Data Sheet

ManualsBrandsSYD Dynamics ManualsInertia Measurement UnitsTransducerM TM100 Motion Sensor

fine performance. The TransducerM technical

specification applies when the system reaches at

least at this service level.

5 Very Good Service – All functions available and

provide very good performance.

For example, for a complete Status Object data package received,

such as 'aa551016ec41007e405b5c080b2642330305004062', the

system status is represented by 0x05 and 0x00, where the first byte

received is 0x05, which in binary format is 0000 0101 (big-

endian), or 1010 0000 (little-endian), which means QoS[2..0] =

101 in binary format, which means QoS=5 (very good quality of

service).

For C-Style programming, the Status Object is defined as below

typedef union{

uint16 all_Bits;

struct{

uint16 qos : 3;

uint16 :13; // Unused Bits

}bits;

} Ep_Status_SysState;

typedef struct {

uint32 timeStamp; // Timestamp (Unit: uS)

float32 temperature; // Sensor temperature (Unit: Celsius)

uint16 updateRate; // Internal sampling rate (Unit: Hz)

Ep_Status_SysState sysState;

} Ep_Status;

Request

Object Identifier: 12 (decimal)

Bytes

Message Data Type Unit Description

Object Identifier (CMD)

of the Object requested

8-bit

unsigned

integer

N/A

This Object is usually sent by the Host Computer to request

an Object from TransducerM. The Raw data stream

containing the Object responding to the request will always

have the Destination device ID (TO_ID) set to the ID of the

device who initiates the request.

This request command is useful when an Object is not set to

automatic output while the Host computer wishes to

occasionally acquire data of the Object.

For example, if the Host Computer needs to read the Status

Object every 10 seconds. Then it can construct a request

command and send to TransducrM at such frequency.

An example request command in Raw data stream is

'aa55080c08000016000000e0ed', which means it is a broad

cast command to request Status Object (Object Identifier

CMD = 0x16, or 22 in decimal) from the TransducerM. After

receiving the command, TransducerM will immediately send

back the required Object.

Typical broadcasting request examples:

Request Status Object: aa55080c08000016000000e0ed

Request Raw Data Object: aa55080c08000029000000ecf9

Request Quaternion Object: aa55080c08000020000000ef65

Request Roll-Pitch-Yaw: aa55080c08000023000000ef21

Request Gravity Object: aa55080c08000024000000ee55

Request Euler Angle: aa55080c08000022000000eedd

1-3 Not used N/A N/A Should be set to zero.