® Trimble R7/R8 GPS Receiver User Guide Version 2.
Corporate Office Hardware Limited Warranty Trimble Navigation Limited Engineering and Construction Division 5475 Kellenburger Road Dayton, Ohio 45424-1099 U.S.A. Trimble warrants that this Trimble hardware product (the “Product”) shall be free from defects in materials and workmanship and will substantially conform to Trimble’s applicable published specifications for the Product for a period of one (1) year, starting from the date of delivery.
or performance problems resulting from (i) the combination or utilization of the Product or Software with products, information, data, systems or devices not made, supplied or specified by Trimble; (ii) the operation of the Product or Software under any specification other than, or in addition to, Trimble's standard specifications for its products; (iii) the unauthorized modification or use of the Product or Software; (iv) damage caused by accident, lightning or other electrical discharge, fresh or salt wat
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. STATEMENT ACCORDING FCC PART 15.21 Modifications not expressly approved by Trimble could void the user's authority to operate the equipment. STATEMENT ACCORDING FCC PART 15.
Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . 1 Related Information . . Warnings and Cautions Technical Assistance . Your Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 3 3 Trimble R7 GPS Receiver 2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents Pole-Mounted Setup . . . Backpack Setup . . . . . . Other System Components Radios . . . . . . . Cellular modems . . Antennas . . . . . . CompactFlash cards 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 28 30 30 33 35 36 . .
Contents Special application files . Timed application files . . Applying application files Storing application files . Naming application files . 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 58 59 59 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 63 65 66 68 68 . . . . . . . . . . . . . . . . .
Contents Resetting to Factory Defaults . . Examples . . . . . . . . . . . . Default behavior . . . . . Power up settings. . . . . Logging after power loss . Disabling logging . . . . Application files . . . . . 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents Parts of the Receiver . . . . . . . . . . . . Front panel . . . . . . . . . . . . . . Lower housing . . . . . . . . . . . . Setup Guidelines . . . . . . . . . . . . . . Environmental conditions . . . . . . Sources of electrical interference . . General guidelines . . . . . . . . . . Pole-Mounted Setup . . . . . . . . . . . . Other System Components . . . . . . . . . Radios . . . . . . . . . . . . . . . . Cellular modems and external radios 14 . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents Applying application files . . . . . . . . . . . . . . . . . . . . 138 Storing application files . . . . . . . . . . . . . . . . . . . . . 138 Naming application files . . . . . . . . . . . . . . . . . . . . . 138 16 Software Utilities. . . . . . . . . . . . . . . . . . . . . 139 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . GPS Configurator Software . . . . . . . . . . . . . . . . . Installing GPS Configurator . . . . . . . . . . . . . Configuring the Trimble R8 receiver. . . .
Contents Appendixes Trimble R7 / Trimble R8 A NMEA-0183 Output . . . . . . . . . . . . . . . . . . . 169 Introduction . . . . . . . . . NMEA-0183 Outputs . . . . Common Message Elements Message values . . . . NMEA Messages . . . . . . B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 . 170 . 172 . 172 .
Contents xii Trimble R7/R8 GPS Receiver User Guide
CHAPTER 1 Introduction 1 Welcome to the Trimble R7/R8 GPS Receiver User Guide. This manual describes how to install, set up, and use a Trimble® R7 or Trimble R8 GPS receiver. Even if you have used other Global Positioning System (GPS) products before, Trimble recommends that you spend some time reading this manual to learn about the special features of this product. If you are not familiar with GPS, visit our website for an interactive look at Trimble and GPS at: • www.trimble.
1 Introduction Other sources of related information are: • • • 1.2 Release notes – the release notes describe new features of the product, information not included in the manual, and any changes to the manual. They are provided as a PDF on the CD. Use Adobe Reader to view the contents of the release notes. Registration – register your receiver to automatically receive e-mail notifications of Trimble R7 receiver firmware upgrades and new functionality.
Introduction 1.3 1 Technical Assistance If you have a problem and cannot find the information you need in the product documentation, contact your local Distributor. Alternatively, request technical support using the Trimble website at: • www.trimble.com/support.html 1.4 Your Comments Your feedback about the supporting documentation helps us to improve it with each revision. E-mail your comments to ReaderFeedback@trimble.com.
1 Introduction 4 Trimble R7/R8 GPS Receiver User Guide
SECTION I I TRIMBLE R7 GPS RECEIVER
CHAPTER 2 Overview 2 In this chapter: Q Introduction Q Features Q Use and Care Q COCOM Limits Trimble R7/R8 GPS Receiver User Guide 7
Trimble R7 Operation 2 2.1 Overview Introduction This chapter introduces the Trimble R7 GPS receiver. This receiver is designed for GPS surveying applications. The receiver features one-touch logging for ease of use, and five LEDs that let you monitor the survey in progress and the available battery capacity. The Trimble R7 tracks GPS satellites on both the L1 and L2 frequencies to provide precise position data for land survey applications.
• USB port for data transfer • Type I CompactFlash card for data storage • Internal charging of batteries (no external battery charger required) • Three RS-232 serial ports for: • 2.3 – NMEA output – RTCM SC-104 input and output – Trimble Format (CMR) input and output 2 Two TNC ports for connecting to the GPS and radio antennas Use and Care The Trimble R7 is designed to withstand the rough treatment that typically occurs in the field.
Trimble R7 Operation 2 2.4 Overview COCOM Limits The U.S. Department of Commerce requires that all exportable GPS products contain performance limitations so that they cannot be used in a manner that could threaten the security of the United States. The following limitations are implemented on the Trimble R7 receiver.
CHAPTER 3 Setting up the Receiver 3 In this chapter: Q Introduction Q Parts of the Receiver Q Setup Guidelines Q Postprocessed Setup Q Pole-mounted Setup Q Backpack Setup Q Other System Components Trimble R7/R8 GPS Receiver User Guide 11
Trimble R7 Operation 3 3.1 Setting up the Receiver Introduction This chapter provides general setup information, connection information, and cabling diagrams for the most common uses of the Trimble R7 receiver. 3.2 Parts of the Receiver All operating controls, ports, and connectors on the receiver are located on its four main panels, as shown in Figure 3.1. This section provides a brief overview of the features of each of these panels. Top panel Front panel Rear panel Bottom panel Figure 3.
32.1 3 Front panel Figure 3.2 shows the front panel of the Trimble R7. This panel contains the five indicator LEDs, the two buttons, and the catch for the CompactFlash/USB door. Buttons t 2 CompactFlash/ USB door catch Figure 3.2 3 Indicator LEDs Front panel The two buttons control data logging, data management, power, and settings. For more information, see Button Functions, page 38. The indicator LEDs show the status of logging, power, satellite tracking, and radio reception.
Trimble R7 Operation 3 32.2 Setting up the Receiver Rear panel Figure 3.3 shows the rear panel of the Trimble R7. This panel contains a slot for attaching the receiver catch lock, and the catches for the two battery compartments on the bottom panel. The catch lock should already be attached to your receiver. Receiver catch lock Battery compartment catches Figure 3.
32.3 3 Top panel Figure 3.4 shows the top panel of the Trimble R7. This panel contains the three power/serial data ports and (TNC) ports for GPS and radio antenna connections. Power/serial data ports 1 2 GPS antenna 3 Radio antenna TNC ports Figure 3.
Trimble R7 Operation 3 Setting up the Receiver Each port on the top panel is marked with an icon to indicate its main function. Table 3.1 Icon Trimble R7 receiver ports Name Connections Port 1 Trimble controller, event marker, or computer Port 2 Power in, computer, 1PPS, or event marker Port 3 External radio, power in GPS GPS antenna RADIO Radio communications antenna The power/serial data ports are all 7 pin 0-shell Lemo connectors. Both Port 2 and Port 3 can accept external power.
32.4 3 Bottom panel Figure 3.5 shows the bottom panel of the Trimble R7. This panel contains the USB port, the CompactFlash port, and the compartments for the two internal batteries. CompactFlash/ USB door CompactFlash port Internal battery USB port Internal battery compartment Figure 3.5 Bottom panel The CompactFlash/USB door conceals the CompactFlash port and USB port. To open the door, push the catch on the front panel down.
Trimble R7 Operation 3 3.3 Setting up the Receiver Setup Guidelines Consider the following guidelines when setting up the Trimble R7. 33.1 Environmental conditions Although the Trimble R7 has a waterproof housing, reasonable care should be taken to keep the unit dry.
33.3 3 General guidelines The following guidelines apply whenever you set up your receiver for operation: • When plugging in a Lemo cable, make sure that the red dots on the receiver port and the cable connector line up. Never use force to plug cables in, as this may damage the connector pins. • When disconnecting a Lemo cable, grasp the cable by the sliding collar or lanyard and pull the cable connector straight out of the port. Do not twist the connector or pull on the cable itself.
Trimble R7 Operation 3 3.4 Setting up the Receiver Postprocessed Setup For a postprocessed survey, you only need: • the Trimble R7 receiver • a Zephyr™ or Zephyr Geodetic antenna • a GPS antenna cable Other equipment, as described below, is optional. To set up the Trimble R7 for a postprocessed survey: 1. Set up the tripod with the tribrach and antenna adapter over the survey mark. Instead of a tripod, you can use a range pole with a bipod.
3 Figure 3.6 shows the Trimble R7 receiver postprocessed setup. Figure 3.6 Postprocessed setup Note – Instead of hanging the receiver on the tripod, you can place the receiver in its base case. Run the antenna cable out of the portal in the side of the base case to the antenna so that the case can stay closed while the receiver is running.
Trimble R7 Operation 3 3.1 Setting up the Receiver Pole-Mounted Setup To mount the Trimble R7 on a pole, you need to do the following: 1. Mount the eRTK™ Range Pole antenna (RPA). 2. Mount the receiver. 3. Mount the Trimble controller. This section provides detailed instructions on each of these three steps. Mounting the Range Pole antenna (RPA) To mount the RPA on the pole: 1. Install the RPA bracket 7.5 cm (3") from the pole top by placing the two pieces together and securing with screws.
3 Figure 2.7 shows the Trimble R7 receiver pole-mounted setup. GPS antenna cable RPA TNC port (aligned over antenna cable) RPA bracket Pole Figure 3.7 RPA and bracket 4. Mount the Zephyr antenna on the range pole. 5. Connect the GPS antenna cable. Make sure that the GPS cable is not hanging over the top of the RPA. 6. Connect the blue TNC-to-TNC radio cable to the RPA.
Trimble R7 Operation 3 Setting up the Receiver Mounting the Trimble R7 receiver To mount the receiver on the pole: 1. Attach the receiver bracket to the pole: a. Place the bracket against the pole, approximately 0.5 m from the ground. Note – If you are using a 1" diameter pole, flip the black insert around inside the bracket, as shown in Figure 3.8. 11/4" pole Bracket insert Bracket 1" pole Figure 3.8 24 Receiver bracket insert b. Close the gates of the bracket around the pole. c.
d. 3 Lock the clip lock. If the clip lock is too tight to be locked, turn it one or two turns counterclockwise and try again. If it is too loose, turn it one or two turns clockwise and try to lock it again. 2. Mount the receiver on the bracket: a. Pull the bracket side locks in towards the pole. b. Set the receiver catch lock in the bracket. c. Holding the receiver in the bracket, pull the side locks back to their original positions, as shown in Figure 3.9. Gates Clip lock Side locks Figure 3.
Trimble R7 Operation 3 Setting up the Receiver Mounting the TSC1/TSCe controller To mount the TSC1™/TSCe™ controller on the pole: 1. 26 Mount the controller bracket on the pole: a. Place the bracket against the pole at a comfortable height. b. Rotate the clamping screw on the bracket pole until tight. c. Place the controller into the cradle assembly and tighten the clamping mechanism. d.
3 Figure 2.10 shows the pole-mounted setup. Zephyr antenna RPA Velcro tie TSC1 / TSCe bracket Hand grip Figure 3.
Trimble R7 Operation 3 3.1 Setting up the Receiver Backpack Setup Both the whip and RPA antennae are suitable for use in a backpack. The RPA is installed in the same manner as for the pole-mounted setup (see Pole-Mounted Setup, page 22). B Tip – The RPA is tuned for operation with the GPS antenna cable running through it. Operating it from a backpack may reduce its operating range. Trimble recommends that you use the whip antenna. To set up the Trimble R7 for use in a backpack: 28 1.
3 Figure 3.11 shows the backpack setup. Whip antenna Zephyr antenna TSC1/TSCe bracket Figure 3.
Trimble R7 Operation 3 3.1 Setting up the Receiver Other System Components This section describes optional components that you can use with the Trimble R7 receiver. 31.1 Radios Radios are the most common data link for Real-Time Kinematic (RTK) surveying. The Trimble R7 receiver is available with an optional internal radio in either the 450 or 900 MHz UHF bands. You can also connect an external radio to Port 3, whether the internal radio is installed or not.
3 Internal Radio Setup You can configure the Trimble R7 optional internal radio using any of the following: • the GPS Configurator software • the WinFlash software • the Trimble Survey Controller software For more information, refer to the GPS Configurator Help, the WinFlash Help, or the Trimble Survey Controller User Guide. By default, the internal UHF radio has only a few frequencies installed. Use WinFlash to configure additional frequencies.
Trimble R7 Operation 3 Setting up the Receiver Figure 3.12 shows a TRIMMARK 3 connected to a Trimble R7 receiver. To antenna To power supply Figure 3.12 5. Connecting an external radio Connect an external power source to Port 2 on the receiver. Note – External rover radios must have their own power source because the internal Lithium-Ion batteries do not supply enough voltage. Alternatively, supply external power to port 2 of the receiver, and enable power out on port 3.
3 Alternatively, you can apply external power directly to the radio, if it supports it. You can use a 10 Ah battery, a 6 Ah battery, or camcorder batteries. The choice of power supply depends on the application, and whether you are using the radio as a reference or rover radio. For more information about the power capabilities of the Trimble R7, see Batteries and Power, page 45. 6. Configure the external radio using Trimble Survey Controller.
Trimble R7 Operation 3 Setting up the Receiver information, refer to the document Using Cellular and CDPD Modems for RTK, which is available from your local Trimble Distributor. Figure 3.13 shows the components required to connect a cellphone to a Trimble R7 receiver. DB9 to Lemo cable Serial cable Figure 3.13 Connecting a cellphone For more information on using a cellular modem as a data link, refer to the Trimble Survey Controller User Guide.
30.2 3 Antennas The Trimble R7 receiver should normally be used with a Zephyr or Zephyr Geodetic antenna. These antennas have been designed specifically for use with the Trimble R7. Use Figure 3.14 as a guide for measuring the height of the Zephyr and Zephyr Geodetic antennas. The Zephyr antenna is designed to be measured to the top of the notch. The Zephyr Geodetic (shown) has been designed to be measured to the bottom of the notch. 1.520 1.515 1.510 1.505 Figure 3.
Trimble R7 Operation 3 30.3 Setting up the Receiver CompactFlash cards The Trimble R7 logs data internally on a CompactFlash card. However, it only support the Type I CompactFlash card. Trimble recommends that you use an industrial-rated CompactFlash card, as commercial cards have a limited operating temperature range. Before logging data to a CompactFlash card, format the card to ensure the integrity of the file system. To format the card, insert it in the receiver and then hold down p for 30 seconds.
CHAPTER 4 General Operation 4 In this chapter: Q Introduction Q Button Functions Q LED Behavior Q Starting and Stopping the Receiver Q Logging Data Q Resetting to Defaults Q Formatting a CompactFlash Card Q Batteries and Power Trimble R7/R8 GPS Receiver User Guide 37
Trimble R7 Operation 4 General Operation 4.1 Introduction All the controls that you need for general operation of the Trimble R7 receiver are located on the front panel, as shown in Figure 4.1. Power button Data button t 2 SV Tracking LED Logging/ Memory LED Figure 4.1 3 Battery LEDs Radio/Event Marker LED Controls on the front panel of the Trimble R7 For more information about other panels of the Trimble R7, see Parts of the Receiver, page 12. 4.
4 Use d to start or stop logging. This button is only effective when the receiver is switched on and has completed any power-up and initialization tasks. Table 4.1 describes the main functions of the two buttons. Table 4.
Trimble R7 Operation 4 43.1 General Operation The term … means that the LED … Fast flash alternates rapidly between being lit and unlit On is lit Off is unlit Logging/Memory LED The yellow Logging/Memory LED below the d button indicates the status of data logging and memory usage. 43.2 Behavior Meaning On Data is being logged. Slow flash Enough FastStatic data has been logged.
43.3 Radio LED The green Radio LED below the Radio icon of data input and output. 43.4 4 indicates the status Behavior Meaning Slow flash A data packet or event marker has been received. Battery 1 LED and Battery 2 LED The Battery LEDs inside the two Battery icons indicate the status of the two internal batteries, or the power sources connected on Ports 2 and 3. By default, each battery LED indicates the status of the external power source on the corresponding port.
Trimble R7 Operation 4 4.5 General Operation Logging Data You can log data to the CompactFlash card in the receiver, or to the survey device. 45.1 Logging internally The Trimble R7 receiver logs GPS data internally on a CompactFlash card. You can then use the Trimble Data Transfer utility to transfer logged data files to your office computer. The transferred files are in Trimble DAT (.dat) format.
Table 4.2 4 Storage requirements (continued) Logging rate Memory required 5 seconds 87 KB 15 seconds 37 KB Note – If power is lost, or the CompactFlash card is removed while logging, the file system is designed so that a maximum of ten seconds of data will be lost, regardless of the logging rate. To ensure that this behavior occurs, use GPS Configurator to perform a quick format of the CompactFlash card before logging data to the card for the first time. 45.
Trimble R7 Operation 4 General Operation Resetting the receiver to its factory defaults also deletes any ephemeris file in the receiver. For more information, see Chapter 9, Default Settings. 4.7 Formatting a CompactFlash Card To format a CompactFlash card for use in a Trimble R7 receiver, insert the card in the CompactFlash port, then hold down p for at least 30 seconds. After 15 seconds, the receiver is reset to its factory defaults, and any ephemeris file is deleted.
4.8 4 Batteries and Power C WARNING – Do not damage the rechargeable Lithium-ion battery. A damaged battery can cause an explosion or fire, and can result in personal injury and/or property damage. To prevent injury or damage: – Do not use or charge the battery if it appears to be damaged. Signs of damage include, but are not limited to, discoloration, warping, and leaking battery fluid. – Do not expose the battery to fire, high temperature, or direct sunlight. – Do not immerse the battery in water.
Trimble R7 Operation 4 General Operation The power supply that is supplied with the Trimble R7 receiver charges the receiver internal batteries while they are still in the receiver. To do this, connect the power supply to the power/serial data cable, connect the cable to Port 2 on the receiver, and connect the power supply to an AC power source, as shown in Figure 4.2. Power/serial data cable 2 3 To AC power supply Figure 4.
C 4 WARNING – Avoid contact with the rechargeable Lithium-ion battery if it appears to be leaking. Battery fluid is corrosive, and contact with it can result in personal injury and/or property damage. To prevent injury or damage: – If the battery leaks, avoid contact with the battery fluid. – If battery fluid gets into your eyes, immediately rinse your eyes with clean water and seek medical attention.
Trimble R7 Operation 4 General Operation Charging the Lithium-ion battery The rechargeable Lithium-ion battery is supplied partially charged. Charge the battery completely before using it for the first time. If the battery has been stored for longer than six months, charge it before use. To protect the battery from deep discharge (5 volts or less), the Trimble R7 system is designed to switch batteries or cease drawing power when the battery pack discharges to 5.9 volts.
4 be charged at the same time from the same power supply. To charge both sets of batteries, use two standard power/serial data cables to connect the TSC1/TSCe controller and the receiver to a power supply, as shown in Figure 4.3. Power/serial data cables 2 3 To AC power supply Figure 4.3 48.3 Charging receiver and TSC1/TSCe batteries Power output If the receiver is being supplied with power from an external source, power is automatically output on Port 1. The output voltage is approximately 0.
Trimble R7 Operation 4 General Operation You can use GPS Configurator or Trimble Survey Controller to enable power output on Port 3. Port 3 can be enabled for power output regardless of whether power is supplied internally or externally. On Port 3, the output voltage is approximately 0.5 V less than the input voltage. For example, if power is being supplied from the internal Lithium ion batteries, the maximum battery voltage is 8.4 V, so the maximum output voltage is 7.9 V.
4 The receiver starts up in Monitor mode, automatically detects the newer version of the firmware, and installs it. In Monitor mode, the red SV Tracking LED is lit solidly and the yellow Logging/Memory LED flashes slowly. The upgrade takes about two minutes. Once the upgrade procedure is complete, the receiver restarts automatically.
Trimble R7 Operation 4 52 General Operation Trimble R7/R8 GPS Receiver User Guide
CHAPTER 5 Configuration 5 In this chapter: Q Introduction Q Configuring the Receiver in Real Time Q Configuring the Receiver Using Application Files Q Application Files Trimble R7/R8 GPS Receiver User Guide 53
Trimble R7 Operation 5 5.1 Configuration Introduction The Trimble R7 receiver has no controls for changing settings. To configure the receiver, use external software, such as the GPS Configurator or Trimble Survey Controller software. There are two ways to configure the Trimble R7: • Configuring the receiver in real time • Applying the settings in an application file This chapter provides a brief overview of each of these methods, and describes the contents and use of application files. 5.
5.3 5 Configuring the Receiver Using Application Files An application file contains information for configuring a receiver. To configure a receiver using an application file, you need to create the application file, transfer it to the receiver, and then apply the file settings. GPS Configurator does this for you automatically when you work with configuration files. For more information on applying application files, see Chapter 7, Software Utilities. 5.
Trimble R7 Operation 5 Configuration apply an application file that only specifies the elevation mask to use, all other settings remain as they were before the application file was applied. You can store up to twenty different application files in battery-backed memory on the receiver. You can apply an application file’s settings at the time it is transferred to the receiver, or at any time afterwards. 54.
5 When you switch off the receiver then turn it on again, all the settings from the current application file are applied, so you do not lose any changes that you have made. The only exceptions are the following logging parameters: • • • Logging rate Position rate Elevation mask These parameters are always reset to the factory default values whenever the receiver is switched off. Power Up application file The power up application file (Power_up.cfg) is optional.
Trimble R7 Operation 5 54.2 Configuration Timed application files A timed application file contains a Timed Activation record which specifies when this file is to be applied. The main use of a timed application file is to automatically start or stop logging at a predefined time.
5 The receiver can store up to 20 application files, so you can define a maximum of 10 scheduled survey sessions (10 pairs of start/stop timed application files). Sleep mode Whenever you press p to turn off the Trimble R7, it checks for a timed application file that is due to be activated in the future. If one exists, the receiver goes into Sleep mode instead of powering down. In Sleep mode, the yellow Logging/Memory LED flashes every three seconds.
Trimble R7 Operation 5 54.5 Configuration • you can use the same file to configure multiple receivers identically. • you can use an existing application file as a template for creating other application files with similar settings. Naming application files The application filename in the office computer and in the receiver is always the same. This makes it easier to recognize and keep track of your application files.
CHAPTER 6 Transferring Data 6 In this chapter: Q Introduction Q Connecting to the Office Computer Q Transferring Data Q Transferring Files Directly from a Compactflash Card Q Deleting Files in the Receiver Q Supported File Types Trimble R7/R8 GPS Receiver User Guide 61
Trimble R7 Operation 6 6.1 Transferring Data Introduction The Trimble R7 receiver keeps satellite measurements and other data in files stored on a CompactFlash card. These files cannot be processed until you transfer them to your office computer. Note – The receiver supports a maximum of 512 files on the CompactFlash cards. On returning to the office after completing a survey, transfer the field data to a computer that has the Trimble Geomatics Office™ software installed.
6.2 6 Connecting to the Office Computer The Trimble R7 has three serial (COM) ports and one USB port for connection to the office computer. A USB connection is up to ten times faster than normal serial communications. Use the standard power/serial data cable to connect the receiver to the computer, as shown in Figure 6.1. Power/serial data cable Serial (COM) port Port 2 Figure 6.
Trimble R7 Operation 6 Transferring Data Use the USB cable to connect the receiver to the computer, as shown in Figure 6.2. USB cable USB port USB port Figure 6.2 Connecting the Trimble R7 to a computer for USB data transfer Note – When the receiver is connected to a USB port on a computer, it is treated as a peripheral device of the computer. If the receiver is unplugged or powered down, a warning message is displayed on the computer.
6.3 6 Transferring Data Transfer the data files to the computer using the Trimble Data Transfer utility. You can run this utility as a standalone program or from within Trimble Geomatics Office. For more information about the transfer process, refer to the Data Transfer Help. Note – When you connect to a receiver in the Data Transfer utility, you must use a GPS Receiver (R/5000 Series) device definition.
Trimble R7 Operation 6 6.4 Transferring Data Transferring Files Directly from a CompactFlash Card All data is stored in a Trimble R7 receiver on an internal CompactFlash card. There are two ways to transfer files between the receiver and the office computer: • Connect the receiver to the office computer and use the Data Transfer utility to transfer files. • Remove the CompactFlash card from the receiver and connect it directly to your office computer, where it functions like a normal disk drive.
6 To convert a .T01 file on your office computer into the DAT format: 1. On your office computer, open Windows Explorer and navigate to the location of the .T01 file. 2. Right-click the file, and from the menu that appears select Convert to DAT format: The DAT File Conversion dialog appears while the file is converted. When the dialog disappears, the file conversion is complete. A new file with the same filename but a .dat extension appears in the same folder as the .T01 file.
Trimble R7 Operation 6 6.1 Transferring Data Deleting Files in the Receiver You can delete files stored in the receiver at any time. Do one of the following: 6.2 • Use the Data Transfer utility in Trimble Geomatics Office. • Use the TSC1/TSCe controller. • Hold down the power button p for 30 seconds after the receiver has been powered on. (When you use this method, all data is deleted, and the CompactFlash card is reformatted.) • Use GPS Configurator. Supported File Types Table 6.
CHAPTER 7 Software Utilities 7 In this chapter: Q Introduction Q GPS Configurator Software Q WinFlash Software Trimble R7/R8 GPS Receiver User Guide 69
Trimble R7 Operation 7 7.1 Software Utilities Introduction This chapter provides information on the software utilities that you can use with the Trimble R7 receiver. 7.2 GPS Configurator Software GPS Configurator is office software that configures selected Trimble GPS receivers. GPS Configurator lets you: 72.
70.1 7 Configuring the Trimble R7 receiver To configure a Trimble R7 receiver using GPS Configurator: 1. Connect Port 1 or 2 on the receiver to a serial (COM) port on the computer and apply power. 2. To start GPS Configurator, click and then select Programs / Trimble / GPS Configurator / GPS Configurator. 3. Select Trimble R7 in the Device Type dialog. The software automatically establishes a connection with the receiver. 4. Make appropriate selections for your required receiver settings.
Trimble R7 Operation 7 71.1 Software Utilities Installing WinFlash WinFlash can be installed from the Trimble R7, Trimble R8, 5700, and 5800 GPS Receivers CD, or from the Trimble website. Installing WinFlash from the CD 70.1 1. Insert the disk into the CD drive on your computer. 2. From the main menu select Install individual software packages. 3. Select Install WinFlash vX.XX with Trimble R7 drivers and firmware. 4. Follow the on-screen instructions.
7 The Operation Selection screen appears. The Operations list shows all of the supported operations for the selected device. A description of the selected operation is shown in the Description field. 5. Select GPS software upgrade and click Next. The GPS Software Selection window appears. This screen prompts you to select the software that you want to install on the Trimble R7 receiver. 6. Select the latest version from the Available Software list and click Next. The Settings Review window appears.
Trimble R7 Operation 7 70.1 Software Utilities Adding frequencies for the 450 MHz internal radio If your receiver has the optional internal radio installed, you can use WinFlash to add receiving frequencies to the default list. To add radio receiving frequencies: 1. Start WinFlash. The Device Configuration screen appears. 2. From the Device type list select Trimble R7 Receiver. 3. From the PC serial port field select the serial (COM) port on the computer that the receiver is connected to. 4.
7 The Frequency Selection window appears: 6. In the Wireless Format group, select the appropriate channel and wireless mode. The Wireless Mode must be the same for all radios in your network. 7. In the Specify Frequency field, enter the frequency you require. 8. Click Add. The new frequency appears in the Selected Frequencies list. Note – The frequencies that you program must conform to the channel spacing and minimum tuning requirements for the radio. To view this information, click Radio Info.
Trimble R7 Operation 7 Software Utilities 9. When you have configured all the frequencies you require, click OK. WinFlash updates the receiver radio frequencies and then restarts the receiver. 70.1 Configuring the internal 900 MHz radio setup To configure the internal 900 MHz radio, use one of the following: • Trimble Survey Controller running on a Trimble controller • WinFlash (provided on the Trimble R7, Trimble R8, 5700, and 5800 GPS Receivers CD) The internal radio has 40 selectable networks.
7 WinFlash To configure the radio network using WinFlash: 1. Connect the data/power cable to Port 1 on the receiver. 2. Connect the female DE-9 connector on the other end of the data/power cable to a serial (COM) port on the computer. 3. Start WinFlash. The Device Configuration dialog appears. 4. From the Device type list, select Trimble R7 Receiver. 5. From the PC serial port field, select the serial port on the computer that the receiver is connected to and click Next. 6.
Trimble R7 Operation 7 78 Software Utilities Trimble R7/R8 GPS Receiver User Guide
CHAPTER 8 Specifications 8 In this chapter: Q Introduction Q Physical Specifications Q Positioning Specifications Q Technical Specifications Trimble R7/R8 GPS Receiver User Guide 79
Trimble R7 Operation 8 8.1 Specifications Introduction This chapter lists the specifications of the Trimble R7 receiver. 8.2 Physical Specifications Table 8.1 lists physical specifications for the Trimble R7. The temperature rating of the receiver applies only when all doors on the receiver are closed. Table 8.1 Physical specifications Feature Specification Size 13.5 cm W x 8.5 cm H x 24 cm L (5.3 in. W x 3.4 in. H x 9.5 in. L) Weight (with 2 batteries inserted) 1.4 kg (3.
8.3 8 Positioning Specifications Table 8.2 lists positioning specifications for the Trimble R7. Table 8.2 Positioning specifications Positioning Mode Horizontal Accuracy Vertical Accuracy (RMS) (RMS) RTK (OTF) Synchronized 1 cm + 1 ppm (× baseline length) 2 cm + 1 ppm (× baseline length) Low Latency 2 cm + 2 ppm (× baseline length)a 3 cm + 2 ppm (× baseline length)a L1 C/A Code Phase Synchronized/ Low Latency .25 m + 1 ppm RMS .50 m + 1 ppm RMS Static/ FastStatic N/A 5 mm + 0.
Trimble R7 Operation 8 8.4 Specifications Technical Specifications Table 8.3 lists technical specifications for the Trimble R7. Table 8.
CHAPTER 9 Default Settings 9 In this chapter: Q Introduction Q Default Settings Q Resetting to Factory Defaults Q Examples Trimble R7/R8 GPS Receiver User Guide 83
Trimble R7 Operation 9 9.1 Default Settings Introduction All Trimble R7 receiver settings are stored in application files. The Default application file, Default.cfg, is stored permanently in the receiver, and contains the factory default settings for the Trimble R7. Whenever the receiver is reset to its factory defaults, the current settings (stored in the Current application file, Current.cfg) are reset to the values in the Default application file. You cannot modify the Default application file.
9.2 9 Default Settings Table 9.1 shows the default settings for the Trimble R7 receiver, as defined in the default application file. Table 9.
Trimble R7 Operation 9 Default Settings Table 9.1 Default settings (continued) Function Reference position: Antenna: 9.3 Factory Default Latitude 0° Longitude 0° Altitude 0.00 m HAE Type Unknown external Height (true vertical) 0.
9.4 9 Examples The following examples show how the Trimble R7 uses the default settings and special application files in various situations. 94.1 Default behavior The factory defaults specified above are applied whenever you start the receiver. If a Power Up file is present in the receiver, its settings are applied immediately after the default settings, so you can use a Power Up file to define your own set of defaults.
Trimble R7 Operation 9 Default Settings 94.2 Power up settings When you turn the receiver off, any changes that you have made to logging settings are lost and these settings are returned to the factory defaults. Other settings remain as defined in the Current file. The next time you turn on the receiver, the receiver checks for a power up file and, if one is present, applies the settings in this file.
94.3 9 Logging after power loss If the Trimble R7 loses power unexpectedly, when power is restored the receiver tries to return to the state it was in immediately before the power loss. The receiver does not reset itself to defaults or apply any Power Up settings. If the receiver was logging when power was lost unexpectedly, it resumes logging when power is restored. However, when you switch the receiver off using p, the receiver behaves as if you pressed d to stop logging before you pressed p.
Trimble R7 Operation 9 Default Settings 94.5 Application files You can use application files to change the settings in the receiver. Sending an application file to the receiver does not necessarily apply the file’s settings; you can apply a file’s settings at any time after sending it to the receiver. You can also define timed application files. A timed application file contains receiver settings, but also includes a date and time when it is automatically activated.
CHAPTER 10 Cables and Connectors 10 In this chapter: Q Introduction Q Port 1, 2, and 3 Connectors Q Power/serial Data Cable Q Event/PPS Cable Q GPS Antennas and Cables Trimble R7/R8 GPS Receiver User Guide 91
Trimble R7 Operation 10 10.1 Cables and Connectors Introduction This chapter provides pinout information for the Trimble R7 receiver standard and optional cables. This information can be used to build special cables for connecting the Trimble R7 to devices and instruments not supported by the standard and optional cables. 10.2 Port 1, 2, and 3 Connectors Figure 10.1 shows the location of the Trimble R7 serial ports. Port 1 Figure 10.
10 Figure 10.2 gives pinout requirements for the connector labeled Port 1. The pin locations for the Port 2 and Port 3 connectors are identical. 1 6 7 5 2 3 Figure 10.2 4 Pinout connectors Table 10.1 describes the pinout functionality. Table 10.
Trimble R7 Operation 10 10.3 Cables and Connectors Power/serial data cable Table 10.2 gives pinout information for the power/serial data cable (PN 32345), which is supplied with the Trimble R7. Table 10.
10.4 10 Event Marker/1PPS Cable The event marker/1PPS cable shown in Figure 10.3 provides a breakout box with two BNC (female) connectors for providing 1PPS input and event marker output. Connect a device that accepts 1PPS output pulses to the BNC connector labeled 1PPS on the breakout box. Connect a device that outputs event marker pulses to the Trimble R7, such as a photogrammetric camera, to the BNC connector labeled Event Marker on the breakout box.
Trimble R7 Operation 10 Cables and Connectors For Port 2 pinouts, see Port 1, 2, and 3 Connectors, page 92. For more information on 1PPS input and event marker output, see Chapter 11, Event Marker Input and 1PPS Output. Table 10.3 gives pinout information for the event marker/1PPS cable which is supplied with the Trimble R7. The event marker/1PPS cable is only used with the Trimble R7 connectors labeled Port 1 (for event marker output) and Port 2. Table 10.
10.5 10 GPS Antennas and Cables The antenna that a receiver uses to collect satellite signals is sometimes called a GPS antenna to distinguish it from a radio antenna. Radio antennas are used for communication between receivers and external networks or systems. Note – Older models of antennas, such as Choke Ring or Micro-Centered L1/L2, have different power requirements. The Trimble R7 can adjust the antenna power output when you designate the appropriate antenna in GPS Configurator.
Trimble R7 Operation 10 Cables and Connectors 98 Trimble R7/R8 GPS Receiver User Guide
CHAPTER 11 Event Marker Input and 1PPS Output 11 In this chapter: Q Introduction Q Event Marker Input Q 1PPS Output Trimble R7/R8 GPS Receiver User Guide 99
Trimble R7 Operation 11 11.1 Event Marker Input and 1PPS Output Introduction The Trimble R7 receiver can accept event marker input on Port 1 and Port 2, and can generate 1PPS output on Port 2. 11.2 Event Marker Input Event marker input is used to log a precise GPS time tag whenever an externally generated pulse, such as one generated at the time of the shutter closing from a photogrammetric camera, is received. The event is triggered when the source pulse voltage transitions between 1.0 V DC and 2.
3. 11 To start GPS Configurator, click , then select Programs / Trimble / GPS Configurator / GPS Configurator. The GPS Configurator dialog appears and the software automatically connects to the Trimble R7 receiver. 4. In the General tab, select the Event marker check box. 5. Select the appropriate option, Positive slope or Negative slope, depending on the type of pulse the external device uses. 6. Click Apply.
Trimble R7 Operation 11 11.1 Event Marker Input and 1PPS Output 1PPS Output The Trimble R7 receiver can output a one pulse per second (1PPS) time strobe with an associated ASCII time tag output. The pulse is output through Port 2 of the receiver using the event marker/1PPS cable. 111.1 1PPS pulse definition The leading edge of the pulse coincides with the beginning of each UTC second, as shown in Figure 11.1. The pulse is driven by an RS-422 driver between nominal levels of 0 V and 4 V.
11 The pulse is approximately 8 µsec wide, with rise and fall times of about 100 nsec. Resolution is approximately 40 nsec, but several external factors limit accuracy to approximately ±1 µsec: 111.2 • Position errors, especially with user-entered reference. Each meter of error can result in 3 nsec of error in the 1PPS pulse. • Antenna cable length. Each meter of cable adds a delay of about 2 nsec to satellite signals, and a corresponding delay in the 1PPS pulse.
Trimble R7 Operation 11 Event Marker Input and 1PPS Output A typical printout looks like this: UTC 93.12.21 20:21:16 56 UTC 93.12.21 20:21:17 56 UTC 93.12.21 20:21:18 56 If a and b are ??, the time is based on the receiver clock because the receiver is not tracking satellites. The receiver clock is less accurate than time readings extracted from satellite signals. 111.3 Enabling and configuring 1PPS output To enable or configure the 1PPS output function, you need the GPS Configurator software.
7. 11 Click Apply. GPS Configurator sends the new configuration information to the receiver, and the receiver starts to generate 1PPS output on Port 2. 8. Click OK to exit GPS Configurator. The software disconnects from the receiver.
Trimble R7 Operation 11 106 Event Marker Input and 1PPS Output Trimble R7/R8 GPS Receiver User Guide
SECTION II I TRIMBLE R8 GPS RECEIVER
CHAPTER 12 Overview 12 In this chapter: Q Introduction Q Features Q Use and Care Q COCOM Limits Trimble R7/R8 GPS Receiver User Guide 10 9
12 12.1 Overview Introduction Trimble R8 Operation This chapter introduces the Trimble R8 GPS receiver. This receiver is designed for GPS surveying applications. The receiver incorporates a GPS antenna, receiver, internal radio with a transmit option or an internal GSM module, and battery in a rugged light-weight unit that is ideally suited as an all-on-the-pole RTK rover. Three LEDs allow you to monitor the satellite tracking, radio reception, data logging status, and power.
• Single Lithium-ion rechargeable battery • Cable-free Bluetooth communications with the Trimble Attachable Control Unit (ACU), or TSCe™ with Bluecap module • Two RS-232 serial ports for: – NMEA output – RTCM SC-104 input and output – Trimble Format (CMR & CMR Plus) input and output 12 • One TNC radio antenna connector • 6 MB internal memory for data storage • Internal 450 MHz radio with a transmit option or GSM module Trimble R7/R8 GPS Receiver User Guide 11 1 Trimble R8 Operation Over
12 12.3 Overview Use and Care Trimble R8 Operation The Trimble R8 receiver is designed to withstand the rough treatment that typically occurs in the field. However, the receiver is a high-precision electronic instrument and should be treated with reasonable care. C WARNING – Operating or storing the Trimble R8 receiver outside the specified temperature range can damage it. For more information, see Chapter 17, Specifications.
CHAPTER 13 Setting up the Receiver 13 In this chapter: Q Introduction Q Parts of the Receiver Q Setup Guidelines Q Pole-mounted Setup Q Other System Components Trimble R7/R8 GPS Receiver User Guide 11 3
13 13.1 Setting up the Receiver Introduction Trimble R8 Operation This chapter provides general information on setup, connection, and cabling for the Trimble R8 receiver. 13.2 Parts of the Receiver All operating controls on the Trimble R8 receiver are located on the front panel. Serial ports and connectors are located on the bottom of the unit. 132.1 Front panel Figure 13.1 shows a front view of the Trimble R8 receiver. The front panel contains the three indicator LEDs, and the power button.
Setting up the Receiver Lower housing Figure 13.2 shows the lower housing of the Trimble R8 receiver. The lower housing contains the two serial ports, one TNC radio antenna or GSM antenna connector (depending on the internal communication module ordered), the removable battery compartment and the 5/8-11 threaded insert. Radio antenna connection Port 2 Port 1 Figure 13.2 Trimble R8 lower housing Trimble R7/R8 GPS Receiver User Guide 11 5 Trimble R8 Operation 132.
13 Setting up the Receiver Each port or connector on the Trimble R8 receiver is marked with an icon to indicate its main function, as shown in Table 13.1. Table 13.1 Trimble R8 Operation Icon Trimble R8 receiver ports Name Connections Port 1 Device, computer, external radio, power in Port 2 Device, computer, external radio RADIO Radio communications antenna Port 1 is a 7-pin 0-shell LEMO connector that supports RS-232 comms and external power input. Port 1 has no power outputs.
Setting up the Receiver 13.3 13 Setup Guidelines C 133.1 Caution – You must maintain a minimum separation distance of 20 cm (approximately 8 in.) between yourself and the radiating GSM antenna for this device to satisfy the RF Exposure requirements of the FCC. For mobile operation, the maximum gain of the GSM antenna must not exceed 0 dBi. Environmental conditions Although the Trimble R8 receiver has a waterproof housing, reasonable care should be taken to protect the unit.
13 Setting up the Receiver 133.3 General guidelines Trimble R8 Operation The following guidelines apply whenever you set up your receiver for operation: 13.4 • When plugging in a Lemo cable, make sure that the red dots on the receiver port and the cable connector line up. Never use force to plug cables in, as this may damage the connector pins. • When disconnecting a Lemo cable, grasp the cable by the sliding collar or lanyard and pull the cable connector straight out of the port.
Setting up the Receiver If using the TSC1™, connect the data-i/o cable from Port 1 of the receiver to a port on the TSC1. If using the Trimble ACU, or TSCe with Bluecap module, no cabling is required, as shown in Figure 13.3. Trimble R8 Operation 4. 13 F F Trimble R8 GPS Receiver ACU controller Figure 13.3 13.1 Trimble R8 receiver pole-mounted setup Other System Components This section describes optional components that you can use with the Trimble R8 receiver. 131.
13 Setting up the Receiver Trimble R8 Operation The Trimble R8 receiver supports the following Trimble base radios with the internal 450 MHz or 900 MHz UHF radios: • TRIMMARK™ 3 • TRIMMARK IIe • TRIMTALK™ 450S • SiteNet™ 450 • SiteNet 900 • Trimble R8 internal 450 transmitter Internal GSM setup You can configure the receiver optional internal GSM Module using the following software: • Trimble Survey Controller For more information, refer to the Trimble Survey Controller User Guide.
Setting up the Receiver Cellular modems and external radios For a data communications link, you can use an internal or external radio, or an internal or external cellular modem. To connect an external cellular modem to a Trimble R8 receiver, you need the following: • A Trimble R8 receiver. • A cellular modem, or a cellphone that can transmit and receive data. • Serial (cellphone to DB9) cable (supplied with the cellular modem or phone).
Setting up the Receiver Trimble R8 Operation 13 122 Trimble R7/R8 GPS Receiver User Guide
CHAPTER 14 General Operation 14 In this chapter: Q Introduction Q Button Functions Q LED Behavior Q Starting and Stopping the Receiver Q Logging Data Q Resetting to Defaults Q Batteries and Power Trimble R7/R8 GPS Receiver User Guide 12 3
14 14.1 General Operation Introduction Trimble R8 Operation Figure 14.1 shows the Trimble R8 receiver front panel controls for the power on/off functions, or receiver reset. The LEDs provide power, radio, data logging, and SV tracking status information. F Power button Power/Data status Radio SV Tracking Figure 14.
General Operation 14.2 14 Button Functions The Trimble R8 receiver has only one button, the Power button, represented in this manual by p. Use p to switch the receiver on or off, and to perform other functions, as described in Table 14.1.
14 General Operation 143.1 LED flash patterns The following table details the possible flash patterns to indicate various states of receiver operation.
General Operation 14.5 14 Logging Data You can log data internally or to a Trimble controller. Logging internally The Trimble R8 receiver logs GPS data internally on 6 MB of internal memory. You can then use the Trimble Data Transfer utility to transfer logged data files to the office computer. The transferred files are in Trimble DAT (.dat) format. C WARNING – The Trimble R8 allows for a maximum of 200 files on the internal memory. The filenames must be in 8.
14 General Operation Table 14.2 shows approximate storage requirements for different logging rates. The values shown are for a one-hour logging session with six satellites visible. Trimble R8 Operation Table 14.2 145.
General Operation Batteries and Power C WARNING – Do not damage the rechargeable Lithium-ion battery. A damaged battery can cause an explosion or fire, and can result in personal injury and/or property damage. To prevent injury or damage: – Do not use or charge the battery if it appears to be damaged. Signs of damage include, but are not limited to, discoloration, warping, and leaking battery fluid. – Do not expose the battery to fire, high temperature, or direct sunlight.
14 General Operation The receiver is supplied with two rechargeable Lithium-ion batteries, and a dual battery charger. The two batteries charge sequentially and take approximately four hours each to fully charge. Trimble R8 Operation 147.1 Battery charging and storage All battery types discharge over time when they are not being used. Batteries also discharge faster in colder temperatures.
General Operation 14 A battery that has reached the deep discharge level cannot be recharged and must be replaced. The following recommendations provide optimal performance and extend the life of your batteries: • Fully charge all new batteries prior to use. • Do not allow the batteries to discharge below 5 volts. • Keep all batteries on continuous charge when not in use. Batteries may be kept on charge indefinitely without damage to the receiver or batteries.
14 General Operation For more information, see WinFlash Software, page 141. WARNING – Upgrading the firmware deletes all application files on the receiver.
CHAPTER 15 Configuration 15 In this chapter: Q Introduction Q Configuring the Receiver in Real Time Q Configuring the Receiver Using Application Files Q Application Files Trimble R7/R8 GPS Receiver User Guide 13 3
15 15.1 Configuration Introduction Trimble R8 Operation The Trimble R8 receiver has no controls for changing settings. To configure the receiver, use external software such as GPS Configurator, WinFlash, or Trimble Survey Controller. There are two ways to configure the receiver. You can: • configure the receiver in real time • apply the settings in an application file This chapter provides a brief overview of each of these methods and describes the contents and use of application files. 15.
Configuration Configuring the Receiver Using Application Files An application file contains information for configuring a receiver. To configure a receiver using an application file, you need to create the application file, transfer it to the receiver, and then apply the file’s settings. GPS Configurator does this for you automatically when you work with configuration files. For more information on applying application files, see Chapter 16, Software Utilities. 15.
15 Configuration Trimble R8 Operation apply an application file that only specifies the elevation mask to use, all other settings remain as they were before the application file was applied. You can store up to twenty different application files in the receiver. You can apply an application file’s settings at the time it is transferred to the receiver, or at any time afterwards. 154.
Configuration 15 • Logging rate • Position rate • Elevation mask These parameters are always reset to the factory default values whenever the receiver is switched off. Power Up application file The power up application file (Power_up.cfg) is used to set the receiver to a specific configuration any time the unit is powered up. You can specify that the receiver is reset to defaults before the power up settings are applied.
15 154.2 Configuration Applying application files Trimble R8 Operation An application file’s settings do not affect the receiver’s configuration until you apply the application file. You can do this at the same time that you save the file. Alternatively, you can save the file on the computer or in the receiver, then open it later and apply its settings. 154.3 Storing application files You can store application files that you create in GPS Configurator on the receiver and on the computer.
CHAPTER 16 Software Utilities 16 In this chapter: Q Introduction Q GPS Configurator Software Q WinFlash Software Trimble R7/R8 GPS Receiver User Guide 13 9
16 Software Utilities 16.1 Introduction Trimble R8 Operation This chapter provides information on the software utilities that you can use with the Trimble R8 receiver. 16.2 GPS Configurator Software GPS Configurator is office software that configures selected Trimble GPS receivers. GPS Configurator lets you: 162.
Software Utilities 160.1 16 Configuring the Trimble R8 receiver 1. Connect Port 1 or 2 on the receiver to a serial (COM) port on the computer and apply power. 2. To start GPS Configurator, click , then select Programs / Trimble / GPS Configurator / GPS Configurator. 3. Select Trimble R8 in the Device Type dialog. The software automatically establishes a connection with the receiver. 4. Make appropriate selections for your required receiver settings.
16 161.1 Software Utilities Installing WinFlash WinFlash can be installed from the Trimble R7, Trimble R8, 5700, and 5800 GPS Receivers CD, or from the Trimble website. Trimble R8 Operation Installing WinFlash from the CD 160.1 1. Insert the disk into the CD drive on your computer. 2. From the main menu select Install individual software packages. 3. Select Install WinFlash vX.XX with Trimble R8 drivers and firmware. 4. Follow the on-screen instructions.
Software Utilities 16 The Operation Selection screen appears. The Operations list shows all of the supported operations for the selected device. A description of the selected operation is shown in the Description field. Select GPS software upgrade and click Next. The GPS Software Selection window appears. This screen prompts you to select the software that you want to install on the receiver. 6. Select the latest version from the Available Software list and click Next. The Settings Review window appears.
16 160.1 Software Utilities Adding frequencies for the 450 MHz internal radio Trimble R8 Operation If your Trimble R8 receiver has the optional internal 450 MHz radio installed, you must use WinFlash to add receiving frequencies to the default list. If you purchased the transmit option, the broadcast frequencies must be programmed at the factory. To add radio receiving frequencies: 1. Start WinFlash. The Device Configuration screen appears. 2. From the Device type list select Trimble R8 Receiver. 3.
Software Utilities 5. 16 Select Configure Radio and click Next. Trimble R8 Operation The Frequency Selection window appears: 6. In the Wireless Format group, select the appropriate channel and wireless mode. The Wireless Mode must be the same for all radios in your network. 7. In the Specify Frequency field, enter the frequency you require.
16 Software Utilities 8. Click Add. The new frequency appears in the Selected Frequencies list. Trimble R8 Operation Note – The frequencies that you program must conform to the channel spacing and minimum tuning requirements for the radio. To view this information, click Radio Info. You may select either 12.5 or 25 kHz channel spacing. All radios in your network must use the same channel spacing. 9. When you have configured all the frequencies you require, click OK.
Software Utilities 5. 6. 7. Select Rover radio, then from the Type field select Trimble Internal. Tap the ! softkey. Once connected, in the Network number field enter the number of the network set on your base radio. Note – The Base Radio Mode field is not used here. Tap the E softkey to complete configuration. WinFlash To configure the radio network using WinFlash: 1. 2. 3. 4. 5. 6. 7. 8. 9. Connect the data/power cable to Port 1 on the receiver.
16 160.1 Software Utilities Configuring the internal transceiver Use the WinFlash Internal Transceiver Configuration dialog to configure the Trimble R8 internal transceiver. Trimble R8 Operation B Tip – To view a list of all radio information, including the current configuration, click Radio Info. 1. Select the Current Channel, which determines the radio operating frequency. 2. Select the Wireless Mode, which determines the over-the-air communications parameters.
Software Utilities 16 Note – All radios in the network must be configured with the same wireless setting. Select the appropriate operating mode, depending on how you intend to use the receiver, for example, Base with No Repeaters: 4. Select one of the following channel sharing configurations (base modes only; not available for rover): Trimble R8 Operation 3. – Off. The carrier detect mode is off. The unit will ignore other transmissions on your frequency and continue to transmit data.
16 Software Utilities Trimble R8 Operation – Avoid Strong Signals. The carrier detect mode is on, but the radio will stop transmitting only when there is a strong signal present (receive level greater than 90 dBm). 5. If you are operating in Base mode, select the Enable Station ID check box and then enter your call sign in the Call Sign field. This FCC requirement is for U.S. licensed users. It sets your radio to transmit your call sign in Morse code every 15 minutes. 6.
CHAPTER 17 Specifications 17 In this chapter: Q Introduction Q Physical Specifications Q Positioning Specifications Q Technical Specifications Trimble R7/R8 GPS Receiver User Guide 15 1
17 17.1 Specifications Introduction Trimble R8 Operation This chapter details the specifications of the Trimble R8 receiver. 17.2 Physical Specifications Table 17.1 lists physical specifications for the Trimble R8 receiver. Table 17.1 Physical specifications Feature Specification Size 19cm (7.5") wide x 10cm (3.9") deep including connectors Weight: with internal battery and radio 1.31 kg (2.13 lbs) Operating times on internal battery 450 MHz receive/transmit: 3.
Specifications Positioning Specifications Table 17.2 lists positioning specifications for the Trimble R8 receiver. Table 17.2 Positioning specifications Positioning Mode Horizontal accuracy Vertical accuracy (RMS) (RMS) RTK (OTF) Synchronized 1 cm + 1 ppm (× baseline length) 2 cm + 1 ppm (× baseline length) Low Latency 2 cm + 2 ppm (× baseline length)a 3 cm + 2 ppm (× baseline length)a L1 C/A Code Phase Synchronized/ Low Latency .25m + 1ppm RMS .
17 17.4 Specifications Technical Specifications Table 17.3 lists technical specifications for the Trimble R8 receiver. Trimble R8 Operation Table 17.
Specifications Table 17.3 17 Technical specifications (continued) Feature Transmit radio Specification Transmit power: 0.5 watts Frequency bands: 410-430MHz, 430-450MHz, 450-470MHz Channel Spacing: 12.
Specifications Trimble R8 Operation 17 156 Trimble R7/R8 GPS Receiver User Guide
CHAPTER 18 Default Settings 18 In this chapter: Q Introduction Q Default Settings Q Resetting to Factory Defaults Trimble R7/R8 GPS Receiver User Guide 15 7
18 Default Settings 18.1 Introduction Trimble R8 Operation All Trimble R8 receiver settings are stored in application files. The default application file, DEFAULTS is stored permanently in the receiver, and contains the factory default settings for the receiver. Whenever the receiver is reset to its factory defaults, the current settings (stored in the current application file, CURRENT) are reset to the values in the default application file. You cannot modify the default application file.
Default Settings Default Settings Table 18.1 defines the default settings for the Trimble R8 receiver, as defined in the default application file. Table 18.
18 Default Settings 18.3 Resetting to Factory Defaults Trimble R8 Operation To reset the Trimble R8 receiver to its factory defaults, do one of the following: 183.1 • Press and hold down p on the receiver for 15 seconds. • In GPS Configurator, select Connect to Receiver and then click Reset receiver in the General tab. Default behavior The factory defaults specified above are applied whenever you start the receiver.
CHAPTER 19 Cables and Connectors 19 In this chapter: Q Introduction Q Port 1 and 2 Connectors Q Power/serial Data Cable Trimble R7/R8 GPS Receiver User Guide 16 1
19 19.1 Cables and Connectors Introduction Trimble R8 Operation This chapter provides pinout information for the Trimble R8 receiver standard and optional cables. This information can be used to prepare special cables for connecting the receiver to devices and instruments not supported by the standard and optional cables. 19.2 Port 1 and 2 Connectors Figure 19.1 shows the location of the Trimble R8 serial ports. Port 1 Port 2 1 2 BARCODE S/N LABEL Figure 19.
Cables and Connectors 19 Figure 19.2 gives pinout requirements for the connector labeled Port 1. 7 6 5 2 3 Figure 19.2 Trimble R8 Operation 1 4 Port 1 connector Figure 19.3 gives pinout requirements for the connector labeled Port 2. Pins 9 8 7 6 Pins 5 4 3 2 1 Figure 19.
19 Cables and Connectors Table 19.1 describes the pinout functionality. Table 19.1 Trimble R8 port pinouts Trimble R8 Operation Pin 19.3 Pinout function Port 1 - 7-pin Lemo Port 2 - DB-9 1 Signal ground DCD 2 - Power ground RXD 3 TXD TXD 4 N/C DTR 5 N/C Signal ground 6 + Power in DSR 7 TRXD RTS 8 N/A CTS 9 N/A Ring indicator Power/Serial Data Cables Note – Table 19.
Cables and Connectors Data-I/O cable pinouts (continued) DB-9 Female DB-9 Female 9 Pin 9 pin Pin Function Pin Function 5 GND 5 GND 7 RTS5_232 8 CTS5_232 8 CTS5_232 7 RTS5_232 9 no connection RI5_232 9 This data cable may be used for firmware upgrades and other computer functions with the Trimble R8. Power must be supplied to the receiver via Port 1, or from the internal battery. Note – Table 19.
Cables and Connectors Trimble R8 Operation 19 166 Trimble R7/R8 GPS Receiver User Guide
SECTION III I APPENDIXES TRIMBLE R7 / TRIMBLE R8
APPENDIX A NMEA-0183 Output A In this appendix: Q Introduction Q NMEA-0183 outputs Q Common message elements Q NMEA messages Trimble R7/R8 GPS Receiver User Guide 16 9
A A.1 NMEA-0183 Output Introduction This appendix describes the formats of the subset of NMEA-0183 messages that are available for output by the receivers. For a copy of the NMEA-0183 Standard, visit the National Marine Electronics Association website at www.nmea.org. A.2 NMEA-0183 Outputs When NMEA-0183 output is enabled, a subset of NMEA-0183 messages can be output to external instruments and equipment connected to the Trimble R7 serial ports.
NMEA-0183 Output NMEA message summary (continued) Message Function Page GST Position error statistics 177 GSV Number of SVs in view, PRN, elevation, azimuth, and SNR 178 HDT Heading from True North 178 PTNL,GGK Time, position, position type and DOP values 179 PTNL,GGK_SYNC Time, synchronized position, position type and DOP values 180 PTNL,PJK Local coordinate position output 182 PTNL,PJT Projection type 183 PTNL,VGK Time, locator vector, type and DOP values 183 PTNL,VHD Heading
A A.3 NMEA-0183 Output Common Message Elements Each message contains: • A message ID consisting of $GP followed by the message type. For example, the message ID of the GGA message is $GPGGA. • A comma • A number of fields that depend on message type, separated by commas • An asterisk • A checksum value Trimble R7 and R8 Below is an example of a simple message with a message ID ($GPGGA), followed by 13 fields and checksum value: $GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6, 1.2,18.
NMEA-0183 Output A Time Time values are presented in Universal Time Coordinated (UTC) and are represented as hhmmss.cc, where: hh is hours, from 00 to 23 • mm is minutes • ss is seconds • cc is hundredths of seconds NMEA Messages When NMEA-0183 output is enabled, the following messages can be generated. Trimble R7 and R8 A.
A NMEA-0183 Output AVR Time, Yaw, Tilt, Range for Moving Baseline RTK The AVR message string is shown below, and Table A.2 describes the message fields. $PTNL,AVR,181059.6,+149.4688,Yaw,+0.0134,Tilt,,,60.191,3, 2.5,6*00 Trimble R7 and R8 Table A.
NMEA-0183 Output Time, Position, and Fix Related Data An example of the GGA message string is shown below. Table A.3 describes the message fields. $GPGGA,172814.0,3723.46587704,N,12202.26957864,W, 2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F Table A.
A NMEA-0183 Output Table A.3 GSA GGA message fields (continued) Field Meaning 13 Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is not used. 14 Reference station ID, ranging from 0000 to 1023. A null field when any reference station ID is selected and no corrections are received. GNSS DOP and active satellites An example of the GSA message string is shown below. Table A.4 describes the message fields.
NMEA-0183 Output Position Error Statistics An example of the GST message string is shown below. Table A.5 describes the message fields. $GPGST,172814.0,0.006,0.023,0.020,273.6, 0.023,0.020,0.031*6A Table A.
A NMEA-0183 Output GSV Satellite Information The GSV message string identifies the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values. An example of the GSV message string is shown below. Table A.6 describes the message fields. $GPGSV,4,1,13,02,02,213,,03,-3,000,, 11,00,121,,14,13,172,05*67 Trimble R7 and R8 Table A.
NMEA-0183 Output A PTNL,GGK Time, Position, Position Type, DOP An example of the PTNL,GGK message string is shown below. Table A.8 describes the message fields. $PTNL,GGK,172814.00,071296, 3723.46587704,N,12202.26957864,W, 3,06,1.7,EHT-6.777,M*48 PTNL,GGK message fields Field Meaning 1 UTC of position fix 2 Date 3 Latitude 4 Direction of latitude: Trimble R7 and R8 Table A.
A NMEA-0183 Output Table A.8 PTNL,GGK message fields (continued) Field Meaning 10 Ellipsoidal height of fix 11 M: ellipsoidal height is measured in meters Note – The PTNL,GGK message is longer than the NMEA-0183 standard of 80 characters. PTNL,GGK_SYNC Time, Synchronized Position, Position Type, DOP Trimble R7 and R8 The PTNL,GGK_SYNC message has the same format as the PTNL,GGK message, but outputs Synchronized 1 Hz positions even in Low Latency mode.
NMEA-0183 Output Table A.
A NMEA-0183 Output PTNL,PJK Local Coordinate Position Output An example of the PTNL,PJK message string is shown below. Table A.10 describes the message fields. $PTNL,PJK,010717.00,081796, +732646.511,N,+1731051.091,E, 1,05,2.7,EHT-28.345,M*7C Trimble R7 and R8 Table A.
NMEA-0183 Output A PTNL,PJT Projection Type An example of the PTNL,PJT message string is shown below. Table A.11 describes the message fields. $PTNL,PJT,NAD83(Conus),California Zone 4 0404,*51 Table A.11 PTNL,PJT message fields Field Meaning 1 Coordinate system name (can include multiple words) 2 Projection name (can include multiple coordinates) Trimble R7 and R8 PTNL,VGK Vector Information An example of the PTNL,VGK message string is shown below. Table A.12 describes the message fields.
A NMEA-0183 Output Table A.12 PTNL,VGK message fields (continued) Field Meaning 6 GPS quality indicator: 0: Fix not available or invalid 1: Autonomous GPS fix 2: Differential carrier phase solution RTK(float) 3: Differential carrier phase solution RTK(fix) 4: Differential code-based solution, DGPS 7 Number of satellites if fix solution 8 DOP of fix 9 M: Vector components are in meters Trimble R7 and R8 PTNL,VHD Heading Information An example of the PTNL,VHD message string is shown below.
NMEA-0183 Output Table A.13 A PTNL,VHD message fields (continued) Field Meaning 8 ∆Range/∆Time 9 Quality indicator: 0: Fix not available or invalid 1: Autonomous GPS fix 2: Differential carrier phase solution RTK(float) 3: Differential carrier phase solution RTK(fix) 4: Differential code-based solution, DGPS Number of satellites used in solution 11 PDOP Rate of Turn The ROT string is shown below, and Table A.14 describes the message fields. $GPROT,35.6,A*4E Table A.
A NMEA-0183 Output VTG Actual Track Made Good Over and Speed Over Ground An example of the VTG message string is shown below. Table A.15 describes the message fields. $GPVTG,,T,,M,0.00,N,0.00,K*4E Trimble R7 and R8 Table A.
NMEA-0183 Output UTC Day, Month, And Year, and Local Time Zone Offset An example of the ZDA message string is shown below. Table A.16 describes the message fields. $GPZDA,172809,12,07,1996,00,00*45 Table A.
NMEA-0183 Output Trimble R7 and R8 A 188 Trimble R7/R8 GPS Receiver User Guide
APPENDIX B RTCM Output B In this appendix: Q RTCM Output Q Message Scheduling Trimble R7/R8 GPS Receiver User Guide 18 9
B 0.1 RTCM Output RTCM Output Table B.1 shows the messages that are generated when you select a specific RTCM version. The messages in the table are in the same order as they appear in GPS Configurator. For the details of the contents of individual messages, refer to the RTCM documentation. Table B.1 RTCM output Selection Message Version 2 1 USCG 9-3 RTCM/RTK 2.2+2.3 3 1 RTK Only 2.2+2.3 Trimble R7 and R8 RTCM/RTK 2.3 3 RTK Only 2.2 RTCM/RTK 2.1 RTK Only 2.
RTCM Output 0.2 B Message Scheduling Table B.2 describes the frequency at which messages are generated when they are enabled in a base receiver.
RTCM Output Trimble R7 and R8 B 192 Trimble R7/R8 GPS Receiver User Guide
APPENDIX C Troubleshooting C In this appendix: Q LED Conditions Q Receiver Issues Trimble R7/R8 GPS Receiver User Guide 19 3
C Troubleshooting An LED that is flashing quickly indicates a condition that may require attention, and an unlit LED indicates that no operation is occurring. Table C.1 describes some LED conditions, possible causes, and how to solve them. Table C.1 LED conditions Condition Possible cause Solution The SV Tracking LED is lit solidly and the Logging/Memory LED is flashing slowly. Power the receiver off or on.
Troubleshooting C Table C.2 describes some possible receiver issues, possible causes, and how to solve them. Receiver issues Issue Possible cause Solution The receiver does not power up. External power too low. Check the charge on the external battery, and check the fuse if applicable. Replace the battery if necessary. Internal power too low. Check the charge on the internal batteries and replace if necessary. Ensure battery contacts are clean. External power not properly connected.
C Troubleshooting Table C.2 Receiver issues (continued) Issue Possible cause Solution Receiver does not log data. Insufficient memory on the CompactFlash card. Delete old files using the GPS Configurator or Trimble Survey Controller software, or by holding down p for 30 seconds. No CompactFlash card is inserted. Insert a CompactFlash card in the receiver. The CompactFlash card is not Remove the Compact Flash card and seated properly.
Troubleshooting Receiver issues (continued) Issue Possible cause Solution Reference receiver is not broadcasting. Port settings between reference receiver and radio are incorrect. Using Trimble Survey Controller, connect to the reference radio through the receiver. If no connection is made, connect directly to the radio and change the port settings. Try to connect through the receiver again to ensure that they are communicating. Faulty cable between receiver Try a different cable. and radio.
C Troubleshooting Table C.2 Receiver issues (continued) Issue Possible cause Solution Roving receiver is not receiving radio. Reference receiver is not broadcasting. See above. Incorrect over air baud rates between reference and rover. Connect to the roving receiver’s radio and check to ensure it has the same setting as the reference receiver. Incorrect port settings If the radio is receiving data (the between roving external radio Logging/Memory LED is flashing) and and receiver.
Index Symbols d 13, 38 p 13, 38, 125 $ (NMEA start of message delimiter) 170 * (NMEA checksum delimiter) 172 , (NMEA field delimiter) 170 .cfg files 55–59, 68, 135–138 .dat files 66, 68 size 65 .elf files 50, 68, 132 .eph files 68 .
Index overview 55, 135 Power Up (Power_Up.
Index formatting 39, 44, 196 full 42 logging data to 42 transferring files from 66 Type I 36 upgrading receiver firmware from 50, 132 CompactFlash port 17, 117 CompactFlash/USB door 17, 117 CompactFlash/USB door catch 13, 114 configuring 1PPS output in real time 104 event marker input in real time 100 MS Series parameters 174 receiver in real time 54, 134 receiver using application files 135 connecting to computer for data transfer 63 controller mounting on pole 26 power supply 48 setup 26 corrupted Compact
Index resetting 128 RT17 output 85, 159 RTCM output 85 serial format 85, 159 SNR mask 85 streamed output 85, 159 SV enabling 85, 159 Trimble R7 receiver 84 Trimble R8 receiver 158 Default.
Index RS-232 ports 9 RTCM SC-104 input and output 9, 111 RTK data 8, 110 submeter accuracy 8, 110 Trimble R8 receiver 110 USB port 9 WAAS capability 8, 110 file size 65 File Storage record, in application file 55, 135 file types .cfg 68 .dat 66 .elf 68 .eph 68 .T01 66 application (.cfg) 68 DAT 65 data (.dat) 66 data files 66 ephemeris (.eph) 68 job 43, 128 raw observations (.T01) 68 receiver firmware (.elf) 68 supported 68 files deleting 68 transferring from CompactFlash card 66 firmware (.
Index I L icons, on top panel 16, 116 indicator LEDs 13, 39, 114, 125 initialization minimum time required 82, 154 on-the-fly 8, 110 specifications 82, 154 input CMR 9, 111 event marker 8, 99 RTCM 9, 111 Input Message record, in application file 55, 135 insert, for receiver bracket 24 installing GPS Configurator software 70, 140 WinFLASH software 72, 142 interference electrical 18, 117 electronic 112 internal batteries charging 9 charging while in Trimble R7 receiver 46 charging with TSC1/TSCe batteries
Index M maximum baud rate 82, 154 number of application files 56, 136 Maxwell architecture 82, 154 measurement rate, default 86 Memory LED See Logging/Memory LED memory, full 42, 196 message ID, in NMEA messages 172 mobile phones 33, 121 Monitor mode 40, 50, 51, 132, 194 motion, default settings 85, 159 mounting antenna, avoiding electrical interference 18, 117 N naming application files 60, 138 NMEA output 9, 111, 169–187 output, default settings 85, 159 NMEA messages common elements 171 common message e
Index Trimble R8 receiver 118 TSC1/TSCe controller 26 Port 1 connector pin locations 93 default baud rate 85, 159 default serial format 85, 159 event marker input 100 flow control 85, 159 icon 16, 116 pinout diagram 93, 163 pinout functions 93 power output 49, 131 Port 2 1PPS output 100 connector pin locations 93 default baud rate 85, 159 default serial format 85, 159 event marker input 100 icon 16, 116 pinout diagram 93, 163 pinout functions 93 Port 3 connector pin locations 93 default baud rate 85 default
Index R radio antenna port 9, 16, 111, 198 Radio LED 41 RADIO port icon 16, 116 Trimble R7 receiver 16 troubleshooting 198 radio-modems, using 3 radios internal 31, 120 Trimble R7 receiver 30 Trimble R8 receiver 119 TRIMMARK 3 30, 120 TRIMMARK IIe 30, 120 TRIMTALK 450S 30, 120 Range Pole antenna See RPA raw observations 68 real time, configuring receiver in 54, 134 rear panel 14, 115 receiver bracket 24, 25 catch lock 14, 115 changing default settings 137 configuring 134 connecting to devices 162 current c
Index guidelines 18, 117 pole-mounted 22, 118 postprocessed survey 20 Trimble R7 receiver 11–36 Trimble R8 receiver 113–121 TSC1/TSCe controller 26 signal processing 82, 154 size Trimble R7 receiver 80 Trimble R8 receiver 152 Sleep mode 40, 59, 90 SNR mask, default setting 85 soft reset 196 special application files 56 specifications physical 80, 152 positioning 81, 153 technical 82, 154 Trimble R7 receiver 79–82 Trimble R8 receiver 151–155 standby, battery 41 starting logging manually 39 start-up specifica
Index buttons 38 factory default settings 84 features 8 internal radio 31 LEDs 39 maximum number of application files 56 output formats 82 parts of the receiver 12–17 pole-mounted setup 22 postprocessed setup 20 resetting to factory defaults 39, 86 setup 11–36 specifications 79–82 turning on and off 39, 41 upgrading firmware 50, 72 use and care 9 Trimble R8 internal transmitter 30 Trimble R8 receiver buttons 125 factory default settings 158 inserting the internal battery 118 internal radio 120 LEDs 125 maxi
Index VTG message 186 W WAAS specifications 81, 153 Trimble R7 receiver 8 Trimble R8 receiver 110 waking up, from Sleep mode 59 warm start, time required 82, 154 web site 1, 34, 121 weight Trimble R7 receiver 80 Trimble R8 receiver 152 whip antenna 22 WinFLASH software installing 72, 142 Trimble R8 receiver 71, 120, 141 upgrading receiver firmware with 72, 142 world wide web site 1, 34, 121 Y yellow GPS antenna cable 16, 198 yellow LEDs 40, 41 yellow TNC port 16, 198 Z ZDA message 187 Zephyr antenna 23 Z
