SENSOR PRODUCTS Digital Compass Module APPLICATIONS Oceanographic – Marine Compassing HMR3000 – Positioning of Buoys, Underwater Structures lectronic compass module that Drilling provides heading, pitch and roll – Down Hole and Directional E output for navigation and guid- Attitude Reference ance systems. Honeywell’s solid state magnetoresistive Heading sensors make this strapdown – Navigation of Unmanned Vehicles compass both rugged and reli- – Avionic Compassing able. This compass provides fast response time up to 20 Integration with GPS – Dead Reckoning Hertz and high heading accu- racy of 0.5° with 0.1° resolution. Satellite Antenna Positioning Laser Range Finders – Surveying Applications FEATURES AND BENEFITS Fast Response Time Built with solid state magnetic sensors and no moving parts improves response time, allowing faster updates compared to gimballed fluxgates. Small Size Available as a circuit board 1.2 x 2.95 inches, weighing less than one ounce, or in an aluminum enclosure. Low Power Operates with less than 35 mA, allowing for long operation with a battery. High Accuracy Accuracy better than 0.5° with 0.1° resolution for critical positioning applications. Wide Tilt Range Tilt range of –40° for both the roll and pitch allows operation for most applications. Hard Iron Compensation Calibration routines to compensate for distortion due to nearby ferrous objects and stray fields, such as vehicles. User Configurable Features User settings of baud rate, update rate, output format, units, filter settings, deviation angles, alarms and warnings are stored internally in non-volitile memory. HMR3000 SENSOR PRODUCTS INTERFACE SIGNAL DESCRIPTIONS (HPR, RCD and CCD), and an ASCII heading output for Communication a digital display. HDG, HDT and HPR are the most HMR3000 communicates with an external host via RS- commonly used sentences; the formats are given below. 232 or RS-485 electrical standard through simple ASCII character strings. ASCII characters are transmitted and $HCHDG, Heading, Deviation, Variation received using 1 Start bit, 8 Data bits, (LSB first, MSB $HCHDG,85.5,0.0,E,0.0,E*77 always 0), no parity, and 1 Stop bit. Baud rate is user $HCHDT, Heading, True configurable to 1200, 2400, 4800, 9600, 19,200 or $HCHDT,271.1,T*2C 38,400. HMR3000 responds to all valid inputs received $PTNTHPR, Heading, Pitch and Roll with correct checksum value. $PTNTHPR, Heading,Heading Status,Pitch,Pitch Status,Roll,Roll Status*hh Compass Output $PTNTHPR,85.9,N,-0.9,N,0.8,N*2C HMR3000 can output three NMEA standard sentences, (HDG, HDT and XDR), three proprietary sentences The table shows pin assignments for the 9-pin D-shell connector. Power input can be either regulated 5V dc or unregulated 6V to 15V. Only one of the two power pins (9 or 8) should be connected in a given installation. Nt ame In n/OuPn iDp escriptio T) yM) in (1Ms ax (1 Unit Tt xD / B O2 uR— S-232 transmit out / RS-485 -8 18 1c V d Rn xD / A I3R— S-232 receive in / RS-485 -8 18 1c V d Gn ND I5P— ower and signal common 6n -15V I9U5 nregulated power input 60 – 1 3c0 V d 5n V I8R% egulated power input 50 ± 5 7c .5 V d On per / Calib (2) I1O5 perate / Calibrate (3) input (open = Operate)00 – -0 2 2c V d Rn un / Stop (2) I6R5 un / Stop (3) input (open = Run) 00 – -0 2 2c V d Rn eady / Sleep (2) I4R5 eady / Sleep (3) input (open = Ready) 00 – -0 2 2c V d Cn ont / Reset (2) I7C5 ontinue / Reset (3) input (open = Continue)00 – -4 2 1c V d (1) Absolute maximum ratings. (2) Sink current requirement; 200 (Typ) 400 (Max) mA. (3) Open input = high logic state. 2 HMR3000 SENSOR PRODUCTS SPECIFICATIONS Pe arameter Vs alu Comment Heading < 0.5° RMS (2)D* ip < 50° , Tilt <20° Accuracy (1) < 1.5° RMSD* ip < 75° , Tilt <20° R° epeatability (3) (4) ± 0.3 R° esolution 0.1 Us nitsde egrees / mil User selectabl Pitch and Roll R° ange ± 40 ± 0.4° Tilt < 20° Accuracy ± 0.6° T> ilt 2* 0° R° epeatability (3) (4) ± 0.2 R° esolution 0.1 Us nitsde egree/ mil User selectabl Magnetic Field (3) Dx ynamic Range ± 1.0 Gauss ma ± 0.5 Gauss range Rs esolution 1 mGaus Electrical (4) 5.0 Vdc regulated Supply Voltage 6 - 15 Vdc unregulated 35 mA @ 6 Vdc Normal operation Power 13 mA STOP Mode 2.0 mA SLEEP Mode Interface RS-232 Serial Rx S-485 Half Duple Bs aud Rate 1200 to 38400 bp S3 tandard NMEA 018 Continuous 1/min to 20 Hz per sentence Update Modes Strobed selectable averaging Physical (4) 0.75 oz (22 g) Circuit card only Weight 3.25 oz (92 g) Housed 1.2 x 2.95 x 0.760 Circuit card Dimensions 1.5 x 4.2 x 0.88 Housed compass Environment (5) OC perating Temp -20 to 70° SC torage Temperature -35 to 100° Sp hock34 0 inch dro MIL-STD-810E; TM 516. 20 - 2000 Hz Vibration MIL-STD-810E; TM 514.4 Random 2 hrs/axis Manufacturing P2 CB IPC 601 A0 ssemblyIr PC 61 Class II or bette 1.Heading accuracy assumes the Earth’s 4.Typical magnetic field is only disturbed by hard iron 5.Meet or exceed. fields, and has been compensated through * Device orientation not to exceed 75° during operation or storage—may cause calibration. 2.Calculated values. temporary loss of accuracy. 3.Guaranteed by characterization or design. 3 HMR3000 SENSOR PRODUCTS SPECIFICATIONS HMR3000 CONNECTION DIAGRAM—COMPUTER RS232 TO HMR3000 RS-232 computer pins HMR3000 pins RS-232 computer pins HMR3000 pins RX 2 2 TX RX 2 2 TX TX 3 3 RX TX 3 3 RX GND 5 5 GND GND 5 5 GND 9 V+ 8 V+ 6-15 Vdc 5 Vdc Reg. ac adapter Regulated voltage Unregulated Supply Regulated Supply source 4.200 (10.67) 3.250 (8.26) AAA AAA AAA AAAAA 0.188 AAA (0.46) F 0.150 (0.38) inches 0.062 0.062 ( (centimeters) (0.16) 0.16) ORDERING INFORMATION Type Output Enclosure RS-232 to RS-485 HMR3000-Demo-232*..... RS232 B & B Electronics #485TBLED RS-485 HMR3000-D00-232 ......... RS232 ....... None SD Control Shield 1 Echo Off TD(A) 2 HMR3000-D21-232 ......... RS232 ....... Extended Base RS-232 (B) 2 TD(B) 3 RS-485 2 RD TD HMR3000-D00-485 ......... RS485 ....... None (A) 3 RD(A) 4 RD 3 TD RD(B) 5 GD 7 GD HMR3000-D21-485 ......... RS485 ....... Extended Base GND 6 Gnd 5 Gnd +12V 7 Pwr 9 +12VDC *Development Kit includes one module in aluminum enclosure, DB9 socket cabling with power supply, demonstration software for PC running connector +12VDC VAC Windows™ and User’s Manual. Honeywell reserves the right to make changes to any products or technology herein to improve reliability, function or design. Honeywell does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it convey any license under its patent rights nor the rights of others. Solid State Electronics Center 12001 State Highway 55 Plymouth, MN 55441 1-800-323-8295 900204 Rev. B 12/99 0.188 (0.46) X Y Z RS 232 485 0.812 (2.06 ) HMR3000 Compass Module Forward Roll Pitch S/N 300062 1.500 (3.81)