Pepperl+Fuchs IMUF99 B16 Series Manual page 10

Inertial Measurement Unit IMUF99*B16
Product Description
Spatially fixed coordinate system (extrinsic reference to the horizontal plane) for Euler angle ZXZ
Angle range - 180 ° ... +180 °
Figure 2.3
Body fixed coordinate system (intrinsic or co-rotating) for Euler angle zy'x''
Angle range -180 ° ... +180 °
Figure 2.4
Gravity Flag
The IMU measures the acceleration, yaw rate and angle in each of 3 axis. Regardless of the
current position of the sensor in space, the acceleration and yaw rate values = rotation rate val-
ues are always reliably available. A reliable angle output per measuring axis depends on the
current position of the sensor in space.
A change in angle around the gravitational vector, which is always vertical, cannot be mea-
sured. If a measuring sensor axis is parallel to the gravitational vector (±5°), then this axis does
not provide reliable angle values and must be ignored. The Gravity Flag (GF) offers help for
this. The sensor automatically detects whether a sensor axis is parallel to the gravitational vec-
tor and shows this in the status of the Gravity Flag (GF). Accordingly, it is always displayed for
each angle value as to whether it can be used.
Application Flag
Independent limits can be set for the X-, Y- and Z-axes of the acceleration, rotation rate and
angle measurement axis. If these limits are exceeded, this is indicated in the switching status of
the Application Flags (AF). The Objects 0x2105 to 0x2107 are used to set the application flags
(AF). The status of the application flag (AF) is displayed in the 7th byte of TPDO5 for accelera-
tion, TPDO6 for rotation rate, TPDO10 for PF Angle and TPDO11 for Euler Angle.
10
Roll
−
Z
+
Y
−
Roll
+
Y
− +
y
Pitch
Z
+ −
X
+
Pitch
−
Yaw
Yaw
−
X
+