Operation OEM6 Cards and Enclosures
Chapter 4
OEM6 Family Installation and Operation User Manual Rev 12
74
4.10.2 CAN Bus (not available on the FlexPak6D)
OEM6 cards incorporate a CAN Bus controller that supports physical layer signals and low level messages
specified in the appropriate sections of the J1939 and ISO11783 standards. Manufacturers can also create
messages specific to their application without violating these standards. To facilitate manufacturer messages,
NovAtel provides an Application Program Interface (API). To obtain information about this API, contact
CAN interfaces can be accessed using NovAtel’s API, but shared signals must be disabled to avoid conflicts.
Refer to
Section A.1.1, Physical Description
Section D.1.1, Physical Description
and
Section E.1.1, Physical Description
on page 163 in this manual for pin-out information.
OEM6 receivers support only the following NMEA2000 Parameter Group Messages (PGN) at these fixed
rates over the CAN bus:
•
PGN 129029 GNSSPositionData (1 Hz)
•
PGN 129025 GNSSPositionRapidUpdate (10 Hz)
•
PGN 129026 COGandSOGRapidUpdate (10 Hz)
•
PGN 129027 PositionDeltaRapidUpdate (10 Hz - available on OEM628 platforms only)
There are no CAN transceivers on the OEM615, OEM617, OEM617D or OEM628. These cards
require external CAN transceivers and proper bus terminations.
The OEM615, OEM617 and OEM617D have two CAN ports: CAN1 and CAN2 support up to 1
Mbps. CAN1 is multiplexed with user VARF and EVENT2, so the following commands must
be issued to enable CAN1:
FREQUENCYOUT DISABLE
MARKCONTROL MARK2 DISABLE
The OEM628 card has two CAN ports: CAN1 and CAN2, both of which are brought out to the
expansion connector, P1502. CAN1 and CAN2 both support applications up to 1 Mbps.
The OEM638 card has two CAN ports: CAN1 and CAN2, both of which are brought out to the
expansion connector, J4101. CAN1 and CAN2 both support applications up to 1 Mbps.
CAN Bus functionality can be controlled through NovAtel’s optional API software. The API
header file includes documentation on using the CAN bus.
The FlexPak6 has a CAN port that supports applications up to 1 Mbps (refer to
FlexPak6 Technical Specifications
on page 190 for input/output).
The CAN must be activated by entering the
SETCANNAME
command. To have the CAN set up
automatically at subsequent start ups, also send the
SAVECONFIG
command. For information
about these commands, see the
OEM6 Family Firmware and Reference Manual
(OM-20000129).
Details for the PGN messages can be found in the NMEA2000 specification which can be
purchased directly from the National Marine Electronics Association (
