Slot Definition - Pepperl+Fuchs IMUF99 B20 Series Manual

Inertial Measurement Unit IMUF99*B20
Commissioning
5.5

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)/
Definit. Gravity Vector (Grav)/
Linear Acceleration
(LinAcc)
Data 2 Bytes signed
Length
Basic g
Unit
Range +/- 4 g
Offset 0 mg
Default 1000
Factor
Transfer
Function
Table 5.5
All signed data is 16 bit (two's complement). The abbreviation "g" is equivalent with the accel-
eration 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
Accelera- Rate
tion (Gyro)
(RotAcc)
2 Bytes 2 Bytes
signed signed
2 °/s
°/s
± 250 °/s
2
± 2500 °/s
0 °/s
2
0 °/s
1 100
= ((Data - Offset)/Factor) [basic unit]
2
.
Euler P + F
Angles Angles
(EUI) INX/INY/INZ
zy'x'', ZXZ
2 Bytes 2 Bytes
signed unsigned
° °
Roll, Pitch, Roll, Pitch,
Yaw -180 ° Yaw 0 ° ...
... + 180 ° 360 °
0 ° 0 °
100 100
Quater- Tempera-
nion ture
(Quat) (temp)
2 Bytes 2 Bytes
signed signed
-
°C
± 1 -40 °C ...
+85 °C
0 0 °C
1000 10
19