HG1120CA50

HG1120 INERTIAL MEASUREMENT UNIT (IMU) Installation and Interface Manual HG1120 Installation and Interface Manual | aerospace.honeywell.com/HG1120 Table of Contents 4 Honeywell Industrial Inertial Measurement Units 5 Electrical Interface 6 Mode and Communication Selection Asynchronous Protocol SPI Protocol CAN 2A/2B Protocol 15 Mechnical Drawing and Installation 17 Export Guidance 17 Contact Us Table of Tables 5 Table 1. Connector Pin Description 7 Table 2. Mode Selection 8 Table 3. Control Message (0x04 Data Format) 8 Table 4. Main Status Word Definition 9 Table 5. Multiplexed Status Word 9 Table 6. Gyro and Accelerometer BIT Status 9 Table 7. Processor/Memory BIT Status Word 10 Table 8. Inertial Message (0x05 Data Format) 10 Table 9. Asynchronous Control Message (0x0C Data Format) 11 Table 10. Asynchronous Inertial Message (0x0D Data Format) 12 Table 11. SPI Control Message (0x04 Data Format) 12 Table 12. SPI Inertial Message (0x05 Data Format) 12 Table 13. SPI Control Message (0x0C Data Format) 2 HG1120 Installation and Interface Manual | aerospace.honeywell.com/HG1120 Table of Tables 12 Table 14. SPI Inertial Message (0x0D Data Format) 13 Table 15. CAN Control Message 1 Format 13 Table 16. CAN Control Message 2 Format 13 Table 17. CAN Control Message 3 Format 14 Table 18. CAN Inertial Message 1 Format 14 Table 19. CAN Inertial Message 2 Format 14 Table 20. CAN Inertial Message 3 Format 3 HG1120 Installation and Interface Manual | aerospace.honeywell.com/HG1120 Honeywell Industrial Inertial Measurement Units Honeywell produces No License Required (NLR) Inertial Measurement Units (IMU) for industrial applications including agricultural vehicles, robotics, survey, mapping, and stabilized systems. These IMUs are designed for industrial application and can be used on air, land, and sea. Honeywell began producing gyros in the 1940’s for the Honeywell C-1 autopilot and specifically began producing MEMS gyros and accelerometers in the early 2000’s. Honeywell’s IMUs utilize proprietary Honeywell technology and leverage existing production and engineering infrastructure. Honeywell has deep and long lasting relations with many commercial customers and is carrying that philosophy and product pedigree into our NLR IMU line. Honeywell’s forward looking product strategies ensure that our NLR IMUs fit your current and future needs. The HG1120 IMU is a device which measures angular rates, linear accelerations, and magnetic fields in a body mounted strap down configuration. The IMU provides compensated incremental angle and velocity data for navigation as well as angular rates and linear accelerations for control. The data is reported through a digital serial interface bus and is available in a variety of serial formats. The unit contains MEMS gyroscopes and accelerometers as well as the electronics and software necessary to deliver precision control and navigation information. The input axes form a right handed frame aligned with the IMU mounting frame. 4 HG1120 Installation and Interface Manual | aerospace.honeywell.com/HG1120 Electrical Interface The pin assignments of the external system connector are shown below. Logic 0 corresponds to the CMOS “low” logic state. Logic 1 corresponds to the CMOS “high” logic state. Table 1. Connector Pin Description PIN # SIGNAL NAME INPUT/OUTPUT & SIGNAL TYPE SIGNAL FUNCTION 1 DIO3 Input - Device Configuration CMOS compatible logic No connect results in Logic 1. Active low for logic 0. 2 DIO4 Input – Device Configuration CMOS Compatible Logic No connect results in Logic 1. Active low for logic 0. 3 SPI_SCLK Input CMOS Compatible Logic SPI Clock 4 SPI_MOSI Input CMOS Compatible Logic SPI Master Out Slave In (MOSI) data. 5 SPI_MISO Output CMOS Compatible Logic SPI Master In Slave Out (MISO) data 6 SPI_SS Input CMOS Compatible Logic SPI Slave Select (chip select), Default high, Active low 7 DIO1 Input – Device Configuration CMOS Compatible Logic No connect results in Logic 1. Active low for logic 0. 8 RESET_N Input – Device Configuration CMOS Compatible Logic Logic 0 applied for 15 milli-seconds will stop all processing. Upon logic 1, the IMU will restart as if power had been removed and re-applied. No connection is required. 9 DATA_RDY Output CMOS Compatible Logic Data Ready on Rising Edge to Logic 1. @ Logic 1, maximum 500 micro-seconds. 10 DIO2 Input - Device Configuration CMOS Compatible Logic No connect results in Logic 1. Active low for logic 0. 11,12 VDD Input Power (3.0 – 5.5 VDC) The input voltage should monotonically increase at start with ripple < 30 mV P-P. The device draws < 0.4 Watts and 125 mA. 13 PWR_RTN Power Return Return path for input power. 14 DGND Signal Return Use this pin to reference digital signals. 15 PWR_RTN Power Return Return path for input power. 16 SER_DATA_OUT_H Output RS-422 Asynchronous High 17 No Connect N/A N/A 18 SER_DATA_OUT_L Output RS-422 Asynchronous Low 19-21 No Connect 22 CAN_L Bi-directional - ISO 11898-2 Can Bus Low 23 No Connect No Connect 24 CAN_H Bi-directional - ISO 11898-2 Can Bus High 5 HG1120 Installation and Interface Manual | aerospace.honeywell.com/HG1120 6 Mode and Communication Selection The HG1120 supports the message protocols, data rates, and bandwidths, described in Table 2. The HG1120 can be configured by setting discrete inputs DIO1 through DIO4. These pins are only read upon reset or power up. State of the pins is shown in word 9 of the multiplexed status word. The first frame of serial output data after power-application will contain a fixed pattern of 0x55s in place of sensor data. Subsequent frames of serial output data will contain compensated sensor data. The control bandwidth in Table 2 describes the nominal - 90° phase point. The -3dB frequency is nominally 2x the -90° phase frequency. The bandwidth is exclusive of transmission delay. Control data consists of the angular rates, linear acceleration, magnetic, and IMU status words in message set {0x04, 0x05} and set {0x0C, 0x0D}. The angular and linear data is filtered and sampled at 1800 Hz. The 1800 Hz filtered angular and linear data is decimated for 600 Hz control data. The 300/100 Hz navigation data output consists of incremental (or “delta”) angles and velocities as shown in message IDs 0x05 and 0x0D. The navigation data is unfiltered 1800 Hz sensor data which is summed to the navigation data rate (300 Hz or 100 Hz). Accurate attitude and position calculations require that all messages be received and used. Gyro and accelerometer residuals are calculated and carried forward to the next message for both navigation and control data. The serial output FIFO is loaded with the LS byte first and LS 16-bit word first. The sensor data (gyro, accelerometer, magnetometer, and temperature) are all signed 2’s complement integers. 7 HG1120 Installation and Interface Manual | aerospace.honeywell.com/HG1120 Table 2. Mode Selection DIO4 DIO3 DIO2 DIO1 PROTOCOL CONTROL/NAV. DATA RATES CONTROL/INERTIAL MESSAGE FORMATS CONTROL DATA BANDWIDTH (-90° PHASE POINT) 1 1 1 1 ASYNC 1800/300 Hz 0x04/0x05 1 1 1 0 ASYNC 600/100 Hz 0x0C/0x0D 97 Hz Gyro 155 Hz Accelerometer 1 1 0 1 ASYNC 600/100 Hz 0x0C/0x0D 90Hz 1 1 0 0 ASYNC 600/100 Hz 0x0C/0x0D 50Hz 1 0 1 1 SPI 1800/300 Hz 0x04/0x05 1 0 1 0 SPI 600/100 Hz 0x0C/0x0D 97 Hz Gyro 155 Hz Accelerometer 1 0 0 1 SPI 600/100 Hz 0x0C/0x0D 90Hz 1 0 0 0 SPI 600/100 Hz 0x0C/0x0D 50Hz 0 1 1 1 CAN2A 600/100 Hz 11 Bit ID 90Hz 0 1 1 0 CAN2A 600/100 Hz 11 Bit ID 50Hz 0 1 0 1 CAN2B 600/100 Hz 29 Bit ID 90Hz 0 1 0 0 CAN2B 600/100 Hz 29 Bit ID 50Hz 0 0 1 1 SPARE NA NA NA 0 0 1 0 SPARE NA NA NA 0 0 0 1 SPARE NA NA NA 0 0 0 0 SPARE NA NA NA Asynchronous Protocol The asynchronous 1800/300 Hz data protocol is as specified in Table 3 – Control Message (0x04) Format and Table 7 – Inertial Message (0x05) Format. The asynchronous 600/100 Hz data protocol is as specified in Table 8 – Control Message (0x0C) Format and Table 9 – Inertial Message (0x0D) Format. The transmit baud rate will be 1Mbits/sec with 1 start bit, 8 data bits, 1 stop bit, and no parity. HG1120 Installation and Interface Manual | aerospace.honeywell.com/HG1120 Table 3. Control Message (0x04 Data Format) POSITION PARAMETER LENGTH (BYTES) LSB WEIGHT 1 IMU Address 1 N/A Constant 0x0E 2 Message ID 1 N/A Constant 0x04 3 Angular Rate X 2 2 * 1800 * 2/3 rad/sec/LSB 4 Angular Rate Y 2 2 -20 * 1800 * 2/3 rad/sec/LSB 5 Angular Rate Z 2 2 -20 * 1800 * 2/3 rad/sec/LSB 6 Linear Acceleration X 2 2 * 1800 * 2/3 0.3048 meters/sec2/LSB 7 Linear Acceleration Y 2 2 -14 * 1800 * 2/3 0.3048 meters/sec²/LSB 8 Linear Acceleration Z 2 2 0.3048 meters/sec²/LSB 9 Mag Field X 2 0.438404 Milli-gauss/LSB 10 Mag Field Y 2 0.438404 Milli-gauss/LSB 11 Mag Field Z 2 0.438404 Milli-gauss/LSB 12 Main Status Word 2 N/A See Table 4. 13 Multiplexed Status Word 2 N/A See Table 5. -20 -14 -14 * 1800 * 2/3 // this pseudo code illustrates the checksum algorithm Checksum 14 UNITS OR CONTENTS Sum of all message data (positions 1…13 of this table), taken as 16 bit words, and summed without regard for rollover. Total Length 2 u16sum = 0; for (i=0; i