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