V ARIENSE SENSE Y O UR W ORLD. Inertial Measurement Unit VMU931. User Guide. Version 1.3. March VARIENSE INC.

Transcription

1 V ARIENSE SENSE Y O UR W ORLD Inertial Measurement Unit VMU931 Version 1.3 March VARIENSE INC.

2 Contents 1 Product Overview 1 2 Safety 2 3 Setup Mounting the sensor Wiring the sensor Software VMU Reader Interface Menu bar Device list Display and main controls Settings User integration Connection Commands Messages format Specifications Mechanical dimensions Technical specifications Warranty 18 7 Contact 19

3 List of Figures 1.1 Overview of the VMU Top view of the VMU931 (measurements in mm) Wiring diagram of the VMU Overview of the VMU Reader Menu bar of the VMU Reader (Recorder) Menu bar of the VMU Reader (View) Menu bar of the VMU Reader (Tools) Menu bar of the VMU Reader (Help) Device list Main controls of the VMU Reader Resolution controls of the VMU Reader D visualizer of the VMU Reader Settings window Dimensions of the VMU List of Tables 1.1 Box content of the VMU Operating conditions of the VMU Toggle commands of the VMU Resolution commands of the VMU Misc commands of the VMU Message structure of the VMU931 (text string) Message structure of the VMU931 (data) Structure of the data Structure of the status Status message - Sensors status Status message - Sensors resolution Status message - Low ouptput rate status Status message - Data currently streaming Technical specifications of the VMU

4 5.2 Sensors specifications of the VMU Variense, Inc. All rights reserved. Page 3

5 1 Product Overview The new rugged VMU931 is a round IMU with a diameter of 31 mm, that fits 3-axis accelerometers, 3-axis gyroscopes and 3-axis magnetometers in a robust alumunium housing as shield against extreme environmental conditions. It is based on the latest MEMS technology, which is highly adaptive to various applications. Realtime data logging, maximum sensitivity and automatic factory calibration ensure that the sensor will fit your system proprely. When buying a VMU931, you will receive the following items: Table 1.1: Box content of the VMU931 Item Qty VMU931 sensor 1 USB cable (Type A to Micro-B) 1 Please contact us at support@variense.com if you have any questions or concerns. Rugged Aluminium Case VMU931 Y X Z USB connector Figure 1.1: Overview of the VMU931 Please note that the drawings and photos in this documentation are representative examples and the delivered product may not be exactly as depicted here Variense, Inc. All rights reserved. Page 1

6 2 Safety Please read the following information before using the VMU931. Always respect the environmental conditions presented in the table below. The VMU931 has not been tested for use in extreme environments. Always handle the VMU931 with care. It is made of metal and plastic and has sensitive electronic components inside, and can be damaged if dropped, burned, punctured or crushed. Do not force a connector into a port. Remember to check for obstructions, make sure the connector matches the port, and position the connector correctly in relation to the port. Do not try to open the VMU931. If opened, it will no longer be calibrated properly, and any warranty you may have with Variense will be voided. Please contact us if your sensor needs repairs. Any repairs should be done by Variense, unless otherwise specified. Table 2.1: Operating conditions of the VMU931 VMU931 Minimum storage/transit temperature -40 C Maximum storage/transit temperature 105 C Minimum operating temperature -40 C Maximum operating temperature 85 C Humidity (non-condensing) 20-80% RH Keep away from Dust, soot or water Corrosive liquids or gases Explosive liquids or gases Powerful electromagnetic interference 2017 Variense, Inc. All rights reserved. Page 2

7 3 Setup 3.1 Mounting the sensor The VMU931 must be mounted using the holes located on each side of the sensor. M2.5x THROUGH HOLE R17 VMU Y 1 DOWEL PINS MOUNTING HOLES Z X R18 Figure 3.1: Top view of the VMU931 (measurements in mm) Tips: Make sure the sensor is solidly fixed to prevent any unwanted movement or vibration during normal usage Variense, Inc. All rights reserved. Page 3

8 3.2 Wiring the sensor Use the included cable, or any Type A to Micro-B USB cable, to connect your VMU931 to your computer. Sensor VMU931 Y X Z Micro USB Type B Female Micro USB Type B Connector Figure 3.2: Wiring diagram of the VMU Variense, Inc. All rights reserved. Page 4

9 4 Software 4.1 VMU Reader You can buy our software (VMU Reader) directly from our website Interface Menu bar 2- Quick-access bar 6 Figure 4.1: Overview of the VMU Reader 3- Display and main controls of the device currently being monitored 4- Device list 5- Log 6- Status bar (only for the device currenlty being monitored) 2017 Variense, Inc. All rights reserved. Page 5

10 4.1.2 Menu bar Figure 4.2: Menu bar of the VMU Reader (Recorder) Export as... Export recorded data of the device currently being monitored as one of the available formats (.txt or.csv). Start Recording Begin recording incoming data for selected devices (see section 4.1.3). Stop Recording Stop recording. Recorded data can now be exported. Device List Show/Hide the device list. Log Show/Hide the log. Figure 4.3: Menu bar of the VMU Reader (View) 2017 Variense, Inc. All rights reserved. Page 6

11 Figure 4.4: Menu bar of the VMU Reader (Tools) Settings... Show settings for the device currently being monitored (see section 4.1.3). Self-test Test the sensors inside the device currently being monitored (accelerometers, gyroscopes and magnetometers). 1 The result is displayed in the log. Calibration Calibrate the biases of the device currently being monitored. 1 The biases are saved within the device. Figure 4.5: Menu bar of the VMU Reader (Help) Help... Open the. About VMU Display information about the current device. About VMU Reader... Display information about the software. 1 The VMU931 needs to remain still on a flat surface with its Z-axis pointing upward during the process Variense, Inc. All rights reserved. Page 7

12 4.1.3 Device list This detachable window shows the list of all the connected devices. Only one device can be monitored. The eye ( ) indicates which device is currently being monitored. You can change which device is being monitored by clicking on a device s name in the list. You can only change the settings of the device currently being monitored. The checkboxes in the Record column allow you to select which devices will be recorded when the Start Recording button is clicked. Figure 4.6: Device list 2017 Variense, Inc. All rights reserved. Page 8

13 4.1.4 Display and main controls Figure 4.7: Main controls of the VMU Reader Each type of data can be toggled using the checkboxes. Depending on the user s computer, the display may be slowed down if multiple types of data are activated at the same time. Some types of data limit the output rate of the VMU931 to 200 Hz when activated (quaternions, Euler angles and heading). They must all be deactivated to benefit of an output rate of 1000 Hz. Figure 4.8: Resolution controls of the VMU Reader Only the accelerometers and the gyroscopes can have their resolutions changed. To enable this change, the same types of data that limit the output rate (quaternions, Euler angles and heading) must be deactivated. While either of the quaternions, Euler angles or heading are activated, the resolutions of the accelerometers and gyroscopes are set to 2g and 2000dps. Figure 4.9: 3D visualizer of the VMU Reader The quaternions need to be activated to show the 3D visualizer Variense, Inc. All rights reserved. Page 9

14 4.1.5 Settings This window only allows you to change the settings of the device currently being monitored (see section 4.1.3). All settings are stored locally and are all restored every time the software is opened. Figure 4.10: Settings window Change name Set/Change the name of the device. Adjust recording rate Set the mode of the recorder (Real time or Custom recording rate). Frequency Set the frequency at which the incoming data will be recorded. Time interval Set the time interval between each incoming data that will be recorded Variense, Inc. All rights reserved. Page 10

15 4.2 User integration If you are not using our user interface, please note that the VMU931 will continuously stream data through the USB cable as soon as the cable is plugged in. However, no data is saved within the sensor itself Connection The VMU931 is seen as a serial device (COM port) when plugged into a computer. Since the sensor uses a USB CDC to emulate serial communication through USB protocol, no settings need to be specified when opening the serial port Commands Every commands must be preceded by the prefix "var". For example, if you want the VMU931 to stream accelerometers data, you need to send the characters "vara" ("var" being the prefix and a being the command). Multiple types of data can be sent by the sensor: accelerometers, gyroscopes, magnetometers quaternions, Euler angles, heading By default, the VMU931 sends the quaternions and the Euler angles as soon as the cable is plugged in. You can toggle what the sensor streams by sending the following command: Table 4.1: Toggle commands of the VMU931 Data Command Accelerometers a Gyroscopes g Magnetometers c [Default] Quaternions 2 q [Default] Euler angles 2 e Heading 2 h 2 Limits the output rate to 200 Hz Variense, Inc. All rights reserved. Page 11

16 If none of the quaternions, Euler angles or heading is active, the resolution of the accelerometers and the gyroscopes can be changed using the following commands: Table 4.2: Resolution commands of the VMU931 Device Resolution Command Gyroscopes 250 dps 0 Gyroscopes 500 dps 1 Gyroscopes 1000 dps 2 Gyroscopes 2000 dps 3 3 Accelerometers 2 g 3 4 Accelerometers 4 g 5 Accelerometers 8 g 6 Accelerometers 16 g 7 Finally, some tools are available trough the use of these commands: Table 4.3: Misc commands of the VMU931 Name Command Self-test 4 t Calibration 4 l Status s Selft-test: Test the accelerometers and gyroscopes. A string of text is sent to present the results of this test. Calibration: Find the biases of the accelerometers and gyroscopes and save them into the sensor s memory. A string of text is sent to present the biases found. Status: Send the current status of the sensor. See section for a list of the bytes sent. 3 Resolution used while quaternions, Euler angle or heading is active. 4 Before calling this command, it s important that the sensor remains still on a flat surface with its z-axis pointing upward Variense, Inc. All rights reserved. Page 12

17 4.2.3 Messages format There are 2 types of messages the sensor can send: Text string Data In the case of a string of text, the message will have the following structure: Table 4.4: Message structure of the VMU931 (text string) Name Format Length Value Start of message Byte 1 byte 0x02 Size of message Byte 1 byte (Varies) (Reserved) Byte 1 byte (Reserved) Text string String (Varies) (Varies) End of message Byte 1 byte 0x03 In the case of data, the message will have the following structure: Table 4.5: Message structure of the VMU931 (data) Name Format Length Value Start of message Byte 1 byte 0x01 Size of message Byte 1 byte (Varies) Type of message Char 1 byte (Varies) Data (Varies) (Varies) (Varies) End of message Byte 1 byte 0x04 For every data message, the character indicating the type of message corresponds to the command used to toggle the data. For example, if you toggle the accelerometers with the command a, the accelerometers message will have an a as its type Variense, Inc. All rights reserved. Page 13

18 As for the message itself, the structure goes as follow depending on the type of the data: Table 4.6: Structure of the data Name Format Length Value Accelerometers, gyroscopes, magnetometers, Euler angles Timestamp 5 Uint32 4 bytes (Big Endian) X float 4 bytes (Big Endian) Y float 4 bytes (Big Endian) Z float 4 bytes (Big Endian) Quaternions Timestamp 5 Uint32 4 bytes (Big Endian) W float 4 bytes (Big Endian) X float 4 bytes (Big Endian) Y float 4 bytes (Big Endian) Z float 4 bytes (Big Endian) Heading Timestamp 5 Uint32 4 bytes (Big Endian) Heading float 4 bytes (Big Endian) As for the status message, it will be presented with the following structure: Table 4.7: Structure of the status Name Format Length Value Sensors status Byte 1 byte (Varies) Sensors resolution Byte 1 byte (Varies) Low output rate status Byte 1 byte (Varies) Data currently streaming Uint32 4 bytes (Big Endian) 5 The timestamps are represented by the number of milliseconds elapsed since the VMU931 was plugged in Variense, Inc. All rights reserved. Page 14

19 The value of each status is determined according to the following tables: Table 4.8: Status message - Sensors status MAG GYRO ACC 0 = OFF 1 = ON Table 4.9: Status message - Sensors resolution dps 1000 dps 500 dps 250 dps 16 G 8 G 4 G 2 G Gyroscopes Accelerometers 0 = NOT SELECTED 1 = SELECTED Table 4.10: Status message - Low ouptput rate status LOW OUT 0 = High output rate (1000 Hz) 1 = Low output rate (200 Hz) Table 4.11: Status message - Data currently streaming HEAD EULER MAG QUAT GYRO ACC 0 = SELECTED 1 = NOT SELECTED 2017 Variense, Inc. All rights reserved. Page 15

20 5 Specifications 5.1 Mechanical dimensions 31 VMU931 Y Z X 41 Units: mm Figure 5.1: Dimensions of the VMU Variense, Inc. All rights reserved. Page 16

21 5.2 Technical specifications Table 5.1: Technical specifications of the VMU931 Feature Condition Value Unit Note Mechanical Specifications Diameter Outer 31 mm Thickness 9.5 mm Weight 15 g Environmental Protection IP64 aluminum case Shock Tolerance 10,000 g Performances Static Accuracy Pitch / Roll < 0.2 Dynamic Accuracy Heading < 0.5 In-Run Bias Stability < 5 /hr Output rate Selectable up to 1,000 Hz Electrical Ratings Supply Voltage DC V Communication Interface USB Table 5.2: Sensors specifications of the VMU931 Feature Gyros Accels Mags Operating Sensors Axes Range ± 2,000 /s 16 g ± 4,800 µt Resolution 0.03 /s 15 µt Nonlinearity ± 0.1 % ± 0.5 % Analog Specifications Resolution 16 bits 16 bits 16 bits 2017 Variense, Inc. All rights reserved. Page 17

22 6 Warranty Variense warrants the VMU931 against defects in material and workmanship for a period of one year from the date of receipt when used as instructed. During the warranty period, Variense will repair or replace any defective product free of charge. If the equipment is sent to us during the warranty period and found to meet all published specifications, Variense will charge standard verification fees. The warranty will become null and void if the: Unit has been tampered with, repaired, or worked on by unauthorized individuals Screws have been removed Unit has been opened Unit has been damaged by misuse, neglect, or accident This warranty is in lieu of all other warranties expressed, implied, or statutory, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. In no event shall Variense be liable for special, incidental, or consequential damages. Variense shall not be liable for damages resulting from the use of the product, nor shall it be responsible for any failure in the performance of other items to which the product is connected or for failure in the operation of any system of which the product may be a part. Exclusion Variense reserves the right to make changes in the design or construction of any of its products at any time without incurring an obligation to make any changes whatsoever on units already purchased. This warranty excludes failure resulting from: improper use or installation, normal wear and tear, accident, abuse, neglect, fire, water, lightning or other acts of nature, causes external to the product or other factors beyond Variense s control Variense, Inc. All rights reserved. Page 18

23 7 Contact Web Phone +1 (844) Variense, Inc. All rights reserved. Page 19