U3700

Parameter

U3700-A

U3700-B

U3700-C

U3700-D

Unit

Attitude Precision

Pitch (±90°) /Roll (±180°) (static)

0.15(normal), 0.2(max)

°

Pitch (±90°) /Roll (±180°) (dynamic)

0.15(normal) 0.3(max)

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) 1.3(max)

<0.8(normal) 1.3(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

U3700-A

U3700-B

U3700-C

U3700-D

Unit

Measurement range

±2000 (adjustable)

°/s

Resolution

16

bit

Scale factor(100°/s)① 

<600(normal)

800(max)

<280(normal)

350(max)

<280(normal)

350(max)

<280(normal)

300(max)

ppm

Nonlinearity②

±0.05

%Fs

3dB Bandwidth

47(normal) – 230(max)

Hz

Sampling

1000

Hz

Zero bias instability (Allan)③

5.1

2.5

2.5

1.76

°/h

Zero bias repeatability (Allan)③

0.09

0.05

0.05

0.03

°/s

Angle random walk (Allan)③

0.6

0.3

0.3

0.21

°/√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

U3700-A

U3700-B

U3700-C

U3700-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

0.06

0.03

0.03

0.021

mg

Zero bias repeatability (Allan)②

2.52

1.5

1.5

0.6

mg

Angle random walk (Allan)②

0.08

0.04

0.04

0.028

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

U3700-A

U3700-B

U3700-C

U3700-D

Unit

Range

±8

Gauss

Resolution (Fs=2G)

2

mGuass

Sampling

200 (normal)

Hz

Linearity (Best fitting straight line Fs=2G)

0.1 (normal)

Fs%

Temperature sensor

U3700-A

U3700-B

U3700-C

U3700-D

Unit

Range

-104(min) – 150(max)

℃

Offset error

±1

K

Mechanical/Environment

U3700-A

U3700-B

U3700-C

U3700-D

Unit

Power supply

7 - 48

V

Power consumption

300

400

400

600

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

M12 connector interface: 58.5*40*20

PG connector interface: 40*36*16

mm

Weight

<75

g

Shell material and process

Aluminum alloy CNC

Assembling screws

M3

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

Baud-rate①

9600

115200

921600

bps

Starting position

0

1

bit

Data length

0

8

bits

Stop bit

1

bit

Checksum

None

bit

Output framerate②

0

100

1000

Hz

Input impedance

Output impedance

(Rs232)

3

300

5

10M

7

kΩ

Ω

CAN

Baud-rate③

125

500

1000

kbps

Output framerate④

5

100

200

Hz

Input impedance^⑤ (with 120 Ω resistor)

(without 120 Ω resistor)

19

120

30

52

Ω

kΩ

RS485

Baud-rate (Modbus)

(non-Modbus)

9600

9600

115200

115200

115200

921600

bps

Starting position

0

1

bit

Data length

0

8

bits

Stop bit

1

bit

Checksum

None

bit

Output framerate

(Modbus)

(non-Modbus)

0

0

10

100

50

250

Hz

Input impedance^⑤ (with 120 Ω resistor)

(without 120 Ω resistor)

48

120

Ω

kΩ

Trigger

Pin

Logic voltage High

           Low

2.0

0.6

V

Delay (From triggering to data transmission)^⑥

800

us

Notes:

① If modifications are required, please refer to the instruction and programming manual.  

② The sensor supports data output at 1, 5, 10, 50, 200, 250, 500, and 1000 Hz.  

③ If modifications are required, please refer to the instruction and programming manual.  

④ The sensor supports 5, 10, 50, 100, and 200 Hz data output.  

⑤ By default, there is no 120 Ω resistor connected

⑥ Please refer to the synchronization function chapter and instruction and programming manual for triggering timing and configuration.

Environment

Working temperature

-40 ~ +80

℃

Storage temperature

-40 ~ +95

℃

Anti-Vibration

1.0mm(10Hz-58Hz) &≤20g(58Hz-600Hz)

Shock (duration <1ms)

2000

g