Modbus - Accelerometer Bricklet¶

Basic Functions¶

BrickletAccelerometer.get_acceleration¶

Function ID:	1
Request:	empty payload
Response:	x – Type: int16, Unit: 1/1000 gₙ, Range: ? y – Type: int16, Unit: 1/1000 gₙ, Range: ? z – Type: int16, Unit: 1/1000 gₙ, Range: ?

Returns the acceleration in x, y and z direction. The values are given in gₙ/1000 (1gₙ = 9.80665m/s²). The range is configured with set_configuration.

If you want to get the acceleration periodically, it is recommended to use the CALLBACK_ACCELERATION callback and set the period with set_acceleration_callback_period.

BrickletAccelerometer.get_temperature¶

Function ID:	8
Request:	empty payload
Response:	temperature – Type: int16, Unit: 1 °C, Range: [-103 to 152]

Returns the temperature of the accelerometer.

BrickletAccelerometer.led_on¶

Function ID:	11
Request:	empty payload
Response:	no response

Enables the LED on the Bricklet.

BrickletAccelerometer.led_off¶

Function ID:	12
Request:	empty payload
Response:	no response

Disables the LED on the Bricklet.

BrickletAccelerometer.is_led_on¶

Function ID:	13
Request:	empty payload
Response:	on – Type: bool, Default: false

Returns true if the LED is enabled, false otherwise.

Advanced Functions¶

BrickletAccelerometer.set_configuration¶

Function ID:	9
Request:	data_rate – Type: uint8, Range: See meanings, Default: 6 full_scale – Type: uint8, Range: See meanings, Default: 1 filter_bandwidth – Type: uint8, Range: See meanings, Default: 2
Response:	no response

Configures the data rate, full scale range and filter bandwidth. Possible values are:

• Data rate of 0Hz to 1600Hz.
• Full scale range of ±2gₙ up to ±16gₙ.
• Filter bandwidth between 50Hz and 800Hz.

Decreasing data rate or full scale range will also decrease the noise on the data.

The following meanings are defined for the elements of this function:

For data_rate:

• 0 = Off
• 1 = 3Hz
• 2 = 6Hz
• 3 = 12Hz
• 4 = 25Hz
• 5 = 50Hz
• 6 = 100Hz
• 7 = 400Hz
• 8 = 800Hz
• 9 = 1600Hz

For full_scale:

• 0 = 2g
• 1 = 4g
• 2 = 6g
• 3 = 8g
• 4 = 16g

For filter_bandwidth:

• 0 = 800Hz
• 1 = 400Hz
• 2 = 200Hz
• 3 = 50Hz

BrickletAccelerometer.get_configuration¶

Function ID:	10
Request:	empty payload
Response:	data_rate – Type: uint8, Range: See meanings, Default: 6 full_scale – Type: uint8, Range: See meanings, Default: 1 filter_bandwidth – Type: uint8, Range: See meanings, Default: 2

Returns the configuration as set by set_configuration.

The following meanings are defined for the elements of this function:

For data_rate:

• 0 = Off
• 1 = 3Hz
• 2 = 6Hz
• 3 = 12Hz
• 4 = 25Hz
• 5 = 50Hz
• 6 = 100Hz
• 7 = 400Hz
• 8 = 800Hz
• 9 = 1600Hz

For full_scale:

• 0 = 2g
• 1 = 4g
• 2 = 6g
• 3 = 8g
• 4 = 16g

For filter_bandwidth:

• 0 = 800Hz
• 1 = 400Hz
• 2 = 200Hz
• 3 = 50Hz

BrickletAccelerometer.get_identity¶

Function ID:	255
Request:	empty payload
Response:	uid – Type: char[8] connected_uid – Type: char[8] position – Type: char, Range: ['a' to 'h', 'z'] hardware_version – Type: uint8[3] 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] firmware_version – Type: uint8[3] 0: major – Type: uint8, Range: [0 to 255] 1: minor – Type: uint8, Range: [0 to 255] 2: revision – Type: uint8, Range: [0 to 255] device_identifier – Type: uint16, Range: [0 to 216 - 1]

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. 

Callback Configuration Functions¶

BrickletAccelerometer.set_acceleration_callback_period¶

Function ID:	2
Request:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Response:	no response

Sets the period with which the CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

The CALLBACK_ACCELERATION callback is only triggered if the acceleration has changed since the last triggering.

BrickletAccelerometer.get_acceleration_callback_period¶

Function ID:	3
Request:	empty payload
Response:	period – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by set_acceleration_callback_period.

BrickletAccelerometer.set_acceleration_callback_threshold¶

Function ID:	4
Request:	option – Type: char, Range: See meanings, Default: 'x' min_x – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_x – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 min_y – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_y – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 min_z – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_z – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0
Response:	no response

Sets the thresholds for the CALLBACK_ACCELERATION_REACHED callback.

The following options are possible:

Option	Description
'x'	Callback is turned off
'o'	Callback is triggered when the acceleration is outside the min and max values
'i'	Callback is triggered when the acceleration is inside the min and max values
'<'	Callback is triggered when the acceleration is smaller than the min value (max is ignored)
'>'	Callback is triggered when the acceleration is greater than the min value (max is ignored)

The following meanings are defined for the elements of this function:

For option:

• 'x' = Off
• 'o' = Outside
• 'i' = Inside
• '<' = Smaller
• '>' = Greater

BrickletAccelerometer.get_acceleration_callback_threshold¶

Function ID:	5
Request:	empty payload
Response:	option – Type: char, Range: See meanings, Default: 'x' min_x – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_x – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 min_y – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_y – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 min_z – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 max_z – Type: int16, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0

Returns the threshold as set by set_acceleration_callback_threshold.

The following meanings are defined for the elements of this function:

For option:

• 'x' = Off
• 'o' = Outside
• 'i' = Inside
• '<' = Smaller
• '>' = Greater

BrickletAccelerometer.set_debounce_period¶

Function ID:	6
Request:	debounce – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Response:	no response

Sets the period with which the threshold callback

• CALLBACK_ACCELERATION_REACHED

is triggered, if the threshold

• set_acceleration_callback_threshold

keeps being reached.

BrickletAccelerometer.get_debounce_period¶

Function ID:	7
Request:	empty payload
Response:	debounce – Type: uint32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by set_debounce_period.

Callbacks¶

BrickletAccelerometer.CALLBACK_ACCELERATION¶

Function ID:	14
Response:	x – Type: int16, Unit: 1/1000 gₙ, Range: ? y – Type: int16, Unit: 1/1000 gₙ, Range: ? z – Type: int16, Unit: 1/1000 gₙ, Range: ?

This callback is triggered periodically with the period that is set by set_acceleration_callback_period. The response values are the X, Y and Z acceleration. The range is configured with set_configuration.

The CALLBACK_ACCELERATION callback is only triggered if the acceleration has changed since the last triggering.

BrickletAccelerometer.CALLBACK_ACCELERATION_REACHED¶

Function ID:	15
Response:	x – Type: int16, Unit: 1/1000 gₙ, Range: ? y – Type: int16, Unit: 1/1000 gₙ, Range: ? z – Type: int16, Unit: 1/1000 gₙ, Range: ?

This callback is triggered when the threshold as set by set_acceleration_callback_threshold is reached. The response values are the X, Y and Z acceleration. The range is configured with set_configuration.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by set_debounce_period.