Settings Of Compensation Range - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16
Commissioning
5.3

Settings of Compensation Range

The object "Compensation Range" (0x200C:4) 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 object 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 object can be set to one of the values 0, 1, 2. ... 7. The following table shows the selection
options for the different object 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 situation. The
larger the value selected, the longer the quality of the angle measurement can be maintained
during a linear acceleration run.
Value
compensation
range
0
1
2
3
4
5
6
7
Table 5.5
The object value can only be changed when the sensor is at rest, since the "Pre-Opererational
mode" has to be activated and deactivated again for this. When leaving the "Pre-Opererational
mode" the sensor reinitializes itself, which requires a static rest position (without external accel-
erations).
22
Angular drift compensa-
tion after a large ampli-
tude shock
++++++++
+++++++
++++++
+++++
++++
+++
++
+
Angular drift compensation
against sustained linear
acceleration
Preferable
++
+++
++++
+++++
++++++
+++++++
Barely ++++++++
+ Barely
Preferable