Table of Contents
Advertisement
Inertial Measurement Unit IMUF99*B16
Product Description
2.3
Supported CANopen Functions
The device has a standardized CANopen interface in accordance with the CiA301 specifica-
tion. All usable CANopen objects of the object directory OV are listed in this manual.
You can set the node ID and baud rate via LSS.
You can set the transmission speed in increments of 125 kbit/s up to 1 Mbit/s, according to CiA
102, Table 1 and CiA 301 5.4, Table 1. We support transmission speeds of 125, 250, 500 and
1000 kbit/s. The maximum cable length for 1 Mbit/s must be 30 m.
Note
An EDS configuration file is available for easy integration and parameterization of the sensor.
You can download it from www.pepperl-fuchs.com, on the product page for the IMUF99*B16*.
Note
This device does not have an internal terminator. If required, this can be implemented
externally via a T-piece at the end of the bus (120 ohms).
Available CANopen Functions
•
Transmit Process data objects (TPDO)
•
Service data object (SDO)
•
Heartbeat monitoring mechanism
•
Layer settings service (LSS) for setting the node ID and baud rate
•
Save and recovery function (store and load parameter field)
•
Status and fault indicator (run and error LED according to CiA 303-3)
•
Device Profile CIA 410
Manufacturer-specific properties and functions
•
Application-specific tag
•
Synchronization function for CANopen sensors
The IMUF99*B16* sensors support the following modes of operation:
•
Cyclic operation: The TPDO is sent cyclically every 10 ms. The sensor accepts event-
driven modes FEh and FFh.
Cyclic time is adjustable via
•
•
•
SYNC operation: The TPDO is sent after receiving a synchronization message (SYNC)
every n SYNCs (n = 1...240). The sensor accepts synchronous modes 00-F0h.
12
Event-Timer (Maximum time between TPDO transmission
Inhibit-Timer (Minimum time between TPDO transmission)
Advertisement
Table of Contents
