WATSON INDUSTRIES ARS-G152 Manuel utilisateur

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

Angular Rate Sensor

Owner’s Manual

PART NUMBER: ARS-G152

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. ARS-G152 Rev A 05/02/2019

Table of Contents

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

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

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

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

Mounting........................................................................................................................................................................3

Environment: .................................................................................................................................................................3

Power.............................................................................................................................................................................3

Calibration .....................................................................................................................................................................4

Operation ...................................................................................................................... 4

Initialization...................................................................................................................................................................4

Interface.........................................................................................................................................................................4

RS-232 Output Format...............................................................................................................................................4

RS-232 Input Commands...........................................................................................................................................5

Analog Outputs..........................................................................................................................................................7

Built in Test Digital Output .......................................................................................................................................7

Specifications................................................................................................................ 8

Connections .................................................................................................................. 9

Dimensions ................................................................................................................... 9

WARNING................................................................................................................. 10

DISCLAIMER

............................................................................................................... 10

WARRANTY

................................................................................................................. 10

PRODUCT LIFE

............................................................................................................ 10

Appendix B................................................................................................................. 14

Activating Command Mode (Double Spacebar Mode)................................................................................................14

Accessing the Main Menu............................................................................................................................................14

Appendix B.1 Set Output Channels.............................................................................................................................14

Appendix B.2 List Output Channels............................................................................................................................15

Appendix B.3 Set Analog Voltage Range....................................................................................................................15

Appendix B.4 Set Output Bandwidth...........................................................................................................................16

Appendix B.5 Set Binary Output Format.....................................................................................................................16

Appendix B.6 Set Baud Rate .......................................................................................................................................17

Appendix C Binary Output Format............................................................................ 18

Appendix C.1 Two Byte Binary Data Format..............................................................................................................18

Appendix C.2 Three Byte Binary Data Format............................................................................................................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.

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.

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

Introduction

The Watson Industries Angular Rate Gyro 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 devices. This manual describes operation of the Watson Industries ARS and also

provides useful application information to the system designer.

Product Description

The Watson Industries angular rate gyro is a solid state, single axis angular rate sensor. The gyro

provides a voltage proportional to the rate of turn about its sensitive axis. During rotation, positive

voltage output occurs in the direction of the rotational arrow indicated in figure 2. There are four

analog outputs available (400°/s , 200°/s , 100°/s , 50°/s fullscale). The analog outputs are user

selectable between unipolar (0-5 VDC) or bipolar (±5 VDC). The bandwidth is also user

adjustable from 5 to 200 Hz. A power supply, providing +8 to +45 Volts DC, is required to operate

the unit.

Installation

Orientation

The base of the unit is to be mounted on top of a horizontal surface. The gyro drawing, with pinout,

is located in figure 2. The gyro 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 angular rate.

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

angular rate accuracy.

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

0.7W. 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.

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

Calibration

The ARS is calibrated at the factory before it is shipped to the user. It is recommended that the

unit be examined, preferably at the factory annually for evaluation and recalibration.

Operation

Initialization

The initialization time 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 Gyro such as the full

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

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

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.

2. A eight character string representing the angular rate starting with a space, then a “+” or a

“-“, followed by three digits, a decimal point and two digits for up to ±399.99 °/second.

3. 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:

+002.05

<CR>

(1)

Angular

Rate

(2)

space space

The data items transmitted can be changed by using the menu system (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.

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

A text header that is sent by the Gyro 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 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 3 bytes sent that represent 1 twenty-one bit gyro output followed by a

carriage return. 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 “!” 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.

2. 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.

3. 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.

4. 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.

5. 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.

6. 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

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

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.

7. 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.

8. 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.

9. 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.

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

Analog Outputs

Analog signal is 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 the analog output channels are user selectable between unipolar (0-5

VDC) or bipolar (±5 VDC). See Appendix B for information on selecting unipolar or bipolar

output. The analog outputs are referenced to the common signal ground Pin 8. The analog outputs

can be found on the 12-pin connector. The outputs include:

Bipolar Output (±5VDC) Unipolar Output (0 to 5 VDC)

Signal Pin Range Zero Rate (0°/s) Scale Factor Zero Rate (0°/s) Scale Factor

Angular Rate 1 10 ±400°/s 0 VDC 80°/s/V 2.5 VDC 160°/s/V

Angular Rate 2 3 ±200°/s 0 VDC 40°/s/V 2.5 VDC 80°/s/V

Angular Rate 3 9 ±100°/s 0 VDC 20°/s/V 2.5 VDC 40°/s/V

Angular Rate 4 2 ±50°/s 0 VDC 10°/s/V 2.5 VDC 20°/s/V

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 (5VDC) when the unit

is operating normally. This output is Low (ground) when a fault is indicated. Flag reset is normal

operation. The fault condition is set if the Angular Rate sensor has failed or the sensors temperature

range has been extended.

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

Specifications

Angular Rate

Ranges: ±50°/sec ±100°/sec ±200°/sec ±400°/sec

Resolution: 0.006°/sec 0.012°/sec 0.024°/sec 0.05°/sec

Analog Scale Factor: Bipolar 100mV/°/sec 50mV/°/sec 25mV/°/sec 12.5mV/°/sec

Unipolar 50mV/°/sec 25mV/°/sec 12.5mV/°/sec 6.25mV/°/sec

Scale Factor Accuracy: 0.2% At constant room temperature

Scale Factor Temp Coefficient: 0.1% Over temperature range

Bias: ±0.1°/sec At room temp

Bias: Over Temp Range ±0.2°/sec

Warmup Drift: ±0.25°/sec

Non-Linearity: < 0.15% Full scale range

Bandwidth: 70 Hz (Typical) User selectable 5 to 200 Hz

Noise: < 0.05°/sec rms 1 Hz to 100 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 10mS ½ sine wave

Electrical

Frame Rate: 800 Hz Maximum

Startup Time: Data 5 sec

Startup Time: Fully operational 10 sec

Input Power: 8 to 45VDC 0.7W

Input Current: 45mA @ 12VDC 20mA @ 24VDC

Digital Output: RS-232

±399.99 Range

Analog Output: User Selectable ±5VDC Bipolar ; 0-5VDC Unipolar

Analog Output Impedance: 300 Ohm Per line

Physical

Size: Including Mounting Flanges 1.2"W x 2.8"L x 1.35"H 3.0 x 7.1 x 3.0 (cm)

Weight: 2.1 oz 60 grams

Connection:

Amp 4-794627-2 (12 pin)

• Specifications are subject to change without notice.

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

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

www.watson-gyro.com

WATSONINDUSTRIES,INC.

Pwr.

P/N

S/F

Rev

MADEINU.S.A

Connections

123456

789101112

The RS-232 serial and analog output connections are referenced to Signal Ground on pin 8. The

power ground is already connected internally to the signal ground.

Dimensions

Figure 2

12 Pin Connector

Pin Description

1 RS-232 TXD

2 Angular Rate Analog Output 4 (±50°/sec range)

3 Angular Rate Analog Output 2 (±200°/sec range)

4 No Connection

5 Built in Test (BIT) Output

6 Power Ground

7 RS-232 RXD

8 Signal Ground

9 Angular Rate Analog Output 3 (±100°/sec range)

10 Angular Rate Analog Output 1 (±400°/sec range)

11 Factory use (Do not Connect)

12 +Vin Power +8 to +45 VDC)

Watson Industries, Inc. ARS-G152 Rev A 05/02/2019

WARNING

Rough handling or dropping of this unit is likely to cause damage.

Over-voltage and/or miswiring of this unit will cause damage.

This unit should be protected against prolonged exposure to high

humidity and/or salt air environments.

DISCLAIMER

The information contained in this manual is believed to be accurate and reliable; however, it is the

user’s responsibility to test and to determine whether a Watson Industries’ product is suitable for a

particular use.

Suggestion of uses should not be taken as inducements to infringe upon any patents.

WARRANTY

Watson Industries, Inc. warrants, to the original purchaser, this product to be free from defective

material or workmanship for a period of two full years from the date of purchase. Watson

Industries’ liability under this warranty is limited to repairing or replacing, at Watson Industries’

sole discretion, the defective product when returned to the factory, shipping charges prepaid, within

one full year from the date of purchase. The warranty described in this paragraph shall be in lieu of

any other warranty, express or implied, including but not limited to any implied warranty of

merchantability or fitness for a particular purpose.

Excluded from any warranty given by Watson Industries are products that have been subject to

abuse, misuse, damage or accident; that have been connected, installed or adjusted contrary to the

instructions furnished by seller; or that have been repaired by persons not authorized by Watson

Industries.

Watson Industries reserves the right to discontinue models, to change specifications, price or

design of this product at any time without notice and without incurring any obligation whatsoever.

The purchaser agrees to assume all liabilities for any damages and/or bodily injury that may result

from the use, or misuse, of this product by the purchaser, his employees or agents. The purchaser

further agrees that seller shall not be liable in any way for consequential damages resulting from

the use of this product.

No agent or representative of Watson Industries is authorized to assume, and Watson Industries

will not be bound by any other obligation or representation made in connection with the sale and/or

purchase of this product.

PRODUCT LIFE

The maximum expected life of this product is 20 years from the date of purchase. Watson

Industries, Inc. recommends the replacement of any product that has exceeded the product life

expectation.

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