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SMART6 User Manual

1. netten etm t SMARTE6 User Manual Rev 3 SMARTO RECEIVER va d avv c ev e Eee eve date a We ce Ear e ET R 10 SMARTO Gonhector et al a SES Gal et PE od 12 Simplified SMART Setup eterne e Eee dee Ege de erede e oe a eer vea eve A de SET ce Re Red co eos 13 SMART6 Surface Mounting Plate 01018317 enne nnns 14 SMART6 Pole Mounting Plate 01019142 15 SMAR TO Orlentatlon Jm e nde ueste dedii edite en estes tuus 16 5 1 19 SMARTO Orlent tlOni ric a ER EU Re IER EH Rn FERRE ERA o p dees acuta 19 Open Connection WindOoW 2 onto icr Reni dece eer ioco pedal eere 22 Basic Differential Setup nane el De dd oe lo eL e ee 24 Positioning Change Without Steadyline 2 enne nene enne enn 28 Steadyline Maintain 29 Steadyline Transition eat ea ee te Ue Se ir E IR had a eared ates 29 Steadyline Prefer ACCUracy viderai ape de etuer tpe e teo e ee eh
2. E ea crea Fo a uev e reo Coa Vu bea v Vea 65 11 Response Modes use tee i ERE eee Peter t e used cce ERE OSEE 67 12 5 6 Logs in Alphabetical 72 13 Position or Velocity TVpe 556 ito HE e qose SES E Ho tee Pe Cepeda 74 14 Solution Status 4 ves dure eae evo Ve se HERE uve Pe E eru e Eua no Yu Te ve eL rud To de ev TEL LU 74 15 Gomponent Type hoic 76 16 SMARTO Prodict 77 17 Reference User 22 0 0 0 0000 000000 inna sese ss 77 SMARTE6 User Manual Rev 3 The following notices apply to the SMARTE6 Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of FCC Industry Canada 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 th
3. gt 28 3 5 Steadylines A an al SEE dese Le 28 3 1 tee cee e 29 3 952 Transition MEE PC En 29 3 5 3 Prefer ACCUTACY Et 29 S AONAN R EE EE E TT E EAE EE EEE EE POE E E 30 3 6 Emulated Radar ER NEUE E 31 327 Tilt COMpPENSAallON asnan aaae ea a a a aR 32 3 8 Recommended Configuration 2 11 0 00000 0000000 0000 EESAN ESSEE 33 4 Bluetooth Configuration 34 4 1 Bluetooth Wireless Technology on the SMARTS receiver ssssssssssssssssses esee eene rennen nennen nnn nnns 34 4 2 Pairing with a new SMALR TO 2 dert check dete e RI nete Shas eL eB dace 34 4 3 Determining the Bluetooth Serial 37 4 4 Communicate with the SMART6 Using Bluetooth Wireless Technology seem 40 5 NovAtel Firmware and Software 41 5 1 Firmware Updates and Model 41 5 1 1 Firmware Updates oae ee 41 5 1 2 Boro rz S HEC 42 5 2
4. ert eer RR ERU T 42 5 3 Updating or Upgrading Using the WinLoad mnm emm eene 43 SMART User Manual Rev 3 Table of Contents 5 3 1 Transferring Firmware Files a e a a a EAE ee E e ae a a e a e e ea E aE aN EAR AE 5 3 2 Using the WinLoad 5 4 Updating Using SoftLoad nennen enn 5 4 1 SoftLoad Commands and Logs eere t repete do A 5 4 2 Working With eem creer tete iue ede sn de ena Exe ate Ha bue ipae LE gne de dien 4 3 Sending Firmware Data 1 eee ei retener tenete d HE ded eee ea rene edd ren eet 5 4 4 Softl oad Update Method 2 Io itd ee aed RE E ipfe dpa coa 5 4 5 50 0 Errors REL 5 5 Upgrading Using the AUTH nennen nennen 5 5 1 Upgrade Procedure 2 dete n ied ea Sere posed deep hc febr eae a ee ed eee A Technical Specifications A 1 SMARTS Receiver A2 SMART Specifications 2 2 ppp ido eiecit iad e decedit qnte A 2 1 SMART6 Communication Power Cable 01018999 A 2 2 SMART6 Connector and Cable B Commands Brenner B 2BTCONTROL
5. 6 User Manual OM 20000150 Rev 3 August 2014 5 6 User Manual Revision Level 3 Publication Number OM 20000150 Revision Date August 2014 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 license agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement The information contained within this manual is believed to be true and correct at the time of publication NovAtel GLIDE NovAtel Connect and OEM6 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
6. 17 2 2 2 MKland PPS Strobes is 5 ant p eee ated tese peccato de Dee ic dese ade ead 17 2 2 3 Emulated eec eL Po pei i ieee lee E eed 18 2 2 4 Controller Area Network 18 22 5 2 2 18 3 Operation 21 3 1 Communications with the 21 3 1 1 Serial 21 3 1 2 Communicating Using a Remote 21 3 1 3 Communicating Using 21 Sei m c 3 2 1 Starting the Receiver 3 2 2 Communicating with the Receiver Using NovAtel Connect 22 3 3 Transmitting and Receiving 6 23 3 3 1 Base Station Configuration ci ence e rote d taste ded Ede ode Hed eee ee aee Deed ecd 25 3 3 2 Rover Station Configuration eei rtt ener nente Eden PR ti teer rtr aire 26 3 3 3 GPS GLONASS Base and Rover 26 3 34 Configuration ier et DER EC eet Ret Re ERR 27 c Mcr ELE 28 3 4 1 Dual Frequency
7. N 7 R SK Position Error If tilt compensation is enabled the SMARTS 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 SMARTE6 User Manual Rev 32 Operation Chapter 3 3 8 Recommended Configuration The following command is recommended to enable CAN setcanname 305 2 0 0 23 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 SMARTSO User Manual Rev 33 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 SMART6 4 1 Bluetooth Wireless Technology the SMARTS receiver Bluetooth wireless technology is configured on the SMART6 s internal AUX port After your computer is configure
8. 29 Steadyline UAL Warning Limit 30 Steadyline UAL Out of Bounds 31 SMARTO Tilt ComperisatlOn be 32 BI StOOt 34 Bluetooth Devices WindOw 2 35 CEN 35 Add a device Select a pairing option 36 Add a device Enter pairing code 22 22 1 11 060000000000000 nete sen enne 36 Add a device Successful srce sie tice 37 Bl etoothiCOr 2 42 one aa edere te 37 Bluetooth Devices Wind OW 40a eee sees elie 38 Bluetooth Devices Window Device Menu 00 cecccceceeceeceeeeeeeeeeaeeeeeeeecaeeeeeeeecaaaaeeeeeeseaaeceeeeseceaeseesegueaeeeeseneneeeeees 39 Bluetooth Devices Window Properties 0 2 1 2 00000 0000 00 00 000 nene tenete nete sen et nrts stes nnne ns net enn 39 Properties Services Tab e Ue e e tdeo tee Gud ecce ce E Pte esd 40 Winkoad s Open Window 44 Open File ini Wink oad c dre rre FERE
9. Command descriptions brackets represent the optionality of parameters In 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 example of this type of conversion refer to the RANGE log the 6 Family Firmware Reference Manual Conversions and their binary or decimal results are always read from right to left SMARTSO User Manual Rev 11 Chapter 2 Installation and Setup 2 1 Additional Equipment Required In order for the 6 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 SMARTE6 connector or similar A fused power supply user supplied refer to Table 7 Recommended Fuse and Fuse Holders on Page 57 for details Acomputer user supplied 2 1 1 SMARTO Setup Complete the following steps to connect and power the SMARTS 1 Mount the SMARTE6 on a secure stable structure with an unobstructed view of the sky from horizon to horizon refer to Section 2 1 4 Mounting the 5 6 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
10. t He Nep Rene ERE ER EE BUE Ere Seng 44 GOM Port Setll p emet tret tette og Se 44 SearChING TOR stapler oe as er i equ 45 Authorization Code Window Sac ERN Ue hn Oe eub La A te ne Rice 45 Upgrade Process Complete 45 6 ea es een eaten atten 54 SMART6 Communication Power Cable i ade ideiei E 55 SMARTE6 User Manual Rev 3 1 ejasdem EE 10 2 SMARTO Gonhnector PinsOUL icit eto teo en te obl e sei REP Gregor Dees lp ie eade qe EPI pa sa Dee 12 3 SMARTO LED Status Indicators cire trier sce rene ee eer EYE TE e eae a Tana Yn o V e 17 4 Available CAN Signals on the 6 18 5 SMART6 Communication Power Cable 56 6 SMART Mating Connectors rer Rt t bee tier er ete aet ede ER RR ees 57 7 Recommended Fuse and Fuse 0 00202 0 00000000 57 8 SMART6 58 9 FRESE MD lc 62 10 Detailed Serial Port Identifiers orici
11. Enable Disable Bluetooth wireless Configure COM Port tein ceciderit ed ond deus qu dea erue 4 FRESET Clear Selected Data from NVM and B 5 LOG Request Logs from the 2 eese nra abe a E nenne dd eese B 6 PMDT Configure Tilt Compensation 442 40 2204 8 0 7 RADARCFG Configure the ER B 8 SERIALCONFIG Configures serial port settings eme eem nnnm enne 9 SETCANNAME Sets the CAN name 0 C Logs meno iex zone EAT G 1 2NovAt l POSITION LOGS MR O 2 OM Or OOS rs men t Hee eee RUE casi ta ele C 2 1 RADARSIGNAL Signal and Position Information seen C 2 2 TILT Comp nsati n coni c C 2 3 VERSION HW and SW Versions and Serial D Replacement Parts PEEL PART e P
12. Figure 2 SMART6 Connector Table 2 SMART6 Connector Pin Out COM1 TxD AUX TxD 2 COM1 RxD 9 Power Negative Return 3 COM2 TxD 10 ER_OUT Emulated Radar Output 4 2 RxD 11 MKI Mark Input 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 SMARTE6 User Manual Rev 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 SMARTE6 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 57 Figure 3 Simplified SMART6 Setup Tyco 14 pin Connector User supplied 5A fast blow fuse MKI PPS CAN ER OUT Minimum conductor size for all wiring is 0 5 mm 20 AWG SMART6 User Manual Rev 3 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 52 for addition
13. 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 GLIDE Filters at www novatel com support search items Application 20Note 3 5 Steadyline The Steadyline functionality helps mitigate the discontinuities that often occur when a GNSS receiver changes positioning modes The effect is especially evident when a receiver transitions from an RTK position mode solution to a lower accuracy fall back solution such as NovAtel CORRECT PPP DGPS WAAS GLIDE or even autonomous GLIDE see Figure 10 Positioning Change Without Steadyline Smooth transitions are particularly important for agricultural steering applications where sudden jumps are problematic ILE Figure 10 Positioning Change Without Steadyline Position Intended Path change to change to lower accuracy higher accuracy solution solution The Steadyline feature internally monitors the position offsets between all the positioning modes present in the receiver When the current positioning mode becomes unavailable the receiver transitions to the next most accurate positioning mode The setting in the STEADYLINE command determines how the receiver transitions to the next positioning mode The following sections describe the Steadyline modes For more information about the STEADYLINE command refer to the OEM6 Fam
14. but may result in noisier frequency output Refer to RADARCFG Configure the ER Output page 67 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 Pin outs on page 56 and the RADARSIGNAL log see RADARSIGNAL ER Signal and Position Information on page 73 SMARTE6 User Manual Rev 31 Operation Chapter 3 3 7 Tilt Compensation The SMARTS Tilt Compensation feature corrects for errors in position caused by tilting of the vehicle The SMARTS 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 D 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 66 As shown in Figure 16 SMART6 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 16 SMART6 Tilt Compensation SMART6 y Y y SS Z lt 77 gt SS SK ZZ gt gt SS 2 1 N UW p SK SK SK Li 2 10 slope
15. 1 Double click the Bluetooth icon in the notification area see Figure 23 on page 37 The Bluetooth Devices window opens see Figure 24 on page 38 Figure 23 Bluetooth Icon XR E EE SMARTE6 User Manual Rev 37 Bluetooth Configuration Chapter 4 Figure 24 Bluetooth Devices Window JG Devices and Printers Bluetooth Devices 5 Search Devices and Printers File Edit View Tools Help Add a device Add a printer v e 4 Devices 1 3 SMART6 NMEA1 3260002 Ly 1 item 2 Inthe Bluetooth Devices window right click the SMART6 device select Properties see Figure 25 page 39 The Properties window for the SMART6 appears see Figure 26 on page 39 SMARTE6 User Manual Rev 38 Bluetooth Configuration Chapter 4 Figure 25 Bluetooth Devices Window Device Menu Se 2 lt Devices and Printers Bluetooth Devices 9 File Edit View Tools Help Search Devices and Printers Add a device Add a printer Remove device 4 Devices 1 Create shortcut Troubleshoot Remove device SMART6 NMEA13260002 2 Category Other Figure 26 Bluetooth Devices Window Properties SMARTE6 User Manual Rev SMART6 NMEA13260002 Device Information Manufacturer Unavailable Model Unavailable Model number Unavailable Other Unavailable To view tasks for this device r
16. 2011 65 EU WEEE If you purchased your OEM6 family product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label 924 NovAtel strives to comply with the EU Directive EC 1907 2006 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 SMARTSO User Manual Rev 8 Customer Service NovAtel Knowledge Base If you have a technical issue visit the NovAtel support website at www novatel com
17. Connect passive connection only AUX with Bluetooth Option 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 denotes diameter here and in the Dimensions graphic page 54 b See also the Notice section of this manual starting on page 9 c Power consumption values for GPS L1 L2 SMARTE6 User Manual Rev Figure 34 SMART6 Dimensions 0155 00 95 Neodymium Rare Earth Maget x2 M4 x 0 7 Dimensions are in millimeters SMARTE6 User Manual Rev 54 A 2 1 5 6 Communication Power Cable 01018999 The SMARTS cable refer to Figure 35 SMART6 Communication Power Cable provides a means of supplying power from a battery while operating in the field The exposed wires red for positive and black for negative can then be connected to a vehicular power circuit or equivalent protected by a 5A 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
18. EVENT MARK IN 11 MKI PPS 12 PPS PWR INPUT 14 A 22 6 Connector and Cable Requirements Custom cables for installing the SMART6 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 The connector used the SMART6 is an AMPSEAL dust and water sealed type produced by Tyco following part numbers pertain to the mating connector required to make connections to the These numbers are provided for information only and are not available from NovAtel as separate parts SMARTSO User Manual Rev 56 Table 6 SMART6 Mating Connectors Product Company Part Number SMARTS mating connector J1 Figure 35 on 14 pin sealed receptacle 776273 1 page 55 housing black Gold plated pins 20 16 AWG for J1 SMART6 Pi
19. GPS sensor height inches 00150 SMARTE6 User Manual Rev nnnnn and will be ignored 00510 and will be ignored Refer to Tilt Compensation on page 18 and Tilt Compensation on page 32 for setup instructions 66 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 Pin outs on page 56 for pin out details Message ID 8192 Syntax radarcfg switch freq step update rate resp mode threshold Field Data Description Format Units Bytes 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 switch Enable or disable radar emulation Enum none 4 H 0 ENABLE 1 DISABLE default enable freq_step Frequency step per kilometer per hour Double Hz kph 8 H 4 Range 26 11 28 12 or 36 11 default 36 11 update rate Specify how often to update radar output Integer Hz 4 H 12 Range 1 2 5 10 20 default 10 resp_mode_ Specify the time response mode over which to average Integer none 4 H 16 velocity samples see Table 11 Response Modes Default 500 threshold The threshold is only applicable when the response Double kph 8 H 20 mode is set to 2 The response time is 1000 ms when the velocity is greater than this value otherwise it is 50
20. Support Helpdesk and Solutions Knowledge and Forums Through this page you can search for general information about SMART antennas and other technologies information about NovAtel hardware software installation and operation issues Before Contacting Customer Support Before you contact NovAtel Customer Support about a software problem perform the following steps 1 Issue the following logging commands to collect data to a file on your computer for 15 minutes VERSIONA ONCE LOG RXSTATUSA ONCE LOG RXCONFIGA ONCE LOG RAWEPHEMA ONNEW OG BESTPOSA 1 LOG RANGEA ONTIME 1 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 FRESET command If you are having a hardware problem send a list of the troubleshooting steps taken and the results Contact Information Use one of the following methods to contact NovAtel Customer Support Call the NovAtel Hotline at 1 800 NOVATEL U S and Canada or 1 403 295 450
21. be used as a base receiver to transmit 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 SMARTSO User Manual Rev 23 Operation Chapter 3 Figure 9 Basic Differential Setup COM1 ae hrs i Mae Ex ELE 1 i Rover Base 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 without optional Bluetooth For a SMARTS receiver with Bluetooth two of the serial devices connect through COM1 and 2 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 i
22. files SMARTSO User Manual Rev 42 NovAtel Firmware Software Chapter 5 Temporary auth codes may be provided by NovAtel for evaluation purposes Once the trial period has expired a new auth code will need to be obtained from NovAtel Customer Support Support novatel com The new download package includes a signed firmware file type that uses an extension designated as shex example 060200 0000 as well as the latest WinLoad utility and What s New file containing firmware update change details Prior to firmware version OEMO60200RNO000 authorization codes depended on the software D model the firmware version and the serial number of the receiver The authorization code changed if any of the three items changed This is no longer the case they are now no longer dependent on firmware version 5 3 Updating or Upgrading Using the WinLoad Utility WinLoad is the simplest and most common way to update or upgrade a SMARTSG receiver or COM2 must be used to update or upgrade a SMART 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 by downloading the OEM Version for your product from www novatel com support firmware downloads Format of Firmware Files All of the firmware available on the downloads website are packaged in zip files with the following n
23. 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 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 Switch COM ports e Issue a FRESET command ASCII Binary ee Binary Binary Binary Feld Field Type Value Value Format Bytes Offset 1 FRESET This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 2 target See Table 9 FRESET What data is to be reset by the Enum 4 H Target on Page 62 receiver default ZSTANDARD SMARTSO User Manual Rev 61 Table 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 parame
24. then insufficient satellites are being tracked or the signal quality is poor and ephemeris data cannot be received Normally four satellites are sufficient for a valid position as long as they are widely distributed in the sky If LED is stuck on blinking yellow there may be excessive signal blockage or the SMART6 may be defective Make sure the SMART6 has an unobstructed view of the sky Try power cycling the SMART6 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 SMARTS6 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 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 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 Pin outs on page 56 SMARTSO User Manual Rev 17 Installation and Setup Chapter 2 2 2 3 Emulated Radar ER SMARTE6 outputs an emulated RADAR signal via the bare w
25. under license All other brand names are trademarks of their respective holders Manufactured and protected under U S Patent 5 390 207 5 495 499 5 734 674 5 809 064 5 736 961 6 184 822 B1 6 211 821 B1 SMARTSO User Manual Rev 6 243 409 B1 6 445 354 1 6 452 560 B2 6 608 998 1 6 664 923 1 6 728 637 B2 6 922 167 B2 7 250 916 7 738 536 B2 7 738 606 B2 7 885 317 B2 8 467 433 B2 8 442 097 B2 Copyright 2014 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws Table of Contents Notice 7 Customer Service 9 1 Introduction 10 1 1 Feat res and Models need e RE ER RE RERUM REDE RE ERRARE 10 1 2 Conventlons eripe b eot ss b gei pid itio ebat m etus 11 2 Installation and Setup 12 2 1 Additional Equipment Required 1 oerte itecto tet eee redde dere etie 12 2 1 1 SMARTO SelUuD 2 ire eR eon LOUER ERE Ese OP 12 2 1 2 Power Supply sisi tnr 14 21 3 Mounting Plate dd aee rta t OU MEN rege DERE 2 1 4 Mounting the SMART6 2 1 5 Connecting Data Communications 16 2 2 Additional Features and 17 2 2 1 Eae X
26. up to emulate a remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the receiver For example HyperTerminal or NovAtel s Graphical User Interface GUI program NovAtel Connect All data is sent as raw 8 bit binary or ASCII characters SMARTE6 User Manual Rev 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 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 m
27. 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 Pin outs on page 56 for their pin outs For more information on mating connectors part numbers see Table 6 SMART6 Mating Connectors on page 57 This cable is RoHS compliant Figure 35 SMART6 Communication Power Cable lt 7600 5 0 gt length when straight lt 4600 155 0 length when straight 30 0 3 0 Typical 5 Places c Dimensions millimeters SMART6 Communication Power Cable 01018999 is intended for use with both the SMARTS6 and the SMART6 L receivers On the SMART6 the DB9 connector labeled COM3 J4 is used for the AUX port SMARTSO User Manual Rev 55 Table 5 SMART6 Communication Power Cable Pin outs Signal Name J1 J2 J3 J4 Label COM1_TXD 1 2 COM1_RXD 2 COM2_TXD 3 2 COM2_RXD 4 3 AUX_TXD 8 2 AUX_RXD 13 COM1 GND 5 COM2 GND 5 AUX GND 5 EVENT MARK IN MKI GND GND Emulated Radar GND ER GND Pulse Per Second GND PPS GND CAN 6 CANI CAN 7 CANI PWR RET GND 9 BATT Emulated Radar Out 10 ER_OUT
28. 0 international Write NovAtel Inc Customer Support Department 1120 68 Avenue NE Calgary AB Canada T2bE 855 Fax t 1 403 295 4501 E mail _support novatel ca website www novatel com 1 For GLONASS channel configuration SMARTSO User Manual Rev 9 Chapter 1 Introduction The SMART6 is a high performance GNSS receiver and antenna capable of receiving and tracking different combinations of GNSS L1 L2 code and carrier signals on a maximum of 120 channels SBAS Satellite Based Augmentation Systems support which includes WAAS North America EGNOS Europe and MSAS Japan is standard Refer to NovAtel s GNSS Book for an overview of each of the above signal types The SMARTE 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 SMART Receiver shows the SMART6 without connecting cables Figure 1 SMART6 Receiver Features and Models The main features of the SMARTO are anenhanced high performance GNSS L1 L2 receiver a high performance GNSS 11 12 antenna aCAN 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 e Bluetooth wireless technology optional e tilt compensation optional The SMARTE6 is available in several different firmware models whose configurations may include other ad
29. 0 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 Description 2000 2000 ms 1000 1000 ms The time period over which to smooth 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 11 11 2 Example 2 to set the frequency step to 36 11 Hz kph update rate to 1 Hz and no smoothing radarcfg enable 36 11 112 SMARTSO User Manual Rev 67 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 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 curr
30. 2 114 04358013 1059 4105 log com2 cmrobs ontime 1 log com2 cmrplus ontime 1 Important to use ontime 1 with cmrplus CMR serialconfig com2 9600 N 8 1 N on interfacemode com2 none cmr off fix position 51 11358042 114 04358013 1059 4105 log com2 cmrobs ontime 1 log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 1 SMARTSO User Manual Rev 25 3 3 2 Rover Station Configuration At the rover station enter SERIALCONFIG port baud Chapter 3 parity databits stopbits handshaking break interfacemode port rx type tx type responses For example RTCA interfacemode RTCM interfacemode RTCMV3 interfacemode CMR interfacemode CMR interfacemode com com com com com 2 2 2 2 2 rtca none off rtcm none off rtcmv3 none off cmr none off cmr none off same as 3 3 3 GPS GLONASS Base and Rover Configuration This section shows how to set up a base and rover OEM6 GPS GLONASS enabled receivers for GPS GLONASS RTK operation Base Station fix position lat lon hgt enter your own lat lon and hgt values serialconfig com2 9600 N 8 1 interfacemode com2 none rtca off log com2 rtcaref ontime 10 log com2 rtcaobs2 ontime 1 log com2 rtcal ontime 5 saveconfig Rover Station optional enable code DGPS coverage optional save configuration to non volatile memory serialconfig com2 9600 N 8 1 N on interfacemo
31. 783 5 Function default 23 ULong 4 H16 7 FunctionInstance 11783 5 Function instance ULong 4 H 20 default 0 8 ECUInstance 11783 5 ECU Instance default 0 ULong 4 H 24 9 PreferredAddress Device default address on startup 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 SMARTE6 User Manual Rev 70 Position Logs C 1 1 NMEA Logs The NMEA logs receiver outputs supported by the SMART6 are summarized in Chapter 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 e 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 6 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 68 set COM port 2 as follows Bit Rate Parity Data Bits Stop Bits Handshaking Br
32. Atthe 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 6 Family Firmware Reference Manual for more information 7 Optional parameters are indicated by square brackets For commands that contain optional parameters the value used if the optional parameter is not specified is given in the syntax table for the command 8 Data format definitions as specified in the Format field are detailed in the OEM6 Family Firmware Reference Manual Note that all binary data is little endian byte ordered SMARTE6 User Manual Rev 58 2 BTCONTROL Enable Disable Bluetooth wireless technology The BTCONTROL command enables or disables the Bluetooth module Message ID 8205 Abbreviated ASCII Syntax BTCONTROL switch Factory Default The Bluetooth module is enabled by default Example 1 to disable Bluetooth wireless technology btcontrol disable Example 2 to enable Bluetooth wireless technology btcontrol enable Binary Binary Binary Field 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 wireles
33. Configuration SMARTE6 Receiver Performance 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 SBASP Horizontal Position Accuracy RMS Single Point 1 5m Single Point L1 L2 1 2m 5 52 0 6 DGPS 0 4m NovAtel CORRECT RT 2 1 cm 1 ppm GPS GLONASS Code Carrier Code Carrier Measurement Precision RMS C A 4 cm 0 5 mm 15 cm 1 5 mm L2 P Y d 8 cm 1mm 8 cm 1 5 mm L2C9 8 cm 0 5 mm 8 cm 1 5 mm Measurements up to 20 Hz sealer Position up to 20 Hz Cold Start9 50 s Time to First Fix Hot Start 35s L1 0 5 s typical Signal Reacquisition yp 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 onococ Typical value No almanac or ephemerides and no approximate position or time Typical value Almanac and recent ephemerides saved and approximate time entered For more information refer to the Satellite Based Augm
34. ERATIONAL WARNING or OUT_OF_BOUNDS can be specified using the UALCONTROL command Refer to the OEM6 Family Firmware Reference Manual OM 200001 29 for more information Figure 14 Steadyline UAL Warning Limit Example on page 30 and Figure 15 Steadyline UAL Out of Bounds Example on page 31 show an examples of Steadyline using the UAL mode Figure 14 Steadyline UAL Warning Limit Example Warning Limit Operational Limit JE Operational Limit iic LO MN e REIR Limit A Position type is OPERATIONAL Higher accuracy corrections are lost The receiver changes to a lower accuracy solution Steadyline operates in Maintain mode while the solution accuracy remains within the Operational limit The solution accuracy exceeds the operational limit The position type changes to WARNING The Steadyline mode changes from Maintain to Transition The solution accuracy moves back within the operational limit The position type changes to OPERATIONAL The Steadyline mode remains in Transition mode D solution offset is removed The Steadyline mode changes from Transition to Maintain SMARTSO User Manual Rev 30 Operation Chapter 3 Figure 15 Steadyline UAL Out of Bounds Example Warning Limit Operational Limit ILE Operational Limit Warning _ Limit A The position type is OPERATIONAL Higher accuracy correc
35. Firmware Software Chapter 5 5 4 5 SoftLoad Errors 5 5 It is possible for errors to occur during the SoftLoad update All command responses should be checked to verify all issued commands were accepted The SoftLoad status should also be monitored in the SOFTLOADSTATUS log Any status enum value greater than the ERROR status indicates an error has occurred during the SoftLoad update In the event of an error the SoftLoad update should be restarted by issuing a SOFTLOADRESET command or normal operation can be restored by resetting the receiver In rare cases after a SoftLoad error the boot code may not be able to determine which is the latest firmware to be executed To protect against this SoftLoad does not erase the previous valid firmware image from flash on the receiver In such cases the boot code will execute the old image and raise the Safe Mode error see RXSTATUS log If that error is detected simply restart the SoftLoad process to reload the new firmware image and the error will be resolved Upgrading Using the AUTH Command The AUTH command is used to upgrade a new SMART6 model with an authorization code that enables unlocks model features This command only functions with a valid auth code assigned by NovAtel Customer Support The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program v Refer to Format of Firmware Files on page 43 for deta
36. NovAtel format commands as well as providing help with the SoftLoad process Contact NovAtel Customer Support and ask about the srec2softload utility The SOFTLOADSREC and SOFTLOADDATA commands can be used to send firmware data from hex or shex files to the receiver 50 55 and 57 S Records should be sent directly to the receiver using the SOFTLOADSREC command by enclosing the S Record in quotation marks and issuing the command to the receiver as follows SOFTLOADSREC lt S RECORD gt S3 records can be sent individually to the receiver using the SOFTLOADSREC command Alternatively the data from an S3 record can be parsed and packaged together with data from other S3 records into a binary SOFTLOADDATA command Packaging data parsed from multiple S3 records into a binary SOFTLOADDATA command can result in improved firmware update times as each S3 record contains only a small number of bytes of firmware data A single SOFTLOADDATA command can package up to 4096 bytes of firmware data from multiple S3 records whereas a single SOFTLOADSREC command contains a maximum of 28 bytes of firmware data from a single S3 record Multiple S3 records can be packaged into a single SOFTLOADDATA command as long as the data from one S3 record follows immediately after the previous record That is the address from the current S3 record must equal the address from the previous S3 record plus the data length of the previous S3 record If
37. Page 56 on for more information SMARTSO User Manual Rev 16 Installation and Setup Chapter 2 2 2 Additional Features and Information This section contains information the additional features of the SMART6 which may affect the overall design of the receiver system 2 2 1 Status Indicators LED indicators the SMART provide the status of the receiver The table below shows the meaning of the LEDs Table 3 6 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 Ifthe 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 SMART Ifthe yellow LED is flashing but doesn t progress to solid yellow within one minute
38. al power supply specifications The SMARTS cable provides power in BATT and power ground BATT bare wires for connecting the SMARTE6 to a vehicular power system or equivalent The SMARTE6 power source must be protected by a 5A Fast Blow Fuse or damage to wiring may result not covered by warranty Refer to SMART6 Connector and Cable Requirements on page 56 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 lt 3 360 gt gt 4 lt 1439 0 50 4 amd R0 025 gt gt gt Y N i aa 00 27 0 01 drill thru x 4 gt 4 035 0 60 Le 2 325 lt 3 561 gt 0 315 REF 0 105 REF 82 00 370 T Center sink 2 places LY iP D To install the mounting plate use the adhesive tape or the mounting holes at each corner of the plate SMARTE6 User Manual Rev 14 Installation and Setup Chapter 2 Figure 3 SMART6 Pole Mounting Plate 01019142 5 00 3 360 2 325 6 0 35 0 60 2 205 2 037 4 326 4 326 6 25 Fo s 3 25 0 05 0 188 x4 Y 1439 3 561 4 4 2 50 0 05 t RE All dimen
39. ames OEMXXXRNO000 zip for firmware to be installed on OEM615 OEM617 OEM617D FlexPak6 628 or SMARTS receivers e OMPXXXRNO000 zip for firmware to be installed on OEM638 receiver NovAtel Customer Service may generate and provide the required authorization code Authorization codes are obtained by contacting support novatel com or at www novatel com Support For convenience unzip the update file to a GNSS sub directory for example C GNSS LOADER If the firmware update file is password protected NovAtel Customer Support provides the required password The zip archive includes the following files winload exe WinLoad utility program howto txt Instructions on how to use the WinLoad utility whatsnew rtf Information on the changes made in the firmware since the last revision Firmware version upgrade file where x x defines the product name and release e g OEMO060400RN0000 shex NovAtel Software License Agreement rtf License agreement for the firmware The files are extracted to unzip program files NovAtel Inc x xxx Full Update Disk where x xxx is the firmware version NovAtel has an online video tutorial that explains firmware uploading at www novatel com support videos SMARTSO User Manual Rev 43 NovAtel Firmware Software Chapter 5 SMARTS6 Application Software The SMARTS receiver has two types of software loaded the OEMG firmware and the SMART Application Software The OEM6
40. best available position and velocity in ECEF coordinates for example log bestxyza ontime 1 C 2 Other Logs The SMARTS 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 SMARTS log 37 VERSION Hardware versions software versions and serial numbers Existing OEM6 log extended to SMART6 SMARTSO User Manual Rev 72 21 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 radarsignala coml1 0 61 5 finesteering 1501 248381 628 00000000 8alc 3723 7sol_computed waas 0 0139 0 00 0 00 f0d580ca ASCII Example 2 moving SMART6 radarsignala coml1 0 42 5 finesteering 1428 206179 600 00000000 baa8 3349 Sol computed waas 0 3315 2 0 3152 473 97 29 62 c1479c20 eer Binary Binary Field type Data Description Format Bytes Offset 1 RADARSIGNAL Log header H 0 header 2 sol status Solution status see Table 14 Sol
41. d d2sr0gtt0a bjyal3211868w oem615 1 01 oem060230an0003 oem060200rb0000 2013 11 09 27 29 lt db userappauto smart6 0 esmrt0200an0001 2013 sep 12 16550258 lt enclosure smart6 5645 nmeal3330008k 0 0 0 Qr 0 userinfo 1 9830 0212 n wn wmm wm mw SMARTSO User Manual Rev 76 PY 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 SMARTS with Bluetooth 01019121 SMARTS with Bluetooth and Tilt 01019127 Cable 14 pin socket to 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 55 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 B The accessories above are also available from www novatel com SMART6 User Manual Rev 3 77 NovAtel OM 20000150 Rev 3 August 2014
42. d 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 The AUX port when used with Bluetooth is automatically fixed to a data rate of 115 200 bps Ensure that your computer is equipped with a built in or external plug in Bluetooth adapter and is already configured with the appropriate Bluetooth driver The information in this section is specific to pairing an SMART6 with a Windows 7 based computer For information about pairing the SMARTS with other Bluetooth capable devices refer to the devices user documentation To pair with an SMARTS6 in range 1 Power on the SMART6 2 Double click the B uetooth 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 Bluetooth Devices M RV Serer SMARTE6 User Manual Rev 34 Bluetooth Configuration Figure 18 Bluetooth Devices Window Chapter 4 x gt amp Devices and Printers gt Bluetooth Devices Search Devices and Printers File Edit View Tools Help Adda Add a printer Add a wireless or network device to this computer No items match your search 3 the Bluetooth Devices window click the Add a device button The Add a device win
43. de com2 rtca none off log coml bestposa ontime 1 saveconfig SMARTE6 User Manual Rev optional view position information optional save configuration to non volatile memory 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 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 rece
44. ditional features Some possible configurations can be seen in Table 1 SMART6 Models Table 1 SMART6 Models NovAtel Part Description 01019123 SMART6 01019125 SMARTS with Tilt 01019121 SMARTS with Bluetooth 01019127 SMARTS with Bluetooth and Tilt Contact NovAtel Sales at www novatel com where to buy contact us for information regarding available models upgrading a model to increase feature functionality or go to www novatel com support firmware downloads to obtain product updates Refer to Chapter 5 NovAtel Firmware and Software on page 41 for details Refer to the OEM6 Installation and Operation Manual for detailed information on receiver communications and operation SMARTSO User Manual Rev 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 Warning that a certain action operation or configuration may result in regulatory noncompliance safety issues or equipment damage The letter H in the Offset columns of the commands and logs tables represents the header length for that command or log Refer to the OEM6 Family Firmware Reference Manual for ASCII and binary header details number following Ox is a hexadecimal number
45. dow appears computer searches for any Bluetooth device in range and displays the devices found on the window see Figure 19 on page 35 Figure 19 Add a device window 17 Add a device Select a device to add to this computer Windows will continue to look for new devices and display them here le le DEL44826 SMART6 NMEA13260002 Bluetooth Seay Desktop computer Othe EAG41479 Bluetooth Desktop computer DEL45206 Bluetooth Laptop computer SMARTE6 User Manual Rev What if Windows doesn t find my device Next 35 Bluetooth Configuration Chapter 4 4 Select the SMART6 system and click the Next button The Select a pairing option window appears see Figure 20 on page 36 Figure 20 Add a device Select a pairing option 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 X 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 21 on page 36 Figure 21 Add a device Enter pairing code mesm 2 Adda devic
46. e Enter the pairing code for the device This will verify that you are connecting to the correct device be 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 6 Type the SMARTS 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 22 Add a device Successful on page 37 SMARTE6 User Manual Rev 36 Bluetooth Configuration Chapter 4 Figure 22 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 out 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 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
47. e 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 30 COM Port Setup Com Pot z Download Baudrate 115200 Y Connect Baudrate BREAK OK Cancel SMARTE6 User Manual Rev 44 NovAtel Firmware Software Chapter 5 Downloading Firmware 1 2 Select the file to download according to Open a File to Download on Page 44 Ensure the file path and name are displayed in the main display area see Figure 29 Open File in WinLoad on page 44 Click Write Flash to download the firmware When Searching for card appears in the main display power cycle the receiver Figure 31 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 Authorization Code on page 42 for further information about the Authorization Code Figure 32 Authorization Code Window The receiver finishes the download and then resets The process is complete when Done appears in the main display area Figure 33 Upgrade Process Complete Download Complete Resetting Card Resetting Done BEEHHEEEEEREBEEEEEEEHEEEEEBE 1 Connect 9600 Download 115200 7 Close WinLoad 5 4 Updating Using SoftLoad Commands Firmware can be updated on a running receiver using a process called SoftLoad The S
48. e emission limits for a Class digital device pursuant to part 15 of the FCC Rules The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures 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 v for the RS 232 serial data ports Belden 1036 or equivalent and twisted pair cable should be used for the CAN port shielded twisted pair will improve CAN performance in electrically harsh enviro
49. eak enter the following string serialconfig com2 9600n 81 non 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 63 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 click Add ao FON SMARTE6 User Manual Rev 71 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
50. ed 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 SMARTSO User Manual Rev 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 2 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 TxD2 RxD2 Flow control Features supported Electrical format XON XOFF Logs Commands Firmware Upgrade NovAtel Connect Baud rate reset using Break AUX RS 232 Bit rates bps Signals supported 2400 4800 9600 default 19200 38400 57600 or 115200 TxD1 RxD1 Flow control Not supported Features supported Electrical format Logs Commands NovAtel
51. eight in metres Response to the u command PMDT u mmm mmm cksum lt cr gt lt lf gt PMDT lt GNSS sensor height Example To set the GNSS sensor height to inches nnnnn lt cr gt lt lf gt 3 5 metres the command is where nnnnn is a five digit integer sensor PMDT u 3 5 7C height in inches In this example the Tilt Sensor response is PMDT lt GNSS sensor height inches 00137 Set Field Level PMDT I cksum lt cr gt lt lf gt Response to the 4 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 Response to the x command Values height or level command that is not done PMDT lt Flash updated lt cr gt lt lf gt each 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 If all fields in the u command 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 If an invalid entry is received gt 500 inches the response is SPMDT Max legal height exceeded For example if you enter 42 ft 6 in you will get the following response SPMDT lt Max legal height exceeded SPMDT lt
52. ent port see the UNLOGALL command the 6 Family Firmware Reference Manual e Clear the transmit and receive buffers on the current port Return the current port to its default settings Set the interface mode to NovAtel for both input and output see 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 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 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 SERIALCONFIG command Use the SERIALCONFIG command before using the INTERFACEMODE command o
53. entation Systems SBAS include WAAS North America EGNOS Europe and MSAS Japan SETAPPROXTIME command in the OEMG 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 SMARTE6 User Manual Rev 51 2 5 6 Specifications 80 9 x 155 mm Weight 520 g 2 x magnetic mount Mounting 4 x M4 screw inserts Optional mounting plate Operating Temperature ENVIRONMENTAL 40 C to 70 C Storage Temperature 55 C to 90 C Humidity MIL STD 810G Method 507 5 Immersion MIL STD 810G Method 512 5 Procedure 1 Solar Radiation MIL STD 810G Method 505 5 Salt Fog MIL STD 810G Method 509 5 Sand and Dust MIL STD 810G Method 510 5 Random MIL STD 810G Method 514 6 tailored to 5 3 g Input Voltage Sinusoidal ASAE EP455 Section 5 15 2 Level 1 amp 2 Shock MIL STD 810G Method 516 6 Compliance FCC IC CE Ingress Protection Rating IP67 POWER REQUIREMENTS 8 to 36 V DC Power Consumption Power 3 5 Ww 14 PIN INPUT OUTPUT CONNECTORS 8 to 36 V DC For the cable pin outs and drawings see Section A 2 1 SMART6 Communication Power Cable 01018999 on page 55 Serial Com Ports CAN RS 232 F Compliant Rx and Tx signals only SAE J1939 ISO 11783 ISO 11898 Compatible Emulat
54. enu The Open Connection window appears Figure 8 Open Connection Window 4 A Open Connection Available Device Connections Device Type Settings SERIAL COM1 9600 bps Refer to the NovAtel Connect help file or press F1 while the cursor is in a NovAtel Connect window Ensure the Console and ASCII Messages windows are open by selecting them from the View menu When the receiver is first turned on no data is transmitted from the COM ports except for the port prompt The console window displays a port name COM1 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 SMARTS is set to log the RXSTATUSEVENTA log ONNEW all ports Refer to the OEMG 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 SMARTSO User Manual Rev 22 Operation Chapter 3 Commands are typed at the interfacing compu
55. evious Num Bytes 0 00407 0 0x08 0x00407B14 Address 0x00000000 Num Data Bytes Ox1C Requires new SOFTLOADDATA command because address does not match previous address previous number of data bytes SMARTSO User Manual Rev 47 NovAtel Firmware Software Chapter 5 Send existing SOFTLOADDATA command and start anew SOFTLOADDATA command 53210000001 80040000 001000030000000082 010008060000 4060000 806000063 Address 0x0000001C Num Data Bytes 0x1C Previous Address Previous Num Bytes 0x00000000 0x1C 0x0000001C Add data to existing SOFTLOADDATA command The SOFTLOADDATA command must be sent as a NovAtel binary format command 5 4 4 SoftLoad Update Method This section describes the sequence of commands that are issued to the receiver when updating using a hex or shex file The response for each command must be processed before sending the next command so as D to determine if the command was accepted or rejected and to wait for the receiver to complete the operation Responses to SoftLoad commands are guaranteed to be output from the receiver within a specific time which varies by command Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for more information on responses and the timeout values for SoftLoad commands 1 Open a connection to a port on the receiver with the input and output INTERFACEMODE set to NOVATEL 2 Request the SOFTLOADSTATUS log using the following c
56. firmware provides the features that are common to all OEMG receivers The Application Software provides the special features available on the SMART6 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 26 Figure 28 WinLoad s Open Window gt Fite menace OE Moe0000RNO000 Files of type Files Cancel EZ When file is selected the filename appears in the main WinLoad display area and in the title bar Figure 29 Figure 29 Open File in WinLoad 7 winLoad C unzip program files Novatel Inc 3 701 Full Update Disk 3701 hex Eile Settings Help als 1 Authorization Code d C Sunzip program files NovAtel Inc 3 701 Full Update Disk 3701 hex 63 wiite Flash Vi Run Script 21i Query Card Abort Communications Settings To set the communications port and baud rate select Settings COM Settings Choose the computer port to use from the Com Port drop down list and the baud rate from the Download Baudrat
57. ight click the icon for the device in Devices and Printers 39 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 27 on page 40 Figure 27 Properties Services Tab 2 SMART6 NMEA13260002 Properties 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 coms Cancel 4 4 Communicate with the SMART6 Using Bluetooth Wireless Technology 1 Open a terminal program HyperTerminal for example and configure it to the serial port assigned to the Bluetooth link If you do not know the serial port information see Section 4 3 Determining the Bluetooth Serial Port on page 37 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 SMARTSO User Manual Rev 40 Chapter 5 NovAtel Firmware and Software Download the most recent versions of the NovAtel firmware and receiver software from the Downloads section of www novatel com support search SMARTS6 Firmware and Software Refer to Section 5 3 1 T
58. ils on updating versus upgrading 5 5 1 Upgrade Procedure 1 Power up the 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 42 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 42 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 D1SBOGTTO 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 number If communicating using NovAtel Connect the communication path must be closed and reopened using the Device menu SMARTSO User Manual Rev 50 PNIS Technical Specifications A 1 Channel
59. ily Firmware Reference Manual OM 200001 29 SMARTSO User Manual Rev 28 Operation Chapter 3 3 5 1 Maintain When the receiver transitions to a different positioning mode it maintains the position offset calculated to limit a potential real position jump The receiver continues to apply the position offset to all positions calculated in the new positioning mode Figure 11 Steadyline Maintain Position o Intended Path change to change to lower accuracy higher accuracy solution solution 3 5 2 Transition When the receiver transitions to a different positioning mode the position offset is applied to the calculated position to limit a potential real position jump The position then slowly transitions to the new reference position type over a specified period of time This time period is specified by the Transition time parameter in the STEADYLINE command Figure 12 Steadyline Transition Position IE Intended Path change to change to lower accuracy higher accuracy solution solution 3 5 3 Prefer Accuracy The positioning mode change depends on the accuracy level of the positioning modes When the position mode is changing from a more accurate mode to a less accurate mode e g changing from RTK to GLIDE the receiver uses the Maintain option When the position mode is changing from a less accurate mode to a more accurate mode e g GLIDE to RTK the receiver uses the Transiti
60. ion Status ASCII Description SOL_COMPUTED Solution computed INSUFFICIENT_OBS Insufficient observations NO_CONVERGENCE No convergence NI OD Oy By WwW N gt SINGULARITY Singularity at parameters matrix COV_TRACE Covariance trace exceeds maximum trace gt 1000 m TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km COLD_START Not yet converged from cold start V_H_LIMIT Height or velocity limits exceeded in accordance with export licensing restrictions VARIANCE Variance exceeds limits 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 8 19 INVALID_FIX The fixed position entered using the FIX POSITION command is not valid SMARTE6 User Manual Rev 74 Solution Status Er Description Binary ASCII 20 UNAUTHORIZED Position type is unauthorized HP or XP on a receiver not authorized for it PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites
61. ires labeled ER GND and ER_OUT on the SMARTS cable See Table 5 SMART6 Communication Power Cable Pin outs on page 56 for the pin out details of this cable The ER outputs a logic high of supply voltage minus 0 5 V minimum and logic low of 0 5 V maximum with a rise and fall time of less than 1 ms Its output references signal GND and provides logic low output until its speed is greater than 1 km Hr ER can be configured to operate at one of three distinct frequencies 26 11 28 12 or 36 11 Hz km Hr with 26 11 Hz km Hr being the default value and with an effective range from 1 km Hr to 55 km Hr for near horizontal applications See Section B 7 RADARCFG Configure the ER Output on page 67 for more information 2 2 4 Controller Area Network CAN The SMARTS supports the following NMEA2000 Parameter Group Messages PGN e 129029 GNSSPositionData 1 Hz e 129025 GNSSPositionRapidUpdate 10 Hz e 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 70 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 be found the 2000 specification which be purchased directly from the National Marine Electronics Association ww
62. 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 This could be either a terminal or computer connected directly to the receiver serial port using DB 9 connector 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 68 for details The data transfer rate chosen dete
63. iver recognizes the default and uses the corrections it receives with a NovAtel header The PSRDIFFSOURCE and RTKSOURCE commands set the station ID values which identify the base stations from which to accept pseudorange or RTK corrections respectively These are useful commands when the rover station is receiving corrections from multiple base stations Refer to 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 OEMG 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 SMARTSO User Manual Rev 27 Operation Chapter 3 3 4 GLIDE SMARTE6 contains NovAtel s GLIDE which i
64. n each port Turn break detection off using the SERIALCONFIG 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 Factory Defaults serialconfig coml 9600 n 8 1n on serialconfig com2 9600n 81 non serialconfig aux 9600n 8 1 n off SMARTSO User Manual Rev 68 Factory Defaults Bluetooth model serialconfig coml 9600 n 8 1 n on serialconfig com2 9600 n 8 1 n on serialconfig aux 115200 8 1 n off ASCII Example serialconfig coml 9600 8 1 n off ASCII Binary Value Value Binary Binary Bytes Offset Field Field Type Description Format SERIALCONFIG This field contains the command Header name 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 the current COM port default ALL 8 Select all COM ports 3 bps baud 300 600 900 1200 Communication baud rate bps Ulong 4 H 4 2400 4800 9600 19200 38400 57600 115200 230400 460800 and 921600 parity No parity default Even parity Odd parity databits Number of data bits default 8 6 stopbits 10r2 Number
65. new firmware v Direct access to the COM1 or 2 serial port on the SMART6 receiver is required Firmware can not be loaded using the AUX port SMART6 User Manual Rev 3 41 NovAtel Firmware 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 Model upgrades can be applied to the receiver with an authorization code and the AUTH command without returning the receiver to the dealer 5 2 Authorization Code An authorization code commonly known as an auth code is required to upgrade a SMARTE6 receiver Auth codes are obtained by contacting NovAtel Customer Support Upon contact NovAtel Customer Support requires the receiver model number the receiver serial number receiver firmware version Enter the LOG VERSION command to determine the receiver model serial number and firmware version Example R P MODEL SERIAL FIRMWARE ENTE NUMBER NUMBER VERSION GPSCARD D2SROGTTOA BJYA13211868W 615 1 01 Nl PRODUCT RELEASE FAMILY INDICATOR FIRMWARE NUMBER After determining the appropriate model and firmware version the authorization code a
66. nments I O signals should be referred to signal ground connector pin 5 and not power ground connector 9 If I O signals route to different areas of the vehicle dedicated signal grounds for I O should be spliced into a common connection to connector pin 5 at a point close to the SMARTS6 Industry Canada SMARTS Class B digital apparatuses comply with Canadian ICES 003 SMARTE6 appareils num rique de la classe B sont conforme la norme 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 SMARTSO User Manual Rev 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
67. ns loose piece Tyco AMP 770854 3 connector Gold plated pins for SMART6 connector strip Pins strip reel 770520 3 Seal Plug for unused pins mating connector All connector positions must be populated with a pin or seal plug to achieve the IP 67 rating for the cable connection Seal plug 770678 1 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 Recommended Fuse Fuse Holder Silver Blade Fuse 5 32 V 0287005 Or Equivalent Mini Blade Fuse 5 32 V Littelfuse 0297005 Or Equivalent FKS ATO Blade Fuse 5A 80 V Littelfuse 166 7000 450 Littelfuse 12 V System Fuse standard size blade 12 V System Fuse mini size blade 24 V System Fuse High Reliability Harsh Environment standard size blade Or Equivalent Waterproof ATO Fuse Holder Littelfuse 0001 Or Equivalent Inline Fuse Holder for standard size blade Waterproof Mini Fuse Holder Littelfuse 0001 Inline Fuse Holder for mini size blade Or Equivalent SMARTE6 User Manual Rev 57 The SMARTS firmware implements the OEM6 family command set documented in the OEM6 Family Firmware Reference Manual Commonly used SMART6 commands are
68. 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 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 b The AUX port does not support handshaking The AUX port does not support break detection SMARTSO User Manual Rev 69 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 Value Value Binary Binary Binary Format Bytes Offset Field Type Description 1 SETCANNAME This field contains the command H 0 header name or the message 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 ULong 4 H 12 default 0 6 Function 11
69. 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 D the LOG command in the Console window or use the interface provided in the Logging Control window 2 Only the ASCII Abbreviated ASCII log table is included in this manual Refer to the LOG command in the OEM6 Family Firmware Reference Manual for binary log details SMARTSO User Manual Rev 63 Factory Default LOG LOG LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD 2 RXSTATUSEVENTA ONNEW 0 0 HOLD AUX RXSTATUSEV ENTA ONNEW 0 0 HOLD Field Field ASCII Value Description Field Name Type 1 LOG This field contains the command name or the ASCII message header depending on whether the header command is abbreviated ASCII or ASCII respectively 2 port See Table 10 Detailed Output port Enum Serial Port Identifiers default THISPORT on page 65 3 message Any valid message Message name of log to output Char name with an optional A or B suffix 4 trigger ONNEW Output when the message is updated not Enum necessarily 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
70. oftLoad process is made up of a set of commands and logs that are used to send new firmware data to a receiver and check the progress of the update Use SoftLoad if automated loading is desired The receiver stops tracking GNSS satellites during the SoftLoad process Do not attempt to when GNSS satellite tracking on the unit is required If the unit is connected to the NovAtel Connect utility only the Console and ASCII Message windows may remain open in the Connect Utility SMARTE6 User Manual Rev 45 NovAtel Firmware Software Chapter 5 5 4 1 SoftLoad Commands and Logs Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for further log and command information Command Description SOFTLOADRESET Initiate a new SoftLoad process SOFTLOADSREC Send an S Record to the receiver for the SoftLoad process SOFTLOADDATA Send firmware image data to the receiver for the SoftLoad process SOFTLOADCOMMIT Complete the SoftLoad process Send configuration information to the receiver for the SoftLoad process This command is not required when working with a hex or shex file SOFTLOADSETUP Log Description SOFTLOADSTATUS Provides status updates for the ongoing SoftLoad process Each command and log can be used in abbreviated ASCII ASCII or binary format with the exception of SOFTLOADDATA which should only be used in binary format File Types Firmware data is stored in hex and shex file
71. ommand LOG SOFTLOADSTATUSA ONCHANGED 3 Initialize SoftLoad with a SOFTLOADRESET command This command stops all tracking on the receiver to ensure sufficient memory is available for the loading process An RXSTATUSEVENTA log reports a SoftLoad In Progress status 4 Open the hex or shex firmware file 5 Read each line of the hex or shex firmware file A Send 50 55 and S7 S Records directly to the receiver using the SOFTLOADSREC command The S Record must be enclosed in quotation marks SOFTLOADSREC S RECORD Data within SO records can also be sent to the receiver by converting them to SOFTLOADSETUP com mands Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for details on how to convert from S0 S Records to SOFTLOADSETUP commands B S3 S Records should be parsed and packaged into a SOFTLOADDATA command 6 Send the SOFTLOADCOMMIT command after all data from the hex or shex file has been transferred to the receiver The SOFTLOADSTATUS log reports the status of the loading process Wait for a SOFTLOADSTATUS log to indicate the status is COMPLETE The COMPLETE status or an error is guaranteed to be output from the receiver within 300 seconds from the time the SOFTLOADCOMMIT command was received by the receiver 7 Sendthe auth code for the newly downloaded image using the AUTH command This is only required if there is not already a signature auth code on the receiver as signature auth codes are maintained thr
72. on option For example a receiver is configured to do both RTK and GLIDE If this receiver has a fixed RTK position and experiences a loss of correction data causing the loss of the RTK solution it will immediately apply the offset between the two position modes and uses the GLIDE position stability to maintain the previous trajectory Over time the GLIDE or non RTK position will experience some drift Once the RTK position is achieved again the receiver will start using the RTK positions for position stability and will slowly transition back to the RTK positions at a default rate of 0 005 m s or the time specified in the STEADYLINE command Figure 13 Steadyline Prefer Accuracy Position Intended Path change to change to lower accuracy higher accuracy solution solution SMARTE6 User Manual Rev 29 Operation Chapter 3 3 5 4 UAL UAL mode will not function unless UALCONTROL is enabled using the UALCONTROL command The Steadyline mode used depends on the BESTPOS and GPGGA solution types When the solution type is OPERATIONAL the receiver uses the Maintain option When the solution type is WARNING the receiver uses the Transition option When the receiver changes from WARNING to OPERATIONAL it will continue to use the Transition option until any existing offset is gone When the solution type is OUT_OF_BOUNDS the Steadyline feature is disabled The thresholds used to determine the solution type OP
73. ough a SoftLoad update See Section 5 2 Authorization Code on page 42 for details on Auth Codes AUTH ADD DOWNLOAD AUTH CODE 8 Resetthe receiver using any of the following methods A Enter the RESET command B Enter the FRESET command C Power cycle the receiver Once the receiver resets the new version of firmware is active SMARTSO User Manual Rev 48 NovAtel Firmware and Software The SoftLoad process can be safely canceled at any time using the SOFTLOADR Chapter 5 ESET command or by otherwise resetting the receiver Once the COMPLETE status is reported by SOFTLOADSTATUS the new firmware image will be run after the receiver is reset Start Y Open a connection to any port on the receiver Y Send LOG SOFTLOADSTATUSA ONCHANGED command v Send SOFTLOADRESET command v Open the hex or shex file v Read a line from the file End of File gt No Yes Y Send SOFTLOADCOMMIT Y Wait for COMPLETE status from SOFTLOADSTATUS log Reset the receiver SMARTE6 User Manual Rev Wait for OK response from receiver S Record Type S3 S Record v Parse address and data from S3 S Record v Package data into SOFTLOADDATA command v Send Send directly using SOFTLOADSREC command 50 S5 S7 S Record command SOFTLOADDATA 49 NovAtel
74. period Any positive double Log period for ONTIME trigger in seconds Double value larger than the default 0 receiver s minimum raw measurement period 6 offset Any positive double Offset for period ONTIME trigger in seconds To log Double value smaller than the data at 1 second after every minute set the period to period 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL command Enum default HOLD Prevent log from being removed by the UNLOGALL command SMARTSO User Manual Rev 64 ASCII Port Table 10 Detailed Serial Port Identifiers Hex Port Value Decimal Port Value 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 ports AUX_ALL 10 16 All virtual ports for the AUX port 1 20 32 port 1 virtual port 0 COM1 1 21 33 COM port 1 virtual port 1 COM 31 3f 63 COM port 1 virtual port 31 2 40 64 COM port 2 virtual port 0 COM2_ 31 5f 95 COM port 2 virtual port 31 THISPORT 0 192 Current COM port virtual port 0 THISPORT_31 df 223 Current COM port virtual port 31 XCOM1 1a0 416 Virtual COM1 port virtual port 0 1 1 1a1 417 Virt
75. r 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 ge Message ID 1 Abbreviated ASCII Syntax LOG port message trigger period offset hold Abbreviated ASCII Example 1 LOG COM1 BESTPOS ONTIME 7 0 5 HOLD The above example shows BESTPOS logging to COM port 1 at 7 second intervals and offset by 0 5 seconds output at 0 5 7 5 14 5 seconds and so on The hold parameter is set so logging is not disrupted by the unlogall command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 LOG 1 BESTPOS ONCE 0 000000 0 000000 NOHOLD Refer to the Command Formats section
76. ransferring Firmware Files on page 43 for descriptions of the Update and OEM versions NovAtel Connect PC Utilities Software Bundle Bundled PC Utilities software includes NovAtel Connect GUI interface Connection Import imports connection profiles Convert converts receiver data logs into different formats e USB Drivers and Window Signing The NovAtel Connect PC Utilities bundle can be download from the Downloads section of www novatel com support search Firmware and Software included Firmware shex file WinLoad software utility WinLoad and SoftLoad instructions follow 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 Firmware upgrades can be performed using the WinLoad utility SoftLoad commands or with a custom loader application Contact NovAtel Customer Support support novatel com for details on custom loader requirements 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
77. rmines how fast information is transmitted For example outputting a log whose message byte count is 96 The default port settings allows 10 bits byte 8 data bits 1 stop bit 1 framing bit It therefore takes 960 bits per message To get 10 messages per second 9600 bps is required Also remember that even if the bps is set to 9600 the actual data transfer rate is lower and depends on the number of satellites being tracked data filters in use and idle time It is suggested a margin is set when choosing a data rate 115200 is recommended for most applications 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 1 2 Communicating Using a Remote Terminal One method of communicating with the receiver is through a remote terminal The receiver is pre wired to allow proper RS 232 interface with the data terminal To communicate with the terminal the receiver only requires the RX TX and GND lines to be used Request to Send RTS Clear to Send CTS hardware handshaking is not available Ensure the terminal s communications set up matches the receiver s RS 232 protocol 3 1 3 Communicating Using a Computer A computer can be set
78. s a positioning algorithm for single frequency GPS and GPS GLONASS applications GLIDE produces a smooth position output tuned for applications where time relative accuracy pass to pass is more important than absolute accuracy Because of this it is well suited for agricultural applications Multipath signals tend to induce time varying biases and increase the measurement noise on the L1 L2 pseudorange measurements Carrier phase 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 7 Dual Frequency GLIDE NovAtel s dual frequency GLIDE technology adds to the superior pass to pass performance provided by single frequency GLIDE Dual frequency GLIDE is ideal 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
79. s as ASCII data in the form of S Records based on the Motorola S Record format The shex file is the same as the hex file but includes a digital signature for the firmware 5 4 2 Working With S Records Each S Record has a header indicating the type of information contained in the record Records beginning with SO S5 and S7 contain metadata about the firmware image such as version information and which card types are supported by the firmware image Example 50 Record S0 V OEM060400RN0000 Example S5 Records 550000 5503 9 25 5033158D5A Example S7 Records 570000 570500000000 Records beginning with S3 contain the actual firmware image data Aside from the header each pair of characters forms the ASCII representation of a binary byte The format is as follows LL DDDDDDDD DDDDDDDD Little Endian Data These bytes are copied into the data field of the SOFTLOADDATA command 4 Byte Address Set this as the value of offset in the SOFTLOADDATA command Length This is the hexadecimal number of character pairs to follow in the record This value minus 4 bytes for the address and 1 byte for the check sum is copied into the data length field of the SOFTLOADDATA command Header SMARTSO User Manual Rev 46 NovAtel Firmware Software Chapter 5 5 4 3 Sending Firmware Data C source code is available to provide example code of processing S Records and converting them to
80. s 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 SMARTSO User Manual Rev 24 Operation Chapter 3 3 3 1 Base 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 9600N 81 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 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 9600 N 8 1 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 cmr off fix position 51 1135804
81. s 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 gt response followed by the COM prompt the Bluetooth module may not be ready for communication SMARTSO User Manual Rev 59 B 3 Configure COM Port SERIALCONFIG command replaces the command see page 68 SMART6 User Manual Rev 3 60 4 FRESET Clear Selected Data from NVM and Reset This command clears data that is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The commands ephemeris and almanac related data can be cleared by using the STANDARD target The model can only be cleared by using the MODEL target The receiver is forced to hardware reset In addition values entered using the CLOCKCALIBRATE command can only be cleared by using the CLKCALIBRATION target Issuing the FRESET command affects Tilt as follows Tilt sensor level is restored to the factory default Tilt enable disable is not be affected FRESET STANDARD which is also the default causes any commands ephemeris GNSS and almanac data
82. sions in inches D To install the pole mounting plate 1 Use four M4 screws to connect the mounting plate to the SMART6 2 Screw the mounting plate onto a mount such as a range pole tribrach or tripod with a 1 x 14 thread A 5 8 to 1 bushing adapter is available part number 12023275 SMARTE6 User Manual Rev 15 Installation and Setup Chapter 2 2 1 4 Mounting the SMART6 Mount the SMARTE6 on a secure stable structure capable of safe operation in the specific environment e Ifinstalling on a vehicle mount the SMARTS 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 E 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 e If installing 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 Pin outs on
83. 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 OEMG based receiver is capable of processing refer to the OEM6 Family Firmware Reference Manual B 1 SYNTAX CONVENTIONS The following rules apply when entering commands at the command prompt from a keyboard 1 Courier font is used to illustrate program output or user input 2 References to other commands logs or any of their fields are shown in italics 3 The commands are not case sensitive For example you could type either RESET or reset 4 Except where noted either a space or a comma can separate commands and their required entries For example you could type either ix position 51 11358042 114 04358013 1059 4105 or fix position 51 11358042 114 04358013 1059 4105 5
84. ters 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 5 6 User Manual Rev 3 62 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 un1oga11 command with its defaults is issued To remove a log that was invoked using the hold parameter requires the specific use of the unlog command To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on 1 OEM6 family of receivers can handle 64 logs at a time If it is more than 64 logs at a time the receiver responds with an Insufficient Resources error 2 Maximum flexibility for logging data is provided to the use
85. the data is not consecutive then the SOFTLOADDATA command can be sent with the amount of data it has packaged up to that point Subsequent data can be packaged in a new SOFTLOADDATA command Within the SOFTLOADDATA command the offset field remains the address of the first 53 record and the data and data length are updated to include the new data Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for more information regarding the SOFTLOADDATA command The hex and shex file data may contain many gaps and jumps For example in many NovAtel hex and shex files data for address 0 000 00000 is stored near the very end of the file Example Packaging Multiple S3 Records In A SOFTLOADDATA Command Start a new SOFTLOADDATA command 32100407AD48FCA63034B80F5CE0C36507DE3D8DCCOC6C0C00515D74BCACF2F2949E Address 0x00407AD4 Num Data Bytes 0x21 0x01 0x04 0x1C S 32100407AF04CCA4 985FOF7B081E41D9B7D806C2698 9AE2D4E4CCBCB47C10FBFD3E43 Previous Address Previous Num Bytes 0x00407AD4 0x1C 0x00407AF0O Address 0x00407AF0 Num Data Bytes Ox1C Add data to existing SOFTLOADDATA command S30D00407BOCDE0400A6374D5BFFC5 Previous Address Previous Num Bytes 0x00407AF0 0x1C 0 00407 0 Address 0x00407BOC Num Data Bytes OxOD 0x01 0x04 0x08 Add data to existing SOFTLOADDATA command 3210000000007F0A7F1F4060000147B4000F49217813C7BB00014493F005C00000009 Previous Address Pr
86. ting device s keypad and executed after issuing a carriage return command which is usually the same as pressing the lt Enter gt key An example of a response to an input command is the FIX POSITION command It can be as COM2 FIX POSITION 51 11635 114 0383 1048 2 Carriage Return 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 3 3 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
87. tions are lost The receiver changes to a lower accuracy solution Steadyline operates in Maintain mode while solution accuracy remains within the Operational limit B The solution accuracy exceeds the operational limit The position type changes to WARNING The Steadyline mode changes from Maintain to Transition C The solution accuracy exceeds the warning limit The position type changes to OUT OF BOUNDS Steadyline is disabled 3 6 Emulated Radar ER A typical radar sensor emits radio beams that bounce off the ground and computes ground speed based on the speed at which objects are passing in front of the sensor The output of the sensor is a digital pulse the frequency of which is proportional to the vehicle s ground speed This is often used in agricultural applications such as planting and spraying The SMARTS 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 e Response Mode Specifies how quickly changes in velocity are reflected in the frequency output Setting a slower response mode reduces spikes noise in the velocity but increases latency Setting a higher response mode reduces latency
88. to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SMART6 User Manual Rev 3 75 C 2 2 TILT Compensation Tilt Compensation affects existing logs as follows e NovAtel logs that provide the Extended Solution Status field BESTPOS 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 GPGGALONG logs the precision of various fields indicates whether the Tilt Compensation is being applied C 2 3 VERSION HWand SW Versions and Serial Numbers The Component Type of the VERSION log refer to the OEM6 Family Firmware Reference Manual is extended to include SMARTS information as in Table 15 Component Table 15 Component Type Binary Value ASCII Value Description 0 UNKNOWN Unknown Component 1 GPSCARD OEM6 GPSCard Component 3 ENCLOSURE SMARTS6 Receiver 8 USERINFO User application information component 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 4 lt gpscar
89. tor 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 66 for instructions on how to set the height in the SMART The height must be saved after the height command is sent This must be done so the height data is saved between power cycles Instructions on sending the save command are outlined in Section B 6 PMDT Configure Tilt Compensation on page 66 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 SMARTE6 User Manual Rev 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 SMARTO Refer to Section B 6 PMDT Configure Tilt Compensation on page 66 for instructions 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 66 SMART User Manual Rev 20 3 1 Before operating the SMART for the first time ensure the installation instructions in Chapter 2 Installation and Setup were followed It
90. ual COM1 port virtual port 1 1 31 1bf 447 Virtual COM1 port virtual port 31 XCOM2 2a0 672 Virtual COM2 port virtual port 0 2 1 2 1 673 Virtual 2 port virtual port 1 2 31 2bf 703 Virtual 2 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 SMARTSO User Manual Rev 65 B 6 PMDT Configure Tilt Compensation Use this command to configure the Tilt Compensation function Syntax SPMDT command parameters cksum Host Description Command Format Tilt Sensor Response Set GPS To set the GNSS sensor height in feet and Response to the u command Sensor Height inches PMDT lt GNSS sensor height PMDT u ff ii cksum lt cr gt lt lf gt inches nnnnn lt cr gt lt lf gt Example To set the GNSS sensor height to where nnnnn is a five digit integer sensor 12 ft 6 in the command is height in inches PMDT u 12 6 4D In this example the Tilt Sensor response is Note Feet and inches are entered as PMDT lt GNSS sensor height inches integers You can enter feet and inches but 00150 not feet inches and metres To set the GNSS sensor h
91. uth code is issued The auth code is required to unlock the features on the new model type To upgrade to a new model with the same firmware version use the AUTH command with the issued auth code as outlined in Upgrading Using the AUTH Command To upgrade to a new model with a new firmware version the new firmware needs to be loaded into the SMARTS6 receiver Refer to Section 5 3 Updating or Upgrading Using the WinLoad Utility page 43 for use instructions or Section 5 4 Updating Using SoftLoad Commands on page 45 There are two types of auth codes e Standard auth codes which are tied to a model serial number and firmware version Signature auth codes which are tied only to a model and serial number When upgrading to a new version of firmware the Standard auth code for the old version of firmware will not work with the new version of firmware Therefore a new auth code is required for each receiver that is upgraded However Signature auth codes work with any signed firmware image Therefore if a receiver has a Signature auth code for the old version of firmware that same auth code will work for the new version of firmware provided both images are digitally signed by NovAtel Signature auth codes require firmware version OEMO60200RNO0000 6 200 or later and boot code version 060200 0000 6 100 or later Signed firmware images are distributed in shex files while unsigned firmware images are distributed in hex
92. ution Status on Enum 4 H page 74 3 vel type Velocity type see Table 13 Position or Velocity Enum 4 H 4 Type on page 74 speed Speed over ground m s Double 8 H 8 varf freq External VARF output frequency Hz Double 8 H 16 radar freq Radar signal frequency Hz as output by the Double 8 H 24 Emulated Radar Out signal See Section B 7 RADARCFG Configure the ER Output on page 67 6 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 32 7 CR LF Sentence terminator ASCII only SMARTE6 User Manual Rev 73 Table 13 Position or Velocity Type binary Type ASCIl Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT AUTO command 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED Propagated by a Kalman filter without new observations 32 L1_ FLOAT Floating L1 ambiguity solution 33 IONOFREE_FLOAT Floating ionospheric free ambiguity solution 34 NARROW_FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution Binary Table 14 Solution Status Solut
93. w nmea org 2 2 5 Tilt Compensation The SMARTS Tilt Compensation feature corrects for errors in position caused by tilting of the vehicle Refer to Tilt Compensation on page 32 for a detailed description of the Tilt Compensation feature To fully install and set up tilt compensation 1 Mount the SMARTE6 on the vehicle 2 Measure set and save the height of the SMART from the ground 3 Level the tilt sensor and save the data Refer to PMDT Configure Tilt Compensation on page 66 for height level and update commands SMARTSO User Manual Rev 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 SMART Installation Figure 6 SMART6 Installation SMART6 A The SMART6 must be mounted with the connector facing the rear of the vehicle as shown in Figure 7 SMART6 Orientation Figure 7 SMART6 Orientation _ Orient toward the front of vehicle Route cable toward back of vehicle The SMART6 must be rigidly secured to the vehicle to minimize errors due to vibration and motion 2 2 5 2 Height Measurement and Configuration The height measurement should be made while the vehicle has the correct tire pressure and is parked on a hard packed and level surface The measurement should be made from the ground to the bottom of the SMARTS connec

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