Applied Physics Systems 113D User manual
DOC PN:260-0004 DOC DESC: Model 113DUser Manual SEPTMEBER 2022. REVISION: 0A
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1
MODEL 113D
FLUXGATE MAGNETOMETER
USER MANUAL
CONTACT US
HEADQUARTERS
425 Clyde Avenue Mountain View, CA 94043
OFFICE
650.965.0500
EMAIL
APPLIEDPHYSICS.COM
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COPYRIGHT
Copyright 2014 - 2022 Applied Physics Systems Incorporated.
All Rights Reserved.
The contents of this manual may not be reprinted in part or whole without
permission.
The contents of this manual are subject to change without notice.
TRADEMARKS
All other brands or products mentioned are trademarks or registered trademarks
of their respective holders and should be treated as such.
CONTACT INFORMATION
Applied Physics Systems
Corporate Headquarters
425 Clyde Avenue
Mountain View, California 94043 USA
Phone: 650.965.0500
Web: www.appliedphysics.com
Technical Support Hours:
Monday - Friday
9:00 AM - 5:00 PM
Pacific Standard Time
DOCUMENT NUMBER
260-0004 rev. A
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REVISION HISTORY
Revision
Description
Date
1
Initial draft of this manual.
June 2015
A
New Format
Sept 2022
TABLE OF CONTENTS
MODEL 113D .................................................................................................................................... 1
FLUXGATE MAGNETOMETER ................................................................................................................... 1
COPYRIGHT........................................................................................................................................................................2
TRADEMARKS....................................................................................................................................................................2
CONTACT INFORMATION...........................................................................................................................................2
DOCUMENT NUMBER....................................................................................................................................................2
REVISION HISTORY .........................................................................................................................................................3
FIGURES .................................................................................................................................................... 4
TABLES ...................................................................................................................................................... 4
1–INTRODUCTION........................................................................................................................................................ 5
2-SYSTEMSPECIFICATIONS .................................................................................................................................. 6
3-MECHANICAL FEATURES .................................................................................................................................... 8
4-ELECTRICAL INTERFACE...................................................................................................................................... 9
5–INITIAL SETUP OF THE SYSTEM .......................................................................................................................10
6–OPERATION OF SYSTEM .................................................................................................................................... 12
7–MODEL 113D BINARY MODE PROTOCAL.....................................................................................................13
8-DESCRIPTON OF THE SYSTEM INTERAL CONSTANTS.........................................................................15
9-CHANGING THE BAUD RATE............................................................................................................................16
10 -AVERAGING DATA ACQUISITIONS............................................................................................................. 17
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FIGURES
Figure 1. Model 113D Magnetometer................................................................................................................ 8
Figure 2. Electrical Interface for Model 113D Sensor............................................................................. 9
TABLES
Table 1. System Specifications........................................................................................................................... 6
Table 2. Serial IN and OUT Connections...................................................................................................... 11
Table 3. Commonly Used Byte Constants................................................................................................15
Table 4. Model 113D Commonly Used Float Constants....................................................................16
Table 5. Baud Rates..................................................................................................................................................16
Table 6. Byte 23 Value for Averaging Data Acquisitions ................................................................ 17
Table 7. Model 113D Float Constants ............................................................................................................. 17
Table 8. Byte Constant Numbers and Their Meanings....................................................................19
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1 – INTRODUCTION
The Model 113D Sensor is a tri-axial vector magnetometer system with a high-
speed digital interface that can transmit XYZ magnetic field values at up to 140
times per second.
The 113D System contains a microprocessor and a three channel 16-bit analog to
digital converter. The system also contains a temperature sensor. The functions
performed by the system microprocessor and A to D subsystem are: 1) conversion
of the sensor analog outputs to digital form; 2) calibration of the sensor scale,
offset and alignment; 3) implementation of serial communications between the
system and an external computer.
The 113D System communicates with the outside world over a bi-directional RS232
serial interface. An ASCII character command language has been created to
facilitate communication with the 113D. For instance, if the ASCII characters for 0, S
and D are sent in sequence, the 113D interprets this as a "send data" command and
responds by sending over the serial interface an ASCII string representing the value
of the magnetometer and temperature outputs. The leading zero in this sequence
denotes the system serial number.
An autosend data mode is included in the 113D software. When this mode is active,
data is automatically repeatedly sent out the serial port after power is applied to
the system.
The 113D magnetometers are calibrated by mounting the system in a precision
holding fixture, placing this in a 3-axis Helmholtz coil and systematically applying
known magnetic fields to the sensor. System calibration can be performed at a
base temperature (usually 25°C) or as an option over a temperature range (for
example 0-75°C).
When the system is calibrated over a temperature range, data is read from the
system at temperature intervals between the minimum and maximum
temperature specification. For instance, for calibration over the interval of 0-75°C,
data is usually read at 25°C temperature intervals at 0°C, 25°C, 50°C and 75°C. The
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data taken at each temperature includes scale, offset and sensor alignment data.
The recorded data is then used to create a look up table for scale, offset and
alignment corrections. This table is then downloaded into the 113D internal EEROM
memory where it can be accessed by the system internal microprocessor.
Corrections to the sensor data can then be made by the internal microprocessor
system before data is transmitted.
2 - SYSTEM SPECIFICATIONS
Table 1. System Specifications
Specifications are subject to change without notice.
ELECTRICAL
Input Voltage Range
+4.95 to +12 VDC
Current Draw
80 mA @ 5.0 VDC
Digital Output Protocols
RS232 and TTL
Digital Output Formats
ASCII and Binary
Baud Rate (User Selectable)
300, 1200, 2400, 4800, 9600 (default)
Data Rate in Autosend Mode
ASCII mode: 70 transmissions/sec
Binary mode: 1400 transmissions/sec
Analog to Digital
16-bit
ENVIRONMENTAL
Operating Temperature
Range
0°C to +70°C
Shock
1000 G 1 ms half sine wave
Vibration
10 G RMS random 50 Hz to 500 Hz
PERFORMANCE
Range
±6.0x104 nTesla (±0.6 Gauss)
1.0x105 nTesla (1 Gauss) optional
Resolution
2 nTesla (20 μGauss)
Accuracy @ full-scale
±1%
Noise Level
±0.5 nT (±5 μGauss) peak-to-peak
Frequency Response
70 Hz
PHYSICAL
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Width/Length (PC board)
2.5” (63.5 mm)
Height (PC board)
0.625” (15.88 mm)
Weight
25 g
Input/Output Connections
Flying leads (Teflon insulated) #26 gauge >6”
(152.4 mm) length
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3 - MECHANICAL FEATURES
An outline drawing of the 113D System is shown in Fig. 1. The orientation of the X, Y
and Z axes and the approximate location of the magnetometer sensors is also
shown in Fig. 1. The output polarity sense of the axes is such that a field pointing
in the direction of the arrows shown in Fig. 1 will produce a positive output
voltage. For example, if the X axis magnetometer is pointed north, then the
output will be positive.
Figure 1. Model 113D Magnetometer
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4 - ELECTRICAL INTERFACE
The electrical interface to the Model 113D System is shown in Fig. 2. Flying leads
(#26 gauge Teflon insulated) are used to make connection to the system. The
function of the output wires is shown in Fig. 2.
Figure 2. Electrical Interface for Model 113D Sensor
RS232 serial communications interface to the 113D is provided by the RS232-in and
RS232-out lines shown in Fig. 2. An external computer talks to the 113D on the serial-
in line and replies from the 113D are transmitted out on the serial-out line. The
serial-in and serial-out lines are normally set to operate at 9600 baud with one
stop bit and no parity. The user, however, can change the baud rate by setting bits
in the system EEROM. The TTL serial-out and TTL serial-in terminals on connector J5
are also serial I/Os for the 113D. These I/Os operate at TTL levels.
Two communication protocols are available: 1) ASCII and 2) BINARY. The ASCII
protocol is based upon sending ASCII characters to the 113D to obtain data. The
113D responds by sending out an ASCII data stream complete with carriage returns
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and line feeds so that it can easily be displayed on a computer terminal. The
binary protocol is used for high-speed computer-to-computer interchange. In this
case, one byte is sent to request data. The 113D then responds with a data packet
containing the desired data.
The binary command of the Model 113D is ASCII 128. This command can typically be
sent from a computer terminal by holding down the ALT key, typing 128 on the
keyboard number pad and then releasing the ALT key.
The Model 113D response to this command is of the following form:
<SOT> <MX><MY><MZ><MT><TEMP><ANAI><data check sum><EOT>
See section VII for more details of binary transfer protocol.
5 – INITIAL SETUP OF THE SYSTEM
In order to operate the Model 113D, power must be applied to it and an interface
with an external computer must be set up. The 113D can be powered from dual
input voltages of 4.9V to 12V or optionally, from a single 4.9 to 12V supply.
In order to set up a computer interface with the system, select the output protocol
of the 113D. This can be either TTL or RS232. The TTL protocol is usually used in
microprocessor-to-microprocessor communications. For this mode, the voltage
levels for a 0 and 1 are approximately ground and 5V. In the idle or marking state,
the output level is +5V.
Since PC’s use RS232 protocol, they can be directly connected to a 113D employing
this protocol. PC’s use either a 25 pin or a 9 pin D connector to implement their
serial ports. This connector is always a bulkhead male connector on the PC
chassis. The serial-in, serial- out and ground connections for these connectors are
as follows:
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Table 2. Serial IN and OUT Connections
Function
25 pin
9 pin
Serial-OUT
2
3
Serial-IN
3
2
Ground
7
5
Connect the Model 113D serial output line to the computer in line and the 113D serial
input line to the computer serial out line.
To communicate with the 113D, a terminal program will need to be run on the PC.
The Windows hyperterminal program is one such program. Other suitable terminal
programs are ProComm and ASCII Pro. These programs turn the computer into a
dumb terminal. In this mode, whatever you type on the keyboard goes out the
selected serial port (e.g. Com 1) and whatever comes in the serial port is displayed
on the computer video display.
If you use hyperterminal, you must select the proper Com port (e.g. COM 1, COM 2,
etc.) and set the baud rate to be 9600 with one stop bit and no parity. Set the port
up for direct connect and turn off any handshaking.
To decode the 113D binary response, configure the terminal emulator program (e.g.,
ProCom) to show a monitor screen. This will display the 113D binary response in hex
encoded bytes.
The easiest method of determining if a working communications link with the 113D
has been established is to observe the PC display when the 113D is powered up. The
113D transmits a power up sign-on message which should appear in readable form
on the PC display as follows:
APS Vers: 3.60 SD16
The appearance of an unreadable message at power up may indicate incorrect
protocol (i.e.TTL instead of RS232) or an incorrect baud rate.
6 – OPERATION OF SYSTEM
After establishing communication with the 113D, data can be obtained from the
system by sending (typing) the command 0sd (Zero Send Data). The 0 in this
sequence is the default serial number of the unit. After sending this command, the
113D will respond with an output that appears as follows:
MX: +0.14561
MY: -0.39102
MZ: +0.01125
T: 24.63
The numbers following the MX, MY and MZ headers represent the magnetometer
output in gauss. The temperature (°C) follows the T header.
The 113D operating characteristics are controlled by the systems internal byte
constants. The 113D also has a set of internal float constants which are used to
calibrate the 113 so that it produces accurate output data. Generally, the float
constants correct for scale, offset and orthogonality of the magnetic field
sensors. These constants should not be altered by the user as this will
invalidate the system calibration.
The system byte constants are used to control baud rate, output protocol
(binary or ASCII) and the system autosend mode. Byte constants can be
changed by the user using a two-step process. For instance, if the user is
interested in observing the raw A/D count outputs for the sensor this can be
accomplished by changing byte 02 to 00. For calibrated sensor output, byte 02
should equal 02. To change byte 02 from 02 to 00 issue the following command:
0l<CR>
where 0 is a zero, l is the letter l, and <CR> is a carriage return. Next, issue the
command: 0WC02B00<CR>
Next, issue the command:
0sd<CR>
and the output data format will be raw A/D counts. Change the system
configuration back to calibrated mode by returning the value of byte 02 to 02.
The 113D has an autosend mode which enables data to automatically be sent
repeatedly upon power up. Byte 01 must be set equal to 5A for autosend mode
to be active. The format of the data sent in autosend mode is determined by
the value of byte 08. For repetitive text transmissions, set byte 08=10. For
repetitive binary transmissions, set byte 08=11. To stop auto sending of data
issue the command
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CONTROL
S
This command is sent by holding down the control key and typing S.
To slow down transmissions in auto send mode, set byte 35 to a non-zero value.
When byte 35=40 data transmission in ASCII mode is slowed down to about 1
transmission per second.
7 – MODEL 113D BINARY MODE PROTOCAL
Consider the following data transmissions from a 113D; one in ASCII mode and one
in Binary mode
ASCII
MX : +0.27400
MY : +0.09515
MZ : +0.91134
T : 21.75
BINARY
SOT MX MY MZ
10 0AB4 FC1C 255D
TEMP ANA1 STATUS CS EOT
087E 02BC 80 AZ 7FFF
Binary transmissions start with a hex byte 10 and end with the hex bytes 7FFF.
Magnetometer binary transmissions can be decoded by first converting to
decimal and then dividing by 10,000. For instance, in the above transmission:
MX = 0AB4 = 2740/10000 = 0.27400 Gauss
Temperature is decoded by converting to decimal and dividing by 100
TEMP = 087E = 2174/100 = 21.75°C
The ANA1 transmission represents a transmitted voltage and is not typically used
in the 113D. If used, this voltage can be decoded by dividing by 100
ANA1 = 02BC = 700/100 =7.00V
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The status byte is currently unused.
The CS byte is a checksum and is calculated by summing all of the bytes in the
transmission before the CS byte excluding the SOT character. For the above
transmission the checksum is calculated as follows:
CS = 0A+B4+FC+1C+25+5D+08+7E+02+BC+80 = 41C
The checksum is the lower byte of the sum, or 1C.
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8 - DESCRIPTON OF THE SYSTEM INTERAL
CONSTANTS
The Model 113D employs two types of internal constants 1) byte and 2) floating. Byte
constants are used to configure the system and floating constants are used for the
system calibration. A list of the most important byte and floating constants is shown
below:
Table 3. Commonly Used Byte Constants
Byte
Constant
Function
0
Enables echoing when non zero
1
Enables autosend when = 5A
2
Correction level
00 = raw data
02 = vector (ACSII data type)
03 = angle
8
Sets power on mode as follows:
= 01 Transmits in ASCII mode once
= 10 Transmits continually in ASCII mode
9
Baud Rate Lock
= 5A The sensor is using a baud rate other than 9600
10
Sets baud rate
300
==> 35
1200
==> 33
2400
==> 32
4800
==> 31
Power cycle the unit or the change in baud rate will not take effect.
23
Average control See section 10 - AVERAGING DATA ACQUISITIONS
Float constants are commonly used by Applied Physics Systems for diagnostics
and troubleshooting.
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Although float constants are not commonly used when operating the Model 113D
system, a complete list of float constants are included in Table 4for your
reference.
Table 4. Model 113D Commonly Used Float Constants
Float Constant
Function
04
X magnetometer offset
05
Y magnetometer offset
06
Z magnetometer offset
07 - 09
Not Used
10
X magnetometer scale
11
Y magnetometer scale
12
Z magnetometer scale
13 - 21
Not Used
22-30
System alignment constants
9 - CHANGING THE BAUD RATE
The communications baud rate can be changed by using the following sequence:
1. Set byte constant 10 according to the following table:
Table 5. Baud Rates
BAUD RATE
BYTE CONSTANT 10 VALUE
300
35
1200
33
2400
32
4800
31
2. Set byte constant 09 to 5A.
3. Cycle power off and on.
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When byte constant 09 is set to any value other than 5A, the system baud rate is 9600.
10 - AVERAGING DATA ACQUISITIONS
To reduce noise in noisy environments the data outputs from the 113D can be
averaged. Averages of 2, 4 8, 16, 32 and 64 samples can be obtained by setting the
value of byte 23 to the following values:
Table 6. Byte 23 Value for Averaging Data Acquisitions
BYTE 23 VALUE
AVERAGE VALUE
02
For 2 averages
04
For 4 averages
08
For 8 averages
10
For 16 averages
20
For 32 averages
40
For 64averages
For instance, to set the 113D up for 64 averages, issue the commands:
0l <CR>
0WC23b40 <CR>
Table 7. Model 113D Float Constants
Float Constant
Function
00
Analog Scale
01
Temp Scale
02
Analog Offset
03
Temp Offest
04
X magnetometer offset
05
Y magnetometer offset
06
Z magnetometer offset
07 - 09
Not Used
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10
X magnetometer scale
11
Y magnetometer scale
12
Z magnetometer scale
13 - 21
Not Used
22
Mag Base Ortho (X,X)
23
Mag Base Ortho (X,Y) (Denotes X axis in the Y direction)
24
Mag Base Ortho (X,Z)
25
Mag Base Ortho (Y,X)
26
Mag Base Ortho (Y,Y)
27
Mag Base Ortho (Y,Z)
28
Mag Base Ortho (Z,X)
29
Mag Base Ortho (Z,Y)
30
Mag Base Ortho (Z,Z)
31-42
Not used
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Table 8. Byte Constant Numbers and Their Meanings
Byte
Constant
Function
00
Command Echo Flag
0
No command echo
1
Echo enable
01
Autostart Flag
If 0x5A executes the selected autostart option on powerup
0
No auto send enable
0x05A
Auto send enable
02
Correction Level
0
Raw data
2
Vectors (ACSII data type)
3
Angle
In Angles mode Roll is labeled MX, Pitch is
labelled MY, Heading is labeled MZ, Mag. Roll is
labeled AX, Total Mag Field is labeled AY, Total
Grav. Field is labeled AZ.
03
Months since 1/90 when device was calibrated 04
04
Version of the Calibration Software used
05
Power on self-test flag. If zero a self-test will be done on power up.
06
Enable extended Error Messages (Default -0)
07
Power on delay for data stability (default - 10)
08
Auto Start Mode, On powerup start accepting commands then:
08
0x01: Send data once in ASCII mode.
08
0x10: Send continuously in ASCII mode.
08
0x11: Send continuously in binary mode.
09
Baud Rate Lock
= 5A The sensor is using a baud rate other than 9600
10
User power on baud rate. --Use With Caution--
35
300
34
600
33
120
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32
2400
31
4800
30
9600
Power cycle the unit or the change in baud rate will not take effect.
23
Average control See section 10 - AVERAGING DATA ACQUISITIONS
35
RTS Delay, inserts a time delay between data byte transmissions
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