Ag252_100B_UserGuide_ENG.book Page i Thursday, July 28, 2005 4:06 PM User Guide AgGPS 252 Receiver ® Version 1.
Ag252_100B_UserGuide_ENG.book Page ii Thursday, July 28, 2005 4:06 PM Contact Information Trimble Navigation Limited Agriculture Business Area 9290 Bond Street, Suite 102 Overland Park, KS 66214 USA +1-913-495-2700 Phone trimble_support@trimble.com www.trimble.com Legal Notices © 2004-2005, Trimble Navigation Limited. All rights reserved.
Ag252_100B_UserGuide_ENG.book Page iii Thursday, July 28, 2005 4:06 PM OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY TO YOU . NOTE: THE ABOVE LIMITED WARRANTY PROVISIONS MAY NOT APPLY TO PRODUCTS OR SOFTWARE PURCHASED IN THE EUROPEAN UNION.
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Ag252_100B_UserGuide_ENG.book Page v Thursday, July 28, 2005 4:06 PM Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . 1 Warnings . . . . . . . . Related Information . Technical Assistance . Your Comments . . . . 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ag252_100B_UserGuide_ENG.book Page vi Thursday, July 28, 2005 4:06 PM Contents Connectors and Pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Port A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Port B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4 Configuring the Receiver . . . . . . . . . . . . . . . 27 AgRemote Home Screen. . . . . . . . . . . . . . . . . . . . . . . . .
Ag252_100B_UserGuide_ENG.book Page 1 Thursday, July 28, 2005 4:06 PM CHAPTER 1 Introduction 1 Welcome to the AgGPS 252 Receiver User Guide. This manual: • Describes how to install and configure the Trimble® AgGPS® 252 receiver. • Provides guidelines for connecting the receiver to an external device. • Provides guidelines for using the AgRemote utility to view and configure the receiver correction sources and other operating parameters.
Ag252_100B_UserGuide_ENG.book Page 2 Thursday, July 28, 2005 4:06 PM 1 1.1 Introduction Warnings Always follow the instructions that accompany a warning. C 1.2 WARNING – Indicates a potential hazard or unsafe practice that could result in injury or property damage. Related Information Release notes describe new features, provide information that is not included in the manuals, and identify changes to the manuals. You can download release notes from the Trimble website. 1.
Ag252_100B_UserGuide_ENG.book Page 3 Thursday, July 28, 2005 4:06 PM CHAPTER 2 Overview 2 In this chapter: Q Standard Features of the AgGPS 252 Receiver Q Receiver Connections Q Receiver Input/Output Q LED Indicator Q GPS Positioning Methods Q Sources of Error in GPS Positioning This chapter describes the AgGPS 252 receiver and gives an overview of GPS, DGPS, and related information.
Ag252_100B_UserGuide_ENG.book Page 4 Thursday, July 28, 2005 4:06 PM 2 2.1 Overview Standard Features of the AgGPS 252 Receiver A standard AgGPS 252 receiver provides the following features: • 12 GPS (C/A-code) tracking channels, code carrier channels • Horizontal RTK positioning accuracy 2.5 cm (0.98 in) + 2 ppm, 2 sigma; vertical RTK positioning accuracy 3.7 cm (1.
Ag252_100B_UserGuide_ENG.book Page 5 Thursday, July 28, 2005 4:06 PM Overview – 2 NMEA-0183 output: GGA, GLL, GRS, GST, GSA, GSV, MSS, RMC, VTG, ZDA, XTE (the default NMEA messages are GGA, GSA, VTG, and RMC) PTNLDG, PTNLEV, PTNLGGK, PTNLID, and PTNLSM are Trimble proprietary NMEA output messages. 2.2 – RTCM SC-104 output – Trimble Standard Interface Protocol (TSIP) input and output Receiver Connections Figure 2.1 shows the connector ports and the LED indicator on the AgGPS 252 receiver.
Ag252_100B_UserGuide_ENG.book Page 6 Thursday, July 28, 2005 4:06 PM 2 Overview • provide support for the J1939 (CAN) serial bus For more information about the inputs, outputs, and LED indicators, see the information in the rest of this section. 2.3 Receiver Input/Output The AgGPS 252 receiver data/power cable (P/N 50166) connects to a receiver connector port to supply power.
Ag252_100B_UserGuide_ENG.book Page 7 Thursday, July 28, 2005 4:06 PM Overview – 2 www.rtcm.org On the Trimble website ((www.trimble.com), refer to the document called NMEA-0183 Messages Guide for AgGPS Receivers. • 1 PPS output To synchronize timing between external instruments and the internal clock in the receiver, the connection port outputs a strobe signal at 1 PPS (pulse per second). To output this signal, the receiver must be tracking satellites and computing GPS positions.
Ag252_100B_UserGuide_ENG.book Page 8 Thursday, July 28, 2005 4:06 PM 2 2.4 Overview LED Indicator The AgGPS 252 receiver has an LED light that shows the status of the receiver. The following tables describe the light sequences for each positioning method. Table 2.
Ag252_100B_UserGuide_ENG.book Page 9 Thursday, July 28, 2005 4:06 PM Overview Table 2.2 LED sequences with RTK positioning (continued) LED color LED flash Status Yellow Solid Receiving CMR corrections but unable to calculate RTK position: computing DGPS (if WAAS/EGNOS is unavailable) or autonomous position Yellow Slow No CMR corrections: computing DGPS or autonomous position Yellow Fast Not receiving CMR corrections: not computing positions Table 2.
Ag252_100B_UserGuide_ENG.book Page 10 Thursday, July 28, 2005 4:06 PM 2 Overview Table 2.4 summarizes the GPS positioning methods. Imperial units in this table are rounded to two decimal places. The values shown are 2 sigma. Table 2.4 Absolute accuracy of GPS positioning methods GPS positioning method Corrections used Approximate absolute accuracy Real-Time Kinematic (RTK) GPS Trimble CMR corrections 2.5 cm (0.98 in) + 2 ppm horizontal accuracy, broadcast by a local 3.7 cm (1.
Ag252_100B_UserGuide_ENG.book Page 11 Thursday, July 28, 2005 4:06 PM Overview 2 The parts per million (ppm) error is dependent on the distance (baseline length) between the base and rover receiver. For example, if the distance is 10 km, a 2 ppm error equals 20 mm. For more information about RTK positioning, go to the Trimble website at www.trimble.com/gps/ 25.
Ag252_100B_UserGuide_ENG.book Page 12 Thursday, July 28, 2005 4:06 PM 2 Overview instrument was turned on. This process is called convergence. Convergence to where the error is estimated to be below 30 cm (approximate 12 inches) typically takes around 20 minutes. Factors that influence the time to convergence include the environment, the geographical location, and the distance to the closest OmniSTAR corrections base station. OmniSTAR is continually improving the service.
Ag252_100B_UserGuide_ENG.book Page 13 Thursday, July 28, 2005 4:06 PM Overview 2.6 2 Sources of Error in GPS Positioning The GPS positioning method influences the accuracy of the GPS position that is output by the AgGPS 252 receiver. The factors described in Table 2.5 also affect GPS accuracy. Table 2.
Ag252_100B_UserGuide_ENG.book Page 14 Thursday, July 28, 2005 4:06 PM 2 Overview Table 2.5 Factors that influence the accuracy of GPS positions (continued) Condition Optimum Description value Minimum elevation > 10 Satellites that are low on the horizon typically produce weak and noisy signals and are more difficult for the receiver to track. Satellites below the minimum elevation angle are not tracked.
Ag252_100B_UserGuide_ENG.book Page 15 Thursday, July 28, 2005 4:06 PM Overview 2 The AgGPS 252 receiver outputs position coordinates in several datums and ellipsoids depending on the GPS positioning method being used. See Table 2.6. Table 2.
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Ag252_100B_UserGuide_ENG.book Page 17 Thursday, July 28, 2005 4:06 PM CHAPTER 3 Installing the Receiver 3 In this chapter: Q System Components Q Mounting the Receiver Q Connecting to an External Device Q Connectors and Pinouts This chapter describes how to check the equipment that you have received, set up the receiver, and connect the receiver to another device.
Ag252_100B_UserGuide_ENG.book Page 18 Thursday, July 28, 2005 4:06 PM 3 3.1 Installing the Receiver System Components Check that you have received all components for the AgGPS system that you have purchased. If any containers or components are damaged, immediately notify the shipping carrier. Components are listed in the following tables. Table 3.1 31.
Ag252_100B_UserGuide_ENG.book Page 19 Thursday, July 28, 2005 4:06 PM Installing the Receiver 3.2 3 Mounting the Receiver C WARNING – For continued protection against the risk of fire, the power source (lead) to the model AgGPS 252 receiver should be provided with a 10 A (maximum) fuse. Secure the AgGPS 252 receiver directly to the mounting plate assembly (P/N 51312-00) and insert three bolts through the holes that are in the housing and in the mounting plate assembly.
Ag252_100B_UserGuide_ENG.book Page 20 Thursday, July 28, 2005 4:06 PM 3 Installing the Receiver • near areas that experience high vibration, excessive heat, electrical interference, and strong magnetic fields Note – A metal combine grain tank extension can block satellites. 32.2 Environmental conditions Although the receiver has a waterproof housing, you should install it in a dry location.
Ag252_100B_UserGuide_ENG.book Page 21 Thursday, July 28, 2005 4:06 PM Installing the Receiver 3.3 • CB radio antennas • cellular phone antennas • machine accessory lights 3 Connecting to an External Device After installing the receiver and connecting the appropriate cabling, you can connect the receiver to various external devices. For example: To connect the AgGPS 252 receiver to ... use the cable ...
Ag252_100B_UserGuide_ENG.book Page 22 Thursday, July 28, 2005 4:06 PM 3 Installing the Receiver Figure 3.1 shows how to connect the receiver to an external device using the system level cable (P/N 50166). LED indicator AgGPS 252 receiver AgGPS 252 receiver Port A Port B Deutsch 12-pin System level cable (P/N 50166) DB9 To external device Ground –ve Power +ve Figure 3.
Ag252_100B_UserGuide_ENG.book Page 23 Thursday, July 28, 2005 4:06 PM Installing the Receiver • door and window jams • corrosive fluids or gases 3 Note – Do not bend the cable at the Deutsch connector. When you secure the cable, use the supplied P-Clip. The P-Clip provides additional support to the connectors and reduces the risk of damage.
Ag252_100B_UserGuide_ENG.book Page 24 Thursday, July 28, 2005 4:06 PM 3 3.4 Installing the Receiver Connectors and Pinouts Use the following pinout information if you need to wire a cable for use with the AgGPS 252 receiver. Figure 3.2 34.1 1 2 3 4 5 6 12 11 10 9 8 7 AgGPS 252 receiver port pinout Port A Port A on the receiver has a 12-pin Deutsch DTM connector. For cables, use the mating connector, Deutsch part number DTM06-12SA.
Ag252_100B_UserGuide_ENG.book Page 25 Thursday, July 28, 2005 4:06 PM Installing the Receiver Table 3.3 34.2 3 Port A pinout (continued) Pin Name/Function Comments 5 Signal GND Used for RS232 and other signals. Should not be connected to V– (battery negative) 6 Port 1 RTS OUT 7 Event OUT / Alarm OUT 8 Port 1 CTS IN 9 Event IN 10 V+ IN 11 V- IN 12 CAN A Low I/O Port B This port has the same connector as Port A, see above.
Ag252_100B_UserGuide_ENG.book Page 26 Thursday, July 28, 2005 4:06 PM 3 Installing the Receiver Table 3.4 26 Port B pinout (continued) Pin Name/Function 9 Event IN 10 V+ IN / OUT Maximum output current = 1.25 A 11 V– IN / OUT Maximum output current = 1.
Ag252_100B_UserGuide_ENG.book Page 27 Thursday, July 28, 2005 4:06 PM CHAPTER 4 Configuring the Receiver 4 In this chapter: Q AgRemote Home Screen Q Configuring Differential GPS Q Configuring the AgGPS 252 Receiver to Operate in RTK Mode Q Configuring the Communication Ports Use either the Autopilot interface or the Trimble AgRemote utility to change configuration settings in the AgGPS 252 receiver. You will need to configure the receiver if you connect to a third-party device, for example.
Ag252_100B_UserGuide_ENG.book Page 28 Thursday, July 28, 2005 4:06 PM 4 4.1 Configuring the Receiver AgRemote Home Screen Figure 4.1 shows the AgRemote Home screen when WAAS corrections are being received. Number of GPS satellites being tracked Position type D/3D WAAS Current PDOP value í07 DOP03 122 ÷ø04 GPS indicators Correction type Correction indicators Signal-to-Noise ratio of DGPS satellite DGPS satellite name or ID Figure 4.
Ag252_100B_UserGuide_ENG.book Page 29 Thursday, July 28, 2005 4:06 PM Configuring the Receiver • 4 OmniSTAR – paid subscription, available worldwide You can use this paid service as an alternative to WAAS/EGNOS. It provides over-the-air DGPS activation. For more information, see Differential GPS positioning (DGPS), page 11. 42.1 OmniSTAR The AgGPS 252 receiver can use OmniSTAR corrections. To do this, you need to configure the receiver and purchase an OmniSTAR subscription.
Ag252_100B_UserGuide_ENG.book Page 30 Thursday, July 28, 2005 4:06 PM 4 Configuring the Receiver – serial number – satellite beam name OmniSTAR will activate the receiver. Activation can take 5–30 minutes. 40.1 WAAS/EGNOS WAAS is a free satellite-based DGPS service that is available only in North America; EGNOS is a free satellite-based DGPS service that is available only in Europe. To use the WAAS/EGNOS DGPS signal, you must first configure the receiver. 1.
Ag252_100B_UserGuide_ENG.book Page 31 Thursday, July 28, 2005 4:06 PM Configuring the Receiver 4.1 4 Configuring the AgGPS 252 Receiver to Operate in RTK Mode Use the AgRemote utility to configure the AgGPS 252 receiver for operation in RTK mode. To configure the receiver: 4.1 1. Connect the AgGPS 252 receiver to the computer. Turn on the receiver and start the AgRemote utility. 2. In AgRemote, select Configuration / DGPS Config. 3. Set the Source Select field to RTK. 4.
Ag252_100B_UserGuide_ENG.book Page 32 Thursday, July 28, 2005 4:06 PM 4 Configuring the Receiver To configure Port A: 1. Connect the AgGPS 252 receiver to the computer. Turn on the receiver and start the AgRemote utility. 2. In AgRemote, select Configuration / Port A Config. 3. Use the menu commands to configure the communication ports. Ensure that the receiver outputs the correct GPS position data type for the hardware device or software program that is connected to the receiver.
Ag252_100B_UserGuide_ENG.book Page 33 Thursday, July 28, 2005 4:06 PM Configuring the Receiver 4 Configure the Port Input/Output communication settings for communicating with the AgGPS Autopilot, other external hardware devices, and software programs. Table 4.1 describes the input settings. Table 4.1 Port input settings Setting Description None Inputs nothing to the receiver.
Ag252_100B_UserGuide_ENG.book Page 34 Thursday, July 28, 2005 4:06 PM 4 Configuring the Receiver Note – The AgRemote utility, when connected to an AgGPS 252 receiver receiver, automatically resets the receiver port communication settings to 8-O-1 TSIP 115 K. This enables optimal communication with an office computer. If the receiver is to work with an Autopilot system, however, the receiver port communication settings must be 8-N-1 TSIP 38.4 K.
Ag252_100B_UserGuide_ENG.book Page 35 Thursday, July 28, 2005 4:06 PM Configuring the Receiver 4 NMEA settings Three screens (NMEA1, NMEA2, and NMEA3) show what NMEA messages are output from the port. Message types shown in upper case are being output; message types shown in lower case are not. For more information about NMEA message types, refer to the document called NMEA-0183 Messages Guide for AgGPS Receivers on the Trimble website (www.trimble.com).
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Ag252_100B_UserGuide_ENG.book Page 37 Thursday, July 28, 2005 4:06 PM CHAPTER 5 Troubleshooting 5 In this chapter: Q Q Problems and Solutions Q Troubleshooting Flowcharts This chapter describes some problems that can arise and explains how to solve them. It includes a series of flowcharts to help with troubleshooting. As you work through this chapter, you may need to view the receiver status or change values in some fields.
Ag252_100B_UserGuide_ENG.book Page 38 Thursday, July 28, 2005 4:06 PM 5 Troubleshooting Global Positioning System (GPS) Problem Possible solution Poor accuracy The accuracy of GPS positions is poor because the receiver is picking up poor quality signals from the satellites. The receiver always calculates the most accurate position it can, given the current GPS satellite differential operating conditions.
Ag252_100B_UserGuide_ENG.book Page 39 Thursday, July 28, 2005 4:06 PM Troubleshooting Problem 5 Possible solution Tracking but not receiving a differential signal The receiver is tracking satellites and tracking an OmniSTAR satellite beam, but is not receiving DGPS signals. The Home screen indicates how many satellites are being tracked, and whether a differential source is being tracked.
Ag252_100B_UserGuide_ENG.book Page 40 Thursday, July 28, 2005 4:06 PM 5 Troubleshooting Problem Possible solution No GPS position output from the receiver after connecting to AgRemote When the receiver is connected to the AgRemote utility, AgRemote automatically resets the port communication settings on the receiver to 8-O-1 TSIP 115 K for both input and output. This enables optimal communication with an office computer.
Ag252_100B_UserGuide_ENG.book Page 41 Thursday, July 28, 2005 4:06 PM Troubleshooting Problem 5 Possible solution Not tracking RTK corrections The radio link is down or intermittent. • Ensure that the line-of-sight between the base and rover receivers is not obstructed. • Ensure that the rover receiver is within range of the radio. • Ensure that the radio power supply is on.
Ag252_100B_UserGuide_ENG.book Page 42 Thursday, July 28, 2005 4:06 PM 5 Troubleshooting Interference Problem Possible solution Strong magnetic fields Strong magnetic fields have no effect on GPS or satellite DGPS signals. However, some computers and other electric equipment radiate electromagnetic energy that can interfere with a GPS receiver.
Ag252_100B_UserGuide_ENG.book Page 43 Thursday, July 28, 2005 4:06 PM Troubleshooting 5 GPS receiver Problem Possible solution Mounting location The receiver is not picking up a clear signal. Mount the receiver on the centerline of the vehicle, away from any sources of interference and with a clear view of the sky (see Choosing a location, page 19). Cables One of the cables seems faulty. Use an ohmmeter to check the cable.
Ag252_100B_UserGuide_ENG.book Page 44 Thursday, July 28, 2005 4:06 PM 5 Troubleshooting AgRemote utility Problem Possible solution AgRemote cannot communicate with the receiver. All you see is a blank screen.
Ag252_100B_UserGuide_ENG.book Page 45 Thursday, July 28, 2005 4:06 PM Troubleshooting 5.1 5 Troubleshooting Flowcharts These flowcharts describe how to troubleshoot problems in the following areas: • system hardware and power • GPS reception (no third-party device attached) • GPS reception (third-party device attached) • OmniSTAR positioning • RTK (using the AgRemote utility) In addition, you may find it useful to review Chapter 3, Installing the Receiver.
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Figure 6.1 There may be a fault with the machine power. Contact your local farm implement dealer. Connect the red and black power leads of the data/power cable to machine 10-32 V DC power. No Is the data/power cable securely connected to the receiver antenna? No Is the receiver LED or AgRemote screen on? START HERE No Continue Yes Yes Recheck the data/power cable connections. If the problem persists, contact your local Trimble Reseller.
Figure 6.2 48 AgGPS 252 Receiver User Guide The GPS reception appears to be working correctly. If the problem persists, contact your local Trimble Reseller. Yes Does the Home screen display D/3D (for a 3D position)? Yes Check the Home screen for GPS reception. Is the receiver tracking at least 4 satellites? Yes Is the AgRemote screen on? START HERE No Yes No No See the OmniSTAR VBS or RTK flowcharts. If the problem persists, contact your local Trimble Reseller.
Figure 6.3 Yes Your GPS reception appears to be working correctly. If the problem persists, contact your local Trimble Reseller. Make sure that the cable is securely connected from the device to the receiver. No If applicable, does the device display DG (for a 3D position)? Yes Check the Home screen for GPS reception.
Figure 6.4 50 AgGPS 252 Receiver User Guide If the problem persists, contact your local Trimble Reseller. Continue Make sure that your OmniSTAR subscription service is current, activated, and correctly configured. No Does the AgRemote Home screen display S for DGPS satellite mode? Yes Check the AgRemote Home screen for GPS reception. Is the receiver tracking at least 4 satellites? START HERE Continue Yes The system appears to be working correctly.
Figure 6.5 Yes No CMR corrections are being received. In the Config screens use RTK link to make sure that the rover radio parameters are the same as the base radio parameters. Are CMR corrections being recieved now? Yes See the GPS Reception Troubleshooting Guide. When GPS satellite reception is resolved, return to this guide. No Check the AgRemote Home screen for GPS reception.
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Ag252_100B_UserGuide_ENG.book Page 53 Thursday, July 28, 2005 4:06 PM APPENDIX A Specifications A.1 A AgGPS 252 Receiver Table A.1 lists the physical characteristics of the AgGPS 252 combined GPS/DGPS receiver and antenna: Table A.1 AgGPS 252 receiver Item Description Size 300 mm (11.7 in) wide x 309 mm (12.05 in) deep x 70 mm (2.73 in) high Weight 2.
Ag252_100B_UserGuide_ENG.book Page 54 Thursday, July 28, 2005 4:06 PM A Specifications Table A.1 AgGPS 252 receiver (continued) Item Description Ports Two connection ports, both of which support RS-232 and CAN Mounting Three holes for 10 mm (0.39 in) bolts Compliance FCC Part 15 Class A, C-Tick, E-mark, CE-mark A.2 GPS Channels Table A.2 lists the performance characteristics of GPS channels. Table A.
Ag252_100B_UserGuide_ENG.book Page 55 Thursday, July 28, 2005 4:06 PM Specifications Table A.2 A GPS channels performance (continued) Item Description OmniSTAR HP position accuracy 10 cm (3.94 in) after convergence, 2 sigma, if all the following criteria are met: • At least 5 satellites • PDOP <4 • OmniSTAR HP corrections Convergence time can vary, depending on the environment.
Ag252_100B_UserGuide_ENG.book Page 56 Thursday, July 28, 2005 4:06 PM A A.4 Specifications Receiver Default Settings Table A.4 lists the receiver default settings. Table A.
Ag252_100B_UserGuide_ENG.book Page 57 Thursday, July 28, 2005 4:06 PM APPENDIX B Third-Party Interface Requirements B.1 B Third-Party Software Table B.1 lists the interface requirements for connecting an AgGPS receiver to third-party software. Use cable P/N 50166, or 30945 plus 50581, when connecting to the third-party software products listed. Table B.
Ag252_100B_UserGuide_ENG.book Page 58 Thursday, July 28, 2005 4:06 PM B Third-Party Interface Requirements Table B.1 Third-party software interface requirements (continued) Software Company Protocol NMEA messages Baud HGIS Starpal NMEA GGA, RMC 4800 or 8-N-1 9600 1Hz Instant Survey Agrilogic (Case-IH) NMEA GGA, GSA, RMC 4800 8-N-1 1Hz Pocket Survey Agrilogic (Case-IH) NMEA GGA, GSA, RMC 4800 8-N-1 1Hz Sitemate Farmworks NMEA GGA, VTG 4800 8-N-1 1Hz B.
Ag252_100B_UserGuide_ENG.book Page 59 Thursday, July 28, 2005 4:06 PM Third-Party Interface Requirements Table B.
Ag252_100B_UserGuide_ENG.book Page 60 Thursday, July 28, 2005 4:06 PM B Third-Party Interface Requirements Table B.
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