Novatel OEM6 Quick setup guide

OM-20000164 v1 February 2017
OEM6 to OEM7
Integration Guide

OEM6 to OEM7 Integration Guide
OEM6 to OEM7 Integration Guide v1 2
OEM6 to OEM7 Integration Guide
Publication Number: OM-20000164
Revision Level: v1
Revision Date: February 2017
Firmware Version: 7.200 / OM7MR0200RN0000
Proprietary Notice
Information in this document is subject to change without notice and does not represent a com-
mitment on the part of NovAtel Inc. The information contained within this manual is believed to
be true and correct at the time of publication.
NovAtel is a registered trademarks of NovAtel Inc.
OEM7, OEM719, OEM729 and OEM7700 are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.
© Copyright 2017 NovAtel Inc. All rights reserved. Unpublished rights reserved under Inter-
national copyright laws.

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Table of Contents
OEM6 to OEM7 Integration Guide
OEM6 to OEM7 Integration Guide 2
Proprietary Notice 2
Customer Support
NovAtel Knowledge Base 6
Before Contacting Customer Support 6
Contact Information 6
Chapter 1 New for OEM7
Chapter 2 New for OEM7 – Firmware
2.1 Firmware Version Naming 9
2.2 New for OEM7 – Commands 9
2.2.1 Replaced Commands 9
2.2.2 Revised Commands 10
2.2.3 Deleted Commands 13
2.2.4 New Commands 13
2.2.5 CANCONFIG 16
2.2.6 CCOMCONFIG 18
2.2.7 COMCONTROL 21
2.2.8 CONNECTIMU 24
2.2.9 EXTERNALPVAS 26
2.2.10 FORCEGLOL2CODE 30
2.2.11 FORCEGPSL2CODE 32
2.2.12 INSCALIBRATE 34
2.2.13 INSSEED 36
2.2.14 ITBANDPASSCONFIG 38
2.2.15 ITFRONTENDMODE 40
2.2.16 ITINTERFERENCEDETECT 42
2.2.17 ITPROGFILTCONFIG 44
2.2.18 ITSPECTRALANALYSIS 46
2.2.19 J1939CONFIG 50
2.2.20 NMEAFORMAT 52
2.2.21 NVMUSERDATA 55
2.2.22 PGNCONFIG 56
2.2.23 PPPBASICCONVERGEDCRITERIA 57
2.2.24 PPPDYNAMICSEED 58
2.2.25 PPPRESET 60
2.2.26 REFERENCESTATIONTIMEOUT 61
2.2.27 RTKPORTMODE 62
2.2.28 RTKRESET 64
2.2.29 SAVEUSBCONFIG 65
2.2.30 SETINSPROFILE 66
2.2.31 SETINSROTATION 67
2.2.32 SETINSTRANSLATION 70
2.2.33 SETSEARCHTYPE 73
2.2.34 USBCONFIG 74
2.3 New for OEM7 – Logs 76
2.3.1 Replaced Logs 76
2.3.2 Revised Logs 76
2.3.3 Deleted Logs 79

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2.3.4 New Logs 80
2.3.5 HWMONITOR 82
2.3.6 INSATTX 86
2.3.7 INSCALSTATUS 91
2.3.8 INSCONFIG 93
2.3.9 INSSTDEV 96
2.3.10 INSSTDEVS 98
2.3.11 INSUPDATESTATUS 100
2.3.12 ITBANDPASSBANK 102
2.3.13 ITFILTTABLE 104
2.3.14 ITPROGFILTBANK 106
2.3.15 ITPSDFINAL 109
2.3.16 J1939STATUS 112
2.3.17 LBANDRAWFRAME 114
2.3.18 MODELFEATURES 116
2.3.19 RANGECMP4 120
2.3.20 RTKASSISTSTATUS 132
2.3.21 RXSTATUS 134
2.3.22 SAFEMODESTATUS 146
2.4 New for OEM7 – SPAN 149
2.4.1 Translational Offsets 149
2.4.2 Rotational Offsets 149
2.4.3 INS Profiles 150
2.4.4 INSSeed 150
2.4.5 Multi-Line Body to Vehicle Calibration 150
2.4.6 KVH1725 and KVH1750 Baud Rate Conversion 151
2.4.7 INS Profiles 152
2.4.8 Multi-Line Body to Vehicle Frame Rotation Calibration Routine 153
2.4.9 INSSeed / Fast INS Initialization 155
Saving 155
Use at Boot-up 155
Alignment Type: Bits 26-28 156
NVM Seed Status: Bits 29-31 156
Chapter 3 New for OEM7 – Hardware
3.1 Physical changes 157
3.1.1 Shielding 157
3.1.2 Mounting 157
3.1.3 Weight 158
3.2 Electrical changes 158
3.2.1 COM Port Data Rate 158
3.2.2 Power Supply 158
3.2.3 Input and Output lines 159
3.2.4 LNA Power 159
3.3 Environmental changes 160
3.3.1 Thermal dissipation 160
3.3.2 Vibration 160
3.4 Interference 160
3.4.1 Interference from Co-Located LNA 161
3.5 Receiver Card Interface Examples 163
3.5.1 EVENT_IN, EVENT_OUT and PPS Signal Protection 163
3.5.2 Position Valid (PV) LED Driver 165
3.5.3 Communication Ports 166
3.5.4 CAN Controller Ports 167
3.5.5 USB Interface 168

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3.5.6 Ethernet Port 170
Chapter 4 Receiver Technical Specifications
4.1 OEM719 Technical Specifications 174
4.1.1 OEM719 Performance Specifications 175
4.1.2 OEM719 Mechanical Specifications 177
4.1.3 OEM719 Electrical and Environmental Specifications 184
4.1.4 OEM719 Data Communication Specifications 186
4.1.5 OEM719 Strobe Specifications 188
4.1.6 OEM719 Interface Connector 190
4.2 OEM729 Technical Specifications 194
4.2.1 OEM729 Performance Specifications 195
4.2.2 OEM729 Mechanical Specifications 197
4.2.3 OEM729 Electrical and Environmental Specifications 200
4.2.4 OEM729 Data Communication Specifications 202
4.2.5 OEM729 Strobe Specifications 204
4.2.6 OEM729 Interface Connectors 206
4.3 OEM7700 Technical Specifications 214
4.3.1 OEM7700 Performance Specifications 215
4.3.2 OEM7700 Mechanical Specifications 217
4.3.3 OEM7700 Electrical and Environmental Specifications 220
4.3.4 OEM7700 Data Communication Specifications 222
4.3.5 OEM7700 Strobe Specifications 224
4.3.6 OEM7700 Interface Connector 226

Customer Support
OEM6 to OEM7 Integration Guide v1 6
Customer Support
NovAtel Knowledge Base
If you have a technical issue, visit the NovAtel Support page at www.novatel.com/support.
Through the Support page, you can contact Customer Support, find papers and tutorials or down-
load current manuals and the latest firmware.
Before Contacting Customer Support
Before you contact NovAtel Customer Support about a software problem, perform the following
steps:
If logging data over an RS-232 serial cable, ensure that the configured baud rate can sup-
port the data bandwidth (see SERIALCONFIG command). NovAtel recommends a min-
imum suggested baud rate of 115200 bps.
1. Log the following data to a file on your computer for 15 minutes:
RXSTATUSB once
RAWEPHEMB onchanged
GLORAWEPHEMB onchanged
BESTPOSB ontime 1
RANGEB ontime 1
RXCONFIGA once
VERSIONA once
For SPAN systems, include the following logs in the file created on your computer:
RAWIMUSXB onnew
INSUPDATESTATUSB onnew
INSPVAXB ontime 1
INSCONFIGA once
2. Send the data file to NovAtel Customer Support: [e-mail]
3. You can also issue a FRESET command to the receiver to clear any unknown settings.
The FRESET command will erase all user settings. You should know your configuration
(by requesting the RXCONFIGA log) and be able to reconfigure the receiver before you
send the FRESET command.
If you are having a hardware problem, send a list of the troubleshooting steps taken and the res-
ults.
Contact Information
Log a support request with NovAtel Customer Support using one of the following methods:
Log a Case and Search Knowledge:

Customer Support
OEM6 to OEM7 Integration Guide v1 7
Website: www.novatel.com/support
Log a Case, Search Knowledge and View Your Case History: (login access required)
Web Portal: https://novatelsupport.force.com/community/login
E-mail:
[e-mail]
Telephone:
U.S. and Canada:1-800-NOVATEL (1-800-668-2835)
International:[phone]

OEM6 to OEM7 Integration Guide v1 8
Chapter 1 New for OEM7
When upgrading from an OEM6 receiver to an OEM7 receiver, there are several hardware and
software differences that must be accounted for in the system design.
These differences are described in the following chapters:
lNew for OEM7 – Firmware on page9
lNew for OEM7 – Hardware on page157
lReceiver Technical Specifications on page173

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Chapter 2 New for OEM7 – Firmware
This chapter describes the new commands, logs, features and functionality available on OEM7
receivers.
2.1 Firmware Version Naming
For information about the fields in the firmware version, refer to the VERSION log.
2.2 New for OEM7 – Commands
The following sections describe the command changes between OEM6 and OEM7.
2.2.1 Replaced Commands
The following table lists the OEM6 commands that have been obsoleted and the commands that
replace them in OEM7.
OEM6 OEM7
ASSIGNLBAND Use the existing ASSIGNLBANDBEAM command
ASSIGNLBAND2 Use the existing ASSIGNLBANDBEAM command
BASEANTENNAMODEL Use the existing BASEANTENNAPCO command and
BASEANTENNAPCV command
COM Use the existing SERIALCONFIG command
Table 1: Replaced Commands in OEM7

Chapter 2 New for OEM7 – Firmware
OEM6 to OEM7 Integration Guide v1 10
OEM6 OEM7
COMCONFIG Use the existing SERIALCONFIG command, INTERFACEMODE
command and ECHO command
EXTHDGOFFSET Use the new SETINSROTATION command (see page 67)
GIMBALSPANROTATION Use the new SETINSROTATION command (see page 67)
INSWHEELUPDATE Use the existing SETINSUPDATE command
INSZUPTCONTROL Use the existing SETINSUPDATE command
LEVERARMCALIBRATE Use the new INSCALIBRATE command (see page 34)
PDPVELOCITYOUT Use the existing BESTVELTYPE command
RVBCALIBRATE Use the new INSCALIBRATE command (see page 34)
SETGIMBALORIENTATION Use the new SETINSROTATION command (see page 67)
SETIMUORIENTATION Use the new SETINSROTATION command (see page 67)
SETIMUTOANTOFFSET Use the new SETINSTRANSLATION command (see page 70)
SETIMUTOANTOFFSET2 Use the new SETINSTRANSLATION command (see page 70)
SETIMUTOEXTOFFSET Use the new SETINSTRANSLATION command (see page 70)
SETIMUTOGIMBALOFFSET Use the new SETINSTRANSLATION command (see page 70)
SETINSOFFSET Use the new SETINSTRANSLATION command (see page 70)
SETINITATTITUDE Use the existing SETINITAZIMUTH command
SETINSOFFSETS Use the new SETINSROTATION command on page67 and
SETINSTRANSLATION command on page70
SETINSROTATION
The existing SETINSROTATION command (Message ID1796) has been
renamed SETINSROTATION_LEGACY, but retains the Message IDof
1796.
A new SETINSROTATION command (see page 67) (Message ID1921)
has been added. This new command has enhanced capability and is the
recommend command to use.
SETMARK1OFFSET
SETMARK2OFFSET
SETMARK3OFFSET
SETMARK4OFFSET
Use the new SETINSROTATION command on page67 and
SETINSTRANSLATION command on page70
VEHICLEBODYROTATION Use the new SETINSROTATION command (see page 67)
2.2.2 Revised Commands
Revised commands are listed in the following table.