RX370p User Guide

RX370p User Guide
r x 3 7 0 P
I n s ta l l at i o n M AN U AL
RX370P
rx370p
Copyrights
© 2011 TeeJet Technologies. All rights reserved. No part of this document or the computer programs described
in it may be reproduced, copied, photocopied, translated, or reduced in any form or by any means, electronic or
machine readable, recording or otherwise, without prior written consent from TeeJet Technologies.
Trademarks
Unless otherwise noted, all other brand or product names are trademarks or registered trademarks of their
respective companies or organizations.
Limitation of Liability
TEEJET TECHNOLOGIES PROVIDES THIS MATERIAL “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER
EXPRESSED OR IMPLIED. NO COPYRIGHT LIABILITY OR PATENT IS ASSUMED. IN NO EVENT SHALL
TEEJET TECHNOLOGIES BE LIABLE FOR ANY LOSS OF BUSINESS, LOSS OF PROFIT, LOSS OF USE OR
DATA, INTERRUPTION OF BUSINESS, OR FOR INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
DAMAGES OF ANY KIND, EVEN IF TEEJET TECHNOLOGIES HAS BEEN ADVISED OF SUCH DAMAGES
ARISING FROM TEEJET TECHNOLOGIES SOFTWARE.
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Table of Contents
INTRODUCTION
1
features
1
LED................................................................................................................................................................ 1
Radar-Simulated Pulse Output.................................................................................................................... 1
CAN................................................................................................................................................................ 1
Installation
2
Cable Interface.............................................................................................................................................. 3
Extension Power/Data Cable....................................................................................................................... 3
RX370p Placement....................................................................................................................................... 4
Mounting
5
Magnetic Mount............................................................................................................................................ 5
Surface Mount............................................................................................................................................... 5
Pole Mount.................................................................................................................................................... 6
Powering the rx370p
6
EXTERNAL DEVICE CONNECTIONS
7
Factory Parameters...................................................................................................................................... 8
Custom Configuration.................................................................................................................................. 9
Environmental Considerations................................................................................................................... 9
GPS Overview
10
GPS Operation
10
Automatic Tracking.................................................................................................................................... 10
Receiver Performance................................................................................................................................ 10
Differential Operation................................................................................................................................. 10
APPENDIX A - TROUBLESHOOTING
12
APPENDIX B - SPECIFICATIONS
13
APPENDIX C - SURFACE MOUNT TEMPLATE
17
APPENDIX D - ILLUSTRATIONS
19
RX370P
Chapter 1 INTRODUCTION
The RX370p is a smart antenna that tracks GPS and SBAS (WAAS and EGNOS) signals. The RX370p provides
sub-meter performance with 4.9 ft (1.5 m) accuracy 95% of the time. It utilizes COASTTM technology during
differential outages. The RX370p is also capable of using e-Dif® and L-Dif® technology.
features
The RX370p has several new features that will enhance the product’s performance.
The primary features include:
• 2 RS232 serial ports
• LED
• Radar-simulated pulse output
• CAN communication
LED
The RX370p uses one tri-colored LED:
• Red indicates the power is on
• Amber indicates a GPS lock
• Flashing Green indicates DGPS is being acquired
• Green indicates a DGPS solution
Radar-Simulated Pulse Output
The radar-simulated pulse output provides accurate ground speed. The RX370p uses pin 12 for the speed out
pin. Pin 12 will output a square wave with a 50% duty cycle. The frequency of the square wave varies directly with
speed. 94 Hz represents a speed of 1 meter per second, or a 28.65 pulse per foot traveled.
NOTE: Pin 12 does not have any form of isolation or surge protection. It is STRONGLY RECOMMENDED to
incorporate some form of isolation circuitry into the supporting hardware if Speed Radar Pulse output is to
be utilized.
CAN
The RX370p features Controller Area Network (CAN) to handle communication between CAN-based devices. The
RX370p supports a selection of NMEA 2000 messages that can be broadcast on a CAN bus. The following table
provides a listing of the NMEA 2000 commands that are used.
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RX370P
Table 1-1: NMEA 2000 Commands
PNG 129029
GNSSPositionData
PNG 129025
GNSSPositionRapidupdate
PNG 129026
NMEACogSogData
Installation
The following figure provides a front view of the Deutsche connector receptacle’s numbering.
Figure 1-1: Deutsche Connector Receptacle Numbering
1
10
9
8
12
2
11
3
4
7
6
5
The following table provides the Deutsche connector’s pin-outs.
Table 1-2: Deutsche Connector’s Pin-Outs
Pin-Out
Function
Pin-Out
Function
1
Manual mark in
7
One PPS
2
TxB
8
RxA
3
RxB
9
CAN Low
4
CAN High
10
Power in (12V)
5
Signal Ground
11
Power Ground
6
TxA
12
Speed Out
The RX370p is preset to the following settings:
Port A
4800 Baud, GGA 1 Hz, VTG 1 Hz
Port B
19200 Baud, GGA 5 Hz, VTG 1 Hz
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RX370P
Cable Interface
The cable options include:
• DB9 Serial
• Speed
• CAN
• Power
Additional extension cables may be purchased, as necessary, for other installations. This allows the RX370p to be
quickly and easily moved from one installation to another. If an extension cable is damaged in the field, it can be
replaced without returning the complete RX370p system.
Extension Power/Data Cable
The RX370p system is quickly installed with one of the various extension cables. When choosing aroute for the
RX370p extension cable:
• Avoid running cables in areas of excessive heat
• Keep cables away from corrosive chemicals
• Do not run the extension cable through door or window jams
• Keep cables away from rotating machinery
• Do not bend excessively or crimp the cables
• Avoid placing tension on the cables
• Remove unwanted slack from the extension cable at the receiver end
• Secure along the cable route using plastic ties or wraps
Warning! Cables improperly installed near machinery can be dangerous.
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RX370P
RX370p Placement
Placement of the RX370p is crucial to the system’s operation. The GPS engine inside the RX370p computes a
position based upon measurements from each satellite to the internal GPS antenna unit. Mount the RX370p to
the identified point of interest. When choosing a location, make certain there is an unobstructed view of the sky
available to the smart antenna. This will ensure that the GPS satellites are not masked by obstructions, which can
potentially reduce system performance.
To place the RX370p:
1. Mount the RX370p on, or as close to the center of the point of measurement.
2. Position the RX370p as high as possible.
The following illustration provides an example of the ideal location for vehicle placement.
Figure 1-2: RX370p Vehicle Placement
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RX370P
Mounting
The RX370p can be mounted in several ways Magnetic Mount, Surface Mount or Pole Mount.
Magnetic Mount
The magnetic mount can be screwed into the bottom of the RX370p and mounts to metal surfaces. A metal disc
and foam adhesive are included with each magnetic mount. Use the foam adhesive to bond the metal disc to the
desired mounting location if there are no metal surfaces. To use the metal disc and foam adhesive:
1. Clean and dry the mounting surface on the vehicle.
2. Remove the backing from one side of the foam adhesive and press the metal plate onto the mounting surface
on the vehicle.
3. Remove the backing from the other side of the foam adhesive.
4. Press the metal plate onto the mounting surface of the vehicle.
5. Apply firm pressure to ensure good adhesion.
6. Place the RX370p on top of the metal disc.
Surface Mount
As an alternative to the magnetic mount, the antenna is easily attached to the surface with fourmachine screws
(not included). To surface mount the antenna:
1. Photocopy the bottom of the antenna and use it as a template to plan the mounting hole locations, or use the
template located in Appendix C of this document.
Warning! Make sure the photocopy is scaled ONE TO ONE with the mounting holes on the bottom
of the antenna!
2. Mark the mounting hole centers as necessary on the mounting surface.
3. Place the antenna over the marks to ensure that the planned hole centers agree with the true hole centers.
Adjust as necessary.
4. Use a center punch on the hole centers in order to guide the drill bit.
5. Drill the mounting holes with a 3/16 in (4.7625 mm) bit appropriate for the surface mount.
6. Place the antenna over the mounting holes and insert the mounting screws through the bottom of the
mounting surface and into the antenna.
arning! Install the antenna only hand-tight. Damage resulting from overtightening the antenna is
W
not covered by warranty.
Pole Mount
The center thread of the antenna is 5/8 in (15.875 mm) for compatibility with a survey pole (notincluded).
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RX370P
Powering the rx370p
Connect the RX370p to a TeeJet Technologies guidance system or a 12 volt DC source with a power connector.
Refer to Appendix D for illustrations. Choosing the appropriate connector will depend on specific installation
requirements.
NOTE: It is recommended that a weather-tight connection and connector be used if the connection will be located
outside.
arning! Be careful not to provide a voltage higher than the input range. This will damage the
W
antenna.
The RX370p accepts an input voltage between 7 and 36 VDC via the cable. For best performance, the supplied
power should be continuous and clean.
arning! Do not apply a voltage higher than 36 VDC. This will damage the receiver and void the
W
warranty.
The RX370p features reverse polarity protection to prevent excessive damage if the power leads are accidentally
reversed. With the application of power, the RX370p will automatically proceed through an internal start-up
sequence. However, it will be ready to communicate immediately.
NOTE: The initial start-up can take from 5 to 15 minutes depending upon location.
NOTE: The RX370p can take up to five (5) minutes for a full ionospheric map to be received from SBAS.
Optimum accuracy will be obtained once the RX370p is processing corrected positions using complete
ionospheric information.
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RX370P
EXTERNAL DEVICE CONNECTIONS
The serial ports of the RX370p operate at the RS-232C interface level to communicate with external data loggers,
navigation systems, and other devices. The serial ports are accessible via the extension cable that features a DB9
female data connector. The serial ports are also used for firmware updates.
NOTE: For successful communication, the baud rate of the RX370p serial port must be set to match that of the
devices to which they are connected.
The following figure illustrates the numbering for the extension cable’s DB9 socket connector (female). The
associated numbering for the plug connector (male) is a mirror reflection of the scheme illustrated.
Figure 1-3: DB9 Socket Numbering
5
4
9
3
8
2
7
1
6
NOTE: Other pins on the serial ports may be active depending on the optional cable selection.
Table 1-3: Extension Cable Pin-Out, DB9
Pin Number
Function
2
Transmit RX370p NMEA 0183, binary and RTCM
3
Receive RX370p NMEA 0183, binary and RTCM input
5
Signal Ground
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RX370P
Factory Parameters
Table 1-4: DGPS Options
Application
Application 1
SBAS (WAAS, EGNOS, etc.)
Application 2
e-Dif (unsubscribed)
Table 1-5: Serial Port Settings
Serial Port
Serial Port
A and B
Baud Rate
Data Bits
Parity
Stop Bits
Interface Level
4800
8
None
1
R2-232C
9600
8
None
1
R2-232C
19200
8
None
1
R2-232C
57600
8
None
1
R2-232C
Table 1-6: GPS Message Output Options
GPS Message
Update Rate
Max GDPS Age
Elavation Mask
GPS Binary
From 1 Hz to 20 Hz
259,200 seconds
5°
NMEA 0183
From 1 Hz to 20 Hz
259,200 seconds
5°
NMEA 2000 (CAN)
From 1 Hz to 20 Hz
259,200 seconds
5°
The CAN port will automatically output the NMEA 2000 messages according to Figure 1-10.
Table 1-7: NMEA 2000 Commands
NMEA 2000 Message
Function
GNNSPositionData
1 Hz
GNNSPositionRapidUpdate
20 Hz with updates based on the subscribed rate
(i.e., every other message will be a copy of the
previous on a 10 Hz receiver)
NMEACogSogData
20 Hz with updates based on the subscribed rate
(i.e., every other message will be a copy of the
previous on a 10 Hz receiver)
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RX370P
Custom Configuration
All aspects of the RX370p may be configured through the serial port with the use of GPS commands. The user
can configure the following items:
• Selecting one of the two on-board applications
• Selecting the baud rate
• Choosing which NMEA 0183 data message to output on the dual serial ports and the update rate of each
message
NOTE: The changes made to the RX370p will not be saved to memory for subsequent power-up unless a save
command is issued.
NOTE: Contact your local TeeJet Technologies dealer for information regarding the use of GPS commands to
customize configuration.
Environmental Considerations
The RX370p is designed to withstand various outdoor environments. However, there are specific environmental
limits that should be met when using the RX370p. Refer to Appendix B for additional information.
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RX370P
Chapter 2 GPS Overview
For operator convenience, both the GPS and differential correction of the RX370p are pre-configured. The
receiver will work out of the box, and for most applications, little user setup is required. When powered for the first
time, the RX370p will perform a “cold start” which involves acquiring the available GPS satellites in view and the
SBAS differential service.
GPS Operation
The GPS engine is always operating, regardless of the DGPS mode of operation. The following sections describe
the general operation of the RX370p’s internal GPS engine.
Automatic Tracking
The GPS engine within the RX370p automatically searches for GPS satellites, acquires the signals, and manages
the navigation information required for positioning and tracking. This is a hands-free mode of operation.
Receiver Performance
The RX370p works by finding four or more GPS satellites in the visible sky and uses the information those
satellites provide to compute an appropriate position (typically within 7-10 ft (2-3 m).) Since there is some error in
the GPS data calculations, the RX370p also tracks a differential correction. The RX370p uses these corrections to
improve its position to less than 3 ft (1 m).
There are two main aspects of GPS receiver performance:
• Positioning
• Satellite acquisition quality
GPS is essentially a timing system. When the RX370p is properly positioned on the vehicle, the satellites transmit
coded information to the antenna in a specific frequency that allows the receiver to calculate a range to each
satellite. The ranges are calculated by timing how long it takes for the GPS signal to reach the GPS antenna.
The GPS receiver uses a complex algorithm incorporating satellite locations and ranges to each satellite to
calculate the geographic location. Reception of any four or more of these signals allows a GPS receiver to
compute 3-dimensional coordinates.
Differential Operation
The Radio Technical Commission of Marine services (RTCM) has a differential service intended for correction
services. This includes the Space Based Augmentation Systems (SBAS), such as the Wide Area Augmentation
System (WAAS) and the European Geo-stationary Navigation Overlay System (EGNOS). The RX370p is
compatible with each of these differential services in addition to e-Dif.
SBAS
The SBAS enabled RX370p operates automatically anywhere within the coverage areas of WAAS, EGNOS, or
other SBAS programs.
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RX370P
The Basics
WAAS is a free services of the FAA that allows regular GPS positions to be improved to a DGPS level of accuracy.
Tests using an RX370p have shown better than 3 ft (1 m) accuracy. WAAS is available everywhere in the United
States, including Alaska, Hawaii, and Puerto Rico. It can also be picked up in some of the border areas of Mexico
and Canada. There are no subscription charges incurred when using WAAS. EGNOS is a similar service that is
available in Europe and Western Russia.
Automatic SBAS Tracking
The RX370p will automatically scan and track the satellite signals. This automatic tracking allows the operator to
focus on other aspects of differential operation without the need to tune the receiver. The RX370p features
two-channel SBAS tracking that provides an enhanced ability to maintain a lock on a SBAS satellite when more
than one satellite is in view. This redundant tracking approach results in more consistent tracking of an SBAS
signal when in an area where signal blockage of a satellite is possible.
e-Dif
An RX370p that is equipped with e-Dif capabilities can operate anywhere in the world where normal GPS
signals can be viewed. e-Dif can be used anywhere on the globe where a GPS lock can be achieved. e-Dif was
developed for customers who are not able to receive other types of differential signals due to location or budget.
e-Dif requires a subscription. Once the e-Dif capable RX370p computes a differential correction, the user can
operate for unlimited time and provide good relative accuracy. Alternatively, the operator can regularly update
e-Dif to maintain absolute accuracy (typically less than 3 ft (1 m) over 40 minutes).
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RX370P
APPENDIX A - TROUBLESHOOTING
The following table provides a checklist to troubleshoot common problems and their solutions for the RX370p.
Table 1-8: Troubleshooting
Problem
Possible Solution
• Verify polarity of power leads
• Check integrity of power cable connections
Receiver fails to power
• Check power input voltage (7 - 36 VDC)
• Check current restrictions imposed by power source
(maximum is 250 mA)
• Check receiver power status (LED)
No data from RX370p
No GPS lock
• Check integrity and connectivity of power and data cable
connections
• The volume of data requested to be output by the RX370p could
be higher than what the current baud rate supports. Try using
19,200 or higher as the baud rate for all devices.
• Check integrity of cable connections
• Verify RX370p’s unobstructed view of the sky
• Check integrity of cable connections
No SBAS lock
• Verify RX370p’s unobstructed view of the sky
• Check SBAS visibility map
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RX370P
APPENDIX B - SPECIFICATIONS
The following tables provide the power, mechanical, communication, environmental and DGPS specifications for
the RX370p.
Table 1-9: Power Specifications
Item
Specification
Input Voltage
7-36 VDC
Power Consumption
< 2 W @ 12 VDC (typical)
Current Consumption
150 mA 12 VDC (typical)
Power Connector
Cable mount environmentally sealed
Table 1-10: Mechanical Specifications
Item
Specification
Height
2.2 in (54.7 mm)
Width
5.1 in (129.5 mm)
Weight
1.45 lb (0.66 kg)
Mounting Options
Magnetic Mount, Fixed Mount -low or high pole
Table 1-11: Communication Specifications
Item
Specification
Serial Ports
2 full duplex RS232
CAN
NMEA 2000 broadcast
Pulse Output
1 PPS (HCMOS, active high, rising edge sync)
Baud Rates
4800-57600
Differential Correction I/O
Protocol
RTCM SC-104
Data I/O Protocol
NMES 0183, SLX binary and NMEA 2000
Range: 0.5 - > 200 mph (0.8 - > 322 Km/h)
Ground Speed Output
Signal: Opto-isolated pulse out
Frequency Conversion: 28.65 pulse per ft traveled (94 Hz/m/s)
Event Mark Output
HCMOS, active low, falling edge sync, 10 k-ohm, 10 pF load
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RX370P
Table 1-12: Environmental Specifications
Item
Specification
Operating Temperature
-22°F to 158°F (-30°C to 70°C)
Storage Temperature
-40°F to 185°F (-40°C to 85°C)
Humidity
100%
Enclosure
Waterproof and dust proof
Compliance
FCC, CE
Shock
IEC 68-2-27
Vibration
ISO 16750-1
EMI Certification
FCC part 15, E-Mark
Table 1-13: Sensor Specification
Item
Specification
Receiver Type
L1, C/A code with carrier phase smoothing (Patented COAST
technology during differential signal outage)
Channels
12-channel, parallel tracking (10-channel when tracking SBAS)
Update Rate
1-20 Hz positions
Horizontal Accuracy
< 8.2 ft (2.5 m) 95% confidence *autonomous **
< 1.9 ft (0.6 m) 95% confidence DGPS *
Differential Options
SBAS, e-Dif, L-Dif
SBAS Tracking
2-channel, parallel tracking
Start-up Time
60 s (no almanac and RTC)
Satellite Reacquisition
< 1 s
* Depends on multipath environment, number of satellites in view, satellite geometry, baseline length
(for local services) and ionospheric activity.
** Depends on multipath environment, number of satellites in view, satellite geometry, and ionospheric activity.
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RX370P
APPENDIX C - SURFACE MOUNT TEMPLATE
The following template should be used to plan for the location of the mounting holes when surface mounting the
RX370p.
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APPENDIX D - ILLUSTRATIONS
Table 1-14: CenterLine with SmartPad II with RX370p System Configuration
SmartPad II
75-30005
CenterLine Lightbar
78-50111
RX370p Receiver
78-50148
CenterLine
45-05324
Smart Pad II
45-05338
SmartPad II/CL
Lightbar Cable
45-05427
Cable, Power
45-05324
Cable, GPS Data
45-05338
- OR -
45-05337
Receicer
45-05337
Po
r
we t
Ou
Cable, GPS Data
45-05337
5 Amp
GP
S Da
IN ta
Status Detect
IGN Sense
Power In
+12 v
78-00027
Warning
45-05298
RX410p Receiver
78-50159
Cable, 2 Position
Battery
45-05298
Switchbox Ignition On/Off
78-00027 (Optional)
RX370P
Table 1-15: Standard CenterLine System Configuration with RX370p
CenterLine Lightbar
78-50111
CL Wireless
Remote
78-50107
45-05338
45-05337
45-05324
RX370p Receiver
78-50148
Cable, GPS Data
45-05338
Cable, Power
45-05324
- OR -
er
Pow ut
O
Cable, GPS Data
45-05337
5 Amp
GP
S Da
IN ta
Status Detect
IGN Sense
Power In
+12 v
78-00027
Warning
45-05298
RX410p Receiver
78-50159
Cable, 2 Position
Battery
45-05298
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Switchbox Ignition On/Off
78-00027 (Optional)
RX370P
Figure 1-4: FieldPilot Assisted Steering with RX370p System Configuration
Legacy 6000 Console
75-05007
Lightbar
78-50140
Legacy 6000 Harness
45-07000
CAN Term.
Male
45-08101
CAN
CAN Extension Cable 6’/1.8m
45-08106
CAN Term.
Female
45-08102
45-08106
SCM COM 2
Remote
Engage/Disengage
GPS In
COM 1
Seat Sensor
45-05340
Steering
Wheel Sense
GPD Power
RX370p
78-50148
Harness, SCM 45-07708
SCM Power I/O
45-07708
Va
GPS Adapter Cable
45-05340
lve
Outpu
t
RAM Mount
90-02161
Power
Steering Control
Module
78-08051
45-10103
DC: xx/xx
Harness,
Steering A/B
45-10103
FieldPilot
Valve
Power Cable
45-05381
Steering Wheel Switch Kit
91-07011
Adapter, Compact
Flash Card
78-50158
Engage/Disengage
Foot Switch (Optional)
32-04020
Part Number
Description
78-50148
Receiver, RX370p GPS SBAS w/o cables
78-50152
Receiver, RX370p w/ Autonomous mode
78-50154
Receiver, RX370p, e-Dif
Compact
Flash Card
78-50138
Engage/Disengage
Switch
32-04040
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RX 3 7 0 P
I n s ta l l at i o n M AN U AL
The RX370p is a smart antenna that tracks GPS and SBAS (WAAS and
EGNOS) signals. The RX370p provides sub-meter performance with
4.9 ft (1.5 m) accuracy 95% of the time. It utilizes COASTTM technology
during differential outages. The RX370p is also capable of using e-Dif® and
L-Dif® technology.
1801 Business Park Drive
Springfield, Illinois 62703 USA
Tel: (217) 747-0235 • Fax: (217) 753-8426
www.teejet.com
98-05106 R1
© TeeJet Technologies 2010
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