XM-B Technical Documentation
Contents
1. 131 0x83 130 0x82 131 0x83 MID 48 0x30 49 0x31 50 0x32 MID xsens To XM MT Host requests firmware revision of Xbus To host To XM To host To XM To host To XM To host To XM To host To XM To host To XM To host To XM To host To XM To host To XM To host To XM To host To XM To host Direction To XM MT To host To host Direction Master Xbus Master acknowledges request by sending its firmware revision Request whether Bluetooth enabled or disabled Xbus Master returns with operation mode of Bluetooth En or disable Bluetooth Xbus Master acknowledges DisableBluetooth message Requests current output mode Xbus Master returns output mode Host sets output mode Xbus Master acknowledges SetOutputMode message Requests current baudrate of serial port Xbus Master returns baudrate of serial port Host sets baudrate of serial port Xbus Master acknowledges message Requests current sync mode Xbus Master returns sync mode Host sets sync mode Xbus Master acknowledges message Request Product Code Xbus Master acknowledges using Productcode Request current action if SRAM buffer overflow occurs Xbus Master returns current action O ignore 1 Stop Host sets action if SRAM buffer overflow occurs Xbus Master acknowledges SetErrorMode Message SetBaudrate SetSyncMode Description Xbus Master enters config state Xbus Master acknowledges message GoToConfig2. Xsens Technologies B V phone 31 88 97367 00 fax 31 88 97367 01 email info xsens com internet Www xsens com Document XMO101P Revision G 27 May 2009 xsens Revisions November 20 2002 First version 1 2 April 30 2003 SSM Added Bluetooth documentation 1 21 July 22 2003 SSM Minor changes including maximum SF of 512Hz 1 3 May 26 2004 SSM Update for XM B version included MT9 MTS messages 1 31 June 22 2004 SSM Minor updates 1 32 Jan 11 2005 RGI XM lt gt host serial cable 1 4 July 11 2005 SSM Changed description InitBus amp SetBID regarding Xbus State A December 23 2005 PRI XM B XB2 changes included B March 2 2006 PRI New XM B XB2 SyncMode options included C February 21 2007 PRI BusPwrOff message replaced with Req SetBusPwr message Batlvl data length added Updated address information of Xsens D April 1 2008 PRI Updated for MT SDK 3 0 1 E August 4 2008 RGI Updated cables wire color codes F September 30 2008 RGI Changed definition name from Ain to SYNC in section 5 3 G May 27 2009 MHA New corporate design 2002 2009 Xsens Technologies B V All rights reserved Information in this document is subject to change without notice Xsens is a registered trademark of Xsens Technologies B V MTi and MTx are trademarks of Xsens Technologies B V Document XMO101P G Xsens Technologies B V ii XM B Technical Documentation Table of Contents 1 2 INTRODUCTION ee aaa 1 COMMUNICATION a on
3. Xbus Master message with data from bus Description Document XMO101P G Xsens Technologies B V 24 XM B Technical Documentation Reset ResetAck Error XMPwrOff ReqBatLvl BatLvl 64 0x40 65 0x41 66 0x42 68 0x44 136 0x88 137 0x89 amp xsens ToXM MT Xbus Master resets itself and Motion Trackers To host To host To XM To XM To host Xbus Master or Motion Tracker acknowledges Reset Error message Power down Xbus Master Request current battery level Xbus Master returns battery level Document XMO101P G Xsens Technologies B V 25 XM B Technical Documentation 5 5 Error descriptions Error code a Description Dec Hex 1 0x01 No bus communication possible 2 0x02 Bus not ready for measurement 3 0x03 Period sent is invalid 4 0x04 Message sent is invalid 16 0x10 Initialization of bus failed code 1 17 0x11 Initialization of bus failed code 2 18 0x12 Initialization of bus failed code 3 20 0x14 SetBID procedure failed code 1 21 0x15 SetBID procedure failed code 2 I 24 0x18 25 0x19 26 Ox1A 27 Ox1B 28 0x1C 29 Ox1D 35 0x23 The following section provides more detailed information about the cause of the error 5 5 1 Error code 1 0x01 No bus communication possible Problem Bus has no power Solution Send Reset or turn Xbus Master off amp on 5 5 2 Error code 2 0x02 Bus no
4. 27 5 5 9 Error code 21 0x15 SetBID procedure failed code 2 cccccooonooonnconnnnnnnnnnonnccnnnonnnonanicnonnnos 27 5 5 10 Error code 24 0x18 Measurement failed code 1 cccccccccsseseccccsnesecsccceesececseseeseesssseeeesesseees 27 5 5 11 Error code 25 0x19 Measurement failed code 2 ccccccccsseeseccccseeeeccccceesececscseeseessssesetsessuees 27 5 5 12 Error code 26 Ox1a Measurement failed code 3 cccccccccseesecccccnesecsccceeeecesscseeeeesessueeesesseees 27 5 5 13 Error code 27 Ox1b Measurement failed code 4 eecccccccseesecccccnesecseccueeececscseeseesesseeeesesseees 27 5 5 14 Error code 28 Ox1c Measurement failed code 5 ccccccccseesecccceneseccccceceseeseeseseesesseeeeesesseees 27 5 5 15 Error code 29 Ox1d Measurement failed code 6 ccccccccseesecsccceesecceccueeecececseesecsseseeeeesesseees 27 5 5 16 Error code 35 0x23 Measurement failed code 7 ccsseeeseccccceeseccecceesecsecsueeseesessueseesseseees 27 Document XMO101P G Xsens Technologies B V iv XM B Technical Documentation amp xsens 1 Introduction This document is a supplement to the Xbus Master User Manual It discusses how the host can manually operate the Xbus Master without using software supplied by Xsens Technologies B V and presents more detailed technical information and specifications about the Xbus Master This document describes all basic messages If your application requires mor
5. Initialize the bus and Xbus Master acknowledges with device IDs of the connected Motion Trackers See InitBusResults message All connected Motion Trackers are reset and set in Config state The Motion Trackers are auto assigned with a bus identifier BID values 1 and up depending on the devicelD sorted from high to low For manual assigned of the BID use the SetBID message See also in SetBID message description 3 3 4 InitBusResults Direction To host MID 3 0x03 DATA IDHH IDHL IDLH IDLL repeated for n connected MT 4 n bytes Acknowledge of InitBus message Motion Trackers connected to the Xbus Master are now correctly initialized and the data field contains the device IDs of all found Motion Trackers 3 3 5 SetBID Direction To Motion Tracker Broadcast BID Required MID 6 0x06 DATA IDHH IDHL IDLH IDLL BID 5 bytes After issuing a Reset message or at power up the Motion Trackers are in Init state Use this message to assign a bus identifier BID to a Motion Tracker The Motion Tracker specified with the device identifier in the data field will automatically switch to Config state It will also acknowledge the message using its assigned BID value specified in the last data byte of the SetBID message Ensure that the issued BIDs start with one and are all sequential Do not assign multiple Motion Trackers the same BID The Xbus Master records the highest BID value and will sample the Motion Trackers starting with BID 1 up to highes
6. Some acknowledgement messages do have a data field These messages are listed in this chapter to describe the meaning of the data byte s Some messages can be sent to both the Xbus Master as the Motion Tracker s dependant on the message BID value For example if ReqDID is sent to Xbus Master with BID 255 OxFF the host will receive the device ID of the Xbus Master in a DevicelD message If a BID value of 1 0x01 is used the Motion Tracker with BID 1 will send its device ID See SetBID message 3 2 WakeUp messages 3 2 1 WakeUp Direction To host MID 62 0x3E When Xbus Master is turned on or has been reset this message is sent to the host If the host sends WakeUpAck within 500ms after reception of this message the Xbus Master enters Config state else AutoStart state See chapter 4 for more information about States 3 3 Config state messages 3 3 1 ReqDID Direction To Xbus Master Motion Tracker Broadcast BID Not allowed MID O 0x00 Request to send the device identifier or serial number Xbus Master or Motion Tracker acknowledges by sending DevicelD message Document XMO101P G Xsens Technologies B V 4 XM B Technical Documentation xsens 3 3 2 DevicelD Direction To host MID 1 0x01 DATA IDHH IDHL IDLH IDLL 4 bytes Acknowledge of ReqDID message Data field contains device ID More information about the format of device ID see chapter 5 1 3 3 3 InitBus Direction To Xbus Master MID 2 0x02
7. Xbus Master enters the Config state with Bluetooth enabled The remote device can now try to search the Xbus Master and connect to its Bluetooth Serial Port In this case the Xbus Master will stay in Config state If the Xbus Master succeeds in making a connection with the remote device it will send the WakeUp message to the host using Bluetooth Serial Port Profile If the Xbus Master receives the WakeUpAck message within 500 msecs it enters the Config state else the AutoStart state This is the exact the same behaviour as using the serial interface Document XMO101P G Xsens Technologies B V 14 XM B Technical Documentation amp xsens This temporary state is entered when the host does not send a WakeUpAck message or not in time or when the AutoStart message is sent to the Xbus Master In this state the bus is reset and scanned The device IDs of all found Motion Trackers are sorted from high to low and then all the Motion Trackers are assigned a BID starting with one and using the order of the sorted ID list This order is also used in the BusData message 4 3 AutoStart If all Motion Trackers have a BID the Xbus Master sets all Motion Trackers to Measurement state and also itself The current sample period is used default 10ms See SetPeriod 4 4 Config 4 4 1 General During the Config state various messages can be sent to the Xbus Master to change default settings or retrieve information For example InitBus can b
8. Xsens Technologies B V 10 XM B Technical Documentation xsens 3 3 25 ReqErrorMode Direction To Xbus Master MID 26 0x82 Requests current error mode The Xbus Master replies with ReqErrorModeAck and its data field contains the current error mode See SetErrorMode 3 3 26 SetErrorMode Direction To Xbus Master MID 26 0x82 DATA EM 2 byte Sets the error mode to either IGNORE STOP mode This action is taken if an internal SRAM buffer overflow occurs This buffer is used for sending data to the host in Measurement state If this happens it may indicate a bad Bluetooth connection or the used Sample Frequency may be set to high In STOP mode if a buffer overflow occurs the Xbus Master will send an Error message with Measurement failed code 7 in the data field and enter Config state 3 4 Measurement state messages 3 4 1 GoToConfig Direction To Xbus Master Motion Tracker s Broadcast BID Allowed MID 48 0x30 Sets the device from Measurement state to Config state If the Xbus Master is addressed BID 255 OxFF then all Motion Tracker in Measurement state are switched to Config state 3 4 2 BusData Direction To host MID 50 0x32 DATA SCH SCL depends on type of Motion Trackers 2 x bytes This message is sent every sample period when the Xbus Master is in the Measurement state The data field contains a sample counter SCH amp SCL and the data of all Motion Trackers The sample counter is a two byt
9. pins of the Xbus Master are enabled If OM is set to O 0x0 and Bluetooth is used the serial port will be disabled This results in lower power consumption Note that serial port baudrate will be set to 460k8 bps and that only the serial port output signals are enabled l e it is not possible to control the Xbus Master using the serial port if the output mode is set to 1 0x1 and a Bluetooth link is active Use Bluetooth communication link instead This message is acknowledged by SetOutputModeAck If the settings are restored to default values dual output will be disabled OM 0 0x0 3 3 19 ReqBaudrate Direction To Xbus Master MID 24 0x18 Requests the current baudrate setting The Xbus Master replies with ReqBaudrateAck which contains a data byte that states the baudrate setting For description of data field see SetBaudrate message 3 3 20 SetBaudrate Direction To Xbus Master MID 24 0x18 DATA BR 1 byte This message changes the baudrate of the serial port The new baudrate will be stored in non volatile memory and will become active after a Reset or power cycle See table for the different baudrate and the corresponding value of BR Xbus Master replies with SetBaudrateAck Baudrate BR value 921k6 128 0x80 460k8 O 0x0 230k4 2 0x2 3 To restore default settings power off Xbus Master and press amp hold power button for five seconds Document XMO101P G Xsens Technologies B V 9 XM B Technical Document
10. 01P G Xsens Technologies B V 27 XM B Technical Documentation
11. 261 bytes of data xx 2 2 5 Data This field holds the data bytes and it has a variable length which is specified in the Length field The interpretation of the data bytes are message type specific See the description of the message for more details about the data bytes 2 2 6 Checksum This field adds error detection functionality If all packet bytes excluding the preamble are summed and the lower byte of the result equals zero the packet is valid and it may be processed The checksum value of the packet should be included in the summation Document XMO101P G Xsens Technologies B V 3 XM B Technical Documentation amp xsens 3 Messages 3 1 Introduction This chapter describes all messages currently supported by the Xbus Master and other relevant messages for connected MT Xbus devices All these messages are supported by the MT Communication C class installed with the Software Development kit For an example see the MTComm class folder or check the Xsens program group in your start menu Only the special acknowledge messages are listed and not the default acknowledgement messages Acknowledgement messages always have a MID value one higher than the previous message Default acknowledgement messages end with the suffix Ack and have no data field i e Length 0 For example the WakeUp message MID 62 Ox3E can be acknowledged with WakeUpAck This message should have a MID value of 63 Ox3F and no data field
12. 7 To host Xbus Master acknowledges AutoStart message ReqBusPwr 8 0x08 To XM Request current status of bus power ReqBusPwrAck 9 0x09 To host Xbus Master returns current status SetBusPwr 8 0x08 To XM Turn bus power on or off SetBusPwrAck 9 0x09 To host Xbus Master acknowledges SetBusPwr message ReqConfiguration 12 Ox0C To XM Request the configuration of device For logging quick setup purposes Configuration 13 OxOD To host Xbus Master acknowledges using configuration data GoToMeasurement 16 0x10 To XM MT Xbus Master enters measurement state GoToMeasurementAck 17 Ox11 To host Xbus Master acknowledges GoToMeasurement message Document XMO101P G Xsens Technologies B V 23 XM B Technical Documentation ReqFWRev FirmwareRev ReqBluetoothDisable ReqBluetoothDisableAck DisableBluetooth DisableBluetoothAck ReqOutputMode ReqOutputModeAck SetOutputMode SetOutputModeAck ReqBaudrate ReqBaudrateAck SetBaudrate SetBaudrateAck ReqSyncMode ReqSyncModeAck SetSyncMode SetSyncModeAck ReqProductCode ProductCode ReqErrorMode ReqErrorModeAck SetErrorMode SetErrorModeAck Measurement state messages Message GoToConfig GoToConfigAck BusData Valid in all states Message 18 0x12 19 0x13 20 0x14 21 0x15 20 0x14 21 0x15 22 0x16 23 0x17 22 0x16 23 0x17 24 0x18 25 0x19 24 0x18 25 0x19 26 Ox1a 27 Ox1b 26 Ox1a 27 Ox1b 28 0x1C 29 0x1D 130 0x82
13. RTS at host side state of the RS 232 port If it is cleared the Xbus Master will not continue and will wait until the control line is set Keep this control line enabled to ensure that the Xbus Master will not interrupt the measurement and takes samples at the current sample frequency This functionality is disabled when using Bluetooth communications Document XMO101P G 16 XM B Technical Documentation Xsens Technologies B V xsens 5 Appendix 5 1 Examples amp additional info 5 1 1 Start measurement 100Hz using default order e f current sample period is not equal to 10ms restore default settings e Connect the Motion Tracker s to Xbus Master e Turn Xbus Master on amp set the RS 232 control line RTS 5 1 2 Change sample frequency e Enter Config state e Issue SetPeriod with correct sample frequency e Enter Measurement state for example by sending AutoStart to Xbus Master or reset the Xbus Master 5 1 3 Obtain the Motion Tracker s data order of BusData message e Enter Config state e Send InitBus message e The InitBusResults data field contains the device IDs of all connected Motion Trackers The order of the ID is also used in the BusData message e Continue with measurement by sending AutoStart 5 1 4 Change the Motion Tracker s data order of BusData message e Enter Config state e Send InitBus message This message reset the Motion Trackers to Init state If device IDs are known InitBus does n
14. a 1 2 1 ROTIN R A T ae A 1 a tei OE 1 A neen Eee ra Pee er oe oe 1 PL PACKET ORM ind 2 2 2 1 e e o A 2 22 2 e e o 2 az MEINE ee ora 2 Paa CI a aE EE E EAEE EEE eaecaueesinwesneseuciatetsaonacsnctecs 3 2 2 5 De A EA E E A A E eer nee T 3 226 AP E 3 MESSAGES ennn E ennen 4 31 INTRODUCTION acti parta darias 4 32 WWAKPU MESSAGES nd aan 4 3 2 1 CC e PS yo e eS RO enten enden 4 3 3 CONFIG STATE MESSAGES aussi ber deitebaiteosevends nadat ber detabtniensesendenendnte pendeseninbees A 3 3 1 AAA MI I tanende hen O dende tent cta ta EEEE RENNER 4 3 3 2 DEVICE Dis eee 5 3 3 3 II A e A A E ue E ee 5 332 o o e EEE a 5 FoS A 5 330 A PP o E ee 5 93 SER O eT ene E PRET ERED e O A A 6 So AO Nai 6 A A 6 3 3 10 alo ral eyes Logo 395 A qn e En Eo 6 3 3 11 CO ON ia 7 3 3 12 GOTO COS UCC aa ae E 8 3 3 13 EAE AA A On I A ct eet ers 8 3 3 14 A EV A II A 8 3 3 15 ie COC GC AAA OU SO Re An 8 3 3 16 DISODICBIUCLOOUN ir 8 3 3 17 A E E E A 9 3 3 18 SetU POMOTE st 9 3 3 19 POO Ce AINE e E o O E ET 9 3 3 20 PO A E aa A E AE 9 3 3 21 REOSVNEIVIOGE sanat E ee EEEN a OOE IRE 10 3 3 22 A A e PR ee EE een E A E 10 3 3 23 Reor OG CU OOO naci rricon 10 3 3 24 PrOGUGLCDOE santen AE A ica 10 3 3 25 TE TOLL NO 11 3 3 26 A A 11 3 4 MEASUREMENT STATE MESSAGES 00 nennen een 11 EN OR A e e o EE rere ee A 11 3 4 2 DE 11 3 9 PRUE STATE MESSAGES earn 11 3 5 1 ROSSO aaa 11 Document XMO101P G Xsens Technologies B V iii XM B Technic
15. acker with BID 2 16 bytes The first two bytes of the data field are reserved for the sample counter 16 bits value The previous BusData message should have a sample counter value of 05 50 and the next should be 05 52 If this is not the case data has been lost during logging or sample frequency is set too high The next bytes in the data field contain the data of the Motion Trackers Because these are two MTx in quaternion output mode the data consists of 16 bytes for each Motion Tracker Length and representation of these bytes depend on selected output mode of the Motion Tracker The 16 bytes of the first part are 4 bytes for each float in the output quaternion w q0 q1 q2 Each float is 4 bytes long and corresponds with the single precision floating point value as defined in the IEEE 754 standard float The same order is used as the standard MTx packet layout See MTi MTx User Manual and Technical Documentation for more information Document XMO101P G Xsens Technologies B V 18 XM B Technical Documentation amp xsens The device identifier as in the DevicelD message is a unique identifier le all Xbus devices have a different device identifier The identifier has three parts Company Type Serial ID ID ID l byte 1 byte 2 bytes 5 1 8 Device identifier DID information Every company that designs products conforming to the Xbus specification will have its own company identifier Xsens will assign these identif
16. al Documentation 302 RA 12 393 AA Po OE O E eier 12 A o AM e o A EE 12 A o E AAA ne O GU ores oa ae O O 12 Jo Ie e A Oo e oo O rens 13 AL INTRODUCTION zen SA 13 A WAE UP PPM oo A o ee A 13 de AUTO TAR T PU qn en Pr Eo PE nde deens 15 A CON ess 15 4 4 1 gn 15 4 4 2 Host to Motion Tracker communication occcccoccnnccoccnnnonanononanonnnnnnonnnonarnnnnnonnnonacnnnnonarnnnononononionos 15 Aa AME AS RE MEN cada 15 4 5 1 EN 15 4 5 2 Meds CIMENT orriaren en ee rer 15 4 5 3 Triggering sampling instance ccccccsseesececsneseecccsnunseccccsuuseecessausecessauuseseessauasecssssuuecsssauanseessssaens 16 APPENO Dosis Ana ee ee 17 5 1 EXAMPLES SA DDITIONAEINE Dee ee hekken boedenndankdetekaede 17 5 1 1 Start measurement 100Hz using default Order ooococcoooonconnononononnnnnonnononononononnnnnanononons 17 5 1 2 Change sample frequency isc aia 17 5 1 3 Obtain the Motion Tracker s data order of BusData MESSAGE ccccsssesececcnneseececseeseseeessaensesetes 17 5 1 4 Change the Motion Tracker s data order of BusData MessQQt oocccccncccconconncnonnnonnoncnnonnnnnnnanononos 17 515 Pasing he dala SECT tdt 17 5 1 6 Log data of subset of connected Motion Trackers scccccsesececsesececeescecseseceeceuseceseeeessseneesssusesessees 18 5 1 7 Understanding BusData message layout ssscccccesseecccnssseecccceuseecesaueseesessuueesesssauseeesssaensesenas 18 5 1 8 Device identifier DID information ccssse
17. alue 1 for assignment and increase by one for each next Motion Tracker e Send GoToMeasurement message use BID 255 OxFF amp set RTS high or leave it high 5 1 6 Log data of subset of connected Motion Trackers The Motion Trackers that are assigned a BID are now sampled The other Motion Trackers will stay in the init state Repeat this procedure if the subset needs to be changed 5 1 7 Understanding BusData message layout At every sample instance the BusData message is sent to the host when the Xbus Master is in measurement state So if the sample frequency is 100Hz 100 BusData messages are sent to the host per second This message contains the data of all connected Motion Trackers The data bytes of the data field have to be split for each Motion Tracker if manual processing is desired This is an example of a BusData message in case two Motion Trackers MTx in quaternion output mode are connected FA FF 32 22 05 51 3D 70 09 E5 BC 1A 3A B4 3B 09 8D 24 BF 7F 8C 50 3E 22 19 33 BD BD 2A AD 3C 1F 92 05 3F 7B A6 CO DA The message has six main parts FA preamble FF BID of Xbus Master 32 MID of BusData 22 Length of data field 05 CO Data field 34 bytes DA Checksum The above layout is always fixed except for the variable length of the data field The data field has 34 bytes It has three parts 05 51 Sample counter high amp low decimal value 1361 3D 50 Data of Motion Tracker with BID 1 16 bytes 3E CO Data of Motion Tr
18. ation Note that if dual output is enabled output mode is set to 1 and a Bluetooth link is active the serial port baudrate will set to 921k6 and will override the current setting If the settings are restored to default values the baudrate will be set to 115k2 bps 3 3 21 ReqSyncMode Direction To Xbus Master MID 26 Ox1a Requests current sync mode The Xbus Master replies with ReqSyncModeAck and its data field contains the current sync mode See SetSyncMode 3 3 22 SetSyncMode Direction To Xbus Master MID 26 Ox1a DATA SM 1 byte Sets the sync mode to one of the following states e ON OFF mode SM 0 0x0 e PWM mode SM 1 0x1 e Master mode SM 16 0x10 e Slave mode SM 32 0x20 e Toggle mode SM 64 0x40 See User Manual chapter Xbus Master Settings for more details The message is replied with SetSyncModeAck If the settings are restored to default values the sync mode will be set to ON OFF mode 3 3 23 ReqProductCode Direction To Xbus Master MID 28 Ox1c Request to send the product code The Xbus Master acknowledges by sending the ProductCode message 3 3 24 ProductCode Direction To host MID 28 Ox1d DATA PRODUCT CODE max 20 bytes Acknowledge of ReqProductCode message Data field contains the product code string in ASCII format e q XM B XB2 To restore default settings power off Xbus Master and press amp hold power button for five seconds Document XMO101P G
19. e advanced functionality please contact Xsens as your needs may already be supported in more advanced messages 2 Communication 2 1 Host interface The Xbus Master can either connect with the host using Bluetooth or using the supplied XM USB RS232 Cable See next two paragraphs 2 1 1 Serial link When using the serial link between the Xbus Master and a computer or laptop the XM USB RS232 Cable supplied with Xbus Master must be used or you must use a special custom made RS 232 cable This is because the computer laptop and the Xbus Master are configured as data terminal equipment or DTE This cable is a null modem that crosses the RX amp TX signals as well as the RTS amp CTS signals see chapter 5 3 The RTS amp CTS signals are used for triggering amp sample moment notification see chapter 4 5 If another cable is used please ensure that the RX TX GND RTS CTS pins are wired and if necessary crossed If the Xbus Master is to be connected to a PDA which is mostly configured as DCE use a 1 1 serial cable and not the supplied serial cable Contact PDA manufacturer for an appropriate cable The following table shows the properties of the host interface Property Communication type Data Terminal Equipment DTE Baudrate 115200 bps default configurable 9k6 460k8 bps Data bits 2 1 2 Bluetooth link The Xbus Master is equipped with Bluetooth capabilities so the data can also be transmitted wirelessly The other
20. e counter and is increased every sample period It wraps to zero if higher than 65535 After the sample counter the data field contains the data of each connected Motion Tracker First the data of Motion Tracker with BID 1 then data of Motion Tracker with BID 2 etc There are no boundary bytes to separate the data For example if 3 Motion Trackers in raw sensor data mode are connected to the bus the data field of the BusData message would contain a total of 62 bytes 3 20 2 3 5 Allstate messages 3 5 1 Reset Direction To Xbus Master Motion Tracker s Broadcast BID Allowed MID 64 0x40 Document XMO101P G Xsens Technologies B V 11 XM B Technical Documentation 3 5 2 3 5 3 3 5 4 3 5 5 amp xsens Resets the device specified in the BID field If BID is zero then all Motion Trackers are reset to Init state In this case the max BID value used in Measurement state by the Xbus Master is reset For more info see SetBID description If the message is sent to the Xbus Master the bus power will be restored and it will also reset all Motion Trackers Error Direction To host MID 66 0x42 DATA ERRCODE 1 byte This message reports an error Either in response to a message sent or an error during initialization or measurement The data field contains an error code See chapter 5 5 for a listing of error codes and their description XMPwrOff Direction To Xbus Master MID 68 0x44 Turns the Xbus Master off ReqBa
21. e used in the Config state to retrieve the device identifiers of the connected Motion Trackers For a complete list of valid Config state messages see chapter 3 3 4 4 2 Host to Motion Tracker communication In the Config state it is possible to send and receive messages directly to from the Motion Trackers Use a BID value other than 255 OxFF in the packet and the Xbus Master will copy the packet directly to the bus All bytes sent by the Motion Trackers will be copied and send to the host For example the SetBID message see chapter 3 3 SetBID is directly copied to the bus and the acknowledge message comes from the specified Motion Tracker The Xbus Master acts as a transparent device between host and bus 4 5 Measurement 4 5 1 Test run Before the measurement sampling starts the Xbus Master will execute a test run In the test run all Motion Trackers in Measurement state are ordered to start the sampling procedure Then the Motion Trackers are polled one by one to send their data The Xbus Master will check if the default sample frequency is correctly set to obtain all Motion Tracker data in time If not the Xbus Master will send a not acknowledge message with the correct error code If the test run has been finished successfully the Xbus Master will send an acknowledge message This message is not sent if coming from AutoStart procedure Please be aware that if the test run is performed successfully this will not imply that the measureme
22. eescecccccscsesesececcecccccueseeeceseesacuuseceeseesssuauesseeeesstsauansseeees 19 5 1 9 Motion Tracker ddta ONO Ein A AA 19 9 2 MAXIMUM SAMPLE FREQUENCY asociar ac coca 21 53 PINOUTAND DIE nadia 22 5 3 1 Xbus Master lt gt Host cable XM USB RS232 CAble ccccccccseescccccceeeecccccnceecseeceeesecseesuesecseeseeeeesenees 22 53272 En 22 993 OMC CONNOR cada tio 22 5 4 CUICI REFERENCE MESSAGES ee ee en ee aio sana dis 23 3 3 ERROR DESCRIPTION aee ar A EAE EAAS A AE A EA TA E AE EOR 26 5 5 1 Error code 1 0x01 No bus communication possible ccoooonnnnccnconccnnnnnnnonononnnonaconnnonanoconans 26 5 5 2 Error code 2 0x02 Bus not ready for measurement sssscccceccceesseeceececneeneeseeeceeeesaueeseeeeeeneas 26 5 5 3 Error code 3 0x03 Period sent is invalid inicia anida dicas 26 5 5 4 Error code 4 0x04 Message sent is invalid cccccccseeecccccceesccsccceeeecsccscesecseseueeeesessuseesesseueeeeestes 26 5 5 5 Error code 16 0x10 Initialization of bus failed code 1 occooooooonncononononononnnncnnnnnnnonanononnnnos 26 5 5 6 Error code 17 0x11 Initialization of bus failed code 2 cc oooooonnnconnnononononanccnnnonnnonaricnnnnnos 27 5 5 7 Error code 18 0x12 Initialization of bus failed code 3 eccccccccsssessseeeeeeceeeeesseseceseseauaeeseeeeseneas 27 5 5 8 Error code 20 0x14 SetBID procedure failed code 1 ooccooooooooocoonnnnnnnconncncnnnonononanocnnnnns
23. end should have either the Xsens wireless receiver WR A or a Bluetooth v1 1 or compatible transceiver supporting the Serial Port Profile By default the Xbus Master will try to connect to the last connected Bluetooth device if it is turned on when set to Bluetooth mode The Xbus Master can be learned to connect to another Bluetooth device see XM User Manual It is also possible to disable Bluetooth communications See DisableBluetooth message in chapter 3 3 for more information Document XMO101P G Xsens Technologies B V 1 XM B Technical Documentation x XSens 2 2 Packet format The host communicates with the Xbus Master using packets A packet contains of variable number of bytes with a fixed format This packet is compatible with the MT communication protocol and has the following format PREAMBLE BID LEN DATA CHECKSUM Field Field width Description 1 byte Indicator of start of packet BD o 1 byte Bus identifier used to identify source or destination 1 byte Message identifier LEN 1 byte Value equals number of bytes in DATA field en Data bytes Packet checksum 2 2 1 Preamble Every packet starts with the preamble This field always contains the value 250 0xFA 2 2 2 Bus Identifier This field identifies the sender or addressee of the packet See table BID value Description 0 0x00 1 254 0x01 OxFE Identifies the Motion Tracker 255 OXFF Xbus Master identifier Packets with OxFF as BID sent by the
24. ersion is a 1 1 cable with five contacts Contact Definition Grey Unitronic Grey Elitronic Black cable ve a velow Red Analog IN 5 3 3 Sync connector The sync connector on the Xbus Master is described in the XM B User Manual Document XMO101P G Xsens Technologies B V 22 XM B Technical Documentation amp xsens 5 4 Quick reference Messages WakeUp state messages Message MID Direction Description WakeUp 62 Ox3E To host At power up Xbus Master sends this message to host WakeUpAck 63 Ox3F To XM If received within 500ms after WakeUp Xbus Master enters config state else measurement state Config state messages Message MID Direction Description ReqDID O 0x00 ToXM MT Host request device ID of Xbus Master DevicelD 1 0x01 To host Xbus Master acknowledges request by sending its ID InitBus 2 0x02 To XM Xbus Master starts bus scan InitBusResults 3 0x03 To host Xbus Master reports finished with bus scan amp sends slave IDs ReqPeriod 4 0x04 To XM Requests current period RegPeriodAck 5 0x05 To host Xbus Master returns sample period SetPeriod 4 0x04 To XM Host sets sample period 10 512Hz SetPeriodAck 5 0x05 To host Xbus Master acknowledges SetPeriod message SetBID 6 0x06 To MT Assign BID to Motion Tracker use broadcast BID SetBIDAck 7 0x07 To host Motion Tracker acknowledge using new BID AutoStart 6 0x06 To XM Auto assign of BIDs and enter measurement state AutoStartAck 7 0x0
25. g the Motion Trackers with the current sample period default 10ms See SetPeriod message for changing sample period But first the bus is re scanned and found Motion Trackers are assigned with BIDs The Motion Tracker with the highest device ID will have BID number 1 second highest number 2 etc Then the Xbus Master amp all Motion Trackers are set into Measurement state which starts the sampling The Xbus Master will start sending the BusData message This is the default behavior if the host does not reply to the WakeUp message at startup 3 3 9 BusPwrOff Direction To Xbus Master MID 8 0x08 This message turns the bus power off and all Motion Trackers will power down hard reset Use Reset to turn bus power back on 3 3 10 ReqConfiguration Direction To Xbus Master MID 12 Ox0C Request the configuration settings of the device Can be used for logging purposes include the Configuration message in the log file to store the settings for offline processing of the data To restore default settings power off Xbus Master and press amp hold power button for five seconds Document XMO101P G Xsens Technologies B V 6 XM B Technical Documentation amp xsens 3 3 11 Configuration Direction To host MID 13 OXOD DATA CONFIGURATION See below Acknowledge of ReqConfiguration message Data field contains the current configuration of the Xbus Master and attached MTi MTx CONFIGURATION The CONFIGURATION data c
26. host will be processed by the Xbus Master Packets with other values than OxFF are not processed by the Xbus Master and directly copied to the bus Packets sent to the host are either from the Xbus Master itself or from one of the Motion Trackers connected to the Xbus Master The BID value will be OxFF if the packet is from the Xbus Master or in the range 0x01 OxFE if the packets is from one of the Motion Trackers Assignment of the BID values to the Motion Trackers is explained in chapter 4 3 2 2 3 Message Identifier This packet field identifies the message type For a complete listing of the messages see chapter 5 4 Normally a MID of for example value 18 0x12 will be replied with a message with a MID value of 18 1 19 0x13 In some cases an error message is replied MID 66 0x42 This occurs in case the previous message has invalid parameters is not valid or could not be executed These error messages contain an error code in their data field See for more information the Error message in chapter 3 5 Document XMO101P G Xsens Technologies B V 2 XM B Technical Documentation amp xsens Specifies the number of data bytes in the DATA field Value 255 OxFF is reserved for message with data length exceeding 254 bytes If zero no data field exists In case this field is equal to 255 OxFF the following two bytes will give the new data length For example the message FA FF 32 FF 01 05 xx xx XX xx CS contains
27. iers to ensure compatibility with the devices of other companies The company ID of Xsens is O 0x00 The type identifier is used to identify the different type of products of a company For example the Motion Tracker MTx Xbus has type ID 50 0x32 See table Product Type ID Xbus Master B 18 0x12 Xbus Master B Bluetooth 19 0x13 Wireless Receiver WR A 33 0x21 The last two bytes are reserved for a serial number 5 1 9 Motion Tracker data format As seen in the previous subchapter Xsens has different types of Motion Trackers These different types also have different data outputs l e the format of the data field of a BusData message depends on the used Motion Tracker types When using the MTx the format of the data field depends on the Output Mode and Output Settings The different options are listed below separately Please refer to the MTi and MTx User manual and Technical Documentation and the MTi and MTx Low level communication documentation for details Some of the output modes can also be used together If not specified otherwise each data value is 4 bytes long and corresponds with the single precision floating point value as defined in the IEEE 754 standard float Un calibrated raw data output mode 20 bytes Contains the un calibrated raw data output of the accelerations rate of turn and magnetic field in X Y and Z axes These values are equal to the analog digital converter readings of the internal sensor
28. nt settings 1 number of connected Motion Trackers 2 time needed to sample data from all Motion Trackers on the bus 3 time needed to output the data to the host from the Xbus Master 4 data output settings of MTi MTx the amount of data 5 2 Maximum sample frequency As a guideline the following tables are an indication of possible sample frequencies Maximum sample rates with 5 MTx connected on the bus depending on the output mode MTx Serial Serial Bluetooth Output mode 115k2 460k8 100 Hz 200Hz 150 Hz Calibrated data 100 Hz 120 Hz 120 Hz 120 Hz Quaternion 25 Hz 64 Hz 50 Hz Calibrated data Maximum update rate with 10 MTx connected on the bus depending on the output mode MTx Serial Serial Bluetooth Output mode 115k2 460k8 100 Hz Calibrated data Quaternion 10 Hz 25 Hz 25 Hz Calibrated data Document XMO101P G Xsens Technologies B V 21 XM B Technical Documentation amp xsens 5 3 Pin out and cables 5 3 1 Xbus Master lt gt Host cable XM USB RS232 Cable The standard Xbus Master lt gt host cable is 5m long and has an USB type A connector and a Binder 710 7 way male connector The cable wires TX RX RTS CTS and Ain See figure Binder 7 way USBConverter USB connector type A 7 core 5m Contact Definition Unitronic cable Elitronic cable En EI EC CS ee IO LN rn I LC CA INICIO Col O ECO E 5 3 2 Xbus cable The Xbus cable supplied with the Motion Tracker Xbus v
29. nt will run successfully It is possible that the host communication at the baudrate of 115k2 bps is too slow 4 5 2 Measurement After the test run the Xbus Master starts the actual measurement procedure In fact it is just like the test run except the data is now transmitted to the host with the BusData message This message is sent at every sample instance The RTS line CTS at host side of the RS 232 port will pulse high for 100us every time the Motion Trackers are ordered to sample their sensors This is not available if Bluetooth communication is used It is possible that if the sample frequency is too high the BusData message carrying the data of the Motion Trackers can not be sent in time If this is the case the Xbus Master will either stop the measurement and return to config state beep will sound or it will stay in the Measurement state sending BusData messages in which the sample counter values are not successive If the Xbus Master stops sending BusData messages the last BusData message is invalid because it misses Motion Tracker data The checksum is automatically made Document XMO101P G Xsens Technologies B V 15 XM B Technical Documentation amp xsens invalid by the Xbus Master The solution to this is to lower the sampling frequency or to connect less Motion Trackers to the Xbus Master 4 5 3 Triggering sampling instance Before the Xbus Master orders the Motion Trackers to start sampling it will check the CTS
30. ontains the following information For more information about the different fields check the corresponding message description offset length field description B B 0 4 Master device ID 4 2 Sampling period 6 2 Output skip factor 8 2 Syncin settings Mode 10 2 Syncin settings Skip Factor 12 4 Syncin settings Offset 16 8 Date format YYYYMMDD can be set by host 24 8 Time format HHMMSSHH can be set by host 32 32 Reserved host 64 32 Reserved client 96 2 Number of devices Repeat the following block for all attached devices 98 4 Device ID 102 2 Data length of sensor message 104 2 Output mode 106 4 Output settings 110 8 Reserved Document XMO101P G Xsens Technologies B V 7 XM B Technical Documentation xsens 3 3 12 GoToMeasurement Direction To Xbus Master Motion Tracker s Broadcast BID Allowed MID 16 0x10 Sets the device from Config state to Measurement state If the Xbus Master is addressed BID 255 OxFF then all Motion Tracker in Config state are switched to Measurement state 3 3 13 ReqFWRev Direction To Xbus Master Motion Tracker Broadcast BID Not allowed MID 18 0x12 Request to send the firmware revision Xbus Master or Motion Tracker acknowledges by sending FirmwareRev message 3 3 14 FirmwareRev Direction To host MID 19 0x13 DATA MAJOR MINOR REV 3 bytes Acknowledge of ReqFWRev message Data field contains firmware code major minor revision part 3 3 15 ReqBlueto
31. ot have to be send Though the Motion Trackers must reside in Init state Use Reset or go directly to Config state after WakeUp state to ensure that the Motion Trackers are in Init state e Send SetBID to the Motion Trackers using IDs from InitBusResults The BID value in SetBID will define the order of the Motion Tracker data in BusData message Start with one and increase by one for every next Motion Tracker e Enter Measurement state Use GoToMeasurement message with BID 255 OxFF DO NOT send the AutoStart message because this would reset the Motion Trackers and the BIDs are assigned using the order of the sorted device ID list 5 1 5 Pausing the data stream There are two ways to stop the data stream from Xbus Master temporarily Either make the RTS line inactive low or send the GoToConfig BID 255 0xFF message to Xbus Master To continue with measurement make the RTS line high or send GoToMeasurement to Xbus Master if the Xbus Master is in Config state Document XMO101P G Xsens Technologies B V 17 XM B Technical Documentation amp xsens It is possible to log data of a subset of the connected Motion Trackers The following procedure must be used every time the subset has to be changed e Enter Config state use BID 255 OxFF in GoToConfig message e Send Reset message broadcast or send InitBus message e Use the SetBID message for all Motion Trackers that should be active in the Measurement state Always start with BID v
32. othDisabled Direction To Xbus Master MID 20 0x14 Requests whether Bluetooth is disabled or not Xbus Master replies with ReqBluetoothDisabledAck and the data field specifies whether Bluetooth is disabled or not See DisableBluetooth for description of the data field 3 3 16 DisableBluetooth Direction To Xbus Master MID 20 0x14 DATA DB 1 byte If DB equals 1 Ox1 the Xbus Master will not use Bluetooth communication and only the serial interface The setting is stored in non volatile memory and therefore Bluetooth will be disabled until it is changed using with this message with DB O 0x0 This message is acknowledged using DisableBluetoothAck If the settings are restored to default values Bluetooth will be disabled DB 1 0x1 To restore default settings power off Xbus Master and press amp hold power button for five seconds Document XMO101P G Xsens Technologies B V g XM B Technical Documentation amp xsens 3 3 17 ReqOutputMode Direction To Xbus Master MID 22 0x16 Requests the output mode of Xbus Master The Xbus Master replies with ReqOutputModeAck to inform the host of the output mode For description of the different output modes see SetOutputMode 3 3 18 SetOutputMode Direction To Xbus Master MID 22 0x16 DATA OM 1 byte Using this message enables or disables the serial output while a Bluetooth connection is active dual output If OM is set to 1 0x1 the serial port output
33. roblem Timer overflow period too short to collect all data from Motion Trackers Solution Increase period lower sample frequency or use fewer Motion Trackers 5 5 11 Error code 25 0x19 Measurement failed code 2 Problem Motion Tracker responds with other than SlaveData message Solution Check wires amp connectors 5 5 12 Error code 26 Ox1a Measurement failed code 3 Problem Total bytes of data of Motion Trackers incl sample counter exceeds 2048 bytes Solution Use fewer Motion Trackers 5 5 13 Error code 27 0x1b Measurement failed code 4 Problem Timer overflow during measurement Motion Tracker does not respond within measurement period Solution Increase period lower sample frequency if problem continue to exist contact Xsens for support 5 5 14 Error code 28 Ox1c Measurement failed code 5 Problem Timer overflow during measurement Motion Tracker response was not received within measurement period Solution Increase period lower sample frequency or use fewer Motion Trackers 5 5 15 Error code 29 Ox1d Measurement failed code 6 Problem No correct response from Motion Tracker during measurement Solution Check wires amp connectors 5 5 16 Error code 35 0x23 Measurement failed code 7 Problem Transmit buffer to PC is full cannot transmit all data to host Solution Increase period lower sample frequency if problem continue to exist contact Xsens for support Document XMO1
34. s The data values are NOT float values but 16 bit unsigned integer values Ee EE reas Document XMO101P G Xsens Technologies B V 19 XM B Technical Documentation A xsens Calibrated data output mode 36 bytes Contains the calibrated data output of the accelerations rate of turn and magnetic field in X Y and Z axes in Seele floats Orientation data output mode quaternion 16 bytes Contains the q0 q1 q2 and q3 quaternions in floats that represent the orientation of the MTi MTx Orientation data output mode Euler angles 12 bytes Contains the three Euler angles in floats that represent the orientation of the MTi MTx pt yaw Orientation data output mode Matrix 36 bytes Contains the rotation matrix DCM in floats that represents the orientation of the MTi MTx NOTE Please refer to the MTi and MTx User Manual and Technical Documentation for the interpretation of the data values Sample counter 2 bytes The optional sample counter is a 16 bit unsigned integer value that is increased for each transmission of the MTData message If its maximum value is reached i e 65535 OxFFFF it will wrap and start at zero again See also SetErrorMode for the relation between the sample counter and the error mode Document XMO101P G Xsens Technologies B V 20 XM B Technical Documentation amp xsens The maximum sample frequency i e update rate depends upon four differe
35. t BID value in the Measurement state If the BID assignment is incorrect or needs to be changed use the Reset message to clear the highest BID value 3 3 6 RegPeriod Direction To Xbus Master MID 4 0x04 Request the current sample period The Xbus Master replies with ReqPeriodAck The data field of this message contains the sample period For the description of the data field see SetPeriod Document XMO101P G Xsens Technologies B V 5 XM B Technical Documentation amp xsens 3 3 7 SetPeriod Direction To Xbus Master MID 4 0x04 DATA PERIODH PERIODL 2 bytes Sets the sampling period of the Xbus Master used in measurement state This overrides the default sampling frequency of 100Hz The setting is stored in non volatile memory and it is used until it is overwritten by SetPeriod or when the default setting is restored The data field contains a 16 bit value indicating the length of the period Resolution is in 1 115200 seconds i e 8 68 us The range is specified between 225 0x00E1 and 11520 0x2D00 and corresponds with sampling frequency of 10 512Hz For example a sampling frequency of 50Hz corresponds with a period length of 2304 0x0900 PERIODH would then be 9 0x09 and PERIODL O 0x00 If the settings are restored to default values the sample period is set to 10ms 100Hz 3 3 8 AutoStart Direction To Xbus Master MID 6 0x06 When the Xbus Master receives this message the Xbus Master starts samplin
36. t ready for measurement Problem InitBus and or SetBID are not issued Solution Use InitBus amp SetBID to properly initialize the Motion Trackers or use AutoStart 55 3 Error code 3 0x03 Period sent is invalid Problem Period does not comply with valid range Solution Resend SetPeriod with valid argument 5 5 4 Error code 4 0x04 Message sent is invalid Problem Message sent is not implemented or invalid Solution Check message identifier and if message is valid in current state 5 5 5 Error code 16 0x10 Initialization of bus failed code 1 Problem A slaves did not respond to WaitForSetBID Solution Check wires amp connectors Document XMO101P G Xsens Technologies B V 26 XM B Technical Documentation xsens 5 5 6 Error code 17 0x11 Initialization of bus failed code 2 Problem An incorrect answer received after WaitForSetBID Solution Check wires amp connectors 5 5 7 Error code 18 0x12 Initialization of bus failed code 3 Problem After four bus scans still undetected Motion Trackers Solution Check wires amp connectors 5 5 8 Error code 20 0x14 SetBID procedure failed code 1 Problem No reply to SetBID message during SetBID procedure Solution Check wires amp connectors 5 5 9 Error code 21 0x15 SetBID procedure failed code 2 Problem Other than SetBIDAck received Solution Check wires amp connectors 5 5 10 Error code 24 0x18 Measurement failed code 1 P
37. tLvl Direction To Xbus Master MID 136 0x88 Requests the current battery level The Xbus Master replies with BatLvl which contains a data byte that states the battery level BatLvl Direction To host MID 137 0x89 DATA BATLVL 1 byte Acknowledge of the ReqBatLvl message Data field contains the current battery level Document XMO101P G Xsens Technologies B V 12 XM B Technical Documentation amp xsens 4 States 4 1 Introduction The Xbus Master operates in several states There are two temporary states and two main states WakeUp and AutoStart are the two temporary states If the Xbus Master enters one of these states and it will automatically change to another state If the Xbus Master enters the main states Config and Measurement only the host can set the Xbus Master to another state The following state flow chart shows how the Xbus Master switches from state to state Power up See WakeUp flowchart Power down see WakeUp if no Motion Trackers flowchart attached to Xbus Master AutoStart message Config All Motion Trackers correctly initialized GoToConfig Reset message message Measurement Enters GoToMeasurement WakeUp state message Reset Enters en WakeUp state The following subchapters describe the functionality of the states 4 2 WakeUp The Xbus Master has two main states it operates in the Config or Measurement state Dependant on actions taken in the temporary WakeUp s
38. tate the Xbus Master enters one of these two main states at power up To select the operating state after the wakeup state the host should either send an acknowledge message or not When the WakeUp message is sent by the Xbus Master the host should respond within 500ms with a WakeUpAck message to enter the Config state Otherwise the Xbus Master will enter the Measurement state But before this the Xbus Master will scan the bus and initialize the Motion Trackers This is done in the temporary state called AutoStart see next subchapter If no Motion Trackers are found the Xbus Master will power down automatically In case of an Xbus Master with Bluetooth the WakeUp procedure differs The start of the WakeUp procedure is the same l e first a WakeUp message is sent using the serial interface to the host If the host wants to use the serial interface it must replied to this message with the WakeUpAck message within 500ms using serial interface The Xbus Master will enter the Config state If the host does not reply the Xbus Master will check Document XMO101P G Xsens Technologies B V 13 XM B Technical Documentation amp xsens the DisableBluetooth setting see DisableBluetooth message If this setting is 1 the Xbus Master will skip the Bluetooth initialization and enters AutoStart state in serial mode If the setting is O Bluetooth is enabled The Xbus Master will try to connect to the remote Bluetooth device If this is not possible the
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