Settings Of Compensation Range - Pepperl+Fuchs IMUF99 B20 Series Manual

Inertial Measurement Unit IMUF99*B20
Commissioning
5.7

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.
Physical correlations:
• The quality of the angular stability always depends on the specific application.
• Large external mechanical shocks such as a large amplitude or a small frequency lead to
some angular deviation.
• Large external mechanical shocks such as a large amplitude or a small frequency lead to
some angular deviation.
The choice of the optimal parameter value for the compensation range must be made based on
the types of movement most commonly encountered in the application. In doing so, a balance
must be struck between a shock-lasting (e.g. pothole or bump) and a driving profile with pre-
dominantly sustained linear acceleration (linear over several seconds).
The parameter can be set to one of values 0, 1, 2. ... 7. The following table shows the selection
options for the different parameter values and how well they are suitable for either "shock-
heavy" or "linear acceleration-heavy" motion profiles in the application. The smaller the value
selected, the faster the quality of the angle measurement recovers after a major shock situa-
tion. The larger the value selected, the longer the quality of the angle measurement can be
maintained during a linear acceleration run.
Value comepen-
sation range
0
1
2
3
4
5
6
7
Table 5.9
The parameter value can only be changed when the sensor is at rest, since the parameter
mode has to be activated and deactivated again for this. When leaving the parameter mode,
the sensor reinitializes itself, which requires a static rest position (without external accelera-
tions).
For a detailed description of how the parameter can be changed,see chapter 5.7.
Angular drift com-
pensation after a
large amplitude
shock
++++++++ Preferable
+++++++
++++++
+++++
++++
+++
++
Barely
+
Angular drift com-
pensation against
sustained linear
acceleration
+ Barely
++
+++
++++
+++++
++++++
+++++++
++++++++ Preferable
21