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10 

IMU User Guide revision 3.1               SMC Ship Motion Control                          www.shipmotion.eu           

 

In the SMC motion sensors, the coordinate system can be defined by a setting option in the SMC 
configuration software that is included with the motion sensor. The user can choose between the 
IMU coordinate system and the Earth Coordinate system. 
 
The default setting for the SMC motion sensor is Earth Coordinates without earth G in Acc.  
 
The SMC motion sensor defines its body axis from the Tait-Bryan (z-y-x) angles in the order yaw, 
pitch, roll to describe the orientation of a vessel. 
 
In the Earth Coordinate system positive Z is vertical with reference to the earth horizon. The X-axis in 
the earth coordinate system has the same direction as the X-axis of the IMU coordinate system 
projected onto the horizontal plane of the earth. The Y-axis is horizontal and is perpendicular with 
respect to the earth fixed X-axis and has close to the same direction as the IMU coordinate Y-axis. 
 
To obtain the accelerations in the IMU coordinate system the accelerations measured by the motion 
sensor are rotated with a three-dimensional calculation with respect to the mounting angles offsets. 
 
To obtain the accelerations in the earth fixed system the accelerations measured in the motion 
sensor in the IMU coordinate system are rotated with a three-dimensional calculation with respect to 
the current value of the roll and pitch angles and their offsets.  
 
The accelerations are in sent in the selection for the IMU coordinate system and is not related to the 
selection of the Heave, surge and sway output selection in the motion sensor. 
 
Heave, surge and sway motions are calculated in the earth 
fixed coordinate systems as default. The calculations of these 
linear motions are done by taking the accelerations in the 
Earth Coordinate system and double integrate these to obtain 
surge, sway and heave positions. 
 
If the IMU coordinates is selected for the Surge, sway and 
heave in the IMU configuration software these values are 
calculated three-dimensional using the roll and pitch angular 
data before being output. 
 
The surge, sway and heave velocities are the derivatives of 
the surge, sway and heave positions. 
 
For the Roll, Pitch and Yaw calculations when using the earth coordinate system selection, the three-
dimensional rotation corresponding to the motion sensor readings is composed (conjugated) with 
the three-dimensional rotation of the mounting offsets. 
After the internal measured data in the IMU coordinate system has been rotated into the earth 
coordinate system the Roll, Pitch and Yaw angles are calculated. 
 
The roll, pitch and yaw velocities being output in the earth coordinate system are the derivatives of 
the corresponding angular values.  
 
 
 
 
 

Содержание IMU-007

Страница 1: ...IMU User Guide revision 3 1 SMC Ship Motion Control www shipmotion eu SMC IMU User Guide ...

Страница 2: ...nd firmware versions Please check with SMC for details of model specific features such as measurement parameters and Protocol support This document is property of SMC and shall not be reproduced in any form without written approval from SMC SMC Ship Motion Control is not responsible for any errors in this manual or their consequences All rights reserved SMC Ship Motion Control Ltd Email info shipm...

Страница 3: ...n sensor 20 3 6 2 IMU 00x 30m depth rated motion sensor 21 3 6 3 IMU 10x Surface motion sensor 22 3 6 4 IMU 10x 30m depth rated motion sensor 23 3 6 5 IMU mounting bracket optional 24 3 7 ELECTRICAL COMMUNICATION 25 3 7 1 Surface motion sensor cable connection 26 3 7 2 Depth rated unit 27 3 7 3 Surface motion sensor hardware version up 8 4 28 3 7 4 Surface motion sensor hardware version higher tha...

Страница 4: ... 1 ANALOG1 10V Heave 0 5m Heave rate 0 2m s Heave Acc 0 1m s2 70 4 4 2 ANALOG2 10V Roll 10 Pitch 10 Heave 10M 70 4 4 3 ANALOG3 10V Roll 30 Pitch 30 Heave 10M 70 4 4 4 ANALOG4 4 20mA roll 0 20 Pitch 0 20 71 4 4 5 ANALOG5 4 20mA Heave 6M Pitch 60 Roll 60 STATUS 71 4 4 6 ANALOG6 10V Heave 5m Heave rate 5m s Heave Acc 5m s2 71 4 4 7 ANALOG7 4 20mA Heave 5m Heave rate 5m s Heave Acc 5m s2 72 4 5 ETHERN...

Страница 5: ...c arm input data 98 4 10 6 Crane booms 100 4 10 7 String input 101 4 10 8 Verification string and example strings 103 4 11 TIME 104 4 12 RECEIVED DATA 105 4 13 OPTIONAL SMC SOFTWARE 106 5 MOTION SENSOR OPERATION 107 5 1 SETTLING TIME 107 5 2 HEAVE OPERATION 107 6 SERVICE AND WARRANTY 108 6 1 TECHNICAL SUPPORT 108 6 2 WARRANTY 109 6 2 1 Limit of liability 109 6 2 2 Restriction of warranty 110 7 TEC...

Страница 6: ...ion software and many third party applications The SMC motion sensors are used in a wide range of applications Some examples are Hydrographic surveying for heave compensation using multi beam sonars single beam sonars and sub bottom profilers System integration for different type of monitoring systems such as Helideck Monitoring and crane monitoring systems Active heave compensation for cranes and...

Страница 7: ...age during shipment If damage has occurred during transit all the shipping cartons and packaging materials should be stored for further investigation If damage is visible a claim for shipping damage must be filed immediately Because of the sensitive nature of the motion sensor the package must not be dropped Standard Delivered Items Motion Sensor Transit Case Junction Box fitted with o Cable from ...

Страница 8: ... and sway are calculated by integrating the acceleration in the X Y and Z axis twice The integrated data is filtered with a high pass filter The calculations of the distances are optimized for continuous motion and not for static distance measurements as the high pass filter will filter the position over time to zero The dynamic motion filtering is designed to measure motions over a period between...

Страница 9: ... yaw angle output in the motion sensor An improper Z axis rotation will rotate the coordinate system and will induce roll motion readings in the pitch axis and the vice versa The SMC IMU default rotational and acceleration directions are defined in the drawing below By setting an offset the motion sensor rotates its coordinate system From the configuration software it is possible to invert the axi...

Страница 10: ...sor in the IMU coordinate system are rotated with a three dimensional calculation with respect to the current value of the roll and pitch angles and their offsets The accelerations are in sent in the selection for the IMU coordinate system and is not related to the selection of the Heave surge and sway output selection in the motion sensor Heave surge and sway motions are calculated in the earth f...

Страница 11: ...lues measured by the motion sensor and three dimensional rotated multiplicatively composed by the mounting offsets entries All compositions of three dimensional rotations are done by first converting the Tait Bryan angles to quaternions Then performing the composition by using quaternion multiplication and finally either obtaining the angles by the citation above or the rotation matrix ...

Страница 12: ...ass filter Heave measures the relative position dynamically and cannot be used for a static height position measurement An upwards motion is defined as a positive heave Surge and Sway Surge and Sway are the horizontal dynamic motion of the vessel Surge is the linear motion along the roll axis a positive surge is when the vessel is moving in the bow direction Sway is the linear motion along the pit...

Страница 13: ...laced as close to the point where Heave acceleration is to be measured For a helideck installation it is required to install the motion sensor within 4 meters from the center of the helideck Temperature The SMC motion sensors have been calibrated and designed to work within the stated temperature range as specified in the motion sensor technical specifications SMC recommend that the motion sensor ...

Страница 14: ...ke sure to align the motion sensor as accurately as possible with the vessels coordinate system A motion sensor calibrated for deck mounting horizontal surface must be mounted with the connector pointing upwards It is not designed to be mounted with the connector pointing downwards In the SMC IMU Configuration Software there is a function to fine tune the motion sensor alignment in the X Y and Z a...

Страница 15: ...libration and repositioned in exactly the same position The bracket base plate has two pins that correspond to two of the notches in the Motion sensor base Alignment adjustments can then be made by rotating the bracket adapter The mounting bracket is delivered with a mounting adapter and screws for fixating the motion sensor to the bracket The mounting bracket is produced in Stainless steel 316 Th...

Страница 16: ...ftware it is possible to fine tune the alignment errors from the installation of the motion sensor Note The Z axis alignment is only to be used to correct the physical misalignment and not to change the yaw output reading from the motion sensor 3 4 DECK MOUNTED MOUNTED ON HORIZONTAL SURFACE When the motion sensor is delivered for Deck mounting the motion sensor cannot be used for sideways mounting...

Страница 17: ...ard of the vessel Depending on the mounting orientation the Motion sensor will need its coordinate system to be selected in the SMC IMU configuration software Mounting Orientation options Note The Motion sensor cannot be mounted in the sideways orientation unless it has been specifically calibrated to do so Contact SMC if clarification is required 3 5 1 TOP OF THE MOTION SENSOR POINTING TO THE BOW...

Страница 18: ...MU Configuration Software IMU top to the Starboard must be selected 3 5 3 TOP OF THE MOTION SENSOR POINTING AT THE STERN When the Motion sensor top where the connector is located is pointing to the Stern of the vessel the single notch must be pointing horizontally to Port In the SMC IMU Configuration Software IMU top to the Stern must be selected Motion Sensor Connector Pointing to Starboard Singl...

Страница 19: ...TO THE PORT When the Motion sensor top where the connector is located is pointing to the Port of the vessel the single notch must be pointing horizontally to the Bow In the SMC IMU Configuration Software IMU top to the Port must be selected Single Notch Pointing to the Bow Motion Sensor Connector Pointing to Port ...

Страница 20: ...20 IMU User Guide revision 3 1 SMC Ship Motion Control www shipmotion eu 3 6 MOTION SENSOR DIMENSIONS 3 6 1 IMU 00X SURFACE MOTION SENSOR Dimensions in mm ...

Страница 21: ...21 IMU User Guide revision 3 1 SMC Ship Motion Control www shipmotion eu 3 6 2 IMU 00X 30M DEPTH RATED MOTION SENSOR Dimensions in mm ...

Страница 22: ...22 IMU User Guide revision 3 1 SMC Ship Motion Control www shipmotion eu 3 6 3 IMU 10X SURFACE MOTION SENSOR Dimensions in mm ...

Страница 23: ...23 IMU User Guide revision 3 1 SMC Ship Motion Control www shipmotion eu 3 6 4 IMU 10X 30M DEPTH RATED MOTION SENSOR Dimensions in mm ...

Страница 24: ...24 IMU User Guide revision 3 1 SMC Ship Motion Control www shipmotion eu 3 6 5 IMU MOUNTING BRACKET OPTIONAL Dimensions in mm ...

Страница 25: ...otocol can be used for both serial outputs Motion sensors from hardware version 8 5 are equipped with an Ethernet interface The SMC Motion Sensor can supply data output on both the serial and Ethernet interfaces at the same time In the standard delivery the motion sensor junction box is equipped with a power cable a motion sensor cable and a serial DB9 cable for RS232 or RS422 communication The Ju...

Страница 26: ...input DB9 pin2 RxD H Transparent RS232 RxD serial aiding input DB9 pin3 TxD J Black RS232 TxD serial aiding input DB9 pin2 RxD K Blue RS232 RxD serial aiding input DB9 pin3 TxD L Grey Supply Voltage M Pink Supply Voltage 12 to 30Vdc S White Black Ethernet TxD RJ45 pin1 RxD T White Red Ethernet TxD RJ45 pin2 RxD U White Green Ethernet RxD RJ45 pin3 TxD V White Yellow Ethernet RxD RJ45 pin6 TxD Posi...

Страница 27: ...Red RS422 TxD 3 4 Green RS422 TxD 4 5 Orange RS422 RxD 1 6 Blue RS422 RxD 2 11 Blue Black Supply Voltage 5 12 Black White Supply Voltage 12to 30Vdc RS232 Serial Input 1 Connections DB9 Connections IMU Connector Cable Colour IMU Function DB9 to PC Converter 7 White Black RS232 TxD 2 8 Red Black RS232 RxD 3 11 Blue Black Supply Voltage 5 12 Black White Supply Voltage 12 to 30Vdc RS232 Serial Input 2...

Страница 28: ...2 3 5 2 3 5 DB9 RS232 4800 8N1 2 3 5 Input 1 GPS or Heading input Input 2 GPS or Heading input GPS Compass Input 1 RxD to Terminal 7 TxD to Terminal 8 Ground to Terminal GPS Compass Input 2 RxD to Terminal 9 TxD to Terminal 10 Ground to Terminal 1 2 3 4 5 6 RD BR OR GR PU GY PK WH L N GR YE BR BL JB Motion Sensor AC DC PSU BL BR L N 12VDC 110 220VAC BL BR BK WH WH BK 7 8 9 10 YE TR BK BL 2 3 2 3 5...

Страница 29: ...L BR BK WH WH BK 2 3 5 DB9 RS232 115 200 8N1 5 YE TR BK BL 2 3 2 3 5 5 DB9 RS232 4800 8N1 2 3 5 DB9 RS232 4800 8N1 GPS Compass Input 1 RxD to Terminal 7 TxD to Terminal 8 Ground to Terminal GPS Compass Input 2 RxD to Terminal 9 TxD to Terminal 10 Ground to Terminal GN 1 3 2 5 6 7 8 4 OR GR WH BL BL WH GR BR WH BR 2 3 5 2 3 5 2 3 5 OR GR PU 3 2 3 2 2 1 4 3 5 1 2 5 DB9 RS422 115 200 8N1 3 2 3 4 3 3 ...

Страница 30: ... 3 5 DB9 RS232 4800 8N1 2 3 5 Input 1 GPS or Heading input Input 2 GPS or Heading input GPS Compass Input 1 RxD to Terminal 7 TxD to Terminal 8 Ground to Terminal GPS Compass Input 2 RxD to Terminal 9 TxD to Terminal 10 Ground to Terminal L N GR YE BR BL JB Motion Sensor AC DC PSU BL BR L N 12VDC 110 220VAC BL BR BK WH WH BK 2 3 2 3 5 5 2 3 5 DB9 RS232 4800 8N1 2 3 5 2 3 5 DB9 RS232 4800 8N1 2 3 5...

Страница 31: ... 3 5 DB9 RS232 4800 8N1 2 3 5 2 3 5 DB9 RS232 4800 8N1 2 3 5 Input 1 GPS or Heading input Input 2 GPS or Heading input GPS Compass Input 1 RxD to Terminal 17 TxD to Terminal 18 Ground to Terminal GPS Compass Input 2 RxD to Terminal 19 TxD to Terminal 20 Ground to Terminal 7 8 9 10 YE TR BK BL 2 3 2 3 11 12 13 14 15 16 17 18 19 20 2 1 BK WH 1 2 Adam 4024 BK WH R D R D T T R D R D T T 1 2 3 4 D D T ...

Страница 32: ...l 18 Ground to Terminal GPS Compass Input 2 RxD to Terminal 19 TxD to Terminal 20 Ground to Terminal 7 8 9 10 YE TR BK BL 2 3 2 3 11 12 13 14 15 16 17 18 19 20 2 1 BK WH 1 2 Adam 4024 BK WH R D R D T T R D R D T T 1 2 3 4 D D T T BK BK WH WH Iout2 Iout2 Iout1 Iout1 6 5 4 3 1 4 5 6 Analog Channel 1 4 20mA Analog Channel 2 4 20mA Analog Channel 3 4 20mA TCC120 2 3 Iout0 Iout0 1 2 Iout3 Iout3 7 8 7 8...

Страница 33: ...set the Motion sensor configuration and communication parameters according to the user requirements The configuration software is a PC based tool communicating with the motion sensor over a serial port alternatively Ethernet if available The settings made in the IMU Configuration software are written to the motion sensor The settings are stored in flash memory inside the motion sensor and are not ...

Страница 34: ...00 Kalman Filter Settings Note It is not advisable to change the settings for the Kalman Filter without consulting with SMC Filter 1 0 1000 Filter 2 0 1000 IMU 00x Filter 1 25 Filter 2 0 01 IMU 10x Filter 1 100 Filter 2 0 01 IMU Bit Rate 4800 9600 19200 38400 57600 115200 115200 Parity None Even Odd None IMU Output Coordinate System Earth Coordinates without earth G in Acc Earth Coordinates with e...

Страница 35: ...at the offsets are related to the attitude of the vessel and not the current reading of the motion sensor For example the Z axis offset is to be used to align the bow notch of the motion sensor mounting plate with the vessel fore aft axis and is not to remove an offset in the yaw reading from the motion sensor output If the vessel is perfectly aligned with the horizon as for example in a dry dock ...

Страница 36: ...er Settings Filter 1 sets the filter for the accelerometers in the Kalman filter calculations A higher filter 1 value will reduce the accelerometer sensor reading influence in the Kalman filter angular calculation The default settings are IMU 10x 100 IMU 00x 25 Filter 2 sets the filter for the gyroscopes in the Kalman filter calculation A higher filter 2 value will reduce the gyroscope reading inf...

Страница 37: ...OLS The SMC IMU Configuration software enables the selection of a number of standard protocols from a drop down menu Apply the chosen protocol by clicking on the Set button The majority of the protocol outputs are NMEA 0183 formatted string Additional protocols can be implemented by SMC on request ...

Страница 38: ...00 20 00 10 Bitrate Max output Rate 115200 100 57600 100 38400 80 19200 40 9600 20 4800 10 Description Form Start Characters PSMCA Roll Angle xx xxx Degrees Resolution 0 001 ve port up Pitch Angle yy yyy Degrees Resolution 0 001 ve bow down Heave hh hh Meters Resolution 0 01m Surge ss ss Meters Resolution 0 01m Sway ww ww Meters Resolution 0 01m Termination Characters CR LF ...

Страница 39: ...l Velocity xv xv Degrees second Resolution 0 01 s Pitch Velocity yv yv Degrees second Resolution 0 01 s Yaw Velocity zv zv Degrees second Resolution 0 01 s Roll Acceleration GG GGG Degrees second2 Resolution 0 001 s2 Pitch Acceleration HH HHH Degrees second2 Resolution 0 001 s2 Yaw Acceleration II III Degrees second2 Resolution 0 001 s2 Surge ss ss Meters Resolution 0 01m Sway ww ww Meters Resolut...

Страница 40: ...grees Resolution 0 01 ve port up Pitch Angle yy yy Degrees Resolution 0 01 ve bow down Yaw zzz z Degrees Resolution 0 1 Surge ss ss Meters Resolution 0 01m Sway ww ww Meters Resolution 0 01m Heave hh hh Meters Resolution 0 01m Surge Velocity sv sv Meter second Resolution 0 01m s Sway Velocity sw sw Meter second Resolution 0 01m s Heave Velocity hv hv Meter second Resolution 0 01m s Acceleration X ...

Страница 41: ...600 100 38400 75 19200 35 9600 10 4800 5 Description Form Start Characters PSMCD Roll Angle xx xx Degrees Resolution 0 01 ve port up Pitch Angle yy yy Degrees Resolution 0 01 ve bow down Roll Velocity xv xv Degrees second Resolution 0 01 Pitch Velocity yv yv Degrees second Resolution 0 01 Yaw Velocity zv zv Degrees second Resolution 0 01 Counter c Output message Counter 0 9 Checksum cs XOR checksu...

Страница 42: ...Max output Rate 115200 100 57600 100 38400 60 19200 30 9600 15 4800 5 Description Form Start Characters PSMCE Roll Angle xx xx Degrees Resolution 0 01 ve port up Pitch Angle yy yy Degrees Resolution 0 01 ve bow down Yaw zzz z Degrees Resolution 0 1 Heave hh hh Meters Resolution 0 01m Surge ss ss Meters Resolution 0 01m Sway sw sw Meters Resolution 0 01m Checksum cs XOR checksum Termination Charact...

Страница 43: ...te Max output Rate 115200 100 57600 100 38400 70 19200 35 9600 15 4800 7 Description Form Start Characters PSMCF IMU Serial Number nnnnnnn 7 digit serial number Roll Angle xx xxx Degrees Resolution 0 001 ve port up Pitch Angle yy yyy Degrees Resolution 0 001 ve bow down Heave hh hh Meters Resolution 0 01m Surge ss ss Meters Resolution 0 01m Sway ww ww Meters Resolution 0 01m Termination Characters...

Страница 44: ... Form Start Characters PSMCG Date yyyy mm dd Date Time hh mm ss ss Time resolution to hundredths of a second Roll Angle xx xx Degrees Resolution 0 001 ve port up Pitch Angle yy yy Degrees Resolution 0 001 ve bow down Sway ww ww Meters Resolution 0 01m Surge ss ss Meters Resolution 0 01m Heave hh hh Meters Resolution 0 01m Acceleration X ax axa Meter second2 Resolution 0 001 m s2 Acceleration Y ay ...

Страница 45: ...6 00 06 00 01 Bitrate Max output Rate 115200 100 57600 100 38400 96 19200 48 9600 24 4800 12 Description Form Start Characters PSMCH Roll Angle xx xxx Degrees Resolution 0 001 ve port up Pitch Angle yy yyy Degrees Resolution 0 001 ve bow down Heave hh hh Meters Resolution 0 01m Heave Velocity hv hv Meters second Resolution 0 01m s Termination Characters CR LF ...

Страница 46: ...rr rr Degrees Resolution 0 01 ve port up Pitch pp pp Degrees Resolution 0 01 ve bow down Yaw yyy y Degrees Resolution 0 1 Roll velocity rv rv Degrees second Resolution 0 01 Pitch velocity pv pv Degrees second Resolution 0 01 Yaw velocity yv yv Degrees second Resolution 0 01 Surge su su Meters Resolution 0 01m Sway ww ww Meters Resolution 0 01m Heave hh hh Meters Resolution 0 01m Surge velocity sv ...

Страница 47: ... 19 9600 9 4800 4 Description Form Start Characters PSMCJ Date YYYY MM DD Date Time HH MM SS SS Time Roll Angle xx xx Degrees Resolution 0 01 ve port up Pitch Angle yy yy Degrees Resolution 0 01 ve bow down Roll Acceleration GG GGG Degrees second2 Resolution 0 001 s Pitch Acceleration HH HHH Degrees second2 Resolution 0 001 s Heave hh hh Meters Resolution 0 01m Acceleration X ax axa Meters second2...

Страница 48: ...ate 115200 100 57600 100 38400 66 19200 33 9600 16 4800 8 Description Form Start Characters PSMCK Heave hh hhh Meters Resolution 0 001m Heave Velocity hv hvv Meter second Resolution 0 001m s Acceleration Z az aza Meter second2 Resolution 0 001m s2 Roll Angle xx xx Degrees Resolution 0 01 ve port up Pitch Angle yy yy Degrees Resolution 0 01 ve bow down Counter ccccc Counter message incremental 0 32...

Страница 49: ...egrees Resolution 0 01 ve port up Pitch Angle yy yy Degrees Resolution 0 01 ve bow down Yaw zz zz Degrees Resolution 0 1 Surge ss ss Meters Resolution 0 01m Sway ww ww Meters Resolution 0 01m Heave hh hh Meters Resolution 0 01m Roll Velocity xv xv Degrees second Resolution 0 01 s Pitch Velocity yv yv Degrees second Resolution 0 01 s Yaw Velocity zv zv Degrees second Resolution 0 01 s Acceleration ...

Страница 50: ...ees Resolution 0 001 ve port up Pitch Angle yy yyy Degrees Resolution 0 001 ve bow down Termination Characters CR LF 4 2 14 PSMCS Data Frame PSMCS xx xxx yy yyy hh hh Example PSMCS 00 089 00 888 00 04 Description Form Start Characters PSMCS Roll Angle xx xxx Degrees Resolution 0 001 ve port up Pitch Angle yy yyy Degrees Resolution 0 001 ve bow down Heave hh hh Meters Resolution 0 01m Termination C...

Страница 51: ...xx Degrees Resolution 0 001 ve port up Pitch Angle yy yyy Degrees Resolution 0 001 ve bow down Heave hh hh Meters Resolution 0 01 m Termination Characters CR LF 4 2 16 SMCU Note PSMCU is a combined output together with PSMCE when a GPS is connected to the motion sensor and sends a time stamp message The accepted GPS messages are the ZDA and RMC Data Frame PSMCU HHMMSS DDMMYY s cs CR LF The message...

Страница 52: ...200 100 57600 100 38400 70 19200 35 9600 17 4800 8 Description Form Start Characters PSMCV Roll Angle xx xxx Degrees Resolution 0 001 ve port up Pitch Angle yy yyy Degrees Resolution 0 001 ve bow down Heave hh hh Meters Resolution 0 01 m Roll Velocity xv xv Degrees second Resolution 0 01 s Pitch Velocity yv yv Degrees second Resolution 0 01 s Heave Velocity hv hv Meters second Resolution 0 01m s T...

Страница 53: ...0 00 ms2 AccY 00 00 ms2 AccZ 00 00 ms2 Note In firmware versions 3 22 and lower this output alternates with the SMCC protocol In firmware version 3 22 and lower Bitrate Max output Rate 115200 46 57600 23 38400 15 19200 7 9600 3 4800 1 In firmware version 3 24 and higher Bitrate Max output Rate 115200 79 57600 39 38400 26 19200 13 9600 6 4800 3 Data displayed on the DD50 is Roll Pitch and Heave on ...

Страница 54: ... 0 1 ve bow down Roll identifier R Roll Angle r rr Degrees Resolution 0 1 ve port up Magnetic field X axis identifier X Magnetic field X axis x xx µT micro Tesla X axis Resolution 0 00µT Magnetic field Y axis identifier Y Magnetic field Y axis y yy µT micro Tesla Y axis Resolution 0 00µT Magnetic field Z axis identifier Z Magnetic field Z axis z zz µT micro Tesla Z axis Resolution 0 00µT Temperatu...

Страница 55: ...x output Rate 115200 100 57600 100 38400 100 19200 57 9600 28 4800 14 Description Form Start Characters PHTRH Pitch angle y yy Degrees Resolution 0 01 Sign P P Positive M Negative ve bow down Roll x xx Degrees Resolution 0 01 Sign T B roll to port T roll to starboard Heave Meters Resolution 0 01m Sign O O upwards U downwards acceleration Checksum cs Termination characters CR LF ...

Страница 56: ...own Roll angle x xx Degrees Resolution 0 01 Sign B B roll to port T roll to starboard Checksum cs Termination characters CR LF 4 2 22 MDL Data Frame Hhhhh P pppp R pppp CR LF Example H0000 P 0201 R 0268 Bitrate Max output Rate 115200 100 57600 100 38400 100 19200 83 9600 41 4800 20 Description Form Heading identifier H Heading 10 hhhh Degrees Resolution 0 1 SMC outputs 0000 Pitch identifier P Pitc...

Страница 57: ...er P Pitch Angle 100 pppp Degrees Resolution 0 01 ve bow down Roll Designator R Roll Angle 100 rrrr Degrees Resolution 0 01 ve port up Status character s valid compass aiding E yes S no Termination Characters CR LF 4 2 24 CDL MICROTILT Data Frame P yy yyR xx xx Example P 03 85R 05 52 Bitrate Max output Rate 115200 100 57600 100 38400 100 19200 100 9600 57 4800 28 Description Form Pitch identifier ...

Страница 58: ... 38400 67 19200 33 9600 16 4800 8 Description Form Heading identifier H H Heading zzz z Yaw Degrees Resolution 0 1 Pitch identifier P P Pitch Angle yy yy Degrees Resolution 0 01 ve bow down Roll identifier R R Roll Angle xx xx Degrees Resolution 0 01 ve port up Identifier T T Not used Output 0 Identifier D D Not used Output 0 Identifier B B Not used Output 0 Identifier L L Not used Output 0 Identi...

Страница 59: ...HQMRRRRSMPPPP CR LF Example 05FEFF 0000H 0102 0049 Bitrate Max output Rate 115200 100 57600 100 38400 100 19200 67 9600 33 4800 16 Description Form Start Character Horizontal Acceleration XX Hexadecimal value unit is 3 83cm s2 in the range 9 81m s2 Vertical Acceleration AAAA Hexadecimal value unit 0 0625cm s2 in the range 20 48 to 20 48m s2 Space Character S Value prefix M M space if positive if n...

Страница 60: ...MRRRRSMPPPP CR LF Example R 0014 0014H 0037 0983 Bitrate Max output Rate 115200 100 57600 100 38400 100 19200 67 9600 33 4800 16 Description Form Start Character R Value prefix M M space if positive if negative Remote Heave hhhh Remote Heave unit cm Space Character S Value prefix M M space if positive if negative Heave HHHH Heave unit cm Status Flag Q U Unaided mode Running u Unaided mode Startup ...

Страница 61: ...ow up Use the SMC IMU Configuration Software to change the inverted Pitch if required As default when selecting the PRDID string the configuration software will tick the checkbox for the pitch axis inversion Data Frame PRDID yy yy xx xx hhh hh CR LF Example PRDID 05 42 00 15 347 94 Bitrate Max output Rate 115200 100 57600 100 38400 100 19200 63 9600 31 4800 15 Description Form Start Characters PRD...

Страница 62: ...up Use the SMC IMU Configuration Software to change the inverted Pitch if required As default when selecting the PRDID string the configuration software will tick the checkbox for the pitch axis inversion Data Frame PRDID yy yy xx xx hhh hh cs CR LF Example PRDID 05 42 00 15 347 94 73 Bitrate Max output Rate 115200 100 57600 100 38400 100 19200 57 9600 28 4800 14 Description Form Start Characters ...

Страница 63: ...e the SMC IMU Configuration Software to invert the Pitch if required Data Frame PSXN R RRReE P PPPeE P PPPeE cs CR LF Example PSXN 1 000e 1 1 908e 1 1 203e 0 44 Bitrate Max output Rate 115200 100 57600 100 38400 87 19200 43 9600 21 4800 10 Description Form Start Characters PSXN Roll Angle R RRReE Radians Scientific format with exponent Pitch Angle P PPPeE Radians Scientific format with exponent He...

Страница 64: ...xample 00010000 11111111 10100101 00000000 00000111 11111111 11110001 00000100 00010000 Bitrate Max output Rate 115200 100 57600 100 38400 100 19200 100 9600 83 4800 41 Description Bytes Form DLE E 1 0x10 Roll RR 2 Unsigned 16 bit i e 0 65535 representing 360 with a resolution of 360 65536 range 0 360 Pitch PP 2 Unsigned 16 bit i e 0 65535 representing 360 with a resolution of 360 65536 range 270 ...

Страница 65: ...te Max output Rate 115200 100 57600 100 38400 100 19200 100 9600 76 4800 38 Description Scaling Format Bytes Value Status byte S 1 0 EM1000 0x90 EM3000 Header H 1 0x90 Roll RR 0 01 degrees Signed hex 2 17999 18000 hundredths of Pitch PP 0 01 degrees Signed hex 2 17999 18000 hundredths of Heave HH 0 01 m Signed hex 2 32767 32766 cm Heading YY 0 01 degrees Unsigned hex 2 0 35999 hundredths of Note W...

Страница 66: ...itrate Max output Rate 115200 100 57600 100 38400 100 19200 91 9600 45 4800 22 Description Bytes Form Header 4 SMC Heave HH 4 Signed 16 bit range 32767 mm to 32766 mm Positive when elevated Heave velocity VV 4 Signed 16 bit range 32767 mm s to 32766 mm s Heave acceleration AA 4 Signed 16 bit range 32767 mm s2 to 32766 mm s2 Termination characters 2 CR LF 0x15 0x12 Note When the IMU is settling rol...

Страница 67: ...0x0D Start of header Byte Message length 0x00 Remaining number of Bytes to follow Message Type Message code EOH End of Header Data 10 Pitch Byte 1 LSB Positive Pitch Bow up Pitch Byte 2 Pitch Byte 3 Pitch Byte 4 MSB Roll Byte 1 LSB Positive Roll Port up Roll Byte 2 Roll Byte 3 Roll Byte 4 MSB Pitch invalid Invalidity byte flag 0x00 Valid 0x01 0xFF Invalid Roll invalid Invalidity byte flag 0x00 Val...

Страница 68: ... representation to the float values Below is an example of the Motion Sensor Binary Output Message 4 Hex data output The three fields in bold are Roll Pitch and Yaw angles Bytes 6 to 17 following the header and counter 24 42 49 4E 34 0E 40 A7 2C E5 3E C4 95 4D 41 C4 EE E4 3D B3 65 00 BD 92 B2 B0 3D 4A 58 00 BD FE 3E F8 BD AB 68 88 3D 63 7D 6E BC 32 5C 7F 3C 09 80 42 BB E8 D9 98 38 B1 58 00 39 66 D...

Страница 69: ...degrees second Pitch Velocity 4 22 to 25 180 to 180 degrees second Yaw Velocity 4 26 to 29 180 to 180 degrees second Roll Acceleration 4 30 to 33 180 to 180 degrees second2 Pitch Acceleration 4 34 to 37 180 to 180 degrees second2 Yaw Acceleration 4 38 to 41 180 to 180 degrees second2 Surge 4 42 to 45 Metres Sway 4 46 to 49 Metres Heave 4 50 to 53 Metres Surge Velocity 4 54 to 57 Metres second Sway...

Страница 70: ...el 0 Heave 10V 0 5m Analog Channel 1 Heave Rate 10V 0 2m s Analog Channel 2 Heave Acceleration 10V 0 1m s2 4 4 2 ANALOG2 10V ROLL 10 PITCH 10 HEAVE 10M Data Frame 01C0 xx xxx CR LF 01C1 yy yyy CR LF 01C2 hh hhh CR LF Description Form Analog Channel 0 Roll 10V 10 Analog Channel 1 Pitch 10V 10 Analog Channel 2 Heave 10V 10m 4 4 3 ANALOG3 10V ROLL 30 PITCH 30 HEAVE 10M Data Frame 01C0 xx xxx CR LF 01...

Страница 71: ...rame 01C0 12 004 CR LF 01C1 11 796 CR LF 01C2 11 799 CR LF 01C3 16 000 CR LF Description Form Analog Channel 0 Heave 4 20 mA 6M 12mA 0m 4mA 6m Analog Channel 1 Pitch 4 20 mA 60 12mA 0 4mA 60 Analog Channel 2 Roll 4 20 mA 60 12mA 0 4mA 60 Analog Channel 3 Status Not Ready 8mA and Ready 16mA 4 4 6 ANALOG6 10V HEAVE 5M HEAVE RATE 5M S HEAVE ACC 5M S2 Available from firmware 2 982 Data Frame 01C0 00 3...

Страница 72: ...n eu 4 4 7 ANALOG7 4 20MA HEAVE 5M HEAVE RATE 5M S HEAVE ACC 5M S2 Data Frame 01C0 00 370 CR LF 01C1 00 171 CR LF 01C2 01 144 CR LF Description Form Analog Channel 0 Heave 4 10mA 5m Analog Channel 1 Heave Rate 4 10mA 5m s Analog Channel 2 Heave Acceleration 4 10mA 5m s2 ...

Страница 73: ...te binary format The data can be viewed from the SMC IMU configuration software or other third party software suitable to read the ethernet messages The configuration of the motion sensor is done using the SMC IMU Configuration Software Both serial communication and ethernet communication can be used to do the desired settings For a SMC motion sensor outputting data over ethernet the following set...

Страница 74: ...k If a static IP is set for the motion sensor and the selected IP address is no longer available the motion sensor would have to be setup using the serial communication to enter a new IP address within the network alternatively set the motion sensor to acquire a new dynamic IP if there is an available DHCP server in the LAN The IMU IP address displayed in the configuration software when connected ...

Страница 75: ... 255 255 255 255 to set the motion sensor to broadcast As an option entering xxx xxx xxx 255 where the x is the local network IP will limit the broadcast from the motion sensor to within the sub network By entering a single Target IP address instead of the broadcast address the motion sensor communication will be unicast and will only be sent to the Target IP number Target IP 2 will allow a second...

Страница 76: ...on can be used to restore communication with the IMU and clear the stored target IP address 4 5 4 NETWORK SCAN Available from firmware 3 24 The network scan feature will assist to find SMC ethernet connected Motion Sensors on the network The feature is found in the Set PC Communication Click on the Network scan button and popup window shown below will open where the found motion sensors on the net...

Страница 77: ...c in the IP and Port settings section it is usually due to a firewall rule setting The host PC and any client PCs should have an Inbound Rule for UDP and TCP as shown below The default path to the SMC IMU configuration software executable is C Program Files x86 Ship Motion Control SMC IMU Configuration Software SMCconfiguration exe If a problem occurs close the configuration software and delete al...

Страница 78: ... field consists of 4 bytes Note the field marked as the SMC header below is the header within the payload of the datagram and must not be confused with the header of the UDP datagram itself The payload is encoded in big endian The UDP 1 protocol uses the IEEE Standard 754 representation of the float numbers In the output message fields no scaling for the motion sensor data is used when converting ...

Страница 79: ...0 Byte 5 1 Hex 31 Byte 6 0 Hex 30 Byte 7 8 Hex 38 Serial number Ex 1080000 Integer Byte 8 Hex 00 Byte 9 Hex 10 Byte 10 Hex 7a Byte 11 Hex c0 Device Status unused at this time Byte 12 9 Hex 39 Byte 13 9 Hex 39 String Identifier 1 for UDP 1 protocol Byte 14 0 Hex 00 Byte 15 1 Hex 01 Checksum 16 bits 1 s complement 60040 Byte 16 Hex ea Byte 17 Hex 88 Counter 0 255 in this example 14 Byte 18 Hex 00 By...

Страница 80: ... the IMU Configuration Software Data from the SMC motion sensor sent via MODBUS TCP can be read on the target devices with the Target IP address set from the SMC IMU Configuration software The MODBUS TCP exchange is a standard three way handshake as follows The motion sensor reads the MAC address of the Target IP the motion sensor initiates the TCP handshake with a sync request to the target devic...

Страница 81: ...The ARP frequency is the frequency that the motion sensor will send a new ARP request to the target IP This will only be repeated when there is no handshake process established As soon as the handshake process is established with the Target IP device the ARP requests would be stopped Default ARP frequency is 10s The TCP handshake timeout setting is for how long the motion sensor will try to establ...

Страница 82: ...01 Heave Velocity 400005 T7 1 Meter second Resolution 0 001m s Acceleration Z 400006 T7 1 Meter second2 Resolution 0 001m s2 Roll Angle 400007 T5 1 Degrees Resolution 0 01 ve port up Pitch Angle 400008 T5 1 Degrees Resolution 0 01 ve bow down Watchdog Counter 400009 T5 1 Counter message incremental 0 32767 Example 01 31 ff a8 ff ba 00 10 FF C1 00 9f Where 01 31 is heave 0 305 Meter ff a8 is heave ...

Страница 83: ...00 BC 61 4E 12 345678 FF 43 9E B2 T3 occupies 2 registers T3 value reg1 16 reg2 1000000 T4 Unsigned Value 16 bit 2 decimal places Example 123 45 3039 16 T5 Signed Value 16 bit 2 decimal places Example 123 45 CFC7 16 T6 Unsigned integer value 32 bit T6 occupies 2 registers T6 value reg1 16 reg2 Example 1234567890 49 96 02 D2 T7 Signed Value 16 bit 3 decimal places Example 12 345 30 39 16 12 345 CF ...

Страница 84: ...rs in a graphical representation After selecting the Charts tab tick the Display Charts tick box to activate the data display Beside each chart is a drop down menu from where the parameter to be displayed can be selected The chart scale is set on the left of the screen with a Maximum and Minimum setting The chart length is set for all the charts from the drop down menu at the bottom of the screen ...

Страница 85: ... input from external devices The ports can be used for Aiding in vessel turns input from GPS Speed log Heading aiding Gyrocompass or GPS Remote heave for AHC Active Heave Compensation in crane applications Encoders via PLC Programmable Logic Controllers Output motion sensor reading data available from firmware version 3 22 and later ...

Страница 86: ...tions in the motion sensor and the centrifugal effect can be heavily reduced improving the accuracy of the readings The SMC Motion Sensor accepts velocity input from a GPS or a speed log The accepted input strings for the velocity input are xxRMC xxRMA xxVTG xxVBV xxVHW To confirm that the motion sensor is receiving data from the velocity device select Verify Velocity Input in the serial input tab...

Страница 87: ...om the GPS string but is not advisable if the vessel is not under constant motion unless a dual head GPS antenna is being used The GPHDG string is not accepted as default for the heading input To use the GPS heading data for yaw aiding tick the Use GPS heading input for yaw aiding if available checkbox in the Serial Input tab otherwise the GPHDG string will be ignored To confirm that the motion se...

Страница 88: ... calculation can be used for a virtual mounting location of the motion sensor Lever Arm By entering the mounting location of the motion sensor related the rotational point of the vessel Center of Gravity rotational accelerations will be calculated by the motion sensor and removed from the calculations The lever arm should be used in installation where mainly the Z distance between the rotational p...

Страница 89: ...ered at 0 when the vessel is not levelled Note that remote heave calculations will not be as accurate as heave at the physical location of the Motion Sensor as the remote heave is a combined calculation of heave and angle from a remote location The calculation assumes that the vessel is rigid If the remote heave distance is far from the physical location of the Motion Sensor any small angular erro...

Страница 90: ... heave Y is the sideways distance in meters between the Motion Sensor and the remote heave point Where a positive distance represents that the remote heave measurement point is located to the port of the Motion Sensor physical location The drawing below illustrates the principle Remote heave Z is the vertical distance in meters between the IMU and the remote heave point Where a positive distance r...

Страница 91: ...nd then returned back automatically with a remote heave calculation to the physical mounting location This remote heave calculation done by the Lever Arm feature is not to be seen in the remote heave fields in the configuration software When a lever arm distance is entered practically the Heave and Heave velocity will remain in the physical location of the motion sensor while accelerations and ang...

Страница 92: ...t is located fore of the Motion Sensor physical location Lever Arm Y is the sideways distance in meters between the IMU and the CG Where a positive distance represents that the Lever Arm measurement point is located to the port of the Motion Sensor physical location Lever Arm Z is the vertical distance in meters between the IMU and the CG Where a positive distance represents that the Lever Arm mea...

Страница 93: ...matically Note that SMC will not be responsible for damages that occur related to Active Heave Compensation With the remote heave for Crane Operations active the IMU will continually calculate the remote heave data based on the information that is supplied to the IMU from the crane encoders Remote heave and remote heave velocity data is then calculated continuously for any requested single point l...

Страница 94: ...e base i e the IMU rotates with the crane 7 On the Crane tab enter the remote heave settings in accordance with chapter 4 9 11 8 On the Crane tab if there are offsets in the values that will be sent in the command strings this is usually the case these have to be set in accordance with section Error Reference s ource not found 4 10 1 CRANE ZERO POSITIONS AND OFFSETS The crane rotation reference ze...

Страница 95: ...ave Y and Remote Heave Z The units are in meters Remote heave X is the fore aft distance in meters between the IMU and the crane base Where a positive distance represents that the motion sensor is located aft of the crane base Remote heave Y is the sideways distance in meters between the IMU and the crane base Where a positive distance represents that the motion sensor is located to the starboard ...

Страница 96: ... be used to remove the encoder offsets from the motion sensor mounting orientation in the fore aft vessel alignment In the distance field for position 1 the height of the first node from the crane base is entered it is marked as 1 in the below crane image Position 2 3 4 and 5 For the encoders 2 3 4 and 5 the angle is relative to the previous leg of the crane This means that when there is no angula...

Страница 97: ...ton should be ticked in the configuration software for this position An offset can be entered and if so it is referring to the distance offset in the telescopic arm Zero encoder input is when the telescopic arm is fully retracted The distance column is disabled when the telescopic arm is ticked as the distance to the start of the telescopic arm extension is to be entered in the previous row distan...

Страница 98: ...escopic position The encoder input value for the telescopic position is used as the length of the telescopic arm For the visualization Enter a nominal distance in the Position Distance field for the telescopic part of the crane or the telescopic section will not be shown in the crane model For example in the below image Position 3 is a telescopic arm 3m long in total The nominal value of 0 1m has ...

Страница 99: ... used with the same position distances as before Position 4 is telescopic and Value 4 from the encoder data is used to draw the distance the arm is extended in this example 2m PENCO 00 0 50 0 40 0 2 0 00 0 Now the encoder Value 4 is zero and the telescopic arm is fully retracted PENCO 00 0 50 0 40 0 00 0 00 0 ...

Страница 100: ...lly represented by dividing the boom into 2 or 3 sections as appropriate In the example below the curved section is divided into two Distance 2 and Distance 3 Measured from the knuckle joint to the where the center lines of the arm converge The center line convergence point also provides angle a used for the Angle Offset For example if Distance 2 is 3m and Distance 3 is 3m with an offset angle a o...

Страница 101: ...resolution 360 65536 is being entered If it is a distance being returned from the crane it is in the format 0 65535 cm Value3 Value3 is the encoder for the second knuckle or telescopic arm When it is being used as a knuckle the data with the resolution 360 65536 is being entered If it is a distance being returned from the crane it is in the format 0 65535 cm Value4 Value4 is the encoder for the th...

Страница 102: ... it is a distance being returned from the crane it is in meters Value3 Value3 is the encoder for the second knuckle or telescopic arm When it is being used as a knuckle the data is entered as degrees or radians If it is a distance being returned from the crane it is in meters Value4 Value4 is the encoder for the third knuckle or telescopic arm When it is being used as a knuckle the data is entered...

Страница 103: ...ort The verification string corresponds to the PENCR string and has the same string format If data is being received but is not readable by the motion sensor a fault message will be returned instead of the normal verification string The Fault message is defined as a string that is not complete or cannot be parsed by the motion sensor Example fault message PENCT 0000 0000 0000 0000 0000 CR LF When ...

Страница 104: ...internal time The IMU internal clock time and date can be set manually by adjusting the date and time fields and clicking on the Set button The IMU time is not displayed continuously but can be refreshed by clicking on the Read IMU Time button The IMU clock can be set to the PC time by clicking on the Set to PC time button Note due to read write times the IMU and PC time may not sync exactly ...

Страница 105: ... to clear the window from the sensor strings Binary strings will not be shown in the received data tab When Ethernet communication the Received data tab is hidden and the received data is found in the ethernet tab The Send command feature can be used to send commands such as diagnostic queries to the IMU without the need for terminal software This feature must be used with caution and only with th...

Страница 106: ...ntegrated to the SMC software together with the motion sensor The software displays the integrated instruments in real time and is also logging the data for future analysis Examples of SMC software packages are SMCmms Motion Monitoring System a general monitoring tool that makes it possible to log and display all ship motions SMChms Helideck Monitoring System a custom made system to monitor the mo...

Страница 107: ...MCS rr rr pp pp hh hh 5 2 HEAVE OPERATION SMC IMU 008 IMU 106 and IMU 108 uses a heave measurement and filter system that continually monitors the motions and reviews the previous motions to maintain accurate results whatever the vessel size and sea state Heave is not available in the IMU 007 and IMU 107 motion sensor Heave Zero Point the zero point is set by the spectral analysis of the sinusoida...

Страница 108: ...e Equipment Model Number Equipment Serial Number Fault Description Worldwide Service contact Telephone 46 8 644 50 10 CET 8am 5pm E mail support shipmotion eu Return Procedure If this is not possible to solve the problem a Ship Motion Control technician will issue a Return Material Authorization Number RMA Please be ready to provide the following information Name Address Telephone Fax E mail Equip...

Страница 109: ... replacement Please read the SMC Ship Motion Control terms and conditions for complete information 6 2 1 LIMIT OF LIABILITY SMC shall have no liability under the warranties in respect of any defect in the Products arising from specifications or materials supplied by the Buyer fair wear and tear willful damage or negligence of the Buyer or its employees or agents abnormal working conditions at the ...

Страница 110: ...een opened by the customer in an attempt to carry out repair work If the IMU has been fed with an over voltage in the power supply wires or the signal wires The motion sensor electronics are shielded in a cast of plastic supported inside an outer casing made of Titanium to prevent damage from impact and moisture The SMC IMU should not be opened as this could affect the warranty on the unit All ope...

Страница 111: ...cations Interface Output RS422 and RS232 Analog and remote converter optional 2 x RS232 External inputs not available on all models Velocity input formats RMC RMA VTG BBV VHW Heading input formats HDT HDG Physical Dimensions for IMU 00x WxH Tube Ø89 mm mounting plate 134 mm flange Ø110mm x 67 mm excl connector Weight 0 5 kg Housing Material Titanium Environmental Temperature absolute max 0 to 55 C...

Страница 112: ... and binary Communications Interface Output RS422 and RS232 Analog and remote converter optional 2 x RS232 External inputs not available on all models Velocity input formats RMC RMA VTG BBV VHW Heading input formats HDT HDG Physical Dimensions for IMU 10 W x H Tube Ø89 mm mounting plate 134 mm flange Ø110mm x 127 mm excl connector Weight 2 kg Housing Material Titanium Environmental Temperature abs...

Страница 113: ...he Output Rate is set too high for the configured output string and baud rate Details are supplied in Section 5 2 for each protocol Also check the Serial port if using a Serial to USB adapter use a high quality adapter Contact SMC for advice Parameters changed in the Configuration software are not being set in the IMU If after pressing the set button the parameters set in the IMU are not changing ...

Страница 114: ...uring the automatic restart of the sensor unit the values will settle after a few minutes No GPS or Gyro data is received Select the relevant Verify button in the Serial Input configuration screen If no data is received check the baud rate setting of the GPS device Set the GPS to 4800 baud rate if set higher and verify again Check the wiring of the RS232 serial input Heading Information from GPS i...

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