6DF Series
6 Degrees of Freedom
Inertial Measurement Unit,
6-D Motion Variant
DESCRIPTION
The Honeywell 6-D Motion Variant 6DF (six degrees of
freedom) Inertial Measurement Unit (IMU) sensors are
designed to provide motion, position, and navigational sensing
from a durable single device over six degrees of freedom. This
is achieved by using MEMS (microelectromechanical system)
technology to sense translational movement in three
perpendicular axes (surge, heave, sway) and rotational
movement about three perpendicular axes (roll, pitch, yaw).
Because the movement and rotation along the three axes are
independent of each other, such motion is said to have “six
degrees of freedom” (see Figure 1 on page 3).
The 6DF Series IMU measures the motion of the equipment
onto which it is attached and delivers the data to the
equipment’s control module using industry-standard CAN
SAEJ1939 communications protocol, allowing the operator to
focus on other equipment functions, enabling more precise
control than can be achieved by using only the human eye,
thus increasing safety, stability and productivity.
VALUE TO CUSTOMER (=competitive differentiator)
Designed to Six Sigma standards: Six Sigma standards
provide the highest level of product quality, performance,
and consistency. Six Sigma provides confidence that the
IMU will perform to specification. Some competitive
products may be produced to much lower Sigma
tolerances, which may result in some products not
performing to the specification in some conditions
Industry-leading durability:
Aluminum housing protects device from damage due to
stones, dust, dirt, pressure washing, and humidity,
allowing for use in harsh and outdoor environments
The 6DF Series is available in two versions, one with a 2 g
accelerometer and the other with a 6 g accelerometer, as
shown in the order guide on the back page.
6DF-1N2-C2-HWL: This version is slightly more accurate than
the 6DF-1N6-C2-HWL, but less tolerant of vibration. It is
designed for “cleaner” environments, where the higher
accuracy can be realized due to the reduced environmental
interference with respect to the signals.
6DF-1N6-C2-HWL: This version is much more tolerant of
vibration and rugged environments than the 6DF-1N2-C2HWL. This allows for optimum performance in harsh
environments, with a small reduction in accuracy.
The 6DF Series may potentially be used in numerous
Transportation, Industrial, and Aerospace/Military applications
with harsh environments.
Corrosion-resistance minimizes susceptibility to
deterioration often experienced in saltwater
environments
Compatible with chemicals such as diesel fuel,
hydraulic oil, gas/ethylene glycol, brake fluids, urea,
liquid lime, NPK fertilizer, ammonia hydroxide, and
alkaline degreasers
IP67 and IP69k ratings provide resistance to weather
Wide operating temperature range withstands most
thermal extremes, preventing package breakage
EMI (electromagnetic interference) and EMC
(electromagnetic compatibility) rating protects device
from environmental radio frequencies
6DF Series
2
Reduces replacement and downtime due to broken
parts, temperature incompatibilities, EMC and EMI,
and exposure to chemicals
Industry-leading accuracy: Provides highly accurate 6dimensional rotation and acceleration outputs due to the
IMU’s industry-leading durable packaging, industry-leading
stability, temperature compensation, software filtering and
design, and automotive-grade Six Sigma testing
requirements
Eases integration:
SAEJ1939 CAN 29 bit identifier communication
output—the standard for the transportation segment—
allows more data to be transmitted than an RS-485
output
IP67 and IP69k ratings minimize the customer having
to design a weather resistant packaging around the
IMU, allowing for a wide range of use in the application
Wide voltage range (7 V to 32 V) minimizes the need
for a voltage converter
Deutsch connector, common in transportation
applications, simplifies the customer’s supply chain
and reduces design complexity
Chemical compatibility minimizes the OEM having to
expose the device to the substances
6-dimensional motion sensing: Senses 3-D motion in
the forward/backward, up/down, and left/right
accelerations combined with rotation about three
perpendicular axes (pitch, yaw, roll):
Provides key equipment operating data for automated
steering and control
Frees the operator to focus on equipment functions
Enables precise control which otherwise cannot be
achieved with the human eye alone
Increases accuracy
Increases safety
Increases stability
Increases operator productivity
Industry-leading voltage input flexibility (7 V to 32 V):
Allows customers with multiple product lines the ability
to purchase only one catalog listing instead of multiple
listings
Allows the IMU to accommodate voltage fluctuation
within the vehicle/device
Provides reverse polarity protection in case the end
customer accidentally reverses the red and black
battery voltage wires
Industry-leading application expertise: Honeywell
application engineers are available to provide assistance
to customers to help troubleshoot unforeseen
communication protocol data, helping to optimize the
customers’ system performance; additionally, Honeywell
application engineers are available to answer design
questions during the development, launch, and production
of the customer’s product
sensing.honeywell.com
Industry-leading customization: For transportation
applications with high volumes over 500 units per year,
Honeywell will consider offering customers a choice of any
CAN protocol, acceleration range up to ±6 g, rotation rates
up to ±75 /s, inclination angles up to ±50 and a sensor
update rate from 1 Hz to 100 Hz:
Allows customers to customize the IMU so that it
readily fits into existing vehicle protocol architecture
Allows customers the ability to make custom protocol
inclusions into the IMU quickly and easily
Allows fast customer development turnaround with
expert engineering support
No customization for aerospace and military ITARapplicable applications
Automotive-grade qualified: Certified to operate in
automotive-grade environments due to:
Temperature compensated to operate from -40 °C to
85 °C [-40 °F to 185 °F]
Meets EMC and EMI requirements
Meets ESD (electrostatic discharge) requirements
Chemical compatibility (e.g., diesel, hydraulic oil,
gas/ethylene glycol, brake fluid, urea, liquid lime, NPK
fertilizer, ammonia hydroxide, and alkaline degreaser)
Industry-leading temperature performance: A
temperature sensor is placed within each rotation rate
sensor within the IMU:
Provides a temperature value to the processing
module where the data samples are filtered and
compensated
Allows the customer’s system to perform over a wide
temperature range
Long-term stability: Even after long-term use and
thermal extremes, these sensors offer customers
enhanced long-term stability:
Minimizes system calibration needs
Maximizes system performance
Helps support system uptime by eliminating the need
to service or replace the sensor during its application
life
No calibration needed: Large batches of the IMU are
calibrated to a flat surface, providing calibration
consistency between units and eliminating the customer’s
need to calibrate the IMU
FEATURES AND BENEFITS
Industry-standard SAEJ1939 CAN: Provides easy-tointegrate, cost-effective, high-integrity serial data
communications bus for real-time control applications,
allowing enhanced error detection
Test to mechanical shock, thermal shock, and random
vibration: Provides the customer with durability in tough
environments
6DF Series 6 Degrees of Freedom Inertial Measurement
Unit, 6-D Motion Variant
POTENTIAL APPLICATIONS
Motion Type
Stability
Rollover Prevention/
Detection
Grading/Harvesting
Transportation
(tractors, harvesters, loaders,
graders, bulldozers)
X
KEY INDUSTRY
Industrial
(mining conveyors, robotics,
shaker tables)
X
Aerospace/Military (non ITAR)
(ground vehicles
UAVs, unmanned aerial vehicles)
X
X
X
X
X
NOTICE
Honeywell will provide the customer with the following outputs, all of which are not compensated for stochastic bias; only
compensated for deterministic bias in a lab environment:
Roll and pitch angles under static and dynamic conditions.
Accelerometer measurements.
Rate gyro measurements.
The effects of field installation are ultimately the responsibility of the customer. Honeywell shall provide a diagram and
installation setup for its laboratory installation upon which the specifications shall be completed and valid.
Figure 1. Six Degrees of Freedom General Definitions
Translational Movement
in Three Perpendicular Axes
Rotational Movement
about Three Perpendicular Axes
Six Degrees of Freedom
Heave
Roll
Heave
Roll
Sway
Sway
+
Surge
=
Yaw
Yaw
Surge
Pitch
Surge: Moving forward/backward
Heave: Moving up/down
Sway: Moving left/right
Pitch
Roll: Tilting side to side
Pitch: Tilting forward and backward
Yaw: Turning left and right
Surge
Heave
Sway
Roll
Pitch
Yaw
Figure 2. Sensor Axes Definitions
Accelerations and Inclinations
Angular Rates
+Z
Angular
Rate
+Z
+X
+Y
3 Honeywell Sensing and Control
+Y
Angular
Rate
+X
Angular
Rate
6DF Series
Table 1. General Specifications
Characteristic
Supply voltage
Supply current (at 12 V)
Reverse voltage
Startup time
Operating temperature
Storage temperature
Mechanical shock
Random vibration
Thermal shock
Humidity
Salt spray
Chemical compatibility
Sealing
EMI/EMC:
emission
immunity
ESD
Can bus standard
Minimum
Typical
Maximum
Unit
7
32
V
350
mA
-18
V
700
2000
ms
-40 [-40]
85 [185]
C [F]
-40 [-40]
95 [203]
C [F]
30
g
3,2 g RMS max. (10 Hz to 2000 Hz), 3 orthogonal plane at 32 hr/axis
-40 C to 105 C [-40 F to 221 F] soak time, 30 min; transfer time less than 10 s, 30 cycles
95 %RH at 25 C to 55 C [77 F to 131 F]
5% salt solution, 96 hr at 35 C [95 F]
diesel fuel, hydraulic oil, ethylene glycol, motor oil, brake fluid, urea nitrogen, liquid lime, NPK
fertilizer, ammonia hydroxide, alkaline degreaser
1
IP67, IP69K
CISPR 25, ISO13766
ISO114252-2 (100 V/m at 200 MHz to 1 GHz, 50 V/m at 1 GHz to 2 GHz)
ISO114252-5 (100 V/m at 10 kHz to 1 MHz)
ISO114252-4 (100 mA at 1 MHz to 400 MHz)
SAE J1113.13 (Nov 2004), 8 kV direct/15 kV air discharge
CAN-29 bits
Note 1: Paint peel during IPX9K testing is not considered as failure
Table 2. Installation Information
Characteristic
Mating connector
Sealing plug
Weight
Heading direction
Mounting direction
Mounting bolt
4
sensing.honeywell.com
Description
Deutsch DT06-12S
Deutsch 114017 (for unused connector terminations)
675 g
+X
+Z
M6X1 socket head cap stainless steel, length 20 mm min., torque 8 N m to 10 N m
6 Degrees of Freedom Inertial Measurement Unit,
6-D Motion Variant
Table 3. Sensor Specifications
3-Axis Rotational Rate (X, Y, Z)
Characteristic
Range
1
Resolution
Linearity error
Noise
Sensitivity error
2
Offset error
Frequency response
3
G-Sensitivity
4
Noise (pk-pk)
2-Axis Inclination (X, Y)
Characteristic
Minimum
-75
-1
-4
-2.5
-0.8
-2
6DF-1N2-C2-HWL and 6DF-1N6-C2-HWL
Typical
0.044
±0.25
0.25
±1.06
±0.5
22
±0.5
±1.5
Maximum
75
1
0.45
4
2.5
+0.8
2
Unit
Minimum
-50
-0.2
-2
-2
6DF-1N2-C2-HWL and 6DF-1N6-C2-HWL
Typical
0.025
±0.1
0.2
±1
±0.25
30
Maximum
50
0.2
0.45
2
2
/s
/s
/s
/s (RMS)
%FSS
/s
Hz
/s/g
/s (pk-pk)
Unit
Range
1
Resolution
Linearity error
Noise
Sensitivity error
2
Offset error
Frequency response
5, 6
3-Axis Acceleration (X, Y, Z)
Characteristic
6DF-1N2-C2-HWL
6DF-1N6-C2-HWL
Minimum
Typical
Maximum
Minimum
Typical
Maximum
Range
-19.81
19.81
-58.86
58.86
1
Resolution
0.022
0.03
Linearity error
-0.392
±0.05
0.392
-0.687
±0.05
0.687
Noise
0.2
0.45
0.2
0.45
Sensitivity error
-4
±0.5
4
-3
±0.5
3
2
Offset error
-1
±0.245
1
-1
±0.490
1
Frequency response
24
24
Notes:
1. Resolution refers to sensor resolution and not CAN output resolution.
2. Offset error is measured at relatively zero level or on a flat surface.
3. G-Sensitivity is measured at 25 C [77 F].
4. Pk-pk noise of rotational rate sensor is measured at 0 /s at 25 C [77 F].
2
5. Accelerometer specification is tested up to ±0.499 g (4.895 m/s ).
2
6. Measuring specific force at 1 g = 9.8 m/s .
(RMS)
%FSS
Hz
Unit
2
m/s
2
m/s
2
m/s
2
m/s (RMS)
%FSS
2
m/s
Hz
Honeywell Sensing and Control
5
6DF Series
Figure 3. Dimensional Drawing (For reference only: mm/[in])
PIN 12
PIN 7
13,0
[0.51]
66,0
[2.60]
PIN 6
PIN 1
81
[3.19]
130
[5.12]
116
[4.57]
40,6
[1.60]
51,3
[2.02]
3X 6,40 DIA.
[0.25]
48,15
[1.90]
37,3
[1.47]
26,1
[1.03]
12,4
[0.49]
PART NO.: 6DF-1N6-C2-HWL
96,3
[3.80]
96
[3.78]
22,3
[0.90]
135
[5.31]
PIN DESIGNATIONS:
1 POWER RETURN
2 CAN LOW
11 CAN HIGH
12 INPUT POWER
1,5
[0.06]
Pinout
Recommended Mounting Footprint
Pin 1 = Ground
116
[4.57]
Pin 2 = CAN low
Pin 11 = CAN high
3X M6X1
48,15
[1.90]
Pin 12 = Input (Vs)
96,3
[3.79]
6
sensing.honeywell.com
3X 22 TYP SENSOR SEATING
[0.87]
6 Degrees of Freedom Inertial Measurement Unit,
6-D Motion Variant
Figure 4. Block Diagram
6DF IMU
Customer
System
Processing Module
Sensor Module
Main Processor
3 x Accelerometer
Self Test
Digital Input/
Output
Accelerometers
CAN A
3 x Accelerometer
Rotation Rate
Sensors
(Gyroscopes)
3 x Rotation Rate
Analog to Digital
Converter
CAN
Tranceiver
CAN Bus
3 x Status
Analog to
Digital
Converter
Digital Input/
Output
3 x Rotation Rate Sensor Self Test
3 x Temperature
Power Supply Module
Serial Peripheral
Interface
Analog to Digital
Converter
12 V Power Monitor
Reset
Reset
Timer
Watch Dog TImer
Regulated Power
Supply
Supply
Voltage
Voltage/Current
Protection
Power to All Modules
Honeywell Sensing and Control
7
Order Guide
Catalog LIsting
6DF-1N2-C2-HWL
6DF-1N6-C2-HWL
Description
6DF Series Inertial Measurement Unit, 6-D Motion Variant, 2 g accelerometer
6DF Series Inertial Measurement Unit, 6-D Motion Variant, 6 g accelerometer
WARNING
WARNING
PERSONAL INJURY
DO NOT USE these products as safety or emergency stop
devices or in any other application where failure of the
product could result in personal injury.
Failure to comply with these instructions could result
in death or serious injury.
WARRANTY/REMEDY
Honeywell warrants goods of its manufacture as being free of
defective materials and faulty workmanship. Honeywell’s
standard product warranty applies unless agreed to otherwise
by Honeywell in writing; please refer to your order
acknowledgement or consult your local sales office for specific
warranty details. If warranted goods are returned to Honeywell
during the period of coverage, Honeywell will repair or replace,
at its option, without charge those items it finds defective. The
foregoing is buyer’s sole remedy and is in lieu of all other
warranties, expressed or implied, including those of
merchantability and fitness for a particular purpose. In no
event shall Honeywell be liable for consequential, special,
or indirect damages.
While we provide application assistance personally, through
our literature and the Honeywell web site, it is up to the
customer to determine the suitability of the product in the
application.
MISUSE OF DOCUMENTATION
The information presented in this product sheet is for
reference only. Do not use this document as a product
installation guide.
Complete installation, operation, and maintenance
information is provided in the instructions supplied with
each product.
Failure to comply with these instructions could result in
death or serious injury.
SALES AND SERVICE
Honeywell serves its customers through a worldwide network
of sales offices, representatives and distributors. For
application assistance, current specifications, pricing or name
of the nearest Authorized Distributor, contact your local sales
office or:
E-mail: info.sc@honeywell.com
Internet: sensing.honeywell.com
Phone and Fax:
Asia Pacific
Europe
Latin America
USA/Canada
+65 6355-2828; +65 6445-3033 Fax
+44 (0) 1698 481481; +44 (0) 1698 481676 Fax
+1-305-805-8188; +1-305-883-8257 Fax
+1-800-537-6945; +1-815-235-6847
+1-815-235-6545 Fax
Specifications may change without notice. The information we
supply is believed to be accurate and reliable as of this
printing. However, we assume no responsibility for its use.
Sensing and Control
Honeywell
1985 Douglas Drive North
Golden Valley, Minnesota 55422
sensing.honeywell.com
000741-2-EN
January 2013
Copyright © 2013 Honeywell International Inc. All rights reserved.