ICP DAS USA GPS-721 User Manual
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ICP DAS USA GPS-721 User Manual

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ГК Атлант Инжиниринг – официальный представитель в РФ и СНГ
+7(495)109-02-08 sales@bbrc.ru www.bbrc.ru
GPS-721 User Manual
GPS-721
User Manual v2.0
High-quality Industrial Data Acquisition and Control Products
1/98 GPS-721 User Manual V2.0, Oct. 2010

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  • Page 1 ГК Атлант Инжиниринг – официальный представитель в РФ и СНГ +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual GPS-721 User Manual v2.0 High-quality Industrial Data Acquisition and Control Products 1/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 2 Copyright 2010 by ICP DAS CO., LTD. All rights reserved worldwide. Trademark The names used for identification only may be registered trademarks of their respective companies. Version Date Author Description 2010/2/1 Anold Release version 2/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 3: Table Of Contents

    #AA......................35 #AAN.......................37 #AA00(Data)....................40 #AA0A(Data)...................42 #AA1cDD ....................44 #AAAcDD ....................46 $AA2......................48 2.10 $AA4......................50 2.11 $AA5......................52 2.12 $AA6......................54 2.13 $AAC .......................56 2.14 $AAD.......................58 2.15 $AAF......................60 2.16 $AAM ......................61 2.17 $AALS .....................62 2.18 @AA ......................64 2.19 @AA(Data)....................66 3/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 4 ~AAMN ....................78 2.26 ~AATnn ....................81 2.27 ~** ......................84 2.28 ~AA0......................85 2.29 ~AA1......................87 2.30 ~AA2 .......................89 2.31 ~AA3EVV ....................91 2.32 ~AA4V ....................93 2.33 ~AA5V ....................95 A.1 Dual Watchdog Operation ..................97 A.2 Node Information Area ..................98 4/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 5: Introduction

    Therefore, GPS-721 can be a powerful GPS remote module as well as a general purpose GPS module with RS232 interface. It can also be applied in Automotive navigation, Personal positioning and navigation, Marine navigation, Satellite time correction and etc…...

  • Page 6: Features

    10 ~ 30V DC – (Power reverse polarity protection) System LED indicators DIN Rail design 1.2 Applications Automotive navigation Personal positioning and navigation Marine navigation Satellite time correction Precise timekeeping and time measurement 6/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 7: Package List

    External GPS antenna (ANT-115-03, Length: 5m) RS-232 Cable (CA-0910) Product CD Quick Start Guide Please check that these items and contained in your GPS-721 package. If there are any problems, contact the supplier of the module. 7/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 8: Hardware

    ГК Атлант Инжиниринг – официальный представитель в РФ и СНГ +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual Hardware Number of satellites LED INIT/Normal Switch 8/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 9: Specifications

    Required Supply Voltage +10 V DC ~ +30 V DC (non-regulated) Power Consumption 2.5 W Mechanical Dimensions (W x H x D) 72 mm x 117 mm x 35 mm Weight 200 g Housing Plastic 9/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 10 -40° C ~ +80° C Humidity 5 ~ 95% RH, non-condensing I/O specification Digital Output Output Channel 1 (Sink) Output Type Non-isolated Open Collector Output Current 100 mA Load Voltage +5 V DC ~ +30 V DC 10/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 11: Block Diagram Of Gps-721

    ГК Атлант Инжиниринг – официальный представитель в РФ и СНГ +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual 1.3.2 Block Diagram for the GPS-721 11/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 12: Pin Assignments And Led Directors

    The number of signals received from GPS satellites is more than 8. The number of signals received from GPS satellites is less than 8. The PPS is on. 1 PPS The PPS is off. 12/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 13: Operation Modes

    GPS-721 User Manual 1.3.4 Operation modes The GPS-721 back panel contains the frame ground and Init/Normal Switch. The module has two operation modes (init and normal modes), which can be determined by the switch mechanism on the chassis. The description and figure are as follows.

  • Page 14: Wiring Recommendations

    Strip the wire to a length of 7±0.5mm. Use a crimp terminal for wiring. Avoid high-voltage cables and power equipment as much as possible. For RS-485 communication, use insulated and twisted pair 24 AWG wire, e.g. Belden 9841. 14/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 15: Wiring

    ГК Атлант Инжиниринг – официальный представитель в РФ и СНГ +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual 1.4 Wiring DO wiring PPS wiring 15/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 16 PPS functionality with another time source that provides the full date and time in order to ascertain the time both accurately and precisely. 16/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 17: Dimensions

    ГК Атлант Инжиниринг – официальный представитель в РФ и СНГ +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual Dimensions Rear View 17/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 18: Mounting

    +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual 1.6 Mounting The GPS-721 can be mounted on a DIN rail, a wall or it can be piggybacked to other modules using the bottom of the chassis. DIN-Rail Mounting The GPS-721 has simple rail clips for reliable mounting on a standard 35 mm DIN rail.
  • Page 19 +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual Piggyback Mounting The GPS-721 has two holes on both sides of the module to enable piggyback mounting. Refer to the figure below for an illustration of how to piggyback the modules. 19/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 20: Frame Ground

    2. Alternatively, connect the lower frame ground terminal to a wire and connect the wire to the earth ground, as shown in the figure below. 20/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 21 There is a screw at one end, and a ring terminal is included, as shown in the figure below. Refer to Section 1.7 for more information about the new DIN rail models. 21/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 22: Configuration Table

    Baud Rate Setting (CC) Code Baud 1200 2400 4800 9600 19200 38400 57600 115200 Rate Type Code Setting (TT) Type Code is fixed as 40. Data Format Setting (FF) Description Checksum Disabled Enabled 22/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 23: Quick Start

    +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual Quick Start This section describes the installation of the GPS-721. And provides details how to guiding and officiating begin to use the module. 1. Refer to Section 1.4.3 for details of the terminal assignments, and Section 1.5 for details of how to installing the power and...
  • Page 24 GPS-721. The graphic setting of the GPS-721 is not supported by the DCON Utility. Note 2: If GPS-721 can’t receive a GPS signal, check the position of the antenna and if the problem persists, try installing the GPS antenna outside.

  • Page 25: Technical Support

    +7(495)109-02-08 sales@bbrc.ru www.bbrc.ru GPS-721 User Manual 1.10 Technical Support Should you encounter any problems while using the GPS-721 module, and are unable to find the help in this manual or on our website, please contact ICP DAS Product Support. Email: service@icpdas.com Website: http://www.icpdas.com/sevices/support.htm...

  • Page 26: Dcon Protocol

    [CHKSUM] Character Address CHKSUM A 2-character checksum which is present when the checksum setting is enabled. See Sections 1.10 (Data Format Settings) and 2.1 for details. End of command character, carriage return (0x0D) 26/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 27 1. Sum of the string = “!”+”0”+”1”+”2”+”0”+”0”+”6”+”0”+”0” = 21h+30h+31h+32h+30h+30h+36h+30h+30h = 1AAh 2. Therefore the checksum is AAh, and so CHKSUM = “AA” 3. The response string with the checksum = !01200600AA(CR) Note: All characters should be in upper case. 27/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 28 Reads the Firmware Version 2.15 $AAM !AA(Data) Reads the Module Name 2.16 Reads the Latched DO $AALS !AA(Data) 2.17 Status >(Data) Reads the Digital I/O Status 2.18 Sets the Digital Output @AA(Data) > 2.19 Channels 28/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 29 2.29 ~AA1 Resets the Status 2.30 ~AA2 !AAVV Reads the Timeout Settings 2.31 ~AA3EVV Sets the Timeout Settings Reads the Power On/Safe 2.32 ~AA4V !AA(Data) Value 2.33 ~AA5V Sets the Power On/Safe Value 29/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 30: Aannttccff

    New address of the module in hexadecimal format (00 to FF) Type Code (Refer to Section 1.9 configuration table) The type Code of the GPS-721 is fixed as 40 Refer to the module section 1.9 configuration table. The BaudRate is not set when the modules...
  • Page 31 The module returns an invalid command b ecause it is not in INIT* mode. Command: %0905400940 Response: !05 Changes the Baud Rate of module 01 to 57600bps and the module returns a valid response. 31/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 32 Send command ~AATnn (Refer to Section 2.27) II. Send command ~AAI (Refer to Section 2.26_ III. Send command %AANNTTCCFF If these commands are valid, the Baud Rate, checksum or others will take effect after the module responds with “!AA”. 32/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 33 Sends a command to read the synchronized data. The status byte of the response is 1, which means that it is the first time the synchronized data has been read after the previous #** command. Digital Output: 0x06 33/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 34 The status byte of the response is 0, which means that it is NOT the first time the synchronized data has been read after the previous #** command. Digital Output: 0x06 Related Commands: Refer to Section 2.10 $AA4 34/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 35 (00 to FF) TTTTTT.TTT UTC Time LLLL.LLLL Latitude N or S (North or South) NNNNN.NNNN Longitude E or W (East or West) P=Position Fix Indicator 0=No fix, invalid 1=GPS SPS Mode, fix valid 35/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 36 Sends a command to read the following information and the module replies with a valid response. UTC Time: 035035.000 Latitude, Longitude: 2451.7056, N,12100.9903, E Position Fix Indicator: 1 Satellites in view: 9 Related Commands: Section2.4 #AAN 36/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 37: Aan

    N=1： !AATTTTTT.TTT N=2： !AALLLL.LLLL,C,NNNNN.NNNN,C N=3： !AAS N=4： !AADDMMYY Delimiter for a valid command Delimiter for an invalid command Address of the module in hexadecimal format (00 to FF) TTTTTT.TTT UTC time LLLL.LLLL Latitude 37/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 38 Response: !012451.7057,N,12100.9904,E Reads the Latitude and longitude for module 01. Latitude, Longitude: 2451.7056,N,12100.9903,E Command: #013 Response: !019 Reads the number of satellites in view for module 01 and indicates that there are 9. 38/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 39 Command: #014 Response: !01280308 Indicates that the current date is 3/28/2008. The $AAD command needs to be sent to update the date before using this command. Related Commands: Section 2.3 #AA, Section 2.13 $AAD 39/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 40: Aa00(Data)

    Valid Command: >[CHKSUM](CR) Invalid Command: ?AA[CHKSUM](CR) Ignored Command: ![CHKSUM](CR) > Delimiter for a valid command Delimiter for an invalid command Delimiter for an ignored command: If a Host WatchDog Timeout occurs, the module 40/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 41 A Host WatchDog Timeout was occurred and so the DO output command is ignored. Related Commands: Section 2.6 #AA0A (Data) Section 2.12 $AA6 Section 2.7 #AA1cDD Section 2.18 @AA Section 2.8 #AAAcDD Section 2.19 @AA(Data) 41/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 42: Aa0A(Data)

    > Delimiter for a valid command Delimiter for an invalid command Delimiter for an ignored command: If a Host WatchDog Timeout occurs, the module will reset to safe mode and the DO output 42/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 43 A Host WatchDog Timeout has occurred and so the DO output command is ignored. Related Commands: Section 2.5 #AA00(Data) Section 2.12 $AA6 Section 2.7 #AA1cDD Section 2.18 @AA Section 2.8 #AAAcDD Section 2.19 @AA(Data) 43/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 44: Aa1Cdd

    > Delimiter for a valid command Delimiter for an invalid command Delimiter for an ignored command: If a Host WatchDog Timeout occurs, the module will reset to safe mode and the DO output 44/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 45 A Host WatchDog Timeout has occurred and so the DO output command is ignored. Related Commands: Section 2.5 #AA00(Data) Section 2.12 $AA6 Section 2.6 #AA0A(Data) Section 2.18 @AA Section 2.8 #AAAcDD Section 2.19 @AA(Data) 45/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 46: Aaacdd

    > Delimiter for a valid command Delimiter for an invalid command Delimiter for an ignored command: If a Host WatchDog Timeout occurs, the module will reset to safe mode and the DO output 46/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 47 A Host WatchDog Timeout has occurred and so the DO output command is ignored. Related Commands: Section 2.5 #AA00(Data) Section 2.12 $AA6 Section 2.6 #AA0A(Data) Section 2.18 @AA Section 2.7 #AA1cDD Section 2.19 @AA(Data) 47/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 48 40 indicates a DO Module The BaudRate code for the module. See Section 1.9 for details Setting for the checksum and the direction of the counter update for the module. See Section 1.9 for details 48/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 49 Reads the configuration of module 01. BaudRate: 115200, Checksum: Disabled. Command: $052 Response: !05400940 Reads the configuration of module 05. BaudRate: 57600, Checksum: Enabled. Related Commands: Section 1.9 Configuration Table Section 2.1 %AANNTTCCFF 49/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 50 Address of the module in hexadecimal format (00 to FF) Status of the synchronized data 1: First read 0: Not the first read (Data) Synchronized data. See Section 1.9 for details of the data format 50/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 51 Reads the synchronized data for module 01. The module returns the synchronized data and sets the status byte to 0 to indicate that the synchronized data has been read. The Digital Output status is Related Commands: Section 2.2 #** 51/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 52 0: This is not the first time the command has been sent since the module was powered on, which denotes that there has been no module reset since the last $AA5 command was sent 52/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 53 Command: $035 Response: !030 Reads the reset status of module 03.The response shows that there has been no module reset since the last $AA5 command was sent. 53/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 54 The status of the digital input/output channels, a four digit hexadecimal value followed by 00 There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 54/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 55 07.The command is invalid became no module with the specified address exits Related Commands: Section 2.5 #AA00(Data) Section 2.8 #AAAcDD Section 2.6 #AA0A(Data) Section 2.18 @AA Section 2.7 #AA1cDD Section 2.19 @AA(Data) 55/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 56: Aac

    Address of the module in hexadecimal format (00 to FF) There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 56/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 57 01 and return 0. Command: $01L1 Response: !011 Sends a command to read the status of the high latched digital output channel of module 01 and return 0. Related Commands: Section 2.17 $AALS 57/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 58: Aad

    Address of the module in hexadecimal format (00 to FF) There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 58/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 59 GPS-721 User Manual Examples: Command: $01D Response: !01 Updates the current date and temporarily saves the date in the module. Command: #014 Response: !0199,99,9999 Reads the current date. Related Commands: Section 2.4 #AAN 59/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 60: Aaf

    Example: Command: $01F Response: !0101.20 Reads the firmware version of module 01, and shows that it is version 1.2. 60/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 61: Aam

    There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. Example: Command: $01M Response: !01GPS721 Reads the module name of module 01 and returns the name “GPS721”. 61/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 62: Aals

    Status of the latched digital output channel as a single digit hexadecimal value followed by 0 There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 62/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 63 01 and return 0. Command: $01L1 Response: !011 Sends a command to read the status of the high latched digital output channel of module 01 and return 0. Related Commands: Section 2.13 $AAC 63/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 64 The highest byte represents Digital Output and the last byte is reserved There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 64/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 65 01. Response: >0100, where 01 is the status of the DO channel. Related Commands: Section 2.5 #AA00(Data) Section 2.8 #AAAcDD Section 2.6 #AA0A(Data) Section 2.12 $AA6 Section 2.7 #AA1cDD Section 2.19 @AA(Data) 65/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 66: Aa(Data)

    > Delimiter for a valid command Delimiter for an invalid command Delimiter for an ignored command: If a Host WatchDog Timeout occurs, the module will reset to safe mode and the DO output 66/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 67 Response: ?01 The output value is not valid because the DO channel doesn’t exit. Related Commands: Section 2.5 #AA00(Data) Section 2.8 #AAAcDD Section 2.6 #AA0A(Data) Section 2.12 $AA6 Section 2.7 #AA1cDD Section 2.18 @AA 67/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 68: Aao(Name)

    Address of the module in hexadecimal format (00 to FF) There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 68/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 69 “GPS721”. Command: ~01O87000 Response: !01 Sets the name of module 01 to “87000” and returns a valid response. Command: $01M Response: !0187000 Reads the name of module 01 and returns the name “87000”. 69/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 70: Aad

    ?AA[CHKSUM](CR) Delimiter for a valid command Delimiter for an invalid command Address of the module in hexadecimal format (00 to FF) Two hexadecimal digits that represent the miscellaneous settings, shown below (00,02) Reserved 70/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 71 Response: !0102 Sets the DO active status of module 01 and returns a valid response. Command: ~01D Response: !0102 Reads the miscellaneous settings of module 01 and returns 02. Related Commands: Section 2.22 ~AADVV 71/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 72: Aadvv

    (00,02) Response: Valid Command: !AA[CHKSUM](CR) Invalid Command: ?AA[CHKSUM](CR) Delimiter for a valid command Delimiter for an invalid command Address of the module in hexadecimal format (00 to FF) Reserved 72/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 73 Response: !0100 Sets the DO active status of module 01 and returns a valid response. Command: ~01D Response: !0100 Reads the miscellaneous settings of module 01 and returns 00. Related Commands: Section 2.21 ~AAD 73/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 74: Aai

    Address of the module in hexadecimal format (00 to FF) There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 74/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 75 Sets the “Soft INIT” function on module 01 to enable. The module returns a valid response. Command: %0107400740 Response: !01 Sends a command to change the BaudRate and checksum. The module returns a valid response. Related Commands: Section 2.26 ~AATnn 75/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 76: Aam

    Delimiter for an invalid command Address of the module in hexadecimal format (00 to FF) Transmission modes Supported by the module 0: DCON 3: DCON\GPS mode Code to indicate the mode 0: DCON 1: GPS 76/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 77 The response shows that module is in GPS transmission mode. The module needs to be restarted before the new transmission protocol is effective. Related Commands: Section 2.25 ~AAMN 77/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 78: Aamn

    GPS-721 User Manual 2.25 ~AAMN Description: The command is used to set the transmission protocol of the module. The GPS-721 supports either the DCON or GPS transmission protocol. In GPS mode no messages can be sent via the RS-485 port. Syntax:...
  • Page 79 Read the transmission mode of module 03 and the module returns a valid response. The response shows that module is in GPS transmission protocol. T he module needs to be restarted before the new transmission protocol is effective. 79/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 80 Response: ?03 Sets the transmission mode to GPS protocol and the module returns an invalid response. Before changing the communication protocol, module needs to be set to INIT mode. Related Commands: Section 2.24 ~AAM 80/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 81: Aatnn

    Example: a value of 10 = 16 seconds Response: Valid Command: !AA[CHKSUM](CR) Invalid Command: ?AA[CHKSUM](CR) Delimiter for a valid command Delimiter for an invalid command Address of the module in hexadecimal format (00 to FF) 81/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 82 Sends the “~AATnn” command to set the Soft INIT duration to 16 seconds and the module returns a valid response. Command: ~01I Response: !01 Command to set module 01 to Soft INIT mode and the module returns a valid response. 82/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 83 GPS-721 User Manual Command: %0107400740 Response: !01 After sending “~AATnn” “~AAI” commands, this command can be used to change the BaudRate and checksum. The module returns a valid response. Related Commands: Section 2.23 ~AAI 83/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 84 Read the Host WatchDog status of module 01 and it returns a valid response. It shows WatchDog is enabled and no Host WatchDog timeout is occurred. Related Commands: Section 2.28 ~AA0 2.29 ~AA1 2.30 ~AA2 2.31 ~AA3EVV 2.32 ~AA4V 2.33 ~AA5V 84/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 85 Bit 7: 0 indicates that the Host WatchDog is disabled, and 1 indicates that the Host WatchDog is enabled. Bit 2: 1 indicates that a Host WatchDog timeout has occurred, and 0 indicates that no Host 85/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 86 Host WatchDog on the module is disabled and timeout has not occurred. Related Commands: Section 2.27 ~** Section 2.31 ~AA3EVV Section 2.29 ~AA1 Section 2.32 ~AA4V Section 2.33 ~AA5V Section 2.30 ~AA2 86/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 87 Address of the module in hexadecimal format (00 to FF) There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. Examples: Command: ~070 87/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 88 Resets the Host WatchDog timeout status of module 07 and the module returns a valid response. Related Commands: Section 2.27 ~** Section 2.31 ~AA3EVV Section 2.28 ~AA0 Section 2.32 ~AA4V Section 2.30 ~AA2 Section 2.33 ~AA5V 88/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 89 0: the Host WatchDog is disabled 1: the Host WatchDog is enabled Two hexadecimal digits to represent the timeout value in tenths of a second, for example, 01 denotes 0.1 seconds and FF denotes 25.5 seconds 89/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 90 Host WatchDog is enabled and the Host WatchDog timeout value is 25.5 seconds. Related Commands: Section 2.27 ~** Section 2.31 ~AA3EVV Section 2.28 ~AA0 Section 2.32 ~AA4V Section 2.29 ~AA1 Section 2.33 ~AA5V 90/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 91: Aa3Evv

    0.1 seconds and FF denotes 25.5 seconds Response: Valid Command: !AA[CHKSUM](CR) Invalid Command: ?AA[CHKSUM](CR) Delimiter for a valid command Delimiter for an invalid command Address of the module in hexadecimal format (00 to 91/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 92 Reads the Host WatchDog status of module 01 and shows that a Host WatchDog is enabled. Related Commands: Section 2.27 ~** Section 2.30 ~AA2 Section 2.28 ~AA0 Section 2.32 ~AA4V Section 2.29 ~AA1 Section 2.33 ~AA5V 92/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 93: Aa4V

    (Data) Power-on DO Value or Safe DO Value There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 93/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 94 Reads the power-on DO value of module 01 and the module returns a value of 1. Command: ~014S Response: !010 Reads the safe DO value of module 01 and the module returns 0. Related Commands: Section 2.33 ~AA5V 94/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 95: Aa5V

    Address of the module in hexadecimal format (00 to FF) There will be no response if the command syntax is incorrect, there is a communication error, or there is no module with the specified address. 95/98 GPS-721 User Manual V2.0, Oct. 2010...
  • Page 96 Command: ~014S Response: !010 Reads the safe DO value of module 01. The module returns 5500, which denotes that the safe DO value is 0. Related Commands: Section 2.32 ~AA4V 96/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 97: Dual Watchdog Operation

    Watchdog, making the control system more reliable and stable. For more information regarding the Dual WatchDog system, please refer to Chapter 5 of the “Getting Started For I-7000 Series Modules” manual that can be downloaded from the ICP DAS website http://www.icpdas.com. 97/98 GPS-721 User Manual V2.0, Oct. 2010...

  • Page 98: Node Information Area

    Baud Rate, etc. To access the node information areas, slide the covers outward, as shown in the figure below. 98/98 GPS-721 User Manual V2.0, Oct. 2010...

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