Document MT1603P, Revision D, Nov 2019 MTi 600-series Datasheet
Document MT1603P, Revision D, Nov 2019MTi 600-seriesDatasheet1www.xsens.comIMU, VRU, AHRS and GNSS/INS module
RevisionDateByChangesASept. 2019AKO, MCRInitial releaseBSep 2019AKOGrammar andwording updateCNov 2019WBO, MCRMaximum outputcurrent for theSYNC outputDNov 2019AKOXsens brand update 2005-2020, Xsens Technologies B.V. All rights reserved. Information in this document is subject to changewithout notice. Xsens, Xsens DOT, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda and KiC are registeredtrademarks or trademarks of Xsens Technologies B.V. and/or its parent, subsidiaries and/or affiliates in TheNetherlands, the USA and/or other countries. All other trademarks are the property of their respective owners.2www.xsens.com
Table of Contents1 General information . 61.1Ordering information. 71.2MTi 600-series architecture. 81.3 MTi 600-series product variants . 91.3.1 MTi-610 IMU . 91.3.2 MTi-620 VRU . 91.3.3 MTi-630 AHRS . 91.3.4 MTi-670 GNSS/INS .102 Sensor specifications . 112.1MTi 600-series performance specifications .112.2Sensor specifications .113 Functional description . 133.1Pin description .133.2 Peripheral interfaces .133.2.1 CAN (Controller Area Network) .143.2.2 RS232 with RTS/CTS flow control .143.2.3 UART.144 Signal processing and algorithms . 154.1 Signal processing pipeline.154.1.1 Strapdown integration .154.1.2 Xsens sensor fusion algorithm for VRU and AHRS product types .154.1.3 Xsens sensor fusion algorithm for the GNSS/INS product type .194.2 Data output .204.2.1 Xbus output .204.2.2 NMEA output .204.2.3 CAN output .204.3NMEA input.204.4 Magnetic interference .214.4.1 Magnetic Field Mapping (MFM) .214.5Frames of reference .215 Synchronization options . 235.1Trigger signal .235.2 SyncIn .245.2.1 TriggerIndication function .245.2.2 SendLatest function .243www.xsens.com
5.2.35.2.45.2.5StartSampling function .24Clock Bias Estimation function .241PPS Time-pulse function .255.3 SyncOut .265.3.1 Interval Transition Measurement function .265.4Combining multiple Sync functions .266 System and electrical specifications . 276.1Interface specifications .276.2System specifications .276.3Electrical specifications .286.4Absolute maximum ratings .297 Design and packaging . 307.1Design .307.2Packaging information .318 Declaration of conformity . 328.1EU Declaration of Conformity .328.2FCC Declaration of Conformity .33List of eTableTableTableTableTableTableTableTableTable1: MTi product documentation overview . 62: Ordering information for 600-series modules . 73: Orientation performance specifications .114: Position and velocity performance specifications .115: MTi 600-series gyroscope specifications .116: MTi 600-series accelerometer specifications .127: MTi 600-series magnetometer specifications .128: MTi 600-series barometer specifications .129: MTi 600-series orthogonality specifications .1210: Pin descriptions of the MTi-600 .1311: Filter profiles for MTi-620 and MTi-630 .1612: Heading Behaviour .1713: Filter profiles for MTi-670 (GNSS/INS) .1914: Output data rates .2015: Settings required to enable NMEAin for the MTi-670 .2116: Generic synchronization parameters .2317: Remarks on combining multiple Sync functions .2618: Communication interfaces .274www.xsens.com
TableTableTableTable19:20:21:22:System specifications .27Supply voltage specifications .28I/O electrical specifications .28Absolute maximum ratings MTi 600-series module .29List of FiguresFigureFigureFigureFigureFigure1: MTi 600-series module diagram . 82: Pin configuration of the MTi 600-series module (bottom view) .133: Filter profile and heading behaviour selection: a tiered approach .184 Default sensor fixed coordinate system (S xyz) for the MTi 600-series module .5: Location origin of measurements (dimensions in mm) .305www.xsens.com
1 General informationThis document provides information on the usage and technical details of the MTi 600series modules. The MTi 600-series module (MTi-600) is a fully functional, self-containedmodule that is easy to design-in. The MTi-600 module can be connected to a hostthrough RS232, CAN or UART interfaces, or through USB using the UART to USBconverter (included in the MTi 600-series Development Kit).The MTi Family Reference Manual1 supplements this document. It reports genericinformation on the MTi 1-series and MTi 600-series, such as output definitions, algorithmdetails and installation tips.The MTi 600-series Hardware Integration Manual1 supplements this document. In thisdocument, notes on typical application scenarios, printed circuit board (PCB) layout,origin of measurement reference system, stress related considerations, reference designsand handling information can be found.For testing and prototyping, Xsens provides the MTi-630 and MTi-670 Development Kits(MTi-630-DK and MTi-670-DK). In addition to the RS232, CAN and UART pin connectorsof the MTi 600-series module, the Development Kit offers a direct USB, RS232, RS422and CAN interface. Technical details of the Development Kit and its usage can be found inthe MTi 600-series DK User Manual1.The MT Low Level Communication Protocol1 document provides a complete reference forthe protocols used to communicate with Xsens Motion Trackers on low-level basis. TheMT Low Level Communication Protocol document also describes the synchronizationmessages and settings in detail.Table 1 summarizes all available official documents for the Xsens MTi product line.Table 1: MTi product documentation overviewMTi 1-seriesMTi 600-seriesMTi 10/100-seriesMTi Family Reference ManualMTi 1-series DatasheetMTi 600-series DatasheetMTi 600-series DK UserMTi 1-series DK User ManualManualMTi User ManualMTi 600-series HWIntegration ManualMTi 1-series HW IntegrationManualMT CAN protocolDocumentationMT Manager ManualMagnetic Calibration ManualMT Low Level Communication Protocol DocumentationFirmware Updater User Manual1Links to the latest available documentation can be found via the following link: Xsens MTiDocumentation6www.xsens.com
1.1 Ordering informationTable 2: Ordering information for 600-series modulesPart 0-DKDescriptionIMUInertial dataVRUInertial data, roll/pitch/yaw (unreferenced)AHRSInertial data, roll/pitch/yaw (referenced)PackingBox(MOQ 5 units)GNSS/INSInertial data, roll/pitch/yaw (referenced), velocity, positionDevelopment Kit forMTi-630 AHRS (also applicable for MTI-610 IMU and MTi620 VRU)Development Kit forMTi-670 GNSS/INSBox(MOQ 5 units)7Box(MOQ 5 units)Box(MOQ 5 units)BoxBoxwww.xsens.com
1.2 MTi 600-series architectureFigure 1: MTi 600-series module diagramThe diagram in Figure 1 shows a simplified architecture of the MTi 6x0-series module.The MTi-6x0 contains a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer,barometer, a high-accuracy crystal and a low-power micro controller unit (MCU). TheMTi-670 module can also accept the signals from an external GNSS receiver. The MCUcoordinates the timing and synchronization of the various sensors. The module offers thepossibility to use external signals in order to accurately synchronize the clock and/oroutputs of the MTi-6x0 with any user application. The MCU applies calibration models(unique to each sensor and including orientation, gain and bias offsets, plus moreadvanced relationships such as non-linear temperature effects and other higher orderterms) and runs the Xsens optimized strapdown algorithm, which performs highrate dead-reckoning calculations up to 2 kHz, allowing accurate capture of high frequencymotions and coning & sculling compensation. The Xsens sensor fusion engine combinesall sensor inputs and optimally estimates the orientation, position and velocity at anoutput data rate of up to 400 Hz. The output data of the MTi-600 is easily configured and8www.xsens.com
customized for an application’s needs and can be set to use one of various filter profilesavailable within the Xsens sensor fusion engine. In this way, the MTi-600 limits the loadand the power consumption on the user application’s processor. The user cancommunicate with the module by means of three different communication interfaces;RS232, CAN and UART. Other interfaces are available using an MTi Development Kit orby using third party equipment (e.g. UART/RS232 to USB converter).1.3 MTi 600-series product variantsThe MTi-6x0 module is a fully tested self-contained module available as an:- Inertial Measurement Unit (IMU),- Vertical Reference Unit (VRU),- Attitude and Heading Reference System (AHRS)- GNSS aided Inertial Navigation System (GNSS/INS).It can output 3D orientation data (Euler angles, rotation matrix or quaternions),orientation and velocity increments ( q and v), position and velocity quantities andcalibrated sensor data (acceleration, rate of turn, magnetic field and pressure).Depending on the product variant, output options may differ.1.3.1 MTi-610 IMUThe MTi-610 module is an IMU that outputs calibrated 3D rate of turn, 3D acceleration,3D magnetic field and barometric pressure. The MTi-610 also outputs coning and scullingcompensated orientation increments and velocity increments ( q and v). Advantagesover a simple gyroscope-accelerometer combo-sensor are the inclusion of synchronizedmagnetic field and barometric data, on-board signal processing and the easy-to-usesynchronization and communication protocol. The signal processing pipeline and the suiteof output options allow access to the highest possible accuracy at any output data rateup to 2000 Hz. Moreover, the testing and calibration is already performed by Xsens andresults in a robust and reliable sensor module, which enables a short time to market forthe users.1.3.2 MTi-620 VRUThe MTi-620 is a 3D VRU. On top of the functionality of the MTi-610 IMU, its algorithmcomputes 3D orientation data with respect to a gravity referenced frame: drift-free roll,pitch and unreferenced yaw. Although the yaw is unreferenced, it is superior to onlygyroscope integration as a result of advanced on-board sensor fusion. The 3Dacceleration is also available as so-called free acceleration, which has the local-gravitysubtracted. The drift in unreferenced heading can be limited by using the Active HeadingStabilization (AHS) functionality, see Table 12 for more details. The raw sensor signalsare combined and processed at a high frequency to produce a real-time data stream withdevice’s 3D orientation (roll, pitch and yaw) up to 400 Hz.1.3.3 MTi-630 AHRSThe MTi-630 supports all features of the MTi-610 and MTi-620, and in addition is a fullmagnetometer-enhanced AHRS. In addition to the roll and pitch, it outputs a truemagnetic North referenced yaw (heading) and calibrated sensors data: 3D acceleration,3D rate of turn, 3D orientation and velocity increments ( q and v) and 3D earthmagnetic field data. The raw sensor signals are combined and processed at a high9www.xsens.com
frequency to produce a real-time data stream with device’s 3D orientation (roll, pitch andyaw) up to 400 Hz.1.3.4 MTi-670 GNSS/INSThe MTi-670 provides a GNSS/INS solution offering a position and velocity output inaddition to orientation estimates. The MTi-670 uses advanced sensor fusion algorithmsdeveloped by Xsens to synchronize the inputs from the module’s on-board gyroscope,accelerometer, magnetometer and barometer, with the data from an external GNSSreceiver. The raw sensor signals are combined and processed at a high frequency toproduce a real-time data stream with device’s 3D position, velocity and orientation (roll,pitch and yaw) up to 400 Hz.10www.xsens.com
2 Sensor specificationsThis section presents the performance and the sensor component specifications for thecalibrated MTi-6x0 module. Each module has passed the Xsens calibration processindividually. The Xsens calibration procedure calibrates for many parameters, includingbias (offset), alignment of the sensors with respect to the module PCB and to each other,and gain (scale factor). All calibration values are temperature dependent andtemperature calibrated. The calibration values are stored in the non-volatile memory ofthe module.In addition, some calibration parameters are continuously improved and/or re-estimatedthrough the on-board sensor fusion algorithms during normal operation of the module.2.1 MTi 600-series performance specificationsTable 3: Orientation performance S/INS0.2º0.5º1ºTable 4: Position and velocity performance rizontalVertical3DSpecification1.0 m2.0 m0.05 m/sAll above specifications are RMS values based on typical application scenarios. Thespecifications mentioned in Table 3 and Table 4 are with MTi-630-DK and MTi-670-DKreference designs.2.2 Sensor specificationsTable 5: MTi 600-series gyroscope specificationsGyroscope specification2Standard full rangeIn-run bias stabilityBandwidth (-3dB)Noise densityg-sensitivity(calibrated)Non-linearityScale Factor variationUnit[ /s][ /h][Hz][ /s/ Hz][ /s/g][%FS][%]Value 200085200.0070.0010.10.5 (typical)1.5 (over life)As Xsens continues to update the sensors on the module, these specifications are subject tochange211www.xsens.com
Table 6: MTi 600-series accelerometer specificationsAccelerometer3Standard full rangeIn-run bias stabilityBandwidth (-3dB)Noise densityNon-linearityUnit[g][mg][Hz][µg/ Hz][%FS]Value 100.01500600.1Table 7: MTi 600-series magnetometer specificationsMagnetometer3Standard full rangeNon-linearityTotal RMS noiseResolutionUnit[G][%][mG][mG]Value 80.210.25Table 8: MTi 600-series barometer specificationsBarometer3Full rangeTotal RMS NoiseRelative accuracyUnit[hPa][Pa][Pa]Value300-12501.2 84Table 9: MTi 600-series orthogonality specificationsParameter3Non-orthogonality (accelerometer)Non-orthogonality (gyroscope)Non-orthogonality (magnetometer)Unit[ ][ ][ ]Value0.050.050.053As Xsens continues to update the sensors on the module, these specifications are subject tochange.4 Equivalent to 0.5 m.12www.xsens.com
3 Functional descriptionThis chapter describes the MTi-600 pinout and gives details about the supportedcommunication interfaces.3.1 Pin descriptionThe pin map shows the peripheral interfaces.Figure 2: Pin configuration of the MTi 600-series module (bottom view)Table 10: Pin descriptions of the MTi-600Pin12345678910111213141516NameVINGNDCAN HCAN LRS232 TxDRS232 RTSRS232 RxDRS232 CTSSYNC IN1SYNC IN2GNSS TxD5GNSS RxD5SYNC OUTGNDUART TxDUART RxDI/O typePWRPWRI/OI/OOOIIIIOIOPWROIDescriptionPower inputGroundCAN bus differential high sideCAN bus differential low sideRS232 transmitter output to hostRS232 Ready To Send output to hostRS232 receiver input from hostRS232 Clear To Send input from hostMultifunctional synchronization inputMultifunctional synchronization inputRS232 transmitter output to GNSS moduleRS232 receiver input from GNSS moduleConfigurable synchronization outputGroundUART transmitter outputUART receiver input3.2 Peripheral interfacesThe MTi 600-series module supports CAN, RS232, and UART interfaces for hostcommunication. For more detailed information on the interfaces please refer to the MTi600-series Hardware Integration Manual6.5Only available for MTi-670. Do not connect for other models.Links to the latest available documentation can be found via the following link: Xsens MTiDocumentation613www.xsens.com
3.2.1 CAN (Controller Area Network)A Controller Area Network (CAN bus) is a robust standard designed to allowcommunication between devices in applications without a host computer. The CANinterface of the MTi-600 does not include a termination resistor. It can be used in a CANbus that already incorporates the required termination. If used in a single deviceconnection, a 120 Ω termination resistor needs to be added between the CAN H andCAN L pins.3.2.2 RS232 with RTS/CTS flow controlThe RS232 interface complies with the standard RS232 voltage levels. It includeshardware flow control through RTS and CTS lines.3.2.3 UARTThe UART interface can be used to directly connect to an MCU with 3.3 V IO-levels. Theuser can configure the MTi 600-series module to communicate over UART. The UARTframe configuration is 8 data bits, no parity and 1 stop bit (8N1). The UART protocol onlyhas the TX and RX lines without any flow control.14www.xsens.com
4 Signal processing and algorithmsThis section discusses the MTi-600 module signal processing and algorithm description.4.1 Signal processing pipelineThe MTi 600-series is a self-contained module, all calculations and processes such assampling, coning & sculling compensation and the Xsens sensor fusion algorithm run onboard.4.1.1 Strapdown integrationThe Xsens optimized strapdown algorithm performs high-rate dead-reckoningcalculations up to 2000 Hz allowing accurate capture of high frequency motions. Thisapproach ensures a high bandwidth. Orientation and velocity increments are calculatedwith full coning & sculling compensation. These orientation and velocity increments aresuitable for any 3D motion tracking algorithm. Increments are internally timesynchronized with other sensors. The output data rate can be configured for differentfrequencies, see Table 14. The inherent design of the signal pipeline with thecomputation of orientation and velocity increments ensures there is absolutely no loss ofinformation at any output data rate. This makes the MTi 600-series attractive also forsystems with limited communication bandwidth.4.1.2 Xsens sensor fusion algorithm for VRU and AHRS product typesMTi-620 and MTi-630 run the newest Xsens sensor fusion algorithm implementing thelatest Xsens insights. It optimally estimates the orientation with respect to an Earth fixedframe utilizing the 3D inertial sensor data (orientation and velocity increments) and 3Dmagnetometer data.The Xsens sensor fusion algorithm uses assumptions to obtain the orientationestimations. Since the assumptions may be more or less valid based on thecharacteristics of the typical dynamics of the application, and since the magnetic fielddiffers per application, the Xsens algorithm makes use of a set of filter profiles to be ableto use the correct assumptions given the application. This way, the algorithm can beoptimized for different types of movements and conditions.With the MTi-620 and MTi-630, the user can configure different algorithm behaviours byselecting a “base” filter profile and, next to it, a heading behaviour (see Figure 3).The “base” filter profile selection affects the general behaviour of the device, mainlybased on the nature of the typical expected dynamics of the application. The headingbehaviour, as the name suggests, affects the heading/yaw output of the MTi, anddetermines how the magnetometer measurements are interpreted. This tiered approachgives more freedom to select the desired behaviour for different user applicationscenarios. Table 11 and Table 12 summarize the filter profile and heading behaviouroptions.Every application is different and results may vary from setup to setup. It isrecommended to reprocess recorded data with different filter profiles in MT Manager 7 todetermine the best filter profile for your specific application.7Recording a data file to be reprocessed in MT Manager15www.xsens.com
Table 11: Filter profiles for MTi-620 and MTi-630NameProductDescriptionTypical applicationsResponsiveMTi-620MTi-630This filter profile is designed for indoorapplications as well as applications thatexperience high dynamics and jerkymovements. When the MTi is static, anautomatic gyro bias estimation is performedin the background.RobustMTi-620MTi-630This filter profile is suitable for most of theapplications. Compared to the other filterprofiles it has a more robust tuning. Whenthe MTi is static, an automatic gyro biasestimation is performed in the background.General8MTi-620MTi-630This filter profile behaves like the Generalfilter profile implemented for the previousgeneration Xsens Products (e.g. MTi-30). Itis more sensitive to the magnetic fieldchanges. It does not perform an automaticgyro bias estimation in background. Thisfilter profile cannot be combined with theFixedMagRef heading behaviour. Outdoor/Indoorhandling objects Indoor groundvehicles Outdoor/Indoor headtracker Indoor mapping,outdoor mapping ifhandheld (e.g. tripodswith camera,backpack) Industrial robotic arm Ships/vessels Automotive Ground vehiclesoutdoor Outdoor mapping withvehicles Automotive Ground vehiclesoutdoor Outdoor mapping withvehicles8The General filter profile is only recommended for users who are looking forsimilar behaviour asthe previous generation Xsens products in the typical applications suggested in the table. Using theGeneral filter profile is not recommended for new designed applications.16www.xsens.com
Table 12: Heading 30This heading behaviour assumes ahomogeneous magnetic environment thatcan be used to estimate a stable Northreferenced Ti-620MTi-630This heading behaviour is based on theidea that the heading is not necessarilyreferenced to the local magnetic North.Instead, it maintains a fixed headingreference frame based on what is definedwhen the MTi is powered up (based on theinitially observed magnetic field). Thismeans that there is no drift with respectto the starting frame when the localmagnetic field changes. For example,when moving from room A to room B,where room B has a different localmagnetic field direction than room A, theheading output of the MTi does notchange. This is in contrast to theNorthReference heading behaviour, whichforces the MTi to estimate the headingbased on the local magnetic field.The yaw is unreferenced. This means thatit is initialized at 0 when the MTi ispowered up and the yaw will be computedrelative to this initial orientation. Themagnetic field is not used to estimate theyaw. Because of small inaccuracies thatoriginate when integrating gyroscopedata, the Yaw output will contain an errorthat builds up over time, also known as“drift”. Note however, that because of theworking principle of the sensor fusionalgorithm, the drift in yaw will be muchlower than when gyroscope signals wouldbe simply integrated.This heading behaviour activates theActive Heading Stabilization (AHS) on topof the above described VRU behaviour.AHS is a software component within thesensor fusion engine designed to give alow-drift unreferenced heading solution,even in a disturbed magneticenvironment. The yaw remainsunreferenced, but the drift is limited9.Typical applicationsAll applications thatrequire a Northreferenced headingand are used in ahomogeneousmagnetic field.All applications thatare used inenvironments wheredifferent magneticfields are present(e.g. mixedindoor/outdoorapplications).Applications whereonly roll and pitch isof interest and/orapplications that areused in environmentswhere the magneticfield cannot be trusted(e.g. stabilizedantenna platforms orpipeline inspectiontools).Scenarios where themagnetic field cannotbe trusted completely,but a stable yaw isneeded.For more information on the capabilities of AHS, refer to the BASE article: AHS. Note that in theprevious Xsens products, AHS was activated by means of a separate setting.917www.xsens.com
Figure 3: Filter profile and heading behaviour selection: a tiered approach18www.xsens.com
4.1.3 Xsens sensor fusion algorithm for the GNSS/INS product typeThe Xsens sensor fusion algorithm in the MTi-670 has several advanced features. TheMTi-670 algorithm adds robustness to the orientation and position estimates bycombining measurements and estimates from the inertial sensors, magnetometer,barometer and an external GNSS receiver in order to compensate for transientaccelerations and magnetic disturbances.The GNSS status is continuously monitored and the filter accepts GNSS data whenavailable and sufficiently trustworthy. When the MTi-670 has limited/mediocre GNSSreception or even no GNSS reception at all (e.g. during outages), the MTi-670 sensorfusion algorithm seamlessly adjusts the filter settings in such a way that the highestpossible accuracy output is maintained. The sensor will continue to output position,velocity and orientation estimates, although the accuracy is likely to degrade over timeas the filters can only rely on dead-reckoning. If the GNSS outage lasts longer than 45seconds, the MTi-670 stops the output of the position and velocity estimates, andresumes sending these outputs once the GNSS data becomes acceptable again.Table 13 reports the different filter profiles the user can set based on the applicationscenario. Every application is different and results may vary from setup to setup. It isrecommended to reprocess recorded data with different filt
1.3 MTi 600-series product variants The MTi-6x0 module is a fully tested self-contained module available as an: - Inertial Measurement Unit (IMU), - Vertical Reference Unit (VRU), - Attitude and Heading Reference System (AHRS) - GNSS aided Inertial Navigation System (GNSS/INS).
Nov 01, 2013 · 3 November 2012 Birthdays Elaine Dunn Nov 01 Ingrid Nov 01Durant Polly Wolf Nov 01 Pam Nov 02McNamara Ruth Dalby Nov 06 Kathryn Nov 06Kutch Nancy Cummings Nov 09 Pam Reeves Nov 09 Kelly Nov 09Tacker Anne Heerdt-Wingfield Nov 10 Alice E. Long Nov 10 Helen Nov 11Hood Mary Nov 12Saltzman Marlene Nov 12Werner Bonnie Yockstick Nov 12 Ruth Roberts Nov 13
Prepared for District 5 Toastmasters By Mark Kramer, DTM Original Version July 2007 1st Revision June 2008 2nd Revision November 2008 3rd Revision June 2009 4th Revision May 2010 5th Revision May 2011 6th Revision May 2012 7th Revision May 2013 8th Revision May 2014 9th Revision Nov
CDR Donald B. Brady 09 Nov 1961 CDR Robert E. Morris 07 Nov 1962 CDR Hal B. Stewart 24 Oct 1963 CDR D. A. Woodard 06 Nov 1964 CDR George H. Lee 16 Nov 1965 CDR Horace B. Chambers 19 Nov 1966 CDR Archibald S. Thompson 14 Nov 1967 CDR Arthur R. Day 01 Nov 1968 CDR William E. Pippin 10 Nov 1969 CDR Robert L. Skillen 30 Nov 1970
CONTI STOCKHOLM 0AB7LS1MA 26-Sep 28-Sep WIELAND 0WWABW1MA 5-Oct 28-Oct 29-Oct 1-Nov 20-Nov SHIJING 04IA6E1MA 3-Oct 5-Oct HANS SCHULTE 0WWADW1MA 12-Oct 4-Nov 5-Nov 8-Nov 27-Nov EMC TBN 4 04IA8E1MA 10-Oct 12-Oct CMA CGM DUTCH HARBOR 0WWAFW1MA 19-Oct 11-Nov 12-Nov 15-Nov 4-Dec
O’ Level Shona: Akanyangira Yaona Nov 2013 – Jun 2015 Nhaka Yenhetembo Nov 2011 – Jun 2013 Pfumo Reropa Nov 2011 – Jun 2013 O’ Level Ndebele: Kunjalo Vu’sinkope Nov 2014 – Nov 2016 Imbongi Zalamhla Nov 2012 – Jun 2014 Lapho Esiyakhona Nov 2010 – Jun 2012 O’ Level English: The Heart is a Lonely Hunter Nov 2009 – Jun 2013
Drilling Control System NOV Hitec DCIS Drawworks NOV EH-V-5000 Traveling Block NOV Hydralift HTB1380 Top Drive NOV Hydralift HPS 1000 2E AC Rotary Table NOV Varco BJ RST 60-1/2 Pipe Racking System NOV Hydralift Hydra Racker IV Hydraulic Roughneck NOV Hydralift HRN-166 Pipe Transfer System NOV Hydralift 3-1/2” to 30” pipe, SWL 20 ton
Salt Lake City, UT Nov 5 Houston, TX Nov 6–7 Lincoln, NE Nov 9 Tipton, CA Nov 13 Orlando, FL Nov 13 Kenmare, ND Nov 15 Flaxton, ND Nov 16 Phoenix, AZ Nov 16 Kansas City, MO Dec 3 International Caorso, ITA Oct 4–5 Irv
Music at Oxford’s annual celebration of carols in the beautiful surroundings of the Cathedral brings together a popular mix of festive cheer and seasonal nostalgia. The Cathedral Choir will sing a range of music centred on the Christmas message, under their new director Steven Grahl, with spirited readings and audience carols to share. Early booking is essential. Tickets from www .
