Baumer GIM700DR Handmatig - Pagina 26

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Resolution (6000h)

4.3.1

Object 6000h defines the resolution for the sensor output objects Slope long 16-bit (6010h) and Slope lateral

16-bit (6020h) based on a resolution of 0.001°. This object also defines the resolution for the sensor output

objects Slope long 32-bit (6110h) and Slope lateral 32-bit (6120h). Factory default setting is 0.1° (64h). The

following table describes all possible resolutions:

Measurement resolution (6000h)

Value

01h (1d)

Ah (10d)

64h (100d)

3E8h (1000d)

Slope long (6010h / 6110h) / slope lateral (6020h / 6120h)

4.3.2

Objects 6010h (16-bit) and 6110h (32-bit) contain the slope long values / sensor output for longitudinal axis.

Objects 6020h (16-bit) and 6120h (32-bit) contain the slope lateral values / sensor output for the lateral axis.

All values are given in angular degrees with resolution specified in object 6000h.

Note: Slope values are defined as plumb / vertical angles, which describe the inclination of the sensor coor-

dinate system with respect to the direction of gravity.

The slope value for rotation around X-axis corresponds to the angle between gravity vector and XZ-plane.

The slope value for rotation around Y-axis corresponds to the angle between gravity vector and YZ-plane.

Slope long preset value (6012h / 6112h) / slope lateral preset value (6022h / 6122h)

4.3.3

Objects 6012h (16-bit) and 6112h (32-bit) contain the preset values of the longitudinal slope.

Objects 6022h (16-bit) and 6122h (32-bit) contain the preset values of the lateral slope.

Accessing these preset objects by SDO directly sets the actual longitudinal / lateral slope value to the de-

sired target slope value. All values must be given in angular degrees with the resolution given in object

6000h.

Recommendation: Use preset objects for adjusting sensor coordinate system / to application coordinate sys-

tem, for referencing angles in both systems to same value (e.g. to 0°).

Setting preset leads to an internal calculation of sensor offset values.

The calculated application offset of the longitudinal slope value is given in Slope long offset (object 6013h /

6113h). The Slope long offset is calculated with respect to Differential slope long object 6014h / 6114h.

The calculated application offset of the lateral slope value is given in Slope lateral offset (object 6023h /

6123h). The Slope lateral offset is calculated with respect to Differential slope lateral object 6024h / 6124h.

Slope long offset (6013h / 6113h) / slope lateral offset (6023h / 6123h)

4.3.4

Objects 6013h (16-bit) and 6113h (32-bit) contain the application offset of the longitudinal slope.

Objects 6023h (16-bit) and 6123h (32-bit) contain the application offset of the lateral slope.

All value must be given in angular degrees with the resolution given in object 6000h.

Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx

27.04.21

Description

0.001 degree

0.01 degree

0.1 degree (factory default setting)

1 degree

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