Datasheet - Mouser Electronics
Contents
1. Data sheet MTi 1 series 3D AHRS VRU IMU module Features Full featured AHRS on 12 1 x 12 1 mm module Roll pitch accuracy dynamic 1 0 deg RH Heading accuracy 2 0 deg Minimal requirements on host processor Uniform interface over product lifetime o No hardware software interface changes o NoEOL Always best in class inertial sensors incorporated Industry leading signal processing pipeline AttitudeEngine with vibration rejection Robust and accurate orientation algorithm XKF3 API compatible with all Xsens Motion Trackers o Drivers and examples on ARM mbed Low power 45 mW 3 0V Applications Miniature aerial vehicles RH Heavy machinery agriculture Robotics pedestrian dead reckoning Industrial grade VR AR HMD s and handheld devices Related Resources www xsens com MTi 1 series MTi 1 series DK User Manual MT0513P MI Low Level Communication Protocol Documentation MT0101P MTi White Paper Next generation Xsens Motion Trackers for Industrial applications Document MT0512P Revision A 8 Jul 2015 Description The MTi 1 series is a module outputting 3D orientation 3D rate of turn 3D accelerations and 3D magnetic field depending on the product configuration It is available as an Inertial Measurement Unit IMU Vertical Reference Unit VRU or Attitude and Heading Reference System AHRS This fully functional self contained modu2. Supported by the MTi 3 module e Low_mag_dep heading corrections are less dependent on the magnetic field measured Heading is still based on magnetic field but more distortions are expected with less trust being placed on magnetic measurements Supported by the MTi 3 module e VRU_ general Roll and pitch are the referenced to the vertical gravity yaw is determined by stabilized dead reckoning referred to as Active Heading Stabilization AHS which significantly reduces heading drift see also section 7 2 Consider using VRU_general in environments that have a heavily disturbed magnetic field The VRU_ general filter profile is the only filter profile available for the MTi 2 VRU also supported by the MTi 3 module WwWW xsens comM 10 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 2 2 3 Frames of reference used in MTi 1 series The MTi 1 series module uses a right handed coordinate system as the basis of the sensor of frame The following data is outputted in corresponding reference coordinate systems Data Symbol Reference coordinate system Acceleration ax Ay az Sensor fixed Rate of turn Wx Wy Wz Sensor fixed Magnetic field Mx My Mz Sensor fixed Free acceleration Ax ay az Local Tangent Plane LTP default ENU Velocity increment Avx AVy AN Local Tangent Plane LTP default ENU Orientation increment Aqo Aqi Aq2 Aqs Local Tangent Plane LTP default ENU Ori
3. 9 TRADEMARKS AND REVISIONS eigene Edge E Eeer 24 OT E EEN 24 G 2 e EE 24 www xsens com 2 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 1 General information 1 1 Ordering Information Packing MTi 1 8A7G6 IMU inertial data PCB JEDEC PLCC 28 compatible Tray MOQ 20 VRU inertial data roll pitch l MTi 2 8A7G6 TR20 referenced yaw unreferenced PCB JEDEC PLCC 28 compatible Tray MOQ 20 MTi 3 8A7G6 TR20 AHRS inertial data roll pitch yaw PCB JEDEC PLCC 28 compatible Tray MOQ 20 Development kit for MTi 1 series Other packaging methods available on request gt 1k units Contact Xsens for more information 1 2 Block Diagram Output Message Generator Attitude Engine Strapdown Integration SDI E Q EZ D ki 2 T O Xbus f NMEA Calibration s Timing Settings and Output data and calibration format sampling values ODR VDDIO 1 8 to VDD VDD 2 16 to 3 45V Figure 2 MTi 1 series module block diagram www xsens com 3 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 1 3 Typical Application VDD 2 16 to 3 45 V VDDIO 1 8 V to VDD I I2C_CLK Xsens 2 drivers 4 DC DATA p source Attitude Engine GPIO 1 4 Pin Configuration Oo 25 GND nRST 6 UART_ TX or 12C SCL VDDIO UART RX or I2C SDA DRDY or nRE or CTS SPI_nCs 9 DE or RTS SPI_MOSI or ADD2
4. the AttitudeEngine outputting orientation and velocity increments Aq and Av The 3D acceleration is also available as so called free acceleration which has gravity subtracted Although the yaw is unreferenced though still superior to gyroscope integration With the feature Active Heading Stabilization AHS see section 7 2 the drift in unreferenced yaw can be limited to 1 deg after 60 minutes even in magnetically disturbed environments 2 1 3 MTi 3 AHRS The MTi 3 supports all features of the MTi 1 and Mit 2 and in addition is a full gyro enhanced Attitude and Heading Reference System AHRS It outputs drift free roll pitch and true magnetic North referenced yaw and sensors data 3D acceleration 3D rate of turn as well as 3D orientation and velocity increments Ag and Av and 3D earth magnetic field data Free acceleration is also available for the MTi 3 AHRS WwWwWw xsens comM Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 2 2 Signal processing pipeline The MTi 1 series is a self contained module so all calculations and processes such as sampling coning and sculling compensation and the Xsens XKF3 sensor fusion algorithm run on board 2 2 1 Strapdown integration The Xsens optimized strapdown algorithm AttitudeEngine performs high speed dead reckoning calculations at 1 kHz allowing accurate capture of high frequency motions This approach ensures a high bandwidt
5. 04 00 21 49 AF DatalD 0x1060 Sample Time fine length 0x04 data 40 10 OC 39 B9 D8 00 B7 DD 80 00 3C C9 2698 DatalD 0x4010 velocity increment length Ox0C data 80 30 10 3F 80 00 01 B6 ED 60 01 36 94 AO 00 DatalD 0x8030 orientation increment length 0x10 data 36 1E 60 00 EO 20 04 00 00 00 87 DatalD 0xE020 StatusWord length 0x04 data www xsens com 19 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 6 4 Synchronization and timing The MTi 1 series modules can easily be synchronized with other sensors or sensor systems The MTi accepts a pulse and can then transmit the latest available data This SYNC_IN functionality does not influence the accuracy of the data as internally the MTi 1 series keeps estimating the orientation at its maximum frequency Acceleration data and rate of turn data is also outputted with the shortest possible latency The Sync Settings are set with the SetSyncSettings message SetSyncSettings MID 44 0x2C DATA Setting List N 12 bytes Set the synchronization settings of the device Settings Each setting describes either a system event that should trigger a sync in event that should trigger a system action SYNC _IN setting Offset Setting Size Description bytes bytes 0 Function 1 Value 8 Send Latest 1 Line 1 Value 2 SYNC_IN 2 Polarity 1 Which line transition to respond to One of Rising Edge 1 Falling Edge 2 or Both 3 Ignored for
6. 2 7kO VDDIO nRST VDD VDDIO VDD GND GND MTi 1 series Y MTi 1 series PC UART full duplex UART_TX UART_RX CTS PSELO PSEL1 d GND only if CTS is not used GND GND e Reset Figure 8 External components I C interface Figure 9 External components UART interface www xsens com 8 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 2 MtTi 1 series architecture This section discusses the MTi 1 series architecture including the various configurations and the signal processing pipeline 2 1 MTi 1 series configurations The MTi 1 series is a fully tested self contained module that can 3D output orientation data Euler angles roll pitch yaw rotation matrix DCM and quaternions orientation and velocity increments Aq and Av and sensors data acceleration rate of turn magnetic field The MTi 1 series module is available as an Inertial Measurement Unit IMU Vertical Reference Unit VRU and Attitude and Heading Reference System AHRS Depending on the product output options may be limited to sensors data and or unreferenced yaw All MTi s feature a 3D accelerometer gyroscope combo sensor a magnetometer a high accuracy crystal and a low power MCU The MCU coordinates the synchronization and timing of the various sensors it applies calibration models e g temperature modules and output settings and runs the sensor fusion algorithm The MCU also generates output messag
7. 20 DNC SPI_MISO or ADD1 11 19 DNC SEFFEEER oO u D 5 OD O O aia e Ke KC w www xsens com 4 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 1 5 Pin map The pin map depends on the peripheral selection See section 1 7 on how to set the peripherals deeg eg PSEL PSEL UART half E UART full ae e oe sms me Oo oe o M sos ee one n p m ee PSELO PSELO PSELO PSELO PSEL1 PSEL1 PSEL1 PSEL1 GONG IN SYNC_IN SYNC_IN SYNC_IN l2C_SDA l2C_SCL LI Z O me Re IFC addresses see Table 2 List of 1 C addresses 2 CTS cannot be left unconnected if the interface is set to UART full duplex If HW flow control is not used connect to GND www xsens com 5 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 1 6 Pin Descriptions Name Te Gene o Power Interface Controls PSELO These pins determine the signal interface See table below Note that when the Selection pins PSELO PSEL1 is not connected its value is 1 When PSELO PSEL1 is connected PSEL1 to GND its value is 0 msr ____ Active ow reset pin connectto VDDIOWnotused Selection pins IPC address selection lines Signal Interface SPI_nCS SPI chip select SPI_MOSI SPI serial data input slave SPI interface SPI_MISO SPI serial data output slave SPI SCK SPI serial clock SYNC_IN accepts a trigger which has the following functionality depending on the configurati
8. The value is formed by doing a bitwise OR of the available fields 6 XDA Xsens Device API Communication protocol in C to be used on external processors www xsens com 18 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series Precision oF Single precision IEEE 32 bit floating point number Float32 Sp RE ou Fined point Ennen ae a Genee S oa EastNonh Up coordinate system om oe Nort East Down coordinate system mp oe nowe wu Example the DatalD for quaternions in NED coordinate system with fixed point 16 32 number format is represented as 0x2016 Fixed point 16 32 48 bit number Fp1632 6 3 MTData2 Data is represented in the MT Data2 message MTData2 MID 54 0x36 DATA DATA length variable The MTData2 message contains output data according the current OutputConfiguration An MTData2 message consists of one or more packets each containing a specific output The layout of an MTData2 message is shown below XBus Packet 1 Packet 2 Packet N CS header An example data message is depicted below explanation of the message divided into parts in the table FA FF 36 35 10 20 02 51 BC 10 60 04 00 21 49 AF 40 10 OC 39 B9 D8 00 B7 DD 80 00 3C C9 26 98 80 30 10 3F 80 00 01 B6 ED 60 01 36 94 AO 00 36 1E 60 00 EO 20 04 00 00 00 87 AO FA FF 36 35 Xbus Header with total length of message 0x35 10 20 02 51 BC DatalD 0x1020 Packet counter length 0x02 data 0x51 BC 10 60
9. CS HH 7 x 16 00 CN INNT a GR teg asa oa TN AA be oat beatae Sg 20 x 14 65 293 0 Figure 13 A tray containing 20 MTi 1 series modules 8 3 Reflow specification The moisture sensitivity level of the MTi 1 series modules corresponds to JEDEC MSL Level 3 see also e IPC JEDEC J STD 020E Joint Industry Standard Moisture Reflow Sensitivity Classification for non hermetic Solid State Surface Mount Devices e IPC JEDEC J STD 033C Joint Industry Standard Handling Packing Shipping and Use of Moisture Reflow Sensitive Surface Mount Devices The sensor fulfils the lead free soldering requirements of the above mentioned IPC JEDEC standard i e reflow soldering with a peak temperature up to 260 C Recommended Preheat Area ts is 80 100 sec The minimum height of the solder after reflow shall be at least 50um This is required for good mechanical decoupling between the MTi 1 series module and the printed circuit board PCB it is mounted on Assembled PCB s may NOT be cleaned with ultrasonic cleaning T rae ham Max Ramp Down Rate 6 C s fe TL gt a Ben e 25 IPC 020e 5 1 www xsens com 23 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 9 Trademarks and revisions 9 1 Trademarks 2005 2015 Xsens Technologies B V All rights reserved Information in this document is subject to change without notice Xsens MVN MotionGrid MTi MTi G MTx MT
10. MTi 1 series Skip First 2 The number of initial events to skip before taking action 6 Skip Factor 2 The number of events to skip after taking the action before taking action again 8 Ignored for MTi 1 series 10 Delay or Clock 2 Delay after receiving a sync pulse to taking action period 100us units range 0 60000 www xsens com 20 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 7 Magnetic interference Magnetic interference can be a major source of error for the heading accuracy of any Attitude and Heading Reference System AHRS As an AHRS uses the magnetic field to reference the dead reckoned orientation on the horizontal plane with respect to the magnetic North a severe and prolonged distortion in that magnetic field will cause the magnetic reference to be inaccurate The MTi 1 series module has several ways to cope with these distortions to minimize the effect on the estimated orientation 7 1 Magnetic Field Mapping When the distortion is deterministic i e when the distortion moves with the MTi the MTi can be calibrated for this distortion this type of errors are usually referred to as soft and hard iron distortions The Magnetic Field Mapping procedure compensates for both hard iron and soft iron distortions In short the magnetic field mapping calibration is performed by moving the MTi together with the object platform that is causing the distortion On an external computer W
11. entation Euler angles quaternions or rotation matrix Local Tangent Plane LTP default ENU Local Tangent Plane LTP is a local linearization of the Ellipsoidal Coordinates Latitude Longitude Altitude in the WGS 84 Ellipsoid Figure 10 Default sensor fixed coordinate system for the MTi 1 series module lt is straightforward to apply a rotation matrix to the MTi so that the velocity and orientation increments free acceleration and the orientation output is output using that coordinate frame The default reference coordinate system is East North Up ENU and the MTi 1 series has predefined output options for North East Down NED and North West Up NWU Any arbitrary alignment can be entered These orientation resets have effect on all outputs that are by default outputted with an ENU reference coordinate system www xsens com 11 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 3 3D Orientation and performance specifications 3 1 3D Orientation specifications Table 3 Orientation specifications Parameter Typ Unit Comments Roll pitch Static 0 75 deg Dynamic 1 0 deg Yaw Static dynamic 2 0 deg MTi 3 AHRS only in a homogenous magnetic field heading Magnetic field referenced and a filter profile using magnetic field as reference VRU_ general filter profile lt 1 deg after Active Heading Stabilization AHS feature See unreferenced yaw 60 min section 7 2 for more information Output data
12. es according to the proprietary XBus communication protocol The messages and the data output are fully configurable so that the MTi 1 series limits the load and thus power consumption on the application processor 2 1 1 MTi 1 IMU The MTi 1 module is an Inertial Measurement Unit IMU that outputs 3D rate of turn 3D acceleration and 3D magnetic field The MTi 1 also outputs coning and sculling compensated orientation increments and velocity increments Aq and Av from its AttitudeEngine Advantages over a gyroscope accelerometer combo sensor are the inclusion of synchronized magnetic field data on board signal processing and the easy to use communication protocol Moreover the testing and calibration performed by Xsens result in a robust and reliable sensor module that can be integrated within a short time frame The signal processing pipeline and the Suite of output options allow access to the highest possible accuracy at any bandwidth limiting the load on the application processor 2 1 2 MTi 2 VRU The MTi 2 is a 3D vertical reference unit VRU Its orientation algorithm XKF3 outputs 3D orientation data with respect to a gravity referenced frame drift free roll pitch and unreferenced yaw In addition it outputs calibrated sensor data 3D acceleration 3D rate of turn and 3D earth magnetic field data All modules of the MTi 1 series are also capable of outputting data generated by the strapdown integration algorithm
13. esaes 8 2 MTI 1 SERIES ARCHITECT URE ee eg EEN ENNEN E EEN ENEE E EEN ENEE EEN 9 2 1 MTI 1 SERIES CONFIGURATIONS s cicwitsiniiensinweevaiwaaininieniein ENEE NEEN NEEN ENEE NENNEN 9 2 1 1 WA IS NEE 9 2 1 2 MEHZ VRO EE 9 2 1 3 EE 9 22 SIGNAL PR Oe SING PIPELINE EE 10 2 2 1 Strapdown integration EE 10 2 2 2 XKF3 Sensor Fusion Algorithm ccccccecceccecceceececceccensececeeceesensuneceesenteneeseeceeseneeneeneetensaneeneeneesensenenes 10 2 2 3 Frames of reference used in MII lseries 11 3 3D ORIENTATION AND PERFORMANCE SPECIFICATIONS see 12 3 1 3D ORIENTATION SPECIFICATIONS EE 12 3 2 SENSORS SPECIFICATIONS ee g 12 4 SENSOR CALIBRA ION EE 14 5 SYSTEM AND ELECTRICAL SPECIFICATIONS usannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 15 5 1 REEGELE 15 5 2 SYSTEM SPECIFICATIONS EE 15 E SE Reg eeler Ne 16 5 4 ABSOLUTE MAXIMUM RATINGS g t skieteegageakeee ee ee da SSES E ANE ER NEEE Eeer RES eelere ae sei 16 6 MTI 1 SERIES SETTINGS CNEL 17 6 1 MESSAGE 57118 0 EE 17 EENEG ee 18 Be IMD EE 19 6 4 SYNCHRONIZATION AND TIMING cccecceccecccccenccaceccecuccccecnecacecuecueecuecnecaeenuesueenuennecneesuecneunuennecueennecneennenueenstanenneeanes 20 7 MAGNETIC INTERFERENCE cic cesctecisstessisieraisitesrediedre ENEE NENNEN ENNEN ENEE ENNEN EEN 21 7 1 MAGNETIC FIELD REENEN 21 7 2 ACTIVE HEADING STABILIZATION LAHS 21 8 PACKAGE AND ENNEN eeneg gege 22 8 1 PACKAGE RT EE 22 82 e E LEE 23 g3 REE e E en e EE 23
14. h Orientation and velocity increments are calculated with full coning and sculling compensation At an output data rate of up to 100 Hz no information is lost yet the output data rate can be configured low enough for systems with limited communication bandwidth These orientation and velocity increments are suitable for any 3D motion tracking algorithm Increments are internally time synchronized with the magnetometer data 2 2 2 XKF3 Sensor Fusion Algorithm XKF8 is a sensor fusion algorithm based on Extended Kalman Filter framework that uses 3D inertial sensor data orientation and velocity increments and 3D magnetometer also known as 9D to optimally estimate 3D orientation with respect to an Earth fixed frame XKF3 takes the orientation and velocity increments together with the magnetic field updates and fuses this to produce a stable orientation roll pitch and yaw with respect to the earth fixed frame The XKF3 sensor fusion algorithm can be processed with filter profiles These filter profiles contain predefined filter parameter settings suitable for different user application scenarios The following filter profiles are available e General suitable for most applications Supported by the MTi 3 module e Dynamic assumes that the motion is highly dynamic Supported by the MTi 3 module e High_mag_dep heading corrections rely on the magnetic field measured To be used when magnetic field is homogeneous
15. indows or Linux the results are processed and the updated magnetic field calibration values are written to the non volatile memory of the MTi 1 series module The magnetic field mapping procedure is extensively documented in the Magnetic Field Mapper User Manual MT0202P available in the MT Software Suite 7 2 Active Heading Stabilization AHS It is often not possible or desirable to connect the MT 1 series module to a high level processor host system so that the Magnetic Field Mapping procedure is not an option Also when the distortion is non deterministic the Magnetic Field Mapping procedure does not yield the desired result For all these situations the on board XKF3 sensor fusion algorithm has integrated an algorithm called Active Heading Stabilization AHS The AHS algorithm delivers excellent heading tracking accuracy Heading tracking drift in the MTi 1 series can be as low as 1 deg per hour while being fully immune to magnetic distortions AHS is only available in the VRU_general filter profile This filter profile is the only filter profile in the MTi 2 VRU and one of the 5 available filter profiles in the MTi 3 AHRS WwWW xsens comM 21 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 8 Package and handling Note that this is a mechanical shock g sensitive device Proper handling is required to prevent damage to the part Note that this is an ESD sensitive device P
16. le is easy to design in with limited hardware components to be added The fully documented industry standard communication protocol allows for customization of the data message in terms of data frequency and output format Signals are fully processed onboard requiring very little resources from the host and is very well suited for applications in simple MCU operated environments The host can read out the data over SPI SC or UART With a roll pitch accuracy of 1 0 RMS and yaw accuracy of 2 RMS under dynamic conditions the output is excellent for control and stabilization of any object and navigation of e g unmanned vehicles i Product MTi 1 MTi 2 MI IMU VRU AHRS Motion data Magnetic field Roll pitch Heading tracking Referenced yaw Figure 1 MTi 1 series Wwww xsens com Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series Table of Contents EEGENEN 2 1 GENERAL ANCIEN ugeet ee 3 1 1 ORDERING INFORIWIATION geed deed 3 ede BLOCKDIAGRAM WEE 3 1 3 TYPICAL APPLICATION EE 4 1 4 PIN CONFIGURATION EE 4 De Gr EE EE 5 1 6 ae lte 6 1 7 PERIPHERAL INTERFACE SELECTION ENNEN 6 1 7 1 PC e 4 1 7 2 H EE 7 1 7 3 UART hal ON ON orere niee EE vee ETEA EEEE EAEE EEEE 1 7 4 UART full duplex with RTS CTS flow contra 8 1 8 RECOMMENDED EXTERNAL COMPONENTS cecceccecceccsccccccceccccenceaccncencenceaceaeneencensennensenceenaenaenauscensenseseeaeecesaesuenesa
17. on LLCP The Output Configuration message sets the output of the device Each data message has a DatalD which consists of a data type and a number format The table below shows the most important MTData2 Data identifiers The message SetOutputconfiguration holds the DatalD and the output frequency SetOutputConfiguration MID 192 OxCO DATA OutputConfig N 4 bytes Set the output configuration of the device The data is a list of maximum 32 data identifiers combined with a desired output frequency The response message contains a list with the same format but with the values actually used by the device Each entry in the list contains Offset Value 0 Data Identifier 2 bytes 2 Output frequency 2 bytes Group Name Type Name XDA type name Hex Value Timestamp XDL_TimestampGroup Packet Counter XDI PacketCounter 1020 Sample Time Fine XDI SampleTimeFine 1060 Orientation Data XDL_OrientationGroup Quaternion XDI Quaternion 201y Rotation Matrix XDI_RotationMatrix 202y Euler Angles XDI_EulerAngles 203y Acceleration XDL AccelerationGroup Delta V dv XDI_DeltaV 401y Acceleration XDI_Acceleration 402y Free Acceleration XDI_FreeAcceleration 403y Angular Velocity XDI_AngularVelocityGroup Rate of Turn XDI_RateOfTurn 802y Delta Q dq XDI DeltaQ 803y Magnetic XDI_MagneticGroup Magnetic Field XDI_MagneticField CO2y Status XDI_StatusGroup Status Word XDI StatusWord E020 y The hex value of the Format bits see table below
18. on set in the firmware It sends out the latest available data message or t adjusts the bias of the clock onboard the Mi DRDY Data ready Data ready pin indicates that data is available SPI I C SYNC_IN Sync interface 1 7 Peripheral interface selection The MTi 1 series modules have four modes of peripheral interfacing Only one mode can be used simultaneously and is determined by the state of peripheral selection pins PSELO and PSEL1 at startup Table 1 specifies how the PSEL lines select the peripheral interface Note that the module has internal pull ups Not connecting PSEL results in a value of 1 connecting PSEL to a GND results in a value of 0 Table 1 Peripheral interface selection UART half duplex UART full duplex 0 www xsens com 6 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 1 7 1 PC The MTi 1 series module can be configured to act as an PC slave The slave address is determined by the ADDO ADD1 and ADD2 pins These pins are pulled up internally so when left unconnected the address selection defaults to ADD 0 2 111 Further specifications TBC available from November 2015 Table 2 List of I2 C addresses IC address 0x1D 0x1E 0x28 0x29 0x68 0x69 Ox6A Ox6B default 1 7 2 SPI The MTi 1 series module can be configured to act as an SPI slave Detailed specifications TBC available from November 2015 1 7 3 UART half duplex The MTi 1
19. r Alignment gyr to acc Alignment mag to acc Alignment of acc to the module board WwWww xsens com 13 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 4 Sensor calibration Each MTi is individually calibrated and tested over its temperature range The simplified sensor model of the gyroscopes accelerometers and magnetometers can be represented as following s Ke Di br S sensor data of the gyroscopes accelerometers and magnetometers in rad s m s or a u respectively Kr gain and misalignment matrix temperature compensated u sensor value before calibration unsigned 16 bit integers from the sensor bT bias temperature compensated Xsens calibration procedure calibrates for many parameters including bias offset alignment of the sensors with respect to the module PCB and each other and gain scale factor All calibration values are temperature dependent and temperature calibrated The calibration values are stored in non volatile memory in the MTi www xsens com 14 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 5 System and electrical specifications 5 1 Interface specifications Table 8 Communication interfaces Host I C interface speed Table 9 Auxiliary interfaces mn ve VDD Vital input voage ou armen Vital input vag ns ods VoIoves SS a E S S RST vw OBVODOV Digtalinputvotage a a O CC ee osooso OOO
20. rate 0 100 Hz Accuracy and latency independent of output data rate Output data rate may be any integer divider of 100 Hz or may be triggered by an external pulse SYNC_IN 3 2 Sensors specifications Table 4 Gyroscope specifications Parameter Min Typ Max Unit Comments Full range 2000 deg s Non linearity 0 1 of FS Sensitivity variation 0 05 KC Over temperature range Noise density 0 01 2 s VHz g sensitivity 0 001 deg s g In run bias stability 10 deg h Zero rate output 0 1 deg s Bias variation after calibration bias is continuously estimated by XKF3i Bias repeatability 1 yr 0 5 deg s The bias is continuously estimated by XKF3i Bandwidth 180 Hz Natural frequency 26 kHz This is the resonating frequency of the mass in the gyro The higher the frequency the higher the accuracy Table 5 Accelerometers specifications Parameter Min Typ Max Unit Comments Full range 16 g Non linearity 0 5 of FS Sensitivity variation 0 05 KC Over temperature range Noise density 200 ug VHz Zero g output 2 mg In run bias stability 0 1 mg Bandwidth 180 Hz 3 As Xsens continues to update the sensors on the module these specifications may change www xsens com 12 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series Table 6 Magnetometer specifications Full range Non linearity Noise density Non orthogonality accelerometer Non orthogonality gyroscope Non orthogonality magnetomete
21. roper handling is required to prevent damage to the part 8 1 Package drawing The MTi 1 series module is compatible with JEDEC PLCC28 C sockets Don t place exposed copper in the hatched area i l p D oOo mw E N 0 760 8 800 Figure 12 Recommended MTi 1 series module footprint www xsens com 22 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 8 2 Packaging The MTi 1 series module is shipped in trays Trays are available with a MOQ of 20 modules A full tray contains 152 modules 522 6 REF 10 CLOSED POCKET R2 54 SC we N A NI rera aaar SAN PLN ANN AZAZ ANZ SENNEN y dc yi x a NBIC BICIAABCKARBCARCKABCABCIABRICIALBICIABICIAE ANAN ANTANTA Wawa EE SDSS NC re E EE EE EE 3 E He R Le KN GH Va Kl L SH A i m aed Lee La E Se fei Se Ae SC j CH SCH 6 V C S Ky k y im VK D CG EELER EE EE H i ime e i ee teh il mm d sua e e NNS j SSR SAL oh K ima ieie ABCNH NY AGI CNN o o d 112 0 Fut wa AN mA A a d ei E d A SONS RONEN HOSE SHC NEC MES FE HESCHCASEC NECNEC SHC SE FIGS HOSES HRS PISS SHS SCS E ND ND NDAD ND NAND NSN DNDN DND NDAD NB ND ND ND NE ND ESCHER RER RE REI RER NNN RN AN ANP NAN ANI d eae Wir S de i ION HCNECNECANHONHCN HCHO NHC NEC NEC ANEC NEC NECNECNECONPCONPCNHCNHC ANSE ROMS DSRS ASDA
22. series module can be configured to communicate over UART in half duplex mode The UART frame configuration is 8 data bits no parity and 1 stop bit 8N1 In addition to the RX and TX pins the control lines nRE and DE are used These control outputs are used to drive the TX signal on a shared medium and to drive the signal of the shared medium on the RX signal A typical use case for this mode is to directly drive a RS485 transceiver where the shared medium is the RS485 signal and nRE and DE lines control the buffers inside the transceiver When the MTi is transmitting data on its TX pin it will raise both the nRE and DE lines else it will pull these lines low RX TX ARE i fioc G EE ERE EEE EEE EGE DE fi eee A Figure 5 Behaviour of the nRE and DE lines Note that in this mode the UART of the MTi 1 series itself is still operating full duplex www xsens com 7 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 1 7 4 UART full duplex with RTS CTS flow control The MTi 1 series module can be configured to communicate over UART in full duplex mode with RTS CTS flow control The UART frame configuration is 8 data bits no parity and 1 stop bit 8N1 In addition to the RX and TX signals for data communication the RTS and CTS signals are used for hardware flow control The CTS signal is an input for the MTi The MTi checks the state of the CTS line at the start of every byte it transmits If CTS is low the byte
23. v Generated reset 20 pulse duration 5 2 System specifications Table 10 System specifications Height msn we gem Temperature Operating temperature 40 85 C Ambient temperature non condensing Specified performance operating temperature Power Power consumption 2 EE aa VDD 3 0V VDDIO 1 8V Timing accuracy pm www xsens com 15 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 5 3 Electrical specifications Table 11 Electrical specifications Vin 0 45 VDDIO V Digital input voltage 0 3 0 3 T voDio o4 V Digital output voltage 5 4 Absolute maximum ratings woos ESD protection ma 2000 Human body model 4 This is a mechanical shock g sensitive device Proper handling is required to prevent damage to the part X This is an ESD sensitive device Proper handling is required to prevent damage to the part www xsens com 16 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 6 MTi 1 series settings and outputs The MTi 1 series module uses the Xsens proprietary Xbus protocol which is compatible with all Xsens Motion Tracker products 6 1 Message structure The communication with the MT is done by messages which are built according to a standard structure The message has two basic structures one with a standard length and one with extended length The standard length message has a maximum of 254 data b
24. w Awinda and KiC are registered trademarks or trademarks of Xsens Technologies B V and or its parent subsidiaries and or affiliates in The Netherlands the USA and or other countries All other trademarks are the property of their respective owners 9 2 Revisions Revision Date By Changes A 8 Jul 2015 MHA Initial release www xsens com 24 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series Mouser Electronics Authorized Distributor Click to View Pricing Inventory Delivery amp Lifecycle Information Xsens MTi 3 8A7G6 DK
25. will be transmitted Otherwise transmission is postponed until CTS is lowered When during the transmission of a byte the CTS signal is raised then the transmission of that byte is completed before postponing further output This byte will not be retransmitted This behaviour is shown in the following image CIS f TX Figure 6 Data transmit behaviour under CTS The RTS signal is an output for the MTi If the RTS line is high the MTi is busy and unable to receive new data Otherwise the MTi1 s UART is idle and ready to receive After receiving a byte the DMA controller of the MTi will transfer the byte to its receive FIFO The RTS signal will be asserted during this transfer So with every byte received the RTS line is raised shortly like shown in the following image RTS i i RX Figure 7 RTS behaviour under data reception This communication mode can be used without hardware flow control In this case the CTS line needs to be tied low GND to make the MTi transmit 1 8 Recommended external components Component Description Typical value Do PC pull up resistor 2 7 KQ Rpsevo Reset Interface selection resistors Up to 5kQ Rpu is only needed when the MTi 1 is configured for 1 C interface Rpset is only required when interface is not 1 C If the interface does not need to be switched Rreseto and Drei can be connected directly to GND VDD 2 16 to 3 45 V VDD 2 16 to 3 45 V VDDIO 1 8V to VDD VDDIO 1 8V to VDD Rou
26. ytes and is used most frequently In some cases the extended length message needs to be used if the number of data bytes exceeds 254 bytes An MT message standard length contains the following fields Xbus header DATA An MT message extended length contains these fields rege ap up ient ien DATA CHECKSUM Field Field width Description Preamble 1 byte Indicator of start of packet gt 250 OxFA BID 1 byte Bus identifier or Address gt 255 OxFF MID 1 byte Message identifier LEN 1 byte For standard length message Value equals number of bytes in DATA field Maximum value is 254 OxFE For extended length message Field value is always 255 OxFF EXT LEN 2 bytes 16 bit value representing the number of data bytes for extended length messages Maximum value is 2048 Ox0800 IND ID 1 byte The type of indication received DATA 0 254 bytes Data bytes optional standard length DATA 255 2048 bytes Data bytes extended length Checksum 1 byte Checksum of message Details on the Xbus protocol message structure can be found in the MT Low Level Communication Protocol documentation LLCP www xsens com 17 Document MT0512P A Xsens Technologies B V Data sheet MTi 1 series 6 2 Output settings The section below only describes the most important set of MTData2 data messages For all messages supported by the MTi 1 series refer to the MT Low Level Communication Protocol documentati
Download Pdf Manuals
Related Search