Pdo Mapping - Pepperl+Fuchs IMU360D-F99-B20 Manual

F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Commissioning
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
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Data Data name
Acc X Acceleration X
Acc Y Acceleration Y
Acc Z Acceleration Z
Gyro X Gyroscope X
Gyro Y Gyroscope Y
Gyro Z Gyroscope Z
RotAcc X Rotational
Acceleration X
RotAcc Y Rotational
Acceleration Y
RotAcc Z Rotational
Acceleration Z
- -
- -
- -
Grav X Gravity Vector X
Grav Y Gravity Vector Y
Grav Z Gravity Vector Z
LinAcc X Linear Acceleration X Acceleration in x direction without
LinAcc Y Linear Acceleration Y Acceleration in y direction without
LinAcc Z Linear Acceleration Z Acceleration in z direction without
Roll
1)
Roll
Data description
Acceleration in x direction
Acceleration in y direction
Acceleration in z direction
Rotation rate around the x axis
Rotation rate around the y axis
Rotation rate around the z axis
Rotational acceleration around the
x axis
Rotational acceleration around the
y axis
Rotational acceleration around the
z axis
Reserved (internal use only)
Reserved (internal use only)
Reserved (internal use only)
Proportion of the gravity vector in x
direction without external
acceleration
Proportion of the gravity vector in y
direction without external
acceleration
Proportion of the gravity vector in z
direction without external
acceleration
gravity vector
gravity vector
gravity vector
P + F Angle INX/INY: Rotation
about y axis
Euler Angle: psi
Data type
Raw data
Raw data
Raw data
Raw data
Raw data
Raw data
Raw data
Raw data
Raw data
Raw data
Raw data
Raw data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
15