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Inertial Measurement Unit IMUF99*B20
Commissioning
5.3
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" PGN messages. The priority, the PGN and the transmission rate and the
process data mapping is changeable in the parameter mode. It's also possible to request the
process data messages with the "Request" PGN 0x00EAnn. See also chapter "J1939 Interface
Description", section "Process Data (PD)".
The following table contains the default values of the PDO Output data. The PDO output data
can be defined according to section "PDO Mapping" in the parameter "PDO[x].Map" of the
respective PDO as listed in chapter "Parameter Table".
Message
Cycle time
internal
Address
Once at
Claimed
Startup
Acceleration
10 ms
(PDO 0)
Angular rate
10 ms
(PDO 1)
Rotational
10 ms
Acceleration
(PDO 2)
Gravity Vector
10 ms
(PDO 3)
Linear Acceler-
10 ms
ation (PDO 4)
10 ms
1)
Angle
(PDO
5)
Quaternion
10 ms
(PDO 6)
Mics (PDO 7)
10 ms
Table 5.3
1)
Angle: Please note that the data of the respective upright axis is indefinite (e.g. yaw in case of
the sensor orientation is horizontal with connector sideways)
16
Identifier (29 bit)
Prio. PGN
Source
Address
6
0xEEFF Node-ID
7
0xFF00 Node-ID
7
0xFF01 Node-ID
7
0xFF02 Node-ID
7
0xFF03 Node-ID
7
0xFF04 Node-ID
7
0xFF05 Node-ID
7
0xFF06 Node-ID
7
0xFF07 Node-ID
Data bytes
1
2
3
4
J1939 Name (64 bit)
Acc X
Acc Y
Gyro X
Gyro Y
RotAcc X
RotAcc Y
Gravity Vec-
Gravity Vec-
tor X
tor Y
Linear Acc X Linear Acc Y Linear Acc Z
Roll
Pitch
Quat X
Quat Y
Temp sensor
Temp main-
element
board
5
6
7
8
Acc Z
App Flag Acc
Gyro Z
App Flag
Gyro
RotAcc Z
Gravity Vec-
tor Z
Yaw
App Flag
Angle
Grav Flag
Angle
Quat Z
Quat W
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