System Description HG S 57630 Rev. 01
Contents
1. See also Figure 10 on page 22 Figure 9 UPS supervision module HG 20330 The duration of the UPS running time is setable via positionable switch see Figure 9 on page 22 To obtain the time set multiply the switch s position by 5 mins e g SW1 set on 8 gt 8 x 5 minutes 40 minutes Changes to SW1 are only transferred to the UPS supervision when the it is switched on and off again 4 3 1 Connection plan UBAT 1 UBAT 5 Power supply from UPS Ki 3 Main power supply K2 4 J supervision from UPS 24V switched 5 uBaT gf OPS 24V switched 7 UPS AUX SUPERVISION 8 HG 20330 9 AUX MAIN POWER SUPPLY 230 V AC 10 11 POWER FAIL 12 13 LINE 14 19 rack HG 94420 A Figure 10 Connection plan for the UPS supervision GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 22 The System in Detail S_G57630 A 4 3 2 Status display all LEDs off No main power supply Power fail not active load turned off line not active LD3 green blinks Main power supply on Power fail active batteries being charged line active UPS is in charging LD3 green on Main power supply on Power fail not active batteries charged UPS line active is ready LD2 yellow on Main power failure Power fail active working on battery line not active power for set time LD1 red on Main power failure bat2. Power fail active tery power for one line not active minute all LEDs blink Battery power low main Power fail active power supply present line not active Table 9 Interpretation of the status displays on the UPS For a preset charging time of 30 mins LED 3 green blinks If during this time the main power fails then the load will be separated from the UPS after one minute This pre vents a complete discharge of the batteries caused by a short connection to the main power supply LED 3 green is constantly on after the charging time this signals that the UPS is ready Should the main power supply now fail then the system s load is supplied by the batteries for the set time this is indicated by LED 2 yellow being on After the per SW1 preset time has past the system is provided with power for one more minute this is indicated when LED 1 red is lit At the end of this time period then the load is com pletely separated from the UPS If the main power supply is reinstated before the sys tem is shut down then the charging time starts again If the battery voltage drops below a defined limit approx 12 V then the system is im mediately shut down GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 23 Appendix S_G57630 A 5 Appendix A Scope of Supply Part List The following components are part of System G 57650 1 Mobile Station Subrack Includes items 5 6 7 8 9
3. G57650 Mobile Station completely assembled 10 11 13 15 17 19 2 Base Station Subrack com Includes items 5 6 7 10 11 SG57650 Base Station pletely assembled 12 13 15 17 19 3 Mobile Station Subrack Includes items 5 6 7 8 9 SG57650 Mobile Station w o completely assembled with Antenna and UPS out Antennas and UPS Base Station Subrack com Includes items 5 6 7 SG57650 Base Station w o pletely assembled without Antenna and UPS Antennas and UPS 5 Subrack with Backplane G 94420 G 94420 A without Insert Modules GPS Receiver Insert Mod Sharp Card HG65770 A 10TE_HB SW2 2 7 Radio Transceiver Insert HG 76100 HG76100 B 24V 12TE_HB Module C64 445 425 9600 RS 232 9600 8N1 HG39720AA3 09 GPS Controller Insert Mod HG 61417 HG61417 24V 10TE_HB ule C64 1 RS 422 3 RS 232 HG61417GG Uninterruptable Power Sup Thiele APU24 2 w o Accus APU 24 2 XX Ah 115 230 ply UPS without UPS Supervisor see Pos 11 and 12 10 Accumulator Set for UPS 2 12 V 7 2 Ah 2 pieces Panasonic LC Accumulators included R127R2P 11 UPS Supervisor HG20330 HG20330 N 15 HG20330AA2 00 12 13 Base Station GPS Antenna CR Antenna GPS CR Antenna with Nut and Bolt Mobile Station GPS LWS Antenna GPS LWS Antenna with Antenna with orig Mounting Nut and Bolt and Mounting Flange Flange Table 10 Part List Part 1 of 2 GOTTING English Revision 01 Date 15 08 2001 protected by copyright
4. 1 Figure 8 System components S_G57630 A 19 rack HG 94420 A ls Connections s a paragraph 4 1 2 on page 20 4 1 1 Serial Interfaces Table 7 shows which function each individual interface has ATTENTION These interfaces are only for use within the configuration of the individual components and can not be occupied for other uses when the system is operating otherwise the signal could be blocked GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 19 The System in Detail S_G57630 A eecrption Futon i RTCM RCDR RTCM correction data receipt data from the radio transceiver Control and Display Unit connection to the GPS receiver Table 7 Serial interfaces in the 19 rack 4 1 2 Connection Plan The following table shows the connection plan for which connection can be used to connect the system to the vehicle Table 8 Connections used for connection with the vehicle GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 20 The System in Detail S_G57630 A 4 2 Availability and Restrictions e Availability of the PDGPS approx 95 with an accuracy of 3 cm approx 99 7 with an accuracy of 5 cm e Prerequisites Line of sight visibility to the satellites opening angle from approx 170 elevation 5 e Maximum distance from the base station should not exceed approx 1 to 2 km restricte
5. 323 324 325 3261327 328 329 330 93 1 332 533 334 DVD GID YD YO GYD YO YO Figure 5 Interfaces for the connection of laptops to the controller Connect a laptop as described in section C 2 on page 26 using a serial cable to the monitor port of the controller Monitor RS 232 port located on its front panel Start a terminal program with ANSI terminal emulation e g Hyperterminal of Micro soft Windows on the laptop Set the following interface parameters Interface parameters 19200 8 N 1 In case the baud rate was set to the wrong value non readable characters will appear on the display Provided that all parameters were set correctly press the space bar and the main menu will appear HG 61417GG1 03 Copyright C 1997 1999 Goetting KG Germany Installation Reports from Receiver 1 Set Positions and Time R Receiver Status 2 Set Vehicle Parameters N Navigation UTM 3 Set Stacks S Receiver Summary 4 Supervisory Parameters K RTK Kalman Status 5 Output Port Setup Other Functions H History O Firmware Parameter Options Figure 6 Screenshot Main menu GPS Controller HG 61417 GOT eee English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 Start up Press 9 in order to enter the parameter menu Then the following menu will appear S_G57630 A 1 Firmwa 2 Firmwa 3 Parame 4 Parame 5 Stack X Exit FIRMWARE
6. SPS CM ICAO Sexes tsa slat wince sti caliakan gtteavas baited ee 25 C General Specifications cessessessessesessesssessessestsseeseessestentestesteneeees 26 C 1 Basic technical Data esis ndaiietinaiadiaienaniiciaainianuns 26 C 2 Minimum Requirements for a Laptop for configuring and monitoring the Sy SUG seat cscteass nctticat a e E E ASAN E 26 C 3 RTG RMG Specifications oe eseesseessesseesseeseesseesteseeatestesatestesneeseesneeanes 26 D Listof Abbreviations aca ccieiets akan tetaconciaca lisse deneataebehetactuseueernas 26 Gi INGUG ES cis poretsnaanttuiessticioieuteanensaurrasaateaniiametunnndealennieaenhies 27 6 1 Proper Use of Equipment saciscszeninssrwcsedinainiinidsennisntacsonledannans 27 6 2 COO VIO veciss sense cescccterasceustenncsteenensesamsseqasniatsrsceeicceemancenncniocs 27 6 3 Exclusion of Liability oes cticscansetccdecrsstuesnnscessensnceincentinetatennsabacs 27 7 istot PICtUTES tect cesrcccasernuecannmectaniunnelenuaccuummmnsdmies 28 8 PAST OT Tables ieostencsmrseineacerertcnmerxtrsarinaciahexniciiererseaseawas 29 NN EE EA AEE EOE E 30 GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 3 Introduction S_G57630 A 1 Introduction 1 1 Systems Function With the in general use Global Positioning System GPS it is possible to determine a geographical position The commonly used standard GPS provide an accuracy of ap prox 10 m With the aid of additional equi
7. This section shall enable the reader in case of a system failure to determine whether this failure was caused by System G 57650 and if so which system component is re sponsible Please always draw up a detailed description of the failure before contact ing Goetting 3 1 Maintenance The design of the system only requires a minimum of maintenance The maintenance is limited to the regular visual inspection of the equipment in general and the regular inspection of the connections and the terminals approx every four weeks 3 2 Function Tests The GPS Controller HG 61417 is equipped with a serial service interface monitor lo cated directly on the front panel also refer to Figure 5 on page 10 This interface enables connecting the controller to a PC or laptop also refer to section C 2 on page 26 The interface operates with the following settings 19200 8 N 1 if the baudrate of the PC is incorrect the display will only show cryptical strings A Ter minal Program with ANSI Terminal Emulation enables checking all system functions as well as adjusting parameters For further information please refer to section 2 2 on page 9 and the also supplied system description of the controller This way you are able to determine whether the controller is operating correctly or whether it outputs faulty data or none at all Thus it is possible to restrict possible mal functions to the controller or even to the components in front of th
8. presented system Therefore alongside the GPS system fitted to the Crane mobile unit a further stationary GPS system Base station is set up the base stations position can be exactly calculated it can then compare it s actual position with that of the GPS and Transmits this error factor via a Data radio Transceiver to the mobile systems These can then calculate there positions with an accuracy of up to 3 m differential GPS DGPS Via the determination of the carrier wave of the GPS signal it is possible to increase this accuracy level to 3 cm Precision DGPS PDGPS NOTE The system requires approx 15 minutes after a new start to D effectively calculate the carrier wave The GPS system seen over a long period of time offers a very stable service but can due to shadowing or reflection become temporary unstable GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 5 Introduction 1 3 Operational overview SPS Antenia O Sockel Frani plate HG 65770 Radio Antenna Socket Frani plate HG 741 red 301 iHD 3b ine 303 Sey ehed 24 UBat UPS OFTO 2E 109 TxDy 110 R0 Hea vGNN ines S04 GND 310 Figure 2 The elements of the system The rack consists of a GPS receiver HG 65770 a radio modem HG 76100 to enable the receipt of the correction data from the base station a GPS controller HG 61417 which prepares the GPS signal and passes
9. refer to 6 2 on page 27 24 Appendix S_G57630 A 14 Base Station Radio Kathrein Omni 450 K75 11 21 Antenna 15 Mobile Station Radio Kathrein Gainflex K71 53 236 Antenna 16 Base Station GPS Antenna RG 58 18m SMA elbow G09234 A 18m cable TNC even 17 Mobile Station GPS RG 58 2m SMA elbow G09232 A 2m Antenna cable TNC even 18 Base Station Radio RG 58 9m BNC elbow N G09233 A 9m Antenna cable even Mobile Station Radio RG 58 2m BNC elbow G09231 A 2m Antenna cable TNC FlaBu flat socket Heat Shrink with Glue 4 1 for IAKT 16 4 B rklin 91 F 3756 L L required Type TNC Plug with RG 58 Length in fe cable Heat Shrink with Glue 4 1 for IAKT 24 6 Barklin 91 F 3758 L L required Type N Plug with RG 58 Length in Meter cable Table 10 Part List Part 2 of 2 B Cable Specifications Correction Data GPS Mobile GPS Reference Sta Transmission Rover tion RG213 1 lt 20m 10 lt 1 lt 30 20 lt 1 lt 30 Table 11 Cable specifications Temperature range permanently installed 40 to 90 C Minimum bending radius permanently installed 6 x cable diameter Sea proof GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 25 Appendix S_G57630 A C General Specifications C 1 Basic technical Data Valid for system configurations Operating temperature of electronic components 0 to 50 C Operating temperature of antenn
10. the system rack 6 Reconnect the system rack to the power supply The system will then start up and be ready for operation Follow this routine also for the other modules Radio Modems and GPS Receivers are always supplied correctly pre configured Therefore it is not necessary to do any ad justments when exchanging one of these modules In case it should be necessary to exchange the Controller HG 61417 make sure that the parameters saved on disk for the corresponding crane are downloaded into it For further information refer to section 2 2 Re Start on page 9 GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 18 The System in Detail S_G57630 A 4 The System in Detail 4 1 System Components D GPS Receiver GPS Controller B Radio Modem CO LD4 LD3 E at RESET sw MONITOR RS 232 CDU CDU RCDR C DATA OUT C CAN C PLC C MONITOR FUSION 21303 304 305 306 307 3081309 3 101311312131 3 3141315 3 16131 7 3181319 320132 1 322 41325 326 327 328 329 3301331 332 333 334 SCTE GOHIOTO GS HS NSSS SOSS OVO LULU VLE DDD DD DH VD HH PH VD POD PD PO PH HD PO POD GO Doo se ss ee es E ee A E A E E A T 101 102 103 104105 106 107 108 109 110 111 112 113 114115 116 8 119 120 121 122 123 124125 126 127 128 129 130 131 1321133 134 CSSC SS SC NS SCIS SSS E eT ce E E E femmes r A ees G S S tees eens eee Gees Serial Interfaces s a paragraph 4 1
11. E eaerecsadne tener csmece eae 24 Cable SPeCITICALONS its sccdhccevsoeidhenessdateeicsddiimatadeddncttdencebitacacigets 25 Basic technical data ccc eee e cece teneeeeeeeeeeeettteteeeeeeeeees 26 Abbreviations asi eccssn Sei sateseracunsanabersdsssieeronstandameand seueyaneareseatacusneatees 26 S_G57630 A GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 29 Index 9 Index A abbreviations 26 accuracy 21 availability 21 B basic operational parameters 7 basic technical data 26 C cable specifications 25 D DGPS 5 E elements 6 exclusion of liability 27 F function tests 12 G GPS 5 H HG 20330 61417 65770 76100 94420 A 19 G 57650 19 OOO ON l identifying malfunctions 15 initial start up 9 interfaces 19 21 L Laptop 10 26 M maintenance 12 N normal operation 13 O operational overview 6 P parameter disk 9 part list 24 PDGPS 5 positioning 5 proper use of equipment 27 R re start 9 restrictions 21 RTG RMG specifications 26 S scope of supply 24 stack parameter 8 system components 19 systems function 4 T technical data 26 technologies 5 terminal program 10 U UPS 22 connection plan 22 status displays 23 S_G57630 A GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 30
12. PARAM re Update re Download ter Update ter Download Export ER OPTIONS Figure 7 Screenshot Firmware Parameter Options of the GPS Controller HG 61417 Selecting the function Parameter Update 3 sets the controller to the waiting func tion It will then wait for the transfer of a valid parameter file from a laptop Start the transmission of a text file from the terminal program on the laptop Now select the correct parameter file for the corresponding crane and controller from the param eter disk Once the update has been completed the parameter menu of the controller reappears on the display Now press J in order to return to the main menu The controller will then automatically start using these transferred parameters The detailed description of the controller software is included in the controller description available with this service manual GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 11 Trouble Shooting S_G57630 A 3 Trouble Shooting The PDGPS Vehicle Navigation System G 57650 is designed to independently operate after the initial start up only to be effected by specialized Goetting personnel without any intervention The system is so complex that only especially trained engineers are allowed to open it Its perfect operation highly depends on the correct operation of all other involved electrical equipment e g the crane control
13. Service Manual S_G57630 A DGPS Positioning of Gantry Cranes RTGs DGPS Positioning for Automatic Container Tracking S_G57630 A English Revision 01 Developed by M L T N T C Date 15 08 2001 Author RAD SIS A F G tting KG Celler Str 5 D 31275 Lehrte R6ddensen Germany Tel 49 0 51 36 80 96 0 Fax 49 0 51 36 80 96 80 eMail techdoc goetting de Internet www goetting de This manual is protected by copyright refer to 6 2 on page 27 GOTTING Contents S_G57630 A Contents Te EPO CWOM oi sece cece acesincoscsin ecciecan wees epbacietaarecadremeneeiien 4 1 1 SYSTEMS Function scxiccrascadertecpoctuactetaenestatesstesdeaneaaneaeeca uecsecetune 4 1 2 Employed Technologies PDGPS Positioning 0 0cee 5 1 3 Operational overview svecsscatennsatustratnanesincadsarntderinsercentiuaieaniaaits 6 1 3 1 Determining important values for the Crane sssssssserere 7 1 3 2 Determining important values for a StaCKk 0 0 eee eeseeeeeeeeeeeeeaes 8 27 Star Up airiran raiar Eirinen E 9 20 Mitial StartUp sisonu 9 2 2 3 ccs 8 eer ee er ern een eee eee ron renee er eer ree 9 3 Trouble Shooting ssssssseseeesesrrereerrssrrerrerrrnrrrsrrsreree 12 3 1 Maintenance sssssseesrseerssisereriernrrsrisrierneisrierisrirrininrinrsns 12 3 2 Function Tests ica doe cece elat eet cena acces decd ceadeatesatelcctecaseass 12 3 3 Normal Operation cisccisicactsscsiatciareiscsinicenernidemsimsn
14. ange HG 76100 Table 5 Radio Modem LEDs of the Mobile Station indicating malfunction GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 16 Trouble Shooting S_G57630 A 3 4 2 GPS Controller LED PWR O LD2 oo LD1 LD4 oo LD3 LED permanently on O LED off LED blinking X LED status of no interest for this issue Power Power supply failed If the power LEDs of the other modules are on the corresponding module is defective and has to be exchanged Status 2 bit 7 hardware error with GPS Receiver or Status 3 Bit 6 UTM zone does not comply with refer ence station Power supply is below lower limit There is a failure in the UPS This may have been caused by faulty accu mulators or a faulty charging unit Check the UPS fuses Measure the UPS voltage it must be at least 24 Volts Exchange the UPS if the voltage is too low If the low voltage occurs only in autonomous operation without line voltage the accumulators have to be exchanged Lock status is not 3D RTK Fix The GPS Receiver does not supply the highly accurate position signal If this status remains even after a re start of the GPS Receiver for more than 30 minutes check whether the other Mobile Stations too do not supply accurate positions Is this the case the problem is based on the current satellite constellation or there is a malfunction of the Reference Station or the correction data transmissi
15. as 20 to 65 C Update rate of position output with Sensor Fusion up to 20 Hz Power supply 130 V i or 240 VA Minimum 5 minutes start up time for self calibration essential Table 12 Basic technical data C 2 Minimum Requirements for a Laptop for configuring and monitoring the System The laptop has to be connectable to the serial interfaces of the system and has to be able to run a terminal program with ANSI terminal emulation Therefore almost every available laptop is suitable We recommend using a laptop with Microsoft Windows 95 or higher with the in cluded in Windows 9x NT terminal program HyperTerminal since this is the pro gram the G tting engineers use The laptop has to have a free serial interface In addition a serial cable Qpol Sub D is necessary for connecting the system C 3 RTG RMG Specifications e Sideways sway of less than 5 cm allowed in any other case is the use of a slope controller necessary D List of Abbreviations DGPS Differential GPS GPS Global Positioning System PDGPS Precision DGPS RTG Rubber Tired Gantry Crane UPS Uninterruptable Power Supply Table 13 Abbreviations GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 26 Notices S_G57630 A 6 Notices 6 1 Proper Use of Equipment The system S_G57630 A is used to determine the position of Rubber Tired Gantry Cranes RTGs A pure positional determination is carrie
16. cccccccceeeeetereeeetteeeeeesteeeeenees 7 Stack Parameters eesisrrriesirrrnsresrs strini tirn s eer N eE ANNEE ENAA ENEAS 8 Interfaces for the connection of laptops to the controller 10 Screenshot Main menu GPS Controller HG 61417 n e 10 Screenshot Firmware Parameter Options of the GPS Controller FAG I T yate2 chest estes cubs ectecenesdaw ayia E a 11 System components S_G57630 A 19 rack HG 94420 A 19 UPS supervision module HG 20330 ereere 22 Connection plan for the UPS supervision s 22 S_G57630 A GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 28 List of Tables 8 List of Tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Reference Station Radio Modem LEDs in normal operation 13 Mobile Station Radio Modem LEDs in normal operation 13 GPS Controller LEDs in normal operation 14 Radio Modem LEDs of the Reference Station in case of indicating a Matute a E EEEE E EE 15 Radio Modem LEDs of the Mobile Station indicating malfunction 16 GPS Controller LEDs indicating malfunction 0 0 cee 17 Serial interfaces in the 19 rack ccc ceeeeeeteeeeetteeeeestteeeenes 20 Connections used for connection with the vehicle 06 20 Interpretation of the status displays on the UPS 23 PREIS TGR cvsrceeccesat epacs nation E
17. d out The determined posi tion is made available to interconnected superordinate systems The installation technical maintenance and service is only allowed to be carried out by authorised trained personnel 6 2 Copyright This manual is protected by copyright All rights reserved Violations are subject to pe nal legislation of the Copyright 6 3 Exclusion of Liability Any information given is to be understood as system description only but is not to be taken as guaranteed features Any values are reference values The product charac teristics are only valid if the systems are used according to the description This instruction manual has been drawn up to the best of our knowledge Installation setup and operation of the device will be on the customer s own risk Liability for con sequential defects is excluded We reserve the right for changes encouraging techni cal improvements We also reserve the right to change the contents of this manual without having to give notice to any third party GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 27 List of Pictures 7 List of Pictures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 SKETCH DGPS reri rererere ea aE EREE Ahane ENERE REEE PER Ara 5 The elements of the System ssssssessssssrsrsssrsrirrrrrrrnrrrrrrrrnrnrrrrrrnn 6 Basic Operational Parameters 0 c
18. d via HF components for the transmission of the correction data e The GPS antenna has to be solidly fixed to either the main frame of the crane or the trolley Ideally on one of the bridge sides in the centre directly over the wheels e The base station should be set up as a redundant system because the availability of its correction data is a requirement for the functionability of the complete termi nal e The positional output data is available over RS 232 interface The position is given as a distance e g in mm from an original reference coordinate system It is pos sible to define up to 100 reference coordinate systems per terminal GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 21 The System in Detail S_G57630 A 4 3 UPS supervision HG 20330 in comb with UPS APU 24 2 The UPS supervision controls the function of the UPS and switches the system off after a set time when system is running on battery power UPS due to a power failure to avoid the batteries being completely discharged All conditions are indicated via LEDs see Table 9 on page 23 Furthermore there are two optically decoupled outputs avail able in order to trigger external events SW1 see text below 0000000000090 iens ng Ct incon LD3 green 2 e seine O LD2 yellow O ATTENTION LD1 red m5 Min See also Table 9 on page 23 Switch Off l
19. em It is also possible to check whether the controller is using the parameter values set for the respective RTG during the initial start up GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 12 Trouble Shooting S_G57630 A 3 3 Normal Operation 3 3 1 Radio Modem HG 76100 3 3 1 1 Reference Station In normal operation the Power LED is permanently on while the Tx LED of the HG 76100 slip in card blinks once per second The Rx LED is always off LED 12V red O POWER LED AKTIV yellow O LED RX green oo LED TX green LED permanently on O LED off LED blinking X LED status of no interest for this issue Power Modem in reception mode and waiting for data transmission Table 1 Reference Station Radio Modem LEDs in normal operation 3 3 1 2 Mobile Station In normal operation the Power LED is permanently on while the Rx LED of the HG 761 slip in card blinks once per second The Tx LED is always off LED 12V red O POWER LED AKTIV yellow O LED RX green oo LED TX green LED permanently on O LED off LED blinking X LED status of no interest for this issue Power Modem is in reception mode and waiting for data transmission Table 2 Mobile Station Radio Modem LEDs in normal operation GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 13 Trouble Shooting S_G57630 A 3 3 2 GPS Cont
20. he radio modem is defective gt exchange HG 76100 X HG 76100 is defective and has to be exchanged since it blocks the whole system The Reference Station does not transmit correction data Check the GPS Antenna and the GPS Antenna Cable Switch Reference Station off and then on again Make sure the accumulator is also disconnected and the UPS switched off in order to effect a reset of the receiver If after 10 minutes the Tx LED is still off it is necessary to check with the Sharpe CDU Program whether the Reference Station receives more than 4 satellites and is defined as Reference Station In case it is not possible to locate a defect first the GPS Receiver has to be exchanged by an other GPS Receiver also defined as Reference Sta tion In case 15 minutes later the malfunction is still there check the Radio Modem HG 76100 Check the RF Antenna and the correspond ing cables If the Rx LEDs of the other mobile units are blinking the distance between the Mobile Station and the Reference Station may be too far If the Tx LED of the Reference Station is not blinking it is necessary to check the Reference Station In case none of the above helped check whether the RTCM port of the GPS Receiver is correctly If the Rx LED is permanently on an other mobile participant or the Reference Station is permanently transmitting data or a jammer is interfering Eliminate the permanently jamming transmitter fe je je Modem control defective exch
21. i i l i l i ppratesmera geneena nma nenmenn Em a Trolley z i ote Container aE I GPS Anterina Position pos i H b l H i Spreader Offset Y F I H 61417 7 e a I i Se spreader See cca ea A ea ee Pe fe S i i 61417 7 Pa i F i i l A ee A i i l i i l Figure 3 Basic Operational Parameters Figure 3 shows the distances that the system needs to know in order to calculate us ing the GPS antenna on the Trolley the soreader s geometrical centre point GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 7 Introduction S_G57630 A 1 3 2 Determining important values for a stack When defining a Stack or route which a Crane should take the following values are important Stack N Rotation Position of the Stack No x Figure 4 Stack Parameters For every stack the following values have to be set the stacks inclination over the ge ographical North pole rotation P1 is the cranes starting point in this stack via East_min and East_max informs the crane of the stacks sideward expansion in relation to the position of the GPS antenna P2 is the end point of the crane The connection between P1 and P2 give the stacks direction GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 8 Start up S_G57630 A 2 Start up 2 1 Initial Start up ATTENTION Only specialized personnel of Goe
22. it on to the Crane Control unit PLC Connected to the rack are the GPS antenna and the radio antenna Apart from this a UPS is fitted to the system which can in the invent of a power failure provide enough power to keep the system operable for approx 75 min s Over output ports the data is transferred to the PLC During the initial set up all necessary parameters which the crane requires can with use of the software incorporated within the controller be incorporated into the system These highly explicit software menu s are described in more detail in the included Controller Manuals It is to be noted that any changes within the parameters can only be carried out by schooled personnel An overview of the relevant values for the cranes parameters or shown in Figure 3 on page 7 It is important to know that for service reasons it is possible to store all relevant values set during the initial set up onto a hard disk via a laptop they can then be re entered if necessary You can find more information over this subject in paragraph 2 2 Re Start on page 9 and C 2 Minimum Requirements for a Laptop for configuring and monitoring the System on page 26 S_G57630 A GOTTING eee English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 6 Introduction S_G57630 A 1 3 1 Determining important values for the Crane i I H sY i
23. itianssateincee 13 3 3 1 Radio Modem HG 76100 cesesseeeeseeeeeeteseeseeetteseeseteeeeees 13 3 3 1 1 Reference Station cccseseeeeseeesseteeeseeeeseeeseteeeseeeseeeeees 13 3 3 2 Mobile Station cece isiicccetbesiscescrovstanck naciana 13 3 3 2 GPS Controller HG 61417 occ cceeeneceeeteeeseestetetaeeeteetetaenaees 14 3 4 Identifying Malfunctions 0 eee eee eeeeeeeeeeeeeeeeeteeteeeteaeeaees 15 3 4 1 Radio Modem HG 761 ou eecccccceeeeceseeeetessesteeeseesneteeteneseeseeas 15 3 4 1 1 Reference Station eee cccsseecsseecseeetecseeesseeeseeeteseeesaeeeees 15 341 2 Mobile Station cece sciscececisccsitencreceeatevecsiessregsertveseseadeaisraenteoences 16 3 4 2 GPS Controller oo tacotapei seni aria na os aaia EI iaa 17 3 5 Exchanging Spare Parts 18 4 ThE System in Detail ccncrsnrsssctsenrancarsnaneevenencannonneneleunneacwes 19 Ali System COMponents sses 19 AAA Serial Interfaces siirre 19 4 1 2 Connection Plan iict sashes nails irvina 20 4 2 Availability and Restrictions 0 0 0 0 eceeeeeeeeeeseeeeeeeeeteeeeeeees 21 4 3 UPS supervision HG 20330 in comb with UPS APU 24 2 22 43 1 Connection plan iarsin 22 4 3 2 Status display iasishitntunisnniinnranmtmanavamatsaenteninnt 23 5 AppendiX snivat eat ee Sm 24 English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 GOTTING 2 Contents S_G57630 A A SCOPE of Supply Part List cits cnssedstatevicicaceinieseconesibscactiaeseinteaceantonias 24 B Cable
24. on Check whether the Reference Sta tion is transmitting correction data Also refer to the sta tus description for the Radio Modem HG 76100 Via the monitor interface of the GPS Controller HG 61417 it is possible to check on the current satellite constellation Also refer to the System Description of the GPS Con troller HG 61417 LEDs 1 3 and 4 blinking at 0 5 Hz on for one second 1s 1s off for one second 1sO 1sO The communication with the GPS Receiver failed The GPS Receiver is probably defective and has to be exchanged Table 6 GPS Controller LEDs indicating malfunction GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 17 Trouble Shooting S_G57630 A 3 5 Exchanging Spare Parts If one of the modules of System G 57650 should be defective it can only be ex changed completely For example exchange the Radio Modem HG 76100 as follows 1 Disconnect the System Rack HG 94420 A from power 2 Unscrew the four screws on the front panel of the Radio Modem since they are secured it is not possible to remove them completely 3 Use the handle on the front panel to remove pull the Radio Modem from the system rack 4 Insert the spare part Radio Modem in the guide rail of the system rack and push the card in until it is correctly latched Only then the contacts will be correctly connected 5 Use the four screws to rescrew the front panel of the Radio Modem to
25. or is also disconnected and the UPS switched off in order to effect a reset of the receiver If after 10 minutes the Tx LED is still off it is neces sary to check with the Sharpe CDU Program whether the Reference Station receives more than 4 satellites and is defined as Reference Station In case it is not possible to locate a defect first the GPS Receiver has to be exchanged by an other GPS Receiver also defined as Reference Station In case 15 minutes later the malfunc tion is still there exchange the Radio Modem HG 76100 In case this neither clears the fault check whether the RTCM Port of the GPS Receiver is correctly configured This indicates a defect Radio Modem in a Mobile Station or an exter nal jammer It is also possible that the Rx LEDs of all mobile Radio Modems are on Exchange the mobile Radio Modem with the Tx LED permanently on or eliminate the external jammer fe je je Modem control defective exchange HG 76100 Table 4 Radio Modem LEDs of the Reference Station in case of indicating a malfunction GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 15 Trouble Shooting S_G57630 A 3 4 1 2 Mobile Station LED 12V red O POWER LED AKTIV yellow O LED RX green oo LED TX green LED permanently on O LED off LED blinking X LED status of no interest for this issue Power Check power supply if the Power LEDs of the other components are of t
26. pment and under certain area conditions it is possible to achieve a geographic position with an accuracy of up to 3 cm Container Tracking The temporary storage of containers by use of visual means with manual confirmation leads to an error rate in the storage handling which disrupts the efficient turn over time of the container ships Therefore it is better to use GPS to control the positioning and documentation of containers within the container port environment It has been possible for years for Rubber Tired Gantry Cranes RTG working on con tainer transport within a seaport to communicate with the controlling container man agement system via a data Radio Transceiver when it picks up or sets down a container at a predesignated position within the container yard This takes some of the load off of the driver as well as reduce the error rate which a complicated and time exhaustive container search entails GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 4 Introduction S _G57630 A 1 2 Employed Technologies PDGPS Positioning GPS offers every one the chance to find out their Geographical position by use of a special GPS receiver To do this the signals from the GPS satellites are decoded For normal civilian uses only a signal that gives an accuracy of approx 10 mis available GPS Satellites min 4 at same time Figure 1 Sketch DGPS This accuracy is not enough for the
27. roller HG 61417 The GPS Controller HG 61417 is only part of the Mobile Station LED Power permanently on LED 4 blinking at 10 Hz During the power up period first LED 1 LED 3 and LED 2 LED 4 are blinking during the ROM test and then LED 1 LED 2 and LED 3 LED 4 are blinking during the All other LEDs are off LED PWR O LD2 oo LD1 LD4 oo LD3 LED permanently on O LED off LED blinking X LED status of no interest for this issue Standard normal positioning mode ROM test blinking at RAM test blinking at Intel hex file being received blinking at Table 3 GPS Controller LEDs in normal operation GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 14 Trouble Shooting S_G57630 A 3 4 Identifying Malfunctions 3 4 1 Radio Modem HG 761 3 4 1 1 Reference Station LED 12V red O POWER LED AKTIV yellow O LED RX green oo LED TX green LED permanently on O LED off LED blinking X LED status of no interest for this issue Power KAE EE ee check power supply or exchange HG 76100 Indication for malfunction of Radio Modem It may happen that the Rx LEDs of the mobile Radio Modems are also permanently on Exchange HG 76100 Reference Station does not transmit correction data Check GPS Receiver GPS Antenna and corresponding Antenna Cable Switch the Reference Station off and then on again Make sure the accumulat
28. tting is allowed to do the initial start up of the system The parameters of every crane are saved on disk after the commissioning NOTE These disks have to be archived by the yard operator for possi D ble re starts 2 2 Re Start For a re start it is assumed that all system components have been installed and con nected by qualified personnel Since all system parameters are permanently stored within the system the system will be fully operationable after a power breakdown and re connection to power supply however the re start will take a few minutes since the system has be re initialized In case it is necessary to exchange the controller all other components are pre con figured and will be delivered in the same pre configured manner it is simply neces sary to download the parameters set during the initial start up which are stored on a disk Use the corresponding parameter disk for the crane which was produced during the initial start up s a ATTENTION Make sure you only use the suitable parameter disk for each A crane since there may be differences in parameter settings between the different cranes GOTTING English Revision 01 Date 15 08 2001 protected by copyright refer to 6 2 on page 27 9 Start up S_G57630 A Interface for connecting ONITOR a laptop to the haa GPS Controller HG 61417 DO Not used SS DATA OUT MONITOR FUSION 18 319 3201321 322
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