DAS MSENS-GY Motion Sensor User Manual MSENS GY manual end120218

DAS Co.,Ltd. Motion Sensor MSENS GY manual end120218

User Manual

3-AM09-3,Axis AcceMSEUser, Yangno-ri, Bibhttp://www.daelerometENS's Ma bong-myeon, Has-co.com T) +8ter & 3-AS-GYanual Hwaseong-si, Gy82-31-356-354Axis GyroY l yeonggi-do, Ko1, F) +82-31-35o orea [445-842] 56-3572
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 2 1. This equipment is 3-axis, use the following information to be checked. 2. Check used to test the power. 10 ~ 30Vdc voltage is used. In noisy environments must be connected to the ground. 3. Connect the correct cable to determine the index, please. Incorrect connection may result in damage of the equipment. 4. 1 year warranty on this product. 1. Navigation of vehicle, Speed detecting. 2. Earthquake Detection, Tilt measurement 3. Motion Control 4. Virtual Reality System Application 5. Measurement of the bridge safety inspection 6. vibration of Facilities, equipment and structures detection Before using Applications
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 3 １MSENS-GY features and specifications １-１Features The main advantage of MSENS-GY is to measure motion about all directions, and it is possible to output angle value about gyro. It provides best solution about any application by Microprocessor. The user settings can be stored in internal memory of sensor. (direction, the analog output range, the sensor ID, specify the initial value, etc.) In addition, because the sensor RS-485 communication can be connected to more than 1Km, a line can be connected to Maximum 254 sensors. Core sensor shield to prevent penetration through the strong noise, motors, etc. can be used in strong noise environment. Sensors have been molded silicone inside can be used in inclement weather １-２Size Pic 1.1 MSENS-GY size wire Index RED V+ BLACK GND GREEN 485-A(P) WHITE 485-B(N) YELLOW OUT BLUE TRIGGER Z(YAW) 값 각도 0 초기화 입력
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 4 １-３Specifications z Measuring Range Angle( Roll,Pitch, Yaw) : ±180 full-range Angular velocity. ( Roll,Pitch, Yaw) : ±250, ±500, ±2000 〬/sec z Core sensor - 3 axis gyro + 3 axis accelelometer. - Range(Roll ,Pitch, Yaw, 〬/sec) : ±250 (default) - Bias Stability In-Run(°/hr) : < 12 - Bias Stability Over Temp(〬/sec) : <±0.5 - Scale Factor Accuracy(%) : <1 - Resolution(〬/sec) : 0.02 - Angle Random Walk(°/sq-rt hr) : <3 - Bandwidth(Hz) : 100 z Power Typical : 12Vdc The sensor was unregulated power (10~30Vdc) supply is also available. Current : <50mA at 12Vdc z Resolution Gyro angular velocity : 8.75 mdps Gyro Angle output : 0.1° Max total error : 0.25%(FS) z Housing IP66, PVC Case, Water-proof Housing : The Sensor can be waterproof silicone molding. z OperationgTemperature -20 to .. +85°C z Weight about 68g z Cable 6P Shield cable, 50CM
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 5 Output ２-１ ２-１ RS-485 Serial output (default 115200,8,1,n) format : Ex) [1909123494591923]54CR (’9’ is space) [ID9MODE9X(ROLL)9Y(PITCH)9Z(YAW)]+Checksum+ CR ２-２ 0~5V Voltage output. (default type) - Yellow cable through the output. - User can change output axis by serial command. - Lowest range : 100mV (It can be changed between 100 ~ 1,000mV by order made) - Highest range : 4900mV (It can be changed between 4000 ~ 4900mV by order made) - Center Value : middle value between Low output and High output ２-３ 4~20mA Current output .(order made) - Yellow cable through the output. - User can change output axis by serial command. - Lowest range : 4.32mA - Highest range : 19.68mA - Center Value : 12mA.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 6 ２ Sensor axis directions MSESE-GY measures 3-axis gyro sensor (Roll, Pitch, Yaw). 3-axis directions are following. X (Roll ) Y ( Pitch ) Z ( Yaw ) Pic .3-1 Each axis direction Pic .3-2 3-axis directions
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 7 ３ Wiring MSESE-GY for a six-stranded shielded cable is used. Supply voltage 2-line, RS-485 2-line, mA output consists of a line. RS-485 and the unused line of mA output does not touch the other by cutting the cable must be insulated. When using RS-485 distance is longer than 50M 120 Ohm termination is recommended. In addition, if multiple sensors connected in parallel to use in the termination resistors. ３-１RS-485 Wiring. RS-485 communications can be read sensor value when the one or more sensors can be connected in parallel to a line. However, caution this time, each sensor's ID to be different, continuous data read (# READ) instruction, such as ID and to answer all the sensors, regardless of instruction should not be used. And when you use multiple sensors to allow sufficient power supply wiring should be designed. Pic 4.1 Cable Index
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 8 Pic 4.2 RS-485 Parallel connection diagram ３-２ Analog Wiring The analog output is voltage(default) or current output. Output axis of analog is changed by user command. The default output axis is Yaw. Pic 4.3 3 Analog of voltage wiring Pic 4.4 Analog of current wiring (mV) out V GND A GND Acceleration VS Voltage output
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 9 ４MSENS-GY Communication Commands First of all the transfer of 'CR' will be sent by appending. Example> In case ID = 1 , MODE = 0, Send format : <1 Command> + Check-sum + CR Receive format : [1 0 “Pich”“Roll”“Yaw”] + Check-sum + CR Example of calculation checksum) <1 START> = ‘<‘ XOR ‘1‘ XOR ‘‘ XOR ‘S’ XOR ‘T’ XOR ‘A’ XOR ‘R’ XOR ‘T’ XOR ‘>’ = CHECK_SUM Command Echo CMD VALUE Function Data output Data OutPut <1> x x 1time data [1 0 1234 45 4567] <1 START> [1 START] x Continues data [1 0 1234 45 4567] <1 STOP> [1 STOP] x Stop output Set-up command <1 ID 254> [1 ID 254] 1~254 ID Change <1 SPEED 1> [1 SPEED 0] 1, 2, 3 baudrate <1 MODE 0> [1 MODE 0] Angle:0, angular velocity :1 MODE change <1 SCALE 1> [1 SCALE 1] GY: 1,2,8 AC: 2,4,8 Full Scale Setting <1 ANALOG 2> [1 ANALOG 2] X:0, Y:1, Z:2 Analog 출력축 설정 <1 OFFSET 3.5> [1 OFFSET 3.5] Voltage(mV) Analog output axis offset <1 SPAN 1.05> [1 SPAN 1.05] Scale Factor Analog output span <1 CALI> [1 CALI 12 34 56] x Gyro Bias Calibration <1 INIT> [1 INIT] x Set to YAW 0 <1 SAVE> [1 SAVE] x Save Setting <1 RESTORE> [1 RESTORE] x Default setting values return <1 VER> [1 VER MSENS-GY 01.00] x Version information
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 10 Table 5.1 Command ４-１ One-time data output COMMAND <1> Function One-time data output Example (id=1) <1> Echo N/A Output [1 0 1234 45 1923] Attention) All of following example is for ID 1, MODE 1. Mode ’0’ Output data is applied Kalman filler. It is good for slow measurement and more correct value. Unit is mg/DIGIT. ex) 1234 = 1234 mg = 1.234 g [10123445 1923] ÅID=1, MODE=0, X=1234, Y=45, Z=1923 Mode ‘1’ Output data is not applied Kalman filler. It is good for fast and more roughly measurement. Unit is mg/DIGIT ex) 1234 = 1234 mg = 1.234 g Output is include scale value. [1 11 522 2345 1253]Å ID=1, MODE=1 ,SCALE=1,X=522, Y=2345, Z=1253 (Attention) When the Mode is ‘1’, output interval is 10msec.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 11 ４-２ Continuously data output COMMAND <1 START> Function Continuously data output Example (id=1) <1 START> Echo [1 START] Output(mode=0) [1 0 1234 45 1923] After send command, send the save command. If don’t send save command, lost command when turn off. Attention) Do not send ‘START’ command to more 2 device with RS485. ４-３ Stop data output COMMAND <1 STOP> Function Stop data output Example (id=1) <1 STOP> Echo [1 STOP] If output speed is high, Send ‘STOP’ command several times until data output is stop.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 12 ４-４ ID Setting COMMAND <1 ID “New ID”> Function ID Setting and check Default 1 Example (new id=123) <1 ID 123> Echo [1 ID 123] MSENS-GY has own ID number (1~254). Default ID number is ‘1’. You want know ID number, do following Connect to pc on RS45 and send <0>. The return value is ID,, MODE , X,Y,Z. [1 0 1234 45 1923] It mean is ID=1 , MODE=0, X=1234, Y=45, Z=1923 (Attention) After send command, send the save command. If don’t send save command, lost command when turn off.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 13 ４-５ Data output type setting COMMAND <1 MODE “VALUE”> Function Data output type setting Value 0 , 1 Default 0 Example (new MODE=1) <1 MODE1> Echo [1 MODE1] It is setting data output type and check. Default value of MODE is ‘0’ MODE 0 : Output data is applied Kalman filler. It is good for slow measurement and more correct value. MODE 1 : Output data is not applied Kalman filler. It is good for fast and more roughly measurement. If you wand know what is the set MODE, Send <1 MODE>. Then return value is [1 MODE 0]. It mean is MODE 0. ４-６ Full Scale Setting COMMAND <1 SCALE “VALUE”> Function Full Scale Setting Value 1, 2, 8 Default 1 Example (NEW SCALE=8) <1 SCALE 8> Echo [1 SCALE 8] It is to set full scale of gyro sensor and check.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 14 SCALE DPS 1 ±250 2 ±500 8 ±2000 Default value is 1(±250 DPS) If you want know what is SCALE value, send <1 SCALE> Return value is [1 SCALE 8]. It means the scale value is 8(±2000 DPS) Output unit is always mdps. ４-７Data output interval COMMAND <1 INTERVAL “VALUE”> Function Data output interval Value 10 ~ 1000 Default 100 Example (INTERVAL=10mS) <1 INTERVAL 10> Echo [1 INTERVAL 10] It is setting data output interval and check. The setting unit is msec. Range is from 10[msec] to 1000[msec]. Setting step is 10[msec]. Default value is 100 [msec. But, interval is only 10[msec] when MODE 1. Send Command : <1 INTERVAL> Return value : [1 INTERVAL 10] It mean is 10[msec].
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 15 ４-８Baudrate of serial COMMAND <1 SPEED “VALUE”> Function RS485 Baudrate of serial Value 1, 2, 3 Default 1 Example (SPEED=2) <1 SPEED 2> Echo [1 SPEED 2] It is setting baudrate of RS485 and check.. Default value is Baudrate:115200, Data bit:8, Stop bit:1, parity:None SPEED BAUD RATE 1 115200 2 57600 3 38400 If you wand know what is baudrate value, send <1 SPEED >. Return value is [1 SPEED 1]. It mean is 115200(baudrate is 115200). ４-９Axis of analog output setting COMMAND <1 ANALOG “VALUE”> Function Axis of analog output setting Value 0, 1, 2 Default 2 Example (ANALOG=0) <1 ANALOG 0> Echo [1 ANALOG 0] It is setting axis of analog output and check.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 16 Default value is 2(Yaw axis). ANALOG AXIS 0 X (ROLL), 1 Y (PITCH) 2 Z (YAW) If you want know what is output axis of analog. Send <1 ANALOG>. Return value is [1 ANALOG 0]. z Analog value is deferent depend on FULL SCALE. ±2g : -2g : 0.5V, 0g : 2.5V, +2g : 4.5V 출력. ±8g : -8g : 0.5V, 0g : 2.5V, +8g : 4.5V 출력 4~20 mA : 0.5V = 5.6 mA, 2.5V = 12 mA, 4.5V = 18.4 mA ４-１０Analog output offset setting COMMAND <1 OFFSET“VALUE”> Function Analog output offset setting Value Real Default 0 Example (OFFSET=3.5) <1 OFFSET 3.5> Echo [1 OFFSET 3.5] It is setting for analog output offset and check. Default value is 0[mV]. It has two kind of type. One of them is voltage, other one is current. It is setting by order made. Default is voltage. If sensor is current output type and setting value is 1, output is change to 3.2uA up. Example) <1 OFFSET 3.5>Å 3,5mV up. <1 OFFSET -12.5>Å -12.5mV down.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 17 If you want know what is offset setting value, send <1 OFFSET>. Return value is [1 OFFSET -12.5]. It means offset setting value is -12.5 mV. ４-１１ Span of analog output setting COMMAND <1 SPAN“VALUE”> Function Span of analog output setting Value Real Default 1 Example (SPAN=1.00452) <1 SPAN1.00452> Echo [1 SPAN1.00452] It is setting for span of analog (mV or mA) output and check. Default value is 1. Example) <1 SPAN 1.00452>Å Voltage output is FULL SCALE * 1.00452 <1 SPAN 0.9987>Å Voltage output is FULL SCALE * 0.9987 If you wand know what is SPAN setting value, Send <1 SPAN. Return value is [1 SPAN0.9987 ４-１２GyroBiasCalibration COMMAND <1 CALI > Function Gyro Bias Calibration Example <1 CALI> Reply [1 CALI 123 24 43] It is to calibration for bias of core gyro sensor It needs about one second. Do not change except if you know this function well. Return value is [1 CALI123 24 43]. It means X-bias : 123 , Y-bias : 23 , Z-bias : 43
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 18 ４-１３Z(Yaw) 0 Degree Initial Setting COMMAND <1 INIT> Function １-１Z(Yaw) 0 Degree Initial Setting Example <1 INIT> Echo [1 INIT] It is to change the value of angle of Yaw to 0. It is same that the blue-line is connected red-line(+V) very sort time. ４-１４Save setting values COMMAND <1 SAVE> Function Save setting values Example <1 SAVE> Echo [1 SAVE] It is to save to EEPROM setting values. ４-１５Conform the S/W version COMMAND <1 VER> Function Conform the S/W version Example <1 VER> Reply [1 VER MSENS-GY 01.00] If you want know what is S/W version, send <1 VER> Return value is [1 VER MSENS-AC 01.0]. ４-１６Return all setting values to default
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 19 COMMAND <1 RESTORE> Function Return all setting values to default Example <1 RESTORE> Echo [1 RESTORE] All setting values in EEPROM are return to default except baudrate. ５ Install PC Program ５-１Download pc program The setup program is technical board of website( http://www.das-co.com). ５-２ Install z Double click the icon of setup. z Input the install path.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 20 z Finish ６ MSENS-Viewer Main window ６-１MAIN z MSENS-AC z MSENS-GY
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 21 If you want more information about program, please see the manual of MSENS-Viewer. The information contained in the product manual without prior notice for quality improvement. Described above are subject to change copyright of all content on DAS CO.,LTD And reproduced without prior consent, and may not be distributed by.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 22 WARNING: Shock hazard - Do Not Open. Mains Plug or Direct plug-in adapter is used as disconnect device and it should remain readily operable during intended use. In order to disconnect the apparatus from the mains completely, the Mains Plug or Direct plug-in adapter should be disconnected from the mains socket outlet completely. WARNING: TO REDUCE THE RISK OF ELECTRIC SHOCK, DO NOT REMOVE COVER (OR BACK). NO USER- SERVICEABLE PARTS INSIDE. REFER SERVICING TO QUALIFIED SERVICE PERSONNEL. The lightning lash with arrowhead symbol, within an equilateral triangle, is intended to alert the user to the presence of uninsulated "dangerous voltage" within the product's enclosure that may be of suficient magnitude to constitute a risk of electric shock to persons. Tlie exclamation point within an equilateral triangle is intended to alert tlie user to the presence of important operating and maintenance (servicing) instructions in the literature accompanying the appliance, FCC Warnings WARNING: Changes or modiications to this unit not expressly approved by the party responsible for compliance could void the user's authoity to operate the equipment. NOTE: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Pat 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: • Reorient or relocate the receiving antenna. • Increase the separation between the equipment and receiver. • Connect the equipment into an outlet on a circuit different rom that to which the receiver is connected. • Consult the dealer or an experienced radio/TV technician for help.
3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual 23 Additional Warnings The apparatus shall not be exposed to dripping or splashing and that no objects filled with liquids, such as vases, shall be placed on apparatus. L'appareil ne doit pas itre exposi aux ecoulements ou aux edaboussures etaucun objetne contenantdeliquide, tel qu'un vase, ne doit itre place sur I'objet. Battery shall not be exposed to excessive heat such as sunshine, fire or the like. Les piles ne doiventpas itre exposees a de.forte chaleur, tel qu'a la lumiere du soleil, au feu ou autres choses de semblable. Caution marking is located at the rear or back of the apparatus. Attention marquageestsituea I'arriereou a I'arriere de l'appareil The marking information is located at the rear or back of apparatus. Les informations de marquage est situe a I'arriere ou a I'arriere de l'appareil. DAS Co., Ltd Copyright ⓒ by Das Co.,Ltd. All Right Reserved Website : www.das-co.com Phone No : +82 - (0)31 - 356 - 3541 FAX No : +82 - (0)31 – 356 - 3572 e-mail : jastech@hanmail.net Address : 09-3, Yangno-ri, Bibong-myeon, Hwaseong-si, Gyeonggi-do, Korea [445-842]

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