SMC Networks IMU-007,IMU-107,IMU-108,IMU-008,IMU-106 User Manual
SMC IMU User Guide v26b.docx Index SMC Ship Motion Control
SMC IMU
User Guide
SMC IMU User Guide v26b.docx Index SMC Ship Motion Control
Notice
The information in this User Guide is subject to change without notice.
This document is property of SMC and shall not be reproduced in any form without written approval
from SMC.
SMC Ship Motion Control is not responsible for any errors in this manual or their consequences.
All rights reserved.
SMC Ship Motion Control Ltd
Email: info@shipmotion.eu
Web: www.shipmotion.eu
Tel: +46 8 644 50 10
SMC IMU User Guide v26b.docx Index SMC Ship Motion Control
TABLE OF CONTENTS
1 INTRODUCTION .................................................................................................................... 1
1.1 DEFINITIONS ............................................................................................................................... 2
2 SYSTEM DESCRIPTION .......................................................................................................... 3
2.1 SPATIAL MOVEMENT (COORDINATE SYSTEM) ................................................................................... 4
3 STORAGE AND UNPACKING .................................................................................................. 6
4 INSTALLATION ...................................................................................................................... 7
4.1 LOCATION ................................................................................................................................... 7
4.2 MOUNTING INSTRUCTIONS ............................................................................................................ 8
4.2.1 IMU MOUNTING BRACKET - OPTIONAL .......................................................................... 9
4.3 ALIGNMENT .............................................................................................................................. 10
4.4 DECK MOUNTED (MOUNTED ON HORIZONTAL SURFACE) .................................................................. 10
4.5 SIDEWAYS MOUNTING ................................................................................................................ 11
4.5.1 TOP OF THE IMU POINTING TO THE BOW ..................................................................... 11
4.5.2 TOP OF THE IMU POINTING TO THE STARBOARD ......................................................... 12
4.5.3 TOP OF THE IMU POINTING AT THE STERN ................................................................... 12
4.5.4 TOP OF THE IMU POINTING TO THE PORT .................................................................... 13
4.6 IMU DIMENSIONS ..................................................................................................................... 14
4.6.1 IMU-00X SURFACE UNIT ................................................................................................ 14
4.6.2 IMU-00x 30M DEPTH RATED UNIT ................................................................................ 15
4.6.3 IMU-10x SURFACE UNIT ................................................................................................ 16
4.6.4 IMU-10x 30M DEPTH RATED UNIT ................................................................................ 17
4.6.5 IMU OPTIONAL MOUNTING BRACKET........................................................................... 18
4.7 ELECTRICAL COMMUNICATION ..................................................................................................... 19
4.7.1 SERIAL RS232 AND RS422 INTERFACE CONNECTION GUIDE ......................................... 20
4.7.2 IMU SURFACE UNITS OUTPUT CONNECTION CABLING ................................................. 21
4.7.3 IMU SURFACE UNITS INPUT CONNECTIONS .................................................................. 21
4.7.4 IMU 30 DEPTH RATED UNIT ........................................................................................... 22
4.7.5 RS422 CABLE CONNECTION ........................................................................................... 23
4.7.6 RS232 CABLE CONNECTION ........................................................................................... 23
4.8 ELECTRICAL INSTALLATION ........................................................................................................... 24
4.8.1 IMU-XXX SURFACE UNIT WITH SERIAL INPUTS ............................................................. 24
4.8.2 IMU-XXX-30 DEPTH RATED UNIT ................................................................................... 25
4.8.3 IMU-XXX ANALOG VOLTAGE OUTPUTS ......................................................................... 26
4.8.4 IMU-XXX ANALOG CURRENT 4-20MA OUTPUTS ........................................................... 27
4.8.5 IMU-XXX Junction box without Power Supply and Serial Input .................................... 27
5 IMU CONFIGURATION GUIDE .............................................................................................. 28
5.1 IMU CONFIGURATION SOFTWARE V3.3.7.60 ................................................................................ 28
5.1.1 DEFAULT SETTINGS AT FACTORY ................................................................................... 29
5.1.2 SETTINGS ....................................................................................................................... 30
5.2 PROTOCOLS .............................................................................................................................. 32
5.2.1 SMC STANDARD PROTOCOLS ........................................................................................ 33
5.2.2 SMCA ............................................................................................................................. 33
5.2.3 SMCB ............................................................................................................................. 34
5.2.4 SMCC ............................................................................................................................. 35
5.2.5 SMCD ............................................................................................................................. 35
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5.2.6 SMCE .............................................................................................................................. 36
5.2.7 SMCF .............................................................................................................................. 36
5.2.8 SMCG ............................................................................................................................. 36
5.2.9 SMCH ............................................................................................................................. 37
5.2.10 SMCI ............................................................................................................................... 37
5.2.11 SMCM ............................................................................................................................ 38
5.2.12 SMCR ............................................................................................................................. 38
5.2.13 SMCS .............................................................................................................................. 38
5.2.14 SMCT .............................................................................................................................. 39
5.2.15 SMCU ............................................................................................................................. 39
5.2.16 SMCV ............................................................................................................................. 40
5.2.17 TCM2 ............................................................................................................................. 40
5.2.18 TRH ................................................................................................................................ 40
5.2.19 TRO ................................................................................................................................ 41
5.2.20 MDL ............................................................................................................................... 41
5.2.21 DIGILOG / OCEAN TOOLS ............................................................................................... 42
5.2.22 HYDROGRAPHIC PROTOCOLS ........................................................................................ 42
5.2.23 CDL MICROTILT .............................................................................................................. 42
5.2.24 CDL1 ............................................................................................................................... 42
5.2.25 TSS1 ............................................................................................................................... 43
5.2.26 TSS3 ............................................................................................................................... 43
5.2.27 RDID ............................................................................................................................... 44
5.2.28 SXN ................................................................................................................................ 44
5.2.29 ANALOG1 ±0.5m ±10V ................................................................................................... 45
5.2.30 ANALOG2 ±10 DEGREES ±10V ....................................................................................... 45
5.2.31 ANALOG3 ±30 DEGREES ±10V ....................................................................................... 46
5.2.32 ANALOG4 0-20 DEGREES 4~20 milliamps ...................................................................... 46
5.2.33 ANALOG5 ±60 DEGREES 4~20 milliamps ....................................................................... 46
5.2.34 ANALOG6 ±5m 4~20 milliamps ..................................................................................... 47
5.2.35 DD50 .............................................................................................................................. 47
5.2.36 BINARY PROTOCOLS ...................................................................................................... 48
5.2.37 ATLAS (HYDROGRAPHIC) ............................................................................................... 48
5.2.38 SIMRAD EM1000 & EM 3000 ......................................................................................... 48
5.2.39 BOSCH REXROTH HEXADECIMAL HEAVE ....................................................................... 49
5.2.40 BINARY STRING 1 ........................................................................................................... 49
5.2.41 BINARY STRING 2 ........................................................................................................... 49
5.3 CHARTS .................................................................................................................................... 50
5.4 RECEIVED DATA ......................................................................................................................... 51
5.5 SERIAL INPUT ............................................................................................................................ 52
5.5.1 AIDING VIA GPS AND SPEED LOG .................................................................................. 53
5.5.2 HEADING INPUT ............................................................................................................. 53
5.5.3 VESSEL TURNS ............................................................................................................... 54
5.6 REMOTE HEAVE ......................................................................................................................... 55
5.6.1 REMOTE HEAVE ............................................................................................................. 56
5.6.2 CENTER OF GRAVITY CG LEVER ARM ............................................................................. 57
5.6.3 AHC (ACTIVE HEAVE COMPENSATION) ......................................................................... 58
5.6.4 SETUP OF CRANE LAYOUT ............................................................................................. 58
5.6.5 SETTING ANGLE OFFSETS ........................................................................................... 61
5.6.6 STRING INPUT ................................................................................................................ 63
5.6.7 VERIFICATION STRING AND EXAMPLE STRINGS ............................................................ 65
5.6.8 TELESCOPIC ARM INPUT DATA ...................................................................................... 65
5.7 OPTIONAL SMC SOFTWARE ......................................................................................................... 66
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6 MOTION SENSOR OPERATION ............................................................................................ 66
6.1 SETTLING TIME .......................................................................................................................... 66
6.2 HEAVE OPERATION..................................................................................................................... 66
7 SERVICE AND WARRANTY ................................................................................................... 67
7.1 TECHNICAL SUPPORT .................................................................................................................. 67
7.2 WARRANTY ............................................................................................................................... 68
7.2.1 LIMIT OF LIABILITY ......................................................................................................... 68
7.2.2 RESTRICTION OF WARRANTY ........................................................................................ 69
8 TECHNICAL SPECIFICATIONS................................................................................................ 70
8.1 IMU-00X TECHNICAL SPECIFICATIONS .......................................................................................... 70
8.2 IMU-10X TECHNICAL SPECIFICATIONS .......................................................................................... 71
9 FAQ & SUPPORT ................................................................................................................. 72
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1 INTRODUCTION
This user manual provides information about your IMU motion sensor and how to use it.
The SMC motion sensors are used in a wide range of applications.
Some examples are:
- Hydrographic surveying for heave compensation using multi beam sonars, single beam
sonars and sub bottom profilers.
- System integration for different type of monitoring systems such as helideck monitoring and
crane monitoring systems.
- Active heave compensation for cranes and winches.
- Dynamic positioning systems
Products Covered in this User Guide
Surface units
Roll & Pitch (Dynamic)
Heave
Acceleration
IMU-007
0,25 RMS
N/A
0,01 m/s2 RMS
IMU-008
0,25 RMS
5cm or 5%
0,01 m/s2 RMS
IMU-106
N/A
5cm or 5%
N/A
IMU-107
0,03 RMS
N/A
0,01 m/s2 RMS
IMU-108
0,03 RMS
5cm or 5%
0,01 m/s2 RMS
Subsea units, 30 m depth rated
Roll & Pitch (Dynamic)
Heave
Acceleration
IMU-008-30
0,25 RMS
5cm or 5%
0,01 m/s2 RMS
IMU-108-30
0,03 RMS
5cm or 5%
0,01 m/s2 RMS
Special units
Roll & Pitch (Dynamic)
Heave
Acceleration
IMU-007-L
0,25 RMS
N/A
0,01 m/s2 RMS
IMU-108R-L
0,03 RMS
5cm or 5%
0,01 m/s2 RMS
IMU-108R-30
0,03 RMS
5cm or 5%
0,01 m/s2 RMS
As an option Analog outputs are available and covered by this user guide
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1.1 DEFINITIONS
Alignment
The alignment of the motion sensor is the positioning of the IMU onto the structure of the rig or
vessel. The physical alignment should be done as accurately as possible and then it can be fine-tuned
in the system software by entering offsets for roll (X), pitch (Y) and the Z-axis.
Yaw in the SMC units
Without an external aiding input the yaw in the SMC motion sensor will drift over time and so it
cannot be used as an absolute heading output. Positive yaw is a clockwise rotation.
The yaw output from the SMC unit, when it is not aided from an external heading input, is basically
the integration of the yaw gyro or the integrated rotation in the Z axis in the earth coordinate
system.
Roll
Roll is the rotation about the roll axis (X) of the vessel. SMC defines the port up as a positive roll.
Pitch
Pitch is the rotation about the pitch axis (Y) of the vessel. SMC defines the bow down as a positive
pitch.
Heave
Heave is the vertical dynamic motion of the vessel. The heave is calculated by a double integration of
the vertical acceleration. The vertical position is filtered with a high pass filter.
Heave measures the relative position dynamically and cannot be used for a static height position
measurement. An upwards motion is defined as a positive heave.
Surge and Sway
Surge and Sway are the horizontal dynamic motion of the vessel.
Surge is the linear motion along the roll axis; a positive surge is when the vessel is moving in
the bow direction.
Sway is the linear motion along the pitch axis where a positive sway is in the port direction.
The surge and sway calculation is attained by a double integration of the horizontal acceleration. The
horizontal position is filtered with a high pass filter.
The dynamic horizontal linear measurement is a relative position and cannot be used for a static
horizontal position measurement.
Center of Gravity
Centre of gravity CG is the mass center of a vessel.
X-axis/Roll axis
The X axis is the bow/stern axis in the vessel. Rotation in the X axis will generate a roll motion where
a positive rotation is port side up.
Y-axis/Pitch axis
The Y axis is the port/starboard axis in the vessel. Rotation in the Y axis will generate a pitch motion
where a positive rotation is bow down.
Z-axis
The Z axis is the vertical axis pointing up and down in the vessel. Rotation in the Z axis will generate a
yaw motion, where positive yaw is a clockwise rotation.
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RMS
Root mean square (RMS) is a statistical measure of the magnitude of a varying quantity.
2 SYSTEM DESCRIPTION
The SMC motion sensors have three separate axial measurement component groups converting
signals from actual movements via three accelerometers and three gyroscopes into output data of
angles and attitude.
The output parameters are presented in a digital output string via RS422 and RS232.
The signal from the gyroscopes are combined with the signal from the accelerometers and are
processed in a Kalman filter inside the IMU to provide output value for acceleration, attitude and
angle with limited influence from noise and other inaccuracies.
Heave, surge and sway are calculated by integrating the acceleration in the X, Y and Z axis twice. The
integration is then filtered with a high pass filter.
The calculations of the distances are optimized for continuous motion and not for static distance
measurements, as the high pass filter will filter the position over time to zero.
The dynamic motion filtering is designed to measure motions over a period between 1 s and 25 s.
Before delivery all motion sensors are calibrated and the readings from the accelerometers and
angular rate gyroscopes are verified for alignment, linearity and temperature, to ensure they meet
the performance specifications.
The calibration is run up to +/-30 degrees of angle. The best performance is achieved within this
angle range.
If the motion sensor angle exceeds the calibrated angular range the calibration data will be
extrapolated outside the calibrated range, which may lead to decreased performance.
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2.1 SPATIAL MOVEMENT (COORDINATE SYSTEM)
The SMC motion sensor defines its body axis from the Tait-Bryan/Euler angles used to describe the
orientation of a vessel.
In the SMC motion sensors the coordinate system can be
defined by a setting option in the SMC configuration
software that is included with the motion sensor. The user
can choose between the rigid body coordinate system and
the absolute earth coordinate system.
The standard IMU setting is for Earth Coordinates without
earth G in Acc.
The measurement of gravity (g) and the measured
acceleration in different directions from the accelerometers
is used to calculate the orientation of the accelerometers in
relation to earth.
Motion sensor offset in roll, pitch and the Z axes can be set
for alignment errors in the physical installation. It is also possible to invert the axis to suit the
receiving application.
The SMC IMU default rotational and acceleration directions are defined in the drawing below. By
setting an offset the motion sensor rotates its coordinate system. For optimum performance align
the motion sensor as accurately as possible before setting up offsets electronically.
Note that the Z-axis offset is used to compensate for a physical misalignment in the Z-axis
mounting and is not used to set the yaw angle output in the motion sensor. An improper Z-axis
rotation will rotate the coordinate system. Also a misalignment in the Z axis will induce roll motion
readings in the pitch axis and the vice versa.
Pitch is the rotation around the transverse axis, the axis running form starboard to port of the vessel.
Roll is the rotation around the longitudinal axis, the axis running from the bow to the stern of the
vessel.
Yaw is the rotation around the vertical axis.
See the figure below:
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3 STORAGE AND UNPACKING
Unpack the equipment and remove all the packaging materials and shipping carton.
The motion sensor is delivered in a transit case designed to protect it from high shocks during transit.
When the unit has been received it should be inspected for damage during shipment. If damage has
occurred during transit, all the shipping cartons and packaging materials should be stored for further
investigation. If damage is visible a claim for shipping damage should be filed immediately.
Because of the sensitive nature of the IMU the package must not be dropped.
Standard Delivered Items
IMU
Transit Case
Junction Box Fitted with
IMU to JB 10m 12 core cable
Serial Output Data lead 1.5m
AC Input Cable 0.9m
Calibration Certificate
CD with IMU Configuration Software and IMU User Manual
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4 INSTALLATION
The SMC motion sensor must be installed according to the instructions in this manual.
The motion sensor is designed to be installed in an internal environment.
4.1 LOCATION
The optimal position for the sensor is as close as possible to the vessels center of gravity. However
for certain applications, mainly when heave and accelerations are to be measured at a specific
location, it is advised to mount the motion sensor as close as possible to the actual measurement
point, for example in Helideck systems and some hydrographic survey systems.
Recommendations for location of the motion sensor to obtain optimal performance:
Roll & Pitch
When mounting the IMU, take care to align the sensor to the vessels roll and pitch axis. If
there is an axis misalignment in the Z-rotation, roll motions will induce errors in pitch measurements
and vice versa.
Small alignment errors can be adjusted mathematically inside the motion sensor. The alignment
offsets can be set from the SMC setup software.
Heave/acceleration
If the motion sensor is equipped with Heave/acceleration measurement it is recommended
that the motion sensor is placed as close to the point where Heave/acceleration is to be measured.
For a helideck installation it is required to install the unit within 4 meters from the center of the
helideck.
Temperature
The SMC motion sensors have been calibrated and designed to work within the stated
temperature range as specified in the motion sensor technical specifications. SMC recommend that
the motion sensor is mounted in a location without extreme variations in temperature.
Vibrations
Avoid mounting the motion sensor on any hull location that is subject to substantial
vibrations. Also avoid mounting the sensors near to machines with sporadic operation e.g. hydraulic
pumps.
Water
The SMC IMU-007, IMU-008, IMU-106, IMU-107 and IMU-108 as a standard is IP66
protection rated. The standard surface unit is designed to be mounted in indoors but it is possible to
mount it outdoors, an enclosure of some sort is still recommended to prolong service life.
The SMC IMU-108-30 is IP68 water resistant to 30 meters depth or optional 1000 meters.
Mounting orientation
The IMU is calibrated from the factory for Deck or Sideways orientation.
Deck orientation is when the IMU is mounted on a horizontal surface. Deck mounting calibration is
the default orientation.
Sideways orientation is when the IMU is calibrated to be mounted on a vertical surface.
A unit that has been calibrated for Deck mounting cannot be used in a sideways mounting and vice
versa without recalibration of the IMU at the factory.
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4.2 MOUNTING INSTRUCTIONS
The IMU base plate has been specifically designed to enable ease of installation and alignment by
allowing freedom of movement around the mounting fixings.
The motion sensor is not shipped with mounting screws or bolts. The base plate can be used with a
maximum M8 screw or bolt. Remove the motion sensor while the mounting location is prepared. See
motion sensor Dimensions Section 4.6
After drilling any holes for mounting, be sure to de-burr the holes and clean the mounting location of
any debris that could induce errors.
Mount and screw the motion sensor in position, taking care to align the IMU as best as possible.
A deck mounting motion sensor, has to be mounted with the connector pointing upwards. It is not
designed to be mounted with the connector pointing downwards.
In the SMC Configuration software there is a function to fine tune the motion sensor alignment in the
X, Y and Z axis electronically. This setting will rotate the coordinate system electronically inside the
motion sensor. See Section 5.1 on Motion Sensor Configuration Software for further instructions.
When mounting the motion sensor sideways there are 4 mounting options in the SMC setup
software to rotate its coordinate system correctly. For more information see Section 4.5 for sideways
calibrated setup.
If an incorrect mounting selection is chosen the coordinate system will be inverted. In this case the
roll motion will become the pitch motion or alternatively the positive negative rotation of the angles
will be inverted.
When the motion sensor is calibrated for sideways mounting (connector pointing horizontally) and is
mounted upside down, with the single notch pointing in the wrong direction, the output signal from
the motion sensor will display – 180 degrees wrong angle for roll output. If the IMU is mounted
incorrectly it will not work within its calibrated range and will output inaccurate values.
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4.2 . 1 IM U M O UNTING BRA CK E T - O PTIONAL
An optional mounting bracket is available, designed to provide a secure mounting location, combined
with easy motion sensor alignment.
The bracket base plate has two pins that correspond to two of the notches in the IMU base.
Alignment adjustments can then be made by rotating the bracket base plate.
The advantage is that the motion sensor can be removed for servicing or recalibration and replaced
in exactly the same position.
The base plate, included with the bracket, allows 45 degrees of rotational adjustment.
See 4.6.5 for details of the mounting bracket dimensions.
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4.3 ALIGNMENT
To achieve maximum performance it is important to perform an accurate alignment of the motion
sensor along the vessel longitudinal axis.
The physical alignment should be as accurate as possible using the notches on the motion sensor
mounting plate for reference.
For the deck mounting option the single notch is to be pointing to the fore direction of the vessel. A
misalignment in the Z-rotation (yaw) will generate a cross axis motion, where pitch will generate in a
roll reading from the motion sensor and vice versa.
From the SMC configuration software it is possible to fine tune the alignment of the motion sensor.
Note the Z-axis alignment is only to be used to correct the physical misalignment and not to change
the yaw output reading from the motion sensor.
4.4 DECK MOUNTED (MOUNTED ON HORIZONTAL SURFACE)
When the IMU is calibrated for Deck mounting the unit cannot be used for sideways mounting
without a recalibration at the factory.
Mounting of the motion sensor should be carried out with the mounting plate lying horizontally. The
notches on the plate mark the orientation points of the motion sensor.
The indexes (see below) marking the Pitch axis should be aligned to port/starboard, along the vessels
center of rotation or on the axis you have defined.
The single notch is to be mounted pointing to the bow of the vessel.
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4.5 SIDEWAYS MOUNTING
When the IMU is calibrated for Sideways mounting the unit cannot be used for Deck mounting
without a recalibration at the factory.
The mounting of the motion sensor should be carried out with the mounting plate lying vertically.
The notches on the plate mark the orientation points of the motion sensor.
The indexes marking the P-axis should be mounted pointing to vertical. The single notch should be
mounted pointing horizontally to the bow/stern/port/starboard of the vessel.
Depending on the mounting orientation the unit will need its coordinate system to be setup for in
the SMC configuration software.
Note: The IMU cannot be mounted in the sideways orientation unless it has been specifically
calibrated to do so. Contact SMC if clarification is required.
4.5 . 1 TOP O F THE IMU POIN TI N G TO THE BOW
When the IMU top (where the connector is located) is pointing to the Bow of the vessel the single
notch should be pointing horizontally to Starboard.
In the SMC setup software IMU top to the Bow must be selected.
Single Notch Pointing
to Starboard
IMU Connector Pointing to the Bow
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4.5 . 2 TOP O F THE IMU POIN TI N G TO THE STARBOA R D
When the IMU top (where the connector is located) is pointing to the Starboard of the vessel the
single notch should be pointing horizontally to the Stern.
In the SMC setup software IMU top to the Starboard must be selected.
4.5 . 3 TOP O F THE IMU POI N T ING AT THE STERN
When the IMU top (where the connector is located) is pointing to the Stern of the vessel the single
notch should be pointing horizontally to Port.
In the SMC setup software IMU top to the Stern must be selected.
IMU Connector Pointing to
Starboard
Single Notch Pointing
to the Stern
IMU Connector Pointing to
the Stern
Single Notch Pointing
to Port
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4.5 . 4 TOP O F THE IMU POI N T ING TO THE P O R T
When the IMU top (where the connector is located) is pointing to the Port of the vessel the single
notch should be pointing horizontally to the Bow.
In the SMC setup software IMU top to the Port must be selected.
Single Notch Pointing
to the Bow
IMU Connector Pointing to
Port
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4.6 IMU DIMENSIONS
4.6 . 1 IM U - 0 0 X SURFACE U N I T
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4.6 . 2 IM U - 0 0 X 30M DEPTH RA T ED UNIT
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4.6 . 3 IM U - 1 0 X SURFACE UN I T
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4.6 . 4 IM U - 1 0 X 30M DEPTH RA T ED UNIT
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4.6 . 5 IM U O P TIONAL MOUNT ING BRACKET
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4.7 ELECTRICAL COMMUNICATION
The SMC IMU can operate from a 12-30 VDC power supply. The power consumption during normal
conditions is between 2 and 2.5 watts.
The SMC IMUs have both RS422 and RS232 serial outputs as standard. The Junction Box shipped with
the unit is preconfigured in the factory for RS232 or RS422. This can be changed in the field by
changing the wiring of the serial cable inside the junction box. See the wiring diagram for wiring
details.
RS422 communication can achieve data transfer over long distance cables.
RS232 is designed for short distance communication, (max 20 meters).
The RS422/RS232 cable normally terminates with a conventional DB9 connector.
Two RS232 serial ports are also available for aiding the motion sensor by GPS or Compass.
WARNING
! Permanent damage to the motion sensor may occur if power is applied to the digital
connections. It is important to check the power connections by measuring the voltage at
the connector prior to the motion sensor being connected. Damage resulting from
incorrect connection is not covered by the warranty.
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