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SPS 2022

J1939 inclination sensor with angular stability

At the SPS 2022 in Nuremberg, CAN in Automation (CiA) member Pepperl + Fuchs showed the IMU F99 inclination sensor. It provides inclination values for dynamic applications because it is able to immediately filter out external interference (e.g. potholes).

The IMU F99 comes with J1939 (Source: Pepperl + Fuchs)

The software adjustment via CAN ensures excellent angular quality, even when the driving behavior of machines varies greatly, explained the company.

Static inclination sensors reach their limits when used with machines that move dynamically, such as wind turbines, AGVs (automated guided vehicle), and machines used in construction, agriculture, and forestry. This is because static inclination sensors detect a change in angle based on gravitational acceleration that is always on the same axis. Any additional accelerations triggered, e.g., by braking or travelling over a pothole, cause significant interference, explained Pepperl + Fuchs.

The IMU (inertial measurement unit) dynamic inclination sensor has been specially developed for this type of application. At its core, rotation rates and acceleration are both measured in all three spatial directions and are then merged in the algorithm to produce an angle value. This makes it possible to achieve an angle output. Nevertheless, it is clear that the different types of machine movement mean that the rotation rate and acceleration need to be merged in a way that is adapted to the particular machine. The company therefore offer an adjustment setting so that position measurements can be performed on a wheel loader, bulldozer, crane, etc., using just one device.


Several selectable output values such as acceleration, rotational speed, inclination (Euler angle, Euler value, quaternions) and programmable filters allow to adapt the measuring system to an application. Parameterization and data transfer take place via the integrated J1939 interface. The J1939 interface uses the 29-bit CAN ID. As defined in the J1939 standard the sensor supports the dynamic address claiming.

The sensor also provides the rotation and acceleration rates for each of the three axes in parallel to the angle output. This means that the product can be used in a wide range of applications, said the company. For example, the device can be used to determine the rotation speed of wind turbines. At the same time, it can also monitor the blade acceleration rates, which may fluctuate when unwanted ice forms on the blades. In this way, it is possible to control rotation speed and perform predictive maintenance on the wind turbine.


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Pepperl + Fuchs


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