Manual - Infusion Systems
Contents
1. Sensors Parameters min typical max Measurement range 1100uT 1100uT Accuracy 0 015uT Gain Scale factor 1 31 24 Count uT Scale factor 2 62 48 Count uT Resolution 1 Gain uT Linearity Error from best fit straight line at 300 uT 0 6 1 Electrical Parameters min typical max Supply voltage 4 75V 5V 5 25V Supply Current 7mA 8mA 9mA 7C input high voltage threshold 3V 5 25V C input low voltage threshold 0 5V 1 5V 7C pullup resistors 4K7 ohm C output low voltage level lo 20mA 0 7V C output sink current Vo 0 7V 20mA Analog output voltage range OV 5V Analog output DC equivalent resistance 2K2 ohm Timing min typical max C clock frequency 50kHz C inter command time 10ms Analog output response time 10 to 90 50ms Internal three axis sensors sample time Scale factor 2 180ms Scale factor 1 106 5ms Scale factor 1 2 45ms Scale factor 1 4 22 50ms Scale factor 1 8 12ms Scale factor 1 16 6ms Scale factor 1 32 3ms Scale factor 1 64 1 5ms2. C Command GET VERSION read register 1 whose size is 2 bytes The first byte received is the hardware release the second byte is the software release Example dec Send 240 125 0 DEV 127 C READ 0 address of IC device 0 fl register 16 0 f 1 2 bytes to be read 247 Receive 240 125 0 DEV 127 IC READ 0 address of I C device 0 fl register 16 0 ff 1 2 bytes to be read 0 f HW rel 16 0 4 1 0 fl SW rel 16 0 4 1 247 Example hex Send FOh 7Dh 00h DEV 7Fh IC READ 00h address of IC device 00h Oth register 16 0 41 1 02h bytes to be read F7h Receive FOh 7Dh 00h DEV 7Fh IC READ 00h address of I C device 00h Oih register 16 0 f 1 02h bytes to be read 00h ofh HW rel Olih OOh Oh SW rel Olih F7h 6 3 C Command SET GAIN SCALING FACTOR write register 2 whose size is 1 byte The value written into this register will be the gain scaling factor when working in C mode The range should be in between 0 to 7 00h to 07h The gain scale factor will be stored into a non volatile memory The value received will be masked and ed with 0X07 so if the value is out of range only the three least significant bits will remain Byte received x x x x x F3 F1 F0 amp Mask 00000111 00000F3F1 FO Example dec Send 240 125 0 DEV 126 C WRITE 0 address of I C device 0 B register 16 0 B 2 0 SCALE FAC 16 0 7 247 Receive echo of the s
3. ofh ADDRESS 16h F7h Receive echo of the sent data 6 5 C Command SET DELTA write register 4 whose size is 1 byte When any of the axes changes more then the amount written into this register a 100ms positive pulse will be generated at the aux pin The range should be in between 0 to 255 00h to FFh The delta value will be stored in non volatile memory Every time a new axis is sensed the new value is compared to the axis s latched value the delta amount If the new value is greater the latch is updated and a pulse is generated in the aux pin This function could be useful to avoid constant 1 C requests to the sensor if there is no significant change detected by the Orient3D This results in less data traffic for the microdig and thus less power used for transmission For example delta 10 initial X Y Z latched values 0 t X Y Z aux 1 0 0 127 trigger Z lt Z latched 10 new Z latched 127 2 3 2 123 no trigger 3 5 2 118 no trigger 4 8 3 115 trigger Z gt Z latched 10 new Z latched 115 5 11 2 115 trigger X gt X latched 10 new X latched 11 6 12 1 116 no trigger Example dec Send 240 125 0 DEV 126 C WRITE 0 address of I C device 0 f register 16 0 4 4 8 f DELTA 16 8 H 132 247 Receive echo of the sent data Example hex Send FOh 7Dh 00h DEV 7Eh IC WRITE 00h address of I C device 00h Oih register 16 0 4 4 08h ofh DELTA 84h
4. Rout 2k2 4 ground shield OV Ea E Hack cable 4 pin male connector Front view 1 pin male connector Pin assignment in IC mode 1 aux grey output 100ms positive pulse if any axis changes more then the amount set with the C command SET DELTA Pins assignment in analog mode Hack cable I pin 1 analog_z grey output 0 5V Rout 2k2 male connector Front view 4 2 Daisy chain female connector This connector is only used in I C mode and allows for daisy chaining up to four Orient3D sensors Pins assignment 1 power 2 i2c_data 3 i2c_clock 4 ground Daisy Chain Dip Switch Orient 3D lateral view 4 3 Dip switch functions Switches 1 and 2 in I C mode C address bits 1 and 0 the two address less significant bits 1 0ff 2 off address xxxxx00 1 off 2 on address xxxxx01 1 0n 2 off address xxxxx10 1 on 2 on address xxxxx11 Where xxxxx are the five most significant bits these may be change with the C command SET ADDRESS Switches 1 and 2 in analog mode Gain scale factor In IC mode the scale factor is changed with a command 1 off 2 off scale factor 1 4 1 off 2 0n scale factor 1 2 1 on 2 off scale factor 1 1 on 2 on scale factor 2 Switch 3 Mode select 3 on analog mode 3 off IC mode 5 C setup If you are unfamiliar with the microdig s IC commands look up the host mode commands 1 C PORT SET C WRITE and C READ in the document
5. Wi microdig communication protocol pdf before continuing 1 Set dip switch 3 to the off position IC mode 2 Set dip switches 1 and 2 with the C s address least significant bits The five more significant bits need to be known in order to be able to send a command to the Orient3D if you don t know which is this address follow the next procedure to clear these five bits a Turn off the Orient3D and set dip switch 3 to the on position analog mode b Turn on the Orient3D the address five more significant bits are now 00000 c Turn off the Orient3D and set dip switch 3 to the off position c mode 3 Plug the hack cable 4 pin male connector power amp re bus to the microdig 4 If desired plug the hack cable 1 pin male connector aux signal to the microdig 5 If desired daisy chain three more Orient3D by plugging the hack cable 4 pin male connector power amp C bus of the second Orient3D into the female daisy chain connector of the first Orient3D The aux signal can not be used in the daisy chained Orient3Ds The daisy chained Orient3Ds should have different addresses 6 Power up the microdig 7 Reset the microdig 8 Set the microdig in host mode 9 Configure select the microdig ports where the C bus has been plugged with the command C PORT SET This command should be sent each time you want to use a different C port before sending any command to the Orient3Ds in that C bus Note The dat
6. 6 Where S is the sensor output n is either x y or zZ M is the magnetic field strength G is the sensor gain 8 is the angle between the sensor s axis and the magnetic field lines The gain might be scaled by a factor 1 64 1 32 1 16 1 8 1 4 1 2 1 2 Gain is defined as the change in the number of counts from the sensor when the scaling factor is 1 per change in the magnetic field in uT G 31 24 Count uT see specifications section For situations requiring higher gain and less field measurement range the gain and resolution can be increased by a factor of 2 then G 2 31 24 62 48 Count uT For smaller gains or when saturation occurs the scaling factor should be set to smaller a value Be aware that the counter can overflow if the field is strong enough drive the count beyond a signed 16 bit integer Internally each sensor is part of an oscillator whose frequency varies according to the magnetic field parallel to the sensor s axis This oscillator frequency is fed into a period counter after being divided by a user specified divisor The available divisor ratios are 32 64 128 256 512 1024 2048 and 4096 The output from the Orient3D is the count so the divisor is effectively the gain scaling factor A higher divisor corresponds to a longer period a greater high speed oscillator count the output and better resolution In PC mode Orient3D will return a copy of each sensor s output Sx Sy and S three integers
7. F7h Receive echo of the sent data 6 6 C Command SET LED write register 5 whose size is 1 byte Enable or disable the LED for C command GET XYZ Write 0 00h to enable the LED or write any other value to disable it This value is not stored in non volatile memory If the power is cycled the register value will be 0 The range should be in between 0 to 255 00h to FFh Example dec Send 240 125 0 DEV 126 C WRITE 0 address of I C device 0 register 16 0 5 5 0 fl LED 16 0 4 1 247 Receive echo of the sent data Example hex Send FOh 7Dh 00h DEV 7Eh IC WRITE 00h address of I7C device 00h OBh register 16 0 8 5 00h ofh LED 04h F7h Receive echo of the sent data 7 Analog setup 1 Set dip switch 3 to the on position analog mode Please note that after doing this and powering the sensor the five most significant bits of the IC address will be set to 00000 2 Set dip switches 1 and 2 with the desired gain scaling factor this can be done at any time 3 Plug the hack cable 4 pin male connector x amp y to the microdig 4 Plug the hack cable 1 pin male connector z to the microdig 5 Power up the microdig 6 Reset the microdig 7 Set the microdig in stand alone mode 8 Configure the microdig ports as analog inputs with the desired resolution Use Pitch Bend for 12 bit resolution 8 Analog calibration The following describes using the editor to
8. O 1 CUBEX ORIENT3D Hardware v1 0 Firmware v1 0 USER MANUAL and SPECIFICATIONS Index 1 Introduction 2 How it works 3 Examples 4 Hardware description 4 1 Hack cable male connectors 4 2 Daisy chain female connector 4 3 Dip switch functions 5 IC setup 6 Orient3D IC commands 6 1 C Command GET XYZ 6 2 C Command GET VERSION 6 3 C Command SET GAIN SCALING FACTOR 6 4 C Command SET ADDRESS 6 5 C Command SET DELTA 6 6 C Command SET LED 7 Analog setup 8 Analog calibration 9 Specifications Page oo o1 On A OONNNOOQ 10 1 Introduction Orient3D is a 3 axis magnetic field sensing module It uses three orthogonally placed magneto inductive sensors to detect the earth s magnetic field With the data retrieved from an Orient3D heading pitch and roll can be computed The Orient3D can be used in analog mode which consists of three 0 5V outputs or in digital mode through an C bus When in digital mode you can daisy chain up to four Orient3Ds per microDig Fe port Since each microdig allows for four C ports you could end up with sixteen Orient 3D Orient3D internal X Y and Z sensor orientation 2 How it works Inside the Orient3D each axis sensor outputs a 2 s complement 16bit integer ranging from 32767 to 32768 depending on the magnetic field strength and of the axis orientation respect to the magnetic field lines Mathematically Sn M G cos
9. This mode is very useful for direction pitch and roll angle computing Heading arctan Sx Sy Pitch arctan S Sz Roll arctan Sy Sz In analog mode Orient3D will output three 0 5V analog signals one per axis based on the 10 least significant bits of above integers Doing the math An 5V Sn 512 1024 Where A is the analog output and 512 if Sn lt 512 Sn Sn if 512 lt Sns511 511 if Sn gt 511 Note If the analog outputs get saturated you should scale down the gain 3 Examples Note 1 These examples illustrate the behaviour of the x axis only in practice for each orientation all three axes could be computed Note 2 The strength of the field at the Earth s surface ranges from less than 30 microteslas 0 3 gauss in an area including most of South America and South Africa to over 60 microteslas 0 6 gauss around the magnetic poles in northern Canada and south of Australia and in part of Siberia Wikipedia Example 1 M 15uT G 31 24 Count uT 1 1 0 0 X sensor s axis is aligned to the magnetic field lines S M G cos 6 15uT 31 24 Count uT cos 0 468 0X01D4 Ax 5V Sx 512 1024 5V 468 512 1024 4 785V 1 2 0 60 Sx M G cos 0 15uT 31 24 Count uT cos 60 234 OX00EA A 5V Sx 512 1024 5V 234 512 1024 3 643V 1 3 0 90 X sensor s axis perpendicular to the magnetic field lines S M G cos 8 15
10. a returned by the Orient3D may need to be calibrated to the working location environment This should be done by the system processing the data The available Max MSP patch includes a calibration procedure See the I cubeX web page Also see Calibration pdf for more details on calibration 6 Orient3D IC commands If you are using a microdig as C master the following commands should be sent encapsulated with the PC WRITE and I C READ commands The Orient3D I C commands have a get or set register form The register s size may vary according to the data stored in it 6 1 C Command GET XYZ read register 0 whose size is 6 bytes The data received are the three X Y and Z 2 s complement 16 bit integers Example dec Send 240 125 0 DEV 127 C READ 0 address of I C device 0 f register 16 0 0 0 6 bytes to be read 247 Receive 240 125 0 DEV 127 IC READ 0 address of C device 0 6 register 16 0 0 0 6 bytes to be read 1 B 8 4 x 1284n 4660 15 HH 13 12 yY FEDCh 292 5 6 7 8 Z 5678h 22136 247 Example hex Send FOh 7Dh 00h DEV 7Fh I C READ 00h address of I C device 00h Oih register 16 0 0 06h bytes to be read F7h Receive FOh 7Dh 00h DEV 7Fh IC READ 00h address of IC device 00h 08h register 16 0 8 0 06h bytes to be read 01h OBh 08h 04h X 1234h OFh OBh ODh OCh Y FEDCh 05h 06h 07h 08h Z 5678h F7h 6 2
11. calibrate the microDig to give a full scale reading for each axis Set the scale factor dip switches to the highest value 2 Repeat the following procedure for all three axes 1 Align the sensor s axis to the north keeping it tangent to the earth surface ie horizontally flat looking for the maximum reading the closest to 5V if the reading gets saturated scale down the gain with the dip switches If necessary invert the signal 2 Without changing the direction away from north adjust the sensor s axis pitch looking for the maximum reading the closest to 5V if the reading gets saturated scale down the gain with the dip switches 3 The sensor is now aligned to the earth s magnetic lines 4 Without moving the Orient3D set the high threshold to get the maximum reading 5 Align the sensor axis to the south looking for the minimum reading the closest to OV if the reading gets saturated scale down the gain with the dip switches 6 Without moving the Orient3D set the low threshold to get the minimum reading Now you will get a value from 0 to 127 0 to 16383 in high resolution for each Orient3D axis according to their orientation in the earth magnetic field lines You can also do this in the Max MSP patch from the website If you are using the patch then simply use the editor to set the microdig to standalone mode and enable 3 inputs and set each one to output pitch bend messages 0 16383 9 Specifications
12. ent data Example hex Send FOh 7Dh 00h DEV 7Eh IC WRITE 00h address of IC device 00h OBh register 16 0 B 2 00h Offh SCALE FAC Offh F7h Receive echo of the sent data 6 4 C Command SET ADDRESS write register 3 whose size is 1 byte This byte sets the five most significant bits of the C address The value received will be masked ANDed with 0X7C then if the value is out of range the byte most significant bit and two least bits will be 0 This part of the address will be stored in non volatile memory Byte received x A7 A6 A5 A4 A3 xx amp Mask 01111100 0A7A6A5A4 A300 The final I C address is this result ORed with the values of dip switches 1 and 2 Address 0 A7 A6 A5 A4 A3 0 0 0 0 0 00 0 SW1 SW2 0 A7 A6 A5 A4 A3 SW1 SW2 This 1 C command is only available if it s the first command after power up thus preventing any unwanted 1 C address changes You can keep sending this command as long as no other command is send in between Note If this value is unknown or forgotten you won t be able to communicate by the device follow the procedure in the PC setup section to set these bits to 0 Example dec Send 240 125 0 DEV 126 C WRITE 0 address of I C device 0 8 register 16 0 8 3 1 6 ADDRESS 16 1 0 16 247 Receive echo of the sent data Example hex Send FOh 7Dh 00h DEV 7Eh IC WRITE 00h address of C device 00h 08h register 16 0 8 3 01h
13. uT 31 24 Count uT cos 90 0 0X0000 Ax 5V SX 512 1024 5V 0 512 1024 2 5V 1 4 0 120 Sx M G cos 0 15uT 31 24 Count uT cos 120 234 OXFF16 Ax 5V Sx 512 1024 5V 234 512 1024 1 357V 1 5 8 180 X sensor s axis is aligned to the magnetic field lines but in opposite direction S M G cos 0 15uT 31 24 Count uT cos 180 468 OXFE2C A 5V Sx 512 1024 5V 468 512 1024 0 215V Example 2 M 30uT G 62 48 Count uT 2 1 8 60 S M G cos 6 30uT 62 48 Count uT cos 60 937 OX03A9 Ax 5V SX 512 1024 5V 511 512 1024 4 995V saturated Example 3 M 30uT G 15 62 Count uT 3 1 0 60 Sx M G cos 8 30uT 15 62 Count uT cos 60 234 OX00EA Ax 5V Sx 512 1024 5V 234 512 1024 3 643V 4 Hardware description 4 1 Hack cable male connectors The Orient3D is powered through the 3D 3 channel Hack cable In C mode only the first two channels are needed For analog mode all three are needed 4 pin male connector Pin assignment in IC mode 1 power red 5V 7mA per Orient3D connected in daisy chain 2 i2c_data black input output open drain Rpullup 4k7 3 i2c_clock white input output open drain Rpullup 4k7 4 ground shield OV Pin assignment in analog mode 1 power red 5V 7MA 2 analog_x black output 0 5V Rout 2k2 3 analog_y white output 0 5V
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