Pdo Mapping - Pepperl+Fuchs IMUF99 B20 Series Manual

Inertial Measurement Unit IMUF99*B20
Commissioning
5.4

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). 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 Data
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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 Accelera-
tion X
RotAcc Y Rotational Accelera-
tion Y
RotAcc Z Rotational Accelera-
tion Z
App Flag Application Flag
Acc Acceleration
App Flag Application Flag Gyro-
Gyro scope
App Flag Application Flag Angle
Angle Gravity Flag Angle
Grav Flag
Angle
Grav X Gravity Vector X
Grav Y Gravity Vector Y
Grav Z Gravity Vector Z
LinAcc X Linear Acceleration X Acceleration in x direction with-
LinAcc Y Linear Acceleration Y Acceleration in y direction with-
LinAcc Z Linear Acceleration Z Acceleration in z direction with-
Data description
Acceleration in x direction
Acceleration in y direction
Acceleration in z direction
Rotation rate around the x axis Raw data
Rotation rate around the y axis Raw data
Rotation rate around the z axis Raw data
Rotational acceleration around
the x axis
Rotational acceleration around
the y axis
Rotational acceleration around
the z axis
Status of adjustable application
flags of each axis for accelera-
tion
Status of adjustable application
flags of each axis for rotation
rate
Status of adjustable application
flags of each axis for inclination
measuremen.
Status of autonomous gravity
flags of each axis for inclination
measurement
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
out gravity vector
out gravity vector
out gravity vector
Data type
Raw data
Raw data
Raw data
Raw data
Raw data
Raw data
Flag
Flag
Flag
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
Sensor
Fusion
data
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