Epson M-G3 Series User manual

Rev.20181129
IMU (Inertial Measurement Unit)
IMU / USB Interface Board
(M-G3xx, M-V3xx)
Logger Software
User’s Guide

Evaluation board/kit and Development tool important notice
1. This evaluation board/kit or development tool is designed for use for engineering evaluation, demonstration,
or development purposes only. Do not use it for other purpose. It is not intended to meet the requirement of
design for finished product.
2. This evaluation board/kit or development tool is intended for use by an electronics engineer, and it is not the
product for consumer. The user should use this goods properly and safely. Seiko Epson dose not assume any
responsibility and liability of any kind of damage and/or fire coursed by usage of it. User should cease to use
it when any abnormal issue occurs even during proper and safe use.
3. The part used for this evaluation board/kit or development tool is changed without any notice.
NOTICE
No part of this material may be reproduced or duplicated in any form or by any means without the written
permission of Seiko Epson. Seiko Epson reserves the right to make changes to this material without notice.
Seiko Epson does not assume any liability of any kind arising out of any inaccuracies contained in this material
or due to its application or use in any product or circuit and, further, there is no representation that this material is
applicable to products requiring high level reliability, such as, medical products. Moreover, no license to any
intellectual property rights is granted by implication or otherwise, and there is no representation or warranty that
anything made in accordance with this material will be free from any patent or copyright infringement of a third
party. This material or portions thereof may contain technology or the subject relating to strategic products
under the control of the Foreign Exchange and Foreign Trade Law of Japan and may require an export license
from the Ministry of Economy, Trade and Industry or other approval from another government agency.
All brands or product names mentioned herein are trademarks and/or registered trademarks of their respective
companies.
©SEIKO EPSON CORPORATION 2018, All rights reserved.

IMU/USB Interface Board SEIKO EPSON CORPORATION i
Logger Software User’s Guide (Rev.20181129)
Table of Contents
1. Overview ..................................................................................................................... 1
2. Preparation ................................................................................................................. 2
2.1 Requirement................................................................................................................................2
2.1.1 System Requirement .............................................................................................................2
2.1.2 Other Required Software.......................................................................................................2
2.2 Preparing to Use the Software..................................................................................................2
2.3 Installing / Uninstalling the Software .......................................................................................2
3. Using the Software....................................................................................................... 3
3.1 Starting the Software .................................................................................................................3
3.2 Setting..........................................................................................................................................4
3.2.1 Serial Port Settings................................................................................................................4
3.2.2 IMU Settings ..........................................................................................................................5
3.2.3 Log Settings...........................................................................................................................7
3.3 Starting / Stopping Sampling....................................................................................................8
3.4 Self Test .....................................................................................................................................10
3.5 Exiting the Software.................................................................................................................10
3.6 Display and Output Data of Attitude Angle ...........................................................................11
3.7 Automatic Sampling Stop........................................................................................................12
4. Log File ..................................................................................................................... 13
4.1 Raw Data LOG...........................................................................................................................13
4.2 Scale-Adjusted Data LOG........................................................................................................14
4.3 Attitude Angle Sensor Data.....................................................................................................15
4.4 Split Log File .............................................................................................................................15
4.5 Note............................................................................................................................................16
Revision History ............................................................................................................. 17

1. Overview
IMU/USB Interface Board SEIKO EPSON CORPORATION 1
Logger Software User’s Guide (Rev.20181129)
1. Overview
The IMU logger software (“Software”) is an easy-to-use software tool running on the Windows PC designed to
collect data measured on the Inertial Measurement Unit (IMU) together with the USB Interface Board from Seiko
Epson. The Software is offered as a loan to the customers who want to use or evaluate the IMU from Seiko
EPSON.
The Software supports maximum of 6 IMUs of the same model type for the measurement.
Please do not launch multiple instances of the Software on the same PC.
For information about how to install the Software, see Chapter 2.
For information about how to use the Software, see Chapter 3.
IMU list for which this software can be used
V340PDD0
G320PDG0
G364PDC0
G364PDCA
G354PDH0
G365PDC0
G365PDF0
G370PDC0
G370PDF0

2. Preparation
IMU/USB Interface Board SEIKO EPSON CORPORATION 2
Logger Software User’s Guide (Rev.20181129)
2. Preparation
2.1 Requirement
2.1.1 System Requirement
This sub-section describes the system requirement of the Software.
•An IBM PC/AT compatible computer.
•The Software supports Windows 7 (32/64bit Edition) / Windows 10 (64bit Edition).
Other system environments are not tested by Seiko Epson.
• The required specifications for the IBM PC/AT compatible computer are as follows.
Supported OS
Windows 7 (64bit)
Windows 10 (64bit)
CPU
Recommended
2.0GHz Over
RAM
Recommended
2.0GB Over
2.1.2 Other Required Software
•The Software requires the Microsoft .Net Framework 4.5 runtime. Download and install the
Microsoft .Net Framework 4.5 runtime. Follow the Microsoft End-User License Agreement when
the .Net Framework 4.5 runtime is installed and used.
•When the USB Interface board is connected to the PC, the USB driver software from FTDI is required.
For information about the installation, see 2.2 Preparing to use the Software (2). Follow the terms of
use provided by FTDI, when using the USB driver from FTDI.
2.2 Preparing to Use the Software
(1) Fix the IMU on and connect the IMU to the USB Interface Board and then connect a USB cable
between the USB Interface Board and the PC.
(2) If the driver software (USB Serial Converter, USB Serial Port (COMx) is requested when the USB
Interface board is connected, install the driver using either of the following two methods.
•Update the driver via Windows Device Manager. (Automatic Update over the Internet is
recommended.)
•Access the FTDI website (http://www.ftdichip.com/Drivers/VCP.htm) and download the appropriate
driver for the OS you are using.
(3) If the display update of the Software is sluggish, go to Device Manager > USB Serial Port (COMx) >
Port Settings > Advanced, and change the setting of the Latency Time (msec) in BM Options from
“16” (default) to “1”. This may improve the situation.
2.3 Installing / Uninstalling the Software
Decompress the Software package under any folder and just double-click the executable file (Imulogger.exe) to
start the Software. To uninstall the Software, delete the whole decompressed folder. (Registry settings are not
used.)

3. Using the Software
IMU/USB Interface Board SEIKO EPSON CORPORATION 3
Logger Software User’s Guide (Rev.20181129)
3. Using the Software
This chapter describes basics of using the Software.
3.1 Starting the Software
Start the executable file of the Software (ImuLogger.exe).
* When this software is started for the first time or the IMU model is changed, restart the software after setting
“3.2.1 Serial port setting”.
・Example of Main Screen when the attitude angle output is not supported with IMU model.
・Example of Main Screen when the attitude angle output is supported with IMU model.

3. Using the Software
IMU/USB Interface Board SEIKO EPSON CORPORATION 4
Logger Software User’s Guide (Rev.20181129)
3.2 Setting
Start the executable file of the Software (ImuLogger.exe). Click the “Setup” tab in the upper part of the window
and click the “Config” button to open the setup window. The setup window has three tabs: one for Serial Port
settings, one for IMU settings, and one for Log settings. Click the “OK” to activate the settings and close the
window.
3.2.1 Serial Port Settings
(1) Configure the “Connect” to control the connection to each IMU. When the IMU is “checked”, the
connection is enabled.
(2) Configure the “Port”. Check the available port number for USB Serial Port (COMx) in the Device
Manager. Baud rate setting is fixed at 460800 baud.
(3) After changing the Serial Port settings, restart the Software. After restarting, the settings will
become effective.

3. Using the Software
IMU/USB Interface Board SEIKO EPSON CORPORATION 5
Logger Software User’s Guide (Rev.20181129)
3.2.2 IMU Settings
(1) In “Data Output Rate (Sps)”, specify the data output rate for the IMU. Select from the following
options. (Sps: Samples / sec)
- V340PDD： 15.625, 31.25, 62.5, 125, 250, 500, 1000 (Sps)
- Other Models：
15.625, 20, 25, 31.25, 40, 62.5, 80, 100, 125, 200, 250, 400, 500, 1000, 2000 (Sps)
(2) In “Filter TAP Number”, configure the built-in filter in the IMU. Select from the following options.
- No Filter/TAP1
- Moving Average Filter: 2, 4, 8, 16, 32, 64, 128
- Kaiser Filter (parameter=8)
Tap：32, 64, 128
Fc：50, 100, 200, 400Hz
* Although it is possible to specify “No Filter/TAP1”, this setting is not recommended.
* Please refer to the appropriate IMU data sheet for recomended Filter TAP Number of each Data Output
Rate(Sps)
* Kaiser filter is available only for G320PDG0, G364PDC0, G364PDCA, G354PDH0,
G365PDC0, G365PDF0, G370PDC0, G370PDF0.
(3) “Basic Orientation” is available only for G365PDC0, G365PDF0. When this is the case, please specify
the orientation of the IMU for X, Y and Z axis.
(4) In “Data Format”, specify the bit width of IMU output data.
- 16bit Data
- 32bit Data
* 32bit Data setting is only for G320PDG0, G364PDC0, G364PDCA, G354PDH0,
G365PDC0, G365PDF0, G370PDC0, G370PDF0.
* In case of 32bit Data setting, Maximum Data Output Rate (Sps) is 1,000 (Sps).
(5) In “Count Function”, select SamplingCount or ResetCount.
(6) The “Attitude Output” conditions are configured in “angle”.
- If “angle” is checked, it becomes enabled and active
- Select Output mode “Absolute Inclinometer Mode” or “Euler Angle Mode”
- Select “Data Format” to 16bit or 32bit for output
* Attitude Output is available only for G365PDC0, G365PDF0.

3. Using the Software
IMU/USB Interface Board SEIKO EPSON CORPORATION 6
Logger Software User’s Guide (Rev.20181129)
・Screen Image for V340PDD, G320PDG0, G364PDC0, G364PDCA, G354PDH0, G370PDC0, G370PDF0.
・Screen Image for G365PDC0, G365PDF0

3. Using the Software
IMU/USB Interface Board SEIKO EPSON CORPORATION 7
Logger Software User’s Guide (Rev.20181129)
3.2.3 Log Settings
(1) In “Folder”, specify the full path of the log folder. Click the “…” button to the right and select the log
folder in the file selection dialog box.
* Default Log folder in the software is “C:\imu_data\”
* Please select the user accessible folder for the log folder.
(2) In “Delimiter”, specify the delimiter character.
•Comma: Comma delimiter
•Tab: Tab delimiter
(3) In “Unit”, specify the data format used when the measurement data are saved.
•Digit: Raw data
•Scale: Scale-adjusted data (raw data multiplied by the scale factor)
The unit of output value can be selected from the following.
Gyro：the unit of output value “dps”or “rad/s”
Accl：the unit of output value “mG”or “m/s2”
Attitude：the unit of output value “deg”or “rad”* only for G365PDC0, G365PDF0.
(4) In “Comment”, specify the comment recorded in the beginning of the log file.
(5) In “CheckSum”, specify the logging of communication data error checking status.
(6) In “MaximumEntries”, specify the maximum sample entries per CSV “split” log file.
(7) In “MeasureControl”, specify the automatic sampling stop condition.
Set "Enable/disable automatic sampling stop" by "Termination condition" check.
The stop condition is set by time (Time) or sampling number (Count).
* The automatic sampling stop function is automatically disabled once it is executed.