Chapter 3 SPAN Operation
OEM7 SPAN Installation and Operation User Manual v14
85
Required Information
Required Command
IMU type and communication port
CONNECTIMU
IMU to primary antenna lever arm
SETINSTRANSLATION ANT1
IMU to vehicle frame rotation
SETINSROTATION RBV
While this is the minimum amount of information required, additional information is typically needed for SPAN
systems. The following commands are commonly used to configure SPAN systems.
Common User Settings
Appropriate Command
Notes
IMU to output position offset
SETINSTRANSLATION USER
Default output position is at the IMU
center
IMU to output frame rotation
SETINSROTATION USER
Default output frame is the vehicle frame
IMU to secondary antenna lever
arm
SETINSTRANSLATION ANT2
Only required for dual antenna systems
Vehicle type
SETINSPROFILE
Minimum alignment velocity
SETALIGNMENTVEL
Configure SPAN Manually
Follow these steps to enable INS as part of the SPAN system using software commands:
A GNSS antenna with a clear view of the sky must be connected and tracking satellites for
operation.
1. Issue the
CONNECTIMU
command to specify the type of IMU being used and the receiver port connected
to the IMU, see
below and the
CONNECTIMU
command.
IMU Type
CONNECTIMU command
ADIS-16488
CONNECTIMU COMx ADIS16488
1
CONNECTIMU SPI ADIS16488
2
EG320N
CONNECTIMU SPI EPSON_G320
CONNECTIMU SPI EPSON_G320_200HZ
EG370N
CONNECTIMU SPI EPSON_G370
HG1700 AG11
CONNECTIMU COMx HG1700_AG11
Table 20: Enable INS Commands
1
When the ADIS16488 is connected using a MIC.
2
When the ADIS16488 is connected directly to an OEM7 receiver.
