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SMART6-L User Manual

1. 30 0 3 0 Typical 5 Places pms 222 p w J2 et Dimensions millimeters Y Table 3 SMART6 L Communication Power Cable Pin outs Signal Name COM1_TXD J1 J2 J3 J4 Label COM1_RXD COM2_TXD COM2_RXD COM3_TXD COM3_RXD N gt COM1 GND COM2 GND COM3 GND MKI GND EMULATED RADAR GND PULSE PER SECOND GND MKI GND ER GND PPS GND SMART6 L User Manual Rev 4 46 Signal Name CANI 6 CANI CANI 7 CANI PWR RET GND 9 EMULATED RADAR OUT 10 ER_OUT EVENT MARK IN 11 5 12 5 PWR INPUT 14 BATT A 2 2 SMARTO L Connector and Cable Requirements Custom cables for installing the SMART6 L be created using he 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 L end only signal conductors must be twisted 40 twists m 12 twists
2. Earth Maget x2 M4 x 0 7 10 DEEP x 4 We Ja STE d 1 582 6 M 89 0 tiny OLY 5 3 Antenna d nter 48 79 gt Dimensions are in millimeters SMART6 L User Manual Rev 4 45 2 1 SMART6 L Communication Power Cable 01018999 The SMARTE6 L cable refer to Figure 22 SMART6 L 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 a5 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 In addition there are a number of bare wires where the outer insulation is cut away but the wires beneath remain intact See Table 3 SMART6 L Communication Power Cable Pin outs on page 46 for their pin outs For more information on mating connectors and part numbers see Table 4 SMART6 L Mating Connectors on page 47 This cable is RoHS compliant Figure 22 SMART6 L Communication Power Cable 4600 155 0 7600 5 0 length when straight length when straight
3. 54 9 Response MOdes 2 1 e ii gerer Ue dece Madd 56 10 COM Serial Port IdentifiGls oat itr ete e Ine eaa CERRO eL OX v Pda si za EE Od 58 11 dU ele rU C Afr d tte toe b c Sm a o Perd 58 12 Handshakirigis ett oM D RTI FORI GREEN 58 13 Emulated Radar Status a eiiis eee datei ie did en val eed 63 14 Solution Status tni tesi t teak fev feet Delta and ev 63 15 Position or Melocity Type uccide eed here e pe I epe tek der EM pese aee kh tede rece ded 64 16 Component ccc ode ae oe cet Taie d ipeo 65 17 SMARTO E Prod ct ui diia edv apiid et ule aile der i PO edt 66 18 Reference User 5 eei er eei va Len aae dra teo 66 SMART6 L User Manual Rev 4 The following notices apply to the SMARTE6 L Changes or modifications to this equipment not expressly approved by NovAtel Inc could result C 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 interfer
4. 6 Firmware and Software Refer to Section 4 3 1 Transferring Firmware Files on page 34 for descriptions of the Update and OEM versions NovAtel Connect PC Utilities Software Bundle Bundled PC Utilities software includes NovAtel Connect a GUI interface Connection Import imports connection profiles e Convert converts receiver data logs into different formats e USB Drivers and Window Signing The NovAtel Connect PC Utilities bundle can be download from the Downloads section of www novatel com support search Firmware and Software included Firmware shex file WinLoad software utility WinLoad and SoftLoad instructions follow 4 1 Firmware Updates and Model Upgrades A local NovAtel dealer can provide all the information needed to upgrade or update a receiver Refer to www novatel com where to buy for contact information or contact sales novatel com or support novatel com directly 4 1 1 Firmware Updates Firmware updates are firmware releases that include fixes and enhancements to the receiver functionality Firmware updates are released on the NovAtel web site as they become available Firmware upgrades can be performed using the WinLoad utility SoftLoad commands or with a custom loader application Contact NovAtel Customer Support support novatel com for details on custom loader requirements SMART6 L User Manual Rev 4 32 NovAtel Firmware and Software Chapter 4 41 2
5. eir ta a 26 M A M ORE 26 3 6 Enabling SBAS Positioning 5520 28 dormi nablingstesB BP eoo eno e Caste 28 29 Emiulated Radar ER re tilii ettet tut 31 3 ebd Yi 31 4 NovAtel Firmware and Software 32 4 1 Firmware Updates and Model 32 4 1 1 Firmware Updates 1 12 666 6 6 0 32 4 1 2 Model M ien 33 SMART6 L User Manual Rev 4 3 4 2 Authorization Code 4 3 Updating or Upgrading Using the WinLoad Utility 4 3 1 Transferring Firmware Files 4 3 2 Using the WinLoad Utility 4 4 Updating Using SoftLoad Commands 4 4 1 SoftLoad Commands and Logs 4 4 2 Working With S Records 4 4 3 Sending Firmware Data 4 4 4 SoftLoad Update Method 4 4 5 SoftLoad Errors 4 5 Upgrading Using the AUTH Command 4 5 1 Upgrade Procedure A Technical Specificatio
6. 2 1 3 Mounting Plate Two mounting plates are available to facilitate mounting the receiver a surface mounting plate and a pole mounting plate Figure 4 SMART6 L Surface Mounting Plate 01018317 5 00 gt lt 3 360 gt gt 4 lt 1439 0 50 x 4 lt 050 4 R0 025 A 496 2 6 25 Y p y J 00 27 0 01 drill thru x 4 gt 4 lt 055 0 60 lt 2 5 gt lt 3 561 gt 0 315 REF 0 105 REF LAZA K 00 370 Center sink a 2 places Dimensions are in inches To install the mounting plate use the adhesive tape or the mounting holes at each corner of the plate SMART6 L User Manual Rev 4 13 Installation and Setup Chapter 2 Figure 5 SMART6 Pole Mounting Plate 01019142 5 00 3 360 2 325 0 85 ry 4 N 0 60 ry 2 205 T 4 326 9 4 326 Tos 3 25 40 05 0 0 188 4 1 439 3 561 2 50 0 05 D To install the pole mounting plate 1 Use four 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 adapter is available part number 12023275 SMART6 L User Manual Rev 4 14 Installation and Setup Cha
7. You can configure the log to output at various frequencies as described in Section B 3 LOG Request Logs from the Receiver on page 52 The above command line operations can also be carried out through NovAtel Connect Information about configuring the communication port can be found in NovAtel Connect online help The procedure for adding a NMEA log through the Connect is summarized as follows 1 In the Logging control window click Logging to one or more of the receiver s serial ports The Add Log window displays Beside Select list select Complete List or NMEA List Beside Log to file select the NMEA log you want to add Select the port Configure the remaining fields then click Aad Oc amp oN SMART6 L User Manual Rev 4 60 C 1 2 NovAtel Position Logs In addition to NMEA logs NovAtel supports a range of non NMEA position logs described in the OEMG Family Firmware Reference Manual including BESTPOS This log contains the best available position computed by the receiver for example log bestposa ontime 0 5 e BESTXYZ This log contains the receiver s best available position and velocity ECEF coordinates for example log bestxyza ontime 1 SMART6 L User Manual Rev 4 61 C 2 RADARSTATUS Signal Information This log contains Emulated Radar ER signal information Message ID Log Type 1877 Synch Recommended Input log radarstatusa ontime 1 ASCII Example RADARSTATUSA COM1 0 39 0 FINEST
8. SMART6 L User Manual OM 20000146 Rev 4 March 2015 SMARTO L User Manual Revision Level 4 Publication Number OM 20000146 Revision Date March 2015 Firmware Version 6 61 0 060610 0000 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 non disclosure 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 The information contained within this manual is believed to be true and correct at the time of publication NovAtel OEM6 and RT 2 are registered trademarks of NovAtel Inc SMART6 L GLIDE NovAtel CORRECT and NovAtel Connect are trademarks of NovAtel Inc Manufactured and protected under U S Patent 5 390 207 5
9. 32100407AD48FCA63034B80F5CE0C36507DE3D8DCCOC6C0OC00515D74BCACF2F2949E1 Address 0x00407AD4 Num Data Bytes 0x21 0x01 0x04 Ox1C S32100407AF04CCA4 985F0F7B081E41D9B7D806C2698 9AE2D4E4CCBCB47C10FBFD3E43 Previous Address Previous Num Bytes 0x00407AD4 0x1C 0x00407AF0 Address 0 00407 0 Num Data Bytes 0x1C Add data to existing SOFTLOADDATA command S30D00407BOCDE0400A6374D5BFFC5 Previous Address Previous Num Bytes 0x00407AF0 0x1C 0x00407B0C Address 0x00407BOC Num Data Bytes OxOD 0x01 0x04 0x08 Add data to existing SOFTLOADDATA command 3210000000007F0A7F1F4060000147B4000F49217813C7BB00014493F005C00000009 Previous Address Previous Num Bytes 00407 0x08 0x00407B14 Address 0x00000000 Num Data Bytes Ox1C Requires new SOFTLOADDATA command because address does not match previous address previous number of data bytes SMART6 L User Manual Rev 4 38 NovAtel Firmware and Software Chapter 4 Send existing SOFTLOADDATA command and start a new SOF TLOADDATA command 3210000001C80040000E001000030000000082B0100D8060000E4060000C806000063 Address 0x0000001C Num Data Bytes 0x1C Previous Address Previous Num Bytes 0x00000000 0x1C 0x0000001C Add data to existing SOFTLOADDATA command The SOFTLOADDATA command must be sent as a NovAtel binary format command 444 SoftLoad Update Method This section describes the sequence of commands that are issued t
10. SMART6 L User Manual Rev 4 22 Operation Chapter 3 3 3 2 Rover Station Configuration At the rover station enter SERIALCONFIG port baud parity databits stopbits handhaking break interfacemode port rx type tx type responses For example RTCA interfacemode com2 rtca none off RTCM interfacemode com2 rtcm none off RTCMV3 interfacemode com2 rtcmv3 none off CMR interfacemode com2 cmr none off CMR interfacemode com2 cmr none off same as CMR 3 3 3 GPS GLONASS Base and Rover Configuration This section shows how to set up a base and rover OEM6 GPS GLONASS enabled receivers for GPS GLONASS RTK operation Base Station fix position lat lon hgt enter your own lat lon and hgt values serialconfig com2 9600 N 81N on interfacemode com2 none rtca off log com2 rtcaref ontime 10 log com2 rtcaobs2 ontime 1 log com2 rtcal ontime 5 optional enable code DGPS coverage saveconfig optional save configuration to non volatile memory Rover Station serialconfig com2 9600 N 8 1 N on interfacemode com2 rtca none off log coml bestposa ontime 1 optional view position information saveconfig optional save configuration to non volatile memory SMART6 L User Manual Rev 4 23 Operation Chapter 3 3 3 4 Configuration Notes 3 4 For compatibility with other GNSS receivers and to minimize message size it is recommended using the standard form of RTCA RTCM RTCMV3 or CMR correc
11. 32768 0000000 501 COMPUTED DOPP 3189 201903 000 00040020 3a93 VELOCITY 5 5924 5 1682 671 842775 9a017aff Field Field type Data Description Format Binary Binary P Bytes Offset RADARSTATUS Log header H 0 header Emulated Radar A bit field representing the current state of radar Hex 4 H status emulation see Table 13 Emulated Radar Status on page 63 Solution status Solution status as reported in the BESTVEL log see Enum 4 4 Table 14 Solution Status page 63 Velocity type Velocity type as reported in the BESTVEL log see Enum 4 H 8 Table 15 Position or Velocity Type on page 64 Horizontal speed Horizontal speed over ground in metres per second Double 8 H 12 Smoothed Smoothed horizontal speed over ground in metres Double H 20 horizontal speed per second Frequency Output frequency in Hz Double H 28 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 36 CR LF Sentence terminator ASCII only SMARTO L User Manual Rev 4 62 Table 13 Emulated Radar Status Bit Mask Description 0 0x01 Feature enabled 1 0x02 Velocity type good 2 0x04 Velocity gt 1 kph 3 4 0x8 Current response mode being applied This will equal the RADARCONFIG response mode parameter unless that parameter is 2 If the response mode was 2 then this will be either 500 or 1000 depending on speed These bits are mapped as follows e
12. 495 499 5 734 674 5 736 961 5 809 064 6 184 822 B1 6 211 821 B1 6 243 409 B1 6 445 354 B1 6 452 560 B2 6 608 998 1 6 664 923 B1 6 728 637 B2 6 922 167 B2 7 250 916 7 738 536 B2 7 738 606 B2 7 885 317 B2 38 467 433 B2 8 442 097 B2 Copyright 2015 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws SMART6 L User Manual Rev 4 2 Table of Contents Notices 7 Customer Service 9 1 Introduction 10 1 4 Features 57 EE 10 2 Installation and Setup 11 2 1 Additional Equipment ener rennen nns 11 2 11 SMAISTOSE ee dics ERU AI 11 2 1 2 Power Supply 2 2 17482 2 000000000000000 nnne nnne nennen nnns 12 2 1 3 Mounting oett ober ht Step 13 2 1 4 Mounting the SMARTO L hel eva 15 2 1 5 Connecting Data Communications 15 2 2 Additional Features and Information seen 15 22 MIKInd aes aint peux ipa ie 15 2 2 2 Status tete 16 2 2 3 tie tiefe oat a S 1
13. Model Upgrades Model upgrades enable purchased receiver features Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs at www novatel com where to buy Contact NovAtel Customer Support www novatel com support or NovAtel Sales to request a temporary upgrade authorization code for trial purposes Model upgrades can be applied to the receiver with an authorization code and the AUTH command without returning the receiver to the dealer 4 2 Authorization Code An authorization code commonly known as an auth code is required to upgrade a SMART6 L receiver Auth codes are obtained by contacting NovAtel Customer Support Upon contact NovAtel Customer Support requires the receiver model number the receiver serial number the receiver firmware version Enter the LOG VERSION command to determine the receiver model serial number and firmware version Example R MODEL SERIAL FIRMWARE ENTE NUMBER NUMBER VERSION GPSCARD D2LRORTTRA BFN11230026 OEM628 1 00 meme fel ee RELEASE FAMILY INDICATOF FIRMWARE NUMBER After determining the appropriate model and firmware version the authorization code auth code is issued The auth code is required to unlock the features on the new model type To upgrade to a new model with the same firmware version use the AUTH command with the issued auth code as outlined in Section 4 5 Upgrading Using the A
14. SoftLoad process SOFTLOADSREC Send an S Record to the receiver for the SoftLoad process SOFTLOADDATA Send firmware image data to the receiver for the SoftLoad process SOFTLOADCOMMIT Complete the SoftLoad process Send configuration information to the receiver for the SoftLoad process This command is not required when working with a hex or shex file SOFTLOADSETUP Log Description SOFTLOADSTATUS Provides status updates for the ongoing SoftLoad process Each command and log can be used in abbreviated ASCII ASCII or binary format with the exception of SOFTLOADDATA which should only be used in binary format File Types Firmware data is stored in hex and shex files as ASCII data in the form of S Records based on the Motorola S Record format The shex file is the same as the hex file but includes a digital signature for the firmware 44 2 Working With S Records Each S Record has a header indicating the type of information contained in the record Records beginning with 50 S5 and S7 contain metadata about the firmware image such as version information and which card types are supported by the firmware image Example S0 Record S0 V OEMO60400RN0000 Example S5 Records 550000 5503 9 25 5033158D5A Example 57 Records 570000 570500000000 Records beginning with 53 contain the actual firmware image data Aside from the header each pair of characters forms the ASCII representation of b
15. and utilize 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 CR REACH NovAtel strives to comply with the EU Directive EC 1907 2006 on chemicals and their safe use as per the Registration Evaluation Authorization and Restriction of Chemical substances REACH for its products including the SMART6 L product Since REACH SVHC lists are updated occasionally please contact NovAtel Customer Support if you require further information Cables may contain DEHP CAS Number 117 81 7 concentrations above 0 1 w w 1 Visit the NovAtel Web site at www novatel com products weee and rohs for more information on WEEE SMART6 L User Manual Rev 4 8 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 NovAte
16. commands B S3 S Records should be parsed and packaged into a SOFTLOADDATA command 6 Send the SOFTLOADCOMMIT command after all data from the hex or shex file has been transferred to the receiver The SOFTLOADSTATUS log reports the status of the loading process Wait for a SOFTLOADSTATUS log to indicate the status is COMPLETE The COMPLETE status or an error is guaranteed to be output from the receiver within 300 seconds from the time the SOFTLOADCOMMIT command was received by the receiver 7 Sendthe auth code for the newly downloaded image using the AUTH command This is only required if there is not already a signature auth code on the receiver as signature auth codes are maintained through a SoftLoad update See Section 4 2 Authorization Code on page 33 for details on Auth Codes AUTH ADD DOWNLOAD AUTH CODE 8 Resetthe receiver using any of the following methods A Enter the RESET command B Enter the FRESET command C Power cycle the receiver SMART6 L User Manual Rev 4 39 NovAtel Firmware and Software Once the receiver resets the new version of firmware is active The SoftLoad process be safely canceled at any time using the SOFTLOADRESI otherwise resetting the receiver Once the COMPLETE status is reported by SOFTLOADSTATUS the new firmware image will be run after the receiver is reset Start Y Open a connection to any port on the recei
17. device s keypad and executed after issuing a carriage return command which is usually the same as pressing the lt Enter gt key 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 OK where COM2 is the port prompt followed by the command entered and Carriage Return is a prompt to press the Enter 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 ok If a command is entered incorrectly the receiver responds with Invalid Message ID or a more detailed message Ensure computers Control Panel s Power Settings are not set to Hibernate or Standby modes Data is lost if one of these modes occurs during a logging session Transmitting and Receiving Corrections RTK or DGPS corrections can be transmitted from a base station to a rover station to improve position accuracy The base station is the GNSS receiver which is acting as the stationary reference It has a known position and transmits correction messages to the rover station The rover station is the GNSS receiver which does not know its exact position and can be sent correction messages from a base station to calculate differential GNSS positions The SMART6 L can be used as a bas
18. 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 wv NovAtel recommends biasing unused inputs to their default states The connector used in the SMART6 L 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 SMARTE6 L These numbers are provided for information only and are not available from NovAtel as separate parts Table 4 SMART6 L Mating Connectors Product Part Description Company Part Number SMARTE6 L mating connector J1 Figure 22 SMART6 L Communication Power Cable on Sealed racopisele housing black 776273 1 page 46 Gold plated pins 20 16 AWG for J1 Pins loose piece Tyco AMP 770854 3 SMARTE6 L connector Gold plated pins for SMART6 L connector strip Pins strip reel Tyco AMP 770520 3 Seal Plug for unused pins on mating connector positions must be Seal plug 770678 1 populated with a pin seal plug to achieve the 67 rating for the cable connection Table 5 Recommended Fuse and Fuse Holders details the part numbers for recommended fuses and fuse holders These numbers are prov
19. novatel com support or download the APN 062 NovAtel CORRECT with Veripos from www novatel com support search items Application 20Note SMART6 L User Manual Rev 4 29 Operation Chapter 3 OmniSTAR OmniSTAR service is not supported for OEM6 products sold after October 24 2013 If unsure whether the receiver is OmniSTAR capable contact NovAtel Sales at www novatel com where to buy sales offices NovAtel Customer Support at www novatel com support or visit www novatel com solutions novatel correct positioning A subscription is required to use the OmniSTAR service To obtain a subscription contact OmniSTAR at 1 888 883 8476 or 713 785 5850 Provide the receiver s OmniSTAR serial number which is different from the NovAtel serial number To obtain the OmniSTAR serial number enter the following command log lbandinfo The log displays the L Band serial number in the fifth field following the log header The log also provides the status of your subscription Refer to the LBANDINFO log in the OEM6 Family Firmware Reference Manual OM 20000129 for more information To activate the subscription the receiver must be powered and tracking an L Band satellite When advised by OmniSTAR of the appropriate satellite frequency and data link rate for your location use the ASSIGNLBAND command to configure your receiver The latest frequencies can be obtained from www omnistar com Example assignlband omn
20. port 2 3 COM3 COM port 3 6 THISPORT The current COM port 8 ALL All COM ports Table 11 Parity Binary ASCII Description 0 N No parity default 1 E Even parity 2 O Odd parity Table 12 Handshaking Binary ASCII Description 0 N No handshaking default 1 XON XON XOFF software handshaking SMART6 L User Manual Rev 4 58 B 6 SETCANNAME Sets the CAN name fields This command sets the CAN device name fields Abbreviated ASCII Syntax Message ID 1091 SETCANNAME ASCII Binary dr Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 SETCANNAME This field contains the command 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ManufacturerCode CAN module s Manufacturer Ulong H Code 3 IndustryGroup Industry group number Ulong H 4 default 2 4 DeviceClass 11783 5 Device class Ulong H 8 default 0 5 DeviceClassInstance 11783 5 Device class instance Ulong H 12 default 0 6 Function 11783 5 Function Ulong H16 default 23 7 FunctionInstance 11783 5 Function instance Ulong H 20 default 0 8 ECUInstance 11783 5 ECU Instance Ulong H 24 default 0 9 PreferredAddress Device default address on start Ulong H 28 up default 28 10 Reserved Ulong H 32 SMART6 L User Manual Rev 4 59 Position Lo
21. 00 Response mode 1 no smoothing e 01 Response mode 500 500ms smoothing 10 Response mode 1000 1000ms smoothing e 11 Response mode 2000 2000ms smoothing 5 31 OxFFFFE700 Reserved Table 14 Solution Status Solution Status Binary ASCII Deseriprion 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V_H_LIMIT Height or velocity limits exceeded in accordance with export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 13 INTEGRITY_WARNING Large residuals make position unreliable 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 8 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 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 ch
22. 2 Authorization Code on page 33 for further information about the Authorization Code Figure 19 Authorization Code Window Authorization Code 6 The receiver finishes the download and then resets The process is complete when Done appears in the main display area Figure 20 Upgrade Process Complete Download Complete Resetting Card Resetting Done FE E UE 6 ppp opp psp fe e oo pe pe pe p em COM 1 Connect 9600 Download 115200 7 Close WinLoad 4 4 Updating Using SoftLoad Commands Firmware can be updated on a running receiver using a process called SoftLoad Any available communication ports on the receiver can be used The SoftLoad process is made up of a set of commands and logs that are used to send new firmware data to a receiver and check the progress of the update Use SoftLoad if automated loading is desired The receiver stops tracking GNSS satellites during the SoftLoad process Do not attempt to SoftLoad when GNSS satellite tracking on the unit is required If the unit is connected to the NovAtel Connect utility only the Console and ASCII Message windows may remain open in the Connect Utility SMART6 L User Manual Rev 4 36 NovAtel Firmware and Software Chapter 4 441 SoftLoad Commands and Logs Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for further log and command information Description SOFTLOADRESET Initiate a new
23. 2 PPS Pulse Per Second Output COM MKI PPS ER 6 CAN 13 COM3 RxD 7 CAN 14 Power Positive Source a Emulated Radar is available only on hardware versions 3 03 or greater SMART6 L User Manual Rev 4 11 Installation and Setup Chapter 2 3 Turn on the power supply to the SMART6 L the SMARTE6 L cable is also a power cable The power LED on the receiver glows red when the SMARTE6 L is properly powered Fuse holder recommendations can be found in Table 5 Recommended Fuse and Fuse Holders on page 48 Figure 3 Simplified SMART6 L Setup Tyco 14 pin Connector User supplied 5A fast blow fuse 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 2 1 2 Power Supply Requirements The SMARTE6 L requires 8 to 36 VDC input power refer to Section A 2 1 SMART6 L Communication Power Cable 01018999 on page 46 for additional power supply specifications The SMARTS6 L cable provides power in BATT and power ground BATT bare wires for connecting the SMARTO L to a vehicular power system or equivalent The SMART6 L power source must be protected by 5 A Fast Blow Fuse or damage to wiring may result not covered by warranty Refer to Section A 2 1 SMART6 L Communication Power Cable 01018999 on page 46 SMART6 L User Manual Rev 4 12 Installation and Setup Chapter 2
24. 6 2 2 4 Controller Area Network 17 3 Operation 18 3 1 Communications with the 2 4 12 2 2 4 6 0 0 nannten edendis 18 3 1 1 Serial Port Default Settings eire eet eite eth clan ee po VR 18 3 1 2 Communicating Using a Remote 18 3 1 3 Communicating Using a Computer 18 3 2 Getting e Vm 19 Ie eC BIVBl io e Stet odas to Mice atadi EENEN 19 3 2 2 Communicating with the Receiver Using NovAtel 19 3 3 Transmitting and Receiving Corrections nennen trennen nnne 20 3 3 1 Base Station Conflg ratlOn ie rettet tct ben e E eere ine Dan a Roux etes 22 3 3 2 Rover Station Configuration hut bi tre oem eins 23 3 3 3 GPS GLONASS Base and Rover Configuration 23 Jd Conig ralon Notes 24 3 4 GLIDE EEIEIE A A AE EEE AAA E EEA E AE EEE TAEA EAEN A AA EA AT E E 24 3 4 1 D al Freq ency GLIDE ie eine ia aae 25 9 5 Sieadylitig oe E A A EST 25 3 5 1 Enc mE 25 3 5 2 ferte esae E Reste ove ere A T 26 3 5 3 Prefer ACCUFPOOGV
25. Format field are detailed in the OEM6 Family Firmware Reference Manual Note that all binary data is little endian byte ordered SMART6 L User Manual Rev 4 49 B 2 FRESET Clear Selected Data from NVM and Reset This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The commands ephemeris almanac and L Band related data excluding the subscription information 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 FRESET STANDARD which is also the default causes any commands ephemeris GNSS and almanac data previously saved to NVM to be erased Abbreviated ASCII Syntax Message ID 20 FRESET target Input Example FRESET COMMAND If you are receiving no data or random data from your receiver try the following before contacting NovAtel e Verify that the receiver is tracking satellites e Check the integrity and connectivity of power and data cables Verify the baud rate settings of the receiver and terminal device your PC data logger or laptop e Switch COM ports Issue a FRESET command ASCII Binary Binary Binary Binary Field Field Type Value
26. IRONMENTAL 40 C to 75 C Storage Temperature 55 C to 90 C Humidity MIL STD 810G Method 507 5 Procedure 2 Immersion MIL STD 810G Method 512 5 Procedure 1 Solar Radiation EN60950 22 Clause 8 2 MIL STD 810G Method 505 5 Salt Fog MIL STD 810G Method 509 5 Sand and Dust MIL STD 810G Method 510 5 Vibration Shock Ingress Protection Rating Random MIL STD 810G Method 514 6 Category 24 Sinusoidal ASAE EP455 5 15 2 Level 1 amp 2 MIL STD 810G Method 516 6 67 Compliance FCC Industry Canada CE Marking E mark Input Voltage 8 to 36 V DC Power Consumption 29W 14 PIN INPUT OUTPUT CONNECTOR 8 to 36 V DC For the cable pin outs and drawings see Section A 2 1 SMART6 L Communication Power Cable 01018999 on page 46 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 Input 3 3 V CMOS Logic 5 V Tolerant SMART6 L User Manual Rev 4 INPUT OUTPUT CONNECTOR PROTECTION Electrical Conducted Coupled disturbance tolerance Power Error Position Valid ISO 7637 2 2004 Functional Class A Pulses 2a 3a 3b 4 Functional Class C Pulses 1 2b LED INDICATORS Refer to Section 2 2 2 Status Indi
27. L limits a NovAtel CORRECT with PPP requires access to a suitable correction stream delivered either through L Band or the Internet For L Band delivered TerraStar or Veripos service an L Band capable receiver and software model is required along with a subscription to the desired service Contact NovAtel for TerraStar and Veripos subscription details SMART6 L User Manual Rev 4 64 C 3 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 SMARTE6 L information as in Table 16 Component VERSION 1 0 75 5 FINEST lt lt Table 16 Component Type Binary Value ASCII Value Description 0 UNKNOWN Unknown Component 1 GPSCARD OEM6 GPSCard Component 3 ENCLOSURE SMARTE6 L Receiver 8 USERINFO User application information component 981073925 DB USERAPPAUTO Auto starting user application firmware 0x3A7A0005 a Unused numbers are reserved for future use EERING 1836 244320 337 00000000 3681 13306 1 GPSCARD D2LRPGTTO SMART6 L User Manual Rev 4 BFN13160106 OEM628 2 01 OEMO60600RN0000 OEMO60200RB0000 2015 JaN 28 15 27 29 65 1014 Replacement Parts The following are a list of the replacement parts available for the NovAtel SMART6 L receiver Should assistance be required or need to order additional components please contac
28. Pd 26 Steauylirie Prefer Acc racy 2 eR HH 26 Steadyline UAL Warning Limit Example 27 Steadyline UAL Out of Bounds 28 Win oad Open 1 nire teta editt ot eite dimit dite Did te tert tuns 35 Open Eileur Winload DET Rn aa EDD M RA 35 COM Port Setup Need qe a ot 35 Searching TOF Herten o tomb dene 36 Authorization Code MWindOw ecce dpt eie hi dd end 36 Upgrade Process Complete snis nnde nnne 36 SMARTOSE DimenslOns a net ait vada ect cla iei reae ied 45 SMART6 L Communication Power Cable 46 SMART6 L User Manual Rev 4 Tables 1 SMARTO L Connector Pire ria eniin fed reiecit ed ica aes 11 2 Available CAN Signals on the 6 7 17 3 SMARTO6 L Communication Power Cable 46 4 SMART6 L Mating Connectors APER AX RP added enema eens 47 5 Recommended Fuse and Fuse Folders iat hs eade tee atr E hA 48 6 SMARTO L Comminds urit ccc eh ret eere oa teta eid tertia ve a ca se rea vs 49 7 ibm ep edat eed Codd e c ee mee sert ded 51 8 Detailed Serial Port
29. UTH Command on page 41 To upgrade to a new model with a new firmware version the new firmware needs to be loaded into the SMARTE6 L receiver Refer to Section 4 3 Updating or Upgrading Using the WinLoad Utility on page 34 for use instructions or Section 4 4 Updating Using SoftLoad Commands on page 36 There are two types of auth codes Standard auth codes which are tied to a model serial number and firmware version e Signature auth codes which are tied only to a model and serial number When upgrading to a new version of firmware the Standard auth code for the old version of firmware will not work with the new version of firmware Therefore a new auth code is required for each receiver that is upgraded However Signature auth codes work with any signed firmware image Therefore if a receiver has a Signature auth code for the old version of firmware that same auth code will work for the new version of firmware provided both images are digitally signed by NovAtel Signature auth codes require firmware version OEM060200RN0000 6 200 or later and boot code version OEM060100RB0000 6 100 or later Signed firmware images are distributed in shex files while unsigned firmware images are distributed in hex files SMART6 L User Manual Rev 4 33 NovAtel Firmware and Software Chapter 4 Temporary auth codes may be provided by NovAtel for evaluation purposes Once the trial period has expired a new auth code will need to be obtaine
30. Value Description Format Bytes Offset 1 FRESET This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 target See Table 7 What data is to be reset by the Enum 4 H FRESET Target on receiver default STANDARD page 51 SMART6 L User Manual Rev 4 50 Table 7 FRESET Target Binary ASCII Description T Aoo 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored GPS almanac 3 GPSEPHEM Resets the stored GPS ephemeris 4 GLOEPHEM Resets the stored GLONASS ephemeris 5 MODEL Resets the currently selected model 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 L User Manual Rev 4 51 B 3 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 o
31. WinLoad display area and in the title bar Figure 16 Figure 16 Open File in WinLoad 7 winLoad C unzip program files NovAtel 3 701 Full Update Disk 3701 hex File Settings Help S E Y Authorization Code C unzip program files NovAtel Inc 3 701 Full Update Disk3701 hex 3 Write Flash Script 243 Query Card f Abort Communications Settings To set the communications port and baud rate select Settings COM Settings Choose the computer port to use from the Com Port drop down list and the baud rate from the Download Baudrate drop down list Set the baud rate as high as possible the default of 115200 is preferred if a higher baud rate is not available Figure 17 COM Port Setup Com Port Download Baudrate Connect Baudrate ek OK Cancel Downloading Firmware 1 Select the file to download according to Open a File to Download on page 35 2 Ensure the file path and name are displayed in main display area see Figure 16 Open File in WinLoad on page 35 3 Click Write Flash to download the firmware 4 When Searching for card appears in the main display power cycle the receiver SMART6 L User Manual Rev 4 35 NovAtel Firmware and Software Chapter 4 Figure 18 Searching for Card File Settings Help Searching for card timeout in 13 secs 5 Ifthe Authorization Code window appears enter the auth code and click OK See Section 4
32. XCOM3_ 31 9bf 2495 Virtual COMS port virtual port 31 For detailed information on virtual ports refer to the LOG command in the OEM6 Family Firmware Reference Manual SMART6 L User Manual Rev 4 54 B 4 RADARCONFIG Configure the Emulated Radar Output Use this command to configure the Emulated Radar ER output ER is available through the SMART6 L interface cable see Table 3 SMART6 L Communication Power Cable Pin outs page 46 for pin out details Message ID 1878 Abbreviated ASCII Syntax radarconfig switch freq step update rate resp mode threshold Factory Default radarconfig disable ASCII Example radarconfig enable 26 11 5hz 2 3 5 ASCII Binary ar Binary Binary Field Field Type Value Value Description Bytes Offset 1 Header This field contains the command H 0 name the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 switch DISABLE 0 Disables radar emulation Enum 4 H default disable ENABLE 11 Enables radar emulation 3 freq_step 10 06 Frequency step per kilometer per Double 8 H 4 16 32 hour 26 11 default 36 11 Hz kph 28 12 34 80 36 11 4 update rate 1HZ 1 Rate at which the output frequency is 4 H 12 adjusted 212 5 default 10 7 5HZ 10HZ 10 20HZ 20 5 Table 9 Specify how responsive radar Integer 4 H 16 Response Modes on emulation is to changes in velocity pa
33. 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 auth code 3 The EXPDATE string is the auth code s expiry date in YYMMDD format Example auth 7WBMBK 887CB6 K5J3FH 5DF5P2 42PW8G DISBOGTTO 121211 When the AUTH command is executed the SMARTO L 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 L User Manual Rev 4 41 Hie g Technical Specifications 1 SMART6 L Receiver Performance PERFORMANCE 120 Channels can be configured to track L1 GPS L2 GPS optional L2C GPS optional Channel L1 GLONASS optional Configuration L2 GLONASS optional Galileo E1 optional BeiDou B1 optional SBAS L Band optional Single Point 1 5m Single Point L1 L2 1 2 m Horizontal Position SBAS 0 6m Accuracy RMS NovAtel DGPS 04m CORRECT ppp 4 cm RT 2 1 cm 1ppm GPS GLO i Code Carrier Code Carrier easuremen Precision RMS L1 C A 4 cm 0 5 mm 15 cm 1 5 mm L2 P Y 8 cm 1 0 mm 8 cm 1 5 mm L2C code 8 cm 1 0 mm 8 cm 1 5 mm Measurements up to 50 Hz Maxi Data Rate Position up to 50 Hz i 50s Time t
34. accuracy higher accuracy solution solution SMART6 L User Manual Rev 4 25 Operation Chapter 3 3 5 2 Transition When the receiver transitions to a different positioning mode the position offset is applied to the calculated position to limit a potential real position jump The position then slowly transitions to the new reference position type over a specified period of time This time period is specified by the Transition time parameter in the STEADYLINE command Figure 11 Steadyline Transition Position TE Intended Path change to change to lower accuracy higher accuracy solution solution 3 5 3 Prefer Accuracy The positioning mode change depends on the accuracy level of the positioning modes When the position mode is changing from a more accurate mode to a less accurate mode e g changing from RTK to GLIDE the receiver uses the Maintain option When the position mode is changing from a less accurate mode to a more accurate mode e g GLIDE to RTK the receiver uses the Transition option For example a receiver is configured to do both RTK and GLIDE If this receiver has a fixed RTK position and experiences a loss of correction data causing the loss of the RTK solution it will immediately apply the offset between the two position modes and uses the GLIDE position stability to maintain the previous trajectory Over time the GLIDE or non RTK position will experience some drift Once the RTK position is achieve
35. asurements are much less susceptible to the effects of multipath The GLIDE algorithm fuses the information from the L1 code and the L1 phase measurements into a Position Time Velocity PVT solution GLIDE includes settings for a dynamic mode a static mode and an auto mode where the filtering parameters are automatically adjusted as vehicle velocity varies between stationary and dynamic states SMART6 L User Manual Rev 4 24 Operation Chapter 3 3 4 1 Dual Frequency GLIDE NovAtel s dual frequency GLIDE technology adds to the superior pass to pass performance provided by single frequency GLIDE Dual frequency GLIDE is ideal agricultural and machine guidance applications where relative positioning is critical Using GLIDE significantly reduces the variation in position errors to less than 1 cm from one epoch to the next Dual frequency GLIDE improves the absolute accuracy of the GLIDE position and creates a robust solution resistant to the effects of high ionospheric activity GLIDE works in all code positioning modes including single point DGNSS SBAS and L Band Refer to the NovAtel white paper on GLIDE Technology for more information on GLIDE and APN 038 Pseudorange Delta Phase PDP and GLIDE Filters along with other information available from www novatel com support search 3 5 Steadyline The Steadyline functionality helps mitigate the discontinuities that often occur when a GNSS receiver changes positioning modes The eff
36. atel com Support For convenience unzip the update file to a GNSS sub directory for example C GNSS LOADER If the firmware update file is password protected NovAtel Customer Support provides the required password The zip archive includes the following files winload exe WinLoad utility program howto txt Instructions on how to use the WinLoad utility whatsnew rtf Information on the changes made in the firmware since the last revision Firmware version upgrade file where x x defines the product name and release e g OEM060400RNO0000 shex NovAtel Software License Agreement rtf License agreement for the firmware The files are extracted to unzip program files NovAtel Inc x xxx Full Update Disk where x xxx is the firmware version NovAtel has an online video tutorial that explains firmware uploading at www novatel com support videos SMART6 L User Manual Rev 4 34 NovAtel Firmware and Software Chapter 4 4 3 2 Using the WinLoad Utility If opening WinLoad for the first time ensure the file and communications settings are correct Open a File to Download Select File Open Navigate to the file to open Figure 15 Figure 15 WinLoad Open Window a Desktop Ba Date 93 4 095 File 12171200 gt File name 0 000 0000 Files of type Hex Files Cancel 2 When is selected the ilename appears in the main
37. ause 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 SERIALCONFIG command ASCII Binary Value Value Binary Binary Binary Field Field Type Format Bytes Offset Description This field contains the command H name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively SMART6 L User Manual Rev 4 57 2 port See Table 10 COM Port to configure Enum 4 H Serial Port Identifiers default THISPORT on page 58 3 bps baud 300 600 900 1200 Communication baud rate bps ULong 4 4 2400 4800 9600 Bauds of 460800 921600 are 19200 38400 57600 also available on COM1 of OEM6 115200 or 230400 based products 4 parity See Table 11 Parity Parity Enum 4 H 8 on page 58 5 databits 7 or 8 Number of data bits ULong 4 H 12 default 8 6 stopbits 1 2 Number of stop bits ULong 4 H 16 default 1 7 handshake See Table 12 Handshaking Enum 4 H 20 Handshaking on page 58 8 echo OFF 0 No echo Enum 4 H 24 default ON 1 Transmit any input characters as they are received 9 break OFF 0 Disable break detection Enum 4 H 28 ON 1 Enable break detection default Table 10 COM Serial Port Identifiers Binary ASCII Description 1 COM1 COM port 1 2 COM2 COM
38. cators on page 16 for details INPUT OUTPUT DATA INTERFACE COM1 Electrical format RS 232 Bit rates bps Signals supported Flow control Features supported Electrical format 2400 4800 9600 default 19200 38400 57600 115200 230400 460800 or 921600 TxD1 RxD1 XON XOFF Logs Commands Firmware Upgrade NovAtel Connect Baud rate reset using Break COM2 RS 232 Bit rates bps 2400 4800 9600 default 19200 38400 57600 115200 230400 460800 or 921600 Signals supported TxD2 RxD2 Flow control XON XOFF Features supported Electrical format Logs Commands Firmware Upgrade NovAtel Connect Baud rate reset using Break COM3 RS 232 Bit rates bps 2400 4800 9600 default 19200 38400 57600 115200 230400 460800 or 921600 Signals supported TxD3 RxD3 Flow control XON XOFF Features supported Logs Commands Firmware Upgrade NovAtel Connect Baud rate reset using Break a denotes diameter here and in the Dimensions graphic on page 45 b IP67 rating requires that the cable is connected to the antenna c Power consumption values for GPS L1 L2 SMART6 L User Manual Rev 4 Figure 21 SMART6 L Dimensions 0155 00 l 13 7 um M 155 2 Neodymium Rare y
39. d again the receiver will start using the RTK positions for position stability and will slowly transition back to the RTK positions at a default rate of 0 005 m s or the time specified in the STEADYLINE command ILE 3 5 4 UAL Figure 12 Steadyline Prefer Accuracy Position Intended Path change to change to lower accuracy higher accuracy solution solution UAL mode will not function unless UALCONTROL is enabled using the UALCONTROL command The Steadyline mode used depends on the BESTPOS and GPGGA solution types When the solution type is OPERATIONAL the receiver uses the Maintain option When the solution type is WARNING the receiver uses the Transition option When the receiver changes from WARNING to OPERATIONAL it will continue to use the Transition option until any existing offset is gone When the solution type is OUT BOUNDS the Steadyline feature is disabled SMART6 L User Manual Rev 4 26 Operation Chapter 3 The thresholds used to determine the solution type OPERATIONAL WARNING or OUT_OF_BOUNDS can be specified using the UALCONTROL command Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for more information Figure 13 Steadyline UAL Warning Limit Example on page 27 and Figure 14 Steadyline UAL Out of Bounds Example on page 28 show an examples of Steadyline using the UAL mode Figure 13 Steadyline UAL Warning Limit Example Warning Limit Operational L
40. d from NovAtel Customer Support support novatel com The new download package includes a signed firmware file type that uses an extension designated as shex example OEM060200RN0000 shex as well as the latest WinLoad utility and What s New file containing firmware update change details Prior to firmware version OEMO60200RNO0000 authorization codes depended on the software model the firmware version and the serial number of the receiver The authorization code changed if any of the three items changed This is no longer the case they are now no longer dependent on firmware version 4 3 Updating or Upgrading Using the WinLoad Utility WinLoad is the simplest and most common way to update or upgrade a SMART6 L receiver 4 3 1 Transferring Firmware Files To proceed with an update or possibly an upgrade obtain the latest version of firmware by downloading the OEM Version for your product from www novatel com support firmware downloads Format of Firmware Files All of the firmware available on the downloads website are packaged in zip files with the following names OEMXXXRNO000 zip for firmware to be installed OEM615 617 OEM617D FlexPak6 OEM628 or SMART6 L receivers OMPXXXRNO000 zip for firmware to be installed on OEM638 receiver NovAtel Customer Service may generate and provide the required authorization code Authorization codes are obtained by contacting support novatel com or at www nov
41. dditional information on TerraStar activation contact NovAtel Customer Service at www novatel com support or download the APN 061 NovAtel CORRECT with PPP using TerraStar Corrections from www novatel com support search items Application 20Note Veripos Subscriptions Subscriptions to the Veripos Apex and Apex marine services must be obtained directly from Veripos A unit with a marine subscription can not be switched to a land subscription and vice versa A subscription is required to use the Veripos services for offshore marine applications Contact Veripos sales at www veripos com support html to obtain a Service Access License SAL number To activate the service contact the Veripos Help Desk at 44 0 1224 527 104 or visit www veripos com support html Provide the SAL number and the receiver s Veripos Serial Number VSN To obtain the receiver specific VSN enter the following command log veriposinfo The log displays the VSN in the first field following the log header and also displays the status of your subscription To activate a subscription the receiver must be powered and tracking an L Band Veripos satellite prior to the planned activation time Use the ASSTGNLBANDBEAM command to configure the receiver to track the Veripos satellite The latest services and coverage can be obtained from www veripos com For additional information on Veripos activation contact NovAtel Customer Service at www
42. e 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 six distinct frequencies 10 06 16 32 26 11 28 12 34 80 or 36 11 Hz km Hr with 36 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 the RADARCONFIG command on page 55 for more information SMART6 L User Manual Rev 4 16 Installation and Setup Chapter 2 2 2 4 Controller Area Network CAN The SMARTE6 L supports the following NMEA2000 Parameter Group Messages PGN e 129029 GNSSPositionData 1 Hz e PGN 129025 GNSSPositionRapidUpdate 10 Hz 129026 COGandSOGRapidUpdate 10 Hz The CAN must be activated by entering the SETCANNAME command refer to Section B 6 SETCANNAME Sets the CAN name fields on page 59 To have the CAN set up automatically at subsequent start ups also sends the SAVECONFIG command Table 2 Available CAN Signals on the SMART6 L Details for the PGN messages can be found in the NMEA2000 specification which can be purchased directly from the National Marine Electronics Association www nmea org SMART6 L User Manual Rev 4 17 3 1 Before operating the SMARTO L for the first time ensure the installation instruc
43. e receiver to transmit RTK or DGPS corrections or a rover to receive the same corrections An example of a differential setup is given in Figure 7 Open Connection Window on page 19 SMART6 L User Manual Rev 4 20 Operation Chapter 3 Figure 8 Basic Differential Setup Reference Description 1 SMARTO L receiver User supplied 5 A fast blow fuse User supplied power supply for example a battery User supplied device to COM1 User supplied device to COM2 User supplied device to COM3 7 User supplied cable or NovAtel 01018999 Communication Power cable WN System biases introduce errors refer to our An Introduction to GNSS found on our Web site www novatel com an introduction to gnss for more information In most cases a data link between the base station and rover station two NovAtel receivers is required to receive corrections SBAS corrections can be accomplished with one receiver and are exceptions to the base rover concept Generally a link capable of data throughput at a rate of 9600 bits per second and less than 4 0 s latency is recommended Once the base and rover are set up configure them as shown in the configuration examples that follow in Section 3 3 1 Base Station Configuration on page 22 and Section 3 3 2 Rover Station Configuration on page 23 SMART6 L User Manual Rev 4 21 Operation Chapter 3 3 3 1 Base Station Configuration A
44. e 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 L User Manual Rev 4 18 Operation Chapter 3 3 2 Getting Started NovAtel Connect is a windows based GUI used to access the receiver s many features Convert is a windows based 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 info documents 809 3 2 1 Starting the Receiver When first powered the SMART6 L undergoes a complete self test If an error condition is detected the error LED lights Details on the error can be determined by connecting to the receiver and requesting the RXSTATUS log Refer to the OEMG Family Firmware Reference manual OM 20000129 for details If a persistent error develops contact a 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 Launch the NovAtel Connect program and
45. each of these commands are described in the following sections For a complete listing and description of the other commands that the SMART6 L an OEM6 based receiver is capable of processing refer to the OEM6 Family Firmware Reference Manual 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 References to other commands logs or any of their fields are shown in italics 2 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 Enter or Return 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 Refer ence Manual for more information 7 Optional parameters are indicated by square brackets 1 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
46. eck 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 L User Manual Rev 4 63 Table 15 Position or Velocity Type Type binary Type ASCII Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT AUTO command 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED Propagated by a Kalman filter without new observations 32 L1_ FLOAT Floating L1 ambiguity solution 33 IONOFREE FLOAT Floating ionospheric free ambiguity solution 34 NARROW FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution 68 PPP CONVERGING Converging PPP solution 69 PPP Converged PPP solution 70 OPERATIONAL Solution accuracy is within UAL operational limit 71 WARNING Solution accuracy is outside UAL operational limit but within warning limit 72 OUT OF BOUNDS Solution accuracy is outside UA
47. ect is especially evident when a receiver transitions from an RTK position mode solution to a lower accuracy fall back solution such as NovAtel CORRECT PPP DGPS WAAS GLIDE or even autonomous GLIDE see Figure 9 Positioning Change Without Steadyline Smooth transitions are particularly important for agricultural steering applications where sudden jumps are problematic IE The Steadyline feature internally monitors the position offsets between all the positioning modes present in the receiver When the current positioning mode becomes unavailable the receiver transitions to the next most accurate positioning mode The setting in the STEADYLINE command determines how the receiver transitions to the next positioning mode The following sections describe the Steadyline modes Figure 9 Positioning Change Without Steadyline Position Intended Path change to change to lower accuracy higher accuracy solution solution For more information about the STEADYLINE command refer to the OEM6 Family Firmware Reference Manual OM 20000129 3 5 1 Maintain When the receiver transitions to a different positioning mode it maintains the position offset calculated to limit a potential real position jump The receiver continues to apply the position offset to all positions calculated in the new positioning mode Figure 10 Steadyline Maintain Position e Intended Path change to change to lower
48. ence that may cause undesired operation SMARTS L has been tested and found to comply with the emission limits for a Class B digital device 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 Recorient or relocate the SMART6 L Increase the separation between the equipment and the SMART6 L Connect the equipment to an outlet on a circuit different from that to which the SMART6 L is connected Consult the dealer or an experienced radio TV technician for help 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 connec
49. f 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 which 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 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 Ifthe ONTIME trigger is used with asynchronous logs the time stamp in the log does not necessa
50. g data parsed from multiple S3 records into a binary SOFTLOADDATA command can result in improved firmware update times as each S3 record contains only a small number of bytes of firmware data A single SOFTLOADDATA command can package up to 4096 bytes of firmware data from multiple S3 records whereas a single SOFTLOADSREC command contains a maximum of 28 bytes of firmware data from a single S3 record 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 That is the address from the current S3 record must equal the address from the previous S3 record plus the data length of the previous S3 record If the data is not consecutive then the SOFTLOADDATA command can be sent with the amount of data it has packaged up to that point Subsequent data can be packaged in a new SOFTLOADDATA command Within the SOFTLOADDATA command the offset field remains the address of the first 53 record and the data and data length are updated to include the new data Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for more information regarding the SOFTLOADDATA command The hex and shex file data may contain many gaps and jumps For example in many NovAtel hex and shex files data for address 0x000_00000 is stored near the very end of the file Example Packaging Multiple S3 Records In A SOFTLOADDATA Command Start a new SOFTLOADDATA command
51. ge 56 Default 500 6 threshold 2 to 50 kph The speed threshold at which to Double 8 H 20 switch between response mode 1000 and response mode 500 The threshold is only applicable when the response mode is set to 2 default 5 kph a The number of samples used for smoothing depends on both the update_rate and resp_mode parameters For instance if the update_rate is 5 Hz and the resp_mode is 2000ms the number of samples used will be 10 SMART6 L User Manual Rev 4 55 Table 9 Response Modes Mode Description 1 Immediate This results in the lowest latency at the cost of higher noise 2 Automatically switch between 1000 and 500 depending on speed When speed is below the Threshold parameter use Response Mode 500 Otherwise use Response Mode 1000 500 Signal is minimally smoothed resulting in low latency but increased noise 1000 Output signal is smoothed over a smaller window resulting in less latency than 2000 and less noise than 500 2000 Output signal is smoothed to reduce noise at the cost of higher latency SMART6 L User Manual Rev 4 56 5 SERIALCONFIG 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 milli
52. gs C 1 1 NMEA Logs The NMEA logs receiver outputs supported by the SMART6 L are summarized in Chapter 3 of the 6 Family Firmware Reference Manual in section NMEA Standard Logs The available logs include GPGGA which outputs log of position system fix data and undulation There are variants of GPGGA specifically GPGGARTK which has greater precision than GPGGA but with the loss of the undulation field _GPGGALONG which has both greater precision and the undulation field GPVTOG which outputs track made good and ground speed Each of the available NMEA standard logs is described in more detail in its own section of Chapter 3 of the OEMG Family Firmware Reference Manual The steps for configuring the receiver output through the command line are 1 Configure the communication port using the SERIALCONFIG command described in Section B 5 SERIALCONFIG Configure COM Port on page 57 To set COM port 2 as follows Bit Rate 9600 Parity none Data Bits 8 Stop Bits 1 Handshaking Echo Off Break On enter the following string serialconfig com2 9600 8 1 n off on 2 Select and configure the NMEA string to output The information is described in Chapter 3 Data Logs of the OEM6 Family Firmware Reference Manual in the section for the particular log For example to log gpgga position system fix data and undulation at 2 Hz enter the following string log gpgga ontime 0 5
53. ided for information only and are not available from NovAtel as separate parts SMART6 L User Manual Rev 4 47 Table 5 Recommended Fuse and Fuse Holders Fuse Recommended Fuse Fuse Holder ATO Silver Blade Fuse 5 A 32 V Littelfuse 0287005 12 V System Fuse standard size blade Or Equivalent Mini Blade Fuse 5 A 32 V Littelfuse 0297005 12 V System Fuse mini size blade Or Equivalent 24 V System Fuse FKS ATO Blade Fuse 80 V Littelfuse 166 7000 450 High Reliability Harsh Environment standard size blade Or Equivalent Inline Fuse Holder Waterproof ATO Fuse Holder Littelfuse 0001 for standard size blade Or Equivalent Inline Fuse Holder Waterproof Mini Fuse Holder Littelfuse 0001 for mini size blade Or Equivalent SMART6 L User Manual Rev 4 48 SMARTE6 L firmware implements the OEM6 family command set documented the OEM6 Family Firmware Reference Manual Commonly used SMART6 L commands are summarized in Table 6 SMART6 L Commands and documented in this appendix Table 6 SMART6 L Commands ASCII Command Description FRESET 20 Factory reset existing OEM6 commands extended to SMART6 L LOG 1 Request logs from the receiver RADARCONFIG 1878 Configure the Emulated Radar output SERIALCONFIG 1246 Configure the receiver serial port SETCANNAME 1091 Set the CAN name fields The arguments for
54. ignal Update Rate Specifies how often the frequency output is updated to match the vehicle speed e Response Mode Specifies how quickly changes in velocity are reflected in the frequency output Setting a slower response mode reduces spikes noise in the velocity but increases latency Setting a higher response mode reduces latency but may result in noisier frequency output Refer to RADARCONFIG on page 55 for more detailed information After it is configured using the RADARCONFIG command Emulated Radar ER pulses are output through the SMARTO L cables see Table 3 SMART6 L Communication Power Cable Pin outs page 46 and the RADARSTATUS log see page 62 Recommended Configuration The following command is recommended to enable CAN setcanname 305 The following command is recommended to enable SBAS WAAS GNOS MSAS corrections sbascontrol enable The following commands are recommended to enable GLIDE pdpfilter enable pdpmode relative auto NovAtel has registered manufactured ID code 305 with J1939 When complete configuration can be saved with the SAVECONFIG command For more information about these commands refer to the OEM6 Family Firmware Reference Manual available at www novatel com support manuals SMART6 L User Manual Rev 4 31 Chapter 4 NovAtel Firmware and Software Download the most recent versions of the NovAtel firmware and receiver software from the Downloads section of www novatel com support search
55. imit ges Operational 42 4 0 00 000 LL LLL 0 Limit Warning _ Limit A Position type is OPERATIONAL Higher accuracy corrections are lost The receiver changes to a lower accuracy solution Steadyline operates in Maintain mode while the solution accuracy remains within the Operational limit B solution accuracy exceeds the operational limit The position type changes to WARNING The Steadyline mode changes from Maintain to Transition C The solution accuracy moves back within the operational limit The position type changes to OPERATIONAL The Steadyline mode remains in Transition mode D solution offset is removed The Steadyline mode changes from Transition to Maintain SMART6 L User Manual Rev 4 27 Operation Chapter 3 3 6 3 7 Figure 14 Steadyline UAL Out of Bounds Example Warning _ Limit Operational Limit IL Operational Limit Warning _ Limit A The position type is OPERATIONAL Higher accuracy corrections are lost The receiver changes to a lower accuracy solution Steadyline operates in Maintain mode while solution accuracy remains within the Operational limit B solution accuracy exceeds the operational limit The position type changes to WARNING The Steadyline mode changes from Maintain to Transition C The solution accuracy exceeds the warning limit The position type changes to OUT OF BOUNDS Steadyline is disabled Enabl
56. inary byte The format is as follows LL DDDDDDDD DDDDDDDD 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 SMART6 L User Manual Rev 4 37 NovAtel Firmware and Software Chapter 4 4 4 3 Sending Firmware Data C source code is available to provide example code of processing S Records and converting them to NovAtel format commands as well as providing help with the SoftLoad process Contact NovAtel Customer Support and ask about the srec2softload utility The SOFTLOADSREC and SOFTLOADDATA commands can be used to send firmware data from hex or shex files to the receiver S0 S5 and S7 S Records should be sent directly to the receiver using the SOFTLOADSREC command by enclosing the S Record in quotation marks and issuing the command to the receiver as follows SOFTLOADSREC lt S RECORD gt 53 records can be sent individually to the receiver using the SOFTLOADSREC command Alternatively the data from an S3 record can be parsed and packaged together with data from other S3 records into a binary SOFTLOADDATA command Packagin
57. information on SBAS available from www novatel com an introduction to gnss All PSRDIFFSOURCE entries fall back to SBAS even NONE for backwards compatibility assuming SBAS was enabled At the base station it is also possible to log out the contents of the standard corrections in a form that is easier to read or process These larger variants have the correction fields broken out into standard types within the log rather than compressed into bit fields This can be useful to modify the format of the corrections for a non standard application or to look at the corrections for system debugging purposes These variants have DATA as part of their names for example RTCADATA1 RTCMDATA1 CMRDATAOBS and more Refer also to the OEM6 Family Firmware Reference Manual detailed descriptions of the various message formats Information on how to send multiple commands and log requests using DOS or Windows can be found on our Web site at www novatel com support GLIDE SMARTE6 L contains NovAtel s GLIDE which is a positioning algorithm for single frequency GPS and GPS GLONASS applications GLIDE produces a smooth position output tuned for applications where time relative accuracy pass to pass is more important than absolute accuracy Because of this it is well suited for agricultural applications Multipath signals tend to induce time varying biases and increase the measurement noise on the L1 L2 pseudorange measurements Carrier phase me
58. ing SBAS Positioning The SMARTE6 L is capable of SBAS positioning This positioning mode is enabled using the SBASCONTROL command sbascontrol enable auto When the command is entered the SMART6 L automatically tracks the SBAS that is operating in the region e g WAAS or EGNOS and applies the corrections from the service On a simulator leave the test mode parameter off or specify NONE explicitly For more on SBAS refer to application note APN 051 Positioning Modes of Operation additional Application Notes available at www novatel com support Enabling L Band L Band equipped receivers can achieve sub metre position accuracy using correction data received from geostationary satellites To use the L Band corrections an L Band capable receiver model and antenna are required the SMART6 L is both an L Band capable receiver and L Band capable antenna For more information on L Band positioning refer to e NovAtel Application Notes APN 061 NovAtel CORRECT with PPP using TerraStar Corrections APN 062 NovAtel CORRECT with Veripos service dependent or APN 051 Positioning Modes of Operation available from www novatel com support search items Application 20Note the OEM6 Family Firmware Reference Manual OM 20000129 for log command details and or e visit www novatel com support visit www novatel com solutions novatel correct positioning SMART6 L User Manual Rev 4 28 Operation Chapter 3 TerraStar Subscriptions A subscrip
59. istar 1557855 1200 To confirm tracking of an L Band signal log the L Band status information by entering the following command log lbandstat If receiving OmniSTAR HP the fifth field of the LBANDSTAT log will be 00c2 as shown in the following example lbandstat 0 81 0 finesteering 1596 235136 000 00000000 1 2 5968 lt 1557854678 48 98 1098 9 0 00 00 2 0000 153860 545 0 0000 0201 154019 68000000 00000000 Refer to the NovAtel application note APN 051 Positioning Modes of Operation for OmniSTAR specifics SMART6 L User Manual Rev 4 30 Operation Chapter 3 3 8 Emulated Radar ER 3 9 v Emulated Radar is available only on hardware versions 3 03 or greater To determine the hardware version of the SMART6 L check the product label on SMART6 L A typical radar sensor emits radio beams that bounce off the ground and computes ground speed based on the speed at which objects are passing in front of the sensor The output of the sensor is a digital pulse the frequency of which is proportional to the vehicle s ground speed This is often used in agricultural applications such as planting and spraying The SMARTE6 L eliminates the need for separate ground sensing radar equipment by converting the GPS derived velocity to proportional frequency output The following emulated radar signal parameters can be configured by the customer Frequency Step Specifies how the frequency output relates to the vehicle speed S
60. iver communications and operation SMART6 L User Manual Rev 4 10 Chapter 2 Installation and Setup 21 Additional Equipment Required In order for the SMARTE6 L to perform optimally the following additional equipment is required Acomputer user supplied Acable harness for communicating and powering the SMART6 L NovAtel cable harness 01018999 is available with three dB9 connectors four bare cables and a SMART6 L connector or similar A fused power supply user supplied refer to Table 5 Recommended Fuse and Fuse Holders on page 48 for details 2 1 1 SMART6 L Setup Complete the following steps to connect and power the SMARTO LT 1 Mount the SMART6 L on a secure stable part of a vehicle i e cab roof with an unobstructed view of the sky from horizon to horizon refer to Section 2 1 4 Mounting the SMARTO L on page 15 for details 2 Establish a physical communication connection between the SMART6 L and the computer Connect the and Power port on the back of the SMART6 L see Figure 2 SMART6 L Connector below to a DB 9 serial port on a computer or other data storage devices Figure 2 SMART6 L Connector 66026206 6 6 6 6666 notin Table 1 SMART6 L Connector Pin Out Pin Use Pin Use 1 COM1 TxD 8 COM3 TxD 2 COM1 RxD 9 Power Negative Return 3 COM2 TxD 10 ER OUT Emulated Radar Output 4 COM2 RxD 11 MKI Mark Input 5 Signal Ground 1
61. l 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 ONCHANGED 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 FRE SET 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 Write NovAtel Inc E mail support novatel com Customer Support Department website www novatel com 1120 68 Avenue NE Calgary AB Canada T2bE 8S5 SMART6 L User Manual Rev 4 9 Chapter 1 Introduction 1 1 The SMARTE6 L is a high performance GNSS receiver and antenna capable of receivi
62. n 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 Although the receiver can operate at data transfer rates as low as 300 bps this is not wv 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 3 1 2 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 remot
63. ng and tracking different combinations of GNSS L1 L2 code and carrier signals on a maximum of 120 channels SBAS Satellite Based Augmentation Systems includes WAAS North America EGNOS Europe and MSAS Japan SBAS support is standard Refer to An Introduction to GNSS on our website at www novatel com an introduction to gnss for an overview of each of the above signal types The SMARTO L rear panel also features Light Emitting Diodes LEDs for status indication Once properly powered the SMARTE6 L begins operating as a fully functional GNSS system Figure 1 SMARTO L Receiver shows the SMART6 L without connecting cables Figure 1 SMART6 L Receiver Features and Models The main features of the SMART6 L are enhanced high performance GNSS L1 L2 receiver a high performance GNSS L1 L2 antenna aCAN port e three 3 RS 232 COM ports three 3 LED status indicators e a water and dust tight enclosure The SMARTO L is available in several different firmware models whose configurations may include other additional features Contact NovAtel Sates 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 info documents 925 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 rece
64. ns A 1 SMART6 L Receiver Performance 2 SMART6 L Specifications B Commands B 1 Syntax Conventions 2 FRESET Clear Selected Data from NVM and Reset B 3LOG Request Logs from the Receiver 4 RADARCONFIG Configure the Emulated Radar Output B 5 SERIALCONFIG Configure COM Port B 6 SETCANNAME Sets the CAN name fields C Logs C 1 Position Logs C 2 RADARSTATUS ER Signal Information C 3 VERSION HW and SW Versions and Serial Numbers D Replacement Parts DAL SMART E ierit ase ederet D 2 User Manuals SMART6 L User Manual Rev 4 Table of Contents 10 oot iiit senile 11 Simplified SMARTO L Setup 5 tette tei neha in ate ae anita eae 12 SMARTS6 L Surface Mounting Plate 0101837 13 SMARTS Pole Mounting Plate 01019142 7 14 SMART 6 L Orientatlori 1 ER REIR HER TENERE 15 Open Connection Window deese n e tete di tenetur etal 19 Basic Differential Setup ii a RATE CHEER TR TRES 21 Positioning Change Without Steadyline 25 RR Uni 25 Steadylinie Transition x ett P m rd n dep ada d DET EPA
65. ns information on the additional features of the SMART6 L which may affect the overall design of the receiver system 2 2 31 MKI and PPS Strobes Mark Input MKI and Pulse Per Second PPS strobes 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 also be found in Table 3 SMART6 L Communication Power Cable Pin outs on page 46 SMART6 L User Manual Rev 4 15 Installation and Setup Chapter 2 2 2 2 Status Indicators LED indicators on the SMARTE6 L provide the status of the receiver The table below shows the meaning of the LEDs Icon LED Color State Description Green oat Indicates a valid GNSS position solution is available Receiver is in the error state and tracking is disabled Possible cause Qo Yellow Error a fatal error an unusual receiver status indicator setup to act like a fatal error Note Error status remains until the cause of the error is corrected and the receiver is reset Red Power Power is on 2 2 3 Emulated Radar ER v Emulated Radar is available only on hardware versions 3 03 or greater To determine the hardware version of the SMART6 L check the product label on SMART6 L The SMART6 L outputs an emulated RADAR signal via the bare wires labeled ER GND and OUT the SMART6 L cable See Table 3 SMART6 L Communication Power Cable Pin outs page 46 for the pin out details of this cabl
66. o First Fix S etait Hot Start lt 35 5 a L1 0 5 s typical S IR t ignal Reacquisition l2 1 0 s typical Time Accuracy 20 ns RMS Velocity Accuracy 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 Satellite Based Augmentation Systems SBAS include WAAS North America EGNOS Europe and MSAS Japan GPS only Requires a TerraStar subscription which is available direct from NovAtel www novatel com products novatel correct ppp Performance dependent on local observing conditions L2 P for GLONASS L2 C A for GLONASS Model specific Typical value No almanac or ephemerides and no approximate position or time 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 manuals Export licensing restricts operation to a maximum velocity of 515 metres per second SMART6 L User Manual Rev 4 42 2 SMARTE6 L Specifications Size 80 9 x 155 mm Weight 550 g 2 x magnetic mount Mounting 4 x M4 screw inserts Operating Temperature Optional mounting plate ENV
67. o the receiver when updating using a hex or shex file The response for each command must be processed before sending the next command so as to determine if the command was accepted or rejected and to wait for the receiver to complete the operation Responses to SoftLoad commands are guaranteed to be output from the receiver within a specific time which varies by command Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for more information on responses and the timeout values for SoftLoad commands 1 Open a connection to any port on the receiver with the input and output INTERFACEMODE set to NOVATEL 2 Request the SOFTLOADSTATUS log using the following command LOG SOFTLOADSTATUSA ONCHANGED 3 Initialize SoftLoad with a SOFTLOADRESET command This command stops all tracking on the receiver to ensure sufficient memory is available for the loading process An RXSTATUSEVENTA log reports a SoftLoad In Progress status 4 Openthe hex or shex firmware file 5 Read each line of the hex or shex firmware file A Send SO 55 and 57 S Records directly to the receiver using the SOFTLOADSREC command The S Record must be enclosed in quotation marks SOFTLOADSREC lt S RECORD gt Data within SO records can also be sent to the receiver by converting them to SOFTLOADSETUP commands Refer to the OEM6 Family Firmware Reference Manual OM 20000 129 for details on how to convert from 50 S Records to SOFTLOADSETUP
68. pter 2 2 1 4 Mounting the SMART6 L Mount on a secure stable structure capable of safe operation in the specific environment If installing on a vehicle mount the SMART6 L on the vehicle roof ideally close to the pivot point of the vehicle The SMART6 L must be mounted with the connector facing the rear of the vehicle refer to Figure 6 SMART6 L Orientation Figure 6 SMART6 L Orientation Orient toward the front of vehicle Route cable toward back of vehicle E The SMART6 L must be rigidly secured to the vehicle to avoid errors caused by vibration and motion If installing in a stationary location mount the SMARTE6 L 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 An Introduction to GNSS The optimal screw penetration into the SMART6 L mounting holes is 6 mm 1 mm deep v When selecting screws for mounting the SMART6 L ensure the screw penetration does not exceed this specification Using excessively long screws can damage the SMART6 L enclosure 2 1 5 Connecting Data Communications Equipment To communicate with the receiver for sending commands and obtaining logs connecting to data communications equipment is required Refer to Table 3 SMART6 L Communication Power Cable Pin outs on page 46 on for more information 2 2 Additional Features and Information This section contai
69. rily represent the time the data was generated but rather the time when the log is transmitted D 1 The 6 family of receivers can handle 64 logs at a time If it is more than 64 logs at Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Abbreviated ASCII Example 1 LOG 1 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 1 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 1 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 L User Manual Rev 4 52 Factory Default log log log log log log coml rxstatuseventa onnew 0 0 hold com2 rxstatuseventa onnew 0 0 hold com3 rxstatuseventa onnew 0 0 hold icoml rxstatuseventa onne
70. seconds following the second break This will Stop the logging of data on the current port see UNLOGALL command in the 6 Family Firmware Reference Manual e 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 the 6 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 Abbreviated ASCII Syntax Message ID 1246 SERIALCONFIG port bps parity databits stopbits handshake echo break Factory Default SERIALCONFIG 1 9600 N 8 1 N OFF ON SERIALCONFIG COM2 9600N 81 N OFF ON SERIALCONFIG COM3 9600N 81 N OFF ON ASCII Example SERIALCONFIG COMI 57600 N 8 1 OFF ON Use the SERIALCONFIG 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 bec
71. select Device Open Connect from its main menu The Open Connection window appears Figure 7 Open Connection Window Open Connection Available Device Connections Name Device Type Settings SMART6L NETWORK 10 8 34 10 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 ifconnected to COM1 port or COM2 ifconnected to COM2 port 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 6 family receiver as used SMARTE L is set to log the RXSTATUSEVENTA log ONNEW on all ports Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for more details 2 If NovAtel Connect is unable to locate the OEM6 family receiver 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 L User Manual Rev 4 19 Operation Chapter 3 3 3 Commands are typed at the interfacing computing
72. t Value Decimal Port Value 8 Table 8 Detailed Serial Port Identifiers Description 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 NO_PORTS 0 0 No ports specified COM1_ALL 1 1 All virtual ports for COM port 1 COM2_ALL 2 2 All virtual ports for COM port 2 COM3_ALL 3 3 All virtual ports for COM port 3 THISPORT_ALL 6 6 All virtual ports for the current port ALL_PORTS 8 8 All virtual ports for all ports XCOM1_ALL 9 9 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 O 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 O 2 31 5f 95 COM port 2 virtual port 31 COM3 60 96 COM port 3 virtual port 0 COM3_ 31 127 port 3 virtual port 31 THISPORT cO 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 XCOM 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 2 1 2 1 673 Virtual 2 port virtual port 1 XCOM2_ 31 2bf 703 Virtual COM2 port virtual port 31 XCOM3 9 0 2464 Virtual COM3 port virtual port 0
73. t the base station enter the following commands SERIALCONFIG port baud parity databits stopbits handshaking break interfacemode port rx type tx type responses fix position latitude longitude height log port message trigger period Examples of these commands include the following RTCA serialconfig com2 9600 N 8 1 on interfacemode com2 none rtca off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcaobs ontime 1 log com2 rtcaref ontime 10 log com2 rtcal ontime 5 optional for RTK log com2 rtcaephem ontime 10 1 optional RTCM serialconfig com2 9600 N 8 1 on interfacemode com2 none rtcm off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm3 ontime 10 required for RTK log com2 rtcm22 ontime 10 1 optional log com2 rtcm1819 ontime 1 log com2 rtcml ontime 5 RTCMV3 serialconfig com2 9600N 81 N on interfacemode com2 none rtcmv3 off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm1006 ontime 10 log com2 rtcm1003 ontime 1 CMR serialconfig com2 9600 N 8 1 N on interfacemode com2 none cmr off fix position 51 11358042 114 04358013 1059 4105 log com2 cmrobs ontime 1 log com2 cmrplus ontime 1 Important to use ontime 1 with cmrplus CMR serialconfig com2 9600 N 8 1 N on interfacemode com2 none cmr off fix position 51 11358042 114 04358013 1059 4105 log com2 cmrobs ontime 1 log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 1
74. t your local NovAtel dealer or Customer Service representative 0 1 SMART6 L Table 17 SMART6 L Product Part Description NovAtel Part Cable 14 pin socket to DB 9 connectors twisted CAN I O pair and other bare wire connectors see SMART6 L Communication Power Cable 01018999 on page 46 D 2 User Manuals Table 18 Reference User Manuals Part Description NovAtel Part OEM6 Family Installation and Operation User Manual 20000128 OEM6 Family Firmware Reference Manual OM 20000129 The accessories above are also available from www novatel com SMART6 L User Manual Rev 4 66 rN NovZtel OM 20000146 Rev 4 March 2015
75. tion is required to use the TerraStar service for land airborne and near shore applications Near shore applications are defined as vessels operating within 10 km of shore To obtain a subscription contact your local NovAtel sales representative or visit www novatel com products novatel correct ppp The receiver s TerraStar Product Activation Code PAC or the NovAtel product serial number PSN is needed to obtain a subscription To obtain the receiver specific PAC enter the following command log terrastarinfo This log displays the PAC in the first field following the log header and also displays the status of your subscription To activate a subscription the receiver must be powered and tracking an L Band TerraStar satellite prior to the planned activation time Use the ASS TGNLBANDBEAM command to configure the receiver to track the TerraStar satellite To confirm tracking of an L Band signal log the L Band tracking status information by entering the following command log lbandtrackstata If receiving TerraStar service the sixth field following the header tracking status word of the LBANDTRACKSTAT log will be 00c2 as shown in the following example dl1bandtrackstata com1 0 73 5 finesteering 1769 328196 000 00000000 29fd 12602 1 98w 1539902500 1200 974c 00 2 0 316 186 43 842 4 3840 61 920 1088 2 2 138176 79 0 0001 3e43cb7d The latest services and coverage can be obtained from www terrastar net For a
76. tions as shown the base and rover examples above This requires using the INTERFACEMODE command to dedicate one direction of a serial port to only that message type When the INTERFACEMODE command is used to change the mode from the default NOVATEL you can no longer use NovAtel format messages To mix NovAtel format messages and RTCA RTCM RTCMV3 or CMR messages on the same port leave the INTERFACEMODE set to NOVATEL and log out variants of the standard correction messages with a NovAtel header ASCII or binary variants can be requested by simply appending an A or B to the standard message name For example on the base station interfacemode com2 novatel novatel fix position 51 11358042 114 04358013 1059 4105 log com2 rtcmlb ontime 2 Using the receiver in this mode consumes more CPU bandwidth than using the native differential messages as shown in Section 3 3 1 Base Station Configuration on page 22 At the rover station leave the INTERFACEMODE default settings interfacemode com2 novatel novatel The rover receiver recognizes the default and uses the corrections it receives with a NovAtel header The PSRDIFFSOURCE and RTKSOURCE commands set the station ID values which identify the base stations from which to accept pseudorange or RTK corrections respectively These are useful commands when the rover station is receiving corrections from multiple base stations Refer to An Introduction to GNSS for more
77. tions in Chapter 2 Installation and Setup on page 11 were followed It is assumed that a personal computer is used during initial operation and testing for greater ease and versatility 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 L 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 OM 20000129 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 Changing the default settings requires using the SERIALCONFIG command See Section B 5 SERIALCONFIG Configure COM Port on page 57 for details The data transfer rate chosen determines how fast informatio
78. tor 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 L Industry Canada SMARTE6 L Class B digital apparatuses comply with Canadian ICES 003 SMARTE6 L appareils num rique de la classe B sont conforme la norme NMB 003 du Canada SMART6 L User Manual Rev 4 7 Notices CE Marking Hereby NovAtel Inc declares that SMART6 L is in compliance with the essential requirements radio performance electromagnetic compatibility and electrical safety and other relevant provisions of Directive 1999 5 EC EMC Directive 2004 108 EC and the RoHS Recast Directive 2011 65 EU Therefore the equipment is labeled with the following CE marking C 1588 The Declaration of Conformity may be obtained from NovAtel Inc 1120 68th Ave N E Calgary Alberta Canada T2bE 8S5 E mark The SMART6 L has been granted EC type approval of an electric electronic subassembly with respect to electromagnetic compatibility ECE Regulation 10 04 Therefore the equipment is labeled with the following approval marks 10 R 04 8644 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
79. ver Send LOG SOFTLOADSTATUSA ONCHANGED command Y Send SOFTLOADRESET command v Open the hex or shex file v Read a line from the file End of File Yes Send SOFTLOADCOMMIT Wait for COMPLETE status from SOFTLOADSTATUS log au Reset the receiver Stop SMART6 L User Manual Rev 4 Wait for OK response from receiver Send directly using SOFTLOADSREC command S0 S5 S7 S Record S Record Type S3 S Record Parse address and data from S3 S Record v Package data into SOFTLOADDATA command Y Send SOFTLOADDATA command Chapter 4 ET command or by 40 NovAtel Firmware and Software Chapter 4 4 4 5 SoftLoad Errors 4 5 It is possible for errors to occur during the SoftLoad update All command responses should be checked to verify all issued commands were accepted The SoftLoad status should also be monitored in the SOFTLOADSTATUS log Any status enum value greater than the ERROR status indicates an error has occurred during the SoftLoad update In the event of an error the SoftLoad update should be restarted by issuing a SOFTLOADRESET command or normal operation can be restored by resetting the receiver In rare cases after a SoftLoad error the boot code may not be able to determine which is the latest firmware to be executed To protect against this SoftLoad does not erase the previous valid firm
80. w 0 0 hold icom2 rxstatuseventa onnew 0 0 hold icom3 rxstatuseventa onnew 0 0 hold Field ASCII Field Field Name Value Description Type 1 LOG This field contains the command name or the message ASCII header depending on whether the command is header abbreviated ASCII or ASCII respectively 2 port See Table 8 Detailed Output port Enum Serial Port Identifiers default THISPORT on page 54 3 message Any valid message Message name of log to output Char 1 name with an optional A or B suffix 4 trigger ONNEW Output when the message is updated not necessarily Enum changed 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 MK4I 5 period Any positive double Log period for ONTIME trigger in seconds Double value larger than the default 0 receiver s minimum raw measurement period 6 offset Any positive double Offset for period ONTIME trigger in seconds To log Double value smaller than the data at 1 second after every minute set the period to period 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL command default HOLD Prevent log from being removed by the UNLOGALL command SMARTO L User Manual Rev 4 53 ASCII Port Name Hex Por
81. ware image from flash on the receiver In such cases the boot code will execute the old image and raise the Safe Mode error see RXSTATUS log If that error is detected simply restart the SoftLoad process to reload the new firmware image and the error will be resolved Upgrading Using the AUTH Command The AUTH command is used to upgrade to a new SMART6 L model with an authorization code that enables unlocks model features 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 v Refer to Format of Firmware Files on page 34 for details on updating versus upgrading 4 5 1 Upgrade Procedure 1 Power up the SMARTE6 L 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 your auth code here gt where auth is a command that enables model upgrades and auth code is the upgrade authorization code expressed as follows XXXXXX XXXXXX

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