65210E Inertial Measurement System with External Inputs Data Acquisition - TM Kit Technical Data* *Significant Military Equipment (SME) This Measurement Specialties product is subject to the licensing jurisdiction of the U.S. Department of State in accordance with the International Traffic in Arms Regulations (ITAR) (22 C.F.R. 120 - 130). http://www.pmddtc.state.gov/regulations_laws/itar_official.html Features and Benefits Data Acquisition via External Inputs Data from external sensors and signals can be input to the 65210E via plug-in Signal Conditioning Modules. Modules are available for many standard transducer types and additional modules can be quickly developed to meet specific customer requirements. User Programmable Settings When configured as a 6 DoF, the output range and low-pass filter of each 65210E accelerometer and rate gyro axis can be set via a built-in RS-485 interface, as can the IRIG-106 encoded PCM output configuration. The carrier frequency for the optional built-in multi-channel S band transmitters can also be set by the user. IRIG-106 Compatible Calibrated, ranged, and filtered data can be streamed out at up to 3Mbit/sec via RS-485 or IRIG-106 encoded PCM. Built-in Calibration Calibration data for each internal sensor and Signal Conditioning Module is maintained in the instrument. Communication Integrity A cyclic redundancy check (CRC) is available to validate communications. Telemetry also supports a frame counter to ease detection of missing frames. Self-Test Self-test and fixed level outputs simplify installation and system check out by verification of channel integrity and ground station setup. Small Cylindrical Package Package has a 2.75 inch diameter and 7.93 inch overall length. Optional spline mount parabolic mounting adapter available. The unit will fit in a standard MK-80 fuse well. uilt-In High Capacity, Fast-Charging Battery B Complete recharge in less than two hours provides up to three hours of operation with transmitter powered. Suitable for Harsh Environments The 65210E is robust and can be used in harsh environments. The unit will survive 100 g shock while powered. 65210E Inertial Measurement System precisionsensors.meas-spec.com 2236 N. Cleveland-Massillon Road Akron OH 44333 PH : 330-659-3312 Configurable Data Acquisition & Inertial Measurements The Measurement Specialties 65210E can be supplied as a userconfigurable 6 DoF (six degree of freedom) Inertial Measurement System containing three internal accelerometers, three internal rate gyros, two temperature sensors, battery voltage and current monitor, signal processor, IRIG encoder, optional FM transmitter, and highcapacity Li-Ion battery in a small, easy-to-install package. Additionally, external signal inputs can be accommodated with a variety of available Signal Conditioning Modules (SCMs). All channels are measured simultaneously with each sampled at 16 bits, filtered, ranged, and calibration compensated at up to 42,500 samples/sec/channel by the built-in digital signal processor. The output range, filter frequency and calibration of each channel, as well as the PCM configuration, can be set by the user. A frame counter and CRC cyclic redundancy check can be included in each telemetry frame to allow dropped frames and data corruption to be detected. 7/19/2013 www.meas-spec.com Specifications for 65210E - improved specifications available upon request Ta = Tmin to Tmax; Acceleration = 0g unless otherwise noted; within one year of calibration. Parameter Min Typical Max Units Accelerometers A010 Range, Option A010 Sensitivity Drift (25°C to Tmin or Tmax) Zero Bias Drift (25°C to Tmin or Tmax) Nonlinearity Upper Cutoff Frequency Noise Density Alignment Transverse Sensitivity ±10 ±0.016 0.15 0.01 ±1 ±2 Accelerometers A040 Range, Option A040 Sensitivity Drift (25°C to Tmin or Tmax) Zero Bias Drift (25°C to Tmin or Tmax) Nonlinearity Upper Cutoff Frequency Noise Density Alignment Transverse Sensitivity 360 Accelerometers A050 Range, Option A050 Sensitivity Drift (25°C to Tmin or Tmax) Zero Bias Drift (25°C to Tmin or Tmax) Nonlinearity Upper Cutoff Frequency Noise Density Alignment Transverse Sensitivity ±55 ±0.08 0.15 0.05 ±1 ±2 Accelerometers A100 Range, Option A100 Sensitivity Drift (25°C to Tmin or Tmax) Zero Bias Drift (25°C to Tmin or Tmax) Nonlinearity Upper Cutoff Frequency Noise Density Alignment Transverse Sensitivity ±0.08 0.25 0.1 ±1 ±2 ±100 ±2 ±0.2 Rate Gyros Range, Options G1k0, G1k2 Sensitivity Drift (25°C to Tmin or Tmax) Zero Rate Drift (25°C to Tmin or Tmax) Nonlinearity Upper Cutoff Frequency (90°) Noise Density ±2.5 ±2.0 0.1 100 0.05 ±1200 Temperature Sensor (Internal) Accuracy Battery (Vs) Operating Time with 0.5 W Transmitter Operating Time with Transmitter Off Charge time at 20°C 4 15 2 IRIG-106 PCM Output Rate 1.5 3.0 Mbit/sec Optional FM Transmitter (S Band) Transmit Power 0.5 2 W Temperature Range (Ta) Li-Ion Battery Ratings Transmitter Ratings -40 -10 -20 +85 +60 +70 °C °C °C Mass Shock Survival -100 65210E Inertial Measurement System precisionsensors.meas-spec.com ±55 ±0.5 ±0.06 0.2 400 1.4 ±1 ±0.25 ±2 ±0.04 0.5 1000 ±3 2.0 440 3 ±2 ±0.2 0.5 2000 ±3 2500 ±3 ±6.0 ±2.0 1520 g % g % FSR Hz mg/√Hz degrees % User configurable % of sensitivity at 25°C g % g % FSR Hz mg/√Hz degrees % User configurable % of sensitivity at 25°C g % g % FSR Hz mg/√Hz degrees % User configurable % of sensitivity at 25°C g % g % FSR Hz mg/√Hz degrees % User configurable % of sensitivity at 25°C °/sec % °/sec % FSR Hz °/sec/√Hz User configurable Max deviation from best fit straight line Additional prog DSP poles, -3dB pt. Typical orthogonality < 0.5° Inherent sensor error, excluding misalignment Max deviation from best fit straight line 2-pole bessel in sensor; additional prog DSP poles 10 Hz to 400 Hz Orthogonality < 0.5° Inherent sensor error, excluding misalignment Max deviation from best fit straight line Additional prog DSP poles, -3dB pt. Typical orthogonality < 0.5° Inherent sensor error, excluding misalignment Max deviation from best fit straight line Additional prog DSP poles, -3dB pt. Typical orthogonality < 0.5° Inherent sensor error, excluding misalignment User configurable low pass filter To 100 Hz °C For general instrument health monitor ±25°C resolution hrs hrs hrs At 25°C At 25°C Uncharged to full capacity. Must charge 0-45°C grams 100 Conditions/Notes g Based on NRZ Frequency settable in 0.5 MHz steps, IRIG-106 compliant Power specified with order, see Option Tnnn Tested over wider range for one-time use With parabolic adapter and four SCM cards Limited by transmitter 2236 N. Cleveland-Massillon Road Akron OH 44333 PH : 330-659-3312 7/19/2013 www.meas-spec.com Ordering Information 65210E - A040 - G1K2 - T01S - M2 - Sabcd Installed Modules in Slots (a=100, b=200, c=300, d=400) 0=None 1=85201A 2-ch strain, 5 V exc 2=85202A 3-ch ICP XL, 16 V exc 3=85203A 3-ch 0-5 V in, 9 V exc 4=85204A 3-ch strain, com 5 V exc 5=85205A 3-ch 0-5 V in, 5 V exc 6=85206A 1-ch 4X ovsmp 0-5 V in, 5 V exc 7=85207A 1-ch 0-500 VAC in (FZU) 8=85208A 1-ch FZU-48 2X simulated load 9=85209A 4-ch 10k thermistor Z=85203B 4-ch 0-5 V in, 9 V exc Instrument Accelerometers A000 : None A010 : ±10 g 1000 Hz A040 : ±40 g 400 Hz A050 : ±50 g 2000 Hz A100 : ±100 g 2500 Hz Rate Gyros G000 : None G1k0 : ±1000°/s gyros G1k2 : ±1200°/s gyros GS00 : ±20000°/s* gyros *on roll axis only, ±1200°/s on other two axes Transmitter T000 : None T00S : 0.5 W, 272 kb/s, 2.2-2.3 GHz, S band T01S : 0.5 W, 1.5 Mb/s, 2.2-2.3 GHz, S band T03S : 0.5 W, 3.0 Mb/s, 2.2-2.3 GHz, S band TA1S : 1.0 W, 1.5 Mb/s, 2.2-2.3 GHz, S band TA1B: 1.0 W, 1.5 Mb/s, 2.2-2.4 GHz, S band T11S : 1.5 W, 1.5 Mb/s, 2.2-2.3 GHz, S band T13S : 1.5 W, 3.0 Mb/s, 2.2-2.3 GHz, S band T20S : 2.0 W, 272 kb/s, 2.2-2.3 GHz, S band T20U : 2.0 W, 272 kb/s, 2.3-2.4 GHz, S band Adapter M1 : Parabolic Mounting M2 : (DSU33) Radome Ring Accessories 65250A Activation & Setup Adapter / RS232 to RS485 A toggle switch and LED allow a 65250A Setup Adapter to activate a Measurement Specialties Inertial Measurement System (IMS) and converts RS485 signals used by 65210 Series systems to the RS232 signals used by computer serial ports. The 65250AK2 Programming Kit includes a 65210 cable (Lemo to DB9F) and a 6’ M-F straight cable that connects to a PC. The 65250A also allows for connection of the 65280A battery charger. 65260A S-Band Monopole Antenna The 65260A antenna is reliable and rugged, designed to be used with the 65210 Series instruments. Operating over the 2200 to 2300 MHz S-band frequency range, the 65260A maintains a VSWR of less than 1.5:1, providing excellent efficiency. The rugged nature of the 65260A makes it suitable for automotive, aerospace, and military applications. 65280A Battery Charger 65251E Activation Plug Measurement Specialties’ 65251E Activation Plug provides an alternate power on/off control to a 65210E IMS. Connecting an activation plug to an IMS which is off causes the power up to be initiated. Connecting to a powered system will cause the system to power down when the plug is removed. A bicolored LED indicates the operational status. The activation plug will also optionally power up the transmitter on systems where it is not enabled. 65210E Inertial Measurement System precisionsensors.meas-spec.com The 65280A Battery Charger plugs into any 110 VAC outlet and displays recharging status through an LED indicator. Designed to plug into the 65250A adapter. 35290A RS232 to USB 2.0 Adapter Easily connect serial devices to a PC via the USB port, with maximum data transfer rates of over 1 Mb/s. Includes extension cable, manual and driver for Windows, Mac and Linux. 2236 N. Cleveland-Massillon Road Akron OH 44333 PH : 330-659-3312 7/19/2013 www.meas-spec.com M2: RADOME RING (DSU33) M1: PARABOLIC MOUNTING Top View 3 Dimensions in inches Ø 4.642 1234 SMA-F Schrader Valve 0.305-32 M3x0,5x6mm deep C'bore Ø 0.219 (4) Places Dimensions in inches Ø 5.510 1 Digital I/F Lemo HGG.0B.306.CLNPV 2 1 SMA-F Schrader Valve 0.305-32 Last 4 digits of SN, Arrow shows A2+ 3 Top View 2 Flat side shows A2+ Last 4 digits of SN, Arrow shows A2+ Digital I/F Lemo HGG.0B.306.CLNPV Tie Wire Hole 7.768 7.768 6.018 3.5"-12 UN Class 2A thread 1 2 3.5”-12 Class 2A thread 1 3 6.018 2.750 3 2.750 Third angle 1 2 2 3 I/O for Module 100, 200, 300 25 pin recept, MIL-C-83513 STANDARD CONNECTOR I/O for Module 400 15 pin recept, MIL-C-83513 1 Third angle 6 2 3 Pin 1 2 3 4 5 6 5 4 Signal Aux RS485RS485+ Power Enable L Ground +V Power SMA-F RF Out 65210E Inertial Measurement System precisionsensors.meas-spec.com 2236 N. Cleveland-Massillon Road Akron OH 44333 PH : 330-659-3312 7/19/2013 www.meas-spec.com Sensor Locations for 65210E ACCELEROMETER AND GYRO POSITIONS (INCHES) WITH ADAPTER (Parabolic or Radome Ring DSU33) Axis A1 Lateral A2 Vertical A3 Longitudinal 1: Lateral -0.112 +0.518 +0.315 +0.518 -0.112 +0.944 Accelerometer Position ±0.025 typical AccelerometerOption A010/A050/A100 A1 Lateral A2 Vertical A3 Longitudinal 2: Vertical 1: Lateral 2: Vertical +0.301 +0.518 -0.112 +0.930 -0.112 +0.518 Accelerometer Position ±0.050 typical Gyro- Option G1k0/ G1k2 1: Lateral 2: Vertical +0.370 -0.518 -0.112 -0.999 -0.112 -0.518 Gyro Position ±0.050 typical G1 Lateral G2 Vertical G3 Longitudinal 3: Longitudinal +0.084 -0.342 -0.342 S = SMA F L = Lemo Connector V = Valve V S L 1234 AccelerometerOption A040 2) VERTICAL 1) LATERAL 3: Longitudinal -0.342 -0.342 +0.070 3) LONGITUDINAL SEATING PLANE 3: Longitudinal -0.342 -0.342 +0.139 OPTIONAL: AccelerometerLow g A1 Lateral A2 Vertical A3 Longitudinal 1: Lateral 2: Vertical -0.920 +0.635 -0.920 +0.635 -0.920 +0.635 Accelerometer Position ±0.050 typical 3: Longitudinal +1.820 +1.820 +1.820 Axis 3 (longitudinal) position adjustments (per installation): Will be increased by up to 0.083" when the main instrument assembly is screwed into 12 TPI adapter, as up to one turn back-off may be required (average increase will be 0.042"). Block Diagram SCM Interfaces Four Card Slots for Signal Conditioning Module (SCM) Interfaces 65210E Inertial Measurement System precisionsensors.meas-spec.com 2236 N. Cleveland-Massillon Road Akron OH 44333 PH : 330-659-3312 7/19/2013 www.meas-spec.com Configurability Features of 65210E ICU Configurability Instrument Configuration Utility™ (ICU) is downloadable, Windows-based software used to configure 65210 Series inertial measurement systems. Settings are stored in the unit’s non-volatile memory, and displayed in ICU when the unit is attached to a PC. New values, within sensor limits, may be written to the instrument’s memory, with passwordprotection to safeguard any established settings. Reports, including TMATS, are easily obtained to review setup parameters. Download ICU at precisionsensors.meas-spec.com. Users can configure many parameters, including: • output range • filter frequency • calibration • number of channels • encoding format • bit rate up to 3 Mbit/second (limited by transmission method) • carrier frequency • startup delay • frame components such as sync length and CRC to detect data corruption Configurable Telemetry ICU’s pre-set drop down menus make it easy to build telemetry frames to suit specific needs. Parameters include: • Encoding type • Bit rate • Carrier frequency • Sync • S/N • CRC • Frame ID • Pad • Comm ID Each channel can be assigned an IRIG word position and number of telemetry word bits. A frame counter up to 32 bits and Cyclic Redundancy Check (CRC) may be used to verify data integrity. Subcommutation and supercommutation are available for more efficient data transmission. A Custom Telemetry setting is also provided to override presets if necessary. A convenient telemetry report simplifies verification of the configuration, including producing a TMATS report for ground station configuration. Programmable Filter and Range Use ICU to fine tune the inertial measurement system. Each channel’s filter may be adjusted, and this may be necessary to accommodate a change in bit rate. ICU shows the ranges for the internal accelerometers and gyros. The range for each sensor can be modified within the sensor’s limits. Easy Entry of External Sensor (SCM) Parameters ICU software can be used to configure external Signal Conditioning Module parameters in 65210E models in the same ways as the unit’s internal sensors (as described above). High Speed Acquire High Speed Acquire mode allows ICU to receive inertial measurement data at a much higher rate than other I/O, as specified by the Bit Rate telemetry setting. Simply choose RS-485 encoding; final output is a .csv file which can be imported by common spreadsheet or database programs. Post-processing of binary data files is fast and intuitive, and files greater than 2 GB are supported. 65210E Inertial Measurement System precisionsensors.meas-spec.com Pinout Report for SCMs ICU contains a complete pin-out table for Signal Conditioning Modules in any slot. Signal names, connectors, pin & wire colors are available on 65210E manufacturing reports. Data Delay Channel delay is a flexible feature in which individual channels can be delayed within the DSP. Current and delayed channels may then be encoded into the same telemetry stream for improved redundancy and immunity to dropouts. 2236 N. Cleveland-Massillon Road Akron OH 44333 PH : 330-659-3312 7/19/2013 www.meas-spec.com Signal Conditioning Modules (SCM) for use with 65210E Measure External Signals and Sensors with Signal Conditioning Modules (SCM) External dynamic sensors and signals can be integrated to the Measurement Specialties 65210E by installing up to four Signal Conditioning Modules (SCMs) in the slots provided. A variety of Signal Conditioning Modules are available for specific requirements. Measurement Specialties can tailor SCMs for use with the 65210E to meet your needs. Please feel free to contact us to discuss your specific requirements. SCM Model # # Channels Excitation SCM Length 85201A 2 5 V @ 25 mA Short Full bridge high impedance strain inputs; ranges ±25 mV, ±50 mV, ±100 mV, ±200 mV; 5-pole Butterworth low-pass filter settable to 10 kHz 85202A 3 13-16.5 V @ 4.7 mA ±20% Short ICP accelerometer module with battery voltage excitation; AC coupled; 5-pole Butterworth low-pass filter settable to 10 kHz; works with Endevco 27AM5-5 No Yes AC only 85203B 4 9 V @ 25 mA Short General purpose 0-5 V analog input No Yes Yes 85204A 3 5 V @ 150 mA Short Full bridge low impedance (120 or 350 ohm) strain inputs; custom ranges available; standard is ±2.5 nom.; 5-pole Butterworth low-pass filter settable to 10 kHz; common excitation for all bridges Yes Yes Yes 85205A 3 5 V @ 25 mA Short General purpose 0-5 V analog input No Yes Yes 85206A 1 5 V @ 1 mA Long General purpose 0-5 V analog input with 4X oversampling for high-speed applications; has 5.1k pullup No Yes DC only 85207A 1 None Short ACV true RMS input SCM; ±1000 VAC nom. 5 kHz; also includes DC-coupled channel with 5-pole Butterworth low-pass filter settable to 10 kHz; also includes 10k thermistor input; ideal for FZU monitoring; use with 85208A if load required No No Ch 1 AC Ch 2 DC 85208A 1 None Short FZU-48 2X simulated load; simulates loads typically seen from both forward and aft fuzewell (i.e. double load); use with 85207A if load required; may be added to IMS with no impact; module may also be used stand alone No No No 85209A 4 4.87 V @ 25 uA max per thermistor Short 10k thermistor input module; provides series resistor and pullup to form divider; 28 Hz nom. low-pass filter No No No Description Factory Programmability Gain Yes Filter Yes AC/DC Yes Data subject to change without notice 65210E Inertial Measurement System precisionsensors.meas-spec.com 2236 N. Cleveland-Massillon Road Akron OH 44333 PH : 330-659-3312 7/19/2013 www.meas-spec.com Typical Battery Time for 65210E 65210E Battery Operational Time vs Ambient Temperature (All data points during operational instrument, T01S transmitter ON, avg current ~410mA) 17 -20°C amb +25°C amb +60°C amb 0°C amb +85°C amb +15°C amb -40°C amb 16 15 +85°C Volts 14 +60°C +25°C +15°C 0°C 13 12 -20°C 11 -40°C 10 9 0 0.5 1391A02145 Mar 2009 65210E Inertial Measurement System precisionsensors.meas-spec.com 1 1.5 2 2.5 3 3.5 4 4.5 5 Hours 2236 N. Cleveland-Massillon Road Akron OH 44333 PH : 330-659-3312 7/19/2013 www.meas-spec.com