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Xsens MTi 600 Series User Manual

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MTi 600-series User Manual
User Manual
Please visit mtidocs.xsens.com for the latest version of this document.
Created: Friday, September 16, 2022
Copyright © Xsens. All Rights Reserved.

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Summary of Contents for Xsens MTi 600 Series

  • Page 1 MTi 600-series User Manual User Manual Please visit mtidocs.xsens.com for the latest version of this document. Created: Friday, September 16, 2022 Copyright © Xsens. All Rights Reserved.
  • Page 2 The information contained in this document is subject to change without notice. This document contains proprietary information which is protected by copyright. All rights are reserved. No part of this document may be photocopied, reproduced, or translated to another language without the prior written consent of Xsens.

  • Page 3: Table Of Contents

    MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Table of Contents MTi 600-series User Manual ......................MTi 600-series Datasheet ...................... General Information ......................Sensor Specifications ...................... Functional description ....................Signal processing and algorithms ................. Synchronization options ....................

  • Page 4: Mti 600-Series User Manual

    MTi 600-series User Manual Xsens MTi User Manual Repository Click the icon to download the entire document in PDF. Copyright © 2021 Xsens Page 1...

  • Page 5: Mti 600-Series Datasheet

    MTi 600-series User Manual Xsens MTi User Manual Repository MTi 600-series Datasheet Copyright © 2021 Xsens Page 2...

  • Page 6: General Information

    For testing and prototyping, Xsens provides the MTi-630, MTi-670 and MTi-680 Development Kits (MTi-630-DK, MTi-670-DK and MTi-680-DK) as well as Starter Kits (SK) for the robust MTi-630R, MTi-670G and MTi-680G. In addition to the RS232, CAN and UART pin connectors of the MTi 600-series module, the Development Kit offers a direct USB, RS232, RS422 and CAN interface.
  • Page 7 Xsens MTi User Manual Repository The MT Low Level Communication Protocol document provides a complete reference for the protocols used to communicate with Xsens Motion Trackers on a low-level basis. The MT Low Level Communication Protocol document also describes the synchronization messages and settings in detail.
  • Page 8 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Part Number Description Packing MTi-680-DK Starter Kit for MTi-680 RTK GNSS/INS MTi-680G-SK Starter Kit for MTi-680G RTK GNSS/INS MTi 600-series architecture MTi 600-series module diagram The diagram in the figure above shows a simplified architecture of the MTi 6x0-series module.
  • Page 9 Xsens sensor fusion engine. In this way, the MTi-600 limits the load and the power consumption on the user application’s processor. The user can communicate with the module by means of three different communication interfaces;...
  • Page 10 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository testing and calibration is already performed by Xsens and results in a robust and reliable sensor module, which enables a short time to market for the users. MTi-620 VRU The MTi-620 is a 3D VRU. On top of the functionality of the MTi-610 IMU, its algorithm computes 3D orientation data with respect to a gravity referenced frame: drift-free roll, pitch and unreferenced yaw.
  • Page 11 The MTi-680 provides a GNSS/INS solution offering a centimeter-accurate position and velocity output in addition to orientation estimates. The MTi-680 uses advanced sensor fusion algorithms developed by Xsens to synchronize the inputs from the module’s on-board gyroscope, accelerometer, magnetometer and barometer, with the data from an external, RTK- enabled GNSS receiver.

  • Page 12: Sensor Specifications

    MTi 600-series sensor specifications This section presents the performance and the sensor component specifications for the calibrated MTi-6x0 series products. Each product has passed the Xsens calibration process individually. The Xsens calibration procedure calibrates for many parameters, including bias (offset), alignment of the sensors with respect to the PCB and to each other, and gain (scale factor).
  • Page 13 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Dynamic Parameter Direction Specification (car, 25m/s) Horizontal [CEP] 0.01 m <0.05 m Position Vertical [CEP] 0.1 m 0.1 m Velocity 3D [RMS] 0.05 m/s 0.05 m/s The specifications mentioned in the tables above are for Development/Starter Kit reference designs.
  • Page 14 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Accelerometer[1] Unit Value Non-linearity [%FS] MTi 600-series magnetometer specifications Magnetometer[1] Unit Value Standard full range ±8 Non-linearity Total RMS noise [mG] Resolution [mG] 0.25 MTi 600-series barometer specifications Barometer[1] Unit...
  • Page 15 [MHz] 1561.098 [MHz] 1207.14 [1] As Xsens continues to update the sensors on the module, these specifications are subject to change. [2] Equivalent to 0.5 m. [3] Using GPS + GLONASS + Galileo + BeiDou. [4] < 30 s for GPS only.

  • Page 16: Functional Description

    MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Functional description Functional description Pin description module Pin description robust trackers (MTi-630R/670G/680G) Peripheral interfaces CAN (Controller Area Network) RS232 with RTS/CTS flow control UART RTCM input port This chapter describes the MTi 600-series pinout and gives details about the supported communication interfaces.
  • Page 17 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Pin Name I/O type Description RS232_TxD RS232 transmitter output to host RS232_RTS RS232 Ready To Send output to host RS232_RxD RS232 receiver input from host RS232_CTS RS232 Clear To Send input from host...
  • Page 18 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Connectors and pin numbers on the MTi-670G/680G housing The table below shows the pin descriptions of the MTi-630R/670G/680G Host Interface connector. Pin descriptions MTi-630R/670G/680G Host Interface Pin Name I/O type Description...
  • Page 19 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository The table below shows the pin descriptions of the MTi-680G RTCM corrections connector. The MTi-680G RTCM corrections connector is also present on the MTi-670G, but it is The MTi-680G RTCM corrections connector is also present on the MTi-670G, but it is unused.
  • Page 20 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository configure the MTi 600-series module to communicate over UART. The UART frame configuration is 8 data bits, no parity and 1 stop bit (8N1). The UART protocol only has the TX and RX lines without any flow control.

  • Page 21: Signal Processing And Algorithms

    This section discusses the MTi 600-series signal processing and algorithm description. Signal processing and algorithms Signal processing pipeline Strapdown integration Xsens sensor fusion algorithm for VRU and AHRS product types Xsens sensor fusion algorithm for the GNSS/INS product type Smoothers Continuous Zero Rotation Update...
  • Page 22 Xsens MTi User Manual Repository The MTi 600-series is a self-contained product. All calculations and processes such as sampling, coning & sculling compensation and the Xsens sensor fusion algorithm run on board. Strapdown integration The Xsens optimized strapdown algorithm performs high-rate dead-reckoning calculations up to 2000 Hz, allowing accurate capture of high frequency motions.
  • Page 23 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository The “base” filter profile selection affects the general behaviour of the device, mainly based on the nature of the typical expected dynamics of the application. The heading behaviour, as the name suggests, affects the heading/yaw output of the MTi, and determines how the magnetometer measurements are interpreted.
  • Page 24 Xsens sensor fusion algorithm for the GNSS/INS product type The Xsens sensor fusion algorithm in the GNSS/INS products has several advanced features. The algorithm adds robustness to the orientation and position estimates by combining measurements and estimates from the inertial sensors, magnetometer, barometer and a GNSS receiver in order to compensate for transient accelerations and magnetic disturbances.
  • Page 25 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository degrade over time as the filters can only rely on dead-reckoning. If the GNSS outage lasts longer than 45 seconds, the MTi stops the output of the position and velocity estimates, and resumes sending these outputs once the GNSS data becomes acceptable again.
  • Page 26 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository lever arm on measurements taken with cm-level accuracy. The lever-arm describes the position of the GNSS antenna with respect to the origin of measurement of the MT device (see Design and Packaging). The algorithm uses this information to correct its position and velocity measurements accordingly.
  • Page 27 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository determine the best results in your specific application. Filter profiles for MTi-670(G) and MTi-680(G) (GNSS/INS) Name GNSS Barometer Magnetometer Description General / General_RTK • • This filter profile is the default setting. The yaw...
  • Page 28 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository The platform model can be configured through the Device Settings window in MT Manager (version 2021.4 and later) or using low-level communication by providing the GNSS Platform ID. For more details on the low-level commands used to set the GNSS Platform ( SetGnssReceiverSettings ), refer to the MT Low Level Communication Protocol Document.
  • Page 29 1600 Hz Xbus output The Xbus protocol is Xsens’ standard output protocol utilizing the MTDATA2 data message structure. This output provides a lot of flexibility and enables users to access all functionality of the MTi product range. The Xbus output format is shared with all other MTi products in the Xsens portfolio, so switching between hardware platforms is very easy.
  • Page 30 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository u-blox (UBX) input When connecting to a u-blox receiver (e.g. u-blox MAX-M8), the MTi will configure it correctly on start-up. No prior configuration of the u-blox receiver is required. It is, however, recommended to inform the MTi of what type of u-blox receiver is connected.
  • Page 31 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Septentrio (SBF) input Please note that both the GNSS receiver and the MTi must be configured prior to connecting both systems to each other. The Septentrio input mode can be enabled using the Device Settings window in MT Manager (version 2021.4 and later), or using an Xbus message called...
  • Page 32 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Settings required to enable the Trimble input mode for the MTi-670/680 Setting Description Baudrate Minimum 115200 bps GNSS Message frequency 5 Hz recommended/default, 10 Hz maximum Required messages Position Time [#01], Lat,Long,Ht [#02], Velocity [#08], DOP Info [#09],...
  • Page 33 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository is defined as shown in the figures below. The frame is also printed on the side of the module or the back side of robust trackers. For a more exact location of the sensor frame origin, refer to Design and Packaging.
  • Page 34 [2] The General filter profile is only recommended for users who are looking for similar behaviour to the previous generation Xsens products in the typical applications suggested in the table. Using the General filter profile is not recommended for new designed applications.

  • Page 35: Synchronization Options

    SyncIn and synchronization output as SyncOut. A set of one or more synchronization options and their corresponding parameters are stored in a structure referred to as SyncSettings. The sync functionalities are in line with the other Xsens motion trackers. However, some minor differences exist because of the different architecture of the MTi-600.
  • Page 36 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository trigger signal. These parameters are reported in the table below. Generic synchronization parameters Parameter Description Line Defines the physical line to be used for the sync function. Valid values: • In1 •...
  • Page 37 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository bit (SyncIn Marker) of the Status Word to 1. Furthermore, the user can configure the MTi to also output a TriggerIndication message through the MtData2 stream. The advantage is that this message is timestamped with the trigger moment, so it has better accuracy than just the status flag.
  • Page 38 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository functionality. This is because the reference clock period needs to be configured in integer milliseconds. For example, a reference clock frequency of 100 Hz (period = 10 ms) is supported, but 60 Hz (period ~ 16.67 ms) is not supported.
  • Page 39 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Function Description TriggerIndication Is a somewhat passive function in the sense that it does not change the state or timing of the system. It can therefore be freely combined with all other functions. It can also be configured on both SyncIn lines with different settings.

  • Page 40: System And Electrical Specifications

    MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository System and electrical specifications System and electrical specifications Interface specifications System specifications Electrical specifications Absolute maximum ratings Interface specifications Communication interfaces Interface Symbol Min Unit Description 10.0 250.0 1000 kbps...
  • Page 41 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Unit Comments Temperature Operating ºC Ambient temperature, temperature non-condensing Power Depends on used consumption interface and supplied voltage. 5V over UART is most power efficient. Timing Output clock accuracy accuracy...
  • Page 42 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Unit Comments Size Width 40.9 Length 56.5 Height 24.75 Weight gram IP-rating IP68 48 hours at 1 meter under water Temperature Operating ºC Ambient temperature, non- temperature condensing Power 1000...
  • Page 43 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Unit Comments IP-rating IP68 48 hours at 1 meter under water Temperature Operating ºC Ambient temperature, non- temperature condensing Power 1000 Depends on the used consumption interface and supplied voltage.
  • Page 44 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository I/O interface Symbol Unit Description -4.0 Recessive differential input I(DIFF)(R) voltage -12V < V < +12V (CANH, CANL) Dominant differential input I(DIFF)(D) voltage -12V < V < +12V (CANH, CANL)
  • Page 45 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Absolute maximum ratings Absolute maximum ratings Parameter Unit Comments Storage ºC temperature Operating ºC temperature Power input -0.3 +/- 100 mV, max ripple voltage[5] 100 mVp-p CAN DC[5] Common mode voltage...
  • Page 46 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository [2] Only available for MTi-670G/680G. [3] Also applies to the GNSS (MTi-670/680) and RTCM (MTi-680G) ports. [4] Not available for robust trackers (MTi-630R/670G/680G). [5] All voltages with respect to GND.

  • Page 47: Design And Packaging

    MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Design and packaging Design and packaging Design Packaging information MTi 600-series modules MTi 600-series robust trackers Design The figures below show the dimensions of the MTi-600 module and robust trackers together with the origin of measurements (located by the symbol).
  • Page 48 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Location origin of measurements MTi-630R (dimensions in mm) Location origin of measurements MTi-670G/680G (dimensions in mm) Packaging information MTi 600-series modules The MTi 600-series module packaging boxes contain from 5 up to 20 modules.
  • Page 49 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Box Dimensions (mm) Box packaging information Length Width Height Qty/Tray MOQ 5 Qty/Box MOQ 5 5-20 units 5-20 units NOTES: All dimensions are in millimeters. Pictured tray and box representative only, actual tray may look different.
  • Page 50 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Box Dimensions (mm) Box packaging information Length Width Height Qty/Tray Qty/Box MOQ 1 MOQ 1 1-9 units 1-9 units NOTES: All dimensions are in millimeters. Pictured tray and box representative only, actual tray may look different.

  • Page 51: Declaration Of Conformity

    MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Declaration of conformity Declaration of conformity EU Declaration of Conformity MTi-600 module EU Declaration of Conformity MTi-600 rugged FCC Declaration of Conformity MTi-600 module FCC Declaration of Conformity MTi-600 rugged...
  • Page 52 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository EU Declaration of Conformity MTi-600 rugged Copyright © 2021 Xsens Page 49...
  • Page 53 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository FCC Declaration of Conformity MTi-600 module Copyright © 2021 Xsens Page 50...
  • Page 54 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository FCC Declaration of Conformity MTi-600 rugged Copyright © 2021 Xsens Page 51...
  • Page 55 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Reach Declaration Copyright © 2021 Xsens Page 52...
  • Page 56 MTi 600-series User Manual Datasheet Xsens MTi User Manual Repository Copyright © 2021 Xsens Page 53...

  • Page 57: Dk User Manual

    MTi 600-series User Manual Xsens MTi User Manual Repository DK User Manual Copyright © 2021 Xsens Page 54...

  • Page 58: General Information

    The MT Low Level Communication Protocol document provides a complete reference for the protocols used to communicate with Xsens Motion Trackers on a low-level basis. The MT Low Level Communication Protocol document also describes the synchronization messages and settings in detail.
  • Page 59 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository MTi product documentation overview MTi 1-series MTi 600-series MTi 10/100-series MTi Family Reference Manual MTi User Manual MTi 1-series Datasheet MTi 600-series Datasheet MTi 1-series DK User Manual...
  • Page 60 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository MTi 600-series module (MTi-630, MTi-670, MTi-680) 3x M2 x 12 mm brass screws (MTi-600-MP) GNSS daughter card #1 (MTI-DK-GNSS) u-blox MAX-M8Q GNSS receiver (default) GNSS RTK daughter card #2...
  • Page 61 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository GNSS antenna #1 (ANT-MULTI) GNSS antenna #2 (ANT-GNSS-RTK) Micro USB cable (CA-USB-MTW) Ribbon cable (CA-MTI-FLAT) Package contents for MTi-630R Starter Kit Component Name MTi-630R AHRS (MTi-630R) Copyright © 2021 Xsens...
  • Page 62 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository RS232 converter (CA-USB-CONV) 12-pin Host interface cable (CA-MP-MTI-12) Package contents for MTi-670G/680G Starter Kit Component Name MTi-670G GNSS/INS (MTi-670G) or MTi-680G RTK GNSS/INS (MTi-680G) RS232 converter (CA-USB-CONV) Copyright ©...
  • Page 63 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository 12-pin Host interface cable (CA-MP-MTI-12) 4-pin RTCM corrections cable #3 (CA-MP-MTI-4) GNSS antenna (ANT-GNSS-RTK) Ordering information Ordering information for MTi 600-series Development Kit Description Package contents Packing...
  • Page 64 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository MTi-680-DK Development Kit for MTi-680 (RTK GNSS/INS) • Single MTi 600-series Development Unit Board (incl. USB to UART converter) • MTi-680 RTK GNSS/INS module • 3x M2 x 12 mm brass screws •...

  • Page 65: Introduction

    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 this article.

  • Page 66: Getting Started

    SMA connector of the GNSS daughter card. Installing MT Software Suite The MT Software Suite is available from the Xsens website (www.xsens.com/mt-software- suit The installation procedure consists of a set of several installers and starts with the GUI as shown below.
  • Page 67 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Start up screen for the MT Software Suite installer It is possible to choose the components that you wish to install: Copyright © 2021 Xsens Page 64...
  • Page 68 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Software components installation When you cancel the installation of a particular component, the installer will continue with the next component. Make sure to accept the End-User License agreement and Software License Agreements, and then wait for the successful installation screen to appear as shown below.
  • Page 69 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Successful installation screen Displaying data in MT Manager When the MTi 600-series Development Board or standalone tracker is connected in MT Manager, the device description is shown in the “Device List” on the left side of the screen (see figure below).
  • Page 70 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository MT Manager overview 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.
  • Page 71 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Output configuration dialog in MT Manager using an MTi-630 By default, the output of the MTi-600 is set to the ‘Onboard Processing’ preset. Click “Inertial Data” (∆q/∆v or Rate of Turn/Acceleration) and “Magnetic Field” to be able to show this data in MT Manager.

  • Page 72: Development Board

    MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Development board Development board Overview External Connector Power Host connections RS232 RS422 UART External GNSS extension socket and daughter card (MTi-670/680 DK only) Electrical specifications Absolute maximum ratings The MTi 600-series Development Board (MTi-600 DEV) exposes the pins of the MTi-600 on the External connector, a 2.54 mm pitch header, making it easier for the user to test all the features...
  • Page 73 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository GNSS extension socket ( P200 and P201 female sockets). Zero-Ohm resistor positions for disabling the GNSS UART and enabling VIN_Ext. 120-Ohm termination resistors for CAN and RS422.
  • Page 74 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository CAN_H CAN bus differential low side CAN_L CAN bus differential high side RS232_TxD RS232 transmitter output to host RS232_RTS RS232 Ready To Send output to host RS232_RxD...
  • Page 75 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Switch configuration USB Switch Position Down (default) Connector 1 can be used to connect a CAN bus to the MTi-600 with a DSUB9 connector. The table below shows the pinning of this connector. The DSUB9 connector connects directly to the MTi-600 without relying on any switch.
  • Page 76 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Pin out of DSUB9 connector RS232 DSUB9 connector 2 pinning for RS232 Name Description RS232_TxD RS232 transmitter output to host RS232_RxD RS232 receiver input from host Ground...
  • Page 77 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository RS422_TxD- RS422 negative transmitter output to host Ground VIN_Ext Supply input (requires zero-Ohm resistor) Switch configuration for enabling RS422 Switch Position UART To be able to use the UART pins on the External Connector, switch SW2 needs to be set in the upward position.
  • Page 78 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Mikro BUS MTi-670/680 Mikro BUS MTi-670/680 P200-1 P201-1 P200-2 Pull-up P201-2 SYNC_IN2 P200-3 P201-3 GNSS_RxD P200-4 P201-4 GNSS_TxD P200-5 MISO P201-5 P200-6 MOSI P201-6 P200-7 3.3V P201-7...
  • Page 79 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository The MTi-680-DK comes with the RTK GNSS daughter card installed in the GNSS extension socket . As shown in the figures below, the RTK GNSS daughter card consists of an RTK GNSS receiver, a barometer sensor component, an Xbee socket and a USB connector.
  • Page 80 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository can be used to feed RTCM correction messages to the MTi-680-DK RTK GNSS receiver or to connect to an XBee wireless module. XBee socket pinning GNSS board P202-1 VRADIO (3V3, max.
  • Page 81 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository -0.3 USB power input -0.3 UART RS232/SYNC RS422 Common mode voltage of CAN_H and CAN_DC CAN_L with respect to ground Differential voltage between CAN_H CAN_DIFF and CAN_L...

  • Page 82: Standalone Configuration

    UART pins of the MTi-600 for communication. UART to USB board drawing The figure below shows the dimensions of the UART to USB breakout board together with its mounting holes. The schematics can be requested via Xsens Support. UART to USB converter Copyright © 2021 Xsens...

  • Page 83: Starter Kit

    MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Starter Kit This chapter describes the technical specifications of all components included in the MTi-630R-, MTi-670G- and MTi-680G Starter Kit. Starter Kit CA-USB-CONV SYNC connections Cables CA-MP-MTI-12...
  • Page 84 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository RS232 converter I/O pad definitions Pin number Designator Function (MTi) SYNC_OUT 1 (square) SOUT SYNC_IN1 SYNC_IN2 Ground Cables CA-MP-MTI-12 The CA-MP-MTI-12 is a 12-pin Host Interface cable assembly and consists of the following parts: Molex connector: 5054321201;...
  • Page 85 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository SYNC_IN1/ODO_1A Black/White SYNC_IN2/ODO_1B Red/White SYNC_OUT Blue/White Blue SHIELD The figures below show the cable length definition (from connector end-to-end) and the pinning of both the Molex connector and the ODU connector. The table underneath shows the recommended mating parts for the Molex connector.
  • Page 86 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Molex connector: 2045320401; 1.25mm pitch, single row, positive lock, 4 circuits ODU connector: A1CWAMP04XBC0-0000; AMC HD, break-away plug, 4 circuits Cable: 2.9 m, 12 core, AWG28, shielded, UL, 40ºC - +85ºC Molex crimp terminals: 5054311100;...
  • Page 87 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository Recommended mating parts for 4-pins Molex connector Part number Manufacturer Mounting Description 5055680481 Molex Vertical 1.25mm Pitch, Micro-Lock Plus PCB Header, Single Row, Surface Mount, Gold Plating, 4 Circuits...
  • Page 88 MTi 600-series User Manual Development Kit User Manual Xsens MTi User Manual Repository IP67, REACH and RoHS compliant GNSS antenna dimensions (mm) Peak gain at Zenith with 100 mm diameter ground plane. Copyright © 2021 Xsens Page 85...

  • Page 89: Hardware Integration Manual

    MTi 600-series User Manual Xsens MTi User Manual Repository Hardware Integration Manual Copyright © 2021 Xsens Page 86...

  • Page 90: General Information

    DK User Manual . The MT Low Level Communication Protocol Document provides a complete reference for the protocols used to communicate with Xsens Motion Trackers on a low-level basis. The MT Low Level Communication Protocol Document also describes the synchronization messages and settings in detail.

  • Page 91: Interfaces

    MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Interfaces Interfaces Pin Configuration MTi 600-series module Robust trackers (MTi-630R/670G/680G) Communication to host RS232 UART GNSS receiver interface RTCM corrections interface SYNC Pin Configuration MTi 600-series module Below figure shows the pin configuration of the MTi 600-series module.
  • Page 92 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Pin descriptions MTi-610/620/630/670/680 Pin Name I/O type Description Power input Ground CAN_H CAN bus differential high side CAN_L CAN bus differential low side RS232_TxD RS232 transmitter output to host...
  • Page 93 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Pin configuration of the MTi-670G/680G The table below shows the pin descriptions of the MTi-630R/670G/680G Host Interface connector. Pin descriptions MTi-630R/670G/680G Host Interface Pin Name I/O type Description...
  • Page 94 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository The table below shows the pin descriptions of the MTi-680G RTCM corrections connector. The MTi-680G RTCM corrections connector is also present on the MTi-670G, but it is The MTi-680G RTCM corrections connector is also present on the MTi-670G, but it is unused.
  • Page 95 A USB and RS422 interface is possible through a UART to USB/RS422 converter (see example in the MTi 600-series Development Kit). At its core, the MTi uses the Xsens-proprietary Xbus protocol which is compatible with all Xsens Motion Tracker products. This protocol is available on all interfaces; UART, RS232 and CAN.
  • Page 96 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Data transmit behaviour under CTS The RTS signal is an output of the module. If the RTS line is low, the module is busy and unable to receive new data. Otherwise, the module’s UART is idle and ready to receive. After receiving a byte, the direct memory access (DMA) controller of the module will transfer the byte to its receive first-in-first-out (FIFO) buffer.
  • Page 97 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository SYNC inputs of the MTi-670/680. The used SYNC input needs to be configured in software accordingly. Under default configurations, the PPS/TIMEPULSE output should be connected to SYNC_IN1. GNSS receiver interface specifications...
  • Page 98 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository baud rate [bit/s] 115k2 230k4 460k8 921k6 Connections for the RTCM corrections interface SYNC The MTi 600-series has two multifunctional synchronization inputs and one synchronization output. The electrical specifications can be seen in the next chapter: Electrical Specifications.

  • Page 99: Electrical Specifications

    MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Electrical specifications This section lists the recommended electrical operating conditions for the MTi-600 series module. Supply voltage The MTi 600-series module has a single supply pin that can be supplied with a voltage within the range specified in the table below.
  • Page 100 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Unit Conditions MTi-670/680 24V, UART, measurement mode, 400Hz, 921.6 kbps MTi-670/680 24V, RS232, measurement mode, 400Hz, 921.6 kbps MTi-680G 5V, RS232, measurement mode, 400Hz, 921.6 kbps MTi-680G 1000 24V, RS232, measurement mode, 400Hz, 921.6 kbps...
  • Page 101 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository I/O interface Symbol Unit Description SYNC_OUT 0.44 Low output voltage High output voltage [1] Also applies to the GNSS (module) and RTCM (MTi-680G) ports. [2] Not available on MTi-630R/670G/680G.

  • Page 102: Design

    MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Design Design Sensor reference frames Origin of measurements Physical connections of the Module Footprint for PCB layout Footprint for standalone mounting Physical connections robust trackers Cables Required antenna specifications...
  • Page 103 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Default sensor coordinate system for the MTi 600-series module Default sensor coordinate system for the MTi-630R Default sensor coordinate system for the MTi-670G/680G Origin of measurements The accelerometer determines the origin of measurements. The in the figures below shows Copyright ©...
  • Page 104 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository the location of the accelerometer of the MTi 600-series module and robust trackers. Location origin of measurements for the module (dimensions in mm) Location origin of measurements for the MTi-630R (dimensions in mm) Location origin of measurements for the MTi-670/680G (dimensions in mm) Copyright ©...
  • Page 105 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Physical connections of the Module The connector on the MTi 600-series module is a 16 pins, 1.27 mm pitch male connector of Phoenix Contact (FP 1,27/ 16-MV 1,75 – 1714936). This connector supports an SMD counterpart that can be soldered onto a PCB as well as a ribbon cable (IDC) counterpart.
  • Page 106 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Layout footprint example (dimensions in mm) Recommended mating/mounting parts Part Manufacturer + part number Description Phoenix Contact: 1714892 To be used in combination with 5 mm connector (FP 1,27/ 16-FV 6,25)
  • Page 107 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Standalone mounting hole positions (dimensions in mm) Recommended mating/mounting parts Part Manufacturer + part number Description Phoenix Contact: 1714903 Single IDC connector connector (FP 1,27/ 16-FWL) Phoenix Contact:...
  • Page 108 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository the GNSS antenna. The MTi-630R only features the 12-pin ODU connector for main supply and communication. All robust trackers have three (M3) mounting holes to mount them on a flat service. The figures below show the connector and mounting hole positions on the MTi-630R and MTi-670G/680G.
  • Page 109 Screws Brass, M3 x 6 mm Cables The following cables can be ordered from Xsens. CA-MP-MTI-12 The CA-MP-MTI-12 is a 12-pin Host Interface cable that consists of the following parts: Molex connector: 5054321201; 1.25mm pitch, dual row, positive lock, 12 circuits Copyright ©...
  • Page 110 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository ODU connector: A10WAMP12XMM0-0000; AMC HD, break-away plug, 12 circuits Cable: 2.9 m, 12 core, AWG28, shielded, UL, 40ºC - +85ºC, 6.1 mm diameter Molex crimp terminals: 5054311100; gold (Au) plating, 2630 AWG The table below shows the pinning of the connections.
  • Page 111 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Host Interface cable length definition Numbering 12-pin connectors; left Molex (cable entry view), right ODU (solder cup view). Recommended mating parts for 12-pins Molex connector Part number ManufacturerMounting...
  • Page 112 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Function (MTi) Wire colour Molex pin no. ODU pin no. V_BCKP Black RTCM_TxD Green RTCM_RxD White SHIELD The figures below show the cable length definition (from connector end-to-end) and the pinning of both the Molex connector and the ODU connector.
  • Page 113 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Required antenna specifications The MTi-670G/680G requires an active antenna with at least the following specifications. Required antenna specifications for MTi-670G/680G Parameter Specification Minimum active antenna gain 17 dB...
  • Page 114 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository Torque The connector of the MTi 600-series module is soldered onto the PCB board which also contains the sensing elements. Care should be taken to design the mounting such that there is no stress on the connector when mounted on the PCB or connected with a ribbon cable.
  • Page 115 MTi 600-series User Manual Hardware Integration Manual Xsens MTi User Manual Repository More information on magnetic interference can be found in the MTi Family Reference Manual . Static magnetic disturbances can be calibrated for, see the Magnetic Calibration Manual .

This manual is also suitable for:

Mti-610 imuMti-620 vruMti-630 ahrsMti-630r ahrsMti-670 gnss/insMti-680 rtk gnss/ins ... Show all

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