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Related Manuals for Lord MicroStrain 3DM-GX5-10
Summary of Contents for Lord MicroStrain 3DM-GX5-10
- Page 1 LORD USER MANUAL ® -GX5-10 Inertial Measurement Unit (IMU)
- Page 2 , DVRT , EmbedSense , FAS-A , G-Link ® ® ™ ® ® ® ® Little Sensors, Big Ideas. , LORD Microstrain , Live Connect , LXRS , MathEngine , MicroStrain , MXRS , Node ® ™ ® ® ®...
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Page 3: Table Of Contents
® -GX5-10 User Manual Table of Contents System Family Overview Sensor Overview 2.1 Components 2.2 Interface and Indicators Basic Setup and Operations 3.1 Software Installation 3.2 System Connections 3.3 Software Interface 3.3.1 Interactive Help Menu 3.4 Sensor Communication 3.5 Sensor Settings 3.5.1 Saving Configurations 3.6 Data Monitoring and Recording 3.7 View Recorded Data... - Page 4 ® -GX5-10 User Manual 5.5 Temperature Compensation 5.6 Import and Export Settings Sensor Installation 6.1 Sensor Mounting OEM System Integration 7.1 Data Communications Protocol (DCP) 7.1.1 Packet Builder 7.2 Sensor Wiring 7.3 Sampling on Start-up 7.4 Connecting to a Datalogger 7.5 Using Wireless Adapters Troubleshooting 8.1 Troubleshooting Guide 8.2 Repair and Calibration...
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Page 5: System Family Overview
® -GX5-10 User Manual System Family Overview The LORD Sensing 3DM-GX5 family of industrial-grade inertial sensors provides a wide range of triaxial inertial measurements and computed attitude and navigation solutions. In all models, the Inertial Measurement Unit (IMU) includes direct measurement of acceleration and angular rate, and some also offer atmospheric pressure readings. -
Page 6: Sensor Overview
-GX5-10 User Manual Sensor Overview The 3DM-GX5-10 is a high-performance, industrial-grade Inertial Measurement Unit (IMU) that utilizes micro inertial sensors for use in a wide range of industrial-grade applications, such as platform stabilization and vehicle health monitoring. The 3DM-GX5-10 combines the strengths of an integrated multi-axis gyroscope and accelerometer, in combination with temperature readings to provide highly accurate inertial measurements . -
Page 7: Components
. LORD Sensing Item Description Model Part Number Included with Sensor Purchase IMU 8G, 300 3DM-GX5-10 Inertial Sensor 6255-4210 DPS* MIP Monitor Software Suite http://www.microstrain.com/software see Specifications on page 1 * For additional options available RS232 Connectivity Kit RS232 Communication Cable... -
Page 8: Interface And Indicators
( see Sensor Mounting on page 1 The indicators on the 3DM-GX5-10 include a device status indicator and the device information label. The table below describes the basic status indicator behavior. The device information label includes the... -
Page 9: Basic Setup And Operations
User Manual Basic Setup and Operations To acquire sensor measurements and computed outputs, the 3DM-GX5-10 uses a host computer,an RS232 communications port, and applicable software. The LORD Sensing MIP Monitor software is provided with the system and includes all functions needed for sensor configuration and data acquisition. -
Page 10: Software Installation
User Manual 3.1 Software Installation NOTE The MIP Monitor Software Suite includes hardware drivers required for 3DM-GX5-10 sensor operation. Sensors will not be recognized without these drivers installed. To Install the MIP Monitor software on the host computer, complete the following steps: 1. -
Page 11: System Connections
Once power is applied the sensor is on and active ( Specifications on page 1 To acquire sensor data the following components are needed: 3DM-GX5-10 sensor, communication cable, power cable (as applicable for RS232 communications) , and a host computer with LORD Sensing MIP Monitor installed. -
Page 12: Software Interface
® -GX5-10 User Manual 3.3 Software Interface The MIP Monitor software includes a main window with system information and menus, a device settings window, and several data monitoring windows. The main window provides an overview of connected devices. Devices are selected by clicking on them. -
Page 13: Sensor Communication
® -GX5-10 User Manual Figure 7 - Context Sensitive Help Menu 3.4 Sensor Communication Once power has been applied to the sensor, it is functional. If the hardware drivers have been installed, communication can be established using the MIP Monitor software interface. 1. - Page 14 ® -GX5-10 User Manual availability. When commands are sent to the sensor, the software will automatically connect to it before sending the message.
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Page 15: Sensor Settings
Device Settings, or select Settings > Device from the main menu. a. Main menu tabs: The main tabs divide the settings into functional groups for the available measurements. For the 3DM-GX5-10 these include b. Message Format : allows the user to select the measurement type to be displayed and recor- ded and the data rate in samples/second. - Page 16 ® -GX5-10 User Manual Figure 10 -Save Sensor Settings...
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Page 17: Data Monitoring And Recording
® -GX5-10 User Manual 3.6 Data Monitoring and Recording Throughout the MIP Monitor views the same icons are used to control data streaming (sampling) and recording. These icons can be found in the MIP Monitor main window icon toolbar and in each data monitoring window. -
Page 18: View Recorded Data
® -GX5-10 User Manual Figure 12 -Data Streaming 3.7 View Recorded Data Recorded data is stored in either Binary (.bin) or Comma Separated Values (.csv) format, depending on what was selected at the initiation of data recording. The files can be found in the directory specified at that time or in the default directory on the host computer desktop. - Page 19 ® -GX5-10 User Manual If the data is recorded in Binary format it will require a translation program that utilizes the LORD Sensing MIP Data Communications Protocol (DCP) to make it user- readable. Figure 13 -Data Recording 4. To end recording press the Arm Recording button again, and select OK in the confirmation prompt window.
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Page 20: Sensor Measurements
Delta- theta (change in angular rate), and Delta- velocity (change in velocity). Temperature sensors provide environmental information for measurement compensation . information can be read directly but is not used internally for attitude or navigation estimations on the 3DM-GX5-10. Figure 14 -3DM-GX5-10 Block Diagram... -
Page 21: Direct Sensor Measurements (Imu Outputs)
® -GX5-10 User Manual 4.1 Direct Sensor Measurements (IMU Outputs) The sensors in an Inertial Navigation System (INS), from which measurements for navigation and orientation are obtained, are collectively known as the Inertial Measurement Unit (IMU). These sensors are arranged on the three primary axes (x, y, and z) to sense angular rate acceleration. The gyroscopes are used to adjust the current attitude estimate when an angular rate is sensed. - Page 22 User Manual Table 2 - IMU Measurements lists the IMU measurements available for the 3DM-GX5-10. Additional measurement units may be available in MIP Monitor for some outputs, however they are converted values and do not represent the actual sensor outputs. Only actual output units are listed.
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Page 23: Sensor Reference Frames
® -GX5-10 User Manual 4.2 Sensor Reference Frames 4.2.1 Geodetic Frame The World Geodetic System is the standard for cartography and navigation. The latest revision, WGS84, is the reference coordinate system for GPS. It also calculates the magnitude of the local gravity vector using the WGS84 reference formulas. -
Page 24: North East Down (Ned) Frame
® -GX5-10 User Manual 4.2.2 North East Down (NED) Frame The North-East-Down (NED) frame is a local coordinate frame, which is formed by a tangent plane located at a particular point (current coordinates) on the WGS84 reference ellipse. The NED frame is constructed with the (true) North vector along the line of longitude, the East vector along the line of latitude, and the Down vector normal to and towards the tangent plane ( Figure 17 - North East... -
Page 25: Sensor Frame
NED frame exactly, giving zero rotation. The 3DM-GX5-10 reports acceleration, angular rate, delta-theta, and delta-velocity in this frame. Refer to the 3DM-GX5-10 dimensional diagram for the location of the measurement origin ( Reference Diagrams on page 1... -
Page 26: Performance Optimization
® -GX5-10 User Manual Performance Optimization 5.1 Gyroscope Bias Gyroscope biases (offsets) can be zeroed out to set a baseline value for the static home position and conditions in the application. This should be done after sensor installation. To set the gyroscope baseline, place the sensor or sensor platform in the desired home position. Allow 2-3 minutes for the sensor to warm up and for the temperature to stabilize for the best bias capture. -
Page 27: Angular Rate And Acceleration Limits
921,600 baud. 5.4 IMU Sensor Calibration All of the internal sensors in the 3DM-GX5-10 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. -
Page 28: Import And Export Settings
® -GX5-10 User Manual 5.6 Import and Export Settings The import and export settings features provide a consolidated file of the user settings, enabling Device Settings information to be saved and shared. For example, exporting settings to the LORD technical support team helps facilitate fast and accurate resolution of technical issues. -
Page 29: Sensor Installation
® -GX5-10 User Manual Sensor Installation 6.1 Sensor Mounting The 3DM - GX5 - 10 sensor housing is rated for indoor use only, unless used inside a protective enclosure. The sensor has two mounting tabs with holes for fastening. Mounting screws should be brass or 300 Series stainless steel. -
Page 30: Oem System Integration
7.1 Data Communications Protocol (DCP) The LORD Sensing MIP Data Communications Protocol (DCP) includes all commands available for controlling and acquiring data from the 3DM-GX5-10, including many that are not available in the MIP Monitor software. Programming is performed through a standard serial interface program. The programming interface is comprised of setup and control commands and a very flexible user- configurable data output format. -
Page 31: Packet Builder
7.1.1 Packet Builder To expedite program development, a packet builder tool is included in the MIP Monitor software. The packet builder allows users to send multiple packets to the 3DM-GX5-10 and view the resulting reply data. Applicable protocol structure and design is described in the 3DM-GX5-10 LORD Sensing MIP Data Communications Protocol (DCP) Manual DCP Manual . - Page 32 ® -GX5-10 User Manual or the connector by itself can be purchased from the manufacturer (Ulti-Mate Connector Inc). Parts and Configurations on page 40 for a list of available options. For the cable diagram, Reference Diagrams on page 1 The connector interface includes connections for USB and RS232 communications (only connect one), two options for sensor input power range (only connect one), and a precision hardware timing input (PPS input) for synchronizing with external timestamps.
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Page 33: Sampling On Start-Up
® -GX5-10 User Manual 7.3 Sampling on Start-up The Save Current Settings command can be used to instruct the sensor to start streaming data as soon as it powered on. This can be useful in sensor integration applications in which immediate data acquisition is desired, and connection to MIP Monitor for data logging is not required. -
Page 34: Connecting To A Datalogger
® -GX5-10 User Manual 7.4 Connecting to a Datalogger Many inertial applications incorporate dataloggers of all different types to collect and distribute sensor outputs. For more information and examples refer to the "Using Dataloggers with Inertial Sensors" Technical Note on the LORD Sensing website, or contact LORD Sensing Technical Support ( Technical Support on page 39 7.5 Using Wireless Adapters In some applications it can be very useful to set up wireless communications between the sensor to the... -
Page 35: Troubleshooting
® -GX5-10 User Manual Troubleshooting 8.1 Troubleshooting Guide... - Page 36 ® -GX5-10 User Manual Problem Possible cause and recommended solution 1.1 no power is applied The status indicator on the device will be off. Make sure the 1. POWER sensor is connected to a power source and the status indicator illuminates.
- Page 37 ® -GX5-10 User Manual Problem Possible cause and recommended solution Sensing for reconfiguration. 2.5 sensor or cables are damaged Verify all connections, power, and settings. If available, try installing an alternate cable or sensor one at a time to see if the faulty device can be identified. ...
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Page 38: Repair And Calibration
® -GX5-10 User Manual 8.2 Repair and Calibration General Instructions In order to return any LORD Sensing product, you must contact LORD Sensing Sales or Technical Support to obtain a Return Merchandise Authorization (RMA) number. All returned merchandise must be in the original packaging, including manuals, accessories, cables, etc. -
Page 39: Technical Support
® -GX5-10 User Manual 8.3 Technical Support There are many resources for product support found on the LORD Sensing website including technical notes, FAQs, and product manuals. http://www.microstrain.com/support_overview.aspx For further assistance our technical support engineers are available to help with technical and applications questions. -
Page 40: Parts And Configurations
® -GX5-10 User Manual Parts and Configurations 9.1 Standard Configurations For the most current product information, custom, and OEM options not listed below, refer to the LORD Sensing website or contact the LORD Sensing Sales Department. Table 3 - Model Numbers describes the standard models available at the time this manual was published. - Page 41 ® -GX5-10 User Manual The same options are available in each model, and are indicated in the last four digits of the product part number. For a list of the starter kit contents,( see Components on page 1 Figure 25 -Standard Part Numbers...
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Page 42: Accessories
® -GX5-10 User Manual Accessories The following parts are available for use with the 3DM - GX5 - 10. For the most current product information refer to the LORD Sensing website or contact the Sales Department. ( see Sales Support on page 42 ). -
Page 43: Specifications
® -GX5-10 User Manual Specifications General Triaxial accelerometer, triaxial gyroscope, and Integrated sensors temperature sensors Inertial Measurement Unit (IMU) outputs: Data outputs acceleration, angular rate, delta theta, delta velocity Inertial Measurement Unit (IMU) Sensor Outputs Accelerometer Gyroscope 300°/sec (standard) ±8 g (standard) Measurement range ±75, ±150, ±900°... - Page 44 ® -GX5-10 User Manual Operating Parameters Communication RS232 (9,600 bps to 921,600 bps, default 115,200) Power source +4 to + 36 V dc V dc Power consumption 300 mW (typ) Operating temperature -40 °C to +85 °C Mechanical shock limit 500g/1ms survivability Physical Specifications Dimensions...
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Page 45: Safety Information
There are no user- serviceable parts on the 3DM - GX5 - 10. Removing the device cover or disassembling in any way voids the product warranty. 11.2 Disposal and Recycling The 3DM-GX5-10 contains internal printed circuit boards and electronic components. These items are known to contain toxic chemicals and heavy metals that are harmful to humans health and the environment. ... -
Page 46: Glossary
® -GX5-10 User Manual Glossary A/D Value The digital representation of analog voltages in an analog-to-digital (A/D) conversion. The accuracy of the conversion is dependent on the resolution of the system electronics. Higher resolution produces a more accurate conversion. Acceleration In physics,acceleration is the change in the rate of speed (velocity) of an object over time. - Page 47 ® -GX5-10 User Manual ASTM (Association of Standards and Testing) a nationally accepted organization for the testing and calibration of technological devices Attitude the orientaion of an object in space with reference to a defined frame, such as the North-East-Down (NED) frame Azimuth A horizontal arc measured between a fixed point (such as true north) and the vertical circle passing...
- Page 48 ® -GX5-10 User Manual Delta-Theta the time integral of angular rate expressed with refernce to the device local coordinate system, in units of radians Delta-velocity the time integral of velocity expressed with refernce to the device local coordinate system, in units of g*second where g is the standard gravitational constant ECEF (Earth Centered Earth Fixed) a reference frame that is fixed to the earth at the center of the earth and turning about earth's axis in the...
- Page 49 ® -GX5-10 User Manual Host (computer) The host computer is the computer that orchestrates command and control of attached devices or net- works. Inertial Measurement System Inclinometer device used to measure tilt, or tilt and roll Inertial pertaining to systems that have inertia or are used to measure changes in inertia as in angular or linear accelerations INS (Inertial Navigation System) systems that use inertial measurements exclusively to determine position, velocity, and attitude, given...
- Page 50 ® -GX5-10 User Manual NED (North-East-Down) A geographic reference system acronym for Original Equipment Manufacturer Offset A non-zero output signal of a sensor when no load is applied to it, typically due to sensor imperfections. Also called bias. Orientation The orientaion of an object in space with reference to a defined frame. Also called attitude. Pitch In navigation pitch is what occurs when vertical force is applied at a distance forward or aft from the cen- ter of gravity of the platform, causing it to move up or down with respect to the sensor or platform frame...
- Page 51 ® -GX5-10 User Manual acronym for Root Mean Squared Roll In navigation roll is what occurs when a horizontal force is applied at a distance right or left from the cen- ter of gravity of the platform, causing it to move side to side with respect to the sensor or platform frame origin.
- Page 52 ® -GX5-10 User Manual UTC (Coordinated Universal Time) The primary time standard for world clocks and time. It is similar to Greenwich Mean Time (GMT). Vector a measurement with direction and magnitude with refernce from one point in space to another Velocity The rate of change of position with respect to time.