R1371T
SPECIFICATION
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
Contents
1.功能说明 ............................................................................................................... 3
1.1. 概述 ............................................................................................................................. 3
1.2. 框图 ..................................................................................................................... 3
1.3. 特征.............................................................................................................................. 4
1.4. 系统启动................................................................................................................... 4
1.5. 安装........................................................................................................................... 5
安装信息（坐标系） ......................................................................... 5
数据输出 ......................................................................................................................... 5
2.机械规格 ........................................................................................................... 6
2.1. 外形尺寸 ......................................................................................................................... 6
2.2. 规格........................................................................................................................ 6
3.接口规范 ............................................................................................................... 7
3.1. 引脚配置 ................................................................................................................ 7
3.2. 引脚定义 ....................................................................................................................... 7
4.电气规范 ............................................................................................................... 8
5.性能规格 ......................................................................................................... 9
6.协议 ................................................................................................................................... 10
6.1. 系统信息 ........................................................................................................... 10
6.2. 整数输出格式 ........................................................................................................ 10
6.3. 输入命令格式 .................................................................................................... 12
7.环境规范 .................................................................................................... 15
8.回流温度指南 ................................................................................................ 16
9.包装规格 .............................................................................................................. 17
9.1. 托盘尺寸 ................................................................................................................ 17
9.2. 盒装 ...................................................................................................................... 18
10.符合RoHS标准 ................................................................................................................. 19
11.处理预防措施 .............................................................................................................. 20
1 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
数字清单
Figure 1: Functional diagram......................................................................................................... 3
Figure 2: CruizCore® R1371T coordinates system ....................................................................... 5
Figure 3: Dimensions..................................................................................................................... 6
Figure 4: Pin configuration of connectors ...................................................................................... 7
Figure 5: CruizCore® R1371T data packet format....................................................................... 10
Figure 6: Temperature conditions at reflow ................................................................................. 16
Figure 7 : Packing Tray ............................................................................................................... 17
表格列表
Table 1: Mechanical specification .................................................................................................. 6
Table 2: Pin definition .................................................................................................................... 7
Table 3: Absolute maximum ratings ............................................................................................... 8
Table 4: CruizCore® R1371T electrical characteristics .................................................................. 8
Table 5: CruizCore® R1371T performance characteristics ............................................................ 9
Table 6: CruizCore® R1371T data fields description. .................................................................. 11
Table 7: Data packet parsing example. ....................................................................................... 11
Table 8: Command Summary. ..................................................................................................... 12
Table 9: Baud rate and maximum output rate. ............................................................................ 12
Table 10: Default settings. ........................................................................................................... 13
Table 11: Command examples. ................................................................................................... 14
Table 12: Environment and mechanical test. .............................................................................. 15
Table 13: Judgment criteria of environment and mechanical test. .............................................. 15
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
2 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
1. 功能说明
1.1. 背景
CruizCore®R1371T 是一款数字陀螺仪和加速度计，用于测量动态条件下的角速率，航向角（也
称为方向或偏航）和加速度。 它是一种高度紧凑，轻便且完全独立的设备。 在内部，R1371T包
含MEMS陀螺仪，3轴加速度计，内部稳压器，信号处理电路，AD转换器和运行我们专利纠错算
法的RISC微处理器。 CruizCore®R1371T 使用自适应降阶卡尔曼滤波器来减少影响此类传感器的
误差（即偏置漂移，比例因子，不对称性），因此它可以产生非常精确的稳定角速率和航向角。
启动时间小于1秒，用于计算偏置参数; 此后不需要进一步校准。 R1371T是用于导航应用的最佳
单轴速率测量解决方案。
1.2. 框图
Figure 1: Functional diagram.
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
3 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
1.3. 特征
UART输出（SPI，I2C可选）
低功耗
紧凑的包装
定制带宽（可选）
快速启动
完全独立
速率输出
角度输出
3轴加速输出
1.4. 系统启动
CruizCore®R1371T 的启动时间不到一秒。 它内部补偿由于温度变化引起的误差。 但是，在打开
设备电源后不久，温度突然变化会导致静态速率错误。 如果预计会出现这样的温度变化，我们建
议在启动后将陀螺仪静止5秒钟。
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
4 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
1.5. 安装
安装信息（坐标系）
CruizCore®R1371T 坐标系的敏感轴垂直于设备较平坦的区域（见图2），因此当其敏感轴沿顺时
针方向旋转时，陀螺仪将显示正角速率（和角度增量）（其他） 坐标系可作为选项提供）。 安装
不正确会产生与比例因子误差具有相似效果的错位错误，因此可以这样处理。
如果此错误很明
显，我们建议使用单轴速率表重新计算比例因子。
Figure 2: CruizCore® R1371T coordinates system
Data Output
The UART serial settings are 115200, 8, 1, N with no handshaking.
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
5 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
2. 机械规格
2.1. Dimensions
Unit: millimeter
Figure 3: Dimensions
2.2. 规格
Table 1: Mechanical specification
Parameter
Specification
Tolerance
Length
25.0
±0.2
Width
20.0
±0.2
Height
3.0
-1.0
Weight
3.0
-1.5
Comment
Unit: millimeter.
Unit: gram
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
6 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
3. 接口规范
3.1. Pin Configuration
1
VDD
nRST
18
2
GND
I2C SCK
17
3
NA
I2C SDA
16
4
NA
NA
15
5
NA
NA
14
6
NA
NA
13
7
NA
RxD
12
8
GND
TxD
11
9
NA
NA
10
Top View
Figure 4: Pin configuration of connectors
3.2. Pin Definition
Table 2: Pin definition
Pin No.
Pin Name
I/O
Description
1
VDD
-
Main power (3.2V ~ 5.5VDC)
2
GND
-
Power ground
8
GND
-
Power ground
11
TxD
O
UART transmit data
12
RxD
I
UART receive data
16
I2C SDA
I/O
I2C data Line (optional)
17
I2C SCK
I/O
I2C Clock Line (optional)
18
nRST
I
System reset input
-
NA
-
Not available (leave open)
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
7 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
4. 电气规范
Table 3: Absolute maximum ratings
Parameter
Symbol
Value
Unit
Note
Power supply
voltage
VCC
-0.3 ~ 6.5
V
GND=0V
nRST Input
voltage
V_nRST
-0.3 ~ 3.3
V
Port Input voltage
V_IO
-0.3 ~ 3.3
V
Operating
temperature
TOPR
-20 ~ +80
℃
Storage
temperature
TSTG
-40 ~ +85
℃
VCC=3.3V
GND=0V
VCC=3.3V
GND=0V
Table 4: CruizCore® R1371T electrical characteristics
Value
Parameter
INPUT
VOLTAGE
Min.
OPERATING
Typ.
3.2
Max.
Unit
5.5
V
RECOMMENDED
3.3
V
CURRENT
@ 3.3 V
13
mA
POWER
@ 3.3 V
43
mW
POWER
INPUT “L”
-0.3
0.8
V
Pins for
INPUT “H”
2.2
3.3
V
communication
OUTPUT “L”1
0.4
V
I/O
OUTPUT “H”2
2.4
INPUT “L”
V
0.6
V
nRST3
INPUT “H”
2.4
V
* Data voltage levels can vary slightly due to internal load changes.
1. VCC = 3.3V, the maximum total current IOL(max) = 5mA
2. VCC = 3.3V, the maximum total current IOH(max) = 5mA
3. Use open collector logic when using the nRST function.
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
8 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
5. 性能规格
Table 5: CruizCore® R1371T performance characteristics
Value
参数
带宽
Min.
RATE
快速启动
GENERAL
启动
时间
Typ.
10
50
0.5
FULL ALIGNMENT1
比例因子误差
零偏漂移
RESOLUTION
相对角度
DATA RATE
Hz
sec
min
±200
deg/sec
0.5
1
%
< 10
50
deg/hr
0.01
PROPORTIONAL
ERROR2
漂移误差
ACCELERATION
Unit
5
输入范围
角速率
Max.
deg
1
%
60
deg/hr
测量范围
±2
G
ADJUSTABLE3
100
Hz
* The system must be installed in the correct position.
** @TOPR=+25℃, VCC=3.3V.
1. Full alignment: Total time that takes for full bias error calibration and temperature compensation. It is the worst case on
condition that the temperature goes up suddenly without temperature compensation.
2. Guaranteed only under conditions: full alignment, steady-state room temperature, under 200 deg/sec angular rate.
3. Other data rate available as option.
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
9 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
6. Protocol
The CruizCore® R1371T provides rate, angle and acceleration outputs. The angle output is a
relative and can be affected by several conditions such as sampling rate variations, bandwidth
limitation, dynamic range, alignment, and device mounting.
6.1. System information
When the CruizCore® R1371T is powered up, it transmits the system information. For example:
%CruizCore R13T rX. X
%SW Ver X. XX-DF
%(c) 2002-2016 Microinfinity Co., Ltd.
The system information output can be changed without notice.
6.2. Integer output format
Following the system information the CruizCore® R1371T starts transmitting the sensor data
packages. The CruizCore® R1371T provides rate, angle and acceleration outputs. The output
format is shown in Figure 5 and is described in Table 6. The integer output consists on a 2 byte
header, a 1byte index, a 1byte reserved, a 10 byte data section and 1 byte checksum. The
output in this format is given in hundredths of degrees, i.e. a 0.1 degree angle will be displayed
as 10 (or 0x0A HEX). The output voltage level of the serial port is 3.0 V. An example of the data
packet sample is provided in Table 7.
DATA
HEADER
0xAA
Index
ANGLE
RATE
X-axis
Acceleration
Y-Axis
Acceleration
Z-Axis
Acceleration
Reser
ved
1byte
2byte
2byte
2byte
2byte
2byte
1byte
Check
sum
0x00
2byte
1byte
Figure 5: CruizCore® R1371T data packet format
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
10 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
Table 6: CruizCore® R1371T data fields description.
OUTPUT DATA
BYTE
COMMENTS
HEADER
1-2
Hex value is: 0xAA00
INDEX
3
0x00 ~ 0xFF
ANGLE1
4-5
Provided in hundredths of deg
RATE1
6-7
Provided in hundredths of deg/sec
X-axis Acceleration1
8-9
Provided in 1mg resolution
Y-axis Acceleration1
10-11
Provided in 1mg resolution
Z-axis Acceleration1
12-13
Provided in 1mg resolution
Reserved
14
CHECKSUM1,2
15
Is equal to:
index + angle(LSB)
angle(MSB) + rate(LSB) + rate(MSB)
Xacc(LSB) + Xacc(MSB) + Yacc(LSB)
Yacc(MSB) + Zacc(LSB) + Zacc(MSB)
reserved
+
+
+
+
1. First byte is the least significant.
2. CHECKSUM is 1 byte and the overflowed more than 1 byte is ignored.
Table 7: Data packet parsing example.
Parameter
Comments/Calculations
Data packet
0xAA00E4C80070003400210002010074
Index
Index(hex) = 0xE4 = 228
Angle output
Angle (hundredths deg) = 0xC800 (hex) = 200
Angle (deg) = 200/100 = 2.00
Rate output
Rate (hundredths deg/sec) = 0x7000 (hex) = 112
Rate (deg/sec) = 112/100 = 1.12
Acceleration output
Acceleration (1mg resolution) = 0x0201 (hex) = 258
Acceleration (G) = 258 * 1 = 258mg
Checksum
CHEKSUM (hex) =
0xE4+0xC8+0x00+0x70+0x00+0x34+0x00+0x21+
0x00+0x02+0x01+0x00 = 0x74
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
11 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
6.3. Input Command Format
The CruizCore® R1371T can accept input commands, those are used to change the baud rate,
data output rate. The input command sets all the parameters at once, if the user does not want to
change a certain parameter; the field can be skipped by leaving the respective field empty, still
the comma character must be included. The CruizCore® R1371T only recognizes the input
commands summarized in Table 8, no blank or other characters can be used.
Table 8: Command Summary.
Field
Command
Separator
Example
INIT
$MIA
COMMA (,)
$MIA,
FORMAT
I
COMMA (,)
I,
BAUD RATE
B,BAUDRATE
COMMA (,)
B,115200,
OUTPUT RATE
R
COMMA (,)
R,100,
TYPE
D
COMMA (,)
D,
OUTPUT
Y
COMMA (,)
Y,
FLASH
Y
COMMA (,)
Y,
CHECKSUM
SUM of COMMAND
ASTERISK(*)
*C4
SOFTWARE RESET
$MIB,RESET*87
INIT Field
Command start identifier. Must be ‘$MIA’.
FORMAT Field
The ‘I’ means integer data format. The floating point and ASCII formats are not available on
R1371T.
BAUD RATE Field
The baud rate setting can be chosen from the following available options: 115200, 57600, 38400,
28800, 19200, 9600, and 4800. Notice that the baud rate is set before the data output rate,
therefore a low baud rate can limit the maximum data output rate. For example, for 4800 baud
rate the maximum data output rate is only 25Hz. Table 9 shows the maximum output rates for a
given baud rate.
Table 9: Baud rate and maximum output rate.
BAUD RATE
115200
57600
38400
28800
19200
9600
4800
MAX OUTPUT RATE
100Hz
100Hz
100Hz
100Hz
100Hz
50Hz
25Hz
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
12 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
OUTPUT RATE Field
Data output rate setting. This command determines data output rate, the following are the valid
rates: 100Hz, 50Hz, 25Hz, and 10Hz.
TYPE Field
Data type setting. The rate and angle are provided in ‘Degree’ (D) format. The ‘Radian’ (R)
format is not available on R1371T.
OUTPUT Field
Output setting ‘Y’ means all the data will be provided, and ‘N’ means none of the data will be
provided. However, the ‘N’ command is not available on R1371T. That means the data will be
provided all the time.
FLASH Field
This command determines whether the setting is stored or not in flash memory. But in case of
R1371T, the ‘Y’ command is only available. So the settings are always stored in the flash
memory and they will remain even after powering down the unit.
CHECKSUM Field
This is the sum of character after ‘$’ and before ‘*’, and it is represented in HEX value.
Software Reset
This command ‘$MIB,RESET*87’ resets the device. The reset command has its own identifier,
which is different that the other available commands. Refer to 1.4. for other details about sensor
initialization.
Default settings
Table 10 shows the factory default settings for the CruizCore® R1371T, and Table 11 presents
some examples of valid commands.
Table 10: Default settings.
FIELD
DEFAULT SETTING
FORMAT
I : integer format
BAUD RATE
B,115200 : 115200bps
OUTPUT RATE
R,100 : 100Hz
TYPE
D : Degree
OUTPUT
Y : all the data valid
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
13 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
Example
Table 11: Command examples.
SETTING
Integer, 115200bps, 100Hz, Degree, Output enabled, Flash saved
Ex 1.
COMMAND
SETTING
$MIA,I,B,115200,R,100,D,Y,Y*C4
Integer, 19200bps, 100Hz, Degree, Output enabled, Flash saved
Ex 2.
COMMAND
SETTING
$MIA,I,B,19200,R,100,D,Y,Y*97
50Hz (The other settings are maintained.)
Ex 3.
COMMAND
SETTING
$MIA,,,,R,50,,,*EE
100Hz (The other settings are maintained.)
Ex 4.
COMMAND
$MIA,,,,R,100,,,*1A
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
14 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
7. Environmental Specification
Table 12: Environment and mechanical test.
No.
Items
Test condition
Test Criteria
1
High temperature
storage
85℃ x 120h
Refer to table 13
2
Low temperature
Storage
-40℃ x 72h
Refer to table 13
25℃, 60%RH(4h) /
3
Temperature and
Humidity cycling
55℃, 95%RH(10h) /
Refer to table 13
-30℃(2h) / 75℃(2h),
10cycles
-40℃ ↔ 85℃
4
Thermal shock
5
Drop
Free drop from 750mm
height on a wooden board
for 3 times
Refer to table 13
6
Vibration
10Hz to 55Hz amplitude
0.75mm, 55Hz to 500Hz
acceleration 98m/s2,
10Hz→500Hz→10Hz
15min/cycle,
6h(2h x 3directions)
Refer to table 13
7
ESD
R(330Ω) C(150pF), Contact
discharge, 5times
Refer to table 13
1hour at each temperature,
10cycles
Refer to table 13
* After each test, there should be no visible damage and the measured values shall be met Table 13.
Table 13: Judgment criteria of environment and mechanical test.
Items
Units
Judgment criteria
Angular error
degree
When CW 1 rev, 0±1.0deg.
After CW 1 rev, CCW 1 rev, 0±1.0deg.
ESD
voltage
1kV (No deviations)
2kV (Self-recoverable deviations)
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
15 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
8. Reflow Temperature Guideline
Recommended temperature conditions at reflow is shown on the following Figure 6.
+250℃ Max
Temp.
[℃]
+220℃ Above
+170℃
40sec
100sec
Time
[sec]
Figure 6: Temperature conditions at reflow
Pre-heating temperature: +170℃
Pre-heating time: 100sec
Heating temperature: +220℃
Heating time: 40sec
Peak temperature ≤ +250℃
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
16 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
9. Packing Specification
9.1. Tray dimensions
Figure 7 : Packing Tray
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
17 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
9.2. Box Packing
R1371T
∙ 40pcs/Tray (4x10)
∙ Stack 5 Tray (including one empty tray)
∙ Totally 160pcs (40x4)
∙ Vacuum sealing
∙ Cushion bar and bubble sheet
∙ Totally 320pcs (160x2)
320pcs/Inner box
· 1,280pcs/Carton (320x4)
· Stack 4 inner box
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
18 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
10. RoHS Compliance
Microinfinity's R1371T module and its homogeneous materials comply with European Union's
restriction on use of hazardous substances("RoHS") Directive, 2002/95/EC.
TEL +82-31-546-7408, FAX +82-31-546-7409, E-mail: support@minfinity.com, http://www.minfinity.com
19 / 21
CruizCore® R1371T SPECIFICATION
Microinfinity Confidential
11. Handling Precaution
This product includes quartz part. Please handle carefully paying attention to the next points.
Quartz parts are precision parts. This crystal part is designed in consideration of shock
resistance. However it may be destroyed depending on the condition of dropping and impact.
Please be sure to check the characteristics in case that the product is dropped from the desktop
and too much shock is applied to the products. When the products are automatically assembled
(vacuum-chucking, mechanical chucking, assembling with other parts), the excessive shock may
make the characteristics of quartz part change or deteriorate. So please set up the condition so
that the shock becomes as small as possible. Please be sure to test in your site before use and
confirm that there is no influence on the characteristics. And confirm similarly when the condition
is changed. And be careful not to collide the product with the machinery or with other circuit
board when/after assembling. Anti-static protection circuit is contained in this product. However,
when the excessive static electricity is charged, IC may break. So please use conductive ones
for packing and carrying containers. And use the soldering iron and the measurement instrument
that don’t have high-voltage leakage and take anti-static measures such as grounding when
handling. Ultrasonic washing may lead to destruction of crystals depending on the condition. We
can’t guarantee it because we can’t know your using condition (machine type, power, time,
position in the tank etc.). If you are obliged to use it, please be sure to examine and set up the
conditions beforehand.
20 / 20
工商网监
湘ICP备2023018690号
