Xsens MTi 600 Series Hardware Integration Manual
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www.xsens.com 3 Document MT1601P.A© Xsens Technologies B.V. Hardware Integration Manual MTi 600-series2.2 Communication to hostThe MTi-600 is designed to be used as a peripheral device in embedded systems or as a standaloneunit. The MTi-600 supports Controller Area Network (CAN), RS232 and Universal AsynchronousReceiver/Transmitter (UART) protocols for the communication between the MTi-600 and a host. SeeTable 3 for interface specifications. For the physical connection recommendations, see section 4.3.Table 3: Host communication interfaces specificationsInterface Symbol Min Typ Max Units DescriptionCAN fCAN 10.0 250.0 1000 kbps Host CAN Interface Baud RateRS232 fRS232 4.8 115.2 1000 kbps Host RS232 Interface Baud RateUART fUART 4.8 115.2 2000 kbps Host UART Interface Baud RateA USB and RS422 interface is possible through a UART to USB/RS422 converter (see example in theMTi 600-series Development Kit).At its core, the module uses the Xsens-proprietary Xbus protocol which is compatible with all XsensMotion Tracker products. This protocol is available on all interfaces, UART, RS232 and CAN.The MT Low Level Communication Protocol Documentation is a complete reference for the protocol1.2.2.1 CANThe CAN interface of the MTi-600 does not include a termination resistor; it can be used in a CAN busthat already incorporates the required termination. If used in a single device connection, a 120 Ωtermination resistor needs to be added between the CAN_H and CAN_L pins.For more information please review the MT CAN Protocol Documentation1.2.2.2 RS232The RS232 interface complies with the standard RS232 voltage levels. It includes hardware flow controlthrough RTS and CTS lines.The RTS signal is an output of the MTi-600. If the RTS line is low, the module is busy and unable toreceive new data. Otherwise, the module’s UART is idle and ready to receive. The CTS signal is aninput for the MTi-600. The module checks the state of the CTS line at the start of every byte it transmits.If CTS is high, the module transmits the byte. Otherwise, it postpones transmission until CTS is raised.If flow control is not used the CTS input should be connected to a logic high to make sure that the MTi-600 can transmit data. A RS232 logic high voltage should be between +3 V and +25 V.The CTS signal is an input for the module. The module checks the state of the CTS line at the start ofevery byte it transmits. If CTS is high, the module transmits the byte. Otherwise, it postponestransmission until CTS is raised. When during the transmission of a byte the user lowers the CTSsignal, then the module completes transmission of that byte before postponing further output. Themodule will not retransmit this byte. Figure 2 shows the behaviour of the TX and CTS lines.1 Links to the latest available documentation can be found via the following link: Xsens MTi Documentation |
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