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SMC IMU User Guide - Ship Motion Control

1. 1 1 Input 1 GPS Heading input 089 RS232 1 4800 8N1 2 GPS Compass Input 1 RxD to Terminal 17 Input 2 TxD to Terminal 18 TE TCC120 Ground to Terminal GPS or Heading input 1 R D R D 3 DB9 RS232 GPS Compass Input 2 4800 8N1 RxD to Terminal 19 T T Le TxD 200 0 2 al T4 Ground to Terminal iwa Hek Adam 4024 2 D Vout2 1 D k T 2 no WHH BKH 12VDC 110 220VAC WHH N HOR BKH PSU He R L ed 110 220 VAC BL kopp L SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 8 4 IMU XXX ANALOG CURRENT 4 20MA OUTPUTS IMU xxx analog output Analog JB Motion Sensor Analog Channel 1 4 20mA 2 Analog Channel 2 4 20mA Analog Channel 3 4 20mA DB9 RS232 115 200 IMU Motion Sensor Input 1 GPS Heading input DB9 RS232 4800 8N1 GPS Compass Input 1 RxD to Terminal 17 TxD to Terminal 18 Ground to Terminal
2. SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 1 SMC STANDARD PROTOCOLS SMC Standard This is a NMEA 0183 based compatible string 5 2 2 SMCA Data Frame S PSMCA xx xxx tyy yyy thh hh ss ss tww ww lt CR gt lt LF gt Example SPSMCA 00 089 00 888 00 04 00 20 00 10 Note For the SMCA protocol to run at a Data Output Rate Frequency of 100Hz the sensor bitrate must be set at a minimum of 38400 To run the sensor at a Bit Rate of 19200 the data Output Rate frequency needs to be below 53Hz Failure to do this may result in problems with the output data Note During startup roll pitch and heave is output as 123456 Start Characters SPSMCA Roll Angle xx xxx 100 degrees Resolution 0 001 ve port up Pitch Angle yy yyy 100 degrees Resolution 0 001 ve bow down Heave hh hh 10m Resolution 0 01m Surge 55 55 10m Resolution 0 01m Sway ww ww 10m Resolution 0 01m Termination Characters lt CR gt lt LF gt SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 3 SMCB Complete output of all available internal values Data Frame SPSMCB xx xx tyy yy 22z z Xv xv tyv yv zv zv GG GGG HH HHH Il Il ss ss tww ww thh hh s v sv tsw sw thv hv ax axa tay aya taz aza Note A very long protocol it does not work at 100Hz use 70Hz or below at 115200 baud Description Form Start Characters SPSMCB Roll A
3. SHIP MOTION CONTROL SMC IMU User Guide SMC IMU User Guide v23 docx Index SMC Ship Motion Control Notice The information in this User Guide is subject to change without notice 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 shipmotion eu Web www shipmotion eu Tel 46 8 644 50 10 SMC IMU User Guide v23 docx Index SMC Ship Motion Control TABLE OF 5 1 2 3 4 INTRODUCTION 1 1 1 ONS cess rec cant she PEE 2 SYSTEM DESCRIPTION o po Ya En o Y REPRE OA ENO 3 2 1 MOVEMENT COORDINATE 5 5 2 4 STORAGE AND UNPACKING uuu ull ly LEEREN EE ERC 6 INSTALLATION ecc 7 4 1 LOCATION 7 4 2 MOUNTING INSTRUCTIONS c ccesscesssecssseecseeeecsaecessaecseseecaeeessueeseseeceeeeessaessessecseeecsaesesaeeseaeeeenees 8 4 2 1 IMU MOUNTING BRACKET OPTIONAL 0 4 4 0 40 0 9 4 9 ALIGNMENT eent 10 4 4 DECK MOUNTED MOUNTED ON HORIZONTAL SURFACE eene nennen nnns 10 45 SIDEWAYS MOUNTING u cocer roti at
4. 0 Position Angle Offset Distance m Rotation Telescopic 1 0 00 0 00 Counter clockwise 2 000 0 00 Counter clockwise A 3 0 00 0 00 Counter clockwise F 4 0 00 0 00 Counter clockwise Set 5 0 00 0 00 Counter clockwise Set SMC IMU User Guide v23 docx Index SMC Ship Motion Control IMU not mounted on the crane base If the IMU is not mounted on the crane the single notch of the motion sensor base should point towards the bow Mount the IMU as close as possible to the crane base to optimize the remote heave output The remote distance between the crane base and the IMU should be entered in the Remote Heave boxes under the crane tab The fields are marked as Remote Heave X Remote Heave Y and Remote Heave Z in the below figure The units are in meters Crane Base g 8 2 S lt Crane Base Remote heave X is the fore aft distance in meters between the IMU and the crane base Where 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 5 located to the starboard side of the crane base Remote heave 2 is the vertical distance in meters between the IMU and the crane base Where positive distance represents that the motion sensor is located below the crane base
5. Sensor Connector Cable Colour Sensor Function DB9 to PC Converter 3 Brown RS422 TxD 3 4 Orange RS422 TxD 4 5 Green RS422 RxD 1 6 Purple RS422 RxD 2 11 Grey Supply Voltage 5 12 Pink Supply Voltage 12 30 Vdc 4 7 3 IMU SURFACE UNITS INPUT CONNECTIONS RS232 Serial Input 1 Connections DB9 Connections Sensor Connector Cable Colour Sensor Function DB9 to PC Converter 7 Yellow RS232 RxD 3 8 Transparent RS232 TxD 2 11 Grey Supply Voltage 5 12 Pink Supply Voltage 12 30 Vdc RS232 Serial Input 2 Connections DB9 Connections Sensor Connector Cable Colour Sensor Function DB9 to PC Converter 9 Black RS232 RxD 3 10 Blue RS232 TxD 2 11 Grey Supply Voltage 5 12 Pink Supply Voltage 12 30 Vdc SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 7 4 IMU 30 DEPTH RATED UNIT RS232 Output Connections DB9 Connections Sensor Connector Cable Colour Sensor Function DB9 to PC Converter 1 Black RS232 RxD 3 2 White RS232 TxD 2 11 Blue Black Supply Voltage 5 12 Black White Supply Voltage 12 30 Vdc Sensor Connector Cable Colour RS422 Output Connections DB9 Connections Sensor Function DB9 to PC Converter 3 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 12
6. 27 IMU CONFIGURATION GUIDE 222 SE n Eau ERES 28 5 1 IMU CONFIGURATION SOFTWARE V3 3 7 60 28 5 1 1 DEFAULT SETTINGS AT 29 5 1 2 SETTINGS Sau uqapas has hua antennes dates re sitha ss 30 5 2 EE 32 5 2 1 SMC STANDARD PROTOCOLS 33 5 2 2 SINICA EE 33 5 2 3 SMCB M 34 5 2 4 uso 35 5 2 5 jupe sana au 35 SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 6 SIVIGE 36 5 2 7 SM F nes Aviles hans k 36 5 2 8 ju scm De 36 5 2 9 EE 37 52 10 DEE 37 E Ne EE 38 52 12 SMER nai Anais Ne Sheed a HAR AIR Ae 38 5 2 13 SMCS sacha sie LEE 38 E Ee EE 39 Ee Ne DEE 39 5216 e 40 Ek gf e RE A0 LAC MEL E 40 5 2 19 E 41 52 20 EES eked Rede 41 5 2 21 DIGILOG OCEAN 5 u dee aee 42 5 2 22 HYDROGRAPHIC 42 5 2 23 CDL MICROTILT EE 42 Bi2 CR e KEE 42 EE 43 552526 43 KEE KEE 44 52 28 asua 44
7. 100 degrees Resolution 0 001 ve port up Pitch Angle yy yyy 100 degrees Resolution 0 001 ve bow down Termination Characters lt CR gt lt LF gt 5 2 15 SMES Data Frame SPSMCS xx xxx tyy yyy thh hh Example SPSMCS 00 089 00 888 00 04 Note For the SMCS protocol to run at an Data Output Rate Frequency of 100Hz the sensor bit rate must be set at a minimum of 38400 To run the sensor at a Bit Rate of 19200 the Data Output Rate Frequency needs to be below 53 Failure to do this may result in problems with the output data Start Characters Description Form SPSMCS Roll Angle xx xxx 100 degrees Resolution 0 001 ve port up Pitch Angle yy yyy 100 degrees Resolution 0 001 ve bow down Heave hh hh Heave 100m Resolution 0 01m Termination Characters lt CR gt lt LF gt SMC IMU User Guide v23 docx SMC Ship Motion Control 5 2 14 5 Data Frame SPSMCT YYYY MM DD HH MM SS SS xx xx tyy yy thh hh Note This protocol will only be available in specially requested code versions Description Form Start Characters SPSMCT Year YYYY Month MM 1 12 Day DD 1 31 Hour HH 0 23 Minute MM 0 59 Second SS SS 0 59 99 Roll Angle xx xx 100 degrees Resolution 0 01 ve port up Pitch Angle yy yy 100 degrees Resolution 0 01 ve bow down Heave hh hh Heave 100m Resolution 0 01 m
8. 5 2 17 TCM2 Data Frame 5 0 0 1 88 0 5 0 00 0 0020 00 0 0 000 29 Start Characters SCO Pitch P Pitch Angle 100 degrees Resolution 0 1 ve bow down Roll R Roll Angle 100 degrees Resolution 0 1 ve port up X field UT micro Tesla Y field UT micro Tesla Z field UT micro Tesla Temperature C Distortion flag E001 if a magnetic anomaly is nearby Checksum xx lt CR gt lt LF gt 5 2 18 TRA Data Frame SPHTRH 0 00 M 0 00 B0 00 0 14 Description Start Characters Form SPHTRH Pitch 100 degrees Resolution 0 1 ve bow down PorM P Positive M Negative Roll 100 degrees Resolution 0 01 ve port BorT roll to starboard T roll to port Heave m s upwards downwards acceleration Checksum SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 19 TRO Data Frame SPHTRO 0 00 M 0 00 B 5B Description Form Start Characters SPHTRO Pitch 100 degrees Resolution 0 1 ve bow down PorM P Positive M Negative Roll 100 degrees Resolution 0 01 ve port up BorT B roll to starboard T roll to port Checksum 5 2 20 Data Frame 0000 0000 0000 Start Characters Description Form H0000 Pitch ve bow down Roll ve port up SMC IMU User Guide v23 docx Index SMC Ship Motion Control
9. SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 6 5 SETTING ANGLE OFFSETS In the Crane tab angles and offsets can be set Positions 1 to 5 represent encoder values Encoders measure angle and distance The offset information is entered in the column labelled Angle offset For Position 1 Angle Offset the yaw encoder marked as 1a in the crane drawing the offset has its reference position aligned with the vessel for fore aft line Encoder1 angles are seen from above When the crane is pointing to the Fore of the vessel the encoder should display 0 degrees Starboard side the encoder should display 90 degrees angle Port side the encoder value should be 270 degrees or 90 degrees if the default clockwise rotation is being used The offset settings can be done either in the PLC or by entering the offset value in the SMC configuration software Position 1 Distance m encoder the height of the first node from the crane base is entered it is marked as 1 in the below crane image For the encoders 2 3 4 and 5 the angle is relative to the previous leg measurement of the crane This means that when there is no angular difference between the crane leg 2 and 3 the encoder angle 3a has a O angle The encoder angles are illustrated as 2a and in the crane drawing above SMC IMU User Guide v23 docx Index SMC Ship Motion Control Encoder 2 3 4 and 5 rotations are seen from the starboard side of the crane Clockwis
10. Permanent damage to the motion sensor may occur if power is applied to the digital connections It is important to check the power connections by measuring the voltage at the connector prior to the motion sensor being connected Damage resulting from incorrect connection is not covered by the warranty SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 7 1 SERIAL RS232 AND RS422 INTERFACE CONNECTION GUIDE The IMUs are equipped with both an RS422 and RS232 interface The tables below show the configuration information for the IMU power and communication pairs The motion sensor is at all times communicating over both RS232 and RS422 and no configuration is needed inside the motion sensor The IMU can supply data output on both the RS232 and RS422 interfaces at the same time However only one data string output format protocol can be used for both outputs As a default there is one cable interface into the junction box Below are tables for RS232 and RS422 connections The DB9 connector should have the configuration in the tables below SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 7 2 IMU SURFACE UNITS OUTPUT CONNECTION CABLING RS232 Connections DB9 Connections Sensor Connector Cable Colour Sensor Function DB9 to PC Converter 1 White RS232 RxD 3 Red RS232 TxD 2 11 Grey Supply Voltage 5 12 Pink Supply Voltage 12 30 Vdc RS422 Connections DB9 Connections
11. hundredths of Heave HH 0 01 Signed hex 32767 32766 cm Heading YY 0 01 degrees Unsigned hex 0 35999 hundredths of SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 39 BOSCH HEXADECIMAL HEAVE Data Frame bytes SSMCHHVVAA lt CR gt lt LF gt Contains 12 bytes Note When the IMU is settling roll pitch and heave will be Description Bytes Form Header 4 SSMC Heave HH 2 Signed 16 bit range 32767 mm to 32766 mm Positive when elevated Heave velocity VV 2 Signed 16 bit range 32767 mm s to 32766 mm s Heave acceleration AA 2 Signed 16 bit range 32767 mm s to 32766 mm s Termination characters 2 lt CR gt lt LF gt 0x15 12 5 2 40 BINARY STRING 1 Data Frame 15 bytes 5 2 41 BINARY STRING 2 Data Frame 15 bytes Description Bytes Hex Form Header 32 bits 4 0x01 SOH OxOD Start of header Byte Message length 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 Ox00 Valid OxO1 OxFFzInvalid Roll invalid Invalidity byte flag Ox00 Valid OxO1 OxFFzInvalid Footer EOM 4 End of Message Pitch Roll Value
12. 00 35 348 3 00 00 35 4348 3 00 95 00 35 4348 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 4 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 01 00 00 00 00 00 01 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 02 00 00 00 00 00 00 02 00 00 00 00 00 00 02 00 00 00 00 00 00 02 00 00 00 00 00 00 02 00 00 00 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
13. 2 3 5 h GPS Compass Input 2 Input 2 RxD to Terminal 19 TCCi20 GPS or Heading input TD to Terminal 20 Ground to Terminal R D DB9 RS232 RJD 4800 8N1 T T T Adam 4024 D lout2 0 lout2 T lout0 lout0 12 00 110 220 WHAT N BK PSU RJL 271 110 220 VAC BL i 4 8 5 IMU XXX JUNCTION BOX WITHOUT POWER SUPPLY AND SERIAL INPUT RS232 cable winded up inside JB 089 RS232 1551 9600 8N1 2 IMU 3 Motion Sensor JB 5 Motion Sensor emm wHt 1 a 7 089 5422 7551 HRD 2 9600 8N1 3 5 1 1 4 4 4 Lote Ler s Heu e H 2 1 Lata 7 1 5 E 8 5 Cr 1 Gees I 12 24 VDC DENON i SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 IMU CONFIGURATION GUIDE 5 1 IMU CONFIGURATION SOFTWARE V3 3 7 60 After the motion sensor has been mounted correctly the SMC IMU Configuration software can used to set up the Motion sensor configuration and communication parameters according to the user requirements The settings made in the IMU Configurati
14. 5 2 21 DIGILOG OCEAN TOOLS Data Frame SHhhhhP ppppR pppp Digilog SHhhhhP ppppR pppps Ocean Tools Example H0014P 0030R 0024E Ocean Tools Heading designator H Heading 10 hhhh 0 3599 10 Pitch designator P Pitch Angle 100 pppp 9999 100 Resolution 0 01 ve port up Roll Designator R Pitch Angle yy yyy 9999 100 Resolution 0 01 ve bow down Status character 5 only Ocean Tools E S valid compass yes no Termination Characters lt CR gt lt LF gt 5 2 22 HYDROGRAPHIC PROTOCOLS Note ATLAS protocol is found under binary protocols 5 2 23 CDL MICROTILT Data Frame Pitch designator P Pitch Angle yy yy 100 degrees Resolution 0 01 ve bow down Roll designator R R Roll Angle xx xx 100 degrees Resolution 0 01 ve port up Termination Characters lt CR gt lt LF gt 5 2 24 CDL1 Data Frame Hzzz zPyy yyRxx xxs Heading designator H H Heading zzz z Yaw 0 359 9 Resolution 0 1 Pitch designator P P Pitch Angle yy yy 100 degrees Resolution 0 01 ve bow down Roll designator R R Roll Angle xx xx 100 degrees Resolution 0 01 ve port up Ending string s Gives O for not available T00 0D0000 00B00 0A00WO00LNOOFO values 30 characters Termination Characters lt CR gt lt LF gt SMC IMU User Guide v23 docx Index SMC Ship Motion Control
15. 5 2 25 1551 155 Proprietary protocol with Heave Note For the TSS1 protocol to run at a Data Output Rate Frequency of 100Hz the sensor bit rate must be set at a minimum of 38400 To run the sensor at a Bit Rate of 19200 the Data Output Rate Frequency needs to be below 58Hz Failure to do this may result in problems with the output data Note When settling in addition to having the status flag U roll pitch and heave will be 0 Data Frame XXAAAA 5 or HHHH U or RRRR S or Description Form Start Character LSB Header Hex value Space Positive or negative ve bow up Pitch Hex value Status flag U Positive or negative ve port up Roll Hex value Space Positive or negative Negative heave downwards Heave Hex value 5 2 26 TSS3 Start Character LSB lt CR gt lt LF gt Termination Characters Value prefix Remote Heave space if positive minus if negative hhhh Space Character 5 Value prefix space if positive minus if negative Heave Hex value Status Flag Q Value prefix space if positive minus if negative Roll RRRR Hex value Space Character 5 Value prefix space if positive minus if negative Pitch PPPP Hex value Termination Characters lt CR gt lt LF gt SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 27 RDID Data Frame SPRDID
16. 5 2 29 ANALOGL 0 5m 10V EE 45 5 2 30 1062 10 DEGREES 10 a 8 45 5 2 31 ANALOG3 30 DEGREES 10 uuu uum am eee 46 5 2 32 1064 0 20 DEGREES 4 20 46 5 2 33 ANALOGS 60 DEGREES 4720 46 5 2 34 t5m 4 20 milliatmips 47 5235 47 5 2 36 BINARY PROTOCOLS eget 48 5 2 37 ATEAS HYDROGRAPHIGC tov ie pe abet eee 48 5 2 38 SIMRAD 1000 amp EM 2000 48 5 2 39 BOSCH REXROTH HEXADECIMAL 49 52 40 BINARY STRING 2 RE D 49 5 241 BINARY STRING 2 uy uu e ederet Saa oe abite eee Reie 49 5 3 CHARTS RP 50 5 4 RECEIVED DATA Am RE ne Soe 51 5 5 SERIAL INPUT ese dee 52 5 5 1 AIDING GPS AND SPEED OG ua u 53 5 5 2 HEADING INPWT irene nai Ete eee Se Eed 53 5 5 3 VESSEL TURNS 54 5 6 ioi dee ie c De eme Eege 55 5 6 1 REMOTE lmnvil 56 5 6 2 CENTER OF GRAVITY CG LEVER ARM 57 5 6 3 AHC ACTIVE HEAVE COMPENSATIONJ 58 5 6 4 SETUP OF CR
17. 95232 7 711 4800 1 RDK 8 8 F 2 GPS Compass Input 1 a n G Lenk 9 9 H 3 4 RxD to Terminal 7 d TxD to Terminal 8 LOR BK 102 10 2 Ground to Terminal I NEROS TUN GPS Compass Input 2 I r BL L RxD to Terminal 9 I TxD to Terminal 10 Ground to Terminal Input 2 GPS Heading input L RS232 CJ 110 220 VAC BL N LOR 4800 8N1 he ben IMU Motion Sensor JB ust Senso 1 1 e WH 2 2 2 rD GN 4 4 or 5 5 BL 6 6 5 11 Input 1 BKWH 12 1 GPS Heading input I WH BK 7 7 3 mens C du l 4800 8N1 8 8 2 GPS Compass Input 1 lt lt 9 9 H 3 4 RxD to Terminal 7 J TxD to Terminal 8 LOR BK 104 10 2 Ground to Terminal 1 E TVR GPS Compass Input 2 8 L Ac pc RxD to Terminal 9 TxD to Terminal 10 PSU N Ground to Terminal Input 2 GPS Heading input r BR L eL 1 95232 C 110 220 BL N f 4800 8N1 env mmm 4 8 3 IMU XXX ANALOG VOLTAGE OUTPUTS IMU xxx analog output Analog JB Motion Sensor Analog Channel 1 10V 1 1 Analog Channel 2 10V 29 Analog Channel 3 10V ail 42 5 3 DB9 RS232 s 115200 8N1 CJ 7 8 IMU 9 Motion Sensor 10
18. Contact SMC if clarification is required 4 5 1 TOP OF THE IMU POINTING TO THE BOW When the IMU top where the connector is located is pointing to the Bow of the vessel the single notch should be pointing horizontally to Starboard In the SMC setup software IMU top to the Bow must be selected Single Notch Pointing to Starboard IMU Connector Pointing to the Bow SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 5 2 TOP OF THE IMU POINTING THE STARBOARD When the IMU top where the connector is located is pointing to the Starboard of the vessel the single notch should be pointing horizontally to the Stern In the SMC setup software IMU top to the Starboard must be selected IMU Connector Pointing to Starboard Single Notch Pointing to the Stern 4 5 3 OF THE IMU POINTING AT THE STERN When the IMU top where the connector is located is pointing to the Stern of the vessel the single notch should be pointing horizontally to Port In the SMC setup software IMU top to the Stern must be selected IMU Connector Pointing to the Stern Single Notch Pointing to Port SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 5 4 TOP OF THE IMU POINTING TO THE PORT When the IMU top where the connector is located is pointing to the Port of the vessel the single notch should be pointing horizontally to the Bow In the SMC setup software IMU top to the Port must be selected IMU Connec
19. Remote heave for Crane operations AHC Remote Heave Center of Gravity Lever Arm Filter remote heave for relative zero position Center of gravity X m Remote Heave X m Set Center of gravity Y m Remote Heave Y Center of gravity 2 0 Remote Heave 2 0 Set Inactivate remote heave Inactivate remote heave SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 6 1 REMOTE HEAVE The remote heave function calculates the heave and the heave velocity output of the IMU in its physical location relative to a remote location The setup of the remote heave is in the remote heave tab Remote Heave Remote Heave X Measuring Point Measuring Point o 2 2 5 a Remote heave X is the fore aft distance in meters between the IMU and the remote heave point Where a positive distance represents that the motion sensor is located aft of the desired measurement point Remote heave Y is the sideways distance in meters between the IMU and the remote heave point Where a positive distance represents that the motion sensor is located to the starboard side of desired measurement point Remote heave 2 is the vertical distance in meters between the IMU and the remote heave point Where a positive distance represents that the motion sensor is located below the desired measurement point As the remote heave calculation is a co
20. Sway is the linear motion along the pitch axis where a positive sway is in the port direction The surge and sway calculation is attained by a double integration of the horizontal acceleration The horizontal position is filtered with a high pass filter The dynamic horizontal linear measurement is a relative position and cannot be used for a static horizontal position measurement Center of Gravity Centre of gravity CG is the mass center of a vessel X axis Roll axis The X axis is the bow stern axis in the vessel Rotation in the X axis will generate a roll motion where a positive rotation is port side up Y axis Pitch axis The Y axis is the port starboard axis in the vessel Rotation in the Y axis will generate a pitch motion where a positive rotation is bow down Z axis The Z axis is the vertical axis pointing up and down in the vessel Rotation in the Z axis will generate a yaw motion where positive yaw is a clockwise rotation SMC IMU User Guide v23 docx Index SMC Ship Motion Control RMS Root mean square RMS is a statistical measure of the magnitude of a varying quantity 2 SYSTEM DESCRIPTION The SMC motion sensors have three separate axial measurement component groups converting signals from actual movements via three accelerometers and three gyroscopes into output data of angles and attitude The output parameters are presented in a digital output string via RS422 and RS232 The signal from the gyroscopes are combined wit
21. Tait Bryan Euler angles used to describe the orientation of a vessel 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 rigid body coordinate system and the absolute earth coordinate system The standard IMU setting is for Earth Coordinates without earth G in Acc The measurement of gravity g and the measured acceleration in different directions from the accelerometers is used to calculate the orientation of the accelerometers in relation to earth Motion sensor offset in roll pitch and Z axes can be set for alignment errors in the physical installation It is also possible to invert the axis to suit the receiving application 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 For optimum performance align the motion sensor as accurately as possible before setting up offsets electronically Note that the Z axis offset is used to compensate for a physical misalignment in the Z axis mounting and is not used to set the yaw angle output in the motion sensor An improper Z axis rotation will rotate the coordinate system Also a misalignment in the Z axis will induce roll motion readings in the pitch axis and the vice versa Pitch is the rotation around the transverse axis the axis running fo
22. Termination Characters lt CR gt lt LF gt 5 2 15 SMCU Note PSMCU is a combined output with SPSMCE when GPS aiding is used Data Frame SPSMCU lt datestring gt lt timestring gt lt mode gt cs only output when time input in last 1 15 Description Form Start Characters SPSMCU lt timestring gt 9 characters lt datestring gt 6 characters lt mode gt 2 characters SPSMCE Roll Angle rr rr 100 degrees Resolution 0 01 ve port up Pitch Angle pp pp 100 degrees Resolution 0 01 ve bow down Yaw yyy y 0 359 9 Resolution 0 1 Heave hh hh 100m Resolution 0 01m Surge ss ss 100m Resolution 0 01m Sway ww ww 100m Resolution 0 01m Heave hh hh 100m Resolution 0 01m Roll Velocity xv xv 100 s Resolution 0 01 s Termination Characters lt CR gt lt LF gt SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 16 SMCV Data Frame SPSMCV xx xx tyy yy thh hh xv xv tyv yv thv Description Start Characters Form SPSMCV Roll Angle xx xx Pitch Angle yy yy Heave hh hh 100 degrees Resolution 0 01 ve port up 100 degrees Resolution 0 01 ve bow down 100m Resolution 0 01 m Roll Velocity xv xv Pitch Velocity yv yv Heave Velocity hv hv Degrees second Resolution 0 01 Degrees second Resolution 0 01 100m s Resolution 0 01m s Termination characters lt CR gt lt LF gt
23. as close as possible to the vessels center of gravity However for certain applications mainly when heave and accelerations are to be measured at a specific location it is advised to mount the motion sensor as close as possible to the actual measurement point for example in Helideck systems and some hydrographic survey systems Recommendations for location of the motion sensor to obtain optimal performance Roll amp Pitch When mounting the IMU take care to align the sensor to the vessels roll and pitch axis If there is an axis misalignment in the Z rotation roll motions will induce errors in pitch measurements and vice versa Small alignment errors can be adjusted mathematically inside the motion sensor The alignment offsets can be set from the SMC setup software Heave acceleration If the motion sensor is equipped with Heave acceleration measurement it is recommended that the motion sensor is placed as close to the point where Heave acceleration is to be measured For a helideck installation it is required to install the unit 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 is mounted in a location without extreme variations in temperature Vibrations Avoid mounting the motion sensor on any hull location that is subject to s
24. charge Please see Ship Motion Controls warranty statement Pack the sensor in its original packaging or suitable heavy packaging Mark the RMA on the outside of the package Return the Sensor prepaid carrier to the address below SMC Ship Motion Control 203 Rue D Argens Area 2 GZR1368 Gzira Malta SMC IMU User Guide v23 docx Index SMC Ship Motion Control 7 2 WARRANTY All products are inspected prior to shipment and guaranteed against defective material or workmanship for a period of two 2 years after date of purchase Liabilities are limited to repair replacement or refund of the factory quoted price SMC s option SMC must be notified and provided with sufficient time to remedy any product deficiencies that require factory attention This time period may include but is not limited to standard production lead times travel time and raw material lead times SMC will not be responsible for any charges related to repair installation removal re installation or any actual incidental liquidated or consequential damages All claims by the buyer must be made in writing All orders returned to SMC must have an issued RMA number supplied by SMC prior to shipment Only SMC shall have the authority to issue RMA numbers Any products manufactured by others supplied with and or installed with SMC s products are covered by the original manufacturers warranty and are excluded from SMC s warranty The product must be sent to SMC
25. depending of the settings Value2 Value2 is the encoder for the first knuckle or telescopic arm When it is being used as a knuckle the data is entered as degrees or radians If it is 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 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 Value5 Values is the encoder for the first 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 SMC IMU User Guide v23 docx Index SMC Ship Motion Control Description of the encoder values The encoder readings are sent in standard encoding i e 17 5 0 123 and is given as radians degrees depending on the setting in the configuration program If an encoder input is set to be used as a Telescopic in the IMU Configuration software the given encoder value represents a distance value The length of a telescopic arm is given in meters i e 12cm is sent as 0 12 5 6 7 VERIFICATION STRING AND EXAMPLE STRINGS When the IMU receives a pro
26. for repair or replacement 7 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 Buyer s premises failure to follow SMC s instructions whether oral or in writing misuse or alteration or repair of the Products without SMC s approval or if the total price for the Products has not been paid SMC shall in no event be liable for any indirect or consequential or punitive damages or cost of any kind from any cause arising out of the sale use or inability to use any product including without limitation loss of profits goodwill or business interruption In case of failure in the product SMC is not liable to compensate the buyer with anything exceeding the cost of the product sold by SMC Ship Motion Control The exclusion of liability in the Terms amp Conditions shall not apply in respect of death or personal injury caused by SMC s negligence SMC shall not be bound by any representations or statements on the part of its employees or agents whether oral or in writing including errors made in catalogues and other promotional materials Please read the SMC Ship Motion Control terms and conditions for complete information SMC IMU User Guide v23 docx Index SMC Ship Motion Control 7 2 2
27. higher value that is set on the accelerometer the less influence the acceleration will have But it will also generate a bigger random walk from the gyros It is not advisable to change the settings for the Kalman Filter without consulting with SMC The default button will reset the filter settings to the factory defaults IMU Bitrate and Parity Adjusts the bit rate that the sensor uses for transmitting data To be able to connect to the IMU a matching communication setting must be set for the receiving device Available Bit rates 4800 9600 19200 38400 57600 115200 Note For Long protocols such as SMCT SMCA amp SMCF using a high data output frequency like 100Hz a high Bitrate like 115200 will be needed to be able to transfer the data from the motion sensor See notes beside each protocol Read Settings Clicking on the Read Settings button will prompt the setup software to check the current IMU settings and display them in the setup software SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 PROTOCOLS 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 Additional protocols can be setup by SMC on request 4 SMC IMU Configuration Software Menu Help eg amp Set PC Comport Search IMU P Read Settings as S MC Setup Proto
28. sense 73 SMC IMU User Guide v23 docx Index SMC Ship Motion Control 1 INTRODUCTION This user manual provides information about your IMU motion sensor and how to use it 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 winches Dynamic positioning systems Products Covered in this User Guide Surface units Roll amp Pitch Dynamic Heave Acceleration IMU 007 0 25 RMS N A 0 01 m s RMS IMU 008 0 25 RMS 5cm or 5 0 01 m s RMS IMU 106 N A 5cm or 5 N A IMU 107 0 03 RMS N A 0 01 m s RMS IMU 108 0 03 RMS 5cm or 5 0 01 m s RMS Subsea units 30 m depth rated Roll amp Pitch Dynamic Heave Acceleration IMU 008 30 0 25 RMS 5cm or 5 0 01 m s RMS IMU 108 30 0 03 RMS 5 5 0 01 m s RMS Special units Roll amp Pitch Dynamic Heave Acceleration IMU 007 L 0 25 RMS N A 0 01 m s RMS IMU 108R L 0 03 RMS 5cm or 5 0 01 m s RMS IMU 108R 30 0 03 RMS 5cm or 5 0 01 m s RMS As an option Analog outputs are available and covered by this user guide SMC IMU User Guide v23 docx Index SMC Ship Motion Control 1 1 DEFINITIONS Align
29. to change the yaw output reading from the motion sensor 4 4 DECK MOUNTED MOUNTED ON HORIZONTAL SURFACE When the IMU is calibrated for Deck mounting the unit cannot be used for sideways mounting without a recalibration at the factory Mounting of the motion sensor should be carried out with the mounting plate lying horizontally The notches on the plate mark the orientation points of the motion sensor The indexes see below marking the Pitch axis should be aligned to port starboard along the vessels center of rotation or on the axis you have defined The single notch is to be mounted pointing to the bow of the vessel Bow Pitch Axis SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 5 SIDEWAYS MOUNTING When the IMU is calibrated for Sideways mounting the unit cannot be used for Deck mounting without a recalibration at the factory The mounting of the motion sensor should be carried out with the mounting plate lying vertically The notches on the plate mark the orientation points of the motion sensor The indexes marking the P axis should be mounted pointing to vertical The single notch should be mounted pointing horizontally to the bow stern port starboard of the vessel Depending on the mounting orientation the unit will need its coordinate system to be setup forin the SMC configuration software Note The IMU cannot mounted in the sideways orientation unless it has been specifically calibrated to do so
30. with a standard 12 VDC 24 VDC supply It is possible however to supply power at any voltage between 9 VDC and 30 VDC The SMC IMUs do not have an on off switch The motion sensor operates as soon as power is supplied to it There is an initialization of the IMU that prevents it from outputting numerical data for the first 1 minute after the motion sensor has been powered up 4 8 1 IMU XXX SURFACE UNIT WITH SERIAL INPUTS IMU xxx Surface RS422 IMU Motion Sensor JB Motion Sensor WH DB9 RS422 115 200 8N1 1 2 3 4 5 6 Se EES Input 1 GPS Heading input Lyet7 3 RS232 4800 ENT 8 GPS Compass Input 1 I 8K 8 3 RxD to Terminal 7 TxD to Terminal 8 Ground to Terminal Ler 10 110 220VAC 12VDC GPSiCompass Input 2 B RxD to Terminal 9 PSU TxD to Terminal 10 p HN Ground to Terminal Ep 089 6232 110 220 VAC BL Lon 4800 8N1 Lave 4 1 Input 2 GPS or Heading input RS232 IMU Motion Sensor JB Motion Sensor DB9 RS232 115 200 8N1 WH Her 1 2 3 OR 4 5 6 Levy dn EE DE EE BR Gare 1 Input 1 Pan i GPS
31. 00 00 00 00 001 00 00 00 00 00 014 00 00 00 00 00 014 00 00 00 00 00 010 00 00 00 00 00 007 00 00 00 00 00 005 00 00 00 00 00 005 00 00 00 00 00 001 00 00 00 00 00 010 00 00 00 00 00 023 00 00 00 00 00 013 00 00 00 00 00 000 00 00 00 00 00 007 00 00 00 00 00 030 00 00 00 00 00 045 00 00 00 00 00 035 00 00 00 00 00 012 00 00 00 00 00 032 00 00 00 00 00 027 00 00 00 00 00 007 00 00 00 00 00 009 00 00 00 00 00 002 00 00 00 00 00 015 00 00 00 00 00 014 00 00 00 00 00 010 00 00 00 00 00 013 00 00 00 00 00 038 00 00 00 00 00 043 00 00 00 00 00 029 00 00 00 00 00 014 00 00 00 00 00 043 00 00 00 00 00 043 00 00 00 00 00 025 00 00 00 00 00 007 00 00 00 00 00 003 00 00 00 00 00 00 004 00 00 00 00 00 00 000 00 00 00 00 00 00 013 00 00 00 00 00 00 019 00 00 00 00 00 00 015 00 00 00 00 00 00 00 003 00 003 00 017 7C 000 00 013 7F 003 00 002 7 000 00 014 7C 000 00 008 77 003 00 001 7F 001 00 009 74 004 00 001 7D 007 00 021 7 002 00 022 74 003 00 021 7B 005 00 001 7B 009 00 005 74 013 00 006 78 022 00 020 7 056 00 007 7 050 00 022 79 022 00 001 79 004 400 032 7F 003 00 009 74 013 00 014 77 018 00 015 76 026 00 030 7C 042 00 016 7 034 00 011 7F 030 400 021 7D 031 00 028 7 028 00 012 76 023 00 000 71 010 00
32. 003 7C 016 00 009 75 037 00 016 7D 042 00 000 7D 040 00 010 7E 033 400 003 7C 025 00 001 7E 018 00 002 77 012 00 012 79 006 00 005 70 020 00 023 7B 028 00 037 70 v Receive Data Show Setup Commands Clear Screen SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 5 SERIAL INPUT The SMC IMU has two RS232 serial ports for 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 SMC IMU Configuration Software SM Set PC Comport 8 Search IMU Read Settings en PF I SHIP MOTION CONTROL Setup Protocol Charts Serial Input Remote Heave Received Data Serial Input Heading Input Serial parts bitrate O Use GPS heading input for yaw aiding if available Input 1 Input2 Velocity Input Verification Heading Input Verification Available aiding Instrument Available aiding Instrument GyroCompass Last Reading Last Reading 300 Age of last reading i Age of last reading 0 45 Verify Velocitiy Input 1 Verify Heading Input Crane Input Verification Available aiding Instrument Last Reading Age of last reading Verify Crane Input SMC IMU User Guide v23 docx Index SMC Ship Motion
33. 01 0 001 Resolution Heave 0 01m N A 0 01m Angle Range Roll Heave 30 30 30 Heave Range 10m N A 10m Heave Accuracy 5cm or 5 N A 5 or 5 Acceleration Accuracy N A 0 01 m s RMS 0 01 m s RMS Communications IMU Configuration Software Output Signal Protocol Communications Interface The IMU is shipped with SMC configuration windows software allowing on site setup Multiple user selectable Output Protocols ASCII NMEA and binary 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 Weight Housing Material Tube 089 mm mounting plate 134 mm flange 110mm x 127 mm excl connector 2 kg Titanium Environmental Temperature absolute max Mounting Orientation Power Requirements MTBF computed Depth Rating 0 to 55 Celsius 10 to 65 Storage Temperature 40 to 65 Celsius Vertical or Horizontal mounting factory set 12 30 VDC 2 W 50 000 hours IP66 standard IP68 30 meter depth rated optional Standards IEC 60945 EN60945 standards on electromagnetic compatibility immunity and radiation Warranty amp Support Warranty 2 year Limited Hardware amp Software Warranty Support Free Technical amp Hardware Support Bundled Delivery Junction Box SMC IMU User Guide v23 docx Multiple in
34. 100 degrees ve port up Resolution 0 001 Termination Characters lt CR gt lt LF gt 2nd Header 01C1 Pitch Angle yy yyy 100 degrees ve bow up Resolution 0 001 Termination Characters lt CR gt lt LF gt 3rd Header 01C2 Heave hh hhh Heave 100m Resolution 0 001m Termination Characters lt CR gt lt LF gt SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 31 ANALOG3 30 DEGREES 10V Data Frame 01C0 xx xxx 01 1 01C2 hh hhh Description Form 1st Header HO1CO Roll Angle 3 xx xxx 60 ve port up Resolution 0 001 3 Termination Characters lt CR gt lt LF gt 2nd Header 01C1 Pitch Angle 3 60 3 ve bow up Resolution 0 001 3 Termination Characters lt CR gt lt LF gt 3rd Header 01C2 Heave hh hhh Heave 100m Resolution 0 001m Termination Characters lt CR gt lt LF gt 5 2 32 ANALOG4 0 20 DEGREES 4 20 MILLIAMPS Data Frame 01 01 1 1st Header 01C0 Roll Angle xx xxx 20 ve port up Resolution 0 001 Termination Characters lt CR gt lt LF gt 2nd Header 01C1 Pitch Angle yy yyy 20 3 ve bow up Resolution 0 001 Termination Characters lt CR gt lt LF gt 5 2 33 ANALOGS5 60 DEGREES 4720 MILLIAMPS Data Frame 01C0 12 004 01 1 11 796 01 2 11 799 01 3 16 000 Available from firmware version 2 94 Descri
35. 30 Vdc RS232 Serial Input 1 Connections DB9 Connections Sensor Connector Cable Colour Sensor Function DB9 to PC Converter 7 White Black RS232 RxD 3 8 Red Black RS232 TxD 2 11 Blue Black Supply Voltage 5 12 Black White Supply Voltage 12 30 Vdc RS232 Serial Input 2 Connections DB9 Connections Sensor Connector Cable Colour Sensor Function DB9 to PC Converter 9 Green Black RS232 RxD 3 10 Orange Black RS232 TxD 2 11 Blue Black Supply Voltage 5 12 Orange Black Supply Voltage 12 30 Vdc SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 7 5 RS422 CABLE CONNECTION The RS422 cable consists of two twisted pair conductors 4 wires for bi directional communication The thickness of power cables is such that there is no more than 2V drop with 50 mA current applied over an exceptional length of cable Cable and conductors are supplied on demand for an additional cost The maximum cable length allowed is approximately 1 300 m using RS422 4 7 6 RS232 CABLE CONNECTION The RS232 cable consists of single twisted pair conductors 2 wires for bi directional communication plus 2 power supply wires total of 4 conductors The maximum cable length allowed is approximately 20 m using RS232 SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 8 ELECTRICAL INSTALLATION The SMC IMUs are powered
36. 360 2 00000000 Hex 0 Degrees 1 00000001 Hex 0 0000008382 Degrees 1 FFFFFFFF Hex 0 0000008382 Degrees SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 3 5 As visual aid to or as a simple motion monitoring system SMC have Chart screen that displays up to 3 parameters 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 Menu Help 4 Set PC Comport Search IMU P Read Settings Setup Protocol Charts Serial Input Remote Heave Received Data Display Charts Rol pepate Pitch Pitch 0 40 LEE SN Naa anan A aA aaa tJ tton A rus Heave Heave 00 Heave 49 5 00 30 00 22 30 15 00 07 30 0 SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 4 RECEIVED DATA The received data tab shows the raw data string that the sensor sends Check the Receive checkbox to show the sent data Press the clear button to clear the window from the sensor strings Binary strings will not be shown in
37. 5 0x0000 OxFFFF representing 0 360 If an encoder input is set to be used as a Telescopic in the IMU Configuration software the given encoder value represents a distance value The length of a telescopic arm is given in the range of values Unsigned 16 bit values in hexadecimal format 0 65535 0x0000 OxFFFF representing 0 65535 cm If one rotational point is not being used or is not available input 0 0000 or leave the position blank in the PLC string For example when Z axis rotation is not available SPENCR O Value2 encoder3 encoder4 encoder5 Or SPENCR encoder2 encoder3 encoder4 encoder5 SPENCO The SPENCO data string is similar to the SPENCR data string but uses standard notation for the values instead of hexadecimal i e SPENCO value1 value2 value3 value4 value5 lt CR gt lt LF gt SPENCO 32 1 19 5 0 12 30 4 20 57 In the below example the knuckle at node 2 at 90 degrees so that the second leg of the crane is directed horizontally From the second leg there is a telescopic arm extended 10 meters 5 0 90 10 0 0 It is possible to also add decimals to the SPENCO string SPENCO 0 90 0 10 00 0 0 0 0 If there is no first value crane rotation it is excluded or sent as 0 in the same way as the SPENCR string Description Form Start Characters SPENCO Value Valuel is the encoder for the Z axis yaw base rotation Le typically the complete crane rotation Data is in radians or degrees for angles
38. ANE LAYOUT 58 5 6 5 SETTING ANGLE OFFSETS 61 5 6 6 STRING INPUT WE 62 5 6 7 VERIFICATION STRING AND EXAMPLE 5 5 4 64 5 6 8 TELESCOPIC ARM INPUT DATA 65 5 7 OPTIONAL SMC SOFTWARE nennen nnne nnne inns intense n restes intense nnns rennes nensi nennen 66 SMC IMU User Guide v23 docx Index SMC Ship Motion Control 6 MOTION SENSOR OPERATION 67 6 1 SETTLING TIME ou sana aqhaq mamaqa Q amas 67 6 2 OPERATION matusi a m ala amaga Gua kaha uqaqa lana 67 7 SERVICE AND WARRANTTY 68 7 1 TECHNICAL III 68 7 2 WARRANIFY ADR 69 7 2 1 LUMIT OF LABILITY SE 69 7 2 2 RESTRICTION OF WARRANT Y a n n 70 8 TECHNICAL SPECIFICATIONS 71 8 1 IMU 00X TECHNICAL SPECIFICATIONS ccccccccccccccecccsseceeccececececececeeeceeeeeeececececeeeseceeeseceeececeseeeeeses 71 8 2 IMU 10X TECHNICAL SPECIFICATIONS ccccccccccccccscccececseceecececececececececeeecececeeeeeceeeceseeeeeeeeeeeseeeseeess 72 9 FAQ 8 SUPPORT 1 u u O E a s a u
39. Control 5 5 1 AIDING VIA GPS AND SPEED LOG During vessel turns with small vessels a centrifugal force is generated from the turn This force has a negative effect on the angle and heave calculation By knowing the vessel velocity the centrifugal force can be estimated inside the IMU and the centrifugal effect can be heavily reduced improving the accuracy of the readings from the IMU The SMC IMU accepts velocity input from a GPS or a speed log The accepted input strings for the velocity input are SxxRMC SxxRMA SxxVTG SxxVBV SxxVHW To confirm that the IMU is receiving data from the velocity device select Verify Velocity Input in the serial input tab The IMU replies with information about the time since the last reading and the velocity received elooty Input Venficator Available aiding instrument GPS Last Reading 0 2 m s Age ot lest reading 055 Velocity Input 5 5 2 HEADING INPUT When a gyrocompass is connected or a GPS is selected to be used for heading input the IMU will use the gyrocompass for aiding the yaw signal combining the data from internal gyros in the IMU with the input from the external gyrocompass The output is available in strings where yaw or heading is available Refer to Section 5 2 1 of this manual for a list of available data strings The accepted strings from the GyroCompass are SxxHDT and SxxHDG Heading can also be retrieved from the GPS string but is not advisable if the ves
40. IMU User Guide v23 docx Index SMC Ship Motion Control 4 2 1 IMU MOUNTING BRACKET OPTIONAL An optional mounting bracket is available designed to provide a secure mounting location combined with easy motion sensor alignment The bracket base plate has two pins that correspond to two of the notches in the IMU base Alignment adjustments can then be made by rotating the bracket base plate The advantage is that the motion sensor can be removed for servicing or recalibration and replaced in exactly the same position The base plate included with the bracket allows 45 degrees of rotational adjustment See 4 6 5 for details of the mounting bracket dimensions SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 3 ALIGNMENT achieve maximum performance it is important to perform an accurate alignment of the motion sensor along the vessel longitudinal axis The physical alignment should be as accurate as possible using the notches on the motion sensor mounting plate for reference For the deck mounting option the single notch is to be pointing to the fore direction of the vessel A misalignment in the Z rotation yaw will generate a cross axis motion where pitch will generate in a roll reading from the motion sensor and vice versa From the SMC configuration software it is possible to fine tune the alignment of the motion sensor Note the Z axis alignment is only to be used to correct the physical misalignment and not
41. Output Rate Frequency of 100Hz the sensor bit rate must be set at a minimum of 115200 To run the sensor at a Bit Rate of 38400 the Data Output Rate Frequency needs to be below 30 Hz Failure to do this may result in problems with the output data Note There is a version of the SMCC protocol that alternates with analog output for DD50 display Start Characters Description Form SPSMCC Roll Angle xx xx 100 degrees Resolution 0 01 ve port up Pitch Angle yy yy 100 degrees Resolution 0 01 ve bow down Yaw zzz z 0 359 9 Resolution 0 1 Surge ss ss 100m Resolution 0 01m Sway ww ww 100m Resolution 0 01m Heave hh hh 100m Resolution 0 01m Surge Velocity sv sv 100m s Resolution 0 01m s Sway Velocity sw sw 100m s Resolution 0 01m s Heave Velocity hv hv 100m s Resolution 0 01m s Acceleration X ax axa 100 m s2 Resolution 0 001 m s2 Acceleration Y ay aya Acceleration Z az aza 100 m s2 Resolution 0 001 m s2 100 m s2 Resolution 0 001 m s2 Checksum xx lt CR gt lt LF gt 5 2 5 SMCD Data Frame SPSMCD xx xx tyy yy XV xv tyv yv tzv zv C cs lt CR gt lt LF gt Description Start Characters Roll Angle xx xx Form SPSMCD 100 degrees Resolution 0 01 ve port up Pitch Angle 100 degrees Resolution 0 01 ve bow down Roll Velocity xv xv Pitch Veloci
42. RESTRICTION OF WARRANTY The warranty does not cover malfunction of the motion sensor generated from Ifthe IMU has been exposed to extreme shock and vibrations If the IMU case has been 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 operations inside the sensor should be carried out by SMC personnel SMC IMU User Guide v23 docx Index SMC Ship Motion Control 8 TECHNICAL SPECIFICATIONS 8 1 IMU 00X TECHNICAL SPECIFICATIONS Technical Specification IMU 007 IMU 008 Roll Pitch Yes Yes Accelerations X Y Z Yes Yes Heave N A Performance Angle Accuracy Static 0 2 RMS 0 2 RMS Angle Accuracy Dynamic 52 simultaneous roll and 0 25 RMS 0 25 RMS pitch Resolution Angle 0 001 0 001 Resolution Heave N A 0 01m Angle Range Roll Pitch 30 30 Heave Range N A 10m Heave Accuracy N A 5cm or 5 Acceleration Accuracy Communications IMU Configuration Software Output Signal Protocol Communications Interface Physical Dimensions for IMU 00x WxH Weight Housing Material 0 05 m s RMS 0 05 m s RMS The IMU is shipped with SMC configuration windows software allow
43. ane type can be chosen 5 Onthe Crane tab chose angular unit Degrees or Radians For crane that is actually rotating you need to check IMU is mounted on crane base if that is the case i e the IMU rotates with the crane 7 Crane tab enter the remote heave settings in accordance with 5 6 4 of the manual 8 Onthe 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 5 6 5 of the manual SMC IMU User Guide v23 docx Index SMC Ship Motion Control IMU mounted the crane If the IMU is mounted on the crane base the single notch should be aligned with the crane arm i e single notch is pointing to the boom tip Tick the checkbox IMU is mounted on the crane base When this checkbox is ticked the IMU is assumed to be rotating with the yaw rotation of the crane In the crane tab Position 1 the yaw encoder value which is the first encoder input should be left empty or as a value zero in the input string from the PLC SMC IMU Menu Help 2 SetPCCompot 8 Search IMU P Read Settings Setup Protocol Charts Serial Input Remote Heave Received Data Remote heave for crane operations PENCO Crane Rotating M ET IMU is mounted on the crane base Protocol Remote Heave Remote Heave Y m Remote Heave Z m 0
44. col Charts Serial Input Remote Heave Received Data Current Protocol PSMCC zzz z ss ss ww ww hh hh sv sv sw sw hv hv ax axa ray aya Select Output Protocol CC Set hh hh 5 0050 ocx yy yy XV XV tyv yv amp zv 2v ccs CR LE PSMCE sox tyy yy zz zz hh hh ss ss sw sw lt CR gt lt LF gt E PSMCFnnnnnnn 5000 yyy shh hh ss ss LF PSMCG date time x xx tyy yy tww ww 85 55 hh aya saz aza cs PSMCH poo yy yy hh hh shy hv CRS LE PSMCM Hoo tyy yy z22 2 88 88 Ww ww hh hh exv xv yv yv zv zv ax axa ay aya az aza cs SPSMCR eoo syy yyy CR LE PSMCS aux ex yyy shh hh CRo LE PSMCY Ces ee tyy yy thh hh tyv yv thy LE 5 BoschRexroth Analog Heave 0 5 m 10 Heave Rate 0 2 m s 10 Heave Acc 0 1 ms2 HV Analog Roll 10 degree 10V Pitch 10 degree 10V Heave 10m 10 Analog3 Roll 30 degree 10 Pitch 30 degree 10V Heave 10m 10 Analog4 Roll 0 20 degrees 4 20 mA Pitch 0 20 degrees 4 20 mA Atlas Binary String 1 Binary String 2 CDL Microtilt CDL1 Digilog Oceantools MDL PSXN for Rolls Royce DP PSXN oo yyy shh hh es CR LF Simrad EM1000 m Simrad EM3000 TOM TRH TRO 551
45. e positive rotation is the default when seeing the crane from this position Counter clockwise positive rotation can be selected by ticking the Counter clockwise checkbox for the relevant encoder position Le a default positive rotation is when the crane arm is being adjusted downwards towards the water line If the crane has zero angles from the encoders and no offsets entered this would mean that the crane is pointing straight up The distance from the encoder position to the next encoder position is to be entered under the column labelled Distance If the next encoder position is a telescopic arm the distance to be entered is the length of the telescopic arm fully retracted The distances are marked as 1 2 and 3 in the crane drawing above 5 6 6 STRING INPUT When using crane serial input communication the data has to be transmitted over an RS232 serial interface When the crane position data is being fed into the motion sensor the output string from the unit will use the current crane position for a remote heave calculation For the motion sensor to calculate the remote heave on an operating crane installation the crane encoder readings are transferred to the motion sensor for the new crane working position Below is the description of the predefined data strings to be sent to the motion sensor serial input Two string options are available for the data input SPENCR and SPENCO SPENCR The SPENCR data string includes up to 5 encode
46. ettings mm Setup Protocol Charts Serial Input Remote Heave Crane Time Received Data Remote heave for crane operations AHC Protocol Remote Heave Remote Heave Y m Remote Heave 2 m Crane Type Rotating Y 0 0 0 Set Angle Unit Degrees gt Z IMU is mounted on the crane base Position Angle Offset Distance m Rotation Telescopic N 1 0 00 2 00 B Counter clockwise m Set OI 0 00 111 E Counter clockwise Set 25 0 00 Counter clockwise Set 4 0 00 0 00 E Counter clockwise Set 5 0 00 0 00 Counter clockwise Set If the crane has a fixed bend it can be applied by either entering a fixed encoder value from the PLC sending device or by entering an offset for the bend This is done by entering an offset that is negative in value i e if the crane bend is clockwise positive downwards the entered angular offset should be negative SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 7 OPTIONAL SMC SOFTWARE There are several optional PC based software packages available from SMC They present the vessel motions measured by the motion sensor in a graphical form Meteorological instruments are commonly integrated 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 SMCmm
47. h the signal from the accelerometers and are processed in a Kalman filter inside the IMU to provide output value for acceleration attitude and angle with limited influence from noise and other inaccuracies Gyro Accelerometer Signal Signal Gyro Accelerometer Signal Signal Digital Signal Processing Y axis Gyro Accelerometer E Signal Signal Heave surge and sway are calculated by integrating the acceleration in the X Y and 7 axis twice The integration is then 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 1 5 and 25 5 Before delivery all motion sensors are calibrated and the readings from the accelerometers and angular rate gyroscopes are verified for alignment linearity and temperature to ensure they meet the performance specifications The calibration is run up to 30 degrees of angle The best performance is achieved within this angle range If the motion sensor angle exceeds the calibrated angular range the calibration data will be extrapolated outside the calibrated range which may lead to decreased performance SMC IMU User Guide v23 docx Index SMC Ship Motion Control 2 1 SPATIAL COORDINATE SYSTEM The SMC motion sensor defines its body axis from the
48. i 11 4 5 1 TOP OF THE IMU POINTING TO THE BOW naa 11 4 5 2 TOP OF THE IMU POINTING TO THE STARBOARD enemies 12 4 5 3 TOP OF THE IMU POINTING AT THE STERN nnne nnns 12 4 5 4 TOP OF THE IMU POINTING TO THE 13 4 6 DIMENSIONS 14 4 6 1 IMU 00X SURFACE UNITA 14 4 6 2 IMU 00x DEPTH RATED 15 4 6 3 IMU 10x SURFACE UNITA 16 4 6 4 IMU 10x DEPTH RATED 17 4 6 5 IMU OPTIONAL MOUNTING BRACKET 18 4 7 ELECTRICAL COMMUNICATION eere n n enr ESSE ASSESSES Stenst 19 4 7 1 SERIAL RS232 AND RS422 INTERFACE CONNECTION GUIDE 20 4 7 2 IMU SURFACE UNITS OUTPUT CONNECTION CABLING 21 4 7 3 IMU SURFACE UNITS INPUT CONNECTIONS nennen nnns 21 4 7 4 IMU 30 DEPTH RATED UNITA 22 4 7 5 RS422 CABLE CONNECTION 23 4 7 6 RS232 CABLE CONNECTION 23 4 8 ELECTRICAL INSTALLATION MM 24 4 8 1 IMU XXX SURFACE UNIT WITH SERIAL INPUTS 24 4 8 2 IMU XXX 30 DEPTH RATED UNIT inserer 25 4 8 3 IMU XXX ANALOG VOLTAGE OUTPUTS 26 4 8 4 IMU XXX ANALOG CURRENT 4 20MA OUTPUTS 27 4 8 5 IMU XXX Junction box without Power Supply and Serial Input
49. inates without earth G in Acc AG E Earth Coordinates with earth G in Acc 2 09 IMU Coordinates with earth G in CEDE HH Surge sway heave in Earth Coordinates Yaw velocity N A zx Roll velocity Pitch velocity N A SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 1 1 DEFAULT SETTINGS AT FACTORY There are several Motion Sensor parameters that can be selected if you want to change the default settings it is recommended to do it after the installation but before you connect to any systems Please refer to 5 1 2 setup The factory default settings are as follows Settings Selection Factory Default Output Rate 1 100Hz 100 Kalman Filter Settings Filter 1 0 1000 IMU 00x Filter 1 25 Filter 2 0 1000 Filter 2 0 01 IMU 10x Filter 1 100 Filter 2 0 01 IMU Bit Rate and 4800 115200 Parity 9600 19200 38400 57600 115200 Parity None None Even Odd IMU Output Earth Coordinates without earth Gin Earth Coordinates without Coordinate System Earth Coordinates with earth G in Acc earth G in Acc IMU Coordinates with earth G in Acc SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 1 2 SETTINGS Set PC Comport Changes the COM port communication settings used by the configuration software to connect to the motion sensor The IMU sensor will always send its data in 8 data bit
50. ing on site setup Multiple user selectable Output Protocols ASCII NMEA and binary 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 Tube 089 mm mounting plate 134 mm flange 110mm x 67 mm excl connector 0 5 kg Titanium Environmental Temperature absolute max Mounting Orientation Power Requirements MTBF computed Depth Rating 0 to 155 Celsius 10 to 65 Storage Temperature 40 to 65 Celsius Vertical or Horizontal mounting factory set 12 30 VDC 2 W 50 000 hours IP66 standard IP68 30 meter depth rated optional IEC 60945 EN60945 standards on Standards electromagnetic compatibility immunity and radiation Warranty amp Support Warranty 2 year Limited Hardware amp Software Warranty Support Free Technical amp Hardware Support Bundled Delivery Junction Box SMC IMU User Guide v23 docx Multiple input amp output connection case including 10m cable Longer Options available Index SMC Ship Motion Control 8 2 IMU 10X TECHNICAL SPECIFICATIONS Technical Specifications IMU 106 IMU 107 IMU 108 Roll Pitch N A Yes Yes Accelerations X Y Z N A Yes Yes Heave Yes N A Yes Performance Angle Accuracy Static N A 0 02 RMS 0 02 RMS Angle Accuracy Dynamic 52 simultaneous roll and N A 0 03 RMS 0 03 RMS pitch Resolution Angle N A 0 0
51. leration Y ay ay 100 m s2 Resolution 0 01 m s2 Acceleration Z az az 100 m s2 Resolution 0 01 m s2 Termination characters lt CR gt lt LF gt SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 36 BINARY PROTOCOLS 5 2 37 ATLAS HYDROGRAPHIC Each field in the Atlas output string is a 16 bit 2 s complement number expressed as two binary coded digits Attitude measurements are supplied in units 360 65536 0 0054931641 Heave measurements are in mm The frame contains 9 bytes in binary format Data Frame bytes ERRPPHHSE 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 90 Heave HH 2 Signed 16 bit range 32767 mm to 32766 mm Positive when elevated Status S 1 1 unsettled 2 velocityaiding 4 heading aiding where variables are interpreted as O false 1 true DLE E 1 0x10 5 2 38 SIMRAD EM1000 amp EM 3000 Data Frame SHRRPPHHYY Contains 10 bytes Note When settling roll pitch and heave will be 0 Description Scaling Format Bytes Value Status byte S 0 EM1000 90 EM3000 Header 0x90 Roll RR 0 01 degrees Signed hex 17999 18000 hundredths of Pitch PP 0 01 degrees Signed hex 17999 18000
52. m of 5 cycles There is no need to input data of vessel type and sea states expected Heave Period The SMC IMU technology enables the measurement of heave cycles with different periods without any manual setup The IMU 008 IMU 106 and IMU 108 units adjust their calculations after the current motion and sea state and heave period SMC IMU User Guide v23 docx Index SMC Ship Motion Control 7 SERVICE AND WARRANTY 7 1 TECHNICAL SUPPORT SMC recommend a recalibration or verification of the motion sensor every second year of usage This is due to the aging over time of the internal sensors and components in the motion sensor If you experience any problem or you have a question regarding your sensor please contact your local agents or Ship Motion Control directly Refer to website www shipmotion se contact html Please have the following information available 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 Equipment Model Number Equipment Serial Number Installation Date Ifthe Sensor is under warranty repairs are free If not there is a repair
53. mbination of distance angles and heave a fixed angle will give a constant heave position that is different from zero As the heave definition is a relative motion and the angle is an absolute angle SMC has added a filter to remove a fixed trim of the vessel from the remote heave output This is selectable from the checkbox Filter remote heave for relative zero position Note that remote heave will not be as accurate as heave at the physical location of the IMU as the remote heave is a combined calculation of heave and angle from a remote location The calculation assumes that the vessel is rigid so if the remote heave distance is far from the physical location of the IMU the error from any small angular error in the motion sensor from flexing hulls etc may generate a significant error in the remote heave output SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 6 2 CENTER OF GRAVITY CG LEVER The best placement for the motion sensor is at the center of gravity CG If the sensor is placed in another location the accuracy of the output in general and heave in particular can be improved by giving the location of CG with respect to the sensor in the setup program It is preferable to have a close approximation of the CG rather than no data These values are given in the same way as the values for the remote heave location coordinates i e CG is the aft distance in meters between the IMU and the CG Whe
54. ment The alignment of the motion sensor the positioning of the IMU onto the structure of the rig or vessel The physical alignment should be done as accurately as possible and then it can be fine tuned in the system software by entering offsets for roll pitch and the Z axis Yaw in the SMC units Without an external aiding input the yaw in the SMC motion sensor will drift over time and so it cannot be used as an absolute heading output Positive yaw is a clockwise rotation The yaw output from the SMC unit when it is not aided from an external heading input is basically the integration of the yaw gyro or the integrated rotation in the Z axis in the earth coordinate system Roll Roll is the rotation about the roll axis X of the vessel SMC defines the port up as a positive roll Pitch Pitch is the rotation about the pitch axis Y of the vessel SMC defines the bow down as a positive pitch Heave Heave is the vertical dynamic motion of the vessel The heave is calculated by a double integration of the vertical acceleration The vertical position is filtered with a high pass 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
55. ngle xx xx 100 degrees Resolution 0 01 ve port up Pitch Angle 100 degrees Resolution 0 01 ve bow down Yaw 222 22 Roll Velocity xv xv 0 359 9 Resolution 0 1 Degrees second Resolution 0 01 s Pitch Velocity yv yv Degrees second Resolution 0 01 s Yaw Velocity zv zv Roll Acceleration GG GGG Degrees second Resolution 0 01 s Degrees second Resolution 0 01 5 Pitch Acceleration HH HHH Degrees second Resolution 0 01 5 Yaw Acceleration 1 1 Degrees second Resolution 0 01 5 Surge ss ss 100m Resolution 0 01m Sway ww ww Heave hh hh 100m Resolution 0 01m 100m Resolution 0 01m Surge Velocity sv sv 100m s Resolution 0 01m s Sway Velocity sw sw Heave Velocity hv hv 100m s Resolution 0 01m s 100m s Resolution 0 01m s Acceleration X ax axa 100 m s2 Resolution 0 001 m s2 Acceleration Y ay aya 100 m s2 Resolution 0 001 m s2 Acceleration Z az aza 100 m s2 Resolution 0 001 m s2 Termination Characters lt CR gt lt LF gt SMC IMU User Guide v23 docx SMC Ship Motion Control 5 2 4 5 Data Frame SPSMCC xx xx tyy yy ZZz z SS ss ww ww hh hh sv sv sw sw thv hv ax axa tay aya az aza cs Example SPSMCC 09 42 02 85 144 1 00 28 00 05 00 00 00 01 00 00 00 00 00 004 00 000 00 005 71 Note For the SMCC protocol to run at a Data
56. ngle xx xxx Pitch Angle yy yyy 100 degrees Resolution 0 001 ve port up 100 degrees Resolution 0 001 ve bow down Sway ww ww 100m Resolution 0 01m Surge ss ss Heave hh hh 100m Resolution 0 01m 100m Resolution 0 01m Acceleration X ax axa 100 m s2 Resolution 0 001 m s2 Acceleration Y ay aya Acceleration Z az aza 100 m s2 Resolution 0 001 m s2 100 m s2 Resolution 0 001 m s2 Checksum SMC IMU User Guide v23 docx SMC Ship Motion Control 5 2 9 SMCH SPSMCH xx xx tyy yy thh hh thv hv Description Start Characters SPSMCH Roll Angle xx xx Pitch Angle yy yy Heave hh hh 100 degrees Resolution 0 01 ve port up 100 degrees Resolution 0 01 ve bow down 100m Resolution 0 01m Heave Velocity hv hv Termination Characters 100m s Resolution 0 01m s lt CR gt lt LF gt 5 2 10 SMCI Data Frame SPSMCI rr rr tpp pp t yyy y trv rv pv pv t yv yv su su ww ww thh hh sv sv sw sw t hv hv hh Description Form Start Characters 5 5 Roll rr rr 100 degrees Resolution 0 01 ve port up Pitch pp pp 100 degrees Resolution 0 01 ve bow down Yaw yyy y 0 359 9 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 Resoluti
57. on 0 01 Surge su su 100m Resolution 0 01m Sway ww ww 100m Resolution 0 01m Heave hh hh 100m Resolution 0 01m Surge velocity sv sv Sway velocity sw sw 100m s Resolution 0 01m s 100m s Resolution 0 01m s Heave velocity hv hv 100m s Resolution 0 01m s Checksum SMC IMU User Guide v23 docx Index xx lt CR gt lt LF gt SMC Ship Motion Control 5 2 11 5 Data Frame SPSMCM xXx xx yy yy zzz z ss ss ww ww hh hh xv xv yV yv zV zv ax axa ay aya az aza cs Description Start Characters Form SPSMCM Roll Angle xx xx Pitch Angle yy yy Yaw 22 22 100 degrees Resolution 0 01 ve port up 100 degrees Resolution 0 01 ve bow down 0 359 9 Resolution 0 1 Surge 55 55 Sway ww ww Heave hh hh 100m Resolution 0 01m 100m Resolution 0 01m 100m Resolution 0 01m Roll Velocity xv xv Pitch Velocity yv yv 100 s Resolution 0 01 s 100 s Resolution 0 01 s Yaw Velocity zv zv 100 s Resolution 0 01 s Acceleration X ax axa 100 m s2 Resolution 0 001 m s2 Acceleration Y ay aya 100 m s2 Resolution 0 001 m s2 Acceleration Z az aza 100 m s2 Resolution 0 001 m s2 Checksum xx lt CR gt lt LF gt 5 2 12 SMCR Data Frame 5 Start Characters Description SPSMCR Roll Angle xx xxx
58. on software are written to the motion sensor The settings are stored in flash memory inside the motion sensor and are not dependent on power supply or battery power SMC IMU Configuration Software OS en Menu S M 4 Set PC 8 Search IMU P Read Settings MOTION CONTROL Setup Protocol Charts Serial Input Remote Heave Received Data IMU Information Physical Mounting Offsets Alignments Output Rate IMU Type IMU 108 Rall 00 00 Set 100 MS Pitch 00 00 Set Kalman Filter Settings 1002273 rois 0000 Set 100 5 IMU Firmware 2 84 INT ai Setto Zero Position Clear Offsets Filter2 00 01 Set ardware Aiding Aiding Axis Inversion Default j Remote Heave Lever Arm No No nvertRoll Invert Surge Acc x IMU Bitrate and Parity Invert Pitch Invert Sway Acc Y i 5200 IMU Output Values Bitrate 18 98 invert Yaw Invert Heave 2 Party ME Pitch 15 78 Mounting Orientatior Set Yew 334 90 MU top to the bow surge 3 63 MU top to the starboard Acceleration Filter 5 Filter vibrations from output readings Sway 418 MU top to the stern Heave 1 28 MU top to the port _ Surge velocity 0 37 0 ms Set S loci 0 79 IMU Output Coordinate system eave velocity 0 09 Earth Coord
59. or Heading input 089 RS232 711 id 4800 GPS Compass Input 1 j aS s Sse I BK 3 4 RxD to Terminal 7 TxD to Terminal 8 Ground to Terminal Hm sH Lahe 110 220VAC_12VDC GPS Compass Input 2 mH Hwu RxD to Terminal 9 adis Cha EE GPS Heading input BR L La DB9 RS232 110 220 VAC BL N OR 4800 8N1 RE T Lt 2 SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 8 2 IMU XXX 30 DEPTH RATED UNIT IMU xxx 30 RS422 IMU Motion Sensor JB Motion Sensor BK 1 1 DB9 RS422 wH 9 2 115 200 8N1 RD 3 GN 4 4 4 8 5 1 BL 6 6 gt 5 5 11 4 L es us eee HAE ME fan TE Gare 1 Input 1 124 GPS or Heading input I WH BK 7H 7 H 3
60. per SPENCR string with the crane position it will output a verification string with the latest received reading The verification string is being output on the main com port and not in the serial input port The verification string corresponds to the SPENCR 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 SPENCT 0000 0000 0000 0000 0000 lt CR gt lt LF gt When this encoder position below is sent using the SPENCR string SPENCR 0000 3FFF 03E8 0000 0000 The motion sensor would return SPENCT 0000 3FFF 03E8 0000 0000 SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 6 8 TELESCOPIC ARM INPUT DATA If the crane has telescopic arm the Telescopic check button should be ticked for its position The distance column is disabled when the telescopic arm is ticked as the distance to the start of the telescopic arm is to be entered in the previous row distance Zero encoder distance value is when the telescopic arm is fully retracted An angle offset can be entered for the telescopic position and it is referring to the offset in the telescopic arm BSc imu Configuration Software Sen Menu Help S M 2 Compor Search IMU d Read S
61. ption Form 1st Header 01C0 Heave hh hhh 6m In meters 4mA 6m 20 6m Termination Characters lt CR gt lt LF gt 2nd Header 01C1 Pitch Angle yy yyy 60 4mA 60 20mA 60 Termination Characters lt CR gt lt LF gt 3rd Header 01C2 Roll xx xxx 60 4mA 60 20mA 60 Termination Characters lt CR gt lt LF gt 4 Header 01C3 Ready Signal Not Ready 8mA Ready 16 SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 2 34 ANALOG6 5 4 20 MILLIAMPS Data Frame 01C0 00 370 01C1 00 171 01C2 01 144 Available from firmware version 2 982 Description Form 1st Header 01C0 Heave Amplitude hh hhh 5m Termination Characters lt CR gt lt LF gt 2nd Header 01C1 Heave Velocity vv vvv 5m s Termination Characters lt CR gt lt LF gt 3rd Header 01C2 Heave Acceleration aa aaa 5m s Termination Characters lt CR gt lt LF gt 5 2 35 0050 Data Frame no line break in actual data DDA 1 IMU MRU Units Roll 00 03 deg Pitc 00 02 deg Heav 00 00 m 2 Accs Units AccX 00 00 ms2 AccY 00 01 ms2 AccZ 00 00 ms2 lt CR gt lt LF gt Note This output alternates with the SMCC protocol Roll Angle xx xx 100 degrees Resolution 0 01 ve port up Pitch Angle yy yy 100 degrees Resolution 0 01 ve bow down Heave hh hh 100m Resolution 0 01m Acceleration X ax ax 100 m s2 Resolution 0 01 m s2 Acce
62. put amp output connection case including 10m cable Longer Options available Index SMC Ship Motion Control 9 FAQ amp SUPPORT If no communication is seen or bad data is displayed please refer to the FAQs below which cover the most common configuration problems Configuration 15 the unit sending data with RS422 or RS232 The motion sensor is always on and sends data over the RS232 and RS422 channels simultaneously The IMU sensor junction boxes are dispatched pre configured for either RS422 or RS232 Check the wiring as per the Electrical configuration guide to see which output is being used Data is being received but is either seen as bad data or wrong data Check which format your sensor has been configured with or contact SMC quoting the units serial number for confirmation When applying a setting change in the SMC setup software the output signals can display bad data This occurs during the automatic restart of the sensor unit the values will settle after a few minutes Data that is being received is missing data or freezing First check if the 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 se
63. r values SPENCR Value1 Value2 Value3 Value4 Value5 lt CR gt lt LF gt Description Form Start Characters SPENCR Value1 Valuel is the encoder for the Z axis yaw base rotation Le typically the complete crane rotation Data with the resolution 360 65536 Value2 Value2 is the encoder for the first knuckle or telescopic arm When it is being used as a knuckle the data with the resolution 3607 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 3607 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 second knuckle or telescopic arm When it is being used as a knuckle the data with the resolution 3607 65536 is being entered If it is a distance being returned from the crane it is in the format 0 65535 cm Value5 Value5 is the encoder for the first knuckle or telescopic arm When it is being used as a knuckle the data with the resolution 3607 65536 is being entered If itis a distance being returned from the crane it is in the format 0 65535 cm SMC IMU User Guide v23 docx Index SMC Ship Motion Control Description of the encoder values The encoder readings are sent in an Unsigned 16 bit The values are in hexadecimal format 0 6553
64. re positive distance represents that the motion sensor is located aft of the CG CG Y is the sideways distance in meters between the IMU and the CG Where a positive distance represents that the motion sensor is located to the starboard side of the CG 7 is the vertical distance in meters between the IMU and the CG Where a positive distance represents that the motion sensor is located below the CG Unless Filter remote heave for relative zero position is checked which you typically do not want to have setting a non zero distance to CG may result in a heave that is not centered at 0 when the vessel is not leveled even when you have zero remote heave distance have the IMU as the point for which heave is desired This means that the IMU is horizontally displaced with respect to the position it would have when the vessel is leveled and is usually what is desired SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 6 3 AHC ACTIVE HEAVE COMPENSATION SMC has developed a remote heave function that accepts dynamic crane position data for active heave compensation in marine crane applications A failsafe handling system must be built into the system so that if there is a failure in the IMU PLC or the encoder feeding the active heave operation will be cancelled automatically Note that SMC will not be responsible for damages that occur related to Active Heave Compensation With the remote heave for Crane Opera
65. rm starboard to port of the vessel Roll is the rotation around the longitudinal axis the axis running from the bow to the stern of the vessel Yaw is the rotation around the vertical axis See the figure below SMC IMU User Guide v23 docx Index SMC Ship Motion Control SMC IMU User Guide v23 docx Index SMC Ship Motion Control 3 STORAGE AND UNPACKING Unpack the equipment and remove all the packaging materials and shipping carton The motion sensor is delivered in a transit case designed to protect it from high shocks during transit When the unit has been received it should inspected for damage 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 should be filed immediately Because of the sensitive nature of the IMU the package must not dropped Standard Delivered Items e IMU e Transit Case e Junction Box Fitted with IMU to JB 10m 12 core cable Serial Output Data lead 1 5m AC Input Cable 0 9m e Calibration Certificate e CD with IMU Configuration Software and IMU User Manual SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 INSTALLATION The 5 motion sensor must be installed according to the instructions in this manual The motion sensor is designed to be installed in an internal environment 4 1 LOCATION The optimal position for the sensor is
66. s 1 stop bit and no parity but the bitrate may have to be changed to match the IMU settings IMU Information Shows information about motion sensor IMU type mounting orientation serial number IMU firmware IMU Hardware Aiding and Remote Heave Lever Arm IMU Output Values Shows data sent from the motion sensor in real time Only values that are being output from the IMU are displayed in this section Physical Mounting Offsets Alignments By pressing the Set to Zero Position button the current IMU inclination will be set to be the zero point i e reference point for the angle measurements The Clear Offsets button will enter offset for the roll pitch and yaw values The offsets can be manually entered into the motion sensor instead of using the IMU Set to Zero Position The offset entered into the IMU rotates its coordinate system To achieve accurate angles outputs from the motion sensor the axis alignment is very crucial Try to mount the motion sensor as well as possible physically before adjusting the offsets electronically Axis Inversion Enables the sign inversion of the output signals from the motion sensor See Section 2 for information about SMC rotational definitions Mounting Orientation Is only available if the IMU has been calibrated for sideways mounting orientation See Section 4 for more information about the mounting orientation options IMU Output Coordinate System The IMU can be set to output its data in the ear
67. s 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 motions of a helicopter deck SMCems Environmental Monitoring System SMCwms Weather Monitoring System SMC IMU User Guide v23 docx Index SMC Ship Motion Control 6 MOTION SENSOR OPERATION 6 1 SETTLING TIME The SMC IMU internal filtering system uses both past and present data to calculate the output Hence immediately after being connected to its power source the sensor will produce less accurate measurements since there are only short sequences of historical data available for processing The SMC IMU has a settling time of approximately 1 minute This means that from the motion sensor startup it will take 1 minute till output data is shown During this settling time the sensor output dependent on protocol selected could read for example SPSMCS rr rr pp pp hh hh 6 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 on the IMU 007 and IMU 107 motion sensor Heave Zero Point the zero point is set by the spectral analysis of the sinusoidal waveform along with using filtering techniques that can track the zero point of the heave motions within a maximu
68. sel is not under constant motion The SGPHDG 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 SGPHDG string will be ignored To confirm that the IMU is receiving data from the heading device click the Verify Heading Input button on the Serial Input tab The IMU replies with the time since the last reading and the heading received Heading input Verification Available ssding Instrumert GyroCompess Lest Reading 250 ol last reading 035 Heading Input SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 5 3 VESSEL TURNS When a vessel makes a turn without the additional information of vessel speed and position change the IMU can interpret the turn as an acceleration value and that will affect the accuracy of the output data The IMU uses the vessel speed and rate of turn to calculate the centripetal acceleration and remove it from the measurements during a vessel turn SMC IMU User Guide v23 docx Index SMC Ship Motion Control 5 6 REMOTE HEAVE The Remote Heave Screen has three control setups Remote Heave Center of Gravity Lever Arm Remote Heave for Crane operations AHC Menu Help amp Set PC Comport Search IMU P Read Settings Setup Protocol Charts Serial Received Data
69. t in the IMU are not changing check if the IMU serial number and software version is displayed in the configuration software If not press the Read Settings button If the data is still not showing this is typically due to the lack of two way communication to the IMU The Receive data lines are connected but not the Transmit data lines Check the wiring through to the IMU Are the cables connected correctly See Chapter 4 Sections 4 7 and 4 8 No Communication with the IMU Check the cable connection and disconnect and reconnect is necessary 15 the sensor powered up Voltage should 9 to 30 VDC see Section 4 7 and 4 8 Check what Baud Rate and Output Rate should be used or has been set up Use the Search IMU button to scan all available ports The default baud rate set when the unit is shipped from SMC is 115200 and the standard output rate is set to 100Hz note for SMCems software the IMU output rate should 10Hz If there is a chance that the baudrate has been changed and the Search IMU button does not find the IMU systematically check each baud rate option in the SMC setup software till the correct rate is found SMC IMU User Guide v23 docx Index SMC Ship Motion Control When applying a setting change in the SMC configuration software the output signals can display bad data This occurs during the automatic restart of the sensor unit the values will settle after a few minutes No GPS or Gyro data is received Select the rele
70. th coordinate system or in the IMU coordinate system Earth Coordinates without earth G in Acc in this configuration the IMU will use the earth horizon as the system by which Roll amp Pitch amp Heave are based around The acceleration will not include G as part of the value Earth Coordinates with earth G in Acc in this configuration the IMU will use the earth horizon as the system by which Roll Pitch amp Heave are based around The acceleration will include the G value of 9 81m s IMU Coordinates with earth G in Acc in this configuration the IMU will use its form or the equipment it is mounted to as a basis around which Roll Pitch amp Heave are calculated around The acceleration will include the G value of 9 81m s Surge Sway and Heave can be set to be output in the earth coordinate system regardless of the IMU coordinate setting has been selected for the angles SMC IMU User Guide v23 docx Index SMC Ship Motion Control Output Rate Adjusts the number of times the IMU outputs its string per second Choose the required value in the list box and press the Set button to set the frequency Kalman Filter Settings Filter 1 sets the filter for the accelerometers default 100 Filter 2 sets the filter for the gyros default 0 01 The value entered in the angle filter setting specifies how much each sensor type accelerometer and gyro is applied The lower value the more we apply the sensor type This means that the
71. the received data tab Menu Help amp Set PC Comport 88 Search IMU P Read Settings Setup Protocol Charts Serial Input Remote Heave PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC D00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC D00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 PSMCC 00 94 PSMCC 00 94 5 00 94 5 00 94 PSMCC 00 94 PSMCC 00 94 PSMCC 00 9 5 00 94 PSMCC 00 94 PSMCC 00 94 5 00 94 PSMCC 00 95 00 37 4348 94 00 37 348 94 00 37 4348 94 00 37 4348 00 37 4348 94 00 37 4348 94 00 36 4348 94 00 36 4348 00 36 4348 94 00 36 4348 94 00 36 4348 00 36 4348 94 00 36 4348 94 00 36 4348 94 00 36 4348 00 36 4348 94 00 36 4348 94 00 36 4348 94 00 36 4348 00 36 4348 94 00 36 4348 94 00 36 4348 94 00 36 4348 4 00 36 4348 94 00 36 4348 94 00 36 4348 00 36 4348 94 00 36 4348 94 00 36 4348 94 00 36 348 00 36 4348 94 00 35 348 94 00 35 4348 94 00 35 4348 4 00 00 35 4348 4 00 94 00 35 4348 4 00 94 00 35 4348 4 00 94 00 35 348 3 00
72. tions 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 for any requested single point location along the crane boom which can be used to compensate for the vessel motions during crane operations Tick the checkbox Remote heave for Crane Operations AHC in the remote heave tab and the crane settings will be enabled 5 6 4 SETUP OF CRANE LAYOUT SPECIFICS IN SETTING UP SMC SENSOR FOR CRANE USE USING THE CONFIGURATION SOFTWARE 1 Remote heave tab check Remote heave for Crane operations AHC box This inactivates remote heave settings on this tab and opens a new Crane tab where the remote heave settings now can be found 2 On Remote heave tab fill in center of gravity settings as described in 5 6 2 in the manual As is noted there these settings do not have to be absolutely correct they will not be since the z value is dependent on the loading of the ship but the more accurately they are given the more accurate the sensor output will be Note that Center of gravity is often called Center of mass in the literature 3 Onthe Crane tab set the type of protocol PENCR for use of hexadecimal values in the crane data strings sent to the sensor and PENCO for standard text encoded values These strings are described in 5 6 6 On the Crane tab currently only Rotating cr
73. tor Pointing to Port Single Notch Pointing to the Bow SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 6 IMU DIMENSIONS 4 6 1 IMU 00X SURFACE UNIT SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 6 2 IMU 00X 30M DEPTH RATED UNIT SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 6 3 IMU 10X SURFACE UNIT I w SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 6 4 IMU 10X 30M DEPTH RATED UNIT RS SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 6 5 IMU OPTIONAL MOUNTING BRACKET SMC IMU User Guide v23 docx Index SMC Ship Motion Control 4 7 ELECTRICAL COMMUNICATION The SMC IMU can operate from a 12 30 VDC power supply The power consumption during normal conditions is between 2 and 2 5 watts The SMC IMUs have both RS422 and RS232 serial outputs as standard The Junction Box shipped with the unit is preconfigured in the factory for RS232 or RS422 This can be changed in the field by changing the wiring of the serial cable inside the junction box See the wiring diagram for wiring details RS422 communication can achieve data transfer over long distance cables RS232 is designed for short distance communication max 20 meters The RS422 RS232 cable normally terminates with a conventional DB9 connector Two RS232 serial ports are also available for aiding the motion sensor by GPS or Compass AN
74. ty yv yv Degrees second Resolution 0 01 Degrees second Resolution 0 01 Yaw Velocity zv zv Degrees second Resolution 0 01 Checksum SMC IMU User Guide v23 docx lt CR gt lt LF gt SMC Ship Motion Control 5 2 6 5 Data Frame SPSMCE xx xx tyy yy zzz z thh hh ss ss tsw sw Description Start Characters Form SPSMCE Roll Angle xx xx Pitch Angle yy yy Yaw 777 7 100 degrees Resolution 0 01 ve port up 100 degrees Resolution 0 01 ve bow down 0 359 9 Resolution 0 1 Heave hh hh Surge ss ss Sway sw sw 100m Resolution 0 01m 100m Resolution 0 01m 100m Resolution 0 01m Termination Characters lt CR gt lt LF gt 5 2 7 SMCF Data Frame SPSMCFnnnnnnn xx xxx tyy yyy thh hh ss ss ww ww Start Characters Description Form SPSMCF Serial Number nnnnnnn 7 digit serial number Roll Angle xx xxx 100 degrees Resolution 0 001 ve port up Pitch Angle yy yyy 100 degrees Resolution 0 001 ve bow down Heave hh hh 100m Resolution 0 01m Surge ss ss 100m Resolution 0 01m Sway ww ww 100m Resolution 0 01m Termination Characters lt CR gt lt LF gt 5 2 8 SMCG Data Frame SPSMCG DateTime yy yyy WW WW 55 55 hh hh ax axa ay aya az aza Description Form Start Characters SPSMCG Date time 7 character string Roll A
75. tyy yy xx xx thhh hh lt CR gt lt LF gt Description Form Start Characters SPRDID Pitch Angle 100 degrees ve bow up Roll Angle xx xx 100 degrees ve port up Heading hhh hh Heading 0 359 9 Resolution 0 01 Termination Characters lt CR gt lt LF gt 5 2 28 SXN Rolls Royce NMEA protocol Data Frame SPSXN R RRReE P PPPeE P PPPeE cs lt CR gt lt LF gt Note When settling roll pitch and heave will be Start Characters SPSXN Roll Angle R RRReE Radians Scientific format with exponent Pitch Angle P PPPeE Radians Scientific format with exponent Heave P PPPeE Meters Scientific format with exponent Termination Characters lt CR gt lt LF gt SMC IMU User Guide v23 docx Index SMC Ship Motion Control ANALOG OUTPUTS 5 2 29 ANALOG1 0 5M 10V Data Frame 01C0 hh hhh 01C1 w vvv 01C2 aa aaa Description Form 1st Header 01C0 Heave hh hhh 100m 20 Resolution 0 001m 20 Termination Characters lt CR gt lt LF gt 2nd Header 01C1 Heave rate vv vvv 100m s 50 Resolution 0 001m s 50 Termination Characters CR LF 3d Header H01C2 Heave acceleration aa aaa 100m s2 50 Resolution 0 001m s 100 Termination Characters lt CR gt lt LF gt 5 2 30 ANALOG2 10 DEGREES 10V Data Frame 01 01 1 01C2 hh hhh 1st Header 01C0 Roll Angle xx xxx
76. ubstantial vibrations Also avoid mounting the sensors near to machines with sporadic operation e g hydraulic pumps Water The SMC IMU 007 IMU 008 IMU 106 IMU 107 and IMU 108 as a standard is IP66 protection rated The standard surface unit is designed to be mounted in indoors but it is possible to mount it outdoors an enclosure of some sort is still recommended to prolong service life The SMC IMU 108 30 is IP68 water resistant to 30 meters depth or optional 1000 meters Mounting orientation The IMU is calibrated from the factory for Deck or Sideways orientation Deck orientation is when the IMU is mounted on a horizontal surface Deck mounting calibration is the default orientation Sideways orientation is when the IMU is calibrated to be mounted on a vertical surface A unit that has been calibrated for Deck mounting cannot be used in a sideways mounting and vice versa without recalibration of the IMU at the factory SMC IMU User Guide v23 docx Index SMC Ship Motion Control 42 MOUNTING INSTRUCTIONS The IMU base plate has been specifically designed to enable ease of installation and alignment by allowing freedom of movement around the mounting fixings The motion sensor is not shipped with mounting screws or bolts The base plate can be used with a maximum M8 screw or bolt Remove the motion sensor while the mounting location is prepared See motion sensor Dimensions Section 4 6 After drilling any holes for mounting be sure to de b
77. urr the holes and clean the mounting location of any debris that could induce errors Mount and screw the motion sensor in position taking care to align the IMU as best as possible A deck mounting motion sensor has to be mounted with the connector pointing upwards It is not designed to be mounted with the connector pointing downwards In the SMC Configuration software there is a function to fine tune the motion sensor alignment in the X Y and Z axis electronically This setting will rotate the coordinate system electronically inside the motion sensor See Section 5 1 on Motion Sensor Configuration Software for further instructions When mounting the motion sensor sideways there are 4 mounting options in the SMC setup software to rotate its coordinate system correctly For more information see Section 4 5 for sideways calibrated setup If an incorrect mounting selection is chosen the coordinate system will be inverted In this case the roll motion will become the pitch motion or alternatively the positive negative rotation of the angles will be inverted When the motion sensor is calibrated for sideways mounting connector pointing horizontally and is mounted upside down with the single notch pointing in the wrong direction the output signal from the motion sensor will display 180 degrees wrong angle for roll output If the IMU is mounted incorrectly it will not work within its calibrated range and will output inaccurate values SMC
78. vant 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 see Section 4 7 amp 4 8 Heading Information from GPS is not shown in the Output Protocol There is a check button in the SMC configuration software to accept the heading string from the GPS SGPHDT See Section 5 5 Check the box labeled Use GPS Heading input for Yaw aiding if available SMC IMU User Guide v23 docx Index SMC Ship Motion Control

SMC IMU User Guide - Ship Motion Control

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