Parameter 1. Faults and alarms 2 SIMOCRANE. Truck Positioning System (TPS) Parameter Manual. applies to SIMOCRANE TPS Version 1.1

Transcription

1 1 Faults and alarms 2 SIMOCRANE Parameter Manual applies to SIMOCRANE TPS Version /2012

2 Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken. CAUTION without a safety alert symbol, indicates that property damage can result if proper precautions are not taken. NOTICE indicates that an unintended result or situation can occur if the relevant information is not taken into account. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: Trademarks WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. All names identified by are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Industry Sector Postfach NÜRNBERG GERMANY P 02/2012 Technical data subject to change Copyright Siemens AG All rights reserved

3 Table of contents 1 Parameter Overview of parameters Faults and alarms Overview of faults and alarms List of faults and alarms...76 Parameter Manual, 03/2012, 3

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5 1 1.1 Overview of parameters The structure of a parameter description is described below. p1234[0...1] Value: Index: Dependency: Name of the parameter Group to which this parameter belongs Min Max Factory setting smallest permissible value Description of function and properties of this parameter Predefined selection of assignable values, including brief descriptions textual description of index [0] textual description of index [1] Reference to further parameters relevant here Text of a note Specification of the data type Specification of the physical unit biggest permissible value value preset at factory The table below contains all the information that can be included in a parameter description. Parameter number ("p1234[0...1]") The parameter number is a simple and unambiguous way of identifying a parameter. It consists of a preceding letter ("p" or "r"), a numerical portion, and possibly a following index (for example "[0...5]"). Examples Here are some examples of how the number is represented in the parameter list: p... Adjustable parameters (read and write) r... Display parameters (read only) p323[0...5] Adjustable parameters p323, indices 0 to 5 Parameter Manual, 03/2012, 5

6 SIMOCRANE TPS r0 Current time runtime software Data type: String Unit: - P-Group: Global Current system time TPS Runtime Windows operating system time r1[0...1] Current state of the finite-state machine for the working unit ID[n] Data type: String Unit: - P-Group: Function_Positioning_Working_unit_[n] Actual step of the TPS system for working unit ID[n] Index: [0]: Working unit 0 [1]: Working unit 1 r3 r200 r201 Current state of the main finite-state machine Data type: String Unit: - P-Group: Global Current state of the TPS runtime state machine OPC in selected sensor mode Data type: String Unit: - P-Group: Global OPC input data, Selected sensor mode finished by crane controller OPC out active sensor mode Data type: String Unit: - P-Group: Global OPC output data, selected sensor mode feedback for sensor controller 6 Parameter Manual, 03/2012,

7 r202 Value: r203 Value: Dependency: r204 Value: Dependency: r205 Value: r206 OPC in crane on Data type: Bool Unit: - P-Group: Global OPC input data, Bit from crane controller "crane on" 0: Crane is switched off 1: Crane is switched on OPC in selected lane number waterside Data type: Int16 Unit: - P-Group: Function_Positioning Selection lane for working unit waterside -1: No Lane selected.. nr: Lane <nr> selected Refer to: r204 OPC in selected lane number landside Data type: Int16 Unit: - P-Group: Function_Positioning Selection lane for working unit landside -1: No lane selected.. nr: Lane <nr> selected Refer to: r203 OPC in truck driving direction from left Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, selecting truck driving direction true: left false: right OPC in actual hoist position Data type: Float Unit: cm P-Group: Function_Positioning OPC input data, actual hoist position Parameter Manual, 03/2012, 7

8 r207 r210 r211 Dependency: r212 Dependency: r213 r214 Dependency: OPC in actual trolley position Data type: Float Unit: cm P-Group: Function_Positioning OPC input data, actual trolley position OPC in spreader size waterside Data type: String Unit: ft P-Group: Function_Positioning OPC input data, actual spreader size OPC in spreader locked waterside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, waterside spreader is locked on container Refer to: r212 OPC in spreader unlocked waterside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, waterside spreader is unlocked from container Refer to: r211 OPC in spreader landed waterside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, waterside spreader is landed on container OPC in spreader twin waterside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, waterside spreader is set on 2x20ft mode Refer to: r215 8 Parameter Manual, 03/2012,

9 r215 Dependency: r216 OPC in spreader single waterside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, waterside spreader is set on single container mode Refer to: r214 Spreader over lane waterside Data type: Int16 Unit: - P-Group: Function_Positioning Lane number covered by waterside spreader This parameter can be used to check the lane settings. Move the trolley slowly and compare the lane information with the actual trolley position. Value -1 means: lane not detected r220 r221 Dependency: r222 Dependency: r223 OPC in spreader size landside Data type: String Unit: ft P-Group: Function_Positioning OPC input data, actual spreader size landside spreader OPC in spreader locked landside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, landside spreader is locked on container Refer to: r222 OPC in spreader unlocked landside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, landside spreader is unlocked from container Refer to: r221 OPC in spreader landed landside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, landside spreader on is landed on container Parameter Manual, 03/2012, 9

10 r224 Dependency: r225 Dependency: r226 OPC in spreader twin landside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, landside spreader on is set on 2x20ft mode Refer to: r225 OPC in spreader single landside Data type: Bool Unit: - P-Group: Function_Positioning OPC input data, landside spreader is set on single container mode Refer to: r224 Spreader over lane landside Data type: Int16 Unit: - P-Group: Function_Positioning Lane number covered by landside spreader This parameter can be used for check the lane settings. Move the trolley slowly and compare the lane information with the actual trolley position. Value -1 means: lane not detected r230[0...1] Working unit ID[n] trailer ID Data type: Int16 Unit: - P-Group: Function_Positioning_Working_unit_[n] Working unit ID[n], vehicle ID number of the detected trailer Index: [0]: Working unit 0 [1]: Working unit 1 r231[0...1] Working unit ID[n] truck ID Data type: Int16 Unit: - P-Group: Function_Positioning_Working_unit_[n] Working unit ID[n], vehicle ID number of the detected truck Index: [0]: Working unit 0 [1]: Working unit 1 10 Parameter Manual, 03/2012,

11 r232[0...1] Working unit ID[n] vehicle positioning valid Data type: Bool Unit: - P-Group: Function_Positioning_Working_unit_[n] Position data in working unit ID[n] are valid Value: true: valid false: invalid Index: [0]: Working unit 0 [1]: Working unit 1 Dependency: Refer to: r233 It is not allowed to use the value r233[n] if this flag is invalid. This can lead to wrong positions. r233[0...1] Working unit ID[n] vehicle positioning distance X Data type: Float Unit: cm P-Group: Function_Positioning_Working_unit_[n] Working unit ID[n], remaining distance to the vehicle target position Index: [0]: Working unit 0 [1]: Working unit 1 Dependency: Refer to: r232 It is not allowed to use this value if this flag r232[n] is invalid. This can lead to wrong positions. r234[0...1] Working unit ID[n] waterside cold restart success Data type: Bool Unit: - P-Group: Function_Positioning_Working_unit_[n] Signal from sensor controller; Cold Restart mode is finished succesfully in working unit ID[n] Index: [0]: Working unit 0 [1]: Working unit 1 After Cold Restart the position values are saved in the sensor controller. r235[0...1] Working unit ID[n] landside cold restart success Data type: Bool Unit: - P-Group: Function_Positioning_Working_unit_[n] Signal from sensor controller; Cold Restart mode is finished succesfully in working unit ID[n] Index: [0]: Working unit 0 [1]: Working unit 1 After Cold Restart the position values are saved in the sensor controller. Parameter Manual, 03/2012, 11

12 r236[0...1] Working unit ID[n] waterside cold restart failure Data type: Bool Unit: - P-Group: Function_Positioning_Working_unit_[n] Signal from sensor controller; Cold Restart is finished with failure in working unit ID[n] Index: [0]: Working unit 0 [1]: Working unit 1 After Cold Restart failure the position values are not saved in the sensor controller. r237[0...1] Working unit ID[n] landside cold restart failure Data type: Bool Unit: - P-Group: Function_Positioning_Working_unit_[n] Signal from sensor controller; Cold Restart is finished with failure in working unit ID[n] Index: [0]: Working unit 0 [1]: Working unit 1 After Cold Restart failure the position values are not saved in the sensor controller. p253 OPC connection hostname Data type: String Unit: - P-Group: Configuration_OPC-Server - - localhost Host name of the OPC server This parameter is required See setting of SIMATIC NET project on the sensor controller. p254 p255 Value: OPC connection server name Data type: String Unit: - P-Group: Configuration_OPC-Server - - OPC.SimaticNET Servername OPC server This parameter is required. See setting of SIMATIC NET project on the sensor controller OPC connection read data enable Data type: Bool Unit: - P-Group: Configuration_OPC-Server - - true Enable readable data on the OPC server true: enabled false: disabled Enable this parameter always before releasing the system for real operation. 12 Parameter Manual, 03/2012,

13 p256 Value: p257 Value: p258 p259 Value: p260 Value: OPC connection write data enable Data type: Bool Unit: - P-Group: Configuration_OPC-Server - - true Enable writeable data on the OPC server. true: enabled false: disabled Enable this parameter always before releasing the system for real operation. OPC connection test enable Data type: Bool Unit: - P-Group: Configuration_OPC-Server Enable test mode for testing OPC connection. true: enabled false: disabled Disable this parameter always before releasing the system for real operation. OPC connection test number of variables Data type: Int16 Unit: - P-Group: Configuration_OPC-Server Number of variables for testing OPC connection OPC connection ignore off modus Data type: Bool Unit: - P-Group: Configuration_OPC-Server Off modus received by the OPC connection will be ignored. true: enabled false: disabled OPC connection enable error reporting Data type: Bool Unit: - P-Group: Configuration_OPC-Server - - true Enable OPC reporting true: enable false: disable Parameter Manual, 03/2012, 13

14 p261 Value: OPC connection type Data type: UInt16 Unit: - P-Group: Configuration_OPC-Server - - External Type of connection to OPC server Internal External p1100[0...1] Laser scanner ID[n] enable Data type: Bool Unit: - P-Group: Sensoric_Sensor_0_Laser_[n] - - true Laser scanner ID[n] is enabled for use Value: true: enabled false: disabled Index: [0]: Laser scanner 0 [1]: Laser scanner 1 p1102[0...1] Laser scanner ID[n] interface Data type: UInt16 Unit: - P-Group: Sensoric_Sensor_0_Laser_[n] Com1 Com6 Com3 Assigned interface for laser scanner ID[n] Value: Com1 Com2 Com3 Com4 Com5 Com6 Socket1 Socket2 Socket3 Socket4 Index: [0]: Laser scanner 0 [1]: Laser scanner 0 p1103[0...1] Laser scanner ID[n] type Data type: UInt16 Unit: - P-Group: Sensoric_Sensor_0_Laser_[n] 0 1 SickLMS Definition of the connected laser type with laser scanner ID[n] Value: SickLMS Replay Index: [0]: Laser scanner 0 [1]: Laser scanner 1 14 Parameter Manual, 03/2012,

15 p1148[0...1] Laser scanner ID[n] firmware version Data type: String Unit: - P-Group: Sensoric_Sensor_0_Laser_[n] - - X01.46 Hardware laser scanner ID[n] firmware version Value: X01.xx Index: [0]: Laser scanner 0 [1]: Laser scanner 1 Read firmware version from type plate of the laser. TPS supports only the SICK LMS 2xx, outdoor Version. -X01.27 upwards -X01.46 p1160[0...1] Laser scanner ID[n] to motor ID Data type: Int32 Unit: - P-Group: Sensoric_Sensor_[n] ID number of the servo motor which is moving laser scanner ID[n] Value: 0: Servo motor 0 is mapped to laser scanner ID[n] 1: Servo motor 1 is mapped to laser scanner ID[n] Index: [0]: Laser scanner 0 [1]: Lase rscanner 1 p1208[1...5] p1210[1...5] p1211[1...5] Serial interface COM[n] enable Data type: Bool Unit: - P-Group: Configuration_Serial_interface_COM[n] Serial interface COM[n] enable (RS422) Serial interface COM[n] baud rate Data type: UInt32 Unit: Baud P-Group: Configuration_Serial_interface_COM[n] Data transfer rate for serial interface COM[n] (RS422) Serial interface COM[n] number of bits Data type: UInt16 Unit: Bit P-Group: Configuration_Serial_interface_COM[n] Number of data bits for serial interface COM[n] (RS422) Parameter Manual, 03/2012, 15

16 p1212[1...5] p1213[1...5] p1214[1...5] Serial interface COM[n] parity Data type: UInt16 Unit: - P-Group: Configuration_Serial_interface_COM[n] - - No Parity setting for serial interface COM[n] (RS422) Serial interface COM[n] stop bits Data type: UInt16 Unit: Bit P-Group: Configuration_Serial_interface_COM[n] Setting stop bits for serial inteface COM[n] (RS422) Serial interface COM[n] baud factor Data type: Float Unit: - P-Group: Configuration_Serial_interface_COM[n] Setting baudfactor for serial interface COM[n] (RS422) r1300[0...1] Servo motor ID[n] position Data type: Float Unit: º P-Group: Sensoric_Sensor_0_Servo_[n] Actual angle of servo motor ID[n] Index: [0]: Servo motor 0 [1]: Servo motor 1 r1301[0...1] Servo motor ID[n] state Data type: String Unit: - P-Group: Sensoric_Sensor_0_Servo_[n] Actual state of servo motor ID[n] Index: [0]: Servo motor 0 [1]: Servo motor 1 p1330[0...1] Value: Index: Servo motor ID[n] enable Data type: Bool Unit: - P-Group: Sensoric_Sensor_0_Servo_[n] - - true Servo motor ID[n] is enabled for use true: enabled false: disabled [0]: Hardware servo motor 0 enable [1]: Hardware servo motor 1 enable 16 Parameter Manual, 03/2012,

17 p1331[0...1] Value: Index: Servo motor ID[n] CAN channel ID Data type: UInt16 Unit: - P-Group: Sensoric_Sensor_0_Servo_[n] - - CanCh0 CAN bus channel ID for servo motor ID[n] Can0 Can1 Can2 Can3 [0]: Hardware servo motor 0 CAN channel ID [1]: Hardware servo motor 1 CAN channel ID p1332[0...1] Servo motor ID[n] module ID Data type: Int32 Unit: - P-Group: Sensoric_Sensor_0_Servo_[n] CAN module ID of servo motor ID[n] Value: 16 (recommended for Servo motor 0) 17 (recommended for Servo motor 1) Index: [0]: Servo motor 0 [1]: Servo motor 1 The "Module ID" specifies the node number of the motor on the bus (see also label on the 3D sensor). p1333[0...1] Servo motor ID[n] type Data type: UInt16 Unit: - P-Group: Sensoric_Sensor_0_Servo_[n] - - SchunkV53 Type of servo motor ID[n] Value: Void (not to be used) Replay (not to be used) SchunkV46 SchunkV53 Index: [0]: Servo motor 0 [1]: Servo motor 1 Compare the selected type of motor with the installed servo in your 3D sensor. Wrong selection of the motor type will cause communication failures. The servomotor is not able to communicate with the TPS Runtime. p1334[0...1] Servo motor ID[n] name Data type: String Unit: - P-Group: Sensoric_Sensor_0_Servo_[n] - - Servo 0 Unique name of the servo motor ID[n] Index: [0]: Servo motor 0 [1]: Servo motor 1 Parameter Manual, 03/2012, 17

18 p1400[0...3] Value: Index: p1410[0...1] Value: Index: Mapping CAN channel ID[n] to CAN device channel Data type: UInt16 Unit: - P-Group: Sensoric - - EsdCanCh0 Mapping CAN channel [n] to device channel Idle EsdCANCh0 EsdCANCh1 EsdCANCh2 EsdCANCh3 [0]: Mapping CAN channel 0 to device channel [1]: Mapping CAN channel 1 to device channel [2]: Mapping CAN channel 2 to device channel [3]: Mapping CAN channel 3 to device channel ESD CAN device ID[n] enable Data type: Bool Unit: - P-Group: Configuration_CAN_inteface_CAN[n] - - true Enable CAN device ID[n] True: enabled False: disabled [0]: ESD CAN device 0 enable [1]: ESD CAN device 1 enable p1411[0...1] ESD CAN device ID[n] netid Data type: UInt16 Unit: - P-Group: Configuration_CAN_inteface_CAN[n] ESD CAN device ID[n] netid Value: Index: [0]: ESD CAN device 0 netid [1]: ESD CAN device 1 netid p1412[0...1] ESD CAN device ID[n] baud rate Data type: UInt32 Unit: Baud P-Group: Configuration_CAN_inteface_CAN[n] Baudrate CAN device ID[n] Value: Index: [0]: ESD CAN device 0 baudrate [1]: ESD CAN device 1 baudrate Measured value transfer in real-time: 250 KBd Maximum cable length: 270 m 18 Parameter Manual, 03/2012,

19 p1420[0...3] Value: Index: p1480[0...3] Value: Index: r1515 p2000 Dependency: ESD CAN device channel ID[n] enable Data type: Bool Unit: - P-Group: No Group - - true Enable CAN[n] interface True: enabled False: disabled [0]: ESD CAN channel 0 enable [1]: ESD CAN channel 1 enable [2]: ESD CAN channel 2 enable [3]: ESD CAN channel 3 enable Mapping ESD CAN device channel ID[n] to ESD CAN device Data type: UInt16 Unit: - P-Group: No Group - - EsdCanDev0 Mapping ESD CAN channel [n] to ESD CAN device name EsdCanDev0 EsdCanDev1 [0]: Mapping ESD CAN channel 0 to ESD CAN device name [1]: Mapping ESD CAN channel 1 to ESD CAN device name [2]: Mapping ESD CAN channel 2 to ESD CAN device name [3]: Mapping ESD CAN channel 3 to ESD CAN device name Control panel priority active Data type: Bool Unit: - P-Group: Global Control panel overwrites OPC control bits With the control panel you are able to give the control of TPS to TPS START. Mounting position (4x4) matrix sensor ID[n] h00 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] Parameter Manual, 03/2012, 19

20 p2001 Dependency: Mounting position (4x4) matrix sensor ID[n] h01 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2002 Dependency: Mounting position (4x4) matrix sensor ID[n] h02 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2003 Dependency: Mounting position (4x4) matrix sensor ID[n] h03 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] 20 Parameter Manual, 03/2012,

21 p2004 Dependency: Mounting position (4x4) matrix sensor ID[n] h04 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2005 Dependency: Mounting position (4x4) matrix sensor ID[n] h05 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2006 Dependency: Mounting position (4x4) matrix sensor ID[n] h06 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] Parameter Manual, 03/2012, 21

22 p2007 Dependency: Mounting position (4x4) matrix sensor ID[n] h07 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2008 Dependency: Mounting position (4x4) matrix sensor ID[n] h08 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2009 Dependency: Mounting position (4x4) matrix sensor ID[n] h09 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] 22 Parameter Manual, 03/2012,

23 p2010 Dependency: Mounting position (4x4) matrix sensor ID[n] h10 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2011 Dependency: Mounting position (4x4) matrix sensor ID[n] h11 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2012 Dependency: Mounting position (4x4) matrix sensor ID[n] h12 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] Parameter Manual, 03/2012, 23

24 p2013 Dependency: Mounting position (4x4) matrix sensor ID[n] h13 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2014 Dependency: Mounting position (4x4) matrix sensor ID[n] h14 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2015 Dependency: Mounting position (4x4) matrix sensor ID[n] h15 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2000..P2015 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] 24 Parameter Manual, 03/2012,

25 p2016 Dependency: Mounting position (4x4) matrix sensor ID[n] h00 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2017 Dependency: Mounting position (4x4) matrix sensor ID[n] h01 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2018 Dependency: Mounting position (4x4) matrix sensor ID[n] h02 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] Parameter Manual, 03/2012, 25

26 p2019 Dependency: Mounting position (4x4) matrix sensor ID[n] h03 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2020 Dependency: Mounting position (4x4) matrix sensor ID[n] h04 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2021 Dependency: Mounting position (4x4) matrix sensor ID[n] h05 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] 26 Parameter Manual, 03/2012,

27 p2022 Dependency: Mounting position (4x4) matrix sensor ID[n] h06 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2023 Dependency: Mounting position (4x4) matrix sensor ID[n] h07 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2024 Dependency: Mounting position (4x4) matrix sensor ID[n] h08 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] Parameter Manual, 03/2012, 27

28 p2025 Dependency: Mounting position (4x4) matrix sensor ID[n] h09 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2026 Dependency: Mounting position (4x4) matrix sensor ID[n] h10 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2027 Dependency: Mounting position (4x4) matrix sensor ID[n] h11 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] 28 Parameter Manual, 03/2012,

29 p2028 Dependency: Mounting position (4x4) matrix sensor ID[n] h12 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2029 Dependency: Mounting position (4x4) matrix sensor ID[n] h13 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2030 Dependency: Mounting position (4x4) matrix sensor ID[n] h14 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] Parameter Manual, 03/2012, 29

30 p2031 Dependency: Mounting position (4x4) matrix sensor ID[n] h15 Data type: Double Unit: - P-Group: Calibration This parameter describes the montage position 4x4 matrix for 3D sensor [n]. P2016..P2031 Value is calculated during automatic calibration procedure Matrix for montage position: [h00,h01,h01,h03] [h04,h05,h06,h07] [h08,h09,h10,h11] [h12,h13,h14,h15] p2040[0...1] 3D Sensor ID[n] ident calibration enable Data type: Bool Unit: - P-Group: Calibration Enable ident crane calibration procedure for calibration 3D sensor ID[n] Value: True: enabled False: disabled Index: [0]: 3D sensor 0 [1]: 3D sensor 1 p2100[0...1] 3D Sensor ID[n] STS calibration enable Data type: Bool Unit: - P-Group: Calibration_STS - - true Enable STS crane calibration procedure for calibration 3D sensor ID[n] Value: True: enabled False: disabled Index: [0]: 3D sensor 0 [1]: 3D sensor 1 r2110[0...1] 3D sensor ID[n] mounting angle Data type: Float Unit: º P-Group: Calibration Calculated mouting angle of laser scanner ID[n] Index: [0]: Laser scanner 0 [1]: Laser scanner 1 30 Parameter Manual, 03/2012,

31 p3100[0...4] Port truck model [n] enable Data type: Bool Unit: - P-Group: Vehicles_Truck_[n] - - true Truck model enabled for positioning Value: True: enabled False: disabled Index: [0]: Truck model 0 [1]: Truck model 1 [2]: Truck model 2 [3]: Truck model 3 [4]: Truck model 4 p3101[0...4] Port truck model [n] name Data type: String Unit: - P-Group: Vehicles_Truck_[n] - - Truck_0 Unique truck model name Index: [0]: Truck model 0 [1]: Truck model 1 [2]: Truck model 2 [3]: Truck model 3 [4]: Truck model 4 p3102[0...4] Port truck model [n] cabin front X position P-Group: Vehicles_Truck_[n] The parameter defines the length of the roof of the driver's cabin, measured from the rear panel in the direction of travel. Index: [0]: Truck model 0 [1]: Truck model 1 [2]: Truck model 2 [3]: Truck model 3 [4]: Truck model 4 Dependency: Refer to: p3103 Value is usually positive (+) p3103[0...4] Port truck model [n] cabin rear (back) X position P-Group: Vehicles_Truck_[n] This parameter defines the origin of the coordinate system of the truck. Index: [0]: Truck model 0 [1]: Truck model 1 [2]: Truck model 2 [3]: Truck model 3 [4]: Truck model 4 Value must be zero "0" defined as reference point of the truck Parameter Manual, 03/2012, 31

32 p3104[0...4] Port truck model [n] locking pin X position P-Group: Vehicles_Truck_[n] The parameter defines the distance between the locking pin (coupling between truck and trailer) and the top of the cabin rear panel. Index: [0]: Truck model 0 [1]: Truck model 1 [2]: Truck model 2 [3]: Truck model 3 [4]: Truck model 4 Value is usually negative (-) p3105[0...4] Port truck model [n] cabin starboard Y position P-Group: Vehicles_Truck_[n] Position measured from truck center line to right end of the cabin roof. Index: [0]: Truck model 0 [1]: Truck model 1 [2]: Truck model 2 [3]: Truck model 3 [4]: Truck model 4 Dependency: Refer to: p3106 Value is usually negative (-) The overall width of the driver's cab is defined by two parameters: p3105[n] and p3106[n]. p3106[0...4] Port truck model [n] cabin portside Y position P-Group: Vehicles_Truck_[n] Position measured from truck center line to left end of the cabin roof. Index: [0]: Truck model 0 [1]: Truck model 1 [2]: Truck model 2 [3]: Truck model 3 [4]: Truck model 4 Dependency: Refer to: p3105 Value is usually positive (+) The overall width of the driver's cab is defined by two parameters: p3105[n] and p3106[n]. 32 Parameter Manual, 03/2012,

33 p3107[0...4] Port truck model [n] cabin top Z position P-Group: Vehicles_Truck_[n] Position measured from bottom line (road) to truck cabin roof edge. Index: [0]: Truck model 0 [1]: Truck model 1 [2]: Truck model 2 [3]: Truck model 3 [4]: Truck model 4 Value is usually positive (+) p3200[0...8] Port container trailer model [n] enable for positioning Data type: Bool Unit: true Trailer model enabled for positioning Value: True: enabled False: disabled p3201[0...8] Port container trailer model [n] name Data type: String Unit: Trailer_0 Unique trailer name Parameter Manual, 03/2012, 33

34 p3202[0...8] Port container trailer model [n] front X position Position measured from the locking pin to the front edge of the trailer Value is usually positive (+) p3203[0...8] Port container trailer model [n] back X position Position measured from the locking pin to the rear edge of the trailer Value is always negative (-) p3204[0...8] Port container trailer model [n] trailer width Width of the trailer measured from side to side Value is always positive (+) 34 Parameter Manual, 03/2012,

35 p3205[0...8] Port container trailer model [n] load floor height Z Height of the trailer measured from the bottom line (road). Value is always positive (+) p3210[0...8] Port container trailer model [n] sidebar 00 X front position Trailer side bar start position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3211[0...8] Port container trailer model [n] sidebar 00 X rear (back) position Trailer side bar end position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). Parameter Manual, 03/2012, 35

36 p3212[0...8] Port container trailer model [n] sidebar 01 X front position Trailer side bar start position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3213[0...8] Port container trailer model [n] sidebar 01 X rear (back) position Trailer side bar end position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3214[0...8] Port container trailer model [n] sidebar 02 X front position Trailer side bar start position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). 36 Parameter Manual, 03/2012,

37 p3215[0...8] Port container trailer model [n] sidebar 02 X rear (back) position Trailer side bar end position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3216[0...8] Port container trailer model [n] sidebar 03 X front position Trailer side bar start position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3217[0...8] Port container trailer model [n] sidebar 03 X rear (back) position Trailer side bar end position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). Parameter Manual, 03/2012, 37

38 p3218[0...8] Port container trailer model [n] sidebar 04 X front position Trailer side bar start position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3219[0...8] Port container trailer model [n] sidebar 04 X rear (back) position Trailer side bar end position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3220[0...8] Port container trailer model [n] sidebar 05 X front position Trailer side bar start position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). 38 Parameter Manual, 03/2012,

39 p3221[0...8] Port container trailer model [n] sidebar 05 X rear (back) position Trailer side bar end position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3222[0...8] Port container trailer model [n] sidebar 06 X front position Trailer side bar start position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3223[0...8] Port container trailer model [n] sidebar 06 X rear (back) position Trailer side bar end position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). Parameter Manual, 03/2012, 39

40 p3224[0...8] Port container trailer model [n] sidebar 07 X front position Trailer side bar start position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3225[0...8] Port container trailer model [n] sidebar 07 X rear (back) position Trailer side bar end position measured from the X zero line (locking pin) The sidebars are described by two parameters each. A total of eight sidebars can be described (0 to 7). p3230[0...8] Port container trailer model [n] plate 00 X front position Trailer plate start position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. 40 Parameter Manual, 03/2012,

41 p3231[0...8] Port container trailer model [n] plate 00 X rear (back) position Trailer plate end position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3232[0...8] Port container trailer model [n] plate 01 X front position Trailer plate start position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3233[0...8] Port container trailer model [n] plate 01 X rear (back) position Trailer plate end position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. Parameter Manual, 03/2012, 41

42 p3234[0...8] Port container trailer model [n] plate 02 X front position Trailer plate start position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3235[0...8] Port container trailer model [n] plate 02 X rear (back) position Trailer plate end position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3236[0...8] Port container trailer model [n] plate 03 X front position Trailer plate start position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. 42 Parameter Manual, 03/2012,

43 p3237[0...8] Port container trailer model [n] plate 03 X rear (back) position Trailer plate end position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3238[0...8] Port container trailer model [n] plate 04 X front position Trailer plate start position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3239[0...8] Port container trailer model [n] plate 04 X rear (back) position Trailer plate end position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. Parameter Manual, 03/2012, 43

44 p3240[0...8] Port container trailer model [n] plate 05 X front position Trailer plate start position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3241[0...8] Port container trailer model [n] plate 05 X rear (back) position Trailer plate end position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3242[0...8] Port container trailer model [n] plate 06 X front position Trailer plate start position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. 44 Parameter Manual, 03/2012,

45 p3243[0...8] Port container trailer model [n] plate 06 X rear (back) position Trailer plate end position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3244[0...8] Port container trailer model [n] plate 07 X front position Trailer plate start position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. p3245[0...8] Port container trailer model [n] plate 07 X rear (back) position Trailer plate end position measured from the X zero line (locking pin) Continuous plates are described by two parameters each. A total of 8 plates can be described. Parameter Manual, 03/2012, 45

46 p3250[0...8] Port container trailer model [n] main bar 00 Y position Trailer main bar Y position measured from the Y zero line (locking pin) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3251[0...8] Port container trailer model [n] main bar 00 X front position Trailer main bar start position measured from the X zero line (locking pin) Value usually positive (+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3252[0...8] Port container trailer model [n] main bar 00 X rear (back) position Trailer main bar end position measured from the X zero line (locking pin) Value usually negative (-) 46 Parameter Manual, 03/2012,

47 Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3253[0...8] Port container trailer model [n] main bar 00 Y width Trailer main bar width Value always positive(+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3254[0...8] Port container trailer model [n] main bar 00 Z height Trailer height measured from the bottom (road) Value always positive(+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3255[0...8] Port container trailer model [n] main bar 01 Y position Trailer main bar Y position measured from the Y zero line (locking pin) Parameter Manual, 03/2012, 47

48 Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3256[0...8] Port container trailer model [n] main bar 01 X front position Trailer main bar start position measured from the X zero line (locking pin) Value usually positive (+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3257[0...8] Port container trailer model [n] main bar 01 X rear (back) position Trailer main bar end position measured from the X zero line (locking pin) Value usually negative (-) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3258[0...8] Port container trailer model [n] main bar 01 Y width Trailer main bar width 48 Parameter Manual, 03/2012,

49 Value always positive(+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3259[0...8] Port container trailer model [n] main bar 01 Z height Trailer height measured from the bottom (road) Value always positive(+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3260[0...8] Port container trailer model [n] main bar 02 Y position Trailer main bar Y position measured from the Y zero line (locking pin) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). Parameter Manual, 03/2012, 49

50 p3261[0...8] Port container trailer model [n] main bar 02 X front position Trailer main bar start position measured from the X zero line (locking pin) Value usually positive (+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3262[0...8] Port container trailer model [n] main bar 02 X rear (back) position Trailer main bar end position measured from the X zero line (locking pin) Value usually negative (-) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). 50 Parameter Manual, 03/2012,

51 p3263[0...8] Port container trailer model [n] main bar 02 Y width Trailer main bar width Value always positive(+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). p3264[0...8] Port container trailer model [n] main bar 02 Z height Trailer height measured from the bottom (road) Value always positive(+) Main bars are described with five parameters. A total of four main bars can be described (0 to 3). Parameter Manual, 03/2012, 51