DAGE-MTI Excel Series Manuel d'utilisateur télécharger pdf (Page 36)

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 DocumentMT0100P.N

©XsensTechnologiesB.V. MTiandMTxUserManualandTechnicalDocumentation

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ThePreamble,BusID,MesssageID,lengthindicatorandchecksumtogetherisalways5bytes.Thelengthofthe

variousdatamessagesisdiscussedin[LLCP].

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Example1:Calibrateddataoutputmodeat100Hzwithabaudrateof115200bps.

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Calibrateddatais36bytes.

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sbits

bytebits

timeontransmissi 56.3

)/(115200

/10*)536(

_ =

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Togetherwiththeinternalacquisitionandcomputationtime(1.97msformachine_nomagscenario),thetotal

timefromacquisitionofthedatauntilthereceptionatthehostis5.53ms.

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Example2:Quaternionorientation dataoutputmodeplus timestampat 120Hz witha baudrate of921600

bps.

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Quaternionorientationdatais16bytes,timestampis2bytes.

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sbits

bytebits

timeontransmissi 25.0

)/(921600

/10*)518(

_ =

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Togetherwiththeinternalacquisitionandcomputationtime(1.97msformachine_nomagscenario),thetotal

timefromacquisitionofthedatauntilthereceptionatthehostis2.22ms.

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DAGE-MTI Excel Series Manuel d'utilisateur Page 36