RT-CAN RT-CAN User Manual
Contents
1. 3rd Angle Date 21 08 01 Part FEC 976 880 Document 9 way Null Modem Cable Sheet 1 of 12. 0 16 U degrees 0 01 Heading 32 16 S degrees 0 01 0 Roll Note the range of Heading is 0 to 360 degrees the range of pitch is 90 degrees the range of roll is 180 degrees Table 12 Identifier 608h Body X Y Z Angular Rates Description 0 16 S deg s 0 01 Body X Angular Rate 32 16 S deg s 0 01 0 Body Z Angular Rate Table 13 Identifier 60Ah Track Slip Angles Description Track Angle 0 16 S degrees 0 01 p Oxford Technical Solutions RT CAN User Manual ji Mie 4 Q om Table 14 Identifier 60Bh Distance Description m 0 001 0 m 0 001 0 Distance with Hold Distance Note The Distance with Hold will not increase when the RT3000 measures a speed less than 0 2m s whereas the Distance field will drift by the noise of the RT3000 when stationary The distances start from zero when the RT CAN unit is powered up Revision 030429 15 X ry 4 DAS C Revision History Table 15 Revision History Revision Comments 020705 Initial Version 020718 Corrected error in velocity units Table 9 Typing error corrections 021022 Updated for new CAN DB File and changed presentation for Signals 021111 Added Distance outputs Active with software versions 021111 14af onwards 030429 Changed default CAN baud to 500 kbit s Added Speed to CAN outputs Added pin connections for 9 way connector e Oxford Technical Solutions j
3. Tiny RT CAN User Manual oS Drawing List Table 16 below lists the available drawings that describe components of the RT CAN system Many of these drawings are attached to the back of this manual Note that the x following a drawing number is the revision code for the part If you require a drawing or different revision of a drawing that is not here then contact Oxford Technical Solutions Table 16 List of Available Drawings Drawing Description 14A0012A RT CAN Dimensions 77C0002B Power Cable FEC976 880 Null Modem Serial Cable Revision 030429 a Oxford Technical Solutions 77 Heyford Park Upper Heyford Oxfordshire Ce OX25 5HD www ots ndirect co uk Copyright Oxford Technical Solutions 2001 Confidential Information The information in this document is confidential and must not be disclosed to other parties or used to build the described components without the written permission of Oxford Technical Solutions 0 10 20 30 Print Size A4 Tolerances Projection 3rd Angle Notes Date 05 07 02 Part 14A0012A Document RT CAN Dimensions Sheet 1 of 1 Oxford Technical Solutions 77 Heyford Park Upper Heyford Pin Definitions Oxfordshire OX25 5HD www ots ndirect co uk 1 Brown Positive 12V Power supply 9 18V d c 2 White Positive 12V Power Charger supply 11 18 d c Copyright Oxford Technical Solutions 2002
4. RT CAN User Manual PA p Sx WB F l N Confidently Accurately OT Legal Notice Information furnished is believed to be accurate and reliable However Oxford Technical Solutions Limited assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use No license is granted by implication or otherwise under any patent or patent rights of Oxford Technical Solutions Limited Specifications mentioned in this publication are subject to change without notice and do not represent a commitment on the part of Oxford Technical Solutions Limited This publication supersedes and replaces all information previously supplied Oxford Technical Solutions Limited products are not authorised for use as critical components in life support devices or systems without express written approval of Oxford Technical Solutions Limited All brand names are trademarks of their respective holders Copyright Notice Copyright 2003 Oxford Technical Solutions Revision Document Revision 030429 See Revision History for detailed information Contact Details Oxford Technical Solutions Limited 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD Tel 44 0 1869 238 015 Fax 44 0 1869 238 016 http www oxts co uk mailto info oxts co uk al Oxford Technical Solutions RT CAN User Manual CO Table of Co
5. Measurement outputs Only the Measurement outputs are described here 10 Oxford Technical Solutions RT CAN User Manual A h Min CAN Bus Messages Table 5 CAN Bus Messages Identifier T Data Contents See Table 500h to SFFh Reserved for RT3000 Status Information Contact Oxford Technical Solutions 600h Date and Time Table 6 601h Latitude Longitude Table 7 602h Altitude Table 8 603h Velocity North East Down Table 9 604h Reserved Future implementations will output Forward Lateral Velocity 605h Accelerations body X Y Z Table 10 606h Reserved Future implementations will output Forward Lateral and Downward Accelerations 607h Heading Pitch Roll Table 11 608h Angular Rates body X Y Z Table 12 609h Reserved Future implementations will output Forward Lateral and Downward Angular Rates 60Ah Slip Angle Track Angle Table 13 60Bh Distance Table 14 60Ch to 60Fh Reserved for future use Table Heading Definitions The fields in the tables have the following meanings Offset bits This is the offset into the Message where the Signal starts To compute the offset in bytes divide the value by 8 Length bits This is the length of the Signal in bits To compute the length of the Signal in bytes divide the value by 8 Type This specifies either an unsigned value U or a signed value S Units This is the units for the signal Revision 030429 in 3 Mines 3 EN c Som Factor
6. This it the factor that the integer unit should be multiplied by to get the Signal into the units given in the table Offset This is the value of the Signal when the integer value in the CAN message is zero It is zero for all the RT3000 signals and can usually be discarded Signals The following tables describe the signals in each of the messages Table 6 Identifier 600h Date and Time Description 0 8 U year 1 0 Year within century e g 2 during year 2002 8 8 U year 100 0 Century e g 20 during 2002 16 8 U month 1 0 Month 24 8 U day 1 0 Day 32 8 U s 0 01 0 Hundredths of a Second 40 8 U s 1 0 Seconds 48 8 U min 1 0 Minutes 56 8 U hour 1 0 Hours Note Time is always reported as GPS time Currently this is 13 seconds different from UTC Table 7 Identifier 601h Latitude and Longitude Description 0 32 S degrees le 7 0 Latitude 32 32 S degrees le 7 0 Longitude al Oxford Technical Solutions RT CAN User Manual Table 8 Identifier 602h Altitude Description 0 32 S m 0 001 0 Attitude Table 9 Identifier 603h Velocity Description 0 16 S m s 0 01 0 North Velocity 32 16 S m s 0 01 0 Down Velocity 48 16 S m s 0 01 0 Speed Table 10 Identifier 605h Body Accelerations Description 0 16 S m s 0 01 0 Body X Acceleration 32 16 S m s 0 01 0 Body Z Acceleration Revision 030429 Ea Table 11 Identifier 607h Heading Pitch Roll Description
7. ience of wiring Either ground can be used E Oxford Technical Solutions RT CAN User Manual ey CAN Wiring The RT CAN unit does not include a termination resistor It is essential to include a 120Q resistor at each end of your CAN bus Otherwise the CAN bus will not work RT3000 Configuration For correct operation of the RT CAN unit the RT3000 must be configured to output an NCOM message at 100Hz 115 200 baud If the RT3000 has two available serial ports then either one can be used to output the NCOM message Power LED The Power LED will be Green when power is applied The LED will flash Orange Green when valid NCOM data is decoded and time is valid on the NCOM output If NCOM data is interrupted then the Power LED will stop on either Green or Orange Revision 030429 o EN s N c man CAN Messages and Signals The RT CAN uses identifiers 500h to 5FFh for RT3000 Status Information and 600h to 60Fh for navigation information All values from the RT3000 are encoded in Little Endian format Intel style For details on the RT3000 Status Information contact Oxford Technical Solutions This set of identifiers covers information such as accuracy GPS tracking calibration etc Not all of the identifiers are used but they are all reserved for future use CAN DB File A CAN DB file is available for download on the Oxford Technical Solutions web site This file contains definitions for the Status messages as well as the
8. in Table 2 below Table 2 Technical Specification Parameter Specification Input RS232 NCOM packet at 115 200 baud Calculation Delay 19 9 ms from RT3000 sample period Outputs CAN TTL Speed Output Rate 100 Hz Output CAN 500 Kbit s 11 bit identifiers from 0x500 to 0x60F non isolated 1 MBit s optional Output TTL 400 pulses per m VoL lt 0 4V Vog gt 3 6V Io lt 10 mA Power 3W 9 18V d c Operating Temperature 0 to 60 C Relative Humidity 95 non condensing Shock Survival 1000g 5 ms half sine a Oxford Technical Solutions RT CAN User Manual ey Warranty Oxford Technical Solutions Limited warrants the RT3000 products to be free of defects in materials and workmanship subject to the conditions set forth below for a period of one year from the Date of Sale Date of Sale shall mean the date of the Oxford Technical Solutions Limited invoice issued on delivery of the product The responsibility of Oxford Technical Solutions Limited in respect of this warranty is limited solely to product replacement or product repair at an authorised location only Determination of replacement or repair will be made by Oxford Technical Solutions Limited personnel or by personnel expressly authorised by Oxford Technical Solutions Limited for this purpose In no event will Oxford Technical Solutions Limited be liable for any indirect incidental special or consequential damages whether through tort contract or
9. l 3 Blue 0V GND Confidential Information View from front 4 Black 0V GND Seana of socket The information in this document is confidential and must not be disclosed to other parties or used to build the described components without the written permission of Oxford Technical Solutions S 77C0002A rrer CTT TTT ETT 0 10 20 30 Print Size A4 Parts Connections Projection Notes RS291 5881 M12 4w 5m PVC straight Connector 1 1 Brown J2 1 FEC 658 376 Car Cigarette Lighter Plug 1 2 White J2 1 10 04 02 RS399 524 Yellow Heat Shrink 6 4mm 1 3 Blue J2 2 Alternative Part Number RS399 934 Clear Heat Shrink 6 4mm 1 4 Black J2 2 added Alternative Part RS 266 0250 Car Cigarette Lighter Plug 8A fused Date 26 06 02 Part 77C0002B Document MicroSAT Power Cable Sheet 1 of 1 Oxford Technical Solutions 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD www ots ndirect co uk Copyright Oxford Technical Solutions 2001 Confidential Information The information in this document is confidential and must not be disclosed to other parties or used to build the described components without the written permission of Oxford Technical Solutions TUUTITTTTP TUTTI TTT 20 30 A4 1 1 mm 10mm
10. ntents Introduction 4 Scope of Delivery 5 Specification 6 Warranty 7 Operation 8 CAN Wiring 9 RT3000 Configuration 9 Power LED 9 CAN Messages and Signals 10 CAN DB File 10 CAN Bus Messages 11 Table Heading Definitions 11 Signals 12 Revision History 16 Drawing List 17 Revision 030429 im 1 N S man Introduction The RT CAN unit is an interface converter that accepts the RT3000 NCOM output and converts it for transmission over a CAN interface The RT CAN unit outputs CAN messages with the following information in them e Time e Position Latitude Longitude Altitude e Velocity e Acceleration e Heading Pitch Roll e Angular Rates e RT3000 Status Information e Slip Angle There are four main areas that need to be considered when using an RT CAN unit these are e The configuration of the RT3000 e Wiring e RT CAN operation e The CAN output identifiers and messages This User Manual explains each of these areas in turn o Oxford Technical Solutions RT CAN User Manual Ke Scope of Delivery Table 1 below lists all the items that are delivered with each RT CAN unit Table 1 Summary of the RT CAN Components Description 1 RT CAN Unit 1 77C0002B Power Cable 1 RS232 Null Modem Serial Cable FEC976 880 Figure 1 RT CAN Components Revision 030429 j3 MWS EN N c uii wS Specification The outline technical specification of the RT CAN unit is shown
11. 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 Oxford Technical Solutions Limited with respect to the products herein Revision 030429 2 3 MWS 3 EN c Sn Operation There are no configuration options for the RT CAN system To operate the unit connect the RT CAN RT3000 serial input to one of the outputs of the RT3000 system using the Null Modem Serial Cable provided Connect the 77C0002B Power Cable to the Power input and provide power Connect the CAN output the CAN bus If the TTL output is required connect it to the correct pins on the CAN output connector Table 3 below gives details of the CAN output connector Table 3 CAN Connector Pin Assignments 15 way connector Description 5 Ground 10 Ground 11 TTL Out 12 CAN CAN High 13 CAN CAN Low Case EMC screen Connected to the case All other pins are reserved Do not connect to them Multiple grounds are provided for the convenience of wiring Either ground can be used Table 4 CAN Connector Pin Assignments 9 way connector Description 3 Ground 5 Ground 8 TTL Out 7 CAN CAN High 2 CAN CAN Low Case EMC screen Connected to the case All other pins are reserved Do not connect to them Multiple grounds are provided for the conven
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