Users Manual

FCC ID: W34UMRR0F1E

Users Manual

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                                 Annex no. 5

 Functional Description /
      User Manual




Date: 2014-03-07                                           Page 1 of 1                                            Vers. no. 1.14
m. dudde hochfrequenz-technik   Rottland 5a   D-51429 Bergisch Gladbach/ Germany   Tel: +49 2207-96890   Fax +49 2207-968920


Project Documentation | UMRR-0F0002-1E0902-030B00
                        Radar Sensor Documentation



Project Number:
...

SMS Project Number:

Project Title:
General Purpose Radar Sensor

Keyword(s):
UMRR-0F0002-1E0902-030B00 radar sensor, type 30 antenna

Date:
November 13, 2014

Document:
UMRR-0F0002-1E0902-030B00 General Purpose USA

Version:
1




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1 Contents
1   Contents .................................................................................................................... 2
2   Abbreviations ............................................................................................................. 3
3   Introduction ............................................................................................................... 4
4   General description .................................................................................................... 5
  4.1 Sensor description................................................................................................ 5
  4.2 Transmit Signal .................................................................................................... 7
  4.3 General Performance Data .................................................................................... 7
5 Hardware .................................................................................................................. 8
  5.1 UMRR sensor ....................................................................................................... 8
  5.2 Sensor Dimensions ............................................................................................. 10
6 Cables and connectors.............................................................................................. 12
  6.1 Sensor connector ............................................................................................... 12
7 Data interfaces ........................................................................................................ 13
  7.1 CAN data interface ............................................................................................. 13
  7.2 CAN-Settings ..................................................................................................... 13
  7.3 RS485 data interface .......................................................................................... 14
  7.4 Transceiver schematics....................................................................................... 17
8 Designated use ........................................................................................................ 19
9 Change the Frequency Band ..................................................................................... 20
10    Frequency Approval .............................................................................................. 22
  10.1    Declaration of Conformity for USA .................................................................... 22
    10.1.1     FCC Label ................................................................................................. 22
  10.2    Declaration of Conformity for CANADA ............................................................. 23
    10.2.1     Declaration of Conformity in English ........................................................... 23
    10.2.2     Déclaration de conformité en francais ........................................................ 23
    10.2.3     Industry Canada (IC) Label ....................................................................... 23




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2 Abbreviations
ADC          Analog-to-digital converter
CAN          Controller area network
DAC          Digital-to-analog converter
DSP          Digital signal processing; digital signal processor
EEPROM Electrically erasable programmable read-only memory
FMCW         Frequency modulated continuous wave
MMIC         Monolithic microwave integrated circuit
RAM          Random access memory
RS485        Physical communication layer standard EIA RS-485
SPI          Serial peripheral interface
UMRR         Universal medium-range radar




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3 Introduction
This document is a short documentation of the general purpose universal medium range
radar (UMRR) UMRR-0F0002 radar sensor with type 30 antenna 1E0902 in the housing
version 030B00.




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4 General description
4.1 Sensor description
The main task of the UMRR is the detection of any reflectors in the field of view, to measure
the distance, the relative speed and the angle to the shortest reflector (and to other
reflectors), to detect motion and to track (filter) the results over time.

For this general purpose measurement application, range and relative radial speed and
the angle value of each reflector inside the antenna beam are measured and the results are
reported via the communication links cycle by cycle. For a block diagram of the sensor see
Figure 1.


                            DSP board                                                      RF transceiver board


              Radar processor
            (DSP TMS320F28335)
                                                    Clock                             MMIC                     TX antenna
                                                    1 MHz
                                                   SPI (digital control)
                                  McBSP                                      SPI             PLL

         Program
          Flash                                                                 DAC          VCO


         internal                                                analog                                       RX antennas
                                  MxADC            MxAmp                                   Mixer
           RAM


                                                    Clock
                                                   30 MHz



       external      EEPROM          Communic.
         RAM                          Processor


                                                       Clock
               RS485          CAN       Ethernet      16MHz
                                          LAN         25MHz



Figure 1: Block diagram of the UMRR-0F sensor

The UMRR sensor consists of two printed circuit boards: The DSP board and the RF
transceiver board.

The major component of the DSP board is the DSP TMS320F28335 which integrates flash
memory (for program code) and RAM. The DSP provides interfaces to external RAM,
EEPROM, CAN bus and RS485 (both for data communication). The Communication Processor
provides an Ethernet interface for data communication.
The DSP controls the RF transceiver board via an SPI interface.
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The RF transceiver board consists of transmit and receive antennae and the RF circuitry that
includes the radar MMIC SC3001.2. The radar MMIC generates the transmit signal and down
converts the receive signals into baseband. The analog baseband signals are then routed to
the DSP board and digitized by the DSP’s built-in ADC. The digital data are further processed
on the DSP.

The MMIC also features a PLL circuitry to calibrate and linearize the transmit frequency
ramps, a DAC for setting the VCO voltage (corresponding to the transmit frequency) and an
SPI interface for receiving the control signals from the DSP.

For the time of emission the device is one fixed point to point application.




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4.2 Transmit Signal
The UMRR transmit frequency is located in the 24 GHz ISM band (24075 MHz to 24175 MHz),
the used bandwidth is smaller than 100 MHz. The maximum transmit power is 21.0 dBm.

Antenna type 30 is used, consisting of one transmit and two receive antennas, both linear
polarized. The 2 way 3 dB cut-off angle in az. +-15deg. And in el. +-4deg.

The device uses different FMCW transmit signal waveforms for distance and speed
measurement.

4.3 General Performance Data
As soon as the device is powered up, the unit (TX and RX) starts operation. In Table 1:
General performance data general performance data are given.

Table 1: General performance data

Environmental
Ambient Temperature                                    -40 ... +85                                            degree C
Shock                                                  100                                                    grms
Vibration                                              14                                                     grms
IP                                                     67
Pressure / Transport altitude                          0…10.000                                               m
Mechanical
Weight                                                 285                                                    g
Dimensions                                             See 5.2
Housing Identification                                 030B00
Antenna Identification                                 1E0902
DSP Board Identification                               0F0002
General
Power Supply                                           7 ... 40                                               V DC
                                                       3.7                                                    W
Frequency Band                                         24.075…24.175                                          GHz
Bandwidth                                              < 100                                                  MHz
Max. Transmit Power (EIRP)                             21.0                                                   dBm
Interfaces                                             CAN V2.0b (passive),
                                                       RS485 half or full duplex
                                                       100Base-T Ethernet
Connector                                              12 Pin plug Hirose LF10WBRB-                           CAN, RS485,
                                                       12PD                                                   Power, Eth.




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5 Hardware
5.1 UMRR sensor
An example picture of a UMRR (universal medium-range radar) sensor (housing type
030B00) is shown in the figures below.




Figure 2: UMRR sensor, housing type 030B00, front.




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Figure 3: UMRR sensor housing 030B00 rear




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5.2 Sensor Dimensions
All values given in mm.




                                                 Figure 4: Sensor Front side.




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                                       Figure 5: Sensor Top, Left and Right Side.




                                                 Figure 6: Sensor Rear Side.




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6 Cables and connectors
6.1 Sensor connector
The used sensor connector is a 12-pin male (plug) circular connector (water proof IP67,
LF10, manufacturer Hirose). A female counterpart (socket), e.g. LF10WBP-12S, has to be
used to connect to the sensor. The pin numbering of the socket is shown in Figure 7 the pin
description is given in Table 2: Sensor connector pin out Model UMRR-0F0002.




  Figure 7: View on solder cup side of socket (rear view of female counterpart to be connected to
                                               sensor)

                     Pin         Signal name                 Wire Pair           Function
                     1           Eth_Tx1_P                       1               Ethernet – RJ45 Pin 1
                     2           Eth_Tx1_N                                       Ethernet – RJ45 Pin 2
                     3           RS485_IN_N                          2           RS485 Input
                     4           RS485_IN_P
                     5           RS485_OUT_N                         3           RS485 Output
                     6           RS485_OUT_P
                     7           GND                                 4           Ground
                     8           Vcc                                             7 .. 40 V DC Supply
                     9           Eth_Tx2_N                           5           Ethernet – RJ45 Pin 6
                     10          Eth_Tx2_P                                       Ethernet – RJ45 Pin 3
                     11          CAN Hi                              6           CAN Interface
                     12          CAN Lo
                             Table 2: Sensor connector pin out Model UMRR-0F0002

Please note that in the standard configuration the sensor has no 120Ohms resistor on board
(CAN bus termination between CAN_L and CAN_H). The resistor is nevertheless required at
either end of a CAN bus and is in most cases integrated in the cable delivered along with the
sensor (if cable is manufactured by Smartmicro).

For the RS485 data interface there is a 120Ohms resistor on board of the sensor. The RS485
interface is full duplex hardware. Semi-duplex operation is also supported; please refer to the
User Manual.
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7 Data interfaces
7.1 CAN data interface
This specification gives a detailed description of the CAN data communication used in the
UMRR based systems on the sensor CAN. The UMRR is compliant with CAN 2.0B standard.

CAN is a very robust full duplex bidirectional interface.
7.2 CAN-Settings
Baud Rate:                            500kBit/s or lower
Tseg1:                                8
Tseg2:                                7
Tsjw:                                 1                  (SJW: synchronization jump width)

Above values for CAN bit timing are illustrated in Figure 8 for the DSP TI TMS320F28335
used in the UMRR radar sensor (note: the eCAN module is integrated in the DSP). For
comparison purposes, in Figure 9 the CAN bit timing as defined by the CAN protocol is
shown. For the DSP TMS320F28335 the value of SYNCSEG (Figure 8) is always equal to 1 TQ
(Time Quantum) and it corresponds to the value Sync in Figure 9. TSEG1 (Figure 8)
combines the two time segments Prop and Phase 1 (Figure 9) as defined by the CAN
protocol. TSEG2 (Figure 8) corresponds to Phase 2 (Figure 9)
The CAN bit timing parts as defined by the CAN protocol (Figure 9) can be described as
follows:
      • Sync: This part of bit time is used to synchronize the various nodes on the bus. An
         edge is expected to lie within this segment. For the UMRR sensor, this segment is
         always 1 TIME QUANTUM (TQ).
      • Prop: This part of the bit time is used to compensate for the physical delay times
         within the network. It is twice the sum of the signal’s propagation time on the bus
         line, the input comparator delay, and the output driver delay. For the UMRR sensor,
         this segment is programmable from 1 to 8 TIME QUANTA (TQ.
      • Phase 1: This phase is used to compensate for positive edge phase error. For the
         UMRR sensor, this segment is programmable from 1 to 8 TIME QUANTA (TQ) and
         can be lengthened by resynchronization.
      • Phase 2: This phase is used to compensate for negative edge phase error. For the
         UMRR sensor, this segment is programmable from 2 to 8 TIME QUANTA (TQ) and
         can be shortened by resynchronization.




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Figure 8: CAN bit timing for UMRR sensor (eCAN module on DSP TMS320F28335)




Figure 9: CAN bit timing as defined by the CAN protocol


7.3 RS485 data interface
The RS485 interface from the UMRR sensor has a predefined speed of 230400 baud/s.
Typical other data rates are between 921.6kBit/s and 56.7kBit/s.

The RS485 message payload is identical to the CAN format. The data messages will be sent
in several packets of one byte.

Every cycle begins with a start sequence and ends with a calculated checksum and an end
sequence. The length of the data payload depends on the number of targets and tracked
objects.
Every cycle has one start sequence one end sequence and one checksum.




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Table 3: RS485 message structure

   Byte\Bit               7            6             5            4            3            2            1            0
      0                                                                                                             0xCA
      1                                                                                                             0xCB
                                               Start sequence (4 x UINT8)
      2                                                                                                             0xCC
      3                                                                                                             0xCD
      x
      x
      x
      x
                                                         Data payload (n x UINT8)
      x
      x
      x
      x
      0                                                    XOR Checksum (UINT8)
      1                                                                                                             0xEA
      2                                                                                                             0xEB
                                                End sequence (4 x UINT8)
      3                                                                                                             0xEC
      4                                                                                                             0xED

Every data message consists of its own message ID, the number of used data bytes and the
data bytes itself.

The checksum is calculated on all data except the start sequence and the end sequence. The
Checksum is a simple XOR Assignment of all n data bytes.
Byte0 XOR Byte1 XOR Byte2 ... XOR Byte (n-1)




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Table 4: Structure of a RS485 data payload block

   Byte\Bit               7            6            5            4            3             2            1           0
      0                                                                                                             High
                                               CAN message ID (UINT16)
      1                                                                                                             Low
      2                                             CAN message length (UINT8)
      3
      4
      5
      6
                                               CAN data payload (length x UINT8)
      7
      8
      9
      10


The sensor receives only one message per cycle. It is important to wait for the end sequence
to send an additional command.




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7.4 Transceiver schematics
In Figure 10 an extract of the DSP board schematic of the UMRR is given. As can be seen in
this figure, the CAN A pins of the DSP TMS320F28335 are connected to a CAN transceiver
which is connected to the pins CAN_A_L and CAN_A_H. Similarly, the RS485 pins of the DSP
are connected to a RS485 transceiver, which is connected to the pins RS485_IN_P,
RS485_IN_N, RS485_OUT_P and RS485_OUT_N. It should be noted that the mentioned pins
CAN_A_L and CAN_A_H correspond to the pins 11 and 12 of the sensor connector described
in section 6.1 and that the RS485 pins correspond to pins 3, 4, 5 and 6.
The Pins CoPro_TX0_P, CoPro_TX0_N, CoPro_TXI_P and CoPro_TXI_N are connected to an
Ethernet magnetic module, which is connected to the pins CoPro_TX1_N, CoPro_TX1_P,
CoPro_TX2_N and CoPro_TX2_P. (please see Figure 11) These pins lead to the pins 1, 2, 9
and 10 of the connector, described in chapter 6.1.




Figure 10: UMRR-0F0002 DSP board schematics, CAN and RS485 transceivers




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Figure 11: UMRR-0F0002 DSP board schematics, Ethernet




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8 Designated use
The UMRR general purpose medium range radar is suitable for any application where the
distance to and relative radial speed of large objects has to be measured.

Typical applications are:

Automotive: measure shortest distance to obstacle.
Robotics: measure shortest distance to obstacle.
Security: detect motions and measure distance to moving object.
Traffic management: detect moving objects, count those, measure speed and measure
distance to moving object.
Cranes: measure distance to ground.
Aircraft: measure distance to ground.

The detection range depends on object size. Very large reflectors can be detected at a range
of more than 500 m.




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9 Change the Frequency Band
For some use cases it may be required to run the sensor in a different frequency range than
the default one, to avoid interferences in multi sensor system for example.

The sensor provides 7 possible frequency bands (FB6 … FB12) between 24.075 GHz and
24.175 GHz.

There are two ways to change the sensors frequency band. One way is to change the sensor
ID. With the ID the default frequency band changes as well. This change is non-volatile.

The other way is to change the frequency band by hand, while the sensor ID remains the
same. These changes are volatile and will be reset to default after power down unless you
save them in the EEPROM by sending “Action 136”.

To change the frequency band by hand send the command:
   • ParNo.:       36
   • Value:        6…12 (=frequency index (FI), default = 6 (FI6), see Table 5)
   • Action:       65
   • Format:       Int

then   reinitialize the software:
   •     ParNo.:        don’t care
   •     Value:         1
   •     Action:        130
   •     Format:        Int

Please note that we use a sensor ID dependent frequency offset (25 MHz) by default:

         Frequency Band = Frequency Index + Sensor ID * Offset

Example: (Sensor ID2; Frequency Index 4)

         FI4 + 2 * 25 MHz = FB8




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Table 5: ID dependent frequency offset

    f [GHz]          frequency         frequency    frequency    frequency    frequency
                        band         index sensor index sensor index sensor index sensor
                                          ID0          ID1          ID2          ID3
    24.0810              FB6               FI6          FI4          FI2          FI0
    24.0935              FB7                FI7                FI5               FI3                FI1
    24.1060              FB8                FI8                FI6               FI4                FI2
    24.1185              FB9                FI9                FI7               FI5                FI3
    24.1310             FB10               FI10                FI8               FI6                FI4
    24.1435             FB11               FI11                FI9               FI7                FI5
    24.1560             FB12               FI12               FI10               FI8                FI6


If you want to disable the sensor ID dependent frequency offset send the following
command:
    • ParNo.:       8
    • Value:        0 (=deactivated, 1= activated (default))
    • Action:       20
    • Format:       Int

If you use two sensors in combination we recommend you to choose frequency bands which
are not adjacent in order to avoid any interference, for example:
FB6 & FB8, FB7 & FB9, …




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10 Frequency Approval
10.1 Declaration of Conformity for USA
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two
conditions:
   (1) This device may not cause harmful interference, and
   (2) this device must accept any interference received, including interference that may
       cause undesired operation.

Usually this is followed by the following FCC caution:
Any changes or modifications not expressly approved by the party responsible for compliance
could void the user’s authority to operate this equipment.



Note: This equipment has been tested and found to comply with the limits for a
Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are
designed to provide reasonable protection against harmful interference in a
residential installation. This equipment generates, uses and can radiate radio
frequency energy and, if not installed and used in accordance with the
instructions, may case harmful interferences to radio communications. However,
there is no guarantee that interference will not occur in a particular installation.
If this equipment does cause harmful interference to radio or television reception,
which can be determined by turning the equipment off and on, the user is
encouraged to try to correct the interference by one or more following
measures:

    -    Reorient or relocate the receiving antenna
    -    Increase the separation between the equipment and receiver
    -    Connect the equipment into an outlet on a circuit different
            from that to which the receiver is connected
    -    Consult the dealer or an experienced radio/TV technician for help.

10.1.1 FCC Label



                                                       Figure 12: FCC ID




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10.2 Declaration of Conformity for CANADA
10.2.1 Declaration of Conformity in English

This device complies with Industry Canada licence-exempt RSS standard(s).
Operation is subject to the following two conditions:
(1) this device may not cause interference, and (2) this device must accept any interference,
including interference that may cause undesired operation of the device.

IC Radiation Exposure Statement:

This equipment complies with IC RSS-102 radiation exposure limits set forth for an
uncontrolled environment. This equipment should be installed and operated with the
minimum distance 20cm between the radiator & your body.

10.2.2 Déclaration de conformité en francais

Le present appareil est conforme aux CNR d’Industrie Canada applicables aus appareils radio
exempts de licence. Léxploitation est autorisée aux deux conditions suivantes: (1) l’appareil
ne doit pas produire de brouillage, et (2) l’utilisaeur de l’appareil doit accepter tout brouillage
radioélectrique subi, même si le brouillage est susceptible d’en compromettre le
fonctionnement.

DÉCLARATION D’EXPOSITION AUX RADIATIONS

Cet equipement est conforme aux limites d’exposition aux rayonnements IC établies pour un
environnement non contrôlé. Cetéquipement doit être installé et utilisé avec un minimum de
20cm de distance entre la source de rayonnement et votre corps.

10.2.3 Industry Canada (IC) Label



                                           Figure 13: Label IC Model (Sample)




                                                Figure 14: Label IC Number




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Document Created: 2015-01-09 09:39:12
Document Modified: 2015-01-09 09:39:12

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