Digital Compass Solution

HMR3000
The Honeywell HMR3000 is a digital compass module that
provides heading, pitch, and roll outputs for navigation. Three
Honeywell’s magneto-resistive sensors are oriented in
orthogonal directions to measure the vector components of
earth’s magnetic field. A fluid tilt sensor is employed to determine
a gravitational reference. These solid-state sensors create a
strapdown compass that is both rugged and reliable. The data
output is serial full-duplex RS-232 or half-duplex RS-485 with
1200 to 19,200 data rates.

Applications include: Compassing & Navigation, Dead

Reckoning Backup to GPS Systems, Marine Navigation,
Antenna Positioning, and Land Surveying

A RS-232 development kit version is available that includes a windows compatible demo program (does not work with RS-
485 devices), interface cable, AC adapter and carrying case.

Honeywell continues to maintain product excellence and performance by introducing innovative solid-state magnetic sensor
solutions. These are highly reliable, top performance products that are delivered when promised. Honeywell’s magnetic
sensor solutions provide real solutions you can count on.

FEATURES & BENEFITS BLOCK DIAGRAM

 High Accuracy, <0.5° with 0.1° Resolution

V+

 Wide Tilt Range of 40° Gnd

Pwr
Cond

 Up to 20 Updates per Second

C
TX

 NMEA Standard Sentence Outputs ADC

UART

 Hard Iron Calibration Routine

HMC1002 RX

 RS-232 or RS-485 Serial Data Interfaces

 PCB or Aluminum Enclosure Options

2-AXIS
HMC1001 EEPROM
TILT
 6-15 volt DC Unregulated Power Supply
Interface
HMR3000
SPECIFICATIONS

Characteristics Conditions
Min Typ Max Units
Power Supply
Supply Voltage(1) Pin 9 referenced to Pin 5 (Ground) +6.0 +15 Volts
Pin 8 referenced to Pin 5 (Ground) +4.75 +5.0 +5.25
Supply Current(3) Vsupply = +6V (Pin 9) mA
Normal Operation 35
STOP Mode 13
SLEEP Mode 2.0
Temperature
Operating(3) Ambient -20 +70 °C
Storage(3) Ambient, Unpowered -35 100 °C
Heading
Accuracy(2) Dip < 50°, Tilt < 20° 0.5 (1) °RMS
Dip < 75°, Tilt < 20°(4) 1.5
Resolution(3) 0.1 degrees
Repeatability(3) 0.3 degrees
Magnetic Field
Dynamic Range(1) Adjustable 1.0 gauss
Resolution(3) 0.5 gauss range 1.0 milli-gauss
Tilt
Range(2) Pitch, Roll(4) 40 degrees
Accuracy (2) Tilt < 20°(4) 0.4 degrees
Tilt >= 20°(4) 0.6
Repeatability(3) 0.2 degrees
Resolution(3) 0.1 degrees
Interface
Format(1) RS-232 Full Duplex or
RS-485 Half Duplex(5)
Baud Rate(1) Full or Half Duplex 1200 19,200 bps
Update Rate(3) Continuous, per NMEA Sentence 1 20 Hz
Mechanical
Weight(3) PCB Only 22 grams
PCB and Flanged Enclosure 92
Shock(3) MIL-STD-810E; TM 516.4 drop test 30 inches
Vibration(3) 20 to 2000Hz,
Random for 2 Hours/axis
MIL-STD-810E; TM514.4
(1) By Design
(2) Tested at 25°C except stated otherwise.
(3) Characterized
(4) Parts stationary for 24 hours before testing
(5) The HMR3000 Demo Kit is not available with the RS-485 interface because the software does not support half-duplex protocol

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HMR3000
PIN CONFIGURATION

Pin Number Pin Name Description

1 OP/CAL Operate/Calibrate (open = operate)
2 TD Transmit Data, RS-485 (B+)
3 RD Receive Data, RS-485 (A-)
4 RDY/SLP Ready/Sleep Input (open = ready)
5 GND Power and Signal Ground
6 RN/STP Run/Stop Input (open = run)
7 CT/RST Continue/Reset (open = continue)
8(1)(2) +5V Regulated Power Input (+5 volts)
9(1) V+ Unregulated Power Input (+6 to +15 VDC)
Pin assignments for 9-pin “D” connector.

(1) Power input shall only be applied to either Pin 8 (+5VDC) or Pin 9 (Unregulated +6 to
+15VDC).
(2) Exceeding the voltage specifications for Pin 8 may damage the HMR3000.

RS-232 UNBALANCED I/O INTERCONNECTS

HOST PC HMR3000

TD RD
D R

RD TD
R D

GD GD

RS-485 BALANCED I/O INTERCONNECTS

HOST PC HMR3000

A-
D RD(A)
R

TD(B)
R
D
B+

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HMR3000
DATA COMMUNICATIONS
The HMR3000 serial communications are governed by a simple asynchronous, ASCII protocol modeled after the NMEA
0183 standard. Either an RS-232 or an RS-485 electrical interface can be ordered. ASCII characters are transmitted and
received using 1 start bit, 8 data bits (LSB first), no parity (MSB always 0), and 1 stop bit; 10 bits total per character. T he
baud rate defaults to 19,200 and can be reconfigured to 1200, 2400, 4800, 9600, 19200, 38400 bits per second. The
HMR3000 supports both standard NMEA 0183 and proprietary messages. Unsolicited NMEA messages are sent by the
HMR3000 in Continuous Mode at the rates programmed in the EEPROM. HMR3000 also responds to all input messages
from the host. An HMR3000 response to a command input may be delayed due to transmission of an unsolicited output.
The host computer must wait for HMR3000 to respond to the last command input before sending another command
message. All communication from and to HMR3000 contain a two-character Checksum Field at the end of the data fields,
and are denoted in the sentences by ‘hh’. The checksum assures the accuracy of the message transmitted. This checksum
is also calculated per NMEA 0183 Standard.

The RS-232 signals are single-ended undirectional levels that are sent received simultaneously (full duplex). One signal is
from the host personal computer (PC) transmit (TD) to the HMR3000 receive (RD) data line, and the other is from the
HMR3000 TD to the PC RD data line. When a logic one is sent, either the TD or RD line will drive to about +6 Volts
referenced to ground. For a logic zero, the TD or RD line will drive to about –6 Volts below ground. Since the signals are
transmitted and dependent on an absolute voltage level, this limits the distance of transmission due to line noise and signal
to about 60 feet.

When using RS-485(1), the signals are balanced differential transmissions sharing the same lines (half-duplex). This means
that logic one the transmitting end will drive the B line at least 1.5 Volts higher than the A line. For a logic zero, the
transmitting end will drive the B line at least 1.5 Volts lower than the A line. Since the signals are transmitted as difference
voltage level, these signals can withstand high noise environments or over very long distances where line loss may be a
problem; up to 4000 feet. Note that long RS-485 lines should be terminated at both ends with 120-ohm resistors.

Specific measurement descriptions and interface commands are not included in this datasheet but are included in the
companion HMR3000 User’s Guide document.

(1) Demonstration software for the HMR3000 does not support the RS-485(half-duplex) protocol. The software is only
available with the RS-232 interface.

CIRCUIT DESCRIPTION
The HMR3000 Digital Compass Module contains all the basic sensors and electronics to provide digital indication of heading
and tilt. The HMR3000 has all three axis of magnetic sensors on the far end of the printed circuit board, away from the
connector interface. The HMR3000 uses the circuit board mounting holes or the enclosure surfaces as the reference
mechanical directions. The complete HMR3000 PCB assembly consists of a mother board and the 9-pin D-connector.

The HMR3000 circuit starts with the Honeywell HMC1001 1-Axis Magnetic Sensor and the HMC1002 2-Axis Magnetic
Sensor elements to provide the X, Y, and Z axis magnetic sensing of the earth’s field. These sensor output voltages are
then amplfied and converted to a digital representation. A microcontroller integrated circuit receives the digitized magnetic
field values (readings) by periodically querying the Analog to Digital Converter (ADC) and performs the necessary offset
value corrections provided by the EEPROM via the calibration routine. This microcontroller also performs the external serial
data interface and other housekeeping functions. The onboard EEPROM integrated circuit also is employed to retain
necessary setup variables for best performance.

A liquid filled two-axis (pitch, roll) tilt sensor is also used to create tilt compensated heading data. This tilt sensor performs
an electronic gimballing function and is normally mounted flat (PCB horizontal) for maximum tilt range.

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HMR3000
APPLICATIONS PRECAUTIONS
Several precautions should be observed when using magnetic compasses in general:

 The presence of ferrous materials, such as nickel, iron, steel, and cobalt near the magnetometer will create
disturbances in the earth’s magnetic field that will distort the X, Y, and Z field measurements.
 Perming effects on the HMR3000 circuit board need to be taken into account. If the HMR3000 is exposed to fields
greater than 10 gauss, then it is recommended that the enclosure/circuit boards be degaussed for highest
sensitivity and resolution. A possible result of perming is a high zero-field output indication that exceeds
specification limits. Degaussing wands are readily available from local electronics tool suppliers and are
inexpensive. Severe field offset values could result if not degaussed.

NON-FERROUS MATERIALS

Materials that do not affect surrounding magnetic fields are: copper, brass, gold, aluminum, some stainless steels, silver,
tin, silicon, and most non-metals.

HANDLING PRECAUTIONS

The HMR3000 Digital Compass Module measures fields within 1 gauss in magnitude. Computer floppy disks (diskettes)
store data with field strengths of approximately 10 gauss. This means that the HMR3000 is many times more sensitive than
common floppy disks. Please treat the compass with at least the same caution as your diskettes by avoiding motors, CRT
video monitors, and magnets. Even though the loss of performance is recoverable, these magnetic sources will interfere
with measurements.

The fluidic tilt sensor works best when kept near level, and in calm to moderate vibration conditions. If turned upside down
or violently jarred, not all the fluid will immediately return to the bottom of the tilt sensor’s glass ampoule. Accurate tilt and
tilt compensated headings may be unavailable for a minute or two to allow for the fluid to transit to the bottom of the ampoule.

PCB DIMENSIONS AND PINOUT

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HMR3000
CASE DIMENSIONS

DEMONSTRATION PCB MODULE KIT

The HMR3000 Demonstration Kit includes additional hardware and Windows software to form a development kit for the
digital compass module. This kit includes the HMR3000 PCB and enclosure, serial port cable with attached AC adapter
power supply, and demo software plus documentation on a compact disk (CD). The figure below shows the schematic of
the serial port cable with integral AC adapter. There will be three rotary switches on the AC adapter. These should be
pointed towards the positive (+) polarity, +9 volts, and 120 or 240 VAC; depending your domestic supply of power.

D9-F D9-F
data
2 2
3 3
data
5 5
ground
9 9
+9vdc
GRY BLK

AC adapter

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HMR3000
ORDERING INFORMATION
Ordering Number Product

HMR3000-D00-232 PCB Only (No Enclosure), RS-232 I/O

HMR3000-D00-485 PCB Only (No Enclosure), RS-485 I/O

HMR3000-D21-232 Extended-Base Enclosure, RS-232 I/O

HMR3000-D21-485 Extended-Base Enclosure, RS-485 I/O

HMR3000-D21-232-DEMO Demo Kit, Extended-Base Enclosure, RS-232 I/O

FIND OUT MORE

For more information on Honeywell’s Magnetic Sensors visit us online at www.magneticsensors.com.

The application circuits herein constitute typical usage and interface of Honeywell product. Honeywell does not warranty or assume liability of customer-
designed circuits derived from this description or depiction.

Honeywell reserves the right to make changes to improve reliability, function or design. Honeywell does not assume any liability arising out of the
application or use of any product or circuit described herein; neither does it convey any license under its patent rights nor the rights of others.

U.S. Patents 4,441,072, 4,533,872, 4,569,742, 4,681,812, 4,847,584 and 6,529,114 apply to the technology described

Honeywell
12001 Highway 55 PDS-42005
Plymouth, MN 55441 September 2015
www.magneticsensors.com ©2015 Honeywell International Inc.
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