User Manual

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Installation Instructions for the

Transportation Attitude Reference System

(TARS Series)

Ruggedized Inertial Measurement Unit (IMU)

Sensing and Internet of Things

Issue B

32332897

1.0 GENERAL INFORMATION

Honeywell’s Transportation Attitude Reference System (TARS)

Ruggedized Inertial Measurement Unit (IMU) is designed

to provide motion sensing through six degrees of freedom

and reporting of angular rate, acceleration, and attitude data

through a CAN J1939 interface. It is packaged for harsh

environments and demanding applications.

2.0 CALIBRATION

TARS-IMU devices are aligned to a ﬂat surface and calibrated

on an aerospace-grade rate table providing consistency

between units and eliminating the customer’s need to calibrate

the IMU.

3.0 INSTALLATION

Mount the sensor using the three mounting holes and three

M8 bolts. The mounting tabs accommodate various bolt head

styles such as hex, socket head cap, and hex ﬂange bolt head.

Torque to 20 Nm ±2 Nm.

• Mating connector: AMPSEAL 16 Series; 776487-1 for

18-16 AWG conductors or 776524-1 for 20-18 AWG

conductors

• Mounting direction: +Z

Summary of content (8 pages)

PAGE 1
Installation Instructions for the Transportation Attitude Reference System (TARS Series) Ruggedized Inertial Measurement Unit (IMU) Issue B 32332897 1.0 GENERAL INFORMATION 2.0 CALIBRATION Honeywell’s Transportation Attitude Reference System (TARS) Ruggedized Inertial Measurement Unit (IMU) is designed to provide motion sensing through six degrees of freedom and reporting of angular rate, acceleration, and attitude data through a CAN J1939 interface.
PAGE 2
Transportation Attitude Reference System (TARS Series) ISSUE B 32332897 4.0 SPECIFICATIONS Table 1. Sensor Specifications Characteristic Min. Typ. Max. Unit Angular rate range1 -245 – +245 deg/s Angular rate resolution – 7.8125 – mdps In-run bias stability – 1 – mdps Rate noise density – 0.004 – deg/s/sqrt Hz Offset (0°C to 50°C) -0.8 – +0.8 deg/s Offset (-40°C to 85°C) -1.6 – +1.6 deg/s Acceleration range1 -78.48 – +78.48 m/s2 Acceleration resolution – 0.
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Transportation Attitude Reference System (TARS Series) ISSUE B 32332897 Table 3. Electrical Specifications • TARS-HCASS Catalog Listing Characteristic Min. Nominal Max.
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Transportation Attitude Reference System (TARS Series) ISSUE B 32332897 Table 6. Installation Specifications Characteristic Parameter Mating connector AMPSEAL 16 Series; 776487-1 for 18-16 AWG conductors or 776524-1 for 20-18 AWG conductors CAN termination 120 Ohm termination resistor, not included in TARS-IMU unit Weight 170 g approx. Mounting direction +Z Mounting bolt M8, installation torque 20 Nm ±2 Nm 5.0 DIMENSIONS (For reference only: mm/[in]) Body 3 x R 11,6 [3 x R 0.46] Ø90,1 [Ø3.
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Transportation Attitude Reference System (TARS Series) ISSUE B 32332897 5.0 DIMENSIONS (Continued) Mounting Holes 3 x Ø14,7 [3 x Ø0.58] sensor seating 3 x Ø14,7 [3 x Ø0.58] sensor seating 3 x M8 thread Ø114 [Ø4.49] 3 x M8 thread 97,31 [3.83] 40,3 [1.59] 80,61 [3.
PAGE 6
Transportation Attitude Reference System (TARS Series) 32332897 ISSUE B 6.0 CAN MESSAGES AND COMMUNICATION 7.0 TARS-IMU SPECIFIC MESSAGES TARS-IMU utilizes CAN J1939 protocol and message format to report data. Please refer to J1939 specification and standards for information regarding communication and implementing CAN J1939 systems. The TARS-IMU transmits three messages every 10 ms (100 Hz). 7.1 PGN 61481 (0xF029) Pitch and Roll Angles (°) Broadcast Data Table 8. PGN 61481 Details 6.
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Transportation Attitude Reference System (TARS Series) ISSUE B 32332897 7.4 PGN 61482 Status The status byte is comprised of status for each value measure. Table 11. PGN 61482 Status Status Unused Pitch Roll Yaw – 00b 00b 00b 00b All status definitions are defined as: 00b = Fully Functional 01b = Degraded 10b = Error 11b = Not Available e.g.
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Transportation Attitude Reference System (TARS Series) 32332897 WARRANTY/REMEDY m WARNING PERSONAL INJURY DO NOT USE these products as safety or emergency stop devices or in any other application where failure of the product could result in personal injury. Failure to comply with these instructions could result in death or serious injury.