Novatel 01019126 Wireless GNSS Receiver with Bluetooth User Manual OM 20000150 SMART6
Novatel Inc Wireless GNSS Receiver with Bluetooth OM 20000150 SMART6
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Smart6 user manual
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| Document ID | 2118708 |
| Application ID | W3v85al2I+nttRfLKY5+cg== |
| Document Description | Smart6 user manual |
| Short Term Confidential | No |
| Permanent Confidential | No |
| Supercede | No |
| Document Type | User Manual |
| Display Format | Adobe Acrobat PDF - pdf |
| Filesize | 132.5kB (1656194 bits) |
| Date Submitted | 2013-11-14 00:00:00 |
| Date Available | 2013-11-14 00:00:00 |
| Creation Date | 2013-09-19 12:14:01 |
| Producing Software | Acrobat Distiller 10.1.8 (Windows) |
| Document Lastmod | 2013-09-19 12:19:10 |
| Document Title | OM-20000150 SMART6.book |
| Document Creator | FrameMaker 10.0.2 |
| Document Author: | RMunro |
SMART6™ User Manual OM-20000150 Rev 0B September 2013 SMART6 User Manual Revision Level: Publication Number: Revision Date: Firmware Version: 0B OM-20000150 September 2013 6.220 (OEM060220RN0000) Warranty NovAtel® Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth on our web site: www.novatel.com/products/warranty/. Antenna Module One (1) Year Cables and Accessories Ninety (90) Days Software Warranty One (1) Year Return Instructions To return products, refer to the instructions found under the Return Policy tab on the Warranty page: www.novatel.com/products/warranty/. Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc. The software described in this document is furnished under a licence agreement or nondisclosure agreement. The software may be used or copied only in accordance with the terms of the agreement. It is against the law to copy the software on any medium except as specifically allowed in the license or non-disclosure agreement. No part of this manual may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, for any purpose without the express written permission of a duly authorized representative of NovAtel Inc. The information contained within this manual is believed to be true and correct at the time of publication. AdVance, NovAtel, GLIDE, NovAtel Connect and OEM6 are registered trademarks of NovAtel Inc. SMART6 is a trademark of NovAtel Inc. The Bluetooth word mark and logos are registered trademarks owned by Bluetooth SIG, Inc. and any use of such marks by NovAtel Inc. is under license. All other brand names are trademarks of their respective holders. Manufactured and protected under U.S. Patent: #5,390,207 #6,184,822 B1 #6,664,923 B1 #5,495,499 #6,211,821 B1 #6,922,167 B2 #5,734,674 #6,445,354 B1 #7,250,916 #5,809,064 #6,608,998 B1 #7,738,536 B2 #5,414,729 #6,452,560 B2 #7,738,606 B2 #5,736,961 #6,728,637 B2 #7,885,317 B2 #6,243,409 B1 © Copyright 2013 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright laws. SMART6 User Manual Rev 0B Table of Contents Notice Customer Service 1 Introduction 11 1.1 Features and Models ...................................................................................................................................................11 2 Installation and Setup 13 2.1 Additional Equipment Required ...................................................................................................................................13 2.1.1 SMART6 Setup .................................................................................................................................................13 2.1.2 Power Supply Requirements .............................................................................................................................15 2.1.3 Mounting Plate ..................................................................................................................................................15 2.1.4 Mounting the SMART6 ......................................................................................................................................17 2.1.5 Connecting Data Communications Equipment..................................................................................................17 2.2 Additional Features and Information............................................................................................................................18 2.2.1 Status Indicators................................................................................................................................................18 2.2.2 MKI and PPS Strobes .......................................................................................................................................18 2.2.3 Emulated Radar (ER) ........................................................................................................................................19 2.2.4 Controller Area Network (CAN) .........................................................................................................................19 2.2.5 Tilt Compensation .............................................................................................................................................19 3 Operation 22 3.1 Communications with the Receiver .............................................................................................................................22 3.1.1 Serial Port Default Settings ...............................................................................................................................22 3.1.2 Communicating Using a Remote Terminal........................................................................................................22 3.1.3 Communicating Using a Computer....................................................................................................................22 3.2 Getting Started ............................................................................................................................................................23 3.2.1 Starting the Receiver .........................................................................................................................................23 3.2.2 Communicating with the Receiver Using NovAtel Connect...............................................................................23 3.3 Transmitting and Receiving Corrections......................................................................................................................24 3.3.1 Base Station Configuration................................................................................................................................26 3.3.2 Rover Station Configuration ..............................................................................................................................27 3.3.3 GPS + GLONASS Base and Rover Configuration ............................................................................................27 3.3.4 Configuration Notes...........................................................................................................................................28 3.4 GLIDE ..........................................................................................................................................................................29 3.4.1 Dual-Frequency GLIDE .....................................................................................................................................29 3.5 Emulated Radar (ER) ..................................................................................................................................................29 3.6 Tilt Compensation........................................................................................................................................................30 3.7 Recommended Configuration ......................................................................................................................................31 4 NovAtel Firmware and Software 32 4.1 Firmware Updates and Model Upgrades .....................................................................................................................32 4.1.1 Firmware Updates .............................................................................................................................................32 4.1.2 Model Upgrades ................................................................................................................................................33 4.2 Authorization Code ......................................................................................................................................................33 4.3 Updating or Upgrading Using the WinLoad Utility .......................................................................................................34 4.3.1 Transferring Firmware Files...............................................................................................................................34 4.3.2 Using the WinLoad Utility ..................................................................................................................................35 4.4 Updating using SoftLoad Commands ..........................................................................................................................36 4.4.1 Working with S-Records ....................................................................................................................................37 4.5 Upgrading Using the AUTH Command........................................................................................................................38 4.5.1 Upgrade Procedure ...........................................................................................................................................38 5 Bluetooth Configuration 39 5.1 Bluetooth Wireless Technology on the SMART6 receiver...........................................................................................39 5.2 Pairing with a new SMART6 ........................................................................................................................................39 5.3 Determining the Bluetooth Serial Port .........................................................................................................................42 5.4 Communicate with the SMART6 Using Bluetooth Wireless Technology.....................................................................45 SMART6 User Manual Rev 0A Table of Contents A Technical Specifications 46 A.1 SMART6 Receiver Performance .................................................................................................................................46 A.2 SMART6 Specifications...............................................................................................................................................47 A.2.1 SMART6 Communication/Power Cable (01018999).........................................................................................49 A.2.2 SMART6 Connector and Cable Requirements .................................................................................................50 B Commands 52 B.1 Syntax Conventions ....................................................................................................................................................52 B.2 BTCONTROL Enable/Disable Bluetooth wireless technology..................................................................................53 B.3 COM Configure COM Port........................................................................................................................................54 B.4 FRESET Clear Selected Data from NVM and Reset................................................................................................56 B.5 LOG Request Logs from the Receiver......................................................................................................................58 B.6 $PMDT Configure Tilt Compensation .......................................................................................................................61 B.7 RADARCFG Configure the ER Output .....................................................................................................................62 B.8 SETCANNAME Sets the CAN name fields...............................................................................................................63 C Logs 64 C.1 Position Logs ..............................................................................................................................................................64 C.1.1 NMEA Logs.......................................................................................................................................................64 C.1.2 NovAtel Position Logs.......................................................................................................................................65 C.2 Other Logs ..................................................................................................................................................................65 C.2.1 RADARSIGNAL ER Signal and Position Information.....................................................................................66 C.2.2 TILT Compensation........................................................................................................................................68 C.2.3 VERSION HW and SW Versions and Serial Numbers...................................................................................68 D Replacement Parts 69 D.1 SMART6 .....................................................................................................................................................................69 D.2 User Manuals ..............................................................................................................................................................69 Index SMART6 User Manual Rev 0A 70 Figures 10 11 12 13 14 15 16 10 11 12 13 14 17 18 SMART6 Receiver .....................................................................................................................................................11 SMART6 Connector ..................................................................................................................................................13 Simplified SMART6 Setup .........................................................................................................................................14 SMART6 Surface Mounting Plate ..............................................................................................................................15 SMART6 Pole Mounting Plate ...................................................................................................................................16 SMART6 Orientation .................................................................................................................................................17 SMART6 Installation ..................................................................................................................................................20 SMART6 Orientation .................................................................................................................................................20 Open Connection Window .........................................................................................................................................23 Basic Differential Setup .............................................................................................................................................25 SMART6 Tilt Compensation ......................................................................................................................................30 WinLoad’s Open Window ..........................................................................................................................................35 Open File in WinLoad ................................................................................................................................................35 COM Port Setup ........................................................................................................................................................35 Searching for Card ....................................................................................................................................................36 Authorization Code Window ......................................................................................................................................36 Upgrade Process Complete ......................................................................................................................................36 Bluetooth Icon ...........................................................................................................................................................39 Bluetooth Devices Window ........................................................................................................................................40 Add a device window .................................................................................................................................................40 Add a device - Select a pairing option .......................................................................................................................41 Add a device - Enter pairing code .............................................................................................................................41 Bluetooth Link Serial Port ..........................................................................................................................................42 Add a device - Successful .........................................................................................................................................42 Bluetooth Icon ...........................................................................................................................................................42 Bluetooth Devices Window ........................................................................................................................................43 Bluetooth Devices Window - Device Menu ................................................................................................................44 Bluetooth Devices Window - Properties ....................................................................................................................44 Properties - Services Tab ..........................................................................................................................................45 SMART6 Dimensions ................................................................................................................................................48 SMART6 Communication/Power Cable ....................................................................................................................49 SMART6 User Manual Rev 0A Tables 10 11 12 13 14 15 16 17 SMART6 Models ........................................................................................................................................................11 SMART6 Connector Pin-Out ......................................................................................................................................13 SMART6 LED Status Indicators .................................................................................................................................18 Available CAN Signals on the SMART6 .....................................................................................................................19 SMART6 Communication/Power Cable Pinouts ........................................................................................................50 SMART6 Mating Connectors......................................................................................................................................51 Recommended Fuse and Fuse Holders.....................................................................................................................51 SMART6 Commands..................................................................................................................................................52 FRESET Target ..........................................................................................................................................................57 Detailed Serial Port Identifiers ....................................................................................................................................60 Response Modes .......................................................................................................................................................62 SMART6 Logs in Alphabetical Order..........................................................................................................................65 Position or Velocity Type ............................................................................................................................................67 Solution Status ...........................................................................................................................................................67 Component Type ........................................................................................................................................................68 SMART6 Product .......................................................................................................................................................69 Reference User Manuals............................................................................................................................................69 SMART6 User Manual Rev 0A Notice The following notices apply to the SMART6. Changes or modifications to this equipment not expressly approved by NovAtel Inc. could result in violation of FCC, Industry Canada and CE Marking rules and void the user’s authority to operate this equipment. FCC Notices 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. SMART6 has been tested and found to comply with the emission limits for a Class B digital device, pursuant to part 15 of the FCC Rules. The Class B 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 cause harmful interference 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 of the following measures: • Re-orient or relocate the SMART6 • Increase the separation between the equipment and the SMART6 • Connect the equipment to an outlet on a circuit different from that to which the SMART6 is connected • Consult the dealer or an experienced radio/TV technician for help Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. In order to maintain compliance as a Class “B” digital device, shielded cables should be used for the RS-232 serial data ports (Belden 1036A or equivalent) and twisted pair cable should be used for the CAN port (shielded twisted pair will improve CAN performance in electrically harsh environments). I/O signals should be referred to signal ground (connector pin 5) and not power ground (connector pin 9). If I/O signals route to different areas of the vehicle, dedicated signal grounds for I/O should be spliced into a common connection to connector pin 5 at a point close to the SMART6. Industry Canada SMART6 Class B digital apparatuses comply with Canadian ICES-003. SMART6 appareils numérique de la classe B sont conforme à la norme NMB-003 du Canada. 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. Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorisée aux deux conditions suivantes : (1) l'appareil ne doit pas produire de brouillage, et (2) l'utilisateur de l'appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d'en compromettre le fonctionnement. SMART6 User Manual Rev 0B Notice CE The enclosures carry the CE mark. "Hereby, NovAtel Inc. declares that this SMART6 is in compliance with the essential requirements and other relevant provisions of the R&TTE Directive 1999/5/EC, the EMC Directive 4/108/EC and the RoHS Recast Directive 2011/65/EU." WEEE If you purchased your OEM6 family product in Europe, please return it to your dealer or supplier at the end of its life. The objectives of the European Community's environment policy are, in particular, to preserve, protect and improve the quality of the environment, protect human health and utilise natural resources prudently and rationally. Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution. Waste electrical and electronic equipment (WEEE) is a regulated area. Where the generation of waste cannot be avoided, it should be reused or recovered for its material or energy. WEEE products may be recognized by their wheeled bin label ( ).1 1.Visit the NovAtel Web site at www.novatel.com/products/weee-and-rohs/ for more information on WEEE. SMART6 User Manual Rev 0B Customer Service NovAtel Knowledge Base If you have a technical issue, visit the NovAtel support website at www.novatel.com | Support | Helpdesk and Solutions | Knowledge and Forums. Through this page, you can search for general information about SMART® antennas and other technologies, information about NovAtel hardware, software, installation and operation issues. Before Contacting Customer Support Before you contact NovAtel Customer Support about a software problem perform the following steps: 1. Issue the following logging commands to collect data to a file on your computer for 15 minutes: LOG VERSIONA ONCE LOG RXSTATUSA ONCE LOG RXCONFIGA ONCE LOG RAWEPHEMA ONNEW LOG BESTPOSA ONTIME 1 LOG RANGEA ONTIME 1 2. Send the file containing the logs to NovAtel Customer Service, using either the NovAtel ftp site at ftp:// ftp.novatel.com/incoming or the support@novatel.com e-mail address. 3. You can also issue a FRESET command to the receiver to clear any unknown settings. The FRESET command will erase all user settings and perform a factory reset. You should know your configuration and be able to reconfigure the receiver before you send the FRESET command. If you are having a hardware problem, send a list of the troubleshooting steps taken and the results. Contact Information Use one of the following methods to contact NovAtel Customer Support: Call the NovAtel Hotline at 1-800-NOVATEL (U.S. and Canada) or +1-403-295-4500 (international) Fax: +1-403-295-4901 E-mail: support@novatel.ca website: www.novatel.com SMART6 User Manual Rev 0B Write: NovAtel Inc. Customer Support Department 1120 - 68 Avenue NE Calgary, AB Canada, T2E 8S5 Customer Service Conventions Conventions used in this manual are the following: Note that provides information to supplement or clarify the accompanying text. Caution that a certain action, operation or configuration may result in incorrect or improper use of the product. Warning that a certain action, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage. • The letter H in the Offset columns of the commands and logs tables represents the header length for that command or log. Refer to the OEM6 Family Firmware Reference Manual for ASCII and binary header details. • The number following 0x is a hexadecimal number. • Command descriptions’ brackets, [ ], represent the optionality of parameters. • In tables where values are missing they are assumed to be reserved for future use. • Status words are output as hexadecimal numbers and must be converted to binary format (and in some cases then also to decimal). For an example of this type of conversion, refer to the RANGE log in the OEM6 Family Firmware Reference Manual. Conversions and their binary or decimal results are always read from right to left. For a complete list of hexadecimal, binary and decimal equivalents, refer to Unit Conversion available on our web site at www.novatel.com/support/knowledge-and-learning/. SMART6 User Manual Rev 0B 10 Chapter 1 Introduction The SMART6 is a high performance GNSS receiver and antenna, capable of receiving and tracking different combinations of GNSS L1/L2 code and carrier signals on a maximum of 120 channels. SBAS (Satellite Based Augmentation Systems) support, which includes WAAS (North America), EGNOS (Europe) and MSAS (Japan) is standard. Refer to NovAtel’s GNSS Book for an overview of each of the above signal types. The SMART6 rear panel also features Light Emitting Diodes (LEDs) for status indication. Once properly powered, the SMART6 begins operating as a fully functional GNSS system. Figure 1, SMART6 Receiver shows the SMART6 without connecting cables. Figure 1: SMART6 Receiver 1.1 Features and Models The main features of the SMART6 are: • an enhanced high performance GNSS L1/L2 receiver • a high performance GNSS L1/L2 antenna • a CAN port • three RS-232 COM ports or two RS-232 COM ports and Bluetooth • three LED status indicators • a water and dust tight enclosure • Bluetooth wireless technology (optional) • tilt compensation (optional) The SMART6 is available in several different firmware models whose configurations may include other additional features. Some possible configurations can be seen in Table 1, SMART6 Models. Table 1: SMART6 Models NovAtel Part Number Description 01019123 SMART6 01019125 SMART6 with Tilt 01019121 SMART6 with Bluetooth 01019127 SMART6 with Bluetooth and Tilt SMART6 User Manual Rev 0B 11 Introduction Chapter 1 Contact NovAtel Sales at www.novatel.com/where-to-buy/contact-us for information regarding available models, upgrading a model to increase feature/functionality or go to www.novatel.com/support/firmwaresoftware-and-manuals/firmware-software-updates/ to obtain product updates. Refer to Chapter 4, NovAtel Firmware and Software on page 32 for details. Refer to the OEM6 Installation and Operation Manual for detailed information on receiver communications and operation. SMART6 User Manual Rev 0B 12 Chapter 2 2.1 Installation and Setup Additional Equipment Required In order for the SMART6 to perform optimally, the following additional equipment is required: 2.1.1 • A cable harness for communicating and powering the SMART6 (NovAtel cable harness 01018999 is available with three DB-9 connectors, four bare cables and a SMART6 connector) or similar • A fused power supply (user supplied) (refer to Table 7, Recommended Fuse and Fuse Holders on Page 51 for details) • A computer (user supplied) SMART6 Setup Complete the following steps to connect and power the SMART6. 1. Mount the SMART6 on a secure, stable structure with an unobstructed view of the sky from horizon to horizon (refer to Section 2.1.4 Mounting the SMART6 on page 17 for details). 2. Connect the NovAtel interface cable, or custom wiring harness, to the COM and Power port on the back of the SMART6, see Figure 2, SMART6 Connector. Figure 2: SMART6 Connector Table 2: SMART6 Connector Pin-Out Pin Use Pin Use COM1 TxD COM3 TxDa COM1 RxD Power Negative/Return COM2 TxD 10 ER_OUT (Emulated Radar Output) COM2 RxD 11 MKI (Mark Input) Signal Ground (COM/MKI/PPS/ER) 12 PPS (Pulse Per Second) Output CAN+ 13 COM3 RxDa CAN- 14 Power Positive/Source a. On Bluetooth models, COM3 is not available. SMART6 User Manual Rev 0B 13 Installation and Setup Chapter 2 3. Connect the NovAtel cable or custom wiring harness to a DB-9 serial port on a computer or other data storage device. 4. Connect the NovAtel cable or custom wiring harness to the power supply and turn on the power supply to the SMART6 (the SMART6 cable is also a power cable). The power LED on the receiver glows red when the SMART6 is properly powered. Fuse/holder recommendations can be found in Table 7, Recommended Fuse and Fuse Holders on Page 51. Figure 3: Simplified SMART6 Setup Tyco 14-pin Connector COM User supplied 5A fast blow fuse COM COM MKI PPS CAN ER_OUT Minimum conductor size for all wiring is 0.5 mm/20 AWG. NovAtel recommends tying to ground any floating input lines. SMART6 User Manual Rev 0B 14 Installation and Setup 2.1.2 Chapter 2 Power Supply Requirements The SMART6 requires +8 to +36 VDC input power (refer to SMART6 Specifications on page 47 for additional power supply specifications). The SMART6 cable provides power in (BATT+) and power ground (BATT-) bare wires for connecting the SMART6 to a vehicular power system (or equivalent). 2.1.3 The SMART6 power source must be protected by a 5 A Fast Blow Fuse or damage to wiring may result (not covered by warranty). Refer to SMART6 Connector and Cable Requirements on page 50). Mounting Plate Two mounting plates are available to facilitate mounting the receiver: a surface mounting plate and a pole mounting plate. Figure 4: SMART6 Surface Mounting Plate Dimensions are in inches. To install the mounting plate, use the adhesive tape or the mounting holes at each corner of the plate. SMART6 User Manual Rev 0B 15 Installation and Setup Chapter 2 Figure 3: SMART6 Pole Mounting Plate All dimensions are in inches To install the pole mounting plate: 1. Use four M4 screws to connect the mounting plate to the SMART6. 2. Screw the mounting plate onto a mount, such as a range pole, tribrach, or tripod, with a 1" x 14 thread. A 5/8” to 1” bushing adaptor is available (part number 12023275). SMART6 User Manual Rev 0B 16 Installation and Setup 2.1.4 Chapter 2 Mounting the SMART6 Mount the SMART6 on a secure, stable structure capable of safe operation in the specific environment. • If installing on a vehicle, mount the SMART6 on the vehicle roof, ideally close to the pivot point of the vehicle. The SMART6 must be mounted with the connector facing the rear of the vehicle (see Figure 5, SMART6 Orientation). Figure 5: SMART6 Orientation Route cable toward back of vehicle • 2.1.5 Orient toward the front of vehicle The SMART6 must be rigidly secured to the vehicle to avoid errors caused by vibration and motion. If installing in a stationary location, mount the SMART6 in a location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction. For more information, refer to NovAtel’s GNSS Book. Connecting Data Communications Equipment To communicate with the receiver for sending commands and obtaining logs, a connection to data communications equipment is required. Refer to Table 5, SMART6 Communication/Power Cable Pinouts on Page 50 on for more information. SMART6 User Manual Rev 0B 17 Installation and Setup 2.2 Chapter 2 Additional Features and Information This section contains information on the additional features of the SMART6, which may affect the overall design of the receiver system. 2.2.1 Status Indicators LED indicators on the SMART6 provide the status of the receiver. The table below shows the meaning of the LEDs. Table 3: SMART6 LED Status Indicators Red Yellow Green Condition Off Off Off Power is not available. (Red indicator may also not be lit if a boot failure has occurred.) On Off Off Power is available but no satellites are being tracked yet. On Flashing Off Tracking at least one satellite but not a valid position. On On Off Position valid in basic autonomous mode. On On Flashing SBAS tracking, but not enough data for enhanced solution. On On On Position valid in an enhanced accuracy mode (WAAS/EGNOS/MSAS/DGPS). Flashing means that the LED is turning on and off at a 1 Hz rate - 0.5 seconds on and 0.5 seconds off. Troubleshooting: • If the power is on but the yellow LED does not flash within one minute, then no satellites are being tracked. There may be excessive blockage or the SMART6 may be defective. Make sure the SMART6 has an unobstructed view of the sky. Try power cycling the SMART6. • If the yellow LED is flashing but doesn’t progress to solid yellow within one minute, then insufficient satellites are being tracked or the signal quality is poor and ephemeris data cannot be received. Normally, four satellites are sufficient for a valid position as long as they are widely distributed in the sky. If LED is stuck on blinking yellow, there may be excessive signal blockage or the SMART6 may be defective. Make sure the SMART6 has an unobstructed view of the sky. Try power cycling the SMART6. • If the yellow LED is on, but the green doesn’t turn on within five minutes than no SBAS or DGPS positions are available. If you are using SBAS, make sure SBAS is available in your area and that the SMART6 is configured to enable SBAS positions (SBASCONTROL ENABLE). For DGPS, make sure the SMART6 is configured with the correct serial port parameters and to accept the DGPS protocol your area is using and that your data modem is connected and working. • The green LED blinks when SBAS is detected then it comes on solid when SBAS is enabled. The LED will stay dark if SBAS is not detected. 2.2.2 MKI and PPS Strobes The Mark Input (MKI) and Pulse Per Second (PPS) strobe provide status and synchronization signals. PPS is a 3.3 V CMOS output; MKI is a 5 V logic tolerant input. Pin-out information can be found on Table 5, SMART6 Communication/Power Cable Pinouts on page 50. SMART6 User Manual Rev 0B 18 Installation and Setup 2.2.3 Chapter 2 Emulated Radar (ER) The SMART6 outputs an emulated RADAR signal via the bare wires labeled ER GND and ER_OUT on the SMART6 cable. See Table 5, SMART6 Communication/Power Cable Pinouts on page 50 for the pin-out details of this cable. The ER outputs a logic high of supply voltage minus 0.5 V minimum and logic low of 0.5 V maximum with a rise and fall time of less than 1 ms. Its output references signal GND and provides logic low output until its speed is greater than 1 km/Hr. ER can be configured to operate at one of three distinct frequencies (26.11, 28.12 or 36.11 Hz/km/Hr, with 26.11 Hz/km/Hr being the default value) and with an effective range from 1 km/ Hr to 55 km/Hr for near-horizontal applications. See Section B.7, RADARCFG Configure the ER Output on page 62 for more information. 2.2.4 Controller Area Network (CAN) The SMART6 supports the following NMEA2000 Parameter Group Messages (PGN): • PGN 129029 GNSSPositionData (1 Hz) • PGN 129025 GNSSPositionRapidUpdate (10 Hz) • PGN 129026 COGandSOGRapidUpdate (10 Hz) The CAN must be activated by entering the SETCANNAME command (refer to B.8 SETCANNAME Sets the CAN name fields on page 63). To have the CAN set up automatically at subsequent start ups, also send the SAVECONFIG command. Table 4: Available CAN Signals on the SMART6 CAN 2.2.5 Pins CAN+ Pin 6 CAN- Pin 7 Tilt Compensation The SMART6 Tilt Compensation feature corrects for errors in position caused by tilting of the vehicle. Refer to Tilt Compensation on page 30 for a detailed description of the Tilt Compensation feature. To fully install and set up tilt compensation: 1. Mount the SMART6 on the vehicle. 2. Measure, set and save the height of the SMART6 from the ground. 3. Level the tilt sensor and save the data. Refer to $PMDT commands. Configure Tilt Compensation on page 61 for height, level and update 2.2.5.1 Physical Installation The SMART6 must be mounted as close to the center of the vehicle as possible, as illustrated in Figure 6, SMART6 Installation. SMART6 User Manual Rev 0B 19 Installation and Setup Chapter 2 Figure 6: SMART6 Installation SMART6 The SMART6 must be mounted with the connector facing the rear of the vehicle, as shown in Figure 7, SMART6 Orientation: Figure 7: SMART6 Orientation Route cable toward back of vehicle Orient toward the front of vehicle The SMART6 must be rigidly secured to the vehicle to minimize errors due to vibration and motion. 2.2.5.2 Height Measurement and Configuration The height measurement should be made while the vehicle has the correct tire pressure and is parked on a hard-packed and level surface. The measurement should be made from the ground to the bottom of the SMART6 connector. The measurement accuracy should be within 1 to 2 inches (2.5 to 5.0 cm). Once the measurement has been made (in feet and inches, or metres), refer to Section B.6, $PMDT Configure Tilt Compensation on page 61 for instructions on how to set the height in the SMART6. The height must be saved after the height command is sent. This must be done so the height data is saved between power cycles. Instructions on sending the save command are outlined in Section B.6, $PMDT Configure Tilt Compensation on page 61. Note that changes in tire pressure over time can potentially cause errors in tilt compensation. This is because the height of vehicle can vary with tire pressure. The SMART6 is shipped from the factory with the height set to 0.0 metres. 2.2.5.3 Leveling the Tilt Sensor SMART6 User Manual Rev 0B 20 Installation and Setup Chapter 2 The vehicle must be parked on flat ground when the level command is sent to the SMART6. Refer to Section B.6, $PMDT Configure Tilt Compensation on page 61 for instructions on how to send the level command. After the tilt sensor has been leveled, the data must be saved to non-volatile memory using the save command. Instructions on using the save command are outlined in Section B.6, $PMDT Configure Tilt Compensation on page 61. SMART6 User Manual Rev 0B 21 Chapter 3 Operation Before operating the SMART6 for the first time, ensure the installation instructions in Chapter 2, Installation and Setup were followed. It is assumed that a computer is used during initial operation and testing for greater ease and versatility. 3.1 Communications with the Receiver Communication with the receiver typically consists of issuing commands through the communication ports from an external serial communications device. This could be either a terminal or computer connected directly to the receiver serial port using a DB-9 connector on the SMART6 communication/power cable. If using a radio, connect it to another DB-9 connector on the same communication/power cable by means of the radio serial cable supplied with the radio. It is recommended that you become thoroughly familiar with the commands and logs detailed in the OEM6 Family Firmware Reference Manual to ensure maximum utilization of the receiver’s capabilities. 3.1.1 Serial Port Default Settings The receiver communicates with the computer or terminal via an RS-232 serial port. For communication to occur, both the receiver and the operator interface have to be configured properly. The receiver’s COM1, COM2 and COM3 default port settings are as follows: • 9600 bps, no parity, 8 data bits, 1 stop bit, no handshaking, echo off To change the default settings, use the COM command. See Appendix B.3, COM starting on Page 54 for details. Configure COM Port The data transfer rate chosen determines how fast information is transmitted. For example, outputting a log whose message byte count is 96. The default port settings allows 10 bits/byte (8 data bits + 1 stop bit + 1 framing bit). It therefore takes 960 bits per message. To get 10 messages per second, 9600 bps is required. Also remember that even if the bps is set to 9600, the actual data transfer rate is lower and depends on the number of satellites being tracked, data filters in use and idle time. It is suggested a margin is set when choosing a data rate (115200 is recommended for most applications). 3.1.2 Although the receiver can operate at data transfer rates as low as 300 bps, this is not desirable. For example, if several data logs are active (that is, a significant amount of information needs to be transmitted every second) but the bit rate is set too low, data will overflow the serial port buffers, causing a warning in the receiver status and loss of data. Communicating Using a Remote Terminal One method of communicating with the receiver is through a remote terminal. The receiver is pre-wired to allow proper RS-232 interface with the data terminal. To communicate with the terminal, the receiver only requires the RX, TX and GND lines to be used. Request to Send (RTS)/Clear to Send (CTS) hardware handshaking is not available. Ensure the terminal’s communications set up matches the receiver’s RS-232 protocol. 3.1.3 Communicating Using a Computer A computer can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files. Any standard communications software package, that emulates a terminal, can be used to establish bidirectional communications with the receiver. For example, HyperTerminal or NovAtel’s Graphical User Interface (GUI) program NovAtel Connect™. All data is sent as raw 8-bit binary or ASCII characters. SMART6 User Manual Rev 0B 22 Operation 3.2 Chapter 3 Getting Started 3.2.1 Starting the Receiver When first powered, the SMART6 undergoes a complete self-test. The results of this test can be viewed by connecting to the receiver and requesting the RXSTATUS log. Refer to the OEM6 Family Firmware Reference manual for details. If a persistent error develops, contact your local NovAtel dealer first. If the problem remains unresolved, contact NovAtel directly through any of the methods listed in the Customer Service section on page 9. 3.2.2 Communicating with the Receiver Using NovAtel Connect NovAtel Connect is a Windows based GUI used to access the receiver's many features. Convert is a utility that converts between file formats and strips unwanted records for data file compilation. Both are included in the NovAtel Connect PC Utilities bundle available from: www.novatel.com/support/firmware-software-andmanuals/firmware-software-updates/. Launch the NovAtel Connect program and select Device | Open Connect from its main menu. The Open Connection window appears. Figure 8: Open Connection Window Refer to the NovAtel Connect help file or press F1 while the cursor is in a NovAtel Connect window. Ensure the Console and ASCII Messages windows are open by selecting them from the View menu. When the receiver is first turned on, no data is transmitted from the COM ports except for the port prompt. The console window displays a port name: [COM1] [COM2] [COM3] if connected to COM1 port if connected to COM2 port if connected to COM3 port or through Bluetooth Any of the above prompts indicate the receiver is ready and waiting for command input. 1. You may also have to wait for output from receiver self-tests. For example, on start-up, the SMART6 is set to log the RXSTATUSEVENTA log ONNEW on all ports. Refer to the OEM6 Family Firmware Reference Manual for more details. 2. If NovAtel Connect is unable to locate the SMART6, try using a different COM port to communicate to the receiver. Once communication has been established, issue the FRESET STANDARD command. You should now be able to use the original communication port again. SMART6 User Manual Rev 0B 23 Operation Chapter 3 Commands are typed at the interfacing computing device’s keypad and executed after issuing a carriage return command which is usually the same as pressing thekey. An example of a response to an input command is the FIX POSITION command. It can be as: [COM2] FIX POSITION 51.11635 -114.0383 1048.2 [Carriage Return] key. The example above illustrates the command input to the base receiver’s COM2 port, which sets the position of the base station receiver for differential operation. Confirmation that the command was actually accepted is the appearance of " To significantly decrease data transfer time, NovAtel recommends creating a batch file to automatically send each line of SOFTLOADSREC. Contact NovAtel Customer Support for assistance creating SoftLoad batch files. 6. Send the SOFTLOADCOMMIT command. 7. During the loading process, SOFTLOADSTATUSA logs report the load status. Wait for the SOFTLOADSTATUSA to indicate loading is complete. Signature auth-codes are maintained internally by the receiver and do not need to be r e-entered. Refer to Section 4.2, Authorization Code on page 33 for details on obtaining any auth-code. 8. Reset the receiver by entering RESET or FRESET command or power cycling. 9. Once the receiver resets, the new version of firmware is active. 4.4.1 The SoftLoad process can be cancelled safely at any time during the process using the RESET command. Working with S-Records • Records beginning with S0, S5 and S7 should be passed to the receiver directly using the SOFTLOADSREC command. These records contain meta data about the firmware image. • Records beginning with S3 form the actual firmware image and can be converted to SOFTLOADDATA binary commands. Aside from the header, each pair of characters forms the ASCII representation of binary byte. The format is as follows: S3 LL AAAAAAAA DDDDDDDD...DDDDDDDD CC Check Sum. One's compliment of all other bytes Little Endian Data. These bytes are copied into the "data" field of the SOFTLOADDATA command 4 - Byte Address. Set this as the value of "offset" in the SOFTLOADDATA command Length.This is the hexadecimal number of character pairs to follow in the record. This value minus 4 bytes for the address and 1 byte for the check sum is copied into the "data length" field of the SOFTLOADDATA command Header • Multiple S3 records can be packaged into a single SOFTLOADDATA command as long as the data from one S3 record follows immediately after the previous record, up to a maximum of 4096 bytes of data. That is, the address must equal the previous address plus the previous data length. The "offset" field remains the address of the first S3 record and the "data" and "data length" are updated to include the new data. • The shex file data may contain many gaps and jumps. For example, in most NovAtel shex files data for address 0x000_00000 is stored near the very end of the file. SMART6 User Manual Rev 0B 37 NovAtel Firmware and Software 4.5 Chapter 4 Upgrading Using the AUTH Command The AUTH command authorizes the enabling (unlocking) of model features. The AUTH command is used to upgrade a new OEM6 family model, available with the same firmware version as the current model. This command only functions with a valid auth-code assigned by NovAtel Customer Support. The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program. 4.5.1 Refer to Types of Firmware Files on page 34 for details on updating versus upgrading. Upgrade Procedure 1. Power up the OEM6 family receiver and establish communications (refer to the Quick Start Guide included with the product for instructions). 2. Issue the LOG VERSION command to verify the current model, firmware version and serial number (refer to Section 4.2, Authorization Code on page 33 for instructions on obtaining). 3. Issue the AUTH command, followed by the auth-code and model type (refer to Section 4.2, Authorization Code on page 33 for details on obtaining any auth-code). The syntax is as follows: auth where auth is a command that enables model upgrades and auth-code is the upgrade authorization code, expressed as follows: XXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX,MODEL,EXPDATE where: 1. Each X character is a case-insensitive ASCII character. 2. The MODEL string is a maximum of 15 characters long and represents the model enabled by the authcode. 3. The EXPDATE string is the auth-code’s expiry date, in YYMMDD format Example: auth 7WBMBK,887CB6,K5J3FH,5DF5P2,42PW8G,D1SB0GTT0,121211 When the AUTH command is executed, the OEM6 family receiver reboots. Issuing the LOG VERSION command confirms the new upgrade model type and firmware version number. If communicating using NovAtel Connect, the communication path must be closed and reopened using the Device menu. SMART6 User Manual Rev 0B 38 Chapter 5 Bluetooth Configuration Bluetooth is a wireless radio communication standard designed for use over short ranges (within 10 m). This chapter describes how to use the Bluetooth interface on the SMART6. 5.1 Bluetooth Wireless Technology on the SMART6 receiver Bluetooth wireless technology is configured on the SMART6’s internal COM3 port. After your computer is configured for Bluetooth operation, use HyperTerminal or NovAtel Connect to communicate through COM3. To log data over the Bluetooth port, specify COM3 as the output port (e.g. log com3 bestposa ontime 1). 5.2 Pairing with a new SMART6 Ensure that your computer is equipped with a built-in, or external plug-in, Bluetooth adapter and is already configured with the appropriate Bluetooth driver. The information in this section is specific to pairing an SMART6 with a Windows 7 based computer. For information about pairing the SMART6 with other Bluetooth capable devices, refer to the devices user documentation. To pair with an SMART6 in range: 1. Power on the SMART6. 2. Double-click the Bluetooth icon in the notification area, see Figure 3 on page 39. The Bluetooth Devices window opens, see Figure 4 on page 40. Figure 3: Bluetooth Icon SMART6 User Manual Rev 0B 39 Bluetooth Configuration Chapter 5 Figure 4: Bluetooth Devices Window 3. On the Bluetooth Devices window, click the Add a device button. The Add a device window appears. The computer searches for any Bluetooth device in range and displays the devices found on the window, see Figure 5 on page 40. Figure 5: Add a device window SMART6 User Manual Rev 0B 40 Bluetooth Configuration Chapter 5 4. Select the SMART6 system and click the Next button. The Select a pairing option window appears, see Figure 6 on page 41. Figure 6: Add a device - Select a pairing option 5. Click the Enter the device’s pairing code button. The Enter the pairing code for the device window appears, see Figure 7 on page 41. Figure 7: Add a device - Enter pairing code 6. Type the SMART6 pairing code, 0000, and click the Next button. Windows installs the serial port driver and assigns a serial port number to the Bluetooth link. Make a note of the serial port number assigned. See Figure 8, Bluetooth Link Serial Port on page 42 and Figure 9, Add a device - Successful on page 42. SMART6 User Manual Rev 0B 41 Bluetooth Configuration Chapter 5 Figure 8: Bluetooth Link Serial Port Figure 9: Add a device - Successful On some operating systems, the SMART6 must be re-paired every time it is restarted. To re-pair in Windows 7, click the Bluetooth icon in the notification area and enter the pairing code when prompted. For instructions on re-pairing in other operating systems, see the user documentation that came with the operating system. 5.3 Determining the Bluetooth Serial Port To determine the serial port associated with the Bluetooth link to the SMART6: 1. Double-click the Bluetooth icon in the notification area, see Figure 10 on page 42. The Bluetooth Devices window opens, see Figure 11 on page 43. Figure 10: Bluetooth Icon SMART6 User Manual Rev 0B 42 Bluetooth Configuration Chapter 5 Figure 11: Bluetooth Devices Window 2. In the Bluetooth Devices window, right-click the SMART6 device and select Properties, see Figure 12 on page 44. The Properties window for the SMART6 appears, see Figure 13 on page 44. SMART6 User Manual Rev 0B 43 Bluetooth Configuration Chapter 5 Figure 12: Bluetooth Devices Window - Device Menu Figure 13: Bluetooth Devices Window - Properties SMART6 User Manual Rev 0B 44 Bluetooth Configuration Chapter 5 3. Click the Services tab. The Services tab displays the serial port information about the Bluetooth link to the SMART6. See Figure 14 on page 45. Figure 14: Properties - Services Tab 5.4 Communicate with the SMART6 Using Bluetooth Wireless Technology 1. Open a terminal program (HyperTerminal, for example) and configure it to the serial port assigned to the Bluetooth link. If you do not know the serial port information, see Section 5.3, Determining the Bluetooth Serial Port on page 42. 2. Configure the port settings as follows: 9600 bps, no parity, 8 data bits, 1 stop bit, no handshaking, echo off 3. Through the terminal program, connect to the Bluetooth serial port and verify the connection. 4. Type the following VERSION log request into the command prompt to ensure that the connection works: log version SMART6 User Manual Rev 0B 45 Appendix A A.1 Technical Specifications SMART6 Receiver Performance PERFORMANCEa 120 Channels can be configured to track: L1 GPS L2 GPS (optional) L2C GPS (optional) L1 GLONASS (optional) L2 GLONASS (optional) Galileo E1 (optional) BeiDou B1 (optional) SBASb Channel Configuration Horizontal Position Accuracy (RMS) Single Point 1.5 m Single Point L1/L2 1.2 m 0.6 m DGPS 0.4 m RT-2™ 1 cm + 1 ppm SBAS GPS GLO 4 cm 8 cm 0.5 mm 1 mm L2 P(Y) coded 8 cm 8 cm L2 carrier phased 1 mm 1 mm 8 cm 8 cm 0.5 mm 0.5 mm L1 C/A code L1 carrier phase Measurement Precision (RMS) L2C code L2C carrier Maximum Data Ratef Time to First Fix Signal Reacquisition Time Accuracy Velocity Accuracyi phasee Measurements up to 50 Hz Position up to 50 Hz Cold Startg <50 s Hot Starth <35 s L1 0.5 s (typical) L2 1.0 s (typical) 20 ns RMS 0.03 m/s RMS a. Typical values. Performance specifications subject to GPS system characteristics, US DOD operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline length, multipath effects and the presence of intentional or unintentional interference sources. b. Satellite Based Augmentation Systems (SBAS) include WAAS (North America), EGNOS (Europe) and MSAS (Japan). c. GPS only. d. L2 P for GLONASS. e. L2 C/A for GLONASS. f. Model specific. g. Typical value. No almanac or ephemerides and no approximate position or time. h. Typical value. Almanac and recent ephemerides saved and approximate time entered. For more information, refer to the “SETAPPROXTIME” command in the OEM6 Family Firmware Reference Manual found on our web site at www.novatel.com/ support/firmware-software-and-manuals/product-manuals-and-doc-updates/. i. Export licensing restricts operation to a maximum velocity of 515 metres per second. SMART6 User Manual Rev 0B 46 A.2 SMART6 Specifications INPUT/OUTPUT CONNECTORS +8 to +36 V DC at 2.9 W a SMART6 Communication/Power For the cable pinouts and drawings, see Section A.2.1, SMART6 Communication/Power Cable (01018999) on page 49 Serial Com Ports RS-232 F Compliant (Rx and Tx signals only) CAN SAE J1939/ ISO 11783/ ISO 11898 Compatible Emulated Radar Output High = Supply Voltage -0.5V Minimum Low = 0.5V Maximum Load = 3K Ohm Minimum PPS Output 3.3 V CMOS Logic Compatible MKI Input 3.3 V CMOS Logic/5 V Tolerant INPUT/ OUTPUT CONNECTOR PROTECTION Electrical Conducted/ Coupled disturbance tolerance ISO 7637-2:2004 Functional Class A: Pulses 2a, 3a, 3b, 4 Functional Class C: Pulses 1, 2b LED INDICATORS Power, Error and Position Valid Refer to Section 2.2.1, Status Indicators on page 18 for details PHYSICAL Size 80.9 x 155 mmb Weight <550 g 2 x magnetic mount Mounting 4 x M4 screw inserts Optional mounting plate ENVIRONMENTAL c Operating Temperature -40C to +75C Storage Temperature -55C to +90C Humidity Not to exceed 95% non-condensing Immersion MIL-STD-810G Method 512.5 Procedure 1 Shock MIL-STD-810G Method 516.6 Solar Radiation EN60950-22 8.2 MIL-STD-810G Method 505.5 Salt Fog MIL-STD-810G, 509.5 Sand and Dust MIL-STD-810G, 510.5 ENVIRONMENTAL c Vibration Random: MIL-STD-810G, Method 514.6E-I Sinusoidal: IE 68-2-6 ASAE ER455, 5.15.2 Level 1 Compliance FCC, IC, CE Ingress Protection Rating IP67 a. Power consumption values for GPS L1/L2. b. denotes diameter, here and in the Dimensions graphic on page 48. c. See also the Notice section of this manual starting on page 9. SMART6 User Manual Rev 0B 47 Figure 17: SMART6 Dimensions 155.2 Ø155.00 9.5 13.7 80.9 9.0 x2 31.5 77.3 17.9 x 2 Neodymium Rare Earth Maget x2 53.9 M4 x 0.7 10 DEEP x 4 26.9 89.0 53.9 58.2 5.3 Antenna 48.79 SMART6 User Manual Rev 0B Dimensions are in millimeters 48 A.2.1 SMART6 Communication/Power Cable (01018999) The SMART6 cable (refer to Figure 18, SMART6 Communication/Power Cable), provides a means of supplying power from a battery while operating in the field. The exposed wires (red for positive and black for negative) can then be connected to a vehicular power circuit (or equivalent) protected by a 5 A fast blow fuse (user supplied). The cable has three DB-9 connectors to accommodate a computer serial (RS-232) communication port, a modem or radio transmitter to propagate differential corrections (refer to the user supplied modem or radio transmitter user guide for information on its connectors). Bluetooth wireless technology uses the COM3 port. When Bluetooth wireless technology is enabled, COM3 is not available on the SMART6 connector or the cable. In addition, there are a number of bare wires where the outer insulation is cut away but the wires beneath remain intact. See Table 5, SMART6 Communication/Power Cable Pinouts on page 50 for their pinouts. For more information on mating connectors and part numbers, see Table 6, SMART6 Mating Connectors on page 51. This cable is RoHS compliant. Figure 18: SMART6 Communication/Power Cable 7600 +5%/-0 (length when straight) 4600 +155/-0 (length when straight) 30.0 ± 3.0 Typical 5 Places J2 Pin 16 Pin 10 Pin 9 Pin 6 Pin 1 Pin 14 J1 Pin 5 Pin 9 Pin 5 Pin 1 J3 J4 Dimensions are in millimeters SMART6 User Manual Rev 0B 49 Table 5: SMART6 Communication/Power Cable Pinouts Signal Name J1 J2 COM1_TXD COM1_RXD COM2_TXD COM2_RXD COM3_TXD COM3_RXD 13 COM1 GND J3 MKI GND A.2.2 Label COM2 GND COM3 GND J4 MKI GND Emulated Radar GND ER GND Pulse Per Second GND PPS GND CAN+ CANI+ CAN- CANI- PWR RET (GND) BATT- Emulated Radar Out 10 ER_OUT EVENT MARK IN 11 MKI PPS 12 PPS PWR INPUT 14 BATT+ SMART6 Connector and Cable Requirements Custom cables for installing the SMART6 can be created using the following guidelines: • Wire size: must be 0.5 mm-1.25 mm (20-16 AWG) • Batt+ connection must be protected by 5 A fast blow fuse • Serial data signals (TxD, RxD, signal ground) must be run in shielded cable. Connect shields to ground at SMART6 end only • CAN signal conductors must be twisted (40 twists/m, 12 twists/ft) • Use only the recommended mating connectors listed below. Use only gold plated pins Failure to observe the given cable construction guidelines and fusing requirements in this section may result in damage to the wiring or equipment and voiding the warranty. NovAtel recommends tying to ground any floating input lines. The connector used in the SMART6 is an “AMPSEAL” dust and water sealed type produced by Tyco. The following part numbers pertain to the mating connector required to make connections to the SMART6. These numbers are provided for information only and are not available from NovAtel as separate parts. SMART6 User Manual Rev 0B 50 Table 6: SMART6 Mating Connectors Product Part Description Company Part Number SMART6 mating connector (J1 - Figure 18 on page 49) 14-pin sealed receptacle Tyco/AMP housing-black 776273-1 Gold plated pins (20-16 AWG) for (J1) SMART6 connector Gold plated pins for SMART6 connector/strip Pins, loose piece Tyco/AMP 770854-3 Pins, strip (reel) Tyco/AMP 770520-3 Tyco/AMP 770678-1 Seal Plug for unused pins on mating connector. (All connector positions must be populated with a pin or Seal plug seal plug to achieve the IP-67 rating for the cable connection.) Table 7 details the part numbers for recommended fuses and fuse holders. These numbers are provided for information only and are not available from NovAtel as separate parts. Table 7: Recommended Fuse and Fuse Holders Fuse 12 V System Fuse (standard size blade) Recommended Fuse/Fuse Holder ATO Silver Blade Fuse 5 A (32 V) Littelfuse 0287005 Littelfuse 0297005 Or Equivalent 12 V System Fuse (mini size blade) Mini Blade Fuse 5 A (32 V) Or Equivalent 12 V System Fuse High Reliability, Harsh Environment (standard size blade) FKS ATO Blade Fuse 5A (80 V) Littelfuse Inline Fuse Holder, (for standard size blade) Waterproof ATO Fuse Holder Inline Fuse Holder, (for mini size blade) Waterproof Mini Fuse Holder SMART6 User Manual Rev 0B 166.7000.450 Or Equivalent Littelfuse FHAC0001 Littelfuse 0FHM0001 Or Equivalent Or Equivalent 51 Appendix B Commands The SMART6 firmware implements the OEM6 family command set, documented in the OEM6 Family Firmware Reference Manual. Commonly used SMART6 commands are summarized in Table 8, SMART6 Commands and documented in this appendix. Table 8: SMART6 Commands ASCII Command Message ID Description BTCONTROL 8205 Enable or disable Bluetooth wireless technology. COM Configure the receiver serial port. FRESET 20 Factory reset (existing OEM6 commands extended to SMART6) LOG Request logs from the receiver $PMDT 8200 Configure the Tilt Compensation function (SMART6 command) RADARCFG 8192 Configure the Emulated Radar signal output (SMART6 command) SETCANNAME 1091 Set the CAN name fields. The arguments for each of these commands are described in the following sections. For a complete listing and description of the other commands that the SMART6, an OEM6 based receiver, is capable of processing, refer to the OEM6 Family Firmware Reference Manual. B.1 SYNTAX CONVENTIONS The following rules apply when entering commands, at the command prompt, from a keyboard. 1. Courier font is used to illustrate program output or user input. 2. References to other commands, logs or any of their fields are shown in italics. 3. The commands are not case sensitive. For example, you could type either RESET or reset. 4. Except where noted, either a space or a comma can separate commands and their required entries. For example, you could type either fix position 51.11358042 -114.04358013 1059.4105 or fix position 51.11358042, -114.04358013, 1059.4105. 5. At the end of a command, a carriage return is required. For example, press or on your keyboard. 6. Responses are provided to indicate whether or not an entered command was accepted. The format of the response depends on the format of the command. Refer to the OEM6 Family Firmware Reference Manual for more information. 7. Optional parameters are indicated by square brackets ( [ ] ). For commands that contain optional parameters, the value used if the optional parameter is not specified is given in the syntax table for the command. 8. Data format definitions, as specified in the “Format” field, are detailed in the OEM6 Family Firmware Reference Manual. Note that all binary data is little-endian byte-ordered. SMART6 User Manual 52 B.2 BTCONTROL Enable/Disable Bluetooth wireless technology The BTCONTROL command enables or disables the Bluetooth module. To ensure no possibility of interference, when the module is disabled it is completely powered down. Message ID: 8205 Abbreviated ASCII Syntax: BTCONTROL switch Factory Default: The Bluetooth module is enabled by default. Example 1 to disable Bluetooth wireless technology: btcontrol disable Example 2 to enable Bluetooth wireless technology: btcontrol enable Field Data Binary Bytes Description Binary Format Binary Offset BTCONTROL This field contains the command name or the message header header depending on whether the command is abbreviated ASCII, ASCII or binary. switch Enum Enable or disable Bluetooth wireless technology 0 = ENABLE 1 = DISABLE (default = ENABLE) 1. To enable the current state of the Bluetooth module to persist across receiver resets and power-ups, issue a SAVECONFIG command. 2. Changing the Bluetooth wireless technology from disabled to enabled takes several seconds to execute. This means that, even though the user will get an immediate “OK>” response followed by the COM prompt, the Bluetooth module may not be ready for communication. SMART6 User Manual Rev 0B 53 B.3 COM Configure COM Port This command is used to configure the receiver’s serial ports. The current COM port configuration can be reset to the default state at any time by sending two hardware break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5 seconds), with a pause of at least 250 milliseconds following the second break. This will: • Stop the logging of data on the current port (see UNLOGALL command in the OEM6 Family Firmware Reference Manual). • Clear the transmit and receive buffers on the current port. • Return the current port to its default settings. • Set the interface mode to NovAtel for both input and output (see INTERFACEMODE command in the OEM6 Family Firmware Reference Manual). Baud rates higher than 115,200 bps are not supported by standard computer hardware. Special computer hardware may be required for higher rates, including 230400 bps, 460800 bps and 921600 bps. Also, some computers have trouble with baud rates beyond 57600 bps. Message ID: 4 Abbreviated ASCII Syntax COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]] Factory Default: COM COM1 9600 N 8 1 N OFF ON COM COM2 9600 N 8 1 N OFF ON COM COM3 9600 N 8 1 N OFF ON On SMART6 receivers with Bluetooth wireless technology, the default settings for COM3 are: com3 115200 n 8 1 cts off off Changing the COM3 serial port settings could interfere with the ability to communicate using Bluetooth. ASCII Example: COM COM1 57600 N 8 1 N OFF ON Use the COM command before using the INTERFACEMODE command on each port. Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match. Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate. This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate. In this case, configure the receiving port to have break detection disabled using the COM command. SMART6 User Manual Rev 0B 54 Field Field Type Binary Value ASCII Value Binary Format Description Binary Bytes Binary Offset COM header This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary. port COM1 Select COM port 1 to configure Enum COM2 Select COM port 2 to configure COM3 Select COM port 3 to configure THISPORT Select the current COM port (default) ALL Select all COM ports bps/baud 300, 600, 900, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200, or 230400 Communication baud rate (bps). Bauds of 460800 and 921600 are also available on COM1 of OEM6 based products ULong H+4 parity No parity (default) Enum H+8 Even parity Odd parity databits 7 or 8 Number of data bits (default = 8) ULong H+12 stopbits 1 or 2 Number of stop bits (default = 1) ULong H+16 handshake No handshaking (default) Enum H+20 XON XON/XOFF software handshaking OFF No echo (default) Enum H+24 ON Transmit any input characters as they are received OFF Disable break detection Enum H+28 ON Enable break detection (default) echo break SMART6 User Manual Rev 0B 55 B.4 FRESET Clear Selected Data from NVM and Reset This command clears data that is stored in non-volatile memory. Such data includes the almanac, ephemeris and any user specific configurations. The commands, ephemeris and almanac related data can be cleared by using the STANDARD target. The model can only be cleared by using the MODEL target. The receiver is forced to hardware reset. In addition, values entered using the CLOCKCALIBRATE command can only be cleared by using the CLKCALIBRATION target. Issuing the FRESET command affects Tilt as follows: • Tilt sensor level is restored to the factory default • Tilt enable/disable is not be affected FRESET STANDARD (which is also the default) causes any commands, ephemeris, GNSS and almanac data previously saved to NVM to be erased. Message ID: 20 Abbreviated ASCII Syntax: FRESET [target] Input Example: FRESET COMMAND Field If you are receiving no data or random data from your receiver, try the following before contacting NovAtel: • Verify that the receiver is tracking satellites • Check the integrity and connectivity of power and data cables • Verify the baud rate settings of the receiver and terminal device (your computer or data logger) • Switch COM ports • Issue a FRESET command ASCII Value Field Type Binary Value FRESET header target See Table 9, FRESET Target on Page 57 SMART6 User Manual Rev 0B Binary Format Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary. What data is to be reset by the receiver. Enum (default=STANDARD) Binary Bytes Binary Offset 56 Table 9: FRESET Target Binary ASCII Description STANDARD Resets commands, ephemeris and almanac (default). COMMAND Resets the stored commands (saved configuration) GPSALMANAC Resets the stored GPS almanac GPSEPHEM Resets the stored GPS ephemeris GLOEPHEM Resets the stored GLONASS ephemeris MODEL Resets the currently selected model 10 USERDATA Resets SMART6 only commands 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position 31 GLOALMANAC Resets the stored GLONASS almanac 52 PROFILEINFO Resets the stored profile configurations SMART6 User Manual Rev 0B 57 B.5 LOG Request Logs from the Receiver Many different types of data can be logged using several different methods of triggering the log events. Every log element can be directed to any combination of the three COM ports. The ONTIME trigger option requires the addition of the period parameter. See the OEM6 Family Firmware Reference Manual for further information and a complete list of data log structures. The LOG command tables in this section show the ASCII command format. The optional parameter [hold] prevents a log from being removed when the unlogall command, with its defaults, is issued. To remove a log that was invoked using the [hold] parameter requires the specific use of the unlog command. To remove all logs that have the [hold] parameter, use the UNLOGALL command with the held field set to 1. The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the command was received on. 1. The OEM6 family of receivers can handle 64 logs at a time. If it is more than 64 logs at a time, the receiver responds with an Insufficient Resources error. 2. Maximum flexibility for logging data is provided to the user by these logs. The user is cautioned, however, to recognize that each log requested requires additional CPU time and memory buffer space. Too many logs may result in lost data and degraded CPU performance. Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header. 3. Polled log types do not allow fractional offsets or ONTIME rates faster than 1 Hz. 4. Use the ONNEW trigger with the MARKTIME or MARKPOS logs. 5. Only the MARKPOS or MARKTIME logs and ‘polled’ log types are generated, on the fly, at the exact time of the mark. Synchronous and asynchronous logs output the most recently available data. 6. If the ONTIME trigger is used with asynchronous logs, the time stamp in the log does not necessarily represent the time the data was generated but rather the time when the log is transmitted. Message ID: 1 Abbreviated ASCII Syntax: LOG [port] message [trigger [period [offset [hold]]]] Abbreviated ASCII Example 1: LOG COM1 BESTPOS ONTIME 7 0.5 HOLD The above example shows BESTPOS logging to COM port 1 at 7 second intervals and offset by 0.5 seconds (output at 0.5, 7.5, 14.5 seconds and so on). The [hold] parameter is set so logging is not disrupted by the unlogall command. To send a log only one time, the trigger option can be ignored. Abbreviated ASCII Example 2: LOG COM1 BESTPOS ONCE 0.000000 0.000000 NOHOLD Refer to the Command Formats section of the OEM6 Family Firmware Reference Manual for additional examples. 1. In NovAtel Connect there are two ways to initiate data logging to the receiver's serial ports: - the LOG command in the Console window or - use the interface provided in the Logging Control window. 2. Only the ASCII/Abbreviated ASCII log table is included in this manual. Refer to the LOG command in the OEM6 Family Firmware Reference Manual for binary log details. SMART6 User Manual Rev 0B 58 Factory Default: LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM3 RXSTATUSEVENTA ONNEW 0 0 HOLD Field Field Name ASCII Value Field Type Description LOG (ASCII) header This field contains the command name or the message header depending on whether the command is abbreviated ASCII or ASCII respectively port See Table 10, Detailed Serial Port Identifiers on page 60 Output port (default = THISPORT) Enum message Any valid message name, with an optional A or B suffix Message name of log to output Char [ ] trigger ONNEW Output when the message is updated (not necessarily changed) Enum ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message (default) ONMARK Output when a pulse is detected on the mark 1 input, MK1I period Any positive double value larger than the receiver’s minimum raw measurement period Log period (for ONTIME trigger) in seconds (default = 0) Double offset Any positive double value smaller than the period Offset for period (ONTIME trigger) in seconds. To log data at 1 second after every minute, set the period to 60 and the offset to 1 (default = 0) Double hold NOHOLD Allow log to be removed by the UNLOGALL command (default) Enum HOLD Prevent log from being removed by the UNLOGALL command SMART6 User Manual Rev 0B 59 Table 10: Detailed Serial Port Identifiers ASCII Port Name Decimal Port Value a Hex Port Value Description NO_PORTS No ports specified COM1_ALL All virtual ports for COM port 1 COM2_ALL All virtual ports for COM port 2 COM3_ALL All virtual ports for COM port 3 THISPORT_ALL All virtual ports for the current port ALL_PORTS All virtual ports for all ports XCOM1_ALL All virtual COM1 ports XCOM2_ALL 10 10 All virtual COM2 ports XCOM3_ALL 11 17 All virtual COM3 ports COM1 20 32 COM port 1, virtual port 0 COM1_1 21 33 COM port 1, virtual port 1 ... COM1_31 3f 63 COM port 1, virtual port 31 COM2 40 64 COM port 2, virtual port 0 ... COM2_31 5f 95 COM port 2, virtual port 31 COM3 60 96 COM port 3, virtual port 0 ... COM3_31 7f 127 COM port 3, virtual port 31 THISPORT c0 192 Current COM port, virtual port 0 THISPORT_31 df 223 Current COM port, virtual port 31 XCOM1 1a0 416 Virtual COM1 port, virtual port 0 XCOM1_1 1a1 417 Virtual COM1 port, virtual port 1 ... XCOM1_31 1bf 447 Virtual COM1 port, virtual port 31 XCOM2 2a0 672 Virtual COM2 port, virtual port 0 XCOM2_1 2a1 673 Virtual COM2 port, virtual port 1 ... XCOM2_31 2bf 703 Virtual COM2 port, virtual port 31 ... XCOM3 9a0 2464 Virtual COM3 port, virtual port 0 ... XCOM3_31 9bf 2495 Virtual COM3 port, virtual port 31 a. Decimal port values 0 through 16 are only available to the UNLOGALL command and cannot be used in the UNLOG command or in the binary message header. For detailed information on virtual ports, refer to the LOG command in the OEM6 Family Firmware Reference Manual. SMART6 User Manual Rev 0B 60 B.6 $PMDT Configure Tilt Compensation Use this NMEA command to configure the Tilt Compensation function. Syntax $PMDT,[command],[parameters]*cksum Host ua b Description Command Format Tilt Sensor Response Set GPS Sensor To set the GNSS sensor height in feet and Height inches: $PMDT,u,,ff,ii*cksum crlf Example: To set the GNSS sensor height to 12 ft 6 in, the command is: $PMDT,u,,12,6*40 Note: Feet and inches are entered as integers. You can enter feet and inches, but not feet, inches and metres. Response to the “u” command: $PMDT,<,GNSS sensor height (inches):nnnnn crlf where nnnnn is a five digit integer, sensor height in inches. In this example, the Tilt Sensor response is: $PMDT,<,GNSS sensor height (inches): 00150 To set the GNSS sensor height in metres: $PMDT,u,,,,mmm.mmm*cksum crlf Example: To set the GNSS sensor height to 3.5 metres, the command is: $PMDT,u,,,,3.5*7C Response to the ”u” command: $PMDT,<,GNSS sensor height (inches):nnnnn crlf where nnnnn is a five digit integer, sensor height in inches. In this example, the Tilt Sensor response is: $PMDT,<,GNSS sensor height (inches): 00137 Set Field Level $PMDT,l*cksum crlf Example: $PMDT,l*4D Response to the “l” command: $PMDT,<,Level state set crlf Example: $PMDT,<,Level state set Update Flash Values To update flash values (needs to follow any height or level command that is not done each time you power up): $PMDT,x*cksum crlf Example: $PMDT,x*59 Response to the “x” command: $PMDT,<,Flash updated crlf Example: $PMDT,<,Flash updated a. If all fields in the u command are zero or null, the current height is transmitted without change (with the format shown above). b. If an invalid entry is received (>500 inches), the response is: $PMDT, 1000 m) TEST_DIST Test distance exceeded (maximum of 3 rejections if distance > 10 km) COLD_START Not yet converged from cold start V_H_LIMIT Height or velocity limits exceeded (in accordance with export licensing restrictions) VARIANCE Variance exceeds limits RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY_WARNING Large residuals make position unreliable 14-17 Reserved for SPAN-capable receivers 18 PENDING When a FIX POSITION command is entered, the receiver computes its own position and determines if the fixed position is valid a 19 INVALID_FIX The fixed position, entered using the FIX POSITION command, is not valid 20 UNAUTHORIZED Position type is unauthorized - HP or XP on a receiver not authorized for it a. PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid. The receiver needs to be tracking two or more GPS satellites to perform this check. Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites. If your antenna is obstructed (or not plugged in) and you have entered a FIX POSITION command, then you may see PENDING indefinitely. SMART6 User Manual Rev 0B 67 C.2.2 TILT Compensation Tilt Compensation affects existing logs as follows: C.2.3 • NovAtel logs that provide the Extended Solution Status field (BESTPOS and BESTXYZ, both documented in OEM6 Family Firmware Reference Manual) use the 0x80 bit to flag the fact that Tilt Compensation is being applied. • For NMEA GPGGA, GPGGARTK, and GPGGALONG logs, the precision of various fields indicates whether the Tilt Compensation is being applied. VERSION HW and SW Versions and Serial Numbers The Component Type of the VERSION log, refer to the OEM6 Family Firmware Reference Manual, is extended to include SMART6 information as in Table 15, Component Type. Table 15: Component Type Binary Valuea ASCII Value Description UNKNOWN Unknown Component GPSCARD OEM6 GPSCard Component ENCLOSURE SMART6 Receiver USERINFO User application information component 981073925 (0x3A7A0005) DB_USERAPPAUTO Auto-starting user application firmware a. Unused numbers are reserved for future use. [COM1]
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