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1. Syntax em n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description e Magnetometer data enabled It will be included from the output word d Magnetometer data disabled It will be excluded in the output word Default setting Table 12 Valid em Values Example em e lt cr gt lenable magnetometer data lt cr gt lt lf gt Query Response em em PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 34 of 49 ep Enable Pitch Data for Output Word Description Enables or disables pitch data for inclusion in the TCM2 5 2 6 Standard Output Word Syntax ep n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description e Pitch data enabled It will be included from the output word Default setting d Pitch data disabled It will be excluded in the output word Table 13 Valid ep Values Example ep e lt cr gt linclude pitch data in output word lt cr gt lt lf gt Query Response ep ep er Enable Roll Data for Output Word Description Enables or disables roll data for inclusion in the TCM2 5 2 6 Standard Output Word Syntax er n lt cr gt Output Ennn lt cr gt lt lf gt PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 35 of 49 Valid Values Input Description e Roll data enabled It will be included from the output word Default setting d Roll data disabled It will be excluded in the output word2. Commands are case sensitive Programming Conventions Set TCM2 5 2 6 user parameters lt parameter gt lt value gt lt cr gt Query TCM2 5 2 6 data parameter or sensor values lt parameter gt lt cr gt Action command lt command gt lt cr gt Detailed descriptions of all commands are in the Command List and a command summary is shown in Command List Quick Reference Data Transmission The TCM2 5 2 6 will transmit data across the RS 232 interface in response to input commands and will also transmit data output words automatically when placed in continuous output mode The response to the various commands is as follows Input Command TCM2 5 2 6 Response Valid parameter setting commands lt cr gt lt lf gt Valid action command varies according to command Valid Parameter query commands lt parameter gt lt value gt lt cr gt lt lf gt Invalid or unrecognized command E lt code gt lt cr gt lt lf gt Valid sensor query command varies according to command The character signifies a successfully identified and executed command Table 2 Input Command Responses PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 14 of 49 Error Codes Error codes are given in the output word immediately before the checksum output indicated by the letter E followed by three ASCII characters representing hexadecimal digits for example ASCII F equals hexadecimal value F or decimal value 15
3. Each error condition corresponds to one bit within one of the hexadecimal digits When the error condition exists that bit will be set equal to 1 in the error code transmitted by the TCM2 5 2 6 The error conditions and their corresponding bit locations are listed below Refer to Table 4 Common Error Codes for a list of the most common error codes Table 3 Bit Locations of Error Conditions 1 ASCII Character Bit 3 MSB EEPROM 1 error Bit 2 EEPRON2 error Bit 1 Reserved for future use always 0 Bit 0 LSB Reserved for future use always 0 2 4 ASCII Character Bit 3 MSB Reserved for future use always 0 Bit 2 Command parameter invalid Bit 1 Reserved for future use always 0 Bit 0 LSB Command invalid or not supported on 3 ASCII Character current TCM Bit 3 MSB Reserved for future use always 0 Bit 2 Magnetometer out of range Bit 1 Inclinometer out of range Bit 0 LSB Reserved for future use always 0 Table 4 Common Error Codes Error Code Description E002 Inclinometer out of range E004 Magnetometer out of range E006 Magnetometer out of range Inclinometer out of range E010 Command invalid or not available E040 Command parameter invalid E050 Command invalid or not available Command parameter invalid E400 EEPRON2 error E800 EEPROM error EC0O0 EEPRON2 error EEPROM1 error a Indicates that the TCM2 5 2 6 EEPROM has been corrupted Contact PNI for assistan
4. WinNT System32 folder e For Windows XP copy to Windows System32 folder To Install the TCM Studio program onto a Mac OSX system 1 Drag the TCM Studio to the working directory of your computer 2 Move the Quesa plug in Quesa to Library CFMSupport Hardware Setup 1 Connect the unit to a serial port of the PC via the included cable A USB to Serial Adapter can be used Keyspan USA 19QW was tested 2 Supply power PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 5 of 49 Connection Tab Initial Connection 1 Select the serial port the unit is plugged into 2 Select 9600 as the baud rate default 3 Click on the lt Connect gt button 4 Once aconnection is made the Connected light will turn green Change Baud Rate 1 Select new baud rate for the module 2 Select same baud rate for the computer 3 Click on the lt Connect gt button Change Modules Once connection has been made the TCM Studio will remember the last settings Any time a module is switched out clicking on the lt Connect gt button once the new module is attached will reestablish a connection as long as the module baud rate is the same as the previous unit Configuration Tab North Reference Magnetic When the Magnetic radio button is selected heading will be relative to Magnetic North True When the True radio button is selected heading will be relative to True North To us
5. Table 14 Valid er Values Example er e lt cr gt linclude roll data in output word lt cr gt lt lf gt Query Response er er et Enable Temperature Data for Output Word Description Enables or disables temperature data for inclusion in the TCM2 5 2 6 Standard Output Word Syntax et n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description e Temperature data enabled It will be included from the output word d Temperature data disabled It will be excluded in the output word Default setting Table 15 Valid et Values Example et e lt cr gt linclude temperature data in output word lt cr gt lt lf gt Query Response et et PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 36 of 49 ma Select Magnetometer Output Option Description Outputs either corrected or non corrected magnetometer readings If corrected readings are selected the magnetometer readings output by the TCM2 5 2 6 reflect corrections to ambient field as a result of user calibration If not corrected the magnetometer readings output reflect total ambient field including local fields Note that compass readings always are based upon corrected magnetometer readings Syntax ma n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description c Choose corrected magnetometer readings Choose non corrected magnetometer readings u Default setting Table 16 Valid ma V
6. The TCM2 5 2 6 does not compensate for soft iron effects Soft iron effects however are generally far weaker than hard iron effects in most systems and can be more readily defeated by choosing a suitable location to mount your compass module In some systems however it may be difficult to avoid large masses of ferrous metal that may create non trivial soft iron effects such as an armor plate in a tracked vehicle In these instances try to locate the module as far away from the ferrous metals as possible Soft iron effects decrease with distance by an inverse square relation so even modest separation can be effective Other Limitations As discussed the TCM2 5 2 6 models local disturbances as a static magnetic vector contribution to the earth s field Any local fields which are not static will create errors You cannot calibrate for anomalies that are not fixed with respect to the compass For example you may know that the TCM2 5 2 6 will be used in close proximity to other vehicles You cannot calibrate for the effects of these other vehicles as they will be moving with respect to the TCM2 5 2 6 This is a limitation universal to all compasses Consider therefore the TCM2 5 2 6 s position relative to any potential sources of field that will not be static magnetic cargo or payloads that may be placed in close proximity fans or other electrical equipment that may be turned on and off and so on PNI Sensor Corporation DOC 1009269 r
7. 2 of the MCR int main int argc char argv int tmp port PORT1 Defaul to serial port 1 If there are args look at the first one only if argc 2 Figure out which serial port to use switch atoi argv 1 case 1 port PORT1 break case 2 port PORT2 break case 3 port PORT3 break case 4 port PORT4 break others port PORT1 tmp inp port MCR Read current line status outp port MCR tmp RTS Toggle the RTS line outp port MCR tmp Restore the RTS line return 0 PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 44 of 49 Performance Specifications Parameter Typical Units Heading Specifications Accuracy over tilt range 0 8 Resolution 0 1 Deg RMS Repeatability 1 0 1 Max Dip Angle 85 Deg Magnetometer Specifications Calibrated Field Measurement 80 Range T Magnetic Resolution 0 05 H Magnetic Repeatability 1 Tilt Specifications Pitch Accurac 0 2 Roll oer 0 2 Penis Tilt Range 50 Deg Tilt Resolution 0 1 Tilt Repeatability 1 0 1 Deg RMS Calibration Hard Iron Calibration Yes Soft lron Calibration No Mechanical Specifications TCM2 5 TCM2 6 Dimensions L x W x H 6 4 x 5 1 x 1 4 3 4 x 4 3 x 1 3 cm Weight 14 7 grams Mounting Options
8. Screw Mounts Standoffs horizontal Connector for RS 232 10 pin 9 pin V O Specifications Time to Good Initial Data from 210 msec Power On Time to Good Initial Data from Sleep Mode i Meee Maximum Sample Rate 8 samples sec RS 232 Communication Rate 300 to 115200 baud Output Formats TCM2 ASCII Protocol Power Specifications TCM2 5 TCM2 6 5 V regulated 3 8 to 5 0 V supply Voltage 6 to Pee unregulated WBS Current Draw at l maximum sample rate ZOtypical ee mA Sleep Mode 0 6 typical 0 6 typical Environmental Specifications Operating Temperature 20 to 70 C Storage Temperature 40 to 85 1 Repeatability is based on statistical data at 3 sigma limt about the mean Table 25 TCM2 5 2 6 Specifications PNI Sensor Corporation TCM2 5 amp TCM2 6 User Manual DOC 1009269 r11 Page 45 of 49 Mechanicals TCM2 5 Board and Cable The default orientation for the TCM2 5 2 6 is for the silk screened arrow to point in the forward direction That puts the edge opposite of the Molex connector as the front edge of the board 071 MOLEX KK 100 PITCH STRAIGHT HEADER ASSY 10 PIN _ pin 22 23 2101 va E 1 671 0625 Figure 5 TCM2 5 Board Drawing DOC 1009269 r11 PNI Sensor Corporation Page 46 of 49 TCM2 5 amp TCM2 6 User Manual 3 ft Cable Assembly 3 FT 0 5 Inches _3 0 0 20 Inches INN Description Vsupply 5 V regulated Vsupply 6 to 18 V unregulated Powe
9. below PNI also has a 6 foot cable with a DB9 connector attached Contact PNI for purchasing information Table 1 TCM2 5 2 6 PIN Descriptions Wire Color TCM2 5 PIN Description PIN Wire Color TCM2 6 PIN Description Orange Vsupply 5 V regulated 1 Black Power Ground Red Vsupply 6 to 18 V unregulated 2 Gray NC Black Power Ground 3 Green RS232 Ground Blue RxD RS 232 5 to 5V 4 Orange NC Yellow TxD RS 232 5 to 5V or 12 to 12V 5 Violet NC White RTS Wake from Sleep 6 Brown NC Green Data Ground 7 Yellow TxD Brown NC 8 Blue RxD Purple NC 9 Red 5 VDC Gray Data Ground Absolute Maximum Ratings Parameter Model PIN Minimum Maximum Units Supply Voltage 5V Regulated es ni ae TCM2 6 9 0 3 10 VDC Supply Voltage 6 to 18 V Unregulated TCM2 5 2 30 30 VDC CAUTION Stresses beyond those listed above may cause permanent damage to the device These are stress ratings only Operation of the device at these or other conditions beyond those indicated in the operational sections of the specifications is not implied PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 4 of 49 RS 232 Serial Communication Interface Parameters 8 data bits 1 start bit 1 stop bit no parity flow control none Baud Rate 300 to 115200 Communicating with the TCM2 5 2 6 Once the TCM2 5 2 6 is powered up and the RS232 connection is made with one of the PC s COM ports you may begin exchanging ASCII se
10. in a full circle Default setting m mils 6400 mils in a full circle Table 23 Valid ui Values Example ui d lt cr gt Iset units to degrees lt cr gt lt lf gt Query Response ui ui PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 42 of 49 ut Set Temperature Units Description Sets the units to be used for the input and output of the temperature data Syntax ut n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description f Fahrenheit c Celsius Default setting Table 24 Valid ut Values Example ut f lt cr gt Iset units to Fahrenheit lt cr gt lt lf gt Query Response ut fut PNI Sensor Corporation TCM2 5 amp TCM2 6 User Manual DOC 1009269 r11 Page 43 of 49 TCM2 5 2 6 Code Example Wake C program wake c Sample program to wake the TCM2 5 2 6 after is has been put in sleep mode Wake toggles the RTS line to give the TCM2 5 2 6 a falling edge P Milford 1 10 96 Usage wake 1 wakes a tcem2 5 2 6 on com port 1 default wake 2 wakes a tcom2 5 2 6 on com port 2 etc include lt stdio h gt include lt stdlib h gt for atoi include lt conio h gt For inp out Addresses in IO space of the serial port base addresses define PORT1 0x3F8 define PORT2 0x2F8 define PORT3 0x3E8 define PORT4 0x2E8 define MCR 4 Offset to the Modem control register define RTS 2 RTS is bit
11. or if the TCM2 5 2 6 only needs to be polled periodically With the TCM2 5 2 6 in the Standby mode you can query sensor data by either issuing single parameter updates with commands like c Compass Update m Magnetometer Update or you can receive output word updates by issuing the s Single Update of Output Word command The output word may be configured as previously described in TCM2 5 2 6 Standard Output to provide either NMEA formatted compass data or the TCM2 5 2 6 Standard output word which presents any combination of TCM2 5 2 6 sensor data that you wish to receive The single parameter updates allow you to immediately query any sensor data Continuous Sampling Mode After configuring the TCM2 5 2 6 in the Standby mode issue the go command to place the TCM2 5 2 6 into Continuous Sampling mode In this mode the TCM2 5 2 6 samples its sensors processes and outputs this sensor data at a rate determined by the SP parameter default is 8 Hz PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 16 of 49 User Calibration All compasses can perform well in a controlled environment where the ambient magnetic field consists solely of the earth s field In most practical applications however an electronic compass module will be mounted in a host system such as a vehicle that can contain large sources of local magnetic fields ferrous metal chassis transformer cores electrical currents and permanent magn
12. within the United States and Canada will be paid by PNI For all other locations the warranty excludes all costs of shipping customs clearance and other related charges PNI will have a reasonable time to make repairs or to replace the Product or to credit OEM s account PNI warrants any such repaired or replacement Product to be free from defects in material and workmanship on the same terms as the Product originally purchased Except for the breach of warranty remedies set forth herein or for personal injury PNI shall have no liability for any indirect or speculative damages including but not limited to consequential incidental punitive and special damages relating to the use of or inability to use this Product whether arising out of contract negligence tort or under any warranty theory or for infringement of any other party s intellectual property rights irrespective of whether PNI had advance notice of the possibility of any such damages including but not limited to loss of use revenue or profit In no event shall PNI s total liability for all claims regarding a Product exceed the price paid for the Product PNI neither assumes nor authorizes any person to assume for it any other liabilities Some states and provinces do not allow limitations on how long an implied warranty lasts or the exclusion or limitation of incidental or consequential damages so the above limitations or exclusions may not apply to you This warranty give
13. 11 TCM2 5 amp TCM2 6 User Manual Page 19 of 49 The TCM2 5 2 6 can calibrate for any environment that creates a magnetic field that does not exceed the dynamic range of its magnetometers Declination Value Declination also called magnetic variation is the difference between true and magnetic north relative to a point on the earth It is measured in degrees east or west of true north Correcting for declination is accomplished by storing the correct declination angle and then changing the heading reference from magnetic north to true north Declination angles vary throughout the world and change very slowly over time For the greatest possible accuracy go to the National Geophysical Data Center web page below to get the declination angle based on your latitude and longitude http www ngdc noaa gov cgi bin seg gmag fldsnthl pl Pitch and Roll The TCM2 5 2 6 uses accelerometers to measure the orientation of the compass with respect to gravity Since the compass also measures the complete magnetic field the TCM2 5 2 6 can correct for the tilt of the compass to provide an accurate heading The TCM2 5 2 6 utilizes Euler angles as the method for determining accurate orientation This method is the same used in aircraft orientation where the outputs are Heading Yaw Pitch and Roll When using Euler angles pitch and roll are defined as the angle rotated around an axis through the center of the fuselage pitch is rotation around an axis thr
14. 40 0 to 85 0 C or 40 to 185 F Example t lt er gt T25 5 Ennn checksum lt cr gt lt lf gt lt cr gt lt lf gt PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 26 of 49 Related Commands et Enable Temperature ut Set Temperature Units Action Commands Help Command Description All TCM2 5 2 6 commands are displayed using the command cc Clear Calibration Data Description Erases all calibration data Any further magnetometer or compass output is not corrected for any local fields This command is only valid during Standby Mode h Use this command before recalibrating the TCM2 5 2 6 for a new or changed local magnetic environment Syntax cc lt cr gt Output HnVnMn nn lt cr gt lt 1f gt Example cc lt cr gt HOVOMO 00 lt cr gt lt 1f gt Query Response Ic Last Calibration Score Related Commands mpcal Multipoint Calibration c Compass Update PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 27 of 49 factory Factory Settings Description Resets the TCM2 5 2 6 to the factory settings The internal modes are set to the following factory defaults b 5 er e mpcal d ut c cc et d sdo t damping d timeconst 8 sn m ec e halt d sp 8 em d ma u uc d ep e mag_dec 0 0 ui d Syntax factory lt cr gt Output HOVOm0 00 lt cr gt lt 1f gt Example factory lt cr gt go Enter Continuous Sampling Mode Description Enters the Continuous
15. Sampling Mode go The TCM2 5 2 6 immediately begins outputting sensors data at rate specified by the SP parameter default is 8 Hz Data is automatically transmitted according to the Output Word Format sdo currently specified To exit the TCM2 5 2 6 and return to Standby mode issue the Halt Continuous Sampling h command Syntax go lt cr gt Output Selected data output word Example go lt cr gt Related Commands s Single Update of Output Word h Halt Continuous Sampling PNI Sensor Corporation TCM2 5 amp TCM2 6 User Manual DOC 1009269 r11 Page 28 of 49 h Halt Continuous Sampling Enter Standby Description Exits Continuous Sampling Mode go and enters Standby mode h If this command is received while the TCM2 5 2 6 is transmitting an output word the remainder of the output word will be sent before the TCM2 5 2 6 changes modes Syntax h lt cr gt Output Ennn lt cr gt lt lf gt Related Commands go Enter Continuous Sampling Mode halt Enable Single Character Halt halt Enable Single Character Halt Description The halt command during go mode has optionally been made a single character command using the halt e command Syntax halt d lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description e Enable h command for halting the ouput d h lt cr gt command for halting the output default setting Table 7 Valid halt Values Query Response halt halte Related Com
16. User Guide TCM2 5 amp TCM2 6 Copyright PNI Sensor Corporation 2005 All Rights Reserved Reproduction adaptation or translation without prior written permission is prohibited except as allowed under copyright laws Revised July 2013 For most recent version visit our website at www pnicorp com PNI Sensor Corporation 2331 Circadian Way Santa Rosa CA 95407 USA Tel 707 566 2260 Fax 707 566 2261 Warranty and Limitation of Liability PNI Sensor Corporation PNI manufactures its TCM products Products from parts and components that are new or equivalent to new in performance PNI warrants that each Product to be delivered hereunder if properly used will for one year following the date of shipment unless a different warranty time period for such Product is specified i in PNI s Price List in effect at time of order acceptance or ii on PNI s web site www pnicorp com at time of order acceptance be free from defects in material and workmanship and will operate in accordance with PNI s published specifications and documentation for the Product in effect at time of order PNI will make no changes to the specifications or manufacturing processes that affect form fit or function of the Product without written notice to the OEM however PNI may at any time without such notice make minor changes to specifications or manufacturing processes that do not affect the form fit or function of the Product This
17. alues Example ma c lt cr gt lcorrected magnetometer readings lt cr gt lt lf gt Query Response ma ma mag_dec Set Declination Angle Description Sets the magnetic declination angle in degrees Sets the declination offset for a reading of True North Based on the setting of the Compass Units uc command Positive declination is easterly declination and negative is westerly declination This is not applied until True North is set to true Syntax mag _dec nn n lt cr gt Output Ennn lt cr gt lt lf gt PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 37 of 49 Valid Values Input Description nn n Declination angle in degrees default is set to 0 0 Table 17 Valid mag_dec Values Example mag dec 17 2 Isets the declination angle to 17 2 degrees lt cr gt lt lf gt Query Response mag_dec mag_dec sdo Set RS232 Output Word Format Description Sets the output word format to be used in response to the Single Update Output Word sdo command and in Continuous Output Mode go Syntax sdo n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description t Standard TCM output string default n NMEA 0183 output string Table 18 Valid sdo Values Example sdo t lt cr gt loutput word format to TCM standard lt cr gt lt lf gt Query Response sdo sdo PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 38 of 49 sn Select Magnetic or Tr
18. and vertical field vectors there are no significant soft iron distortion effects PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 7 of 49 The last number in the score Mn n describes the magnitude of local field Larger numbers denote strong local fields Small local fields are preferable since less correction will be necessary and they utilize less of the magnetometers dynamic range A magnitude score greater than 30 indicates strong magnetic fields at the TCM2 5 2 6 location you should consider alternative mounting locations Any score less than 10 is very good Note The calibration score values mostly provide a qualitative estimation For example a good score would be H9V9Mn n A poor score as anything less than H9V9Mn n A poor V score generally indicates that you need to tilt more during the calibration A poor H score indicates you did not turn two full circles or that you turned too quickly 6 If the calibration is not sufficient then click on the lt Start gt button and begin the calibration again Clear This button will clear the user calibration in the unit Once selected the unit will revert back to its factory calibration Test Tab Current Reading Once the lt GO gt button is selected the unit will begin outputting Heading Pitch and Roll information Selecting the lt Stop gt button or changing tabs will halt the output of the unit 3D Model The helicopter will follow th
19. as possible Each turn should take longer than 30 seconds The turn does not need to be a perfect circle e Inthe calibration mode the TCM2 5 2 6 is trying to take as many different data points as possible to determine the magnetic anomalies e The more pitch and roll points you give it the better it is able to determine the vertical magnetic fields e Apply as close toa 90 pitch and 90 roll as possible Doing so will improve the quality of the calibration Do not worry about exceeding the tilt range of the unit 5 Halt the TCM2 5 2 6 by sending h if halt e orh lt return gt if halt d Finish the calibration by sending mpcal d 7 Check the calibration score by sending 1c e If the calibration score is not satisfactory repeat the calibration process PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 18 of 49 Interpreting the Calibration Score The TCM2 5 2 6 provides feedback on calibration through the calibration score which has the following format HnVnMn n The first two numbers in the calibration score HnVn respectively describe the quality of the calibration for the horizontal component and vertical component of the host system s local magnetic field Higher numbers reflect higher quality The highest possible score is a 9 The factors that contribute to a good score for Hn and Vn are as follows e agood magnetically quiet location was chosen for the user calibration proce
20. ce DOC 1009269 r11 Page 15 of 49 PNI Sensor Corporation TCM2 5 amp TCM2 6 User Manual Description of Error Conditions Command Parameter Invalid contains an invalid or out of range value Command invalid or not available on current model of TCM2 is not recognized by the TCM2 5 2 6 The syntax is incorrect or you have entered a command which is not supported by the TCM model you are using Inclinometer out of range the inclinometer sensor is detecting an attitude that is outside of its operational range of maximum pitch and roll When this error flag is raised compass and inclinometer output data should be disregarded Magnetometer out of range the magnetometer sensors are detecting an ambient magnetic field that exceeds the maximum field measurement range of the magnetometer in any of the three axes Compass Operating Modes Standby Mode The TCM2 5 2 6 is in Standby mode when you issue an h Halt command or ax Warm Reboot You may configure and verify the TCM2 5 2 6 s user parameters in the Standby mode set sampling rate filter parameters and so on You may also query the TCM2 5 2 6 for single updates of compass heading pitch and roll magnetic field strength and temperature Sampling in Standby Mode You can receive data from the TCM2 5 2 6 sensors from the h Halt Continuous Sampling Enter Standby mode You may wish to do this if you are manually operating the TCM2 5 2 6 for evaluation purposes
21. cription This command is used with the digital damping command It sets the time constant to nn samples for the digital damping Syntax timeconst n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description Integer value between 1 4 Set the measured time constant 4 Integer value between 5 8 Set the measured time constant 8 default setting Integer value between 9 16 Set the measured time constant 16 Integer value between 16 32 Set the measured time constant 32 Table 21 Valid timeconst Values Example timeconst l6 lt cr gt IFilter over 16 measurements eon Geol tna Query Response timeconst timeconst Related Commands damping Set Digital Damping PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 41 of 49 UC Set Compass Units Description Sets the units to be used for the input and output of the heading data Syntax uc n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description d degrees 360 x in a full circle Default setting m mils 6400 mils in a full circle Table 22 Valid uc Values Example uc d lt cr gt Iset units to degrees lt cr gt lt lf gt Query Response uc uc ui Set Inclinometer Units Description Sets the units to be used for the input and output of the tilt pitch amp roll data Syntax ui n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description d degrees 360 x
22. dure e the magnetic environment is stable there are no large sources of changing fields e the calibration data points included changes in system heading and inclination to allow for proper measurement of the horizontal and vertical field vectors e there are no significant soft iron distortion effects The last number in the score Mn n describes the magnitude of local field Larger numbers denote strong local fields Small local fields are preferable since less correction will be necessary and they utilize less of the magnetometers dynamic range A magnitude score greater than 30 indicates strong magnetic fields at the TCM2 5 2 6 location you should consider alternative mounting locations Any score less than 10 is very good Note The calibration score values mostly provide a qualitative estimation For example a good score would be H9V9Mn n A poor score as anything less than H9V9Mn n A poor V score generally indicates that you need to tilt more during the calibration A poor H score indicates you did not turn two full circles or that you turned too quickly Soft Iron Effects The TCM2 5 2 6 can calibrate for hard iron effects or local fields that can be modeled as static fields such as those created by permanent magnets Hard iron distortions are significant in most systems There is another class of iron effects soft iron that are an amplification of magnetic fields created by highly permeable materials such as ferrous metals
23. e North Heading in True mode the declination needs to be set in the Declination window Options Use to select halting continuous output by sending a single h command Damping Enabled Use to select if the filter damping is to be used Time Const Use to select 4 8 16 or 32 samples and apply the values to a filter prior to calculating the heading These filters allow for a much more stable reading but can make the acquisition of the data by the program slower The default setting is 8 PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 6 of 49 Reading Units Compass Use to select either Degrees or Mils as the unit of measure Inclinometer Use to select either Degrees or Mils as the unit of measure Temperature Use to select either Celsius or Fahrenheit as the unit of measure Default This button will set the TCM2 5 2 6 module back to the factory default settings for the parameters shown on the screen Note This is similar but with less parameters to the factory command Calibration Tab Start stop Toggle button to begin and end calibration Calibration Procedure Click on the lt Start gt button to begin 2 Begin rotating the TCM2 5 2 6 in a circle while applying pitch and roll to the unit The unit will have the appearance of a wobbling top as it is moved through the calibration routine 3 Turn the TCM2 5 2 6 around at least twice changin
24. e movement of the attached module and give a clear representation of the module s orientation Data Logger Tab Select the data to log in the Data window Use Shift Ctrl Click and Ctrl Click to select multiple items Click on the lt GO gt button to start logging click the lt STOP gt button to stop logging Click on the lt Export gt button to save the data to a file Click on the lt Clear gt button to clear the data from the window Ol Pion System Log Tab Export Select the lt Export gt button to save the system log to a file PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 8 of 49 PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 9 of 49 Where to install the TCM2 5 2 6 The TCM2 5 2 6 s magnetometers wide dynamic range and its sophisticated calibration algorithms allow it to operate in many environments For optimal performance however you should mount the TCM2 5 2 6 with the following considerations in mind The TCM2 5 2 6 s magnetometers should not saturate The TCM2 5 2 6 can be calibrated for large static magnetic fields However each axis of the TCM2 5 2 6 s magnetometers has a maximum dynamic range of 80 uT this can be read using the TCM Studio with by going to the datalogger and selecting Magnetometer Output if the total field exceeds this value for any axis the TCM2 5 2 6 will not give accurate heading information When mount
25. etometer s Single Update of Output Word Description Transmits the output word you specified This command can only be used in the Standby h mode The Select RS232 Output Word Format sdo command allows you to select between NMEA or TCM2 5 2 6 Standard formats for the output word If TCM2 5 2 6 Standard output is selected only those data parameters that are enabled with ec ep er em et will be output Syntax s lt cr gt Output Refer to RS232 Data Output Word for a full description of the output word formats Example s lt cr gt C328 3P28 4R 12 4X55 1Y12 32 18 4T22 3 Ennn check sum lt cr gt lt lf gt lt cr gt lt lf gt Related Commands sdo Select RS232 Output Word Format ec Enable Compass Data for Output Word ep Enable Pitch Data for Output Word er Enable Roll Data for Output Word em Enable Magnetometer for Output Word et Enable Temperature Data for Output Word t Temperature Update Description Sample and return the ambient temperature When in the Standby mode h use this command to query the temperature readings regardless of whether temperature data has been selected for inclusion in the output word Syntax t lt cr gt Output When the units are set to Celsius ST nnn n Ennn checksum lt cr gt lt l1f gt lt cr gt lt lf gt When units set to Fahrenheit ST nnn Ennn checksum lt cr gt lt lf gt lt cr gt lt lf gt Resolution 0 5 Cor1 F Valid Values
26. ets in electric motors By performing the user calibration procedure you allow the TCM2 5 2 6 to identify the major sources of these local magnetic anomalies and subsequently cancel out their effects when measuring the earth s magnetic field for computing compass headings When you perform the user calibration procedure the TCM2 5 2 6 takes a series of magnetic field measurements It analyzes these total field measurements in order to identify the components that are created by the earth s field which is the desired signal from those components that are generated by the local environment which we wish to subtract out The end goal of the procedure for the TCM2 5 2 6 is to have an accurate measurement of the static three dimensional magnetic field vector generated by its host system at its mounting location This vector is subsequently subtracted out of run time field measurement to yield the resultant earth s field vector One major benefit from the TCM2 5 2 6 s triaxial magnetometer triaxial inclinometer system configuration is its ability to compensate for distortion effects in all orientations throughout its usable tilt range As we have mentioned a compass must measure the local field vector generated by the host system at its current position within the system in order to accurately calibrate Because the TCM2 5 2 6 s magnetometer is strapped down or fixed with respect to its host system this local field vector does not change as
27. g the pitch and roll as much as possible 4 Each turn should take longer than 30 seconds The turn does not need to be a perfect circle In the calibration mode the TCM2 5 2 6 is trying to take as many different data points as possible to determine the magnetic anomalies The more pitch and roll points you give it the better it is able to determine the vertical magnetic fields If possible apply as close toa 90 pitch and 90 roll Doing so will improve the quality of the calibration Do not worry about exceeding the tilt range of the unit 5 Once two complete rotations have been completed click on the lt Stop gt button to finish the calibration Score The TCM2 5 2 6 provides feedback on calibration through the calibration score which has the following format HnVnMn n The first two numbers in the calibration score HnVn respectively describe the quality of the calibration for the horizontal component and vertical component of the host system s local magnetic field Higher numbers reflect higher quality The highest possible score is a 9 The factors that contribute to a good score for Hn and Vn are as follows agood magnetically quiet location was chosen for the user calibration procedure the magnetic environment is stable there are no large sources of changing fields the calibration data points included changes in system heading and inclination to allow for proper measurement of the horizontal
28. ing the TCM2 5 2 6 consider the effect of any sources of magnetic fields in the local environment that when added to the earth s field may saturate the TCM2 5 2 6 s sensors For example large masses of ferrous metals such as transformers and vehicle chassis large electric currents permanent magnets such as electric motors and so on Locate the TCM2 5 2 6 away from local sources of changing magnetic fields It is not possible to calibrate for changing magnetic anomalies Thus for greatest accuracy keep the TCM2 5 2 6 away from sources of local magnetic anomalies that will change with time for instance electric equipment that will be turned on and off or nearby ferrous bodies that will be changing positions Make sure the TCM2 5 2 6 is not mounted close to cargo or payload areas that may be loaded with large sources of local magnetic fields The TCM2 5 2 6 should be mounted in a physically stable location Choose a location that is isolated from excessive shock oscillation and vibration PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 10 of 49 Mechanically mounting the TCM2 5 2 6 Refer to the TCM2 5 2 6 Dimensional Specification later in this manual for the TCM2 5 2 6 board dimensions and the orientation of the reference frame The TCM2 5 2 6 is factory calibrated with respect to the mounting holes as shown below thus it must be aligned within the host system with respect to these mounting holes not
29. mands go Enter Continuous Sampling Mode PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 29 of 49 mpcal Multipoint Calibration Description Initiates a multipoint calibration This command is only valid when used in conjunction with Enter Continuous Sampling Mode go The TCM2 5 2 6 samples its sensors and adds the data point to the current set of calibration data Syntax mpcal e lt cr gt lt cr gt lt lf gt go lt cr gt oe Bass take data in continuous mode h lt cr gt or h lt cr gt lt lf gt mpcal d lt cr gt Valid Values Input Description e e enable multipoint calibration d d disable multipoint calibration default setting Table 8 Valid mpcal Values Output HnVnMn nn lt cr gt lt lf gt The TCM2 5 2 6 only reports a calibration score after it has been put in Standby mode h and multipoint calibration has been disabled mpcal d Example mpcal e lt cr gt lt cr gt lt lf gt go lt cr gt AA take data in continuos mode h lt cr gt lt cr gt lt lf gt mpcal d lt cr gt H4V3M5 00 lt cr gt lt lf gt This is an example of a poor score Query Response mpcal mpcal Related Commands Ic Query Last Calibration Score PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 30 of 49 sleep Sleep Mode Description Enters the sleep mode of operation This command turns off the internal clocks and the RS 232 chip Syntax sleep lt cr gt Out
30. ometer sensors then calculates and returns the compass heading When in Standby mode h use this command to query the compass reading regardless of whether compass data has been selected for inclusion in the output word Syntax c lt cr gt Output when compass units are set to degrees Cnnn n Ennn checksum lt cr gt lt lf gt lt cr gt lt 1lf gt when compass units are set to mils SCnnn n Ennn lt cr gt lt lf gt lt cr gt lt lf gt Resolution 0 1 or 2 mils Valid Values 0 to 359 9 or 0 to 6399 mils Example If TCM2 is configured for degrees c lt cr gt C255 5 Ennn checksum lt cr gt lt lf gt lt cr gt lt lf gt If TCM2 is configured for mils c lt cr gt C4480 Ennn checksum lt cr gt lt lf gt lt cr gt lt 1lf gt Related Commands uc Set Compass Units ec Compass Data Enable PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 23 of 49 i Inclinometer Update Description Samples and returns the pitch and roll inclinometer data When in Standby mode h use this command to query the inclinometer readings regardless of whether inclinometer data Syntax i lt cr gt has been selected for inclusion in the output word Output When the inclinometer units are set to degrees SP nn nR nn n Ennn checksum lt cr gt lt 1lf gt lt cr gt lt 1lf gt When inclinometer units set to mils SP nnnR nnn Ennn checksum lt cr gt l
31. ough the center of the wings These two rotations are independent of each other since the rotation axes rotate with the plane body For the TCM2 5 2 6 a positive pitch is when the front edge of the board is rotated upward and a positive roll is when the right edge of the board is rotated downward NEGATIVE Y N ROLL x AXIS POSITIVE NEGATIVE POSITIVE a AXIS Figure 3 TCM2 5 Pitch amp Roll Axes _ NORTH NEGATIVE C es ROLL N AXIS NEGATIVE POSITIVE PITCH AXIS Figure 4 TCM2 6 Pitch amp Roll Axes PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 20 of 49 Programming Commands Table 5 Command List Quick Reference Command Description Request for Data Commands c i Ic m s t Compass Update Inclinometer Update Query Last Calibration Score Magnetometer Update Single Update Output Word Temperature Update Action Commands cc factory go h halt mpcal sleep wake ax Clear Calibration Data Factory Settings Enter Continuous Mode Halt Continuous Sampling Enter Standby Enable Single Character Halt Multipoint Calibration Sleep Mode improved sleep mode over TCM2 Wake Mode requires separate program and connection of RTS pin Warm Reboot User Configuration Parameter Commands b damping eC em ep er et ma mag_dec sdo sn timeconst uc ui ut PNI Sensor Corporation Set Baud Rate Enable Filter for dam
32. ping of output Enable Compass Data for Output Word Enable Magnetometer Data for Output Word Enable Pitch Data for Output Word Enable Roll Data for Output Word Enable Temperature Data for Output Word Select Magnetometer Output Option Set Declination Angle Set RS232 Output Word Format Select Magnetic or True North Set the value for filtering damping of outputs Set Compass Units Set Inclinometer Units Set Temperature Units DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 21 of 49 Command differences between the TCM2 5 2 6 and previous TCM2 units To keep the software compatible with existing systems when any of the commands below are sent the unit will respond with the as if it had accepted the command Querying the command will result in an error code since the command is obsolete and not being used Command Description Commands not used for the TCM2 5 2 6 autocal Autocalibration Skip Skip measurements cclip Set Clip Value clock Set Clock rate ed Enable Magnetic Distortion Alarm fast Enable Fast Sampling sao Select Analog Output Option save Unit automatically saves any changed settings seriallp Lower Power Serial Consumption specific to older chip Table 6 TCM2 vs TCM2 5 2 6 Commands PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 22 of 49 Request for Data Commands Query Commands c Compass Update Description Samples the magnetometer and inclin
33. put Example Related Commands wake Wake Mode wake Wake Mode Note Only used with the TCM2 5 Description Enters the wake mode of operation To wake the TCM2 5 a falling edge on the int2 interrupt 2 pin of the processor is required This is achieved by connecting pin 6 of the TCM2 5 connector to the RTS pin pin 4 on a DB25 and pin 7 on a DB9 of the COM port A sample wake c program example is provided at the end of this document To wake the TCM2 6 toggle RxD line Syntax wake lt cr gt Output Example Related Commands sleep Sleep Mode PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 31 of 49 User Configuration Parameter Commands The following commands allow you to set and query the values of the TCM2 5 2 6 s user configura tion parameters These parameters specify how the TCM2 5 2 6 will operate such as damping baud rate and so on The TCM2 5 2 6 stores all parameter values in EEPROM when specified so that after a reboot or power cycling it will return to the last configuration set Note that any parame ter that specifies a numeric value must be specified with the appropriate units of the current setting b Set Baud Rate Description Sets the baud rate for the RS232 interface Note This is now an immediate command and a reset is no longer required Syntax b n lt cr gt Output lt cr gt lt lf gt Valid Values Input Baud Rate 1 300 2 1200 3 2400 4 4800 5 9600 defa
34. r Ground RxD RS 232 5 to 5V TxD RS 232 5 to 5V or 12 to 12V RTS Wake from Sleep Data Ground NC NC H Pns E Orange a Red T Black E A Blue Yellow Whe _ Green Caaan E zd Brown i p Purple Pin 10 T owy KZ r amp LAB See DEMILA 6 1 Figure 6 3 Cable Drawing PIN Wire Color 1 Orange 2 Red 3 Black 4 Blue 5 Yellow 6 White 7 Green 8 Brown 9 Purple 10 Gray Data Ground Table 26 Molex Connector TCM2 5 Pin Descriptions PNI Sensor Corporation TCM2 5 amp TCM2 6 User Manual DOC 1009269 r11 Page 47 of 49 TCM2 6 Board and Cable The default orientation for the TCM2 6 is for the silk screened arrow to point in the forward direction That puts the edge opposite of the Molex connector as the front edge of the board lt a T E 200 J O71 se 10 303 J 406 jean 319 E 00000 660000 So x ls 1 588 N MATES WITH MOLEX 0625 PN 51146 0900 E ma Jy INCHES Figure 7 TCM2 6 Board Drawing PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 48 of 49 18 in Cable Assembly at 18 0 INCHES 0 25 INCH LS INCHES 0 20 INCH ani L0 INCHES 0 20 INCH Figure 8 18 Cable Drawing 3 0 INCHES D20 INCH PIN Wire Color Description 1 Black Power Ground 2 Gray NC 3 Green RS232 Ground 4 Orange NC 5 Violet NC 6 Brown NC 7 Yellow TxD 8 Bl
35. r counter circuit which is inherently free from offset drift The TCM2 5 2 6 s advantages make it suitable for many applications including Remote terrestrial antenna direction indicators Side scan sonar ROV AUV control Survey equipment Robotics systems Vehicle detection With its many potential applications the TCM2 5 2 6 provides a command set designed with flexibil ity and adaptability in mind Many parameters are user programmable including reporting units a wide range of sampling configurations output damping and more We hope the TCM2 5 2 6 will help you to achieve the greatest performance from your target system Thank you for selecting the TCM2 5 2 6 PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 3 of 49 PIN O oOIr NI aJ aj AJOJI NJ oO Installation This section describes how to configure program and control the TCM2 5 2 6 in your host system To install the TCM2 5 2 6 into your system follow these steps e Make electrical connections to the TCM2 5 2 6 e Evaluate the TCM2 5 2 6 using the included TCM Studio Program e Choose a mounting location e Mechanically mount the TCM2 5 2 6 e Perform user calibration Electrical Connections Included with the TCM2 5 2 6 Interface Kit is a cable to allow for the unit to be connected to your host system On one end of the cable is the connector needed to mate with the TCM2 5 2 6 The cable s wires are color coded as indicated
36. rial data with the TCM2 5 2 6 The most direct means is to run any modem or terminal emulation software Specify the COM port that you have the TCM2 5 2 6 connected to and set the baud rate to the same baud rate of the TCM2 5 2 6 The default baud rate for the TCM2 5 2 6 is 9600 Remember that the TCM2 5 2 6 does not echo characters by default so you may wish to select the echo output option in your terminal emulation program or press lt Ctr1 gt e on the keyboard TCM Studio Evaluation Program The TCM2 5 2 6 evaluation software communicates with the TCM2 5 2 6 through the COM port of your PC It provides an easy to use interface so that instead of issuing command codes manually you can use buttons check boxes and dialog boxes It reads the Binary responses of the TCM2 5 2 6 output strings and formats its sensor data into labeled and easy to read data fields The program also includes the ability to log and save the outputs of the TCM2 5 2 6 to a file All of this is so that you may begin to learn the capabilities of the TCM2 5 2 6 while using the TCM Studio program s more friendly interface To install the TCM Studio program onto a Windows system Drag the TCM Studio exe to the working directory of your computer 2 Move the Quesa plug in Quesa dll into either the Windows System or System32 folder Quesa is the OpenGL rendering engine and the 3D Model of the TCMStudio will not run without it e For Windows 2000 NT copy to
37. rmat for exchange of a variety of navigation information GPS radar compass and so on In the NMEA output format only compass heading information is available Inclinometer magnetometer thermometer data and the distortion detection warning are all unavailable SHCHDM lt compass gt M checksum lt cr gt lt 1f gt for magnetic heading For example SHCHDM 182 3 M checksum lt cr gt lt l1f gt for magnetic heading 182 3 The checksum value is the result of XOR ing the ASCII bytes between the and characters This one byte value is reported in the output word by two ASCII characters representing two hex digits with the most significant nibble first For example A3 lt cr gt lt 1 gt indicates that the output word has a decimal checksum value of 163 PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 12 of 49 TCM2 5 2 6 Standard Output The TCM2 5 2 6 standard output format may be configured to provide all of the sensor data parameters available or only those parameters required C lt compass gt P lt pitch gt R lt roll gt X lt Bx gt Y lt By gt Z lt Bz gt T lt temp gt E lt error code gt checksum lt cr gt lt 1f gt View the sections covering the commands c Compass Update m Magnetometer Update i Inclinometer Update t Temperature Update for detailed information regarding the character formatting and resolution of the values for each of the data parameters in
38. s you specific legal rights and you may have other rights that vary by state or province PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 2 of 49 About the TCM2 5 2 6 Thank you for purchasing the TCM2 5 2 6 The TCM2 5 has been designed as a drop in replacement for PNI Corporation s TCM2 family of products The TCM2 5 uses the same board size interface connector and RS 232 protocol as the TCM2 modules to allow for ease of integration with existing systems The TCM2 6 has all the features of the TCM2 5 but is about half the size and weight and has an extended temperature range The TCM2 5 2 6 are the choice for existing applications that require compatibility with PNI Corporation s TCM2 family of products The TCM2 5 2 6 integrates 3 axis magnetic field sensing 2 axis tilt sensing and compass heading into a single module Advantages include compatibility with existing systems low power consumption large signal noise immunity under all conditions and a large magnetic field measurement range The TCM2 5 2 6 combines PNI Corporation s patented Magneto Inductive MI sensors and measurement circuit technology with a MEMS accelerometer for unparalleled cost effectiveness and performance The MI sensor changes inductance by 100 over its field measurement range This variable inductance property is used in a cost and space efficient ASIC PNI 11096 which incorporates a temperature and noise stabilized oscillato
39. t lf gt lt cr gt lt lf gt Resolution 0 1 or 2 mils Valid Values Oto 80 or 0 Example i lt cr gt P 30 0R 20 1 to 1421 6 mils Ennn checksum lt cr gt lt lf gt lt cr gt lt lf gt Related Commands ep Enable Pitch er Enable Roll PNI Sensor Corporation TCM2 5 amp TCM2 6 User Manual DOC 1009269 r11 Page 24 of 49 Ic Query Last Calibration Score Description Reports the score generated by the last calibration procedure executed as stored in EEPROM Use this command to recall the quality of the last calibration procedure Syntax lco lt cr gt Output HnVnMn nn lt cr gt lt 1lf gt Valid Values 0 9 for H and V Example lc lt cr gt H7V8M8 00 lt cr gt lt 1f gt An example of a poor score Related Commands mpcal Multipoint Calibration m Magnetometer Update Description Samples and returns the X Y and Z axes of magnetometer data When in Standby mode h use this command to query the magnetometer readings regardless of whether magnetometer data has been selected for inclusion in the output word Syntax m lt cr gt Output SX nn nnyY nn nnZ nn nn Ennn lt cr gt lt lf gt lt cr gt lt lf gt Resolution 0 01 uT Valid Values Oto 79 9 uT Example m lt cr gt S X25 00Y10 502 03 00 Ennn checksum lt cr gt lt lf gt lt cr gt lt lf gt PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 25 of 49 Related Commands em Enable Magn
40. the board edges MOLEX KK 100 PITCH STRAIGHT HEADER ASSY 10 PIN o 2X 1 900 o So x N z 0 j 7 2X N gt 9O0OOOO0O U eo 60 eo h 28 m o ps n E L a 319 i U Q mig O 2x 2 400 386 J l 4X 6 116 MOUNTING BLOCK CLEARANCE FOR 4 40 TAKING FASTENER Figure 1 TCM2 5 Mounting Diagram foe Q m 116 Xo CLEARANCE FOR 4 40 FASTENER D ES 2X 1 575 cp OF MOUNTING BLOCK STAKING g O0000 0000 2X 118 J Ney NZ 7 Figure 2 TCM2 6 Mounting Diagram PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 11 of 49 Using the TCM2 5 2 6 RS232 Data Output Word The TCM2 5 2 6 sends an output word in ASCII across the RS232 serial link when issued the s Single Output Word command or when in go Continuous Sampling mode This data output word may be configured by the user for the desired format and configuration You may select either NMEA 0183 or TCM2 standard output word formats with the sdo Set RS 232 Output Word command NMEA 0183 Format The TCM2 5 2 6 can be configured to conform to the NMEA National Maritime Electronics Association 0183 specification which describes a standard RS232 bus fo
41. the host system s attitude changes allowing the TCM2 5 2 6 to accurately compensate in all pitch and roll orientations Gimbaled fluxgates for instance are unable to provide accurate calibration in non level orientations because its magnetometers being gimbaled change position with respect to the host system as attitude changes This presents a different local distortion field than that measured during calibration PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 17 of 49 Multipoint Calibration mpcal Key Points Tilt as much as possible during the calibration This allows the compass to take full advantage of the 3 axis magnetometer Move slowly take as much as 30 seconds to complete a circle You are trying to get an even sampling of the magnetic field over as many headings and tilts as possible Pay attention to the calibration score Performance will be compromised if you accept a low score If you get a poor calibration clear it before making a new calibration Procedure Clear any previous calibration by sending cc 2 Enable multipoint calibration by sending mpcal e 3 Put the TCM2 5 2 6 into continuous mode by sending go 4 Begin rotating the TCM2 5 2 6 in a circle while applying pitch and roll to the unit The unit will have the appearance of a wobbling top as it is moved through the calibration routine e Turn the TCM2 5 2 6 around at least twice changing the pitch and roll as much
42. the output word Example The TCM2 5 2 6 will return the following C328 3P28 4R 12 4X55 11Y12 332 18 43T22 3E001 checksum lt cr gt lt 1lf gt under the following conditions e compass heading 328 3 true or magnetic depending on configuration e pitch 28 4 e roll 12 4 e Bx 55 11uT x component of magnetic field e By 12 33 uT y component of magnetic field e Bz 18 43 uT z component of magnetic field e Temperature 22 3 F C depending on configuration e E001 Distortion flag is raised magnetic anomaly nearby Any parameters not enabled are not included in the output word For example C328 3T22 3 checksum lt cr gt lt 1f gt for compass and thermometer information only The checksum value is computed and reported identically to that for the NMEA output format PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 13 of 49 Command Syntax There are three types of commands you may issue to the TCM2 5 2 6 e User Configuration Parameter commands which set user definable parameters e Request for Data commands which query the TCM2 5 2 6 for data or for the stored value of user definable parameters e Action commands which prompt the TCM2 5 2 6 to perform a specific action All commands must be followed with a lt cr gt or lt cr gt lt lf gt The lt lf gt characters are ignored by the TCM2 5 2 6 but are supported to allow compatibility with a variety of terminals
43. ue North Description Selects either magnetic or true north True North sets the heading reference to True North or Magnetic North If the value is set to true then declination is applied to get the True North heading Syntax sn n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description t True North m Magnetic North default setting Table 19 Valid sn Values Example sn t lt cr gt Ithe declination angle set with mag_dec is added to the Icomputed heading lt cr gt lt lf gt Query Response sn sn Related Commands mag_dec Set Declination Angle PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 39 of 49 Sp Set Sampling Period Description This command is used to set the sampling rate at which the data will be output in Hz NOTE The function of this command has changed from the TCM2 in which the sp was the clock divisor to derive the output rate Syntax sp n lt cr gt Output Ennn lt cr gt lt 1f gt Valid Values Input Description 1 1 Hz output rate 2 2 Hz output rate 3 3 Hz output rate 4 4 Hz output rate 5 5 Hz output rate 6 6 Hz output rate 7 7 Hz output rate 8 8 Hz output rate default Table 20 Valid sp Values Example sp 4 lt cr gt loutput rate 4 Hz s lt ecr gt lt 1t gt Query Response sp Sp PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 40 of 49 timeconst Set Time Constant for Digital Damping Des
44. ue RxD 9 Red 5 VDC Table 27 Molex Connector TCM2 6 Pin Description PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 49 of 49
45. ult setting 6 19200 7 38400 8 115200 Table 9 Valid b Values Example b 5 lt cr gt Iset baud rate to 9600 baud lt cr gt lt lf gt Query Response b p PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 32 of 49 damping Set Digital Damping Description Enables or disables filtering of the output Syntax damping n lt cr gt Output Ennn lt cr gt lt lf gt Valid Values Input Description e enable damping d disable damping default setting Table 10 Valid damping values Example damping e lt cr gt lenable damping lt cr gt lt lf gt Query Response damping damping Related Commands timeconst set time constant for digital damping ec Enable Compass Data for Output Word Description Enables or disables compass data for inclusion in the TCM2 5 2 6 Standard Output Word Syntax ec n lt cr gt Output Ennn lt cr gt lt lf gt PNI Sensor Corporation DOC 1009269 r11 TCM2 5 amp TCM2 6 User Manual Page 33 of 49 Valid Values Input Description e Compass data enabled It will be included in the output word Default setting d Compass data disabled It will be excluded in the output word Table 11 Valid ec Values Example ec e lt cr gt linclude compass data in output word lt cr gt lt lf gt Query Response ec ec em Enable Magnetometer Data for Output Word Description Enables or disables magnetometer data for inclusion in the TCM2 5 2 6 Standard Output Word
46. warranty will be void if the Products serial number or other identification marks have been defaced damaged or removed This warranty does not cover wear and tear due to normal use or damage to the Product as the result of improper usage neglect of care alteration accident or unauthorized repair THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WARRANTY WHETHER EXPRESS IMPLIED OR STATUTORY INCLUDING BUT NOT LIMITED TO ANY WARRANTY OF MERCHANTABILITY FITNESS FOR ANY PARTICULAR PURPOSE OR ANY WARRANTY OTHERWISE ARISING OUT OF ANY PROPOSAL SPECIFICATION OR SAMPLE PNI NEITHER ASSUMES NOR AUTHORIZES ANY PERSON TO ASSUME FOR IT ANY OTHER LIABILITY If any Product furnished hereunder fails to conform to the above warranty OEM s sole and exclusive remedy and PNI s sole and exclusive liability will be at PNI s option to repair replace or credit OEM s account with an amount equal to the price paid for any such Product which fails during the applicable warranty period provided that i OEM promptly notifies PNI in writing that such Product is defective and furnishes an explanation of the deficiency 11 such Product is returned to PNI s service facility at OEM s risk and expense and 111 PNI is satisfied that claimed deficiencies exist and were not caused by accident misuse neglect alteration repair improper installation or improper testing If a Product is defective transportation charges for the return of the Product to OEM
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