Transportation Attitude Reference Sensor (TARS Series)
Ruggedized Inertial Measurement Unit (IMU)
000828
Datasheet
Issue 1
FEATURES
• High performance IMU, reports vehicle angular rate,
acceleration and inclination (6 degrees of freedom)
• Ruggedized PBT thermoplastic housing design for the most
demanding applications and environments (IP67 & IP69K
certified)
• Advanced filtering of raw sensor data to minimize unwanted
noise and vibrations, improves positioning accuracy
• Optional metal guard for added protection
• Supports 5 V and 9 V to 36 V vehicle power systems
• Operating temperature of -40 °C to 85 °C [-40 °F to 185 °F]
• Reduced power consumption
• Small form-factor
DESCRIPTION
POTENTIAL APPLICATIONS
•
•
•
•
•
The Transportation Attitude Reference Sensor or TARS-IMU
is a packaged sensor array designed to report vehicle angular
rate, acceleration, and inclination for demanding applications
in industries such as heavy duty, off-highway transportation.
TARS-IMU enables autonomous vehicle characteristics and
enhances efficiency and productivity by reporting key data
required to automate and monitor movements of vehicle
systems and components. The sensor fusion algorithm can be
customized for specific vehicle applications through on-board
firmware, allowing movement data to be filtered for extraneous
environment and vehicle movements.
With two sensor models for different power levels, TARS-
IMU accommodates both 5 V and 9 V to 36 V vehicle power
systems. While communication is carried to the vehicle
through industry standard CAN J1939 connectivity.
As a standard, TARS-IMU is calibrated on aerospace-grade
rate tables at the factory to provide calibration consistency
between units.
Equipment control
• Linear position
Linkage tracking
• Bucket control
Work monitoring
• Vehicle stability control
Operator assisted control
Performance and output control
VALUE TO CUSTOMERS
• Designed to allow vehicle manufacturers and end users
to increase efficiency with the automation of repetitive
movements or complex tasks
• Enables precise movement, actuation and guidance over
severe terrains and vehicle grades
• Enhances safety through enablement of monitoring and
guidance capabilities that improve productivity of operators
SIX DEGREES OF FREEDOM
Translational Movement
in Three Perpendicular Axes
Heave
Sway
Rotational Movement
about Three Perpendicular Axes
Roll
Heave
Roll
Sway
DIFFERENTIATION
Surge
+
Yaw
Pitch
=
Yaw
•
Flexible.
On-board firmware can tailor TARS-IMU to the
specific vehicle and the specific application
•
Durable.
With top-of-the-line sealing (IP67, IP69K)
TARS-IMU is ruggedized to withstand harsh or heavy-duty
applications
•
Convenient.
TARS-IMU can be pre-configured at the
Honeywell factory for immediate installation out of the box,
or it can be delivered with customizable firmware that allows
manufacturers to use a single part number across vehicles
and applications
Surge
Pitch
Surge
Heave
Sway
Roll
Pitch
Yaw
Surge:
Moving forward/backward
:
Heave:
Moving up/down
Sway:
Moving left/right
Roll:
Tilting side to side
Pitch:
Tilting forward and backward
:
Yaw:
Turning left and right
PORTFOLIO
TARS-IMU joins Honeywell’s venerated sensor portfolio, and
adds to the ever-increasing connected and intelligence driven
capabilities that Honeywell offers. TARS-IMU is built to survive
the demanding applications in industries like off-highway
transportation and beyond.
Sensing and Internet of Things
Transportation Attitude Reference Sensor (TARS Series)
Table 1. Sensor Specifications
Characteristic
Gyroscope 3 axis performance
Angular rate range
Angular rate resolution
In-run bias stability
Rate noise density
Offset (0 °C to 50 °C)
Offset (-40 °C to 85 °C)
Accelerometer 3 axis performance
Acceleration range
Acceleration resolution
In-run bias stability
Acceleration noise density
Offset (0 °C to 50 °C)
Offset (-40 °C to 85 °C)
Range (2 axis x & y)
Resolution
Static inclination error
(0 °C to 50 °C)
Static inclination error
(-40 °C to 85 °C)
Translational acceleration error
Centripetal acceleration error
Settling time
Min.
-245
–
–
–
-0.8
-1.6
-78.48
–
–
–
–
–
-85
–
–
–
–
–
–
Typ.
–
7.8125
1
0.004
–
–
–
0.01
50
65
±0.05
±0.15
–
0.058
±0.3
±0.9
±0.5
±0.5
–
Max.
+245
–
–
–
+0.8
+1.6
+78.48
–
–
–
–
–
+85
–
–
–
–
–
2000
Unit
deg/sec
mdps
mdps
deg/sec/sqrt/Hz
deg/sec
deg/sec
m/s
2
m/s
2
mg
mg/sqrt
Hz
m/s
2
m/s
2
deg
deg
deg
deg
deg
deg
mSec
Inclination (pitch and roll) performance
Table 2. Electrical Characteristics • TARS-LCASS
Catalog LIsting
Characteristic
Supply voltage
Supply current
Start-up time
Short circuit protection
Open circuit protection
Reset response
CAN Bus data rate
Signal update rate
Min.
4.5
–
500
Nominal
5
–
–
Max.
5.5
100
2000
Unit
V
mA
mSec
CAN output shorted to power line and ground
Single-line interruption and multiple-line interruption
Automatic after voltage drop
–
–
250
–
–
100
kBaud
Hz
CAN output characteristics per SAE J1939
2
sensing.honeywell.com
Transportation Attitude Reference Sensor (TARS Series)
Table 3. Electrical Characteristics • TARS-HCASS
Catalog Listing
Characteristic
Supply voltage
Supply current
Reverse voltage
Overvoltage
Start-up time
Short circuit protection
Open circuit protection
Reset response
CAN Bus data rate
Signal update rate
Min.
9
–
–
–
500
Nominal
14/28
–
–
–
–
Max.
36
100
-36
36
2000
Unit
V
mA
V
V
mSec
CAN output shorted to power line and ground
Single-line interruption and multiple-line interruption
Automatic after voltage drop
–
–
250
–
–
100
kBaud
Hz
CAN output characteristics per SAE J1939
Table 4. Environmental Specifications
Characteristic
Operating temperature
Storage temperature
Housing
Random vibration
Mechanical shock
Chemical compatibility
Moisture resistance
Thermal shock
Salt spray
Ingress protection
RoHS
REACH
UV rating
Parameter
-40 °C to 85 °C [40 °F to 185 °F]
-40 °C to 105 °C [40 °F to 221 °F]
PBT thermoplastic
8 hours per axis at 16.91 g RMS
per MIL-STD-202, Method 214, Test Condition I, Letter E
50 g 11 mS half-sine pulse, 3 each direction, 18 total, per MIL-STD-202, Method 213
Diesel fuel, hydraulic oil, ethylene glycol, motor oil, brake fluid, urea nitrogen, liquid lime,
NPK fertilizer, ammonium hydroxide, alkaline degreaser, transmission oil, power steering
fluid, and axle oil
per MIL-STD-202, Method 106 (10 cycles, 24 hours/cycle)
250 cycles, -40 °C to 85 °C, 73 min dwell
5 % salt solution, 96 hours
IP67, IP69K (DIN40050-1993) with mating connector installed
Compliant
Compliant
Enclosure material meets outdoor suitability requirements per UL746C F1 rating
Table 5. EMC Specifications
Characteristic
Radiated immunity
Bulk current injection
Radiated emission
Mutual coupling
ESD direct contact discharge
ESD air discharge
Standard
ISO 11452-2
ISO 11452-4: 2011
ISO 13766
ISO 7637-3
ISO 10605
ISO 10605
Test Level, Frequency
125 V/m, 400 MHz to 2.5 GHz
125 mA, 1 MHz to 400 MHz
30 MHz to 1 GHz
Test pulse A, Test pulse B (-80 V, 80 V)
±8 kV
±15 kV
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Transportation Attitude Reference Sensor (TARS Series)
Table 6. Installation Specifications
Characteristic
Mating connector
CAN termination
Weight
Mounting direction
Mounting bolt
Parameter
AMPSEAL 16 Series, 776487-1 for 18-16 AWG conductors or
776524-1 for 20-18 AWG conductors
120 Ohm termination resistor, not included in TARS-IMU unit
170 g approx.
+Z
M8, installation torque 20 Nm ±2 Nm
Table 7. Order Guide
Part Number
TARS-LCASS
TARS-HCASS
Description
TARS Series Inertial Measurement Unit, 5 V, CAN protocol, AMPSEAL 16 termination,
standard MEMS chip generation/performance
TARS Series Inertial Measurement Unit, 9 V to 36 V, CAN protocol, AMPSEAL 16 termina-
tion, standard MEMS chip generation/performance
PRODUCT NOMENCLATURE
TARS
–
L
Supply
Voltage
C
Communication
Protocol
A
Termination/
Connector
SS
Sensor
Class
Type
TARS
Series
L
H
5V
9 V to 36 V
C
CAN
A
AMPSEAL 16
SS
Standard
4
sensing.honeywell.com
Transportation Attitude Reference Sensor (TARS Series)
DIMENSIONS
Figure 1. TARS-IMU Dimensions
3 x R 11,6
[3 x R 0.46]
Ø77,1
[Ø3.04]
Ø114
[Ø4.49]
Ø90,1
[Ø3.55]
138
[5.43]
2 x Ø8,87 ±0,03
[2 x 0.35 ±0.002]
2 x Ø8,87 ±0,03
[2 x 0.35 ±0.002]
21,9 [0.86]
17,7
[0.70]
2 x 45°
7,8 mm
[0.31 in]
Pin 1
28
25,5
[1.00] [1.10]
3 x 0,53 ±0,10
[3 x 0.02 ±0.004]
Mounting
surface
7
[0.28]
Pin 2
Connector
Termination
Pin Description
1
dc power
2
CAN high
3
Ground
4
CAN low
16,7
[0.66]
Figure 2. TARS-IMU Mounting Hole Dimensions
3 x Ø14,7
[3 x Ø0.58]
sensor seating
Ø114
[Ø4.49]
3 x M8 thread
Pin 3
Pin 4
3 x Ø14,7
[3 x Ø0.58]
sensor seating
3 x M8 thread
97,31
[3.83]
40,3
[1.59]
2 x 45°
Measured at three sensor
seating positions
80,61
[3.17]
(Equivalent ordinate dimensions)
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