1. Manuals
  2. Brands
  3. Novatel Manuals
  4. Car Navigation system
  5. OEM7 SPAN
  6. User manual

Novatel OEM7 SPAN User Manual

Hide thumbs Also See for OEM7 SPAN:
Table of Contents

Advertisement

Quick Links

Download this manual See also: Operation & Installation Manual
OEM7 SPAN
Installation and Operation
User Manual
OM-20000170 v1
February 2017

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the OEM7 SPAN and is the answer not in the manual?

Questions and answers

Related Manuals for Novatel OEM7 SPAN

Summary of Contents for Novatel OEM7 SPAN

  • Page 1 OEM7 SPAN Installation and Operation User Manual OM-20000170 v1 February 2017...

  • Page 2: Oem7 Span Installation And Operation User Manual

    Information in this document is subject to change without notice and does not represent a com- mitment on the part of NovAtel Inc. The software described in this document is furnished under a licence agreement or non-disclosure agreement. The software may be used or copied only in accordance with the terms of the agreement.

  • Page 3: Table Of Contents

    2.4.3 Connect the UIC to a receiver 2.4.4 Connect Power to the UIC and OEM7 Receiver 2.4.5 UIC Status LEDs 2.5 IMU LEDs Chapter 3 SPAN Operation 3.1 Definition of Reference Frames Within SPAN OEM7 SPAN Installation and Operation User Manual v1...
  • Page 4 4.1 Installation 4.2 Configuring ALIGN with SPAN 4.3 Configuring SPAN with ALIGN 4.3.1 Alignment on a Moving Vessel - Aided Transfer Alignment 4.3.2 Alignment on a Stationary Vehicle - Aided Static Alignment OEM7 SPAN Installation and Operation User Manual v1...
  • Page 5 A.8 IMU-LN200 A.8.1 IMU-LN200 Mechanical Drawings A.8.2 IMU-LN200 Sensor Specifications A.8.3 IMU-LN200 Electrical and Environmental A.8.4 IMU-LN200 Cables A.9 IMU-µIMU A.9.1 IMU-µIMU Mechanical Drawings A.9.2 IMU-µIMU Sensor Specifications A.9.3 IMU-µIMU Electrical and Environmental OEM7 SPAN Installation and Operation User Manual v1...
  • Page 6 APPENDIX C LN-200 IMU in Universal Enclosure C.1 Disassemble the Universal Enclosure C.2 Install the LN-200 Sensor Unit APPENDIX D HG1700 IMU in SPAN HG Enclosure D.1 Disassemble the SPAN IMU Enclosure OEM7 SPAN Installation and Operation User Manual v1...
  • Page 7 E.1 Disassemble the SPAN IMU Enclosure E.2 Install the LN-200 Sensor Unit E.3 Make the Electrical Connections E.4 Re-Assemble the SPAN IMU Enclosure APPENDIX F Frequently Asked Questions APPENDIX G Replacement Parts for SPAN OEM7 SPAN Installation and Operation User Manual v1...

  • Page 8: Notices

    European Union (EU) Hereby, NovAtel Inc. declares that the radio equipment type OEM7 GNSS receiver is in com- pliance with Directive 2014/53/EU The full text of the EU Declaration of Conformity may be obtained from the NovAtel website at: www.novatel.com/products/compliance/eu-declaration-of-conformity/. WEEE If you purchased your OEM7 family product in Europe, please return it to your dealer or supplier at the end of life.

  • Page 9: Rohs

    Only qualified personnel, such as electricians mandated by the governing body in the country of installation, may install lightning protection devices. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 10 6. The primary and secondary lightning protections should be as close to the building's entrance as possible. Where feasible, mount onto the grounding plate itself (refer to the figure below). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 11: Conventions

    A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware. A warning that actions, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 12: Customer Support

    If you are having a hardware problem, send a list of the troubleshooting steps taken and the res- ults. Contact Information Log a support request with NovAtel Customer Support using one of the following methods: Log a Case and Search Knowledge: OEM7 SPAN Installation and Operation User Manual v1...
  • Page 13 Customer Support Website: www.novatel.com/support Log a Case, Search Knowledge and View Your Case History: (login access required) Web Portal: https://novatelsupport.force.com/community/login E-mail: support@novatel.com Telephone: U.S. and Canada:   1-800-NOVATEL (1-800-668-2835) International:   +1-403-295-4900 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 14: Chapter 1 Introduction To Span Technology

    SPAN Configuration with NovAtel Connect on page 52. The GNSS receiver is connected to the IMU with an RS-232, RS-422 or SPI link. A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals. After the IMU enclosure, GNSS antenna and appropriate power supplies are attached, and a few simple configuration com- mands are entered, the SPAN system will be ready to navigate.

  • Page 15: Models And Features

    All SPAN system receivers are factory configurable for L1/L2 RTK capability and are compatible with an IMU. See Table 1: SPAN-Compatible IMU Models below for firmware model details. Table 1: SPAN-Compatible IMU Models Model Name Compatible IMUs SW Model IMU-CPT IMU-CPT IMU-FSAS-EI iIMU-FSAS IMU-H1900-CA50 HG1900-CA50 OEM7 SPAN Installation and Operation User Manual v1...
  • Page 16 For example, a model with L1/L2-only capabilities can be upgraded to a model with L1/L2 and NovAtel CORRECT with RTK™ in only a few minutes in your office (instead of the days or weeks that would be required if the receiver had to be sent to a service depot).

  • Page 17: Related Documents And Information

    This manual contains sufficient information about the installation and operation of the SPAN sys- tem. It is beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel dealer for any customer service related inquiries, see Customer Support on page 12.

  • Page 18: Chapter 2 Span Installation

    7. Connect power to the IMU and receiver. See Connect Power on page 21 for details. 2.2.1 Mounting the GNSS Antenna The OEM7 receiver is designed to operate with any of the NovAtel single, dual and triple-fre- quency GNSS antenna models. When installing the antenna:...

  • Page 19: Mount The Imu

    If using a KVH1725 or KVH1750 IMU, the baud rate of the IMU must be changed to 460,800 bps. For information about changing the IMU baud rate, see IMU Direct Connection on the next page. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 20: Imu Direct Connection

    1. Connect the KVH-17xx IMU (IMU-KVH1750 or IMU-KVH1725) to an RS422 capable OEM6 receiver communication port. 2. Issue the following command. CONNECTIMU COM# IMU_KVH_17xx 3. Issue the following command. IMUCONFIGURATION IMU_KVH_17xx 2 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 21: Connect Power

    +12 to +28 V DC IMU-KVH-1725 +9 to +36 V DC IMU-KVH1750 +9 to +36 V DC IMU-FSAS +10 to +34 V DC IMU-CPT +9 to +18 V DC IMU-IGM +10 to +30 V DC OEM7 SPAN Installation and Operation User Manual v1...

  • Page 22: Mic Set Up

    For an IMU in the IMU Enclosure (IMU-HG1900, IMU-ISA-100C, IMU-LN200 or IMU-µIMU), con- nect the IMU Power Cable (NovAtel part # 60723136) from the IMU to the IMU power supply. Details about the IMU ports and cables can be found in IMU Technical Specifications on page 83.
  • Page 23 Connects to the main connector (P1701) on an 163577- J301 OEM719 receiver. J301 is on the bottom of the MIC card (Samtec) For information about the MIC connectors and pin-outs, see MIC Connectors on page 187. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 24 The antenna cable must have a right angle MCX connector on the end that connects to the OEM719. Warning! Do not apply power to the cards until the antenna cable is attached. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 25 Connect the IMU to the MIC 1. Attach the IMU mounting Printed Circuit Board (PCB) to the IMU. Ensure all the pins on the header are aligned with the holes on the mating connector. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 26 Figure 7: Connect the STIM300 IMU to the MIC (OEM Cable Kit: 01019174) on the next page. Figure 3: Connect the ADIS IMU to the MIC (OEM Cable Kit: 01019007) Figure 4: Connect the HG1700 IMU to the MIC (OEM Cable Kit: 01018868) OEM7 SPAN Installation and Operation User Manual v1...
  • Page 27 All of the communication connections to the MIC and the OEM719 receiver are available on the communications connector (P601) on the MIC. These connections include: MIC serial port OEM615 serial port (COM2) OEM7 SPAN Installation and Operation User Manual v1...

  • Page 28: Install A Mic In A Standalone Configuration

    MIC, receiver and IMU. Take care to prevent damaging or marring painted surfaces, O-rings, sealing surfaces and the IMU. For more information about ESD practices, see the OEM7 Installation and Operation User Manual (OM-20000168). OEM7 SPAN Installation and Operation User Manual v1...
  • Page 29 Connects the MIC serial port to the OEM7 501571-3007 501189-3010 P301 receiver. (Molex) (Molex) (user supplied cable) ASP-163577-01 J301 This connector is not used. (Samtec) For information about the MIC connectors and pin-outs, see MIC Connectors on page 187. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 30 Connect the IMU to the MIC 1. Attach the IMU mounting Printed Circuit Board (PCB) to the IMU. Ensure all the pins on the header are aligned with the holes on the mating connector. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 31 Figure 13: Connect the STIM300 IMU to the MIC (OEM Cable Kit: 01019174) on the next page. Figure 9: Connect the ADIS IMU to the MIC (OEM Cable Kit: 01019007) Figure 10: Connect the HG1700 IMU to the MIC (OEM Cable Kit: 01018868) OEM7 SPAN Installation and Operation User Manual v1...
  • Page 32 See MIC Connectors on page 187 for the pinouts of the communications connector. See the OEM7 Installation and Operation User Manual (OM-20000168) for information about con- necting a serial port to the receiver. See UIC Connectors on page 199 for pinout information for the communications connector (J102). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 33: Uic Set Up

    2.4 UIC Set Up For IMUs that are not mounted inside a NovAtel IMU enclosure (e.g. OEM-IMU-ISA-100C), an interface card is required to connect an IMU to an OEM7 receiver. The Universal IMU Controller (UIC) provides the connection between OEM7 receiver cards and IMUs.
  • Page 34 OEM7 receiver (FCI) (FCI) (user supplied cable) LTMM-125-02-L-D SQT-125-01-L-D Connects to the IMU. J1401 (Samtec) (Samtec) (NovAtel supplied cable) For information about the UIC connectors and pinouts, see UIC Connectors on page 199. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 35: Mount The Span System Components

    Ensure all standoffs are properly installed and the mounting location is flat. The amount of board deflection (bow and twist) must not exceed 0.75%. For example, on the UIC which is 100 mm long and 113 mm wide, the deflection OEM7 SPAN Installation and Operation User Manual v1...

  • Page 36: Connect The Imu To The Uic

    2. Connect a computer (for monitoring and configuration) to the OEM7 receiver. Refer to the OEM7 Installation and Operation User Manual (OM-20000168) for information about connecting data communications equipment to an OEM7 receiver. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 37: Connect Power To The Uic And Oem7 Receiver

    3 Hz) An error UIC is powered on occurred with no errors No power to Boot up and IMU Power during boot detected during UIC. initialization. up or boot up or initialization. initialization. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 38: Imu Leds

    IMU Enclsoure. initialization. up or during boot up or initialization. initialization. The IMU-IGM must be connected to a GNSS receiver before the state of these LEDs can change to On. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 39 IMU Enclosure is receiving data is transmitting between IMU transmitting and from the data to the Enclosure and receiving data receiver, but not receiver, but GNSS without errors. transmitting not receiving receiver. data. data. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 40: Chapter 3 Span Operation

    Before operating your SPAN system, ensure that you have followed the installation and setup instructions in SPAN Installation on page 18. You can use the NovAtel Connect software to configure receiver settings and to monitor data in real-time, between a rover SPAN system and base station.

  • Page 41: The Imu Body Frame

    – points up through the roof of the vehicle perpendicular to the ground y-axis – points out the front of the vehicle in the direction of travel x-axis – completes the right-handed system (out the right-hand side of the vehicle when facing forward) OEM7 SPAN Installation and Operation User Manual v1...

  • Page 42: The User Output Frame

    SPAN system also needs to know the location and orientation of these additional devices rel- ative to the IMU. 3.2.1 Translational Offsets The three dimensional distances between the IMU and other SPAN components are called trans- lational offsets. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 43 The measurements for the translational offsets should be done as accurately as pos- sible, preferably to within millimeters especially for RTK operation. Any error in the off- sets will translate into an error in the INS position. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 44: Rotational Offsets

    Rotational Offsets - Example Consider an IMU installed in the following way: Here, the Euler Angles to rotate from the IMU Body frame to the Vehicle frame (RBV) are: X: -90 Y: 0 Z: +90 OEM7 SPAN Installation and Operation User Manual v1...
  • Page 45 Since all three sets of axes are already collinear, our frames are coincident, and no further rota- tion is required. This solution is not unique. Due to the properties of Euler Angles, there are usually mul- tiple sets of equivalent rotations. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 46: Communicating With The Span System

    Utilities, go to the NovAtel website at www.novatel.com/support/search/items/PC%20Software. Refer to the NovAtel Connect Help file for more details on NovAtel Connect. The Help file is accessed by choosing Help from the main menu in NovAtel Connect. This procedure describes communicating with the SPAN system using a serial or USB con- nection.

  • Page 47: Ins Window In Novatel Connect

    3.3.1 INS Window in NovAtel Connect NovAtel Connect provides a graphical user interface to allow you to monitor the operation of the SPAN system. The INS Window in NovAtel Connect is described below. Refer to the NovAtel Connect help file for more details on NovAtel Connect.

  • Page 48: Gnss Configuration

    Intended for fixed wing aircraft Disables Zero Velocity Updates Intended for Vertical Take Off and Landing VTOL Disable Zero Velocity Updates aircraft (helicopter, quadcopter, etc.) RAIL Intended for railway applications Retains Default configuration OEM7 SPAN Installation and Operation User Manual v1...

  • Page 49: Span Configuration

    Configure SPAN Manually Follow these steps to enable INS as part of the SPAN system using software commands or see SPAN Configuration with NovAtel Connect on page 52 for the alternate method using the NovAtel Connect software utility: A GNSS antenna with a clear view of the sky must be connected and tracking satellites for operation.
  • Page 50 If you are using the OEM719+MIC board stack, you must use COM1. For SPAN systems with a OEM729 receiver, COM2 is the recommended serial port for the IMU, however you can use any available port for these IMUs OEM7 SPAN Installation and Operation User Manual v1...
  • Page 51 Kinematic alignment is possible. The SETINSROTATION parameters are (where the standard deviation fields are optional): RBV x_rotation y_rotation z_rotation [x_stdev] [y_stddev] [z_stdev] The order of rotations is Z-X-Y. All rotations are right handed. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 52 Routine on page 61. SPAN Configuration with NovAtel Connect Follow these steps to enable INS as part of the SPAN system using the NovAtel Connect software utility: The NovAtel Connect screen shots shown may differ from your version of NovAtel Con- nect.

  • Page 53: Real-Time Operation

    Status of the inertial solution can be monitored using the inertial status field in the INS logs, see Table 10: Inertial Solution Status below. Table 10: Inertial Solution Status Binary ASCII Description IMU logs are present, but the alignment routine has not started; INS is INS_INACTIVE inactive. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 54: System Start-Up And Alignment Techniques

    2. Enough satellites are tracked to compute a position. This value is configured using the INSTHRESHOLDS command. See the OEM7 Commands and Logs Reference Manual (OM-20000169) for more information.. See also question #7 in Frequently Asked Questions on page 238. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 55 An alternate form of aligning the SPAN system is a kinematic alignment. A kinematic alignment can be used for any SPAN system and is the best alignment alternative for lower performance sensors (ADIS-16488, IMU-IGM, IMU-CPT, HG1930, G320 and STIM300). The kinematic or OEM7 SPAN Installation and Operation User Manual v1...
  • Page 56 INS Status field in the INS logs. Dual Antenna Alignment SPAN can also use heading information available from a NovAtel Dual Antenna ALIGN solution to rapidly perform an alignment. Refer to SPAN with Dual Antenna on page 79 for details.

  • Page 57: Ins Seed / Fast Ins Initialization

    Apart from injecting the seed at startup without validation, this will also remove some requirements typically asserted to allow the filter to converge. This will allow the system to run without GNSS adequately at startup. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 58: Alignment Type: Bits

    SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position, velocity and attitude. SPAN models system errors by using a filter. The GNSS solution, phase observations and automatic zero velocity updates (ZUPTs) provide updates to OEM7 SPAN Installation and Operation User Manual v1...

  • Page 59: Data Collection

    Hz. Refer to the OEM7 Commands and Logs Reference Manual (OM-20000169) for more details on these logs. INS-only data logging and output can be at rates of up to the rate of the IMU data. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 60: Lever Arm Calibration Routine

    Specific logs need to be collected for post-processing. See Data Collection for Post Processing on page 69. To store data from an OEM7 receiver, connect the receiver to a computer running NovAtel Con- nect or other terminal program capable of recording data.

  • Page 61: Body To Vehicle Frame Rotation Calibration Routine

    Kinematic alignment requires that the rotational offset between the vehicle and IMU Body frame (RBV) is known. If the angles are simple (that is, a simple rotation about one axis) the values can easily be entered manually through the SETINSROTATION RBV command. If the rotational OEM7 SPAN Installation and Operation User Manual v1...

  • Page 62: Multi-Line Body To Vehicle Frame Rotation Calibration Routine

    In practice this can result in an outstanding roll offset error as high as several degrees. For applications where vehicle roll must be well known, or pass-to-pass accuracy of a highly offset position is especially OEM7 SPAN Installation and Operation User Manual v1...
  • Page 63 To monitor the calibration, log INSCALSTATUS using the ONCHANGED trigger. 7. When the end of the available distance is reached, stop the vehicle. Halt the ongoing cal- ibration by sending the INSCALIBRATE command again: INSCALIBRATE RBV STOP OEM7 SPAN Installation and Operation User Manual v1...

  • Page 64: Synchronizing External Equipment

    Each input strobe can be configured using the EVENTINCONTROL command for the following parameters: Polarity: When polarity is set to positive, events trigger on the rising edge. When polarity is set to neg- ative, events trigger on the falling edge. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 65: Adding Timed Sensor Triggers

    A sensor's trigger input is connected to a valid Event_Out and the sensor’s response output is connected to a valid Event_In. Three sensor slots are available for use, but may be limited to less depending on the hardware platform used. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 66: Configuring The Software

    If the pulses are accumulated and the size of the wheel known, a displacement of the wheel over time can be calculated. The SPAN system takes in a wheel sensor input and applies a displacement update to the GNSS+INS Kalman filter in order to OEM7 SPAN Installation and Operation User Manual v1...

  • Page 67: Wheel Sensor Data Collected On Imu

    Wheel Sensor Interface for IMU-IGM users IMU-IGM accepts TTL level input pulses from a wheel sensor through the AUX connector. For information about the connections available on the AUX connector, see IMU-IGM Ports on OEM7 SPAN Installation and Operation User Manual v1...

  • Page 68: Azimuth Sources On A Span System

    Reference Manual (OM-20000169). This azimuth is the one provided in the majority of the INS logs available to a SPAN user. See Table 14: Logs with Azimuth Data on the next page. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 69: Align Azimuth

    In order to generate a solution in post-processing, data must be simultaneously collected at a base station and each rover. The following logs must be collected in order to successfully post process data. From a base: RANGECMPB ONTIME 1 RAWEPHEMB ONCHANGED OEM7 SPAN Installation and Operation User Manual v1...

  • Page 70: Firmware Updates And Model Upgrades

    Model upgrades enable features on the receiver and may be purchased through NovAtel author- ized dealers. Contact your local NovAtel dealer first for more information. To locate a dealer in your area visit Where to Buy | Dealer Network on the NovAtel web site at www.novatel.com/where-to-buy/-...
  • Page 71 Figure 22: Operating Gimbal on the next page shows the gimbal in operation; the gimbal plat- form has moved relative to the mount body frame. The gimbal frame and IMU Body frame move together, as does the user output (or mark output) frame. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 72: How To Use Variable Lever Arm

    The variable lever arm functionality is simple to use in a SPAN system. It requires the input of gimbal angles from the camera mount or platform that the IMU is mounted on. After that is OEM7 SPAN Installation and Operation User Manual v1...
  • Page 73 Body frame coincident. If this is not the case then additional commands are necessary to relate all of the different frames together using the commands below.If attitude output is desired rel- ative to an external camera, this can also be configured using these commands. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 74: The Mount Computation Frame

    The attitude output in the GIMBALLEDPVA log provides the attitude of the Mount Computation frame. The user does not need to configure the Mount Computation frame, it is derived from the IMU Body frame to Mount Body frame rotation (RBM), set using the SETINSROTATION command. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 75 Chapter 3   SPAN Operation Table 17: Full Mapping Definition Mount Com- Mount Computation Mount Body Mapping putation Frame Mount Body Frame Frame Frame Axis Axis OEM7 SPAN Installation and Operation User Manual v1...

  • Page 76: Relative Ins

    (default) 3.13 Relative INS NovAtel's Relative INS technology generates a position, velocity and full attitude vector between two SPAN systems. One is the Master receiver and the other is the Rover receiver. Once con- figured, the Master receiver begins transmitting corrections to the Rover receiver. Relative information is created and the system begins filling the RELINSPVA log and SYNCRELINSPVA log on the Rover receiver.

  • Page 77: Configure Relative Ins

    2. Enable the transfer of relative corrections between receivers using one of the methods below. Send the RELINSAUTOMATION command only at the Rover receiver Send the RELINSCONFIG command at both the Master and Rover receiver OEM7 SPAN Installation and Operation User Manual v1...
  • Page 78 COM port. If the master and rover are communicating via an ICOM port, the RELINSCONFIG command must be used. The Model option must be present on both the rover and master for the Relative INS fea- ture to be enabled. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 79: Chapter 4 Span With Dual Antenna

    COM2. For information about connecting the ALIGN master and rover receivers using a port that is not a serial COM port (e.g. Ethernet), contact NovAtel Customer Support. The two receivers need to be set up as shown in the example in Figure 24: SPAN - Dual Antenna Installation on the next page.

  • Page 80: Configuring Align With Span

    1. Enter the lever arm from the IMU to the primary antenna (primary antenna is connected to the SPAN receiver). Abbreviated ASCII example: SETINSTRANSLATION ANT1 0.54 0.32 1.20 0.03 0.03 0.05 2. Enter the lever arm from the IMU to the secondary antenna (secondary antenna is connected OEM7 SPAN Installation and Operation User Manual v1...

  • Page 81: Configuring Span With Align

    ALIGNMENT_COMPLETE or INS_SOLUTION_GOOD, depending on the variances of the ALIGN solu- tion, and the measured lever arm/external heading offset. To guarantee the use of this alignment mode, the configuration command ALIGNMENTMODE must be sent to the receiver: ALIGNMENTMODE AIDED_TRANSFER OEM7 SPAN Installation and Operation User Manual v1...

  • Page 82: Alignment On A Stationary Vehicle - Aided Static Alignment

    By providing an external heading source, the solution drift can be constrained in these environments. You can monitor the heading update status as outlined in the INSUPDATESTATUS log in the OEM7 Commands and Logs Reference Manual (OM-20000169). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 83: Appendix A Imu Technical Specifications

    Universal IMU Enclosure (HG1700, LN200) on page 174 MIC - MEMS Interface Card on page 184 UIC - Universal IMU Controller on page 196 For technical specifications for the SPAN compatible receivers, see the OEM7 Installation and Operation User Manual (OM-20000168). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 84: Hg1700 Imu (Single-Connector Enclosure)

    See the following sections for more information about the HG1700 IMU. HG1700 IMU Mechanical Drawings on the next page HG1700 IMU Performance on page 87 HG1700 Electrical and Environmental on page 88 Interface Cable for the HG1700 IMU on page 88 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 85: Hg1700 Imu Mechanical Drawings

    A.1.1 HG1700 IMU Mechanical Drawings The dimensions in the following diagrams are in millimetres. Figure 25: HG1700 Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 86 The center of Navigation, shown on the HG1700 label, for the internal IMU is the same as the enclosure center. The enclosure center measurements are labelled as IMU Enclos- ure Center in these figures. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 87: Hg1700 Imu Performance

    150 ppm Angular Random Walk 0.5 degrees/rt-hr Accelerometer Performance Accelerometer Range ±50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 2.0 mg Data Rate IMU Measurement 100 Hz OEM7 SPAN Installation and Operation User Manual v1...

  • Page 88: Hg1700 Electrical And Environmental

    The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU. The HG1700 IMU uses the Universal IMU Enclos- ure Interface cable (see Universal IMU Enclosure Interface Cable on page 181). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 89: Imu-Cpt

    See the following sections for more information about the IMU-CPT. IMU-CPT Mechanical Drawings on the next page IMU-CPT Sensor Specifications on page 92 IMU-CPT Electrical and Environmental on page 92 IMU-CPT Cable on page 93 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 90: Imu-Cpt Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.2.1 IMU-CPT Mechanical Drawings The dimensions in the following diagrams are in inches and millimetres (in square brackets). Figure 27: IMU-CPT Side and Perspective View OEM7 SPAN Installation and Operation User Manual v1...
  • Page 91 APPENDIX A   IMU Technical Specifications Figure 28: IMU-CPT Top, Front and Bottom View OEM7 SPAN Installation and Operation User Manual v1...

  • Page 92: Imu-Cpt Sensor Specifications

    Accelerometer Bias ±10 g Data Rate IMU Measurement 100 Hz A.2.3 IMU-CPT Electrical and Environmental Table 25: IMU-CPT Electrical Specifications Electrical Input Power 9 - 18 VDC Power Consumption 13 W (max) OEM7 SPAN Installation and Operation User Manual v1...

  • Page 93: Imu-Cpt Cable

    MTBF ≥ 10,500 hours A.2.4 IMU-CPT Cable The NovAtel part number for the IMU-CPT cable is 01018966. This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU. Figure 29: IMU-CPT Development Terminated Cable...
  • Page 94 The tables below provide recommendations for creating custom cables to replace the IMU-CPT cable (01018966). Table 28: Connectors Connector Description MIL-DTL 38999, 37 connector, plug DB-9, female Table 29: Maximum Cable Length RS-422 IMU-CPT < 1.5 metres OEM7 SPAN Installation and Operation User Manual v1...

  • Page 95: Imu-Fsas

    IMU-FSAS Mechanical Drawings on the next page IMU-FSAS Performance on page 99 IMU-FSAS Electrical and Environmental on page 99 Interface Cable for IMU-FSAS on page 100 IMU-FSAS Cable with Odometer on page 100 IMU-FSAS Odometer Cabling on page 102 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 96: Imu-Fsas Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.3.1 IMU-FSAS Mechanical Drawings The dimensions in the following diagrams are in millimetres. Figure 30: IMU-FSAS Top Dimensions Figure 31: IMU-FSAS Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 97 APPENDIX A   IMU Technical Specifications Figure 32: IMU-FSAS Side Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 98 APPENDIX A   IMU Technical Specifications Figure 33: IMU-FSAS Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...

  • Page 99: Imu-Fsas Performance

    13.8 W (typical) Input/Output Connectors MIL-C-38999-III IMU Interface RS-422 Table 33: IMU-FSAS Environmental Specifications Environmental Operating Temperature -40°C to +71°C (-40°F to 160°F) Storage Temperature -40°C to +85°C (-40°F to 185°F) Humidity 95% non-condensing OEM7 SPAN Installation and Operation User Manual v1...

  • Page 100: Interface Cable For Imu-Fsas

    A.3.5 IMU-FSAS Cable with Odometer The NovAtel part number for the IMU-FSAS cable with Odometer is 01018388 (see Figure 34: IMU-FSAS Interface Cable with Odometer below). This cable: provides power to the IMU from an external power source...
  • Page 101 CTS/ signal / RS-422(-) OEM_Rx/ Twisted pair; serial data output signal / RS-422(+) Reserved DGND Digital ground DGND Digital ground Odometer input B(+), ODO_B opto-coupler: +2 to +6 V (RS- 422 compatible) OEM7 SPAN Installation and Operation User Manual v1...

  • Page 102: Imu-Fsas Odometer Cabling

    A magnetic strip and detector are installed inside the wheel. The signal then goes through a box that translates the magnetic readings into pulses that are then passed through the cable into the ODO connector on the IMU cable. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 103 Refer to the Kistler WPT (part number CWPTA411) user manual for mounting instructions. The NovAtel IMU interface cable with ODO provides power to the IMU from an external source, enables input and output between the receiver and IMU and provided connections for odometer use.
  • Page 104 The WPT requires power to operate, which is not supplied through the P4 connector on the IMU-FSAS interface cable. Pins 1 and 2 should therefore be connected to an external power supply (+10 to +30 VDC). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 105: Imu-Hg1900

    See the following sections for more information about the IMU-HG1900. IMU-HG1900 Mechanical Drawings on the next page IMU-HG1900 Sensor Specifications on page 108 IMU-HG1900 Electrical and Environmental on page 108 IMU-HG1900 Cables on page 109 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 106: Imu-Hg1900 Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.4.1 IMU-HG1900 Mechanical Drawings The dimensions in the following diagrams are in millimetres. Figure 37: IMU-HG1900 Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 107 APPENDIX A   IMU Technical Specifications Figure 38: IMU-HG1900 Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...

  • Page 108: Imu-Hg1900 Sensor Specifications

    7.5 W (typical) IMU Input Voltage +10 to +34 V DC IMU Interface RS-422 Connectors Power SAL M12, 5 pin, male Data SAL M12, 5 pin, female Wheel Sensor SAL M12, 8 pin, male OEM7 SPAN Installation and Operation User Manual v1...

  • Page 109: Imu-Hg1900 Cables

    IMU-HG1900 Wheel Sensor Cable The IMU-HG1900 uses the IMU Enclosure Wheel Sensor Cable. Refer to IMU Enclosure Wheel Sensor Cable on page 125 for details about this cable. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 110: Imu-Igm

    See the following sections for more information about the IMU-IGM-A1 or IMU-IGM-S1 IMUs. IMU-IGM Mechanical Drawings on the next page IMU-IGM Ports on page 113 IMU-IGM Sensor Specifications on page 114 IMU-IGM Electrical and Environmental on page 115 IMU-IGM Interface Cable on page 116 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 111: Imu-Igm Mechanical Drawings

    The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above. It is not at the depression in the enclosure cover. The dimensions in the drawing are in millimetres. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 112 The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above. It is not at the depression in the enclosure cover. The dimensions in the drawing are in millimetres. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 113: Imu-Igm Ports

    Mode 2 input, controls MIC port standard Reserved Reserved Reserved Reserved Table 45: IMU-IGM AUX Port Pinout Pin # Label Description ODM_A+ Odometer input A positive Odometer input B positive ODM_B+ (No connection on IMU-IGM-S1) Reserved Reserved OEM7 SPAN Installation and Operation User Manual v1...

  • Page 114: Imu-Igm Sensor Specifications

    6.25 °/hour Angular Random Walk 0.3 °/√hour Accelerometer Performance Accelerometer Range ± 18 g In Run Accelerometer Bias Stability 0.1 mg Velocity Random Walk 0.029 m/s/√hr Data Rate IMU Measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v1...

  • Page 115: Imu-Igm Electrical And Environmental

    Table 49: IMU-IGM-A1 Environmental Specifications Environmental Temperature, operational -40°C to +65°C Temperature, storage -50°C to +80°C Humidity 95% Non-condensing Table 50: IMU-IGM-S1 Electrical Specifications Electrical Input Voltage 10 - 30 VDC Power consumption <4.6 W (typical) OEM7 SPAN Installation and Operation User Manual v1...

  • Page 116: Imu-Igm Interface Cable

    Humidity 95% Non-condensing A.5.5 IMU-IGM Interface Cable The NovAtel part number for the IMU-IGM interface cable is 01019016. This cable provides power to the IMU-IGM and communication signals between the IMU-IGM and the OEM7 family receiver. Figure 41: IMU-IGM Interface Cable The dimensions in this drawing are in millimetres.
  • Page 117 The tables below provide recommendations for creating custom cables to replace the IMU-IGM interface cable (01019016). Table 53: Connectors Connector Description DB-15HD, male DB-9, female Table 54: Maximum Cable Length RS-232 RS-422 IMU-IGM-A1, IMU-IGM-S1 < 1.2 metres < 50 metres OEM7 SPAN Installation and Operation User Manual v1...

  • Page 118: Imu-Isa-100C

    Optional Side Mounting Holes on page 120 IMU-ISA-100C Performance on page 122 IMU-ISA-100C Electrical and Environmental on page 122 IMU Enclosure Interface Cable on page 123 IMU Enclosure Power Cable on page 124 IMU Enclosure Wheel Sensor Cable on page 125 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 119: Imu-Isa-100C Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.6.1 IMU-ISA-100C Mechanical Drawings The dimensions in the following diagrams are in millimetres. Figure 42: IMU-ISA-100C Dimensions OEM7 SPAN Installation and Operation User Manual v1...

  • Page 120: Optional Side Mounting Holes

    There are mounting and alignment holes on both sides of the IMU enclosure to allow the IMU to be mounted on its side. These holes have the same pattern and spacing as the mounting and alignment holes on the bottom of the IMU enclosure. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 121 APPENDIX A   IMU Technical Specifications To access these holes, the NovAtel label must be removed from the side of the enclosure. A small notch on the side of enclosure allows you to insert a small flat blade screw under the label to start lifting the label.

  • Page 122: Imu-Isa-100C Performance

    18 W (typical) IMU Input Voltage +10 to +34 V DC IMU Interface RS-422 Connectors Power SAL M12, 5 pin, male Data SAL M12, 5 pin, female Wheel Sensor SAL M12, 8 pin, male OEM7 SPAN Installation and Operation User Manual v1...

  • Page 123: Imu Enclosure Interface Cable

    Water Ingress MIL-STD-810G. Method 512.5 A.6.5 IMU Enclosure Interface Cable The NovAtel part number for the IMU Enclosure interface cable is 01019319 (see Figure 45: IMU Enclosure Interface Cable below). This cable enables communication between the receiver and the IMU.

  • Page 124: Imu Enclosure Power Cable

    < 50 metres A.6.6 IMU Enclosure Power Cable The NovAtel part number for the IMU Enclosure power cable is 60723136 (see Figure 46: IMU Enclosure Power Cable on the next page). This cable provides power to the IMU from an external power source.

  • Page 125: Imu Enclosure Wheel Sensor Cable

    This cable uses a M12x1, 5 position, female connector. A.6.7 IMU Enclosure Wheel Sensor Cable The NovAtel part number for the IMU Enclosure wheel sensor cable is 60723137 (see Figure 47: IMU Enclosure Wheel Sensor Cable on the next page). This cable enables communication between the IMU and the wheel sensor.
  • Page 126 (DMI) to the IMU. The DMI data goes through the IMU and then into the SPAN receiver through the serial communication line. One of the wheel sensors compatible with the IMU-ISA-100C is the Kistler Wheel Pulse Trans- ducer CWPTA411 (WPT). See Figure 48: Kistler WPT on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 127 SPAN specifies that the maximum pulse frequency for a wheel sensor input to SPAN is 1 MHz. Table 64: Kistler to NovAtel Wheel Sensor Cable Connections below shows connections required between the Kistler cable and the IMU-ISA-100C wheel sensor cable.
  • Page 128 Table 65: Connectors Connector Description M12x1, 8 position, female DB-9, female Table 66: Maximum Cable Length RS-422 IMU-ISA-100C < 50 metres This modification is for the Kistler WPT 8-pin M12-plug cable number 14865. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 129: Imu-Kvh1750 / Imu-Kvh1725

    See the following sections for more information about the IMU-KVH-1750 and IMU-KVH1725. IMU-KVH1750 / IMU-KVH1725 Mechanical Drawings on the next page IMU-KVH1750 / IMU-KVH1725 Sensor Specifications on page 134 IMU-KVH1750 / IMU-KVH1725 Electrical and Environmental on page 135 IMU-KVH1750 / IMU-KVH1725 Cable on page 136 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 130: Imu-Kvh1750 / Imu-Kvh1725 Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.7.1 IMU-KVH1750 / IMU-KVH1725 Mechanical Drawings The dimensions in the following diagrams are in millimetres. Figure 49: IMU-KVH1750 / IMU-KVH1725 Bottom view OEM7 SPAN Installation and Operation User Manual v1...
  • Page 131 APPENDIX A   IMU Technical Specifications Figure 50: IMU-KVH1750 / IMU-KVH1725 Top View OEM7 SPAN Installation and Operation User Manual v1...
  • Page 132 APPENDIX A   IMU Technical Specifications Figure 51: IMU-KVH1750 / IMU-KVH1725 Side View OEM7 SPAN Installation and Operation User Manual v1...
  • Page 133 APPENDIX A   IMU Technical Specifications Figure 52: IMU-KVH1750 / IMU-KVH1725 Gyro Axes OEM7 SPAN Installation and Operation User Manual v1...

  • Page 134: Imu-Kvh1750 / Imu-Kvh1725 Sensor Specifications

    Table 69: IMU-KVH1725 Performance Gyroscope Performance Maximum Input Rate ±490 °/second Bias Stability (constant temperature) ≤0.1 °/hr Bias Temperature Sensitivity (full temp.) ≤4 °/hr (max) Bias Offset (at 25° C) ±5 °/hr OEM7 SPAN Installation and Operation User Manual v1...

  • Page 135: Imu-Kvh1750 / Imu-Kvh1725 Electrical And Environmental

    ≤1.25 seconds Full Performance Time (room temp.) ≤60 seconds IMU Interface RS-422 Environmental Temperature, operational -40°C to +75°C Temperature, non-operational -50°C to +85°C Vibration, operational 8 g rms, 20 Hz -2 kHz OEM7 SPAN Installation and Operation User Manual v1...

  • Page 136: Imu-Kvh1750 / Imu-Kvh1725 Cable

    40 g (11 ms, sawtooth) A.7.4 IMU-KVH1750 / IMU-KVH1725 Cable The NovAtel part number for the IMU-KVH1750 / IMU-KVH1725 cable is 01019211. This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU.
  • Page 137 Pin 11 MSync+, Pin 7 MSync-). This was previously a single ended input signal on Pin 11 only. The NovAtel VARF signal used to provide the MSYNC to the IMU remains single ended, however significant testing has been completed with the existing IMU-KVH1750 Cable (01019211) in safe environments (no interference sources).

  • Page 138: Imu-Ln200

    See the following sections for more information about the IMU-LN200. IMU-LN200 Mechanical Drawings on the next page IMU-LN200 Sensor Specifications on page 141 IMU-LN200 Electrical and Environmental on page 142 IMU-LN200 Cables on page 142 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 139: Imu-Ln200 Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.8.1 IMU-LN200 Mechanical Drawings The dimensions in the following diagrams are in millimetres. Figure 54: IMU-LN200 Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 140 APPENDIX A   IMU Technical Specifications Figure 55: IMU-LN200 Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...

  • Page 141: Imu-Ln200 Sensor Specifications

    100 ppm Angular random walk 0.07 deg/√hr Accelerometer Performance Input range ±15 g Scale factor asymmetry 150 ppm Scale factor error 300 ppm Bias 1.0 mg Data Rate IMU Measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v1...

  • Page 142: Imu-Ln200 Electrical And Environmental

    IMU-LN200 Wheel Sensor Cable The IMU-LN200 uses the IMU Enclosure Wheel Sensor Cable. Refer to IMU Enclosure Wheel Sensor Cable on page 125 for details about this cable. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 143: Imu-Μimu

    See the following sections for more information about the IMU-µIMU. IMU-µIMU Mechanical Drawings on the next page IMU-µIMU Sensor Specifications on page 146 IMU-µIMU Electrical and Environmental on page 146 IMU-µIMU Cables on page 147 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 144: Imu-Μimu Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.9.1 IMU-µIMU Mechanical Drawings The dimensions in the following diagrams are in millimetres. Figure 56: IMU-µIMU Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 145 APPENDIX A   IMU Technical Specifications Figure 57: IMU-µIMU Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...

  • Page 146: Imu-Μimu Sensor Specifications

    11 W (typical) IMU Input Voltage +10 to +34 V DC IMU Interface RS-422 Connectors Power SAL M12, 5 pin, male Data SAL M12, 5 pin, female Wheel Sensor SAL M12, 8 pin, male OEM7 SPAN Installation and Operation User Manual v1...

  • Page 147: Imu-Μimu Cables

    IMU-µIMU Wheel Sensor Cable The IMU-µIMU uses the IMU Enclosure Wheel Sensor Cable. Refer to IMU Enclosure Wheel Sensor Cable on page 125 for details about this cable. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 148: Imu (Single-Connector Enclosure)

    See the following sections for more information about the LN-200 IMU. LN-200 IMU Mechanical Drawings on the next page LN-200 IMU Performance on page 151 LN-200 Electrical and Environmental on page 151 Interface Cable for the LN-200 IMU on page 152 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 149: Imu Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.10.1 LN-200 IMU Mechanical Drawings The dimensions in the following diagrams are in millimetres. Figure 58: LN-200 IMU Enclosure Top/Bottom Dimensions and Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
  • Page 150 The Center of Navigation offsets, shown on the LN-200 label, are for the internal IMU and are different than for the enclosure center. The enclosure center is labelled as IMU Center in these figures. Dimensions are shown in millimeters. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 151: Imu Performance

    MIL-C-38999-III, 22 pin (all IMUs) IMU Interface RS-232 or RS-422 Table 86: LN-200 Environmental Specifications Environmental (LN-200 IMU) Operating -30°C to +60°C (-22°F to 140°F) Temperature Storage -45°C to +80°C (-49°F to 176°F) Humidity 95% non-condensing OEM7 SPAN Installation and Operation User Manual v1...

  • Page 152: Interface Cable For The Ln-200 Imu

    The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU. The LN-200 IMU uses the Universal IMU Enclos- ure Interface cable (see Universal IMU Enclosure Interface Cable on page 181). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 153: Oem-Imu-Adis-16488

    APPENDIX A   IMU Technical Specifications A.11 OEM-IMU-ADIS-16488 The OEM-IMU-ADIS-16488 requires a MEMS Interface Card to connect to a NovAtel receiver. See MIC - MEMS Interface Card on page 184. Table 87: OEM-IMU-ADIS-16488 Physical Specifications Physical IMU Size 47 mm x 44 mm x 14 mm...

  • Page 154: Oem-Imu-Adis-16488 Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.11.1 OEM-IMU-ADIS-16488 Mechanical Drawings The dimensions in these drawings are in millimetres. Figure 60: ADIS-16488 Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 155 APPENDIX A   IMU Technical Specifications Figure 61: ADIS-16488 Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...

  • Page 156: Oem-Imu-Adis-16488 Sensor Specifications

    -40°C to +105°C A.11.4 ADIS-16488 IMU-to-MIC Cable Assembly The NovAtel part number for the ADIS-16488 IMU-to-MIC interface cable is 01019008 (Figure 62: ADIS-16488 IMU-to-MIC Cable Assembly on the next page). This cable provides power to the IMU and enables communication between the MIC and the IMU.
  • Page 157 APPENDIX A   IMU Technical Specifications Figure 62: ADIS-16488 IMU-to-MIC Cable Assembly Table 91: ADIS-16488 IMU-to-MIC Cable Pinout P2 Pin Signal Name P1 Pin IMU_VDD IMU_VDD SPI_NSS SPI_CLK Ground SPI_MOSI SPI_MISO Ground ADIS_IMU_DIO1 ADIS_IMU_DIO2 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 158: Oem-Imu-Isa-100C

    APPENDIX A   IMU Technical Specifications A.12 OEM-IMU-ISA-100C The OEM-IMU-ISA-100C requires a Universal IMU Controller Card to connect to a NovAtel receiver. See UIC - Universal IMU Controller on page 196. Table 92: OEM-IMU-ISA-100C Physical Specifications Physical IMU Size 100 mm x 130 mm x 125 mm...

  • Page 159: Oem-Imu-Isa-100C Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.12.1 OEM-IMU-ISA-100C Mechanical Drawings The following graphics are courtesy of Northrop Grumman LITEF GmbH. The dimensions in the following graphics are in millimetres. Figure 63: ISA-100C Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 160 APPENDIX A   IMU Technical Specifications Figure 64: ISA-100C Coordinate Axis OEM7 SPAN Installation and Operation User Manual v1...

  • Page 161: Oem-Imu-Isa-100C Sensor Specifications

    +3.3 V, ±5.25 V, ±15 V, -15 V (optional) ≤10 W (typical) Power consumption 16 W (maximum) Connector 44 pin HD D-Sub, male Table 95: OEM-IMU-ISA-100C Environmental Specifications Environmental Temperature, operational -40°C to +71°C OEM7 SPAN Installation and Operation User Manual v1...

  • Page 162: Oem-Imu-Isa-100C Imu To Uic Cable Assembly

    APPENDIX A   IMU Technical Specifications A.12.3 OEM-IMU-ISA-100C IMU to UIC Cable Assembly The NovAtel part number for the OEM-IMU-ISA-100C IMU to UIC interface cable is 01019393 (Figure 65: OEM-IMU-ISA-100C IMU to UIC Cable Assembly below). This cable provides power to the IMU and enables communication between the UIC and the IMU.
  • Page 163 (ISA-100C) (UIC) 5.25 V -5.25 V -5.25 V -5.25 V 15 V 3.3 V – – – – NOGOx – – TXC+ SYNC- TXD+ – – 5.25 V 3.3 V 3.3 V OEM7 SPAN Installation and Operation User Manual v1...
  • Page 164 APPENDIX A   IMU Technical Specifications J2 Pin J1 Pin Signal (ISA-100C) (UIC) PWRDOWNx RESETIMUx – – – – TXC- SYNC+ TXD- – – 5.25 V OEM7 SPAN Installation and Operation User Manual v1...

  • Page 165: Oem-Imu-Stim300

    APPENDIX A   IMU Technical Specifications A.13 OEM-IMU-STIM300 The OEM-IMU-STIM300 requires a MEMS Interface Card to connect to a NovAtel receiver. See MIC - MEMS Interface Card on page 184. Table 97: OEM-IMU-STIM300 Phys- ical Specifications Physical IMU Size 45 mm x 39 mm x 22 mm...

  • Page 166: Oem-Imu-Stim300 Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.13.1 OEM-IMU-STIM300 Mechanical Drawings The following graphics are courtesy of Sensonor AS. In the following graphics, the dimensions are in millimetres. Figure 66: STIM300 Dimensions Figure 67: STIM300 Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...

  • Page 167: Oem-Imu-Stim300 Sensor Specifications

    -55°C to +90°C A.13.4 STIM300 IMU-to-MIC Cable Assembly The NovAtel part number for the STIM300 IMU-to-MIC interface cable is 01019161 (Figure 68: STIM300 IMU-to-MIC Cable Assembly on the next page). This cable provides power to the IMU and enables communication between the MIC and the IMU.
  • Page 168 Ground Ground VSUP (5V input) VSUP (5V input) Ground Transmit Data+ Transmit Data- Receive Data+ Receive Data- No connection – No connection – IMU DAS No connection – IMUTYPE1 No connection – OEM7 SPAN Installation and Operation User Manual v1...

  • Page 169: Oem-Imu-Μimu

    OEM-IMU-µIMU Electrical and Environmental on page 172 µIMU to UIC Cable Assembly on page 172 A.14.1 OEM-IMU-µIMU Mechanical Drawings The following graphics are courtesy of Northrop Grumman LITEF GmbH. The dimensions in the following graphics are in mil- limetres. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 170 APPENDIX A   IMU Technical Specifications Figure 69: µIMU Dimensions OEM7 SPAN Installation and Operation User Manual v1...

  • Page 171: Oem-Imu-Μimu Sensor Specifications

    ≤1400 ppm Angular random walk ≤0.3 deg/√hr Accelerometer Performance Input range ±15 g Bias repeatability ≤3 mg Scale factor error ≤1500 ppm Velocity random walk ≤0.25 mg/deg/√hz Data Rate IMU Measurement 200 Hz OEM7 SPAN Installation and Operation User Manual v1...

  • Page 172: Oem-Imu-Μimu Electrical And Environmental

    -55°C to +71°C A.0.2 µIMU to UIC Cable Assembly The NovAtel part number for the µIMU to UIC interface cable is 01019760 (Figure 71: µIMU to UIC Cable Assembly below). This cable provides power to the IMU and enables communication between the UIC and the IMU.
  • Page 173 (UIC) Transmit Data+ Transmit Data- Transmit Clock- Transmit Clock+ Ground Ground NOGO SYNC- IMU_5V25 IMU_5V25 IMU_5V25 Ground Ground Ground Lug Ring IMU_PDWARN IMU_RESET SYNC+ IMU_TYPE_3 A15 to A18 IMU_TYPE_1 A13 to A11 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 174: Universal Imu Enclosure (Hg1700, Ln200)

    See the following sections for more information about the IMUs available in the Universal IMU Enclosure. Universal IMU Enclosure Mechanical Drawings on the next page IMU Performance on page 179 Electrical and Environmental on page 180 Universal IMU Enclosure Interface Cable on page 181 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 175: Universal Imu Enclosure Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.15.1 Universal IMU Enclosure Mechanical Drawings The dimensions for the drawing in this section are in mm [inches]. Figure 72: Universal IMU Enclosure Side Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 176 APPENDIX A   IMU Technical Specifications Figure 73: Universal IMU Enclosure Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 177 APPENDIX A   IMU Technical Specifications Figure 74: Universal IMU Center of Navigation OEM7 SPAN Installation and Operation User Manual v1...
  • Page 178 APPENDIX A   IMU Technical Specifications Figure 75: Universal IMU Frame Axis OEM7 SPAN Installation and Operation User Manual v1...

  • Page 179: Imu Performance

    150 ppm Angular Random Walk 0.5 deg/rt-hr Accelerometer Performance Accelerometer Range ±50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 2.0 mg Data Rate IMU Measurement 100 Hz OEM7 SPAN Installation and Operation User Manual v1...

  • Page 180: Electrical And Environmental

    LN-200: 16 W (typical) IMU Input Voltage +12 to +28 V DC (all IMUs) Receiver Power Consumption 1.8 W (typical, for all IMUs) Input/Output Connectors MIL-C-38999-III, 22 pin (all IMUs) IMU Interface RS-232 or RS-422 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 181: Universal Imu Enclosure Interface Cable

    Operates at 95% RH, non-condensing (all IMUs) A.15.4 Universal IMU Enclosure Interface Cable The NovAtel part number for the Universal IMU Enclosure interface cable is 01018977 (see Fig- ure 76: Universal IMU Enclosure Interface Cable below). This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU.
  • Page 182 Shield Custom Cable Recommendations The tables below provide recommendations for creating custom cables to replace the Universal IMU Enclosure interface cable (01018977). Table 114: Connectors Connector Description DB-9, female MIL-DTL-38999 III, plug OEM7 SPAN Installation and Operation User Manual v1...
  • Page 183 APPENDIX A   IMU Technical Specifications Table 115: Maximum Cable Length RS-232 RS-422 HG1700, LN-200, LCI-1 < 2.0 metres < 50 metres iIMU-FSAS < 1.5 metres OEM7 SPAN Installation and Operation User Manual v1...

  • Page 184: Mic - Mems Interface Card

    See the following sections for more information about the MIC. MIC Mechanical Drawings on the next page MIC Electrical and Environmental on page 187 MIC Connectors on page 187 HG1930 IMU-to-MIC Cable Assembly on page 193 HG1700 and HG1900 IMU-to-MIC Cable Assembly on page 194 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 185: Mic Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.16.1 MIC Mechanical Drawings The dimensions in the following drawings are in millimetres. Figure 77: MIC Top/Bottom Dimensions OEM7 SPAN Installation and Operation User Manual v1...
  • Page 186 APPENDIX A   IMU Technical Specifications Figure 78: MIC Keep-Out Zone Cross hatched areas indicate “keepout” areas intended for NovAtel circuitry. NovAtel reserves the right to modify components and component placements inside cross hatched keepout zones, while maintaining design, form, fit and function.

  • Page 187: Mic Electrical And Environmental

    J301 20-pin OEM719 mating connector Molex OEM719 receiver. Electronics Sample system power consumption: 5.7 W when powering an HG1900 IMU and OEM719 receiver, in board stack configuration, from VIN=15 VDC at +25°C. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 188 Status LED 3 / LED3 Output Self-test Status LED 2 / LED2 Output GPS Time Status DGND Power Digital ground All signal I/O with the exception of USB port are at LVCMOS levels. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 189 The VARF output is enabled by default and the CAN1RX input is disabled by default. If you disable VARF, the CAN1RX input is enabled. The Event2 input is enabled by default and the CAN1TX output is disabled by default. If you disable EVENT2, the CAN1TX output is enabled. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 190 All signal I/O with the exception of USB port are at LVCMOS levels. The Event1 input is enabled by default and the COM3 port is disabled by default. If you enable the COM3 port, the Event1 input is disabled. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 191 LVCMOS level, not 5V tolerant IMUTYPE1 Input detect IMU type LVCMOS level, not 5V tolerant IMUTYPE2 Input detect IMU type LVCMOS level, not 5V tolerant All signal I/O are at LVCMOS levels. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 192 When the MIC boots up, it requires approximately 10 seconds to perform a self-test. If a software update has been performed, the board can take up to 70 seconds at startup to complete the reprogramming. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 193: Hg1930 Imu-To-Mic Cable Assembly

    APPENDIX A   IMU Technical Specifications A.16.4 HG1930 IMU-to-MIC Cable Assembly The NovAtel part number for the HG1930 IMU-to-MIC interface cable is 01018827 (Figure 79: HG1930 IMU-to-MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.

  • Page 194: Hg1700 And Hg1900 Imu-To-Mic Cable Assembly

    For more information, refer to the IMU documentation provided by Honeywell. A.16.5 HG1700 and HG1900 IMU-to-MIC Cable Assembly The NovAtel part number for the HG1700 and HG1900 IMU-to-MIC interface cable is 01018828 (Figure 80: HG1700 and HG1900 IMU-to-MIC Cable Assembly below). This cable provides power to the IMU and enables communication between the MIC and the IMU.
  • Page 195 APPENDIX A   IMU Technical Specifications P1 IMU Cable End (FCI-MINITEK) P2 MIC Cable End For more information, refer to the IMU documentation provided by Honeywell. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 196: Uic - Universal Imu Controller

    UIC Weight 125 g (0.28 lb) See the following sections for more information about the UIC. UIC Mechanical Drawings on the next page UIC Electrical and Environmental on page 199 UIC Connectors on page 199 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 197: Uic Mechanical Drawings

    APPENDIX A   IMU Technical Specifications A.17.1 UIC Mechanical Drawings The dimensions in the following drawings are in millimetres. Figure 81: UIC Dimensions and Keep Out Zones OEM7 SPAN Installation and Operation User Manual v1...
  • Page 198 APPENDIX A   IMU Technical Specifications Figure 82: UIC Connectors, LEDs and Heat Sink Details OEM7 SPAN Installation and Operation User Manual v1...

  • Page 199: Uic Electrical And Environmental

    A filter module (similar to Delta FL 75L07) in series with the power cable maybe needed to pass conducted emission. A tubular ferrite bead (similar to Laird Technologies 28B0375-300) maybe attached to the data cable to reduce radiated emissions. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 200 Connects to the wheel sensor. Input Odometer input B (-) Connects to the wheel sensor. Reserved (do not connect) CGND Power Chassis ground All signal I/O are at LVCMOS levels (not 5V tolerant). OEM7 SPAN Installation and Operation User Manual v1...
  • Page 201 SPI Master Output / Slave Input DIO2 Power Digital ground Power Digital ground IMU_TYPE0 Input Detect IMU type 0 IMU_EVENT_IN IMU_TYPE1 Input Detect IMU type 1 IMU_EVENT_OUT All signal I/O are at LVCMOS levels (not 5V tolerant). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 202: Hg1900 Imu To Uic Cable Assembly

    Negative 5.25 VDC supply A.0.3 HG1900 IMU to UIC Cable Assembly The NovAtel part number for the HG1900 IMU to UIC interface cable is 01019762 (Figure 83: OEM-IMU-HG1900 IMU to UIC Cable Assembly on the next page). This cable provides power to the IMU and enables communication between the MIC and the IMU.

  • Page 203: Ln200 Imu To Uic Cable Assembly

    A.0.4 LN200 IMU to UIC Cable Assembly The NovAtel part number for the LN200 IMU to UIC interface cable is 01019763 (Figure 84: OEM- IMU-LN200 IMU to UIC Cable Assembly on the next page). This cable provides power to the IMU and enables communication between the MIC and the IMU.
  • Page 204 APPENDIX A   IMU Technical Specifications Figure 84: OEM-IMU-LN200 IMU to UIC Cable Assembly Table 135: OEM-IMU-LN200 IMU to UIC Cable Pinout J1 Pins (to LN200) J2 Pins (to UIC) OEM7 SPAN Installation and Operation User Manual v1...
  • Page 205 APPENDIX A   IMU Technical Specifications J1 Pins (to LN200) J2 Pins (to UIC) Lug Fork A8 to A13 A11 to 12 A15 to A18 OEM7 SPAN Installation and Operation User Manual v1...

  • Page 206: Appendix B Hg1700 Imu In Universal Enclosure

    O-rings, sealing surfaces and the IMU. The following procedure provides the necessary information to install the HG1700 sensor into the Universal Enclosure (NovAtel part number 01018589), both illustrated below. The steps required for this procedure are: Disassemble the Universal Enclosure...

  • Page 207: Disassemble The Universal Enclosure

    2. Using a 30 mm socket, remove the jam nut and free the wiring harness connector from the body, as shown in Figure 87: Disconnect Wiring Harness from Enclosure Body on the next page. Retain the O-ring and the jam nut for reassembly. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 208 3. Using a 2.5 mm hex bit, unscrew the M4 screws and remove the IMU mounting plate, bracket and cable harness, as shown in Figure 88: Remove IMU Mounting Plate and Bracket on the next page: OEM7 SPAN Installation and Operation User Manual v1...

  • Page 209: Install The Hg1700 Sensor Unit

    To install the HG1700 sensor unit in the Universal Enclosure: 1. Using a Phillips screwdriver, remove the 8-32 IMU mounting screws from the IMU mounting plate, as shown in Figure 89: Remove IMU Mounting Screws on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 210 IMU cable harness, make sure the connector on the board assembly is clicked open. Connect the IMU cable harness to the IMU (fasten the 2-56 screws but do not use thread-locking fluid), then connect to the board assembly. Ensure the cable housing latches. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 211 Screw the IMU and mounting plate together, using thread-locking fluid on the 8-32 screws, as shown in Figure 91: Installing IMU to Mounting Plate on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 212 (noting the orientation) with the pilot pins of the enclosure body. Lower the assembly into place, then fasten using thread-locking fluid on the M4 screws. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 213 Fasten the connector to the enclosure body wall using the jam nut supplied with the connector. Apply thread-locking fluid then, with a 30 mm socket, tighten the jam nut to 6.9 N-m (61 lb-in/5.1 lb-ft). OEM7 SPAN Installation and Operation User Manual v1...
  • Page 214 O-rings and alignment of corners. Press the enclosure body into place, starting with the round pilot hole indicated in Figure 95: Install Enclosure Body on the Base on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 215 9. Ensure the product identification label, the logo plate and the center of navigation labels are properly affixed and contain the correct information. The final assembled unit will be similar to that shown in Figure 97: Final Assembly on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 216 APPENDIX B   HG1700 IMU in Universal Enclosure Figure 97: Final Assembly OEM7 SPAN Installation and Operation User Manual v1...

  • Page 217: Appendix C Ln-200 Imu In Universal Enclosure

    O-rings, sealing surfaces, and the IMU. The following procedure provides the necessary information to install the LN-200 sensor into the Universal Enclosure (NovAtel part number 01018590), both illustrated below. The steps required for this procedure are: Disassemble the Universal Enclosure...
  • Page 218 3. Lift the enclosure lid off the assembly to expose the IMU bracket, shown in Figure 101: IMU Bracket on the next page. Disconnect the harness at the SDLC card and remove. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 219: Install The Ln-200 Sensor Unit

    LN-200 IMU. Add three washers under each of the original washers and fasten the IMU to the enclosure base, as shown in Figure 103: Install LN-200 IMU to Base on the next page. Use thread-locking fluid on each screw. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 220 Making Connections on the next page. Ensure latching of the cable connector housings and fasten the 6-32 screw at the IMU end using a 5/32” hex bit. Do not use thread-locking fluid and do not overtighten. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 221 Figure 106: Connect Internal Cable Harness below. Figure 106: Connect Internal Cable Harness 5. Clean the surface of the enclosure body, where it will mate with the O-rings, using isopropyl OEM7 SPAN Installation and Operation User Manual v1...
  • Page 222 M4 screws to hold the parts together. Use thread-locking fluid on all screws. Install the remaining screws in similar fashion. Tighten all screws to 1.36-1.58 N-m (12-14 lb-in). Do not over-tighten. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 223 7. Ensure the product identification label, the logo plate and the center of navigation labels are properly affixed and contain the correct information. The final assembled unit is shown in Fig- ure 109: Final Assembly below. Figure 109: Final Assembly OEM7 SPAN Installation and Operation User Manual v1...

  • Page 224: Appendix D Hg1700 Imu In Span Hg Enclosure

    APPENDIX D HG1700 IMU in SPAN HG Enclosure The following procedure provides the necessary information to install the HG1700 sensor into the SPAN HG Enclosure (NovAtel part number 01017898). The steps required for this procedure are: Disassemble the SPAN HG Enclosure...
  • Page 225 Tube Body and 3 Ring Spacer Screws on the next page. 4. Lift the tube body away from its base plate and set it aside. 5. Remove the 3 ring spacer screws and set them aside. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 226: Install The Hg1700 Sensor Unit

    1. Mount the HG1700 sensor with the attached #8 screws. Apply threadlock to the screw threads. Use a hex key to torque each screw to 10 in-lbs. 2. Fit the tube body over the HG1700 sensor and onto the base plate. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 227: Make The Electrical Connections

    1. Attach the flex cable to the HG1700 sensor ensuring that all the pins are fully connected. Check also that the pins are fully seated and that the flex cable stiffener around the pins is not bent upward, see Figure 114: Attach Flex Cable on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 228 Figure 114: Attach Flex Cable above. 4. Check that the flex cable is locked in place. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 229: Re-Assemble The Span Imu Enclosure

    111: Bolts and Hex Key on page 225. Apply threadlock to threads. Finger tighten all bolts and torque them in a cross pattern to 12 in-lbs. The fully assembled IMU enclosure is shown in Fig- ure 117: HG1700 SPAN IMU on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 230 APPENDIX D   HG1700 IMU in SPAN HG Enclosure Figure 117: HG1700 SPAN IMU OEM7 SPAN Installation and Operation User Manual v1...

  • Page 231: Appendix E Ln-200 Imu In Span Imu Enclosure

    The following procedure provides the necessary information to install the LN-200 sensor (NovAtel part number 80023515) into the SPAN IMU enclosure (NovAtel part number 01017656) using the LN-200 wiring harness (NovAtel part number 01017655). The steps required for this procedure are:...
  • Page 232 3. Lift the top cover off the tube body and set it aside. 4. Lift the tube body away from its base plate and set it aside, as shown in Figure 120: Lift Top OEM7 SPAN Installation and Operation User Manual v1...

  • Page 233: Install The Ln-200 Sensor Unit

    1. Mount the LN-200 sensor with the attached M4 screws. Apply threadlock to the screw threads. Use a hex key to torque each screw to 10 in-lbs. 2. Fit the tube body over the LN-200 sensor and onto the base plate. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 234: Make The Electrical Connections

    1. Attach the LN-200 wire harness to the mating connector on the LN-200. Check that the con- nector is fully seated, as shown in Figure 122: Attach Wiring Harness on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 235 2. Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card, as shown in Figure 123: Attach Samtec Connector on the next page. Ensure that the connector is locked in place. OEM7 SPAN Installation and Operation User Manual v1...

  • Page 236: Re-Assemble The Span Imu Enclosure

    119: Bolts and Hex Key on page 232. Apply threadlock to threads. Finger tighten the 6 bolts then torque them in a cross pattern to 12 in-lbs. The fully assembled IMU enclosure is shown in Fig- ure 124: LN-200 SPAN IMU on the next page. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 237 APPENDIX E   LN-200 IMU in SPAN IMU Enclosure Figure 124: LN-200 SPAN IMU OEM7 SPAN Installation and Operation User Manual v1...

  • Page 238: Appendix F Frequently Asked Questions

    4. Why don’t I have any INS data? a. By default, the raw IMU data begins flowing at system start up. If there is no INS data, check that the system has been configured properly. See question 3 above. OEM7 SPAN Installation and Operation User Manual v1...
  • Page 239 IMU Direct Connection on page 20 for information about configuring the IMU for operation with SPAN. Further details on the command and logs in this section are available in the OEM7 Com- mands and Logs Reference Manual (OM-20000169). OEM7 SPAN Installation and Operation User Manual v1...

  • Page 240: Appendix G Replacement Parts For Span

    APPENDIX G Replacement Parts for SPAN The following are a list of the replacement parts available. Should you require assistance, or need to order additional components, contact your local NovAtel dealer or Customer Support. NovAtel Part Part Description IMU-CPT IMU-FSAS-EI...
  • Page 241 UIC to ISA-100C Interface Cable 01019760 UIC to µIMU Interface Cable 01019762 UIC to HG1900 Interface Cable 01019763 UIC to LN200 Interface Cable 60723136 IMU Enclosure Power Cable 60723137 IMU Enclosure Wheel Data Cable OEM7 SPAN Installation and Operation User Manual v1...
  • Page 242 OEM7 SPAN Installation and Operation User Manual v1...

Table of Contents