Inertial Measurement Unit IMUF99*B20
Commissioning
2
02
2-
06
19
5.5
SLOT Definition
In the following
SLOT
definition table the
S
caling,
L
imit,
O
ffset and
T
ransfer function of the out
-
put data is described. The SLOT definition can be defined in the "SLOT definition" parameters
as listed in chapter
“
Parameter table
”
.
All signed data is 16 bit (two's complement). The abbreviation "
g
" is equivalent with the accel
-
eration of gravity factor 9,81 m/s
2
.
Example
AccX data = 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)
Rotation
Rate
(Gyro)
Euler
Angles
(EUI)
zy'x'', ZXZ
P + F
Angles
INX/INY/INZ
Quater
-
nion
(Quat)
Tempera
-
ture
(temp)
Data
Length
2 Bytes signed
2 Bytes
signed
2 Bytes
signed
2 Bytes
signed
2 Bytes
unsigned
2 Bytes
signed
2 Bytes
signed
Basic
Unit
g
°
/s
2
°
/s
°
°
-
°
C
Range
+/- 4 g
±
2500
°
/s
2
±
250
°
/s
Roll, Pitch,
Yaw -180
°
... + 180
°
Roll, Pitch,
Yaw 0
°
...
360
°
±
1
-40
°
C ...
+85
°
C
Offset
0 mg
0
°
/s
2
0
°
/s
0
°
0
°
0
0
°
C
Default
Factor
1000
1
100
100
100
1000
10
Transfer
Function
= ((Data - Offset)/Factor) [basic unit]
Table 5.5
