General Specifications

Sensing Directions

X-axis, Roll	Y-axis, Pitch
Z-axis, Yaw

• Above images show sensing directions of MSENS-GY.

Wiring Connections

• MSENS series is wired by MG610331-5 plug (Korea Electric Terminal Co., Ltd.). The plug can be deleted when placed order.

Dimensions

• Refer attached drawings for detail dimensions and size.

RS485 Protocol

• Communication Standards


• Data Format (ASCII)


• =[ID_mode+scale_X_Y_Z]+Checksum+CR
  e.g. [1 01 900 50 1700]12
   
  • _ means space, + means non-space.
  • Every echos (return messages) received in a pair of square bracket [ ].
  • Check Sum : Substitute ASCII of each bytes for HEX and calculate by XOR.


• Commands


• Carriage Return and Line Feed must be attached to end of commands. Every commands must be upper cases.
  e.g. <1 START>53+CR+LF
   

  <@>	Measure data once.
  <@ START>	Measure data continuously.
  <@ STOP>	Stop measuring.
  <@ ID #>	Set ID from @ to #
  <@ SPEED #>	Baudrate setting
  <@ MODE #>	Data mode setting
  <@ SCALE #>	Scale (dps) setting
  <@ INTERVAL #>	Data out-rate setting
  <@ CALI>	Bias calibration
  <@ INIT>	YAW deg zero-set
  <@ SAVE>	Save configurations
  <@ RESTORE>	Factory reset



• @ : Sensor ID, # : S/V

• Set ID
  Default ID is 1. To parallel connect multiple sensors, set every sensor IDs before connect. ID can be set within 1...254.


• Baurdrate setting
  Default Baudrate is 115,200bps. Baudrate can be set by S/V as following table. If send command without S/V, current value will returned.


• Data mode setting
  Choose angle data or angular velocity data. Default vaule is 0. If send command without S/V, current value will returned.


• Scale (dps) setting
  Default scale is +/-250 dps. If send command without S/V, current value will returned.


• Date out-rate setting
  Default out-rate is 100ms. Out-rate can be set within 10...1,000ms by 10ms of unit. In Angular Velocity mode, out-rate is fixed by 10ms. If send command without S/V, current value will returned.


• Bias calibration
  Calibrate bias of the sensor. This may affect critically to sensor accuracy. Calibrate only if absolutely necessary and keep sensor stably during calibrating.


• YAW deg zero-set
  Set YAW (Z) axis current position to zero. Gyro sensor YAW axis occurs zero-position-drift continuously because it keeps calculating integral calculus for its zero position. This is a characteristic of MEMS gyro sensor.


• Save configurations
  Save ID and configurations. ID and any configurations will be initialized when shut power off without save.




 
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Ordering Code

• Format : MSENS-GY-485


• Options
  • Receptacle P/N : MG64REC
  • Cable length : additional cost per meter
  • The plug can be deleted when placed order.

NOTES

• Ground connection is recommended in noise occurred environment.
• RS485 protocol may cause delay or crash by internal processing time and other reasons. If commanding is not in real-time, repeat sending the command.
• Check wiring connections before use.
• 12 months warranty is provided after released. Warranty provided only in case of using for designed purpose correctly.
• Specifications, design and components can be changed without prior notice to improve its performances.