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- Page 1 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com CXM543 User’s Manual High Speed Orientation Sensor Revision 1.2, October 2001 PN 6001-0015 Crossbow Technology, Inc., 41 E. Daggett Dr., Sa n Jose, CA 95134 Tel: 408-965-3300, Fax: 408-324-4840 email: info@xbow.com, website: www.xbow.com SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
- Page 2 Crossbow and SoftSensor are registered trademarks and DMU is a trademark of Crossbow Technology, Inc. Other product and trade names are trademarks or registered trademarks of their respective holders. SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
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Page 3: Table Of Contents
Electrical and Mechanical Interface........3 System Startup and Checkout..........5 Startup Using a Terminal Emulator Program........5 System Checkout..................6 CXM543 Configuration Options and Data Output Formats 9 Description of the CXM543 Orientation Angles....13 Appendix A. CXM543 Command and Data Format Specifications ................15 CXM543 command specification............15 Discussion of the CXM543 Data Transmission Modes ....16... - Page 4 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.co About this Manual The following annotations have been used to provide additional information. X NOTE Note provides additional information about the topic. þ EXAMPLE Examples are given throughout the manual to help the reader understand the terminology.
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Page 5: Description Of The System
The CXM543 measures orientation by employing a 3-axes accelerometer to measure roll and pitch and a three-axis magnetometer to determine azimuth. The CXM543 can be configured to run in two modes viz. Vector and Angle. In vector mode, the unit transmits the accelerometer and magnetometer sensor outputs and transmission speeds up to 250 samples/sec are possible. -
Page 6: System Specifications
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com System Specifications Accuracy roll, pitch ±1° azimuth ±1.5° Range roll 0 to 360° pitch (inclination) 0 to 180° azimuth 0 to 360° Data levels RS232 and TTL Data output rate (Angle mode) -
Page 7: Electrical And Mechanical Interface
SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Electrical and Mechanical Interface The CXM543 is powered from a single input voltage that can range between +6 V and +15 V. Current consumption is 100 mA. Two serial interfaces are present; one that uses RS-232 levels and one that uses TTL levels. - Page 8 CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Fig. 1 CXM543 High Speed Orientation Sensor 4.08” (10.4 cm) 0.56” (1.4 cm) 1.375” (3.5 cm) 2.19” 2.75” (5.6 cm) (7 cm) 6 x 0.125” 3.75” (9.5 cm) 1.125” (2.9 cm) 4.08”...
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Page 9: System Startup And Checkout
AUTO option on the connection box switch. This connects pin 1 (CD) of the 9 pin serial interface connector to the configure port on the CXM543. Note that on the 9-pin computer connector, pins 1, 4 and 6 are shorted and pins 7 and 8 are shorted). -
Page 10: System Checkout
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com In run mode, most of the CXM543 parameters, e.g. baud rate, sample rate, etc. can be set by the user. The main differences between the system operation in run and configure mode are as follows: The CXM543 can only be calibrated in config mode (by issuing the l command). - Page 11 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com where, <CR> is a carriage return. These commands put the CXM543 in text (as opposed to binary) mode and angle (as opposed to vector) mode. Set the transmission speed to a slow value (about once per sec.) by issuing the command: F1 <CR>...
- Page 12 CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Transmission speed can be changed from among 9 different values by issuing commands of the format where, # can be set between 1 (slowest speed) and 9 (highest speed). Different filter values corresponding to the f# command are as listed in the table below.
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Page 13: Cxm543 Configuration Options And Data Output Formats
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com CXM543 Configuration Options and Data Output Formats The user can configure the CXM543 system in the following ways: 1. Mode 2. Autosend or command 3. Baud rate 4. Pacing The mode settings are used to change the format of the data output. The user can select the data output to be raw A/D counts (M=R) calibrated sensor (vector) output (M=V) or angles (M=A). - Page 14 CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com composed of the sum of all of the digits in all the data values. Corrected data in a text decimal format without a checksum: 0.23456 0.78900 0.23997 0.98765 0.53210 0.12345 <CR><LF> The X,Y,& Z values are encoded as decimal values in Gauss.
- Page 15 This is followed by a synchronization byte of 5 A, which represents the end of the data packet. To determine the mode of a CXM543, issue the command M? The autosend command (A) enables data to be sent continuously upon power on.
- Page 16 0000 (fast) to FFFF (slow). The pacing value is set by issuing a command: P = #### The user can set the baud rate of the CXM543 to the standard values from 300 to 76800 baud. The baud rate command is of the form: B = XXXX <CR><LF>...
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Page 17: Description Of The Cxm543 Orientation Angles
SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Description of the CXM543 Orientation Angles The roll angle of the CXM543 is zero when the Y-axis sensors are oriented horizontally. A drawing showing the CXM543 in a roll orientation of 90° (Y sensors down) is shown in Fig. 2. - Page 18 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Horizontal (Inc. = 90 deg) Inclination = 127 degrees Down (Inc. = 0 deg) Fig. 3 CXM543 Pitch Definition North Azimuth Fig. 4 CXM543 Azimuth Definition SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Doc.# 6001-0015 Rev 1.2...
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Page 19: Appendix A. Cxm543 Command And Data Format Specifications
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Appendix A. CXM543 Command and Data Format Specifications CXM543 command specification All Commands must be followed by a return. All changes to the mode value are saved as the power-up mode. Send the current mode value All data is sent as raw A/D Counts in ASCII four digit hex values or binary values depending on the current mode. -
Page 20: Discussion Of The Cxm543 Data Transmission Modes
Display help Discussion of the CXM543 Data Transmission Modes At the top level the CXM543 can be put in either raw (M = r) or corrected (M = c) mode. Raw mode is seldom used after a CXM543 system has been factory calibrated. - Page 21 For decimal mode, ASCII characters representing the data are transmitted. For binary mode the data is encoded in binary format. Decimal mode is ideal for use when the CXM543 is communicating with a PC because the ASCII characters display in intelligible form on a PC running a terminal emulation program (e.g., PROCOM or HyperTerminal).
- Page 22 FF+EB+01+F8+3F+0C+02+EC+7C+EA+2B+CC+10+00 = 689 The checksum is 89, which is the least significant byte of the sum. When the CXM543 mode is selected to be raw, the transmitted data represents the raw Analog to Digital (A to D) count outputs for the various magnetometer and accelerometer sensors.
- Page 23 M = b (binary mode) M = i (integer mode) Note that the above commands can be given individually or as a single combination of commands. For instance, to put the CXM543 in raw binary mode, M = r <CR>...
- Page 24 CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com To obtain the checksum, all of the data bytes in the transmission are added. The checksum is the least significant 8 bits (or 2 hex digits) of this summation. The <CR> and <LF> in the transmission represent ASCII characters for carriage return (0D Hex), and line feed (0A Hex).
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Page 25: Explanation Of Checksum Calculation
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com ±MX is a 5-digit ASCII number representing the X magnetometer count output. This can range from –32768 to +32767. T represents the system temperature and is of the form: TT.T Where, the T’s are ASCII characters representing the system temperature in °C. -
Page 26: Eerom Map
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 1+7+1+9+5+1+1+2+1+4+9+5+4+3 = 53 decimal The number 53 decimal is 35 hex and this is the checksum. To calculate the checksum for binary transmissions, the data bytes are summed and the checksum is the least significant byte of the sum. For... - Page 27 CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Not Used CPU Clock Speed Divisor 1-7 Clock Divisor 8- 0=Run at full clock speed 1=Enable clock division CPU Speed = 4.9152Mhz/(129-ClockDivisor) This allows the use of lower UART baud rates and lower power consumption.
- Page 28 CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 10-11 Soft scale Z accelerometer 12-13 Soft ortho XY accelerometer 14-15 Soft ortho XZ accelerometer 16-17 Soft ortho YX accelerometer 18-19 Soft ortho YZ accelerometer 1A-1B Soft ortho ZX accelerometer 1C-1D Soft ortho ZY accelerometer...
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Page 29: Software Data Correction Equations
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 03- Chop mode enabled 04- Must be 0 05-16- 12 bit sync filter Software Data Correction Equations Xout = ((((Xin + XOffset) * XScale)/32768)+ ((((Yin + YOffset) * YScale)/32768) * YOrtho)+ ((((Zin + ZOffset) * ZScale)/32768) * ZOrtho))/65536... -
Page 30: Appendix B. Hard Iron Correction For Cxm543
If the platform cannot be turned upside down then only the 2 dimensional hard iron correction will be possible. The CXM543 must be connected to a terminal emulator program on a PC to perform the correction. The Section 4.1 explains the procedure for setting the CXM543 up with a terminal emulator program. -
Page 31: Determining The Hard Iron Offset And Enabling The Hard Iron Correction
The hard iron correction which uses this offset can be turned on or off. The CXM543 is described in the following text as having x, y, and z axis. These are a set of approximately orthogonal directions described by the label on the top of the sensor. -
Page 32: Hard Iron Commands
The hard iron correction is toggled on or off, if a correction is available. 2-dimensional data is to be collected, with the CXM543 prompting the user with a set of good orientations. These orientations do not need to be precisely met. If some data points have already been gathered then this data is lost and the process starts all over. -
Page 33: Three Dimensional Correction
The CXM543 will then prescribe a set of 6 orientations. The prescribed orientations and their interpretation in up, down, front, back, left side and right side are as follows (replies from the CXM543 are enclosed in quotation marks “”): "Place the sensor z axis down to start a 3D correction then type HP... -
Page 34: Two Dimensional Correction
Two dimensional Correction To determine a two dimensional correction, begin by typing “H2” followed by a carriage return. The CXM543 will then prescribe a set of 4 orientations. The top of the platform will always point up, so we only need to specify the direction of the front. -
Page 35: Caveats
The forward direction should now face west. Type HP followed by a carriage return. At this time, the CXM543 will automatically calculate the hard iron offsets and display them. Also displayed is a set of parameters indicating the quality of the fit. If the residuals without correction are substantially larger than those with correction, this indicates that the hard iron correction would improve orientation accuracy. -
Page 36: Appendix C. Filter Values And Data Rates
2400 12.5 97.2 4800 1600 10.5 1260 104.9 7680 2560 1676 X NOTE CXM543 is limited by its CPU clock speed rather than either A/Ds or baud rate. SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Doc.# 6001-0015 Rev 1.2 Page 32... -
Page 37: Appendix D. Warranty And Support Information
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 10 Appendix D. Warranty and Support Information 10.1 Customer Service As a Crossbow Technology customer you have access to product support services, which include: • Single-point return service • Web-based support service •... -
Page 38: Warranty
CXM543 User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 10.3.2 Identification and Protection If the equipment is to be shipped to Crossbow for service or repair, please attach a tag TO THE EQUIPMENT, as well as the shipping container(s), identifying the owner. Also indicate the service or repair required, the... - Page 39 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.co SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
- Page 40 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.co Crossbow Technology, Inc. 41 E. Daggett Drive San Jose, CA 95134 Phone: 408.965.3300 Fax: 408.324.4840 Email: info@xbow.com Website: www.xbow.com SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
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