Related Manuals for Pepperl+Fuchs IMU360D-F99-B20
Summary of Contents for Pepperl+Fuchs IMU360D-F99-B20
- Page 1 FACTORY AUTOMATION MANUAL F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 with CAN SAE J1939 Protocol...
- Page 2 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 With regard to the supply of products, the current issue of the following document is ap- plicable: The General Terms of Delivery for 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...
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Page 3: Table Of Contents
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Introduction................. 5 Content of this Document ..............5 Target Group, Personnel..............5 Symbols Used ..................6 Intended Use ..................6 General Safety Notes ................6 Declaration of conformity..............7 Product Description ..............8 Use and application ................8 LED displays.................. - Page 4 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Reading Parameters................21 Writing Parameters................22 Leaving Parameter Mode ..............22 5.10 Answer Messages ................23 Example..................24 Set Node ID ..................24 Factory reset ..................26 Parameter Table ................ 28...
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Page 5: Introduction
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Introduction Introduction Content of this Document This document contains information required to use the product in the relevant phases of the product life cycle. This may include information on the following: Product identification ■... -
Page 6: Symbols Used
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Introduction Symbols Used This document contains symbols for the identification of warning messages and of informative messages. Warning Messages You will find warning messages, whenever dangers may arise from your actions. It is mandatory that you observe these warning messages for your personal safety and in order to avoid property damage. -
Page 7: Declaration Of Conformity
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Introduction If serious faults occur, stop 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. Note! Disposal Electronic waste is hazardous waste. When disposing of the equipment, observe the current statutory requirements in the respective country of use, as well as local regulations. -
Page 8: Product Description
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Product Description Product Description Use and application The F99 Fusion, Inertial Measurement Unit IMU360D-F99, combines an acceleration sensor and a gyroscope into a single device and links the two sensor elements to increase overall performance of the system and open up new possibilities. - Page 9 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Product Description Several selectable output values such as acceleration, rotational speed , inclination (Euler angle, Euler value, quaternions) and programmable filters allow you to perfectly adapt the measuring system to your application. Parameterization and data transfer take place via the integrated CAN SAE J1939 interface.
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Page 10: Led Displays
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Product Description LED displays The IMU360D-F99 has three LED indicators that allow rapid visual monitoring. The green power LED indicates the state of the power supply ■ The yellow run LED indicates the bus and sensor status ■... -
Page 11: Installation
CAN-L Table 3.1 Connector assignment 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 or cause the device to malfunction. -
Page 12: Commissioning
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Commissioning Commissioning Definition of Baud Rate and Node ID The factory settings for establishing communication with the sensor are for Baud rate: 250 kBit/s ■ Node ID: 128 ■ As defined in the J1939 standard the sensor supports the dynamic address claiming starting with default address 128 . -
Page 13: Identification Characters For System Environment
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Commissioning Identification characters for system environment For identification of the sensor in his system environment the sensor provides some characters you can parameterize during commissioning. The following table contains the default values of Interface configuration and J1939 name. -
Page 14: J1939 Messages - Default Values
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Commissioning J1939 Messages - Default Values To enable a quick commissioning of the sensor the Process Data Objects (PDO) PDO 0 ... 7 are preallocated as described in the table below. After the sensor has claimed a node address the measured values will be send automatically with "Proprietary B"... -
Page 15: Pdo Mapping
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Commissioning 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). - Page 16 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Commissioning Mapping Data Data name Data description Data type Pitch P + F Angle INX/INY: Rotation Sensor Pitch about x axis Fusion data Euler Angle: theta Sensor Fusion data P + F Angle INX/INY: Rotation...
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Page 17: Slot Definition
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Commissioning SLOT Definition In the following SLOT definition table the Scaling, Limit, Offset and Transfer function of the output data is described. The SLOT definition can be defined in the "SLOT definition" parameters as listed in chapter “Parameter table”. -
Page 18: Filter Settings
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Commissioning Filter Settings The following filter types can be used to enable filters in the signal path in order to adapt the device to special applications. For the allocation of the different filters, please see the signal graph above. -
Page 19: J1939 Interface Description
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 J1939 Interface Description J1939 Interface Description J1939 Message Format The J1939 interface uses the 29 bit CAN-ID. The CAN-ID in J1939 is assembled of a Parameter Group Number (PGN) and a source address. A parameter group (PG) consists of various parameters, such as offset value, direction of rotation, etc. -
Page 20: Address Claiming
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 J1939 Interface Description The following table explains the 29 bit identifier of the example above. 0 9 8 7 6 5 4 3 2 1 Byte 3 (PDU format) 2 (destination address) 1 (source address) -
Page 21: Parameter Mode
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 J1939 Interface Description Parameter Mode The parameter mode uses the "Proprietary A" PGN 0x00EFnn for a peer-to-peer communication. Therefore the PGN includes the sensor node address in the last byte. To read and write the parameters the eight data bytes have to contain the following commands. -
Page 22: Writing Parameters
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 J1939 Interface Description Writing Parameters To write parameters to the device use the following message. Identifier Data Bytes Priority PGN Source address Index 0x00EFnn 0xE1 dd dd Table 5.7 *: placeholder, necessary dd: data to write, LSB in Byte 3 pp: the index of the parameter (see chapter "Parameter table") -
Page 23: Answer Messages
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 J1939 Interface Description 5.10 Answer Messages In the answer message the source address is the address of the sensor (default value 0x80).The destination address (in this case 0x32) is the node ID of the node that has sent the request. -
Page 24: Example
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Example Example Set Node ID Assumption: Device node ID: 0x80 (default) ■ Master node ID: 0x01 ■ Step 1: Starting Parameter Mode See also chapter "Starting Parameter Mode" Identifier Data Bytes Priority Source address... - Page 25 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Example Note! The sensor answers with the old Node-ID. New Node-ID is valid when the parameter mode is left! Step 3: Leaving Parameter Mode See also chapter "Leaving Parameter Mode" Identifier Data Bytes Priority...
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Page 26: Factory Reset
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Example Factory reset The following steps describe how to reset the sensor to the factory default settings: Step 1: Starting Parameter Mode See also chapter "Starting Parameter Mode" Identifier Data Bytes Priority Source address... - Page 27 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Example Step 3: Leaving Parameter Mode See also chapter "Leaving Parameter Mode" Identifier Data Bytes Priority Source address Password 0x00 0xEF80 0x01 0xEB 0x00 Table 6.6 xx: unused, bytes optional Effect Parameter Mode is left.
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Page 28: Parameter Table
F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Parameter Table Parameter Table The following table describes the allocation, range, default values and description of the accessible parameters Size Index Name Valid values Default value [bytes] Description J1939 Interface 0x00 Baud rate 0 ... 8... - Page 29 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x14 PDO[2].Map 6, 7, 8, 27 Defines the mapping of the je Byte 0 ... 27 process data 0x15 PDO[2].Interval 0 … 65535 0 = no message is send 1...65535 = multiple of 10ms...
- Page 30 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x2B PDO[6].Priority 0 ... 7 Priority of the PDO 0x2C PDO[7].PGN 0x00000 ... 0x0FF07 Process data PGN 0x3FFFF 0x2D PDO[7].Map 25, 26, 27, 27 4 Defines the mapping of the je Byte 0 ...
- Page 31 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x4B Reserved Internal use only 0x4C Reserved Internal use only 0x4D Quat_SLOT[7].Factor no limit 1000 Quaternion (Quat) SLOT value: Factor 0x4E Quat_SLOT[7].Offset no limit...
- Page 32 F99 Fusion Inertial Measurement Unit IMU360D-F99-B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x66 LinAcc_Filter[5].Frequency 1000…65000 50000 Cut-off frequency of Filter No.5 >> Linear acceleration (LinAcc) in mHz Angle_Definition 0x67 Eul_Ang_Def 0 .. 3 Euler Angles definition: 0 = z,y',x'' [DIN 9300;DIN...
- Page 33 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 www.pepperl-fuchs.com Subject to modifications / DOCT-5714 Copyright PEPPERL+FUCHS • Printed in Germany 05/2018...