Lord MicroStrain 3DM-CX5-10 Bedienungsanleitung
LORD USER MANUAL
3DM®-CX5-10
Inertial Measurement Unit (IMU)
MicroStrain®Sensing Systems
459 Hurricane Lane Suite 102
Williston, VT 05495
United States of America
Phone: 802-862-6629
www.microstrain.com
Copyright © 2018 LORD Corporation
3DM®, 3DM-DH®, 3DM-DH3®, 3DM-GX2®, Ask Us How™, DEMOD-DC®, DVRT®, EmbedSense®, FAS-A®, G-Link®, Little
Sensors, Big Ideas.®, LORD Microstrain®, Live Connect™, LXRS®, MathEngine®, MicroStrain®, MIP™, MXRS®, Node
Commander®, SensorCloud™, SensorConnect™, SG-Link®, Strain Wizard®, TC-Link®, V-Link®, Wireless Simplicity,
Hardwired Reliability™, and WSDA®are trademarks of LORD Corporation.
Document 8500-0080 Revision A
Subject to change without notice.
Contents
1. System Family Overview...............................................................................1
2. Sensor Overview............................................................................................2
2.1 Components............................................................................................3
2.2 Interface and Indicators ..........................................................................4
3. Basic Setup and Operations ...................................................................5
3.1 Software Installation................................................................................6
3.2 System Connections ...............................................................................7
3.3 Software Interface...................................................................................8
3.3.1 Interactive Help Menu ....................................................................8
3.4 Sensor Communication...........................................................................9
3.5 Sensor Settings.....................................................................................10
3.5.1 Saving Configurations ..................................................................11
3.6 Data Monitoring and Recording ............................................................12
3.7 View Recorded Data .............................................................................14
4. Sensor Measurements ................................................................................15
4.1 Direct Sensor Measurements (IMU Outputs)........................................16
4.2 Sensor Reference Frames....................................................................17
4.2.1 Geodetic Frame ...........................................................................17
4.2.2 North East Down (NED) Frame....................................................18
4.2.3 Sensor Frame ..............................................................................19
5. Performance Optimization ..........................................................................20
5.1 Gyroscope Bias.....................................................................................20
5.2 Angular Rate and Acceleration Limits...................................................20
5.3 Communications Bandwidth .................................................................20
5.4 IMU Sensor Calibration.........................................................................21
5.5 Temperature Compensation .................................................................21
5.6 Import and Export Settings ...................................................................21
3DM®-CX5-10 USER MANUAL
6. Sensor Installation.......................................................................................22
6.1 Sensor Mounting...................................................................................22
7. System Integration ......................................................................................23
7.1 Data Communications Protocol (DCP) .................................................23
7.2 Packet Builder.......................................................................................23
7.3 Sensor Wiring .......................................................................................24
7.4 Sampling on Start-up ............................................................................25
7.5 Connecting to a Datalogger ..................................................................26
7.6 Using Wireless Adapters.......................................................................26
8. Troubleshooting ..........................................................................................27
8.1 Troubleshooting Guide..........................................................................27
8.2 Repair and Calibration ..........................................................................30
8.3 Technical Support .................................................................................30
9. Parts and Configurations............................................................................31
9.1 Standard Configurations .......................................................................31
9.2 Accessories...........................................................................................33
9.3 Sales Support .......................................................................................33
10. Specifications ..............................................................................................34
10.1 3DM-CX5 Sensors ................................................................................36
10.2 3DM-CX5 Development Kit...................................................................36
11. Reference Documents.................................................................................37
12. Safety Information .......................................................................................38
12.1 Maintenance .........................................................................................38
12.2 Disposal and Recycling.........................................................................38
3DM®-CX5-10 USER MANUAL
1
3DM®-CX5-10 USER MANUAL
1. System Family Overview
The LORD Sensing 3DM-CX5 family of high-performance, industrial-grade, board-level inertial
sensors provides a wide range of triaxial inertial measurements and computed attitude and
navigation solutions.
In all models, the Inertial Measurement Unit (IMU) includes direct measurement of
acceleration and angular rate, while some offer atmospheric pressure readings. In models that
include a Kalman Filter, sensor measurements are processed through an Extended Kalman
Filter (EKF) to produce highly accurate computed outputs. The 3DM-CX5 features include
extremely stable and low-noise gyros a new accelerometer with noise densities as low as 25
µg/√Hz, and a multi-constellation GNSS receiver. The M7 and M4 dual Cortex processors run
a new Auto-Adaptive EKF. The Kalman filter enables compensation for magnetic and linear
acceleration anomalies as applicable to the model. It also provides sensor bias tracking, auto-
zero update options (ZUPT), and user adjustable sensor noise factors. All sensors are fully
temperature-compensated and calibrated over the full operating temperature range.
The use of Micro-Electro-Mechanical System (MEMS) technology allows for small, lightweight
devices. Sensors are integrated into customer systems using serial communication protocols
such as RS422, RS232 and USB. The LORD Sensing MIP Monitor software can be used
for device configuration, real time measurement monitoring, and data recording. The LORD
Sensing MIP Data Communications Protocol (DCP) that is used to communicate with LORD
Sensing inertial sensors is also available for users who want to develop customized software
solutions. Because of the unified set of commands across the sensor family, it is easy to
migrate code from one inertial sensor to another.
Common applications of LORD Sensing inertial sensor products include vehicle health
monitoring, platform stabilization, down- hole and drilling operations, and inertial navigation
systems such as unmanned air and ground vehicles and personal navigation systems.
2
3DM®-CX5-10 USER MANUAL
2. Sensor Overview
The 3DM-CX5-10 is a high-performance, industrial-grade, board-level Inertial Measurement
Unit (IMU) that utilizes micro inertial sensors for use in a wide range of industrial-grade
applications, such as platform stabilization and vehicle health monitoring.
The 3DM-CX5-10 combines the strengths of an integrated multi-axis gyroscope and
accelerometer, in combination with temperature readings to provide highly accurate
inertial measurements. All sensor measurements are temperature-compensated and are
mathematically aligned to an orthogonal coordinate system. The combination of sensors
and environmental compensation allows the 3DM-CX5-10 to perform well in a wide variety
of applications that require low noise, drift, gain, and offset errors. and bias estimation
outputs are available. Settings for sensor filtering, sensor noise, and sensor bias, offer many
adjustments for specific application needs.
The 3DM-CX5-10 communicates through a serial connection and is monitored by a host
computer. Sensor measurements and computed outputs can be viewed and recorded with
the LORD Sensing MIP Monitor software that is available as a free download from the LORD
Sensing website. Alternatively, users can write custom software with the LORD Sensing open
source data communication protocol. The data is time-aligned and available by either polling
or continuous stream.
Figure 1 - 3DM-CX5-10 Sensor
3
3DM®-CX5-10 USER MANUAL
2.1 Components
The 3DM-CX5-10 Inertial Sensor can be purchased by itself or as part of a Development
Kit. All software, drivers, and links to detailed documentation are included with the sensor
purchase. For a complete list of available configurations, accessories, additional system
products, and ordering information, see Parts and Configurations on page 31.
Item Description Model LORD Sensing
Part Number
A
3DM-CX5-10 Inertial Sensor IMU 8G, 300 DPS* 6275-4210
MIP Monitor Software Suite http://www.microstrain.com/software
* For additional options available see Specifications on page 1
RS232 Development Kit
B
RS232 Communication Cable
-- 6212-3010
RS232 Power Supply and Plug
Adapters
C-Series Connectivity Board
Ribbon Cable
Table 1 - 3DM-CX5-10 Components
4
3DM®-CX5-10 USER MANUAL
2.2 Interface and Indicators
The 3DM-CX5-10 sensor interface includes a communications and power input connector.
The sensor is installed using the mounting and alignment holes as needed.
The indicators on the 3DM-CX5-10 include a device status indicator and the device
information label. The table below describes the basic status indicator behavior. includes the
sensor frame diagram (axis orientation), which will be critical during device installation.
Indicator Behavior Device Status
device
status
indicator
OFF No power applied
Rapid flash Dtreaming data
Slow pulse Idle mode, awaiting
commands
Figure 2 - Sensor Indicator Behaviors
5
3DM®-CX5-10 USER MANUAL
3. Basic Setup and Operations
To acquire sensor measurements and computed outputs, the 3DM-CX5-10 uses a host
computer, an RS232 serial communications port, and applicable software. The LORD Sensing
MIP Monitor software is provided with the system and includes all functions needed for sensor
configuration and data acquisition. Users may also utilize the LORD Sensing MIP Data
Communications Protocol (DCP) to write custom software applications with expanded or
specific feature sets needed for the application. MIP Monitor includes a message building tool
that can be used to streamline this process. For more information, see System Integration on
page 23.
In this section, hardware and software setup is described, including an overview of the MIP
Monitor software menus required to configure a sensor and begin data acquisition. This is not
a complete demonstration of all system or software features and capabilities.
Figure 3 - Viewing Sensor Data with MIP Monitor
6
3DM®-CX5-10 USER MANUAL
3.1 Software Installation
NOTE: The MIP Monitor Software Suite includes hardware drivers required for 3DM-
CX5-10 sensor operation. Sensors will not be recognized without these drivers
installed.
To Install the MIP Monitor software on the host computer, complete the following steps:
1. Launch the MIP Monitor software installation menu at: https://www.microstrain.com/
software
2. Download and open the MIP Monitor.zip file.
3. Run the setup.exe file, and follow the on-screen prompts to completion.
4. Download and open the Inertial Drivers zip folder to install the hardware drivers
required for operating the sensor.
5. Run the.msi file, and follow the on-screen prompts to completion.
6. Run the setup.exe file, and follow the on-screen prompts to completion. If prompted,
reboot the computer when complete.
Figure 4 - Software Installation Menu
Inhaltsverzeichnis
Andere Lord MicroStrain Messgerät Handbücher
