Scaling Measurement Data - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16
Commissioning
5.1.5

Scaling Measurement Data

The following table gives an overview of output data of objects and for scaling the various mea-
sured variables. The output data are mapped into the following TPDOs.
Each measured variable can be scaled with this:
(Data_internal - Offset) / Factor = Output_Data [unit]
Measured variable
Inclination
(Profile 410)
Acceleration
Rotation Rate
Rotation Rate Acceleration
Gravity Vector
Linear Acceleration
PF Angle
Euler Angle
Quaternion
Temperature
Note
Note that the unit factor is dependent on scaling and offset setting.
The following example for "Acceleration" shows how to modify the scaling for the output data.
For example:
Data_internal = 970
Object 0x2001 (Scaling and offset setting)
• Subindex 0x01: Factor = 1000
• Subindex 0x02: Offset = 0
Object 0x2000 (Measurement data)
(970 - 0) / 1000 = 0.97 [g]
Measurement data Scaling and offset
setting
0x6010 (X-axis) 0x6000
0x6020 (Y-axis)
0x2000 0x2001
0x2002 0x2003
0x2004 0x2005
0x2006 0x2007
0x2008 0x2009
0x200A 0x200C
0x200B 0x200C
0x200D 0x200E
0x200F 0x2010
Unit TPDO
(accord. to scaling)
0.01° [deg] TPDO1
g TPDO5
TPDO6
°/sec
TPDO7
2
°/sec
g TPDO8
g TPDO9
° [deg] TPDO10
° [deg] TPDO11
– TPDO12
TPDO12
°C
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