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UM6 PDF 데이터시트 : 부품 기능 및 핀배열

부품번호 UM6
기능 Ultra-Miniature Orientation Sensor
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UM6 데이터시트, 핀배열, 회로
UM6 Ultra-Miniature Orientation Sensor Datasheet
Document rev. 2.4, updated 10/14/2013
1. Introduction
Device Overview
The UM6 Ultra-Miniature Orientation Sensor
combines sensor measurements from rate
gyros, accelerometers, and magnetic sensors
to measure orientation at 500 Hz. The UM6
also has the capability to interface with
external GPS modules to provide position,
velocity, course, and speed information.
Communication with the UM6 is performed
over either a TTL (3.3V) UART or a SPI bus.
The UM6 is configured by default to
automatically transmit data over the UART.
The UM6 can be configured to automatically transmit raw sensor data, processed sensor data,
angle estimates, and angle estimate covariances at user configurable rates ranging from 20 Hz to
300 Hz in roughly 1 Hz increments. The UM6 can also receive and parse GPS packets,
automatically transmitting new GPS position, velocity, and satellite data whenever it is
available. Alternatively, the UM6 can operate in "silent mode," where data is transmitted only
when specific requests are received over the UART. Regardless of the transmission mode and
rate, internal angle estimates are updated at 500 Hz to improve accuracy.
The UM6 simplifies integration by providing a number of automatic calibration routines, including
rate gyro bias calibration, magnetometer hard and soft iron calibration, and accelerometer
"zeroing" to compensate for sensor-platform misalignment. All calibration routines are triggered
by sending simple commands over the serial interface.
The UM6 comes factory-calibrated to remove soft and hard iron distortions present in the
enclosure. When integrated into the end-user system, additional calibration may be necessary
to correct other magnetic field distortions. Magnetometer calibration can be performed using
the UM6 interface software, available for free download from www.chrobotics.com/downloads.
Temperature compensation of rate gyro biases is also supported by the UM6. An internal
temperature sensor is used to measure temperature, and third-order compensation is applied to
remove the effects of temperature-induced bias. By default, the terms used in compensation
are all zero, which means that no temperature compensation is performed. The compensation
terms must be determined experimentally by the end-user. On special request, compensation
can be performed on each device at the factory.
The UM6 can be configured to use either Euler Angles or quaternions for attitude estimation. In
Euler Angle mode, magnetometer updates are restricted to yaw alone. This can be useful in
cases where distortions are possible or even expected, and where it would be undesirable for
those distortions to affect pitch and roll angles (i.e. on a flying rotorcraft). In quaternion mode,
Euler Angles are still available, but there are no restrictions on what angles the magnetometer is
allowed to influence.
The UM6 is available in an OEM version (the UM6-LT) that has a slightly larger footprint and does
not include an enclosure. The UM6-LT is functionally equivalent to the UM6, but magnetometer
calibration is not performed at the factory.
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UM6 pdf, 반도체, 판매, 대치품
UM6 Ultra-Miniature Orientation Sensor Datasheet
Document rev. 2.4, updated 10/14/2013
10. COMMUNICATING WITH THE UM6 ...........................................................19
10.1. UART Communication.................................................................................................................. 20
10.1.1. UART Serial Packet Structure ..................................................................................................... 21
10.2. Example UART Communication.................................................................................................. 23
10.3. SPI Bus Communication ............................................................................................................... 27
11. UM6 REGISTER OVERVIEW......................................................................29
11.1. UM6 Configuration Registers ....................................................................................................... 30
11.1.1. UM6_COMMUNICATION Register (0x00)............................................................................... 33
11.1.2. UM6_MISC_CONFIG Register (0x01)....................................................................................... 35
11.1.3. UM6_MAG_REF_X (0x02) ........................................................................................................ 35
11.1.4. UM6_MAG_REF_Y (0x03) ........................................................................................................ 35
11.1.5. UM6_MAG_REF_Z (0x04)......................................................................................................... 36
11.1.6. UM6_ACCEL_REF_X (0x05) .................................................................................................... 36
11.1.7. UM6_ACCEL_REF_Y (0x06) .................................................................................................... 36
11.1.8. UM6_ACCEL_REF_Z (0x07)..................................................................................................... 36
11.1.9. UM6_EKF_MAG_VARIANCE (0x08) ...................................................................................... 37
11.1.10. UM6_EKF_ACCEL_VARIANCE (0x09)............................................................................... 37
11.1.11. UM6_EKF_PROCESS_VARIANCE (0x0A) ......................................................................... 37
11.1.12. UM6_GYRO_BIAS_XY (0x0B)............................................................................................. 38
11.1.13. UM6_GYRO_BIAS_Z (0x0C) ................................................................................................ 38
11.1.14. UM6_ACCEL_BIAS_XY (0x0D) ........................................................................................... 38
11.1.15. UM6_ACCEL_BIAS_Z (0x0E)............................................................................................... 38
11.1.16. UM6_MAG_BIAS_XY (0x0F) ............................................................................................... 39
11.1.17. UM6_MAG_BIAS_Z (0x10)................................................................................................... 39
11.1.18. UM6_ACCEL_CALxx (0x11 - 0x19) ..................................................................................... 39
11.1.19. UM6_GYRO_CALxx (0x1A - 0x22) ...................................................................................... 39
11.1.20. UM6_MAG_CALxx (0x23 - 0x2B) ........................................................................................ 40
11.1.21. UM6_GYROX_BIASx (0x2C - 0x2F) .................................................................................... 40
11.1.22. UM6_GYROY_BIASx (0x30 - 0x33) ..................................................................................... 41
11.1.23. UM6_GYROZ_BIASx (0x34 - 0x37)...................................................................................... 41
11.2. UM6 Data Registers ....................................................................................................................... 42
11.2.1. UM6 Data Register Overview...................................................................................................... 42
11.2.2. UM6_STATUS (0x55) ................................................................................................................ 45
11.2.3. UM6_GYRO_RAW_XY (0x56) ................................................................................................. 46
11.2.4. UM6_GYRO_RAW_Z (0x57)..................................................................................................... 46
11.2.5. UM6_ACCEL_RAW_XY (0x58) ............................................................................................... 46
11.2.6. UM6_ACCEL_RAW_Z (0x59)................................................................................................... 47
11.2.7. UM6_MAG_RAW_XY (0x5A) .................................................................................................. 47
11.2.8. UM6_MAG_RAW_Z (0x5B) ...................................................................................................... 47
11.2.9. UM6_GYRO_PROC_XY (0x5C) ............................................................................................... 47
11.2.10. UM6_GYRO_PROC_Z (0x5D)............................................................................................... 48
11.2.11. UM6_ACCEL_PROC_XY (0x5E) .......................................................................................... 49
11.2.12. UM6_ACCEL_PROC_Z (0x5F).............................................................................................. 49
11.2.13. UM6_MAG_PROC_XY (0x60) .............................................................................................. 50
11.2.14. UM6_MAG_PROC_Z (0x61) ................................................................................................. 50
11.2.15. UM6_EULER_PHI_THETA (0x62) ....................................................................................... 51
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UM6 전자부품, 판매, 대치품
UM6 Ultra-Miniature Orientation Sensor Datasheet
Document rev. 2.4, updated 10/14/2013
Table 70 - Satellite Data Register Description..................................................................................56
Table 71 - Summary of UM6 Commands .........................................................................................56
2. Revision History
Rev. 1.0 - Initial Release
Rev. 1.1 - Removed information describing unsupported self-test feature
Rev. 2.0 - Added descriptions of GPS communication and SPI communication features
Rev. 2.1 - Added SPI bus information and fixed various small discrepancies
Rev. 2.2 - Adjusted SPI documentation
Rev. 2.3 - Fixed SPI bus clock polarity information
Rev. 2.4 Added more details to the SPI communication section. Added UART examples.
3. Absolute Maximum Ratings
Table 1 - UM6 Absolute Maximum Ratings
Note: operating the UM6 at or above its maximum ratings can cause permanent damage to the
device and is not recommended.
Symbol
Vdd
Vin
A
Top
Tstg
Ratings
Supply voltage
Input voltage on any digital IO pin
Acceleration
Operating temperature range
Storage temperature range
Maximum Value
-0.3 to +6.5V
-0.3 to 5.1 V
3000 g for .5 ms
10000 g for .1 ms
-40 to +85
-40 to +125
Unit
V
V
°C
°C
4. Electrical Characteristics
Table 2 - UM6 Electrical Characteristics
Symbol Parameter
Test condition
Vdd Supply voltage
Idd Supply current
+5V supply voltage
Min.
3.5
50
Typ.
Max.
3.5 - 5.0 5.0
52 58
Unit
V
mA
Table 3 - Gyro Characteristics
Symbol Parameter
FSA Measurement
Range
CAS Cross-axis
sensitivity
SSF Sensitivity Scale
Factor
SSV Sensitivity Scale
Factor Variation
over Temperature
OffDr
Zero-rate level
change vs.
temperature
Test Condition
-40°C to +85°C
-40°C to +85°C
Min.
Typ.
+/- 2000
Max.
Unit
°/s
2%
13.513 14.375 15.238 LSB/°/s
+/- 10
%
+/- 40
°/s
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