Crossbow Technology CXM543 Manual de usuario
Crossbow Technology, Inc., 41 E. Daggett Dr., San Jose, CA 95134
Tel: 408-965-3300, Fax: 408-324-4840
CXM543 User’s Manual
High Speed Orientation Sensor
Revision 1.2, October 2001
PN 6001-0015
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©1999-2000 Crossbow Technology, Inc. All rights reserved. Information
in this document is subject to change without notice.
Crossbow and SoftSensor are registered trademarks and DMU is a
trademark of Crossbow Technology, Inc. Other product and trade names
are trademarks or registered trademarks of their respective holders.
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Table of Contents
1Description Of The System...................................................1
2System Specifications ...........................................................2
3Electrical and Mechanical Interface.....................................3
4System Startup and Checkout..............................................5
4.1 Startup Using a Terminal Emulator Program.....................................5
4.2 System Checkout.....................................................................................6
5CXM543 Configuration Options and Data Output Formats 9
6Description of the CXM543 Orientation Angles.................13
7Appendix A. CXM543 Command and Data Format
Specifications ............................................................................15
7.1 CXM543 command specification.......................................................15
7.2 Discussion of the CXM543 Data Transmission Modes .................16
7.3 Explanation of Checksum Calculation..............................................21
7.4 EEROM Map.........................................................................................22
7.5 Software Data Correction Equations.................................................25
8Appendix B. Hard Iron Correction for CXM543 ...............26
8.1 Setup procedure.....................................................................................26
8.2 Determining the Hard Iron Offset and Enabling the Hard Iron
Correction............................................................................................................27
8.3 Hard Iron Commands...........................................................................28
8.4 Three dimensional Correction.............................................................29
8.5 Two dimensional Correction...............................................................30
8.6 Caveats....................................................................................................31
9Appendix C. Filter Values and Data Rates.........................32
10 Appendix D. Warranty and Support Information...........33
10.1 Customer Service ..................................................................................33
10.2 Contact Directory..................................................................................33
10.3 Return Procedure...................................................................................33
10.4 Warranty.................................................................................................34
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About this Manual
The following annotations have been used to provide additional
information.
XNOTE
Note provides additional information about the topic.
þEXAMPLE
Examples are given throughout the manual to help the reader understand the
terminology.
PIMPORTANT
This symbol defines items that have significant meaning to the user
MWARNING
The user should pay particular attention to this symbol. It means there is a
chance that physical harm could happen to either the person or the
equipment.
The following paragraph heading formatting is used in this manual:
1 Heading 1
1.1 Heading 2
1.1.1 Heading 3
Normal
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CXM543 User’s Manual
Doc.# 6001-0015 Rev 1.2Page 1
1Description Of The System
The model CXM543 is a high-speed digital output orientation measuring
system. It can transmit the orientation angles (roll, pitch and azimuth) of a
body to which it is mounted at a rate of 25 samples/second. The basic
accuracy of the CXM543 is ±0.5°. Data transmissions are made over a bi-
directional serialport using either RS-232 or TTL levels. The baud rate and
sampling rate are user programmable.
The CXM543 measures orientation by employing a 3-axes accelerometer to
measure roll and pitch and a three-axis magnetometer to determine azimuth.
The CXM543 can be configured to run in two modes viz. Vector and Angle.
In vector mode, the unit transmits the accelerometer and magnetometer
sensor outputs and transmission speeds up to 250 samples/sec are possible.
In angle mode, the CXM543 transmits the system roll, pitch and azimuth
angles.
The CXM543 can be used in either a command mode or autosend mode. In
the command mode, the CXM543 responds to commands to transmit data
issued by an external computer. In autosend mode, the CXM543
commences sending data as soon as power is applied to the unit.
The CXM543 can be supplied with an optional connector box, which allows
easy powering and connection to an external computer.
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CXM543 User’s Manual
Doc.# 6001-0015 Rev 1.2Page 2
2System Specifications
Accuracy roll, pitch ±1°
azimuth ±1.5°
Range roll 0 to 360°
pitch (inclination) 0 to 180°
azimuth 0 to 360°
Data levels RS232 and TTL
Data output rate (Angle mode) 100 Hz
Power 100 mA @ +6 to +15 VDC
A to D 16 bit Sigma Delta
Baud rate (user selectable) 300, 1200, 2400, 4800, 9600,
19200, 38400, 72800
Temperature range 0 to 50°C
Size 2.75”W x 4.08”L x 1.13”H
7 cm x 10.4 cm x 2.9 cm
Connector 9 pin nonmagnetic “D”
(female)
Sensor axis alignment to case ±0.5°
Linearity ±0.1% full scale
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CXM543 User’s Manual
Doc.# 6001-0015 Rev 1.2Page 3
3Electrical and Mechanical Interface
The CXM543 is powered from a single input voltage that can range
between +6 V and +15 V. Current consumption is 100 mA. Two serial
interfaces are present; one that uses RS-232 levels and one that uses TTL
levels. The baud rate isuser programmable and can be set at the following
values: 300, 1200, 2400, 4800, 9600, 19200, 38400, and 72800. The data
words employ 8 bits with one stop bit and no parity.
A female 9 pin D connector is used to provide an electrical interface to the
CXM543 system. The Pin out of this connector is as follows:
Pin Function
1 not used
2RS 232 out
3RS 232 in
4not used
5ground
6TTL serial out
7TTL serial in
8configure
9+ V in (+7.5 V to +15 V)
A drawing showing the dimensions and mounting hole design of the
CXM543 is shown below in Fig. 1.
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CXM543 User’s Manual
Doc.# 6001-0015 Rev 1.2Page 4
Fig. 1 CXM543 High Speed Orientation Sensor
4.08”
(10.4 cm)
2.75”
(7 cm)
1.125”
(2.9 cm)
1
4.08”
(10.4cm)
3.75”
(9.5cm)
0.56”
(1.4 cm)
1.375”
(3.5 cm)
2.19”
(5.6 cm)
6 x 0.125”
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CXM543 User’s Manual
Doc.# 6001-0015 Rev 1.2Page 5
4System Startup and Checkout
4.1 Startup Using a Terminal Emulator Program
Connect the CXM543 to the connection box using the supplied ribbon cable
(use 9-pin male on connection box). Connect a cable from a serial port on a
PC to the connection box (use 9-pin female on connection box). Select the
AUTO option on the connection box switch. This connects pin 1 (CD) of
the 9 pin serial interface connector to the configure port on the CXM543.
Note that on the 9-pin computer connector, pins 1, 4 and 6 are shorted and
pins 7 and 8 are shorted). Connect a power supply (+6 V to +15 V) to the
red (positive) and black banana plug on the connection box.
Alternatively, according to the I/O pin functions described in Chapter 3, use
the RS-232 interface when connecting to a PC COM port.
Start up a terminal emulator program on the PC, e.g. Windows
HyperTerminal, PC Plus, etc. Configure the terminal emulator program for
direct connect to an available COM port and select the baud rate 9600 with
one stop bit and no parity. On the electrical interface to the system, ground
pin 8; this will put the system in configure mode and assure that the baud
rate is 9600 baud. If a connection box is used, select the “config” option on
the connector box switch.
Apply power to the system and check to see that the unit transmits a start up
message:
APS 543 V1.12 Config. Mode
The system can now be configured for operation in various modes as
described in Appendix A by issuing commands over the serial interface.
After configuring the CXM543 system, ungrounded pin 8. If a connector
box is used, select the “Run” option in the connector box switch. In run
mode, the CXM543 sign on message sent at power on is
APS 543 V1.12.
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CXM543 User’s Manual
Doc.# 6001-0015 Rev 1.2Page 6
In run mode, most of the CXM543 parameters, e.g. baud rate, sample rate,
etc. can be set by the user. The main differences between the system
operation in run and configure mode are as follows:
1. The CXM543 can only be calibrated in config mode (by issuing
the l command). The unit is always factory calibrated and
recalibration by the user is not normally required.
2. The unit always starts in the (known) baud rate of 9600 baud.
3. The unit always starts in command mode (as opposed to autosend
mode).
4. The data output format is selected to be A to D count mode.
The main functions of the config mode are to assure that the CXM543
communicates using a known baud rate (9600) andto enable calibration of
the system.
MWARNING
Always operate the CXM543 run mode (when using a terminal program)
unless the baud rate setting of the unit is unknown or calibration of the unit
is required. The output of the CXM543 in the calibrated mode (M=C) is
only valid in the run and auto modes.
4.2 System Checkout
After the CXM543 is operational and communicating with a computer, its
proper operation can be checked out by placing it on a flat, level, non-
magnetic surface. The non-magnetic nature of the surface is necessary to
prevent magnetic field errors, which will reduce the accuracy of the azimuth
reading. The roll and pitch readings are not affected by the magnetic field
present so a flat level surface, even if it is magnetic, can be used to check
roll and pitch.
Place the CXM543 on a level surface with the mounting flange down.
Rotate the system so that the connector is pointed North (use a compass to
accomplish this). Issue the following commands to the CXM543:
M = T <CR>
M = A <CR>
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