Pepperl+Fuchs IMUF99 B20 Series User manual

Inertial Measurement Unit
IMUF99*B20
with CAN SAE J1939 Protocol
Manual

With regard to the supply of products, the current issue of the following document is applicable:
The General Terms of Delivery for Products and Services of the Electrical Industry, published
by the Central Association of the Electrical Industry (Zentralverband Elektrotechnik und Elek-
troindustrie (ZVEI) e.V.) in its most recent version as well as the supplementary clause:
"Expanded reservation of proprietorship"
Worldwide
Pepperl+Fuchs Group
Lilienthalstr. 200
68307 Mannheim
Germany
Phone: [phone] - 0
E-mail: [e-mail]
North American Headquarters
Pepperl+Fuchs Inc.
1600 Enterprise Parkway
Twinsburg, Ohio 44087
USA
Phone: [phone]
E-mail: [email protected].com
Asia Headquarters
Pepperl+Fuchs Pte. Ltd.
P+F Building
18 Ayer Rajah Crescent
Singapore 139942
Phone: [phone]
E-mail: [email protected]
https://www.pepperl-fuchs.com

Inertial Measurement Unit IMUF99*B20
Contents
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1 Introduction................................................................................................................ 5
1.1 Content of this Document............................................................................. 5
1.2 Target Group, Personnel ............................................................................... 5
1.3 Symbols Used ................................................................................................ 6
1.4 Intended Use .................................................................................................. 6
1.5 General Safety Notes..................................................................................... 7
1.6 Declaration of Conformity............................................................................. 7
2 Product Description .................................................................................................. 8
2.1 Use and application....................................................................................... 8
2.2 LED displays ................................................................................................11
2.3 Accessories.................................................................................................. 11
3 Installation................................................................................................................12
3.1 Electrical connection................................................................................... 12
4 Cybersecurity Information...................................................................................... 13
5 Commissioning........................................................................................................ 14
5.1 Definition of Baud Rate and Node ID ......................................................... 14
5.2 Identification characters for system environment ................................... 15
5.3 J1939 Messages - Default Values...............................................................16
5.4 PDO Mapping ............................................................................................... 17
5.5 SLOT Definition ............................................................................................19
5.6 Filter Settings............................................................................................... 20
5.7 Settings of Compensation Range ..............................................................21
5.8 Application Flag...........................................................................................22
5.9 Gravity Flag .................................................................................................. 23
6 J1939 Interface Description.................................................................................... 24
6.1 J1939 Message Format ...............................................................................24
6.2 Interpretation of the CAN Identifier............................................................ 24
6.3 Address Claiming ........................................................................................25
6.4 Process Data (PD) ....................................................................................... 25
6.5 Parameter Mode........................................................................................... 26
6.6 Starting Parameter Mode ............................................................................ 26

Inertial Measurement Unit IMUF99*B20
Contents
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6.7 Reading Parameters ....................................................................................27
6.8 Writing Parameters ......................................................................................27
6.9 Leaving Parameter Mode.............................................................................28
6.10 Answer Messages........................................................................................29
7 Example ....................................................................................................................30
7.1 Set Node ID...................................................................................................30
7.2 Factory reset.................................................................................................31
7.3 Set Compensation Range ...........................................................................33
7.4 Set Application Flag Inclination for x-Axis ................................................35
8 Parameter Table........................................................................................................38

Inertial Measurement Unit IMUF99*B20
Introduction
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1 Introduction
1.1 Content of this Document
This document contains information required to use the product in the relevant phases of the
product life cycle. This may include information on the following:
•Product identification
•Delivery, transport, and storage
•Mounting and installation
•Commissioning and operation
•Maintenance and repair
•Troubleshooting
•Dismounting
•Disposal
The documentation comprises the following parts:
•This document
•Datasheet
In addition, the documentation may comprise the following parts, if applicable:
•EU-type examination certificate
•EU declaration of conformity
•Attestation of conformity
•Certificates
•Control drawings
•Instruction manual
•Other documents
1.2 Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and dismount-
ing lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation, com-
missioning, operation, maintenance, and dismounting of the product. The personnel must have
read and understood the instruction manual and the further documentation.
Prior to using the product make yourself familiar with it. Read the document carefully.
Note
For full information on the product, refer to the further documentation on the Internet at
www.pepperl-fuchs.com.
Note
For specific device information such as the year of construction, scan the QR code
on the device. As an alternative, enter the serial number in the serial number search
at www.pepperl-fuchs.com.

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Inertial Measurement Unit IMUF99*B20
Introduction
1.3 Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. It is mandatory
that you observe these warning messages for your personal safety and in order to avoid prop-
erty damage.
Depending on the risk level, the warning messages are displayed in descending order as fol-
lows:
Informative Symbols
Action
1. This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
1.4 Intended Use
The Inertial Measurement Unit IMU360D-F99, with the F99-Fusion technology, is optimized to
provide gyroscopic stabilized inclination and acceleration data as well as rotation rate data.
Read through these instructions thoroughly. Familiarize yourself with the device before install-
ing, mounting, or operating.
Always operate the device as described in these instructions to ensure that the device and con-
nected systems function correctly. The protection of operating personnel and plant is guaran-
teed only if the device is operated in accordance with its intended use.
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Note
This symbol brings important information to your attention.

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Introduction
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1.5 General Safety Notes
Responsibility for planning, assembly, commissioning, operation, maintenance, and dismount-
ing lies with the plant operator.
Installation and commissioning of all devices may be performed only by trained and qualified
personnel.
The device is only approved for appropriate and intended use. Ignoring these instructions will
void any warranty and absolve the manufacturer from any liability.
If serious faults occur, stop using the device. Secure the device against inadvertent operation.
In the event of repairs, return the device to your local Pepperl+Fuchs representative or sales
office.
1.6 Declaration of Conformity
This product was developed and manufactured in line with the applicable European standards
and directives.
The product manufacturer, Pepperl+Fuchs Group, 68307 Mannheim, Germany, has a certified
quality assurance system that conforms to ISO 9001.
Note
Disposal
Electronic waste is dangerous. When disposing of the equipment, observe the current statutory
requirements in the relevant country of use and local regulations.
Note
A declaration of conformity can be requested from the manufacturer.
ISO9001

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Inertial Measurement Unit IMUF99*B20
Product Description
2 Product Description
2.1 Use and application
The IMUF99, Inertial Measurement Unit, combines an acceleration sensor and a gyroscope
into a single device and links the two sensor elements to increase overall performance of the
system and open up new possibilities. This device is optimized to provide gyroscopic-stabilized
inclination and acceleration data as well as rotation rate data.
Heart of the IMU is the adaptive sensor fusion algorithm. It is developed and implemented for
inclination measurement with extreme effective compensation of external acceleration distur-
bance.
Triaxial acceleration sensor and triaxial gyroscope outputs are used as input of the fusion sys-
tem. The adaptive sensor fusion algorithm is designed to compensate the measurement errors
by combining accelerometer and gyroscope data adaptively to the current situation.
The following figures show the orientation and assignment of the axis for which the sensor can
be used depending on the parameterization of the angle output system.
Figure 2.1
Figure 2.2
Y
+
−
Z+−
+
−
X
Pitch
Yaw
Roll
horizontal plane
Spatially fixed coordinate system (extrinsic reference to the horizontal plane) for P+F angles INX or INY
Z
Y
y
+−
+
−+
−
X
Pitch
Yaw
Roll
horizontal plane
Spatially fixed coordinate system (extrinsic reference to the horizontal plane) for Euler angle ZXZ

Inertial Measurement Unit IMUF99*B20
Product Description
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Figure 2.3
Figure 2.4
Gravity Flag
The IMU measures the acceleration, yaw rate and angle in each of 3 axis. Regardless of the
current position of the sensor in space, the acceleration and yaw rate values = rotation rate val-
ues are always reliably available. A reliable angle output per measuring axis depends on the
current position of the sensor in space.
A change in angle around the gravitational vector, which is always vertical, can’t be measured.
If a measuring sensor axis is parallel to the gravitational vector (±5°), then this axis does not
provide reliable angle values and must be ignored. The Gravity Flag (GF) offers help for this.
The sensor automatically detects whether a sensor axis is parallel to the gravitational vector
and shows this in the status of the Gravity Flag (GF). Accordingly, it is always displayed for
each angle value as to whether it can be used.
Application Flag
Independent limits can be set for the X, Y and Z axes of the acceleration, rotation rate and
angle measurement axis. If these limits are exceeded, this is indicated in the switching status of
the Application Flags (AF). The parameters 0x69 to 0x8C are used to set the application flags
(AF). The status of the application flag (AF) is displayed in byte 7 of PDO 0 (MappingID 9) for
acceleration, PDO 1 (MappingID 10) for yaw rate and PD0 5 (MappingID 11) for angle.
Y
+
−
Z
+−
+
−
X
Pitch
Yaw
Roll
Body fixed coordinate system (intrinsic or co-rotating) for Euler angle zy'x''
Y
+
−
Z+
−
+
−
X
Pitch
Yaw
Roll
Body fixed coordinate system (intrinsic or co-rotating) for P+F angle INZ

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Inertial Measurement Unit IMUF99*B20
Product Description
Selectable output values and filters
Several selectable output values such as acceleration, rotational speed, inclination (Euler
angle, Euler value, quaternions) and programmable filters allow you to perfectly adapt the mea-
suring system to your application.
Parameterization and data transfer take place via the integrated CAN SAE J1939 interface.
In the following figure the signal path of input and output values is illustrated.
Figure 2.5
Triple Axis
Accelerometer
Triple Axis
Gyroscope
Filter 0
Filter 1
Filter 2
Filter 5
Filter 4
Sensor Fusion
Algorithm
Acceleration (Acc)
Mapping ID 0-2
Rotation Rate (Gyro)
Mapping ID 3-5
Rotational Acceleration (RotAcc)
Mapping ID 6-8
Gravity Vector (Grav)
Mapping ID 12-14
Linear Acceleration (LinAcc)
Mapping ID 15-17
Euler Angles (EUI) /
P +F Angles INX/INY
Mapping ID 18-20
Quaternion (Quat)
Mapping ID 21-24
Temperature
Elements
Temperature (Temp)
Mapping ID 25-26
F(x)
F(x)
•P+F Angles INX / INY
F(x)
• Quaternion
• Euler Angles
F(x)
Sensor
Elements
Output
DataSoftware

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Product Description
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2.2 LED displays
The IMU360D-F99 has three LED indicators that allow rapid visual monitoring.
•The green power LED indicates the state of the power supply
•The yellow run LED indicates the bus and sensor status
•The red err LED indicates an error
Possible sources of error causes:
•CAN master is not initialized
•Baud rate is wrong
•CAN-high and CAN-low channel are interchanged
2.3 Accessories
Various accessories are available. See datasheet or relevant product page on the Internet
www.pepperl-fuchs.com.
LED State Description
Green: power On Voltage ok
Off No power or sensor defect
Yellow: run On Operational mode
Blinking slowly Parameter mode user
Off Error see red LED "err"
Red: err On •Address claiming (max 250 ms)
•or no bus connection
•or CAN error passive level (max. 128 retries)
Blinking slowly Claiming conflict, Null address (254)
Flashing CAN err warning level
Off No error
Table 2.1

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Inertial Measurement Unit IMUF99*B20
Installation
3 Installation
3.1 Electrical connection
The IMU360D-F99 is equipped with 2 connectors M12 x 1, 5-pin, male and female for CAN bus
integration. If a terminator is required, it muss be attached externally on the female connector.
Therefore e. g. "Terminator ICZ-TR-CAN/DN-V15" from Pepperl+Fuchs is available (also see
datasheet of the sensor).
Connecting the sensor to the voltage
1. Connect the operating voltage to pins 2 and 3 of the 5-pin connector.
The "Power" LED lights up green.
Pin Wire color Designation
1 Brown Not used
2 White +UB
3 Blue GND
4 Black CAN-H
5 Gray CAN-L
Table 3.1 Connector assignment
1n.c.
2
3
+UB
GND
CAN-L
4
5
CAN-H
Note
The wire colors listed above apply when one of the bus cables from the Pepperl+Fuchs
accessories range is used.
Note
The device complies with the EMC norms and standards described in the datasheets. If
necessary, additional external EMC protection elements and interference suppression
measures (e.g. filters) are recommended.
Warning!
Damage to the device
Connecting an alternating current or excessive supply voltage can damage the device or cause
the device to malfunction.
Electrical connections with reversed polarity can damage the device or cause the device to
malfunction.
Connect the sensor to direct current (DC). Ensure that the supply voltage rating is within the
specified sensor range. Ensure that the connecting wires on the cordset in use are connected
correctly.

Inertial Measurement Unit IMUF99*B20
Cybersecurity Information
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4 Cybersecurity Information
Security context
The device is designed for use in an industrial CAN bus network such as in mobile equipment.
The plant operator must ensure that the device is physically protected against unauthorized
access.
In addition, it must also be ensured that only well-known and trusted bus nodes are connected
in the CAN bus network.
Decommissioning
Only adjustable parameter data is permanently stored. Parameter data can be deleted by reset-
ting to the factory settings.

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Inertial Measurement Unit IMUF99*B20
Commissioning
5 Commissioning
5.1 Definition of Baud Rate and Node ID
The factory settings for establishing communication with the sensor are for
•Baud rate: 250 kBit/s
•Node ID: 128
As defined in the J1939 standard the sensor supports the dynamic address claiming starting
with default address 128dez. If this feature is not desired you can deactivate it. Details see
chapter "J1939 Interface Description", section "Address Claiming"
For setting a specific node ID for the device you can parameterize parameter Index No. 1.
Details see chapter "Parameter Table" and also chapter "Examples".
The following settings are adjustable with the sensor.
Identification of the sensor in his system environment
1. Parameterize the sensor idenfication characters according to section "Identification characters
for system environment".
J1939 interface Default setting Range Comment
Baud rate 250 kBit/s 10 kBit/s, 20 kBit/s, 50 kBit/s,
100 kBit/s, 125 kBit/s, 250
kBit/s,
500 kBit/s, 800 kBit/s, 1
MBit/s
J1939 standard uses
only 250 and 500 kBit/s
Node ID 128 0 ... 253
Table 5.1
Note
For identification of the sensor in his system environment the sensor provides some characters
you can parameterize during commissioning. To enable a quick commissioning of the sensor
the Process Data Objects (PDO) PDO 0 ... 7 are preallocated. Detailed information about these
issues you can find in the tables of the following section "J1939 Messages - Default Values".

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Commissioning
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5.2 Identification characters for system environment
For identification of the sensor in his system environment the sensor provides some characters
you can parameterize during commissioning.
The following table contains the default values of Interface configuration and J1939 name.
They can be defined in the parameters "J1939 Interface" and "J1939 -Name" as listed in chap-
ter "Parameter Table".
J1939 Name Default Range Comment
Arbitrary Address
Capable
0 0, 1 (1 bit) Specifies if the ECU
can choose another
source address if it
loses the address
claim procedure
Industry Group 0 0 ... 7 (3 bit) Specifies the industry.
(e.g. off-highway)
Vehicle System
Instance
0 0…15 (4 bit) Identifies a particular
occurrence of vehicle
system. (e.g. trailer
#3)
Vehicle System 0 0…127 (7 bit) Identifies vehicle sys-
tem (e.g. trailer)
Reserved 1 0, 1 (1 bit) Fix bit for internal use
only
Function 0 0… 255 (8 bit) Identifies the function
(e.g. ABS)
Function Instance 0 0… 31 (5 bit) Identifies the function
instance (e.g. ABS #1)
ECU Instance 0 0… 7 (3 bit) Identifies the ECU
instance inside of the
function field.
Manufacturer Code 632 0… 2047 (11 bit) 632: Pepperl+Fuchs
manufacturer code
Identity Number Unique serial number
(fix)
0… 2097151 (21 bit) Product serial number
Table 5.2

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Inertial Measurement Unit IMUF99*B20
Commissioning
5.3 J1939 Messages - Default Values
To enable a quick commissioning of the sensor the Process Data Objects (PDO) PDO 0 ... 7
are preallocated as described in the table below.
After the sensor has claimed a node address the measured values will be send automatically
with "Proprietary B" PGN messages. The priority, the PGN and the transmission rate and the
process data mapping is changeable in the parameter mode. It's also possible to request the
process data messages with the "Request" PGN 0x00EAnn. See also chapter "J1939 Interface
Description", section "Process Data (PD)".
The following table contains the default values of the PDO Output data. The PDO output data
can be defined according to section "PDO Mapping" in the parameter "PDO[x].Map" of the
respective PDO as listed in chapter "Parameter Table".
1) Angle: Please note that the data of the respective upright axis is indefinite (e.g. yaw in case of
the sensor orientation is horizontal with connector sideways)
Message Cycle time
internal
Identifier (29 bit) Data bytes
Prio. PGN Source
Address 1 2 3 4 5 6 7 8
Address
Claimed
Once at
Startup
6 0xEEFF Node-ID J1939 Name (64 bit)
Acceleration
(PDO 0)
10 ms 7 0xFF00 Node-ID Acc X Acc Y Acc Z App Flag Acc
Angular rate
(PDO 1)
10 ms 7 0xFF01 Node-ID Gyro X Gyro Y Gyro Z App Flag
Gyro
Rotational
Acceleration
(PDO 2)
10 ms 7 0xFF02 Node-ID RotAcc X RotAcc Y RotAcc Z
Gravity Vector
(PDO 3)
10 ms 7 0xFF03 Node-ID Gravity Vec-
tor X
Gravity Vec-
tor Y
Gravity Vec-
tor Z
Linear Acceler-
ation (PDO 4)
10 ms 7 0xFF04 Node-ID Linear Acc X Linear Acc Y Linear Acc Z
Angle 1)(PDO
5)
10 ms 7 0xFF05 Node-ID Roll Pitch Yaw App Flag
Angle
Grav Flag
Angle
Quaternion
(PDO 6)
10 ms 7 0xFF06 Node-ID Quat X Quat Y Quat Z Quat W
Mics (PDO 7) 10 ms 7 0xFF07 Node-ID Temp sensor
element
Temp main-
board
Table 5.3

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Commissioning
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5.4 PDO Mapping
The following table describes the allocation of the PDO Output data. Triaxial acceleration sen-
sor and triaxial gyroscope data is provided as raw data and used as input of the sensor fusion
algorithm. The sensor fusion algorithm is designed to compensate the measurement errors by
combining accelerometer and gyroscope data (Sensor Fusion data). The PDO output data can
be defined in the parameter PDO[x].Map of the respective PDO as listed in chapter "Parameter
Table".
Mapping ID Data Data name Data description Data type
0 Acc X Acceleration X Acceleration in x direction Raw data
1 Acc Y Acceleration Y Acceleration in y direction Raw data
2 Acc Z Acceleration Z Acceleration in z direction Raw data
3 Gyro X Gyroscope X Rotation rate around the x axis Raw data
4 Gyro Y Gyroscope Y Rotation rate around the y axis Raw data
5 Gyro Z Gyroscope Z Rotation rate around the z axis Raw data
6 RotAcc X Rotational Accelera-
tion X
Rotational acceleration around
the x axis
Raw data
7 RotAcc Y Rotational Accelera-
tion Y
Rotational acceleration around
the y axis
Raw data
8 RotAcc Z Rotational Accelera-
tion Z
Rotational acceleration around
the z axis
Raw data
9 App Flag
Acc
Application Flag
Acceleration
Status of adjustable application
flags of each axis for accelera-
tion
Flag
10 App Flag
Gyro
Application Flag Gyro-
scope
Status of adjustable application
flags of each axis for rotation
rate
Flag
11 App Flag
Angle
Grav Flag
Angle
Application Flag Angle
Gravity Flag Angle
Status of adjustable application
flags of each axis for inclination
measuremen.
Status of autonomous gravity
flags of each axis for inclination
measurement
Flag
12 Grav X Gravity Vector X Proportion of the gravity vector
in x direction without external
acceleration
Sensor
Fusion
data
13 Grav Y Gravity Vector Y Proportion of the gravity vector
in y direction without external
acceleration
Sensor
Fusion
data
14 Grav Z Gravity Vector Z Proportion of the gravity vector
in z direction without external
acceleration
Sensor
Fusion
data
15 LinAcc X Linear Acceleration X Acceleration in x direction with-
out gravity vector
Sensor
Fusion
data
16 LinAcc Y Linear Acceleration Y Acceleration in y direction with-
out gravity vector
Sensor
Fusion
data
17 LinAcc Z Linear Acceleration Z Acceleration in z direction with-
out gravity vector
Sensor
Fusion
data

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Inertial Measurement Unit IMUF99*B20
Commissioning
1) Please note that the data of the respective upright axis is indefinite (e.g. yaw in case of the
sensor orientation is horizontal plane and the connector face sideways)
18 Roll 1) Roll P + F Angle INX/INY/INZ: Rota-
tion about x axis
Sensor
Fusion
data
Euler Angle: psi Sensor
Fusion
data
19 Pitch 1) Pitch P + F Angle INX/INY/INZ: Rota-
tion about y axis
Sensor
Fusion
data
Euler Angle: theta Sensor
Fusion
data
20 Yaw 1) Yaw P + F Angle INX/INY/INZ: Rota-
tion about z axis
Sensor
Fusion
data
Euler Angle: phi Sensor
Fusion
data
21 Quat X Quaternion X Quaternion Data X Sensor
Fusion
data
22 Quat Y Quaternion Y Quaternion Data Y Sensor
Fusion
data
23 Quat Z Quaternion Z Quaternion Data Z
Note: Output value is always
"0"
Sensor
Fusion
data
24 Quat W Quaternion W Quaternion Data W Sensor
Fusion
data
25 Temp
Sens
Temperature sensor Temperature of the sensor ele-
ment
Raw data
26 Temp
Main
Temperature Main-
board
Temperature of the mainboard Raw data
27 - Empty no data Empty no data -
Table 5.4
Mapping ID Data Data name Data description Data type

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Commissioning
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5.5 SLOT Definition
In the following SLOT definition table the Scaling, Limit, Offset and Transfer function of the out-
put data is described. The SLOT definition can be defined in the "SLOT definition" parameters
as listed in chapter “Parameter table”.
All signed data is 16 bit (two's complement). The abbreviation "g" is equivalent with the accel-
eration of gravity factor 9,81 m/s2.
Example
AccX data = 987 Dez; Offset value = 0; Factor = 1000 >> Acceleration in x direction = (987 - 0)/
1000 g = 0,987 g
SLOT
Definit.
Acceleration (Acc)/
Gravity Vector (Grav)/
Linear Acceleration
(LinAcc)
Rotational
Accelera-
tion
(RotAcc)
Rotation
Rate
(Gyro)
Euler
Angles
(EUI)
zy'x'', ZXZ
P + F
Angles
INX/INY/INZ
Quater-
nion
(Quat)
Tempera-
ture
(temp)
Data
Length
2 Bytes signed 2 Bytes
signed
2 Bytes
signed
2 Bytes
signed
2 Bytes
unsigned
2 Bytes
signed
2 Bytes
signed
Basic
Unit
g°/s2°/s ° ° -°C
Range +/- 4 g ± 2500 °/s2± 250 °/s Roll, Pitch,
Yaw -180 °
... + 180 °
Roll, Pitch,
Yaw 0 ° ...
360 °
± 1 -40 °C ...
+85 °C
Offset 0 mg 0 °/s20 °/s 0 °0 °0 0 °C
Default
Factor
1000 1 100 100 100 1000 10
Transfer
Function
= ((Data - Offset)/Factor) [basic unit]
Table 5.5

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Inertial Measurement Unit IMUF99*B20
Commissioning
5.6 Filter Settings
Using one of the following filter types, filters in the signal path can be activated in such a way
that vibration frequencies that excite the sensor are suppressed. These vibrations could be trig-
gered by a running engine or gearbox, for example. In this way, the quality of the angle output
can be adjusted despite disturbing vibrations. The filter type, the filter order and the width of a
low-pass filter can be set. The filter settings can be defined in the "Filter settings" parameters,
as listed in the "Parameter table" chapter.
Filter Types ID
Butterworth lowpass 0
Butterworth highpass 1
Bessel lowpass 2
Bessel highpass 3
Tschebyscheff lowpass 4
Tschebyscheff highpass 5
Table 5.6
Filter Order ID
Off 0
1st 1
2nd 2
3rd 3
Table 5.7
Cut-off frequency ID
1 ... 65000 mHz 1 ... 65000
Table 5.8