Satellite Compass STD 21 GPS: Type 110 - 850

Raytheon Anschütz GmbH
Postfach 1166
D -- 24100 Kiel
Germany
Tel +49--4 31--30 19--0
Fax +49--4 31--30 19--501
Email [email protected]
www.raytheon--anschuetz.de
Satellite Compass
STD 21 GPS
Type 110--850
1 Description
2 Operation
3 Installation and setting to work
3717/110--850.DOC020002 Edition: May 29, 2009

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Satellite Compass
STD 21 GPS
STD 21 GPS
Please note that all ships of 500 gross tonnage and upwards
according to SOLAS and other international regulations must
be equipped with a gyro compass. The gyro compass must be
operational. For this reason it is not allowed to have a
switched--off gyro compass during voyages.
For the application “GPS Compass in combination with Gyro

compass STD 22” see also respective manuals:
Manual no.: 3646 for Gyro compass STD 22
Manual no.: 3648 for Operating Unit
After an alarm message occurs and the reason for this alarm
is eliminated either automatically or by repair, the displayed heading
has to be checked. In case of an implausible heading value,
the GPS Compass should be switched OFF and ON again.
Edition: Feb. 05, 2007 I 3717/110--850.DOC020002

Satellite Compass
STD 21 GPS
CONTENTS Page
1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Satellite Compass Standard 21 GPS (Stand alone system) . . . . . . . . . . . . . . . . . . 2
1.2 Principle of CAN bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Principle of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4.1 Available options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.5.1 Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.5.2 System Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.6.3 Display modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Safety Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1.1 Setting into operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.2 Menu Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 General adjustments and tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.1 Adjustment of brightness and contrast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.2 Lamp Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3.1 Display “GPS Pos.” (Basic Display) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3.2 Display “GPS Hdg.” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3.3 Display “GPS Tape“ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3.4 Display “GPS ROT” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.5 Display “GPS Angles” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3.6 Display “Satellite Status” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.3.7 Display “Satellite Sky Plot” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3.8 Panel Set Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3.9 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.1 Safety instructions and mounting recommendations . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.1 General remarks for establishing cable connections . . . . . . . . . . . . . . . . . . . . . . . . 28
3.1.2 General information about establishing a common ground connection . . . . . . . . . 31
3.2 Installation of Antenna Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.2.1 Comments and recommendations for Antenna Unit location . . . . . . . . . . . . . . . . . 32
3.2.2 Location of Antenna Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.2.3 Connecting the antenna cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
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STD 21 GPS
STD 21 GPS
3.3 Installation of Processor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.3.1 Mounting recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3.2 Connecting the antenna cable to the Processor Unit . . . . . . . . . . . . . . . . . . . . . . . . 43
3.3.3 Connecting the supply voltage to the Processor Unit and the Operator Unit . . . . 45
3.3.4 Connecting the CAN bus to the Processor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.3.4.1 Check of jumper settings for the CAN bus termination . . . . . . . . . . . . . . . . . . . . . . . 47
3.3.5 Connecting Heading Receiver to the Processor Unit . . . . . . . . . . . . . . . . . . . . . . . . 48
3.3.6 Setting the DIP--switches for the STD 21 GPS at the Processor Unit . . . . . . . . . . 49
3.4 Installation of Operator Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.4.1 Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.4.2 Overview of switches, jumpers and plugs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.4.3 Setting the device address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.4.4 Making the cable connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.4.4.1 General information about establishing on--board wiring . . . . . . . . . . . . . . . . . . . . . 54
3.4.4.2 Connections to the plug connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.4.4.3 Plugging in the jumpers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.5 Adjustments after switching ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.5.1 Submenu “Software Version” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.5.2 Submenu “Serial Port #3” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.5.3 Submenu “Serial Port #4” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.5.4 Submenu “PU Mounting” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.5.5 Submenu “AU Alignment” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.6 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.6.1 Alarm Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.7 Fault/Alarm table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.1 Care and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.2 Troubleshooting and Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
4.3 Replacement of defective parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.4 NMEA 0183 Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4.4.1 Standard NMEA set with transmitting rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.4.2 NMEA messages -- conclusions/dependencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
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STD 21 GPS
Appendix:
Menu Structure Figure A--1

Jumpers, plugs, LED‘s and switches Figure A--2
Processor Unit Dimensional Drawing 114--001.HP005

Antenna Unit Dimensional Drawing 114--002.HP005
Operator Unit Dimensional Drawing 130--613.HP005
AC/DC Converter Dimensional Drawing 121--062.HP005
Processing Unit Cable and Connection Diagram 114--001.HP009
Processing Unit Cable and Connection Diagram (E02) 114--001.HP010
GPS Compass STD.21 Cable and Connection Diagram 110--850.HP008
GPS Compass STD.21 Cable and Connection Diagram (E02) 110--850.HP009
AC/DC Converter Wiring Diagram 121--062.HP008
Parts Catalogue
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STD 21 GPS
STD 21 GPS
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STD 21 GPS
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3717/110--850.DOC020002 VI Edition: Feb. 05, 2007

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STD 21 GPS
STD 21 GPS
1 General
The Satellite Compass STD 21 GPS uses GPS signals to produce ship‘s heading in-
formation. It can be used as a compass sensor for repeaters, radars, electronic chart
systems, AIS, scanning sonars, autopilots, TV antennas and other commercial heading
receivers.
Antenna Unit Type 114--002 with

Connection Box Type 134--116
2x serial output:
10--36VDC Processor Unit Anschütz Course bus
Type 114--001 or NMEA 0183
12--36VDC
to the Operator Unit
CAN--Bus
Operator Unit
Type 130--613
Figure 1: STD 21 GPS --System overview--
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1.1
3717/110--850.DOC020002
see manual no.:3648
CAN bus
Antenna Unit
114--002
2
Processor Operator Unit
Unit 130--613
114--001
2x NMEA Output or
Anschütz Course bus
STD 21 GPS
Satellite Compass
24VDC 2 x Status Contacts

System and Heading Fault
Satellite Compass STD 21 GPS (stand--alone system)
STD 21 GPS Satellite Compass
Edition: Feb. 05, 2007

Satellite Compass
STD 21 GPS
STD 21 GPS
1.2 General principle of CAN bus

(CAN = Controller Area Network)
The CAN bus is a multi-master bus allow-

ing the connection of all devices and sys-
Gyro compass tems regardless of their task and function.
This means that any number of devices
can be connected. These devices must
be designed for CAN bus technology.
It is essential that every CAN bus user is
Gyro compass
addressable via a unique address. This
address is set within each bus user.
The usable address range is from 01(16) to
3F(16) (address 00(16) is reserved for devel-
opment purposes).
Each bus user can send and receive data
STD 21 GPS
via the CAN bus.
Operator Unit
259.8
8 x heading The CAN bus must be terminated at both
(course bus ends via an ohmic resistor (125 ohms).
or NMEA) This terminating resistor is activated by
Distribution unit
3 x step jumpers on the respective printed circuit

1x courseprinter board (PCB).
1 x rate of turn There are 2 redundant bus systems

DV Bus (CAN1 and CAN2).
= terminating resistor The maximum length of a CAN bus

cabling must not be longer than 300
meters!!!
Figure 2: General principle of CAN bus technology
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Satellite Compass
STD 21 GPS
1.3 Principle of Operation
The Raytheon Marine/Anschütz STD 21 GPS compass uses continuous carrier phase
measurements of two GPS antennas aligned to the ship‘s longitudinal axis for relative
positioning. Relative positioning means that state of the art algorithms exploit the carrier
phase measurements and the broadcast satellite ephemeris for precise computation of
the baseline vector pointing from the aft antenna to the fore antenna. Then, the baseline
vector‘s continuously computed north, east, and down coordinates can easily be con-
verted to polar co--ordinates, that is, pitch and heading signals.
In order to bridge over short--term satellite signal looses, e.g. signal blockage or electro-
magnetic interference, the STD 21 GPS--/INS compass incorporates gyros. These hard-
mounted devices measure the ship‘s three--dimensional angular rates for continuous in-
tegration of the ship‘s roll, pitch, and heading angles. The integration is also executed
during GPS satellite signal reception. Thus, the differences between the integrated and
GPS--derived pitch and heading angles may be computed. When combining these angu-
lar differences with a gyro model through an optimal estimation algorithm, the gyros be-
come precisely calibrated, thus allowing a longer and more accurate bridging of satellite
signal outages.
Availability of STD 21
A satellite compass is not an autonomous device as is a gyro compass. Thus, the STD
21 satellite compass does not have the availability of the STD 22 gyro compass.
The reasons for the slightly reduced availability which holds for any satellite compass
are:
" Exploitation of extremely low--power satellite carrier signals,
" Use of statistical methods within the digital signal processing path,
" High sensitivity to multipath and signal blocking effects that adversely affect unin-
terrupted satellite signal reception at the Antenna Unit.
Nevertheless, the STD 21 has a proven -- through long term testing -- availability of
99.9% if installed in accordance with this manual.
Installation of the STD 21
A satellite compass like the STD 21 exploits the carrier phases of GPS satellite signals
when computing the heading angle based on the principle of interferometry.
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STD 21 GPS
STD 21 GPS
The GPS L1 carrier has a wavelength of 19 cm which is much smaller than the 100 m
chip length of the modulated C/A (”Clear Access”) pseudo--random noise code used for
GPS satellite positioning. Thus, obstacles of correspondingly small size disturb the
heading determination process. The satellite compass is much more susceptible to ob-
stacles than a satellite positioning receiver.
Consequently, extreme care is required when installing the STD 21 Antenna Unit. Proper
operation is only effective if the installation requirements detailed in Chapter 3.2 ”In-
stallation of the Antenna Unit” have been met!
1.4 Scope of delivery
For a complete system the following parts are delivered:

-- Operator Unit Type 130--613
-- Antenna Unit Type 114--002 (including mounting kit)
-- Processor Unit Type 114--001
-- Antenna cable between Antenna Unit and Processor Unit Type NB60--144 (30m)
-- 2 Connection Cables between Processor Unit and Operator Unit
Type NB60--143 (2x6m)
-- Power cable between Processor Unit and Operator Unit Type NB60--146 (6m)
-- Manuals:
Operator Unit Manual No: 3648
for installation and general operating functions
STD 21 GPS Manual No: 3717

for description, operation, installation, maintenance and
trouble shooting
1.4.1 Available options
-- Additional Output Box (for step output, 6 steps/degree)

-- Digital and Analog Repeaters
-- Bearing Repeater
-- Multi Display
-- NMEA Booster
-- Power Supply
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1.5 Technical Data
1.5.1 Mechanical Data
For mechanical data such as dimensions, weight, or type of enclosure, see the respect-
ive dimensional drawing in this manual.
1.5.2 System Data
Accuracy: 0.5° (RMS)

Min. number of satellites necessary 5
Angular resolution: 0.1°
Interfaces: 2x CAN Bus (CAN 1 and CAN 2)
2x serial (Anschütz Course bus or NMEA 0183)
2 x Status Contacts (System and Heading Fault)
Supply voltage: 10--36 VDC
Operating temperature ranges: Processor Unit: --15°C to + 55°C
Antenna Unit: --25°C to + 55°C
Power consumption (System) appr.15W
1.5.3 Display modes
-- Digital heading
-- Tape repeater (analog heading)
-- Rate of Turn (ROT)
-- Roll and Pitch
-- Satellite position
-- Satellite status
For information only:

-- SOG (speed over ground) and COG (course over ground)
-- Latitude and Longitude (displayed as WGS ‘84, WGS = World Geodetic System)
-- ROT (50 Hz and 1 Hz)
NMEA messages:
For conclusions and dependencies for NMEA
messages/telegrams see section 4.4.2.
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STD 21 GPS
2 Operation
2.1 Safety Notes
Do not disassemble or modify the equipment. Failure to observe the

instruction can cause a fire, electric shock, or equipment failure.
Do not handle the power cable or operate switches with wet hands,
you may suffer an electric shock.
Operate the equipment only at a supply voltage from 12 -- 36 VDC.

Failure to observe this instruction can cause a fire, electric shock, or
equipment failure.
Do not scratch, damage, or modify the power supply and antenna

cables. They may cause a fire or electric shock if they are loaded
with heavy items, heated, pulled, or excessively bent.
Immediately turn the power OFF and disconnect the power cable if
the equipment is generating any smoke or odour, or found
overheating.
Equipment under such conditions can cause a fire or electric shock.
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STD 21 GPS
2.1.1 Setting into operation
Caution!
Reduced accuracy may occur in the case of unfavorable satellite
constellation.
Always verify position data against other navigation devices to
confirm.
After switching--ON the system (supply voltage to the Processor Unit and to the
Operator Unit) the Operator Unit starts up with a display which contains a blinking “Self--
Test” followed by blinking “Initialization” and “Acquisition” phases. During these blinking
indications, no heading value will be present.
After finishing this initialization procedure the basic display (see Figure 3) is displayed.
Please note:
After switching ON it will take approx. up to 4 minutes before
one of the below mentioned displays will appear.
After switching ON for the very first time it will take approx.
up to 20 minutes before one of the below mentioned dis-
plays will appear.
Select GPS Dim

Menu up
068.7° Contrast
HEADING
GPS Dim
Config. down
LAT: 054°21.164’ N
GPS LON: 010°08.220’ E Lamp
Hdg. WSG’ 84 Test
Figure 3: Example of a display after it has been set into operation

(STD 21 GPS only -- standalone system)
NOTE
Latitude and longitude are for information only!
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STD 21 GPS
2.1.2 Menu Structure
Appendix (A -- 1) shows the menu structure within the Operating Unit of a

standalone STD 21 GPS.
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STD 21 GPS
2.2 General adjustments and tests

2.2.1 Adjustment of brightness and contrast
1
Select GPS Dim
Menu up
068.7° Contrast 2
HEADING
GPS Dim
Config. down
LAT: 054°21.164’ N
Hdg. WSG’ 84 Test
Figure 4: Controls and Indicators on the Operator Unit
Use the “Dim up” key (Figure 4/1) to make the display and the background illumination
brighter and the “Dim down” key (Figure 4/2) to make it darker.
This setting is retained even after the equipment has been switched off.
To adjust the contrast, press the “Dim up” (Figure 4/1) and “Dim down” (Figure 4/2) keys
simultaneously. The display now changes:
1 2
GPS Contr.
Esc up
068.7° 3
HEADING
Contr.
down
LAT: 054°21.164’ N
LON: 010°08.220’ E
WSG’ 84
Figure 5: Adjusting the contrast
Adjust the contrast using the “Contr. Up” (Figure 5/2) and “Contr. Down” (Figure 5/3)
keys.
The display reverts on pressing the “Esc” key (Figure 5/1) or after a time out period of
approximately 4 seconds.
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STD 21 GPS
2.2.2 Lamp Test
A Lamp Test during an alarm is not possible

(see also section 3.6.1 “Alarm Handling)
Select GPS Dim

up
068.7°
Menu
Contrast
HEADING
GPS Dim
Config. down
1
LAT: 054°21.164’ N
GPS Lamp
LON: 010°08.220’ E
Hdg. Test
WSG’ 84
Press and hold the softkey “Lamp Test” (Figure 6/1) for approx. 3 seconds.
The LED above this soft key lights up, an acoustic alarm occurs (with selected volume,
see section 2.3.8), the brightness increases, and an information “Lamp Test” is displayed
inverse (see Figure 7).
Select GPS Dim

up
068.7°
Menu
Contrast
HEADING
GPS Dim
Config. down
LAT: 054°21.164’ N
Hdg. Lamp Test Test

(During Lamp Test)
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2.3 Displays
2.3.1 Display “GPS Pos.” (Basic Display)
This display is shown after finishing the initialization procedure.

This display shows heading in numerical form and position values (latitude and
longitude). The position is for information only.
Select GPS Dim

up
068.7°
Menu
Contrast
HEADING
GPS Dim
Config. down
LAT: 054°21.164’ N
GPS Lamp
LON: 010°08.220’ E
Hdg. Test
WSG’ 84
Figure 8: Display “GPS Pos.” (Basic Display)
Soft Key Meaning refer to

section
Select Select additional menus to: see sections
Menu -- Check CAN Bus addresses 2.3.8 and 2.3.9
-- Check software version
-- Set volume
GPS Select additional displays to evaluate satellite see sections
Config. information or constellation. 2.3.6 and 2.3.7
Select setup menu for: see

-- The Antenna Unit and Processor Unit section 3.5
installation positions
-- System Configuration
GPS Select the display “GPS Hdg.” see
Hdg. (Heading is displayed in large numbers) section 2.3.2
Dim up Brightness control / Contrast control see
section 2.2.1
Dim down Brightness control / Contrast control see
section 2.2.1
Lamp Check the lamp, buzzer and brightness see
Test section 2.2.2
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STD 21 GPS
2.3.2 Display “GPS Hdg.”
This display is selected by operating “GPS Hdg.” button in the display “GPS Pos.”
This display shows heading in large numbers.
GPS GPS
Pos.
068.7°
GPS HEADING Lamp
Tape Test
Figure 9: Display “GPS Hdg.”

section
GPS Select basic menu “GPS Pos.” see
Pos. (Heading information together with latitude and section 2.3.1
longitude information)
GPS Select the display “GPS Tape” see
Tape (Heading in normal numbers together with a section 2.3.3
tape--formed heading information)
Test section 2.2.2
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2.3.3 Display “GPS Tape”
This display is selected by operating “GPS Tape” button in the display “GPS Hdg.”
It displays heading in numerical form and also in tape form.
GPS GPS Dim

up
180.0°
Pos.
Contrast
HEADING
GPS Dim
Config. down
179° 180° 181°
GPS Lamp
ROT Test
Figure 10: Display “GPS Tape”

section
Select a setup menu for: see

-- Antenna Unit and Processor Unit installation section 3.5
positions
GPS Selection of the display “GPS ROT” see
ROT (Heading is displayed in normal numbers to- section 2.3.4
gether with a numerical and graphical informa-
tion of Rate of Turn)
section 2.2.1
section 2.2.1
Lamp Check of lamp, buzzer and brightness see
Test section 2.2.2
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STD 21 GPS
2.3.4 Display “GPS ROT”
This display is selected by operating “GPS ROT” button in the display “GPS Tape“.
This display shows heading and Rate of Turn in numerical form and a tendency
indication (graphically) -- ROT is for information only.
GPS Dim
Pos.
GPS up
180.1° Contrast
Heading
GPS Dim
Config. ROT down
P 0012.3°/Min S
GPS Lamp
Angles Test
Figure 11: Display “GPS Tape”

section
positions
GPS Select the display “GPS Angles” see
Angles (Heading is displayed in normal numbers to- section 2.3.5
gether with a numerical displays of
SOG (Speed over Ground), COG (Course over
Ground), Roll and Pitch)
section 2.2.1
section 2.2.1
Test section 2.2.2
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2.3.5 Display “GPS Angles”
This display is selected by operating “GPS Angles” button in the display “GPS ROT“.
This display shows heading, COG, SOG, Roll and Pitch information in numerical form.
COG and SOG are for information only.
Dim
GPS up
180.1° Contrast
Heading
GPS Dim
Config. down
SOG: 01.0kn
COG: ------.--°
GPS Roll: --00.8° Lamp
Pos. Pitch: 03.1° Test
Figure 12: Display “GPS Angles”

section

positions
section 2.2.1
section 2.2.1
Test section 2.2.2
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STD 21 GPS
2.3.6 Display “Satellite Status”
This display is selected by operating “GPS Config.” button in the following displays:
“GPS Pos.” (Basic Display), “GPS Tape”, “GPS ROT“, or “GPS Angles”
This display shows information about exploitable satellites. This can be useful for head-
ing determination.
GPS Satellite Status Dim

Pos. up
No. Az. El. SNR
Please note:
30 112° 72° 34dB Contrast
A minimum of 5 satellites
5 271° 65° 40dB
are necessary for the
16 195° 55° 53dB Dim
Sat. normal operation modes.
26 056° 30° 39dB down
Pos. For synchronisation
19 330° 15° 45dB
(after reaching a steady
state) a minimum of 7
Lamp satellites are necessary.
Test
Figure 13: Display “Satellite Status” (Example)
No. Number Specific number of the satellite.

Az. Azimuth Direction (refering north) of the satellite,
display 0 to 359 (degree).
El. Elevation Angle value, position (height) of the
satellite referring to the horizon, display
0 to 90 (degree).
SNR Signal to Noise Ratio Dimension to judge the
quality of the satellite signal. The higher the value,
the better the signal.

section
Sat Select graphical satellite evaluation/correlation see
Pos. information section 2.3.7
section 2.2.1
section 2.2.1
Test section 2.2.2
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2.3.7 Display “Satellite Sky Plot”
This display is selected by operating “Sat. Pos.” button in the display “Satellite Status”.
This display shows the positions of the exploitable satellites. This can be useful for
heading determination.
Satellite Position Dim

GPS 0
Pos. up
19
26 Contrast
GPS 5
Dim
Setup 30
down
16 60
30
0 Lamp
180 Test
Position at the diameter shows the azimuth angle,

distance from the center point shows the elevation angle,
the number refers to the specific satellite number.
Figure 14: Display “Satellite Sky Plot” (Example)

section
GPS Select menu see
Setup -- to align mounting angles for Antenna Unit and section 3.5
the Processor Unit
-- to set serial port data
-- to read out the software versions
section 2.2.1
section 2.2.1
Test section 2.2.2
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2.3.8 Panel Setup
The following instructions show how to adjust the buzzer volume and display the soft-
ware version of the Operator Unit.
GPS Dim
Select
up
068.7°
Menu
Contrast
HEADING
GPS Dim
Config. down
LAT: 054°21.164’ N
GPS Lamp
LON: 010°08.220’ E
Hdg. Test
WSG’ 84
Figure 15: Display “GPS Pos.” (Basic display)
Start with the basic display (see Figure 15). Operate the soft key “Select Menu”, this
displays the following menu (see Figure 16).
Select GPS Dim

up
068.7°
Menu
Contrast
HEADING
Dim
down
Menu
Set
Exit
Figure 16: Display to select “Panel Setup” and “Service” Menus
With “Menu” selected in inverse, operate the soft key “Set” to display the display to
select between “Panel Setup” and “Service” (see Figure 17).
Return to the basic display “GPS Pos.” by using soft key “Select Menu” to select “Exit”
and then operating soft key “Set”, or automatically after approx. 10 seconds.
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Select GPS Dim

up
068.7°
Menu
Contrast
HEADING
Dim
down
Panel Setup
Service
Set
Exit
Figure 17: Display to select “Panel Setup”
Select “Panel Setup” using soft key “Select Menu” and then operating the soft key “Set”.
Return to the basic menu “GPS. Pos” by using “Select Menu” to select “Exit” and then
operating “Set”, or automatically after approx. 10 seconds.
Panel Setup Test

Select Horn
Volume 1
Volume 2
Volume 3
Volume 4
Softw.--Version
130--613.P01.E10.00
Set
Exit
Figure 18: Display “Panel Setup”
Operate soft key “Select” to select the desired volume.

Volume 1 is the lowest volume, volume 4 is the maximum.
Operate the soft key “Test Horn” to test the selected volume.
Operate the soft key “Set” to apply the selected volume.
Return to the basic menu “GPS. Pos” either with “Select” to “Exit” and then operating
soft key “Set”, or automatically after approx. 10 seconds.
PLEASE NOTE: The volume must be adjusted in accordance with background noise.
An alarm has to be recognized clearly under all operating conditions
of the ship.
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STD 21 GPS
2.3.9 Service
The following instructions show how to display the addresses of the CAN bus
participants. This menu will also serve for service information/settings in the future.
Select GPS Dim

up
068.7°
Menu
Contrast
HEADING
GPS Dim
Config. down
LAT: 054°21.164’ N
Hdg. WSG’ 84 Test
Figure 19: Display “GPS Pos.” (Basic display)
Start with the basic display (see Figure 19). Operate the soft key “Select Menu” to
display the following menu (see Figure 20).
Select GPS Dim

up
068.7°
Menu
Contrast
HEADING
Dim
down
Menu
Set
Exit
Figure 20: Display to select “Panel Setup” and “Service“ menus
With “Menu” selected in inverse, operate the soft key “Set” to display the display to
select between “Panel Setup” and “Service” (see Figure 21).
Return to the basic display “GPS Pos.” by using “Select Menu” to select “Exit” and then
operating “Set”, or automatically after approx. 10 seconds.
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Select GPS Dim

Menu up
068.7° Contrast
HEADING
Dim
Panel Setup down
Service
Set
Exit
Figure 21: Display to select “Service”
Select “Service” with soft key “Select Menu” and then operate the soft key “Set”.
Return to the basic menu “GPS. Pos” by using soft key “Select” to select “Exit” and oper-
ating “Set”, or automatically after approx. 10 seconds.
Service Dim
Select up
Contrast
Dim
CAN--Devices down
Set
Exit
Figure 22: Display “Service”
Select “CAN--Devices” with soft key “Select” and then operate the soft key “Set”.
Return to the basic menu “GPS. Pos” by using soft key “Select” to select “Exit” and oper-
ating “Set”, or automatically after approx. 10 seconds.
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STD 21 GPS
CAN--Devices Dim
up
01 OPU
Contrast
10 GPS
Dim
down
Exit
Set
Service Time Out: in 30sec
Figure 23: Display “CAN--Devices” (Example)
Display “CAN--Devices” shows the CAN--Bus addresses of

-- Operator Unit (OPU) = 01 (decimal)
-- Processor Unit (GPS) = 10 (decimal)
Addresses are displayed in decimal form.
A CAN--Bus address should never be

twice in a system.
Return to the “Service” menu by selecting “Exit” and operating “Set”, or automatically
after the service time out (max. 60 seconds).
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STD 21 GPS
3 Installation
For installation and the cable connections see also appended drawings:
-- Processor Unit Dimensional Drawing 114--001.HP005

-- Processor Unit Cable and Connection Diagram 114--001.HP009
-- Antenna Unit Dimensional Drawing 114--002.HP005
-- GPS Compass STD. 21 Cable and Connection Diagram (2x) 110--850.HP008
-- Operator Unit Dimensional Drawing 130--613.HP005
-- AC/DC Converter Dimensional Drawing 121--062.HP005
-- AC/DC Converter Wiring Diagram 121--062.HP008
Overview of the installation procedure:

Follow the sequence below for a successful installation of the STD 21 GPS system
(manufacturers recommendation):
1. Installation of Antenna Unit see section 3.2
2. Installation of Processor Unit see section 3.3
3. Installation of Operator Unit see section 3.4
4. First time switching --ON see section 3.5
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3.1 Safety instructions and mounting recommendations
Warning!
Use care during maintenance and repair to avoid contact with en-
ergized electrical conductors. Applicable safety regulations must
be followed, such as VDE, BGV A3, OSHA 1919, and other con-
sensus safety standards.
When establishing cable connections ensure that the cables are
disconnected from the power supply.
It is essential to ensure that all cables are disconnected from the
power supply, if necessary measure the voltage beforehand
and/or disconnect the relevant distributor.
Caution!
Maintenance and repair must be performed by trained and quali-
fied personnel who are knowledgeable in equipment safety re-
quirements!
Device may be damaged!

Exchange of spare parts, a subgroup or PCB when power is on
can cause severe damage to the equipment.
Observe precautions for handling electrostatic sensitive devices.
While connecting cables to the equipment, do not bend cables to

an acute angle, pinch, twist, or impart excessive force. Cracks or
damage to the cable coating can cause a fire or electric shock.
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General recommendations for a secure installation:
-- Do not install the Antenna Unit during a thunder storm.

-- During installation of the Antenna Unit, no other antennas
should be in active operation.
-- Applicable national safety regulations must be followed while
working in the ships mast.
-- Do not touch PCB‘s or components inside of the Processor
Unit and inside of the Operator Unit (electrostatic sensitive
devices).
-- Do not touch the accelerometers and the 3--axis sensor
(triade) inside the Processor Unit.
-- Do not leave anything behind (cuttings, tools) in the housing of
the Processor Unit after connecting the cables.
Install equipment at a distance away from magnetic

equipment per recommendations labelled on the
respective equipment.
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3.1.1 General remarks for establishing cable connections
Caution
When establishing cable connections ensure that the cables
are disconnected from the power supply.
It is essential to ensure that all cables are disconnected from
the power supply, if necessary measure the voltage beforehand
and/or disconnect the relevant distributor.
In order to ensure that the system operates correctly, it is essential that you adhere to
the following procedures for establishing cable connections.
-- Strip approx. 180mm off the cable.

Do not damage the shielding layer.
-- Strip off the shielding as shown in Figure 24.
approx.
15mm
approx. 180mm
Figure 24 How to strip the connection cable
-- Screw the cable gland out from the respective housing and push the screw
connection components over the cable.
It is absolutely essential that the sequence (as shown in Figure 25) is adhered to.
-- Check the cone and counterpart on the earthing insert for corrosion and,
if necessary, remove corrosion.
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STD 21 GPS
-- Push the counterpart of the earthing insert as far as the end of the cable
shield.
-- Push the earthing insert cone below the shielding against the counterpart.
Observe a shared even distribution of the shielding via the cone (see Figure 25).
Wall and DIN Socket

Earthing insert
-- cone
-- counterpart
Seal
+ strain relief
Shielding
Washer
Counter nut
Figure 25 Making the cable entry
-- Insert the earthing insert, the seal, and the washer into the cable gland, place
the counter nut on top and hand-tighten.
-- Strip the cable cores to a length of approx. 15mm, twist slightly and clamp on the
cable end sleeves. Connect the cable wires in the respective housing.
Hand-tighten the terminal screws concerned.
-- Check the connection is firm by pulling lightly.
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Figure 26: Example of a cable connection at the Processor Unit
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3.1.2 General information about establishing a common ground connection
In order to comply with the stringent EMC requirements, please abide by the information
given below regarding cable connections.
Use the cable types specified.
It is essential to ensure that these connections have a

common reference to the ship’s common ground.
Any additional components (options) must also be con-
nected to the common ground!
Figure 27: Establishing a common ground connection
All common ground connections must be made as shown in Figure 27.

The earthing cable attached to the cable bracket must possess a cross-section of mini-
mum 1.5 mm2.
The cable bracket should be mounted between two toothed washers.
Common ground connections must be free of corrosion and well fastened.
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3.2 Installation of Antenna Unit
3.2.1 Comments and recommendations for Antenna Unit location
The sattelite signal received from the satellites by the Antenna Unit is very weak. Small
signal interferences influence the reception quality and the indicated heading information
quality.
Reasons for signal interferences can be:

-- Masks caused by buildings or bridges (mostly in a harbor area), or mountains may
prevent the Antenna Unit from receiving signals.
-- Masks caused by superstructures such as bridges, masts, funnels or cranes
may disturb reception.
-- Signal reflections caused by metallic and/or or wet surfaces influence the signal
receipt by a time--delayed reception.
-- Placement of the Antenna Unit within radar or SATCOM beams may disturb
reception.
-- VHF--antennas may influence GPS signal receipt if the distance between the
VHF--antenna and the Antenna Unit is less than 2 meters (influences caused
by other antennas must be tested).
Observe the position of the Antenna Unit (fore and aft label).
To prevent all above mentioned influences to satellite signal reception, the best
placement for the Antenna Unit is at the top of the highest mast.
Please note section 3.2.2 before installing the Antenna Unit.
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STD 21 GPS
3.2.2 Location of Antenna Unit
(See Figure 28, Figure 29, Figure 30 and Figure 31)

-- Select a location where vibration and shock are minimal.
-- Separate the Antenna Unit from the mast, depending on the diameter of the mast
Mast diameter 100mm with a distance of at least 1.5m (see Figure 28)
Mast diameter 300mm with a distance of at least 3.0m(see Figure 28)
-- Locate the Antenna Unit at least 3.0 meters away from Inmarsat--B antenna and
Radar antenna. Do not install the Antenna Unit within the transmit beam of the
Inmarsat--B antenna (see Figure 30).
-- Locate the Antenna Unit above the Radar antenna, out of the Radar beam
(see Figure 29).
-- Mount the Antenna Unit clear of interfering objects which may obstruct reception
(see Figure 29).
-- The mounting angles referring to ship‘s centerline and ship‘s baseline must not be
more than 6° (see Figure 31).
-- Do not install the Antenna Unit directly over funnel emissions.
ship‘s ahead
Distance Mast -- Antenna Unit

Antenna Unit
Mast diameter
ship‘s aft Mast diameter Distance Mast--Antenna Unit
100mm min 1.5m

300mm min 3.0m
Figure 28: Distance Mast -- Antenna Unit (manufacturers recommendation)
The Antenna Unit should not be installed on a mast

made of wood or plastic material, otherwise a separate
common ground connection must be made from the
Antenna Unit to the common ground.
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Away from whip

An open space from appr. 160° which antenna
allows uniform reception of satellite
signals
10° 10°
Away from the
not within the Radar antenna
main Radarbeam
In general:
-- as high
as possible
-- as far away not in shadow
from other of a mast or a funnel
antennas
as possible
Figure 29: Principle of an Antenna Unit location
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STD 21 GPS
SATCOM antenna
appr. 10°
Figure 30: Antenna Unit location referring to SATCOM antennas
An installation of the Antenna Unit within the beam of SATCOM may influence the satel-
lite signal reception.
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STD 21 GPS
6° 6°
Antenna Unit
Mast
Baseline 6°
6°
Centerline
Figure 31: Antenna Unit, recommended mounting angles
The mounting angles (trim and course) have to be adjusted at the Operator Unit.
An estimated trim angle and a course angle (compared to pier--course or other heading
reference) must be set up in the Operator Unit.
Deviation from the ship‘s centerline and/or the baseline (within the tolerances) have to
be adjusted, see section 3.5.5.
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3.2.3 Connecting the antenna cable
Manufacturers recommendation:
First connect the antenna cable to the terminal board at the antenna box, then install the
Antenna Unit to the ship‘s mast.
The cable between the Antenna Unit and the

Processor Unit is part of delivery with the part no. NB60--144.
This cable should be lengthened to a practicable length.
Counter nut
Strain and strain relief
pin terminal crimps
Cone with shielding crimp
Figure 32: Antenna Unit, connecting the antenna cable
-- Strip the complete cable entry over the antenna cable (see Figure 32).
-- Strip off the shielding to a practicable length of cores. The shield should be stripped
off in a way such that the cores can be led from the cable inlet to the terminal board
without mechanical stress.
Too long cable cores can lead to EMC problems.
-- Lead the cable through the cable inlet of the housing (strain and counter nut outside
and cone with shielding crimp inside the housing)
-- Connect the screen (separate core) to the cone.
-- Fasten the cable inlet with the counter nut.
-- Connect the cores to the terminal board B1 (note the core colors) (see Figure 33)
according to appended drawings or to the table below.
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Terminal Designation connected to

Processor Unit
terminal board A1
1 PPS + (pulses per second) PPS+
2 PPS-- (pulses per second) PPS--
3 0VDC (Antenna Unit supply) 0VDC
5 TX2-- (Transmit data, RS422 interface 2) RX2--
6 TX2+ (Transmit data, RS422 interface 2) RX2+
7 RX2-- (Receive data, RS422 interface 2) TX2--
8 RX2+ (Receive data, RS422 interface 2) TX2+
9 TX1-- (Transmit data, RS422 interface 1) RX1--
10 TX1+ (Transmit data, RS422 interface 1) RX1+
11 RX1-- (Receive data, RS422 interface 1) TX1--
12 RX1+ (Receive data, RS422 interface 1) TX1+
13* Reference to RS422 GND
Terminal board B3 Terminal board B2 Terminal board B3 Terminal board B2
1 12 1 13
Terminal board B1
Terminal board B1*
* Terminal board/Antenna Unit with development status E02
Figure 33: Antenna Unit, connecting the cable cores
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STD 21 GPS
3.3 Installation of the Processor Unit
3.3.1 Mounting recommendations
Depending on the accelerometer integrated

in the Processor Unit, there is a restricted
number of mounting positions.
The designation of the mounting position

must be set immediatedly after installation
or changes to the mounting position.
General recommendations to install the Processor Unit:
-- Choose a location where vibration and shock are minimal.

-- Install the Processor Unit away from locations subject to rain and water splash.
-- Locate the Processor Unit away from air conditioner vents.
-- Keep the Processor Unit out of direct sunlight to prevent overheating.
-- Choose a well--ventilated location.
The Processor Unit can be installed in 8 different positions.

See Figure 34 and Figure 35 for possible installation positions.
See Figure 36 for restrictions on the Processor Unit mounting angle.
This mounting position must be set via the Operator Unit, see section 3.5.4.
The horizontal installation of the Processor Unit may be verified by using a bubble level
if there is a calm sea state and the ship‘s centre line is horizontal.
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Ceiling mounted
Processor Unit
Cable inlet “bow” Cable inlet “aft”
Cable inlet “port” Cable inlet “starboard”
Figure 34: Ceiling installation of Processor Unit
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STD 21 GPS
Floor mounted
Processor Unit
Cable inlet “bow” Cable inlet “aft”
Cable inlet “port” Cable inlet “starboard”
Figure 35: Floor installation of Processor Unit
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not greater than +/--6°

Centerline
Centerline
Baseline

Baseline
Figure 36: Restrictions on mounting angle of the Processor Unit
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STD 21 GPS
3.3.2 Connecting the antenna cable to the Processor Unit
The cable between the Antenna Unit and the

Processor Unit is part of delivery with the part no. NB60--144.
This cable should be lengthened to a practicable length.
The antenna cable should be fastened with tie--wraps if it will

not be internal to the mast. The cable must be routed to the
Processor Unit and affixed by appropriate elements.
The antenna cable must be securely fixed. Ensure there is
enough slack in the cable where it attaches to the Processor
Unit so that the cable connection is not stressed.
Except the Antenna Unit no additional connections

should be made at this terminal board!
Terminal board A1
Figure 37: Cable connection of antenna cable at the Processor Unit
The cable has to be stripped off and laid according to section 3.1.1.
The cable cores have to be connected into the terminals according to appended
drawings or according to the table below.
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Terminal Designation connected to

anntenna box
terminal board B1
1 PPS + (pulses per second) PPS+
2 PPS-- (pulses per second) PPS--
5 RX2-- (Transmit data, RS422 interface 2) TX2--
6 RX2+ (Transmit data, RS422 interface 2) TX2+
7 TX2-- (Receive data, RS422 interface 2) RX2--
8 TX2+ (Receive data, RS422 interface 2) RX2+
9 RX1-- (Transmit data, RS422 interface 1) TX1--
10 RX1+ (Transmit data, RS422 interface 1) TX1+
11 TX1-- (Receive data, RS422 interface 1) RX1--
12 TX1+ (Receive data, RS422 interface 1) RX1+
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STD 21 GPS
3.3.3 Connecting the supply voltage to the Processor Unit and the Operator Unit
Terminal board C1
Figure 38: Power supply connection to the Processor Unit
Recommended cable type is 1.5 to 2.5mm2, shielded (supply voltage to the Processor
Unit).
Strip off and lay the cable according to section 3.1.1. The cable cores must be con-
nected to the terminals according to appended drawings or to the table below.
Terminal Designation
1 24 VDC supply voltage input Processor Unit--extendable for
external supply
2 0 VDC supply voltage input Processor Unit--extendable for
external supply
3 Case housing--extendable for external supply
4 24 VDC supply voltage output to Operator Unit
5 0 VDC supply voltage output to Operator Unit
The Operator Unit supply voltage also must be connected at terminal board C1.
The connection cable is part of the delivery with the part no. NB60--146.
For the connections at the Operator Unit, see section 3.4.4.2.
Note:
Practice has shown that a ship‘s 24V DC supply may be adversely affected by gener-
ators or other power consumers. Therefore, in order to secure the proper operation of
the STD 21 GPS, it is highly recommended to supply the STD 21 GPS, as well as the
heading receivers connected through the Ports 3 and 4, through an AC/DC converter in
accordance with the cable and connection diagrams 114--001.HP009 and
110--850.HP008.
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3.3.4 Connecting the CAN bus to the Processor Unit
Connected with cable no.: NB60--143
Pin: 1 2 3 Pin: 1 2 3
Plug B1 Plug B2
CAN 1 CAN 2
1 CAN low 1 CAN low

2 CAN high 2 CAN high
3 CAN GND 3 CAN GND
CAN1 CAN1 CAN1 CAN2 CAN2 CAN2

GND high low GND high low
Figure 39: Making the connections to the plugs for the CAN-Bus
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3.3.4.1 Check of jumper settings for the CAN bus termination
Jumper X303 for CAN 2 termination
Jumper X302
for CAN 1
termination
Figure 40: Termination for CAN bus
For the STD 21 GPS (stand alone) both jumpers must be inserted (default).
For Operator Unit CAN bus jumpers, see section 3.4.4.3.
The above mentioned jumper settings have to be set if the Processor Unit is at one end
of the CAN bus.
This is true if the STD 21 GPS is a standalone system with one Processor Unit and one
Operator Unit.
If more than these two devices are connected to a CAN bus, then only the
end--devices of the CAN bus must be jumpered. All other devices must not be jumpered
(see also section 1.2).
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3.3.5 Connecting Heading Receiver to the Processor Unit
There are 2 terminal boards available to connect heading receivers to the Processor
Unit.
Both Port 3 and Port 4 can be set to dataformat NMEA 0183, fast NMEA 0183 or
Anschütz Course Bus.
The respective dataformat can be set via the Operator Unit and transmitted to the
Processor Unit (see sections 3.5.2 and 3.5.3).
Terminal Board A3 (Port #4)
Terminal Board A2 (Port #3)
Figure 41: Connection of Heading Receivers
Recommended cable type is minimum 0.5mm2, shielded cable.

Strip off and lay the cable according to section 3.1.1. The cable cores must be con-
nected to the terminals according to appended drawings or to the table below.
Terminal Designation
1 TX-- (to Heading Receiver)
2 TX+ (to Heading Receiver)
3 TX GND
4 RX+ (not used)
5 RX GND (not used)
6 RX-- (not used)
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3.3.6 Setting the DIP--switches for the STD 21 GPS at the Processor Unit
(CAN--Bus addresses and operating modes)
DIP switch
“CONFIG”
Figure 42: DIP switch to adjust the device address for the CAN bus
and to adjust operating modes
Devices which communicate on the CAN bus need a unique address.

This address must be set with the DIP switch “Config” (see Figure 42).
Switches 1 and 2 are responsible for this address.
Set the switches according to the table below.
ON Switch 1 and 2 into

the OFF position:
CAN Address 10
Company default!
1 2 3 4 5 6 7 8
ON Switch 1 into the ON
position and switch 2
into the OFF position:
CAN Address 11
1 2 3 4 5 6 7 8
ON Switch 1 into the
OFF position and
switch 2 into the ON
position:
CAN Address 12
1 2 3 4 5 6 7 8
the ON position:
CAN Address 13
1 2 3 4 5 6 7 8
= Switch is insignificant for this function (continued on next page)
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ON Switch 3 into the ON

position:
ROT telegram in a 1
Hz rate (otherwise in
a 50 Hz rate)
1 2 3 4 5 6 7 8
the ON position and
switch 6 into the OFF
position:
Transmit HDT and
1 2 3 4 5 6 7 8
RoT telegrams only
the ON position and
switch 5 into the OFF
position:
Transmit THS
1 2 3 4 5 6 7 8
heading telegrams
insted of HDT
telegrams
ON Switch 4, 5 and 6 into
the ON position :
Transmit THS and
RoT telegrams only
1 2 3 4 5 6 7 8
ON Standard NMEA
output:
HDT & ROT & GGA
& VTG & DTM &
ZDA & GSA
1 2 3 4 5 6 7 8
= Switch is insignificant for this function
NMEA messages:
For conclusions and dependencies for NMEA
messages/telegrams see section 4.4.2.
ALL OTHER DIP--SWITCH SETTINGS ARE STRICTLY FORBIDDEN,

THEY CAN LEAD TO MALFUNCTIONS OR DAMAGES
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STD 21 GPS
3.4 Installation of Operator Unit
3.4.1 Assembly
The Operator Unit must be installed with the aid of dimensional drawing
130--613 HP005 either on an angled fixing bracket or desk-flush mounted.
Make sure that the installation is resistant to sea-water.
3.4.2 Overview of switches, jumpers and plugs
7 8 9 10 11
6
5
4 3 2 1
Figure 43: Operator Unit, rear view (with casing removed)
1 Hexadecimal switch B24 (0 to F) for setting the device address

2 Hexadecimal switch B23 (0 to F) for setting the device address
3 Plug B1, either CAN 1 or RS422 Transmit (depending on jumper)
4 Plug B2, either CAN 2 or RS422 Receive (depending on jumper)
5 Jumper B14, CAN 2 -- RS 422 (Receive)
6 Jumper B15, CAN 2 -- RS 422 (Receive)
7 Jumper B13 (plugged -- CAN1 Bus terminating resistor on end device only)
8 Jumper B12, CAN 1 -- RS 422 (Transmit)
9 Jumper B16 (plugged -- CAN2 Bus terminating resistor on end device only)
10 Jumper B11, CAN 1 -- RS 422 (Transmit)
11 Plug B7, voltage supply (9--36 V d.c.)
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3.4.3 Setting the device address
Use the two hexadecimal switches to set the device address for the Operator Unit. The
device address is set by the manufacturer to 01 decimal.
Changing this setting is only necessary if another Operator Unit is installed.
The table below shows the address agreements depending on the device type within a
navigation system.
Device(s) CAN--Bus--Ad- CAN--Bus--Ad-

dress, decimal dress,
hexadecimal
Operator Units 01 to 09 01 to 09
GPS compass 10 to 13 0A to 0D
Sensors 14 to 19 0E to 13
(Gyro Compass)
Distribution Units 20 to 29 14 to 1C
Repeaters 30 to 63 1E to 3F
Each device address can be allocated within a CAN bus

system only once!
If the Operator Unit is operated on an RS422 interface (jumper setting), the device ad-
dress has no significance.
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Hexadecimal switch B23

(switch position 1 to 9
for Operator Unit)
Hexadecimal switch B24

(switch position 0 to F),
always set to 0 for the
Operator Unit
Figure 44: Setting the device address
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3.4.4 Making the cable connections
3.4.4.1 General information about establishing on-board wiring
Caution!
When establishing cable connections ensure that the
cables are disconnected from the power supply.
It is essential to ensure that all cables are disconnected
from the power supply. If necessary, measure the voltage
beforehand and/or disconnect the relevant distributor.
In order to ensure that the compass operates correctly, it is essential that you follow the
procedures described below for establishing cable connections.
Cable type CAN bus and RS422 interface (manufacturer’s recommendation):

6x0.75mm2 , twisted with screening.
Cable type voltage supply Raytheon cable no. WN219--401--3.0 with connected plug or
3x0.75mm2, twisted.
-- Strip approx. 180 mm of the cable length.

Make sure you do not damage the screening.
-- Strip off the screening leaving a remaining section of screening measuring approx.
15mm (see Figure 45).
approx.
15 mm
approx. 180 mm
Figure 45: How to strip the connection cable

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STD 21 GPS
-- Connect the cables to the connector as shown in Figure 46 .

-- Plug the connector into the corresponding CAN connection.
Figure 46: Example of a CAN1 bus -- CAN2 bus connection

(the Operator Unit is not the end device)
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3.4.4.2 Connections to the plug connections
Connection to supply voltage

Cabel no.: WN219--401--3.0
Connector pin assignment:
White +9V to 36V d.c.
Brown 0V
Black Screen
Plug B2 Plug B1
Plug B7
CAN 2 CAN 1
Voltage supply
1 CAN low 1 CAN low 1 +9 to 36V d.c.
2 CAN high 2 CAN high 2 0V
3 GND 3 GND 3 Casing
Pin: 1 2 3 Pin: 1 2 3 Pin: 3 2 1
B1 B2
GND CAN1 CAN1 GND CAN2 CAN2

high low high low
CAN1 or CAN 2 connection to the plug,

Operator Unit CAN--Bus connection
with terminating resistor
Jumper B13 and Jumper B16 (see section 3.4.4.3)
Figure 47: Making the connections to the plugs for supply voltage and CAN-Bus
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3.4.4.3 Plugging in the jumpers
Jumper B15 B16 B14 B12 B13 B11
Figure 48: Plugging in the jumpers
Jumper Pin Default Function

3--2--1
Default Plug B1 -- CAN 1
B11
Plug B1 -- RS422
B12
Plug B1 -- RS422
CAN bus terminating re-
B13 sistor plugged in --
on end device only
B14
Plug B1 -- RS422
B15
Plug B1 -- RS422
CAN bus terminating
B16 resistor plugged in --
on end device only
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3.5 Adjustments after switching ON
After switching ON for the very first time:

-- Basic adjustments for the Processor Unit must be performed at the Operator Unit.
-- It will take approx. up to 20 minutes before heading information is displayed.
These adjustments must be performed completely if the Processor Unit has been re-
placed within a scope of repair.
These adjustments must be performed in parts if the Antenna Unit has been replaced
within a scope of repair.
-- The adjustment of the Antenna Unit mounting angles (see section 3.5.5) must be
performed after installation of the Antenna Unit.
-- The adjustment of the Antenna Unit mounting angles (see section 3.5.5) must be
performed after replacement of the Antenna Unit and/or after replacement of the
Processor Unit within a scope of repair.
-- The adjustment of the mounting position of the Processor Unit (see section 3.5.4)
must be performed after installation or after a replacement within a scope of repair.
-- Setting the dataformats for the output--ports of the Processor Unit
(see sections 3.5.2 and 3.5.3) must be performed after installation and/or after
replacement within a scope of repair.
These dataformats must be set only if there are heading receivers (for example, a
repeater compass) connected to this ports.
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To set antenna mounting values and to perform antenna mounting adjustments, operate
the soft key “GPS Config”. This soft key function is available in the following displays:
-- “GPS Pos.” (Basic Display)
-- “GPS Tape”
-- “GPS ROT”
-- “GPS Angles”
It is recommended to perform these settings and adjustments initially by operating the

soft key “GPS Config” in the display “GPS Pos.” (Basic Display)
(see Figure 49).
Select GPS Dim

up
068.7°
Menu
Contrast
HEADING
GPS Dim
Config. down
LAT: 054°21.164’ N
Hdg. WSG’ 84 Test
Figure 49: Display “GPS. Pos” (Basic Display)
Follow the following sequence to reach the display to perform settings and adjustments.
Basic Display → soft key “GPS Config.”

→ display “Satellite Status”
→ soft key “Sat. Pos.”
→ display “Satellite Sky Plot”
→ soft key “GPS Setup”
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STD 21 GPS
GPS GPS Setup Dim

Pos. up
Software Versions
Serial Port #3
Sat. Dim
Serial Port #4
Status down
PU Mounting
AU Alignment
Select Set
Figure 50: Display “GPS Setup” (Submenu “Software Versions” selected)
Soft Key Meaning refere to

section
GPS Select Basic Menu “GPS Pos.” see
Sat. Display “Satellite Status” -- return to the first see
Status menu after selection of “GPS Config.” section 2.3.6
Select Select submenus:
see
-- Software Versions section 3.5.1
see
-- Serial Port #3 * section 3.5.2
see
-- Serial Port #4 * section 3.5.3
see
-- PU Mounting * section 3.5.4
see
-- AU Alignment * section 3.5.5
(*press and hold ”Set” soft key for approx. 5--10

seconds to enter submenus with an asterisk)
section 2.2.1
section 2.2.1
Set Enter selected submenu ------------------------
(*press and hold soft key for approx. 5--10
seconds to enter submenus with an asterisk)
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3.5.1 Submenu “Software Version”
This submenu displays the software versions of the Processor Unit and the Operator
Unit.
SW Versions Dim
up
Processor Unit:
114--001.P01.E00.00
Dim
Operator Unit: down
130--613.P01.E10.00
Set
Exit
Figure 51: Submenu “SW Versions” (Example)
By operating the soft key “Set” the display “GPS Setup” is shown again (”Exit” is already
selected).
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3.5.2 Submenu “Serial Port #3”
After entering submenu “Serial Port #3”, the following display is shown:
(Note: from “GPS Setup”, press and hold “Set” for 5--10 seconds to enter this submenu)
Serial Port #3 Dim

Port Disabled √
up
Course Bus
NMEA 0183 Dim

Fast NMEA down
No header
Header GP
Header HE
Select Set
Exit
Figure 52: Submenu “Serial Port #3”
“Port Disabled” = No data output at port #3

“Course Bus” = Anschütz specific data format
“NMEA 0183” and “No header” = NMEA Data format, only “Heading true” data
output, update rate 1sec. (see section 4.4)
“NMEA 0183” and “Header GP” = NMEA Data format, “Heading true” data output
with a source information: generated by GPS,
update rate 1sec. (see section 4.4)
“NMEA 0183” and “Header HE” = NMEA Data format,“Heading true” data output
with a source information: generated (simulated)
by a Gyro Compass, update rate 1sec.
(see section 4.4)
“Fast NMEA” and “No header” = NMEA Data format, only “Heading true” data
output, update rate 20 msec.
“Fast NMEA” and “Header GP” = NMEA Data format, “Heading true” data output
update rate 20 msec.
“Fast NMEA” and “Header HE” = NMEA Data format,“Heading true” data output
by a Gyro Compass, update rate 20 msec.
See also section 4.4.2.
A selected item is designated with a “ √ ” in the rectangle.
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Procedure to leave “GPS Setup” with a changed configuration.
If a data format change has been made, operate the soft key “Set” and the display “GPS
Setup” is shown again with additional menu options to acknowledge the change or to
discard the setting.
GPS GPS Setup Dim

Pos. up
Software Versions
Serial Port #3
Serial Port #4
Sat. PU Mounting Dim
Status AU Alignment down
Discard changes
Store settings
Select and restart system Set
Figure 53: Display “GPS Setup” after changes have been made in one of the submenus
To store the change, select “Store settings and restart system” with the soft key “Select”
and operate “Set”. The STD 21 GPS will restart and, after the initialization and acquisi-
tion procedure, the display “GPS Pos.” (Basic Display) is shown (see Figure 8).
Procedure to leave “GPS Setup” without a changed configuration.
Select “Exit” without performing a change in the submenu “Serial Port #3”
(see Figure 52), the display “GPS Setup” (without additional menu option) is shown
(see Figure 50) .
or
Select “Discard changes” with the soft key “Select” and operate “Set”, then the
display “GPS Setup” is shown again (see Figure 50).
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3.5.3 Submenu “Serial Port #4”
After entering submenu “Serial Port #4”, the following display is shown:
Serial Port #4 Dim

Port Disabled √ up
Course Bus
NMEA 0183
Fast NMEA
Dim
No header down
Header GP
Header HE
Select Set
Exit
Figure 54: Submenu “Serial Port #4”
“Port Disabled” = No data output at port #4

“Course Bus” = Anschütz specific data format
“NMEA 0183” and “No header” = NMEA Data format, only “Heading true” data
output, update rate 1sec. (see section 4.4)
“NMEA 0183” and “Header GP” = NMEA Data format, “Heading true” data output
update rate 1sec. (see section 4.4)
“NMEA 0183” and “Header HE” = NMEA Data format,“Heading true” data output
by a Gyro Compass, update rate 1sec.
(see section 4.4)
“Fast NMEA” and “No header” = NMEA Data format, only “Heading true” data
output, update rate 20 msec.
“Fast NMEA” and “Header GP” = NMEA Data format, “Heading true” data output
update rate 20 msec.
“Fast NMEA” and “Header HE” = NMEA Data format,“Heading true” data output
by a Gyro Compass, update rate 20 msec.
See also section 4.4.2.
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If a data format change has been made, operate the soft key “Set” and the display “GPS
Setup” is shown again with additional menu options to acknowledge the change or to
discard the setting.
GPS GPS Setup Dim

Pos. up
Software Versions
Serial Port #3
Serial Port #4
Discard changes
Store settings
Select “Exit” without performing a change in the submenu “Serial Port #4”
(see Figure 54), then the display “GPS Setup” (without additional menu) is shown
(see Figure 50) .
or
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3.5.4 Submenu “PU Mounting”
After selecting submenu “PU Mounting”, the following display is shown:

PU Mounting Dim
up
Ceiling bow
Ceiling port
Ceiling aft
Ceiling starboard
Floor bow Dim
Floor port down
Floor aft
Floor starboard
Select Set
Exit
Figure 56: Submenu “PU Mounting”
It is absolutely necessary to set this position immediatedly after installation or changes

to the PU Mounting position. It defines the position of the accelerometers which are built
into the processor unit, see also section 3.3.
Ceiling bow = Processor Unit is installed on the ceiling and the cable
inlets show into direction bow.
Ceiling port = Processor Unit is installed on the ceiling and the cable
inlets show into direction port.
Ceiling aft = Processor Unit is installed on the ceiling and the cable
inlets show into direction aft.
Ceiling starboard = Processor Unit is installed on the ceiling and the cable
inlets show into direction starboard.
Floor bow = Processor Unit is installed on the floor and the cable inlets
show into direction bow.
Floor port = Processor Unit is installed on the floor and the cable inlets
show into direction port.
Floor aft = Processor Unit is installed on the floor and the cable inlets
show into direction aft.
Floor starboard = Processor Unit is installed on the floor and the cable inlets
show into direction starboard.
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From all possible settings, only one setting may be selected in the PU Mounting Menu.
If a PU Mounting position change has been made, operate the soft key “Set” and the dis-
play “GPS Setup” is shown again with additional menu options to acknowledge the
change or to discard the setting.
GPS GPS Setup Dim

Pos. up
Software Versions
Serial Port #3
Serial Port #4
Discard Changes
Store settings
Select “Exit” without performing a change in the submenu “PU Mounting”

(see Figure 56), the display “GPS Setup” (without additional menu) is shown
(see Figure 50) .
or
Select “Discard Changes” with the soft key “Select” and operate “Set”, then the
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3.5.5 Submenu “AU Alignment”
After selecting submenu “AU Alignment”, the following display is shown:

AU Alignment
Up
Pitch Correction:
04.9°
Hdg. Correction:
Down
02.1°
Select Set
Exit
Figure 58: Submenu “AU Alignment” (example)
It is absolutely necessary to set these corrections immediatedly after installation or

changes to the mounting position. It defines the position of the Antenna Unit, see also
section 3.2.2 .
Pitch Correction:
By adjusting this angle value, the horizontal difference between the Antenna Unit mount-
ing position and the ship‘s baseline (horizon) is corrected.
The mechanical mounting angle must not exceed ±6°.
Differences which are below this ±6° must be estimated (sign--corresponding) and en-
tered into the Processor Unit.
Please note: Values up to ±6° are highly recommended, possible settings are ±12°
Baseline Baseline
sign “plus” sign “minus”
Figure 59: Sign--corresponding input of mounting angle (pitch)
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The measured angles should be noted in case of a re-

placement of the Processor Unit.
Heading Correction:
By adjusting the vertical difference between the mounting position of the Antenna Unit
and the ship‘s centerline, the heading is corrected.
The mechanical mounting angle must not exceed ±6°.
Differences which are below ±6° must be measured (sign--corresponding) and entered
into the Processor Unit.
Referring sources of this difference can be:
-- Heading of the pier versus STD 21 GPS heading value.
-- Heading values from other heading sensors versus STD 21 GPS heading value
(Attention: Tolerances may be added).
max. +6° max. --6°
Antenna Unit
Mast
Centerline
Figure 60: Sign--corresponding input of mounting angle (heading)
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Examples to calculate the correction heading--value:
If there is a difference from the pier--heading value (refer-

ence) and heading value from the display of appr. 180°, then
the antenna--cable connections in the Processor Unit have to
be checked (they may be mixed up).
Nominal value (heading from Heading value at the display Correction

the pier or other heading ref- of Operator Unit value
erence)
358° 4° --6°
4° 358° 6°
17° 25° --8°
25° 17° 8°
The measured angle should be noted in case of a replace-

ment of the Processor Unit.
Indicated values can be changed after selection with soft key “Select” and will be stored
into the processor unit by soft key “Set”.
In general: Settings are possible in a range of ±12° but the installation should be made
within a tolerance of ±6° (manufacturers recommendation).
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If an AU Alignment value change has been made, operate the soft key “Set” and the dis-
play “GPS Setup” is shown again with additional menu options to acknowledge the
change or to discard the setting.
GPS GPS Setup Dim

Pos. up
Software Versions
Serial Port #3
Serial Port #4
Discard changes
Store settings
and operate “Set”. The STD 21 GPS will restarted and, after the initialization and ac-
quisition procedure, the display “GPS Pos.” (Basic Display) is shown (see Figure 8).
Procedure to leave “GPS Setup” without a changed value.
Select “Exit” without performing a change in the submenu “AU Alignment”

(see Figure 58), the display “GPS Setup” (without additional menu) is shown
(see Figure 50) .
or
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3.6 Troubleshooting
3.6.1 Alarm Handling
GPS
------.--°
Acquisition
2
Alarm Set
Sync. Failure Quit
Figure 62: Displaying an alarm

(Example: A sync. failure during the mode “ Acquisition”)
An alarm is indicated in three ways:

-- the two-colour LED (Figure 62/1) flashes red
-- the buzzer emits an audible signal
-- the reason for the alarm is displayed in alphanumeric characters
In the event of an error, no heading information will be displayed (------.--°).
If the alarm is acknowledged by pressing the soft key “Alarm Quit” (Figure 62/2) but the
cause of the error is not remedied, the LED stays red and the audible signal stops.
The LED will turn off if the cause of the alarm has been remedied.
If the error is still present but not displayed (the LED is red), it is possible to display the
error text by operating the soft key “Alarm Quit” again.
has to be checked. In case of a implausible heading value,
the GPS Compass must be switched OFF and ON again.
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The following alarm messages or errors may be indicated at the Operator Unit:
(to view details and remedies for each alarm message, see section 3.7)
A. “Accel. Error”
B. “Bow GPS Bit”
C. “Bow GPS Com.”
D. “Data I/F #3 Error”
E. “Data I/F #4 Error”
F. “Gyro Triad Error”
G. “Heading Failure”
H. Heading receiver indicates erroneous heading
I. “IMU I/F Error”
J. “Init. Failure”
K. “No connection”
L. “No Data on Bus”
M. “Poor Sat. Signals”
N. “Stern GPS Bit”
O. “Stern GPS Com.”
P. “Sync. Failure”
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3.7 Fault/Alarm table
must be checked. In the case of an implausible heading value,
the GPS Compass must be switched OFF and ON again.
Please note: The remedy for an error/fault depends on the transition from one system status to the next.
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# Error (Message) Meaning/Cause Previous PU Actual PU Remedies

Operating Mode Operating Mode
A. “Accel. Error” Acceleration sensors “Power--on Self “Fault” 1. Acknowledge alarm. The Operator Unit LED will
supply bad data. Test” or remain red.
“Acquisition” or 2. Since this may be a latent error it is highly
“Compassing” recommended to stop using the system and
replace the Processor Unit.
B1. “Bow GPS BIT” Bow GPS receiver “Acquisition” or “Initialisation” 1. Acknowledge alarm. The Operator Unit LED will
reports an error. “Compassing” remain red.
2. Wait for successful initialisation.
B2. “Bow GPS BIT” Bow GPS receiver “Power--on Self “Fault” 1. Acknowledge alarm. The Operator Unit LED will
reports an error. Test” remain red.
2. Check connectors and verify all cable core
connections of the following plug connections:
-- Connection PCB A1 (Processor Unit,
Terminal Board A1, see Section 3.3.2, Figure 37)
-- PPS Converter PCB B1 (Antenna Unit,
Terminal Board B1, see Section 3.2.3, Figure 33)
-- PPS Converter PCB B3. (Antenna Unit,
3. Restart the system
(power off, wait 15 seconds, then power on).
4. If this remedy is repeatedly unsuccessful, replace
the Antenna Unit.
76 3717/110--850.DOC02000
Satellite Compass
Standard 21 GPS
Standard 21 GPS

C1. “Bow GPS Com.” Communication to “Acquisition” or “Initialisation” 1. Acknowledge alarm. The Operator Unit LED will
bow GPS receiver is “Compassing” remain red.
interrupted. 2. Wait for successful initialisation.
C2. “Bow GPS Com.” Communication to “Power--on Self “Fault” 1. Acknowledge alarm. The Operator Unit LED will
bow GPS receiver is Test” remain red.
interrupted. 2. If Connection PCB LED RX2 is flashing green,
then the Processor Unit is not running properly.
(LED RX2, see Figure 63)
3. If Connection PCB LED RX2 is either green or off,
check connectors and verify all cable core
Terminal Board A1, see Section 3.3.2 Figure 37)
Terminal Board B1, see Seciton 3.2.3, Figure 33)
the Processor Unit (2.) or the Antenna Unit (3.).
77 3717/110--850.DOC02000
Satellite Compass
Standard 21 GPS
Standard 21 GPS

D. “Data I/F #3 Com” Interface to Port #3 “Initialisation” “Acquisition” 1. Acknowledge alarm. The Operator Unit LED will
cannot be established. remain red.
[Note: Does not af- 2. Check Serial Port #3 connector at Connection
fect principle system PCB A2 (Processor Unit, Terminal A2,
operation, system see Appendix A--2 #27).
will continue normal 3. Restart the system
operations] (power off, wait 15 seconds, then power on).
4. If this remedy is repeatedly unsuccessful:
-- Change connection to Port #4, if available, and
set corresponding settings in Operator Unit
(see Section 3.5.3).
-- Replace the Processor Unit.
Note: Does not affect normal system operations.
E. “Data I/F #4 Com” Interface to Port #4 “Initialisation” “Acquisition” 1. .Acknowledge alarm. The Operator Unit LED will
cannot be established. remain red.
[Note: Does not af- 2. Check Serial Port #4 connector at Connection
fect principle system PCB A3 (Processor Unit, Terminal A3,
operation, system see Appendix A--2 #25).
will continue normal 3. Restart the system
operations] (power off, wait 15 seconds, then power on).
4. If this remedy is repeatedly unsuccessful:
-- Change connection to Port #3, if available, and
set corresponding settings in Operator Unit
(see Section 3.5.2).
-- Replace the Processor Unit.
Note: Does not affect normal system operations.
78 3717/110--850.DOC02000
Satellite Compass
Standard 21 GPS
Standard 21 GPS

F. “Gyro Triad Error” Angular rate sensors “Power--on Self “Fault” 1. Acknowledge alarm. The Operator Unit LED will
supply bad data. Test” or remain red.
“Acquisition” or 2. Since this may be latent a latent error it is highly
“Compassing” recommended to stop using the system and
replace the Processor Unit.
G. “Heading Failure” Heading accuracy has “Compassing” “Acquisition” 1. Acknowledge alarm. The Operator Unit LED will
dropped to level below remain red.
tolerance. 2. Check displays “Satellite Status” (see Section 2.3.6)
and “Satellite Sky Plot” (see Section 2.3.7) for
sufficient satellites.
3. Verify the Antenna Unit‘s unobstructed view to
the open sky.
4. Wait for successful heading angle acquisition.
H. Heading receiver Heading receiver “Compassing” “Compassing” 1. Check power supply of the concerned heading
indicates erroneous does not receive receiver.
heading (correct) heading 2. Check proper Serial Port #3/#4 setting in GPS
telegrams. Setup menu (see Sections 3.5.2 and 3.5.3).
3. Check connector and verify all cable core
connections of Connection PCB plug connection
A2/A3 (Processor Unit, Terminal A2 and A3,
see Appendix A--2 #25 and #27).
Note: If Connection PCB LED TXT3/TXT4
(see Figure 63) is off, then the concerning Serial
Port #3/#4 is disabled or not working properly.
the Processor Unit.
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Satellite Compass
Standard 21 GPS
Standard 21 GPS

I1. “IMU I/F Error” Interface to angular “Acquisition” or “Initialisation” 1. Acknowledge alarm. The Operator Unit LED will
rate and/or accele-- “Compassing” remain red.
ration sensors do not 2. Wait for successful initialisation.
work properly.
I2. “IMU I/F Error” Interface to angular “Power on Self “Fault” 1. Acknowledge alarm. The Operator Unit LED will
rate and/or accele-- Test” remain red.
ration sensors do not 2. Check connectors and cable connections to the
work properly. angular rate sensors (see Appendix A--2 #30).
the Processor Unit.
J. “Init. Failure” Host controller “Initialisation” “Fault” 1. Acknowledge alarm. The Operator Unit LED will
cannot access its remain red.
memory. 2. Restart the system
3. If this remedy is repeatedly unsuccessful replace,
the Processor Unit.
80 3717/110--850.DOC02000
Satellite Compass
Standard 21 GPS
Standard 21 GPS

K. “No Connection” Operator Unit does N/A N/A 1. Acknowledge alarm. The Operator Unit LED will
not detect any other remain red.
CAN bus participants. 2. Check power supply of Processor Unit.
3. Check all connectors and verify all cable core
connections of:
-- Connection PCB
(all connectors, see Appendix A--2)
-- Operator Unit plug connections B1 and B2
(see Figure 47).
4. Check Connection PCB terminators X302 and
X303 (see Appexdix A--2 # 18 and #22).
the Processor Unit.
L. “No Data on Bus” Operator Unit has de- N/A N/A 1. Acknowledge alarm. The Operator Unit LED will
tected other CAN bus remain red.
participants but has 2. Restart the system
not detected message (power off, wait 15 seconds, then power on).
traffic. 3. If this remedy is repeatedly unsuccessful, replace
the Processor Unit.
M. “Poor Sat. Signals” System can not find a “Acquisition” “Initialisation” 1. Acknowledge alarm.
heading angle to due 2. Check displays “Satellite Status” (see Section 2.3.6)
poor satellite signals. and “Satellite Sky Plot” (see Section 2.3.7) for
sufficient satellites.
3. Verify the Antenna Unit‘s unobstructed view to
the open sky.
4. Wait for successful heading angle acquisition.
81 3717/110--850.DOC02000
Satellite Compass
Standard 21 GPS
Standard 21 GPS

N1. “Stern GPS BIT” Stern GPS receiver re- “Acquisition” or “Initialisation” 1. Acknowledge alarm. The Operator Unit LED will
ports an error. Compassing” remain red.
2. Wait for successful initialisation.
“Stern GPS BIT” Stern GPS receiver “Power--on Self “Fault” 1. Acknowledge alarm. The Operator Unit LED will
N2. reports an error. Test” remain red.
the Antenna Unit.
82 3717/110--850.DOC02000
Satellite Compass
Standard 21 GPS
Standard 21 GPS

O1. “Stern GPS Com.” Communication to “Acquisition” or “Initialisation” 1. Acknowledge alarm. The Operator Unit LED will
stern GPS receiver is Compassing” remain red.
interrupted. 2. Wait for successful initialisation.
O2. “Stern GPS Com.” Communication to “Power--on Self “Fault” 1. Acknowledge alarm. TheOperator Unit LED will
stern GPS receiver is Test” remain red.
interrupted. 2. If Connection PCB LED RX1 (see Figure 63) is
flashing green, then the Processor Unit is not
running properly.
3. If Connection PCB LED RX1 is either green or off,
then check connectors and verify all cable core
Terminal Board A1, see Section 3.3.2 Figure 37)
the Processor Unit (2.) or the Antenna Unit (3.).
83 3717/110--850.DOC02000
Satellite Compass
Standard 21 GPS
Standard 21 GPS

P. “Sync. Failure” System‘s sensors can “Acquisition” “Fault” 1. Acknowledge alarm. The Operator Unit LED will
not be synchronized. remain red.
2. Check that Connection PCB LED 1 PPS
(see Figure 63) is off or steadily on (not flashing).
the Antenna Unit.
84 3717/110--850.DOC02000
Satellite Compass
Standard 21 GPS
Standard 21 GPS
LED 1PPS LED RX2 LED RX1 LED TX3/TX4
Figure 63: 1PPS, Transmit and Receive LEDs on the Processor Unit Connection PCB
85 3717/110--850.DOC02000
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Standard 21 GPS
Standard 21 GPS
86 3717/110--850.DOC02000
Satellite Compass
STD 21 GPS
STD 21 GPS
4 Service
4.1 Care and Maintenance
The Antenna Unit, Processor Unit and Operator Unit are maintenance free.
When cleaning the surface, do not use any organic solvent such as
thinner or benzine.
For surface cleaning, remove the dust and debris and wipe with a
clean dry cloth.
Edition: Feb. 05, 2007 87 3717/110--850.DOC020002

Satellite Compass
STD 21 GPS
4.2 Troubleshooting and Repair (for Service only)
(see also Fault/Alarm table section 3.7).

Following table could be helpful for a fault diagnostics.
This table has to be read together with figure A--2 in the appendix.
Information in the table below should only be

used by trained service personnel.
Pos.
Designation Sense
No
1 Plug “C1” Connection of Power supply for
Processor Unit
2 LED “POU” Lights green for Operator Unit
supply (24VDC).
3 LED “PAU” Lights green for Antenna Unit
supply (24VDC).
4 Jumper “X700” Terminator for Interface RS422 at
plug A2.
Should be inserted in general.
plug A1.
6 LED “PPS” Blinks red with an interval of
1 second.
If blinking there is an usable sat-
ellite--information available.
LED could be dark for
appr. 20 minutes after switching
on.
7 LED 5 VDC Lights green, if 5VDC are avail-
able.
Used for supplying the gyro
group and the accelerometer.
8 LED 3.3 VDC Lights green, if 3.3VDC are avail-
able.
Used to supply piggy back proc-
essor.
9 Jumper “X204” Development purpose only.
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Satellite Compass
STD 21 GPS
STD 21 GPS
10 DIP Switch “CONFIG” Switch to adjust system configu-

ration and service/development
modes.
11 Plug “JTAG” Development purpose only.
12 Plug Development purpose only.
13 LED for μP--control Lights green (constant) ⇒ system

is o.k.
Blinks if the system is still in
BIOS--mode (not booted system),
for development purpose only.
14 LED for μP--control Development purpose only.
17 LED 5 VDC Lights green if the supply voltage

5 VDC is available.
(Interface supply a.o.).
18 Jumper “X303” Terminator for CAN Bus 2
Has to be inserted if the Proces-
sor Unit is connected at one end
of the CAN bus 2,
see also section 3.3.4.1
19 LED “PCAN” Lights green, if the supply voltage
for the CAN bus is available.
20 Plug B2 Connection for CAN 2 bus.

plug A3.
22 Jumper “X302” Terminator for CAN bus 1.
Has to be inserted if the proces-
sor unit is connected at one end
of the CAN 1 bus,
see also section 3.3.4.1
23 Plug B1 Connection for CAN 1 bus.
24 Plug D1 Connection for relay contacts

(normally open).
Status information
-- relay 1 = heading fail
-- relay 2 = system fail
Edition: Feb. 05, 2007 89 3717/110--850.DOC020002

Satellite Compass
STD 21 GPS
25 Plug A3 Connection for a RS422 interface

plug A2.
27 Plug A2
Connection for a RS422 interface
28 Three LED‘s (LED group) Interface information for all four
RS422 interfaces:
Upper LED (green)
-- RX--data:
Is blinking with the rhythm of
received data.
Is dark if there is no data to
receive.
Intermediate LED(yellow) is:

-- Constant yellow if the program
has been started and the
interface driver is o.k.
-- Is dark if the interface is
disturbed.
Lower LED (red)

-- TX--data:
Is blinking with the rhythm of
transmitted data.
Is dark if there is no data to
transmit.
29 Plug “A1” Connection of Antenna Unit
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Satellite Compass
STD 21 GPS
STD 21 GPS
4.3 Replacement of defective parts
The Antenna Unit has to be replaced completely.
After replacement of the Antenna Unit, the angles

“Antenna Unit versus ship‘s centerline” and “Antenna
Unit versus ship‘s baseline” must be adjusted.
The Processor Unit has to be replaced completely.
After replacement of the Processor Unit the angles

“Antenna Unit versus ship‘s centerline” and “Antenna Unit
versus ship‘s baseline” must be adjusted. The noted val-
ues have to be entered into the Processor Unit
Replacement information for the Operator Unit, see manual no. 3648
Edition: Feb. 05, 2007 91 3717/110--850.DOC020002

Satellite Compass
STD 21 GPS
4.4 NMEA 0183 Formats
• NMEA 0183 Format DTM

DTM ⇒ Datum Reference
$-- --DTM,ccc,a,x.x,a,x.x,a,x.x,ccc*hh<CR><LF>
Reference datum code WGS84 = W84
WGS72 = W72
Altitude offset, meters
SGS85 = S85
Lon offset, minutes, E/W PE90 = P90
Lat offset, minutes, N/S
Local datum subdivision code
Local Datum code WGS84 = W84

WGS72 = W72
SGS85 = S85
PE90 = P90
User defined = 999
IHO datum code
Update rate 1 Hz
• NMEA 0183 Format HDT

HDT ⇒ Heading, True
$-- --HDT,x.x,T*hh<CR><LF>
reading, degrees True
Update rate 1 Hz and Update rate 50 Hz
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Satellite Compass
STD 21 GPS
STD 21 GPS
• NMEA 0183 Format GGA

GGA ⇒ Global Positioning System Fix Data
$-- --GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx**hh<CR><LF>
Differential reference
station ID, 0000--1023
Age of Differential GPS data
Geoidal separation, meters
Altitude re: mean--sea--level (geoid), meters

Horizontal dilution of precision
Number of satellites in use, 00--12,
may be different from the number in view
GPS Quality indicator
Longitude -- E/W
Latitude -- N/S
UTC of position
Update rate 1 Hz
• NMEA 0183 Format GSA

GSA ⇒ GNSS DOP and Active Satellites
$-- --GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,x.x,x.x,x.x*hh<CR><LF>
VDOP
HDOP
PDOP
ID numbers of satellites used in solution
Mode : 1 = Fix not available, 2 = 2D, 3 = 3D
Mode: M = Manual, forced to operate in 2D or 3D mode

A = Automatic, allowed to automatically switch 2D/3D
Update rate 1 Hz
Edition: Feb. 05, 2007 93 3717/110--850.DOC020002

Satellite Compass
STD 21 GPS
• NMEA 0183 Format ROT

ROT ⇒ Rate Of Turn
$-- --ROT,x.x,A*hh<CR><LF>
Status A = Data valid
V = Data invalid
Rate of turn, degrees/minute, “--” = bow turns to port
Update rate 1 Hz and Update rate 50 Hz
• NMEA 0183 Format VTG

VTG ⇒ Course Over Ground and Ground Speed
$-- --VTG,x.x,T,x.x,M,x.x,N,x.x,K,a*hh<CR><LF>
Mode Indicator
Speed over ground, km/hr
Speed over ground, knots
Course over ground, degree Magnetic
Course over ground, degrees True
Update rate 1 Hz
• NMEA 0183 Format ZDA

ZDA ⇒ Time & Date
$-- --ZDA,hhmmss.ss,xx,xx,xxxx,xx,xx,*hh<CR><LF>
Local zone minutes, 00 to +59
Local zone hours, 00 to +/-- 13 hrs
Year
Month, 01 to 12 UTC
Day, 01 to 31
UTC
Update rate 1 Hz
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Satellite Compass
STD 21 GPS
STD 21 GPS
• NMEA 0183 Format PANZHRP

HRP ⇒ Heading, Roll, Pitch
PANZ = Private identifier propriety Anschüzt
$-- --HRP,x,x.x,x.x,x.x,x.x,x.x,x.x,a,a*hh<CR><LF>
Checksum
Selection (optional)(set to A)
A= sencence selected in the system
V = redundant sentence
Status
A = valid
V = invalid
S = simulation
M = manual
D = degraded
not used(2)
not used(2)
not used(2)
Pitch angle +/-- 90° , positive for bow up(1)
Roll angle +/-- 90° , positive for starboard down(1)
Heading angle 0...(360LBS)°, positive clockwise, true north 0=0(1)
Source (set to 1)
1 = single MINS or MINS 1 in dual systems
2 = MINS2 (in dual systems only)
Sentence identifier
HRP = Heading, Roll, Pitch
(1) The number of digits behind the decimal point can be variable
but the standard resolution for angles is 0.001 degrees.
(2) The number of digits behind the decimal point can be variable
but the standard resolution for rates is 0.01 degrees,
Hint: The data field Roll--, Pitch-- and Heading angles my be empty if rates are not available.
Hint: Only in mode “Fast NMEA”.
Edition: Feb. 05, 2007 95 3717/110--850.DOC020002

Satellite Compass
STD 21 GPS
• NMEA 0183 Format THS

HRP ⇒ True Heading and Status
$-- --THS,x.x,a*hh<CR><LF>
Checksum
Mode indicator (see note)
Heading, degrees true
Sentence identifier
THS = True Heanding and Status
NOTE Mode indicator: This field should not be null.

A = Autonomous
E = Estimated (dead reckoning)
M = Manual input
S = Simulator mode
V = Data not Valid (including standby)
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Satellite Compass
STD 21 GPS
STD 21 GPS
4.4.1 Standard NMEA set with transmitting rate
----HDT or ----THS (DIP--switches 4 and 6 into ON position)

-- 50Hz for FAST NMEA settings
-- 1 Hz for NMEA
GPROT -- 50Hz for FAST NMEA settings
-- 1 Hz for NMEA or FAST NMEA with DIP--switch 3 into ON position
Messages/NMEA telegrams for information only:

in 1 Hz transmitting rate for all configurations
IIGGA
IIVTG
IIZDA
IIGSA
IIDTM
Edition: Feb. 23, 2009 97 3717/110--850.DOC020002

Satellite Compass
STD 21 GPS
4.4.2 NMEA messages -- conlusions/dependencies
For configuration of “Serial Port #3” and “Serial Port #4” (see sections 3.5.2 and 3.5.3).
Depending on position of the DIP--switches 4, 5 and 6 (see section 3.3.6) different

NMEA telegrams can be adjusted for Port#3 and Port#4.
DIP--switches 4 OFF DIP--switches 4 and 6 ON

or or
DIP--switch 4 and 5 ON DIP--switch 4, 5 and 6 ON
----HDT (IIHDT) ----THS (IITHS) no header means
Integrated Instrumentaion
GPHDT GPTHS
HEHDT HETHS
______________________________________________________________________
If DIP--switches 4 and 5 are in “ON” position
then
following NMEA telegrams are inactive:

GPROT = Rate of Turn from a Satellite compass
IIGGA = Global positioning system fixed data, time, position and fix related data for
Satellite receiver
IIDTM = Calender datae beeing used
IIGSA = GPS DOP and active satellites
IIZDA = Time & Date -- UTC, day, month, year and local time zone
IIVTG = Track made good and ground speed
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Satellite Compass
STD 21 GPS
STD 21 GPS
Switch ON Menu Structure

Selftest
Initialisation
Acquisition
Basic Display
GPS Pos. GPS Hdg. GPS Tape GPS ROT GPS Angles
GPS Hdg. GPS Pos. GPS Pos. GPS Pos. GPS Pos.
GPS Config. GPS Tape GPS ROT GPS Angle GPS Config.
Menu GPS Config GPS Config.
Panel Setup
Volume 1
Volume 2
Volume 3
Volume 4
Satellite Satellite
Software Version
Status Sky Plot GPS Setup
Sat. Pos. GPS Setup
Service
CAN Devices GPS Pos. GPS Pos. with change without change
Software Version
Serial Port #3
Serial Port #4
PU Mounting
AU Alignment
GPS Pos. Sat. Status

A -- 1 3717/110--850.DOC020002
Satellite Compass
STD 21 GPS
STD 21 GPS
10 11 12 13 14 15 16
1 Terminal board “C1” Connection Power Supply Processor Unit
2 LED “POU” Power Operator Unit
3 LED “PAU” Power Antenna Unit
4 Jumper “X700” Terminator RS422 for Plug A1 Com Port #2
5 Jumper “X600” Terminator RS422 for Com Port #1
6 LED “PPS” Pulse Per Second (blinks once per sec.)
7 LED 5VDC analogue voltage
8 LED 3.3VDC power supply 30
9 Jumper “X204” Development only (Do not use !!!) 17
10 Dip switch “CONFIG”
11 Plug “JTAG” Development only (Do not use !!!)
12 Plug Development only 18
13 μP Control
14 μP Control 7 19
Development only !!!
15 μP Control 9 20
16 μP Control
17 LED 5VDC digital voltage 8 21
18 Jumper “X303” Terminator CAN 2
6 22
19 LED “PCAN” Power CAN bus
20 Plug “B2” CAN 2 5
21 Jumper “X900” Terminator RS422 for Plug A3 Com Port #4 4 23
22 Jumper “X302” Terminator CAN 1
23 Plug “B1” CAN 1 3
24 Terminal board “D1” status signals 24
25 Terminal board “A3” RS422 interface 2
26 Jumper “X800” Terminator RS422 for Plug A2 Com Port #3
27 Terminal board “A2” RS422 interface 1
28 3 LED group for each respective RS422 interface
LED green: Receive data, blinks in the sequence of received data
LED yellow: Interface active, constant yellow
LED red: Transmit data
blinks 1 Hz sequence -- NMEA
29 28 27 26 25
blinks 50 Hz sequence (visually constant red)
-- fast NMEA or Course Bus
29 Terminal board “A1” Connection Antenna Unit
30 Connections to the Angular Rate Sensors
Jumpers, plugs, LED‘s and switches

A -- 2 3717/110--850.DOC020002
23.04.08
23.04.08
23.04.08
23.04.08
Satellite Compass Standard 21 Ersatzteilkatalog
Type 110--850 SPARE PART S
CATALOGUE
ANSCHÜTZ
3
2
optional:
4
5
Pos. Lager--Nr. Benennung Designation Zeichnungs--Nr. Stck. Herst.--Code Versorgungs--Nr.

Stock--No. Part--No. Qty. MFRC NSN
1 4003063 Antenna Unit STD.21 Antenna Unit STD.21 114--002.NG001 E01 1 D2865
2 4003082 Processor Unit Processor Unit 114--001.NG001 E02 1 D2865
4002278 Operator Unit, Operator Unit, 130--613.NG010 E01 1 D2865

neu brandnew
3
4002603 Operator Unit, Operator Unit, 130--613.NG010 E01 D2865
AT reconditioned AT
4 4003174 AC/DC Converter AC/DC Converter 121--062.NG001 E01 D2865
5 4002522 Additional Output Box Additional Output Box 146--103.NG001 E01 D2865
All depicted items w hich are not mentioned in the tex t are not applicable for this uni t. Since further dev elopment may necessitate making modifications to ex isting
equipment, its conformity with the relev ant illustrations and draw ings is not alw ays ensured. Raytheon Anschütz w ill be under no liability whatever that may arise
from any such differences.
14.687 RAN/ST--SU 0807 EDITION 01 1 of 1


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Satellite Compass STD 21 GPS: Type 110 - 850

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Raytheon Anschütz GmbH

3717/110--850.DOC020002 Edition: May 29, 2009

For the application “GPS Compass in combination with Gyro

Edition: Feb. 05, 2007 I 3717/110--850.DOC020002

3717/110--850.DOC020002 II Edition: January 28, 2005

3.3 Installation of Processor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Edition: Feb. 05, 2007 III 3717/110--850.DOC020002

Menu Structure Figure A--1

Processor Unit Dimensional Drawing 114--001.HP005

3717/110--850.DOC020002 IV Edition: Aug. 20, 2880

Edition: Feb. 05, 2007 V 3717/110--850.DOC020002

Intentionally left blank

3717/110--850.DOC020002 VI Edition: Feb. 05, 2007

Antenna Unit Type 114--002 with

Figure 1: STD 21 GPS --System overview--

Edition: Feb. 05, 2007 1 3717/110--850.DOC020002

24VDC 2 x Status Contacts

STD 21 GPS Satellite Compass

Edition: Feb. 05, 2007

1.2 General principle of CAN bus

The CAN bus is a multi-master bus allow-

3 x step jumpers on the respective printed circuit

1 x rate of turn There are 2 redundant bus systems

= terminating resistor The maximum length of a CAN bus

Figure 2: General principle of CAN bus technology

Edition: Feb. 05, 2007 3 3717/110--850.DOC020002

1.3 Principle of Operation

Installation of the STD 21

3717/110--850.DOC020002 4 Edition: Feb. 05, 2007

1.4 Scope of delivery

For a complete system the following parts are delivered:

STD 21 GPS Manual No: 3717

1.4.1 Available options

-- Additional Output Box (for step output, 6 steps/degree)

Edition: Feb. 05, 2007 5 3717/110--850.DOC020002

1.5 Technical Data

1.5.1 Mechanical Data

1.5.2 System Data

Accuracy: 0.5° (RMS)

1.5.3 Display modes

For information only:

3717/110--850.DOC020002 6 Edition: Feb. 23, 2009

2.1 Safety Notes

Do not disassemble or modify the equipment. Failure to observe the

Operate the equipment only at a supply voltage from 12 -- 36 VDC.

Do not scratch, damage, or modify the power supply and antenna

Equipment under such conditions can cause a fire or electric shock.

Edition: Feb. 05, 2007 7 3717/110--850.DOC020002

2.1.1 Setting into operation

Select GPS Dim

Figure 3: Example of a display after it has been set into operation

3717/110--850.DOC020002 8 Edition: Feb. 05, 2007

2.1.2 Menu Structure

Appendix (A -- 1) shows the menu structure within the Operating Unit of a

Edition: Feb. 05, 2007 9 3717/110--850.DOC020002

2.2 General adjustments and tests

Figure 4: Controls and Indicators on the Operator Unit

Figure 5: Adjusting the contrast

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