Three Axis Accelerometer with Yaw, Pitch, and Roll Module Specification

Transcription

1 Three Axis Accelerometer with Yaw, Pitch, and Roll Module Specification Physical Weight Dimensions (L x W x H inches) Case Material and Finish Mounting Operating Conditions Input Voltage Range Current Operating Temperature Storage Temperature Ingress Protection Harness Interface EMI Immunity MIL-STD 461 Gyroscope Number of Axis lbs x 2.25 x 0.5 case Approximately 5 harness pigtail Aluminum case with plastic lid 2 bolt holes 23VDC 33VDC, MIL-STD 1275D Compliant 30mA -40 to 85 deg C -40 to 125 deg C IP67 minimum 4-pin Deutsch Connector Selectable Full Scales 250, 500, 2000 dps Accelerometer Number of Axis 3 Selectable Full Scales +/- 2.0g, 4.0g, 8.0g, or 16.0g Page 1 of 8 Rev /02/2015

2 PGN $F02A (61482) Angular Rate Information (ARI) Source Address: Customer specified Priority: 3 Repetition Rate: 10 ms Data Length: 8 bytes Data Page: 0 PDU Format: 240 PDU Specific: Bit Identifier: $0CF02Axx Byte Bits Parameter Pitch Rate Extended Range (4983) - Pitch rate is the rate-of-change of the pitch angle over time, where the pitch angle vector is in the direction of travel of the vehicle. The pitch rate for increasing ascent over time is reported with a positive value. This parameter is defined according to a Z- Down axis system and the sign of the value is in accordance to the righthand rule, as specified in SAE J670. As specified in SAE J670, a Z-Down Axis System has positive X directed forward, positive Y to the right, and positive Z directed down. Resolution: 1/128 deg/sec per bit, -250 deg/sec offset Data Range: -250 to deg/sec Roll Rate Extended Range (4984) - Roll rate is the rate-of-change of the roll angle over time. The roll rate for increasing roll to the right is reported with a positive value. Roll angle is the same for both Z-Down and Z-Up axis systems, since both systems have positive X axis directed forward. The sign of the value is in accordance to the right-hand rule, as specified in SAE J670. Resolution: 1/128 deg/sec per bit, -250 deg/sec offset Data Range: -250 to deg/sec Yaw Rate Extended Range (4985) - Yaw rate is the rate-of-change of the yaw angle over time. A positive yaw rate signal results when the object turns clockwise. This parameter is defined according to a Z-Down axis system and the sign of the value is in accordance to the right-hand rule, as specified in SAE J670. As specified in SAE J670, a Z-Down Axis System has positive X directed forward, positive Y to the right, and positive Z directed down. Resolution: 1/128 deg/sec per bit, -250 deg/sec offset Data Range: -250 to deg/sec Bytes 7 and 8 continued on next page. Page 2 of 8 Rev /02/2015

3 PGN $F02A (61482) Angular Rate Information (ARI) - Continued Pitch Rate Extended Range Figure of Merit (4986) - Figure of merit for pitch rate measurement. 00 = Pitch rate fully functional. Data is within sensor. 01 = Pitch rate degraded. Data is suspect due to environmental conditions. 10 = Error 11 = Not available 4-3 Roll Rate Extended Range Figure of Merit (4987) - Figure of merit for roll rate measurement. 00 = Roll rate fully functional. Data is within sensor. 01 = Roll rate degraded. Data is suspect due to environmental conditions. 10 = Error 11 = Not available 6-5 Yaw Rate Extended Range Figure of Merit (4988) - Figure of merit for yaw angle measurement. 00 = Yaw rate fully functional. Data is within sensor. 01 = Yaw rate degraded. Data is suspect due to environmental conditions. 10 = Error 11 = Not available 8-7 Undefined, bits set to Angular Rate Measurement Latency (4989) - The estimated measurement latency of the measurement. NOTE: This is only the sensor latency and does not include any additional latencies that might exist because of the CAN Bus or overall system implementation. Latency is the time from sensor readings to the queuing of the message data for CAN transmission. Resolution: 0.5 ms/bit, 0 offset Data Range: 0 to 125 ms Page 3 of 8 Rev /02/2015

4 PGN $F02D (61485) Acceleration Sensor (ACCS) Source Address: Customer specified Priority: 2 Repetition Rate: 10 ms Data Length: 8 bytes Data Page: 0 PDU Format: 240 PDU Specific: Bit Identifier: $08F02Dxx Byte Bits Parameter Lateral Acceleration Extended Range (SPN 5347) - Indicates lateral acceleration of the vehicle (the component of vehicle acceleration vector along the Y-axis). A positive lateral acceleration signal results when the vehicle is accelerated to the left. This parameter is defined according to a Z- Up axis system and the sign of the value is in accordance to the right-hand rule, as specified in SAE J670. As specified in SAE J670, a Z-Up Axis System has positive X directed forward, positive Y to the left, and positive Z directed up. Resolution: 0.01 m/s² per bit, -320 m/s² offset Data Range: -320 to m/s² NOTE: Measured range is to m/s² Longitudinal Acceleration Extended Range (SPN 5348) - Indicates longitudinal acceleration of the vehicle (the component of vehicle acceleration vector along the X-axis). A positive longitudinal acceleration signal results when the vehicle speed increases in the forward direction. Longitudinal acceleration is the same for both Z-Down and Z-Up axis systems, since both systems have positive X axis directed forward. The sign of the value is in accordance to the right-hand rule, as specified in SAE J670. Resolution: 0.01 m/s² per bit, -320 m/s² offset Data Range: -320 to m/s² NOTE: Measured range is to m/s² Vertical Acceleration Extended Range (SPN 5349) - Indicates vertical acceleration of the vehicle and the effect of gravity (the component of vehicle acceleration vector along the Z-axis). A positive vertical acceleration signal of 1 gravity results when the vehicle is stationary on a horizontal surface. This parameter is defined according to a Z-Up axis system and the sign of the value is in accordance to the right-hand rule, as specified in SAE J670. As specified in SAE J670, a Z-Up Axis System has positive X directed forward, positive Y to the left, and positive Z directed up. Resolution: 0.01 m/s² per bit, -320 m/s² offset Data Range: -320 to m/s² NOTE: Measured range is to m/s² Bytes 7 and 8 continued on next page. Page 4 of 8 Rev /02/2015

5 PGN $F02D (61485) Acceleration Sensor (ACCS) - Continued Lateral Acceleration Extended Range Figure of Merit (SPN 5350) - Figure of merit for lateral acceleration measurement. 00 = lateral acceleration is fully functional. Data is within sensor 01 = lateral acceleration is degraded. Data is suspect due to 4-3 Longitudinal Acceleration Extended Range Figure of Merit (SPN 5351) - Figure of merit for longitudinal acceleration measurement. 00 = longitudinal acceleration is fully functional. Data is within sensor 01 = longitudinal acceleration is degraded. Data is suspect due to 6-5 Vertical Acceleration Extended Range Figure of Merit (SPN 5352) - Figure of merit for vertical acceleration measurement. 00 = vertical acceleration is fully functional. Data is within sensor 01 = vertical acceleration is degraded. Data is suspect due to 8-7 Support Variable Transmission Repetition Rate for Acceleration Sensor (SPN 5353) only 10 ms rate supported, bits set to Not Defined, Byte set to $FF Page 5 of 8 Rev /02/2015

6 PGN $FF00 (65280) High Resolution Acceleration Sensor Proprietary Message Source Address: Customer specified Priority: 6 Repetition Rate: 10 ms Data Length: 8 bytes Data Page: 0 PDU Format: 255 PDU Specific: 0 29-Bit Identifier: $18FF00xx Byte Bits Parameter High Resolution Lateral Acceleration - Indicates lateral acceleration of the vehicle (the component of vehicle acceleration vector along the Y-axis). A positive lateral acceleration signal results when the vehicle is accelerated to the left. This parameter is defined according to a Z-Up axis system and the sign of the value is in accordance to the right-hand rule, as specified in SAE J670. As specified in SAE J670, a Z-Up Axis System has positive X directed forward, positive Y to the left, and positive Z directed up. Resolution: m/s² per bit, m/s² offset Data Range: to m/s² High Resolution Longitudinal Acceleration - Indicates longitudinal acceleration of the vehicle (the component of vehicle acceleration vector along the X-axis). A positive longitudinal acceleration signal results when the vehicle speed increases in the forward direction. Longitudinal acceleration is the same for both Z-Down and Z-Up axis systems, since both systems have positive X axis directed forward. The sign of the value is in accordance to the right-hand rule, as specified in SAE J670. Resolution: m/s² per bit, m/s² offset Data Range: to m/s² High Resolution Vertical Acceleration - Indicates vertical acceleration of the vehicle and the effect of gravity (the component of vehicle acceleration vector along the Z-axis). A positive vertical acceleration signal of 1 gravity results when the vehicle is stationary on a horizontal surface. This parameter is defined according to a Z-Up axis system and the sign of the value is in accordance to the right-hand rule, as specified in SAE J670. As specified in SAE J670, a Z-Up Axis System has positive X directed forward, positive Y to the left, and positive Z directed up. Resolution: m/s² per bit, m/s² offset Data Range: to m/s² Bytes 7 and 8 continued on next page. Page 6 of 8 Rev /02/2015

7 PGN $F02D (61485) Acceleration Sensor - Continued High Resolution Lateral Acceleration Figure of Merit - Figure of merit for lateral acceleration measurement. 00 = lateral acceleration is fully functional. Data is within sensor 01 = lateral acceleration is degraded. Data is suspect due to 4-3 High Resolution Longitudinal Acceleration Figure of Merit - Figure of merit for longitudinal acceleration measurement. 00 = longitudinal acceleration is fully functional. Data is within sensor 01 = longitudinal acceleration is degraded. Data is suspect due to 6-5 High Resolution Vertical Acceleration Figure of Merit - Figure of merit for vertical acceleration measurement. 00 = vertical acceleration is fully functional. Data is within sensor 01 = vertical acceleration is degraded. Data is suspect due to 8-7 Support Variable Transmission Repetition Rate for Acceleration Sensor (SPN 5353) only 10 ms rate supported, bits set to Not Defined, Byte set to $FF Page 7 of 8 Rev /02/2015

8 Change Range Message ID: 1FC01800 DLC: 6 Data: 0F 00 XX 00 0F 00 Range XX 1.5g g g g 03 Powertrain Control Solutions, LLC. Change Sensitivity Message ID: 1FE01801 DLC: 8 Data: 0F 31 XX Sensitivity XX Low 0A Med 05 High 01 Invert Axis Message ID: 1FC01800 DLC: 6 Data: 0F 00 XX Sensitivity XX X 10 Y 20 Z 60 After every property change message, a message with an ID of 1FC01800, DLC of 6, and data of must be sent. The device will send back a response every time it receives a message. The ID will be 1FE0187F and DLC of 6. If the device executed the command successfully, the data in that message will be 55 FF FF FF FF FF. If it failed, the data will be AA FF FF FF FF FF. Page 8 of 8 Rev /02/2015