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STIM300中文手册

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  • 日期: 2013-12-05
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标签: STIM300中文手册

挪威STIM300惯性测量组合的中文手册

1 产品特点 z 微型封装 z 低噪声 z 低偏置不稳定 z 在震动和冲击环境性能优良 z 6 轴在同一封装中提供 o 电子校准轴对齐 z 基于 SENSONOR ButterflyGyroTM 陀螺 o 单晶硅技术 o 没有内在的磨损的影响 z 高稳定的加速度计和倾角计 z 具备独立“AUX”输入的 24 位 ADC(模数转换器) z 磁场不敏感 z 完全的EMI(电磁干扰)兼容 z 数字接口,RS422 z 完全可配置的 z 连续自我诊断 2 概述 STIM300 是一个 IMU 装置,由在 一个微型封装中的 3 个高精度 MEMS 陀螺仪,3 个高稳定性的加速度计和 3 个高稳定性的测斜仪组成。每个轴 都进行了偏差,灵敏度的工厂校准, 并且补偿温度的影响以保证在-40° C 到+85°C 温度范围内,提供高精度 测量。装置运行由+5 V 电源供电。 STIM300 通过一个标准的高层次 的 RS422 接口通信。一个 32 位的 RISC 的 ARM 微控制器的使用提供了在配 置的灵活性,如输出单元,采样率, 低通滤波器的-3dB 频率和 RS422 的 比特率和参数的选择。订货或者装配 时,所有的配置参数可由用户来定 义。 当 STIM300 通电时,它会执行一 个内部系统检查并且同步传感器通 道。作为一个完整的上电顺序的确 认,它会提供特殊的数据报,包含部 件号,序列号和配置数据。STIM300 将自动继续提供测量数据。连接电 源,STIM300 通过 RS422 接口提供精 确的测量。 图 2-1:STIM300 功能框图 测量数据作为一个固定格式(数据报)的数据包与同步信号一起传输,传输的时间间隔由采样率决定。 为了有一个高效的数据传输,数据报是二进制编码的格式。除了测量数据本身,数据报中包含一个标识符, 状态字节和一个 32 位的 CRC(循环冗余校验),在传输中提供高程度的故障检测。状态字节将标记系统中 的任何检测到的错误。STIM300 也可以被配置为只有当一个单独的数字信号(ExtTrig)输入触发时,才进 行传输数据。 更高级的用户,陀螺仪可以工作在服务模式。在这种模式下的所有配置参数可以通过覆盖当前设置过 渡性或永久性存储在闪存器中。在服务模式下的命令和响应是人可读的格式(ASCII),以便能够在典型产 品集成中使用终端软件。服务模式也提供了执行单次测量、执行诊断、并在状态字节中获取更多错误报告 细节的能力。 3 目录 1 产品特点 ............................................................................... 1 2 概述 ................................................................................... 1 3 目录 ................................................................................... 2 4.1 定义 ............................................................................. 3 4.2 缩略语 ........................................................................... 3 5 绝对最大额定值 ......................................................................... 3 6 规格 ................................................................................... 4 6.1 典型性能特性 ..................................................................... 9 6.1.1 陀螺仪特性 ................................................................ 9 6.1.2 加速度计特点 ............................................................. 13 6.1.3 测斜仪特性 ............................................................... 16 6.1.4 AUX 特性.................................................................. 19 6.2 配置参数 ........................................................................ 21 6.3 数据包规格 ...................................................................... 22 6.3.1 零件编号数据报 ........................................................... 22 6.3.2 序列号数据报 ............................................................. 23 6.3.3 配置数据报 ............................................................... 24 6.3.4 标准模式下数据包 ......................................................... 27 6.3.5 循环冗余校验(CRC) ...................................................... 28 6.4 状态字节 ........................................................................ 29 7 机械 .................................................................................. 30 7.1 机械尺寸 ........................................................................ 30 7.2 管脚配置 ........................................................................ 31 7.3 轴的定义 ........................................................................ 31 8.1 复位 ............................................................................ 32 8.2 外部触发 ........................................................................ 32 8.3 有效时间(TOV) ................................................................. 33 8.4 辅助输入 ........................................................................ 34 8.5 操作模式 ........................................................................ 34 8.5.1 初始化模式 ............................................................... 35 8.5.2 标准模式 ................................................................. 35 8.5.3 服务模式 ................................................................. 42 9 标准模式下的命令 ...................................................................... 43 9.1 N (PART NUMBER DATAGRAM) 命令 ................................................... 43 9.2 I (SERIAL NUMBER DATAGRAM) 命令 ................................................. 43 9.3 C (CONFIGURATION DATAGRAM) 命令 ................................................. 43 9.4 R (RESET) 命令 .................................................................. 44 9.5 服务模式命令 .................................................................... 44 10 在服务模式下的命令 ................................................................... 46 10.1 i (INFORMATION) 命令 .......................................................... 47 10.2 a (SINGLE-SHOT MEASUREMENT) 命令 ............................................... 52 10.3 c (DIAGNOSTIC) 命令 ........................................................... 54 10.4 d (DATAGRAM FORMAT) 命令 ....................................................... 56 10.5 t (TRANSMISSION PARAMETERS) 命令 ............................................... 58 10.5.1 用户定义比特率 .......................................................... 58 10.6 r (LINE TERMINATION) 命令 ...................................................... 60 10.7 u (OUTPUT UNIT) 命令 ........................................................... 61 10.8 f (LP FILTER -3dB FREQUENCY) 命令 .............................................. 62 10.9 m (SAMPLE RATE) 命令 ........................................................... 64 10.10 k (AUX COMP) 命令 ............................................................. 65 10.11 g (GYRO G-COMP) 命令 .......................................................... 66 10.12 s (SAVE) 命令 ................................................................. 69 10.13 x (EXIT) 命令 ................................................................. 70 10.14 z (RESTORE TO FACTORY SETTINGS) 命令 .......................................... 72 10.15 ? (HELP) 命令 ................................................................. 73 11 标识 ................................................................................. 78 12 配置/订购信息 ........................................................................ 79 4 文件定义和缩写 4.1 定义 g0 =9.80665m/s2(标准重力) 4.2 缩略语 表 4-1:缩略语 缩略语 BCD BSL CIC-filter CR FS LF LP filter tbd LSB MSB lsb TOV 全称 Binary Coded Decimal Best Straight Line Cascaded Integrator-Comb filter Carriage Return Full-Scale Line Feed Low-Pass filter to be defined Least Significant Byte Most Significant Byte Least significant bit Time of Validity 中文解释 BCD 码 最佳直线 级联积分梳状滤波器 回车 满量程 换行 低通滤波器 被定义 最低有效字节 最高有效字节 最低有效位 有效时间 5 绝对最大额定值 超出表 5-1 中列出的应力,可能会造成永久性的设备损坏。 长时间暴露于任何绝对最大额定值条件下,可能会影响器件的可靠性和寿命。 表 5-1:绝对最大额定值 参数 额定值 Mechanical shock 1500g/0.5ms half-sine ESD human body model ±2kV Storage temperature VSUP to GND -55°C to +90°C -0.5 to +7V RxD+ or RxD- to GND -0.3V to +7V RxD+ to RxDTxD+ or TxD- to GND ±6V -8V to +8V ExtTrig to GND -0.3V to +7V TOV to GND NRST to GND -0.3V to +7V -0.3V to +7V AUX+ to AUX- ±6.5V AUX+ or AUX- to GND Chassis to GND ±6.5V 500V Helium sensitivity 注释 Any direction. Ref: MIL STD-883G Ref: JEDEC/ESDA JS-001 Up to 1000 hours with 120Ω Line Termination = ON Not to be exposed to helium concentrations higher than those normally found in the atmosphere 6 规格 表 6-1:工作条件 Parameter Conditions Min INPUT RANGE, ANGULAR RATE INPUT RANGE, ACCELERATION INPUT RANGE, INCLINATION POWER SUPPLY 4.5 OPERATING TEMPERATURE -40 注 1:其他适用范围,参见表 6-4 注 1。 Nom ±400 ±10 ±1.7 5.0 Max 5.5 +85 Unit °/s g g V °C Note 1 2,3 注 2:电源电压高于 5.85V(标称值)时,内部电压保护电路将切断电源,设备将进入复位状态,直到 电压满足操作条件。 注 3:电源电压低于 4.05V(标称值)时,设备将进入复位状态,直到电压恢复到操作条件范围内。由 于复位与正常操作相比,功耗要低得多,电源和 STIM300 之间的串联电阻可能会增强装置的输入电压 的振荡。 表 6-2:功能说明,综合 Parameter Conditions POWER CONSUMPTION Power consumption TIMING Start-up time after Power-On Time to transmit after Reset Time to valid data RS422 Bit-Rate RS422 Bit-Rate Accuracy RS422 PROTOCOL Start Bit Data Length Parity Stop Bits RS422 LINE TERMINATION Input resistance Input resistance RESET(NRST PIN) Logic levels Minimum hold time for reset Pull-Up Resistor EXTERNAL TRIGGER (ExtTrig PIN) Logic levels Trigger Time between triggers Line termination = ON Line termination = OFF “high” “low” “high” “low” Measyrement.unit: angular rate incremental angle average rate integrated angle Minimum “high” time before trigger,text_hi Minimum “low” time after trigger,text_lo Delay from external trigger to start of transmission,text_dl Pull-Up Resistor Latency Min Nom Max Unit Note 1.5 2W 1s 1 1s 2 5s 3 ref.Table 6-8 ±1 % 4 1 8 NONE 1 bit bits 5 bit 5 120 Ω 48 125 kΩ 2.3 V 0.6 V 1 μs 80 100 kΩ 2.3 V 0.6 V Negative transition 0.5 65 ms 6 0.5 65 ms 6 0.5 65 0.5 ms 6,7 8 ms 6,8 50 ns 9 ns 9 50 μs 9 86 kΩ μs 40 50 1000 TIME OF VALIDITY(TOV PIN) Outpu configuration Open draim Internal Pull-Up Resistor to Vsup Sink 10 kΩ capability 50 mA TOV acctieve level Active “low” Minimum time of TOV,ttov_min Delay from internal time-tick to TOV 50 0.5 μs 10 6 μs 10 active,ttov_dl Delay from TOV active(to start of 80 μs 10 transmission,ttx_dl CHASSIS Isolation resistance chassis to GND(pin 500V 100 MΩ 15) 注 1:计时从电源上电到数据报开始传输(与零件号数据报同时开始)。 注 2:计时从复位释放到数据报开始传输(与零件号数据报同时开始)。 注 3:计时从电源上电或复位启动位的重置开始(状态字节中第 6 位,参考表 6-16)。 这一时期的输出数据应被视为无效的。 注 4:如果一个由用户定义的大于 1.5Mbit/ s 的比特率被使用,误差可能会超过规定值,原因在于比特率 的分辨率,参考第 10.5.1 节。 注 5:其他的值可以被配置,见表 6。 注 6:如果触发间隔时间较长,触发延迟将延期。采样计数器将延迟 127ms 后运行。 注 7:如果触发之间的间隔较长,也会降低平均速率的准确性。加速度计和倾角传感器输出与此相似。 注 8:如果触发之间的间隔较长,集成的角度可能已经旋转了几周,因此从上一个样本的角度的变化将是 不能计算的。加速度计和倾角传感器输出与此相似。 注 9:定义,参考图 8-3。 注 10:定义,参考图 8-4 和图 8-5。 表 6-3:功能说明,陀螺仪 Parameter GYRO Full Scale(FS) Resolution Scale Factor Accuracy Non-Linearity Bandwidth(-3dB) Sample Rate Group Delay Bias Range Bias error over temperature Bias error over temperature gradients Bias Instability Angular Random Walk Linear Acceleration Effect Bias Scale factor Vibration Rectification Coefficient Misalignment Conditions Min Nom Max Unit Not e ±400 °/s 1 24 Bits 0.22 °/h ±500 ppm ±200°/s 25 ppm 2 ±400°/s 50 ppm 2 262 Hz 3 2000 samples/s 4 LP-filter -3dB = 262Hz 1.5 ms 5 LP-filter -3dB = 131Hz 3.0 ms 5 LP-filter -3dB = 66Hz 6.0 ms 5 LP-filter -3dB = 33Hz 12 ms 5 LP-filter -3dB = 16Hz 24 ms 5 -250 0 +250 °/h Static temperatures 5 °/h 6 ΔT ≤ ±1°C/min 10 °/h 7 Allan Variance @25°C 0.5 °/h Allan Variance @25°C 0.15 °/√hr With g-compensation No g-compensation With g-compensation No g-compensation 1 15 30 400 Ref.Figure 6-1 1 °/h /g 8 °/h /g 8 ppm/g 8 ppm/g 8 °/h/g2rms mrad 9 注 1:输出是单调的,将在±480°/ s 的饱和。 注 2:超过指定的范围最佳直线(BSL)最大偏离。 注 3:低通滤波器-3dB 频率可配置,参考表 6-8 和第 6.1.1.4 节。 注 4:其他的值可以被配置,见表 6。采样率和陀螺仪,加速度计,测斜仪,AUX 和温度相同。 注 5:Total delay to start of datagram transmission = group delay + 0.5ms + ttov_dl + t 。 tx_dl 对于延时输出的输出单位,群延迟将增加 5ms,参考第 8.5.2.2.1 节。 注 6:依据静态温度下残差计算的均方根值超过了温度范围内。 注 7:依据残差计算的均方根值超出了两个温度循环周期,见图 6-7。 注 8:当线性加速度施加在 X 方向时,是最小的,见图 7-3 注 9:参考图 6-2 中轴线对准中的参考点定义 图 6-1:陀螺仪在 5g 均方根时的垂直冗馀核对 (vertical redundancy check) 图 6-2:轴校准中的参考点 表 6-4:功能说明,加速度计 Parameter ACCELEROMETER Full Scale(FS) Resolution Scale Factor Accuracy Non-Linearity Bandwidth(-3dB) Sample Rate Group Delay Bias switch on/off repeatability Bias error over temperature Bias Instability Velocity Random Walk Vibration Rectification oefficient Misalignment Conditions ±10g LP-filter -3dB = 262Hz LP-filter -3dB = 262Hz LP-filter -3dB = 131Hz LP-filter -3dB = 66Hz LP-filter -3dB = 33Hz LP-filter -3dB = 16Hz ΔT ≤ ±1°C/min Allan Variance @25°C Allan Variance @25°C Min Nom Max Unit ±10 24 1.9 ±300 100 90 214 2000 6.5 8.0 11 17 29 -0.75 0 +0.75 ±2 0.05 0.06 Ref.Figure 6-3 1 g bits μg ppm ppm Hz samples/s ms ms ms ms ms mg mg rms mg m/s/√hr mg/g2rms mrad Note 1 2 3 4 5 5 5 5 5 6 6 6 6 7 注 1:其他可能的测量范围(±2g,±5g,±30g,±100g)。 注 2:超过指定范围最佳直线(BSL)最大偏离。 注 3:其他的值可以被配置,见表 6 和第 6.1.2.3 节。 注 4:其他的值可以被配置,见表 6。采样率和陀螺仪、加速度计、测斜仪、AUX 和温度相同。 注 5:Total delay to start of datagram transmission = group delay + 0.5ms + t + tov_dl ttx_dl 注 6:±10g 范围内有效。其他范围的说明参见其他规格说明。 注 7:参考图 6-2 中轴线对准中参考点的定义。 图 6-3:10g 加速度计在 10G 有效值的 VRC 表 6-5:功能说明,测斜仪 Parameter INCLINOMETER Full Scale(FS) Resolution Scale Factor Accuracy Non-Linearity Bandwidth(-3dB) Sample Rate Group Delay Bias switch on/off repeatability Bias error over temperature Bias Instability Velocity Random Walk Misalignment Conditions Min ±1g ±1g LP-filter -3dB = 262Hz LP-filter -3dB = 131Hz LP-filter -3dB = 66Hz LP-filter -3dB = 33Hz LP-filter -3dB = 16Hz ΔT ≤ ±1°C/min Allan Variance @25°C Allan Variance @25°C -0.75 Nom ±1.7 24 0.2 ±500 500 17 15 17 20 26 38 0 ±2 0.06 0.08 1 Max Unit 2000 +0.75 g bits μg ppm ppm Hz samples/s ms ms ms ms ms mg mg rms mg m/s/√hr mrad Note 1 2 3 4 4 4 4 4 5 6 注 1:超过指定范围最佳直线(BSL)最大偏离. 注 2:其他的值可以被配置,见表 6 和第 6.1.3.3 节。 注 3:其他的值可以被配置,见表 6。采样率和陀螺仪,加速度计,测斜仪,AUX 和温度相同。 注 4:Total delay to start of datagram transmission = group delay + 0.5ms + ttov_dl + ttx_dl 注 5:在 0g 时。由所选的技术给定的±1G 范围内倾角传感器速度随机游走通常增加 15% 注 6:参考文献图 6-2 中轴线对准的参考点定义 表 6-6:功能说明,AUX 输入 Parameter Full Scale(FS) Resolution Conditions Gain error Gain drift Non-Linearity Bandwidth(-3dB) Sample Rate Group Delay Offset error Offset drift Noise Input impendance @25°C LP-filter -3dB = 262Hz LP-filter -3dB = 131Hz LP-filter -3dB = 66Hz LP-filter -3dB = 33Hz LP-filter -3dB = 16Hz @25°C Min Nom ±2.5 24 0.3 ±0.1 1.3 500 262 6.1 7.6 11 17 29 ±0.75 ±2.8 8 Ref.Figure 6-4 Max 2000 Unit V bits μV % ppm/°C ppm Hz samples/s ms ms ms ms ms mV μV/°C μV rms Note 1 2 3 4 5 6 6 6 6 6 2 注 1: Full-scale input voltage (FS): VIN = (AUX+)–(AUX-) 注 2:增益和偏移误差可以通过改变校正系数进行校正,参考 8.4 和 10.10 节。 注 3:超过指定范围最佳直线(BSL)最大偏离。 注 4:其他的值可以被配置,见表 6 和第 6.1.4.1 节。 注 5:其他值可以配置,参见表 6-8。采样率与陀螺仪,加速度计,测斜仪,AUX 和温度相同。 注 6:Total delay to start of datagram transmission = group delay + 0.5ms + ttov_dl + t 。 tx_dl 表 6-7:功能说明,温度 Parameter Resolution Bias Accuracy Scale factor accuracy Sample Rate 图 6-4:AUX 输入电路 Conditions Min @25°C Nom 0.0039 ±5 ±5 Max 2000 Unit °C °C % samples/s Note 1 2 注 1:陀螺仪的温度测量。温度校准在静态条件下,称为环境温度。 注 2:其他的值可以被配置,见表 6-8。采样率和陀螺仪,加速度计,测斜仪,AUX 和温度相同。 6.1 典型性能特性 6.1.1 陀螺仪特性 6.1.1.1 陀螺仪的 Allan 方差 图 6-5:陀螺仪的典型艾伦-方差(400°/ s 的陀螺仪) 6.1.1.2 陀螺仪的初始偏置漂移 图 6-6:陀螺仪典型的归一化初始偏置漂移(400°/ s 的陀螺仪) 6.1.1.3 温度偏置漂移 图 6-7:典型的温度偏置漂移(400°/ s 的陀螺仪) 6.1.1.4 陀螺仪的频率特性 图 6-8:陀螺仪的频率特性,-3dB 低通滤波器的频率设置为 16 赫兹 图 6-9:陀螺仪的频率特性,-3dB 低通滤波器的频率设置为 33 赫兹 图 6-10:陀螺仪的频率特性,-3dB 低通滤波器的频率设置为 66 赫兹 图 6-11:陀螺仪的频率特性-3dB 低通滤波器的频率设置为 131 赫兹 图 6-12:陀螺仪的频率特性-3dB 低通滤波器的频率设置为 262 赫兹 6.1.2 加速度计特点 6.1.2.1 根 Allan 方差加速度计 图 6-13:加速度计典型艾伦-方差(10g 加速度计) 6.1.2.2 加速度初始计偏置漂移 图 6:加速度计典型的归一化的初始偏置漂移(10G 的加速度计) 6.1.2.3 加速度传感器的频率特性 图 6-15:-3dB 低通滤波器的频率设定为 16HZ(实线:标称加速度计的频率特性,虚线:最小带宽,通过 加速度计限制) 图 6-16:-3dB 低通滤波器的频率设定为 33HZ(实线:标称加速度计的频率特性,虚线:最小带宽,通过 加速度计限制) 图 6-17:-3dB 低通滤波器的频率设定为 66HZ(实线:标称加速度计的频率特性,虚线:最小带宽,通过 加速度计限制) 图 6-18:-3dB 低通滤波器的频率设定为 131HZ(实线:标称加速度计的频率特性,虚线:最小带宽,通过 加速度计限制) 图 6-19:-3dB 低通滤波器的频率设定为 262HZ(实线:标称加速度计的频率特性,虚线:最小带宽,通过 加速度计限制) 6.1.3 测斜仪特性 6.1.3.1 测斜仪 Allan 方差 图 6-20:测斜仪的典型艾伦-方差 6.1.3.2 初始偏置漂移测斜仪 图 6-21:测斜仪典型的归一化初始偏置漂移 6.1.3.3 测斜仪的频率特性 图 6-22:-3dB 低通滤波器的频率设置为 16HZ 图 6-23:-3dB 低通滤波器的频率设置为 33HZ 图 6-24:-3dB 低通滤波器的频率设置为 66HZ 图 6-25:-3dB 低通滤波器的频率设置为 131HZ 图 6-26:-3dB 低通滤波器的频率设置为 262HZ 6.1.4 AUX 特性 6.1.4.1 AUX 频率特性 图 6-27:-3dB 低通滤波器的频率设置为 16HZ 图 6-28:-3dB 低通滤波器的频率设置为 33HZ 图 6-29:-3dB 低通滤波器的频率设置为 66HZ 图 6-30:-3dB 低通滤波器的频率设置为 131HZ 图 6-31:-3dB 低通滤波器的频率设置为 262HZ 6.2 配置参数 表 6-8:配置参数 Parameter SAMPLE RATE LOW-PASS FILTER -3dB FREQUENCY MEASUREMENT UNIT GYRO MEASUREMENT UNIT ACCELEROMETER MEASUREMENT UNIT INCLINOMETER DATAGRAM DATAGRAM TERMINATION RS422 BIT-RATE RS422 PARITY RS422 STOP BITS RS422 120Ω LINE TERMINATION Configurations 125 samples/s 250 samples/s 500 samples/s 1000 samples/s 2000 samples/s External trigger 16Hz 33Hz 66Hz 131Hz 262Hz Angular rate [°/s] Incremental angle [°/sample] Average angular rate [°/s] Integrated angle [°] Acceleration [g] Incremental velocity [m/s/sample] Average acceleration [g] Acceleration [g] Incremental velocity [m/s/sample] Average acceleration [g] Rate together with any combination of acceleration, inclination, temperature and AUX NONE 374400 bits/s 460800 bits/s 921600 bits/s 1843200 bits/s User-defined None Odd Even 1 stop bit 2 stop bits OFF ON Comments Some limitations apply to the use of higher sample rates (>500 samples/s), dependent on selected bit-rate and datagram content, ref. Table 6-9 Filter settings are independent of sample rate. Low-pass filters are CIC type filters with linear phase response. Filter settings can be set individually for each axis. Some limitations apply to the use of lower bit-rates (< 1843200 bits/s) dependent on sample rate and datagram content, ref. Table 6-9. For user-defined bit-rates, see section 10.5 订货时,有关如何配置 STIM300 参考 12 节的信息,如何在服务模式中进行配置参阅第 10 节的信息。 在较低比特率时,一些数据报的时间长度要长于在每个样本之间的间隔。表 6-9 显示最大比特率。 表 6-9:最大采样率 Datagram content Rate Rate and acceleration Rate and inclination Rate,acceleration and inclination Rate and temperature Rate,acceleration and temperature Rate,inclination and temperature Rate,acceleration,inclination and AUX Rate and AUX Rate,acceleration and AUX Rate,inclination and AUX Rate,acceleration,inclination and AUX Rate,temperature and AUX Rate,acceleration,temperature and AUX Rate,inclination,temperature and AUX Rate,acceleration,inclination,temperature and AUX 注 1:包括 终止 Number of transmitted bytesNote 1 20 30 30 40 27 44 44 61 24 34 34 44 31 48 48 65 374400 bits/sNote 2 1000 500 500 500 1000 500 500 250 1000 500 500 500 500 500 500 250 460800 bits/sNote 2 1000 1000 1000 500 1000 500 500 500 1000 1000 1000 500 1000 500 500 500 注 2:12 位/字节(=1 位起始位,8 位数据位,1 个奇偶校验位,2 个停止位) 921600 bits/sNote 2 2000 2000 2000 1000 2000 1000 1000 1000 2000 1000 2000 1000 2000 1000 1000 1000 1843200 bits/sNote 2 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 2000 6.3 数据包规格 6.3.1 零件编号数据报 表 6-10:零件号数据报说明 Byte Bit# # 7 6 5 4 3 0 1 0 1 1 0 1 0 1 1 0 1 0 0 0 0 P13 2 P23 P22 P21 P20 P33 3 P43 P42 P41 P40 P53 4 0 0 1 0 1 5 P63 P62 P61 P60 P73 6 P83 P82 P81 P80 P93 7 P103 P102 P101 P100 P113 8 0 0 1 0 1 9 P123 P122 P121 P120 P133 10 P143 P142 P141 P140 x 11 x x x x x 12 x x x x x 13 x x x x x 14 x x x x x 15 r7 r6 r5 r4 r3 16 17 18 19 (20) (21) c31 c30 c29 c28 c27 c23 c22 c21 c20 c18 c15 c14 c13 c12 c11 c7 c6 c5 c4 c3 0 0 0 0 1 0 0 0 0 1 2 0 0 P12 P32 P52 1 P72 P92 P112 1 P132 x x x x x r2 c26 c18 c10 c2 1 0 1 0 1 P11 P31 P51 0 P71 P91 P111 0 P131 x x x x x r1 c25 c17 c9 c1 0 1 0 1 1 P10 P30 P50 1 P70 P90 P110 1 P130 x x x x x r0 c24 c16 c8 c0 1 0 Specification Part Number datagram identifier: 0xB1 for datagrams without CR+LF termination 0xB3 for datagrams with CR+LF termination Low nibble: 1.digit (BCD) of part number High nibble: 2.digit (BCD) of part number Low nibble: 3.digit (BCD) of part number High nibble: 4.digit (BCD) of part number Low nibble: 5.digit (BCD) of part number ASCII character “-“ (0x2D) High nibble: 6.digit (BCD) of part number Low nibble: 7.digit (BCD) of part number High nibble: 8.digit (BCD) of part number Low nibble: 9.digit (BCD) of part number High nibble: 10.digit (BCD) of part number Low nibble: 11.digit (BCD) of part number ASCII character “-“ (0x2D) High nibble: 12.digit (BCD) of part number Low nibble: 13.digit (BCD) of part number High nibble: 14.digit (BCD) of part number For future use For future use For future use For future use Part number revision. Content of byte represents the ASCII-character of the revision. Numbering sequence: “-“, “A”, “B”, …., “Z” Cyclic Redundancy Check is performed on all preceding bytes, ref: 6.3.5 If datagram termination has been selected If datagram termination has been selected 6.3.2 序列号数据报 表 6-11:序列号报文说明 Byte # 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 (20) (21) Bit# 7 6 5 4 3 1 0 1 1 0 1 0 1 1 0 0 1 0 0 1 S13 S12 S11 S10 S23 S33 S32 S31 S30 S43 S53 S52 S51 S50 S63 S73 S72 S71 S70 S83 S93 S113 S13 3 x x x x x x x C31 C23 C15 C7 0 0 S92 S112 S13 2 x x x x x x x C30 C22 C14 C6 0 0 S91 S111 S13 1 x x x x x x x C29 C21 C13 C5 0 0 S90 S110 S13 0 x x x x x x x C28 C20 C12 C4 0 0 S10 3 S12 3 S14 3 x x x x x x x C27 C18 C11 C3 1 1 Specification 2 1 0 Serial Number datagram identifier: 1 0 1 0xB5 for datagrams without CR+LF termination 1 1 1 0xB7 for datagrams with CR+LF termination 1 1 0 ASCII-character for letter “N” S22 S21 S20 High nibble: 1.digit (BCD) of serial number Low nibble: 2.digit (BCD) of serial number S42 S41 S40 High nibble: 3.digit (BCD) of serial number Low nibble: 4.digit (BCD) of serial number S62 S61 S60 High nibble: 5.digit (BCD) of serial number Low nibble: 6.digit (BCD) of serial number S82 S81 S80 High nibble: 7.digit (BCD) of serial number Low nibble: 8.digit (BCD) of serial number S10 S10 S100 High nibble: 9.digit (BCD) of serial number 2 1 Low nibble: 10.digit (BCD) of serial number S12 S12 S120 High nibble: 11.digit (BCD) of serial number 2 1 Low nibble: 12.digit (BCD) of serial number S14 S14 S140 High nibble: 13.digit (BCD) of serial number 2 1 Low nibble: 14.digit (BCD) of serial number x x x For future use x x x For future use x x x For future use x x x For future use x x x For future use x x x For future use x x x For future use C26 C25 C24 C18 C17 C16 Cyclic Redundancy Check is performed on all C10 C9 C8 preceding bytes, ref: 6.3.5 C2 C1 C0 1 0 1 If datagram termination has been selected 0 1 0 If datagram termination has been selected 6.3.3 配置数据报 表 6-12:配置数据报文说明 Byte Bit# Specification # 76543210 Configuration datagram identifier: 0 1 0 1 1 1 0 0 1 0xBC for datagrams without CR+LF termination 0 0 1 1 1 0 1 1 0xBD for datagrams with CR+LF termination 1 r7 r6 r5 r4 r3 r2 r1 r0 Part number revision. Content of byte represents the ASCII-character of the revision. Numbering sequence: “-“, “A”, “B”, …., “Z” 2 f7 f6 f5 f4 f3 f2 f1 f0 Firmware revision. Numbering sequence: 0, 1, …, 255 System configuration, Byte 1: 0 0 0 x x x x x Sample frequency = 125 samples/s 0 0 1 x x x x x Sample frequency = 250 samples/s 0 1 0 x x x x x Sample frequency = 500 samples/s 0 1 1 x x x x x Sample frequency = 1000 samples/s 1 0 0 x x x x x Sample frequency = 2000 samples/s 1 0 1 x x x x x Sample frequency = External trigger x x x 0 x x x x AUX not included in Datagram 3 x x x 1 x x x x AUX included in Datagram x x x x 0 x x x Temperature not included in Normal Mode datagram x x x x 1 x x x Temperature included in Normal Mode datagram x x x x x 0 x x Inclination not included in Normal Mode datagram x x x x x 1 x x Inclination included in Normal Mode datagram x x x x x x 0 x Acceleration not included in Normal Mode datagram x x x x x x 1 x Acceleration included in Normal Mode datagram x x x x x x x 0 No termination of Normal Mode datagram x x x x x x x 1 termination of Normal Mode datagram System configuration, Byte 2: 0 0 0 0 x x x x Bit-rate = 374400 bits/s 0 0 0 1 x x x x Bit-rate = 460800 bits/s 0 0 1 0 x x x x Bit-rate = 921600 bits/s 0 0 1 1 x x x x Bit-rate = 1843200 bits/s 1 1 1 1 x x x x Bit-rate = User-defined, ref.section 10.5 4 x x x x 0 x x x Stop bit = 1 x x x x 1 x x x Stop bits = 2 x x x x x 0 0 x Parity = none x x x x x 0 1 x Parity = even x x x x x 1 0 x Parity = odd x x x x x x x 0 Line termination = OFF x x x x x x x 1 Line termination = ON System configuration, Byte 3: x 0 x x x x x x Gyro X-axis is inactive x 1 x x x x x x Gyro X-axis is active x x 0 x x x x x Gyro Y-axis is inactive x x 1 x x x x x Gyro Y-axis is active x x x 0 x x x x Gyro Z-axis is inactive x x x 1 x x x x Gyro Z-axis is active 5 x x x x 0 0 0 0 Gyro output unit = ANGULAR RATE x x x x 0 0 0 1 Gyro output unit = INCREMENTAL ANGLE x x x x 0 0 1 0 Gyro output unit = AVERAGE ANGULAR RATE x x x x 0 0 1 1 Gyro output unit = INTEGRATED ANGLE x x x x 1 0 0 0 Gyro output unit = ANGULAR RATE - DELAYED x x x x 1 0 0 1 Gyro output unit = INCREMENTAL ANGLE - DELAYED x x x x 1 0 1 0 Gyro output unit = AVERAGE ANGULAR RATE - DELAYED x x x x 1 0 1 1 Gyro output unit = INTEGRATED ANGLE - DELAYED System configuration, Byte 4: x 0 0 0 x x x x Gyro LP filter -3dB frequency for X-axis = 16Hz x 0 0 1 x x x x Gyro LP filter -3dB frequency for X-axis = 33Hz x 0 1 0 x x x x Gyro LP filter -3dB frequency for X-axis = 66Hz x 0 1 1 x x x x Gyro LP filter -3dB frequency for X-axis = 121Hz 6 x 1 0 0 x x x x Gyro LP filter -3dB frequency for X-axis = 262Hz x x x x x 0 0 0 Gyro LP filter -3dB frequency for Y-axis = 16Hz x x x x x 0 0 1 Gyro LP filter -3dB frequency for Y-axis = 33Hz x x x x x 0 1 0 Gyro LP filter -3dB frequency for Y-axis = 66Hz x x x x x 0 1 1 Gyro LP filter -3dB frequency for Y-axis = 121Hz x x x x x 1 0 0 Gyro LP filter -3dB frequency for Y-axis = 262Hz System configuration, Byte 5: x 0 0 0 x x x x Gyro LP filter -3dB frequency for Z-axis = 16Hz x 0 0 1 x x x x Gyro LP filter -3dB frequency for Z-axis = 33Hz x 0 1 0 x x x x Gyro LP filter -3dB frequency for Z-axis = 66Hz x 0 1 1 x x x x Gyro LP filter -3dB frequency for Z-axis = 121Hz x 1 0 0 x x x x Gyro LP filter -3dB frequency for Z-axis = 262Hz x x x x 0 0 0 0 Gyro g-comp: OFF x x x x 0 0 0 1 Gyro g-comp: bias = OFF , scale = ACC x x x x 0 0 1 0 Gyro g-comp: bias = OFF , scale = ACC+0.01Hz-filter 7 x x x x 0 0 1 1 Gyro g-comp: bias = ACC , scale = OFF x x x x 0 1 0 0 Gyro g-comp: bias = ACC+0.01Hz-filter , scale = OFF x x x x 0 1 0 1 Gyro g-comp: bias = INC , scale = OFF, x x x x 0 1 1 0 Gyro g-comp: bias = INC+0.01Hz-filter, scale = OFF x x x x 0 1 1 1 Gyro g-comp: bias = ACC, scale = ACC x x x x 1 0 0 0 Gyro g-comp: bias = ACC+0.01Hz-filter , scale = ACC x x x x 1 0 0 1 Gyro g-comp: bias = INC, scale = ACC x x x x 1 0 1 0 Gyro g-comp: bias = INC+DC-filter, scale = ACC x x x x 1 0 1 1 Gyro g-comp: bias = ACC+0.01Hz-filter, scale = ACC+0.01Hz-filter x x x x 1 1 0 0 Gyro g-comp: bias = INC+0.01Hz-filter, scale = INC+0.01Hz-filter x x x x 1 1 1 1 Gyro g-comp: user-defined System configuration, Byte 6: x 0 x x x x x x Accelerometer X-axis is inactive x 1 x x x x x x Accelerometer X-axis is active x x 0 x x x x x Accelerometer Y-axis is inactive 8 x x 1 x x x x x Accelerometer Y-axis is active x x x 0 x x x x Accelerometer Z-axis is inactive x x x 1 x x x x Accelerometer Z-axis is active x x x x 0 0 0 0 Accelerometer output unit = ACCELERATION x x x x 0 0 0 1 Accelerometer output unit = INCREMENTAL VELOCITY x x x x 0 0 1 0 Accelerometer output unit = AVERAGE ACCELERATION onfiguration, Byte 7: x 0 0 0 x x x x Accelerometer LP filter -3dB frequency for X-axis = 16Hz x 0 0 1 x x x x Accelerometer LP filter -3dB frequency for X-axis = 33Hz x 0 1 0 x x x x Accelerometer LP filter -3dB frequency for X-axis = 66Hz x 0 1 1 x x x x Accelerometer LP filter -3dB frequency for X-axis = 131Hz 9 x 1 0 0 x x x x Accelerometer LP filter -3dB frequency for X-axis = 262Hz x x x x x 0 0 0 Accelerometer LP filter -3dB frequency for Y-axis = 16Hz x x x x x 0 0 1 Accelerometer LP filter -3dB frequency for Y-axis = 33Hz x x x x x 0 1 0 Accelerometer LP filter -3dB frequency for Y-axis = 66Hz x x x x x 0 1 1 Accelerometer LP filter -3dB frequency for Y-axis = 131Hz x x x x x 1 0 0 Accelerometer LP filter -3dB frequency for Y-axis = 262Hz System cSystem configuration, Byte 8: x 0 0 0 x x x x Accelerometer LP filter -3dB frequency for Z-axis = 16Hz 10 x 0 0 1 x x x x Accelerometer LP filter -3dB frequency for Z-axis = 33Hz x 0 1 0 x x x x Accelerometer LP filter -3dB frequency for Z-axis = 66Hz x 0 1 1 x x x x Accelerometer LP filter -3dB frequency for Z-axis = 131Hz x 1 0 0 x x x x Accelerometer LP filter -3dB frequency for Z-axis = 262Hz System configuration, Byte 9: x 0 x x x x x x Inclinometer X-axis is inactive x 1 x x x x x x Inclinometer X-axis is active x x 0 x x x x x Inclinometer Y-axis is inactive 11 x x 1 x x x x x Inclinometer Y-axis is active x x x 0 x x x x Inclinometer Z-axis is inactive x x x 1 x x x x Inclinometer Z-axis is active x x x x 0 0 0 0 Inclinometer output unit = ACCELERATION x x x x 0 0 0 1 Inclinometer output unit = INCREMENTAL VELOCITY x x x x 0 0 1 0 Inclinometer output unit = AVERAGE ACCELERATION System configuration, Byte 10: x 0 0 0 x x x x Inclinometer LP filter -3dB frequency for X-axis = 16Hz x 0 0 1 x x x x Inclinometer LP filter -3dB frequency for X-axis = 33Hz x 0 1 0 x x x x Inclinometer LP filter -3dB frequency for X-axis = 66Hz x 0 1 1 x x x x Inclinometer LP filter -3dB frequency for X-axis = 121Hz 12 x 1 0 0 x x x x Inclinometer LP filter -3dB frequency for X-axis = 262Hz x x x x x 0 0 0 Inclinometer LP filter -3dB frequency for Y-axis = 16Hz x x x x x 0 0 1 Inclinometer LP filter -3dB frequency for Y-axis = 33Hz x x x x x 0 1 0 Inclinometer LP filter -3dB frequency for Y-axis = 66Hz x x x x x 0 1 1 Inclinometer LP filter -3dB frequency for Y-axis = 121Hz x x x x x 1 0 0 Inclinometer LP filter -3dB frequency for Y-axis = 262Hz System configuration, Byte 11: x 0 0 0 x x x x Inclinometer LP filter -3dB frequency for Z-axis = 16Hz 13 x 0 0 1 x x x x Inclinometer LP filter -3dB frequency for Z-axis = 33Hz x 0 1 0 x x x x Inclinometer LP filter -3dB frequency for Z-axis = 66Hz x 0 1 1 x x x x Inclinometer LP filter -3dB frequency for Z-axis = 121Hz x 1 0 0 x x x x Inclinometer LP filter -3dB frequency for Z-axis = 262Hz System configuration, Byte 12: x 0 0 0 x x x x AUX LP filter -3dB frequency = 16Hz 14 x001x x010x xx xx x x AUX LP filter -3dB frequency = 33Hz AUX LP filter -3dB frequency = 66Hz x 0 1 1 x x x x AUX LP filter -3dB frequency = 121Hz x 1 0 0 x x x x AUX LP filter -3dB frequency = 262Hz High nibble: Gyro range, x-axis 15 0000x xx x - 400°/s Low nibble: Gyro range, y-axis xxxx0000 - 400°/s 16 0000x xx x High nibble: Gyro range, z-axis - 400°/s High nibble: Accelerometer range, x-axis 0000xxxx - 10g 0010xxxx - 2g 0011xxxx - 5g 0100xxxx - 30g 17 0110x xx x - 100g Low nibble: Accelerometer range, y-axis xxxx0000 - 10g xxxx0010 - 2g xxxx0011 - 5g xxxx0100 - 30g xxxx0110 - 100g High nibble: Accelerometer range, z-axis 0000xxxx - 10g 18 0010x 0011x xx xx x x - 2g - 5g 0100xxxx - 30g 0110xxxx - 100g High nibble: Inclinometer range, x-axis 19 0000x xx x - 1.7g Low nibble: Inclinometer range, y-axis xxxx0000 - 1.7g 20 0000x xx x High nibble: Inclinometer range, z-axis - 1.7g 21 0000x xx x High nibble: AUX range - ±2.5V 22 c31 c30 c29 c28 c27 c26 c25 c24 Cyclic Redundancy Check is performed on all preceding bytes, ref: 23 c23 c22 c21 c20 c19 c18 c17 c16 6.3.5 24 c15 c14 c13 c12 c11 c10 c9 c8 25 c7 c6 c5 c4 c3 c2 c1 c0 (26) 0 0 0 0 1 1 0 1 If datagram termination has been selected (27) 0 0 0 0 1 0 1 0 If datagram termination has been selected 6.3.4 标准模式下数据包 表 6-13:标准模式下的数据报(数据报的全部数据内容说明) Byte# Bit# 7 6 5 4 3 2 1 0 0 0 0 0 1 1 1 1 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 (63) (64) Gx23 Gx15 Gx7 Gy23 Gy15 Gy7 Gz23 Gz15 Gz7 Gs7 Ax23 Ax15 Ax7 Ay23 Ay15 Ay7 Az23 Az15 Az7 As7 Ix23 Ix15 Ix7 Iy23 Iy15 Iy7 Iz23 Iz15 Iz7 Is7 GTx15 GTx7 GTy15 GTy7 GTz15 GTz7 GTs7 ATx15 ATx7 ATy15 ATy7 ATz15 ATz7 ATs7 ITx15 ITx7 ITy15 ITy7 ITz15 ITz7 ITs7 Au23 Au15 Au7 Aus7 n7 t15 t7 c31 c23 c15 c7 0 0 Gx22 Gx14 Gx6 Gy22 Gy14 Gy6 Gz22 Gz14 Gz6 Gs6 Ax22 Ax14 Ax6 Ay22 Ay14 Ay6 Az22 Az14 Az6 As6 Ix22 Ix14 Ix6 Iy22 Iy14 Iy6 Iz22 Iz14 Iz6 Is6 GTx14 GTx6 GTy14 GTy6 GTz14 GTz6 GTs6 ATx14 ATx6 ATy14 ATy6 ATz14 ATz6 ATs6 ITx14 ITx6 ITy14 ITy6 ITz14 ITz6 ITs6 Au22 Au14 Au6 Aus6 n6 t14 t6 c30 c22 c14 c6 0 0 Gx21 Gx13 Gx5 Gy21 Gy13 Gy5 Gz21 Gz13 Gz5 Gs5 Ax21 Ax13 Ax5 Ay21 Ay13 Ay5 Az21 Az13 Az5 As5 Ix21 Ix13 Ix5 Iy21 Iy13 Iy5 Iz21 Iz13 Iz5 Is5 GTx13 GTx5 GTy13 GTy5 GTz13 GTz5 GTs5 ATx13 ATx5 ATy13 ATy5 ATz13 ATz5 ATs5 ITx13 ITx5 ITy13 ITy5 ITz13 ITz5 ITs5 Au21 Au13 Au5 Aus5 n5 t13 t5 c29 c21 c13 c5 0 0 Gx20 Gx12 Gx4 Gy20 Gy12 Gy4 Gz20 Gz12 Gz4 Gs4 Ax20 Ax12 Ax4 Ay20 Ay12 Ay4 Az20 Az12 Az4 As4 Ix20 Ix12 Ix4 Iy20 Iy12 Iy4 Iz20 Iz12 Iz4 Is4 GTx12 GTx4 GTy12 GTy4 GTz12 GTz4 GTs4 ATx12 ATx4 ATy12 ATy4 ATz12 ATz4 ATs4 ITx12 ITx4 ITy12 ITy4 ITz12 ITz4 ITs4 Au20 Au12 Au4 Aus4 n4 t12 t4 c28 c20 c12 c4 0 0 Gx19 Gx11 Gx3 Gy19 Gy11 Gy3 Gz19 Gz11 Gz3 Gs3 Ax19 Ax11 Ax3 Ay19 Ay11 Ay3 Az19 Az11 Az3 As3 Ix19 Ix11 Ix3 Iy19 Iy11 Iy3 Iz19 Iz11 Iz3 Is3 GTx11 GTx3 GTy11 GTy3 GTz11 GTz3 GTs3 ATx11 ATx3 ATy11 ATy3 ATz11 ATz3 ATs3 ITx11 ITx3 ITy11 ITy3 ITz11 ITz3 ITs3 Au19 Au11 Au3 Aus3 n3 t11 t3 c27 c19 c11 c3 1 1 Gx18 Gx10 Gx2 Gy18 Gy10 Gy2 Gz18 Gz10 Gz2 Gs2 Ax18 Ax10 Ax2 Ay18 Ay10 Ay2 Az18 Az10 Az2 As2 Ix18 Ix10 Ix2 Iy18 Iy10 Iy2 Iz18 Iz10 Iz2 Is2 GTx10 GTx2 GTy10 GTy2 GTz10 GTz2 GTs2 ATx10 ATx2 ATy10 ATy2 ATz10 ATz2 ATs2 ITx10 ITx2 ITy10 ITy2 ITz10 ITz2 ITs2 Au18 Au10 Au2 Aus2 n2 t10 t2 c26 c18 c10 c2 1 0 Gx17 Gx9 Gx1 Gy17 Gy9 Gy1 Gz17 Gz9 Gz1 Gs1 Ax17 Ax9 Ax1 Ay17 Ay9 Ay1 Az17 Az9 Az1 As1 Ix17 Ix9 Ix1 Iy17 Iy9 Iy1 Iz17 Iz9 Iz1 Is1 GTx9 GTx1 GTy9 GTy1 GTz9 GTz1 GTs1 ATx9 ATx1 ATy9 ATy1 ATz9 ATz1 ATs1 ITx9 ITx1 ITy9 ITy1 ITz9 ITz1 ITs1 Au17 Au9 Au1 Aus1 n1 t9 t1 c25 c17 c9 c1 0 1 Gx16 Gx8 Gx0 Gy16 Gy8 Gy0 Gz16 Gz8 Gz0 Gs0 Ax16 Ax8 Ax0 Ay16 Ay8 Ay0 Az16 Az8 Az0 As0 Ix16 Ix8 Ix0 Iy16 Iy8 Iy0 Iz16 Iz8 Iz0 Is0 GTx8 GTx0 GTy8 GTy0 GTz8 GTz0 GTs0 ATx8 ATx0 ATy8 ATy0 ATz8 ATz0 ATs0 ITx8 ITx0 ITy8 ITy0 ITz8 ITz0 ITs0 Au16 Au8 Au0 Aus0 n0 t8 t0 c24 c16 c8 c0 1 0 Specification Normal Mode datagram identifier for Normal Mode datagram with full content. Identifier for reduced content datagrams can be found in Table 6-14 X-axis gyro output, ref. section 8.5.2.2.1 to 8.5.2.2.5 for conversion to units Y-axis gyro output, ref. section 8.5.2.2.1 to 8.5.2.2.5 for conversion to units Z-axis gyro output, ref. section 8.5.2.2.1 to 8.5.2.2.5 for conversion to units STATUS byte for gyro measurements, ref.Table 6-16 X-axis accelerometer output, ref. section 8.5.2.2.7 to 8.5.2.2.9 for conversion to units Y-axis accelerometer output, ref. section 8.5.2.2.7 to 8.5.2.2.9 for conversion to units Z-axis accelerometer output, ref. section 8.5.2.2.7 to 8.5.2.2.9 for conversion to units STATUS byte for accelerometer measurements, ref.Table 6-16 X-axis Inclinometer output, ref. section 8.5.2.2.10 to 8.5.2.2.12 for conversion to units Y-axis Inclinometer output, ref. section 8.5.2.2.10 to 8.5.2.2.12 for conversion to units Z-axis Inclinometer output, ref. section 8.5.2.2.10 to 8.5.2.2.12 for conversion to units STATUS byte for inclinometer measurements, ref.Table 6-16 X-axis gyro temperature data, ref. chapter 0 for conversion to units Y-axis gyro temperature data, ref. chapter 0 for conversion to units Z-axis gyro temperature data, ref. chapter 0 for conversion to units STATUS byte for gyro temperature measurements, ref.Table 6-16 X-axis accelerometer temperature data, ref. chapter 0 for conversion to units Y-axis accelerometer temperature data, ref. chapter 0 for conversion to units Z-axis accelerometer temperature data, ref. chapter 0 for conversion to units STATUS byte for accelerometer temperature measurements, ref.Table 6-16 X-axis inclinometer temperature data, ref. chapter 0 for conversion to units Y-axis inclinometer temperature data, ref. chapter 0 for conversion to units Z-axis inclinometer temperature data, ref. chapter 0 for conversion to units STATUS byte for temperature measurements, ref.Table 6-16 AUX output STATUS byte for AUX measurement, ref.Table 6-16 Counter, ref.section 8.5.2.2.15 Latency, ref. Section 8.5.2.2.16 for conversion to units. Cyclic Redundancy Check is performed on all preceding bytes, ref:section 6.3.5 If datagram termination has been selected If datagram termination has been selected 在标准模式中的数据报加上减少的内容可以在指令中进行选择或者在服务模式下配置。在表 6-14 和第 12 节中可以找到可用的数据报的概述。当选择标准模式减少内容的数据包,数据报会更短。数据请求的命 令将被如表 6-13 中所示发送。例如:当选择在数据报中温度,只有所选择的测量簇中温度数据被发送,如 果已经选择了陀螺仪和测斜仪数据与温度一起,只有陀螺仪和测斜仪的温度将被发送。 表 6-14:标准模式的报文标识符 Datagram content Rate Rate and acceleration Rate and inclination Rate,acceleration and inclination Rate and temperature Rate,acceleration and temperature Rate,inclination and temperature Rate,acceleration,inclination and AUX Rate and AUX Rate,acceleration and AUX Rate,inclination and AUX Rate,acceleration,inclination and AUX Rate,temperature and AUX Rate,acceleration,temperature and AUX Rate,inclination,temperature and AUX Rate,acceleration,inclination,temperature and AUX Identifier 0x90 0x91 0x92 0x93 0x94 0xA5 0xA6 0xA7 0x98 0x99 0x9A 0x9B 0x9C OxAD 0xAE OxAF 6.3.5 循环冗余校验(CRC) 在所有数据报的末端是一个 32 位的循环冗余校验。CRC 校验使用户能够检测从 STIM300 数据传输的错误。 CRC 校验使用下列公式计算: x32 + x26 + x23 + x22 + x16 + x12 + x11 + x10 + x8 + x7 + x5 + x4 + x2 + x + 1 seed = 0xFFFFFFFF 上述所有数据,包括报文标识符,都包含在 CRC 中。 该 CRC 算法需要全套的 32 位(4 字节)数据。从 stim300 定义的几个数据报不是 4 字 节的整型。为了有一个高效的数据传输,从而避免无意义的内容发送字节,虚拟字节(S) 与 content(内容)= 0x00 在最后一个字节的 CRC(S)的计算后添加。 例如:ID = 0xa7 数据(速度,加速度,倾斜度及温度)已被选定。CRC 校验之前,这 个数据包包含 55 字节。因此,这个数据包由 13 组 32 位(4 字节)+ 3 字节组成。为了最后 3 个字节包括在 CRC 校验中,1 字节=0x00 加入,使最后一个数据字节成为最高位字节。 表 6-15 列出了一些在正常模式下为不同的数据报计算最后的 CRC 校验需要的虚拟字节。 表 6-15:CRC 计算的虚拟字节 Datagram content Part Number datagram Serial Number datagram Configuration datagram Rate Rate and acceleration Rate and inclination Rate,acceleration and inclination Rate and temperature Rate,acceleration and temperature Rate,inclination and temperature Rate,acceleration,inclination and AUX Rate and AUX Rate,acceleration and AUX Rate,inclination and AUX Rate,acceleration,inclination and AUX Rate,temperature and AUX Rate,acceleration,temperature and AUX Rate,inclination,temperature and AUX Rate,acceleration,inclination,temperature and AUX 6.4 状态字节 表 6-16:在状态字节中的字节释义 Bit STATUS bit information 7 0=OK, 1=System integrity error 6 0=OK, 1=Start-Up 5 0=OK, 1=Outside operating conditions 4 0=OK, 1=Overload 3 0=OK, 1=Error in measurement-channel 2 0=OK, 1=Z-channel 1 0=OK, 1=Y-channel 0 0=OK, 1=X-channel (or AUX) Identifier 0xB1,0xB3 0xB5,0xB7 0xB9,0xBB 0x90 0x91 0x92 0x93 0x94 0xA5 0xA6 0xA7 0x98 0x99 0x9A 0x9B 0x9C OxAD 0xAE OxAF #dummy-bytes 1 1 1 2 0 0 2 3 2 2 1 2 0 0 2 3 2 2 1 Comment Bits 0-2 will flag the overload channel(s) Bits 0-2 will flag the error channel(s) 7 机械 表 7-1:机械规格 Parameter HOUSING MATERIAL Conditions SURFACE TREATMENT Passivation WEIGHT VOLUME DUST AND HUMIDITY CLASSIFICATION CONNECTOR Type Number of pins Contact type PLUG Proposed plug to fit connector Proposed cover to fit plug FIXATION BOLTS Recommended torque F or best EMI performance Steel base Aluminium base 注 1:不含六价铬 7.1 机械尺寸 所有尺寸均为毫米。 Min Nom Max Unit Aluminium, Alloy 6082-T6, DIN EN 754-2 Surtec 650 55 32.6 1.99 IP67 grams Ccm cu in Micro-D 15 female Axon MDA 2 15 P Axon mirco-D EMI back shell M4 ISO 4762/DIN 912 3.5 Nm 3.0 Nm Note 1 图 7-1:机械尺寸 表 7-2:加速度计的质量中心的标称位置(参考定义见图 6-2) Axis X-offset Y-offset X -33.47mm -8.67mm Y -24.90mm -5.14mm Z -27.50mm -11.78mm Z-offset 12.92mm 16.03mm 6.81mm 7.2 管脚配置 图 7-2:从前面看 stim300 的引脚配置 表 7-3:引脚说明 Pin# 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Label TxDRxDTST TOV NRST AUX_GND AUXVSUP TxD+ RxD+ ExtTring GND GND AUX+ GND Type OUTPUT INPUT OUTPUT OUTPUT INPUT INPUT INPUT SUPPLY OUTPUT INPUT INPUT INPUT INPUT INPUT SUPPLY 7.3 轴的定义 Description RS422 negative output RS422 negative input Test pin: Do not connect Time of Validity (if not in use, leave floating) Reset (if not in use, connect to VSUP or leave floating) AUX signal ground (internally connected to Power ground) AUX negative signal input Power supply (+5V) RS422 positive output RS422 positive input External trigger (if not in use, connect to VSUP or leave floating) Test pin: Connect to ground (0V) Test pin: Connect to ground (0V) AUX positive signal input Power ground (0V) 图 7-3:轴的定义 8 基本操作 STIM300 非常简单易用。除非已配置外部触发,设备将在上电后开始进行测量,并通过 RS422 接口传 输结果,无需任何附加信号或设置。图 8-1 显示了 STIM300 最简单的连接设置。 图 8-1:发送电气连接图 为了充分利用 STIM300 功能,单元模块需要如图 8-2 所示连接。这种设置的系统可以重置设备而无需 切换电源,外部触发功能可以利用,配置参数可以改变和信息扩展,如诊断信息可以从设备读取。 图 8-2:全功能的电气连接图 8.1 复位 stim300 有一个单独的复位引脚(NRST)为了重置单元无需切换电源中的应用。复位是低电平有效, 并有一个内部上拉电阻。因此,如果不使用,输入可以悬空。复位信号发送到微控制器的复位端,并有效 地迫使 STIM300 进入初始化模式(参见图 8-6 和第 8.5.1 节) 。 8.2 外部触发 只有在外部触发,要使用的单位已被配置为发送,STIM300 有单独的数字输入引脚被使用。测量本身 将继续运行在最高的采样率(2000 样本/秒),以确保当一个发送的请求时,最短的延时等待。输入被设置 的输入信号的下降沿触发,然后将发送一个数据报包含最新的测量结果。 装置有一个输入上拉电阻。因此,如果不使用,输入可以悬空。 请注意,在标准模式下命令是有效的,即使数据报传输已配置为只有在外部触发传输。这意味着,例 如如果标准模式下的命令“C”通过 RS-422 接口发出,STIM300 将传输相对于外部触发输入独立的配置数 据报。此外,当 stim300 在初始模式(上电或复位后),它将发送 8.5.1 节中描述的 3 个数据报。 如图 8-3 所示的时序图。之间的时间延迟是样品已被数字化、低通滤波和外部触发。 图 8-3:外部触发信号的时序 8.3 有效时间(TOV) TOV 输出有 2 个目的: z  提供来自 stim300 内部时钟同步信号 z  提供信号正在传送的数据报的手段(注:当配置为外部触发) TOV 提高边缘发生同步的采样率。下降沿发生后,数据包的最后一位被发送。 图 8-4 和图 8-5 中显示的 TOV 输出的时序图。 图 8-4:TOV 时序(例如:采样率=1000samples/) 图 8-5:外部触发 TOV 时序 8.4 辅助输入 STIM300 提供输入,以数字化外部信号。数字化是一个 24 位的 sigma-delta ADC。AUX 数据+状态字节 (24 位)可以被包含在数据报中,参考第 12 和 10.4 节。一个简单 AUX 数据的补偿,如等式 1 中所示。 AUX 数据将是低通滤波的。辅助数据将通过低通滤波。带宽可以在服务模式改变,参见 10.8 节。 公式 1:AUX 补偿算法: AUX _ Output = A* AUX _ Input + B 其中 A 和 B 为系数,可以由用户在服务模式编程(K(AUX COMP)命令) 8.5 操作模式 stim300 操作模式图 8-6 所示: 图 8-6:操作模式 8.5.1 初始化模式 初始化模式是在下列条件进入:  电源  外部复位后  标准模式下接收到一个复位命令  退出时从服务模式初始化模式。 在初始模式系统等待内部设定,复位和同步传感器。包含部件号,序列号和配置数据通道和三个特殊 的数据报传输。请注意,在标准模式下的数据报的特殊数据包的长度和格式是不同的。 表 6-10 中指定的零件数数据报的内容和格式。 表 6-11 中指定的序列号的数据包的内容和格式。 表 6-12 中指定的配置数据报的内容和格式。 在发送的特殊零件编号,编号和配置数据报后,stim300 进入标准模式。 所有这些特殊的数据包,也可以在标准模式下请求,参考文献第 9 节。 8.5.2 标准模式 在标准模式下 stim300 不断地在配置的采样率下测试可用的传感器通道。请注意,如果外部触发已被 选定,内部采样率将设置为最大值,以尽量减少延迟。 STIM300 将继续发送数据无论在状态字节报告任何错误(参见表 6-16)。因此,状态字节的内容应不断 地进行检查。 表 6-13 详细说明了零件号数据报的内容。 8.5.2.1 启动 当 stim300 从初始化模式进入正常模式,将有一个启动阶段,这时 stim300 正在稳定陀螺。在此期间, 6 位设置在状态字节(参见表 6-16),一边沟通它的状态。一旦企稳,6 位将被清除。在此期间,输出数据 应该被视为非有效。 STIM300 直接从服务模式退出到标准模式将不会有启动阶段。 8.5.2.2 数据输出选项和解释 8.5.2.2.1 延迟陀螺输出 陀螺仪,加速度计,测斜仪和辅助信号的固有延迟是不同的,分别参考表 6-3,表 6-4,表 6-5 和表 6-6。在命令中一个选项可以被用来将陀螺的信号延迟 5ms,加速度计和 AUX 与此相似。要启用该功能,选 择≥陀螺输出单元 8,参考文献 10.7 和 12。 8.5.2.2.2 陀螺输出单元=角速率 在 stim300 被配置为输出角速度的情况下,公式 2 和图 8-7 显示如何转换为[°/s]。请注意,输出数 据被表示为二进制补码。 公式 2:转换输出为[°/ s]: Output[o / s] = ( AR1 ) ⋅ 216 + ( AR2 214 ) ⋅ 28 + ( AR3 ) 其中 AR1 是 24bit 输出最高有效位字节 AR2 是 24bit 输出的中间字节 AR3 是 24bit 输出最低有效位字节 图 8-7:转换输出为[°/ s] 8.5.2.2.3 陀螺仪输出单元=增量角度 在 stim300 被配置为输出角增量为样本的情况下,转换到[°/sample],转换方式可以在公式 3 和图 8-8 找到。请注意,输出数据被表示为二进制补码。 公式 3:转换输出为[°/sample] Output = [o / sample] = ( IA1 ) ⋅ 216 + (IA2 221 ) ⋅ 28 + (IA3 ) 其中 IA1 是 24bit 输出的最高有效位字节 IA2 是 24bit 输出的中间字节 IA3 是 24bit 输出的最低有效位字节 图 8-8:转换输出字节[°/sample] 8.5.2.2.4 陀螺仪输出单元=平均角速度 在 stim300 被配置为输出的平均角速度的情况下,传输的数据是自上次发送的样品的平均值。例如在 连续发送的数据报,并为 500Hz 的采样率的情况下,在每个传输将包含以前的内部的四个样品的平均值。 请注意,配置低通滤波是在计算平均值之前执行。 一般是用平均计算常规方程计算样本: 公式 4 :平均计算: ∑ Angular _ Ratem Average _ Angular _ Rate[o / s] = m=1Kn n 其中,angular_ratem 是角速率数据在 2000 个 samples/s 的采样 N 是上一次发送的样品数 与角速度转换到[°/s]相同,在公式 2 描述。 8.5.2.2.5 陀螺仪输出单元=集成角度 在 STIM300 被配置为输出集成的角度的情况下,从上电或复位开始传输的数据将是连续集成的角度。 集成的角度值在区间[-4°,4°>,并且自然环绕,没有错误消息显示在状态字节。 转换为[°]和增量角是相同的,在公式(3)中描述。 8.5.2.2.6 陀螺仪 G -补偿 陀螺对某些方向上的加速力敏感: X-和 Y-陀螺仪在 Z 方向上的加速度力敏感 Z-陀螺仪在 Y 方向的加速度力敏感 陀螺仪在 X 轴方向对加速度力不敏感 STIM300还包含加速度计和测斜仪,功能性地提供手段来补偿对陀螺标度因数和/或偏置的 g 灵敏度。 此外,一个简单的1极低通滤波器可以切换到申请额外的过滤的加速度/测斜仪信号用于补偿,参考图 8-10。简化的补偿方案参见图8-9。 图 8-9:简化陀螺仪 G-补偿的补偿方案 图 8-10:g-补偿低通滤波器的频率特性,设置为 0.001HZ,0.01Hz 和 5Hz 8.5.2.2.7 加速度计输出单位=加速度 配置 STIM300 输出加速度,公式 5 和图 8-11 显示了执行此操作。 请注意,输出数据被表示为二进制补码。 方程(5):转换输出[g]: Range Conversion 2g Output[ g ] = ( ACC1) ⋅ 216 + ( ACC2 221 ) ⋅ 28 + ( ACC3 ) 5g Output[ g ] = ( ACC1) ⋅ 216 + ( ACC2 ) ⋅ 28 220 + ( ACC3 ) 10g Output[ g ] = ( ACC1) ⋅ 216 + ( ACC2 219 ) ⋅ 28 + ( ACC3) 30g Output[ g ] = ( ACC1) ⋅ 216 + ( ACC2 218 ) ⋅ 28 + ( ACC3 ) 100g Output[ g ] = ( ACC1) ⋅ 216 + ( ACC2 216 ) ⋅ 28 + ( ACC3 ) 其中,ACC1 是 4 位最高有效位字节 ACC2 是 24 位的中间字节输 ACC3 是 24 位输出的最低有效字节 图 8-11:转换输出字节到[g](示例在 10g 的范围内有效) 8.5.2.2.8 加速度计输出单位=速度增量 在 STIM300 被配置输出每个样品的速度增量,转换方程可以在公式 6 和图 8-12 中找到。请注意,输出 数据被表示为二进制补码。 公式(6):转换输出[m/s/sample] Range Conversion 2g Output[m / s / sample] = ( IV1 ) ⋅ 216 + (IV2 ) ⋅ 28 224 + (IV3 ) 5g Output[m / s / sample] = ( IV1 ) ⋅ 216 + (IV2 ) ⋅ 223 28 + (IV3 ) 10g Output[m / s / sample] = ( IV1 ) ⋅ 216 + (IV2 ) ⋅ 222 28 + (IV3 ) 30g Output[m / s / sample] = ( IV1 ) ⋅ 216 + (IV2 ) ⋅ 221 28 + (IV3 ) 100g Output[m / s / sample] = ( IV1 ) ⋅ 216 + (IV2 219 ) ⋅ 28 + (IV3 ) 其中,IV1 是 24 位的最高有效位字节 IV2 是 24 位的中间字节 IV3 是 24 位的最低有效位字节 图 8-12:转换输出字节[m/s/sample] (示例在 10g 范围内有效) 8.5.2.2.9 加速度计输出单元=平均加速度 STIM300 被配置为输出平均加速度的情况下,传输的数据是自上次发送的样品的平均值。例如在连续发送 的数据报,并且采样率为 500Hz 的的情况下,在每个传输将包含内部的四个样品的平均值。 计算样本平均值使用传统的平均值计算公式: 公式 7:平均值计算: ∑ Accelerationm Output[g] = m=1Kn n 其中的 Accelerationm 是一个 2000 samples/s 时的加速度采样数据 n 为样本数,自上一次传输传输 转换至 g]是和角速度相同的,在方程(5)中进行描述。 8.5.2.2.10 倾角传感器输出单元=加速度 STIM300 被配置为输出加速度的情况下,公式 8 和图 8-13 显示了如何执行这个操作。 请注意,输出数据被表示为 2 的补码。 方程(8)转换输出[g]: Output[ g ] = ( ACC1) ⋅ 216 + ( ACC2 222 ) ⋅ 28 + ( ACC3 ) 其中,ACC1 是 24 位的最高有效为字节 ACC2 是 24 位中间字节 ACC3 是 24 位的最低有效位字节 图 8-13:转换输出字节到[g] 8.5.2.2.11 倾角传感器输出单元=速度增量 STIM300 被配置为输出每个样品的速度增量的情况下,转换到[m/s/sample]的方程公式 9 和图 8-14 中可以 找到。 请注意,输出数据被表示为二进制补码。 公式 9:转换输出到[m/s/sample] Output[m / s / sample] = (IV1) ⋅ 216 + (IV2 ) ⋅ 225 28 + (IV3 ) 其中,IV1 是 24 位的最高有效位字节 IV2 是 24 位的中间字节 IV3 是 24 位的最低有效位字节 图 8-14:转换输出字节到[m/s/sample] 8.5.2.2.12 倾角传感器输出单元=平均加速度 STIM300 被配置为输出平均加速度的情况下,传输的数据是自上次发送的样品的平均值。例如在连续 发送的数据报,并为 500Hz 的采样率的情况下,在每个传输将包含内部的四个样品的平均值。 计算样本平均值使用传统的平均值计算公式为: 方程 10:计算平均值: ∑ Inclinationm Output[g] = m=1Kn n 其中,Inclinationm 是在采样率为 2000 samples/s 倾角数据 转换到[g]是和角速度相同的,在公式(8)中描述。 8.5.2.2.13 温度 每个轴的温度数据是在特定的数据包可以使用(参见第 12 条)。 公式 11 和图 8-15 显示如何转换为[°C]。请注意,输出数据被表示为二进制补码。 公式 11:温度数据转换到[°C] Output[°C] = (T1) ⋅ 28 + 28 (T2 ) 其中,T1 为 16 位输出最高有效位字节 T2 是 16 位输出最低有效位字节 图 8-15:温度数据转换为[°C] 8.5.2.2.14 AUX STIM300 配置到 AUX 数据的情况下,公式 12 和图 8-11 显示了如何做到这一点。请注意,输出数据被 表示为二进制补码。 公式 12:转换输出到[V]: Output[V ] = ( AUX1) ⋅ 216 + ( AUX 224 2 ) ⋅ 28 + ( AUX 3 ) ⋅ 5V 其中,AUX1 是 24 位输出最高有效位字节 AUX2 是 24 位输出的中间字节 AUX3 是 24 位输出最低有效位字节 图 8-16:输出字节转换到[V] 8.5.2.2.15 计数器 计数器连续计数内部的样本(2000 samples/秒)。计数器是一个无符号单字节在区间[0,255] 内的的值。计数器将自然循环在状态字节中没有错误消息提示。 8.5.2.2.16 延迟 延迟以[μs] 计算,参考公式 13 和图 8-17。请注意,延迟是一个无符号字。 公式 13:转换输出[μs]: Output[μs] = (LT1) ⋅ 28 + (LT2 ) 其中,LT1 是 16 位输出的最高有效位字节 LT2 是 16 位输出的最低有效位字节 图 8-17:转换输出字节[μs] 8.5.3 服务模式 在服务模式下,当一个需要的设备的配置改变或调查观察到的问题的过程中,通信界面是人类可读的, 并且通信格式(ASCII)支持在开发阶段软件终端的使用。 当服务模式进入,STIM300 会响应它的配置信息(和 i(信息)命令的响应一样,参考图 10 -1)。 一组命令可用,r 参考第 10 节,从而使得用户能够临时或永久改变配置参数,显示最新的测量结果,显示 更高的细节错误信息和执行全面的诊断。 在服务模式下的陀螺仪测量将仍然可以在后台运行,可以直接切换回正常模式,而不需要过滤器的企 稳时间,但是测量数据本身,当 STIM300 在服务模式下不进行数据传输时,就会丢失。通过使用一个(单 次测量)命令(参见 10.2 节),它可以显示单次测量结果。 可以通过以下方式,退出服务模式: 1。使用外部复位。这将迫使 STIM300 进入初始化模式。请注意,在初始化模式,从闪存加载的所有配 置参数。如果有任何的配置参数在服务模式中已经改变但没有储存到闪存中,这些改变将被已经存储在闪 存中的内容覆盖。 2。使用的 x(退出)命令。使用此命令时的一个参数需要决定该设备是否应该去初始化模式或标准模 式。退出到正常模式时,任何配置参数的更改将仍然有效。然而,如果不保存,下次上电或复位时,所做 更改将被闪存中的已有内容覆盖。 STIM300 不断检查其内部状态。这些检查包括: O 检查内部引用 O 检查传感器(错误,过载) O 检查内部温度 O 检查 RAM 和闪存 O 检查电源电压 当检测到错误情况,状态字节中的相应位将被设置(参见表 6-16)。 在状态字节中的位对单次传输的数据是有效的。因此,任何错误将不锁存。 在服务模式下,可以通过使用 i e (INFORMATION on LAST ERROR IN NORMAL MODE,即在标准模式下的最 后一个错误的信息)命令,看到最后检测到的错误,参考第 10.1,或通过使用 c (DIAGNOSTIC)命令,运行 一个完整的诊断,查看检测结果,参考 10.3 节。 9 标准模式下的命令 在标准模式下可用的命令,如表 9-1 中列出。请注意,在标准模式下的所有命令必须以大写字母发送。 表 9-1 在标准模式下可用的命令 Command Short description N Transmits one Part Number datagram I Transmits one Serial Number datagram C Transmits one Configuration datagram R Resets the unit SERVICEMODE Enters Service Mode 表 9-2 在标准模式下使用的特殊的 ASCII 字符 Char Hex Dec Short description 0x0D 13 “Carriage Return”: used as execution character for commands 既没有接收到的命令字符的回复也没有错误消息会显示。只有在收到完整的正确的命令,STIM300 才执 行。 注意:如果陀螺仪的输出单位设置为增量角度(参见 10.7 节),传输数据报中的任何所要求的特殊数 据包递增的角度将不包含自上次发送的测量增量角。因此,在传输过程中请求一个特殊的数据包产生的角 度增量将被丢失。 9.1 N (PART NUMBER DATAGRAM) 命令 一般说明:要求传输的零件编号数据报(参见表 6-10)。 表 9-3:N(PART NUMBER DATAGRAM)命令 Syntax Response N Transmits one Part Number datagram 零件编号数据报将取代下一个传输的标准模式的数据报。如果数据报传输设置为在外部触发器触发,传输 部件编号数据报将不会等待外部触发信号。 9.2 I (SERIAL NUMBER DATAGRAM) 命令 一般说明:请求传输序列号数据包(参考表 6-11)。 表 9-4:I(序列号 DATAGRAM)命令 Syntax Response I Transmits one Serial Number datagram 序列号数据报将取代下一个传输的标准模式的数据报。如果数据报传输设置触发外部触发,序列号将发送 数据报,而无需等待外部触发信号。 9.3 C (CONFIGURATION DATAGRAM) 命令 一般描述:请求传输配置数据报(参考表 6-12)。 表 9-5:C(配置 DATAGRAM)的命令 Syntax Response C Transmits one Configuration datagram 配置数据报将更换下的正常传输模式的数据报。如果数据报传输设置触发外部触发,配置数据包将被传输, 而无需等待外部触发信号。 9.4 R (RESET) 命令 一般说明:强制复位 表 9-6:R(复位)命令 Syntax R Response Resets the unit 9.5 服务模式命令 一般说明:进入服务模式(参见 8.5.3 节)。 表 9-7:服务模式命令 Syntax Response SERVICEMODE Enters Service Mode 如果该命令期间接收到一个数据报的传输,完成传输,然后再进入服务模式。 当进入服务模式时,该设备的配置和识别数据的将被列出,如图 9-1 所示: SERIAL NUMBER = N25580846002002 PRODUCT = STIM300 PART NUMBER = 84167-44000-331 REV C FW CONFIG = SWD12046 REV 2 GYRO OUTPUT UNIT = [°/s] – ANGULAR RATE DELAYED ACCELEROMETER OUTPUT UNIT = [g] – ACCELERATION INCLINOMETER OUTPUT UNIT = [g] - ACCELERATION SAMPLE RATE [samples/s] = 2000 GYRO CONFIG = XYZ ACCELEROMETER CONFIG = XYZ INCLINOMETER CONFIG = XYZ GYRO RANGE: X-AXIS: ± 400°/s Y-AXIS: ± 400°/s Z-AXIS: ± 400°/s ACCELEROMETER RANGE: X-AXIS: ± 10g Y-AXIS: ± 10g Z-AXIS: ± 10g INCLINOMETER RANGE: X-AXIS: ± 1.7g Y-AXIS: ± 1.7g Z-AXIS: ± 1.7g AUX RANGE: ± 2.5V GYRO LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 GYRO LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 GYRO LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 AUX LP FILTER -3dB FREQUENCY [Hz] = 262 AUX COMP COEFF: A = 1.0000000e+00, B = 0.0000000e+00 GYRO G-COMPENSATION: BIAS SOURCE, X-AXIS = OFF BIAS G-COMP LP-FILTER, X-AXIS = NA SCALE SOURCE, X-AXIS = ACC SCALE G-COMP LP-FILTER, X-AXIS = OFF BIAS SOURCE, Y-AXIS = OFF BIAS G-COMP LP-FILTER, Y-AXIS = NA SCALE SOURCE, Y-AXIS = ACC SCALE G-COMP LP-FILTER, Y-AXIS = OFF BIAS SOURCE, Z-AXIS = OFF BIAS G-COMP LP-FILTER, Z-AXIS = NA SCALE SOURCE, Z-AXIS = ACC SCALE G-COMP LP-FILTER, Z-AXIS = OFF G-COMP LP-FILTER CUTOFF = 0.010 HZ DATAGRAM = RATE, ACCELERATION, INCLINATION DATAGRAM TERMINATION = NONE BIT-RATE [bits/s] = 1843200 DATA LENGTH = 8 STOP BITS = 1 PARITY = NONE LINE TERMINATION = ON > 图 9-1:服务模式命令响应示例 10 在服务模式下的命令 在服务模式可用的几条命令,如表 10-1 中列出。请注意服务模式中的所有命令有大小写之分(命令是 小写字母,而一些参数可能是大写字母)。 表 10-1 :服务模式下可用的命令 Command Short description i Lists specific information (e.g. serial number, configuration, error information) a Performs a single-shot measurement c Performs a diagnostic of the unit d Changes datagram format t Changes transmission parameters (e.g. bit-rate, data-length, stop-bits) r Turns line termination ON or OFF u Changes measurement output unit f Changes LP filter -3dB frequency m Changes sample rate k Changes coefficients of the AUX compensation algorithm g Changes the gyro g-compensation configuration for bias and scale factor s Saves configuration data x Exits Service Mode and returns to Normal Mode or Init Mode z Restore to factory settings ? Help function on the available commands in Service Mode 表 10-2:服务模式中使用的特殊的 ASCII 字符 Char Hex Dec Short description 0x08 8 “Back Space”: deletes last received character (received since last ) 0x0D 13 “Carriage Return”: typically used as execution character for commands 0x20 32 “Space”: used to separate command and first parameter ‘,’ 0x2C 44 “Comma”: used to separate parameters in a command ‘>’ 0x3E 62 Used together with as: “Ready to receive new command”-prompt 当 STIM300 处于服务模式并且准备好接收一个新的命令,它会在' >'之后发出特殊的 ASCII 字符 。一些命令 (如 SINGLE-SHOT MEASUREMENT 命令) 可能用不同数量的线进行回应。发出一个新的命 令之前,自动设置寻找特殊的提示符序列 (+‘>’ )。 收到的字符将回显。 当接收到特殊的 ASCII 字符,命令将被译码和执行。(“backspace”) 也将被辨别并将删除输入缓冲区中最后一个接收到的字符。输入缓冲区的大小为 80 个字符。 自上一 次接收生效。 由一个空格 (0x20) 分隔命令字符和第一个参数 (如果适用)。当有多个参数的命令 (例如 TRANSMISSION PARAMETER 命令) 时,这些必须用逗号(字符 0x2C)分隔。 未知的命令、 不一致的语法或参数的值不正确,STIM300 将响应并显示错误消息。错误消息的格式: E 其中 nnn 是错误号 10.1 i (INFORMATION) 命令 一般说明: 列出的设备的各种请求的信息 表 10-3:可用 i(INFORMATION)命令 Syntax Response i Lists the product configuration and identification data i Gives information about the specific parameter 表 10-4: i(INFORMATION) 命令参数的允许值 Result s Returns the serial number of the device n Returns the product name of the device x Returns the part number of the device a Returns the axis configuration of the device p Returns the FW configuration and revision of the device m Returns the sample rate of the device f Returns the LP filter -3dB frequency for each axis d Returns the datagram format t Returns the transmission parameters of the device r Returns the line termination (ON or OFF) u Returns the output units of the device g Returns the configuration of the gyro g-compensation k Returns the compensation coefficients for AUX input e Prints the extended error information from the last detected error in Normal Mode 表 10-5:i (INFORMATION) 命令错误信息 Error Message E001 UNKOWN COMMAND E002 INCORRECT NUMBER OF PARAMETERS E003 INVALID PARAMETER Possible reason Command or parameter is not recognised Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range >i SERIAL NUMBER = N25580846002002 PRODUCT = STIM300 PART NUMBER = 84167-44000-331 REV C FW CONFIG = SWD12046 REV 2 GYRO OUTPUT UNIT = [°/s] – ANGULAR RATE DELAYED ACCELEROMETER OUTPUT UNIT = [g] – ACCELERATION INCLINOMETER OUTPUT UNIT = [g] - ACCELERATION SAMPLE RATE [samples/s] = 2000 GYRO CONFIG = XYZ ACCELEROMETER CONFIG = XYZ INCLINOMETER CONFIG = XYZ GYRO RANGE: X-AXIS: ± 400°/s Y-AXIS: ± 400°/s Z-AXIS: ± 400°/s ACCELEROMETER RANGE: X-AXIS: ± 10g Y-AXIS: ± 10g Z-AXIS: ± 10g INCLINOMETER RANGE: X-AXIS: ± 1.7g Y-AXIS: ± 1.7g Z-AXIS: ± 1.7g AUX RANGE: ± 2.5V GYRO LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 GYRO LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 GYRO LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 AUX LP FILTER -3dB FREQUENCY [Hz] = 262 AUX COMP COEFF: A = 1.0000000e+00, B = 0.0000000e+00 GYRO G-COMPENSATION: BIAS SOURCE, X-AXIS = OFF BIAS G-COMP LP-FILTER, X-AXIS = NA SCALE SOURCE, X-AXIS = ACC SCALE G-COMP LP-FILTER, X-AXIS = OFF BIAS SOURCE, Y-AXIS = OFF BIAS G-COMP LP-FILTER, Y-AXIS = NA SCALE SOURCE, Y-AXIS = ACC SCALE G-COMP LP-FILTER, Y-AXIS = OFF BIAS SOURCE, Z-AXIS = OFF BIAS G-COMP LP-FILTER, Z-AXIS = NA SCALE SOURCE, Z-AXIS = ACC SCALE G-COMP LP-FILTER, Z-AXIS = OFF G-COMP LP-FILTER CUTOFF = 0.010 HZ DATAGRAM = RATE, ACCELERATION, INCLINATION DATAGRAM TERMINATION = NONE BIT-RATE [bits/s] = 1843200 DATA LENGTH = 8 STOP BITS = 1 PARITY = NONE LINE TERMINATION = ON > 图 10-1:从 i (INFORMATION) 命令的响应范例 >i s SERIAL NUMBER = N25580846002002 > 图 10-2:i s(INFORMATION on SERIAL NUMBER) 命令响应示例 >i n PRODUCT = STIM300 > 图 10-3:从 i n(INFORMATION on PRODUCT NAME)命令响应示例 >i x PART NUMBER = 84167-44000-331 REV C > 图 10-4:从 i x (INFORMATION on PART NUMBER) 命令响应示例 >i a GYRO CONFIG = XYZ ACCELEROMETER CONFIG = XYZ INCLINOMETER CONFIG = XYZ GYRO RANGE: X-AXIS: ± 400°/s Y-AXIS: ± 400°/s Z-AXIS: ± 400°/s ACCELEROMETER RANGE: X-AXIS: ± 10g Y-AXIS: ± 10g Z-AXIS: ± 10g INCLINOMETER RANGE: X-AXIS: ± 1.7g Y-AXIS: ± 1.7g Z-AXIS: ± 1.7g AUX RANGE: ± 2.5V > 图 10-5:从 i a (INFORMATION on AXIS CONFIGURATION)命令响应示例 >i p FW CONFIG = SWD12046 REV 2 > 图 10-6:从 i p (INFORMATION on FW CONFIGURATION)命令示例响应 >i m SAMPLE RATE [samples/s] = 2000 > 图 10-7:i m (INFORMATION on SAMPLE RATE) 命令响应示例 >i f GYRO LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 GYRO LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 GYRO LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 ACCELEROMETER LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 262 INCLINOMETER LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 262 AUX LP FILTER -3dB FREQUENCY [Hz] = 262 > 图 10-8:从 i f (INFORMATION on LP FILTER -3dB FREQUENCY) 命令响应示例 >i d DATAGRAM = RATE, ACCELERATION, INCLINATION DATAGRAM TERMINATION = NONE > 图 10-9:i d (INFORMATION on DATAGRAM TRANSMISSION MODE AND TERMINATION) 命令响应示例 >i t BIT-RATE [bits/s] = 1843200 DATA LENGTH = 8 STOP BITS = 1 PARITY = NONE > 图 10-10:i t (INFORMATION on TRANSMISSION PARAMETERS) 命令响应示例 >i r LINE TERMINATION = ON > 图 10-11:i r (INFORMATION on LINE TERMINATION)命令响应示例 >i u GYRO OUTPUT UNIT = [°/s] – ANGULAR RATE DELAYED ACCELEROMETER OUTPUT UNIT = [g] – ACCELERATION INCLINOMETER OUTPUT UNIT = [g] – ACCELERATION > 图 10-12:i u (INFORMATION on OUTPUT UNIT) 命令示例响应 >i g GYRO G-COMPENSATION: BIAS SOURCE, X-AXIS = OFF BIAS G-COMP LP-FILTER, X-AXIS = NA SCALE SOURCE, X-AXIS = ACC SCALE G-COMP LP-FILTER, X-AXIS = OFF BIAS SOURCE, Y-AXIS = OFF BIAS G-COMP LP-FILTER, Y-AXIS = NA SCALE SOURCE, Y-AXIS = ACC SCALE G-COMP LP-FILTER, Y-AXIS = OFF BIAS SOURCE, Z-AXIS = OFF BIAS G-COMP LP-FILTER, Z-AXIS = NA SCALE SOURCE, Z-AXIS = ACC SCALE G-COMP LP-FILTER, Z-AXIS = OFF G-COMP LP-FILTER CUTOFF = 0.010 HZ > 图 10-13:i g (INFORMATION on GYRO G-COMP) 命令响应示例 >i k AUX COMP COEFF: A = 1.0200000e+00, B = 3.4000000e-02 > 图 10-14:i k (INFORMATION on AUX COMP) 命令响应示例 >i e GYRO X-AXIS I-CH OVERFLOW = FAILED > 图 10-15:i e (INFORMATION on LAST ERROR IN NORMAL MODE) 命令响应示例 10.2 a (SINGLE-SHOT MEASUREMENT) 命令 一般说明:显示最新的测量结果(测量过程中不断后台运行)。 注:SINGLE-SHOT MEASUREMENT 命令不可用,如果采样率设置为外部触发。 表 10-6:a (SINGLE-SHOT MEASUREMENT) 命令 Syntax Response a Displays the result of the latest measurement sample 表 10-7:a (SINGLE-SHOT MEASUREMENT) 命令的错误消息 Error Message Possible reason E001 UNKOWN COMMAND Command is incorrectly entered E002 INCORRECT NUMBER OF Any characters between command and PARAMETERS >a GYRO X-AXIS = 1.43253 °/s GYRO Y-AXIS = 2.34525 °/s GYRO Z-AXIS = 243.33628 °/s GYRO STATUS = 00000000 = OK ACCELEROMETER X-AXIS = 0.042113 g ACCELEROMETER Y-AXIS = 0.000342 g ACCELEROMETER Z-AXIS = 0.929376 g ACCELEROMETER STATUS = 00000000 = OK INCLINOMETER X-AXIS = 0.0426473 g INCLINOMETER Y-AXIS = 0.0003832 g INCLINOMETER Z-AXIS = 0.9246325 g INCLINOMETER STATUS = 00000000 = OK TEMPERATURE GYRO X-AXIS = 32.326 °C TEMPERATURE GYRO Y-AXIS = 32.467 °C TEMPERATURE GYRO Z-AXIS = 32.265 °C TEMPERATURE STATUS = 00000000 = OK TEMPERATURE ACC X-AXIS = 32.846 °C TEMPERATURE ACC Y-AXIS = 32.477 °C TEMPERATURE ACC Z-AXIS = 32.965 °C TEMPERATURE STATUS = 00000000 = OK TEMPERATURE INC X-AXIS = 32.326 °C TEMPERATURE INC Y-AXIS = 32.123 °C TEMPERATURE INC Z-AXIS = 32.326 °C TEMPERATURE STATUS = 00000000 = OK AUX = -0.8356746 V AUX STATUS = 00000000 = OK COUNTER = 10 LATENCY = 516 us > 图 10-16:a (SINGLE-SHOT MEASUREMENT) 命令响应示例 >a GYRO X-AXIS = 0.00071 °/s GYRO Y-AXIS = 0.12324 °/s GYRO Z-AXIS = 480.00000 °/s GYRO STATUS = 00010100 = NOT OK BIT 4: OVERLOAD BIT 2: ERROR IN Z-CHANNEL ACCELEROMETER X-AXIS = 0.042113 g ACCELEROMETER Y-AXIS = 0.000342 g ACCELEROMETER Z-AXIS = 0.929376 g ACCELEROMETER STATUS = 00000000 = OK INCLINOMETER X-AXIS = 0.0426473 g INCLINOMETER Y-AXIS = 0.0003832 g INCLINOMETER Z-AXIS = 0.9246325 g INCLINOMETER STATUS = 00000000 = OK TEMPERATURE GYRO X-AXIS = 32.326 °C TEMPERATURE GYRO Y-AXIS = 32.467 °C TEMPERATURE GYRO Z-AXIS = 32.265 °C TEMPERATURE STATUS = 00000000 = OK TEMPERATURE ACC X-AXIS = 32.846 °C TEMPERATURE ACC Y-AXIS = 32.477 °C TEMPERATURE ACC Z-AXIS = 32.965 °C TEMPERATURE STATUS = 00000000 = OK TEMPERATURE INC X-AXIS = 32.326 °C TEMPERATURE INC Y-AXIS = 32.123 °C TEMPERATURE INC Z-AXIS = 32.326 °C TEMPERATURE STATUS = 00000000 = OK AUX = -0.8356746 V AUX STATUS = 00000000 = OK COUNTER = 10 LATENCY = 516 us > 图 10-17:a (SINGLE-SHOT MEASUREMENT)无错误标识响应示例 10.3 c (DIAGNOSTIC) 命令 一般说明:执行本单位的诊断。 表 10-8:c (DIAGNOSTIC) 命令 Syntax Response c Performs a diagnostic check 表 10-9:c (DIAGNOSTIC) 命令的错误消息 Error Message E001 UNKOWN COMMAND E002 INCORRECT NUMBER OF PARAMETERS Possible reason Command is incorrectly entered Any characters between command and SERIAL NUMBER = N25581142431021 PRODUCT = STIM300 PART NUMBER = 84167-44000-331 REV C HW CONFIG = M5728 REV 2 FW CONFIG = SWD12008 REV 2 SYSTEM STATUS: RAM CHECK = OK FLASH CHECK = OK STACK STATUS MONITOR = OK STACK COMMAND HANDLER = OK STACK SAMPLE = OK STACK FLASH = OK MICRO CONTROLLER TEMPERATURE = OK VOLTAGE SUPPLIES: REFERENCE VOLTAGE 5.0V = OK REFERENCE VOLTAGE 2.5V = OK REFERENCE VOLTAGE 2.048V = OK REGULATED VOLTAGE 5.0V = OK REGULATED VOLTAGE 1.8V = OK INPUT VOLTAGE 5.0V = OK VOLTAGE BOOST = OK VOLTAGE DAC = OK GYRO X-AXIS: GYRO X-AXIS Data Ready = OK GYRO X-AXIS EXC.FREQ = OK GYRO X-AXIS ASIC TEMP = OK GYRO X-AXIS SENSOR TEMP = OK GYRO X-AXIS COMPENSATED RATE SIGNAL = OK GYRO X-AXIS DASIC COMMUNICATION = OK GYRO X-AXIS Q-CH RANGE = OK GYRO X-AXIS I-CH RANGE = OK GYRO X-AXIS DET. DC = OK GYRO X-AXIS EXC. DC = OK GYRO X-AXIS SPI = OK GYRO X-AXIS EXC.AMPL = OK GYRO X-AXIS OVERRUN = OK GYRO Y-AXIS: GYRO Y-AXIS Data Ready = OK GYRO Y-AXIS EXC.FREQ = OK GYRO Y-AXIS ASIC TEMP = OK GYRO Y-AXIS SENSOR TEMP = OK GYRO Y-AXIS COMPENSATED RATE SIGNAL = OK GYRO Y-AXIS DASIC COMMUNICATION = OK GYRO Y-AXIS Q-CH RANGE = OK GYRO Y-AXIS I-CH RANGE = OK GYRO Y-AXIS DET. DC = OK GYRO Y-AXIS EXC. DC = OK GYRO Y-AXIS SPI = OK GYRO Y-AXIS EXC.AMPL = OK GYRO Y-AXIS OVERRUN = OK GYRO Z-AXIS: GYRO Z-AXIS Data Ready = OK GYRO Z-AXIS EXC.FREQ = OK GYRO Z-AXIS ASIC TEMP = OK GYRO Z-AXIS SENSOR TEMP = OK GYRO Z-AXIS COMPENSATED RATE SIGNAL = OK GYRO Z-AXIS DASIC COMMUNICATION = OK GYRO Z-AXIS Q-CH RANGE = OK GYRO Z-AXIS I-CH RANGE = OK GYRO Z-AXIS DET. DC = OK GYRO Z-AXIS EXC. DC = OK GYRO Z-AXIS SPI = OK GYRO Z-AXIS EXC.AMPL = OK GYRO Z-AXIS OVERRUN = OK ACCELEROMETER X-AXIS: ACCELEROMETER X-AXIS COMPENSATED SIGNAL = OK ACCELEROMETER X-AXIS TEMPERATURE = OK EXTERNAL ADC COMMUNICATION = OK ACCELEROMETER Y-AXIS: ACCELEROMETER Y-AXIS COMPENSATED SIGNAL = OK ACCELEROMETER Y-AXIS TEMPERATURE = OK EXTERNAL ADC COMMUNICATION = OK ACCELEROMETER Z-AXIS: ACCELEROMETER Z-AXIS COMPENSATED SIGNAL = OK ACCELEROMETER Z-AXIS TEMPERATURE = OK EXTERNAL ADC COMMUNICATION = OK INCLINOMETER X-AXIS: INCLINOMETER X-AXIS COMPENSATED SIGNAL = OK INCLINOMETER X-AXIS TEMPERATURE = OK EXTERNAL ADC COMMUNICATION = OK INCLINOMETER Y-AXIS: INCLINOMETER Y-AXIS COMPENSATED SIGNAL = OK INCLINOMETER Y-AXIS TEMPERATURE = OK EXTERNAL ADC COMMUNICATION = OK INCLINOMETER Z-AXIS: INCLINOMETER Z-AXIS COMPENSATED SIGNAL = OK INCLINOMETER Z-AXIS TEMPERATURE = OK EXTERNAL ADC COMMUNICATION = OK AUX: AUX = OK EXTERNAL ADC COMMUNICATION = OK > 图 10-18:从 c (DIAGNOSTIC) 命令的响应示例 10.4 d (DATAGRAM FORMAT) 命令 一般说明:设置数据报传输模式和终止(参考表 6 - 8 和 12 节)。 请注意,数据报格式可以认为是无效的,即使它已正确输入。这是因为一个有效的数据报格式还取决于采 样率和选择的数据报的内容(参考表 6-9 和表 10-13 中的 E007 错误消息。) 注意,除非新的设置已使用 SAVE 命令存储在闪存中,否则直到 STIM300 初始化,复位或断电,这种变化才 是有效的(参见第 10.11 章)。为了使用或测试在标准模式下的一个没有永久存储的新的设置,可以通过使 用 EXIT n 命令实现(参见第 10.13 章)。 表 10-10:d (DATAGRAM FORMAT) 命令 Syntax Response d’,’ Changes the datagram transmission mode and termination in Normal Mode 表 10-11:d (DATAGRAM TRANSMISSION MODE AND TERMINATION) 命令参数的允许值 0 1 2 3 4 5 6 7 8 9 a b c d e f Datagram content ID, rate, counter, latency, CRC ID, rate, acceleration, counter, latency, CRC ID, rate, inclincation, counter, latency, CRC ID, rate, acceleration, inclination, counter, latency, CRC ID, rate, temperature, counter, latency, CRC ID, rate, acceleration, temperature, counter, latency, CRC ID, rate, inclination, temperature, counter, latency, CRC ID, rate, acceleration, inclination, temperature, counter, latency, CRC ID, rate, AUX, counter, latency, CRC ID, rate, acceleration, AUX, counter, latency, CRC ID, rate, inclincation, AUX, counter, latency, CRC ID, rate, acceleration, inclination, AUX, counter, latency, CRC ID, rate, temperature, AUX, counter, latency, CRC ID, rate, acceleration, temperature, AUX, counter, latency, CRC ID, rate, inclination, temperature, AUX, counter, latency, CRC ID, rate, acceleration, inclination, temperature, AUX, counter, latency, CRC 表 10-12:d (DATAGRAM TRANSMISSION MODE AND TERMINATION) 命令 参数允许值 0 1 Result Changes the datagram termination to no termination Changes the datagram termination to 表 10-13:d (DATAGRAM TRANSMISSION MODE AND TERMINATION) 命令的错误消息 Error E001 E002 E003 E007 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER DATAGRAM WILL BE TOO LONG TO TRANSMIT Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range Combination of bit-rate, sample rate and datagram content results in a datagram that cannot be transmitted >d 8,0 DATAGRAM = RATE, AUX DATAGRAM TERMINATION = NONE > 图 10-19:d (DATAGRAM MODE AND TERMINATION) 命令的响应示例 >d 3,1 DATAGRAM = RATE, ACCELERATION, INCLINATION DATAGRAM TERMINATION = > 图 10-20:d (DATATGRAM MODE AND TERMINATION) 命令的响应示例 10.5 t (TRANSMISSION PARAMETERS) 命令 一般说明:更改 RS422 接口的传输参数。 请注意,比特率可以被认为是无效的,即使它已正确输入。这是因为一个有效的比特率还依赖于采样 率和选择数据报内容(参考表 6-9 和表 10-18 中的 E007 错误消息)。 注意,除非新的设置已使用 SAVE 命令存储在闪存中,否则直到 STIM300 初始化,复位或断电,这种变 化才是有效的(参见第 10.11 章)。为了使用或测试在标准模式下的一个没有永久存储的新的设置,可以通 过使用 EXIT n 命令实现(参见第 10.13 章)。 表 10-14:t (TRANSMISSION PARAMETERS) 命令 Syntax Response t Changes the transmission bit-rate and leaves number of stop-bits and parity unchanged t’,’’,’ and parity t’f,’ Changes the transmission bit-rate to a user-defined bitrate and leaves number of stop-bits and parity unchanged, ref.section 10.5.1 t’f,’’,’’,’ number of stop-bits and parity, ref.section 10.5.1 表 10-15:t (TRANSMISSION PARAMETERS) 命令 参数的允许值 0 1 2 3 Result Will set the bit-rate to 377400 bits/s Will set the bit-rate to 460800 bits/s Will set the bit-rate to 921600 bits/s Will set the bit-rate to 1843200 bits/s 表 10-16:t (TRANSMISSION PARAMETERS) 命令 参数的允许值 1 2 Result Will set number of stop bits to 1 Will set number of stop bits to 2 表 10-17:t (TRANSMISSION PARAMETERS) 命令 参数的允许值 0 1 2 Result Will set no parity Will set odd parity Will set even parity 10.5.1 用户定义比特率 STIM300 硬件能够设置比特率范围在 1500 和 9550000 bits/s 之间。然而,采样率和数据报长度决定 了可能的最小比特率,参考公式 14: 公式 14:最小比特率 Bit − rateMIN = 1.1⋅bits ⋅bytes ⋅ sample _ rate 其中,bits = start-bit (1) + data-bits (8) + stop-bits (1 or 2) + parity-bit (0 or 1) bytes = 所选数据报的字节数,参考表 6-13 和表 6-9 (NB: 在表 6-9 字节数包括 ) sample_rate 选择的采样率[samples/s] 如果在公式 14 定义的低于允许之的比特率被输入,该命令将回应错误消息,参考表 10-18,E007。 有限数量的比特率可以被设置。方程 15 是这样定义的: 公式 15:设置比特率 Bit − rateSET = 85504000 bits / s n 其中 n 是一个整数 因此实际设置比特率是最接近要求的比特率。t (TRANSMISSION PARAMETERS) 命令响应将设置比特率。 请注意 1.5Mbit/ s 以上的目标比特率,所需的比特率和设置的比特率之间的偏差大于 1%,可能与 RS-422 规范冲突。有关这个问题的,不会发出任何警告。为安全起见,新的比特率只能是永久的在,只能在(SAVE) 命令后使用新的比特率。 表 10-18:t (TRANSMISSION PARAMETERS) 命令错误讯息 Error Message Possible reason E001 UNKOWN COMMAND Command is incorrectly entered E002 INCORRECT NUMBER OF Too many or too few parameters, use of comma between command and first PARAMETERS parameter E003 INVALID PARAMETER Value of parameter outside valid range E007 DATAGRAM WILL BE TOO LONG Combination of bit-rate, sample rate and datagram content results in a TO TRANSMIT datagram that cannot be transmitted >t 2,1,2 BIT-RATE [bits/s] = 921600 DATA LENGTH = 8 STOP BITS = 1 PARITY = EVEN > 图 10-21:t (TRANSMISSION PARAMETERS) 命令来设置标准比特率响应的例子 >t f,500000 BIT-RATE [bits/s] = 500023 DATA LENGTH = 8 STOP BITS = 1 PARITY = EVEN > 图 10-22:t (TRANSMISSION PARAMETERS) 命令来设置用户定义的码率示例响应 10.6 r (LINE TERMINATION) 命令 一般说明:打开 ON 或 OFF 行终止。线路终端通信时,点对点(单主 - 一从)。 注意,除非新的设置已使用 SAVE 命令存储在闪存中,否则直到 STIM300 初始化,复位或断电,这种变 化才是有效的(参见第 10.11 章)。为了使用或测试在标准模式下的一个没有永久存储的新的设置,可以通 过使用 EXIT n 命令实现(参见第 10.13 章)。 表 10-19:Available r (LINE TERMINATION) 命令 Syntax Response r Changes the line termination 表 10-20:Available r (LINE TERMINATION) 命令允许值 0 1 Result Turns line termination OFF Turns line termination ON 表 10-21:Available r (LINE TERMINATION) 命令的错误消息 Error E001 E002 E003 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range >r 0 LINE TERMINATION = OFF > 图 10-23:从 r0(LINE TERMINATION) 命令示例响应 >r 1 LINE TERMINATION = ON > 图 10-24:从 r1(LINE TERMINATION) 命令示例响应 10.7 u (OUTPUT UNIT) 命令 一般说明:设置在标准模式下传输的输出单元。 注意,除非新的设置已使用 SAVE 命令存储在闪存中,否则直到 STIM300 初始化,复位或断电,这种变 化才是有效的(参见第 10.11 章)。为了使用或测试在标准模式下的一个没有永久存储的新的设置,可以通 过使用 EXIT n 命令实现(参见第 10.13 章)。 表 10-22:可用 u (OUTPUT UNIT)命令 Syntax Response u’,’ Changes the unit of the transmission in Normal Mode 表 10-23:u (OUTPUT UNIT) 命令允许值 Result g 0 Changes the gyro output unit to angular rate [°/s] g 1 Changes the gyro output unit to incremental angle [°/sample] g 2 Changes the gyro output unit to average angular rate [°/s] g 3 Changes the gyro output unit to integrated angle [°] g 8 Changes the gyro output unit to angular rate – delayed [°/s] g 9 Changes the gyro output unit to incremental angle – delayed [°/sample] g a Changes the gyro output unit to average angular rate – delayed [°/s] g b Changes the gyro output unit to integrated angle – delayed [°] a 0 Changes the accelerometer output unit to acceleration [g] a 1 Changes the accelerometer output unit to incremental velocity [m/s/sample] a 2 Changes the accelerometer output unit to average acceleration [g] i 0 Changes the inclinometer output unit to acceleration [g] i 1 Changes the inclinometer output unit to incremental velocity [m/s/sample] i 2 Changes the inclinometer output unit to average acceleration [g] 表 10-24:u (OUTPUT UNIT) 命令的错误消息 Error E001 E002 E003 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range >u g,0 GYRO OUTPUT UNIT = [°/s] – ANGULAR RATE > 图 10-25:从 u (OUTPUT UNIT) 命令响应示例 >u a,2 ACCELEROMETER OUTPUT UNIT = [g] – AVERAGE ACCELERATION > 图 10-26:从 u (OUTPUT UNIT) 命令响应示例 10.8 f (LP FILTER -3dB FREQUENCY) 命令 一般描述:改变一个或所有轴的低通滤波器-3dB 频率。 请注意,低通滤波器设置应一并考虑采样率,以避免欠采样问题。stim300 没有警告会发出,例如高 的滤波器的带宽和低的采样率被选择。 注意,除非新的设置已使用 SAVE 命令存储在闪存中,否则直到 STIM300 初始化,复位或断电,这种变 化才是有效的(参见第 10.11 章)。为了使用或测试在标准模式下的一个没有永久存储的新的设置,可以通 过使用 EXIT n 命令实现(参见第 10.13 章)。 表 10-25:可用 f (LP FILTER -3dB FREQUENCY) 命令 Syntax f<-3dBfreq> Response Changes the LP filter -3dB frequency for all sensors and axes f<-3dBfreq>’,’ f<-3dBfreq>’,’ ’,’ Changes the LP filter -3dB frequency for all axes of a specific sensor Changes the LP filter -3dB frequency for a specified sensor and axis 表 10-26:f (LP FILTER -3dB FREQUENCY) 命令<-3dBfreq> 参数允许值 <-3dBfreq> 0 1 2 3 4 Result Will change LP filter -3dB frequency to 16Hz Will change LP filter -3dB frequency to 33Hz Will change LP filter -3dB frequency to 66Hz Will change LP filter -3dB frequency to 131Hz Will change LP filter -3dB frequency to 262Hz 表 10-27:f (LP FILTER -3dB FREQUENCY) 命令参数允许值 g a i u Result Will change LP filter -3dB frequency for the gyro(s) Will change LP filter -3dB frequency for the accelerometer(s) Will change LP filter -3dB frequency for the inclinometer(s) Will change LP filter -3dB frequency for AUX 表 10-28:f (LP FILTER -3dB FREQUENCY) 命令参数允许值 x y z Result Will change LP filter -3dB frequency for X-axis only Will change LP filter -3dB frequency for Y-axis only Will change LP filter -3dB frequency for Z-axis only 表 10-29:f (LP FILTER -3dB FREQUENCY) 命令的错误消息 Error E001 E002 E003 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range >f 2,a,x ACCELEROMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 66 > 图 10-27:从 f (LP FILTER -3dB FREQUENCY) 命令响应示例 >f 3 GYRO LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 131 GYRO LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 131 GYRO LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 131 ACCELEROMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 131 ACCELEROMETER LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 131 ACCELEROMETER LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 131 INCLINOMETER LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 131 INCLINOMETER LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 131 INCLINOMETER LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 131 AUX LP FILTER -3dB FREQUENCY [Hz] = 131 > 图 10-28:从 f (LP FILTER -3dB FREQUENCY) 命令响应示例 >f 1,g GYRO LP FILTER -3dB FREQUENCY, X-AXIS [Hz] = 33 GYRO LP FILTER -3dB FREQUENCY, Y-AXIS [Hz] = 33 GYRO LP FILTER -3dB FREQUENCY, Z-AXIS [Hz] = 33 > 图 10-29:从 f (LP FILTER -3dB FREQUENCY) 命令响应示例 >f 0,u AUX LP FILTER -3dB FREQUENCY [Hz] = 16 > 图 10-30:从 f (LP FILTER -3dB FREQUENCY) 命令响应示例 10.9 m (SAMPLE RATE) 命令 一般说明:在标准模式下的采样率更改。所有通道的采样率是相同的。 请注意,采样率可以认为是无效的,即使它已正确输入。这是因为一个有效的采样率还依赖于采样率 和选择的数据报的内容(参考表 6-9 和表 10-32 中的 E007 错误消息)。 请注意,采样率应一并考虑,以避免因过滤器设置欠采样问题。STIM300 不会发出警告例如,如果高 滤波器带宽和低采样率被选定。 注意,除非新的设置已使用 SAVE 命令存储在闪存中,否则直到 STIM300 初始化,复位或断电,这种变 化才是有效的(参见第 10.11 章)。为了使用或测试在标准模式下的一个没有永久存储的新的设置,可以通 过使用 EXIT n 命令实现(参见第 10.13 章)。 表 10-30:m (SAMPLE RATE)命令 Syntax m Response Changes the sample rate in Normal Mode 表 10-31:m (SAMPLE RATE) 命令参数允许值 Result 0 Will set sample rate to 125 samples /second 1 Will set sample rate to 250 samples /second 2 Will set sample rate to 500 samples /second 3 Will set sample rate to 1000 samples /second 4 Will set sample rate to 2000 samples /second 5 Will set sample to External Trigger 表 10-32:m (SAMPLE RATE) 命令的错误消息 Error E001 E002 E003 E007 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER DATAGRAM WILL BE TOO LONG TO TRANSMIT Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range Combination of bit-rate, sample rate and datagram content results in a datagram that cannot be transmitted >m 2 SAMPLE RATE [samples/s] = 500 > 图 10-31:从 m (SAMPLE RATE) 命令响应示例 >m 5 SAMPLE RATE = EXTERNAL TRIGGER > 图 10-32:从 m (SAMPLE RATE) 命令响应示例 10.10 k (AUX COMP) 命令 一般说明:更改的 AUX 输入补偿系数。 注意,除非新的设置已使用 SAVE 命令存储在闪存中,否则直到 STIM300 初始化,复位或断电,这种变 化才是有效的(参见第 10.11 章)。为了使用或测试在标准模式下的一个没有永久存储的新的设置,可以通 过使用 EXIT n 命令实现(参见第 10.13 章)。 表 10-33:k (AUX COMP) 命令 Syntax Response k’,’ Changes the compensation coefficients, A and B, of the AUX input 是数字。小数点‘.’ 。格式可以是整数,小数或科学的。 表 10-34:对于 k (AUX COMP) 命令的错误消息 Error E001 E002 E003 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range >k 1.02,3.4e-2 AUX COMP COEFF: A = 1.0200000e+00, B = 3.4000000e-02 > 图 10-33:从 e(AUX COMP)命令的响应示例 10.11 g (GYRO G-COMP) 命令 一般说明:补偿陀螺 g-compensation 偏见和/或比例因子参数变化。 此功能的说明,请参见第 8.5.2.2.6。 表 10-35g (GYRO G-COMP) 命令 Syntax g g',' g','',' ',' g','',' ','',' g','','',' ','',' ',' g','','',' ','',' ','',' Response Changes the gyro g-compensation to one of the defined standard configurations. The cut-off frequency of the g-compensation LP-filter will be set to 0.01Hz. Gyro g-compensation will be applied to all axes. Changes the gyro g-compensation to one of the defined standard configurations, but sets the g-compensation LP-filter to a non-standard cut-off frequency. Gyro g-compensation will be applied to all axes. Changes the gyro g-compensation to a user-defined gyro g-compensation configuration, but leaves the g-compensation LP-filter unchanged. Gyro g-compensation will be applied to all axes. Changes the gyro g-compensation to a user-defined gyro g-compensation configuration, including the g-compensation LP-filter. Gyro g-compensation will be applied to all axes. Changes the gyro g-compensation to a user-defined gyro g-compensation configuration, but leaves the g-compensation LP-filter unchanged. Gyro g-compensation will be applied to specific axes. Changes the gyro g-compensation to a user-defined gyro g-compensation configuration, including the g-compensation LP-filter. Gyro g-compensation will be applied to specific axes. 表 10-36:g (GYRO G-COMP) 命令允许值 Bias Scale BiasSource BiasFilter ScaleSource 0 OFF - 11) OFF - OFF ACC 2 OFF - ACC 31) ACC OFF OFF 4 ACC ON OFF 51) INC OFF OFF 6 INC ON OFF 71) ACC OFF ACC 81) ACC ON ACC 91) INC OFF ACC a1) INC ON ACC b ACC ON ACC c INC ON INC 1)将发出警告,如果陀螺仪输出单元尚未选定延迟(参见第 8.5.2.2.1 和 10.7) 表 10-37:g (GYRO G-COMP) 命令允许范围 Unit Minimum Standard Hz 0.001 0.01 小数点=‘.’ ,格式可以是整数,小数或科学的。 ScaleFilter OFF ON OFF OFF OFF OFF ON ON Maximum 5.00 表 10-38:g (GYRO G-COMP) 命令允许值 0 1 2 Result Gyro g-compensation turned OFF Gyro g-compensation uses data from accelerometers Gyro g-compensation uses data from inclinometers 表 10-39:g (GYRO G-COMP)命令 的的允许值 0 1 Result Gyro g-compensation LP-filter not applied (OFF) Gyro g-compensation LP-filter applied (ON) 表 10-40:g (GYRO G-COMP) 命令的的允许值 0 1 Result Gyro g-compensation is not applied to specific axis (OFF) Gyro g-compensation is applied to specific axis (ACC or INC) 表 10-41:g (GYRO G-COMP) 命令错误讯息 Error E001 E002 E003 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range >g 1 GYRO G-COMPENSATION: BIAS SOURCE, X-AXIS = OFF BIAS G-COMP LP-FILTER, X-AXIS = NA SCALE SOURCE, X-AXIS = ACC SCALE G-COMP LP-FILTER, X-AXIS = OFF BIAS SOURCE, Y-AXIS = OFF BIAS G-COMP LP-FILTER, Y-AXIS = NA SCALE SOURCE, Y-AXIS = ACC SCALE G-COMP LP-FILTER, Y-AXIS = OFF BIAS SOURCE, Z-AXIS = OFF BIAS G-COMP LP-FILTER, Z-AXIS = NA SCALE SOURCE, Z-AXIS = ACC SCALE G-COMP LP-FILTER, Z-AXIS = OFF G-COMP LP-FILTER CUTOFF = 0.010 HZ > 图 10-34:从 g (GYRO G-COMP) 命令的响应示例 >g 8,0.3 GYRO G-COMPENSATION: WARNING: DELAYED GYRO OUTPUT UNIT IS RECOMMENDED BIAS SOURCE, X-AXIS = ACC BIAS G-COMP LP-FILTER, X-AXIS = ON SCALE SOURCE, X-AXIS = ACC SCALE G-COMP LP-FILTER, X-AXIS = OFF BIAS SOURCE, Y-AXIS = ACC BIAS G-COMP LP-FILTER, Y-AXIS = ON SCALE SOURCE, Y-AXIS = ACC SCALE G-COMP LP-FILTER, Y-AXIS = OFF BIAS SOURCE, Z-AXIS = ACC BIAS G-COMP LP-FILTER, Z-AXIS = ON SCALE SOURCE, Z-AXIS = ACC SCALE G-COMP LP-FILTER, Z-AXIS = OFF G-COMP LP-FILTER CUTOFF = 0.300 HZ > 图 10-35:带警告 g (GYRO G-COMP) 命令响应示例 >g 2,1,1,0,0.5 GYRO G-COMPENSATION: BIAS SOURCE, X-AXIS = INC BIAS G-COMP LP-FILTER, X-AXIS = ON SCALE SOURCE, X-AXIS = ACC SCALE G-COMP LP-FILTER, X-AXIS = OFF BIAS SOURCE, Y-AXIS = INC BIAS G-COMP LP-FILTER, Y-AXIS = ON SCALE SOURCE, Y-AXIS = ACC SCALE G-COMP LP-FILTER, Y-AXIS = OFF BIAS SOURCE, Z-AXIS = INC BIAS G-COMP LP-FILTER, Z-AXIS = ON SCALE SOURCE, Z-AXIS = ACC SCALE G-COMP LP-FILTER, Z-AXIS = OFF G-COMP LP-FILTER CUTOFF = 0.500 HZ > 图 10-36:从 g (GYRO G-COMP) 命令的响应示例 >g 0,0,1,2,1,1,0 GYRO G-COMPENSATION: BIAS SOURCE, X-AXIS = OFF BIAS G-COMP LP-FILTER, X-AXIS = NA SCALE SOURCE, X-AXIS = OFF SCALE G-COMP LP-FILTER, X-AXIS = NA BIAS SOURCE, Y-AXIS = OFF BIAS G-COMP LP-FILTER, Y-AXIS = NA SCALE SOURCE, Y-AXIS = OFF SCALE G-COMP LP-FILTER, Y-AXIS = NA BIAS SOURCE, Z-AXIS = INC BIAS G-COMP LP-FILTER, Z-AXIS = ON SCALE SOURCE, Z-AXIS = ACC SCALE G-COMP LP-FILTER, Z-AXIS = OFF G-COMP LP-FILTER CUTOFF = 0.500 HZ > 图 10-37:g (GYRO G-COMP) 命令响应示例 10.12 s (SAVE) 命令 一般说明:配置参数保存到闪存。这将永久改变的配置参数,因此初始化或断电后生效。 STIM300 闪存被指定为能够最低保存 1000 个数据。一个计数器已经执行,并且保存数据超过 1000 时, 将发出警告。 当接收 s(SAVE)命令 STIM300 总是会尝试忽略计数器中已有内容保存配置。 表 10-42:s (SAVE) 命令 Syntax s Response Saves system parameters to flash. This command will require an additional confirmation prior to execution. Confirmation (“Y”) to be responded in upper case letter. 表 10-43:s (SAVE) 命令的错误消息 Error E001 E002 E003 E004 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER EXCEEDED MAXIMUM NUMBER OF SAVES E005 ERROR DURING SAVE Possible reason Command is incorrectly entered Any characters between command and Value of parameter outside valid range Warning appears when maximum number of saves has been exceeded (1000 saves). STIM300 will always attempt to save the configuration when receiving the s (SAVE)-command. System parameters not successfully transferred to flash >s SYSTEM PARAMETERS WILL BE PERMANENTLY CHANGED. CONFIRM SAVE(Y/N): Y SYSTEM PARAMETERS SUCCESSFULLY STORED IN FLASH. NUMBER OF SAVES = 26 > 图 10-38:确认保存时 s (SAVE) 命令的响应 >s SYSTEM PARAMETERS WILL BE PERMANENTLY CHANGED. CONFIRM SAVE(Y/N): N SAVE COMMAND ABORTED. > 图 10-39:没有确认保存时 s (SAVE) 命令响应示例 >s SYSTEM PARAMETERS WILL BE PERMANENTLY CHANGED. CONFIRM SAVE(Y/N): y SAVE COMMAND ABORTED. E003 INVALID PARAMETER > 图 10-40:确认时没有正确回应的 s (SAVE) 命令响应示例 10.13 x (EXIT) 命令 一般描述:终止服务模式并直接或经由初始化模式返回标准模式(参见图 8-6)。 表 10-44:x (EXIT) 命令 Syntax Response x Terminates Service Mode 表 10-45:x (EXIT) 命令允许值 n i N I Result Terminates Service Mode and return to Normal Mode. If system parameters have been changed compared to flash content, a confirmation is requested before exiting to Normal Mode (“Y” in upper case letter). There will be a 3 seconds hold-time between the transmitted command response and execution of the EXIT-command. Terminates Service Mode and return to Init Mode. If system parameters have been changed compared to flash content, a confirmation is requested before exiting to Normal Mode (“Y” in upper case letter). There will be a 3 seconds hold-time between the transmitted command response and execution of the EXIT-command. NB: Changes made to system parameters, but not saved, will be overwritten by the data already stored in flash when entering Init Mode. Terminates Service Mode and return immediately to Normal Mode (without confirmation if system parameters have been changed compared to flash and without any hold-time) Terminates Service Mode and return immediately to Init Mode (without confirmation if system parameters have been changed compared to flash and without any hold-time). NB: Changes made to system parameters, but not saved, will be overwritten by the data already stored in flash when entering Init Mode. 表 10-46:x (EXIT) 命令的错误消息 Error E001 E002 E003 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range >x n SYSTEM RETURNING TO NORMAL MODE. 图 10-41:系统参数和闪存的内容匹配时,XN(EXIT)命令的响应 >x i SYSTEM RETURNING TO INIT MODE. 图 10-42:闪存的内容和系统参数匹配时,XI(EXIT)命令的响应 >x n CURRENT SYSTEM PARAMETERS DO NOT MATCH FLASH CONTENT. CONFIRM EXIT(Y/N): Y SYSTEM RETURNING TO NORMAL MODE. 图 10-43:系统参数已变更,但不确认保存退出,XN(EXIT)命令响应 >x i CURRENT SYSTEM PARAMETERS DO NOT MATCH FLASH CONTENT. CONFIRM EXIT(Y/N): N > 图 10-44:系统参数已变更,但不确认保存不退出,x i (EXIT) 命令响应 >x n CURRENT SYSTEM PARAMETERS DOES NOT MATCH FLASH CONTENT. CONFIRM EXIT(Y/N): n E003 INVALID PARAMETER > 图 10-45:系统参数已更改但确认保存没有正确响应,XN(EXIT)命令响应 10.14 z (RESTORE TO FACTORY SETTINGS) 命令 一般说明:装置的配置恢复到出厂设置。 表 10-47:z (RESTORE TO FACTORY SETTINGS)命令 Syntax z Response Restores the configuration of the unit to its factory settings. NB: The restored configuration will not be permanent unless it is SAVEd to flash before EXITing Service Mode, resetting the unit or turning off power. 表 10-48:z (RESTORE TO FACTORY SETTINGS)命令错误消息 Error E001 E002 E003 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER Possible reason Command is incorrectly entered Any characters between command and Value of parameter outside valid range >z RESTORE TO FACTORY SETTINGS. CONFIRM CHANGE TO FACTORY SETTINGS (Y/N): Y APPLYING FACTORY SETTINGS FACTORY SETTINGS APPLIED. TO PERMANENTLY STORE THE SETTINGS, USE THE SAVE COMMAND. > 图 10-46:z (RESTORE TO FACTORY SETTINGS)命令传输参数不改变的响应示例。 >z RESTORE TO FACTORY SETTINGS. CONFIRM CHANGE TO FACTORY SETTINGS(Y/N): Y TRANSMISSION PARAMETERS WILL BE CHANGED. PLEASE CONFIRM (Y/N): Y THE TRANSMISSION CONFIGURATION WILL BE CHANGED TO: TRANSMISSION PROTOCOL = 460800 BITS/S, 2 STOP BIT(S), EVEN PARITY APPLYING FACTORY SETTINGS FACTORY SETTINGS APPLIED. TO PERMANENTLY STORE THE SETTINGS, USE THE SAVE COMMAND. > 图 10-47:z (RESTORE TO FACTORY SETTINGS)命令传输参数的改变的响应示例 10.15 ? (HELP) 命令 一般描述:在服务模式中可用的命令功能。 表 10-49:? (HELP) 命令 Syntax Response ? Lists the available parameters for this command ? Responds with information on the specified command 表 10-50:? (HELP) 命令的允许值 Result i Responds with information on the INFORMATION-command a Responds with information on the SINGLE-SHOT MEASUREMENT-command c Responds with information on the DIAGNOSTIC-command d Responds with information on the DATAGRAM FORMAT-command t Responds with information on the TRANSMISSION PARAMETERS-command r Responds with information on the LINE TERMINATION-command u Responds with information on the OUTPUT UNIT-command f Responds with information on the LP FILTER -3dB FREQUENCY-command m Responds with information on the SAMPLE RATE-command g Responds with information on the GYRO G-COMP-command k Responds with information on the AUX COMP-command s Responds with information on the SAVE-command x Responds with information on the EXIT-command z Responds with information on the RESTORE TO FACTORY SETTINGS-command 表 10-51:? (HELP) 命令错误讯息 Error E001 E002 E003 Message UNKOWN COMMAND INCORRECT NUMBER OF PARAMETERS INVALID PARAMETER Possible reason Command is incorrectly entered Too many or too few parameters, use of comma between command and first parameter Value of parameter outside valid range >? AVAILABLE PARAMETERS: i: LISTS SPECIFIC INFORMATION a: PERFORMS A SINGLE-SHOT MEASUREMENT c: PERFORMS A DIAGNOSTIC OF THE UNIT d: CHANGES DATAGRAM FORMAT t : CHANGES TRANSMISSION PARAMETERS r: CHANGES THE LINE TERMINATION u : CHANGES OUTPUT UNIT f: CHANGES LP FILTER -3DB FREQUENCY m: CHANGES SAMPLE RATE g: CHANGES CONFIGURATION OF GYRO G-COMPENSATION k: CHANGES COMPENSATION COEFFICIENTS FOR AUX INPUT s: SAVES CONFIGURATION DATA x: EXITS SERVICE MODE z: RESTORES FACTORY SETTINGS > 图 10-48:? (HELP) 命令响应示例 >? i i: LISTS THE PRODUCT CONFIGURATION DATA i s: RETURNS THE SERIAL NUMBER i n: RETURNS THE PRODUCT NAME i x: RETURNS THE PART NUMBER i a: RETURNS THE AXIS CONFIGURATION i p: RETURNS THE FW CONFIGURATION AND REVISION i m: RETURNS THE SAMPLE RATE i f: RETURNS THE LP FILTER -3DB FREQUENCY i d: RETURNS THE DATAGRAM FORMAT i t: RETURNS THE TRANSMISSION PARAMETERS i r: RETURNS THE LINE TERMINATION SETTING i u: RETURNS THE OUTPUT UNIT i g: RETURNS THE CONFIGURATION OF GYRO G-COMPENSATION i k: RETURNS THE COMPENSATION COEFFICIENTS OF AUX INPUT i e: PRINTS THE EXTENDED ERROR INFORMATION FROM THE LAST DETECTED ERROR IN NORMAL MODE > 图 10-49:i (HELP on INFORMATION) 命令响应示例 >? a a: PERFORMS A SINGLE-SHOT MEASUREMENT > 图 10-50:? a (HELP ON SINGLE-SHOT MEASUREMENT) 命令响应示例 >? c c: PERFORMS A DIAGNOSTIC OF THE UNIT > 图 10-51:? c (HELP on DIAGNOSTIC) 命令响应示例 >? d d ’,’: CHANGES THE DATAGRAM FORMAT ALLOWED VALUES FOR : 0 = ID, RATE, COUNTER, LATENCY, CRC 1 = ID, RATE, ACCELERATION, COUNTER, LATENCY, CRC 2 = ID, RATE, INCLINATION, COUNTER, LATENCY, CRC 3 = ID, RATE, ACCELERATION, INCLINATION, COUNTER, LATENCY, CRC 4 = ID, RATE, TEMPERATURE, COUNTER, LATENCY, CRC 5 = ID, RATE, ACCELERATION, TEMPERATURE, COUNTER, LATENCY, CRC 6 = ID, RATE, INCLINATION, TEMPERATURE, COUNTER, LATENCY, CRC 7 = ID, RATE, ACCELERATION, INCLINATIONS, TEMPERATURE, COUNTER, LATENCY, CRC 8 = ID, RATE, AUX, COUNTER, LATENCY, CRC 9 = ID, RATE, ACCELERATION, AUX, COUNTER, LATENCY, CRC A = ID, RATE, INCLINATION, AUX, COUNTER, LATENCY, CRC B = ID, RATE, ACCELERATION, INCLINATION, AUX, COUNTER, LATENCY, CRC C = ID, RATE, TEMPERATURE, COUNTER, AUX, LATENCY, CRC D = ID, RATE, ACCELERATION, AUX, TEMPERATURE, COUNTER, LATENCY, CRC E = ID, RATE, INCLINATION, AUX, TEMPERATURE, COUNTER, LATENCY, CRC F = ID, RATE, ACCELERATION, INCLINATIONS, TEMPERATURE, AUX, COUNTER, LATENCY, CRC ALLOWED VALUES FOR : 0 = NONE 1 = > 图 10-52:? d (DATAGRAM TRANSMISSION MODE AND TERMINATION) 响应示例 >? t t [’,’]: CHANGES THE BIT-RATE [bits/s] t [’,’]’,’’,’: CHANGES THE BIT-RATE [bits/s], NUMBER OF STOP-BITS AND PARITY ALLOWED VALUES FOR : 0 = 377400 1 = 460800 2 = 921600 3 = 1843200 f = USER-DEFINED MUST ONLY BE INCLUDED WHEN = f ALLOWED RANGE FOR : 1500 – 5023000 (INTEGER VALUE). SEE STIM300 DATASHEET FOR LIMITATIONS ALLOWED VALUES FOR : 1=1 2=2 ALLOWED VALUES FOR : 0 = NONE 1 = ODD 2 = EVEN > 图 10-53:? t (HELP on TRANSMISSION PARAMETERS) 命令响应示例 >? r r : TURNS LINE TERMINATION ON OR OFF ALLOWED VALUES FOR : 0 = OFF 1 = ON > 图 10-54:r (HELP on LINE TERMINATION) 命令响应示例 >? u u ’,’: CHANGES OUTPUT UNIT ALLOWED VALUES FOR : g = GYRO a = ACCELEROMETER i = INCLINOMETER ALLOWED VALUES FOR u,g,: 0 = ANGULAR RATE 1 = INCREMENTAL ANGLE 2 = AVERAGE ANGULAR RATE 3 = INTEGRATED ANGLE 8 = ANGULAR RATE - DELAYED 9 = INCREMENTAL ANGLE - DELAYED a = AVERAGE ANGULAR RATE - DELAYED b = INTEGRATED ANGLE - DELAYED ALLOWED VALUES FOR u,a,: 0 = ACCELERATION 1 = INCREMENTAL VELOCITY 2 = AVERAGE ACCELERATION ALLOWED VALUES FOR u,i,: 0 = ACCELERATION 1 = INCREMENTAL VELOCITY 2 = AVERAGE ACCELERATION > 图 10-55:? u (HELP on OUTPUT UNIT) 命令响应示例 >? f f <-3dBfreq>: CHANGES THE LP FILTER -3DB FREQUENCY [Hz] FOR ALL SENSORS AND AXES f <-3dBfreq>’,’: CHANGES THE LP FILTER -3DB FREQUENCY [Hz] FOR ALL AXES OF SPECIFIED SENSOR f <-3dBfreq>’,’’,’: CHANGES THE LP FILTER -3DB FREQUENCY [Hz] FOR A SPECIFIC SENSOR AND AXIS ALLOWED VALUES FOR <-3dBfreq>: 0 = 16 1 = 33 2 = 66 3 = 131 4 = 262 ALLOWED VALUES FOR : g = GYRO(S) a = ACCELEROMETER(S) i = INCLINOMETER(S) u = AUX ALLOWED VALUES FOR : x = X-AXIS y = Y-AXIS z = Z-AXIS > 图 10-56:? f (HELP on LP FILTER -3dB FREQUENCY) 命令响应示例 >? m m : CHANGES THE SAMPLE RATE [samples/s] ALLOWED VALUES FOR 0 = 125 1 = 250 2 = 500 3 = 1000 4 = 2000 5 = EXTERNAL TRIGGER > 图 10-57:? m (HELP on SAMPLE RATE) 命令响应示例 >? g g : CHANGES GYRO G-COMP TO A PRE-DEFINED CONFIGURATION g ,: CHANGES GYRO G-COMP TO A PRE-DEFINED CONFIG., BUT SPECIAL LP-FILTER CUTOFF g , ,,[,]: CHANGES CONFIGURATION OF GYRO-G-COMP g , ,,[,]: CHANGES CONFIGURATION OF GYRO-G-COMP ON SPECIFIED AXES ALLOWED VALUES FOR : 0 = = 0, = 0, = 0, = 0 (NO GYRO G-COMP) 1 = = 0, = 0, = 1, = 0 2 = = 0, = 0, = 1, = 1, = 0.01 3 = = 1, = 0, = 0, = 0 4 = = 1, = 1, = 0, = 0, = 0.01 5 = = 2, = 0, = 0, = 0 6 = = 2, = 1, = 0, = 0, = 0.01 7 = = 1, = 0, = 1, = 0 8 = = 1, = 1, = 1, = 0, = 0.01 9 = = 2, = 0, = 1, = 0 a = = 2, = 1, = 1, = 0, = 0.01 b = = 1, = 1, = 1, = 1, = 0.01 c = = 2, = 1, = 2, = 1, = 0.01 ALLOWED RANGE FOR 0.010 – 5.000 (ENTERED VALUE IS IN [Hz]) ALLOWED VALUES FOR and : 0 = OFF (NO G-COMP) 1 = ACCELEROMETER 2 = INCLINOMETER ALLOWED VALUES FOR and : 0 = GYRO G-COMP LP-FILTER NOT IN USE (OFF) 1 = GYRO G-COMP LP-FILTER IN USE (ON) ALLOWED VALUES FOR , and : 0 = NO GYRO G-COMP FOR SPECIFIC AXIS (OFF) 1 = GYRO G-COMP FOR SPECIFIC AXIS (ON) > 图 10-58:? m (HELP on GYRO G-COMP) 命令响应示例 ?k k ’,’: CHANGES THE AUX COMPENSATE COEFFICIENTS > 图 10-59:? k (HELP on AUX COMP) 命令响应示例 >? s s: SAVES SYSTEM PARAMETERS TO FLASH > 图 10-60:? s (HELP on SAVE) 命令响应示例 >? x x n: EXITS SERVICE MODE AND RETURNS TO NORMAL MODE x i: EXITS SERVICE MODE AND RETURNS TO INIT MODE x N: EXITS SERVICE MODE AND RETURNS IMMEDIATELY TO NORMAL MODE x I: EXITS SERVICE MODE AND RETURNS IMMEDIATELY TO INIT MODE NB: NON-SAVED SYSTEM PARAMETERS WILL BE OVERWRITTEN BY STORED CONTENT IN FLASH WHEN EXITING TO INIT MODE > 图 10-61:? x (HELP on EXIT) 命令响应示例 ?z z: RESTORES FACTORY SETTINGS > 图 10-62:? z (HELP on RESTORE TO FACTORY SETTINGS) 命令响应示例 11 标识 图 11-1:STIM300 的标识示例 12 配置/订购信息 该 stim300 将根据配置代码如下所示交付。所有配置参数,可以改变服务模式后,参考第 8.4.3。一 个完整的配置参数列表可以在表 6-8 发现。 粗体字显示的标准配置参数的选择。 Range Measurement Output/RS422 Prod_ID - Sample rate Filte r bandwidth Gyro output unit Acc. output unit Incl. output unit Gyro g-comp - Datagram Bit-rate Termination Range Prod_ID 84455 84458 84167 84461 84467 Gyro 400°/s 400°/s 400°/s 400°/s 400°/s Acc 2g 5g 10g 30g 100g Sample rate: 0 = 125 samples/s 1 = 250 samples/s 2 = 500 samples/s 3 = 1000 samples/s 4 = 2000 samples/s 5 = External Trigger Filter bandwidth: 0 = 16Hz 1 = 33Hz 2 = 66Hz 3 = 131Hz 4 = 262Hz Gyro output unit: 0 = Angular Rate [°/s] 1 = Incremental Angle [°/sample] 2 = Average Angular Rate [°/s] 3 = Integrated Angle [°] 8 = Angular Rate [°/s] – delayed 9 = Incremental Angle [°/sample] – delayed a = Average Angular Rate [°/s] – delayed b = Integrated Angle [°] - delayed Acc. output unit: 0 = Acceleration [g] 1 = Incremental Velocity [m/s/sample] 2 = Average Acceleration [g] Incl. output unit: 0 = Acceleration [g] 1 = Incremental Velocity [m/s/sample] 2 = Average Acceleration [g] Gyro g-comp Bias Source 0.01Hz -filter 0 OFF - 11) OFF - 2 OFF 31) ACC OFF 4 ACC 51) INC ON OFF 6 INC 71) ACC 81) ACC 91) INC a1) INC ON OFF ON OFF ON b ACC ON Scale-factor Source 0.01Hz -filter OFF - ACC OFF ACC ON OFF - OFF - OFF - OFF - ACC OFF ACC OFF ACC OFF ACC OFF ACC ON Datagram Included data Rate Acceleration Inclination Temperature AUX 0 YES NO NO NO NO 1 YES YES NO NO NO 2 YES NO YES NO NO 3 YES YES YES NO NO 4 YES NO NO YES NO 5 YES YES NO YES NO 6 YES NO YES YES NO 7 YES YES YES YES NO 8 YES NO NO NO YES 9 YES YES NO NO YES a YES NO YES NO YES b YES YES YES NO YES c YES NO NO YES YES d YES YES NO YES YES e YES NO YES YES YES f YES YES YES YES YES Bit-rate: 0 = 374400 bits/s 1 = 460800 bits/s 2 = 921600 bits/s 3 = 1843200 bits/s f = User-defined 2) Termination Line 0 OFF 1 ON 2 OFF 3 ON Datagram None None 1)延迟陀螺输出单元,应选 c INC ON INC ON 择此选项 2)必须指定比特率。参见 10.5 节的限制 例如:84167-413020-330 具有以下配置: 陀螺范围=400°/s,加速度范围=10g 采样率= 2000 samples/s 低通滤波器的带宽=33HZ 陀螺输出单元=综合角[°] 加速度计输出单元=加速度[G] 倾角传感器输出单元=平均加速度[G] 无 G / ACC 补偿偏置和比例因子 数据报含速率,加速度和倾角 比特率=1843200 bits/s 报文终止=NONE 线路终端关闭 附注
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