6 DOF INERTIAL MEAUSURING UNIT E-LEAN

Transcription

1 6 DOF INERTIAL MEAUSURING UNIT E-LEAN E-LEAN is a complete inertial measuring unit with 6 degrees of freedom and it is able to estimate the lean angle of the motorcycle. To correctly estimate the lean angle of the motorcycle, it is need to send on the CAN BUS the speed signal of the vehicle. This new version of our E-LEAN sensor is based on the most accurate state of the art method to measure the lean angle of the motorcycle and it is temperature compensated. E-LEAN sensor is fully compliant with Motec M800, Pectel Cosworth SQ6 and MQ12 and Magneti Marelli GIP-220 ECUs. TECHNICAL SPECIFICATION Nominal Supply Voltage: 12V Supply Voltage Range: 9V 18V Nominal Supply Current: 30mA (@12V) Protection Class: IP 67 Automotive design (compliant to regulation R10) Temperature calibrated and compensated Temperature range: o Operating: -40 C +85 C o Storage: -40 C +85 C Inertial measurements: Accelerations XYZ: ±16g Angular rates XYZ: ±250 /s Frequency response: Attitude angles -3 7Hz Accelerations -3 15Hz Angular rates -3 15Hz

2 CAN Data transfer (e-lean standard): Baudrate: 1 MBaud Identifier length: 11 bit OUTPUT CAN Mailbox ID: (for details and customization contact ) o ID 41Fh: Roll Angle o ID 2F0h: Accelerations o ID 2F0h and ID 2F4h: Angular rates INPUT CAN Mailbox ID 200h (speed) and ID 300h (on-board calibration) CAN Circuitry, Differential Resistor: 120 (for details contact ) CAN Circuitry, Resistor to VDD and GND: 4.7 k Refresh rate: 10 ms Contact for information about bit description and signal layout ID 41Fh - Bit Layout and signal description Byte 0 Roll Angle Bit7 RA15 RA14 RA13 RA12 RA11 RA10 RA9 RA8 Byte 1 Roll Angle Bit15 RA7 RA6 RA5 RA4 RA3 RA2 RA1 RA0 Byte 2 Speed Read Bit7 SR15 SR14 SR13 SR12 SR11 SR10 SR9 SR8 Byte 3 Speed Read Bit15 SR7 SR6 SR5 SR4 SR3 SR2 SR1 SR0 NOTE: Speed Read has to be equal to the speed signal sent on ID 200h Byte 4 Pitch Angle Bit7 PA15 PA14 PA13 PA12 PA11 PA10 PA9 PA8 Byte 5 Pitch Angle Bit15 PA7 PA6 PA5 PA4 PA3 PA2 PA1 PA0

3 Byte 6 Fault FLAG Bit7 FF7 FF6 FF5 FF4 FF3 FF2 FF1 FF0 NOTE: if Fault FLAG is equal to 1, then some problems may be occurred in the measured signals and the estimated angles are posed equal to 0 Byte 7 Temperature Bit15 TT7 TT6 TT5 TT4 TT3 TT2 TT1 TT0 ID 2F0h - Bit Layout and signal description: Byte 0 Ax Bit7 AX15 AX14 AX13 AX12 AX11 AX10 AX9 AX8 Byte 1 Ax Bit15 AX7 AX6 AX5 AX4 AX3 AX2 AX1 AX0 Byte 2 Ay Bit23 AY15 AY14 AY13 AY12 AY11 AY10 AY9 AY8 Byte 3 Ay Bit31 AY7 AY6 AY5 AY4 AY3 AY2 AY1 AY0 Byte 4 Az Bit39 AZ15 AZ14 AZ13 AZ12 AZ11 AZ10 AZ9 AZ8 Byte 5 Az Bit47 AZ7 AZ6 AZ5 AZ4 AZ3 AZ2 AZ1 AZ0 Byte 6 Wx Bit55 WX15 WX14 WX13 WX12 WX11 WX10 WX9 WX8 Byte 7 Wx Bit63 WX7 WX6 WX5 WX4 WX3 WX2 WX1 WX0

4 ID 2F4h - Bit Layout and signal description: Byte 4 Wy Bit39 WY15 WY14 WY13 WY12 WY11 WY10 WY9 WY8 Byte 5 Wy Bit47 WY7 WY6 WY5 WY4 WY3 WY2 WY1 WY0 Byte 6 Wz Bit55 WZ15 WZ14 WZ13 WZ12 WX11 WZ10 WZ9 WZ8 Byte 7 Wz Bit63 WZ7 WZ6 WZ5 WZ4 WZ3 WZ2 WZ1 WZ0

5 Signal conversion RA Long Roll Angle Physical range: +90 = 1050h -90 = 948h Quantization LSB: 0.1 [ ] Roll Angle [ ] = (Dec_Value*GAIN_RA)+OFFSET_RA Roll Angle GAIN: GAIN_RA=0.1 Roll Angle OFFSET: OFFSET_RA= PA Long Pitch Angle Physical range: +90 = 1050h -90 = 948h Quantization LSB: 0.1 [ ] Pitch Angle [ ] = (Dec_Value*GAIN_PA)+OFFSET_PA Pitch Angle GAIN: GAIN_PA=0.1 Pitch Angle OFFSET: OFFSET_PA= AX AY AZ Long Ax Longitudinal Acceleration Ay Lateral Acceleration Az Vertical Acceleration Physical range: +5g = A651h -5g = 59ADh Quantization LSB: 0.01 [m/s 2 ] Ax [m/s 2 ] = (Dec_Value*GAIN_A)+OFFSET_A Physical range: +5g = A651h -5g = 59ADh Quantization LSB: 0.01 [m/s 2 ] Ay [m/s 2 ] = (Dec_Value*GAIN_A)+OFFSET_A Physical range: +5g = A651h -5g = 59ADh Quantization LSB: 0.01 [m/s 2 ] Az [m/s 2 ] = (Dec_Value*GAIN_A)+OFFSET_A Accelerations GAIN: GAIN_A=0.005 Accelerations OFFSET: OFFSET_A=

6 WX WY WZ Long Wx Longitudinal Angular Rate Wy Lateral Angular Rate Wz Vertical Angular Rate Physical range: +100 /s = A70Fh -100 /s = 58EFh Quantization LSB: 0.01 [ /s] Wx [ /s] = (Dec_Value*GAIN_W)+OFFSET_W Physical range: +100 /s = A70Fh -100 /s = 58EFh Quantization LSB: 0.01 [ /s] Wy [ /s] = (Dec_Value*GAIN_W)+OFFSET_W Physical range: +100 /s = A70Fh -100 /s = 58EFh Quantization LSB: 0.01 [ /s] Wz [ /s] = (Dec_Value*GAIN_W)+OFFSET_W Angular Rates GAIN: GAIN_W=0.01 Angular Rates OFFSET: OFFSET_W= FF Long Fault FLAG Physical range: 1 = 0080h 0 = 0000h Quantization LSB: 1 Fault FLAG = Dec_Value* GAIN_FF Fault FLAG GAIN: GAIN_FF=1/128 TT Long Temperature Physical range: 100 C = 00C8h 0 C = 0064h Quantization LSB:1 [ C] Temperature [ ] = Dec_Value+OFFSET_TT Temperature OFFSET: OFFSET_TT=-100

7 ID 200h - Bit Layout and signal description (sent by ECU to E-LEAN) Byte Number x00 Speed_MSB Speed_LSB Speed[UINT] = Speed[km/h]*4; ID 300h - Bit Layout and signal description (sent by ECU to E-LEAN) Byte Number CALIB CALIB [UINT] = 0 or 1; If CALIB is equal to 1 and the speed is null, the on-board calibration procedure starts. In order to improve the sensor calibration, please perform this procedure on the centerstands. PINOUT: E-LEAN CONNECTOR (BINDER 709 SERIES 4 POLES FEMALE Cod ) WITH SENSOR CABLE: PIN1 - BLUE - GND PIN2 - BROWN - 12V PIN3 - BLACK - CAN LOW PIN4 - WHITE - CAN HIGH E-LEAN CONNECTOR (BINDER 709 SERIES 4 POLES FEMALE Cod ) WITH STANDARD CABLE: PIN1 - BLUE - GND PIN2 - RED - 12V PIN3 - YELLOW -CAN LOW PIN4 - GREEN - CAN HIGH

8 DIMENSIONS h=10 mm H=13.5 mm L=41 mm d=39 mm