Table of Contents
PNI TCM-XB ForceFieldsensor
This Tiltmeter from the company PNI Sensor Corporation and the sensor is the fieldforce-tcm. All information is copied from the homepage of the company.
box, usb-rs232 converter, usb-plug + cap, sensor
Documentation
Software
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 |