Below figure shows the pin configuration of the Xsens Sirius series robust tracker.
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.
Pin descriptions Rugged Sirius Host Interface with RS232
|
Pin |
Name |
I/O type |
Description |
|---|---|---|---|
|
1 |
CAN_H |
I/O |
CAN bus differential high side |
|
2 |
CAN_L |
I/O |
CAN 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 |
Pin descriptions Rugged Sirius Host Interface with RS422
|
Pin |
Name |
I/O type |
Description |
|---|---|---|---|
|
1 |
CAN_H |
I/O |
CAN bus differential high side |
|
2 |
CAN_L |
I/O |
CAN 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 |
The Xsens Sirius series is designed to be used as a peripheral device in embedded systems or as a standalone unit. The Xsens Sirius series supports Controller Area Network (CAN), RS232 and RS422 protocols for the communication between the sensor and a host. See the table below for interface specifications.
|
Interface |
Symbol |
Min |
Typ |
Max |
Unit |
Description |
|---|---|---|---|---|---|---|
|
CAN* |
fCAN |
10.0 |
250.0 |
1000 |
kbps |
Host CAN Interface Baud Rate |
|
RS232 |
fRS232 |
4.8 |
115.2 |
1000 |
kbps |
Host RS232 Interface Baud Rate |
| RS422 | fRS422 | 4.8 | 115.2 | 2000 | kbps | Host RS422 Interface Baud Rate |
* CAN-FD supported baud rates: 2000 kbps, 5000 kbps, 8000 kbps
At its core, the Sirius series uses the Xsens-proprietary Xbus protocol which is compatible with all Xsens Motion Tracker products. This protocol is available on all interfaces; RS232 and CAN(-FD).
The MT Low Level Communication Protocol Documentation is a complete reference for the protocol.
The CAN interface of the Xsens Sirius does not include a termination resistor; it can be used in a CAN bus that already incorporates the required termination. If used in a single device connection, a 120 Ω termination resistor needs to be added between the CAN_H and CAN_L pins.
For more information, please review the MT CAN Protocol Documentation.
The RS232 interface complies with the standard RS232 voltage levels. It will include hardware flow control from firmware version 1.1.0 onwards through RTS and CTS lines.
The RTS signal is an output of the Xsens Sirius. If the RTS line is low, the device is busy and unable to receive new data. Otherwise, the device is idle and ready to receive. The CTS signal is an input for the Xsens Sirius series. The device checks the state of the CTS line at the start of every byte it transmits. If CTS is high, the device transmits the byte. Otherwise, it postpones transmission until CTS is raised. If flow control is not used, the CTS input should be connected to a logic high to make sure that the Xsens Sirius series can transmit data. A RS232 logic high voltage should be between +3 V and +15 V.
The CTS signal is an input for the device. The device checks the state of the CTS line at the start of every byte it transmits. If CTS is high, the device transmits the byte. Otherwise, it postpones transmission until CTS is raised. When, during the transmission of a byte, the user lowers the CTS signal, the device completes transmission of that byte before postponing further output. The device will not retransmit this byte. The figure below shows the behaviour of the TX and CTS lines.
Data transmit behaviour under CTS
The RTS signal is an output of the device. If the RTS line is low, the device is busy and unable to receive new data. Otherwise, the device is idle and ready to receive. After receiving a byte, the direct memory access (DMA) controller of the device will transfer the byte to its receive first-in-first-out (FIFO) buffer. The device will not pull down the RTS signal during transfer. Only in the following cases the RTS is pulled down:
The user can use this communication mode without hardware flow control. In this case, the user must tie the CTS line high (e.g. VIN) to make the device transmit.
The RS422 interface complies with the standard RS422 voltage levels. It replaces the RS232 lines of the default interface. The RS422 frame configuration is 8 data bits, no parity and 1 stop bit (8N1). The RS422 interface does not support flow control.
The Xsens Sirius series has two multifunctional synchronization inputs and one synchronization output. The electrical specifications can be seen in the next chapter: Electrical Specifications. Refer to the Xsens Sirius series Datasheet for configuration details.