Gravity Flag - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16
Commissioning
5.5

Gravity Flag

Rotations about the gravity vector cannot be detected in the angle output.
Technical-physical relations
• Regardless of the mounting position of the sensor, a rotation around the gravitational vec-
tor is not recognized as an angle change.
• If the mounting position or a previous movement of the application causes its measuring
axis to be parallel (±5°) to the earth's gravitational vector, then this measuring axis shows
a noisy behavior both in the idle state and during movements around the gravitational vec-
tor.
Note
This effect only refers to the output of the angle values. Acceleration and rotation rate values
are unaffected by this effect.
For these reasons, the sensor offers the functionality that this condition is automatically
detected and displayed. The sensor thus automatically recognizes whether and which measur-
ing axis is parallel to the gravitational vector and displays this via a flag.
The status of the Gravity Flag is displayed in the 8th byte of TPDO10 for PF Angle and TPDO11
for Euler Angle.
Measured variable
PF Angle
Euler Angle
Table 5.7
The content of byte 8 can assume the following values with the appropriate meaning.
Content Byte 8
HEX
00
01
02
04
Table 5.8
24
Measurement data
0x200A (with Gravity Flag)
0x200B (with Gravity Flag)
Content Byte 8 X-Gravity
Binary Flag
000 Not active Not active Not active No measuring axis
001 Active
010 Not active Active
100 Not Active Not active Active
TPDO
TPDO10 (Gravity Flag in 8th
byte)
TPDO11 (Gravity Flag in 8th
byte)
Y-Gravity Z-Gravity
Flag Flag Description
currently parallel to
the gravitational
vector
Not active Not Active The x-axis (Roll) is
currently parallel to
the gravitational
vector
Not active The y-axis (Pitch) is
currently parallel to
the gravitational
vector
The z-axis (Yaw) is
currently parallel to
the gravitational
vector