ifm electronic JN2100 v.2.2.0 - Manual (Page 10)

Inclination sensor JN
10
The fourth transmit process data object TPDO3 contains the raw acceleration
values (with or without gravitational force) as 16-bit value.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
aVector X axis
OD index: 5D10h aVector Y axis
OD index: 5D11h aVector Z axis
OD index: 5D12h
The resolution of the inclination information (SDO index 6000h) can be configured
accordingly. For the settings see the device profile for inclination sensors (CiA
DSP-410: SDO index 0x6000 – 0x9FFF).
A list with the individual values can be found in chapter "7.6.6 Profile-specific part".
With the 16-bit transmission, the measuring range from 0...360° can only be shown correctly across
the whole range (overflow of the range of numbers) with a resolution of 0.1°.
At higher resolutions the angle values have to be transmitted with 32 bits.