DAS MSENS-GY User manual

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3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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1. This equipment is 3-axis, use the following information to be checked.
2. Check used to test the power. 10 ~ 30Vdc voltage is used. In noisy
environments must be connected to the ground.
3. Connect the correct cable to determine the index, please. Incorrect
connection may result in damage of the equipment.
4. 1 year warranty on this product.
1. Navigation of vehicle, Speed detecting.
2. Earthquake Detection, Tilt measurement
3. Motion Control
4. Virtual Reality System Application
5. Measurement of the bridge safety inspection
6. vibration of Facilities, equipment and structures detection
Before using
Applications

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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１MSENS-GY features and specifications
１-１Features
The main advantage of MSENS-GY is to measure motion about all directions, and it is
possible to output angle value about gyro. It provides best solution about any
application by Microprocessor. The user settings can be stored in internal memory of
sensor. (direction, the analog output range, the sensor ID, specify the initial value, etc.) In
addition, because the sensor RS-485 communication can be connected to more than
1Km, a line can be connected to Maximum 254 sensors. Core sensor shield to prevent
penetration through the strong noise, motors, etc. can be used in strong noise
environment. Sensors have been molded silicone inside can be used in inclement weather
１-２Size
Pic 1.1 MSENS-GY size
wire Index
RED V+
BLACK GND
GREEN 485-A(P)
WHITE 485-B(N)
YELLOW OUT
BLUE TRIGGER
Z(YAW) 값
각도 0
초기화 입력

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１-３Specifications
zMeasuring Range
Angle( Roll,Pitch, Yaw) : ±180 full-range
Angular velocity. ( Roll,Pitch, Yaw) : ±250, ±500, ±2000 〬/sec
zCore sensor
-3 axis gyro + 3 axis accelelometer.
-Range(Roll ,Pitch, Yaw, 〬/sec) : ±250 (default)
-Bias Stability In-Run(°/hr) : < 12
-Bias Stability Over Temp(〬/sec) : <±0.5
-Scale Factor Accuracy(%) : <1
-Resolution(〬/sec) : 0.02
-Angle Random Walk(°/sq-rt hr) : <3
-Bandwidth(Hz) : 100
zPower
Typical : 12Vdc
The sensor was unregulated power (10~30Vdc) supply is also available.
Current : <50mA at 12Vdc
zResolution
Gyro angular velocity : 8.75 mdps
Gyro Angle output : 0.1°
Max total error : 0.25%(FS)
z Housing
IP66, PVC Case, Water-proof Housing : The Sensor can be waterproof
silicone molding.
z OperationgTemperature
-20 to .. +85°C
z Weight
about 68g
z Cable
6P Shield cable, 50CM

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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Output
２-１ ２-１ RS-485 Serial output (default 115200,8,1,n)
format : Ex) [1909123494591923]54CR (’9’ is space)
[ID9MODE9X(ROLL)9Y(PITCH)9Z(YAW)]+Checksum+ CR
２-２ 0~5V Voltage output. (default type)
- Yellow cable through the output.
- User can change output axis by serial command.
- Lowest range : 100mV (It can be changed between 100 ~ 1,000mV by
order made)
- Highest range : 4900mV (It can be changed between 4000 ~ 4900mV by
order made)
- Center Value : middle value between Low output and High output
２-３ 4~20mA Current output .(order made)
- Yellow cable through the output.
- User can change output axis by serial command.
- Lowest range : 4.32mA
- Highest range : 19.68mA
- Center Value : 12mA.

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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２ Sensor axis directions
MSESE-GY measures 3-axis gyro sensor (Roll, Pitch, Yaw).
3-axis directions are following.
X (Roll )
Y ( Pitch ) Z ( Yaw )
Pic .3-1 Each axis direction
Pic .3-2 3-axis directions

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３ Wiring
MSESE-GY for a six-stranded shielded cable is used. Supply voltage 2-line, RS-485
2-line, mA output consists of a line. RS-485 and the unused line of mA output
does not touch the other by cutting the cable must be insulated. When using RS-
485 distance is longer than 50M 120 Ohm termination is recommended. In
addition, if multiple sensors connected in parallel to use in the termination
resistors.
３-１RS-485 Wiring.
RS-485 communications can be read sensor value when the one or more
sensors can be connected in parallel to a line. However, caution this time, each
sensor's ID to be different, continuous data read (# READ) instruction, such as ID
and to answer all the sensors, regardless of instruction should not be used. And
when you use multiple sensors to allow sufficient power supply wiring should be
designed.
Pic 4.1 Cable Index

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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Pic 4.2 RS-485 Parallel connection diagram
３-２ Analog Wiring
The analog output is voltage(default) or current output.
Output axis of analog is changed by user command. The default output axis is
Yaw.
Pic 4.3 3 Analog of voltage wiring
Pic 4.4 Analog of current wiring
(mV) out V
GND
A
GND
Acceleration VS Voltage output

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４MSENS-GY Communication Commands
First of all the transfer of 'CR' will be sent by appending.
Example> In case ID = 1 , MODE = 0,
Send format : <1 Command> + Check-sum + CR
Receive format : [1 0 “Pich”“Roll”“Yaw”] + Check-sum + CR
Example of calculation checksum)
<1 START> = ‘<‘ XOR ‘1‘ XOR ‘‘ XOR ‘S’ XOR ‘T’ XOR ‘A’ XOR ‘R’ XOR ‘T’ XOR ‘>’
= CHECK_SUM
Command Echo CMD VALUE Function Data output
Data
OutPut
<1> x x 1time data [1 0 1234 45 4567]
<1 START> [1 START] x Continues
data
[1 0 1234 45 4567]
<1 STOP> [1 STOP] x Stop output
Set-up
command
<1 ID 254> [1 ID 254] 1~254 ID Change
<1 SPEED 1> [1 SPEED 0] 1, 2, 3 baudrate
<1 MODE 0> [1 MODE 0] Angle:0,
angular
velocity :1
MODE
change
<1 SCALE 1> [1 SCALE 1] GY: 1,2,8
AC: 2,4,8
Full Scale
Setting
<1 ANALOG 2> [1 ANALOG 2] X:0, Y:1, Z:2 Analog 출력
축 설정
<1 OFFSET 3.5> [1 OFFSET 3.5] Voltage(mV) Analog output
axis offset
<1 SPAN 1.05> [1 SPAN 1.05] Scale
Factor
Analog output
span
<1 CALI> [1 CALI 12 34 56] x Gyro Bias
Calibration
<1 INIT> [1 INIT] x Set to YAW 0
<1 SAVE> [1 SAVE] x Save Setting
<1 RESTORE> [1 RESTORE] x Default setting
values return
<1 VER> [1 VER MSENS-GY 01.00] x Version
information

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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Table 5.1 Command
４-１ One-time data output
COMMAND <1>
Function One-time data output
Example (id=1) <1>
Echo N/A
Output [1 0 1234 45 1923]
Attention) All of following example is for ID 1, MODE 1.
Mode ’0’
Output data is applied Kalman filler. It is good for slow measurement and more correct
value.
Unit is mg/DIGIT. ex) 1234 = 1234 mg = 1.234 g
[10123445 1923] ÅID=1, MODE=0, X=1234, Y=45, Z=1923
Mode ‘1’
Output data is not applied Kalman filler. It is good for fast and more roughly
measurement.
Unit is mg/DIGIT ex) 1234 = 1234 mg = 1.234 g
Output is include scale value.
[1 11 522 2345 1253]Å ID=1, MODE=1 ,SCALE=1,X=522, Y=2345, Z=1253
(Attention) When the Mode is ‘1’, output interval is 10msec.

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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４-２ Continuously data output
COMMAND <1 START>
Function Continuously data output
Example (id=1) <1 START>
Echo [1 START]
Output(mode=0) [1 0 1234 45 1923]
After send command, send the save command. If don’t send save command, lost
command when turn off.
Attention) Do not send ‘START’ command to more 2 device with RS485.
４-３ Stop data output
COMMAND <1 STOP>
Function Stop data output
Example (id=1) <1 STOP>
Echo [1 STOP]
If output speed is high, Send ‘STOP’ command several times until data output is stop.

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４-４ ID Setting
COMMAND <1 ID “New ID”>
Function ID Setting and check
Default 1
Example (new id=123) <1 ID 123>
Echo [1 ID 123]
MSENS-GY has own ID number (1~254). Default ID number is ‘1’.
You want know ID number, do following
Connect to pc on RS45
and send <0>. The return value is ID,, MODE , X,Y,Z.
[1 0 1234 45 1923]
It mean is ID=1 , MODE=0, X=1234, Y=45, Z=1923
(Attention) After send command, send the save command. If don’t send save command,
lost command when turn off.

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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４-５ Data output type setting
COMMAND <1 MODE “VALUE”>
Function Data output type setting
Value 0 , 1
Default 0
Example (new MODE=1) <1 MODE1>
Echo [1 MODE1]
It is setting data output type and check.
Default value of MODE is ‘0’
MODE 0 : Output data is applied Kalman filler. It is good for slow measurement and
more correct value.
MODE 1 : Output data is not applied Kalman filler. It is good for fast and more roughly
measurement.
If you wand know what is the set MODE, Send <1 MODE>. Then return value is [1
MODE 0]. It mean is MODE 0.
４-６ Full Scale Setting
COMMAND <1 SCALE “VALUE”>
Function Full Scale Setting
Value 1, 2, 8
Default 1
Example (NEW SCALE=8) <1 SCALE 8>
Echo [1 SCALE 8]
It is to set full scale of gyro sensor and check.

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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SCALE DPS
1 ±250
2 ±500
8 ±2000
Default value is 1(±250 DPS)
If you want know what is SCALE value, send <1 SCALE>
Return value is [1 SCALE 8]. It means the scale value is 8(±2000 DPS)
Output unit is always mdps.
４-７Data output interval
COMMAND <1 INTERVAL “VALUE”>
Function Data output interval
Value 10 ~ 1000
Default 100
Example (INTERVAL=10mS) <1 INTERVAL 10>
Echo [1 INTERVAL 10]
It is setting data output interval and check.
The setting unit is msec. Range is from 10[msec] to 1000[msec].
Setting step is 10[msec].
Default value is 100 [msec.
But, interval is only 10[msec] when MODE 1.
Send Command : <1 INTERVAL>
Return value : [1 INTERVAL 10] It mean is 10[msec].

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４-８Baudrate of serial
COMMAND <1 SPEED “VALUE”>
Function RS485 Baudrate of serial
Value 1, 2, 3
Default 1
Example (SPEED=2) <1 SPEED 2>
Echo [1 SPEED 2]
It is setting baudrate of RS485 and check..
Default value is Baudrate:115200, Data bit:8, Stop bit:1, parity:None
SPEED BAUD RATE
1 115200
2 57600
3 38400
If you wand know what is baudrate value, send <1 SPEED >.
Return value is [1 SPEED 1]. It mean is 115200(baudrate is 115200).
４-９Axis of analog output setting
COMMAND <1 ANALOG “VALUE”>
Function Axis of analog output setting
Value 0, 1, 2
Default 2
Example (ANALOG=0) <1 ANALOG 0>
Echo [1 ANALOG 0]
It is setting axis of analog output and check.

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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Default value is 2(Yaw axis).
ANALOG AXIS
0 X (ROLL),
1 Y (PITCH)
2 Z (YAW)
If you want know what is output axis of analog. Send <1 ANALOG>.
Return value is [1 ANALOG 0].
zAnalog value is deferent depend on FULL SCALE.
±2g : -2g : 0.5V, 0g : 2.5V, +2g : 4.5V 출력.
±8g : -8g : 0.5V, 0g : 2.5V, +8g : 4.5V 출력
4~20 mA : 0.5V = 5.6 mA, 2.5V = 12 mA, 4.5V = 18.4 mA
４-１０Analog output offset setting
COMMAND <1 OFFSET“VALUE”>
Function Analog output offset setting
Value Real
Default 0
Example (OFFSET=3.5) <1 OFFSET 3.5>
Echo [1 OFFSET 3.5]
It is setting for analog output offset and check.
Default value is 0[mV].
It has two kind of type. One of them is voltage, other one is current. It is setting by
order made. Default is voltage.
If sensor is current output type and setting value is 1, output is change to 3.2uA up.
Example) <1 OFFSET 3.5>Å 3,5mV up.
<1 OFFSET -12.5>Å -12.5mV down.

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If you want know what is offset setting value, send <1 OFFSET>.
Return value is [1 OFFSET -12.5]. It means offset setting value is -12.5 mV.
４-１１ Span of analog output setting
COMMAND <1 SPAN“VALUE”>
Function Span of analog output setting
Value Real
Default 1
Example (SPAN=1.00452) <1 SPAN1.00452>
Echo [1 SPAN1.00452]
It is setting for span of analog (mV or mA) output and check.
Default value is 1.
Example)
<1 SPAN 1.00452>Å Voltage output is FULL SCALE * 1.00452
<1 SPAN 0.9987>Å Voltage output is FULL SCALE * 0.9987
If you wand know what is SPAN setting value, Send <1 SPAN.
Return value is [1 SPAN0.9987
４-１２GyroBiasCalibration
COMMAND <1 CALI >
Function Gyro Bias Calibration
Example <1 CALI>
Reply [1 CALI 123 24 43]
It is to calibration for bias of core gyro sensor
It needs about one second.
Do not change except if you know this function well.
Return value is [1 CALI123 24 43]. It means X-bias : 123 , Y-bias : 23 , Z-bias : 43

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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４-１３Z(Yaw) 0 Degree Initial Setting
COMMAND <1 INIT>
Function １-１Z(Yaw) 0 Degree Initial Setting
Example <1 INIT>
Echo [1 INIT]
It is to change the value of angle of Yaw to 0.
It is same that the blue-line is connected red-line(+V) very sort time.
４-１４Save setting values
COMMAND <1 SAVE>
Function Save setting values
Example <1 SAVE>
Echo [1 SAVE]
It is to save to EEPROM setting values.
４-１５Conform the S/W version
COMMAND <1 VER>
Function Conform the S/W version
Example <1 VER>
Reply [1 VER MSENS-GY 01.00]
If you want know what is S/W version, send <1 VER>
Return value is [1 VER MSENS-AC 01.0].
４-１６Return all setting values to default

3-axis accelerometer & 3-axis gyro sensor MSENS-GY User’s manual
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COMMAND <1 RESTORE>
Function Return all setting values to default
Example <1 RESTORE>
Echo [1 RESTORE]
All setting values in EEPROM are return to default except baudrate.
５ Install PC Program
５-１Download pc program
The setup program is technical board of website( http://www.das-co.com).
５-２ Install
zDouble click the icon of setup.
zInput the install path.

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zFinish
６ MSENS-Viewer Main window
６-１MAIN
zMSENS-AC
zMSENS-GY