GY407D

GY407D
User’s Manual
GY407D User’s Manual
precisionsensors.meas-spec.com
2236 N. Cleveland-Massillon Road
Akron, OH 44333 PH: 330-659-3312
7/18/13
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GY407D – USER’S MANUAL
REV.
1.00
Date
November 2012
1.01
June 2013
1.02
July 2013
1.03
July 11, 2013
GY407D User’s Manual
Precisionsensors.meas-spec.com
Description
Initial Release
Removed statement to support RS485 BAUD rates up to 1Mb/s.
Currently, RS485 supports the same BAUD rates as RS232.
Added documentation to the SYST:ERR? Command to show all
the output bytes and document their meanings.
Changed text regarding pins 5 and 6 and the RS-485 interface to
match the specifications in the data sheet.
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Updated
Pages
4
25
10
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TABLE OF CONTENTS
1.0
2.0
3.0
4.0
5.0
6.0
Page
Description …………………………………………………………… 4
1.1 Product Overview ………………………………………………. 4
1.1.1 General Features ……………………………………… 4
1.2 Product Specifications …………………………………………. 4
1.2.1 GY407D DataSheet …………...……………………… 5
1.3 Command Syntax Analysis ……………………………………. 6
Concepts, Functions and Commands ………………………….. 6
2.1
Measurement Concepts ……………………………………… 6
2.1.1 Channel ………………………………………………… 6
2.1.2 Scan ……………………………………………………. 6
2.1.3 Trigger ………………………………………………….. 6
2.1.4 Readings Buffer ………………………………………. 7
2.2
Scan and Measurement Speed Concepts …………............. 7
2.3
Triggering Concepts …………………………………………… 9
2.4
Channel Data Conversion Concepts ………………………… 10
2.5
Serial I/O Concepts …………………………………………… 10
2.6
AUX/ST Functionality …………………………………………. 11
2.7
Command Set Overview ….………………………………….. 11
2.7.1 Supported IEEE-488.2 Common Commands ……… 11
2.7.2 Calibration Commands ……………………………….. 12
2.7.3 Configuration Commands …………………………….. 13
2.7.3.1 Additional Configuration Parameters ……….. 18
2.7.4 Input Commands ……………………………………… 21
2.7.5 Trigger Commands ……………………………………. 22
2.7.6 Status Commands …………………………………….. 24
2.7.7 System Commands …………………………………… 25
Default Settings ………………………………………………………. 28
How to Use the GY407D …………………………………………….. 28
Mounting Instructions ……………………………………………….. 33
Product Warranty …………………………………………………….. 34
6.1 Three-Year Limited Warranty Information………………………. 34
6.1.1 Warranty Return …………………………………………. 34
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1.0
1.1
Description
Product Overview
The GY407D is a rugged digital gyro that is extremely versatile, intelligent and works independently.
For ease-of-use, the GY407D is configured and programmed through an ASCII-based command set
that resembles the Standard Commands for Programmable Instruments (SCPI) protocol. The
GY407D does not conform to the standard, so the commands are only SCPI-like. The command set
allows the sensor to be integrated with external data acquisition and processing systems.
1.1.1 General Features:














1.2
Offset temperature compensation from -40°C to +85°C.
ASCII-based SCPI-like command set.
Fixed low-pass single-pole filter.
Firmware upgradability after unit manufacture.
Continuous scanning of up to 4 channels (3 axes, 1 temperature).
Each channel is fixed as a direct sensor input.
Displays measurements over the serial interface.
User-configurable scan rates based on time intervals.
Triggered scans via a TTL-level signal on the ST/AUX line.
Multiple-sensor synchronization through the ST/AUX line.
Able to analyze the measurements that it takes by using functions.
Readings are returned in engineering units (°/sec, °C) or raw ADC counts.
Unit can accommodate RS232 baud rates from 300 to 115,200 through the 35250A PC
interface.
Internally-stored calibration data for each channel, including temperature compensation
coefficients.
Product Specifications
The datasheet specifications listed below are valid within one year of calibration.
This data is subject to change without notice. For the most recent product specification, go to
http://precisionsensors.meas-spec.com for an updated datasheet.
1.2.1 GY407D Datasheet
Ta = Tmin to Tmax; 8.5 ≤ Vs ≤ 36 V; Acceleration = ±1 g, Angular rate = 0 unless otherwise noted
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Parameter
Min
Typical
Max
Units
Conditions/Notes
Range and Sensitivity at 25°C
±1000°/sec FSR
±300°/sec FSR
Drift TMIN to TMAX
5.6
11.2
6.3
12.5
0.1
6.9
13.8
mV/°/sec
mV/°/sec
% FSR
Must specify via Option Rnnn, see Ordering Info
Precise values on cal certificate
Precise values on cal certificate
Percent of sensitivity at 25°C
Stationary Bias Level
At 25°C
Drift TMIN to TMAX
400*
-3.25/+3.00
mV
°/sec
Precise values on cal certificate
g Sensitivity
0.2
°/sec/g
Affects offset
Nonlinearity
±1
% FSR
Best fit straight line
Hz
Upper cutoff per Option Bnnn, -3dB pt ±10%
°/sec/√Hz
10 Hz to 400 Hz
kΩ
Frequency Response
0
Noise Density
Self Test Pull-up Resistor
140
0.018
5
Temperature Sensor
Scan Rate
0.0007
ADC Resolution
Absolute accuracy
Outputs
Output Voltage Swing
Capacitive Drive Capability
Power Supply (Vs)
Input Voltage Limits
Input Voltage – Operating
Input Current
Rejection Ratio
Temperature Range (TA)
°C
2500
scans/sec
Default scan list (G1,G2,G3,T1)
10
±2
0.5
bits
LSB
4.5
V
pF
IOUT = ±5 mA
+80
+36
V
V
mA
dB
-80V continuous, >38V if ≤ 550ms, duty < 1%
Continuous
1000
-80
+8.5
25
>120
-40
Mass
Shock Survival
±0.2
Logic “1” ≥ 3.5V, Logic “0” ≤ 1.5V, “0” causes
SelfTest
Accuracy ±1 °C
+85
38
-3000
+3000
DC
°C
Grams
Precise values on cal certificate
g
Any axis for 0.5 ms, powered or unpowered
DataSheet Rev. 1.02
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1.3
Command Syntax Analysis
The commands supported in the GY407D were developed based on the Standard Commands for
Programmable Instruments (SCPI) Standard Version 1995.0. The GY407D does not conform to the
standard, so the commands are only SCPI-like.
The commands are always ASCII-encoded and are acted upon when a <CR> character is sent, which
is always at the end of each command. The GY407D will always respond with a <CR> when the
command has been received.
The interface to the GY407D is half-duplex only; and, therefore, commands and data are never sent
and received simultaneously. The interface is either sending or receiving at any moment in time.
Commands that end in a question mark (?) are query commands, which will always return information
to the serial port. Query commands are often used to request the status of the sensor or to retrieve
readings. All data sent in response to a query command are ASCII-encoded.
2.0 Concepts, Functions and Commands
2.1
Measurement Concepts
2.1.1 A channel is a data source from a sensor.
The GY407D has four pre-defined channels: G1, G2, G3 and T1. The “G” channels represent the
three axes of gyroscopic rotate that are sourced from the built-in gyro chip. The “T1” channel is the
temperature channel, sourced from the built-in temperature sensor.
2.1.2 A scan is a set of readings from a defined set of channels.
A scan must be defined and then triggered to occur at a particular interval and from a particular
source. A scan defines both the channels being scanned and the order in which they are scanned.
2.1.3 A trigger is an event that initiates a scan.
Once the GY407D is triggered, a measurement is taken from each channel in the scan. Triggers can
come from four sources: AUTo, TIMe, EXT and BUS.
AUTo triggers are available immediately at all times, allowing the GY407D to take
measurements as fast as possible.
TIMe triggers are generated periodically at specified time intervals.
EXT triggers are generated by high-to-low TTL-level transitions on the GY407D’s
ST/AUX line.
BUS triggers are generated through the receipt of a command (i.e. “READ?”).
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The GY407D comes configured with all four input channels defined in the following order: G1, G2, G3
and T1. A typical default scan record will look like this:
READ?
4.101°/s, 4.101°/s,-13.474°/s, 24.5°C
Channel T1 reading
Channel G3 reading
Channel G2 reading
Channel G1 reading
A scan record (with updated readings) will be sent each time a scan is generated. This can be
accomplished with a READ? command, but may be done using a timer or with a signal through the
ST/AUX line.
All measurements to channels G1, G2 and G3 are taken using an A/D converter that is always
clocked to produce a reading in 69 μsec. The T1 measure-ments are read directly from the on-board
temperature sensor and require 2.5 μsec to complete. When processing overhead is included, the
GY407D can scan 4 channels over 2500 times each second.
2.1.4 A readings buffer is temporary storage within the GY407D for measurements.
The current buffer size is 192 readings in size. All measurements are written to the buffer and
processed from there. Readings are formatted for output or processed by functions while they are in
the readings buffer. When more than 192 readings are measured by the GY407D, the new readings
overwrite the oldest readings in the buffer by “wrapping around” to the beginning of the buffer. The
buffer always contains the latest readings.
2.2
Scan and Measurement Speed Concepts
The GY407D may be used to simply take measurements and transmit them out the serial port. The
sensor can take measurements and display them at various speeds, based on the triggering
configuration and other settings in the GY407D. The configured BAUD rate and formatting options
determine the maximum scan rate for the sensor.
The following table shows the maximum 4-channel scan throughput at various BAUD rates using the
three triggering methods. The “Command” values include time for sending a “READ?” command and
for transmitting a single scan. The “Timer/Ext” values include only time to format and transmit a scan.
All values include time for processing overhead.
Trigger
Command
Timer/Ext
28800 BAUD
80
100
38400 BAUD
120
130
57600 BAUD
180
200
115200 BAUD
240
300
Table 2
Maximum 4-Channel Floating-Point
Scan Rates for the GY407D
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The maximum scan rates increase as the number of scanned channels decreases.
The absolute maximum scan rate is approximately 1100 scans/second when scanning a single
channel at 115200 BAUD.
The sensor may be placed in HEX format mode to increase its measurement throughput. This will
transmit each channel’s data as an unsigned HEX word, which requires only 2 bytes per channel.
The scan record will be of a fixed length and will be terminated with a <CR>. This means that a HEX
scan will have the following format:
C1,C2,C3,C4<CR>
Where:
C1
C2
C3
C4
=
=
=
=
2
2
2
2
bytes
bytes
bytes
bytes
for
for
for
for
channel
channel
channel
channel
1’s
2’s
3’s
4’s
value
value
value
value
This changes the 4-channel scanning speeds to the following:
Trigger
Command
Timer/ST/AUX
28800 BAUD
185
230
38400 BAUD
250
300
57600 BAUD
380
450
115200 BAUD
750
950
Table 3
Maximum 4-Channel HEX
Scan Rates for the GY407D
Scanning is accomplished by defining a list of channels to scan, then initiating the scan. The
following example shows how a scan is defined and initiated through the command interface.
Example:
ROUT:SCAN:CAT?
G1,G2,G3,T1
ROUT:SCAN G1,T1
<CR>
READ?
1.062°/s, 21.3°C
Obtain available channel list
Channel list displayed
Set A1 and T1 in scan list
ACK sent by unit
Initiate a scan
Scan data returned
By default, the unit scans as fast as possible. If required, the scans can be performed at a rate
determined by a signal on the SelfTest/AUX input pin or by a timer in the unit (see Measurement
Concepts, section 2.1.3)
2.3
Triggering Concepts
The GY407D will allow scans to be triggered from several sources: AUTo, BUS, EXT or TIM.
The default source (“AUTo”) generates a trigger whenever the sensor needs one. This makes
scanning happen as fast as possible.
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The sensor will initiate a scan immediately upon receiving a READ? command, also known as “BUS”
triggering. This source is always available and will be automatically used when the READ? command
is received.
Scans may also be initiated through a logic transition on the SelfTest/AUX line (“EXT” source). No
SelfTest signals can be responded to in this mode, since there is no way to distinguish between
asserting SelfTest and triggering on the line.
Finally, scans may be initiated based on a timer (“TIM” source). The internal timer can trigger scans
from 0.0004 seconds to 1388 seconds apart.
The sensor is, by default, in Idle mode and does not respond to trigger events. To make the unit
respond to trigger events, the unit must be placed into WaitForTrigger mode. In this mode, the next
trigger event that is sensed will start a scan. To place the sensor in WaitForTrigger mode, issue the
INIT command.
The unit listens for incoming characters after sending each scan record in order that the user may
stop scanning and return the unit to Idle mode. Typically, a <CR> will suffice, although at higher scan
rates a <BREAK> condition will be required to stop scanning. When the sensor is set to OUT:IMM OFF,
the ABORT command must be entered in order to return to Idle mode.
No
1
Trigger
WaitForTrigger
Mode
2
Generate
Scan
3
4
Scan
Data
Readings
Buffer
Is
OUT:IMM
On?
Yes
Scan
Data
Format
Scan
Serial Port
The unit will always perform a single scan in response to a trigger event.
Periodic scans produce a continuous series of scan records until power is cycled, the unit is reset or
the current scanning mode is canceled. The unit can also be configured to exit WaitForTrigger mode
after a configurable number of triggers have occurred (from 0 to 65535). A value of 0 indicates
“continuous” mode, where the unit will trigger scans continuously until WaitForTrigger mode
is exited or the unit is reset.
The result of triggering a scan is to (1) read each configured channel’s sensor, (2) store the readings
into the readings buffer/internal memory. The sensor’s configuration determines what happens after
that. If OUT:IMM is ON, then the sensor will format the scan’s readings according to the current OUT:FMT
settings and transmit the readings out the serial port. If there are any enabled functions, they will be
evaluated according to their respective configurations.
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2.4
Channel Data Conversion Concepts
The GY407D takes digital measurements at each trigger and stores the readings in the readings
buffer. For efficiency’s sake, the readings are not converted into external (formatted) representations
until requested by the user, which occurs when the scan’s readings are formatted for display. In
OUT:IMM ON mode, the sensor will format scans for display immediately after they are stored in the
reading buffer. In OUT:IMM OFF mode, readings are formatted and displayed only when the R?
command is executed.
If the sensor is in Floating Point format, the readings are converted to engineering units using the
calibration gain and offset values for each channel. If the sensor is placed in HEX format mode, no
units conversion is performed: the readings are converted to HEX format and displayed. This allows
the readings to be converted to engineering units using an external program, and increases the
number of readings per second that can be read from the sensor.
2.5
Serial I/O Concepts
The GY407D has an on-board RS485 adapter, providing a fast and robust computer interface. Pins 5
and 6 on the DB9 connector are the RS485- and RS485+ pins respectively, which allow
communications to and from the sensor. When powered-on, the interface is set to the following
communication settings:
Baud rate
Data bits
Stop bits
Parity
38400
8
1
None
The sensor’s BAUD setting can be changed using the SYST:COMM:SER:BAUD command. If necessary,
that command can be placed in a startup script to make the change permanent.
2.6
AUX/ST Functionality
The AUX/SelfTest pin has the ability to perform several functions, based on the sensor’s configuration.
By default, the AUX pin is set as an input and is configured to respond to a high-to-low TTL-level
transition (usually by grounding the pin) by asserting SelfTest on the sensor chips. In addition, the
AUX pin can be configured to perform a scan when the pin’s logic level transitions from high-to-low.
The AUX pin can also be configured as an output signal, where it is TTL-logic high when all signals
are within threshold and moves to TTL-logic low when a threshold is exceeded.
2.7
Command Set Overview
The following section describes each command available in the GY407D according to functional
groups. All commands are acted upon when a <CR> is sent at the end of the command. All available
commands are highlighted in a grey text box throughout this section.
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2.7.1 Supported IEEE-488.2 Common Commands
Resets the sensor to power-on.
Displays the sensor’s identification information.
Displays the Power On Self Test results.
*RST
*IDN?
*TST?
*RST
Resets the unit so that it runs the same code that it does at power-up. This will reset the sensor back
to its power-up state. If there is a startup script defined, it will be executed.
*IDN?
Retrieves, formats and transmits the unit’s identification information to the serial port. The output
record is divided into the following comma-separated fields:
1 – Manufacturer
2 – Model number
3 – Serial number
4 – Firmware name
5 – Firmware version
6 – Firmware compilation date/time
7 – BootLoader version
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2.7.1 Supported IEEE-488.2 Common Commands (con’t)
Example:
*IDN?
API Technologies,GY407D,2100A98765,RT,2.0056,Oct 24 2012, 13:46:45,2.16
*TST?
Retrieves, formats and transmits the results of the unit’s Power On Self-Test. The value is formatted
as a HEX value. The results range from 0 to 255 with the following interpretation:
Bit Description
DAC Error
5VANA Error
PGAIN Error
PFILTER Error
Configuration Error
IIB Error
Unused
Unused
Example:
Bit #
0
1
2
3
4
5
6
7
*TST?
0x0001
2.7.2 Calibration Commands
CAL:DATA?
CAL:DATE?
Displays the current calibration values for each channel.
Displays the last date/time of calibration.
CAL:DATA?
Returns the calibration data for each channel defined in the sensor. These values are used to
convert the digital measurement into engineering units using the following formula:
EU = (Measurement – Offset) / Gain
Example:
CAL:DATA?
A1: gain=1.707, offset=512
A2: gain=1.707, offset=512
A3: gain=1.707, offset=512
T1: gain=4.0, offset=512
CAL:DATE?
Returns the most recent calibration date and time of the instrument.
Example:
CAL:DATE?
05-Nov-12 17:11
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2.7.3 Configuration Commands
CONF:FNC:CAT?
CONF:FNC
CONF:FNC?
OUT:FMT
OUT:FMT?
OUT:IMM
ROUT:AUX
ROUT:AUX?
ROUT:SCAN:CAT?
ROUT:SCAN
ROUT:SCAN?
Displays a list of all available functions.
Configures a function for execution.
Displays data for all currently-enabled functions.
Configures scan formatting flags.
Displays the current scan formatting flags.
Configures whether or not scans are immediately formatted for output.
Configures the SelfTest/AUX pin’s operational mode.
Displays the current operational mode for the SelfTest/AUX pin.
Displays a list of all available input channels
Configures which channels are in scan.
Displays a list of channels currently in scan.
CONF:FNC:CAT?
Lists the available data analysis functions to the serial port. The functions are displayed as a commaseparated list.
Example:
Name
MIN
MAX
MAG
PTP
TH1
TH2
OU1
OU2
OU3
CONF:FNC:CAT?
MIN,MAX,MAG,PTP,---,---,TH1,TH2,OU1,OU2,OU3
Description
Maintains the minimum measurement on each channel.
Maintains the maximum measurement on each channel.
Calculates the magnitude of the result vector using A1, A2 and A3.
Calculates the Peak To Peak value for each channel (i.e. MAX-MIN)..
Checks channel measurements against thresholds.
Checks the value of the MAG or TLT functions against thresholds.
Formats and prints the value of one or more functions to the serial port.
Formats and prints the value of one or more functions to the serial port.
Formats and prints the value of one or more functions to the serial port.
CONF:FNC <func_name> <config_val>,<interval> [<addt’l params>]
Configures an analysis function. The parameters specify the analysis function by name, its
configuration value, and the number of scans that must be in the readings buffer before the function is
evaluated.
If a function is DISABLED, it is never evaluated.
Some functions require additional parameters in order for them to execute. Each function will be
explained based on its parameter requirements.
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2.7.3 Configuration Commands (con’t)
MIN – updates the minimum value for each channel.
MAX – updates the maximum value for each channel.
PTP – calculates Peak to Peak (MAX – MIN) values for each channel.
The MIN, MAX and PTP functions run very efficiently, since they operate on the readings in the buffer
directly as integer values. No floating-point calculations need to be performed. These functions
require only the following parameters:
<config_val>,<scan_interval>
The <config_val> is used to define the configuration value for the function. The value will be the
logical OR of the following bits:
** If a function is
DISABLED, it is
Bit Number
never evaluated.**
7
6
5
4
3
2
1
0
0 = function disabled, 1 = enabled
The
<scan_interval>
1 = INIT function after printing values
value defines how
many
unused
unused
unprocessed
readings
must be
unused
in the readings
buffer before the
unused
unused
function is
evaluated
against
unused
them. This allows
a function to be
evaluated every
time a reading is
taken (when set to 1) or to hold off evaluating the function until a larger group is in the buffer (when
set to > 1). Therefore, a value of 10 would configure the function to be evaluated every tenth scan.
The MIN, MAX and PTP functions will check every reading in the buffer, even when they are evaluated
at an interval greater than one. This allows the functions to catch up every time they are run. This
capability can be used to minimize the overhead of calling the function every time a scan is generated
while still being assured that the MIN, MAX and PTP values are representative of every scan that was
performed.
Examples:
CONF:FNC MIN 1,1
CONF:FNC MAX 1,10
CONF:FNC MIN 3,250
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Evaluates MIN every scan.
Evaluates MAX every 10th scan.
Evaluates MIN every 250th scan and initializes the function
when its value is printed.
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2.7.3 Configuration Commands (con’t)
MAG – calculates the magnitude of the result vector using G1, G2 and G3.
All three axes (G1, G2 and G3) must be scanned for this function to work properly. This function
requires only the <config_val>,<scan_interval> parameters. This function will calculate the
magnitude against the latest scan in the buffer when evaluated.
Example:
CONF:FNC MAG 1,1
CONF:FNC MAG 1,10
CONF:FNC MAG 1,25
Calculates the magnitude every scan.
Calculates the magnitude every tenth scan.
Calculates the magnitude every 25th scan.
TH1 – checks channel readings against thresholds.
This function checks channel readings against thresholds. The thresholds are entered separately for
each channel, so each channel can have unique thresholds. Once the CONF:FNC command and the
required parameters have been entered, followed by a <CR>, the sensor will display a prompt for each
channel currently defined in scan. The threshold limit and reset values are entered, separated by
commas, on each line, followed by a <CR>.
If threshold values are not to be applied to a channel, simply press <CR> at the prompt and that
channel’s threshold evaluation will be skipped. The command sequence resembles this:
Example:
CONF:FNC TH1 1,1
> G1:5,2.5
> G2:5,2.5
> G3:
> T1:
TRIG:SOUR TIM 0.25
INIT
3.520°/s, 0.880°/s,-7.620°/s,
3.810°/s, 0.880°/s,-7.470°/s,
3.960°/s, 0.880°/s,-7.470°/s,
4.250°/s, 0.880°/s,-7.470°/s,
4.540°/s, 0.880°/s,-7.320°/s,
4.690°/s, 0.730°/s,-7.180°/s,
TH1:G1 Over Limit
5.130°/s, 0.730°/s,-6.880°/s,
4.980°/s, 0.730°/s,-6.880°/s,
4.830°/s, 0.730°/s,-7.030°/s,
4.390°/s, 0.730°/s,-7.320°/s,
3.960°/s, 0.880°/s,-7.470°/s,
3.660°/s, 0.730°/s,-7.620°/s,
3.080°/s, 0.880°/s,-7.760°/s,
2.490°/s, 0.880°/s,-7.910°/s,
TH1:G1 In Limit
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31.5°C
31.3°C
31.3°C
31.5°C
31.5°C
31.8°C
31.8°C
31.8°C
31.8°C
31.5°C
31.5°C
31.5°C
31.5°C
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2.7.3 Configuration Commands (con’t)
As this example shows, a message is sent to the serial port when a channel exceeds a threshold. If
the AUX pin is configured to output threshold events (see the ROUT:AUX command), then it will
transition from logic high-to-low for as long as the threshold condition exists.
TH2 – checks magnitude and tilt function values against thresholds.
This function checks MAG and TLT function values against thresholds. The thresholds are entered
separately for each function, so each can be unique. Once the CONF:FNC command has been entered,
along with all required parameters, the sensor will display a prompt (a “>” character) and wait for the
user to enter further data.
The function name, threshold limit and reset value are entered, separated by commas, on each line,
followed by a <CR>. The command sequence resembles this:
Example:
CONF:FNC TH2 1,1
> MAG:10,9
CONF:FNC MAG 1,1
TRIG:SOUR TIM 0.1
OUT:IMM OFF
INIT
MAG: 8.025°/s
MAG: 8.025°/s
MAG: 8.025°/s
MAG: 8.025°/s
TH2:MAG Over Limit
MAG: 23.326°/s
TH2:MAG In Limit
MAG: 7.146°/s
MAG: 8.155°/s
MAG: 8.155°/s
Abort
Configure function value thresholds.
Evaluate the MAG function every scan.
Generate scans 10 times/second.
Don’t display the individual scan data.
Begin scanning.
Stop scanning.
As this example shows, a message is sent to the serial port when a function value exceeds its
threshold. If the AUX pin is configured to output threshold events (see the ROUT:AUX command), then
it will transition from logic high-to-low for as long as the threshold condition exists. Only one function
at a time (either MAG or TLT) can have its value checked against thresholds.
OU1 – outputs indicated results to serial port.
OU2 – outputs indicated results to serial port.
OU3 – outputs indicated results to serial port.
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2.7.3 Configuration Commands (con’t)
These functions are available for producing output from functions on a periodic basis. The effect of
running one of these functions is the same as executing the CONF:FNC <func_name> PRINT command.
These functions require the <config_val>, <scan_interval> and <addt’l_params> parameters when
they are configured. Typically, the <interval> is set to the same value as the function whose value is
being printed. The <addt’l_params> is a comma-separated list of functions whose values are to be
printed when the OU* function executes.
Examples:
TRIG:SOUR TIM 0.25
OUT:IMM OFF
CONF:FNC MAG 1,10
CONF:FNC OU1 1,10 MAG
INIT
MAG: 8.015°/s
MAG: 8.015°/s
MAG: 8.276°/s
MAG: 8.276°/s
MAG: 7.235°/s
MAG: 6.829°/s
MAG: 6.944°/s
MAG: 8.015°/s
MAG: 8.015°/s
MAG: 8.015°/s
Abort
Generate scans 4 time/second.
Do not display the individual scan data.
Evaluate the magnitude function every tenth scan.
Print out the magnitude results every tenth scan.
Begin scanning.
Stop scanning.
2.7.3.1 Additional Configuration Parameters
INIT
This parameter instructs the sensor to initialize the indicated function. This sets its values back to
power-on levels. For example, initializing the MIN or MAX function will cause new minimum and
maximum values to be determined from the data.
PRINT
This parameter instructs the sensor to print out the current value(s) of the indicated function.
Examples:
CONF:FNC
CONF:FNC
CONF:FNC
CONF:FNC
CONF:FNC
-4.696g,
MIN 1,1
MAX 3,1
OU1 1,10 MIN,MAX
MIN INIT
MAX PRINT
1.902g, 5.273g, 32.8°C
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2.7.3 Configuration Commands (con’t)
CONF:FNC?
Formats and displays the current configuration data for each ENABLED analysis function. The
configuration data is as follows:
Config. Word
Scan interval
Scan counter
Scan buffer pointer
Example:
CONF:FNC?
MIN,0x0001,0x0001,0x0000,0x03E0
MAX,0x0001,0x0001,0x0000,0x03E0
OU1,0x0001,0x000A,0x0008,0x03E0
OUT:FMT <format_flags>
Configures the sensor to format scans according to the list of comma-separated flags.
Scans are formatted when they are placed in the readings buffer (when OUT:IMM is ON) or when the R?
command is executed. The following flags are supported:
FLT – sets floating-point (engineering units) format mode
HEX – sets HEX-format mode
**Note**
The <format_flags> parameter *must* begin with either the FLT or HEX flag,
followed by all other flags.
UNI – appends
channel units to
each reading
CRC – appends a
HEX-formatted CRC value to the end of each scan record
CNT – prepends a HEX-formatted scan count value to each scan record
BST – appends HEX-formatted number of readings in buffer to each scan record
TST – appends HEX-formatted trigger information to each scan record (i.e. number of triggers
defined and number of triggers processed)
Example:
OUT:FMT FLT,UNI,CNT
READ?
0001,-48.352°/s, 1.615°/s, 5.135°/s, 32.5°C
OUT:FMT HEX,CNT,CRC
READ?
000C,01DF,020A,0223,0280,E5E6
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2.7.3 Configuration Commands (con’t)
OUT:FMT?
Displays the set of formatting flags that are currently in effect. All flags are separated by commas.
Example:
OUT:FMT?
FLT,Units
OUT:FMT HEX,CNT,CRC
OUT:FMT?
HEX,CRC,CNT
Floating-point and units enabled.
Hex, CRC and scan count enabled.
OUT:IMM ON|OFF
Configures the sensor to format and display channel readings immediately after they are written to
the readings buffer. This is set to “ON” by default. When set to “OFF”, readings will be buffered, but not
displayed. Readings in the buffer can always be displayed using the R? command.
ROUT:AUX <mode>,<flags>
Configures the sensor’s AUX pin functionality. The following modes and flags are supported. No
other combinations of modes and flags are supported by the GY407D.
Mode
Flag
INP
TRG
Responds to high-to-low TTL-level logic transitions on the AUX pin. When
the sensor is in Idle mode, a logic transition will place the sensor in SelfTest.
When the sensor is configured for TRIG:MODE EXT and is in WaitForTrigger
mode, logic transitions cause the sensor to generate a scan.
OUT
TRG
Causes the AUX pin to transition from high-to-low when a trigger is
generated in the sensor. This only occurs when the sensor is configured for
TRIG:SOUR TIM <interval>. This setting is used for synchronizing data
collection between multiple sensors. The other sensors must be configured
for ROUT:AUX INP,TRG and TRIG:SOUR EXT for the synchronization to work.
OUT
EVT
Causes the AUX pin to transition from high-to-low when a threshold event
occurs, and to return high when the event is past.
Example:
Description
ROUT:AUX OUT,TRG
TRIG:SOUR TIM 0.01
INIT
ROUT:AUX?
2.7.3 Configuration Commands (con’t)
Displays the current AUX pin configuration, both mode and flags.
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Example:
ROUT:AUX?
INP,TRG
ROUT:AUX OUT,EVT
ROUT:AUX?
OUT,EVT
ROUT:SCAN:CAT?
Displays the catalog of available channels for scanning.
Example:
ROUT:SCAN:CAT?
G1,G2,G3,T1
ROUT:SCAN <chan_list>
Defines the list of channels measured for each scan. The <chan_list> parameter is a commaseparated list of channels to be measured when a scan is triggered.
Example:
ROUT:SCAN G1,G2,T1
READ?
-4.835°/s, 1.463°/s, 32.3°C
ROUT:SCAN?
Displays the current list of channels in scan.
Example:
ROUT:SCAN?
G1,G2,T1
2.7.4 Input Commands
Displays the latest digital temperature reading in HEX.
Sets or clears SelfTest mode.
Initiates a scan and writes the readings into the readings buffer.
Formats and displays all non-displayed readings in the readings buffer.
FETCH:TEMP?
INP:MODE:ST
READ?
R?
FETCH:TEMP?
Displays the last digital temperature reading. The value is displayed in HEX format.
Example:
FETCH:TEMP?
0x027E
2.7.4 Input Commands (con’t)
INP:MODE:ST ON|OFF
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Sets the sensor’s SelfTest mode (by driving the Self Test chip signal on the sensor chips)
READ?
Initiates a scan of all currently-defined channels. This takes a measurement on each channel, in its
defined order, and writes the measurements to the readings buffer.
R?
Formats and displays all scans in the readings buffer. The data is formatted according to the current
configuration defined by the OUT:FMT command and according to the current number of channels in
each scan (as defined by the ROUT:SCAN command).
Example:
ROUT:SCAN?
G1,G2,G3,T1
INIT
R?
-0.151°/s,-0.020°/s,-1.000°/s,
-0.003°/s,-0.035°/s,-1.015°/s,
-0.151°/s,-0.020°/s,-0.085°/s,
-0.151°/s,-0.000°/s,-1.000°/s,
30.3°C
30.0°C
29.8°C
30.0°C
2.7.5 Trigger Commands
ABORT
INIT
TRIG:SOUR
TRIG:SOUR?
TRIG:COUNT
TRIG:COUNT?
Exits WaitForTrigger mode (enters Idle mode).
Enters WaitForTrigger mode (exits Idle mode).
Configures the source for future triggers.
Displays the current trigger source.
Sets the number of triggers that may be generated.
Displays the number of triggers to be generated.
ABORT
Places the sensor in Idle mode when it is in WaitForTrigger mode. This command is
*only* needed when OUT:IMM is set to OFF and the sensor is in WaitForTrigger mode.
When OUT:IMM is ON and the sensor is scanning, a <CR> character (or a <BREAK> condition) can be
used to make the sensor exit WaitForTrigger mode and return to Idle.
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2.7.5 Trigger Commands (con’t)
INIT
Places the sensor in WaitForTrigger mode when it is in Idle mode. This is required to begin taking
readings.
Example:
TRIG:COUNT
INIT
-0.483°/s,
-0.483°/s,
-0.483°/s,
-0.483°/s,
-0.483°/s,
5
0.161°/s,
0.146°/s,
0.146°/s,
0.146°/s,
0.146°/s,
0.513°/s,
0.513°/s,
0.513°/s,
0.513°/s,
0.513°/s,
32.5°C
32.5°C
32.5°C
32.5°C
32.3°C
TRIG:SOUR EXT
TRIG:SOUR TIM <interval>
Configures the sensor to generate scans when certain trigger conditions are met. When the EXT
parameter is specified, the sensor will generate a scan whenever a high-to-low transition is seen on
the AUX/ST pin. When the TIM parameter is specified, the sensor will generate a scan when the
indicated time interval (in seconds) has elapsed.
Example:
TRIG:SOUR TIM 0.01
TRIG:SOUR TIM 15
TRIG:SOUR TIM 0.002
Generate a scan 100 times per second.
Generate a scan every 15 seconds.
Generate a scan 500 times per second.
TRIG:SOUR?
Displays the current TRIG:SOUR settings in the sensor. The current mode (TIM or EXT) is displayed,
followed by the time interval (if necessary). If the sensor is in TIM mode, the number of scans per
second is displayed as well.
Example:
TRIG:SOUR TIM 0.025
TRIG:SOUR?
TIM
0.0250 (40 scans/sec)
TRIG:COUNT <count>
Sets the number of triggers that the unit will act upon before re-entering Idle mode. This can be used
to limit the number of scans generated.
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2.7.5 Trigger Commands (con’t)
Example:
TRIG:SOUR TIM 0.005
TRIG:COUNT 512
INIT
This configures the sensor to generate 512 scans at 5 msec intervals.
TRIG:COUNT?
Displays the number of scans the sensor is currently configured to perform.
Example:
TRIG:COUNT?
512
2.7.6 Status Commands
Displays the number of readings in the readings buffer.
Displays the range of every axis.
Displays the current processing load on the sensor.
DATA:PTS?
SENS:RANGE?
DIAG:LOAD?
DATA:PTS?
Formats and displays the number of scans currently in the readings buffer. Use the R? command to
retrieve the readings in the buffer.
Example:
DATA:PTS?
115
SENS:RANGE?
Formats and displays the sensor’s range for each axis.
Example:
SENS:RANGE?
±300.0°/s,±300.0°/s,±300.0°/s
DIAG:LOAD?
Displays a value that represents the current load on the sensor. This is a representation of how busy
the sensor will be when performing scanning and data analysis. This value must be less than 90%
(0.9) or the INIT command will generate an error condition and the sensor will not go into WaitFor
Trigger mode. Higher scan rates and configuring one or more data analysis functions will increase
this value. Either lowering scan rates or configuring analysis functions to be evaluated at longer time
intervals will lower this value.
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2.7.6 Status Commands (con’t)
Example:
TRIG:SOUR TIM 0.1
DIAG:LOAD?
0.007
TRIG:SOUR TIM 0.001
DIAG:LOAD?
0.264
2.7.7 System Commands
SYST:ECHO
SYST:ERR?
SYST:COMM:SER:ABAUD?
SYST:COMM:SER:BAUD
SYST:MODE:PROMPT
SYST:MODE:STATUS
SYST:SCRIPT
SYST:SCRIPT?
SYST:UPTIME?
SYST:RESET?
Echoes characters to the serial port.
Displays (and clears) the sensor’s current error status.
Displays the sensor’s serial port configuration word.
Configures the sensor’s serial port BAUD rate.
Configures the sensor’s prompt mode.
Configures the sensor’s status mode.
Defines the sensor’s startup script.
Displays the sensor’s startup script.
Display the sensor’s approximate uptime, in seconds.
Displays the reason for the sensor’s last reset.
SYST:ECHO <line of text>
This command simply echoes the indicated line of text to the RS-485 port. This can be used to
document current activity in the GY407D when executing a startup script. The GY407D’s input
command buffer is 32 characters in length; therefore, this command supports a line of text up to 21
characters long.
Example:
SYST:ECHO ===== Startup =====
===== Startup =====
TRIG:SOUR TIM 0.01
...
SYST:ERR?
This command displays any current error conditions that exist in the GY407D. These conditions are
displayed as four HEX-formatted byte values, as shown below:
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2.7.7 System Commands (con’t)
Example:
SYST:ERR?
0x00000000
Reserved
Reserved
End Of Buffer
Reserved
Reserved
Field Not Found
Reserved
Reserved
0
1
2
3
4
5
6
7
See the *TST? command.
Time Out Error
Unused
Unused
Command Termination Error
String Error
Byte Error
Nybble Error
Character I/O Error
Command Execution Error
Command Not Found
Record Not Found
Value Out Of Range
Format Error
IIB Not Found
Invalid EE Pointer
I/O Error
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
SYST:COMM:SER:ABAUD?
Displays the current value of the Baud Rate Control Register in HEX.
Example:
SYST:COMM:SER:ABAUD?
0x000C
SYST:COMM:SER:BAUD <baud:rate>
This command changes the configuration of the USART in the sensor to communicate at the
indicated BAUD rate. Values for <baud_rate> can range from 2400 to 115200 and even higher, if a
USB-to-RS485 interface is used.
SYST:MODE:PROMPT ON|OFF
Configures the sensor to display a prompt (a “>” character) after each command is executed (when
set to ON).
SYST:MODE:STATUS ON|OFF
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2.7.7 System Commands (con’t)
Configures the sensor to display status information if a command fails to execute due to an error
condition.
Example:
SYST:MODE:STATUS ON
SUST:ERR?
SYNTAX?:1300FC02:SUST:ERR?
SYST:SCRIPT
This command places the sensor is “Script Definition Mode”, indicated by the “[SDM enabled]”
message that is displayed immediately after the command is executed.
All commands entered after this point are stored in the sensor’s startup script. This script is executed
at power-up or when the *RST command is executed.
To exit SDM mode, enter a <CR> on a line by itself.
Example:
SYST:SCRIPT
[SDM enabled]
SYST:ECHO ===== STARTUP =====
TRIG:SOUR TIM 0.01
TRIG:COUNT 128
CONF:FNC MIN 1,1
CONF:FNC MAX 1,1
CONF:FNC OU1 1,8 MIN,MAX
<CR>
[SDM disabled]
SYST:SCRIPT?
Displays the contents of the currently-defined startup script in the sensor. The number of bytes used
is also displayed.
Example:
SYST:SCRIPT?
SYST:ECHO ===== STARTUP =====
TRIG:SOUR TIM 0.01
TRIG:COUNT 128
CONF:FNC MIN 1,1
CONF:FNC MAX 1,1
CONF:FNC OU1 1,8 MIN,MAX
123 of 256 bytes used
SYST:UPTIME?
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2.7.7 System Commands (con’t)
Displays the approximate number of seconds that the sensor has been powered-up. This value is
reset to zero when power is lost and restored, when the sensor is reset or when the *RST command is
executed.
Example:
SYST:UPTIME?
465 secs
SYST:RESET?
Displays the status value indicating the reason for the last reset condition. The HEX-formatted value
is interpreted according to the following example.
Example:
SYST:RESET?
0x05
Bit Description
Power-on reset
External reset
Brownout reset
Watchdog reset
Unused
Unused
Unused
Unused
Bit #
0
1
2
3
4
5
6
7
3.0 GY407D Default Settings
The following settings are in effect when the sensor is powered-up with no startup script defined.








The sensor is in Idle mode and does not respond to trigger events (INIT).
The sensor is in AUTo trigger mode (TRIG:AUT).
The sensor will perform an infinite number of scans once triggering is initiated (TRIG:COUNT 0).
The sensor scans with all four channels and will format the readings as comma-separated
floating-point values with channel units displayed (ROUT:SCAN G1,G2,G3,T1 and OUT:FMT
FLT,UNI).
The sensor will format each scan as it is generated and transmit it out the serial port (OUT:IMM
ON).
The serial port is set to 38400 BAUD, 1 stop bit, 8 data bits, no parity (SYST:COMM:SER:BAUD
38400).
No functions are enabled (CONF:FNC).
The AUX pin is set as an input and is configured to respond to a high-to-low TTL-level
transition by placing the sensor in SelfTest mode(ROUT:AUX INP,TRG).
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4.0 How to Use the GY407D
4.1
Sensor Power
The sensor requires power in order to operate. This power must be applied to DSUB pins 8 and 9
according to the specifications listed in section 1.2.1 (Data Sheet). The 35250AK0/1 PC Interface
Adapter provides a power supply that can be used for this purpose.
4.2
Sensor PC Connection
The GY407D requires an RS-485 PC interface kit to connect to a computer. The only software that is
required on the computer is an ASCII terminal emulator. The HyperTerminal program that comes
free with Windows does not work very well, since it always attempts to interpret the output of the
GY407D in terms of a terminal emulation protocol, like ANSI. A better terminal emulator would be
Tera Term Pro (or similar program) which can be configured for simple ASCII operation.
Plug the 35250A interface into the 9-pin DSUB connector on the GY407D first. This makes sure that
the sensor is correctly connected to the interface. Next, plug the RS-232 cable into the other end of
the 35250A and the serial port on the PC. A USB-to-RS232 interface may be necessary to attach the
GY407D to your computer. Finally, plug the power supply into the 35205A’s power port.
When the GY407D has been connected to the 35250A PC Interface, and that to the PC, and power
has been supplied to the GY407D, it is ready for use.
4.3
Sensor Identification
The GY407D supports several status-type commands. These are shown in Figure 1 below and are
used to query the identification of the device and its current status. Section 2.7 describes each
command shown in Figure 1 and their responses.
Figure 1
Identification Commands
4.4
Scan Configuration
Figure 2 shows the commands that can be used to configure the GY407D’s scanning process. The
ROUT:SCAN? command displays the current list of channels that are being scanned (in this case, all of
them) and the ROUT:SCAN command is used to set the list of channels to be scanned. The READ?
command initiates a single scan, which is immediately formatted and displayed upon completion.
Finally, the GY407D is configured for time-based scanning (at 100 scans/sec) for 25 scans (using the
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TRIG:SOUR:TIM and TRIG:COUNT commands, respectively). The INIT command begins the scanning
process, which stops automatically after 25 scans have been performed.
Figure 2
Scan Configuration Commands
By default, the number of scans is set to 0, which instructs the GY407D to generate scans forever, or
until the user presses <CR> or issues a <BREAK> on the serial line.
4.5
Format Configuration
The results of each scan that the GY407D generates is formatted for output according to the settings
of the OUT:FMT command. The OUT:FMT? command is used to display the current formatting flags that
are in place. The supported flags are:





FLT – converts readings into engineering units (floating-point).
HEX – converts readings into HEX values for display.
UNITS – appends each channel’s units to its formatted display value.
CNT – prepends a scan counter (in HEX) to the beginning of each scan.
CRC – appends a CRC value (in HEX) to the end of each scan.
Figure 3 shows the default format setting, and shows how to change the format flags and the
effect they have on the scan output.
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Figure 3
Output Format Configuration Commands
4.6
Function Configuration
The GY407D has built-in functions that can be configured to execute as often as desired. Each
performs a unique function on the scan measurements and the result of each function is maintained
internally. The value of each function can be displayed at any time using the CONF:FNC <name> PRINT
command, or one of the three output functions can be configured to display the values on an ongoing
basis. Figure 4 shows the commands used to display the function configuration, to change it and to
display their output.
Figure 4
Function Configuration Commands and Results
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The complete list of available functions is as follows:
1.
2.
3.
4.
MIN – tracks the minimum reading on each channel since the function was configured.
MAX – tracks the maximum reading on each channel since the function was configured.
MAG – calculates the magnitude of the vector sum of axes G1, G2 and G3.
PTP – tracks the peak-to-peak value for each channel since the function was configured. This
is equal to (MAX – MIN) for each channel.
5. TH1 – tracks channels readings against individual channel threshold values.
6. TH2 – tracks MAG or TLT values against a threshold.
7. OU1/OU2/OU3 – output functions that print the values of functions on a configurable periodic
basis.
Figure 5
Function Output with Scan Measurements
Complete documentation for each command can be found in section 2.7.
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5.0 Mounting Instructions
Use two 3.0 mm x 0.5 mm thread machine screws to attach to one of the three GY407D mounting
faces [recommended torque 5 lbf-in (0.56 N.m)].
DO NOT thread a screw more than 2.5 mm (0.100 inch or 5 turns) into any GY407D mounting face as
this can damage the sensor and will VOID the warranty.
A light film of oil or silicone grease can be used to enhance contact between two mounting surfaces.
A locking compound should be used on all threads to prevent screws loosening due to vibrations.
Improper wiring can cause permanent damage
and void the warranty.
Pins other than +Vs should not exceed 5 V
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6.0 Product Warranty
6.1
Three-Year Limited Warranty Information
Measurement Specialties warrants this product against defects in materials and workmanship for a
period of three years from date of shipment. During the warranty period, Measurement Specialties
will, at its option, either repair or replace products which prove to be defective.
This warranty does not apply to defects or damage resulting from:
• Improper installation or maintenance
*Improper wiring can cause permanent damage and void the warranty.
*Improper mounting can cause permanent damage and void the warranty.
• Customer supplied software or interfacing
• Unauthorized modification or misuse
• Operation outside of the product specifications listed on the datasheet.
The warranty set forth above is exclusive and no other warranty, whether written or oral, is expressed
or implied. Measurement Specialties specifically disclaims the implied warranties of merchantability
and fitness for a particular purpose.
Some jurisdictions do not allow limitations on how long an implied warranty lasts, so the above
limitation or exclusion may not apply to you. However, any implied warranty of merchantability or
fitness is limited to the three-year duration of this written warranty.
6.1.1 Warranty Service
To obtain service during the warranty period, products must be returned, transportation prepaid, to
Measurement Specialties. Call 1-330-659-3312 to obtain a return authorization. An RMA number will
be issued prior to the return.
GY407D User’s Manual
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2236 N. Cleveland-Massillon Road
Akron OH 44333 PH: 330-659-3312
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