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| =External RTK coordinate via CAN/RS232 interface with FMC650=
| | [[File:TachoSync Creation of API Key-Creating.png|frame|1000px|'''TachoSync API Creation of API Key''']] |
| ==Overview==
| | [[File:TachoSync Creation of API Key-Created.png|frame|1000px|'''API Key Created''']] |
| Activating '''RTK (Real-Time Kinematic)''' coordinate acquisition enables the FMC650 device to process RTK data from CAN.
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| When configured, the RTK module can provide high-precision coordinates using:
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| * External RTK receiver via RS232
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| * External RTK data via CAN
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| * Internal GNSS receiver (GNSs) as fallback (does not has RTK)
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| The device automatically chooses the best available source based on configuration and data quality.
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| The following specifications indicate the minimum firmware and configurator version requirement to use RTK coordinate acquisition via CAN on FMC650.
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| *Platform: FM65
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| * '''Device''': FMC650
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| * '''Firmware version''': 03.01.03.Rev.229
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| * '''Configurator version''': B.FMX6_R.192
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| ==Method of Operation==
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| When the RTK option is enabled, the device always tries to use RTK sources first and falls back to internal GNSS if needed.
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| '''Source priority'''
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| #'''RS232 (primary RTK source)'''
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| #:*The device checks whether any COM port (COM1 or COM2) is configured in RTK mode.
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| #:*If at least one COM port is configured for RTK and valid data is present, coordinates are taken from RS232.
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| #'''CAN RTK (secondary RTK source)'''
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| #:*If RS232 RTK data is not available or is invalid, the device checks the CAN RTK status.
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| #:*If valid CAN RTK data is available, coordinates are taken from CAN.
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| #:*A timing check is applied if the time difference between received CAN RTK frames is greater than 2 seconds. The device automatically switches to the internal GNSS receiver (GNS) to keep coordinates up to date.
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| #'''Internal GNSS (GNS) Fallback'''
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| #:*If neither RS232 nor CAN provide valid RTK data, the device uses the internal GNSS receiver (GNS) for coordinates.
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| #'''RTK Disabled'''
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| #:*If the RTK option is disabled, coordinates are always taken from the internal GNSS receiver.
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| '''RTK data from CAN'''
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| When CAN is used as the RTK source, the device reads:
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| *'''Latitude'''
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| *'''Longitude'''
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| *'''Altitude'''
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| *'''Ground speed'''
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| *'''Course'''
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| These values are taken from standard CAN messages designed for GNSS/RTK data. Exact PGNs and signal layouts depend on whether external RTK/ECD/ISOBUS system is being used.
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| ==Configurator Setup==
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| This section describes how to enable RTK as a location source and configure RS232 and CAN usage through the Configurator.
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| '''Enabling RTK as a location source'''
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| [[File:Source Location from RTK.png|right]] | |
| #Open the Configurator and connect to the FMC650 device.
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| #Navigate to the System tab.
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| #Find the option “Source Location from RTK” in the '''System Settings''' section.
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| #Set this option to '''Enable'''.
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| When enabled, the device will use RTK data from RS232/CAN if available, with automatic fallback to internal GNSS.
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| For advanced configuration (e.g. via commands):
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| Source Location from RTK <br>
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| '''Parameter ID:''' 55000 <br>
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| '''Values:'''
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| *'''0''' – Disabled (device uses only internal GNSS)
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| *'''1''' – Enabled (device uses RTK sources if available)
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| Configuring RS232 for RTK Use
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| If you plan to use an external RTK receiver via RS232:
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| #Open the RS232/RS485 tab in the Configurator.
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| #For COM1 or COM2 (or both), set the mode to RTK.
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| Relevant parameter IDs:
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| *'''COM1 mode''' – Parameter ID 151
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| *'''COM2 mode''' – Parameter ID 173
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| *'''RTK mode''' – Value 60
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| If at least one COM port is configured to RTK mode and valid RTK data is received, the device will use RS232 as the main coordinate source.
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| [[File:RS232 settings - RTK.png|right]]
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| '''Using CAN as the RTK Source'''
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| CAN-based RTK is used in the following cases:
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| *None of the RS232 COM ports are configured in RTK mode, or
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| *RS232 RTK data is not valid or not present.
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| When those conditions are met and valid CAN RTK data is received:
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| *The device uses CAN as the coordinate source.
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| *The device continuously monitors the time between RTK messages.
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| *If CAN RTK messages are delayed by more than 2 seconds, the device automatically reverts to internal GNSS to avoid stale coordinates.
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| <br>
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| RTK data taken from CAN includes:
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| *'''Latitude
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| *'''Longitude
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| *'''Altitude
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| *'''Ground speed
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| *'''Course
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| Configuration of RTK over CAN (e.g. PGN, source address, bitrate) depends on your external CAN/ISOBUS/RTK infrastructure and should follow that system’sdocumentation.
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| '''ISOBUS Data Visibility'''
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| When used in ISOBUS or similar environments:
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| [[File:ISOBUS - RTK.png]]
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| *RTK-related data from CAN is visible in the ISOBUS section of the Configurator.
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| *This allows you to verify that RTK data is being received and interpreted correctly by the device.
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| ==Active Location Source Monitoring==
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| To understand which source is currently being used for position data, you can check the '''Location Source''' parameter.
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| '''Location Source Values'''
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| In the Configurator:
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| #Navigate to the '''I/O''' tab (or equivalent I/O monitoring view).
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| #Find the parameter '''Location Source'''.
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| [[File:Location source.png]] | |
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| Possible values:
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| *'''0 – GNS'''
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| Location is taken from the internal GNSS receiver. This is the default when RTK is disabled or when no valid RTK data is available.
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| *'''1 – RS232'''
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| Location is taken from the RTK receiver connected via RS232.
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| *'''2 – CAN'''
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| Location is taken from RTK data arriving over CAN.
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| *'''3 – Err'''
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| Location is taken from the internal GNSS receiver, but this status indicates that RTK data from RS232 and/or CAN is invalid or unavailable. This helps distinguish normal GNSS use from “RTK expected but not available” situations.
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| This parameter is used for diagnostics and for confirming that your device is using the intended RTK source.
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| ==NMEA Fix Type Monitoring (RS232 RTK Only)==
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| When RTK coordinates are received via RS232, you can also monitor the NMEA Fix Type to understand the quality of the GNSS/RTK fix.
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| '''Configurator Steps''' | |
| #Open the Configurator.
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| #Go to the I/O tab (or relevant section).
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| #Locate the parameter '''NMEA Fix Type'''.
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| [[File:NMEA Fix Type.png]]
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| '''Note:''' This parameter is '''only available when coordinate data is received via RS232 RTK'''.
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| '''NMEA Fix Type Values'''
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| *'''NotValid''' - No valid GNSS fix is available.<br>
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| *'''GPS''' - Standard GPS fix using satellites only.<br>
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| *'''DGNSS''' - Differential GNSS fix (e.g. DGNSS, SBAS, etc.).<br>
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| *'''NotApplicable''' - Fix quality is not applicable in the current context. <br>
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| *'''RTK_Fixed''' - RTK Fixed; high-precision RTK fix (including xFill if supported by the receiver).<br>
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| *'''RTK_Float''' - RTK Float; typically, a converging RTK solution or similar intermediate status.<br>
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| *'''INS_DR''' - INS Dead Reckoning; position estimated by inertial sensors and previous GNSS/RTK data.<br>
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| This information is beneficial for:
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| *Verifying that the external RTK receiver is working correctly.
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| *Assessing overall RTK performance and stability.
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| *Logging and diagnostics in advanced deployments.
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| ==Parameter IDs and AVL IDs==
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| Below is a list of AVL IDs and Configurator IDs assigned to a specific item.
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| <table class="nd-othertables_2" style="width:50%; border-collapse: collapse;">
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| <tr>
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| <th style="width:8%; vertical-align: middle; text-align: left;">Name</th>
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| <th style="width:15%; vertical-align: middle; text-align: center;">Parameter ID</th>
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| <th style="width:5%; vertical-align: middle; text-align: center;">AVL ID</th>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">RTK Longitude</td>
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| <td style="vertical-align: middle; text-align: center;">151790</td>
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| <td style="vertical-align: middle; text-align: center;">14145</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">RTK Latitude</td>
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| <td style="vertical-align: middle; text-align: center;">151800</td>
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| <td style="vertical-align: middle; text-align: center;">14146</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">RTK Altitude</td>
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| <td style="vertical-align: middle; text-align: center;">151810</td>
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| <td style="vertical-align: middle; text-align: center;">14147</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">RTK Speed</td>
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| <td style="vertical-align: middle; text-align: center;">151820</td>
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| <td style="vertical-align: middle; text-align: center;">14148</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">RTK Angle</td>
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| <td style="vertical-align: middle; text-align: center;">151830</td>
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| <td style="vertical-align: middle; text-align: center;">14149</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">Source Location from RTK</td>
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| <td style="vertical-align: middle; text-align: center;">55000</td>
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| <td style="vertical-align: middle; text-align: center;">-</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">Source Location from RTK</td>
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| <td style="vertical-align: middle; text-align: center;">55000</td>
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| <td style="vertical-align: middle; text-align: center;">-</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">Location Source</td>
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| <td style="vertical-align: middle; text-align: center;">53050</td>
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| <td style="vertical-align: middle; text-align: center;">10919</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">NMEA Fix Type</td>
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| <td style="vertical-align: middle; text-align: center;">53060</td>
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| <td style="vertical-align: middle; text-align: center;">10920</td>
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| </tr>
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