SENSOR PRODUCTS Digital Compass Module APPLICATIONS Oceanographic – Marine Compassing – Positioning of Buoys, Underwater Structures HMR3000 Drilling – Down Hole and Directional Attitude Reference Heading – Navigation of Unmanned Vehicles – Avionic Compassing Integration with GPS – Dead Reckoning Satellite Antenna Positioning E lectronic compass module that provides heading, pitch and roll output for navigation and guidance systems. Honeywell’s solid state magnetoresistive sensors make this strapdown compass both rugged and reliable. This compass provides fast response time up to 20 Hertz and high heading accuracy of 0.5° with 0.1° resolution. Laser Range Finders – Surveying Applications FEATURES AND BENEFITS Fast Response Time Built with solid state magnetic sensors and no moving parts improves response time, allowing faster updates compared to gimballed fluxgates. Small Size Available as a circuit board 1.2 x 2.95 inches, weighing less than one ounce, or in an aluminum enclosure. Low Power Operates with less than 35 mA, allowing for long operation with a battery. High Accuracy Accuracy better than 0.5° with 0.1° resolution for critical positioning applications. Wide Tilt Range Tilt range of ±40° for both the roll and pitch allows operation for most applications. Hard Iron Compensation Calibration routines to compensate for distortion due to nearby ferrous objects and stray fields, such as vehicles. User Configurable Features User settings of baud rate, update rate, output format, units, filter settings, deviation angles, alarms and warnings are stored internally in non-volitile memory. HMR3000 SENSOR PRODUCTS INTERFACE SIGNAL DESCRIPTIONS (HPR, RCD and CCD), and an ASCII heading output for a digital display. HDG, HDT and HPR are the most commonly used sentences; the formats are given below. Communication HMR3000 communicates with an external host via RS232 or RS-485 electrical standard through simple ASCII character strings. ASCII characters are transmitted and received using 1 Start bit, 8 Data bits, (LSB first, MSB always 0), no parity, and 1 Stop bit. Baud rate is user configurable to 1200, 2400, 4800, 9600, 19,200 or 38,400. HMR3000 responds to all valid inputs received with correct checksum value. $HCHDG, Heading, Deviation, Variation $HCHDG,85.5,0.0,E,0.0,E*77 $HCHDT, Heading, True $HCHDT,271.1,T*2C $PTNTHPR, Heading, Pitch and Roll $PTNTHPR, Heading,Heading Status,Pitch,Pitch Status,Roll,Roll Status*hh<cr><lf> $PTNTHPR,85.9,N,-0.9,N,0.8,N*2C Compass Output HMR3000 can output three NMEA standard sentences, (HDG, HDT and XDR), three proprietary sentences The table shows pin assignments for the 9-pin D-shell connector. Power input can be either regulated 5V dc or unregulated 6V to 15V. Only one of the two power pins (9 or 8) should be connected in a given installation. Name In/Out Pin Description Typ Min (1) Max (1) Units TxD / B Out 2 RS-232 transmit out / RS-485 — -18 18 V dc RxD / A In 3 RS-232 receive in / RS-485 — -18 18 V dc GND In 5 Power and signal common — 6-15V In 9 Unregulated power input 6 – 15 0 30 V dc 5V In 8 Regulated power input 5 ± 5% 0 7.5 V dc Oper / Calib (2) In 1 Operate / Calibrate (3) input (open = Operate) 0– 5 -20 20 V dc Run / Stop (2) In 6 Run / Stop (3) input (open = Run) 0– 5 -20 20 V dc Ready / Sleep (2) In 4 Ready / Sleep (3) input (open = Ready) 0– 5 -20 20 V dc Cont / Reset (2) In 7 Continue / Reset (3) input (open = Continue) 0– 5 -20 14 V dc (1) Absolute maximum ratings. (2) Sink current requirement; 200 (Typ) 400 (Max) µA. (3) Open input = high logic state. 2 HMR3000 SENSOR PRODUCTS SPECIFICATIONS Parameter Value Comments Heading Accuracy (1) < 0.5° RMS (2) < 1.5° RMS Repeatability (3) (4) ± 0.3° Resolution 0.1° Units degrees / mils Dip < 50° , Tilt <20° * Dip < 75° , Tilt <20° * User selectable Pitch and Roll Range ± 40° Accuracy ± 0.4° ± 0.6° Repeatability (3) (4) ± 0.2° Tilt < 20° Tilt > 20° * Resolution 0.1° Units degree/ mils User selectable Magnetic Field (3) Dynamic Range ± 1.0 Gauss max Resolution 1 mGauss Supply Voltage 5.0 Vdc regulated 6 - 15 Vdc unregulated Power 35 mA @ 6 Vdc 13 mA 2.0 mA Serial RS-232 RS-485 Baud Rate 1200 to 38400 bps Standard NMEA 0183 Update Modes Continuous Strobed Weight 0.75 oz (22 g) 3.25 oz (92 g) Circuit card only Housed Dimensions 1.2 x 2.95 x 0.760 1.5 x 4.2 x 0.88 Circuit card Housed compass ± 0.5 Gauss range Electrical (4) Normal operation STOP Mode SLEEP Mode Interface Half Duplex 1/min to 20 Hz per sentence selectable averaging Physical (4) Environment (5) Operating Temp -20 to 70° C Storage Temperature -35 to 100° C Shock 30 inch drop MIL-STD-810E; TM 516.4 Vibration 20 - 2000 Hz Random 2 hrs/axis MIL-STD-810E; TM 514.4 PCB IPC 6012 Assembly IPC 610 Manufacturing Class II or better 4.Typical 5.Meet or exceed. * Device orientation not to exceed 75° during operation or storage—may cause temporary loss of accuracy. 1.Heading accuracy assumes the Earth’s magnetic field is only disturbed by hard iron fields, and has been compensated through calibration. 2.Calculated values. 3.Guaranteed by characterization or design. 3 HMR3000 SENSOR PRODUCTS SPECIFICATIONS HMR3000 CONNECTION DIAGRAM—COMPUTER RS232 TO HMR3000 RS-232 computer pins HMR3000 pins 2 3 5 9 RX 2 TX 3 GND 5 RS-232 computer pins TX RX GND V+ 5 Vdc Reg. Regulated voltage source Unregulated Supply 4.200 (10.67) Z 0.188 (0.46) Regulated Supply AA A AA A AA A A AA A AA 0.812 (2.06 ) Φ 0.150 (0.38) S/N 300062 RS 232 485 Y Pitch Roll 1.500 (3.81) HMR3000 Compass Module Forward X 3.250 (8.26) 0.188 (0.46) 2 TX 3 RX 5 GND 8 V+ RX 2 TX 3 GND 5 6-15 Vdc ac adapter HMR3000 pins inches (centimeters) 0.062 0.062 ( (0.16) 0.16) ORDERING INFORMATION Type RS-232 to RS-485 B & B Electronics #485TBLED SD Control Echo Off RS-232 TD RD GD 2 RD 3 TD 7 GD Shield TD(A) TD(B) RD(A) RD(B) GND +12V VAC 1 2 3 4 5 6 7 +12VDC Output Enclosure HMR3000-Demo-232* ..... RS232 RS-485 HMR3000-D00-232 ......... RS232 ....... None HMR3000-D21-232 ......... RS232 ....... Extended Base (B) (A) 2 3 RS-485 Gnd Pwr 5 9 Gnd +12VDC DB9 socket connector HMR3000-D00-485 ......... RS485 ....... None HMR3000-D21-485 ......... RS485 ....... Extended Base *Development Kit includes one module in aluminum enclosure, cabling with power supply, demonstration software for PC running Windows™ and User’s Manual. Honeywell reserves the right to make changes to any products or technology herein to improve reliability, function or design. Honeywell does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it convey any license under its patent rights nor the rights of others. Solid State Electronics Center 12001 State Highway 55 Plymouth, MN 55441 1-800-323-8295 900204 Rev. B 12/99