Programmable Serial Interface Card Driver for NMEA 0183

Transcription

1 Programmable Serial Interface Card Driver for NMEA 0183 USER MANUAL Rev. P1.59 May 2017 DeltaV is a trademark of Emerson Process Management, Inc Emerson Process Management, Inc. 1998, All rights reserved. Printed in the U.S.A. While this information is presented in good faith and believed to be accurate Mynah Technologies does not guarantee satisfactory results from reliance upon such information. Nothing contained herein is to be construed as a warranty or guarantee, express or implied, regarding the performance, merchantability, fitness or any other matter with respect to the products, nor as a recommendation to use any product or process in conflict with any patent. Mynah Technologies reserves the right, without notice, to alter or improve the designs or specifications of the products described herein.

2 1 INTRODUCTION 1.1 Scope This document is the User Manual for the NMEA 0183 serial communication driver firmware for the Emerson Process Management (EPM) DeltaV Control System; it provides information required to install, configure, and maintain the driver firmware on the DeltaV Programmable Serial Interface Card (PSIC). The reader should be familiar with EPM s DeltaV PSIC and connected devices using the NMEA 0183 protocol. The section Document Format briefly describes the contents of each section of this manual. System Specifications outlines hardware and software requirements for the Driver firmware. 1.2 Document Format This document is organized as follows: Introduction Theory of Operation Describes the scope and purpose of this document. Provides a general functional overview of the NMEA 0183 Driver. Flashing Firmware Describes flashing procedures for the NMEA 0183 Driver firmware on to the DeltaV PSIC. Configuration Information Operational Check DeltaV Field Device Electrical Interface Technical Support Describes procedures and guidelines for configuring the DeltaV PSIC. Provides tips and assistance to ensure PSIC is properly setup and configured. Describes the electrical interface between DeltaV PSIC and the external Device. Also describes the cable pin assignments for RS232 and RS-422/485 communications. Describes who to call if you need assistance. 1

3 1.3 System Specifications The following table lists the minimum system requirements for the NMEA 0183 Driver: Table 1: System Specifications Firmware Protocol Compatibility Driver Firmware v1.59 or later Communications with the external devices are based on the following document: The NMEA 0183 Protocol, Compiled by Klaus Betke, May Also Reference the following: Software Requirements National Marine Electronics Association: DeltaV System Software (Release 6.2 or later) installed on a hardware-appropriate Windows workstation configured as a ProfessionalPlus for DeltaV Serial Interface Port License (VE4102) if required. Minimum DeltaV Hardware Requirements DeltaV M and S Series Serial Modules. M-Series Model number is VE4006P2 S-Series Model number is SE4006P2 DeltaV M3, M5, M5+, MD, MD Plus, MX or SX Controller, Power Supply, Controller carrier and 8 wide I/O carrier 2

4 2 THEORY OF OPERATION DeltaV comprises an I/O sub-system, in which the PSIC is one type of card. The purpose of the PSIC is to serially integrate third-party devices, allowing data to be read into and written out from DeltaV. Each PSIC has 2 communication ports that can be configured as Master or Slave, using RS-232, RS-485 (Half Duplex), or RS-422 (Full Duplex). Various communications parameters, such as baud rate, are configurable. The PSIC can communicate with external devices using RS232, RS485 or RS422. However, only one external device may be connected to a PSIC port. The Port may be configured as Master or Slave, and there are 16 datasets available under each port. In Slave mode, the PSIC only receives NMEA 0183 messages (sentences), parses the data and stores the values into message specific dataset registers. Datasets must be configured to match identifiers of expected incoming messages. Messages with unmatched identifiers are discarded. In Master mode, the PSIC provides all the Slave functionality. In addition, one or more datasets may be configured to send NMEA messages out to external devices. Such messages are of type XDR (transducer) or proprietary. Control Modules in DeltaV are expected to create the message payload conforming to the NMEA 0183 format (i.e., comma separated values) and write it into the output dataset. The PSIC driver then takes this message payload without modification or validation and appends the NMEA header and checksum to it and sends it out. Note that this driver is not a general NMEA talker. It only generates specific proprietary ALM or Transducer XDR sentences as described in Sections and below. 3

5 3 Flashing the firmware The driver software distribution contains 8 files. These files must be copied to the DeltaV directory on your ProPlus Workstation. The path is: \DeltaV\ctl\ProgSerial\IOD-1196 NMEA 0183 Note that you will have to create this subdirectory. The following shows a completed copy operation: After copy completion, you are ready to program (or upgrade) the Programmable Serial Card with the supplied custom driver software. The steps are as follows: 4

6 1. Click on the Start button and select DeltaV-> Installation-> Controller Upgrade Utility as shown below, and the following dialog will appear: 2. Click on the Upgrade I/O Modules radio button, and then click Next. 5

7 3. The above dialog will appear, listing all the available Controllers in your network. From this dialog, select the appropriate Controller and then Click Next. 4. The following dialog will appear, listing all the I/O modules in your selected Controller. The shown list of I/O modules is an example only. Your list will be different. Note: The first time a standard Serial card is upgraded to the NMEA Driver, the dialog will be as shown below (card 8). When upgrading an existing Programmable Serial Card, skip Steps 5 and 6, and go to Step 7. 6

8 5. Click the Browse button and select the DeltaV path as shown below, and then click Ok. Note that the disk drive could be C or D. 7

9 6. Select the I/O module again as shown below and then click Next. Go to Step 9. 8

10 7. If you are upgrading an existing Programmable Serial Card, the dialog will be as shown below. From this dialog, select the Programmable Serial Card I/O Module in the list. For example, we will select I/O Module 8. This will give you a dialog, from which you will select the file path to where the driver software is located. This path will be: \DeltaV\ctl\ProgSerial\IOD-1196 NMEA 0183 Once you are in the specified directory, you will need to select the following file: NMEA.S2F This is shown in the following dialog. 9

11 8. After selecting the.s2f file, Click on Open. This dialog will close and you will be back to the following: 10

12 9. In this dialog, Click Next again. You will get the following dialog, confirming the Controller and I/O Module to program. 11

13 10. Click Next and the I/O Module upgrade process will begin. After completion, you will receive the following dialog, indicating success. 11. This completes the I/O Module upgrade process. 12

14 4 CONFIGURATION INFORMATION Powerful Solutions for Digital Plants 4.1 Port Configuration First, enable the port. Then click on the Advanced Tab and select Master or Slave. Next, click on the Communications Tab and specify the Port type. Configure the parameters to match the external NMEA 0183 Receiver or Talker device. 4.2 Device Configuration Specify a device corresponding to the external device. The device address is not used. 4.3 Dataset Configuration Datasets may be configured as Input or Output. Each input dataset is individually configured to receive a specific NMEA 0183 message. Output datasets are configured in Master mode only to send proprietary messages out to external devices Input Dataset Configuration: Configure input datasets as follows: Table 1 - Input Dataset Direction Input DeltaV Data Type Floating Point w/status Device Data Type Message ID see below Start Address 0 Number of Values 50 Special Data 1 0 or message number Special Data 2 0 Special Data 3 0 Special Data 4 0 Special Data

15 Specific sentences are supported. These are identified below. Specify the sentence ID in the dataset Device Data Type. Details of data received in each sentence and stored in dataset registers are described in Appendix. Table 2 - Message ID, Name and Description ID Message Name Description 0 N/A Proprietary Message Id, This is used only for Output Datasets to send a message from DeltaV to external devices. 1 AAM Waypoint Arrival Alarm 2 ALM GPS Almanac Data. This ID comprises more than one message. A dataset is selected for each expected message. Specify message number in Special Data 1 of the dataset. 3 APA Autopilot Sentence A 4 APB Autopilot Sentence B 5 BEC Bearing and distance to Waypoint Dead Reckoning 6 BOD Bearing Waypoint to Waypoint 7 BWC Bearing and distance to Waypoint latitude, N/S, Longitude, E/W, UTC, Status 8 BWR Bearing and distance to Waypoint Rhumb Line latitude, N/S, Longitude, E/W, UTC, Status 9 BWW Bearing Waypoint to Waypoint 10 DBK Depth below Keel 11 DBS Depth below surface 12 DBT Depth below Transducer 13 DPT Heading Deviation and Variation 14 FSI Frequency Set Information 15 GGA Global Positioning System Fix Data, Time, Position and fix related data for a GPS receiver 16 GLC Geographic Position, Loran-C 17 GLL Geographic Position Latitude/Longitude 18 GSA GPS DOP and active satellites 19 GSV Satellites in view. This ID comprises more than one message. A dataset is selected for each expected message. Specify message number in Special Data 1 of the dataset. 20 GTD Geographic Location in Time Differences 21 HDG Heading Deviation and Variation 22 HDM Heading Magnetic 23 HDT Heading True 24 HSC Heading Steering command 25 LCD Loran-C Signal Data 26 MSK MSK Receiver Interface (for DGPS Beacon Receivers) 27 MTW Water Temperature 28 MWD Weather 29 MWV Wind Speed and Angle 30 OSD Own ship data 31 ROO Waypoints in active route 32 RMA Recommended Minimum Navigation Information 14

16 Table 1 Message ID, Name and Description (Continued) 33 RMB Recommended Minimum Navigation Information 34 RMC Recommended Minimum Navigation Information 35 ROT Rate of Turn 36 RPM Revolutions 37 RSA Rudder Sensor Angle 38 RSD RADAR System Data 39 RTE Routes. This ID comprises more than one message. A dataset is selected for each expected message. Specify message number in Special Data 1 of the dataset. 40 SFI Scanning Frequency Information. This ID comprises more than one message. A dataset is selected for each expected message. Specify message number in Special Data 1 of the dataset. 41 STN Multiple Data ID 42 TLL Target Latitude and Longitude 43 TTM Tracked Target Message 44 VBW Dual Ground/Water speed 45 VDR Set and Drift 46 VHW Water Speed and Heading 47 VLW Distance Traveled through water 48 VPW Speed measured parallel to wind 49 VTG Track made good and Ground speed 50 VWR Relative Wind Speed and Angle 51 VWT Weather 52 WCV Waypoint Closure Velocity 53 WNC Distance Waypoint to Waypoint 54 WPL Waypoint Location 55 XDR Cross Track Error Dead Reckoning on input or Transducer value on output. 56 XTE Cross Track Error Measured 57 XTR Cross Track Error Dead Reckoning 58 ZDA Date & Time UTC, Day, Month, year and Local Time Zone 59 ZFO UTC & Time from Origin Waypoint 60 ZTG UTC & Time to Destination Waypoint 15

17 4.3.2 Input Dataset Example: This is an example of an Input dataset configured to receive the data from a GLL (ID=17) message. Step 1 Step 2 16

18 Step 3 17

19 The GLL message has the following format and information: Powerful Solutions for Digital Plants $GPGLL, ,S, ,E, ,A,A*7A<CR><LF> Lattitude S N or S North or South Longitude E E or W East or West Time in UTC format A Status A Data Valid, V-Data invalid This data is parsed and stored in dataset registers (shown below in DeltaV Diagnostics). The letters N, W and A are converted to numbers with A=65, B=66, etc. In this example, R202 is 83 indicating S, R204 is 69 indicating E, and R206 is 66 indicating A. 18

20 4.3.3 Output Dataset Configuration: Powerful Solutions for Digital Plants Output datasets may be configured only in Master mode to send proprietary messages to the external device. Configure output datasets as follows: Direction DeltaV Data Type Device Data Type Start Address 0 Number of Values 100 Special Data 1 0 Special Data 2 0 Special Data 3 0 Special Data 4 0 Special Data 5 0 Output String w/status 0 - Alarm message 55 - XDR Message Alarm Output Dataset Example: Output datasets may be configured only in Master mode. Configure the proprietary Alarm (ALM) output dataset as follows: Step 1 19

21 Step 2 Step 3 20

22 The following is an excerpt of an example DeltaV Control Module to create an Alarm message which is sent to the dataset for output to the external device. Dataset DS15 is the dataset created above. One of four possible alarms is generated by the ALM block. The CALC block takes this and performs the following logic: if ('IN1.CV' > 0) then if (Active = 0)then '/CURRENT_TIME' := time ('$time_format:local'); '^/PARAM1.CV' := "MYTAG," + time_to_str ("%D", '/CURRENT_TIME') + "," + time_to_str ("%T", '/CURRENT_TIME') + ",ALARM" + ",ACTIVE"; Active := 1; endif; else if (Active = 1)then '/CURRENT_TIME' := time ('$time_format:local'); '^/PARAM1.CV' := "MYTAG," + time_to_str ("%D", '/CURRENT_TIME') + "," + time_to_str ("%T", '/CURRENT_TIME') + ",ALARM" + ",INACTIVE"; Active := 0; endif; endif; If the Alarm is active, the message payload created is as follows: MYTAG, ,09:10:00,ALARM,ACTIVE If the Alarm was active but is now inactive, the message payload created is as follows: MYTAG, ,09:10:00,ALARM,INACTIVE MYTAG is associated Tag or DST in DeltaV. 21

23 The PSIC sends outputs to the external device only when a change of value is detected. On receipt of a new message from the DeltaV Controller, the PSIC reformats the message as follows: $PDALM, MYTAG, ,09:10:00,ALARM,ACTIVE*XX where XX is the message checksum XDR Output Dataset Example: Output datasets may be configured only in Master mode. Configure Transducer (XDR) output dataset as follows: Step 1 22

24 Step 2 Step 3 23

25 XDR Sentence Structure XDR messages have the following structure: $--XDR,A,x.x,B,C,...*HH -- Talker Identified. By default, this will be YX. This can be modified as shown below. XDR A x.x B C Message type (generated by driver) Transducer type (see below) The value being transmitted Units of measurement (see below) Name of transducer... Up to 3 additional transducer value groups (optional). Each value group comprises the type, value, units and name. *HH Message checksum (generated by driver) The sentence length is up to 80 characters, not including the $ sign and the terminating CR/LF. The maximum payload length is 71 characters, to which the "$--XDR," are prepended and appended by "*HH<CR><LF>" by the driver. Table 2 - Transducer Type and Units of Measurement Codes Transducer Type Units Comments Temperature C C Celsius Angular Displacement A D Degrees; "-" implies anticlockwise Linear Displacement D M Meters; "-" implies compression Frequency F H Hertz Force N N Newtons; "-" implies compression Pressure P P Pascals Flow Rate R L Liters/s Tachometer T R Revolutions/Min Humidity H P Percent Volume V M Cubic Meters Voltage U V Volts Current I A Amperes Wind Speed S K, M, N K=Km/hr, M=m/s, N=Knots Time (Duration) Z S Seconds Generic G None x.x = variable data 24

26 The following is an excerpt of an example DeltaV Control Module to create an XDR message which is sent to the dataset for output to the external device. The CALC Expression is as follows: '^/OUT1.CV' := '^/TRANSD-TYP1.CV' + "," + '^/PV-IN1.CV' + "," + '^/UNITS1.CV' + "," + '^/TRANSD-ID1.CV'; This expression will generate a message payload only for one transducer as follows: C, ,C,1 For four transducers, use the following expression. '^/OUT1.CV' := '^/TRANSD-TYP1.CV' + "," + '^/PV-IN1.CV' + "," + '^/UNITS1.CV' + "," + '^/TRANSD-ID1.CV' + '^/TRANSD-TYP2.CV' + "," + '^/PV-IN2.CV' + "," + '^/UNITS2.CV' + "," + '^/TRANSD-ID2.CV' + '^/TRANSD-TYP3.CV' + "," + '^/PV-IN3.CV' + "," + '^/UNITS3.CV' + "," + '^/TRANSD-ID3.CV' + '^/TRANSD-TYP4.CV' + "," + '^/PV-IN4.CV' + "," + '^/UNITS4.CV' + "," + '^/TRANSD-ID4.CV'; Dataset DS01 receives the resulting string. The PSIC sends outputs to the external device only when a change of value is detected. On receipt of a new message from the DeltaV Controller, the PSIC will reformat the message by prepending the payload with "$YXXDR," and appending the message checksum. The resulting message will be transmitted. Note: The driver will not make any modification to the message payload or check it for validity. Optionally, to modify the default Talker Identified YX, the CALC Expression can be used to prepend a user defined Identifier as follows: '^/OUT1.CV' := "[ER]" + '^/TRANSD-TYP1.CV' + "," + '^/PV-IN1.CV' + "," + '^/UNITS1.CV' + "," + '^/TRANSD-ID1.CV'; In this case, the identifier ER will be used instead of YX. Note that the user defined Identifier must be enclosed in brackets as shown. The identified is specified as characters A-Z and is validated by the driver. 25

27 4.3.6 XDR Input Dataset Example: XDR input datasets are of two types: Powerful Solutions for Digital Plants Legacy default - a single dataset is configured with XDR Device Data Type of 55, and Special Data 1 equal to 0; and Enhanced - a maximum of 3 datasets are configured with XDR Device Data Type of 55. Special Data 1 is further configured as the message number 1, 2 or 3. Configuring both types of XDR datasets under a given Port is not supported Enhanced XDR Dataset/Register Assignment Legacy XDR dataset register assignments are as discussed above (Section 4.3.2) for any Input dataset. Specifically, a single XDR message is expected from the field and incoming data is parsed and placed in datasets registers in the order received. For enhanced functionality, multiple incoming XDR messages are accepted, parsed and the data organized in preconfigured dataset/registers as follows. Note that all incoming data values comprise 4 elements: Transducer Type (See Table 2), Data Value, Units, and Transducer ID (in the range 0-4). Consequently for each Transducer Type, there may be up to five(5) incoming values as donated by the Transducer ID. Data values, i.e., group of 4 elements, may be received in any order and in any incoming message. With this architecture, 10 registers are allocated for each Transducer Type. Data for any Transducer ID greater than 4 is discarded. Note also that not all ID's may be in use. Data for unused ID's is reported to DeltaV as 0. Table 3 - XDR Dataset 1, Device Data Type = 55, Special Data 1 = 1 Temperature - Transducer Type C Transducer Type C ID 0 R1 Data R2 Units ID 1 R3 Data R4 Units ID 2 R5 Data R6 Units ID 3 R7 Data R8 Units ID 4 R9 Data R10 Units Pressure - Transducer Type P Transducer Type P ID 0 R11 Data R12 Units ID 1 R13 Data R14 Units ID 2 R15 Data R16 Units ID 3 R17 Data R18 Units ID 4 R19 Data R20 Units 26

28 Table 3 - XDR Dataset 1, continued Flow Rate - Transducer Type R Transducer Type R ID 0 R21 Data R22 Units ID 1 R23 Data R24 Units ID 2 R25 Data R26 Units ID 3 R27 Data R28 Units ID 4 R29 Data R30 Units Angular Displacement - Transducer Type A Transducer Type A ID 0 R31 Data R32 Units ID 1 R33 Data R34 Units ID 2 R35 Data R36 Units ID 3 R37 Data R38 Units ID 4 R39 Data R40 Units Linear Displacement - Transducer Type D Transducer Type D ID 0 R41 Data R42 Units ID 1 R43 Data R44 Units ID 2 R45 Data R46 Units ID 3 R47 Data R48 Units ID 4 R49 Data R50 Units 27

29 Table 4 - XDR Data 2, Device Data Type = 55, Special Data 1 = 2 Flow Rate - Transducer Type H Transducer Type H ID 0 R1 Data R2 Units ID 1 R3 Data R4 Units ID 2 R5 Data R6 Units ID 3 R7 Data R8 Units ID 4 R9 Data R10 Units Frequency - Transducer Type F Transducer Type F ID 0 R11 Data R12 Units ID 1 R13 Data R14 Units ID 2 R15 Data R16 Units ID 3 R17 Data R18 Units ID 4 R19 Data R20 Units Force - Transducer Type N Transducer Type N ID 0 R21 Data R22 Units ID 1 R23 Data R24 Units ID 2 R25 Data R26 Units ID 3 R27 Data R28 Units ID 4 R29 Data R30 Units 28

30 Table 4 - XDR Data 2, continued Tachometer - Transducer Type T Transducer Type T ID 0 R31 Data R32 Units ID 1 R33 Data R34 Units ID 2 R35 Data R36 Units ID 3 R37 Data R38 Units ID 4 R39 Data R40 Units Volume - Transducer Type V Transducer Type V ID 0 R41 Data R42 Units ID 1 R43 Data R44 Units ID 2 R45 Data R46 Units ID 3 R47 Data R48 Units ID 4 R49 Data R50 Units 29

31 Table 5 - XDR Data 3, Device Data Type = 55, Special Data 1 = 3 Voltage - Transducer Type U Transducer Type U ID 0 R1 Data R2 Units ID 1 R3 Data R4 Units ID 2 R5 Data R6 Units ID 3 R7 Data R8 Units ID 4 R9 Data R10 Units Current - Transducer Type I Transducer Type I ID 0 R11 Data R12 Units ID 1 R13 Data R14 Units ID 2 R15 Data R16 Units ID 3 R17 Data R18 Units ID 4 R19 Data R20 Units Switch or Valve - Transducer Type S Transducer Type S ID 0 R21 Data R22 Units ID 1 R23 Data R24 Units ID 2 R25 Data R26 Units ID 3 R27 Data R28 Units ID 4 R29 Data R30 Units 30

32 Table 5 - XDR Data 3, continued Time (Duration) - Transducer Type Z Transducer Type Z ID 0 R31 Data R32 Units ID 1 R33 Data R34 Units ID 2 R35 Data R36 Units ID 3 R37 Data R38 Units ID 4 R39 Data R40 Units Generic - Transducer Type G Transducer Type G ID 0 R41 Data R42 Units ID 1 R43 Data R44 Units ID 2 R45 Data R46 Units ID 3 R47 Data R48 Units ID 4 R49 Data R50 Units Note: For Generic Transducers, character data is not stored. DeltaV will report it as 0. 31

33 5 Operational Check 5.1 Scope The following sections provide some assistance to ensure the interface is working properly. 5.2 Verify Hardware and Software Version Number The user can verify that the driver has been installed using the DeltaV Diagnostics tool. The Diagnostics tool will show the Hardware Revision No. (HwRev) and the Software Revision No. (SwRev). To begin the DeltaV Diagnostic tool select Start-> DeltaV-> Operator-> Diagnostics. In the Diagnostics tool expand the Controller, I/O and then double click on the Programmable Serial Interface Card that has the driver installed. The following information will be displayed: : : : HwRev Hardware Revision 1.1 (or later) SwRev Software Revision P1.55 (or later) 5.3 Verify Configuration Verify port configuration: The serial port must be enabled. User needs to make sure communication settings such as baud rate, parity, and number of data bits match the field device settings. Verify dataset configuration: The datasets configured must be as shown above. 5.4 Verify I/O Communication With Control Studio User can create I/O modules in the control studio to verify correct values are read from the PSIC. For AI and DI data, the values should be changed in the field device and verified that the new data are correctly reported in DeltaV. Similarly, verify that the AO and DO data is being written correctly from DeltaV to the field device. 5.5 Using Diagnostics Verify PSIC communication: Select the PSIC on Diagnostics and press the right mouse button. Select Display Real -Time Statistics from the drop down menu. If the Programmable Serial Interface Card is functioning then the user will see the Valid Responses counter and the Async and/or Sync Transactions counters incrementing. There will not be any error counting up. Verify port statistics: Select the Port on the Programmable Serial Interface Card and press the right mouse button. Then select Display Port Statistics form the drop down menu. Verify that the port communications statistics are being displayed properly and are counting as expected for the protocol s functionality. 32

34 Verify dataset values: Select a dataset and press the right mouse button. Select View Dataset Registers from the Drop down window. Verify that the dataset values are displayed as expected. Verify that there are no errors at the dataset level. 5.6 LED Indication The Yellow LED for the port should be on solid when all communications on that port are valid. The Yellow LED should be blinking if there is some valid communications and some communications with errors on that port. The Yellow LED should be OFF if there are no valid communications on that port. 33

35 6 Connecting DeltaV PSIC to the NMEA 0183 Device The electrical interface between DeltaV and field devices conforms to the RS-232 and RS-422/485 standards. 6.1 RS-232 Pin Assignments for DeltaV PSIC In general, only use 3 conductors and jumper Terminals 7-8 for Port 1, and for Port 2. Terminal Number Signal Description 1 Port 1 - Isolated Ground (GND) 2 Unused 3 Port 1 - Transmit Data (TXD) 4 Unused 5 Port 1 - Receive Data (RXD) 6 Unused 7 Port 1 - Data Terminal Ready (DTR) 8 Port 1 - Dataset Ready (DSR) 9 Port 2 - Isolated Ground (GND) 10 Unused 11 Port 2 - Transmit Data (TXD) 12 Unused 13 Port 2 - Receive Data (RXD) 14 Unused 15 Port 2 - Data Terminal Ready (DTR) 16 Port 2 - Dataset Ready (DSR) 34

36 6.2 RS-422/485 Pin Assignments for DeltaV PSIC Terminal Number Signal Description 1 Port 1 - Isolated Ground (GND) 2 Port 1 Half Duplex Data+/Full Duplex TXD+ 3 Unused 4 Port 1 - Half Duplex Data -/ Full Duplex TXD- 5 Unused 6 Port 1 - Full Duplex RXD+ 7 Unused 8 Port 1 - Full Duplex RXD- 9 Port 2 - Isolated Ground (GND) 10 Port 2 - Half Duplex Data+ / Full Duplex TXD+ 11 Unused 12 Port 2 - Half Duplex Data-/ Full Duplex TXD- 13 Unused 14 Port 2 - Full Duplex RXD+ 15 Unused 16 Port 2 - Full Duplex RXD- 35

37 7 Technical Support For technical support or to report a defect, please give MYNAH Technologies a call at (636) If a defect is discovered, please document it in as much detail as possible and then fax your report to us at (636) You can also send us your questions via . Our addresses are: support@mynah.com Thank you for using DeltaV. 36

38 8 Appendix Sentence Details Powerful Solutions for Digital Plants The following is a description of the message data received and parsed into dataset registers. All numeric (integer and floating point) values are converted and stored into dataset registers directly. For single character data, the translation is as follows: Single character Data stored in DeltaV dataset register received A 101 B 102 C Z 126 a 201 b 202 c z 226 AAM Waypoint Arrival Alarm R1 R2 R3 R4 R5 Status Arrival circle entered Status Perpendicular passed at waypoint Arrival circle radius Units of radius, nautical miles Waypoint ID ALM GPS Almanac Data. This ID comprises more than one message. A dataset is selected for each expected message. Specify message number in Special Data 1 of the dataset. R1 Total number of messages R2 Message number R3 Satellite PRM number (1-32) R4 GPS week number R5 SV health R6 Eccentricity R7 Almanac Reference time R8 Inclination angle R9 Rate of right Ascension R10 Root of semi-major axis 37

39 R11 R12 R13 R14 R15 Argument of perigee Longitude of Ascension node Mean anomaly F0 clock parameter F1 clock parameter APA APB BEC Autopilot Sentence A R1 V=LORAN-C Blink or SNR warning; A=general warning flag or other navigation systems when a reliable fix is not available R2 V=Loran-C Cycle lock warning flag; A=Ok or not used R3 Cross track error magnitude R4 Direction to steer R5 Cross track units R6 A=Arrival Circle entered R7 A=Perpendicular passed at waypoint R8 Bearing to original destination R9 M=Magnetic, T=True R10 Destination waypoint ID Autopilot Sentence B R1 V=LORAN-C Blink or SNR warning; A=general warning flag or other navigation systems when a reliable fix is not available R2 V=Loran-C Cycle lock warning flag; A=Ok or not used R3 Cross track error magnitude R4 Direction of steer R5 Cross track units N=nautical miles) R6 A=Arrival Circle entered R7 A=Perpendicular passed at waypoint R8 Bearing origin to destination R9 M=Magnetic, T=True R10 Destination waypoint ID R11 Bearing present position to destination R12 M=Magnetic, T=True R13 Heading to steer to destination waypoint R14 M=Magnetic, T=True Bearing and distance to Waypoint Dead Reckoning R1 Time (UTC) R2 Waypoint Latitude R3 N=North, S=South R4 Waypoint Longitude R5 E=East, W=West R6 Bearing True R7 T=True R8 Bearing Magnetic R9 M=Magnetic R10 Nautical miles R11 N=Nautical miles R12 Waypoint ID 38

40 BOD BWC BWR Bearing Waypoint to Waypoint R1 Bearing Degrees, TRUE R2 T = True R3 Bearing Degrees, Magnetic R4 M = Magnetic R5 TO Waypoint R6 FROM Waypoint Bearing and distance to Waypoint latitude, N/S, Longitude, E/W, UTC, Status R1 Time (UTC) R2 Waypoint Latitude R3 N = North, S = South R4 Waypoint Longitude R5 E = East, W = West R6 Bearing, True R7 T = True R8 Bearing, Magnetic R9 M = Magnetic R10 Nautical Miles R11 N = Nautical Miles R12 Waypoint ID Bearing and distance to Waypoint Rhumb line latitude, N/S, Longitude, E/W, UTC, Status R1 Time (UTC) R2 Waypoint Latitude R3 N = North, S = South R4 Waypoint Longitude R5 E = East, W = West R6 Bearing, True R7 T = True R8 Bearing, Magnetic R9 M = Magnetic R10 Nautical Miles R11 N = Nautical Miles R12 Waypoint ID BWW Bearing Waypoint to Waypoint R1 Bearing Degrees, TRUE R2 T = True R3 Bearing Degrees, Magnetic R4 M = Magnetic R5 TO Waypoint R6 FROM Waypoint 39

41 DBK DBS DBT DPT FSI Depth below Keel R1 Depth, feet R2 f = feet R3 Depth, meters R4 M = meters R5 Depth, Fathoms R6 F = Fathoms Depth below surface R1 Depth, feet R2 f = feet R3 Depth, meters R4 M = meters R5 Depth, Fathoms R6 F = Fathom Depth below Transducer R1 Depth, feet R2 f = feet R3 Depth, meters R4 M = meters R5 Depth, Fathoms R6 F = Fathom Heading Deviation and Variation R1 Depth, meters R2 Offset from transducer; Positive means distance from transducer to water line, Negative means distance from transducer to keel Frequency Set Information R1 Transmitting Frequency R2 Receiving Frequency R3 Communications Mode (NEA Syntax 2) R4 Power Level GGA Global Positioning System Fix Data, Time, Position and fix related data for a GPS receiver R1 Time (UTC) R2 Latitude R3 N or S (North or South) R4 Longitude R5 E or W (East or West) R6 GPS Quality Indicator, 0 fix not available, 1 GPS fix, 2 Differential GPS fix R7 Number of satellites in view, R8 Horizontal Dilution of precision R9 Antenna Altitude above/below mean-sea-level (geoid) R10 Units of antenna altitude, meters 40

42 R11 Geoidal separation, the difference between the WGS-84 earth ellipsoid and the mean-sea-level (geoid), - means mean-sea-level below ellipsoid R12 Units of geoidal separation, meters R13 Age of differential GPS data, time in seconds since last SC104 R14 Differential reference station ID, GLC GLL GSA Geographic Position, Loran-C R1 GRI Microseconds/10 R2 Master TOA Microseconds R3 Master TOA Signal Status R4 Time Difference 1 Microseconds R5 Time Difference 1 Signal Status R6 Time Difference 2 Microseconds R7 Time Difference 2 Signal Status R8 Time Difference 3 Microseconds R9 Time Difference 3 Signal Status R10 Time Difference 4 Microseconds R11 Time Difference 4 Signal Status R12 Time Difference 5 Microseconds R13 Time Difference 5 Signal Status Geographic Position Latitude/Longitude R1 Latitude R2 N or S (North or South) R3 Longitude R4 E or W (East or West) R5 Time (UTC) R6 Status A Data Valid, V Data Invalid GPS DOP and active satellites R1 Selection mod R2 Mode R3 ID of 1st satellite use for fix R4 ID of 2nd satellite use for fix R5 ID of 3rd satellite use for fix R6 ID of 4th satellite use for fix R7 ID of 5th satellite use for fix R8 ID of 6th satellite use for fix R9 ID of 7th satellite use for fix R10 ID of 8th satellite use for fix R11 ID of 9th satellite use for fix R12 ID of 10th satellite use for fix R13 ID of 11th satellite use for fix R14 ID of 12th satellite use for fix R15 PDOP in meters R16 HDOP in meters R17 VDOP in meters 41

43 GSV GTD HDG HDM HDT HSC LCD Satellites in view. This ID comprises more than one message. A dataset is selected for each expected message. Specify message number in Special Data 1 of the dataset. R1 Total number of messages R2 Message number R3 Satellites in view R4 Satellite number R5 Elevation in degrees R6 Azimuth in degrees to true R7 SNR in db more satellite infos like 4)-7) Geographic Location in Time Differences R1 Time difference R2 Time difference R3 Time difference R4 Time difference R5 Time difference Heading Deviation and Variation R1 Magnetic Sensor heading degrees R2 Magnetic Deviation, degrees R3 Magnetic Deviation direction, E = Easterly, W = Westerly R4 Magnetic Variation degrees R5 Magnetic Variation direction, E = Easterly, W = Westerly Heading Magnetic R1 Heading Degrees, magnetic R2 M = magnetic Heading True R1 Heading Degrees, true R2 T = True Heading Steering command R1 Heading Degrees, True R2 T = True R3 Heading Degrees, Magnetic R4 M = Magnetic Loran-C Signal Data R1 GRI Microseconds/10 R2 Master Relative SNR R3 Master Relative ECD R4 Time Difference 1 Microseconds R5 Time Difference 1 Signal Status R6 Time Difference 2 Microseconds R7 Time Difference 2 Signal Status R8 Time Difference 3 Microseconds R9 Time Difference 3 Signal Status R10 Time Difference 4 Microseconds 42

44 R11 R12 R13 Time Difference 4 Signal Status Time Difference 5 Microseconds Time Difference 5 Signal Status MSK MTW MWD MWV OSD ROO MSK Receiver Interface (for DGPS Beacon Receivers) R1 Frequency in khz (283.5 to 325.0) R2 Frequency Selection M1 = Manual A1 = Automatic (field 1 empty) R3 MSK bit rate (100 or 200) R4 Bit Rate Selection M2 = Manual A2 = Automatic (field 3 empty) R5 Period of output of performance status message, 0 to 100 seconds ($CRMSS) Water Temperature R1 Degrees R2 Unit of Measurement, Celsius Weather Format Unknown Wind Speed and Angle R1 Wind Angle, 0 to 360 Degrees R2 Reference, R = Relative, T = True R3 Wind Speed R4 Wind Speed Units, K/M/N R5 Status, A = Data Valid Own ship data R1 Heading, degrees true R2 Status, A = Data Valid R3 Vessel Course, degrees True R4 Course Reference R5 Vessel Speed R6 Speed Reference R7 Vessel Set, degrees True R8 Vessel drift (speed) R9 Speed Units Waypoints in active route R1 Waypoint ID RX More waypoints 43

45 RMA RMB RMC ROT Recommended Minimum Navigation Information R1 Blink Warning R2 Latitude R3 N or S R4 Longitude R5 E or W R6 Time Difference A, µs R7 Time Difference B, µs R8 Speed Over Ground, Knots R9 Track Made Good, degrees true R10 Magnetic Variation, degrees R11 E or W Recommended Minimum Navigation Information R1 Status, V = Navigation receiver warning R2 Cross Track error nautical miles R3 Direction to Steer, Left or Right R4 TO Waypoint ID R5 FROM Waypoint ID R6 Destination Waypoint Latitude R7 N or S R8 Destination Waypoint Longitude R9 E or W R10 Range to destination in nautical miles R11 Bearing to destination in degrees True R12 Destination closing velocity in knots R13 Arrival Status, A = Arrival Circle Entered Recommended Minimum Navigation Information R1 Time (UTC) R2 Status, V = Navigation receiver warning R3 Latitude R4 N or S R5 Longitude R6 E or W R7 Speed over ground, knots R8 Track made good, degrees true R9 Date, ddmmyy R10 Magnetic Variation, degrees R11 E or W Rate of Turn R1 Rate Of Turn, degrees per minute, - means bow turns to port R2 Status, A means data is valid 44

46 RPM RSA RSD RTE SFI STN TLL Revolutions R1 Source; S = Shaft, E = Engine R2 Engine or shaft number R3 Speed, Revolutions per minute R4 Propeller pitch, % of maximum, - means astern R5 Status, A means data is valid Rudder Sensor Angle R1 Starboard (or single) rudder sensor, - means Turn To Port R2 Status, A means data is valid R3 Port rudder sensor R4 Status, A means data is valid RADAR System Data R9 Cursor Range From Own Ship R10 Cursoer Bearing Degrees Clockwise From Zero R11 Range Scale R12 Range Units Routes. This ID comprises more than one message. A dataset is selected for each expected message. Specify message number in Special Data 1 of the dataset. R1 Total number of messages being transmitted R2 R3 R4 RX Message Number Message mode C = complete route, all waypoints W = working route, the waypoint you just left, the waypoint you re heading to, then all the rest Waypoint ID More waypoints Scanning Frequency Information. This ID comprises more than one message. A dataset is selected for each expected message. Specify message number in Special Data 1 of the dataset. R1 Total Number Of Messages R2 Message Number R3 Frequency 1 R4 Mode 1 Multiple Data ID R1 Talker ID Number Target Latitude and Longitude R Format Unknown 45

47 TTM VBW VDR VHW VLW Tracked Target Message R1 Target Number R2 Target Distance R3 Bearing from own ship R4 Bearing Units R5 Target speed R6 Target Course R7 Course Units R8 Distance of closest-point-of-approach R9 Time until closest-point-of-approach - means increasing R10 - means increasing R11 Target name R12 Target Status R13 Reference Target Dual Ground/Water speed R1 Longitudinal water speed, - means astern R2 Transverse water speed, - means port R3 Status, A = data valid R4 Longitudinal ground speed, - astern R5 Transverse ground speed, - means port R6 Status, A = data valid Set and Drift R1 Degrees True R2 T = True R3 Degrees Magnetic R4 M = Magnetic R5 Knots (speed of current) R6 N = Knots Water Speed and Heading R1 Degrees True R2 T = True R3 Degrees Magnetic R4 M = Magnetic R5 Knots (speed of current) R6 N = Knots R7 Kilometers (speed of vessel relative to the water) R8 K = Kilometers Distance Traveled through water R1 Total cumulative distance R2 N = Nautical Miles R3 Distance since Reset R4 N = Nautical Miles 46

48 VPW VTG VWR VWT WCV WNC WPL Speed measured parallel to wind R1 Speed, - means downwind R2 N = Knots R3 Speed, - means downwind R4 M = Meters per second Track made good and Ground speed R1 Track Degrees R2 T = True R3 Track Degrees R4 M = Magnetic R5 Speed Knots R6 N = Knots R7 Speed Kilometers Per Hour R8 K = Kilometers Per Hour Relative Wind Speed and Angle R1 Wind Direction magnitude in degrees R2 L or R - Wind direction Left/Right of bow R3 Speed R4 N = Knots R5 Speed R6 M = Meters Per Second R7 Speed R8 K = Kilometers Per Hour Weather (format same as VWR) Waypoint Closure Velocity R1 Velocity R2 N = Knots R3 Waypoint ID Distance Waypoint to Waypoint R1 Distance, Nautical Miles R2 N = Nautical Miles R3 Distance, Kilometers R4 K = Kilometers R5 TO Waypoint R6 FROM Waypoint Waypoint Location R1 Latitude R2 N or S (North or South) R3 Longitude R4 E or W (East or West) R5 Waypoint Name 47

49 XDR XTE XTR ZDA ZFO ZTG Cross Track Error Dead Reckoning R1 Transducer type (see Table 2) R2 Measurement data R3 Units of measurement R4 Transducer ID (0-4) Rx More of the same Cross Track Error Measured R1 Status V = LORAN-C blink or SNR warning A = general warning flag or other navigation systems when a reliable fix is not available R2 Status V = Loran-C cycle lock warning flag A = OK or not used R3 Cross track error magnitude R4 Direction to steer, L or R R5 Cross track units. N = Nautical Miles Cross Track Error Dead Reckoning R1 Magnitude of cross track error R2 Direction to steer, L or R R3 Units, N = Nautical Miles Date & Time UTC, Day, Month, year and Local Time Zone R1 Local zone minutes descriptions, same sign as local hours R2 Local zone description, 00 to +/- 13 hours R3 Year R4 Month, 01 to 12 R5 Day, 01 to 31 R6 Time (UTC) UTC & Time from Origin Waypoint R1 Time (UTC) R2 Elapsed Time R3 Origin Waypoint ID UTC & Time to Destination Waypoint R1 Time (UTC) R2 Time Remaining R3 Destination Waypoint ID 48

50 9 Revision History Revision Checked Approved Date Description Number By By 1.55 NFW NFW Sept, 2011 Internal Release 1.56 NFW NFW Nov, 2011 Added NMEA sentence format details NFW NFW Sept, 2013 Added functionality to output XDR sentences NFW NFW Feb, 2017 Rebuilt to use Emerson Toolkit v3.02 Corrected Units char conversion defect. Units codes now match the actual ASCII decimal representations NFW NFW May, 2017 Added enhanced XDR message handling capability. Driver accepts multiple XDR messages and parses/organizes the incoming data into multiple datasets. 49