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AHRS - Advanced Configuration - User Guide 

 

 

 

 

MU-AHRS-AN-002 Ed. E  November 2015

  

5

 

Table of Contents 

1

 

I

NTRODUCTION

 .............................................................................................................. 6

 

2

 

V

ERSION AND 

P

RODUCTS 

C

ONCERNED

 .......................................................................... 7

 

3

 

G

ENERAL 

C

ONVENTIONS

 ............................................................................................... 8

 

3.1

 

C

OMMAND 

S

YNTAX

 ..................................................................................................................... 8

 

3.2

 

H

OW TO 

S

END AND 

R

ECEIVE 

C

OMMANDS

 ..................................................................................... 8

 

4

 

G

ENERAL 

S

YSTEM 

C

ONFIGURATION

 ............................................................................... 9

 

4.1

 

S

AVE TO 

EEPROM..................................................................................................................... 9

 

4.2

 

S

OFTWARE 

S

YSTEM 

R

EBOOT

 ...................................................................................................... 9

 

4.3

 

W

EB 

MMI

 

P

ASSWORDS 

R

ESET

 .................................................................................................... 9

 

4.4

 

M

ANUAL 

P

OSITION AND 

S

PEEDS

 .................................................................................................. 9

 

4.5

 

A

XIS 

O

RIENTATION

 .................................................................................................................... 10

 

4.6

 

H

EADING

,

 

R

OLL AND 

P

ITCH ANGULAR OFFSETS

 .......................................................................... 12

 

4.7

 

M

AIN 

L

EVER 

A

RM

 ..................................................................................................................... 13

 

4.8

 

S

ECONDARY 

L

EVER 

A

RMS

 ........................................................................................................ 13

 

4.9

 

C

ENTER OF 

G

RAVITY 

P

OSITION

 .................................................................................................. 13

 

4.10

 

H

EAVE 

P

ARAMETERS

 ................................................................................................................ 14

 

4.11

 

UTC

 

(T

IME 

S

YNCHRONIZATION

)

 

I

NTERFACE

 ............................................................................... 14

 

5

 

I

NTERFACES 

C

ONFIGURATION

 ...................................................................................... 15

 

5.1

 

P

ORT MAPPING AND 

ID .............................................................................................................. 15

 

5.2

 

S

ERIAL AND 

E

THERNET 

C

OMMANDS

 .......................................................................................... 16

 

5.2.1

 

Serial I/O General Parameters (Parity, Stop Bit, Level, Baudrate) .................................... 16

 

5.2.2

 

Serial/Ethernet Input Port Configuration ............................................................................ 17

 

5.2.3

 

User Defined Output Protocol ............................................................................................ 18

 

5.2.4

 

Serial/Ethernet Output Port Configuration ......................................................................... 18

 

5.2.5

 

Output Device Selection .................................................................................................... 20

 

5.2.6

 

Input Device Selection ....................................................................................................... 20

 

5.3

 

E

THERNET 

C

ONFIGURATION

 ...................................................................................................... 21

 

5.3.1

 

Network Setup Command .................................................................................................. 21

 

5.3.2

 

IP Output Configuration ..................................................................................................... 21

 

5.3.3

 

IP Input Configuration ........................................................................................................ 22

 

5.4

 

P

ULSES 

I

NTERFACES

 ................................................................................................................. 23

 

5.4.1

 

Input Pulses ....................................................................................................................... 23

 

5.4.2

 

Output Pulses .................................................................................................................... 23

 

6

 

D

YNAMIC 

S

TRING 

R

ETRIEVE 

C

OMMANDS

 ...................................................................... 24

 

6.1

 

G

ENERIC 

T

EXT 

R

ETRIEVE 

C

OMMAND

 ......................................................................................... 24

 

A

PPENDICES

 ..................................................................................................................... 26

 

A

 

NMEA

 

C

HECKSUM 

W

EB 

P

AGE

 .................................................................................... 26

 

B

 

O

RIENTATION AND SIGN CONVENTIONS RECALL

 ............................................................ 27

 

C

 

F

ACTORY 

S

ETTING 

D

ETAILS

......................................................................................... 28

 

Содержание Octans

Страница 1: ...AHRS Advanced Configuration User Guide...

Страница 2: ......

Страница 3: ...ment Revision History Edition Date Comments A 09 2011 First Edition B 03 2012 iXBlue graphical chart applied to the document C 01 2015 OCTANS NANO product added Appendice B added D 03 2015 New style g...

Страница 4: ...not limited to implied warranties of merchantability and fitness for a particular purpose with respect to this product and documentation iXBlue reserves the right to revise or make changes or improvm...

Страница 5: ...s Icons The Note icon indicates that the following information is of particular interest and should be read with care Important The Important mention indicates that the following information should be...

Страница 6: ...rsion associated to which this user guide applies This section lists the availability of the commands depending on the products Part 3 General Conventions This part describes command syntax and how to...

Страница 7: ...NIZATION INTERFACE 14 5 INTERFACES CONFIGURATION 15 5 1 PORT MAPPING AND ID 15 5 2 SERIAL AND ETHERNET COMMANDS 16 5 2 1 Serial I O General Parameters Parity Stop Bit Level Baudrate 16 5 2 2 Serial Et...

Страница 8: ...eck settings and modify AHRS or external sensors configuration depending of the external sensor and of the AHRS capabilities to reset the unit and save the configuration to PROM Full configuration of...

Страница 9: ...than FrmWCINT_INS_v5 64 version Refer to section 6 1 to check the firmware version currently downloaded into your unit Several commands described in this manual are associated with specific external...

Страница 10: ...racter is transmitted first The checksum field is required in all transmitted sentences All frames should be ended by the two characters CR LF 0D 0A hexadecimal A Web based NMEA calculator is given in...

Страница 11: ...d to perform a save to PROM command see section 4 1 before resetting if you changed the settings and want to keep them 4 3 Web MMI Passwords Reset To reset Web MMI passwords following command can be u...

Страница 12: ...h misalignment See Table 2 for index orientation correspondence and checksums int To retrieve the axis orientation also called the rough misalignment PHORI 4C CR LF Important Please check logo and con...

Страница 13: ...nfiguration User Guide MU AHRS AN 002 Ed E November 2015 11 i hh Orientation Surface Orientation Subsea i hh Orientation Surface Orientation Subsea 6 56 7 57 8 58 9 59 10 61 11 60 12 63 13 62 14 65 15...

Страница 14: ...22 60 23 61 4 6 Heading Roll and Pitch angular offsets To configure user angular offsets fine misalignment Message PHBIA x x y y z z hh CR LF Title Angular offsets Configuration Data Field Semantics U...

Страница 15: ...z hh CR LF Title Lever Arms Configuration Data Field Semantics Unit Type x Lever arm A B or C N A Char x x XV1 lever arm m Float y y XV2 lever arm m Float z z XV3 lever arm m Float To retrieve seconda...

Страница 16: ...0 Slight Sea 1 2m 1 Moderate Sea 2 5m 2 Rough Sea 2 5m 3 Harbors and Channels int To retrieve the current sea state mode PHCNF HVECNF 30 CR LF 4 11 UTC Time Synchronization Interface To configure the...

Страница 17: ...ation may differ for certain product For OCTANS surface to configure the physical serial input ports A and B use configuration commands with respectively ports D and E instead For OCTANS surface to co...

Страница 18: ...E For more explanation refer to 5 1 OCTANS 3000 set A to E to configure Input Output ports A to E OCTANS NANO set A to B to configure Input Output ports A to B int i Parity 0 None 1 Even 2 Odd int j...

Страница 19: ...A to Port D char i protocol See Table 3 int j RFU Set this field to 0 int The RSIN command must be used to select input protocol in Ethernet mode too To retrieve configuration of serial input port PHC...

Страница 20: ...ta Field Semantics Syntax Type x Port Uppercase OCTANS set A to C to configure Port A to Port C OCTANS 3000 set A to E to configure Port A to Port E OCTANS NANO set A to E to configure Port A to Port...

Страница 21: ...03 14 GYROCOMPAS2 BA_CUSTOM1 TECHSAS 15 MOTION_SENSOR1 BA_CUSTOM2 PTNTHPR 16 MOTION_SENSOR2 GYROCOMPAS1 BROADCAST_A 17 MOTION_SENSOR3 GYROCOMPAS2 BROADCAST_B 18 MOTION_SENSOR4 MOTION_SENSOR1 BROADCAST...

Страница 22: ...o retrieve network configuration PHCNF EDIROA 6B CR LF PHCNF EDIROB 68 CR LF PHCNF EDIROC 69 CR LF PHCNF EDIROB 6E CR LF PHCNF EDIROC 6F CR LF 5 2 6 INPUT DEVICE SELECTION To select the device that wi...

Страница 23: ...retrieve network configuration PHCNF ETHIP 3F CR LF 5 3 2 IP OUTPUT CONFIGURATION To configure the IP output settings on selected port Message PHCNF ELCFOx m i p hh CR LF Title IP output settings Data...

Страница 24: ...refer to 5 1 OCTANS 3000 set A to E to configure Port A to Port E OCTANS NANO set A to D to configure Port A to Port D char m Mode IP input mode 0 TCP server 1 TCP client 2 UDP point to point 3 UDP b...

Страница 25: ...Output E Synchro 10 to 13 Reserved 14 Log 15 Odo int x x RFU Set this field to 0 0 Float To retrieve configuration of pulse input on port x checksum hh depends on port x PHCNF PULSINx hh CR LF 5 4 2 O...

Страница 26: ...list string c Language Only English E is supported char i Section index Index of list to retrieve for this command int j String index Index of string in the list int Example To retrieve first serial o...

Страница 27: ...pulse protocols PULSOX 0 Output pulses protocols EDIRIX 0 Input devices names EDIROX 0 Output devices names ELCFIX 0 Input Ethernet transport layer ELCFOX 0 Output Ethernet transport layer STASOR 0 A...

Страница 28: ...n firstChild nodeValue text script head body h1 MTK NMEA checksum calculator h1 p This is a simple calculator to compute the checksum field of NMEA frames p p The checksum is simple just an XOR of all...

Страница 29: ...in direction of vehicle stern XV2 lever arm is counted positive in direction of port side and negative in direction of starboard side XV3 lever arm is counter positive upward negative downward Misalig...

Страница 30: ...longitude 0m altitude MPC settings All input and output port protocols are set to NONE on primary lever arm All output port protocols rate are set to 0Hz Ethernet output ports are set from 8111 to 81...

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