U3500

Parameter

U3500-A

U3500-B

U3500-C

U3500-D

Unit

Attitude Precision

Pitch (±90°) /Roll (±180°) (static)

0.15(normal), 0.2(max)

°

Pitch (±90°) /Roll (±180°) (dynamic)

0.15(normal), 0.2(max)

°

Yaw (±180°) static drift 2hrs (6DOF) ①

0.15(normal), 0.2(max)

°

Yaw (±180°) dynamic drift (6DOF) ②

9

5

5

5

°

Magnetic assist (AHRS)③

2(normal), 3(max)

°

Yaw rotation error (6DOF) (rotation under 100°/s)④

3(max)

<0.8(normal), 1.5(max)

1(max)

1(max)

°

Resolution

0.01

°

Note:

① Module horizontally stationary for 2 hours.

② The module was measured after 1 hour of movement on an indoor robot, 1σ

③ After geomagnetic calibration, the product needs to be configured in AHRS mode when there is no magnetic field interference in the surrounding area.

④ The turntable rotates continuously for 10 turns, and the heading angle accumulates error.

3-Axis Gyroscope

U3500-A

U3500-B

U3500-C

U3500-D

Unit

Measurement range

±2000 (adjustable)

°/s

Resolution

16

bit

Scale factor(100°/s)① 

<600(normal)

800(max)

<450(normal)

600(max)

<280(normal)

300(max)

<280(normal)

300(max)

ppm

Nonlinearity②

±0.05

%Fs

3dB Bandwidth

47(normal) – 116(max)

Hz

Sampling

1000

Hz

Zero bias instability (Allan)③

X,Y,Z: 4.2

X,Y: 4.2

Z: 2.2

X,Y: 2.4

Z: 1.7

X,Y: 2.4

Z: 1.7

°/h

Zero bias instability (10s, 1σ)

X,Y,Z: 24

X,Y: 24

Z: 9.6

X,Y: 11.5

Z: 5.5

X,Y: 11.5

Z: 5.5

°/h

Zero bias repeatability (Allan)③

X,Y,Z: 14.5

X,Y: 14.5

Z: 9.3

X,Y: 8.2

Z: 5.7

X,Y: 8.2

Z: 5.7

°/h

Angle random walk (Allan)③

X,Y,Z: 0.6

X,Y: 0.6

Z: 0.3

X,Y: 0.3

Z: 0.1

X,Y: 0.3

Z: 0.1

°/√h

Full temperature zero bias-40-85℃④

Z: 0.015(normal) – 0.035(max)

Y: 0.05(normal) – 0.018(max)

X: 0.03(normal) – 0.08(max)

°/s

Accelerometer sensitivity (All three axis)

0.1

°/s/g

Notes:

①: Rotate the turntable 10 times in both directions and take the average measurement

②: Maximum deviation from the best fit line within the specified range

③: Refer to the 5.1 ~ 5.3 -Alan variance curve

④: The temperature rise slope measured by the temperature chamber turntable in the lab is less than 3℃/min. For detailed data, please refer to Figure 13 for the temperature compensation curve

3-Axis Accelerometer

U3500-A

U3500-B

U3500-C

U3500-D

Unit

Measurement range

±12(adjustable)

g

Resolution

16

bit

Initial bias drift①

5(max)

mg

Nonlinearity

0.5(normal)

%Fs

3dB Bandwidth

145

Hz

Sampling

1600

Hz

Zero bias instability (Allan)②

0.05

0.05

0.028

0.028

mg

Zero bias instability (10s, 1σ)

0.29

0.29

0.12

0.12

mg

Zero bias repeatability (Allan)②

0.24

0.24

0.13

0.13

mg

Angle random walk (Allan)②

0.08

0.08

0.04

0.04

m/s/√h

Full temperature zero bias-40-85℃③

1(normal) – 2.5(max)

mg

Notes 

①: After user installation, this value may change according to actual conditions, refer to 7.8 for initial zero bias

②: Refer to the 5.1~5.3 Alan variance curve

③: The temperature rise slope measured by the temperature chamber turntable in the lab is less than 3 ℃/min. For detailed data, please refer to Figure 13 for the temperature compensation curve

Magnetometer

U3500-A

U3500-B

U3500-C

U3500-D

Unit

Range

20 (normal)

Gauss

Sampling

200 (normal)

Hz

Linearity

0.1 (normal)

Fs%

Temperature sensor

U3500-A

U3500-B

U3500-C

U3500-D

Unit

Range

-104(min) – 150(max)

℃

Offset error

±1

K

Mechanical/Environment

U3500-A

U3500-B

U3500-C

U3500-D

Unit

Power supply

3.3 - 5.5

V

Power consumption

240

245

300

300

mW

Working temperature

-40 - +85

℃

Gyroscope range

±125(min) –±2000(normal/max)

°/s

Accelerometer range

±3(min) –±12(normal) –±24(max)

g

Starting time①

2

s

Size

Molex interface: 22*22*10

Board-to-board interface: 22*22*9

mm

Weight

<8

g

Shell material and process

Aluminum alloy CNC

Assembling screws

M2.5

Connector model

Molex connector：Molex 5015680807

Board to board connector: 2x8P pin spacing of 1mm

Anti-Vibration

1.0mm(10Hz-58Hz) &≤20g(58Hz-600Hz)

Shock (duration <1ms)

2000

g

Environment protection

RoHS Directive 2011/65/EU

EMC

LVD Directive 2014/35/EU

Drop test

Free fall 3 times on a 75cm high experimental platform

Temperature shock

Raise the temperature from -40 to 85 ℃ within 1h, 5 times

Notes:

① Startup time refers to the time it takes for the system to shut down and output valid data. During this period, the module should be kept stationary

Interface

Min

Normal

Max

Unit

UART (TTL)

Baud-rate

9600

115200

921600

bps

Starting position

0

1

bit

Data length

0

8

bits

Stop bit

1

bit

Checksum

None

bit

Output frame rate①

0

100

1000

Hz

Logic voltage: High

Low

2.0

3.3

3.6

0.6

V

CAN

Baud-rate②

125

500

1000

kbps

Output frame rate③

5

100

200

Hz

Logic voltage: High

            Low

2.0

3.3

3.6

0.6

V

IO

Logic voltage: High

            Low

2.0

0.6

V

Delay (trigger function)④from trigger generation to data transmission

800

us

Notes:

① The sensor supports 1, 5, 10, 50, 100, 200, 250, 500, 1000 Hz data output.

② The baud rates supported by CAN communication are 125K, 250K, 500K, and 1000K.

③ The sensor CAN communication supports 5,10,50,100,200Hz data output.

④ For multi-functional IO operations and configurations, please refer to the instruction and programming manual.

Environment

Working temperature

-40 ~ +80

℃

Storage temperature

-40 ~ +95

℃

Anti-Vibration

1.0mm(10Hz-58Hz) &≤20g(58Hz-600Hz)

Shock (duration <1ms)

2000

g