Earthworks X200 User Guide

Transcription

1 Earthworks X200 User Guide Part No Rev. A2

2 This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Copyright Notice Hemisphere GPS Precision GPS Applications Copyright Hemisphere GPS (2010). All rights reserved. No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or translated into any language or computer language, in any form or by any means, electronic, mechanical, magnetic, optical, chemical, manual or otherwise, without the prior written permission of Hemisphere GPS. Trademarks Hemisphere GPS, the Hemisphere GPS logo, A220 TM, A221 TM, AerialACE TM, AirStar TM, AirTrac TM, BaseLineHD TM, BEELINE, COAST TM, Contour Lock TM, Crescent, Eclipse TM, e-dif, edrive, edrivetc TM, edrivex TM, GPSteer TM, IntelliFlow, Just Let Go TM, L-Dif TM, LiteStar II TM, MapStar, Outback TM, Outback 360 TM, Outback Guidance Center TM, Outback Guidance, Outback Hitch TM, Outback S TM, Outback S2 TM, Outback S3 TM, Outback S-Lite TM, Outback Sts TM, Outback Steering Guide TM, PocketMAX PC TM, PocketMAX TM, Satloc M3 TM, Satloc, the Satloc logo, Vector TM, X200 TM, and X300 TM are proprietary trademarks of Hemisphere GPS. Other trademarks are the properties of their respective owners. Patents The Outback S TM and S-Lite TM automated navigation and steering guide system is covered by U.S. Patents No. 6,539,303 and No. 6,711,501. The Outback Hitch TM automated hitch control system is covered by U.S. Patent No. 6,631,916. The Outback edrivetc TM GPS assisted steering system is covered by U.S. Patent No. 7,142,956. Hemisphere GPS products may be covered by one or more of the following U.S. Patents: 6,111,549 6,397,147 6,469,663 6,501,346 6,539,303 6,549,091 6,631,916 6,711,501 6,744,404 6,865,465 6,876,920 7,142,956 7,162,348 7,277,792 7,292,185 7,292,186 7,373,231 7,400,956 7,400,294 7,388,539 7,429,952 7,437,230 7,460,942 Other U.S. and foreign patents pending.

3 Notice to Customers Contact your local dealer for technical assistance. To find the authorized dealer near you, call or write us at: Hemisphere GPS 8444 N. 90th Street, Suite 130 Scottsdale, AZ Phone: (480) Fax: (480)

4 Warranty Notice Covered Products This warranty covers all products manufactured by Hemisphere GPS (the "Products"). Hemisphere GPS Limited Warranty Hemisphere GPS hereby warrants solely to the end purchaser of the Products, subject to the exclusions and procedures set forth herein below, that the Products sold to such end purchaser shall be free, under normal use and maintenance, from defects in material and workmanship for a period of 12 months from delivery to such end purchaser. Repairs and replacement components are warranted, subject to the exclusions and procedures set forth below, to be free, under normal use and maintenance, from defects in material and workmanship for 90 days from performance or delivery, or for the balance of the original warranty period, whichever is greater. Purchaser's Exclusive Remedy The end purchaser's exclusive remedy under this warranty shall be limited to the repair or replacement, at the option of Hemisphere GPS, of any defective Products or components thereof. The end user shall notify Hemisphere GPS or a Hemisphere GPS approved service center immediately of any claimed defect. Repairs shall be made through a Hemisphere GPS approved service center only. Exclusions Hemisphere GPS does not warrant damage occurring in transit or due to misuse, abuse, improper installation, neglect, lightning (or other electrical discharge) or fresh/salt water immersion of Products. Repair, modification or service of Hemisphere GPS products by any party other than a Hemisphere GPS approved service center shall render this warranty null and void. Hemisphere GPS does not warrant claims asserted after the end of the warranty period. Hemisphere GPS does not warrant or guarantee the precision or accuracy of positions obtained when using Products. Products are not intended for primary navigation or for use in safety of life applications. The potential accuracy of Products as stated in Hemisphere GPS literature and/or Product specifications serves to provide only an estimate of achievable accuracy based on: Specifications provided by the US Department of Defense for GPS Positioning, DGPS service provider performance specifications. Hemisphere GPS reserves the right to modify Products without any obligation to notify, supply or install any improvements or alterations to existing Products.

5 No Other Warranties THE FOREGOING WARRANTY IS EXCLUSIVE OF ALL OTHER WARRANTIES, WHETHER WRITTEN, ORAL, IMPLIED OR ARISING BY STATUTE, COURSE OF DEALING OR TRADE USAGE, IN CONNECTION WITH THE DESIGN, SALE, INSTALLATION, SERVICE OR USE OF ANY PRODUCTS OR ANY COMPONENTS THEREOF, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY OF MERCHANT ABILITY OR FITNESS FOR A PARTICULAR PURPOSE. Limitation of Liability THE EXTENT OF HEMISPHERE GPS LIABILITY FOR DAMAGES OF ANY NATURE TO THE END PURCHASER OR ANY OTHER PERSON OR ENTITY WHETHER IN CONTRACT OR TORT AND WHETHER TO PERSONS OR PROPERTY SHALL IN NO CASE EXCEED, THE AGGREGATE, THE COST OF CORRECTING THE DEFECTIVE ITEM. IN NO EVENT WILL HEMISPHERE GPS BE LIABLE FOR ANY LOSS OF PROFITS, LOSS OF USE OR FOR ANY SPECIAL, INDIRECT, INCIDENTAL, CONSEQUENTIAL OR CONTINGENT DAMAGES, EVEN IF HEMISPHERE GPS HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. WITHOUT LIMITING THE FOREGOING, HEMISPHERE GPS SHALL NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND RESULTING FROM INSTALLATION, USE, QUALITY, PERFORMANCE OR ACCURACY OF ANY PRODUCTS. Governing Legislation To the greatest extent possible, this warranty shall be governed by the laws of the State of Arizona. In the event that any provision hereof is held to be invalid by a court of competent jurisdiction, such provision shall be severed from this warranty and the remaining provisions shall remain in full force and effect. Obtaining Warranty Service In order to obtain warranty service, the end purchaser must bring the Product to a Hemisphere GPS approved service center along with the end purchaser's proof of purchase. For any questions regarding warranty service or to obtain information regarding the location of any of Hemisphere GPS' approved service centers, contact Hemisphere GPS at the following address: Hemisphere GPS 8444 N. 90th Street, Suite 130 Scottsdale, AZ Phone: Fax: techsupport@hemispheregps.com Documentation Feedback Hemisphere GPS is committed to the quality and continuous improvement of our products and services. We urge you to provide Hemisphere GPS with any feedback regarding this guide by writing to the following address: DocFeedback@hemispheregps.com.

6 Earthworks X200 User Guide Contents Chapter 1 Getting Started Startup Top Level Menu System Options Tilting Bucket Operation Troubleshooting Error Messages Recalibrating the Touch Screen Chapter 2 Guidance Modes Selecting a Guidance Mode Level Dig from a Bench Elevation Extending a Level Excavation Level Dig Using a Laser Reference Single Slope Excavation Profile Excavation Trench Excavation Chapter 3 System Options Detailed Descriptions Pan & Zoom Cut and Fill v

7 Contents Deadband Tool Selection Configure Display Audio Mute LCD Brightness Audio Volume System Setup System Test Soft Center and Zoom Onscreen Grid Surface Monitor Height Limiting Measure Slope Lightbar Slew Reference GPS Compass Laser Receiver Exclusion Zone Safety Slope Tilting Bucket Display End User License Agreement vi

8 Chapter 1: Getting Started Startup Top Level Menu System Options Tilting Bucket Operation

9 Chapter 1: Getting Started Startup Indicator LEDs ON/OFF button To power on the X200 press the ON/OFF button. Press and hold the ON/ OFF button to power off the X200. Upon startup the green and amber LEDs located at the top right of the unit flash alternately, a splash screen appears briefly, and then the X200 main screen appears (shown below). Top Level Menu Softkeys You operate the X200 via the touch screen softkeys that appear along the bottom of the display. The softkey menu shown above is the Top Level menu and features the most commonly used functions. The X200 is unitless - if the system is calibrated using feet, all data input and output will be in feet. If the system is calibrated using meters, all data input and output will be in meters. 2

10 Earthworks X200 User Guide Touch screen softkeys are operating mode dependant. Pressing a key that is not supported by the current operating mode has no effect. Note: At startup the X200 retains certain settings, such as Target Depth, that existed the last time the unit was powered off. Top Level Menu The Top Level Menu is the default softkey menu that appears when you power on the X200 or exit all submenus. The following table describes each Top Level Menu softkey. Softkey Function Guidance mode selection System referencing Pan, zoom, and bucket lock Target depth set System options 3

11 Chapter 1: Getting Started System Options On the Top Level menu press menu. to access the System Options The System Options softkey menu works as follows: Softkey Function Exit the System Options menu and return to the Top Level menu Scroll through all the system options Middle three softkeys These softkeys change to display the system options softkeys that you scroll through Depending on the system configuration, there can be up to 25 options available via the three center softkeys. The following table provides a brief description of each softkey (an asterisk next to the softkey name indicates an optional softkey): Softkey Function Pan & Zoom Access to the pan, zoom, and bucket lock functions. This option is also available via the Top Level menu 4

12 Earthworks X200 User Guide Softkey Function Cut & Fill Allow an additional line to be shown alongside the target line. This line can be set either above (fill) or below (cut) the actual target. Dead band Set the thickness of the target line and select/clear audible alarms. Tool Select Select, add, edit, or delete buckets, grabs, pumps and hammers. Configure Display Select numerical display output. Options are display elevation, display radius, and display bench elevation. Mute Silence audible alarms. Certain safety related alarms cannot be muted. Brightness Set the backlight brightness. There are 5 levels. Volume Set the audible alarm volume, keyclick volume, and treble/bass levels. Setup Access to system configuration System Test Access to system test 5

13 Chapter 1: Getting Started Softkey Function Soft Center Toggle soft centering off and on. When active this adds touchscreen zoom icons and allows the bucket to be snapped to wherever the screen is touched. *Grid Toggle on-screen grid off and on, set grid pitch. *Surface Monitor Toggle the surface monitor on and off. When enabled the surface will be reset and snapped to the current bucket tooth elevation. *Height Limiting Set or clear a height limit. Height limiting is audiovisual only. *Measure Slope Allows gradients to be measured between two points touched with the bucket teeth. *Serial Output Enable/select serial data output for use by third party systems. *Lightbar Enable/disable auxiliary lightbar indicator. Set LED brightness level. *Slew Reference Allow manual slew referencing (normally used for Safety Slope operation). 6

14 Earthworks X200 User Guide Softkey Function *GPS Compass Toggle GPS compass operation. The GPS compass is used as an alternative to standard slew monitoring, but requires a clear view of the sky. *Laser Enable/disable laser receiver operation. *Auxiliary Arm Allow operation with an auxiliary arm *Exclusion Zone Toggle physical exclusion zone on or off. Exclusion is audiovisual only. *Safety Slope Enable/disable safety slope operation (antiundercutting). *Tilting Bucket Enable/disable the tilting bucket front view. 7

15 Chapter 1: Getting Started Tilting Bucket Operation If your X200 is configured for tilting bucket tilting operation, the standard distance to target icon in the upper left of the screen is replaced with the active tool position indicator, the Tilting Bucket Guidance softkey menu appears on the Top Level menu, and a front view graphic may appear in the lower right of screen. When you press the Tilting Bucket Guidance softkey Bucket Guidance softkey menu appears (as shown below). the Tilting *the far right softkey position is blank on this menu The following table describes the Tilting Bucket Guidance softkeys: Softkey Description Exit the Tilting Bucket Guidance menu and return to the Top Level menu Set the active tool position as left All distances and referencing are relative to the active tool position. Set the active tool position as center All distances and referencing are relative to the active tool position. 8

16 Earthworks X200 User Guide Softkey Description Set the active tool position as right All distances and referencing are relative to the active tool position. The tilting bucket graphic in the main display will show the active tool position as a yellow face. You can toggle the front view graphic on and off by pressing the Tilting Bucket softkey on the System Options menu. See Tilting Bucket Display on page 55 for more information. The tilting bucket front view graphic displays the following information: If the tilt angle is measured using an AS7 gravity sensor, the accuracy of the angle is reduced as the bucket is moved away from its upright position (regardless of tilt angle). If the accuracy drops below 0.2º the entire tilting bucket graphic turns red to indicate that total system accuracy has been compromised (typically >±45º from vertical). Note: Due to the constraints of displaying tilting bucket graphics in two dimensions, the Trenching guidance mode is disabled when you select a tilting bucket. 9

17 Chapter 1: Getting Started Troubleshooting Error Messages All sensors in the X200 operate over a CAN 2.0B bus. If any sensor fails to communicate an error symbol appears at the bottom of the screen, the red LED flashes, and an audible alarm sounds. The example to the left indicates all sensors have failed. If you cannot quickly determine the cause of the error (such as damaged cabling) contact your dealer for assistance. The following table describes the possible errors. Error Description Boom angle sensor on monoboom machines, or the first section on machines equipped with an hydraulically adjustable boom. Mounted on the boom. Arm angle sensor. Mounted on the arm Bucket angle sensor. Mounted on either the bucket control arm or the tool quick hitch Chassis pitch and roll sensor Mounted on the base machine GPS slew sensor Mounted on the base machine Tilting bucket sensor Mounted on the tilting mechanism (usually a quick hitch) Laser receiver Built into the arm angle sensor 10

18 Earthworks X200 User Guide Setup, calibration, and user-selectable options are stored in internal memory. To reduce the possibility of data corruption while writing to the internal memory, the X200 input voltage is monitored. If the X200 detects a low or falling voltage any attempted data storage abandoned and the message to the left appears. Any changes made remain operative, but are lost when you switch off the X200. Recalibrating the Touch Screen The X200 features a pre-calibrated touch screen display. If the touch screen calibration is corrupted or the physical properties of the touch screen change, re-calibration is required. If a corrupted calibration is detected the X200 automatically launches the re-calibration function on startup. You can manually access the re-calibration option via the system setup. To recalibrate the touch screen: 1. Press and then to access the System Setup menu. 2. Select Platform Specific Tools and then select on the softkey menu. 3. Select Calibrate Touchscreen and then select on the softkey menu The X200 starts a countdown from

19 Chapter 1: Getting Started Note: If you take no action before the countdown ends the recalibration procedure terminates. You can then press to exit to the previous menu level or press to adjust the touch screen sensitivity (see step 5 below). 4. Using a stylus touch the screen as indicated by the crosshairs, press and hold for approximately five seconds, and then lift the stylus. The crosshairs automatically move to the lower right of the screen. 5. Press and hold the stylus on the crosshairs for approximately five seconds, and then lift the stylus. Calibration is now complete. 6. To verify the accuracy touch the screen at any point. The crosshairs should appear at the point of contact. If the accuracy is unacceptable, exit the function and try again. Note: If you are not satisfied with the recalibration you can adjust the touch screen pressure sensitivity by pressing and then entering a sensitivity value: the lower the value, the more sensitive the screen becomes. If the required pressure value falls outside a range of approximately 80 to 1024 contact your dealer as the operation/ durability of the unit may be in question. 12

20 Chapter 2: Guidance Modes Selecting a Guidance Mode Level Dig from a Bench Elevation Extending a Level Excavation Level Dig Using a Laser Reference Single Slope Excavation Profile Excavation Trench Excavation

21 Chapter 2: Guidance Modes Selecting a Guidance Mode The X200 includes four different guidance modes. When you press the Guidance Mode Selection softkey the Top Level menu is replaced by the Guidance Mode menu (shown below). The following table describes each softkey. Softkey Description Mode Example Exit Return to the Top Level menu Level mode Level digging, with or without laser reference Slope mode Single or dual slope, with or without laser reference Profile mode Simple two to ten face profiles and storage for up to ten user-defined profiles 14

22 Earthworks X200 User Guide Softkey Description Mode Example Trench mode Storage for up to ten user-defined trenches, use with or without laser reference To select a guidance mode: 1. On the Top Level menu press. 2. On the Guidance Mode menu press the desired mode softkey. 15

23 Chapter 2: Guidance Modes Level Dig from a Bench Elevation From the Top Level menu press to access dig mode then press Press then to enter an absolute bench elevation. Press to set a target depth. The target depth is a distance below the bench elevation. In this example the bench elevation is and the target depth is The result is a finished level dig of (an absolute elevation of 10.50). Position the bucket teeth at the bench mark, press, and then press to reference. The X200 is now ready to use. The current bucket tooth elevation appears at the top left of the screen. Use the X200 to guide excavation. The dig is complete when the red target line is reached (10.50). The example shown here has the surface monitor switched on; this shows progress and is useful when digging blind. 16

24 Earthworks X200 User Guide Extending a Level Excavation Set a bench elevation if required. If you are working directly from the current surface enter a bench elevation of 0.0. Place the bucket teeth on the bench mark and reference the system. Use the X200 to guide excavation. Reset the bench elevation to that of the freshly excavated surface. Reset the target depth to

25 Chapter 2: Guidance Modes Place the bucket teeth on the new surface and re-reference the X200. Use the X200 to extend the excavation. To avoid a build up of errors, it is advisable not to repeat this procedure too frequently. Use a new bench mark where possible. You can skip steps 5 and 6 by using the AUTO reference softkey. Place the bucket teeth on the newly excavated surface and press AUTO. The bench elevation and target depth are automatically adjusted to the new reference elevation. 18

26 Earthworks X200 User Guide Level Dig Using a Laser Reference From the Top Level menu press then press until appears. Enable the laser. Press then press to enter an absolute laser plane elevation Press to set an absolute target depth. In this example the laser elevation is A target depth of 1.00 has been set. Move the equipment slowly until the laser receiver mounted in the arm angle sensor breaks the laser plane. The X200 automatically references and the graphic snaps to the laser plane. Laser status is reported in the top right of the screen, the system will reference when any of the symbols shown here appear. Use the X200 to guide excavation. The dig is complete when the red target line is reached (- 1.00). You can re-reference the X200 at any time by repeating step 4 above. Rereferencing is only really required if the machine itself is moved. 19

27 Chapter 2: Guidance Modes Single Slope Excavation From the Top Level menu press to access dig modes, then press Press the CROSS key to enable single slope operation. Enter the required slope as a percentage. 100 = 45 degrees. Positive values are up slopes, negative down slopes. Press Enter the required target depth. This is a vertical distance below the referencing point (or bench elevation if one is in use). In this example we are going to dig a 50% slope from the current surface. Position the bucket teeth on the present surface, press, then press to reference. The X200 is now ready to use. The current bucket tooth elevation is shown at the top left of the screen. Use the X200 to guide excavation. The dig is complete when the red target line is reached (-1.00). If the X200 has a slew monitor, the slope angle changes as the machine is slewed. You can use this in conjunction with a tilting bucket to accurately dig across a large surface. 20

28 Earthworks X200 User Guide Profile Excavation From the Top Level menu press to access Guidance modes and then press The X200 can store up to ten user-defined profiles. Press or to select a profile and press to confirm. Press to return to the previous menu. Use the selected profile and return to normal operation Edit the selected profile Clear the selected profile (return it to a straight line) Exit and return to previous menu Move active node Edit active node Use number touchpad to manually enter node data Exit and return to previous menu Move node left (-X) Move node up (+Z) Move node down (-Z) Move node right (+X) Exit and return to previous menu Repeat steps 3 and 4 until the desired profile shape is achieved. Note: The blue node is the optional bench node, which has an additional Y value and can be offset to either side of the profile. Use this node to reference the system where no other node in the profile can be touched. This option requires slew monitoring. 21

29 Chapter 2: Guidance Modes To reference to the profile requires the ability to touch one of the nodes with the bucket teeth. If this is not possible, a bench node will be required (see note in step 5 on the previous page). Touch one of the nodes with bucket; do not move the machine. From the Top Level menu press. The screen appears as shown above. Use to select the node being touched. Press to reference. Control returns to the Top Level menu and the X200 is ready for use. The X200 requires re-referencing only if it is moved (tracked) to a new position. 22

30 Earthworks X200 User Guide Trench Excavation From the Top Level menu press to access Guidance modes, then press The X200 can store up to ten user-defined trenches. Press or to select a trench and press to confirm. Press to return to the previous menu. Use the selected trench and return to normal operation Edit the selected trench Clear the selected trench (return to the default trench profile) Exit and return to previous menu Move active node Edit active node Use number touchpad to manually enter node data Exit and return to previous menu Move node left (-X) Move node up (+Z) Move node down (-Z) Move node right (+X) Exit and return to previous menu Repeat steps 3 and 4 until the desired trench shape is achieved. 23

31 Chapter 2: Guidance Modes From the Top Level menu press the reference key (the screen appears as shown below). The trench digging mode requires that the machine is positioned on the center line of the trench as shown above. To reference the X200, position the bucket teeth at a known elevation (bench mark or post), and enter the total distance from the reference point to the base of the desired trench. Use the X200 as a guide to trench elevation. The X200 will require re-referencing only if it is moved (tracked) to a new position. 24

32 Chapter 3: System Options Detailed Descriptions

33 Chapter 3: System Options This chapter provides detailed descriptions of the System Options softkeys. On the Top Level menu press to access the System Options menu and then press to scroll through the System Options. Detailed Descriptions Pan & Zoom Softkey Description Exit Return to previous menu level Pan lock Lock the view. Once locked, the bucket teeth always remain in the center of the display. The locked symbol indicates that the pan lock is active. Press the key again to unlock the pan. When locked, the pan adjustment controls will not operate. 26

34 Earthworks X200 User Guide Softkey Description Zoom out Minimum zoom gives an actual screen width of 500 meters. Zoom in Maximum zoom gives an actual screen width of 3 meters. Pan control Access the pan control functions. Pan left Shifts the machine graphic to the left. Pan up Shifts the machine graphic up the display. Pan down Shifts the machine graphic down the display. Pan right Shifts the machine graphic to the right. 27

35 Chapter 3: System Options Cut and Fill The cut/fill line is an auxiliary line that you can add either above or below the target line. When you press the Cut/Fill softkey, the message box shown to the left appears. Press to disable any current cut/fill line or press to set a new value. The cut/fill line appears above the target line if you enter a positive value or below the target line if you enter a negative value. Use the touch screen keypad to set the new Cut/Fill distance and then press to continue. 28

36 Earthworks X200 User Guide Deadband The deadband is a zone around the target depth that constitutes being on grade or on target. When the bucket teeth come within this distance of the target the associated audible and/or visual indicators show an on target condition. The example here shows a deadband of 0.1m (or 100mm); this is the distance above and below the target line that the X200 recognizes to be a correct depth. Press the Deadband softkey to display a keypad (shown above), set the new deadband width, and then press to continue. Press to return to the previous menu. Setting a deadband value provides access to the audible alarm softkeys shown below. The following table describes the audible alarm softkeys. Softkey Description Exit the alarm menu and return to the System Options menu Medium pitch alarm when within the deadband zone Low pitch alarm when 1 x deadband width below the target elevation 29

37 Chapter 3: System Options Softkey Description High pitch alarm when 1 x deadband width above the target elevation, Low pitch alarm when 1 x deadband width below the target elevation Deadband alarm disabled The target line is shown in red. The thickness of the red target line is dictated by the deadband width. 30

38 Earthworks X200 User Guide Tool Selection The Bucket softkey allows you to select, adjust, edit, and delete attachments. When you press the Bucket softkey a list of attachments appears. The list has a maximum of 20 entries. Use the keys to select an attachment and press to confirm. Press at any time to return to the previous menu. After you select an attachment the following softkeys appear. The following table describes the Tool Selection softkeys: Softkey Description Exit the buckets option and return to the extended options menu Adjust the attachment shape (buckets only) Use the selected attachment Edit the selected attachment dimensions Delete the selected attachment 31

39 Chapter 3: System Options All tool types are shown below. Certain tools are dependant on the system configuration and may not appear in the edit tool option. Edit The Edit softkey allows you to create a new attachment or edit an existing attachment. Use the special attachment softkey to change the attachment type. Buckets, grabs (flowmeter systems only) and pumps are available. The graphic and dimensions change according to the attachment type. Use to select the dimension to edit and press to confirm. Use the touch screen keypad to set the new dimension. If the attachment description is selected a special character editing box appears as shown to the left. Use the touch screen to enter a new label. 32

40 Earthworks X200 User Guide When all dimensions/descriptions are complete, press, and in the Overwrite previous bucket data? box, press to store the attachment in memory (or press to cancel the edits) and return to the Tool Selection menu. Note: Use caution when measuring attachments and entering dimensions. The system accuracy is completely reliant on accurate information and calibration. Use The Use softkey allows you to use the selected attachment in the X200. Use to select the bucket/grab/pump to use, and press to confirm. If the X200 is configured to operate with a bucket linkage mounted angle sensor, the X200 pre-calculates a table of equivalent bucket angles for actual sensor position. If an error occurs (always due to incorrect equipment dimensions) during this process, the X200 stops and displays a possible cause for the problem. Press to continue. A second error report appears showing where in the table the problem occurred. This information is useful to your supplier if assistance is required. Press again to continue and reload the previous lookup table. 33

41 Chapter 3: System Options Clear The Clear softkey allows you to reset any of the attachments in the list. Use to select the bucket/grab/pump to delete and press to confirm. If valid attachment data is present a confirmation box will appear. Press delete or press to exit. If no valid data is present for the selected attachment the No bucket data message appears for two seconds before control returns to the previous menu. to Adjust The Adjust softkey is only available if the attachment type is a bucket. This option allows you to adjust the shape of the bucket so that when it is placed flat on the ground it appears flat on the ground on the display. The X200 only knows three dimensions for the bucket. It does not know its shape. Follow the onscreen instructions. Pressing the Adjust softkey displays the following softkeys: The following table describes the Adjust softkeys: 34

42 Earthworks X200 User Guide Softkey Description Exit the bucket adjust, store the adjustment and return to the previous menu Drag the back of the bucket up away from the ground Drag the back of the bucket down towards the ground 35

43 Chapter 3: System Options Configure Display Pressing the Display softkey allows you to choose the numerical output data displayed on the screen. You can display up to three items: elevation relative to the reference point, reach (radius) relative to the reference point, and finally the current set bench elevation. Pressing the Display softkey displays the following softkeys. The following table describes the Adjust softkeys: Softkey Description Exit the Display option and return to the System Options menu Enable/disable the ELEVATION output Enable/disable the REACH output Enable/disable the BENCH elevation output Adjust the size of the output characters on the screen 36

44 Earthworks X200 User Guide All but the Exit softkey generate the standard confirmation box shown to the left. Press to disable the option or press to enable. Audio Mute Use the Audio Mute softkey to toggle the audio output off and on. Audio outputs are: Deadband - On grade, Too high, Too low Maximum height alarm Laser strike Overload (RCI option only) Entry to exclusion zone Entry to undercut zone Sensor/system fault warning You cannot mute the keypress click. Mute is stored internally and the current state remains active after you turn off the X200 and turn it back on again. LCD Brightness Use the LCD Brightness softkey to adjust the intensity of the LCD backlight. Each keypress increases the backlight intensity. If you exceed the highest level, you cycle back to the minimum level. One of the following symbols will be briefly displayed with each keypress: Brightness level is stored internally and the current state remains in effect after you turn off the X200 and turn it back on again. 37

45 Chapter 3: System Options Audio Volume Press the Volume softkey to access audio volume controls that allow you to adjust the following: Vol - general alarm volume KVol - keyclick volume Treble tone Bass tone The following table describes the five Audio Volume softkeys: Softkey Description Exits the Audio Volume controls and returns to the Main screen Cycles through the four bar graphs. The active graph is shown in red Adjust graph up/down. Each key press will give a sample sound at the adjusted volume/tone. Confirm (store) adjustments. 38

46 Earthworks X200 User Guide System Setup Access to system configuration and calibration is code protected. Warning: Inadvertent adjustment of the setup parameters and machine dimensional data may render the system inaccurate or inoperative. Only your supplier and their appointed agents have access to the X200 entry codes. If access is required contact your supplier. System Test The system test function allows you to monitor all sensor inputs and exercise any optional outputs. Any sensor not enabled will be grayed out. You can perform basic system fault diagnosis using the test page and the following descriptions: 39

47 Chapter 3: System Options Test Item Boom Angle Pitch Angle (optional) Roll Angle (optional) Slew Angle Arm Angle Laser receiver (optional - built into the arm angle sensor) Description 0º = Boom horizontal (boom pivot pin and arm pivot pin in the same horizontal plane). Angles above horizontal are positive (+ve), angles below horizontal are negative (-ve). On systems configured for an hydraulically adjustable boom, this angle is the first boom section. 0º = Machine level in the fore/aft plane. Machine up at the front produces +ve angles. Machine down at the front produced ve angles. 0º = Machine level in the side/side plane. Machine up on the right (track motors to the rear) produces +ve angles. Machine up on the left produces ve angles. 0º = Machine directly over the front (track motors to the rear). The slew angle will increase in a clockwise direction (slewing to the right). Range of operation = 0 to 359º. 0º = Arm horizontal (arm pivot pin and bucket pivot pin in the same horizontal plane). Angles above horizontal are positive (+ve), angles below horizontal are negative (-ve). The laser output can only be one of the following seven hexadecimal values: 50H No laser strikes 54H Laser strikes >20mm below receiver deadband 56H Laser strikes <20mm & >10mm below receiver deadband 52H Laser strikes within receiver deadband 53H Laser strikes <20mm & >10mm above receiver deadband 51H Laser strikes >20mm above receiver deadband FFH Laser receiver missing 40

48 Earthworks X200 User Guide Test Item Bucket Angle Control (arm) Angle Tilt bucket (optional) Elevation Radius Description This is the computed bucket angle as there is no physical angle sensor mounted on the bucket. 0º = bucket teeth and bucket pivot pin the same horizontal plane with the bucket teeth pointing away from the machine s cab. 90º = bucket teeth and bucket pivot pin the same vertical plane. 180º = bucket teeth and bucket pivot pin the same horizontal plane with the bucket teeth pointing towards from the machine s cab. If the system is configured to operate with an angle sensor on the bucket linkage, this value shows the control arm angle. 0º= control arm horizontal (pin to pin). Control arm angles above horizontal are +ve, below ve. If the system is configured to operate with a tilting bucket (and a tilting bucket has been selected from the tool menu and is in use) this value shows the tilt angle. This angle is the amount of rotation around the tilt axis. If the right hand side of the bucket is higher than the left (as viewed from the cab) angles are +ve. If the left hand side is higher, angles are negative. This value is useful when assessing the true accuracy of the system. Elevation is vertical distance from the base of the tracks to the bucket teeth (or tool tip dependant on the tool selected). Elevation is calculated using a combination of sensor inputs and machine dimensions held in memory. Radius is calculated using a combination of sensor inputs and machine dimensions held in memory. Radius is the horizontal distance between the slew center line and the bucket teeth (or tool tip dependant on the tool selected). 41

49 Chapter 3: System Options Test Item System power status Description For diagnostic purposes the following power and temperature data is provided: Input volts - Raw system power supply voltage CAN volts - Regulated CAN bus output voltage CAN amps - CAN current consumption Chip temp - Unit internal temperature 42

50 Earthworks X200 User Guide Soft Center and Zoom Press the Soft Center softkey to toggle the soft centering function. Once active the + and - zoom softkeys appear above the softkey menu as shown above. You can then zoom in on and zoom out of the display pressing the new softkeys and the display resizes around the center of the screen. You can move the position of the whole machine graphic anywhere on the display by touching the screen at the desired new location. The machine snaps to the new position, with the bucket teeth displayed where you touched the screen. 43

51 Chapter 3: System Options Onscreen Grid Pressing the Grid softkey allows you to overlay a scaled square grid on the display to assist during excavation. If a grid is already active, pressing the Grid softkey clears the overlay and returns to normal control. If an overlay is not currently active then the numerical keypad appears. Enter the required grid width in meters and press to confirm. You can position the grid anywhere on the screen by positioning the bucket teeth at the desired point and pressing the Snap Grid softkey from the Bucket menu. 44

52 Earthworks X200 User Guide Surface Monitor The Surface Monitor softkey allows you to show a basic progress overlay on the display. The progress overlay appears as a dotted area that is modified in shape when penetrated by the bucket teeth. When set, the overlay is drawn from the current bucket tooth elevation to the current target depth. Note: This option is only meant to be a rough approximation of the material removed. If slew monitoring is available, this option will use the bucket width value to maintain the monitored excavation across the whole width of the bucket. Note: The surface monitor is only available in level digging mode. To set the monitor place the bucket teeth on the current surface top and press the Surface Monitor softkey. To clear the monitor press the Surface Monitor softkey again. The modified surface is not stored internally and is lost if you turn off the X

53 Chapter 3: System Options Height Limiting Press the Height Limiting softkey to either set a new maximum height or cancel a current limit. Use the touch screen keypad to enter the new maximum height and press to continue. If any of the main equipment pins or the bucket teeth exceeds the set height an audible alarm sounds. The maximum height is measured from the base of the machine tracks. Maximum height is stored internally and remains active whenever you turn on the X200. Note: The X200 has no knowledge of any metal around the pivot pins. Keep this in mind when setting a limit. The arm ram/arm attachment point is normally higher than the arm pivot pin. 46

54 Earthworks X200 User Guide Measure Slope The Measure Slope softkey allows you to use the excavator as a slope measuring tool. Move the bucket teeth to any point on the slope to be measured and press, and then move the bucket teeth to a second point on the slope and press. The slope (%) is shown on the display. Moving the bucket teeth and pressing again displays the slope between the Point #1 and the new Point #2. Likewise, moving the bucket teeth and pressing again displays the slope between the new Point #1 and the previous Point #2. The slope is measured along a straight line as viewed from above. If the X200 is equipped with a slew sensor, this angle is also used in the slope calculation. Press to return to the previous menu. 47

55 Chapter 3: System Options Lightbar If the LED option has been enabled during calibration, the LED softkey appears in the System Options list. The LED menu controls the auxiliary LED indicator. When you press the LED softkey a submenu appears displaying the following softkeys: Exit the serial LED menu, store all changes made, and return to the System Options menu. Decrease the brightness of the light bar Increase the brightness of the light bar.the brightness is adjustable in eight levels. - Level 0 is OFF - Levels 1 to 6 are increasing intensity levels - Level 7 is manual mode (the brightness control on the large lightbar becomes operative) Enable/disable the lightbar 48

56 Earthworks X200 User Guide Slew Reference Pressing the Slew Reference softkey allows you to manually reference the slew measurement (if enabled). The default slew referencing mode is automatic. The slew is automatically referenced whenever the system is benched. In certain circumstances manual slew referencing can be desirable. Slew referencing is only required when in either Slope or Multi-Profile guidance mode. The X200 only measures elevation and slope correctly if the slew is referenced when the machine is at 90 (perpendicular) to the required slope or profile. Once referenced the system compensates for changes in slew angle. When the machine is moved (tracked) to a new position make sure the slew is rereferenced. Note: Manual slew referencing is required when using: 1. Dual slope operation with Laser reference 2. Safety slope operation Press to reference the slew at the current position or press to exit leaving the slew position unchanged. 49

57 Chapter 3: System Options GPS Compass The GPS Compass softkey allows you to toggle the GPS compass on and off. This allows you to move the actual compass to another X200. If the equipment is removed and the input is left active an audible and visual alarm is issued. Note: The X200 functions with any Hemisphere GPS fixed or variable antenna baseline GPS Compass. When the X200 is operating with the GPS compass the following symbols appear in the top right of the display: Normal operation with no errors Data is being received from the GPS compass. The quality of the data is insufficient to calculate an accurate heading (slew angle); this can be caused by a number of factors: 1. Too few satellites available 2. Obstructed view of the sky 3. Multi-path interference (working next to tall buildings etc.) No data is being received from the GPS compass If either of the above errors occurs the X200 assumes a slew angle of 0º (effectively the same as not having a slew sensor). Normal operation automatically returns if the error(s) clear. 50

58 Earthworks X200 User Guide Laser Receiver If the X200 is configured to operate with a laser receiver the Laser (On/ Off) softkey appears on the System Options menu. When you press the Laser softkey to enable the receiver, the conformation box shown to the left appears. Press enable the receiver and continue or press to abandon the operation or disable a currently active receiver. Once enabled the Automatic Laser Referencing prompt appears. The two modes of operation (automatic referencing and manual referencing) are described as follows: Automatic Referencing To reference the system to the laserplane move the equipment until the laser receiver (mounted in the arm angle sensor) breaks the beam and pause briefly. After a preset number of laser strikes - laser transmitters typically rotate at around 10Hz - the X200 automatically references. To assist positioning the symbols shown to left appear in the top right of the display. Any green symbol indicate the unit is receiving valid laser strikes. 51

59 Chapter 3: System Options You can set the number of strikes required to generate an automatic reference from the bucket reference option on the Top Level menu. The laser receiver must be enabled to access this function. Manual Referencing To reference the system to the laserplane move the equipment until the laser receiver (mounted in the arm angle sensor) breaks the beam and stop. To reference the system press the Laser Reference softkey Manual referencing removes the risk of false laser referencing if the equipment in frequently passing through the laserplane during operation.. 52

60 Earthworks X200 User Guide Exclusion Zone For static machine installations, such as barge mounted dredging, you can employ an exclusion zone to prevent the bucket teeth from entering a predefined zone. During installation, you can configure the X200 to operate with an exclusion zone. Press from the enable prompt to continue or press to revert to normal operation. Each time you enable an exclusion zone you are prompted for the following three dimensions that describe the shape of the exclusion box : Exclusion front distance - Horizontal distance from the machine slew center to the front of the exclusion zone. Exclusion base distance - Vertical distance from the machine track base to the bottom of the exclusion zone. Exclusion side distance - Horizontal distance either side of the machine slew center to the sides of the exclusion zone. The exclusion zone is shown as a red hatched area on the display. If the bucket teeth enter the hatched zone an alarm sounds. The X200 does not monitor any other component; for example, the underside of the arm can enter the hatched area unhindered. 53

61 Chapter 3: System Options Safety Slope To use the Slope control: During installation, you can configure the X200 to operate with a Safety slope. Use of a Safety slope can prevent the machine from undercutting itself and is used primarily in quarrying applications. At the prompt shown to the left press to continue or press to revert to normal operation. This option requires slew monitoring as well as slew referencing set to manual. If enabled, you are prompted to enter the following four values that describe the minimum working slope dimensions: Z is the absolute elevation on the working surface. If this is unknown, enter a value of 0.0. D is the horizontal distance from the machine slew center to the break of the slope. H is the vertical distance from the working surface (Z) to the slope base. A is the angle of the slope measured in degrees. 1. Position the machine at the correct D distance from the slope top. 2. Slew the machine until it is perpendicular to the direction of slope. 3. Use the SLEW REF button to reference the system. 4. Repeat steps 1-3 when the machine is tracked to a new position. 54

62 Earthworks X200 User Guide Tilting Bucket Display The Tilting Bucket softkey allows you to toggle the front view graphic on and off when the X200 is configured for use with a tilting bucket. 55

63 Chapter 3: System Options 56

64 End User License Agreement

65 End User License Agreement END USER LICENSE AGREEMENT IMPORTANT - This is an agreement (the "Agreement") between you, the end purchaser ("Licensee") and Hemisphere GPS Inc. ("Hemisphere") which permits Licensee to use the Hemisphere software (the "Software") that accompanies this Agreement. This Software may be licensed on a standalone basis or may be embedded in a Product. Please read and ensure that you understand this Agreement before installing or using the Software Update or using a Product. In this agreement any product that has Software embedded in it at the time of sale to the Licensee shall be referred to as a "Product". As well, in this Agreement, the use of a Product shall be deemed to be use of the Software which is embedded in the Product. BY INSTALLING OR USING THE SOFTWARE UPDATE OR THE PRODUCT, LICENSEE THEREBY AGREES TO BE LEGALLY BOUND BY THE TERMS OF THIS AGREEMENT. IF YOU DO NOT AGREE TO THESE TERMS, (I) DO NOT INSTALL OR USE THE SOFTWARE, AND (II) IF YOU ARE INSTALLING AN UPDATE TO THE SOFTWARE, DO NOT INSTALL THE UPDATE AND PROMPTLY DESTROY IT. HEMISPHERE PROVIDES LIMITED WARRANTIES IN RELATION TO THE SOFTWARE. AS WELL, THOSE WHO USE THE EMBEDDED SOFTWARE DO SO AT THEIR OWN RISK. YOU SHOULD UNDERSTAND THE IMPORTANCE OF THESE AND OTHER LIMITATIONS SET OUT IN THIS AGREEMENT BEFORE INSTALLING OR USING THE SOFTWARE OR THE PRODUCT. 1. LICENSE. Hemisphere hereby grants to Licensee a non-transferable and nonexclusive license to use the Software as embedded in a Product and all Updates (collectively the "Software"), solely in binary executable form. 2. RESTRICTIONS ON USE. Licensee agrees that Licensee and its employees will not directly or indirectly, in any manner whatsoever: a. install or use more copies of the Software than the number of copies that have been licensed; b. use or install the Software in connection with any product other than the Product the Software was intended to be used or installed on as set out in the documentation that accompanies the Software. c. copy any of the Software or any written materials for any purpose except as part of Licensee's normal backup processes; d. modify or create derivative works based on the Software; e. sub-license, rent, lease, loan or distribute the Software; 58