User Manual Rev1.1

User Manual

Rev1.1

CruizCore

®

XG1350

Digital Gyroscope

2013. 05. 20

Copyright Microinfinity Co., Ltd.

http://www.minfinity.com

Contact Info.

EMAIL:

[email protected]

, TEL: +82 31 546 7408 FAX: +82 31 546 7409

CruizCore

®

XG1350 USER MANUAL

BLANK

PAGE

Microinfinity reserves all rights in this document and its subject matter. The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered. ii

CruizCore

®

XG1350 USER MANUAL

Contents

1. Introduction ....................................................................................................................... 1

2. Hardware Description ........................................................................................................ 3

2.1. System Description ...................................................................................................... 3

2.2. Part List Included with this Kit ...................................................................................... 3

2.3. Cable Pin-out ............................................................................................................... 4

2.3.1. USB Cable .............................................................................................................. 4

2.3.2. RS232 Cable .......................................................................................................... 4

2.4. Mounting Information (Coordinate System) .................................................................. 5

2.5. Sensor Start-up ............................................................................................................ 5

3. Software Description ......................................................................................................... 6

3.1. Output Data Format ..................................................................................................... 6

3.2. Monitoring Program ..................................................................................................... 6

3.2.1. Installation .............................................................................................................. 6

3.2.2. Main Window .......................................................................................................... 7

3.2.3. Rate Window .......................................................................................................... 7

3.2.4. Angle Window ......................................................................................................... 7

3.2.5. Acceleration Window .............................................................................................. 7

3.2.6. Compass Window ................................................................................................... 8

3.2.7. Data Window .......................................................................................................... 8

3.2.8. Icon Toolbar ............................................................................................................ 8

4. System Characteristics .................................................................................................... 10

4.1. Physical Characteristics ............................................................................................. 10

4.2. Environmental Characteristics ..................................................................................... 11

4.3. Electrical Characteristics ............................................................................................ 12

4.4. Performance Characteristics ...................................................................................... 13

Microinfinity reserves all rights in this document and its subject matter. The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered. iii

CruizCore

®

XG1350 USER MANUAL

List of Figures

Figure 1: CruizCore

®

XG1350. ................................................................................................. 1

Figure 2: CruizCore

®

XG1350 part list. ..................................................................................... 3

Figure 3: Type A USB connector. .............................................................................................. 4

Figure 4: RS232 cable color code............................................................................................. 4

Figure 5: CruizCore

®

XG1350 coordinates system.................................................................... 5

Figure 6: Program main window. .............................................................................................. 6

Figure 7: Rate window. ............................................................................................................. 7

Figure 8: Angle window. ........................................................................................................... 7

Figure 11: Data window. ........................................................................................................... 8

List of Tables

Table 1: CruizCore

®

XG1350 part list description. ..................................................................... 3

Table 2: USB connector type A pin-out. ..................................................................................... 4

Table 3: RS232 cable pin-out description. ................................................................................. 5

Table 4: CruizCore

®

XG1350 physical characteristics. ............................................................ 10

Table 5: CruizCore

®

XG1350 environmental characteristics. .................................................... 11

Table 6: Judgment criteria of environment and mechanical test................................................ 11

Table 7: CruizCore

®

XG1350 electrical characteristics. ........................................................... 12

Table 8: CruizCore

®

XG1350 performance characteristics. ..................................................... 13

Microinfinity reserves all rights in this document and its subject matter. The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered. iv

CruizCore

®

XG1350 USER MANUAL

BLANK

PAGE

Microinfinity reserves all rights in this document and its subject matter. The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered. v

CruizCore

®

XG1350 USER MANUAL

1. Introduction

The CruizCore

®

XG1350 is a fully self-contained MEMS digital gyroscope and accelerometer based on the CruizCore

®

R1 Series platform. Compared with the R1 Series, the XG1350 was designed with convenient packaging and communication interfaces to allow its use as a standalone sensor(see Figure 1). It provides USB and RS232 communication interfaces, the output and baud rate are adjustable for the customers’ convenience. The XG1350 includes a

MEMS gyroscope, 3axis accelerometer, internal voltage regulation, data acquisition and signal processing circuitry, communication interfaces and a RISC microprocessor running our patented error correcting algorithm. Because it uses MEMS sensors, it has the advantage of being light weight, small size and consuming low power. The XG1350 is packaged in a hard case for increasing protection against external impact. The XG1350 uses an adaptive reduced order

Kalman filter to stabilized angular rates and heading angles, virtually eliminating the most common errors (i.e. bias drift, scale factor, temperature effects). The XG1350 has a 50Hz bandwidth and can precisely measure angular rates up to ± 100 deg/sec, it can also measure rates up to ± 150 deg/sec with lesser accuracy. The start-up time is less than one second, which is used to compute bias parameters; it does not require further calibration thereafter. The

XG1350 is the best single axis rate measuring solution for navigation applications.

The CruizCore

®

XG1350 has the following features:

 Ultra low bias drift



High resolution and accuracy

 Outstanding scale factor linearity

 Fast start-up



Fully self-contained



Digital output (RS232/USB)



Low power consumption

 Low cost



Roughed and compact package



User friendly monitoring and testing program

Figure 1: CruizCore

®

XG1350.

Microinfinity reserves all rights in this document and its subject matter. The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered.

1

CruizCore

®

XG1350 USER MANUAL

NOTICE: We recommend extensive testing of this product before using it in a final application. Specifically, this product should be tested in the same environmental conditions that it is intended to be used. Furthermore, we strongly recommend caution when using our product in sensitive applications that can cause injures, death or property damage due to the wrong operation of this product, which may be caused by unexpected environmental changes such as temperature, shock, excessive and continuous vibration, etc. These applications include but are not limited to:



Aircraft equipment



Air vehicles



Aerospace equipment



Underwater vehicles



Medical equipment



Transportation equipment



Disaster prevention/crime prevention equipment



Applications which require especially high reliability and accuracy

Disclaimer and Limitation of Liability for Damages.

Microinfinity shall not be liable, under any circumstances, for any special, indirect, incidental, consequential, or contingent damages for any reason, whether or not the buyer has been advised of the possibility of such damages.


2

CruizCore

®

XG1350 USER MANUAL

2. Hardware Description

2.1. System Description

The CruizCore

®

XG1350 is compact, light, low-power consuming digital gyroscope and accelerometer. It uses a MEMS rate and acceleration sensor. It has internal power regulation to minimize the power noises. The input voltage range of 4.75 V to 5.25 V is acceptable for power supply.

2.2. Part List Included with this Kit

The CruizCore

®

XG1350 is a full developer’s kit intended to facilitate testing and understanding the CruizCore

®

R1 Series. Therefore it includes all the necessary cables and software needed for that purpose. The list of materials included with this kit is shown in Figure 2 and described in Table 1:

Figure 2: CruizCore

®

XG1350 part list.

Table 1: CruizCore

®

XG1350 part list description.

Item Number

1

2

3

4

Description

CruizCore

®

XG1350

USB cable

RS232 cable

CD-ROM (includes User Manual and sensor testing program)


3

CruizCore

®

XG1350 USER MANUAL

2.3. Cable Pin-out

For convenience, the CruizCore

®

XG1350 can communicate with external devices using two different interfaces: USB and RS232 ports.

2.3.1. USB Cable

The CruizCore

®

XG1350 USB connection is of type A (see Figure 3), the pin-out description is presented in Table 2.

Contact Number

1

2

3

4

Figure 3: Type A USB connector.

Table 2: USB connector type A pin-out.

Typical Wiring Color

Red

White

Green

Black

Signal Name

V

BUS

(5V)

D-

D+

GND

2.3.2. RS232 Cable

The CruizCore

®

XG1350 provides a regular RS232 interface, that is, it already has the correct voltage levels need to communicate with a PC serial port. The cable contains six color coded terminals (see Figure 4 and Table 3).

Figure 4: RS232 cable color code.


4

CruizCore

®

XG1350 USER MANUAL

Table 3: RS232 cable pin-out description.

Wire color

RED

Pin description

VCC

BLACK

YELLOW

GREEN

ORANGE

BROWN

GND

TX*

RX*

Reserved

Reserved

2.4. Mounting Information (Coordinate System)

The CruizCore

®

XG1350 coordinate system has its sensitive axis perpendicular to the device flatter area (see Figure 5), therefore the gyro will show a positive angular rate (and angle increment) when its sensitive axis is rotated in the clock-wise direction (other coordinate systems are available as an option). Incorrect mounting can produce misalignment errors that have similar effect as scale factor errors, and therefore can be treated as such. If the error is significant we recommend re-calculating the scale factor using a single-axis rate table.

2.5. Sensor Start-up

The CruizCore

®

XG1350 startup time is less than one second, it internally compensates for errors due to changes in temperature. However, sudden temperature changes shortly after powering-on the unit can cause static rate errors. If such temperature chances are expected, we recommend leaving the gyro stationary for about 1 second after startup.

Figure 5: CruizCore

®

XG1350 coordinates system.


5

CruizCore

®

XG1350 USER MANUAL

3. Software Description

3.1. Output Data Format

The CruizCore

®

XG1350 provides rate, angle and acceleration outputs. The information is packed in an 15 –byte data packet, which is transmitted to external devices at the specified baud rate. For more details about the output formatting, refer to the “CruizCore

®

R1 Series

Technical Manual”

3.2. Monitoring Program

Microinfinity Co., Ltd. provides a monitoring program. For convenience, the program displays the parsed data in numerical and graphical forms and allows saving the data for subsequent analysis. The following explanation is based on the Monitoring Program version 1.0. This program has been tested under Microsoft Windows XP SP3.

3.2.1. Installation

The monitoring program is provided in the accompanying CD. The program can be installed using the Setup_XG1350MonitoringProgram.exe executable file. The installing and monitoring program requires the .NET framework 4.0 installed in the computer.

Caution: You must install “.net framework 4.0” before run this software.

We provided “.net framework 4.0” install file at this software install package or you can download at Microsoft homepage.

Figure 6: Program main window.


6

CruizCore

®

XG1350 USER MANUAL

3.2.2. Main Window

The main window (see Figure 6) displays the information related to the CruizCore

®

XG1350 in five different formats or windows: rate, angle, acceleration, compass, and angle/acceleration data.

3.2.3. Rate Window

This window shows the yaw rate of rotation data in graphic mode (see Figure 7).

Figure 7: Rate window.

3.2.4. Angle Window

This window shows the angle or integrated rate (see Figure 8).

Figure 8: Angle window.

3.2.5. Acceleration Window

This window shows acceleration data. (see Figure 8).

Figure 9: Acceleration window.


7

CruizCore

®

XG1350 USER MANUAL

3.2.6. Compass Window

The compass window shows a simulated compass corresponding to the angle output provided by the CruizCore

®

XG1350 (see Figure 1010).

Figure 10: Compass window.

3.2.7. Data Window

The data window shows in numerical format the parsed sensor data and accumulated heading and acceleration data since the sensor was reset (see Figure 91).

Figure 9: Data window.

3.2.8. Icon Toolbar

The icon toolbar gives access to the most important features and functions of the monitoring program. The following is a brief description of each one. Some icon can be enabled or disabled as operating mode.

COM Port selection

Allow selecting the serial port either if it is physical port (normally COM1 and COM2) or virtual

COM port as the ones created by USB-serial converters.

Connect

Serial port connecting.

Disconnect

Serial port disconnecting.


8

CruizCore

®

XG1350 USER MANUAL

Data Save start

All the Rate and Angle data will be saved.

Output data filename is Log_ current year-month-day-hour-minute-second.out in Log folder.

Example) Log_20110703084425.out

Data Save stop

Data save will be stopped.

Open log folder

Open the log folder in window explorer.

Reset

Sensor and accumulated information of CruizCore

®

XG1350 will be reset. After reset

CruizCore

®

XG1350 is strongly needed in stationary state during initial alignment time.


9

CruizCore

®

XG1350 USER MANUAL

4. System Characteristics

The following tables summarize the main characteristics of the CruizCore

®

XG1350. These specifications subject to change without notice and several parameters can be changed under customer request as an option.

4.1. Physical Characteristics

PARAMETER

SIZE

WEIGHT

Table 4: CruizCore

®

XG1350 physical characteristics.

Min.

VALUE

Typ.

35.9 × 35.9 × 17.0

15

Max.

UNIT

mm g


10

CruizCore

®

XG1350 USER MANUAL

4.2. Environmental Characteristics

Table 5: CruizCore

®

XG1350 environmental characteristics.

NO.

1

2

ITEMS

High temperature storage

Low temperature

Storage

Temperature and

Humidity cycling

TEST CONDITION

85C x 120h

-40C x 72h

TEST CRITERIA

Refer to Table 6

Refer to Table 6

3

25C , 60%RH(4h) / 55C , 95%RH(10h)

/-30C (2h) / 75C (2h), 10cycles

Refer to Table 6

4

5

6

Thermal shock

Drop

Vibration

-40C ↔ 85C 1hour at each temperature,

10cycles

Free drop from 750mm height on a wooden board for 6 times

10Hz to 55Hz amplitude

0.75mm, 55Hz to 500Hz acceleration 98m/s2,

10Hz→500Hz→10Hz

15min/cycle, 6h(2h x 3directions)

Refer to Table 6

Refer to Table 6

Refer to Table 6

7 ESD

R(330Ω) C(150pF), Contact discharge, 5times

Refer to Table 6

* After each test, there should be no visible damage and the measured values shall be met

Table 6.

Table 6: Judgment criteria of environment and mechanical test

ITEMS UNITS

Angular error

ESD degree voltage

JUDGMENT CRITERIA

360±1.0deg. (CW rotation)

0±1.0deg. (CCW rotation)

1kV(operating), 2kV(destruct)


11

CruizCore

®

XG1350 USER MANUAL

4.3. Electrical Characteristics

PARAMETER

INPUT VOLTAGE

CURRENT

POWER

Table 7: CruizCore

®

XG1350 electrical characteristics.

CONDITION

OPERATING

RECOMMENDED

@ 5 V

@ 5 V

Min.

4.75

VALUE

Typ.

5

10

50

Max.

5.25

UNIT

V

V mA mW

CAUTION

ESD (electrostatic discharge) sensitive device.

Electrostatic charges as high as 4000 V readily accumulate on the human body and test equipment and can discharge without detection. Permanent damage may occur on devices subjected to high-energy electrostatic discharges. Therefore, proper ESD precautions are recommended to avoid performance degradation or loss of functionality.


12

CruizCore

®

XG1350 USER MANUAL

4.4. Performance Characteristics

Table 8: CruizCore

®

XG1350 performance characteristics.

PARAMETER

VALUE

Typ.

0.5

Max.

50

5

 100

UNIT

BANDWIDTH

WARM-UP TIME

RATE

FAST WARM-UP

FULL ALIGNMENT

1

CONTINUOUS*

INSTANTANEOUS

2

Min.

10 Hz sec min deg/sec

 150 deg/sec

ANGULAR RATE

RESOLUTION 0.01 deg/sec

SCALE FACTOR

ERROR

BIAS DRIFT

0.5 1

%

< 10 50 deg/hr

MEASUREMENT

ACCELERATION  2 G

RANGE

DATA RATE ADJUSTABLE

3

100 Hz

* The system must be installed in the correct position.

1. Full alignment: The total time that takes for full bias error calibration and temperature compensation. It is the worst case on condition that the temperature goes up suddenly without temperature compensation.

2. Prolonged time in this condition will introduce heading errors

3. Other data rate available as option.


13

CruizCore

®

XG1350 USER MANUAL

BLANK

PAGE


14

CruizCore

®

XG1350 USER MANUAL

Contact Information

Corporate Office

Microinfinity Co., Ltd.

8F KANC, 906-10, Iui-dong,

Yeongtong-gu, Suwon-si

Gyeonggi-do, 443-270, Korea

Tel : +82-31-546-7408

Fax : +82-31-546-7409

Email: [email protected]

USA Technical Support

P.O. Box 131284

Ann Arbor, MI 48105, USA

Tel : +1-734-223-5904

Fax : +1-866-400-3125

Email: [email protected]

Homepage: http://www.minfinity.com


15

CruizCore

®

XG1350 USER MANUAL

CUSTOMER RESPONSE

It is our intention to provide you with the best documentation possible to ensure successful use of your Microinfinity product. If you wish to provide your comments on organization, clarity, subject matter, and ways in which our documentation can better serve you, please FAX your comments. Please list the following information, and use this outline to provide us with your comments about this manual and product.

1. What are the best features of this document and product?

2. How does this document meet your hardware and software development needs?

3. Do you find the organization of this data sheet easy to follow? If not, why?

4. What additions to the data sheet do you think would enhance the structure and subject?

5. What deletions from the data sheet could be made without affecting the overall usefulness?

6. Is there any incorrect or misleading information (what and where)?

7. How would you improve this document?

8. How would you improve our software, systems, and products?

9. Other Comments?

From: Name

Company

Address

City / State / ZIP / Country

Telephone: (_______) _________ - _________

Application (optional):

Would you like a reply? Y N

Questions:

FAX: (______) _________ - _________


16

User Manual Rev1.1

User Manual

CruizCore

®

XG1350

Digital Gyroscope

2013. 05. 20

Copyright Microinfinity Co., Ltd.

Contents

List of Figures

List of Tables

1. Introduction

2. Hardware Description

2.1. System Description

2.2. Part List Included with this Kit

2.3. Cable Pin-out

2.4. Mounting Information (Coordinate System)

2.5. Sensor Start-up

3. Software Description

3.1. Output Data Format

3.2. Monitoring Program

4. System Characteristics

4.1. Physical Characteristics

4.2. Environmental Characteristics

4.3. Electrical Characteristics

4.4. Performance Characteristics

Contact Information

CUSTOMER RESPONSE

Related manuals

CruizCore

XG1350

ALLPOWER

2000

Indel

GIN-SAC4 Series

Xsens

MTi Series