MSHEM0002

CRM500GA Series
OPERATORS MANUAL
Document Part Number: 7430-0140-04 Rev A
MEMSIC, Inc., 1759 McCarthy Blvd, Milpitas, CA 95035
Tel: 408-964-9700, Fax: 408-854-7702
email: [email protected], website: www.memsic.com
Revision History
Revision
Date
Author
Comments
-01_A
12/17/04
DJ
Initial Release
-01_B
12/22/04
DIP
Corrected wiring diagram pin-out.
-02_A
2/3/05
GB
Updated address, wiring diagram
and MagAlign.
-03_A
8/05
GB/DIP
-03_B
1/09
MPS
Package contents updated.
Install drawing updated to reflect
additional mounting holes.
-03_C
11/09
PAL
Added AHRS500GA-32x to list of
model #’s compatible w/ CRM500
per ECO 1312
-04_A
12/20
AP
Updated w/ MEMSIC logo and
address per ECO 1886
Updated MagAlign.
©2010 MEMSIC, Inc. All rights reserved. Information in this document is subject to change without notice.
MEMSIC and SoftSensor are registered trademarks and CRM500GA-[] is a trademark of MEMSIC, Inc. Other product and trade
names are trademarks or registered trademarks of their respective holders.
CRM500GA-[] Series Operator’s Manual
Table of Contents
1
2
3
4
5
6
7
8
9
About this Manual ......................................................................................................................................................................1
1.1
Notation ..............................................................................................................................................................................1
Introduction.................................................................................................................................................................................2
2.1
AHRS500GA-[] Model compatibility ................................................................................................................................2
2.2
The CRM500GA-[] Series Remote Magnetometer Units...................................................................................................2
Package Contents........................................................................................................................................................................3
CRM500GA-[] Description ........................................................................................................................................................4
4.1
CRM500GA-[] Coordinate System ....................................................................................................................................4
4.2
Connections ........................................................................................................................................................................4
4.2.1
I/O Cable.....................................................................................................................................................................4
4.2.2
Power Input and Power Input Ground ........................................................................................................................4
4.2.3
Case Ground ...............................................................................................................................................................4
4.2.4
Serial Data Interface ...................................................................................................................................................4
4.2.5
No Connection ............................................................................................................................................................4
4.3
Measurements .....................................................................................................................................................................4
4.3.1
Sensor Measurements .................................................................................................................................................4
4.4
Commands ..........................................................................................................................................................................5
4.5
Data Packet Format.............................................................................................................................................................6
4.6
Timing.................................................................................................................................................................................6
4.7
Magnetic Heading...............................................................................................................................................................6
CRM500GA-[] Operation...........................................................................................................................................................7
5.1
Normal Operation ...............................................................................................................................................................7
5.2
Alignment Operation ..........................................................................................................................................................7
Limitations..................................................................................................................................................................................8
6.1
Model Compatibility...........................................................................................................................................................8
6.2
Installation ..........................................................................................................................................................................9
6.3
Alignment ...........................................................................................................................................................................9
6.4
Operation in Magnetic Environment...................................................................................................................................9
6.5
Range Limitations...............................................................................................................................................................9
CRM500GA-[] Installation.......................................................................................................................................................10
Warranty and Support Information ...........................................................................................................................................11
8.1
Customer Service..............................................................................................................................................................11
8.2
Contact Directory..............................................................................................................................................................11
8.3
Return Procedure ..............................................................................................................................................................11
8.3.1
Authorization ............................................................................................................................................................11
8.3.2
Identification and Protection.....................................................................................................................................11
8.3.3
Sealing the Container................................................................................................................................................11
8.3.4
Marking.....................................................................................................................................................................11
8.3.5
Return Shipping Address ..........................................................................................................................................12
8.4
Warranty ...........................................................................................................................................................................12
Appendix A. Mechanical and Installation Specifications .........................................................................................................13
9.1
Installation Drawing .........................................................................................................................................................13
9.2
Installation Wiring Diagram .............................................................................................................................................14
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CRM500GA-[] Series Operator’s Manual
Page ii
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CRM500GA-[] Series Operator’s Manual
1
About this Manual
The following annotations have been used to provide additional information.
1.1 Notation
The designation CRM500GA-[] denotes the family of CRM500GA products and the topic is common to all models identified by
dash number. Instances where the dash number is called out, i.e., CRM500GA-200, indicates a topic that pertains only to the
particular model of the CRM500GA called out by the dash number.
; NOTE
Note provides additional information about the topic.
; EXAMPLE
Examples are given throughout the manual to help the reader understand the terminology.
3 IMPORTANT
This symbol defines items that have significant meaning to the user
0 WARNING
The user should pay particular attention to this symbol. It means there is a chance that physical harm could happen to either the
person or the equipment.
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Page 1
CRM500GA-[] Series Operator’s Manual
2
Introduction
2.1 AHRS500GA-[] Model compatibility
Please refer to section 6.1 Model Compatibility, for specific compatibility of the AHRS500GA-[] family and the CRM500GA-[]
family.
2.2 The CRM500GA-[] Series Remote Magnetometer Units
This manual explains the use of the CRM500GA-[] Series of products, three-axis remote magnetometer measurement system
designed to measure earth’s magnetic field in a dynamic environment.
The 3-axis magnetometer CRM500GA-[] is used by the AHRS500GA-[] product to make a true measurement of magnetic
heading.
MEMSIC CRM500GA-[] units employ onboard digital processing to compensate for deterministic error sources within the unit
and to compute magnetometer information. The CRM500GA-[] units accomplish these tasks with an analog to digital converter
and a high performance Digital Signal Processor.
The CRM500GA-[] uses three state-of-the-art miniature fluxgate sensors. Fluxgate sensors make the CRM500GA-[] sensitive
and responsive, with better temperature performance than other technologies such as magneto-resistive sensors. The
CRM500GA-[] also includes three accelerometers designed to aid initial installation and alignment of the CRM500GA-[].
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CRM500GA-[] Series Operator’s Manual
3
Package Contents
In addition to the CRM500GA-[] sensor product and the CRM500GA-[] User Manual you should have:
•
1 CD with AHRS500 and CRM500 Installation MagAlign Software
AHRS500 and CRM500 Installation MagAlign software will allow you to align the magnetometers on the CRM500GA[] on a PC running Microsoft® Windows™. You can also download this software from MEMSIC’s web site at
http://www.xbow.com.
•
CRM500GA-[] Installation Drawing (also included in Appendix section 9.1 of this manual)
•
CRM500GA-[] Installation Wiring Diagram (also included in Appendix section 9.2 of this manual)
•
1 CRM500GA-[] Series Installation Manual
This contains installation instructions for the CRM500GA-[].
•
1 Mating connector and backshell
The mating connector and backshell is to be used to interconnect to the CRM500GA-[].
•
1 set of Mounting Hardware
Size #6 non-magnetic screws, nuts and washers are provided for installation of the CRM500GA-[].
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CRM500GA-[] Series Operator’s Manual
4
CRM500GA-[] Description
4.1 CRM500GA-[] Coordinate System
The CRM500GA-[] uses the following coordinate system. With the connector facing you, and the mounting plate down, the axes
are defined as:
X-axis – from face with connector through the CRM500GA
Y-axis – along the face with connector from left to right
Z-axis – along the face with the connector from top to bottom
This is the default configuration for the generic CRM500GA-[] model.
4.2 Connections
The CRM500GA-[] has a D38999/24FA35SN mating connector. The signals are as shown in Table 1.
Table 1 Connector Pin Assignments
Pin
1
2
3
4
5
6
Signal
DC Power In
DC Power Return
and RS422 Reference
RS422TX+
RS422TXNo connection
No connection
Electrical Specifications
Aircraft power per DO160D, section 16, “B”.
Do not connect
Do not connect
4.2.1 I/O Cable
The user must provide a shielded cable with the shield connected to the I/O connector shell in order to provide the required EMI
protection.
4.2.2 Power Input and Power Input Ground
The CRM500GA-[] power requirements are designed to operate with either a nominal 14VDC or 28VDC aircraft power system
and meets all DO-160D, part 16, category B requirements.
4.2.3 Case Ground
The case is electrically connected to the I/O connector shell. The shell should be electrically connected to the user’s cable shield.
The case is isolated from the Power Input Ground, and should be bolted to a good conducting surface that is grounded.
4.2.4 Serial Data Interface
The CRM500GA-[] serial interface is standard RS-422, 38400 baud, 8 data bits, 1 start bit, 1 stop bit, no parity, and no flow
control, and will output at 50 Hz. This needs to be directly interfaced to the AHRS500GA-[].
4.2.5 No Connection
During normal operation of the CRM500GA-[], no connection is made to pins 5 and 6.
4.3 Measurements
The CRM500GA-[] Series is designed to operate with a MEMSIC model AHRS500GA-[] Attitude and Heading Reference
System.
4.3.1 Sensor Measurements
The analog magnetometer and accelerometer sensors are sampled, converted to digital data, corrected for misalignment, and
scaled to engineering units. The accelerometers are temperature compensated. The digital data represents the actual value of the
quantities measured. A calibration table for each sensor is stored in the CRM500GA-[] non-volatile memory. The data is sent as
signed 16-bit 2’s complement integers.
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CRM500GA-[] Series Operator’s Manual
4.4 Commands
The CRM500GA-[] does not have a command structure. The serial interface is provided with serial port settings of 8 data bits, 1
start bit, 1 stop bit, no parity, and no flow control.
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CRM500GA-[] Series Operator’s Manual
4.5 Data Packet Format
In general, the digital data representing each measurement is sent as a 16-bit number (two bytes). The data is sent MSB first then
LSB.
Byte #
Description
Description
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Header (0xAA)
Header (0x55)
X-axis Acceleration (MSB)
X-axis Acceleration (LSB)
Y-axis Acceleration (MSB)
Y-axis Acceleration (LSB)
Z-axis Acceleration (MSB)
Z-axis Acceleration (LSB)
X-axis Magnetometer (MSB)
X-axis Magnetometer (LSB)
Y-axis Magnetometer (MSB)
Y-axis Magnetometer (LSB)
Z-axis Magnetometer (MSB)
Z-axis Magnetometer (LSB)
Model Number (MSB)
Model Number (LSB)
Synchronization bytes
16
17
18
19
BIT (MSB)
BIT (LSB)
Checksum (MSB)
Checksum (LSB)
X Accel (G) =
X Accel (int)*2/32767
Y Accel (G) =
Y Accel (int)*2/32767
Z Accel (G) =
Z Accel (int)*2/32767
X Mag (Gauss) =
X Mag (int)/32767
Y Mag (Gauss) =
Y Mag (int)/32767
Z Mag (Gauss) =
Z Mag (int)/32767
Model Identifier (Revolving
bytes decode model type,
unit serial number, and
sensor calibration
parameters)
4.6 Timing
The CRM500GA-[] data output rate is set to a constant value.
4.7 Magnetic Heading
Magnetic north is the direction toward the magnetic north pole; true north is the direction towards the true North Pole.
The CRM500GA-[] magnetometer output is referenced to magnetic north. The direction of true north will vary from magnetic
north depending on your position on the earth.
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CRM500GA-[] Series Operator’s Manual
5
CRM500GA-[] Operation
5.1 Normal Operation
The CRM500GA-[] is configured to output data continuously when power is applied. The CRM500GA-[] does not recognize any
input serial commands. A magnetic alignment process must be completed before use of the CRM500GA-[]. See the
CRM500GA-[] Installation Manual for specific instructions. The CRM500GA-[] requires a 90 second initialization period after
power is applied before the output data is valid.
5.2 Alignment Operation
The AHRS500GA-[] can be commanded to perform a hard/soft iron alignment for the CRM500GA-[] magnetometers using the
procedure in the CRM500GA-[] Installation Manual. Data supplied during normal operation will not be available and the data
output should not be used for flight purposes.
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CRM500GA-[] Series Operator’s Manual
6
Limitations
6.1 Model Compatibility
The CRM500GA-[] can be used in conjunction with the following AHRS500 model number and part numbers.
AHRS500GA-220
AHRS500GA-221
AHRS500GA-222
AHRS500GA-223
AHRS500GA-224
AHRS500GA-225
AHRS500GA-226
AHRS500GA-227
AHRS500CA-220
AHRS500CA-222
AHRS500CA-224
AHRS500GA-320
AHRS500GA-321
AHRS500GA-322
AHRS500GA-323
AHRS500GA-324
AHRS500GA-325
AHRS500GA-326
AHRS500GA-327
p/n 8350-0260-03 or higher dash number
p/n 8350-0261-03 or higher dash number
p/n 8350-0262-03 or higher dash number
p/n 8360-0262-03 or higher dash number
p/n 8350-0263-03 or higher dash number
p/n 8360-0263-04 or higher dash number
p/n 8350-0264-03 or higher dash number
p/n 8350-0265-03 or higher dash number
p/n 8350-0266-03 or higher dash number
p/n 8350-0267-03 or higher dash number
p/n 8350-0250-03 or higher dash number
p/n 8350-0252-03 or higher dash number
p/n 8360-0252-03 or higher dash number
p/n 8350-0254-03 or higher dash number
p/n 8350-0270-01 or higher dash number
p/n 8350-0271-01 or higher dash number
p/n 8350-0272-01 or higher dash number
p/n 8350-0273-01 or higher dash number
p/n 8350-0274-01 or higher dash number
p/n 8350-0275-01 or higher dash number
p/n 8350-0276-01 or higher dash number
p/n 8350-0277-01 or higher dash number
Updates are available from MEMSIC, Inc.
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CRM500GA-[] Series Operator’s Manual
6.2 Installation
The CRM500GA-[] must be mounted in accordance with the procedures outlined in the CRM500GA-[] Installation Manual. The
CRM500GA-[] must be mounted in a location with limited magnetic material near the unit. Refer to the installation manual for
detailed instructions.
6.3 Alignment
The CRM500GA-[] must successfully complete a hard iron alignment to reach full accuracy. Refer to the CRM500GA-[]
installation manual for detailed instructions.
6.4 Operation in Magnetic Environment
Introduction of large ferrous or magnetic material objects close to the CRM500GA-[], after alignment, will affect the heading
performance. Maintain at least 24 inches of distance between moving ferrous metal or magnetic material and the CRM500GA-[].
6.5 Range Limitations
The CRM500GA-[], like all magnetometer and magnetic compass-based systems, will not perform properly at the magnetic North
and South Poles.
The CRM500GA-[] will not operate properly in low magnetic fields encountered during space flight.
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CRM500GA-[] Series Operator’s Manual
7
CRM500GA-[] Installation
Refer to the CRM500GA-[] Installation Manual (Doc# 7410-0140-03) for detailed mounting instructions for the CRM500GA-[].
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CRM500GA-[] Series Operator’s Manual
8
Warranty and Support Information
8.1 Customer Service
As a MEMSIC customer you have access to product support services, which include:
8.2
•
Single-point return service
•
Web-based support service
•
Same day troubleshooting assistance
•
Worldwide MEMSIC representation
•
Onsite and factory training available
•
Preventative maintenance and repair programs
•
Installation assistance available
Contact Directory
United States:
Phone: 1-408-964-9700 (8 AM to 5 PM PST)
Fax:
1-408-854-7702 (24 hours)
Email: [email protected]
Non-U.S.:
Refer to website www.memsic.com
8.3
Return Procedure
8.3.1 Authorization
Before returning any equipment, please contact MEMSIC to obtain a Returned Material Authorization number (RMA).
Be ready to provide the following information when requesting an RMA:
•
Name
•
Address
•
Telephone, Fax, Email
•
Equipment Model Number
•
Equipment Serial Number
•
Installation Date
•
Failure Date
•
Fault Description
•
Will it connect to GyroView?
8.3.2 Identification and Protection
If the equipment is to be shipped to MEMSIC for service or repair, please attach a tag TO THE EQUIPMENT, as well as the
shipping container(s), identifying the owner. Also indicate the service or repair required, the problems encountered, and any
other information considered valuable to the service facility such as the list of information provided to request the RMA number.
Place the equipment in the original shipping container(s), making sure there is adequate packing around all sides of the
equipment. If the original shipping containers were discarded, use heavy boxes with adequate padding and protection.
8.3.3 Sealing the Container
Seal the shipping container(s) with heavy tape or metal bands strong enough to handle the weight of the equipment and the
container.
8.3.4 Marking
Please write the words, “FRAGILE, DELICATE INSTRUMENT” in several places on the outside of the shipping container(s).
In all correspondence, please refer to the equipment by the model number, the serial number, and the RMA number.
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Page 11
CRM500GA-[] Series Operator’s Manual
8.3.5 Return Shipping Address
Use the following address for all returned products:
MEMSIC, Inc.
1759 McCarthy Blvd.
Milpitas, CA 95035
Attn: RMA Number (XXXXXX)
8.4 Warranty
The MEMSIC product warranty is one year from date of shipment.
Page 12
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Doc# 7430-0140-04 Rev. A
A
2.03
8
1.54
7
2.22
2.375
6
6
3.370
3 x 10°
3 x 10°
2.900
5
3 x .156
4
Pos
1
2
3
4
5
6
4
CONNECTOR
PIN OUT CHART
Assignment
Mag Power
Mag Power Ground
RS 422 Tx +
RS 422 Tx DO NOT CONNECT
DO NOT CONNECT
4
EXCEPT AS MAY BE OTHERWISE PROVIDED BY CONTRACT
THIS DRAWING OR SPECIFICATION IS THE PROPRIETARY
PROPERTY OF CROSSBOW TECHNOLOGY INC. IT IS ISSUED
IN STRICT CONFIDENCE AND SHALL NOT BE REPRODUCED
OR COPIED OR USED (PARTIALLY OR WHOLLY) IN ANY
MANNER WITHOUT PRIOR EXPRESS WRITTEN AUTHORIZATION OF CROSSBOW TECHNOLOGY INC.
5 6
TO CONNECTOR
5
.010
.040
3
REVISIONS
DATE
1
ECO#
BY
DATE
APPROVALS
CHK
2
B
SCALE 1 : 1
APRVD
1
B
SHEET 1 of 1
7420-0140
REV
41 Daggett Dr.
San Jose, CA
95134
ICD
CRM500GA-[ ]
SIZE DWG. NO.
APRVD
APRVD
TITLE
MEMSIC
DESCRIPTION
CRM500 SERIES
fl
fi
DWN
ICD DW G NO
7420-0140-01
THE USER INTERFACE CABLE MUST BE
SHIELDED. THE SHIELD MUST BE ATTACHED
TO THE CONNECTOR SHELL. THE SHIELD AT
THE FAR END OF THE INTERFACE CABLE
MUST BE ATTACHED TO THE AIRCRAFT
FRAME (PREFERABLY THROUGH A
BACK SHELL).
2.
CABLE PIG TAIL LENGTH SHALL BE 12
5
ANGLES
2
D38999/26FA35PN
D38999/24FA35SN HEX FLANGE
OR EQUIVALENT
INSTALLATION TOOLS REQUIRED:
HAND TOOL:
M2252012-01
POSITIONER:
M22520/2-07
MATE:
CONNECTOR:
6
4
3) FINISH: MIL-C-5541 CLASS 1A (GOLD ALODINE)
ON EXTERNAL SURFACES OF BASE AND COVERS
2) CONTROLLING DIMENSION: INCHES
1) INTERPRET DWG. PER ANSI Y14.5M-1994
NOTES UNLESS OTHERWISE STATED:
DO NOT SCALE DRAWING
MATERIAL:
2 PL
TOLERANCES ARE:
3 PL
2
DESCRIPTION
A
B
C
D

flfi 
flfi fififl 
UNLESS OTHERWISE SPECIFIED
DIMENSIONS ARE IN INCHES
ZONE REV
3
9.1
B
2 x 60°
7
9
C
D
8
CRM500GA-[] Series Operator’s Manual
Appendix A. Mechanical and Installation Specifications
Refer to the CRM500GA-[] Installation drawing, 7420-0140-01, below for the mechanical specifications. Refer to the
CRM500GA-[] installation wiring diagram for electrical connections.
Installation Drawing
7420-0140
Page 13
CRM500GA-[] Series Operator’s Manual
9.2
Installation Wiring Diagram
Page 14
Doc# 7430-0140-04 Rev. A
1759 McCarthy Blvd.
Milpitas, CA 95035
Phone: 408.964.9700
Fax: 408.854.7702
Website: Hwww.memsic.com
Email: [email protected]