Aceinna · Inertial systems
MTLT335D
Triple-redundant dynamic tilt sensor and 6-DOF IMU with CAN J1939, developed to ISO 13849 up to PL d.
- Triple-redundant 6-DOF
- ISO 13849 PL d
- CAN J1939 / RS232
- IP69K, 9 to 32 V
Overview
The MTLT335D is a 6-DOF IMU and dynamic tilt sensor in a rugged, sealed over-molded housing, with triple-redundant 3-axis MEMS accelerometers and rate gyros calibrated over the full temperature range. A 168 MHz ARM M4 CPU runs an internal Kalman filter that outputs gyro-compensated pitch and roll in excavator or general purpose mode, and fault detection logic excludes a failing sensor while operation continues. It was developed in accordance with ISO 13849 and can be used in safety functions up to Performance Level d.
Built for
- Construction vehicle boom, bucket and cab attitude
- Agriculture vehicles and implements
- Forklifts
- Autonomous vehicles and robotics
Key features
Triple-redundant sensing
Fault detection logic excludes a failing sensor and keeps the unit running.
Machine safety
Fulfils ISO 13849-1:2016 Category 2, for safety functions up to PL d, MTTFd > 500 years.
Two filter modes
Excavator mode uses rotation and general purpose mode uses linear acceleration for motion detection.
Wheel speed aiding
Can use wheel speed CAN messages and a user lever arm input.
E2E protection
Supports J1939-76 end-to-end protection.
IMU or tilt sensor
Can be configured as an IMU or tilt sensor, with a bootloader for field upgrades.
Specifications
- Pitch range
- +/-70 deg
- Roll range
- +/-180 deg
- Angle accuracy
- 0.05 deg typ (temperature and range)
- Gyro range
- +/-400 deg/s
- Gyro bias instability
- 1.3 deg/hr
- Angle random walk
- 0.15 deg/√hr
- Accel range
- +/-8 g
- Accel bias instability
- 20 µg
- Interfaces
- CAN 2.0 J1939, RS232
- Max output data rate
- 100 / 200 Hz (CAN / serial)
- Input voltage
- 9 to 32 V
- Power
- 500 mW typ (40 mA at 12 V)
- Operating temperature
- -40 to 85 C
- Ingress protection
- IP69K (IP67 mated)
- Size
- 65 x 66 x 27 mm
- Weight
- < 75 g
Models and options
- MTLT335D
- MTLT cable (mating connector with flying leads)
Specifications as published by Aceinna. Configurations vary by model; we will confirm the exact build with your quote.
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