6DF Series 6 Degrees of Freedom Inertial Measurement Unit, 6-D Motion Variant DESCRIPTION The 6DF Series is available in two versions, one with a 2 g The Honeywell 6-D Motion Variant 6DF (six degrees of accelerometer and the other with a 6 g accelerometer, as freedom) Inertial Measurement Unit (IMU) sensors are shown in the order guide on the back page. designed to provide motion, position, and navigational sensing from a durable single device over six degrees of freedom. This 6DF-1N2-C2-HWL: This version is slightly more accurate than is achieved by using MEMS (microelectromechanical system) the 6DF-1N6-C2-HWL, but less tolerant of vibration. It is technology to sense translational movement in three designed for “cleaner” environments, where the higher perpendicular axes (surge, heave, sway) and rotational accuracy can be realized due to the reduced environmental movement about three perpendicular axes (roll, pitch, yaw). interference with respect to the signals. Because the movement and rotation along the three axes are independent of each other, such motion is said to have “six 6DF-1N6-C2-HWL: This version is much more tolerant of degrees of freedom” (see Figure 1 on page 3). vibration and rugged environments than the 6DF-1N2-C2- HWL. This allows for optimum performance in harsh The 6DF Series IMU measures the motion of the equipment environments, with a small reduction in accuracy. onto which it is attached and delivers the data to the equipment’s control module using industry-standard CAN The 6DF Series may potentially be used in numerous SAEJ1939 communications protocol, allowing the operator to Transportation, Industrial, and Aerospace/Military applications focus on other equipment functions, enabling more precise with harsh environments. control than can be achieved by using only the human eye, thus increasing safety, stability and productivity. VALUE TO CUSTOMER (=competitive differentiator)  Corrosion-resistance minimizes susceptibility to  Designed to Six Sigma standards: Six Sigma standards deterioration often experienced in saltwater provide the highest level of product quality, performance, environments and consistency. Six Sigma provides confidence that the  Compatible with chemicals such as diesel fuel, IMU will perform to specification. Some competitive hydraulic oil, gas/ethylene glycol, brake fluids, urea, products may be produced to much lower Sigma liquid lime, NPK fertilizer, ammonia hydroxide, and tolerances, which may result in some products not alkaline degreasers performing to the specification in some conditions  IP67 and IP69k ratings provide resistance to weather  Industry-leading durability:  Wide operating temperature range withstands most  Aluminum housing protects device from damage due to thermal extremes, preventing package breakage stones, dust, dirt, pressure washing, and humidity,  EMI (electromagnetic interference) and EMC allowing for use in harsh and outdoor environments (electromagnetic compatibility) rating protects device from environmental radio frequencies

6DF Series  Reduces replacement and downtime due to broken  Industry-leading customization: For transportation parts, temperature incompatibilities, EMC and EMI, applications with high volumes over 500 units per year, and exposure to chemicals Honeywell will consider offering customers a choice of any  Industry-leading accuracy: Provides highly accurate 6- CAN protocol, acceleration range up to ±6 g, rotation rates dimensional rotation and acceleration outputs due to the up to ±75 /s, inclination angles up to ±50 and a sensor IMU’s industry-leading durable packaging, industry-leading update rate from 1 Hz to 100 Hz: stability, temperature compensation, software filtering and  Allows customers to customize the IMU so that it design, and automotive-grade Six Sigma testing readily fits into existing vehicle protocol architecture requirements  Allows customers the ability to make custom protocol  Eases integration: inclusions into the IMU quickly and easily  SAEJ1939 CAN 29 bit identifier communication  Allows fast customer development turnaround with output—the standard for the transportation segment— expert engineering support allows more data to be transmitted than an RS-485  No customization for aerospace and military ITAR- output applicable applications  IP67 and IP69k ratings minimize the customer having  Automotive-grade qualified: Certified to operate in to design a weather resistant packaging around the automotive-grade environments due to: IMU, allowing for a wide range of use in the application  Temperature compensated to operate from -40 °C to  Wide voltage range (7 V to 32 V) minimizes the need 85 °C [-40 °F to 185 °F] for a voltage converter  Meets EMC and EMI requirements  Deutsch connector, common in transportation  Meets ESD (electrostatic discharge) requirements applications, simplifies the customer’s supply chain  Chemical compatibility (e.g., diesel, hydraulic oil, and reduces design complexity gas/ethylene glycol, brake fluid, urea, liquid lime, NPK  Chemical compatibility minimizes the OEM having to fertilizer, ammonia hydroxide, and alkaline degreaser) expose the device to the substances  Industry-leading temperature performance: A  6-dimensional motion sensing: Senses 3-D motion in temperature sensor is placed within each rotation rate the forward/backward, up/down, and left/right sensor within the IMU: accelerations combined with rotation about three  Provides a temperature value to the processing perpendicular axes (pitch, yaw, roll): module where the data samples are filtered and  Provides key equipment operating data for automated compensated steering and control  Allows the customer’s system to perform over a wide  Frees the operator to focus on equipment functions temperature range  Enables precise control which otherwise cannot be  Long-term stability: Even after long-term use and achieved with the human eye alone thermal extremes, these sensors offer customers  Increases accuracy enhanced long-term stability:  Increases safety  Minimizes system calibration needs  Increases stability  Maximizes system performance  Increases operator productivity  Helps support system uptime by eliminating the need  Industry-leading voltage input flexibility (7 V to 32 V): to service or replace the sensor during its application  Allows customers with multiple product lines the ability life to purchase only one catalog listing instead of multiple  No calibration needed: Large batches of the IMU are listings calibrated to a flat surface, providing calibration  Allows the IMU to accommodate voltage fluctuation consistency between units and eliminating the customer’s within the vehicle/device need to calibrate the IMU  Provides reverse polarity protection in case the end customer accidentally reverses the red and black FEATURES AND BENEFITS battery voltage wires  Industry-standard SAEJ1939 CAN: Provides easy-to-  Industry-leading application expertise: Honeywell integrate, cost-effective, high-integrity serial data application engineers are available to provide assistance communications bus for real-time control applications, to customers to help troubleshoot unforeseen allowing enhanced error detection communication protocol data, helping to optimize the  Test to mechanical shock, thermal shock, and random customers’ system performance; additionally, Honeywell vibration: Provides the customer with durability in tough application engineers are available to answer design environments questions during the development, launch, and production of the customer’s product 2 sensing.honeywell.com

6DF Series 6 Degrees of Freedom Inertial Measurement Unit, 6-D Motion Variant POTENTIAL APPLICATIONS Motion Type KEY INDUSTRY Transportation Industrial Aerospace/Military (non ITAR) (tractors, harvesters, loaders, (mining conveyors, robotics, (ground vehicles graders, bulldozers) shaker tables) UAVs, unmanned aerial vehicles) Stability X X X Rollover Prevention/ X X X Detection Grading/Harvesting X   NOTICE  Honeywell will provide the customer with the following outputs, all of which are not compensated for stochastic bias; only compensated for deterministic bias in a lab environment:  Roll and pitch angles under static and dynamic conditions.  Accelerometer measurements.  Rate gyro measurements.  The effects of field installation are ultimately the responsibility of the customer. Honeywell shall provide a diagram and installation setup for its laboratory installation upon which the specifications shall be completed and valid. Figure 1. Six Degrees of Freedom General Definitions Translational Movement Rotational Movement Six Degrees of Freedom in Three Perpendicular Axes about Three Perpendicular Axes Heave Heave Roll Roll Sway Sway + = Surge Yaw Yaw Surge Pitch Pitch Surge: Moving forward/backward Roll: Tilting side to side Surge Roll Heave: Moving up/down Pitch: Tilting forward and backward Heave Pitch Sway: Moving left/right Yaw: Turning left and right Sway Yaw Figure 2. Sensor Axes Definitions Accelerations and Inclinations Angular Rates +Z Angular +Z Rate +X +X Angular Rate +Y +Y Angular Rate 3 Honeywell  Sensing and Control

6DF Series Table 1. General Specifications Characteristic Minimum Typical Maximum Unit Supply voltage 7  32 V Supply current (at 12 V)   350 mA Reverse voltage   -18 V Startup time  700 2000 ms Operating temperature -40 [-40]  85 [185] C [F] Storage temperature -40 [-40]  95 [203] C [F] Mechanical shock   30 g Random vibration 3,2 g RMS max. (10 Hz to 2000 Hz), 3 orthogonal plane at 32 hr/axis Thermal shock -40 C to 105 C [-40 F to 221 F] soak time, 30 min; transfer time less than 10 s, 30 cycles Humidity 95 %RH at 25 C to 55 C [77 F to 131 F] Salt spray 5% salt solution, 96 hr at 35 C [95 F] Chemical compatibility diesel fuel, hydraulic oil, ethylene glycol, motor oil, brake fluid, urea nitrogen, liquid lime, NPK fertilizer, ammonia hydroxide, alkaline degreaser Sealing IP67, IP69K1 EMI/EMC: emission CISPR 25, ISO13766 immunity ISO114252-2 (100 V/m at 200 MHz to 1 GHz, 50 V/m at 1 GHz to 2 GHz) ISO114252-5 (100 V/m at 10 kHz to 1 MHz) ISO114252-4 (100 mA at 1 MHz to 400 MHz) ESD SAE J1113.13 (Nov 2004), 8 kV direct/15 kV air discharge Can bus standard CAN-29 bits Note 1: Paint peel during IPX9K testing is not considered as failure Table 2. Installation Information Characteristic Description Mating connector Deutsch DT06-12S Sealing plug Deutsch 114017 (for unused connector terminations) Weight 675 g Heading direction +X Mounting direction +Z Mounting bolt M6X1 socket head cap stainless steel, length 20 mm min., torque 8 N m to 10 N m 4 sensing.honeywell.com

6 Degrees of Freedom Inertial Measurement Unit, 6-D Motion Variant Table 3. Sensor Specifications 3-Axis Rotational Rate (X, Y, Z) Characteristic 6DF-1N2-C2-HWL and 6DF-1N6-C2-HWL Unit Minimum Typical Maximum Range -75  75 /s Resolution1  0.044  /s Linearity error -1 ±0.25 1 /s Noise  0.25 0.45 /s (RMS) Sensitivity error -4 ±1.06 4 %FSS Offset error2 -2.5 ±0.5 2.5 /s Frequency response  22  Hz G-Sensitivity3 -0.8 ±0.5 +0.8 /s/g Noise (pk-pk)4 -2 ±1.5 2 /s (pk-pk) 2-Axis Inclination (X, Y) Characteristic 6DF-1N2-C2-HWL and 6DF-1N6-C2-HWL Unit Minimum Typical Maximum Range -50  50  Resolution1  0.025   Linearity error -0.2 ±0.1 0.2  Noise  0.2 0.45  (RMS) Sensitivity error -2 ±1 2 %FSS Offset error2 -2 ±0.25 2  Frequency response  30  Hz 3-Axis Acceleration (X, Y, Z)5, 6 Characteristic 6DF-1N2-C2-HWL 6DF-1N6-C2-HWL Unit Minimum Typical Maximum Minimum Typical Maximum Range -19.81  19.81 -58.86  58.86 m/s2 Resolution1  0.022   0.03  m/s2 Linearity error -0.392 ±0.05 0.392 -0.687 ±0.05 0.687 m/s2 Noise  0.2 0.45  0.2 0.45 m/s2 (RMS) Sensitivity error -4 ±0.5 4 -3 ±0.5 3 %FSS Offset error2 -1 ±0.245 1 -1 ±0.490 1 m/s2 Frequency response 24 24 Hz Notes: 1. Resolution refers to sensor resolution and not CAN output resolution. 2. Offset error is measured at relatively zero level or on a flat surface. 3. G-Sensitivity is measured at 25 C [77 F]. 4. Pk-pk noise of rotational rate sensor is measured at 0 /s at 25 C [77 F]. 5. Accelerometer specification is tested up to ±0.499 g (4.895 m/s2). 6. Measuring specific force at 1 g = 9.8 m/s2. Honeywell Sensing and Control 5

6DF Series Figure 3. Dimensional Drawing (For reference only: mm/[in]) PIN 7 PIN 12 13,0 [0.51] 66,0 [2.60] PIN 6 81 PIN 1 [3.19] 130 [5.12] 116 [4.57] 40,6 37,3 [1.60] [1.47] 51,3 26,1 22,3 [2.02] 12,4 [1.03] [0.90] [0.49] 3X 6,40 DIA. [0.25] PART NO.: 6DF-1N6-C2-HWL 96,3 [3.80] 96 [3.78] 135 PIN DESIGNATIONS: [5.31] 1 POWER RETURN 2 CAN LOW 11 CAN HIGH 48,15 12 INPUT POWER [1.90] 1,5 [0.06] Pinout Recommended Mounting Footprint Pin 1 = Ground 116 Pin 2 = CAN low [4.57] Pin 11 = CAN high 3X M6X1 Pin 12 = Input (Vs) 48,15 [1.90] 96,3 [3.79] 3X 22 TYP SENSOR SEATING [0.87] 6 sensing.honeywell.com

6 Degrees of Freedom Inertial Measurement Unit, 6-D Motion Variant Figure 4. Block Diagram 6DF IMU Customer System Processing Module Main Processor Sensor Module 3 x Accelerometer Self Test Digital Input/ Output Accelerometers CAN A CAN CAN Bus 3 x Accelerometer Analog to Digital Tranceiver Converter Rotation Rate 3 x Status Sensors (Gyroscopes) Power Supply Module Serial Peripheral Analog to Interface 3 x Rotation Rate Digital Reset Reset Converter 3 x Rotation Rate Sensor Self Test Digital Input/ Output Timer Watch Dog TImer 3 x Temperature Analog to Digital Regulated Power Supply Converter Supply Voltage Voltage/Current 12 V Power Monitor Protection Power to All Modules Honeywell Sensing and Control 7

Order Guide Catalog LIsting Description 6DF-1N2-C2-HWL 6DF Series Inertial Measurement Unit, 6-D Motion Variant, 2 g accelerometer 6DF-1N6-C2-HWL 6DF Series Inertial Measurement Unit, 6-D Motion Variant, 6 g accelerometer WARNING WARNING PERSONAL INJURY MISUSE OF DOCUMENTATION DO NOT USE these products as safety or emergency stop  The information presented in this product sheet is for devices or in any other application where failure of the reference only. Do not use this document as a product product could result in personal injury. installation guide. Failure to comply with these instructions could result  Complete installation, operation, and maintenance in death or serious injury. information is provided in the instructions supplied with each product. Failure to comply with these instructions could result in WARRANTY/REMEDY death or serious injury. Honeywell warrants goods of its manufacture as being free of defective materials and faulty workmanship. Honeywell’s SALES AND SERVICE standard product warranty applies unless agreed to otherwise Honeywell serves its customers through a worldwide network by Honeywell in writing; please refer to your order of sales offices, representatives and distributors. For acknowledgement or consult your local sales office for specific application assistance, current specifications, pricing or name warranty details. If warranted goods are returned to Honeywell of the nearest Authorized Distributor, contact your local sales during the period of coverage, Honeywell will repair or replace, office or: at its option, without charge those items it finds defective. The foregoing is buyer’s sole remedy and is in lieu of all other E-mail: info.sc@honeywell.com warranties, expressed or implied, including those of merchantability and fitness for a particular purpose. In no Internet: sensing.honeywell.com event shall Honeywell be liable for consequential, special, or indirect damages. Phone and Fax: Asia Pacific +65 6355-2828; +65 6445-3033 Fax While we provide application assistance personally, through Europe +44 (0) 1698 481481; +44 (0) 1698 481676 Fax our literature and the Honeywell web site, it is up to the Latin America +1-305-805-8188; +1-305-883-8257 Fax customer to determine the suitability of the product in the USA/Canada +1-800-537-6945; +1-815-235-6847 application. +1-815-235-6545 Fax Specifications may change without notice. The information we supply is believed to be accurate and reliable as of this printing. However, we assume no responsibility for its use. Sensing and Control Honeywell 1985 Douglas Drive North Golden Valley, Minnesota 55422 000741-2-EN January 2013 sensing.honeywell.com Copyright © 2013 Honeywell International Inc. All rights reserved.

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