Related Manuals for SMC Networks IMU-007
Summary of Contents for SMC Networks IMU-007
- Page 1 SMC IMU User Guide IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu...
- Page 2 Notice The information in this User Guide is subject to change without notice. Not all the features described in this manual are available in all motion sensor models, hardware and firmware versions. Please check with SMC for details of model specific features such as measurement parameters and Protocol support.
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Page 3: Table Of Contents
TABLE OF CONTENTS INTRODUCTION ........................6 RECEIVING THE MOTION SENSOR .................... 7 SYSTEM DESCRIPTION ......................8 SPATIAL MOVEMENT - COORDINATE SYSTEM ................. 9 DEFINITIONS .......................... 12 INSTALLATION ........................13 LOCATION ..........................13 MOUNTING INSTRUCTIONS ....................14 3.2.1 Mounting bracket - Optional ..................15 ALIGNMENT ........................... - Page 4 4.2.10 PSMCJ ..........................47 4.2.11 PSMCK ........................... 48 4.2.12 PSMCM .......................... 49 4.2.13 PSMCR ........................... 50 4.2.14 PSMCS ..........................50 4.2.15 PSMCT ..........................51 4.2.16 SMCU ..........................51 4.2.17 PSMCV ........................... 52 4.2.18 DD50 ..........................53 4.2.19 TCM2 ..........................54 4.2.20 TRH ..........................
- Page 5 4.9.2 Lever arm ........................91 4.9.3 AHC - Active Heave Compensation ................93 4.10 CRANE ............................ 94 4.10.1 Crane zero positions and offsets ................... 94 4.10.2 IMU mounted on the crane base .................. 94 4.10.3 IMU mounted on the vessel ..................95 4.10.4 Setting crane distance &...
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Page 6: Introduction
Active heave compensation for cranes and winches. Dynamic positioning systems Products Covered in this User Guide Surface motion sensors 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: Receiving The Motion Sensor
1.1 RECEIVING THE MOTION SENSOR Unpack the equipment and remove all the packaging materials and shipping carton. The standard motion sensors are delivered in a transit case designed to protect it from high shocks during transit. When the motion sensor has been received, it must 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 8: System Description
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. -
Page 9: Spatial Movement - Coordinate System
2.1 SPATIAL MOVEMENT - COORDINATE SYSTEM Mounting offsets for the SMC Motion sensor in the roll, pitch and Z axis can be set in the SMC IMU configuration software to compensate for physical alignment errors in the installation. For optimum performance align the motion sensor physically as accurate as possible before setting up offsets electronically. - Page 10 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 IMU coordinate system and the Earth Coordinate system. The default setting for the SMC motion sensor is Earth Coordinates without earth G in Acc.
- Page 11 The roll, pitch and yaw velocities being output in the IMU coordinate system are the roll, pitch and yaw velocity values measured by the motion sensor and three-dimensional rotated, multiplicatively composed, by the mounting offsets entries. All compositions of three-dimensional rotations are done by first converting the Tait-Bryan angles to quaternions.
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Page 12: Definitions
2.2 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 must be done as accurately as possible and then it can be fine-tuned in the system configuration software by entering offsets for roll (X), pitch (Y) and the Z-axis. Yaw in the SMC IMU 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 13: Installation
Weather protection The SMC IMU-007, IMU-008, IMU-106, IMU-107 and IMU-108 are as a standard IP66 protection rated. The standard surface motion sensor is designed to be mounted in a sheltered environment, an enclosure is highly recommended to prolong service life and life time expectations. -
Page 14: Mounting Instructions
Mounting orientation The Motion Sensor is calibrated from the factory for either Deck or Sideways orientation. Deck orientation is when the Motion Sensor is mounted on a horizontal surface with the connector pointing upwards. Deck mounting calibration is the default orientation. Sideways orientation is when the motion sensor is calibrated to be mounted on a vertical surface. -
Page 15: Mounting Bracket - Optional
3.2.1 MOUNTING BRACKET - OPTIONAL An optional mounting bracket is available, designed to simplify wall mounting installations combined with easy motion sensor alignment. One advantage with the mounting bracket is that the motion sensor can be removed for servicing or recalibration and repositioned in exactly the same position. The bracket base plate has two pins that correspond to two of the notches in the Motion sensor base. -
Page 16: Alignment
3.3 ALIGNMENT To achieve maximum performance of the motion sensor, it is important to perform an accurate alignment of the motion sensor along the vessel longitudinal axis. The physical alignment must be as accurate as possible using the notches on the motion sensor mounting plate for reference. For the deck mounted standard motion sensor, the single notch is to be pointing to the fore direction of the vessel. -
Page 17: Sideways Mounting
3.5 SIDEWAYS MOUNTING When the Motion sensor is delivered for Sideways mounting the motion sensor cannot be used for Deck mounting without a recalibration at the factory. The mounting of the motion sensor must be carried out with the mounting plate oriented vertically. The notches on the mounting plate mark the orientation points of the motion sensor. -
Page 18: Top Of The Motion Sensor Pointing To The Starboard
3.5.2 Top of the motion sensor pointing to the starboard When the Motion sensor top, where the connector is located, is pointing to the Starboard of the vessel the single notch must be pointing horizontally to the Stern. In the SMC IMU Configuration Software IMU top to the Starboard must be selected. Motion Sensor Connector Pointing to Starboard Single Notch Pointing... -
Page 19: Top Of The Motion Sensor Pointing To The Port
3.5.4 TOP OF THE MOTION SENSOR POINTING TO THE PORT When the Motion sensor top, where the connector is located, is pointing to the Port of the vessel the single notch must be pointing horizontally to the Bow. In the SMC IMU Configuration Software IMU top to the Port must be selected. Single Notch Pointing to the Bow Motion Sensor Connector... -
Page 20: Motion Sensor Dimensions
3.6 MOTION SENSOR DIMENSIONS 3.6.1 IMU-00X SURFACE MOTION SENSOR Dimensions in mm IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu... -
Page 21: Imu-00X 30M Depth Rated Motion Sensor
3.6.2 IMU-00X 30M DEPTH RATED MOTION SENSOR Dimensions in mm IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu... -
Page 22: Imu-10X Surface Motion Sensor
3.6.3 IMU-10X SURFACE MOTION SENSOR Dimensions in mm IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu... -
Page 23: Imu-10X 30M Depth Rated Motion Sensor
3.6.4 IMU-10X 30M DEPTH RATED MOTION SENSOR Dimensions in mm IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu... -
Page 24: Imu Mounting Bracket Optional
3.6.5 IMU MOUNTING BRACKET OPTIONAL Dimensions in mm IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu... -
Page 25: Electrical Communication
3.7 ELECTRICAL COMMUNICATION The SMC Motion sensors are powered with a standard 12 VDC or 24 VDC supply. It is possible however to supply power at any voltage between 10 VDC and 30 VDC. The power consumption during normal conditions is about 2 watts for hardware versions below 8.4 and 3 watts for hardware version 8.5 and higher. -
Page 26: Surface Motion Sensor Cable Connection
3.7.1 SURFACE MOTION SENSOR CABLE CONNECTION IMU Connector Cable Colour IMU Function External device White RS232 – RxD main DB9 pin3 – TxD RS232 – TxD main DB9 pin2 – RxD Brown RS422 – TxD+ main DB9 pin3 – RxD+ Orange RS422 –... -
Page 27: Depth Rated Unit
3.7.2 DEPTH RATED UNIT RS232 Output Connections DB9 Connections IMU Connector Cable Colour IMU 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 IMU Connector Cable Colour IMU Function... -
Page 28: Surface Motion Sensor Hardware Version Up 8.4
3.7.3 SURFACE MOTION SENSOR HARDWARE VERSION UP 8.4 RS422 Motion Sensor Motion Sensor DB9, RS422 115 200, 8N1 Input 1 GPS or Heading input DB9, RS232 4800, 8N1 GPS/Compass Input 1 RxD to Terminal 7 TxD to Terminal 8 Ground to Terminal - 110-220VAC 12VDC GPS/Compass Input 2... -
Page 29: Surface Motion Sensor Hardware Version Higher Than 8.5
3.7.4 SURFACE MOTION SENSOR HARDWARE VERSION HIGHER THAN 8.5 DB9, RS232 115 200, 8N1 Motion Sensor Motion Sensor DB9, RS422 115 200, 8N1 GPS/Compass Input 1 RxD to Terminal 7 TxD to Terminal 8 Ground to Terminal - GPS/Compass Input 2 RxD to Terminal 9 DB9, RS232 TxD to Terminal 10... -
Page 30: Depth Rated Motion Sensor
3.7.5 DEPTH RATED MOTION SENSOR 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) GPS/Compass Input 1... -
Page 31: Analog Outputs Voltage +/-10V
3.7.6 ANALOG OUTPUTS VOLTAGE +/-10V 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 TxD to Terminal 18... -
Page 32: Analog Outputs Current 4-20Ma
3.7.7 ANALOG OUTPUTS CURRENT 4-20MA Analog JB Motion Sensor Analog Channel 1, 4-20mA Analog Channel 2, 4-20mA Analog Channel 3, 4-20mA DB9, RS232 115 200, 8N1 Analog Channel 4, 4-20mA Motion Sensor Input 1 GPS or Heading input DB9, RS232 4800, 8N1 GPS/Compass Input 1 RxD to Terminal 17... -
Page 33: Motion Sensor Configuration Guide
4 MOTION SENSOR CONFIGURATION GUIDE 4.1 IMU CONFIGURATION SOFTWARE After the motion sensor has been mounted correctly the SMC IMU Configuration Software can be used to set the Motion sensor configuration and communication parameters according to the user requirements. The configuration software is a PC based tool, communicating with the motion sensor over a serial port alternatively Ethernet if available. -
Page 34: Default Settings At The Factory
4.1.1 DEFAULT SETTINGS AT THE FACTORY The motion sensor is delivered from SMC with a set of default parameters. The default parameters can be changed from the SMC IMU Configuration Software. Please refer to 4.1.2 (General Settings). The factory default settings are as follows. Settings Selection Factory Default... -
Page 35: General Settings & Setup Tab
4.1.2 GENERAL SETTINGS & SETUP TAB Set PC Communication Sets the communication settings used by the configuration software to connect and communicate with the motion sensor. IMU Information Shows information about motion sensor IMU type, mounting orientation, serial number, IMU firmware, IMU Hardware, Aiding and Remote Heave/Lever Arm. - Page 36 Earth Coordinates with earth G in Acc; In this configuration, the motion sensor will use the earth horizon as the coordinate system for the angular and acceleration output. The acceleration will include the earth gravity force of about 9.8 m/s². IMU Coordinates with earth G in Acc;...
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Page 37: Serial Ascii Protocols
4.2 SERIAL ASCII 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. The majority of the protocol outputs are NMEA 0183 formatted string. Additional protocols can be implemented by SMC on request. -
Page 38: Psmca
4.2.1 PSMCA 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 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCA Roll Angle (xx.xxx) Degrees Resolution 0.001° (+ve=port up) Pitch Angle (yy.yyy) Degrees Resolution 0.001° (+ve=bow down) Heave (hh.hh) Meters Resolution 0.01m Surge (ss.ss) Meters Resolution 0.01m... -
Page 39: Psmcb
4.2.2 PSMCB 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 Example $PSMCB,+00.29,+00.55,+349.0,+06.68,+06.86,-01.95,-18.074,-22.016,+12.390,-00.01,-00.00,+00.00,- 00.00,-00.00,+00.00,+00.121,-00.048,+00.046 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCB Roll Angle (xx.xx) Degrees Resolution 0.01° (+ve=port up) Pitch Angle (yy.yy) Degrees Resolution 0.01° (+ve=bow down) Yaw (zzz.z) Degrees Resolution 0.1°... -
Page 40: Psmcc
4.2.3 PSMCC 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 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCC Roll Angle (xx.xx) Degrees Resolution 0.01° (+ve=port up) Pitch Angle (yy.yy) Degrees Resolution 0.01° (+ve=bow down) Yaw (zzz.z) Degrees Resolution 0.1°... -
Page 41: Psmcd
4.2.4 PSMCD Data Frame $PSMCD,±xx.xx,±yy.yy,±xv.xv,±yv,yv,±zv.zv,c*cs<CR><LF> Example $PSMCD,+03.11,+08.97,-20.53,-11.11,-04.04,4*7F Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCD Roll Angle (xx.xx) Degrees Resolution 0.01° (+ve=port up) Pitch Angle (yy.yy) Degrees Resolution 0.01° (+ve=bow down) Roll Velocity (xv.xv) Degrees/second Resolution 0.01°... -
Page 42: Psmce
4.2.5 PSMCE Data Frame $PSMCE,±xx.xx,±yy.yy,±zzz.z,±hh.hh,±ss.ss,±sw.sw*cs<CR><LF> Example $PSMCE,+03.20,+05.75,+350.7,-00.38,+00.26,+00.42*40 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCE Roll Angle (xx.xx) Degrees Resolution 0.01° (+ve=port up) Pitch Angle (yy.yy) Degrees Resolution 0.01° (+ve=bow down) Yaw (zzz.z) Degrees Resolution 0.1°... -
Page 43: Psmcf
4.2.6 PSMCF Data Frame $PSMCFnnnnnnn,±xx.xxx,±yy.yyy,±hh.hh,±ss.ss,±ww.ww<CR><LF> Example $PSMCF1082256,+05.415,+02.928,-00.06,-00.03,-00.01 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCF IMU Serial Number (nnnnnnn) 7 digit serial number Roll Angle (xx.xxx) Degrees Resolution 0.001° (+ve=port up) Pitch Angle (yy.yyy) Degrees Resolution 0.001°... -
Page 44: Psmcg
4.2.7 PSMCG Data Frame $PSMCG,Date,Time,±xx.xx,±yy.yy,±ww.ww,±ss.ss,±hh.hh,±ax.axa,±ay.aya,±az.aza*cs<CR><LF> Example $PSMCG,2016-04-04,15:06:18.81,-00.30,-02.93,-00.31,-00.65,-00.06,-00.002,-00.202,-00.167*5D Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCG Date (yyyy-mm-dd) Date Time (hh:mm:ss,ss) Time resolution to hundredths of a second Roll Angle (xx.xx) Degrees Resolution 0.001° (+ve=port up) Pitch Angle (yy.yy) Degrees Resolution 0.001°... -
Page 45: Psmch
4.2.8 PSMCH Data Frame $PSMCH,±xx.xxx,±yy.yyy,±hh.hh,±hv.hv<CR><LF> Example $PSMCH,-02.000,+05.856,-00.06,-00.01 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCH Roll Angle (xx.xxx) Degrees Resolution 0.001° (+ve=port up) Pitch Angle (yy.yyy) Degrees Resolution 0.001° (+ve=bow down) Heave (hh.hh) Meters Resolution 0.01m Heave Velocity (hv.hv) Meters/second Resolution 0.01m/s... -
Page 46: Psmci
4.2.9 PSMCI Data Frame $PSMCI,+rr.rr,+pp.pp,+yyy.y,+rv.rv,+pv.pv,+yv.yv,+su.su,+ww.ww,+hh.hh,+sv.sv,+sw.sw,+hv.hv,*cs<C R><LF> Example $PSMCI,+03.01,-02.44,+200.6,+00.00,+00.01,-01.71,+00.07,+00.04,-00.03,-00.00,+00.01,-00.00,*6D Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCI Roll (rr.rr) Degrees Resolution 0.01° (+ve=port up) Pitch (pp.pp) Degrees Resolution 0.01° (+ve=bow down) Yaw (yyy.y) Degrees Resolution 0.1° Roll velocity (rv.rv) Degrees/second Resolution 0.01°... -
Page 47: Psmcj
4.2.10 PSMCJ Available from firmware 2.984 Data Frame $PSMCJ,YYYY/MM/DD,HH:MM:SS.SS,±xx.xx,±yy.yy,±GG.GGG,±HH.HHH,±hh.hh,±ax.axa,±ay.aya,±az.a za<CR><LF> Example $PSMCJ,2017/11/01,12:59:19.05,+02.84,-02.27,+00.000,+00.040,-00.01,+00.008,-00.005,+00.000 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCJ Date (YYYY/MM/DD) Date Time (HH:MM:SS.SS) Time Roll Angle (xx.xx) Degrees Resolution 0.01° (+ve=port up) Pitch Angle (yy.yy) Degrees Resolution 0.01°... -
Page 48: Psmck
4.2.11 PSMCK Available from firmware 3.16 Data Frame $PSMCK,±hh.hhh,±hv.hvv,±az.aza,±rr.rr,±pp.pp,ccccc*cs<CR><LF> Example $PSMCK,-00.001,-00.000,-00.001,+00.81,+03.84,03834*4F Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCK Heave (hh.hhh) Meters Resolution 0.001m Heave Velocity (hv.hvv) Meter/second Resolution 0.001m/s Acceleration Z (az.aza) Meter/second Resolution 0.001m/s2 Roll Angle (xx.xx) -
Page 49: Psmcm
4.2.12 PSMCM 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 <CR><LF> Example $PSMCM,-14.36,-21.70,+340.0,-00.01,+00.01,+00.07,-64.80,-19.89,-44.16,+00.047,+00.254,- 02.008*7C Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCM Roll Angle (xx.xx) Degrees Resolution 0.01° (+ve=port up) Pitch Angle (yy.yy) Degrees Resolution 0.01° (+ve=bow down) Yaw (zz.zz) Degrees Resolution 0.1°... -
Page 50: Psmcr
4.2.13 PSMCR Data Frame $PSMCR,±xx.xxx,±yy.yyy<CR><LF> Example $PSMCR,-08.393,-13.671 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCR Roll Angle (xx.xxx) Degrees Resolution 0.001° (+ve=port up) Pitch Angle (yy.yyy) Degrees Resolution 0.001° (+ve=bow down) Termination Characters <CR><LF>... -
Page 51: Psmct
4.2.15 PSMCT Available in hardware versions that includes a Real Time Clock Data Frame $PSMCT, YYYY/MM/DD,HH:MM:SS.SS,±xx.xxx,±yy.yyy,±hh.hh<CR><LF> Example $PSMCT,2016/04/04,15:27:39.50,-18.630,-14.328,+00.21 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCT Date (YYYY/MM/DD) Date Time (HH:MM:SS.SS) Time Roll Angle (xx.xxx) Degrees Resolution 0.001°... -
Page 52: Psmcv
4.2.17 PSMCV Data Frame $PSMCV,±xx.xxx,±yy.yyy,±hh.hh,±xv.xv,±yv.yv,±hv.hv<CR><LF> Example $PSMCV,+06.780,+03.900,+00.00,-02.80,+12.03,-00.01 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PSMCV Roll Angle (xx.xxx) Degrees Resolution 0.001° (+ve=port up) Pitch Angle (yy.yyy) Degrees Resolution 0.001° (+ve=bow down) Heave (hh.hh) Meters Resolution 0.01 m Roll Velocity (xv.xv) Degrees/second Resolution 0.01°/s... -
Page 53: Dd50
4.2.18 DD50 The DD50 string is intended to be used to connect the Vaisala DD50 LED display. Example DDA@1 "IMU / MRU",Units,Roll 02.78 deg,Pitc -02.09 deg,Heav 00.00 m,@2 "Accs ",Units,AccX - 00.00 ms2,AccY 00.00 ms2,AccZ 00.00 ms2 Note: In firmware versions 3.22 and lower this output alternates with the SMCC protocol. In firmware version 3.22 and lower Bitrate Max output Rate... -
Page 54: Tcm2
4.2.19 TCM2 Data Frame $C<ccc.c>P<±p.pp>R<±r.rr>X<x.xx>Y<y.yy>Z<z.zz>T<t.t>E<eee>*cs<CR><LF> Example $C51.7P0.1R-0.0X0.00Y0.00Z0.00T0.0E000*3A Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters Compass identifier Yaw (ccc.c) Degrees Resolution 0.1° Pitch identifier Pitch angle (p.pp) Degrees Resolution 0.1° (+ve=bow down) Roll identifier Roll Angle (r.rr) Degrees Resolution 0.1°... -
Page 55: Trh
4.2.20 TRH Data Frame $PHTRH,y.yy,P,x.xx,T,h.hh,O*cs<CR><LF> Example $PHTRH,0.12,P,8.51,T,0.09,O*05 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PHTRH Pitch angle (y.yy) Degrees Resolution 0.01° Sign (P) P Positive M Negative (+ve=bow down) Roll (x.xx) Degrees Resolution 0.01° Sign (T) B roll to port, T roll to starboard Heave... -
Page 56: Tro
4.2.21 TRO Data Frame $PHTRO,y.yy,M,x.xx,B*cs<CR><LF> Example $PHTRO,0.03,M,0.15,B*59 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Start Characters $PHTRO Pitch angle (y.yy) Degrees Resolution 0.01° Sign (M) P Positive M Negative (+ve=bow down) Roll angle (x.xx) Degrees Resolution 0.01° Sign (B) B roll to port, T roll to starboard Checksum... -
Page 57: Digilog / Ocean Tools
4.2.23 DIGILOG / OCEAN TOOLS Data Frame Hhhhh.P±pppp.R±pppp.s<CR><LF> Example H3499.P+0011.R-0023.E Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Heading identifier Heading*10 (hhhh) Degrees Resolution 0.1° (SMC outputs 0000) Pitch identifier Pitch Angle*100 (pppp) Degrees Resolution 0.01° (+ve= bow down) Roll Designator Roll Angle*100 (rrrr) Degrees Resolution 0.01°... -
Page 58: Cdl1
4.2.25 CDL1 Data Frame: Hzzz.zP±yyy.yyR±xxx.xxTaa.aaDbbbb.bbBcc.cLddFe<CR><LF> Example H350.0P-000.04R-000.14T00.0D0000.00B00.0A00W00LN00F0 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Form Heading identifier (H) Heading (zzz.z) Yaw Degrees Resolution 0.1° Pitch identifier (P) Pitch Angle (yy.yy) Degrees Resolution 0.01° (+ve=bow down) Roll identifier (R) Roll Angle (xx.xx) Degrees Resolution 0.01°... -
Page 59: Tss1
4.2.26 TSS1 Available from firmware 1.92 The default SMC pitch rotation direction definition differs from TSS1 format definition. By this reason the axis inversion checkbox for Pitch must be ticked to have the correct rotational direction as per the TSS1 string definition, where positive Pitch is bow up. Use the SMC IMU Configuration Software to change the inverted Pitch if required. -
Page 60: Tss3
4.2.27 TSS3 Available from firmware 2.98 The default SMC pitch rotation direction definition differs from TSS3 format definition. By this reason the axis inversion checkbox for Pitch must be ticked to have the correct rotational direction as per the TSS3 string definition, where positive Pitch is bow up. Use the SMC IMU Configuration Software to change the inverted Pitch if required. -
Page 61: Prdid
4.2.28 PRDID Available from firmware 1.92 The default SMC pitch rotation direction definition differs from PRDID format definition. By this reason the axis inversion checkbox for Pitch must be ticked to have the correct rotational direction as per the PRDID string definition, where positive Pitch is bow up. Use the SMC IMU Configuration Software to change the inverted Pitch if required. -
Page 62: Prdid With Checksum
4.2.29 PRDID WITH CHECKSUM Available from firmware 2.98 The default SMC pitch rotation direction definition differs from PRDID format definition. By this reason the axis inversion checkbox for Pitch must be ticked to have the correct rotational direction as per the PRDID string definition, where positive Pitch is bow up. Use the SMC IMU Configuration Software to change the inverted Pitch if required. -
Page 63: Sxn
4.2.30 SXN Available from firmware 1.92 Rolls-Royce NMEA protocol, measurements in Radians. Note: When settling roll, pitch and heave will be 0. The default SMC format of the PRDID string is Pitch positive when bow down. Use the SMC IMU Configuration Software to invert the Pitch if required. -
Page 64: Binary Protocols
4.3 BINARY PROTOCOLS 4.3.1 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 Example... -
Page 65: Simrad Em1000 & Em3000
4.3.2 SIMRAD EM1000 & EM3000 Data Frame, Contains 10 bytes SHRRPPHHYY Example 0000000 10010000 11001010 11111111 00000101 00000000 00000000 00000000 10110111 10001000 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Scaling Format Bytes Value Status byte (S) 0 (EM1000) 0x90 (EM3000) Header (H) -
Page 66: Bosch Rexroth Hexadecimal Heave
4.3.3 BOSCH REXROTH HEXADECIMAL HEAVE Data Frame $SMCHHHHVVVVAAAA<CR><LF> Example $SMC00000000FFF6 Heave 1mm is sent as 0x0001 Heave -2mm is sent as 0xFFFE Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Bytes Form Header $SMC Heave (HH) Signed 16 bit range -32767 mm to + 32766 mm Positive when elevated. -
Page 67: Binary String 2
4.3.4 BINARY STRING 2 Example 00000001 00001101 00000000 00011110 00110111 10001001 00000101 00000000 11010101 01110010 10011100 11111111 00000000 00000000 00000100 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Bytes Hex Form Header (32 bits) 0x01 0x0D Start of header Byte Message length 0x00 Remaining number of Bytes to follow... -
Page 68: Binary Output Message 4
4.3.5 BINARY OUTPUT MESSAGE 4 The output data from the motion sensor is represented as a Hexadecimal value and must be converted to float values or decimal readings using Big Endian order for the bytes. The data field sizes are presented in the table below and are in most cases 4 bytes, 32 bits, in size. The Binary Output Message 4 uses the IEEE Standard 754 representation of the float numbers. - Page 69 Bitrate Max output Rate 115200 57600 38400 19200 9600 4800 Description Bytes Byte Form offset Header 0 to 4 $BIN4 Counter byte 5 0 – 255 Roll angle 6 to 9 -180 to +180 degrees (Maximum values no scaling) C3340000 = -180 00000000 = 0 43340000 = +180 Pitch angle...
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Page 70: Analog Outputs
4.4 ANALOG OUTPUTS The analog outputs are available using the optional analog junction box supplied by SMC. 4.4.1 ANALOG1 ±10V, HEAVE ±0.5M, HEAVE RATE ±0.2M/S, HEAVE ACC 0.1M/S2 Data Frame #01C0+hh.hhh<CR><LF> #01C1+vv.vvv<CR><LF> #01C2+aa.aaa<CR><LF> Description Form Analog Channel 0 Heave ±10V = ±0.5m Analog Channel 1 Heave Rate ±10V = ±0.2m/s Analog Channel 2... -
Page 71: Analog4, 4~20Ma, Roll 0-20°, Pitch 0-20
4.4.4 ANALOG4, 4~20MA, ROLL 0-20°, PITCH 0-20° Data Frame #01C0+xx.xxx<CR><LF> #01C1+yy.yyy<CR><LF> Description Form Analog Channel 0 Absolute Roll 4-20 mA = 0-20° (10mA = 12°) Analog Channel 1 Absolute Pitch 4-20 mA = 0-20° (10mA = 12°) 4.4.5 ANALOG5, 4~20MA, HEAVE ±6M, PITCH ±60°, ROLL ±60°, STATUS Available from firmware 2.94 Data Frame #01C0+12.004<CR><LF>... -
Page 72: Analog7 4~20Ma, Heave ±5M, Heave Rate ±5M/S, Heave Acc 5M/S2
4.4.7 ANALOG7 4~20MA, HEAVE ±5M, HEAVE RATE ±5M/S, HEAVE ACC 5M/S2 Data Frame #01C0+00.370<CR><LF> #01C1+00.171<CR><LF> #01C2+01.144<CR><LF> Description Form Analog Channel 0 Heave 4~10mA = ±5m Analog Channel 1 Heave Rate 4~10mA = ±5m/s Analog Channel 2 Heave Acceleration 4~10mA = ±5m/s IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu... -
Page 73: Ethernet
4.5 ETHERNET The SMC motion sensor IMU-00x and IMU-10x with hardware version 8.5 or higher is equipped with a 10/100mbit ethernet communication port. The SMC data output over Ethernet is sent in an 8 bit per byte binary format. The data can be viewed from the SMC IMU configuration software or other third-party software suitable to read the ethernet messages. -
Page 74: Ip Settings
4.5.1 IP SETTINGS When the SMC motion sensor is connected to the LAN the motion sensor will receive a dynamic IP address from the DHCP in the network if the Dynamic IP radio button is selected in the SMC configuration software. Note that the motion sensor is only searching for the DHCP server during the boot up process. -
Page 75: Port Settings
4.5.2 PORT SETTINGS The IMU UDP default port is 9500. The configuration software default port is 9501. Each port can be changed to a User defined port number if required from the SMC IMU Configuration Software. 4.5.3 TARGET IP ADDRESSES By entering a specific Target IP address the motion sensor will transmit, unicast, its message to one single receiver with this IP address. -
Page 76: Network Scan
Note: When moving the motion sensor to another device or network with a different IP address or range, ensure Reset IP1 has been selected to clear the target IP address stored in the motion sensor. Otherwise the motion sensor will continue to unicast to the Target IP address or broadcast to the different range and no other device will be able to connect to the motion sensor via Ethernet. -
Page 77: Windows Firewall
4.5.5 WINDOWS FIREWALL Normally the Windows Firewall rules for the SMC IMU Configuration software are created on first launch of the software. However, if the configuration software does not display all the values for Target IP etc. in the IP and Port settings section it is usually due to a firewall rule setting. -
Page 78: Ethernet Protocols
4.6 ETHERNET PROTOCOLS 4.6.1 CHECKSUM CALCULATION When checksum is being used in the Ethernet UDP protocols the motion sensor does calculate a checksum using a 16-bit 1's complement checksum using RFC 1071 standard. The checksum is being presented in the SMC header within the payload section. In the checksum calculation the bytes 16 and 17 are excluded. - Page 79 Sender identifier SMC (ASCII) Byte 0 Hex 53 Byte 1 Hex 4d Byte 2 Hex 43 Byte 3 space Hex 20 Model Type, IMU model (ASCII) Byte 4 Hex 30 Byte 5 Hex 31 Byte 6 Hex 30 Byte 7 Hex 38 Serial number, Ex.
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Page 80: Abb Smartwinch Modbus Tcp
4.6.3 ABB SMARTWINCH MODBUS TCP Available from firmware 3.12 and hardware version 8.5 The ABB MODBUS protocol is transmitted by the SMC motion sensor via MODBUS TCP protocol standard. The motion sensor is the Master in the hierarchy. The SMC IMU configuration software cannot be used to read the output data from the TCP Modbus protocol. - Page 81 Handshake reset In the Handshake reset setting, there is an option to restart the handshake process between the motion sensor and the target IP device. This is useful if the ARP request timeout is enabled (see below) and a Target IP device is connected to the network after the TCP handshake timeout has elapsed.
- Page 82 Register table The start register is settable from the SMC IMU Configuration software. As default the register starts at 400004. This settable from the configuration. MODBUS Parameter Register Data Number of Unit and scaling Type registers Heave 400004 Meters Resolution 0.001 Heave Velocity 400005 Meter/second Resolution 0.001m/s...
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Page 83: Data Types For Modbus Protocol
4.6.4 DATA TYPES FOR MODBUS PROTOCOL Type Description Unsigned Value (16 bit) Example: 12345 = 3039(16) Signed Value (16 bit) Example: -12345 = CFC7(16) Signed Long Value (32 bit) 6 decimals Example: 12.345678 = 00 BC 61 4E -12.345678 = FF 43 9E B2 T3 occupies 2 registers T3 value = ((reg1 <<... -
Page 84: Charts
4.7 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 85: Serial Input
4.8 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) Output motion sensor reading data (available from firmware version 3.22 and later) IMU User Guide revision 3.1... -
Page 86: Aiding Via Gps And Speed Log
4.8.1 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 accuracy of the angular and heave calculations. By input the vessel velocity to the motion sensor, the centrifugal force can be estimated in the calculations in the motion sensor and the centrifugal effect can be heavily reduced, improving the accuracy of the readings. -
Page 87: Heading Input
4.8.2 HEADING INPUT When a heading input is connected, the motion sensor will use the heading for aiding the yaw signal, combining the data from internal gyros in the motion sensor with the input from the external compass. The heading output is available in strings where yaw or heading is available The accepted strings for heading inputs are $xxHDT and $xxHDG. -
Page 88: Remote Heave Tab
4.9 REMOTE HEAVE TAB Remote heave; Heave is measured by the motion sensor in the installation location. In installations where heave is to be measured at a different location than the installed location of the motion sensor remote heave calculation can be used for a virtual mounting location of the motion sensor. Lever Arm;... -
Page 89: Remote Heave
Filter remote heave for relative zero position When using Remote Heave and Lever Arm distances the Remote Heave calculation will use the distance and angles for the new Heave measurement point. A static vessel/Motion Sensor angle will result in a heave offset, Eg the heave will not be centered around 0. SMC has added a filter to remove a fixed angle offset of the vessel from the remote heave output. - Page 90 Remote heave X is the fore aft distance in meters between the Motion Sensor and the remote heave point. Where a positive distance represents that the remote heave measurement point is located fore of the Motion Sensor physical location. Remote heave Y is the sideways distance in meters between the Motion Sensor and the remote heave point.
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Page 91: Lever Arm
4.9.2 LEVER ARM The best placement for the motion sensor is at the vessel Center of Gravity (CG) as the vessel has the lowest lateral accelerations in this point. When the motion sensor is mounted in another location than the Center of Gravity, the accuracy of the output may be degraded from rotational accelerations onboard the vessel. - Page 92 The values are entered as follows: Lever Arm X is the fore aft distance in meters between the Motion Sensor and the Lever Arm position. Where a positive distance represents that the Lever Arm measurement point is located fore of the Motion Sensor physical location. Lever Arm Y is the sideways distance in meters between the IMU and the CG.
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Page 93: Ahc - Active Heave Compensation
4.9.3 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. -
Page 94: Crane
4.10 CRANE Specifics for setting up an SMC IMU for crane use, using the configuration software 1. On the Remote Heave tab, when the Remote heave for Crane operations (AHC) check box is selected, the Crane tab is added and the Remote Heave settings are moved to the new tab. 2. -
Page 95: Imu Mounted On The Vessel
4.10.3 IMU MOUNTED ON THE VESSEL If the IMU is mounted elsewhere on the vessel, the single notch of the motion sensor should point towards the bow. The remote distance between the crane base and the IMU should be entered in the configuration software under the crane tab between. -
Page 96: Setting Crane Distance & Angle Offsets
4.10.4 SETTING CRANE DISTANCE & ANGLE OFFSETS For the encoders an offset can be entered into the motion sensor. The angle offset information is entered in position 1 to 5 in the column Angle offset. Position 1 The Angle Offset in position 1 sets the angular offset for the yaw encoder marked as 1a in the crane drawing. - Page 97 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 after the encoder to the next encoder is to be entered into the system under column Distance.
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Page 98: Telescopic Arm Input Data
4.10.5 TELESCOPIC ARM INPUT DATA If the crane has a telescopic arm, the Telescopic box must be ticked for its position. No angle offset can be set for the telescopic position. The encoder input value for the telescopic position is used as the length of the telescopic arm. For the visualization Enter a nominal distance in the Position - Distance field for the telescopic part of the crane, or the telescopic section will not be shown in the crane model. - Page 99 In the example below, encoder data is used, with the same position distances as before. Position 4 is telescopic and Value 4 from the encoder data, is used to draw the distance the arm is extended, in this example 2m. $PENCO,00.0,50.0,40.0,2.0,00.0 Now the encoder Value 4 is zero and the telescopic arm is fully retracted.
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Page 100: Crane Booms
4.10.6 CRANE BOOMS If the crane has a fixed bend or curved boom, it can be setup in two ways. Either by sending fixed encoder values from the PLC/encoder device or by entering an offset for the bend in the configuration software. The boom can then be visually represented by dividing the boom into 2 or 3 sections, as appropriate. -
Page 101: String Input
4.10.7 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 102 For example, when the motion sensor is mounted on the crane base $PENCR,0,Value2,encoder3,encoder4,encoder5 $PENCR,encoder2,encoder3,encoder4,encoder5 $PENCO The $PENCO data string is similar to the $PENCR data string but uses standard notation for the values instead of hexadecimal e.g.: $PENCO,value1,value2,value3,value4,value5<CR><LF> $PENCO,32.1,-19.5,0.12,30.4,20.57 If there is no first value (crane rotation) it is excluded or sent as 0 in the same way as the $PENCR string.
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Page 103: Verification String And Example Strings
4.10.8 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 104: Time
4.11 TIME The time feature is available from IMU hardware version 8.2 onwards. Click on the Time tab to display the IMU internal time. The IMU internal clock time and date can be set manually by adjusting the date and time fields and clicking on the Set button. -
Page 105: Received Data
4.12 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. When Ethernet communication the Received data tab is hidden and the received data is found in the ethernet tab. -
Page 106: Optional Smc Software
4.13 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. -
Page 107: Motion Sensor Operation
Heave is not available in 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 108: Service And Warranty
6 SERVICE AND WARRANTY 6.1 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 SMC directly. -
Page 109: Warranty
6.2 WARRANTY All products are inspected prior to shipment and SMC manufactured products are guaranteed against defective material or workmanship for a period of two (2) calendar years after delivery date of purchase. SMC liabilities are limited to repair, replacement, or refund of the factory quoted price (SMC’s option). -
Page 110: Restriction Of Warranty
6.2.2 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 111: Technical Specifications
7 TECHNICAL SPECIFICATIONS 7.1 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 112: Imu-10X Technical Specifications
7.2 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 113: Faq & Support
8 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 114 If there is a chance that the baud rate has been changed and the Search IMU button does not find the IMU, systematically check each baud rate option in the SMC IMU Configuration Software until the correct rate is found. When applying a setting change in the SMC configuration software the output signals can display bad data.
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