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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6

RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6
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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 1

SINCE2008 · Inertial Attitude Measurement Expert Inertial Measurement Unit (pin to pin alternative to STIM300) ○Inclinometer ○3D compass sensor ○Digital inclinometer Technical Manual ○Gyro sensor ○North finder

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 2

SINCE2008 · Inertial Attitude Measurement Expert PRODUCTION EXECUTION STANDARD REFERENCE ○ Enterprise quality system standard: ISO9001: 2008 standard (certification number: 128101) ○ The intellectual property management system complies with the standard: GB / T 29490-2013 (Certificate No. : 18117IP1529R0S) ○ High-tech enterprise (Certificate No .: GR201844204379) ○ Angle sensor production standard: SJ 20873-2003 General specification for inclinometer and spirit level ○ Gyro acceleration test standard: QJ 2318-92 gyro accelerometer test method ○ Software development reference standard: GJB...

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 3

SINCE2008 · Inertial Attitude Measurement Expert ▶ PRODUCT DESCRIPTION IMU6 is specially designed to replace STIM300, it is compatible completely with STIM300 in both hardware and software. IMU6 is an IMU consisting of 3 high accuracy MEMS-based gyros, 3 high stability accelerometers and 3 high stability inclinometers in a miniature package. Each axis is factory-calibrated for bias, sensitivity and compensated for temperature effects to provide high-accuracy measurements in the temperature range -40°C to +85°C. The unit runs off a single +5V supply. IMU6 communicates via a standard...

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 4

SINCE2008 • Inertial Attitude Measurement Expert ► TECHNICAL DATA Parameters Test condition Min value Typical value Max value Unit oInclinometer o3D compass sensor oDigital inclinometer oAccelerometer oGyro sensor oNorth finder oINS&IMU

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 5

SINCE2008 · Inertial Attitude Measurement Expert ▶ ELECTRICAL INTERFACE DIMENSION The electrical connector type is J30J-15ZKN-J, and the specific assignment of the contacts is shown in Table 1 below. Table 1 J30J-15ZKN-J contact distribution Node number Power ground ▶ STRUCTURE SIZE AND COORDINATE DEFINITION ○Inclinometer ○3D compass sensor ○Digital inclinometer ○Gyro sensor

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 6

SINCE2008 • Inertial Attitude Measurement Expert ► SERIAL PORT COMMUNICATION PROTOCOL The interface adopts RS422 communication protocol, the baud rate is 921600bps, 1 start bit, 8 data bits, 1 stop bit, no parity. The packet format is as follows in Table 1 and Table 2: Table 1 Product Output Packets oInclinometer o3D compass sensor oDigital inclinometer oAccelerometer oGyro sensor oNorth finder oINS&IMU

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 7

SINCE2008 · Inertial Attitude Measurement Expert Description: 1) Gyro angular velocity output [°/s]= The data bit format is shown in Figure 1; AR1 is the upper eight bits in the three bytes of each gyro axis angular speed output; AR2 is the middle eight bits in the three bytes of each gyro axis angular speed output; AR3 is the lower eight bits in the three bytes of each gyro axis angular speed output; Figure 1 Converting the gyro angular velocity output to [°/s] 2) Temperature output [°C]= , The data bit format is shown in Figure 2. T1 is the upper eight bits in the two bytes of each axis...

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 8

SINCE2008 • Inertial Attitude Measurement Expert Perform CRC32 calculation on the transmitted packet Calculates the CRC-32 of a block of data all at once Use the exhaustive list to get crc32. Uint16 *pch is an array that needs to calculate CRC32 Intl en is the length of the array #define POLY 0x04C11DB7 //CRC32 generator polynomial Normal // x32 + x26 + x23 + x22 + x16 + x12 + x11 + x10 + x8 + x7 + x5 + x4 + x2 + x+ 1 Such as: X32+X26+...X1 + 1, poly=(1<<26)|...|(1<<1 )|(1<<0) *****************************************************************/ void CRC32(Uint16 *pch,int len) { Uint32 reg =...

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 9

SINCE2008 • Inertial Attitude Measurement Expert 6, self-test function and working status real-time output function The product has a self-test function and a real-time output function of the working status. The output data packet defined in Section 5 contains a byte indicating the status, which is powered on. After the startup is completed, the product working status information is output in real time. The status bits are defined as shown in Table 3. Table 3 Product Status Bit Definitions oInclinometer o3D compass sensor oDigital inclinometer oGyro sensor oNorth finder oINS&IMU

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RION/Inertial Measurement Unit (complete alternative to STIM300)/IMU6 - 10

SINCE2008 · Inertial Attitude Measurement Expert Add：Building 1, COFCO (Fu'an) Robot Intelligent Manufacturing Industrial Park, No. 90 Dayang Road, Fuhai Street, Bao'an District, Shenzhen, China Tel ：(86) 755-29657137 (86) 755-29761269 Fax：(86) 755-29123494 E-mail：sales@rion-tech.net Web：www.rion-tech.net 24 hours after sales service：13316995119 ○Inclinometer ○3D compass sensor ○Digital inclinometer ○Gyro sensor

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