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LORD USER MANUAL

MV5-AR

Compact, Ruggedized Attitude Reference and IMU

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Содержание MV5-AR

Страница 1: ...LORD USER MANUAL MV5 AR Compact Ruggedized Attitude Reference and IMU ...

Страница 2: ... 3DM RQ1 3DM GQ4 AIFP Ask Us How Bolt Link DEMOD DC DVRT DVRT Link EH Link EmbedSense ENV Link FAS A G Link G Link2 HS Link IEPE Link Inertia Link Little Sensors Big Ideas Live Connect LXRS MathEngine MicroStrain MVEH MXRS Node Commander PVEH RHT Link RTD Link SensorCloud SG Link Shock Link Strain Wizard TC Link Torque Link V Link Watt Link Wireless Simplicity Hardwired Reliability and WSDA are tr...

Страница 3: ...face 9 3 5 Power Supply 9 3 6 Environmental 10 3 7 EMC Electrical Compliance Standards 10 3 8 Physical Specifications 11 3 9 Dimensions 11 3 10 Mounting Pinout 12 4 CAN Messages and Communication 13 4 1 Standard Broadcast Data 13 4 2 CAN J1939 Device Information 13 4 2 1 CAN J1939 Device Information 13 4 2 2 Angular Rate 61482 PGN 0xF02A 14 4 2 3 Acceleration 61485 PGN 0xF02D 15 4 2 4 Slope Sensor...

Страница 4: ...4 2 ECU Identification Information 64965 PGN 0xFDC5 22 4 4 3 Component Identification 65259 PGN 0xFEEB 22 4 5 Configuration Commands 23 4 5 1 Set Get MV5 J1939 NAME 45312 PGN 0xB100 23 4 5 2 Set Get Data Period Rate 45568 PGN 0xB200 24 4 5 3 Set Get Filter Bandwidth 45824 PGN 0xB300 24 4 5 4 RESET ATTITUDE 46080 PGN 0xB400 24 4 4 5 Create Sensor to Vehicle Rotation 46336 PGN 0xB500 25 4 5 6 Set Ge...

Страница 5: ... motions and quake resulting in a true reading of inclination under all conditions The wide bandwidth high range low noise 20g accelerometer and 1000dps gyroscope allow accurate IMU measurements of the most extreme events making it ideal for monitoring shock and vibration fatigue LORD Sensing s state of the art temperature compensation and calibration assures error free performance over the full o...

Страница 6: ...tion 7 Mating connector AMPSEAL 16 Series gold plated 4 pin Mounting direction Z 2 2 Sensor Calibration All internal sensors in the MV5 AR are calibrated when the device is manufactured and the calibration values are saved in the device memory Recalibration is not required unless the device has been under conditions that exceed the operating specifications For example if the sensor has been expose...

Страница 7: ... Cabling and Termination LORD recommends split termination on both ends of the cable for optimum EMC performance Recommended mating connector shell TE Connectivity 776487 1 or equivalent Figure 1 MV5 AR Cabling and Termination ...

Страница 8: ...ature 0 2 Gain error over temperature 0 05 Scale factor non linearity 25 C 0 04 0 2 IMU data output rate 1 100 500 Hz 3 2 IMU Gyroscope Specifications 3 Axis Characteristic Min Typ Max Unit Measurement range 1000 1000 sec Gyro output range PGN 61482 250 250 Non linearity 0 06 fs Resolution 0 003 sec Bias instability 8 hr Initial bias error 0 1 sec Scale factor stability 0 05 Noise density 0 0075 s...

Страница 9: ... Position gold plated pins CANH CANL Operating Common Mode Range 7V to 12V CANH CANL Absolute Maximum Rating 36V Short Circuit Protection All pins automatic restart Start up time IMU 1 second Start up time Slope EKF 5 seconds 3 5 Power Supply Characteristic Min Nominal Max Operating Supply Voltage Range 4 5V 5V regulated or 12V or 24V vehicle power 36V Power consumption all voltages 625mW Reverse ...

Страница 10: ...ection 18 total MIL STD 202 M213 3 7 EMC Electrical Compliance Standards Characteristic Standard Test Levels Radiated Immunity ALSE ISO 11452 5 2004 200 V m 200 MHz to 3 2 GHz Radiated Immunity Bulk Current Injection ISO 11452 5 2002 200mA 1 to 400 MHz Radiated Immunity Strip line ISO 11452 5 2002 200mA 10 kHz to 400 MHz Radiated emissions CISPR 25 ED 4 0 2016 150 kHz to 2 5 GHz Class 3 and 5 Cond...

Страница 11: ...arameter Dimensions L 80 mm x W 55 mm x H 24 mm Weight 120 grams Enclosure material PBT Thermoplastic Reinforced Ingress protection IP68 IP69K Mounting 3 x M8 installation torque 20 Nm 2 Nm Regulatory compliance RoHS REACH CE 3 9 Dimensions Figure 2 MV5 AR Dimensions ...

Страница 12: ...12 MV5 AR USER MANUAL 3 10 Mounting Pinout Figure 3 MV5 AR Mounting Dimensions ...

Страница 13: ...e J1939 standard The values are as follows Value Definition 0 Output is functioning normally 1 Output quality may be degraded 2 Error condition 3 Figure of merit information is not available 4 2 CAN J1939 Device Information Data supplied by the MV5 AR is communicated through the CAN J1939 communications interface To learn more about SAE J1939 communication standards go to SAE J1393 Standards 4 2 1...

Страница 14: ...ical range and resolution allowed by the format See the device specifications for the actual measurement range and resolution Note that the internal measurement range may exceed the range available from this message format Example Pitch rate Payload 0 1 1 128 0 250 SPN Bit position Byte bit Length Resolution Offset Range Pitch Rate Bytes 1 2 2 Bytes 1 128 s bit 250 s 250 to 250 992 Roll Rate Bytes...

Страница 15: ...le Pitch rate Payload 0 1 1 100 320 SPN Bit position Byte bit Length Resolution Offset Range Lateral Accel Y Bytes 1 2 2 Bytes 0 01 m s2 bit 320 m s2 320 to 322 55 m s2 Longitudinal Accel X Bytes 3 4 2 Bytes 0 01 m s2 bit 320 m s2 320 to 322 55 m s2 Vertical Accel Z Bytes 5 6 2 Bytes 0 01 m s2 bit 320 m s2 320 to 322 55 m s2 Lateral Accel figure of merit1 7 1 7 2 2 bits 0 Functional 1 Degraded 2 E...

Страница 16: ...d 2 Error 3 Not available Roll Compensated2 7 5 7 6 2 bits 0 Uncompensated 1 Compensated Roll Angle figure of merit1 7 7 7 8 2 bits 0 Functional 1 Degraded 2 Error 3 Not available Not Implemented Byte 8 1 Byte N A 4 3 Standard Commands The PGNs in this section are standard commands that may be issued to the device as defined in the SAE J1939 standard documents Note Examples assume a source ID of 0...

Страница 17: ...onse will come in PGN 65232 J1939 diagnostic message DM8 Example 0x18 E3 FC 99 01 FF FF FF FF FF FF FF requests packet 0xFED0 PGN 65232 SPN Bit position Byte bit Length Notes Test ID 1 1 Byte Test Identifier must be 1 SPN Low 2 2 Bytes Unused set to 0xFF FMI 4 1 5 Bits Unused set to 0x1F SPN High 4 6 3 Bits Unused set to 0x7 Reserved 5 4 Bytes Unused set to 0xFFFFFFFF 4 3 4 Commanded Test Result 6...

Страница 18: ...g 9 Byte BAM Broadcast announcement message Example SPN Bit position Byte bit Length Notes Name 1 8 Bytes J1939 Device NAME Address 8 1 Byte New source address Cannot be 0xFF broadcast address or 0xFE NULL address 4 3 7 Address Claim 60928 PGN 0xEE00 Description Transmitted by J1939 ECUs including the MV5 after Every power on A request for Address Claimed command A re claim situation when receivin...

Страница 19: ...19 MV5 AR USER MANUAL 4 3 8 Address Claim Procedure Figure 4 MV5 AR Address Claim Logic ...

Страница 20: ... Bits Ignored J1850 2 3 2 Bits Ignored ISO 9141 2 5 2 Bits Ignored J1939 2 2 7 2 Bits Ignored J1939 4 3 1 2 Bits Ignored Proprietary 2 3 3 2 Bits Ignored Proprietary 1 3 5 2 Bits Ignored J1939 3 3 7 2 Bits Ignored Suspend 4 1 4 Bits 0x0 All 0x1 Some 0x2 All temporary 0x3 Some temporary 0x4 0xD Reserved 0xE Resume 0xF N A Not currently implemented For future compatibility use 0xF Hold 4 5 4 Bits 0x...

Страница 21: ...904 command 4 4 1 Software Identification 65242 PGN 0xFEDA Description BAM message containing LORD firmware revision number s Data is in the form of a single ASCII string with three fields each field separated by an ASCII The first byte of the response is the count 3 of fields This PGN can be requested from the device use PGN 0xEA00 to request Example 0x18 EC FF FC 20 33 00 08 FF DA FE 00 BAM 8 pk...

Страница 22: ...en chars ing Mic 0x1C EB FF FC 08 72 6F 53 74 72 61 69 next seven chars roStrai 0x1C EB FF FC 09 6E 2A 32 30 67 2C 31 next seven chars n 20g1 0x1C EB FF FC 0A 30 30 30 64 70 73 FF last seven chars 000dps J1939 Field Names String field 1 Model Number MV5 Part String field 2 Serial Number MV5 Serial String field 3 empty Network Location String field 4 Model Name CU Type String field 5 LORD Sensing M...

Страница 23: ... commands may be transmitted to the broadcast ID 0xFF in which case all units which receive the message will be affected No acknowledgement is returned in this case Settings cannot be read out using the broadcast ID because they would be indistinguishable from broadcast commands Note that applying a setting utilizes non volatile memory which has a finite durability of 32 000 000 settings changes W...

Страница 24: ...smitted data Transmission Period 4 2 Bytes 1 ms 0 2 to 500 Use 0 to disable 10ms 0xFFFF 4 5 3 Set Get Filter Bandwidth 45824 PGN 0xB300 Description Sets the low pass filter bandwidth This PGN can be requested from the device use PGN 0xEA00 for get request Example 0x18 B3 FC 99 2D F0 00 FA 00 set SPN Bit position Byte bit Length Resolution Offset Range Default Value Data PGN 1 3 Bytes PGN of transm...

Страница 25: ...Resolution Offset Range Default Values Roll Granularity 1 1 Bytes 1 per bit 0 0 to 90 0 Pitch Granularity 2 1 Bytes 1 per bit 0 0 to 90 0 Yaw Direction 3 2 Bytes 0 1 per bit 0 0 to 360 0 4 5 6 Set Get Sensor to Vehicle Rotation 46592 PGN 0xB600 Description The output of the device is rotated so that when the sensor is at the reference position 0 on all axes the actual output corresponds to the rot...

Страница 26: ...by the device however the values of 0xB100 B200 B300 B600 and C000 may still be requested through the request information command 0xEA00 Example 0x18 C0 FC 99 50 49 4D 32 4E 41 43 01 lock 0x18 C0 FC 99 50 49 4D 32 4E 41 43 00 unlock SPN Bit position Byte bit Length Notes Key Code 1 7 Bytes Must be 0x43414E324D4950 Lock Unlock 8 1 Bit 1 to lock 0 to unlock ...

Страница 27: ...a defective product if returned to LORD Sensing within the warranty period This warranty does not extend to any LORD Sensing products that have been subject to misuse alteration neglect accident incorrect wiring mis programming or use in violation of operating instructions furnished by LORD Sensing It also does not extend to any units altered or repaired for warranty defect by anyone other than LO...

Страница 28: ...by navigating to the product page and using the Buy feature http www microstrain com inertial For further assistance our sales team is available to help with product selection ordering options and questions Sales Support sensing_sales LORD com Phone 802 862 6629 9 00 AM to 5 00 PM Eastern Time US Canada ...

Страница 29: ... injury Failure to comply with these instructions could result in death or serious injury WARNING IMPROPER INSTALLATION Consult with local safety agencies and their requirements when designing a machine control link interface and all control elements that affect safety Strictly adhere to all installation instructions Failure to comply with these instructions could result in death or serious injury...

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