Cruizcore®R6081U A digital gyroscope and accelerometer module for measuring angular rate, heading angle (also known as directional or yaw) and acceleration under dynamic conditions. This is a highly compact, lightweight, fully self-contained device. R6081U with an internal MEMS gyroscope 3-axis accelerometer, an internal voltage regulator, The signal processing circuit / AD converter and the RISC microprocessor .R6081U running our patented error correction algorithm use adaptive reduced order Kalman filters to reduce the errors that affect this sensor (i.e. bias drift, scale factor, etc.) So it can output very precise and stable angular velocity and heading angle. The startup time is less than 1 second and is used to calculate the bias parameters, after which no further calibration is required. R6081U is the best solution for uniaxial navigation rate measurement.
1、 CanOpen
CAL provides all network management services and packet delivery protocols, but does not define the contents of objects or the types of objects being communicated, which is the entry point of CanOpen. CanOpen is developed on the basis of CAL, using a subset of CAL communication and service protocols, and provides an implementation scheme of distributed control system. The core concept of CanOpen is that device object dictionary (OD: Object Dictonary), can access all slave nodes through object dictionary (OD).
2, dictionary mapping
The current version of the encoder does not support the PDO message, all parameters are configured and accessed through the SDO message.
The CruizCore® R6083V is a 3 axis digital gyroscope and accelerometer. It’s also working as
attitude reference system that among others, can measure angular rate, acceleration and
attitude(yaw is relative to initial orientation) under dynamic conditions. It is a highly compact, light,
and fully self-contained device. Internally, the R6083V contains a 3 axis MEMS gyroscope, and
accelerometer, internal voltage regulator, signal processing circuitry and a RISC microprocessor
running our patented error correcting algorithm. The R6083V uses an adaptive reduced order
Kalman filter to reduce the errors that affect this type of sensors (i.e. bias drift, scale factor,
asymmetry), as the result it produces very accurate stabilized angular rates and heading angle.
The start-up time is less than 1 second, which is used to compute bias parameters; it does not
require further calibration thereafter. The R6083V is the best single axis rate measuring solution
for navigation applications.
