Introduction

This document describes how to communicate over CAN and CAN-FD with Xsens’ range of miniature MEMS-based inertial Motion Trackers with the MTi 600-series, the Avior series and the Sirius series. This document assumes at least a basic understanding of CAN protocols, hardware, interfacing and general workings.

Not all products support the same functionality. There are several different products described in this document. The description of each message ID contains a table showing the supported products:

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

For the MTi 600-series, numbers in this table correspond to the following products:

610: MTi-610 IMU
620: MTi-620 VRU/AHT
630: MTi-630(R) AHRS
670: MTi-670(G) GNSS/INS
680: MTi-680(G) RTK GNSS/INS

An empty field indicates that the corresponding product does not support the message.

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