Kistler CSHRA Owner's manual

Instruction

Manual

Correvit

®

S-HR

Non-Contact Optical

Sensors

Type CSHRA…

CSHRA_002-536e-05.12

Instruction

Manual

Correvit

®

S-HR

Non-Contact Optical

Sensors

Type CSHRA…

CSHRA_002-536e-05.12

Foreword

CSHRA_002-536e-05.12 Page 1

Foreword

Thank you for choosing a Kistler quality product

characterized by technical innovation, precision and long

life.

Information in this document is subject to change without

notice. Kistler reserves the right to change or improve its

products and make changes in the content without

obligation to notify any person or organization of such

changes or improvements.

expressly provided herein, no part of this manual may be

reproduced for any purpose without the express prior

written consent of Kistler Group.

Kistler Group

Eulachstrasse 22

8408 Winterthur

Switzerland

Tel. +41 52 224 11 11

Fax +41 52 224 14 14

[email protected]

www.kistler.com

Kistler Automotive GmbH

Competence Center Wetzlar

Charlotte-Bamberg-Str. 12

35578 Wetzlar

Deutschland

Tel. +49 64 41 92 82 0

Fax +49 64 41 92 82 17

info.kar@kistler.com

Content

Page 2 CSHRA_002-536e-05.12

Content

1.

Introduction ................................................................................................................................... 4

2.

Important Notes ............................................................................................................................. 5

2.1

For your Safety ..................................................................................................................... 5

2.2

Disposal Instructions for Electrical and Electronic Equipment ................................................ 7

2.3

Software Upgrades and Updates .......................................................................................... 7

3.

Product Overview .......................................................................................................................... 8

3.1

General Description .............................................................................................................. 8

3.2

Features ............................................................................................................................... 9

3.3

Application ........................................................................................................................... 9

3.4

Accessories ........................................................................................................................... 9

4.

Technical Data ............................................................................................................................. 10

4.1

Specifications ...................................................................................................................... 10

4.2

Pin Assignments ................................................................................................................. 12

4.3

Default Settings for Analog and Digital Outputs ................................................................ 15

4.3.1

Analog Output Default Settings ............................................................................ 15

4.3.2

Digital Output Default Settings ............................................................................. 15

4.4

Internal Signal Filtering ....................................................................................................... 16

4.4.1

High-Resolution Angle Signal ................................................................................ 16

4.4.2

Moving Average Filter ........................................................................................... 16

4.4.3

FIR* Filter .............................................................................................................. 17

4.5

Angle Settings .................................................................................................................... 17

4.6

Speed Range ...................................................................................................................... 17

4.7

Status Byte via CAN Bus ..................................................................................................... 17

4.8

Direction Settings ............................................................................................................... 18

5.

Setup and Connection .................................................................................................................. 19

5.1

Mounting Options ............................................................................................................. 19

5.2

Sensor Mounting Jig ........................................................................................................... 20

5.3

Connecting the Sensor ....................................................................................................... 21

6.

Sensor-specific Software Description ........................................................................................... 23

6.1

Project Window Settings S-HR Sensor ................................................................................ 23

6.1.1

Measurement Display ............................................................................................ 23

6.1.2

Sensor Configuration ............................................................................................. 24

6.1.3

S-HR Configuration ............................................................................................... 25

6.1.4

Calibration Settings ............................................................................................... 26

6.1.5

Digital Channels .................................................................................................... 27

6.1.6

Analog Channels ................................................................................................... 29

6.1.7

Filter ...................................................................................................................... 31

6.1.8

CAN-Bus ............................................................................................................... 32

6.2

Sensor Calibration .............................................................................................................. 34

Content

CSHRA_002-536e-05.12 Page 3

6.3

CAN Protocol ...................................................................................................................... 39

6.3.1

Definition of the Frames ......................................................................................... 41

6.3.1.1

Definition for Intel Format ..................................................................... 41

6.3.1.2

Definitions for Motorola Format ............................................................ 42

6.3.1.3

Table 1: Status Byte S-HR ...................................................................... 44

6.3.1.4

Table 2: Status Byte 2 ............................................................................ 44

6.3.1.5

Table 2: Status Byte 3 ............................................................................ 45

6.3.1.6

Table 4: Filter Settings ........................................................................... 45

6.3.1.7

Trigger Frame ........................................................................................ 46

6.4

Generating CAN Database files (CanDB) ............................................................................. 47

6.5

Firmware Update ................................................................................................................ 48

6.5.1

Performing the Firmware Update ........................................................................... 48

7.

Troubleshooting ........................................................................................................................... 51

7.1

Cables and Power Supply .................................................................................................... 51

7.2

Status LEDs on Sensor Electronics ....................................................................................... 51

7.3

Illumination ......................................................................................................................... 51

7.4

Sensor Lens (Protection Glass) ............................................................................................ 52

7.5

Operating Range ................................................................................................................ 52

7.6

Vibration ............................................................................................................................. 52

7.7

Software ............................................................................................................................. 52

7.8

CAN .................................................................................................................................... 53

7.9

Environmental Conditions ................................................................................................... 53

7.10

EMV Interference ................................................................................................................ 53

7.11

Service ................................................................................................................................ 54

8.

Appendix ...................................................................................................................................... 55

Total pages: 56

Sensors Type CSHRA…

Page 4 CSHRA_002-536e-05.12

1. Introduction

Please take the time to thoroughly read this instruction

manual. It will help you with the installation, maintenance,

and use of this product.

To the extent permitted by law Kistler does not accept any

liability if this instruction manual is not followed or

products other than those listed under Accessories are

used.

Kistler offers a wide range of products for use in measuring

technology:

 Piezoelectric sensors for measuring force, torque, strain,

pressure, acceleration, shock, vibration and acoustic-

emission

 Strain gage sensor systems for measuring force and

torque

 Piezoresistive pressure sensors and transmitters

 Signal conditioners, indicators and calibrators

 Electronic control and monitoring systems as well as

software for specific measurement applications

 Data transmission modules (telemetry)

Kistler also develops and produces measuring solutions for

the application fields engines, vehicles, manufacturing,

plastics and biomechanics sectors.

Our product and application brochures will provide you

with an overview of our product range. Detailed data

sheets are available for almost all products.

If you need additional help beyond what can be found

either on-line or in this manual, please contact Kistler's

extensive support organization.

Important Notes

CSHRA_002-536e-05.12 Page 5

2. Important Notes

2.1 For your Safety

Please read carefully before operating the equipment.

Kistler is not responsible for damage that may occur when

this system is used in any way other than that for which it

is intended.

To assure safe and proper operation, all supplied

equipment, components and/or accessories must be

carefully transported and stored, as well as professionally

installed and operated. Careful maintenance and usage in

full accordance with operating instructions is imperative.

The equipment should be installed and operated only by

qualified persons who are familiar with devices of this type.

Local regulations may not permit the operation of motor

vehicles on public highways while the equipment is

mounted on the exterior of the vehicle.

Use caution when exchanging sensor lamps – lamps are

extremely hot, and may cause injury.

Do not look into sensor lamps – lamps are extremely

bright, and may cause eye injury.

Sensor can become very hot and may cause injury if

power has been applied to the sensor for extended

periods. This is especially true if the sensor is used in

hot environmental conditions.

Do not use defective or damaged equipment,

components and/or accessories.

Do not modify or change the equipment or its

accessories in any way.

Equipment must be mounted firmly and securely.

Improper use or mounting of the equipment may affect

the safety of the vehicle and/or occupants. The

equipment must not be mounted and/or operated in

any way that may compromise vehicle or and/or

occupant safety.

Sensors Type CSHRA…

Page 6 CSHRA_002-536e-05.12

Do not mount equipment, components and/or

accessories near heat sources (e.g. exhaust).

The sensor and/or sensor components may be

damaged if power is applied for extended periods,

especially in hot environmental conditions.

To avoid damage to the sensor lens, please do only

clean it with a micro-fiber cloth.

Do not use defective or damaged equipment,

components and/or accessories.

Always note correct pin assignments and operating

voltages when connecting equipment to power

supplies, data acquisition/evaluation systems, and/or

any other applicable system or component. Equipment

may be damaged if not properly connected and/or

operated.

Disconnect power from the sensor if the vehicle is

stationary for extended periods.

To avoid damage to the sensors lens, please do only

clean it with a microfiber cloth.

For additional information, please call our hotline:

+49 6441 9282 82 or E-mail (hotline.kcd@kistler.com).

Important Notes

CSHRA_002-536e-05.12 Page 7

2.2 Disposal Instructions for Electrical and Electronic Equipment

Do not discard old electronic instruments in municipal

trash. For disposal at end of life, please return this

product to an authorized local electronic waste disposal

service or contact the nearest Kistler Instrument sales

office for return instructions.

2.3 Software Upgrades and Updates

Kistler may from time to time supply upgrades or updates

for embedded software. Such upgrades or updates must

always be installed.

Kistler declines any liability whatsoever for any direct or

consequential damage caused by products running on

embedded software which has not been upgraded or

updated with the latest software supplied.

Sensors Type CSHRA…

Page 8 CSHRA_002-536e-05.12

3. Product Overview

3.1 General Description

Correvit

®

S-HR sensors are non-contact optical sensor for

slip-free measurement of longitudinal and transversal

dynamics. They measures slip angle and sideslip angle with

high dynamics and exceptionally high measurement

accuracy.

The patented enhancement of the well-known Correvit

principle, the application of new optical components, and

the latest technology in digital signal processing enable the

most precise high-resolution slip angle measurement. True

250 Hz signal update rate tracks every high dynamic

maneuver.

Due to the new operating principle (absolute measuring)

the angle signal is very low-noise which provides maximum

dynamic performance of the angle signal without further

signal filtering. This advantage make the sensors especially

suited for measuring transversal vehicle dynamics like

sideslip angle but also tire slip angle when mounted on

wheel.

The new Correvit S-HR sensors represent an essential

contribution to the development of automotive measuring

engineering.

Fig. 1: Correvit

®

S-HR Sensor mounted at the rear

Product Overview

CSHRA_002-536e-05.12 Page 9

3.2 Features

 Correvit S-HR sensor with working range 250 ±50 mm,

applicable from 0,5 ... 250 km/h

 Accuracy of the unfiltered angle within the range of

±15 ° = ±0,1 °

 High-resolution slip angle measurement by enhanced

measuring principle

 Adjustable filter time (unfiltered, moving average

8 ... 512 ms, FIR-Filter 2 ... 100 Hz)

 Extremely high measurement accuracy, better than

±0,2 %, as a result of precise optics and digital signal

processing

 Signal outputs: Analog, Digital, CAN-Bus, USB,

RS-232C

3.3 Application

High-precision, slip-free measurement of distance,

longitudinal/transversal speed and angle (high-resolution)

for dynamic vehicle testing, e.g. ISO 4138 steady-state

circular-course driving, ISO 7401 sudden steering-angle

change, tire research.

3.4 Accessories

Included Accessories Type/Art. No.

 Power cable, l = 2 m KCD17360

 Connection cable CAN, l = 2 m KCD13946

 Connection cable RS-232C, l = 2 m KCD13425

 Connection cable USB, l = 2 m KCD13947

 Distribution cable, l = 1 m KCD10527

 Transport case S-HR, complete KCD17188

 Mini folding rule KCD14643

 Multimedia-CD KCD11343

 Sensor calibration KCD17167

 Halogen lamp 20 W/12 V KCD14893

 Tool to exchange the sensor lamp KCD15437

 Screw driver Torx T10 KCD15887

 Hexagon wrench 6 kt 4 mm KCD14283

 Screw set S-HR KCD17187

 Spray guard KCD17117

Optional Accessories Type/Art. No.

 Suction holder S-HR KCD17092

 Magnet holder S-HR KCD17091

Sensors Type CSHRA…

Page 10 CSHRA_002-536e-05.12

4. Technical Data

4.1 Specifications

Performance Specifications

Speed range km/h 0,5 … 250

Angle measurement range

high-resolution

°

±40

±15

Distance resolution mm 2,66

Measurement accuracy

1)

%FSO <±0,2

Range high-resolution angle output

Angle resolution

Angle accuracy

km/h

°

10 … 250

<0,01

<±0,1

Measurement frequency Hz 250

Working distance and range mm 250 ±50

Signal Outputs

Digital output 1 – IVI or V

l 2)

pulses/m 1 … 1 000/TTL

Digital output 2 – V

q

or angle

2)

kHz 0 … 46/TTL

Analog output 1 – IVI or V

l2)

V 0 … 10

Analog output 2 – V

q

V –10 … 10

Analog output 3 – angle V –10 … 10

Signal Inputs

Trigger input yes

Analog input 1+2 V –10 … 10

Counter input kHz 0 … 100

Interfaces

CAN (Motorola/Intel) 2.0B

USB (Full Speed) 2.0

RS-232C yes

1) determined on test surface with distance >200m

2) switching-over between the respective measured variables via CeCalWin Pro possible

Technical Data

CSHRA_002-536e-05.12 Page 11

Specifications (Continuation)

System Specifications

Power supply V 10 … 28

Power consumption at 12 V W 60

Temperature range

Operation (ambient temperature)

Storage

Relative humidity (non-condensing)

°C

%

–5 … 50

–10 … 85

5 … 80

Protection standard (cable mounted)

Sensor head

Electronics

IP67

IP30

Dimensions (LxWxH)

Sensor head

Electronics

mm

165x50x130

180x125x95

Weight

Sensor head (with spray guard)

Electronics

grams

1 250

Shock g

ms

50 half-sine

6

Vibration g

Hz

10

10 … 150

Illumination Halogen

Sensors Type CSHRA…

Page 12 CSHRA_002-536e-05.12

4.2 Pin Assignments

Fig. 2: S-HR electronics, connector view front plate

CAN, 3 pin Binder, male

1

3

4

Signal

CAN high

CAN low

DGND

4

1 3

USB, 4 pin Binder, female

1

2

3

4

Signal

USB detection

D–

D+

DGND

RS-232C, 4 pin Binder, male

1

2

3

4

Signal

TX (sensor → PC)

RX (PC → sensor)

DGND

2

1 3

4

Technical Data

CSHRA_002-536e-05.12 Page 13

Sensor, 37 pin MIL, female

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

Signal

CCD1+

CCD1–

CCD2+

CCD2–

CLK+

CLK–

START_1+

START_1–

START_2+

START_2–

AGND

AGND/GND_EXT

CH_1A1

CH_1A2

CH_2B1

CH_2B2

AGND

VIN_ESD

GND_EXT2

PWR_ILLU1_OUT

PWR_ILLU2

GND_EXT3_OUT

GND_EXT4

MISO+

MISO–

MOSI+

MOSI–

SCLK+

SCLK–

CS_SEN+

CS_SEN–

n.c.

DGND/GND_EXT

Power, 6 pin Mil, male

1

2

3

4

5

6

Signal

+UB (10 … 28 V)

GND_Ext

B

A

E F B

D C

Sensors Type CSHRA…

Page 14 CSHRA_002-536e-05.12

IN, 9 pin D-Sub, male

1

2

3

4

5

6

7

8

9

Signal

n.c.

n.c

Counter IN (TTL Input)

+UB out, max. 300 mA

GND_Ext

+UB with internal pull-

up resistor (10 kΩ)

n.c.

Light barrier input

(NPN)/brake switch

GND_Ext

When used in combination with a light barrier and/or a

brake switch of a third-party supplier, the internal pull-

up (pin 6) may be applied.

OUT, 9 pin D-Sub, male

1

2

3

4

5

6

7

8

9

Signal

Analog 1

Analog 2

Analog 3

AGND

Analog 4

Digital 3

Digital 1

Digital 2

DGND

ANA IN1/IN2, 6 pin Lemo, female

1

2

3

4

5

6

Signal

+5 V

+12 V

–Ana_In

n.c.

+Ana_In

AGND

Technical Data

CSHRA_002-536e-05.12 Page 15

4.3 Default Settings for Analog and Digital Outputs

4.3.1 Analog Output Default Settings

Analog 1 40

mV

km/h magnitude speed IVI

or

40

mV

km/h longitudinal speed V

l

Analog 2 500

mV

°deg angle

Analog 3 100

mV

km/h transversal speed V

q

The above settings produce the following values:

50 km/h

=

2,0 V

100 km/h

=

4,0 V

150 km/h

=

8,0 V

250 km/h

=

10,0 V

All signals can be used as inputs to all common data

acquisition systems. Should any problems arise, please

contact Kistler.

Use CeCalWin Pro Software to change the settings.

4.3.2 Digital Output Default Settings

Digital 1 340

pulses

m

magnitude distance*

340

pulses

m

longitudinal distance*

* output as pulses

Digital 2 5 kHz + 50

Hz

°deg angle

5 kHz + 100

Hz

km/h transversal speed

Use CeCalWin Pro Software to change the settings.

Sensors Type CSHRA…

Page 16 CSHRA_002-536e-05.12

4.4 Internal Signal Filtering

Signals may be smoothed by using a signal filter that can

be set in CeCalWin Pro Software. You can choose between

a moving average filter and a symmetric FIR filter.

When using the FIR filter, you will see the signal dynamic

in the selected frequency range (0 Hz to selected fre-

quency) without a reduction of the signal amplitude. The

delay time is constant over the complete frequency range.

When using the moving average filter, the signal amplitude

is reduced with increasing frequency.

The FIR filter is preferably used for dynamic tests. The

moving average filter shall be used to achieve a smoother

signal.

Please note that signal accuracy and dynamic decreases

with increasing smoothing of the signal (higher filter times

with the moving average filter, lower frequency limit with

the FIR filter).

4.4.1 High-Resolution Angle Signal

The precise operating principle provides a very low-noise

high-resolution angle signal. To use the maximum dynamic

performance of the angle signal, it is put out unfiltered*.

To preserve the time assignment of all signals in the case of

an internal signal filtering, the high-resolution angle signal

is automatically delayed correspondingly, depending on the

preset filter.

* Due to technical reasons there is an internal averaging over 2

sampling points for the high-resolution angle signal.

4.4.2 Moving Average Filter

The moving average filter can be set within the range of

8 … 512 ms. Signal delay increase and signal accuracy and

signal dynamic (as well as noise) decrease with ascending

values.

8 ms

Increased signal detail and dynamics (as well as noise)

minimum signal delay

8 … 512 ms

in steps from 4 ms

-

switchable in CeCalWin Pro

512 ms

Smoothest signal

Maximum signal delay

Use CeCalWin Pro Software to change the settings. Please

note that in CeCalWin Pro Software multiple of 4 ms are

set.

Technical Data

CSHRA_002-536e-05.12 Page 17

4.4.3 FIR* Filter

With the FIR filter the limit frequency can be set in varying

steps with CeCalWin Pro Software. A lower limit frequency

means also a lower signal dynamic. The delay time of the

filtered signal is stated in brackets. You can take over this

value to your data acquisition, to show all signals (e.g.

trigger signals) isochronous.

Use CeCalWin Pro Software to change the settings.

* FIR = Finite Impulse Response

4.5 Angle Settings

The sensor has a high-resolution angle measurement range

of ±15 °. In addition, an angle output up to ±40 ° is

possible with a lower resolution. If the option "high and

low resolution" is selected, the angle measurement beyond

the high-resolution angle measurement range of ±15 °, i.e.

between –40 ... –15 ° and +15 ... +40 °, will be made with

a lower resolution. If failures of the high-resolution angle

signal should occur within the high-resolution angle

measurement range, a lower-resolution angle signal will be

put out. If the option "high-resolution only" is selected, no

angle (0) will be put out beyond the high-resolution angle

measurement range of ±15 °, also in the case of failures of

the high-resolution angle signal.

4.6 Speed Range

The high-resolution angle signal is available from 10 km/h

and up. Below this speed threshold, a lower resolution

angle or no (0) angle is put out, depending on the selected

angle settings.

4.7 Status Byte via CAN Bus

The Sensor sends two data frames via CAN bus: one

optional data frame and one combined information frame

(ID status frame).

The status frame contains information about sensor

settings and function, which can be used as additional

control and evaluation criteria for measurements.

For detailed information on the data byte function please

refer to chapter 6.3.

This chapter also shows how the data bytes of the CAN

message frames are arranged.

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Kistler CSHRA Owner's manual

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