LPMS-AL3 Hardware Manual

 

System Overview

System Architecture

 

Pinout Description

Pin

Name

Cable Color

Function

1

VCC

White

+5V~18V

2

GND

Brown

Ground

3

 

 

Reserved

4

 

 

Reserved

5

CAN-

Gray

CAN_L Signal

6

D-

Pink

USB Data+

7

D+

Blue

USB Data-

8

CAN+

Red

CAN_H signal

Pin

Name

Cable Color

Function

1

VCC

White

+5V~18V

2

GND

Brown

Ground

3

RS232_TX

UART_TX

Green

RS232/TTL Transmit

4

RS232_RX

UART_RX

Yellow

RS232/TTL Received

5

 

 

Reserved

6

 

 

Reserved

7

 

 

Reserved

8

 

 

Reserved

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
LPMS-RS232AL3: ~110mW@5V
LPMS-UTLAL3: ~90mW@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