Object 0X200C Angle Configuration - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16
Parameterization Using the CANopen Engineering Tool with CANopen Objects
6.46

Object 0x200C Angle Configuration

Index Subindex Designation Data type
0x200C 0x01 Factor
0x02 Offset
0x03 Angle Defin-
tion
0x04 Compensa-
tion range
Table 6.48
Note
Adjusting the subindex requires a power cycle for the change to have a functional effect.
Attribute Default value
unsigned16 rw 100
unsigned16 rw 0
unsigned8 rw 2
unsigned8 rw 4
Description
Factor of angle
Offset of angle
Euler Angles definition:
• 0 = z,y',x'' [DIN 9300;DIN
70000]
Intrinsic coordinate system
that rotates with the sensor
body. Value range ± 180 °
• 1 = ZXZ
Extrinsic coordinate system
of the horizontal plane.
Value range ± 180 °
P +F Angles definition:
• 2 = INX [Pepperl + Fuchs]
Extrinsic coordinate system
of the horizontal plane.
Value range 0 ... 360 °
• 3 = INY [Pepperl + Fuchs]
Extrinsic coordinate system
of the horizontal plane.
Value range 0 ... 360 °
• 4 = INZ [Pepperl + Fuchs]
Intrinsic coordinate system
that rotates with the sensor
body. Value range 0 ... 360 °
The choice of the parameter
affects the quality of the
angle output depending on
the motion profile of the
application. The larger the
value selected, the better-
sustained linear accelera-
tions can be compensated.
The lower the value
selected, the better short
shocks can be compen-
sated. A quantitative state-
ment must be tested in each
individual case.
Range: 0 ... 7
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