Hiprom Technologies 1769HP-GPS User manual

1769HP-GPS
USER MANUAL
Rev 1.1 – June 2005

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Table of Contents
Chapter 1 Introduction.......................................................................................................3
Chapter 2 Module Accessories .........................................................................................4
Chapter 3 Module Operation.............................................................................................5
Chapter 4 Installing the Module ........................................................................................7
Chapter 5 Configuring the Module ....................................................................................8
Chapter 6 I/O Address Map ............................................................................................15
Chapter 7 Module Status ................................................................................................22
Appendix A PLC Ladder Example .....................................................................................23
Appendix B Specifications .................................................................................................44
Appendix C GPS Operation...............................................................................................45
Appendix D Time standards ..............................................................................................49
Appendix E Glossary .........................................................................................................50

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CHAPTER 1 INTRODUCTION
The 1769HP-GPS module provides accurate time and position information and services
for the Allen-Bradley 1769 platform (CompactLogix or MicroLogix 1500).
The module makes use of Global Positioning System (GPS) technology to derive accurate
time which is synchronized with the atomic clocks located on the GPS satellites.
This document serves to describe the functionality, installation, configuration and use of
the module.

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CHAPTER 2 MODULE ACCESSORIES
Each 1769HP-GPS package includes the following components:
•1769HP-GPS module
•5m RG58 patch lead with a SMA male and TNC male connector on either end
•3.3V active 50Ωbullet antenna
•1769HP-GPS user manual
GPS
Global
Positioning
& Timing
Module
MODULE
ANT
GPS
GPS
Figure 2.1 : 1769HP-GPS module with antenna and patch-lead

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CHAPTER 3 MODULE OPERATION
The 1769HP-GPS module is designed to operate within the Allen-Bradley 1769 backplane.
All power required for the module’s operation is derived from the 1769 backplane.
GPS
Global
Positioning
& Timing
Module
MODULE
ANT
GPS
GPS
Figure 3.1 : 1769HP-GPS Layout
The on-board GPS receiver is connected via the external SMA antenna port and external
antenna patch-lead to the active GPS antenna. Once the module is powered-up it will
begin searching for available GPS satellites. Soon after lock on at least 4 satellites has
been achieved the module’s internal time will become valid.
Status LEDs
SMA Antenna Port

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The current status of the module is conveyed to the user by means of the 2 bi-color Status
LED’s.
The following information is available to the user directly across the backplane by means
of a scheduled connection:
•Date and Time in Gregorian Format (year, month, day, hour, minute etc.)
•GPS Receiver Status
•Number of satellites being tracking
•Position in Polar Coordinates (latitude, longitude and altitude)
•Position in Cartesian Coordinates ( Earth-centered-earth-fixed X,Y,Z axis)
•Velocity in Polar Coordinates (Northerly, Easterly and Upward)
•Velocity in Cartesian Coordinates ( Earth-centered-earth-fixed X,Y,Z axis)
All time and date information can be adjusted to the local time-zone by configuring the
Time-Zone offset, in the scheduled output image.

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CHAPTER 4 INSTALLING THE MODULE
GPS utilizes a spread spectrum signal in the 1.5GHz range, and thus cannot penetrate
conductive or opaque surfaces. Thus the antenna should be mounted in a horizontal
position with an unobstructed view of the sky.
Attach the antenna patch lead to the antenna. It is recommended that waterproofing tape
be used to seal the connection.
NOTE: Should a longer patch lead be required it is recommended that a GPS signal
booster is used. Contact your local Hiprom Technologies distributor for assistance.
Attach the patch lead SMA (male) to the module’s SMA (female) connector. It is not
recommended that the antenna patch lead exceed a total loss of 10dB at 1.5GHz, as this
may increase the time to GPS lock, or in extreme cases, prevent GPS lock from being
achieved at all.
Once the module has been power up for the first time, it will search for satellites from a
cold start (i.e no almanac). The module will take approximately 5 minutes to acquire Lock.
Once a complete almanac has been downloaded, the time to achieve fix will be reduced to
around 45 seconds.

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CHAPTER 5 CONFIGURING THE MODULE
The 1769HP-GPS module is supported by Allen Bradley’s MicroLogix 1500 and
CompactLogix PLC systems. Because the CompactLogix uses RSLogix 5000 and the
MicroLogix 1500 uses RSLogix 500, two different setup procedures are explained below.
5.1 CompactLogix (RSLogix 5000)
A direct connection between the controller and the 1769HP-GPS module is required to
transfer I/O data to and from the module. In addition the module supports various
unconnected messages that can be used to retrieve particular information.
Establishing the Direct Connection
This section describes the procedures necessary to configure the 1769HP-GPS module
within the CompactLogix system.
The 1769 Generic Module is used in RSLogix5000 to configure the module. The
configuration of the module is detailed in the table below.
Data Format
CommFormat Data – INT
Connection parameters
Description Instance Size
Input 101 19
Output 100 4
Configuration 102 0
Table 5.1 : 1769HP-GPS connection parameters.
RPI
Request Packet Interval 1 ms
Table 5.2 : Local CompactBus connection parameters.
The steps required to add a new 1769HP-GPS module are detailed below.

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Figure 5.1 : Right-click on I/O Configuration and select New Module
Figure 5.2 : Select Generic 1769 Module ( 1769HP-GPS MODULE )

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Figure 5.3 : Configure module’s parameters
Figure 5.4 : Right-click on CompactBus Local and select Properties

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Figure 5.5 : Configure CompactBus module’s RPI (Requested Packet Interval)
Once a modules configuration data has been downloaded to the controller, it will attempt
to establish a connection with the module. A connection will fail if there is inappropriate
configuration data.

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5.2 MicroLogix 1500 (RSLogix 500)
A direct connection between the controller and the 1769HP-GPS module is required to
transfer I/O data to and from the module.
Establishing the Direct Connection
This section describes the procedures necessary to configure the 1769HP-GPS module
within the MicroLogix 1500 system.
Figure 5.6 : Right-click on I/O Configuration and select Open

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Figure 5.6 : Left-click on Read I/O Config
Before the IO can be read, a connection must be established between RSLogix and the
PLC system (Micrologix 1500).
Figure 5.7 : Left-click on Read I/O Config

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Figure 5.8 : Confirmation that the 1769HP-GPS module has been identified

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CHAPTER 6 I/O ADDRESS MAP
The input and output image of the 1769HP-GPS module is defined in the following
sections. Appendix A and B provide example code and recommended structures that can
be used to extract and view the data.
Input Image
Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0
NSH
EWH
PEC
SV Count
DTV
RSV
ANT
BAT
PDP
PPS
RSV LOC
SKY
1 Milliseconds
2 Seconds
3 Minutes
4 Hours
5 Day
6 Month
7 Year
8 Latitude (Sec x 100) Pos X (1 x meters)
9 Latitude (Minutes) Pos X (10,000 x meters)
10 Longitude (Sec x 100) Pos Y (1 x meters)
11 Longitude (Minutes) Pos Y (10,000 x meters)
12 Altitude (1 x meters) Pos Z (1 x meters)
13 Altitude (10,000 x meters) Pos Z (10,000 x meters)
14 Velocity North (m/s x 10) Velocity X (m/s x 10)
15 Velocity East (m/s x 10) Velocity Y (m/s x 10)
16 Velocity Up (m/s x 10) Velocity Z (m/s x 10)
17 Channel SV PRN SV Signal Strength
18 Reserved
Figure 6.1 : Connected Input Image

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Input Image Description
Field/Value Description Location Type
SKY
Visible Sky
0 = Sky not visible or no satellite signals
present
1 = Satellite signals available
No sky usually indicates that the antenna does not have a clear view of
the sky, such as in a building, etc.
CompactLogix:
Local:s:I.Data[0].0
MicroLogix 1500:
I:e.0/0
BIT
LOC
Satellite Lock
0 = Not tracking sufficient satellites to provide positional
fix
1 = Sufficient satellites being tracked to provide
positional fix
Typically, tracking 4 satellites is sufficient to provide lock.
CompactLogix:
Local:s:I.Data[0].1
MicroLogix 1500:
I:e.0/1
BIT
RSV Reserved for future use
CompactLogix:
Local:s:I.Data[0].2
MicroLogix 1500:
I:e.0/2
BIT
PPS
Pulse per Second
This bit transitions from 0 to 1 precisely every second.
The pulse duty cycle is approximately 50%.
CompactLogix:
Local:s:I.Data[0].3
MicroLogix 1500:
I:e.0/3
BIT
PDP
PDOP OK
0 = Position Dilution of Precision is unacceptable
1 = No Position Dilution of Precision present
Position Dilution of Precision occurs when although there are sufficient
satellites in lock, 2 or more of them appear to occupy similar positions in
the sky and thus the number of effective satellites is decreased.
CompactLogix:
Local:s:I.Data[0].4
MicroLogix 1500:
I:e.0/4
BIT
BAT
Battery Backup on Boot
0 = No battery backup available on boot-up.
1 = Battery backup available on boot-up.
With battery backup enabled the time taken for the GPS module to
regain satellite lock is greatly reduced.It is recommended that if the
module is not to be used for an extended period that the battery backup
be disabled.
CompactLogix:
Local:s:I.Data[0].5
MicroLogix 1500:
I:e.0/5
BIT
ANT
Antenna OK
0 = Antenna Fault
1 = Antenna OK
An Antenna fault will occur if the antenna is not present or has been
damaged.
CompactLogix:
Local:s:I.Data[0].6
MicroLogix 1500:
I:e.0/6
BIT
RSV Reserved for future use
CompactLogix:
Local:s:I.Data[0].7
MicroLogix 1500:
I:e.0/7
BIT

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DTV
Date / Time Valid
0 = Date Time Not Valid
1 = Date Time synchronized with GPS
CompactLogix:
Local:s:I.Data[0].8
MicroLogix 1500:
I:e.0/8
BIT
SV Count
Satellite count
Number of Satellites currently being tracked
CompactLogix:
Local:s:I.Data[0].9-12
MicroLogix 1500:
I:e.0/9-12
BIT
PEC
Last Position Vector in ECEF Mode
0 = Position Update in Latitude, Logtitude and Altitude format
1 = Position Update in Earth-Centred-Earth-Fixed X,Y,Z format
ECEF Mode can be invoked by setting the ECF bit in the output
image. (MicroLogix 1500: O:e.0/1 or CompactLogix:
Local:s:O.Data[0].1)
CompactLogix:
Local:s:I.Data[0].13
MicroLogix 1500:
I:e.0/13
BIT
EWH
Current East / West Hemisphere
0 = Current position in East hemishere
1 = Current position in West hemisphere
This flag is Not valid when in ECEF mode is invoked.
CompactLogix:
Local:s:I.Data[0].14
MicroLogix 1500:
I:e.0/14
BIT
NSH
Current North / South Hemisphere
0 = Current position in North hemishere
1 = Current position in South hemisphere
This flag is Not valid when in ECEF mode is invoked.
CompactLogix:
Local:s:I.Data[0].15
MicroLogix 1500:
I:e.0/15
BIT
Milliseconds Real Time Milliseconds
Current real time Milliseconds ( 0 - 999 )
CompactLogix:
Local:s:I.Data[1]
MicroLogix 1500:
I:e.1
INT
Seconds Real Time Seconds
Current real time Seconds ( 0 - 59 )
CompactLogix:
Local:s:I.Data[2]
MicroLogix 1500:
I:e.2
INT
Minutes
Real Time Minutes
Current Local time Minutes ( 0 - 59 )
This is dependent on the configured time zone (MicroLogix 1500: O:e.1
or CompactLogix: Local:s:O.Data[1])
CompactLogix:
Local:s:I.Data[3]
MicroLogix 1500:
I:e.3
INT
Hours
Real Time Hours
Current Local time Hours ( 0 - 23 )
This is dependent on the configured time zone (MicroLogix 1500: O:e.1
or CompactLogix: Local:s:O.Data[1])
CompactLogix:
Local:s:I.Data[4]
MicroLogix 1500:
I:e.4
INT
Day
Calendar Day of Month
Current Local Calendar Day ( 1 - 31 )
This is dependent on the configured time zone (MicroLogix 1500: O:e.1
CompactLogix:
Local:s:I.Data[5]
INT

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or CompactLogix: Local:s:O.Data[1]) MicroLogix 1500:
I:e.5
Month
Calendar Month
Current Local Calendar Month ( 1 - 12 )
This is dependent on the configured time zone (MicroLogix 1500: O:e.1
or CompactLogix: Local:s:O.Data[1])
CompactLogix:
Local:s:I.Data[6]
MicroLogix 1500:
I:e.6
INT
Year
Calendar Year
Current Local Calendar Year
This is dependent on the configured time zone (MicroLogix 1500: O:e.1
or CompactLogix: Local:s:O.Data[1])
CompactLogix:
Local:s:I.Data[7]
MicroLogix 1500:
I:e.7
INT
Latitude
(PEC = 0)
Position X
(PEC = 1)
Current Position Latitude
Degrees = integer (I:e.9 / 60)
Minutes = I:e.9 mod 60
Seconds = I:e.8 / 100
Only Valid if the PEC flag (I:e.0/13) = 0
OR
Distance from Earth-centre along the X - axis.
X-Position = (I:e.8 + ( I:e.9 x 10,000)) in metres
Position is calculated with respect to the WGS-84 Earth-Centred
Earth-Fixed co-ordinate system. The X-axis is defined as the vector with
origin at the earth's centre and passing through the intersection of the
equator and Greenwich meridian.
Only Valid if the PEC flag (I:e.0/13) = 1
CompactLogix:
Local:s:I.Data[8] – [9]
MicroLogix 1500:
I:e.8-9
INT
Longitude
(PEC = 0)
Position Y
(PEC = 1)
Current Position Longitude
Degrees = integer (I:e.11 / 60)
Minutes = I:e.11 mod 60
Seconds = I:e.10 / 100
Only Valid if the PEC flag (I:e.0/13) = 0
OR
Distance from Earth-centre along the Y - axis.
Y-Position = (I:e.10 + ( I:e.11 x 10,000) in metres
Position is calculated with respect to the WGS-84 Earth-Centred Earth-
Fixed co-ordinate system. The Y-axis is defined as the vector with origin
at the earth's centre and passing through the equator 90 degrees east
of the Greenwich meridian.
Only Valid if the PEC flag (I:e.0/13) = 1
CompactLogix:
Local:s:I.Data[10] –
[11]
MicroLogix 1500:
I:e.10-11
INT
Altitude
(PEC = 0)
Position Z
(PEC = 1)
Current Position Altiude
Altitude= (I:e.12 + ( I:e.13 x 10,000) in metres I:e.13
Only Valid if the PEC flag (I:e.0/13) = 0
OR
Distance from Earth-centre along the Y - axis.
Z-Position = (I:e.10 + ( I:e.11 x 10,000) in metres
Position is calculated with respect to the WGS-84 Earth-Centred Earth-
CompactLogix:
Local:s:I.Data[12] –
[13]
MicroLogix 1500:
I:e.12-13
INT

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Fixed co-ordinate system. The Z-axis is defined as the vector with origin
at the earth's centre and passing through the North pole.
Only Valid if the PEC flag (I:e.0/13) = 1
Velocity –
North
(PEC = 0)
Velocity – X
(PEC = 1)
Current Northerly Velocity
Velocity North / 10 (in m/s)
A negative value indicates a Southerly direction of movement.
Only Valid if the PEC flag (I:e.0/13) = 0
OR
Speed with respect to the X - axis.
X-Velocity / 10.0 (in m/s)
The X-axis is defined as the vector with origin at the earth's centre
and passing through the intersection of the equator and Greenwich
meridian.
Only Valid if the PEC flag (I:e.0/13) = 1
CompactLogix:
Local:s:I.Data[14]
MicroLogix 1500:
I:e.14
INT
Velocity –
East
(PEC = 0)
Velocity – Y
(PEC = 1)
Current Easterly Velocity
Velocity East / 10 (in m/s)
A negative value indicates a Westerly direction of movement.
Only Valid if the PEC flag (I:e.0/13) = 0
OR
Speed with respect to the Y - axis.
Y-Velocity / 10.0 (in m/s)
The Y-axis is defined as the vector with origin at the earth's centre
and passing through the intersection of the equator and Greenwich
meridian.
Only Valid if the PEC flag (I:e.0/13) = 1
CompactLogix:
Local:s:I.Data[15]
MicroLogix 1500:
I:e.15
INT
Velocity – UP
(PEC = 0)
Velocity – Z
(PEC = 1)
Current Upward Velocity
Velocity Up / 10 (in m/s)
A negative value indicates a Downward direction of movement.
Only Valid if the PEC flag (I:e.0/13) = 0
OR
Speed with respect to the Z - axis.
Z-Velocity / 10.0 (in m/s)
The Z-axis is defined as the vector with origin at the earth's centre
and passing through the intersection of the equator and Greenwich
meridian.
Only Valid if the PEC flag (I:e.0/13) = 1
CompactLogix:
Local:s:I.Data[16]
MicroLogix 1500:
I:e.16
INT
Channel
GPS Receiver Channel Number
These 3 bits indicate which of the GPS's 8 (0-7) channels' data is being
displayed.
Because all 8 channels' data is passed with a single word, it is time
division multiplexed, showing a different channel every second. The
channel number can be used as an indirect addressing pointer, to store
the Channel SV PRN and Signal Strengths in the PLC.
CompactLogix:
Local:s:I.Data[17].13-
15
MicroLogix 1500:
I:e.17/13-15
INT
SV PRN
Satellite Vehicle PRN Identification Number tracked on current
channel
Each operational GPS satellite has a unique PRN identification number
(0-31).
CompactLogix:
Local:s:I.Data[17].8-
12
MicroLogix 1500:
I:e.17/8-12
INT

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Updated in conjuction with "Channel" described above
SV Signal
Strength
Satellite Signal Strength on current channel
A measure of the satellite signal strength calculated during signal
correlation.
Signal Strength in (dbHz x 10 ) after correlation. Updated in conjuction
with "Channel" described above
CompactLogix:
Local:s:I.Data[17].0-7
MicroLogix 1500:
I:e.17/0-7
INT
Reserved Reserved for future use
CompactLogix:
Local:s:I.Data[18]
MicroLogix 1500:
I:e.18
INT