ICP GPS-721-MRTU User manual

GPS-721-MRTU User Manual

1/141 GPS-721-MRTU User Manual V1.0, Feb. 2014

GPS-721-MRTU

User Manual v1.0

High-quality Industrial Data Acquisition and Control Products

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Warranty

All products manufactured by ICP DAS are warranted against

defective materials for a period of one year from the date of delivery

to the original purchaser.

Warning

ICP DAS assumes no liability for damages resulting from the

use of this product. ICP DAS reserves the right to change this

manual at any time without notice. The information furnished by

ICP DAS is believed to be accurate and reliable. However, no

responsibility is assumed by ICP DAS for its use, nor for any

infringements of patents or other rights of third parties resulting

from its use.

Copyright

©

2014 ICP DAS Co., Ltd. All rights are reserved.

Trademarks

Names are used for identification purposes only and may be

registered trademarks of their respective companies.

Revision History

Version Date Author Description

1.0 2/26/2014 Tony Lee Release version

註解

[DAJK1]: Update this.

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Table of Contents

1 Introduction............................................................................................................6

1.1 Features.......................................................................................................7

1.2 Applications ................................................................................................7

1.3 Packing List.................................................................................................8

1.4 Specifications............................................................................................10

1.5 Block Diagram for the GPS-721-MRTU..................................................12

1.6 Pin Assignments and LED Indicators.......................................................13

1.7 Operation Modes.......................................................................................14

1.8 Wiring Recommendations.........................................................................15

1.9 Wiring .......................................................................................................16

1.10 Dimensions (Units: mm)...........................................................................18

1.11 Mounting...................................................................................................19

1.12 Frame Ground...........................................................................................21

1.13 Configuration............................................................................................23

1.14 Quick Start ................................................................................................24

1.15 Technical Support.....................................................................................26

2 DCON Protocol....................................................................................................27

An Overview of the DCON Command Set..........................................................29

2.1 % AANNTTCCFF....................................................................................31

2.2 #**.............................................................................................................34

2.3 #AA...........................................................................................................36

2.4 #AAN........................................................................................................38

2.5 #AA0A(Data) or #AA00(Data) ................................................................41

2.6 #AAACDD................................................................................................43

2.7 #AA1CDD ................................................................................................45

2.8 $AA2.........................................................................................................47

2.9 $AA4.........................................................................................................49

2.10 $AA5.........................................................................................................51

2.11 $AA6.........................................................................................................53

2.12 $AAC........................................................................................................55

2.13 $AAD........................................................................................................57

2.14 $AAF.........................................................................................................59

2.15 $AAI..........................................................................................................60

2.16 $AALS.....................................................................................................62

2.17 $AAM .......................................................................................................64

2.18 $AAP.........................................................................................................65

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2.19 $AAPN......................................................................................................67

2.20 @AA.........................................................................................................69

2.21 @AA(Data)...............................................................................................71

2.22 ~**.............................................................................................................73

2.23 ~AAD........................................................................................................75

2.24 ~AADVV..................................................................................................77

2.25 ~AAI .........................................................................................................79

2.26 ~AAM.......................................................................................................81

2.27 ~AAMN ....................................................................................................83

2.28 ~AAO(Name)............................................................................................85

2.29 ~AAR .......................................................................................................87

2.30 ~AARD ....................................................................................................89

2.31 ~AARDVV ..............................................................................................91

2.32 ~AATNN...................................................................................................93

2.33 ~AA0.........................................................................................................95

2.34 ~AA1.........................................................................................................97

2.35 ~AA2 ........................................................................................................99

2.36 ~AA3EVV .............................................................................................101

2.37 ~AA4V ...................................................................................................103

2.38 ~AA5V ...................................................................................................105

3 Modbus RTU Protocol.......................................................................................107

3.1 01 (0x01) Read the Coils.......................................................................111

3.2 03 (0x03) Read Multiple Registers .......................................................113

3.4 04 (0x04) Read Multiple Registers .......................................................115

3.5 05 (0x05) Write a Single Coil ...............................................................117

3.6 06 (0x06) Write Multiple Registers.......................................................120

3.7 15 (0x0F) Write Multiple Coils.............................................................122

3.8 46 (0x46) Read/Write the Module Settings......................................124

3.8.1 00 (0x00) Read the Name of the Module..........................................125

3.8.2 04 (0x04) Set the Address of the Module.........................................126

3.8.3 05 (0x05) Read the Communication Protocol..................................127

3.8.4 06 (0x06) Set the Communication Protocol.....................................129

3.8.5 32 (0x20) Read the Firmware Version..............................................131

3.8.8 39 (0x27) Set the Power-on Value.....................................................132

3.8.9 40 (0x28) Read the Power-on Value .................................................133

3.8.10 41 (0x29) Set the DI/O Active Status ..............................................134

3.8.11 42 (0x2A) Read the DI/O Active Status ..........................................136

3.8.12 53 (0x35) Read the Response Delay Time...........................................138

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3.8.13 54 (0x36) Set the Response Delay Time..............................................139

Appendix 1 - Dual Watchdog Operation ...................................................................140

Appendix 2 - Node Information Area........................................................................141

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1 Introduction

ICP DAS data acquisition and control modules provide analog-to-digital,

digital-to-analog, digital input/output, timer/counter and other functions. The

modules can be remotely controlled by using a set of commands, called the

DCON protocol, in addition to standard Modbus RTU protocol commands.

DCON protocol commands are in ASCII format and are in hexadecimal format

for Modbus RTU commands. Communication between the module and the

Host is via a standard RS-485 bidirectional serial bus. Baud Rates are

software programmable and transmission speeds of up to 115.2 Kbps can be

selected.

The GPS-721-MRTU module ensures high sensitivity and low power

consumption with an ultra small form factor, and also supports the NMEA 0183

GPS protocol. The embedded GPS module is powered by a MediaTek solution

and can provide superior performance, even in an urban environment, or an

environment that features dense foliage. In addition to the ability to acquire

GPS data, the GPS-721-MRTU includes a single Digital Output channel and a

single PPS (pulse per second) channel that can be used for precise

timekeeping and time measurement. PPS functionality can be combined with

an additional external time source in order to synchronize signal operations,

and also provides the full date and time for accurate and precise applications.

Consequently, the

GPS-721-MRTU can act

as a powerful remote GPS

module as well as a

general purpose GPS

module with an RS-232

interface. It can also be

applied to applications

related to automotive

navigation, personal

positioning and

navigation, marine

navigation, and satellite time correction etc.

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1.1 Features

 MediaTek High-sensitivity GPS Solution

 Supports 66-channel GPS and the NMEA v0183 v3.01 standard

 RS-485 supports both the DCON and the Modbus RTU protocols

 RS-232 supports the NMEA v0183 v3.01 format, together with the DCON

or the Modbus RTU protocol.

 Embedded 1-channel Digital Output, 1-channel PPS (pulse per second), 1

RS-485 port and 1 RS-232 port

 PPS: 100 ms pulse output/second for precise timekeeping and time

measurement

 +10 to +30 V

DC

Reverse Polarity Protection

 System LED indicators

 DIN-Rail design

1.2 Applications

 Automotive navigation

 Personal positioning and navigation

 Marine navigation

 Satellite time correction

 Precise timekeeping and time measurement

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1.3 Packing List

Item Quantity

GPS-721-MRTU plus External GPS antenna (ANT-115-03,

Length: 5 m)

1

RS-232 Cable (CA-0910) 1

Software CD 1

Quick Start Guide 1

Please check that these items are contained in the shipping package for your

GPS-721-MRTU. If any of the items are missing or damaged, or if you have

any other problems with the module, please contact your supplier.

GPS-721-MRTU Module plus

ANT-115-03 External Antenna

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Number of satellites LED

INIT/Normal Switch

Hardware

註解

[DK2]: The image needs

to be amended.

PPS Indicator

System & DO Indicator

Number of Satellites Indicator

Power Input

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1.4 Specifications

General Specifications:

GPS Receiver

Chip MediaTek Solution

Frequency L1 1575.42 MHz, C/A Code

Channels 32

Position Accuracy Capable of SBAS (WAAS, EGNOS, MSAS)

Max. Altitude <18,000 m

Max. Velocity <515 m/s

Acquisition Time Cold Start (Open Sky) = 42 s (typical)

Sensitivity Tracking=Up to -158 dBm

Cold Start=Up to -142 dBm

Protocol NMEA v0183 v3.01

GPS Antenna (Default)

Length 5 m

Frequency Range 1575.42 ±1.023 MHz.

Gain 30 dBi ±4.5 dBi (cable loss)

Mounted on the 60 mm * 60 mm ground plane at

90°.

Output Impedance 50 Ω

VSWR 2.0 Max

GPS Output

1 PPS Pulse Per Second Output (Default 100 ms

pulse/sec)

RS-232 Interface For GPS Information Output

LED Indicators

Power/Communication 1

GPS 3

Power

Protection Reverse Polarity Protection

Frame Ground for ESD Yes

Protection

Required Supply Voltage +10 V

DC

to +30 V

DC

(non-regulated)

Power Consumption 2.5 W

Mechanical

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Dimensions (L x W x H) 117 mm x 72 mm x 35 mm

Weight 200 g

Housing Plastic

Environment

Operating Temperature -25°C to +75°C

Storage Temperature -40°C to +80°C

Humidity 5 to 95% RH, non-condensing

I/O Specifications

Digital Output

Output Channels 1 (Sink)

Output Type Non-isolated Open Collector

Output Current 100 mA

Load Voltage +5 V

DC

to +30 V

DC

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1.5 Block Diagram for the GPS-721-MRTU

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1.6 Pin Assignments and LED Indicators

 Pin Assignments

 LED Indicators

LED Status Description

ON The module is operating/functioning correctly

Sys.

OFF The module has encountered an error

ON Digital Output is active

DO1

OFF Digital Output is inactive

ON Fewer than 5 signals received from GPS satellites.

S1

OFF Module is unable to receive sufficient GPS signals

ON

The number of signals received from GPS satellites is 5

to 8

S2

OFF

The number of signals received from GPS satellites is

less than 5

ON

The number of signals received from GPS satellites is

more than 8

S3

OFF

The number of signals received from GPS satellites is

less than 8

ON The PPS signal is active

1 PPS

OFF The PPS signal is inactive

GPS-721-MRTU

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1.7 Operation Modes

The back panel of the

GPS-721-MRTU contains the

frame ground and the INIT/Normal

Switch. The module has two

operation modes (INIT and

Normal modes), which can be

determined via the switch

mechanism on the chassis. The

description and figure are as

follows.

Mode Description

INIT

After setting the module to “INIT” mode and restarting the

module, a connection can be established using the default

module address and communication settings, allowing

new parameters for the module to be set.

INIT Mode:

 Protocol: DCON

 Module Address: 00

 Communication Baud Rate: 9600bps

 Checksum: Disabled

Note: The DCON command to set the address, the Baud

Rate and the checksum is %AANNTTCCFF. Refer to

section 2.1 for details.

Normal In Normal mode, the module will operate based on the

user’s settings.

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1.8 Wiring Recommendations

ICP DAS recommends that the following items are kept in mind when installing

your GPS-721-MRTU module.

 Use a 26-12 AWG wire for signal connections

 Strip the wire to a length of 7 mm ±0.5 mm

 Use a crimp terminal for wiring

 Avoid high-voltage cables and power equipment as much as possible

 For RS-485 communication, use insulated and twisted pair 24 AWG wire,

e.g., Belden 9841

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1.9 Wiring

 Digital Output Wiring

 PPS Wiring

The PPS channel will output a 100 ms pulse each second when effective GPS

signals are being received, as shown in the following figure.

註解

[DAJK3]: In some cases,

you have “OFF” and in others

you show it as “Off”. Change

the image so that it is

consistent.

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Note: A Pulse per second (PPS) is an electrical signal that very precisely

indicates the start of a second. PPS signals can be used for precise

timekeeping and time measurement. PPS functionality can be combined

with another time source that provides the full date and time in order to

ascertain the time both accurately and precisely.

1 second 100 ms

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Rear View

1.10 Dimensions (Units: mm)

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1.11 Mounting

The GPS-721-MRTU can be mounted on either a DIN-Rail or a wall, or it can

be piggybacked to other modules using the bottom of the chassis.

 DIN-Rail Mounting

The GPS-721-MRTU includes simple rail clips that allow for for reliable

mounting on a standard 35 mm DIN rail.

Three new DIN-Rail models are available, and each is made of stainless

steel, which is stronger than those made of aluminum. There is a screw at

one end, and a ring terminal is included so that it can be easily connected

to the earth ground.

Note: It is recommended that a 16 – 14 AWG wire is used to connect the DIN

rail to the earth ground.

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 Piggyback Mounting

The GPS-721-MRTU has two holes on either side of the module to enable

piggyback mounting. Refer to the figure below for an illustration of how to

piggyback the modules.

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ICP GPS-721-MRTU User manual

ICP GPS-721-MRTU User manual

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