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Table of Contents
Related Manuals for SMC Networks IMU-007
Summary of Contents for SMC Networks IMU-007
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Page 1: User Guide
SMC IMU User Guide SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... - Page 2 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.
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Page 3: Table Of Contents
TABLE OF CONTENTS INTRODUCTION ........................1 ..........................2 EFINITIONS SYSTEM DESCRIPTION ......................3 ) ................... 4 PATIAL OVEMENT OORDINATE YSTEM STORAGE AND UNPACKING ....................6 INSTALLATION ........................7 ........................... 7 LOCATION ......................8 OUNTING INSTRUCTIONS 4.2.1 IMU MOUNTING BRACKET - OPTIONAL ................9 .......................... - Page 4 5.2.6 SMCE ..........................36 5.2.7 SMCF ..........................36 5.2.8 SMCG ..........................36 5.2.9 SMCH ..........................37 5.2.10 SMCI ..........................37 5.2.11 SMCM ..........................38 5.2.12 SMCR ..........................38 5.2.13 SMCS ..........................38 5.2.14 SMCT ..........................39 5.2.15 SMCU ..........................39 5.2.16 SMCV ..........................
- Page 5 MOTION SENSOR OPERATION .................... 66 .......................... 66 ETTLING ........................66 EAVE PERATION SERVICE AND WARRANTY ....................67 ........................67 ECHNICAL UPPORT ..........................68 ARRANTY 7.2.1 LIMIT OF LIABILITY ......................68 7.2.2 RESTRICTION OF WARRANTY ..................69 TECHNICAL SPECIFICATIONS....................70 IMU-00 ..................
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Page 6: Introduction
Active heave compensation for cranes and winches. Dynamic positioning systems Products Covered in this User Guide Surface units Roll & Pitch (Dynamic) Heave Acceleration IMU-007 0,25 RMS 0,01 m/s IMU-008 0,25 RMS 5cm or 5% 0,01 m/s IMU-106... -
Page 7: Definitions
1.1 DEFINITIONS Alignment The alignment of the motion sensor is 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 (X), pitch (Y) 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. -
Page 8: System Description
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. -
Page 9: Spatial Movement (Coordinate System)
2.1 SPATIAL MOVEMENT (COORDINATE SYSTEM) The SMC motion sensor defines its body axis from the 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. -
Page 10: Smc Imu User Guide V26B.docx Index Smc Ship Motion Control
SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... -
Page 11: Storage And Unpacking
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 be inspected for damage during shipment. If damage has occurred during transit, all the shipping cartons and packaging materials should be stored for further investigation. -
Page 12: Installation
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. -
Page 13: Mounting Instructions
4.2 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. -
Page 14: Imu Mounting Bracket - Optional
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. -
Page 15: Alignment
4.3 ALIGNMENT To 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. -
Page 16: Sideways Mounting
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. -
Page 17: Top Of The Imu Pointing To The Starboard
4.5.2 TOP OF THE IMU POINTING TO 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... -
Page 18: Top Of The Imu Pointing To The Port
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. Single Notch Pointing to the Bow IMU Connector Pointing to... -
Page 19: Imu Dimensions
4.6 IMU DIMENSIONS 4.6.1 IMU-00X SURFACE UNIT SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... -
Page 20: Imu-00X 30M Depth Rated Unit
4.6.2 IMU-00X 30M DEPTH RATED UNIT SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... -
Page 21: Imu-10X Surface Unit
4.6.3 IMU-10X SURFACE UNIT SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... -
Page 22: Imu-10X 30M Depth Rated Unit
4.6.4 IMU-10X 30M DEPTH RATED UNIT SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... -
Page 23: Imu Optional Mounting Bracket
4.6.5 IMU OPTIONAL MOUNTING BRACKET SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... -
Page 24: Electrical Communication
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. -
Page 25: Serial Rs232 And Rs422 Interface Connection Guide
4.7.1 SERIAL RS232 AND RS4 22 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. -
Page 26: Imu Surface Units Output Connection Cabling
4.7.2 IMU SURFACE UNITS OUTPUT CONNECTION CABLING RS232 Connections DB9 Connections Sensor Connector Cable Colour Sensor Function DB9 to PC/Converter White RS232 – RxD RS232 – TxD Grey Supply Voltage - Pink Supply Voltage + 12 to 30Vdc RS422 Connections DB9 Connections Sensor Connector Cable Colour Sensor Function... -
Page 27: Imu 30 Depth Rated Unit
4.7.4 IMU 30 DEPTH RATED UNIT RS232 Output Connections DB9 Connections Sensor Connector Cable Colour Sensor Function DB9 to PC/Converter Black RS232 – RxD White RS232 – TxD Blue/Black Supply Voltage - Black/White Supply Voltage + 12 to 30Vdc RS422 Output Connections DB9 Connections Sensor Connector Cable Colour Sensor Function... -
Page 28: Rs422 Cable Connection
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 a 2V drop with a 50 mA current applied over an exceptional length of cable. Cable and conductors are supplied on demand for an additional cost. -
Page 29: Electrical Installation
4.8 ELECTRICAL INSTALLATION The SMC IMUs are powered with a standard 12 VDC or 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. -
Page 30: Imu-Xxx-30 Depth Rated Unit
4.8.2 IMU-XXX-30 DEPTH RATED UNIT IMU-xxx-30 RS422 Motion Sensor Motion Sensor BK (1) DB9, RS422 WH (2) 115 200, 8N1 RD (3) GN (4) OR (5) BL (6) BL/BK (11) Input 1 BK/WH (12) GPS or Heading input DB9, RS232 WH/BK (7) 4800, 8N1 RD/BK (8) -
Page 31: Imu-Xxx Analog Voltage Outputs
4.8.3 IMU-XXX ANALOG VOLTAGE OUTPUTS IMU-xxx analog output Analog JB Motion Sensor Analog Channel 1, +/-10V Analog Channel 2, +/-10V Analog Channel 3, +/-10V DB9, RS232 115 200, 8N1 Motion Sensor Input 1 GPS or Heading input DB9, RS232 4800, 8N1 GPS/Compass Input 1 RxD to Terminal 17 Input 2... -
Page 32: Imu-Xxx Analog Current 4-20Ma Outputs
4.8.4 IMU-XXX ANALOG CURRENT 4-20MA OUTPUTS IMU-xxx analog output Analog JB Motion Sensor Analog Channel 1, 4-20mA Analog Channel 2, 4-20mA Analog Channel 3, 4-20mA DB9, RS232 115 200, 8N1 Motion Sensor Input 1 GPS or Heading input DB9, RS232 4800, 8N1 GPS/Compass Input 1 RxD to Terminal 17... -
Page 33: Imu Configuration Guide
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 be used to set up the Motion sensor configuration and communication parameters according to the user requirements. The settings made in the IMU Configuration software are written to the motion sensor. -
Page 34: Default Settings At Factory
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. -
Page 35: Settings
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 bits, 1 stop bit and no parity but the bitrate may have to be changed to match the IMU settings. - Page 36 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”.
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Page 37: Protocols
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. SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... -
Page 38: Smc Standard Protocols
5.2.1 SMC STANDARD PROTOCOLS SMC Standard - This is a NMEA 0183 based compatible string. 5.2.2 SMCA Data Frame $PSMCA,±xx.xxx,±yy.yyy,±hh.hh,±ss.ss,±ww.ww<CR><LF> Example $PSMCA,+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. -
Page 39: Smcb
5.2.3 SMCB Complete output of all available internal values. Data Frame $PSMCB,±xx.xx,±yy.yy,±zzz.z,±xv.xv,±yv.yv,±zv.zv,±GG.GGG,±HH.HHH,±II.III,±ss.ss,±ww.ww,±hh.hh,±s v.sv,±sw.sw,±hv.hv,±ax.axa,±ay.aya,±az.aza Note: A very long protocol, it does not work at 100Hz, use 70Hz or below at 115200 baud. Description Form Start Characters $PSMCB Roll Angle (xx.xx) ±100 degrees Resolution 0.01° (+ve=port up) Pitch Angle (yy.yy) ±100 degrees Resolution 0.01°... -
Page 40: Smcc
5.2.4 SMCC Data Frame $PSMCC,+xx.xx,+yy.yy,+zzz.z,+ss.ss,+ww.ww,+hh.hh,+sv.sv,+sw.sw,+hv.hv,+ax.axa,+ay.aya,+az.aza*cs Example $PSMCC,-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 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. -
Page 41: Smce
5.2.6 SMCE Data Frame $PSMCE,±xx.xx,±yy.yy,±zzz.z,±hh.hh,±ss.ss,±sw.sw Description Form Start Characters $PSMCE 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° Heave (hh.hh) ±100m Resolution 0.01m Surge (ss.ss) ±100m Resolution 0.01m Sway (sw.sw) -
Page 42: Smch
5.2.9 SMCH Data Frame $PSMCH,±xx.xx,±yy.yy,±hh.hh,±hv.hv Description Form Start Characters $PSMCH 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 Heave Velocity (hv.hv) ±100m/s Resolution 0.01m/s Termination Characters <CR><LF>... -
Page 43: Smcm
5.2.11 SMCM Data Frame $PSMCM,+xx.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 Form Start Characters $PSMCM 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 (zz.zz) 0 – 359.9° Resolution 0.1° Surge (ss.ss) ±100m Resolution 0.01m Sway (ww.ww) ±100m Resolution 0.01m Heave (hh.hh) -
Page 44: Smct
5.2.14 SMCT Data Frame $PSMCT, YYYY/MM/DD,HH:MM:SS.SS,±xx.xx,±yy.yy,±hh.hh Note: This protocol will only be available in specially requested code versions. Description Form Start Characters $PSMCT 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°... -
Page 45: Smcv
5.2.16 SMCV Data Frame $PSMCV,±xx.xx,±yy.yy,±hh.hh,±xv.xv,±yv.yv,±hv.hv Description Form Start Characters $PSMCV 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 0.01 m Roll Velocity (xv.xv) Degrees/second Resolution 0.01° Pitch Velocity (yv.yv) Degrees/second Resolution 0.01°... -
Page 46: Tro
5.2.19 TRO Data Frame $PHTRO,0.00,M,0.00,B*5B Description Form Start Characters $PHTRO Pitch ±100 degrees Resolution 0.1° (+ve=bow down) P or M P Positive M Negative Roll ±100 degrees Resolution 0.01° (+ve=port up) B or T B roll to starboard, T roll to port Checksum 5.2.20 MDL Data Frame... -
Page 47: Digilog / Ocean Tools
5.2.21 DIGILOG / OCEAN TOOLS Data Frame $HhhhhP+ppppR+pppp (Digilog) $HhhhhP+ppppR+pppps (Ocean Tools) Example $H0014P+0030R-0024E (Ocean Tools) Description Form Heading designator Heading*10 (hhhh) 0-3599°*10 Pitch designator Pitch Angle*100 (pppp) ±9999°*100 Resolution 0.01° (+ve=port up) Roll Designator Pitch Angle (yy.yyy) ±9999°*100 Resolution 0.01° (+ve=bow down) Status character (s) (only Ocean Tools) E/S (valid compass yes/no) Termination Characters... -
Page 48: Tss1
5.2.25 TSS1 TSS 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. -
Page 49: Rdid
5.2.27 RDID Data Frame $PRDID,±yy.yy,±xx.xx,±hhh.hh<CR><LF> Description Form Start Characters $PRDID Pitch Angle (yy.yy) ±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 <CR><LF> 5.2.28 SXN Rolls-Royce NMEA protocol Data Frame $PSXN,,,R.RRReE,P.PPPeE, P.PPPeE,,,*cs<CR><LF>... -
Page 50: Analog1 ±0.5M ±10V
ANALOG OUTPUTS 5.2.29 ANALOG1 ±0.5M ±10V Data Frame #01C0+hh.hhh #01C1+vv.vvv #01C2+aa.aaa Description Form 1st Header #01C0 Heave (hh.hhh) ±100m*20 Resolution 0.001m*20 Termination Characters <CR><LF> 2nd Header #01C1 Heave rate (vv.vvv) ±100m/s*50 Resolution 0.001m/s*50 Termination Characters <CR><LF> 3d Header #01C2 Heave acceleration (aa.aaa) ±100m/s *50 Resolution 0.001m/s *100... -
Page 51: Analog3 ±30 Degrees ±10V
5.2.31 ANALOG3 ±30 DEGREES ±10V Data Frame #01C0+xx.xxx #01C1+yy.yyy #01C2+hh.hhh Description Form 1st Header #01C0 Roll Angle/3 (xx.xxx) ±60 °3 (+ve=port up) Resolution 0.001°*3 Termination Characters <CR><LF> 2nd Header #01C1 Pitch Angle/3 (yy.yyy) ±60 °/3 (+ve=bow up) ) Resolution 0.001°*3 Termination Characters <CR><LF>... -
Page 52: Analog6 ±5M 4~20 Milliamps
5.2.34 ANALOG6 ±5M 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 <CR><LF> 2nd Header #01C1 Heave Velocity (vv.vvv) ±5m/s Termination Characters <CR><LF> 3rd Header #01C2 Heave Acceleration (aa.aaa) ±5m/s²... -
Page 53: Binary Protocols
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... -
Page 54: Bosch Rexroth Hexadecimal Heave
5.2.39 BOSCH REXROTH HEXADECIMAL HEAVE Data Frame (bytes) $SMCHHVVAA<CR><LF> Contains 12 bytes: Note: When the IMU is settling, roll, pitch and heave will be 0. Description Bytes Form Header $SMC Heave (HH) Signed 16 bit range -32767 mm to + 32766 mm Positive when elevated. -
Page 55: Charts
5.3 CHARTS As a visual aid to or as a simple motion monitoring system, SMC have a 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. -
Page 56: Received Data
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 the received data tab. SMC IMU User Guide v26b.docx Index SMC Ship Motion Control... -
Page 57: Serial Input
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 User Guide v26b.docx Index... -
Page 58: Aiding Via Gps And Speed Log
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. -
Page 59: Vessel Turns
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. - Page 60 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) SMC IMU User Guide v26b.docx Index SMC Ship Motion Control...
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Page 61: Remote Heave Remote Heave
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 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. -
Page 62: Center Of Gravity Cg Lever Arm
5.6.2 CENTER OF GRAVITY CG LEVER ARM 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. -
Page 63: Ahc (Active Heave Compensation)
5.6.3 AHC (ACTIVE HEAVE CO MPENSATION) 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. - Page 64 IMU mounted on 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.
- Page 65 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.
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Page 66: Setting Angle Offsets
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 labelled as 1a in the crane drawing below, the offset has its reference “zero”... - Page 67 Angle For the encoders 2, 3, 4 and 5 the angle is relative to the previous leg measurement of the crane. For example: This means that when there is no angular difference between the crane leg 2 and 3, the encoder angle 3a has a 0 angle.
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Page 68: String Input
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. - Page 69 $PENCO The $PENCO data string is similar to the $PENCR data string but uses standard notation for the values instead of hexadecimal i.e.: $PENCO,value1,value2,value3,value4,value5<CR><LF> $PENCO,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.
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Page 70: Verification String And Example Strings
5.6.7 VERIFICATION STRING AND EXAMPLE STRINGS When the IMU receives a proper $PENCR 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. -
Page 71: Optional Smc Software
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 maximum of 5 cycles. -
Page 72: Service And Warranty
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. -
Page 73: Warranty
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. -
Page 74: Restriction Of Warranty
7.2.2 RESTRICTION OF WARRANTY The warranty does not cover malfunction of the motion sensor generated from If the 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. -
Page 75: Technical Specifications
8 TECHNICAL SPECIFICATIONS 8.1 IMU-00X TECHNICAL SPECIFICATIONS Technical Specification IMU-007 IMU-008 Roll / Pitch Accelerations X,Y,Z Heave Performance Angle Accuracy Static 0.2° RMS 0.2° RMS Angle Accuracy Dynamic @ ±5º simultaneous roll and 0.25° RMS 0.25° RMS pitch Resolution Angle 0.001°... -
Page 76: Imu-10
8.2 IMU-10X TECHNICAL SPECIFICATIONS Technical Specifications IMU-106 IMU-107 IMU-108 Roll / Pitch Accelerations X,Y,Z Heave Performance Angle Accuracy Static 0.02° RMS 0.02° RMS Angle Accuracy Dynamic @ ±5º simultaneous roll and 0.03° RMS 0.03° RMS pitch Resolution Angle 0.001° 0.001° Resolution Heave 0.01m 0.01m... -
Page 77: Faq & Support
9 FAQ & 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 Is 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. - Page 78 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 relevant Verify button in the Serial Input configuration screen.
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