Power RTNU

PowerRTNU
User Manual
Document Revision 7.0
September 2019
PowerRTNU
User Manual
7.0
July 2019
Concept Systems Limited*
1 Logie Mill, Beaverbank Business Park

Logie Green Road, Edinburgh
EH7 4HG, Scotland
Tel: (+44)131 557 5595

Fax: (+44)131 557 2367
Email: [email protected]
Website: www.iongeo.com
*Concept Systems Limited is a wholly-owned subsidiary of ION Geophysical Corporation (ION).
Copyright © 2019 ION. All rights reserved. Information subject to change without notice.
Print Date September 11, 2019
Disclaimer This document is the property of ION. It must not be copied, in whole or in part, or
otherwise disclosed, without prior written consent. Any copies of this document, or
part thereof, must also include a copy of this legend. This document is supplied
without liability for errors or omissions.
Trademarks ION has attempted, throughout this book, to distinguish proprietary trademarks from
descriptive terms by following the capitalisation style used by the manufacturer. All
brand names and product names used in this book are trade names, service marks,
trademarks, or registered trademarks of their respective owners.
Contents
About this document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter 2. EMC Compliance and Electrical Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 3. Hardware Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Block diagram of PowerRTNU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Rear panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Key. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Dimensions and Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Connectors and LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Serial Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Ethernet Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Triggers Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Spares. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
PowerRTNU Expansion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
PowerRTNU Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
VME PowerPC Processor Card - MVME2434 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Key features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Jumper and Switch Positions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Panel and Indicator LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
VME Ethernet Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Contents 3
Front Panel Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
About Ethernet Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Serial PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Ethernet PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Digital PMC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Ethernet Networks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Ethernet PMC ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Onboard Ethernet port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Trimble ThunderBolt GPS Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
External 1PPS & Serial Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
External Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
GPS Receiver Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Trimble Bullet II / Bullet III Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
VME Transition Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
The rear panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
VTM-41, Serial/Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
VTM-41 RS232 Serial S1 to S8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
VTM-42, Serial/Triggers/GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
VTM-42 RS232 & RS422/RS485/NMEA0183 Serial S9 to S15 . . . . . . . . . . . . . . . . . . . . . . . 39
VTM-42 Output Trigger, TTL - TO.01 Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
VTM-42 Output Trigger, Relay - TO.01 Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
VTM-42 Input Trigger, TTL & Relay - TI.1 Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
GPS TSIP Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
VTM-42 Board Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
VTM-43, Serial (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
VTM-43 RS232 Serial S16 to S23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Chapter 4. Hardware Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Installation Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
GPS Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Trimble Bullet III Incompatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Installation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Hardware Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Triggers Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Serial Port Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4 Contents
Buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
External 1PPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Chapter 5. Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Data Server/ Data Server Router . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
PowerRTNU Control Process (PCP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Timing/Triggers/GPS Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Distributed Time Using VME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Serial DSN Interface Process (SDI) & Serial Output Device (SOD) . . . . . . . . . . . . . . . . . . . . . . . . 56
Serial Output Device (SOD). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Interface Serial Read Function (SRF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Interface Application Process (IAP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
NTP – Network Time Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Typical setup for PowerRTNU Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Typical setup for client Workstation(s). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Additional Chronyd Configuration Steps for Gator in Red Hat 7 (RHEL7) Environment . . . . . 59
Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Debug Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Enhancements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Chapter 6. PowerRTNU Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Configuring the PowerRTNU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Configuration Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Boot Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Network addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Object module downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Initialisation and configuration commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Task start commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Time Break trigger debounce command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Zero Phase trigger mode command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
NMEA Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Slave Processor Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
DRN Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Configuring the DRN with UNIX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Configuring the PowerRTNU DRN using VxWorks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Note on connection and reconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Data Server Direct Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Configuring the mn.ini file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Configuring the PowerRTNU .rc file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Contents 5
Chapter 7. Diagnostic Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
The diagnostic procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
UDP Message Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Starting the UDP message server with default values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Configuring the PowerRTNU to use the UDP message server . . . . . . . . . . . . . . . . . . . . . . . . 85
Displaying debug messages from each processor card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Stopping the UDP Message Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
UDP Display Node - message server with user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Using the VxWorks shell. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Accessing the VxWorks shell. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Obtaining task information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Producing a stack trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Checking free RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Checking the Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Obtaining Debug Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Setting debug options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Getting help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Listing Available Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Thunderbolt GPS Clock-Verification Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
External Hardware Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Slow PowerRTNU boot or boot timeout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Address Resolution Protocol (ARP) Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
ARP Flux Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
RARP Solution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Chapter 8. Cable Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Fischer to Fischer Cable Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Fischer to BNC Cable Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Null Modem-RS232 Adaptor, RJ45 Jack / DB9S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
RS232 Adaptor, RJ45 Jack / DB9S. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
RS422 Adaptor, RJ45 Jack / DB9S. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
RJ45 Ethernet 1-1 Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
RJ45 Ethernet XOVER Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
GPS DIAG Adaptor, RJ45 Jack / DB9S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
GPS NMEA Adaptor, RJ45 Jack / DB9S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
GPS TSIP Adaptor, RJ45 Jack / DB9S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
RS232 RX/TX XOVER Adaptor, RJ45 Jack / DB9S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Internal CAT5 Cable Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Fischer to Flying Lead Cable Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
RS232 CAT5 Adaptor Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
PowerRTNU / DDII Serial Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
PowerRTNU RS232 CAT5 XOVER Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
PowerRTNU Fischer to BNC SKT Cable Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
6 Contents
Appendix A. Routes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Adding a Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Determining the Gateway and Destination I.P. Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Deleting a Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Showing a Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Appendix B. Configuring RSH (Remote Shell). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

hosts.equiv and .rhosts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Format of the hosts.equiv file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
The hosts file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
xinetd and rshd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
rshd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Making Changes to xinetd configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Appendix C. Navigation Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Appendix D. Spares Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Appendix E. GPS Signal Distributor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Surge Suppression Option (Lightning Strike) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Appendix F. RS422 Wiring Anomaly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Appendix G. RTNU to PowerRTNU Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

PowerRTNU Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Triggers Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Serial Port Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
External 1PPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Appendix H. Data Distributor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Appendix I. PowerRTNU GPS Bullet III Modification. . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Modification Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Contents 7
Installation Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Appendix J. Tests performed and EMC Certificate of Conformity. . . . . . . . . . . . . . . . . 143
Appendix K. VTM Port Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

VTM-41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
VTM-42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
VTM-43 (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Appendix L. CPU Card Upgrade Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Single to Two VME CPU Card Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Two to Three VME CPU Card Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Single to Three VME CPU Card Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Appendix M. Upgrade Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Ethernet PMC, Boot PROM and Kernel Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Hardware & Software Release . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Boot PROM identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Kernel identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Appendix N. Changing A Socketed Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Changing a Socketed Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Tools required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Check for spares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Power the unit off. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Prepare ESD safe area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Remove and replace the suspect device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
8 Contents
About this document
This document is the user manual for the PowerRTNU, the new generation Concept
real time navigation unit.
The PowerRTNU is part of Concept’s integrated navigation systems for marine
geophysical survey.
PowerRTNU User Manual 9

10 PowerRTNU User Manual
Chapter 1. Introduction
The PowerRTNU is a new real time navigation unit from Concept Systems and is the
successor to the well established RTNU. The PowerRTNU uses the latest robust and
proven off-the-shelf VME based CPU boards populated with suitable PCI Mezzanine
Cards (PMCs) along with custom-built VME Transition Modules designed and
manufactured by Concept.
The standard configuration unit has the capability to talk to 15 serial sensors or
devices, 12 TTL (or Relay) Output Triggers as well as 6 TTL (or Relay) Input
Triggers. 100 Mbit/Sec Ethernet is supported both for external navigation network
(VME Slot #1 Controller Card only) and internal PowerRTNU network (all VME CPU
Cards). VME Slot #1 Controller Card has a 3rd Ethernet port for direct
communication with onboard devices such as Recording Systems and Gun
Controllers. Additional functionality can be achieved using further VME CPU boards
populated with PMCs along with suitable VME Transition Modules, for example
currently such an option is available which gives a further 8 serial ports.
A built-in GPS clock is used to keep system time to better than 50 microseconds,
and provides approximate position for estimating network calculation. The Trimble
Thunderbolt GPS Clock uses an oven controlled oscillator to keep good system time
in the event of a bad GPS signal, this is particularly useful in multi-vessel operations.
The Real Time Operating System (RTOS) running on each VME CPU board is
VxWorks from Wind River.
The PowerRTNU utilises the VME64x backplane bus - the latest version of VMEbus,
a well established multiprocessing computer architecture.
The combination of VMEbus architecture, enhanced CPU power, increased memory
capacity and VxWorks RTOS ensures that the PowerRTNU has built-in future
proofing. The PowerRTNU enclosure or chassis has been designed to meet
ElectroMagnetic Compatibility (EMC) standards and reliability is guaranteed, Mean
Time Between Failure (MTBF) of VME CPU boards is 22 years.
If upgrading a PowerRTNU, refer to “CPU Card Upgrade Procedure” on page 149.

Chapter 1. Introduction

Chapter 2. EMC Compliance and Electrical
Safety
PowerRTNU (Serial # 00016) has undergone and passed EMC Compliance Testing
to the following European Specifications.
EN 61000-6-4: 2001: Electromagnetic Compatibility, Generic Emission Standard Part 6-4. Industrial
Environment.
EN 61000-6-2: 2001: Electromagnetic Compatibility, Generic Immunity Standard Part 6-2. Industrial
Environment.
Note
See “Tests performed and EMC Certificate of Conformity” on page 143.
EN 60950: 2000: PowerRTNU (Serial # 00016) has also undergone Electrical Safety Assessment or
Low Voltage Directive Testing LVDT.
All recommendations have been implemented and CE mark applied to Power label
as shown below:
Universal Input PSU

90-255V, 47-63Hz
Max Power 400W
<1.5A @ 220V AC
<3.0A @110V AC
Fuse - 3.1A (T)

Chapter 2. EMC Compliance and Electrical Safety

Chapter 3. Hardware Description
The PowerRTNU is housed in a self-contained, EMC compliant, desktop or rack-

mountable 7-slot VME64x chassis and contains horizontally mounted cards. It has a
recessed front panel with an EMC screened perspex door for easy access and
viewing of DC Power, VME Card & PMC status LEDs.
PowerRTNU with optional 3rd PowerPC VME Card
Standard PowerRTNU has two PowerPC SBCs populated with PMCs provide the
following configuration (see block diagram overleaf):
• 10/100BaseT auto-negotiate speed select external Ethernet network (connection
to vessel navigation network).
• 10/100BaseT internal, private Ethernet network.
• 10/100BaseT auto-negotiate speed select secondary private Ethernet network
(for example, connection to Input/Outputs MSX).
• 15 RS232 serial ports (7 of which are selectable for RS422/RS485 or NMEA
0183).
• 12 Digital Output triggers (TTL Active HI/LO & RELAY NO/NC).
• 6 Digital Input Triggers (TTL Active HI/LO & RELAY NO/NC).
• GPS Receiver for accurate timing and approximate position for estimating
network calculation.
Other features include a power supply and cooling fan mounted to one side, making
available the full 6U width for rear panel I/O and rear VME Transition Modules
(VTMS). VTMs contain serial, digital, GPS and other interface and signal
conditioning circuitry. Spare VME and VTM slots ease future expansion for increased
processing power and specialised hardware interfaces

Block diagram of PowerRTNU
The diagram below shows the standard configuration of the PowerRTNU.
Original Boot Mode

(omode)
Independent Boot Mode
(imode)

Front panel
Standard configuration is 2 PowerPC VME64x cards and 1 VME Ethernet Switch.

Optional PowerPC VME64x cards can increase functionality. VME cards are not part
of PowerRTNU Chassis.
If more than 15 serial ports are required, a 3rd PowerPC VME64x card can be added
in Slot 5 (shown) and populated with 1 PMC, adding 8 RS232 ports.
Below is a diagram showing the front of PowerRTNU chassis populated with 3
PowerPC VME64x cards and 1 VME Ethernet Switch. In turn, each VME64x card is
populated with 1 or 2 PMCs.
VME-03, PPC CPU Card + 1 PMC PowerRTNU Chassis

[Optional]
VME-SW, 8 Port
VME-02, PPC CPU Card+ 2 PMCs
Ethernet Switch
+5V PMC - Spare PMC - Serial

VME-01, PPC CPU Card + 2 PMCs +3.3V
+12V
-12V
PMC - Digital PMC - Serial
PMC - Ethernet PMC - Serial

PNC2
Note
 VME Slot #1 is at bottom of unit
 PMC Slot #1 is on right hand Private Network
side of VME Cards Connector 2

Rear panel
The standard PowerRTNU configuration has 2 Transition Modules, VTM-41 & VTM-
42. More transition modules can be added in slots 5, 6 & 7, providing signal
conditioning and routing to rear panel for optional VME PowerPC cards. Note that an
optional VTM-43 card is shown populating slot #5 in this example.
Concept VME Transition Modules are not part of PowerRTNU Chassis.

On the next page a diagram shows the rear of PowerRTNU Chassis populated with
• 3 full width VME Transition Modules.
• VTM-41 in Slot #1 - takes up 1 slot.
• VTM-42 in Slot #2 - takes up 3 slots.
• Optional VTM-43 in Slot #5 (as in photo, above) - takes up 1 slot.

S16 S17 S18 S19 S 20 S21 S22 S23
T0.1 T0.4 T0.7 T0. 10 T1 .1 T1.4
GPS
T0.2 T0.5 T0.8 T0. 11 T1 .2 T1.5
T0.3 T0.6 T0.9 T0.12 T1 .3 T1.6

0
1
HB 1 PPS
S9 S10 S11 S12 S13 S14 S15 GPS
PNC1 S1 S2 S3 S4 S5 S6 S7 S8 Eth 1 Eth 2
TM Slot #5, Concept Systems

VTM-43 [Optional*]

VTM-42

VTM-41
Key
TO.x Output Trigger (1 to 12) [Fischer] Connectors and Green LEDs indicating Trigger
Active.
TI.x Input Trigger (1 to 6) [Fischer] Connectors and Green LEDs indicating Trigger
Active.
Sx Serial Port (1 to 8) RS232 and (9 to 15) RS232/RS422/RS485/NMEA [Inverted RJ45
with Green & Amber LEDs indicating Data Transmit & Data Receive] Optional S16 to
S23 - all RS232.
GPS (Blue legend) GPS Serial Output / Diagnostics [Inverted RJ45 with Green & Amber LEDs indicating
Data Transmit & Data Receive with reference to host CPU].
1PPS 1 Pulse Per Second GPS Output [Fischer] Connector and Blue LED indicating 1PPS
activity.
GPS (Grey legend) GPS Bullet Antenna Connection [F-Type RF].
PNC1 Ethernet, Private Network Connection [Non Inverted RJ45].
E1 Ethernet, Vessel Navigation Network [Non Inverted RJ45].
E2 Ethernet, Spare (for example the Recording System) [Non Inverted RJ45].
HB Heartbeat Amber LED Indicator.
Mains Power Connector & Switch Assembly

Rocker switch marked 0 for OFF & 1 for ON.

Dimensions and Power
Width 480 mm (19" Rack or Desktop Mountable)

Depth 500 mm
Height 180 mm (4U)
Weight 14 Kg [Weight shown for 23 Serial Port PowerRTNU].
Power Supply Universal Input 90 - 255 V @ 47 - 63 Hz
Power Dissipation Maximum 400 W (< 1.5 A @ 220 V AC, < 3.0 A @ 110 V AC)
Fuse Type: Located in IEC Inlet Switch/Filter, T3.15AL 250 V.
Note
For full details of PowerRTNU Physical Dimensions & Power as well as the same
information for other products, see “Navigation Hardware” on page 125.
Environmental
Operating 0 Deg C to +50 Deg C, Forced Air Cooling.

Temperature
Storage -40 Deg C to +80 Deg C.
Temperature
Operating Humidity 5% to 85%.
(NC)
Storage Humidity 5% to 95%.
(NC) (NC = Non-Condensing).
Connectors and LED Indication
Serial Ports RJ45 Jacks serve as serial port connectors for the PowerRTNU VME Transition
Module Panels. The jacks are in banks of 8, inverted, with built-in indicator LEDS:
• Yellow LED for hardware RXD (receive data) signal indication.
• Green LED for hardware TXD (transmit data) signal indication.
As RJ45 connectors are used for both Ethernet and Serial ports the following
conventions have been adopted:
Serial RJ45s Inverted Jacks, i.e. notch is towards top of Panel. The only exception to this rule is
debug port on front of VME CPU cards. VTM Panel legend is blue. External CAT5
cable should also be blue.
Ethernet Ports
Ethernet RJ45s Normal Jacks, that is, notch towards bottom of Panel. VTM Panel legend is grey.
External CAT5 cable should also be grey.

Triggers The triggers or digital I/O connectors on the PowerRTNU VME Transition Module
Connectors panels are circular dual pole locking type connectors (for example Lemo, Fischer).
For protection against Electro Magnetic Discharge (ESD), the screen is grounded
and electrically isolated from the two conductors.
Triggers and Digital I/O LED indication is as follows:
• Each of the 12 Output and 6 Input Triggers has an associated Green LED
indicating active state.
• A flashing amber LED HB indicates slot 2 VME 02 is running the application
software. A flash rate of once per second indicates GPS timing is OK. A faster
rate means that GPS time has drifted outwith acceptable limits.
• A flashing blue LED PPS indicates 1 pulse per second from the GPS Clock and
also that the FPGA firmware on VTM-42 is running.
Note
The rear panel LEDs give status indication mainly for initial setting up of system,
confidence checks and troubleshooting.
Spares
The 24 hour nature of marine seismic survey operations necessitates a realistic

approach to spares provision with priority given to minimising downtime. Experience
has shown that a fully configured duplicate spare unit should be available onboard
for quick replacement should a hardware fault occur. Spare PowerRTNU should be
switched OFF and disconnected from power source, LAN, antennae and all sensors.
A significant cause of faulty hardware in the past has been power surges and
lightning strikes, so it makes sense to completely isolate spare PowerRTNU when
not in use. If hardware configuration of spare PowerRTNU is identical to that of live
unit then a swap-over time of 5-10 minutes is feasible.
An optional PowerRTNU spares kit contains spare front line components plus useful
configuration and diagnostic hardware. See “Spares Kit” on page 127 for list of parts
and Appendix N, "Changing A Socketed Device,".
PowerRTNU Expansion
Due to the use of flexible VME64x architecture, PowerRTNU accepts almost any
combination of additional processor cards and PMCs for expanded processing
power or hardware interfaces.
The only constraint to this expansion is the availability of card slots. The basic
PowerRTNU utilises 3 of the 7 card slots at the front, and 4 of the 7 card slots at the
rear of the chassis. This leaves 4 card slots for additional processor cards and 3
card slots at the rear for panel I/O.

PowerRTNU Chassis
The PowerRTNU Chassis or enclosure is custom built and consists of the following
main components:
• Custom 7 Slot VME64x backplane, has P0, P1 & P2 connectors at rear.
• Power Supply is Universal Input 400 W supplying +5 V DC, +12 V DC, -12 V DC
& +3.3 V DC to VME64x Backplane.
• 4U high, 19” Rack or Desktop Mounting.
• Forced air cooling for front mounted VME cards using low acoustic noise,
thermistor controlled, variable speed fan. When thermistor located in main air
flow detects >30 Deg C, fan will switch from half to full speed.
• Transparent Quick Release EMC Front Door allowing VME Card status &
Chassis Power LEDs to be viewed.
• All cable access is to rear of unit. Power Socket & Private Network Expansion
RJ45 on rear of Chassis. All other connections are via VTM Panels.
• Power Switch mounted on rear of Chassis - cannot easily be accidentally
switched off.
• Hexagonal ventilation holes for maximum EMC & minimum acoustic noise.
• 7 pairs of card guides for horizontally mounted VME Cards at front of unit.
• 7 pairs of card guides for horizontally mounted VTMs at rear of unit.
• ID label shown, fixed on rear of Chassis:
Concept Systems Ltd, 1 Logie Mill

Edinburgh EH7 4HG Scotland
t: +44(0)131 557 5595
f: +44(0)131 557 2367
www.csl.co.uk
PowerRTNU
Part # 400000
Serial # 00041

VME PowerPC Processor Card - MVME2434
At the heart of the PowerRTNU is the Motorola MVME2434 PowerPC VME

Processor Card.
Key features • Motorola low power, high performance PowerPC 750 32 Bit Microprocessor.
• 64 bit PCI [Peripheral Component Interconnect] Bus with Expansion connector.
• Industry standard enhanced VMEbus - VME64x Extension format, takes one
VMEbus Slot. Two connectors, P1 & P2, each 5-row, 160-pin DIN.
• PowerPlus II architecture optimised for the PowerPC microprocessor, PCI Bus
and VMEBus.
• 256 MB of on-board SDRAM.
• 2 Industry Standard PMC [PCI Mezzanine Card] slots, all signals in PMC Slot#1
& most signals on PMC Slot#2 are routed to VME P2.
• Up to 1 MB capacity for on-board firmware, also 8K x 8 NVRAM.
• 8 MB on-board programmable FLASH Memory for user-specified requirements.
• 10/100Mb/s Auto-negotiating Ethernet Interface via RJ45 on Front Panel,
• Serial Debug Port via RJ45 on Front Panel.
• 4 X 32-bit Timers, one 16-bit Timer & one watchdog Timer.
• Onboard debug monitor PPCBug with self-test diagnostics PPCDiag.
• Both PMC slots support both Front Panel & VME P2 IO, P2 IO used in
PowerRTNU.
• Operating temperature: 0 to 55 °C.

Architecture
Jumper and Switch Positions
Switch and jumper factory settings (do not change)

Panel and Indicator LEDs
Panel Detail Indicator LEDs

DEBUG - Serial RS232 BFL - Yellow LED, indicates board failure
Debug RJ45 Port, default
comms parameters ,
9600,N,8,1 CPU - Green LED, indicates CPU (or processor ) activity.
ABT - Abort pushbutton PMC - Top Green LED, indicates PMC Slot #2 activity.
switch, not used
RST - Reset pushbutton PMC - Bottom Green LED, indicates PMC Slot #1 activity.
switch resets board
processor . If card is slot #1
controller also resets all other
VME Cards
10/100BASET - Ethernet
LAN RJ45 Port, PowerRTNU
Private Network
PCI MEZANINE CARD -

PMC Slot #2 Panel
PCI MEZANINE CARD -

PMC Slot #1 Panel
Battery A Lithium 48mAh SNAPHAT DIL battery supplies clock chip, in worst case - with
clock running and system powered off at 20 Deg C - it will last for 8.4 years.
Expected battery life in live unit is much longer than this. A spare battery is shipped
with later Spares Kits.

VME Ethernet Switch
A VME format unmanaged Ethernet switch VME-SW is used to route PowerRTNU

internal Ethernet traffic. Each VME PowerPC Processor card (standard configuration
has only 2) will have a 1-1 CAT5 cable connection to VME-SW. Also 1-1 CAT5 cable
connection to PNC2 which extends Private Network to rear of Chassis PNC1, this
allows Private Network expansion as well as diagnostic access for a LAN Analyser.
Features • VME format Ethernet Unmanaged Switch for PowerRTNU Private LAN.
• No interaction with VMEbus apart from +5 V DC power.
• 8 x 10/100Mb/s RJ45 Ethernet Ports.
• All Ports auto-negotiating and support full and half duplex operation.
• Configurable by PC Utility via front panel parallel port, this will be done once
before shipping as part of system configuration.
• No setup or operator interaction needed to enable basic switching capabilities.
• MAC address learning forwards incoming packets only to port with destination
address.
• LED indication of data link activity and speed.
• Operating temperature: 0 to 70 °C.

Front Panel Layout
8 x Link Activity 8 x Auto-negotiating 10/100BaseT

Green LEDs Ethernet Ports
76 543 2 1 0 0 1 2 3 4 5 6 7
76 543 2 1 0
Programming Port, 8 x Green LEDs, ON

configuration set in factory when LAN speed is
using PC Software. 100BaseT.
Do not change .
About Ethernet An Ethernet Switch differs from a hub in that it transmits the packages it receives to
Switches as few ports as possible, so minimising traffic.
As each packet arrives, the switch examines the source and destination addresses.
The switch then retains the source and associates it with just the specified
destinations.
As the learning is automatic, no operator intervention is needed.

Serial PMC
Each Motorola MVME2434

PowerPC CPU board has a
Serial PMC resident in PMC
Slot 1.
Features • 8 x RS232 synchronous serial ports.

• Baud rates programmable up to 115,200 bps.
• Each port has the 7 signals - TXD, RXD, CTS, RTS, DSR, DTR & GND.
• All signals routed to J4 connector and so to VME P2 connector, signals also
routed to front panel but not used.
• Programmable parity & stop bits.
• 128 Byte FIFOs for receive & transmit on all channels.

Ethernet PMC
PowerPC CPU board in VME slot #1 (VME-01

when populated with PMCs) always has a
Ethernet PMC resident in PMC Slot 2.
Features • PMC with 2 x 10/100Mb/s Ethernet Ports.

• 2 X 10/100BaseTX engines with full duplex operation in 100 & 10 Mbit Modes.
• All signals routed to J4 connector and so to VME P2 connector and rear
transition module VTM-41.
• Powerful DMA engine with very deep FIFO buffers assures full bandwidth
operation with minimum PCI bus overhead.
• Auto-negotiation facility for automatic bandwidth determination and full duplex
operation.
• LED indication on front panel for both speed and data activity.

Digital PMC
A Digital PMC is always resident in the PMC Slot

2 of the VME slot #2 PowerPC CPU board (VME-
02 when populated with PMCs).
Features
• 64 X Digital IO Channels.
• Each Channel can be programmed as Input
or Output.
• Each channel has an Open Collector driver
with 470 Ohm pullup resistor.
• All I/O signals routed internally to J4
connector, on VME CPU card routed to VME
P2 connector and on to rear transition module
VTM-42.
• All IO signals are tranzorb protected.
• On board Altera FPGA.
• All I/O Triggers, 1PPS interrupt, VTM-42
Switch Readback, HB LED & Buzzer
implemented using this PMC with VxWorks
control software running on VME-02.

Ethernet Networks
The PowerRTNU slot 1 VME Controller Card or VME-01 has three Ethernet ports:
• Two implemented using Ethernet PMC via rear Transition Module VTM-41.
• One on the front panel of the VME Processor card (as built into all MVME2434
SBC’s).
The ports are described below.
Ethernet PMC ports The Ethernet PMC (see page 29) provides two 10/100BaseT auto-negotiating
Ethernet ports. These are only required on the first PowerPC VME Processor Card.
The signals from the port are routed to the VTM-41 panel or internal ethernet
network and connect to the following:
• The first port is used for an external Ethernet connection to the data server on
the vessel Navigation network, via E1 RJ45 connector on the VTM-41 Panel.
• The second port is optionally configurable to connect to a secondary network, via
E2 RJ45 connector on the VTM-41 Panel.
Onboard Ethernet port

The Ethernet port on the front panel of each of the PowerPC VME Processor Cards
connects to a dedicated PowerRTNU high-bandwidth 100Mbit/sec internal network
enabling high speed processor-to-processor communication. Each card has an
internal IP address, which can also be accessed from an external network if a
suitable route is set up (see “Appendix A. Routes” ).
These arrangements support well-established network software protocols such as
TCP/IP, UDP and RPC.

GPS Receiver
The onboard GPS Receiver is used primarily to achieve very accurate system time
using 1PPS TTL output signal and TSIP serial message. A secondary function is to
provide approximate position for network estimation on startup or at any other time if
required to do so.
The receiver is interfaced to the host PowerPC VME Card VME-02 as follows:
• 1PPS TTL output signal via Digital PMC IO line.
• TSIP serial message via serial port 8 on the Serial PMC.
A software driven Blue LED indicator on the rear panel indicates the status of the
GPS 1PPS, normally flashes once per second.
More advanced GPS status and diagnostic information is available via software with
updated nodes.
Trimble ThunderBolt GPS Clock

Main features of Trimble's ThunderBolt GPS
Disciplined Clock are:
• A quality ovenized oscillator for guaranteed timing
during GPS signal outages.
• An 8-channel L1 GPS Receiver.
• An Oscillator disciplined from GPS Bias and Bias
Rate.
• Low Phase Noise.
• 10 MHz Reference Signal.
• 1 PPS output with an overdetermined solution synchronized to GPS or UTC time.
• 1 PPS output is TTL (50 ns accuracy). 1uS / Hour drift after losing sat lock.
• Signal Integrity through a T-RAIM (Time-Receiver Autonomous Integrity Monitor)
algorithm.
• Easy integration with Trimble's Bullet II HE or new jam-resistant Bullet III
Antenna.
• Recommended 75 Ohm cable RG-59 (Belden 9104) to 30 m.
Note
This GPS disciplined clock does not have the capability to receive RTCM
corrections.
External 1PPS & Serial Interface

A buffered 1PPS output and serial data output port on the rear panel is available for
external use without any risk of disturbing communications with CPU host. The serial
data output port is connected to the actual GPS receiver port so that third party
users can listen only.

External Diagnostics
When GPS Receiver is suspect, usually noticed when system time starts to drift,
control can be taken of Thunderbolt using an external PC running a Windows based
Monitor utility which is supplied on CDROM.
• Note that in diagnostics mode GPS Clock will not be disciplining PowerRTNU
time and is therefore best done offline.
• To enter GPS Diagnostic or Debug Mode power has to be removed from
PowerRTNU and VTM-42 SW3-C set to DBG or UP position. See “Thunderbolt
GPS Clock-Verification Procedure” for details of Trimble Thunderbolt Diagnostic
procedures.
GPS Receiver Settings

The Thunderbolt GPS Receiver is configured with the following settings when
PowerRTNU software initialises.
Dynamics Mode: Sea
Track Mode: Weighted all-in-view
Elevation Mask 5 Degrees
AMU Mask 0.5
PDOP Mask 8
PDOP Switch 6
Time Output 1PPS referenced to UTC
1PPS Polarity Positive, Rising Edge is on-time
Self Survey Disabled
Trimble Bullet II / Bullet III Antenna

The Trimble Bullet II HE and the latest active jam-resistant
Bullet III antenna are recommended for use with Trimble
Thunderbolt GPS Clock.
Although they have a 50 Ohm output impedance, both the
ThunderBolt and Bullet II / Bullet III antenna are compatible
with 75 ohm cable.
Compared to most 50 Ohm cable, 75 ohm cable provides
superior transmission characteristics for the 1.5 GHz GPS
signal and a better quality cable for the price. Mismatched
impedance is not a problem.
If inline amplifiers are required due to long cable run, Concept Systems can supply a
GPS Signal Distributor compatible with Trimble Bullet II / Bullet III Antenna. See
“GPS Signal Distributor” on page 129.
Bullet III Features
• Bandpass filters improve reliable performance in hostile RF jamming
environments.
• Amplifier Gain - 35 dB.
• Current Drain is 30 mA @ +5 V DC.
• Frequency - 1575.42 MHz.
• Pass-band width - 50 MHz.

• 0 to 90 Deg Elevation Coverage.

• 50 Ohm Output Impedance.
• Waterproof and Weatherproof.
• Operating Temperature -40 Deg C to +85 Deg C.
Bullet Antenna is supplied with:
• 30 M of 75 Ohm Belden 9104 RF Cable terminated at both ends with F-type Plug
CPC Part # CN03809. Use Tool CPC Part # CN03813 to secure cable to
connector.
• 600 mm mast with 3/4" pipe thread for easy masthead mounting and protected
connection.
Note
See also “PowerRTNU GPS Bullet III Modification” on page 141

VME Transition Modules
Rear mounting VME Transition Modules VTMs facilitate the implementation of signal
conditioning and interface circuitry which allow the front mounting PowerPC VME
Processor Cards to talk to sensors and other equipment onboard the vessel. All VTM
PCBs are standard VME PCB size (160 mm x 180 mm) and panel is 6U high. Panel
width can be more than 1 slot in order to accommodate IO connectors, LEDs etc.
VTMs are designed and manufactured by ION Concept Systems.
The Rear Panel
VTM-43
S1 S1 S1 S1 S2 S2 S2 S2
6 7 8 9 0 1 2 3
VTM-42 T0.
1
T0.
4
T0.
7
T0.1
0
T1.
1
T1.
4
GP
T0. T0. T0. T0.1 T1. T1. S
2 5 8 1 2 5
T0. T0. T0. T0.1 T1. T1.

3 6 9 2 3 6 0
VTM-41
1
H
1 PPS
S S1 S1 S1 S1 S1 S1 B
G PS
9 0 1 2 3 4 5
S S S S S S S S Eth Eth
PNC1 1 2 3 4 5 6 7 8 1 2
The rear panel There are currently three types of VTM:

• VTM-41, Serial/Ethernet.
• VTM-42, Serial/Triggers/GPS.
• VTM-43, Serial (Optional).

VTM-41, Serial/Ethernet
VTM-41 must always be resident in rear slot #1 of PowerRTNU, the same slot # as
VME-01 which is front mounting. (VME-01 is a PowerPC VME Card with Serial PMC
in PMC slot#1 and Ethernet PMC in Slot #2.)
Features • VME Transition Module located in Slot #1, interfaces VME-01 signals to rear
panel, takes up 1 slot.
• 8 x RS232 Serial Ports, inverted RJ45 connectors.
• 2 LEDs on each serial port indicates data activity, Transmit (Green) and Receive
(Yellow).
• Serial Port labelled S1 to S8 and coded blue.
• 2 Ethernet Ports, RJ45 connectors labelled E1 and E2 and coded grey.
• Socketed MAXIM RS232 ICs can be easily replaced in the field, see Appendix N,
"Changing A Socketed Device,".
• 2 x VME64x type white Ejector/Injector Handles.

VTM-41 RS232 Serial S1 to S8
VTM-41 Panel, RJ45
DSR
1
RTS 2
To/From MAX238
GND 3
TXD
4
RXD
MAX238 RS232 Interface IC (one 5
for each port) is mounted in DIL 6
holder for easy field replacement. CTS
PowerRTNU Spares Kit has 4 7
MAX238 devices. DTR
8
TX LED RX LED
(Green) (Amber)
8 1
RJ45 Panel Socket

(Mating Face)
Note
“VTM Port Diagnostics” on page 145 relates serial ports to VTM-41 Interface ICs.

VTM-42, Serial/Triggers/GPS
VTM-42 must always be in same slot as VME-02 (usually slot 2), a PowerPC VME
Card with Serial PMC in PMC slot#1 and Digital PMC in Slot #2. For default DIL
switch setup, see “VTM-42 Board Switch Settings” on page 43.
Features • VME Transition Module, usually located in Slot #2, interfaces VME-02 signals to
rear panel. Panel takes up 3 VTM slots.
• 7 x RS232/RS422/RS485/NMEA0183 Serial Ports, inverted RJ45 connectors.
• 2 LEDs on each serial port indicates data activity, Transmit (Green) and Receive
(Yellow). Serial ports labelled S9 to S15 and coded blue.
• 8th RS232 port- onboard GPS receiver TSIP data strings can be monitored.
Debug Mode allows diagnostics to be run from external PC.
• All MAXIM front-line serial protocol ICs are socketed, allowing easy field
replacement, see Appendix N, "Changing A Socketed Device,".
• Onboard Xilinx FPGA.
• Buzzer indicates Shot or Shot Timeout, a DIL switch enables/disable it.
• 12 Output Triggers [TO.01 to TO.12] can be configured for TTL (Active High/
Active Low) or Relay (Normally Open/Normally Closed) using onboard DIL
switches.
• 6 Input Triggers, [TI.1 to TI.6] can be configured for TTL (Active High/Active Low)
or Relay (Normally Open/Normally Closed) using onboard DIL switches.
• All Input & Output Triggers have Green LED indication and use high reliability
Fischer panel connectors.
• 1PPS status LED is blue.
• Onboard GPS receiver is Trimble Thunderbolt GPS Clock, F-Type RF connector
on panel is connected to Bullet II Antenna using Belden 9104 75 Ohm Cable.

VTM-42 RS232 & RS422/RS485/NMEA0183 Serial S9 to S15
VTM-42 Panel, RJ45

RS232 [ RS422 ]
If RS232 (Default)
To/From MAX238
DSR *[ CTS+ ]
MAX238 RS232 Interface IC (one for each port) is RTS [ TX- ]
1
mounted in DIL holder for easy field replacement. 2
PowerRTNU Spares Kit has 4 MAX238 devices. GND *[ RTS- ]
3
TXD [ TX+ ]
4
RXD [ RX+ ]
5
*[ CTS- ]
CTS [ RX- ]
6
DTR *[ RTS+ ]
7
If RS422 8
To/From MAX1490
MAX1490 RS422/RS485/NMEA0183 Interface IC (one for each

port) is mounted in DIL holder for easy field replacement.
PowerRTNU Spares Kit has 2 MAX1490 devices.
*[ ] - Note that when S9 & S10 have RS422 selected 4 extra signals
are implemented RTS+, RTS-, CTS+ & CTS-.
S11 to S15 in RS422 mode have signals TX+, TX-, RX+, RX- &
GND.
Note also that 8th RJ45 connector on VTM-42 is used for GPS TSIP
message monitoring and GPS Diagnostics
Serial Port # Board Switch RS232 (Default) RS4222/RS485/NMEA

S9 SW1-A DOWN [Towards Panel] UP [Away from Panel]
S10 SW1-B DOWN UP
S11 SW1-C DOWN UP
S12 SW2-A DOWN UP
S13 SW2-B DOWN UP
S14 SW2-C DOWN UP
S15 SW3-A DOWN UP
Note
“VTM Port Diagnostics”: “VTM-42” on page 146 relates serial ports to VTM-42
Interface ICs.

VTM-42 Output Trigger, TTL - TO.01 Circuit
+5V DC
TTL :
SW8 - 1, Default is UP position , 470 Ohm
TTL selected. Resistor
Active High :
SW4 -A, Default is DOWN SW9 -1, Default is UP position VTM-42 Panel
position, HI selected. RIN selected, Pull - up Resistor in
circuit.
TO.01 Pin 1
74LS07
From FPGA TO.01 Pin 2
0V
.
Note that TTL Output Triggers TO.02 to TO.12 have identical circuitry to above
NOTES
470 Ohm pull-up resistors are switchable to easily allow the signal to be pulled up externally, this could be a recording
system or gun controller which already has a pull-up resistor in place on the input signal line. The chip used to drive TTL
Output Triggers is open-collector which means that a pull-up resistor is needed in circuit between output and (usually) 5V
DC rail, most TTL chips have this pull-up already built in. Another advantage is that the signal can be pulled up externally
to voltages other than 5V DC, typically up to 30V DC.
SW9 in PowerRTNU VTM-42 allows pull-ups on all 12 Output Trigger channels to be individually switched when TTL
mode selected.
VTM-42 Output Trigger, Relay - TO.01 Circuit

Normally Open:
SW4-A, Default shown is DOWN position,
Relay : NO selected.
SW8-1, DOWN position,
Relay selected.
RLY1, SPDT Relay : VTM-42 Panel

5VDC, 500 Ohm Coil
Max Switching Current - 0.25A NO NC
Max Switching Voltage - 200V
TO.01 Pin 1
From FPGA
TO.01 Pin 2
Note that Relay Output Triggers TO.02 to TO.12 have identical circuitry to above.

VTM-42 Input Trigger, TTL & Relay - TI.1 Circuit
Active Low /Normally Closed: TTL:

SW11-1, Default is UP position,
+5V DC SW10-1, Default is UP position,
LO/NC selected. TTL selected.
Relay:
SW10-1, DOWN position,
RLY selected,
4.7K Implements debounce circuitry in FPGA
Resistor
VTM-42 Panel
TI.1 Pin 1
74HCT14
5.0V
Tranzorb To FPGA
TI.1 Pin 2
0V
Note that Input Triggers TI.2 to TI.6 have identical circuitry to above.
Pin 1 Trigger Active

LED (Green)
Pin 2
Input and Output Trigger,

Panel Socket and LED
Note
“VTM Port Diagnostics”: “VTM-42” on page 146 relates trigger ports to VTM-42
trigger Interface ICs.
GPS TSIP Message The following RS232 Trimble TSIP messages are available on VTM-42 GPS port,
Pin 1 wrt Pin 3.
1. 0x41 Received GPS time.
2. 0x8fA2 Super Packet - UTC/GPS Timing Selection.
3. 0x8fA9 Super Packet - Self Survey Parameters.
4. 0x8fAB Super Packet - Received GPS time.
5. 0x8fAC Super Packet - Supplemental Timing Packet.
6. 0x4A Single-precision LLA Position Fix.
7. 0x56 East-North-Up velocity Fix.

8. 0x84 Double-precision LLA Position Fix.

9. 0x46 Health of receiver.
GPS NMEA message is not available from this port although an NMEA header can
be created and output on any unused serial port. See the Header Outputs Reference
manual for details.

VTM-42 Board Switch Settings

PowerRTNU VTM-42 is shipped
with the following default DIL
switch configuration. In
summary 3 banks of switches
SW1-SW7 (DPDT) in DOWN
position (towards Panel). SW8 SW13: DO NOT
to SW12 (SPDT) in UP position ADJUST.
SW13-1 - FPGA Mode
(away from Panel). For more RUN (or PRG)
detail see the next page for the Default - RUN [UP]
position.
position of each PCB mounted SW13-2- Not Used
DIL switch. (Default switch Default - [UP]
settings shown) position.
SW10 - Input Trigger type TTL (or RLY)

SW10-1 relates to TI.1, SW10-2 to TI.2 etc.
Default - TTL [UP] position.
SW1, SW2 & SW3-A - Serial Port protocol RS232
(or RS422/RS485/NMEA0183V2)
SW1-A relates to S9, SW1-B to S10... SW3-A to S15.
SW11 - Input Trigger level LO/NC (or HI/NC) Default - RS232 [DOWN] position.
SW11-1 relates to TI.1, SW11-2 to TI.2 etc.
Default - LO/NC [UP] position.
SW12-1 - Buzzer ON (or OFF) Default - ON, SW3-B - GPS Rx type TBLT (or SKII)
[UP] position. Default - TBLT, [DOWN] position.
SW12-2 - 1PPS pullup RIN (or ROUT) SW3-C - GPS Rx mode HOST (or DBG)
Default - RIN [UP] position. Default - HOST [DOWN] position.
SW8 - Output Trigger type TTL (or RLY)

SW8-1 relates to TO.01, SW8-2 to TO.02 etc.
Default - TTL [UP] position.
SW4 to SW7 - Output Trigger level HI/NO (or LO/NC)

SW4-A relates to TO.01, SW4-B to TO.02 ‫ ﺫ‬SW7-C to TO.12.
Default - HI/NO [DOWN] position.
SW9 - Output Trigger pullup RIN (or ROUT)

SW9-1 relates to TO.01, SW9-2 to TO.02 etc.
Default - RIN [UP] position.
(DOWN & UP is with

DOWN UP reference to panel)
Note
VTM-42 Serial # 0091 onwards uses OTP (One Time Programmable) PROM in
location U2. Previous VTM-42s used a programmable PROM at location U3. Only
one can be in place.

VTM-43, Serial (Optional)
If used, the optional VTM-43 must be in same slot as VME-03 (usually slot 5). VME-
03 is a PowerPC VME Card with Serial PMC in PMC Slot #1.
Features • VME Transition Module usually located in Slot #5, interfaces VME-03 to rear
panel, takes up 1 slot.
• 8 x RS232 Serial Ports, inverted RJ45 connectors.
• 2 LEDs on each serial port indicate data activity, Transmit (Green) and Receive
(Yellow).
• Serial Ports labelled S16 to S23 and coded blue.
• Socketed front-line MAXIM RS232 ICs can be easily replaced in the field, see
Appendix N, "Changing A Socketed Device,".
• Provision has been made for connector and signal conditioning PCB should 2nd
PMC be installed in VME-03.

VTM-43 RS232 Serial S16 to S23
VTM-43 Panel, RJ45
DSR
1
RTS 2
To/From MAX238
GND 3
TXD
4
RXD
MAX238 RS232 Interface IC (one 5
for each port) is mounted in DIL 6
holder for easy field replacement. CTS
PowerRTNU Spares Kit has 4 7
MAX238 devices. DTR
8
TX LED RX LED
(Green) (Amber)
8 1
RJ45 Panel Socket

(Mating Face)
Note
“VTM Port Diagnostics”: “VTM-43 (Optional)” on page 147 relates serial ports to
VTM-43 Interface ICs.


Chapter 4. Hardware Installation
If installing a PowerRTNU as part of a new installation please read the Installation

Notes (below) before following the Installation Procedure.
If installing a PowerRTNU as an upgrade to an existing RTNU please read “RTNU to
PowerRTNU Upgrade” on page 135.
Installation Notes
Location A few points are worth considering when deciding on

the final onboard location of a PowerRTNU. Both WARNINGS
essential & preferred considerations are listed below.
• Lethal Voltages are
contained within the
Essential PowerRTNU
enclosure.
• Mounting - if located in 19 inch rack, depth of rack
should be at least 500 mm. • Ensure that
PowerRTNU ground
• Cooling - ensure that clearance between
is connected to
PowerRTNU air inlet (LHS) and side of rack is >
vessel ground via
20 mm, also that clearance between PowerRTNU
ground pin of IEC
PSU air outlet (RHS) and side of rack is > 20 mm.
Cable.
• A three-conductor AC
Preferred power cable must be
• Mounted in 19 Inch Rack for mechanical security, plugged into an
rest on shelf and secure with 4 screws at front. approved three-
contact electrical
• Mounted at shoulder level for ease of access and outlet.
maintenance as well as easy viewing of Front
Panel LEDs. • Remove power from
unit before detaching
• Clean Room environment in order to minimise covers for
cooling system maintenance. maintenance.
• Away from any electrically noisy equipment such • Take anti-static
as transformers and motors. precautions when
handling VME cards
& VTMs.
GPS Configuration The Trimble Thunderbolt GPS Clock is normally installed in PowerRTNU VTM-42.
The default switch position is SW3-B in DOWN position [TBLT] - towards panel.

If using alternative Trimble SKII GPS Receiver, set SW3-B to UP position [SKII] -
away from Panel.
For PowerRTNU to be fully operational, Trimble Thunderbolt GPS Clock must be in
running in HOST mode, i.e. under control of host CPU on VME card. The default
switch position is SW3-C in DOWN position [HOST] - towards panel. If carrying out
GPS diagnostics while Offline, set SW3-C to UP position [DBG] - away from Panel.
GPS & GPS Antenna

Concept Systems recommends and supplies a dedicated Bullet Antenna for
Thunderbolt GPS. It is important that you install this correctly and in the optimum
location.
It is also possible, with due care, to connect the Thunderbolt GPS to an existing,
non-Bullet, antenna.
Installing Bullet GPS Antenna

Installing the GPS antenna involves first taking some time to explore the survey
vessel so that you can select the best location for optimum performance. This will
save time later.
Bear in mind that, although primarily used for data timestamping, the antenna must
be able to track four or more satellites for continuous positioning while the vessel is
under way.
Antenna installation must be appropriate for all locations, not just the vessel’s
present situation - future surveys may take it to much hotter, colder or wetter
climates.
It has been standard procedure to use a DMM to quickly check electrical resistance
looking towards GPS antenna from GPS receiver end of antenna cable, with
Antenna attached. Trimble Bullet antennae have a voltage tolerance of 5 V +-0.5 V
DC, voltages greater than this can damage the low noise amplifier. If you are unsure
of DMM voltage on “Resistance” range test RF cables without the antenna
connected. This allows short/partial/open circuits to be diagnosed.
To install the Bullet GPS Antenna:
1. Select a location for the antenna:
• As far as possible from high power transmitters and at least 4.5 metres from
any telecomms pod (for example INMARSAT pod).
• At a reasonable height and clear of any superstructure.
2. Connect the plug end of the 30 M 75 Ohm Belden 9104 Coax Cable Assembly
(supplied) to the RF Connector on VTM-42 panel and the other end to the
antenna, ensuring that any spliced connection is:
• watertight
• not exposed to the elements
• accessible for maintenance.
GPS Rx Feed
Although Concept Systems recommends a dedicated Bullet Antenna for Thunderbolt
GPS, it is possible to connect the latter to a GPS Rx feed already available locally on
vessel - typically from a GPS Antenna Splitter/Amplifier.

Many GPS receivers, including the Thunderbolt, send +5V DC (or similar voltage) to
the active antenna; this must be blocked if the antenna already has a DC supply.
In addition, some receivers look for a certain impedance across RF port before they
activate and this will require a dummy load.
In summary, you can use a GPS Rx feed with very little performance degradation as
long as:
• The port is NOT DC Coupled
• The port has a dummy load built-in.
Note
Concept Systems can supply a GPS Antenna Splitter/Amplifier for long (and
therefore lossy) cable runs. See “GPS Signal Distributor” on page 129.
Trimble Bullet III Incompatibility

When Bullet III replaced Bullet II as the recommended antenna for both Trimble SK8/
SKII and Trimble Thunderbolt GPS receivers Trimble assured total compatibility, with
Bullet III giving better anti-jamming performance. Bullet III is a patch antenna while
Bullets I & II were a more efficient dipole design. Bullet III is in fact lower
performance and limitations will show up in long cable runs or poor termination of
cables. Interference can be minimised by using crimp connections with no central
conductor exposed. If problems are encountered when using Bullet III contact
Concept Systems and see “PowerRTNU GPS Bullet III Modification” on page 141 for
details of Concept mod kit.

Installation Procedure
WARNINGS There follows a detailed PowerRTNU hardware Installation Procedure:
• Lethal Voltages are 1. Remove PowerRTNU, Bullet antenna and all cables from packaging and check
contained within the contents against packing list, if any discrepancy exists please contact Concept
PowerRTNU Systems. If you have a spare PowerRTNU repeat the procedure.
enclosure. 2. Locate main PowerRTNU in optimum position as defined in Installation Notes
• Ensure that above. Insert PowerRTNU into rack space and secure with 4 front mounting
PowerRTNU bracket screws.
ground is 3. Locate and secure GPS antenna in optimum position on vessel superstructure
connected to vessel as defined in Installation Notes above.
ground via ground
4. Run GPS antenna cable from antenna to PowerRTNU location.
pin of IEC Cable.
5. Connect GPS RF feed to F-Type connector marked GPS on RHS of VTM-42
• A three-conductor
panel. Alternatively take RF feed from suitable antenna splitter/amplifier as
AC power cable
defined in Installation Notes above.
must be plugged
into an approved 6. Ensure that PowerRTNU Power Switch is in 0 position and, after reading
three-contact warnings (left), connect power lead from local supply to Power Socket on rear of
electrical outlet. PowerRTNU Chassis. Use locking clip to secure.
• Remove power 7. Configure input and output triggers as described in “Triggers Configuration” on
from unit before page 137. Connect all input and output Triggers using appropriate cable
detaching covers assembly. If adaptor cables not supplied see wiring schedule in Cable
for maintenance. Information section of this manual.
• Take anti-static 8. Connect all serial sensors and serial headers using appropriate RJ45/DB9S
precautions when Adaptor and suitable length of blue CAT5 cable. By default all serial ports are
handling VME RS232, S9 to S15 can also be configured for RS422/RS485/NMEA0183 using
cards & VTMs. VTM-42 DIL switches. See ““VTM-42 Board Switch Settings” on page 43 for
details. If RS232 use CSL400053 - PowerRTNU RS232 Adaptor, if RS422 use
CSL400054 - PowerRTNU RS422 Adaptor.
• If adaptors not supplied see wiring schedule in Cable Information section
• If using the Concept Data Distributor, please refer to “Data Distributor” on
page 139.
9. Connect Navigation network grey CAT5 cable to E1 RJ45 on VTM-41
10. Hardware installation is now complete, all VME CPU cards must now be
configured with appropriate IP address as well as boot parameters etc. See
“PowerRTNU Configuration” on page 63.
11. You are now ready to start configuring RTCN as required.
Note
For maximum noise immunity use Screened Twisted Pair STP CAT5 cable for all
Ethernet (grey) & Serial (blue) lines.

Hardware Configuration
The VTM-42 is the only board requiring configuration. It ships with a default
configuration as described in this section. For default settings see “VTM-42 Board
Switch Settings” on page 43.
Triggers Configuration
Before applying power to PowerRTNU with all external sensors connected, 12
Output & 6 Input Triggers on VTM-42 must be configured to TTL (Active High/Active
Low) or Relay (Normally Open NO / Normally Closed NC). See also see “VTM-42
Board Switch Settings” on page 43.
Output Triggers
1. TO.01 to TO.12 set to TTL [TTL] - SW8 in UP position (away from Panel).
2. TO.01 to TO.12 set to Active High [HI/NO] - SW4 to SW7 in DOWN position
(towards Panel).
3. TO.01 to TO.12 (which are Open Collector TTL) have a 10K pullup Resistor in
place, SW9 in UP position [RIN] - away from Panel.
4. If pullup resistor is already available in external equipment it is possible to
disable internal resistor by setting SW9-x to DOWN position [ROUT] - away from
Panel
5. Now select Output Trigger configuration to ensure reliable communication with
onboard equipment.
Input Triggers
1. TI.1 to TI.6 set to TTL [TTL] - SW10 in UP position (away from Panel).
2. Active Low [LO/NC] - SW11 in UP position (away from Panel).
3. Now select Input Trigger configuration to ensure reliable communication with
onboard equipment.
Serial Port Configuration

1. Serial Ports S1 to S8 on VTM-41 are all fixed at RS232.
2. Serial Ports S9 to S15 on VTM-42 can be configured for either RS232 or RS422/
RS485/NMEA0183V2, default is RS232 with SW1 to SW3-A in DOWN position
[RS232] - towards Panel.
3. Now select protocols as required to enable communication with onboard serial
sensors.
Note
If using the Concept Data Distributor, please refer to “Data Distributor” on page 139.
Buzzer A VTM-42 mounted Buzzer normally sounds a short tone if Time Break happens
within a predefined time after System Start, a long tone will sound if Time Break does
not arrive or is late. By default this audible indicator is enabled, SW12-1 [BZ] in UP
position [ON] - away from Panel.
Buzzer can however be disabled, SW12-1 [BZ] in DOWN position [OFF] - towards
Panel.

External 1PPS 1PPS from Thunderbolt GPS Clock is buffered and Open Collector TTL output is
made available for use by a third party via VTM-42 panel. Default is 10K pullup
Resistor in place, SW12-2 [1PPS] in UP position [RIN] - away from Panel.
If pullup resistor is already available in external equipment it is possible to disable
internal resistor by setting SW12-2 [1PPS] to DOWN position [ROUT] - away from
Panel.
Power
Universal Input Power Supply used in PowerRTNU ensures that any AC voltage
used worldwide can be catered for, use IEC cable assembly for socket standard
supported.
Warning!
Ensure that PowerRTNU ground is connected to vessel ground via the ground
pin of IEC Cable.

Chapter 5. Software
Wind River® - VxWorks ® is the PowerRTNU operating system. A Wind River®

accredited Board Support Pack (BSP) is available for most SBCs and ensures
almost complete hardware independence.
PowerRTNU communicates to PCI Mezzanine Cards (PMCs) via VxWorks ® drivers
(supplied), thus providing a generic interface to any card. This creates a simple
hardware upgrade path with minimal software modifications.
The PowerRTNU application software has a client-server architecture using
established data-server technology. This provides an “open systems” architecture
enabling any process to run on any card. The diagram below shows the main nodes
within the master PowerRTNU.
Spectra Environment PowerRTNU Environment
Data Processor 1
Router PwrRTNU
Header
Node Control
Data Process(es) Serial
Router Interfaces
Node (1-8)
Embedded SOD
Spectra Debug SDI
Data Server
Data Server
Processor 2
PwrRTNU
RTCN Control
SDI
SOD
Debug Header Serial

GPS &
Process(es) Interfaces
Digital I/O
(1-7)

Chapter 5. Software
Data Server/ Data Server Router
A data server runs in the embedded VxWorks® environment.

The data server routers connect the embedded PowerRTNU data server to the data
server on the workstation. The data server routers faithfully synchronise the data
items in both data servers.
PowerRTNU Control Process (PCP)
The PCP is the first process to run on each target processor.

What the PCP does
1. In Spectra can be used to fork the embedded data server if processor 0 (master
processor in the PowerRTNU) is detected. Connects to the embedded data
server regardless of which processor it is running on.
Note
There is another method called "data server direct" (see “Data Server Direct
Configuration” on page 81) where the data server runs on the host workstation.
This method is the only one used by Orca and Gator and can also be used by
Spectra.
2. In Spectra forks the data server router process if processor 0. Note that this
process is omitted if the data server direct configuration is used.
3. Interrogates the hardware in order to build up the ILCCONF item containing the
configuration and then sends it to the embedded data server.
(There is one ILCCONF item for each processor. The ILCCONF comprises the
PowerRTNU name plus processor number, for example - for a single master
PowerRTNU called “RTNU”, two ILCCONF items: @[email protected] for
processor 0 (master) and @[email protected] for processor 1. Additional
items are produced for additional processors.)
4. If the Digital I/O PMC is found the PCP forks the GPS process. and the digital I/O
process.
5. Forks the Serial DSN process shells.
6. Gathers status information from the VxWorks® kernel such as free memory,
process state and CPU usage etc. and inserts this data into the dataserver as a
@RTNUSTATUS@ item.
Timing/Triggers/GPS Process
The GPS process, which is incorporated into the Triggers/Timing Process,

communicates with the attached GPS receiver via one serial port. The process
configures the receiver to transmit time information and navigation data. This data is
returned to the dataserver in the @GPS@ item.

Chapter 5. Software
The timing application provides onboard timestamping and output trigger scheduling
to an accuracy of 50 microseconds using the onboard GPS rx.
The application is driven by 1 ms interrupt from one of the onboard 32 bit timer/
counters on the card. The accuracy of these interrupts is dynamically calibrated by
synchronising to the 1PPS interrupt from the GPS receiver. This means that the
application will only be available on the secondary card containing the digital I/O
PMC. This card acts as the “Time Server” to all other cards within the PowerRTNU.
For the method by which accurate timing is distributed throughout the remaining
processors (and Slave PowerRTNUs), see “Distributed Time Using VME” on page
55.
The timing application is also responsible for:
• Firing output triggers with respect to a predicted firing time.
• Timestamping incoming triggers.
Note
The output trigger fires via the 1 ms interrupt. This means that the trigger’s
accuracy is within 50 microseconds, but that it fires with a granularity of 1 ms.
The application uses predictions up to the millisecond tick before the event is
due to be fired.
• Faithful representation of current RTCN configuration options (Repetition, Gun

Array, Timebreak, Online Only, Disable Timed, Dual Trigger, etc).
• Automatic firing of timed triggers (does not require shotprediction item for timed
trigger).
• Accurate/Inaccurate triggering selection.
• Production of @TRIGGERED@<trigger_name> items to the embedded data
server.
• The triggers application only runs on a card where there is:
• A digital PMC card.
• GPS receiver with PPS attached (second card in the case of the master
PowerRTNU).
Distributed Time Using VME

Accurate time is distributed to slave processors throughout the PowerRTNU using
VME interrupts from the Time Server card (see also section 4.10) to synchronise the
internal clock on each processor.

Chapter 5. Software
Serial DSN Interface Process (SDI) & Serial Output Device

(SOD)
This process is forked by the PCP for each serial port on the processor.
Each interface comms process connects to the internal embedded data server and
looks for relevant @RTCNCONF@ items showing a valid configuration (or change in
current configuration) for that serial port. If it finds a configuration, it downloads the
interface code via nfs.
The comms process communicates with the interface application process (IAP) and
is responsible for producing RAW items into the embedded data server which have
been manufactured by the IAP. The interface has access to all data within the
embedded data server and is therefore able to build and transmit dynamic data
strings as well as decode an incoming string. In summary, the SDI:
• Connects to embedded DSN and listens for configurations.
• Fork serial processes IAP and SRF.
• Send any configurations to the IAP, and hence SRF, such as communications
parameters, interface options, etc.
• Produce @RAW@ or multi @RAW@ items (where appropriate) into embedded
data server.
Serial Output Device (SOD)

The SOD process is used to transmit dynamic information out of the serial interface
port.
Interface Serial Read Function (SRF)

The serial read is a generic process which collects a complete message from the
serial device driver before passing it on to the interface application process.
Interface Application Process (IAP)

The IAP receives a complete message from the SRF, attempts to decode it and fill
out a standardised RAW item. This RAW item is sent to SDI process which produces
it into the data server. The existing database of interface application processes will
be ported to the PowerRTNU platform.

Chapter 5. Software
NTP – Network Time Protocol
Description NTP (Network Time Protocol) is a universally acknowledged scheme for

synchronising computer clocks across a variable latency network. Each workstation
and the PowerRTNU must run an NTP daemon (or process) compiled for its
particular OS (Operating System) – Linux OS (typically) on workstation and
VxWorks ® RTOS (Real Time Operating System) on PowerRTNU. The NTP Server
software running on the GPS disciplined PowerRTNU makes accurate time available
to NTP client software running on networked workstations and other networked
computers.
A useful feature of NTP is that it operates via a hierarchical tree structure which
means a client of a top level time server (in this case a PowerRTNU) can itself
become a server.
The accuracy over a 100BaseT local area network is better than 1 ms which is more
than adequate for synchronising workstations. If greater timing accuracy is required
it is best to use a dedicated hardware timing link such as IRIG or GPS 1PPS signals.
A typical setup of configuration files for server and clients are described below.
Typical setup for PowerRTNU Server

For this procedure to work you need to have read/write privileges to the directories
that contain or will contain the files used in this setup.
Note
The directories given in the procedure below contains example directory paths,
however in your configuration these may be different. Also note that any required
files must be present in these directories.
For Orca these directories are important so it is recommended that you use the
directories given in the procedure. For Gator you can use any directories you choose
but you must ensure that the PowerRTNµ has read/write privileges to the directories.
These are generally as follows:
Orca & Spectra - /etc directory and any sub-directories it contains
Gator - suggested directory for locating the ntp.conf file is /home/gator/data/
1. Add/Edit the ntp.conf file for PowerRTNU
This file can be added to any directory, a suggested location is
/etc/orca/PowerRTNU/boot
or
/home/gator/data
or
/etc/spectra
Note
To ensure the server can access the ntp.conf file it will require read/write
privileges to the directory in which the file is located
ntp.conf file contents (server)
server 127.127.1.0 #Use local PRTNu clock as

#source of time
fudge 127.127.1.0 stratum 0 refid GPS #Call Stratum 0, name GPS

Chapter 5. Software
disable auth #Don't encrypt messages
2. Edit boot script for PowerRTNU.

This file is usually located in
/etc/orca/PowerRTNU/boot
or
/home/gator/data
or
/home/spectra/data
3. Add the following to load object code:
ld 1,0, “xntpd”
4. And this to start it on card 1 (processor 0):
mstart 0, “xntpdmain –c /etc/orca/PowerRTNU/boot/ntp.conf”
or
mstart 0, “xntpdmain –c /home/gator/data/ntp.conf”
or
mstart 0, “xntpdmain –c /etc/spectra/ntp.conf
Typical setup for client Workstation(s)

The following methods describe setting up a client workstation for NTP.
Quick setup method

This method is a quick and easy way to setup a client workstation, if it is not possible
to use this method use the generic setup method detailed below.
Note
This procedure is valid for RedHat 6, it may differ on earlier versions of Redhat.
1. On the workstation Linux desktop, select System -> Administration -> Date &
Time, then enter the ‘root’ password to open the Date/Time Properties
configuration screen.
2. Deselect the Synchronise date and time over the network checkbox to display
the manual setting screen.
The time displayed must be within 20 minutes of the PowerRTNU time, if it is not
the synchronisation will fail. If required set the time to within 20 minutes of the
PowerRTNU time.
3. Select the Synchronise date and time over the network checkbox to display
the NTP servers list.
4. Check that the PowerRTNU IP address is listed, if not Add it.
5. Select the PowerRTNU NTP server entry in the list.
6. Click OK.

Chapter 5. Software
Generic setup method
Note
The directories given in the procedure below contains example directory paths,
however in your configuration these may be different. Also note that any required
files must be present in these directories.
1. Add/Edit the ntp.conf file for workstation

ntp.conf file contents (workstation)
server <ntp server IP address> #Talk to PowerRTNU server

#<ntp server IP address>
disable auth #Don’t encrypt messages
driftfile /etc/ntp/drift.client #Use this file to record clock
or #details instead of default.
driftfile /home/gator/data/drift.client #Note that in your configuration this
or #file may be located in a different
driftfile /home/spectra/drift.client #directory.
2. Replacing hostnames of PowerRTNU and other workstations as appropriate. As
root:
chkconfig ntpd on
3. Then either reboot or (also as root) issue the command:
/etc/init.d/service ntpd start
Additional Chronyd Configuration Steps for Gator in Red Hat 7 (RHEL7) Environment
In Red Hat 7, the ntpd service has been replaced by the chronyd service. This
service is used to configure the workstation synchronization with the internal GPS
receiver in the PowerRTNU when the real-time unit is used as a server.
To enable the synchronization to work, you must edit the /etc/chrony.conf file
as follows:
1. Add the following line to the file:
server <prtnu_name> iburst
where <prtnu_name> is either the IP address or hostname of the PowerRTNU.
2. Save your changes to the chrony.conf file.
3. Start the chronyd process by using the following command:
systemctl start chronyd
4. Check that the ntp server is listed as a current time source using the sources
command:
chronyc sources
5. Check the system’s clock performance using the tracking command:
chronyc tracking

Chapter 5. Software
Testing The following command prints a list of the peers known to the server as well as a
summary of their state.
ntpq –p <ntp-server-name>
Example of output after running the above command:
remote refid st t when poll reach delay offset jitter

=============================================================================
*ruel.iouk.ioroo .GPS. 1 u 8 64 37 0 .270 2.645 6.711
* Denotes Reference ID
this entry is PowerRTNµ (curtailed)
Domain
being used name
and is
working

Chapter 5. Software
Debug Monitor
The debug monitor is a passive process which monitors the state of the PowerRTNU
vxWorks kernel and software processes.
Note
Also see “Obtaining Debug Information” on page 89.
If any process SUSPENDS or is stopped by the VxWorks 6.x operating system after
an error, or if memory becomes too low, the debug process dumps the system state
to a debug file on the UNIX workstation:
The debug file
Location: The debug file is located in the directory above the one containing
the VxWorks® file, for example if the file name is:
/home/spectra/PowerRTNU/kernel/vxWorks
then the debug file is placed in:
/home/spectra/PowerRTNU
Name: The debug file is named:

<PowerRTNU_host_name><card number>_dd-mm-
yyyy.hh:mm:ss.log
For example, a PowerRTNU with hostname "ruel" that creates a file
from card 1 may produce file
ruel0_03-01-2004.09:20:00.log
Enhancements New features have been added to Debug Monitor that allow the PowerRTNU to
automatically recover from a software malfunction. It can reboot the card it is running
on if an essential task becomes suspended. This feature is configurable and is set
’on’ by default. The output from getdbg is now configurable, you can suppress the
output to terminal to speed up this process (default setting is output to file only).
Watchdog is a new facility that guards against Debug Monitor being prevented from
running. This facility is also set ’on’ by default.
To configure these new features, see the Configuration section below.
Configuration Essential task monitoring

Essential tasks are specified by placing the following command in the PowerRTNU
boot script (.rc) file before the pcpStart() command:
setDebugMonitorEssentialTasks “<task names>”
The <task names> are the same as listed by the ’i’ command, for example:
setDebugMonitorEssentialTasks “tTrg tTrgDsn tTrgSlv tPcp tSDI tSod”
The above example shows the default <task names>
For more details on obtaining information on tasks and using the ’i’ command, see
“Obtaining task information” on page 87.

Chapter 5. Software
Watchdog service period

The watchdog service period setting must be defined in the PowerRTNU boot script
(.rc) file before the pcpStart() command.
The watchdog service period can be specified or the service can be turned off using
the following command:
setDebugMonitorWatchdogPeriod_secs <seconds>
where <seconds> is the interval in seconds that the watchdog service waits before
resetting the card.
To turn off the watchdog service specify 0 for <seconds>.
Monitor check interval

The monitor check interval can be specified using the following command:
setDebugMonitorCheckInterval_ms <milliseconds>
The default monitor period is 2000 ms.
The monitor check interval should be reduced if the watchdog service period is
reduced. The watchdog service period should be at least twice the monitor check
interval.
Debug output
Debug output to terminal or file can be configured using the following command:
setMonitorDbgFlags <unsigned int>
where <unsigned int> is a flag that can be specified to send output for a specific
debug output group or all groups to a console or file. The debug output groups and
their flags for sending output to console or file are shown in the table below.
Debug output group Flag for console Flag for file
EDR 0x00000001 0x00010000
Memory 0x00000002 0x00020000
Stack trace 0x00000004 0x00040000
Network 0x00000008 0x00080000
Device 0x00000010 0x00100000
Boot parameters 0x00000020 0x00200000
Versions 0x00000040 0x00400000
All 0x0000ffff 0xffff0000
Current settings can be previewed using:

getdbgPreview <dest flag>
For <dest flag> use 0 to see output enabled for the terminal or 1 to see output
enabled for file displayed on the terminal.

Chapter 6. PowerRTNU Configuration
It is only necessary to configure the PowerRTNU once for each installation. This
involves editing a series of boot parameters via a serial terminal attached to the
debug port of the master processor.
The parameters enable the PowerRTNU to boot and connect to the network over
ethernet and to download the VxWorks kernel plus the application software for
connecting to the data server.
Subsequent boot sequences read the parameters from FLASH.
Information on reference to cards/processors numbers

In this and various other chapters reference is made to card and/or processor
numbers, for example card 1, card 2, card 3, or processor 0, processor 1, etc.
It is important to distinguish the difference between references to card numbers and
processor numbers. Card numbers start from 1, whereas processor numbers start
from 0. When using commands the processor number must be used, for example
mstart 0, "hdr gen -o 1000 -baud 19200" will start the General header on
processor 0, which is located on card 1
To clarify, in a typical PowerRTNU configuration with three PowerPC VME cards
fitted:
• Processor 0 is located on card 1
• Processor 1 is located on card 2 (triggers card)
• Processor 2 is located on card 3.

Configuring the PowerRTNU
During PowerRTNU configuration, the kernel is downloaded from the host

workstation and is referred to as the “Downloadable Kernel”. All other configuration
files are downloaded from the host workstation.
It is possible to interrupt the boot sequence by pressing any key during boot and
then typing the ‘c’ option. This will display the boot configuration where you can edit
the boot parameters. You can display the boot configuration using the bootChange
command in a terminal window.
When the PowerRTNU is running, direct network access is only available through
card 1 (master), network access to any additional cards is routed through card 1.
Card 1 is the first card to boot and is then followed by cards 2 and 3.
To boot: @ target name(tn): ruel

To list current boot parameters : p inet on ethernet(e): 192.168.3.85:ffffff00
To change boot parameters : c
To list commands : h
PowerRTNU
SLAVE
Internal Network (dc0)

Ruel3
PowerRTNU.2
SLAVE
Ruel2
PowerRTNU.1
Spare Device(RX2)
MASTER
Boot Device Ruel1
PowerRTNU.0
boot device : RX1 processor number :0
Host
inet on backplane(b): 192.168.101.1

host name: luss
host inet (h): 192.168.3.121
user (u): spectra
ftp password:
Configuration Procedure
Configuring the PowerRTNU for the first time involves using a NULL modem cable to
connect it to a PC or workstation running a terminal emulator such as PROCOMM
PLUS or Windows Hyperterm. (It is also possible to instead connect to a workstation
running a UNIX tip session.)
1. Switch on the PowerRTNU.
2. Connect the host PC or workstation to the master processor debug serial port
(labelled DEBUG on card 1 on the front panel of the PowerRTNU)
3. Establish a connection to the PowerRTNU using Hyperterminal, PROCOM PLUS
or similar software with settings:
Baud: 9600
Data bits: 8
Parity: None
Stop bits: 1

4. Restart the PowerRTNU.

The PowerRTNU begins to boot - see “A successful boot” on page 67.
5. To configure the boot parameters for a PowerRTNU using the pre-installed or
new bootloader:
a. Hit any key to interrupt the boot sequence, or press Ctrl+X to abort it.
The VxWorks boot prompt appears.
b. To change the boot settings, type c and press Return.
A PowerRTNU parameter and its current setting appears (see “Boot
Parameters” on page 65).
Note
You can also use the bootChange command with the Downloadable Kernel.
For more information on the boot parameters, see “Boot Parameter Descriptions”
on page 65.
6. Do one of the following:
• Enter a new value and press Return
• Clear the field by pressing ‘.‘ (a full stop) then Return
• Move to the previous parameter by pressing ‘-‘ (dash key) then Return
7. Press Return
The next parameter appears (see next section)
8. Return to step 6 until you have completed all parameters.
Boot Parameters A typical setup on card 1 (master) is:

boot device : RX1
processor number : 0
host name : glenelg
file name : /projects/primenav/PowerRTNU/kernel/vxWorks
inet on ethernet (e) : 10.100.52.26
inet on backplane (b): 10.100.101.1
host inet (h) : 10.100.53.166
gateway inet (g) :
user (u) : gator
ftp password (pw) (blank = use rsh): *********
flags (f) : 0x8
target name (tn) : ruel
startup script (s) : /projects/primenav/PowerRTNU/boot/ruel.rc
other (o) : omode
Boot Parameter Descriptions

boot device For a PowerRTNU this parameter must be the ethernet port, RX1, for the master
processor and dc0 for all slaves.
processor number Unique identifier for the processor. Must be “0” for the master processor and n for
each slave.
host name Name of work station from which the PowerRTNU is to boot.
file name Name and path of VxWorks kernel file on host (for Downloadable Kernel).
inet on ethernet IP address including a hexidecimal subnet mask (if any) of the PowerRTNU. The
format is a.b.c.d:<network mask in hex>. For example, a subnet mask of
255.255.255.0 would be ffffff00.

inet on backplane
IP address of master processor internal network device (dc0). All slave processors select
their address by adding their processor number to the final number of the address.
host inet IP address of host as specified in host name above.
gateway For a single network, leave blank. However, if the PowerRTNU and host are on
different sub-networks, enter the gateway address on the PowerRTNU network
(forthcoming releases only).
user User name for File Transfer Protocol (FTP) or Remote Shell (RSH) for logging into
the host to download the kernel.
ftp password Password for logging in to the host to download the kernel using FTP
(recommended). Leave blank to use RSH (not recommended).
Note
If a password is supplied the PowerRTNU uses FTP to download the kernel, this is
the recommended method. If the password is not supplied (blank) then the
PowerRTNU uses the RSH network protocol to download the kernel, which is not
recommended.
It is important to note that in forthcoming versions of Linux the RSH protocol will be
superseded by the Secure Shell (SSH) network protocol, therefore RSH may not
work on your system depending on the version of Linux you are using.
Also note that if you still wish to get the PowerRTNU to boot using RSH, it must be
configured as a trusted host on the boot host machine, see “Configuring RSH
(Remote Shell)” on page 119.
flags Boot flags:

0x04 Don't autoboot
0x08 Quick autoboot (no countdown)
0x20 Disable login security
target name Hostname of PowerRTNU.
startup script Name and path of startup script.
The paths required are as follows:
SPECTRA: /home/spectra/PowerRTNU/obj/
GATOR: /home/gator/PowerRTNU/obj/
ORCA: /home/orca/CURRENT_VERSION/PowerRTNU/obj/
other For the Downloadable Kernel - leave blank for the master card (card 1), set to “auto”
for slaves.

A successful boot
[V x W o rk s B o o t]: @
b o o t d e v ic e : R X
u n it n u m b e r : 1
p ro c e s s o r n u m b e r : 0
ho st nam e : lu s s
fi le n a m e : /p r o je c ts /p r i m e n a v / P o w e r R T N U /k e r n e l/v
in e t o n e t h e r n e t ( e ) : 1 9 2 .1 6 8 .3 .8 5 :fff fff0 0 B o ot
in e t o n b a c k p la n e ( b ) : 1 9 2 .1 6 8 .1 0 1 . 1
h o s t in e t ( h ) : 1 9 2 .1 6 8 .3 .1 2 1 P a ra m e te rs
u s e r (u ) : s p e c tra
fla g s (f) : 0 x8
ta rg e t n a m e (tn ) : ru e l
s ta r tu p s c r ip t ( s ) : /p r o je c ts /p r i m e n a v / P o w e r R T N U /b o o t/r u e l.r c
A tta c h e d T C P /IP in te r fa c e to R X 1 .
A tta c h in g n e tw o r k in te r fa c e lo 0 ... d o n e .
L o a d in g ... 1 0 5 9 2 4 8
S ta r tin g a t 0 x 1 0 2 b fc ...
A tta c h e d T C P /IP in te r fa c e to R X u n it 1
A tta c h in g in te r fa c e lo 0 .. .d o n e
A d d in g 3 4 7 9 s y m b o ls fo r s ta n d a lo n e .
]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]
]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]
]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]
]]]]]]]]]]] ]]]] ]]]]]]]]]] ]] ]]]] (R )
] ]]]]]]]]] ]]]]]] ]]]]]]]] ]] ]]]]
]] ]]]]]]] ]]]]]]]] ]]]]]] ] ]] ]]]]
]]] ]]]]] ] ]]] ] ]]]] ]]] ] ]]]]]]]] ]]]] ]] ]]]] ]] ]]]]] V x W o rk s
]]]] ]]] ]] ] ]]] ]] ]]]]] ]]]]]] ]] ]]]] ]]] ]]]] ]] ]]]]
]]]]] ] ]]]] ]]]]] ]]]]]]]] ]]]] ]] ]]]] ]]]]]]] ]]]] B a nner
]]]]]] ]]]]] ]]]]]] ] ]]]]] ]]]] ]] ]]]] ]]]]]]]] ]]]]
]]]]]]] ]]]]] ] ]]]]]] ] ]]] ]]]] ]] ]]]] ]]]] ]]]] ]]]]
]]]]]]]] ]]]]] ]]] ]]]]]]] ] ]]]]]]] ]]]] ]]]] ]]] ] ]]]]]
]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]
K e rn e l h a s
]]]]]]]]]]]]]]]]]]]]]]]]]]]]]
]]]]]]]]]]]]]]]]]]]]]]]]]]]]
D e v e lo p m e n t S y s te m
s u c c e s s fu lly
]]]]]]]]]]]]]]]]]]]]]]]]]]] V x W o r k s v e r s io n 5 .4 .2
]]]]]]]]]]]]]]]]]]]]]]]]]] K E R N E L : W IN D v e r s io n 2 .5
]]]]]]]]]]]]]]]]]]]]]]]]] lo a d e d
C o p y r ig h t W in d R iv e r S y s te m s , I n c ., 1 9 8 4 - 1 9 9 9
C P U : M o to r o la M V M E 2 4 3 3 - 3 - M P C 7 5 0 . P ro c e s s o r # 0
.
M e m o r y S iz e : 0 x 8 0 0 0 0 0 0 . B S P v e r s io n 1 .2 /0 :C S L - 1 .0
.
E x e c u ti n g s ta r tu p s c r ip t /p r o je c ts /p r im e n a v /P o w e r R T N U /b o o t/r u e l. r c .
#
# U s e th e e m b e d d e d d a ta s e r v e r o n R u e l i ts e lf ... S ta r tu p S c rip t
# i.e . IP a d d re s s o f o u r P o w e rR T N U .
#
h o s tA d d (" d s n h o s t" , " 1 9 2 .1 6 8 .3 .8 5 ")
#
# U d p M s g S v r h o s t IP a d d r e s s fo llo w s .
#
h o s tA d d (" m e s s a g e h o s t" ," 1 9 2 .1 6 8 .3 .1 2 1 " )
#
# D R N h o s t IP a d d r e s s fo l lo w s .
#
h o s tA d d (" d rn h o s t","1 9 2 .1 6 8 .3 .1 2 1 ")
#
# D o w n lo a d o u r a p p lic a ti o n o b je c ts
#
c d " /u s e r /s p e c tr a / P o w e r R T N U /o b j"
ld 1 ,0 ," p o w e r r t n u .o "
#
m lo a d 0 , " h d r .o "
#
# I n itia li s e th e U D P M e s s a g e S e r v e r U t ility
# S e p a ra te p o rt n u m b e r fo r e a c h p ro c e s s o r .
#
U d p P r in tfIn it( 2 8 0 0 1 + s y s P r o c N u m G e t( ))
#
# N o w s ta r t th e P o w e r R T N U m a in a p p .
p c p S ta rt()
#
# S ta rt a n y o th e r a p p s (h e a d e rs e tc .)
m s ta rt 0 , "h d r g e n -o 1 0 0 0 -b a u d 1 9 2 0 0 "
->
PowerRTNU boot (startup) scripts have four main parts:

• Network addresses & environments
• Object module downloads not handled by the RTCN
• Initialisation and configuration commands

• Task start commands

A typical boot script is shown (right). (Lines starting ”#” are comments.)
The rest of this section explains each command in this example.
Network addresses hostAdd ("dsnhost",

"192.168.3.85")
For systems running a DRN
(Spectra) the data server IP address
is always the same as the
PowerRTNU IP address.
For systems running a “data server
direct” connection (always Gator and
Orca, optional for Spectra) this must
be set to the IP address of the PC
system hosting the data server.
hostAdd("messagehost","192.
168.3.121")
The UDP message server host IP
address. Specifying this is optional
but recommended. See Chapter 5:
“Software” on page 53.
hostAdd
("drnhost","192.168.3.121")
The IP address of the workstation
running the DRN (if applicable). This
can be omitted if the “data server
direct” configuration (described in
“Data Server Direct Configuration”
on page 81) is used.
Object module downloads

cd "<see directories referenced for startup script above>"
ld 1,0,"powerRTNU.o"
Change to the appropriate PowerRTNU installation directory and download the
application objects.
Note
Although VxWorks supports other forms, the above code load command has the
advantage that the boot script runs whether the PowerRTNU boots from a UNIX or
PC host - “/” directory character is correctly interpreted.
mload 0, "hdr.o"
Downloads the relevant code for a header. The form is

mload proc_ID, module.o

proc_ID Specifies destination for module.o
-1 All cards
0 Master card only
n Slave card number n.
If the header was nor loaded using the RTCN this must be included if a header is to
be generated by the PowerRTNU. Consult the Header Outputs Reference manual for
further details of available headers.
In the example above the command mload 0 will load "hdr.o" on card 1
(processor 0).
Initialisation and configuration commands

Before any tasks are started, you can set up the application initialisation and certain
configuration options. It is recommended that at minimum you enable UDP
messaging.
UdpPrintfInit(28001+sysProcNumGet())
Enables UDP message output to the UDP Message Server with a separate port
number for each processor, for example:
Port 28001: card 1
Port 28002: card 2
Port 28003: card 3
For further details, see “UDP Message Server” on page 85,
Note
The corresponding UDP message server must be run with the same part number on
the workstation, for example “udpmsgsvr -p 28001” would display debug
messages for processor 0.
The PowerRTNU unit connects by default to a message server using the program
number 250001. Normally, this does not need to be changed, however the message
server program number can be changed if necessary.
pcpMscvSetProgramNumber( program number )
Takes in the program number of a specific running message server so as to allow
the PowerRTNU II unit to connect to it.
Task start commands

Normally, only one or two tasks are started in the boot script, as in the following
examples:
pcpStart()
Starts the main PowerRTNU software.
mstart 0, "hdr gen -o 1000 -baud 19200"
Starts other applications. The form is:
mstart proc_ID,”module.o”

proc_ID Specifies destination for module.o
-1 All cards
0 Master card only
n Slave card number n.
In the example above the command mstart 0, "hdr gen ...." starts the
General header process on card 1 (processor 0).
Time Break trigger debounce command

The debounce time can be configured through a setting in the .rc file:
triggersTweakTB(BOOL suppress,int bounce (ms))
This setting can be used to either turn off debounce or to vary the debounce time. The
default is a debounce time of 100 ms:
triggersTweakTB(1,100)
If you want to change this time to 250 ms, then the command is:
If you want to turn debounce off, then the command is:
If the first value of the debounce parameter is 0, then the debounce parameter is ignored.
Zero Phase trigger mode command

In the PowerRTNU, triggers are fired in tick interrupts that occur at millisecond intervals. It
is worked out in advance which interrupt a particular trigger should fire at. Another
interrupt that is used is the PPS interrupt from the GPS receiver (see “Timing/Triggers/
GPS Process” on page 54); it occurs when the time has a whole number of seconds. It
is critical that this interrupt is processed promptly for the timing mechanism to be
accurate.
• When zero phase trigger mode is turned off - the nearest tick interrupt is set
up to happen 200 µs before the PPS interrupt. Thus there is a phase difference
of 200 µs between the ticks and PPS. This prevents the two interrupt types from
interfering with each other, so both triggers and timing are more accurate than
would otherwise be the case if the 200 µs offset was not used.
• When zero phase trigger mode is turned on - an alternative solution to the
interrupt handler clash problem is used. Different interrupt handlers (from those
described above) are used to avoid the potential clash. (This is why it has to be
turned on immediately after boot.) When the tick before PPS occurs (that is, 999
ms after the previous PPS) the next inter-tick delay is set to 2 ms instead of 1
ms. The actions due 1 ms later are done at PPS (that is, the PPS interrupt
handler calls the tick one after it has done its timing actions). Thus the timing
accuracy should be maintained. The latency of a trigger will be slightly different
at PPS. This does not matter as the NCN avoids setting triggers on the PPS
boundary (extra latency is small anyway).
NCN Prediction Time Modification option: This option (-OYO flag) must be used
with the NCN when zero phase trigger mode is in use. It causes the NCN to use an
in-phase time in a prediction rather than a time 200 microseconds in advance of the
in-phase time. If -OYO is not used (or it is used with zero phase turned off) then it will
result in a 200 microsecond difference between the predicted and actual trigger
times.
The zero phase trigger mode can be configured through a setting in the .rc file.

This setting can be used to turn on or off the zero phase trigger mode and if included in
the .rc file, must be placed after ld 1,0,"powerRTNU.o" and before pcpStart.
For GATOR, the default setting for zero-phase trigger mode is on. If you want to turn zero
phase mode off, then the command is:
unsetZeroPhaseTriggers
For ORCA and SPECTRA, the default setting for zero-phase trigger mode is off. If you
want to turn zero phase mode on, then the command is:
setZeroPhaseTriggers
NMEA Output By default mstart <n> will output the NMEA RMC string, however you can alter the
RMC string output using the -rmc_1dec_sec and -rem_2dec_sec options, which
will output seconds in the RMC string with one or two decimal places respectively.
You can disable the RMC message using the -normc option. Note that if this option
is omitted from the command line the RMC message will always be transmitted.
To output the NMEA GSA string use the -gsa option. These strings provide time,
date, position, course and speed data.
It is possible to output multiple strings. If multiple strings are output, the ZDA string
will be output before the GGA string (see example on page 72).
See the Header Output Reference User Manual or a list of options available with the
mstart <n> command and their descriptions.
Examples
pcpStart()
mstart 1, "pps_hdr -port 6 -baud 4800 -rec_2dec"
Starts the PRNTU and outputs the header on port 6 at 4800 baud, the RMC string is
transmitted with seconds given to two decimal places.
pcpStart()
mstart 1, "pps_hdr -gsa -normc”
Starts the PRNTU and outputs the header with defaults (port 7, 9600, N, 8, 1), the
GSA string is transmitted. The RMC string is not transmitted as the -normc option is
used.
pcpStart()
mstart 1, "pps_hdr -zda -normc”
Starts the PRNTU and outputs the header with defaults (port 7, 9600, N, 8, 1), the
ZDA string is transmitted. The RMC string is not transmitted as the -normc option is
used.
pcpStart()
mstart 1, "pps_hdr -zda -gga -normc”
Starts the PRNTU and outputs the header with defaults (port 7, 9600, N, 8, 1).
Multiple strings are transmitted (ZDA and GGA string). The RMC string is not
transmitted as the -normc option is used.
RMC String Format

$GPRMC,HHMSS,A,DDMM.mmmm,S,DDDMM.mmmm,S,x.xmx.x,
ddmmyy,x.x,a*hh<CR><LF>
Fields:

String Id, Time, Status (A=valid, V=receiver warning), Latitude, Direction of Latitude,
Longitude, Direction of Longitude, Speed over ground (knots), Course over ground
(Deg True), Date, Magnetic variation (degrees), Direction of magnetic variation,
Checksum.
GSA String Format

$GPGSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,x.x,x.x,x.x*hh<CR><LF>
Fields:
String ID, Mode (M = manual forced to operate in 2D or 3D mode, A=automatic,
allowed to automatically switch 2D/3D mode), Mode (1=fix unavailable, 2=2D,
3=3D), Satellite IDs (12 of the form “xx”), PDOP (always 1.0), HDOP (always 1.0),
VDOP (always 1.0), Checksum.
Note
Satellite IDs are left unfilled.
ZDA String Format

$--ZDA,hhmmss.s,xx,xx,xxxx,xx,xx*hh<CR><LF>
Fields:
String Id, UTC Time, Day, Month, Year, Local zone description, 00 to +/-13 hours,
Local zone Minutes description, same sign as local hours.
GGA String Format

$GPGGA,nnnnnn.n,nnnn.nnn,X,nnnn.nnn,X,n,nn,n.nn,nnnnn,X,nnn,X,,*nX
Fields:
String Id, UTC of position fix, Latitude, Direction of Latitude, Longitude, Direction of
Longitude, GPS quality indicator (0 - not valid; 1 - GPS fix; 2 - Diff GPS fix; 3 -
Military P-code fix), Number of Sat’s (0 - 12), HDOP, Antenna Height, Geodial
separation, Age of Diff GPS data, Diff stn ID, CRC.
Note
Diff stn ID is left blank.
Typical Multiple String output (ZDA & GGA)

$GPZDA,111634.0,27,11,2008,00,00*59
$GPGGA,111634.0,5557.940,N,0311.726,W,1,08,1.03,00072,M,000,M,,*7E
Full descriptions of the string formats are available in the Interfaces Reference
manual.
ORCA Local SHOTPREDICT Mode

ORCA has a local SHOTPREDICT Mode where the @ShotPredict@ is produced by
a special NCN on the master vessel and picked up by the PowerRTNU. This
@SHOTPREDICT@ item is used as an alternative when data communications are
lost with the shooter and the master needs to continue to shoot.
On the PowerRTNU this mode has to be enabled with the following command:

setUseLocalShotPredict <val>
where val is 0 (for don't use) or 1 (for use local ShotPredict - normal argument).
This should be put into the .rc file before the pcpStart call.
ORCA Message Server - Specifying Program Number

ORCA has the ability to run multiple message servers on the same machine. It
allows the rpc program number to be specified from the default ORCA one. You can
configure the PowerRTNU to connect to an alternative message server with a
different program number using the command:
pcpMsvcSetProgramNumber <program number>
It should be placed before pcpStart and after the ld 1,0, "powerrtnu.o".
ORCA SHORPREDICT Filtering

For the ORCA version of the PowerRTNU you can specify which gun arrays are
connected to the PowerRTNU and the Triggers process will ignore any
SHOTPREDICTs that are not for the specified gun arrays. Use the command:
trgDsnFilterPredictions (“301,302”).
Where 301 and 302 are the gun arrays that are being filtered. Change it to different
gun array numbers if you are filtering for other gun arrays.

Slave Processor Cards
It should not be necessary to configure the boot parameters of any of the slave
processor cards since they take their parameters from the master processor across
the VMEbus at boot time.
However, if for some reason, they lose their configuration, it is necessary to
reconfigure them directly.
Slave processors should only have values for boot device, processor number,
flags and other. These values should be as given here.
To configure a slave processor:
1. Connect the PC to the corresponding slave processor card debug serial port
(front panel).
2. Establish a connection to the <PowerRTNU name>.<card number> using
Hyperterminal, PROCOM PLUS or similar software with settings:
Baud: “9600”
Data bits: “8”
Parity: “None”
Stop bits: “1”
3. To configure the boot parameters for a PowerRTNU running the pre-installed or
new bootloader:
a. Hit any key to interrupt the boot sequence, or press Ctrl+X to abort it.
The VxWorks boot prompt appears.
b. To change the boot settings, type c and press Return.
A PowerRTNU parameter and its current setting appears.
4. Set parameters as described above (“Configuration Procedure” on page 64),
setting boot device, processor number, flags and other as follows and clearing
the rest by typing . (a full stop).
boot device: “dc0”
processor number: “<n>”
flags: “0x8”
other: “auto”

DRN Configuration
PowerRTNU SPECTRA
Configuration/
vxWorks Data Items Unix
Workstation
DataServe DataServe
r DRN DRN r
TCP
Socket
Connection
telnet XML
Fil
[Configuration] e
[Configuration]
DRN configuration applies to Spectra users only, Gator and ORCA users should use
the data server direct configuration as described in “Data Server Direct
Configuration” on page 81.
Both the PowerRTNU and the Data Router Nodes must be configured so that they
can communicate. (You are unlikely to need to do this, however it is important to
know how.)
Configuring the DRN with UNIX

Configure the DRN using UNIX. This involves editing the mn.ini file startup line and
the configuration file that it references. Parameters like name and remote override
similar settings in the configuration file, thus avoiding the need to edit that file.
Startup line
A typical startup line in the mn.ini file:
start drn -X host_config.xml -name host -remote remote_host -
log host -debug none
Flags
-X name Name of XML configuration file.
-name This replaces the field named by <drn name="nnnn">
-remote This replaces the value specified by <remote>nnnn</remote>
-port This replaces the value specified by <port>nnnn</port>
-nocompress Disable compression of all data transfer.
-cache Enable disk caching of CONF and configuration items (DTN use only).
-flush Flush disk cache on startup (DTN use only).
-h Display help on command line options.
-log See below, “Debug Logging” on page 75.
-debug See below, “Debug Logging” on page 75.
Debug Logging
The DRN offers a comprehensive audit trail for logging to file or viewing on the
console. All file output is sent to the file identified by $PN_LOG.

By default, the DRN logs startup, shutdown and any data transfers. However, you
can increase the level using the -debug flag, for example to log each RPC call made
to the DSN, or even to log all raw data sent and received.
To configure debugging:
• In the startup line, add one of the following
• -debug none
• -debug default
• -debug output specifiers + module specifiers
Output mode specifiers
f File.
S stdout.
Module specifiers
i initialisation.
d data server.
l link.
s socket.
t data transfer.
c item caching.
p plugins.
h link heartbeats.
x xml parsing.
r routing.
b hex dump all incoming and outgoing buffers.
a all debug
Examples:
• log all debug to file and stdout:
-debug fs+a
• log socket and transfer to file:
-debug f+st
• log initialisation, data server, link and socket to stdout:
-debug s+idls
• log initialisation, transfer and xml file parsing to file and stdout:
-debug default
To specify the log file
1. In the startup line add -log <name> to specify a log file which has the form
drn_<name>.LOG.
Note
The default name is drn_.LOG. If “-debug none” is used then -log has no effect.
With two or more PowerRTNUs use -log, otherwise both UNIX DRNs will try and open the
same file (drn_.LOG) for writing.

Configuration file
The DRN configuration file is located in $PN_DATA with the file extension ".xml". It
contains:
DRN name Name of remote host (PowerRTNU host name).
TCP port Type of items to be transferred. Specific items need not be named, only the
untagged item type.
The file is written in XML (eXtensible Markup Language), using tag-bracketed
structures: <...> </...>:
Typical format for configuration file:
<?xml version="1.0"?>
<drn name="" target="">
<links>
<link name="" type="">
<comms>
<remote></remote>
<port></port>
<mode></mode>
</comms>
<channel>
<items>
<conf></conf>
<proc></proc>
<data></data>
</items>
</channel>
</link>
</links>
<exclude>
<items>
<config></config>
</items>
</exclude>
</drn>
Note
Add comments using ,
for example: 
Tag Descriptions:
<drn> </drn> Defines the DRN node. Two parameters are required:
name: Name of the DRN. Each DRN connected to the DSN must have a unique
name for use when declaring interest and products.
type: Operation type. Can be: “PowerRTNU” for links between the navigation
system and the PowerRTNU; or “Unix” for DTN style links (unix -> unix).
<links> </links> Defines one or more links:
<link> </link> Defines a single link. Two parameters are required:
name: Identifier for the link. This name must be unique if multiple links are defined.
type: Can be "socket" for PowerRTNU; or "serial" or "simplex serial" for DTN use
only.
<comms> </comms> Defines communications parameters for a link. Within the <comms> structure the
following tags can be used:
<remote>: Hostname of remote DRN

<port>: TCP port number of remote DRN host

<mode>: Either "server" or "client". Unix DRNs connecting to the PowerRTNU should
use "client".
<channel> </channel>
Defines a virtual channel within a link. At least one channel must be defined. For
PowerRTNU connections only one channel is needed.
Parameters:
name: Channel name. This must be unique across multiple channels.
priority: PowerRTNU links set to 1.
ttl: Packet time to live. PowerRTNU links set to -1.0
max_elements: Maximum number of packets to queue. PowerRTNU links set to -1.
Note
Tags priority, ttl and max_elements are for use with DTN style links, and can
be committed for the PowerRTNU.
<items> </items> Lists the type of item transferred on a channel. Items can be of the following types:
<conf>: CONF items such as @RTCNCONF@
<proc>: Processed data such as @NETSOLUTION@
<data>: Real-time data items such as @RAW@
<config>: Configuration items such as @STREAMER@. This tag can only be used
in conjugation with the <exclude> tag, below.
<exclude> </exclude>
Items which should be excluded from transfer for ANY links.Typically these are
configuration items such as @SURVEY@, but can be of any of the item types used
in the <items> section.
Configuring the PowerRTNU DRN using VxWorks
Configuration
The DRN embedded in the PowerRTNU software does not require a configuration
file. For this reason, a default item list has been hard-coded with some items
excluded from transfer (equivalent to the <exclude> section of the Unix XML file):
Items excluded from transfer
CONF/Configuration items:
@BINNER@, @CODE@, @DLNCONF@, @OBSKO@, @OBSTACLE@,
@QCLNCONF@, @RTBCONF@, @SRICONF@, @STATION@, @SURVEY@,
@TURNCONF@
Data/Processed items:
@LICENCE@, @NETQUALITY@
PowerRTNU Boot Script

The PowerRTNU boot script (rc file) must contain a line defining the IP address of
the Unix host that the embedded DRN will be connected to. This is defined as
'drnhost' using the hostAdd command.

Example:
hostAdd ("drnhost", "192.168.1.57")
Runtime Configuration
A number of commands are available via the VxWorks prompt to allow certain
features to be enabled or disabled.
To list VxWorks commands:
• Enter drnHelp
Auto-Reboot
When the network connection fails, the DRN applies a reconnection timeout. If the
DRN has not established a connection during this time, the PowerRTNU reboots.
Typically this occurs when the system is shutdown and restarted.
A number of commands are available to control auto-reboot: drnEnableReboot,
drnDisableReboot, drnSetRebootTimeout(timeout in seconds),
drnDisplayRebootTimeout.
Debug Logging
Like the Unix DRN, the VxWorks DRN allows control over the amount of debug
output. All debug data outputs via the standard udpmsgsvr. By default, the debug
level is set to error messages only.
The following commands are available to enable/disable debug auditing:
drnDebugDisableAll drnDebugEnableAll
drnDebugDisableData drnDebugEnableData
drnDebugDisableDSN drnDebugEnableDSN
drnDebugDisableError drnDebugEnableError
drnDebugDisableFatal drnDebugEnableFatal
drnDebugDisableInit drnDebugEnableInit
drnDebugDisableLink drnDebugEnableLink
drnDebugDisableSocket drnDebugEnableSocket
drnDebugDisableTransfer drnDebugEnableTransfer
drnDebugDisableUDP drnDebugEnableUDP
drnDebugDisplayLevel drnDebugReset
Note on connection and reconnection

Both the Unix and VxWorks DRNs can handle a break in their network connections.
This covers the following scenarios:
• The PowerRTNU shutdown using pcpStop.
• The PowerRTNU rebooted.
• System shutdown.
• The DRN forcibly shutdown by the user (drnStop) or crashes.
Should the link between the two DRNs break, the error is detected on the next
attempt to send data, and causes the remaining DRN to reset back to its starting
conditions. Once the link has been re-established, all configurations are then re-
transferred.

When either DRN host is removed

The one exception to link failure recovery, is when either DRN host is removed from
the network. This typically occurs when either the PowerRTNU or the workstation
running the navigation system is powered down, or disconnected from the network.
In either case, the break in network connection is not detected for approximately 8
minutes, after which the DRN resets itself and attempts to reconnect.

Data Server Direct Configuration

PowerRTNU GATOR/ORCA/(SPECTRA)
Configuration/
vxWorks A data server may
Data Items Data Server Host
be present on the
PowerRTNU, but it e.g. Unix Workstation
is not used in this
configuration.
DataServer DataServer
TCP (RPC)
Socket
Connection
telnet
[Configuration]
Data server direct is the only configuration used by Orca and Gator and connects the
PowerRTNU directly to the data server on a remote machine (for example, a Unix
Workstation), it does not use the local data server on the PowerRTNU. Spectra can
use the DRN configuration (as described in the previous section) or can use a data
server direct configuration.
Spectra can use the DRN configuration (as described in the previous section) or can
use a data server direct configuration.
Spectra users may need to make changes to the configuration of the mn.ini file. All
users may have to make changes at some time to the PowerRTNU .rc file to enable
data server direct communication between the PowerRTNU and data server on the
remote machine if the PowerRTNU has previously been configured with a DRN or
has not been initially configured after the PowerRTNU .rc file was created.
Note
In the procedures described below some procedure steps are specific to a product or
products (Spectra, Gator or Orca). This is noted in the procedure step where it
applies.
Configuring the mn.ini file

This procedure only applies to Spectra, it does not apply to Gator and Orca.
To alter the mn.ini for use with a direct server connection:
1. Open the mn.ini file in a text editor
2. Remove (or comment out using a semicolon ‘;’) the line that starts the DRN for
the PowerRTNU, as an example this line will take the form:
start drn -X <host_config.xml> -name <host> -remote
<remote_host> -log <host> -debug none
3. Save the mn.ini file.
Configuring the PowerRTNU .rc file

To alter the PowerRTNU II .rc file for use with a direct server connection:
1. Open the PowerRTNU II .rc file in a text editor
2. Remove (or comment out using a hash ‘#’):
hostAdd ("drnhost",<"IP address">)

3. Add (or change) the dsnhost using the IP address of the data server host:
hostAdd (“dsnhost”,<“IP address”>)
4. Add (if not already present) the messagehost using the IP address of the UDP
message server host:
hostAdd (“messagehost”, <“IP address”>)
5. For Orca only - add (if not already present) the msvchost:
hostadd (“msvchost”, <“IP address”>)
6. For Spectra only, in the “Set up the UDPN” section (and BEFORE the pcpStart
command), add:
pcpDisable (“dsnStart”)
pcpDisable (“drnStart”)
Note
The pcpDisable commands are not required in Gator or Orca, although if
present they have no effect.
7. Save the .rc file.

Chapter 7. Diagnostic Procedure
Should the PowerRTNU stop decoding interface data, the most effective course of
action is to immediately carry out the diagnostic procedure (below) and to then
contact the Concept Support Team with the results.
The diagnostic procedure

1. Verify whether data is being received by the RTCN (select View I/O for the
particular interface in question).
If data is being received, then the PowerRTNU is not at fault.
2. If no data is being received by the RTCN, then telnet into the PowerRTNU.
Note
TIP: Remember, the PowerRTNU may contain multiple processor cards, so you
must telnet into the correct one. See "To telnet into a specific processor card"
below for information.
3. Type i and press Return.

A list of current processes appears.
4. Identify processes with status “SUSPEND”.
5. For each “SUSPEND PROCESS” type tt followed by the process name.
Debug information appears.
6. Send the debug information to the ION Concept Systems Support Team.
The most straightforward way to monitor PowerRTNU operation is to check the
output from the UDP (User Datagram Protocol) message server.
However, it may be necessary to examine the state of the PowerRTNU using the
VxWorks shell if any of the following are encountered:
• The PowerRTNU fails to boot.
• The heartbeat LED fails to light or is always on.
• An interface does not run properly.
In addition, there is a procedure for verifying the Thunderbolt GPS Clock, see
“Thunderbolt GPS Clock-Verification Procedure” on page 92.
To telnet into a specific processor card

If your PowerRTNU is fitted with multiple processor cards you must telnet into the
correct one. If you do not know the name of the processor card you want to telnet, it

is available in the /etc/hosts file. For more information on the hosts file see
“hosts.equiv and .rhosts” on page 120.
Note
The name is a unique identification for that card, usually identifying the PowerRTNU
and the card (for example PRNTU1 where "PRNTU" is the PowerRTNU name and
"1" identifies the card). Also note that in the hosts file the processor card name is
usually in the second column, it’s IP address is in the first column.
• Type telnet <PowerRTNU name & processor card name>

For example, telnet PRNTU1.
If successful a message will be displayed stating that you are connected to the
processor card.

UDP Message Server
You can display PowerRTNU status messages and extensive debug output on your
workstation.
To display PowerRTNU status messages and debug output
Do one of the following:
• In an xterm, run a UDP message server.
• From the RTCN, run the UDP Display Node graphical message server.
(The advantage is that the UDP port number is automatically specified. Consult
udpdn.pdf for more details.)
Starting the UDP message server with default values

To start the message server with its default values
• Enter udpmsgsvr
Options
You can start the message server with the following options:
-p Specifies the port number for server to listen on. Default port value is 28001.
-b Outputs data in binary format. In this format an alternative write function is

used and only the data obtained is written.
The intended use is for data obtained over a socket that might include non-
ascii characters.
-r Replaces <CR> with space if -b or -x option is not used. Note that <LF> is
already replaced by a space.
-s Specifies input buffer size. Default is 20K.
-x Displays data in hex format.
Configuring the PowerRTNU to use the UDP message server

You can run the UDP message server on any port number which does not conflict
with an existing UDP service port. Each PowerRTNU card can send debug
messages to a different UDP port number on the workstation. For example, if 28001
is used for the port, then card 1 (master) sends its debug to port 28001, card 2 to
28002 and so on.
To configure the PowerRTNUto use the UDP message server
• Enter two lines in the PowerRTNU boot script:
hostAdd(“messagehost”, “nnn.nnn.nnn.nnn”)
where nnn.nnn.nnn.nnn is the message server host IP address
UdpPrintfInit(<port no>+sysProcNumGet())
where <port no> is 0 for the default, which is 28001.

Displaying debug messages from each processor card

To display debug messages from each processor card within the PowerRTNU, run a
corresponding udpmsgsvr processing separate xterms on the workstation:
udpmsgsvr -p 28001
udpmsgsvr -p 28002
udpmsgsvr -p 28003
To start the corresponding message server
• Enter udpmsgsvr -p <port no>
Stopping the UDP Message Server

You can normally stop the UDP Message Server by using [CTRL + C], however if
you added an ampersand (&) to the command line to start the UDP Message Server
in the background, you need to terminate the process(es) using the ’kill
<process_id>’ command, as using [CTRL + C] will not work.
If you need to terminate this process, do the following:
1. Use the ps command to establish the PID for the UDP Message Server:
ps -ef | grep udpmsgsvr
which should return information on the udpmsgsvr process, for example:
2. Terminate the udpmsgsvr process, for example:

kill 3254
UDP Display Node - message server with user interface

This is a more user friendly version of udpmsgsvr, it also allows the logging of
debug data to a specified file.
For more detailed information on the UDP Display Node, see the UDP Display Node
manual.
Starting the UDPDN from the RTCN

In the RTCN:
1. In the RTCN main window select Options | Interface Units
2. In the Interface Units window select Options | Show Debug |
<PowerRTNU_card_number>
Starting the UDPDN from a command line

• Enter udpdn -p <port no> at the command line in an XTerm
Note that the port number is specific to the PowerRTNU processor card you want
to display debug messages for. Additional options are available which can be
displayed using udpdn -h

Using the VxWorks shell
You can use the VxWorks to gather diagnostic information:

Internal Display results in the terminal they were typed in. This type of command is supplied
by the VxWorks operating system.
External Display results in the UDP Message Server, if running. Nothing appears in the
terminal they were type in. These are CSL proprietary commands included in the
PowerRTNU firmware as supplied by CSL.
Accessing the VxWorks shell

To access the shell for command input
• Connect a null modem to the debug port of each card
The shell is now available for command input.
To access the shell by Telnet
1. Telnet into the PowerRTNU.
There is no login process. A prompt ‘->’ appears immediately on connection.
2. To end the Telnet session, type the internal command logout.
Note
Do not type exit. This terminates the shell and prevents further access until the
PowerRTNU is restarted.
Obtaining task information

You can obtain diagnostic information about the tasks running on the PowerRTNU
using the internal command, i.
To obtain diagnostic information (internal)
• Enter i
The diagnostic information appears (see below).

Example diagnostic information
-> i
NAME ENTRY TID PRI STATUS PC SP ERRNO DELAY
---------- ------------ -------- --- ---------- -------- -------- ------- -----
tExcTask excTask 1bfe4f8 0 PEND 1bfecc 1bfe408 3006b 0
tLogTask logTask 1bfbb70 0 PEND 1bfecc 1bfba90 0 0
tShell shell 181ff00 1 READY 168c74 181f1a0 0 0
tTelnetd telnetd 1a1b290 2 PEND 1637f8 1a1b110 0 0
tTelnetOutTtelnetOutTas da8670 2 READY 1637f8 da83a0 0 0
tTelnetInTatelnetInTask daa600 2 READY 16364c daa2e0 0 0
tNetTask netTask 1b4e5d0 50 READY 1657c4 1b4e4f8 3d 0
tPortmapd portmapd 1a1d1d0 100 PEND 1637f8 1a1d050 16 0
tPcp pcp 1a0fd50 100 DELAY 168204 1a0fc50 3d0002 11
tDebug boardMonitor 1a1fd50 100 DELAY 188604 1b0fc50 2 00
tDsn dsn 1a094d0 100 READY 1637f8 1a09200 3d0004 0
tDrn drn 1a15a98 100 DELAY 168204 1a15980 3d0004 1
tSDI SDI 1838010 100 DELAY 168204 1837ee0 3d0002 10
tSod SOD 1831708 100 READY 168204 1831610 0 0
tTrgSlv trgSlave 182b8a8 100 PEND+T 1637f8 182b800 3d0004 19
aux31 aux3 178eec0 100 READY 168204 178e630 0 0
fanb2 fanb 17b42c0 100 READY 168204 17b3a30 0 0
ttime3 ttime 17cab68 100 READY 168204 17ca2d8 0 0
rdiband8 rdiband 17c8240 100 READY 168204 17c79b0 0 0
tIAPRead1 IAPReadPort 17f0798 100 READY 1637f8 17f0530 3d0004 0
tIAPRead2 IAPReadPort 17fd510 100 PEND+T 1637f8 17fd2a8 3d0004 88
tIAPRead3 IAPReadPort 17fb3b8 100 PEND+T 1637f8 17fb160 3d0004 3
tIAPRead8 IAPReadPort 162c828 100 PEND+T 1637f8 162c590 3d0004 3
value = 0 = 0x0
->
Key
NAME Name of the task.
ENTRY Symbol name or address where task began execution.
TID Task ID.
PRI Priority.
STATUS Task status, as formatted by taskStatusString()
PEND, READY, PEND+T, DELAY: all indicate normal process operation.
SUSPEND: indicates that the PowerRTNU has crashed.
PC Program counter.
SP Stack pointer.
ERRNO Most recent error code for this task.
DELAY If task is delayed, number of clock ticks remaining in delay (0 otherwise).
Producing a stack trace

You can obtain a stack trace for a task that has crashed i.e. a task with a status of
SUSPEND. Note that each interface has two tasks associated with it:
• A task to drive the serial read function (for example, tIAPRead2 for port 2) which
splits the input into messages
• A task for the processdata() function, which has the entry point name of the
interface (for example, port 2 is running fanb (FANBEAM LASER) ) and which
interprets the message data.
To obtain a stack trace for a crashed task (internal)
• Enter tt followed by the task name.

For example, to produce a stack trace of the tPcp task above, use the following
internal command tt tPcp.
Checking free RAM You can uses the internal command memShow to find out how much available RAM is
free on each of the PowerRTNU processors
To list available RAM on each PowerRTNU processor (internal)
• Enter memShow
Checking the Stack You can display a table showing stack usage for each process. This is useful for
checking stack overflow.
To check stack usage (internal)
• Enter checkStack
Obtaining Debug Information

You can obtain a large quantity of debug information - including system and process
information - which can be used to diagnose problems:
• Uptime.
• Network stack and activity.
• Run time process state and stack traces.
• Memory info (free, used etc.)
• vxWorks boot information.
• PowerRTNU software versions.
To obtain debug information
• Enter getdbg
The results are also logged to a file in the PowerRTNU installation directory named
as follows:
<PowerRTNU_host_name><card number>_<date>.<time>.log
Setting debug options

You can alter debug output on the UDP message server by setting options
in the PowerRTNU using external shell command lines.
To set the general debug level for the following modules
• Enter the setDebugLevel <nLevel> command to automatically set the debug
level to nLevel for the following modules:
Triggers
GPS
Time
Comms
Dsn
To set debug output level (external)
• Enter setGpsDebugLevel <nLevel> where nLevel is a value in the range 1
to 7. The higher the value, the more the debug output from the GPS task. Setting
nLevel to 0 disables output.
To switch on trigger debugging messages (external)

• Enter setTrgDebugLevel <nLevel> where nLevel is a value in the range 1

to 4. Setting nLevel to 0 disables messages (default).
Note
Debug option is only relevant when run on the second card where the GPS receiver
and digital trigger PMC is present.
To switch on tPcp debugging (external)

• Enter setPcpDebugLevel <nLevel> where nLevel is a value in the range 1
to 4. Setting nLevel to 0 disables output.
To set debug level for the ilccomms (DSN/Triggers comms) messages
• Enter setCommsDebugLevel <nLevel> where nLevel is a value in the
range 1 to 4. Setting nLevel to 0 disables output.
To set debug level for gun related messages
• Enter setGunDebugLevel <nLevel> where nLevel is a value in the range 1
to 3. Setting nLevel to 0 disables output.
To set debug level for the PPS header
• Enter setPpsHdrDebugLevel <nLevel> where nLevel has the value 1.
Setting nLevel to 0 disables output.
To set debug level for the timing messages
• Enter setTimeDebugLevel <nLevel> where nLevel has a value in the
range 1 to 4. Setting nLevel to 0 disables output.
To set debug level for the dsn related messages
• Enter setDsnDebugLevel <nLevel> where nLevel has a value in the range
1 to 4. Setting nLevel to 0 disables output.
To set debug level for the tSdi (Serial DSN Interface) process
• Enter sdiDebug <nLevel> where nLevel has a value in the range 1 to 4.
Setting nLevel to 0 disables output.
To set debug level for the tSod (Serial Output Device) process
• Enter sodDebug <portNum>, <nLevel>. This sets the debug level for the
tSod process on port portNum to nLevel. The portNum value can be in the
range 1 to 8, or on VME-02 in the range 1 to 7. nLevel has a value in the range
1 to 4. Setting nLevel to 0 disables output.
To set debug level for the IAP (Interface Application Process)
• Enter setIapDebug <portNum>, <nLevel>. This sets the debug level for the
IAP on port portNum to nLevel. The portNum value can be in the range 1 to 8,
or on VME-02 in the range 1 to 7. nLevel has a value in the range 1 to 3.
Setting nLevel to 0 disables output. The IAP is responsible for decoding the
strings for an interface.
To set debug level for the SRF (Serial Read Function) process
• Enter setSrfDebug <portNum>, <nLevel>. This sets the debug level for the
SRF on port portNum to nLevel. The portNum value can be in the range 1 to
8, or on VME-02 in the range 1 to 7. nLevel has a value in the range 1 to 4.
Setting nLevel to 0 disables output. The SRF process is responsible for
collecting a complete message from the serial device driver before passing it on
to the IAP.

Getting help You display a range of screens listing further diagnostics.

To get SDI Help (external)
• Enter sdiHelp()
The SDI help screen appears on the udpmsgsvr. It shows further diagnostics
regarding the SDI (Serial/Dataserver Interface) and serial interfaces.
To get SOD Help (external)
• Enter sodHelp()
Display the SOD help screen on the udpmsgsvr which shows further diagnostics
regarding the SOD (Serial Output Device).
To get DRN help (external)
• Enter drnHelp()
Display a help screen on the udpmsgsvr which shows further diagnostics
regarding the DRN (Data Router Node).
Listing Available Commands

You can use the lkup command to list functions that match a keyword. For instance,
if you forget the exact name of some debug commands, you can type
lkup"Debug" and you are given a list of commands containing "Debug":
setTrgDebugLevel
setGpsDebugLevel
setPcpDebugLevel
To obtain a list of commands (internal)
• Enter lkup “Keyword”
A list of commands containing “Keyword” appears.

Thunderbolt GPS Clock-Verification Procedure
To verify the Thunderbolt GPS Clock

1. When it is safe to do so kill all PowerRTNU processes and remove power from
PowerRTNU.
2. Set SW3-C in VTM-42 to UP “DBG” Position.
Note
See also “VTM-42 Board Switch Settings” on page 43.
3. With Test PC running Trimble Thunderbolt Monitor program (available on

CDROM) connect serial port to VTM-42 RJ45 GPS Port (next to S15) using
“GPS Diag Adaptor” CSL400058 - see “GPS DIAG Adaptor, RJ45 Jack / DB9S”
on page 103 for wiring details.
4. Apply Power to PowerRTNU and verify two way communication with Thunderbolt
device.
5. From Thunderbolt monitor program select Control, Warm Reset to “soft” RESET
the GPS receiver.
6. Verify that
• Receiver is RESET.
• Blue 1PPS LED starts to flash almost immediately.
• 5 to 8 Sats are usable within 35 Secs i.e. SV column Green virtual LED.
• All Critical Alarm virtual LEDs are Green.
Note
Some Minor Alarms virtual LEDs may be yellow, for example Self-Survey
Activity, Stored Position & Almanac.
• Time, Date & Position are visible
Note
Time, Date & Position may not be updated if GPS is in Self-Survey Mode.
• Tx & Rx virtual LEDs flash Green.

7. Remove Power from PowerRTNU.
8. Set SW3-C to DOWN “HST” Position
9. Apply Power to PowerRTNU
10. Verify:
• 1PPS blue LED is flashing within 20 Secs.
• HB amber LED is flashing at a rate of one per second within 35 Secs.

External Hardware Effects
In some cases PowerRTNU operation can be influenced by external hardware.
Slow PowerRTNU boot or boot timeout

In some instances slow PowerRTNU boot or a boot timeout may be encountered. In
managed switch networks this can be caused by switches checking for loops in the
network.
Managed network switches use Spanning Tree Protocol (STP) or Rapid Spanning
Tree Protocol (RSTP) to ensure a loop-free topology for any bridged LAN. With STP
or RSTP, the ports are placed into a "blocked" state while the switch listens to ensure
there are no loops in the network. The amount of time it takes to complete this
process depends on the size of the switched network, which may cause the
PowerRTNU boot process to timeout.
Solution
Many ethernet switches offer a "fastlink" option which puts the port into forwarding
mode whilst the search for any loops is occurring. You can enable the “fastlink”
option on your managed switches to prevent port blocking during the PowerRTNU
boot process. The “fastlink” option will have a different name according to your
network switch manufacturer, the following are some examples:
Switch
Fast Link name option
Manufacturer
CISCO PortFast or STP Fast
Link
DELL Spanning Tree
FastLink
3COM Fast Start
Caution
There is a risk in using the “fastlink” option that your network may be swamped
during the loop verification process. If port blocking is only disabled on dedicated
ports, for example PowerRTNU ports, then this risk is reduced.
To enable the “fastlink” option, consult your network switch manufacturer’s technical
documentation.
It is also recommended that external switches are set for "auto-negotiate" and "full
duplex" mode. For information on these settings, consult your network switch
manufacturer’s technical documentation.

Address Resolution Protocol (ARP) Effects
ARP Flux Solution When a Linux box is connected to a network segment with multiple network cards
(for example a PowerRTNU), a potential problem with the link layer address to IP
address mapping can occur. The machine may respond to Address Resolution
Protocol (ARP) requests from both Ethernet interfaces. On the machine creating the
ARP request, these multiple answers can cause confusion, or worse still, non-
deterministic population of the ARP cache. Known as ARP flux, this can lead to the
possibly puzzling effect that an IP migrates non-deterministically through multiple
link layer addresses.
The Solution
To stop the PowerRTNU from sending ARP requests, the following two lines should
be inserted in the .rc file, before the "hostAdd" command -
arpt_keep = 0xfffffff
arpFlush()
RARP Solution This effect is to do with Reverse Address Resolution Protocol (RARP) when one or
other of the networked machines tries to deduce a name for the IP addresses being
used, and goes off to look for that address through any mechanisms available. This
may take many seconds. Typical symptoms are when trying to telnet to the
PowerRTNU, you would immediately telnet to the external network address of card
1, but in trying to connect to the internal network address of cards 1 or 2 (or 3) the
telnet session would appear to hang-up. Although in reality, the telnet command
would eventually succeed, typically within 30 to 60 Secs.
The Solution
Add the PowerRTNU internal network addresses to the Linux machine's /etc/hosts file
with unique hostnames (for example, orcartnu1-1, orcartnu1-2, orcartnu1-3)
By adding the hosts entries, the look up happens instantaneously and the
responsiveness of the PowerRTNU returns.

Chapter 8. Cable Information
Cables are listed in order of Part Number.

Fischer to Fischer Cable Assembly
Wiring Schedule PowerRTNU Fischer to Fischer Cable Assembly

Part Number CSL400050
Label CSL400050
Issue A
Wire # Colour Signal From To
1 Red Trigger PL1 Pin PL2 Pin
1 1
2 Blue Trigger PL1 Pin PL2 Pin
Return 2 2
3 Braid Braid Screen PL1
Shell
Comments
• Length, as required.
• Wire #3: connect at PL1 end only
• Refer to RS Fischer Connector Instruction Leaflet V8834 (on CD).
Connections
PL1 Fischer S102A051-130.
PL2 Fischer S102A051-130.
Cable 18/0.10 STP, Alcatel (Farnell 140-463).
Clamp Fischer E31102.2/4.1+B (RS 445-245) [2 Of].

Fischer to BNC Cable Assembly
Wiring Schedule PowerRTNU Fischer to BNC Plug Cable Assembly

Label CSL400051
Issue A
Wire Colour Signal From To
1 Red Trigger PL1 Pin PL2 -
1 Inner
2 Blue Trigger PL1 Pin PL2 -
Return 2 Outer
3 Braid Braid screen PL1
Shell
Comments
• Length as required.
• PL2: use heat shrink sleeving as required to provide strain relief.
• Wire #3: connect at PL1 end only
• Refer to RS Fischer Connector Instruction Leaflet V8834, (on CD).
Connections
PL1 Fischer S102A051-130
PL2 BNC Plug Straight Clamp (Farnell 309-254).
Cable 18/0.1 STP, Alcatel (Farnell 140-463).
Clamp Fischer E31102.2/4.1+B (RS 445-245).

Null Modem-RS232 Adaptor, RJ45 Jack / DB9S
Wiring Schedule PowerRTNU Null Modem-RS232 Adaptor, RJ45 Jack / DB9S

Label Null Modem RS232
Issue A
1 Blue DCD/DTR SK1-1 SK2-4
2 Orange RTS/CTS SK1-2 SK2-8
3 Black GND/GND SK1-3 SK2-5
4 Red TXD/RXD SK1-4 SK2-2
5 Green RXD/TXD SK1-5 SK2-3
6 Yellow N/C N/C
7 Brown CTS/RTS SK1-7 SK2-7
8 Grey DTR/DCD SK1-8 SK2-6
Comments
• Program Adaptor as above.
• Insulate all unused contacts (N/C) with heat shrink sleeving.
Connections
Adaptor RJ45/DB9S (RS 314-8155).
SK1 RJ45 Jack (Part of Adaptor).
SK2 DB9S (Part of Adaptor).

RS232 Adaptor, RJ45 Jack / DB9S
Wiring Schedule PowerRTNU RS232 Adaptor, RJ45 Jack / DB9S

Label RS232
Issue A
1 Blue DSR SK1-1 SK2-6
2 Orange RTS SK1-2 SK2-7
3 Black GND SK1-3 SK2-5
4 Red TXD SK1-4 SK2-3
5 Green RXD SK1-5 SK2-2
6 Yellow N/C N/C
7 Brown CTS SK1-7 SK2-8
8 Grey DTR SK1-8 SK2-4
Comments
• DB9S [SK2] wiring compatible with Concept RTNU standard.
Connections
Adaptor RJ45/DB9S (RS 314-8155), part with DB9P connector (RS314-8149).

RS422 Adaptor, RJ45 Jack / DB9S
Wiring Schedule PowerRTNU RS422 Adaptor, RJ45 Jack / DB9S

Label RS422
Issue A
1 Blue CTS+ SK1-1 SK2-3
2 Orange TX- SK1-2 SK2-1
3 Black RTS- SK1-3 SK2-2
4 Red TX+ SK1-4 SK2-6
5 Green RX+ SK1-5 SK2-4
6 Yellow CTS- SK1-6 SK2-8
7 Brown RX- SK1-7 SK2-9
8 Grey RTS+ SK1-8 SK2-7
Comments
• DB9S [SK2] wiring compatible with Concept RTNU standard.
Connections
Adaptor RJ45/DB9S (RS 314-8155), part with DB9P connector (RS314-8149).

RJ45 Ethernet 1-1 Cable
Wiring Schedule RJ45 Ethernet 1-1 Cable

Label None
Issue A
1 Orange/ TX+ PL1-1 PL2-1
White
2 Orange TX- PL1-2 PL2-2
3 Green RX+ PL1-3 PL2-3
4 Blue GND PL1-4 PL2-4
5 Blue/White GND PL1-5 PL2-5
6 Green/White RX- PL1-6 PL2-6
7 Brown/White GND PL1-7 PL2-7
8 Brown GND PL1-8 PL2-8
Comments
• Use Tool RS 443-895.
Connections
PL1 RJ45 Plug (RS 455-258).
PL2 RJ45 Plug (RS 455-258).
Cable Grey, CAT5 4 Pair UTP (EXCEL 100-065).
Hood Grey Strain Relief Hood (RS 171-950) (Optional).

RJ45 Ethernet XOVER Cable
Wiring Schedule RJ45 Ethernet XOVER Cable

Label “X” at PL2 end of cable.
Issue A
1 Brown TX+/ PL1-1 PL2-3
RX+
2 Brown/White TX-/RX- PL1-2 PL2-6
3 Green RX+/ PL1-3 PL2-1
TX+
5 Blue GND PL1-5 PL2-5
6 Green/White RX-/TX- PL1-6 PL2-2
7 Orange GND PL1-7 PL2-7
8 Orange/White GND PL1-8 PL2-8
Comments
Connections
PL1 RJ45 Plug (RS 455-258)
PL2 RJ45 Plug (RS 455-258)
Cable Grey CAT5, 4 Pair UTP (EXCEL 100-065)
Hood Grey Strain Relief Hood (RS 171-950) (Optional)

GPS DIAG Adaptor, RJ45 Jack / DB9S
Wiring Schedule PowerRTNU GPS DIAG Adaptor, RJ45 Jack / DB9S

Label GPS DIAG
Issue B
1 Blue N/C N/C
2 Orange N/C N/C
6 Yellow N/C N/C
7 Brown N/C N/C
8 Grey N/C N/C
Comments
• Program Adaptor as above to interface to standard PC RS232 port.
• Allows external PC to control PowerRTNU Trimble Thunderbolt or SKII GPS
Receivers when DBG mode is selected on VTM-42, connect adaptor to VTM-42
RJ45 GPS port using blue 1-1 CAT5 cable.
Connections
Adaptor RJ45/DB9S (RS 314-8155)
SK1 RJ45 Jack (Part of Adaptor)
SK2 DB9S (Part of Adaptor)

GPS NMEA Adaptor, RJ45 Jack / DB9S
Wiring Schedule PowerRTNU GPS NMEA Adaptor, RJ45 Jack / DB9S

Label GPS NMEA
Issue A
1 Blue N/C N/C
2 Orange N/C N/C
4 Red N/C N/C
5 Green N/C N/C
6 Yellow N/C N/C
7 Brown TXD/RXD SK1-7 SK2-2
8 Grey N/C N/C
Comments
• Allows listening to NMEA Message from Port 2 TX of Trimble SKII GPS, connect
adaptor to VTM-42 RJ45 GPS port using blue 1-1 CAT5 cable.
Connections

GPS TSIP Adaptor, RJ45 Jack / DB9S
Wiring Schedule PowerRTNU GPS TSIP Adaptor, RJ45 Jack / DB9S

Label TSIP
Issue A
1 Blue TXD/RXD SK1-1 SK2-2
2 Orange N/C N/C
4 Red N/C N/C
5 Green N/C N/C
6 Yellow N/C N/C
7 Brown N/C N/C
8 Grey N/C N/C
Comments
• Allows listening access to TSIP Message from Trimble Thunderbolt GPS or
Trimble SKII GPS when CPU host or HST mode is selected on VTM-42. Connect
adaptor to VTM-42 RJ45 GPS port using blue 1-1 CAT5 cable.
Connections

RS232 RX/TX XOVER Adaptor, RJ45 Jack / DB9S
Wiring Schedule PowerRTNU RS232 RX/TX XOVER Adaptor, RJ45 Jack / DB9S
Label RX/TX XOVER
Issue A
1 Blue N/C N/C
2 Orange N/C N/C
3 Black GND/ SK1-3 SK2-5
GND
6 Yellow N/C N/C
7 Brown N/C N/C
8 Grey N/C N/C
Comments
Connections

Internal CAT5 Cable Assembly
Wiring Schedule PowerRTNU Internal CAT5 Cable Assembly

Label None
Issue A
1 Orange/White TX+ PNC1-1 PNC2-1
2 Orange TX- PNC1-2 PNC2-2
3 Green RX+ PNC1-3 PNC2-3
4 Blue GND PNC1-4 PNC2-4
5 Blue/White GND PNC1-5 PNC2-5
6 Green/White RX- PNC1-6 PNC2-6
7 Brown/White GND PNC1-7 PNC2-7
8 Brown GND PNC1-8 PNC2-8
9 Screen Drain Screen PNC1-Screen PNC2-Screen
Wire
Comments
• Panel clips slot into 2 panel cutouts. Then insert PNC1 & PNC2.
• Length, as required. Usually fitted during PowerRTNU Chassis Build.
• PNC1 - PowerRTNU Network Connector #1 [Rear Panel], PNC2 - PowerRTNU
Network Connector #2 [Front Panel]
Connections
PNC1 RJ45 Shielded Jack (RS 229-1595)
PNC2 RJ45 Shielded Jack (RS 229-1595)
Cable Screened CAT5 Cable, 4 Pair FTP (RS 353-361)
Panel Clip RJ45 Panel Clip [2 Off] (RS 229-1680)
Omni Jack RJ45 Omni Jack Assembly Tool (RS 229-1630)

Fischer to Flying Lead Cable Assembly
Wiring Schedule PowerRTNU Fischer to Flying Lead Cable Assembly

Label CSL400063
Issue A
1 Red Trigger PL1 Pin 1 Flying
Lead
2 Blue Trigger PL1 Pin 2 Flying
Return Lead
3 Braid Braid Screen PL1 Shell
Comments
• Wire #3: connect at PL1 end only.
Connections
Cable 18/0.10 STP, Alcatel (Farnell 140-463)
Clamp Fischer E31102.2/4.1+B (RS 445-245)

RS232 CAT5 Adaptor Cable
Wiring Schedule RS232 CAT5 Adaptor Cable

Label RS232 CAT5
Issue E
Wire Colour Signal From To Note
1 Orange/White DSR PL1-1 PL2-6
2 Orange RTS PL1-2 PL2-7
4 Blue TXD PL1-4 PL2-3
5 Green/White RXD PL1-5 PL2-2
6 Green N/C N/C
7 Brown/White CTS PL1-7 PL2-8
8 Brown DTR PL1-8 PL2-4
9 Drain Wire Screen PL1-Shell N/C Connect Screen at
PL1 end only
Comments
• Length as required (usually 5m).
• Use Evernew E1112025e CAT5e if available, otherwise remove RJ45 Plugs from
pre-terminated CAT5 cable, wire as above - different to standard.
• Colour Coding can change, shown for Evernew E1112025e CAT5e only.
Connections
PL1 RJ45 Plug, (RS 455-258)
PL2 DB9P (Farnell 150-726)
Backshell 9 Way D, (SEMISPEC LT09)
Cable Use Evernew E1112025e CAT5e if available, otherwise CAT5 Lead, Blue, 5M, 4 Pair
STP, (Farnell 300-7420)
Hood Strain Relief, Blue, (RS 201-0267)

PowerRTNU / DDII Serial Cable
Wiring Schedule PowerRTNU / DDII Serial Cable

Label PowerRTNU / DDII Serial Cable
Issue B
1 Green/White S1 RXD PL1-5 PL4-2
2 Blue S1 TXD PL1-4 PL4-3
3 Blue/White S1 GND PL1-3 PL4-19
4 Orange S1 RTS PL1-2 PL4-35
5 Brown/White S1 CTS PL1-7 PL4-36
6 Screen Drain N/C PL4-Shell Connect at
Wire PL4 end only
7 Orange/White S1 DSR PL1-1 N/C Not Used
8 Green PL1-6 N/C Not Used
9 Brown S1 DTR PL1-8 N/C Not Used

Wire PL4 end only

Wire PL4 end only
Comments
• Braided sleeving to cover 3 CAT5 cables from DB50P to 500mm from RJ45s,
terminate with 1-3 Heat Shrink junction.
• Length as required (usually 2 M).
• Use Tool RS 443-895 to connect CAT5 cable to RJ45 connectors.

• Colour Coding can change, shown for Evernew E1112025e CAT5e only.
Connections
PL1, PL2 & PL3 RJ45 Plug, "1", "2" & "3" respectively (RS 455-258)
PL4 DB50P, "DDII", (Electrospeed 17-906643G)
Backshell 50 Way D, (Electrospeed 17-52904B)
Cable Use Evernew E1112025e CAT5e if available, otherwise
CAT5 Lead, Blue, 5 M, 4 pair STP, (Farnell 300-7420)
Sleeving Braided (RS 389-915), Heat Shrink (RS 399-978)

PowerRTNU RS232 CAT5 XOVER Cable
Wiring Schedule RS232 CAT5 XOVER Cable

Label RS232 CAT5 XOVER Cable
Issue C
1 Orange/White N/C N/C
2 Orange N/C N/C
4 Blue TXD/RXD PL1-4 PL2-2
5 Green/White RXD/TXD PL1-5 PL2-3
6 Green N/C N/C
7 Brown/White N/C N/C
8 Brown N/C N/C
9 Drain Wire Screen N/C PL2-Shell Connect Screen at
PL2 end only
Comments
• Length as required (usually 1m).
• Use Evernew CAT5 Cable if available, otherwise remove both RJ45 Plugs from
pre-terminated CAT5 lead and wire as above, wiring is slightly different to
standard.
• Colour coding can change, shown for Evernew E1112025e CAT5e only.
• Insulate Drain Wire between PL2 & cable.
Connections
PL1 RJ45 Plug, (RS 455-258)
PL2 DB9S (Farnell 150-730)
Backshell SEMISPEC LT09
Lead Preterminated CAT5 Lead, Blue, 5M, 4 Pair STP (Farnell 300-7420)
Cable CAT5e Cable, Evernew E1112025e

PowerRTNU Fischer to BNC SKT Cable Assembly
Wiring Schedule PowerRTNU Fischer to BNC SKT Cable Assembly

Label CSL400068
Issue A
1 Red Trigger PL1 Pin 1 SK1 - Inner
2 Blue Trigger Return PL1 Pin 2 SK1 - Outer
3 Braid Braid Screen PL1 Shell Connect at PL1 end
only
Comments
• Use Heat Shrink Sleeving to provide strain relief for SK1.
Connections
SK1 BNC Socket Farnell 309-450
Cable 18/0.1 STP, Alcatel (Farnell 140-463)
Clamp Fischer E31102.2/4.1+B (RS 445-245)


Appendix A.
Appendix A. Routes
The processor cards within the PowerRTNU communicate over an internal

100BaseT Ethernet network. This is physically separate from the main vessel
network. In order for the slave processor cards to boot correctly, they need to
download the vxWorks kernel from the host workstation. For the host to allow this, it
needs to know about the internal network, so a route, or gateway is required. The
master processor card (Processor 0) contains two physical network interfaces. Each
one is used as a gateway in the corresponding network.
Spectra Realtime PowerRTNU.2 dc0 192.168.240.3

Workstation Binner
PowerRTNU.1 dc0 192.168.240.2
“spectra1” “binned”
PowerRTNU.0 dc0 192.168.240.1
RX1 PowerRTNU
Internal
192.168.248.41 192.168.248.12 192.168.248.27 Network
192.168.240.x
Vessel Network 192.168.248.x
192.168.248.42
This diagram applies to "omode" only

Spectra
Workstation
“spectra2”

Appendix A.
Adding a Route
To add a route in LINUX - using linuxconf

1. As superuser, run the Linux command linuxconf. Descend down the
graphical tree as follows, pressing return where necessary, to expand tree.
- Config
- Networking
- Client Tasks
- Routing and Gateways
- Set Other Routes To Networks
2. Select “Add” and enter the Gateway, Destination and Netmask (optional). Exit
out of linuxconf and run the command netstat -rn to ensure the route has
been added correctly.
To add a route in Linux - from the command line
• In a terminal, as superuser, run the following command to enter a route:
/sbin/route add -net <destination network IP> netmask
255.255.255.0 gw <gateway IP>
To add a route in the PowerRTNU boot script file (optional)
• Add the following command in the boot script (.rc file):
routeAdd <destination network IP> <gateway IP>
Determining the Gateway and Destination I.P. Addresses
Refer to the diagram above. A network gateway must be added to the host
workstation to route ethernet traffic correctly to the internal processor cards. In the
case of the PowerRTNU, the gateway IP address is the same as the IP address of
the PowerRTNU (for example, 192.168.248.27), and the destination network is the
backplane IP address, or internal network IP address (192.168.240.0) as set up in
the PowerRTNU boot parameters configuration.
For example, if the PowerRTNU has an I.P. address of 192.168.248.27 and an
internal backplane I.P. address of 192.168.240.1, when adding a gateway, the
actual gateway I.P. address is 192.168.248.27 and the destination network is
192.168.240.0

Appendix A.
Deleting a Route
After you’ve made a mistake installing the route, you may want to delete it.
Delete it as follows (assuming you want to delete the above route).
To delete a route
• As superuser, enter
route del –net 192.168.240.0 gw 192.168.248.27 netmask
255.255.255.0
Showing a Route
To show a route
• Enter
netstat –r

Appendix A.

Appendix B.
Appendix B. Configuring RSH (Remote

Shell)
The PowerRTNU can use the Remote Shell (RSH) network protocol to boot from the
UNIX host. To enable RSH, carry out the following procedure.
Note
Although this method may still be used it is no longer recommended. In forthcoming
versions of Linux the RSH protocol will be superseded by the Secure Shell (SSH)
network protocol, therefore RSH may not work on your system depending on the
version of Linux you are using.

Appendix B.
hosts.equiv and .rhosts
Overview Authentication for rsh (as well as rlogin, and rcp etc) is controlled by the following
two files:
/etc/hosts.equiv
~/..rhosts
The host.equiv identifies trusted hosts from which it is possible to log in to remotely
to the local machine, without having to supply a password. There is one hosts.equiv
file, but each user can have their own .rhosts file which is located in the user’s home
directory (for example, /home/spectra). The hosts.equiv file is processed first and
the relevant rhosts file will only be checked if this is unsuccessful. Unless there is a
specific reason for doing otherwise, then it is easiest just to use just the hosts.equiv
file and remove the .rhosts.
It is important that the permissions on the .rhosts file are such that it is only writable
by the owner. If other groups are able to write to it the contents are not deemed to be
trustworthy. To a certain extent this restriction is dependant on the specific Operating
System. The restriction does not appear to be the case for the hosts.equiv file,
though again this is liable to be system specific.
Format of the hosts.equiv file

The file should consist of a list of hostnames or hostnames and username pairs.
There should be no comment line in the file.
An entry consisting of a single hostname identifies a host machine which is logically
equivalent to the local machine. Users on such a host can access like named user
accounts on the local machine without requiring a password. For example:
RTNU
RTNU1
RTNU2
RTNU3
Assuming that the user defined in the PowerRTNU boot parameters is spectra 1, the
example above would allow the PowerRTNU named RTNU and all of its two
additional processor cards (RTNU2 & RTNU3 – RTNU1 is an alias for RTNU) access
to the local machine as the local user, without needing a password.
The addition of a username after the hostname allows the specified user to login
from the specified host as any local user. This is not really relevant to the runt boot
situation.
The + character can be used as wildcard for either a hostname or a username. For
example the + character on its own allows users from any remote host access to like
named accounts on the local machine. Often using a single plus sign in the
1. It is possible that a non standard installation may require that a different user is defined in the
PowerRTNU boot parameters.

Appendix B.
hosts.equiv file is easier than individually listing every machine which may need
remote access (however, see note below).
This is a catchall entry. It would allow remote login as a local user from any host, but
may be ignored on some setups.
Note
Authentication with the “+” character: In many Linux distributions, the + character
is ignored by default.
It is also possible to specify hosts or users which are not allowed to remotely log in.
In this case the order of entries in a file becomes important. The result of a check on
the hosts.equiv file is determined by the first entry which either allows or disallows
access. Consider the following examples:
Here the plus entry appears first and grants access from any host, so a user from
+
-RTNU1
RTNU1 would be allowed access even though the next entry would have denied
access.
-RTNU1
+
When the order is reversed, RTNU1 would be denied access because this entry
appears before the entry which would otherwise have allowed it. Note that in this
case the .rhosts file of the relevant user would now be checked.
Note
Using +@trusted: +@trusted will be found in the hosts.equiv file in many CSL
machines. This relies on the existence of the netgroup trusted being defined on the
Concept network. Using this on a client installation will have no effect, and in any
case is superfluous if the file already contains either a standalone + or the
PowerRTNU hostname.
The hosts file The hosts file is another config file /etc/hosts which is used during the authentication
process to resolve the hosts names which appear in the hosts.equiv and .rhosts
files. The host names which are used in the files must be defined here. It is important
that an entry be included for each processor card within the PowerRTNU.

Appendix B.
Example:
192.168.3.5 RTNU
192.168.100.1 RTNU1
192.168.100.2 RTNU2
192.168.100.3 RTNU3
The example above says that the hostname RTNU identifies the machine with ip
address 192.168.3.5. Also shown is the IP addresses of two additional processor
cards (RTNU2 & RTNU3) using the Internal Network address, (RTNU1 is the
secondary network interface using the internal net for the master processor card). It
is possible to include additional aliases for a single ip address, however it is
recommended that only the primary one be used in the hosts.equiv file1.There
are other methods of resolving hosts names which do not use the hosts file, but it in
most situations as long as the PowerRTNU host name appears in this file, this will be
sufficient.
1. This does not seem to be strictly necessary, however there are several references mentioning this, so it
would seem a sensible precaution to follow this advice.

Appendix B.
xinetd and rshd
This section applies to Linux workstations only.
Overview The xinetd daemon is a super service, which monitors requests for other internet
services like telnet or ftp and starts them up when needed. Configuration for each of
these services is found in either the /etc/xinetd.conf file, or in the relevant in
the /etc/xinetd.d/ directory. Each service under control of the xinetd daemon
will have a set of parameters similar to those shown below.
service shell
{
socket_type = stream
wait = no
user = root
log_on_success += USERID
log_on_failure += USERID
server = /usr/sbin/in.rshd
disable = no
}
rshd The service responsible for remote login is the rshd daemon so the configuration
parameters are most likely to be found in the file /etc/xinetd.d/rsh. However,
they could be found in the xinetd.conf or other file where they would be identified by
the use of the service name shell. The example above is that of the rsh file.
There are a couple of issues to check for which could prevent the RTNU from
booting. The first is the existence of the disable = yes argument. If this exists, it can
either be removed or replaced by disable = no as above.
The second thing to check is for an argument entitled server_args. If this contains a
–l (el) then on some systems this indicates that the .rhosts file should not be
checked. However, on most new systems this is obsolete and has been replaced by
configuration of the PAM utility (consult the relevant LINUX documentation for an
explanation of PAM) and will not have any effect.
The final thing to check is that the service has an entry at all. If no entry exists then
the xinetd daemon will not be able to respond to requests for rsh commands.
Making Changes to xinetd configuration

After making changes to the xinetd configuration files, the service must e made
aware of these changes. This is done using the following command:
kill –SIGUSR2 process-id
Where process id is the id of the xinetd process and can be obtained using the ps
command. This does not restart the service, just forces it do a hard reset.

Appendix B.

Appendix C.
Appendix C. Navigation Hardware
Physical Dimensions & Power

Power
Dept Power
Width Height Weight Supply Type
h Supply
(mm) (mm) (Kg) & Input
(mm) Dissipation
Spec.
PowerRTNU 480 500 180 14.0 Universal Max 400 W
[590] [590] (4U) [16] Input (< 1.5 A @
[400] (See 90 - 255 V @ 220 V AC, <
n.1) 47 - 63 Hz 3.0 A
@110 V AC)
Closure Unit 480 390 100 7 Universal < 0.05 kVA
[560] [520] (2U) [10] Input (< 0.25 A @
[220] 85 - 264 V @ 220 V AC, <
47 - 440 Hz 0.5 A
@110 V AC)
Video Unit 480 390 100 7 Universal < 0.05 kVA
[560] [520] (2U) [10] Input (< 0.25 A @
[220] 85 - 264 V @ 220 V AC, <
47 - 440 Hz 0.5 A
@110 V AC)
Data 480 390 132 6 Universal < 0.02 kVA
Distributor [560] [520] (3U) [9] Input (< 0.1 A @
[220] 85 - 264 V @ 220 V AC, <
47 - 440 Hz 0.2 A
@110 V AC)
Notes:
1. Configuration of this PowerRTNU can change, weight shown is with 23 Serial
Port Option, 4 VME Cards + 3 VTMs
2. Configuration of RTNU can change, weight shown is with maximum of 12 VME
Cards + Media Module.·
Packaged Dimensions shown in []· 1U is dimension used for height of 19" rack
mounting units and is equivalent to 44 mm.

Appendix C.

Appendix D.
Appendix D. Spares Kit
The optional spares kit contains the following:.

Item Ref Qty Description Note
1 VTM-41 (U1 - 4 MAX238CNG - MAXIM QUAD DIL Socket
U8), VTM-42 RS232 CMOS Transceiver Mounting - Front
(U6-U10), Line ICs
VTM-43 (U1 -
U8)
2 VTM-42 (U11- 2 MAX1490BCPG - MAXIM DIL Socket
U19) ISOLATED RS485/RS422 Mounting - Front
Interface, Full Duplex Line ICs
3 VTM-42 2 SN74LS07N, Hex Buffers/ DIL Socket
(U23,U24) Drivers with Open -Collector Mounting - Front
High-Voltage Outputs Line ICs
4 VTM-42 U35 2 74HCT14N, Hex Schmitt- DIL Socket
Trigger Inverters Mounting - Front
Line IC
5 VTM-42 (SK1- 2 2 Pole Fischer 102 Series VM-42 Triggers
SK19) Receptacle & 1PPS
6 2 2 Pole Fischer 102 Series Use with Item 7
Plug
7 2 Clamp Fischer E31102.2/ Use with Item 6,
4.1+B remove from
packaging
8 1 Instruction Leaflet for Fischer
Clamp Set (Item 7)
9 1 Fischer to Fischer Cable Trigger
Assembly, 0.6 M Loopback
10 VTM-42 2 6mm Panel Mounting LED Panel LED
(LED1-LED18) Indicator, Matt Chrome
Recessed, Green
11 VTM- 1 6mm Panel Mounting LED Panel LED
42(LED19) Indicator, Matt Chrome
Recessed, Blue
12 VTM-42 1 6mm Panel Mounting LED Panel LED
(LED20) Indicator, Matt Chrome
Recessed, Yellow
13 1 CAT5 Patch Lead, Grey, 0.3 M Use with VME-
SW
14 1 Adaptor RJ45/DB9S, Interface 9W D
Programmable Type Plug to
CAT5 cable
15 1 Contact Extraction Tool. Use to remove
Harting Elektronik Part # contact from Item
0999000017101 14
16 VTM-42 (RLY1 1 SPDT Relay, 5VDC 500 Ohm Output Trigger
- RLY12) Coil, Built-In Diode Relay

Appendix D.
Item Ref Qty Description Note

17 VM-42 (RLY13 1 DPDT Relay, 5VDC 375 Ohm Switching Relay
- RLY41) Coil, Built-In Diode
18 2 F Type Male Connector, Twist- GPS Antenna
on. connector
19 1 F Type Straight Adaptor, 75 Inline Adaptor
Ohm, Female to Female
20 VTM-42 2 SIL Resistor Network 470 SIL Socket,
(RN13, RN14) Ohm, 7 Resistors/8 Pins, Mounted, TTL
Bourns 4608X-101 Output Trigger
Pullup
21 VTM-42 (RN6) 1 SIL Resistor Network 4.7K SIL Socket,
Ohm, 7 Resistors/8 Pins, Mounted, Input
Bourns 4608X-101 Trigger Pullup
22 1 PowerRTNU Null Modem- Connects PC
RS232 Adaptor, RJ45 Jack / Serial Port to
DB9S Item 23.
23 1 CAT5 Patch Lead, Blue, 1.0 M Connects
MVME2434-3
console port to
Item 22.
24 1 RJ45 CAT5 Coupler/Splitter Serial Port
Diagnostics
25 1 Adaptor - N Type Male to F Use with GPS
Type Female Splitter/Amplifier
26 1 Black Plastic Case with Anti
Static Foam
27 1 Concept Product Label
"PowerRTNU Spares Kit"
28 1 PowerRTNU RS232 Adaptor,
RJ45 Jack / DB9S
29 1 PowerRTNU Fischer to BNC
SKT Cable Assembly, 0.5M
30 1 Battery & Xtal, Timekeeper,
SNAPHAT DIL, Lithium
48mAh, ST Microelectronics
Part # M4T28-BR12SH1

Appendix E.
Appendix E. GPS Signal Distributor
A GPS Signal Distributor, as described below, can be supplied by ION Concept

Systems fully configured and tested. Please contact Concept for details.
Description
A GPS Signal Distributor, such as shown below, can be useful where more than 1
GPS receiver is used in a system and only 1 antenna is available - in effect it is a
GPS network.
RF signal loss due to long cable runs and the possibility of impedance mismatch
between system components are compensated for by using an Amplifier Splitter.
See next page for Surge Suppression option:
Trimble Bullet
Antenna - ANTI
Notes:
• GPS Splitter Ports J1-J4 are DC blocked and have a dummy load connected in
order to simulate antenna connection. Using this configuration most types of
GPS receiver should operate correctly when connected to 4 GPS Feeds J1-J4.

Appendix E.
• The 1-4 Amplifier/Splitter specified is for use with 5 V DC active antenna such as
Trimble Bullet II/III.
• If using Magnavox MX4200 antenna (+12 V DC) or Trimble 4000 antenna (+9 V
DC) use a different Amplifier/Splitter.
• Various configurations of Amplifier/Splitters are available from WR Inc. - typically
1 to 8, DC through on 1 GPS Feed etc.
Surge Suppression Option (Lightning Strike)
In order to protect a system against lightning strike, which can propagate back
through components and seriously damage equipment, a surge suppressor similar to
SUP1 can be used.
Lightning strikes, 50% of the time, occur in groups of 2 or 3 strokes, with the first
stroke having 20,000 amps and less for the following strokes. Each stroke typically
has a rise time of 2.1 microseconds to peak current and a decay of 10-40
microseconds. Antennae should be mounted on a continuously conductive mast
which, when properly grounded, conducts most of the strike current; leaving only a
fraction (50% or less) for the RF transmission to handle. When coupled to a good low
impedance ground, the current capability of the surge suppressor is sufficient for all
but rare super-strike occurrences.
(See next page for diagram.)

Appendix E.
.
Trimble Bullet
Antenna - ANTI
Notes:
• Surge suppressor passes DC voltages up to +15 V DC in the frequency range
1.2-2.0 GHz. GPS signal frequency is approximately 1.5 GHz.
• In order to operate correctly in the event of a lightning strike, the surge
suppressor chassis must be efficiently connected to Primary Earth Point of
building or vessel.
• Use large surface area Earth Strap in a straight run.
• For more information on grounding, refer to the Polyphaser publication The
Grounds for Lightning and EMP Protection.

Appendix E.

Appendix F.
Appendix F. RS422 Wiring Anomaly
Due to manufacturer misunderstanding of the original RS422 specification, it is very

common to have to switch round TX+/TX- and/or RX+/RX- to communicate with a
device. Although not a very scientific approach, there is no damage done to
components if lines are connected the wrong way round. In fact, one IC
manufacturer had produced an RS485/RS422 interfacing IC which allows the
swapping round of TX+ & TX- and RX+ & RX- under software control. Below is a list
of commonly used equipment that complies with the specification and also some that
do not:
Compliant Equipment
• ION Concept Systems - PowerRTNU
• Scandinavian Microsystems - LR60 or LR40 Digital Gyro Repeater with RS422
Robertson 10 Bit output.
• Amplicon - RS232/RS422 Converter Model 48F9.
• Qwerty electronic, S2N, Synchro/Stepper - NMEA Convertor.
Non-Compliant Equipment
• Amplicon - RS232/RS422 Converter Patton Model 2089F.
• B&B Electronics - RS232/NMEA0183V2C.
For more detailed information on sensor data formats, please refer to the Interfaces
Reference manual.

Appendix F.

Appendix G.
Appendix G. RTNU to PowerRTNU Upgrade
Where an original Concept RTNU is being replaced with PowerRTNU the procedure
is straightforward. Depth of PowerRTNU is identical to that of RTNU, that is 500

mm. PowerRTNU height is 4U [180 mm] whereas RTNU height is 7U [311 mm].
There follows a detailed Hardware RTNU to PowerRTNU Upgrade Procedure:
The Hardware RTNU to PowerRTNU Upgrade Procedure in detail
WARNINGS 1. Shut down the system and remove power from RTNU.
2. Ensure that all cables connected to RTNU are identified and labelled.
• Lethal Voltages are
contained within the 3. Remove all cables from rear of RTNU.
PowerRTNU 4. Unscrew 4 front mounting bracket screws and remove RTNU from rack.
enclosure.
5. Insert PowerRTNU into rack space vacated by RTNU and secure 4 front
• Ensure that mounting bracket screws.
PowerRTNU ground
is connected to 6. Ensure that clearance between PowerRTNU air inlet and RHS of rack is > 20
vessel ground via mm.
ground pin of IEC 7. Connect GPS RF feed to F-Type connector marked GPS on RHS of VTM-42
Cable. panel. PowerRTNU uses same Trimble Bullet II / Bullet III antenna as RTNU,
• A three-conductor alternatively take RF feed from suitable antenna splitter amplifier.
AC power cable 8. Ensure that PowerRTNU Power Switch is in 0 position and connect power lead.
must be plugged into Use locking clip to secure.
an approved three-
9. Configure input and output triggers as described in “Triggers Configuration” on
contact electrical
page 137. Connect all input and output Triggers using appropriate cable
outlet.
assembly. If adaptor cables not supplied see wiring schedule in Cable
• Remove power from Information section of this manual.
unit before
10. Connect all serial sensors and serial headers using appropriate RJ45/DB9S
detaching covers for
Adaptor and suitable length of blue CAT5 cable. By default all serial ports are
maintenance.
RS232, S9 to S15 can also be configured for RS422/RS485/NMEA0183 using
• Take anti-static VTM-42 DIL switches. See “VTM-42 Board Switch Settings” on page 43 for
precautions when details. If RS232 use CSL400053 - PowerRTNU RS232 Adaptor, if RS422 use
handling VME cards CSL400054 - PowerRTNU RS422 Adaptor. If adaptors not supplied see wiring
& VTMs. schedule in Cable Information section.
Note
If using the Concept Data Distributor, please refer to “Data Distributor” on page
139.
11. Connect Navigation network grey CAT5 cable to E1 RJ45 on VTM-41.

12. Connect any new serial Interfaces, serial or Ethernet Headers and Triggers as
required (see “Cable Information” on page 95 for wiring schedules.)
13. Hardware installation is now complete, all VME cards must now be configured
with appropriate IP address as well as boot parameters etc. See PowerRTNU
Configuration section.

Appendix G.
14. You are now ready to start configuring the RTCN as required.
Note
For maximum noise immunity use Screened Twisted Pair STP CAT5 cable for all
Ethernet (grey) & Serial (blue) lines.

Appendix G.
PowerRTNU Configuration
PowerRTNU VTM-42 is shipped with default configuration as described in this

section. For default settings, see “VTM-42 Board Switch Settings” on page 43.
Triggers Configuration
Before applying power to PowerRTNU with all external sensors connected, 12
Output & 6 Input Triggers on VTM-42 must be configured to TTL (Active High/Active
Low) or Relay (Normally Open NO / Normally Closed NC). See also “VTM-42 Board
Switch Settings” on page 43.
Output Triggers
1. TO.01 to TO.12 set to TTL [TTL] - SW4 to SW7 in DOWN position (towards
Panel).
2. TO.01 to TO.12 set to Active High [HI/NO] - SW8 in UP position (away from
Panel).
3. TO.01 to TO.12 (which are Open Collector TTL) have a 10K pullup Resistor in
place, SW9 in UP position [RIN] - away from Panel.
4. If pullup resistor is already available in external equipment it is possible to
disable internal resistor by setting SW9-x to DOWN position [ROUT] - away from
Panel.
5. Now select Output Trigger configuration to ensure reliable communication with
onboard equipment.
Input Triggers
1. TI.1 to TI.6 set to TTL [TTL] - SW10 in UP position (away from Panel).
2. Active Low [LO/NC] - SW11 in UP position (away from Panel).
3. Now select Input Trigger configuration to ensure reliable communication with
onboard equipment.
Serial Port Configuration

1. Serial Ports S1 to S8 on VTM-41 are all fixed at RS232.
2. Serial Ports S9 to S15 on VTM-42 can be configured for either RS232 or RS422/
RS485/NMEA0183V2, default is RS232 with SW1 to SW3-A in DOWN position
[RS232] - towards Panel.
3. Now select protocols as required to enable communication with onboard serial
sensors.
Buzzer A VTM-42 mounted Buzzer normally sounds a short tone if Time Break happens
within a predefined time after System Start, a long tone will sound if Time Break does
not arrive or is late. By default this audible indicator is enabled, SW12-1 [BZ] in UP
position [ON] - away from Panel.
Buzzer can however can be disabled, SW12-1 [BZ] in DOWN position [OFF] -
towards Panel.

Appendix G.
External 1PPS
1PPS from Thunderbolt GPS Clock is buffered and Open Collector TTL output is
made available for use by a third party via VTM-42 panel. Default is 1K pullup
Resistor in place, SW12-2 [1PPS] in UP position [RIN] - away from Panel.
If pullup resistor is already available in external equipment it is possible to disable
internal resistor by setting SW12-2 [1PPS] to DOWN position [ROUT] - away from
Panel.
See “VTM-42 Board Switch Settings” on page 43.
Power
The Universal Input Power Supply used in PowerRTNU ensures that any AC voltage
used worldwide can be catered for, use IEC cable assembly for socket standard
supported.
Warning!
Ensure that PowerRTNU ground is connected to vessel ground via ground pin of IEC
Cable.

Appendix H.
Appendix H. Data Distributor
The Data Distributor is a 19” rack-mountable unit capable of providing full electrical
and optical isolation between 15 serial sensors (RS232 or RS422/RS485) and the
PowerRTNU, as well as providing one buffered auxiliary RS232 output to a third
party, for example client. The link from Data Distributor to PowerRTNU is RS232 and
LED indication of RX & TX data activity for each channel is provided on front panel.
Header Outputs can also be sent through the Data Distributor with the transmit
signal being optionally routed to the Auxiliary Output receive pin.
Due to opto-coupler limitations the maximum guaranteed baud rate through Data
Distributor is 38,400 Baud.
Use 5 off "PowerRTNU/DDII Serial Cable" CSL400065 to connect Data Distributor II
(or DDII) to PowerRTNU, if using earlier version of Data Distributor use 15 off
"RS232 CAT5 Adaptor Cable" CSL400064. See Data Distributor Manual for more
information and “Cable Information” of this manual for more information on cable
assemblies.

Appendix H.

Appendix I.
Appendix I. PowerRTNU GPS Bullet III

Modification
This modification is necessary to solve the incompatibility problem between

Trimble's Bullet III antenna and the PowerRTNU. The problem manifests itself as a
lack of (normally none) satellites being tracked.
The Bullet III can be identified by its metal base. The Bullet II has a plastic base.
Note
This modification only applies to PowerRTNU units with Serial Number ’30’ or earlier
(pre 2002).
Alternative fixes
A means to get back into operation as soon as possible when the full modification
can't be done:
• Use a GPS Signal Distributor suitable splitter/amplifier for the GPS antenna to
buffer the signal before feeding into the PowerRTNU.
• Use a Bullet I or Bullet II antenna if available.
Modification Kit
If Thunderbolt GPS Receiver is fitted to PowerRTNU the kit comprises of:

• F-Type bulkhead feed through connector, use existing nylon bushes.
• Replacement internal VTM-42 GPS Cable Assembly - Thunderbolt RF to Panel
(F-type male to F-Type male), CSL 400320 Release B.
If Trimble SKII GPS Receiver (optional) is fitted to PowerRTNU the kit comprises of:
• F-Type bulkhead feed through connector, use existing nylon bushes.
• Replacement internal VTM-42 GPS Cable Assembly - SKII RF to Panel (F-type
male to SMB male), CSL 400323 Release B.
Installation Instructions
1. Remove Power from PowerRTNU.

2. Using Extractor/Injector Handles gently remove VTM-42 from rear slot #2.
3. Remove existing VTM-42 GPS Cable Assembly and panel connector assembly.
4. Fit the F-Type feed through connector with the long side through the hole and
secure with the nut and washer on the outside.

Appendix I.
5. Screw the F-Type connector (of whichever cable assembly used) to the feed
through connector.
6. If Thunderbolt GPS used, screw F-Type connector at other end of cable to J1 on
Thunderbolt.
7. If optional SKII GPS used, push SMB connector to mate SMB connector on SKII.
8. Using Extractor/Injector Handles gently push VTM-42 into rear slot #2, taking
care that card is located on guides.

Appendix J.
Appendix J. Tests performed and EMC

Certificate of Conformity
To demonstrate compliance with specifications EN 61000-6-4: 2001 & EN 61000-6-

2: 2001 the following sequence of tests was applied at the test levels indicated:
Test Test Level Applied
Radiated Emission Power 150 KHz to 30 MHz, Class A limits applying
Lines
Radiated Emission Electric 30 MHz to 1000 MHz, Class A limits
Field applying
Radiated Immunity Electric 80 MHz, 10 V/m, 1 KHz 80% AM
Field
Radiated Immunity (pulse 900 MHz, 10 V/m, 200 Hz 100% PM
mod) Electric Field
Electrostatic Discharge 8/4 KV, Air/Contact Discharge
Electrical Fast Transients 2 KV power lines, 1 KV control lines, 1 KV
signal lines, earth lines
Conducted RF Immunity 150 KHz to 80 MHz, power lines, control
lines, signal lines & earth lines, 10 Vrms, 1
KHz 80% AM
Mains Voltage Variation 30%, 60%, 100% deviations, 100%
Immunity interrupts
Surge Immunity 2 KV line to earth, 1 KV line to line
For Certificate of Conformity, see overleaf.

Appendix J.

Appendix K.
Appendix K. VTM Port Diagnostics
The table below relates ports on VTM panels to specific field replaceable front-line
components which are contained in PowerRTNU Spares Kit - see ”Appendix K.’
“Spares Kit” on page 127 for contents of spares kit.
VTM-41
Component Component
Port ID Port Type
Reference Description
S1 U1 MAX238 RS232 Only

Appendix K.
VTM-42
Component Component
Port ID Port Type
S9 U6 / U11, MAX238 / MAX1490B RS232 / RS422
U12
S10 U7 / U13, MAX238 / MAX1490B RS232 / RS422
U14
S11 U8 / U15 MAX238 / MAX1490B RS232 / RS422
S12 U8 / U16 MAX238 / MAX1490B RS232 / RS422
S13 U9 / U17 MAX238 / MAX1490B RS232 / RS422
S14 U9 / U18 MAX238 / MAX1490B RS232 / RS422
S15 U10 / U19 MAX238 / MAX1490B RS232 / RS422
TO.01 U23 / RN13 74LS07N / 470 RN Output Trigger, TTL
TI.1 U35 / RN6 74HCT14 / 4.7K RN Input Trigger
TI.4 U35 / RN6 74HCT14 / 4.7KRN Input Trigger

Appendix K.
VTM-43 (Optional)
Component Component
Port ID Port Type
All the above components are socket mounted and are easily replaced with power
removed from PowerRTNU and VTM withdrawn, spares are also supplied for some
soldered components, for example panel LEDs, panel Fischer Connectors and PCB
mounted relays.

Appendix K.

Appendix L.
Appendix L. CPU Card Upgrade Procedure
There are currently three possible configurations of PowerRTNU:

• Single VME CPU Card - 7 Serial Ports.
• Two VME CPU Cards - 15 Serial Ports (Standard).
• Three VME CPU Cards - 23 Serial Ports.
Section 1 covers upgrade from single to two VME CPU cards and Section 2 covers
upgrade from two to three VME CPU cards. If upgrading from single to three VME
Cards follow the procedure in Section 3.
Single to Two VME CPU Card Upgrade
Below is a list of components required for this upgrade:

Item Ref Qty Description
1 VME-01 1 Motorola MVME2434-3, configured with 1 x
Serial PMC and 1 Ethernet PMC
2 VTM-41 1 VME Transition Module, 8 Serial Ports and 2 x
Ethernet Ports
3 VME-SW 1 VME 8-Port Ethernet Switch
4 CAT5 2 CAT 5 STP Patch Cable
5 VxWorks 1 1 x VxWorks Target Licence, tracked by Concept
Systems Production Department
The Procedure
To convert a single VME CPU Card PowerRTNU to a two VME CPU Card
PowerRTNU this procedure is followed.
Caution
Take anti-static precautions.
1. Using Telnet or via serial debug port on VME-02, log into PowerRTNU and type
‘pcpStop’. Power can then be removed.
2. Open front door and remove blanking panel from VME slots #2 and #3.
3. Remove VME-02 and VTM-42.
4. Gently ease VME-01 into VME slot #1 until connector is fully engaged.
6. Gently ease VME-SW into VME slot #3 until connector is fully engaged.
7. Remove blanking panel from rear VTM slots #2. #3 and #4.
8. Gently ease VTM-41 into VTM slot #1, until connector is fully engaged.

Appendix L.
9. Gently ease VTM-42 into VTM slot #2, until connector is fully engaged, panel will
also cover slots #3 and #4.
10. Connect CAT5 cable between VME-01 Ethernet connector “10/100 BaseT” and
next unused port on VME-SW, work cable into existing cable clip. Now
disconnect cable at VME-SW end.
12. Apply Power to PowerRTNU and configure new card by logging into serial debug
port on VME-02, abort bootup and set up "boot device", "processor number"
(where <n> is the processor number), "flags" and "other" as follows and clearing
the rest by typing . (a full stop).
flags: “0x8”
other: “auto”
13. Now connect 2 x CAT5 cables at VME-SW end and press RESET on VME-01.
14. Check that new card boots as expected and that all 7 new serial ports are now
visible on RTCN, a total of 15 serial ports.
15. If everything looks ok; remove serial debug cable, secure new cards front and
rear, fill any blank panels front and rear and close front door.

Appendix L.
Two to Three VME CPU Card Upgrade
Below is a list of components required for this upgrade

Serial PMC
2 VTM-43 1 VME Transition Module, 8 Serial Ports
4 VxWorks 1 1 x VxWorks Target Licence, tracked by Concept
Systems Production Department
The Procedure
To convert a standard 2 VME CPU Card PowerRTNU to a 3 VME CPU Card
PowerRTNU this procedure is followed.
Caution
Take anti-static precautions to avoid possible damage to the components.
2. Open front door and remove blanking panel from VME slot #5.
4. Remove blanking panel from rear VTM slot #5.
5. Gently ease VTM-43 into VTM slot #5 until connector is fully engaged.
7. Apply Power to PowerRTNU and configure new card by logging into serial debug
port on VME-03, abort bootup and set up only boot device, processor number,
flags and other as follows and clearing the rest by typing . (a full stop).
flags: “0x8”
other: “auto”
8. Now connect CAT5 cable at VME-SW end and press RESET on VME-01.
9. Check that new card boots as expected and that all 8 new serial ports are now
visible on RTCN.
10. If all looks ok, remove serial debug cable, secure new cards front and rear, fill
any blank panels front and rear and close front door.

Appendix L.
Single to Three VME CPU Card Upgrade
Below is a list of components required for this upgrade:

Serial PMC and 1 Ethernet PMC
Serial PMC
3 VTM-41 1 VME Transition Module, 8 Serial Ports and 2 x
Ethernet Ports
4 VTM-43 1 VME Transition Module, 8 Serial Ports
5 VME-SW 1 VME 8-Port Ethernet Switch
7 VxWorks 2 2. x VxWorks Target Licence, tracked by
Concept Systems Production Department
The Procedure
To convert a single VME CPU Card PowerRTNU to a three VME CPU Card
PowerRTNU the following simple procedure is followed.
Caution
Take anti-static precautions.
2. Open front door and remove blanking panel from VME slots #2, #3, #4 and #5
3. Remove VME-02 and VTM-42.
6. Gently ease VME-SW into VME slot #3 until connector is fully engaged.
8. Remove blanking panel from rear VTM slots #2, #3, #4 and #5
9. Gently ease VTM-41 into VTM slot #1 until connector is fully engaged.
10. Gently ease VTM-42 into VTM slot #2, until connector is fully engaged, panel will
also cover slots #3 and #4
11. Gently ease VTM-43 into VTM slot #5, until connector is fully engaged.
14. Apply Power to PowerRTNU and configure 1st new card by logging into serial
debug port on VME-02, abort bootup and set up only boot device, processor
number, flags and other as follows and clearing the rest by typing . (a full stop).

Appendix L.

flags: “0x8”
other: “auto”
15. Press RESET on VME-01 and configure 2nd new card by logging into serial
debug port on VME-03, abort bootup and set up only boot device, processor
number, flags and other as follows and clearing the rest by typing . (a full stop).
flags: “0x8”
other: “auto”
16. Now connect 3 x CAT5 cables at VME-SW end and press RESET on VME-01.
17. Check that both new cards boot as expected and that all 15 new serial ports are
now visible on RTCN, a total of 23 serial ports.
18. If all looks OK, remove serial debug cable, secure new cards front and rear, fill
any blank panels front and rear and close front door.

Appendix L.

Appendix M.
Appendix M. Upgrade Information
This appendix contains information on PowerRTNU hardware and software

upgrades.

Appendix M.
Ethernet PMC, Boot PROM and Kernel Upgrade
Below are details of MVME2434 VME CPU Card Boot PROM and Kernel upgrade
necessary for manufacturer’s hardware change to Ethernet PMC, RAMIX
PMC663J4. This upgraded hardware, PROM and Kernel information is provided only
for use where older PowerRTNU configurations have newer hardware added.
Note
A symptom of Boot PROM / Kernel / Ethernet PMC Hardware mismatch is that
PowerRTNU will not fully boot.
Hardware & Software Release

PowerRTNU Serial # 00034 is the first shipped with new Boot PROM firmware
installed in all MVME2434 VME CPU Cards.
RAMIX Ethernet PMC663J4 Serial # 066234003 is first Ethernet PMC shipped with
Pericom chip.
New Kernel was officially released at SPECTRA V 10.9.1
Boot PROM identification

This appears before VxWorks banner on bootup, viewed on Debug port terminal:
VxWorks System Boot
Copyright 1984-1998 Wind River Systems, Inc.
CPU: Motorola MVME2434-3 - MPC 750
Version: 5.4.2
BSP version: 1.2/1:CSL-1.5
Creation date: Sep 28 2004, 13:51:36
Kernel identification
This is shown after VxWorks banner on bootup, viewed on Debug port terminal:
VxWorks version 5.4.2
KERNEL: WIND version 2.5
Copyright Wind River Systems, Inc., 1984-1999
CPU: Motorola MVME2434-3 - MPC 750. Processor #0.
Memory Size: 0x10000000. BSP version 1.2/1:CSL-1.5.
Compatibility 1. New Boot PROM and new kernel will work with Ethernet PMCs using old or new
chip.
2. Old Boot PROM and old or new kernel will ONLY work with Ethernet PMCs using
old chip.
3. New Boot PROM and old kernel will ONLY work with Ethernet PMCs using old
chip.

Appendix N.
Appendix N. Changing A Socketed Device
This appendix contains information on changing a socketed device in a PowerRTNU

or PowerMicro unit.
If you need to change a non-socketed device then this set of instructions does not
apply to you. In addition, anyone attempting a non-socketed device solder repair to a
card must be fully competent in solder repair methods, use the correct equipment &
take appropriate safety measures.

Appendix N.
Changing a Socketed Device
Tools required Below is a list of tools required for this procedure.
Item
ESD wrist-strap, cable and ESD plug.
ESD work surface, cable and ESD plug (or makeshift ESD bag).
Small flat bladed screwdriver or similar tool to carefully removed socketed
devices.
Tweezers or fine long-nose pliers if chip legs need gently straightened or bent
slightly.

Appendix N.
Procedure
Check for spares 1. Check there is a spare of the suspect device available in the PRTNU or
PowerMicro spares kit, see Figure 1 below.
Caution
Do not touch or remove the device until sufficient ESD protection measures are put
in place as described in steps 2 to 7 below.
Figure 1 Spare devices

in spares kit
Power the unit off. 2. Ensure the unit is powered off before continuing.

Appendix N.
Prepare ESD safe 3. Put on an ESD wrist-strap and connect the cable to an ESD plug before handling
area any circuit boards or new devices, see Figure 2 below. The ESD plug connects
the wrist strap to the earth pin via a 1MOhm resistance.
Figure 2 Earthed wrist

strap
4. An ESD protected surface is also required. Ideally this is a clean bench fitted
with an ESD mat connected by cable to an ESD plug, see Figure 3 below.
Figure 3 Earthed ESD

mat

Appendix N.
5. A silver ESD bag is an alternative option to handle & lay any suspect circuit
board or devices on if an ESD mat is not available, see Figure 4 below.
Figure 4 Silver ESD

bag
6. If the facility is equipped with a calibrated ESD grounding station, use this to
check the correct operation of the ESD wrist-strap, see Figure 5 below.
Figure 5 Check the

operation of ESD wrist
strap
7. If ESD shoes are used, these should also be verified for correct operation with
the grounding station, see Figure 6 below.
Figure 6 Check the

operation of ESD
footwear

Appendix N.
Remove and 8. Remove the circuit board containing the suspect device from the powered off unit
replace the suspect and place it on the ESD protected work area.
device
9. Using a small flat bladed screwdriver or similar tool, start to remove the suspect
device from its circuit board socket by gently prying the front of the device then
the rear of the device in turn until the device is finally levered free of the socket,
see Figure 7 below.
Figure 7 Gently prise

out the suspect device
10. Remove the replacement device from the spares kit, being careful not to damage
the legs. Check that the new devices legs are all straight and parallel before
trying to insert it into the circuit board socket, see Figure 8 below. If necessary,
straighten any legs on the new device very gently with tweezers or fine long-
nose pliers.
Figure 8 Check the new

device legs are straight
and parallel
11. The new device must be inserted into the socket in the right orientation with the
small central semi-circular indent on the front edge of the device aligning with
the same pattern on the white silkscreen marking on the circuit board. Pin 1 of
the device is marked with a small circular indent, see Figure 9 below.
Figure 9 Circuit board

orientation and pin1
indicator

Appendix N.
12. Check the legs of the device are aligned on both sides of the socket, see Figure
10 below. Then press it firmly into the socket so all legs of the device locate into
the corresponding hole in the socket.
Figure 10 Ensure
device legs are aligned
with the socket holes
13. Insert the card back into its unit and test the unit to ensure the new device is
functioning correctly.
Figure 11 Reinsert card

into unit and retest

Appendix N.

Index
A essential task monitoring . . . . . . . . . . . . . . 61

Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 monitor check interval . . . . . . . . . . . . . . . . 62
auto-negotiate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 watchdog service period . . . . . . . . . . . . . . . 62
Destination I.P. Addresses . . . . . . . . . . . . . . . . . . 116
B Determining the Gateway and Destination I.P. Address-
Boot es . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Diagnostic Procedure . . . . . . . . . . . . . . . . . . . . . . . 83
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Digital PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
boot timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Bullet Dimensions and Power . . . . . . . . . . . . . . . . . . . . . . 20
DRN help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
GPS Antenna, Installing . . . . . . . . . . . . . . . . . . 48
Bullet Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 E
Bullet III Modification . . . . . . . . . . . . . . . . . . . . . . . 141
Buzzer . . . . . . . . . . . . . . . . . . . . . . . . . 30, 38, 51, 137 EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
essential task monitoring . . . . . . . . . . . . . . . . . . . . . 61
C Ethernet
Cable Information . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
chronyd service, workstation to GPS synchroniation in Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
RH7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Ethernet 1-1 Cable . . . . . . . . . . . . . . . . . . . . . . . . 101
Circuit
Ethernet XOVER Cable . . . . . . . . . . . . . . . . . . . . . 102
Input Trigger TTL & Relay -Tl.1 . . . . . . . . . . . . 41
Expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Output Trigger Relay - TO.01 . . . . . . . . . . . . . . 40
Output Trigger TTL-TO.01 . . . . . . . . . . . . . . . . 40 F
Commands, listing . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 fastlink option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 File Transfer Protocol (FTP) . . . . . . . . . . . . . . . . . . 66
Control Process (PCP) . . . . . . . . . . . . . . . . . . . . . . 54 Fischer to BNC Cable Assembly . . . . . . . . . . . . . . . 97
Fischer to Fischer Cable Assembly . . . . . . . . . . . . . 96
D Fischer to Flying Lead Cable Assembly . . . . . . . . 108
Data Distributor . . . . . . . . . . . . . . . . . . . . . . . . 50, 139 Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Physical Dimensions and Power . . . . . . . . . . 125
data server direct full duplex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
configuring mn.ini . . . . . . . . . . . . . . . . . . . . . . . 81 G
configuring PowerRTNU .rc . . . . . . . . . . . . . . . 81
Data Server Router . . . . . . . . . . . . . . . . . . . . . . . . . 54 Gateway addresses . . . . . . . . . . . . . . . . . . . . . . . 116
Debug GPS
messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 DIAG Adaptor . . . . . . . . . . . . . . . . . . . . . . . . . 103
options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 NMEA Adaptor . . . . . . . . . . . . . . . . . . . . . . . . 104
debug monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
configuring Rx feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
debug output . . . . . . . . . . . . . . . . . . . . . . . 62 Signal Distributor . . . . . . . . . . . . . . . . . . . . . . 129
TSIP Adaptor . . . . . . . . . . . . . . . . . . . . . . . . . 105
PowerRTNU User Guide 165

Index
H Rear Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Hardware Installation . . . . . . . . . . . . . . . . . . . . . . . 47 Rear panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
help, getting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Relay - TO.01 Circuit, VTM-42 . . . . . . . . . . . . . . . . 40
hostAdd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Remote Shell . . . . . . . . . . . . . . . . . . . . . . . . . . 66, 119
RJ45
I Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
IAP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 RJ45, Serial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
RMC message (disable) . . . . . . . . . . . . . . . . . . . . . 71
Initialisation and configuration commands . . . . . . . 69
RS232
Installation
Adaptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 NMEA0183V2C . . . . . . . . . . . . . . . . . . . . . . . 133
RX/TX XOVER Adaptor, RJ45 Jack / DB9S . . 106
Interface Application Process . . . . . . . . . . . . . . . . . 56
Serial S16 to S23, VTM-43 . . . . . . . . . . . . . . . . 45
Internal CAT5 Cable Assembly . . . . . . . . . . . . . . . 107
RS422 Adaptor . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
L RSH (Remote Shell) . . . . . . . . . . . . . . . . . . . . . . . 119
RSH, configuring . . . . . . . . . . . . . . . . . . . . . . . . . . 119
LED Indication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Rx feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Lightning Strike . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Listing Available Commands . . . . . . . . . . . . . . . . . . 91 S
M SDI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
SDI Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
monitor check interval . . . . . . . . . . . . . . . . . . . . . . . 62
sdiDebug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
mstart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Secure Shell (SSH) . . . . . . . . . . . . . . . . . . . . . . . . . 66
MTBF (Mean Time Between Failure) . . . . . . . . . . . 11
Serial
N S1 to S8, VTM-41 . . . . . . . . . . . . . . . . . . . . . . . 37
S16 to S23, VTM-43 . . . . . . . . . . . . . . . . . . . . . 45
NCN Prediction Time Modification option . . . . . . . . 70
S9 to S15, VTM-42 . . . . . . . . . . . . . . . . . . . . . . 39
Network addresses & environments . . . . . . . . . . . . 68 Serial DSN Interface Process . . . . . . . . . . . . . . . . . 56
NMEA Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Serial PMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Serial ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
GGA string format . . . . . . . . . . . . . . . . . . . . . . . 72 setCommsDebugLevel . . . . . . . . . . . . . . . . . . . . . . 90
GSA string format . . . . . . . . . . . . . . . . . . . . . . . 72 setDebugLevel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
multiple string output . . . . . . . . . . . . . . . . . . . . 72 setDsnDebugLevel . . . . . . . . . . . . . . . . . . . . . . . . . 90
RMC string format . . . . . . . . . . . . . . . . . . . . . . 71 setGpsDebugLevel . . . . . . . . . . . . . . . . . . . . . . . . . 89
ZDA string format . . . . . . . . . . . . . . . . . . . . . . . 72 setGunDebugLevel . . . . . . . . . . . . . . . . . . . . . . . . . 90
Null Modem-RS232 Adaptor, RJ45 Jack / DB9S . . 98
SetIapDebug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
O setPcpDebugLevel . . . . . . . . . . . . . . . . . . . . . . . . . 90
setPpsHdrDebugLevel . . . . . . . . . . . . . . . . . . . . . . 90
Object module downloads . . . . . . . . . . . . . . . . . . . . 68 SetSrfDebug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
setTimeDebugLevel . . . . . . . . . . . . . . . . . . . . . . . . 90
P
setTrgDebugLevel . . . . . . . . . . . . . . . . . . . . . . . . . . 91
PCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Slave Processor Cards . . . . . . . . . . . . . . . . . . . . . . 74
pcpStart() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 SOD Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Physical Dimensions & Power . . . . . . . . . . . . . . . 125 sodDebug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
PMCs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
PowerPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Spanning Tree Protocol (STP) . . . . . . . . . . . . . . . . 93
PowerRTNU Spares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21, 127
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Spares Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 63 SPECTRA Hardware Physical Dimensions & Power 125
Configuring . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Surge Suppression Option (Lightning Strike) . . . . 130
Expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 sysProcNumGet . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Processor Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 T
Task start commands . . . . . . . . . . . . . . . . . . . . . . . 69
R
Telnet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Rapid Spanning Tree Protocol (RSTP) . . . . . . . . . . 93 ThunderBolt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
166 PowerRTNU User Guide

Index
Thunderbolt GPS Clock-Verification Procedure . . . 92

tPcp debugging . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Triggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Trimble Bullet II / Bullet III Antenna . . . . . . . . . . . . . 33
Trimble ThunderBolt GPS Clock . . . . . . . . . . . . . . . 32
TTL - TO.01 Circuit, VTM-42 . . . . . . . . . . . . . . . . . . 40
TTL & Relay - TI.1 Circuit . . . . . . . . . . . . . . . . . . . . 41
U
UDP Message Server . . . . . . . . . . . . . . . . . . . . . . . 85
udpmsgsvr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85, 86
UdpPrintfInit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Upgrade procedure . . . . . . . . . . . . . . . . . . . . . . . . 149
Using the VxWorks shell . . . . . . . . . . . . . . . . . . . . . 87
V
VME
Distributed timing . . . . . . . . . . . . . . . . . . . . . . . 55
Transition Modules . . . . . . . . . . . . . . . . . . . . . . 35
VME64x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
VME Ethernet Switch . . . . . . . . . . . . . . . . . . . . . . . 26
VTM-41, Serial/Ethernet . . . . . . . . . . . . . . . . . . . . . 36
VTM-42, Serial/Triggers/GPS . . . . . . . . . . . . . . . . . 38
VTM-43, Serial (Optional) . . . . . . . . . . . . . . . . . . . . 44
VxWorks shell, using . . . . . . . . . . . . . . . . . . . . . . . . 87
W
watchdog facility . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Wind River® - VxWorks® . . . . . . . . . . . . . . . . . . . . 53
Z
Zero phase trigger mode . . . . . . . . . . . . . . . . . . . . . 70
PowerRTNU User Guide 167

Power RTNU

Uploaded by

Copyright:

Available Formats

Power RTNU

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Power RTNU

Uploaded by

Copyright:

Available Formats

PowerRTNU

1 Logie Mill, Beaverbank Business Park

Tel: (+44)131 557 5595

Print Date September 11, 2019

About this document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 2. EMC Compliance and Electrical Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Chapter 3. Hardware Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Chapter 4. Hardware Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Chapter 6. PowerRTNU Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Chapter 8. Cable Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Appendix B. Configuring RSH (Remote Shell). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Appendix C. Navigation Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Appendix D. Spares Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Appendix E. GPS Signal Distributor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Appendix F. RS422 Wiring Anomaly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Appendix G. RTNU to PowerRTNU Upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

Appendix H. Data Distributor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Appendix I. PowerRTNU GPS Bullet III Modification. . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Appendix J. Tests performed and EMC Certificate of Conformity. . . . . . . . . . . . . . . . . 143

Appendix K. VTM Port Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Appendix L. CPU Card Upgrade Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Appendix M. Upgrade Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Appendix N. Changing A Socketed Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

PowerRTNU User Manual 9

PowerRTNU User Manual 11

12 PowerRTNU User Manual

Universal Input PSU

PowerRTNU User Manual 13

14 PowerRTNU User Manual

The PowerRTNU is housed in a self-contained, EMC compliant, desktop or rack-

PowerRTNU with optional 3rd PowerPC VME Card

PowerRTNU User Manual 15

Block diagram of PowerRTNU

The diagram below shows the standard configuration of the PowerRTNU.

Original Boot Mode

16 PowerRTNU User Manual

Standard configuration is 2 PowerPC VME64x cards and 1 VME Ethernet Switch.

VME-03, PPC CPU Card + 1 PMC PowerRTNU Chassis

+5V PMC - Spare PMC - Serial

PMC - Digital PMC - Serial

PMC - Ethernet PMC - Serial

PowerRTNU User Manual 17

Concept VME Transition Modules are not part of PowerRTNU Chassis.

18 PowerRTNU User Manual

S16 S17 S18 S19 S 20 S21 S22 S23

T0.1 T0.4 T0.7 T0. 10 T1 .1 T1.4

T0.3 T0.6 T0.9 T0.12 T1 .3 T1.6

PNC1 S1 S2 S3 S4 S5 S6 S7 S8 Eth 1 Eth 2

TM Slot #5, Concept Systems

TM Slot #2, Concept Systems

TM Slot #1, Concept Systems

Mains Power Connector & Switch Assembly

PowerRTNU User Manual 19

Dimensions and Power

Width 480 mm (19" Rack or Desktop Mountable)

Operating 0 Deg C to +50 Deg C, Forced Air Cooling.

Connectors and LED Indication

20 PowerRTNU User Manual

The 24 hour nature of marine seismic survey operations necessitates a realistic