SBG Ekinox Surface Series User manual

Ekinox Surface Series
Tactical Grade MEMS Inertial Sensors
Hardware Manual
Document EKINOXHM. .4
Revision .4 - Jun 9, 20 6
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Ekinox Surface Series – Hardware Manual EKINOXHM. .4
Revision history
Rev. Date Author Information
.4 Jun 9, 20 6 Alexis Guinamard [EKIDOC-62] Split User Manuals in two new documents: Technical Reference
Manual and Hardware Manual
[EKIHM-74] Update support contact details
.3. May 4, 20 5 Alexis Guinamard [EKIDOC-32] Add maintenance indications if used in marine conditions
[EKIDOC-33] Merged Ekinox INS and AHRS User Manuals
[EKIDOC-36] Added accessories weights when available
.3 Dec 22, 20 4 Alexis Guinamard [EKIDOC-26] Updated product codes in accessories section
[EKIDOC-25] Added Geoid model used (EGM-96) in Ekinox-N and Ekinox-D
.2 Mar 6, 20 4 Alexis Guinamard Fixed RTCM input diagram in connection topologies section
Added ShipMotionHP description and specifications
Added support for new input protocols (Septentrio SBF)
Added support for new output protocols (VBW, GST)
. Nov 8, 20 3 Alexis Guinamard Update for Firmware . – Added Ekinox D information.
Added DVL integration details.
Added augmented states description
Updated alignment procedures
May 6, 3 Alexis Guinamard First public version
© 2007 – 20 6, SBG Systems SAS. All rights reserved. Information in this document is subject to change
without notice. Copy or redistribution of this document is forbidden without express authorization of
SBG Systems.
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Ekinox Surface Series – Hardware Manual EKINOXHM. .4
Index
Terminology............................................................................................................................................................ 6
. Introduction....................................................................................................................................................... 8
. . Ekinox Overview......................................................................................................................................... 9
2. Performance specification............................................................................................................................... 0
2. . Inertial measurement unit....................................................................................................................... 0
2. . . Accelerometers....................................................................................................................................................................... 0
2. .2. Gyroscopes............................................................................................................................................................................. 0
2. .3. Magnetometers...................................................................................................................................................................... 2
2.2. Aiding sensors......................................................................................................................................... 3
2.2. . Ekinox N and D internal GNSS receiver.................................................................................................................................. 3
2.2.2. Internal magnetometer......................................................................................................................................................... 3
2.2.3. External aiding sensors......................................................................................................................................................... 4
2.3. Orientation and Navigation Performance............................................................................................... 4
2.3. . Common specifications.......................................................................................................................................................... 4
2.3.2. Land applications.................................................................................................................................................................. 4
2.3.3. Marine & Subsea applications............................................................................................................................................... 5
2.3.3. . Heave performance....................................................................................................................................................... 5
2.3.4. Airborne applications............................................................................................................................................................ 5
2.3.5. Real time Performance monitoring...................................................................................................................................... 5
3. Mechanical specifications................................................................................................................................ 7
3. . Overview.................................................................................................................................................... 7
3. . . Main Specifications................................................................................................................................................................. 7
3. .2. Device mechanical alignment................................................................................................................................................ 8
3. .3. Origin of measurements........................................................................................................................................................ 8
3. .4. Device label............................................................................................................................................................................. 8
3.2. EKINOX-A mechanical outline................................................................................................................. 9
3.2. . Front view............................................................................................................................................................................... 9
3.2.2. Right view.............................................................................................................................................................................. 9
3.2.3. Top view................................................................................................................................................................................ 20
3.2.4. Bottom view.......................................................................................................................................................................... 2
3.3. EKINOX-E mechanical outline................................................................................................................. 22
3.3. . Front view.............................................................................................................................................................................. 22
3.3.2. Right view............................................................................................................................................................................. 22
3.3.3. Top view................................................................................................................................................................................. 23
3.3.4. Bottom view.......................................................................................................................................................................... 24
3.4. EKINOX-N mechanical outline................................................................................................................ 25
3.4. . Front view.............................................................................................................................................................................. 25
3.4.2. Right view............................................................................................................................................................................. 25
3.4.3. Top view................................................................................................................................................................................ 26
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3.5. EKINOX-D mechanical outline................................................................................................................. 27
3.5. . Front view............................................................................................................................................................................... 27
3.5.2. Right view............................................................................................................................................................................. 27
3.5.3. Top view................................................................................................................................................................................ 29
3.5.4. Bottom view......................................................................................................................................................................... 30
4. Electrical specifications................................................................................................................................... 3
4. . Overview................................................................................................................................................... 3
4. . . Ekinox-A.................................................................................................................................................................................. 3
4. .2. Ekinox-E with external aiding only........................................................................................................................................ 3
4. .3. Ekinox-N with embedded GNSS........................................................................................................................................... 32
4. .4. Ekinox-D with dual antenna GNSS....................................................................................................................................... 32
4.2. Power supply connector.......................................................................................................................... 33
4.2. . Connector specifications....................................................................................................................................................... 33
4.2.2. Connector pin out................................................................................................................................................................. 34
4.2.3. Electrical specifications........................................................................................................................................................ 34
4.3. Main connector....................................................................................................................................... 34
4.3. . Connector specifications....................................................................................................................................................... 35
4.3.2. Connector pin out................................................................................................................................................................. 36
4.3.3. Electrical specifications........................................................................................................................................................ 36
4.4. Auxiliary connector................................................................................................................................. 39
4.4. . Connector specifications....................................................................................................................................................... 39
4.4.2. Connector pin out................................................................................................................................................................. 40
4.4.3. Electrical specifications........................................................................................................................................................ 40
4.5. GPS antenna connectors........................................................................................................................ 42
4.5. . Connector specifications....................................................................................................................................................... 42
4.5.2. Electrical specifications........................................................................................................................................................ 43
4.5.3. GPS antenna advices............................................................................................................................................................ 43
4.6. Typical wiring.......................................................................................................................................... 44
4.6. . Power supply connection...................................................................................................................................................... 44
4.6.2. Main interface connection on RS-232................................................................................................................................. 44
4.6.3. Main interface connection on RS-422................................................................................................................................. 45
4.6.4. CAN Bus typical wiring......................................................................................................................................................... 45
4.6.5. GNSS connection in RS-232 mode....................................................................................................................................... 46
4.6.6. Third party aiding equipment connected in RS-422........................................................................................................... 46
4.6.7. Triggering external devices with the sync Out..................................................................................................................... 47
4.7. Typical connection topologies................................................................................................................. 48
4.7. . Ekinox-D in advanced automotive application..................................................................................................................... 48
4.7.2. Ekinox-E in marine application............................................................................................................................................. 49
5. Interfaces specifications................................................................................................................................. 50
5. . Overview.................................................................................................................................................. 50
5.2. Ethernet specifications.......................................................................................................................... 50
5.2. . Accessing the Ekinox web page............................................................................................................................................ 50
5.3. Serial interfaces...................................................................................................................................... 52
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5.4. Supported protocols................................................................................................................................ 52
5.5. Connections Mapping............................................................................................................................. 53
5.5. . . Ekinox A version............................................................................................................................................................ 53
5.5. .2. Ekinox E version........................................................................................................................................................... 53
5.5. .3. Ekinox N / D versions................................................................................................................................................... 53
5.6. Internal Datalogger................................................................................................................................. 54
5.7. CAN 2.0 A/B interface............................................................................................................................. 54
6. Important notices........................................................................................................................................... 55
6. . Maintenance............................................................................................................................................ 55
6.2. Absolute maximum ratings.................................................................................................................... 55
6.3. Support................................................................................................................................................... 56
6.4. Warranty, liability and return procedure................................................................................................ 56
7. Appendix A: Ordering codes and Accessories.................................................................................................57
7. . Ekinox ordering codes............................................................................................................................... 57
7.2. Transport Cases........................................................................................................................................ 57
7.2. . CASE-EKI-0 ............................................................................................................................................................................ 57
7.2.2. CASE-EKI-02.......................................................................................................................................................................... 58
7.3. SplitBox for easy connection................................................................................................................... 58
7.3. . SPLITBOX-STD........................................................................................................................................................................ 58
7.3.2. SPLITBOX-STD-S................................................................................................................................................................... 58
7.3.3. SPLITBOX-STD-T.................................................................................................................................................................... 58
7.4. Associated Software............................................................................................................................... 59
7.4. . SW-AEK-SDK (Software Development Kit)........................................................................................................................... 59
7.4.2. SW-NOV-PP-GPS-IMU-U (Post-processing suite)............................................................................................................... 59
7.5. Cables....................................................................................................................................................... 60
7.5. . CA-AEK-PWR-PSU- .5M........................................................................................................................................................ 60
7.5.2. CA-AEK-PWR-3M.................................................................................................................................................................. 60
7.5.3. CA-AEK-MAIN-ETH-2.5M...................................................................................................................................................... 60
7.5.4. CA-AEK-MAIN-RS232-3M...................................................................................................................................................... 6
7.5.5. CA-AEK-MAIN-RS422-3M..................................................................................................................................................... 62
7.5.6. CA-AEK-AUX-3M.................................................................................................................................................................... 63
7.6. GPS accessories....................................................................................................................................... 64
7.6. . GNSS antennas...................................................................................................................................................................... 64
7.6.2. TNC Cables............................................................................................................................................................................. 64
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Terminology
ADC: Analog to Digital Converter
AHRS: Attitude and Heading Reference System
CAN (Bus): Controller Area Network
DHCP: Dynamic Host Configuration Protocol
DVL: Doppler Velocity Log
EKF: Extended Kalman Filter
EEPROM: Electrically-Erasable Programmable Read-Only Memory
FIR: Finite Impulse Response (filter)
FTP: File Transfer Protocol
FS: Full Scale
FOG: Fiber Optic Gyroscope
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
IIR: Infinite Impulse Response (filter)
IMU: Inertial Measurement Unit
INS: Inertial Navigation System
IP: Internet Protocol
LBL: Long Baseline
MAC (address): Media Access Control
MEMS: Micro Electro-Mechanical Systems
NED: North East Down (coordinate frame)
NA: Not applicable
NMEA (NMEA 0 83): National Marine Electronics Association (standardized communication protocol)
PPS: Pulse Per Second (signal)
RAM: Random Access Memory
RMA: Return Merchandize Authorization
RMS: Root Mean Square
RTCM: Radio Technical Commission for Maritime Services (Protocol)
RTK: Real Time Kinematics
SI: International System of Units
TBD: To Be Defined
TCP: Transmission Control Protocol
UDP: User Datagram Protocol
UTC: Coordinated Universal Time
USBL: Ultra Short Base Line
VRE: Vibration Rectification Error
WGS84: World Geodetic System 984
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WMM: World Magnetic Model
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Ekinox Surface Series – Hardware Manual EKINOXHM. .4
. Introduction
Ekinox series is a line of very high performance, MEMS based
Inertial Systems which achieve exceptional orientation and
navigation performance in a compact and affordable package. It
includes an Inertial Measurement Unit (IMU) and runs an on-board
enhanced Extended Kalman Filter (EKF). The Ekinox line is divided
in a comprehensive set of sensors:
●The Ekinox-A version is a Motion Reference Unit (MRU) or
Attitude and Heading Reference System (AHRS), providing
accurate orientation in dynamic conditions as well as heave,
surge and sway outputs. The Ekinox A can be connected to an
external GNSS receiver to improve orientation performance.
●The Ekinox-E, N and D models are Inertial Navigation Systems (INS), providing both orientation and
navigation data even during GNSS outages. GNSS and other aiding equipments such as odometer or
DVL can be used to provide accurate navigation data in all conditions, but also to improve orientation
accuracy:
●The Ekinox-E model can be connected to external aiding equipment such as two GNSS receivers.
SBG Systems has developed a powerful accessory, the SplitBox with an integrated GNSS receiver
to ease Ekinox-E setup and installation.
●The Ekinox-N embeds a high performance survey grade L /L2 GNSS receiver. It supports GPS,
GLONASS, BEIDOU, GALLILEO constellations. If also features RTK positioning capability delivering
sub centimeter accuracy with high availability and fast reacquisition time.
●The Ekinox-D adds to the Ekinox-N a robust dual antenna based true heading to delivery accurate
measurements even in low dynamic conditions (such as in marine applications). The use of a dual
antenna heading also reduces dramatically the initial alignment time compared to traditional gyro
compassing solutions.
To achieve the best performance in every project, specific error models have been implemented to meet
applications requirements and to adapt the Ekinox to your vehicle. Sensor configuration is made easy
through the modern embedded web interface.
The windows based sbgCenter application also provides a very powerful and easy to use tool to monitor,
analyze, record, playback and export all measurements, status and information of your Ekinox.
Finally, the 8 Go embedded data-logger enables seamless post processing work-flow with Inertial Explorer
software for the most demanding applications.
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Figure . : The Ekinox INS (N model)

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
. . Ekinox Overview
The following diagram shows the basic organization of an Ekinox-A, E, N or D. On the Ekinox-A and E
versions, this block diagram is slightly simplified as there is no embedded GNSS.
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Figure .2: Ekinox simplified block diagram
IMU DATA FUSION
Coning & Sculling
integrals @ kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
3 Axis
Magnetometers
EKF and output
@ 200 Hz
POWER
ETHERNET
FTP
CAN
SERIAL
Data loggerGPS
A B C D
Aiding Equipments
» Navigation: RTK GPS/GNSS, DVL
» Heading: Dual Antenna GPS/GNSS, Magnetometer
» Velocity: Odometer, DVL

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
2. Performance specification
2. . Inertial measurement unit
As an IMU is the main component of an inertial navigation system, the Ekinox IMU has been carefully
designed to take full advantage and performance of MEMS technology.
2. . . Accelerometers
The Ekinox IMU embeds a set of 3 MEMS capacitive accelerometers. Coupled with advanced filtering
techniques and sculling integrals, these accelerometers will provide consistent performance, even in
vibrating environment.
A A2 A3 A4 Remarks
Full scale ( g )2 5 0 30
One year bias stability (µ g )300 750 500 4500
In run bias instability (µ g )0 25 40 00 Allan variance – @ 25°C
Velocity Random Walk (µ g /√hz) 8 45 00 280 Allan variance – @ 25°C
Gain (ppm) 300 300 300 300
Linearity (% of FS) 0.05 0.05 0.05 0.05
Noise (µ g )90 225 450 350 Over to 25 Hz band
Bandwidth (Hz) 00 00 00 00 Attenuation < 3 dB
Resolution (m g )0. 0.25 0.6 .7
Sampling rate (kHz) 5 5 5 5
Orthogonality (°) 0.03 0.03 0.03 0.03
2. .2. Gyroscopes
The set of 3 high end tactical grade MEMS gyroscopes is sampled at 000 KHz. An efficient FIR filter and
coning integrals computations ensures best performance in vibrating environments.
G4 Remarks
Full scale (°/s) 400 Specified performance, saturates at 450°/
s
One year bias stability (°/hr) < 300 Total composite bias
In run bias instability (°/hr) < 3 Allan variance – @ 25°C
Angular Random Walk (°/hr/√hz) < 30 Allan variance – @ 25°C
Gain (ppm) 300
Linearity (% of FS) 0.05
Noise (°/s) 0.3 Over to 25 Hz band
Bandwidth (Hz) 00 Attenuation < 3 dB
Resolution (°/s) 0.03 25
Sampling rate (kHz)
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Orthogonality (°) 0.03
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2. .3. Magnetometers
The Ekinox embeds a high performance, three axis Anisotropic Magnetoresistive Magnetometer.
Specifications Remarks
Full scale (Gauss) 6
Gain (ppm) 000
Linearity (% of FS) 0.
Noise (µGauss) 50 Over to 25 Hz band
Bandwidth (Hz) 50 Attenuation < 3 dB
Resolution (µGauss) 20
Sampling rate (kHz)
Orthogonality (°) 0. After user magnetic calibration
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Ekinox Surface Series – Hardware Manual EKINOXHM. .4
2.2. Aiding sensors
Many different aiding sensors can be used to aid the Ekinox INS.
2.2. . Ekinox N and D internal GNSS receiver
The Ekinox N embeds a high performance GNSS receiver (L /L2 GPS + GLONASS), capable of centimeter
accuracy using RTK solution. This receiver provides reliable and accurate position measurements even in
challenging GPS environments.
The Ekinox D version embeds the same type of GNSS receiver, with additional true heading output.
Specification Remark
Channels 20
Signal tracking GPS: L , L2, L2C
GLONASS: L , L2
Galileo: E
Compass, SBAS, QZSS
Horizontal position accuracy Single point L + Glonass .5 m
Single point L /L2 .2 m
SBAS 0.6 m
DGPS 0.4 m
RTK cm
Velocity accuracy 0.03 m/s RMS
True Heading Accuracy 0.2°
0. °
0.05°
m baseline
2m baseline
3m baseline
Ekinox D only.
Baseline should not exceed 3m
Velocity limit 5 5 m/s Due to export licenses
Time to First Fix Cold start < 50 s
Hot start < 35s
Signal reacquisition L < 0.5 s
L2 < .0 s
Output frequency 5 Hz
Diff. Corrections RTCA, RTCAOBS2
RTCM V2.3, V3
CMR, CMR+
Sent via serial PORT D
Options RAIM, RTK, L /L2
2.2.2. Internal magnetometer
In many applications such as airborne or several marine application, this magnetometer can be considered
as a reliable and efficient way to observe heading.
Note: Magnetometer use requires a specific in place calibration in order to compensate surrounding
ferromagnetic materials and magnets. Please refer to the Ekinox Iron Calibration Tools
documentation for more information about this.
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Ekinox Surface Series – Hardware Manual EKINOXHM. .4
2.2.3. External aiding sensors
The Ekinox-A accepts a single external GNSS receiver connection to improve orientation performance.
The Ekinox-E, N and D models accepts up to two external GNSS receivers to provide navigation data and
improve orientation performance In addition, a DVL or an odometer can be connected on Ekinox-E/N/D as
velocity aiding inputs.
2.3. Orientation and Navigation Performance
All specifications are rated to σ, over -40°C to +75°C unless otherwise stated.
These specifications have been obtained by field tests, using typical mission scenarios and comparison to
reference units using post-processing. Outage performance validated by simulation of repeated, pure GNSS
outages, separated by at least 200s of optimal GNSS condition, compared to a reference RTK trajectory.
Performance parameters may be affected in multi-path and poor GNSS reception environments such as
Urban canyons.
For each application, we present the specified accuracies for the following positioning modes:
●SP: Single Point mode and is the default L GPS fix quality
●RTK: Real Time Kinematics with a typical cm accuracy position
●PP: Post Processed data using Inertial Explorer with at least Precise Point Positioning data
2.3. . Common specifications
Performance Remarks
Measurement range 360° in all axes, no mounting limitation Solid state sensors
Orientation noise < 0.03° RMS Static
2.3.2. Land applications
All specifications are valid with DMI (odometer) aiding for typical land mapping trajectories.
Outage
Duration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll Heading
0 s
SP .20 m .2 m 0.02 m/s 0.02 m/s 0.05° 0. °
RTK 0.0 m 0.02 m 0.02 m/s 0.02 m/s 0.05° 0. °
PP 0.0 m 0.02 m 0.02° 0.04°
0 s
SP .5 m .4 m 0.03 m/s 0.03 m/s 0. ° 0. 5°
RTK 0.2 m 0.2 m 0.03 m/s 0.03 m/s 0. ° 0. 5°
PP 0.03 m 0.03 m 0.02° 0.05°
60 s / km
SP 5 m 6 m 0.05 m/s 0.05 m/s 0.2° 0.2°
RTK 4 m 2 m 0.05 m/s 0.05 m/s 0.2° 0.2°
PP 0.6 m 0.08 m 0.04° 0.07°
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2.3.3. Marine & Subsea applications
All specifications are valid with dual antenna aiding for typical marine survey trajectories.
Outage
Duration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
0 s
SP .20 m 2.0m 0.02 m/s 0.02 m/s 0.05° 0. (baseline > 2m)
0.05 (baseline > 4m)
RTK 0.0 m 0.02m 0.02 m/s 0.02 m/s 0.05°
PP 0.0 m 0.02 m 0.02° 0.04°
0 s
SP 2.0 m 3.0m 0. m/s 0.03 m/s 0. ° 0. 5 (baseline > 2m)
0. (baseline > 4m)
RTK 0.35 m 0. 5m 0. m/s 0.03 m/s 0. °
PP 0.03 m 0.03 m 0.02° 0.05°
30 s
SP 5.5m 2.5 m 0.3m/s 0.5 m/s 0. 5° 0.2(baseline > 2m)
0. 5 (baseline > 4m)
RTK 4.0 m 0.5 m 0.3 m/s 0.05 m/s 0. 5°
PP .5 m 0.5 m 0.04° 0.07°
2.3.3. . Heave performance
Real Time Heave Delayed Heave (ShipMotionHP) Remark
Range 50 meters 50 meters Automatic adjustment to every sea
conditions
Period 0 to 20 s 0 to 40 s
Accuracy 5 cm or 5% 2.5 cm or 2.5 % Whichever is greater; Velocity aided heave
Mode Real time, auto tuning Fixed 450s delay On board computation
2.3.4. Airborne applications
Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll Heading
SP .20 m 2.0m 0.02 m/s 0.02 m/s 0.05° 0. °
RTK 0.0 m 0.02m 0.02 m/s 0.02 m/s 0.05° 0. °
PP 0.0 m 0.02 m 0.02° 0.04°
2.3.5. Real time Performance monitoring
The Extended Kalman filter provides feedback about its performance. The following validity levels
thresholds are defined for the Ekinox series
Threshold Comments
Attitude Valid 0.3° / 0.07° AHRS / Normal INS mode
Heading Valid 0.5° / 0.2° AHRS / Normal INS mode
Velocity Valid 0.2m/s Total velocity error (3D)
Position Valid m Total position error (3D)
Note: The thresholds are less accurate in AHRS mode, when there is no GNSS aiding available. Full
performance can be reached with GNSS aiding
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3. Mechanical specifications
3. . Overview
The Ekinox enclosure is composed of two anodized aluminum parts, one for the cover and one for the base
plate. The device uses high quality alloys and connectors to offer a full IP-68 enclosure and a good
resistance to harsh environments.
The cover part is made of 5083 aluminum alloy for its resistance to both seawater and industrial chemical
environments. In addition, this material offers a nice visual aspect.
The base plate is made of 7075 aluminum alloy to ensure best durability and accuracy. Indeed, this alloy
offers an incredible mechanical strength to guarantee the base plate integrity and accuracy during device
installation.
The cover and base plates are sealed together by four M3 stainless steel A4 screws (30 6L). The Ekinox
should be installed to the host interface using four M4 stainless steel A4 screws.
The Ekinox connectors are high quality Fischer connectors that offers IP-68 protection even unconnected.
The Ekinox-N and D versions also include TNC connectors to plug the GPS antennas.
Note: If you are planing to use Ekinox internal magnetometers, please make sure that you don't use
ferromagnetic materials to mount the device.
Warning: The Ekinox surface model is not designed for prolonged operation in salt water
environments. Check section Maintenance for more details about operation in sea water
environments.
3. . . Main Specifications
The table below summarizes all mechanical and environmental specifications.
Mechanical Specifications
A E N D
Height 4.3 cm ( .7”) 5.8 cm (2,28”) 6.4 cm (2.52”) 7.5 cm (2.9”)
Width 0 cm (3,94”) 0 cm (3,94”) 0 cm (3,94”) 0 cm (3,94”)
Depth 8.6 cm (3,39”) 8.6 cm (3,39”) 8.6 cm (3,39”) 8.6 cm (3,39”)
Weight 350g (0.77 lbs) 435 g ( .0 lb) 520 g ( . lb) 630 g ( .4 lb)
Shocks 500 g for 0.3 ms
Operating Vibrations g RMS – 20Hz to 2 kHz as per MIL-STD-8 0G (2g range options)
2.5g RMS – 20Hz to 2 kHz as per MIL-STD-8 0G (5g range options)
8g RMS – 20Hz to 2 kHz as per MIL-STD-8 0G ( 0g range options)
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Ekinox Surface Series – Hardware Manual EKINOXHM. .4
Environmental Specifications
Enclosure Anodized Aluminum
IP rating IP-68 (24 hours at 2 meters)
Operating (Ekinox A/ E / N) -40 to 75°C (-40 to 67°F)
Operating (Ekinox D) -40 to 7 °C (-40 to 60°F)
Storage -40 to 85°C (-40 to 85°F)
Humidity Sealed, no limit
MTBF (computed) 50.000 hours
Calibration interval None required, maintenance free
3. .2. Device mechanical alignment
For best measurement accuracy, a good mechanical alignment is required. During manufacturing, the
Ekinox measurement frame has been carefully aligned to 0.02° with the base plate for roll, pitch and yaw
angles.
To ease the yaw alignment (X axis), the base plate features two alignment holes Ø 4 mm H8 that
guarantees with two taper pins Ø 4 mm h7 a yaw alignment better than ±0.04°.
Note: The base plate is the same for the Ekinox A, E, N and D models.
3. .3. Origin of measurements
The center of measurement for acceleration, velocity and position is represented on the mechanical outlines
by the symbol. It is referenced to the base plate fine alignment hole.
3. .4. Device label
SBG Systems manufacturing process is based on EN-9 00 system with individual and full traceability of
every component and operation. Each Ekinox is identified by a unique serial number that can be used to
trace all operations during the product lifetime such as manufacturing, calibration, tests and repairs.
In addition to a unique serial number, a product code is used to define exactly the device type and options.
Finally, the Ekinox features an Ethernet interface and a unique MAC address is required to identify the
device on a network.
You can find on the right side of the Ekinox a laser printed label that hold all these identification
information. This label also includes a data-matrix code that encodes the device unique serial number.
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Figure 3. : Ekinox device label sample

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
3.2. EKINOX-A mechanical outline
All dimensions are in mm.
3.2. . Front view
3.2.2. Right view
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0,5
7
25
12 12
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3.2.3. Top view
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100
86
3,75
91
64
82
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