LORD MV5-AR User Manual
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LORD MV5-AR User Manual

Compact, ruggedized attitude reference and imu
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LORD USER MANUAL
MV5-AR
Compact, Ruggedized Attitude Reference and IMU

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Summary of Contents for LORD MV5-AR

  • Page 1 LORD USER MANUAL MV5-AR Compact, Ruggedized Attitude Reference and IMU...
  • Page 2 Sensing ® 459 Hurricane Lane Suite 102 Williston, VT 05495 United States of America Phone: 802-862-6629 www.microstrain.com sensing_support@LORD.com sensing_sales@LORD.com Copyright © 2019 LORD Corporation , 3DM-DH , 3DM-DH3™, 3DM-GX1 , 3DM-GX2 , 3DM-GX3 , 3DM-GX4-15™, 3DM-GX4-25™, 3DM-GX4-45™, ® ® ®...

  • Page 3: Table Of Contents

    MV5-AR USER MANUAL Table of Contents Sensor Overview ....................5 2. Basic Setup and Operation ................6 Installation ....................6 Sensor Calibration ..................6 Temperature Calibration .................6 Cabling and Termination .................7 3. Technical Data ....................8 IMU Accelerometer Specifications (3 Axis) ..........8 IMU Gyroscope Specifications (3 Axis) ...........8 Inclinometer Specifications (2 Axis) ............9...
  • Page 4 MV5-AR USER MANUAL 4.3.3 Commanded Test 58112 (PGN 0xE300) ........17 4.3.4 Commanded Test Result 65232 (PGN 0xFED0) ......17 4.3.5 Supported Tests 65234 (PGN 0xFED2) ........18 4.3.6 Commanded Address 65240 (PGN 0xFED8) ........18 4.3.7 Address Claim 60928 (PGN 0xEE00) ..........18 4.3.8 Address Claim Procedure ............19 4.3.9 Stop/Start Broadcast 57088 (PGN 0xDF00) ........20...

  • Page 5: Sensor Overview

    MV5-AR USER MANUAL Sensor Overview The LORD Sensing MV5-AR brings a new level of precision to measurements of dynamic inclination, acceleration, and angular rate in challenging environments such as those encountered in heavy-duty construction, off-highway, agriculture, and trucking industries. The MV5-AR utilizes the power of a sophisticated Auto-Adaptive Extended Kalman Filter (EKF) to remove errors associated with vibration, sudden linear motions, and quake, resulting in a true reading of inclination under all conditions.

  • Page 6: Basic Setup And Operation

    • Mounting direction: +Z Sensor Calibration All internal sensors in the MV5-AR are calibrated when the device is manufactured, and the calibration values are saved in the device memory. Recalibration is not required unless the device has been under conditions that exceed the operating specifications. For example, if the sensor has been exposed to excessive shock beyond the rated g-force, performance may be compromised.

  • Page 7: Cabling And Termination

    MV5-AR USER MANUAL Cabling and Termination LORD recommends split termination on both ends of the cable for optimum EMC performance. Recommended mating connector shell: TE Connectivity 776487-1 or equivalent Figure 1. MV5-AR Cabling and Termination...

  • Page 8: Technical Data

    MV5-AR USER MANUAL Technical Data IMU Accelerometer Specifications (3 Axis) Characteristic Min. Typ. Max. Unit Measurement range Accel output range (PGN 61485) -200 +200 Non-linearity ±0.04 % fs Resolution 0.05 Bias instability ±0.08 Initial bias error ±0.004 Scale factor stability ±0.05...

  • Page 9: Inclinometer Specifications (2 Axis)

    MV5-AR USER MANUAL Inclinometer Specifications (2 Axis) Characteristic Min. Typ. Max. Unit Slope Output range Measurement range (3 axis) -180 +180 Attitude resolution 0.05 Static Inclination Error ±0.2 (-40°C to 85°C) Translational acceleration error ±0.44 Settling time mSec Attitude repeatability...

  • Page 10: Environmental

    MV5-AR USER MANUAL Environmental Characteristic Parameter Operating temperature -40°C to +85°C Storage temperature -40°C to +125°C Vibration (Random) MIL-STD-202G, Test E, 24 hrs/axis Vibration (Sweep) J1455 Appendix A 10-2000Hz, 10 g Peak, 10hr/octave/axis Ingress protection IP68 (Immersion), IP69K (Pressure Wash)

  • Page 11: Physical Specifications

    L 80 mm x W 55 mm x H 24 mm Weight 120 grams Enclosure material PBT Thermoplastic, Reinforced Ingress protection IP68, IP69K Mounting 3 x M8, installation torque 20 Nm ±2 Nm Regulatory compliance RoHS, REACH, CE Dimensions Figure 2. MV5-AR Dimensions...

  • Page 12: 3.10 Mounting & Pinout

    MV5-AR USER MANUAL 3.10 Mounting & Pinout Figure 3. MV5-AR Mounting Dimensions...

  • Page 13: Can Messages And Communication

    Output quality may be degraded. Error condition. Figure of merit information is not available. CAN J1939 Device Information Data supplied by the MV5-AR is communicated through the CAN J1939 communications interface. To learn more about SAE J1939 communication standards, go to: SAE J1393 Standards.

  • Page 14: Angular Rate 61482 (Pgn 0Xf02A)

    MV5-AR USER MANUAL 8 BYTE DATA FIELD Name Bits Bit position Description BYTE 8 8..1 Data (PDU specific) BYTE 7 8..1 Data (PDU specific) BYTE 6 8..1 Data (PDU specific) BYTE 5 8..1 Data (PDU specific) BYTE 4 8..1 Data (PDU specific) BYTE 3 8..1...

  • Page 15: Acceleration 61485 (Pgn 0Xf02D)

    MV5-AR USER MANUAL 4.2.3 Acceleration 61485 (PGN 0xF02D) Transmit Acceleration Sensor Data (2 axis -pitch, roll, status). Right-handed axis system, Z axis points up. Description The range and resolution given below is the theoretical range and resolution allowed by the format. See the device specifications for the actual measurement range and resolution.

  • Page 16: Slope Sensor 61481 (0Xf029)

    MV5-AR USER MANUAL 4.2.4 Slope Sensor 61481 (0xF029) Transmit Extended Slope Sensor Data (3 axis 60°) Right-handed axis system, Z axis points down. Description The range and resolution given below is the theoretical range and resolution allowed by the format. See the device specifications for the actual measurement range and resolution.

  • Page 17: Ackm 59392 (Pgn 0Xe800)

    MV5-AR USER MANUAL 4.3.2 ACKM 59392 (PGN 0xE800) Sent by device in response to PGN 59904 Request and the settings PGNs in Description Section 7. Ack type will be NACK if requested PGN is not recognized or unable to send, or ACK if successful.

  • Page 18: Supported Tests 65234 (Pgn 0Xfed2)

    MV5-AR USER MANUAL 4.3.5 Supported Tests 65234 (PGN 0xFED2) Reports 1 test supported (the BIT test) (J1939 diagnostic message “DM10”). Description This PGN is transmitted by the device upon request (use PGN 0xEA00 to request). Example 0x18 FE D2 FC 80 00 00 00 00 00 00 00...

  • Page 19: 4.3.8 Address Claim Procedure

    MV5-AR USER MANUAL 4.3.8 Address Claim Procedure Figure 4. MV5-AR Address Claim Logic...

  • Page 20: Stop/Start Broadcast 57088 (Pgn 0Xdf00)

    MV5-AR USER MANUAL 4.3.9 Stop/Start Broadcast 57088 (PGN 0xDF00) Description Suspends or resumes transmission of data. 0x18 DF FC 99 3F FF FF FF 00 00 FF FF FF (stop indefinitely) 0x18 DF FC 99 7F FF FF FF FF FF FF FF FF (start immediately)

  • Page 21: Proprietary Messaging Information 39680 (Pgn 0X9B00)

    0xEA00 (59904) command. 4.4.1 Software Identification 65242 (PGN 0xFEDA) BAM message containing LORD firmware revision number/s. Data is in the form of a single ASCII string with three fields, each field separated by an ASCII Description “*”.

  • Page 22: Ecu Identification Information 64965 (Pgn 0Xfdc5)

    MV5-AR USER MANUAL 4.4.2 ECU Identification Information 64965 (PGN 0xFDC5) BAM message containing ECU Identification Information. Data is in the form of a single ASCII string with multiple fields, each field separated by an ASCII “*”. String fields contain Part #, Serial #, Location, ECU Type, manufacturer Name, Description and hardware revision.

  • Page 23: Configuration Commands

    MV5-AR USER MANUAL Configuration Commands These utilize the Proprietarily Configurable Messaging PGNs. They comprise a set of configuration parameters and functional commands not covered by the J1939 spec. We use the Configurability Message PGNs in free form similar to other manufacturers and preferred by customers.

  • Page 24: Set/Get Data Period (Rate) 45568 (Pgn 0Xb200)

    MV5-AR USER MANUAL 4.5.2 Set/Get Data Period (Rate) 45568 (PGN 0xB200) This command sets the output rate for a given data PGN. The default period is 10 ms. The specified PGN can be disabled by using a transmission period of 0.

  • Page 25: Create Sensor To Vehicle Rotation 46336 (Pgn 0Xb500)

    MV5-AR USER MANUAL 4.4.5 Create Sensor to Vehicle Rotation 46336 (PGN 0xB500) Tares the sensor and treats the current orientation as the reference. The pitch and roll granularity parameters cause the sensor to round absolute orientation to the nearest multiple of the granularity before applying a tare translation.

  • Page 26: Lock/Unlock Configuration Mode 49152 (Pgn 0Xc000)

    MV5-AR USER MANUAL 4.5.7 LOCK/UNLOCK Configuration Mode 49152 (PGN 0xC000) Locks B100 to BF00 PGNs. When locked, those messages will be ignored by Description the device, however, the values of 0xB100, B200, B300, B600, and C000 may still be requested through the request information command (0xEA00).

  • Page 27: Repair And Support

    LORD Sensing warrants its products to be free from defective material and workmanship for a period of one (1) year from the original date of purchase. LORD Sensing will repair or replace, at its discretion, a defective product if returned to LORD Sensing within the warranty period.

  • Page 28: Sales Support

    MV5-AR USER MANUAL Sales Support Products can be ordered directly from the LORD Sensing website by navigating to the product page and using the Buy feature. http://www.microstrain.com/inertial For further assistance, our sales team is available to help with product selection, ordering options, and questions.

  • Page 29: Safety

    MV5-AR USER MANUAL Safety WARNING PERSONAL INJURY DO NOT USE these products as safety or emergency stop devices or in any other application where failure of the product could result in personal injury. Failure to comply with these instructions could result in death or serious injury.

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