ReACT User Manual v1.07
Contents
1. 6 3 1 Mechanical Dimensions Dimensions 116 mm x 116 mm x 79 mm Weight 600 g 6 3 2 Connectivity Overview GNSS COM 1 EVENT2 RS232 or RS422 GNSS COM3 VARF RS232 or USB PPS Pwr 9 36 VDC Figure 4 ReACT NSc Connectivity Overview 6 3 3 Mounting Points The ReACT NSc comes with two mechanical mounting options 3 x M6 screw points for vehicle mounting 3 x 10 32 UNF screw points for vehicle mounting A0072 09 0016 Page 15 O Forsberg Services Ltd ReACT User Manual V1 07 3xM6x12Deep 3x10 32 UNFx12Deep Figure 5 ReACT NSc mounting options 6 4 ReACT D5 6 4 1 Mechanical Dimensions Dimensions 116 mm x 116 mm x 85 mm Weight 600 g 6 4 2 Connectivity overview A0072 09 0016 O Forsberg Services Ltd Page 16 ReACT User Manual V1 07 GNSS COM 1 RS232 or RS422 Pwr VARF 9 36V EVENT2 PPS GNSS COM3 El RS232 or USB RS232 EDGE Output E2 EDGE Output EDGE Output A EDGE Output Figure 6 ReACT D5 Connectivity Overview 6 4 3 Mounting Points The ReACT D5 offers two mechanical mounting options 3 x M6 screw points for vehicle mounting 1 x 5 8 thread for centre pole mounting Figure 7 Mounting options for ReACT D5 A0072 09 0016 Page 17 Forsberg Services Ltd ReACT User Manual V1 07 6 4 4 Connector and Pinout Description ___ Fischer Part Number _ UltiMate 19 Way Panel Mounted Socket URO2W11 FO19P BK1 E1AA Pin Signal Description fa COM3TXD USB D N M2. ReACT User Manual A0072 09 0016 Version 1 07 5 December 2013 FORSBERG SERVICES LTD RICHMOND HOUSE WHITE CROSS LANCASTER LA1 4XF UNITED KINGDOM TEL 44 0 1524 383320 FAX 44 0 1524 382939 THIS DOCUMENT IS THE PROPERTY OF FORSBERG SERVICES LIMITED It is issued for the information of such persons only as need to know its contents in the course of their work Any person finding this document should contact FORSBERG SERVICES Limited for its safe return to the address on this page with particulars of how and where found ReACT User Manual V1 07 Related Documents Document No DocumentTitle gt sd issue OM 20000129 OEM6 Family Firmware Reference Manual OM 20000127 OEMStar Family Firmware Reference Manual Version Record Issue ChangeNotes i te SOS 1 04 The setting for selecting COM3 as USB or 232 was corrected for the 09 07 2013 188 A O S NovAtel commands to enable COM3 and USB added Section 6 2 05 12 2013 Authorisation Issue Author Authorisedby Date A0072 09 0016 Page 1 Forsberg Services Ltd ReACT User Manual V1 07 i Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of FORSBERG SERVICES Limited The information within this document is understood to be true and correct at the time of publication Should you have any observations concerning this manual please contact Forsberg Service
3. 4 KV MIL STD 810F method 505 4 The ReACT is compliant with the European Union EU Restriction of Hazardous Substances ROHS Directive 2002 95 EC A0072 09 0016 Forsberg Services Ltd Page 6 ReACT User Manual V1 07 2 Warranty Information Forsberg Services Ltd Warranty Policy Forsberg Services Ltd FSL warrants that the navigation products manufactured by FSL are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time ReACT One 1 Year from the date of sale Software Support One 1 Year from the date of sale Date of sale shall mean the date of the invoice to the original customer for the product FSL s responsibility respecting this warranty is solely to product replacement or product repair at an authorized FSL location only The FSL warranty does not extend to the following l Non conformities defects or errors in the products due to accident abuse misuse or negligent use of the products or use in other than a normal and customary manner environmental conditions not conforming to FSL s specifications or failure to follow prescribed installation operating and maintenance procedures ll Defects errors or non conformities in the products due to modifications alterations additions or changes not made in accordance with FSL s specifications or authorised by FSL Il Normal wear and tear IV Damage caused by force of natu
4. The CANConfig PC application provides the functionality to create the custom CAN frame data CANConfig runs on a Windows PC and sends the configuration to the ReACT through one of the EDGE E com ports T CanConfig v1 03 2008 Forsberg Services Ltd File 101 1 37 byOs DJBESTPOS lat 102111 1s byOe DJBESTPOS lon GFS Data Build Frame for ee MSA E Log Config v1 03 Frame ID Data Rate E Timing 103 Hh i E HCR E ALMANAC Variables H AVEPOS Mame Precision El ESTAIS BESTPOS lat ed i sol status A BESTPOS lon sd Transmission Modify Configuration Remove Move Up Move Down Add Frame Delete Frame CAN Bandwidth Usage MICRO pod Bandwidth Usage Configuration Options W FSLSAVECONFIG Bit rate kbitssec CANT 500 11 bit HOR Send to COM 45 Cancel Figure 13 CANConfig User Interface 7 5 5 1 Connecting to the ReACT The CANConfig PC software requires a serial connection to one of the ReACT EDGE ports to apply the CAN port configuration Note Currently EDGE WARE does not support CAN commands directly to the CAN port A0072 09 0016 Page 30 O Forsberg Services Ltd ReACT User Manual V1 07 4 mens Mowe tbe Move Dian Agi fame Dete Fane ms naa edi Co er Carcel ReACT D5 PC El RS232 Mm _ RS232 E2 RS232 E3 RS232 CAN CAN Frames Figure 14 ReACT PC CANConfig connecti
5. 6 3 REACER S Coa a E a T A T tans clonal 15 631 Mechanical DIMensiONS uns 15 6 32 CONNECT OVEIVIEW oriee as n EE E ii lia 15 633 Mounting FONS ossen O E O 15 6 4 REACT DS aiii Eai 16 6 4 1 Mechanical DIMENSIONS cccceccceccceccuccveccucccuceueccucssuceecensseucseceusseuceeceusseuceuecsnsseucenesensss 16 042 COMEC OV CU OW a RA e EOS eae aes 16 643 MOUNTING PONES iia 17 644 Connector ONG PIN QUES iaa ada ls 18 645 Terminoled VO Cape auren aos caba tdi 18 6 4 5 1 REACT DS Cale tna 18 7 REACT DS EDGEWARE o isa 20 7 1 OVEIVIE Wa a 20 7 2 Modules nara adria 20 TA EDO ciao oercito 20 LR DOE OM eenaa oca 20 PR EDGE CAN ii EEE A EA A 20 7 3 EDGE PO didas 21 7 3 1 OVE WI Wins 21 Z322 NOVA ENNIWO Eta aio ltda cod 21 A0072 09 0016 Page 3 O Forsberg Services Ltd TDS NOVAE POTES a a PBA Special NOE its 7 3 5 Switching between RS422 RS232 and USB icccccccccccsccseeeeeees Verse EPSCONILRS237 4 221 t 7 3 5 2 GPS COMS RS232 OF USB iio 7 320 EDGE POS EL EZ 0nd ES ii laa 7 3 6 1 NovAtel LOGS ooocccccoccoconoconocononnnnnnnnnnnnnonononcnnnnaninnnns 7 3 6 2 EDOSAVECON isaac a T 7 3 6 3 EDO PRES E Todo did 7 3 6 4 EDGLOG VERSION cita ad 7 3 6 5 EDGINTERFACEMODE x ardid 7 3 7 Bandwidth Monitoring seerne ae rE AEEA 7 4 EDGE CO Madras ZAL A voce vcreedeeds a tate E 7 4 2 COMConfig PC Application asirio ita 74 3 Cree ANEW LOO da A ie 7 4 3 1 NovAtelDatasnrss ado cssga 7 4 3 2 Adding NovAtel Data ooccccccccnn
6. GNSS receiver and provides a range of GNSS data through NovAtel messages This data can be used to build specific CAN frames The PC CANConfig Software provides a user interface for creating CAN frame configurations It is used as a configuration utility for creating a list of CAN frames that will be transmitted to the EDGE CAN firmware This utility allows practically any field from a standard NovAtel GNSS message to be selected as data used in a CAN frame The CAN ID s are represented by a numerical value and are selected before editing Once each CAN frame has been created the configuration settings are sent to any of the EDGE E serial ports The EDGE CAN firmware will build and populate the CAN frames with the requested data and send the CAN frames through the CAN port at the selected rate 7 5 2 CAN Protocol The CAN protocol used on the EDGE CAN system is the extended frame format with a fixed number of 8 bytes in the data field e There is no provision for flow control device addressing and exchange of data of more than 8 bytes e These layers of the protocol are overlaid by using a standard such as CANOpen which is not implemented in this system e The CAN bit rate is controlled using the CANConfig software e Frames are transmitted at a rate determined by the PC configuration software 7 5 3 Extended CAN Frame Format The extended CAN frame format is as follows Field name Length bits Purpose Start of frame Denotes the
7. Variable frequency strobe A0072 09 0016 Page 13 Forsberg Services Ltd ReACT User Manual V1 07 GNSS COM1 RS232 or RS422 Sauer 9 36VDC Power Input Shield Signal Ground 6 2 5 1 ReACT NS Cable Description Free Plug Fischer UPO1L11 USB plug moulded connector Free plug 9 way D type male moulded connector Free plug 9 way D type female moulded connector Un terminated wires Vehicle power plug Label USB Ny A Label FRLO5 0017a Shield q Figure 3 ReACT NS Cable assembly _ Description Fischer Part Number React NS Cable 5m long UPO1L11 MO19S BK1 Z1ZA Pin Signal Description Terminated to Flying Lead colours E E A TA Or GNSS USB Connector B Pin 3 8 DS Pin 3 EMM Connector CPin 7 ic Connector Pin 2 Connector DA Pin 2 O o po combortconfieuration connectorD3Pin2 8 conrigrxo om i Connector D3 Pn3 S o e Reserved Not O S Connected O 11 emssPPSs GNSSPPSstrobe E un terminated Red GNSS VARF e frequency E un terminated Connector D 1Pin2 J o S GNSS COM1 RS2320r Connector D 1Pin8 RS422 Connector D 1Pin3 J ooo Connector D 1 Pin7 J ooo ee Connector F Ring Connector F Tip A0072 09 0016 Page 14 Forsberg Services Ltd ReACT User Manual V1 07 Connector A Shell AA Connector B Pin 4 D Connector C Pin 3 AA Connector D1 Pin 5 A Connector D3 Pin 5 SSS 3 Connector D4 Pin 5 E 6 3 ReACT NSc
8. are unlikely to elicit the expected response The Abbreviated ASCll protocol is not in general recommended for machine based communications applications Abbreviated ASCll logging control LOG and UNLOG commands will always have the desired effect but may not always return the lt OK acknowledgement 7 3 6 2 EDGSAVECONFIG This command saves the current EDGE WARE specific commands to EDGE NVM overwriting the last set of commands similar to the NovAtel SAVECONFIG command 7 3 6 3 EDGFRESET This command clears the EDGE WARE NVM similar to the NovAtel FRESET command 7 3 6 4 EDGLOG VERSION This command will prompt a log that displays the version information of the EDGE WARE firmware 7 3 6 5 EDGINTERFACEMODE The following commands are valid EDGINTERFACEMODE COM1 232 EDGINTERFACEMODE COM1 422 EDGINTERFACEMODE COM3 232 EDGINTERFACEMODE COM3 USB These respectively Configure GPS COM1 for RS232 operation Configure GPS COM1 for RS422 operation Configure the platform for GPS COM3 RS232 operation USB is disabled Configure the platform for GPS USB operation COM3 is disabled The correct cable USB or RS232 must be used in conjunction with this command 7 3 7 Bandwidth Monitoring If the user requests too many logs at a too high baud rate buffer overruns will occur The receiver will automatically indicate that this is occurring in the Receiver Status field of any NovAtel format message The firmware will
9. mm Weight 600 g 6 2 2 Connectivity Overview GNSS COM 1 RS232 or RS422 GNSS COM2 RS232 VARF EVENT2 Pwr PPS CONFIG GNSS COM3 RS232 or USB CAN NMEA2000 Figure 1 ReACT NS Connectivity Overview 6 2 3 Configuring the com ports COM1 and USB COM3 The configuration port allows for the ReACT GNSS COM1 and USB COM3 to be configured The following commands can be sent to the ReACT through the configuration port to configure the ReACT GNSS COM1 and USB GNSS COM3 6 2 3 1 Connect to the configuration port Using a serial terminal program connect to the config port D3 at a baud rate of 9600 6 2 3 2 COM1 configuration EDGINTERFACEMODE COM 1 422 EDGINTERFACEMODE COM 1 232 A0072 09 0016 Page 12 O Forsberg Services Ltd ReACT User Manual V1 07 6 2 3 3 COM3 or USB EDGINTERFACEMODE COM3 USB EDGINTERFACEMODE COM3 232 Whilst connected to GPS COM1 enter the commands INTERFACEMODE USB1 NOVATEL NOVATEL INTERFACEMODE USB2 NOVATEL NOVATEL INTERFACEMODE USB3 NOVATEL NOVATEL SAVECONFIG 6 2 4 Mounting Points The ReACT NS comes with two mechanical mounting options 3 x M6 screw points for vehicle mounting The thread depth is 12mm 1 x 5 8 thread for centre pole mounting The thread depth is 22mm Figure 2 Mounting options for ReACT NS 6 2 5 Connector and Pinout _ Description _ Fischer Part Number UltiMate 19Way Panel Mounted Socket URO2W11 FO19P BK1 E1AA Pin Signal Description GNSS VARF GNSS
10. not however attempt to monitor bandwidth A0072 09 0016 Page 23 O Forsberg Services Ltd ReACT User Manual V1 07 7 4 EDGE COM 7 4 1 Overview EDGE COM has been introduced to allow users to create their own data messages from the NovAtel GNSS database This allows for unique functionality to quickly adapt the ReACT unit to interface to existing equipment and can be used to reduce data latency 7 4 2 COMConfig PC Application The COMConfig PC application provides the interface for controlling creating modifying and removing your bespoke data messages 752 EDGE COM Configura File Tools Settings Help INFO Loaded message GPGBS A INFO Loaded message GPGGA A INFO Loaded message GPGLL T F an fzo INFO Loaded message GPGST INFO Loaded message GPRMC INFO Loaded message GPVTG A NE an ae Fmt m r d m A RATE Message COM Port Data Rate s Active On Startup WJ 7 4 3 Create a New Log A new log can be created by selecting the Create a new log icon i This will open the Log Editor window which displays the existing logs stored by COMConfig Any of these logs can be used or modified To create a new log select the Create a new log button This will open the Log Creation Utility window and allows for the data log to be created and modified A0072 09 0016 Page 24 Forsberg Services Ltd ReACT User Manual V1 07 al Packet Creation Utility TESTMSG 00 000
11. variable will be added to the selected CAN frame to locate the required data y A0072 09 0016 Page 31 Forsberg Services Ltd ReACT User Manual V1 07 GPs Data Build Frame for ALMANAC FS Frame ID Data Rate AVEPOS E he fs BESTPOS A BESTUTM Varnables Transmission BESTWEL Name Precision Brief Description dee BESTWEL Velocity over ground Double Velocity Latency i Lag time for differential soluto Velocity over ground Compass direction of travel lt lt Remove Figure 15 Adding variables E When the variable is added to the CAN frame it will be displayed at the top of the Variables field This displays the variables contained in the CAN frame data field 7 5 5 5 Altering Frames Once a CAN frame has been populated with the required variables their position within the frame can be altered By changing the position of the variable within the frame the precision of the variable will be adjusted By a rule if a frame has 3 variables in its data field the first variable will have the highest precision Adjusting Variable Positions To move a variable position within a frame 1 Select data by clicking on the variable name 2 Use the Move Up Move Down buttons to shift the variable s position Variables FE Transmission Move Up Variables Variables Sl Transmission Transmission Name Precision isi isi Move Up Name Precision Name Precision 1 BEST
12. 00 000 00 000 XX ID 9759 Packet Name TESTMSG Log Config v1 04 a amp ALMANAC A mi x lonsd _ hgtsd dit HGPSLI GPS and GLON BESTUTM BESTVEL BESTXYZ m RCI NYY x Figure 9 Log Creation Utility 7 4 3 1 NovAtel Data The NovAtel data panel shows the full list of data logs available for selection from the NovAtel GNSS receiver Data availability is subject to your GNSS receiver model for example the PVT model does not provide access to RANGE and other raw data If in doubt please contact support forsbergservices co uk for assistance To add a data field to your logging window double click on the required field and it will appear in the custom message To remove a data field click the remove button x beside the data field 7 4 3 2 Adding NovAtel Data Once added there are multiple options for configuring and tailoring the data field for use The first step is to select whether the required data is in ASCII or binary format 7 4 3 2 1 Type The data field below shows the options presented for editing an ASCII or binary field Data Type Precision Scale Format Seperator Rounding factor x s E o o E Eo 7 4 3 2 1 1 Precision The precision of the data can be adjusted using the increase and decrease controls on either side of the display box Increase decrease number of digits after the decimal point I
13. B 2 COM3RXD USB D A 13 EDGECAN High a EDGE CAN Low a E3 TXD EDGE M E3 RXD Sree 7 EZ TxD EDGE M2 s ER RXD o s SCEITXD EDGE M1 E1 RXD o GNSS PPS GNSS PPS strobe GNSS EVENT2 GNSS Event In strobe GNSS VARF GNSS Variable frequency strobe COM1 TXD TX COM1 TX 16 COM1 RXD RX GNSS COM1 RS232 or RS422 a comarx pis PowerRetum o i a 19 9 36VPowerImput Shield Signal Ground 6 4 5 Terminated I O Cable 6 4 5 1 ReACTD5 Cable Description Free Plug Fischer UPO1L11 B USB plug moulded connector Free plug 9 way D type male moulded connector Free plug 9 way D type female moulded connector Un terminated wires Vehicle power plug Label USB Ny A Label FRLO5 0001a Shield 5 A0072 09 0016 Page 18 Forsberg Services Ltd ReACT User Manual V1 07 _ Description Fischer Part Number React D5 Cable lt assembly 5m UPO1L11 MO19S BK1 Z1ZA Pin Signal Description Terminated to Flying Lead colours E COM3 TXD USB_D GNSS COM3 RS 232 Connector B pin 2 amp D5 Pin2 COM3 RXD USB_D Or GNSS USB Connector B Pin 3 amp D5 Pin3 GNSS CAN High Connector C Pin 7 a EDGE WARE CAN GNSS CAN Low Connector C Pin 2 ee EDGES TXD Connector D4 Pin 2 IA EDGE M 6 EDGESAXD ail Connector D4 Pin 3 oo EDGE2 TXD Connector D3 Pin 2 A EDGE M2 Le EDGEZRXD Connector D3 Pin 3 INEA 9 EDGELTXD Connector D2 Pin 2 IS EDGE1 RXD a Connector D2 Pin 3 GNSS PPS GN
14. CT 7 5 5 13 Closing the Application To exit the application select the x in the top right hand corner of the application 7 5 5 14 Cancel To cancel all work on the configuration and quit the application without saving select Cancel A0072 09 0016 Page 34 Forsberg Services Ltd ReACT User Manual V1 07 8 Appendix 8 1 R Antenna model The antenna element is a lightweight GPS L1 and GLONASS L1 frequency patch with a low noise figure and a high linearity LNA This antenna element shows a high reliability in terms of satellite reception while providing a high accuracy output Frequency GPS L1 1575 42 MHz IN GLONASS TE 160M from 40 C to 85 C 8 2 Q Antenna model The antenna element is a hermetically sealed antenna patch with GPS L1 L2 and GLONASS capabilities The GPS and GLONASS reception capabilities provide the user with a highly reliable and accurate position solution in highly demanding environments Frequency L1 1575 42MHz L2 1227 60MHz GLONASS L1 1609MHz RHCP DC voltage 2 5V to 3 3V 3 3V 50 Ohm Operating temperature from 55 C to 85 C A0072 09 0016 Page 35 Forsberg Services Ltd
15. CT system The EDGE WARE firmware may not be copied sold or re issued in any form without the prior written consent from Forsberg Services Limited The software is authorised for use only by the original licensed owner of the software Forsberg Services Limited assumes no liability or warranty associated with its use In no event shall Forsberg Services Limited be liable for any indirect special or consequential damages whether through tort contract or otherwise This warranty is expressly in lieu of all other warranties Expressed or implied including without limitation the implied warranties of merchantability or fitness for a particular purpose The foregoing states the entire liability of Forsberg Services Limited with respect to the products herein In the event of a firmware upgrade new firmware and appropriate instructions shall be distributed by Forsberg Services Ltd A0072 09 0016 Page 9 Forsberg Services Ltd ReACT User Manual V1 07 5 Introduction 5 1 Scope This manual provides the information required for installation and operation of the ReACT GNSS system The ReACT can be fitted with multiple GNSS receiver options and therefore an accompanying manual will be provided for specific receiver operation 5 2 ReACT Overview The Forsberg Services Ltd FSL ReACT Receiver Antenna Compact Technology is a compact rugged enclosure including a high quality GNSS receiver antenna and optional DSP module ReACT has been des
16. SS PPS strobe un terminated Red GNSS EVENT2 GNSS Event In strobe ES GNSS VARF GNSS Variable frequency un terminated strobe ConnectorD 1Pin2 coma Tk GNSS COM1 Connector D 1Pin8 J ooo RS232 or RS422 Connector D 1Pin3 Connector D 1 Pin7 Jooo ner connector Ring Commector FTP Connector CPin 3 Connector B Pin 4 Shield Signal Ground Connector D 1 Pin 5 Connectorb2pns FconnectorD 3Pins SSS connectorD ains A0072 09 0016 Page 19 Forsberg Services Ltd ReACT User Manual V1 07 7 ReACT D5 EDGE WARE 7 1 Overview EDGE WARE is the firmware operating on the ReACT D5 model EDGE WARE consists of EDGE modules for providing additional functionality Some modules are controlled through a license system Please contact FSL Support for any questions and for further detail on how to activate a license 7 2 Modules As standard EDGE WARE consists of the following modules 7 2 1 EDGE PLX EDGE PLX allows an additional three GNSS com ports and introduces the NovAtel firmware command interface This module is designed to bring extra serial ports for additional peripheral devices and connectivity 7 2 2 EDGE COM EDGE COM brings a unique feature to the ReACT in the means of a configurable data message and output Expert users can create their own data messages from the library of receiver data and output their custom messages at a range of output rates 7 2 3 EDGE CAN EDGE CAN brings functionality t
17. TUT M easting SIBESTUTM undulation S BESTUTM datum dt IHIBESTUTM M HIBESTUTM E HIBESTUTM hgt HIBESTUTM stn id Figure 18 CAN Frame display The display is used to show details of each CAN frame and also as a means of quickly accessing and editing a desired frame A frame can be selected to edit from this display by double clicking on the frame line 7 5 5 8 Adding the Frame Once a CAN frame has been created it can be added to the configuration Click the button add frame at the bottom of the application The CAN frame will then appear in the display area 7 5 5 9 Bandwidth Usage The CAN and processor bandwidth usage bars provides an indication to whether the selected data can be output at the required rate CAN Bandwidth Usage Processor Bandwidth Usage 7 5 5 10 Saving the Configuration Checking the SAVECONFIG check box will ensure that the configuration is saved through a power cycle until the configuration is overwritten by saving another configuration 7 5 5 11 Selecting the CAN Baud Rate The baud rate for the CAN port can be selected using the drop down box A0072 09 0016 Page 33 O Forsberg Services Ltd ReACT User Manual V1 07 7 5 5 12 Committing the Configuration Once the configuration has been fully compiled it can be sent to the ReACT Go to the Send to Com button and enter the PC com port that the ReACT is connected to Press the button and the configuration command will be issued to the ReA
18. UTM northing Single 1 BESTUTM northing Single 2 BESTUTM pos type Half 2 BESTUTM easting Half 3 BESTUTM easting Half 3 BESTUTM pos type Half Move Downy 4 Move Downy 4 lt lt Remove Move Up lt lt Remove Move Up lt lt Remove Move Down Figure 16 Variable positioning NOTE When 3 variables are contained within the data field moving a variable may affect the precision In a 3 variable set the first variable will have single precision and the next two will have half precision 7 5 5 6 Removing a Variable If a variable is required to be removed from a frame 1 Click on the desired variable name 2 Click Remove 3 The variable will no longer be in the data field A0072 09 0016 Page 32 Forsberg Services Ltd ReACT User Manual V1 07 GFS Data Build Frame for ALMANAC Frame ID Data Rate AVEPOS E fe I is BESTPOS BESTUTM Variables Transmission i BESTWEL Name Precision Brief Description 1 BESTYEL Velocity over ground Double H Velocity Latency Lag time for differential solution 2 Velocity over ground y Compass direction of travel lt lt Remove a Figure 17 Removing a variable 7 5 5 7 Frame Display Once a frame has been committed the information for that frame will be shown in the display area The display shows Offset Variable precision in brackets S BESTPOS poz type H IBESTPOS lat HJBESTPOS lon S IBESTUTM nothing S BES
19. a GNSS receiver and antenna with our FS D5 processor module This provides enhanced functionality and additional I O through our range of EDGE WARE products A metal 19 pin Fischer connector is provided for access to I O FSL provide various cable options with the system Connectivity Strobes e 1 x configurable RS232 422 serial port e PPS e 1 x RS232 serial port or USB 3 x virtual RS232 ports A e 3 x EDGE RS232 serial ports e VARF e 1 x EDGE CAN port 5 6 EDGE WARE The ReACT D5 model is capable of running EDGE WARE a firmware product developed by FSL This firmware provides additional functionality and I O More details of the EDGE WARE functionality and modules are provided later in this document 5 7 Included in the kit The ReACT system comes with 1 x ReACT GNSS System 1 x USB drive with 1 x ReACT Manual 1 x NovAtel GNSS Firmware Manual Due to the range of applications and bespoke requirements the ReACT NS and D5 do not come with an I O cable This may be ordered separately and can be provided as a terminated cable or with flying leads The standard cable versions are available either with a straight or right angled Fischer connector A0072 09 0016 Page 11 O Forsberg Services Ltd ReACT User Manual V1 07 6 ReACT Installation and Set up 6 1 Power The ReACT GNSS system requires an input supply voltage between 9 VDC and 36 VDC 6 2 ReACT NS 6 2 1 Mechanical Dimensions Dimensions 116 mm x 116 mm x 85
20. berg Services Ltd ReACT User Manual V1 07 Page 4 ReACT User Manual V1 07 FS 10 Saving the Conti Ur ON isaac 33 7 5 5 11 Selecting the CAN Baud Rate eroien rn N 33 75942 Committing tHe CONTIG UTA OM ns cessemnaesasmars aa 34 7150313 Closing ENEAP PICATION ddr 34 e la CNCE A AA 34 8 ADDON Ci 35 8 1 a A O ab teasnauenmnake wel neans seniors vauicees yuatectesee nica 35 8 2 G Antenna Modelado 35 A0072 09 0016 Page 5 O Forsberg Services Ltd ReACT User Manual V1 07 The following notices apply to the ReACT 1 1 CE Notice The ReACT GNSS system enclosures carry the CE mark in accordance with EN ISO EC 17050 1 2004 1 2 Environmental Standards The ReACT GNSS system has been tested to the following standards Temperature Operating Storage Electromagnetic Compatibility EMC EMC Immersion Humidity Salt Spray Sand and Dust Fluids Susceptibility Vibration Shock Electrostatic Discharge ESD Ultraviolet Light Protection 1 3 RoHS Notice 32 C to 75 C 40 C to 85 C European CE 89 EEC EN 55022 Class B EN50082 1 MIL STD 461F Ground Army FCC Class A MIL STD 810F method 512 4 IEC 60529 IPX7 MIL STD 810F method 507 4 procedure 1 MIL STD 810F method 509 4 MIL STD 810F method 510 4 MIL STD 810F method 504 MIL STD 810F method 514 5 Category 20 MIL STD 810E method 514 4 tbl 514 4 AXVII MIL STD 810F method 516 5 Procedure I IV IEC 61000 4 2 level 2
21. igned for compatibility with NovAtel s OEMStar OEMV 1 and OEM615 GNSS receivers This family of receivers offer a range of functionality that can be controlled through firmware upgrades The antenna fitted inside the system will be tuned for use with GPS L1 and GLONASS L1 R or GPS L1 L2 and GLONASS L1 Q This option is controlled through hardware and is non upgradeable in the field Further information about the two different antenna models can be found in the appendix The unit is available in three model types 5 3 ReACT NS The NS model combines a GNSS receiver and antenna into a single enclosure This model provides direct comms to the GNSS receiver A metal 19 pin Fischer connector is provided for access to I O FSL provide various cable options with the system Forse Connectivity Strobes e 1 x configurable RS232 422 serial port e PPS e 1 x RS232 serial port e Event in e 1 x RS232 or USB 3 x virtual RS232 ports Configured at factory e VARF e 1 x CAN NMEA 2000 port 5 4 ReACT NSc The NSc model provides the same functionality as the NS with a centre mount cable A metal 19 pin Fischer connector is provided for access to I O Connectivity Strobes e 1 x configurable RS232 422 serial port e PPS e 1 x RS232 or USB 3 x virtual RS232 ports e Event in A0072 09 0016 Page 10 O Forsberg Services Ltd ReACT User Manual V1 07 5 5 ReACT D5 The D5 model is the enhanced model of the ReACT by combining
22. ncrease decrease number of AZ digits before the decimal point a SA 7 4 3 2 1 2 Scale The value in the data field can be scaled using this field An example of its use is to represent the 1 sigma Latitude standard deviation to 2 sigma Applying a scale of 2 00 would provide the correct value A0072 09 0016 Page 25 Forsberg Services Ltd ReACT User Manual V1 07 7 4 3 2 1 3 Format The format selection has been added for amending the latitude and longitude fields specifically The selection can be left as the default decimal degrees or set with decimal minutes or decimal seconds 7 4 3 2 2 Applying a Rule to the Data The data field can also be used to add data based on a rule set Data Type Rule Value Then Result Else Result x lat RULE f gt Hoo then yy ese 5 7 4 3 2 2 1 Rule The following rules can be applied to the data measured against the inserted value Data greater than the value gt Data greater than or equal to the value gt Data equal to the value Data less than or equal to the value lt Data less than the value lt 7 4 3 2 2 2 Then This is the result that will show if the rule is matched 7 4 3 2 2 3 Else This is the result that will show if the rule is not matched 7 4 3 3 Constant The Constant field provides a text field to add your own constant parameter For example this can be a comma used to separate data logs
23. o a GPS com port it will stop the output of commands on all GPS com ports and all of the EDGE com ports UNLOG If UNLOG is sent to GPS com port it will stop the output of the specific command on all GPS com ports and all of the EDGE com ports COM COM2 GPS COM2 has been specifically configured for communicating with the FS D5 and changing the baud rate of GPS COM2 will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function INTERFACEMODE COM2 As with the COM command the INTERFACEMODE command on COM2 may cause a loss of comms FRESET RESET These commands will reset the GPS receiver to its original state and will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function The ReACT D5 will recover after a power cycle A0072 09 0016 Page 21 Forsberg Services Ltd ReACT User Manual V1 07 7 3 5 Switching between RS422 RS232 and USB 7 3 5 1 GPS COM1 RS232 422 The ReACT D5 GPS COM1 can be configured for RS232 or RS422 To change the port to RS422 mode connect to an EDGE port and enter the following command EDGINTERFACEMODE COM1 422 EDGSAVECONFIG To change the port to RS232 mode default connect to an EDGE port and enter the following command EDGINTERFACEMODE COM1 232 EDGSAVECONFIG 7 3 5 2 GPS COM3 RS232 or USB The ReACT D5 can also be configured for GPS COM3 to be RS232 or USB To change the ReACT to
24. o the ReACT CAN port Expert users can create their own CAN frames using the library of receiver data and the CANConfig PC utility A0072 09 0016 Page 20 O Forsberg Services Ltd ReACT User Manual V1 07 7 3 EDGE PLX 7 3 1 Overview EDGE PLX has been designed to mimic the functionality of a direct GNSS com port This allows for three additional serial ports to be used on the ReACT for obtaining NovAtel data logs 7 3 2 NovAtel Firmware For specific details of the data available and commands we advise having the NovAtel firmware manual available 7 3 3 NovAtel Ports NovAtel master ports COM1 and COM3 can be used without restriction however NovAtel master COM2 is connected internally to the FS D5 module as shown in the diagram below ReACT D5 A A A a E A A e e e ar Ra ZA WN ASAS A E NARA SR A A LS EN RN NovAtel GNSS Receiver FS D5 Module Figure 8 ReACT D5 GNSS to FS D5 Connectivity Users may issue commands that affect COM2 but should be aware of the special conditions relating to COM2 described below 7 3 4 Special Note It is recommended that THISPORT is used whenever applicable The FSL ReACT D5 model utilizes an internal connection to the GNSS COM2 port Therefore any commands sent through GPS COM1 or GPS COM3 that will affect the configuration could reduce functionality When connected to either GPS com port the following commands should be avoided UNLOGALL If UNLOGALL is sent t
25. oconcnnnnnnonononcnnnnanononns VA DL UV DC ea AEE 7 4 3 2 2 Applying a Rule to the Data ccccooccnccnccnnononoss 7 4 3 3 CONSTA osa aid 7 4 3 4 CNet 7 4 3 5 D AAE NNE E EENES totes ANEAN teases EEA ate 7 4 3 6 Assigning a Log Name ooccccnccncccncnonononononucnnnananononnnos 7 4 3 7 Preview WindoOW ss ssssessssessssesseerssserssreesssressreesse 7 4 3 8 Adjusting the Order c ssccccsssscecesesecseeseecseneeesees 7 4 3 9 Total BES ads FASO SAVING dde RAE POPE CORSIQUIOTOR ai 7 4 5 Selecting data output oocccccoccnnccoconococnonenononnonanononaninnonaninonos 7 5 EDGE A ascetic ciseestacatoeaiecermnctaeatanataeteredcaaeedtacasmecseare Teed A E ATS TZ SGAIN PTOTOCO Sarai 7 5 3 Extended CAN Frame Format osiagi 7 5 4 CAN Data Field Configuration and Content ooccccccmom 7 5 5 CANConfig PC Application cccccesssecccsesseecccsenseesecsenseeseees 7 5 5 1 Connecting to the ReACT oocnnccnccnnccnccnnnnnncncnnanonnnnnos 755 2 Selecting a Frame ID eii 7 5 5 3 Data ciety sec dat eee tee eee eae 7 5 5 4 Selecting Variables ccccccsssscccssseccsseeeceeseeeseeeeess 7 5 5 5 Alterne Fann GS vice cccacedl antisera E 7 5 5 6 Removing a Variable oooccccoocncccnocnnncononnnnanonnnns 1 5 5 7 A e 7 5 5 8 Adding the Frame ccccoocnnccnccnccnnconononcnnnnanononononnnnanonnnns 7 5 5 9 Bandwidth Usage oocccccoccnnccnccncnnnnnnnnnncnnononcnnnnanononos A0072 09 0016 Fors
26. on 7 5 5 2 Selecting a Frame ID Each CAN frame is identified by a numerical value When setting a CAN frame select the ID of the CAN frame using either the arrow buttons or by manually entering the value Once the CAN frame has been selected the frame build display will show the information relating to the CAN frame If the CAN frame is empty then no data will be displayed and if it is populated the variable data will be displayed 7 5 5 3 Data Rate The data rate is the frequency at which each CAN frame is output of the CAN port This can be set using the data rate field Selection Meaning This will define how many times the data is output per second A value of 1 signifies that the frame will be passed every second and a value of 5 will indicate the frame will be passed every 5 seconds Numerical Value Select using drop down box 7 5 5 4 Selecting Variables The data available to build a CAN frame is contained within the GPS Data field The GPS Data field works in a tree like structure The display shows the list of logs that are available through the NovAtel receivers Within their associating logs the variables are contained To Add a Variable to the CAN Frame 1 Use the NovAtel OEMV Family Firmware Reference Manua Note the log that the data is stored under 2 Click the required log in GPS data field to expand variables contained within the log Select the required variable and click ADD 4 The
27. op down boxes to select the serial parameters that are required and save to the device a Port Configuration Utility ice C a Baud Rate Data Bits Stop Bits Flow Control 9600 9600 7 4 5 Selecting data output Once the data logs have been created and the com ports have been configured data output can be controlled using the main window Using the Log drop down box select the data log required A0072 09 0016 Page 27 O Forsberg Services Ltd ReACT User Manual V1 07 Select the com port which will output the data log Finally select the rate at which the data log will be output Message GPGGA2 z COM Port Pi v 66 Data Rate s Fae PCCOM Active On Startup y Add the log to the list using the add button La Once the full configuration has been built it can be sent to the ReACT Select the PC com port to which the ReACT EDGE com port is connected to and press the send button The terminal window will display the status of the message FSLCOMLOG P1 ONTIME 10 11 101 35 UNT1 101 36 UNT4 0 001 42 8 DM_D 42 8 DM_M 42 8 GEQS 0 07N 5 42 16 D The data shall start to output from the chosen com ports A0072 09 0016 Page 28 O Forsberg Services Ltd ReACT User Manual V1 07 7 5 EDGE CAN 7 5 1 Overview The EDGE CAN module provides additional functionality for the ReACT D5 unit to output customised CAN frames with NovAtel GNSS data through selected CAN ports The ReACT D5 contains a
28. or a header field to identify the message 7 4 3 4 Checksum The Checksum button will add either an NMEA or NovAtel checksum to the data 7 4 3 5 ID Each message is automatically assigned a unique ID used by the application 7 4 3 6 Assigning a Log Name This is a unique name that will be used to identify the data log This name is not built into the log it is used to identify the message within the EDGE COM application To add the name to the log use the Constant input button ID 30578 Packet Name TEST MSG Figure 10 Assign a Log name 7 4 3 7 Preview Window The preview window shows the current message and provides a preview of how the message will look FTESTM5G 00 000 00 000 00 000 xXXx Figure 11 Preview window A0072 09 0016 Page 26 O Forsberg Services Ltd ReACT User Manual V1 07 7 4 3 8 Adjusting the Order Each data field can be re ordered using the up and down arrows Order Figure 12 Order buttons 7 4 3 9 Total Bytes The total size of the data log is shown towards the bottom right of the screen This provides an indication of the message size and can be used for determining transmission and latency effects Total Bytes 88 7 4 3 10 Saving The custom log can be saved using the disk button 7 4 4 Port Configuration The EDGE WARE com ports can be configured through the Port Configuration Utility page Select the Port Configuration button on the main screen Use the dr
29. put of commands on all GPS com ports and all of the EDGE com ports UNLOG If UNLOG is sent to a GPS com port it will stop the output of the specific command on all GPS com ports and all of the EDGE com ports COM COM2 GPS COM2 has been specifically configured for communicating with the FS D5 and changing the baud rate of GPS COM2 will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function FRESET RESET These commands will reset the GPS receiver to its original state and will disable communications between the micro and the GPS receiver and therefore the micro com ports will no longer function A power cycle will recover the unit and allow the FS D5 to reconfigure the receiver 3 2 Reconfiguring GPS COM 2 Functionality can be retained using either of the methods outlined below Reconfigure GPS COM2 Connect to GPS COM1 through a PC running HyperTerminal or similar terminal software and send the following commands to the unit COM COM2 9600 8 n 1 n off on INTERFACEMODE COM2 NOVATEL NOVATEL OFF SAVECONFIG Power cycle If SAVECONFIG has not been applied remove power from the ReACT unit by removing the connector plug and ensure that the unit is off then re apply power The unit will configure itself for full functionality A0072 09 0016 Page 8 Forsberg Services Ltd ReACT User Manual V1 07 4 Firmware Support EDGE WARE firmware is designed for use with the ReA
30. re or act of any third person V Shipping damage or VI Service or repair of product by the user without prior written consent from FSL In addition the foregoing warranties shall not apply to products designated by FSL as beta site test samples experimental developmental preproduction sample incomplete or out of specification products or to be returned products if the original identification marks have been removed or altered The warranties and remedies are exclusive and all other warranties expressed or implied written or oral including the implied warranties of merchantability or fitness for any particular purpose are excluded FSL shall not be liable for any loss damage expense or injury arising directly or indirectly out of the purchase installation operation use of licensing or products or services In no event shall FSL be liable for special indirect incidental or consequential damages of any kind or nature due to any cause A0072 09 0016 Page 7 Forsberg Services Ltd ReACT User Manual V1 07 3 ReACT D5 Model Functionality Notice 3 1 Important Functionality Note The FSL ReACT D5 model utilizes an internal connection to the GNSS COM2 port Therefore any commands sent through GPS COM1 or GPS COM3 that will affect the configuration could reduce functionality When connected to either GPS com port the following commands should be avoided UNLOGALL If UNLOGALL is sent to a GPS com port it will stop the out
31. s Limited Forsberg Services Limited Richmond House White Cross Lancaster Lancashire LA1 4XF United Kingdom Tel 44 0 1524 383320 Fax 44 0 1524 382939 E mail support forsbergservices co uk A0072 09 0016 Page 2 Forsberg Services Ltd ReACT User Manual V1 07 ii Contents E NOCES iii 6 1 1 CE NOLUCE eer ii an ee ne Se 6 1 2 Environmental SUAMOGR Sas 6 1 3 ROHS NOCE dia 6 2 Warranty Information isis aa 7 3 ReACT D5 Model Functionality Notice ccccccscsceccccscsceccccscsceccccccsceceecess 8 3 1 Important Functionality Note ai and 8 3 2 Recontisutine GPS CON Zatanna 8 A FIFMWAare SUPPO Lesinias ai lus veda Ceeseuciacaunsaaenaeiced dae sedatouns 9 5 Introductorio 10 S1 O 10 5 2 REACTIONS 10 533 REA CPN ri d 10 5 4 REACT INSG EEEE PE EAN TE EA E ccddveat ay avoided tases an ala EE EAEE AAE e EE E EAEE 10 5 5 REACT DSi a a 11 5 6 EDGE WAR Eta lili tad 11 5 7 PVG LUC SCI CINE ari a a a 11 6 ReACT installation and Set Ubica ia 12 6 1 POWER aid 12 6 2 KEA O eRe eee 12 621 Mechanical DIMENSIONS usos 12 02 27 CONNECT Y OVEIVIEW rta ata ai lis 12 6 2 3 Configuring the com ports COM1 and USB COMB oocccncnnnncnnnnnnnnnnnnnnnnnnnnnnnnnoninononininonos 12 6 2 3 1 Connect to the configuration POr ada 12 6 2 3 2 COMIT con eura ON cesso ross 12 6 2 3 3 COMS Or USB einari lao 13 624 Mounino PONS orree a T a T E TN 13 62 5 CONMCCEOL QO PINOUT irae e a de AAR 13 6 2 5 1 REACT NS Call iaa 14
32. start of frame transmission Identifier A A First part of the unique identifier for the data PS QUe Must be recessive 1 optional SRR Identifier extension bit IDE ETT Must be recessive 1 optional Identifier B 18 Second part of the unique identifier for the data Remote transmission request RTR i i C A h Reserved bite trOii Reserved bits it must be set dominant 0 but accepted as either dominant or recessive Data length code DLC a ane Number of bytes of data 0 8 bytes of bytes of data 0 8 bytes Data to be transmitted length dictated by DLC field pace Oe nytes Data is selected using the CANConfig PC application perc IS Cyclic redundancy check CRC delimiter 1 Must be recessive 1 Transmitter sends recessive 1 and any receiver can assert a ACK slot 1 dominant 0 ACK delimiter Must be recessive 1 End of frame EOF Must be recessive 1 The two identifier fields A amp B combined form a 29 bit identifier A0072 09 0016 Page 29 Forsberg Services Ltd ReACT User Manual V1 07 7 5 4 CAN Data Field Configuration and Content The EDGE CAN firmware provides the facility to configure the data field CAN frames can be configured to contain NovAtel GNSS Logs In this context a CAN frame is the low level frame consisting of a header numerical ID and 8 bytes of NovAtel data The user specifies the frequency at which each the CAN frames will be output 7 5 5 CANConfig PC application
33. use GPS COM3 RS232 connect to an EDGE port and enter the following command EDGINTERFACEMODE COM3 232 INTERFACEMODE COM3 NONE NONE INTERFACEMODE USB1 NOVATEL NOVATEL INTERFACEMODE USB2 NOVATEL NOVATEL INTERFACEMODE USB3 NOVATEL NOVATEL EDGSAVECONFIG SAVECONFIG To change the ReACT to use USB connect to an EDGE port and enter the following command EDGINTERFACEMODE COM3 USB MARKCONTROL MARK1 DISABLE INTERFACEMODE USB1 NONE NONE INTERFACEMODE USB2 NONE NONE INTERFACEMODE USB3 NONE NONE INTERFACEMODE COM3 NOVATEL NOVATEL EDGSAVECONFIG SAVECONFIG 7 3 6 EDGE Ports E1 E2 and E3 7 3 6 1 NovAtel Logs Any standard NovAtel command in any OEM4 or later series format is supported Operators should adhere to the special note regarding COM2 control The EDGE WARE ports have been assigned as EDGE COM1 E1 EDGE COM2 E2 and EDGE COM3 E3 To log to a specific port the required EDGE COM port should be entered following the log command For example LOG E1 GPGGA ONTIME 1 lt Output GPGGA on EDGE COM1 once per second LOG E2 GPGGA ONTIME 1 lt Output GPGGA on EDGE COM2 once per second LOG E3 GPGGA ONTIME 1 lt Output GPGGA on EDGE COM3 once per second Abbreviated ASCII is provided as a human readable interface for convenience while using a diagnostic HyperTerminal session or similar Near simultaneous Abbreviated ASCII commands on multiple A0072 09 0016 Page 22 O Forsberg Services Ltd ReACT User Manual V1 07 ports
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