LPMS-AL3 Hardware Manual
System Overview
System Architecture
Pinout Description
Please note that TTL, RS232 and CAN Bus pins are mutually exclusive. Only one communication interface is enabled depending on the model. Communication interfaces for different LPMS-AL3 models are listed below:
Model | Communication Interface | |||
USB | RS232 | CAN | TTL | |
LPMS-RS232AL3 | × | ✓ | × | × |
LPMS-CANAL3 | ✓ | × | ✓ | × |
LPMS-TTLAL3 | × | × | × | ✓ |
Default settings for communication interface:
USB: USBXpress, convertible to virtual COM port,921600bps,8N1
RS232/TTL: 921600bps,8N1
CAN: 500kbps, terminal resistor enabled
Coordinate System
The coordinate system for LPMS-AL3 is shown on the label on the sensor:
Accelerometer output convention
A positive acceleration output will be produced when the sensor is accelerated at the same direction of the positive axes. When the sensor is at rest with Z axis pointing upwards, the calibrated output of the accelerometer is expected to be [0 0 +1g] indicating the acceleration due to the force of gravity.
Gyroscope output convention
Gyroscope output follows the right hand rule where rotation along an axis following the right hand convention will produce a positive angular velocity. The calibrated output of the gyroscope is expected to be close to zero when the sensor is at rest.
Magnetometer output convention
XYZ axes indicates the direction of magnetic field that generates a positive output reading in normal measurement configuration.
Euler output convention
Euler output is in degree. The rotation sequence follows global XYZ rotation. In other words, the current orientation of the sensor can be obtained by rotating at the euler values along global X → global Y → global Z axis.
Range of euler output is as follow:
X Angle: -180° ~ +180°
Y Angle: -90° ~ +90°
Z Angle: -180° ~ +180°
Specifications
Main Parameters
Parameter | Value | ||
Euler angle range | X: ±180°;Y: ±90°;Z: ±180° | ||
Angle resolution | 0.01° | ||
Output data type | Raw and calibrated imu data / Euler angle / Quaternion / Linear acceleration / Angular velocity / Temperature / Pressure | ||
Communication interface | CAN BUS | UART: RS232/ TTL | USB |
Max. baudrate | 1M bps | 921600 bps | 921600 bps |
Communication protocol | CANOpen /SequentialCAN | LPBUS | LPBUS |
Dimensions | 34.5x34x15.7 mm | ||
Weight | ~71g | ||
Max. data output rate | 500Hz | ||
Power consumption | LPMS-CANAL3: ~135mW@5V | ||
Power supply | 5V~18V DC | ||
Operating temperature range | -20~+80 °C | ||
Connector | SACC-DSI-MS-5CON-PG 9/0,5 SCO,M12 |
Accelerometer Parameters
Parameter | Value | Unit |
Measurement range | ±2/±4/±8/±16 | g |
Linear acceleration sensitivity | 0.061/0.122/0.244/0.488 | mg/LSB |
Linear acceleration sensitivity change vs temperature | ±0.01 | %/°C |
Linear acceleration zero-g level offset accuracy | ±10 | mg |
Linear acceleration zero-g level change vs temperature | ±0.1 | mg/°C |
Acceleration noise density | 60 | μg/√Hz |
Gyroscope Parameters
Parameter | Value | Unit |
Measurement range | ±125/±250/±500/±1000/±2000/±4000 | dps |
Angular rate sensitivity | 4.375/8.75/17.50/35/70/140 | mdps/LSB |
Angular rate sensitivity change vs temperature | ±0.007 | %/°C |
Angular rate zero-rate level | ±1 | dps |
Angular rate zero-rate level change vs temperature | ±0.005 | dps/°C |
Rate noise density | 5 | mdps/√Hz |
Magnetometer Parameters
Parameter | Value | Unit |
Measurement range | ±2/±8 | Gauss |
Sensitivity | 3000/12000 | LSB/G |
Zero offset | ±10 | mG |
Linearity | 0.1 (FS=±2 gauss) | %FS |
Packaging details