WATSON INDUSTRIES ADS-C232-3AD Manuale utente

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

Dual Axis

Vertical Reference System

Owner’s Manual

PART NUMBER: ADS-C232-3AD

WATSON INDUSTRIES, INC.

3035 MELBY STREET

EAU CLAIRE, WI 54703

Phone: (715) 839-0628

Fax: (715) 839-8248

Email: support@watson-gyro.com

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

Table of Contents

Introduction................................................................................................................... 3

Product Description...................................................................................................... 3

Installation .................................................................................................................... 3

Orientation .....................................................................................................................................................................3

Mounting........................................................................................................................................................................4

Environment: .................................................................................................................................................................4

Power.............................................................................................................................................................................4

Theory of Operation ..................................................................................................... 4

Operation ...................................................................................................................... 5

Initialization...................................................................................................................................................................5

Normal Operation ..........................................................................................................................................................5

Special Operation Modes...............................................................................................................................................5

Reference Mode.........................................................................................................................................................5

Free Mode..................................................................................................................................................................5

Interface.........................................................................................................................................................................6

RS-232 Output Format...............................................................................................................................................6

RS-232 Input Commands...........................................................................................................................................7

Analog Outputs..........................................................................................................................................................9

Built in Test Digital Output .......................................................................................................................................9

Specifications.............................................................................................................. 10

Connections ................................................................................................................ 11

Dimensions ................................................................................................................. 11

WARNING................................................................................................................. 12

DISCLAIMER

............................................................................................................... 12

WARRANTY

................................................................................................................. 12

PRODUCT LIFE

............................................................................................................ 12

Appendix B................................................................................................................. 16

Activating Command Mode (Double Spacebar Mode)................................................................................................16

Accessing the Main Menu............................................................................................................................................16

Appendix B.1 Adjust Time Constants........................................................................ 16

Appendix B.2 Set Output Channels............................................................................ 16

Appendix B.3 List Output Channels .......................................................................... 17

Appendix B.4 Select Analog Attitude Full Scale Range............................................ 17

Appendix B.5 Set Baud Rate...................................................................................... 19

Appendix C................................................................................................................. 20

Watson Industries prides itself on solving customer problems and serving their needs in a timely fashion. This manual

is intended to facilitate this goal and to provide written information about your product. We ask that you carefully read

this manual. Becoming familiar with the manual will help you understand the product’s capabilities and limitations, as

well as provide you with a basic understanding of its operation. If, after reading the manual, you require further

assistance, do not hesitate to call Watson Industries with your questions and comments.

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

CAUTION!

Watson Sensors are rugged devices that have been used successfully in a number of harsh

environments. The components have been qualified to withstand a mechanical shock of 500g 's or

greater, and most enclosures provide near that level of protection. However, dropping a sensor

from waist height onto a hard floor can cause a shock level of 600g's. At this level, given some

resonance, damage is possible.

Introduction

The Watson Industries Vertical Reference represents a significant advancement in inertial sensor

technology. It is a highly accurate and rugged device with many advantages over other types of

angular rate and incline-sensing devices. This manual describes operation of the Watson Industries

Vertical Reference and also provides useful application information to the system designer.

Product Description

The Watson Industries Vertical Reference System is an entirely solid-state sensor that provides

exceptional rejection from the adverse effects of inertia and short-term lateral accelerations. It does

this through the use of both an accelerometer based vertical reference and an angular rate sensor

which is integrated to provide additional information on angular position. It can be a functional

replacement for mechanical gyros which are often more expensive and which cannot provide the

reliability of a solid-state sensor. Theory of operation is described with more detail later in this

manual. The specifications, size and pinouts are also described later in this document

The Watson Vertical References provide for two types of analog output voltages. One is

proportional to angular rate and the other is proportional to angular displacement. Full-scale

analog outputs produce an output of ±5 volts dependent upon the direction of angular position or

rotation. During rotation, positive voltage output occurs in the direction of the rotational arrow

indicated in figure 2. At horizontal and zero angular rotation rate, both outputs for displacement

and rotation rate are near zero. A power supply, providing +8 to +45 Volts DC, is required to

operate the unit.

Special options in power supply, output voltage, scale calibration, and special packaging are

available as custom units. Pricing and delivery information on custom units is available by

contacting the factory.

Installation

Orientation

The base of the unit is to be mounted on top of a horizontal surface with the single foot toward the

forward direction of the vehicle. The ADS drawing, with wire call outs, is located in Figure 2. The

ADS is a rugged device and will withstand harsh environments. However, due attention needs to be

paid to the nature of the sensor and its prime function, which is to measure attitude and motion.

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

Mounting

The unit has three 0.12” diameter mounting holes for using three # 4 (or 3 mm) screws. To

avoid distortion, the unit must be attached to a clean, flat surface, and the fasteners must be

tightened evenly.

Environment:

Avoid mounting sites that are subject to significant temperature variation over the duration of the

test. Temperature variation will induce significant rate sensor bias drift, which will reflect in poor

attitude accuracy.

For shipboard applications, install the sensor near the center of gravity. For all applications, it is

preferable to install the device where linear dynamic effects are minimized.

Power

This unit has an internal regulator to allow operation over a wide voltage input range. Best

operation is obtained at either +12 or +24 VDC level, although operation is fully satisfactory down

to +8 VDC and up to +45 VDC. The power ground is already connected internally to the signal

ground. Do not connect the ground wires externally.

Power consumption of the unit is about

0.5W. Internal capacitors are provided to remove a reasonable level of power line noise, however,

capacitors should be added for long power line wiring or if noise is induced from other loads on the

circuit.

Theory of Operation

In order to obtain an accurate signal in both the short-term and in the long-term, the Vertical

Reference relies upon a Watson Industries angular rate sensor (ARS) combined with solid-state

accelerometers. The position output is generated by integrating the angular rate output. This signal

is compared with the output from the accelerometer and the resultant error signal is passed through

a long time constant filter and fed back as a bias to the rate sensor. The system is damped by

sending a portion of the error directly to the position integrator. By using a long time constant, the

effect of the short-term errors in the accelerometer is minimized. Thus, the adverse effects of

inertia, damping and short-term lateral accelerations on the pendulum essentially do not show up

on the vertical reference output. See Figure 1 for system overview.

Figure 1

The solid-state angular rate sensor used here works on the basic principle of detecting coriolis

forces. These forces are generated when a moving particle is rotated. To use the coriolis effect to

detect angular rotation, a solid structure is forced to vibrate normally at its resonant frequency. The

vibration provides the structure with a linear velocity component. When the structure is rotated, the

coriolis forces cause the vibration motion of the structure to be coupled to another vibration mode

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

or plane of the structure. The magnitude of this secondary vibration is proportional to the angular

rate of turn.

Operation

Initialization

Ideally, the ADS should be stationary when it is turned on. If not, the sensor readings may not be

accurate after initialization. The time required for the initialization process is not the same for

every type of ADS, but typically takes 4 to 5 seconds. During this time, a message is sent from the

unit via the RS-232 serial link. This message gives information about the ADS such as the full

model number, serial number, and software revision. The message can be read by using a terminal

program or by using the terminal mode of Watson Industries’ communication software.

The ADS can also be “re-initialized” after it has been turned on. This is especially useful if the

sensor has been used in severe maneuvers that have over ranged the angular rate sensors and

caused significant errors to accumulate. Sometimes re-initializing the unit will allow for a faster

recovery than waiting for the error correction routines to correct the sensor readings. There are

several ways to re-initialize the ADS. For more information, see the Interface section of this

manual.

Normal Operation

In normal operation, the ADS takes data from its internal rate sensors and integrates them in a

closed loop system, with the accelerometers as a long-term reference, to generate the Bank, and

Elevation data. In most cases, these algorithms provide for very stable and accurate output signals;

however, the user should be aware that exceeding the normal ranges of the sensors would affect

accuracy. For example, while custom ADS units may have differing ranges, the rate gyros in a

typical ADS have a maximum rate of 100°/s. Care should be taken not to exceed this rate because

the closed loop system will receive inaccurate rate data. This will result in errors in the angle output

signals.

Special Operation Modes

Reference Mode

This mode is usually used for calibration or diagnostics. When in reference mode, the ADS will

output data generated directly from the sensor reference signals rather than as a product of the

closed loop integration used for normal operation. The reference command provides the same

sensor information as in normal operation mode with the following differences:

Bank and Elevation are obtained directly from the accelerometers - no gyro stabilization.

Angular Rate Sensors are not close-loop bias corrected, and the X and Y angular rate data

channels output X and Y Rate Bias values

The reference mode can be selected through the terminal mode. Note that reference mode is never

a default setting. It must be re-selected when re-powering the unit.

Free Mode

While in Free Mode, the ADS will output data from the sensors without correction by the

references. For example, the Bank Angle data output in Free Mode is calculated directly from the

X-axis Rate Sensor. In this case, the angle is a direct integration of the roll rate. Free Mode can be

used to totally reject effects from dynamic accelerations, but accuracy degrades with time. It is

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

intended for use over periods of a few minutes at a time. This mode provides similar sensor

information as in normal operation mode with the following differences:

Bank and Elevation are obtained directly from the rate gyros.

Angular Rate Sensors are not close-loop bias corrected.

Free mode can be accessed through command mode (See Appendix B). Note that free mode is

never a default setting. It must be re-selected when re-powering the unit. The user should not enter

free mode until after the ADS is initialized and its readings are stable.

Interface

RS-232 Output Format

The standard RS-232 output is received from the 12-pin connector. The digital output pin map can

be found in the Connections section of this manual. The RS-232 output consists of a string of

decimal ASCII characters sent asynchronously at regular intervals. By default, the string is sent at

9600 baud with eight data bits, one stop bit and no parity. The RS-232 signal is referenced to signal

ground. The number of strings sent per second depends on the baud rate and the output format. The

maximum rate is 250 strings per second. The contents of a typical string are formed as follows:

(See Appendix B for information on how to change the data string.)

1. A single letter and a space used to indicate the start of the data string. The letter “I”

indicates the start of an inertial data string. The letter “R” indicates the start of a Reference

data string. If the letter is in lower case (“i” or “r”), an error over-range condition is

indicated (see below).

2. A seven character string representing the bank angle starting with a space, then a “+” or a

“-“, followed by three digits, a decimal point and one digit and for up to ±179.9 degrees.

3. A six character string representing the elevation angle starting with a space, then a “+” or a

“-“, followed by two digits, a decimal point and one digit for up to ±89.9 degrees.

4. A six character string representing the X axis angular rate starting with a space, then a “+”

or a “-“, followed by two digits, a decimal point and one digit for up to ±99.9 °/second.

5. A five character string representing the Y axis angular rate starting with a space, then a “+”

or a “-“, followed by two digits, a decimal point and one digit for up to ±99.9 °/second.

6. The string is terminated by a carriage return. There will then be a short interval with no

data transmission before the next string begins.

Example:

+002.5 -05.0 +00.9

-00.4 <CR>

(1)

bank

angle

(2)

elev.

angle

(3)

X axis

Rate

(4)

Y axis

rate

(5)

(6)

space space space space

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

The string transmission rate can be improved by reducing the amount of information (data items)

transmitted. The data items transmitted can be changed by using special commands to modify the

EEPROM of the unit (see Appendix B). More channels are available for output (see Appendix A).

The system is protected from inadvertent write-over of the EEPROM by requiring two spacebar

commands during the initialization interval to access the EEPROM or related functions.

The baud rate may be changed from the nominal value of 9600 baud by modifying the default

value in the EEPROM of the unit to 38.4K, 19.2K, or 4800 baud.

A text header that is sent by the ADS during initialization identifies the unit by part number and by

serial number and gives the date of last calibration. Additionally, a line of text characters that

identifies the data channel columns is sent if the serial output is set to ASCII decimal. This whole

message can be temporarily (or as a default) suppressed or restored by a “*” command from the

interfacing computer.

Data transmission sent by the ADS can also be suppressed or restored by a “+” command from the

interfacing computer. This command is typically used when only analog data is used as a noise

reduction measure.

The error over range condition is indicated by the use of a lower case “i” or “r” when the calculated

attitude error exceeds the ranges listed above. Internal functions that require these error values are

disabled while the condition exists. The system will continue to operate in an extended time

constant mode with a low level of error accumulation until the condition is cleared. Occasional

blips of this condition are expected with no detectable affect on the resulting data.

The other output format available is a binary format. The binary format provides generally the

same information as the decimal ASCII format, but in a compact binary file message. In this

format, there are nominally 9 bytes sent that represent 4 fourteen-bit output channels followed by a

carriage return. Again, this may be reduced to improve the update rate by using special commands

to modify the EEPROM of the unit. This format is for highly experienced users only. See

Appendix C for more information. Consult the factory for further details.

RS-232 Input Commands

The RS-232 input commands are provided for the purpose of unit test and installation set-up. Use

the same parameters that are used for the output (9600 baud ASCII nominal, or as reset in the units

EEPROM).

Note: Many commands require command or “Double spacebar mode” in order to access them. For

more information on how to activate Command Mode, see the instructions in Appendix B.

These commands are available to the user (others are used at the factory for alignment and

calibration):

1. An “R” or “r” will set the outputs (analog and serial) to their Reference Command modes.

This mode is used in installation to physically align the unit. Command mode is required

for access to this command.

2. An “I” or “i” sets the unit to Inertial mode. Switching to this mode clears the Reference

Command mode. This is the default mode at power up and is the normal operating mode.

Command mode is required for access to this command.

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

3. An “F” or “f” will disconnect the references from the attitude system and is the Free Mode

Command. Free mode is used to make the system ignore the references during high

maneuvers and brief disturbances. This mode is not intended for use except in brief

intervals, since errors will grow geometrically. Command mode is not required to access

this function.

4. A “K” or “k” will clear the Free Mode Command. Command mode is not required to access

this function.

5. An “!” will reinitialize the unit. Further, access to initialization is inhibited such that a

spacebar command must be sent within about 2 seconds of the “!” command for

initialization to be engaged. Command mode is not required to access this function.

6. A “Z” or “z” will reset the timer channel counter. The timer channel counts seconds since

the last reset. This command sets the timer back to zero. Command mode is not required to

access this function.

7. A “L” or “l” will transmit a line of labels corresponding to the data channels that are

currently selected for output. See Appendix A for information about the data channels and

their labels. Command mode is required for access to this command.

8. An “_” command will change the output format to decimal ASCII. This change is made

non-volatile in the unit on EEPROM by keying in the quote (“) character. Command mode

is required for access to this command.

9. A “^” command will change the output format to binary. This change is made non-volatile

in the unit on EEPROM by keying in the quote (“) character. Command mode is required

for access to this command.

10. A “:” command will toggle the output to send a frame of data upon receiving any non-

command character (On to Off; Off to On). This change is made non-volatile in the unit on

EEPROM by keying in the quote (“) character. Command mode is required for access to

this command.

Note: To test if this command is active when the unit is not flowing data, send a carriage

return (or any other non-command character to the sensor, and observe if there is any

output.

11. A “+” command will suppress or restore the transmission of data. This command will

toggle the data transmission (On to Off; Off to On). Command mode is required for access

to this command.

Note: It is possible for both the “:” and the “+” commands to be active at the same time.

The “+” command determines whether the sensor is allowed to transmit data. So if this were

the case, the “:” command must also be turned off to allow the free flow of data.

12. An “*” command will suppress or restore the initialization message in the Decimal ASCII

mode. This command will toggle the transmitting of the text header during initialization

(On to Off; Off to On). This change is made non-volatile in the unit on EEPROM by keying

in the quote (“) character. Command mode is required for access to this command.

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

13. An “&” command brings up a menu which allows any of several parameters to be set.

These are system time constants, selection of data channels for serial output, and baud rates.

This change is made non-volatile in the unit on EEPROM by keying in the quote (“)

character. Command mode is required for access to this command.

The commands “~”, “@”, “#”, “$”, ‘(“, “)”, “{“, “}”, “|”, “<”, “>” and “?” are used by the Watson

factory to calibrate the unit and should be used only with the assistance of the factory. If an

undesired function is called, a “Q”, and sometimes Escape or a Delete will interrupt the command

and return to operation with the least disturbance to the system. All other unspecified characters

such as carriage return, line feed and space are ignored by the system.

If there are problems with the system “hanging up” during the binary output mode, check for

crosstalk between the serial transmit and receive line in your installation. In addition, check to see

that the communications program used is not sending an echo. This will not happen in the decimal

or hexadecimal modes because command characters recognized by the system are not produced in

those modes.

Analog Outputs

Analog signals are output from a 14 bit digital to analog converter through an operational amplifier.

Each analog output has a 300 ohm resistor in series to eliminate oscillations from high capacitance

loads. The output range for all of the analog output channels is ±5 Volts with respect to the

common signal ground. The analog outputs can be found on the 12-pin connector. The outputs

include:

Signal Pin Range Output Range 0 VDC Scale Factor

Bank (X Angle) 9 ±30°* ±5V 0° 6.0°/V *

Elevation (Y angle) 3 ±30°* ±5V 0° 6.0°/V *

Roll Rate (X Axis) 10 ±100°/s ±5V 0°/s 20°/s/V

Pitch Rate (Y Axis) 2 ±100°/s ±5V 0°/s 20°/s/V

* The Analog output range for Bank & Elevation is menu selectable. This also changes the analog scale

factor for Bank & Elevation.

The output range for both Bank and Elevation are menu selectable.

Available Ranges Output Range 0 VDC Scale Factor

±30°±5V 0° 6.0°/V

±45°±5V 0° 9.0°/V

±60°±5V 0° 12°/V

±90°±5V 0° 18°/V

±180°* ±5V 0° 36°/V

*Maximum Elevation range is ±90°

See Appendix B for more information on selecting Bank and Elevation ranges.

Built in Test Digital Output

Built-In Test is an active low digital output that continuously monitors the internal sensors for

faults. This signal is available on pin 5 of the connector. This output is High (3.3VDC) when the

unit is operating normally. This output is Low (ground) when a fault is indicated. The BIT Test

Flag of the Flag channel gives a similar indication. Flag reset is normal operation; Flag Set is a

fault condition. The BIT status byte that is available as part of the output message will give more

information on the fault conditions.

Watson Industries, Inc. ADS-C232-3AD Rev A 10/25/2017

Specifications

Attitude

Range: Bank ±180° (±30° †) Digital (Analog)

Range: Elevation ±90° (±30° †) Digital (Analog)

Resolution: 0.02° Binary mode (14 bit)

Analog Scale Factor: 6°/V † ±5V Output

Accuracy: Static ±0.5° (up to 75°)

* Accuracy: Dynamic

0.5%

Angular Rate

Range: Roll, Pitch ±100°/sec

Resolution: 0.025°/sec Binary mode (14 bit)

Analog Scale Factor: 20°/sec/V ±5V Output

Scale Factor Accuracy: 0.5%

Bias: Roll, Pitch < 0.3°/sec ±0.02°/sec Binary mode (14

bit)

Non-Linearity: < 0.2% Full scale range

Bandwidth: 50 Hz

Noise: < 0.06°/sec rms

Acceleration

Range: X, Y, Z ±10g

Resolution: 4mg

Scale Factor Accuracy: 1%

Bias: X, Y, Z < 10mg

Non-Linearity: 0.1% Full scale range

Bandwidth: 3 Hz

Environmental

Temperature: Operating -40°C to +85°C

Temperature: Storage -55°C to +85°C

Vibration: Operating 5g rms 20 Hz to 2 KHz

Vibration: Survival 10g rms 20 Hz to 2 KHz

Shock: Survival 500g 1mS ½ sine wave

Electrical

Frame Rate: 250 Hz Maximum

Startup Time: Data 5 sec

Startup Time: Fully operational 10 sec

Input Power: 8 to 45VDC 0.5W

Input Current: 40mA @ 12VDC 20mA @ 24VDC

Digital Output: RS-232

Analog Output: ±5VDC

Analog Output Impedance: 300 Ohm Per line

Physical

Axis Alignment: < 0.25°

Size: Including Mounting Flanges

1.2"W x 2.8"L x 1.35"H 3.0 x 7.1 x 3.4 (cm)

Weight:

2.1 oz 60 grams

Connection: Amp 4-794627-2 (12 pin)

Actual accuracy can be calculated as the listed percentage multiplied by the change in value over the entire dynamic maneuver.

†

The Analog output range for Bank & Elevation is menu selectable. This also changes the analog scale factor for Bank &

Elevation.

Specifications are subject to change without notice.

This product may be subject to export restrictions. Export Classification ECCN 7A994.

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