R6093U
SPECIFICATION
Ver1.0
Copyright Microinfinity Co., Ltd.
MIBX-R001-1709SC-A240
http://www.minfinity.com
Contact Info.
EMAIL: support@minfinity.com, TEL: +82 31 546 7408 FAX: +82 31 546 7409
R6093U SPECIFICATION Ver1.0
Microinfinity Confidential
Contents
1. Functional Description ............................................................................................................... 3
1.1. Overview ............................................................................................................................. 3
1.2. Block diagram ..................................................................................................................... 3
1.3. Features .............................................................................................................................. 4
1.4. System start-up ................................................................................................................... 4
1.5. Installation ........................................................................................................................... 5
Mounting Information(Coordinate System) ......................................................................... 5
Data Output ......................................................................................................................... 5
2. Mechanical Specification ........................................................................................................... 6
2.1. Dimensions ......................................................................................................................... 6
2.2. Specification ........................................................................................................................ 6
3. Interface Specification ............................................................................................................... 7
3.1. Pin Configuration ................................................................................................................ 7
3.2. Pin Definition ....................................................................................................................... 7
4. Electrical Specification ............................................................................................................... 8
5. Performance Specification ......................................................................................................... 9
6. Protocol ................................................................................................................................... 10
6.1. System information ........................................................................................................... 10
6.2. Integer output format ........................................................................................................ 10
6.3. Software reset ................................................................................................................... 11
7. Environmental Specification .................................................................................................... 12
8. Reflow Temperature Guideline ................................................................................................ 13
9. Packing Specification .............................................................................................................. 14
9.1. Tray dimensions ................................................................................................................ 14
9.2. Box Packing ...................................................................................................................... 15
10. RoHS Compliance ................................................................................................................. 16
11. Handling Precaution .............................................................................................................. 17
Contact Information ..................................................................................................................... 18
Corporate Office ................................................................................................................ 18
USA ................................................................................................................................... 18
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R6093U SPECIFICATION Ver1.0
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List of Figures
Figure 1: Functional diagram......................................................................................................... 3
Figure 2: The CruizCore R6093U coordinates system ................................................................. 5
Figure 3: Dimensions..................................................................................................................... 6
Figure 4: Pin configuration of connectors ...................................................................................... 7
Figure 5: The CruizCore R6093U data packet format ................................................................. 10
Figure 6: Temperature conditions at reflow ................................................................................. 13
Figure 7 : Packing tray ................................................................................................................ 14
List of Tables
Table 1: Mechanical specification .................................................................................................. 6
Table 2: Pin definition .................................................................................................................... 7
Table 3: Absolute maximum ratings ............................................................................................... 8
Table 4: The CruizCore R6093U electrical characteristics ............................................................ 8
Table 5: The CruizCore R6093U performance characteristics ...................................................... 9
Table 6. Serial setting .................................................................................................................. 10
Table 7: The CruizCore R6093U data fields description. ............................................................ 11
Table 8: Software reset command. .............................................................................................. 11
Table 9: Environment and mechanical test. ................................................................................ 12
Table 10: Judgment criteria of environment and mechanical test. .............................................. 12
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R6093U SPECIFICATION Ver1.0
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1. Functional Description
1.1. Overview
The CruizCore® R6093U is a 3 axis digital gyroscope and accelerometer. It’s also working as
attitude reference system that among others, can measure angular rate, acceleration and
attitude(yaw is relative to initial orientation) under dynamic conditions. It is a highly compact, light,
and fully self-contained module. Internally, the R6093U contains a 3 axis MEMS gyroscope and
accelerometer, internal voltage regulator, signal processing circuitry, AD converter and a RISC
microprocessor running our patented error correcting algorithm. The R6093U uses an adaptive
reduced order Kalman filter to reduce the errors that affect this type of sensors (i.e. bias drift,
scale factor, asymmetry), as the result it produces very accurate stabilized angular rates and
heading angle. The start-up time is less than 1 second, which is used to compute bias
parameters; it does not require further calibration thereafter. The R6093U is the best 3 axis
attitude measuring solution for robot navigation applications.
1.2. Block diagram
Figure 1: Functional diagram.
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1.3. Features
UART output
Low power consumption
Compact package
Fast startup
Fully self-contained
3 axis Rate output
3 axis Angle output
3 axis acceleration output
1.4. System start-up
The CruizCore R6093U startup time is less than one second. It internally compensates for errors
due to changes in temperature. However, sudden temperature changes shortly after
powering-on the unit can cause static rate errors. If such temperature changes are expected, we
recommend leaving the gyro stationary for 5 seconds after startup. During startup time, it is
required that the CruizCore R6093U is stationary on a level surface to obtain the best
performance.
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R6093U SPECIFICATION Ver1.0
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1.5. Installation
Mounting Information(Coordinate System)
To mount the CruizCore R6093U on your system, please refer to Figure 2, Coordinate System.
To obtains accurate attitude, please recall that mounting is very important and mounting error
can cause attitude errors. If you want to use another coordinate system, please contact us.
Figure 2: The CruizCore R6093U coordinates system
Data Output
The UART serial settings are 38400, 8, 1, N with no handshaking.
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2. Mechanical Specification
2.1. Dimensions
Unit: millimeter
Figure 3: Dimensions
2.2. Specification
Table 1: Mechanical specification
Parameter
Specification
Tolerance
Length
25.0
±0.2
Width
20.0
±0.2
Height
3.1
±0.3
Weight
3.0
-1.5
Comment
Unit: millimeter.
Unit: gram
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3. Interface Specification
3.1. Pin Configuration
1
VDD
nRST
18
2
GND
NA
17
3
NA
NA
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 (2.9V ~ 5.5VDC)
2, 8
GND
-
Power ground
11
TxD
O
UART transmit data
12
RxD
I
UART receive data
18
nRST
I
System reset input.
Must be driven by and open drain or equivalent output.
-
NA
-
Not available (leave open)
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4. Electrical Specification
Table 3: Absolute maximum ratings
Parameter
Symbol
Value
Unit
Note
Power supply
voltage
VDD
-0.3 ~ 6.0
V
GND=0V
nRST Input
voltage
VnRST
-0.3 ~ 4.0
V
GND=0V
Port Input voltage
VIO
-0.3 ~ 4.0
V
GND=0V
Operating
temperature
TOPR
-20 ~ +80
℃
Storage
temperature
TSTG
-40 ~ +85
℃
Table 4: The CruizCore R6093U electrical characteristics
Value
Parameter
Min.
Operating
Typ.
2.9
Max.
Unit
5.5
V
Input voltage
Supply
power
Recommended
3.0
V
Current
@ 3.0 V
13
mA
Power
consumption
@ 3.0 V
39
mW
Input “L”
I/O
Pins for
Input “H”
communication
Output “L”
voltage
Output “H”
1.2
1.6
V
0.4
2.4
Input “L”
V
V
V
0.6
V
nRST1
Input “H”
2.4
V
* Data voltage levels can vary slightly due to internal load changes.
1. Use open collector logic when using the nRST function.
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5. Performance Specification
Table 5: The CruizCore R6093U performance characteristics
Value
Parameter
Min.
Fast warm-up
Typ.
Unit
Max.
0.5
sec
Start-up time1
Full alignment
5
min
Measurement
Angular rate
±250
deg/sec
range2
Acceleration
±2
g
Angular rate
12
Hz
Acceleration
62.5
Hz
Yaw axis
Scale factor error
0.3
%
angular rate4
Bias drift
10
deg/hr
Yaw axis
Proportional error
0.3
%
relative angle4
Drift error
10
deg/hr
Roll, pitch
Static error
0.3
deg
accuracy4
Dynamic error
0.7
deg
Angular rate
0.01
deg/sec
Angle
0.01
deg
Acceleration
1
mg
Adjustable
100
Hz
Bandwidth3
Resolution5
Data rate5
* The system must be installed in the correct position.
** @TOPR=+25℃, VDD=3.0V.
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. Other measurement range is available by customizing option(angular rate range is available up to 2000 deg/sec,
acceleration range is available up to 16g). Please contact us
3. Other bandwidth is available by customizing option. Angular rate and acceleration each bandwidth are available up to
523Hz and 1kHz.
4. Guaranteed only under conditions: full alignment, steady-state room temperature, start-up on a level surface, under
moderate dynamics (250 deg/sec angular rate).
5. Other data rate and resolution are available by customizing option.
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6. Protocol
The CruizCore® R6093U provides rate, angle and acceleration outputs. The output format is
shown in Figure 5 and is described in Table 7. The output consists on a 2 byte header, a 1byte
index, a 4byte reserved, a 22 byte data section and 1 byte checksum. The checksum is the sum
of all bytes in the data packet, excluding the header and checksum field. The output voltage level
of the serial port is 2.8V. If you want another data format, please contact us.
Table 6. Serial setting
Baudrate
Data bits
Parity bit
Stop bits
38400
8
None
1
6.1. System information
When the CruizCore R6093U is powered up, it transmits the system information. For example:
%R60X3U
%VX. XX
The system information output can be changed without notice.
6.2. Integer output format
Following the system information the CruizCore R6093U starts transmitting the sensor data
packages. The angular rate and angle provides measurements with 0.01 degree resolution, i.e. a
0.1 degree angle will be displayed as 10 (or 0x0A HEX).
Figure 5: The CruizCore R6093U data packet format
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Table 7: The CruizCore R6093U data fields description.
Output data
Byte
Comments
HEADER
1-2
Hex value is: 0xA6A6
INDEX
3
0x00 ~ 0xFF
ANGLE1 (ROLL, PITCH, YAW)
4-9
Provided in 0.01 resolved deg.
RATE1
10-15
Provided in 0.01 resolved deg/sec.
ACCELERATION1
16-21
Provided in 1mg resolution.
RESERVED
22-25
CHECKSUM2
26
Sum of all bytes excluding the header.
1. First byte is the least significant.
2. CHECKSUM is 1 byte and the overflowed more than 1 byte is ignored.
6.3. Software reset
The CruizCore R6093U can accept reset input command.
Table 8: Software reset command.
Function
Software reset
Command
$MIB,RESET*87
This command ‘$MIB,RESET*87’ resets the device. Refer to 1.4. for other details about sensor
initialization.
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7. Environmental Specification
Table 9: Environment and mechanical test.
No.
Items
Test condition
Test criteria
1
High temperature
storage
85℃ x 120h
Refer to table 10
2
Low temperature
Storage
-40℃ x 72h
Refer to table 10
25℃, 60%RH(4h) /
3
Temperature and
Humidity cycling
55℃, 95%RH(10h) /
Refer to table 10
-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 10
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 10
7
ESD
R(330Ω) C(150pF), Contact
discharge, 5times
Refer to table 10
1hour at each temperature,
10cycles
Refer to table 10
* After each test, there should be no visible damage and the measured values shall be met Table 10.
Table 10: Judgment criteria of environment and mechanical test.
Items
Units
Judgment criteria
Yaw axis angular error
degree
When CW 1 rev, 0±3.6deg.
After CW 1 rev, CCW 1 rev, 0±3.6deg.
ESD
voltage
1kV (No deviations)
2kV (Self-recoverable deviations)
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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℃
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9. Packing Specification
9.1. Tray dimensions
Figure 7 : Packing tray
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9.2. Box Packing
R6093U
∙ 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
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10. RoHS Compliance
The CruizCore® R6093U module and its homogeneous materials comply with European Union's
restriction on use of hazardous substances("RoHS") Directive, 2002/95/EC.
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11. Handling Precaution
This product includes MEMS sensor. Please handle carefully paying attention to the next points.
We recommend to avoid mechanical shocks during handling and transport. The excessive shock
may make the characteristic of product change or deteriorate. So please set up your site so that
the shock becomes as small as possible. 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. This
product has built-in protections against high electrostatic discharges or electric fields. However,
when the excessive static electricity is charged, product may break. So please use conductive
ones for packing and carrying containers.
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Contact Information
Corporate Office
Microinfinity Co., Ltd.
8F KANC, 109 Gwanggyo-ro
Yengtong-gu Suwon-si
Gyeonggi-do, 443-270, Korea
Tel : +82 31 546 7408
Fax : +82 31 546 7409
Email: support@minfinity.com
USA
P.O. Box 131284
Ann Arbor, MI 48105, USA
Tel : +1 734 223 5904
Fax : +1 866 400 3125
Email: usa.support@minfinity.com
Homepage: http://www.minfinity.com
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