Object 0X200D Quaternion Data; Object 0X200E Quaternion Scaling/Offset; Object 0X200F Temperature Data; Object 0X2010 Temperature Scaling/Offset - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16
Parameterization Using the CANopen Engineering Tool with CANopen Objects
6.47

Object 0x200D Quaternion Data

Index Subindex Designation
0x200D 0x01 Quaternion X
0x02 Quaternion Y
0x03 Quaternion Z
0x04 Quaternion W integer16
Table 6.49
6.48

Object 0x200E Quaternion Scaling/Offset

Index Subindex Designation Data type
0x200E 0x01 Factor
0x02 Offset
Table 6.50
6.49

Object 0x200F Temperature Data

Index Subindex Designation Data type
0x200F 0x01 Temperature
MEMS
0x02 Temperature
Mainboard
Table 6.51
6.50

Object 0x2010 Temperature Scaling/Offset

Index Subindex Designation Data type
0x2010 0x01 Factor
0x02 Offset
Table 6.52
6.51

Object 0x2100 Filter Setup Acceleration

Index Subindex Designation Data type
0x2100 0x01 Type
0x02 Order
0x03 Frequency
Table 6.53
Note
Adjusting the subindex requires a power cycle for the change to have a functional effect.
46
Data type Attribute Default value Description
integer16 ro
integer16 ro
integer16 ro
ro
Attribute Default value
unsigned16 rw 1000
unsigned16 rw 0
Attribute Default value
integer16 ro
–
integer16 ro
–
Attribute Default value
unsigned16 rw 10
unsigned16 rw 0
Attribute Default value
unsigned8 rw 0
unsigned8 rw 1
unsigned16 rw 20000
Quaternion Data X
–
Quaternion Data Y
–
Quaternion Data Z
–
Note: Output value is always
"0"
Quaternion Data W
–
Description
Factor of quaternion
Offset of quaternion
Description
Temperature of the sensor
element
Temperature of the main-
board
Description
Factor of temperature
Offset of temperature
Description
Filter type
Filter order
0 = off
Cut-off frequency of Filter in
mHz