====== PNI TCM-XB ForceFieldsensor ======
This Tiltmeter from the company [[http://www.pnicorp.com/|PNI Sensor Corporation]] and the sensor is the [[http://www.pnicorp.com/products/fieldforce-tcm|fieldforce-tcm]]. All information is copied from the homepage of the company.

{{:sensors:pni_tcm.jpg?200|}}


box, usb-rs232 converter, usb-plug + cap, sensor

===== Documentation =====
|User manual| {{:sensors:tcm_user_manual_r05.pdf|Download}}|
|Data sheet|{{:sensors:tcmxbandmb_datasheet.pdf|Download}} |

===== Software =====
{{:sensors:tcm_studio_ver_3_0.msi|TCM Studio 3.0}}

{{:sensors:tcmtest.zip|}}
===== Links =====


https://github.com/mkoval/FieldforceTCM

http://www.pnicorp.com/products/fieldforce-tcm

http://sine.ni.com/apps/utf8/niid_web_display.model_page?p_model_id=18070

http://answers.ros.org/question/10546/pni-digital-compass-driver/#16791

===== PRODUCT Specifications =====

==== Performance Specifications (1*) ====

^**Parameter**^^^^**Value**^
|Heading|Accuracy|≤65° of tilt after full range calibration||<0.3° rms|
| ::: | ::: |≤80° of tilt after full range calibration||<0.5° rms|
| ::: | ::: |≤5° of tilt after 2D calibration||<2.0° rms|
| ::: | ::: |≤2 times the calibration tilt angle after limited-tilt calibration (2*)||<0.2° rms|
| ::: |Resolution|||0.1°|
| ::: |Repeatability|||0.05° rms|
|Tilt (Pitch & Roll)|Range|Pitch||± 90°|
| ::: | ::: |Roll||± 180°|
| ::: |Accuracy|Pitch||0.2° rms|
| ::: | ::: |Roll|≤65° of pitch|0.2° rms|
| ::: | ::: | ::: |≤80° of pitch|0.4° rms|
| ::: | ::: | ::: |≤86° of pitch|1.0° rms|
| ::: |Resolution|||0.01°|
| ::: |Repeatability|||0.05° rms|
|Maximum Operational Dip Angle (3*)||||85°|
|Magnetometers||Calibrated Field Range||± 125 μT|
| ::: ||Resolution||0.05 μT|
| ::: ||Repeatability||± 0.1 μT|

(1*) Specifications are subject to change. Assumes the TCM is motionless and the local magnetic field is clean relative to the calibration. \\
(2*) For example, if the calibration was performed over ±10° of tilt, then the TCM would provide <2° rms accuracy over ±20° of tilt.\\
(3*) Performance at maximum operational dip angle will be somewhat degraded.

==== Operating Characteristics ====

=== I/O Characteristics ===

^Parameter^^Value^
|Communication Interface|TCM XB|Binary RS232 UART|
| ::: |TCM MB|Binary CMOS/TTL UART|
|Communication Rate||300 to 115200 baud|
|Maximum Sample Rate (1*)||≈30 samples/sec|
|Time to Initial Good Data (2*)|Initial power up|<210 ms|
| ::: |Sleep mode recovery|<80 ms|


(1*) The maximum sample rate is dependent on the strength of the magnetic field, and typically will be from 25 to 32 samples/sec.\\
(2*) FIR taps set to "0".

=== Power Requirements ===
^Parameter^^^Value^
|Supply Voltage|TCM XB||3.6 to 5 VDC (unregulated)|
|:::|TCM MB||3.3 to 5 VDC (unregulated)|
|Average Current Draw|TCM XB|@ max. sample rate|20 mA typical|
|:::|:::|@ 8 Hz sample rate|16 mA typical|
|:::|TCM MB|@ max. sample rate|17 mA typical|
|:::| ::: |@ 8 Hz sample rate|13 mA typical|
|Peak Current Draw|During application of external power||120 mA pk, 60 mA avg over 2 ms|
|:::|During logical power up/down or Sync Trigger||100 mA pk, 60 mA avg over 4 ms|
|Sleep Mode Current Draw|||0.3 mA typical|




=== Environmental Requirements ===
^Parameter^Value^
|Operating Temperature (1*)|-40C to +85C|
|Storage Temperature|-40C to +85C|

(1*) To meet performance specifications, recalibration may be necessary as temperature varies.
===== TCM Pin Descriptions =====
^Pin number^   TCM XB    ^^
^:::^9 pin connector^Pigtailed cable wire color^
|1|GND|Black|
|2|GND|Grey|
|3|GND|Green|
|4|NC|Orange|
|5|NC|Violet|
|6|NC|Brown|
|7|UART Tx|Yellow|
|8|UART Rx|Blue|
|9|+5 VDC|Red|

===== Source Code =====