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SMART-6 User Manual

1. C3 The accessories above are also available from www novatel com SMART6 User Manual Rev 2 70 Symbols PMDT command 60 64 A accuracy position 23 45 velocity 45 almanac reset 55 antenna internal 10 specifications 46 AUTH command 44 authorization 44 base station 27 baseline 23 baud rate 21 BESTPOS log 66 BESTXYZ log 66 bidirectional communication 21 Bluetooth configuration 31 break 62 BTCONTROL 53 buffer 21 C cable integrity 55 serial 21 CAN See Controller Area Network Caution 21 CDU software 57 CMR 27 cold start 45 COM command 54 COM port 57 command 52 communication 21 error message 23 example 23 interface 27 multiple 27 port 21 pre configure 25 prompt 22 RTK 27 commands in CDU 39 SMART6 User Manual Rev 2 communication bidirectional 21 Bluetooth 31 CDU 22 computer 21 notice 7 operation 21 port 16 21 remote terminal 21 COMVOUT command 54 configuration additional equipment 12 base station 25 Bluetooth 31 CDU 22 non volatile memory 55 port 21 62 rover station 26 RTK 27 configuring 30 connector mounting bracket 14 Controller Area Network 18 copyright 2 Customer Service 55 customer service 39 D data Bluetooth 31 format 52 link 24 log 57 port 16 21 start 22 storage device 24 terminal 21 Warning 23 dealer 39 default interface mode 27 Offset 58 period 58 port 21 57 58 trigger 58 differential configuration note 27 corrections 23 49 operat
2. 5 Signal Ground 12 PPS Pulse Per Second Output COM MKI PPS ER 6 CAN 13 AUX RxD 7 CAN 14 Power Positive Source a On Bluetooth models the AUX port is dedicated for Bluetooth communication and is not available through the SMART6 connector SMART6 User Manual Rev 2 12 Installation and Setup Chapter 2 3 Connect the NovAtel cable or custom wiring harness to a DB 9 serial port on a computer or other data storage device 4 Connect the NovAtel cable or custom wiring harness to the power supply and turn on the power supply to the SMART6 the SMARTS cable is also a power cable The power LED on the receiver glows red when the SMARTS is properly powered Fuse holder recommendations can be found in Table 7 Recommended Fuse and Fuse Holders on Page 51 Figure 3 Simplified SMART6 Setup Tyco 14 pin Connector User supplied 5A fast blow fuse MKI PPS CAN ER OUT O Minimum conductor size for all wiring is 0 5 mm 20 AWG SMART6 User Manual Rev 2 13 Installation and Setup Chapter 2 2 1 2 Power Supply Requirements The SMARTE6 requires 8 to 36 VDC input power refer to SMART6 Specifications on page 46 for additional power supply specifications The SMARTE6 cable provides power in BATT and power ground BATT bare wires for connecting the SMARTS to a vehicular power system or equivalent The SMART6 power source must be protected by a 5 A Fast Blow
3. Factory Default The Bluetooth module is enabled by default Example 1 to disable Bluetooth wireless technology btcontrol disable Example 2 to enable Bluetooth wireless technology btcontrol enable Binary Binary Binary Field Data Description Bytes Format Offset 1 BTCONTROL This field contains the command name or the message 0 header header depending on whether the command is abbreviated ASCII ASCII or binary 2 switch Enable or disable Bluetooth wireless technology 4 Enum H 0 ENABLE 1 DISABLE default ENABLE 1 To enable the current state of the Bluetooth module to persist across receiver resets and power ups issue a SAVECONFIG command 2 Changing the Bluetooth wireless technology from disabled to enabled takes several seconds to execute This means that even though the user will get an immediate OK response followed by the COM prompt the Bluetooth module may not be ready for communication SMART6 User Manual Rev 2 53 B 3 COM Configure COM Port O The SERIALCONFIG command replaces the COM command see page 62 SMARTE6 User Manual Rev 2 54 B 4 FRESET Clear Selected Data from NVM and Reset This command clears data that is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The commands ephemeris and almanac related data can be cleared by using the STANDARD target The model can only be cleared by
4. SMART6 User Manual OM 20000150 Rev 2 December 2013 SMART6 User Manual Revision Level 2 Publication Number OM 20000150 Revision Date December 2013 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 No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication AdV
5. log com2 cmrdesc ontime 10 1 SMARTE6 User Manual Rev 2 25 Operation 3 3 2 Rover Station Configuration At the rover station enter Chapter 3 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 serialconfig com2 9600 N 8 1 N on interfacemode com2 none rtca off log com2 rtcaref ontime 10 log com2 rtcaobs2 ontime 1 log com2 rtcal ontime 5 saveconfig Rover Station serialconfig com2 9600 N 8 1 N on interfacemode com2 rtca none off log coml bestposa ontime 1 saveconfig SMARTE6 User Manual Rev 2 enter your own lat lon and hgt values optional enable code DGPS coverage optional save configuration to non volatile memory optional view position information optional save configuration to non volatile memory SERIALCONFIG port baud parity databits stopbits handshaking break 26 Operation Chapter 3 3 3 4 Configuration Notes For compatibility with other GNSS receivers and to minimize message size it is recommended using the
6. design of the receiver system 2 2 1 Status Indicators LED indicators on the SMART6 provide the status of the receiver The table below shows the meaning of the LEDs Table 3 SMART6 LED Status Indicators Yellow Green V Condition Off Off Off Power is not available Red indicator may also not be lit if a boot failure has occurred On Off Off Power is available but no satellites are being tracked yet On Flashing Off Tracking at least one satellite but not a valid position On On Off Position valid in basic autonomous mode On On Flashing SBAS tracking but not enough data for enhanced solution On On On Position valid in an enhanced accuracy mode WAAS EGNOS MSAS DGPS Flashing means that the LED is turning on and off at a 1 Hz rate 0 5 seconds on and 0 5 seconds off Troubleshooting If the power is on but the yellow LED does not flash within one minute then no satellites are being tracked There may be excessive blockage or the SMART6 may be defective Make sure the SMART6 has an unobstructed view of the sky Try power cycling the SMART6 If the yellow LED is flashing but doesn t progress to solid yellow within one minute then insufficient satellites are being tracked or the signal quality is poor and ephemeris data cannot be received Normally four satellites are sufficient for a valid position as long as they are widely distributed in the sky If LED is stuck on blinking y
7. 00 02 ce ceceececeeceeeeeeeeeeeeeeeee ee eeseaaeeeesesaaeeeeseeeaaeeeeeseaaaeaeeeeseaaeaeeeseceaeeesseeaeeeeeeseceeaeeeeeeeenaeees 43 5 5 Upgrading Using the AUTH Command 0 ccccccceeeeeceeeeceeee eee ee cece eaaee seen ceaaeceeeesecaeceseesecaaeeeeeseeaeaeeeesesaeaeeeeeeseaeeeeess 44 SMART6 User Manual Rev 2 Table of Contents 55 1 Upgrade Procedure b eS SSD Ee e OU cd 44 A Technical Specifications 45 A 1 SMART6 Receiver Performance aii door 45 A 2 SMARTO SpecificatiONS P 46 A 2 1 SMART6 Communication Power Cable 01018999 sss 49 A 2 2 SMART6 Connector and Cable Requirements sess ener nenne ennemis 50 B Commands 52 Bit Syntax Conventions cori err eei cbe d ad Hec doce deiode aedi Faves 52 B 2BTCONTROL Enable Disable Bluetooth wireless technology eeee eene 53 B 3 COM Configure COM Port ite decet Dee e ex ton Se e tees d a EHE eH Ee KETAR aa 54 B 4 FRESET Clear Selected Data from NVM and Reset ssssssssssseeee enne ener enne 55 B 5 LOG Request Logs from the Receiver eiiis dei teen dene toe terrai rne Tee dne enne dn doceneueasessensves B 6 PMDT Configure Tilt Compensation enne enne tren nitent enne nen nnne nnns B 7 RADARCFG Configure the ER Output B 8 SERIALCONFIG Configures serial port settings o ooooncnnnnncnonnncnnncoconnorccnononnnnnrn conan r naar cnn cnn nr nemen rennen 62 B 9 SETCANNAM
8. 20 default 10 5 resp_mode Specify the time response mode over which to average 4 Integer none H 16 velocity samples see Table 11 Response Modes Default 500 6 threshold The threshold is only applicable when the response mode 8 Double kph H 20 is set to 2 The response time is 1000 ms when the velocity is greater than this value otherwise it is 500 ms Range 2 50 kph 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 Table 11 Response Modes Mode Description 2000 2000 ms The time period over which to smooth 1000 1000 ms velocity samples 500 500 ms default 2 Automatically switches between 1000 and 500 ms 1 Performs no smoothing Example 1 to disable radar emulation radarcfg disable 26 1111 2 Example 2 to set the frequency step to 36 11 Hz kph update rate to 1 Hz and no smoothing radarcfg enable 36 1111 2 SMARTE6 User Manual Rev 2 61 B 8 SERIALCONFIG Configures serial port settings 1 This replaces the COM command 2 The SERIALCONFIG command can be used as a log to confirm settings 3 The entire content of the current log is sent before pausing due to the receipt of the XOFF character This command is used to configure the receiver s asynchronous serial
9. 4xM4screwinserts ENVIRONMENTAL 40 C to 70 C Optional mounting plate Storage Temperature 55 C to 90 C Humidity MIL STD 810G Method 507 5 Immersion MIL STD 810G Method 512 5 Procedure 1 Shock MIL STD 810G Method 516 6 Solar Radiation MIL STD 810G Method 505 5 Salt Fog MIL STD 810G Method 509 5 Sand and Dust Vibration Compliance Ingress Protection Rating SMARTE6 User Manual Rev 2 MIL STD 810G Method 510 5 ENVIRONMENTAL Random MIL STD 810G Method 514 6 tailored to 5 3 g Sinusoidal ASAE EP455 Section 5 15 2 Level 1 amp 2 FCC IC CE IP67 A 6 INPUT OUTPUT DATA INTERFACE COM1 Electrical format RS 232 Bit rates bps 2400 4800 9600 default 19200 38400 57600 115200 230400 460800 or 921600 Signals supported TxD1 RxD1 Flow control XON XOFF Features supported Electrical format 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 Flow control TxD2 RxD2 XON XOFF Features supported Electrical format Logs Commands Firmware Upgrade NovAtel Connect Baud rate reset using Break AUX RS 232 Bit rates bps 2400 4800 9600 default 19200 38400 57600 or 115200 Signals supported TxD1 RxD1
10. 64 RADARSIGNAL log 67 72 receiver outputs 65 replacement parts 70 reset FRESET command 22 hardware 55 RESET command 60 64 revision firmware 1 rover station 27 RTCA 27 RTCM 25 27 RTCMV3 25 27 S satellite 21 self test 22 serial cable 21 number 39 port 27 59 syntax 52 T technical specifications 45 terrain compensation See tilt compensation tilt compensation 17 18 30 PMDT command 60 64 logs 69 operation 30 time 58 trigger log 57 U update firmware 39 40 44 upgrade firmware 38 upgrade models 39 40 V velocity limit 68 version 44 Ww Warning CE 8 FCC 7 warranty 2 WinLoad 40 WRITE command log 69 SMART6 User Manual Rev 2 Index 73 rN NovAtel OM 20000150 Rev 2 December 2013
11. 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 8 SERIALCONFIG Configures serial port settings on page 62 To set COM port 2 as follows Bit Rate 9600 Parity none Data Bits 8 Stop Bits 1 Handshaking None Break On enter the following string serialconfig com2 9600 n 81 n on 2 Select and configure the NMEA string to output The information is described in Chapter 3 Data Logs of the OEMG 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 You can configure the log to output at various frequencies as described in LOG Request Logs from the Receiver on page 57 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 NovAtel Connect is summarized as follows 1 Inthe 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 c
12. and increase the measurement noise on the L1 L2 pseudorange measurements Carrier phase measurements 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 3 4 14 Dual Frequency GLIDE 3 5 NovAtel s dual frequency GLIDE technology adds to the superior pass to pass performance provided by single frequency GLIDE Dual frequency GLIDE is ideal for 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 and SBAS Refer to the NovAtel white papers at www novatel com support search items White 20Paper for more information on GLIDE Also refer to application note APN 038 Pseudorange Delta Phase PDP and GL1DE Filters at www novatel com support search items Application 20Note Emulated Radar ER A typical radar sensor emits radio beams that
13. appears in the main WinLoad display area and in the title bar Figure 23 Figure 23 Open File in WinLoad winLoad C unzip program files NovAtel Inc 3 701 Full Update Disk 3701 hex File Settings Help S B Y 1 Authorization Code C unzip program files NovAtel Inc 3 701 Full Update Disk3701 hex 5 Q write Flash 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 24 COM Port Setup Com Port E Download Baudrate no y Connect Baudrate BREAK v OK Cancel SMART6 User Manual Rev 2 41 NovAtel Firmware and Software Chapter 5 Downloading Firmware 1 2 Select the file to download according to Open a File to Download on Page 41 Ensure the file path and name are displayed in main display area see Figure 23 Open File in WinLoad on page 41 Click Write Flash to download the firmware When Searching for card appears in the main display power cycle the receiver Figure 25 Searching for Card File Settings Help Searching for card timeout in 13 secs If the Authorization Code window appears enter the auth code and click OK See Section 5 2 Authoriza tion Code on pag
14. 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 SMART6 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 Signal Update Rate Specifies how often the frequency output is updated to match the vehicle speed 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 RADARCFG Configure the ER Output on page 61 for more detailed information After it is configured using the RADARCFG command Emulated Radar ER pulses are output through the SMARTS cables see Table 5 SMART6 Communication Power Cable Pinouts on page 50 and the RADARSIGNAL log see RADARSIGNAL ER Signal and Position Information on page 67 SMART6 User Manual Rev 2 28 Operation Chapter 3 3 6 Tilt Compensation The SMART 6 Tilt Compensatio
15. port communications drivers The current SERIALCONFIG port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each spaced by fifteen hundred milliseconds 1 5 seconds with a pause of at least 250 milliseconds following the second break This will Stop the logging of data on the current port see the UNLOGALL command in the OEM6 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 the INTERFACEMODE command in the OEM6 Family Firmware Reference Manual The AUX port does not support break detection This applies to models with Bluetooth and without Bluetooth 1 The COMCONTROL command may conflict with handshaking of the selected COM port If O handshaking is enabled then unexpected results may occur 2 Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps 460800 bps and 921600 bps Also some PC s have trouble with baud rates beyond 57600 bps 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
16. standard form of RTCA RTCM RTCMV3 or CMR corrections as shown in 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 25 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 stati
17. the current COM port default ALL 8 Select all COM ports 3 bps baud 300 600 900 1200 2400 Communication baud rate bps Ulong 4 H 4 4800 9600 19200 38400 57600 115200 230400 460800 and 921600 4 parity N 0 No parity default Enum 4 H 8 E 1 Even parity O 2 Odd parity 5 databits 7or8 Number of data bits Ulong 4 H 12 default 8 6 stopbits 1or2 Number of stop bits Ulong 4 H 16 default 1 7 handshake N 0 No handshaking default Enum 4 H 20 XON 1 XON XOFF software handshaking 8 break OFF 0 Disable break detection Enum 4 H 24 ON 1 Enable break detection default AUTO 2 DEFAULT 3 a On models without Bluetooth the AUX port does not support 230400 460800 or 921600 On models with Bluetooth the AUX port Bluetooth port is fixed at 115200 The AUX port does not support handshaking The AUX port does not support break detection SMARTE6 User Manual Rev 2 63 B 9 SETCANNAME Sets the CAN name fields This command sets the CAN device name fields Message ID 1091 Abbreviated ASCII Syntax setcanname ManufacturerCode IndustryGroup DeviceClass DeviceClassInstance Function FunctionInstance ECUInstance PreferredAddress Factory Default setcanname 305 20023 0 0 28 can2 ASCII Binary e Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 SETCANNAME This field contains the command name or H 0 header the me
18. unauthorized HP or XP on a receiver not authorized for it a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid SMARTE6 User Manual Rev 2 The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely 68 C 2 2 TILT Compensation Tilt Compensation affects existing logs as follows NovAtel logs that provide the Extended Solution Status field BESTPOS and BESTXYZ both documented in OEM6 Family Firmware Reference Manual use the 0x80 bit to flag the fact that Tilt Compensation is being applied For NMEA GPGGA GPGGARTK and GPGGALONG logs the precision of various fields indicates whether the Tilt Compensation is being applied C 2 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 SMART6 information as in Table 15 Component Type Table 15 Component Type Binary Value ASCII Value Description 0 UNKNOWN Unknown Component 1 GPSCARD OEM6 GPSCard Component 3 ENCLOSURE SMART6 Receiver 8 USERINFO User application information c
19. using the MODEL target The receiver is forced to hardware reset In addition values entered using the CLOCKCALIBRATE command can only be cleared by using the CLKCALIBRATION target Issuing the FRESET command affects Tilt as follows Tilt sensor level is restored to the factory default Tilt enable disable is not be affected O FRESET STANDARD which is also the default causes any commands ephemeris GNSS and almanac data previously saved to NVM to be erased Message ID 20 Abbreviated ASCII Syntax FRESET target Input Example FRESET COMMAND 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 e Verify the baud rate settings of the receiver and terminal device your computer or data logger e Switch COM ports e Issue a FRESET command A ASCII Binary TT Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 FRESET This field contains the command name H 0 header or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 target See Table 9 FRESET What data is to be reset by the receiver Enum 4 H Target on Page 56 default STANDARD SMART6 User Manual Rev 2 55 Table
20. 00000000 8a1c 3723 sol _computed waas 0 0139 0 00 0 00 f0d580ca ASCII Example 2 moving SMART6 tradarsignala com1 0 42 5 finesteering 1428 206179 600 00000000 baa8 3349 sol computed waas 0 3315 2 0 3152 473 97 29 62 c1479c20 Field S Binary Binary Field type Data Description Format Bytes Offset 1 RADARSIGNAL Log header H 0 header 2 sol status Solution status see Table 14 Solution Status on page 68 Enum 4 H 3 vel type Velocity type see Table 13 Position or Velocity Type on Enum 4 H 4 page 68 4 speed Speed over ground m s Double 8 H 8 4 varf freq External VARF output frequency Hz Double 8 H 16 5 radar freq Radar signal frequency Hz as output by the Emulated Radar Double 8 H 24 Out signal See Section B 7 RADARCFG Configure the ER Output on page 61 6 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 32 7 CR LF Sentence terminator ASCII only SMART6 User Manual Rev 2 67 Table 13 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
21. 4 thread A 5 8 to 1 bushing adaptor is available part number 12023275 SMART6 User Manual Rev 2 15 Installation and Setup Chapter 2 2 1 4 Mounting the SMART6 Mount the SMARTO on a secure stable structure capable of safe operation in the specific environment e If installing on a vehicle mount the SMART6 on the vehicle roof ideally close to the pivot point of the vehicle The SMART6 must be mounted with the connector facing the rear of the vehicle see Figure 5 SMARTO Orientation Figure 5 SMART6 Orientation Route cable toward Z Orient toward the front back of vehicle of vehicle The SMART6 must be rigidly secured to the vehicle to avoid errors caused by vibration and motion j finstalling in a stationary location mount the SMARTS in a location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction For more information refer to NovAtel s GNSS Book 2 1 5 Connecting Data Communications Equipment To communicate with the receiver for sending commands and obtaining logs a connection to data communications equipment is required Refer to Table 5 SMART6 Communication Power Cable Pinouts on Page 50 on for more information SMART6 User Manual Rev 2 16 Installation and Setup Chapter 2 2 2 Additional Features and Information This section contains information on the additional features of the SMART6 which may affect the overall
22. 8999 is intended for use with both the SMARTS and the SMART6 L receivers On the SMARTS the DB9 connector labelled COM3 J4 is used for the AUX port SMART6 UserManudlRev2 gg Table 5 SMART6 Communication Power Cable Pinouts Signal Name J1 J2 J3 J4 Label COM1_TXD 1 COM1_RXD 2 Coma TD 8 2 i COM2 RXD 4 3 AUX TXD 8 AUX RXD 13 COM1 GND 5 COM2 GND 5 AUX GND 5 EVENT MARK IN MKI GND MKI GND Emulated Radar GND ER GND Pulse Per Second GND PPS GND leae 6 doaie CAN 7 CANI PWR RET GND 9 BATT Emulated Radar Out 10 ER OUT EVENT MARK IN MKI 11 MKI PPS 12 PPS PWR INPUT 14 BATT A 2 2 SMART Connector and Cable Requirements Custom cables for installing the SMART6 can be created using the following guidelines Wire size must be 0 5 mm 1 25 mm 20 16 AWG Batt connection must be protected by 5 A fast blow fuse Serial data signals TxD RxD signal ground must be run in shielded cable Connect shields to ground at SMART6 end only CAN signal conductors must be twisted 40 twists m 12 twists ft Use only the recommended mating connectors listed below Use only gold plated pins Failure to observe the given cable construction guidelines and fusing requirements in this section may result in damage to the wiring or equipment and voiding the warranty v NovAtel recommends tying to ground any floating input lines Th
23. 9 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default 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 10 USERDATA Resets SMART6 only commands 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST POSITION Resets the position using the last stored position 31 GLOALMANAC Resets the stored GLONASS almanac 52 PROFILEINFO Resets the stored profile configurations SMART6 User Manual Rev 2 56 B 5 LOG Request Logs from the Receiver Many different types of data can be logged using several different methods of triggering the log events Every log element can be directed to any combination of the three COM ports The ONTIME trigger option requires the addition of the period parameter See the OEM6 Family Firmware Reference Manual for further information and a complete list of data log structures The LOG command tables in this section show the ASCII command format The optional parameter hold prevents a log from being removed when the unloga11 command with its defaults is issued To remove a log that was invoked using the hold parameter requires the specific use of the un1og comman
24. Configuration Chapter 4 Figure 16 Add a device Successful This device has been successfully added to this computer Windows is now checking for drivers and will install them if necessary You may need to wait for this to finish before your device of is ready to use To verify if this device finished installing properly look for it in Devices and Printers AGSTAR DHD13302209 On some operating systems the SMART6 must be re paired every time it is restarted To re pair in Windows 7 click the Bluetooth icon in the notification area and enter the pairing code when prompted For instructions on re pairing in other operating systems see the user documentation that came with the operating system 4 3 Determining the Bluetooth Serial Port To determine the serial port associated with the Bluetooth link to the SMART6 1 Double click the Bluetooth icon in the notification area see Figure 17 on page 34 The Bluetooth Devices window opens see Figure 18 on page 35 Figure 17 Bluetooth Icon RV E EE SMART6 User Manual Rev 2 34 Bluetooth Configuration Chapter 4 Figure 18 Bluetooth Devices Window QY k Devices and Printers Bluetooth Devices v File Edit View Tools Help Add a device Add a printer 4 Devices 1 SMART6 NMEA1 3260002 Ly sj 1 item 2 Inthe Bluetooth Devices window right click the SMART6 device and select Properties see Fig
25. E Sets the CAN name fields sesssssssseseeeeeeneeen nennen enne enne enne enne 64 C Logs 65 Om Position LOGS C 65 Cie NMEA LOGS x eet t dfe tete a st alee tte Aue anal intu Ro derer ad e A fius 65 1 2 NovAtel PositlonLogs iiiot te ciet erigi rico dica 66 jeu dm 66 C 2 1 RADARSIGNAL ER Signal and Position Information cece eeeeeeeeeeeeeeneeeseenaeeeeeeeeesieeeeesaeeesneaeeenneeenaaes 67 C22 TILT Compensation nere rete Ar ee erga ee ee ie ie ae 69 C 2 3 VERSION HW and SW Versions and Serial Numbers ssssesseeeen mener nene 69 D Replacement Parts 70 DNE TO o A 70 PAS E NTE 70 Index 71 SMART6 User Manual Rev 2 4 OANDAWHRWDY SMARTG RISE N A A duce Oevsieeeva stile vascatcndadt 10 SMARTO Connector s ecce es cotto ete O ueste dtu od te ton Copper din Sa Mon a 12 Simplified SMART6 Setup nente it beer a ve ege dede 13 SMART6 Surface Mounting Plate 01018317 sss esee enne in nnn enne 14 SMARTE Pole Mounting Plate 01019142 ssssssssssssssssssseeene nennen nennen nennen nennen sn nrn eren nennt r serre ne nnn 15 SMARTO Orientation 2 5 2 nietos itte in dnt dnd Mates atte eet co Ree a Ard 16 SMAR TG Installation eet calcd beset 19 SMAR TO Orientatloni 5 EG pr REEL Re RR ne UE a diana 19 Open Con
26. Flow control Not supported Features supported Electrical format AUX with Bluetooth Option Logs Commands NovAtel Connect passive connection only Bluetooth Serial Port Bit rates bps 115200 fixed Signals supported TxD1 RxD1 Flow control Not supported Features supported Logs Commands NovAtel Connect passive connection only a Power consumption values for GPS L1 L2 b b denotes diameter here and in the Dimensions graphic on page 48 c See also the Notice section of this manual starting on page 9 SMART6 User Manual Rev 2 Figure 28 SMART6 Dimensions 0155 00 B 155 2 gt 9 5 187 lt 53 9 gt Neodymium Rare Earth Maget x2 M4 x 0 7 10 DEEP x 4 po k o 539 582 RIETI 3 Antenna 48 79 Dimensions are in millimeters SMARTE6 User Manual Rev 2 48 A 2 1 SMART6 Communication Power Cable 01018999 The SMARTS cable refer to Figure 29 SMART6 Communication Power Cable provides a means of supplying power from a battery while operating in the field The exposed wires red for positive and black for negative can then be connected to a vehicular power circuit or equival
27. Fuse or damage to wiring may result not covered by warranty Refer to SMART6 Connector and Cable Requirements on page 50 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 Surface Mounting Plate 01018317 5 00 3 360 lt 1 439 0 50 x 4 gt ai 0 50 x 4 R0 025 A A i O A A 4326 i L 9 6 25 Y Oo o x N 00 27 0 01 drill thru x 4 gt 1 0 35 0 60 La 2 325 gt lt 3 561 gt 0 315 REF 0 105 REF 82 aN gt LY iP 00 370 Center sink 2 places O To install the mounting plate use the adhesive tape or the mounting holes at each corner of the plate SMART6 User Manual Rev 2 14 Installation and Setup Chapter 2 Figure 3 SMART6 Pole Mounting Plate 01019142 5 00 3 360 2 325 e 0 35 0 60 2 205 2 037 4 326 o 2 4 326 6 25 A EO Y 3 25 0 05 0 188 x4 Y we 1 439 h 3 561 gt 2 50 0 05 t RE 1 All dimensions are in inches O To install the pole mounting plate 1 Use four M4 screws to connect the mounting plate to the SMARTS 2 Screw the mounting plate onto a mount such as a range pole tribrach or tripod with a 1 x 1
28. HyperTerminal or NovAtel s Graphical User Interface GUI program NovAtel Connect All data is sent as raw 8 bit binary or ASCII characters SMART6 User Manual Rev 2 21 Operation Chapter 3 3 2 Getting Started 3 2 1 Starting the Receiver When first powered the SMART6 undergoes a complete self test The results of this test can be viewed by connecting to the receiver and requesting the RXSTATUS log Refer to the OEM6 Family Firmware Reference manual for details If a persistent error develops contact your local NovAtel dealer first If the problem remains unresolved contact NovAtel directly through any of the methods listed in the Customer Service section on page 9 3 2 2 Communicating with the Receiver Using NovAtel Connect NovAtel Connect is a Windows based GUI used to access the receiver s many features Convert is a utility that converts between file formats and strips unwanted records for data file compilation Both are included in the NovAtel Connect PC Utilities bundle available from www novatel com support search items PC 20Software Launch the NovAtel Connect program and select Device Open Connect from its main menu The Open Connection window appears Figure 8 Open Connection Window r A Open Connection m m Available Device Connections Name Device Type Settings SMART6 SERIAL COM1 9600 bps _ _ _ _ _ gt gt Refer to the NovAtel Conne
29. IX POSITION 51 11635 114 0383 1048 2 Carriage Return lt OK where COM2 is the port prompt followed by the command entered and Carriage Return is a prompt to press the lt Enter gt 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 the computer s Control Panel 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 can be used as a base 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 9 Basic Differential Setup on page 24 SMARTE6 User Manual Rev 2 23 Opera
30. Open a terminal program HyperTerminal for example and configure it to the serial port assigned to the Bluetooth link If you do not know the serial port information see Section 4 3 Determining the Bluetooth Serial Port on page 34 2 Configure the port settings as follows 115200 bps no parity 8 data bits 1 stop bit no handshaking echo off Through the terminal program connect to the Bluetooth serial port and verify the connection Type the following VERSION log request into the command prompt to ensure that the connection works log version SMART6 User Manual Rev 2 37 Chapter 5 NovAtel Firmware and Software Download the most recent versions of the NovAtel firmware and receiver software from the NovAtel website at www novatel com support firmware downloads SMART6 Firmware and Software Refer to Section 5 3 1 Transferring Firmware Files on page 40 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 improves connection profiles Convert converts receiver data logs into different formats USB Drivers and Window Signing The NovAtel Connect PC Utilities bundle can be download from our web site www novatel com support search items PC 20Software Firmware and Software included e SoftLoad firmware WinLoad software utility O WinLoad and SoftLoad instr
31. 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 Table 14 Solution Status Solution Status Description Binary ASCII 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 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 10 DELTA POS Delta position is too large 11 NEGATIVE VAR Negative variance 12 Reserved 13 INTEGRITY WARNING Large residuals make position unreliable 14 17 Reserved for SPAN capable receivers 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID FIX The fixed position entered using the FIX POSITION command is not valid 20 UNAUTHORIZED Position type is
32. ance NovAtel GLIDE NovAtel Connect and OEMG are registered trademarks of NovAtel Inc SMARTS is a trademark of NovAtel Inc The Bluetooth word mark and logos are registered trademarks owned by Bluetooth SIG Inc and any use of such marks by NovAtel Inc is under license All other brand names are trademarks of their respective holders Manufactured and protected under U S Patent 5 390 207 6 184 822 B1 6 664 923 B1 5 495 499 6 211 821 B1 6 922 167 B2 5 734 674 6 445 354 B1 7 250 916 5 809 064 6 608 998 B1 7 738 536 B2 5 414 729 6 452 560 B2 7 738 606 B2 5 736 961 6 728 637 B2 7 885 317 B2 6 243 409 B1 Copyright 2013 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws SMART6 User Manual Rev 2 Table of Contents Notice 7 Customer Service 9 1 Introduction 10 1 1 Feat res and Mo detras 10 TROVA iaa 11 2 Installation and Setup 12 2 1 Additional Equipment Required ccoo e 12 21 SMARTO Setup cata adan 12 2 1 2 Power Supply Requirement ccccccccsececeeeeeenee a a e aE aeaa T ar Eaa A aaea ara Ea ea aa theres sss d nne tennis nnne 14 2 4 94Mountinig Plate AET EST dort rim E E A eir NU EPI SEN E Ren 2 1 4 Mounting the SMART6 2 1 5 Connecting Data Communications Equipment sss enne 16 2 2 Additional Features and Information ccc ececcecesseeeeeeeeeeeneeeeeeaeeceeeeeeeaeeeeeaaeeeeeeeeeeaeeseeaaeseeeeeesseeesenaeesseeee
33. ase Station Configuration At 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 N 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 N 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
34. 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 firmware downloads to obtain product updates Refer to Chapter 5 NovAtel Firmware and Software on page 38 for details Refer to the OEM6 Installation and Operation Manual for detailed information on receiver communications and operation SMART6 User Manual Rev 2 10 Introduction Chapter 1 1 2 Conventions Conventions used in this manual are the following Note that provides information to supplement or clarify the accompanying text v Caution that a certain action operation or configuration may result in incorrect or improper use of the product CO Warning that a certain action operation or configuration may result in regulatory noncompliance safety issues or equipment damage e The letter H in the Offset columns of the commands and logs tables represents the header length for that command or log Refer to the OEM6 Family Firmware Reference Manual for ASCII and binary header details The number following Ox is a hexadecimal number Command descriptions brackets represent the optionality of parameters n tables where values are missing they are assumed to be reserved for future use e Status words are output as hexadecimal numbers and must be converted to binary format and in some cases then also to decimal For an exampl
35. ber If communicating using NovAtel Connect the communication path must be closed and reopened using the Device menu SMART6 UserManualRev2 gg NT Technical Specifications A 1 SMART6 Receiver Performance Channel Configuration PERFORMANCE 120 Channels can be configured to track L1 GPS L2 GPS optional L2C GPS optional L1 GLONASS optional L2 GLONASS optional Galileo E1 optional BeiDou B1 optional SBAS Single Point 1 5m Single Point L1 L2 1 2m Horizontal Position Accuracy RMS SBAS 0 6m DGPS 0 4m RT 2 1cm 1ppm GPS GLO L1 C A code 4cm 15 cm L1 carrier phase 0 5 mm 1 5 mm Measurement Precision RMS L2 P Y code 8 cm 8 cm L2 carrier phase 1mm 1 5 mm L2C code 8 cm 8 cm L2C carrier phase 0 5 mm 1 5 mm Measurements up to 20 Hz Maximum Daia Rale Position up to 20 Hz Cold Start9 lt 50 s Time to First Fix Hot Start lt 35 s Signal Reacquisition E VPE Uypiea 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 GPS only L2 P for GLONASS L2 C A for GLONASS Model specific so 02ooc Typical value No almanac or ephemerides and no a
36. ch line of the shex file to the receiver in a SOFTLOADSREC command The S Records must be enclosed by quotation marks SOFTLOADSREC lt S RECORD gt To significantly decrease data transfer time NovAtel recommends creating a batch file to O automatically send each line of SOFTLOADSREC Contact NovAtel Customer Support for assistance creating SoftLoad batch files 6 Send the SOFTLOADCOMMIT command 7 During the loading process SOFTLOADSTATUSA logs report the load status Wait for the SOFTLOAD STATUSA to indicate loading is complete Signature auth codes are maintained internally by the receiver and do not need to be r e entered Refer to Section 5 2 Authorization Code on page 39 for details on obtaining any auth code 8 Reset the receiver by entering RESET or FRESET command or power cycling 9 Once the receiver resets the new version of firmware is active 5 4 1 The SoftLoad process can be cancelled safely at any time during the process using the RESET command Working with S Records Records beginning with SO S5 and S7 should be passed to the receiver directly using the SOFTLOADSREC command These records contain meta data about the firmware image Records beginning with S3 form the actual firmware image and can be converted to SOFTLOADDATA binary commands Aside from the header each pair of characters forms the ASCII representation of binary byte The format is as f
37. close to the SMART6 Industry Canada SMARTS Class B digital apparatuses comply with Canadian ICES 003 SMARTS appareils num rique de la classe B sont conforme la norme NMB 003 du Canada This device complies with Industry Canada licence exempt RSS standard s Operation is subject to the following two conditions 1 this device may not cause interference and 2 this device must accept any interference including interference that may cause undesired operation of the device Le pr sent appareil est conforme aux CNR d Industrie Canada applicables aux appareils radio exempts de licence L exploitation est autoris e aux deux conditions suivantes 1 l appareil ne doit pas produire de brouillage et 2 l utilisateur de l appareil doit accepter tout brouillage radio lectrique subi m me si le brouillage est susceptible d en compromettre le fonctionnement SMART6 User Manual Rev 2 7 Notice CE The enclosures carry the CE mark Hereby NovAtel Inc declares that this SMART6 is in compliance with the essential requirements and other relevant provisions of the R amp TTE Directive 1999 5 EC the EMC Directive 2004 108 EC and the RoHS Recast Directive 2011 65 EU WEEE If you purchased your OEM6 family product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environ
38. ct 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 if connected to COM1 port COM2 _ if connected to COM2 port AUX if connected to AUX port or through Bluetooth Any of the above prompts indicate the receiver is ready and waiting for command input 1 You may also have to wait for output from receiver self tests For example on start up the O SMARTE is set to log the RXSTATUSEVENTA log ONNEW on all ports Refer to the OEM6 Family Firmware Reference Manual for more details 2 If NovAtel Connect is unable to locate the SMARTS 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 3 When using the AUX port you must use a Passive connection in NovAtel Connect SMART6 User Manual Rev 2 22 Operation Chapter 3 3 3 Commands are typed at the interfacing computing device s keypad and executed after issuing a carriage return command which is usually the same as pressing the lt Enter gt key An example of a response to an input command is the FIX POSITION command It can be as COM2 F
39. d To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on 1 The OEM6 family of receivers can handle 64 logs at a time If it is more than 64 logs at a O 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 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 necessarily represent the time the data was generated but rather the time when the log is transmitted Message ID 1 Abbreviated ASCII Syntax LOG port message trigger period offset hold Abbreviated ASCII Examp
40. d are zero or null the current height is transmitted without change with the format shown above Use the following command to return the current settings PMDT u 54 b If an invalid entry is received 2500 inches the response is SPMDT Max legal height exceeded nnnnn and will be ignored For example if you enter 42 ft 6 in you will get the following response SPMDT lt Max legal height exceeded 00510 and will be ignored SPMDT lt GPS sensor height inches 00150 Refer to Tilt Compensation on page 18 and Tilt Compensation on page 29 for setup instructions SMARTE6 User Manual Rev 2 60 B 7 RADARCFG Configure the ER Output Use this command to configure the Emulated Radar ER output ER is available through the SMART6 interface cable see Table 5 SMART6 Communication Power Cable Pinouts on page 50 for pin out details Message ID 8192 Syntax radarcfg switch freq step update rate resp mode threshold Field Data Description Bytes Format Units Offset 1 Header This field contains the command name or the message 0 header depending on whether the command is abbreviated ASCII ASCII or binary 2 switch Enable or disable radar emulation 4 Enum none H 0 ENABLE 1 DISABLE default enable 3 freq_step Frequency step per kilometer per hour 8 Double Hz kph H 4 Range 26 11 28 12 or 36 11 default 36 11 4 update_rate Specify how often to update radar output 4 Integer Hz H 12 Range 1 2 5 10
41. d the AUTH command 5 2 Authorization Code An authorization code commonly known as an auth code is required to upgrade and possibly update a SMARTS 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 MODEL SERIAL FIRMWARE ENTER NUMBER NUMBER VERSION GPSCARD D2SROGTTOA BJYA13211868W OEM615 1 01 OEMO60200RN0000 PRODUCT RELEASE FAMILY INDICATOR 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 if required as outlined in Upgrading Using the AUTH Command To upgrade to a new model with a higher firmware version the new firmware shex file needs to be loaded into the SMART6 receiver using the WinLoad utility program WinLoad and the firmware shex files can be found at www novatel com support firmware downloads Refer to Section 5 3 Updating or Upgrading Using the WinLoad Utility on page 40 for use instructions Firmware version OEMO60200RN0000 also known as firmware version 6 200 and lat
42. e 39 for further information about the Authorization Code Figure 26 Authorization Code Window Authorization Code I Cancel The receiver finishes the download and then resets The process is complete when Done appears in the main display area Figure 27 Upgrade Process Complete Download Complete Resetting Card Resetting Done BUBARHHHBAZHHBSEHHUEEEREBEEHEI COM 1 Connect 9600 Download 115200 7T Close WinLoad 5 4 Updating using SoftLoad Commands To use Softload to update a SMART6 family receiver Use SoftLoad if automated loading is required or the platform used to communicate with the receiver is not supported by WinLoad y Refer to Types of Firmware Files on page 40 for details on updating versus upgrading Open a connection to any port on the receiver Request the SOFTLOADSTATUSA log using the following command LOG SOFTLOADSTATUSA ONCHANGED Initialize SoftLoad with a SOFTLOADRESET command This command stops all tracking on the receiver to ensure sufficient memory is available for the loading process ARXSTATUSEVENTA log reports a SoftLoad In Progress status SMART6 User Manual Rev 2 42 NovAtel Firmware and Software Chapter 5 4 Open the shex firmware file v If using NovAtel Connect close all windows before using the SOFTLOADSREC command to avoid failure Only the Console and ASCII Message windows may remain open 5 Send ea
43. e connector used in the SMART6 is an AMPSEAL dust and water sealed type produced by Tyco The following part numbers pertain to the mating connector required to make connections to the SMART6 These numbers are provided for information only and are not available from NovAtel as separate parts SMART6 User Manual Rev 2 Table 6 SMART6 Mating Connectors Product Part Description Company Part Number SMARTS mating connector J1 Figure 29 on 14 pin sealed receptacle Tyco AMP 776273 1 page 49 housing black Gold plated pins 20 16 AWG for J1 SMART6 Pins loose piece Tyco AMP 770854 3 connector Gold plated pins for SMART6 connector strip Pins strip reel Tyco AMP 770520 3 Seal Plug for unused pins on mating connector All connector positions must be populated with a pin or a seal plug to achieve the IP 67 rating for the cable vent plug Tyeor e ME LE TUGLA connection Table 7 details the part numbers for recommended fuses and fuse holders These numbers are provided for information only and are not available from NovAtel as separate parts Table 7 Recommended Fuse and Fuse Holders Fuse 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 12 V System Fuse FKS ATO Blade Fuse 5A 80 V Littelfu
44. e of this type of conversion refer to the RANGE log in the OEM6 Family Firmware Reference Manual Conversions and their binary or decimal results are always read from right to left SMARTE6 User Manual Rev 2 11 Chapter 2 Installation and Setup 2 14 Additional Equipment Required In order for the SMART6 to perform optimally the following additional equipment is required Acable harness for communicating and powering the SMART6 NovAtel cable harness 01018999 is available with three DB 9 connectors four bare cables and a SMART connector or similar A fused power supply user supplied refer to Table 7 Recommended Fuse and Fuse Holders on Page 51 for details Acomputer user supplied 2 1 1 SMART6 Setup Complete the following steps to connect and power the SMART6 1 Mount the SMART6 on a secure stable structure with an unobstructed view of the sky from horizon to horizon refer to Section 2 1 4 Mounting the SMARTO on page 16 for details 2 Connect the NovAtel interface cable or custom wiring harness to the COM and Power port on the back of the SMARTS see Figure 2 SMART6 Connector Figure 2 SMART6 Connector Gr UV UT V N 6666 00000 fi S FL Table 2 SMART6 Connector Pin Out Pin Use Pin Use 1 COM1 TxD 8 AUX TxD 2 COM1 RxD 9 Power Negative Return 3 COM2 TxD 10 ER_OUT Emulated Radar Output 4 COM2 RxD 11 MKI Mark Input
45. eeneeeneaes 17 2 21 Status OO 17 2 2 2 MKl and PPS Strobes 4 dee Lee ia 17 2 2 3 Emulated Radar ER eine ee a erste Aiea epee aude ee eee lees 18 2 2 4 Controller Area Network CAN ssssssessseseeeeeenee nnnm een nennen ene rre 18 2 2 5 Tilt Compensation ii da ge de eee he dede 18 3 Operation 21 3 1 Communications with the Receiver ssssssssseee eene nenne ennemi nenne nennen nene en nene eerie nennen 21 3 1 1 Serial Port Default Settings ceci oe nci Rott odere Re idee sime cited eben ee haan PE qe Sec re dede tn 21 3 1 2 Communicating Using a Remote Terminal sess ene nrren nnne 21 3 1 3 Communicating Using a Computer ssssssssssssssssessseseee iea nennt nn aaaea eaa aeei aaa renes 21 3 2 Getting Started ieia M HE 3 2 1 Starting the Receiver 3 2 2 Communicating with the Receiver Using NovAtel Connect sssseeeeeee nemen 22 3 3 Transmitting and Receiving Corrections sse eene meer enne enr ener enne nennen nennen 23 3 3 1 Base Station Configuratio iseseisana reee 25 3 3 2 Rover Station Configuration iii ic 26 3 3 3 GPS GLONASS Base and Rover Configuration ooocccconcnnnnccnnnocncnnnanonannncnnnonor non nn nn nrnn nano eene enne 26 319 4 Configuration Notes etr eret ie 27 SE Mcr a anaes 28 3 4 1 Dual Erequency GEIDE 3 e
46. ellow there may be excessive signal blockage or the SMART6 may be defective Make sure the SMART6 has an unobstructed view of the sky Try power cycling the SMART6 Ifthe yellow LED is on but the green doesn t turn on within five minutes than no SBAS or DGPS positions are available If you are using SBAS make sure SBAS is available in your area and that the SMARTS is configured to enable SBAS positions SBASCONTROL ENABLE For DGPS make sure the SMARTS is configured with the correct serial port parameters and to accept the DGPS protocol your area is using and that your data modem is connected and working The green LED blinks when SBAS is detected then it comes on solid when SBAS is enabled The LED will stay dark if SBAS is not detected 2 2 2 MKI and PPS Strobes The Mark Input MKI and Pulse Per Second PPS strobe provide status and synchronization signals PPS is a 3 3 V CMOS output MKI is a 5 V logic tolerant input Pin out information can be found on Table 5 SMART6 Communication Power Cable Pinouts on page 50 SMART6 User Manual Rev 2 17 Installation and Setup Chapter 2 2 2 3 Emulated Radar ER The SMARTS outputs an emulated RADAR signal via the bare wires labeled ER GND and ER OUT on the SMARTS cable See Table 5 SMART6 Communication Power Cable Pinouts on page 50 for the pin out details of this cable The ER outputs a logic high of supply voltage minus 0 5 V minimum and logic low of 0 5 V maximum with a rise and fa
47. ent protected by a 5 A fast blow fuse user supplied The cable has three DB 9 connectors to accommodate a computer serial RS 232 communication port a modem or radio transmitter to propagate differential corrections refer to the user supplied modem or radio transmitter user guide for information on its connectors Bluetooth wireless technology uses the AUX port When Bluetooth wireless technology is enabled AUX is not available on the SMART6 connector or the cable In addition there are a number of bare wires where the outer insulation is cut away but the wires beneath remain intact See Table 5 SMART6 Communication Power Cable Pinouts on page 50 for their pinouts For more information on mating connectors and part numbers see Table 6 SMART6 Mating Connectors on page 51 This cable is RoHS compliant Figure 29 SMART6 Communication Power Cable lt 7600 5 0 length when straight p 4600 155 0 length when straight a E 30 0 3 0 a Typical 5 Places Y Pin 5 Pin 16 gt Pin 1 Pin 10 Pin 1 POR Pin 14 i J3 ll eee ui I id m Pin 9 ffe ne Dimensions are in millimeters The SMART6 Communication Power Cable 0101
48. er contain the Firmware Signature feature This firmware feature removes the authorization code dependency on the firmware version and eliminates the need to obtain an auth code when downloading the latest version of signed firmware If updating from a version before 6 200 to a signed 6 200 version an authorization code is required The receiver must have boot version code 6 100 or later for signed firmware to work In version OEMO60200RNO0000 the receiver serial number and the software model are built into the signature in the firmware file Once the 6 200 signed firmware is installed with a signature auth code future firmware updates no longer require a new unique auth code An authorization code is still required if the software model changes for temporary trial upgrades or purchased permanent upgrades SMART6 User Manual Rev 2 39 NovAtel Firmware and Software Chapter 5 The new download package includes a signed firmware file type that uses an extension designated as shex example OEMO60200RN0000 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 5 3 Updating or Upgrading Using the WinLoad Utility WinLoad is the s
49. ere reddere 42 Upgrade Process Comiplete vitara 42 SMAR TO DIMENSIONS M cR 48 SMART6 Communication Power Cable 0 cccccccceeececeeceeeeeeeaeceeeeeeceaeeeeeeeceaaaeeeeeeeaaeeeeeesecaeaeeeeeeseeeeesecaeaeeeeeeeseaeees 49 SMART6 User Manual Rev 2 Ble gt 1 SMART6O MOGdelS redirect AR Ae A Babee de tuc dee dete te elo TE ee ob ceca ahi etait eve A 10 2 SMARTO Cornnector PihnsQOUt rca Herr EE te tote Eq cd e ones Que o t e oor PEU Lesen saws Sada i egre x Deos Ped cratered 12 3 SMARTO LED Status IndiCcatofs 5 ore erret E Goa Va ei eee su re Fev ae vue ea o e o o V Ea a Pon e To TR a 17 4 Available CAN Signals on the SMART sssssssssssssssssesssesesee eren nene nr sinet trn rn sehen trinis sinn nensi ere rnnr siis nnns n senes 18 5 SMART6 Communication Power Cable Pinouts ccccccccccecccceeeeseeeeceececeececueaueesseceseeeeeeeceaueaaeeseeeeeeeeeeeeeeeeeeausans 50 6 SMAR TO Mating Conmectors eax tA c rec einst eterne cete eate ca dete dte eed dre ret even ace 51 7 Recommended Fuse and Fuse Holders sscccccccccececcesseseeceececeececeaueaaueaseeseceeeeeaeeausaaseseeceeseeeseeseeauaaaenseeeeeeeeeees 51 8 SMART6 CommanG cccccccccccecesesesseseececeeeeceeaeaauesseseeeceeeeeceaaaeauesseeeeeeaeeeaseeaueasesseeeeceeeseeeeeeasaaueaaensseeeeeeeseeeeeaaeags 52 9 zip so Ecce 56 10 Detailed Serial Port Identifiers n nemen nnnm nnn nenne ns nn nnn nn riter sese nes sna nn ann risen nn
50. firmware since the last revision x x shex Firmware version upgrade file where x x defines the product name and release e g OEMO060000RN0000 shex 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 search items Video SMART6 User ManudlRev2 gg NovAtel Firmware and Software Chapter 5 SMARTS6 Application Software The SMARTS receiver has two types of software loaded the OEM6 firmware and the SMART6 Application Software The OEM6 firmware provides the features that are common to all OEM6 receivers The Application Software provides the special features available on the SMARTO such as Tilt Compensation and Emulated Radar The Application Software is available from the NovAtel website at www novatel com support firmware downloads and is loaded onto the SMARTS receiver using the same procedures used for the OEM6 firmware An authorization code is not required for Application Software updates 5 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 22 Figure 22 WinLoad s Open Window Y File name OEMOSOOOORNOD00 y Files of type Hex Files y Cancel A When a file is selected the filename
51. implest and most common way to update or upgrade a SMARTE receiver COM1 or COM2 must be used to update or upgrade a SMARTS receiver The AUX port can not be used for loading firmware 5 3 1 Transferring Firmware Files To proceed with an update or possibly an upgrade obtain the latest version of firmware from the NovAtel website at www novatel com support firmware downloads Types of Firmware Files OEM Version NovAtel Customer Service may generate and provide the required authorization code Authorization codes are obtained by contacting support novatel com or at www novatel com Support The OEM version is named OEMXXXX EXE where XXXX is the firmware version For convenience copy the update file to a GNSS sub directory for example CAGNSSILOADER If the firmware update file is password protected NovAtel Customer Support provides the required password After copying the file to a computer perform the following steps to extract the files Syntax filename password if required where filename is the name of the compressed file but not including the EXE extension and password if the password is required for extraction Example OEMO060200RN0000 shex In the above example a window appears asking for a password The self extracting archive produces 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
52. ion 23 serial cable 49 setup 24 directional communication 21 71 distance exceeded 68 E Emulated Radar ER 61 67 operation 30 enable Bluetooth 31 F factory default setting 62 features 10 22 39 44 firmware updates 39 40 44 FRESET command 57 G GL1DE 28 GPGGA log 65 GPVTG log 65 H handshaking 21 hardware enclosure 10 replace 70 required 12 setup 24 header 11 height limit 68 hexadecimal 11 hold 57 58 identifier serial port 59 idle time 21 input command 22 23 differential 25 26 mark 58 power 14 syntax 52 interface base or rover 25 26 Bluetooth 31 communication 21 serial 21 introduction 10 L LED front 10 power 13 17 light emitting diode LED see LED log 27 57 66 LOG command 57 logs SMART6 User Manual Rev 2 Index tilt compensation 69 M memory non volatile erase 55 message trigger 58 model 10 model upgrades 39 40 N NMEA logs 65 non volatile memory NVM reset 55 note reset 55 Notices 7 NovAtel Inc 2 NovAtel position logs 66 O operation 21 optionality 11 output convention 11 log 57 58 status 22 syntax 52 P parity 21 PC Utilities 14 period 57 58 port COM 21 22 27 configuration 62 identifier 59 interface mode 25 26 log 57 58 output 58 prompt 22 23 serial 21 settings 21 position accuracy 23 base 23 25 best 67 command 23 27 position logs 66 power 13 14 pseudorange 27 R RADARCFG command 60
53. is specific to pairing an SMART6 with a Windows 7 based O computer For information about pairing the SMART6 with other Bluetooth capable devices refer to the devices user documentation To pair with an SMARTE6 in range 1 Power on the SMART6 2 Double click the Bluetooth icon in the notification area see Figure 11 on page 31 The Bluetooth Devices window opens see Figure 12 on page 32 Figure 11 Bluetooth Icon Bluetooth Devices M a Tagor SMART6 User Manual Rev 2 31 Bluetooth Configuration Chapter 4 Figure 12 Bluetooth Devices Window D WW E CJ e eo Devices ond Printers Bluetooth Devices File Edit View Tools Help Add a devi Add a printer Add a wireless or network device to this computer No items match your search 3 On the Bluetooth Devices window click the Add a device button The Add a device window appears The computer searches for any Bluetooth device in range and displays the devices found on the window see Figure 13 on page 32 Figure 13 Add a device window Y f Add a device Select a device to add to this computer Windows will continue to look for new devices and display them here DEL44826 5 SMART6 NMEA13260002 Bluetooth ay Desktop computer Othe EAG41479 Bluetooth Desktop computer DEL45206 W Bluetooth lt Laptop computer What if Windows doesn t find my device Next Cancel SMART6 User Manual Rev 2 32 Blueto
54. le 1 LOG COM1 BESTPOS ONTIME 7 0 5 HOLD The above example shows BESTPOS logging to COM port 1 at 7 second intervals and offset by 0 5 seconds output at 0 5 7 5 14 5 seconds and so on The hold parameter is set so logging is not disrupted by the unlogall command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 LOG COM1 BESTPOS ONCE 0 000000 0 000000 NOHOLD Refer to the Command Formats section of the OEM6 Family Firmware Reference Manual for additional examples 1 In NovAtel Connect there are two ways to initiate data logging to the receiver s serial ports O the LOG command in the Console window or use the interface provided in the Logging Control window 2 Only the ASCIl Abbreviated ASCII log table is included in this manual Refer to the LOG command in the OEM6 Family Firmware Reference Manual for binary log details SMART6 User Manual Rev 2 57 Factory Default LOG AUX RXSTATUSEV LOG COM1 RXSTATUSEVENTA ONNEW 0 O HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 O HOLD ENTA ONNEW 0 0 HOLD Fiela Field ASCII Value Description Field Name Type 1 LOG This field contains the command name or the message ASCII header depending on whether the command is abbreviated header ASCII or ASCII respectively 2 port See Table 10 Detailed Output port Enum Serial Port Identifiers o
55. le CAN setcanname 305 20023 0 0 28 can2 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 SMARTE6 User Manual Rev 2 30 Chapter 4 Bluetooth Configuration Bluetooth is a wireless radio communication standard designed for use over short ranges within 10 m This chapter describes how to use the Bluetooth interface on the SMARTE6 4 1 Bluetooth Wireless Technology on the SMARTS receiver Bluetooth wireless technology is configured on the SMART6 s internal AUX port After your computer is configured for Bluetooth operation use HyperTerminal or NovAtel Connect to communicate through AUX To log data over the Bluetooth port specify AUX as the output port e g 1og aux bestposa ontime 1 4 2 Pairing with a new SMART6 O The AUX port when used with Bluetooth is automatically fixed to a data rate of 115 200 bps O Ensure that your computer is equipped with a built in or external plug in Bluetooth adapter and is already configured with the appropriate Bluetooth driver The information in this section
56. lick Add 9r 2 cq SMART6 User Manual Rev 2 65 C 1 2 NovAtel Position Logs In addition to NMEA logs NovAtel supports a range of non NMEA position logs described in the OEM6 Family Firmware Reference Manual including e 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 in ECEF coordinates for example log bestxyza ontime 1 C 2 Other Logs The SMARTE6 firmware generates the logs in Table 12 SMART6 Logs in Alphabetical Order in addition to those of the OEMG Family log set Refer to the OEM6 Family Firmware Reference Manual which also contains procedures and explanations related to data logging and is available from our web site at www novatel com support manuals Table 12 SMART6 Logs in Alphabetical Order Message ID ASCII Log Description 8193 RADARSIGNAL Radar signal and position information New SMART6 log 37 VERSION Hardware versions software versions and serial numbers Existing OEM6 log extended to SMART6 SMARTE6 User Manual Rev 2 66 C 2 1 RADARSIGNAL ER Signal and Position Information This log contains position and Emulated Radar ER signal information Message ID 8193 Log Type Asynch Recommended Input log radarsignala onchanged ASCII Example 1 stationary SMART6 tradarsignala com1 0 61 5 finesteering 1501 248381 628
57. ll time of less than 1 ms Its output references signal GND and provides logic low output until its speed is greater than 1 km Hr ER can be configured to operate at one of three distinct frequencies 26 11 28 12 or 36 11 Hz km Hr with 26 11 Hz km Hr being the default value and with an effective range from 1 km Hr to 55 km Hr for near horizontal applications See Section B 7 RADARCFG Configure the ER Output on page 61 for more information 2 2 4 Controller Area Network CAN The SMART6 supports the following NMEA2000 Parameter Group Messages PGN PGN 129029 GNSSPositionData 1 Hz PGN 129025 GNSSPositionRapidUpdate 10 Hz PGN 129026 COGandSOGRapidUpdate 10 Hz The CAN must be activated by entering the SETCANNAME command refer to B 9 SETCANNAME Sets the CAN name fields on page 64 To have the CAN set up automatically at subsequent start ups also send the SAVECONFIG command Table 4 Available CAN Signals on the SMART6 CAN Pins CAN Pin 6 CAN Pin 7 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 2 2 5 Tilt Compensation The SMARTE6 Tilt Compensation feature corrects for errors in position caused by tilting of the vehicle Refer to Tilt Compensation on page 29 for a detailed description of the Tilt Compensation feature To fully install and set up tilt c
58. lt lf gt lt cr gt lt lf gt Example To set the GNSS sensor height to 12 ft where nnnnn is a five digit integer sensor height 6 in the command is in inches PMDT u 12 6 4D In this example the Tilt Sensor response is Note Feet and inches are entered as integers PMDT lt GNSS sensor height inches 00150 You can enter feet and inches but not feet inches and metres To set the GNSS sensor height in metres Response to the u command PMDT u mmm mmm cksum lt cr gt lt lf gt PMDT lt GNSS sensor height inches nnnnn Example To set the GNSS sensor height to 3 5 lt cr gt lt If gt metres the command is where nnnnn is a five digit integer sensor height PMDT u 3 5 7C in inches In this example the Tilt Sensor response is PMDT lt GNSS sensor height inches 00137 l Set Field Level PMDT l cksum lt cr gt lt lf gt Response to the 1 command Example PMDT lt Level state set lt cr gt lt lf gt PMDT I 4D Example PMDT lt Level state set x Update Flash To update flash values needs to follow any Response to the x command Values height or level command that is not done each PMDT lt Flash updated lt cr gt lt If gt time you power up Example PMDT x cksum lt cr gt lt lf gt PMDT lt Flash updated Example PMDT x 59 Note The command PMDT x 59 must be used to save the PMDT settings to memory The SAVECONFIG does not save PMDT settings a If all fields in the u comman
59. ment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label 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 product Since REACH SVHC lists are updated occasionally please contact NovAtel Customer Support if you require further information C Cables may contain DEHP CAS Number 117 81 7 in concentrations above 0 196 w w 1 Visit the NovAtel Web site at www novatel com products weee and rohs for more information on WEEE SMART6 User Manual Rev 2 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 c
60. n default THISPORT page 59 3 message Any valid message name Message name of log to output Char 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 MK1I 5 period Any positive double value Log period for ONTIME trigger in seconds Double larger than the receivers default 0 minimum raw measurement period 6 offset Any positive double value Offset for period ONTIME trigger in seconds To log data Double smaller than the period at 1 second after every minute set the period to 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL command Enum default HOLD Prevent log from being removed by the UNLOGALL command SMARTE6 User Manual Rev 2 58 Table 10 Detailed Serial Port Identifiers ASCII Port Name Hex Port Value Decimal Port Value 2 Description 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 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 a 10 All virtual COM2 p
61. n feature corrects for errors in position caused by tilting of the vehicle The SMART6 senses the vehicle s roll angle and with the user entered height above ground compensates the position output to give the position under the vehicle rather than at the antenna O Information about installation and setup can be found in Tilt Compensation on page 18 Information about tilt compensation commands can be found in e PMDT Configure Tilt Compensation on page 60 As shown in Figure 10 SMART Tilt Compensation if an agricultural implement is operating on sloped terrain the position will be in error by an amount proportional to the tilt angle Figure 10 SMART6 Tilt Compensation SMART6 7 y SG Yj WU y WW Z Yj SS 7 SS y A 7 a aZ lt YW I gt SS Yj SS Li WU N SS Z Yi SS A QZ SS 5 W 10 slope SS N Z Z SS Y ES S Position Error If tilt compensation is enabled the SMART determines the tilt and corrects the position data before it is forwarded to the user equipment In the above example the tilt is 10 degrees and the position correction that needs to be applied is 62 cm The BESTPOS BESTXYZ and all NMEA GPGGA logs will provide tilt compensated position logs SMART6 User Manual Rev 2 29 Operation Chapter 3 3 7 Recommended Configuration The following command is recommended to enab
62. nection WiridOW 2 5 1 c los ged A ee Tei Pee aede ne te oce dede Po geb pec gere Ded scd ex 22 Basic Differential Setup iet Ravi eee b miii is 24 SMARTS Tilt Compensation oooocococcoccncccnnncncncncncnnnnnnnnnnnnnnn non nnn nnn nnn nnns nenne nn tenete ris asa asinis assai ss ess sense seta nina 29 Bluetooth ICOM E da 31 Bluetooth Devices WINdOW coda A d e eal od Le de ted ied at td eed 32 Add a device Window om 32 Add a device Select a pairing option ccecccceeeeeecceceeeeeeeee cee seceeae cee ceaaeaeeeesaseeaeeeecesaaaeeseeeaeeseseseaaeaeeeeseeneaeeseeeeaes 33 Add a device Enter pairing Code sides A dd 33 Add a deviCe Successful estet text eth RR ce fates soba ca Zoe NO UR Le e REED eaten EE De aum ct mex helene Att 34 Bluetooth eot MT i 34 Bluetooth Devices WiINdOW REM 35 Bluetooth Devices Window Device Menu ssssssssssssessseeeerenee ener enne nitet e ste nn nr anne trn i ete nr nens innen nn sen inn 36 Bluetooth Devices Window Properties ssssssssseeenee em ene nennen nene nnn enenr nenne ener 36 Properties Services Tab eoim dE I RM eI 37 WinLoad s Open Window iieii creek eevee 41 Open FileamMinboad dc eei eb eese e eed elie tete te mios edes 41 COM Bener LN 41 Searching TOL Card et 42 Authorization Code Window 1 ritiene itin dese de odio dee dede Leda c e coa dede e cete see eene de deae dee euad
63. ns 59 11 Response Modes ST 61 12 SMARTE Logs in Alphabetical Order cccccccececeeceeeeeeceeceeeese eases eee ceeaaeeeeseaaaaee see caganaeceseeeeeaeseeaeeeeeeseeueaeeeeeseeneeees 66 13 Position or Velocity Type iran pla 68 14 Solution Stat s A aaa aaa 68 15 Component TYP eines tesi uon a aaa r ea e dba ada 69 16 SMART Prod UC EIE 70 17 Reference User Manualls c cscceccceeccececeeceeceeasesseceececeececeeaueauenseceseeaeseaseauessseeseceeeeeseaueeaueasesseeeseeeseeeaeeaueaaeneseees 70 SMART6 User Manual Rev 2 The following notices apply to the SMARTS Changes or modifications to this equipment not expressly approved by NovAtel Inc could result C3 in violation of FCC Industry Canada and CE Marking rules and void the user s authority to operate this equipment FCC Notices This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation SMARTS has been tested and found to comply with the emission limits for a Class B digital device pursuant to part 15 of the FCC Rules The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequenc
64. ollows LL MVA DDDDDDDD DDDDDDDD fee Check Sum One s compliment of all other bytes Little Endian Data These bytes are copied into the data field of the SOFTLOADDATA command 4 Byte Address Set this as the value of offset in the SOFTLOADDATA command Length This is the hexadecimal number of character pairs to follow in the record This value minus 4 bytes for the address and 1 byte for the check sum is copied into the data length field of the SOFTLOADDATA command Header Multiple S3 records can be packaged into a single SOFTLOADDATA command as long as the data from one S3 record follows immediately after the previous record up to a maximum of 4096 bytes of data That is the address must equal the previous address plus the previous data length The offset field remains the address of the first S3 record and the data and data length are updated to include the new data The shex file data may contain many gaps and jumps For example in most NovAtel shex files data for address 0x000 00000 is stored near the very end of the file SMART6 UserManualRev2 gg NovAtel Firmware and Software Chapter 5 5 5 Upgrading Using the AUTH Command The AUTH command authorizes the enabling unlocking of model features The AUTH command is used to upgrade a new SMART6 model available with the same firmware version as the current model This command only functions with a valid auth code assigned by NovAtel Cu
65. ompensation 1 Mount the SMARTS on the vehicle 2 Measure set and save the height of the SMART6 from the ground 3 Level the tilt sensor and save the data Refer to PMDT Configure Tilt Compensation on page 60 for height level and update commands SMART6 User Manual Rev 2 18 Installation and Setup Chapter 2 2 2 5 1 Physical Installation The SMART6 must be mounted as close to the center of the vehicle as possible as illustrated in Figure 6 SMARTS Installation Figure 6 SMART6 Installation SMART6 The SMART6 must be mounted with the connector facing the rear of the vehicle as shown in Figure 7 SMART Orientation Figure 7 SMART6 Orientation amp E gt Route cable toward E Orient toward the front back of vehicle of vehicle The SMART6 must be rigidly secured to the vehicle to minimize errors due to vibration and motion 2 2 5 2 Height Measurement and Configuration The height measurement should be made while the vehicle has the correct tire pressure and is parked ona hard packed and level surface The measurement should be made from the ground to the bottom of the SMARTS connector The measurement accuracy should be within 1 to 2 inches 2 5 to 5 0 cm Once the measurement has been made in feet and inches or metres refer to Section B 6 PMDT Configure Tilt Compensation on page 60 for instructions on how to set the height in the SMART6 The height must be sa
66. omponent 981073925 DB_USERAPPAUTO Auto starting user application firmware 0x3A7A0005 a Unused numbers are reserved for future use version coml 0 14 0 unknown 0 6 374 004c0000 3681 12433 lt 4 lt gpscard d2sr0gtt0a bjyal3211868w oem615 1 01 oem060230an0003 oem060200rb0000 2013 sep 11 09 27 29 lt db userappauto smart6 0 esmrt0200an0001 2013 sep 12 16250359 enclosure smart6 bt t nmeal3330008k 0 0 or or o lt userinfo Imx9830 O212 ww ww amt woe onn SMART6 User Manual Rev 2 69 YID Replacement Parts The following are lists of the replacement parts available for the NovAtel SMARTS receiver Should assistance be required or you need to order additional components contact your local NovAtel dealer or Customer Service representative D 1 SMART6 Table 16 SMART6 Product Part Description NovAtel Part SMART6 01019123 SMARTS with Tilt 01019125 SMARTS6 with Bluetooth 01019121 SMARTS6 with Bluetooth and Tilt 01019127 Cable 14 pin socket to 3 DB 9 connectors twisted CAN I O pair and other bare wire 01018999 connectors see A 2 1 SMART6 Communication Power Cable 01018999 on page 49 Mounting Plate Kit 01018317 Pole Mount Kit 01019142 D 2 User Manuals Table 17 Reference User Manuals Part Description NovAtel Part OEM6 Family Installation and Operation User Manual OM 20000128 OEM6 Family Firmware Reference Manual OM 20000129
67. ons Refer to NovAtel s GNSS Book for more information on SBAS available from www novatel com 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 known solutions SMART6 User Manual Rev 2 27 Operation Chapter 3 3 4 GLIDE SMART6 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
68. ontact NovAtel Customer Support about a software problem perform the following steps 1 Issue the following logging commands to collect data to a file on your computer for 15 minutes OG VERSIONA ONCE LOG RXSTATUSA ONCE LOG RXCONFIGA ONCE LOG RAWEPHEMA ONNEW OG BESTPOSA ONTIME 1 LOG RANGEA ONTIME 1 LOG GLORAWEPHEMB ONCHANGED 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 rRESET 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 rRESET 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 Write NovAtel Inc Fax 1 403 295 4501 Customer Support Department E mail _support novatel ca 1120 68 Avenue NE Calgary AB website www novatel com Canada T2E 8S5 1 For GLONASS channel configuration SMART6 User Manual Rev 2 9 Chapter 1 Int
69. operating at a higher baud rate This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate In this case configure the receiving port to have break detection disabled using the SERTALCONFIG command Use the SERIALCONFIG command before using the INTERFACEMODE command on each port Turn break detection off using the SERTALCONFIG command to stop the port from resetting because it is interpreting incoming bits as a break command Message ID 1246 Syntax SERIALCONFIG port baud parity databits stopbits handshaking break SMART6 User Manual Rev 2 62 Factory Defaults serialconfig coml 9600 n 8 1 n on serialconfig com2 9600 n 8 1 n on serialconfig aux 9600 n 8 1 n off Factory Defaults Bluetooth model serialconfig coml 9600 n 8 1 n on serialconfig com2 9600 n 8 1 n on serialconfig aux 115200 n 8 1 n off ASCII Example serialconfig coml 9600 n 8 1 n off Field Field Type ASCII Value Pinary Description Format Binary Binary yp Value P Bytes Offset 1 SERIALCONFIG This field contains the command name H 0 Header or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 port COM1 Select COM port 1 to configure Enum 4 H COM2 2 Select COM port 2 to configure AUX 3 Select COM port AUX to configure THISPORT 6 Select
70. orts AUX ALL 10 16 All virtual ports for the AUX port COM1 20 32 COM port 1 virtual port 0 COM 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 COM2 31 5f 95 COM port 2 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 O XCOM1 1 1a1 417 Virtual COM1 port virtual port 1 XCOM1 31 1bf 447 Virtual COMI port virtual port 31 XCOM2 2a0 672 Virtual COM2 port virtual port O XCOM2 1 2a1 673 Virtual COM2 port virtual port 1 XCOM2 31 2bf 703 Virtual COM2 port virtual port 31 AUX 8a0 2208 AUX port virtual port 0 AUX_31 8bf 2239 AUX port virtual port 31 a Decimal port values 0 through 16 are only available to the UNLOGALL command and cannot be used in the UNLOG command or in the binary message header For detailed information on virtual ports refer to the LOG command in the OEM6 Family Firmware Reference Manual SMART6 User Manual Rev 2 59 B 6 PMDT Configure Tilt Compensation Use this NMEA command to configure the Tilt Compensation function Syntax SPMDT command parameters cksum Host Description Command Format Tilt Sensor Response ua b Set GPS Sensor To set the GNSS sensor height in feet and Response to the u command Height inches PMDT lt GNSS sensor height inches nnnnn PMDT u ff ii cksum lt cr gt
71. oth Configuration Chapter 4 4 Select the SMART6 system and click the Next button The Select a pairing option window appears see Figure 14 on page 33 Figure 14 Add a device Select a pairing option CD 2 Adda device Select a pairing option gt Create a pairing code for me The device has a keypad SMART6 NMEA13260002 gt Enter the device s pairing code The device comes with a pairing code Check for one on the device or in the device manual ly gt Pair without using a code This type of device such as a mouse does not require a secure connection How can I tell if my device has a pairing code Next Cancel 5 Click the Enter the device s pairing code button The Enter the pairing code for the device window appears see Figure 15 on page 33 Figure 15 Add a device Enter pairing code Sm 2 Adda device Enter the pairing code for the device This will verify that you are connecting to the correct device eJ 0000 The code is either displayed on your device or in the information that came with the device SMART6 N NMEA13260002 What if I can t find the device pairing code Gana 6 Type the SMARTE6 pairing code 0000 and click the Next button Windows installs the serial port driver and assigns a serial port number to the Bluetooth link Make a note of the serial port number assigned See Figure 16 Add a device Successful on page 34 SMART6 User Manual Rev 2 33 Bluetooth
72. pproximate position or time Typical value Almanac and recent ephemerides saved and approximate time entered For more information refer to the Satellite Based Augmentation Systems SBAS include WAAS North America EGNOS Europe and MSAS Japan SETAPPROXTIME command in the OEM6 Family Firmware Reference Manual found on our web site at www novatel com support manuals i Export licensing restricts operation to a maximum velocity of 515 metres per second SMART6 User Manual Rev 2 45 A 2 SMARTS Specifications INPUT OUTPUT CONNECTORS SMART6 Communication Power 8 to 36 V DC at 3 5 W For the cable pinouts and drawings see Section A 2 1 SMART6 Communication Power Cable 01018999 on page 49 Serial Com Ports CAN RS 232 F Compliant Rx and Tx signals only SAE J1939 ISO 11783 ISO 11898 Compatible Emulated Radar Output High Supply Voltage 0 5V Minimum Low 0 5V Maximum Load 3K Ohm Minimum PPS Output 3 3 V CMOS Logic Compatible MKI Input Electrical Conducted Coupled disturbance tolerance Power Error and Position Valid 3 3 V CMOS Logic 5 V Tolerant NPUT OUTPUT CONNECTOR PROTECTION 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 1 Status Indicators on page 17 for details Operating Temperature Size 80 9 x 155 mm Weight 520 g 2 x magnetic mount Mounting
73. r 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 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 14 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 remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the receiver For example
74. roduction The SMART is a high performance GNSS receiver and antenna capable of receiving and tracking different combinations of GNSS L1 L2 code and carrier signals on a maximum of 120 channels SBAS Satellite Based Augmentation Systems support which includes WAAS North America EGNOS Europe and MSAS Japan is standard Refer to NovAtel s GNSS Book for an overview of each of the above signal types The SMARTE6 rear panel also features Light Emitting Diodes LEDs for status indication Once properly powered the SMART6 begins operating as a fully functional GNSS system Figure 1 SMART6 Receiver shows the SMART6 without connecting cables Figure 1 SMART6 Receiver Y Features and Models The main features of the SMARTE6 are an enhanced high performance GNSS L1 L2 receiver e ahigh performance GNSS L1 L2 antenna a CAN port three RS 232 COM ports or two RS 232 COM ports and Bluetooth e three LED status indicators e a water and dust tight enclosure Bluetooth wireless technology optional tilt compensation optional The SMARTSG is available in several different firmware models whose configurations may include other additional features Some possible configurations can be seen in Table 1 SMART6 Models Table 1 SMART6 Models NovAtel Part Description 01019123 SMART6 01019125 SMARTE6 with Tilt 01019121 SMARTS with Bluetooth 01019127 SMARTS with Bluetooth and Tilt Contact NovAtel Sales
75. s could be either a terminal or computer connected directly to the receiver serial port using a DB 9 connector on the SMART6 communication power cable If using a radio connect it to another DB 9 connector on the same communication power cable by means of the radio serial cable supplied with the radio It is recommended that you become thoroughly familiar with the commands and logs detailed in the OEM6 Family Firmware Reference Manual to ensure maximum utilization of the receiver s capabilities 3 1 1 Serial Port Default Settings The receiver communicates with the computer or terminal via an RS 232 serial port For communication to occur both the receiver and the operator interface have to be configured properly The receiver s COM1 and COM2 default port settings are 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off The receiver s AUX default port settings are 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off To change the default settings use the SERIALCONFIG command See Appendix B 8 SERIALCONFIG Configures serial port settings starting on Page 62 for details The data transfer rate chosen determines how fast information is transmitted For example outputting a log whose message byte count is 96 The default port settings allows 10 bits byte 8 data bits 1 stop bit 1 framing bit It therefore takes 960 bits per message To get 10 messages per second 9600 bps is required Also remembe
76. se 166 7000 450 High Reliability Harsh Environment standard size blade Or Equivalent Inline Fuse Holder Waterproof ATO Fuse Holder Littelfuse FHAC0001 for standard size blade Or Equivalent Inline Fuse Holder Waterproof Mini Fuse Holder Littelfuse OFHMO001 for mini size blade Or Equivalent SMART6 User Manual Rev 2 The SMARTS firmware implements the OEM6 family command set documented in the OEM6 Family Firmware Reference Manual Commonly used SMART6 commands are summarized in Table 8 SMART6 Commands and documented in this appendix Table 8 SMART6 Commands ASCII Command Message ID Description BTCONTROL 8205 Enable or disable Bluetooth wireless technology FRESET 20 Factory reset existing OEM6 commands extended to SMART6 LOG 1 Request logs from the receiver SPMDT 8200 Configure the Tilt Compensation function SMART6 command RADARCFG 8192 Configure the Emulated Radar signal output SMART6 command SERIALCONFIG 1246 Configure the receiver serial port settings SETCANNAME 1091 Set the CAN name fields The arguments for each of these commands are described in the following sections For a complete listing and description of the other commands that the SMART6 an OEM6 based receiver is capable of processing refer to the OEM6 Family Firmware Reference Manual B 1 SYNTAX CONVENTIONS The following rules apply when entering commands at the command prompt from a ke
77. ssage header depending on whether the command is abbreviated ASCII ASCII or binary 2 ManufacturerCode CAN module s Manufacturer Code ULong 4 H 3 IndustryGroup Industry group number default 2 ULong 4 H 4 4 DeviceClass 11783 5 Device class default 0 ULong 4 H 8 5 DeviceClassInstance 11783 5 Device class instance default 0 ULong 4 H 12 6 Function 11783 5 Function default 23 ULong 4 H16 7 FunctionInstance 11783 5 Function instance default 0 ULong 4 H 20 8 ECUInstance 11783 5 ECU Instance default 0 ULong 4 H 24 9 PreferredAddress Device default address on start up ULong 4 H 28 default 28 10 CanPort CAN port to use default can2 ULong 4 H 32 Note This field must be set to can2 SMART6 User Manual Rev 2 64 Position Logs C 1 1 NMEA Logs The NMEA logs receiver outputs supported by the SMART6 are summarized in Chapter 3 of the OEM6 Family Firmware Reference Manual in section NMEA Standard Logs The available logs include GPGGA which outputs a 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 GPVTG 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 OEM6
78. stomer Support The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program v Refer to Types of Firmware Files on page 40 for details on updating versus upgrading 5 5 1 Upgrade Procedure 1 Power up the SMARTS 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 5 2 Authorization Code on page 39 for instructions on obtaining 3 Issue the AUTH command followed by the auth code and model type refer to Section 5 2 Authorization Code on page 39 for details on obtaining any auth code The syntax is as follows auth your auth code here where auth is a command that enables model upgrades and auth code is the upgrade authorization code expressed as follows XXXXXX XXXXXX XXXXXX XXXXXX XXXXXX MODEL EXPDATE where 1 Each X character is a case insensitive ASCII character 2 The MODEL string is a maximum of 15 characters long and represents the model enabled by the 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 SMART6 receiver reboots Issuing the LOG VERSION command confirms the new upgrade model type and firmware version num
79. te eit Hs 28 3 5 Emulated Radar ER ta it a 28 3 0 Tilt GompensaliOrni 3 rrr dort rer ort eir bap det E E RR ER ERU m ERA E RERUM SPERO Sedis 29 3 Recommended Config ratlon 3 tte Eie aa A tb 30 4 Bluetooth Configuration 31 4 1 Bluetooth Wireless Technology on the SMARTS receiver sssssssssssssssssseseeeeee eret nnt terne nnne nni nnne 31 4 2 Panno with aiew SMAR TO uenerit uite te eder Kent laces eoe R Rete eR Moe Le Fee aeg e s REDE RB Enea cidade hese 31 4 3 Determining the Bluetooth Serial Port ccccccccccceeceeeceeeceeae cee eeeeeae eee ee saeceeeesecaeaeeeeseeeaaeeeeseaeeeeseeeeeeeeeeeeeeaeeeeeeeeea 34 4 4 Communicate with the SMART6 Using Bluetooth Wireless Technology ee m 37 5 NovAtel Firmware and Software 38 5 1 Firmware Updates and Model Upgrades sssssseeee ee eene rennen nnne en nere entere enne ener nennen 38 5 1 1 FiTMWar Updates cec 38 5 1 2 Model Upgrades tii id 39 5 2 Authorization CO tC 39 5 3 Updating or Upgrading Using the WinLoad Utility oooooooonnnnnccccnnonccccnnnnncccccncnonanancnnnncnnono nennen nnne nnne 40 5 3 1 Transferring Firmware Files interrete A A Ea E ede ee 40 5 3 2 Using the Winkoad Utility tia ta In rias 41 5 4 Updating using SoftLoad Commands cccccccecececeeeeeeeeeeeeeeeeeeeaeeeesesaaaeceeeeseaaeeeeeesaaaeeeeeeceaaeeeeseeaeeeesesasaeeeeeeeeeeeeeees 42 5 4 1 Working with S Records 2
80. tion Chapter 3 Figure 9 Basic Differential Setup Reference Description 1 SMARTS receiver 2 User supplied 5 A fast blow fuse 3 User supplied power supply for example a battery 4 User supplied device to COM1 5 User supplied device to COM2 6 User supplied device to AUX 7 User supplied cable or NovAtel 01018999 Communication Power cable The configuration shown in Figure 9 Basic Differential Setup is valid for SMART6 receivers O without optional Bluetooth For a SMART6 receiver with Bluetooth two of the serial devices connect through COM1 and COM2 and the other device must connect through Bluetooth System biases can introduce errors refer to our GNSS Book found on our Web site at 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 25 and Section 3 3 2 Rover Station Configuration on page 26 SMART6 UserManualRev2 A Operation Chapter 3 3 3 1 B
81. uctions follow 5 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 5 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 New firmware must be loaded into the receiver through the COM1 or COM2 serial port Once loaded the receiver reboots and begins operating with the new firmware v Direct access to the COM1 or COM2 serial port on the SMART6 receiver is required O Firmware can not be loaded using the AUX port SMART6 User Manual Rev 2 38 NovAtel Firmware and Software Chapter 5 5 1 2 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 The receiver stores the firmware in Non Volatile Memory NVM which allows model upgrades to be performed without returning the receiver to the dealer Model upgrades can be applied to the receiver with an authorization code an
82. ure 19 on page 36 The Properties window for the SMART6 appears see Figure 20 on page 36 SMART6 User Manual Rev 2 35 Bluetooth Configuration Chapter 4 Figure 19 Bluetooth Devices Window Device Menu ee File Edit View Tools Help Meg f Devices and Printers Bluetooth Devices os Search Devices and Printers Pp Add a device Add a printer Remove device 4 Devices 1 Troubleshoot Remove device SMART6 NMEA13260002 g Category Other Figure 20 Bluetooth Devices Window Properties SMART6 User Manual Rev 2 NI Device Information Manufacturer Model Model number Categories Description Device Tasks SMART6 NMEA13260002 Unavailable Unavailable Unavailable Other Unavailable To view tasks for this device right click the icon for the device in Devices and Printers 36 Bluetooth Configuration Chapter 4 3 Click the Services tab The Services tab displays the serial port information about the Bluetooth link to the SMART6 See Figure 21 on page 37 Figure 21 Properties Services Tab SMART6 NMEA13260002 Properties EJ General Hardware Services Bluetooth This Bluetooth device offers the following services To use a service select the check box Bluetooth Services V Serial port SPP AUX COM8 ok caca 4 4 Communicate with the SMART6 Using Bluetooth Wireless Technology 1
83. ved after the height command is sent This must be done so the height data is saved between power cycles Instructions on sending the save command are outlined in Section B 6 PMDT Configure Tilt Compensation on page 60 Note that changes in tire pressure over time can potentially cause errors in tilt compensation This is because the height of vehicle can vary with tire pressure The SMARTS is shipped from the factory with the height set to 0 0 metres SMART6 User Manual Rev 2 19 Installation and Setup Chapter 2 2 2 5 3 Leveling the Tilt Sensor The vehicle must be parked on flat ground when the level command is sent to the SMART6 Refer to Section B 6 PMDT Configure Tilt Compensation on page 60 for instructions on how to send the level command After the tilt sensor has been leveled the data must be saved to non volatile memory using the save command Instructions on using the save command are outlined in Section B 6 PMDT Configure Tilt Compensation on page 60 SMART6 User Manual Rev 2 20 3 1 Before operating the SMART for the first time ensure the installation instructions in Chapter 2 Installation and Setup were followed It is assumed that a computer is used during initial operation and testing for greater ease and versatility Communications with the Receiver Communication with the receiver typically consists of issuing commands through the communication ports from an external serial communications device Thi
84. y 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 e Recorient or relocate the SMART6 Increase the separation between the equipment and the SMART6 Connect the equipment to an outlet on a circuit different from that to which the SMART6 is connected Consult the dealer or an experienced radio TV technician for help v Changes or modifications not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment In order to maintain compliance as a Class B digital device shielded cables should be used wv for the RS 232 serial data ports Belden 1036A or equivalent and twisted pair cable should be used for the CAN port shielded twisted pair will improve CAN performance in electrically harsh environments I O signals should be referred to signal ground connector pin 5 and not power ground connector pin 9 If I O signals route to different areas of the vehicle dedicated signal grounds for I O should be spliced into a common connection to connector pin 5 at a point
85. yboard 1 Courier fontis used to illustrate program output or user input 2 References to other commands logs or any of their fields are shown in italics 3 The commands are not case sensitive For example you could type either RESET or reset 4 Except where noted either a space or a comma can separate commands and their required entries For example you could type either fix position 51 11358042 114 04358013 1059 4105 or fix position 51 11358042 114 04358013 1059 4105 5 At the end of a command a carriage return is required For example press 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 Reference Manual for more information 7 Optional parameters are indicated by square brackets For commands that contain optional parameters the value used if the optional parameter is not specified is given in the syntax table for the command 8 Data format definitions as specified in the Format field are detailed in the OEMG Family Firmware Reference Manual Note that all binary data is little endian byte ordered SMART6 User Manual Rev 2 52 B 2 BTCONTROL Enable Disable Bluetooth wireless technology The BTCONTROL command enables or disables the Bluetooth module Message ID 8205 Abbreviated ASCII Syntax BTCONTROL switch

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