Xsens MTi 600 Series User Manual
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- Reference manual (31 pages) ,
- Hardware integration manual (17 pages) ,
- User manual (115 pages)
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MTi 600-series Development Kit
Xsens Technologies B.V.
Pantheon 6a
phone
P.O. Box 559
fax
7500 AN Enschede
e-mail
The Netherlands
internet
MTi-630-DK and Mti-670-DK
Document MT1602P, Revision A, 27 aug 2019
Xsens North America, Inc.
+31 (0)88 973 67 00
101 N. Pacific Coast Hwy
+31 (0)88 973 67 01
Suite 101
info@xsens.com
El Segundo, CA 90245
www.xsens.com
USA
User Manual
phone
310-481-1800
fax
310-416-9044
e-mail
info@xsens.com
internet
www.xsens.com
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Table of Contents
Related Manuals for Xsens MTi 600 Series
Summary of Contents for Xsens MTi 600 Series
- Page 1 MTi 600-series Development Kit MTi-630-DK and Mti-670-DK User Manual Document MT1602P, Revision A, 27 aug 2019 Xsens Technologies B.V. Xsens North America, Inc. Pantheon 6a phone +31 (0)88 973 67 00 101 N. Pacific Coast Hwy phone 310-481-1800 P.O. Box 559...
- Page 2 … … © 2005-2019, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens, MVN, MotionGrid, MTi, MTx and Awinda are registered trademarks or trademarks of Xsens Technologies B.V. and/or its parent, subsidiaries and/or affiliates in The Netherlands, the USA and/or other countries.
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Page 3: Table Of Contents
-670 DK ) ......16 XTERNAL EXTENSION SOCKET AND DAUGHTER CARD ONLY ...................... 17 LECTRICAL SPECIFICATIONS ..................... 17 BSOLUTE MAXIMUM RATINGS STANDALONE CONFIGURATION ..................... 18 UART ....................18 BOARD DRAWING Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... - Page 4 Figure 9: Pin out of DSUB9 connector RS232 ..................14 Figure 10: Top view (left) and the bottom view (right) of the GNSS daughter card ......16 Figure 11: UART to USB converter....................... 18 Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual...
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Page 5: General Information
The MT Low Level Communication Protocol document provides a complete reference for the protocols used to communicate with Xsens Motion Trackers on low-level basis. The MT Low Level Communication Protocol document also describes the synchronization messages and settings in detail. -
Page 6: Package Information
Table 2: Package contents for MTi 600-series Development Kit Component Name MTi-600 Development Board including USB to UART converter MTi 600-series module 3x M2 x 12 mm brass screws Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... - Page 7 GNSS daughter card GNSS antenna Micro USB cable Ribbon cable Only with MTi-670-DK Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual...
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Page 8: Ordering Information
Note: Development Kits for the MTi-610-IMU and MTi-620-VRU are not available. Instead, the MTi-630- DK can be used for testing purposes as it covers all functionality of the MTi-610 IMU and MTi-620 VRU. Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 9: Introduction
Peripheral interface switches (SW1 and SW2) Power indicator LED SYNC_OUT indicator LED Separable USB to UART converter board See Section 4 for more details regarding the interfaces and their electrical specifications. Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 10: Software And Documentation
Inside the MT SDK folder of the MT Software Suite, programming examples can be found for various programming languages, including C++, C#, Python and Matlab. A ROS node is also available. These examples are based on the (open source) Xsens Device API (XDA). For more information and a complete overview, refer to the following article: https://base.xsens.com/hc/en-us/articles/360032347394... -
Page 11: Getting Started
For using the UART to USB breakout board, refer to section 5. 3.2 Installing MT Software Suite The MT Software Suite is available from the Xsens website (www.xsens.com/mt-software-suite). The installation procedure consists of a set of several installers and starts with the GUI as shown in Figure 2. -
Page 12: Displaying Data In Mt Manager
In order to open these windows, the corresponding data outputs of the MTi need to be configured. Otherwise, the window icons will be grey. Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 13: Configuring The Mti 600-Series
3.4 Configuring the MTi 600-series The MTi 600-series can be directly configured by means of MT Manager. Click the Device Settings button to open the Output Configuration dialog (Figure 6). Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 14: Figure 6: Output Configuration Dialog In Mt Manager Using An Mti-600-Dk
More information on the functions and features can be found in the MT Manager User Manual. The MT Manager User Manual can be found via Help –> Documentation. Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 15: Development Board
VIN_Ext enable for connector 2 MTi-600 connector CAN termination resistor Connector 1 VIN_Ext enable for connector 1 External SYNC_OUT connector Figure 7: MTi 600-series Development Board overview with connector designators Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 16: External Connector
The DSUB9 VIN_Ext pins are directly connected to pin 1 of the External connector when the zero-Ohms resistors are placed. Do not supply power to more than one of these pins at the same time! Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 17: Host Connections
Switch SW1 needs to be set in the downward position to enable the RS232 connections on DSUB9 connector 2. Table 7 shows the pinning of DSUB9 connector 2 if the RS232 interface is enabled. Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 18: Rs422
RS422 negative receiver input from host RS422_RxD+ RS422 positive receiver input from host RS422_TxD+ RS422 positive transmitter output to host RS422_TxD- RS422 negative transmitter output to host Ground VIN_Ext Supply input (requires zero-Ohm resistor) Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 19: Uart
DEV. The UART_TxD will still transmit over USB and RS422 (when enabled), allowingto monitor the MTi-600 output. The UART pinning on the External Connector can be seen in Table 4. Table 11: Switch configuration for enabling UART Switch Position Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 20: External Gnss Extension Socket And Daughter Card (Mti-670 Dk Only)
Table 12: Connections on UART communication GNSS extension sockets. Mikro BUS MTi-670 Mikro BUS MTi-670 P100-1 P200-1 P100-2 Pull-up P200-2 CLK_SYNC P100-3 P200-3 P100-4 P200-4 P100-5 MISO P200-5 P100-6 MOSI P200-6 P100-7 3.3V P200-7 P100-8 P200-8 Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 21: Electrical Specifications
This is a mechanical shock (g) sensitive device. Proper handling is required to prevent damage to the part. This is an ESD-sensitive device. Proper handling is required to prevent damage to the part. Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual... -
Page 22: Standalone Configuration
Figure 11 shows the dimensions of the UART to USB breakout board together with its mounting holes. Figure 11: UART to USB converter. Links to the latest available documentation can be found via the following link: Xsens MTi Documentation Document MT1602P.A © Xsens Technologies B.V. MTi-600 series DK User Manual...