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 Unpublished rights reserved under Inter-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.

OEM6 to OEM7 Integration Guide
OEM6 to OEM7 Integration Guide v1 3
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

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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.

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OEM6 OEM7
ANTENNAPOWER
3V3 option removed
If a short circuit or other problem causes an overload of the cur-
rent supplied to the antenna, the receiver hardware shuts down
the power supplied to the antenna. To restore power, power
cycle the receiver. The Receiver Status word, available in the
RXSTATUS log (see page 134), provides more information
about the cause of the problem.
ASSIGN,
ASSIGNALL,
LOCKOUT,
SBASCONTROL,
TRACKSV,
UNLOCKOUT
The OEM7 tracks SBAS PRNs 120-158 and 183-187.
The OEM6 tracked 120-138 and 183-187
ASSIGNLBANDBEAM This command now supports multiple L-Band channels.
The Frequency field is entered only in Hz.
AUTH
New options were added for the State parameter
ASCII Binary Description
ERASE_
TABLE 7
Erase all auth codes from the system. Requires a
special auth code to prevent against accidental
erasing
CLEAN_
TABLE 8 Remove all invalid auth codes from the system
Special auth code for the ERASE_TABLE case:
PW5W2B,WW5TM9,WW2PCZ,WW3M4H,WW4HPG,ERASE_AUTH
Special auth code for the CLEAN_TABLE case:
4DR69H,G369W8,34MNJJ,5NHXCJ,GW7C75,CLEAN_AUTH
COMCONTROL The COM ports available have changed to reflect the OEM7 receivers.
See the COMCONTROL command on page21
Table 2: Revised Commands in OEM7

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OEM6 OEM7
CONNECTIMU
Added the EPSON G320 IMU.
Removed the Litef LCI-1 IMU.
For the IMU Type parameter, the ASCII values for IMU no longer use the
"IMU_" prefix. However, the legacy ASCIIvalues that contain the "IMU_"
prefix are still supported. The binary IMU type values have not changed.
See the CONNECTIMU command on page24
ETHCONFIG Ethernet interface hardware now automatically connects properly to the
other physical device
EXTERNALPVAS
The format of several of the options in this command have been changed
from Double to Float.
See the EXTERNALPVAS command on page26
FRESET
Added new FRESET targets.
Binary ASCII Description
10 USERDATA Resets the user data saved using the
NVMUSERDATA command
82 USBCONFIG Resets the stored USB port settings
INTERFACEMODE
Added new Interface Mode options:
Binary ASCII Description
49 NOVATELMINBINARY
NovAtel binary message with a minimal
header.
Only available for CCOM ports.
LOG
The default settings for a command can not be checked by logging that
command. A command must be sent to the receiver before logging the
command will produce valid values. Refer to the command description in
this documentation for the default values.
The optional parameters Period, Offset and Hold are only used when the
Trigger is ONTIME. Previous versions of the firmware accepted (but ignored)
non-zero values for Period and Offset even if the Trigger was not ONTIME.
The firmware on OEM7 receivers will reject such commands and return an
error.
It is especially important that these values are zero when entering a LOG
command in Binary or ASCII format.
POSAVE “state” field no longer optional; default ON. A value must now be entered
SETINITAZIMUTH The range for the standard deviation parameter has changed to 1 to 25
degrees.

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2.2.3 Deleted Commands
The OEM6 commands that are not supported in OEM7 are listed in the following table.
OEM6 OEM7
APPLYVEHICLEBODYROTATION obsolete
ASSIGNLBAND obsolete
ASSIGNLBAND2 obsolete
DGPSEPHEMDELAY obsolete
OMNIUSEGLONASS obsolete
PDPVELOCITYOUT obsolete
RTKCOMMAND obsolete
RTKELEVMASK obsolete
SETCANNAME obsolete
SETRTCM16 obsolete
SETRTCM36 obsolete
SETRTCMRXVERSION obsolete
SETRTCMTXVERSION obsolete
SETWHEELSOURCE obsolete
Table 3: Deleted Commands in OEM7
2.2.4 New Commands
The following table lists the commands added in OEM7.
OEM7 Description
CANCONFIG Configures the CAN port parameters
See the CANCONFIG command on page16
CCOMCONFIG
Binds a CAN port to a J1939 node configures the CAN protocol
used by the port.
See the CCOMCONFIG command on page18
INSCALIBRATE Initiates the calibration of INS offsets
See the INSCALIBRATE command on page34
Table 4: New Commands in OEM7

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OEM7 Description
INSSEED
Enables or disables saving and restoring the last known SPAN
solution
See the INSSEED command on page36
ITBANDPASSCONFIG Configures a bandpass filter on the receiver
See the ITBANDPASSCONFIG command on page38
ITFRONTENDMODE Configures the front end mode for each RF path
See the ITFRONTENDMODE command on page40
ITINTERFERENCEDETECT Enables and configures interference detection
See the ITINTERFERENCEDETECT command on page42
ITPROGFILTCONFIG Configures filtering on the receiver
See the ITPROGFILTCONFIG command on page44
ITSPECTRALANALYSIS Enables and configures spectral analysis on the receiver
See the ITSPECTRALANALYSIS command on page46
J1939CONFIG Configures the CAN J1939 network-level parameters
See the J1939CONFIG command on page50
NMEAFORMAT Customizes the NMEA output
See the NMEAFORMAT command on page52
NVMUSERDATA Writes the data provided to NVM
See the NVMUSERDATA command on page55
PGNCONFIG
Configures the PGNs of the proprietary NMEA 2000 fast-packet
messages
See the PGNCONFIG command on page56
PPPBASICCONVERGEDCRITERIA
Sets the convergence threshold for lower accuracy PPP
solutions.
See the PPPBASICCONVERGEDCRITERIA command on
page57
PPPDYNAMICSEED Seed the PPP filter in any platform motion state
See the PPPDYNAMICSEED command on page58
PPPRESET Resets the PPPfilter.
See the PPPRESET command on page60

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OEM7 Description
REFERENCESTATIONTIMEOUT Sets a timeout for removing previously stored base stations
See the REFERENCESTATIONTIMEOUT command on page61
RTKPORTMODE
Assigns a port on the rover receiver for the RTK and ALIGN
information being received
See the RTKPORTMODE command on page62
RTKRESET Resets the RTK filter.
See the RTKRESET command on page64
SAVEUSBCONFIG Saves the USB port configuration.
See the SAVEUSBCONFIG command on page65
SETINSPROFILE
Set the filter behavior to optimize the output for a specific
environment
See the SETINSPROFILE command on page66
SETINSROTATION
Specifies the rotational offsets between the IMU frame and
other reference frames, such as the vehicle frame or an ALIGN
baseline
see the SETINSROTATION command on page67
SETINSTRANSLATION
Specifies the translational offsets between the IMU frame and
other reference frames, including GNSS antennas or the desired
output frame
See the SETINSTRANSLATION command on page70
SETSEARCHTYPE
Specifies the search type used by the receiver for signal
acquisition.
See the SETSEARCHTYPE command on page73
USBCONFIG Configures the operating mode and speed of the USBport.
See the USBCONFIG command on page74

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2.2.5 CANCONFIG
Configure CAN ports
Platform:OEM729, OEM719, OEM7700
Use the CANCONFIG command to configure the hardware parameters of the CAN ports.
Message ID: 884
Abbreviated ASCII Syntax:
CANCONFIG port switch [speed]
Factory Default:
CANCONFIG CAN1 OFF 250K
CANCONFIG CAN2 OFF 250K
ASCII Example:
CANCONFIG CAN1 OFF 500K
Field Field Type ASCII
Value
Binary
Value Description Format Binary Bytes
Binary
Offset
1CANCONFIG
header - -
Command header. See
Messages for more
information.
- H 0
2 port
CAN1 1
Physical CAN port ID Enum 4 H
CAN2 2
3 switch
ON 1 Sets the port to be On or
Off the CAN bus Enum 4 H+4
OFF 0
4 speed See Table 5: CAN
Port Speed below
Physical CANport speed
(bits per second)
(default = 250K
Enum 4 H+8
The CAN port must be set to OFF (using CANCONFIG <port> OFF) before the port speed
can be changed.
ASCII Value Binary Value
10K 0
20K 1
Table 5: CAN Port Speed

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ASCII Value Binary Value
50K 2
100K 3
125K 4
250K 5
500K 6
1M 7

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2.2.6 CCOMCONFIG
Configure the CAN COM port
Platform:OEM729, OEM719, OEM7700
Bind a CAN communication port to a J1939 node (see J1939CONFIG command on page50) and
specify the CAN protocol, PGN, priority and address for messages transmitted and received over
the CCOM port.
Message ID: 1902
Abbreviated ASCII Syntax:
CCOMCONFIG port node protocol [pgn [priority [address]]]
Factory Default:
CCOMCONFIG ccom1 node1 1939 61184 7 fe
CCOMCONFIG ccom2 node2 J1939 61184 7 fe
CCOMCONFIG ccom3 node1 J1939 126720 7 fe
CCOMCONFIG ccom4 none none 0 0 0
CCOMCONFIG ccom5 none none 0 0 0
CCOMCONFIG ccom6 none none 0 0 0
ASCII Example :
ccomconfig ccom1 j1939 1792 6 1b
Field Field Type ASCII
Value
Binary
Value Description Format Binary Bytes
Binary
Offset
1CCOMCONFIG
Header - -
Command header. See
Messages for more
information.
- H 0
2 port
CCOM1 38
Name of CCOM port Enum 4 H
CCOM2 39
CCOM3 40
CCOM4 41
CCOM5 42
CCOM6 43
3 node
NODE1 1 The J1939 node to use.
This binds a CCOM port to
the CAN NAME/address
associated with the node.
Enum 4 H+4
NODE2 2

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Field Field Type ASCII
Value
Binary
Value Description Format Binary Bytes
Binary
Offset
4 protocol
See Table 6:
CAN Protocol on
the next page
CAN transport protocol to
use Enum 4 H+8
5 pgn 0 - 131071
Any valid PGN as defined
by the J1939 protocol.
All messages transmitted
over this CCOM port will
contain this PGN value.
Only messages with this
PGN will be received on
this CCOM port
Note: This value is
ignored if the protocol is
NMEA2000.
Ulong 4 H+12
6 priority 0-7
Default CAN message
priority for transmitted
messages. (Priority 0 is
the highest priority)
Note: This value is
ignored if the protocol is
NMEA2000 or ISO15765.
Uchar 1 H+16
7 address 00 – FF
00 – FD:
Transmit and receive
messages to/from this
address only
FE:
Transmit and receive
message to/from the
address of the first
message received
FF:
Broadcast messages and
receive messages from
all addresses.
Note: This value is
ignored if the protocol is
NMEA2000 or ISO15765.
Hex 1 H+17

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Binary ASCII Description
2 J1939 J1939 single packet
3 NMEA2000 NMEA2000 (single packet, multi-packet, fast packet)
4 ISO15765 ISO 15765-2 transport protocol
5 ISO11783 ISO 11783 transport protocol
Table 6: CAN Protocol