In this chapter, the various output modes of the industrial motion tracker are described. The industrial motion trackers have several output options. It is possible to select a different output frequency and/or output format (e.g. float or double) per output or group of outputs. A full overview of the output options can be found in the MT Low Level Communication Protocol Documentation.
Performance specifications on orientation, position and sensor data can be found in the specific datasheets of each industrial motion tracker series.
The industrial motion tracker supports different data protocols: the binary (hexadecimal) XBus protocol, NMEA (ASCII) messages and CAN 2.0. Refer to MT Low Level Communication Protocol Documentation and MT CAN Protocol Documentation to learn more about the structure of the protocols and how to switch between them.
NOTE: The MTi 1-series only supports the binary Xbus protocol.
The MTi-7, MTi-8, MTi-670 and MTi-680 require data from an externally connected GNSS receiver to provide a full GNSS/INS solution. Depending on the MTi and its firmware version, this can be achieved by using the u-blox (UBX), NMEA, Septentrio (SBF) or Trimble (GSOF) protocol. For more information on how to setup your device to communicate with its external GNSS receiver, please refer to your product's (MTi 1-series or MTi 600-series) datasheet.
RTCM messages contain position correction data which is required by the MTi-680G to achieve cm-level positioning. The protocol which is supported by the MTi-680G is RTCMv3 with a standard 1 Hz frequency.
All industrial motion tracker feature a built-in self-test (BIT). The self-test actuates the mechanical structures in the MEMS accelerometer and gyroscope by inducing an electric signal. This allows checking the proper functioning of the mechanical structures in the MEMS inertial sensors as well as the signal processing circuitry. For the magnetometer, the self-test checks the integrity of the sensor component.
A passed self-test will result in a valid self-test flag in the status byte. Because the self-test influences the sensor data, the self-test is only available in Config mode. For more information, look for RunSelftest in MT Low Level Communication Protocol Documentation.
Each data message can be accompanied by a packet counter and/or timestamp. Refer to MT Low Level Communication Protocol Documentation detailed information on the various time outputs.
The status word includes information about the status of the industrial motion tracker, its sensors, the filter and user inputs.
Information contained within the status word is, for example:
Refer to MT Low Level Communication Protocol Documentation for detailed information on the Status Word output.