Racelogic User Guide, VB2SX20SPS User Manual Lite

VB2SX20SPS User Guide

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VB2SX20SPS 20Hz GPS Speed Sensor

User Guide

VB2SX20SPS User Guide

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Contents

CONTENTS ............................................................................................................................................................................................................................................................ 2

INTRODUCTION .................................................................................................................................................................................................................................................. 4

FEATURES ............................................................................................................................................................................................................................................................. 4

STANDARD INVENTORY ................................................................................................................................................................................................................................... 5

OPERATION .......................................................................................................................................................................................................................................................... 6

DISPLAY SCREEN ............................................................................................................................................................................................................................................... 6

FRONT PANEL CONTROLS .............................................................................................................................................................................................................................. 7

SMOOTHING AND FILTERING ........................................................................................................................................................................................................................ 9

GPS ANTENNA .................................................................................................................................................................................................................................................... 10

GETTING STARTED .......................................................................................................................................................................................................................................... 15

VBOXTOOLS SOFTWARE ............................................................................................................................................................................................................................... 17

UPGRADING THE FIRMWARE ...................................................................................................................................................................................................................... 17

SPECIFICATION ................................................................................................................................................................................................................................................ 18

CONNECTOR ASSIGNMENTS ........................................................................................................................................................................................................................ 20

CAN BUS DATA FORMAT ................................................................................................................................................................................................................................ 22

MODULE DIMENSIONS.................................................................................................................................................................................................................................... 23

FUSE RESET BUTTON ...................................................................................................................................................................................................................................... 23

CONTACT INFORMATION .............................................................................................................................................................................................................................. 24

VB2SX20SPS User Guide

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EC Declaration of Conformity

We declare that this product has been tested to and meet the requirements of:

EC Directive 2004/104/EC

“Adapting to Technical Progress Council directive 72/245/EEC relating to the radio interference (Electromagnetic Compatibility) of vehicles and
amending directive 70/156/EEC on the approximation of the laws of the member states relating to the type-approval of motor vehicles and their
trailers.”

And has also been assessed, via Technical Construction File, by an independent DTI Competent Body and found to be in conformance with the
essential requirements of:

EC Directive 89/336/EEC (and amending directives)
“Council Directive of 03 May 1989 on the approximation of the laws of the member states relating to electromagnetic compatibility.”

DTI Competent Body responsible for issuing certificate of compliance:
3C Test Ltd,

Silverstone Technology Park,
Silverstone,
Northants
NN12 8GX

VB2SX20SPS User Guide

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Introduction

The VB2SX20SPS represents the 2nd generation of GPS speed sensor system from Racelogic, updating the popular VBOXII speed sensor with USB
communication and a built-in configuration panel with display. Using a powerful GPS engine, the VB2SX20SPS can sample GPS and other data at 20Hz.
The data is transmitted via CAN bus, RS232 serial, analogue or digital outputs, for use with a variety of VBOX displays or third-party monitoring or logging
equipment.

The VB2SX20SPS is compatible with the VBOX Multifunction Display (DSP03) and the VBOX LED Display (DSP02; older DSP02s may require a firmware
upgrade). However, the VB2SX20SPS can not be used with VBOXTools for real-time monitoring of data; the VBOXTools software is supplied with this unit
for configuration purposes only.

Features

 Non-contact 20Hz speed and distance
measurement using GPS
 1 x CAN Bus interface (on two sockets to
allow daisy-chaining)
 USB interface for configuration and
upgrading
 RS-232 serial interface for output to LED
Display and for alternative configuration
method
 2 x 16bit user configurable analogue
outputs

 2 x digital outputs
 Brake trigger input with 210KHz scan rate
 Input voltage 6V to 30V operating range

VB2SX20SPS User Guide

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Standard Inventory

Description

Qty

Racelogic Part #

VB2SX20SPS – 20Hz GPS Speed Sensor

1

VB2SX20SPS

USB Lead

1

RLCAB042

Analogue Output Cable

1

RLCAB008

Digital Output Cable

1

RLCAB009

2-Way LEMO to 3-Wire Un-terminated Power Cable

1

RLCAB014

5-Way LEMO to 9-Way “D” Connector CAN Cable

1

RLCAB019L

Padded Carrying Case

1

RLACS106

Magnetic GPS Aerial

1

RLVBACS018

CD ROM containing VBOXTools software

1

RLVBACS030

VBOXTools User Manual

1

VBTOOLSMANA5

VB2SX20SPS User Guide

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Operation

Power

The VB2SX20SPS can be powered by connecting the LEMO end of the supplied RLVBCAB14 to the VBOX’s POWER socket, and the un-terminated ends to
any suitable power source. The maximum operating voltage input must not exceed 30V DC. Failure to observe this could result in damage to the VBOX.

Display Screen

The display screen will display velocity and satellite data when operating. It also displays all the menus

required to configure the VB2SX20SPS via the front panel controls. The display screen also shows the unit’s

firmware version on start-up.
During normal operation, the display screen displays Speed (mph or km/h), as well as the number of

satellites that the VB2SX20SPS has locked on to. There are also two satellite status displays and a DGPS
status display.

OK (Green):

Indicates that the VB2SX20SPS has sufficient satellites locked to allow normal operation.

SATS (Yellow):

This flashes to indicate that the VB2SX20SPS has insufficient satellites and will not be able to operate at all.

WAAS/40cm (Orange):

This indicates that the corresponding DGPS corrections are available and being used by the unit. DGPS increases the absolute positional accuracy of the
VB2SX20SPS, but has no affect on velocity or distance measurements unless the Kalman Filter is in use. 40cm positional accuracy is only available when
used in conjunction with a DGPS basestation.

VB2SX20SPS User Guide

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Front Panel Controls

The VB2SX20SPS can be configured using the front panel buttons, which enables configuration without the need for a computer.
From the main screen, press the’■’ button to enter the configuration screen.

Once in the configuration screen, press the ‘◄’and ‘►’ buttons to highlight the next or previous choice in any menu, and press

’■’ to select the highlighted option. Some menus contain sub-menus, for example the Analogue and Digital Output menus

contain separate menus for each parameter.
MAIN MENU

UNITS

KALMAN FILTER

COLDSTART

DGPS MODE

Press’■’ and then the ‘◄’ and ‘►’ buttons to
change the displayed Velocity units. Then press

’■’ to confirm.

KMH or MPH

Press’■’ to enter the Kalman Filter Menu.
In this menu the amount of filtering applied to the Velocity

and Positional channels can be set between 0-4.
Velocity must t be set to 0 for Brake stop tests

Press’■’ to
perform a GPS
cold start

Press’■’ to enter the DGPS Menu, then ‘◄’ and

‘►’ to move to the desired option. Then press ’■’

to confirm. Note that 20cm and 40cm options
require access to a DGPS basestation, and 20cm
also requires a paid upgrade to the VB2SX20SPS.

MAIN MENU cont’d

GPS OPTIMISATION

DIGITAL1 SETUP

DIGITAL1 SETUP

ANALOGUE1 SETUP

ANALOGUE2 SETUP

EXIT

Press’■’ and then use the ‘◄’ and ‘►’ buttons
to change the amount of smoothing applied to
the Velocity Channel at source by the GPS

engine. Then press ’■’ to confirm.
This must be set to High Dynamics for brake
stop tests.

This option has previously been called “Velocity
Smooth”.

Press’■’ to enter the
setup menu for the
Digital output Channel
1

Press’■’ to enter the
setup menu for the
Digital output Channel
2

Press’■’ to enter the setup
menu for the Analogue
output Channel 1

Press’■’ to enter the setup
menu for the Analogue
output Channel 1

Press’■’ to
exit the
setup menu
and cause
the settings
to be saved
in EEPROM

VB2SX20SPS User Guide

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DIGITAL SETUP MENU (Digital 1 and Digital 2)

OUTPUT

VELOCITY

PULSES PER METRE

VELOCITY

MAX VELOCITY

LONG ACC / LAT ACC

MAX VALUE

LONG ACC / LAT ACC

MAX FREQUENCY

Press’■’ and then use the ‘◄’
and ‘►’ buttons to select from:

Velocity
Long ACC
Lat ACC

Press’■’ and then use the ‘◄’
and ‘►’ buttons to set the

number of pulses per metre.
Then press ’■’ to confirm.

0.1-120 pulses per metre in 0.1
steps

Press’■’ and then use the ‘◄’
and ‘►’ buttons to set the level

of the maximum Velocity.
Then press ’■’ to confirm.

0-400km/h in 0.1km/h steps

Press’■’ and then use the ‘◄’
and ‘►’ buttons to set the level

of the maximum Long ACC or
Lat ACC level.

Then press ’■’ to confirm.

0.5g to 2g in 0.1 g steps

Press’■’ and then use the ‘◄’
and ‘►’ buttons to set the

frequency of the maximum Long
ACC or Lat ACC level.

Then press ’■’ to confirm.
1-50kHz in 0.1kHz steps

TEST

BACK

Press’■’ and then use the ‘◄’
and ‘►’ buttons to set a test

value that the Digital output will
simulate. Then press ’■’ to quit.

Press’■’ to exit the digital setup
menu and cause the settings to
be saved in EEPROM

ANALOGUE SETUP MENU (Analogue 1 and Analogue 2)

OUTPUT

VALUE @ +5V

VALUE @ -5V (0V for

Velocity)

TEST

BACK

Press’■’ and then use the ‘◄’
and ‘►’ buttons to select from:

Velocity
Long ACC
Lat ACC

Press’■’ and then use the ‘◄’
and ‘►’ buttons to set the

Velocity, Long ACC or Lat ACC
level to represent +5V. Then

press ’■’ to confirm.
1-400km/h in 1km/h steps, or

-1g to 2g in 0.1 g steps

Press’■’ and then use the ‘◄’
and ‘►’ buttons to set the

Velocity, Long ACC or Lat ACC
to represent 0V (velocity) or -5V
(Lat ACC & Long ACC).

Then press ’■’ to confirm.
0-399km/h in 1km/h steps, or

-2g to 1g in 0.1g steps

Press’■’ and then use the ‘◄’
and ‘►’ buttons to set a test

value that the analogue output
will simulate.

Then press ’■’ to quit.

Press’■’ to exit the analogue
setup menu and cause the
settings to be saved in EEPROM

VB2SX20SPS User Guide

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Smoothing and Filtering

Velocity: The VBSSX20SPS has three smoothing settings (Dynamic Modes) for velocity: High Dynamics, Normal and Low Dynamics. High dynamics has the

least amount of smoothing and must be used for high dynamic tests where Time or Distance measurements are critical to the test, such as Brake stop and
acceleration tests.

Kalman Filter: This filter provides filtering separately to the Velocity and Position channels (latitude, longitude and height). Note with any live filter routine
more latency will occur if higher levels of filtering are used. Hence the Kalman Filter velocity settings should be set to zero for Brake stops and acceleration
runs

VB2SX20SPS User Guide

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GPS Antenna

The GPS Antenna supplied with the VB2SX20SPS is a 3.5v active antenna. For the best possible
signal quality, it is important to maintain a clean connection between the antenna and the VBOX.
Before fixing the antenna to the VBOX, ensure that there are no dust particles in either connector.
Replacement antennas are available by contacting your VBOX distributor.

The antenna is a magnetic mounting type for quick and simple mounting to the vehicle roof. For
optimum GPS signal reception, make sure that the antenna is fitted to the highest point of the vehicle
away from any obstructions that may block satellite reception. The GPS antenna works best with a
metal ground plane underneath (eg. Vehicle roof).

Please also note that when using any GPS equipment, a clear sky view is important. Objects in the
surrounding area such as tall buildings or trees can block the GPS signal causing a reduction in the
number of satellites being tracked, or introducing reflected signals that can decrease the accuracy of
the system.

GPS antennas require a ground plane to operate correctly. Usually, the metal roof of a vehicle performs this function. However, if a test requires an antenna

to be placed off of the vehicle, then a special Ground Plane ‘mushroom -style’ antenna must replace the off-vehicle antenna, as these antennas are capable of
operating without a ground plane. The Ground Plane ‘mushroom’ style antennas RLVBACS065 are available from your VBOX distrib utor.

VB2SX20SPS User Guide

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Digital and Analogue Outputs

The digital outputs on connectors OUT1 and OUT2 are a frequency/pulse output corresponding to velocity, long ACC or Lat ACC. The frequency range is
adjustable in software or via the front panel controls.

The analogue outputs on connectors OUT1 and OUT2 output are a 0V to +5V DC signal corresponding to velocity or a -5V to +5V signal corresponding to
Long ACC or Lat ACC. The volts range is adjustable in software or via the front panel controls.

VB2SX20SPS User Guide

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Digital Inputs

The DIGITAL I/O socket contains the two digital inputs for the VB2SX20SPS. Digital input 1 is also referred to as the Brake trigger input. This input is
connected to an internal timer capture module that is able to record precisely an event time for use in brake distance calculation. This period of time is called
the trigger event time, and is given as the value in milliseconds between the trigger event and the last GPS sample.

A hand-held brake trigger is also available to allow the user to record marker events in the VB2SX20SPS data file.
A remote logging on/off switch is also available for ease of use and when the front panel switch is not accessible.

VB2SX20SPS User Guide

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CAN / RS232 / USB Ports

The VB2SX20SPS is equipped with a CAN Bus interface, an RS232 serial port and a USB port. The RS232 port or USB is used for all communication
between the VBOX and laptop PC. The USB or RS232 ports allow the unit to be configured from a PC using the VBOXTools software. They are also able to
transmit live data from the VBOX to third-party equipment using Racelogic’s proprietary serial data format.

Note that only the USB port is used for firmware upgrading, whilst only the RS232 socket may be used to transmit data to a VBOX LED Display
(RLVBDSP02).

The CAN Bus port is available in either the socket labelled CAN or the socket labelled Serial. See the section ‘Setup’ in the VBOXTools software manual for
information on configuring the CAN baud rate and CAN identifiers.

The socket labelled CAN also contains a secondary RS232 port for direct connection to the GPS engine. This is used for providing local DGPS corrections to
the GPS engine (requires telemetry connection to a DGPS basestation).

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Using the USB cable

The first time you use the USB cable, you will need to follow the instructions below.

 Connect the USB cable between the VB2SX20SPS and your computer.
 Your computer will now recognise the presence of a new device, after a period of time a

‘Found New Hardware Wizard’ window will appear. See below.

 Click the option ‘No, not this time’ and click ‘Next’ (see image, right)
 A new window will appear at this window click ‘Next’ (see image, below)

 A new ‘Hardware Installation’ window will appear. Click the button labelled ‘Continue Anyway’.
 At the last window click ‘Finish’ to complete the installation.
 After a short period of time a window will ask you if you wish to reboot your computer, select ‘NO’

Now disconnect the power from the VB2SX20SPS and then reconnect the power, your computer will now
recognise the Slip angle sensor. When you run the VBOXTools software it will recognise the USB
connections.

VB2SX20SPS User Guide

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Getting Started

Required equipment (All supplied as standard unless specified)

 VB2SX20SPS
 Power supply cable (CAB14)
 GPS Antenna
 USB/RS232 Cable
 VBOXTools Software CD
 Laptop PC (not supplied)

1.Install Software

2.Place VBOX in vehicle

3.Fit antenna connector to VBOX

4. Mount GPS antenna on vehicle roof

5.Connect USB or serial cable (CAB01) to laptop

6. Connect other end of USB or serial cable to
VBOX

VB2SX20SPS User Guide

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7. Connect the power cable to the VBOX

8. Connect other end of power cable to power
supply

9. See below

9. With the power applied, the display screen will illuminate. The VB2SX20SPS will start searching for satellites. The ST count will indicate the number of
satellites currently in lock. For best results ensure the VBOX has acquired a lock on 5 or more satellites, essential for quality signal reception. When using the
VBOX for the first time or when using the VBOX after a long period of time, allow the VBOX to sit for between 5 and 10 minutes to re-collect data needed to
track satellites.

As the vehicle begins moving, the display will show the speed of the vehicle, along with a regularly updated satellite count and DGPS status.

VB2SX20SPS User Guide

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VBOXTools Software

The VBOXTools software is used for configuration of the VB2SX20SPS.
For further information on the VBOXTools software refer to the VBOXTools Software manual supplied with VB2SX20SPS.

Upgrading the Firmware

Occasionally Racelogic releases new versions of firmware code for VBOX products, this maybe to fix bugs or to add new features.
New firmware for the VB2SX20SPS is loaded into the unit using a computer and the supplied USB cable.

The latest firmware upgrade (.ruf) file for the Speed Sensor is available from the Racelogic website in the VBOX downloads section.

http://www.racelogic.co.uk/2003/vbox/downloads.htm

If you need the latest file, download it from the website and copy it to your computer.
If you are connecting your slip angle sensor to your computer with the USB cable for the first time then follow the instructions in the Section ‘Using the USB

cable‘ earlier in this manual before following the instructions below.

How to upgrade the firmware

 Press and hold the ‘◄’ button whilst the power is connected to the VB2SX20SPS.
 The screen will now display the UPGRADER screen, showing that it is ready for upgrading
 Connect the USB cable to your computer.
 Double click on the .ruf firmware upgrade file that you have downloaded from the website
 This will automatically run the upgrade program where you will see the progress of the upgrade.
 At the end of the process disconnect the USB and then disconnect and reconnect the power.

If you have any questions regarding upgrade of VBOX, please do not hesitate to contact [e-mail]

VB2SX20SPS User Guide

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Specification

GPS

Velocity

Distance

Accuracy

0.1 Km/h (averaged over 4
samples)

Accuracy

0.05% (<50cm per Km)
Units

Km/h or Mph

Units

Metres / Feet

Update rate

20 Hz Update rate

20Hz

Maximum velocity

1000 Mph

Resolution

1cm

Minimum velocity

0.1 Km/h

Height accuracy

6 Metres 95% CEP**

Resolution

0.01 Km/h

Height accuracy with DGPS

2 Metres 95% CEP**

Absolute Positioning

Time

Accuracy

3m 95% CEP**

Resolution

0.01 s

Accuracy with DGPS

1.8m 95% CEP**

Accuracy

0.01 s

Update rate

20 Hz

Resolution

1 cm

Heading

Power

Resolution

0.01° Input Voltage range

6v-30v DC

Accuracy

0.1° Current

Typically 560mA

Acceleration

Environmental and physical

Accuracy

0.5% Weight

Approx500 grammes

Maximum

20 G Size

119mm x 128mm x 30mm

Resolution

0.01 G Operating temperature

-30C to +60C

Update rate

20Hz Storage temperature

-40C to +80C

Definitions

** CEP = Circle of Error Probable

95% CEP (Circle Error Probable) means 95% of the time the position readings will fall
within a circle of the stated diameter

VB2SX20SPS User Guide

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Outputs

CAN Bus

Bit rate

125Kbits, 250Kbits,
500Kbits & 1Mbit
selectable baud rate

Identifier type

Standard 11bit or extended

2.0A

Data available

Satellites in View, Latitude, Longitude, Velocity, Heading, Altitude, Vertical velocity, Distance, Longitudinal acceleration & lateral
acceleration, Distance from trigger, Trigger time, trigger Velocity

Analogue

Digital Voltage range

0 to 5Volts DC

Frequency range

DC to 44.4Khz

Default setting *

Velocity

0.0125Volts per Km/h (0 to
400Km/h)

Default setting *

25Hz per Km/h (0 to 400Km/h)
Accuracy

0.1 Km/h

90 pulses per metre

Update rate

20Hz Accuracy

0.1Km/h

Update rate

20Hz

* The settings can be adjusted by the user in software or via the front panel buttons

Inputs

CAN Bus

Racelogic modules

Up to 32 channels from any combination of ADC02, ADC03, FIM02, TC8, Yaw sensor or CAN01

Digital

Brake/Event Trigger

Selectable signal polarity. 16bit timer capture with 5μs resolution

On/Off Logging control

Remote log control from hand-held switch

VB2SX20SPS User Guide

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Connector Assignments

Connector 1 POWER (Dedicated 4.5V to 36V DC Power Connector)

Pin

I/O

Function

1 I Power +

2 I Ground

Chassis

I

Ground

Connector 2 / 3 – OUT 1 / OUT 2 (One Analogue and One Digital Output Each)

Pin

I/O

Function

1 O Analogue Out 1 / 2

2 O Digital Out 1 / 2

3 I Ground

Chassis

I

Ground

Connector 4 – DIG I/O (Wheel Speed and Brake Trigger Inputs)

Pin

I/O

Function

1 I Wheel Speed (not available yet)

2 I NC

3 I Brake Trigger

Chassis

I

Ground

VB2SX20SPS User Guide

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Connector 5 – CAN (First CAN Bus Connector, Serial Connection to GPS Engine)

Pin

I/O

Function

1 O RS232 Tx GPS (Tx Data from GPS engine)

2 I RS232 Rx GPS (Rx Data to GPS engine)

3

I/O

CAN High (Also direct connection to Connector 6 CAN High)

4

I/O

CAN Low (Also direct connection to Connector 6 CAN Low)

5

I/O

Power +

Chassis

I

Ground

Connector 6 – SERIAL (Setup / Upgrade, Second CAN Bus Connector)

Pin

I/O

Function

1 O RS232 Tx Serial Data transmit

2 I RS232 Rx Serial Data receive

3

I/O

CAN High (Also direct connection to Connector 5 CAN High)

4

I/O

CAN Low (Also direct connection to Connector 5 CAN Low)

5

I/O

Power +

Chassis

I

Ground

Connector 7 – USB (Setup / Upgrade)

Pin

I/O

Function

1 2 I/O

USB–

3

I/O

USB+

4

I/O

Ground

Chassis

I

Ground

Connector 8 – ANT (GPS Antenna)

Pin

I/O

Function

1 I Signal

Chassis

I

Ground

VB2SX20SPS User Guide

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CAN Bus Data Format

Format

Motorola

ID*

Update Rate
Data Bytes

1 2 3 4 5 6 7

8

0x301

50ms

(1) Sats in view

(2) Time since midnight UTC

(3) Position – Latitude DDMM.MMMMM

0x302

50ms

(4) Position – Longitude DDMMM.MMMMM

(5) Velocity. (Knots)

(6) Heading (Degrees)

0x303

50ms

(7) Altitude. WGS 84. (Metres)

(8) Vertical velocity. (M/S)

Unused

(9) Status

(10) Status

0x304

50ms

(11) Distance. (Metres)

(12) Longitudinal Accel. (G)

(13) Lateral Accel. (G)

0x305

50ms

(14) Distance travelled since VBOX reset (Metres)

(15) Trigger time

(16) Trigger Velocity (Knots)

* Default Identifiers. The identifier values can be changed using the configuration software.
(1) If Satellites in view < 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.

(2) Time since midnight. This is a count of 10ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and

16.90 seconds).
(3) Position, Latitude * 100,000 (515924579 = 51 Degrees, 59.24579 Minutes North). Latitude highest bit indicates north/south hemisphere. 0=north, 1=south,
Bit 7 in Status is also set.
(4)Position, Longitude * 100,000 (5882246 = 0 Degrees, 58.82246 Minutes West). Longitude highest bit indicates east/west of Greenwich meridian.
0=west,1=east. Bit 6 in Status is also set.
(5) Velocity, 0.01 knots per bit.
(6) Heading, 0.01 per bit.
(7) Altitude, 0.01 meters per bit, signed.
(8) Vertical Velocity, 0.01 m/s per bit, signed.
(9) Status. 8 bit unsigned char. Bit 0=VBOX Lite, Bit 1=Open or Closed CAN Bus (1=open), 2=VBOX3.
(10) Status is an 8 bit unsigned char. Bit 0 is always set, Bit 3=brake test started, Bit 4 = Brake trigger active, Bit 5 = DGPS active.
(11) Distance, 0.000078125 meters per bit, unsigned.
(12) Longitudinal Acceleration, 0.01G per bit, signed.
(13) Lateral Acceleration, 0.01G per bit, signed.
(14) Distance travelled in meters since VBOX reset.
(15) Time from Trigger event to Zero Km/h.
(16) Velocity at brake trigger point in Knots.

The VBOX CAN database is available in Vector Database (DBC File) format

from the Racelogic VBOX website.

VB2SX20SPS User Guide

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Module Dimensions

Fuse Reset Button

The VB2SX20SPS contains a fuse to protect it from excessive currents. If the unit is accidentally subjected to large currents and the fuse has become tripped,

it can be reset by pressing the button marked ‘Fuse Reset’ all the way into the unit with a long, thin implement.

VB2SX20SPS User Guide

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Contact Information

Racelogic Ltd
Unit 10
Swan Business Centre
Osier Way
Buckingham
MK18 1TB
England

Tel: [phone]
Fax: [phone]
Email: [e-mail]
Web: www.racelogic.co.uk

Revision

Date

Description

Author

1

13/07/2007

First release

JH 2 03/12/2007

Addition of Format: Motorola to CAN Bus Data Format table

NT 3 30/04/2008

Update of address

AM 4 06/01/2011

Addition of lat acc and long acc output options. Removal of ANT B connector data

SF 5 19/01/2012

Updated Inventory, images and general content.

LN