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Inertial Measurement Unit IMUF99*B20

Commissioning

5.4

PDO Mapping

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

sor 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

Acc X

Acceleration X

Acceleration in x direction

Raw data

Acc Y

Acceleration Y

Acceleration in y direction

Raw data

Acc Z

Acceleration Z

Acceleration in z direction

Raw data

Gyro X

Gyroscope X

Rotation rate around the x axis Raw data

Gyro Y

Gyroscope Y

Rotation rate around the y axis Raw data

Gyro Z

Gyroscope Z

Rotation rate around the z axis Raw data

RotAcc X Rotational Accelera

tion X

Rotational acceleration around

the x axis

Raw data

RotAcc Y Rotational Accelera

tion Y

Rotational acceleration around

the y axis

Raw data

RotAcc Z Rotational Accelera

tion Z

Rotational acceleration around

the z axis

Raw data

App Flag

Acc

Application Flag

Acceleration

Status of adjustable application

flags of each axis for accelera

tion

Flag

App Flag

Gyro

Application Flag Gyro

scope

Status of adjustable application

flags of each axis for rotation

rate

Flag

App Flag

Angle

Grav Flag

Angle

Application Flag Angle

Gravity Flag Angle

Status of adjustable application

flags of each axis for inclination

measuremen.

Status of autonomous gravity

flags of each axis for inclination

measurement

Flag

Grav X

Gravity Vector X

Proportion of the gravity vector

in x direction without external

acceleration

Sensor

Fusion

data

Grav Y

Gravity Vector Y

Proportion of the gravity vector

in y direction without external

acceleration

Sensor

Fusion

data

Grav Z

Gravity Vector Z

Proportion of the gravity vector

in z direction without external

acceleration

Sensor

Fusion

data

LinAcc X Linear Acceleration X Acceleration in x direction with

out gravity vector

Sensor

Fusion

data

LinAcc Y Linear Acceleration Y Acceleration in y direction with

out gravity vector

Sensor

Fusion

data

LinAcc Z Linear Acceleration Z Acceleration in z direction with

out gravity vector

Sensor

Fusion

data

Содержание IMUF99 B20 Series

Страница 1: ...Inertial Measurement Unit IMUF99 B20 with CAN SAE J1939 Protocol Manual...

Страница 2: ...sion as well as the supplementary clause Expanded reservation of proprietorship Worldwide Pepperl Fuchs Group Lilienthalstr 200 68307 Mannheim Germany Phone 49 621 776 0 E mail info de pepperl fuchs c...

Страница 3: ...connection 12 4 Cybersecurity Information 13 5 Commissioning 14 5 1 Definition of Baud Rate and Node ID 14 5 2 Identification characters for system environment 15 5 3 J1939 Messages Default Values 16...

Страница 4: ...7 Reading Parameters 27 6 8 Writing Parameters 27 6 9 Leaving Parameter Mode 28 6 10 Answer Messages 29 7 Example 30 7 1 Set Node ID 30 7 2 Factory reset 31 7 3 Set Compensation Range 33 7 4 Set Appli...

Страница 5: ...y Certificates Control drawings Instruction manual Other documents 1 2 Target Group Personnel Responsibility for planning assembly commissioning operation maintenance and dismount ing lies with the pl...

Страница 6: ...d to provide gyroscopic stabilized inclination and acceleration data as well as rotation rate data Read through these instructions thoroughly Familiarize yourself with the device before install ing mo...

Страница 7: ...top using the device Secure the device against inadvertent operation In the event of repairs return the device to your local Pepperl Fuchs representative or sales office 1 6 Declaration of Conformity...

Страница 8: ...ve compensation of external acceleration distur bance Triaxial acceleration sensor and triaxial gyroscope outputs are used as input of the fusion sys tem The adaptive sensor fusion algorithm is design...

Страница 9: ...this The sensor automatically detects whether a sensor axis is parallel to the gravitational vector and shows this in the status of the Gravity Flag GF Accordingly it is always displayed for each ang...

Страница 10: ...g figure the signal path of input and output values is illustrated Figure 2 5 Triple Axis Accelerometer Triple Axis Gyroscope Filter 0 Filter 1 Filter 2 Filter 5 Filter 4 Sensor Fusion Algorithm Accel...

Страница 11: ...d 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 St...

Страница 12: ...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 Note The device complies...

Страница 13: ...k such as in mobile equipment The plant operator must ensure that the device is physically protected against unauthorized access In addition it must also be ensured that only well known and trusted bu...

Страница 14: ...e following settings are adjustable with the sensor Identification of the sensor in his system environment 1 Parameterize the sensor idenfication characters according to section Identification charact...

Страница 15: ...CU 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 particu...

Страница 16: ...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 Mess...

Страница 17: ...l acceleration around the y axis Raw data 8 RotAcc Z Rotational Accelera tion Z Rotational acceleration around the z axis Raw data 9 App Flag Acc Application Flag Acceleration Status of adjustable app...

Страница 18: ...Sensor Fusion data 20 Yaw 1 Yaw P F Angle INX INY INZ Rota tion 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...

Страница 19: ...ta 987 Dez Offset value 0 Factor 1000 Acceleration in x direction 987 0 1000 g 0 987 g SLOT Definit Acceleration Acc Gravity Vector Grav Linear Acceleration LinAcc Rotational Accelera tion RotAcc Rota...

Страница 20: ...is way the quality of the angle output can be adjusted despite disturbing vibrations The filter type the filter order and the width of a low pass filter can be set The filter settings can be defined i...

Страница 21: ...and a driving profile with pre dominantly sustained linear acceleration linear over several seconds The parameter can be set to one of values 0 1 2 7 The following table shows the selection options f...

Страница 22: ...the application flag AF in byte 7 of PDO 0 MappingID 9 for acceleration PDO 1 MappingID 10 for yaw rate and PD0 5 MappingID 11 for angle The following table shows how the AF status can be interpreted...

Страница 23: ...the gravitational vector and displays this via a flag In PDO 5 angle output the content of byte 8 with Mapping ID 11 corresponds to the flag for displaying which measuring axis is parallel to the gra...

Страница 24: ...terpreted 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...

Страница 25: ...l 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 Com manded Address is...

Страница 26: ...ensor starts with a complete reset and the new parameter set 6 6 Starting Parameter Mode 1 To send parameters to the device and to read out the actual parameters start the parameter Mode by using the...

Страница 27: ...rs to the device use the following message placeholder necessary dd data to write LSB in Byte 3 pp the index of the parameter see chapter Parameter table nn destination address sensor node address rr...

Страница 28: ...Mode 1 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 Priorit...

Страница 29: ...ample 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 pa...

Страница 30: ...so 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...

Страница 31: ...ameter Mode See also chapter Starting Parameter Mode xx unused bytes optional Effect Parameter Mode is started Message D0 Password accepted see also chapter J1939 Interface Description sec tion Answer...

Страница 32: ...Step 3 Leaving Parameter Mode See also 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...

Страница 33: ...ame Valid values Default value Size bytes Description 0x68 Compensation range 0 7 4 1 The choice of the parameter affects the quality of the angle output depending on the motion profile of the applica...

Страница 34: ...re sent Step 3 Leaving Parameter Mode See also chapter Leaving Parameter Mode xx unused bytes optional Effect Parameter Mode is left Sensor restarts New node ID is claimed see also chapter J1939 Inter...

Страница 35: ...e also chapter J1939 Interface Description section Writing Parameters xx unused bytes optional Effect New parameter is acknowledged Answer message D0 81 01 parameter 0x81 successfully written with new...

Страница 36: ...on Writing Parameters xx unused bytes optional Effect New parameter is acknowledged Answer message D0 84 00 parameter 0x84 successfully written with new value 00 see also chapter J1939 Interface Descr...

Страница 37: ...unused bytes optional Effect Parameter 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 Identif...

Страница 38: ...name J1939 Messages 0x09 PDO 0 PGN 0x00000 0x3FFFF 0x0FF00 4 Process data PGN default Acceleration 0x0A PDO 0 Map per byte 0 27 1 0 1 2 9 4 Defines the mapping of the process data default Acceleration...

Страница 39: ...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...

Страница 40: ...fset 0x37 Reserved Internal use only 0x38 Reserved Internal use only 0x39 RotAc c_SLOT 2 Fac tor no limit 1 2 Rotational Acceleration RotAcc SLOT value Factor 0x3A RotAc c_SLOT 2 Off set no limit 0 2...

Страница 41: ...1 Rota tion rate Gyro 0 off 0x5A Gyro_Fil ter 1 Frequency 1000 65000 2 50000 2 Cut off frequency of Filter No 1 Rotation rate Gyro in mHz 0x5B RotAcc_Fil ter 2 Type 0 5 2 0 1 Filter type of Filter No...

Страница 42: ...sustained lin ear accelerations can be compen sated The lower the value selected the better short shocks can be com pensated A quantitative statement must be tested in each individual case Applicatio...

Страница 43: ...f the value falls below Limit1 independent of sign AF is set to high If Limit1 is exceeded independent of sign AF is set to low In window mode If the value is between Limit1 and Limit2 AF is set to hi...

Страница 44: ...f the value falls below Limit1 independent of sign AF is set to high If Limit1 is exceeded independent of sign AF is set to low In window mode If the value is between Limit1 and Limit2 AF is set to hi...

Страница 45: ...the value falls below Limit1 independent of sign AF is set to high If Limit1 is exceeded independent of sign AF is set to low In window mode If the value is between Limit1 and Limit2 AF is set to hig...

Страница 46: ...f the value falls below Limit1 independent of sign AF is set to high If Limit1 is exceeded independent of sign AF is set to low In window mode If the value is between Limit1 and Limit2 AF is set to hi...

Страница 47: ...f the value falls below Limit1 independent of sign AF is set to high If Limit1 is exceeded independent of sign AF is set to low In window mode If the value is between Limit1 and Limit2 AF is set to hi...

Страница 48: ...w If the value is outside of Limit1 and Limit2 AF is set to high 1 high active In single point mode if the value falls below Limit1 independent of sign AF is set to high If Limit1 is exceeded independ...

Страница 49: ...g The value of Limit2 can be chosen inde pendently of Limit1 0x84 Param_AF_In cl_x_Logic 0 1 0 1 Just use it in combination with INX INY INZ inclination setting Don t use it with ZYZ or zy x incli nat...

Страница 50: ..._SP1 0 36000 0 2 Just use it in combination with INX INY INZ inclination setting Don t use it with ZYZ or zy x incli nation setting For inclination y axis The value of this switching point parameter d...

Страница 51: ...igh If the value is outside of Limit1 and Limit2 AF is set to low 0x89 Param_AF_In cl_z_Mode 0 1 2 0 1 Just use it in combination with INX INY INZ inclination setting Don t use it with ZYZ or zy x inc...

Страница 52: ...n setting Don t use it with ZYZ or zy x incli nation setting For inclination z axis This parameter determines which value range of the limits should be displayed as the active value range 0 low active...

Страница 53: ...Pepperl Fuchs Quality Download our latest policy here www pepperl fuchs com quality www pepperl fuchs com Pepperl Fuchs Subject to modifications DOCT 8282...

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