CR3145
mobileIoT gateway
8
Object
Index
Subindex
Type
Default
Description
DeviceMode
0x4001
0x02
U8
rw
—
Bit 0: compatibility mode with unit CR3114
(1 s cycle)
Bit 1: forward device status via CAN bus (1 s
cycle)
Bit 2: forward complete GNSS data via CAN
bus (1 s cycle)
Bit 3: forward input/output data via CAN
bus (1 s cycle)
Bit 4: forward acceleration and gyroscope
data via CAN bus (100 ms cycle)
IO BaseID
0x4005
0x07
U16
0x400
COB ID start address for input/output data
transmission (1s cycle)
The exact index and subindex can be found in the corresponding EDS file.
All data available in the respective device mode are sent via the CAN1 interface.
The data of the input/output functions are mapped to the following CAN messages:
COB ID
Start byte
Length
(bytes)
Type
Object
IO 0x00
0
4
R32
IO – clamp 30 voltage
4
4
R32
IO – clamp 15 voltage
IO 0x01
0
4
R32
Analogue input 1
4
2
S32
IO – device temperature
4.5 Accelerometers and gyro sensors
The accelerometers measure acceleration along the X, Y and Z axes. The 3-axis gyro sensor
determines the angular velocity on the X, Y and Z axes. This data is evaluated and can be forwarded
to the controller via CAN bus.
The data of the acceleration/gyro sensors is accessed via the following objects:
Object
Index
Subindex
Type
Default
Description
Acceleration – X-
axis
0x544D
0x00
R32
ro
—
Current acceleration X-axis (unit: g)
Acceleration – Y-
axis
0x544D
0x01
R32
ro
—
Current acceleration Y-axis (unit: g)
Acceleration – Z-
axis
0x544D
0x02
R32
ro
—
Current acceleration Z-axis (unit: g)
Gyroscope – X-
axis
0x544D
0x03
R32
ro
—
Current acceleration X-axis (unit: °/second)
Gyroscope – Y-
axis
0x544D
0x04
R32
ro
—
Current acceleration Y-axis (unit: °/second)
