LORD 3DM -CV5-10 User manual

LORD USER MANUAL
3DM®-CV5-10
Inertial Measurement Unit (IMU)

MicroStrain®Sensing Systems
459 Hurricane Lane
Suite 102
Williston, VT 05495
United States of America
Phone: [phone]
www.microstrain.com
[e-mail]
[e-mail]
Copyright © 2017 LORD Corporation
3DM®, 3DM-DH®, 3DM-DH3®, 3DM-GX2®, Ask Us How™, DEMOD-DC®, DVRT®, EmbedSense®, FAS-A®, G-Link®,
Little Sensors, Big Ideas.®, LORD Microstrain®, Live Connect™, LXRS®, MathEngine®, MicroStrain®, MXRS®, Node
Commander®, SensorCloud™, SG-Link®, Strain Wizard®, TC-Link®, V-Link®, Wireless Simplicity, Hardwired Reliability™,
and WSDA®are trademarks of LORD Corporation.
Document 8500-0074 Revision C
Subject to change without notice.

3DM®-CV5-10 User Manual
Table of Contents
1. System Family Overview 5
2. Sensor Overview 6
2.1 Components 7
2.2 Interface and Indicators 8
3. Basic Setup and Operations 9
3.1 Software Installation 10
3.2 System Connections 11
3.3 Software Interface 12
3.3.1 Interactive Help Menu 12
3.4 Sensor Communication 13
3.5 Sensor Settings 14
3.5.1 Saving Configurations 15
3.6 Data Monitoring and Recording 16
3.7 View Recorded Data 17
4. Sensor Measurements 20
4.1 Direct Sensor Measurements (IMU Outputs) 21
4.2 Sensor Reference Frames 23
4.2.1 Geodetic Frame 23
4.2.2 NorthEast Down (NED) Frame 24
4.2.3 Sensor Frame 25
5. Performance Optimization 26
5.1 Gyroscope Bias 26
5.2 Angular Rate and Acceleration Limits 27
5.3 Communications Bandwidth 27
5.4 IMU Sensor Calibration 27

3DM®-CV5-10 User Manual
5.5 Temperature Compensation 27
5.6 Import and Export Settings 28
6. Sensor Installation 29
6.1 Sensor Mounting 29
7. SystemIntegration 30
7.1 DataCommunications Protocol (DCP) 30
7.1.1 Packet Builder 31
7.2 Sensor Wiring 32
7.3 Sampling on Start-up 33
7.4 Connecting to a Datalogger 34
7.5 Using Wireless Adapters 34
8. Troubleshooting 35
8.1 Troubleshooting Guide 35
8.2 Repair and Calibration 38
8.3 Technical Support 39
9. Parts and Configurations 40
9.1 Standard Configurations 40
9.2 Accessories 42
9.3 Sales Support 42
10. Specifications 43
11.1 3DM-CV5 Sensors 45
11.2 3DM-CV5 Development Kit 46
11. Reference Documents 47
12. Safety Information 48
12.1 Maintenance 48
12.2 Disposal and Recycling 48
13. Glossary 49

3DM®-CV5-10 User Manual
1. System Family Overview
The LORD Sensing 3DM-CV5 family of industrial-grade, board-level inertial sensors provides a wide
range of triaxial inertial measurements and computed attitude and navigation solutions.
In all models, the Inertial Measurement Unit (IMU) includes direct measurement of acceleration and
angular rate, and some also offer atmospheric pressure readings. In models that include a Kalman Filter,
sensor measurements are processed through an Extended Kalman Filter (EKF) to produce highly
accurate computed outputs. The 3DM- CV5 features include a very stable gyro and low noise
accelerometers. The M7 and M4 dual Cortex processors run a new Auto-Adaptive EKF.The Kalman filter
enables compensation for magnetic and linear acceleration anomalies as applicable to the model. It also
provides sensor bias tracking, auto-zero update options (ZUPT), and user adjustable sensor noise
factors. All sensors are fully temperature-compensated and calibrated over the full operating temperature
range.
The use of Micro-Electro-Mechanical System (MEMS) technology allows for small, lightweight devices.
Sensors are integrated into customer systems using serial communication protocols such as RS232 and
USB. The LORD Sensing MIPMonitor software can be used for device configuration, real time
measurement monitoring, and data recording. The LORD Sensing MIPData Communications Protocol
(DCP) that is used to communicate with LORD Sensing inertial sensors is also available for users who
want to develop customized software solutions. Because of the unified set of commands across the
sensor family, it is easy to migrate code from one inertial sensor to another.
Common applications of LORD Sensing inertial sensor products include vehicle health monitoring,
platform stabilization, down- hole and drilling operations, and inertial navigation systems such as
unmanned air and ground vehicles and personal navigation systems.
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3DM®-CV5-10 User Manual
2. Sensor Overview
The 3DM-CV5-10 is an industrial-grade, board-level Inertial Measurement Unit (IMU) that utilizes micro
inertial sensors for use in a wide range of industrial-grade applications, such as platform stabilization and
vehicle health monitoring.
The 3DM-CV5-10 combines the strengths of an integrated multi-axis gyroscope and accelerometer,in
combination with temperature readingsto provide highly accurateinertial measurements. All sensor
measurements are temperature- compensated and are mathematically aligned to an orthogonal
coordinate system. The combination of sensors and environmental compensation allows the 3DM-CV5-
10 to perform well in a wide variety of applications that require low noise, drift, gain, and offset errors.
The 3DM-CV5-10 communicates through a serial connection and is monitored by a host computer.
Sensor measurements and computed outputs can be viewed and recorded with the LORD Sensing
MIPMonitor software that is available as a free download from the LORD Sensing website. Alternatively,
users can write custom software with the LORD Sensing open source data communication protocol. The
data is time-aligned and available by either polling or continuous stream.
Figure 1 -3DM-CV5-10 Sensor
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3DM®-CV5-10 User Manual
2.1 Components
The 3DM-CV5-10 Inertial Sensor can be purchased by itself or as part of a Development Kit. All
software, drivers, and links to detailed documentation are included with the sensor purchase. For a
complete list of available configurations, accessories, additional system products, and ordering
information, see Parts and Configurations on page 40 .
Item Description Model LORD Sensing
Part Number
Included with Sensor Purchase
A3DM-CV5-10 Inertial Sensor IMU 8G, 500
DPS, OEM 6259-4210
MIPMonitor Software Suite http://www.microstrain.com/software
* For additional options available see Specifications on page 1
RS232 Development Kit
B
RS232 Communication Cable
-- 6212-3010
RS232 Power Supply and Plug
Adapters
C-Series Connectivity Board
Ribbon Cable
Table 1 - 3DM-CV5-10 Components
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3DM®-CV5-10 User Manual
2.2 Interface and Indicators
The 3DM-CV5-10 sensor interface includes a communications and power input connector. The sensor
is installed using the mounting and alignment holes as needed ( see Sensor Mounting on page 29 ).
The indicators on the 3DM-CV5-10 include a device status indicator and the device information label.
The table below describes the basic status indicator behavior. The device information label includes the
sensor frame diagram (axis orientation), which will be critical during device installation ( see Sensor
Frame on page 25 ).
Indicator Behavior Device Status
device status
indicator
OFF no power applied
rapid flash streaming data
slow pulse idle mode, awaiting
commands
Figure 2 -Senor Indicator Behaviors
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3DM®-CV5-10 User Manual
3. Basic Setup and Operations
To acquire sensor measurements and computed outputs, the 3DM-CV5-10 uses a host computer,an
RS232 communications port, and applicable software. The LORD Sensing MIPMonitor software is
provided with the system and includes all functions needed for sensor configuration and data acquisition.
Users may also utilize the LORD Sensing MIPData Communications Protocol (DCP) to write custom
software applications with expanded or specific feature sets needed for the application. MIPMonitor
includes a message building tool that can be used to streamline this process. For more information, see
SystemIntegration on page 30 .
In this section, hardware and software setup is described, including an overview of the MIPMonitor
software menus required to configure a sensor and begin data acquisition. This is not a complete
demonstration of all system or software features and capabilities.
Figure 3 -Viewing Sensor Data with MIPMonitor
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3DM®-CV5-10 User Manual
3.1 Software Installation
NOTE
The MIPMonitor Software Suite includes hardware drivers required for 3DM-CV5-10 sensor
operation. Sensors will not be recognized without these drivers installed.
To Install the MIPMonitor software on the host computer, complete the following steps:
1. Launch the MIPMonitor software installation menu at:
https://www.microstrain.com/software.
2. Download and open the MIPMonitor .zip file.
3. Run the setup.exe file, and follow the on-screen prompts to completion.
4. Download and open the Inertial Drivers zip folder to install the hardware drivers required
for operating the sensor.
5. Run the .msi file, and follow the on-screen prompts to completion.
6. Run the setup.exe file, and follow the on-screen prompts to completion. If prompted,
reboot the computer when complete.
Figure 4 -Software Installation Menu
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3DM®-CV5-10 User Manual
3.2 System Connections
Power is applied to the sensor through an external power
supply, such as the one provided in the RS232 kit. Use only
power supplies within the operating range of the sensor, or
damage or injury could result. Once power is applied the
sensor is on and active ( see Specifications on page 1 ).
To acquire sensor data the following components are needed: 3DM-CV5-10 sensor, communication
cable, power cable, connectivity board, and a host computer with LORD Sensing MIPMonitor
installed.
Figure 5 -System Connections
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3DM®-CV5-10 User Manual
3.3 Software Interface
The MIPMonitor software includes a main window with system information and menus, a device
settings window, and several data monitoring windows.
The main window provides an overview of connected devices. Devices are selected by clicking on
them. A device menu is available by right-clicking on the device name and includes the most used items
from the header row menus. The header row menu includes selections for data sampling, recording,
device settings, opening windows, selecting which open window to view, and advanced features such
as selecting the communications mode. The icon toolbar includes buttons for Help Menu access,
where all related documentation is available in Web Resources, device refresh, and data sampling and
recording.
Figure 6 - Main Window Display
3.3.1 Interactive Help Menu
MIPMonitor also includes a mouse-over feature that provides explanations of the information and
settings. This feature is enabled by selecting the question mark icon or Help button in any window.
Figure 7 - Context Sensitive Help Menu
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3DM®-CV5-10 User Manual
3.4 Sensor Communication
Once power has been applied to the sensor, it is functional. If the hardware drivers have been installed,
communication can be established using the MIPMonitor software interface.
1. Verify the sensor device status indicator is on.
2. Open the MIPMonitor software.
3. The sensor should appear in the device list automatically when the software is running.
The list includes the device information and communication port assignment. If the
sensor is not automatically discovered, use the refresh button.
Figure 8 -Sensor Communication
NOTE
If data is not actively being exchanged between the sensor and host computer, the status
message may display Not Connected. This indicates the port status, not the sensor
availability. When commands are sent to the sensor, the software will automatically connect
to it before sending the message.
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3DM®-CV5-10 User Manual
3.5 Sensor Settings
Device settings are stored in the sensor memory. Only the configuration options available for the
sensor being used are displayed in the menus.
To enter the settings menu, either right-click on the sensor name highlighted in the main window, and
then select Device Settings, or select Settings > Device from the main menu.
a. Main menu tabs: The main tabs divide the settings into functional groups for the available
measurements. For the 3DM-CV5-10 these include direct inertial sensor measurements.
b. Message Format : allows the user to select the measurement type to be displayed and recor-
ded and the data rate in samples/second.
c. Help button: Enable the context-sensitive help menu for explanations of specific settings.
Figure 9 -Device Settings Menu
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3DM®-CV5-10 User Manual
3.5.1 Saving Configurations
Sensor settings are saved temporarily by selecting the OK button in the Device Setup window after
configuration, but they are lost when the device is powered off. To save current settings, so they are
automatically restored the next time the device is powered on, select Settings > Save Current
Settings.
First adjust the sensor settings to the desired values. Next select Settings > Save Current Settings
from the main window ( Figure 10 - Save Sensor Settings ). The settings will now remain intact when
the sensor is powered off and then on again.
To recall the last saved settings select Settings > Load Startup Settings. To revert the settings back
to the factory defaults, select Settings > Load Default Settings.
Figure 10 -Save Sensor Settings
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3DM®-CV5-10 User Manual
3.6 Data Monitoring and Recording
Throughout the MIPMonitor views the same icons are used to control data streaming (sampling) and
recording. These icons can be found in the MIPMonitor main window icon toolbar and in each data
monitoring window. The same commands are also found in the main window Control menu.
Figure 11 -Main Window Controls
There are several data monitoring views available depending on what measurements are desired for
monitoring and recording. Each view corresponds to one of the main categories in the Device Settings
window. For example, the 3DM - CV5 - 10 includes Sensor Data Monitoring for the IMU/AHRS
measurements .During viewing and recording only the outputs that are selected in the Message
Format tab of the Device Settings menu are displayed and recorded ( see Sensor Settings on page 14
).
Data streaming must be started in order for data to be recorded, however it is not necessary to view it in
a data monitoring window. Data monitoring is used primarily to confirm the system is operating
correctly or to view the outputs in near real time. If sensor setup has already been confirmed, streaming
and recording can be initiated from the main window.
Figure 12 - Data Streaming is an example of Sensor Data Monitoring, which displays the selected
IMU/AHRS measurements. In data monitoring windows, no data will be displayed until data streaming
is started, and no data will be recorded (even if it is being viewed) until data recording is initiated
(armed). In the example below, the y-axis of the graph indicates data points, the x- axis is the
measurement units, and there is a tab for each measurement.
1. Right- click on the device in the MIPMonitor software main window, and select
SensorData Monitor.
2. Click the blue Start Streaming icon to start sampling.
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3DM®-CV5-10 User Manual
Figure 12 -Data Streaming
3.7 View Recorded Data
Recorded data is stored in either Binary (.bin) or Comma Separated Values(.csv) format,
depending on what was selected at the initiation of data recording. The files can be found in the
directory specified at that time or in the default directory on the host computer desktop.
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3DM®-CV5-10 User Manual
CSV files can be viewed with Microsoft Excel, Quattro Pro, Open Office, or other CSV editors
and spreadsheet programs.
Data recorded in Binary format requires a translation program utilizing the LORD Sensing
MIPData Communications Protocol (DCP) to make it user-readable.
1. To record data, select the Arm Recording icon at any time.
2. Select the type of data file to generate: Binary or CSV.The CSV file is the most common
and can be viewed and processed by data editors such as Microsoft Excel.
3. To save a settings file when creating a data file, check the box next to this option. This
settings file is the same as selecting Export Settings from the Settings menu.
NOTE
If the data is recorded in Binary format it will require a translation program that utilizes
the LORD Sensing MIPData Communications Protocol (DCP) to make it user-
readable.
Figure 13 -Data Recording
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3DM®-CV5-10 User Manual
4. To end recording press the Arm Recording button again, and select OK in the confirmation
prompt window.
5. Select the Stop Streaming icon to end sampling.
6. Use the red "X" in the upper right of the sensor monitoring window to exit monitoring mode.
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3DM®-CV5-10 User Manual
4. Sensor Measurements
The 3DM-CV5-10 block diagram ( Figure 14 - 3DM-CV5-10 Block Diagram ) describes its primary
hardware components and internal configuration. Integrated Micro-Electro-Mechanical System (MEMS)
sensors within the 3DM-CV5-10 are collectively known as the Inertial Measurement Unit (IMU) and
include tri- axial gyroscopes (gyros), and tri- axial accelerometers. This technology provides direct
measurements of acceleration, angular rate, Delta-theta (change in angular rate), and Delta-velocity
(change in velocity). Temperature sensors provide environmental information for measurement
compensation . information can be read directly but is not used internally for attitude or navigation
estimations on the 3DM-CV5-10.
Figure 14 -3DM-CV5-10 Block Diagram
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