TRIMBLE R2

GNSS Receiver

USER GUIDE

Version 5.22
Revision G
March 2020
Corporate Office Limited Warranty Terms and Conditions

Trimble Inc. Product Limited Warranty

935 Stewart Drive Subject to the terms and conditions set forth herein, Trimble
Sunnyvale, California 94085 Inc. (“Trimble”) warrants that for a period of 1 year from date
USA of purchase this Trimble product (the “Product”) will
substantially conform to Trimble's publicly available
Geospatial Division specifications for the Product and that the hardware and any
Trimble Inc. storage media components of the Product will be
10368 Westmoor Drive substantially free from defects in materials and workmanship.

Westminster, CO 80021 Product Software

USA Product software, whether built into hardware circuitry as
www.trimble.com firmware, provided as a standalone computer software
Email: trimble_support@trimble.com product, embedded in flash memory, or stored on magnetic
or other media, is licensed solely for use with or as an integral
Legal Notices part of the Product and is not sold. The terms of the end user
© 2020, Trimble Inc. All rights reserved. license agreement, as included below, govern the use of the
Trimble, the Globe & Triangle logo, BlueCap, CenterPoint, Product Software, including any differing limited warranty
GPS Total Station, RangePoint, Recon, and TSC2 are terms, exclusions and limitations, which shall control over the
trademarks of Trimble Inc., registered in the United States terms and conditions set forth in the limited Product
and in other countries. Access, CMR+, Digital warranty.
Fieldbook,FieldPoint, Maxwell, Trimble Geomatics Office,
Warranty Remedies
Trimble Survey Controller, TRIMMARK, TRIMTALK, TSCe, and
If the Trimble Product fails during the warranty period for
ViewPoint are trademarks of Trimble Inc.. The Bluetooth
reasons covered by this limited warranty and you notify
word mark and logos are owned by the Bluetooth SIG, Inc.
Trimble of such failure during the warranty period, Trimble will
and any use of such marks by Trimble Inc. is under license.
repair OR replace the nonconforming Product with new,
Microsoft, Windows, and Windows NT are either registered
equivalent to new, or reconditioned parts or Product, OR
trademarks or trademarks of Microsoft Corporation in the
refund the Product purchase price paid by you, at Trimble’s
United States and/or other countries. All other trademarks
option, upon your return of the Product in accordance with
are the property of their respective owners.
Trimble's product return procedures then in effect.
Apple, iPad, and iPhone are trademarks of Apple Inc.,
registered in the U.S. and other countries. How to Obtain Warranty Service
Use of the Made for Apple badge To obtain warranty service for the Product, please contact
means that an accessory has been your Trimble dealer. Alternatively, you may contact Trimble to
designed to connect specifically to the request warranty service at +1-408-481-6940 (24 hours a
Apple product(s) identified in the badge and has been day) or email your request to trimble_support@trimble.com.
certified by the developer to meet Apple performance Please be prepared to provide:
standards. Apple is not responsible for the operation of this –your name, address, and telephone numbers;
device or its compliance with safety and regulatory
–proof of purchase;
standards.
–a copy of this Trimble warranty
Google, Google Play and other marks
–a description of the nonconforming Product including the
are trademarks of Google LLC.
model number; and
Release Notice –an explanation of the problem.
This is the March 2020 release (Revision G) of the Trimble R2 The customer service representative may need additional
receiver documentation. information from you depending on the nature of the
problem.

Warranty Exclusions and Disclaimer

This Product limited warranty shall only apply in the event and
to the extent that (i) the Product is properly and correctly
installed, configured, interfaced, maintained, stored, and

Trimble R2 GNSS Receiver User Guide | 2

operated in accordance with Trimble's applicable operator's BY APPLICABLE LAW, IN NO EVENT SHALL TRIMBLE OR ITS
manual and specifications, and; (ii) the Product is not modified SUPPLIERS BE LIABLE FOR ANY INDIRECT, SPECIAL,
or misused. This Product limited warranty shall not apply to, INCIDENTAL, OR CONSEQUENTIAL DAMAGE WHATSOEVER
and Trimble shall not be responsible for, defects or UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING
performance problems resulting from (i) the combination or IN ANYWAY TO THE PRODUCTS, SOFTWARE AND
utilization of the Product with hardware or software products, ACCOMPANYING DOCUMENTATION AND MATERIALS,
information, data, systems, interfaces, or devices not made, (INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS
supplied, or specified by Trimble; (ii) the operation of the OF BUSINESS PROFITS, BUSINESS INTERRUPTION, LOSS OF
Product under any specification other than, or in addition to, DATA, OR ANY OTHER PECUNIARY LOSS), REGARDLESS OF
Trimble's standard specifications for its products; (iii) the WHETHER TRIMBLE HAS BEEN ADVISED OF THE
unauthorized installation, modification, or use of the Product; POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE
(iv) damage caused by: accident, lightning or other electrical COURSE OF DEALING WHICH DEVELOPS OR HAS
discharge, fresh or salt water immersion or spray (outside of DEVELOPED BETWEEN YOU AND TRIMBLE. BECAUSE SOME
Product specifications); or exposure to environmental STATES AND JURISDICTIONS DO NOT ALLOW THE
conditions for which the Product is not intended; (v) normal EXCLUSION OR LIMITATION OF LIABILITY FOR
wear and tear on consumable parts (e.g., batteries); or (vi) CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE
cosmetic damage. Trimble does not warrant or guarantee LIMITATION MAY NOT APPLY TO YOU.
the results obtained through the use of the Product or PLEASE NOTE: THE ABOVE TRIMBLE LIMITED WARRANTY
Software, or that software components will operate error PROVISIONS WILL NOT APPLY TO PRODUCTS PURCHASED
free. IN THOSE JURISDICTIONS (E.G., MEMBER STATES OF THE
NOTICE REGARDING PRODUCTS EQUIPPED WITH EUROPEAN ECONOMIC AREA) IN WHICH PRODUCT
TECHNOLOGY CAPABLE OF TRACKING SATELLITE SIGNALS WARRANTIES ARE THE RESPONSIBILITY OF THE LOCAL
FROM SATELLITE BASED AUGMENTATION SYSTEMS (SBAS) DEALER FROM WHOM THE PRODUCTS ARE ACQUIRED. IN
(WAAS, EGNOS, AND MSAS), OMNISTAR, GPS, MODERNIZED SUCH A CASE, PLEASE CONTACT YOUR TRIMBLE DEALER
GPS OR GLONASS SATELLITES, OR FROM IALA BEACON FOR APPLICABLE WARRANTY INFORMATION.
SOURCES: TRIMBLE IS NOT RESPONSIBLE FOR THE Notices
OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE
Class B Statement – Notice to Users. This equipment has
BASED POSITIONING SYSTEM OR THE AVAILABILITY OF ANY
been tested and found to comply with the limits for a Class B
SATELLITE BASED POSITIONING SIGNALS.
digital device, pursuant to Part 15 of the FCC rules and Part
THE FOREGOING LIMITED WARRANTY TERMS STATE
90. These limits are designed to provide reasonable
TRIMBLE’S ENTIRE LIABILITY, AND YOUR EXCLUSIVE
protection against harmful interference in a residential
REMEDIES, RELATING TO THE TRIMBLE PRODUCT. EXCEPT
installation. This equipment generates, uses, and can radiate
AS OTHERWISE EXPRESSLY PROVIDED HEREIN, THE
radio frequency energy and, if not installed and used in
PRODUCT, AND ACCOMPANYING DOCUMENTATION AND
accordance with the instructions, may cause harmful
MATERIALS ARE PROVIDED “AS-IS” AND WITHOUT EXPRESS
interference to radio communication. However, there is no
OR IMPLIED WARRANTY OF ANY KIND, BY EITHER TRIMBLE
guarantee that interference will not occur in a particular
OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION,
installation. If this equipment does cause harmful
PRODUCTION, INSTALLATION, OR DISTRIBUTION,
interference to radio or television reception, which can be
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
determined by turning the equipment off and on, the user is
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
encouraged to try to correct the interference by one or more
PARTICULAR PURPOSE, TITLE, AND NONINFRINGEMENT.
of the following measures:
THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL
– Reorient or relocate the receiving antenna.
OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE
– Increase the separation between the equipment and the
ARISING OUT OF, OR IN CONNECTION WITH, ANY
receiver.
PRODUCT. BECAUSE SOME STATES AND JURISDICTIONS
– Connect the equipment into an outlet on a circuit different
DO NOT ALLOW LIMITATIONS ON DURATION OR THE
from that to which the receiver is connected.
EXCLUSION OF AN IMPLIED WARRANTY, THE ABOVE
– Consult the dealer or an experienced radio/TV technician
LIMITATION MAY NOT APPLY TO YOU.
for help.
Limitation of Liability Changes and modifications not expressly approved by the
TRIMBLE'S ENTIRE LIABILITY UNDER ANY PROVISION manufacturer or registrant of this equipment can void your
HEREIN SHALL BE LIMITED TO THE AMOUNT PAID BY YOU authority to operate this equipment under Federal
FOR THE PRODUCT. TO THE MAXIMUM EXTENT PERMITTED Communications Commission rules.

Trimble R2 GNSS Receiver User Guide | 3

Canada Brazil

This digital apparatus does not exceed the Class B limits for GSM/GPRS technologies will not be commercialized in Brazil
radio noise emissions from digital apparatus as set out in the and the model R2 operates as RX only for 450 MHz
radio interference regulations of the Canadian Department technology.
of Communications. This Category II radiocommunication
Este produto está homologado pela ANATEL, de
device complies with Industry Canada Standard RSS-310.
acordo com os procedimentos regulamentados pela
Le présent appareil numérique n’émet pas de bruits
Resolução 242/2000, e atende aos requisitos técnicos
radioélectriques dépassant les limites applicables aux
aplicados.
appareils numériques de Classe B prescrites dans le
règlement sur le brouillage radioélectrique édicté par le Este equipamento opera em caráter secundário, isto é,
Ministère des Communications du Canada. Ce dispositif de não tem direito a proteção contra interferências
radiocommunication de catégorie II respecte la norme CNR- prejudicial, mesmo de estações do mesmo tipo, e não
310 d’Industrie Canada. pode causar interferência a sistemas operando em
caráter primário.
Europe
Para maiores informações, consulte o site da ANATEL
This product has been tested and
www.anatel.gov.br.
found to comply with the essential
requirements for a Class B device Modelo CBSMA-110A
pursuant to European Council Directive 1999/5/EC on R&TTE
on EMC, thereby satisfying the requirements for CE Marking
and sale within the European Economic Area (EEA). These
requirements are designed to provide reasonable protection
against harmful interference when the equipment is
operated in a residential or commercial environment. The
450 MHz band is not harmonised across the European
Community.

Australia and New Zealand 0757-13-6140

This product conforms with the regulatory
requirements of the Australian
Communications and Media Authority
(ACMA) EMC framework, thus satisfying the
requirements for RCM marking and sale within Australia and
New Zealand.

Taiwan – Battery Recycling Requirements Waste Electrical and Electronic Equipment (WEEE)
The product contains a removable Lithium-ion battery. For product recycling instructions and more
Taiwanese regulations require that waste batteries are information, please go to
recycled. www.trimble.com/Corporate/Environmental_
廢電池請回收 Compliance.aspx.
Recycling in Europe: To recycle Trimble WEEE
(Waste Electrical and Electronic Equipment, products that run
on electrical power.), Call +31 497 53 24 30, and ask for the
“WEEE Associate”. Or, mail a request for recycling instructions
to:
Trimble Europe B.V. & Trimble International B.V.
Industrieweg 187a
5683 CC Best
The Netherlands

Trimble R2 GNSS Receiver User Guide | 4

 ΣΥΜΜΟΡΦΩΝΕΤΑΙ ΠΡΟΣ ΤΙΣ
FCC Declaration of Conformity
ΟΥΣΙΩΔΕΙΣ ΑΠΑΙΤΗΣΕΙΣ ΚΑΙ ΤΙΣ
We, Trimble Inc. ΛΟΙΠΕΣ ΣΧΕΤΙΚΕΣ ΔΙΑΤΑΞΕΙΣ ΤΗΣ
935 Stewart Drive ΟΔΗΓΙΑΣ 1999/5/ΕΚ.
PO Box 3642 Hungarian Alulírott, Trimble Inc. nyilatkozom,
Sunnyvale, CA 94088-3642 hogy a (R2 GNSS vevő) megfelel a
United States vonatkozó alapvetõ
+1-408-481-8000 követelményeknek és az 1999/5/EC
Declare under sole responsibility that DoC products comply irányelv egyéb elõírásainak.
with Part 15 of FCC Rules. Finnish Trimble Inc. vakuuttaa täten että (R2
Operation is subject to the following two conditions: GNSS-vastaanotin) tyyppinen laite
(1) This device may not cause harmful interference, and on direktiivin 1999/5/EY oleellisten
(2) This device must accept any interference received, vaatimusten ja sitä koskevien
including interference that may cause undesired operation direktiivin muiden ehtojen mukainen.

RTTE Compliance statements French Par la présente Trimble Inc. déclare

que l'appareil (R2 récepteur GNSS)
Czech Trimble Inc. tímto prohlašuje, že est conforme aux exigences
tento (R2 GNSS přijímač) je ve shodě essentielles et aux autres
se základními požadavky a dalšími dispositions pertinentes de la
příslušnými ustanoveními směrnice directive 1999/5/CE.
1999/5/ES.
Icelandic Hér með lýsir Trimble Inc. yfir því að
Danish Undertegnede Trimble Inc. erklærer (R2 GNSS móttakari) er í samræmi
herved, at følgende udstyr (R2 GNSS við grunnkröfur og aðrar kröfur, sem
modtager) overholder de væsentlige gerðar eru í tilskipun 1999/5/EC.
krav og øvrige relevante krav i
Italian Con la presente Trimble Inc. dichiara
direktiv 1999/5/EF.
che questo (Ricevitore R2 GNSS) è
Dutch Hierbij verklaart Trimble Inc. dat het conforme ai requisiti essenziali ed
toestel (R2 GNSS ontvanger) in alle altre disposizioni pertinenti
overeenstemming is met de stabilite dalla direttiva 1999/5/CE.
essentiële eisen en de andere
Latvian Ar šo Trimble Inc. deklarē, ka (R2
relevante bepalingen van richtlijn
GNSS uztvērējs) atbilst Direktīvas
1999/5/EG.
1999/5/EK būtiskajām prasībām un
English Hereby, Trimble Inc., declares that citiem ar to saistītajiem
this equipment (R2 GNSS receiver) is noteikumiem.
in compliance with the essential
Lithuanian Šiuo Trimble Inc. deklaruoja, kad šis
requirements and other relevant
(R2 GNSS imtuvas) atitinka esminius
provisions of Directive 1999/5/EC.
reikalavimus ir kitas 1999/5/EB
Estonian Käesolevaga kinnitab Trimble Inc. Direktyvos nuostatas.
seadme (R2 GNSS vastuvõtja)
Maltese Hawnhekk, Trimble Inc., jiddikjara li
vastavust direktiivi 1999/5/EÜ
dan (R2 GNSS riċevitur) jikkonforma
põhinõuetele ja nimetatud direktiivist
mal-ħtiġijiet essenzjali u ma
tulenevatele teistele asjakohastele
provvedimenti oħrajn relevanti li
sätetele.
hemm fid-Dirrettiva 1999/5/EC.
German Hiermit erklärt Trimble Inc., dass sich
Norwegian Trimble Inc. erklærer herved at
das Gerät (R2-GNSS-Empfänger) in
utstyret (R2 GNSS-mottaker) i
Übereinstimmung mit den
samsvar med de grunnleggende
grundlegenden Anforderungen und
krav og øvrige relevante krav i
den übrigen einschlägigen
direktiv 1999/5/EF.
Bestimmungen der Richtlinie
Polish Niniejszym Trimble Inc. oświadcza, że
1999/5/EG befindet.
(Odbiornik R2 GNSS jest zgodny z
Greek ΜΕ ΤΗΝ ΠΑΡΟΥΣΑ Trimble Inc.
zasadniczymi wymogami oraz
ΔΗΛΩΝΕΙ ΟΤΙ (R2 GNSS δέκτη)

Trimble R2 GNSS Receiver User Guide | 5

 pozostałymi stosownymi
postanowieniami Dyrektywy
1999/5/EC.
Portuguese Trimble Inc. declara que este
(Receptor GNSS R2) está conforme
com os requisitos essenciais e outras
disposições da Directiva 1999/5/CE.
Slovak Trimble Inc. týmto vyhlasuje, že
(Prijímač R2 GNSS) spĺňa základné
požiadavky a všetky príslušné
ustanovenia Smernice 1999/5/ES.
Slovenian Trimble Inc. izjavlja, da je ta
(Sprejemnik R2 GNSS) skladu z
bistvenimi zahtevami in ostalimi
relevantnimi določili direktive
1999/5/ES.
Spanish Por medio de la presente Trimble Inc.
declara que el (R2 GNSS receptor)
cumple con los requisitos esenciales
y cualesquiera otras disposiciones
aplicables o exigibles de la Directiva
1999/5/CE.
Swedish Härmed intygar Trimble Inc. att
denna (R2 GNSS-mottagare) står I
överensstämmelse med de
väsentliga egenskapskrav och övriga
relevanta bestämmelser som
framgår av direktiv 1999/5/EG.

The Trimble R2 GNSS receiver integrates the Murata

Bluetooth/Wi-Fi radio module, Model: LBEE1DARRC-519 , FCC
ID: JUP-95807WFBT, IC: 1756A-95807WFBT.

Trimble R2 GNSS Receiver User Guide | 6

Safety Information
Before you use your Trimble product, make sure that you have read and understood all
safety requirements.

WARNING – This alert warns of a potential hazard which, if not avoided, could result
in severe injury or even death.

CAUTION – This alert warns of a potential hazard or unsafe practice that could
result in minor injury or property damage or irretrievable data loss.

NOTE – An absence of specific alerts does not mean that there are no safety risks involved.

Regulations and safety

The receivers contain integral Bluetooth® wireless technology, and may also send radio
signals through the antenna of an internal radio-modem, or through an externally-
connected data communications radio. Regulations regarding the use of the 450 MHz
radio-modems vary greatly from country to country. In some countries, the unit can be
used without obtaining an end-user license. Other countries require end-user licensing.
For licensing information, consult your local Trimble distribution partner. Bluetooth
operates in license-free bands.

Use and Care

This product is designed to withstand the rough treatment and tough environment that
typically occurs in construction applications. However, the receiver is a high-precision
electronic instrument and should be treated with reasonable care.

CAUTION – Operating or storing the receiver outside the specified temperature

range can damage it.

Type approval
Type approval, or acceptance, covers technical parameters of the equipment related to
emissions that can cause interference. Type approval is granted to the manufacturer of
the transmission equipment, independent from the operation or licensing of the units.
Some countries have unique technical requirements for operation in particular radio-

Trimble R2 GNSS Receiver User Guide | 7

 Safety Information

modem frequency bands. To comply with those requirements, Trimble may have modified
your equipment to be granted type approval.
Unauthorized modification of the units voids the type approval, the warranty, and the
operational license of the equipment.

Operation near other radio equipment

When operating the receiver in member states of the European Union and in other
counties which adhere to the EU R&TTE requirements, while in the vicinity of aeronautical
radionavigation equipment operating between 2700 and 2900 MHz, or Fixed, Fixed Satellite
(space to Earth), or Mobile systems operating at 4170 MHz, a minimum separation of 5
meters must be maintained between the receiver and such radio equipment.

Exposure to radio frequency radiation

For 450 MHz radio
Safety. Exposure to RF energy is an important safety consideration. The FCC has adopted a
safety standard for human exposure to radio frequency electromagnetic energy emitted
by FCC regulated equipment as a result of its actions in General Docket 79-144 on March
13, 1986.
Proper use of this radio modem results in exposure below government limits. The
following precautions are recommended:
l DO NOT operate the transmitter when someone is within 20 cm (7.8 inches) of the
antenna.
l DO NOT co-locate (place within 25 cm (9.8 inches)) the radio antenna with any other
transmitting antenna.
l DO NOT operate the transmitter unless all RF connectors are secure and any open
connectors are properly terminated.
l DO NOT operate the equipment near electrical blasting caps or in an explosive
atmosphere.
l All equipment must be properly grounded according to Trimble installation
instructions for safe operation.
l All equipment should be serviced only by a qualified technician.
l The radio is using GMSK digital modulation.

Trimble R2 GNSS Receiver User Guide | 8

 Safety Information

For GSM radio

For your own safety, and in terms of the RF Exposure requirements of the FCC, always
observe the precautions listed here.
l Always maintain a minimum separation distance of 20 cm (7.8 inches) between yourself
and the radiating antenna on the receiver radio modem.
l Do not collocate (place within 20 cm) the radio antenna with any other transmitting
antenna
NOTE – The optional GSM radio cannot legally be operated in Brazil.

For Bluetooth radio

The radiated output power of the internal Bluetooth wireless radio and the Wi-Fi radio
included in some Trimble receivers is far below the FCC radio frequency exposure limits.
Nevertheless, the wireless radio(s) shall be used in such a manner that the Trimble receiver
is 20 cm or further from the human body. The internal wireless radio(s) operate within
guidelines found in radio frequency safety standards and recommendations, which reflect
the consensus of the scientific community. Trimble therefore believes that the internal
wireless radio(s) are safe for use by consumers. The level of energy emitted is far less than
the electromagnetic energy emitted by wireless devices such as mobile phones. However,
the use of wireless radios may be restricted in some situations or environments, such as
on aircraft. If you are unsure of restrictions, you are encouraged to ask for authorization
before turning on the wireless radio.

Installing antennas
CAUTION – For your own safety, and in terms of the RF exposure requirements of
the FCC, always observe these precautions:
l Always maintain a minimum separation distance of 20 cm (7.8 inches) between
yourself and the radiating antenna.
l Do not co-locate the antenna with any other transmitting device.

This device has been designed to operate with the antennas listed below, and having a
maximum gain of 6.35 dBi. Antennas not included in this list or having a gain greater than
6.35 dBi are strictly prohibited for use with this device. The required antenna impedance is
50 ohms.
To reduce potential radio interference to other users, the antenna type and its gain should
be so chosen that the equivalent isotropically radiated power (e.i.r.p.) is not more than that
permitted for successful communication.

Trimble R2 GNSS Receiver User Guide | 9

 Safety Information

Approved external antennas: Trimble P/N 44085-60.

Trimble receiver internal radios have been designed to operate with the antennas listed
below. Antennas not included in this list, or that have a gain greater than 5 dBi are strictly
prohibited for use with this device. The required antenna impedance is 50 ohms.
Trimble-approved antennas that can be used (country dependent) are:
l 450 MHz radio – 0 dBi and 5 dBi whip antennas
To reduce potential radio interference to other users, the antenna type and its gain should
be an approved Trimble antenna, so that the equivalent isotropically radiated power
(e.i.r.p.) is not more than that permitted for successful communication.

Lithium-ion Battery safety

WARNING – Charge and use the rechargeable Lithium-ion battery only in strict
accordance with the instructions. Charging or using the battery in unauthorized
equipment can cause an explosion or fire, and can result in personal injury and/or
equipment damage. To prevent injury or damage:
l Do not charge or use the battery if it appears to be damaged or leaking.
l Charge the Lithium-ion batteries only in a Trimble battery charger, such as the dual
battery charger P/N 61116-00 (black) or P/N 53018010 (grey), or the five-battery
system charger P/N (yellow/grey) or another charger specified for this battery. Be
sure to follow all instructions that are provided with the battery charger.
l Discontinue charging a battery that gives off extreme heat or a burning odor.
l Use the battery only in Trimble equipment that is specified to use it.
l Use the battery only for its intended use and according to the instructions in the
product documentation.

Trimble R2 GNSS Receiver User Guide | 10

 Safety Information

WARNING – Do not damage the rechargeable Lithium-ion battery. A damaged

battery can cause an explosion or fire, and can result in personal injury and/or
property damage.
To prevent injury or damage:
l Do not use or charge the battery if it appears to be damaged. Signs of damage
include, but are not limited to, discoloration, warping, and leaking battery fluid.
l Do not expose the battery to fire, high temperature, or direct sunlight.
l Do not immerse the battery in water.
l Do not use or store the battery inside a vehicle during hot weather.
l Do not drop or puncture the battery.
l Do not open the battery or short-circuit its contacts.

WARNING – Avoid contact with the rechargeable Lithium-ion battery if it appears to

be leaking. Battery fluid is corrosive, and contact with it can result in personal injury
and/or property damage.
To prevent injury or damage:
l If the battery leaks, avoid contact with the battery fluid.
l If battery fluid gets into your eyes, immediately rinse your eyes with clean water and
seek medical attention. Do not rub your eyes!
l If battery fluid gets onto your skin or clothing, immediately use clean water to wash
off the battery fluid.

Trimble R2 GNSS Receiver User Guide | 11

Contents
Safety Information 7
Regulations and safety 7
Use and Care 7
Type approval 7
Operation near other radio equipment 8
Exposure to radio frequency radiation 8
For 450 MHz radio 8
For GSM radio 9
For Bluetooth radio 9
Installing antennas 9
Lithium-ion Battery safety 10

1 Introduction 15
Introduction 16
R2 GNSS receiver features 16
Related information 17
Technical support 17

2 Setting up the Receiver 18

Parts of the R2 receiver 19
Setup guidelines 20
Optional radio 21
Charging the receiver's battery 21
Battery charger 24
Storing the Lithium-ion battery 28
Disposing of the rechargeable Lithium-ion battery 28
Setting up the receiver on a range pole 28
Setting up the receiver on a backpack 29

3 Configuring and using the receiver 30

Button functions 31
LED behavior 31
Configuring the receiver using Wi-Fi and the Web Interface 33
Connecting via Wi-Fi 33
Configuring the receiver using Trimble software and Bluetooth wireless technology 34
Configuring a PC USB port as a virtual serial port 35
Windows 8 operating system 36

Trimble R2 GNSS Receiver User Guide | 12

 Lithium-ion Battery safety

Windows 7 Professional operating system 36

Windows 7 operating system 36
Configuring the receiver using the GNSS Status utility 37
Using Location Services 38
Using the receiver with GIS software on Windows Embedded Handheld and Windows devices 38
Using Trimble software 38
Using other software with NMEA 39
Logging data 40

4 Default Settings 42
Default receiver settings 43
Resetting the receiver to factory defaults 43

5 NMEA Output Messages 44

NMEA-0183 messages: Overview 45
NMEA-0183 messages: Common message elements 47
NMEA Message values 47
List of supported NMEA messages 48
NMEA-0183 message: DP (Dynamic Positioning) 48
NMEA-0183 message: DTM 49
NMEA-0183 message: GBS 50
NMEA-0183 message: GGA 51
NMEA-0183 message: GNS 53
NMEA-0183 message: GSA 56
NMEA-0183 message: GST 57
NMEA-0183 message: GSV 58
NMEA-0183 message: HDT 59
NMEA-0183 message: LLQ 59
NMEA-0183 message: PTNL,AVR 60
NMEA-0183 message: PTNL,BPQ 61
NMEA-0183 message: PTNL,GGK 62
NMEA-0183 message: PTNL,PJK 64
NMEA-0183 message: PTNL,VGK 66
NMEA-0183 message: PTNL,VHD 67
NMEA-0183 message: RMC 68
NMEA-0183 message: ROT 69
NMEA-0183 message: VTG 70
NMEA-0183 message: ZDA 70

Trimble R2 GNSS Receiver User Guide | 13

 Lithium-ion Battery safety

6 RTCM Output 72
RTCM Output: Generated messages 72

7 Troubleshooting 73
Troubleshooting LED conditions 73
Troubleshooting receiver issues 74

Trimble R2 GNSS Receiver User Guide | 14

 1
Introduction
n Introduction
n R2 GNSS receiver features
n Related information
n Technical support
This manual describes how to set up and use a Trimble® R2 GNSS receiver.
Even if you have used other Global Navigation Satellite System (GNSS) products before,
Trimble recommends that you spend some time reading this manual to learn about the
special features of your receiver.
If you are not familiar with GNSS, visit our website for an interactive look at Trimble and
GNSS at www.trimble.com.

Trimble R2 GNSS Receiver User Guide | 15

 1 Introduction

Introduction
The Trimble R2 GNSS smart antenna incorporates a GNSS antenna, receiver, Bluetooth®
wireless technology, Wi-Fi, an optional internal 450 MHz radio with a receive option which
can be used as a rover, and a battery in a rugged light-weight unit. The LED enables you to
monitor radio reception and power. Bluetooth wireless technology provides cable-free
communications between the receiver and the controller.

The R2 GNSS receiver does not have a front panel to

change settings. To configure the receiver, see
Configuring and using the receiver, page 30.

R2 GNSS receiver features

The R2 GNSS smart antenna has the following features:
l 8 mm +1 ppm RMS (0.026 ft +1 ppm RMS) horizontal
and vertical precision when using RTK or RTX
corrections
l Supported by version 2015.20 and later of the Trimble Access field software
l CenterPoint® RTX, RangePoint® RTX, ViewPoint™ RTX, and FieldPoint™ RTX ready;
subscription required
l Small, lightweight design – 1.08 kg (2.38 lb) receiver only
l USB power cable included
l Fully functional out-of-the-box, with dual-frequency GNSS tracking (GPS, GLONASS,
BeiDou, and Galileo)
l 220-channel GNSS tracking (all available constellations)
l Replaceable, rechargeable, smart Lithium-ion battery provides more than four hours
GPS rover operation per charge
l Bluetooth wireless technology for cable-free, no-hassle operation with Trimble field
software
l Power button with LED indicator for power and corrections
l 5 Hz update rate
l Operates within a VRS network or IBSS for conventional base station-free rover
capability
l Integrated Bluetooth and Wi-Fi

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 1 Introduction

l Four SBAS channels

l RoHS compliant

Related information
Sources of related information include the following:
l Release notes – The release notes describe new features of the product, information
not included in the manuals, and any changes to the manuals. They can be
downloaded from the Trimble website at www.trimble.com/Support/Support_AZ.aspx.
l Trimble training courses – Consider a training course to help you use your GNSS
system to its fullest potential. For more information, go to the Trimble website at
www.trimble.com/Support/Index_Training.aspx.

Technical support
If you have a problem and cannot find the information you need in the product
documentation, contact your local dealer. Alternatively, go to the Support area of the
Trimble website (www.trimble.com/Support.shtml). Select the product you need
information on. Product updates, documentation, and any support issues are available for
download.

Trimble R2 GNSS Receiver User Guide | 17

 2
Setting up the Receiver
n Parts of the R2 receiver
n Setup guidelines
n Setting up the receiver on a range pole
n Setting up the receiver on a backpack

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 2 Setting up the Receiver

Parts of the R2 receiver

The front panel contains the Power button, which also
shows the Status LED.
The Power button controls the receiver’s power on or
off functions. See Button functions, page 31.
The Status LED show the status of the power and radio
reception. See LED behavior, page 31.
The lower housing contains:

❶ TNC radio antenna connector. Use the TNC connection for the antenna for the
optional 450 MHZ UHF radio.

❷ removable battery compartment.

❸ micro USB port.

❹ ⅝-11 threaded insert.

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 2 Setting up the Receiver

Setup guidelines
Consider the following guidelines when setting up the receiver:
l When operating the receiver in member states of the European Union and in other
counties which adhere to the EU R&TTE requirements, while in the vicinity of
aeronautical radionavigation equipment operating between 2700 and 2900 MHz, or
Fixed, Fixed Satellite (space to Earth) or Mobile systems operating at 4170 MHz, a
minimum separation of 5 meters must be maintained between the receiver and such
radio equipment.
l Place the GNSS antenna in a location that has a clear line of sight to the sky in all
directions. Do not place the antenna near vertical obstructions such as buildings, deep
cuttings, site vehicles, towers, or tree canopy. GNSS rovers and the base station receive
the same satellite signals from the same satellites. The system needs five common
satellites to provide RTK positioning.
l GNSS satellites are constantly moving. Because you cannot measure at a specific
location now does not mean that you will not be able to measure there later, when
satellite coverage at the location improves. Use GNSS planning software daily to
identify the daily best and worst satellite coverage times for your location and then
choose measurement times that coincide with optimal GNSS performance. This is
especially important when operating in the worst GNSS locations. You can download
the Trimble Planning software from the Trimble website. From this webpage
(www.trimble.com/gnssplanningonline/) you can also use Trimble GNSS Planning
Online. To use online GNSS planning, you may need to first install the Microsoft
Silverlight® add-on for your Internet browser.
l To get a fixed position solution with centimeter precision, initialize the RTK rover
receiver. For initialization to take place, the receiver must track at least five satellites that
the base station is also tracking. In a dual-satellite constellation operation, for example,
GPS and GLONASS, the receiver must track at least six satellites.
l To continue to survey at centimeter precisions, the rover must continuously track at
least four satellites that the base station is also tracking. The radio link between the
base and rover receivers must also be maintained.
l Loss of the satellite signals will result in a loss of centimeter position precision.
l Although the receiver has a waterproof housing, take reasonable care to protect the
unit. Avoid exposure to extreme environmental conditions when operating the
receiver, including:

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 2 Setting up the Receiver

l Water
l Heat greater than 55 °C (131 °F)
l Cold less than –20 °C (–4 °F)
l Corrosive fluids and gases
l Avoid the following sources of electrical and magnetic noise:
l Gasoline engines (spark plugs)
l Televisions and PC monitors
l Alternators and generators
l Electric motors
l Equipment with DC-to-AC converters
l Fluorescent lights
l Switching power supplies

CAUTION – The Trimble R2 GNSS receiver is not suited to on-vehicle operation

where it will be subject to heavy vibration, that is, operation in rough ungraded terrain.
Use in these conditions can damage the receiver.

CAUTION – To satisfy the RF Exposure requirements of the FCC, you must maintain
a minimum separation distance of 20 cm (approximately 8 in.) between yourself and the
radiating UHF antenna for this device. For mobile operation, the maximum gain of the
UHF antenna must not exceed 5 dBi.

WARNING – These receivers use a rechargeable Lithium-ion battery. To avoid

personal injury or equipment damage, ensure that you read and understand the
Safety Information at the front of this manual.

Optional radio
Radios are the most common data link for Real-Time Kinematic (RTK) surveying. The
receiver is available with an optional internal receive radio in the 450 MHz UHF band.
To configure the optional internal radio, use the appropriate Trimble software. For more
information, refer to the documentation for your Trimble software.

Charging the receiver's battery

The receiver can be powered by its internal battery or by an external power source
connected to the micro USB connector on the receiver.

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 2 Setting up the Receiver

To insert the internal battery:

1. Place the battery in the battery compartment, ensuring that the contact points are in
the correct position to align with the contacts in the receiver:

2. Slide the battery and compartment as a unit into the receiver until the battery
compartment latches are locked into position.

The rechargeable Lithium-ion battery is supplied partially charged. Charge the battery
completely for 12 hours before using the device for the first time. If the battery has been
stored for longer than three months, charge it before use.
Charge the Lithium-ion battery only in a Trimble batter charger, such as the dual-battery
charger (P/N 53018010 - gray), or the five-battery system charger (P/N 49499-00 -
yellow/gray). If there is more than one battery charging, the batteries charge sequentially
and take approximately four hours each to fully charge.

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 2 Setting up the Receiver

WARNING – Charge and use the rechargeable Lithium-ion battery only in strict
accordance with the instructions. Charging or using the battery in unauthorized
equipment can cause an explosion or fire, and can result in personal injury and/or
equipment damage.
To prevent injury or damage:
– Do not charge or use the battery if it appears to be damaged or leaking.
– Charge the Lithium-ion battery only in a Trimble product that is specified to charge it.
Be sure to follow all instructions that are provided with the battery charger.
– Discontinue charging a battery that gives off extreme heat or a burning odor.
– Use the battery only in Trimble equipment that is specified to use it.
– Use the battery only for its intended use and according to the instructions in the
product documentation.

WARNING – Do not damage the rechargeable Lithium-ion battery. A damaged

battery can cause an explosion or fire, and can result in personal injury and/or
property damage.
To prevent injury or damage:
l Do not use or charge the battery if it appears to be damaged. Signs of damage
include, but are not limited to, discoloration, warping, and leaking battery fluid.
l Do not expose the battery to fire, high temperature, or direct sunlight.
l Do not immerse the battery in water.
l Do not use or store the battery inside a vehicle during hot weather.
l Do not drop or puncture the battery.
l Do not open the battery or short-circuit its contacts.

WARNING – Avoid contact with the rechargeable Lithium-ion battery if it appears to

be leaking. Battery fluid is corrosive, and contact with it can result in personal injury
and/or property damage.
To prevent injury or damage:
l If the battery leaks, avoid contact with the battery fluid.
l If battery fluid gets into your eyes, immediately rinse your eyes with clean water and
seek medical attention. Do not rub your eyes!
l If battery fluid gets onto your skin or clothing, immediately use clean water to wash
off the battery fluid.

To protect the battery from deep discharge (5 V or less), the receiver is designed to switch
batteries or cease drawing power when the battery pack discharges to 5.9 V.

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 2 Setting up the Receiver

A battery that has reached the deep discharge level cannot be recharged and must be
replaced. The following recommendations provide optimal performance and extend the
life of your batteries:
l Fully charge all new batteries before use.
l Do not allow the batteries to discharge below 5 V.
l Keep all batteries on continuous charge when not in use. Batteries may be kept on
charge indefinitely without damage to the receiver or batteries.
l Do not store batteries in the receiver or external charger unless power is applied.
l If you must store the batteries, fully charge them before storing and then recharge
them at least every three months.

Battery charger
The charger can charge three types of Lithium-ion batteries. It can be powered by AC
power or vehicle battery.

The Dual-Slot Charger Kit consists of:

l Charger dual-battery slot
l Power supply for charger
l Cable Kit-AC for power supply
l Charger battery slot insert

Chargeable batteries
The charger can charge the following types of batteries:

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 2 Setting up the Receiver

l Lithium-ion Rechargeable Battery, 2.6 Ah, 7.4 V, P/N 92600 (remove battery slot inserts
to charge this type of battery. This battery is used for the Trimble R2 receiver.)
l Lithium-ion Rechargeable Battery (Smart Battery), 3.7 Ah, 7.4 V, (P/N 76767, P/N 89840-
00)
l Lithium-ion Rechargeable Battery, 4,4 Ah, 11.1.V, P/N 49400 (remove battery slot inserts
to charge this type of battery)

Charger slots
The charger has two slots. Each slot can charge either type of battery. When charging the
R2 battery, you must remove the inserts from the battery slot before inserting the battery.
Batteries are charged sequentially. Beside each slot are two LED indicators (red and green)
to indicate the battery status.

Power supply
The charger can be powered by AC power (using the power supply for the charger) or by
car voltage using a 12 V vehicle adapter for dual battery charger (P/N 89844-00, not
included with the receiver kit).
AC power supply is an external adapter, usable worldwide. Different cords with
appropriate plugs for different countries are supplied with theadapter.

Vehicle power
The charger can be powered by vehicle voltage of nominal 12 V. It can withstand voltages
of a vehicle voltage of nominal 24 V (maximum 32 V). So if you connect the vehicle cable by
mistake to a 24 V socket in a vehicle the charger does not start charging but latches in fault
condition and flashes all green LEDs. The power must be removed to reset the fault
condition.

Technical data

Power Supply Receiver Connection

AC Input Voltage 100 to 240 V AC +/-10%

AC Frequency 50 to 60 Hz

DC Output Voltage 19 V

DC Output current charger Approx. 3.5 A

DC Power Input Voltage operation 10 V to 21 V

Unit switches off if voltage is out of range

DC Power Input Voltage limits 8 V to 32 V

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 2 Setting up the Receiver

Power Supply Receiver Connection

Absolute maximum input voltage 32 V

Over voltage 21 V to 32 V

Working voltage 10 V to 21 V

Under voltage charging <10 V

Sum of charge time for all batteries 5 to 6 hours

Charger in first hour >60 %

Charging the battery

CAUTION – Ensure that nothing obstructs the vents in the back and bottom of the
charger.

The battery is supplied partially charged. Charge the battery completely before using it for
the first time.
l To charge the battery, use only a charger that Trimble recommends for charging the
Lithium-ion battery.
l If the equipment has been stored for longer than three months, charge the battery
before using the receiver.
The charger operates between 0 °C (32 °F) and 40 °C (104 °F). Charging a battery at
temperatures in the range of 0 °C (32 °F) to 5 °C (41 °F) will take longer than charging at
room temperature.
To charge the battery:
1. Ensure that the vents in the back and bottom of the charger are unobstructed.
2. Place the charger on a hard, flat and level surface, to ensure that there is airflow under
the charger.
3. To apply power to the charger, use the AC to DC converter or 12 V vehicle adapter. The
charger scans the slots for a battery.
4. Place the battery in any of the slots. The red light turns off (can take up to 5s). For an
explanation of the LED, see Battery charger LED status indicator below.
5. Charging takes approximately 3 hours per battery at room temperature. If several
batteries are charging in the battery charger, the batteries will be charged sequentially,
from left to right.
Leave a deeply discharged or shorted battery overnight in the charger to attempt to revive
the battery. A shorted battery is typically revived as soon as the slot is scanned. If the red

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 2 Setting up the Receiver

LED turns off, the battery is revived. If the red LED stays on, the battery is no longer
functional and needs to be replaced.

Battery charger LED status indicator

Beside each slot are two LED indicators (Red and Green) to display the battery status:

Status Red Green

No battery detected (no battery present or On Off

battery defect)

Battery detected (charging not started yet)

- Conditioning not required Off Off
- Conditioning required Blinking Off

Charging in progress
- Conditioning not required Off Off
- Conditioning required Blinking Blinking
- Over/under temperature (charge is One flash every 2.5 Blinking
inhibited) seconds

Conditioning in progress On Blinking

Conditioning done (battery fully charged) On On

Battery fully charged

- Conditioning not required Off On
- Conditioning required Blinking On

Power supply over/under voltage Off One flash every 2.5

seconds

Troubleshooting

Issue Solution

Battery is not detected (Red The battery is not properly inserted. Reinsert battery into
LED does not turn off) battery charger slot.

Battery contacts Clean the battery (for example, by inserting and removing

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 2 Setting up the Receiver

Issue Solution

contaminated the battery several times) or replace the battery.

Deeply discharged Leave the battery overnight in the charger to attempt to

revive the battery.

Battery defective Replace the battery.

Storing the Lithium-ion battery

Do not store batteries in the receiver or in the external charger unless power is applied.
Keep all batteries on continuous charge when not in use. You can keep batteries on
charge indefinitely without damage to the batteries.

Disposing of the rechargeable Lithium-ion battery

Discharge the Lithium-ion battery before disposing of it. When disposing of the battery,
ensure that you do so in an environmentally sensitive manner. Adhere to any local and
national regulations concerning battery disposal or recycling.

Setting up the receiver on a range pole

To mount the receiver on a range pole:
1. Thread the receiver onto the range pole.

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 2 Setting up the Receiver

2. Attach the controller bracket to the pole.

3. Insert the controller into the controller bracket.

Setting up the receiver on a backpack

If you prefer to work free of the weight of the receiver on a
pole, you can mount the receiver on a backpack.
Using the receiver mounted on a backpack is a good option if
you require only sub-meter accuracy. For high accuracy or
survey-grade positioning, Trimble recommends that you use
the receiver on a range pole.

Trimble R2 GNSS Receiver User Guide | 29

 3
Configuring and using the
receiver
n Button functions
n LED behavior
n Configuring the receiver using Wi-Fi and the Web Interface
n Configuring the receiver using Trimble software and Bluetooth wireless technology
n Configuring a PC USB port as a virtual serial port
n Configuring the receiver using the GNSS Status utility
n Logging data
The receiver has no controls to change settings.The receiver can be configured in three
ways:
l using the receiver Web Interface, connected using Wi-Fi.
l using the Trimble GNSS Status utility. Any settings configured in the GNSS Status utility
will override the Web Interface settings.
NOTE – This is required for Android devices, even if you are using Trimble software.
l using Trimble software, connected using Bluetooth wireless technology or a USB
connection. Any settings configured in Trimble software will override the GNSS Status
utility and Web Interface settings.
When you apply the changes you have made to the receiver settings, the receiver settings
change immediately.
This chapter provides a brief overview of each of these methods.

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 3 Configuring and using the receiver

Button functions
The receiver has only one button, the Power button. Press the Power button to
turn on or turn off the receiver, and to perform other functions, as described
below:

To... Press the LED behavior Notes

Power
button
for...

turn off the more Green: Off after 2

receiver than 2 seconds.
seconds Yellow: On after 2
but less seconds and remains
than 15 On till shutdown
seconds complete.

clear the more Green: Off after 2 If the button is released, the 15
ephemeris file than 15 seconds. seconds data is cleared. The yellow
and reset the seconds Yellow: On after 2 flash continues until the operation
receiver to the but less seconds and then is complete. The receiver then
factory than 30 Slow Flash after 15 enters the reboot cycle.
defaults seconds seconds to indicate 15
seconds has elapsed.

NOTE – The term “press” means to press the button and release it immediately. The term “hold”
means to press the button and hold it down for the given time.

LED behavior
The receiver has only one LED.
The LED flash rates are:
l SLOW FLASH = LED is on and off equally for 0.5 seconds.
l FAST FLASH = LED is on and off equally for 0.1 seconds.

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 3 Configuring and using the receiver

Receiver mode Green Yellow Notes

Off Off Off

On - Healthy On –
power

Low power – Fast

flash

Receiver in Fast –
monitor mode flash

Receiving Slow – This pattern is for receiving any corrections

corrections flash irrespective of the source (for example, radio, TCP,
Bluetooth wireless technology).

Receiving Slow Fast Green and Yellow flash patterns will alternate every 5
corrections and flash flash seconds.
low power

Diagnostic On On – Controlled through TRIMCOMM 91h subcommand 02.

(Green)

Diagnostic On – On Controlled through TRIMCOMM 91h subcommand 03.

(Yellow)

Diagnostic Off Off Off Controlled through TRIMCOMM 91h subcommand 05.

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 3 Configuring and using the receiver

Configuring the receiver using Wi-Fi and the Web Interface

The receiver has a Wi-Fi port so that the receiver can connect directly to a PC or
smartphone. You can use Wi-Fi to access, configure, and monitor the receiver. No cable
connection to the receiver is required.

Connecting via Wi-Fi

You can connect directly to the receiver from a PC or smartphone.
1. Using the Wi-Fi connection application on your PC or smartphone, find the access
point SSID for the receiver; turn on the GNSS receiver and wait for the words "Trimble
GNSS" and last four digits of the receiver serial number to appear in your Wi-Fi
connection application. For example, Trimble GNSS xxxx (where xxxx represents the
last four digits of the receiver serial number.
2. Connect to the receiver. By default, all encryption is turned off in the receiver.
3. Open your web browser and then type the receiver IP address into the URL field. By
default the IP address of the receiver is http://192.168.142.1 or 192.168.143.1.
4. If security is enabled on the receiver, you are prompted to enter a username and
password. By default, the login is admin and the password is password. If you cannot
connect to the receiver, the password for the admin account may have been changed,
or a different account may be in use. Contact your receiver administrator for the
appropriate login information.
5. The receiver web interface is displayed and the receiver is ready for real-time
configuration.
The web page on a smartphone mini-browser opens with a select number of menus.
To view the Full (Classic) menu, use the Show Classic Web GUI link in the heading area.
To return to the mini-browser, the Wi-Fi connection or receiver must be reset (that is,
turned on or off).

Default Wi-Fi connection settings

Out of the box, the receiver is configured to default settings for Wi-Fi connections. You can
change any of these settings as required.
The default settings are:
l Wi-Fi mode: access point
l Wi-Fi SSID: Receiver serial number
l Wi-Fi Encryption: Off
l Wi-Fi IP Address: 192.168.142.1

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 3 Configuring and using the receiver

l Receiver Login: admin

l Receiver Password: password

Configuring the receiver using Trimble software and

Bluetooth wireless technology
This topic describes how to connect to and configure the receiver using Trimble field
software.

Step 1: Create a Bluetooth connection between the computer and the receiver
1. In the system tray (in the lower right corner of the Windows taskbar), click the Up arrow
and then click the Bluetooth icon. From the shortcut menu that appears, select Add a
Device:

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 3 Configuring and using the receiver

2. The computer searches for Bluetooth devices. Make sure that the receiver is switched
on; it will appear in the list of Bluetooth devices. Select the receiver in the list and click
Next.
3. If prompted, select the Enter the device's pairing code option.
By default, the pairing code is 0000. Enter it in the dialog and then click Next.
4. When the device has been successfully added, you can inspect its properties. Click on
the Devices and Printers link in the success window.
Alternatively, select Show Bluetooth Devices from the Bluetooth context menu:

In the Bluetooth Device window, right-click the device and then select Properties from
the shortcut menu.

Step 2: Configure the receiver using Trimble software

Use Trimble software (for example, Trimble TerraSync or Trimble TerraFlex software) to
configure the receiver as required. For more information, refer to the user guide for the
Trimble field software that you are using.

Configuring a PC USB port as a virtual serial port

It is possible to use the USB interface from a Trimble R2 GNSS receiver with a software
application that requires a serial port.
For example, the Trimble WinFlash utility can be run on a computer that has no physical
serial port by connecting the USB cable between the computer and the receiver.

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 3 Configuring and using the receiver

Windows 8 operating system

1. The simplest way to install the virtual serial port for the USB interface to the receiver is
to go to the Trimble Support website (http://www.trimble.com/Support/Support_
AZ.aspx) and search for the GNSS receiver you have. In the Technical Support /
Downloads section, download the file called Windows7 USB Installer to your computer.
NOTE – There is no Windows8 USB Installer file; the Windows7 USB Installer file works for
Windows 8.
This file contains a Support Note and installation program.
2. Run the installation program. It will load the virtual serial port for the USB interface on
your computer .
NOTE – With Windows 8, the USB ports are often version 3.0. With Windows 8 there is a conflict
with the implementation of USB version 3.0. To workaround this, go to the computer's BIOS
settings when you start up the computer and then turn off the support for USB 3.0.
NOTE – If you have installed the Trimble WinFlash utility (www.trimble.com/support) on your
computer, then another way to install the virtual serial port for the USB interface is to run the
USB Installer program, which is located in C:\Program Files\Common Files\Trimble\USBDriver.

Windows 7 Professional operating system

1. The simplest way to install the virtual serial port for the USB interface to the receiver is
to go to the Trimble Support website (www.trimble.com/support) and search for the
Trimble R2 GNSS receiver. In the Downloads section, download the file called Windows7
USB Installer to your computer.
This file contains a Support Note and installation program.
2. Run the installation program. It will load the virtual serial port for the USB interface on
your computer.
If this process does not work for your computer, or if you have a different Windows
operating system on your computer, then follow the procedure below.

Windows 7 operating system

1. Go to the Trimble Support website (www.trimble.com/support) and search for the
receiver you have. In the Support Notes section, download the file called GNSS Interface
to a Virtual COM port on a Computer to your computer.
2. Open the file and place the trmbUsb.inf file in a temporary folder on your computer.
3. On the computer, select Control Panel / Device Manager.

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 3 Configuring and using the receiver

4. Click on the name of the computer and then from the Action menu, select Add Legacy
Driver.
5. A wizard prompts you to locate the TrimbleUsb.inf file. Locate the file and then follow
the prompts in the wizard to continue.
NOTE – If you are running an application such as WinFlash software or on the computer and you
physically disconnect the USB cable from the computer and then reconnect it, it does not always re-
establish the connection. This is because opening the serial port from the application locks the
device handle and when the USB device is disconnected, the application does not close the serial
port and the device handle is still locked. On reconnecting, the USB cable is unable to get the device
handle since it is locked. You must close the application before the reconnect to the port will work.
This limitation is due to the behavior of the Microsoft USB serial driver.

Configuring the receiver using the GNSS Status utility

To configure a receiver using the Trimble GNSS Status utility, you must pair the receiver
with the device that is running the GNSS Status utility, and, on Android devices, you must
enable Mock Locations.
You can connect a R2 GNSS receiver to a handheld device or tablet powered by the
following operating systems:
l Android versions 4.1x and later
l iOS
l Windows® 7, Windows 8.x, Windows 10
l Windows Embedded Handheld
The method for enabling Mock Locations differs for different Android devices. Generally,
this is done under Settings / Developer options, Allow mock locations. Refer to the
documentation for your device for specific instructions.
To use the GNSS Status utility with the R2 receiver:
1. Make sure the device you want to use has Bluetooth wireless technology turned on.
2. Make sure the receiver is turned on.
3. Depending on the device you want to connect the receiver to, do one of the following:
l On a device powered by the Windows 7, 8.x, or 10 operating system, Windows
Embedded Handheld 6.5, or Android versions 4.1x or later, use the GNSS Status
utility to connect to the receiver.

a. Tap GNSS Status to launch the GNSS Status utility. The device you are
using searches for receivers within range.

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 3 Configuring and using the receiver

b. If no receiver is connected, the utility shows Location Services. Select Source

from the menu. From the Position Source dropdown, select Bluetooth. If you
are using a Trimble TSC7 controller or T7 tablet or Kenai™ tablet, you can also
select Internal Receiver to use the device's internal GNSS receiver.
c. When the required receiver appears in the Select Receiver list, tap it, then tap
Select.
l On an iPhone or iPad, go to Settings / Bluetooth, and tap the R2 [ID] device you
want to pair with.
To reconnect to a receiver at any time, make sure it is turned on, then:
l On a device powered by the Windows 7, 8.x, or 10 operating system, Windows
Embedded Handheld 6.5, or Android versions 4.1x or later, use the GNSS Status utility
to connect to the receiver:

a. Tap GNSS Status to launch the GNSS Status utility.

b. Tap the R2 [ID] at the bottom of the screen to bring up the Select Receiver list. Tap
the device [R2 ID] you want to reconnect to, then tap Select.
l On an iPhone or iPad, go to Settings / Bluetooth, and tap the R2 [ID] device you want to
connect to.
For full instructions on using the GNSS Status utility, refer to the Trimble GNSS Status Utility
User Guide.

Using Location Services

If no receiver is connected, the GNSS Status utility shows shows Location Services as the
Position Source. Once a receiver is connected, it feeds GNSS positions to Location Services.
All apps and web browsers that use Location Services have access to these
GNSS positions

Using the receiver with GIS software on Windows

Embedded Handheld and Windows devices
Using Trimble software
For more information on using subscription service options, contact to Trimble reseller
and refer to the Licensing section in the Trimble GNSS Status Utility User Guide.
If you are using Trimble software on devices powered by the Windows Embedded
Handheld or Windows Desktop operating systems, you do not need to install the

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 3 Configuring and using the receiver

GNSS Status utility. You can connect to the R2 GNSS receiver from within the software
when the receiver is in Bluetooth pairing mode, as with other Trimble external receivers.

Using other software with NMEA

When using software that understands NMEA for position information, you must use the
GNSS Status utility to configure the receiver to output NMEA on the correct port. Because
the receiver uses Serial Port Profile (SPP) ports, and software run on a Windows device
uses Windows COM ports, it is important to understand the relationship between
Bluetooth Serial Port Profile ports and Windows COM ports, as described below.

Understanding the relationship between Bluetooth Serial Port Profile (SPP) ports
and Windows COM ports
NOTE – This process is specific to the Windows 7 operating system; instructions are similar for
Windows 8 / 8.1 and Windows 10 operating systems.
When you first connect a R2 receiver, the Windows operating system installs the
appropriate drivers and associates Bluetooth Serial Port Profile (SPP) ports with Windows
COM ports. The receiver is listed in the Bluetooth Devices screen:

To see which Windows COM ports are associated with the device SPP ports, right-click on
the device and select Properties. Then select the Services tab.
Applications that run on Windows devices (for example, the Trimble TerraFlex software) will
see, in this example, COM6, COM9, COM10 and COM17. COM17 is the GNSS Server SPP
port; it should NOT be selected for use by applications as it is used to supply positions to
Location Services on the device. The GNSS Server port will reset to a default configuration
each time it is connected, irrespective of any changes you make.
NOTE – Different installations will result in different Windows COM port assignments.
The application you are using to collect data will have a configuration screen that will
include options such as:

In this example, the COM9 Windows COM port is selected, which corresponds to SPP2 on
the receiver.

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 3 Configuring and using the receiver

The above diagram illustrates the overall association. The following is specific to the
example above (your Windows COM Port numbers may be different):

Bluetooth Serial Port Profile (SPP) Windows COM Port

SPP1 COM6

SPP2 COM9

SPP3 COM10

Logging data
You can log data onto the R2 GNSS receiver itself, or onto a handheld device, smartphone,
or tablet.
To log GNSS data using the R2 GNSS receiver:
l connect the receiver to a Trimble handheld / controller using Bluetooth wireless
technology. See Configuring the receiver using Trimble software and Bluetooth
wireless technology for details on connecting the receiver. Use Trimble field software

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 3 Configuring and using the receiver

(for example, Trimble Access software, Trimble TerraSync software, Trimble TerraFlex
software) to log GNSS data from the receiver to the handheld / controller, or to a data
card in the controller. For more information, refer to the user guide for your particular
handheld / controller, and the Trimble field software that you are using.
l Use the R2 GNSS receiver with the Trimble DL app on Android™ smartphones and
tablets. The Trimble DL app is available to download from the Google Play store.
Contact your local Trimble dealer for more information on the Trimble DL app for
Android devices.
l To log received corrections onto the internal memory, connect to the Web Interface
and go to Data Logging / Summary / Configure and select Log Received Corrections.

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 4
Default Settings
n Default receiver settings
n Resetting the receiver to factory defaults
All receiver settings are stored in application files. The default application file is stored
permanently in the receiver, and contains the factory default settings for the receiver.
Whenever the receiver is reset to its factory defaults, the current settings (stored in the
current application file, current.cfg) are reset to the values in the default application file.
You cannot modify the default application file. however, if there is a power up application
file (Power_up.cfg) in the receiver, the settings in this file can be applied immediately after
the default application file, overriding the factory defaults.
NOTE – NMEA must be configured to use the second port; Anything configured to use the first port
will be reset when the receiver is reset.

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 4 Default Settings

Default receiver settings

These settings are defined in the default application file.

Function Settings Factory default

SV Enable - All SVs enabled

General Controls Elevation mask 10°

PDOP mask 99

RTK positioning mode Low Latency

Motion Kinematic

Input Setup Station Any

NMEA/ASCII (all All ports Off

supported messages)

Streamed Output All types Off

Offset=00

RT17/Binary All ports Off

Reference Position Latitude 0°

Longitude 0°

Altitude 0.00 m HAE

Antenna Type Trimble R2 internal

Height (true vertical) 0.00 m

Group All

Measurement method Antenna Phase Center

Resetting the receiver to factory defaults

To reset the receiver to its factory defaults, press for 15 seconds until the LED
changes to a slow yellow flash and then release immediately.

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 5
NMEA Output Messages
n NMEA-0183 messages: Overview
n NMEA-0183 messages: Common message elements
n List of supported NMEA messages
This appendix describes the formats of the subset of NMEA-0183 messages that are
available for output by the receiver. For a copy of the NMEA-0183 Standard, go to the
National Marine Electronics Association website at www.nmea.org.

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 5 NMEA Output Messages

NMEA-0183 messages: Overview

When NMEA-0183 output is enabled, a subset of NMEA-0183 messages can be output to
external instruments and equipment connected to the receiver serial ports. These NMEA-
0183 messages let external devices use selected data collected or computed by the GNSS
receiver.
All messages conform to the NMEA-0183 version 3.01 format. All begin with $ and end with
a carriage return and a line feed. Data fields follow comma (,) delimiters and are variable in
length. Null fields still follow comma (,) delimiters, but contain no information.
An asterisk (*) delimiter and checksum value follow the last field of data contained in an
NMEA-0183 message. The checksum is the 8-bit exclusive of all characters in the message,
including the commas between fields, but not including the $ and asterisk delimiters. The
hexadecimal result is converted to two ASCII characters (0–9, A–F). The most significant
character appears first.
The following table summarizes the set of NMEA messages supported by the receiver.

Message Function

DP Dynamic positioning

GBS GNSS satellite fault detection (RAIM support)

GLL Position data: position fix, time of position fix, and status

GNS GNS Fix data

GRS GRS range residuals

GSA GPS DOP and active satellites

GST Position error statistics

GSV Number of SVs in view, PRN, elevation, azimuth, and SNR

HDT Heading from True North

LLQ Leica local position and quality

PTNL,AVR Time, yaw, tilt, range, mode, PDOP, and number of SVs for Moving Baseline
RTK

PTNL,BPQ Base station position and position quality indicator

PTNL,DG L-band corrections and beacon signal strength and related information

PTNL,GGK Time, position, position type, and DOP values

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 5 NMEA Output Messages

Message Function

PTNL,PJK Time, position, position type, and DOP values

PTNL,PJT Projection type

PTNL, REX Rover Extended output

PTNL,VGK Time, locator vector, type, and DOP values

PTNL,VHD Heading Information

RMC Position, Velocity, and Time

ROT Rate of turn

VTG Actual track made good and speed over ground

ZDA UTC day, month, and year, and local time zone offset

To enable or disable the output of individual NMEA messages, do one of the following:
l Create an application file in the Configuration Toolbox software that contains NMEA
output settings and then send the file to the receiver.
l Add NMEA outputs in the Serial outputs tab of the GPS Configurator software and
then apply the settings.
For a copy of the NMEA-0183 Standard, go to the National Marine Electronics Association
website at www.nmea.org.

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 5 NMEA Output Messages

NMEA-0183 messages: Common message elements

Each message contains:
l a message ID consisting of $GP followed by the message type. For example, the
message ID of the GGA message is $GPGGA.
l a comma.
l a number of fields, depending on the message type, separated by commas.
l an asterisk.
l a checksum value.
The following example shows a simple message with a message ID ($GPGGA), followed by
13 fields and a checksum value:
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-
25.669,M,2.0,0031*4F

NMEA Message values

NMEA messages that the receiver generates contains the following values:

Value Description

Latitude and Latitude is represented as ddmm.mmmm and longitude is

Longitude represented as dddmm.mmmm, where:
l dd or ddd is degrees
l mm.mmmm is minutes and decimal fractions of minutes

Direction Direction (north, south, east, or west) is represented by a single

character: N , S , E , or W.

Time Time values are presented in Universal Time Coordinated (UTC) and
are represented as hhmmss.ss, where:
l hh is hours, from 00 through 23
l mm is minutes
l ss.ss is seconds with variable length decimal-fraction of seconds

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 5 NMEA Output Messages

List of supported NMEA messages

NMEA-0183 message: DP (Dynamic Positioning)
Proprietary Fugro message
The resulting message is shorter than the maximum defined message length of 82
characters, even with mm level resolution in Latitude/Longitude.
$PFUGDP,GG,hhmmss.ss, ddmm.mmmmm,N, dddmm.mmmmm,E,
NN,Q,DD,aa.a,bb.b,ddd,rr.r
An example of the DP message string is:
$PFUGDP,GN,033615.00,3953.88002,N,10506.75324,W,13,9,FF,0.1,0.1,149,0.1*13

DP message fields

Field Meaning

0 Message ID $PFUGDP

1 Two-character code for GPS (GP), GLONASS (GL) or GNSS (GN) data

2 UTC time (hhmmss.ss)

3-4 Latitude, in degrees and decimal minutes (ddmm.mmmmm) and Latitude sign
(N/S)

5-6 Longitude, in degrees and decimal minutes (dddmm.mmmmm) and Longitude

sign (E/W)

7 Total number of satellites (GPS + GLONASS)

8 DPVOA (UK00A) quality indicator1

9 DGNSS mode indicator (as NMEA standard for $ GNS)

10 Error ellipse standard deviation semi-major axis, in meters (aa.a)

11 Error ellipse standard deviation semi-minor axis, in meters (bb.b)

12 Direction of the error ellipse, in degrees

13 RMS value of the standard deviation of the range inputs to the navigation
process1

1 This quality indicator is defined in Guidelines on the use of DGPS in as a positioning reference
in DP Control Systems IMCA M141, dated Oct 1997 www.imca-

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 5 NMEA Output Messages

int.com/publications/marine/imca.html.

NMEA-0183 message: DTM

The DTM message identifies the local geodetic datum and datum offsets from a reference
datum. This sentence is used to define the datum to which a position location, and
geographic locations in subsequent sentences, is referenced.
An example of the DTM message string is:
$GPDTM,W84,,0.0,N,0.0,W,0.0,W84*7D

DTM message fields

Field Meaning

0 Message ID $GPDTM

1 Local datum code (CCC):

W84 – WGS-84
W72 – WGS-72
S85 – SGS85
P90 – PE90
999 – User-defined
IHO datum code

2 Local datum subdivision code (x)

3 Latitude offset, in minutes (x.x)

4 N/S (x)

5 Longitude offset, in minutes (x.x)

6 E/W (x)

7 Altitude offset, in meters (x.x)

8 Reference datum code (CCC):

W84 – WGS-84
W72 – WGS-72
S85 – SGS85
P90 – PE90

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 5 NMEA Output Messages

NMEA-0183 message: GBS

GNSS satellite fault detection (RAIM support)
An example of the GBS message string is:
$GPGBS,015509.00,-0.031,-0.186,0.219,19,0.000,-0.354,6.972*4D

GBS message fields

Field Meaning

0 Message ID $--GBS.
Talker ID can be:
GA: Galileo
GB: BeiDou
GP: GPS. To provide information specific to the GPS constellation when more
than one constellation is used for the differential position fix.
GL: GLONASS. To provide information specific to the GLONASS constellation
when more than one constellation is used for the differential position fix.
GN: Combined GNSS position. GNSS position fix from more than one
constellation, for example, GPS and GLONASS.
GQ: QZSS

1 UTC of position fix

2 Expected error in latitude, in meters, due to bias, with noise = 0

3 Expected error in longitude, in meters, due to bias, with noise = 0

4 Expected error in altitude, in meters, due to bias, with noise = 0

5 ID number of most likely failed satellite

6 Probability of missed detection of most likely failed satellite

7 Estimate of bias, in meters, on the most likely failed satellite

8 Standard deviation of bias estimate

9 The checksum data, always begins with *

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 5 NMEA Output Messages

If NMEA-0183 version 4.10 is selected, the 9th, 10th, and 11th fields become:

Field Meaning

9 System ID based on:

GPS 1
GLONASS 2
Galileo 3
BeiDou 4
QZSS 0

10 Signal ID based on:

GPS 1
GLONASS 1
Galileo 7
BeiDou Null
QZSS Null

11 The checksum data, always begins with *

NMEA-0183 message: GGA

Time, position, and fix related data
An example of the GBS message string is:
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0
0031*4F
NOTE – The data string exceeds the NMEA standard length.

GGA message fields

Field Meaning

0 Message ID $GPGGA

1 UTC of position fix

2 Latitude

3 Direction of latitude:
N: North
S: South

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 5 NMEA Output Messages

Field Meaning

4 Longitude

5 Direction of longitude:
E: East
W: West

6 GPS Quality indicator:

0: Fix not valid
1: GPS fix
2: Differential GPS fix (DGNSS), SBAS, OmniSTAR VBS, Beacon, RTX in GVBS mode
3: Not applicable
4: RTK Fixed, xFill
5: RTK Float, OmniSTAR XP/HP, Location RTK, RTX
6: INS Dead reckoning

7 Number of SVs in use, range from 00 through to 24+

8 HDOP

9 Orthometric height (MSL reference)

10 M: unit of measure for orthometric height is meters

11 Geoid separation

12 M: geoid separation measured in meters

13 Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is not
used.

14 Reference station ID, range 0000-4095. A null field when any reference station ID
is selected and no corrections are received. See table below for a description of
the field values.

15 The checksum data, always begins with *

NOTE – If a user-defined geoid model, or an inclined plane is loaded into the receiver, then the
height output in the NMEA GGA string is always the orthometric height (height above a geoid). The
orthometric height is output even if no user-defined geoid is loaded (there is a simplified default
geoid in the receiver), or if a user-defined geoid is loaded, or if an inclined plane is used.

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 5 NMEA Output Messages

When using one of the MSS (Mobile Satellite Services), the Reference Station ID field
indicates the following services:

Reference Station ID Service

0002 CenterPoint or ViewPoint RTX

0005 RangePoint RTX

0006 FieldPoint RTX

0100 VBS

1000 HP

1001 HP/XP (Orbits)

1002 HP/G2 (Orbits)

1008 XP (GPS)

1012 G2 (GPS)

1013 G2 (GPS/GLONASS)

1014 G2 (GLONASS)

1016 HP/XP (GPS)

1020 HP/G2 (GPS)

1021 HP/G2 (GPS/GLONASS)

NMEA-0183 message: GNS

GNSS fix data
GNSS capable receivers will always output this message with the GN talker ID.
GNSS capable receivers will also output this message with other talker ID's when using
more than one constellation for the position fix.
An example of the GNS message output from a GNSS capable receiver is:
$GNGNS,014035.00,4332.69262,S,17235.48549,E,RR,13,0.9,25.63,11.24,,U,*70<CR><LF>
$GPGNS,014035.00,,,,,,8,,,,1.0,23*76<CR><LF>
$GLGNS,014035.00,,,,,,5,,,,1.0,23*67<CR><LF>

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 5 NMEA Output Messages

GNS message fields

Field Meaning

0 Message ID $--GNS
Talker ID can be:
GA: Galileo
GB: BeiDou
GP: GPS
GL: GLONASS. When more than one constellation is used.
GN: Combined GNSS position, for example, GPS and GLONASS.
GQ: QZSS

1 UTC of position fix

2 Latitude

3 Direction of latitude:
N: North
S: South

4 Longitude

5 Direction of longitude:
E: East
W: West

6 Mode indicator:
l Variable character field with one character for each supported constellation.
l First character is for GPS.
l Second character is for GLONASS.
l Third character is Galileo.
l Fourth character is for BeiDou.
l Fifth character is for QZSS.
l Subsequent characters will be added for new constellations.
Each character will be one of the following:
N = No fix. Satellite system not used in position fix, or fix not valid

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 5 NMEA Output Messages

Field Meaning

A = Autonomous. Satellite system used in non-differential mode in position fix

D = Differential (including all OmniSTAR services). Satellite system used in
differential mode in position fix
P = Precise. Satellite system used in precision mode. Precision mode is defined
as: no deliberate degradation (such as Selective Availability) and higher
resolution code (P-code) is used to compute position fix
R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers
F = Float RTK. Satellite system used in real-time kinematic mode with floating
integers
E = Estimated (dead reckoning) Mode
M = Manual Input Mode
S = Simulator Mode

7 Number of SVs in use, range 00–99

8 HDOP calculated using all the satellites (GPS, GLONASS, and any future satellites)
used in computing the solution reported in each GNS sentence.

9 Orthometric height in meters (MSL reference)

10 Geoidal separation in meters – The difference between the earth ellipsoid

surface and mean-sea-level (geoid) surface defined by the reference datum
used in the position solution.
“-” = mean-sea-level surface below ellipsoid.

11 Age of differential data – Null if talker ID is GN, additional GNS messages follow
with Age of differential data.

12 Reference station ID1 , range 0000-4095

– Null if Talker ID is GN. Additional GNS messages follow with Reference station
ID.

13 This field is added when the IEC61162-1:2010/NMEA 0183 V4.10 option is selected
in the NMEA I/O Configuration page. It shows if a position is safe (S) or unsafe
(U).

14 The checksum data, always begins with *

NOTE – If a user-defined geoid model, or an inclined plane is loaded into the receiver, then the
height output in the NMEA GNS string is always the orthometric height (height above a geoid). The

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 5 NMEA Output Messages

orthometric height is output even if no user-defined geoid is loaded (there is a default geoid in the
receiver), or if a user-defined geoid is loaded, or if an inclined plane is used.
1

When using OmniSTAR services, the Reference Station ID indicates the following services:
VBS 100=VBS; 1000=HP; 1001 = HP/XP (Orbits) ; 1002 = HP/G2 (Orbits); 1008 = XP (GPS); 1012
= G2 (GPS); 1013 = G2 (GPS/GLONASS); 1014 = G2 (GLONASS); 1016 = HP/XP (GPS); 1020 =
HP/G2 (GPS) ; 1021 = HP/G2 (GPS/GLONASS).

NMEA-0183 message: GSA

GPS DOP and active satellites
An example of the GSA message string is:
$GNGSA,A,3,21,5,29,25,12,10,26,2,,,,,1.2,0.7,1.0*27
$GNGSA,A,3,65,67,80,81,82,88,66,,,,,,1.2,0.7,1.0*20

GSA message fields

Field Meaning

0 Message ID $GNGSA

1 Mode 1, M = manual, A = automatic

2 Mode 2, Fix type, 1 = not available, 2 = 2D, 3 = 3D

3 PRN number, 01 through 32 for GPS, 33 through 64 for SBAS, 64+ for GLONASS

4 PDOP: 0.5 through 99.9

5 HDOP: 0.5 through 99.9

6 VDOP: 0.5 through 99.9

7 The checksum data, always begins with *

If NMEA-0183 version 4.10 is selected, the 7th and 8th fields become:

Field Meaning

7 System ID based on:

GPS 1
GLONASS 2
Galileo 3
BeiDou 4

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 5 NMEA Output Messages

Field Meaning

QZSS 0

8 The checksum data, always begins with *

NMEA-0183 message: GST

Position error statistics
An example of the GST message string is:
$GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A
The Talker ID ($--) will vary depending on the satellite system used for the position solution:
l $GP - GPS only
l $GL - GLONASS only
l $GN - Combined

GST message fields

Field Meaning

0 Message ID $GPGST

1 UTC of position fix

2 RMS value of the pseudorange residuals; includes carrier phase residuals

during periods of RTK (float) and RTK (fixed) processing

3 Error ellipse semi-major axis 1 sigma error, in meters

4 Error ellipse semi-minor axis 1 sigma error, in meters

5 Error ellipse orientation, degrees from true north

6 Latitude 1 sigma error, in meters

7 Longitude 1 sigma error, in meters

8 Height 1 sigma error, in meters

9 The checksum data, always begins with *

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 5 NMEA Output Messages

NMEA-0183 message: GSV

Satellite information
The GSV message string identifies the number of SVs in view, the PRN numbers, elevations,
azimuths, and SNR values. Example GSV message strings are:
$GPGSV,8,1,25,21,44,141,47,15,14,049,44,6,31,255,46,3,25,280,44*75
$GPGSV,8,2,25,18,61,057,48,22,68,320,52,27,34,268,47,24,32,076,45*76
$GPGSV,8,3,25,14,51,214,49,19,23,308,46*7E
$GPGSV,8,4,25,51,44,183,49,46,41,169,43,48,36,220,45*47
$GLGSV,8,5,25,82,49,219,52,76,22,051,41,83,37,316,51,67,57,010,51*6C
$GLGSV,8,6,25,77,24,108,44,81,10,181,46,78,1,152,34,66,18,060,45*50
$GLGSV,8,7,25,68,37,284,50*5C
$GBGSV,8,8,25,111,35,221,47,112,4,179,39,114,48,290,48*11

GSV message fields

Field Meaning

0 Message ID

1 Total number of messages of this type in this cycle

2 Message number

3 Total number of SVs visible

4 SV PRN number

5 Elevation, in degrees, 90° maximum

6 Azimuth, degrees from True North, 000° through 359°

7 SNR, 00 through 99 dB (null when not tracking)

8–11 Information about second SV, same format as fields 4 through 7

12–15 Information about third SV, same format as fields 4 through 7

16–19 Information about fourth SV, same format as fields 4 through 7

20 The checksum data, always begins with *

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 5 NMEA Output Messages

NOTE –
$GPGSV indicates GPS and SBAS satellites. If the PRN is greater than 32, this indicates an
SBAS PRN, 87 should be added to the GSV PRN number to determine the SBAS PRN
number.
$GLGSV indicates GLONASS satellites. 64 should be subtracted from the GSV PRN number
to determine the GLONASS PRN number.
$GBGSV indicates BeiDou satellites. 100 should be subtracted from the GSV PRN number
to determine the BeiDou PRN number.
$GAGSV indicates Galileo satellites.
$GQGSV indicates QZSS satellites.

NMEA-0183 message: HDT

Heading from True North
NOTE – The heading computation in this message is computed from the moving baseline vector,
which requires a two-antenna system.
An example of the HDT string is:
$GPHDT,123.456,T*00

Heading from true north message fields

Field Meaning

0 Message ID $GPHDT

1 Heading in degrees

2 T: Indicates heading relative to True North

3 The checksum data, always begins with *

NMEA-0183 message: LLQ

Leica local position and quality
An example of the LLQ message string is:
$GPLLQ,034137.00,210712,,M,,M,3,15,0.011,,M*15

Field Meaning

0 Message ID $GPLLQ

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 5 NMEA Output Messages

Field Meaning

1 hhmmss.ss – UTC time of position

2 ddmmyy – UTC date

3 xxx.xxx – Grid easting (meters)

4 M – Meter, fixed text

5 xxxx.xxxx – Grid northing (meters)

6 M – Meter, fixed text

7 x – GPS quality. 0 = not valid. 1 = GPS Nav Fix. 2 = DGPS Fix. 3 = RTK Fix.

8 x – Number of satellites used in computation

9 xx.xx – Position quality (meters)

10 xxxx.xxxx – Height (meters)

11 M – Meter, fixed text

*hh – checksum

<CR> – carriage return

<LF> – Line feed

NMEA-0183 message: PTNL,AVR

Time, yaw, tilt/roll, range for moving baseline RTK
NOTE – The heading computation in this message is computed from the moving baseline vector,
which requires a two-antenna system.
An example of the PTNL,AVR message string is:
$PTNL,AVR,212405.20,+52.1531,Yaw,-0.0806,Tilt,,,12.575,3,1.4,16*39
$PTNL,AVR,212604.30,+52.1800,Yaw,,,-0.0807,Roll,12.579,3,1.4,16*21

AVR message fields

Field Meaning

0 Message ID $PTNL,AVR

1 UTC of vector fix

2 Yaw angle, in degrees

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 5 NMEA Output Messages

Field Meaning

3 Yaw

4 Tilt angle, in degrees

5 Tilt

8 Range, in meters (between antennas)

9 GPS quality indicator:

0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK (Float)
3: Differential carrier phase solution RTK (Fix)
4: Differential code-based solution, DGPS

10 PDOP

11 Number of satellites used in solution

12 The checksum data, always begins with *

NMEA-0183 message: PTNL,BPQ

Base station position and quality indicator
This message describes the base station position and its quality. It is used when the
moving base antenna position and quality are required on one serial port (along with a
heading message) from a receiver in heading mode.
An example of the PTNL,BPQ message string is:
$PTNL,BPQ,224445.06,021207,3723.09383914,N,12200.32620132,W,EHT-5.923,M,5*

BPQ message fields

Field Meaning

0 Talker ID

1 BPQ

2 UTC time of position fix, in hhmmss.ss format. Hours must be two numbers, so
may be padded, for example, 7 is shown as 07.

3 UTC date of position fix, in ddmmyy format. Day must be two numbers, so may

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 5 NMEA Output Messages

Field Meaning

be padded, for example, 8 is shown as 08.

4 Latitude, in degrees and decimal minutes (ddmm.mmmmmmm)

5 Direction of latitude:
N: North
S: South

6 Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should

contain 3 digits of ddd.

7 Direction of longitude:
E: East
W: West

8 Height Ellipsoidal height of fix (antenna height above ellipsoid). Must start with
EHT.

9 M: ellipsoidal height is measured in meters

10 GPS quality indicator:

0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential SBAS, or OmniSTAR VBS
4: RTK Fixed
5: OmniSTAR XP, OmniSTAR HP, CenterPoint RTX, Float RTK, or Location RTK

11 The checksum data, always begins with *

NMEA-0183 message: PTNL,GGK

Time, position, position type, DOP
An example of the PTNL,GGK message string is:
$PTNL,GGK,102939.00,051910,5000.97323841,N,00827.62010742,E,5,09,1.9,EHT150.790,M*
73

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 5 NMEA Output Messages

PTNL,GGK message fields

Field Meaning

0 Talker ID $PTNL

1 Message ID GGK

2 UTC time of position fix, in hhmmss.ss format. Hours must be two numbers, so
may be padded. For example, 7 is shown as 07.

3 UTC date of position fix, in ddmmyy format. Day must be two numbers, so may
be padded. For example, 8 is shown as 08.

4 Latitude, in degrees and decimal minutes (dddmm.mmmmmmm)

5 Direction of latitude:
N: North
S: South

6 Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should

contain three digits of ddd.

7 Direction of longitude:
E: East
W: West

8 GPS Quality indicator:

0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS/EGNOS/MSAS
6: RTK float or RTK location 3D Network solution
7: RTK fixed 3D Network solution
8: RTK float or RTK location 2D in a Network solution
9: RTK fixed 2D Network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution

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 5 NMEA Output Messages

Field Meaning

12: Location RTK solution

13: Beacon DGPS
14: CenterPoint RTX
15: xFill

9 Number of satellites in fix

10 Dilution of Precision of fix (DOP)

11 Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT.

12 M: ellipsoidal height is measured in meters

13 The checksum data, always begins with *

NOTE – The PTNL,GGK message is longer than the NMEA-0183 standard of 80 characters.
NOTE – Even if a user-defined geoid model, or an inclined plane is loaded into the receiver, then the
height output in the NMEA GGK string is always an ellipsoid height, for example, EHT24.123.

NMEA-0183 message: PTNL,PJK

Local coordinate position output
Some examples of the PTNL,PJK message string are:
$PTNL,PJK,202831.50,011112,+805083.350,N,+388997.346,E,10,09,1.5,GHT+25.478,M*77
$PTNL,PJK,010717.00,081796,+732646.511,N,+1731051.091,E,1,05,2.7,EHT+28.345,M*7C

PTNL,PJK message fields

Field Meaning

0 Message ID $PTNL,PJK

1 UTC of position fix

2 Date

3 Northing, in meters

4 Direction of Northing will always be N (North)

5 Easting, in meters

6 Direction of Easting will always be E (East)

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 5 NMEA Output Messages

Field Meaning

7 GPS Quality indicator:

0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS/EGNOS/MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
12: Location RTK
13: Beacon DGPS
14: CenterPoint RTX
15: xFill

8 Number of satellites in fix

9 DOP of fix

10 Height of Antenna Phase Center (see Note below)

11 M: height is measured in meters

12 The checksum data, always begins with *

NOTE – The PTNL,PJK message is longer than the NMEA-0183 standard of 80 characters.
NOTE – If a user-defined geoid model, or an inclined plane is loaded into the receiver, then the
NMEA PJK string will always report the orthometric height (the field starts with the letters GHT). If the
latitude/longitude of the receiver is outside the user-defined geoid model bounds, then the height is
shown as ellipsoidal height (the field starts with the letters EHT).
NOTE – If the receiver does not have an application file, this string returns nothing in fields 3, 4, 5, 6,
or 10.

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 5 NMEA Output Messages

NMEA-0183 message: PTNL,VGK

Vector information
An example of the PTNL,VGK message string is:
$PTNL,VGK,160159.00,010997,-0000.161,00009.985,-0000.002,3,07,1,4,M*0B

PTNL,VGK message fields

Field Meaning

0 Message ID $PTNL,VGK

1 UTC of vector in hhmmss.ss format

2 Date in mmddyy format

3 East component of vector, in meters

4 North component of vector, in meters

5 Up component of vector, in meters

6 GPS Quality indicator:

0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS/EGNOS/MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
12: Location RTK
13: Beacon DGPS
14: CenterPoint RTX

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 5 NMEA Output Messages

Field Meaning

15: xFill

7 Number of satellites if fix solution

8 DOP of fix

9 M: Vector components are in meters

10 The checksum data, always begins with *

NMEA-0183 message: PTNL,VHD

Heading information
NOTE – The heading computation in this message is computed from the moving baseline vector,
which requires a two-antenna system.
An example of the PTNL,VHD message string is:
$PTNL,VHD,030556.00,093098,187.718,-22.138,-76.929,-5.015,0.033,0.006,3,07,2.4,M*22

PTNL,VHD message fields

Field Meaning

0 Message ID $PTNL

1 VHD

2 UTC of position in hhmmss.ss format

3 Date in mmddyy format

4 Azimuth

5 Rate of change of azimuth = azimuth/time

6 Vertical angle

7 Rate of change of vertical angle = vertical/time

8 Range

9 Rate of change of range between antenna = range/time

10 GPS Quality indicator:

0: Fix not available or invalid
1: Autonomous GPS fix

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 5 NMEA Output Messages

Field Meaning

2: RTK float solution

3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS/EGNOS/MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
12: Location RTK
13: Beacon DGPS
14: CenterPoint RTX
15: xFill

11 Number of satellites used in solution

12 PDOP

13 M

14 The checksum data, always begins with *

NMEA-0183 message: RMC

Position, velocity, and time
NOTE – The heading computation in this message is derived from consecutive positions. For
heading using a moving baseline system, see NMEA-0183 message: PTNL,AVR, page 60.
The RMC string is:
$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A

GPRMC message fields

Field Meaning

0 Message ID $--RMC

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 5 NMEA Output Messages

Field Meaning

Talker ID can be:

GP: GPS only
GN: More than one constellation

1 UTC of position fix

2 Status A=active or V=void

3 Latitude

4 Longitude

5 Speed over the ground in knots

6 Track angle in degrees (True)

7 Date

8 Magnetic variation, in degrees

9 The checksum data, always begins with *

NMEA-0183 message: ROT

Rate and direction of turn
NOTE – The heading computation in this message is derived from consecutive positions. For
heading using a moving baseline system, see NMEA-0183 message: PTNL,AVR, page 60.
An example of the ROT string is:
$GPROT,35.6,A*4E

ROT message fields

Field Meaning

0 Message ID $GPROT

1 Rate of turn, degrees/minutes, “–” indicates bow turns to port

2 A: Valid data
V: Invalid data

3 The checksum data, always begins with *

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 5 NMEA Output Messages

NMEA-0183 message: VTG

Track made good and speed over ground
NOTE – The heading computation in this message is derived from consecutive positions. For
heading using a moving baseline system, see NMEA-0183 message: PTNL,AVR, page 60.
An example of the VTG message string is:
$GPVTG,140.88,T,,M,8.04,N,14.89,K,D*05

VTG message fields

Field Meaning

0 Message ID $GPVTG

1 Track made good (degrees true)

2 T: track made good is relative to true north

3 Track made good (degrees magnetic)

4 M: track made good is relative to magnetic north

5 Speed, in knots

6 N: speed is measured in knots

7 Speed over ground in kilometers/hour (kph)

8 K: speed over ground is measured in kph

9 Mode indicator:
A: Autonomous mode
D: Differential mode
E: Estimated (dead reckoning) mode
M: Manual Input mode
S: Simulator mode
N: Data not valid

10 The checksum data, always begins with *

NMEA-0183 message: ZDA

UTC day, month, and year, and local time zone offset
An example of the ZDA message string is:

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 5 NMEA Output Messages

$GPZDA,172809.456,12,07,1996,00,00*45

ZDA message fields

Field Meaning

0 Message ID $--ZDA
Talker ID can be:
GP: GPS only
GN: More than one constellation

1 UTC

2 Day, ranging between 01 and 31

3 Month, ranging between 01 and 12

4 Year

5 Local time zone offset from GMT, ranging from 00 through ±13 hours

6 Local time zone offset from GMT, ranging from 00 through 59 minutes

7 The checksum data, always begins with *

Fields 5 and 6 together yield the total offset. For example, if field 5 is -5 and field 6 is +15,
local time is 5 hours and 15 minutes earlier than GMT.

1This is the same as the definition in the GST message in the NMEA 183 Standard For Interfacing Marine
Electronic Devices from version 2.20, dated January 1 1997 www.nmea.org/0183.htm.

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 6
RTCM Output

RTCM Output: Generated messages

Messages that are generated when you select a specific RTCM version are shown in the
following table. For details of the individual messages, refer to the RTCM documentation at
www.rtcm.org.

Selection Message

Version 2 1 3 22 59

USCG, 9-3 3 9-3

RTCM/RTK, 2.2+2.3 1 3 18 19 22 23 24 59

RTK Only, 2.2+2.3 3 18 19 22 23 24 59

RTCM/RTK, 2.3 18 19 23 24

RTK Only, 2.3 18 19 22

RTCM/RTK, 2.2 1 3 18 19 22 59

RTK Only, 2.2 3 18 19 22 59

RTCM/RTK, 2.1 1 3 18 19 22 59

RTK Only, 2.1 3 18 19 22 59

RTCM/RTK, 3.x 1004 1006 1008 1012 1013 1033

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 7
Troubleshooting
n Troubleshooting LED conditions
n Troubleshooting receiver issues
This chapter provides a brief overview problems and causes. Please read this section
before you contact Technical support, page 17.

Troubleshooting LED conditions

The receiver has a simple display panel with an LED to indicate the current status of the
receiver. If you need more detailed information about what the receiver is doing, use a
Trimble controller and Trimble field software (connected to the receiver using Bluetooth
wireless technology), or access all configuration settings by connecting the receiver to your
smart phone or laptop computer via Configuring the receiver using Wi-Fi and the Web
Interface, page 33.

The LED is green and flashing fast

Possible cause Solution

The receiver is in Turn on or turn off the receiver.

Monitor mode, ready If that does not fix the problem, load the latest version of the
for new firmware to firmware, which you can download from the R2 GNSS receiver's
be loaded or new Downloads page on the Trimble website.
options to be added.

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 7 Troubleshooting

Troubleshooting receiver issues

This section describes some possible receiver issues, possible causes, and how to solve
them.

The receiver does not turn on

Possible cause Solution

External power Check the charge on the external power supply, and check the
is too low. fuse if applicable. If required, replace the battery.

Internal power Do the following:

is too low. l Check the charge on the internal batteries and replace if
required.
l Ensure battery contacts are clean.

External power Check that the USB connection is secured properly.

is not properly
connected.

Faulty external Try a different cable.

power cable.

The receiver is not responding

Possible cause Solution

The receiver Turn off the receiver and then turn it back on again. For more
needs a soft information, see Button functions, page 31.
reset.

The receiver Press the Power button for 30 seconds. For more information, see
needs a full Button functions, page 31.
reset.

The rover receiver is not receiving radio

Possible cause Solution

Reference receiver is not Ensure the reference base GNSS receiver is set up,
broadcasting. powered, and transmitting GNSS corrections.

Incorrect over air baud rates Connect to the roving receiver’s radio and check to
between reference and rover. ensure it has the same setting as the reference receiver.

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 7 Troubleshooting

Possible cause Solution

Incorrect port settings If the radio is receiving data (the Power LED is flashing a
between roving external radio slow green) and the receiver is not getting radio
and receiver. communications, use the Trimble Access software to
check that the port settings are correct.

Incorrect message type The Broadcast format must be the same on both the
selected reference receiver and the rover(s).
Connect to the rover receiver using the Trimble Access
software to ensure that the R2 rover receiver Broadcast
format has the same settings as the reference receiver.
Check under Settings / Survey Styles / RTK / Rover
Options / Broadcast Format = CMRx (for example).

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