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Document MT1601P.A
© Xsens Technologies B.V.
Hardware Integration Manual MTi 600-series
2.2 Communication to host
The MTi-600 is designed to be used as a peripheral device in embedded systems or as a standalone
unit. The MTi-600 supports Controller Area Network (CAN), RS232 and Universal Asynchronous
Receiver/Transmitter (UART) protocols for the communication between the MTi-600 and a host. See
Table 3 for interface specifications. For the physical connection recommendations, see section 4.3.
Table 3: Host communication interfaces specifications
Interface
Symbol
Min
Typ
Max
Units
Description
CAN
f
CAN
10.0
250.0
1000
kbps
Host CAN Interface Baud Rate
RS232
f
RS232
4.8
115.2
1000
kbps
Host RS232 Interface Baud Rate
UART
f
UART
4.8
115.2
2000
kbps
Host UART Interface Baud Rate
A USB and RS422 interface is possible through a UART to USB/RS422 converter (see example in the
MTi 600-series Development Kit).
At its core, the module uses the Xsens-proprietary Xbus protocol which is compatible with all Xsens
Motion Tracker products. This protocol is available on all interfaces, UART, RS232 and CAN.
The
MT Low Level Communication Protocol Documentation
is a complete reference for the protocol
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.
2.2.1 CAN
The CAN interface of the MTi-600 does not include a termination resistor; it can be used in a CAN bus
that already incorporates the required termination. If used in a single device connection, a 120
Ω
termination resistor needs to be added between the CAN_H and CAN_L pins.
For more information please review the
MT CAN Protocol Documentation
2.2.2 RS232
The RS232 interface complies with the standard RS232 voltage levels. It includes hardware flow control
through RTS and CTS lines.
The RTS signal is an output of the MTi-600. If the RTS line is low, the module is busy and unable to
receive new data. Otherwise, the module’s UART is idle and ready to receive. The CTS
signal is an
input for the MTi-600. The module checks the state of the CTS line at the start of every byte it transmits.
If CTS is high, the module transmits the byte. Otherwise, it postpones transmission until CTS is raised.
If flow control is not used the CTS input should be connected to a logic high to make sure that the MTi-
600 can transmit data. A RS232 logic high voltage should be b3 V and +25 V.
The CTS signal is an input for the module. The module checks the state of the CTS line at the start of
every byte it transmits. If CTS is high, the module transmits the byte. Otherwise, it postpones
transmission until CTS is raised. When during the transmission of a byte the user lowers the CTS
signal, then the module completes transmission of that byte before postponing further output. The
module will not retransmit this byte. Figure 2 shows the behaviour of the TX and CTS lines.
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Links to the latest available documentation can be found via the following link:
