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Hexagon CPT7 Installation And Operation User Manual

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CPT7 and CPT7700
Installation and Operation
User Manual
CPT7 and CPT7700 Installation and Operation User Manual v9
May 2021

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  • Page 1 CPT7 and CPT7700 Installation and Operation User Manual CPT7 and CPT7700 Installation and Operation User Manual v9 May 2021...
  • Page 2 All other trademarks are properties of their respective owners. ©2021 NovAtel Inc. All rights reserved. NovAtel is part of Hexagon. NovAtel makes no representation or warranty regarding the accuracy of the information in this publication. This document gives only a general description of the product(s) or service(s) offered by NovAtel and, except where expressly provided otherwise, shall not form part of any contract.

  • Page 3: Table Of Contents

    2.13.1 Fuse for the Power Supply 2.13.2 Vehicle Installation 2.14 Check that the CPT7 is Operating Chapter 3 OEM7 Receiver Operation 3.1 Communications with the Receiver 3.1.1 USB Communications 3.1.2 Serial Port Communications 3.1.3 Ethernet Communications CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 4 4.1 Definition of Reference Frames Within SPAN 4.1.1 The Local-Level Frame (ENU) 4.1.2 The IMU Body Frame 4.1.3 The Vehicle Frame 4.1.4 The User Output Frame 4.2 SPAN Translations and Rotations CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 5 5.1 Installation 5.2 Configuring ALIGN with SPAN 5.3 Configuring SPAN with ALIGN 5.3.1 Aided Transfer Alignment – ALIGN Injected Azimuth 5.3.2 Unaided Alignment 5.3.3 Automatic Alignment Mode – Automatic Alignment (default) CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 6 9.3.2 Error Word 9.3.3 Status Code Arrays 9.3.4 Receiver Status Code 9.3.5 Auxiliary Status Codes 9.3.6 Set and Clear Mask for all Status Code Arrays Chapter 10 Troubleshooting 10.1 Examining the RXSTATUS Log CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 7 A.5 CPT7 Electrical and Environmental Specifications A.6 CPT7 Data Communication Specifications A.7 CPT7 Strobe Specifications A.8 CPT7 Connectors A.9 CPT7 I/O1 Cable A.9.1 Custom Cable Recommendations A.10 CPT7 I/O2 Cable A.10.1 Custom Cable Recommendations CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 8 APPENDIX B Differences Between CPT7 and Legacy CPT7 APPENDIX C Accessories and Replacement Parts APPENDIX D Frequently Asked Questions APPENDIX E Importance of Antenna Selection CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 9 Figure 23: IMU to Antenna Translation Offset Figure 24: CPT7 to Antenna Offset Figure 25: Rear View of CPT7 – Mounting Plate is not Flat Figure 26: Side View of CPT7 – Vehicle is not Level Figure 27: Top View of CPT7 – CPT7 Misalignment...
  • Page 10 Figure 51: Fischer Core 16 Pin Connector Figure 52: CPT7 I/O1 Cable Figure 53: CPT7 I/O2 Cable Figure 54: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-90° CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 11 Table 31: CPT7 RF Input/LNA Power Output Table 32: CPT7 Wheel Sensor Input Signal Levels Table 33: Data Communications Interfaces Table 34: CPT7 Strobes Description Table 35: CPT7 Strobe Electrical Specifications CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 12 Table 46: COM Port Communication Table 47: I/O Strobes Table 48: Features Table 49: OEM7 Receivers Table 50: GNSS Antennas Table 51: CPT7 Cables Table 52: GNSS Antenna Cables Table 53: CPT7 Mounting Accessories CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 13: Cpt7 Notices

    WEEE If you purchased your CPT7 in Europe, please return it to your dealer or supplier at the end of life. The objectives of the European Community's environment policy are, in particular, to preserve, protect and improve the quality of the environment, protect human health and utilise natural resources prudently and rationally.
  • Page 14 RoHS CPT7 GNSS receivers are in conformity with Directive 2011/65/EU of the European Parliament and of the Council of 8 June 2011 on the restriction of the use of certain hazardous substances in electrical and electronic equipment.

  • Page 15: Customer Support

    Log a support request with NovAtel Customer Support using one of the following methods: Log a Case and Search Knowledge: Website: 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@hexagon.com CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 16 LOG TRACKSTATB ONTIME 1 LOG RANGEB ONTIME 1 LOG BESTPOSB ONTIME 1 LOG SATVIS2B ONTIME 30 LOG ITDETECTSTATUSB ONCHANGED For dual antenna receivers, add these logs: LOG TRACKSTATB_1 ONTIME 1 LOG RANGEB_1 ONTIME 1 CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 17 LOG RTKSATSB ONTIME 1.0 LOG PSRPOSB ONTIME 1.0 LOG RAWALMB ONNEW LOG IONUTCB ONNEW LOG GLORAWALMB ONNEW LOG GLOCLOCKB ONNEW LOG PASSTHROUGHB ONNEW LOG CLOCKMODELB ONTIME 1.0 LOG REFSTATIONB ONNEW LOG RTKVELB ONTIME 1.0 CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 18 LOG ROVERPOSB ONNEW — This log can only be output if you have Y model ALIGN LOG HEADINGSATSA ONNEW — This log can only be output on the ALIGN rover LOG DUALANTENNAHEADINGB ONTIME 1.0 CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 19: Chapter 1 Cpt7 Overview

    CPT7, the CPT7700 also tracks Galileo E6, BeiDou B3I and QZSS L6. In this document, the term CPT7 is used to represent both the CPT7 and CPT7700. When a section applies to a specific version, the applicable version is identified (e.g. CPT7 only or CPT7700 only).

  • Page 20: Cpt7 Connectors

    Chapter 1   CPT7 Overview In this document, legacy CPT7s refers to the previous version of the CPT7. Refer to Differences Between CPT7 and Legacy CPT7 on page 176 for a comparison between the current and legacy CPT7. Figure 1: CPT7 Receiver Figure 2: CPT7700 Receiver CPT7 technical specifications are provided in CPT7 Technical Specifications on page 153.

  • Page 21: Cpt7 Leds

    Chapter 1   CPT7 Overview Table 1: CPT7 Connectors Connector Label Description SMA connector for the primary GNSS antenna SMA connector for the secondary GNSS antenna (CPT7 only) 16-pin circular connector Power COM2 (RS-422) EVENT_IN 1 EVENT_OUT 1 EVENT_IN 3 EVENT_OUT 3 (PPS)
  • Page 22 Chapter 1   CPT7 Overview Figure 3: CPT7 Status Indicators The following tables provide information about the CPT7 LEDs and their states. Table 2: CPT7 and CPT7700 Status Indicators Label Description Indicates the power status of the receiver Indicates the position status of the receiver...
  • Page 23 Table 6: LOG (Onboard Storage) LED LED State Description The CPT7 is connected to a computer as a mounted device See Access CPT7 Internal Memory with a Computer on page 67 Green solid Internal logging stopped (memory available) Green slow blink...

  • Page 24: Fundamentals Of Gnss+Ins

    Use raw phase observation data (to constrain INS solution drift even when too few satellites are available for a full GNSS solution) For more information about GNSS and INS, refer to An Introduction to GNSS available on our website at novatel.com/an-introduction-to-gnss CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 25 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. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 26: Chapter 2 Cpt7 Installation

    2.3 Optional Accessories The following optional accessory is available from NovAtel: CPT7 Adapter Plate (01020112) This plate mounts on the CPT7 and provides SPAN-CPT and SPAN-IGM compatible mounting holes. See Secure the CPT7 Using the Adapter Plate on page 33. 2.4 CPT7 Cables To prevent damage to both the receiver and the cables, each connector can be inserted in only one way.

  • Page 27: Selecting A Gnss Antenna

    The cables for IO1 and IO2 use push/pull connectors. The cables for RF1 and RF2 use threaded connectors. Observe the following when handling cables. Make certain to use the appropriate cable for the CPT7 connector Insert the connector until it is on straight and secure To remove a cable, grasp it by the connector Do not pull directly on a cable.

  • Page 28: Choosing A Coaxial Cable

    2.5 m and 5 m antenna cable with an SMA connector on one end and a TNC connector on the other (NovAtel part numbers 60723177 and 60723178) The CPT7 requires cables with an SMA connector on the CPT7 side or an SMA to TNC adapter. The SMA to TNC cables (60723177 and 60723178) are not recommended for permanent outdoor use.

  • Page 29: Cpt7 Installation Overview

    Do not connect a power supply to both ports. 2.8 CPT7 Installation Overview A CPT7 system consists of a CPT7, a GNSS antenna, power and a communication link (if your application requires real time differential operation). The following diagrams show typical CPT7 installations.
  • Page 30 Use an SMA torque wrench to tighten the connection to 0.9 Nꞏm (8 in-lbs) maximum. The CPT7 supplies +5 VDC (200 mA maximum) to the antenna LNA through the center conductor of the antenna cable. See Antenna LNA Power on the next page for more information.

  • Page 31: Mounting The Gnss Antenna

    2.10 Mount the CPT7 Mount the CPT7 in a fixed location where the distance from the CPT7 to the phase center of the GNSS antennas is constant. Ensure that the orientation with respect to the vehicle and antennas is also constant.

  • Page 32: Securing The Cpt7

    CPT7 through contact with the metal surface and allow more optimized performance. For the simplest configuration, align the connectors of the CPT7 with the direction of travel of the vehicle and mount the base facing down (see Figure 6: Default RBV Configuration below) This coincides with X-axis forward and Z-axis down, and the default RBV configuration is valid.

  • Page 33: Secure The Cpt7 Using The Adapter Plate

    SPAN-CPT or SPAN-IGM-A1/S1. To secure a CPT7 using the Adapter Plate: 1. Place the CPT7 on the Adapter Plate and align the mounting holes on the CPT7 with the threaded holes in the Adapter Plate. 2. Secure the CPT7 to the Adapter Plate using the four screws (#6 - 32) included with the mounting plate.
  • Page 34 Chapter 2   CPT7 Installation Figure 7: CPT7 Adapter Plate CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 35 Dimensions are in mm. The axis marking on the CPT7 indicates the orientation of the X, Y and Z axis only. It does not indicate the center of navigation. For the location of the center of navigation, refer to Figure 50: CPT7/CPT7700 Center of Navigation on page 164.

  • Page 36: Connect The Cpt7 To Data Communication Equipment

    Ethernet Port on the next page CAN Bus Port on the next page The CPT7 also has a CAN bus port for communication with other CAN bus compatible devices. See CAN Bus Port on the next page. All data communication connections can be made using the CPT7 I/O1 cable or CPT7 I/O2 cable. For information about these two cables, see CPT7 I/O1 Cable on page 172 and CPT7 I/O2 Cable on page 174.

  • Page 37: Usb Ports

    To connect to the USB port: 1. Connect the CPT7 I/O2 cable, or a custom made cable, to the IO2 connector. 2. Connect the USB connector on the CPT7 I/O2 cable to a USB port on the computer or other data com- munication device.

  • Page 38: Connect I/O Signals To The Cpt7

    To connect power to the CPT7: 1. Connect the CPT7 IO/1 Cable, CPT7 I/O2 Cable or a custom made interface cable to the CPT7. See CPT7 I/O1 Cable on page 172 or CPT7 I/O2 Cable on page 174 for information about these cables.

  • Page 39: Vehicle Installation

    When a vehicle engine is started, the voltage on the starter battery can dip below the CPT7 minimum voltage or cut-out to ancillary equipment causing the receiver to lose lock and calibration settings.

  • Page 40: Check That The Cpt7 Is Operating

    Figure 11: Dedicated Battery for the CPT7 2.14 Check that the CPT7 is Operating After the CPT7 is installed, powered up and connected to a GNSS antenna, use the following procedure to ensure the receiver is operating. 1. Send the following command: LOG VERSION The VERSION log is returned.

  • Page 41: Chapter 3 Oem7 Receiver Operation

    Chapter 3 OEM7 Receiver Operation Before operating the receiver for the first time, use the installation instructions in CPT7 Installation on page 26. The following instructions are based on a configuration similar to the following figure. Figure 12: Basic CPT7 Connection Interfaces (example) The figure above does not show all necessary hardware.

  • Page 42: Usb Communications

    96. The default port settings allows 10 bits/byte (8 data bits + 1 stop bit + 1 framing bit). It therefore takes 960 bits per message. To get 10 messages per second then requires 9600 bps. Also CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 43: Ethernet Communications

    Refer to Communicating with the Receiver on page 45 for details. 3.1.3 Ethernet Communications The CPT7 is equipped with a 10-Base-T/100-Base-TX Ethernet port that supports IPv4 Internet layer, TCP/IP transport and telnet. Users can conduct remote debugging, accept MRTCA (modified RTCA) data and update...

  • Page 44: Icom Communications

    3.1.5 CAN Bus Communications The OEM7 receiver supports J1939 and NMEA2000 CAN protocols. The CPT7 has one CAN port. This CAN port supports data rates up to 1 Mbps. Proper bus termination is required. Refer to CAN Bus on page 121 for detailed instructions.

  • Page 45: Getting Started

    GNSS receiver that acts as the stationary reference. The stationary reference has a known position and transmits correction messages to the rover station. The rover station is the GNSS receiver that CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 46 To receive corrections, a data link between the base station and the rover station is required. The base and rover stations can both be NovAtel receivers, however NovAtel receivers will work with some other brands. Contact Customer Support for further details (refer to Customer Support on page 15 for details). CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 47: Defining Antenna And Base Antenna

    (enter your own lat, lon, hgt) log com2 rtcm1004 ontime 1 log com2 rtcm1006 ontime 10 log com2 rtcm1019 ontime 120 saveconfig (optional) RTCM V3 with GLONASS serialconfig com2 19200 N 8 1 N on CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 48: Rover Station Configuration

    (optional) RTCM V3 serialconfig com2 19200 N 8 1 N on interfacemode com2 rtcmv3 none off saveconfig (optional) RTCM V3 with GLONASS serialconfig com2 19200 N 8 1 N on CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 49: Configuration Notes

    Because of this, it is well suited for agricultural applications. Multipath signals tend to induce time varying biases and increase the measurement noise on the L1/L2 pseudorange measurements. Carrier phase measurements are much less susceptible to the effects of CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 50: Dual-Frequency Glide

    “fall back” solution, such as DGPS, WAAS+GLIDE or even autonomous GLIDE (see Figure 14: Positioning Change Without STEADYLINE on the next page). Smooth transitions are particularly important for agricultural steering applications where sudden jumps are problematic. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 51: Prefer Accuracy

    NONE explicitly. For more on SBAS, refer to application note APN-051 Positioning Modes of Operation (additional Application Notes available at novatel.com/support/support- materials/application-notes) and the known solution SBAS Positioning. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 52: Enabling Ppp

    Use the ASSIGNLBANDBEAM command to configure the receiver to track the TerraStar satellite. ASSIGNLBANDBEAM auto To confirm tracking of an L-Band signal, log the L-Band tracking status information by entering the following command: log lbandtrackstata CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 53 If the TerraStar-X, TerraStar-C PRO or RTK ASSIST PRO subscription becomes inactive, the receiver will revert to the channel configuration enabled by the receiver model. This feature is available on OEM firmware version 7.06.01 and later. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 54: Veripos Subscriptions

    RTK ASSIST is enabled by default, but can be disabled using the RTKASSIST command. To monitor the status of RTK ASSIST, view the RTKASSISTSTATUS log. Refer to the OEM7 Commands and Logs Reference Manual for log and command details. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 55: Transferring Time Between Receivers

    TIMESYNC log. Fine time accuracy is a function of the GPS constellation status and is influenced by external receiver RF delay. For the Standard Position Service (SPS) the time accuracy is specified as 20 ns (1 sigma) with internal compensation. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 56: Procedures To Transfer Time

    3. Issue the following command to the cold clock receiver: adjust1pps time When the cold clock receiver receives the TIMESYNC log, it sets its clock with a 100 ms transfer delay allowance. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 57 TIMESYNC log has arrived within 200 ms of the last 1PPS event. If so, it sets the cold clock receiver clock to the time of the fine clock receiver. See Figure 19: 1 PPS Alignment on page 59. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 58 1 PPS of the fine clock receiver. It does not adjust the one second TOW counter or the receiver’s week number. This procedure is used to make small corrections to the warm clock receiver’s clock. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 59 Chapter 3   OEM7 Receiver Operation Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver If Receiver 2 is not in coarsetime, the input is ignored. Figure 19: 1 PPS Alignment CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 60: Interference Toolkit

    When using the Interference Toolkit, the receiver must be reset when the GNSS antenna is connected or disconnected. If a known interference source is present at the receiver start up, it's strongly recommended that users enter the calibrated receiver input gain using the RFINPUTGAIN command. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 61 GNSS operations. Spectral Analysis Detection takes precedent over Statistical Analysis Detection. If the same interference is detected by both detectors, only Spectral Analysis Detection is used to report the interference status. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 62: Disable/Enable Detection

    Using NovAtel Application Suite on the next page. Example: ITSPECTRALANALYSIS PREDECIMATION GPSL1 200 2K 1 1 LOG ITPSDFINAL onnew When logged, incoming signal information is collected at the rate specified in the ITSPECTRALANALYSIS command. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 63: Monitoring Signals Using Novatel Application Suite

    If an interference signal is present, the Interference Toolkit can reduce or eliminate the impact on GNSS tracking using the programmable High Dynamic Range (HDR), Bandpass or Notch filters. Contact novatel.com/contactus/sales-offices to obtain mitigation functionality. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 64: Interference Toolkit Commands And Logs

    Configures filtering on the receiver to be either a notch filter or a bandpass ITPROGFILTCONFIG filter. ITSPECTRALANALYSIS √ Configures and enables spectral analysis on the receiver. Logs ITBANDPASSBANK Provides the allowable bandpass filter configurations. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 65: Logging And Retrieving Data Overview

    The number is not zero-padded (i.e. the sequence is as follows: 1,2, ... ,9,10,11,12, ... ,99,100, ... , 510,511). When a file is closed (FILECONFIG CLOSED) and the receiver has a valid time, the file is renamed based on the following format: <PSN>_<UTC Date>_<UTC Time>.LOG where: CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 66: Logging To Internal Memory

    3.11.3 Logging to Internal Memory When the file media is set to internal memory (FILEMEDIACONFIG INTERNAL_FLASH), logs sent to the FILE port are saved on internal memory. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 67: Access Cpt7 Internal Memory With A Computer

    The CPT7 then checks the file system on the internal memory for errors. If any errors are found, the CPT7 attempts to correct them. This may result in files being placed in the Lost and Found folder in the root of the internal memory.

  • Page 68: Repair Errors On The Cpt7 Internal Memory

    The CPT7 will attempt to repair any errors found on the internal memory. This may result in files being placed in the Lost and Found folder in the root of the internal memory. In the case of severe errors, the CPT7 may not be able to repair the errors and preserve user data.

  • Page 69: Additional Features And Information

    3.12.1 Strobes The CPT7 has three EVENT inputs and three EVENT outputs that provide status and synchronization signals. These signals are also referred to as strobes. For detailed information about CPT7 strobes, see CPT7 Strobe Specifications on page 169. By default, the EVENT3_OUT signal is configured as a Pulse Per Second output.

  • Page 70: Chapter 4 Span Operation

    4.1.1 The Local-Level Frame (ENU) The definition of the local level coordinate frame is as follows: z-axis – pointing up (aligned with gravity) y-axis – pointing north x-axis – pointing east CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 71: The Imu Body Frame

    Specifications on page 161 for illustrations of the IMU Body frame axes. The axis marking on the CPT7 indicates the orientation of the X, Y and Z axis only. It does not indicate the center of navigation. For the location of the center of navigation, refer to Figure 50: CPT7/CPT7700 Center of Navigation on page 164.

  • Page 72: The Vehicle Frame

    IMU. For a SPAN system to provide a combined GNSS+INS position, velocity and attitude, it must know where the GNSS antenna is positioned relative to the IMU. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 73: Translational Offsets

    = -1.000 y = -1.500 z = 2.000 The translational offsets are entered using the SETINSTRANSLATION command. For this example, the command to enter these offsets is: SETINSTRANSLATION ANT1 -1 -1.5 2 CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 74: Rotational Offsets

    X to the right. 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: CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 75 Since all three sets of axes are already collinear, our frames are coincident, and no further rotation is required. This solution is not unique. Due to the properties of Euler Angles, there are usually multiple sets of equivalent rotations. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 76: Software Configuration

    Enables Heave algorithms FIXEDWING INS profile for fixed wing aircraft None FOOT INS profile for walking or backpack applications None INS profile for Vertical Take Off and Landing VTOL None aircraft (helicopter, quadcopter, etc.) CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 77: Configure The Cpt7 Imu Data Rate

    1. Ensure the CPT7 has a Model with the SPAN IMU Grade option 2 or 3. If the CPT7 does not have IMU Grade option 2 or 3, contact NovAtel Support or Sales for information about upgrading. See Model Upgrades on page 140 for details.

  • Page 78: Span Configuration For Cpt7

    SPAN Configuration with NovAtel Setup & Monitor (Web) on page 80 Minimum Recommended Configuration When configuring your CPT7 system for first time use, the following is the minimum amount of information required to ensure proper operation of a SPAN system. Required Information...
  • Page 79 Figure 24: CPT7 to Antenna Offset The axis marking on the CPT7 indicates the orientation of the X, Y and Z axis only. It does not indicate the center of navigation. For the location of the center of navigation, refer to Figure 50: CPT7/CPT7700 Center of Navigation on page 164.

  • Page 80: Importance Of Rbv Calibration

    For the SPAN system to provide the best performance, the rotation offset of the IMU body to the Vehicle frame (RBV) should be known as accurately as possible. Since constraints happen at the vehicle level, any error in the offset will translate into worse performance. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 81 After the SPAN system has been installed and the appropriate translations and rotations have been applied (see SPAN Configuration for CPT7 on page 78), the IMU Body frame is aligned with the Vehicle frame. However, aspects of the mounting platform and vehicle design, such as vehicle tilt, and slight misalignments in installation can cause the IMU Body frame to be slightly out of alignment with the Vehicle frame.

  • Page 82: Real-Time Operation

    Since slight variations in alignment can be introduced when the CPT7 is remounted, a Body to Vehicle Frame calibration should be performed each time the device is remounted.

  • Page 83: System Start-Up And Alignment Techniques

    4. The INS Status field changes from INS_INACTIVE through DETERMINING_ORIENTATION and WAITING_INITIALPOS. 5. Once a GNSS position is available, an initial IMU bias estimate is conducted. During this period, the INS Status field reports INITIALIZING_BIASES. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 84 The rotation from the IMU Body frame to the Vehicle frame (RBV) must be set to enable kinematic alignment. In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle frame. When using the default RBV configuration, the X-axis of the CPT7 should point in the direction of travel.

  • Page 85: Ins Seed / Fast Ins Initialization

    If a valid error model is present in the seed data from NVM, this will always be used, even if the system is not stationary or exceeded the movement thresholds. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 86 INS solution data from NVM, bits 26-28 will be set to 101 NVM Seed Status: Bits 29-31 These bits indicate the current status of the seeding process at start-up, as described in the table below: CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 87: Navigation Mode

    INSPOSX or INSPVAX INSPVA or INSPVAS INSVEL or INSVELS Velocity INSSPD or INSSPDS INSVELX or INSPVAX INSPVA or INSPVAS 1The values from left to right are Bit 31, Bit 30 and Bit 29. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 88 IMURATEPVA ONNEW or IMURATEPVAS ONNEW Other possible INS solution logs available at high rates are: INSPVASB, INSPOSSB, INSVELSB, INSATTSB Specific logs need to be collected for post-processing. See Data Collection for Post Processing on page 99. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 89: Body To Vehicle Frame Rotation Calibration Routine

    Chapter 4   SPAN Operation To store data from an OEM7 receiver, connect the receiver to a computer running NovAtel Application Suite or other terminal program capable of recording data. On CPT7 receivers, you can also collect data on internal memory.

  • Page 90: Multi-Line Body To Vehicle Frame Rotation Calibration Routine

    The steps for the calibration routine are: 1. Apply power to the CPT7. 2. Configure the SPAN system, see SPAN Configuration for CPT7 on page 78. 3. Ensure that an accurate lever arm has been entered into the system. 4. Perform an initial system alignment using one of the methods described in System Start-Up and Alignment Techniques on page 83.

  • Page 91: Distance Measurement Instrument

    GNSS+INS Kalman filter in order to constrain the position error growth during GNSS outages. SPAN also automatically estimates the size of the wheel to mitigate small changes in the size of the wheel due to hardware changes or environmental conditions. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 92: Dmi Communication

    4.5.2 DMI Connection For a SPAN system with a CPT7, the DMI can be connected to the DMI input on the IO2 connector. For information about connecting and configuring a DMI to a CPT7, see DMI Connected to a CPT7 on the next page.

  • Page 93: Dmi Connected To A Cpt7

    (+10 to +30 VDC). 4.5.4 DMI Connected to a CPT7 Figure 30: DMI to CPT7 Setup on the next page shows an overview of a DMI connected to a CPT7. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 94 Information about how the DMI updates are being used is available in the INSUPDATESTATUS log. Connect the DMI to a CPT7 The CPT7 DMI inputs are RS-422 differential inputs. Refer to Table 32: CPT7 Wheel Sensor Input Signal Levels on page 166 for the required input voltages.

  • Page 95: Dmi Command Compatibility

    The power required for the DMI depends on the DMI used. Refer to the DMI user documents for more information. Configure a DMI 1. Send the following command to enable a DMI on the CPT7 wheel sensor inputs. DMICONFIG DMI1 ENABLE ENCLOSURE 2. Send the following commands to log the DMI data.

  • Page 96: Dmi Troubleshooting

    Time Bias (t_bias): A constant time bias in nanoseconds can be applied to each event pulse. Typically this is used to account for a transmission delay. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 97: Adding Timed Sensor Triggers

    Event_In. Three sensor slots are available for use, but may be limited to less depending on the hardware platform used. Table 16: Valid Event Inputs and Outputs for Timed Sensor Triggers Valid Event Outputs Valid Event Inputs MARK1 MARK1 MARK2 MARK2 MARK3 MARK3 CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 98: Configuring The Software

    Course over ground azimuth is a great way to compute the offset if another means of computing the vehicle azimuth is available. Course over ground azimuths are available in several different velocity logs. See Table 17: Logs with Azimuth Data on the next page. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 99: Inertial 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. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 100: Variable Lever Arm

    There are several frames of reference involved when dealing with a gimballed mount. The frames are all very similar, but can be quite confusing due to small differences. Below are all frames applicable to the implementation of the variable lever arm: CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 101 Figure 32: Operating Gimbal on page 103 shows the gimbal in operation; the gimbal platform 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. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 102 Chapter 4   SPAN Operation Figure 31: Sample Configuration CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 103: How To Use Variable Lever Arm

    1 second then the system will return to using the static lever arm. In addition to using the variable lever arm internally, the following information is available to the user. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 104 Vehicle frame. This command relates the IMU Body frame (b) to the Mount Body frame (m). This SETINSROTATION RBM information is required for interpreting the rotation angles from the VARIABLELEVERARM log correctly. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 105: Relative Ins

    Relative offset vector that is output is dependent on Master/Rover's precise RTK vector and their eccentric offset vectors (optional offset provided using the USER parameter in the SETINSTRANSLATION command), shown in Figure 33: Relative INS Example on the next page. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 106: Configure Relative Ins

    To configure Relative INS using the RELINSAUTOMATION command, the master and rover receivers must be communicating using a COM port. If the master and rover are communicating via an ICOM port, the RELINSCONFIG command must be used. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 107 Chapter 4   SPAN Operation The master and rover receiver must be using the same datum. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 108: Chapter 5 Cpt7 With Dual Antenna

    1. Install the CPT7 and the two antennas in the vehicle such that the relative distance between them is fixed. 2. The antennas should be mounted as a similar height, relative to the CPT7, where the view of the satellites will not be obstructed by any part of the vehicle.
  • Page 109 Chapter 5   CPT7 with Dual Antenna Figure 34: SPAN – CPT7700 Dual Antenna Installation Install a user supplied 2 A slow blow fuse in the positive line of the connection to the power source. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 110: Configuring Align With Span

    Before configuring a CPT7700 ALIGN system, the both receivers should both be powered on and connected directly between COM 2 of the CPT7700 and COM 2 of the second (rover) receiver through either a null modem cable or an appropriate radio connection. Before configuring a CPT7 ALIGN system, the CPT7 must be powered on.

  • Page 111: Configuring Span With Align

    To enable the dual-antenna ALIGN solution to aid the INS alignment and provide heading updates, the offset between the antennas and the CPT7 must be known. This is achieved by entering lever arms to both antennas, using the SETINSTRANSLATION command.

  • Page 112: Aided Transfer Alignment - Align Injected Azimuth

    You can monitor the heading update status as outlined in the INSUPDATESTATUS log in the OEM7 Commands and Logs Reference Manual. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 113: Chapter 6 Ethernet Configuration

    Ethernet connectivity and utilizing the NTRIP interface. The Ethernet port connections for a computer connected to the receiver are also described for Windows 7 operating systems. In this chapter, references to OEM7 receivers includes the CPT7 and CPT7700. The SAVEETHERNETDATA command can be issued to retain the Ethernet configuration settings after a RESET/FRESET command.

  • Page 114: Static Ip Address Configuration-Receiver

    IP address = 192.168.74.10 Subnet mask = 255.255.255.0 Gateway = 192.168.74.1 These settings are examples only. The settings appropriate to your system may be different. 6. Save the new Ethernet settings by entering: CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 115: Static Ip Address Configuration-Windows 7

    2. Connect to the receiver using NovAtel Application Suite or any third party terminal program that supports TCP/IP connections. Use the static IP address and port number assigned to the OEM7 receiver in Static IP Address Configuration—Receiver on the previous page. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 116: Dynamic Ip Address Configuration

    4. Obtain the IP address assigned to the OEM7 receiver by the DHCP server. LOG IPSTATUS ONCE Make a note of the IP address returned with this log. 5. Assign the TCP/IP port number by entering: ICOMCONFIG ICOM1 TCP :2000 CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 117: Base/Rover Configuration Through Ethernet Connectivity

    4. Connect the Ethernet cables to the Ethernet ports on both OEM7 receivers. 5. Establish an Ethernet connection, either static or dynamic configurations. Refer to Static IP Address Configuration on page 113 or Dynamic IP Address Configuration on the previous page for more information. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 118: Large Ethernet Port Data Throughput

    Editing the Windows Registry is for advanced Microsoft Windows users only. NovAtel Inc. is not able to provide any technical support for any actions taken regarding information found in Microsoft’s Knowledge Base. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 119: Chapter 7 Ntrip Configuration

    2. Connect the Ethernet cable to the Ethernet ports on both OEM7 receivers. For this setup, use a cross-over Ethernet cable. 3. Establish a static or dynamic Ethernet connection. For information about creating the connection, refer to Static IP Address Configuration on page 113 or CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 120 INTERFACEMODE NCOM1 RTCA NONE OFF RTKSOURCE AUTO ANY PSRDIFFSOURCE AUTO ANY LOG BESTPOS ONTIME 1 (optional) SAVECONFIG Refer to the NTRIPCONFIG command in the OEM7 Commands and Logs Reference Manual further command details. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 121: Chapter 8 Can Bus

    The addresses and PGNs are typically allocated when the overall CAN bus topology is determined. A Node has a unique CAN J1939 NAME and address. The CPT7 has internal CAN transceivers, however it still requires proper bus terminations. Refer to CPT7 Connectors on page 170 for pin-out information.

  • Page 122: Default Configuration

    Once the receiver is "on bus", it must be taken "off-bus" using CANCONFIG for any further configuration changes using J1939CONFIG. The receiver is fully "on-bus" only once the J1939 address has been successfully claimed. This is reported as "CLAIMED" status by J1939STATUS log. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 123: Example Of Enabling The Can Bus

    To become operational on the CAN bus, an OEM7 receiver must claim a J1939 address. The preferred address and a range of alternative addresses are specified using the J1939CONFIG command. When a CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 124: Nmea2000 Logging

    To determine if the receiver is providing an INS solution, check the pos type field in the BESTPOS log. 8.3.1 Example of NMEA2000 Log Configuration 1. CCOMCONFIG CCOM1 NODE1 NMEA2000 2. LOG CCOM1 PGN129025 ONTIME 0.5 3. LOG CCOM1 PGN129026 ONTIME 0.25 4. SAVECONFIG CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 125: Corrections Over Can

    ASCII. Unlike other COM ports, the receiver will not distinguish between ASCII and binary input. To use CAN NOVATELBINARY, the CCOM port must be placed into NOVATELBINARY using the INTERFACEMODE command. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 126: Configuring Oem7 Receivers To Use Oem6 Can Settings

    LOG CCOM1 PGN129027 ONTIME 0.1 LOG CCOM1 PGN129029 ONTIME 1.0 SAVECONFIG On OEM7 receivers, nothing is automatically logged when CAN is enabled. Regular log requests must be made for each log required. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 127 J1939CONFIG command can be used to modify the default address claim parameters including the ManufacturingCode (set to 603 in the SETCANNAME example above, now defaults to 305 in the new J1939CONFIG) but it's not necessary. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 128: Chapter 9 Built-In Status Tests

    UNLOG command. Refer to the RXSTATUSEVENT log in the OEM7 Commands and Logs Reference Manual for log and command details. for a more detailed description of this log. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 129: Rxstatus Log

    The error word is the first field after the log header in the RXSTATUS log, as shown in the example in Figure 42: Location of Receiver Error Word on the next page. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 130: Status Code Arrays

    Each bit, in any mask, operates on the bit in the same position in the status word. For example, setting bit 3 in the priority mask changes the priority of bit 3 in the status word. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 131: Receiver Status Code

    Any bit set in the error word results in a RXSTATUSEVENT log broadcast (unless unlogged). Refer also to the RXSTATUS log in the OEM7 Commands and Logs Reference Manual for a more detailed description. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 132: Chapter 10 Troubleshooting

    Check for correct spelling and command syntax. See Communications with the Receiver on page 41 and A command is not accepted by the receiver refer to the FRESET command in the OEM7 Commands and Logs Reference Manual CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 133: Examining The Rxstatus Log

    If you are not able to resolve the condition, contact Customer Support on page 15. Table 22: Resolving a Receiver Error Word Bit Set Action to Resolve Issue a FRESET command (for bit 1, reload new firmware). CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 134 Check the VERSION log. The VERSION log will indicate "Invalid authcode". Upgrade the auth-code as described in Upgrading Using an Auth-Code on page 151. Issue a FRESET command See Power Supply Requirements for the CPT7 on page 28 Reserved Check the temperature ranges in: CPT7 Electrical and Environmental Specifications on page 165...
  • Page 135 Check the temperature ranges in CPT7 Electrical and Environmental Specifications on page 165 See Power Supply Requirements for the CPT7 on page 28 See Selecting a GNSS Antenna on page 27, Choosing a Coaxial Cable on page 28, Antenna LNA Power on page 31 Check the CPU idle time.

  • Page 136: Examining The Aux1 Status Word

    AGC error on RF1 through RF4 respectively. To resolve, ensure the antenna cable is connected and 14-17 signal input level is within specification. Contact NovAtel Customer Support on page 15 for additional information. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 137: High Temperature Environments

    See Mitigating High Receiver Temperature below. 10.3.3 Mitigating High Receiver Temperature If the receiver has a high temperature warning or error, use one or more of the following suggestions to reduce the receiver temperature. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 138: Monitoring The Receiver Temperature

    Disable the receiver features that are not required for the current operation of the receiver. Mount the CPT7 on a metal surface such as the NovAtel mount adapter or the metal vehicle chassis. This will allow heat to leave the CPT7 through contact with the metal surface and allow more optimized performance 10.3.4 Monitoring the Receiver Temperature...

  • Page 139: Safe Mode

    OEM7 Commands and Logs Reference Manual and find the suggested actions for the current Safe Mode State. 3. If the suggested actions do not resolve the issue, contact NovAtel Customer Support. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 140: Chapter 11 Novatel Firmware And Software

    Firmware updates are released on the NovAtel web site as they become available. Firmware upgrades can be performed using the WinLoad utility, SoftLoad commands, Setup & Monitor (Web), NovAtel Application Suite or with a custom loader application. Contact NovAtel Customer Support (support.novatel@hexagon.com) for details on custom loader requirements.

  • Page 141: Authorization Code

    PSNs and Hardware Versions. 11.3 Downloading Firmware Files To proceed with an update or possibly an upgrade, obtain the latest version of firmware by downloading the firmware file for your product from novatel.com/support/support-materials/firmware-download. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 142: Format Of Firmware Files

    If opening WinLoad for the first time, ensure the file and communications settings are correct. Open a File to Download Select File | File Open. Navigate to the file to open (Figure 45: WinLoad’s Open Window on the next page). CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 143 When a file is selected, the filename appears in the main WinLoad display area and in the title bar (Figure 46: Open File in WinLoad below). Figure 46: Open File in WinLoad CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 144: Updating The Firmware Using Novatel Application Suite

    1. Obtain the new firmware file. See Downloading Firmware Files on page 141 for information about obtaining the latest version of receiver firmware. Copy the firmware file to the computer's local drive before uploading. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 145: Updating The Firmware Using Setup & Monitor (Web)

    Use SoftLoad if automated loading is desired or if a connection is only possible through USB or Ethernet. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 146: Softload Commands And Logs

    Records beginning with S0, S5 and S7 contain metadata about the firmware image, such as version information and which card types are supported by the firmware image. Example S0 Record S0~V~OM7MR0400RN0000 Example S5 Records S50000 S503D9FE25 S5033158D5A Example S7 Records S70000 S70500000000FA CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 147: Sending Firmware Data

    Address: 0x00407AD4 Num Data Bytes: 0x21 – 0x01 – 0x04 = 0x1C S32100407AF04CCA4985F0F7B081E41D9B7D806C26989AE2D4E4CCBCB47C10FBFD3E43 Previous Address + Previous Num Bytes = 0x00407AD4 + 0x1C = 0x00407AF0 Address: 0x00407AF0 Num Data Bytes: 0x1C CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 148: Softload Update Method

    Send S0, S5 and S7 S-Records directly to the receiver using the SOFTLOADSREC command. The S-Record must be enclosed in quotation marks: SOFTLOADSREC "<S-RECORD>" Data within S0 records can also be sent to the receiver by converting them to SOFTLOADSETUP CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 149 The SoftLoad process can be safely canceled at any time using the SOFTLOADRESET command or by otherwise resetting the receiver. Once the COMPLETE status is reported by SOFTLOADSTATUS, the new firmware image will be run after the receiver is reset. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 150: Softload Errors

    In rare cases after a SoftLoad error, the boot code may not be able to determine which is the latest firmware to be executed. To protect against this, SoftLoad does not erase the previous valid firmware image from flash on CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 151: Upgrading Using An Auth-Code

    The AUTH command is used to enter an auth-code. The upgrade can be performed directly through the NovAtel Application Suite command line or from any other communications program. Refer to Format of Firmware Files on page 142 for details on updating versus upgrading. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 152 When the AUTH command is executed, the OEM7 receiver reboots. Issuing the LOG VERSION command confirms the new upgrade model type and firmware version number. If communicating using NovAtel Application Suite, the connection must be closed and reopened using the Devices window. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 153: Appendix A Cpt7 Technical Specifications

    Size 90 mm x 76 mm x 60 mm Weight 500 grams See the following sections for more information about the CPT7: CPT7 Performance Specifications on the next page CPT7700 Performance Specifications on page 157 CPT7 IMU Performance Specifications on page 160 CPT7 Mechanical Specifications on page 161...

  • Page 154: Cpt7 Performance Specifications

    Requires a TerraStar subscription which is available direct from NovAtel novatel.com/products/gps-gnss-correction- services/terrastar-correction-services. Performance dependent on local observing conditions. Although hardware capable, GLONASS L5 is currently not available. Currently the receiver can track up to 3 L-Band channels. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 155 100 Hz or 400 Hz Rate Time Accuracy 20 ns RMS Velocity Accuracy <0.03 m/s RMS Configurable with appropriate model. Time accuracy does not include biases due to RF or antenna delay. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 156 0.5 mm Velocity Limit 515 m/s Under good CN0 conditions, e.g. 44 dBHz. Export licensing restricts operation to a maximum of 515 metres per second, message output impacted above 500 m/s. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 157: Cpt7700 Performance Specifications

    Requires a TerraStar subscription which is available direct from NovAtel novatel.com/products/gps-gnss-correction- services/terrastar-correction-services. Performance dependent on local observing conditions. Although hardware capable, GLONASS L5 is currently not available. Currently the receiver can track up to 3 L-Band channels. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 158 3 cm 0.5 mm 3 cm 0.5 mm 4 cm 0.5 mm Time accuracy does not include biases due to RF or antenna delay. Under good CN0 conditions, e.g. 44 dBHz. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 159 APPENDIX A   CPT7 Technical Specifications Velocity Limit 515 m/s Export licensing restricts operation to a maximum of 515 metres per second, message output impacted above 500 m/s. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 160: Cpt7 Imu Performance Specifications

    A.3 CPT7 IMU Performance Specifications Table 28: CPT7 IMU Performance Gyroscope Performance Technology MEMS Input Rate Full Performance ±325 °/second Range Full Operating ±400 °/second Range Accelerometer Performance Technology MEMS Accelerometer Range ±20 g CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 161: Cpt7 Mechanical Specifications

    Figure 48: CPT7 Dimensions on the next page Figure 49: CPT7700 Dimensions on page 163 Figure 50: CPT7/CPT7700 Center of Navigation on page 164 In the following diagrams, the dimensions are in millimetres. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 162 APPENDIX A   CPT7 Technical Specifications Figure 48: CPT7 Dimensions CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 163 APPENDIX A   CPT7 Technical Specifications Figure 49: CPT7700 Dimensions CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 164 Figure 50: CPT7/CPT7700 Center of Navigation The axis marking on the CPT7 indicates the orientation of the X, Y and Z axis only. It does not indicate the center of navigation. For the location of the center of navigation, refer to Figure 50: CPT7/CPT7700 Center of Navigation above.

  • Page 165: Cpt7 Electrical And Environmental Specifications

    Inrush Current 5 A for less than 1.3 ms (@ 12 V; typical) Table 31: CPT7 RF Input/LNA Power Output Antenna Connectors SMA female, 50 Ω nominal impedance CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 166 Table 32: CPT7 Wheel Sensor Input Signal Levels Parameter Symbol Conditions Minimum Typical Maximum  = +12 V 80 µA 125 µA = 0 V, 3.6V, Input Current 5.5 V = -7 V -100 µA -50 µA CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 167 -125 mV -50 mV Threshold Voltage Receiver Input ΔV = 0 V 15 mV Hysteresis There is a 100Ω termination resistor across the DMI_A+ and DMI_A- inputs. is the common-mode input voltage. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 168: Cpt7 Data Communication Specifications

    CAN Bus throughput is determined by slowest device on the bus CPT7 port Electrical format Conforms to USB 2.0 Data rates Hi-speed (480 Mb/s) CPT7 port ETHERNET Physical layer 10BASE-T/100BASE-TX CPT7 port The legacy CPT7 does not support 460800 bits/s. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 169: Cpt7 Strobe Specifications

    Pulse Per Second (PPS). Table 35: CPT7 Strobe Electrical Specifications Current Strobe (mA) EVENT_IN1 EVENT_IN2 <±1 mA EVENT_IN3 EVENT_OUT1 EVENT_OUT2 ±6 mA EVENT_OUT3 All signal I/O are at LVCMOS levels. CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 170: Cpt7 Connectors

    APPENDIX A   CPT7 Technical Specifications A.8 CPT7 Connectors The CPT7 has 2 Fischer Core 16 pin, circular connectors that provide access to the power and communication signals. Figure 51: Fischer Core 16 Pin Connector Table 36: IO1 Pin Out Signal Name...
  • Page 171 EVENT2 (Mark2) output EVENT_IN2 EVENT2 (Mark2) input CAN_L CAN Bus port USB_D- One half of the USB differential pair. COM1_RX COM1 receive data COM1_TX COM1 transmit data Ground reference Supply voltage input CPT7 and CPT7700 Installation and Operation User Manual v9...

  • Page 172: Cpt7 I/O1 Cable

    APPENDIX A   CPT7 Technical Specifications A.9 CPT7 I/O1 Cable The CPT7 I/O1 cable provides access to all of the signals available on the IO1 connector of the CPT7. Figure 52: CPT7 I/O1 Cable Table 38: CPT7 I/O1 Cable Pinout Signal Name...

  • Page 173: Custom Cable Recommendations

    -VRTN +VIN A.9.1 Custom Cable Recommendations To create a custom cable for the IO1 port, a specific connector is required on the CPT7 end of the cable. See the following table for information about this connector. Table 39: I/O1 Connector...

  • Page 174: Cpt7 I/O2 Cable

    APPENDIX A   CPT7 Technical Specifications A.10 CPT7 I/O2 Cable The CPT7 I/O2 cable provides access to all of the signals available on the IO2 connector on the CPT7. Figure 53: CPT7 I/O2 Cable Table 40: CPT7 I/O2 Cable Pinout Signal Name...

  • Page 175: Custom Cable Recommendations

    +VIN +VIN A.10.1 Custom Cable Recommendations To create a custom cable for the IO2 port, a specific connector is required on the CPT7 end of the cable. See the following table for information about this connector. Table 41: IO2 Connector...
  • Page 176 APPENDIX B Differences Between CPT7 and Legacy CPT7 The CPT7 has been updated to add new features. This section describes the differences between the updated CPT7 and the legacy CPT7. Legacy CPT7 CPT7 CPT7700 Table 42: Physical Specifications Legacy CPT7...
  • Page 177 L2 C/A GLONASS Galileo E5 AltBOC – – BeiDou – – L1 C/A QZSS – – NavIC SBAS Table 45: RF Input Legacy CPT7 CPT7 CPT7700 GNSS Primary Antenna Secondary – Connector CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 178 200 Hz 200 Hz 100 Hz or 100 Hz or IMU raw data rate 100 Hz 400 Hz* 400 Hz* Onboard Memory – 16 GB 16 GB *Configurable with appropriate model. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 179 Single enclosure SPAN GNSS+INS receiver with dual antenna inputs and EG370N IMU (no PwrPak7DM-E2 Wi-Fi or data storage) Single enclosure SPAN GNSS+INS receiver with EG370N IMU and built-in data storage (no PwrPak7Q-E2 Wi-Fi) CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 180 (GPS L1/L2/L5, GLONASS L1/L2, BeiDou B1/B2a/B2b/B3, Galileo E1/E5a/E5b/E6, NavIC L5 and L-Band) ARINC-743 bolt pattern 42GNSSA-XT-1 (GPS L1/L2/L5, GLONASS L1/L2, BeiDou B1/B2a/B2b/B3, Galileo E1/E5a/E5b/E6, NavIC L5 and L-Band) Blade form factor 5BE-225-500-XT-1 (UHF 255 – 500 MHz) CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 181 CPT7 I/O1 Cable 01020690 CPT7 I/O2 Cable Fischer Core Series cable mounted plug. For use on cables made for the CPT7 IO1 connector. 21223365 Fischer part number:   SS 104 A086-140 Fischer Core Series cable mounted plug. For use on cables made for the CPT7 IO2 connector.
  • Page 182 This uncertainty can be monitored using the INSSTDEV log or INSSTDEVS log. Further details on the command and logs in this section are available in the OEM7 Commands and Logs Reference Manual. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 183 The PCO is also frequency dependent which means that there can be a different offset for each signal frequency. The PCV identifies how much the phase center moves with respect to the satellite elevation angles. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 184 The table below highlights some of the important desirable features needed for a GNSS antenna based upon the user’s application. CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 185 APPENDIX E   Importance of Antenna Selection CPT7 and CPT7700 Installation and Operation User Manual v9...
  • Page 186 CPT7 and CPT7700 Installation and Operation User Manual v9...

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