Calculation in the controller

Configuration

1. Set the parameter 8080:11_hex "Range" to the value "+-2G".
Explanation: this is the measuring range with the highest resolution.
Calculation in the controller 1:

2. Set the parameter 8080:1D_hex to the value "Raw Values".
Calculation in the controller 2:

Evaluation

You can calculate the angles of inclination using the following formulas:

Calculation in the controller 3:

θ: angle of inclination around the y-axis

a_x, a_y, a_z: measured acceleration values

tan^-1: arc tangent

Calculation in the controller 4:

Ѱ: angle of inclination around the x-axis

a_x, a_y, a_z: measured acceleration values

tan^-1: arc tangent

The chapter "Example" shows an example for the implementation of these formulas in TwinCAT.

In the program code, make sure that the denominator never becomes zero.
Use a software filter for smoothing the calculated angles of inclination. See chapter: Smoothing of measured values.

Further Information

Example