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Crossbow Technology CXM543, Руководство пользователя

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CXM543 User’s Manual

 

 

 

 

Doc.# 6001-0015 Rev 1.2 

 

Page 14 

 

 

Fig. 3 CXM543 Pitch Definition

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Fig. 4 CXM543 Azimuth Definition

 

Down

 

(Inc. = 0 deg)

 

Inclination = 127 degrees

Horizontal

 

(Inc. = 90 deg)

 

x

 

y

 

z

 

North

 

x

 

y

 

z

 

Azimuth 

 

45 

 

SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:[email protected]

SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:[email protected]

Содержание CXM543

Страница 1: ...xbow com website www xbow com CXM543 User s Manual High Speed Orientation Sensor Revision 1 2 October 2001 PN 6001 0015 SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 2: ...istered trademarks and DMU is a trademark of Crossbow Technology Inc Other product and trade names are trademarks or registered trademarks of their respective holders SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 3: ...Calculation 21 7 4 EEROM Map 22 7 5 Software Data Correction Equations 25 8 Appendix B Hard Iron Correction for CXM543 26 8 1 Setup procedure 26 8 2 Determining the Hard Iron Offset and Enabling the Hard Iron Correction 27 8 3 Hard Iron Commands 28 8 4 Three dimensional Correction 29 8 5 Two dimensional Correction 30 8 6 Caveats 31 9 Appendix C Filter Values and Data Rates 32 10 Appendix D Warrant...

Страница 4: ...e significant meaning to the user M WARNING The user should pay particular attention to this symbol It means there is a chance that physical harm could happen to either the person or the equipment The following paragraph heading formatting is used in this manual 1 Heading 1 1 1 Heading 2 1 1 1 Heading 3 Normal SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 16...

Страница 5: ...configured to run in two modes viz Vector and Angle In vector mode the unit transmits the accelerometer and magnetometer sensor outputs and transmission speeds up to 250 samples sec are possible In angle mode the CXM543 transmits the system roll pitch and azimuth angles The CXM543 can be used in either a command mode or autosend mode In the command mode the CXM543 responds to commands to transmit ...

Страница 6: ... A to D 16 bit Sigma Delta Baud rate user selectable 300 1200 2400 4800 9600 19200 38400 72800 Temperature range 0 to 50 C Size 2 75 W x 4 08 L x 1 13 H 7 cm x 10 4 cm x 2 9 cm Connector 9 pin nonmagnetic D female Sensor axis alignment to case 0 5 Linearity 0 1 full scale SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com...

Страница 7: ...0 The data words employ 8 bits with one stop bit and no parity A female 9 pin D connector is used to provide an electrical interface to the CXM543 system The Pin out of this connector is as follows Pin Function 1 not used 2 RS 232 out 3 RS 232 in 4 not used 5 ground 6 TTL serial out 7 TTL serial in 8 configure 9 V in 7 5 V to 15 V A drawing showing the dimensions and mounting hole design of the CX...

Страница 8: ...4 08 10 4 cm 2 75 7 cm 1 125 2 9 cm 1 4 08 10 4 cm 3 75 9 5 cm 0 56 1 4 cm 1 375 3 5 cm 2 19 5 6 cm 6 x 0 125 SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 9: ... the PC e g Windows HyperTerminal PC Plus etc Configure the terminal emulator program for direct connect to an available COM port and select the baud rate 9600 with one stop bit and no parity On the electrical interface to the system ground pin 8 this will put the system in configure mode and assure that the baud rate is 9600 baud If a connection box is used select the config option on the connect...

Страница 10: ...rate setting of the unit is unknown or calibration of the unit is required The output of the CXM543 in the calibrated mode M C is only valid in the run and auto modes 4 2 System Checkout After the CXM543 is operational and communicating with a computer its proper operation can be checked out by placing it on a flat level non magnetic surface The non magnetic nature of the surface is necessary to p...

Страница 11: ...magnetic field is between 0 4 and 6 The magnetic field amplitude in Gauss varies around the world between these values Next orient the CXM543 in various different known orientations and check the accuracy of the measured data Stop the data transmission and change to sensor vector output mode by issuing the commands S CR M V A CR The sensor data is transmitted with the format AX AY AZ MX MY MX wher...

Страница 12: ...esponding to the f command are as listed in the table below Different filter values and corresponding data rates resolution and frequency are provided in Appendix B Command Filter Value f1 8000 f2 4000 f3 2000 f4 1000 f5 2002 f6 1002 f7 802 f8 402 f9 282 SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489...

Страница 13: ...ands used to create them follow Commands Data Formats to set up M T Raw data in a text hex format without a checksum M R AX AY AZ MX MY MZ M N 1234 5678 9ABC 1234 5678 9ABC CR LF The data values are encoded as four digit hex values separated from each other with a single space The last digit of the Z data is followed by a carriage and a line feed M T Raw data in a text hex format with a checksum c...

Страница 14: ...M T Corrected angle data in a decimal format with a checksum M A Roll Pitch Azimuth Tot Acc Tot Mag CS M E 100 70 190 05 1 12 1 00000 0 49543 35 CR LF The angle data is in degrees Each value is displayed as a 3 digits point 2 digits value XXX XX separated by a space from the next value The total field is displayed in Gs and the total Mag field is displayed in Gauss This is followed by a two hex di...

Страница 15: ...1 tan x z z x y y z y x z y y z z y x A A M A A M A A M A M A M A A A Heading 2 2 2 2 2 1 tan This is followed by a checksum consisting of the lower eight bits of the sum of the bytes comprising the X Y Z Data for accelerometers and magnetometers and calculated as 256 5A and checksum except bytes all of sum Checksum This is followed by a synchronization byte of 5 A which represents the end of the ...

Страница 16: ...0 If slower rates are desired the user can set the pacing value This ranges from 0000 fast to FFFF slow The pacing value is set by issuing a command P The user can set the baud rate of the CXM543 to the standard values from 300 to 76800 baud The baud rate command is of the form B XXXX CR LF A complete list of the CXM543 commands can be found in Appendix A SUNSTAR传感与控制 http www sensor ic com TEL 07...

Страница 17: ...ned with the CXM543 package and point along the package edge shown in Fig 2 Fig 3 illustrates the CXM543 positioned at an inclination angle of 127 The azimuth angle of the CXM543 is referenced to magnetic North and is zero when the projection of the CXM543 X axis in a horizontal plane is oriented North A diagram showing the CXM543 system oriented at an azimuth of 45 is shown in Fig 4 Fig 2 CXM543 ...

Страница 18: ... Azimuth Definition Down Inc 0 deg Inclination 127 degrees Horizontal Inc 90 deg x y z North x y z Azimuth 45 SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 19: ...s rather than vectors M V Send data as vectors rather than angles A Start Auto Send Data S Stop Auto Send D Send the current calibrated data value in a floating point format DR Send the current raw data value in a hex format L Unlock calibration mode O Calibration zero all the sensors XM Calibration 1 2 Gauss X field applied YM Calibration 1 2 Gauss Y field applied ZM Calibration 1 2 Gauss Z field...

Страница 20: ... put in either raw M r or corrected M c mode Raw mode is seldom used after a CXM543 system has been factory calibrated This mode is used mainly to enable direct access to the system analog to digital A to D converters for troubleshooting When the CXM543 mode is selected to be corrected the magnetometer and accelerometer outputs are corrected for scale offset and alignment factors When the CXM543 m...

Страница 21: ... M cvd the data format is as follows AX AY AZ MX MY MZ T K CR LF AX is the X accelerometer output etc and is of the form X XXXXX where X is an ASCII character For instance a typical transmitted value is 0 28265 G T is the system temperature in degrees C and is of the form TT T K is a one byte checksum calculated by summing all of the digits in the transmitted data ignoring signs and decimal points...

Страница 22: ... AX AY AZ MX MY MZ T 0 00128 0 03076 0 98512 0 02282 0 25378 0 34216 32 0 The binary checksum is computed as follows FF EB 01 F8 3F 0C 02 EC 7C EA 2B CC 10 00 689 The checksum is 89 which is the least significant byte of the sum When the CXM543 mode is selected to be raw the transmitted data represents the raw Analog to Digital A to D count outputs for the various magnetometer and accelerometer se...

Страница 23: ...ASCII hex numbers in the following format MX MY MZ AX AY AZ T K CR LF MX represents the X magnetometer A to D output and is of the form HHHH where each H is an ASCII character represents a hex digit ranging from 0 to F The magnetometer and accelerometer outputs all have this same form T represents a hex number of the same form i e HHHH and corresponds to the system temperature To obtain the temper...

Страница 24: ...cant byte is transmitted first The most significant bit of this byte is also transmitted first Decoding of the binary data is in accordance with the following table Count Binary Output 32767 0111 1111 1111 1111 0 0000 0000 0000 0000 1 1111 1111 1111 1111 32768 1000 0000 0000 0000 T is a byte number representing the system temperature in C and K is a one byte checksum obtained by taking the least s...

Страница 25: ...nts and signs The method of summation is different from the binary data and decimal ASCII data formats For decimal data the individual digits of the transmitted data are summed For example consider the following vector data transmission in decimal format mode cvd þ EXAMPLE AX AY AZ MX MY MZ CS CR LF 23456 12345 0 27561 0 47510 0 51235 0 12345 68 The checksum is computed as follows 2 3 4 5 6 1 2 3 ...

Страница 26: ...FE BC 51D The least significant byte of this summation is ID and this is the transmitted checksum For a binary transmission of corrected angular data mode cab as follows Roll Pitch Azimuth Tot A Tot M CS EOT 23F165A3521312345678955A The checksum is calculated as follows 23 F1 65 A3 52 13 12 34 56 78 395 therefore the checksum is 95 7 4 EEROM Map For all EEROM constants the least significant byte i...

Страница 27: ...ata in a decimal format only checked if in text format 6 Calibration mode uses this bit 7 Send check sum with data 8 Send angles 03 More Operating Mode 1 Send Check Sum with Data 2 Not used 3 Not used 4 Not used 5 Not used 6 Not used 7 Not used 8 Not used 04 Baud Rate Control BaudRate 4 9152Mhz 16 BaudRateControl 1 Values for common baud rates with no clock dividing 1200 255 FFH 19200 31 1FH 2400 ...

Страница 28: ...set calibration 0 set when the A D is calibrated 41 43 A D gain calibration 0 set when the A D is calibrated 44 46 A D offset calibration 1 set when the A D is calibrated 47 49 A D gain calibration 1 set when the A D is calibrated 4A 4C A D offset calibration 2 set when the A D is calibrated 4D 4F A D gain calibration 2 set when the A D is calibrated Magnetometer A D Configuration Settings 50 52 A...

Страница 29: ...Offset ZScale 32768 ZOrtho 65536 Yout Yin YOffset YScale 32768 Xin XOffset XScale 32768 XOrtho Zin ZOffset ZScale 32768 ZOrtho 65536 Zout Zin ZOffset ZScale 32768 Xin XOffset XScale 32768 XOrtho Yin YOffset YScale 32768 YOrtho 65536 SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E M...

Страница 30: ...ensions The two dimensional case would apply to land vehicles for example where only azimuth is varied On the other hand if roll pitch and azimuth are all varied as is often the case for airborne platforms the three dimensional corrections would be needed Slightly different data are accumulated depending upon whether a 2 or 3 dimension correction will be determined so best results are obtained if ...

Страница 31: ...set the CXM543 to Config mode When the PC is connected and running a terminal emulator program the string APS 543 V1 162 should be displayed If the CXM543 follows this with a stream of data then type s and a carriage return to take it out of autosend mode The CXM543 can be checked out using the procedure described in Section 4 2 8 2 Determining the Hard Iron Offset and Enabling the Hard Iron Corre...

Страница 32: ...d If neither H2 nor H3 has been used then data will be gathered until the HC command is used or the gathering of data is aborted by means of the HQ command or restarted by means of the H2 or H3 commands HC Calculates a hard iron correction using the data gathered so far The hard iron correction continues to be available until HC is used again even if the sensor has begun to accumulate data for ano...

Страница 33: ...mine a 3 dimensional offset begin by typing H3 followed by a carriage return The CXM543 will then prescribe a set of 6 orientations The prescribed orientations and their interpretation in up down front back left side and right side are as follows replies from the CXM543 are enclosed in quotation marks Place the sensor z axis down to start a 3D correction then type HP if possible place the x axis t...

Страница 34: ...s this indicates that the hard iron correction would improve orientation accuracy The hard iron correction can be turned on by typing HI followed by a carriage return 8 5 Two dimensional Correction To determine a two dimensional correction begin by typing H2 followed by a carriage return The CXM543 will then prescribe a set of 4 orientations The top of the platform will always point up so we only ...

Страница 35: ...dicates that the hard iron correction would improve orientation accuracy The hard iron correction can be turned on by typing HI followed by a carriage return 8 6 Caveats The hard iron correction will not be accurate unless the magnetic environment is of a uniform field other than the hard iron field The data obtained near large magnetic objects not on the platform will not be accurate for example ...

Страница 36: ... 18 5 23 4 1800 10 8 800 8 33 31 2 1000 16 0 1200 16 7 17 5 46 8 900 21 5 1600 16 7 62 4 800 31 5 2400 22 2 17 93 6 600 41 1 3200 44 4 124 8 400 51 2 4800 66 7 187 2 300 61 3 6400 88 9 249 6 8002 150 50 16 39 3 6002 200 66 7 15 5 52 4 4002 300 100 15 5 78 6 3002 400 133 15 104 8 2002 57 7 600 200 15 157 1002 73 0 1200 400 14 314 802 88 4 2400 800 12 5 629 402 97 2 4800 1600 10 5 1260 282 104 9 768...

Страница 37: ...nited States Phone 1 408 965 3300 7 AM to 7 PM PST Fax 1 408 324 4840 24 hours Email techsupport xbow com Non U S refer to website www xbow com 10 3 Return Procedure 10 3 1 Authorization Before returning any equipment please contact Crossbow to obtain a Returned Material Authorization number RMA Be ready to provide the following information when requesting a RMA Name Address Telephone Fax Email Eq...

Страница 38: ...dequate padding and protection 10 3 3 Sealing the Container Seal the shipping container s with heavy tape or metal bands strong enough to handle the weight of the equipment and the container 10 3 4 Marking Please write the words FRAGILE DELICATE INSTRUMENT in several places on the outside of the shipping container s In all correspondence please refer to the equipment by the model number the serial...

Страница 39: ...SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 40: ...Phone 408 965 3300 Fax 408 324 4840 Email info xbow com Website www xbow com SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

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