Honeywell HG1120 Bedienungsanleitung

HG1120 INERTIAL

MEASUREMENT UNIT (IMU)

Installation and Interface Manual

HG1120 Installation and Interface Manual

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Honeywell Industrial Inertial Measurement Units

Electrical Interface

Mode and Communication Selection

Asynchronous Protocol

SPI Protocol

CAN 2A/2B Protocol

Mechnical Drawing and Installation

Export Guidance

Table of Contents

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Table 1. Connector Pin Description

Table 2. Mode Selection

Table 3. Control Message (0x04 Data Format)

Table 4. Main Status Word Deﬁnition

Table 5. Multiplexed Status Word

Table 6. Gyro and Accelerometer BIT Status

Table 7. Processor/Memory BIT Status Word

Table 8. Inertial Message (0x05 Data Format)

Table 9. Asynchronous Control Message (0x0C Data Format)

Table 10. Asynchronous Inertial Message (0x0D Data Format)

Table 11. SPI Control Message (0x04 Data Format)

Table 12. SPI Inertial Message (0x05 Data Format)

Table 13. SPI Control Message (0x0C Data Format)

Table of Tables

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Table 14. SPI Inertial Message (0x0D Data Format)

Table 15. CAN Control Message 1 Format

Table 16. CAN Control Message 2 Format

Table 17. CAN Control Message 3 Format

Table 18. CAN Inertial Message 1 Format

Table 19. CAN Inertial Message 2 Format

Table 20. CAN Inertial Message 3 Format

Table of Tables

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Honeywell Industrial Inertial

Measurement Units

Honeywell produces No License Required (NLR) Inertial Measurement Units (IMU) for industrial

applications including agricultural vehicles, robotics, survey, mapping, and stabilized systems.

These IMUs are designed for industrial application and can be used on air, land, and sea.

Honeywell began producing gyros in the 1940’s for the Honeywell C-1 autopilot and speciﬁcally

began producing MEMS gyros and accelerometers in the early 2000’s. Honeywell’s IMUs

utilize proprietary Honeywell technology and leverage existing production and engineering

infrastructure. Honeywell has deep and long lasting relations with many commercial customers

and is carrying that philosophy and product pedigree into our NLR IMU line. Honeywell’s forward

looking product strategies ensure that our NLR IMUs ﬁt your current and future needs.

The HG1120 IMU is a device which measures angular rates, linear accelerations, and magnetic

ﬁelds in a body mounted strap down conﬁguration. The IMU provides compensated incremental

angle and velocity data for navigation as well as angular rates and linear accelerations for

control. The data is reported through a digital serial interface bus and is available in a variety

of serial formats. The unit contains MEMS gyroscopes and accelerometers as well as the

electronics and software necessary to deliver precision control and navigation information.

The input axes form a right handed frame aligned with the IMU mounting frame.

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Electrical Interface

The pin assignments of the external system connector are shown below. Logic 0 corresponds

to the CMOS “low” logic state. Logic 1 corresponds to the CMOS “high” logic state.

Table 1. Connector Pin Description

PIN # SIGNAL NAME INPUT/OUTPUT & SIGNAL TYPE SIGNAL FUNCTION

1DIO3 Input - Device Conﬁguration

CMOS compatible logic

No connect results in Logic 1. Active low for logic 0.

2DIO4 Input – Device Conﬁguration

CMOS Compatible Logic

No connect results in Logic 1. Active low for logic 0.

3SPI_SCLK Input

CMOS Compatible Logic

SPI Clock

4SPI_MOSI Input

CMOS Compatible Logic

SPI Master Out Slave In (MOSI) data.

5SPI_MISO Output

CMOS Compatible Logic

SPI Master In Slave Out (MISO) data

6SPI_SS Input

CMOS Compatible Logic

SPI Slave Select (chip select), Default high, Active

low

7DIO1 Input – Device Conﬁguration

CMOS Compatible Logic

No connect results in Logic 1. Active low for logic 0.

8RESET_N Input – Device Conﬁguration

CMOS Compatible Logic

Logic 0 applied for 15 milli-seconds will stop all

processing. Upon logic 1, the IMU will restart as

if power had been removed and re-applied. No

connection is required.

9DATA _RDY Output

CMOS Compatible Logic

Data Ready on Rising Edge to Logic 1.

@ Logic 1, maximum 500 micro-seconds.

10 DIO2 Input - Device Conﬁguration

CMOS Compatible Logic

No connect results in Logic 1. Active low for logic 0.

11,12 VDD Input Power (3.0 – 5.5 VDC) The input voltage should monotonically increase at

start with ripple < 30 mV P-P. The device draws < 0.4

Watts and 125 mA.

13 PWR_RTN Power Return Return path for input power.

14 DGND Signal Return Use this pin to reference digital signals.

15 PWR_RTN Power Return Return path for input power.

16 SER_DATA_OUT_H Output RS-422 Asynchronous High

17 No Connect N/A N/A

18 SER_DATA_OUT_L Output RS-422 Asynchronous Low

1921 No Connect

22 CAN_L Bi-directional - ISO 11898-2 Can Bus Low

23 No Connect No Connect

24 CAN_H Bi-directional - ISO 11898-2 Can Bus High

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Mode and Communication Selection

The HG1120 supports the message protocols, data rates, and bandwidths, described in Table 2.

The HG1120 can be conﬁgured by setting discrete inputs DIO1 through DIO4. These pins are only

read upon reset or power up. State of the pins is shown in word 9 of the multiplexed status word.

The ﬁrst frame of serial output data after power-application will contain a ﬁxed pattern of 0x55s in

place of sensor data. Subsequent frames of serial output data will contain compensated sensor data.

The control bandwidth in Table 2 describes the nominal - 90° phase point. The -3dB frequency

is nominally 2x the -90° phase frequency. The bandwidth is exclusive of transmission delay.

Control data consists of the angular rates, linear acceleration, magnetic, and IMU status words in

message set {0x04, 0x05} and set {0x0C, 0x0D}. The angular and linear data is ﬁltered and sampled

at 1800 Hz. The 1800 Hz ﬁltered angular and linear data is decimated for 600 Hz control data.

The 300/100 Hz navigation data output consists of incremental (or “delta”) angles and velocities

as shown in message IDs 0x05 and 0x0D. The navigation data is unﬁltered 1800 Hz sensor data

which is summed to the navigation data rate (300 Hz or 100 Hz). Accurate attitude and position

calculations require that all messages be received and used.

Gyro and accelerometer residuals are calculated and carried forward to the next message for both

navigation and control data. The serial output FIFO is loaded with the LS byte ﬁrst and LS 16-bit

word ﬁrst. The sensor data (gyro, accelerometer, magnetometer, and temperature) are all signed 2’s

complement integers.

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Table 2. Mode Selection

DIO4 DIO3 DIO2 DIO1 PROTOCOL CONTROL/NAV.

DATA RATES

CONTROL/INERTIAL

MESSAGE FORMATS

CONTROL DATA

BANDWIDTH

(90° PHASE POINT)

11 1 1 ASYNC 1800/300 Hz 0x04/0x05 97 Hz Gyro

155 Hz Accelerometer

11 1 0 ASYNC 600/100 Hz 0x0C/0x0D

11 0 1 ASYNC 600/100 Hz 0x0C/0x0D 90Hz

11 0 0 ASYNC 600/100 Hz 0x0C/0x0D 50Hz

10 1 1 SPI 1800/300 Hz 0x04/0x05 97 Hz Gyro

155 Hz Accelerometer

10 1 0 SPI 600/100 Hz 0x0C/0x0D

10 0 1 SPI 600/100 Hz 0x0C/0x0D 90Hz

10 0 0 SPI 600/100 Hz 0x0C/0x0D 50Hz

01 1 1 CAN2A 600/100 Hz 11 Bit ID 90Hz

01 1 0 CAN2A 600/100 Hz 11 Bit ID 50Hz

01 0 1 CAN2B 600/100 Hz 29 Bit ID 90Hz

01 0 0 CAN2B 600/100 Hz 29 Bit ID 50Hz

00 1 1 SPARE NA NA NA

00 1 0 SPARE NA NA NA

00 0 1 SPARE NA NA NA

00 0 0 SPARE NA NA NA

Asynchronous Protocol

The asynchronous 1800/300 Hz data protocol is as speciﬁed in Table 3 – Control Message (0x04)

Format and Table 7 – Inertial Message (0x05) Format.

The asynchronous 600/100 Hz data protocol is as speciﬁed in Table 8 – Control Message (0x0C)

Format and Table 9 – Inertial Message (0x0D) Format.

The transmit baud rate will be 1Mbits/sec with 1 start bit, 8 data bits, 1 stop bit, and no parity.

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Table 3. Control Message (0x04 Data Format)

POSITION PARAMETER LENGTH

(BYTES)

LSB WEIGHT UNITS OR CONTENTS

1 IMU Address 1 N/A Constant 0x0E

2 Message ID 1 N/A Constant 0x04

3 Angular Rate X 2 2 -20 * 1800 * 2/3 rad/sec/LSB

4 Angular Rate Y 2 2 -20 * 1800 * 2/3 rad/sec/LSB

5 Angular Rate Z 2 2 -20 * 1800 * 2/3 rad/sec/LSB

6 Linear Acceleration X 2 2 -14 * 1800 * 2/3 0.3048 meters/sec2/LSB

7 Linear Acceleration Y 2 2 -14 * 1800 * 2/3 0.3048 meters/sec²/LSB

8 Linear Acceleration Z 2 2 -14 * 1800 * 2/3 0.3048 meters/sec²/LSB

9 Mag Field X 2 0.438404 Milli-gauss/LSB

10 Mag Field Y 2 0.438404 Milli-gauss/LSB

11 Mag Field Z 2 0.438404 Milli-gauss/LSB

12 Main Status Word 2 N/A See Table 4.

13 Multiplexed Status Word 2 N/A See Table 5.

Checksum

Sum of all message data

(positions 1…13 of this

table), taken as 16 bit

words, and summed

without regard for rollover.

2N/A

// this pseudo code illustrates the

checksum algorithm

u16sum = 0;

for (i=0; i<12; i++) // (26-2)/2=12

{ u16sum += u16_msg_array[i]; }

Checksum = u16_msg_array[12];

if (Checksum != u16sum) {checksum

error}

Total Length 26

Table 4. Main Status Word Deﬁnition

BIT(S) PARAMETER VALUES

0-3 Multiplexed Status Word Counter See Table 5.

4 IMU OK 0=OK, 1=Failed

5 Sensor Board Initialization Successful 0=OK, 1=Failed

6 Accelerometer X Validity 0=OK, 1=Failed

7 Accelerometer Y Validity 0=OK, 1=Failed

8 Accelerometer Z Validity 0=OK, 1=Failed

9 Gyro X Validity 0=OK, 1=Failed

10 Gyro Y Validity 0=OK, 1=Failed

11 Gyro Z Validity 0=OK, 1=Failed

12 Magnetometer Validity 0=OK, 1=Failed

13 Power Up BIT Status (Latched) 0=OK, 1=Failed

14 Continuous BIT Status (Latched) 0=OK, 1=Failed

15 Power Up Test - Sets at start of serial data (~100

milliseconds) and clears before 300 milliseconds. 0=Normal, 1+Power Up Tests

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Table 5. Multiplexed Status Word

MUX WORD COUNTER CONTENTS (16 BITS) UNITS

0 Software Version Number Binary

1 Gyro and Accelerometer Status See Table 6

2Gyro and Accelerometer BIT History (Latched Until Power

is Cycled or Unit is Reset)

Bits 3-8 of Mux Word Counter 1 will be latched if the

individual BIT test counter reaches 15. The test counter

is increased by 1 for a failure and then reduced by 1 if

the failure clears. Bit 2 of Mux Word Counter 1 employs

similar logic but the test counter limit is 5.

3 Magnetometer BIT Status Bits 3-15 are Honeywell use only.

0=OK, 1=Failed, applies to remaining bits.

4 Reserved Reserved

5 Processor/Memory BIT Status See Table 7

6Processor/Memory BIT Status (Latched Until Power is

Cycled or Unit is Reset) See Table 7

7 Accelerometer/Gyro Sensor Temperature ~0.0039 °C/LSB, Not Calibrated

8 Magnetometer Temperature ~0.0039 °C/LSB, Not Calibrated

9 DIO1-DIO4 Device Conﬁguration Echo

Bit 0: DIO 1

Bit 1: DIO 2

Bit 2: DIO 3

Bit 3: DIO 4

Bit 4-15: reserved

10-15 Reserved 0

Table 7. Processor/Memory BIT Status Word

Table 6. Gyro and Accelerometer BIT Status

BIT(S) PARAMETER VALUES

0 Loop Completion Test 0=OK, 1=Failed

1 RAM Test 0=OK, 1=Failed

2 Coefﬁcient Table CRC Test 0=OK, 1=Failed

3 Conﬁguration Table CRC Test 0=OK, 1=Failed

4 Normal Mode SW CRC Test 0=OK, 1=Failed

5 Spare 0=OK, 1=Failed

6 Stack Overﬂow Test 0=OK, 1=Failed

7 Watchdog Timer Test 0=OK, 1=Failed

8Processor Test 0=OK, 1=Failed

9-15 Reserved N/A

BIT(S) PARAMETER VALUES

0 Sensor Electronics 0=OK, 1=Failed

1 Sensor Data Ready 0=OK, 1=Failed

2 Temperature 0=OK, 1=Failed

3-5 Accelerometer X, Y, Z Health 0=OK, 1=Failed

6-8 Gyro X, Y, Z Health 0=OK, 1=Failed

9-15 Reserved 0=OK, 1=Failed

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Table 8. Inertial Message (0x05 Data Format)

POSITION PARAMETER LENGTH

(BYTES)

LSB WEIGHT UNITS OR CONTENTS

1 IMU Address 1 N/A Constant 0x0E

2 Message ID 1 N/A Constant 0x05

3-13 Control Data 22 N/A Contents same as Message 0x04

Positions 3-13.

14 Delta Angle X 4 2-34

radians/LSB

or equivalently,

radians/second/Hz/LSB

15 Delta Angle Y 4 2-34

16 Delta Angle Z 4 2-34

17 Delta Velocity X 4 2-28

0.3048 meters/sec/LSB

or equivalently,

0.3048 meters/sec2/Hz/LSB

18 Delta Velocity Y 4 2-28

19 Delta Velocity Z 4 2-28

20 Checksum

Sum of all message data (positions

1-19 of this table), taken as 16 bit

words, and summed without regard for

rollover.

2N/A // this pseudo code illustrates the

checksum algorithm

u16sum = 0;

for (i=0; i<24; i++) // (50-2)/2=24

{ u16sum += u16_msg_array[i]; }

Checksum = u16_msg_array[24];

if (Checksum != u16sum) {checksum

error}

Total 50

Table 9. Asynchronous Control Message (0x0C Data Format)

POSITION PARAMETER LENGTH

(BYTES)

LSB WEIGHT UNITS OR CONTENTS

1 IMU Address 1 N/A Constant 0x0E

2 Message ID 1 N/A Constant 0x0C

3 Angular Rate X 2 2-20 * 600 rad/sec/LSB

4 Angular Rate Y 2 2-20 * 600 rad/sec/LSB

5 Angular Rate Z 2 2-20 * 600 rad/sec/LSB

6 Linear Acceleration X 2 2-14 * 600 0.3048 meters/sec2/LSB

7 Linear Acceleration Y 2 2-14 * 600 0.3048 meters/sec2/LSB

8 Linear Acceleration Z 2 2-14 * 600 0.3048 meters/sec2/LSB

9 Mag Field X 2 0.438404 Milli-gauss/LSB

10 Mag Field Y 2 0.438404 Milli-gauss/LSB

11 Mag Field Z 2 0.438404 Milli-gauss/LSB

12 Main Status Word 2 N/A See Table 4

13 Detailed Multiplexed Status Word 2 N/A See Table 5

14 Checksum

Sum of all message data (positions

1-13 of this table), taken as 16 bit

words, and summed without regard for

rollover.

2N/A // this pseudo code illustrates the

checksum algorithm

u16sum = 0;

for (i=0; i<12; i++) // (26-2)/2=12

{ u16sum += u16_msg_array[i]; }

Checksum = u16_msg_array[12];

if (Checksum != u16sum) {checksum

error}

Total Length 26

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