PNI Corporation
TCM2.5 and TCM2.6
Tilt Compensated 3-axis Compass Module
Page 1: ...PNI Corporation TCM2 5 and TCM2 6 Tilt Compensated 3 axis Compass Module...
Page 2: ...age to the Product as the result of improper usage neglect of care alteration accident or unauthorized repair THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WARRANTY WHETHER EXPRESS IMPLIED OR STATUTORY I...
Page 3: ...CM2 5 2 6 combines PNI Corporation s patented Magneto Inductive MI sensors and measurement circuit technology with a MEMS accelerometer for unparalleled cost effectiveness and performance The MI senso...
Page 4: ...one end of the cable is the connector needed to mate with the TCM2 5 2 6 The cable s wires are color coded as indicated below PNI also has a 6 foot cable with a DB9 connector attached Contact PNI Corp...
Page 5: ...d codes manually you can use buttons check boxes and dialog boxes It reads the Binary responses of the TCM2 5 2 6 output strings and formats its sensor data into labeled and easy to read data fields T...
Page 6: ...ction as long as the module baud rate is the same as the previous unit Configuration Tab North Reference Magnetic When the Magnetic radio button is selected heading will be relative to Magnetic North...
Page 7: ...o determine the magnetic anomalies The more pitch and roll points you give it the better it is able to determine the vertical magnetic fields If possible apply as close to a 90 SLWFK DQG roll Doing so...
Page 8: ...uickly 6 If the calibration is not sufficient then click on the Start button and begin the calibration again Clear This button will clear the user calibration in the unit Once selected the unit will r...
Page 9: ...onment that when added to the earth s field may saturate the TCM2 5 2 6 s sensors For example large masses of ferrous metals such as transformers and vehicle chassis large electric currents permanent...
Page 10: ...TCM2 5 2 6 board dimensions and the orientation of the reference frame The TCM2 5 2 6 is factory calibrated with respect to the mounting holes as shown below thus it must be aligned within the host s...
Page 11: ...ecification which describes a standard RS232 bus format for exchange of a variety of navigation information GPS radar compass and so on In the NMEA output format only compass heading information is av...
Page 12: ...the output word Example The TCM2 5 2 6 will return the following C328 3P28 4R 12 4X55 11Y12 33Z 18 43T22 3E001 checksum cr lf under the following conditions compass heading 328 3 true or magnetic depe...
Page 13: ...rameter or sensor values parameter cr Action command command cr Detailed descriptions of all commands are in the Command List and a command summary is shown in Command List Quick Reference Data Transm...
Page 14: ...rror Bit 1 Reserved for future use always 0 Bit 0 LSB Reserved for future use always 0 2 nd ASCII Character Bit 3 MSB Reserved for future use always 0 Bit 2 Command parameter invalid Bit 1 Reserved fo...
Page 15: ...compass heading pitch and roll magnetic field strength and temperature Sampling in Standby Mode You can receive data from the TCM2 5 2 6 sensors from the h Halt Continuous Sampling Enter Standby mode...
Page 16: ...nd goal of the procedure for the TCM2 5 2 6 is to have an accurate measurement of the static three dimensional magnetic field vector generated by its host system at its mounting location This vector i...
Page 17: ...tch and roll to the unit The unit will have the appearance of a wobbling top as it is moved through the calibration routine Turn the TCM2 5 2 6 around at least twice changing the pitch and roll as muc...
Page 18: ...an calibrate for hard iron effects or local fields that can be modeled as static fields such as those created by permanent magnets Hard iron distortions are significant in most systems There is anothe...
Page 19: ...sure the orientation of the compass with respect to gravity Since the compass also measures the complete magnetic field the TCM2 5 2 6 can correct for the tilt of the compass to provide an accurate he...
Page 20: ...improved sleep mode over TCM2 wake Wake Mode requires separate program and connection of RTS pin ax Warm Reboot User Configuration Parameter Commands b Set Baud Rate damping Enable Filter for damping...
Page 21: ...l result in an error code since the command is obsolete and not being used Command Description Commands not used for the TCM2 5 2 6 autocal Autocalibration skip Skip measurements cclip Set Clip Value...
Page 22: ...data has been selected for inclusion in the output word Syntax c cr Output when compass units are set to degrees Cnnn n Ennn checksum cr lf cr lf when compass units are set to mils Cnnn n Ennn cr lf c...
Page 23: ...nometer data has been selected for inclusion in the output word Syntax i cr Output When the inclinometer units are set to degrees P nn nR nn n Ennn checksum cr lf cr lf When inclinometer units set to...
Page 24: ...M8 00 cr lf An example of a poor score Related Commands mpcal Multipoint Calibration m Magnetometer Update Description Samples and returns the X Y and Z axes of magnetometer data When in Standby mode...
Page 25: ...18 4T22 3 Ennn check sum cr lf cr lf Related Commands sdo Select RS232 Output Word Format ec Enable Compass Data for Output Word ep Enable Pitch Data for Output Word er Enable Roll Data for Output Wor...
Page 26: ...ll calibration data Any further magnetometer or compass output is not corrected for any local fields This command is only valid during Standby Mode h Use this command before recalibrating the TCM2 5 2...
Page 27: ...ory cr go Enter Continuous Sampling Mode Description Enters the Continuous Sampling Mode go The TCM2 5 2 6 immediately begins outputting sensors data at rate specified by the SP parameter default is 8...
Page 28: ...n cr lf Related Commands go Enter Continuous Sampling Mode halt Enable Single Character Halt halt Enable Single Character Halt Description The halt command during go mode has optionally been made a si...
Page 29: ...cr or h cr lf mpcal d cr Valid Values Input Description e e enable multipoint calibration d d disable multipoint calibration default setting Table 8 Valid mpcal Values Output HnVnMn nn cr lf The TCM2...
Page 30: ...TCM2 5 Description Enters the wake mode of operation To wake the TCM2 5 a falling edge on the int2 interrupt 2 pin of the processor is required This is achieved by connecting pin 6 of the TCM2 5 conne...
Page 31: ...r power cycling it will return to the last configuration set Note that any parameter that specifies a numeric value must be specified with the appropriate units of the current setting b Set Baud Rate...
Page 32: ...mping d disable damping default setting Table 10 Valid damping values Example damping e cr enable damping cr lf Query Response damping damping Related Commands timeconst set time constant for digital...
Page 33: ...y Response ec ec em Enable Magnetometer Data for Output Word Description Enables or disables magnetometer data for inclusion in the TCM2 5 2 6 Standard Output Word Syntax em n cr Output Ennn cr lf Val...
Page 34: ...on e Pitch data enabled It will be included from the output word Default setting d Pitch data disabled It will be excluded in the output word Table 13 Valid ep Values Example ep e cr include pitch dat...
Page 35: ...e er er et Enable Temperature Data for Output Word Description Enables or disables temperature data for inclusion in the TCM2 5 2 6 Standard Output Word Syntax et n cr Output Ennn cr lf Valid Values I...
Page 36: ...ter readings Syntax ma n cr Output Ennn cr lf Valid Values Input Description c Choose corrected magnetometer readings u Choose non corrected magnetometer readings Default setting Table 16 Valid ma Val...
Page 37: ...dec mag_dec sdo Set RS232 Output Word Format Description Sets the output word format to be used in response to the Single Update Output Word sdo command and in Continuous Output Mode go Syntax sdo n c...
Page 38: ...alue is set to true then declination is applied to get the True North heading Syntax sn n cr Output Ennn cr lf Valid Values Input Description t True North m Magnetic North default setting Table 19 Val...
Page 39: ...m the TCM2 in which the sp was the clock divisor to derive the output rate Syntax sp n cr Output Ennn cr 1f Valid Values Input Description 1 1 Hz output rate 2 2 Hz output rate 3 3 Hz output rate 4 4...
Page 40: ...Input Description Integer value between 1 4 Set the measured time constant 4 Integer value between 5 8 Set the measured time constant 8 default setting Integer value between 9 16 Set the measured time...
Page 41: ...full circle Table 22 Valid uc Values Example uc d cr set units to degrees cr lf Query Response uc uc ui Set Inclinometer Units Description Sets the units to be used for the input and output of the til...
Page 42: ...units to be used for the input and output of the temperature data Syntax ut n cr Output Ennn cr lf Valid Values Input Description f Fahrenheit c Celsius Default setting Table 24 Valid ut Values Exampl...
Page 43: ...rial port base addresses define PORT1 0x3F8 define PORT2 0x2F8 define PORT3 0x3E8 define PORT4 0x2E8 define MCR 4 Offset to the Modem control register define RTS 2 RTS is bit 2 of the MCR int main int...
Page 44: ...ng Options Screw Mounts Standoffs horizontal Connector for RS 232 10 pin 9 pin I O Specifications Latency from Power On 210 mSec Latency from Sleep Mode 1 Maximum Sample Rate 8 samples sec RS 232 Comm...
Page 45: ...oard and Cable The default orientation for the TCM2 5 2 6 is for the silk screened arrow to point in the forward direction That puts the edge opposite of the Molex connector as the front edge of the b...
Page 46: ...ange Vsupply 5 V regulated 2 Red Vsupply 6 to 18 V unregulated 3 Black Power Ground 4 Blue RxD RS 232 5 to 5V 5 Yellow TxD RS 232 5 to 5V or 12 to 12V 6 White RTS Wake from Sleep 7 Green Data Ground 8...
Page 47: ...and Cable The default orientation for the TCM2 6 is for the silk screened arrow to point in the forward direction That puts the edge opposite of the Molex connector as the front edge of the board Fig...
Page 48: ...embly Figure 8 18 Cable Drawing PIN Wire Color Description 1 Black Power Ground 2 Gray NC 3 Green RS232 Ground 4 Orange NC 5 Violet NC 6 Brown NC 7 Yellow TxD 8 Blue RxD 9 Red 5 VDC Table 27 Molex Con...
