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Spatial FOG Dual ETH

Supplementary Reference Manual

Page 23 of 29

Version 1.2
10/09/2019

13

Advanced Navigation Packet Protocol

Refer to the Spatial FOG Dual Reference Manual.

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Summary of Contents for Spatial FOG Dual ETH

Page 1: ...Spatial FOG Dual ETH Supplementary Reference Manual ...

Page 2: ...story 2 2 Firmware Changelog 3 3 Hardware Changelog 4 4 Introduction 5 5 Foundation Knowledge 6 6 Evaluation Kit 7 7 Part Numbers and Ordering Options 8 8 Specifications 9 9 Installation 13 10 Operation 14 11 Spatial FOG Manager 15 12 Interfacing 19 13 Advanced Navigation Packet Protocol 23 14 The Ethernet Interface 24 ...

Page 3: ...updated Section 11 8 6 GPIO Configuration updated Section 12 1 Communication updated Section 12 2 External Data updated Section 12 3 The GPIO and Auxiliary Ports updated 1 1 22 08 2019 Section 8 6 Communications Specifications updated Section 8 8 Electrical Specifications updated Section 8 10 Connector Pin out updated for 13 pin connector Sections 11 12 and 14 updated for Auxiliary and GPIO port c...

Page 4: ...Spatial FOG Dual ETH Supplementary Reference Manual Page 3 of 29 Version 1 2 10 09 2019 2 Firmware Changelog Refer to the Spatial FOG Dual Reference Manual ...

Page 5: ...Spatial FOG Dual ETH Supplementary Reference Manual Page 4 of 29 Version 1 2 10 09 2019 3 Hardware Changelog Refer to the Spatial FOG Dual Reference Manual ...

Page 6: ...t details the differences between the standard Spatial FOG Dual and the Ethernet variant Any information in this document supersedes the equivalent information in the same section of the Spatial FOG Dual Reference Manual The structure has remained the same with the addition of Section 14 to align the section numbers The Spatial FOG Dual Reference Manual can be downloaded from our website www advan...

Page 7: ...Spatial FOG Dual ETH Supplementary Reference Manual Page 6 of 29 Version 1 2 10 09 2019 5 Foundation Knowledge Refer to the Spatial FOG Dual Reference Manual ...

Page 8: ...Spatial FOG Dual ETH Supplementary Reference Manual Page 7 of 29 Version 1 2 10 09 2019 6 Evaluation Kit An Evaluation Kit is not available for the Spatial FOG Dual ETH variant ...

Page 9: ...s not available for the Spatial FOG Dual ETH variant 7 2 Standalone Unit Part Number Description Notes SPATIAL FOG DUAL ETH Spatial FOG Dual Ethernet Unit Spatial FOG Dual Ethernet unit L1 GPS GLONASS and SBAS DGNSS supported Raw satellite data output supported License required for RTK L2 BeiDou and Galileo No cables included Table 2 Standalone unit part numbers ...

Page 10: ...ons Refer to the Spatial FOG Dual Reference Manual 8 6 Communication Specifications Parameter Value Primary Interface Ethernet TCP Primary Protocol AN Packet Protocol ANPP Auxiliary Interface RS232 Auxiliary Protocol External data ANPP input output Serial input output GPIO Interface RS422 GPIO Protocol Digital and frequency input only Ethernet Speed 10Base T or 100Base Tx auto sensing Auxiliary Sp...

Page 11: ...rotection Range 40 V 100 V RS422 Rx Differential Threshold 0 2 V 0 05 V RS232 Tx Voltage Low 5 4 V 5 V Tx Voltage High 5 V 5 4 V Tx Short Circuit Current 60 mA Rx Threshold Low 0 6 V 1 2 V Rx Threshold High 1 5 V 2 0 V GNSS Antenna Active Antenna Supply Voltage 4 8 V 5 V Antenna Supply Current 150 mA Table 4 Electrical specifications 8 9 Power Consumption Refer to the Spatial FOG Dual Reference Ma...

Page 12: ...y Mouse connector The part number for the connector on the unit is 801 011 07M8 13PA The part number for the recommended cable connector is 801 007 16M8 13SA The connector provides a reliable and rugged connection to Spatial FOG Dual ETH under demanding conditions and is rated to IP68 in the mated condition Illustration 1 View into the connector on the unit 1 7 8 2 9 11 3 10 4 5 6 12 13 ...

Page 13: ...al Ground 4 Power Ground 5 Power Supply 6 Ethernet Tx 7 GPIO 2 8 GPIO 1 9 GPIO 1 10 Auxiliary RS232 Tx 11 Ethernet Rx 12 Ethernet Rx 13 Ethernet Tx Table 5 Pin allocation table 8 11 Spatial FOG Dual Evaluation Cable Harness Advanced Navigation does not offer any pre terminated evaluation cable harness for the Spatial FOG Dual ETH variant ...

Page 14: ...etermine this IP address 5 Open the Spatial FOG Manager software and select Network Connect under the Tools menu Enter the IP address and set the port number to 16718 Click the Connect button 6 If the unit is mounted in an alignment other than the standard alignment of X pointing forward and Z pointing down this alignment offset will need to be entered into the Alignment Configuration dialogue in ...

Page 15: ...Spatial FOG Dual ETH Supplementary Reference Manual Page 14 of 29 Version 1 2 10 09 2019 10 Operation Refer to the Spatial FOG Dual Reference Manual ...

Page 16: ...llation Refer to the Spatial FOG Dual Reference Manual 11 4 Troubleshooting Please contact support advancednavigation com if you are having issues 11 5 Main View Refer to the Spatial FOG Dual Reference Manual 11 5 1 Serial Port You cannot connect to the Spatial FOG Dual ETH variant using a serial port connection Please see section 11 9 5 for information on connecting via the Ethernet interface 11 ...

Page 17: ...d rate is pre configured to communicate at 115200 bps directly with the Ethernet interface If it is necessary to change this rate it must also be changed on the Ethernet interface to match Please contact support advancednavigation com before you make any changes Using Spatial FOG Manager you can modify the Auxiliary and GPIO port baud rates to suit your requirements When changing baud rates some M...

Page 18: ...levels The internal hardware automatically reconfigures based upon the selected function See section 12 4 for the list of available functions Please contact support advancednavigation com before you make any changes as this variant is only designed for GPIO ports 1 and 2 to function as inputs 11 8 7 Odometer Refer to the Spatial FOG Dual Reference Manual 11 8 8 Reset Refer to the Spatial FOG Dual ...

Page 19: ...e Spatial FOG Dual Reference Manual 11 9 5 Network Connect The Network Connect dialogue allows Spatial FOG Manager to make a connection to Spatial FOG Dual over a TCP IP network The Spatial FOG Dual ETH is configured by default as a DHCP Client so it will automatically obtain an IP address from your router Use the router interface to determine this IP address Enter the IP address and set the port ...

Page 20: ... or the baud rate packet see section 13 10 3 It is important to select a baud rate that is capable of carrying the amount of data that Spatial FOG Dual is set to send or receive See packet rates in section 13 5 for more details on data output calculation The data rate in bytes per second can be calculated by dividing the baud rate by 10 For example if the baud rate is 115200 then the data rate is ...

Page 21: ...onal peripherals sensors and data formats The GPIO port functions and Auxiliary port functions available are listed in section 12 4 The function of a GPIO port or the Auxiliary port can be changed at any time using the GPIO Configuration dialogue in Spatial FOG Manager see section 11 8 6 or the GPIO Configuration Packet 188 12 3 1 GPIO Pins Voltage Level GPIO1 and GPIO2 function at RS422 levels 12...

Page 22: ...et Zero Orientation Alignment Digital Input All System State Packet Trigger Digital Input All Raw Sensors Packet Trigger Digital Input All RTCM Differential GNSS Corrections Input Serial Receive 2 Receive Trimble GNSS Input Serial Receive 2 Receive u blox GNSS Input Serial Receive 2 Receive Hemisphere GNSS Input Serial Receive 2 Receive Left Wheel Speed Sensor Frequency Input All Right Wheel Speed...

Page 23: ...ersion 1 2 10 09 2019 Serial Port Passthrough Serial Yes Gimbal Encoder Phase A Frequency Input All Gimbal Encoder Phase B Frequency Input All Odometer Direction Forward Low Digital Input All Odometer Direction Forward High Digital Input All Table 7 GPIO pin functions ...

Page 24: ...Spatial FOG Dual ETH Supplementary Reference Manual Page 23 of 29 Version 1 2 10 09 2019 13 Advanced Navigation Packet Protocol Refer to the Spatial FOG Dual Reference Manual ...

Page 25: ...Spatial FOG Dual ETH The Spatial FOG Dual ETH is configured by default as a DHCP Client so it will automatically obtain an IP address from your router when connected to the network You can use your router interface to determine this IP address Once you have the IP address you can use a web browser to display the Ethernet interface configuration screens Parameter Value Primary Port IP Address Assig...

Page 26: ...k connection properties such as swapping to a fixed IP address Click OK when done WARNING if using a fixed IP address you MUST remember the details you enter If you reset the Ethernet interface back to its factory default settings using the Apply Defaults page the IP Configuration settings you have set WILL NOT change Illustration 5 Screenshot of Ethernet interface Network Settings page ...

Page 27: ...igured to communicate at 115200 bps directly with the Spatial FOG Dual If it is necessary to change these rates they must also be changed on the Spatial FOG Dual to match Please contact support advancednavigation com before you make any changes Click OK when done WARNING if you reset the Ethernet interface back to its factory default settings using the Apply Defaults page you will need to set the ...

Page 28: ...rt number The default values are listed in Table 7 Click OK when done WARNING if you reset the Ethernet interface back to its factory default settings using the Apply Defaults page you will need to reset the Channel 1 and Channel 2 Local Port numbers from the default values of 10001 and 10002 to 16718 and 16719 Illustration 7 Screenshot of Ethernet interface Connection Settings page ...

Page 29: ...pply Settings page The Ethernet interface will automatically reset after storing the changes This should take less than a minute Whilst the changes are being saved you will see a status page NOTE The OK buttons on the individual settings pages do need to be pressed after any change is made but they DO NOT actually save the changes on the device Illustration 8 Screenshot of Ethernet interface confi...

Page 30: ... contained therein UNLESS OTHERWISE SET FORTH IN ADVANCED NAVIGATION S TERMS AND CONDITIONS OF SALE ADVANCED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND OR SALE OF ADVANCED NAVIGATION PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEME...

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