Leica iCON aps 200 User manual

Leica iCON aps 200
User Manual
Version 3.1
English

Introduction
Congratulations on the purchase of the Leica iCON aps 200.
This manual contains important safety directions as well as instructions for
setting up the product and operating it. Refer to 1 Safety Directions for fur-
ther information.
Read carefully through the User Manual before you switch on the product.
The content of this document is subject to change without prior notice. Ensure
that the product is used in accordance with the latest version of this docu-
ment.
The model and serial number of your product are indicated on the type label.
Always refer to this information when contacting your agency or Leica Geo-
systems authorised service centre.
•Bluetooth® is a registered trademark of Bluetooth SIG, Inc.
All other trademarks are the property of their respective owners.
This manual applies to the Leica iCON aps 200 instrument and the Leica
CGA100 antenna.
Name Description/Format
Leica iCON aps
200 Quick
Guide
Provides an overview of the product together
with technical data and safety directions. Inten-
ded as a quick reference eld guide.
ü ü
Leica iCON aps
200 User
Manual
All instructions required in order to operate
the product to a basic level are contained in
the User Manual. Provides an overview of the
product together with technical data and safety
directions.
‐ü
Refer to the following resources for all Leica iCON aps 200 documenta-
tion/software:
•the Leica USB documentation card.
•https://myworld.leica-geosystems.com
https://myworld.leica-geosystems.com offers a wide range of services, inform-
ation and training material.
With direct access to myWorld, you are able to access all relevant services
whenever it is convenient for you.
The availability of services depends on the instrument model.
Purchase
Product identication
Trademarks
Validity of this
manual
Available documenta-
tion
2

Service Description
myProducts Add all products that you and your company own
and explore your world of Leica Geosystems: View
detailed information on your products and update
your products with the latest software and keep up-
to-date with the latest documentation.
myService View the current service status and full service his-
tory of your products in Leica Geosystems service
centres. Access detailed information on the services
performed and download your latest calibration cer-
ticates and service reports.
mySupport Create new support requests for your products that
will be answered by your local Leica Geosystems
Support Team. View the complete history of your
support requests and view detailed information on
each request in case you want to refer to previous
support requests.
myLearning Welcome to the home of Leica Geosystems online
learning! There are numerous online courses – avail-
able to all customers with products that have valid
CCPs (Customer Care Packages).
myTrustedServices Add your subscriptions and manage users for Leica
Geosystems Trusted Services, the secure software
services, that assist you to optimise your workow
and increase your efciency.
mySmartNet HxGN SmartNet is the GNSS correction service built
on the world’s largest reference station network,
enabling GNSS-capable devices to quickly determine
precise positions in the range of one to two centi-
metre accuracy. The service is provided 24/7 by a
highly-available infrastructure and professional sup-
port team with more than 10 years of experience
reliably delivering the service.
myDownloads Downloads of software, manuals, tools, training
material and news for Leica Geosystems products.
3

Table of Contents
1 Safety Directions 6
1.1 General Introduction 6
1.2 Denition of Use 7
1.3 Limits of Use 7
1.4 Responsibilities 8
1.5 Hazards of Use 8
1.6 Electromagnetic Compatibility (EMC) 13
2 Description of the System 15
2.1 System Components 15
2.1.1 General Information 15
2.1.2 Power Concept 16
2.2 Unpacking the Container 17
2.2.1 iCON aps 200 Dual GNSS Container 17
2.3 Instrument Components 18
3 Using iCON aps 200 21
3.1 Power Supply 21
3.2 Installing a SIM Card 21
3.3 Using USB Memory Devices 22
3.4 Installation on a Machine 22
3.5 Antenna Heights 26
3.5.1 Understanding Antenna Heights 26
3.5.2 The Antenna Reference Plane, ARP 26
3.5.3 Measuring the Antenna Height for a Mast Setup 27
3.6 Dual GNSS Positioning and Heading 27
4 Setups with Accessories 29
4.1 Dual GNSS Setup, with Internal Radio/Modem 29
5 Using the Web Interface 30
6 Care and Transport 42
6.1 Transport 42
6.2 Storage 42
6.3 Cleaning and Drying 42
7 Technical Data 43
7.1 Technical Data iCON aps 200 43
7.1.1 Tracking Characteristics 43
7.1.2 Accuracy 43
7.1.3 General Technical Data of the Product 44
7.2 Antennas Technical Data 46
7.3 Pin Assignments and Sockets 48
7.4 Conformity Declarations 50
7.4.1 iCON aps 200 50
7.4.2 CGA100 55
8 Software Licence Agreement/Warranty 57
Appendix A NMEA Message Formats 58
A.1 Overview 58
A.2 Symbols Used for Describing the NMEA Formats 58
A.3 GGA - Global Positioning System Fix Data 61
A.4 GGK - Real-Time Position with DOP 62
A.5 GGQ - Real-Time Position with CQ 63
A.6 GLL - Geographic Position Latitude/Longitude 64
A.7 GNS - GNSS Fix Data 65
4 Table of Contents

A.8 GSA - GNSS DOP and Active Satellites 66
A.9 GSV - GNSS Satellites in View 68
A.10 GST - Position Error Statistics 70
A.11 HDT - Heading, True 71
A.12 LLK - Leica Local Position and GDOP 71
A.13 LLQ - Leica Local Position and Quality 72
A.14 RMC - Recommended Minimum Specic GNSS Data 73
A.15 VTG - Course Over Ground and Ground Speed 74
A.16 XDR – Transducer Measurements 75
A.17 ZDA - Time and Date 75
A.18 PJK - Local Coordinate Position Output 76
Appendix B ORP – Orientation and Position 78
Appendix C Glossary 81
C.1 NTRIP 81
C.2 WGS84 82
Table of Contents 5

1 Safety Directions
1.1 General Introduction
The following directions enable the person responsible for the product, and
the person who actually uses the equipment, to anticipate and avoid opera-
tional hazards.
The person responsible for the product must ensure that all users understand
these directions and adhere to them.
Warning messages are an essential part of the safety concept of the instru-
ment. They appear wherever hazards or hazardous situations can occur.
Warning messages...
•make the user alert about direct and indirect hazards concerning the use
of the product.
•contain general rules of behaviour.
For the users‘ safety, all safety instructions and safety messages shall be
strictly observed and followed! Therefore, the manual must always be available
to all persons performing any tasks described here.
DANGER, WARNING, CAUTION and NOTICE are standardised signal words for
identifying levels of hazards and risks related to personal injury and property
damage. For your safety, it is important to read and fully understand the
following table with the different signal words and their denitions! Supple-
mentary safety information symbols may be placed within a warning message
as well as supplementary text.
Type Description
DANGER Indicates an imminently hazardous situation
which, if not avoided, will result in death or
serious injury.
WARNING Indicates a potentially hazardous situation
or an unintended use which, if not avoided,
could result in death or serious injury.
CAUTION Indicates a potentially hazardous situation
or an unintended use which, if not avoided,
may result in minor or moderate injury.
NOTICE
Indicates a potentially hazardous situation
or an unintended use which, if not avoided,
may result in appreciable material, nancial
and environmental damage.
☞Important paragraphs which must be
adhered to in practice as they enable the
product to be used in a technically correct
and efcient manner.
Description
About warning
messages
6 Safety Directions

1.2 Denition of Use
•Computing with software.
•Carrying out measurement tasks using various GNSS measuring tech-
niques.
•Recording GNSS and point related data.
•Remote control of product.
•Data communication with external appliances.
•Computing coordinates using carrier phase and code signal from GNSS
satellites.
•Use of the product without instruction
•Use outside of the intended use and limits
•Disabling safety systems
•Removal of hazard notices
•Opening the product using tools, for example screwdriver, unless this is
permitted for certain functions
•Modication or conversion of the product
•Use after misappropriation
•Use of products with recognisable damage or defects
•Use with accessories from other manufacturers without the prior explicit
approval of Leica Geosystems
•Inadequate safeguards at the working site.
•Deliberate dazzling of third parties
•Controlling of machines, moving objects or similar monitoring application
without additional control and safety installations
WARNING
Altered function and safety of the machine
Unauthorised modication of building and constructions machines by mount-
ing or installing the product may alter the function and safety of the machine.
Precautions:
▶Follow the instructions of the machine manufacturer. If no appropriate
instruction is available, ask machine manufacturer for instructions before
mounting or installing the product.
1.3 Limits of Use
Suitable for use in an atmosphere appropriate for permanent human habita-
tion. Not suitable for use in aggressive or explosive environments.
WARNING
Working in hazardous areas, or close to electrical installations or sim-
ilar situations
Life Risk.
Precautions:
▶Local safety authorities and safety experts must be contacted by the
person responsible for the product before working in such conditions.
Intended use
Reasonably foresee-
able misuse
Environment
Safety Directions 7

1.4 Responsibilities
Leica Geosystems AG, CH-9435 Heerbrugg, hereinafter referred to as Leica
Geosystems, is responsible for supplying the product, including the User
Manual and original accessories, in a safe condition.
The person responsible for the product has the following duties:
•To understand the safety instructions on the product and the instructions
in the User Manual
•To ensure that it is used in accordance with the instructions
•To be familiar with local regulations relating to safety and accident pre-
vention
•To stop operating the system and inform Leica Geosystems immediately if
the product and the application become unsafe
•To ensure that the national laws, regulations and conditions for the oper-
ation of the product are respected
•To ensure that the radio modem is not operated without the permission
of the local authorities on frequencies and/or output power levels other
than those specically reserved and intended for use without a specic
permit. The internal and external radio modems have been designed to
operate on frequency ranges and output power ranges, the exact use of
which differs from one region and/or country to another.
WARNING
Unqualied installation on building or construction machinery
This may result in personal and material damage.
Precautions:
▶Only an appropriately trained and qualied specialist may install this
product on building or construction machinery.
1.5 Hazards of Use
CAUTION
Unsuitable installation location
Installing near mechanically moving machine components may damage the
product.
Precautions:
▶Deect the mechanically moving machine components as far as possible
and dene a safe installation zone.
NOTICE
Dropping, misusing, modifying, storing the product for long periods or
transporting the product
Watch out for erroneous measurement results.
Precautions:
▶Periodically carry out test measurements and perform the eld adjust-
ments indicated in the User Manual, particularly after the product has
been subjected to abnormal use as well as before and after important
measurements.
Manufacturer of the
product
Person responsible
for the product
8 Safety Directions

DANGER
Risk of electrocution
Because of the risk of electrocution, it is dangerous to use poles, levelling
staffs and extensions in the vicinity of electrical installations such as power
cables or electrical railways.
Precautions:
▶Keep at a safe distance from electrical installations. If it is essential to
work in this environment, rst contact the safety authorities responsible
for the electrical installations and follow their instructions.
WARNING
Distraction/loss of attention
During dynamic applications, for example stakeout procedures, there is a
danger of accidents occurring if the user does not pay attention to the envir-
onmental conditions around, for example obstacles, excavations or trafc.
Precautions:
▶The person responsible for the product must make all users fully aware of
the existing dangers.
WARNING
Inadequate securing of the working site
This can lead to dangerous situations, for example in trafc, on building sites
and at industrial installations.
Precautions:
▶Always ensure that the working site is adequately secured.
▶Adhere to the regulations governing safety, accident prevention and road
trafc.
CAUTION
Not properly secured accessories
If the accessories used with the product are not properly secured and the
product is subjected to mechanical shock, for example blows or falling, the
product may be damaged or people can sustain injury.
Precautions:
▶When setting up the product, make sure that the accessories are correctly
adapted, tted, secured, and locked in position.
▶Avoid subjecting the product to mechanical stress.
Safety Directions 9

WARNING
Lightning strike
If the product is used with accessories, for example masts, staffs, poles, you
may increase the risk of being struck by lightning.
Precautions:
▶Do not use the product in a thunderstorm.
DANGER
Risk of being struck by lightning
If the product is used with accessories, for example on masts, staffs, poles,
you may increase the risk of being struck by lightning. Danger from high
voltages also exists near power lines. Lightning, voltage peaks, or the touching
of power lines can cause damage, injury and death.
Precautions:
▶Do not use the product in a thunderstorm as you can increase the risk of
being struck by lightning.
▶Be sure to remain at a safe distance from electrical installations. Do not
use the product directly under or close to power lines. If it is essential to
work in such an environment contact the safety authorities responsible
for electrical installations and follow their instructions.
▶If the product has to be permanently mounted in an exposed location, it is
advisable to provide a lightning conductor system. A suggestion on how to
design a lightning conductor for the product is given below. Always follow
the regulations in force in your country regarding grounding antennas and
masts. These installations must be carried out by an authorised specialist.
▶To prevent damages due to indirect lightning strikes (voltage spikes)
cables, for example for antenna, power source or modem should be
protected with appropriate protection elements, like a lightning arrester.
These installations must be carried out by an authorised specialist.
▶If there is a risk of a thunderstorm, or if the equipment is to remain
unused and unattended for a long period, protect your product addition-
ally by unplugging all systems components and disconnecting all connect-
ing cables and supply cables, for example, instrument - antenna.
Suggestion for design of a lightning conductor for a GNSS system:
1.On non-metallic structures
Protection by air terminals is recommended. An air terminal is a pointed
solid or tubular rod of conducting material with proper mounting and con-
nection to a conductor. The position of four air terminals can be uniformly
distributed around the antenna at a distance equal to the height of the air
terminal.
The air terminal diameter should be 12 mm for copper or 15 mm for
aluminium. The height of the air terminals should be 25 cm to 50 cm. All
air terminals should be connected to the down conductors. The diameter
of the air terminal should be kept to a minimum to reduce GNSS signal
shading.
2.On metallic structures
Protection is as described for non-metallic structures, but the air terminals
can be connected directly to the conducting structure without the need
for down conductors.
Lightning conductors
10 Safety Directions

GS_039
a
b
c
a Antenna
bSupport structure
c Air terminal
GS_040
e
d
c
a
b
a Antenna
bLightning conductor array
c Antenna/instrument connec-
tion
d Metallic mast
e Connection to earth
WARNING
Exposure of batteries to high mechanical stress, high ambient temper-
atures or immersion into uids
This can cause leakage, re or explosion of the batteries.
Precautions:
▶Protect the batteries from mechanical inuences and high ambient tem-
peratures. Do not drop or immerse batteries into uids.
WARNING
Incorrect fastening of the external antenna
Incorrect fastening of the external antenna to vehicles or transporters poses
the risk of the equipment being broken by mechanical inuence, vibration or
airstream. This may result in accident and physical injury.
Precautions:
▶Attach the external antenna professionally. The external antenna must be
secured additionally, for example by use of a safety cord. Ensure that the
mounting device is correctly mounted and able to carry the weight of the
external antenna (>1 kg) safely.
Air terminal
arrangement, plan
view
Grounding the
instrument/antenna
Safety Directions 11

CAUTION
Inadequate steering if machine is defective
Beware of inadequate steering if machine is defective like after a crash or
other damaging events or alterations to the machine.
Precautions:
▶Periodically perform control measurements and eld adjustments on the
machine as specied in the User Manual. While working, construction and
grading should be checked by appropriate means, for example spirit level,
tachymeter, before and after important measuring tasks.
WARNING
Missing attention of operators or malfunctions
While steering or navigating the machine accidents may occur due to:
•The operator not paying attention to the surroundings (persons, ditches,
trafc, etc.), or
•Malfunctions (…of a system component, interference, etc).
Precautions:
▶The operator assures that the machine is operated, guided and monitored
by a qualied user (e.g. driver).
▶The user has to be able to take emergency measures, for example an
emergency stop.
WARNING
Improper disposal
If the product is improperly disposed of, the following can happen:
•If polymer parts are burnt, poisonous gases are produced which may
impair health.
•If batteries are damaged or are heated strongly, they can explode and
cause poisoning, burning, corrosion or environmental contamination.
•By disposing of the product irresponsibly you may enable unauthorised
persons to use it in contravention of the regulations, exposing themselves
and third parties to the risk of severe injury and rendering the environ-
ment liable to contamination.
Precautions:
▶The product must not be disposed with household waste.
Dispose of the product appropriately in accordance with
the national regulations in force in your country.
Always prevent access to the product by unauthorised
personnel.
Product-specic treatment and waste management information can be
received from your Leica Geosystems distributor.
12 Safety Directions

WARNING
Improperly repaired equipment
Risk of injuries to users and equipment destruction due to lack of repair
knowledge.
Precautions:
▶Only authorised Leica Geosystems Service Centres are entitled to repair
these products.
1.6 Electromagnetic Compatibility (EMC)
The term Electromagnetic Compatibility is taken to mean the capability of
the product to function smoothly in an environment where electromagnetic
radiation and electrostatic discharges are present, and without causing elec-
tromagnetic disturbances to other equipment.
WARNING
Electromagnetic radiation
Electromagnetic radiation can cause disturbances in other equipment.
Precautions:
▶Although the product meets the strict regulations and standards which
are in force in this respect, Leica Geosystems cannot completely
exclude the possibility that other equipment may be disturbed.
CAUTION
Use of the product with accessories from other manufacturers. For
example, eld computers, personal computers or other electronic
equipment, non-standard cables or external batteries
This may cause disturbances in other equipment.
Precautions:
▶Use only the equipment and accessories recommended by Leica Geosys-
tems.
▶When combined with the product, other accessories must meet the strict
requirements stipulated by the guidelines and standards.
▶When using computers, two-way radios or other electronic equipment,
pay attention to the information about electromagnetic compatibility
provided by the manufacturer.
CAUTION
Intense electromagnetic radiation. For example, near radio transmit-
ters, transponders, two-way radios or diesel generators
Although the product meets the strict regulations and standards which are in
force in this respect, Leica Geosystems cannot completely exclude the possib-
ility that the function of the product may be disturbed in such an electromag-
netic environment.
Precautions:
▶Check the plausibility of results obtained under these conditions.
Description
Safety Directions 13

CAUTION
Electromagnetic radiation due to improper connection of cables
If the product is operated with connecting cables, attached at only one
of their two ends, the permitted level of electromagnetic radiation may be
exceeded and the correct functioning of other products may be impaired. For
example, external supply cables or interface cables.
Precautions:
▶While the product is in use, connecting cables, for example product to
external battery or product to computer, must be connected at both ends.
WARNING
Use of product with radio or digital cellular phone devices
Electromagnetic elds can cause disturbances in other equipment, installa-
tions, medical devices, for example pacemakers or hearing aids, and aircrafts.
Electromagnetic elds can also affect humans and animals.
Precautions:
▶Although the product meets the strict regulations and standards which
are in force in this respect, Leica Geosystems cannot completely exclude
the possibility that other equipment can be disturbed or that humans or
animals can be affected.
▶Do not operate the product with radio or digital cellular phone devices in
the vicinity of lling stations or chemical installations, or in other areas
where an explosion hazard exists.
▶Do not operate the product with radio or digital cellular phone devices
near medical equipment.
▶Do not operate the product with radio or digital cellular phone devices in
aircrafts.
▶Do not operate the product with radio or digital cellular phone devices for
long periods with the product immediately next to your body.
14 Safety Directions

2 Description of the System
2.1 System Components
2.1.1 General Information
The Leica iCON aps 200 instrument and the Leica CGA100 GNSS antenna
together with dedicated accessories offers you highest productivity and exib-
ility.
An example conguration is shown below.
0023342_001
c
f
g
d
e
a
b
i
h
a Junction box
bCAN cable
c Machine PC
d CAN cable
e Y-cable CAN splitter
f Modem antenna CA48
g CGA100 robust multi-fre-
quency GNSS antenna, 2 x
h iCA202 Instrument
i CA16 Antenna cable, 10 m,
2 x
Component Description
iCA202 Instrument To calculate two positions from the com-
puted ranges to all visible GNSS (Global
Navigation Satellite System) satellites.
For correction data transfer radios/modems
are used.
CGA100 GNSS Antenna To receive the signals from the GNSS satel-
lites. This Antenna is specied to the high
environmental requirements on mining and
construction machines.
Description
Main components,
iCA202 conguration
with internal cell
modem
Description of the System 15

Component Description
Machine PC To determine the position of the machine
using measurement information from the
instrument and GNSS antenna and for
an automatic adjustment of the machine’s
hydraulic system.
Junction box The components are connected directly to
the standard machine junction box and com-
munication cables are connected via the
machine's own CAN bus.
Depending on the satellite systems and signals congured, a maximum number
of 555 channels is allocated.
Instrument Description
iCA202 GPS, GLONASS, BeiDou and Galileo GNSS receiver,
multi-frequency, code and phase, real-time capable
iCA202 instruments are equipped with several special features:
•Wide supply voltage range of 9 V to 32 V
•Voltage peak protection and reverse polarity protection
•Can be mounted on a machine in both the vertical and horizontal orienta-
tions
•Can be used near the sea
•Protection caps on connectors
•LEDs for status information
•Versatile connectivity including CAN, Serial RS232, Ethernet, Bluetooth and
WiFi
•USB host port for data transfer and rmware upgrade
•Integrated high speed LTE (4G) / WCDMA (3G)
•Integrated radio
•Support of external devices via serial port
•Robust, compact aluminium housing
CGA100 antennas are equipped with several special features:
•Can be used near the sea
•Standard robust 5/8" Whitworth thread
•Robust TNC connector
•Future proof four constellation, multi-frequency antenna element
•Robust, compact plastic housing
2.1.2 Power Concept
Use the accessories recommended by Leica Geosystems to ensure the correct
functionality of the instrument.
Power for the instrument is to be supplied externally.
External power can be supplied by:
•9 V to 32 V DC power supply (machine or vehicle) via a converter cable
supplied by Leica Geosystems AG.
Satellite channels
Special features
iCA202
Special features
CGA100
General
Power options
16 Description of the System

☞iCON aps 200 can only be powered using the CAN1 port.
2.2 Unpacking the Container
Available delivery packages:
•Delivery box: when a single iCON aps 200 instrument was ordered.
Includes the instrument, the printed iCON aps 200 Quick Guide and the
USB documentation card.
•A hard-top container comprising all items for a Dual GNSS conguration.
2.2.1 iCON aps 200 Dual GNSS Container
0023685_001
b
a
a
c
a CGA100 Robust multi-fre-
quency GNSS antenna, 2 x
bCA16 Antenna cable, 10 m,
2 x
c Modem antenna CA48
Description
iCON aps 200 con-
tainer upper shell
Description of the System 17

0023683_001
b
a
c
d
e
g
i
h
f
a Hex key 2.5 mm
biCON aps 200 instrument
c Radio antenna CA12/CA13/
CA43 with CA22 magnetic
radio antenna mount
d GAT32 Bluetooth antenna
e USB adapter
f Manuals & USB documenta-
tion card
g USB ash drive for MCP80
h USB ash drive
i MCP80
2.3 Instrument Components
Top view:
0019948_001
d
b
c
a
a Position LED
bInternet status LED
c Power LED
d Mounting holes
iCON aps 200 con-
tainer lower shell
iCA202 components
18 Description of the System

Front view:
0019949_002
a
a
b
b
c
c
d
d
e
e
f
f
g
g
h
h
i
i
j
j
k
k
l
l
m
m
n
n
h
o
a CAN1/Power in
bCAN2/Power out
c CAN3/Power out
d External Bluetooth antenna
port
e External WiFi antenna port
f External modem antenna
port 1
g External modem antenna
port 2
h Secondary external GNSS
antenna port
i Primary external GNSS
antenna port
j External radio antenna port,
only iCA202 with radio
k Serial port
l USB port
m Ethernet port 2
n Ethernet port 1
o Grounding screw
Port Description
CAN1/PWRIN CAN port + Power Input (9-32 V DC, 1A). M12, A-
code, Male, 5 pin connector
CAN2/PWROUT CAN port + Power Output (Power Input Voltage,
Maximum 2A limit shared with CAN3). M12, A-code,
Female, 5 pin connector
CAN3/PWROUT CAN port + Power Output (Power Input Voltage,
Maximum 2A limit shared with CAN2). M12, A-code,
Female, 5 pin connector
ETH1 Independent 10/100 Ethernet Port. M12, D-code,
Female, 4 pin connector
ETH2 Independent 10/100 Ethernet Port. M12, D-code,
Female, 4 pin connector
Serial Port (2x) Serial Port with RS232 level on an M12, A-coded, 8
pin connector
USB0 USB 2.0, 480 Mbit port. M8, 4 pin connector
Radio For connection of an external radio antenna
Modem 1, 2 For connection of an external antenna for the
internal 4G/3G modem
WiFi For connection of an external antenna for the
internal WiFi module
Bluetooth For connection of an external antenna for the
internal Bluetooth module
GNSS1, GNSS2 GNSS antenna input. ANT1 is the primary GNSS
antenna and ANT2 is the secondary (heading) GNSS
antenna
Description of the System 19

005691_001
a
b
c
a Whitworth thread,
5/8"
bAntenna reference
plane
c TNC female connector
CGA100 components
20 Description of the System