FAS-G User Manual
Contents
1. 310 Hurricane Avenue Williston VT 05495 USA Phone 802 862 6629 Fax 802 863 4093 M F 8 30am 5 00pm EST Wwww imicrostrain com Software Installation FAS G Data Acquisition and Display Software Version 1 2 2 only supports FAS G firmware 2 0 00 and higher The software does not support previous versions of FAS G firmware System requirements To use FAS G Data Acquisition and Display software your computer must have the following minimum specifications Pentium Microprocessor Microsoft Windows 98 operating system 2 Edition CD ROM drive Video resolution 800 X 600 High Color 16 bit Minimum of 16MB of memory Minimum of 10MB of free hard disk space Microsoft compatible mouse Software installation Place the FASG Software CD ROM in your CD ROM drive and close the drive Double click lt My Computer gt on your desktop Double click the icon that represents your CD ROM drive Click the lt FASG Folder gt to highlight it Click lt Copy gt Using the drop down arrow in the Address box select your C drive Click lt Paste gt The FASG folder will copy from the CD ROM to your C drive When the FASG folder has completed pasting double click it Double click the lt Install folder gt Double click the lt Setup exe gt icon A Welcome to FASG Install Program screen will appear Click lt OK gt A Begin the Installation by Clicking the Button Below screen will appear Click lt Change Directory2. This will insure that all components hardware and software are working correctly Please follow these steps to complete initial layout e Place the FAS G unit on your desk as shown in figure 1 below e Insert the male DIN connector of the sensor cable into the FAS G e Connect the female RS 232 connector of the sensor cable into a serial cable connected or directly to a free serial port on your computer e Connect the power connector of the sensor cable to the power connector of the power supply e Plug the power supply into an 110VAC service The FAS G has no external on off switch and begins functioning whenever power is applied e Note When powering up the device should not be moving The device initializes a digital high pass filter on power up If the device is moving during power up the digital filter must be allowed to settle before accurate results can be obtained Settling normally takes about 10 seconds e Proceed to the Quick Start section below and follow the further instructions i POWER SUPPLY Quick Start When you have completed the instructions in the Software and Hardware Installation sections above proceed as follows Run Software Double click the FAS G Data Acquisition and Display software icon on your desktop The Main screen will appear Select Communications Port Go to Main screen Click lt Tools gt Click lt Comm Port
3. DB9 to DIN RS 232 cable Alternatively the user can write their own software for integration into their product or system The digital communications specification is included in the Appendix of the manual Analog The FAS G may be sampled via a DIN to tinned lead wires cable included in the developer s kit The developer should provide the appropriate analog analysis equipment which can be married to the FAS G using the color coding chart below Color Function Red V 6 5 12 VDC Black Ground White Gyro Compensated Output 0 360 degrees 0 4096 v Green Inclinometer Output 0 360 degrees 0 4096 v Vin _____ Angle Rate N Ska Ground T AgutT 2 2 Se Tile Aout0 Sk SL TXD sensor DETAIL A TRR Io RXD sensor SCALE 3 1 aS Auxillary Input NOTE The balance of the manual primarily deals with digital operation If you have further questions about analog operation please contact our support staff Unpacking your FAS G If you ordered an FAS G starter kit you should find the following items Qty Item Part 1 FAS G Sensor FAS G 1 Digital RS 232 Sensor Cable FAS A CBL PWR and Power Connector with 6VDC Power Supply 1 Analog Sensor Cable FAS A CBL ANALOG 1 CD ROM containing CD FAS G FAS G Data Acquisition and Display software Users Manual and Software Help Manual Note If an item is missing or damaged please immediately contact MicroStrain Support at info microstrain com or MicroStrain Inc
4. gt A Change Directory screen appears In the Directories box browse to find C FASG and click that folder so that the Path box above reads C FASG Click lt OK gt and you re back to the previous screen Click the big button to continue your install Follow any further installation instructions If certain files on your PC need updating you may have to re boot your PC during the install process and run the Setup exe again If Setup is successful you will receive a Successfully Installed message Handling a Path File access error You may receive an error message when you first run the software The error message will say Error 75 Description Path File access error This is caused sometimes when the files from the CD are copied to your hard drive The error is easily curable e Exit the FAS G application e Locate a file named FASGSettings ini contained in the directory C FASG Logs Highlight the file with your mouse Click your right mouse button A pop up window will appear Click the lt Properties gt menu item Another pop up window will appear Use your mouse to uncheck the lt Read only gt checkbox in the attributes section Click lt OK gt Re launch the FAS G application and the error will no longer occur Hardware Installation It is suggested that you initially layout the FAS G on your desktop before you proceed with installation of the system into your specific structure or environment
5. now continuously acquiring Ax and Ay bits data from the FAS G Physically rotate the FAS G around the axis specified below in a slow and deliberate manner keeping the FAS G surface flat against the vertical surface Spin about this axis over 360 degrees at least twice Keep the FAS G in this orientation GRAVITY Ax and Ay Calibration Orientation On the Calibration screen use your mouse in the Select frame to check ALL Click lt File gt then click lt Write gt Calibration values will be written to the FAS G A confirming message will appear Click lt OK gt You may now remove the FAS G from the surface Calibration is complete 11 Support Sales Technical and Corporate www MicroStrain Inc 310 Hurricane Lane Williston VT 05495 USA Phone 802 862 6629 Fax 802 863 4093 Email info microstrain com M F 8 30am 5 00pm EST www microstrain com 12 Appendix FAS G Specifications Data Files Samples Software User Interface Conventions Data Communication Protocol 13 FAS G Specifications Range A D Resolution D A Resolution output voltage Dynamic Compensation Angle Resolution Temperature Drift Nonlinearity Repeatability Accuracy Output Data Rate Analog Output Modes Digital Output Format Transmission Rate Supply Voltage Supply Current Single axis roll 360 degrees 12 bits 12 bits Closed loop digital control 0 to 50 Hz Roll lt 0 1 degrees angle
6. resolution specs taken at most aggressive filter setting static Single axis 0 025 deg C temperature specs represent 95 confidence intervals 0 23 full scale static 0 10 degrees Roll 1 0 degrees typical accuracy specs taken at constant ambient temp tested with known sine and step inputs including angular rates to 300 deg s 6 5535 ms update interval 152 6 Hz Gravity Inclination Angle 0 360 deg 0 4096 v Gyro Compensated Inclination Angle 300 deg sec max 0 4096v Angular Rate ax ay bits 0 5 v RS 232 serial see appendix for Data Communications Protocol 19200 bits sec 5 2 volts DC min 30 milliamps 14 Connector Operating Temperature Enclosure w tabs Shock limit 8 pin mini DIN mating connector available from MicroStrain or Digi Key P N CP 2080 ND or CUI Stack P N MD 80 40 to 85 deg Celsius 64 mm by 90 mm by 25 mm 2 5 by 3 5 by 1 0 1000g unpowered 500g powered 15 Data File Samples Sample of Angles Data File MicroStrain FAS G Data File Version 1 2 2 Date file created 11 12 01 Time file created 12 48 08 PM Time Seconds Uncomp Gyro 0 03 91 9 321 3 0 07 91 9 321 1 0 08 91 9 321 1 Sample of Bits Data File MicroStrain FAS G Data File Version 1 2 2 Date file created 11 12 01 Time file created 12 48 32 PM Time Seconds Gx Ax Ay Tick 0 01 2032 3910 2003 8145 0 03 2033 3909 2003 8149 0 05 2032 3909 2003 8152 Sample of Angles and Bits Data File Mi
7. G unique is not only its ability to measure static angles but also dynamic fast angular movements Through the use of the two accelerometers and one plezo ceramic gyro coupled with the requisite digital filtering and embedded software tracking algorithms FAS G provides dynamic response while maintaining the DC static measurement accuracy As a result during rapid angular movements both static and the dynamic components of movement can be measured This is not possible with conventional inclinometers based on fluidic electrolytes or DC response accelerometers GRAVITY How it works FAS G relies on the angular rate gyro to track dynamic angular position and on the two DC accelerometers to track static angular position The embedded microprocessor contains a unique control algorithm which performs the requisite dynamic compensation in real time Filter settings may be programmed for specific applications and reside in non volatile memory This provides a fast response in the face of vibration and quick movements and conversely the system does not drift when motion stops The compensated output is an easy to use digital signal or analog voltage Modes of operation The FAS G has two modes of operation being a digital RS 232 and b analog output proportional to calculated angle Digital Software is shipped with FAS G to collect view and save data digitally from the device The software manual is included with the developer kit as well as a
8. LIABLE FOR LOSS OF PROFITS OR ANY INDIRECT SPECIAL DIRECT OR CONSEQUENTIAL DAMAGES ARISING OUT OF ANY BREACH OF THIS WARRANTY OR IN ANY MANNER ARISING OUT OF OR CONNECTED WITH THE SALE LEASE LICENSE USE OR ANTICIPATED USE OF THE EQUIPMENT OR SOFTWARE NOT WITHSTANDING THE ABOVE LIMITATIONS AND WARRANTIES MICROSTRAIN S LIABILITY HEREUNDER FOR DAMAGES INCURRED BY CUSTOMER OR OTHERS SHALL NOT EXCEED THE AMOUNT PAID BY CUSTOMER FOR THE PARTICULAR EQUIPMENT OR SOFTWARE INVOLVED MicroStrain shall not be liable for any damages caused by delay in delivering or furnishing Equipment and or Software No action arising out of any claimed breach of this Warranty or transactions under this Warranty may be brought more than one 1 year after the cause of action has accrued or more than two 2 years after the date of the MicroStrain invoice for the Equipment or Software whichever first occurs SOFTWARE LICENSE MICROSTRAIN grants to CUSTOMER a non exclusive paid up license to use one copy of the MicroStrain Software on one computer subject to the following provisions Except as otherwise provided in this Software License applicable copyright laws shall apply to the Software Title to the medium on which the Software is recorded or stored ROM is transferred to CUSTOMER but not title to the Software CUSTOMER may use Software on a multi user or network system only if either the Software is expressly labeled to be for use on a multi user or
9. MAN FASGUser122 Ver 1 Preliminary FAS G User Manual Firmware version 2 0 00 Software version 1 2 2 Gyro Enhanced Inclinometer Copyright by MicroStrain Inc 2001 2002 294 North Winooski Avenue Burlington VT 05401 USA Phone 802 862 6629 Fax 802 863 4093 Email info microstrain com www microstrain com Table of Contents e Overview e Unpacking your FAS G e Software Installation e Hardware Installation e Quick Start e Calibration e Support e Appendix FAS G Specifications Data File Samples Software User Interface Conventions Data Communication Protocol O OOO e License Agreement Copyright Information and Warranty FAS G Overview Introduction Conventional inclinometers or analog tilt sensors typically exhibit a slow response and cannot be used to track dynamic angular motion Angular rate sensors can be used to measure fast rotations but they suffer from significant drift and error accumulation over time Inertial measurement units IMU s can be used to overcome these limitations but these are relatively large and expensive There is a need in a wide variety of applications to provide a small low cost dynamic and static angular position sensor MicroStrain has developed a new solid state dynamic and static inclinometer called FAS G Employing micro electromechanical MEMs sensors FAS G consists of a combination of two low pass filtered accelerometers and one piezo ceramic gyro What makes FAS
10. SB to an integer use this formula Gyro Angle data MSB 256 LSB Uncompensated and Gyro are the same To convert Angle data to Angle degrees use this formula Angle degrees Angle data 360 65536 Both angles use same formula 19 Send Bits Data command Function Command Response Data Notes To request current accelerometer gyro and ticks data from the FAS G 0x98 9 data bytes defined as follows 0x98 Gyro MSB Gyro LSB Accelerometer X MSB Accelerometer X LSB Accelerometer Y MSB Accelerometer Y LSB Ticks MSB Ticks LSB To convert MSB and LSB to an integer use this formula Gyro data MSB 256 LSB Accelerometer X Accelerometer and Ticks are the same Ticks is measure of the number of ticks since the system started it rolls over to 0 after each 65535 is reached Read Internal Non Volatile Memory command Function Command Delay Memory Location Response Notes To read the value in an EEPROM location of the FAS G 0x66 Delay Memory Location 100 millisecond interval between the sending of the 0x66 and the Memory Location 1 byte integer between 2 and 254 representing an EEPROM location see FAS G Memory Location Map for details 2 data bytes defined as follows Value MSB Value LSB To convert MSB and LSB to an integer use this formula Value MSB 256 LSB 20 Capture Bias command Function Command Delay Notes To capture bias on board t
11. a period not to exceed two 2 years MICROSTRAIN makes no warranty as to the design capability capacity or suitability for use of the Software except as provided in this paragraph Software is licensed on an AS IS basis without warranty The CUSTOMER S exclusive remedy in the event of a Software manufacturing defect is its repair or replacement within thirty 30 calendar days of the date of the MicroStrain invoice received upon license of the Software The defective Software shall be returned to MicroStrain along with the invoice Except as provided herein no employee agent franchise dealer or other person is authorized to give any warranties of any nature on behalf of MICROSTRAIN EXCEPT AS SPECIFICALLY PROVIDED HEREIN MICROSTRAIN MAKES NO EXPRESS WARRANTIES NOR ANY IMPLIED WARRANTIES OF MERCHANTABILITY 22 OR FITNESS FOR A PARTICULAR PURPOSE LIMITATION OF LIABILITY EXCEPT AS PROVIDED HEREIN MICROSTRAIN SHALL HAVE NO LIABILITY OR RESPONSIBILITY TO CUSTOMER OR ANY OTHER PERSON OR ENTITY WITH RESPECT TO ANY LIABILITY LOSS OR DAMAGE CAUSED OR ALLEGED TO BE CAUSED DIRECTLY OR INDIRECTLY BY EQUIPMENT OR SOFTWARE SOLD LEASED LICENSED OR FURNISHED BY MICROSTRAIN INCLUDING BUT NOT LIMITED TO ANY INTERRUPTION OF SERVICE LOSS OF BUSINESS ANTICIPATORY PROFITS INCIDENTIAL SPECIAL DIRECT INDIRECT OR CONSEQUENTIAL DAMAGES RESULTING FROM THE USE OR OPERATION OF THE EQUIPMENT OR SOFTWARE IN NO EVENT SHALL MICROSTRAIN BE
12. croStrain FAS G Data File Version 1 2 2 Date file created 11 12 01 Time file created 12 48 52 PM Time Seconds Uncomp Gyro Gx Ax Ay 0 03 91 9 210 6 2033 3909 0 05 91 9 210 6 2032 3908 0 07 91 9 210 5 2033 3904 Sample of Scaled Sensor Data File MicroStrain FAS G Data File Version 1 2 2 Date file created 12 10 01 Time file created 2 43 03 PM Time Seconds AxG AyG GValue 0 01 0 551758 0 813232 275 75 0 04 0 459229 0 881836 94 5 0 06 0 453125 0 847168 43 0 08 0 449219 0 800537 329 5 2002 2002 2002 16 Pot 65312 65312 65312 Tick 1095 1095 1096 Software User Interface Conventions 17 Data Communication Protocol Host Computer to FAS G Overview This section codifies the communication protocol between an FAS G and a host computer Utilizing these protocols the host computer can acquire angles or bits data from the FAS G read and write to its on board memory and capture bias Armed with these protocols FAS G users can write their own applications in any number of programming environments Physical Cabling Review the Hardware section of this manual to confirm the RS 232 connection between the FAS G and the host computer RS 232 Host Signals Definition Signal Name Direction Function TxD Transmit Data Host to FAS G Asynchronous Serial Data from Host RxD Receive Data FAS G to Host Asynchronous Serial Data to Host GND Signal Ground N A Signal Ground Reference RS 232 Host Computer Settings Bau
13. d 19200 Parity N one Data Bits 8 Stop Bits 1 Protocol Notes e Commands are generated by the host computer and responses are generated by the FAS G e All commands and all responses have a fixed number of bytes e The FAS G will not generate unsolicited data e The programmer should be aware that communication delays albeit a few milliseconds must be considered at the application level Care should be taken to allow sufficient delay between the issuance of successive host computer commands so that commands do not run together and therefore become interpreted by the FAS G as one command Likewise if a host computer command which returns an FAS G response is issued care must be taken to retrieve the actual response from the communications buffer without truncation or concatenation of preceding or following responses e MSB Most Significant Byte LSB Least Significant Byte e An FAS G Memory Location Map is available upon request 18 Command Table Base Command 0x95 0x98 0x6C 0x66 0x65 Definition Send Angles Data Send Bits Data Capture Bias Read Internal Non Volatile Memory Write Internal Non Volatile Memory Send Angles Data command Function Command Response Data Notes To request current angles data from the FAS G 0x95 5 data bytes defined as follows 0x95 Uncompensated Angle MSB Uncompensated Angle LSB Gyro Compensated Angle MSB Gyro Compensated Angle LSB To convert MSB and L
14. d any manufacturer of the Equipment sold by MicroStrain Inc 24
15. ements of CUSTOMER CUSTOMER assumes full responsibility for the condition and effectiveness of the operating environment in which the Product functions and for the Product s installation MICROSTRAIN INC a Vermont corporation MicroStrain is the supplier of the Product which is the subject of this Warranty and License Agreement LIMITED WARRANTIES AND CONDITIONS OF SALE For a period of one hundred eighty 180 calendar days from the date of the MicroStrain invoice received upon acquisition of the Product MicroStrain warrants to the original CUSTOMER that the Product and the medium upon which the Software is stored is free from manufacturing defects This warranty is only applicable to acquisitions of MicroStrain Products by the original customer from MicroStrain The warranty is void if the Product has been subjected to improper or abnormal use If a manufacturing defect is discovered during the stated warranty period the defective Product must be returned to MicroStrain for repair or replacement in the discretion of MicroStrain along with a copy of the invoice The original CUSTOMER S sole and exclusive remedy in the event of a defect is limited to the correction of the defect by repair or replacement at MicroStrain s election and sole expense MicroStrain has no obligation to replace or repair expendable items MicroStrain warrants to the original CUSTOMER that spare parts for Equipment purchased will be available from MicroStrain for
16. gt The Communication Port screen will appear Using your mouse click the radio button representing the serial port that you connected to the FAS G e Click lt OK gt to set the communication port and return to the Main screen Test FAS G in Display Angles Dials e Go to Main screen Click lt Display gt Click lt Angles Dials gt The Angles Dials screen will appear Click lt File gt Click lt Sample gt A check will occur to the left of the menu item indicating sampling is in progress e The application will begin sampling the FAS G and continuously display its Uncompensated and Gyro Compensated angles Congratulations You re off and running Refer to the Help file to discover all the functions that FAS G Data Acquisition and Display software provides You are also welcomed to contact our technical support staff on any matter at info microstrain com 10 Calibration Background This option will allow the user to run a calibration routine on the FAS G accelerometers if required Note The FAS G is shipped calibrated and normally does not need to be recalibrated Calibration in the field must be coordinated with the factory Calibrating Accelerometers Physically place the FAS G in the orientation shown below in figure below Use a vertical surface that is flat and is perpendicular 90 degress to the floor On the Calibrate screen click lt File gt then click lt Read gt You will notice that the computer is
17. he FAS G Delay Ox6C Delay 100 millisecond interval between the sending of the 0x66 and the Memory Location Delays are issued to place an interval between the capture bias command and preceding or following commands Write Internal Non Volatile Memory command Function Command Delay Memory Location Value MSB Value LSB Response Notes To write a value to an EEPROM location of the FAS G 0x65 Delay 0x71 Memory Location Value MSB Value LSB OxAA 100 millisecond interval between the sending of the 0x65 and the Ox71 1 byte integer between 2 and 254 representing an EEPROM location see FAS G Memory Location Map for details Value 255 Value And 255 2 data bytes defined as follows Memory Location MSB Memory Location LSB To convert MSB and LSB to an integer use this formula Value MSB 256 LSB 21 License Agreement Copyright Information and Warranty TERMS AND CONDITIONS OF SALE AND LICENSE OF MICROSTRAIN EQUIPMENT AND SOFTWARE PURCHASED OR ACQUIRED FROM MICROSTRAIN AND MICROSTRAIN DEALERS AT THEIR AUTHORIZED LOCATIONS LIMITED WARRANTY and SOFTWARE LICENSE AGREEMENT CUSTOMER OBLIGATIONS CUSTOMER assumes full responsibility that this hardware purchased the Equipment and any copies of software included with the equipment or licensed separately the Software collectively the Product meets the specifications capacity capabilities versatility and other requir
18. network system or one copy of this software is purchased for each node or terminal on which Software is to be used simultaneously CUSTOMER shall not use make manufacture or reproduce copies of Software except for use on one computer and as is specifically provided in this Software License Customer is expressly prohibited from disassembling or reverse engineering the Software CUSTOMER is permitted to make additional copies of the Software only for backup or archival purposes or if additional copies are required in the operation of one computer with the Software but only to the extent the Software allows a backup copy to be made 23 CUSTOMER may resell or distribute unmodified copies of the Software provided CUSTOMER has purchased one copy of the Software for each one sold or distributed The provisions of this Software License shall also be applicable to third parties receiving copies of the Software from CUSTOMER All copyright notices shall be retained on all copies of the Software APPLICABILITY OF WARRANTY The terms and conditions of this Warranty are applicable as between MICROSTRAIN and CUSTOMER to either a sale of the Equipment and or Software License to CUSTOMER or to a transaction whereby MicroStrain sells or conveys such Equipment to a third party for lease to CUSTOMER The limitations of liability and Warranty provisions herein shall inure to the benefit of MICROSTRAIN INC the author owner and or licensor of the Software an
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