifies vehicle system e g trailer Reserved 1 0 1 1 bit Fix bit for internal use only Function 0 0 255 8 bit Ide...

Страница 14: ...r PDO x Map of the respective PDO as listed in chapter Parameter Table 1 Angle Please note that the data of the respective upright axis is indefinite e g yaw in case of the sensor orientation is horizontal with connector sideways Message Cycle time internal Identifier 29 bit Data bytes Prio PGN Source Address 1 2 3 4 5 6 7 8 Address Claimed Once at Startup 6 0xEEFF Node ID J1939 Name 64 bit Accele...

Страница 15: ...a 6 RotAcc X Rotational Acceleration X Rotational acceleration around the x axis Raw data 7 RotAcc Y Rotational Acceleration Y Rotational acceleration around the y axis Raw data 8 RotAcc Z Rotational Acceleration Z Rotational acceleration around the z axis Raw data 9 Reserved internal use only Raw data 10 Reserved internal use only Raw data 11 Reserved internal use only Raw data 12 Grav X Gravity ...

Страница 16: ...Y Rotation about z axis Sensor Fusion data Euler Angle phi Sensor Fusion data 21 Quat X Quaternion X Quaternion Data X Sensor Fusion data 22 Quat Y Quaternion Y Quaternion Data Y Sensor Fusion data 23 Quat Z Quaternion Z Quaternion Data Z Note Output value is always 0 Sensor Fusion data 24 Quat W Quaternion W Quaternion Data W Sensor Fusion data 25 Temp Sens Temperature sensor Temperature of the s...

Страница 17: ...le AccX data 987 Dez Offset value 0 Factor 1000 Acceleration in x direction 987 0 1000 g 0 987 g SLOT Definition Acceleration Acc Gravity Vector Grav Linear Acceleration LinAcc Rotational Acceleration RotAcc Rotation Rate Gyro Euler Angles EUI zy x ZXZ P F Angles INX INY Quaternion Quat Temperature temp Data Length 2 Bytes signed 2 Bytes signed 2 Bytes signed 2 Bytes signed 2 Bytes unsigned 2 Byte...

Страница 18: ...he allocation of the different filters please see the signal graph above The filter settings can be defined in the parameters Filter Settings as listed in chapter Parameter Table Filter Types ID Butterworth lowpass 0 Butterworth highpass 1 Bessel lowpass 2 Bessel highpass 3 Tschebyscheff lowpass 4 Tschebyscheff highpass 5 Table 4 6 Filter Order ID Off 0 1st 1 2nd 2 3rd 3 Table 4 7 Cut off frequenc...

Страница 19: ...is then interpreted as a group extension The device address node ID of every individual device in the network has to be unique This can be assured by means of the address claiming procedure Details see chapter J1939 Interface Description section Address claiming 5 2 Interpretation of the CAN Identifier The CAN identifier of a J1939 message contains Parameter Group Number PGN source address priorit...

Страница 20: ...sensor will use the null address 254 The null address is not saved in the parameter set After a restart the sensor will use the last claimed address The Parameter Group Number PGN 0x00FED8 Commanded Address is not supported 5 4 Process Data PD After the sensor has claimed a node address the measured inclination values will be send automatically with a Proprietary B PGN message The priority the PGN...

Страница 21: ...er Mode by using the following sequence placeholder necessary nn destination address sensor node address rr source address xx unused bytes optional 5 7 Reading Parameters To read out the actual parameters use the following message placeholder necessary pp the index of the parameter see chapter Parameter Table nn destination address sensor node address rr source address xx unused bytes optional Ide...

Страница 22: ...s 5 9 Leaving Parameter Mode To leave the parameter mode use the following sequence placeholder necessary nn destination address sensor node address rr source address xx unused bytes optional Identifier Data Bytes Priority PGN Source address 1 CMD 2 Index 3 4 5 6 7 8 0x00EFnn rr 0xE1 pp dd dd dd dd dd dd Table 5 7 Note The answer message should be D0 see also chapter J1939 Interface Description se...

Страница 23: ...Below an example for an Answer Message with node ID 0x80 The following table describes the content of data byte 1 Code Identifier 29 Bit Data Bytes Priority 3 bit PGN Source address 8 bit 1 2 3 4 5 6 7 8 Data page 2 bit PDU format 8 Bit Destination address 8 bit 0x07 01112 0x00 002 0xEF 0x32 0x80 Code optional Parameter Number optional read Parameter Data 0x1CEF3280 Table 5 9 Code Descripiton D0 o...

Страница 24: ...ex 1 See also chapter J1939 Interface Description section Writing Parameters xx unused bytes optional Effect New parameter is acknowledged Message D0 parameter successfully written or read see also chapter J1939 Interface Description section Answer Messages Yellow LED blinks No more PDOs are sent Identifier Data Bytes Priority PGN Source address 1 CMD 2 Password 3 4 5 6 7 8 0x00 0xEF80 0x01 0xEB C...

Страница 25: ... Mode is left Sensor restarts New node ID is claimed see also chapter J1939 Interface Description section Adress Claiming Yellow LED blinks PDOs are sent Note The sensor answers with the old Node ID New Node ID is valid when the parameter mode is left Identifier Data Bytes Priority PGN Source address 1 CMD 2 Password 3 4 5 6 7 8 0x00 0xEF80 0x01 0xEB 0x00 xx xx xx xx xx xx Table 6 3 ...

Страница 26: ...ED blinks No more PDOs are sent Step 2 Send command factory reset xx unused bytes optional Effect New parameter is acknowledged Message D0 parameter successfully written or read see also chapter J1939 Interface Description section Answer Messages Yellow LED blinks No more PDOs are sent Identifier Data Bytes Priority PGN Source address 1 CMD 2 Password 3 4 5 6 7 8 0x00 0xEF80 0x01 0xEB CMD Start pa...

Страница 27: ...lso chapter Leaving Parameter Mode xx unused bytes optional Effect Parameter Mode is left Sensor restarts Factory default values are set again Yellow LED blinks PDOs are sent Identifier Data Bytes Priority PGN Source address 1 CMD 2 Password 3 4 5 6 7 8 0x00 0xEF80 0x01 0xEB 0x00 xx xx xx xx xx xx Table 6 6 ...

Страница 28: ...t of the J1939 Name 0x07 Function Instance 0 31 0 1 Part of the J1939 Name 0x08 ECU Instance 0 7 0 1 Part of the J1939 Name J1939 Messages 0x09 PDO 0 PGN 0x00000 0x3FFFF 0x0FF00 4 Process data PGN 0x0A PDO 0 Map je Byte 0 27 1 0 1 2 27 4 Defines the mapping of the process data 0x0B PDO 0 Interval 0 65535 1 2 0 no message is send 1 65535 multiple of 10ms 0x0C PDO 0 Offset 0 255 0 1 Offset for PDO i...

Страница 29: ... 15 16 17 27 4 Defines the mapping of the process data 0x1F PDO 4 Interval 0 65535 1 2 0 no message is send 1 65535 multiple of 10ms 0x20 PDO 4 Offset 0 255 0 1 Offset for PDO interval to equalize traffic demand temporally Value multiple of 10ms 0x21 PDO 4 Priority 0 7 7 1 Priority of the PDO 0x22 PDO 5 PGN 0x00000 0x3FFFF 0x0FF05 4 Process data PGN 0x23 PDO 5 Map je Byte 0 27 1 18 19 20 27 4 Defi...

Страница 30: ...or 0x36 Gyro_SLOT 1 Offset no limit 0 2 Rotation rate Gyro SLOT value Offset 0x37 Reserved Internal use only 0x38 Reserved Internal use only 0x39 RotAcc_SLOT 2 Factor no limit 1 2 Rotational Acceleration RotAcc SLOT value Factor 0x3A RotAcc_SLOT 2 Offset no limit 0 2 Rotational Acceleration RotAcc SLOT value Offset 0x3B 0x40 Reserved Internal use only 0x41 Grav_SLOT 4 Factor no limit 1000 2 Gravit...

Страница 31: ...No 1 Rotation rate Gyro 0x59 Gyro_Filter 1 Order 0 3 2 0 1 Filter order of Filter No 1 Rotation rate Gyro 0 off 0x5A Gyro_Filter 1 Frequency 1000 65000 2 50000 2 Cut off frequency of Filter No 1 Rotation rate Gyro in mHz 0x5B RotAcc_Filter 2 Type 0 5 2 0 1 Filter type of Filter No 2 Rotational acceleration RotAcc 0x5C RotAcc_Filter 2 Order 0 3 2 1 1 Filter order of Filter No 2 Rotational accelerat...

Страница 32: ...ter Filter Settings 0x66 LinAcc_Filter 5 Frequency 1000 65000 2 50000 2 Cut off frequency of Filter No 5 Linear acceleration LinAcc in mHz Angle_Definition 0x67 Eul_Ang_Def 0 3 2 1 Euler Angles definition 0 z y x DIN 9300 DIN 70000 1 ZXZ P F Angles definition 2 INX Pepperl Fuchs 3 INY Pepperl Fuchs Table 7 1 Index Name Valid values Default value Size bytes Description ...

Страница 33: ...uchs GmbH 68307 Mannheim Germany Tel 49 621 776 0 E mail info de pepperl fuchs com USA Headquarters Pepperl Fuchs Inc Twinsburg Ohio 44087 USA Tel 1 330 4253555 E mail sales us pepperl fuchs com Asia Pacific Headquarters Pepperl Fuchs Pte Ltd Company Registration No 199003130E Singapore 139942 Tel 65 67799091 E mail sales sg pepperl fuchs com DOCT 5714 05 2018 ...

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