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Pepperl+Fuchs IMUF99 B20 Series Manual

Pepperl+Fuchs IMUF99 B20 Series Manual

Inertial measurement unit
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Inertial Measurement Unit
IMUF99*B20
with CAN SAE J1939 Protocol
Manual

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Summary of Contents for Pepperl+Fuchs IMUF99 B20 Series

  • Page 1 Inertial Measurement Unit IMUF99*B20 with CAN SAE J1939 Protocol Manual...
  • Page 2 Phone: +49 621 776 - 0 E-mail: info@de.pepperl-fuchs.com North American Headquarters Pepperl+Fuchs Inc. 1600 Enterprise Parkway Twinsburg, Ohio 44087 Phone: +1 330 425-3555 E-mail: sales@us.pepperl-fuchs.com Asia Headquarters Pepperl+Fuchs Pte. Ltd. P+F Building 18 Ayer Rajah Crescent Singapore 139942 Phone: +65 6779-9091 E-mail: sales@sg.pepperl-fuchs.com https://www.pepperl-fuchs.com...

  • Page 3: Table Of Contents

    Inertial Measurement Unit IMUF99*B20 Contents Introduction........................ 5 Content of this Document ................5 Target Group, Personnel ................5 Symbols Used ....................6 Intended Use ....................6 General Safety Notes..................7 Declaration of Conformity................7 Product Description ....................8 Use and application..................8 LED displays ....................
  • Page 4 Inertial Measurement Unit IMUF99*B20 Contents Reading Parameters ..................27 Writing Parameters ..................27 Leaving Parameter Mode................28 6.10 Answer Messages ..................29 Example ........................30 Set Node ID....................30 Factory reset....................31 Set Compensation Range ................33 Set Application Flag Inclination for x-Axis ..........35 Parameter Table......................38...

  • Page 5: Introduction

    Inertial Measurement Unit IMUF99*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 • Delivery, transport, and storage •...

  • Page 6: Symbols Used

    Inertial Measurement Unit IMUF99*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 prop- erty damage.

  • Page 7: General Safety Notes

    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.

  • Page 8: Product Description

    Inertial Measurement Unit IMUF99*B20 Product Description Product Description Use and application The IMUF99, Inertial Measurement Unit, 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. This device is optimized to provide gyroscopic-stabilized inclination and acceleration data as well as rotation rate data.
  • Page 9 Inertial Measurement Unit IMUF99*B20 Product Description Body fixed coordinate system (intrinsic or co-rotating) for Euler angle zy'x'' − − Roll Pitch − Figure 2.3 Body fixed coordinate system (intrinsic or co-rotating) for P+F angle INZ − − Roll Pitch − Figure 2.4 Gravity Flag The IMU measures the acceleration, yaw rate and angle in each of 3 axis.
  • Page 10 Inertial Measurement Unit IMUF99*B20 Product Description Selectable output values and filters Several selectable output values such as acceleration, rotational speed, inclination (Euler angle, Euler value, quaternions) and programmable filters allow you to perfectly adapt the mea- suring system to your application. Parameterization and data transfer take place via the integrated CAN SAE J1939 interface.

  • Page 11: Led Displays

    Inertial Measurement Unit IMUF99*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 12: 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. Note The device complies with the EMC norms and standards described in the datasheets. If necessary, additional external EMC protection elements and interference suppression measures (e.g.

  • Page 13: Cybersecurity Information

    Inertial Measurement Unit IMUF99*B20 Cybersecurity Information Cybersecurity Information Security context The device is designed for use in an industrial CAN bus network such as in mobile equipment. The plant operator must ensure that the device is physically protected against unauthorized access.

  • Page 14: Commissioning

    Inertial Measurement Unit IMUF99*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 15: Identification Characters For System Environment

    ECU Instance 0… 7 (3 bit) Identifies the ECU instance inside of the function field. Manufacturer Code 0… 2047 (11 bit) 632: Pepperl+Fuchs manufacturer code Identity Number Unique serial number 0… 2097151 (21 bit) Product serial number (fix) Table 5.2...

  • Page 16: J1939 Messages - Default Values

    Inertial Measurement Unit IMUF99*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 17: Pdo Mapping

    Inertial Measurement Unit IMUF99*B20 Commissioning PDO Mapping The following table describes the allocation of the PDO Output data. Triaxial acceleration sen- sor 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 18 Inertial Measurement Unit IMUF99*B20 Commissioning Mapping ID Data Data name Data description Data type Roll P + F Angle INX/INY/INZ: Rota- Sensor Roll tion about x axis Fusion data Euler Angle: psi Sensor Fusion data Pitch P + F Angle INX/INY/INZ: Rota- Sensor Pitch tion about y axis...

  • Page 19: Slot Definition

    Inertial Measurement Unit IMUF99*B20 Commissioning SLOT Definition In the following SLOT definition table the Scaling, Limit, Offset and Transfer 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”. SLOT Acceleration (Acc)/ Rotational...

  • Page 20: Filter Settings

    Inertial Measurement Unit IMUF99*B20 Commissioning Filter Settings Using one of the following filter types, filters in the signal path can be activated in such a way that vibration frequencies that excite the sensor are suppressed. These vibrations could be trig- gered by a running engine or gearbox, for example.

  • Page 21: Settings Of Compensation Range

    Inertial Measurement Unit IMUF99*B20 Commissioning Settings of Compensation Range This parameter "Compensation Range" (0x68) is used to adjust the quality of the angle output, depending on the application-specific motion profile. In principle, external accelerations, shocks and jerky movements can lead to incorrect angle outputs. This parameter must be selected before the actual angle measurement.

  • Page 22: Application Flag

    Inertial Measurement Unit IMUF99*B20 Commissioning Application Flag Independent limits can be set for the X, Y and Z axes of the acceleration, rotation rate and angle measurement axes. If these limits are exceeded, this is indicated in the switching status of the Application Flags (AF).

  • Page 23: Gravity Flag

    Inertial Measurement Unit IMUF99*B20 Commissioning 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. •...

  • Page 24: J1939 Interface Description

    Inertial Measurement Unit IMUF99*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 Parame- ter Group Number (PGN) and a source address. A parameter group (PG) consists of various parameters, such as offset value, direction of rota- tion, etc.

  • Page 25: Address Claiming

    Inertial Measurement Unit IMUF99*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) Value 1 1 1 0 0 1 1 1 0 1 0 1 0 1 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0x1CEA8032 Table 6.3...

  • Page 26: Parameter Mode

    Inertial Measurement Unit IMUF99*B20 J1939 Interface Description Parameter Mode The parameter mode uses the "Proprietary A" PGN 0x00EFnn for a peer-to-peer communica- tion. 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. The written parameter values are saved permanently when the parameter mode is left.

  • Page 27: Reading Parameters

    Inertial Measurement Unit IMUF99*B20 J1939 Interface Description Reading Parameters To read out the actual parameters use the following message. Identifier Data Bytes Priority PGN Source address Index 0x00EFnn 0xE0 Table 6.6 *: placeholder, necessary pp: the index of the parameter (see chapter "Parameter Table") nn: destination address ->...

  • Page 28: Leaving Parameter Mode

    Inertial Measurement Unit IMUF99*B20 J1939 Interface Description Leaving Parameter Mode To leave the parameter mode use the following sequence. Identifier Data Bytes Priority PGN Source address Index 0x00EFnn 0xEB 0x00 Table 6.8 *: placeholder, necessary nn: destination address -> sensor node address rr: source address xx: unused, bytes optional...

  • Page 29: Answer Messages

    Inertial Measurement Unit IMUF99*B20 J1939 Interface Description 6.10 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 30: Example

    Inertial Measurement Unit IMUF99*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 Pass- word 0x00 0xEF80 0x01...

  • Page 31: Factory Reset

    Inertial Measurement Unit IMUF99*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 Source address Pass- word 0x00...
  • Page 32 Inertial Measurement Unit IMUF99*B20 Example Step 2: Send command factory reset Identifier Data Bytes Priority Source address Index 0x00 0xEF80 0x01 0xE2 0x00 (CMD: (CMD: Factory Factory reset) reset) Table 7.5 xx: unused, bytes optional Effect New parameter is acknowledged. •...

  • Page 33: Set Compensation Range

    Inertial Measurement Unit IMUF99*B20 Example Set Compensation Range Size Index Name Valid values Default value [bytes] Description 0x68 Compensation 0 ... 7 The choice of the parameter affects range the quality of the angle output depending on the motion profile of the application.
  • Page 34 Inertial Measurement Unit IMUF99*B20 Example Step 2: Writing Parameter Index 0x68 See also chapter "J1939 Interface Description", section "Writing Parameters" Identifier Data Bytes Priority Source address Index 0x00 0xEF80 0x01 0xE1 0x01 0x05 (CMD: (Param- (new Write eter range) param- Com- eter) pensa-...

  • Page 35: Set Application Flag Inclination For X-Axis

    Inertial Measurement Unit IMUF99*B20 Example Set Application Flag Inclination for x-Axis 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 Pass- word 0x00...
  • Page 36 Inertial Measurement Unit IMUF99*B20 Example Step 2.2: Writing Parameter Index 0x82 See also chapter "J1939 Interface Description", section "Writing Parameters" Identifier Data Bytes Priority Source address Index 0x00 0xEF80 0x01 0x13 0xE1 0x82 0x88 (CMD: (Param (Switching Write _AF_In- Point = 5000 = param- cl_x- 50 deg)
  • Page 37 Inertial Measurement Unit IMUF99*B20 Example Step 3: Leaving Parameter Mode See also chapter "Leaving Parameter Mode" Identifier Data Bytes Priority Source address Pass- word 0x00 0xEF80 0x01 0xEB 0x00 Table 7.15 xx: unused, bytes optional Effect Parameter Mode is left. •...

  • Page 38: Parameter Table

    Inertial Measurement Unit IMUF99*B20 Parameter Table Parameter Table The following table describes the allocation, range, default values and description of the acces- sible parameters. Size Index Name Valid values Default value [bytes] Description J1939 Interface 0x00 Baud rate 0 ... 8 Index equals 10,20,50,100,125,250,500,800, 1000kBaud...
  • Page 39 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x15 PDO[2].Interval 0 … 65535 0 = no message is send 1...65535 = multiple of 10ms 0x16 PDO[2].Offset 0 ... 255 Offset for PDO interval to equalize traffic demand temporally.
  • Page 40 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x2D PDO[7].Map per byte 0 ... 27 25, 26, 27, 27 Defines the mapping of the process data (Default: Temperature) 0x2E PDO[7].Interval 0 … 65535 0 = no message is send 1...65535 = multiple of 10ms 0x2F...
  • Page 41 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x4C Reserved Internal use only 0x4D Quat_SLOT[7].F no limit 1000 Quaternion (Quat) SLOT value: actor Factor 0x4E Quat_SLOT[7].O no limit Quaternion (Quat) SLOT value: Off- ffset 0x4F Reserved...
  • Page 42 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description Angle_Definition 0x67 Eul_Ang_Def 0 ... 4 Euler Angles definition: • 0 = z,y',x'' [DIN 9300;DIN 70000] Intrinsic coordinate system that roates with the sensor body. Value range ±...
  • Page 43 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x6B Param_AF_Ac- 28767 ... 36767 32767 For acceleration x-axis: c_x_SP2 The value of this switching point parameter determines the Limit2, exceeding or falling below it leads to a change in the switching status for the application flag.
  • Page 44 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x6F Param_AF_Ac- 28767 ... 36767 32767 For acceleration y-axis: c_y_SP2 The value of this switching point parameter determines the Limit2, exceeding or falling below it leads to a change in the switching status for the application flag.
  • Page 45 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x73 Param_AF_Ac- 28767 ... 36767 32767 For acceleration z-axis: c_z_SP2 The value of this switching point parameter determines the Limit2, exceeding or falling below it leads to a change in the switching status for the application flag.
  • Page 46 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x77 Param_AF_Gy- 7767...57767 32767 For rotation rate x-axis: ro_x_SP2 The value of this switching point parameter determines the Limit2, exceeding or falling below it leads to a change in the switching status for the application flag.
  • Page 47 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x7B Param_AF_Gy- 7767 ... 57767 32767 For rotation rate y-axis: ro_y_SP2 The value of this switching point parameter determines the Limit2, exceeding or falling below it leads to a change in the switching status for the application flag.
  • Page 48 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x7F Param_AF_Gy- 7767 ... 57767 32767 For rotation rate z-axis: ro_z_SP2 The value of this switching point parameter determines the Limit2, exceeding or falling below it leads to a change in the switching status for the application flag.
  • Page 49 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x82 Param_AF_In- 0 ... 36000 Just use it in combination with cl_x_SP1 INX/INY/INZ inclination setting. Don't use it with ZYZ or zy'x'' incli- nation setting. For inclination x-axis: The value of this switching point parameter determines the limit 1,...
  • Page 50 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x85 Param_AF_In- 0. 1, 2 Just use it in combination with cl_y_Mode INX/INY/INZ inclination setting. Don't use it with ZYZ or zy'x'' incli- nation setting. For inclination y-axis: 0 = deactivated;...
  • Page 51 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x88 Param_AF_In- 0, 1 Just use it in combination with cl_y_Logic INX/INY/INZ inclination setting. Don't use it with ZYZ or zy'x'' incli- nation setting. For inclination y-axis: This parameter determines which value range of the Limits should be displayed as the "active"...
  • Page 52 Inertial Measurement Unit IMUF99*B20 Parameter Table Size Index Name Valid values Default value [bytes] Description 0x8B Param_AF_In- 0 ... 36000 Just use it in combination with cl_z_SP2 INX/INY/INZ inclination setting. Don't use it with ZYZ or zy'x'' incli- nation setting. For inclination z-axis: The value of this switching point parameter determines the Limit2,...
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