SBG Ellipse Micro Series User manual
ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
Re ision history
Re . Date Author Information
1.1 Jul 10, 2018 Alexis Guinamard [ELI2MHM-1] - Fixed Cable assembly reference pro ided page 14
[ELI2MHM-3] - Added support for ELLIPSE Micro M2 hardware
1.0 Apr 10, 2018 Alexis Guinamard First official ersion of this document
0.9 Oct 24, 2017 Alexis Guinamard First draft ersion of this document
© 2007 – 2018, SBG Systems SAS. All rights reser ed. 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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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
Index
Terminology............................................................................................................................................................ 5
1. Introduction....................................................................................................................................................... 6
1.1. Ellipse Micro O er iew................................................................................................................................ 6
1.2. Inertial measurement unit specifications................................................................................................. 7
1.2.1. Accelerometers......................................................................................................................................................................... 7
1.2.2. Gyroscopes............................................................................................................................................................................... 7
1.3. Aiding sensors........................................................................................................................................... 8
1.3.1. Internal Magnetometers.......................................................................................................................................................... 8
1.3.2. External sensors...................................................................................................................................................................... 9
1.3.2.1. Third party GNSS recei er............................................................................................................................................... 9
1.3.2.2. Odometer....................................................................................................................................................................... 9
1.4. AHRS specifications.................................................................................................................................. 9
1.5. INS specifications..................................................................................................................................... 10
1.5.1. Land applications.................................................................................................................................................................... 10
1.5.2. Marine applications............................................................................................................................................................... 10
1.5.3. Airborne applications............................................................................................................................................................. 10
2. Mechanical and Electrical specifications.......................................................................................................... 11
2.1. Mechanical specifications......................................................................................................................... 11
2.1.1. De ice mechanical alignment................................................................................................................................................. 12
2.1.2. Origin of measurements........................................................................................................................................................ 12
2.1.3. De ice coordinate frame........................................................................................................................................................ 12
2.1.4. De ice labels........................................................................................................................................................................... 12
2.1.5. Ellipse micro mechanical outline........................................................................................................................................... 13
2.1.5.1. Front iew...................................................................................................................................................................... 13
2.1.5.2. Top iew......................................................................................................................................................................... 13
2.1.5.3. Right iew..................................................................................................................................................................... 13
2.2. Electrical specifications........................................................................................................................... 14
2.2.1. Main connector....................................................................................................................................................................... 14
2.2.1.1. Connector specifications............................................................................................................................................... 14
2.2.1.2. Pin out in RS-422 mode................................................................................................................................................ 15
2.2.1.3. Pin out in RS-232 mode................................................................................................................................................ 15
2.2.2. Electrical specifications......................................................................................................................................................... 16
3. Interfaces specifications.................................................................................................................................. 17
3.1. O er iew.................................................................................................................................................... 17
3.1.1. Interfaces a ailability and multiplexing................................................................................................................................. 17
3.2. Serial interfaces....................................................................................................................................... 17
3.2.1. Supported protocols............................................................................................................................................................... 17
3.2.2. Ports functions Mapping...................................................................................................................................................... 18
3.3. CAN 2.0 A/B interface............................................................................................................................. 18
4. Important notices............................................................................................................................................ 19
4.1. Absolute maximum ratings..................................................................................................................... 19
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
4.2. Maintenance............................................................................................................................................ 19
4.2.1. Cleaning.................................................................................................................................................................................. 19
4.3. Support................................................................................................................................................... 20
4.4. Warranty, liability and return procedure................................................................................................ 20
5. Appendix A: Ordering codes and Accessories................................................................................................. 21
5.1. Ellipse Micro ordering codes..................................................................................................................... 21
5.2. De elopment kits.................................................................................................................................... 22
5.2.1. DK-ELI-M................................................................................................................................................................................ 22
5.3. Associated Software............................................................................................................................... 22
5.3.1. SW-QINERTIA-LITE (GNSS/INS Post Processing Software)................................................................................................ 22
5.4. Cables...................................................................................................................................................... 23
5.4.1. CA-ELI-M-OW-0.25M............................................................................................................................................................ 23
5.5. GNSS antennas....................................................................................................................................... 24
5.5.1. ANT-TAL-TW-32-2710-00-3000............................................................................................................................................. 24
5.5.1.1. Performance specifications.......................................................................................................................................... 24
5.5.1.2. Mechanical drawing..................................................................................................................................................... 24
6. Appendix B: E aluation board documentation.............................................................................................. 25
6.1. Board o er iew......................................................................................................................................... 25
6.2. Board configuration Switches................................................................................................................ 25
6.3. Flashing a firmware using the Ellipse Micro de elopment board.........................................................26
6.4. Schematics.............................................................................................................................................. 26
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
Terminology
ADC: Analog to Digital Con erter
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 Na igation Satellite System
GPS: Global Positioning System
IIR: Infinite Impulse Response (filter)
IMU: Inertial Measurement Unit
INS: Inertial Na igation 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 0183): National Marine Electronics Association (standardized communication protocol)
PPS: Pulse Per Second (signal)
RAM: Random Access Memory
RMA: Return Merchandise Authorization
RMS: Root Mean Square
RTCM: Radio Technical Commission for Maritime Ser ices (Protocol)
RTK: Real Time Kinematics
SI: International System of Units
TBD: To Be Defined
TCP: Transmission Control Protocol
UDP: User Datagram Protocol
UTC: Coordinated Uni ersal Time
USBL: Ultra Short Base Line
VRE: Vibration Rectification Error
WGS84: World Geodetic System 1984
WMM: World Magnetic Model
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
1. Introduction
The Ellipse2 Micro series is a line of sub-miniature, high-
performance MEMS based Inertial Systems which achie e
exceptional orientation and na igation performance in a tiny and
affordable package. It includes an Inertial Measurement Unit (IMU)
and runs an on-board enhanced Extended Kalman Filter (EKF). The
Ellipse line is di ided in a comprehensi e set of sensors:
●The Ellipse2 Micro IMU is an Inertial Measurement Unit that
can be used for high performance motion monitoring, thanks
to its factory calibrated gyroscopes, accelerometers and
magnetometer outputs.
●The Ellipse2 Micro AHRS ersion is an attitude and Heading Reference System (AHRS), pro iding
accurate orientation in dynamic conditions.
●The Ellipse2 Micro INS is an Inertial Na igation System (INS), pro iding both orientation and
na igation data. An external GNSS data can be connected to the Ellipse2 Micro, and other aiding
equipment such as odometer can be used to pro ide accurate na igation data under harsh conditions,
but also to impro e orientation accuracy:
To achie e the best performance in e ery project, specific error models ha e been implemented to meet
applications requirements. Sensor configuration is made easy through the sbgCenter interface, pro ided in
the SDK. The Ellipse supports a proprietary protocol for best performance, but also standard protocols such
as NMEA for direct integration into existing applications.
The Ellipse2 Micro series is fully compatible with the larger size Ellipse modules as it shares the same
communication protocol.
1.1. Ellipse Micro O er iew
The following diagram shows the basic organization of an Ellipse Micro module.
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Figure 1.1: The Ellipse Micro
Figure 1.2: Ellipse simplified block diagram
Sensors sampling &
Calibration
Coning & Sculling
integrals @ 1 kHz
EKF and output
@ 200 Hz
IMU DATA FUSION
3 Axis
Gyroscopes
3 Axis
Accelerometers
3 Axis
Magnetometers
POWER
CAN
SERIAL
Aiding Equipments
» Dual Antenna GPS/GNSS, RTK
»
Odometer
ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
1.2. Inertial measurement unit specifications
As an IMU is the main component of an inertial na igation system, the new Ellipse IMU has been carefully
designed to take full ad antage and performance of MEMS technology.
1.2.1. Accelerometers
The Ellipse Micro IMU embeds 3 high performance, industrial grade MEMS accelerometers. Coupled with a
cutting edge calibration, ad anced filtering techniques and sculling integrals, these accelerometers will
pro ide excellent performance, e en in highly ibrating en ironment.
The A2 ersion is dedicated to marine applications requiring high performance hea e measurements, while
the A3 ersion is suitable to all other applications.
A2 A3 A4 Remarks
Full scale (
g
)8 16 40
Scale factor stability (ppm) 1000 1000 1000 After one year accelerated aiging
Non-Linearity (ppm of FS) 6300 1500 1500 Best Fit Straight Line
One year bias stability (m
g
)2 5 5 After one year accelerated aiging
Velocity Random Walk (µ
g
/√hz) 12 57 57
In run bias instability (µ
g
)3 14 14 Allan ariance – @ 25°C
Vibration Rectification Error (µ
g
/
g
²) 200 50 50 Tested up to 3g RMS for A2 and 10g RMS
for A3/A4
Bandwidth (Hz) 390 390 390 Internal low pass filters attenuation < 3 dB
Sampling rate (kHz) 4 4 4 Ad anced anti-aliasing FIR filter
Orthogonality (°) 0.05 0.05 0.05
1.2.2. Gyroscopes
The set of 3 high end industrial grade MEMS gyroscopes is sampled at 10 KHz. An efficient FIR filter and
coning integrals computations ensures best performance in ibrating en ironments.
G4 range is suitable to most applications, while the G5 is adapted for high dynamic applications.
G4 G5 Remarks
Full scale (°/s) 450 1000
Scale factor stability (ppm) 500 500 After one year accelerated aiging
Non-Linearity (% of FS) 50 50
One year bias stability (°/s) 0.2 0.4 After one year accelerated aiging
Angular Random Walk (°/√hr) 0.15 0.18 Allan ariance – @ 25°C
In run bias instability (°/hr) 7 8 Allan ariance – @ 25°C
Vibration Rectification Error (°/h/g²) < 1 < 1 Tested up to 10g RMS
Bandwidth (Hz) 133 133 Internal Gyro bandwidth
Sampling rate (kHz) 10 10 Ad anced anti-aliasing FIR filter
Orthogonality (°) 0.05 0.05
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
1.3. Aiding sensors
Many different aiding sensors can be used to aid the Ellipse Micro.
1.3.1. Internal Magnetometers
A set of three Anisotropic Magneto-resisti e magnetometers is embedded within the Ellipse. This
technology pro ides a ery high sensiti ity compared to coil based technologies.
Although part of the Ellipse internal IMU, the magnetometer is in fact considered as an “aiding sensor” and
is not mandatory for proper operation.
Ne ertheless, in many applications such AHRS applications, airborne or se eral marine applications, this
magnetometer is still a reliable and efficient way to obser e heading.
Note: Magnetometer use requires a specific in place calibration in order to compensate surrounding
ferromagnetic materials and magnets. Please refer to the Ellipse Hard and Soft Iron Calibration
Manual for more information about this.
Warning: Note that magnetometer sampling design makes it impossible to reject signal frequencies
abo e 75Hz. User should ensure that high frequency noise is not disturbing magnetometers at the
sensor's location.
Specifications Remarks
Full scale (Gauss) 50
Scale factor stability (%) 0,5
Noise (mGauss) 3 O er 1 to 25 Hz band
Bias stability (m Gauss) 1
Bandwidth (Hz) 22 -3dB attenuation
Resolution (mGauss) 1.5
Sampling rate (Hz) 100
Orthogonality (°) 0.1 After user magnetic calibration
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
1.3.2. External sensors
1.3.2.1. Third party GNSS recei er
The Ellipse-E model does not include a GNSS recei er, but can be connected to an external GNSS module. All
GNSS recei ers will pro ide elocity and position aiding.
Dual antenna recei ers can also pro ide a True Heading aiding. RTK GPS recei ers can be used to impro e
positioning accuracy.
1.3.2.2. Odometer
In addition to the GNSS aiding, the Ellipse micro ‘E’ ersion includes two sync inputs that can be used as
odometer input. This can greatly impro e performance in challenging en ironments such as urban canyons.
The odometer pro ides a reliable elocity information e en during GPS outages. This increases significantly
the dead reckoning accuracy.
Warning: In a typical INS setup, one sync IN will be dedicated to PPS input and the second can be
used as odometer input. It means that the Ellipse Micro can only handle uni-directional odometers.
If you need direction detection please consider using the full featured Ellipse sensor instead of
Ellipse Micro.
Note: Odometer integration is made really simple as the Kalman filter will finely adjust odometer's
gain and will correct residual errors in the odometer alignment and le er arm.
1.4. AHRS specifications
All specifications are rated to 1 , o er -40°C to +85°C (-40 to σ185°F) unless otherwise stated.
These specifications ha e been measured based on typical mission scenarios with simulated GPS outages
and compared to post processed RTK data of a high end FOG based INS.
Performance Remarks
Measurement range 360° in all axes, no mounting limitation
Roll / Pitch accuracy < 0.1° Low dynamic conditions – No long term accelerations
Yaw Accuracy 0.8° Clean magnetic en ironment – Magnetic calibration performed
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
1.5. INS specifications
For each application, the accuracy parameters are defined in different positioning modes, explained below:
●SP refers to Single Point mode and is the default L1 GPS / GLONASS fix quality
●RTK stands for Real Time Kinematics with a typical 1 cm accuracy position
●Odometer Aiding is specified when an odometer pro ides elocity (automoti e applications)
1.5.1. Land applications
All specifications are alid with DMI (odometer) aiding for typical land applications trajectories.
Outage
Duration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
No Outage SP 2 m 2.5 m 0.1 m/s 0.1 m/s 0.1 ° 0.3 °
RTK 0.02 m 0.04 m 0.05 m/s 0.05 m/s 0.1 ° 0.3 °
10 s SP 2.5 m 3 m 0.2 m/s 0.2 m/s 0.1 ° 0,3 °
RTK 0.8 m 0.8 m 0.15 m/s 0.15 m/s 0.1 ° 0.3 °
60 s SP 9 m 6 m 0.1 m/s 0.1 m/s 0.1 ° 0.5 °
RTK 7 m 4 m 0.1 m/s 0.1 m/s 0.1 ° 0.5 °
1.5.2. Marine applications
Outage
Duration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
No outage
SP 2 m 2.5 m 0.1 m/s 0.1 m/s 0.1 ° 0.8 °
RTK / Dual
antenna GPS 0.02 m 0.04 m 0.05 m/s 0.05 m/s 0.2 ° 0.2 °
10 s
SP 3 m 3.5 m 0.2 m/s 0.2 m/s 0.3 ° 0.8 °
RTK / Dual
antenna GPS 1 m 1 m 0.15 m/s 0.15 m/s 0.3 ° 0.3 °
Note: In case of standalone dual antenna GNSS system use, heading accuracy parameters listed in
“RTK / Dual antenna GPS” lines may apply.
1.5.3. Airborne applications
Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
SP 2 m 2.5 m 0.1 m/s 0.1 m/s 0.1 ° 0.5 °
RTK 0.02 m 0.04 m 0.05 m/s 0.05 m/s 0.1 ° 0.4 °
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
2. Mechanical and Electrical specifications
2.1. Mechanical specifications
All dimensions are expressed in millimeters using the International System of Units (SI) con entions.
The Ellipse micro enclosure is made in aluminum to ensure robust integration into your system. Howe er,
the Ellipse micro is not intended to be used outdoor. That’s why the enclosure is not waterproof. Sensors
MEMS elements are all sealed to ensure good stability o er time.
Note 1: If you are planing to use Ellipse internal magnetometers, please make sure that you don't
use ferromagnetic materials to mount the de ice.
Warning: The enclosure is not waterproof. For outdoor operation, please use the full featured Ellipse
sensor instead.
The table below summarizes all mechanical and en ironmental specifications.
Item Specification Remarks
Size 26.8 x 18.8 x 9.5 mm
Weight 10g
Shocks < 2 000
g
Operating Vibrations 3g RMS – 20Hz to 2 kHz as per
MIL-STD-810G
Specified performance
for A2 range
8g RMS – 20Hz to 2 kHz as per
MIL-STD-810G
Specified performance
for A3 / A4 ranges
En ironmental Specifications
Enclosure Aluminum
IP rating N/A
Operating / storage temperature -40 to 85°C (-40 to 185°F)
Humidity 98% – Non condensing
MTBF (computed) 50.000 hours
Calibration inter al None required, maintenance free
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
2.1.1. De ice mechanical alignment
For best measurement accuracy, a good mechanical alignment is required. During manufacturing, the Ellipse
measurement frame has been carefully aligned to 0.1° with the base plate for roll, pitch and yaw angles.
In order to align properly the IMU frame with your own system, SBG Systems recommends the use of 3x
alignment pins, located along two perpendicular sections of the enclosure.
2.1.2. Origin of measurements
The center of measurement for acceleration, elocity and position is represented on the mechanical outlines
by the symbol. It is referenced to the base plate fine alignment hole.
2.1.3. De ice coordinate frame
De ice coordinate frame is identified on the product by the axis X
direction.
The whole coordinate frame is as explained in following diagram:
2.1.4. De ice labels
SBG Systems manufacturing process is based on EN-9100 system with indi idual and full traceability of
e ery component and operation. Each Ellipse 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 de ice type and options.
You can find on the top and bottom sides of the Ellipse micro, laser printed labels that hold all these
identification information. These labels also include a data-matrix code that encodes the de ice unique
serial number. Finally, the topside label identifies the IMU X axis direction.
In addition, the Ellipse packaging includes a second label that pro ides other useful information such as
installed firmware ersion.
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Figure 2.4: Ellipse packaging label
sample
Figure 2.2: Ellipse de ice label
sample (top side)
Figure 2.3: Ellipse de ice label
sample (bottom side)
Figure 2.1: De ice coordinate frame
X
Y
Z
ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
2.1.5. Ellipse micro mechanical outline
All dimensions are in mm.
2.1.5.1. Front iew
2.1.5.2. Top iew
2.1.5.3. Right iew
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Figure 2.6: Ellipse Micro top iew
Figure 2.7: Ellipse-A right iew
Figure 2.5: Ellipse Micro front iew
9,80
8,35
4,10
5,45
18,80
26,80
14,80
22,10
3 x 2.20
2,80
5,45
11,45
11,45
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
2.2. Electrical specifications
2.2.1. Main connector
SBG Systems has selected a specific connector designed for high reliability. The main connector pro ides
access to all Ellipse Micro features through a modular way. It pro ides:
●The main serial port (PORT A) that supports full-duplex communication. It operates by default in RS-
422 in the ersions M1, or in RS-232 on M2 de ices
●An auxiliary RS-232 port (PORT E), a ailable only when Ellipse Micro is operated in RS-232
●One CAN 2.0A/B connection that supports up to 1 Mbit/s data rate used to output data
●Two multi-function input/output pins that can be used for:
●Clock synchronization or e ent marker input pins
●Single channel Odometer input
●Synchronization output signals for time stamping and to trigger some equipment.
2.2.1.1. Connector specifications
The main connector uses a 10 ways Harwin Gecko connector. The exact receptacle reference is: G125-
FS11005L0P.
The Ellipse Micro connector will mate with the cable mounted reference G125-3041096L4 (Harwin). Don't
forget that this reference doesn't include the contacts.
For lowest cost and high olume integration, SBG Systems recommends the use of a board to board
connector: G125-MS11005L0P (surface mount) or G125-MV11005L0P (through hole mount).
For cable connections, it is also possible to purchase cable assemblies from Harwin: G125-MC21005L4-0150L
and G125-MC21005L0-0150M. For shorter lead time, SBG Systems pro ides the following cable assembly
reference CA-ELI-M-OW-0.25M.
Other plugs with right angle or other options may be found if required.
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Figure 2.8: Main receptacle front iew
1 5
610
Figure 2.9: Main plug in board to
wire configuration Figure 2.10: Main plug in board to board
configuration (through hole mounting)
ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
2.2.1.2. Pin out in RS-422 mode
Pin # Name Description Pin # Name Description
1 GND Ground return signal 6 VIN Power supply Input
2 PORT A Rx+ Port A RS-422 Rx+ line 7 PORT A RX- Port A RS-422 Rx- line
3 PORT A Tx+ Port A RS-422 Tx+ line 8 PORT A TX- Port A RS-422 Tx- line
4 SYNC A Synchronization signal A. May be
used as SYNC IN A or SYNC OUT A
9 SYNC B Synchronization signal B. May be
used as SYNC IN B, SYNC OUT B, or
ODO input
5 CAN H CAN High 10 CAN L CAN Low
2.2.1.3. Pin out in RS-232 mode
Pin # Name Description Pin # Name Description
1 GND Ground return signal 6 VIN Power supply Input
2 PORT A Rx Port A RS-232 Rx line 7 PORT E RX Port E RS-232 Rx line
3 PORT E Tx Port E RS-232 Tx line 8 PORT A TX Port A RS-232 Tx line
4 SYNC A Synchronization signal A. May be
used as SYNC IN A or SYNC OUT A
9 SYNC B Synchronization signal B. May be
used as SYNC IN B or SYNC OUT B or
ODO input
5 CAN H CAN High 10 CAN L CAN Low
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
2.2.2. Electrical specifications
Recommended electrical specifications from -40°C to 85°C.
Item Conditions Min Typical Max Unit
Power supply
Input oltage range 4 15 V
Power consumption 400 mW
RS-232 Recei ers
Input range -15 15 V
Low le el threshold 0.6 1.2 V
High le el threshold 1.5 2.0 V
Input resistance 3 5 7 kΩ
RS-422 Recei er
Input differential threshold Common mode Voltage [-7V; 12V] -200 -125 -50 mV
Input hysteresis 25 mV
Input resistance 100 120 155 kΩ
RS-232 Transmitters
Output range +/-5 +/-5.5 V
RS-422 transmitters
Differential output oltage RL=100ohm 2 V
Common mode output oltage 3 V
Sync In pins
Input range 0 3.3 V
Low le el threshold 1 V
High le el threshold 2.3 V
Sync Out pins
High Le el Output oltage ILoad < 6mA 2.6 V
Low Le el Output oltage ILoad < 6mA 0.4 V
CAN bus
Recessi e Bus Voltage 1.45 1.95 2.45 V
CAN H Output Voltage dominant 2.15 2.9 3.3 V
CAN L Output Voltage dominant 0.5 0.9 1.65 V
Differential input oltage CANH, CANL 0.5 0.9 V
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
3. Interfaces specifications
3.1. O er iew
The Ellipse features up to two serial interfaces which pro ide all the main features of the Ellipse:
Configuration, data input, data output.
In addition, the Ellipse supports CAN 2.0A/B connecti ity to output log messages. Due to the CAN
implementation and limitations (payload limited to 8 bytes), the CAN interface is not handled like the other
interfaces.
Due to the limited number of pins inside the Ellipse connector, some pins pro ide different functions which
are multiplexed and cannot be used at the same time.
3.1.1. Interfaces a ailability and multiplexing
The following table pro ides more details about each port specificity in terms of a ailability, and
capabilities:
Port Tx / Rx capability Other functions / multiplexing
PORT A Tx/Rx In RS-422 by default on M1 de ices
In RS-232 by default on M2 de ices
RS-232/422 Software selectable.
PORT E Tx/Rx Only a ailable when PORT A is configured in RS-232 mode
CAN Tx only
SYNC A Input/output Can be used as SYNC IN A for e ent or PPS input, or SYNC OUT A for
e ent or PPS output
SYNC B Input/output Can be used as SYNC OUT B for e ent or PPS output.
Can also be used as Odometer input.
3.2. Serial interfaces
The Ellipse Micro features one RS-422 or two RS-232 serial connections (PORT A and E). These serial ports
ha e different uses as described in the next sections.
The Ellipse Serial interfaces support the standard baudrates:
4 800 bps, 9 600 bps, 19 200 bps, 38 400 bps, 57 600 bps, 115 200 bps, 230 400 bps, 460 800 bps and
921 600 bps.
Note: The Ellipse automatically limits the serial signals slew-rate to minimize EMI and reduce
communication error when the baud rate is below 230 400 bps.
3.2.1. Supported protocols
The Ellipse Micro has been designed to be connected to a large range of equipment. In addition to the nati e
sbgECom binary protocol, other third party or standard protocols are also supported such as NMEA, TSS1. In
addition to the output capabilities, the Ellipse Micro E can be connected to an external GNSS recei er (Ublox
Binary protocol and others).
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
3.2.2. Ports functions Mapping
The following tables pro ide more details about which functions are a ailable on which port for each Ellipse
model.
PORT A PORT E (RS-232 mode)
Binary commands (sbgECom) ●
Regular outputs (sbgECom, NMEA
or third party output)
● ●
Legacy protocol output (sbgCom) ●
1KHz IMU output ●
GNSS input (Ellipse E only) ●
3.3. CAN 2.0 A/B interface
The main port contains a CAN 2.0 A/B interface that supports transfer rate at up to 1 Mbits/s. This CAN
interface is mainly used to output log messages. By default, the CAN interface is disabled.
The CAN bus implementation and especially timing settings complies with the CAN in Automation (CiA)
DS-102 standard.
The Ellipse supports the following standard CAN bus bitrates:
●1 000 kBit/s
●500 kBit/s
●250 kBit/s
●125 kBit/s
●100 kBit/s
●50 kBit/s
●20 kBit/s
●10 kBit/s
Note: The Ellipse does not include any termination resistor, and it belongs to user to ensure that the
CAN bus includes termination resistors in order to get proper communications.
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
4. Important notices
4.1. Absolute maximum ratings
Stresses abo e those listed under the Absolute Maximum Ratings may cause permanent damage to the
de ice. This is a stress rating only; functional operation of the de ice at these or any other conditions abo e
those indicated in the operational section of this specification is not implied. Exposure to absolute
maximum rating conditions for extended periods may affect de ice reliability.
Parameter Rating
VDD – GND -0,3 to +20V
Rx+, Rx- ±18V
SYNC A, SYNC B to GND -0.3V / +4.0V
CANH, CANL ±60 V
ESD protection (Tx, Rx, Input & Output
pins, CANH, CANL)
15 kV
Table 1: Absolute maximum ratings
4.2. Maintenance
The Ellipse will not require any specific maintenance when properly used. In the case you obser e sub-
optimal performance, please contact SBG Systems support.
Ne ertheless, if you would like to maintain your sensor performance to the highest le el, SBG Systems can
pro ide a maintenance ser ice with regularly planned checkups and calibrations.
4.2.1. Cleaning
Disconnect the Ellipse from the power supply as well as other connections. Use damp cloth to clean the
enclosure. Do not use any sol ent or abrasi e materials for cleaning.
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ELLIPSE2 Micro series – Hardware Manual ELLIPSEMHM.1.1
4.3. Support
Our goal is to pro ide the best experience to our customers. If you ha e any question, comment or problem
with the use of your product, we would be glad to help you, so feel free to contact us:
EMEA:
SBG Systems S.A.S.
1 a enue Eiffel
78420 Carrières-sur-Seine
FRANCE
Phone: +33 1 80 88 43 70
Americas:
SBG Systems North America, Inc
5932 Bolsa A enue, Suite #103
Huntington Beach, CA 92649
USA
Phone: +1 (657) 549-5807
4.4. Warranty, liability and return procedure
SBG Systems pro ides a warranty co ering this product against any defect in materials or manufacture for a
period of two (2) years from the date of shipment. In the e ent that such a defect becomes ob ious during
the stipulated warranty period, SBG Systems will undertake, at its sole discretion, either to repair the
defecti e product, bearing the cost of all parts and labor, or to replace it with an identical product.
In order to a ail itself of this warranty, Customer must notify SBG Systems of the defect before expiry of
the warranty period and take all steps necessary to enable SBG Systems to proceed. Upon reception of
required information (Sensor serial number, defect description), SBG Systems will issue an RMA and will
pro ide return instructions. Customer shall be responsible for the packaging and the shipment of the
defecti e product to the repair center notified by SBG Systems, the cost of such shipment being borne by
Customer.
This warranty shall not be construed as co ering defects, malfunctions or damages caused by improper use
or inadequate maintenance of the product. Under no circumstances shall SBG Systems be due to pro ide
repair or replacement under this warranty in order a) to repair damage caused by work done by any person
not representing SBG Systems for the installation, repair or maintenance of the product; b) to repair
damage caused by improper use or connection to incompatible equipment, and specifically, the opening of
the housing of the equipment under warranty shall cause the warranty to be automatically canceled.
This warranty co ers the product hereunder and is pro ided by SBG Systems in place of all and any other
warranty whether expressed or implied. SBG Systems does not guarantee the suitability of the product
under warranty for sale or any specific use.
SBG Systems' liability is limited to the repair or replacement of defecti e products, this being the sole
remedy open to Customer in the e ent the warranty becomes applicable. SBG Systems cannot be held liable
for indirect, special, subsequent or consequential damage, irrespecti e of whether SBG Systems has or has
not recei ed prior notification of the risk of occurrence of such damage.
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