1746HP-GPS USER MANUAL
Contents
1. Figure 6 2 Connected Output Image Rsv Reserved for future use 4 Page 24 of 46 lt gt b 1746HP GPS User Manual Rev 3 0 Output Image Continued Next Event Command A low to high transition on this bit unloads the next event from the buffer and transfers it to the input image This command will be ignored if there are no events in the buffer Clear Buffer Overflow Flag Setting this bit clears the event buffer overflow flag This bit should be cleared after use Complete Event Buffer Purge Setting this bit purges the buffer This bit should be cleared after use Select Earth Centred Earth Fixed Mode Setting this bit causes the module to report position and velocity data in Cartesian co ordinates Clearing this bit causes the module to report position and velocity data in Polar co ordinates Time Zone Configuration Used to set the module to report in local time standard Time zone UTC Offest 10 where the UTC Offest is the difference in hours between local time and GMT E g For Pacific Standard Time GMT 8 set time zone 80 Digital Input Filter Configuration Used to set the digtal input filter duration in milliseconds Time constant should be between 0 255 Page 25 of 46 1746HP GPS User Manual Rev 3 0 Output Image Continued Digital Memory Output Word Modifying any one of these bits will cause an event to be logged Memory Output 0 Trigger O e 17 0 Memory Outp2. GPS Satellite Lock Pulse per Second Differential Mode DGPS Position Dilution of Precision Alarm Antenna Status Number of Satellites used in fix Master Slave Topology The precise time stamping in the module is achieved by synchronization with the GPS satellite system Page 7 of 46 1746HP GPS User Manual Rev 3 0 The 1746HP GPS Master module has an on board GPS receiver providing time synchronisation information not only to itself but also to other adjacent Slaves by means of the HTSB output port The Master module must be connected to an antenna positioned with an unimpeded view of the sky Page 8 of 46 fks 1746HP GPS User Manual Rev 3 0 CHAPTER 4 INSTALLING THE MODULE GPS utilizes a spread spectrum signal in the 1 5GHz range and thus cannot penetrate conductive or opaque surfaces Thus the antenna should be mounted in a horizontal position with an unobstructed view of the sky Attach the antenna patch lead to the antenna It is recommended that waterproofing tape be used to seal the connection NOE Should a longer patch lead be required it is recommended that a GPS signal booster is used Contact your local Hiprom Technologies distributor for assistance Attach the patch lead SMA male to the module s SMA female connector It is not recommended that the antenna patch lead exceed a total loss of 10dB at 1 5GHz as this may increase the time to GPS lock or in extreme cases prevent GPS lock from be
3. STACK MONTH 0 MOV Move Source 13 20 11 Dest N21 127 1s STACK DAY 0 MOV N22 127 10 lt STACK HOUR 0 MOV STACK MINUTE 0 MOV STACK SECOND 0 MOV STACK MILLISEC 0 MOV Move Source Dest Page 42 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 6 BUFFER Total Rungs in File STACK INPUT 0 STACK MEM 0 MOV STACK MEM CHANGE 0 MOV Move Dest Page 43 of 46 1746HP GPS User Manual Rev 3 0 APENDIX8 SPECIFICATIONS Parameter Specification General Module Location Any Slot Electrical Backplane Current 515mA 5 1V 3mA 24V Schedules Connection Paramters RPI 0 2ms to 750ms GPS Receiver Specification General L1 frequency 1575 42 MHz C A code Standard Positioning Service 8 channel continuous tracking receiver 32 correlators Accuracy Horizontal 6 meters 50 9 meters 90 Altitude 11 meters 50 18 meters 90 Velocity 0 06 m sec Time 95 ns or 1 RPI Hot Start lt 14 sec 50 lt 18 sec 90 Warm Start lt 38 sec 50 lt 45 sec 90 Cold Start lt 90 sec 50 lt 170 sec 90 Antenna Antenna Connector SMA female connector Frequency Range 1575 42 MHz 1 023 MHz Polarization Right hand circular polarization RHCP Output Impedance 500 VSWR 2 0 maximum Axial Ratio 90 4 0
4. Source B LAT SEC DIV Divide Source 138 1754 Source B 1000 1000 Dest F11 0 17 54 Page 33 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 4 POS VEL Total Rungs in File 17 Extract Longtitude Degrees and Minutes Correct for SLC integer rounding GPS LOCK POS ECEF LONG DEG L3 L3 0003 OTHER LONG MIN PT Compute Dest Expression I3 11 N102 60 LONG MIN LES Less Than A lt B Source N103 59 Source B 0 0 Exmact Longtitude Seconds GPS LOCK POS ECEF LONG SEC L3 13 DIV 0004 Divide Source OTHER OTHER Source B Dest 1 Page 34 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 4 POS VEL Total Rungs in File 17 Extract Altirude GPS LOCE POS ECEF L3 L3 PT Compute 1 13 Dest OTHER OTHER Expression Extract Altirude GPS LOCE POS ECEF POSITION X L3 L3 CPT Compute 1 13 Dest OTHER OTHER Expression Extract Altitude GPS LOCE POS ECEF POSITION Y L3 r3 CPT Compute 1 13 Dest OTHER OTHER Expression Extract Altirude GPS LOCE POS ECEF POSITION Z L3 r3 CPT 1 Compute 1 13 Dest OTHER OTHER Expression Extract Velocity North GPS LOCE VEL ECEF L3 r3 1 12 OTHER OTHER N10 4 1580 13 12 13 13 10000 F112 5061834 0 L3 8 L3 9 100000 F113 2690950 0 I 3 10 1 3 11 10000 0 F11 4 2790205 0 I 3 12 1 3 13 10000 0 VELOCITY NORTH DIV Divide Source re Source B 100 10 0 Dest F11
5. Digital Input 4 Status After Digital Filtering Digital Input 5 Status After Digital Filtering Digital Input 6 Status After Digital Filtering Digital Input 7 Status After Digital Filtering Digital Input 8 Status After Digital Filtering Digital Input 9 Status After Digital Filtering Digital Input 10 Status After Digital Filtering Digital Input 11 Status After Digital Filtering Digital Input 12 Status After Digital Filtering Digital Input 13 Status After Digital Filtering Digital Input 14 Status After Digital Filtering Digital Input 15 Status After Digital Filtering Number of Records in Module Event Buffer l e 17 l e 17 0 l e 17 1 l e 17 2 l e 17 3 l e 17 4 l e 17 5 l e 17 6 l e 17 7 l e 17 8 l e 17 9 l e 17 10 l e 17 11 l e 17 12 l e 17 13 l e 17 14 l e 17 15 Page 21 of 46 1746HP GPS User Manual Rev 3 0 Input Image Continued Event ID EventID of the Last Unloaded Event EventID is a sequential event index which resets when the module is powered up or by setting the IDZ flag O e 0 4 The index will roll over to O after 9999 If the GPS date and time is invalid when the event was generated then the EventID will be negative Event Month Date Stamp of Last Unloaded Event Month Dependent on the time zone configuration at the time of the event Event Day Date Stamp of Last Unloaded Event Day Dependent on the time zone configuration at the time of the event Event Hour Time Stamp of L
6. 0 Buffer has not overflowed 1 Buffer has Overflowed This Latch will be set when more than 1000 events have been logged to the buffer but not yet transfered to the Input Image Once the buffer has Overflowed this bit will remain set until an Overflow Latch Clear CLR command has been issued l e 0 5 I e 0 6 l e 0 7 l e 0 8 l e 0 9 l e 0 10 Page 16 of 46 1746HP GPS User Manual Rev 3 0 Input Image Continued Last Velocity Vector in ECEF Mode 0 Velocity Update in Northing Easting and Upward format 1 Velocity Update in Earth Centred Earth Fixed X Y Z format ECEF Mode can be invoked by setting the ECF bit in the output image O e 0 3 PEC Last Position Vector in ECEF Mode 0 Position Update in Latitude Logtitude and Altitude format 1 Position Update in Earth Centred Earth Fixed X Y Z format ECEF Mode can be invoked by setting the ECF bit in the output image O e 0 3 Current East West Hemisphere 0 Current position in East hemishere 1 Current position in West hemisphere This flag is Not valid when in ECEF mode is invoked Current North South Hemisphere 0 Current position in North hemishere 1 Current position in South hemisphere This flag is Not valid when in ECEF mode is invoked SV Count Number of Satellites used in GPS Fix This indicates the number of satellites used in the current GPS position time fix as a 4 bit nibble between O 8 Milli Real Time Milliseconds se
7. 23 l e 24 l e 25 l e 26 l e 27 l e 28 l e 29 Event Memory Change l e 30 Channel SV Signal Strength Figure 6 1 Connected Input Image Event Minute Event Second Event Millisecond Event Input Status Event Input Change Event Memory Status cez NH bed NH 1e6 bed keto lett e12 te13 e14 e15 16 16 te 18 te 19 16 20 te 21 16 22 16 23 16 24 16 25 16 26 te 27 10 28 16 29 16 30 Rsv Reserved for future use je i Page 14 of 46 b 1746HP GPS User Manual Rev 3 0 Input Image Continued Visible Sky 0 Sky not visible or no satellite signals present 1 7 Satellite signals available No sky usually indicates that the antenna does not have a clear view of the sky such as in a building etc Satellite Lock 0 Not tracking sufficient satellites to provide positional fix 1 Sufficient satellites being tracked to provide positional fix Typically tracking 4 satellites is sufficient to provide lock Differential Correction Mode 0 No acceptable differential GPS Corrections being received 1 Acceptable Differential corrections being received and are being used in the position calculations Differential corrections in the industry standard protocol RTCM SC104 can be passed to the module via Port 2 RJ 9 on the front of the module These correction factors cancel certain inherent errors such as
8. 5 0 0 Page 35 of 46 1746HP GPS User Manual Rev 3 0 0010 0011 0012 Extract Velocity East GPS LOCK I3 OTHER Extract Velocity Up GPS LOCK r3 1 OTHER 1746HP GPS SAMPLE LAD 4 POS VEL Total Rungs in File 17 VEL_ECEF I3 12 OTHER VEL ECEF L3 12 OTHER Extract Velocity North GPS LOCK 13 OTHER Extract Velocity East GPS LOCK I3 OTHER VEL ECEF I3 12 OTHER VEL ECEF I3 12 OTHER VELOCITY EAST DIV Divide Source A Source B Dest VELOCITY_UP DIV Divide Source A Source B VELOCITY_Y DIV Divide Source A Source B 13 15 10 0 10 0 F11 6 0 0 13 16 0 10 0 10 0 F11 7 0 0 13 14 10 0 10 0 F118 0 0 13 15 10 0 10 0 F11 9 0 0 Page 36 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 4 POS VEL Total Rungs in File 17 Extract Velocity Up GPS LOCK VEL ECEF 3 r3 0014 0015 0016 Page 37 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 5 SIGNAL Total Rungs in File 12 0000 493 OTHER CHANNEL BITI GPS CHANNEL 13 N12 0 0001 0002 495 Extract the GPS Satellite PRN Identification 0003 Bitwise AND Source A 1 3 30 A100h Source B 7936 7936 N12 1 0001b 0004 Extract the GPS Satellite Signal Strength SV SNR AND 0005 Bitwise AND Source 13 30 A100b Source B 255 255 Dest N122 0000k eS Page 38 of 46 1746HP
9. and time solutions GPS signals are available world wide 24 hours a day in all weather conditions This system also includes 5 monitor ground stations 1 master control ground station and 3 upload ground stations GPS Antenna An antenna designed to receive GPS radio navigation signals These antennas typically comprise a Low Noise Amplifier LNA and are known as active and thus require DC power GPS Processor An electronic device that interprets the GPS radio navigation signals received by a GPS antenna and determines a location solution GPS Receiver The combination of a GPS antenna and a GPS processor Owner controller The controller that creates and stores the primary configuration and communication connection to a module PDOP Position Dilution of Precision PDOP is a unitless figure of merit that describes how an uncertainty in pseudo range affects position solutions Page 45 of 46 1746HP GPS User Manual Rev 3 0 PRN Pseudo random noise Each GPS satellite generates its own distinctive PRN code which is modulated onto each carrier The PRN code serves as identification of the satellite as a timing signal and as a subcarrier for the navigation data Producer consumer Intelligent data exchange system devices in which the GPS module produces data without having been polled first Removal and insertion under power RIUP ControlLogix feature that allows a user to install or remove a module or RTB while power
10. dB maximum 10 6 dB maximum Gain 35 dB 3 Db Out of Band Rejection fo 1575 42 MHz fo 20 MHz 7dB min fo 30 MHz 12dB min fo 40 MHz 20dB min fo 100 MHz 100dB min Azimuth Coverage 360 omni directional Elevation Coverage 0 to 90 elevation hemispherical Antenna Patch Lead Coax Type RG 58 Impedance 500 ha Page 44 of 46 1746HP GPS User Manual Rev 3 0 APENDIXc GLOSSARY Communications format Format that defines the type of information transferred between an I O module and its owner controller This format also defines the tags created for each O module Coordinated System Time CST Timer value which is kept synchronized for all modules within a single ControlBus chassis The CST is a 64 bit number with us resolution Coordinated System Time CST Download The process of transferring the contents of a project on the workstation into the controller Earth Centered Earth Fixed ECEF coordinates Cartesian coordinate system where the X direction is the intersection of the prime meridian Greenwich with the equator The vectors rotate with the earth Z is the direction of the spin axis with positive through the north pole GPS Global Positioning System A constellation of 24 radio navigation not communication satellites which transmit signals used by GPS receivers to determine precise location position velocity
11. is applied Requested packet interval RPI A configurable parameter which defines when the module will multicast data Service A system feature that is performed on user demand Signal to noise ratio A measure of the relative power levels of a communication signal and noise on a data line SNR is expressed in decibels dB SV Space Vehicle GPS satellite Tag A named area of the controllers memory where data is stored like a variable Pr Ill end of document ex 4 Page 46 of 46
12. 1746HP GPS USER MANUAL chnolog E Haram di Rev 3 0 Sept 2005 1746HP GPS User Manual Rev 3 0 Table of Contents Chapter 1 Introduction aaa 3 Chapter 2 Module Accessories ierra tti akira ies sezme 4 Chapter 3 Module Opels 5 Chapter 4 Installing the Module esee 9 Chapter 5 Configuring the Module etcetera ruote etna ea repara etate seb ra ree u v 11 Chapter 6 VOAddressMap 0 e 14 Chapter 7 Module Basar 27 Appendix A PLC Ladder Example eese enne 30 Appendix B c CCA INS T 44 Appendix C GlOSSANy ME me 45 Page 2 of 46 1746HP GPS User Manual Rev 3 0 CHAPTER 1 INTRODUCTION Hiprom Technologies presents a Global Positioning System GPS based Time Stamping Input module for the Allen Bradley SLC 1746 family of PLC s The 1746HP GPS module provides precision time stamped events of both the 16 external inputs and 16 internal PLC bits In addition the 1746HP GPS module provides GPS time position and velocity measurement together with GPS status information This document serves to describe the functionality installation configuration and use of the module a Page 3 of 46 1746HP GPS User Manual Rev 3 0 CHAPTER 2 MODULE ACCESSORIES Each 1746HP GPS package includes the following components 1746HP GPS module 5m RG58 pa
13. 4 Rack 1747 DCM 1 2 Node Adapter Module 1 2 Rack 1747 DCM 3 4 Node Adapter Module 3 4 Rack 1747 DCM FULLNode Adapter Module Full Rack 1747 DSN Distributed 1 0 Scanner 7 1 0 Block 1747 DSN 30 Distributed A0 Scanner 30 1 0 Block 1745 FID4I Fast Analog 2 Ch In 2 Ch Current Out vi Figure 5 4 Confirmation that the 1746HP GPS module has been identified Page 13 of 46 1746HP GPS User Manual Rev 3 0 CHAPTER 6 I O ADDRESS MAP The input and output image of the 1746HP GPS module is defined in the following sections 6 1 Input Image Leo us EwHPEc vEc Rsv ovr Bn Drv ERANT BAT PoP PPS Dir Loc skY SV Count l e 2 Milliseconds l e 3 l e 4 l e 5 ay Month Latitude Seconds x 100 or Position X metres x 1 Latitude Minutes or Position X metres 10 000 l e 10 Longitude Seconds x 100 or Position Y metres x 1 l e 11 Longitude Minutes or Position Y metres 10 000 l e 12 Altitude meters x 1 or Position Z metres x 1 l e 13 Altitude meters 10 000 or Position Z metres 10 000 l e 14 Velocity North m s x 10 or Velocity X m s x 10 l e 15 Velocity East m s x 10 or Velocity Y m s x 10 l e 16 Velocity Up m s x 10 or Velocity Z m s x 10 114 113 112 111 110 109 108 107 106 105 104 103 102 101 100 Event Buffer Count Event ID Event Month Event Day Event Hour l e 18 l e 19 l e 20 l e 21 l e 22 l e
14. GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 5 SIGNAL Total Rungs in File 12 Move the Channel Satellite PRN and Satellite Signal Strength into a table SV PRN POINTER ADD 0006 Add Source Source B ADD 0007 Source N12 0 5 lt Source B GPS_CHANNEL N12 SV_PRN_POINTER GEQ LEQ MOV 0008 Grr Than or Egl 4 78 Less Than or Egl A B Move Source N12 0 Source N12 0 Source N12 1 5 lt 5 lt 1 Source B 0 Source B 7 Des N12 N12 3 28 lt GPS CHANNEL NI2JSV SNR POINTER GEQ Q 0009 Grir Than or Eal A 3 Less Than or Eql A B Source N12 0 Source A N12 0 Sc 5 lt Source B 0 Source B 7 0 Tz 0010 0011 1 4 Page 39 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 6 BUFFER Total Rungs in File 4 Shift the SLC Event Stack up STACK EVENTID STACK DAY COP Copy File Source N22 1 Dest N22 0 STACK_HOUR Page 40 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 6 BUFFER Total Rungs in File STACK INPUT STACK MEM COP Source N20 1 Dest N290 Length 128 STACK MEM CHANGE COP Copy File Source EN30 1 Dest N300 Length 128 Page 41 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 6 BUFFER Total Rungs in File 4 Move the new Event intop tbe bottom of the stack Position 127 STACK EVENTID 0 MOV Move Source I 3 19 3 Dest N20 127 3 lt
15. ast Unloaded Event Hour Dependent on the time zone configuration at the time of the event Event Minute Time Stamp of Last Unloaded Event Minute Dependent on the time zone configuration at the time of the event Event Second Time Stamp of Last Unloaded Event Second Millisecond Time Stamp of Last Unloaded Event Event Status of the Digital Input Word when Event occured Input Status Change Mask of the Digital Input when Event occured This word indicates which of the Digital Inputs changed if any triggering the Event A zero implies that the Event was noit triggered by the modules digital inputs i e it was triggered by a memory event Page 22 of 46 1746HP GPS User Manual Rev 3 0 Input Image Continued Event Memory Status Channel SV Signal Strength Status of the Memory Output Word O e 17 when Event occured Change Mask of the Memory Output when Event occured This word indicates which of the memory outputs changed if any triggering the Event A zero implies that the Event was not triggered by the module s memory outputs i e it was triggered by a digital input event GPS Receiver Channel Number These 3 bits indicate which of the GPS s 8 0 7 channels data is being displayed Because all 8 channels data is passed with a single word it is time division multiplexed showing a different channel every second The channel number can be used as an indirect addressing pointer to store the C
16. ck 1747 DSN Distributed 1 0 Scanner 1 0 Block 1747 DSN 30 Distributed 1 0 Scanner 30 1 0 Block Adv Contig Help Hide All Cards 1746 FI041 Fast Analog 2 Ch In 2 Ch Current Out vi Figure 5 2 Left click on Read I O Config Before the IO can be read a connection must be established between RSLogix and the PLC system Read IO Configration from Online Processor Driver Route Processor Node E DF1 1 local 1 Decimal 71 Octal Last Configured AB DF1 1 Mode 1d local Reply Timeout Cancel Read I0 Config Help Figure 5 3 Left click on Read I O Config ms Page 12 of 46 1746HP GPS User Manual Rev 3 0 1 0 Configuration Racks 1 174647 7 Slot Rack 2 vo Rack Not Installed v 3 vo Rack Not Installed 7 Adv Config Help Read I0 Config Hide All Cards Current Cards Available Filter Au 10 v Pat Description 4 1746 18 Any Spt Discrete Input Module 1746 116 Any 16pt Discrete Input Module 1746 1 32 Any 32pt Discrete Input Module 1746 0 8 Any Bpt Discrete Output Module 1746 0 16 Any 16pt Discrete Output Module 1746 0 32 Any 32pt Discrete Output Module SMCI 153x AMCI Series 1500 Resolver Module AMCI 1551 AMCI Series 1561 Resolver Module 1746 BA5 5 01 BASIC Module 500 5 01 1746 B45 5 02 BASIC Module M0 M1 capable BASIC Module 500 5 01 BASIC Module M0 M1 capable Backup Scanner Module Barrel Temperature Module 1747 DCM 1 4 Node Adapter Module 1
17. conds Current real time Milliseconds 0 999 Real Time Seconds Current real time Seconds 0 59 Real Time Minutes Current Local time Minutes 0 59 This is dependent on the configured time zone O e 2 l e 0 12 1 e 0 13 l e 0 14 l e 0 15 Page 17 of 46 1746HP GPS User Manual Rev 3 0 Input Image Continued Latitude PEC 0 Position X PEC 1 Real Time Hours Current Local time Hours 0 23 This is dependent on the configured time zone O e 2 Calendar Day of Month Current Local Calendar Day 1 31 This is dependent on the configured time zone O e 2 Calendar Month Current Local Calendar Month 1 12 This is dependent on the configured time zone O e 2 Current Position Latitude Degrees integer l e 9 60 Minutes l e 9 mod 60 Seconds l e 8 100 Only Valid if the PEC flag 1 e 0 13 0 OR Distance from Earth centre along the X axis X Position l e 8 I e 9 x 10 000 in metres Position is calculated with respect to the WGS 84 Earth Centred Earth Fixed co ordinate system The X axis is defined as the vector with origin at the earth s centre and passing through the intersection of the equator and Greenwich meridian Only Valid if the PEC flag l e 0 13 1 Page 18 of 46 1746HP GPS User Manual Rev 3 0 Input Image Continued Longitude PEC 0 Position Y PEC 1 Altitude PEC 0 Position Z PEC 1 Current Position Longitud
18. e Degrees integer l e 11 60 Minutes l e 11 mod 60 Seconds l e 10 100 Only Valid if the PEC flag I e 0 13 0 OR Distance from Earth centre along the Y axis Y Position 1 e 10 l e 11 x 10 000 in metres Position is calculated with respect to the WGS 84 Earth Centred Earth Fixed co ordinate system The Y axis is defined as the vector with origin at the earth s centre and passing through the equator 90 degrees east of the Greenwich meridian Only Valid if the PEC flag l e 0 13 1 Current Position Altiude Altitude l e 12 1 e 13 x 10 000 in metres Only Valid if the PEC flag 1 e 0 13 0 OR Distance from Earth centre along the Y axis Z Position l e 10 I e 11 x 10 000 in metres Position is calculated with respect to the WGS 84 Earth Centred Earth Fixed co ordinate system The Z axis is defined as the vector with origin at the earth s centre and passing through the North pole Only Valid if the PEC flag 1 e 0 13 1 Page 19 of 46 1746HP GPS User Manual Rev 3 0 Input Image Continued Velocity North PEC 0 Velocity X PEC 1 Velocity East PEC 0 Velocity Y PEC 1 Current Northerly Velocity Velocity North 2 1 e 14 10 in m s A negative value indicates a Southerly direction of movement Only Valid if the PEC flag 1 e 0 13 0 OR Speed with respect to the X axis X Velocity 1 e 14 10 0 in m s The X axis is defined a
19. equired Indicates that the module is devoid of internal satellite information Module will automatically download new almanac amp ephemeris data from a satellite Page 28 of 46 1746HP GPS User Manual Rev 3 0 Status Display Continued Time Satellite Time synchronization in Progress Indicates that the module is receiving satellite signals but has not yet been able to synchronize to GPS time Lock Satellite Lock Indicates that sufficient satellites are being tracked to provide position fixing PDOP Position Dilution of Precision Warning Position Dilution of Precision occurs when although there are sufficient satellites in lock 2 or more of them appear to occupy similar positions in the sky and thus the number of effective satellites is decreased The satellite signal currently being acquired is suspect or unusable Page 29 of 46 b 1746HP GPS User Manual Rev 3 0 APENDIX A PLC LADDER EXAMPLE The ladder example on the following page consists of the following program files File 2 Main e Calls all other program files File 3 Event Configures time zone Configures digital filtering time Checks for a new event in module s event buffer Triggers the event to be unloaded to input image Calls file 6 which copies the event into an SLC memory stack File 4 Pos Vel e Extracts Position in either Polar or ECEF e Extract Velocity in either Polar or ECEF File 5 Signal e Extracts the satellite signal stre
20. hannel SV PRN and Signal Strengths in the SLC Satellite Vehicle PRN Identification Number tracked on current channel Each operational GPS satellite has a unique PRN identification number 0 31 Updated in conjuction with Channel described above Satellite Signal Strength on current channel A measure of the satellite signal strength calculated during signal correlation Signal Strength in dbHz x 10 after correlation Updated in conjuction with Channel described above I e 31 8 I e 31 12 I e 31 13 I e 31 15 I e 31 0 I e 31 7 Page 23 of 46 1746HP GPS User Manual Rev 3 0 6 2 Output Image woe JisJmfsfrJnfiolsfefrjefsfjafsfefrje 0 20 Rav Rev Rev Rev Rev Rev Rev Rev Rev Rev Rev 102 ECF Pura Cir no Rsv O e 3 Input Filter ms SV ps a lt O e 5 n lt O e 7 O e 8 Rsv O e 9 Rsv O e 10 Rsv O e 11 Rsv O e 12 Rsv O e 13 Rsv O e 14 Rsv O e 15 Rsv O e 16 Rsv O e 17 M14 M13 M12 M11 M10 M09 mos M07 M06 mos M04 M03 mo2 Mot mool O e 18 O e 19 Rsv O e 20 O e 21 O e 22 O e 23 O e 24 O e 25 O e 26 O e 27 O e 28 O e 29 O e 30 O e 31 o lt Jajo lt lt lt lt o lt lt WU a lt O3 0 65 ETIN Oe ETIN Oe O0 Odi O12 O3 Odd O15 O e 16 O17 mis O18 O19 O20 O21 O22 O28 O24 0 e 25 0 e 26 O27 0 0 28 O20 0 e 30 O31
21. ing achieved at all Antenna Lock HTSB CABLE Coax 50 ohm Figure 4 1 1746HP GPS Master Slave setup Page 9 of 46 es 1746HP GPS User Manual Rev 3 0 Once the module has been power up for the first time it will search for satellites from a cold start i e no almanac The module will take approximately 5 minutes to acquire Lock Once a complete almanac has been downloaded the time to achieve fix will be reduced to around 45 seconds MASTER SLAVE CONFIGURATION Slave modules are connected to adjacent Master or other Slave modules by means of an HTSB bus cable refer to figure 3 1 All 1746HP GPS modules are equipped with an HTSB input and output port Take care to ensure that the HTSB Output port lower of the Master module is connected to the HTSB Input port upper of the next Slave module Incorrect connection of the HTSB bus cable could result in permanent damage to the module HTSB BUS CABLE The HTSB cable consists of 4 cores terminated on either side with RJ 9 connectors The cable should not exceed 1 meter in length and should not be exposed to high electrical noise environments TP TP PS PS Figure 4 2 HTSB Bus cable Page 10 of 46 R 1746HP GPS User Manual Rev 3 0 CHAPTER 5 CONFIGURING THE MODULE A direct connection between the controller and the 1746HP GPS module is required to transfer I O data to and f
22. ionospheric delays and thus render a more accur Pulse per Second This bit transitions from 0 to 1 precisely every second The pulse duty cycle is approximately 50 PDOP OK 0 Position Dilution of Precision is unacceptable 1 No Position Dilution of Precision present Position Dilution of Precision occurs when although there are sufficient satellites in lock 2 or more of them appear to occupy similar positions in the sky and thus the number of effective satellites is decreased Page 15 of 46 1746HP GPS User Manual Rev 3 0 Input Image Continued Battery Backup on Boot 0 No battery backup available on boot up 1 Battery backup available on boot up Battery backup is enabled by setting the jumper J107 to the ON position With battery backup enabled the time taken for the GPS module to regain satellite lock is greatly reduced It is recommended that if the module is not to be used for an extended period that the battery backup be disabled Antenna OK 0 Antenna Fault 1 Antenna OK An Antenna fault will occur if the antenna is not present or has been damaged Antenna Short Open 0 Antenna Open Circuit 1 Antenna Short Circuit Indicates the type of Antenna fault Date Time Valid 0 Date Time Not Valid 1 Date Time synchronized with GPS Ready for Event Transfer 0 No Events in buffer 1 One or more events in buffer which are ready for transfer to the Input Image Buffer Overflow Latch
23. ngths for all 8 GPS receiver channels Page 30 of 46 1746HP GPS User Manual Rev 3 0 0002 1746HP GPS SAMPLE LAD 2 MAIN Total Rungs in File 4 PROCESS TIME STAMP EVENT DATA EXTRACT POSITION AND VELOCITY EXTRACT SIGNAL STRENGTH JSR Jump To Subroutine SBR File Number JSR Jump To Subroutine SBR File Number JSR Jump To Subroutine SBR File Number Page 31 of 46 1746HP GPS User Manual Rev 3 0 0005 LAD 3 EVENT Total Rungs in File 1746HP GPS SAMPLE Configuration Set Time Zone to Pacific Standard Time GMT 8 bours Set Digital Filter Time Constant 15 ms Copy the event from Input Image to SLC Data Files FILTER CONSTANT MOV Move Dest as M pa fa in ba tn Un JSR Jump To Subroutine SBR File Number U6 Trigger the Unloading of an event from the module s event buffer if one exists It will be available next scan AUTO_UNLOAD B3 1 UNLOAD REQ B3 1 M3 BUFREADY I 3 5 M3 NEXT 03 Page 32 of 46 1746HP GPS User Manual Rev 3 0 1746HP GPS SAMPLE LAD 4 POS VEL Total Rungs in File 17 M3 ECEF 13 0 3 Ee M 48 3 OTHER OTHER GPS LOCE POS ECEF L3 L3 1 13 OTHER OTHER Extract Latitude Seconds GPS LOCE POS ECEF 13 L3 1 13 OTHER OTHER Extract Latitude Degrees and Minutes Correct for SLC integer rounding LAT DEG DIV Divide N10 1 6 lt Expression L39 N100 60 LAT DEG SUB Subtract Source
24. nt from the module s buffer into the SLC input image and will be available to be read by the SLC on the next scan Should the event buffer still contain an event then the BRD flag will remain set and the user software should execute a further transfer Once the event buffer is empty the BRD flag will be cleared Current Date Time Current date and time information is available directly across the backplane in the input image The time can be configured to any time zone by setting the UTC offset the difference between the required local time standard and GMT To allow for time zones that are a fraction of an hour from GMT the time zone offset must be multiplied by 10 before being written to the module For example to select Pacific Standard Time GMT 8 set the time zone 80 Refer to examples listed in the Appendix Current Position amp Velocity Current GPS position and velocity is available in 2 modes e Polar Latitude Longitude Altitude e Cartesian Earth Centred Earth Fixed The mode can be selected via the ECF flag in the modules output image If both co ordinate systems are required then this bit can be toggled every second It is important to check the status of the PEC flag to determine the format of the current position before using the data Similarly the VEC flag should be examined before reading the velocity data GPS Receiver Status Certain GPS receiver statuses are made available to the SLC These include
25. r having their own commons The inputs are optically isolated and available in either 24Vd c or 110Vd c Digital Filtering In order to prevent unnecessary events from being triggered due to contact bounce etc each external input is digitally filtered Once an event has triggered on a specific input that channel is ignored for the duration of the filter constant This filter constant is common for all 16 channels and can be configured via the module s output image Internal Inputs Events are also triggered by a transition of any one or more of the 16 internal memory bits These bits occupy word 17 of the module s SLC output image Event Processing Each event that is triggered is logged to the event buffer within the 1746HP GPS module This event buffer which can store up to 1000 events operates in a first in first out mode Each entry in the event buffer stores the following information pertaining to that specific event Event ID Date Time Validity of Time Stamp Snapshot of Physical amp Memory Inputs Trigger Mask Cause of the Event If there is an unread event in the event buffer then the 1746HP GPS module notifies the SLC by raising a flag BRD located in the module s PLC input image The user s PLC software should monitor this flag and when ready toggle the NXT bit in order to read the event Page 6 of 46 1746HP GPS User Manual Rev 3 0 A O to 1 transition of the NXT bit will transfer the next eve
26. rom the module Establishing the Direct Connection This section describes the procedures necessary to configure the 1746HP GPS module within the 1746 SLC system Eg Project Help Controller i Controller Properties D Processor Status T Function Files Ju IO Configuration ES be Channel Configu Open alg Program Files GE SYSD SYS1 Lap2 E Data Files Cross Reference E 00 OUTPUT Figure 5 1 Right click on I O Configuration and select Open Page 11 0f 46 1746HP GPS User Manual Rev 3 0 1 0 Configuration Racks Current Cards Available 1 174647 7 Slot Rack 2 vo Rack Not Installed v TEST Description lt lt lt Rea onfig 1746 18 Any 8pt Discrete Input Module 3 uo Rack Not installed 7 1746115 Any 16pt Discrete Input Module 1746 1532 Any 32pt Discrete Input Module 1746 0 8 Any Bpt Discrete Output Module 1746 0 16 Any 16pt Discrete Output Module 1746 0 32 Any 32pt Discrete Output Module AMCI 153 AMCI Series 1500 Resolver Module SMCI 1561 AMCI Series 1561 Resolver Module 1746 BAS 5 01 BASIC Module 500 5 01 1746 B45 5 02 BASIC Module M0 M1 capable 1746 BAS T BASIC Module 500 5 01 1746 BAS T BASIC Module M0 M1 capable Backup Scanner Module Barrel Temperature Module 1747 DCM 1 4 Node Adapter Module 1 4 Rack 1747 DCM 1 2 Node Adapter Module 1 2 Rack 1747 DCM 3 4 Node Adapter Module 3 4 Rack 1747 DCM FULLNode Adapter Module Full Ra
27. s the vector with origin at the earth s centre and passing through the intersection of the equator and Greenwich meridian Only Valid if the PEC flag 1 e 0 13 1 Current Easterly Velocity Velocity East 1 e 15 10 in m s A negative value indicates a Westerly direction of movement Only Valid if the PEC flag 1 e 0 13 0 OR Speed with respect to the Y axis Y Velocity 1 e 15 10 0 in m s The Y axis is defined as the vector with origin at the earth s centre and passing through the equator 90 degrees east of the Greenwich meridian Only Valid if the PEC flag l e 0 13 1 Page 20 of 46 1746HP GPS User Manual Rev 3 0 Input Image Continued Velocity Up PEC 0 Velocity Z PEC 1 100 115 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 Current Upward Velocity Velocity East 1 e 16 10 in m s A negative value indicates a Downward direction of movement Only Valid if the PEC flag 1 e 0 13 0 OR Speed with respect to the Z axis Z Velocity 1 e 15 10 0 in m s The Z axis is defined as the vector with origin at the earth s centre and passing through the North pole Only Valid if the PEC flag l e 0 13 1 Digital Input Status Word Digital Input 0 Status After Digital Filtering Digital Input 1 Status After Digital Filtering Digital Input 2 Status After Digital Filtering Digital Input 3 Status After Digital Filtering
28. tch lead with a SMA male and TNC male connector on either end 3 3V active 500 hard mount antenna 1746HP GPS user manual HTSB bus cable slave modules EZ Figure 2 1 1746HP GPS module with antenna and patch lead Page 4 of 46 1746HP GPS User Manual Rev 3 0 CHAPTER 3 MODULE OPERATION The 1746HP GPS module is designed to operate within the Allen Bradley 1746 backplane All power required for the module s operation is derived from the 1746 backplane HIPROM GPS Alpha numeric LED Display lt Port 1 HTSB Input RJ9 Port 2 HTSB Output RJ9 GPS Antenna Port SMA Input Connectors n0 E E Ins Int EH E n9 In2 M EN In 10 n3 BM E in 11 n4 E Bl in 12 In5 IH E in 13 Inc E BE in14 In7 E EN n 15 NC NEN m NC Common Inputs 0 7 E EE Common Inputs 8 15 Figure 3 1 1746HP GPS Layout 4 Page 5 of 46 Eg 1746HP GPS User Manual Rev 3 0 The 1746HP GPS module makes use of the Global Position System GPS to provide accurate time stamping of PLC and external events Events are triggered by a change in either e the switching of any of the external 16 digital inputs External e Orthe changing of any of the bits in one of the module s PLC output image registers Internal External Inputs The 16 external inputs are arranged in 2 banks of 8 channels each These banks are electrically independent from each othe
29. unavailable for event logging Event Buffer Overflow An event was generated but could not be logged because the event buffer was already full Event Buffer Overflow Latch Cleared The event buffer Overflow Latch has been cleared by the PLC Page 27 of 46 1746HP GPS User Manual Rev 3 0 Status Display Continued Event Buffer Purged All events in the event buffer have been deleted Event ID counter set to Zero Indicates that the Event ID counter has been manually set to zero Initialization of Module The module is initialized only on power up Firmware Revision The firmware revision number is displayed on power up Event Processor Started The Event Processor has started and is ready to process memory events This typically occurs 3 seconds after power up Note that External Input Events are immediately available on Power up of the module and remain active when the SLC CPU enters program mode Internal Memory Failure RAM check has failed Check PLC power supply Contact supplier GPS Antenna Open circuit Indicates the Antenna is not connected or damaged GPS Antenna Short circuit Indicates the Antenna patch lead is shorted or damaged or the Antenna is damaged No Sky Available Indicates the absence of any satellite signals This usually occurs when the Antenna is placed indoors or during power up before Lock is achieved Satellite Search Module is attempting to acquire satellites Cold Initialisation R
30. ut 1 Trigger O e 17 1 Memory Output 2 Trigger O e 17 2 Memory Output 3 Trigger O e 17 3 Memory Output 4 Trigger O e 17 4 Memory Output 5 Trigger O e 17 5 Memory Output 6 Trigger O e 17 6 Memory Output 7 Trigger O e 17 7 Memory Output 8 Trigger O e 17 8 Memory Output 9 Trigger O e 17 9 Memory Output 10 Trigger O e 17 10 Memory Output 11 Trigger O e 17 11 Memory Output 12 Trigger O e 17 12 Memory Output 13 Trigger O e 17 13 Memory Output 14 Trigger O e 17 14 Memory Output 15 Trigger O e 17 15 Page 26 of 46 1746HP GPS User Manual Rev 3 0 CHAPTER 7 MODULE STATUS Status Display Time Synchronization Ok The module has successfully time synchronized with the GPS satellite system and has accurate time Time Synchronization Failure The module has lost time synchronization with the GPS satellite system and cannot maintain accurate time Time Synchronization Failure The module has lost time synchronization with the GPS satellite system and cannot maintain accurate time External Input Event Triggered A change in the status of one or more of the External Inputs has generated an event Memory Event Triggered A change in the status of one or more of the Memory Output Image bits has generated an event Event Buffer Count where n indicates the number of events in the buffer Event Buffer Empty There are zero events in the event buffer Event Buffer Full There are 1000 events in the event buffer rendering it
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