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Xsens MTi-30 AHRS User Manual

Also see for MTi-10 IMU: User manual

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Contents
  1. Table Of Contents
  2. Table Of Contents
  3. Table Of Contents
  4. REFERENCES
  5. XSENS HELP CENTER AND USER COMMUNITY
  6. INTRODUCTION
  7. MT I 100- SERIES
  8. Identifying device functionality using the unique Device Identifier
  9. Product code
  10. E VOLUTION OF MT I PRODUCTS
  11. I NSTALLATION
  12. Magnetic materials and magnets
  13. Figure 6: Structure of the MT Software Suite
  14. Using the Software Development Kit (SDK)
  15. Direct low-level communication with MTi
  16. Table 3: Guidelines for the use of the MT Software Suite
  17. MTI SYSTEM OVERVIEW
  18. Using the Earth magnetic field to stabilize yaw
  19. X SENS SENSOR FUSION ALGORITHM FOR MT I -G-710
  20. Transient accelerations
  21. GNSS Platform
  22. I N - RUN C OMPASS C ALIBRATION (ICC)
  23. OUTPUT SPECIFICATION
  24. Delta_angle and delta_velocity
  25. Velocity data
  26. P OSITION AND VELOCITY PERFORMANCE SPECIFICATION (MT I -G-710)
  27. S ENSOR DATA PERFORMANCE SPECIFICATION
  28. Barometer
  29. Built-in self-test
  30. S ENSORS DATA OUTPUTS
  31. Calibrated delta_q and delta_v outputs
  32. Free acceleration
  33. C OMMUNICATION T IMING
  34. S ERIAL C ONNECTION S ETTINGS
  35. P HYSICAL PROPERTIES OVERVIEW
  36. Alternative 3V3 power supply
  37. Figure 11: Drawing of CA-MP2-MTi
  38. OEM connections overview
  39. Figure 12: The pins of the headers on the MTi-OEM are clearly marked
  40. Additional interface specifications
  41. Cable specifications
  42. Dimensions MTi
  43. MTi 10-series technical drawing
  44. MTi 100-200-300 technical drawing
  45. MTi-G-700/710 technical drawing
  46. MTi OEM technical drawing
  47. IMPORTANT NOTICES
  48. ONFORMITY
  50. warranty and liability
Xsens MTi-30 AHRS User Manual Manual pdf 45 page image
41 Document MT0605P.2018.E© Xsens Technologies B.V. MTi User ManualHigh value: > 2.9 V1 PPS Low value: 0 - 0.4 VHigh value: > 2.9 VOutput load: >825 Ω N/A7 10 ClockSync Low value: 0 - 0.8 VHigh value: 2.5 -20 VInput resistance: ~100 kΩ 0-20VFor the descriptions of the synchronization functions, see [LLCP].7.3.4 Cable specificationsCables CA-MP2-MTi and CA-USB#-MTi are custom made for Xsens. The outer diameter is 0.85 +/-0.10 mm. The PUR jacket conforms to standard UL Style 20549.The minimum bending radius is 4.75 mm (static) and 9.5 mm (flexible).7.3.5 Using the MTi Mk5 with an external USB converterXsens offers a cable to use the MTi with USB and SyncIn. This cable also offers an interface via a virtualCOM-port instead of WinUSB. The cables in Table 26 can be ordered from the Xsens’ webshop(https://shop.xsens.com).Table 26: Wire colours in the USB convertersWirecolorReceptaclepin no.CA-USB2-MTI(RS232)CA-USB4-MTI(RS485)CA-USB6-MTI(RS422)Red 1 Vin (4.5-34V) Vin (4.5-34V) Vin (4.5-34V)Black 2 GND GND GNDGreen 3 USB DP (D+) USB DP (D+) RS422_TD(B)+Yellow 4 RS232 TX RS485_A (TxD/RxD-) RS422_TD(A)-Grey 5 RS232 RX RS485_B (TxD/RxD+) RS422_RD(B)+White 6 USB DM (D-) USB DM (D-) RS422_RD(A)-Blue 7 SyncIn / Active SyncIn / Active SyncIn / ActiveBrown 8 Clock sync In Clock sync In Clock sync InPink 9 SyncOut SyncOut SyncOut7.4 Housing mechanical specificationsThe top casing of the MTi is made of anodized Aluminum 6082. The bottom plate is made of anodizedAluminum 6082 The MTi connector socket and housing assembly features rubber O-ring sealing. TheMTi-100 series feature a vent that allows for the inside pressure to be the same as the ambient pressurewithout compromising the ingress protection.7.4.1 Environmental protection of the housingAll encased MTi’s are designed to withstand usage in application where dust and occasional watersplashing can be expected. However, Xsens in house testing has confirmed that the casing andconnector can withstand temporary environmental circumstances equivalent to Protection ClassificationIP67 (sealed against dust, 30 minutes immersion at depth of 1 m).
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This manual is suitable for:
MTi-10 IMUMTi-100 IMUMTi-20 VRUMTi-200 VRUMTi-30 AHRSMTi-300 AHRSMTi-G-710 GNSSMTi-g-710 INS
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