SMC Networks IMU-007 - Page 82

82
IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
Register table
The start register is settable from the SMC IMU Configuration software. As default the register starts
at 400004. This settable from the configuration.
Parameter
MODBUS
Register
Data
Type
Number of
registers
Unit and scaling
Heave
400004
T7
1
Meters Resolution 0.001
Heave Velocity
400005
T7
1
Meter/second Resolution 0.001m/s
Acceleration Z
400006
T7
1
Meter/second
2
Resolution 0.001m/s2
Roll Angle
400007
T5
1
Degrees Resolution 0.01° (+ve=port up)
Pitch Angle
400008
T5
1
Degrees Resolution 0.01° (+ve=bow
down)
Watchdog Counter
400009
T5
1
Counter message incremental 0-32767
Example
01 31 ff a8 ff ba 00 10 FF C1 00 9f
Where
01 31 is heave 0.305 Meter
ff a8 is heave velocity -0.088 Meter/second
ff ba is Acceleration Z -0.070 Meter/second2
00 10 is roll is 0.16 Degrees
FF C1 is pitch -0.63 Degrees
00 9f is counter 159