LORD MV5-AR User manual

LORD USER MANUAL
MV5-AR
Compact, Ruggedized Attitude Reference and IMU

LORD®Sensing
459 Hurricane Lane Suite 102
Williston, VT 05495
United States of America
Phone: [phone]
www.microstrain.com
[email protected]
[email protected]
Copyright © 2019 LORD Corporation
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Document 8500-0091 Revision -
Subject to change without notice.

Table of Contents
1. Sensor Overview............................................................................................5
2. Basic Setup and Operation...........................................................................6
2.1 Installation...............................................................................................6
2.2 Sensor Calibration ..................................................................................6
2.3 Temperature Calibration .........................................................................6
2.4 Cabling and Termination.........................................................................7
3. Technical Data ...............................................................................................8
3.1 IMU Accelerometer Specifications (3 Axis).............................................8
3.2 IMU Gyroscope Specifications (3 Axis)...................................................8
3.3 Inclinometer Specifications (2 Axis) ........................................................9
3.4 System Interface .....................................................................................9
3.5 Power Supply..........................................................................................9
3.6 Environmental .......................................................................................10
3.7 EMC & Electrical Compliance Standards..............................................10
3.8 Physical Specifications .........................................................................11
3.9 Dimensions ...........................................................................................11
3.10 Mounting & Pinout.................................................................................12
4. CAN Messages and Communication .........................................................13
4.1 Standard Broadcast Data......................................................................13
4.2 CAN J1939 Device Information.............................................................13
4.2.1 CAN J1939 Device Information......................................................13
4.2.2 Angular Rate 61482 (PGN 0xF02A) ..............................................14
4.2.3 Acceleration 61485 (PGN 0xF02D) ...............................................15
4.2.4 Slope Sensor 61481 (0xF029).......................................................16
4.3 Standard Commands ............................................................................16
4.3.1 Request Information 59904 (PGN 0xEA00)...................................16
4.3.2 ACKM 59392 (PGN 0xE800) .........................................................17
MV5-AR USER MANUAL

4.3.3 Commanded Test 58112 (PGN 0xE300).......................................17
4.3.4 Commanded Test Result 65232 (PGN 0xFED0)...........................17
4.3.5 Supported Tests 65234 (PGN 0xFED2) ........................................18
4.3.6 Commanded Address 65240 (PGN 0xFED8)................................18
4.3.7 Address Claim 60928 (PGN 0xEE00)............................................18
4.3.8 Address Claim Procedure ............................................................19
4.3.9 Stop/Start Broadcast 57088 (PGN 0xDF00)..................................20
4.3.10 Proprietary Messaging Information 39680 (PGN 0x9B00)...........21
4.4 Device Information ................................................................................21
4.4.1 Software Identification 65242 (PGN 0xFEDA)...............................21
4.4.2 ECU Identification Information 64965 (PGN 0xFDC5)...................22
4.4.3 Component Identification 65259 (PGN 0xFEEB)...........................22
4.5 Configuration Commands .....................................................................23
4.5.1 Set/Get MV5 J1939 NAME 45312 (PGN 0xB100).........................23
4.5.2 Set/Get Data Period (Rate) 45568 (PGN 0xB200) ........................24
4.5.3 Set/Get Filter Bandwidth 45824 (PGN 0xB300).............................24
4.5.4 RESET ATTITUDE 46080 (PGN 0xB400).....................................24
4.4.5 Create Sensor to Vehicle Rotation 46336 (PGN 0xB500) .............25
4.5.6 Set/Get Sensor to Vehicle Rotation 46592 (PGN 0xB600)............25
4.5.7 LOCK/UNLOCK Configuration Mode 49152 (PGN 0xC000) .........26
5. Repair and Support .....................................................................................27
5.1 Repair and Calibration ..........................................................................27
5.2 Technical Support .................................................................................27
5.3 Sales Support .......................................................................................28
6. Safety ............................................................................................................29
MV5-AR USER MANUAL

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MV5-AR USER MANUAL
1. Sensor Overview
The LORD Sensing MV5-AR brings a new level of precision to measurements of dynamic
inclination, acceleration, and angular rate in challenging environments such as those
encountered in heavy-duty construction, off-highway, agriculture, and trucking industries.
The MV5-AR utilizes the power of a sophisticated Auto-Adaptive Extended Kalman Filter
(EKF) to remove errors associated with vibration, sudden linear motions, and quake, resulting
in a true reading of inclination under all conditions. The wide bandwidth, high-range, low noise
20g accelerometer and 1000dps gyroscope allow accurate IMU measurements of the most
extreme events, making it ideal for monitoring shock and vibration fatigue.
LORD Sensing's state-of-the-art temperature compensation and calibration assures error-free
performance over the full operational temperature range.
The compact size, wide 4.5 to 36 V power range, IP68 / IP69K rating, and CAN J1939 or
CANopen communications interface options make the MV5-AR a single part solution for a full
range of vehicle sizes and applications.

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MV5-AR USER MANUAL
2. Basic Setup and Operation
2.1 Installation
The sensor has three mounting holes and three socket head cap screws for fastening; M8
or equivalent. The sensor can be mounted in any orientation, as required for the application.
The axes are labeled on the face of the sensor for reference, and the sensor measurement
origin is shown in the sensor dimensional drawing (see Dimensions on page 11). When
mounting requires the device to be rotated with respect to the vehicle or implement reference
frame, the slope outputs may be adjusted into optimum measurement range using the device
configuration commands in section 7.
• Mating connector: AMPSEAL 16 Series gold plated 4 pin
• Mounting direction: +Z
2.2 Sensor Calibration
All internal sensors in the MV5-AR are calibrated when the device is manufactured, and the
calibration values are saved in the device memory. Recalibration is not required unless the
device has been under conditions that exceed the operating specifications. For example,
if the sensor has been exposed to excessive shock beyond the rated g-force, performance
may be compromised. Indications of internal sensor damage may be observed as excessive
measurement offsets or drift when the sensor is in a neutral motionless position.
2.3 Temperature Calibration
All sensor conversion and calibration formulas include temperature compensation. All
computed outputs and IMU sensor outputs are automatically adjusted for local temperature.

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MV5-AR USER MANUAL
2.4 Cabling and Termination
LORD recommends split termination on both ends of the cable for optimum EMC
performance.
Recommended mating connector shell: TE Connectivity 776487-1 or equivalent
Figure 1. MV5-AR Cabling and Termination

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MV5-AR USER MANUAL
3. Technical Data
3.1 IMU Accelerometer Specifications (3 Axis)
Characteristic Min. Typ. Max. Unit
Measurement range -20 +20 g
Accel output range (PGN 61485) -200 +200 m/s2
Non-linearity ±0.04 % fs
Resolution 0.05 mg
Bias instability ±0.08 mg
Initial bias error ±0.004 g
Scale factor stability ±0.05 %
Noise density 85 µg/√ Hz
Alignment error ±0.05 %
Bandwidth 1 40 225 Hz
Offset error over temperature 0.2 %
Gain error over temperature 0.05 %
Scale factor non-linearity (@ 25°C) 0.04 0.2 %
IMU data output rate 1 100 500 Hz
3.2 IMU Gyroscope Specifications (3 Axis)
Characteristic Min. Typ. Max. Unit
Measurement range -1000 +1000 °/sec
Gyro output range (PGN 61482) -250 +250
Non-linearity ±0.06 % fs
Resolution <0.003 °/sec
Bias instability 8 °/hr
Initial bias error ±0.1 °/sec
Scale factor stability ±0.05 %
Noise density 0.0075 °/sec√ Hz
Alignment error ±0.05 %
Bandwidth 1 40 500 Hz
Offset error over temperature 0.1 %
Gain error over temperature 0.1 0.4 %
Scale factor non-linearity (@ 25°C) 0.04 0.15 %
IMU data output rate 1 100 500 Hz

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MV5-AR USER MANUAL
3.3 Inclinometer Specifications (2 Axis)
Characteristic Min. Typ. Max. Unit
Slope Output range -85 - +85 deg
Measurement range (3 axis) -180 - +180 deg
Attitude resolution 0.05 deg
Static Inclination Error
(-40°C to 85°C) ±0.2 deg
Translational acceleration error ±0.44 deg
Settling time 5 200 mSec
Attitude repeatability 0.2 deg
Data output rate 1 100 500 Hz
3.4 System Interface
Characteristic Parameter
Communication CAN 250 kb/s
Protocols J1939 (Standard)
CAN-open (Optional)
Connector AMPSEAL 16 recpetacle, 4 Position,
gold plated pins
CANH/CANL Operating
Common-Mode Range -7V to +12V
CANH/CANL Absolute
Maximum Rating ±36V
Short Circuit Protection All pins, automatic restart
Start-up time: IMU 1 second
Start-up time: Slope (EKF) 5 seconds
3.5 Power Supply
Characteristic Min. Nominal Max.
Operating Supply Voltage Range 4.5V 5V (regulated),
or 12V or 24V (vehicle power) 36V
Power consumption (all voltages) 625mW
Reverse Voltage Limits
-60V absolute max steady-state
-15mA max clamped steady-state current if exceeding -60V
-15.5A max clamped brief surge current if exceeding -60V
Overvoltage Limits
+40V absolute max steady-state
+50mA max clamped steady-state current if exceeding +40V
+114A max clamped brief surge current if exceeding +40V

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MV5-AR USER MANUAL
3.6 Environmental
Characteristic Parameter
Operating temperature -40°C to +85°C
Storage temperature -40°C to +125°C
Vibration (Random) MIL-STD-202G, Test E, 24 hrs/axis
Vibration (Sweep) J1455 Appendix A 10-2000Hz, 10 g Peak, 10hr/octave/axis
Ingress protection IP68 (Immersion), IP69K (Pressure Wash)
Thermal shock 100X @ J1455
Salt spray MIL-STD-202G, Method 101E Condition A (96 hours)
Hot dunk 5X, 30 mins @ 85C, 30 mins @ ice bath, operating
UV rating 1m on to concrete surface 3x, J1455
Mechanical shock (Drop) 50g, 11ms 1/2sine, 3X direction, 18 total, MIL STD 202, M213
Mechanical shock (Operating) 50g, 11ms 1/2sine, 3X direction, 18 total, MIL STD 202, M213
3.7 EMC & Electrical Compliance Standards
Characteristic Standard Test Levels
Radiated Immunity: ALSE ISO 11452-5:2004 200 V/m
200 MHz to 3.2 GHz
Radiated Immunity: Bulk Current
Injection ISO 11452-5:2002 200mA 1 to 400 MHz
Radiated Immunity: Strip line ISO 11452-5:2002 200mA
10 kHz to 400 MHz
Radiated emissions CISPR 25 ED. 4.0: 2016 150 kHz to 2.5 GHz,
Class 3 and 5
Conducted emissions CISPR 25 ED. 4.0: 2016 150 kHz to 88 MHz,
Class 5
Mutual coupling ISO 7637-2: 2011 Section 5.6.3 Pulses 3a and 3b
ESD direct contact discharge ISO 10605 8kV
ESD air discharge ISO 10605 15KV
Superimposed AC Voltage ISO 16750-2: 2010, Section 4.4 12V, 4Vp-p 24V,
10V p-p
Starting Profile ISO 16750-2: 2010 12V, Table3, I-IV 24V,
Table 4, I-III
Inducted EM Noise on Signal lines ISO 7637-3:2016 CCC/ICC/DCC
methods

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MV5-AR USER MANUAL
3.8 Physical Specifications
Characteristic Parameter
Dimensions L 80 mm x W 55 mm x H 24 mm
Weight 120 grams
Enclosure material PBT Thermoplastic, Reinforced
Ingress protection IP68, IP69K
Mounting 3 x M8, installation torque 20 Nm ±2 Nm
Regulatory compliance RoHS, REACH, CE
3.9 Dimensions
Figure 2. MV5-AR Dimensions

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MV5-AR USER MANUAL
3.10 Mounting & Pinout
Figure 3. MV5-AR Mounting Dimensions

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MV5-AR USER MANUAL
4. CAN Messages and Communication
4.1 Standard Broadcast Data
These PGNs are standard default data broadcast by device at 100Hz (interval 10 ms). The
channels may be disabled individually. The broadcast intervals are programmable individually
from 2 to 500 ms. To decode a given field, extract the relevant bits, multiply by the resolution,
and add the offset. The ranges given are protocol limitations only and do not necessarily
reflect the true sensor ranges, which may exceed the protocol range.
Many of these PGNs contain figures of merit, as specified by the J1939 standard. The values
are as follows:
Value Definition
0Output is functioning normally.
1Output quality may be degraded.
2Error condition.
3Figure of merit information is not available.
4.2 CAN J1939 Device Information
Data supplied by the MV5-AR is communicated through the CAN J1939 communications
interface. To learn more about SAE J1939 communication standards, go to: SAE J1393
Standards.
4.2.1 CAN J1939 Device Information
29 BIT IDENTIFIER
Name Bits Bit position Description
Priority 3 29..27 0 through 7, lower is higher priority.
R1 26 Reserved (default 0)
DP 1 25 Data Page (default 0)
PDU Format 8 24..17 PDU1 format if < 0xF0 (240). Otherwise
PDU2 format.
PDU Specific 8 16..9 Used for PDU2 format PGNs. Destination
is always broadcast (0xFF).
Source 8 8..1 Source address of MV5

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MV5-AR USER MANUAL
8 BYTE DATA FIELD
Name Bits Bit position Description
BYTE 8 8 8..1 Data (PDU specific)
BYTE 7 8 8..1 Data (PDU specific)
BYTE 6 8 8..1 Data (PDU specific)
BYTE 5 8 8..1 Data (PDU specific)
BYTE 4 8 8..1 Data (PDU specific)
BYTE 3 8 8..1 Data (PDU specific)
BYTE 2 8 8..1 Data (PDU specific)
BYTE 1 8 8..1 Data (PDU specific)
4.2.2 Angular Rate 61482 (PGN 0xF02A)
Description
Transmit Angular Rate Sensor Data (3 axis 360°) Right-handed axis system, Z
axis points down.
The range and resolution given below is the theoretical range and
resolution allowed by the format. See the device specifications for the actual
measurement range and resolution. Note that the internal measurement range
may exceed the range available from this message format.
Example Pitch rate = Payload [0..1] * (1/128.0) -250
SPN Bit position
(Byte.bit) Length Resolution Offset Range
Pitch Rate Bytes 1-2 2 Bytes 1/128 °/s/bit -250 °/s -250 to
250.992°
Roll Rate Bytes 3-4 2 Bytes 1/128 °/s/bit -250 °/s -250 to
250.992°
Yaw Rate Bytes 5-6 2 Bytes 1/128 °/s/bit -250 °/s -250 to
250.992°
Pitch Rate figure of
merit1 7.1-7.2 2 bits 0 = Functional
1 = Degraded
2 = Error
3 = Not available
Roll Rate figure of
merit1 7.3-7.4 2 bits
Yaw Rate figure of
merit1 7.5-7.6 2 bits
Not Implemented Byte 8 1 Byte N/A

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MV5-AR USER MANUAL
4.2.3 Acceleration 61485 (PGN 0xF02D)
Description
Transmit Acceleration Sensor Data (2 axis -pitch, roll, status). Right-handed
axis system, Z axis points up.
The range and resolution given below is the theoretical range and
resolution allowed by the format. See the device specifications for the actual
measurement range and resolution.
Example Pitch rate = Payload [0..1] * (1/100) -320
SPN Bit position
(Byte.bit) Length Resolution Offset Range
Lateral
Accel. (Y) Bytes 1-2 2 Bytes 0.01 m/s2/bit -320 m/s2 -320 to +322.55 m/s2
Longitudinal
Accel. (X) Bytes 3-4 2 Bytes 0.01 m/s2/bit -320 m/s2 -320 to +322.55 m/s2
Vertical
Accel. (Z) Bytes 5-6 2 Bytes 0.01 m/s2/bit -320 m/s2 -320 to +322.55 m/s2
Lateral Accel. figure
of merit1 7.1-7.2 2 bits 0 = Functional
1 = Degraded
2 = Error
3 = Not available
Longitudinal Accel.
figure of merit1 7.3-7.4 2 bits
Vertical Accel. figure
of merit1 7.5-7.6 2 bits
Not Implemented 7.7-7.8 10 bits N/A

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MV5-AR USER MANUAL
4.2.4 Slope Sensor 61481 (0xF029)
Description
Transmit Extended Slope Sensor Data (3 axis 60°) Right-handed axis system,
Z axis points down.
The range and resolution given below is the theoretical range and
resolution allowed by the format. See the device specifications for the actual
measurement range and resolution.
Example
SPN Bit position
(Byte.bit) Length Resolution Offset Range
Pitch Angle Bytes 1-3 3 Bytes 1/32768 °/bit -250° -250 to
250.992°
Roll Angle Bytes 4-6 3 Bytes 1/32768 °/bit -250° -250 to
250.992°
Pitch Compensated2 Bytes 7.1-7.2 2 bits 0=Uncompensated
1=Compensated
Pitch Angle figure of
merit1 7.3-7.4 2 bits
0 = Functional
1 = Degraded
2 = Error
3 = Not available
Roll Compensated2 7.5 -7.6 2 bits 0=Uncompensated
1=Compensated
Roll Angle figure of
merit1 7.7 -7.8 2 bits
0 = Functional
1 = Degraded
2 = Error
3 = Not available
Not Implemented Byte 8 1 Byte N/A
4.3 Standard Commands
The PGNs in this section are standard commands that may be issued to the device as defined
in the SAE J1939 standard documents.
Note: Examples assume a source ID of 0x99 and a target ID of 0xFC.
4.3.1 Request Information 59904 (PGN 0xEA00)
Description
Request the specified PGN be transmitted by the device. The PGN’s that may
be requested with this PGN are: 39680, 65234, 65242, 64965, 60928, 65259,
45312, 45568, 45824, 46592, 49152. All others will be Nacked with a 59392
message.
Example 0x18 EA FC 99 00 B6 00 (requests packet 0xB600 (PGN 46592))
SPN Bit position
(Byte.bit) Length Resolution Offset Range
PGN Requested 1 3 Bytes N/A N/A N/A

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MV5-AR USER MANUAL
4.3.2 ACKM 59392 (PGN 0xE800)
Description
Sent by device in response to PGN 59904 Request and the settings PGNs in
Section 7. Ack type will be NACK if requested PGN is not recognized or unable
to send, or ACK if successful.
Example 0x00 FF FF FF 99 00 B6 00 (ACK)
SPN Bit position
(Byte.bit) Length Notes
Ack type 1 1 Byte 0=ACK, 1=NACK, 2=Access Denied,
3=Device Busy
Group Function 2 1 Byte Unused, always 0xFF
Reserved 3 1 Byte
Reserved 4 1 Byte
Destination 5 1 Byte Destination address
PGN 6 3 Bytes PGN of command being ACK’d.
4.3.3 Commanded Test 58112 (PGN 0xE300)
Description Initiates the built-in test (J1939 diagnostic message “DM7”). The response will
come in PGN 65232 (J1939 diagnostic message “DM8”)
Example 0x18 E3 FC 99 01 FF FF FF FF FF FF FF (requests packet 0xFED0 (PGN 65232))
SPN Bit position
(Byte.bit) Length Notes
Test ID 1 1 Byte Test Identifier, must be 1
SPN Low 2 2 Bytes Unused, set to 0xFF
FMI 4.1 5 Bits Unused, set to 0x1F
SPN High 4.6 3 Bits Unused, set to 0x7
Reserved 5 4 Bytes Unused, set to 0xFFFFFFFF
4.3.4 Commanded Test Result 65232 (PGN 0xFED0)
Description Returns the test pass/fail status (J1939 diagnostic message “DM8”) requested
using 58112 (J1939 diagnostic message “DM7”).
Example 0x18 FE D2 FC 01 FF 00 00 00 00 00 00
SPN Bit position
(Byte.bit) Length Range Notes
Test ID 1 1 Byte N/A Always 1
Component ID 2 1 Byte N/A Always 0xFF
Test Result 3 2 Bytes 0 - 65535 Pass if this is between min
and max values (0 is passing)
Maximum 5 2 Bytes 0- 65535 Always 0
Minimum 7 2 Bytes 0- 65535 Always 0

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MV5-AR USER MANUAL
4.3.5 Supported Tests 65234 (PGN 0xFED2)
Description
Reports 1 test supported (the BIT test) (J1939 diagnostic message “DM10”).
This PGN is transmitted by the device upon request (use PGN 0xEA00 to
request).
Example 0x18 FE D2 FC 80 00 00 00 00 00 00 00
SPN Bit position
(Byte.bit) Length Notes
Tests 1 8 Bytes
Bitfield of supported tests. Least-significant
bit comes first in each byte. Always
0x0000000000000080 (i.e. test #1 is supported)
4.3.6 Commanded Address 65240 (PGN 0xFED8)
Description
Restart address claim procedure using the specified address. Saved to non-
volatile memory. Must be sent using 9-Byte BAM (Broadcast announcement
message).
Example
SPN Bit position
(Byte.bit) Length Notes
Name 1 8 Bytes J1939 Device NAME
Address 8 1 Byte New source address. Cannot be 0xFF
(broadcast address) or 0xFE (NULL address).
4.3.7 Address Claim 60928 (PGN 0xEE00)
Description
Transmitted by J1939 ECUs including the MV5 after:
• Every power on
• A request for Address Claimed command
• A re-claim situation when receiving an Address Claimed message with the
same Source Address
• Programming a new Source Address
• Programming a new NAME
The PGN is used to compare NAME priority with devices with same address to
facilitate address claiming (See Address Claim Logic diagram).
Example 0x18 EE FF FC 00 00 20 47 00 91 00 20
SPN Length Notes
J1939 NAME 8 Bytes J1939 NAME value stored on device.
Lower valued names have higher priority.

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MV5-AR USER MANUAL
4.3.8 Address Claim Procedure
Figure 4. MV5-AR Address Claim Logic

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MV5-AR USER MANUAL
4.3.9 Stop/Start Broadcast 57088 (PGN 0xDF00)
Description Suspends or resumes transmission of data.
Example
0x18 DF FC 99 3F FF FF FF 00 00 FF FF FF (stop indefinitely)
0x18 DF FC 99 7F FF FF FF FF FF FF FF FF (start immediately)
0x18 DF FC 99 3F FF FF FF FF 00 08 FF FF (Stop for 2 seconds)
0x18 DF FC 99 FF FF FF FF 0F 00 10 FF FF (Set stop duration to 4 seconds)
SPN Bit position
(Byte.bit) Length Resolution Notes
J1939 #1 1.1 2 Bits
0=STOP
1=START
2=Reserved
3=No Change
Interpreted
J1922 1.3 2 Bits Ignored
J1587 1.5 2 Bits Ignored
Current Link 1.7 2 Bits Interpreted
Other 2.1 2 Bits Ignored
J1850 2.3 2 Bits Ignored
ISO 9141 2.5 2 Bits Ignored
J1939 #2 2.7 2 Bits Ignored
J1939 #4 3.1 2 Bits Ignored
Proprietary #2 3.3 2 Bits Ignored
Proprietary #1 3.5 2 Bits Ignored
J1939 #3 3.7 2 Bits Ignored
Suspend 4.1 4 Bits
0x0=All
0x1=Some
0x2=All (temporary)
0x3=Some (temporary)
0x4-0xD=Reserved
0xE=Resume
0xF=N/A
Not currently
implemented. For
future compatibility
use 0xF.
Hold 4.5 4 Bits
0x0=Hold All Devices
0x1=Hold Modified Devices
0x2-0xE=Reserved
0xF=N/A
Ignored unless set to
0x0 and the device
was already stopped.
In this case the
suspend duration is
updated even if No
Change was specified
for the current link.
Duration 5 2 Bytes Duration of effect in ms.
Not currently
implemented (always
indefinite). Use
0xFFFF for future
compatibility.
Reserved 7 2 Bytes Reserved Set to 0xFFFF.