ReACT User Manual - Forsberg Services
Contents
1. 7 3 4 Special Note It is recommended that THISPORT is used whenever applicable The FSL ReACT D5 model utilizes an internal connection to the GNSS COM2 port Therefore any commands sent through GPS COM1 or GPS COM3 that will affect the configuration could reduce functionality When connected to either GPS com port the following commands should be avoided UNLOGALL If UNLOGALL is sent to a GPS com port it will stop the output of commands on all GPS com ports and all of the EDGE com ports UNLOG If UNLOG is sent to GPS com port it will stop the output of the specific command on all GPS com ports and all of the EDGE com ports COM COM2 GPS COM2 has been specifically configured for communicating with the FS D5 and changing the baud rate of GPS COM2 will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function INTERFACEMODE COM2 As with the COM command the INTERFACEMODE command on COM2 may cause a loss of comms FRESET RESET These commands will reset the GPS receiver to its original state and will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function The ReACT D5 will recover after a power cycle A0072 09 0016 Page 21 Forsberg Services Ltd ReACT User Manual V1 00 7 3 5 EDGE Ports E1 E2 and E3 7 3 5 1 NovAtel Logs Any standard NovAtel command in any OEM4 or later series format is suppor2. FORSBERG ReACT User Manual A0072 09 0016 Version 1 00 18 June 2012 FORSBERG SERVICES LTD RICHMOND HOUSE WHITE CROSS LANCASTER LA1 4XF UNITED KINGDOM TEL 44 0 1524 383320 FAX 44 0 1524 382939 THIS DOCUMENT IS THE PROPERTY OF FORSBERG SERVICES LIMITED It is issued for the information of such persons only as need to know its contents in the course of their work Any person finding this document should contact FORSBERG SERVICES Limited for its safe return to the address on this page with particulars of how and where found ReACT User Manual V1 00 Related Documents Document No Document Title OM 20000129 OEME Family Firmware Reference Manual L OM 20000127 OEMStar Family Firmware Reference Manual Version Record Issue Change Notes Date 18 06 2012 Authorisation Authorisedby Date 18 06 2012 A0072 09 0016 Page 1 O Forsberg Services Ltd ReACT User Manual V1 00 i Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of FORSBERG SERVICES Limited The information within this document is understood to be true and correct at the time of publication Should you have any observations concerning this manual please contact FSL Forsberg Services Limited Richmond House White Cross Lancaster Lancashire LA1 4XF United Kingdom Tel 44 0 1524 383320 Fax 44 0 1524 382939 E mail support for
3. OEMV Family Firmware Reference Manual to locate the required data Note the log that the data is stored under 2 Click the required log in GPS data field to expand variables contained within the log Select the required variable and click ADD 4 The variable will be added to the selected CAN frame wa A0072 09 0016 Page 30 Forsberg Services Ltd ReACT User Manual V1 00 GPS Data Build Frame for F ALMANAC Frame ID Lata Rate H AVEPOS 3 1106 ah is BESTPOS A gt BESTUTM Variables a BESTYEL ee Transmission Precision Brief Description l s BESTWEL Velocity over ground Double Velocity Latency TT Lag time for differential solutiot Velocity over ground Compass direction of travel a lt lt Remove Figure 16 Adding variables When the variable is added to the CAN frame it will be displayed at the top of the Variables field This displays the variables contained in the CAN frame data field 7 5 5 5 Altering Frames Once a CAN frame has been populated with the required variables their position within the frame can be altered By changing the position of the variable within the frame the precision of the variable will be adjusted By a rule if a frame has 3 variables in its data field the first variable will have the highest precision Adjusting Variable Positions To move a variable position within a frame 1 Select data by clicking on the variable name 2 Use the Move Up Move
4. Down buttons to shift the variable s position Variables Variables Variables Transmission Transmission Move Up Transmission Name Precision Name Precision Name Precision 4 4 Remove Move Up_ Move Down lt lt Remove Move Up lt lt Remove Move Up Figure 17 Variable positioning NOTE When 3 variables are contained within the data field moving a variable may affect the precision In a 3 variable set the first variable will have single precision and the next two will have half precision 7 5 5 6 Removing a Variable If a variable is required to be removed from a frame 1 Click on the desired variable name 2 Click Remove 3 The variable will no longer be in the data field A0072 09 0016 Page 31 Forsberg Services Ltd ReACT User Manual 1 00 GPS Data Build Frame for E ALMANAC Frame ID Data Rate H AVEPOS a fe 1 de H BESTPOS BESTUTM Warablezs Transmission Er BESTWEL Mame Precision Brief Description 1 BESTYEL Velocity over ground Double Velocity Latency Lag time for differential solution 2 Velocity over ground Compass direction of travel lt lt Remove Figure 18 Removing a variable 7 5 5 7 Frame Display Once a frame has been committed the information for that frame will be shown in the display area The display shows Offset Variable precision in brackets SIBESTPOS pos type HIBESTPOS lat HJBESTPOS lon S IBESTUTM nothing SJBEST
5. data through selected CAN ports The ReACT D5 contains a GNSS receiver and provides a range of GNSS data through NovAtel messages This data can be used to build specific CAN frames The PC CANConfig Software provides a user interface for creating CAN frame configurations It is used as a configuration utility for creating a list of CAN frames that will be transmitted to the EDGE CAN firmware This utility allows practically any field from a standard NovAtel GNSS message to be selected as data used in a CAN frame The CAN ID s are represented by a numerical value and are selected before editing Once each CAN frame has been created the configuration settings are sent to any of the EDGE E serial ports The EDGE CAN firmware will build and populate the CAN frames with the requested data and send the CAN frames through the CAN port at the selected rate 7 5 2 CAN Protocol The CAN protocol used on the EDGE CAN system is the extended frame format with a fixed number of 8 bytes in the data field e There is no provision for flow control device addressing and exchange of data of more than 8 bytes e These layers of the protocol are overlaid by using a standard such as CANOpen which is not implemented in this system e The CAN bit rate is controlled using the CANConfig software e Frames are transmitted at a rate determined by the PC configuration software 7 5 3 Extended CAN Frame Format The extended CAN frame format is as follows Field
6. name Length bits Purpose Start of frame Denotes the start of frame transmission Identifier A a First part of the unique identifier for the data PUDSERULE E more re Oe Must be recessive 1 optional SRR Identifier extension bit IDE PRES Must be recessive 1 optional Identifier B 18 Second part of the unique identifier for the data R pit transmission request se Mie be dominant 0 h Reserved bit tori E Reserved bits it must be set dominant 0 but accepted as either dominant or recessive Data length code DLC Cu Number of bytes of data 0 8 bytes Data to be transmitted length dictated by DLC field Data field 075 pyres Data is selected II the CANConfig PC application qero I5 Cvclic redundancy chek CRC delimiter 1 Must be recessive 1 Transmitter sends recessive 1 and any receiver can assert a ACK slot 1 X 1 y dominant 0 ACK delimiter Must be recessive 1 End of frame EOF Must be recessive 1 The two identifier fields A amp B combined form a 29 bit identifier A0072 09 0016 Page 28 Forsberg Services Ltd ReACT User Manual V1 00 7 5 4 CAN Data Field Configuration and Content The EDGE CAN firmware provides the facility to configure the data field CAN frames can be configured to contain NovAtel GNSS Logs In this context a CAN frame is the low level frame consisting of a header numerical ID and 8 bytes of NovAtel data The user specifies the frequency at which each the CAN
7. receiver options and therefore an accompanying manual will be provided for specific receiver operation 5 2 ReACT Overview The Forsberg Services Ltd FSL ReACT Receiver Antenna Compact Technology is a compact rugged enclosure including a high quality GNSS receiver antenna and optional DSP module ReACT has been designed for compatibility with NovAtel s OEMStar OEMV 1 and OEM615 GNSS receivers This family of receivers offer a range of functionality that can be controlled through firmware upgrades The antenna fitted inside the system will be tuned for use with GPS L1 G GPS L1 and GLONASS L1 R or GPS L1 L2 D This option is controlled through hardware and is non upgradeable in the field The unit is available in three model types 5 3 ReACT D5 The D5 model is the enhanced model of the ReACT by combining a GNSS receiver and antenna with our FS D5 processor module This provides enhanced functionality and additional 1 0 through our range of EDGE WARE products A metal 19 pin Fischer connector is provided for access to I O FSL provide cable options with the system Connectivity Strobes e 1 x configurable RS232 422 serial port e PPS e 1 x RS232 serial port or USB 3 x virtual RS232 ports mom e 3 x EDGE RS232 serial ports e VARF e 1 x EDGE CAN port 5 4 ReACT NS The NS model combines a GNSS receiver and antenna into a single enclosure This model provides direct comms to the GNSS receiver A metal 19 pin Fischer co
8. window and allows for the data log to be created and modified A0072 09 0016 Page 23 O Forsberg Services Ltd ReACT User Manual V1 00 ul Packet Creation Utility 5 3 Packet Name TESTMSG x x Extended solutic Reserved GPS and GLON BESTUTM BESTVEL G BESTXYZ m_ACI NYY7 lt BAT Figure 10 Log Creation Utility 7 4 3 1 NovAtel Data The NovAtel data panel shows the full list of data logs available for selection from the NovAtel GNSS receiver Data availability is subject to your GNSS receiver model for example the PVT model does not provide access to RANGE and other raw data If in doubt please contact support forsbergservices co uk for assistance To add a data field to the log double click on the required field and it will appear in the custom message To remove a data field click the remove button x beside the data field 7 4 3 2 Adding NovAtel Data Once added there are multiple options for configuring and tailoring the data field for use The first step is to select whether the required data is in ASCII or binary format 7 4 3 2 1 Type The data field below shows the options presented for editing an ASCII or binary field Data Type Precision Scale Format Seperator Rounding factor 7 4 3 2 1 1 Precision The precision of the data can be adjusted using the increase and decrease controls on either side of the display box Increase
9. 1 REACT NS 232 CA adi s 17 6 4 REACTINS Cae ht Aa LA Ni in ete 18 641 Mechanical DIMENSIONS ist A REIS AE tn AS dd nek 18 6 4 2 CONNECUVIDOVeNVIeW es aa dd ask 18 643 MOUDUNG PONES iia 18 oda A ee E Ao ee EU D on 19 7 REACT D5 EDGE WARE csccsccsssssssccsssssccccssssessscsssssescecssessescesssssessensensees 20 7 1 ONS OW assess E A GE GE ne tn coa 20 7 2 Mod le S koi Das adis da RA A Rosalia 20 Z2 O Sade eee ne ajn i a dk 20 GAZ EDO CONS vtisaj ja A at da ii 20 ALS EDGE CAN RES ADS E ES AJ S de 20 7 3 EDO PIE RS aca 21 7 3 1 QV CIVIC Wind ssa 21 32 NOVATEL FirmWare ias data 21 133 INOVATOLRORES dos 21 LIT PEC NOME a 21 7 35 EDGE POTES EL EZADO ES AA tn A A i be ae tee 22 7 3 5 1 NOVATtelEGBS N O ee 22 A0072 09 0016 Page 3 Forsberg Services Ltd 7 3 5 2 7 3 5 3 7 3 5 4 7 4 3 1 7 4 3 2 7 4 3 2 1 7 4 3 2 2 7 4 3 3 7 4 3 4 7 4 3 5 7 4 3 6 7 4 3 7 7 4 3 8 7 4 3 9 7 4 3 10 7 4 4 Port Configuration FSLSAVECONFIG FSEFRESET ans nes na FSLLOG VERSION 7 3 6 Bandwidth Monitoring 7 4 EDGE COM 7 4 1 Overview 7 4 2 COMConfig PC Application 7 4 3 Create a New Log NovAtel Data rias Adding NovAtel Data TYG ratte e ra ara nine Applying a Rule to the Data Constan Check saeta o dvo bla Assigning a Log Name Preview Window Adjusting the Order e BYTE Ses eg REEE O id ono 7 4 5 Selecting data output 7 5 EDGE CAN 7 5 1 Overview 7 5 2 CAN Protocol 7 5 3 Extended CAN Frame Format 7
10. 3853583833 TT DR Sendocomjuji Comcel ReACT D5 PC El gt RS232 RS232 E2 RS232 E3 RS232 CAN CAN Frames Figure 15 ReACT PC CANConfig connection 7 5 5 2 Selecting a Frame ID Each CAN frame is identified by a numerical value When setting a CAN frame select the ID of the CAN frame using either the arrow buttons or by manually entering the value Once the CAN frame has been selected the frame build display will show the information relating to the CAN frame If the CAN frame is empty then no data will be displayed and if it is populated the variable data will be displayed 7 5 5 3 Data Rate The data rate is the frequency at which each CAN frame is output of the CAN port This can be set using the data rate field Selection Meaning This will define how many times the data is output per second A value of 1 signifies that the frame will be passed every second and a value of 5 will indicate the frame will be passed every 5 seconds Numerical Value Select using drop down box 7 5 5 4 Selecting Variables The data available to build a CAN frame is contained within the GPS Data field The GPS Data field works in a tree like structure The display shows the list of logs that are available through the NovAtel receivers Within their associating logs the variables are contained To Add a Variable to the CAN Frame 1 Use the NovAtel
11. 5 4 CAN Data Field Configuration and Content 7 5 5 CANConfig PC application Connecting to the ReACT 7 5 5 1 7 5 5 2 ASAS 7 5 5 4 7 5 5 5 7 5 5 6 Lol 7 5 5 8 15 59 7 5 5 10 7 5 5 11 7 5 5 12 1 9 9 13 7 5 5 14 A0072 09 0016 Selecting a Frame ID Data Rate asin cci Selecting Variables Altering Frames Removing a Variable Frame Display misrin nin Adding the Frame Bandwidth Usage Saving the Configuration Selecting the CAN Baud Rate Committing the Configuration Closing the Application A A din as O Forsberg Services Ltd ReACT User Manual V1 00 Page 4 ReACT User Manual V1 00 The following notices apply to the ReACT 1 1 CE Notice The ReACT GNSS system enclosures carry the CE mark in accordance with EN ISO EC 17050 1 2004 1 2 Environmental Standards The ReACT GNSS system has been tested to the following standards Temperature Operating procedure Il MIL STD 810F method 502 4 32 C MIL STD 810F method 501 4 75 C Temperature Storage procedure I MIL STD 810F method 502 4 40 C MIL STD 810F method 501 4 85 C Humidity MIL STD 810F method 507 4 procedure 1 cycle 1 Water Immersion MIL STD 810F method 512 4 IEC 60529 IPX7 Salt Fog MIL STD 810F method 509 4 48 hours Sand and Dust MIL STD 810F method 510 4 Fluids Susceptibility MIL STD 810F method 504 24h 50 C in hydraulic fluid C635 hydraulic fluid H540 fuel F 50 fuel F 54 Vibration MIL STD 810F method 514 5 catego
12. Manual V1 00 6 ReACT Installation and Set up 6 1 Power The ReACT GNSS system requires an input supply voltage between 9 VDC and 36 VDC 6 2 ReACT D5 6 2 1 Mechanical Dimensions Dimensions 116 mm x 116 mm x 85 mm Weight 600 g 6 2 2 Connectivity overview GNSS COM 1 RS232 or RS422 Pwr VARF 9 36V EVENT2 PPS GNSS COM3 El RS232 or USB RS232 EDGE Output E2 EDGE Output EDGE Output al EDGE Output Figure 1 ReACT D5 Connectivity Overview A0072 09 0016 Page 12 Forsberg Services Ltd ReACT User Manual 1 00 6 2 3 Mounting Points The ReACT D5 comes with two mechanical mounting options 3 x M6 screw points for vehicle mounting 1 x 5 8 thread for centre pole mounting 3x M6 x 12 Deep O O 7 gt 44 450mm Yo f K N K 7 a M e SO ren JD Na if 4 es i x7 IM Y ba AP Sat TU a pi be F 120 Figure 2 Mounting options for ReACT D5 6 2 4 Connector and Pinout Description Fischer Part Number j UltiMate 19 Way Panel Mounted Socket URO2W11 F019P BK1 E1AA Pin Signal Description COM3 TXD USB D N M USB 2 COM3RXD USB_D pai 3 EDGECANHigh E WARE CAN a EDGE CAN Low ad ee E3 TXD EDGE COM E3 RXD ZA E2 TXD EDGE COM2 E2 RXD u E1 TXD E1 RXD dinaja GNSS PPS GNSS PPS strobe GNSS EVENT2 GNSS Event In strobe GNSS VARF GNSS Variable frequency strobe COM1 TXD TX COM1 TX N M1 RS232 or RS422 COMA RXD Re inj
13. T 7 5 5 13 Closing the Application To exit the application select the x in the top right hand corner of the application 7 5 5 14 Cancel To cancel all work on the configuration and quit the application without saving select Cancel A0072 09 0016 Page 33 O Forsberg Services Ltd
14. UNF screw points for vehicle mounting 3xM6x12Deep 3x10 32 UNFx12Deep Figure 8 ReACT NSc mounting options A0072 09 0016 Page 18 Forsberg Services Ltd ReACT User Manual V1 00 6 4 4 Pinout Description _ Flying leads Colour Signal Description White COM3 TXD USB_D GNSS COM 3 or USB Green COM3 RXD USB_D a Green Red neo S Re E No conne Yellow Blue IN R N Yellow Red pwc Nm N A NC Y NAAA Orange GNSS PPS GNSS PPS strobe Pink GNSS EVENT2 GNSS Event In strobe Turquoise GNSS VARF GNSS Variable frequency strobe COM TXD TX Violet COM1 TX GNSS COM 1 RS232 or RS422 COM RXD Ax pan COMI RX a Red 936V Power Input Shield Signal Ground Z2iZ2 2 Z AIAIAIO Z 2Z NA NC a 16 Z O A0072 09 0016 Page 19 Forsberg Services Ltd ReACT User Manual V1 00 7 ReACT D5 EDGE WARE 7 1 Overview EDGE WARE is the name given to the firmware operating on the ReACT D5 model EDGE WARE consists of EDGE modules for providing additional functionality Some modules are controlled through a license system Please contact FSL support for any questions and for further detail on how to activate a license 7 2 Modules As standard EDGE WARE consists of the following modules 7 2 1 EDGE PLX EDGE PLX allows an additional three GNSS com ports and introduces the NovAtel firmware command interface This module is designed to bring extra serial ports for addi
15. UTM easting SIBESTUTM undulation SJBESTUTM daturn idi IHIBESTUTM M HIBESTUTHE HIBESTUTM hgt s HIBESTUTM stn id Figure 19 CAN Frame display The display is used to show details of each CAN frame and also as a means of quickly accessing and editing a desired frame A frame can be selected to edit from this display by double clicking on the frame line 7 5 5 8 Adding the Frame Once a CAN frame has been created it can be added to the configuration Click the button add frame at the bottom of the application The CAN frame will then appear in the display area 7 5 5 9 Bandwidth Usage The CAN and processor bandwidth usage bars provides an indication to whether the selected data can be output at the required rate CAN Bandwidth Usage Processor Bandwidth Usage 7 5 5 10 Saving the Configuration Checking the SAVECONFIG check box will ensure that the configuration is saved through a power cycle until the configuration is overwritten by saving another configuration 7 5 5 11 Selecting the CAN Baud Rate The baud rate for the CAN port can be selected using the drop down box A0072 09 0016 Page 32 Forsberg Services Ltd ReACT User Manual V1 00 7 5 5 12 Committing the Configuration Once the configuration has been fully compiled it can be sent to the ReACT Go to the Send to Com button and enter the PC com port that the ReACT is connected to Press the button and the configuration command will be issued to the ReAC
16. decrease number of digits after the decimal point Increase decrease number of digits before the decimal point 7 4 3 2 1 2 Scale The value in the data field can be scaled using this field An example of its use is to represent the 1 sigma Latitude standard deviation to 2 sigma Applying a scale of 2 00 would provide the correct value A0072 09 0016 Page 24 O Forsberg Services Ltd ReACT User Manual V1 00 7 4 3 2 1 3 Format The format selection has been added for amending the latitude and longitude fields specifically The selection can be left as the default decimal degrees or set with decimal minutes or decimal seconds 7 4 3 2 2 Applying a Rule to the Data The data field can also be used to add data based on a rule set Data Type Rule Value Then Result Else Result x lat RULE loo then y else lt 7 4 3 2 2 1 Rule The following rules can be applied to the data measured against the inserted value Data greater than the value gt Data greater than or equal to the value gt Data equal to the value Data less than or equal to the value lt Data less than the value lt 7 4 3 2 2 2 Then This is the result that will show if the rule is matched 7 4 3 2 2 3 Else This is the result that will show if the rule is not matched 7 4 3 3 Constant The Constant field provides a text field to add your own constant parameter For example th
17. e e COM1 RX a 9 36V Power Input Shield Signal Ground A0072 09 0016 Page 13 O Forsberg Services Ltd ReACT User Manual 1 00 6 2 5 Terminated 1 0 Cable 6 2 5 1 ReACT D5 232 Cable Label Description 0 Free Plug Fischer UPO1L11 BB Free plug 9 way D type male moulded connector Free plug 9 way D type female moulded connector Lo Un terminated wires Cable 20 way shielded 4 5m total length Cable 5 way shielded 0 5m total length Figure 3 ReACT D5 232 Cable assembly Description Fischer Part Number UltiMate 19 Way Plug UPO1L11 MO19S BK1 Z1ZA Pin Signal Description Terminated to Flying Lead colours COM3 TXD USB_D GNSS COM3 RS 232 Connector C 2 Pin 2 White COM3 RXD USB_D Or GNSS USB Connector C 2 Pin 3 GNSS CAN High Connector B Pin 7 Green Red EDGE WARE CAN port GNSS CAN Low ia Connector B Pin 2 Red Black EDGE3 TXD Connector C 5 Pin 2 Yellow Blue EDGE COM3 6 EDGE3 RXD Connector C 5 Pin 3 Yellow Red EDGE2 TXD Connector C 4 Pin 2 White Blue EDGE COM2 8 EDGE2 RXD anes Connector C 4 Pin 3 White Red 9 EDGE1TXD Connector C 3 Pin 2 Red Blue EDGE COM1 EDGE1 RXD oka Connector C 3 Pin 3 Red Brown GNSS PPS GNSS PPS strobe D un terminated GNSS EVENT2 GNSS Event In strobe D un terminated GNSS VARF GNSS Variable frequency D un terminated strobe COM1 TX GNSS COM1 RS232 or RS422 DC Power Return Di untermnated 9 36VDC Power Input D un terminated Red Connec
18. e plug 9 way D type Male moulded connector Free plug 9 way D type Female moulded connector Un terminated wires Cable 20 way shielded 4 5m total length Cable 5 way shielded 0 5m total length Figure 6 ReACT NS 232 Cable assembly _Description __ Fischer Part Number UltiMate 19 Way Plug UPO1L11 MO19S BK1 Z1ZA Pin Signal Description Terminated to Flying Lead colours COM3 TXD USB_D GNSS COM3 RS 232 Connector C 3 Pin 2 COM3 RXD USB_D Or GNSS USB Connector C 3 Pin 3 GNSS CAN High Connector B Pin 7 GNSS CAN Low 9 AMBA Connector B Pin 2 COM2 TXD Connector C 2 Pin 2 Yellow Blue 6 COM2RXD ON Connector C 2 Pin 3 Yellow Red CONFIG TXD ee 8 CONFIG RXD D neo R N A GNSS PPS GNSS PPS strobe D un terminated GNSS EVENT2 GNSS Event In strobe D un terminated GNSS VARF GNSS Variable frequency D un terminated Turquoise strobe GNSS COM1 RS232 or RS422 _ D un terminated Red l Connector B Pin 3 Black Link to Shield A0072 09 0016 Page 17 Forsberg Services Ltd ReACT User Manual 1 00 6 4 ReACT NSc 6 4 1 Mechanical Dimensions Dimensions 116 mm x 116 mm x 79 mm Weight 600 g 6 4 2 Connectivity Overview I GNSS COM 1 EVENT2 RS232 or RS422 GNSS COM 3 VARE RS232 or USB PPS Pwr 9 36 VDC Figure 7 ReACT NSc Connectivity Overview 6 4 3 Mounting Points The ReACT NSc comes with two mechanical mounting options 3 x M6 screw points for vehicle mounting 3 x 10 32
19. e to follow prescribed installation operating and maintenance procedures ll Defects errors or non conformities in the products due to modifications alterations additions or changes not made in accordance with FSL s specifications or authorised by FSL III Normal wear and tear IV Damage caused by force of nature or act of any third person V Shipping damage or VI Service or repair of product by the user without prior written consent from FSL In addition the foregoing warranties shall not apply to products designated by FSL as beta site test samples experimental developmental preproduction sample incomplete or out of specification products or to be returned products if the original identification marks have been removed or altered The warranties and remedies are exclusive and all other warranties expressed or implied written or oral including the implied warranties of merchantability or fitness for any particular purpose are excluded FSL shall not be liable for any loss damage expense or injury arising directly or indirectly out of the purchase installation operation use of licensing or products or services In no event shall FSL be liable for special indirect incidental or consequential damages of any kind or nature due to any cause A0072 09 0016 Page 6 O Forsberg Services Ltd ReACT User Manual V1 00 3 ReACT D5 Model Functionality Notice 3 1 Important Functionality Note The FSL ReACT D5 model u
20. frames will be output 7 5 5 CANConfig PC application The CANConfig PC application provides the functionality to create the custom CAN frame data CANConfig runs on a Windows PC and sends the configuration to the ReACT through one of the EDGE E com ports CanConfig v1 03 2008 Forsberg Services Ltd File 101 1 275 byOs DIBESTPOS lat 102 1 27 by Us DJBESTPOS lon GPS Data Build Frame for en MES Log Config v1 03 Frame ID Data Rate H Timing I 103 fi zl E IHDR I E ALMANAC Variables H AVEPOS i Mame Precision Ey BESTPOS BESTPOS lat sd i ie gol status 2 BESTPOS lon sd Sin Lan Transmission Modify Configuration Remove Move Up Move Down Add Frame Delete Frame CAN Bandwidth Usage MICRO pod Bandwidth Usage Configuration Options kw FSLSAVECONFIG Bit rate Ebite sec CNT 21600 11 bit HDA Send to COM E Cancel Figure 14 CANConfig User Interface 7 5 5 1 Connecting to the ReACT The CANConfig PC software requires a serial connection to one of the ReACT EDGE ports to apply the CAN port configuration Note Currently EDGE WARE does not support CAN commands direct to the CAN port A0072 09 0016 Page 29 O Forsberg Services Ltd ReACT User Manual V1 00 DID 5 SEL E anConfi eo eo eo eo eo 1 eo eo Jen eo eo e0 eo ata s 22332 22000 N saagaeaaaess E SIETE CRE BSSSSSESSS SSS t mmmmmmmmmezszl i agga 333
21. is can be a comma used to separate data logs or a header field to identify the message 7 4 3 4 Checksum The Checksum button will add either an NMEA or NovAtel checksum to the data 7 4 3 5 ID Each message is automatically assigned a unique ID used by the application 7 4 3 6 Assigning a Log Name This is a unique name that will be used to identify the data log This name is not built into the log it is used to identify the message within the EDGE COM application To add the name to the log use the Constant input button ID 30578 Packet Name TEST MSG Figure 11 Assign a Log name 7 4 3 7 Preview Window The preview window shows the current message and provides a preview of how the message will look TESTMSG 00 000 00 000 00 000 XX Figure 12 Preview window A0072 09 0016 Page 25 Forsberg Services Ltd ReACT User Manual 1 00 7 4 3 8 Adjusting the Order Each data field can be re ordered using the up and down arrows Order Figure 13 Order buttons 7 4 3 9 Total Bytes The total size of the data log is shown towards the bottom right of the screen This provides an indication of the message size and can be used for determining transmission and latency effects 7 4 3 10 Saving Total Bytes The custom log can be saved using the disk 88 Li 7 4 4 Port Configuration The EDGE WARE com ports can be configured through the Port Configuration Utility page Select the Port Configuration button on the mai
22. logs at too high a rate buffer overruns will occur The receiver will automatically indicate that this is occurring in the Receiver Status field of any NovAtel format message The firmware will not however attempt to monitor bandwidth A0072 09 0016 Page 22 Forsberg Services Ltd ReACT User Manual V1 00 7 4 EDGE COM 7 4 1 Overview EDGE COM has been introduced to allow users to create their own data messages from the NovAtel GNSS database This allows for unique functionality to quickly adapt ReACT to interface to existing equipment and can be used to reduce data latency 7 4 2 COMConfig PC Application The COMConfig PC application provides the interface for controlling creating modifying and removing your bespoke data messages File Tools Settings Help INFO Loaded message GPGBS oS INFO Loaded message GPGGA A INFO Loaded message GPGLL y E INFO Loaded message GPGST A INFO Loaded message GPRMC INFO Loaded message GPVTG MTAA Fand ee Dur m1 Message GPGGA2 L COM Port Data Rate s Active On Startup M 7 4 3 Create a New Log A new log can be created by selecting the Create a new log icon This will open the Log Editor window which displays the existing logs stored by COMConfig Any of these logs can be used or modified To create a new log from a blank canvas select the Create a new log button This will open the Log Creation Utility
23. n screen Use the drop down boxes to select the serial parameters that are required and save to the device ag Port Configuration Utility Baud Rate Data Bits Stop Bits Flow Control 9600 None y 9600 None M None v H 7 4 5 Selecting data output Once the data logs have been created and the com ports have been configured data output can be controlled using the main window Using the Log drop down box select the data log required Select the com port which will output the data log A0072 09 0016 Page 26 Forsberg Services Ltd ReACT User Manual V1 00 Finally select the rate at which the data log will be output _ MESSAGE Message GPGGA2 TE COM Port Pi M Data Rate s HST oO PC COM Active On Startup M I Add the log to the list using the add button a Once the full configuration has been built it can be sent to the ReACT Select the PC com port to which the ReACT EDGE com port is connected to and press the send button The terminal window will display the status of the message FSLCOMLOG P1 ONTIME 10 T1 101 35 UNT1 101 36 UNT4 0 001 42 8 DM_D 42 8DM_M 42 8 GEQS 0 07N 5 42 16 D The data shall start to output from the chosen com ports A0072 09 0016 Page 27 O Forsberg Services Ltd ReACT User Manual V1 00 7 5 EDGE CAN 7 5 1 Overview The EDGE CAN module provides additional functionality for the ReACT D5 unit to output customised CAN frames with NovAtel GNSS
24. nnector is provided for access to 1 0 FSL provide cable options with the system Connectivity Strobes e 1 x configurable RS232 422 serial port Configured at factory e PPS e 1 x RS232 serial port e Event in e 1 x RS232 or USB 3 x virtual RS232 ports Configured at factory e VARF A0072 09 0016 Page 9 O Forsberg Services Ltd ReACT User Manual 1 00 A0072 09 0016 Page 10 Forsberg Services Ltd ReACT User Manual V1 00 5 5 ReACT NSc The NSc model provides the same functionality as the NS with a centre mount cable A metal 19 pin Fischer connector is provided for access to 1 0 Connectivity Strobes e 1 x configurable RS232 422 serial port e PPS e 1 x RS232 or USB 3 x virtual RS232 ports e Event in 5 6 EDGE WARE The ReACT D5 model is capable of running EDGE WARE a firmware product developed by FSL This firmware provides additional functionality and 1 0 More details of the EDGE WARE functionality and modules are provided later in this document 5 7 Included in the Kit The ReACT system comes with 1 x ReACT GNSS System 1 x USB drive with 1 x ReACT Manual 1 x NovAtel GNSS Firmware Manual Due to the range of applications and bespoke requirements the ReACT D5 and NS do not come with an I O cable This may be ordered separately and can be provided as a terminated cable or to flying leads with either a straight or right angled Fischer connector A0072 09 0016 Page 11 O Forsberg Services Ltd ReACT User
25. ry 20 MIL STD 810E method 514 4 tbl 514 4 AXVII Shock MIL STD 810F method 516 5 procedure I IV Electrostatic Discharge ESD IEC 61000 4 2 level 2 4 KV Electromagnetic Compatibility EMC MIL STD 461F Ground Army FCC Class A European CE 89 EEC EN 55022 Class B EN50082 1 Ultraviolet Light Protection MIL STD 810F method 505 4 1 3 RoHS Notice The ReACT is compliant with the European Union EU Restriction of Hazardous Substances RoHS Directive 2002 95 EC A0072 09 0016 Page 5 O Forsberg Services Ltd ReACT User Manual V1 00 2 Warranty Information Forsberg Services Ltd Warranty Policy Forsberg Services Ltd FSL warrants that the navigation products manufactured by FSL are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time ReACT One 1 Year from the date of sale Software Support One 1 Year from the date of sale Date of sale shall mean the date of the invoice to the original customer for the product FSL s responsibility respecting this warranty is solely to product replacement or product repair at an authorized FSL location only The FSL warranty does not extend to the following Non conformities defects or errors in the products due to accident abuse misuse or negligent use of the products or use in other than a normal and customary manner environmental conditions not conforming to FSL s specifications or failur
26. sbergservices co uk A0072 09 0016 Page 2 O Forsberg Services Ltd ReACT User Manual V1 00 Contents E INOUICES ta 5 1 1 A A ne dc 5 1 2 Efvirenimental SEAM GAO Sui 5 1 3 RONS NOCO a e es ea 5 2 Warranty IntormatlON cine iia 6 3 ReACT D5 Model Functionality Notice cccccsccscsccccscscsccccccsceccccccscececcecs 7 3 1 ImportantFunetionality NOC kv en bla 7 3 2 RECOMMEUFING GPS COM Zaiat A bas 7 A Firmware SUPPO enine i EER 8 5 Introduction Aa 9 sd SCODE Las aid ke ass ik s E o ika ae aja ja A s at ie ak 9 5 2 REACT OVER VIC Wi E loo eo eena SR aos 9 5 3 REMETE a toi aja Mo as ko s Moods Dl O A O E oi O O 9 5 4 REA GIs NS Es ije ES ce sd vk 9 5 5 REACTIONS ed ad 11 5 6 EDGE WA RE dicuieo 11 5 7 mMeuded inte c ecos 11 6 REACT Installation and Set Up sssssessesesesecsessssceososessosoeososessososososessosseoeese 12 6 1 POWER 12 6 2 REACT D anaren a dA ea a ao A ra do pi dia s a 12 6 2 4 Mechanica DIMENSIONS ana anal did dore das adna 12 0 22 CORNCCTIVIEV OVETVJEW iaa 12 02253 AMOUNT PONES A vesna oo oat dai dg en vo inat o do o 13 624 E0Onnecrorana PINO UE A aa 13 6 25 Terminated I O CAD dan 14 6 2 5 1 REACTIODS 232 CTD aa daa 14 6 3 REACTN Sado eins 15 63 1 Mechanical DIMENSION Sd dvd 15 032 CONNECT QVECIVICW dadoo E oda rd sj stva ne inst 15 OAS AMOUNTING FONTS jaa ari di il 15 63 4 EONNECtOr ONO PIO UE AA A o ld Le 16 63 5 AG OF A A eu EO Re nt dde es cle ae A ect OP RPT 7 17 6 3 5
27. ted Operators should adhere to the special note regarding COM2 control The EDGE WARE ports have been assigned as EDGE COM1 E1 EDGE COM2 E2 and EDGE COM3 E3 To log to a specific port the required EDGE COM port should be entered following the log command For example LOG E1 GPGGA ONTIME 1 lt Output GPGGA on EDGE COM1 once per second LOG E2 GPGGA ONTIME 1 lt Output GPGGA on EDGE COM2 once per second LOG E3 GPGGA ONTIME 1 lt Output GPGGA on EDGE COM3 once per second Abbreviated ASCll is provided as a human readable interface for convenience while using a diagnostic HyperTerminal session or similar Near simultaneous Abbreviated ASCII commands on multiple ports are unlikely to elicit the expected response The Abbreviated ASCII protocol is not in general recommended for machine based communications applications Abbreviated ASCII logging control LOG and UNLOG commands will always have the desired effect but may not always return the lt OK acknowledgement 7 3 5 2 FSLSAVECONFIG This command saves the current EDGE WARE specific commands to EDGE NVM overwriting the last set of commands similar to the NovAtel SAVECONFIG command 7 3 5 3 FSLFRESET This command clears the EDGE WARE NVM similar to the NovAtel FRESET command 7 3 5 4 FSLLOG VERSION This command will prompt a log that displays the version information of the EDGE WARE firmware 7 3 6 Bandwidth Monitoring If the user requests too many
28. tilizes an internal connection to the GNSS COM2 port Therefore any commands sent through GPS COM1 or GPS COM3 that will affect the configuration could reduce functionality When connected to either GPS com port the following commands should be avoided UNLOGALL If UNLOGALL is sent to a GPS com port it will stop the output of commands on all GPS com ports and all of the EDGE com ports UNLOG If UNLOG is sent to GPS com port it will stop the output of the specific command on all GPS com ports and all of the EDGE com ports COM COM2 GPS COM2 has been specifically configured for communicating with the FS D5 and changing the baud rate of GPS COM2 will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function FRESET RESET These commands will reset the GPS receiver to its original state and will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function A power cycle will recover the unit and allow the FS D5 to reconfigure the receiver 3 2 Reconfiguring GPS com 2 Functionality can be retained using either of the methods outlined below Reconfigure GPS COM2 Connect to GPS COM1 through a PC running Hyperterminal or similar terminal software and send the following commands to the unit COM COM2 9600 8 n 1 n off on INTERFACEMODE COM2 NOVATEL NOVATEL ON SAVECONFIG Power cycle If SAVECONFIG has not been applied remove po
29. tional peripheral devices and connectivity 7 2 2 EDGE COM EDGE COM brings a unique feature to the ReACT in the means of a configurable data message and output Expert users can create their own data messages from the library of receiver data and output their custom messages at a range of output rates 7 2 3 EDGE CAN EDGE CAN brings functionality to the ReACT CAN port Expert users can create their own CAN frames using the library of receiver data and the CANConfig PC utility A0072 09 0016 Page 20 O Forsberg Services Ltd ReACT User Manual V1 00 7 3 EDGE PIX 7 3 1 Overview EDGE PLX has been designed to mimic the functionality of a direct GNSS com port This allows for three additional serial ports to be used on the ReACT for obtaining NovAtel data logs 7 3 2 NovAtel Firmware For specific details of the data available and commands we advise having the NovAtel firmware manual available 7 3 3 NovAtel Ports NovAtel master ports COM1 and COM3 can be used without restriction however NovAtel master COM2 is connected internally to the FS D5 module as shown in the diagram below ReACT D5 NovAtel GNSS Receiver FS D5 Module Figure 9 ReACT D5 GNSS to FS D5 Connectivity Users may issue commands that affect COM2 but should be aware of the special conditions relating to COM2 described below
30. tor B Pin 3 Connector C 1 Pin 5 Connector C 2 Pin 5 Shield Signal Ground Connector C 3 Pin 5 Black Link to Shield Connector C 4 Pin 5 Connector C 5 Pin 5 D un terminated A0072 09 0016 Page 14 Forsberg Services Ltd ReACT User Manual V1 00 6 3 ReACTNS 6 3 1 Mechanical Dimensions Dimensions 116 mm x 116 mm x 85 mm Weight 600 g 6 3 2 Connectivity Overview GNSS COM 1 RS232 or RS422 Pwr 9 36VDC VARE EVENT2 GNSS COM 2 RS232 PPS GNSS COM3 RS232 or USB Figure 4 ReACT NS Connectivity Overview 6 3 3 Mounting Points The ReACT NS comes with two mechanical mounting options 3 x M6 screw points for vehicle mounting 1 x 5 8 thread for centre pole mounting Figure 5 Mounting options for ReACT NS A0072 09 0016 Page 15 O Forsberg Services Ltd ReACT User Manual V1 00 6 3 4 Connector and Pinout _ Description UltiMate 19Way Panel Mounted Socket URO2W11 F019P BK1 E1AA Pin Signal Description 1 COM3 TXD USB_D s N M B 2 COM3RXD USB_D GNSS COM3 or US 3 GNSS CAN High WARE CAN La GNSS CAN Low EDGE WARE CAN port COM2 TXD N M2 COM2 RXD GNSS CO pina Factory use onl CONFIG RXD y y 10 pik ki 11 12 GNSS Event In strobe 13 14 15 COM1 TX GNSS COM1 16 RS232 or RS422 amor Fischer Part Number A0072 09 0016 Page 16 O Forsberg Services Ltd ReACT User Manual 1 00 6 3 5 1 0 Cables 6 3 5 1 ReACT NS 232 Cable Description Free Plug Fischer UPO1L11 Fre
31. wer from the ReACT unit by removing the connector plug and ensure that the unit is off then re apply power The unit will configure itself for full functionality A0072 09 0016 Page 7 O Forsberg Services Ltd ReACT User Manual V1 00 4 Firmware Support EDGE WARE firmware is designed for use with the ReACT system The EDGE WARE firmware may not be copied sold or re issued in any form without the prior written consent from Forsberg Services Limited The software is authorised for use only by the original licensed owner of the software Forsberg Services Limited assumes no liability or warranty associated with its use In no event shall Forsberg Services Limited be liable for any indirect special or consequential damages whether through tort contract or otherwise This warranty is expressly in lieu of all other warranties Expressed or implied including without limitation the implied warranties of merchantability or fitness for a particular purpose The foregoing states the entire liability of Forsberg Services Limited with respect to the products herein In the event of the firmware being upgraded new firmware and appropriate instructions shall be distributed by Forsberg Services Ltd A0072 09 0016 Page 8 O Forsberg Services Ltd ReACT User Manual 1 00 5 Introduction 5 1 Scope This manual provides the information required for installation and operation of the ReACT GNSS system The ReACT can be fitted with multiple GNSS
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