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Trimble Outdoors 64057-00-ENG User's Manual

1. ThunderBolt E module The ThunderBolt E consists of a board mounted inside an aluminum case The board contains the parts for power regulation a GPS receiver an oscillator and disciplining circuitry Environmental specifications Operating temperature 0 C to 60 C 32 F to 140 F Storage temperature 40 C to 85 C 40 F to 185 F Operating humidity 95 non condensing Maximum altitude 18 000 meter 11 2 miles 24 Trimble ThunderBolt E GPS Disciplined Clock User Guide Performance specifications Hardware Integration 3 General Update rate PPS accuracy 10 MHz accuracy Harmonic level Spurious Phase noise Holdover L1 frequency CA code SPS 12 channel continuous tracking receiver 1 Hz UTC 15 nanoseconds one sigma 1 16 x 1012 one day average 40 dBc max 70 dBc max 10 Hz 120 dBc Hz 100 Hz 135 dBc Hz 1 kHz 135 dBc Hz 10 kHz 145 dBc Hz 100 kHz 145 dBc Hz Some customers such as CDMA manufacturers have historically mandated tighter holdover requirements than specified For increased holdover performance please contact your local Trimble representative Physical characteristics Power consumption Antenna supply voltage Dimensions Weight Mounting 15 W cold 10 W steady state 5 V 10 127 mm length x 102 mm width x 40 mm height 5 x4 x 2 0 285 kg 0 628 Ib 6 mounting holes for 46 32 screws Maximum depth 9 5 mm 3 8 Th
2. Command Packet 0x24 Request GPS Satellite Selection This packet requests a list of satellites used for the current position time fix This packet contains no data The requested data is returned in packet 0x6D Command Packet 0x25 Initiate Hot Reset This packet commands the GPS receiver to perform a hot reset This is not equivalent to cycling the power RAM is not cleared This packet contains no data Command Packet 0x26 Request Receiver Health This packet requests receiver health status This packet contain no data The requested data is returned in packet 0x46 and packet 0x4B Command Packet 0x27 Request Signal Levels This packet requests signal levels for all satellites currently being tracked This packet contain no data The requested data is returned in packet 0x47 Command Packet 0x29 Request Almanac Health This packet requests Almanac health data This packet contain no data The requested data is returned in packet 0x49 Trimble ThunderBolt E GPS Disciplined Clock User Guide 43 A Trimble Standard Interface Protocol 44 Command Packet 0x31 Accurate Initial Position XYZ Cartesian ECEF This packet provides an accurate initial position to the GPS receiver in XYZ coordinates Either the single precision or the double precision version of this packet may be used however we recommend using the double precision version for greatest accuracy ThunderBolt E uses this position for performing time only fixes If a
3. 58 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Report Packet 0x5F 11 EEPROM Segment Status The receiver sends this packet in response to command packet Ox3F 11 This packet contains the status of all EEPROM segments e Azero in the status bit indicates that the segment contents are valid e Aone in the status bit indicates that the segment contents were found to be corrupt and had to be reverted to their factory default values e Bits 3 9 are used to generate the minor alarm bit 10 in packet Ox8F AC Byte Bit Item Type Value Meaning 0 Subcode UINT8 0x11 1 2 0 Segment status bit field Manufacturing data 1 Unused 2 Unused 3 Receiver configuration 4 Packet I O control 5 Serial port configuration 6 Timing outputs 7 Accurate position 8 Self survey configuration 9 Oscillator Disciplining parameters 10 15 Unused Report Packet 0x6D Satellite Selection List This packet provides a list of satellites used for position or time only fixes by the GPS receiver The packet also provides the PDOP HDOP VDOP and TDOP of that set and provides the current mode automatic or manual 3 D or 2 D Over Determined Clock mode etc This packet has variable length equal to 17 nsvs where nsvs is the number of satellites used in the solution If an SV is rejected for use by the T RAIM algorithm then the SV PRN value will be negative The GPS receiver sends this packet in response to pack
4. The GPS receiver sends this packet in response to packet 0x38 The data format is shown below The table and section numbers referred to in the Meaning column reference the Global Positioning System Standard Positioning Service Signal Specification document Report Packet 0x58 Data Format Byte Item Type Value Meaning 0 operation UINT8 Data out no data on SV 1 Type of data UINT8 Almanac Health page T_oa WN_oa UTC Ephemeris 2 Sat PRN UINT8 Data that is not satellite ID specific 2 3 2 3 4 lonosphere 5 6 0 1 to 32 Satellite PRN number 3 Length n UINT8 Byte count 4ton 3 Data Note If data is not available byte 3 is set to 0 and no data is sent Trimble ThunderBolt E GPS Disciplined Clock User Guide 53 A Trimble Standard Interface Protocol Report Packet 0x58 Almanac Data Type 2 Byte Item Type Value Meaning 4 Toa raw UINT8 Table 2 8 5 SV_HEALTH UINT8 Table 2 8 6 9 e Single Table 2 8 10 13 toa Single Table 2 8 14 17 io Single Table 2 8 18 21 OMEGADOT Single Table 2 8 22 25 sqrt A Single Table 2 8 26 29 OMEGA O Single Table 2 8 30 33 OMEGA Single Table 2 8 34 37 MO Single Table 2 8 38 41 af0 Single Table 2 8 42 45 af1 Single Table 2 8 46 49 Axis Single Table 2 8 50 53 n Single Table 2 8 54 57 OMEGA n Single Derived 58 61 ODOT n Single Derived 62 65 tzc Single Time of collection set to 1 0 if there is no data available 66 67 week number UINT16 GPS week n
5. meter RG 6 12 40 150 45 RG8 and 8 U 9 6 31 185 58 RG 8X 16 8 55 107 33 RG 58 19 6 64 92 28 RG 59 14 7 48 2 122 37 LMR 400 5 3 17 2 340 105 LMR 600 3 4 11 2 530 161 In cases where the run length is such that the loss exceeds 18 dB an inline amplifier LNA Trimble ThunderBolt E with the following specifications is required Place the LNA at a point in the coaxial line so that the loss between the Bullet antenna and the LNA does not exceed 18 dB The noise figure of the LNA must be 3 dB or less The gain of the LNA should be at least 3 dB greater than the cable loss between the output of the inline LNA and the ThunderBolt E input Trimble recommends that a filtered LNA is used to reduce overload by out of and signals Filtered LNAs are made by GPS Networking For example if you choose an RG 6 cable with 40 dB 100 meter loss and the required run length is 90 meters the total loss for his run would be 0 9 40 dB 100 meters 36 dB This exceeds 18 dB and means that you need to use an inline amplifier However if you select an LMR 400 or LMR 600 cable you would not need an inline amplifier The noise figure of the inline amplifier must be 3 dB or less The gain of this LNA would be 21 dB 18 dB loss precedes LNA 18 dB of loss follows LNA and drives requirement for 18 3 21 dB gain for the LNA GPS Disciplined Clock User Guide Hardware Integration 3 1 0 connector pin out The RS 232 serial port
6. C 40 F to 212 F Vibration 0 04g Hz 10 Hz to 500 Hz 0 03g Hz 500 Hz to 850 Hz 0 029 Hz 850 Hz to 1200 Hz Shock 50 g vertical 30 g all axes Humidity Mil STD 810E Salt Fog Mil Std 202F Method 101D Condition B Waterproof Submersion to 1 meter Antenna cable Trimble includes an RG 6 cable in the starter kit to connect the ThunderBolt E and the Bullet antenna This cable type is widely available Note The ThunderBolt E and the Bullet antenna are compatible with either 50 Qor 75 Q cable Compared to most 50 Q cable 75 Qceable provides superior transmission for the 1 5 GHz GPS signal and a better quality cable for the price Mismatched impedance is not a problem Note RG 6 cable is lower loss than RG 59 and can be used when trying to maximize a cable run without the use of in line amplifiers The Bullet antenna has greater than 28 dB gain and best case noise figure of 3 dB The ThunderBolt E has less than an 8 dB noise figure The system can therefore tolerate 18 dB of cable loss for less than 1 dB degradation in performance Trimble ThunderBolt E GPS Disciplined Clock User Guide 27 3 28 Hardware Integration In cases where the distance between the Bullet and the ThunderBolt E is excessive for example when the loss exceeds 18 dB an inline amplifier is necessary The following table shows the loss relationships Cable type dB 100 ft dB 100 meter Max lenght for 18 dB loss at 1575 MHz feet
7. The TSIP protocol is based on the transmission of packets of information between the user equipment and the GPS receiver Each packet includes an identification code that identifies the meaning and format of the data that follows Each packet begins and ends with control characters Automatic output packets ThunderBolt E is configured to automatically output the 0x8F AB and Ox8F AC packets For most system implementations these output packets provide all of the information required for operation including time position GPS status and health The following packets can be broadcast if enabled with packet Ox8E A5 and 0x35 By default only packets Ox8F AB and Ox8F AC are enabled for output Broadcast output packets Broadcast Packet ID 0x42 0x43 0x47 Ox4A 0x56 0x5A 0x6D Description Masking Request When Sent Packet ID Packet ID Position XYZ ECEF single precision 0x35 and 0x37 When a position fix is 0x8E A5 bit 6 computed Velocity XYZ single precision 0x35 and 0x37 When a position fix is 0x8E A5 bit 6 computed Signal Levels Ox8E A5 bit 6 0x27 Once per second Position LLA single precision 0x35 and 0x37 When a position fix is 0x8E A5 bit 6 computed Velocity ENU single precision 0x35 and 0x37 When a position fix is 0x8E A5 bit 6 computed Raw Measurements 0x35 and 0x3A When new measurements 0x8E A5 bit 6 are available Satellite list DOPS mode Ox8E A5 bit 6 0x24 Once per second 34 Trimble T
8. one or more EEPROM segments were found to be corrupt and had to be set to factory default settings Use packet Ox3F 11 5F 11 to retrieve details about which segments were corrupt and to clear this bit This field indicates the decoding status of the GPS receiver This field indicates the current activity of the disciplining mechanism This field carries the estimate of the offset of the PPS output relative to UTC or GPS as reported by the GPS receiver in nanoseconds Positive values indicate that the receiver s PPS is coming out late relative to GPS or UTC This field carries the estimate of the frequency offset of the 10MHz output relative to UTC or GPS as reported by the GPS receiver in ppb parts per billion Positive values indicate that the receiver s clock is running slow relative to GPS or UTC This field shows the numeric value of the DAC used to produce the voltage that controls the frequency of the 10MHz oscillator This field shows the voltage output of the DAC This field shows the temperature in Celsius as reported by the receiver s on board temperature sensor This field carries the latitude of the position being shown The units are in radians and vary from pi 2 to pi 2 Negative values represent southern latitudes Positive values represent northern latitudes This field carries the longitude of the position being shown The units are in radians and vary from pi to pi Negative values represent western longitudes
9. 10 Seconds UINT8 0 59 Seconds 11 Minutes UINT8 0 59 Minutes 12 Hours UINT8 0 23 Hours 13 Day of Month UINT8 1 31 Day of Month 14 Month UINT8 1 12 Month of Year 15 16 Year UINT16 Four digits of Year Report Packet 0x8F AC Supplemental Timing Packet This packet provides supplemental timing information once per second Information regarding position unit status and health and the operational state of the unit is provided This packet can be requested or enabled for automatic broadcast once per second When enabled this packet is transmitted once per second shortly after packet Ox8F AB The position sent in packet Ox8F AC depends on the Receiver Operating Mode and on self survey activity When a self survey is in progress the position sent is the running average of all of the position fixes collected so far When the self survey ends or whenever the receiver is using a time only operating mode then the position sent is Trimble ThunderBolt E GPS Disciplined Clock User Guide 79 A Trimble Standard Interface Protocol the accurate position the receiver is using to perform time only fixes When the self survey is disabled or otherwise inactive and the receiver is using a position fix operating mode then the position sent is the position fix computed on the last second Data field Description Receiver Mode Self Survey Progress Holdover Duration Critical Alarms Minor Alarms This field shows the fix mode that the GPS re
10. Command Packet 0x8E AB Data Format Byte Item Type Value Meaning 0 Subcode UINT8 OxAB 1 Request type UINT8 0 Send 0x8F AB immediately 1 Send 0x8F AB on time next second 2 Send 0x8F AB and 0x8F AC on time next second Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Command Packet 0x8E AC Request Supplementary Timing Packet Use command packet 8E AC to request the Supplemental Timing packet Ox8F AC By default the receiver automatically sends packet Ox8F AC once per second so it is not necessary to request it To receive Ox8F AC information by request only use packed 0x8E A5 to disable the automatic output The Request Type item determines how the receiver will reply to this command Type Description 0 The most current primary timing values will be sent in packet Ox8F AC immediately 1 The response is not sent immediately Instead packet Ox8F AC is sent after the next PPS output This is the same time that the packet would be automatically sent if enabled 2 Same as type 1 except that both Ox8F AB and Ox8F AC are sent after the next PPS output Command Packet 0x8E AC Data Format Byte Item Type Value Meaning gt 0 Subcode UINT8 OxAC 1 Request type UINT8 0 Send 0x8F AC immediately 1 Send 0x8F AC on time next second 2 Send 0x8F AB and Ox8F AC on time next second Report Packet 0x8F 15 Current Datum Values This packet contains the values for the datum
11. Double meters 32 35 time of fix Single seconds Note The time of fix is in GPS time or UTC time as selected by the I O timing option CAUTION When converting from radians to degrees significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant p The value of the constant p as specified in ICD GPS 200 is 3 1415926535898 Trimble ThunderBolt E GPS Disciplined Clock User Guide 61 A Trimble Standard Interface Protocol Command Packet OxBB Set Receiver Configuration In query mode packet OxBB is sent with a single data byte and returns report packet OxBB in the format shown below Command Packet 0xBB Data Format query only Byte Item Type Value Meaning 0 Subcode UINT8 0 Query mode TSIP packet OxBB is used to set the GPS Receiver options The table below lists the individual fields within the OxBB packet Report Packet 0xBB Data Format Byte Item Type Value Meaning 0 Subcode UINT8 0 Primary receiver configuration block 1 receiver mode UINT8 0 Automatic 2D 3D 1 Single satellite 1 SV time 3 Horizontal 2D 4 Full position 3D 7 Over Determined Clock 2 reserved UINT8 OxFF do not alter Dynamics Code UINT8 1 Land 2 Sea 3 Air 4 Stationary 5 Automobile 4 reserved UINT8 OxFF do not alter 5 8 Elevation Mask Single 0 p 2 Lowest satellite elevation for fixes radians 9 12 AMU Mask Single Minimum signal level for fixes 13 16 PDOP Ma
12. Guide Setting up and Running the ThunderBoltE 2 If the host has not uploaded a reference position or if the module has been moved more than one to two kilometers since its last position the GPS module automatically conducts a position survey at startup By default the GPS module averages 2000 position fixes before entering the clock only mode The host system can adjust the survey period using packet Ox8E A6 While the GPS module is performing its survey the accuracy of the timing outputs will be degraded Uploading a reference position To upload an accurate reference position use packet 0x31 Command Packet 0x31 Accurate Initial Position XYZ Cartesian ECEF page 44 or packet 0x32 Command Packet 0x32 Accurate Initial Position Latitude Longitude Altitude page 44 The reference position is stored in EEPROM Electrically Erasable Programmable Read Only Memory and is retained during power loss When a reference position is stored in EEPROM the GPS module bypasses the position survey procedure and enters clock only mode If you move the antenna you must send packet Ox8E 45 to clear the position stored in EEPROM The GPS module then initiates a self survey unless the host uploads a new position using packet 0x31 or packet 0x32 To store the reference position from the self survey procedure in the EEPROM send packet Ox8E 4C to the receiver Alternatively you can configure the ThunderBolt E to automatically save the position usi
13. Positive values represent eastern longitudes This field carries the altitude of the position being shown The units are in meters WGS 84 This field carries the PPS quantization error in units of nanoseconds of an internal PPS signal This value is not useful on a ThunderBolt E since the PPS output is derived from a disciplined oscillator and therefore does not have any quantization error Report Packet Ox8F AC Byte Item Type Value Description 0 Subcode UINT8 OxAC Receiver Mode UINT8 Automatic 2D 3D Single Satellite Time Horizontal 2D Full Position 3D Over Determined Clock 2 Disciplining Mode UINT8 Normal Locked to GPS Power Up Auto Holdover Manual Holdover bb U N O N BW o Recovery Trimble ThunderBolt E GPS Disciplined Clock User Guide 81 A Trimble Standard Interface Protocol Byte Item Type Value Description 5 Not used 6 Disciplining Disabled 3 Self Survey Progress UINT8 0 100 4 7 Holdover Duration UINT32 0 Seconds 8 9 Critical Alarms UINT16 Bit field Bit 4 DAC at rail 10 11 Minor Alarms UINT16 Bit field Bit 0 DAC near rail Bit 1 Antenna open Bit 2 Antenna shorted Bit 3 Not tracking satellites Bit 4 Not disciplining oscillator Bit 5 Survey in progress Bit 6 No stored position Bit 7 Leap second pending Bit 8 In test mode Bit 9 Position is questionable Bit 10 Not used Bit 11 Almanac not complete Bit 12 PPS not generated 12 GPS Decoding Status UINT8 0x00 Doing fixe
14. Request EEPROM segment status Ox5F 11 0x70 Set request filter configuration 0x70 OxBB Set request receiver configuration OxBB OxBC Set request serial port configuration OxBC 0x8E 15 Set request current datum 0x8F 15 Ox8E 26 Save configuration 0x45 after reset Ox8E 41 Request manufacturing parameters Ox8F 41 Ox8E 42 Request production parameters Ox8F 42 Ox8E 45 Set configuration segment parameters to factory defaults Ox8F 45 Ox8E 4A Set request PPS characteristics 0x8F 4A Ox8E 4C Save configuration segment to NVS 0x8F 4C Ox8E 4E Set request PPS output option Ox8F 4E 0x8E A0 Set request DAC value 0x8F A0 0x8E A2 Set request UTC GPS timing 0x8F A2 0x8E A3 Issue oscillator disciplining command 0x8F A3 0x8E A4 Set test modes Ox8F A4 Ox8E A5 Set request packet broadcast mask Ox8F A5 Ox8E A6 Issue self survey command Ox8F A6 Ox8E A8 Set request oscillator disciplining parameters Ox8F A8 Ox8E A9 Set request self survey parameters Ox8F A9 0x8E AB Request primary timing packet 0x8F AB Ox8E AC Ox8F AC Request supplemental timing packet Report packets ThunderBolt E to User The following table summarizes the packets output by ThunderBolt E Output ID Packet Description Input ID 0x1C Firmware Hardware Versions 0x1C 0x42 Single precision XYZ position 0x37 auto 0x43 Velocity fix XYZ ECEF 0x37 auto 0x45 Software version information Ox1E Ox1F power up 0x46 Receiver health 0x26 auto 38 Trimble ThunderBolt E GPS Disciplined Clock
15. The receiver responds to a query or set command with packet 0x8F 4A Byte Item Type Value Meaning 0 Subcode UINT8 Ox4A 1 PPS driver switch UINT8 0 off 1 on 2 Reserved UINT8 3 PPS polarity UINT8 0 positive 1 negative 4 11 PPS offset or cable delay Double seconds 12 15 Bias uncertainty threshold Single 300 0 meters Negative offset values advance the PPS and are normally used to compensate for cable delay Useful values for the PPS offset are between 50 ms Trimble ThunderBolt E GPS Disciplined Clock User Guide 65 A Trimble Standard Interface Protocol 66 Command Packet 0x8E 4C Write Configuration Segment to NVS This command packet causes the current configuration settings for the specified user segment or all segments to be written to NVS The segment ID is contained in a data byte Byte Item Type Value Meaning 0 Subcode UINT8 Ox4C 1 Segment ID UINT8 3 GPS Receiver config 4 Packet I O control 5 Serial Port config 6 Timing Output config 7 Accurate Position 8 Self Survey config 9 Disciplining config OxFF All segments Command Packet 0x8E 4E Set PPS output option This command packet sets the PPS driver switch to one of the values listed below The current driver switch value can be requested by sending the packet with no data bytes except the subcode byte Driver switch values 3 and 4 only make sense in Over Determined Timing mode In any position fix mode the effective choices are always on or duri
16. Type Value Meaning 0 Port to Change UINT8 0 Port 1 standard 1 Port 2 factory only OxFF Current port 1 Input Baud Rate UINT8 6 4800 baud 7 9600 baud 8 19200 baud 9 38400 baud 10 57600 baud 11 115200 baud 2 Output Baud Rate UINT8 As above As above Data Bits UINT8 2 7 bits 3 8 bits 4 Parity UINT8 0 None 1 Odd 2 Even 5 Stop Bits UINT8 0 1 bit 1 2 bits Trimble ThunderBolt E GPS Disciplined Clock User Guide 63 A Trimble Standard Interface Protocol 64 Byte Item Type Value Meaning 6 Flow Control UINT8 0 None 7 Input Protocols UINT8 0 None 2 TSIP 8 Output Protocols UINT8 0 None 2 TSIP 9 Reserved UINT8 0 Reserved TSIP Superpackets Several packets have been added to the core TSIP protocol to provide additional capability for the receivers In packets Ox8E and their Ox8F responses the first data byte is a subcode which indicates the superpacket type For example in packet Ox8E 15 15 is the subcode that indicates the superpacket type Therefore the ID code for these packets is 2 bytes long followed by the data Command Packet 0x8E 15 Request current Datum values This packet contains only the subpacket ID 0x15 The response to this packet is Ox8F 15 Command Packet 0x8E 26 Write Configuration to NVS This command packet causes the current configuration settings for all user segments to be written to NVS Note The ThunderBolt E configuration settings are partitioned into functional areas segmen
17. UINT8 6 bit health code 15 16 IODC UINT16 Issue of data clock 17 20 tGD Single L1 L2 correction term 21 24 toc Single Sec 20 4 3 5 25 28 af2 Single Sec 2 4 3 6 29 32 af1 Single Sec 2 4 3 6 33 36 afo Single Sec 2 4 3 6 37 40 SV accuracy Single URA of SV 41 IODE UINT8 Issue of data ephemeris 42 retired 43 46 Crs Single Table 2 5 47 50 Dn Single Table 2 5 51 58 MO Double Table 2 5 59 62 Cuc Single Table 2 5 63 70 e Double Table 2 5 71 74 CUS Single Table 2 5 Trimble ThunderBolt E GPS Disciplined Clock User Guide 55 A Trimble Standard Interface Protocol Byte Item Type Meaning 75 82 sqrt A Double Table 2 5 83 86 toe Single Table 2 5 87 90 Cic Single Table 2 5 91 98 OMEGA 0 Double Table 2 5 99 102 Cis Single Table 2 5 103 110 io Double Table 2 5 111 114 Crc Single Table 2 5 115 122 OMEGA Double Table 2 5 123 126 OMEGADOT Single Table 2 5 127 130 IDOT Single Table 2 5 131 138 Axis Double 139 146 n Double 147 154 r1me2 Double sqrt 1 0 e2 155 162 OMEGA n Double Derived from OMEGA 0 OMEGADOT 163 170 ODOT n Double Derived from OMEGADOT Note All angles are in radians Reference numbers refer to Global Positioning System Standard Positioning Service Signal Specification This specification is currently available in Adobe Acrobat format at www navcen uscg gov pubs gps sigspec Report Packet 0x59 Status of Satellite Disable or Ignore Health This packet is sent in response to command pa
18. allows the I O option states to be set as desired To request the option states without changing them the user sends this packet with no data bytes To change any option states the user includes 4 data bytes with the values The I O options their default states and the byte values for all possible states are shown below These options can be set into non volatile memory with the Ox8E 4C 04 command The GPS receiver returns packet 0x55 The following abbreviations apply e ALT Altitude ECEF Earth centered Earth fixed e XYZ Cartesian coordinates e LLA latitude longitude altitude HAE height above ellipsoid e WGS 84 Earth model ellipsoid e MSL geoid mean sea level Trimble ThunderBolt E GPS Disciplined Clock User Guide 45 A Trimble Standard Interface Protocol e UTC universal coordinated time Byte Data Type Bit Value Meaning Associated Packet 0 Position 0 0 ECEF off 0x42 or 0x83 1 ECEF on 1 0 LLA off Ox4A or 0x84 1 LLA on 2 0 HAE datum Ox4A or 0x84 1 MSL geoid 0 reserved 0 single precision position 0x42 4A 1 double precision position 0x83 84 5 0 Superpacket Ox8F 20 off Ox8F 20 Superpacket Ox8F 20 on Ox8F 20 5 7 0 reserved 1 Velocity 0 0 ECEF off 0x43 1 ECEF on 1 0 ENU off 0x56 1 ENU on 2 7 0 reserved 2 Timing 0 0 GPS time reference 0x42 0x43 0x4A 1 UTC time reference 0x83 0x84 0x56 1 0 Compute fix ASAP 0x42 0x43 Ox4A 1 Compute fix on integer second 0x83 0x84 0x56 2 0 0x37Time of f
19. currently in use and is sent in response to packet 8E 15 If a built in datum is being used both the datum index and the five double precision values for that index are returned If the receiver is operating on a custom user entered datum the datum index is set to 1 and the five values are displayed These five values describe an ellipsoid to convert ECEF XYZ coordinate system into LLA Byte Type Value Description 0 Super Packet ID 14 1 2 Datum index 1 for custom Datum Index 3 10 DOUBLE DX meters 11 18 DOUBLE DY meters 19 26 DOUBLE DZ meters 27 34 DOUBLE A axis meters 35 42 DOUBLE Eccentricity squared none Trimble ThunderBolt E GPS Disciplined Clock User Guide 75 A Trimble Standard Interface Protocol 76 Report Packet Ox8F 41 Stored Manufacturing Operating Parameters This packet is sent in response to a command Ox8E 41 Byte Item Type Value 0 Subcode UINT8 0x41 1 2 Reserved UINT16 3 6 Board serial UINT32 number 7 Year of build UINT8 8 Month of build UINT8 9 Day of build UINT8 10 Hour of build UINT8 11 14 Reserved Single 15 16 Reserved UINT16 Report Packet 0x8F 42 Stored Production Parameters This packet is sent in response to Ox8E 42 Byte Item Type Value 0 Subcode UINT8 0x42 1 Reserved UINT8 2 Reserved UINT8 3 4 Reserved UINT16 5 8 Reserved UINT32 9 12 Reserved UINT32 13 14 Reserved UINT16 15 16 Reserved UINT16 17 18 Reserved UINT16 Report Packet 0x8F 4A Set PPS Char
20. the user time test mode number Time of This field contains the TOW for the user time test mode Week 3 Note For a more detailed description of UTC parameters see GPS SPS Signal Specification Test Mode Setting this field to 3 tells the receiver that the following fields contain the user UTC parameters that are to be used while in test mode 1 A O0 This field is the fractional second offset of GPS from UTC at the reference time in seconds A 1 This field is the rate of change of fractional second offset of GPS from UTC in seconds second delta t LS Current integer leap seconds Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Test mode Data field Description t_ot This field is the reference time of week for the A 0 A 1 parameters WNt This field is the reference week number for the A 0 A 1 parameters WN LSF This field is the week number of a future leap second event DN This field is the day number of a future leap second event delta t LSF This field is the integer number of future leap seconds Command Packet 0x8E A4 Test Mode 0 Data Format Byte Item Type Description 0 Subcode UINT8 0xA4 1 Test Mode UINT8 0 Exit test mode Command Packet 0x8E A4 Test 1 Mode 1Data Format Byte Item Type Description 0 Subcode UINT8 OxA4 1 Test Mode UINT8 1 Set absolute time ignore GPS time 2 3 Week Number UINT16 Week number 0 1023 4 7 Time of Wee
21. uses a DB 9 connector This configuration supports connections to the RS 232 serial port on a computer The pinout functions are as follows Pin Function Signal Protocol oO ON DMN bh uN Not used TxD Transmit out RS 232 RxD Receive in RS 232 Not used Signal ground Not used Not used Not used Not used Power supply and connector The ThunderBolt E starter kit includes a 24 V power supply regulator The module requires a locally supplied 24 VDC Power consumption is 15 Watts cold and 10 Watts steady state Trimble ThunderBolt E GPS Disciplined Clock User Guide 29 3 Hardware Integration 30 Trimble ThunderBolt E GPS Disciplined Clock User Guide CHAPTER Firmware Integration In this chapter This section will help a developer to understand i the structure of the ThunderBolt E firmware m Firmware configuration m Firmware upgrades m Firmware features Trimble ThunderBolt E GPS Disciplined Clock User Guide 31 4 32 Firmware Integration Firmware configuration The ThunderBolt E maintains its configuration parameters in a non volatile memory device EEPROM In the EEPROM related configuration parameters are grouped together and stored in an area known as a segment There are seven user configurable segments Immediately after a reset the ThunderBolt E reads the segment contents from the EEPROM stores a working copy in RAM and then configures itself based on the working copy of t
22. 1 Sub code 0x81 for software component version information report 2 Reserved U8 Any Reserved 3 Major version U8 Any Firmware major version 4 Minor version U8 Any Firmware minor version 5 Build number U8 Any Firmware build number 6 Month U8 1 12 Firmware build month 7 Day U8 1 31 Firmware build day 8 9 Year U16 Any Firmware build year 10 Length of first U8 Any The length of the product name module name L1 11 10 L1 Product name U8 String Product name string in ASCII Trimble ThunderBolt E GPS Disciplined Clock User Guide 41 A Trimble Standard Interface Protocol Command packet 0x1C 03 Hardware component version information e The command packet 0x1C 03 may be issued to obtain the hardware component version information e The report packet is of variable length depending on the length of the hardware ID e The serial number build date fields and the hardware ID are programmed into the ThunderBolt E at production The hardware code is 3007 Byte Item Type Value Definition 0 Packet ID U8 Ox1C Packet ID Ox1C 1 Sub code U8 0x03 Sub code 0x03 for hardware component version information request Report packet 0x1C 83 Hardware component version information Byte Item Type Value Definition 0 Packet ID U8 Ox1C Packet ID Ox1C 1 Sub code U8 0x83 Sub code 0x83 for hardware component version information report 2 5 Serial number U32 Any Board serial number 6 Build day U8 1 31 Day of the
23. 8 Ox8E A8 Recovery mode jam 300 0 ns Ox8E A8 Ox8E A8 Ox8E A8 sync threshold Recovery mode 50 0 ppb Ox8E A8 Ox8E A8 Ox8E A8 maximum frequency offset Packets output at power up After completing its self diagnostics ThunderBolt E automatically outputs packet 0x45 Software version Command packets User to ThunderBolt E The following table summarizes the packets that can be sent to the ThunderBolt E by the user Input ID Packet Description Output ID Ox1C Firmware Hardware versions Ox1C Ox1E Initiate cold warm or factory reset 0x45 after reset Ox1F Request software version 0x45 0x24 Request GPS satellite selection 0x6D 0x25 Initiate hot reset 0x45 after reset 0x26 Request receiver health 0x46 0x4B 0x27 Request signal levels 0x47 0x29 Request Almanac Health 0x49 0x31 Set accurate position XYZ ECEF 0x32 Set accurate position Lat Long Alt Trimble ThunderBolt E GPS Disciplined Clock User Guide 37 A Trimble Standard Interface Protocol Input ID Packet Description Output ID 0x34 Set satellite selection for one satellite mode 0x35 Set request I O options 0x55 0x37 Request status and value of last position and velocity fixes 0x57 and other enabled packets 0x38 Load request satellite system data 0x58 0x39 Set request satellite disable or ignore health 0x59 Ox3A Request last raw measurement 0x5A Ox3B Request ephemeris status Ox5B 0x3C Request current satellite tracking status Ox5C Ox3F 11
24. 8F AC Supplemental timing packet Ox8E AC auto Trimble ThunderBolt E GPS Disciplined Clock User Guide 39 A Trimble Standard Interface Protocol 40 Packet structure TSIP packet structure is the same for both commands and reports The packet format is DLE id data string bytes DLE lt ETX gt Where lt DLE gt is the byte 0x10 e lt ETXs gt is the byte 0x03 e lt id gt is a packet identifier byte which can have any value except lt ETX gt and lt DLE gt The bytes in the data string can have any value To prevent confusion with the frame sequences lt DLE gt lt id gt and lt DLE gt lt ETX gt every lt DLE gt byte in the data string is preceded by an extra lt DLE gt byte stuffing These extra lt DLE gt bytes must be added before sending a packet and removed after receiving the packet A simple lt DLE gt lt ETX gt sequence does not necessarily signify the end of the packet as these can be bytes in the middle of a data string The end of a packet is lt ETX gt preceded by an odd number of lt DLE gt bytes Floating point numbers single double follow the IEEE Standard for Binary Floating Point Arithmetic IEEE 754 Multiple byte numbers integer single and double are sent most significant byte first Note On Intel based little endian machines you must switch the byte order The data types used in TSIP are as follows Data type Description UINT8 An 8 bit unsigned in
25. AC Value Status Antenna Open Antenna Short Q Satellite Tracking O Self Survey Active Stored Position Leap Second Pending Q Test Mode Position Questionable Almanac PPS Generated PPS Good 9 Oscillator Disciplining Q9 Oscillator Control Voltage EEPROM Invalid 2 17 Volts OXBA965 4 To specify the communications port and protocol for your office computer right click in the bottom right ofthe Trimble GPS Monitor screen and then select the required COM port and settings 5 Connect the Bullet antenna to the ThunderBolt E using the provided antenna interface cable 6 Connect the DB 9M serial cable from the ThunderBolt E to DB 9F on your computer 7 Turnon the 24 V DC power source or plug in the AC DC converter and then turn on the power The Tx and Rx in the lower left of the status bar indicate the following Ifthe Tx blinks the computer is transmitting commands to the receiver Ifthe Rx blinks the computer is receiving reports from the receiver Trimble ThunderBolt E GPS Disciplined Clock User Guide Setting up and Running the ThunderBoltE 2 8 The ThunderBolt E automatically begins its self survey When this is complete and the receiver achieves a position fix the following information appears in the software position time satellites tracked GPS receiver status Note The receiver sends a health report every few seconds even if satellites are not b
26. ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION PRODUCTION INSTALLATION OR DISTRIBUTION INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TITLE AND NONINFRINGEMENT THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF ORIN CONNECTION WITH ANY PRODUCT BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY THE ABOVE LIMITATION MAY NOT APPLY OR FULLY APPLY TO YOU Limitation of Liability TRIMBLE S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGE WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANYWAY TO THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS INCLUDING WITHOUT LIMITATION DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF DATA OR ANY OTHER PECUNIARY LOSS REGARDLESS OF WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAG
27. Bolt E using TSIP commands until the required operation is achieved 2 Use command Ox8E 4C to store the settings in non volatile memory except for position which is saved or deleted with packet 0x8E A6 These settings will control ThunderBolt E operations whenever it is cold reset or power cycled The following tables illustrate how the user configurable data is mapped Factory default settings segment 3 Parameter Factory Default Set Request Report Receiver mode 4 Full Position 3D OxBB OxBB OxBB Dynamics code 1 Land OxBB OxBB OxBB Elevation mask 0 175 radians 10 deg OxBB OxBB OxBB Signal level mask 4 AMU OxBB OxBB OxBB PDOP mask 12 OxBB OxBB OxBB PDOP switch 6 OxBB OxBB OxBB Foliage mode 1 Sometimes OxBB OxBB OxBB Trimble ThunderBolt E GPS Disciplined Clock User Guide 35 A Trimble Standard Interface Protocol Packet 1 0 control segment 4 Parameter Factory Default Set Request Report Packet broadcast mask Mask 0 0x05 Ox8E A5 Ox8E A5 Ox8E A5 Mask 1 0x00 Packet 0x35 data Position Byte 0 0x12 0x35 0x35 0x35 Velocity Byte 1 0x02 0x35 0x35 0x35 Timing Byte 2 0x00 0x35 0x35 0x35 Auxiliary Byte 3 0x00 0x35 0x35 0x35 Datum 0 WGS 84 Ox8E 15 Ox8E 15 Ox8E 15 Serial port configuration segment 5 Parameter Factory Default Set Request Report Input baud rate 7 9600 baud OxBC OxBC OxBC Output baud rate 7 9600 baud OxBC OxBC OxBC Data bits 3 8 bits OxBC OxBC OxBC Parity 0 none OxBC OxBC O
28. Description 0 Subcode UINT8 0xA8 1 Type UINT8 2 recovery mode parameters 2 5 Jam Sync Threshold Single nanoseconds 6 9 Maximum Frequency Offset Single ppb parts per billion or 1x10 9 Command Packet 0x8E A8 Type 3 Data Format Byte Item Type Description 0 Subcode UINT8 OxA8 1 Type UINT8 3 initial DAC voltage 2 5 Initial DAC voltage Single Volts Command Packet 0x8E A9 Self Survey Parameters Use command packet 8E A9 to set the self survey parameters or to request the current settings The receiver replies to requests with response packet 8F A9 Data field Description Self Survey Enable Use this field to enabled or disabled the self survey mechanism 0 Disable the self survey mechanism 1 Enable the self survey mechanism Position Save Flag Use this field to tell the self survey mechanism to automatically save or to not save the self surveyed position at the end of the self survey procedure This flag also determines how the The receiver will respond to the saved position it is using for Over Determined Clock Mode when the position appears questionable i e if the position may off by a large amount If the flag is set to 0 then a questionable position will be flagged in packet Ox8F AC If the flag is set to 1 then a questionable position will automatically be deleted 0 Don t automatically save the surveyed position when self survey is complete 1 Automatically save the surveyed position when self su
29. ES THE ABOVE LIMITATION MAY NOT APPLY TO YOU PLEASE NOTE THE ABOVE TRIMBLE LIMITED WARRANTY PROVISIONS WILL NOT APPLY TO PRODUCTS PURCHASED IN THOSE JURISDICTIONS E G MEMBER STATES OF THE EUROPEAN ECONOMIC AREA IN WHICH PRODUCT WARRANTIES ARE THE RESPONSIBILITY OF THE LOCAL TRIMBLE AUTHORIZED DEALER FROM WHOM THE PRODUCTS ARE ACQUIRED IN SUCH A CASE PLEASE CONTACT YOUR LOCAL TRIMBLE AUTHORIZED DEALER FOR APPLICABLE WARRANTY INFORMATION Official Language THE OFFICIAL LANGUAGE OF THESE TERMS AND CONDITIONS IS ENGLISH IN THE EVENT OF A CONFLICT BETWEEN ENGLISH AND OTHER LANGUAGE VERSIONS THE ENGLISH LANGUAGE SHALL CONTROL Notices Class B Statement Notice to Users This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 ofthe FCC rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communication However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more ofthe following mea
30. The factory default is zero Trimble ThunderBolt E GPS Disciplined Clock User Guide 17 2 18 Setting up and Running the ThunderBolt E Timing information Packet 0x8F AB primary timing information and packet Ox8F AC supplemental timing information contain most of the information that you need to monitor the ThunderBolt E In the default configuration these packets are broadcast once per second Elevation Mask This is the minimum elevation angle for satellites that is used in a solution output by the receiver see Command Packet OxBB Set Receiver Configuration page 62 Satellites that are near the horizon are typically more difficult to track due to signal attenuation and are generally less accurate due to higher variability in the ionospheric and tropospheric corruption of the signal When there are no obstructions the receiver can generally track a satellite to near the horizon However when this mask is set too low the receiver may experience frequent constellation switching due to low elevation satellites being obscured Frequent constellation switching is associated with undesirable timing jumps If the mask setting is too high it may reject good satellites The current mask is set to ten degrees and provides a reasonable trade off between the benefits and drawbacks Signal Level Mask This mask defines the minimum signal strength for a satellite used in a solution There is some internal hysteresis on this threshold
31. USER GUIDE Trimble ThunderBolt E GPS Disciplined Clock The right one Trimble USER GUIDE Trimble ThunderBolt E GPS Disciplined Clock Version 1 0 Revision A Part Number 64057 00 ENG August 2007 Trimble Corporate Office Trimble Navigation Limited Advanced Devices Group 935 Stewart Drive Sunnyvale CA 94085 USA 1 800 787 4225 toll free in USA 1 408 481 7741 timing trimble com www trimble com Legal Notices Copyright and Trademarks 1998 2007 Trimble Navigation Limited Trimble the Globe amp Triangle logo and ThunderBolt are trademarks of Trimble Navigation Limited registered in the United States and in other countries Bullet and The right one logo are trademarks of Trimble Navigation Limited Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries All other trademarks are the property of their respective owners Release Notice This is the August 2007 release Revision A of the Trimble ThunderBolt E GPS Disciplined Clock User Guide part number 64057 00 ENG Please see the website for updated part number information Product Limited Warranty Information For applicable product Limited Warranty information please consult your local Trimble authorized sales manager For applicable product Limited Warranty information please refer to Legal Notices in the Help for this product or co
32. User Guide Trimble Standard Interface Protocol A Output ID Packet Description Input ID 0x47 Signal level for all satellites 0x27 auto 0x49 Almanac health 0x29 Ox4A Single precision LLA position 0x37 auto 0x4B Receiver health 0x26 auto 0x55 I O options 0x35 0x56 Velocity fix ENU 0x37 auto 0x57 Information about last computed fix 0x37 0x58 GPS system data acknowledge 0x38 0x59 Sat enable disable amp health flag 0x39 Ox5A Raw measurement data 0x3A Ox5B Ephemeris status 0x3B 0x5C Satellite tracking status 0x3C Ox5F 11 EEPROM segment status Ox3F 11 0x6D Satellite selection list 0x24 auto 0x83 Double precision XYZ 0x37 auto 0x84 Double precision LLA 0x37 auto 0x70 Filter configuration 0x70 OxBB Receiver configuration OxBB OxBC Serial port configuration OxBC Ox8F 15 Current datum values Ox8E 15 Ox8F 41 Stored manufacturing operating parameters Ox8E 41 Ox8F 42 Stored production parameters Ox8E 42 Ox8F 45 Configuration parameters set to factory defaults Ox8F 45 Ox8F 4A PPS characteristics Ox8E 4A Ox8F 4C Configuration segment saved to NVS Ox8F AC Ox8F 4E PPS output option Ox8E 4E 0x8F A0 DAC setting 0x8E A0 Ox8F A2 UTC GPS timing Ox8E A2 Ox8F A3 Oscillator disciplining command Ox8E A3 0x8F A4 Test modes Ox8E A4 Ox8F A5 Packet broadcast mask Ox8E A5 Ox8F A6 Self survey command Ox8E A6 Ox8F A8 Oscillator disciplining parameters Ox8E A8 Ox8F A9 Self survey parameters Ox8E A9 Ox8F AB Primary timing packet Ox8E AB auto Ox
33. acteristics This is sent in response to a query by packet 0x8E 4A See the corresponding command packet for information about the data format Report Packet 0x8F 4E PPS Output This report packet is output after the command packet 8E 4E has been executed See the corresponding command packet for information about the data format Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Report Packet 0x8F A0 DAC Value This packet is sent in response to packet 0x8E A0 Data field Description DAC Value The current numeric value of the DAC DAC Voltage The current output voltage of the DAC in Volts DAC Resolution The number of bits used in the DAC DAC Data Format The format of the DAC value Minimum DAC Voltage The minimum most negative voltage that the DAC can produce Maximum DAC Voltage The maximum most positive voltage that the DAC can produce Report Packet 0x8F A0 Data Format Byte Item Type Value Description 0 Subcode UINT8 OxAO 1 4 DAC Value UINT32 Value 5 8 DAC Voltage Single Volts 9 DAC Resolution UINT8 Number of bits 10 DAC data format UINT8 0 Offset binary 2 s complement 11 14 Min DAC voltage Single Volts 15 18 Max DAC voltage Single Volts Report Packet Ox8F A2 UTC GPS Timing This packet is sent in response to command packet Ox8E A2 See the corresponding command packet for information about the data format Report Packet 0x8F A3 Oscil
34. almanac which satisfy all mask values This packet allows overriding the internal logic and forces the receiver to either unconditionally disable a particular satellite or to ignore a bad health flag The GPS receiver returns packet 0x59 if operation 3 or 6 is requested otherwise there is no reply It should be noted that when viewing the satellite disables list the satellites are not numbered but are in numerical order The disabled satellites are signified by a 1 and enabled satellites are signified by a 0 Byte Item Type Value Meaning 0 Operation UINT8 1 Enable satellite default 2 Disable satellite 3 Request enable disable status of all 32 satellites 4 Heed health default Ignore health 6 Request heed or ignore health on all 32 satellites 1 Sat PRN UINT8 0 All 32 satellites 1 32 Any one satellite PRN number Note At power on and after a reset the default values are set for all satellites CAUTION Improperly ignoring health can cause the GPS receiver software to lock up as an unhealthy satellite may contain defective data Use extreme caution in ignoring satellite health Trimble ThunderBolt E GPS Disciplined Clock User Guide 47 48 Trimble Standard Interface Protocol Command Packet 0x3A Request Last Raw Measurement This packet requests the most recent raw measurement data for one specified satellite The GPS receiver returns packet 0x5A if data is available Byte Item Type Value Meaning 0 Satel
35. an customize the ThunderBolt E using the Trimble binary interface TSIP Trimble Standard Interface Protocol For more information see Appendix A Trimble Standard Interface Protocol Features Hardware features e Asingle printed circuit board containing A quality ovenized oscillator Al2 channel GPS receiver Control circuitry e Easy integration with the Trimble Bullet antenna e Easy calibration for different cable lengths e Output IOMHz reference signal output via BNC connector 1 PPS output with an Over determined solution synchronized to GPS or UTC time Interface protocols The ThunderBolt E uses the Trimble Standard Interface Protocol TSIP This is a binary packet protocol that allows the system designer maximum configuration control over the GPS receiver for optimum performance in timing applications TSIP 10 Trimble ThunderBolt E GPS Disciplined Clock User Guide Introduction 1 supports multiple commands and their associated response packets for use in configuring the ThunderBolt E to meet your requirements See Appendix A Trimble Standard Interface Protocol Standard timing software features e Automatic self survey e Signal integrity through a Time Receiver Autonomous Integrity Monitor T RAIM algorithm Starter kit The ThunderBolt E Starter Kit contains all the components required for evaluating and engineering purposes and is quick and easy to install with your 24 V power source It is a high p
36. ard timing software features 2l 11 Starter kits PEEL e a ee we A a i e wee 11 Us andc t iii ae aa dea 11 Technical assistance ue a GRA A RU Eucbu a de em od 11 YOUN COMMENTS orcas e a E Sa E P REA OE EG RE 11 2 Setting up and Running the ThunderBoltE 13 System requirements ui a ar a a 14 Hardware x eee E uo dia Seeley eode an CE ROS dece DU Re a wa 14 Gomputer uao de MEMS DOS Pug whee Oe SEM Oe We s 14 System SoftWare gie s a eo a edb as RO RRO a diede ee ER do poe a 14 Installing and using the software 15 Trimble GPS Monitor ss sx 4 sacha e ia te dog ea Weed de wo WE led ad 15 TOP 2 25 adeo TAGS eon 2 Rr ded eho wh ROSES eee EEG eh eee 17 ThunderBoltEstarterkit 2 ro rn eee a 20 Setting up the ThunderBolt E LL 21 3 Hardware Integration na 23 ThunderBolt E system architecture 24 ThunderBolt Emodul rors sabii w sor er hh ao m Rh no hk e m Rs 24 Environmentalspecifications llle 24 Performance specifications 24 Physical characteristics sses ceses Rp ee EE ea xs 25 Bullet antenna specifications cer 27 Physical characteristics oss 2 bebe ed uos SA ok RR Ras n de 27 Environmental specifications lees 27 Antenna Cable ui go te sie ek da cde Go ee ate e e ole A dere x Rcs 27 T O connector pih SOUL s oro OE d aka eee LES uod Age Fete eur qaae de ele abd 29 Power supply and connector 2e eee rs 29 Trimble ThunderBolt E GPS Discipl
37. begin acquiring satellites in less than 60 seconds as shown in the Trimble GPS Monitor software on your computer Trimble ThunderBolt E GPS Disciplined Clock User Guide 21 2 Setting up and Running the ThunderBolt E Once the ThunderBolt E has warmed up and acquired satellites it performs a self survey If at least one satellite is currently available it will output 1 PPS and 10 MHz data to the Trimble GPS Monitor software see page 15 The complete process can take an hour Overall performance will improve after several days of continuous operation 1 PPS and 10 MHz is not synchronized with GPS until the unit enters Over Determined Clock mode 22 Trimble ThunderBolt E GPS Disciplined Clock User Guide CHAPTER Hardware Integration In this chapter ThunderBolt E system architecture ThunderBolt E module Bullet antenna specifications Antenna cable I O connector pin out Power supply and connector The setup procedures for the ThunderBolt E GPS disciplined clock are described in Setting up the ThunderBolt E page 21 This chapter describes the hardware components to assist you when you integrate the ThunderBolt E into a system Trimble ThunderBolt E GPS Disciplined Clock User Guide 23 3 Hardware Integration ThunderBolt E system architecture GPS receiver GPS data CPU and support electronics circuitry 10 MHz clock 10 MHz OCXO Control voltage Digital to Analog lt converter
38. ble www trimble com
39. board s build date 7 Build month U8 1 12 Month of the board s build date 8 9 Build year U16 Any Year of the board s build date 10 Build hour U8 0 23 Hour of the board s build date 11 12 Hardware code U16 Any Hardware code associated with the hardware ID 13 Length of U8 Any The length of the hardware ID L hardware ID 14 13 L Hardware ID U8 String Hardware ID string in ASCII 42 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Command Packet 0x1E Initiate Cold Warm or Factory Reset This packet commands receiver to perform either a cold reset warm reset or a factory reset A cold reset will clear the GPS data almanac ephemeris etc stored in RAM and is equivalent to a power cycle A factory reset will additionally restore the factory defaults of all configuration parameters stored in flash memory A warm reset clears ephemeris and oscillator uncertainty but retains the last position time and almanac This packet contains one data byte The data format is shown below Byte Item Type Value Meaning 0 Reset UINT8 Ox4B Cold reset OxOE Warm reset 0x46 Factory reset Note The factory reset command will delete the stored position and cause a self survey to restart Command Packet 0x1F Request Software Version This packet requests information about the version of software in ThunderBolt E This packet contains no data The requested data is returned in packet 0x45
40. ce per second GPS week number GPS time of week TOW UTC integer offset time flags date and time of day TOD information is provided This packet can be requested or enabled for automatic broadcast once per second If enabled this packet will be transmitted shortly after the PPS pulse to which it refers Data field Description Time of Week This field represents the number of seconds since Sunday at 00 00 00 GPS time for the current GPS week Time of week is often abbreviated as TOW Week Number This field represents the current GPS week number GPS week number 0 started on January 6 1980 UTC Offset This field represents the current integer leap second offset between GPS and UTC according to the relationship Time UTC 2 Time GPS UTC Offset The UTC offset information is reported to the receiver by the GPS system and can take up to 12 5 minutes to obtain Before the receiver has received UTC information from the GPS system it is only capable of representing time in the GPS time scale and the UTC offset will be shown as 0 Timing Flags This field is bitwise encoded to provide information about the timing outputs Unused bits are should be ignored e Bit 0 When 0 the date and time fields broadcast in packet 8F AB are in the GPS time scale When 1 these fields are in the UTC time scale and are adjusted for leap seconds Use command packet 8E A2 to select either GPS or UTC time scales e Bit 1 When 0 the PPS output i
41. ceiver is currently configured for The receiver spends most of its time in the Over Determined Clock Mode where it uses all available satellites to perform the best time only fix possible See packet OxBB for a description of all available receiver modes When a self survey procedure is in progress this field shows the progress of the survey as a percentage of fixes collected so far The self survey will be complete when the self survey progress reaches 100 percent This field only has meaning while a self survey is in progress When in the Manual or Auto Holdover state this field shows the amount of time spent in holdover in seconds When the unit is not in a holdover state this field shows the amount of time the receiver spent the last time it was in a holdover state This field is bitwise encoded with critical alarms indicators A critical alarm indicates a condition that would tend to severely impair the function of the receiver For each bit a value of 0 means that the condition is not indicated Bits not described below should be ignored Bit4 When 1 indicates that the oscillator control voltage is at a rail If this condition persists then the Min T can no longer bring the frequency of the oscillator into alignment with GPS and is most likely in need of a new oscillator This condition should not occur within 15 years of operation This field is bitwise encoded with several minor alarm indicators A minor alarm indicates a conditio
42. chased the Product from an authorized Trimble dealer rather than from Trimble directly Trimble may at its option forward the software Fix to the Trimble dealer for final distribution to you Minor Updates Major Upgrades new products or substantially new software releases as identified by Trimble are expressly excluded from this update process and limited warranty Receipt of software Fixes or other enhancements shall not serve to extend the limited warranty period For purposes of this warranty the following definitions shall apply 1 Fix es means an error correction or other update created to fix a previous software version that does not substantially conform to its Trimble specifications 2 Minor Update occurs when enhancements are made to current features in a software program and 3 Major Upgrade occurs when significant new features are added to software or when a new product containing new features replaces the further development of a current product line Trimble reserves the right to determine in its sole discretion what constitutes a Fix Minor Update or Major Upgrade Warranty Remedies Ifthe Trimble Product fails during the warranty period for reasons covered by this limited warranty and you notify Trimble of such failure during the warranty period Trimble will repair OR replace the 2 Trimble ThunderBolt E GPS Disciplined Clock User Guide nonconforming Product with new equivalent to new or reco
43. cket 0x39 Byte Item 0 Operation 1to32 Sat PRN Type UINT8 3 6 UINT8 1 0 per SV Value Meaning The remaining bytes tell whether the receiver has enabled each satellite for selection The remaining bytes tell whether the receiver heeds or ignores each satellite s health as a criterion for selection Enable satellite selection or heed satellite s health Disable satellite selection or ignore satellite s health Report Packet 0x5A Raw Data Measurement Data Packet 0x5A provides raw GPS measurement data This packet is sent in response to packet 0x3A or automatically ifenabled with packet 0x35 Byte Item Type Units 0 SV PRN number UINT8 1 4 Sample length Single milliseconds 5 8 Signal level Single AMU or dB Hz 56 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Byte Item Type Units 9 12 Code phase Single 1 16th chip 13 16 Doppler Single Hertz L1 17 24 Time of measurement Double seconds Note The sample length is the number of milliseconds over which the sample was averaged Note The code phase value is the average delay over the sample interval of the received C A code and is measured with respect to the receiver s millisecond timing reference Report Packet 0x5B Satellite Ephemeris Status Packet 0x5B provides satellite ephemeris status This packet is sent in response to packet Ox3B Byte Item Type Units 0 SV PRN
44. e supplied or specified by Trimble ii the operation of the Product under any specification other than or in addition to Trimble s standard specifications for its products iii the unauthorized installation modification or use of the Product iv damage caused by accident lightning or other electrical discharge fresh or salt water immersion or spray outside of Product specifications or exposure to environmental conditions for which the Product is not intended v normal wear and tear on consumable parts e g batteries or vi cosmetic damage Trimble does not warrant or guarantee the results obtained through the use of the Product or that software components will operate error free NOTICE REGARDING PRODUCTS EQUIPPED WITH TECHNOLOGY CAPABLE OF TRACKING SATELLITE SIGNALS FROM SATELLITE BASED AUGMENTATION SYSTEMS SBAS WAAS EGNOS AND MSAS OMNISTAR GPS MODERNIZED GPS OR GLONASS SATELLITES OR FROM IALA BEACON SOURCES TRIMBLE IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE BASED POSITIONING SYSTEM OR THE AVAILABILITY OF ANY SATELLITE BASED POSITIONING SIGNALS THE FOREGOING LIMITED WARRANTY TERMS STATE TRIMBLE S ENTIRE LIABILITY AND YOUR EXCLUSIVE REMEDIES RELATING TO THE TRIMBLE PRODUCT EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN THE PRODUCT AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED AS IS AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE OR
45. e module dimensions of the ThunderBolt E are shown overleaf CAUTION When permanently mounting the ThunderBolt E onto a plate you must consider the length of the screw and the thickness of plate so that you do not protrude into the ThunderBolt E and potentially damage the electronics Trimble ThunderBolt E GPS Disciplined Clock User Guide 25 Hardware Integration 3 T x o 3 V SW XX EEEUO9 3113 MAIS uag vds bau apy Bupunoy 000000 0000000 ThunderBolt E mechanical specification Figure 3 1 Trimble ThunderBolt E GPS Disciplined Clock User Guide 26 Hardware Integration 3 Bullet antenna specifications To download full specifications of the Bullet antenna as well as ordering information please go to the Trimble website Physical characteristics Dimensions 77 5 mm diameter x 66 2 mm height 3 05 x 2 61 Bullet enclosure Textured off white plastic Antenna weight 170 grams 6 oz Connector F type or TNC Mount 1 14 thread or 3 4 pipe thread Note The Bullet III mounting thread is a 3 4 NPT thread dimensions in accordance with ANSI ASME B1 20 1 It is compatible with tapered threads in accordance with DIN EN 10226 which is the same as ISO 7 1 DIN 2999 BSP 21 JIS B0203 It is not compatible with straight threads in accordance with ISO 228 1 Environmental specifications Operating temperature 40 C to 85 C 40 F to 185 F Storage temperature 40 C to 100
46. e to this packet Byte Item Type Value Meaning 0 Subcode UINT8 OxA6 1 Self survey UINT8 0 Restart self survey command 1 Save position to flash 2 Delete position from flash Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Command Packet 0x8E A8 Set or Request Disciplining Parameters This packet allows the user to change key disciplining parameters in the receiver It is usually intended to be used only when instructed by the factory Incorrect use of this packet will most likely cause timing outputs to be degraded severely However the Type 2 Recovery Mode parameters are intended to be set by the user to suit the application Send this packet with the type field only to request the current settings The receiver replies to sets and requests with the packet Ox8F A8 Type Data field Description 0 Type A zero in this field indicates that the packet contains loop dynamics information Time Constant This field carries the time constant of the disciplining control loop Damping Factor This field carries the damping of the disciplining control loop 1 Type A 1 in this field indicates that the packet contains 10MHz oscillator parameters EXCO Constant This field carries the OCXO constant into Hz Volt The receiver determines this value automatically during a calibration step run during the Power Up mode following a reset or power cycle This value is therefore ignored b
47. econd 1 PPS and a stable 10 MHz frequency output source for output to synchronize and time broadband wireless cellular base stations Time Difference of Arrival TDOA applications and many other Supervisory and Data Acquisition SCADA applications For more information on GPS go to http www trimble com gps index shtml Trimble ThunderBolt E GPS Disciplined Clock User Guide 9 1 Introduction Operation The ThunderBolt E GPS disciplined clock provides time and frequency through a 12 channel GPS receiver and a high quality ovenized quartz oscillator integrated onto a single printed circuit board Tightly integrating GPS into the clock design eliminates the need for a separate GPS receiver This results in better reliability a smaller size and a cost advantage The board in the ThunderBolt E consists of one board with GPS and a 24 V power supply regulator This power supply regulator ensures clean robust power to the GPS The board can support several different oscillators for applications having stringent holdover requirements The ThunderBolt E is ready to use out of the box for most applications When a 24 VDC power source is applied the ThunderBolt E will begin to track satellites four satellites are required to begin the self survey process At the same time the oscillator will come up to operating temperature and stabilize outputting the 1 PPS and reference frequency To get the most from your time reference you c
48. eing tracked Data fields If the Trimble GPS Monitor program displays a question mark in a data field the receiver has not reported a status for this field If the question mark stays in place the GPS module may not be communicating with the computer Check the interface cable connections and verify that the serial port selection and settings are set to 9600 baud no parity 8 bit and 1 stop start bit If the communication fails call the Trimble Technical Assistance Center TAC at 1 800 767 4822 Receiver COM port settings Packet OxBC sets the ThunderBolt E GPS port characteristics To change the receiver port and then set or request the Input Output baud rate data bits parity stop bits and flow control parameters select Configure Receiver Configuration Port Configuration dialog TSIP The Trimble Standard Interface Protocol TSIP consists of command packets and report packets The basic features that are described here include some ofthe more commonly used commands and reports For a complete description of TSIP see Appendix A Trimble Standard Interface Protocol Note You do not need the packet number when you use the Windows Control Program Cable delay compensation Packet Ox8E 4A enables you to delay or advance the 1 PPS This may be required to compensate for along cable run Negative values advance the 1 PPS and compensate for cable delay The 10 MHz and 1 PPS output will remain synchronized Note
49. erBolt E GPS Disciplined Clock User Guide 49 A Trimble Standard Interface Protocol Note Bytes 0 through 4 are part of the application layer of the firmware while bytes 5 through 9 are part of the GPS core layer of the firmware Report Packet 0x46 Receiver Health This packet provides receiver health status The receiver sends this packet in response to packet 0x26 Byte Item Type Value Meaning 0 SV Fix Status bit field 0x00 Doing fixes 0x01 Do not have GPS time yet 0x03 PDOP too high Ox0C Bad 1 SV 0x08 No usable SV s 0x09 Only 1 usable SV Ox0A Only 2 usable SVs 0x0B Only 3 usable SVs OxBB Over Determined Clock mode 1 Antenna Fault bit field Bit 0 0 if Warm start 1 otherwise unused status Bits 1 3 0000 no fault Bits 4 7 0001 antenna circuit open 0011 antenna circuit short Report Packet 0x47 Signals Levels for Tracked Satellites This packet provides received signal levels for all satellites currently being tracked or on which tracking is being attempted i e above the elevation mask and healthy according to the almanac The receiver sends this packet in response to packet 0x27 or automatically as listed in the Automatic Output Packets section The data format is shown below Up to 12 satellite number signal level pairs may be sent as indicated by the count field Signal level is normally positive If it is zero then that satellite has not yet been acquired If it is negative then that satellite is not current
50. erBolt E GPS disciplined clock WARNING Using an incorrect AC adaptor can damage your product and may void your warranty To use AC adaptors safely Use only the AC adaptor intended for the ThunderBolt E Using any other AC adaptor can damage your product and may void your warranty Do not use the AC adaptor with any other product Make certain that the input voltage on the adaptor matches the voltage and frequency in your location Make certain that the adaptor has prongs compatible with your outlets AC adaptors are designed for indoor use only Avoid using the AC adaptor in wet outdoor areas Unplug the AC adaptor from power when not in use Do not short the output connector There are no user serviceable parts in this product Should damage to the AC adaptor occur replace it with a new Trimble AC adaptor Trimble ThunderBolt E GPS Disciplined Clock User Guide Contents Safety Information sicura a A we RR 5 Warnings and Cautions 2 2 eere o m re ee de y ee 5 Operation and Storage nic i sace og koe deo ORA Re o Dee DECR Ye e ey 5 Routing any Cables iuh A RA Ra mess bum e RUE RE RA Ow RE s 5 AC adaptor safety iii iii ca esd bobo crece a dee dod sa Pe ge Dg aha ead dud 6 1 lp opo iii AAA 9 Operaio vigore eee O E a 10 Features is i poveri DA e tone nbo SOR Eee E a SPP seed 10 Hardware eatures 400 2 10 s eg ra e i Ara ew 10 Interface protocols ac ead iaia d die oe ORs a eu e dus 10 Stand
51. erformance cost effective reference time source that uses GPS technology to precisely synchronize computers servers and Internet applications See Setting up the ThunderBolt E page 21 Use and care The ThunderBolt E is a high precision electronic instrument and should be treated with reasonable care If a problem arises with the unit an amber indication appears in the monitor program under Minor Alarms Contact Trimble for technical direction and repair Note Not every Minor Alarm indicates a problem C CAUTION There are no user serviceable parts inside the ThunderBolt E and any modification to the unit by the user voids the warranty Technical assistance If you have a problem and cannot find the information you need in the product documentation contact the Trimble Technical Assistance Center at 800 767 4822 or email timing trimble com Your comments Your feedback about the supporting documentation helps us to improve it with each revision Email your comment to techpubs trimble co nz Trimble ThunderBolt E GPS Disciplined Clock User Guide 11 1 Introduction 12 Trimble ThunderBolt E GPS Disciplined Clock User Guide CHAPTER Setting up and Running the ThunderBolt E In this chapter System requirements Installing and using the software ThunderBolt E starter kit Setting up the ThunderBolt E Trimble recommends that you install the Trimble GPS Monitor software before setting up the ThunderBolt E GPS discipl
52. et 0x24 or automatically The data format is shown below Byte Bit Item Type Value Meaning 0 0 2 fix dimension bit field 1 1D clock fix 3 2D fix 4 3D fix 5 OD clock fix 3 fix mode bit field 0 Auto 1 Manual 4 7 Number of SVs in fix bit field 0 12 Count 1 4 PDOP Single PDOP 5 8 HDOP Single HDOP Trimble ThunderBolt E GPS Disciplined Clock User Guide 59 A Trimble Standard Interface Protocol Byte Bit Item Type Value Meaning 9 12 VDOP Single VDOP 13 16 TDOP Single TDOP 17 n SV PRN SINT8 1 32 PRN Command Packet 0x70 Filter Configuration This packet provides control for the available filters The PV filter smoothes position data when the antenna is moving and attempts to reduce the effects of position disturbances which include reflected signals and small outages of DGPS corrections Command Packet 0x70 enables or disables the P V Filter Static Filter Altitude Filter Kalman filter Filter selection is restricted by the following e The PV filter must be turned on before the Static Filter can operate The Kalman filter takes precedence i e enabling the Kalman filter will disable the PV Static and Altitude filters To request the filter operation state send Command Packet 0x70 with no data bytes Byte Item Type Value Meaning 0 PV filter UINT8 0 Off 1 On 1 Static filter UINT8 0 Off 1 On 2 Altitude filter UINT8 0 Off 1 On 3 Kalman filter UINT8 0 Off 1 On Report Packet 0x70 Filter Configuratio
53. gle meters 12 15 Clock Bias Single meters 16 19 Time of fix Single seconds The LLA conversion is done according to the datum selected using packet Ox8E 15 The default is WGS 84 Altitude is referred to the datum or the MSL Geoid depending on which I O LLA altitude option is selected with packet 0x35 The time of fix is in GPS time or UTC depending on which I O timing option is selected CAUTION When converting from radians to degrees significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant p pi The value of a constant p as specified in ICD GPS 200 is 3 1415926535898 CAUTION The MSL option is only valid with the WGS 84 datum When using other datums only the HAE option is valid Trimble ThunderBolt E GPS Disciplined Clock User Guide 51 A Trimble Standard Interface Protocol 52 Report Packet 0x4B Receiver Health This packet provides receiver health status Byte Item Type Value Meaning 0 Machine ID UINT8 96 Receiver Machine ID 1 RTC Time validity Bit pattern Bit 1 0 RTC time valid 1 RTC time not valid Bit 3 0 Almanac not complete 1 Almanac collection complete 2 TSIP Superpacket UNIT8 1 Superpackets supported support 0 Superpackets not supported Report Packet 0x55 I O Options This packet provides the current I O option states in response to packet 0x35 request The data format is the same as for packet 0x35 see Command Pac
54. he segments You can do the following e To modify the contents of the working copy use the Set command packets e To read the working copies of the segments issue the Request command packet and wait for the Report packet response When you alter a parameter the ThunderBolt E reconfigures but the contents ofthe EEPROM are not changed automatically The ThunderBolt E has two command packets that can control the contents of the segments stored in EEPROM e Command packet 0x8E 4C enables you to save the contents of any or all working copies of the segments to EEPROM e Command packet 0x8E 45 enables you to set the contents of any or all the segments stored in EEPROM to the factory default Firmware upgrades When firmware upgrades are available Trimble will provide software and instructions for installation on the Trimble website at www trimble com timing Firmware features The firmware includes e Kalman filtering for better performance during holdover 1 PPS calibrated to the USNO master clock for a more accurate out of box performance e New position integrity monitor that warns you if the receiver is using an incorrect position e User selectable recovery algorithm that enables you to define how the clock will recover from holdover e Silent TSIP options that enables you to choose which packets if any are to be reported Trimble ThunderBolt E GPS Disciplined Clock User Guide APPENDIX T
55. hunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Broadcast Description Masking Request When Sent Packet ID Packet ID Packet ID 0x83 Position XYZ ECEF double 0x35 and 0x37 When a position fix is precision Ox8E A5 bit 6 computed 0x84 Position LLA double precision 0x35 and 0x37 When a position fix is 0x8E A5 bit 6 computed Ox8F AB Primary timing packet Ox8E A5 bit 0 Ox8E AB Once per second Ox8F AC Secondary timing packet Ox8E A5 bit 2 Ox8E AC Once per second Customizing operations parameters Thunderbolt E provides a number of user configurable parameters that enables the user to customize its operation These parameters are stored in NVS memory to be retained during loss of power and through resets At reset or power up ThunderBolt E configures itself based on the parameters stored in NVS The user can change the values of these parameters to achieve the desired operation using a variety of TSIP packets ThunderBolt E configures itself based upon the new parameters immediately but the new parameter is not automatically saved to NVS The user must direct ThunderBolt E to save the parameters to NVS This is done by sending packet Ox8E 4C with the ID ofthe segment containing the changed parameter Users can also direct ThunderBolt E to set the parameter values for a specified segment to their factory defaults by sending packet Ox8E 45 To customize ThunderBolt E output 1 Setup Thunder
56. ined Clock User Guide 7 Contents Firmware Integration 0 0 ee na 31 Firmware configuration 1 eee res 32 Firmware Upgrades s cio tt ego aoe ohm e Pan a ba ed bah Eo eee el d 32 Firmware features nace m ila os a ea Cae RT eee ote ee t de ee n 32 Trimble Standard Interface Protocol 33 InttoductiOlhass2aaG 484 46 ebb etgaee dad pae Ae PNG a eed e Be 34 Interface SCOPE rsa uh hae ch aR A accede a EAA a Ae ek Ge A ace ds 34 Automatic output packets LL 34 Customizing operations parameters LL 35 Packets output at power up o 37 Command packets User to ThunderBolt E 37 Report packets ThunderBolt E to User LL 38 Packet Structure iii i RR pei da e a See bee a eA 40 Packet descriptions aps ai ae a alas ede AA A cast ce ere 41 Packet descriptions used in run mode o oo ooo 4 TTSIP Superpackets z i i reu dee deb cic Rod hh dob cce om Oca ote didis 64 Trimble ThunderBolt E GPS Disciplined Clock User Guide Introduction In this chapter Operation Features Starter kit Use and care Technical assistance Technical assistance Your comments CHAPTER Welcome to the Trimble ThunderBolt E GPS Disciplined Clock User Guide The user guide describes how to install set up and use the Trimble ThunderBolt E GPS disciplined clock ThunderBolt E The ThunderBolt E integrates the latest GPS technology into a rugged self contained unit It provides an accurate one pulse per s
57. ined clock This enables you to monitor the acquisition of satellites once you start up the GPS antenna A starter kit is available for testing evaluation and engineering purposes This section describes the components of the starter kit and how to set it up The hardware integration is described in Chapter 3 Hardware Integration Trimble ThunderBolt E GPS Disciplined Clock User Guide 13 2 Setting up and Running the ThunderBolt E System requirements Hardware e For evaluation or engineering purposes The Trimble ThunderBolt E GPS disciplined clock starter kit see page 20 User provided connectors and extension cords to connect the ThunderBolt E module to the computer antenna interface and other devices as required For permanent installation ThunderBolt E GPS disciplined clock module Trimble Bullet antenna 775 100 feet of approved cable RG 6 with two M M TNC connectors Note 50 2 or 75 Q RF cable can be used Typical impedance mismatch will reflect only 0 5 dB of additional attenuation at 1575 42 MHz See also Cable delay compensation page 17 424 VDC power supply User provided equipment to analyze the 10 MHz output frequency and the 1 PPS accuracy and a BNC connector to connect them to the ThunderBolt E module User provided connectors and extension cords to connect the ThunderBolt E module to the computer antenna interface and other devices as required Computer e An office comp
58. ix when computed 0x37 1 0x37Time of fix on request 3 0 Simultaneous meas Status off 1 Simultaneous meas Status on 4 0 Minimum projection off 1 Minimum projection on 5 7 0 reserved 3 Auxiliary 0 0 Raw measurement packet 5A off 0x5A 1 Raw measurement packet 5A on 1 0 Raw codephase measurements 1 Filtered codephase measurements 2 7 0 reserved When using the MSL altitude output the current datum must be set to WGS 84 Command Packet 0x37 Request Status and Values of Last Position This packet requests information regarding the last position fix normally used when the GPS receiver is not automatically outputting fixes The GPS receiver returns the position velocity auto packets specified in the 0x35 message as well as message 0x57 This packet contains no data 46 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Command Packet 0x38 Request Satellite System Data This packet requests current satellite data The GPS receiver returns packet 0x58 Byte Item Type Value Meaning 0 Operation UINT8 1 Type of data UINT8 Must always be 1 Almanac Health page toa WNa UTC Ephemeris 2 Sat PRN UINT8 1 2 3 4 lonosphere 5 6 0 Data not satellite ID specific 1 32 Satellite PRN number Command Packet 0x39 Set or Request SV Disable and Health Use Normally the GPS receiver selects only healthy satellites based on transmitted values in the ephemeris and
59. k UINT32 Seconds 0 604799 Command Packet 0x8E A4 Test Mode 3 Data Format Byte Item Type Description 0 Subcode UINT8 OxA4 1 Test Mode UINT8 3 Send user UTC parameter 2 5 AO Single Seconds 6 9 A_1 Single Seconds second 10 11 delta_t_LS SINT16 Seconds 12 15 t ot UINT32 Seconds 16 17 WN t UINT16 Week number 18 19 WN LSF UINT16 Week number 20 21 DN UINT16 Day number 1 7 22 23 delta t LSF SINT16 Seconds Trimble ThunderBolt E GPS Disciplined Clock User Guide 69 A Trimble Standard Interface Protocol 70 Command Packet 0x8E A5 Packet Broadcast Mask Use command packet 8E A5 to set the packet broadcast masks or to request the current mask settings The receiver replies to requests with response packet 8F A5 The broadcast mask is bitwise encoded to allow the user to turn on and offthe broadcast of certain packets For each bit in the mask that is used the coding is as follows 0 Turn off broadcast of this packet 1 Turn on broadcast of this packet Byte Bit Item Type Description 0 Subcode UINT8 OxA5 1 2 0 Mask 0 bit field 8F AB Primary Timing Information 1 Reserved 2 8F AC Supplemental Timing Information 3 Reserved 4 Reserved 5 Reserved 6 Automatic Output Packets 3 4 Mask 2 bit field Reserved Command Packet 0x8E A6 Self Survey Command Use command packet 8E A6 to issue a self survey command to save the current position in flash or to delete the position saved in flash There is no respons
60. ket 0x35 Set or Request I O Options page 45 Report Packet 0x56 Velocity Fix East North Up ENU If East North Up ENU coordinates have been selected for the I O velocity option the receiver sends this packet each time that a fix is computed or in response to packet 0x37 The data format for this packet is shown below Byte Item Type Units 0 3 East Velocity Single m s for east for west 4 7 North Velocity Single m s for north for south 8 11 Up velocity Single m s for up for down 12 15 Clock bias rate Single m s 16 19 Time of fix Single seconds Note The time of fix is in GPS or UTC time as selected by the I O timing option Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Report Packet 0x57 Information about Last Computed Fix This packet provides information concerning the time and origin of the previous position fix The receiver sends this packet among others in response to packet 0x37 The data format for this packet is shown below Byte Item Type Value Meaning 0 Source of info UINT8 0 Old fix 1 New fix 1 Fix mode UINT8 0 No previous fix 1 Time only 1 SV 2 2D clock hold not used 3 2D 4 3D 5 Over Determined Clock 6 DGPS reference not used 2 5 Time of last fix Single Seconds GPS time 6 7 Week of last fix UINT16 Weeks Report Packet 0x58 GPS System Data from the Receiver This packet provides GPS data almanac ephemeris etc
61. lator Disciplining Command This packet is sent in response to command packet 0x8E A3 See the corresponding command packet for information about the data format Report Packet Ox8F A4 Test Modes This packet is sent in response to command packet 0x8E A4 See the corresponding command packet for information about the data format Report Packet Ox8F A5 Packet Broadcast Mask This packet is sent in response to Ox8E A5 command and describes which packets are currently automatically broadcast A 0 in a bit field turns off broadcast and a l in a bit field enables broadcast See the corresponding command packet for information about the data format Trimble ThunderBolt E GPS Disciplined Clock User Guide 77 A Trimble Standard Interface Protocol 78 Report Packet 0x8F A6 Self Survey Command This packet is sent in response to command packet Ox8E A6 See the corresponding command packet for information about the data format Report Packet 0x8F A8 Oscillator Disciplining Parameters This packet is sent in response to command packet 0x8E A8 See the corresponding command packet for information about the data format Report Packet 0x8F A9 Self Survey Parameters Packet 0x8F A9 is sent in response to command packet 0x8E A9 and describes the current self survey parameters See the corresponding command packet for information about the data format Report Packet 0x8F AB Primary Timing Packet This packet provides time information on
62. lite PRN UINT8 0 All satellites in current tracking set 1 32 Specific desired satellite Command Packet 0x3B Request Ephemeris Status This packet requests the current status of satellite ephemeris data The GPS receiver returns packet 0x5B if data is available Byte Item Type Value Meaning 0 Satellite PRN UINT8 0 All satellites in current tracking set 1 32 Specific desired satellite Command Packet 0x3C Request Satellite Tracking Status This packet requests the current satellite tracking status The GPS receiver returns packet 0x5C if data is available Byte Item Type Value Meaning 0 Satellite PRN UINT8 0 All satellites in current tracking set 1 32 Specific desired satellite Command Packet 0x3F 11 Request EEPROM Segment Status This packet requests the current satellite tracking status The GPS receiver returns packet 0x5C if data is available Byte Item Type Value Meaning 0 Satellite PRN UINT8 0 All satellites in current tracking set 1 32 Specific desired satellite Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Report Packet 0x42 Single precision Position Fix This packet provides current GPS position fix in XYZ ECEF coordinates If the I O position option is set to XYZ ECEF and the I O Precision of Position output is set to single precision then the GPS receiver sends this packet each time a fix is computed or in response to packet 0x37 The da
63. ly in lock The absolute value of signal level field is the last known signal level of that satellite Byte Item Type 0 Count UINT8 1 Satellite number 1 UINT8 2 5 Signal level 1 Single 6 Satellite number 2 UINT8 7 10 Signal level 2 Single etc etc etc Note The signal level provided in this packet is a linear measure of the signal strength after correlation or de spreading Units are either AMU or dB Hz as controlled by packet 0x35 50 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Report Packet 0x49 Almanac Health This packet provides health data on 32 satellites Packet data consists ofa data byte for each of 32 satellites each data byte containing the 6 bit health from almanac page 25 Byte Item Type 0 Health of satellite 1 bit field 1 Health of satellite 1 bit field 2 Health of satellite 1 bit field 31 Health of satellite 31 bit field Report Packet 0x4A Single Precision LLA Position Fix The packet provides current GPS position fix in LLA latitude longitude and altitude coordinates If the I O position option is set to LLA and the I O precision of position output is set to single precision then the receiver sends this packet each time a fix is computed The data format is shown below Byte Item Type Units 0 3 Latitude Single radians for north for south 4 7 Longitude Single radians for east for west 8 11 Altitude Sin
64. ly perform a jam sync to shift the PPS into alignment with GPS The minimum allowed value is 50 nanoseconds Setting a value less than or equal to 0 nanoseconds will disable automatic jam syncs during Recovery though the user can still issue a jam sync command with packet Ox8E A3 This field carries the maximum allowable frequency offset in ppb parts per billion or 1x10 9 of the 10 MHz oscillator during Recovery Mode While in Recovery Mode The receiver will remove any PPS offset accumulated during periods of Holdover by shifting the frequency of the oscillator by an amount up to the value specified The minimum allowed value is 5ppb A 3 in this field indicates that the packet contains the initial DAC voltage parameter At reset the oscillator s frequency control voltage is set to this value Command Packet 0x8E A8 Type 0 Data Format Byte Item Type Description 0 Subcode UINT8 0xA8 1 Type UINT8 0 loop dynamics 2 5 Time Constant Single Seconds 6 9 Damping Factor Single Dimensionless Command Packet 0x8E A8 Type 1 Data Format Byte Item Type Description 0 Subcode UINT8 OxA8 1 Type UINT8 1 oscillator parameters 2 5 Oscillator Gain Constant Single Hz Volt 6 9 Minimum Control Voltage Single Volts 10 13 Maximum Control Voltage Single Volts 72 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Command Packet 0x8E A8 Type 2 Data Format Byte Item Type
65. n This packet reports the current configuration for the available filters Byte Item Type Value Meaning 0 PV filter UINT8 0 Off 1 On 1 Static filter UINT8 0 Off 1 On 2 Altitude filter UINT8 0 Off 1 On 3 Kalman filter UINT8 0 Off 1 On 60 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Report Packet 0x83 Double Precision XYZ This packet provides current GPS position fix in XYZ ECEF coordinates If the I O position option is set to XYZ ECEF and the I O double position option is selected the receiver sends this packet each time a fix is computed The data format is shown below Byte Item Type Units 0 7 X Double meters 8 15 Y Double meters 16 23 Z Double meters 24 31 clock bias Double meters 32 35 time of fix Single seconds Note The time of fix is in GPS time or UTC as selected by the I O timing option Packet 0x42 provides a single precision version of this information Report Packet 0x84 Double Precision LLA Position Fix and Bias Information This packet provides current GPS position fix in LLA coordinates If the I O position option is set to LLA and the double position option is selected see packet 0x35 the receiver sends this packet each time a fix is computed Byte Item Type Units 0 7 latitude Double radians for north for south 8 15 longitude Double radians for east for west 16 23 altitude Double meters 24 31 clock bias
66. n that the user should be alerted to but does not indicate an immediate or necessarily any impairment of functionality For each bit a value of 0 means that the condition is not indicated Bits not described below should be ignored e Bit 0 When 1 indicates that the oscillator control voltage is near a rail If this condition persists then the oscillator is within 2 years of becoming untunable at which point the unit will need a new oscillator This condition should not occur for at least 12 years of use and is a result of oscillator crystal aging Bit 1 When 1 indicates that the antenna input connection is open More precisely this bit indicates that the antenna input is not drawing sufficient current Normally The receiver provides power to the antenna s LNA Low Noise Amplifier through the center conductor of the antenna cable On board circuitry senses this current draw and if low this condition will be indicated However when the antenna is powered elsewhere e g when using a splitter then an antenna open condition is expected and does not imply a fault nor does it impair the operation of the receiver e Bit 2 When 1 indicates that the antenna input is shorted More precisely this bit indicates that the antenna input is drawing too much current On board protection circuitry prevents any damage to The receiver when its antenna input is shorted to ground This condition tends to indicates a fault in either the antenna cable o
67. nditioned parts or Product OR refund the Product purchase price paid by you at Trimbles option upon your return of the Product in accordance with Trimble s product return procedures then in effect How to Obtain Warranty Service To obtain warranty service for the Product please contact your local Trimble authorized dealer Alternatively you may contact Trimble to request warranty service at 1 408 481 6940 24 hours a day or e mail your request to trimble_support trimble com Please be prepared to provide your name address and telephone numbers proof of purchase a description of the nonconforming Product including the model number and serial number an explanation of the problem The customer service representative may need additional information from you depending on the nature of the problem Warranty Exclusions and Disclaimer This Product limited warranty shall only apply in the event and to the extent that a the Product is properly and correctly installed configured interfaced maintained stored and operated in accordance with Trimble s applicable operator s manual and specifications and b the Product is not modified or misused This Product limited warranty shall not apply to and Trimble shall not be responsible for defects or performance problems resulting from i the combination or utilization ofthe Product with hardware or software products information data systems interfaces or devices not mad
68. ng equipment sharp or abrasive surfaces door and window jambs and corrosive fluids or gases 4 Securethe cable using tie wraps starting at the antenna and allowing for a drip loop and working towards the ThunderBolt E module Ensure that the cable is secured at points close to the antenna and the ThunderBolt E module Note Additional protection for example heat shrink tubing may be required to protect the cable jacket at points where the opening is rough or sharp such as where it enters or exits bulkheads 5 If required cut the cable to the required length and then terminate it with the correct connectors Make sure that There is enough slack for a service loop near the antenna to allow for disconnection for moisture to drip away from the connection and for normal movements of the antenna All contact surfaces are clean and firm before crimping 6 Ifcut re attach the male TNC connector to the cut end 7 Connect the standard RS 232 interface cable directly to the office computer Note The TSIP serial port is set at 9600 baud no parity 8 bit 1 stop start bit 8 Connect the 24 V DC power input part of the Power and I O interface cable assembly to the power converter 9 Use the adaptor cable to connect the power converter to the main power and then switch on the mains power After you turn on the ThunderBolt E it takes approximately 5 minutes for the ovenized oscillator to warm up During this time it will
69. ng fixes which you get if you set the driver switch to 3 or 4 ThunderBolt E can also be configured to generate an Even Second pulse in place of the PPS pulse by setting the value as shown in the table below Byte Item Type Value Meaning 0 Subcode UINT8 Ox4E 1 PPS driver switch UINT8 0x02 PPS is always on PPS is generated every second 0x03 PPS is output when at least one satellite is tracking PPS is generated every second 0x04 PPS is output when at least three satellites are tracking PPS is generated every second 0x82 PPS is always on PPS is generated every even second 0x83 PPS is output when at least one satellite is tracking PPS is generated every even second 0x84 PPS is output when at least three satellites are tracking PPS is generated every even second Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Command Packet 0x8E A0 Set DAC Value Use command packet 0x8E A0 to set the DAC output voltage or to request the current DAC output voltage plus the parameters describing the DAC The DAC output voltage is used to control the frequency ofthe OCXO Oven Controlled Crystal Oscillator Send this packet with no data to request the DAC voltage The receiver responds with packet 0x8F A0 The Command Packet Data Fields are as follows Field Description Setting Voltage Value flag Use this field to specify that the DAC is to be 0 Set DAC by voltage set either by
70. ng packet Ox8E A9 Trimble ThunderBolt E GPS Disciplined Clock User Guide 19 2 Setting up and Running the ThunderBolt E ThunderBolt E starter kit s Power cable 75 feet of Belden RG 6 cable a e terminated with TNC connectors at both ends Trimble Bullet antenna 5 V with TNC connector Power converter 24 VDC AC DC Power pin adapters Pe BNC m TNC f ThunderBolt E module connector 20 Trimble ThunderBolt E GPS Disciplined Clock User Guide Setting up and Running the ThunderBoltE 2 Setting up the ThunderBolt E Note You can either set up the starter kit temporarily for testing or evaluation purposes or embed it permanently into your system The procedure is largely the same 1 Connect the male connector of the antenna cable to the Bullet antenna 2 Place the antenna so that it has the fullest possible view of the sky To mount the antenna permanently place it on a high point such as a roof Make sure that it is placed away from obstructions such as neighboring buildings that may block its view of the sky or overhanging objects such as trees or towers Note Ifrequired you can mount the antenna on a 1 marine pipe with 14 threads per inch or on a 3 4 plumbers pipe 3 Route the antenna cable to the receiver C CAUTION Be careful not to damage the cable Take care to avoid sharp bends or kinks in the cable hot surfaces for example exhaust manifolds or stacks rotating or reciprocati
71. nsult your local Trimble authorized dealer LIMITED WARRANTY TERMS AND CONDITIONS Product Limited Warranty Subject to the following terms and conditions Trimble Navigation Limited Trimble warrants that for a period of one 1 year from date of purchase this Trimble product the Product will substantially conform to Trimble s publicly available specifications for the Product and that the hardware and any storage media components ofthe Product will be substantially free from defects in materials and workmanship Product Software Product software whether built into hardware circuitry as firmware provided as a standalone computer software product embedded in flash memory or stored on magnetic or other media is licensed solely for use with or as an integral part ofthe Product and is not sold If accompanied by a separate end user license agreement EULA use of any such software will be subject to the terms of such end user license agreement including any differing limited warranty terms exclusions and limitations which shall control over the terms and conditions set forth in this limited warranty Software Fixes During the limited warranty period you will be entitled to receive such Fixes to the Product software that Trimble releases and makes commercially available and for which it does not charge separately subject to the procedures for delivery to purchasers of Trimble products generally If you have pur
72. number UINT8 1 4 Time of collection Single seconds 5 Health UINT8 6 IODE UINT8 7 10 toe Single seconds 11 Fit interval flag UINT8 12 15 SV accuracy URA Single meters Report Packet 0x5C Satellite Tracking Status The receiver sends this packet in response to command packet 0x3C Byte Bit 0 2 3 7 Item slot number channel number Type UINT8 bit field bit field Value 1 32 000 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 1011 Meaning SV PRN number PRN Not used Channel 1 Channel 2 Channel 3 Channel 4 Channel 5 Channel 6 Channel 7 Channel 8 Channel 9 Channel 10 Channel 11 Channel 12 Trimble ThunderBolt E GPS Disciplined Clock User Guide 57 A Trimble Standard Interface Protocol Byte Bit Item Type Value Meaning 2 acquisition flag UNIT8 0 Never acquired 1 Acquired 2 Re opened search 3 ephemeris flag UNIT8 0 Flag not set gt 0 Good ephemeris 4 7 signal level Single AMU or dBHz 8 11 time of last Single secs GPS time of week measurement 12 15 elevation angle Single Radians 16 19 azimuth angle Single Radians 20 old measurement flag UINT8 0 Flag not set gt 0 Measurement old 21 integer msec flag UINT8 0 Don t know msec 1 Known from subframe 2 Verified by bit crossing 3 Verified by good fix 4 Suspect msec error 22 bad data flag UINT8 0 Flag not set 1 Bad parity 2 Bad ephemeris health 23 data collection flag UINT8 0 Flag not set gt 0 Collection in progress
73. ponds with packet 0x8F A3 in the same format as packet Ox8E A3 Byte Item Type Value Description 0 Subcode UINT8 0xA3 1 Disciplining Command UINT8 0 Place PPS on time jam sync 1 Transition to recovery state 2 Transition to manual holdover 3 Transition from manual holdover 4 Disable oscillator disciplining 5 Enable oscillator disciplining Command Packet 0x8E A4 Test Modes ThunderBolt E provides a test mode of operation that allows the user to set the time and UTC parameters Packet Ox8F AC provides a status bit minor alarm bit 8 to warn the user that ThunderBolt E is operating in a test mode The receiver replies with response packet 8F A4 Note Test mode 3 does not actually cause the receiver to enter a test mode but instead provides a means for the user to send UTC parameters to the receiver that will be used in test mode 1 Test mode Data field Description 0 Test mode Set this field to 0 to exit test mode and return the receiver to normal operations A reset or power cycle will also cause the receiver to exit test mode 1 Test mode Setting this field to 1 tells the receiver to enter the user time test mode The receiver will set the time to the week number and TOW sent with this packet The receiver will then increment this time once per second The time in packet 8F AB will show the user test time but all other packets that have time fields will be unaffected Week This field contains the week number for
74. r the antenna itself e Bit 3 When 1 indicates that no satellites are usable In order for a satellite to be usable it must be tracked long enough to obtain ephemeris and health data e Bit 4 When 1 indicates that the oscillator is not being disciplined to GPS Before the Mini T can begin disciplining the oscillator it must begin receiving information from the GPS receiver This occurs any time that the receiver is performing fixes e Bit 5 When 1 indicates that a self survey procedure is in progress e Bit 6 When 1 indicates that there is no accurate position stored in flash ROM e Bit 7 When 1 indicates that the GPS system has alerted the receiver that a leap second transition is pending 80 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Data field Description Minor Alarms cont GPS Decoding Status Disciplining Activity PPS Offset Frequency Offset DAC Value DAC Voltage Temperature Latitude Longitude Altitude PPS Quantization Error e Bit 8 When 1 indicates that The receiver is operating in one of its test modes see packet Ox8E A4 e Bit 9 When 1 indicates that the accuracy of the position used for time only fixes is questionable This alarm may indicate that the unit has been moved since the unit completed the last self survey If this alarm persists re survey the position of the unit Bit 10 When 1 indicates that at reset
75. rimble Standard Interface Protocol In this appendix The Trimble Standard Interface Protocol TSIP may be characterized as a set of data packets m Introduction used to transmit information to and receive W Packet structure information from a Trimble GPS receiver Trimble products commonly support a version of TSIP which is customized to the attributes of the product This appendix describes the ThunderBolt E customization W Packet descriptions Trimble ThunderBolt E GPS Disciplined Clock User Guide 33 A Trimble Standard Interface Protocol Introduction TSIP is a powerful and compact interface protocol which has been designed to allow the system developer a great deal of flexibility in interfacing to a Trimble product Many TSIP data packets are common to all products which use TSIP An example would be a single precision position output packet Other packets may be unique to a product Custom packets are only used in the products for which they have been created Note This appendix has been generated and reviewed with care however Trimble is always grateful to receive reports of any errors in either products or documentation Interface scope ThunderBolt E has one configurable serial I O communication port which is a bi directional control and data port using a Trimble Standard Interface Protocol TSIP The data I O port characteristics and other options are user programmable and stored in non volatile storage NVS memory
76. run on electrical power Call 31 497 53 24 30 and ask for the WEEE Associate Or mail a request for recycling instructions to Trimble Europe BV c o Menlo Worldwide Logistics Meerheide 45 5521 DZ Eersel NL Restriction of Use of Certain Hazardous Substances in Electrical and Electronic Equipment RoHS As of July 1 2006 the Product is compliant in all material respects with DIRECTIVE 2002 95 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment RoHS Directive and Amendment 2005 618 EC filed under C 2005 3143 with exemptions for lead in solder pursuant to Paragraph 7 ofthe Annex to the RoHS Directive applied The foregoing is limited to Product placed on the market in the Member States of the European Union on or after 1 July 2006 Trimble has relied on representations made by its suppliers in certifying this Product as RoHS compliant Declaration of Conformity We Trimble Navigation Limited 935 Stewart Drive PO Box 3642 Sunnyvale CA 94088 3642 United States 1 408 481 8000 declare under sole responsibility that the product ThunderBolt E GPS Disciplined Clock complies with Part 15 of FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cau
77. rvey is complete Self Survey Length Use this field to specify the number of position fixes that are to be averaged together to form the self surveyed position used for clock only fixes Limits 1 to 232 1 fixes Trimble ThunderBolt E GPS Disciplined Clock User Guide 73 A Trimble Standard Interface Protocol 74 Command Packet 8E A9 Data Format Byte Item Type Value Description 0 Subcode UINT8 0xA9 1 Self Survey Enable UINT8 0 Disabled 1 Enabled 2 Position Save Flag UINT8 0 Don t save position 1 Save self surveyed position at the end of the survey 3 6 Self Survey Length UINT32 see above Number of fixes 7 10 Reserved UINT32 0 0 Command Packet 0x8E AB Request Primary Timing Packet Use command packet 0x8E AB to request the Primary Timing packet 0x8F AB By default the receiver automatically sends packet 0x8F AB once per second so it is not necessary to request it To receive 0x8F AB information by request only use packet 0x8E A5 to disable the automatic output The Request Type item determines how the receiver will reply to this command Type Description 0 The most current primary timing values will be sent in packet 0x8F AB immediately 1 The response is not sent immediately Instead packet 0x8F AB is sent after the next PPS output This is the same time that the packet would be automatically sent if enabled 2 Same as type 1 except that both 0x8F AB and 0x8F AC are sent after the next PPS output
78. s 0x01 Don t have GPS time 0x03 PDOP is too high 0x08 No usable sats 0x09 Only 1 usable sat Ox0A Only 2 usable sats 0x0B Only 3 usable sats 0x0C The chosen sat is unusable 0x10 TRAIM rejected the fix 13 Disciplining Activity UINT8 0 Phase locking 1 Oscillator warm up 2 Frequency locking 3 Placing PPS 4 Initializing loop filter 5 Compensating OCXO holdover 6 Inactive 7 Not used 8 Recovery mode 9 Calibration control voltage 14 Spare Status 1 UINT8 0 15 Spare Status 2 UINT8 0 16 19 PPS Offset Single ns 20 23 Clock Offset Single ppb 24 27 DAC Value UINT32 82 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Byte Item Type Value Description 28 31 DAC Voltage Single Volts 32 35 Temperature Single degrees C 36 43 Latitude Double radians 44 51 Longitude Double radians 52 59 Altitude Double meters 60 63 PPS Quantization Error Single ns 64 67 Spare Future expansion Trimble ThunderBolt E GPS Disciplined Clock User Guide 83 A Trimble Standard Interface Protocol 84 Trimble ThunderBolt E GPS Disciplined Clock User Guide NORTH AMERICA EUROPE KOREA CHINA Trimble Navigation Limited Trimble Navigation Europe Trimble Export Ltd Korea Trimble Navigation Ltd China Corporate Headquarters Phone 49 6142 2100 161 Phone 82 2 555 5361 Phone 86 21 6391 7814 935 Stewart Drive Sunnyvale CA 94086 1 800 787 4225 1 408 481 7741 timing trimble com gt The right one Trim
79. s aligned to GPS When 1 the PPS output is aligned to UTC Use command packet 8E A2 to select either GPS or UTC PPS alignment e Bit 2 When 0 time has been set from GPS When 1 time has net yet been set from GPS e Bit 3 When 0 UTC offset information has been received When 1 UTC offset information is not yet known e Bit 4 When 0 time is coming from GPS When 1 The receiver is in a test mode and time is being generated by the test mode selected by the user See packet 8E A4 Test Modes Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Data field Description Time of Day The time of day is sent in hours minutes seconds format and varies from 00 00 00 to 23 59 59 except when time is in UTC and a leap second insertion occurs In this case the time will transition from 23 59 59 to 23 59 59 to 00 00 00 Use command packet 8E A2 to select either the GPS or UTC time scale Date The date is sent in day month year format Use command packet 8E A2 to select either the GPS or UTC time scale Report Packet 0x8F AB Byte Bit Item Type Value Description 0 Subcode UINT8 OxAB 1 4 Time of week UINT32 GPS seconds of week 5 6 Week Number UINT16 GPS Week Number 7 8 UTC Offset SINT16 UTC Offset seconds 9 0 Timing Flag bit field 0 GPS time 1 UTC time 1 0 GPS PPS 1 UTC PPS 2 0 time is set 1 time is not set 3 0 have UTC info 1 no UTC info 4 0 time from GPS 1 time from user
80. s position is not automatically saved to flash memory If you want to save this position first set the position wait at least 2 seconds and then use packet Ox8E A6 to save the position Note When converting from degrees to radians use the following value for p 3 1415926535898 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Command Packet 0x32 Data Format single precision Byte Item Type Units 0 3 Latitude Single Radians for north for south 4 7 Longitude Single Radians for east for west 8 11 Altitude Single Meters Command Packet 0x32 Data Format double precision Byte Item Type Units 0 7 Latitude Double Radians for north for south 8 15 Longitude Double Radians for east for west 16 23 Altitude Double Meters Command Packet 0x34 Satellite Selection For One Satellite Mode This packet allows the user to control the choice of the satellite to be used for the one satellite time only fix mode This packet contains one byte If the byte value is 0 the GPS receiver automatically chooses the best satellite This automatic selection of the best satellite is the default action and the GPS receiver does this unless it receives this packet Ifthe byte value is from 1 to 32 the packet specifies the PRN number of the satellite to be used Command Packet 0x35 Set or Request I O Options This packet requests the current I O option states and
81. se undesired operation Trimble ThunderBolt E GPS Disciplined Clock User Guide 3 4 Trimble ThunderBolt E GPS Disciplined Clock User Guide Safety Information Warnings and Cautions C An absence of specific alerts does not mean that there are no safety risks involved Always follow the instructions that accompany a Warning or Caution The information they provide is intended to minimize the risk of personal injury and or damage to the equipment In particular observe safety instructions that are presented in the following formats WARNING A Warning alerts you to a likely risk of serious injury to your person and or damage to the equipment CAUTION A Caution alerts you to a possible risk of damage to the equipment and or loss of data Operation and storage C WARNING Operating or storing the ThunderBolt E GPS disciplined clock outside the specified temperature range can damage it For more information see the product specifications on the data sheet Routing any cable e CAUTION Be careful not to damage the cable Take care to avoid sharp bends or kinks in the cable hot surfaces for example exhaust manifolds or stacks rotating or reciprocating equipment sharp or abrasive surfaces door and window jambs and corrosive fluids or gases Trimble ThunderBolt E GPS Disciplined Clock User Guide 5 Safety Information AC adaptor safety 6 C An international adaptor kit is provided with the Thund
82. sk Single Maximum DOP for fixes 17 20 PDOP Switch Single Switches 2D 3D mode 21 reserved UINT8 OxFF do not alter 22 Foliage Mode UINT8 0 Never 1 Sometimes 2 Always 23 reserved UINT8 OxFF do not alter 24 reserved UINT8 OxFF do not alter 25 reserved UINT8 OxFF do not alter 26 reserved UINT8 OxFF do not alter 27 39 reserved UINT8 OxFF do not alter Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A CAUTION The operation of ThunderBolt E can be affected adversely if incorrect data is entered in the fields associated with packet OxBB Note When sending packet 0xBB fields that are specified as do not alter or if you do not want to alter a specific field send a value of OxFF for UINTS types and a value of 1 0 for floating point types ThunderBolt E will ignore these values Command Packet 0xBC Set Port Configuration TSIP packet OxBC is used to set and query the port characteristics In query mode packet OxBC is sent with a single data byte and returns report packet OxBC Note The input and output baud rates must be the same Command Packet 0 x BC Data Format Query Mode Byte Item Type Value Meaning 0 Port Number UINT8 0 Port 1 standard 1 Port 2 not available OxFF Current port The table below lists the individual fields within the packet OxBC when used in the set mode and when read in the query mode Command and Report Packet OxBC Field Data Format Byte Item
83. sures Reorient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Changes and modifications not expressly approved by the manufacturer or registrant of this equipment can void your authority to operate this equipment under Federal Communications Commission rules Australia and New Zealand This product conforms with the regulatory requirements of the Australian Communications Authority ACA EMC framework O thus satisfying the requirements for C Tick Marking and sale within Australia and New Zealand Europe This product has been tested and found to comply with the requirements for a Class B device pursuant to European C Council Directive 89 336 EEC on EMC thereby satisfying the requirements for CE Marking and sale within the European Economic Area EEA Contains Infineon radio module ROK 104001 These requirements are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential or commercial environment Notice to Our European Union Customers For product recycling instructions and more information please go to www trimble com ev shtml Recycling in Europe To recycle Trimble WEEE Waste Electrical and Electronic Equipment products that
84. survey is in progress when this command is sent the survey is aborted and this position data is used immediately ThunderBolt E will automatically switch to the Over Determined Timing mode when this command is issued Note that this position is not automatically saved to flash memory If you want to save this position first set the position wait at least 2 seconds and then use packet Ox8E A6 to save the position Command Packet 0x31 Data Format single precision Byte Item Type Units 0 3 X axis Single Meters 4 7 Y axis Single Meters 8 11 Z axis Single Meters Command Packet 0x31 Data Format double precision Byte Item Type Units 0 7 X axis Double Meters 8 15 Y axis Double Meters 16 23 Z axis Double Meters Command Packet 0x32 Accurate Initial Position Latitude Longitude Altitude This packet provides an accurate initial position to the GPS receiver in latitude longitude and altitude coordinates Either the single precision or the double precision version of this packet may be used however we recommend using the double precision version for greatest accuracy The GPS receiver uses this position for performing time only fixes If a survey is in progress when this command is issued the survey is aborted and this position data is used immediately The coordinates entered must be in the WGS 84 datum ThunderBolt E will automatically switch to the Over Determined Timing mode when this command is issued Note that thi
85. ta format is shown below The time of fix is in GPS or UTC as selected by the I O timing option in packet 0x35 Packet 0x83 provides a double precision version of this information Byte Item Type Units 0 3 X Single meters 4 7 Y Single meters 8 11 Z Single meters 12 15 time of fix Single seconds Report Packet 0x43 Velocity Fix XYZ ECEF This packet provides current GPS velocity fix in XYZ ECEF coordinates If the I O velocity option packet 0x35 is set to XYZ ECEE then the GPS receiver sends this packet each time a fix is computed or in response to packet 0x37 The data format is shown below The time of fix is in GPS or UTC as selected by the I O timing option Byte Item Type Units 0 3 X velocity Single meters second 4 7 Y velocity Single meters second 8 11 Z velocity Single meters second 12 15 bias rate Single meters second 16 19 time of fix Single seconds Report Packet 0x45 Software Version Information This packet provides information about the version of firmware running on the GPS receiver The receiver sends this packet after power on reset and in response to packet Ox1F Byte Item Type 0 Major version number of application UINT8 1 Minor version number of application UINT8 2 Month UINT8 3 Day UINT8 4 Year number minus 1900 UINT8 5 Major revision number of GPS core UINT8 6 Minor revision number of GPS core UINT8 7 Month UINT8 8 Day UINT8 9 Year number minus 1900 UINT8 Trimble Thund
86. teger 0 to 255 SINT8 An 8 bit signed integer 128 to 127 INT16 A 16 bit unsigned integer 0 to 65 535 SINT16 A 16 bit signed integer 32 768 to 32 767 UINT32 A 32 bit unsigned integer 0 to 4 294 967 295 SINT32 A 32 bit signed integer 2 147 483 648 to 2 147 483 647 Single Single precision float 4 bytes 1 2x10 38 to 3 4x1038 Double Double precision float 8 bytes 2 2x10 308 to 1 8x10308 Note Default serial port settings are 9600 8 None 1 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Packet descriptions Packet descriptions used in run mode Report packet 0X13 unparsable packet This packet is sent in response to a received packet that was unparsable A packet is unparsable if the packet ID is not recognized or if the length or content of the packet is not correct for the packet ID Byte Type Item 0 UINT8 Packet ID of unparsable packet 1 N UINT8 Packet data bytes of unparsable packet Command packet 0x1C 01 Firmware version The command packet 0x1C 01 may be issued to obtain the firmware version The packet format is defined in the following table Byte Item Type Value Definition 0 Packet ID U8 0x1C Packet ID 0x1C 1 Sub code U8 0x01 Sub code 0x01 for software component version information request Report packet 0x1C 81 Report firmware version Byte Item Type Value Definition 0 Packet ID U8 Ox1C Packet ID Ox1C 1 Sub code U8 0x8
87. that allows brief excursions below the threshold iflock is maintained and the signal was previously above the mask The factory default mask is zero High accuracy users may use a slightly higher mask of 6 0 to 8 0 since weaker measurements may be slightly noisier and are often caused by reflected signals that provide erroneous ranges Note A level of hysteresis in the signal level mask is allowed in the core operating software The hysteresis allows the receiver to continue using satellite signals that fall slightly below the mask and prevents the receiver from incorporating a new signal until the signal level slightly exceeds the mask This feature minimizes constellation changes caused by temporary fluctuations in signal levels Reference position When the antenna is connected and power is applied the GPS module generates a precise PPS signal a 10 MHz frequency output and several miscellaneous periodic outputs It calculates a clock only solution from the GPS data In clock only position hold mode a static reference position is established and all of the available satellites are used to solve for a time solution The reference position may be determined automatically by the ThunderBolt E self survey or may be uploaded to the ThunderBolt E by the host if the position is known The accuracy and integrity of the timing solution is highly dependent on the accuracy of the reference position Trimble ThunderBolt E GPS Disciplined Clock User
88. then download the Trimble Mon exe file to the computers hard drive 3 Torun the application double click the file The Trimble GPS Monitor screen appears Trimble GPS Monitor File Initialize View Configure Tools Window Help comi w cso v BOF y Time GPS Receiver Mode amp Status Satellite Data Time Thu 22 02 56 Mode O D Manual 8 SV SV AMU Date June 28 2007 Status Over determined dock 42 Week 1433 TOW 424976 Almanac complete amp current 5 2 17 2 Velocity DOPs Status 13 2 m s PDOP 14 6 HDOP 11 8 whe B 200 mifhr TDOP I Position Firmware Info Latitude N 37 23 07614 Application 1 09 0 04 03 07 Longitude W 122 0 37816 Altitude 24 64 mHAE GPS Core 1 26 2 01 09 07 Tx Rx Monitoring Datang GPS Timing Receiver and Rx indicators COM port and settings _ Trimble ThunderBolt E GPS Disciplined Clock User Guide 15 2 16 Setting up and Running the ThunderBolt E To view the Timing Receiver Status and Control information select Window Receiver Status Timing Receiver Status amp Control Control Setup GPS Status Self Survey Progress 100 Revr Mode 7 Overdet Clock Time GPS Status 0 Doing Fixes Timing Bias 2 04 Bias Rate 0 16 PPS Quant Error 3 5 Miscellaneous UTC Offset 14 seconds Temperature 45 32 EC Disciplining Status 0 Normal Activity 0 Phase Locking Holdover i 0 sec DAC Voltage D
89. ts each of which can be saved individually via Command Packet 0x8E 4C or set to defaults via Command Packet 0x8E 45 Command Packet 0x8E 41 Request Manufacturing Parameters This packet is used to request the manufacturing parameters stored in non volatile memory Send this packet with no data bytes don t forget the subcode to request packet Ox8F 41 Command Packet 0x8E 42 Stored Production Parameters This packet is used to request the production parameters stored in non volatile memory Send this packet with no data bytes don t forget the subcode to request packet Ox8F 42 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Command Packet 0x8E 45 Revert Configuration Segment to Default Settings and Write to NVS This command packet causes the current configuration settings for the specified user segment or all segments to revert to their factory defaults and written to NVS The receiver is also re configured with the default settings The segment ID is contained in a data byte Byte Item Type Value Meaning 0 Subcode UINT8 0x45 1 Segment ID UINT8 3 GPS Receiver config 4 Packet I O control 5 Serial Port config 6 Timing Output config 7 Accurate Position 8 Self Survey config 9 Disciplining config OxFF All segments Command Packet 0x8E 4A Set PPS Characteristics This packet allows the user to query by sending the packet with no data bytes or set PPS characteristics
90. umber 68 69 WNa UINT16 Sec 2 4 5 2 3 Note All angles are in radians Report Packet 0x58 Almanac Health Data Type 3 Byte Item Type Meaning 4 Week number for health UINT8 Sec 2 4 5 3 5 36 SV health UINT8 Sec 2 4 5 3 37 toa for health UINT8 Sec 2 4 5 2 3 38 current toa UINT8 Time of collection 39 40 current week number UINT16 Time of collection Report Packet 0x58 lonosphere Data Type 4 Byte Item Type Meaning 4 11 not used 12 15 a0 Single Sec 2 4 5 6 16 19 al Single Sec 2 4 5 6 20 23 a2 Single Sec 2 4 5 6 24 27 a3 Single Sec 2 4 5 6 28 31 bo Single Sec 2 4 5 6 54 Trimble ThunderBolt E GPS Disciplined Clock User Guide Trimble Standard Interface Protocol A Byte Item Type Meaning 32 35 b1 Single Sec 2 4 5 6 36 39 b2 Single Sec 2 4 5 6 40 43 b3 Single Sec 2 4 5 6 Report Packet 0 x 58 UTC Data Type 5 continued Byte Item Type Meaning 4 16 not used 17 24 AO Double Sec 2 4 5 5 25 28 Al Single Sec 2 4 5 5 29 30 DtLs SINT16 Sec 2 4 5 5 31 34 tot Single Sec 2 4 5 5 35 36 WNt UINT16 Sec 2 4 5 5 37 38 WNLSF UINT16 Sec 2 4 5 5 39 40 DN UINT16 Sec 2 4 5 5 41 42 DtLSf SINT16 Sec 2 4 5 5 Report Packet 0 x 58 Ephemeris Data Type 5 Byte Item Type Meaning 4 SV number UINT8 SV PRN number 5 8 t_ephem Single Time of collection seconds 9 10 week number UINT16 GPS week number 0 through 1023 11 retired 12 retired 13 SV accuracy raw UINT8 URA index of SV 0 through 15 14 SV health
91. uter running a version of the Microsoft Windows operating system Windows NT or later System software e Trimble GPS Monitor software The software is used to monitor the GPS performance of the ThunderBolt E and to change its settings The software is compatible with the Windows 95 98 2000 and XP operating systems and with the Windows Vista operating system See Trimble GPS Monitor page 15 e Trimble Standard Interface Protocol TSIP This consists of command packets and report packets See Appendix A Trimble Standard Interface Protocol 14 Trimble ThunderBolt E GPS Disciplined Clock User Guide Setting up and Running the ThunderBoltE 2 Installing and using the software All software programs for the ThunderBolt E are available online from the Trimble website at www trimble com timing shtml These programs enable you to monitor the ThunderBolt E and change its configuration settings B Tip Install and set up the monitor program before turning on the ThunderBolt E this allows you to observe the timing process from start up to fully functioning Trimble GPS Monitor C CAUTION Use only the Trimble GPS Monitor software with this product Previous versions may not be compatible To install the Trimble GPS Monitor TrimbleMon application from the website 1 Go to http www trimble com TrimbleMon shtml and then select Support ThunderBolt E Software Downloads Installation Files 2 Click Trimble Monitor Program and
92. value or by voltage 1 Set DAC by value DAC Voltage Value When the Voltage Value Flag is set to Voltage 0 0 V to 4 0 V voltage use this field to specify the numeric Value 0x00000 to value of the DAC as the 32 bit unsigned OxFFFFF 20 bits number To set the DAC voltage send packet 0x8E A0 in the format shown below Note Oscillator disciplining must be disabled see packet 0x8E A3 to use this command to set the DAC voltage Command Packet 0x8E A0 Data Format Byte Item Type Value Description 0 Subode UNT8 X OxA0 1 Voltage Value Flag UINT8 0 Set DAC voltage 1 Set DAC value 2 5 DAC Voltage Value Single UINT3 2 DAC voltage Value Command Packet 0x8E A2 UTC GPS Timing Command packet 0x8E A2 sets the UTC GPS timing mode time and date fields in packet Ox8F AB and the temporal location of ThunderBolt E output PPS Send packet Ox8E A2 with no data to request the current settings The receiver replies with response packet Ox8F A2 Byte Bit Item Type Value Meaning 0 Subcode UINT8 OxA2 1 0 UTC GPS bit field 0 GPS time date in packet 0x8F AB 1 time UTC time date in packet 0x8F AB bit field PPS referenced to GPS time PPS referenced to UTC time o Trimble ThunderBolt E GPS Disciplined Clock User Guide 67 A Trimble Standard Interface Protocol 68 Command Packet 0x8E A3 Issue Oscillator Disciplining Command Use command packet 0x8E A3 to issue an oscillator disciplining command The receiver res
93. xBC Stop bits 0 1 bit OxBC OxBC OxBC Input protocol 2 TSIP OxBC OxBC OxBC Output protocol 2 TSIP OxBC OxBC OxBC Timing outputs segment 6 Parameter Factory Default Set Request Report PPS enable 1 enabled Ox8E 4A Ox8E 4A Ox8E 4A PPS sense 1 rising edge Ox8E 4A Ox8E 4A Ox8E 4A PPS offset 0 0 seconds Ox8E 4A Ox8E 4A Ox8E 4A Bias Uncertainty 300 0 Meters Ox8E 4A Ox8E 4A Ox8F 4A Threshold PPS Output Qualifier 2 always on Ox8E 4E Ox8E 4E Ox8F 4E UTC GPS Date Time 0 GPS Ox8E A2 Ox8E A2 Ox8F A2 UTC GPS PPS Alignment 0 GPS Ox8E A2 Ox8E A2 Ox8F A2 Accurate position segment 7 Parameter Factory Default Set Request Report Position No stored position 0x31 0x32 Ox8E AC Ox8F AC self survey 36 Trimble ThunderBolt E GPS Disciplined Clock User Guide Self survey segment 8 Trimble Standard Interface Protocol A Parameter Factory Default Set Request Report Self survey enable 1 enabled Ox8E A9 Ox8E A9 Ox8E A9 Position save flag 1 save Ox8E A9 Ox8E A9 Ox8E A9 Self survey count 2000 fixes Ox8E A9 Ox8E A9 Ox8E A9 Oscillator disciplining segment 9 Parameter Factory Default Set Request Report Time Constant 10 0 seconds Ox8E A8 Ox8E A8 Ox8E A8 Loop Damping 1 0 Ox8E A8 Ox8E A8 Ox8E A8 Ko 8 83 Hz volt Ox8E A8 Ox8E A8 Ox8E A8 Minimum control 0 0 volts Ox8E A8 Ox8E A8 Ox8E A8 voltage Maximum control 4 0 volts Ox8E A8 Ox8E A8 Ox8E A8 voltage Initial DAC voltage 2 0 volts Ox8E A8 Ox8E A
94. y the Thunderbolt E OCXO This field carries the minimum most negative control voltage Minimum that can be applied to the 10 MHz oscillator s control voltage Control Voltage input OCXO This field carries the maximum most positive control voltage Maximum that can be applied to the 10 MHz oscillator s control voltage Control Voltage input Trimble ThunderBolt E GPS Disciplined Clock User Guide 71 A Trimble Standard Interface Protocol Type Data field Description 2 Type Jam Sync Threshold Maximum Frequency Offset 3 Type Initial DAC voltage A 2 in this field indicates that the packet contains Recovery Mode parameters These parameters allow the user to control the recovery process During Recovery The receiver will remove any PPS offset accumulated during periods of Holdover by either shifting the PPS into alignment or by shifting the frequency of the 10 MHz oscillator by a specified amount until the PPS has slewed back into alignment or by using both methods The following two parameters control these methods e Ifa fast recovery is desired allow jam syncs to be used e If it is important to maintain 10 million clock cycles per PPS pulse then disable jam syncs and set the maximum frequency offset to a tolerable value This field carries the jam sync threshold in nanoseconds used during Recovery mode While in Recovery Mode if the PPS offset is above this threshold The receiver will automatical

Trimble Outdoors 64057-00-ENG User's Manual

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