Trimble R8s User Manual

USER GUIDE

Trimble R8s GNSS Receiver

Version 1.00 Revision C February 2016

Corporate Office

Trimble Navigation Limited Engineering and Construction group 5475 Kellenburger Road Dayton, Ohio 45424-1099 USA 800-538-7800 (toll free in USA) +1-937-245-5600 Phone +1-937-233-9004 Fax

Geospatial Division

Trimble Navigation Limited Geospatial Division 10368 Westmoor Drive Westminster, CO 80021 USA

www.trimble.com

Email: trimble_support@trimble.com

Legal Notices

© 2016, Trimble Navigation Limited. All rights reserved.Trimble, the Globe & Triangle logo, BlueCap, GPS Total Station, Recon, and TSC2 are trademarks of Trimble Navigation Limited, registered in the United States and in other countries. Access, CMR+, Digital Fieldbook, Maxwell, Trimble Geomatics Office, Trimble Survey Controller, TRIMMARK, TRIMTALK, and TSCe are trademarks of Trimble Navigation Limited. The Bluetooth word mark and logos are owned by the Bluetooth SIG, Inc. and any use of such marks by Trimble Navigation Limited is under license. Microsoft, Windows, and Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. All other trademarks are the property of their respective owners.

Release Notice

This is the February 2016 release (Revision C) of the Trimble R8s GNSS receiver documentation.

Product Limited Warranty Information

For applicable product Limited Warranty information, please refer to the Limited Warranty Card included with this Trimble product, or consult your local Trimble authorized dealer.

Notices

Class B Statement – Notice to Users. This equipment has been

tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC rules and Part 90. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communication. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: – Reorient or relocate the receiving antenna. – Increase the separation between the equipment and the receiver. – Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. – Consult the dealer or an experienced radio/TV technician for help. Changes and modifications not expressly approved by the manufacturer or registrant of this equipment can void your authority to operate this equipment under Federal Communications Commission rules.

Canada

This digital apparatus does not exceed the Class B limits for radio noise emissions from digital apparatus as set out in the radio interference regulations of the Canadian Department of Communications. This Category II radiocommunication device complies with Industry Canada Standard RSS-310. Le présent appareil numérique n’émet pas de bruits radioélectriques dépassant les limites applicables aux appareils numériques de Classe B prescrites dans le règlement sur le brouillage radioélectrique édicté par le Ministère des Communications du Canada. Ce dispositif de radiocommunication de catégorie II respecte la norme CNR-310 d’Industrie Canada.

Europe

This product has been tested and found to comply with the essential requirements for a Class B device pursuant to European Council Directive 1999/5/EC on R&TTE on EMC, thereby satisfying the requirements for CE Marking and sale within the European Economic Area (EEA). These requirements are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential or commercial environment. The 450 MHz band is not harmonised across the European Community..

Australia and New Zealand

This product conforms with the regulatory requirements of the Australian Communications and Media Authority (ACMA) EMC framework, thus satisfying the requirements for RCM marking and sale within Australia and New Zealand.

Taiwan – Battery Recycling Requirements

The product contains a removable Lithium-ion battery. Taiwanese regulations require that waste batteries are recycled.

廢電池請回收

Brazil

Este produto está homologado pela ANATEL, de acordo com os procedimentos regulamentados pela Resolução 242/2000, e atende aos requisitos técnicos aplicados.

Este equipamento opera em caráter secundário, isto é, não tem direito a proteção contra interferências prejudicial, mesmo de estações do mesmo tipo, e não pode causar interferência a sistemas operando em caráter primário.

Para maiores informações, consulte o site da ANATEL www.anatel.gov.br.

Modelo CBSMA-110A

0757-13-6140

Waste Electrical and Electronic Equipment (WEEE)

For product recycling instructions and more information, please go to www.trimble.com/ev.shtml. Recycling in Europe: To recycle Trimble WEEE (Waste Electrical and Electronic Equipment, products that run on electrical power.), Call +31 497 53 24 30, and ask for the “WEEE Associate”. Or, mail a request for recycling instructions to: Trimble Europe BV c/o Menlo Worldwide Logistics Meerheide 45 5521 DZ Eersel, NL

Trimble R8s GNSS Receiver User Guide 2

FCC Declaration of Conformity

We, Trimble Navigation Limited. 935 Stewart Drive

PO Box 3642 Sunnyvale, CA 94088-3642 United States +1-408-481-8000

Declare under sole responsibility that DoC products comply with Part 15 of 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

RTTE Compliance statements

Czech Trimble Navigation Limited tímto prohlašuje, že

tento (Trimble R8s Model 1 GNSS) je ve shodě se základními požadavky a dalšími příslušnými ustanoveními směrnice 1999/5/ES.

Danish Undertegnede Trimble Navigation Limited erklærer

herved, at følgende udstyr (Trimble R8s Model 1 GNSS) overholder de væsentlige krav og øvrige relevante krav i direktiv 1999/5/EF.

Dutch Hierbij verklaart Trimble Navigation Limited dat het

toestel (Trimble R8s Model 1 GNSS) in overeenstemming is met de essentiële eisen en de andere relevante bepalingen van richtlijn 1999/5/EG.

English Hereby, Trimble Navigation Limited, declares that

this equipment (Trimble R8s Model 1 GNSS) is in compliance with the essential requirements and other relevant provisions of Directive 1999/5/EC.

Estonian Käesolevaga kinnitab Trimble Navigation Limited

seadme (Trimble R8s Model 1 GNSS) vastavust direktiivi 1999/5/EÜ põhinõuetele ja nimetatud direktiivist tulenevatele teistele asjakohastele sätetele.

German Hiermit erklärt Trimble Navigation Limited, dass

sich das Gerät (Trimble R8s Model 1 GNSS) in Übereinstimmung mit den grundlegenden Anforderungen und den übrigen einschlägigen Bestimmungen der Richtlinie 1999/5/EG befindet.

Greek ΜΕ ΤΗΝ ΠΑΡΟΥΣΑ Trimble Navigation Limited

ΔΗΛΩΝΕΙ ΟΤΙ (Trimble R8s Model 1 GNSS) ΣΥΜΜΟΡΦΩΝΕΤΑΙ ΠΡΟΣ ΤΙΣ ΟΥΣΙΩΔΕΙΣ ΑΠΑΙΤΗΣΕΙΣ ΚΑΙ ΤΙΣ ΛΟΙΠΕΣ ΣΧΕΤΙΚΕΣ ΔΙΑΤΑΞΕΙΣ ΤΗΣ ΟΔΗΓΙΑΣ 1999/5/ΕΚ.

Hungarian Alulírott, Trimble Navigation Limited nyilatkozom,

hogy a (Trimble R8s Model 1 GNSS) megfelel a vonatkozó alapvetõ követelményeknek és az 1999/5/EC irányelv egyéb elõírásainak.

Finnish Trimble Navigation Limited vakuuttaa täten että

(Trimble R8s Model 1 GNSS) tyyppinen laite on direktiivin 1999/5/EY oleellisten vaatimusten ja sitä koskevien direktiivin muiden ehtojen mukainen.

Icelandic Hér með lýsir Trimble Navigation Limited yfir því að

(Trimble R8s Model 1 GNSS) er í samræmi við grunnkröfur og aðrar kröfur, sem gerðar eru í tilskipun 1999/5/EC.

Italian Con la presente Trimble Navigation Limited dichiara

che questo (Trimble R8s Model 1 GNSS) è conforme ai requisiti essenziali ed alle altre disposizioni pertinenti stabilite dalla direttiva 1999/5/CE.

Latvian Ar šo Trimble Navigation Limited deklarē, ka

(Trimble R8s Model 1 GNSS) atbilst Direktīvas 1999/5/EK būtiskajām prasībām un citiem ar to saistītajiem noteikumiem.

Lithuanian Šiuo Trimble Navigation Limited deklaruoja, kad šis

(Trimble R8s Model 1 GNSS) atitinka esminius reikalavimus ir kitas 1999/5/EB Direktyvos nuostatas.

Maltese Hawnhekk, Trimble Navigation Limited, jiddikjara li

dan (Trimble R8s Model 1 GNSS) jikkonforma malħtiġijiet essenzjali u ma provvedimenti oħrajn relevanti li hemm fid-Dirrettiva 1999/5/EC.

Norwegian Trimble Navigation Limited erklærer herved at

utstyret (Trimble R8s Model 1 GNSS) i samsvar med de grunnleggende krav og øvrige relevante krav i direktiv 1999/5/EF.

Polish Niniejszym Trimble Navigation Limited oświadcza,

że (Trimble R8s Model 1 GNSS) jest zgodny z zasadniczymi wymogami oraz pozostałymi stosownymi postanowieniami Dyrektywy 1999/5/EC.

Portuguese Trimble Navigation Limited declara que este

(Trimble R8s Model 1 GNSS) está conforme com os requisitos essenciais e outras disposições da Directiva 1999/5/CE.

Slovak Trimble Navigation Limited týmto vyhlasuje, že

(Trimble R8s Model 1 GNSS) spĺňa základné požiadavky a všetky príslušné ustanovenia Smernice 1999/5/ES.

Slovenian Trimble Navigation Limited izjavlja, da je ta (Trimble

R8s Model 1 GNSS) skladu z bistvenimi zahtevami in ostalimi relevantnimi določili direktive 1999/5/ES.

Spanish Por medio de la presente Trimble Navigation

Limited declara que el (Trimble R8s Model 1 GNSS) cumple con los requisitos esenciales y cualesquiera otras disposiciones aplicables o exigibles de la Directiva 1999/5/CE.

Swedish Härmed intygar Trimble Navigation Limited att

denna (Trimble R8s Model 1 GNSS) står I överensstämmelse med de väsentliga egenskapskrav och övriga relevanta bestämmelser som framgår av direktiv 1999/5/EG.

French Par la présente Trimble Navigation Limited déclare

que l'appareil (Trimble R8s Model 1 GNSS) est conforme aux exigences essentielles et aux autres dispositions pertinentes de la directive 1999/5/CE.

Trimble R8s GNSS Receiver User Guide 3

Safety Information

Before you use your Trimble product, make sure that you have read and understood all safety requirements.

WARNING – This alert warns of a potential hazard which, if not avoided, could result in severe injury or even

death.

CAUTION – This alert warns of a potential hazard or unsafe practice that could result in minor injury or property damage or irretrievable data loss.

Note – An absence of specific alerts does not mean that there are no safety risks involved.

Regulations and safety

The receivers contain integral Bluetooth® wireless technology, and may also send radio signals through the antenna of an internal radio-modem, or through an externally-connected data communications radio. Regulations regarding the use of the 450 MHz radio-modems vary greatly from country to country. In some countries, the unit can be used without obtaining an end-user license. Other countries require end-user licensing. For licensing information, consult your local Trimble distribution partner. Bluetooth operates in license-free bands.

Use and Care

This product is designed to withstand the rough treatment and tough environment that typically occurs in construction applications. However, the receiver is a high-precision electronic instrument and should be treated with reasonable care.

CAUTION – Operating or storing the receiver outside the specified temperature range can damage it.

Type approval

Type approval, or acceptance, covers technical parameters of the equipment related to emissions that can cause interference. Type approval is granted to the manufacturer of the transmission equipment, independent from the operation or licensing of the units. Some countries have unique technical requirements for operation in particular radio-modem frequency bands. To comply with those requirements, Trimble may have modified your equipment to be granted type approval.

Unauthorized modification of the units voids the type approval, the warranty, and the operational license of the equipment.

Trimble R8s GNSS Receiver User Guide 4

Safety Information

Operation near other radio equipment

When operating the receiver in member states of the European Union and in other counties which adhere to the EU R&TTE requirements, while in the vicinity of aeronautical radionavigation equipment operating between 2700 and 2900 MHz, or Fixed, Fixed Satellite (space to Earth), or Mobile systems operating at 4170 MHz, a minimum separation of 5 meters must be maintained between the receiver and such radio equipment.

Exposure to radio frequency radiation

For 450 MHz radio

Safety. Exposure to RF energy is an important safety consideration. The FCC has adopted a safety standard for human exposure to radio frequency electromagnetic energy emitted by FCC regulated equipment as a result of its actions in General Docket 79-144 on March 13, 1986.

Proper use of this radio modem results in exposure below government limits. The following precautions are recommended:

DO NOT operate the transmitter when someone is within 20 cm (7.8 inches) of the antenna.

DO NOT co-locate (place within 20 cm (7.8 inches)) the radio antenna with any other transmitting antenna.

DO NOT operate the transmitter unless all RF connectors are secure and any open connectors are properly terminated.

DO NOT operate the equipment near electrical blasting caps or in an explosive atmosphere.

All equipment must be properly grounded according to Trimble installation instructions for safe operation.

All equipment should be serviced only by a qualified technician.

For GSM radio

For your own safety, and in terms of the RF Exposure requirements of the FCC, always observe the precautions listed here.

l Always maintain a minimum separation distance of 20 cm (7.8 inches) between yourself and the

radiating antenna on the receiver radio modem.

l Do not collocate (place within 20 cm) the radio antenna with any other transmitting antenna

Note – The optional GSM radio cannot legally be operated in Brazil.

Trimble R8s GNSS Receiver User Guide 5

Safety Information

For Bluetooth radio

The radiated output power of the internal Bluetooth wireless radio and the Wi-Fi radio included in some Trimble receivers is far below the FCC radio frequency exposure limits. Nevertheless, the wireless radio(s) shall be used in such a manner that the Trimble receiver is 20 cm or further from the human body. The internal wireless radio(s) operate within guidelines found in radio frequency safety standards and recommendations, which reflect the consensus of the scientific community. Trimble therefore believes that the internal wireless radio(s) are safe for use by consumers. The level of energy emitted is far less than the electromagnetic energy emitted by wireless devices such as mobile phones. However, the use of wireless radios may be restricted in some situations or environments, such as on aircraft. If you are unsure of restrictions, you are encouraged to ask for authorization before turning on the wireless radio.

Installing antennas

CAUTION – For your own safety, and in terms of the RF exposure requirements of the FCC, always observe

these precautions: – Always maintain a minimum separation distance of cm ( inches) between yourself and the radiating antenna. – Do not co-locate the antenna with any other transmitting device.

This device has been designed to operate with the antennas listed below. UHF antennas not included in this list, or that have a gain greater than 5 dBi, are strictly prohibited

for use with this device. The required antenna impedance is 50 W.. The antennas that can be used (country dependent) with the 450 MHz radio are 0 dBi and 5 dBi whip

antennas. The antenna that can be used with the GSM radio is the 0 dBi whip antenna. To reduce potential radio interference to other users, the antenna type and its gain should be so

chosen that the equivalent isotropically radiated power (e.i.r.p.) is not more than that permitted for successful communication.

Trimble R8s GNSS Receiver User Guide 6

Safety Information

Lithium-ion Battery safety

WARNING – Charge and use the rechargeable Lithium-ion battery only in strict accordance with the

instructions. Charging or using the battery in unauthorized equipment can cause an explosion or fire, and can result in personal injury and/or equipment damage. To prevent injury or damage: – Do not charge or use the battery if it appears to be damaged or leaking. –Charge the Lithium-ion batteries only in a Trimble battery charger, such as the dual battery charger P/N 6111600 (black) or P/N 53018010 (grey), or the five-battery system charger P/N 49499-00 (yellow/grey) or another charger specified for this battery. Be sure to follow all instructions that are provided with the battery charger. – Discontinue charging a battery that gives off extreme heat or a burning odor. – Use the battery only in Trimble equipment that is specified to use it. – Use the battery only for its intended use and according to the instructions in the product documentation.

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. – Do not use or store the battery inside a vehicle during hot weather. – Do not drop or puncture the battery. – Do not open the battery or short-circuit its contacts.

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. Do not rub your eyes! – If battery fluid gets onto your skin or clothing, immediately use clean water to wash off the battery fluid.

Trimble R8s GNSS Receiver User Guide 7

Safety Information 4

Regulations and safety 4 Use and Care 4 Type approval 4 Operation near other radio equipment 5 Exposure to radio frequency radiation 5 Installing antennas 6 Lithium-ion Battery safety 7

Contents 8

1 Introduction 10

Overview 11 Use and care 11 COCOM limits 11 Related information 12 Technical support 12

2 Setting up the Receiver 13

Parts of the R8s receiver 14 External UHF or GSM antenna 16 Setup guidelines 16 Setting up the receiver on a range pole 17 Other system components 18

3 General Operation 21

Front panel controls 22 Button functions 22 LED behavior 23 Charging the receiver's battery 24 Logging data 26

4 Configuring the receiver 28

Configuring the receiver in real time 29 Configuring the receiver using application files 29

5 Default Settings 30

Default receiver settings 31 Resetting the receiver to factory defaults 32

Trimble R8s GNSS Receiver User Guide 8

Contents

6 Cables and Connectors 33

Port 1 and 2 connectors 34 Power/serial data cables 36

7 NMEA Output Messages 37

NMEA-0183 messages: Overview 38 NMEA-0183 messages: Common message elements 40 Message values 40 List of supported NMEA messages 41

8 RTCM Output 65

Generated messages 66 Message scheduling 66

9 Troubleshooting 68

Troubleshooting LED conditions 69 Troubleshooting receiver issues 69

Trimble R8s GNSS Receiver User Guide 9

Introduction

n Overview n Use and care n COCOM limits n Related information n Technical support

This manual describes how to set up and use a Trimble® R8s GNSS receiver.

CHAPTER

Even if you have used other Global Navigation Satellite System (GNSS) products before, Trimble recommends that you spend some time reading this manual to learn about the special features of your receiver.

If you are not familiar with GNSS, visit our website for an interactive look at Trimble and GNSS at

www.trimble.com.

Trimble R8s GNSS Receiver User Guide 10

1 Introduction

Overview

The receiver incorporates a GNSS antenna, receiver, internal radio with a transmit option or an internal GSM module, and a battery in a rugged light-weight unit that is ideally suited as an all-onthe-pole RTK rover. Three LEDs allow you to monitor the satellite tracking, radio reception, data logging status, and power. Bluetooth wireless technology provides cable-free communications between receiver and controller.

The circuitry in the Trimble R8s GNSS receiver provides up to 440 channels for satellite tracking, and supports logging raw GNSS observables to the internal receiver memory or to a handheld controller for postprocessed applications.

The receiver is available in a number of configurations that match the needs of your workflow. This includes configurations for post-processing workflows, for use as a base station or rover, or for total flexibility as both a base station and RTK / VRS rover.

Use and care

The receiver can withstand the rough treatment that typically occurs in the field. However, it is a high-precision electronic instrument and should be treated with reasonable care.

WARNING – Operating or storing the receiver outside the specified temperature range can damage it.

High-power signals from a nearby radio or radar transmitter can overwhelm the receiver circuits. This does not harm the instrument, but it can prevent the receiver electronics from functioning correctly. Avoid using the receiver within 400 meters of powerful radar, television, or other transmitters. Low-power transmitters such as those used in cellphones and two-way radios normally do not interfere with receiver operations.

For more information, contact your local Trimble distributor.

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 receiver.

Immediate access to satellite measurements and navigation results is disabled when the receiver’s velocity is computed to be greater than 1000 knots, or its altitude is computed to be above 18,000 meters. The receiver continuously resets until the COCOM situation is cleared.

Trimble R8s GNSS Receiver User Guide 11

1 Introduction

Related information

An electronic copy of this manual is available in portable document format (PDF) at www.trimble.com. Use Adobe Reader to view the contents of this file.

Sources of related information include the following:

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 at www.trimble.com. Use Adobe Reader to view the contents of the release notes.

Registration – register your receiver to automatically receive e-mail notifications of receiver firmware upgrades and new functionality. To register, go to www.trimble.com.

Contact your local Trimble distribution partner for more information about the support agreement contracts for software and firmware, and an extended warranty program for hardware.

Trimble training courses – consider a training course to help you use your GNSS system to its fullest potential. For more information, visit the Trimble website at www.trimble.com/training.html.

Technical support

If you have a problem and cannot find the information you need in the product documentation, contact your local dealer. Alternatively, go to the Support area of the Trimble website (www.trimble.com/Support.shtml). Select the product you need information on. Product updates, documentation, and any support issues are available for download.

Trimble R8s GNSS Receiver User Guide 12

Setting up the Receiver

n Parts of the R8s receiver n Setup guidelines n Setting up the receiver on a range pole

CHAPTER

Trimble R8s GNSS Receiver User Guide 13

2 Setting up the Receiver

Parts of the R8s receiver

All operating controls on the receiver are located on the front panel. Serial ports and connectors are located on the bottom of the unit.

Front panel

The following image shows the receiver front panel, which contains the three indicator light emitting diodes (LEDs), and the Power button.

The Power button controls the receiver’s power on or off functions. The indicator LEDs show the status of power, satellite tracking, and radio reception. For more

information, see LED behavior, page 23.

Lower housing

The following image shows the receiver lower housing, which 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 ⅝-11 threaded insert.

Trimble R8s GNSS Receiver User Guide 14

2 Setting up the Receiver

❶ Radio antenna connection

❷ Port 2

❸ Port 1

Each port or connector on the receiver is marked with an icon to indicate its main function:

Icon Name Connection

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. Port 2 is a DB-9 male connector that allows for full 9-pin RS-232 comms. Port 2 does not support

power in or out. For more information, see Cables and Connectors, page 33 and Cables and

Connectors, page 33.

The TNC connector is for connecting a radio antenna to the receiver internal radio. A whip “rubber duck” antenna is supplied with the system for units with internal UHF radios. This connector is not used if you are using an external UHF radio or GSM.

Trimble R8s GNSS Receiver User Guide 15

2 Setting up the Receiver

External UHF or GSM antenna

Depending on which module you have purchased, use this TNC connection for an external antenna for the UHF or GSM antenna.

For more information on connecting the receiver, see the following sections in this chapter.

Setup guidelines

Consider the following guidelines when setting up the receiver.

CAUTION – To satisfy the RF Exposure requirements of the FCC, you must maintain a minimum separation

distance of 20 cm (approximately 8 in.) between yourself and the radiating UHF antenna for this device. For mobile operation, the maximum gain of the UHF antenna must not exceed 0 dBi.

Operation near other radio equipment

When operating the receiver in member states of the European Union and in other counties which adhere to the EU R&TTE requirements, while in the vicinity of aeronautical radionavigation equipment operating between 2700 and 2900 MHz, or Fixed, Fixed Satellite (space to Earth) or Mobile systems operating at 4170 MHz, a minimum separation of 5 meters must be maintained between the receiver and such radio equipment.

Environmental conditions

Although the receiver has a waterproof housing, take reasonable care to protect the unit. Avoid exposure to extreme environmental conditions, including:

l Water l Heat greater than 65 °C (149 °F) l Cold less than –40 °C (–40 °F) l Corrosive fluids and gases

Sources of electrical interference

Avoid the following sources of electrical and magnetic noise:

l Gasoline engines (spark plugs) l Televisions and PC monitors l Alternators and generators

Trimble R8s GNSS Receiver User Guide 16

2 Setting up the Receiver

l Electric motors l Equipment with DC-to-AC converters l Fluorescent lights l Switching power supplies

General guidelines

WARNING – These receivers use a rechargeable Lithium-ion battery. To avoid personal injury or equipment

damage, ensure that you read and understand the Safety Information at the front of this manual.

The following guidelines apply whenever you set up the receiver for operation:

l When plugging in a Lemo cable, make sure that the red dots on the receiver port and the cable

connector line up. Do not use force to plug cables in, as this may damage the connector pins.

l When disconnecting a Lemo cable, grasp the cable by the sliding collar or lanyard and then pull

the cable connector straight out of the port. Do not twist the connector or pull on the cable itself.

l To securely connect a TNC cable, align the cable connector with the receiver receptacle and

then thread the cable connector onto the receptacle until it is snug.

l To insert the internal battery, place the battery in the battery compartment, ensuring that the

contact points are in the correct position to align with the contacts in the receiver. Slide the battery and compartment as a unit upward into the receiver until the battery compartment latches are locked into position.

Setting up the receiver on a range pole

To mount the receiver on a range pole:

1. Thread the receiver onto the range pole.

Attach the controller bracket to the pole.

Insert the controller into the controller bracket:

Note – When using a Trimble TSC3, Trimble TSC2,® Trimble TCU, Trimble Tablet Rugged PC, or Trimble Slate controller, no cabling is required, as shown below.

Trimble R8s GNSS Receiver User Guide 17

2 Setting up the Receiver

Other system components

This section describes optional components that you can use with the receiver.

Radios

Radios are the most common data link for Real-Time Kinematic (RTK) surveying. The receiver is available with an optional internal radio in the 450 MHz UHF band, or with an internal GSM module. You can also connect an external radio to either receiver port, whether or not the internal radio is installed.

Trimble R8s GNSS Receiver User Guide 18

2 Setting up the Receiver

The receiver supports the following Trimble base radios with the internal 450 MHz radio:

l Trimble TDL 450H l Trimble TDL 450L l Trimble HPB450 l Trimble PDL450 l Receiver internal 450 MHz transmitter l TRIMMARK™ 3 radio l SiteNet™ 450 radio

Internal GSM setup

You can configure the optional internal GSM Module using the Trimble Access™ software. For more information, refer to the field software documentation.

Internal radio setup

To configure the optional internal radio, use the Trimble Access software. For more information, refer to the Trimble Access Help. By default, the internal radio has only a few “test” frequencies installed at the factory. If you

purchased the transmit option, the broadcast frequencies must be programmed by the Trimble distribution partner. You can program the receive frequencies using the Trimble Access software. Refer to the Trimble Access Help.

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 the receiver, you need the following:

l A Trimble R8s GNSS receiver. l A cellular modem, or a cellphone that can transmit and receive data. l Serial (cellphone to DB9) cable (supplied with the cellular modem or phone). l Port 2 of the receiver supports full RS-232 protocol, and should function properly with most

cellular phone cables. Some cellular units may require custom cabling. Alternatively, the receiver also supports a cable-free Bluetooth connection with Bluetooth-

enabled cell phones.

For more information on using an external cellular modem as a data link, refer to the Trimble Access or Trimble Survey Controller documentation.

Trimble R8s GNSS Receiver User Guide 19

2 Setting up the Receiver

To connect an external radio modem to a receiver, you need the following:

l A receiver. l An external radio capable of receiving and decoding Trimble data packets. l Serial cable for either Port 1 or Port 2 of the receiver, as supplied by the radio manufacturer. l Radio mount for the range pole.

Trimble R8s GNSS Receiver User Guide 20

CHAPTER

General Operation

n Front panel controls n Button functions n LED behavior n Logging data

All the controls that you need for general receiver operation are on the front panel. For more information about other receiver panels, see Parts of the R8s receiver, page 14.

Trimble R8s GNSS Receiver User Guide 21

3 General Operation

Front panel controls

The following image shows the 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.

❶ Satellite tracking LED

❷ Radio LED

❸ Power / Data status LED

❹ Power button

Button functions

The receiver has only one button, the Power button. Press the Power button to turn on or turn off the receiver, and to perform other functions, as described below.

To... Power button

turn on the receiver Press

turn off the receiver Hold for 2 seconds

delete the ephemeris file Hold for 15 seconds

reset the receiver to factory defaults Hold for 15 seconds

delete application files Hold for 30 seconds

Trimble R8s GNSS Receiver User Guide 22

3 General Operation

Note – The term “press” means to press the button and release it immediately. The term “hold” means to press the button and hold it down for the given time.

LED behavior

The three LEDs on the front panel of the receiver indicate various operating conditions. Generally, a lit or slowly flashing LED indicates normal operation, a LED that is flashing quickly indicates a condition that may require attention, and an unlit LED indicates that no operation is occurring.

The LED flash rates are:

l SLOW FLASH = LED is on and off equally for 0.5 seconds. l FAST FLASH = LED is on and off equally for 0.1 seconds.

Receiver mode Power LED

Green

Receiver OFF OFF OFF OFF

Receiver ON: Healthy power

Low power

Tracking <4 SVs

Tracking >4 SVs

Logging data internally

Transmitting internally

Receiving valid data packets

No data packets ON OFF N/A

ON N/A N/A

Fast flash

Flashes off every 3 seconds

N/A

Radio LED Green

N/A N/A

N/A Fast flash

N/A Slow flash

N/A N/A

Flashes off when transmitting

Slow flash N/A

Satellite LED Amber

N/A

Receiver in monitor ON Slow flash ON

Note – If a column shows “N/A”, that specific LED may or may not be on, but it is not relevant to that particular mode.

Trimble R8s GNSS Receiver User Guide 23

3 General Operation

Charging the receiver's battery

WARNING – Charge and use the rechargeable Lithium-ion battery only in strict accordance with the

WARNING – Do not damage the rechargeable Lithium-ion battery. A damaged battery can cause an

WARNING – Avoid contact with the rechargeable Lithium-ion battery if it appears to be leaking. Battery fluid

The receiver can be powered by its internal battery or by an external power source connected to Port 1.

If an external power source is connected to Port 1, it is used in preference to the internal battery. When there is no external power source connected, or if the external power supply fails, the internal battery is used.

The receiver is supplied with two rechargeable Lithium-ion batteries, and a dual battery charger. Charge the Lithium-ion batteries only in a Trimble battery charger, such as the dual battery charger P/N 61116-00 (black) or P/N 53018010 (grey), or the five-battery system charger P/N 49499-00 (yellow/grey) or another charger specified for this battery. The two batteries charge sequentially and take approximately four hours each to fully charge.

Trimble R8s GNSS Receiver User Guide 24

3 General Operation

To protect the battery from deep discharge (5 V or less), the receiver is designed to switch batteries or cease drawing power when the battery pack discharges to 5.9 V.

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:

l Fully charge all new batteries before use. l Do not allow the batteries to discharge below 5 V. l Keep all batteries on continuous charge when not in use. Batteries may be kept on charge

indefinitely without damage to the receiver or batteries. l Do not store batteries in the receiver or external charger unless power is applied. l If you must store the batteries, fully charge them before storing and then recharge them at

least every three months.

Charging the 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 V or less), the receiver is designed to switch batteries or cease drawing power when the battery pack discharges to 5.9 V.

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:

l Fully charge all new batteries prior to use. l Do not allow the batteries to discharge below 5 V. l Keep all batteries on continuous charge when not in use. Batteries may be kept on charge

least every three months.

Storing the Lithium-ion battery

All battery types discharge over time when they are not being used. Batteries also discharge faster in colder temperatures. If a Lithium-ion battery is to be stored for long periods of time, make sure it is fully charged before storing and re-charged at least every three months.

Disposing of the rechargeable Lithium-ion battery

Discharge the Lithium-ion battery before disposing of it. When disposing of the battery, ensure that you do so in an environmentally sensitive manner. Adhere to any local and national regulations concerning battery disposal or recycling.

Trimble R8s GNSS Receiver User Guide 25

3 General Operation

Power output

The receiver does not supply power from either of its two ports.

Firmware

A receiver’s firmware is the program inside the receiver that controls receiver operations and hardware. You can upgrade the firmware for the receiver using the Trimble Installation Manager software that you can download from www.trimble.com.

For more information, refer to the Trimble Installation Manger Help.

CAUTION – Downgrading the firmware deletes all application files on the receiver.

Logging data

You can log data internally or to a Trimble controller.

Logging internally

The receiver logs raw data on internal memory. You can then use the Trimble Data Transfer utility or Trimble Business Center software to transfer

logged data files to the office computer.

Note – If you use the Data Transfer utility to download the internally-logged files, a DAT (*.dat) file is automatically created after the download. DAT files do not contain GLONASS data. If you have Trimble Business Center software, the T0x (T01 or T02) file that is stored on the receiver can be directly downloaded. The T0x files contain any collected GLONASS data. Trimble Business Center software can process GLONASS data, if you purchased that option.

CAUTION – The receiver allows for a maximum of 200 files on the internal memory. The filenames must be

in 8.3 format, otherwise, files copied to the internal memory may cause data corruption or loss of data when logging. Data is logged using the current logging settings configured in the receiver. Data files logged internally are named automatically.

The receiver allows for a maximum of 200 files on the internal memory. The filenames must be in 8.3 format, otherwise, files copied to the internal memory may cause data corruption or loss of data when logging.

Data is logged using the current logging settings configured in the receiver. Data files logged internally are named automatically.

Trimble R8s GNSS Receiver User Guide 26

3 General Operation

To begin internal logging, you must use a Trimble controller running the Trimble Access software. The receiver does not have a continuously running internal clock when it is turned off, so you can conduct timed survey sessions only if the receiver is turned on and connected to a power source.

When the internal memory is full, the receiver stops logging data, and the Power LED stops flashing and remains on continuously. Existing data files are not overwritten. You can use the Auto-delete option to override this action and automatically delete the oldest files when the receiver memory is full. However, you should use this option with caution because it can result in loss of data.

Approximate storage requirements for different logging rates are shown below. The values shown are for a one-hour logging session with six satellites visible.

Logging rate Memory required

10 Hz 2,588 KB

1 Hz

5 seconds 87 KB

15 seconds 37 KB

335 KB

Logging to a Trimble controller

When the receiver is connected to a Trimble controller running the Trimble Access software, you can log GNSS data from the receiver to the controller, or to a data card inserted in the controller. When you use a Trimble controller, you do not use the receiver’s controls. Instead, you use the controller functions to set logging options, specify filenames, and control when logging occurs.

Controller software job files and the corresponding raw data files can be transferred to an office computer using the Trimble Data Transfer utility.

For more information on logging data from a receiver using a Trimble controller, refer to the user guide for your particular controller.

Trimble R8s GNSS Receiver User Guide 27

CHAPTER

Configuring the receiver

n Configuring the receiver in real time n Configuring the receiver using application files

The receiver has no controls to change settings. To configure the receiver, do one of the following:

l Configure the receiver in real time using the Trimble Access software. l 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.

Trimble R8s GNSS Receiver User Guide 28

4 Configuring the receiver

Configuring the receiver in real time

The Trimble Access software supports real-time configuration of the receiver. When you configure the receiver in real time, use the software to specify which settings you want to

change. When you apply the changes, the receiver settings change immediately. Any changes that you apply to the receiver are reflected in the current application file, which is

always present in the receiver. The current application file always records the most recent configuration, so if you apply further changes (either in real time or using an application file) the current file is updated and there is no record of the changes that you applied originally.

Configuring the receiver using application files

The receiver Web Interface can be used to create and apply application files. Refer to the receiver Web Interface help for more information.

Trimble R8s GNSS Receiver User Guide 29

CHAPTER

Default Settings

n Default receiver settings n Resetting the receiver to factory defaults

All receiver settings are stored in application files. The default application file 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.cfg) are reset to the values in the default application file.

For more information, see Configuring the receiver using application files, page 29.

Trimble R8s GNSS Receiver User Guide 30

5 Default Settings

Default receiver settings

These settings are defined in the default application file.

Function Settings Factory default

SV Enable - All SVs enabled

General Controls Elevation mask 13°

PDOP mask 7

RTK positioning mode Low Latency

Motion Kinematic

Serial Port 1: Baud rate 38400

Format 8-None-1

Flow control None

Serial Port 2: Baud rate 38400

Format 8-None-1

Flow control None

Input Setup Station Any

NMEA/ASCII (all supported messages)

Streamed Output All types Off

RT17/Binary

Reference Position Latitude 0°

Antenna Type Trimble R8s Model 1 internal

All ports Off

Offset=00

Longitude 0°

Altitude 0.00 m HAE

All ports Off

Height (true vertical) 0.00 m

Group All

Measurement method Bottom of mount

Trimble R8s GNSS Receiver User Guide 31

5 Default Settings

Resetting the receiver to factory defaults

To reset the receiver to its factory defaults, press and hold down the receiver’s Power button for 15 seconds.

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.

When you turn the receiver on and …

it is the first time that the receiver has been used

you have reset the receiver to its factory defaults

you have performed a full reset the factory defaults, because resetting

then logging settings are … and logging …

the factory defaults does not begin

automatically

the factory defaults, or those in the power up file

deletes any power up file

does not begin automatically

Power up settings

When you turn off the receiver, 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.

When you use the Power button to turn off and then turn on the receiver and …

you changed the receiver settings by applying an application file

then logging settings are …

the factory defaults

and all other settings are …

the last settings used

you changed the receiver settings using configuration software

the factory defaults

Trimble R8s GNSS Receiver User Guide 32

the last settings used

CHAPTER

Cables and Connectors

n Port 1 and 2 connectors n Power/serial data cables

This chapter describes the pinouts for the 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.

Trimble R8s GNSS Receiver User Guide 33

6 Cables and Connectors

Port 1 and 2 connectors

The following figures show the receiver serial ports and pinout connections.

Port 1:

Trimble R8s GNSS Receiver User Guide 34

6 Cables and Connectors

Port 2:

Pin 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

Trimble R8s GNSS Receiver User Guide 35

6 Cables and Connectors

Power/serial data cables

The data-I/O cable is supplied with the receiver. The table below assumes that the cable is attached to the connector labeled Port 2:

DB-9 Female 9-pin

Pin Function Pin Function

1-6 DCD5_232 4 DTR5_232

2 RX5_232 3 TX5_232

3 TX5_232 2 RX5_232

4 DTR5_232 1-6 DCD5_232

5 GND 5 GND

7 RTS5_232 8 CTS5_232

8 CTS5_232 7 RTS5_232

no connection RI5_232 9

This data cable may be used for firmware upgrades and other computer functions with the receiver. Power must be supplied to the receiver through Port 1, or from the internal battery.

Note – This pinout information also applies to the power/serial data cable, which is optional for use with the receiver. This cable can be used for firmware upgrades through Port 1, while also supplying external power.

The table below assumes that the cable is attached to the connector labeled Port 1:

Lemo 0-shell connector 7-pin

Pin Function Pin Color Function Color Function

1 GND <--> 5

2 GND --> Black V-OUT

3 TX3_232 --> 2 Orange TXD

4 RTS/TXD --> 8 Blue RTS

5 CTS/RXD <-- 7 Green CTS

6 PWR_IN <-- Red Power IN (+)

7 RX3_232 <-- 3 Yellow TXD

Direction

DE9-F connector 7 Cond Power lead 2 Cond

Brown

Signal ground

Trimble R8s GNSS Receiver User Guide 36

CHAPTER

NMEA Output Messages

n NMEA-0183 messages: Overview n NMEA-0183 messages: Common message elements n List of supported NMEA messages

This appendix describes the formats of the subset of NMEA-0183 messages that are available for output by the receiver. For a copy of the NMEA-0183 Standard, go to the National Marine Electronics Association website at www.nmea.org.

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7 NMEA Output Messages

NMEA-0183 messages: Overview

When NMEA-0183 output is enabled, a subset of NMEA-0183 messages can be output to external instruments and equipment connected to the receiver serial ports. These NMEA-0183 messages let external devices use selected data collected or computed by the GNSS receiver.

All messages conform to the NMEA-0183 version 3.01 format. All begin with $ and end with a carriage return and a line feed. Data fields follow comma (,) delimiters and are variable in length. Null fields still follow comma (,) delimiters, but contain no information.

An asterisk (*) delimiter and checksum value follow the last field of data contained in an NMEA-0183 message. The checksum is the 8-bit exclusive of all characters in the message, including the commas between fields, but not including the $ and asterisk delimiters. The hexadecimal result is converted to two ASCII characters (0–9, A–F). The most significant character appears first.

The following table summarizes the set of NMEA messages supported by the receiver.

Message Function

DP Dynamic positioning (proprietary Fugro message)

DTM Datum reference information

GBS GNSS satellite fault detection (RAIM support)

GGA Time, position, and fix related data

GGK Time, position, position type, DOP

GLL Position data: position fix, time of position fix, and status

GNS GNS Fix data

GRS GRS range residuals

GSA GPS DOP and active satellites

GST Position error statistics

GSV Number of SVs in view, PRN, elevation, azimuth, and SNR

HDT Heading from True North

LLQ Leica local position and quality

PJK Local coordinate position output

PJT Projection type

PTNL,AVR Time, yaw, tilt, range, mode, PDOP, and number of SVs for Moving Baseline RTK

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7 NMEA Output Messages

Message Function

PTNL,BPQ Base station position and position quality indicator

PTNL,DG L-band corrections and beacon signal strength and related information

PTNL,GGK Time, position, position type, and DOP values

PTNL,PJK Time, position, position type, and DOP values

PTNL,VGK Time, locator vector, type, and DOP values

PTNL,VHD Heading Information

RMC Position, Velocity, and Time

ROT Rate of turn

VTG Actual track made good and speed over ground

ZDA UTC day, month, and year, and local time zone offset

For a copy of the NMEA-0183 Standard, go to the National Marine Electronics Association website at

www.nmea.org.

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7 NMEA Output Messages

NMEA-0183 messages: 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, depending on the message type, separated by commas.

an asterisk.

a checksum value.

The following example shows a simple message with a message ID ($GPGGA), followed by 13 fields and a checksum value:

$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F

Message values

NMEA messages that the receiver generates contains the following values:

Value Description

Latitude and Longitude

Direction Direction (north, south, east, or west) is represented by a single character: N ,

Time Time values are presented in Universal Time Coordinated (UTC) and are

Latitude is represented as ddmm.mmmm and longitude is represented as dddmm.mmmm, where:

dd or ddd is degrees

mm.mmmm is minutes and decimal fractions of minutes

S , E , or W.

represented as hhmmss.ss, where:

hh is hours, from 00 through 23

mm is minutes

ss.ss is seconds with variable length decimal-fraction of seconds

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7 NMEA Output Messages

List of supported NMEA messages

NMEA-0183 message: DP (Dynamic Positioning)

Proprietary Fugro message The resulting message is shorter than the maximum defined message length of 82 characters, even

with mm level resolution in Latitude/Longitude. $PFUGDP,GG,hhmmss.ss, ddmm.mmmmm,N, dddmm.mmmmm,E, NN,Q,DD,aa.a,bb.b,ddd,rr.r An example of the DP message string is: $PFUGDP,GN,033615.00,3953.88002,N,10506.75324,W,13,9,FF,0.1,0.1,149,0.1*13

DP message fields

Field Meaning

0 Message ID $PFUGDP

1 Two-character code for GPS (GP), GLONASS (GL) or GNSS (GN) data

2 UTC time (hhmmss.ss)

3-4 Latitude, in degrees and decimal minutes (ddmm.mmmmm) and Latitude sign (N/S)

5-6 Longitude, in degrees and decimal minutes (dddmm.mmmmm) and Longitude sign

(E/W)

7 Total number of satellites (GPS + GLONASS)

8 DPVOA (UK00A) quality indicator

9 DGNSS mode indicator (as NMEA standard for $ GNS)

10 Error ellipse standard deviation semi-major axis, in meters (aa.a)

11 Error ellipse standard deviation semi-minor axis, in meters (bb.b)

12 Direction of the error ellipse, in degrees

13 RMS value of the standard deviation of the range inputs to the navigation process

This quality indicator is defined in Guidelines on the use of DGPS in as a positioning reference in DP Control Systems IMCA M141, dated Oct 1997 www.imcaint.com/publications/marine/imca.html.

Trimble R8s GNSS Receiver User Guide 41

7 NMEA Output Messages

NMEA-0183 message: DTM

The DTM message identifies the local geodetic datum and datum offsets from a reference datum. This sentence is used to define the datum to which a position location, and geographic locations in subsequent sentences, is referenced.

An example of the DTM message string is: $GPDTM,W84,,0.0,N,0.0,W,0.0,W84*7D

DTM message fields

Field Meaning

0 Message ID $GPDTM

1 Local datum code (CCC):

W84 – WGS-84 W72 – WGS-72 S85 – SGS85 P90 – PE90 999 – User-defined IHO datum code

2 Local datum subdivision code (x)

3 Latitude offset, in minutes (x.x)

4 N/S (x)

5 Longitude offset, in minutes (x.x)

6 E/W (x)

7 Altitude offset, in meters (x.x)

8 Reference datum code (CCC):

W84 – WGS-84 W72 – WGS-72 S85 – SGS85 P90 – PE90

NMEA-0183 message: GBS

GNSS satellite fault detection (RAIM support)

An example of the GBS message string is:

Trimble R8s GNSS Receiver User Guide 42

7 NMEA Output Messages

$GPGBS,015509.00,-0.031,-0.186,0.219,19,0.000,-0.354,6.972*4D

GBS message fields

Field Meaning

0 Message ID $--GBS.

Talker ID can be: GA: Galileo GB: Beidou GP: GPS. To provide information specific to the GPS constellation when more than one

constellation is used for the differential position fix. GL: GLONASS. To provide information specific to the GLONASS constellation when more

than one constellation is used for the differential position fix. GN: Combined GNSS position. GNSS position fix from more than one constellation, for

example, GPS and GLONASS. GQ: QZSS

1 UTC of position fix

2 Expected error in latitude, in meters, due to bias, with noise = 0

3 Expected error in longitude, in meters, due to bias, with noise = 0

4 Expected error in altitude, in meters, due to bias, with noise = 0

5 ID number of most likely failed satellite

6 Probability of missed detection of most likely failed satellite

7 Estimate of bias, in meters, on the most likely failed satellite

8 Standard deviation of bias estimate

9 The checksum data, always begins with *

If NMEA-0183 version 4.10 is selected, the 9th, 10th, and 11th fields become:

Trimble R8s GNSS Receiver User Guide 43

7 NMEA Output Messages

Field Meaning

11 The checksum data, always begins with *

System ID based on:

GPS 1

GLONASS

Galileo

Beidou

QZSS

Signal ID based on:

GPS 1

GLONASS

Galileo

Beidou

QZSS

Null

NMEA-0183 message: GGA

Time, position, and fix related data

An example of the GBS message string is: $GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0 0031*4F

Note – The data string exceeds the NMEA standard length.

GGA message fields

Field Meaning

0 Message ID $GPGGA

1 UTC of position fix

2 Latitude

3 Direction of latitude:

N: North

Trimble R8s GNSS Receiver User Guide 44

7 NMEA Output Messages

Field Meaning

S: South

4 Longitude

5 Direction of longitude:

E: East W: West

6 GPS Quality indicator:

0: Fix not valid 1: GPS fix 2: Differential GPS fix (DGNSS), SBAS, OmniSTAR VBS, Beacon, RTX in GVBS mode 3: Not applicable 4: RTK Fixed, xFill 5: RTK Float, OmniSTAR XP/HP, Location RTK, RTX 6: INS Dead reckoning

7 Number of SVs in use, range from 00 through to 24+

8 HDOP

9 Orthometric height (MSL reference)

10 M: unit of measure for orthometric height is meters

11 Geoid separation

12 M: geoid separation measured in meters

13 Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is not used.

14 Reference station ID, range 0000-4095. A null field when any reference station ID is

selected and no corrections are received1.

15 The checksum data, always begins with *

Note – If a user-defined geoid model, or an inclined plane is loaded into the receiver, then the height output in the NMEA GGA string is always the orthometric height (height above a geoid). The orthometric height is output even if no user-defined geoid is loaded (there is a simplified default geoid in the receiver), or if a userdefined geoid is loaded, or if an inclined plane is used.

When using OmniSTAR services, the Reference Station ID indicates the following services: VBS 100=VBS; 1000=HP; 1001 = HP/XP (Orbits) ; 1002 = HP/G2 (Orbits); 1008 = XP (GPS); 1012 = G2

(GPS); 1013 = G2 (GPS/GLONASS); 1014 = G2 (GLONASS); 1016 = HP/XP (GPS); 1020 = HP/G2 (GPS) ; 1021 = HP/G2 (GPS/GLONASS).

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7 NMEA Output Messages

NMEA-0183 message: GLL

Position data: position fix, time of position fix, and status

An example of the GLL message string is: $GPGLL,3953.88008971,N,10506.75318910,W,034138.00,A,D*7A

GLL message fields

Field Meaning

0 Message ID $GPGLL

1 Latitude in dd mm,mmmm format (0-7 decimal places)

2 Direction of latitude N: North S: South

3 Longitude in ddd mm,mmmm format (0-7 decimal places)

4 Direction of longitude E: East W: West

5 UTC of position in hhmmss.ss format

6 Status indicator:

A: Data valid V: Data not valid This value is set to V (Data not valid) for all Mode Indicator values except A

(Autonomous) and D (Differential)

7 The checksum data, always begins with *

Mode indicator: A: Autonomous mode D: Differential mode E: Estimated (dead reckoning) mode M: Manual input mode S: Simulator mode N: Data not valid

NMEA-0183 message: GNS

GNSS fix data

GNSS capable receivers will always output this message with the GN talker ID

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7 NMEA Output Messages

GNSS capable receivers will also output this message with the GP and/or GL talker ID when using more than one constellation for the position fix

An example of the GNS message output from a GNSS capable receiver is: $GNGNS,014035.00,4332.69262,S,17235.48549,E,RR,13,0.9,25.63,11.24,,*70<CR><LF> $GPGNS,014035.00,,,,,,8,,,,1.0,23*76<CR><LF> $GLGNS,014035.00,,,,,,5,,,,1.0,23*67<CR><LF>

GNS message fields

Field Meaning

0 Message ID $--GNS

Talker ID can be: GA: Galileo GB: Beidou GP: GPS. When more than one constellation is used. GL: GLONASS. When more than one constellation is used. GN: Combined GNSS position, for example, GPS and GLONASS. GQ: QZSS

1 UTC of position fix

2 Latitude

3 Direction of latitude:

N: North S: South

4 Longitude

5 Direction of longitude:

E: East W: West

6 Mode indicator:

Variable character field with one character for each supported constellation.

First character is for GPS.

Second character is for GLONASS.

l Third character is Galileo. l

Subsequent characters will be added for new constellation.

Each character will be one of the following: N = No fix. Satellite system not used in position fix, or fix not valid

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7 NMEA Output Messages

Field Meaning

A = Autonomous. Satellite system used in non-differential mode in position fix D = Differential (including all OmniSTAR services). Satellite system used in differential

mode in position fix P = Precise. Satellite system used in precision mode. Precision mode is defined as: no

deliberate degradation (such as Selective Availability) and higher resolution code (Pcode) is used to compute position fix

R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers F = Float RTK. Satellite system used in real-time kinematic mode with floating integers E = Estimated (dead reckoning) Mode M = Manual Input Mode S = Simulator Mode

7 Number of SVs in use, range 00–99

8 HDOP calculated using all the satellites (GPS, GLONASS, and any future satellites) used in

computing the solution reported in each GNS sentence.

9 Orthometric height in meters (MSL reference)

10 Geoidal separation in meters – The difference between the earth ellipsoid surface and

mean-sea-level (geoid) surface defined by the reference datum used in the position solution.

“-” = mean-sea-level surface below ellipsoid.

11 Age of differential data – Null if talker ID is GN, additional GNS messages follow with GP

and/or GL Age of differential data.

12 Reference station ID1, range 0000-4095

– Null if Talker ID is GN. Additional GNS messages follow with GP and/or GL Reference station ID.

13 The checksum data, always begins with *

Note – If a user-defined geoid model, or an inclined plane is loaded into the receiver, then the height output in the NMEA GNS string is always the orthometric height (height above a geoid). The orthometric height is output even if no user-defined geoid is loaded (there is a simplified default geoid in the receiver), or if a userdefined geoid is loaded, or if an inclined plane is used.

When using OmniSTAR services, the Reference Station ID indicates the following services: VBS 100=VBS; 1000=HP; 1001 = HP/XP (Orbits) ; 1002 = HP/G2 (Orbits); 1008 = XP (GPS); 1012 = G2

(GPS); 1013 = G2 (GPS/GLONASS); 1014 = G2 (GLONASS); 1016 = HP/XP (GPS); 1020 = HP/G2 (GPS) ; 1021 = HP/G2 (GPS/GLONASS).

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7 NMEA Output Messages

NMEA-0183 message: GRS

GRS range residuals

The GRS message is used to support the Receiver Autonomous Integrity Monitoring (RAIM).

Note – Because the contents of this NMEA message do not change significantly during a one-second interval, the receiver outputs this message at a maximum rate of 1 Hz.

An example of the GRS message string is: $GPGRS,220320.0,0,-0.8,-0.2,-0.1, -0.2,0.8,0.6,,,,,,1,*55

GRS message fields

Field Meaning

0 Message ID $GPGRS

Talker ID can be: GA: Galileo GB: Beidou GP: GPS. To provide information specific to the GPS constellation when more than one

constellation is used for the differential position fix. GL: GLONASS. To provide information specific to the GLONASS constellation when more

than one constellation is used for the differential position fix. GN: Combined GNSS position. GNSS position fix from more than one constellation, for

example, GPS and GLONASS. GQ: QZSS

1 UTC of GGA position fix

2 Residuals

0: Residuals used to calculate position given in the matching GGA line 1: Residuals recomputed after the GGA position was computed

3–14 Range residuals for satellites used in the navigation solution, in meters

15 Satellite System ID: GP(1), GL(2), GA(3), GB(4), GQ(0)

NMEA-0183 message: GSA

GPS DOP and active satellites

An example of the GSA message string is: $GNGSA,A,3,21,5,29,25,12,10,26,2,,,,,1.2,0.7,1.0*27

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7 NMEA Output Messages

$GNGSA,A,3,65,67,80,81,82,88,66,,,,,,1.2,0.7,1.0*20

GSA message fields

Field Meaning

0 Message ID $GNGSA

1 Mode 1, M = manual, A = automatic

2 Mode 2, Fix type, 1 = not available, 2 = 2D, 3 = 3D

3 PRN number, 01 through 32 for GPS, 33 through 64 for SBAS, 64+ for GLONASS

4 PDOP: 0.5 through 99.9

5 HDOP: 0.5 through 99.9

6 VDOP: 0.5 through 99.9

7 The checksum data, always begins with *

If NMEA-0183 version 4.10 is selected, the 7th and 8th fields become:

Field Meaning

8 The checksum data, always begins with *

System ID based on:

GPS 1

GLONASS

Galileo

Beidou

QZSS

NMEA-0183 message: GST

Position error statistics

An example of the GST message string is: $GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A The Talker ID ($--) will vary depending on the satellite system used for the position solution:

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7 NMEA Output Messages

$GP - GPS only

$GL - GLONASS only

$GN - Combined

GST message fields

Field Meaning

0 Message ID $GPGST

1 UTC of position fix

2 RMS value of the pseudorange residuals; includes carrier phase residuals during

periods of RTK (float) and RTK (fixed) processing

3 Error ellipse semi-major axis 1 sigma error, in meters

4 Error ellipse semi-minor axis 1 sigma error, in meters

5 Error ellipse orientation, degrees from true north

6 Latitude 1 sigma error, in meters

7 Longitude 1 sigma error, in meters

8 Height 1 sigma error, in meters

9 The checksum data, always begins with *

NMEA-0183 message: GSV

Satellite information

The GSV message string identifies the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values. Example GSV message strings are:

$GPGSV,8,1,25,21,44,141,47,15,14,049,44,6,31,255,46,3,25,280,44*75 $GPGSV,8,2,25,18,61,057,48,22,68,320,52,27,34,268,47,24,32,076,45*76 $GPGSV,8,3,25,14,51,214,49,19,23,308,46*7E $GPGSV,8,4,25,51,44,183,49,46,41,169,43,48,36,220,45*47 $GLGSV,8,5,25,82,49,219,52,76,22,051,41,83,37,316,51,67,57,010,51*6C $GLGSV,8,6,25,77,24,108,44,81,10,181,46,78,1,152,34,66,18,060,45*50 $GLGSV,8,7,25,68,37,284,50*5C $GBGSV,8,8,25,111,35,221,47,112,4,179,39,114,48,290,48*11

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7 NMEA Output Messages

GSV message fields

Field Meaning

0 Message ID

1 Total number of messages of this type in this cycle

2 Message number

3 Total number of SVs visible

4 SV PRN number

5 Elevation, in degrees, 90° maximum

6 Azimuth, degrees from True North, 000° through 359°

7 SNR, 00 through 99 dB (null when not tracking)

8–11 Information about second SV, same format as fields 4 through 7

12–15 Information about third SV, same format as fields 4 through 7

16–19 Information about fourth SV, same format as fields 4 through 7

20 The checksum data, always begins with *

Note –

$GPGSV indicates GPS and SBAS satellites. If the PRN is greater than 32, this indicates an SBAS PRN,

87 should be added to the GSV PRN number to determine the SBAS PRN number.

$GLGSV indicates GLONASS satellites. 64 should be subtracted from the GSV PRN number to determine the GLONASS PRN number.

$GBGSV indicates BeiDou satellites. 100 should be subtracted from the GSV PRN number to determine the BeiDou PRN number.

$GAGSVindicates Galileo satellites. $GQGSVindicates QZSS satellites.

NMEA-0183 message: HDT

Heading from True North

Note – The heading computation in this message is computed from the moving baseline vector, which requires a two-antenna system.

An example of the HDT string is: $GPHDT,123.456,T*00

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7 NMEA Output Messages

Heading from true north message fields

Field Meaning

0 Message ID $GPHDT

1 Heading in degrees

2 T: Indicates heading relative to True North

3 The checksum data, always begins with *

NMEA-0183 message: LLQ

Leica local position and quality

An example of the LLQ message string is: $GPLLQ,034137.00,210712,,M,,M,3,15,0.011,,M*15

Field Meaning

0 Message ID $GPLLQ

1 hhmmss.ss – UTC time of position

2 ddmmyy – UTC date

3 xxx.xxx – Grid easting (meters)

4 M – Meter, fixed text

5 xxxx.xxxx – Grid northing (meters)

6 M – Meter, fixed text

7 x – GPS quality. 0 = not valid. 1 = GPS Nav Fix. 2 = DGPS Fix. 3 = RTK Fix.

8 x – Number of satellites used in computation

9 xx.xx – Position quality (meters)

10 xxxx.xxxx – Height (meters)

11 M – Meter, fixed text

*hh – checksum

<CR> – carriage return

<LF> – Line feed

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7 NMEA Output Messages

NMEA-0183 message: PTNL,AVR

Time, yaw, tilt/roll, range for moving baseline RTK

Note – The heading computation in this message is computed from the moving baseline vector, which requires a two-antenna system.

An example of the PTNL,AVR message string is: $PTNL,AVR,212405.20,+52.1531,Yaw,-0.0806,Tilt,,,12.575,3,1.4,16*39 $PTNL,AVR,212604.30,+52.1800,Yaw,,,-0.0807,Roll,12.579,3,1.4,16*21

AVR message fields

Field Meaning

0 Message ID $PTNL,AVR

1 UTC of vector fix

2 Yaw angle, in degrees

3 Yaw

4 Tilt angle, in degrees

5 Tilt

6 Reserved

9 GPS quality indicator:

10 PDOP

11 Number of satellites used in solution

Reserved

Range, in meters

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

12 The checksum data, always begins with *

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7 NMEA Output Messages

NMEA-0183 message: PTNL,BPQ

Base station position and quality indicator

This message describes the base station position and its quality. It is used when the moving base antenna position and quality are required on one serial port (along with a heading message) from a receiver in heading mode.

An example of the PTNL,BPQ message string is: $PTNL,BPQ,224445.06,021207,3723.09383914,N,12200.32620132,W,EHT-5.923,M,5*

BPQ message fields

Field Meaning

0 Talker ID

1 BPQ

2 UTC time of position fix, in hhmmss.ss format. Hours must be two numbers, so may be

padded, for example, 7 is shown as 07.

3 UTC date of position fix, in ddmmyy format. Day must be two numbers, so may be

padded, for example, 8 is shown as 08.

4 Latitude, in degrees and decimal minutes (ddmm.mmmmmmm)

5 Direction of latitude:

N: North S: South

6 Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should contain 3

digits of ddd.

7 Direction of longitude:

E: East W: West

8 Height Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT.

9 M: ellipsoidal height is measured in meters

10 GPS quality indicator:

0: Fix not available or invalid 1: Autonomous GPS fix 2: Differential SBAS, or OmniSTAR VBS 4: RTK Fixed

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7 NMEA Output Messages

Field Meaning

5: OmniSTAR XP, OmniSTAR HP, CenterPoint RTX, Float RTK, or Location RTK

11 The checksum data, always begins with *

NMEA-0183 message: PTNL,GGK

Time, position, position type, DOP

An example of the PTNL,GGK message string is: $PTNL,GGK,102939.00,051910,5000.97323841,N,00827.62010742,E,5,09,1.9,EHT150.790,M*73

PTNL,GGK message fields

Field Meaning

0 Talker ID $PTNL

1 Message ID GGK

2 UTC time of position fix, in hhmmmss.ss format. Hours must be two numbers, so may

be padded. For example, 7 is shown as 07.

3 UTC date of position fix, in ddmmyy format. Day must be two numbers, so may be

padded. For example, 8 is shown as 08.

4 Latitude, in degrees and decimal minutes (dddmm.mmmmmmm)

5 Direction of latitude:

N: North S: South

6 Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should contain

three digits of ddd.

7 Direction of longitude:

E: East W: West

8 GPS Quality indicator:

0: Fix not available or invalid 1: Autonomous GPS fix 2: RTK float solution 3: RTK fix solution 4: Differential, code phase only solution (DGPS)

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7 NMEA Output Messages

Field Meaning

5: SBAS solution – WAAS/EGNOS/MSAS 6: RTK float or RTK location 3D Network solution 7: RTK fixed 3D Network solution 8: RTK float or RTK location 2D in a Network solution 9: RTK fixed 2D Network solution 10: OmniSTAR HP/XP solution 11: OmniSTAR VBS solution 12: Location RTK solution 13: Beacon DGPS 14: CenterPoint RTX 15: xFill

9 Number of satellites in fix

10 Dilution of Precision of fix (DOP)

11 Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT.

12 M: ellipsoidal height is measured in meters

13 The checksum data, always begins with *

Note – The PTNL,GGK message is longer than the NMEA-0183 standard of 80 characters.

Note – Even if a user-defined geoid model, or an inclined plane is loaded into the receiver, then the height

output in the NMEA GGK string is always an ellipsoid height, for example, EHT24.123.

NMEA-0183 message: PTNL,PJK

Local coordinate position output

Some examples of the PTNL,PJK message string are: $PTNL,PJK,202831.50,011112,+805083.350,N,+388997.346,E,10,09,1.5,GHT+25.478,M*77 $PTNL,PJK,010717.00,081796,+732646.511,N,+1731051.091,E,1,05,2.7,EHT+28.345,M*7C

PTNL,PJK message fields

Field Meaning

0 Message ID $PTNL,PJK

1 UTC of position fix

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7 NMEA Output Messages

Field Meaning

2 Date

3 Northing, in meters

4 Direction of Northing will always be N (North)

5 Easting, in meters

6 Direction of Easting will always be E (East)

7 GPS Quality indicator:

0: Fix not available or invalid 1: Autonomous GPS fix 2: RTK float solution 3: RTK fix solution 4: Differential, code phase only solution (DGPS) 5: SBAS solution – WAAS/EGNOS/MSAS 6: RTK Float 3D network solution 7: RTK Fixed 3D network solution 8: RTK Float 2D network solution 9: RTK Fixed 2D network solution 10: OmniSTAR HP/XP solution 11: OmniSTAR VBS solution 12: Location RTK 13: Beacon DGPS 14: CenterPoint RTX 15: xFill

8 Number of satellites in fix

9 DOP of fix

10 Height of Antenna Phase Center (see Note below)

11 M: height is measured in meters

12 The checksum data, always begins with *

Note – The PTNL,PJK message is longer than the NMEA-0183 standard of 80 characters.

Note – If a user-defined geoid model, or an inclined plane is loaded into the receiver, then the NMEA PJK

string will always report the orthometric height (the field starts with the letters GHT). If the latitude/longitude of the receiver is outside the user-defined geoid model bounds, then the height is shown as ellipsoidal height (the field starts with the letters EHT).

Note – If the receiver does not have an application file, this string returns nothing in fields 3, 4, 5, 6, or 10.

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7 NMEA Output Messages

NMEA-0183 message: PTNL,PJT

Projection type

An example of the PTNL,PJT message string is: $PTNL,PJT,NAD83(Conus),California Zone 4 0404,*51

PTNL,PJT message fields

Field Meaning

0 Message ID $PTNL,PJT

1 Coordinate system name (can include multiple words)

2 Project name (can include multiple words)

3 The checksum data, always begins with *

NMEA-0183 message: PTNL,VGK

Vector information

An example of the PTNL,VGK message string is: $PTNL,VGK,160159.00,010997,-0000.161,00009.985,-0000.002,3,07,1,4,M*0B

PTNL,VGK message fields

Field Meaning

0 Message ID $PTNL,VGK

1 UTC of vector in hhmmss.ss format

2 Date in mmddyy format

3 East component of vector, in meters

4 North component of vector, in meters

5 Up component of vector, in meters

6 GPS Quality indicator:

0: Fix not available or invalid 1: Autonomous GPS fix

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7 NMEA Output Messages

Field Meaning

2: RTK float solution 3: RTK fix solution 4: Differential, code phase only solution (DGPS) 5: SBAS solution – WAAS/EGNOS/MSAS 6: RTK Float 3D network solution 7: RTK Fixed 3D network solution 8: RTK Float 2D network solution 9: RTK Fixed 2D network solution 10: OmniSTAR HP/XP solution 11: OmniSTAR VBS solution 12: Location RTK 13: Beacon DGPS 14: CenterPoint RTX 15: xFill

7 Number of satellites if fix solution

8 DOP of fix

9 M: Vector components are in meters

10 The checksum data, always begins with *

NMEA-0183 message: PTNL,VHD

Heading information

Note – The heading computation in this message is computed from the moving baseline vector, which requires a two-antenna system.

An example of the PTNL,VHD message string is: $PTNL,VHD,030556.00,093098,187.718,-22.138,-76.929,-5.015,0.033,0.006,3,07,2.4,M*22

PTNL,VHD message fields

Field Meaning

0 Message ID $PTNL,VHD

1 UTC of position in hhmmss.ss format

2 Date in mmddyy format

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7 NMEA Output Messages

Field Meaning

3 Azimuth

4 Azimuth/Time

5 Vertical Angle

6 Vertical/Time

7 Range

8 Range/Time

9 GPS Quality indicator:

10 Number of satellites used in solution

11 PDOP

12 The checksum data, always begins with *

NMEA-0183 message: RMC

Position, velocity, and time

Note – The heading computation in this message is derived from consecutive positions. For heading using a moving baseline system, see NMEA-0183 message: PTNL,AVR, page 54.

The RMC string is:

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7 NMEA Output Messages

$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A

GPRMC message fields

Field Meaning

0 Message ID $GPRMC

1 UTC of position fix

2 Status A=active or V=void

3 Latitude

4 Longitude

5 Speed over the ground in knots

6 Track angle in degrees (True)

7 Date

8 Magnetic variation, in degrees

9 The checksum data, always begins with *

NMEA-0183 message: ROT

Rate and direction of turn

Note – The heading computation in this message is derived from consecutive positions. For heading using a moving baseline system, see NMEA-0183 message: PTNL,AVR, page 54.

An example of the ROT string is: $GPROT,35.6,A*4E

ROT message fields

Field Meaning

0 Message ID $GPROT

1 Rate of turn, degrees/minutes, “–” indicates bow turns to port

2 A: Valid data

V: Invalid data

3 The checksum data, always begins with *

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7 NMEA Output Messages

NMEA-0183 message: VTG

Track made good and speed over ground

Note – The heading computation in this message is derived from consecutive positions. For heading using a moving baseline system, see NMEA-0183 message: PTNL,AVR, page 54.

An example of the VTG message string is: $GPVTG,140.88,T,,M,8.04,N,14.89,K,D*05

VTG message fields

Field Meaning

0 Message ID $GPVTG

1 Track made good (degrees true)

2 T: track made good is relative to true north

3 Track made good (degrees magnetic)

4 M: track made good is relative to magnetic nort

5 Speed, in knots

6 N: speed is measured in knots

7 Speed over ground in kilometers/hour (kph)

8 K: speed over ground is measured in kph

9 Mode indicator:

A: Autonomous mode D: Differential mode E: Estimated (dead reckoning) mode M: Manual Input mode S: Simulator mode N: Data not valid

10 The checksum data, always begins with *

NMEA-0183 message: ZDA

UTC day, month, and year, and local time zone offset

An example of the ZDA message string is:

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7 NMEA Output Messages

$GPZDA,172809.456,12,07,1996,00,00*45

ZDA message fields

Field Meaning

0 Message ID $GPZDA

1 UTC

2 Day, ranging between 01 and 31

3 Month, ranging between 01 and 12

4 Year

5 Local time zone offset from GMT, ranging from 00 through ±13 hours

6 Local time zone offset from GMT, ranging from 00 through 59 minutes

7 The checksum data, always begins with *

Fields 5 and 6 together yield the total offset. For example, if field 5 is -5 and field 6 is +15, local time is 5 hours and 15 minutes earlier than GMT.

This is the same as the definition in the GST message in the NMEA 183 Standard For Interfacing Marine Electronic Devices from version 2.20, dated January

1 1997 www.nmea.org/0183.htm.

Trimble R8s GNSS Receiver User Guide 64

RTCM Output

n Generated messages n Message scheduling

CHAPTER

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8 RTCM Output

Generated messages

Messages that are generated when you select a specific RTCM version are shown in the following table. For details of the individual messages, refer to the RTCM documentation at www.rtcm.org.

Selection Message

Version 2 1 3 22 59

USCG, 9-3 3 9-3

RTCM/RTK, 2.2+2.3 1 3 18 19 22 23 24 59

RTK Only, 2.2+2.3 3 18 19 22 23 24 59

RTCM/RTK, 2.3 18 19 23 24

RTK Only, 2.3 18 19 22

RTCM/RTK, 2.2 1 3 18 19 22 59

RTK Only, 2.2 3 18 19 22 59

RTCM/RTK, 2.1 1 3 18 19 22 59

RTK Only, 2.1 3 18 19 22 59

RTCM/RTK, 3.x 1004 1006 1008 1012 1013 1033

Message scheduling

The following table shows the frequency at which messages are generated when they are enabled in a base receiver:

Type Frequency

1 Every second

3 The tenth second after the first measurement, then every ten seconds after that

9-3 Every second

18 Every second

19 Every second

22 The fifth second after the first measurement, then every ten seconds after that

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Type Frequency

23 The fourth second after the first measurement, then every ten seconds after that

24 The fourth second after the first measurement, then every ten seconds after that

59-sub, 13 The fifth second after the first measurement, then every ten seconds after that

1004 Every second

1006 Every ten seconds, offset by two seconds

1008 Every ten seconds, offset by one second

1012 Every second

1013 Every ten seconds, offset by three seconds

1033 Every ten seconds

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CHAPTER

Troubleshooting

n Troubleshooting LED conditions n Troubleshooting receiver issues

This chapter provides a brief overview problems and causes. Please read this section before you contact

Technical support, page 12.

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9 Troubleshooting

Troubleshooting LED conditions

An LED that is flashing quickly indicates a condition that may require attention, and an unlit LED indicates that no operation is occurring. The following table describes some LED conditions, possible causes, and how to solve them.

The SV Tracking LED is lit solidly and the Logging/Memory LED is flashing slowly

Possible cause Solution

The receiver is in Monitor mode, ready for new firmware to be loaded or new options to be added.

Turn on or turn off the receiver. If that does not fix the problem, load the latest version of the firmware, which you can download from the Trimble website (www.trimble.com/support.shtml / <product> / Downloads).

The SV Tracking LED is flashing rapidly

Possible cause Solution

The receiver is tracking fewer than four satellites.

Wait until the SV Tracking LED is flashing slowly.

Troubleshooting receiver issues

This section describes some possible receiver issues, possible causes, and how to solve them.

The receiver does not turn on

Possible cause Solution

External power is too low.

Internal power is too low.

Check the charge on the external power supply, and check the fuse if applicable. If required, replace the battery.

Do the following:

Check the charge on the internal batteries and replace if required.

Ensure battery contacts are clean.

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9 Troubleshooting

Possible cause Solution

External power is not properly connected.

Faulty external power cable.

Check that the Lemo connection is seated properly.

Check for broken or bent pins in the connector.

Try a different cable.

Check pinouts with multimeter to ensure internal wiring is intact.

The receiver does not log data

Possible cause Solution

Insufficient internal memory.

The receiver is tracking fewer than four satellites.

Delete old files using the Trimble Access software, or by holding down the Power button for 30 seconds. For more information, see Button functions,

page 22.

Wait until the SV Tracking LED is flashing slowly.

The receiver is not responding

Possible cause Solution

The receiver needs a soft reset.

The receiver needs a full reset.

Turn off the receiver and then turn it back on again. For more information, see Button functions, page 22.

Press the Power button for 30 seconds. For more information, see Button

functions, page 22.

Reference receiver is not broadcasting

Possible cause Solution

Port settings between reference receiver and radio are incorrect.

Faulty cable between receiver and radio.

Use the Trimble Access software to connect directly to the radio and change the port settings. Try to connect to the radio through the receiver to ensure that they are communicating.

Try a different cable.

Examine the ports for missing pins.

Use a multimeter to check pinouts.

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Possible cause Solution

No power to radio. If the radio has its own power supply, check the charge and

connections.

The rover receiver is not receiving radio

Possible cause Solution

Reference receiver is not broadcasting.

Incorrect over air baud rates between reference and rover.

Incorrect port settings between roving external radio and receiver.

The cellular modem does not have hardware flow control enabled.

Ensure the reference base GNSS receiver is set up, powered, and transmitting GNSS corrections.

Connect to the roving receiver’s radio and check to ensure it has the same setting as the reference receiver.

If the radio is receiving data (the Power LED is flashing) and the receiver is not getting radio communications, use the Trimble Access software to check that the port settings are correct.

Disable flow control on the modem.

Use a special cable. For more information, refer to the document Using Cellular and CDPD Modems for RTK, which is available from your Trimble Reseller.

Trimble R8s GNSS Receiver User Guide 71

Trimble R8s User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Information

Regulations and safety

Use and Care

Type approval

Operation near other radio equipment

Exposure to radio frequency radiation

Installing antennas

Lithium-ion Battery safety

Contents

Introduction

Overview

Use and care

COCOM limits

Related information

Technical support

Setting up the Receiver

Parts of the R8s receiver

External UHF or GSM antenna

Setup guidelines

Setting up the receiver on a range pole

Other system components

General Operation

Front panel controls

Button functions

LED behavior

Charging the receiver's battery

Logging data

Configuring the receiver

Configuring the receiver in real time

Configuring the receiver using application files

Default Settings

Default receiver settings

Resetting the receiver to factory defaults

Cables and Connectors

Port 1 and 2 connectors

Power/serial data cables

NMEA Output Messages

NMEA-0183 messages: Overview

NMEA-0183 messages: Common message elements

Message values

List of supported NMEA messages

RTCM Output

Generated messages

Message scheduling

Troubleshooting

Troubleshooting LED conditions

Troubleshooting receiver issues