IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
TABLE OF CONTENTS
1 INTRODUCTION .................................................................................................................... 6
1.1 RECEIVING THE MOTION SENSOR ............................................................................................ 7
2 SYSTEM DESCRIPTION .......................................................................................................... 8
2.1 SPATIAL MOVEMENT - COORDINATE SYSTEM ......................................................................... 9
2.2 DEFINITIONS .......................................................................................................................... 12
3 INSTALLATION .................................................................................................................... 13
3.1 LOCATION .............................................................................................................................. 13
3.2 MOUNTING INSTRUCTIONS ................................................................................................... 14
3.2.1 Mounting bracket - Optional ......................................................................................... 15
3.3 ALIGNMENT ........................................................................................................................... 16
3.4 DECK MOUNTED - MOUNTED ON HORIZONTAL SURFACE .................................................... 16
3.5 SIDEWAYS MOUNTING .......................................................................................................... 17
3.5.1 Top of the motion sensor pointing to the bow ............................................................. 17
3.5.2 Top of the motion sensor pointing to the starboard .................................................... 18
3.5.3 Top of the motion sensor pointing at the stern ............................................................ 18
3.5.4 Top of the motion sensor pointing to the port ............................................................. 19
3.6 MOTION SENSOR DIMENSIONS ............................................................................................. 20
3.6.1 IMU-00x Surface motion sensor .................................................................................... 20
3.6.2 IMU-00x 30m depth rated motion sensor ..................................................................... 21
3.6.3 IMU-10x Surface motion sensor .................................................................................... 22
3.6.4 IMU-10x 30m depth rated motion sensor ..................................................................... 23
3.6.5 IMU mounting bracket optional .................................................................................... 24
3.7 ELECTRICAL COMMUNICATION ............................................................................................. 25
3.7.1 Surface motion sensor cable connection ...................................................................... 26
3.7.2 Depth rated unit ............................................................................................................ 27
3.7.3 Surface motion sensor hardware version up 8.4 .......................................................... 28
3.7.4 Surface motion sensor hardware version higher than 8.5 ............................................ 29
3.7.5 Depth rated motion sensor ........................................................................................... 30
3.7.6 Analog outputs voltage +/-10v ...................................................................................... 31
3.7.7 Analog outputs current 4-20ma .................................................................................... 32
3.7.8 IMU junction box without power supply and serial input ............................................. 32
4 MOTION SENSOR CONFIGURATION GUIDE .......................................................................... 33
4.1 IMU CONFIGURATION SOFTWARE ........................................................................................ 33
4.1.1 Default settings at the factory ....................................................................................... 34
4.1.2 General settings & setup tab ......................................................................................... 35
4.2 SERIAL ASCII PROTOCOLS....................................................................................................... 37
4.2.1 PSMCA ........................................................................................................................... 38
4.2.2 PSMCB ........................................................................................................................... 39
4.2.3 PSMCC ........................................................................................................................... 40
4.2.4 PSMCD ........................................................................................................................... 41
4.2.5 PSMCE ............................................................................................................................ 42
4.2.6 PSMCF ............................................................................................................................ 43
4.2.7 PSMCG ........................................................................................................................... 44
4.2.8 PSMCH ........................................................................................................................... 45
4.2.9 PSMCI............................................................................................................................. 46
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