CAN Messages

Group Information & Timestamp Messages (0x00x)
Status Messages (0x010)
- StatusWord
Orientation Messages (0x020)
- Quaternion
- EulerAngles
Inertial Data Messages (0x030)
Magnetic Group (0x040)
- MagneticField
Temperature and Pressure Messages (0x050)
- Temperature
- BaroPressure
High-Rate Data Messages (0x060)
- RateOfTurnHR
- AccelerationHR
Position & Velocity Messages (0x070)
Configuration Messages (Only Avior/Sirius with FW 1.4.0 and higher) (0x0A0 & 0x0B0)

Basic CAN message layout

The MTi 600-series, Xsens Avior series and Xsens Sirius series follow the basic CAN protocol. Each message starts with an 11- or 29-bit identifier which also handles arbitration. The message with the lowest identifier value has the highest priority. Each message can contain up to 8 bytes of data, with a data rate of up to 1 Mbps.

A CAN database (.dbc) file is available to automatically translate the CAN output data messages of the MTi. The file can be downloaded from BASE: .dbc file for MTi 600-series, Sirius series, and Avior series

Group Information & Timestamp Messages (0x00x)

Error

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Max. output frequency: n/a

Note: This error message can be disabled.

Message name (ID)	XCID_Error (0x001)
Field	Scaling		Unit		Format	Size	Offset
Error Code	-		-		uint8	1	0
					Total size		1

Error		Code		Message
CEI_OutputBufferOverflow		0x01		The output buffer is full, at least one message was dropped.

SampleTime

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_SampleTimeFine

Max. output frequency: n/a

Note: This is a timestamp expressed in 10 kHz (100 µs) clock ticks.

Message name (ID)	XCID_SampleTime (0x005)
Field	Scaling	Unit	Format	Size	Offset
SampleTime	-	-	uint32	4	0
			Total size		4

GroupCounter

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_PacketCounter

Max. output frequency: n/a

Note: This is a CAN Frame counter or Group counter that is independent from the Xbus XDI_PacketCounter.

Message name (ID)	XCID_GroupCounter (0x006)
Field	Scaling	Unit	Format	Size	Offset
GroupCounter	-	-	uint16	2	0
			Total size		2

UTC

670

680

Xbus equivalent: XDI_UtcTime

Max. output frequency: n/a

Message name (ID)	XCID_UTC (0x007)
Field	Scaling	Unit	Format	Size	Offset
YEAR	1	year	uint8	1	0
MONTH	1	month	uint8	1	1
DAY	1	d	uint8	1	2
HOUR	1	h	uint8	1	3
MIN	1	min	uint8	1	4
SEC	1	s	uint8	1	5
TENTHMS	10^-4	s	uint16	2	6
			Total size		8

Status Messages (0x010)

StatusWord

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_StatusWord

Max. output frequency: n/a

Note: Refer to the MT Low Level Communication Protocol Document for an explanation of the contents of this message.

Message name (ID)	XCDI_StatusWord (0x011)
Field	Scaling	Unit	Format	Size	Offset
StatusWord	-	-	uint32	4	0
			Total size		4

Orientation Messages (0x020)

Quaternion

620

630

670

680

Avior VRU

Avior AHRS

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_Quaternion

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Note: Be careful when converting the value 1.

Message name (ID)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
Q0	±1	(2¹⁵-1)^-1	3.0519e-05	N/A	int16	2	0
Q1	±1	(2¹⁵-1)^-1	3.0519e-05	N/A	int16	2	2
Q2	±1	(2¹⁵-1)^-1	3.0519e-05	N/A	int16	2	4
Q3	±1	(2¹⁵-1)^-1	3.0519e-05	N/A	int16	2	6
					Total size		8

EulerAngles

620

630

670

680

Avior VRU

Avior AHRS

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_EulerAngles

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Message name (ID)		XCDI_EulerAngles (0x022)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
Roll	±180	2^-7	0.0078	deg	int16	2	0
Pitch	±90	2^-7	0.0078	deg	int16	2	2
Yaw	±180	2^-7	0.0078	deg	int16	2	4
					Total size		6

Inertial Data Messages (0x030)

DeltaV

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_DeltaV → Delta V

Max. output frequency: 400 Hz

Sensor fusion output: No

Message name (ID)	XCDI_DeltaV (0x031)
Field	Scaling	Unit	Format	Size	Offset
Δv.x	See table below	m/s	int16	2	0
Δv.y	See table below	m/s	int16	2	2
Δv.z	See table below	m/s	int16	2	4
Exponent of 2^-x	Based on the table below		uint8	1	6
			Total size		7

Note: The DeltaV values are scaled according to the selected output frequency and the scaling can be either read from a lookup-table such as the one below or by using the exponent sent as part of every message.

Δv scaling based on ODR

Exponent 2^-x	Freq	Range	Scaling	Resolution
17	400	±0.25	2^-17	7.6294e-06
16	200	±0.50	2^-16	1.5259e-05
15	100	±1	2^-15	3.0518e-05
14	80	±1.25	2^-14	6.1035e-05
14	50	±2	2^-14	6.1035e-05
13	40	±2.5	2^-13	1.2207e-04
13	25	±4	2^-13	1.2207e-04
12	20	±5	2^-12	2.4414e-04
12	16	±6.25	2^-12	2.4414e-04
11	10	±10	2^-11	4.8828e-04
11	8	±12.5	2^-11	4.8828e-04
10	5	±20	2^-10	9.7656e-04
10	4	±25	2^-10	9.7656e-04
9	2	±50	2^-9	0.0020
8	1	±100	2^-8	0.0039

RateOfTurn

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_RateOfTurn

Max. output frequency: 400 Hz

Sensor fusion output: No

For MTi-600 series

Message name (ID)	XCDI_RateOfTurn (0x032)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
gyrX	±35	2^-9	0.0020	rad/s	int16	2	0
gyrY	±35	2^-9	0.0020	rad/s	int16	2	2
gyrZ	±35	2^-9	0.0020	rad/s	int16	2	4
					Total size		6

For Xsens Sirius series

Message name (ID)	XCDI_RateOfTurn (0x032)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
gyrX	±35	2^-11	0.00049	rad/s	int16	2	0
gyrY	±35	2^-11	0.00049	rad/s	int16	2	2
gyrZ	±35	2^-11	0.00049	rad/s	int16	2	4
					Total size		6

DeltaQ

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_DeltaQ

Max. output frequency: 400 Hz

Sensor fusion output: No

Note: Be careful when converting the value 1.

Message name (ID)	XCDI_DeltaQ (0x033)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
Δq0	±1	(2¹⁵-1)^-1	3.0518 e-05	-	int16	2	0
Δq1	±1	(2¹⁵-1)^-1	3.0518 e-05	-	int16	2	2
Δq2	±1	(2¹⁵-1)^-1	3.0518 e-05	-	int16	2	4
Δq3	±1	(2¹⁵-1)^-1	3.0518 e-05	-	int16	2	6
					Total size		8

Acceleration

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_Acceleration

Max. output frequency: 400 Hz

Sensor fusion output: No

Note: The range of accelerometer is +/- 10 g.

Message name (ID)	XCDI_Acceleration (0x034)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
accX	±100	2^-8	0.0039	m/s²	int16	2	0
accY	±100	2^-8	0.0039	m/s²	int16	2	2
accZ	±100	2^-8	0.0039	m/s²	int16	2	4
					Total size		6

FreeAcceleration

620

630

670

680

Avior VRU

Avior AHRS

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_FreeAcceleration

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Note: This is an output in the local (Earth-fixed) frame. The default local frame for the MTi series is East-North-Up (ENU).

Message name (ID)	XCDI_FreeAcceleration (0x035)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
freeAccX	±100	2^-8	0.0039	m/s²	int16	2	0
freeAccY	±100	2^-8	0.0039	m/s²	int16	2	2
freeAccZ	±100	2^-8	0.0039	m/s²	int16	2	4
					Total size		6

Magnetic Group (0x040)

MagneticField

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_MagneticField

Max. output frequency: 100 Hz

Sensor fusion output: No

Message name (ID)	XCDI_MagneticField (0x041)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
magX	±32	2^-10	9.7656e-04	a.u.	int16	2	0
magY	±32	2^-10	9.7656e-04	a.u.	int16	2	2
magZ	±32	2^-10	9.7656e-04	a.u.	int16	2	4
					Total size		6

Temperature and Pressure Messages (0x050)

Temperature

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_Temperature

Max. output frequency: 400 Hz (update rate: 100 Hz)

Sensor fusion output: No

Message name (ID)	XCDI_Temperature (0x051)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
Temperature	[-40,+85]	2^-8	0.0039	°C	int16	2	0
					Total size		2

BaroPressure

610

620

630

670

680

Xbus equivalent: XDI_BaroPressure

Max. output frequency: 100 Hz

Sensor fusion output: No

Message name (ID)	XCDI_BaroPressure (0x052)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
Pressure	[30000, 125000]	1	1	Pa	uint32	4	0
					Total size		4

High-Rate Data Messages (0x060)

RateOfTurnHR

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_RateOfTurnHR

Max. output frequency: MTi 600-series: 1600 Hz, Sirius series: 2000 Hz

Sensor fusion output: No

For MTi-600 series

Message name (ID)	XCDI_RateOfTurnHR (0x061)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
gyrX	±35	2^-9	0.0020	rad/s	int16	2	0
gyrY	±35	2^-9	0.0020	rad/s	int16	2	2
gyrZ	±35	2^-9	0.0020	rad/s	int16	2	4
					Total size		6

For Xsens Sirius series

Message name (ID)	XCDI_RateOfTurnHR (0x061)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
gyrX	±35	2^-11	0.00049	rad/s	int16	2	0
gyrY	±35	2^-11	0.00049	rad/s	int16	2	2
gyrZ	±35	2^-11	0.00049	rad/s	int16	2	4
					Total size		6

AccelerationHR

610

620

630

670

680

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Xbus equivalent: XDI_AccelerationHR

Max. output frequency: 2000 Hz

Sensor fusion output: No

Message name (ID)	XCDI_AccelerationHR (0x062)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
accX	±100	2^-8	0.0039	m/s²	int16	2	0
accY	±100	2^-8	0.0039	m/s²	int16	2	2
accZ	±100	2^-8	0.0039	m/s²	int16	2	4
					Total size		6

Position & Velocity Messages (0x070)

Latitude and Longitude

670

680

Xbus equivalent: XDI_LatLon

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Message name (ID)	XCDI_LatLong (0x071)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
lat	±90	2^-24	5.9605e-08 (~7 mm)	deg	int32	4	0
lon	±180	2^-23	1.1921e-07 (~13 mm)		int32	4
					Total size		8

AltitudeEllipsoid

670

680

Xbus equivalent: XDI_AltitudeEllipsoid

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Note: Latitude, Longitude and Altitude messages are mutually exclusive with ECEF.

Message name (ID)	XCDI_AltitudeEllipsoid (0x072)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
altEllipsoid	[-1000, 80000]	2^-15	3.0518e-05	m	int32	4	0
					Total size		4

PositionEcef_X

670

680

Xbus equivalent: This data is contained in XDI_PositionEcef

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Note: Latitude, Longitude and Altitude messages are mutually exclusive with ECEF.

Note: This output cannot be enabled through the Device Settings window in MT Manager. Use Xbus configuration instead: Configuring CAN output through Xbus.

Message name (ID)	XCDI_PositionEcef_X (0x073)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
PositionEcef_X	~±6500000	2^-8	0.0039	m	int32	4	0
					Total size		4

PositionEcef_Y

670

680

Xbus equivalent: This data is contained in XDI_PositionEcef

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Note: Latitude, Longitude and Altitude messages are mutually exclusive with ECEF.

Note: This output cannot be enabled through the Device Settings window in MT Manager. Use Xbus configuration instead: Configuring CAN output through Xbus.

Message name (ID)	XCDI_PositionEcef_Y (0x074)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
PositionEcef_Y	~±6500000	2^-8	0.0039	m	int32	4	0
					Total size		4

PositionEcef_Z

670

680

Xbus equivalent: This data is contained in XDI_PositionEcef

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Note: Latitude, Longitude and Altitude messages are mutually exclusive with ECEF.

Note: This output cannot be enabled through the Device Settings window in MT Manager. Use Xbus configuration instead: Configuring CAN output through Xbus.

Message name (ID)	XCDI_PositionEcef_Z (0x075)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
PositionEcef_Z	~±6500000	2^-8	0.0039	m	int32	4	0
					Total size		4

VelocityXYZ

670

680

Xbus equivalent: XDI_VelocityXYZ

Max. output frequency: 400 Hz

Sensor fusion output: Yes

Note: This is an output in the local (Earth-fixed) frame. The default local frame for the MTi series is East-North-Up (ENU).

Message name (ID)	XCDI_VelocityXYZ (0x076)
Field	Range	Scaling	Resolution	Unit	Format	Size	Offset
velX	±500	2^-6	0.0156	m/s	int16	2	0
velY	±500	2^-6	0.0156	m/s	int16	2	2
velZ	±500	2^-6	0.0156	m/s	int16	2	4
					Total size		6

GnssReceiverStatus

670

680

Xbus equivalent: This data is contained in XDI_GnssPvtData (fixType, numSv, flags, valid) and XDI_GnssSatInfo (numSvs)

Max. output frequency: 4 Hz

Sensor fusion output: No

Note: Available with firmware versions 1.7.0 and up.

Message name (ID)	XCDI_GnssReceiverStatus (0x079)
Field	Range	Scaling	Unit	Format	Size	Offset
fixType	-	^-	-	uint8	1	0
numSv	-	^-	-	uint8	1	1
flags	-	^-	-	uint8	1	2
valid	-	-	-	uint8	1	3
numSvs	-	-	-	uint8	1	4
				Total size		5

GnssReceiverDop

670

680

Xbus equivalent: This data is contained in XDI_GnssPvtData

Max. output frequency: 4 Hz

Sensor fusion output: No

Note: Available with firmware versions 1.7.0 and up.

Message name (ID)	XCDI_GnssReceiverDop (0x07A)
Field	Range	Scaling	Unit	Format	Size	Offset
pdop	-	0.01	-	uint16	1	0
tdop	-	0.01	-	uint16	1	2
vdop	-	0.01	-	uint16	1	4
hdop	-	0.01	-	uint16	1	6
				Total size		8

Configuration Messages (Only Avior/Sirius with FW 1.4.0 and higher) (0x0A0 & 0x0B0)

ReqDeviceId

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Motion Tracker

Xbus equivalent: XDI_DeviceId

Valid in: Config State

Message name (ID)	XCCI_DeviceIdReq (0x0AA)
Field	Scaling	Unit	Format	Size	Offset
-	-	-	-	-	0
			Total size		0

DeviceId

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Host

Xbus equivalent: XDI_DeviceId

Message name (ID)	XCCI_DeviceId (0x0AB)
Field	Scaling	Unit	Format	Size	Offset
DeviceId	-	-	uint64	8	0
			Total size		8

GotoConfig

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Motion Tracker

Valid in: Config and Measurement State

Note: Forces the device into Config mode (no acknowledgment).

Message name (ID)	XCCI_GotoConfig (0x0AC)
Field	Scaling	Unit	Format	Size	Offset
-	-	-	-	-	0
			Total size		0

GotoMeasurement

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Motion Tracker

Valid in: Config and Measurement State

Note: Forces the device into Measurement mode (no acknowledgment).

Message name (ID)	XCCI_GotoMeasurement (0x0AD)
Field	Scaling	Unit	Format	Size	Offset
-	-	-	-	-	0
			Total size		0

Reset

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Motion Tracker

Valid in: Config and Measurement State

Note: Resets the device (no acknowledgment).

Message name (ID)	XCCI_Reset (0x0AE)
Field	Scaling	Unit	Format	Size	Offset
-	-	-	-	-	0
			Total size		0

IccCommand

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Motion Tracker

Valid in: Config and Measurement State

Note: Sends a command/request related to the In-Run Compass Calibration

Message name (ID)		XCCI_GotoMeasurement (0x0AF)
Field	Description	Scaling	Unit	Format	Size	Offset
Subcommand	Subcommand, see table below.	-	-	uint8	1	0
				Total size		1

Subcommand	Action	Valid in mode
00	Start Representative Motion calibration	Measurement
01	Stop Representative Motion calibration	Measurement
02	Store ICC/RepMo calibration parameters	Config
03	Request Representative Motion state	Measurement
04	Request ICC state	Measurement

IccCommandAck (general structure)

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Host

Message name (ID)	XCCI_IccCommandAck (0x0B0)
Field	Description	Scaling	Unit	Format	Size	Offset
SubcommandAck	Acknowledgment of subcommand sent by user, see table above.	-	-	uint8	1	0
Result	Command-specific additional payload (see below).			various	0-6, see below	1
				Total size		variable

IccCommandAck - Start Representative Motion

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Host

Message name (ID)	XCCI_IccCommandAck (0x0B0)
Field	Description	Scaling	Unit	Format	Size	Offset
SubcommandAck	0x00	-	-	uint8	1	0
				Total size		1

IccCommandAck - Stop Representative Motion

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Host

Message name (ID)	XCCI_IccCommandAck (0x0B0)
Field	Description	Scaling	Unit	Format	Size	Offset
SubcommandAck	0x01	-	-	uint8	1	0
DDT value	ddt value (Ratio of disturbance with respect to noise). This value indicates how homogeneous the magnetic environment was during the calibration. The closer the score is to 1, the better. Try performing multiple calibrations at different locations to see whether your results can be improved.	1	-	uint32	4	1
Dimension	0x02: 2D 0x03: 3D	-	-	uint8	1	5
Status	0x00 OK / Successful 0x01 Too much disturbance 0x02 Not enough data 0x03 Too much disturbance and not enough data	-	-	uint8	1	6
				Total size		7

IccCommandAck - Store ICC/RepMo calibration parameters

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Host

Message name (ID)	XCCI_IccCommandAck (0x0B0)
Field	Description	Scaling	Unit	Format	Size	Offset
SubcommandAck	0x02	-	-	uint8	1	0
				Total size		1

IccCommandAck - Representative Motion state

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Host

Message name (ID)	XCCI_IccCommandAck (0x0B0)
Field	Description	Scaling	Unit	Format	Size	Offset
SubcommandAck	0x03	-	-	uint8	1	0
Status	0x00: RepMo inactive 0x01: RepMo active	-	-	uint8	1	1
				Total size		2

IccCommandAck - ICC state

Avior IMU

Avior VRU

Avior AHRS

Sirius IMU

Sirius VRU

Sirius AHRS

Direction: To Host

Message name (ID)	XCCI_IccCommandAck (0x0B0)
Field	Description	Scaling	Unit	Format	Size	Offset
SubcommandAck	0x04	-	-	uint8	1	0
DDT value	Only available after stopping a Representative Motion calibration. ddt value (Ratio of disturbance with respect to noise). This value indicates how homogenous the magnetic environment was during the calibration. The closer the score is to 1, the better. Try performing multiple calibrations at different locations to see whether your results can be improved.	1	-	uint32	4	1
Dimension	0x02: 2D 0x03: 3D	-	-	uint8	1	5
Status	Status byte: 0x00 Calibration not stable / RepMo inactive 0x10 Calibration stable / RepMo inactive 0x20 Calibration not stable / RepMo active 0x30 Calibration stable / RepMo active For best performance, we recommend not storing the calibration results until this field indicates a "stable" result.	-	-	uint8	1	6
				Total size		7

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