1. Manuals
  2. Brands
  3. Vecow Manuals
  4. Computer Hardware
  5. VTS-1000 Series
  6. User manual

Vecow VTS-1000 Series User Manual

Xilinx zynq ultrascale+ mpsoc, in-vehicle time sync box sync in/out, frame out, rtcm, uart, gnss gps, 9-axis imu
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
VTS-1000
Xilinx Zynq
®
UltraScale+™ MPSoC, In-vehicle Time Sync Box
Sync In/Out, Frame Out, RTCM, UART, GNSS GPS, 9-axis IMU
USER
USER
Manual
Manual
1.0.0 Edition 20250311

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the VTS-1000 Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Vecow VTS-1000 Series

Summary of Contents for Vecow VTS-1000 Series

  • Page 1 USER USER VTS-1000 Manual Manual Xilinx Zynq ® UltraScale+™ MPSoC, In-vehicle Time Sync Box Sync In/Out, Frame Out, RTCM, UART, GNSS GPS, 9-axis IMU 1.0.0 Edition 20250311...

  • Page 2: Record Of Revision

    Record of Revision Version Date Page Description Remark 1.00 2025/03/11 Official Release ©Vecow VTS-1000 User Manual...

  • Page 3: Declaration Of Conformity

    This manual is released by Vecow Co., Ltd. for reference purpose only. All product offerings and specifications are subject to change without prior notice. Vecow Co., Ltd. is under no legal commitment to the details of this document. Vecow shall not be liable for direct, indirect, special, incidental, or consequential damages arising out of the use of this document, the products, or any third party infringements, which may result from such use.

  • Page 4: Order Information

    Synchronization tool between controllers, auto calibration of latency Python sync tool for customable sync signal to support various Sync Tool sensor requirements Sensor fusion tool for Dual GNSS and IMU yaw, integrated EKF Sensor Fusion algorithm ©Vecow VTS-1000 User Manual...

  • Page 5: Optional Accessories

    External GNSS input Cable, 200cm Sync out Cable Kit Sync out Cable, 200cm Sync out 2 Cable Sync out Cable, 200cm Frame Out Cable Frame out Cable Kit, 200cm 10/100/1000Base-T(X) Gigabit Ethernet switch with PTP/gPTP LAN Switch support ©Vecow VTS-1000 User Manual...

  • Page 6: Table Of Contents

    2.2 Front Panel I/O Functions 2.3 Rear Panel I/O & Functions 2.4 Main Board Expansion Connectors 2.5 Main Board Jumper/Switch Settings CHAPTER 3 SYSTEM SETUP 3.1 How to Open Your VTS-1100/1200/1200GU 3.2 Installing Micro SD Card 3.3 VTS-1100/1200/1200GU ©Vecow VTS-1000 User Manual...
  • Page 7 CHAPTER 4 SOFTWARE SETUP 4.1 Getting Started with Your VTS-1100/1200/1200GU 36 4.2 Time Synchronization 4.3 ROS Node and Service List APPENDIX A : Power Consumption ©Vecow VTS-1000 User Manual...

  • Page 8: Chapter 1 General Introduction

    GENERAL INTRODUCTION 1.1 Overview The Vecow VTS-1000 Series is a rugged in-vehicle time synchronization box designed to meet the growing demands for multi-sensor synchronization. It supports a wide range of edge applications, from autonomous systems and manufacturing to AIoT and Industry 4.0.

  • Page 9: Features

    • Supports RTK RTCM centimeter level position accuracy • Integrated with Xsens MTi-670 high precision 9-axis IMU • Supports External GNSS input and Daisy Chain sync out • DC 5V to 60V wide range power input, Fanless -20°C to 75°C operation ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...

  • Page 10: Product Specification

    5-pin L-coded M12 Connector : V+, V Mechanical Dimension (W x L x H) 150 mm x 150 mm x 55 mm (5.9'' x 5.9'' x 2.16'') Weight 1.6KG (3.52 lb) • DIN-Rail Mounting • Wall-mount ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...
  • Page 11 Storage Temp. -40°C to 85°C (-40°F to 185°F) Humidity 5% to 95% Humidity, non-condensing Rel. Humidity 95% @75°C Shock Operating, MIL-STD-810H, Method516.8, Procedure I Operating, MIL-STD-810H, Method 514.8 ,Procedure I, Vibration Category 4 CE, FCC ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...

  • Page 12: Specifications Of Vts-1200

    5-pin L-coded M12 Connector : V+, V Mechanical Dimension (W x L x H) 150 mm x 150 mm x 70 mm (5.9'' x 5.9'' x 2.75'') Weight 1.7KG (3.74 lb) • DIN-Rail Mounting • Wall-mount ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...
  • Page 13 Storage Temp. -40°C to 85°C (-40°F to 185°F) Humidity 5% to 95% Humidity, non-condensing Rel. Humidity 95% @75°C Shock Operating, MIL-STD-810H, Method516.8, Procedure I Operating, MIL-STD-810H, Method 514.8 ,Procedure I, Vibration Category 4 CE, FCC ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...

  • Page 14: Specifications Of Vts-1200Gu

    10/100/1000 Base-T GigE LAN for hardware PTP/gPTP LAN 1 master, IEEE802.3AS compliant X-coded M12 Connector 10/100/1000 Base-T GigE LAN LAN 2 X-coded M12 Connector Power Power Input DC 5V to 60V Power Interface 5-pin L-coded M12 Connector : V+, V ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...
  • Page 15 Storage Temp. -40°C to 85°C (-40°F to 185°F) Humidity 5% to 95% Humidity, non-condensing Rel. Humidity 95% @75°C Shock Operating, MIL-STD-810H, Method516.8, Procedure I Operating, MIL-STD-810H, Method 514.8 ,Procedure I, Vibration Category 4 CE, FCC ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...

  • Page 16: Mechanical Dimension

    1.4 Mechanical Dimension 1.4.1 Dimensions of VTS-1100 Unit : mm (inch) 187.0 (7.36) 150.0 (5.91) 1.4.2 Dimensions of VTS-1200 Unit : mm (inch) 187.0 (7.36) 150.0 (5.91) ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...

  • Page 17: Dimensions Of Vts-1200Gu

    1.4.3 Dimensions of VTS-1200GU Unit : mm (inch) 187.0 (7.36) 150.0 (5.91) ©Vecow VTS-1000 User Manual GENERAL INTRODUCTION...

  • Page 18: Chapter 2 Getting To Know Your

    GETTING TO KNOW YOUR VTS-1100/1200/1200GU 2.1 Packing List Item Description VTS-1000 Time Sync Solution (According to the configuration of you order, the VTS-1000 series may contain GPS module and IMU. Please verify these items if necessary.) Item Description Outlook Usage...

  • Page 19: Front Panel I/O Functions

    2.2 Front Panel I/O Functions In Vecow VTS-1000 series family, Some of the I/O connectors are located on the front panels. Such as SD card , VCHAIN ,LAN and RTCM . SYNC IN GNSS Restore VCHAIN Default LAN 2 LAN 1...
  • Page 20 VCHAIN Default LAN 2 LAN 1 VCHAIN PTP / g PTP RTCM The external Micro SD card provides additional storage expansion. It is located behind the cover-plate on the front panel ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 21 Default LAN 2 LAN 1 VCHAIN PTP / g PTP RTCM VCHAIN is used to connect other VTS-1000 series system to form an Daisy chain topology. The pin-outs of VCHAIN is listed as follows: Pin No. Definition Pin No. Definition...
  • Page 22 There is a M12 connector support RTK RTCM centimeter level position accuracy. The pin-outs of RTCM is listed as follows : Pin No. Definition Pin No. Definition P3V3 P3V3 GNSS_TX_COM GNSS_RX_COM ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 23 On/Off : VCHAIN status, function or not. Programable LED . Solid Green Solid Green On/Off : PTP status, function or not. System ready status (on/off) Solid Green Solid Green System power status (on/off) ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...

  • Page 24: Rear Panel I/O & Functions

    2.3 Rear Panel I/O & Functions In Vecow VTS-1000 series family, Some of the I/O connectors are located on the rear panels. such as Power input, SYNC and FRAME out . SYNC FRAME SYNC DC-IN 5V-60V SYNC OUT 2 2.3.1 Power input...
  • Page 25 PPS5_TX COM5_TX PPS4_TX COM4_TX PPS3_TX COM3_TX PPS2_TX COM2_TX PPS1_TX P3V3 P3V3 SYNC OUT2 Pin No. Definition Pin No. Definition IMU_RS-232_TX PPS8_TX COM8_TX PPS7_TX COM7_TX PPS6_TX COM6_TX CAN_L CAN_H IMU_RS-232_RX IMU_RS-232_CTS IMU_RS-232_RTS ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 26 SYNC IN Pin No. Definition Pin No. Definition P3V3 P3V3 GNSS_TX_COM GNSS_RX_COM FRAME OUT Pin No. Definition Pin No. Definition TRIGGER2_P3V3 TRIGGER3_P3V3 TRIGGER4_P3V3 TRIGGER5_P1V8 TRIGGER6_P1V8 TRIGGER7_P1V8 TRIGGER8_P1V8 TRIGGER1_P3V3 ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...

  • Page 27: Main Board Expansion Connectors

    2.4 Main Board Expansion Connectors 2.4.1 Top View of VTS-1000 series Main Board GPIO3 JUSB1 SYS_FAN1 GPIO2 JRST IO_CN1 UART_CN1 GPIO1 ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 28 GPIO1 Definition GPIO2 Definition GPIO3 Definition 5EG_GPIO1_3V3 P3V3 5EG_GPIO9_3V3 5EG_GPIO2_3V3 1CG_GPIO1_3V3 5EG_GPIO10_3V3 5EG_GPIO3_3V3 1CG_GPIO2_3V3 5EG_GPIO11_3V3 5EG_GPIO4_3V3 1CG_GPIO3_3V3 5EG_GPIO12_3V3 1CG_GPIO4_3V3 5EG_GPIO5_1V8 1CG_GPIO5_3V3 5EG_GPIO13_3V3 5EG_GPIO6_1V8 1CG_GPIO6_3V3 5EG_GPIO14_3V3 5EG_GPIO7_1V8 1CG_GPIO7_3V3 5EG_GPIO15_3V3 5EG_GPIO8_1V8 1CG_GPIO8_3V3 5EG_GPIO16_3V3 ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 29 The pinouts of Miscellaneous port are listed in following table : Pin No. Definition FP_RST_BTN_N 2.4.1.3 UART_CN1 : external firmware update connector UART_CN1 The pinouts of Miscellaneous port are listed in following table : Pin No. Definition VBUS USB_DN USB_DP ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 30 The pindefine are listed in following table : Pin No. Definition VBUS USB_DN USB_DP 2.4.1.5 SYS_FAN1 SYS_FAN1 Fan power connector supports higher thermal requirements .The pindefine are listed in following table : Pin No. Definition VBUS USB_DN USB_DP ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 31 2.4.1.6 IO_CN1 : IO board connector IO_CN1 2.4.1.7 JP2 : LAN1 Led header The pindefine are listed in following table : Pin No. Definition LAN1_ACT_N LAN1_LINK_N ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 32 2.4.2 Top View of VTS-1000 series IO Board IMU_CN1 GNSS_CN1 ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 33 2.4.2.1 IMU_CN1 : IMU module connector IMU_CN1 The pindefine are listed in following table : Pin No. Definition Pin No. Definition CAN_H CAN_L IMU_RS232_TX IMU_RS232_RTS IMU_RS232_RX IMU_RS232_CTS IMU_BOARD_ SYNC_IN IMU_MAX3221_TX UART_1_RX_IMU UART_1_TX_IMU ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 34 The pindefine are listed in following table : Pin No. Definition Pin No. Definition P3V3 P3V3 GPS_nRST GNSS_TX_COM_0 GNSS_RX_COM_0 GNSS_PPS_IN GNSS_TX_COM_1 GNSS_RX_COM_1 GNSS_TX_COM_2 GNSS_RX_COM_2 VANT nPDN GPLED GNSS_SD_CLK LOGLED GNSS_SD_CMD GNSS_SD_DAT ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...

  • Page 35: Main Board Jumper/Switch Settings

    To “open” a jumper, you remove the clip. Sometimes a jumper will have three pins, labeled 1, 2 and 3. In this case you would connect either pins 1 and 2, or 2 and 3. Open Closed Closed 2-3 ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...
  • Page 36 2.5.2 JP1 : SYS_FAN1 Operation Voltage Select Pin No. Definition FAN Operation Voltage 5V FAN Operation Voltage 12V (default) ©Vecow VTS-1000 User Manual GETTING TO KNOW YOUR VTS-1100/1200/1200GU...

  • Page 37: Chapter 3 System Setup

    SYSTEM SETUP 3.1 How to Open Your VTS-1100/1200/1200GU 3.1.1 VTS-1100 Step 1 Remove six Flat-M3x5L screws on Bottom Cover. Step 2 Finish. ©Vecow VTS-1000 User Manual SYSTEM SETUP...
  • Page 38 3.1.2 VTS-1200/1200GU Step 1 Remove six Flat-M3x5L screws on Bottom Cover. Step 2 Remove eight Flat-M3x5L screws at front and side panel. ©Vecow VTS-1000 User Manual SYSTEM SETUP...
  • Page 39 Step 3 Remove eight Flat-M3x5L screws at rear and side panel. Remove one NUT on DC connector at rear panel. Step 4 Remove four PH-M3x4L screws at I/O board. ©Vecow VTS-1000 User Manual SYSTEM SETUP...
  • Page 40 Step 5 Finish. ©Vecow VTS-1000 User Manual SYSTEM SETUP...

  • Page 41: Installing Micro Sd Card

    3.2 Installing Micro SD Card Step 1 Remove one Flat-M3x5L screw on SD cover at front panel. Step 2 Inserting Micro SD card. ©Vecow VTS-1000 User Manual SYSTEM SETUP...

  • Page 42: Vts-1100/1200/1200Gu

    3.3 VTS-1100/1200/1200GU Step 1 Ensure the screw holes on the right and left side match the ones on VTS-1000 series.Fasten four Hexagon M3x5L screws. Step 2 Finish. ©Vecow VTS-1000 User Manual SYSTEM SETUP...

  • Page 43: Software Setup

    4.2 Time Synchronization The Vecow VTS-1000 features three innovative technologies to ensure precise timing: Time Winding, Time Stamping, and Time Keeping. These features are supported by specialized hardware (FPGA) and intuitive software interfaces. In this section, we’ll focus on how the VTS-1000 syncs time across networks and...
  • Page 44 RMW_IMPLEMENTATION=rmw_cyclonedds_cpp export RMW_IMPLEMENTATION=rmw_fastrtps_cpp 4.3.2 ROS Nodes The Vecow VTS-1200GU is equipped with the following default devices: (a) Septentrio AsteRx-m3 Pro Dual GNSS Module (b) Xsens MTi-670 9-axis IMU If these devices are correctly installed, their corresponding ROS nodes will start automatically.
  • Page 45 • baud: Sets the baud rate. • ctime: Configures the cycle time. • dtime: Defines the defer time. • pulsew: Sets the pulse width. • sat: Specifies the satellite source. • sched: Configures the scheduling. ©Vecow VTS-1000 User Manual SOFTWARE SETUP...
  • Page 46 • Use “ros2 node list” to verify that the nodes are running. • Check “ros2 topic echo <topic_name>” to confirm data is being published. • If a service does not respond, verify the service is available using “ros2 service list”. ©Vecow VTS-1000 User Manual SOFTWARE SETUP...

  • Page 47: Appendix A : Power Consumption

    Run 100% CPU Input Max Current Max Consumption 3.257A 16.290W 1.267A 15.204W ® Xilinx Zynq UltraScale+™ ZU5EG 0.646A 15.504W MPSoC 0.448A 21.504W 0.475A 28.505W ** If more help is needed, please contact Vecow Technical Support. ©Vecow VTS-1000 User Manual Appendix A...
  • Page 48 No part of this publication may be reproduced in any form or by any means, electric, photocopying, or recording, without prior authorization from the publisher. The rights of all the brand names, product names, and trademarks belong to their respective owners. © Vecow Co., Ltd. 2025. All rights reserved.

This manual is also suitable for:

Vts-1200guVts-1100Vts-1200

Table of Contents