User Manual Rev1.1 CruizCore® XG1350 Digital Gyroscope
Contents
1. Sensor Information Accumulated Information Acceleration Rate 1 550 deg s Elapsed Time 01 76 21 Z AXIS 51 000 Angle 0 400 deg Accumulated 90 960 deg Y Axis 6 000 Z Axis 371 000 Figure 10 Data window 3 2 8 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 mode COM Port selection COMI i 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 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 XG1350 USER MANUAL 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_20110703084425 out Data Save stop m Data save will be stopped al Open log folder Open the log folder in window explorer Reset T Sensor and accumulated information of CruizCore XG1350 will be reset After reset CruizCore XG1350 is strongly needed in stationary state during initial alignment time Microinf2. 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 15 MICROINFINITY CruizCore XG1350 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 How would you improve this document 8 How would y
3. 11 Table 5 Judgment criteria of environment and mechanical test 11 Table 6 CruizCore XG1350 electrical characteristics 12 Table 7 CruizCore XG1350 performance characteristics 13 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 XG1350 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 XG1350 USER MANUAL 1 Introduction The CruizCore XG1350 is a fully self contained MEMS digital gyroscope and accelerometer based on the CruizCore R1 Series platform Compared with the R1 Series the XG1350 was designed with convenient packaging and communication interfaces to allow its use as a standalone sensor see Figure 1 It provide USB the output and baud rate are adjustable for the customers convenience The XG1350 includes a MEMS gyroscope 3axis accelerometer 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 XG1350 is packaged in a hard case for inc
4. clock wise direction other 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 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 XG1350 USER MANUAL The CruizCore XG1350 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 I Y Figure 4 CruizCore XG1350 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 MICROINFINITY CruizCore XG1350 USER MANUAL 3 Software Description 3 1 Output Data Format The CruizCore XG1350 provides rate angle and acceleration outputs The information is packed in an 15 byte data packet which is transmitted to external devices at the specified baud
5. 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 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 XG1350MonitoringProgram exe executable file The installing and monitoring program requires the NET framework 4 0 installed in the computer Caution You must install net framework 4 0 before run this software We provided net framework 4 0 install file at this software install package or you can download at Microsoft homepage M Microinfinity CruizeCore XG1350 Monitoring Program 1 0 5 Disconnect i Data Save Start Open log folder F Reset 100Hz Data 180 Sensor Information Rate 1 550 deg s Angle 0 400 deg Accumulated Information Elapsed Time 01 76 21 Accumulated 780 960 deg Acceleration s Axis 51 000 Y Axis 6 000 Z Axis 971 000 Figure 5 Program main window Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use o
6. this document only for the purpose it was delivered 12 MICROINFINITY CruizCore XG1350 USER MANUAL 4 4 Performance Characteristics Table 7 CruizCore XG1350 performance characteristics VALUE PARAMETER UNIT Min Typ Max BANDWIDTH RATE 10 50 WARM UP TIME ANGULAR RATE RESOLUTION 0 01 deg sec SCALE FACTOR T a ERROR i BIAS DRIFT lt 10 deg hr MEASUREMENT ACCELERATION 2 RANGE DATA RATE ADJUSTABLE 100 The system must be installed in the correct position 1 Full alignment 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 3 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 13 MICROINFINITY CruizCore XG1350 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 14 MICROINFINITY CruizCore XG1350 USER MANUAL Contact Information Corporate Office Microinfinity Co Ltd 8F KANC 906 10 lui dong Yeongtong gu Suwon si Gyeonggi do 443 270 Korea Tel
7. User Manual revi CruizCore XG1350 Digital Gyroscope 2013 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 MICROINFINITY CruizCore XG1350 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 MA MICROINFINITY CruizCore XG1350 USER MANUAL Contents Me POO UCTIO Wass ccvanin lt nt E mn na tn ns en a tt 1 2 FAO WARS D O SCTIDTIONE a E 3 Zle MO VS ON DSC IQ ee de ee ten 3 2 2 Part List Included with this Kit 3 2 0 O72 6 RIO U a eee One eee ee E ee meee reer 4 PS F4 Vac WO NS SR E E 4 2 4 Mounting Information Coordinate System 4 Zo SPS SOEUR a de eo de te te EEA 4 3 MO OM AS DOS CD MOM wise nE AAE EDAN EE AENEAN ee 6 91 OUR DIa FONA SE ee ee eee eo ee eee 6 02 MONO PROC cei sted eemateeee EEE 6 ar le PETON 2 a el ie ct ao ae eo lit co ant 6 2e MOD NN GOW di D ab O E ne E T A Rate VV ON a ae ee a le ea Na AN 7 3 2 4 Angle VV ING OW xcdecsesnavcctsusdensbesecenclielecaxaceiudowwdcsedanedesedeaeleledasaedduiosebessiaedivessnchexedneZeledoess 7 3 29 AcCeleration VV INIC OW ES a ae a a a nn 7 3 2 6 COMIDASS VV NOW ag ee de den a dd ce 8 SA A MAU Lge e PIE On ET TENTE OO ie 8 2 0 COM OO a O E 8 A System Characteristics ccccccccsscccsscc
8. cesecceeeccececeuceceeecseeceueecsueessueesseeseueessueesseeeseeeesaaeess 10 AA PMySiCal CharaCteriSuGs nine E scene ess ee es ete 10 4 2 Environmental Characteristics ss 11 4 3 Electrical ChArACIENS IIS nec den cames nue seen a se etes eme Terie ne uit 12 4 4 Performance Characteristics ss 13 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 MA MICROINFINITY CruizCore XG1350 USER MANUAL List of Figures Foure T Cu ORE KG 1390 rennene REEE E EE OTENE 1 Figure 2 CruizCore XG1350 part list ccccsssccsssscssssssssecrssscssnecussearrvsctsncasusearsueanensneaseeeenresananas 3 Figure 3 Type AUSB COnnector 2 nee EEEE E EE 4 Figure 4 CruizCore XG1350 coordinates system 5 Figure 5 Program main WINKOW cccceccseccceeeceeese cece eeseeeseeeseeeseeeseeeseeeseeeseueseeeseneeseeeseeeseeeseeeges 6 Figure 6 Rate WINDOW 22e cceac ces case creme den cn eee cnese een msn cnes desc ees 7 Foue 7 ANJI WNGOW ae a ae nde ance done T Fig re 6 Data WINGOW nds men nes EEE RENNENE Ei 8 List of Tables Table 1 CruizCore XG1350 part list description 3 Table 2 USB connector type A pin out sise 4 Table 3 CruizCore XG1350 physical characteristics 10 Table 4 CruizCore XG1350 environmental characteristics
9. f this document only for the purpose it was delivered MICROINFINITY CruizCore XG1350 USER MANUAL 3 2 2 Main Window The main window see Figure displays the information related to the CruizCore XG1350 in five different formats or windows rate angle acceleration compass and angle acceleration data 3 2 3 Rate Window This window shows the yaw rate of rotation data in graphic mode see Figure 6 200 150 100 50 Yaw Rate 0 50 100 150 119 120 121 122 123 Time Figure 6 Rate window 3 2 4 Angle Window This window shows the angle or integrated rate see Figure 7 20 Yaw Angle 30 50 119 120 121 122 123 Time Figure 7 Angle window 3 2 5 Acceleration Window This window shows acceleration data see Figure 8 x 7 z Accelerations Time Figure 8 Acceleration 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 XG1350 USER MANUAL 3 2 6 Compass Window The compass window shows a simulated compass corresponding to the angle output provided by the CruizCore XG1350 see Figure 9 150 Figure 9 Compass window 3 2 7 Data Window The data window shows in numerical format the parsed sensor data and accumulated heading and acceleration data since the sensor was reset see Figure 10
10. he CruizCore XG1350 is a full developer s kit intended to facilitate testing and understanding the CruizCore R1 Series 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 XG1350 part list Table 1 CruizCore XG1350 part list description Le Number Desenpten O OO 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 only for the purpose it was delivered MICROINFINITY CruizCore XG1350 USER MANUAL 2 3 Cable Pin out For convenience the CruizCore XG1350 can communicate with external devices using two different interfaces USB and RS232 ports 2 3 1 USB Cable The CruizCore XG1350 USB connection is of type A see Figure 3 the pin out description is presented in Table 2 1 2 3 4 Figure 3 Type A USB connector Table 2 USB connector type A pin out Contact Number Typical Wiring Color Signal Name ee ie SE EE 2 4 Mounting Information Coordinate System The CruizCore XG1350 coordinate system has its sensitive axis perpendicular to the device flatter area see Figure 4 therefore the gyro will show a positive angular rate and angle increment when its sensitive axis is rotated in the
11. inity 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 XG1350 USER MANUAL 4 System Characteristics The following tables summarize the main characteristics of the CruizCore XG1350 These specifications subject to change without notice and several parameters can be changed under customer request as an option 4 1 Physical Characteristics Table 3 CruizCore XG1350 physical characteristics VALUE PARAMETER UNIT Min Typ Max size 559 350 170 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 10 MICROINFINITY CruizCore XG1350 USER MANUAL 4 2 Environmental Characteristics Table 4 CruizCore XG1350 environmental characteristics ITEMS TEST CONDITION TEST CRITERIA High temperature 1 85 C x 120h Refer to Table 5 storage Low temperature 40 C x 72h Refer to Table 5 Storage Temperature and 25 C 60 RH 4h 55 C 95 RH 10h Humidity cycling 30 C 2h 75 C 2h 10cycles 40 C 85 C hour at each 4 Thermal shock temperature Refer to Table 5 10cycles Refer to Table 5 Free drop from 750mm height 5 Drop Refer to Table 5 on a wooden board for 6 times 10Hz to 55Hz amplitude 0 75mm 55Hz
12. n 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 Microinfinity 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 XG1350 USER MANUAL 2 Hardware Description 2 1 System Description The CruizCore XG1350 is compact light low power consuming digital gyroscope and accelerometer It uses a MEMS rate and acceleration 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 T
13. ou 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 ie 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
14. reasing protection against external impact The XG1350 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 XG1350 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 XG1350 is the best single axis rate measuring solution for navigation applications The CruizCore XG1350 has the following features Ultra low bias drift High resolution and accuracy Outstanding scale factor linearity Fast start up Fully self contained Digital output USB Low power consumption Low cost Roughed and compact package User friendly monitoring and testing program Figure 1 CruizCore XG1350 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 XG1350 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 cautio
15. to 500Hz Vibration acceleration 98m s2 Refer to Table 5 10Hz 500Hz 10Hz 15min cycle 6h 2h x 3directions R 330Q C 150pF Contact ESD Refer to Table 5 discharge 5times After each test there should be no visible damage and the measured values shall be met Table 5 Table 5 Judgment criteria of environment and mechanical test ITEMS UNITS JUDGMENT CRITERIA 360 1 0deg CW rotation Angular error degree 0 1 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 11 MICROINFINITY CruizCore XG1350 USER MANUAL 4 3 Electrical Characteristics Table 6 CruizCore XG1350 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 Ad can discharge without detection Permanent damage may 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 functionality Microinfinity reserves all rights in this document and its subject matter The recipient acknowledges these rights and assures the use of
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