Honeywell HGuide i300 MEMS Inertial Measurement Unit Installation Guide
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i 300/i200 MEMS INERTIAL MEASUREMENT UNIT.
HGUIDE DATA READER/ INTEGRATION The Honeywell HGUIDE DATA READER is a web deployed software integration tool which can con figure the i300/i200 for message types and baud rate.
Installation and Environmental Manual
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i300/i200 MEMS INERTIAL MEASUREMENT UNIT.
Installation and Environmental Manual
TABLE OF CONTENTS
3 Overview 4 HGUIDE Data Reader/Integration 5 Pin Outs/Power/Signal List 5 Data Ready Signal Description
6 Performance Tables
7 Using Honeywell Data 7 Controlling (Messages 0xA1 or 0xAC) 7 Navigation (Messages 0xA3 & 0xAE) 7 Interleaved (Multiple Messages & CAN)
8 Product Default Message 9 Alternate Message Selection 10 Interleave Table Alternate Messages 11 Asynchronous Message Example 12 Status and Checksum Descriptions 13 Asynchronous Messages Abbreviated 14 CAN Messages Abbreviated 15 CAN ID's
16 SPI Protocol 17 Environmental/Compliance 18 EMC Test Conditions 19 Mounting/Installation 20 Alignment and Orthogonality
All technology that leaves the United States is subject to export regulations. This manual contains technology that has an Export Commodity Classification of ECCN 7E994 with associated country chart control code of AT1. This technology generally will not require a license to be exported or re-exported. However, if you plan to export this item to an embargoed or sanctioned country, to a party of concern, or in support of a prohibited end-use, you may be required to obtain a license.
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PRODUCT OVERVIEW
The HGuide i300/i200 is a high performance Micro-Electro-Mechanical System (MEMS) based Inertial Measurement Unit (IMU) designed to meet the needs of applications across various markets including agriculture, AUVs, industrial equipment, robotics, survey/mapping, stabilized platforms, transportation, UAVs, and UGVs. With industry standard communication interfaces and a wide input voltage range the HGuide i300/i200 is easily integrated into a variety of architectures. The extremely small size, lightweight, and low power make the HGuide i300/i200 ideal for many applications.
The HGuide i300/i200 includes MEMS gyroscopes and accelerometers. In addition, the HGuide i300/i200 employs an internal environmental isolation system to attenuate unwanted inputs commonly encountered in real world applications. The internal isolation and other proprietary design features ensure the HGuide i300/i200 is rugged enough to meet the needs of the most demanding users.
The HGuide i300/i200 is both hardware and software compatible with the HG4930 IMU. It is also software compatible with the HG1120 IMU with their message descriptions contained in those device manuals.
The HGuide i300/i200 is not ITAR controlled. Its Export Control Classification Number (ECCN) is 7A994.
For more information, email hguide.sales@honey well.com or contact us on our website aerospace.honeywell.com/I300
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HGUIDE DATA READER/ INTEGRATION
The Honeywell HGUIDE DATA READER is a web deployed software integration tool which can configure the i300/i200 for message types and baud rate. The software tool also provides real time and "Off Device" integration support.
The software integration tool will display and record data, generates supporting message documentation, and includes an example Windows executable which will parse and log data. The program will also export data to CSV format for easy plotting.
The Honeywell HGuide Data reader provides a software development kit (SDK) including C/C++ source code, header files, DLL, and essential functions. See "Bit Stream" window to produce the SDK.
An evaluation kit is also available for separate purchase. Connect the evaluation board to the IMU being careful to align the pins to the connector.
Connect a micro-USB cable. Make sure the switch is on. Verify that both green LEDs power on. Once data transmission starts the orange LED will turn on. Data can be monitored using any terminal program or the data reader program. The Windows Device Manager should show a new port.
If using the Honeywell Data reader, be sure to press the "scan/hunt" button on the introductory screen. The program will automatically do an initial search but will time out if device not connected.
L6 U3
CAN ONLY Replace 120 Ohm Resistor Between CANH and CANL.
Evaluation kit (68009732-003) with shown board is available for purchase.
EVAL KIT BOARD MOUNTING TO i300/i200 Use two 2-56 x 3/16" SHCS
Grainger part number 1GU11. Driver size is 5/64" RECOMMENDED i300 MOUNTING
Use two 4-40 x 3/8" SHCS (M3.0 x 0.5) screws. Grainger part number 5UGX4. Driver size is 3/32"
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PIN OUTS/POWER SIGNAL LIST
Typical power draw is 500 mW. The i300/i200 will work with most PC USB ports; however, Honeywell recommends a non-PC power supply for permanent installations.
This device has been designed to meet stringent EMI and EMC requirements, and as such, the user should shield the I/O cabling and provide chassis ground connection to the IMU housing.
Pin# 1 2 3 4 5 6
Signal Name Ground Power SCLK1 COM1 TX / MISO1 COM1 RX / MOSI1 RESET
7
Slave Select1
8
System TOV Mark
9
COM3_TX_H
10
COM1_TX_L
11
COM2 / CAN_H
12
COM2 / CAN_L
13
COM3_RX_H
14
COM1_RX_L
i300 14 PIN CONNECTOR J1
Input/Output & Signal type Ground Power
Input, +3.3 to 5.5 VDC Output, +5 Volt TTL
Input - +3.3 to 5.5 VDC
Input - +3.3 to 5.5 VDC
Input, +3.3 to 5.5 VDC Output - 5 Volt BiCMOS
Output RS-422
Bi-directional ISO 11898-2 120 Ohm Termination Resistor Required
Input RS-422
Signal Function Ground
+4.75 to 36 VDC Serial Clock Output from Master
Asynchronous or SPI Output Asynchronous or SPI Input Device reset input discrete. CMOS Compatible. Device will remain in reset while at logic 0. Slave Select (Active Low) Data Ready on Rising Edge to 5 VDC. Rise and Fall Time < 50 Nanoseconds.
Asynchronous High Asynchronous Low Asynchronous High Asynchronous Low
Asynchronous High Asynchronous Low
1 Contact Honeywell for future SPI product availability.
DATA READY SIGNAL DESCRIPTION
+5 VDC 0 VDC
DATA_RDY
Sensor Sampling Sensor S@a3m6p0l0inHgz
Processing 65 - 80 uS
1/3600 Sec
DDaattaaTRXeaSdtayr&t TX Start
DATA RDSYenFsAoLrLSINamG pElDinGgE
Data Ready Rising and Falling at Message Frame Rate. Data transmission will continue across additional 3600 Hz frames dependent upon selected bit rate.
The Data Ready falling edge can be used to provide a time mark to a data recording system which will provide time of validity for recorded IMU data. This is often GPS time. Some customers also need to know when Honeywell data transmission starts so that the data can be immediately processed or manage a data bus.
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HGUIDE i300/i200 PERFORMANCE
Distributor Ordering Part Number
i300
i300
i200
GYRO ROOM TEMPERATURE TYPICAL PERFORMANCE
Performance Class
Bias
Repeatability (�/hr 1)
Bias In-run
Stability (�/hr 1)
ARW (�/hr)
"B"
65
3
0.15
"A"
90
5
0.25
"C"
260
10
0.30
Scale Factor Repeatability (ppm 1)
1400
1400
2500
Distributor Ordering Part Number
i300
i300
i200
ACCELEROMETER ROOM TEMPERATURE TYPICAL PERFORMANCE
Performance Class
Bias
Repeatability (mg 1)
Bias In-run
Stability (mg 1)
VRW (m/s/hr)
Scale Factor
Repeatability (ppm 1)1
"B'
1
0.02
0.02
2501
"A"
2
0.03
0.03
5001
"C"
5
0.06
0.04
10001
1 Model as a +1500 PPM offset with the one sigma value as shown.
GYRO AND ACCELEROMETER ROOM TEMPERATURE TYPICAL NOISE @ 400 HZ BW
Distributor Ordering Part Number
Axes
Control Data (1) @ 1800 Hz Data Rate Control Data (1) @ 1800 Hz Data Rate
Gyro (Deg/s)
Accel (mg)
Gyro (Deg)
Accel (mm/s)
i300
X
0.15
5
0.0005
0.12
i300
Y / Z
0.15
2.5
0.0005
0.06
i200
All Axes
0.15
8
0.05
0.30
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USING HONEYWELL DATA
Controlling (Messages 0xA1 or 0xAC) Honeywell provides high bandwidth (400 Hz information) at 1800 Hz. General "rule of thumb" is that sensor control bandwidth should be 5 times the structure being controlled � allowing control of an 80 Hz device. If you are controlling lower frequency platforms (like a car) � filter the 1800 Hz data to the desired bandwidth. Navigation (Messages 0xA3 & 0xAE) Navigating requires that single integration of angular rates to attitude and the double integration of acceleration into position. This navigation format provides data relative to the prior frame and often referred to as Delta Velocity / Theta or Incremental Velocity / Angles. The data is directly integrable in that the data is not "per second" but rather per the length of the navigation frame (100 Hz, 200 Hz or 300 Hz). Interleaved (Multiple Messages & CAN) Get both Control and Navigation data by selecting a message which sends out data on multiple frame rates. This is the default data for the i300/i200 because it demonstrates all sensor types. If you are one of the few who need this � study carefully the right columns on the Interleave table. For the rest � use the Honeywell HGuide Data Reader to send out just Control or Navigation data.
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PRODUCT DEFAULT MESSAGE
The HGuide i300 / i200 Inertial Measurement Units (IMUs) are factory configured with 0xA1/0xA2 Interleaved Messages at 921.6 KBaud. Use the HGuide Data Reader (HGDR) to change the default message to alternates.
Message Name
0xA1 & A2 Interleaved
DEFAULT i300 / i200 MESSAGE DEFAULT BAUD RATE FROM FACTORY IS 921.6 KBAUD
Message Information
Data Rates (Hz)
Available KBaud Rates
Control
Nav
Control
Nav
X
600
100
X
1200
200
1800
300
460.8 X
921.6 X X X
1000 X X X
Message Name
0xA1 & 0xA2 Interleaved
DEFAULT i300/i200 MESSAGE INTERLEAVE TABLE
Message
Data Rates (Hz)
Interleave Transmission Sequence
Control Nav Control Nav
600
100
X
X
1200 200
1800 300
1
2
3
4
5
0xA2 0xA1 0xA1 0xA1 0xA1
6 0xA1
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ALTERNATE MESSAGE SELECTION
ALTERNATE MESSAGES. USE THE HGUIDE DATA READER TO SELECT MESSAGES AND BAUD RATES
Allowed Messages
Message Information
Data Rates (Hz)
Available KBaud Rates
Control Mag
CAN
X
X
0x01
X
0x01 & 0x02 Interleaved
X
0x04
X
0x04 & 0x05 Interleaved
X
0x0C
X
0x0C & 0x0D Interleaved
X
0xA1
X
0xA3
0xAC
X
X
0xAC & 0xAD Interleaved
0xAE
X
X
X
Nav Descrip- Control tion
X
ALL
600
HG4930
600
X
HG4930
600
HG1120 1800
X
HG1120 1800
HG1120
600
X
HG1120
600
600
i300/i200 1200
1800
X
i300/i200
NA
600
i300/i200 1200
1800
X
600
i300/i200 1200
1800
X
i300/i200
NA
Nav 115.2 230.4 460.8 921.6 1000
100
X
X
X
X
NA
X
X
X
100
X
X
X
NA
X
X
X
300
X
X
X
NA
X
X
X
100
X
X
X
X
X
NA
X
X
X
X
X
X
100
X
X
X
X
200
X
X
X
X
300
X
X
X
X
X
X
NA
X
X
X
X
X
100
X
X
X
200
X
X
300
X
X
100
X
X
X
X
200
X
X
X
X
300
X
X
X
X
For Legacy HG1120 and HG4930 messages, consult their respective manuals for message definitions.
Use the HGuide Data Reader (HGDR) to configure messages and baud rates. CAN messages may be enabled via the HGDR but require configuration upon each power cycle.
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INTERLEAVE TABLE ALTERNATE MESSAGES
INTERLEAVE TABLE. TRANSMISSION SEQUENCE IS AT THE CONTROL RATE
Allowed Messages
Message Information
Control Mag Nav Device
Data Rates (Hz)
Control Nav
Interleave Transmission Sequence @Control Rate
1
2
3
4
5
6
CAN
X
X
X
ALL
600
100
C1 C2 M1 I1 I2 I3
C1 C2 M1
C1 C2 C1 C2 C1 C2 M1 M1 M1
C1 C2 M1
0x01 & 0x02 Interleaved
X
X
HG4930 600
100 0x02 0x01 0x01 0x01 0x01 0x01
0x04 & 0x05 Interleaved
X
X HG1120 1800 300 0x05 0x04 0x04 0x04 0x04 0x04
0x0C & 0x0D Interleaved
X
X
HG1120 600
100 0x0D 0x0C 0x0C 0x0C 0x0C 0x0C
0xA1 & 0xA2 Interleaved
X
600
100
X
i300/ i200
1200 200 0xA2 0xA1 0xA1 0xA1 0xA1 0xA1
1800 300
0xAC & 0xAD Interleaved
600
100
X
X
X
i300/ i200
1200 200 0xAD 0xAC 0xAC 0xAC 0xAC 0xAC
1800 300
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ASYNCHRONOUS MESSAGE EXAMPLE
Position 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
ASYNCHRONOUS MESSAGE
Message Detail Template 0xAD Control, Mag, Status & Delta Data Apply the LSB, Byte, and Units information to all other message ID's
Parameter
Description
Bytes
LSB Weight
Address
0x0E
1
NA
Message ID
0xAD
1
NA
Angular Rate X
2
Angular Rate Y
2
2-11
Control
Angular Rate Z
2
Linear Acceleration X
2
Linear Acceleration Y
2
0.3048*2-5
Linear Acceleration Z
2
Mag Field X
2
Mag
Mag Field Y
2
0.438404
Mag Field Z
2
Status
Status Word 1 Status Word 2
2
See Table
2
NA
Delta Angle X
4
Delta Angle Y
4
2-33
Delta Angle Z
4
Navigation
Delta Velocity X
4
Delta Velocity Y
4
0.3048*2-27
Delta Velocity Z
4
Checksum
Checksum
2
NA
Units/LSB
rad/sec
m/sec2
Milli-Gauss
See Table Reserved radians or equivalently, radians/second/Hz
m/sec or equivalently,
m/sec2/Hz Total of 50 Bytes
All messages are a subset of this message set. Apply the LSB, Byte, and Units information to all other Message ID's. The LS byte and 16-bit word are first (little endian). Asynchronous Communications are 8 Bits, One Start Bit, One Stop Bit.
See HGDR SDK (in BIT STREAM tab)
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STATUS AND CHECKSUM DESCRIPTIONS
Bit 0�3 4�7
8�11
12�15
i300/i200 STATUS WORD
Definition
Values
4-bit Counter
0-15
0 (No Active Output)
Control Data Output
1 (600 Hz) 2 (1200 Hz)
3 (1800 Hz)
0 (No Active Output)
Navigation Data Output
1 (100 Hz) 2 (200 Hz)
3 (300 Hz)
BIT (Gyro/Accel/Mag/Summary)
Logic 0 is Pass
The Checksum is the sum of all message data (positions 1 ... 19 of example message), taken as 16 bit words, and summed without regard for rollover.
This pseudo code illustrates the checksum algorithm for the 0xA1 message:
u16sum = 0; for (i=0; i<9; i++) // (20-2)/2=9 { u16sum += u16_msg_array[i]; } Checksum = u16_msg_array[9]; if (Checksum != u16sum) {checksum error}
The HGuide Data Reader with its associated software development tools provide real time examples of checksum calculations.
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ASYNCHRONOUS MESSAGES ABBREVIATED
0XA1 CONTROL DATA
Position Parameter Description
1
IMU Address - 0x0E
2
Message ID - 0xA1
3-8 Control Data
9-10 Status
11 Checksum
Total Bytes
Bytes 1 1 12 4 2 20
0XAC CONTROL & MAG DATA
Position Parameter Description
Bytes
1
IMU Address - 0x0E
1
2
Message ID - 0xAC
1
3-8 Control Data
12
9-11 Mag Data
6
12-13 Status
4
14 Checksum
2
Total Bytes
26
0XA2 CONTROL & NAVIGATION DATA
Position Parameter Description
Bytes
1
IMU Address - 0x0E
1
2
Message ID - 0xA2
1
3-8 Control Data
12
9-10 Status
4
11-16 Navigation Data
24
17 Checksum
2
Total Bytes
44
0XAD CONTROL, NAVIGATION & MAG DATA
Position Parameter Description
Bytes
1
IMU Address - 0x0E
1
2
Message ID - 0xAD
1
3-8 Control Data
12
9-11 Mag Data
6
12-13 Status Word
4
14-19 Navigation Data
24
20 Checksum
2
Total Bytes
50
0XA3 NAVIGATION DATA
Position Parameter Description
1
IMU Address - 0x0E
2
Message ID - 0xA3
3-8 Navigation Data
9-10 Status
11 Checksum
Total Bytes
Bytes 1 1 24 4 2 32
See 0xAD Combined Control & Inertial for detailed contents.
See example 0xAD Combined Control & Inertial Message Table in this document or the HGDR SDK (in BIT STREAM tab).
0XAE NAVIGATION & MAG DATA
Position Parameter Description
Bytes
1
IMU Address - 0x0E
1
2
Message ID - 0xAE
1
3-8 Navigation Data
24
9-11 Mag Data
6
12-13 Status
4
14 Checksum
2
Total Bytes
38
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CAN MESSAGES ABBREVIATED
C1 CONTROL DATA
#
Parameter
Bytes
#
NA
Arbitration ID
NA
NA
1
Angular Rate X
2
1
2
Angular Rate Y
2
2
3
Angular Rate Z
2
3
4
Status Word
2
4
C3 MAGNETIC DATA
#
Parameter
Bytes
#
NA
Arbitration ID
NA
NA
1
Mag X
2
1
2
Mag Y
2
2
3
Mag Z
2
I2 NAVIGATION DATA
#
Parameter
Bytes
#
NA
Arbitration ID
NA
NA
1
Delta Angle Y
4
1
2
Delta Velocity Y
4
2
See 0xAD Combined Control & Inertial for LSB weights and units.
C2 CONTROL DATA
Parameter Arbitration ID Linear Acceleration X Linear Acceleration Y Linear Acceleration Z Reserved
Bytes NA 2 2 2 2
I1 NAVIGATION DATA
Parameter Arbitration ID Delta Angle X Delta Velocity X
Bytes NA 4 4
I3 NAVIGATION DATA
Parameter Arbitration ID Delta Angle Z Delta Velocity Z
Bytes NA 4 4
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CAN ID'S
Message 0xC 0xC 0xC 0xD 0xD 0xD 0xA1 0xA1 0xA1 0xA2 0xA2 0xA2
0x01 0x01 0x02 0x02 0x02 0xAC 0xAC 0xAC 0xAD 0xAD 0xAD
CAN ID TABLE
(0xC, 0xD, 0xA1, 0xA2)
Packet
CAN-11
C1
0x121
C2
0x122
C3
0x126
I1
0x123
I2
0x124
I3
0x125
C1
0x141
C2
0x142
C3
0x146
I1
0x143
I2
0x144
I3
0x145
CAN ID TABLE
(0x01,0x02,0xAC,0xAD)
C1
0x131
C2
0x132
I1
0x133
I2
0x134
I3
0x135
C1
0x151
C1
0x152
C3
0x156
I1
0x153
I2
0x154
I3
0x155
Use CAN ID's to design DBC Files.
CAN-29 0x04924921 0x04924922 0x04924926 0x04924923 0x04924924 0x04924925 0x04924941 0x04924942 0x04924946 0x04924943 0x04924944 0x04924945
0x04924931 0x04924932 0x04924933 0x04924934 0x04924935 0x04924951 0x04924952 0x04924956 0x04924953 0x04924954 0x04924955
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SPI PROTOCOL
The SPI PROTOCOL will be available in future product releases. Contact Honeywell for availability.
The messages are identical in content to the asynchronous Control/Inertial messages except that Position 0 will be added and contain a 1 byte field containing the number of bytes of data (not including spare bytes) in the message. The External SPI device will be coming in asynchronous to the Control/Inertial message sequence. Each SPI message in the Control/Inertial set will be a constant length. The Control message will have spare bytes at the end, NOT included in the checksum, to match the length of the Inertial Message. The SPI clock frequency must be at least 2 MHz or no faster than 9 Mhz. The SPI clock polarity and phase are set to one (1). SPI data order is MSB first. A 4-wire SPI implementation is used. The DATA_RDY signal must be used to synchronize your application to the data being produced to ensure a consistent data set. The DATA_RDY signal must trigger an SPI fetch, and the clock rate must be fast enough to fetch an entire message within the Control data rate (either 1800 or 600 Hz). The SPI_SS signal should be set, then the application should clock 408 (51*8) SPI bits beforeresetting the SPI_SS signal.
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ENVIRONMENTAL/ COMPLIANCE
Item Temperature
Temperature Shock Random Vibration
Shock
Static Acceleration Altitude Magnetic Field Acoustic Rectification Regulatory Materials WEEE Compliance Packaging
ENVIRONMENTAL AND COMPLIANCE INFORMATION
Operating
Non-Operating
-54 to +85 -40 to +85 (Full Performance)
-55 to +95
�3 Operating �0.8 Full Performance
-40 to + 85 in 15 Minutes Measure on Top of Device with
Thermocouple
5 g's RMS
12 g's RMS
15 g bump half-sine, 6 ms duration, both polarities, each axis, per IEC 60068-2-27
40 g Shock at 11 msec duration per MIL-STD-810G Method 516.7
Procedure I 500 g's 0.5 mSec, Half Sine
> 250 g's of static acceleration in all directions and recover within 25 milliseconds
0 to 12000, Mean Sea Level
�10
No Known Sensitivity
147 dB, SPL, 20 - 8000 Hz
No Known Sensitivity
DS/EN 13309:2010 & ISO 13766-1:2018 (Construction Machinery), EN ISO 14982:2009 (Agricultural and Forestry Machinery)
RoHS Compliant and RoHS Process Compatible
Classified as electrical and electronic equipment. Must be sent to separate collection facilities for recovery and recycling.
IP68 Compliant
Units �C
�C/minute NA NA NA
Meters Gauss
NA NA NA
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EMC TEST CONDITIONS
i300/I200 COMPLIANT TO LISTED EMC TEST CONDITIONS
Environment
Test Method Standard
Test Parameters
Radiated Emissions
ISO 13309:2010
30 MHz to 1000 MHz
ISO 13766:2006
BB and NB Scans
ISO 14982:1998
Ambient Baseline Before & After
Bulk Current Injection (BCI)
ISO 11452-4:2011
20 MHz to 400 MHz 100 mA, 80% AM at 1kHz
Radiated Immunity
ISO 11452-2:2004
400 MHz to 2000 MHz 100 V/m, 80% AM at 1kHz and PM
Conducted Transients
ISO 7637-2:2011
Pulses 1, 2a, 2b, 3a, 3b at Test Level IV
ISO 7637-2:2004
Pulse 4 at Test Level IV
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MOUNTING/ INSTALLATION
Do not place this device in an environment with Helium concentrations greater than the normal atmosphere. The helium will permeate the housing and affect sensors. The housing seal allows Helium to enter/leave so that helium does not accumulate. The IMU should not be subjected to contact with any fuels, lubricants, solvents, or their vapors.
The accelerometer and gyro sensors are mounted in a normally aligned, right-handed axis configuration that is nominally aligned with the IMU axes as shown in the figure below. If the X axis is pointed up away from the Earth's surface, the accelerometer reading will be positive.
The i300/i200 nominally weighs 35 grams. The packaging is compliant to IP68; however, do not intentionally submerse device under water.
Recommended mating connectors are SAMTECH Part Numbers CLT-107-02-L-D-BE or CLT-107-02-F-D-A or equivalent.
The center of gravity and center of navigation are located at the approximate geometric center. A CAD compatible STP file is available from Honeywell upon request.
ATTENTION:
IMUs are precision instruments which measure angular rate and linear acceleration across a broad temperature range. Because of their precision, users often interpret real motion (both angular and linear) as sensor noise. This noise can often be coupled mechanically through the mounting plate. Installation on a thin structure is generally not desirable. Placement at anti-nodes will minimize angular rotation and maximize linear displacement. Placement at nodes will maximize angular rotation and minimize linear displacement.
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ALIGNMENT AND ORTHOGONALITY
ALIGNMENT AND ORTHOGONALITY
Parameter
Requirement
Units
Mount to Mount with Pins
3500
rad max
Sensor Frame Alignment Stability
<375
rad 1
Accelerometer Non-orthogonality
<375
rad 1
Accelerometer to Gyro Alignment
<375
rad 1
Gyro Non-Orthogonality
<375
rad 1
Alignment / Orthogonality Note Honeywell navigation system equations implement alignment / orthogonality as shown. These equations are provided to customers for understanding of the parameters provided. Customers may optionally choose to implement these equations into their own navigation equations. Values shown in above table are "as delivered" and include Honeywell factory calibration.
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All technology that leaves the United States is subject to export regulations. This manual contains technology that has an Export Commodity Classification of ECCN 7E994 with associated country chart control code of AT1. This technology generally will not require a license to be exported or re-exported. However, if you plan to export this item to an embargoed or sanctioned country, to a party of concern, or in support of a prohibited end-use, you may be required to obtain a license.
Honeywell Aerospace 1944 East Sky Harbor Circle Phoenix, AZ 85034 aerospace.honeywell.com
N61-2350-000-001 I 10/20 � 2020 Honeywell International Inc.