Inertial Measurement Unit IMUF99*B20
Commissioning
2
02
2-
06
23
5.9
Gravity Flag
Rotations about the gravity vector can
’
t be detected in the angle output.
Technical-physical relations
•
Regardless of the mounting position of the sensor, a rotation around the gravitational vec
-
tor is not recognized as an angle change.
•
If the mounting position or a previous movement of the application causes its measuring
axis to be parallel (
±
5
°
) to the earth's gravitational vector, then this measuring axis shows
a noisy behavior both in the idle state and during movements around the gravitational vec
-
tor.
For these reasons, the sensor offers the functionality that this condition is automatically
detected and displayed. The sensor thus automatically recognizes whether and which measur
-
ing axis is parallel to 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 gravitational vector. The content of byte 8 can
assume the following values with the appropriate meaning.
Note
This effect only refers to the output of the angle values. Acceleration and rotation rate values
are unaffected by this effect.
Content Byte 8
Mapping ID 11
HEX
Content Byte 8
Mapping ID 11
Binary
x-Gravity
Flag
y-Gravity
Flag
z-Gravity
Flag
Description
00
000
Not active
Not active
Not active
No measuring
axis currently
parallel to the
gravitational
vector
01
001
Active
Not active
Not Active
The x-axis
(Roll) is cur
-
rently parallel
to the gravita
-
tional vector
02
010
Not active
Active
Not active
The y-axis
(Pitch) is cur
-
rently parallel
to the gravita
-
tional vector
04
100
Not Active
Not active
Active
The z-axis
(Yaw) is cur
-
rently parallel
to the gravita
-
tional vector
Table 5.11