SMC Networks IMU-007 - Bosch Rexroth Hexadecimal Heave

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.3.3 BOSCH REXROTH HEXADECIMAL HEAVE
Data Frame
$SMCHHHHVVVVAAAA<CR><LF>
Example
$SMC00000000FFF6
Heave 1mm is sent as 0x0001
Heave -2mm is sent as 0xFFFE
Bitrate
Max output Rate
115200
100
57600
100
38400
100
19200
91
9600
45
4800
22
Description
Bytes
Form
Header
4
$SMC
Heave (HH)
4
Signed 16 bit range -32767 mm to + 32766 mm
Positive when elevated.
Heave velocity (VV)
4
Signed 16 bit range -32767 mm/s to + 32766 mm/s
Heave acceleration(AA)
4
Signed 16 bit range -32767 mm/s
2
to + 32766 mm/s
2
Termination characters
2
<CR><LF> (0x15 0x12)
Note: When the IMU is settling, roll, pitch and heave will be 0.