CXM547 User`s Manual
Contents
1. DOC DOM MCU DSP ARMVFPGA http www sensor ic com http www pc ps net http www sunstare com HTTP www rfoe net TR XA THE V FAT P ih PI www icasic com D Ep SEV RESET ih NI www sunstars cn2. 12 5 1 Sensor Based Coordinate System 12 2 2 Definition of Orientation Angles eese 13 3 9 Rer E 13 5 4 Calculation of Roll and Magnetic Roll 14 5 5 Calculation of Inclination se 15 5 6 Magnetic Heading Azimuth Yaw esee 15 6 Appendix A CXM547 Command and Data Format SDECIRCANO S ee od 17 6 1 Heading Sensor Command bet 17 7 Appendix B Warranty and Support Information 28 7 1 CUSIOTHET SOLY 00 0m Aa n ra E A AAR EN 28 7 2 Contact EE 28 7 3 Eegeregie 28 7A WE 29 SUSTAR http www sensor i c con TEL 0755 83376489 FAX 0755 83376182 E MN L szss20G163 con nf TEL 0755 83376549 FAX 0755 83376102 PRAWP W 204163 co uergen re 4f Users Manual cont TEL 0755 83376549 FAX 0755 sil ss PAM 5755 204163 co About this Manual The following annotations have been used to provide additional information 4 NOTE Note provides additional information about the topic M EXAMPLE Examples are given throughout the manual to help the reader understand the terminology IMPORTANT This symbol defines items that have significant meaning to the user 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 SUSTAR 1 http www sensor i c con TEL
3. fe ISAS SH E A 1602 s 0755 83370250 83376489 83376549 83607652 83370251 82500323 0755 83376182 0 13902971329 MSN SUNS8888 hotmail com 518033 E mail szss200163 com QQ 195847376 2583 0755 83665529 25059422 0755 83394033 13501568376 132 3097 TEL 010 81159046 82615020 13501189838 FAX 010 62543996 668 2B35 TEL 021 28311762 56703037 13701955389 FAX 021 56703037 20 V 5jzJJ PA E 88 GH TF RIN Bs D23 TEL 029 81022619 13072977981 FAX 029 88789382 SUNTAR O O http waw sensor ic coni TEL 0755 83376489 FAX 0755 83376182 E MN L szss20 3163 con
4. 5340 14DC Base 5400 1518 Base 5460 1554 Base 5520 1590 Base 5580 15CC Base 5640 1608 Base 5700 1644 Base 5760 1680 Base 5820 16BC Base 5880 16F8 Base 5940 1734 Temp 100 Base 6000 1770 Base 6060 17AC Base 6120 17E8 Base 6180 1824 Temp 104 Base 6240 1860 Base 6300 189C Base 6360 18D8 Base 6420 1914 Base 6480 1950 S 7SS20GL63 con Page 24 UNBTAR O E nP 47 User s Manual p WAW Sensor 1 C CO nf TEL 0755 83376549 FAX 0755 83376102 PRA SW 204163 co Temp 740 Base 2400 0960 Temp 109 Base 6540 198C Temp 741 Base 2460 099C Temp 110 Base 6600 19C8 Temp 742 Base 2520 09D8 Temp 111 Base 6660 1A04 Temp 43 Base 22580 0A14 Temp 112 Base 6720 1A40 Temp 44 Base 2640 0A50 Temp 113 Base 6780 1A7C Temp 45 Base 2700 0A8C Temp 114 Base 6840 1AB8 Temp 746 Base 2760 0AC8 Temp 115 Base 6900 1AF4 Temp 747 Base 2820 0B04 Temp 116 Base 6960 1B30 Temp 48 Base 2880 0B40 Temp 117 Base 7020 1B6C Temp 749 Base 2940 0B7C Temp 118 Base 7080 1BA8 Temp 50 Base 3000 0BB8 Temp 119 Base 7140 1BE4 Temp 51 Base 2 3060 0BF4 Temp 120 Base 7200 1C20 Temp 52 Base 23120 0C30 Temp 121 Base 7260 1C5C Temp 53 Base 2
5. Ortho TableOrtho 2 B yte 22 gt 22 The Table Acc Ortho Scale Value Ortho TableOrtho 24 lt Byte 23 gt 23 Not Used 24 Product I D String char 1 25 Product I D String char 2 26 Product I D String char 3 27 Product I D String char 4 28 Product I D String char 5 29 Product I D String char 6 30 Product I D String char 7 S 7SS20GL63 con Doc 6001 0020 Rev A Page 26 ustan n n oT eas Users Manual TEL 0755 93376549 FAX 0755 s33761b2 PRA OW 204163 co 31 Product I D String char 8 32 Product I D String char 9 33 Product I D String char 10 34 Constant 0 35 RTS Delay is the time in 2 millisecond units that the RTS line is high before data is sent Any value but 0 will slow the data rate by the same amount 36 Number of chars in Address minus 1 0 Ichar 1 2chars 2 3chars 37 Address char 1 lt 0 30 gt 38 Address char 2 B 42 gt 39 Address char 3 20 gt SUNSTAR O I 63 con Doc 6001 0020 Rev A Page 27 usan re 4f Users Manual cont TEL 0755 83376549 FAX 0755 ai ss DM 5755 204163 co 7 Appendix B Warranty and Support Information 7 1 Customer Service As a Crossbow Technology customer you have access to product support services which include e Single point return service e Web based support service e Same day troubleshooting assistance e Worldwide Crossbow representation e Onsite and factory training availab
6. Software Version TV Ver H HHH lt CR gt lt LF gt lt EOT gt Set Serial Number TVZXXXXXXXXXX where XXXXXXXXXX is the Serial Number _szss20G163 con Doc 6001 0020 Rev A Page 18 ustan n n n MPA Users Manual TEL 0755 93376549 FAX 0755 s33761b2 PA RW 204163 co Enable Low Level Writes L Enabled lt CR gt lt LF gt lt EOT gt Write Float To Constant WC lt Constant Number gt F lt Value gt Done lt CR gt lt LF gt lt EOT gt Write Byte To Constant WC lt Constant Number gt B lt number gt Done lt CR gt lt LF gt lt EOT gt Write Int To Constant WC lt Constant Number gt B lt number gt Done lt CR gt lt LF gt lt EOT gt Read All Temp Table as Bytes ST B Read All Temp Table as Int ST I Read All Temp Table as Flaot ST F Read Temp Table as Byte ST B Read Temp Table as Int ST I Read Temp Table as Float ST F WARNING Any Writes to the temp table can introduce errors into data that will only appear when the sensor 1s at a specific temperature or cause the unit to fail Unless you know what you are doing DON T Write Temp Table as Byte WT B Write Temp Table as Int WT I Write Temp Table as Float WTTHHHEEHE Write All Temp Table to WT B All Commands marked with an require the Enable Low Level Writes command to be executed as the previous command for successful execution All Commands Marked with a execute differently when Enable Low Level Writes was executed as the p
7. and azimuth angles for the CXM547 orientation sensor from accelerometer and magnetometer output data 5 1 Sensor Based Coordinate System The coordinate system of the CXM547 system is defined in Figure 3 The accelerometer and magnetometer coordinate systems are both aligned with the physical package coordinate systems shown For the magnetometer sensors a positive output voltage will result if the sensor is pointed north For the accelerometers a positive voltage will result if the sensors are pointed down Inclination Down Figure 3 CXM547 Coordinate System SUNST S7SS20 G163 con Doc 6001 0020 Rev A Page 12 ustan n n n MPA Users Manual TEL 0755 93376549 FAX 0755 s33761b2 PA RW 204163 co SUNSTAR O I 5 2 Definition of Orientation Angles The orientation angles are defined in Figure 4 Azimuth or yaw is defined as the angle measured from magnetic north clockwise from above to the projection of the X axis on the horizontal plane Inclination is the angle that the X axis makes with the down direction and is 0 when the x axis is down and 90 when the X axis is horizontal Roll or gravity tool face is defined as the angle of counterclockwise rotation about the X axis looking in the positive X axis direction required to zero the Y axis accelerometer output and position the Z axis accelerometer so that its output polarity is positive Magnetic roll or magnetic toolphase 1s defined as the angle of cou
8. constants can be accomplished by issuing the command 0SCO2b CR 0 Send Constant 02 binary when this command is sent the CXM547 will respond by sending the value of constant 02 Wildcards are also recognized The command OSC b will cause the CXM547 to send the value of all internal binary constants In addition to internal byte constants the CXM547 also has a number of floating constants These are used to store the calibration data in the CXM547 EEROM These constants can be read by using the commands 0SC f CR for all constants 0SC06F CR for constant 06 SUNBTAR Jatt 77 ww sensar LC conh TEL O0755 83376489 FAX 0755 83376182 FE MML szss20G163 con Doc 6001 0020 Rev A Page 9 uergen re 4f Users Manual cont TEL 0755 83376549 FAX 0755 sd sS PAM 5755 204163 co A list of all the floating constants and their definitions can be found in Appendix A of the manual The most important floating constants are 04 X Magnetometer Offset 05 Y Magnetometer Offset 06 Z Magnetometer Offset 07 X Accelerometer Offset 08 Y Accelerometer Offset 09 Z Accelerometer Offset 10 X Magnetometer scale 11 Y Magnetometer scale 12 Z Magnetometer scale 13 X Accelerometer scale 14 Y Accelerometer scale 15 Z Accelerometer scale Floating constants 16 to 34 contain the system alignment coefficients For example floating constant 17 contains data on the magnetometer X sensor alignment in the Y direction In addition to an AS
9. 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 7 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 number and the RMA number 7 35 Return Shipping Address Use the following address for all returned products Crossbow Technology Inc 41 E Daggett Drive San Jose CA 95134 Attn RMA Number XXXXXX 7 4 Warranty The Crossbow product warranty is one year from date of shipment 63 con Doc 6001 0020 Rev A Page 29 SUNSTARL L1 E OO http www sensor i c com TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 con SUNSTAR Kirk SENLKK HE EUR Ce DRE 438 REAK HR Bi TA AIRGAS 10 IC
10. 0 O i Doc 6001 0020 Rev A Page 17 63 con usan re 347 Users Manual cont TEL 0755 83376549 FAX 0755 ai ss PAM 5755 204163 co SLUNST Read int Constant SC lt Constant Number 1 HHHHH lt CR gt lt LF gt lt EOT gt Read all int Constants SC I 00 HHHHH lt CR gt lt LF gt 01 HHHHH lt CR gt lt LF gt lt EOT gt 1HE HH lt CR gt lt LF gt lt EOT gt Reset A D RA Done lt CR gt lt LF gt lt EOT gt Test ROM Checksum TC if low level writes are enabled the output is STORED HHHH lt CR gt lt LF gt lt EOT gt If low level writes are not enabled and the Checksum of the ROM is the same as the one stored HHHH lt CR gt lt LF gt lt EOT gt else the Output is ERR HHHH lt CR gt lt LF gt lt EOT gt Test EEROM Checksum TE if low level writes are enabled the output is STORED HHHH lt CR gt lt LF gt lt EOT gt If low level writes are not enabled and the Checksum of the ROM is the same as the one stored HHHH lt CR gt lt LF gt lt EOT gt else the Output is ERR HHHH lt CR gt lt LF gt lt EOT gt Test RAM TR Either an OK or an error OK lt CR gt lt LF gt lt EOT gt The Error Addr is in Hex ERR AT HHHH lt CR gt lt LF gt lt EOT gt Test EEROM Read Write TW This takes up to 10 Seconds Either an OK or an error OK lt CR gt lt LF gt lt EOT gt The Error Addr is in Hex ERR AT HHHH lt CR gt lt LF gt lt EOT gt Test Serial Port TS Always Echoes OK lt CR gt lt LF gt lt EOT gt Return
11. 0 Rev A Page 25 usan re 4f Users Manual cont TEL 0755 83376549 FAX 0755 sil ss PAM ozs 204163 co SUST 06 Enable extended error messages 07 This Sensor s Address Number 0 36 gt 0 9 A Z 08 Auto Start Mode on power up start accepting commands then 0x00 Send all data in text mode once 0x01 Send all data In Binary mode once 0x02 Send all data In IEEE mode once 0x10 Send all data in text mode a loop until AutoStart is not 0x5A 0x11 Send all data In Bin mode in a loop until AutoStart is not 0x5A 0x12 Send All Data In IEEE mode in a loop until AutoStart is not 0x5A 09 User power on baud rate lock if not Ox5A sensor will use 9600 Baud 10 User power on baud rate Use With Caution Target Baud Const 10 Target Baud Const 10 75 37 1200 33 150 36 2400 32 300 35 4800 31 600 34 9600 30 11 Not Used 12 Lowest Calibration Temp in counts LSB 13 Lowest Calibration Temp in counts MSB 14 Distance in counts between Calibration Points LSB 15 Distance in counts between Calibration Points MSB 16 Number of Temp Points in the SEEROM 17 The Table Magnetometer Offset Scale Value Offset TableOffset 2 Byteft 18 18 The Table Accelerometer Offset Scale Value Offset TableOffset 2 Byteft 19 19 The Table Mag Scale Value Scale TableScale 24 lt Byte 20 gt 20 The Table Acc Scale Value Scale Table Scale 2 lt Byte 21 gt 2 The Table Mag Ortho Scale Value
12. 02 02 the CXM547 is in sensor output mode and the above numb ers represent the magnetometer X Y and Z sensor outputs in Gauss and the accelerometer outputs in Gs When binary byte 02 03 the CXM547 is in angle mode and the above numbers represent MX Roll AX Magnetic roll MY Inclination AY Total magnetic field MZ Azimuth AZ Total gravitational field i _szss20G163 con Doc 6001 0020 Rev A Page 8 ustan n n n MPA Users Manual TEL 0755 93376549 FAX 0755 833761 PAM 204163 co 4 2 Descriptions of the System Internal Constants The operating characteristics of the CXM547 are controlled by the value of internal binary constants The most important constants are 100 enables echoing when non zero enables autosend when 5A 02 enables sensor A D count output when 0 sensor output when 02 and angle output when 03 Sets power on mode e g 10 enables autosend in ASCII mode on power on Baud rate lock 5A if any baud rate other than 9600 is to be used Detailed definitions of all of the internal byte constants can be found in Heading Sensor Command Set in the Appendix In order to change the internal system binary constants a write enable command must first be issued To accomplish this type OL lt CR gt The unit will respond with the message enabled To write byte constant 02203 type the command 0WC0203b03 lt CR gt The unit will respond by sending the message done The reading of internal
13. 0755 83376489 FAX 0755 83376182 E MN L szss20G163 con ustan n n oT MPA Users Manual TEL 0755 93376549 FAX 0755 s33761b2 PRA OW 204163 co 1 Description of the System The CXM547 Micro Orientation Sensor system contains both a 3 axis fluxgate magnetometer and a 3 axis accelerometer The combination of these two sensor systems enables the roll pitch and azimuth angles of the CXM547 reference frame to be determined Roll and pitch angles are determined from the accelerometer subsystem which measures the pull of gravity After roll and pitch are known the magnetometer subsystem is used to determine the azimuth angle referred to as declination or heading angle Knowledge of the roll and pitch angles enable determination of the horizontal components of the earth s local magnetic field this information defines the azimuth angle The CXM547 systems also contain a microprocessor 68HC1 1 and 7 channels of 16 bit analog to digital conversion Six channels are assigned to the magnetometer and accelerometer outputs One channel provides temperature data from an internal thermometer The CXM547 communicates with the outside world over a serial bi directional TTL interface An ASCII character command language has been created to facilitate communication with sensors For instance if the ASCII for O S and D followed by a carriage return are sent in sequence the CXM547 interprets this as a send data command and responds by sending over
14. 3180 0C6C Temp 122 Base 7320 1C98 Temp 454 Base 2 3240 0CAS8 Temp 123 Base 7380 1CD4 Temp 55 Base 2 3300 S 0CEA4 Temp 124 Base 7440 1D10 Temp 56 Base 3360 0D20 Temp 125 Base 7500 1D4C Temp 57 Base 3420 0D5C Temp 126 Base 7560 1D88 Temp 58 Base 3480 0D98 Temp 127 Base 7620 1DC4 Temp 59 Base 3540 0DD4 Temp 128 Base 7680 1E00 Temp 60 Base 3600 0EIO Temp 129 Base 7740 1E3C Temp 61 Base 3660 0E4C Temp 130 Base 7800 1E78 Temp 62 Base 3720 0E88 Temp 131 Base 7860 1EB4 Temp 63 Base 3780 0EC4 Temp 464 Base 3840 0F00 Temp 65 Base 2 3900 0F3C Temp 66 Base 3960 0F78 Temp 67 Base 4020 0FB4 Temp 468 Base 4080 0FFO commands Byte Constant Numbers and Their Meanings 00 Command Echo Flag 0 is no command echo anything else echo 01 Autostart Flag If OX5A executes the selected autostart option on powerup 02 Correction Level 0 Raw 2 Vectors 3 Angles In Angles mode Roll is labeled MX Pitch is labeled MY Heading is Labeled MZ Magnetic Roll is labeled AX Total Magnetic Field is labeled AY Total Grav Field is labeled AZ 03 Months since 1 90 when device was calibrated 04 Version of the Calibration Software used 05 Power on self test flag If zero a self test will be done on power up SUNSTAR O I 63 con Doc 6001 002
15. CII communication mode the CXM547 also has a binary communications mode This mode is more suitable for microprocessor communication because it is much shorter and faster than the ASCII communications mode Binary communications are initiated by an external computer by the issuance of a single byte e g ASCII 128 The CXMS547 upon receiving this request responds with a binary answer consisting of 22 bytes containing the requested data in binary form together with a header footer and checksum The binary commands available in CXM547 are as follows 131 in bi 132 1 i ESO send angle data in binary format 13 send angle data in IEEE 32 bit format SUNST _szss20G163 con Doc 6001 0020 Rev A Page 10 ustan n n oT eas Users Manual TEL 0755 93376549 FAX 0755 s33761b2 PRA OW 204163 co SUNSTAR O I The CXM547 response to these commands is of the following form number of data bytes to be sent MX AX MY AY MZ AZ MT AT 0 data check sum end Where MX is the X magnetometer data AX 1s the X accelerometer data etc The system temperature is contained in the lt MT gt variable The AT variable contains the system input voltage 63 con Doc 6001 0020 Rev A Page 11 uen re 4f Users Manual cont TEL 0755 83376549 FAX 0755 abl ss DOM 575 204163 co 5 Description of the CXM547 Orientation Angles This section describes how to calculate the roll pitch
16. Magnetometer Base Ortho X Y 24 Magnetometer Base Ortho X Z 25 Magnetometer Base Ortho Y X 26 Magnetometer Base Ortho Y Y 27 Magnetometer Base Ortho Y Z 28 Magnetometer Base Ortho Z X 29 Magnetometer Base Ortho Z Y 30 Magnetometer Base Ortho Z Z e szss20G163 con Doc 6001 0020 Rev A Page 22 ustan n n oes Users Manual TEL 0755 93376549 FAX 0755 833761 PA RM 204163 co 31 Accelerometer Base Ortho X X 32 Accelerometer Base Ortho X Y 33 Accelerometer Base Ortho X Z 34 Accelerometer Base Ortho Y X 35 Accelerometer Base Ortho Y Y 36 Accelerometer Base Ortho Y Z 37 Accelerometer Base Ortho Z X 38 Accelerometer Base Ortho Z Y 39 Accelerometer Base Ortho Z Z 40 Bow Correction X 41 Bow Correction Y 42 Bow Correction Z Base 00 01 Magnetometer Base Offset X Base 02 03 Magnetometer Base Offset Y Base 04 05 Magnetometer Base Offset Z Base 06 07 Accelerometer Base Offset X Base 08 09 Accelerometer Base Offset Y Base 10 11 Accelerometer Base Offset Z Base 12 13 Magnetometer Base Scale X Base 14 15 Magnetometer Base Scale Y Base 16 17 Magnetometer Base Scale Z Base 18 19 Accelerometer Base Scale X Base 20 21 Accelerometer Base Scale Y Base 22 23 Accelerometer Base Scale Z Base 24 25 Magnetometer Base Ortho X X Base 26 27 Magnetometer Base Ortho X Y Base 28 29 Magnetometer Base Ortho X Z Base 30 31 Magnetometer Base Ortho Y X Bas
17. USTA HL E E E http www sensor i c com TEL 0755 83376549 FAX 0755 83376182 E MN L szss20GL63 co Micro Orientation Sensor CXM547 User s Manug Rev A November 2001 PN 6001 0020 Crossb w SUNSTAR O http www sensor i c com TEL 0755 83376489 FAX 0755 83376182 E MN L szss20 3163 con USTA EL E TI http ww sensor i c com TEL 0755 83376549 FAX 0755 83376182 E MN L szss20G163 co 2000 2001 Crossbow Technology Inc All rights reserved Information in this document is subject to change without notice Crossbow and SoftSensor are registered trademarks and DMU 1s a trademark of Crossbow Technology Inc Other product and trade names are trademarks or registered trademarks of their respective holders SUNSTAR http www sensor i c com TEL 0755 83376489 FAX 0755 83376182 E MN L szss20 3163 con UNBTAR O E nP 47 User s Manual p WAW Sensor 1 C CO Table of Contents 1 Description of the System ecce eee e eee e eee eee eee eene 1 2 System Ee E 3 3 Electrical and Mechanical Interface 4 3 1 Fl ctical terni dC t 4 3 2 Mechanical FeatUreS mm 6 4 System Startup and Checkout cccscccssccsscssscssccsscessces 8 4 1 Intal Setup OF Ce Systemes 8 4 2 Descriptions of the System Internal Constants 9 5 Description of the CXM547 Orientation Angles
18. and Accelerometer data is in a two byte signed integer format in counts If the correction mode is or 2 the Magnetometer and Accelerometer data is in atwo byte signed integer format encoded as the float value times 10000 1 2345 12345 If the correction mode is 3 the data is angles and is represented in a two byte signed integer format encoded as the float value times 10 123 45 1234 The Temp data is in a two byte signed integer format encoded as the float value times 100 123 45 2 12345 129 and 132 Sends All Data in IEEE Floating point format in the current format as selected by Byte constant 2 If the correction mode is O 1 or 2 the data is returned as lt lt lt lt Sent First lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt Sent Last lt lt lt lt If The Command is 129 lt NUM DATA BYTES gt lt MX gt lt AX gt lt MY gt lt A Y gt lt MZ gt lt AZ gt lt MT gt lt AT gt lt 0 gt lt DATA CHECK SUM gt size 8b 32b 32b 32b 32b 32b 32b 32b 32b 8b 8b in bits If The Command is 132 NUM DATA BYTES gt lt Roll gt lt MRoll gt lt Pitch gt lt Mag gt lt Head gt lt Grav gt lt MT gt lt AT gt lt 0 gt lt DATA CHECKSUM gt size 8b 32b 32b 32b 32b 32b 32b 32b 32b 8b 8b in bits END Ox7FFF is unique in the data stream NUM DATA BYTES 16 0 a constant 0 to allow END to be unique DATA CHECK SUM The lowe
19. e 32 33 Magnetometer Base Ortho Y Y Base 34 35 Magnetometer Base Ortho Y Z Base 36 37 Magnetometer Base Ortho Z X Base 38 39 Magnetometer Base Ortho Z Y Base 40 41 Magnetometer Base Ortho Z Z Base 42 43 Accelerometer Base Ortho X X Base 44 45 Accelerometer Base Ortho X Y Base 46 47 Accelerometer Base Ortho X Z Base 48 49 Accelerometer Base Ortho Y X Base 50 51 Accelerometer Base Ortho Y Y Base 52 53 Accelerometer Base Ortho Y Z Base 54 55 Accelerometer Base Ortho Z X SUNSTAR O I 63 con Doc 6001 0020 Rev A Page 23 usan hal k Users Manual cont TEL 0755 83376549 FAX 0755 sil ss PAM 5755 204163 co SUST Base 56 57 Accelerometer Base Ortho Z Y Base 58 59 Accelerometer Base Ortho Z Z Temp 0 Temp 1 Temp 2 Temp 3 Temp 4 Temp 5 Temp 6 Temp 7 Temp 8 Temp 9 Temp 10 Temp 11 Temp 12 Temp 13 Temp 14 Temp 15 Temp 16 Temp 17 Temp 18 Temp 19 Temp 20 Temp 21 Temp 22 Temp 23 Temp 24 Temp 25 Temp 26 Temp 27 Temp 28 Temp 29 Temp 30 Temp 31 Temp 32 Temp 33 Temp 34 Temp 35 Temp 36 Temp 37 Temp 38 Temp 39 Doc 6001 0020 Rev A Base 0000 0000 Base 0060 003C Base 0120 0078 Base 0180 00B4 Base 0240 00F0 Base 0300 012C Base 0360 0168 Base 0420 01A4 Base 0480 01E0 Base 0540 021C Base 0600 0258 Base 0660 0294 Ba
20. enerally byte constants are used to control the system operating modes Floating constants are employed to scale the output data and correct it for temperature variations A detailed description of the serial command protocol and constants definition is included in the Appendix 3 2 Mechanical Features An outline drawing of the CXM547 system is shown in Figure 2 The system can be mounted by clamping the OD of the package and by using the threaded 4 40 tapped holes in the top and bottom plates of the sensor The CXM547 coordinate system is defined by the direction of the outer circular housing and by the direction of the gauge plug mounted on the system top end The orientation of the X Y and Z axes is shown in Figure 1 The output polarity sense of the axes is such that a field increase in the direction of the arrows shown in Fig 2 produces an increase in the voltage output for that axis For example if the X magnetometer is oriented so the X axis arrow points north in the northern hemisphere then the X axis output voltage will be positive If the X axis accelerometer arrow is pointed down the X axis accelerometer will be positive S 7SS20GL63 con Doc 6001 0020 Rev A Page 6 n TEL 0755 83376549 FAX 0755 83376162 PRA QW 20063 co 47 User s Manual p WAW Sensor 1 C CO UNSTAR I I I qe 0 1450 Alignnmt Fin a0 a 4 Te Figure 2 CXM547 Micro Orientation Sensor Dimensions are in inches 63 co
21. gnificant byte first The Magnetometer and Accelerometer Data is in a two byte signed integer format encoded as the float value times 10000 1 2345 12345 The Temp Data is in a two byte signed integer format encoded as the float value times 100 123 45 2 12345 If The Command is 131 NUM DATA BYTES Roll MRoll Pitch Mag Head Grav MT 2 AT 0 DATA CHK SUM gt lt END gt size 8b 16b 16b 16b 16b 16b 16b 16b 16b 8b 8b 16b in bits lt END gt Ox7FFF is unique in the data stream NUM DATA BYTES 16 0 a constant 0 to allow END to be unique DATA CHECK SUM The lower 8 bits of the sum of all the bytes in the data area Roll The Roll data encoded as below Pitch The Pitch data encoded as below Head The Heading data encoded as below lt MRoll gt The Magnetic Roll data encoded as below lt Mag gt The Total Magnetic Field data encoded as below lt Grav gt The Total Gravitational Field data encoded as below S 7SS20GL63 con Doc 6001 0020 Rev A Page 20 ustan n n re MPA Users Manual TEL 0755 83376549 FAX 0755 s33761b2 PAP RM 204163 co lt MX gt lt MY gt lt MZ gt The Magnetometer data encoded as below lt AX gt lt AY gt lt AZ gt The Accelerometer data encoded as below lt MT gt lt AT gt The Temp data encoded as below All data is sent most significant byte first If the correction mode is 0 the Magnetometer
22. le e Preventative maintenance and repair programs e Installation assistance available 7 2 Contact Directory United 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 7 3 Return Procedure 7 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 e Name e Address e Telephone Fax Email e Equipment Model Number e Equipment Serial Number e Installation Date e Failure Date e Fault Description SUNST S 7SS20GL63 con Doc 6001 0020 Rev A Page 28 ustan n n oa Users Manual TEL 0755 93376549 FAX 0755 s33761b2 PA RW 204163 co 7 3 2 Identification and Protection If the equipment is to be shipped to Crossbow for service or repair please attach a tag TO THE EQUIPMENT as well as the shipping container s identifying the owner Also indicate the service or repair required the problems encountered and other information considered valuable to the service facility such as the list of information provided to request the RMA number Place the equipment in the original shipping container s making sure there is adequate packing around all sides of the equipment If the original shipping containers were discarded use heavy boxes with adequate padding and protection 7 3 3 Sealing
23. n Page 7 SUNSTAR 1 E i Doc 6001 0020 Rev A usan re 4f Users Manual cont TEL 0755 83376549 FAX 0755 sil ss PAM ozs 204163 co SUST 4 System Startup and Checkout 4 1 Initial Setup of the System The computer interface of the CXM547 system is a TTL level serial interface Data is transmitted to the CXM547 on pin 1 and transmitted out of the CXM547 on pin 2 The default baud rate is 9600 with one stop bit and no parity The baud rate can be changed by the user by making changes to internal constants 08 and 09 in the system EEROM In order to communicate with an external personal computer PC the TTL levels of the CXM547 must be shifted to the RS232 levels used by the serial ports on all PCs TTL levels generally are 5V mark and Ov space whereas RS232 levels are generally 5 to 12V mark and 5 to 12V space Integrated circuits such as the Max 232 Maxim Integrated Products or the LT1019 Linear Technology are suitable for constructing an RS232 to TTL interface Communication with the CXM547 is initially controlled by an external computer Communication is initiated when the external computer issues a command such as OSD lt CR gt 0 Send Data The 0 in this sequence is the de fault serial number of the unit When this command is issued the CXM547 will respond with a formatted output similar to the following MX 0 465 AX 0 986 MY 0 231 AY 0 234 MZ 0 100 AZ 0 111 When internal binary constant
24. n 4 2 Seria outcry 3 P VDCo 12VDC 5 VDC x 0 05 V Ground i 43 No Connect b No Connect No Connect SUNST _szss20G163 con Doc 6001 0020 Rev A Page 4 ustan n n n MPA Users Manual TEL 0755 93376549 FAX 0755 83376162 PA 204163 co Alignment Pin 0 125 Alignment Pin 4 0 0938 CONNECTOR 6 9 e a Figure 1 Connection diagram CXM547 Two communication protocols are available 1 ASCII and 2 BINARY These are both described in detail later in this manual in the Heading Sensor Command Set Definition see Appendix The ASCII protocol is based upon sending ASCII characters to the CXM547 to obtain data The reflected data is also sent out as an ASCII data stream complete with carriage returns and line feeds so that it can be easily displayed on a video terminal provided a TTL to RS232 conversion is made by the user The binary protocol is used for high speed computer to computer interchange In this case one byte is sent to request data The CXM547 then responds with a multi byte data packet containing the desired data plus header and checksum SUNSTAR Dt 77 ww sensar i c conh TEL O0755 83376489 FAX 0755 83376182 FE MML szss20G163 con Doc 6001 0020 Rev A Page 5 usan re 4f Users Manual cont TEL 0755 83376549 FAX 0755 sil ss PAM ozs 204163 co SUST The system internal constants include a number of byte as well as floating constants G
25. n used to determine the angular orientation of the CXM547 about the longitudinal X axis Magnetic roll Op is given by the following 02 042 2 p SUNST S7SS20G163 con Doc 6001 0020 Rev A Page 14 ustan n n oT 94 Users Manual TEL 0755 83376549 FAX 0755 833761 PA RM 204163 co H sn0 4 H Hj H cos0 H H H tan0 5 5 Calculation of Inclination Inclination e is determined from the following equations O e p ee E 2 2 Sy TSz sin E 2 y F z tang 8x where g dere T gy tg Inclination is 0 when the CXM547 X axis is pointed down and p 2 radians when horizontal 5 6 Magnetic Heading Azimuth Yaw We first give expressions for the magnetic field in a horizontal reference defined by x1 yl z1 where x1 is aligned with the projection of the CXMS547 x axis in the horizontal plane and z1 is down 2 2 ole t8 Ida m 24 H xl 7 848 uU H OHy8 Hz8y Ner 2 2 Sy E SUNSTAR O E 63 con Doc 6001 0020 Rev A Page 15 usan re 4f Users Manual cont TEL 0755 83376549 FAX 0755 sil ss PAM 5755 204163 co yty Vile TH H 4 8 Magnetic heading is then given by 02 2p H coso Z xl Ha H y H sin d SEEM PED 2 Hu ty B 2 2 Ha H Ag tg acc ee 0Z Magnetic heading is 0 when the CXM547 X axis points North and p 2 radians when it points East SUNST _szss20G163 con Doc 6001 0020 Rev A Page 16 ustan n n n 94 U
26. nterclockwise rotation about the X axis looking m the positive X axis direction required to zero the Y axis magnetometer output and position the Z axis magnetometer so that its output polarity is negative Magnetic roll is useful in defining the CXM547 orientation when inclination is near vertical In this situation g and g are near zero and roll and azimuth calculations become less accurate 5 3 Definitions The following sections describe equations for determining the CXM547 orientation angles These equations make use of the following definitions gx accelerometer X axis output gy accelerometer Y axis output 2 accelerometer Z axis output Hx magnetometer X axis output Hy magnetometer Y axis output H magnetometer Z axis output 63 con Doc 6001 0020 Rev A Page 13 usan rr 34r Users Manual cont TEL 0755 83376549 FAX 0755 abl ass PAW szss20G L63 co Magnetic Up Magnetic North gg Roll small alignment pin Figure 4 CXM547 Orientation Angles 5 4 Calculation of Roll and Magnetic Roll The roll angle is determined by using the following equations 02 022p cos0 Sy 8 sin O _ Zi _ 2 2 Sy t8 8 tang 8z Roll is 0 when gy 0 and g gt 0 Roll is 27 radians when gy 0 and g lt 0 When the X axis is near vertical pitch 5 the quantities g and g become very small and the above expressions yield a less accurate value of 0 In this situation magnetic roll is ofte
27. r 8 bits of the sum of all the bytes in the data area Roll The Roll data SUNSTAR O E 63 con Doc 6001 0020 Rev A Page 21 usan hal k Users Manual cont TEL 0755 83376549 FAX 0755 sil ss PAM 5755 204163 co SUST lt Pitch gt The Pitch data lt Head gt The Heading data lt MRoll gt The Magnetic Roll data lt Mag gt The Total Magnetic Field data lt Grav gt The Total Gravitational Field data lt MX gt lt MY gt lt MZ gt The Magnetometer data lt AX gt lt AY gt lt AZ gt The Accelerometer data lt MT gt lt AT gt The Temp data All data is sent mo st significant byte first Ortho Constants are designated Result Axis first Component Axis Second Float Constant Numbers and Their Meanings 00 Anal Scale 01 Temp Scale 02 Anal Offset 03 Temp Offset 04 Magnetometer Base Offset X 05 Magnetometer Base Offset Y 06 Magnetometer Base Offset Z 07 Accelerometer Base Offset X 08 Accelerometer Base Offset Y 09 Accelerometer Base Offset Z 10 Magnetometer Base Scale X 11 Magnetometer Base Scale Y 12 Magnetometer Base Scale Z 13 Accelerometer Base Scale X 14 Accelerometer Base Scale Y 15 Accelerometer Base Scale Z 16 Magnetometer Scale2 X 17 Magnetometer Scale2 Y 18 Magnetometer Scale2 Z 19 Accelerometer Scale2 X 20 Accelerometer Scale2 Y 21 Accelerometer Scale2 Z 22 Magnetometer Base Ortho X X 23
28. revious command lt 128 gt Send All Data as Vectors in a Binary Format lt 129 gt Send All Data as Vectors in a IEEE Float Format lt 131 gt Send All Data as Angles in a Binary Format lt 132 gt Send All Data as Angles in a IEEE Float Format lt 128 gt and lt 131 gt Sends All Data in an encoded Binary Format in the current format as selected by Byte constant 2 If the correction mode is O I or 2 the data is returned as SUNSTAR O I 63 con Doc 6001 0020 Rev A Page 19 usan re 4f Users Manual cont TEL 0755 83376549 FAX 0755 si ss DOM 5755 204163 co SUST lt lt lt lt Sent First c cSent Last lt lt lt lt If The Command is 128 lt NUM DATA BYTES gt lt MX gt lt AX gt lt MY gt lt AY gt lt MZ gt lt AZ gt lt MT gt lt AT gt lt 0 gt lt DATACHKSUM gt lt END gt size 8b 16b 16b 16b 16b 16b 16b 16b 16b 8b 8b 16b in bits END Ox7FFF is unique in the data stream NUM DATA BYTES gt 16 lt Status gt a value of 0x80 unless there is a mule shoe sensor then it will have a value of 0 when seated in the mule shoe DATA CHECK SUM gt The lower 8 bits of the sum of all the bytes in the data area lt MX gt lt MY gt lt MZ gt The Magnetometer Data encoded as below lt AX gt lt AY gt lt AZ gt The Accelerometer Data encoded as below lt MT gt lt AT gt The Temp Data encoded as below All Data is Sent most si
29. se 0720 02D0 Base 0780 030C Base 0840 0348 Base 0900 0384 Base 0960 03CO Base 1020 03FC Base 1080 0438 Base 1140 0474 Base 1200 04B0 Base 1260 04EC Base 1320 0528 Base 1380 0564 Base 1440 05A0 Base 1500 05DO Base 1560 0618 Base 1620 0654 Base 1680 0690 Base 1740 06CC Base 1800 0708 Base 1860 0744 Base 1920 0780 Base 1980 07BC Base 2040 07F8 Base 2100 0834 Base 2160 0870 Base 2220 08AC Base 2280 08E8 Base 2340 0924 Temp 69 Temp 70 Temp 71 Temp 72 Temp 73 Temp 74 Temp 75 Temp 76 Temp 77 Temp 78 Temp 79 Temp 80 Temp 81 Temp 82 Temp 83 Temp 84 Temp 85 Temp 86 Temp 87 Temp 88 Temp 89 Temp 90 Temp 91 Temp 92 Temp 93 Temp 94 Temp 95 Temp 96 Temp 97 Temp 98 Temp 99 Temp 101 Temp 102 Temp 103 Temp 105 Temp 106 Temp 107 Temp 108 Base 4140 102C Base 4200 1068 Base 4260 10A4 Base 4320 10E0 Base 4380 111C Base 4440 1158 Base 4500 1194 Base 4560 11D0 Base 4620 120C Base 4680 1248 Base 4740 1284 Base 4800 12C0 Base 4860 12FC Base 4920 1338 Base 4980 1374 Base 5040 13B0 Base 5100 13EC Base 5160 1428 Base 5220 1464 Base 5280 14A0 Base
30. sers Manual TEL 0755 93376549 FAX 0755 833761 PA RM 204163 co 6 Appendix A CKM547 Command and Data Format Specifications 6 1 Heading Sensor Command Set CXM547 V3 47D 11 2000 Addressed Command is lt Address gt lt Command gt lt CR gt An Address is lt 0 9 A Z gt CR is a Carriage Return Axis is X Z T gt Constant Number is 00 99 gt Constant Value is lt lt number gt lt number gt gt Constant String is lt A Z 0 9 gt lt Constant String A number is lt lt 0 9 gt number gt A command consists of one of the following Send All Data SD All Data is sent MX H HHHHH AN H HHHHH lt CR gt lt LF gt as requested MY HE AHHHHE AY H8 HHHHH lt CR gt lt LF gt raw vectors or MZ H HHHHH AZ OH HHHHH lt CR gt lt LF gt angles as set by MT HHH HHHH lt CR gt lt LF gt byte constant 2 AT EHHH HHHH lt CR gt lt LF gt lt EOT gt Send Anal Input SA ANA F HHHHH lt CR gt lt LF gt lt EOT gt Read Float Constant SC lt Constant Number gt F HAHHHHH EHH lt CR gt lt LF gt lt EOT gt Read All Float Constants SC F 00 HHHHHHHH FHH lt CR gt lt LF gt 01 AHHH 4 FA lt CR gt lt LF gt HH tE lt CR gt lt LF gt lt EOT gt Read Byte Constant SC lt Constant Number gt B lt CR gt lt LF gt lt EOT gt In Hex Read All Byte Constants SC B 00 lt CR gt lt LF gt In Hex 01 HH lt CR gt lt LF gt lt EOT gt HH HH lt CR gt lt LF gt lt EOT gt SUNSTART
31. ta 5 transmissions sec Connector Cannon MDM9SH003P Mating Connector Cannon MDM9PHOO3L SUNSTAR O http ww sensor i c ca TEL 0755 83376489 FAX 0755 83376182 F MN L szss20G163 con Doc 6001 0020 Rev A Page 3 uergen re 4f Users Manual cont TEL 0755 83376549 FAX 0755 sil ss PAM 5755 204163 co 3 Electrical and Mechanical I nterface 3 1 Electrical Interface Electrical connection to the CXM547 is made by means of a 9 pin MDM type connector The functions of the pins on this connector are shown in Fig 1 Two powering options are available for the CXM547 An unregulated voltage between 7V and 12V connected to pin 3 or a regulated 5V voltage connected to pin 4 can be used When the 7 to 12 volt option is used internal regulators inside the CXM547 produce the internal voltages required by the system When a regulated 5V supply is used the input regulators are bypassed The tolerance of the 5V input is 0 05V The serial communications interface to the CXM547 is provided by the serial in and serial out lines shown in Figure 1 An external computer communicates with the CXM547 on the serial in line and replies from the CXM547 are transmitted out on the serial out line The serial in and serial out lines operate at TTL CMOS levels and are normally set to operate at 9600 baud with one stop bit and no parity The user however can change the baud rate by setting bits in the system EEROM Apply Power to either Pin 3 or Pi
32. temperature intervals between the minimum and maximum temperature specification For instance for calibration over the interval of 25 to 125 C data is usually read at 25 C temperatures between 25 and 125 C The data taken at each temperature includes scale offset and sensor alignment data The recorded data is then used to create a look up table for scale offset and alignment corrections This table is then downloaded into the CXM547 internal EEROM memory where it can be accessed by the system internal microprocessor Corrections to the read sensor data can then be made by the internal microprocessor system before data is transmitted ss20GL63 con Doc 6001 0020 Rev A Page 2 ustan n n n MPA Users Manual TEL 0755 93376549 FAX 0755 g33761b2 PAP RW 204163 co 2 System Specifications Angular Accuracy 0 to 125 C Axis alignment Azimuth ELS Inclination 0 4 Roll 0 4 0 2 Alignment of axes with package reference frame 0 2 Temperature Range Operating 0 to 125 C Storage 55 to 165 C Noise level on Magnetometers 5x 10 Gauss Noise level on Accelerometer 2x 10G Power 7 VDC to 12VDC unregulated or 5 VDC 0 05 VDC regulated 75 mA 7 VDC Size 1 OD x 10 4 long cylinder Shock 1000 G Ims half sine wave Mass 250 grams Vibration 20G RMS 5 1000Hz Digital Outputs logic level TTL CMOS baud user programmable up to 9600 protocol user selectable ASCII or binary maximum throughput for all da
33. the serial interface an ASCII string representing the value of all magnetometer accelerometer and temperature outputs The leading zero in this sequence denotes the system serial number The CXM547 can also be configured to send angle data instead of the accelerometer and magnetometer sensor data An auto send data mode is included in the CXM547 software When this mode is active data 1s repeatedly sent after the power up at a rate of two transmissions per second in angular output mode and three times per second in magnetometer accelerometer mode The CXM547 system accelerometers are calibrated by placing the system in a precision rotation fixture and systematically changing the system orientation in the earth s gravitational field The CXM547 system magnetometers are calibrated by placing the system in a precision 3 axis Helmholtz coil system which enables the application of known magnetic SUNBTAR http waw sensar 1 C conh TEL 0755 83376489 FAX 0755 833376182 E MML szss20G163 con Doc 6001 0020 Rev A Page 1 uergen 347 Users Manual on TEL 0755 83376549 FAX 0755 oleh ASSP RAN szss20G L63 co SUST fields to the system Both the rotation fixture and Helmholtz coil have alignment pins which mate to the CXM547 cylindrical case and alignment pins System calibration is performed over a temperature range for example 0 to 100 C When the system is calibrated over a temperature range data is read from the system at
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