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F99 Fusion Inertial Measurement Unit IMU360D-F99-B20
Commissioning
4.5
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".
Acceleration (Acc)/
Gravity Vector (Grav)/
SLOT
Linear Acceleration
Definition
(LinAcc)
Data
2 Bytes signed
Length
Basic Unit g
Range
+/- 2 g
Offset
0 mg
Default
1000
Factor
Transfer
Function
Table 4.5
All signed data is 16 bit (two's complement). The abbreviation "g" is equivalent with the
acceleration of gravity factor 9,81 m/s
Example
AccX data = 987 Dez; Offset value = 0; Factor = 1000 >> Acceleration in x direction = (987 - 0)/
1000 g = 0,987 g
Rotational
Rotation
Euler Angles
Acceleration
Rate
(EUI)
(RotAcc)
(Gyro)
zy'x'', ZXZ
2 Bytes
2 Bytes
2 Bytes
signed
signed
signed
2
°/s
°
°/s
± 250
Roll, Pitch,
2
± 2500 °/s
Yaw -180 ° ...
°/s
+ 180 °
0 °/s
0 °
2
0 °/s
1
100
100
= ((Data - Offset)/Factor) [basic unit]
2
.
P + F
Angles
Quaternion
Temperature
INX/INY
(Quat)
(temp)
2 Bytes
2 Bytes
2 Bytes
unsigned
signed
signed
-
°
°C
Roll, Pitch,
± 1
-40 °C ...
Yaw 0 ° ...
+85 °C
360 °
0 °
0
0 °C
100
1000
10
17
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