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SMC Networks IMU-007 User Manual

Other manuals for IMU-007: User Manual
Manual is about: IMU series motion sensor

Summary of IMU-007

  • Page 1

    Smc imu user guide v26b.Docx index smc ship motion control smc imu user guide.

  • Page 2: Notice

    Smc imu user guide v26b.Docx index smc ship motion control notice the information in this user guide is subject to change without notice. This document is property of smc and shall not be reproduced in any form without written approval from smc. Smc ship motion control is not responsible for any err...

  • Page 3: Table of Contents

    Smc imu user guide v26b.Docx index smc ship motion control table of contents 1 introduction .................................................................................................................... 1 1.1 d efinitions ...........................................................................

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    Smc imu user guide v26b.Docx index smc ship motion control 5.2.6 smce .............................................................................................................................. 36 5.2.7 smcf ............................................................................................

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    Smc imu user guide v26b.Docx index smc ship motion control 6 motion sensor operation ............................................................................................ 66 6.1 s ettling t ime ......................................................................................................

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    Smc imu user guide v26b.Docx index smc ship motion control 1 1 introduction this user manual provides information about your imu motion sensor and how to use it. The smc motion sensors are used in a wide range of applications. Some examples are: - hydrographic surveying for heave compensation using ...

  • Page 7

    Smc imu user guide v26b.Docx index smc ship motion control 2 1.1 definitions alignment the alignment of the motion sensor is the positioning of the imu onto the structure of the rig or vessel. The physical alignment should be done as accurately as possible and then it can be fine-tuned in the system...

  • Page 8

    Smc imu user guide v26b.Docx index smc ship motion control 3 rms root mean square (rms) is a statistical measure of the magnitude of a varying quantity. 2 system description the smc motion sensors have three separate axial measurement component groups converting signals from actual movements via thr...

  • Page 9

    Smc imu user guide v26b.Docx index smc ship motion control 4 2.1 spatial movement (coordinate system) the smc motion sensor defines its body axis from the tait-bryan/euler angles used to describe the orientation of a vessel. In the smc motion sensors the coordinate system can be defined by a setting...

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    Smc imu user guide v26b.Docx index smc ship motion control 5.

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    Smc imu user guide v26b.Docx index smc ship motion control 6 3 storage and unpacking unpack the equipment and remove all the packaging materials and shipping carton. The motion sensor is delivered in a transit case designed to protect it from high shocks during transit. When the unit has been receiv...

  • Page 12

    Smc imu user guide v26b.Docx index smc ship motion control 7 4 installation the smc motion sensor must be installed according to the instructions in this manual. The motion sensor is designed to be installed in an internal environment. 4.1 location the optimal position for the sensor is as close as ...

  • Page 13

    Smc imu user guide v26b.Docx index smc ship motion control 8 4.2 mounting instructions the imu base plate has been specifically designed to enable ease of installation and alignment by allowing freedom of movement around the mounting fixings. The motion sensor is not shipped with mounting screws or ...

  • Page 14

    Smc imu user guide v26b.Docx index smc ship motion control 9 4.2.1 imu mounting bracket - optional an optional mounting bracket is available, designed to provide a secure mounting location, combined with easy motion sensor alignment. The bracket base plate has two pins that correspond to two of the ...

  • Page 15

    Smc imu user guide v26b.Docx index smc ship motion control 10 4.3 alignment to achieve maximum performance it is important to perform an accurate alignment of the motion sensor along the vessel longitudinal axis. The physical alignment should be as accurate as possible using the notches on the motio...

  • Page 16

    Smc imu user guide v26b.Docx index smc ship motion control 11 4.5 sideways mounting when the imu is calibrated for sideways mounting the unit cannot be used for deck mounting without a recalibration at the factory. The mounting of the motion sensor should be carried out with the mounting plate lying...

  • Page 17

    Smc imu user guide v26b.Docx index smc ship motion control 12 4.5.2 top of the imu pointing to the starboard when the imu top (where the connector is located) is pointing to the starboard of the vessel the single notch should be pointing horizontally to the stern. In the smc setup software imu top t...

  • Page 18

    Smc imu user guide v26b.Docx index smc ship motion control 13 4.5.4 top of the imu pointing to the port when the imu top (where the connector is located) is pointing to the port of the vessel the single notch should be pointing horizontally to the bow. In the smc setup software imu top to the port m...

  • Page 19

    Smc imu user guide v26b.Docx index smc ship motion control 14 4.6 imu dimensions 4.6.1 imu-00x surface unit.

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    Smc imu user guide v26b.Docx index smc ship motion control 15 4.6.2 imu-00x 30m depth rated unit.

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    Smc imu user guide v26b.Docx index smc ship motion control 16 4.6.3 imu-10x surface unit.

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    Smc imu user guide v26b.Docx index smc ship motion control 17 4.6.4 imu-10x 30m depth rated unit.

  • Page 23

    Smc imu user guide v26b.Docx index smc ship motion control 18 4.6.5 imu optional mounting bracket.

  • Page 24: Warning

    Smc imu user guide v26b.Docx index smc ship motion control 19 4.7 electrical communication the smc imu can operate from a 12-30 vdc power supply. The power consumption during normal conditions is between 2 and 2.5 watts. The smc imus have both rs422 and rs232 serial outputs as standard. The junction...

  • Page 25

    Smc imu user guide v26b.Docx index smc ship motion control 20 4.7.1 serial rs232 and rs4 22 interface connection guide the imus are equipped with both an rs422 and rs232 interface. The tables below show the configuration information for the imu power and communication pairs. The motion sensor is at ...

  • Page 26

    Smc imu user guide v26b.Docx index smc ship motion control 21 4.7.2 imu surface units output connection cabling rs232 connections db9 connections sensor connector cable colour sensor function db9 to pc/converter a white rs232 – rxd 3 b red rs232 – txd 2 l grey supply voltage - 5 m pink supply voltag...

  • Page 27

    Smc imu user guide v26b.Docx index smc ship motion control 22 4.7.4 imu 30 depth rated unit rs232 output connections db9 connections sensor connector cable colour sensor function db9 to pc/converter 1 black rs232 – rxd 3 2 white rs232 – txd 2 11 blue/black supply voltage - 5 12 black/white supply vo...

  • Page 28

    Smc imu user guide v26b.Docx index smc ship motion control 23 4.7.5 rs422 cable connection the rs422 cable consists of two twisted-pair conductors (4 wires) for bi-directional communication. The thickness of power cables is such that there is no more than a 2v drop with a 50 ma current applied over ...

  • Page 29

    Smc imu user guide v26b.Docx index smc ship motion control 24 4.8 electrical installation the smc imus are powered with a standard 12 vdc or 24 vdc supply. It is possible however to supply power at any voltage between 9 vdc and 30 vdc. The smc imus do not have an on/off switch. The motion sensor ope...

  • Page 30

    Smc imu user guide v26b.Docx index smc ship motion control 25 4.8.2 imu-xxx-30 depth rated unit imu motion sensor 1 2 3 4 5 6 - - + wh (2) rd (3) gn (4) or (5) bl (6) bl/bk (11) bk/wh (12) bk (1) l n gr/ye br bl 2 1 3 4 110-220 vac 5 jb motion sensor 1 2 3 4 db9, rs422 115 200, 8n1 1 2 3 4 5 5 ac/dc...

  • Page 31

    Smc imu user guide v26b.Docx index smc ship motion control 26 4.8.3 imu-xxx analog voltage outputs imu motion sensor 1 2 3 4 5 6 - - rd br or gr pu gy pk wh l n gr/ye br bl 2 1 3 4 110-220 vac 5 analog jb motion sensor ac/dc psu n l bk wh + - 12vdc 110-220vac or bl bl or wh bk 3 2 2 3 5 db9, rs232 1...

  • Page 32

    Smc imu user guide v26b.Docx index smc ship motion control 27 4.8.4 imu-xxx analog current 4-20ma outputs imu motion sensor 1 2 3 4 5 6 - - rd br or gr pu gy pk wh l n gr/ye br bl 2 1 3 4 110-220 vac 5 analog jb motion sensor ac/dc psu n l bk wh + - 12vdc 110-220vac or bl bl or wh bk 3 2 2 3 5 db9, ...

  • Page 33

    Smc imu user guide v26b.Docx index smc ship motion control 28 5 imu configuration guide 5.1 imu configuration software v3.3.7.60 after the motion sensor has been mounted correctly the smc imu configuration software can be used to set up the motion sensor configuration and communication parameters ac...

  • Page 34

    Smc imu user guide v26b.Docx index smc ship motion control 29 5.1.1 default settings at factory there are several motion sensor parameters that can be selected, if you want to change the default settings it is recommended to do it after the installation but before you connect to any systems. Please ...

  • Page 35

    Smc imu user guide v26b.Docx index smc ship motion control 30 5.1.2 settings set pc comport changes the com port communication settings used by the configuration software to connect to the motion sensor. The imu sensor will always send its data in 8 data bits, 1 stop bit and no parity but the bitrat...

  • Page 36

    Smc imu user guide v26b.Docx index smc ship motion control 31 output rate adjusts the number of times the imu outputs its string per second. Choose the required value in the list box and press the set button to set the frequency. Kalman filter settings filter 1 sets the filter for the accelerometers...

  • Page 37

    Smc imu user guide v26b.Docx index smc ship motion control 32 5.2 protocols the smc imu configuration software enables the selection of a number of standard protocols from a drop down menu. Apply the chosen protocol by clicking on the set button. Additional protocols can be setup by smc on request..

  • Page 38

    Smc imu user guide v26b.Docx index smc ship motion control 33 5.2.1 smc standard protocols smc standard - this is a nmea 0183 based compatible string. 5.2.2 smca data frame $psmca,±xx.Xxx,±yy.Yyy,±hh.Hh,±ss.Ss,±ww.Ww example $psmca,+00.089,-00.888,-00.04,+00.20,-00.10 note: for the smca protocol to ...

  • Page 39

    Smc imu user guide v26b.Docx index smc ship motion control 34 5.2.3 smcb complete output of all available internal values. Data frame $psmcb,±xx.Xx,±yy.Yy,±zzz.Z,±xv.Xv,±yv.Yv,±zv.Zv,±gg.Ggg,±hh.Hhh,±ii.Iii,±ss.Ss,±ww.Ww,±hh.Hh,±s v.Sv,±sw.Sw,±hv.Hv,±ax.Axa,±ay.Aya,±az.Aza note: a very long protocol...

  • Page 40

    Smc imu user guide v26b.Docx index smc ship motion control 35 5.2.4 smcc data frame $psmcc,+xx.Xx,+yy.Yy,+zzz.Z,+ss.Ss,+ww.Ww,+hh.Hh,+sv.Sv,+sw.Sw,+hv.Hv,+ax.Axa,+ay.Aya,+az.Aza*cs example $psmcc,-09.42,-02.85,+144.1,+00.28,-00.05,+00.00,+00.01,-00.00,+00.00,+00.004,-00.000,- 00.005*71 note: for the...

  • Page 41

    Smc imu user guide v26b.Docx index smc ship motion control 36 5.2.6 smce data frame $psmce,±xx.Xx,±yy.Yy,±zzz.Z,±hh.Hh,±ss.Ss,±sw.Sw description form start characters $psmce roll angle (xx.Xx) ±100 degrees resolution 0.01° (+ve=port up) pitch angle (yy.Yy) ±100 degrees resolution 0.01° (+ve=bow down...

  • Page 42

    Smc imu user guide v26b.Docx index smc ship motion control 37 5.2.9 smch data frame $psmch,±xx.Xx,±yy.Yy,±hh.Hh,±hv.Hv description form start characters $psmch roll angle (xx.Xx) ±100 degrees resolution 0.01° (+ve=port up) pitch angle (yy.Yy) ±100 degrees resolution 0.01° (+ve=bow down) heave (hh.Hh...

  • Page 43

    Smc imu user guide v26b.Docx index smc ship motion control 38 5.2.11 smcm data frame $psmcm,+xx.Xx,+yy.Yy,+zzz.Z,+ss.Ss,+ww.Ww,+hh.Hh,+xv.Xv,+yv.Yv,+zv.Zv,+ax.Axa,+ay.Aya,+az.Aza*cs description form start characters $psmcm roll angle (xx.Xx) ±100 degrees resolution 0.01° (+ve=port up) pitch angle (y...

  • Page 44

    Smc imu user guide v26b.Docx index smc ship motion control 39 5.2.14 smct data frame $psmct, yyyy/mm/dd,hh:mm:ss.Ss,±xx.Xx,±yy.Yy,±hh.Hh note: this protocol will only be available in specially requested code versions. Description form start characters $psmct year (yyyy) month (mm) 1-12 day (dd) 1-31...

  • Page 45

    Smc imu user guide v26b.Docx index smc ship motion control 40 5.2.16 smcv data frame $psmcv,±xx.Xx,±yy.Yy,±hh.Hh,±xv.Xv,±yv.Yv,±hv.Hv description form start characters $psmcv roll angle (xx.Xx) ±100 degrees resolution 0.01° (+ve=port up) pitch angle (yy.Yy) ±100 degrees resolution 0.01° (+ve=bow dow...

  • Page 46

    Smc imu user guide v26b.Docx index smc ship motion control 41 5.2.19 tro data frame $phtro,0.00,m,0.00,b*5b description form start characters $phtro pitch ±100 degrees resolution 0.1° (+ve=bow down) p or m p positive m negative roll ±100 degrees resolution 0.01° (+ve=port up) b or t b roll to starbo...

  • Page 47

    Smc imu user guide v26b.Docx index smc ship motion control 42 5.2.21 digilog / ocean tools data frame $hhhhhp+ppppr+pppp (digilog) $hhhhhp+ppppr+pppps (ocean tools) example $h0014p+0030r-0024e (ocean tools) description form heading designator h heading*10 (hhhh) 0-3599°*10 pitch designator p pitch a...

  • Page 48

    Smc imu user guide v26b.Docx index smc ship motion control 43 5.2.25 tss1 tss proprietary protocol with heave note: for the tss1 protocol to run at a data output rate frequency of 100hz the sensor bit rate must be set at a minimum of 38400. To run the sensor at a bit rate of 19200 the data output ra...

  • Page 49

    Smc imu user guide v26b.Docx index smc ship motion control 44 5.2.27 rdid data frame $prdid,±yy.Yy,±xx.Xx,±hhh.Hh description form start characters $prdid pitch angle (yy.Yy) ±100 degrees (+ve=bow up) roll angle (xx.Xx) ±100 degrees (+ve=port up) heading (hhh.Hh) heading 0 – 359.9° resolution 0.01° ...

  • Page 50

    Smc imu user guide v26b.Docx index smc ship motion control 45 analog outputs 5.2.29 analog1 ±0.5m ±10v data frame #01c0+hh.Hhh #01c1+vv.Vvv #01c2+aa.Aaa description form 1st header #01c0 heave (hh.Hhh) ±100m*20 resolution 0.001m*20 termination characters 2nd header #01c1 heave rate (vv.Vvv) ±100m/s*...

  • Page 51

    Smc imu user guide v26b.Docx index smc ship motion control 46 5.2.31 analog3 ±30 degrees ±10v data frame #01c0+xx.Xxx #01c1+yy.Yyy #01c2+hh.Hhh description form 1st header #01c0 roll angle/3 (xx.Xxx) ±60 °3 (+ve=port up) resolution 0.001°*3 termination characters 2nd header #01c1 pitch angle/3 (yy.Y...

  • Page 52

    Smc imu user guide v26b.Docx index smc ship motion control 47 5.2.34 analog6 ±5m 4~20 milliamps data frame #01c0+00.370 #01c1+00.171 #01c2+01.144 available from firmware version 2.982 description form 1st header #01c0 heave amplitude (hh.Hhh) ±5m termination characters 2nd header #01c1 heave velocit...

  • Page 53

    Smc imu user guide v26b.Docx index smc ship motion control 48 5.2.36 binary protocols 5.2.37 atlas (hydrographic) each field in the atlas output string is a 16-bit 2’s complement number expressed as two binary coded digits. Attitude measurements are supplied in units (360°/65536=0.0054931641°). Heav...

  • Page 54

    Smc imu user guide v26b.Docx index smc ship motion control 49 5.2.39 bosch rexroth hexadecimal heave data frame (bytes) $smchhvvaa contains 12 bytes: note: when the imu is settling, roll, pitch and heave will be 0. Description bytes form header 4 $smc heave (hh) 2 signed 16 bit range -32767 mm to + ...

  • Page 55

    Smc imu user guide v26b.Docx index smc ship motion control 50 5.3 charts as a visual aid to or as a simple motion monitoring system, smc have a chart screen that displays up to 3 parameters in a graphical representation. After selecting the charts tab tick the display charts tick box to activate the...

  • Page 56

    Smc imu user guide v26b.Docx index smc ship motion control 51 5.4 received data the received data tab shows the raw data string that the sensor sends. Check the receive checkbox to show the sent data. Press the clear button to clear the window from the sensor strings. Binary strings will not be show...

  • Page 57

    Smc imu user guide v26b.Docx index smc ship motion control 52 5.5 serial input the smc imu has two rs232 serial ports for input from external devices. The ports can be used for - aiding in vessel turns; input from gps, speed log - heading aiding; gyrocompass or gps - remote heave for ahc (active hea...

  • Page 58

    Smc imu user guide v26b.Docx index smc ship motion control 53 5.5.1 aiding via gps and speed log during vessel turns with small vessels a centrifugal force is generated from the turn. This force has a negative effect on the angle and heave calculation. By knowing the vessel velocity the centrifugal ...

  • Page 59

    Smc imu user guide v26b.Docx index smc ship motion control 54 5.5.3 vessel turns when a vessel makes a turn without the additional information of vessel speed and position change the imu can interpret the turn as an acceleration value and that will affect the accuracy of the output data. The imu use...

  • Page 60

    Smc imu user guide v26b.Docx index smc ship motion control 55 5.6 remote heave the remote heave screen has three control setups: remote heave center of gravity/lever arm remote heave for crane operations (ahc).

  • Page 61

    Smc imu user guide v26b.Docx index smc ship motion control 56 5.6.1 remote heave the remote heave function calculates the heave and the heave velocity output of the imu in its physical location relative to a remote location. The setup of the remote heave is in the remote heave tab. “remote heave x” ...

  • Page 62

    Smc imu user guide v26b.Docx index smc ship motion control 57 5.6.2 center of gravity cg lever arm the best placement for the motion sensor is at the center of gravity (cg). If the sensor is placed in another location; the accuracy of the output in general and heave in particular can be improved by ...

  • Page 63

    Smc imu user guide v26b.Docx index smc ship motion control 58 5.6.3 ahc (active heave co mpensation) smc has developed a remote heave function that accepts dynamic crane position data for active heave compensation in marine crane applications. A “failsafe” handling system must be built into the syst...

  • Page 64

    Smc imu user guide v26b.Docx index smc ship motion control 59 imu mounted on the crane if the imu is mounted on the crane base the single notch should be aligned with the crane arm (i.E. Single notch is pointing to the boom tip). Tick the checkbox imu is mounted on the crane base. When this checkbox...

  • Page 65

    Smc imu user guide v26b.Docx index smc ship motion control 60 imu not mounted on the crane base if the imu is not mounted on the crane, the single notch of the motion sensor base should point towards the bow. Mount the imu as close as possible to the crane base to optimize the remote heave output. T...

  • Page 66

    Smc imu user guide v26b.Docx index smc ship motion control 61 5.6.5 setting angle offsets in the crane tab angles and offsets can be set. Positions 1 to 5 represent encoder values. Encoders measure angle and distance. The offset information is entered in the column labelled angle offset. For positio...

  • Page 67

    Smc imu user guide v26b.Docx index smc ship motion control 62 angle for the encoders 2, 3, 4 and 5 the angle is relative to the previous leg measurement of the crane. For example: this means that when there is no angular difference between the crane leg 2 and 3, the encoder angle 3a has a 0 angle. T...

  • Page 68

    Smc imu user guide v26b.Docx index smc ship motion control 63 5.6.6 string input when using crane serial input communication, the data has to be transmitted over an rs232 serial interface. When the crane position data is being fed into the motion sensor, the output string from the unit will use the ...

  • Page 69

    Smc imu user guide v26b.Docx index smc ship motion control 64 $penco the $penco data string is similar to the $pencr data string but uses standard notation for the values instead of hexadecimal i.E.: $penco,value1,value2,value3,value4,value5 $penco,32.1,-19.5,0.12,30.4,20.57 in the below example the...

  • Page 70

    Smc imu user guide v26b.Docx index smc ship motion control 65 5.6.7 verification string and example strings when the imu receives a proper $pencr string with the crane position it will output a verification string with the latest received reading. The verification string is being output on the main ...

  • Page 71

    Smc imu user guide v26b.Docx index smc ship motion control 66 5.7 optional smc software there are several optional pc based software packages available from smc. They present the vessel motions measured by the motion sensor in a graphical form. Meteorological instruments are commonly integrated to t...

  • Page 72

    Smc imu user guide v26b.Docx index smc ship motion control 67 7 service and warranty 7.1 technical support smc recommend a recalibration or verification of the motion sensor every second year of usage. This is due to the aging over time of the internal sensors and components in the motion sensor. If...

  • Page 73

    Smc imu user guide v26b.Docx index smc ship motion control 68 7.2 warranty all products are inspected prior to shipment and guaranteed against defective material or workmanship for a period of two (2) years after date of purchase. Liabilities are limited to repair, replacement, or refund of the fact...

  • Page 74

    Smc imu user guide v26b.Docx index smc ship motion control 69 7.2.2 restriction of warranty the warranty does not cover malfunction of the motion sensor generated from - if the imu has been exposed to extreme shock and vibrations - if the imu case has been opened by the customer in an attempt to car...

  • Page 75

    Smc imu user guide v26b.Docx index smc ship motion control 70 8 technical specifications 8.1 imu-00x technical specifications technical specification imu-007 imu-008 roll / pitch yes yes accelerations x,y,z yes yes heave n/a performance angle accuracy static 0.2° rms 0.2° rms angle accuracy dynamic ...

  • Page 76

    Smc imu user guide v26b.Docx index smc ship motion control 71 8.2 imu-10x technical specifications technical specifications imu-106 imu-107 imu-108 roll / pitch n/a yes yes accelerations x,y,z n/a yes yes heave yes n/a yes performance angle accuracy static n/a 0.02° rms 0.02° rms angle accuracy dyna...

  • Page 77

    Smc imu user guide v26b.Docx index smc ship motion control 72 9 faq & support if no communication is seen or bad data is displayed, please refer to the faqs below which cover the most common configuration problems. Configuration is the unit sending data with rs422 or rs232? The motion sensor is “alw...

  • Page 78

    Smc imu user guide v26b.Docx index smc ship motion control 73 when applying a setting change in the smc configuration software the output signals can display bad data. This occurs during the automatic restart of the sensor unit, the values will settle after a few minutes. No gps or gyro data is rece...