Object 0X2000 Acceleration Data; Object 0X2001 Acceleration Scaling/Offset; Object 0X2002 Rotation Rate Data; Object 0X2003 Rotation Rate Scaling/Offset - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16
Parameterization Using the CANopen Engineering Tool with CANopen Objects
6.34

Object 0x2000 Acceleration Data

Index Subindex Designation
0x2000 0x01 Acceleration X integer16
0x02 Acceleration Y integer16
0x03 Acceleration Z integer16
0x04 Application
Flag Accelera-
tion
Table 6.36
6.35

Object 0x2001 Acceleration Scaling/Offset

Index Subindex Designation Data type
0x2001 0x01 Factor
0x02 Offset
Table 6.37
6.36

Object 0x2002 Rotation Rate Data

Index Subindex Designation
0x2002 0x01 Rotation Rate X
0x02 Rotation Rate Y
0x03 Rotation Rate Z
0x04 Application Flag
Rotation Rate
Table 6.38
6.37

Object 0x2003 Rotation Rate Scaling/Offset

Index Subindex Designation Data type
0x2003 0x01 Factor
0x02 Offset
Table 6.39
6.38

Object 0x2004 Rotational Acceleration Data

Index Subindex Designation
0x2004 0x01 Rotational
Acceleration X
0x02 Rotational
Acceleration Y
0x03 Rotational
Acceleration Z
Table 6.40
42
Data type Attribute Default value Description
ro
ro
ro
unsigned16 ro
Attribute Default value
unsigned16 rw 1000
unsigned16 rw 0
Data type Attribute Default value Description
integer16 ro
integer16 ro
integer16 ro
signed16 ro
Attribute Default value
unsigned16 rw 100
unsigned16 rw 0
Data type Attribute Default value Description
signed16 ro
signed16 ro
signed16 ro
Acceleration in X direction
–
Acceleration in Y direction
–
Acceleration in Z direction
–
Status of adjustable applica-
–
tion flags of each axis for
acceleration
Description
Factor of acceleration
Offset of acceleration
Rotation rate around the X
–
axis
Rotation rate around the Y
–
axis
Rotation rate around the Z
–
axis
Status of adjustable applica-
–
tion flags of each axis for
rotation rate
Description
Factor of Rotation Rate
Offset of Rotation Rate
Rotational acceleration
–
around the X axis
Rotational acceleration
–
around the Y axis
Rotational acceleration
–
around the Z axis