Project Documentation | TRUGRD Stream User Manual Project Number: ... SMS Project Number: Project Title: TRUGRD Stream User Manual Keyword(s): TRUGRD Stream, radar, sensor Date: February 8, 2021 Document: TRUGRD_Stream_User_Manual_USA_CAN_200MHz.docx Version: 1 TRUGRD_Stream_User_Manual_USA_CAN_200MHz.
1 Contents 1 2 3 4 5 6 7 8 Contents .................................................................................................................... 2 Abbreviations ............................................................................................................. 3 Introduction ............................................................................................................... 4 General description .................................................................................
2 Abbreviations ADC Analog-to-Digital Converter AFE Analog Front-End CAN Controller Area Network DSP Digital Signal Processing; Digital Signal Processor EEPROM Electrically Erasable Programmable Read-only Memory FMCW Frequency Modulated Continuous Wave GPIO General Purpose Input Output MMIC Monolithic Microwave Integrated Circuit RAM Random Access Memory RS485 Physical communication layer standard EIA RS-485 SPI Serial Peripheral Interface SOC System on Chip UMRR Universal Medium-Rang
3 Introduction This document is a short documentation of the general purpose universal medium range radar (UMRR) TRUGRD Stream sensor with type 48 antenna. TRUGRD_Stream_User_Manual_USA_CAN_200MHz.
4 General description 4.1 Sensor description The main task of the UMRR is the detection of any reflectors in the field of view, to measure the distance, the relative speed and the angle to the shortest reflector (and to other reflectors), to detect motion and to track (filter) the results over time.
Table 4-1: General performance data Environmental Ambient Temperature Shock Vibration IP Pressure / Transport altitude Mechanical Weight Dimensions Housing Identification Antenna Identification DSP Board Identification General Power Supply Frequency Band Bandwidth Max. Average Transmit Power (EIRP) Interfaces Connector -34 ... +74 100 14 67I 0…10.000 1580 See 5.2 07 30 12 7 ... 32II 12III 24.0…24.25 < 250 < 12.7 CAN V2.
5 Hardware 5.1 TRUGRD Stream Sensor View An example picture of a TRUGRD Stream sensor is shown in the figures below. Figure 5-1: Housing of TRUGRD Stream front Figure 5-2: Housing of TRUGRD Stream rear TRUGRD_Stream_User_Manual_USA_CAN_200MHz.
5.2 Sensor Dimensions All values given in mm. Figure 5-3: Dimensions of TRUGRD Stream Sensor TRUGRD_Stream_User_Manual_USA_CAN_200MHz.
6 Cables and Connectors 6.1 Sensor connector The sensor connector is a 12-pin male (plug) circular bayonet type connector (water proof IP67, series LF10WBRB-12PD, manufacturer Hirose, Japan). A female counterpart (socket), e.g. LF10WBP-12S, is used to connect to the sensor. The pin numbering of the socket is shown in Figure 6-1 the pin description is given in Table 6-1.
UMRR based systems on the sensor CAN. The UMRR is compliant with CAN 2.0B standard. CAN is a very robust full duplex bidirectional interface. 6.3 CAN-Settings Baud Rate: Tseg1: Tseg2: Tsjw: 500 kBit/s or lower 8 7 2 (SJW: synchronization jump width) Above values for CAN bit timing are illustrated in Figure 6-2 used in the UMRR radar sensor (note: the CAN module is integrated in the DSP). For comparison purposes, in Figure 6-3 the CAN bit timing as defined by the CAN protocol is shown.
Figure 6-3: CAN bit timing as defined by the CAN protocol 6.4 RS485 data interface The RS485 interface from the UMRR sensor has a predefined speed of 115200 baud/s. Typical other data rates are between 921.6kBit/s and 56.7kBit/s. The RS485 message payload is identical to the CAN format. TRUGRD_Stream_User_Manual_USA_CAN_200MHz.
7 Designated Use The UMRR general purpose medium range radar is suitable for any application where the distance to and relative radial speed of large objects has to be measured. Typical applications are: Robotics: measure shortest distance to obstacle. Security: detect motions and measure distance to moving object. Traffic management: detect moving objects, count those, measure speed and measure distance to moving object. Cranes: measure distance to ground. Aircraft: measure distance to ground.
8 Compliance 8.1 Declaration of Conformity for USA This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
8.2 Declaration of Conformity for Canada 8.2.1 Declaration of Conformity in English This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device.
