smartmicro UMRR-0F0002 User manual

Date: 2014-03-07
Page 1 of 1
Vers. no. 1.14
m. dudde hochfrequenz-technik
Rottland 5a
D-51429 Bergisch Gladbach/ Germany
Tel: [phone]
Fax [phone]
Annex no. 5
Functional Description /
User Manual

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Project Documentation | UMRR-0F0002-1D0907-050B00
Radar Sensor Documentation
Project Number:
...
SMS Project Number:
Project Title:
General Purpose Radar Sensor
Keyword(s):
UMRR-0F0002-1D0907-050B00 radar sensor
Date:
November 13, 2014
Document:
UMRR-0F0002-1D0907-050B00 General Purpose USA
Version:
1

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1Contents
1Contents....................................................................................................................2
2Abbreviations.............................................................................................................3
3Introduction...............................................................................................................4
4General description ....................................................................................................5
4.1 Sensor description................................................................................................5
4.2 Transmit Signal....................................................................................................7
4.3 General Performance Data....................................................................................7
5Hardware ..................................................................................................................8
5.1 UMRR sensor.......................................................................................................8
5.2 Sensor Dimensions............................................................................................. 10
6Cables and connectors.............................................................................................. 12
6.1 Sensor connector............................................................................................... 12
7Data interfaces ........................................................................................................ 13
7.1 CAN data interface............................................................................................. 13
7.2 CAN-Settings ..................................................................................................... 13
7.3 RS485 data interface.......................................................................................... 14
7.4 Transceiver schematics....................................................................................... 17
8Designated use........................................................................................................ 19
9Change the Frequency Band..................................................................................... 20
10 Frequency Approval .............................................................................................. 22
10.1 Declaration of Conformity for USA.................................................................... 22
10.1.1 FCC Label................................................................................................. 22
10.2 Declaration of Conformity for CANADA ............................................................. 23
10.2.1 Declaration of Conformity in English........................................................... 23
10.2.2 Déclaration de conformité en francais ........................................................ 23
10.2.3 Industry Canada (IC) Label ....................................................................... 23

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2Abbreviations
ADC Analog-to-digital converter
CAN Controller area network
DAC Digital-to-analog converter
DSP Digital signal processing; digital signal processor
EEPROM Electrically erasable programmable read-only memory
FMCW Frequency modulated continuous wave
MMIC Monolithic microwave integrated circuit
RAM Random access memory
RS485 Physical communication layer standard EIA RS-485
SPI Serial peripheral interface
UMRR Universal medium-range radar

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3Introduction
This document is a short documentation of the general purpose universal medium range
radar (UMRR) UMRR-0F0002 radar sensor with type 29 antenna 1D0907 in the housing
version 050B00.

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4General description
4.1 Sensor description
The main task of the UMRR is the detection of any reflectors in the field of view, to measure
the distance, the relative speed and the angle to the shortest reflector (and to other
reflectors), to detect motion and to track (filter) the results over time.
For this general purpose measurement application, range and relative radial speed and
the angle value of each reflector inside the antenna beam are measured and the results are
reported via the communication links cycle by cycle. For a block diagram of the sensor see
Figure 1.
Figure 1: Block diagram of the UMRR-0F sensor
The UMRR sensor consists of two printed circuit boards: The DSP board and the RF
transceiver board.
The major component of the DSP board is the DSP TMS320F28335 which integrates flash
memory (for program code) and RAM. The DSP provides interfaces to external RAM,
EEPROM, CAN bus and RS485 (both for data communication). The Communication Processor
provides an Ethernet interface for data communication.
The DSP controls the RF transceiver board via an SPI interface.
RF transceiver board
MMIC
DSP board
Radar processor
(DSP TMS320F28335)
VCO
PLL
TX antenna
RX antennas
MxAmp
external
RAM
EEPROM
CAN
SPI (digital control)
analog
MxADC
McBSP
Program
Flash
internal
RAM
RS485
Mixer
SPI
DAC
Communic.
Processor
Ethernet
LAN
Clock
30 MHz
Clock
1 MHz
Clock
16MHz
25MHz

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The RF transceiver board consists of transmit and receive antennae and the RF circuitry that
includes the radar MMIC SC3001.2. The radar MMIC generates the transmit signal and down
converts the receive signals into baseband. The analog baseband signals are then routed to
the DSP board and digitized by the DSP’s built-in ADC. The digital data are further processed
on the DSP.
The MMIC also features a PLL circuitry to calibrate and linearize the transmit frequency
ramps, a DAC for setting the VCO voltage (corresponding to the transmit frequency) and an
SPI interface for receiving the control signals from the DSP.
For the time of emission the device is one fixed point to point application.

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4.2 Transmit Signal
The UMRR transmit frequency is located in the 24 GHz ISM band (24075 MHz to 24175 MHz),
the used bandwidth is smaller than 100 MHz. The maximum transmit power is 24.0dBm.
Antenna type 29 is used, consisting of one transmit and two receive antennas, both linear
polarized. The 2 way 3 dB cut-off angle in az. +-6deg. And in el. +-4deg.
The device uses different FMCW transmit signal waveforms for distance and speed
measurement.
4.3 General Performance Data
As soon as the device is powered up, the unit (TX and RX) starts operation. In Table 1:
General performance data general performance data are given.
Table 1: General performance data
Environmental
Ambient Temperature
-40 ... +85
degree C
Shock
100
grms
Vibration
14
grms
IP
67
Pressure / Transport altitude
0…10.000
M
Mechanical
Weight
320
G
Dimensions
See 5.2
Housing Identification
050B00
Antenna Identification
1D0907
DSP Board Identification
0F0002
General
Power Supply
7 ... 40
3.7
V DC
W
Frequency Band
24.075…24.175
GHz
Bandwidth
< 100
MHz
Max. Transmit Power (EIRP)
24.0
dBm
Interfaces
CAN V2.0b (passive),
RS485 half or full duplex
100Base-T Ethernet
Connector
12 Pin plug Hirose LF10WBRB-
12PD
CAN, RS485,
Power, Eth.

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5Hardware
5.1 UMRR sensor
An example picture of a UMRR (universal medium-range radar) sensor (housing type
050B00) is shown in the figures below.
Figure 2: UMRR sensor, housing type 050B00, front.

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Figure 3: UMRR sensor housing 050B00 rear

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5.2 Sensor Dimensions
All values given in mm.
Figure 4: Sensor Front side.
Figure 5: Sensor Top, Left and Right Side.

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Figure 6: Sensor Rear Side.

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6Cables and connectors
6.1 Sensor connector
The used sensor connector is a 12-pin male (plug) circular connector (water proof IP67,
LF10, manufacturer Hirose). A female counterpart (socket), e.g. LF10WBP-12S, has to be
used to connect to the sensor. The pin numbering of the socket is shown in Figure 7 the pin
description is given in Table 2: Sensor connector pin out Model UMRR-0F0002.
Figure 7: View on solder cup side of socket (rear view of female counterpart to be connected to
sensor)
Pin
Signal name
Wire Pair
Function
1
Eth_Tx1_P
1
Ethernet – RJ45 Pin 1
2
Eth_Tx1_N
Ethernet – RJ45 Pin 2
3
RS485_IN_N
2
RS485 Input
4
RS485_IN_P
5
RS485_OUT_N
3
RS485 Output
6
RS485_OUT_P
7
GND
4
Ground
8
Vcc
7 .. 40 V DC Supply
9
Eth_Tx2_N
5
Ethernet – RJ45 Pin 6
10
Eth_Tx2_P
Ethernet – RJ45 Pin 3
11
CAN Hi
6
CAN Interface
12
CAN Lo
Table 2: Sensor connector pin out Model UMRR-0F0002
Please note that in the standard configuration the sensor has no 120Ohms resistor on board
(CAN bus termination between CAN_L and CAN_H). The resistor is nevertheless required at
either end of a CAN bus and is in most cases integrated in the cable delivered along with the
sensor (if cable is manufactured by Smartmicro).
For the RS485 data interface there is a 120Ohms resistor on board of the sensor. The RS485
interface is full duplex hardware. Semi-duplex operation is also supported; please refer to the
User Manual.

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7Data interfaces
7.1 CAN data interface
This specification gives a detailed description of the CAN data communication used in the
UMRR based systems on the sensor CAN. The UMRR is compliant with CAN 2.0B standard.
CAN is a very robust full duplex bidirectional interface.
7.2 CAN-Settings
Baud Rate: 500kBit/s or lower
Tseg1: 8
Tseg2: 7
Tsjw: 1 (SJW: synchronization jump width)
Above values for CAN bit timing are illustrated in Figure 8 for the DSP TI TMS320F28335
used in the UMRR radar sensor (note: the eCAN module is integrated in the DSP). For
comparison purposes, in Figure 9 the CAN bit timing as defined by the CAN protocol is
shown. For the DSP TMS320F28335 the value of SYNCSEG (Figure 8) is always equal to 1 TQ
(Time Quantum) and it corresponds to the value Sync in Figure 9. TSEG1 (Figure 8)
combines the two time segments Prop and Phase 1 (Figure 9) as defined by the CAN
protocol. TSEG2 (Figure 8) corresponds to Phase 2 (Figure 9)
The CAN bit timing parts as defined by the CAN protocol (Figure 9) can be described as
follows:
•Sync: This part of bit time is used to synchronize the various nodes on the bus. An
edge is expected to lie within this segment. For the UMRR sensor, this segment is
always 1 TIME QUANTUM (TQ).
•Prop: This part of the bit time is used to compensate for the physical delay times
within the network. It is twice the sum of the signal’s propagation time on the bus
line, the input comparator delay, and the output driver delay. For the UMRR sensor,
this segment is programmable from 1 to 8 TIME QUANTA (TQ.
•Phase 1: This phase is used to compensate for positive edge phase error. For the
UMRR sensor, this segment is programmable from 1 to 8 TIME QUANTA (TQ) and
can be lengthened by resynchronization.
•Phase 2: This phase is used to compensate for negative edge phase error. For the
UMRR sensor, this segment is programmable from 2 to 8 TIME QUANTA (TQ) and
can be shortened by resynchronization.

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Figure 8: CAN bit timing for UMRR sensor (eCAN module on DSP TMS320F28335)
Figure 9: CAN bit timing as defined by the CAN protocol
7.3 RS485 data interface
The RS485 interface from the UMRR sensor has a predefined speed of 230400 baud/s.
Typical other data rates are between 921.6kBit/s and 56.7kBit/s.
The RS485 message payload is identical to the CAN format. The data messages will be sent
in several packets of one byte.
Every cycle begins with a start sequence and ends with a calculated checksum and an end
sequence. The length of the data payload depends on the number of targets and tracked
objects.
Every cycle has one start sequence one end sequence and one checksum.

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Table 3: RS485 message structure
Byte\Bit
7
6
5
4
3
2
1
0
0
Start sequence (4 x UINT8)
0xCA
1
0xCB
2
0xCC
3
0xCD
x
Data payload (n x UINT8)
x
x
x
x
x
x
x
0
XOR Checksum (UINT8)
1
End sequence (4 x UINT8)
0xEA
2
0xEB
3
0xEC
4
0xED
Every data message consists of its own message ID, the number of used data bytes and the
data bytes itself.
The checksum is calculated on all data except the start sequence and the end sequence. The
Checksum is a simple XOR Assignment of all n data bytes.
Byte0 XOR Byte1 XOR Byte2 ... XOR Byte (n-1)

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Table 4: Structure of a RS485 data payload block
Byte\Bit
7
6
5
4
3
2
1
0
0
CAN message ID (UINT16)
High
1
Low
2
CAN message length (UINT8)
3
CAN data payload (length x UINT8)
4
5
6
7
8
9
10
The sensor receives only one message per cycle. It is important to wait for the end sequence
to send an additional command.

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7.4 Transceiver schematics
In Figure 10 an extract of the DSP board schematic of the UMRR is given. As can be seen in
this figure, the CAN A pins of the DSP TMS320F28335 are connected to a CAN transceiver
which is connected to the pins CAN_A_L and CAN_A_H. Similarly, the RS485 pins of the DSP
are connected to a RS485 transceiver, which is connected to the pins RS485_IN_P,
RS485_IN_N, RS485_OUT_P and RS485_OUT_N. It should be noted that the mentioned pins
CAN_A_L and CAN_A_H correspond to the pins 11 and 12 of the sensor connector described
in section 6.1 and that the RS485 pins correspond to pins 3, 4, 5 and 6.
The Pins CoPro_TX0_P, CoPro_TX0_N, CoPro_TXI_P and CoPro_TXI_N are connected to an
Ethernet magnetic module, which is connected to the pins CoPro_TX1_N, CoPro_TX1_P,
CoPro_TX2_N and CoPro_TX2_P. (please see Figure 11) These pins lead to the pins 1, 2, 9
and 10 of the connector, described in chapter 6.1.
Figure 10: UMRR-0F0002 DSP board schematics, CAN and RS485 transceivers

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Figure 11: UMRR-0F0002 DSP board schematics, Ethernet

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8Designated use
The UMRR general purpose medium range radar is suitable for any application where the
distance to and relative radial speed of large objects has to be measured.
Typical applications are:
Automotive: measure shortest distance to obstacle.
Robotics: measure shortest distance to obstacle.
Security: detect motions and measure distance to moving object.
Traffic management: detect moving objects, count those, measure speed and measure
distance to moving object.
Cranes: measure distance to ground.
Aircraft: measure distance to ground.
The detection range depends on object size. Very large reflectors can be detected at a range
of more than 500 m.