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Xsens MTi-1 Series User Manual

Development kit
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Document MT0512P, Revision 2019.A, Dec 2019
Development Kit User
Manual
www.xsens.com
1
MTi 1-series

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Summary of Contents for Xsens MTi-1 Series

  • Page 1 Document MT0512P, Revision 2019.A, Dec 2019 Development Kit User Manual www.xsens.com MTi 1-series...
  • Page 2 Dec 2019 Xsens brand update © 2005-2020, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens, Xsens DOT, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda and KiC 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.

  • Page 3: Table Of Contents

    Table 7: Connections on auxiliary sensor extension sockets (P200 and P201 in Figure 7) .......................... 16 Table 8: Pin descriptions Shield Board ..............17 Table 9: System specification Shield Board .............. 18 Table 10: Absolute maximum ratings Shield Board ........... 18 www.xsens.com...
  • Page 4 Figure 7: MTi 1-series Shield Board with connector designators ........13 Figure 8: Top view (left) and the bottom view (right) of the GNSS daughter card ..16 Figure 9: MTi 1-series Shield Board package drawing (Top and Side view) ....20 www.xsens.com...

  • Page 5: General Information

    The MTi 1-series module consists of components that are sensitive to stress. As a result, sensor characteristics may change when forces are applied to the module. As each module is calibrated individually, Xsens cannot guarantee performance after improper handling. It is therefore recommended not to remove the module from the socket, and to use the Development Kit for prototyping and evaluation purposes only.

  • Page 6: Ordering Information

    Shield board Single unit (external-GNSS-aided-AHRS) MTi-7 module (in the socket) GNSS daughter card GNSS antenna USB cable MTi-3-DK Development kit for MTi-1 (IMU), Shield board Single unit MTi-2 (VRU) and MTi-3 (AHRS) MTi-3 module (in the socket) USB cable www.xsens.com...

  • Page 7: Introduction

    Manual peripheral selection switch for MTi 1-series Switching between UART and I C on Arduino-compatible headers based on PSEL switch setting USB to UART converter Auxiliary extension socket Optional socket connections for mikroBUS™ RS232/RS485 click boards™ See Section 4 for more details. www.xsens.com...

  • Page 8: Software And Documentation

    MTi, and evaluating the low-level communication protocol. It is easy to extend the program with commands from the Xsens Low Level Communication Protocol (LLCP). This protocol is documented in detail in the Low Level Communication Protocol Documentation.

  • Page 9: Getting Started

    3 Getting started 3.1 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 10: Displaying Data In Mt Manager

    “Device List” (Figure 5). To see a real time 3D orientation of the MTi click the 3D View icon . The inertial data , orientation data in Euler angles and the status data can be visualized by clicking their respective icons in Figure 5. www.xsens.com...

  • Page 11: Configuring The Mti 1-Series

    3.3 Configuring the MTi 1-series The MTi-1s can be directly configured by means of MT Manager. Click the Device Settings button to open the Output Configuration dialog (Figure 6). Figure 6: Output configuration dialog in MT Manager using an MTi-7-DK www.xsens.com...
  • Page 12 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. www.xsens.com...

  • Page 13: Shield Board

    Figure 7: MTi 1-series Shield Board with connector designators Shield boards from version 2.4 (PCB number: SD180624) and higher have 2.7 kΩ pull-up resistors on the I C pins on the Arduino-compatible header (P100-9 and P100-10). These resistors pull the I C lines to www.xsens.com...

  • Page 14: Table 3: Connections On External Power Header (J100 In Figure 7)

    P100-5 MISO/D12 MISO/ADD1 P101-4 P100-4 MOSI/D11 MOSI/ADD2 P101-5 P100-3 CS/D10 P101-6 P100-2 PSEL0 P101-7 P100-1 PSEL1 P101-8 P102-8 SYNC_IN P102-7 SYNC_OUT P103-1 P102-6 SYNC_PPS P103-2 P102-5 RESET P103-3 P102-4 DRDY/CTS/nRE P103-4 P102-3 RTS/DE P103-5 P102-2 TX/D1 P103-6 P102-1 RX/D0 www.xsens.com...

  • Page 15: Table 5: Connections On Uart Communication Extension Sockets

    The UART itself is still full duplex but the DE and duplex nRE lines are used to control a half-duplex transceiver When I C interface is selected, it is required to set the address on the Arduino-compatible headers (see MTi 1-series Data Sheet for the I addresses table) www.xsens.com...

  • Page 16: Table 7: Connections On Auxiliary Sensor Extension Sockets (P200 And P201 In Figure 7)

    Table 7: Connections on auxiliary sensor extension sockets (P200 and P201 in Figure 7) Mikro BUS MTi 1-s Mikro BUS MTi 1-s P200-1 P201-1 P200-2 nRST P201-2 SYNC_PPS P200-3 AUX_nCS P201-3 AUX_RxD P200-4 AUX_SCK P201-4 AUX_TxD P200-5 MISO AUX_MISO P201-5 P200-6 MOSI AUX_MOSI P201-6 P200-7 3.3V VDDIO P201-7 P200-8 P201-8 www.xsens.com...

  • Page 17: Pin Descriptions

    1. USB: supplies both VDDIO and VDDA at 3.3V. Forces USB mode (SPI/I2C/UART interfaces not available). 2. 5V (P101): supplies both VDDIO and VDDA at 3.3V. Forces USB mode (SPI/I2C/UART interfaces not available). 3. 3V3 (P101): supplies VDDIO directly and overrides USB mode (SPI/I2C/UART interfaces available). www.xsens.com...

  • Page 18: Electrical Specifications

    These are stress ratings only. Functional operation of the device at  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. www.xsens.com...
  • Page 19 Exposure to absolute maximum rating conditions for extended periods may affect device reliability. Make sure not to apply force on the components of the MTi 1-s module, especially when placing the MTi 1-s module in a PLCC socket. www.xsens.com...

  • Page 20: Package Drawing

    4.6 Package drawing Figure 9: MTi 1-series Shield Board package drawing (Top and Side view) www.xsens.com...

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