User Manual Rev1.1
Contents
1. 9 5 6 6 5 F SEC Figure 7 Rate window 3 2 4 Angle Window This window shows the angle or integrated rate see Figure 8 M Yaw Angle Iof x Yaw Angle 60 40 a 5 20 0 l l l l l l i l l l 29 3 3 6 4 4 5 5 6 6 6 6 5 y SEC Figure 8 Angle window 3 2 5 Compass Window The compass window shows a simulated compass corresponding to the angle output provided by the CruizCore XG1010 see Figure 9 Notice that for this representation the program assumes that zero deg heading corresponds to the compass North location M Compass 0 x 0 ASA UEY ty SN TE i ye ff N KO ar as TAN 180 Figure 9 Compass window Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered MICROINFINITY CruizCore XG1010 USER MANUAL 3 2 6 Data Window The data window shows in numerical format the parsed sensor data and accumulated heading since the sensor was reset see Figure 10 Sensor Information Rate 99 37 deg s Angle 40 58 deg Accumulated Information Elapsed Time 00 00 12 Accumulated NUE 443 42 deg Figure 10 Data window 3 2 7 Icon Toolbar The icon toolbar gives access to the most important features and functions of the monitoring program The following is a brief description of each one Some icon can be enabled or disabled as operating m2. CruizCore XG1010 has the following features Ultra low bias drift High resolution and accuracy Outstanding scale factor linearity Fast start up Fully self contained Digital output RS232 USB Low power consumption Low cost Roughed and compact package User friendly monitoring and testing program Figure 1 CruizCore XG1010 Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered M MICROINFINITY CruizCore XG1010 USER MANUAL NOTICE We recommend extensive testing of this product before using it in a final application Specifically this product should be tested in the same environmental conditions that it is intended to be used Furthermore we strongly recommend caution when using our product in sensitive applications that can cause injures death or property damage due to the wrong operation of this product which may be caused by unexpected environmental changes such as temperature shock excessive and continuous vibration etc These applications include but are not limited to Aircraft equipment Air vehicles Aerospace equipment Underwater vehicles Medical equipment Transportation equipment Disaster prevention crime prevention equipment Applications which require especially high reliability and accuracy Disclaimer and Limitation of Liability for Damages Microinf
3. only for the purpose it was delivered MO MICROINFINITY CruizCore XG1010 USER MANUAL 2 3 Cable Pin out For convenience the CruizCore XG1010 can communicate with external devices using two different interfaces USB and RS232 ports 2 3 1 USB Cable The CruizCore XG1010 USB connection is of type A see Figure 3 the pin out description is presented in Table 2 1 2 3 4 F Figure 3 Type A USB connector Table 2 USB connector type A pin out Typical Wiring Color Signal Name po Red EE 2 3 2 RS232 Cable The CruizCore XG1010 provides a regular RS232 interface that is it already has the correct voltage levels need to communicate with a PC serial port The cable contains six color coded terminals see Figure 4 and Table 3 T Reserved Figure 4 RS232 cable color code Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered M MICROINFINITY CruizCore XG1010 USER MANUAL Table 3 RS232 cable pin out description RED VCC BLACK GND ETES 2 4 Mounting Information Coordinate System The CruizCore XG1010 coordinate system has its sensitive axis perpendicular to the device flatter area see Figure 5 therefore the gyro will show a positive angular rate and angle increment when its sensitive axis is rotated in the clock wise direction oth
4. CROINFINITY CruizCore XG1010 USER MANUAL 1 Introduction The CruizCore XG1010 is a fully self contained MEMS digital gyroscope based on the CruizCore R1 Series platform Compared with the R1 Series the XG1010 was designed with convenient packaging and communication interfaces to allow its use as a standalone sensor see Figure 1 It provides USB and RS232 communication interfaces the output and baud rate are adjustable for the customers convenience The XG1010 includes a MEMS gyroscope internal voltage regulation data acquisition and signal processing circuitry communication interfaces and a RISC microprocessor running our patented error correcting algorithm Because it uses MEMS sensors it has the advantage of being light weight small size and consuming low power The XG1010 is packaged in a hard case for increasing protection against external impact The XG1010 uses an adaptive reduced order Kalman filter to stabilized angular rates and heading angles virtually eliminating the most common errors i e bias drift scale factor temperature effects The XG1010 has a 50Hz bandwidth and can precisely measure angular rates up to 100 deg sec it can also measure rates up to 150 deg sec with lesser accuracy The start up time is less than one second which is used to compute bias parameters it does not require further calibration thereafter The XG1010 is the best single axis rate measuring solution for navigation applications The
5. Decreases the magnification of a determined plotting area Reset 9 Re plots the entire area using the original size and position Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered 10 MICROINFINITY CruizCore XG1010 USER MANUAL 4 System Characteristics The following tables summarize the main characteristics of the CruizCore XG1010 These specifications subject to change without notice and several parameters can be changed under customer request as an option 4 1 Physical Characteristics Table 4 CruizCore XG1010 physical characteristics VALUE PARAMETER UNIT Min Typ Max Size 550360 170 Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered 11 MICROINFINITY CruizCore XG1010 USER MANUAL 4 2 Environmental Characteristics Table 5 CruizCore XG1010 environmental characteristics No ITEMS TEST CONDITION TEST CRITERIA High temperature 1 85 C x 120h Refer to Table 6 storage Low temperature 2 40 C x 72h Refer to Table 6 Storage Temperature and 25 C BO RH 4h 55 C 95 RH 10h Humidity cycling 30 C 2h 75 C 2h 10cycles 40 C lt 85 C hour at each 4 Thermal shock temperature Refer to Table 6 10cyc
6. E 8 FOW TE 12 0280711210 6 RTE sais uniapanepsnasiunaceuaata sees 9 Figure 12 Status Bar ee ee eeeeees sees eeee eases senses eeaeeeeeesaeeseeeseeseeeaeeaeeaeesaeeges 9 Figure 13 Data load window ccceccceec eee eeee eee eee eenees eee eeeeeseeeeeeeeeseee eeeeeseeseeseeaeeseeeeeneeseee 10 List of Tables Table 1 CruizCore XG1010 part list description 0 ccccccceccecceseesseseesecescesecereereeseereereeseeerenreeee 3 Table 2 USB connector type A pin out iii 4 Table 3 RS232 cable pin out description ss 5 Table 4 CruizCore XG1010 physical characteristics 0 c ccccccecsesseseeessescessersessersereerenrenreaees 11 Table 5 CruizCore XG1010 environmental characteristics 12 Table 6 Judgment criteria of environment and mechanical test 12 Table 7 CruizCore XG1010 electrical characteristics c ccccccessessecsesseseseessersersersersereerereen 13 Table 8 CruizCore XG1010 performance characteristics ccccecceeceeseeeeeeeceeeeeeeceeeeeeeeees 14 Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered M MICROINFINITY CruizCore XG1010 USER MANUAL Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered MO MI
7. User Manual rkv CruizCore XG1010 Digital Gyroscope 2015 05 20 Copyright Microinfinity Co Ltd http www minfinity com Contact Info EMAIL support minfinity com TEL 82 31 546 7408 FAX 82 31 546 7409 M MICROINFINITY CruizCore XG1010 USER MANUAL Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered MICROINFINITY CruizCore XG1010 USER MANUAL Contents Te AVEGOCUC TOM nn een Re taie nil ea 1 2 MATOS D ESCORT 3 AT OY Ste LU DES 1 6 LACS 1 A naralacudlediuaut a sigaaesameaane os ieaks 3 2 2 Part List Included with this Kit 3 ZA OWA OUI a tarde desc assent bend bra drape e a 4 7285 le OS a 6 gt eee eee eee eee eee eee eee eee ee ee ee eee 4 23 2 R9232 Cable oei A a aa a 4 2 4 Mounting Information Coordinate System 5 WAS SO EE 9 0 eee er a es ee ee ee IT ere NN ee 5 9 SOMWare DESCHDUON sacccesssecssnnadeiesaatensauaheteacceenearesesadabnranabahawatubeannannnassaedadsaehasabahioetoenennean 6 LODU Bee EC E ee eee ee eee ee eae 6 3 2 Monitoring Program sisi eesdesa esa eeaeeaaeeeeeaeeaeeseeeeesenees 6 de LE MAS ONG a ee Da de ea ee maton Dates 6 ie cx NANIO ON e E doco sinm asinshe nis nad enc gcimapecadadahsnn inns tennant eatedmeen 6 ie TRAE VV IO OW an et a te T DA EAN OOW e en do ta ee no a T 32 9 COMPASS WINdOW ee nee se eee ee nee cu
8. ality Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered 13 MICROINFINITY CruizCore XG1010 USER MANUAL 4 4 Performance Characteristics Table 8 CruizCore XG1010 performance characteristics PARAMETER CONDITION BANDWIDTH RATE WARM UP TIME ANGULAR RATE RESOLUTION 0 01 deg sec SCALE FACTOR 05 ERROR BIAS DRIFT lt 10 50 deg hr The system must be installed in the correct position 1 Full warm up The total time that takes for full bias error calibration and temperature compensation It is the worst case on condition that the temperature goes up suddenly without temperature compensation 2 Prolonged time in this condition will introduce heading errors Other data rate available as option Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered 14 M MICROINFINITY CruizCore XG1010 USER MANUAL Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered 15 MICROINFINITY CruizCore XG1010 USER MANUAL Contact Information Corporate Office Microinfinity Co Ltd 8F KANC 906 10 lui dong Yeongt
9. allows saving the data for subsequent analysis The following explanation is based on the Monitoring Program version 1 0 This program has been tested under Microsoft Windows XP SP3 3 2 1 Installation The monitoring program is provided in the accompanying CD The program can be installed using the Setup exe executable file The installing and monitoring program requires the NET framework installed in the computer 3 2 2 Main Window The main window see Figure 6 displays the information related to the CruizCore XG1010 in four different formats or windows rate angle compass and data Yaw Rate 0 wi ii li a f Uy Pa P AS TENA NS 180 Yaw Angle Sensor Information Rate 94 99 deg s Angle 56 70 deg Accumulated Information Elapsed Time 00 00 15 Accumulated AE 593 64 deg Ready Integer 115200bps 100Hz Degree Output enabled Figure 6 Program main window Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered MO MICROINFINITY CruizCore XG1010 USER MANUAL 3 2 3 Rate Window This window shows the yaw rate of rotation data in graphic mode see Figure 7 If the rate is larger than 150 deg sec the background of the plot turns red If the rate is over 180 deg sec out of range the program will make a beep sound M Yaw Rate l 2 5 3 3 6 4 5 5
10. er coordinate systems are available as an option Incorrect mounting can produce misalignment errors that have similar effect as scale factor errors and therefore can be treated as such If the error is significant we recommend re calculating the scale factor using a single axis rate table 2 5 Sensor Start up The CruizCore XG1010 startup time is less than one second it internally compensates for errors due to changes in temperature However sudden temperature changes shortly after powering on the unit can cause static rate errors If such temperature chances are expected we recommend leaving the gyro stationary for about 1 second after startup Figure 5 CruizCore XG1010 coordinates system Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered MO MICROINFINITY CruizCore XG1010 USER MANUAL 3 Software Description 3 1 Output Data Format The CruizCore XG1010 provides rate and angle outputs The information is packed in an 8 byte data packet which is transmitted to external devices at the specified baud rate For more details about the output formatting refer to the CruizCore R1 Series Technical Manual 3 2 Monitoring Program Microinfinity Co Ltd provides a monitoring program For convenience the program displays the parsed data in numerical and graphical forms and
11. inity shall not be liable under any circumstances for any special indirect incidental consequential or contingent damages for any reason whether or not the buyer has been advised of the possibility of such damages Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered Cd MICROINFINITY CruizCore XG1010 USER MANUAL 2 Hardware Description 2 1 System Description The CruizCore XG1010 is compact light low power consuming digital gyroscope It uses a MEMS rate sensor It has internal power regulation to minimize the power noises The input voltage range of 4 75 V to 5 25 V is acceptable for power supply 2 2 Part List Included with this Kit The CruizCore XG1010 is a full developer s kit intended to facilitate testing and understanding the CruizCore R1 Series single axis gyroscope Therefore it includes all the necessary cables and software needed for that purpose The list of materials included with this kit is shown in Figure 2 and described in Table 1 Figure 2 CruizCore XG1010 part list Table 1 CruizCore XG1010 part list description tem Number vesent CD ROM includes User Manual and sensor testing program Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document
12. les Refer to Table 6 Free drop from 750mm height 5 Drop Refer to Table 6 on a wooden board for 6 times 10Hz to 55Hz amplitude 0 75mm 55Hz to 500Hz Vibration acceleration 98m s2 Refer to Table 6 10Hz 500Hz 10Hz 15min cycle 6h 2h x 3directions R 3300 C 150pF Contact ESD Refer to Table 6 discharge 5times After each test there should be no visible damage and the measured values shall be met Table 6 Table 6 Judgment criteria of environment and mechanical test ITEMS UNITS JUDGMENT CRITERIA 360 1 5deg CW rotation Angular error degree 0 2 0deg CCW rotation Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered 12 MICROINFINITY CruizCore XG1010 USER MANUAL 4 3 Electrical Characteristics Table 7 CruizCore XG1010 electrical characteristics VALUE PARAMETER CONDITION UNIT Min Typ Max OPERATING 4 75 5 25 INPUT VOLTAGE POWER CAUTION ESD electrostatic discharge sensitive device Electrostatic charges as high as 4000 V readily WARNING accumulate on the human body and test equipment and Sa can discharge without detection Permanent damage may ee occur on devices subjected to high energy electrostatic ESD SENSITIVE DEVICE discharges Therefore proper ESD precautions are recommended to avoid performance degradation or loss of function
13. ode COM Port selection USB Serial Port COMS z Allow selecting the serial port either if it is physical port normally COM1 and COM2 or virtual COM port as the ones created by USB serial converters Connect E Serial Port Connecting Disconnect amp Serial Port Disconnecting Data Save start All the Rate and Angle data will be saved Output data filename is Log_ current year month day hour minute second out in Log folder Example Log_20080503084425 out Data Save stop m Data save will be stopped al Data Load Output data file will be loaded and plotted in new windows again Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered MICROINFINITY CruizCore XG1010 USER MANUAL Reset aj Sensor and accumulated information of CruizCore XG1010 will be reset After reset CruizCore XG1010 is strongly needed in stationary state during initial alignment time or View Allow selecting windows that you want to show Window Align FE All of four windows will be showed resized and located at initial state Setting E Allow changing baud rate data rate angle format of XG1010 and whether it outputs or not You can also store these setting information on flash memory of XG1010 The last used setting information is saved in monitoring program and the next time it will be used
14. ong gu Suwon si Gyeonggi do 443 270 Korea Tel 82 31 546 7408 Fax 82 31 546 7409 Email support minfinity com USA Technical Support P O Box 131284 Ann Arbor MI 48105 USA Tel 1 734 223 5904 Fax 1 866 400 3125 Email usa support minfinity com Homepage http www minfinity com Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered 16 MICROINFINITY CruizCore XG1010 USER MANUAL CUSTOMER RESPONSE It is our intention to provide you with the best documentation possible to ensure successful use of your Microinfinity product If you wish to provide your comments on organization clarity subject matter and ways in which our documentation can better serve you please FAX your comments Please list the following information and use this outline to provide us with your comments about this manual and product 1 What are the best features of this document and product 2 How does this document meet your hardware and software development needs 3 Do you find the organization of this data sheet easy to follow If not why 4 What additions to the data sheet do you think would enhance the structure and subject 5 What deletions from the data sheet could be made without affecting the overall usefulness 6 Is there any incorrect or misleading information what and where 7 Ho
15. t T 220 Data WINO 0 UE a E a 8 SVT PR ICON TOODI sne E R OE 8 GS AU B a e T E E 9 3 2 9 Data Load WY NA CLOW ne artis bib aae aE EA ee EEEa TEEN 10 4 System CHANACISNISUCS icc cccciccatcwnintGansbaneh thimandedaaedavicueensatanitoneesiiauundadedadede delensautoasbadslasieeaanns 11 D PAVSICAL OA AG ENS ar nd a D nn ales 11 4 2 Environmental Characteristics ss 12 4 3 Electrical Characteristics iii 13 4 4 Performance Characteristics ss 14 Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered MICROINFINITY CruizCore XG1010 USER MANUAL List of Figures Figure 1 CruizCore XG1010 ceccecceccessessesserserseesesccseeeceeceecersersersersarsaeeesseserseeseevereersnneereanes 1 Figure 2 CruizCore XG1010 part list cccccceccessessessessersecessersessersessreerereaesereseversnrsersensereanss 3 Figure 3 Typs A USB CONN CIOR en etes dans canada aaa tan aia 4 Figure 4 RS232 cable color COR nn here ecole aie ana aaa 4 Figure 5 CruizCore XG1010 coordinates System 5 FOUE 6 Programi MAIN WNOOW ann din a 6 RIQUES ES Fle IRON aa era cd eme den er a oo nu T Figure SO ANOIS MINOOMW nes senc man emane serre den encens T Figure 9 Compass window cccscccecceeeceecceecueeceeceueceeeceeeceeceuecaeecseseecaeseeseeecaeeseeseueseeesensas T Figure 10 Data WING OW seroren eea E E E EEEE E R
16. to connect to XG1010 Auto baud rate detect Allow detecting baud rate of XG1010 automatically You can also find data rate angle format and so on Help P Displays the help window system and program information and license information 491010 PC Monitor 01010 PC Monitor Version 1 00 Copyright Microinfinity Co Ltd 2009 Figure 11 Help window 3 2 8 Status Bar Ready Integer 115200bps 100Hz Degree Output enabled Figure 12 Status Bar The status bar represents current setting information of PC monitor program It is read from XG1010 when XG1010 starts or restarts So if you want to make sure that these setting are exactly right please use reset function to restart for XG1010 If the baud rate is different please use auto baud rate detect function Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered MO MICROINFINITY CruizCore XG1010 USER MANUAL 3 2 9 Data Load Window The data load window shows rate and angle data pre stored in an output data file see Figure 13 The following functions are available through the corresponding icons M Log_20080520204218 out Yaw Rate sec Yaw Angle Figure 13 Data load window Move Shifts the plotting area Zoom in A Increases the magnification of a determined plotting area Zoom Out A
17. w would you improve this document 8 How would you improve our software systems and products 9 Other Comments From Name Company Address City State ZIP Country Telephone Application optional Would you like a reply Y N Questions FAX 2 Ce Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered 17
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