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HG1120 INERTIAL

MEASUREMENT UNIT (IMU)

Installation and Interface Manual

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Содержание HG1120

Страница 1: ...HG1120 INERTIAL MEASUREMENT UNIT IMU Installation and Interface Manual ...

Страница 2: ...2 Table 1 Connector Pin Description Table 2 Mode Selection Table 3 Control Message 0x04 Data Format Table 4 Main Status Word Definition Table 5 Multiplexed Status Word Table 6 Gyro and Accelerometer BIT Status Table 7 Processor Memory BIT Status Word Table 8 Inertial Message 0x05 Data Format Table 9 Asynchronous Control Message 0x0C Data Format Table 10 Asynchronous Inertial Message 0x0D Data Form...

Страница 3: ...4 Table 14 SPI Inertial Message 0x0D Data Format Table 15 CAN Control Message 1 Format Table 16 CAN Control Message 2 Format Table 17 CAN Control Message 3 Format Table 18 CAN Inertial Message 1 Format Table 19 CAN Inertial Message 2 Format Table 20 CAN Inertial Message 3 Format Table of Tables ...

Страница 4: ...ywell has deep and long lasting relations with many commercial customers and is carrying that philosophy and product pedigree into our NLR IMU line Honeywell s forward looking product strategies ensure that our NLR IMUs fit your current and future needs The HG1120 IMU is a device which measures angular rates linear accelerations and magnetic fields in a body mounted strap down configuration The IM...

Страница 5: ... Compatible Logic No connect results in Logic 1 Active low for logic 0 8 RESET_N Input Device Configuration CMOS Compatible Logic Logic 0 applied for 15 milli seconds will stop all processing Upon logic 1 the IMU will restart as if power had been removed and re applied No connection is required 9 DATA_RDY Output CMOS Compatible Logic Data Ready on Rising Edge to Logic 1 Logic 1 maximum 500 micro s...

Страница 6: ...transmission delay Control data consists of the angular rates linear acceleration magnetic and IMU status words in message set 0x04 0x05 and set 0x0C 0x0D The angular and linear data is filtered and sampled at 1800 Hz The 1800 Hz filtered angular and linear data is decimated for 600 Hz control data The 300 100 Hz navigation data output consists of incremental or delta angles and velocities as show...

Страница 7: ...PI 600 100 Hz 0x0C 0x0D 90Hz 1 0 0 0 SPI 600 100 Hz 0x0C 0x0D 50Hz 0 1 1 1 CAN2A 600 100 Hz 11 Bit ID 90Hz 0 1 1 0 CAN2A 600 100 Hz 11 Bit ID 50Hz 0 1 0 1 CAN2B 600 100 Hz 29 Bit ID 90Hz 0 1 0 0 CAN2B 600 100 Hz 29 Bit ID 50Hz 0 0 1 1 SPARE NA NA NA 0 0 1 0 SPARE NA NA NA 0 0 0 1 SPARE NA NA NA 0 0 0 0 SPARE NA NA NA Asynchronous Protocol The asynchronous 1800 300 Hz data protocol is as specified ...

Страница 8: ...4 Checksum Sum of all message data positions 1 13 of this table taken as 16 bit words and summed without regard for rollover 2 N A this pseudo code illustrates the checksum algorithm u16sum 0 for i 0 i 12 i 26 2 2 12 u16sum u16_msg_array i Checksum u16_msg_array 12 if Checksum u16sum checksum error Total Length 26 Table 4 Main Status Word Definition BIT S PARAMETER VALUES 0 3 Multiplexed Status Wo...

Страница 9: ...atched Until Power is Cycled or Unit is Reset See Table 7 7 Accelerometer Gyro Sensor Temperature 0 0039 C LSB Not Calibrated 8 Magnetometer Temperature 0 0039 C LSB Not Calibrated 9 DIO1 DIO4 Device Configuration Echo Bit 0 DIO 1 Bit 1 DIO 2 Bit 2 DIO 3 Bit 3 DIO 4 Bit 4 15 reserved 10 15 Reserved 0 Table 7 Processor Memory BIT Status Word Table 6 Gyro and Accelerometer BIT Status BIT S PARAMETER...

Страница 10: ...f Checksum u16sum checksum error Total 50 Table 9 Asynchronous Control Message 0x0C Data Format POSITION PARAMETER LENGTH BYTES LSB WEIGHT UNITS OR CONTENTS 1 IMU Address 1 N A Constant 0x0E 2 Message ID 1 N A Constant 0x0C 3 Angular Rate X 2 2 20 600 rad sec LSB 4 Angular Rate Y 2 2 20 600 rad sec LSB 5 Angular Rate Z 2 2 20 600 rad sec LSB 6 Linear Acceleration X 2 2 14 600 0 3048 meters sec2 LS...

Страница 11: ... SPI 600 100 Hz data protocol is as specified in Table 12 Control Message Format and Table 13 SPI Inertial Message These messages are identical in content to the asynchronous HG1120 Control Inertial messages except that Position 0 will be added and contain a 1 byte field containing the number of bytes of data not including spare bytes in the message The SPI clock frequency must be at least 2 MHz o...

Страница 12: ...n message items 1 20 50 1 20 Control and Navigation Data 50 N A See Inertial Message 0x05 Positions 1 20 Total Length 51 Table 13 SPI Control Message 0x0C Data Format POSITION PARAMETER LENGTH BYTES LSB WEIGHT UNITS OR CONTENTS 0 SPI Message Data Size 1 1 Number of bytes of data in message items 1 14 26 1 14 Control Data 26 N A See Control Message 0x0C Positions 1 14 15 20 Spare 24 N A None Total ...

Страница 13: ...9 bit 0x04924921 1 Angular Rate X 2 2 20 600 rad sec LSB 2 Angular Rate Y 2 2 20 600 rad sec LSB 3 Angular Rate Z 2 2 20 600 rad sec LSB 4 Main Status Word 2 N A See Table 4 Table 16 CAN Control Message 2 Format POSITION PARAMETER LENGTH BYTES LSB WEIGHT UNITS OR CONTENTS n a Arbitration ID n a n a 11 bit 0x0122 29 bit 0x04924922 1 Linear Acceleration X 2 2 14 600 0 3048 meters sec2 LSB 2 Linear A...

Страница 14: ...48 meters sec LSB Table 19 CAN Inertial Message 2 Format POSITION PARAMETER LENGTH BYTES LSB WEIGHT UNITS OR CONTENTS n a Arbitration ID n a n a 11 bit 0x124 29 bit 0x04924924 1 Delta Angle Y 4 2 33 radians LSB 2 Delta Velocity Y 4 2 27 0 3048 meters sec LSB Table 20 CAN Inertial Message 3 Format POSITION PARAMETER LENGTH BYTES LSB WEIGHT UNITS OR CONTENTS n a Arbitration ID n a n a 11 bit 0x125 2...

Страница 15: ...easure angular rate and linear acceleration across a broad temperature range Because of their precision users can interpret real motion both angular and linear as sensor noise This noise can often be coupled mechanically through the mounting plate Installation on a thin structure is generally not desirable Placement at anti nodes will minimize angular rotation and maximize linear displacement Plac...

Страница 16: ...tallation and Interface Manual aerospace honeywell com HG1120 16 All dimensions are in millimeters 46 99 43 942 4X 2 438 THRU 2X 1 778 0 086 56UNC 2B 39 624 42 672 14 148 25 4 7 874 DIMENSIONS ARE IN MILLIMETERS ...

Страница 17: ...manual contains technology that has an Export Commodity Classification of ECCN 7E994 with associated country chart control code of AT1 This technology generally will not require a license to be exported or re exported However if you plan to export this item to an embargoed or sanctioned country to a party of concern or in support of a prohibited end use you may be required to obtain a license Cont...

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