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µFORS User Manual

µFORS-36 µFORS-4
µFORS-6

µFORS-6U
µFORS-6UC

µFORS-3U
µFORS-3UC
µFORS-1
µFORS-2
CFORS

µFORS-36M

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This Manual is valid for:

Config-Management
Type Part Numbers
(see chapter 1.2)
144390-1007-xxx old
µFORS-36
144390-1105-xxx 145703-0yyy-xxx new
144390-6007-xxx old
µFORS-6
144390-6105-xxx 145703-3yyy-xxx new
144390-6407-xxx old
µFORS-4
144390-6505-xxx 145703-6yyy-xxx new
144390-4607-xxx 144390-4715-xxx old
144390-4705-xxx 145704-yyyy-xxx new
µFORS-6U
151935-9000-xxx 151935-yyyy-xxx new
144390-2000-xxx new
151940-9000-xxx 151940-yyyy-xxx new
µFORS-6UC
151945-9000-xxx 151945-yyyy-xxx new
µFORS-3U 151910-9000-xxx 151910-yyyy-xxx new
µFORS-3UC 151920-9000-xxx 151920-yyyy-xxx new
141960-3100-xxx old
µFORS-36M
141960-3205-xxx new
143962-1000-xxx old
143962-2005-xxx new
µFORS-1
143962-1205-xxx 145705-yyyy-xxx new
143962-2000-xxx new
143962-4000-xxx old
µFORS-2
145706-yyyy-xxx new
144410-0000-xxx old
C-FORS
144410-1005-xxx 145832-yyyy-xxx new
Table 1-1: Gyro Types

where "xxx" is a three-digit number representing the modification status

where "yyyy" or "yyy" is a four- or three-digit number representing interface configuration and label

Please Note:
The above list is valid at the time of writing. Owing to Northrop Grumman LITEF GmbH's policy of research and improvement, upgrades
and new gyro models may appear in the future. Please check the gyro specification to find if this User Manual is relevant for your device.

µFORS Technical Service/Support

E-mail: [email protected]

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Spezifikation/Specification
S µFORS User Manual
Name Abt./Dep. Datum/Date
Erstellt / Created J. Rüd SMM 02.08.2007
Geprüft / Checked G. Schulte EFF 02.08.2007
Q-Geprüft / Q-Checked siehe AEW / see ECO
Freigabe / Release siehe AEW / see ECO

Partner-№ / Customer ID

Änderungsindex / Change Record

Rev AEW/ECO Datum/Date Name Beschreibung / Description

G 1019177 03.06.2015 S. Rieke See chapter 12

F 1009287 22.8.2011 J. Rüd See chapter 12

E 1004602 1.9.2008 J. Rüd See chapter 12

D 1003766 28.11.2007 J. Rüd See chapter 12

C 1003038 02.08.2007 J. Rüd See chapter 12

B 1003038 07.03.2005 H. Hog Update

A 1003038 17.06.2004 H. Hog Release

Dieses Dokument wurde mit Hilfe der EDV erstellt, nicht manuell ändern.
Document produced by electronic means, not to be altered manually.

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Table of Contents

1 GENERAL ...................................................................................................................... 9
1.1 ABOUT THIS M ANUAL .............................................................................................................................9
1.2 ABOUT THE µFORS..............................................................................................................................10
1.3 APPLICABLE DOCUMENTS ....................................................................................................................12
1.3.1 Northrop Grumman LITEF GmbH Documents ..............................................................................12
1.3.2 Other Documents ...........................................................................................................................13
1.4 PRIORITY OF DOCUMENTS.....................................................................................................................13
1.5 ABBREVIATIONS ...................................................................................................................................13
1.6 DEFINITIONS.........................................................................................................................................14
2 PLEASE READ THIS! .................................................................................................. 15
2.1 ELECTROSTATIC DISCHARGE ................................................................................................................15
2.2 HANDLING INSTRUCTIONS .....................................................................................................................15
2.3 POWER SUPPLY ...................................................................................................................................16
2.4 ENVIRONMENTAL ..................................................................................................................................16
2.5 EMI AND M AGNETIC SENSITIVITY ..........................................................................................................16
2.6 UNDER AND OVER TEMPERATURE .........................................................................................................17
2.6.1 Over Temperature Warning ...........................................................................................................17
2.6.2 Under Temperature Warning .........................................................................................................17
3 INSTALLATION ............................................................................................................ 18
3.1 ELECTRICAL CONNECTIONS ..................................................................................................................18
3.2 SOLDERING INSTRUCTION FOR µFORS-36M, µFORS-1/-2 AND C-FORS...............................................19
3.2.1 Soldering Process: .........................................................................................................................19
3.2.2 Desoldering Process: .....................................................................................................................20
3.3 MOUNTING ...........................................................................................................................................20
4 POWER SUPPLY ......................................................................................................... 21
4.1 GENERAL .............................................................................................................................................21
4.2 REQUIREMENTS ....................................................................................................................................21
4.3 GROUND CONNECTIONS .......................................................................................................................21
4.4 SWITCH-OFF CONSIDERATIONS ............................................................................................................22
5 BUILT-IN TEST (BIT) ................................................................................................... 22
6 MEASUREMENT MODE AND DATA .......................................................................... 23
6.1 µFORS CONFIGURATION ......................................................................................................................23
6.2 MODE OPTIONS ....................................................................................................................................23
6.2.1 Incremental Angle ..........................................................................................................................23
6.2.2 Accumulated Angle ........................................................................................................................24
6.2.3 Angular Rate ..................................................................................................................................24
6.3 DATA BLOCKS .....................................................................................................................................25
6.3.1 Structure ........................................................................................................................................25
6.3.2 Status Byte .....................................................................................................................................26
6.3.2.1 Reset of Status bits ...............................................................................................................27
6.3.3 Checksum ......................................................................................................................................27
6.3.4 Calculation of Data.........................................................................................................................27
7 SIGNAL INTERFACES ................................................................................................ 28
7.1 EXTERNAL RESET ................................................................................................................................28
7.2 ASYNCHRONOUS INTERFACE ................................................................................................................29
7.2.1 Transmission of a Data Byte ..........................................................................................................29

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7.2.2 Maximum Data Rates ....................................................................................................................30

7.2.3 Nominal vs. applied Baud Rates ....................................................................................................31
7.2.4 Autonomous Trigger ......................................................................................................................32
7.2.5 Hardware Trigger ...........................................................................................................................33
7.2.6 Software Trigger ............................................................................................................................35
7.3 SYNCHRONOUS INTERFACE (IBIS) ........................................................................................................38
7.3.1 Introduction ....................................................................................................................................38
7.3.2 IBIS Communication Protocol ........................................................................................................38
7.3.3 Electrical Interconnection ...............................................................................................................40
7.3.4 IBIS Interface Characteristics ........................................................................................................42
7.3.4.1 Maximum Data Rate on IBIS Interface .................................................................................42
7.3.4.2 Configurable Parameters ......................................................................................................43
7.3.4.3 Cable Length .........................................................................................................................43
7.3.4.4 Frame Structure ....................................................................................................................44
7.3.4.5 Frame Synchronisation .........................................................................................................44
7.3.4.6 System Data Synchronisation ...............................................................................................45
7.3.4.7 Data Bytes Validity ................................................................................................................45
7.3.4.8 Bus Clock ..............................................................................................................................45
7.3.4.9 Data Bit Validity .....................................................................................................................46
7.4 IBIS-ADDRESS INTERFACE (CONFIGURATION OPTION) ..........................................................................46
7.4.1 Address Selection ..........................................................................................................................46
7.4.1.1 Example ................................................................................................................................46
7.4.2 Angular Data ..................................................................................................................................47
7.4.3 Temperature Data ..........................................................................................................................47
7.4.4 Repeat Last Data ...........................................................................................................................47
7.4.4.1 Data Output ...........................................................................................................................47
8 APPENDIX.................................................................................................................... 48
8.1 PIN NUMBERING DIAGRAMS ..................................................................................................................48
8.2 M AXIMUM DATA AGE ............................................................................................................................50
8.2.1 Asynchronous Interface .................................................................................................................50
8.2.2 Synchronous Interface ...................................................................................................................50
8.3 SELECTION OF INTERFACE AND MEASUREMENT MODES .........................................................................51
8.4 GLOSSARY OF TERMS ..........................................................................................................................52
8.5 CIRCUIT DIAGRAMS ..............................................................................................................................55
8.5.1 External Reset ...............................................................................................................................55
8.5.2 Reset Circuit Diagram (Example) ..................................................................................................55
8.5.3 Asynchronous Interfaces ...............................................................................................................56
8.5.3.1 Software Trigger Mode ..........................................................................................................56
8.5.3.2 Several µFORS's in Hardware Trigger Configuration ...........................................................56
8.5.3.3 Example µFORS-Interface connected to RS232 Interface ...................................................57
8.5.3.4 Example for Asynchronous Interface ....................................................................................57
8.5.4 Synchronous Interface (IBIS) .........................................................................................................58
8.5.4.1 Example: Use of line drivers when using long interface cables ...........................................58
8.5.5 µFORS-Grounding .........................................................................................................................59
8.5.5.1 µFORS-4 / -6 / -36, µFORS-3U, µFORS-3UC, µFORS-6U, µFORS-6UC ...........................59
8.5.5.2 µFORS-1/-2, C-FORS, µFORS-36M.....................................................................................59
8.6 FAQ - FREQUENTLY ASKED QUESTIONS ...............................................................................................60
9 µFORS FAILURE REPORT SHEET............................................................................. 62
10 INTERFACE CONFIGURATION TABLES ............................................................... 64
10.1 INTERFACE CONFIGURATION TABLE FOR µFORS-1 ...............................................................................65
10.2 INTERFACE CONFIGURATION TABLE FOR µFORS-3U .............................................................................66
10.3 INTERFACE CONFIGURATION TABLE FOR µFORS-3UC ..........................................................................67
10.4 INTERFACE CONFIGURATION TABLE FOR µFORS-6U .............................................................................68
10.5 INTERFACE CONFIGURATION TABLE FOR µFORS-6UC ..........................................................................69
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10.6 INTERFACE CONFIGURATION TABLE FOR µFORS-36M ..........................................................................70

11 READER’S COMMENTS PAGE ............................................................................... 71
12 CHANGE LOG .......................................................................................................... 72

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List of Figures
Figure 3-1: Temperature Meassurement Position ...............................................................................................19
Figure 6-1: Accumulated Angle – Failure when Range is Exceeded ..................................................................24
Figure 6-2: Structure of a Data Block ..................................................................................................................25
Figure 6-3: Definition of the Status Byte ..............................................................................................................26
Figure 6-4: Illustration of Checksum Byte ...........................................................................................................27
Figure 6-5: Example of Data-to-Angle Calculation ..............................................................................................27
Figure 7-1: Asynchronous Interface – Transmission of a Byte ...........................................................................29
Figure 7-2: Hardware Trigger – Timing ...............................................................................................................34
Figure 7-3: Software Trigger – Interface Timing..................................................................................................35
Figure 7-4: Software-Trigger – Format of a Request Command .........................................................................36
Figure 7-5: IBIS – Multi-Sensor Data Example ...................................................................................................39
Figure 7-6: IBIS – Four-Wire Interconnection ......................................................................................................40
Figure 7-7: IBIS – Frame Structure .....................................................................................................................44
Figure 7-8: IBIS – Relationship of RFS to Data Frame .......................................................................................44
Figure 7-9: IBIS – Data Bytes Validity .................................................................................................................45
Figure 7-10: BIS – Data Bit Validity .....................................................................................................................46
Figure 8-1: Pin Numbering of µFORS-36, -6, -4, -6U, -6UC (front view) ............................................................48
Figure 8-2: Pin Numbering of µFORS-3U, -3UC, -6U, -6UC (view from top) ......................................................48
Figure 8-3: Pin Numbering of µFORS-1/-2, C-FORS, µFORS-36M (view from below) ......................................49
Figure 8-4: Output Sign of Gyro Output ..............................................................................................................54
Figure 8-5: µFORS RESETx Circuit Diagram .....................................................................................................55
Figure 8-6: Example of an External Reset Circuit ...............................................................................................55
Figure 8-7: Asynchronous Interface – Connection for Software Trigger .............................................................56
Figure 8-8: Asynchronous Interface – Connection for Hardware Trigger............................................................56
Figure 8-9: Asynchronous Interface – RS-232 Connection .................................................................................57
Figure 8-10: Asynchronous Interface – Connection to Drivers ...........................................................................57
Figure 8-11: IBIS – Example of Line Drivers .......................................................................................................58
Figure 8-12: IBIS – Example of Line Drivers for Several Sensors ......................................................................58
Figure 8-13: Grounding Diagram µFORS-36, -6, -4, -3U, -3UC-6U, -6UC .........................................................59
Figure 8-14: Grounding Diagram for µFORS-1/-2, C-FORS and µFORS-36M...................................................59

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List of Tables
Table 1-1: Gyro Types ...........................................................................................................................................2
Table 5-1: BIT - Failure source and indication table ............................................................................................22
Table 6-1: Status Byte – Bit Indications ..............................................................................................................26
Table 7-1: External Reset of Gyro .......................................................................................................................28
Table 7-2: Baud/Data Rates, Autonomous and Hardware Trigger .....................................................................30
Table 7-3: Baud/Data Rates, Software Trigger ...................................................................................................30
Table 7-4: Autonomous Trigger – Timing ............................................................................................................32
Table 7-5: Connector Usage, Autonomous Mode ...............................................................................................33
Table 7-6: Connector Usage, Hardware Trigger .................................................................................................35
Table 7-7: Connector Usage, Software Trigger ...................................................................................................37
Table 7-8: Host-to-µFORS Commands, Software Trigger ..................................................................................37
Table 7-9: Connector Usage, IBIS Interface .......................................................................................................41
Table 7-10: IBIS – Maximum Frame Rate and Data Rate to Clock Frequency ..................................................42
Table 7-11: IBIS Configuration Options ...............................................................................................................43
Table 7-12: IBIS-Address Interface – Data Output..............................................................................................47
Table 7-13: IBIS-Address Interface – Scaling of Temperature Data ...................................................................47
Table 8-1: Configuration Options for Interface and Measurement ......................................................................51

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1 General
1.1 About this Manual

This is the handbook for a range of Northrop Grumman LITEF GmbH’s Miniature Fiber Optic
Rate Sensors, µFORS, as shown inside the front cover in Table 1-1. For future variants and
new models that are not listed here, please see the gyro's specification. This will confirm if
this manual is applicable to the gyro model.

This document describes the handling of the instrument, its installation and power supply
requirements. Data interface operations and choice of measurement modes are also
described. Examples of circuit applications are shown in the appendix.

There are some precautions to take when handling, installing and using the µFORS. Please
take time to familiarise yourself with this information.

PLEASE READ CHAPTER 2

Further information about each gyro model’s performance, environmental conditions,

connector pin use, etc, may be found in the gyro’s own specification (see chapter 1.3.1).

The µFORS is sensitive to electrostatic discharge!

The µFORS is sensitive to shock and vibration!

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1.2 About the µFORS

The Northrop Grumman LITEF GmbH µFORS and C-FORS (in the following description
µFORS will be mentioned only) are fibre-optic gyros and measure angular movements
about its sensitive axis (see Figure 8-4).

It works on the Sagnac effect, using a beam of coherent light that is split and propagated
both clockwise and anticlockwise through a coil of optic fibre. When the µFORS experiences
a movement around its axis, one half of the split beam travels further than the other half
relative to an observer outside the coil. A photo-detector measures the phase-difference
patterns between the two beams, which are directly related to the rotation. As the gyro uses
closed loop techniques, the output is linear and high angular rates can be measured.

The µFORS has been designed to meet the most demanding requirements in a wide range
of air, land, sea, robot and medical applications.

Using the latest technology, Northrop Grumman LITEF GmbH’s µFORS provides error-
compensated and scaled data. The gyro can be configured to one of three measurement
modes:

Angle increment: returns the angle that the gyro has moved through since the last data
output.

Angle accumulated: returns the total angle moved through since the last reset.

Rate: In this mode, the gyro returns the current angular rate.

Each measurement mode can be set to a different range and the data returned in a
resolution of two or three bytes. For communication to the host system, the µFORS can be
set to either one of two serial interfaces. Each interface is fully configurable.

Typically the interface configuration is set at factory according to customers’ requirements

(Note: this is valid only for µFORS units marked with "old" in Table 1-1). However for full
flexibility an Interface Modification Kit (IMK-2) is available (see [20] and [21]) which enables
the customer to change the interface configuration himself.

For all µFORS marked with "new" in Table 1-1 they are available in two possible
configuration variants:

Free configurable using the Interface Modification Kit (IMK-2) available (see [20] and [21]).
This µFORS is delivered with a standard configuration as defined by the respective
specification. Note that when returned for repair the µFORS will be shipped with the
standard configuration after repair.
Fixed, part number bound configuration. This µFORS will have a dedicated part number
defining the configuration. This configuration cannot be changed using the IMK-2.

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For all µFORS variants with “yyyy” = 2000 in Table 1-1 the configuration is fixed. The
configuration ID on the identification plate of the µFORS defines the applied configuration.

With a physical volume of approximately 100 cm3 or smaller (eg µFORS-36M: 50 cm3),
and a power consumption of only around 2,5 W, the µFORS can be integrated into many
applications requiring small size while reducing system complexity and cost.

Free from the effects of gravity-induced errors and with no moving parts, Northrop Grumman
LITEF GmbH’s µFORS has little sensitivity to shock and vibration. It offers extremely high
reliability without the need for periodic maintenance.

The key features of Northrop Grumman LITEF GmbH’s µFORS are:

 Output is error-compensated and scaled.

 Selection of measurement modes.
 Selection of measurement ranges and data resolution.
 Choice of two standard data interfaces.
 Asynchronous interface is configurable for trigger, data rate and baud rate.
 Synchronous interface is configurable for address and data channels.
 Short initialisation time.
 Comprehensive Built-In Test with continuous status reporting.
 Small physical volume, low weight and low power consumption.
 High reliability.
 Low operating and life cycle cost.
 Suitable for multi-sensor applications.

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1.3 Applicable Documents

1.3.1 Northrop Grumman LITEF GmbH Documents

This User Manual is applicable for the gyros in the following specifications. New models,
released in the future, can also use this manual if that is defined in the gyro specification.

[1] 144390-1000-312 Technical Specification µFORS-36/-6/-4

[2] 144390-1000-110 Outline Drawing µFORS-36/-6/-4

[3] 144390-4000-312 Technical Specification µFORS-6U

[4] 141390-4705-110 Outline Drawing µFORS-6U

151935-9000-110 Outline Drawing µFORS-6U

[5] 151940-0000-312 Technical Specification µFORS-6UC

[6] 141390-4705-110 Outline Drawing µFORS-6U

151935-9000-110 Outline Drawing µFORS-6U

[7] 151910-0000-312 Technical Specification µFORS-3U

[8] 141390-4705-110 Outline Drawing µFORS-6U

[9] 151920-0000-312 Technical Specification µFORS-3UC

[10] 141390-4705-110 Outline Drawing µFORS-6U

[11] 141960-3000-312 Technical Specification µFORS-36M

[12] 141960-3000-110 Outline Drawing µFORS-36M

[13] 143962-3000-312 Technical Specification µFORS-1

[14] 143962-1000-110 Outline Drawing µFORS-1

[15] 143962-4000-312 Technical Specification µFORS-2

[16] 143962-4000-110 Outline Drawing µFORS-2

[17] 144410-0000-312 Technical Specification C-FORS

[18] 144410-0000-110 Outline Drawing CFORS

[19] 141901-0000-330 Technical Specification IBIS Interface

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[20] 310114-0000-000 Interface Modification Kit - II

[21] 310114-0000-311 IMK-2 User Manual

1.3.2 Other Documents

IEEE 952 IEEE Standard Specification Format Guide and Test Procedure for Single-Axis
Interferometric Fibre Optic Gyros.

1.4 Priority of Documents

The related µFORS specifications listed in chapter 1.3.1 take priority over this User Manual.

1.5 Abbreviations

µFORS Miniature Fibre Optic Rate Sensor

ASYNC Asynchronous
BIT Built-In Test
CBIT continuous self test
C-FORS Commercial Miniature fibre Optic Rate Sensor
Ch Channel
CLK Clock
ESD Electrostatic Sensitive Device
IBIS Integrated Bus for Intelligent Sensors
IMK Interface Modification Kit
LSB Least Significant Bit
Max maximum
Min minimum
MSB Most Significant Bit
PBIT power on self test
PN Part number
ppm parts-per-million
RD Receive Data
RFS IBIS Interface, Receive Frame Synchronisation
SCLK IBIS Interface, Synchronous Clock
SN Serial number
SYNC Synchronisation
TD Transmit Data
TDVx IBIS Interface, Transmit Data Valid
tol. tolerance
TRIG Trigger Signal
UART Universal Asynchronous Receiver Transmitter

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1.6 Definitions

Asynchronous Transmission in which character synchronisation is established

by use of start and stop bits.
Baud Rate “Baud rate” is used to define the number of data bits transmitted
per second.
Channel A “channel” in this document is each of the 32 bytes contained in
an IBIS frame, number 0 being the first and 31 the last channel.
Data age The time from when a data request is issued by the host
processor to when the gyro has output the rate or angle data.
Maximum data age is the worst case delay. See chapter 0.
Frame IBIS interface: A group of bytes transmitted as a unit. It is the
data transfer after each second RFS (Received Frame
Synchronisation) signals.
Full-duplex Simultaneous two-way independent transmission in both
directions.
Receive Data IBIS interface: Data present at the Receive Data pin is serially
clocked into the gyro with the synchronous clock signal. The gyro
only takes data on those receive channels for which it has been
configured; all other channels are ignored.
Synchronisation IBIS interface: The Receive Frame Sync (RFS) signal identifies
the start of the thirty-two byte block of serial data for the receiver
and transmitter simultaneously.
Synchronous Transmission method in which the data is transmitted at a fixed
rate with the transmitter and the receiver synchronised.
Synchronous Clock Serial communication clock provided externally by the host
processor.
Transmit Data IBIS interface: Data from the gyro placed on the bus with the
rising edge of the synchronous clock.
Transmit Data Valid IBIS Interface: Whenever the interface transmits, the “Transmit
Data Valid” is asserted. This signal can be used to enable
additional buffer logic or specialised drivers if required (see
Figure 8-12).
Update Rate The term “update rate” stands for the number of measurements
taken (and hence data blocks transmitted) by the sensor per
second.
0x Denotes a hexadecimal number. eg 0x0F is 1510.

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2 PLEASE READ THIS!

This chapter contains important information.

2.1 Electrostatic Discharge

The µFORS is sensitive to electrostatic discharge. The proper handling precautions must be
observed. Failure to do so may shorten the life of the µFORS or cause malfunctioning or
performance deterioration.

All signal pins of the µFORS are connected internally to a semiconductor component. There
is no extra ESD protection circuitry.

Before unpacking the µFORS, please read the following instructions and observe them
carefully whenever handling the device.

CAUTION: Proper ESD precautions are strongly recommended to avoid functional

damage or performance degradation. Charges accumulate on the human body, work
surfaces, test equipment, etc, and will discharge without detection.

Unused devices must be stored in conductive packaging.

Before removing the device from the packaging, the package
should be discharged to the destination ground voltage.

Be sure to wear a properly grounded wrist strap electrostatic

discharger whenever handling the µFORS. Use an ESD protective table
top.

Improper Handling of this can damage the equipment!

2.2 Handling Instructions

µFORS sensors are sensitive to vibrations and / or shocks. Therefore these devices must
be handled using special care.

Unpacking, handling and installation of these sensor must be performed in a

way that the maximum specified conditions for the sensors (refer to chapter
1.3.1 for the relevant sensor specifications) are not exceeded.

Transportation and Storage of these sensors must be performed in a way that the maximum
specified conditions for the sensors (refer to chapter 1.3.1 for the relevant sensor
specifications) are not exceeded. Typically this is the case when transported / shipped in the
OEM shipping packing.

Improper Handling of this can damage the equipment!

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2.3 Power Supply

Please observe the power supply voltages and the tolerances described in Chapter 4 and
also in the gyro specification. There are also some warnings about the level of signal input in
Chapter 7. On no account should a signal be applied to a gyro input before the power
supplies are switched on and are stabilised.

Installation and connection of the gyro is described in Chapter 3.

NOTICE: If the power supply tolerances defined in Chapter 4 are exceeded, the gyro
may be permanently damaged, or may suffer performance deterioration and/or
may have a shortened life.

2.4 Environmental

Please see the relevant gyro's specification for limits of the environmental stress, eg
temperature, vibration, shocks etc.

NOTICE: If the gyro is exposed to environmental stress exceeding that defined in the
relevant specification, permanent damage may be caused. Exposure to
unspecified conditions for extended periods may affect device reliability.

2.5 EMI and Magnetic Sensitivity

The electromagnetic interference (EMI) levels found in an industrial environment will usually
exceed those defined in the µFORS specification. It is therefore recommended to provide
extra shielding against EMI, depending on the specific application.

The sensitivity of the µFORS to magnetic fields can vary depending on the type of µFORS.
Please see the relevant gyro's specification for the magnetic sensitivity. In applications
where high magnetic fields are encountered, magnetic shielding of the gyro may be needed.

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2.6 Under and Over Temperature

Inside the µFORS is a sensor that monitors the temperature near the light source.

2.6.1 Over Temperature Warning

If the internal temperature passes 85°C (default value, equivalent to an external temperature
of approximately 70°C), a warning bit is set in the status byte (chapter 6.3.2). The short term
functionality of the gyro is not affected. If the internal temperature falls below the 85°C limit,
the warning bit is cleared.

Should the internal temperature exceed or equal 95°C (default value, external temperature
on the gyro flange approximately >80°C), the light source of the gyro is switched off to avoid
permanent damage. The gyro, of course, does not function as a rate sensor under these
conditions and the auxiliary control loops are running free. Therefore, the Auxiliary Control
Loop bit and the Hardware Error bit are set in the status byte. If the internal temperature
drops below 85°C the light source is switched on and the gyro will again return data. The
Hardware Error bit, however, is latched and can be cleared only by a new power-on of the
gyro or by an external reset (see chapter 7.1).

2.6.2 Under Temperature Warning

If the internal temperature is lower than –54 °C the warning bit is also set in the status byte
(see chapter 6.3.2). The functionality of the gyro is not affected. If the internal temperature
exceed or equal -54°C, the warning bit will be cleared.

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3 Installation

3.1 Electrical Connections

Depending on the µFORS model, the gyro will be connected to the host system either by a
connector, or by a soldered connection such as a flex lead.

The gyro connector carries the following:

 power supply

 synchronous data interface

 asynchronous data interface

 external reset signal

 signal ground

 chassis ground

Connector type: See the µFORS specifications (see chapter 1.3.1)

Mating connector: See the µFORS specifications (see chapter 1.3.1).

The different connector types are shown in chapter 8.1. Note that
the information given in chapter 8.1 is for information only. For
reliable information refer to the corresponding specification and
outline drawing (see chapter 1.3.1).
The pin numbers and their functions are described in each µFORS
specification.

Please note: The gyro is configurable to either of the two data interfaces. The
non-selected interface should not be connected.

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3.2 Soldering Instruction for µFORS-36M, µFORS-1/-2 and C-FORS

The µFORS-36M, µFORS-1/-2 and C-FORS gyros have no mating connector. The following
instructions are for soldering and desoldering the gyro pins.

ESD precautions must be followed.

The housings for the µFORS-1, µFORS-2, µFORS-36M and CFORS are hermetically
sealed similar to hybrid housings, with the connecting electrical pins designed as ceramic
feed-through filters. Therefore any forces and stresses, like direct shocks, bending forces
etc. have to be strictly avoided, in order not to damage or destroy the ceramic filters. With
respect to ESD the pins should not be touched. A pull test shall be in accordance with MIL-
STD-202, Test Condition A, pulling force: 1.0 lbf max.

3.2.1 Soldering Process:

 Standard manufacturing process according Joint Industry Standard IPC/EIA-J-STD-

001.
 Maximum temperature at pin (measurement position see
 Figure 3-1): 200°C
 Mechanical stress during soldering process must me minimized.

Pin
PCB
Temperature
Meassurement
Position

Figure 3-1: Temperature Meassurement Position

 Typical configuration to achieve this requirement:

 Temperature controlled, electronic soldering ion (e.g. ERSA MS250) with 330°C ±5°C
 Standard electronic soldering tip (e.g. ERSA type 0172KN, chisel-shaped )
 Sn62Pb36Ag02 solder type with RMA FLUX 620F or equivalent
 Maximum soldering time: Pins 1 - 3, 5 - 15, 17: 3.5 seconds
Pins 4: 5.2 seconds
Pins 16: 5.5 seconds
 All tools used must fulfill ESD requirements.

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3.2.2 Desoldering Process:

 Standard manufacturing process according to Joint Industry Standard IPC/EIA-J-

STD-001.

 For desoldering pins the use of a vacuum desoldering tool (e.g. ERSA
DIGITAL 2000 A) is recommended.

 Maximum temperature at pin (measurement position see

 Figure 3-1): 200°C

 Mechanical stress during desoldering process must me minimized.

 Maximum desoldering time: Pins 1 - 3, 5 - 15, 17: 3.5 seconds

Pins 4: 5.2 seconds
Pins 16: 5.5 seconds

 All tools used must fulfil ESD requirements.

3.3 Mounting

For mounting the gyro onto the system surface, please follow these steps. DO NOT apply
power or any other signal until the mounting is finished. Please observe the precautionary
notes for the power supply. Please observe ESD precautions (see chapter 2.1).

 The mounting of the fixture surface must be clean and smooth, flatness tolerance
smaller than 0.1 mm.

 Insert the system (mating) connector into the sensor connector

 Position the sensor on the mounting fixture

 Insert screws with washers as follows:

Size M 3 (alternative: 4-40 UNC)
Length Four screws at least 12 mm long
Material Non-magnetic, corrosion-resistant material
Tightening torque 0.9 Nm ± 0.1 Nm

 Adjust system power supplies according to the corresponding µFORS specification

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4 Power Supply
4.1 General

Attention: Do not switch on the power supply for the µFORS before all necessary
connections to the host system have been made.

The value of the supply voltage including voltage ripple must not
exceed the values defined in the corresponding product specification
(see chapter 1.3.1).

It is not recommended to have voltages on the signal interface when

the power supply is switched off.

Do not apply voltages to any interface of the µFORS while the µFORS
is not powered.

The power supply for the µFORS must be provided by the host system. There is no internal
monitoring of the power supplies in the µFORS.

4.2 Requirements

Please refer to the applicable gyro specification for details (see chapter 1.3.1) of supply voltages and
power consumption.

NOTICE: The rising condition for the power supply must not exceed 100 V/µs.

NOTICE: For gyros requiring multiple voltages they have to be switched on resp.
switched off simultaneously (within 5 ms) and must reach their nominal value
simultaneously. It is not allowed to switch off any of the voltages as long as the
other voltages remain switched on.

Recommendation: To avoid interrupts during power start-up a common power

supply for all supply voltages is recommended.

4.3 Ground Connections

The power return (Signal Ground) is not DC-connected to the chassis ground; the signal
ground is AC-connected to the chassis ground through capacitors (see Figure 8-13 and
Figure 8-14).

NOTICE: The potential difference between signal ground and chassis ground must not
exceed 50 VDC.

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4.4 Switch-Off Considerations

There is a small risk of software corruption if power supplies are disconnected during
initialisation. It is recommended that a switch off should not occur immediately after switch
on.

External signals to the gyro should be switched off before or at the same time as the power
supply.

5 Built-In Test (BIT)

Buildt-In Test is performed as power on self test (PBIT) after reset and continuously during
operation (CBIT). For BIT coverage and indication of BIT results refer to Table 5-1.

Results of BIT are flagged immediately in the corresponding bits of the status byte (refer to
chapter 6.3.2).

Note: In case a severe HW fault or firmware corruption is detected during PBIT operation of
the gyro is terminated immediately. In this case the gyro is not accessible on IBIS or
asynchronous interface.

Fault Test Status Byte Remarks

Coverage
PBIT CBIT HW NOGO Range Temp. Reset
Error Exceeded Warning Ack
HW- and/or SW Fault X processor
(Memory test, program code stopped
and/or data inconsistency)
HW- and/or SW Fault X X X
(Memory test, program code
and/or data inconsistency,
data computation circuitry
failure, internal sensors
failure, certain faults in
optical path, maximum
temperature exceeded
switch off)
Measurement Range X X
Exceeded
Internal Over or Under X X
Temperature
Internal Software X X X
Watchdog Expiration
Table 5-1: BIT - Failure source and indication table

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6 Measurement Mode and Data

6.1 µFORS Configuration

The µFORS can be configured in many ways to optimise its performance and application
with a host system. This chapter describes the different measurement modes of the µFORS,
the BIT status and the data format. For details of communication between the gyro and a
master controller, please see chapter 7.2 for the asynchronous interface and chapter 7.3 for
IBIS, a synchronous interface.

The gyro outputs angular data on one of the serial interfaces and measures in one of three
modes: incremental angle, accumulated angle or angular rate. This angular data can be
either two or three bytes wide. The LSB value (the "scaling") can be selected from a wide
range (see Table 8-1).

The angular data, which is in two's complement format, is combined in a data block with two
more bytes: the status byte and the checksum byte. These two are described in chapter 6.3.

The µFORS is set to the desired interface, measurement mode and data bytes when it is
configured in the factory to the customer's needs. The gyro setting can be also altered with
the interface modification kit [20].

6.2 Mode Options

6.2.1 Incremental Angle

Incremental mode is the "native" measurement mode of the gyro. All measurements are
made in this mode; the other two modes are then processed to return data in the
appropriate format.

In incremental angle, the gyro returns the angle moved through since the last data request.
A warning bit in the status byte (see chapter 6.3.2) is set if the data request frequency is too
slow (<5 Hz), the gyro moves through an angle that exceeds the full-scale range (see
chapter 6.3.2). The warning bit is automatically cleared when either the data request rate is
increased to match the changing applied angle, or the external movement is within the
selected range of the gyro.

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6.2.2 Accumulated Angle

The gyro maintains a register that stores the total angle moved through since the gyro was
powered-on or since the last reset (see chapter 7.1). That is, at each data request, the
incremental angle (see above) is added to the register contents, and this sum is returned to
the host processor. There is no additional filtering applied to the data.

The status byte warning bit (see chapter 6.3.2) is set if the data request frequency is too
slow, or the accumulated angle register overflows. The bit is automatically cleared when the
external movement is within the measurement range of the gyro. The register can be
cleared either by a new power-on of the gyro, or by an external reset (see chapter 7.1), or
by a command (asynchronous interface only – see chapter 7.2.6),

In the case of measurement overflow, the gyro will set the angle to full-scale and add this to
the register. Hence, the accumulated value will be in error to the actual angle moved
through. This is shown in the example Figure 6-1 below. Note that even if the external rate is
later within the measurement range of the gyro, the error will persist in the accumulated
register although the warning bit in the status byte is cleared.

Accum. Input
Angle
Configured
Measurement Range Failure
Output
180° Range

90°

Time

Figure 6-1: Accumulated Angle – Failure when Range is Exceeded

6.2.3 Angular Rate

In angular rate mode (also known as "rate"), at each data request, the angle moved through
since the previous request is divided by the time. The angle per time is thus returned by the
gyro.

If the measurement range is exceeded, the warning bit is set in the status byte (see chapter
6.3.2). The bit is cleared when the external rate is again measurable by the gyro.

At high rates and high data request frequencies, the bias error can increase for a gyro in
rate mode. See Table 8-1 for details.

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6.3 Data Blocks

6.3.1 Structure

Depending on the selected resolution (16 or 24 bits), two or three bytes of angular data, plus
a status byte and a checksum byte, are transmitted as one data block. The most significant
data byte is the first byte of a data block to be transmitted.

The data bytes are interpreted as two’s complement values and are converted to real-world
values (degrees or degrees-per-second) by multiplying with the appropriate LSB value of the
selected range and resolution (see Table 8-1, page 51).

Four-Byte Block
Byte No. 1 2 3 4
Most Least
significant significant Status Checksum
Content
Byte Byte Byte Byte
(Data) (Data)

Five-Byte Block
Byte No 1 2 3 4 5
Most Middle Least
significant Byte significant Status Checksum
Content
Byte Byte Byte Byte
(Data) (Data) (Data)
Figure 6-2: Structure of a Data Block

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6.3.2 Status Byte

The µFORS incorporates extensive Built-in-Test (BIT) features to prove functional integrity.
The results are reported back to the host controller in the status byte, as shown below:

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Meas.
Unknown Hardware Aux. Ctrl. Temp. Not Reset
Range NOGO
Command BIT Error Loop Error Warning Used Acknowledge
Exceeded
MSB LSB
Figure 6-3: Definition of the Status Byte

If a bit is set to a logical "1", the corresponding failure has occurred.

Table 6-1 details the set conditions of each bit.

Bit
Bit Meaning Set Condition
Number
Bit 0 is set when:
0 NOGO Bit 4 (Auxiliary Control Loop Error) is set,
or bit 5 (Hardware BIT Failure) is set.
After a reset, this bit is set to one as
Reset acknowledgement.
1
Acknowledge This Bit will be set only in the 1st frame after Reset. In
all following frames this Bit will no more be set.
2 Not Used Always “0”
Temp. Internal temperature has exceeded limit.
3
Warning See chapter 2.6.
Auxiliary
At least one of the gyro's auxiliary control loops is
4 Control
outside control range.
Loop Error
Bit 5 is set and latched if one of the following
conditions occurs:
Hardware
Program memory checksum error
5 BIT
Data memory error
Error
Light Source temperature is over the limit
Hardware component error
Measurement Selected operating range has been exceeded or the
6 Range request frequency is too low (5 Hz is specified as
Exceeded minimum request frequency).
Only for asynchronous interface, software trigger:
Unknown
7 Unknown command has been received or reception
Command
error (otherwise always "0").
Table 6-1: Status Byte – Bit Indications

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6.3.2.1 Reset of Status bits

Bits 3, 4, 6, 7 are reset automatically when the cause of the failure or malfunction
disappears (e.g. temperature returns to within specified tolerances).

Bit 5 is latched and can be cleared only by the application of a RESETx signal or by a new
power-up.

6.3.3 Checksum

The checksum is the one's complement of the sum of all the preceding bytes of the same
data block. That is, when the checksum is added to the other bytes in the data block, the
total must be 0xFF (ignoring any carry beyond MSB).

For example:
Two Data Bytes
Most Least Status
Checksum
Significant Significant Byte
Byte Byte
0xFF 0x10 0x00 0xF0

Three Data Bytes

Most Least Status
Middle Checksum
Significant Significant Byte
Byte
Byte Byte
0xFF 0x10 0xA5 0x00 0x4B
Figure 6-4: Illustration of Checksum Byte

6.3.4 Calculation of Data

The data bytes returned from the gyro are converted to a "real-world" value by converting
the data using the twos-complement convention and multiplying by the LSB value of the
selected range (see Table 8-1)

For example:
Gyro configuration:
Incremental mode, 2 data bytes, 20° full-scale, 6.104 * 10-4°/LSB

Data returned Equivalent

Angle Value
(hexadecimal) decimal number
0x02AB 683 0.417°
0xA04C -24500 -14.955°
Figure 6-5: Example of Data-to-Angle Calculation

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7 Signal Interfaces

Note: To avoid CMOS latch-up conditions which could be hazardous to the device or
influence correct operation, never apply voltages greater than the power supply
voltage to any interface of the µFORS.

Note: To avoid CMOS latch-up conditions which could be hazardous to the device or
influence correct operation, never apply voltages to any interface of the µFORS
while the µFORS is not powered.

The first data request after power-on or external reset shall not be transmitted during the
first 120 ms after power-on (power-on is defined as the time when the supply voltages have
reached their nominal value) or external reset.

Note: Unused pins have their own pull-up/pull-down resistors and do not require external
connection. If unused input pins are to be connected, then they must be held in their
inactive state.

There are two different serial interfaces fitted to the µFORS and the gyro can be configured
to either one. An external reset connection is also provided.

7.1 External Reset

The µFORS generates its own internal reset signal after power-on. In addition, an external
reset may be applied through connector pin RESETx, which re-initialises gyro operation
under the host’s control. The reset signal must be of type open drain:

Condition of
Gyro Action Comments
RESETx pin
Status byte cleared.
0V1) (< 0.8 V)
Reset If in accumulated angle mode, the angle
for at least 1µs
register is set to zero.
Open or high Normal
Gyro functions normally
impedance operation
1)
Related to signal ground
Table 7-1: External Reset of Gyro

To apply an external reset, the RESETx pin must be held low for at least 1 µs. The reset
ends at the rising edge of the RESETx signal (see also RESETx circuit diagram in the
Appendix, chapter 8.5).

The external reset clears the bits of the status byte (see chapter 6.3.2), and if the gyro is in
accumulated angle mode, will zero the angle accumulator.

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7.2 Asynchronous Interface

The asynchronous interface can be operated in one of the following modes:

 Autonomous The µFORS continuously transmits data at a configured

update rate and baud rate (see chapter 7.2.4).

 Hardware Trigger (Not available on µFORS-1/-2, C-FORS and µFORS-36M)

The host system asserts two discrete signals, TRIG A and
TRIG B, to initiate a data transfer on the asynchronous
interface (see chapter 7.2.5).
Trigger frequency: min. 5 Hz, max. 1 kHz.

 Software Trigger The host system transmits a request command and receives
data from the sensor (see chapter 7.2.6).
Trigger frequency: min. 5 Hz, max. 1 kHz.

The properties of the interface are:

 Baud Rate 9600, 19200, 38400, 76800 or 375000

 Update Rate 5 Hz ... 1 kHz

(high update rates are dependent on the Baud rate)

The gyro measurement configuration, and the output data, status byte and checksum byte
are described in Chapter 6.

The following chapters describe the format of each byte as it is transmitted, and the trigger
modes of the asynchronous interface. Circuit diagrams, illustrating the use of the
asynchronous interface, may be found in the Appendix.

7.2.1 Transmission of a Data Byte

Start Data Parity Stop
Bit (8bits) (odd) Bit

D0 D1 D2 D3 D4 D5 D6 D7
LSB MSB

Logic
level
Time
Figure 7-1: Asynchronous Interface – Transmission of a Byte

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On the asynchronous interface, each byte is transmitted in a block of 11 bits as shown in

Table 7-1. The start bit is always logic 0, followed by 8 bits of data (LSB first), then parity bit
(odd parity) and finally the stop bit at logic 1.

7.2.2 Maximum Data Rates

The following tables show the relationship between the selected Baud rate and the
maximum data transmission rates for each trigger type. Note that these depend on the
setting of the gyro for either two or three bytes of angular data.

Maximum Data Rate [Hz]

Baud Rate [baud] Two Bytes Three Bytes
(44 Bit Data Block) (55 Bit Data Block)
9600 200 160
19200 400 320
38400 800 640
76800 1000 1000
375000 1000 1000
Table 7-2: Baud/Data Rates, Autonomous and Hardware Trigger

Maximum Data Rate [Hz]

Baud Rate [baud] Two Bytes Three Bytes
(44 Bit Data Block) (55 Bit Data Block)
9600 92 83
19200 185 167
38400 371 335
76800 742 670
375000 1000 1000
Table 7-3: Baud/Data Rates, Software Trigger

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7.2.3 Nominal vs. applied Baud Rates

The following table show the deviation in percent of the baud rate for the nominal
selected baud rate.

Nominal Acc.
Baud Rate [Hz] Baud Rate [Hz] Variation [%]
9600 9615 0,156
19200 19132 -0,354
38400 38265 -0,352
76800 78125 1,725
115200 117187 1,725
375000 375000 0,000
Table 7-4: Deviation of the applied Baud/Data Rates

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7.2.4 Autonomous Trigger

In autonomous trigger, the µFORS transmits the data block with a fixed, constant update
rate and ignores any external trigger signals. The data transmission starts after power-on
(≤ 120 ms).

Minimum Frequency: 5 Hz
Maximum Frequency: 1000 Hz

See Table 7-2 for the relationship between selected Baud rate and maximum data rate.

update interval
ASYNC TxA 1 ms...200 ms
µFORS
ASYNC
OUTPUT
ASYNC TxB

time

Table 7-4: Autonomous Trigger – Timing

In autonomous mode the host system must hold the data receive lines of the asynchronous
interface (ASYNC RxA, ASYNC RxB) in the logical “1" state or in the high impedance state.

The table below lists the connections to µFORS when using autonomous trigger on the
asynchronous interface.

NOTICE: The µFORS-1/-2, C-FORS and µFORS-36M have only one asynchronous
transmit data line (ASYNC TxD) and only one asynchronous receive data line
(ASYNC RxD).

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Pin
Gyro Function Description Input/Output
No.
13 +5V +5V supply volts input
-36M, C-FORS

4 +3.3V +3.3V supply volts input

µFORS-1/-2,

14 -5V -5V supply volts input

16 GND Supply and signal ground –
11 RESETx 1) External reset input
3 ASYNC TxD Transmit data output
1 +5V Supply voltage input
µFORS-36, -6,
-4, 3U, -3UC, -

3 GND Supply ground –

15 ASYNC TxA Transmit data output
6U, -6UC

2 ASYNC TxB Transmit data output

7 GND Signal ground –
25 RESETx 1) External reset input
1)
See chapter 7.1
Table 7-5: Connector Usage, Autonomous Mode

7.2.5 Hardware Trigger

The hardware trigger mode is not available for µFORS-1/-2, C-FORS and µFORS-36M.

NOTICE: The voltage levels of the trigger signals TxA and TxB are CMOS levels
referenced to +5 V (compatible to RS-422/ RS-485)

The hardware trigger signal is a differential signal following the electrical RS-422 standard.

The maximum request frequency must not be more than 1 kHz. If the request frequency
drops below 5 Hz, data overflow is possible.

The transfer of the data block will begin 30 ... 70 µs after the falling edge of discrete trigger
signal (TRIG A) has been detected.

During operation of the µFORS in the Hardware Trigger Mode, the host system must hold
the data receive lines of the asynchronous interface (ASYNC RxA, ASYNC RxB) in the
logical “1" state or in the high impedance state. The transmit line remains at logic “1"
(ASYNC TxA = high with respect to ASYNC TxB) after the transmission of data.

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request interval
1 ms..200 ms

TRIG A > 15 µs

Trigger
input to
µFORS
TRIG B

Time
30...70 µs

ASYNC ASYNC TxA

output from
µFORS
ASYNC TxB

Time

Figure 7-2: Hardware Trigger – Timing

To suppress interference, a 15µs filter has been built into the input of the hardware discretes
(TRIG A, TRIG B). The discrete signals must be held active (logical “0") for at least 15µs.

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Pin
Gyro Function Description Input/Output
No.
1 +5V Supply voltage input
3U, -3UC, -6U, -6UC

3 GND Supply ground –

µFORS-36, -6, -4,

25 RESETx 1) External reset input

15 ASYNC TxA Transmit data output
2 ASYNC TxB Transmit data output
6 TRIG A Trigger signal, positive input
8 TRIG B Trigger signal, negative input
7 GND Signal ground –
1)
See chapter 7.1
Table 7-6: Connector Usage, Hardware Trigger
Note: TxA and TxB, as well as TRIG A and TRIG B are differential signals.

7.2.6 Software Trigger

The µFORS uses the ASYNC RxA and ASYNC RxB inputs to receive commands from the
host processor. Data is output from the gyro on ASYNC TxA and ASYNC TxB. Any activity
on the two hardware trigger lines, TRIG A and TRIG B, is ignored. See Table 7-7 for
connector usage.
When a software command is received (Table 7-8) on RxA and RxB, the execution of the
instruction begins at the end (trailing edge) of the stop bit of the checksum byte (see Figure
7-4)
No later than 70 µs after identification of an instruction, the UART is switched from
RECEIVE to TRANSMIT. By that time the host system must have set both ASYNC RxA and
ASYNC RxB to high impedance state.
Between 30 and 70 µs after reception of the request command, the µFORS starts the data
transmission. After the transmission of a data block the ASYNC TxA and the ASYNC TxB
port are switched back into receive mode and the gyro waits for the next command.
The repetition rate of the request command must not be more than 1 kHz. Should the
request command rate drop below 5 Hz, a data overflow error is possible.
request interval
1 m s .. 200 m s
ASYNC ASYNCRxA
input
to
µFORS ASYNCRxB

Time
30... 70 µs
ASYNC
output ASYNCTxA
from
µFORS
ASYNCTxB

Time

Figure 7-3: Software Trigger – Interface Timing

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NOTICE: TxB and RxB are not available on µFORS-1/-2, C-FORS and µFORS-36M.

Command Checksum

Start B0 - B7 Parity Stop Start B0 - B7 Parity Stop

11 Bits 11 Bits

Figure 7-4: Software-Trigger – Format of a Request Command

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Pin
Gyro Function Description Input/Output
No.
13 +5V +5V supply volts input
14 -5V -5V supply volts input
C-FORS, –36M

4 +3.3V +3.3V supply volts input

µFORS-36, -6, -4, -3U, µFORS-1/-2,

16 GND Supply and signal ground –

11 RESETx 1) External reset input
2 ASYNC RxD Receive data input
3 ASYNC TxD Transmit data output
1 +5V Supply voltage input
3 GND Supply ground –
25 RESETx 1) External reset input
-3UC, -6U, -6UC

16 ASYNC RxA Receive data input

17 ASYNC RxB Receive data input
15 ASYNC TxA Transmit data output
2 ASYNC TxB Transmit data output
7 GND Signal ground –
1)
See chapter 7.1
Table 7-7: Connector Usage, Software Trigger

Checksum Comments
Action Data Byte
Byte
Transmit rate Gyro sends latest data
0x01 0xFE
or angle data (all measurement modes)
Accumulated Angle only:
Transmit data Gyro sends latest data and then
0x02 0xFD
and clear clears the accumulated angle
register
Table 7-8: Host-to-µFORS Commands, Software Trigger

Whenever an undefined command is recognised, the command will be processed as

command 0x01 and simultaneously bit 7 in the status byte is set to "1" to indicate an
“unknown command” error. This applies only to command accompanied by a correct
checksum byte. In case of a checksum error the µFORS discards the whole message
without further action.

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7.3 Synchronous Interface (IBIS)

7.3.1 Introduction

The synchronous interface is the IBIS Bus [19], which is a synchronous, bi-directional data
link.

It is an excellent method for the interchange of data between a host system and one or more
individual sensors, and also sensor groups with special, dedicated controllers.

The basic unit of the IBIS protocol is the frame, which is made up of 32 channels, each
channel one byte long. The host controller is the master of the IBIS, and it is responsible for
sending the frame synchronisation (see Figure 7-7) and clock signals to the slave units (i.e.
the sensors).

The IBIS protocol is described below and details of the electrical interconnections for IBIS is
given in chapter 7.3.2. A special option, called IBIS-Address Interface, may be found in
chapter 7.4.

NOTICE: The IBIS protocol differs from the IBIS document [19] in data rate (see
Figure 7-5 and chapter 7.3.4) and level of the TDVx signal (see page 45).

7.3.2 IBIS Communication Protocol

The IBIS communication protocol is based on the distribution of data frames. A frame
consists of 32 data bytes or IBIS channels.

The transmission and reception ports of all IBIS participants are connected in a bus
configuration. The transmission ports of all participants are normally set to the high
impedance state.

A bus master distributes the bus clock as well as a synchronisation signal (RFS). The
negative edge of the RFS indicates the start of a frame .

To request data from a µFORS, the bus master issues an address byte on IBIS channel 0
(the first byte of a frame) on its transmit data (TD) line, which is connected to the receive
data (RD) input of each sensor.

All µFORS connected to the IBIS decode the received address byte. If a µFORS recognises
the address as its own, it responds in the next IBIS frame. It sends a data block of either two
or three bytes of data, followed by a status byte and ended with a checksum. That is, a
block can be either four or five bytes long. The most significant byte of the data is
transmitted first and the checksum byte last, which means that the first data byte occupies
the lower-numbered channel and the checksum the higher-numbered channel.

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For example, if the sensor is set to two data bytes, and returns data in channels 4, 5, 6 and
7, the frame will be:

Chann 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 3 3
0 1 2 3 4 5 6 7 8 9
el 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1
Conte DD
X X X X S CX X X X X X X X X X X X X X X X X X X X X X X X
nts 1 0

Where X is don't care

D1 is the most significant byte and D0 the least significant byte of data
S is the status byte and C the checksum.

The data is in two's complement format and can be converted to degrees or degrees-per-
second by multiplying with the appropriate bit scaling (see Table 8-1). See chapter 6, page
23, which also has details of the status byte and checksum.

Each sensor sets its output to high impedance for unused data channels, which avoids
communication conflict. Different sensors on the IBIS can have the same address but each
can be given a different set of data channels. A single frame, therefore, can hold data from
multiple sensors. An example of IBIS with three sensors is shown in
Figure 7-5.

Each gyro's IBIS address, and the data channels, are configured by the manufacturer
according to the customer’s requirements or with help of the Interface Modification Kit (IMK)
[20].

The master must request data from the µFORS with at least a minimum request rate of
5 Hz, otherwise a data overflow error may occur in the sensor.

Example of Multi-Sensor Communication

This is an example of three sensors which are configured to respond to the same address
and use channels 1 to 5, 6 to 10 and 11 to 15 respectively for their reply data blocks.
Frame i Frame i+1 Frame i+2 Frame i+3

0 1 2 3 4 5 6 7 8 9 10 1112 13 14 15 16 17 18 19 20 31 0 1 2 3 4 5 6 7 8 9 10 1112 13 14 15 16 17 18 19 20 31 0 1 2 3 4 5 6 7 8 9 10 1112 13 14 15 16 17 18 19 20 31 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 31

RFS
RD

TD Sensor 1
TDV

TD Sensor 2 TDV

TD Sensor 3 TDV

Gyro data sampled at this point Gyro data sampled at this point
but readout in frame i+1 but readout in frame i+3
Figure 7-5: IBIS – Multi-Sensor Data Example

The interaction between the host processor (master) and the sensors (slave) is carried out
across a two-frame sequence, designated here as frame i followed by frame i+1. During
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frame i, the master issues one address byte in channel 0 on its transmit data (TD). This is
received by the sensors on their receive data (RD) and the address is decoded and
recognised. In the following frame, i+1, each of the three sensors place their data in unique
channels as illustrated in Figure 7-5. Note, that to clarify this example, each sensor data is
shown separately, although the sensors share the same TD line.

7.3.3 Electrical Interconnection

IBIS input signals typically are CMOS level, IBIS output signals typically are TTL level. Refer
to the specific µFORS specification for detailed information.

The figure below illustrates a typical four-wire interconnection, which is an ideal

communication for more than two sensors ("slaves"). It can be connected to one network
and the communication is restricted only by the hardware configuration. This is full duplex
operation with no communications conflict.

Master Slave Slave

SCLK RD TD RFS SCLK RD TD RFS SCLK RD TD RFS

Figure 7-6: IBIS – Four-Wire Interconnection

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The Table 7-9 shows the connector usage for the IBIS interface. See chapter 8.1 for pin
numbering diagrams.

Pin
Gyro Function Description Input/Output
No.
13 +5V +5V supply volts input
4 +3.3V +3.3V supply volts input
µFORS-36, -6, -4, 3U, - µFORS-1/-2, C-FORS, –

14 -5V -5V supply volts input

16 GND Supply and signal ground –
11 RESETx 1) External reset input
5 SCLK Synchronous clock input
6 RFS Receive Frame Synchronisation input
7 RD Receive Data input
8 TD Transmit Data output
36M

1 TDVx Transmit Data Valid output

1 +5V Supply voltage input
3 GND Supply ground –
25 RESETx 1) External reset input
21 SCLK Synchronous clock input
3UC, -6U, -6UC

20 RFS Receive Frame Synchronisation input

19 RD Receive Data input
18 TD Transmit Data output
22 TDVx Transmit Data Valid output
7 GND Signal ground –
1)
See chapter 7.1.
Table 7-9: Connector Usage, IBIS Interface

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7.3.4 IBIS Interface Characteristics

7.3.4.1 Maximum Data Rate on IBIS Interface

The maximum data rate for the IBIS is calculated with the following formula and summarised
in Table 7-10 below.

SCLKIBIS [kHz] Frame Rate [Hz] Data Rate [Hz] Data Rate [Hz]
144390-4607-xxx 144390-4705-xxx (xxx > 0)
144390-4705-000 144390-4715-xxx (xxx > 0)
144390-4715-000 144390-2000-xxx
145704-yyyy-000 145704-yyyy-xxx (xxx > 0)
151910-9000-xxx
151910-yyyy-xxx
151920-9000-xxx
151920-yyyy-xxx
151940-9000-xxx
151940-yyyy-xxx
151945-9000-xxx
151945-yyyy-xxx

SCLKIBIS SCLKIBIS
Data Ratemax = Data Ratemax =
512 256
128 500 250 500
256 1000 500 1000
512 2000 1000 2000
1024 4000 2000 4000
2048 8000 4000 8000
Frame Rate = 2 x Data Rate Frame Rate = Data Rate
Data request may be, at
maximum, each second
frame (divergent to µFORS,
delivered up to 2003 and
IBIS document [19]
Table 7-10: IBIS – Maximum Frame Rate and Data Rate to Clock Frequency

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7.3.4.2 Configurable Parameters

The following interface parameters can be configured:

Baud Rate Recommended: 2.048 MHz 1)

Data Rate max 4 kHz (8 kHz 4))
see Table 7-10 min 5 Hz
1 to 254
IBIS Address
(0x01 to 0xFE) 2)
Data 2 data bytes 3) choose four from 1 to 31
channels 3 data bytes 3) choose five from 1 to 31
1)
Equals the IBIS clock frequency to be provided by the host system, see Table 7-10.
2)
Addresses 0x00 and 0xFF not recommended!
3)
See Table 8-1 for configuration options.
4)
See corresponding specification for maximum data rate
Table 7-11: IBIS Configuration Options

7.3.4.3 Cable Length

Maximum length of the connection cable µFORS - Host system: 0.5 m

For longer distances, it is recommended to use slew rate controlled drivers.

See Figure 8-11 and Figure 8-12 in the Appendix.

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IBIS Bus Definitions

7.3.4.4 Frame Structure

The IBIS frame is composed of 32 consecutive 8 bit words. The start of a frame for both the
receiver and transmitter is indicated by the RFS signal. RFS is issued by the master and
must always be transmitted.

Figure 7-7: IBIS – Frame Structure

The IBIS bytes transmits the most significant bit first.

7.3.4.5 Frame Synchronisation

The Receive Frame Synchronisation (RFS) signal is checked at the falling edge of SCLK. If
the RFS signal is asserted, data of channel 0, bit 7, should be available to be latched at the
next falling edge of SCLK.

Figure 7-8: IBIS – Relationship of RFS to Data Frame

NOTICE: RFS and SCLK have to be in a strong relation (1 to 256). The RFS and SCLK
have to transmitted by the master. Note that RFS won’t synchronize the
immediately following frame but the next one after start-up or interrupted
SCLK.

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7.3.4.6 System Data Synchronisation

To synchronise the different sensors on an IBIS system, the RFS can signal each sensor to
prepare its data at the same time. Thus the data from each sensor is synchronised.

This ensures that all data transferred are valid at exactly the same instant in time, allowing
each unit to work with its own best internal timing. System timing is in turn guaranteed by
the synchronisation of all instruments to the RFS pulse.

7.3.4.7 Data Bytes Validity

The Transmit Data Validity (TDVx) signal is asserted by a slave if valid data bytes are
transmitted.

NOTICE: In the µFORS, the TDVx signal is used inverted to the description in the IBIS
document [19].

IBIS Frame n

SCLK

TDVx

b0 b7 b6 b5 b4 b3 b2 b1 b0 b7

Channel x Channel x+1

Figure 7-9: IBIS – Data Bytes Validity

7.3.4.8 Bus Clock

For the standard bus operation a 2.048 MHz clock on the Serial Bus Clock signal (SCLK) is
recommended. Lower clock frequency could reduce the µFORS performance. This signal
must be generated by the host system (master processor) and is used as an input by all
µFORS.

The SCLK signal must have a 50% ± 5% duty cycle.

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7.3.4.9 Data Bit Validity

The data on the Receive Data (RD) input will be latched at the falling edge of the bus clock
SCLK. It is important, therefore, that the data must be stable at this time.

Figure 7-10: BIS – Data Bit Validity

7.4 IBIS-Address Interface (Configuration Option)

The IBIS-Address Interface is a variation of the standard IBIS interface. When set to this
operational mode, the gyro will respond to an address from the master controller in a
different way than the normal IBIS interface. In the IBIS-Address Interface, the address byte
issued from the master controller is interpreted as two parts: The first six bits are the sensor
address and the last two bits (the least significant) are a command.

7.4.1 Address Selection

The sensor can have any address from 0x04, 0x08, 0x0C ... in steps of four... through to
0xFC(=2488), and this is configurable as in the normal IBIS interface. The command bits
have four possible values: 0x00 through to 0x03 (in binary: 00, 01, 10 and 11). These
command the gyro to return different types of data in the next frame. These are: the angle or
rate data in a scaling, or the same data but in another scaling, or the gyro internal
temperature, or a repeat of the last data sent.

7.4.1.1 Example

To illustrate, assuming that a sensor has the address 0xA0, then the master processor may
address it with 0xA0, 0xA1, 0xA2 or 0xA3. The gyro data returned for each command is
shown in Table 7-12 below.

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IBIS address
(example: 0xA0) Command
Data Output from Gyro
Number
hex binary
0xA0 1010 00 00 0 Output A: request angular/rate data in scaling A
0xA1 1010 00 01 1 Output B: request angular/rate data in scaling B
0xA2 1010 00 10 2 Output C: request temperature of sensor
0xA3 1010 00 11 3 Output D: repeat last data output
Table 7-12: IBIS-Address Interface – Data Output

7.4.2 Angular Data

Output A or Output B both return angular data in the same measurement mode: angle
increment, or angle accumulated or angular rate, according to the gyro's current
configuration. The two outputs, however, can have different scales; each can be set
independently of the other to a standard value (see Table 8-1 page 51).

7.4.3 Temperature Data

If the address has command 2 in its lower bits, then the gyro returns its internal temperature.
The data is in two's complement format and the conversion to °C is shown in the next table.
NOTICE that this depends on the data byte setting of the gyro.

Number of LSB Scaling

Data Bytes (°C)
Two 128 / 215 (0.00390625)
Three 128 / 223 (0.0000152588)
Table 7-13: IBIS-Address Interface – Scaling of Temperature Data

7.4.4 Repeat Last Data

To repeat the last data sent, the gyro should be addressed with command number 3 (see
Table 7-12). This is a copy of the last data, whether angular or temperature, and does not
trigger a fresh measurement.

7.4.4.1 Data Output

Only one type of data can be addressed; it is not possible to request both rate and
temperature data at the same time.

Note that the gyro data output can be set to either two or three data bytes, and this applies
to all data in this option. The data channels, and the status byte and checksum, are
interpreted as in the normal IBIS interface.

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8 Appendix
8.1 Pin Numbering Diagrams

Figure 8-1: Pin Numbering of µFORS-36, -6, -4, -6U, -6UC (front view)

Figure 8-2: Pin Numbering of µFORS-3U, -3UC, -6U, -6UC (view from top)

Note: Use special care when connecting to the sensor. Misplacement of the
connector will damage the sensor!

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Figure 8-3: Pin Numbering of µFORS-1/-2, C-FORS, µFORS-36M (view from below)

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8.2 Maximum Data Age

The following paragraph details the calculation of the maximum data age for the different
µFORS output configurations.

8.2.1 Asynchronous Interface

t A
TDA max = + 70µs + tT
2

TDA max = Maximum data age

tA = Duration of last request or update interval

tT = Baud rate dependent data transfer time

70µs = Maximum calculation time for data compensation

8.2.2 Synchronous Interface

t A
TDA max = + t F + (1 + chn)  t ch
2

TDA max = Maximum data age

tA = Duration of last request interval; time between the frame sync pulses (signal
RFS) of the last and the new request

tF = Duration of one IBIS frame = 32 · t ch

8
 t ch = Duration of one IBIS channel = MHz (recommended)
2.048

chn = Number of last IBIS channel containing a data byte of the current data block

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8.3 Selection of Interface and Measurement Modes

Data Interface Measurement Modes and Ranges

Preferred
Data Trigger Baud Rate Range Resolution LSB Value
Range
Rate Mode Options Incremental Angle
-6
16 bit 6.104 * 10 °
± 0.2 ° -8
24 bit 2.384 * 10 °
-5
9.600 Bd 16 bit 6.104 * 10 °
1) ± 0.02° ±2° -7
HW Request or 24 bit 2.384 * 10 °
to
or 19.200 Bd 16 bit
-4
6.104 * 10 °
± 200° ± 20 °
5 Hz SW Request or -6
to or 38.400 Bd 24 bit 2.384 * 10 °
-3
1000 Hz Autonomous or 16 bit 6.104 * 10 °
± 200 °
(Free Running) 76.800 Bd
Asynchronous

-5
24 bit 2.384 * 10 °
or
375.000 Bd Accumulated Angle
-4
16 bit 6.104 * 10 °
± 20 ° -6
24 bit 2.384 * 10 °
± 20° -3
16 bit 5.493 * 10 °
Data IBIS to ± 180 °
Baud Rate ± 720° 24 bit
-5
2.146 * 10 °
Rate Addressing
-2
16 bit 2.197 * 10 °
± 720 ° -5
24 bit 8.583 * 10 °
Device address
2)
Chose one Rate
from -4
1 to 254. 16 bit 6.000 * 10 °/s
±19.661°/s -6
(0x01 to 0xFE) 24 bit 2.344 * 10 °/s
-3
5 Hz ± 10°/s 16 bit 3.000 * 10 °/s
Data channels ±98.304°/s
to to 24 bit
-5
1.172 * 10 °/s
Choose four or 2.048 MHz
8000 ± 1500 °/s -2
3) five from (recommended) 16 bit 1.000 * 10 °/s
Hz 3) ±327.68°/s
IBIS (Synchronous)

1 to 31 24 bit
-5
3.906 * 10 °/s
(depends on -2
number of data ±983.04°/s 16 bit 3.000 * 10 °/s
3)
-4
bytes) 24 bit 1.172 * 10 °/s

Standard or
Address mode

1)
Not applicable for µFORS-1/-2, C-FORS and µFORS-36M
2)
When using IBIS at a high data frequency (>1000 Hz) and measuring in rate mode, the bias may
change up to 6 °/h per 1000 Hz of frequency. If the error is too high, "angle increment" should be used
instead.
3)
Maximum rate/range is dependent on gyro model. Please see the gyro specification.
Table 8-1: Configuration Options for Interface and Measurement

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8.4 Glossary of Terms

"Accumulated Angle"
In this mode the µFORS continuously accumulates the net angular rotation since the last
clear command. The current state of the angle accumulator can be read at any time.
The accumulator can be cleared by a software command from the host when the gyro is
configured for asynchronous interface, software trigger (see chapter 7.2.6). In other trigger
modes, or for the IBIS interface, the accumulated angle can only be cleared by an external
reset (see chapter 7.1).

"Angle Increments"
In this mode the µFORS outputs the angle that the gyro has moved through since the last
data request.

"Rotation Rate"
In this mode, the angle moved through since the last data request is divided by the time
elapsed, which gives an output of the average angular rate during this interval.

"Input Axis"
The input axis, also called the "sensitive axis", is a line perpendicular to the plane of the
fiber coil and the mounting plate of the gyro. The µFORS is a true single axis rate sensor
and does not respond to rotation in other axial directions (see
Figure 8-4).

"Random Walk"
The output of a µFORS contains a broadband random noise component ("white noise")
which may result either from "shot noise" or thermal noise in the photo detector. Within the
gyro output bandwidth, the noise power spectral density is flat.
Two equivalent units of measurement are used to describe this performance: "deg/√h" or
"deg/h/√Hz". The conversion factor between the two is a factor of 60 (deg/√h =
60*deg/h/√Hz). Northrop Grumman LITEF GmbH uses the unit deg/√h.

Random walk specifies the standard deviation of the incremental angle output as a function
of the measurement period. Since standard deviation is used, the measurement does not
include the effects of drift due to bias errors.

NOTICE: During vibration, the output noise of the gyro will increase owing to mechanical
resonances of the gyro coil and housing. This extra noise component is
coloured and as it is not white noise, it is not random and will be averaged out
automatically when integrated by post-processing.
To calculate the random walk under these conditions, the Allan variance
analysis described in IEEE 952 0 should be applied.

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"Scale Factor" (Rate Mode)

This is the constant of proportionality between the gyro indicated output and the actual,
rotation applied to the gyro about its sensitive axis. The Scale Factor (as deviation of ideal
“1”) is scaled in parts-per-million (ppm). NOTICE that the returned data from the gyro must
be converted from its digital value to an angular value by multiplying with the configured bit
resolution ("LSB Value", Table 8-1)

"Scale Factor Non-linearity"

The deviation of the gyro output from an ideal linear relationship to applied angular
movement or rate about its sensitive axis. Scale Factor Non-linearity is included in the Scale
Factor performance given in the sensor specification.

Over the full measurement range of the gyro, a plot is made over the relative gyro output
failure to applied rate about the gyro's sensitive axis. Through these data points a best
straight line fit is made. The non-linearity, that is the deviation of the gyro output from the
straight line, is calculated by

 Gyro Outputi  Straight Line Valuei 

n
1 2

n i 1

Where n is the number of data points.

In Northrop Grumman LITEF GmbH specifications, non-linearity is expressed in units of ppm

(parts-per-million).

"Bias Instability"
The bias instability is the fluctuation in indicated angle rate at a constant temperature when
the gyro is not rotating. This term is sometimes called bias drift, but is also known as bias
offset, described below. For data samples over a short time, it is not usually possible to
determine the bias instability as it is masked by the random walk. Bias Instability is included
in the Bias performance given in the sensor specification.

"Bias Offset"
The bias offset is the apparent rotation rate when the gyro is not rotating about its sensitive
axis. Bias offset is defined as the long-term mean indicated rate at a constant temperature
when the gyro is not rotating.

"Output Sign"

Figure 8-4 below, illustrates the sign of the angle output when the gyro is rotated about its
sensitive axis. The output increases when the µFORS mounting flange is submitted to
positive rotation (anti-clockwise, seen from the top to the mounting flange).

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"Bandwidth"

Due to the high frequency of the internal control loops bandwidth is only limited by the
interface update rate of the µFORS.

"right hand thumb rule"

Input Axis

Figure 8-4: Output Sign of Gyro Output

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8.5 Circuit Diagrams

8.5.1 External Reset

µFORS
(INTERNAL)
3.3 V

21.5 kOhm

Supervisor 46.4 Ohm

System-RESET RESETx
Reset

47 pF
µProcessor Signal
Ground

Figure 8-5: µFORS RESETx Circuit Diagram

8.5.2 Reset Circuit Diagram (Example)

+5V

+5V
R2

2.15k

4
VCC RESETx
R3 Q2
2N2222
MAX811 2.15k
2 Q1
RESET R1
3 2N2222
MR 10k
GND

GND
Figure 8-6: Example of an External Reset Circuit

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8.5.3 Asynchronous Interfaces

8.5.3.1 Software Trigger Mode

(µFORS-4, µFORS-6, µFORS-36, µFORS-3U, µFORS-3UC, µFORS-6U, µFORS-6UC)

Asynchronous
µFORS Interfaces
User

Rx/Tx-
ASYNC RxB

Rx/Tx+
ASYNC RxA

ASYNC TxA

a 120 Ohm resistor (termination)

ASYNC TxB
shall be integrated on the
asynchronuos interface board

Figure 8-7: Asynchronous Interface – Connection for Software Trigger

8.5.3.2 Several µFORS's in Hardware Trigger Configuration

(µFORS-4, µFORS-6, µFORS-36, µFORS-3U, µFORS-3UC, µFORS-6U, µFORS-6UC)

Trig A
Trig B
Hardware Trigger 1
µFORS
1 ASYNC TxA
ASYNC TxB

Trig A Hardware Trigger 2

Trig B
µFORS
2 ASYNC TxA Transmit Data
ASYNC TxB
µFORS 1, 2, 3...

Trig A
Trig B Hardware Trigger 3
µFORS
3 ASYNC TxA
ASYNC TxB

Figure 8-8: Asynchronous Interface – Connection for Hardware Trigger

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8.5.3.3 Example µFORS-Interface connected to RS232 Interface

(µFORS-4, µFORS-6, µFORS-36, µFORS-3U, µFORS-3UC, µFORS-6U, µFORS-6UC)
VCC µFORS-
VCC Interface
Pin-No. for
U1 µFORS-36/-6/-4/-6U

16
ASYNC
4 D1 A RxA

3 DE 6
U3 B
2 REx 7 17 ASYNC
RS232 1 RO RxB
Input 8 R21 R20 9
LTC485
13 R11 R10 12
R1
RS232 U2 464
Output 7 T20 T21 10
15
ASYNC
VCC
4 D1 A TxA
14 T10 T11 11
6 R2
3 DE
GND B 121
100nF
V+ V- 2 REx 7 2 ASYNC
2 6
C2- C2+ TxB
5 4 1 RO
C1- C1+
3 1
LTC485
R3
VCC LT1181 or MAX232 464
100nF
100nF
10µF
100nF
GND GND

GND

Figure 8-9: Asynchronous Interface – RS-232 Connection

8.5.3.4 Example for Asynchronous Interface

(µFORS-1/-2, C-FORS and µFORS-36M)
User

2 1 RO
ASYNC RxD

2 RE 7
RxB

3 DE 121
6
RxA
4 DI

µFORS-1 LTC485 or MAX3485 or equal 1)

Data Enable
µFORS-36m
VCC
1 RO

2 RE 7
TxB

3 DE
6
TxA
3 4 DI
ASYNC TxD

LTC485 or MAX3485 or equal 1)

1) see also corresponding product data sheet

Figure 8-10: Asynchronous Interface – Connection to Drivers

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8.5.4 Synchronous Interface (IBIS)

8.5.4.1 Example: Use of line drivers when using long interface cables

SENSOR

SCLK

RFS

USER
DT0
µFORS
WARNING: ESD SENSITIVE DEVICE

DT
DT0x
TDVx
enable for driver 1

DR

Recommendation: Use of slew rate controlled drivers.

Figure 8-11: IBIS – Example of Line Drivers

SENSOR 1
differential IBIS Bus

SCLK

RFS
USER

DT1
WARNING: ESD SENSITIVE DEVICE

µFORS

DT1
DT1x
TDV1x

enable for driver 1

DR1

Recommendation: Use of slew rate controlled drivers.

DT2

SENSOR 2 TDVx 2
enable for driver 2

Figure 8-12: IBIS – Example of Line Drivers for Several Sensors

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8.5.5 µFORS-Grounding

8.5.5.1 µFORS-4 / -6 / -36, µFORS-3U, µFORS-3UC, µFORS-6U, µFORS-6UC

+5 V
PIN 1 +5 VA
FB
600R, 100MHz 10 µF

AGND
47 nF

+5 VD
CHGND FB
600R, 100MHz 10 µF

DGND

VOLTAGE
REGULATOR
VCC
FB (+3.3 V)
500R, 100MHz
10 µF 10 µF

DGND DGND
0V
PIN 3
100 nF
PIN 7

CHGND DGND AGND

Figure 8-13: Grounding Diagram µFORS-36, -6, -4, -3U, -3UC-6U, -6UC

8.5.5.2 µFORS-1/-2, C-FORS, µFORS-36M

L
+ 3.3 V Digital
Pin 4
47 nF 10 µF

CHGND L DGND
Lightsource
D1
10 µF

AGND
L
+5V Digital
Pin 13
47 nF 10 µF

CHGND DGND
L

10 µF
Analog

L AGN D
-5V
Pin 14
47 nF 10 µF

CHGND AGND AGND Analog GND

DGND Digital GND
CHGND Chassis
GND
Pin 16
100 nF
L Impedance at 100 MHz 600 ohm

DGND AGND D1 Schottky barrier diode,

CHGND Breakdown voltage 40 V

Figure 8-14: Grounding Diagram for µFORS-1/-2, C-FORS and µFORS-36M

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8.6 FAQ - Frequently Asked Questions

Q: How is Rate Bias defined ?

A: Rate bias = SUM(Angle increments)/(time of summation) - Earth Rotation Rate

(=~15°/h*sin(Lat))

Q: When do I have to send the sensor address on IBIS ?

A: The sensor only sends data frames on request. Whenever the sensor receives his address on
channel 0 it will respond with a data frame on his channel on the following frame.

Q: Do I have to assert RFS only if I request a data frame ?

A: RFS must be asserted periodically with SCLK / 256 Hz. A data frame is requested by
sending the sensor address on channel 0.

Q: How do I set the output rate in autonomous mode ?

A: The output rate (update rate) in autonomous mode must be configured at Northrop
Grumman LITEF GmbH or if available, using the IMK (see [20])

Q: How do I operate the sensor in master mode ?

A: All our sensors currently only work in slave mode.

Q: Does each frame have to be 256 bits long? If we provide one IBIS interface for
each sensor can we reconfigure the sensor to have a frame length covering only its
individual data ?

A: The frame format is fixed and cannot be changed.

Q: Can we run SCLK faster than 2.048MHZ? We have a 25MHZ clock that we can
divide by 12, resulting in an SCLK rate of approximately 2.0833MHZ.

A: The maximum SCLK is specified with 2.048 MHz (refer to the IBIS Specification [19],
Table 2 in chapter 6.2, timing parameter tsclk). Exceeding this limit correct operation cannot
be guaranteed any more.

Q: What is the maximum bandwidth of the gyro ?

A: Limitation of the bandwidth is given by the update rate which is around 1/2 of the update
rate (i.e. max. 500 Hz for asynchronous, max. 4000 Hz for synchronous mode)

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Q: µFORS shows rotation if static on bench

A: The µFORS shows earth rotation: = sin (latitude)*360°/24h [°]

Q: Can I combine a powered and an unpowered µFORS on the IBIS bus

A: The interface of the µFORS is not designed for combining powered and unpowered gyros
on the same IBIS bus. Therefore if an unpowered gyro is connected to an operational IBIS
bus it is possible that a hardware damage may occur due to equalizing currents.

Q: Gyro does not always start after power-up or reset. I am using SW Request mode.

A: Initialising time of 120 ms after power-up / reset is not maintained. During this time no sw
command must be sent to the gyro.

Q: Is there a g vector based bias sensitivity for the µFORS.

A: No, there is no sensitivity to static linear acceleration.

Q: What is the minimum rate for measurement of the µFORS ?

A: The threshold is limited by random walk only.

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9 µFORS Failure Report Sheet

In case of failure please contact NG LITEF customer support and help expediting the fault
analysis by providing a detailed failure description using the following form:

Company Date

Technical Contact (Name, Phone, EMail)

Specification used (PN, Rev) µFORS-_________

User Manual used (PN, Rev) PN

Drawing used (PN, Rev) SN

History

Test after Income Limits Results

Procedure

Storage from until Conditions

Test after Storage Limits Results

Procedure

Test in Application Limits Results

Procedure

Configuration used
Syncronous IBIS (TX mode, address, channels, triggermode, range) Asyncronous (TX mode, baudrate, triggermode, range)

connection type (flex, single wires, connector, flat cable, asynchronous single/double ended, …)

Comments

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Application
Type of application Operating Conditions (Temperature, …)

Failure Description
Failure description in application Limits Results

Procedure

Occurrence (single, periodic, sporadic, after power-on, …) µFORS Status Byte

Operating hours (per day, per week, overall)

Test after dismounting Limits Results

Procedure

Faulty unit tested in other application unit Limits Results

Procedure

New unit tested in faulty application unit Limits Results

Procedure

Comments, Additional Information

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10 Interface Configuration Tables

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10.1 Interface Configuration Table for µFORS-1

DATA INTERFACE MEASUREMENT MODE AND RANGE

Transmit Trigger Baud Rate Output Preferred
Resolution LSB 2)
Mode Mode Options and Range Range
-6
SW Request 9.6 kBaud 16 bit 6.104 * 10 °
± 0.2° -8
or or 24 bit 2.384 * 10 °
Free Running 19.2 kBaud Angle 16 bit
-5
6.104 * 10 °
Increment ± 2°
(Autonomous) or 24 bit
-7
2.384 * 10 °
Asynchronous Select data 38.4 kBaud 16 bit
-4
6.104 * 10 °
rate within ± 0.02°… ± 20° -6
5 – 1000 Hz or ± 200° 24 bit 2.384 * 10 °
Data Rate -3
5 – 1000 Hz
1)
76.8 kBaud 16 bit 6.104 * 10 °
± 200° -5
or 24 bit 2.384 * 10 °
-4
375.0 kBaud 16 bit 6.104 * 10 °
± 20° -6
Angle 24 bit 2.384 * 10 °
accumulated 16 bit
-3
5.493 * 10 °
± 180° -5
24 bit 2.146 * 10 °
± 20° … -2
± 720° 16 bit 2.197 * 10 °
Select ± 720° -5
Address 24 bit 8.583 * 10 °
-4
1 out of 16 bit 6.000 * 10 °/s
Synchronous ± 19.661 °/s
1 – 254 24 bit
-6
2.344 * 10 °/s
(IBIS)
2.048 MHz -3
Select (recommended) Rate
3) 16 bit 3.000 * 10 °/s
Data Rate ± 98.304 °/s -5
Channels 24 bit 1.172 * 10 °/s
5 – 8000 Hz ± 10 °/s …
4 to 5 out of 16 bit
-2
1.000 * 10 °/s
1 – 31 ± 1000 °/s ± 327.68 °/s -5
24 bit 3.906 * 10 °/s
-2
16 bit 3.000 * 10 °/s
± 983.04 °/s -4
24 bit 1.172 * 10 °/s
1)
Depends on Baud rate.
2)
Value of the Least Significant Bit
3)
In combination with IBIS and update rate >1000 Hz the bias may change up to 6 °/h per 1000 Hz update rate.
If the error is too high, the output “Angle incremental” should be used.

Example for configuration selection

Asynchronous SW Request 76.8 kBaud Angle Increment ± 20 ° 16 bit
Or
Address 01
IBIS Rate ±327.68 °/s 24 bit
Channel 6 - 10
Customer selection (please insert in yellow marked fields):
Customer Name

µFORS-1, P/N 145705-XXXX 4), 143962-2000

Transmit Mode Trigger Mode / Baudrate Measurement Mode Range Resolution

Address & Channel

4)
XXXX will be defined by Northrop Grumman LITEF GmbH

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10.2 Interface Configuration Table for µFORS-3U

DATA INTERFACE MEASUREMENT MODE AND RANGE

Transmit Trigger Baud Rate Output Preferred
Resolution LSB 2)
Mode Mode Options and Range Range
-6
SW Request 9.6 kBaud 16 bit 6.104 * 10 °
± 0.2° -8
or or Angle 24 bit 2.384 * 10 °
-5
HW-Request 19.2 kBaud Increment 16 bit 6.104 * 10 °
± 2° -7
or or 24 bit 2.384 * 10 °
Asynchronous Free Running ± 0.02°… 16 bit
-4
6.104 * 10 °
38.4 kBaud
± 200° ± 20° -6
(Autonomous) or 24 bit 2.384 * 10 °
Data Rate Select data -3
5 – 1000 Hz
1)
76.8 kBaud 16 bit 6.104 * 10 °
rate within ± 200° -5
or 24 bit 2.384 * 10 °
5 – 1000 Hz -4
375.0 kBaud 16 bit 6.104 * 10 °
Angle ± 20° -6
24 bit 2.384 * 10 °
accumulated -3
16 bit 5.493 * 10 °
± 180° -5
± 20° … 24 bit 2.146 * 10 °
-2
± 720° 16 bit 2.197 * 10 °
Select ± 720° -5
Address 24 bit 8.583 * 10 °
-4
1 out of 16 bit 6.000 * 10 °/s
Synchronous ± 19.661 °/s
1 – 254 24 bit
-6
2.344 * 10 °/s
(IBIS)
2.048 MHz 3) -3
Select (recommended) Rate 16 bit 3.000 * 10 °/s
Data Rate ± 98.304 °/s -5
Channels 24 bit 1.172 * 10 °/s
5 – 8000 Hz ± 10 °/s …
4 to 5 out of 16 bit
-2
1.000 * 10 °/s
1 – 31 ± 1000 °/s ± 327.68 °/s -5
24 bit 3.906 * 10 °/s
-2
16 bit 3.000 * 10 °/s
± 983.04 °/s -4
24 bit 1.172 * 10 °/s
1)
Depends on Baud rate.
2)
Value of the Least Significant Bit
3)
In combination with IBIS and update rate >1000 Hz the bias may change up to 6 °/h per 1000 Hz update rate.
If the error is too high, the output “Angle incremental” should be used.

Example for configuration selection

Asynchronous SW Request 76.8 kBaud Angle Increment ± 20 ° 16 bit
Or
Address 01
IBIS Rate ±327.68 °/s 24 bit
Channel 6 - 10
Customer selection (please insert in yellow marked fields):
Customer Name
P/N 151910-XXXX 4),
µFORS-3U
P/N 151910-2000
Transmit Mode Trigger Mode / Baudrate Measurement Mode Range Resolution
Address & Channel

4)
XXXX will be defined by Northrop Grumman LITEF GmbH

© Northrop Grumman LITEF GmbH, Freiburg, Germany 2014 - Alle Rechte vorbehalten.
All rights reserved. Firmenvertraulich / Proprietary & Commercial-in-Confidence
 Northrop Grumman LITEF GmbH Nummer / Number Revision Seite / Page 67
Lörracher Straße 18
79115 Freiburg
140650-2000-311 G
von / of 72
Germany

10.3 Interface Configuration Table for µFORS-3UC

DATA INTERFACE MEASUREMENT MODE AND RANGE

Transmit Trigger Baud Rate Output Preferred
Resolution LSB 2)
Mode Mode Options and Range Range
-6
SW Request 9.6 kBaud 16 bit 6.104 * 10 °
± 0.2° -8
or or Angle 24 bit 2.384 * 10 °
-5
HW Request 19.2 kBaud Increment 16 bit 6.104 * 10 °
± 2° -7
or or 24 bit 2.384 * 10 °
Asynchronous Free Running ± 0.02°… 16 bit
-4
6.104 * 10 °
38.4 kBaud
± 200° ± 20° -6
(Autonomous) or 24 bit 2.384 * 10 °
Data Rate Select data -3
5 – 1000 Hz
1)
76.8 kBaud 16 bit 6.104 * 10 °
rate within ± 200° -5
or 24 bit 2.384 * 10 °
5 – 1000 Hz -4
375.0 kBaud 16 bit 6.104 * 10 °
Angle ± 20° -6
24 bit 2.384 * 10 °
accumulated -3
16 bit 5.493 * 10 °
± 180° -5
± 20° … 24 bit 2.146 * 10 °
-2
± 720° 16 bit 2.197 * 10 °
Select ± 720° -5
Address 24 bit 8.583 * 10 °
-4
1 out of 16 bit 6.000 * 10 °/s
Synchronous ± 19.661 °/s
1 – 254 24 bit
-6
2.344 * 10 °/s
(IBIS)
2.048 MHz 3) -3
Select (recommended) Rate 16 bit 3.000 * 10 °/s
Data Rate ± 98.304 °/s -5
Channels 24 bit 1.172 * 10 °/s
5 – 8000 Hz ± 10 °/s …
4 to 5 out of 16 bit
-2
1.000 * 10 °/s
1 – 31 ± 499 °/s ± 327.68 °/s -5
24 bit 3.906 * 10 °/s
-2
16 bit 1.523 * 10 °/s
± 498.95 °/s -5
24 bit 5.948 * 10 °/s
1)
Depends on Baud rate
2)
Value of the Least Significant Bit
3)
In combination with IBIS and update rate >1000 Hz the bias may change up to 6 °/h per 1000 Hz update rate.
If the error is too high, the output “Angle incremental” should be used.

Example for configuration selection

Asynchronous SW Request 76.8 kBaud Angle Increment ± 20 ° 16 bit
Or
Address 01
IBIS Rate ±327.68 °/s 24 bit
Channel 6 - 10
Customer selection (please insert in yellow marked fields):
Customer Name
P/N 151920-XXXX 4),
µFORS-3UC
P/N 151920-2000
Transmit Mode Trigger Mode / Baudrate Measurement Mode Range Resolution
Address & Channel

4)
XXXX will be defined by Northrop Grumman LITEF GmbH

© Northrop Grumman LITEF GmbH, Freiburg, Germany 2014 - Alle Rechte vorbehalten.
All rights reserved. Firmenvertraulich / Proprietary & Commercial-in-Confidence
 Northrop Grumman LITEF GmbH Nummer / Number Revision Seite / Page 68
Lörracher Straße 18
79115 Freiburg
140650-2000-311 G
von / of 72
Germany

10.4 Interface Configuration Table for µFORS-6U

DATA INTERFACE MEASUREMENT MODE AND RANGE

Transmit Trigger Baud Rate Output Preferred
Resolution LSB 2)
Mode Mode Options and Range Range
-6
SW Request 9.6 kBaud 16 bit 6.104 * 10 °
± 0.2° -8
or or Angle 24 bit 2.384 * 10 °
-5
HW Request 19.2 kBaud Increment 16 bit 6.104 * 10 °
± 2° -7
or or 24 bit 2.384 * 10 °
Asynchronous Free Running ± 0.02°… 16 bit
-4
6.104 * 10 °
38.4 kBaud
± 200° ± 20° -6
(Autonomous) or 24 bit 2.384 * 10 °
Data Rate Select data -3
5 – 1000 Hz
1)
76.8 kBaud 16 bit 6.104 * 10 °
rate within ± 200° -5
or 24 bit 2.384 * 10 °
5 – 1000 Hz -4
375.0 kBaud 16 bit 6.104 * 10 °
Angle ± 20° -6
24 bit 2.384 * 10 °
accumulated -3
16 bit 5.493 * 10 °
± 180° -5
± 20° … 24 bit 2.146 * 10 °
-2
± 720° 16 bit 2.197 * 10 °
Select ± 720° -5
Address 24 bit 8.583 * 10 °
-4
1 out of 16 bit 6.000 * 10 °/s
Synchronous ± 19.661 °/s
1 – 254 24 bit
-6
2.344 * 10 °/s
(IBIS)
2.048 MHz 3) -3
Select (recommended) Rate 16 bit 3.000 * 10 °/s
Data Rate ± 98.304 °/s -5
Channels 24 bit 1.172 * 10 °/s
5 – 8000 Hz ± 10 °/s …
4 to 5 out of 16 bit
-2
1.000 * 10 °/s
1 – 31 ± 1000 °/s ± 327.68 °/s -5
24 bit 3.906 * 10 °/s
-2
16 bit 3.000 * 10 °/s
± 983.04 °/s -4
24 bit 1.172 * 10 °/s
1)
Depends on Baud rate.
2)
Value of the Least Significant Bit.
3)
In combination with IBIS and update rate >1000 Hz the bias may change up to 6 °/h per 1000 Hz update rate. If the error is too high,
the output “Angle incremental” should be used.

Example for configuration selection

Asynchronous SW Request 76.8 kBaud Angle Increment ± 20 ° 16 bit
Or
Address 01
IBIS Rate ±327.68 °/s 24 bit
Channel 6 - 10
Customer selection (please insert in yellow marked fields):
Customer Name
P/N 145704-XXXX 4),
µFORS-6U P/N 151935-XXXX 4),
P/N 144390-2000, 151935-2000
Transmit Mode Trigger Mode / Baudrate Measurement Mode Range Resolution
Address & Channel

4)
XXXX will be defined by Northrop Grumman LITEF GmbH

© Northrop Grumman LITEF GmbH, Freiburg, Germany 2014 - Alle Rechte vorbehalten.
All rights reserved. Firmenvertraulich / Proprietary & Commercial-in-Confidence
 Northrop Grumman LITEF GmbH Nummer / Number Revision Seite / Page 69
Lörracher Straße 18
79115 Freiburg
140650-2000-311 G
von / of 72
Germany

10.5 Interface Configuration Table for µFORS-6UC

DATA INTERFACE MEASUREMENT MODE AND RANGE

Transmit Trigger Baud Rate Output Preferred
Resolution LSB 2)
Mode Mode Options and Range Range
-6
SW Request 9.6 kBaud 16 bit 6.104 * 10 °
± 0.2° -8
or or Angle 24 bit 2.384 * 10 °
-5
HW Request 19.2 kBaud Increment 16 bit 6.104 * 10 °
± 2° -7
or or 24 bit 2.384 * 10 °
Asynchronous Free Running ± 0.02°… 16 bit
-4
6.104 * 10 °
38.4 kBaud
± 200° ± 20° -6
(Autonomous) or 24 bit 2.384 * 10 °
Data Rate Select data -3
5 – 1000 Hz
1)
76.8 kBaud 16 bit 6.104 * 10 °
rate within ± 200° -5
or 24 bit 2.384 * 10 °
5 – 1000 Hz -4
375.0 kBaud 16 bit 6.104 * 10 °
Angle ± 20° -6
24 bit 2.384 * 10 °
accumulated -3
16 bit 5.493 * 10 °
± 180° -5
± 20° … 24 bit 2.146 * 10 °
-2
± 720° 16 bit 2.197 * 10 °
Select ± 720° -5
Address 24 bit 8.583 * 10 °
-4
1 out of 16 bit 6.000 * 10 °/s
Synchronous ± 19.661 °/s
1 – 254 24 bit
-6
2.344 * 10 °/s
(IBIS)
2.048 MHz 3) -3
Select (recommended) Rate 16 bit 3.000 * 10 °/s
Data Rate ± 98.304 °/s -5
Channels 24 bit 1.172 * 10 °/s
5 – 8000 Hz ± 10 °/s …
4 to 5 out of 16 bit
-2
1.000 * 10 °/s
1 – 31 ± 499 °/s ± 327.68 °/s -5
24 bit 3.906 * 10 °/s
-2
16 bit 1.523 * 10 °/s
± 498.95 °/s -5
24 bit 5.948 * 10 °/s
1)
Depends on Baud rate.
2)
Value of the Least Significant Bit
3)
In combination with IBIS and update rate >1000 Hz the bias may change up to 6 °/h per 1000 Hz update rate.
If the error is too high, the output “Angle incremental” should be used.

Example for configuration selection

Asynchronous SW Request 76.8 kBaud Angle Increment ± 20 ° 16 bit
Or
Address 01
IBIS Rate ±327.68 °/s 24 bit
Channel 6 - 10
Customer selection (please insert in yellow marked fields):
Customer Name
P/N 151940-XXXX 4),
µFORS- P/N 151945-XXXX 4),
6UC P/N 151940-2000, P/N 151945-2000
Transmit Mode Trigger Mode / Baudrate Measurement Mode Range Resolution
Address & Channel

4)
XXXX will be defined by Northrop Grumman LITEF GmbH

© Northrop Grumman LITEF GmbH, Freiburg, Germany 2014 - Alle Rechte vorbehalten.
All rights reserved. Firmenvertraulich / Proprietary & Commercial-in-Confidence
 Northrop Grumman LITEF GmbH Nummer / Number Revision Seite / Page 70
Lörracher Straße 18
79115 Freiburg
140650-2000-311 G
von / of 72
Germany

10.6 Interface Configuration Table for µFORS-36M

DATA INTERFACE MEASUREMENT MODE AND RANGE

Transmit Trigger Baud Rate Output Preferred
Resolution LSB 2)
Mode Mode Options and Range Range
-6
SW Request 9.6 kBaud 16 bit 6.104 * 10 °
± 0.2° -8
or or Angle 24 bit 2.384 * 10 °
-5
Free Running 19.2 kBaud Increment 16 bit 6.104 * 10 °
± 2°
(Autonomous) or 24 bit
-7
2.384 * 10 °
Asynchronous Select data 38.4 kBaud
± 0.02°…s 16 bit
-4
6.104 * 10 °
rate within ± 200° ± 20° -6
5 – 1000 Hz or 24 bit 2.384 * 10 °
Data Rate -3
5 – 1000 Hz
1)
76.8 kBaud 16 bit 6.104 * 10 °
± 200° -5
or 24 bit 2.384 * 10 °
-4
375.0 kBaud 16 bit 6.104 * 10 °
Angle ± 20° -6
24 bit 2.384 * 10 °
accumulated -3
16 bit 5.493 * 10 °
± 180° -5
± 20° … 24 bit 2.146 * 10 °
-2
± 720° 16 bit 2.197 * 10 °
± 720° -5
24 bit 8.583 * 10 °
Select -4
Address 16 bit 6.000 * 10 °/s
± 19.661 °/s -6
1 out of 24 bit 2.344 * 10 °/s
Synchronous
1 – 254 16 bit
-3
3.000 * 10 °/s
(IBIS) ± 98.304 °/s
2.048 MHz -5
Rate
3) 24 bit 1.172 * 10 °/s
Select (recommended)
Data Rate 16 bit
-2
1.000 * 10 °/s
Channels ± 327.68 °/s
5 – 8000 Hz ± 10 °/s … -5
4 to 5 out of 24 bit 3.906 * 10 °/s
1 – 31 ± 1500 °/s 16 bit
-2
3.000 * 10 °/s
± 983.04 °/s -4
24 bit 1.172 * 10 °/s
-2
16 bit 4.500 * 10 °/s
1474.56 °/s -4
24 bit 1.758 * 10 °/s
1) 2) 3)
Depends on Baud rate. Value of the Least Significant Bit In combination with IBIS and update rate >1000 Hz the
bias may change up to 6 °/h per 1000 Hz update rate. If the error is too high, the output “Angle incremental” should be used.

Example for configuration selection

Asynchronous SW Request 76.8 kBaud Angle Increment ±20 ° 16 bit
Or
Address 01
IBIS Rate ±327.68 °/s 24 bit
Channel 6 - 10
Customer selection (please insert in yellow marked fields):
Customer Name

µFORS-36M

Transmit Mode Trigger Mode / Baudrate Measurement Mode Range Resolution

Address & Channel

© Northrop Grumman LITEF GmbH, Freiburg, Germany 2014 - Alle Rechte vorbehalten.
All rights reserved. Firmenvertraulich / Proprietary & Commercial-in-Confidence
 Northrop Grumman LITEF GmbH Nummer / Number Revision Seite / Page 71
Lörracher Straße 18
79115 Freiburg
140650-2000-311 G
von / of 72
Germany

11 Reader’s Comments Page

This document has been compiled using special care. However nobody has yet invented a
bug that will definitely by identified and removed. In case you identify any error in this
document we kindly ask you for your help to improve the quality of our documentation in
reporting this error back to us.

Please send the error report to:

Northrop Grumman LITEF GmbH FAX: +49 (761) 4901-773

Lörracherstr. 18 eMail: [email protected]
D-79115 Freiburg with following topic:
Germany “Forward to µFORS Product Management”

Document Number 140650-2000-311

Revision G
Your company
Your address

Your name
eMail
Page / Chapter Description of Error

Additional Remarks / Comments / Recommendations for Improvements

© Northrop Grumman LITEF GmbH, Freiburg, Germany 2014 - Alle Rechte vorbehalten.
All rights reserved. Firmenvertraulich / Proprietary & Commercial-in-Confidence
 Northrop Grumman LITEF GmbH Nummer / Number Revision Seite / Page 72
Lörracher Straße 18
79115 Freiburg
140650-2000-311 G
von / of 72
Germany

12 Change Log
Revision Changes Page Chapter
D Transportations Instructions added 15 2.2
Table 5-1 editiorial change, “Under Temperature” added 22 5
“Under Temperature” added in title of chapter 2.6 17 2.6
Chapter splitted into 2.6.1 and 2.6.2 2.6.1, 2.6.2
Table 1-1: Gyro Types: PN 144390-4715-xxx added 2 -
editiorial change only 23 6.1
Reference [22] added 12 1.3.1
Reference to [22] added 42 7.3.4.1
“Configuration” added in title 46 7.4
“Standard or Address mode” added in Table 8-1 51 8.3
Remark to IMK-2 added 10 1.2
Power-On-Definition added 28 7
“Attention” at end of chapter deleted 35 7.2.6
Clarification on power-up conditions in “Notice” 21 4.2
E New part numbers added in Table 1-1 2 -
New part numbers added in chapter 1.3.1 12 1.3.1
Introduction of configurable and fixed-configuration µFORS versions 10 1.2
Tightening torque changed from 0.7 Nm to 0.9 Nm 20 3.3
Software Trigger: “Transmit Data and reset” renamed to “Transmit Data and clear” 37 7.2.6
“Accumulated Angle” : “reset command” renamed to “clear command” 52 8.4
Incorporation of Northrop Grumman LITEF GmbH’s name change - -
Added: NOTICE: The rising condition for the power supply must not exceed 100 V/µs. 21 4.2
F µFORS-3U, -3UC, -6UC added 1,2 Table 1-1
12 1.3.1
33 Table 7-5
35 Table 7-6
37 Table 7-7
41 Table 7-9
42 Table 7-10
48 Figure 8-1
48 Figure 8-2
56 8.5.3.1
56 8.5.3.2
57 8.5.3.3
59 8.5.5.1
Typos - -
Product images updated 1 -
“… or equivalent” added for soldertype 19 3.2.1
Note added 21 4.1
“There is no additional filtering applied to the data.” Added in first paragraph 24 6.2.2
Notes added 28 7
IBIS max. data rate for new generation µFORS added, note 4 added 43 Table 7-11
IBIS max. data rate for new generation µFORS added, “rate” in note 3 ammended 51 Table 8-1
“Scale Factor Non-linearity” amended 52 8.4
“Bias Instability” amended 52 8.4
“Bandwidth” amended 52 8.4
FAQ: Q: How is Rate Bias defined ? (=~10°/h) corrected 60 8.6
FAQ ammended 60 8.6
Failure Report Sheet added 62 9
G µFORS 1,-3U, -3UC, -6UC for variant management added 2 Table 1-1
12 1.3.1
Remove explict values for mangnetic sensetivity 16 2.5
Add baud rate erros as tabel 31 7.2.3
Add Configuration tables for all µFORS variants 64 ff. 10

© Northrop Grumman LITEF GmbH, Freiburg, Germany 2014 - Alle Rechte vorbehalten.
All rights reserved. Firmenvertraulich / Proprietary & Commercial-in-Confidence