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Related Manuals for Novatel SMART6-L
Summary of Contents for Novatel SMART6-L
- Page 1 SMART6-L™ User Manual OM-20000146 Rev 3 August 2014...
- Page 2 Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc. The software described in this document is furnished under a licence agreement or non-disclosure agreement. The software may be used or copied only in accordance with the terms of the agreement.
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Page 3: Table Of Contents
3.1.3 Communicating Using a Computer ................18 3.2 Getting Started ........................19 3.2.1 Starting the Receiver..................... 19 3.2.2 Communicating with the Receiver Using NovAtel Connect........... 19 3.3 Transmitting and Receiving Corrections ................. 20 3.3.1 Base Station Configuration.................... 22 3.3.2 Rover Station Configuration ..................23 3.3.3 GPS+GLONASS Base and Rover Configuration ............ - Page 4 4.4.5 SoftLoad Errors ......................40 4.5 Upgrading Using the AUTH Command ................... 40 4.5.1 Upgrade Procedure ....................... 40 A Technical Specifications A.1 SMART6-L Receiver Performance ...................... 41 A.2 SMART6-L Specifications........................42 B Commands B.1 Syntax Conventions..........................47 B.2 SERIALCONFIG Configure COM Port ....................48 B.3 FRESET Clear Selected Data from NVM and Reset................
- Page 5 Figures SMART6-L Receiver ..........................11 SMART6-L Connector ..........................12 Simplified SMART6-L Setup ........................13 SMART6-L Surface Mounting Plate (01018317) ..................14 SMART6 Pole Mounting Plate (01019142) .....................15 SMART6-L Orientation ..........................16 Open Connection Window ........................19 Basic Differential Setup ...........................21 Positioning Change Without Steadyline ....................25 Steadyline Maintain ..........................25 Steadyline Transition ..........................26...
- Page 6 Tables SMART6-L Connector Pin-Out.........................12 Available CAN Signals on the SMART6-L ....................17 SMART6-L Communication/Power Cable Pin-outs..................44 SMART6-L Mating Connectors ........................45 Recommended Fuse and Fuse Holders ....................46 SMART6-L Commands ..........................47 COM Serial Port Identifiers ........................48 Parity ................................49 Handshaking ............................49 FRESET Target............................51 Detailed Serial Port Identifiers........................54 Component Type............................57...
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Page 7: Notice
SMART6-L has been tested and found to comply with the emission limits for a Class B digital device. The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation. - Page 8 Waste electrical and electronic equipment (WEEE) is a regulated area. Where the generation of waste cannot be avoided, it should be reused or recovered for its material or energy. WEEE products may be recognized by their wheeled bin label ( 1.Visit the NovAtel Web site at www.novatel.com/products/weee-and-rohs/ for more information on WEEE.
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Page 9: Customer Service
Customer Service NovAtel Knowledge Base If you have a technical issue, visit the NovAtel support website at www.novatel.com | Support | Helpdesk and ® Solutions | Knowledge and Forums. Through this page, you can search for general information about SMART antennas and other technologies, information about NovAtel hardware, software, installation and operation issues. - Page 10 Conversions and their binary or decimal results are always read from right to left. For a complete list of hexadecimal, binary and decimal equivalents, please refer to Unit Conversion available on our Web site at www.novatel.com/support. SMART6-L User Manual Rev 3...
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Page 11: Introduction
Chapter 1 Introduction The SMART6-L is a high performance GNSS receiver and antenna, capable of receiving and tracking different combinations of GNSS L1/L2 code and carrier signals on a maximum of 120 channels. SBAS (Satellite Based Augmentation Systems) includes WAAS (North America), EGNOS (Europe) and MSAS (Japan). -
Page 12: Installation And Setup
Complete the following steps to connect and power the SMART6-LT. 1. Mount the SMART6-L on a secure, stable part of a vehicle (i.e., cab roof) with an unobstructed view of the sky from horizon to horizon (refer to Section 2.1.4, Mounting the SMART6-L on page 15 for details). -
Page 13: Power Supply Requirements
Installation and Setup Chapter 2 3. Turn on the power supply to the SMART6-L (the SMART6-L cable is also a power cable). The power on the receiver glows red when the SMART6-L is properly powered. Fuse/holder recommendations can be found in Table 5, Recommended Fuse and Fuse Holders on page 46. -
Page 14: Mounting Plate
Installation and Setup Chapter 2 2.1.3 Mounting Plate Two mounting plates are available to facilitate mounting the receiver: a surface mounting plate and a pole mounting plate. Figure 4: SMART6-L Surface Mounting Plate (01018317) 5.00 3.360 1.439 0.50 x 4 R0.025 0.50 x 4... -
Page 15: Mounting The Smart6-L
See Section 2.2, Additional Features and Information on page 16 for additional requirements. The SMART6-L must be rigidly secured to the vehicle to avoid errors caused by vibration and motion. SMART6-L User Manual Rev 3... -
Page 16: Physical Installation
Installation and Setup Chapter 2 2.1.5 Physical Installation The SMART6-L must be mounted with the connector facing the rear of the vehicle (refer to Figure 6, SMART6-L Orientation). Figure 6: SMART6-L Orientation Route cable toward Orient toward the front back of vehicle of vehicle 2.1.6... -
Page 17: Controller Area Network (Can)
Installation and Setup Chapter 2 2.2.3 Controller Area Network (CAN) The SMART6-L supports the following NMEA2000 Parameter Group Messages (PGN): • PGN 129029 GNSSPositionData (1 Hz) • PGN 129025 GNSSPositionRapidUpdate (10 Hz) • PGN 129026 COGandSOGRapidUpdate (10 Hz) Table 2: Available CAN Signals on the SMART6-L... -
Page 18: Operation
Chapter 3 Operation Before operating the SMART6-L for the first time, ensure the installation instructions in Chapter 2, Installation and Setup on page 12 were followed. It is assumed that a personal computer is used during initial operation and testing for greater ease and versatility. -
Page 19: Getting Started
Figure 7: Open Connection Window Refer to the NovAtel Connect help file or press F1 while the cursor is in a NovAtel Connect window. Ensure the Console and ASCII Messages windows are open by selecting them from the View menu. -
Page 20: Transmitting And Receiving Corrections
GNSS positions. The SMART6-L can be used as a base receiver to transmit RTK or DGPS corrections or a rover to receive the same corrections. An example of a differential setup is given in Figure 7, Open Connection Window on page 19. -
Page 21: Basic Differential Setup
In most cases, a data link between the base station and rover station (two NovAtel receivers) is required to receive corrections. SBAS corrections can be accomplished with one receiver and are exceptions to the base/rover concept. -
Page 22: Base Station Configuration
1 serialconfig com2 9600 N 8 1 N on interfacemode com2 none cmr off fix position 51.11358042 -114.04358013 1059.4105 log com2 cmrobs ontime 1 log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 1 SMART6-L User Manual Rev 3... -
Page 23: Rover Station Configuration
(optional, save configuration to non-volatile memory) saveconfig Rover Station: serialconfig com2 9600 N 8 1 N on interfacemode com2 rtca none off (optional, view position information) log com1 bestposa ontime 1 (optional, save configuration to non-volatile memory) saveconfig SMART6-L User Manual Rev 3... -
Page 24: Configuration Notes
INTERFACEMODE set to NOVATEL and log out variants of the standard correction messages with a NovAtel header. ASCII or binary variants can be requested by simply appending an "A" or "B" to the standard message name. For example on the base station: interfacemode com2 novatel novatel fix position 51.11358042 -114.04358013 1059.4105... -
Page 25: Steadyline
The effect is especially evident when a receiver transitions from an RTK position mode solution to a lower accuracy “fall back” solution, such as NovAtel CORRECT PPP, DGPS, WAAS+GLIDE or even autonomous GLIDE (see Figure 9, Positioning Change Without Steadyline). -
Page 26: Transition
When the solution type is WARNING, the receiver uses the Transition option. When the receiver changes from WARNING to OPERATIONAL, it will continue to use the Transition option until any existing offset is gone. When the solution type is OUT_OF_BOUNDS, the Steadyline feature is disabled. SMART6-L User Manual Rev 3... -
Page 27: Steadyline Ual- Warning Limit Example
The solution accuracy moves back within the operational limit. The position type changes to OPERATIONAL. The Steadyline mode remains in Transition mode. The solution offset is removed. The Steadyline mode changes from Transition to Maintain. SMART6-L User Manual Rev 3... -
Page 28: Enabling L-Band
A subscription is required to use the TerraStar service. To obtain a subscription, contact your local NovAtel sales representative or visit http://www.novatel.com/products/terrastar-gnss-corrections/. The receiver’s TerraStar Product Activation Code (PAC) or the NovAtel product serial number (PSN) is needed to obtain a subscription. To obtain the receiver-specific PAC, enter the following command:... - Page 29 A subscription is required to use the OmniSTAR service. To obtain a subscription, contact OmniSTAR at 1-888-883-8476 or 713-785-5850. Provide the receiver’s OmniSTAR serial number (which is different from the NovAtel serial number). To obtain the OmniSTAR serial number, enter the following command: log lbandinfo...
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Page 30: Recommended Configuration
The following commands are recommended to enable GLIDE: pdpfilter enable pdpmode relative auto NovAtel has registered manufactured ID code 305 with J1939. When complete, configuration can be saved with the SAVECONFIG command. For more information about these commands, refer to the OEM6 Family Firmware Reference Manual, available at www.novatel.com/support/manuals/. -
Page 31: Novatel Firmware And Software
WinLoad software utility WinLoad and SoftLoad instructions follow. Firmware Updates and Model Upgrades A local NovAtel dealer can provide all the information needed to upgrade or update a receiver. Refer to www.novatel.com/where-to-buy for contact information or contact sales@novatel.com support@novatel.com directly. -
Page 32: Model Upgrades
Chapter 4 4.1.2 Model Upgrades Model upgrades enable purchased receiver features. Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs at www.novatel.com/where-to-buy. Contact NovAtel Customer Support www.novatel.com/support NovAtel Sales to request a temporary upgrade authorization code for trial purposes. -
Page 33: Updating Or Upgrading Using The Winload Utility
This is no longer the case, they are now no longer dependent on firmware version. Updating or Upgrading Using the WinLoad Utility WinLoad is the simplest and most common way to update or upgrade a SMART6-L receiver. 4.3.1 Transferring Firmware Files To proceed with an update or possibly an upgrade, obtain the latest version of firmware by downloading the (OEM Version) for your product from www.novatel.com/support/firmware-downloads/. -
Page 34: Using The Winload Utility
Chapter 4 SMART6-L Application Software The SMART6-L receiver has two types of software loaded, the OEM6 firmware and the SMART6-L Application Software. The OEM6 firmware provides the features that are common to all OEM6 receivers. The Application Software provides the special features available on the SMART6-L, such as Emulated Radar. -
Page 35: Updating Using Softload Commands
The receiver stops tracking GNSS satellites during the SoftLoad process. Do not attempt to SoftLoad when GNSS satellite tracking on the unit is required. If the unit is connected to the NovAtel Connect utility, only the Console and ASCII Message windows may remain open in the Connect Utility. -
Page 36: Softload Commands And Logs
Length.This is the hexadecimal number of character pairs to follow in the record. This value minus 4 bytes for the address and 1 byte for the check sum is copied into the "data length" field SOFTLOADDATA of the command Header SMART6-L User Manual Rev 3... -
Page 37: Sending Firmware Data
SOFTLOADDATA command. The *.hex and *.shex file data may contain many gaps and jumps. For example, in many NovAtel *.hex and *.shex files, data for address 0x000_00000 is stored near the very end of the file. Example Packaging Multiple S3 Records In A SOFTLOADDATA Command... -
Page 38: Softload Update Method
Add data to existing SOFTLOADDATA command SOFTLOADDATA command must be sent as a NovAtel binary format command. 4.4.4 SoftLoad Update Method This section describes the sequence of commands that are issued to the receiver when updating using a *.hex or *.shex file. - Page 39 The SoftLoad process can be safely canceled at any time using the 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. SMART6-L User Manual Rev 3...
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Page 40: Softload Errors
Upgrading Using the AUTH Command AUTH command is used to upgrade to a new SMART6-L model with an authorization code that enables (unlocks) model features. This command only functions with a valid auth-code assigned by NovAtel Customer Support. -
Page 41: A Technical Specifications
Satellite Based Augmentation Systems (SBAS) include WAAS (North America), EGNOS (Europe) and MSAS (Japan). c. GPS only. d. TERRASTAR-D subscriptions are available from NovAtel. e. Veripos Apex 2 marine subscriptions are available directly from Veripos (www.veripos.com). L2 P for GLONASS. -
Page 42: Smart6-L Specifications
2.9 W 14-PIN INPUT/OUTPUT CONNECTOR +8 to +36 V DC Power For the cable pin-outs and drawings, see Section A.2.1, SMART6-L Communication/ Power Cable (01018999) on page 44 Serial Com Ports RS-232 F Compliant (Rx and Tx signals only) SAE J1939/ ISO 11783/ ISO 11898 Compatible PPS Output 3.3 V CMOS Logic Compatible... -
Page 43: Smart6-L Dimensions
Figure 21: SMART6-L Dimensions Dimensions are in millimeters SMART6-L User Manual Rev 3... -
Page 44: Smart6-L Communication/Power Cable
In addition, there are a number of bare wires where the outer insulation is cut away but the wires beneath remain intact. See Table 3, SMART6-L Communication/Power Cable Pin-outs on page 44 for their pin-outs. For more information on mating connectors and part numbers, see Table 4, SMART6-L Mating Connectors on page 45. -
Page 45: Smart6-L Mating Connectors
NovAtel recommends biasing unused inputs to their default states. The connector used in the SMART6-L is an “AMPSEAL” dust and water sealed type produced by Tyco. The following part numbers pertain to the mating connector required to make connections to the SMART6-L. -
Page 46: Recommended Fuse And Fuse Holders
Table 5, Recommended Fuse and Fuse Holders details the part numbers for recommended fuses and fuse holders. These numbers are provided for information only and are not available from NovAtel as separate parts. Table 5: Recommended Fuse and Fuse Holders... -
Page 47: B Commands
SETCANNAME The arguments for each of these commands are described in the following sections. For a complete listing and description of the other commands that the SMART6-L, an OEM6 based receiver, is capable of processing, refer to the OEM6 Family Firmware Reference Manual. -
Page 48: B.2 Serialconfig Configure Com Port
Clear the transmit and receive buffers on the current port. • Return the current port to its default settings • Set the interface mode to NovAtel for both input and output (see INTERFACEMODE command in OEM6 Family Firmware Reference Manual). ... -
Page 49: Parity
See Table 9, Handshaking Enum H+20 Handshaking on page 49 echo No echo Enum H+24 (default) Transmit any input characters as they are received break Disable break detection Enum H+28 Enable break detection (default) SMART6-L User Manual Rev 3... -
Page 50: B.3 Freset Clear Selected Data From Nvm And Reset
ASCII, ASCII or binary, respectively target See Table 10, What data is to be reset by the Enum FRESET Target on receiver (default=STANDARD) page 51 SMART6-L User Manual Rev 3... -
Page 51: Freset Target
Resets the parameters entered using the CLOCKCALIBRATE command SBASALMANAC Resets the stored SBAS almanac LAST_POSITION Resets the position using the last stored position GLOALMANAC Resets the stored GLONASS almanac PROFILEINFO Resets the stored profile configurations SMART6-L User Manual Rev 3... -
Page 52: B.4 Log Request Logs From The Receiver
1. In NovAtel Connect there are two ways to initiate data logging to the receiver's serial ports: - the LOG command in the Console window or - use the interface provided in the Logging Control window. - Page 53 1 second after every minute, set the period to period 60 and the offset to 1 (default = 0) hold NOHOLD Allow log to be removed by the UNLOGALL command Enum (default) HOLD Prevent log from being removed by the UNLOGALL command SMART6-L User Manual Rev 3...
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Page 54: Detailed Serial Port Identifiers
Decimal port values 0 through 16 are only available to the command and cannot be used in UNLOG command or in the binary message header. For detailed information on virtual ports, refer to the LOG command in the OEM6 Family Firmware Reference Manual. SMART6-L User Manual Rev 3... -
Page 55: B.5 Setcanname Sets The Can Name Fields
Ulong (default = 23) FunctionInstance 11783-5 Function instance Ulong H+20 (default = 0) ECUInstance 11783-5 ECU Instance Ulong H+24 (default = 0) PreferredAddress Device default address on start Ulong H+28 up (default=28) Reserved Ulong H+32 SMART6-L User Manual Rev 3... -
Page 56: C Logs
Logs C.1 Position Logs C.1.1 NMEA Logs The NMEA logs (receiver outputs) supported by the SMART6-L are summarized in Chapter 3 of the OEM6 Family Firmware Reference Manual in section "NMEA Standard Logs". The available logs include: • GPGGA, which outputs a log of position system fix data and undulation. There are... -
Page 57: Component Type
C.1.2 NovAtel Position Logs In addition to NMEA logs, NovAtel supports a range of non-NMEA position logs, described in the OEM6 Family Firmware Reference Manual, including: • BESTPOS: This log contains the best available position computed by the receiver, for example: log bestposa ontime 0.5... -
Page 58: D Replacement Parts
Appendix D Replacement Parts The following are a list of the replacement parts available for the NovAtel SMART6-L receiver. Should assistance be required or need to order additional components, please contact your local NovAtel dealer or Customer Service representative. D.1 SMART6-L... - Page 59 SMART6-L User Manual Rev 3...
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