Functional description - Xsens Automation & Mobility

This chapter describes the Sirius series pinout and gives details about the supported communication interfaces.

Pin description robust trackers

Below figure shows the pin configuration of the Xsens Sirius series robust tracker.

Below table shows the pin descriptions of the Xsens Sirius series robust tracker based on the interface variant.

RS232 variant

Pin	Name	I/O type	Description
1	CAN_H	I/O	CAN(-FD) bus differential high side
2	CAN_L	I/O	CAN(-FD) bus differential low side
3	SYNC_IN1	I	Multifunctional synchronization input
4	SYNC_IN2	I	Multifunctional synchronization input
5	VIN	PWR	Power input
6	RS232_CTS	I	RS232 Clear To Send input from host
7	RS232_RxD	I	RS232 receiver input from host
8	RS232_TxD	O	RS232 transmitter output to host
9	RS232_RTS	O	RS232 Ready To Send output to host
10	GND	PWR	Ground
11	SYNC_OUT	O	Configurable synchronization output
12	GND	PWR	Ground

RS422 variant

Pin	Name	I/O type	Description
1	CAN_H	I/O	CAN(-FD) bus differential high side
2	CAN_L	I/O	CAN(-FD) bus differential low side
3	SYNC_IN1	I	Multifunctional synchronization input
4	SYNC_IN2	I	Multifunctional synchronization input
5	VIN	PWR	Power input
6	RS422_B	I	RS422 inverted receiver input from host
7	RS422_A	I	RS422 non-inverted receiver input from host
8	RS422_Z	O	RS422 inverted transmitter output to host
9	RS422_Y	O	RS422 non-inverted transmitter output to host
10	GND	PWR	Ground
11	SYNC_OUT	O	Configurable synchronization output
12	GND	PWR	Ground

Peripheral interfaces

The rugged Sirius series supports CAN(-FD), and RS232 or RS422 interfaces for host communication. For more detailed information on the interfaces please refer to the Sirius series Hardware Integration Manual.

CAN (Controller Area Network)

A Controller Area Network (CAN bus) is a robust standard designed to allow communication between devices in applications without a host computer. By default the CAN interface of the Sirius series does not have a termination resistor enabled. It can be used in a CAN bus that already incorporates the required termination. If used in a single device connection or when placed at the end of a CAN bus, the internal 120 Ω termination resistor can be enabled.

RS232 with RTS/CTS flow control

The RS232 interface complies with the standard RS232 voltage levels. It includes hardware flow control through the RTS and CTS lines;

RS422

The RS422 interface complies with the standard RS422 voltage levels. It replaces the RS232 lines of the default interface.