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Teledyne PDS - LEGO Excavator

LEGO Excavator preparations

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2 LEGO Excavator preparations

2.1 Introduction

The following is needed to use the LEGO Excavator for the PDS Excavator
application:

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LEGO Excavator

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Three 5k ohm potentiometers

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Teledyne RESON Dredge (LEGO) interface

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Teledyne PDS license

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Additional LEGO axis (to connect potentiometer to boom, stick and bucket).

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Additional LEGO blocks (to create parallelogram)

2.2 The LEGO Excavator

The LEGO Excavator (LEGO item 8043) is used. This excavator is equipped with
move, dig, spin and lift motorized functions.

The LEGO Excavator is constructed by the user according to the LEGO building
instructions.

Figure 2-1

LEGO Excavator

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Содержание Excavator

Страница 1: ...LEGO Excavator Teledyne PDS Version 1 0 0 June 2017 Teledyne RESON B V Stuttgartstraat 42 44 3047 AS Rotterdam The Netherlands Tel 31 0 10 245 15 00 www teledyne reson com ...

Страница 2: ...ation are proprietary products owned by Teledyne RESON and protected under international copyright law Copyright All rights reserved No part of this publication may be copied reproduced or translated without the prior written consent of Teledyne RESON No part of this publication may be stored or transmitted in any electronic form without the prior consent of Teledyne RESON Any unauthorized use is ...

Страница 3: ... 2 3 1 Boom 5 2 3 2 Stick 7 2 3 3 Bucket 9 2 3 4 Electrical connection 12 2 3 5 Potentiometer range adjustment 13 3 Drivers Crane configuration 15 3 1 Introduction 15 3 2 Device drivers 15 3 3 Driver properties 16 3 3 1 Positioning device 16 3 3 2 VRU 16 3 3 3 Compass 16 3 3 4 Dredge Positioning system 16 3 3 5 Crane Configuration 17 3 3 5 1 Boom 17 3 3 5 2 Stick 18 3 3 5 3 Tool 18 ...

Страница 4: ......

Страница 5: ...r is visualized in Teledyne PDS and gives the user a real life experience of the Teledyne PDS Excavator application To measure the boom stick and bucket position are potentiometers added to the LEGO crane This manual describes the precautions to take to use the LEGO Excavator for the Teledyne PDS Excavator application See the Teledyne PDS Excavator User manual for more information about the Teledy...

Страница 6: ......

Страница 7: ... Teledyne RESON Dredge LEGO interface Teledyne PDS license Additional LEGO axis to connect potentiometer to boom stick and bucket Additional LEGO blocks to create parallelogram 2 2 The LEGO Excavator The LEGO Excavator LEGO item 8043 is used This excavator is equipped with move dig spin and lift motorized functions The LEGO Excavator is constructed by the user according to the LEGO building instru...

Страница 8: ... position are potentiometers used Figure 2 2 Potentiometer Measure Potentiometer Boom 5K ohm linear Single turn with shaft Stick 5K ohm linear Single turn with shaft Bucket 5K ohm linear Single turn with shaft The potentiometers are mounted on the crane The wiring is connected to the Teledyne RESON LEGO interface ...

Страница 9: ...tentiometer is mounted on the right side of the crane chassis see Figure 2 3 Figure 2 4 Figure 2 3 Boom chassis Figure 2 4 Boom potentiometer location The potentiometer is fixed to the chassis The axis of the potentiometer is fixed to a LEGO axis The LEGO axis is fixed to the boom ...

Страница 10: ...ations Teledyne PDS LEGO Excavator Figure 2 5 Boom axis Figure 2 6 Axis fixed to boom Crane chassis Potentiometer Thread of potentiometer fixed in chassis LEGO Axis fixed to potentiometer axis Crane boom Axis fixed into boom ...

Страница 11: ...alled on the outer stick position on the left side of the crane see Figure 2 7 and Figure 2 8 Figure 2 7 Stick potentiometer location Figure 2 8 Stick potentiometer mounting The potentiometer is fixed to the boom The axis of the potentiometer is fixed to a LEGO axis The LEGO axis is fixed to the stick ...

Страница 12: ... LEGO Excavator preparations Teledyne PDS LEGO Excavator Figure 2 9 Connection of axis Figure 2 10 Axis fixed to stick Boom Potentiometer Thread of potentiometer fixed in boom Axis fixed into stick Stick ...

Страница 13: ...he bucket potentiometer is placed on the left side of the crane Figure 2 11 Bucket potentiometer location The bucket potentiometer is connected to a parallelogram The parallelogram is made from other or spare LEGO blocks Figure 2 12 Potentiometer connected to support lever ...

Страница 14: ... Drawing potentiometer connecter to parallelogram arm The parallelogram red colored blocks is connected to the support lever yellow colored block Figure 2 15 Parallelogram Stick Potentiometer Thread of potentiometer fixed in stick Axis fixed into arm parallelgram Arm parallelogram Stick Parallelogram Support lever ...

Страница 15: ...Teledyne PDS LEGO Excavator LEGO Excavator preparations 11 Figure 2 16 Parallelogram on crane ...

Страница 16: ...ctrical connection The potentiometers are connected to the Teledyne RESON LEGO interface The potentiometer are connected to 20VDC and to ground of the Wago 857 414 terminal and the potentiometer slider to the Wago 857 414 In terminal See the following connection diagram ...

Страница 17: ...is connected to 20VDC Therefore the potentiometer must be set in range To set the potentiometers in range 1 Set the boom stick and bucket in the center position Figure 2 17 Boom stick and bucket in center position 2 Adjust the potentiometers to output 5VDC by turning the potentiometer slider Figure 2 18 Potentiometer position adjusted Max Max Max Min Min Min 20VDC GND 5VDC ...

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Страница 19: ...ne Group Device driver Remarks Dredge Positioning system CAN LEGO Analog Angle dredge backhoe Positioning system NMEA 2 30 GGA GST Using PDS Simulator to simulate position Note The remote position device driver is added to the pontoon equipment list if a pontoon is used Compass NMEA HDT Using PDS Simulator to simulate heading Note The remote heading device driver is used on the excavator If headin...

Страница 20: ...erties positioning device 3 3 2 VRU It is not necessary to set the properties of the VRU for the demo project 3 3 3 Compass It is not necessary to set the properties of the compass for the demo project 3 3 4 Dredge Positioning system See also the next figure Set the 1 Device offset Boom pin location For the Hitachi Lego crane this is set to X 0 Y 1 0 Z 1 0 The boom stick and tools are configured i...

Страница 21: ...ge positioning device 3 3 5 Crane Configuration 3 3 5 1 Boom See also the next figure 1 The Y offset is set to 7 5 2 It is possible to select a custom shape or a standard shape The standard shape is resized automatically to the entered boom parameters Figure 3 3 Crane configuration Boom ...

Страница 22: ...le to select a custom shape or a standard shape The standard shape is resized automatically to the entered stick parameters Figure 3 4 Crane configuration Stick 3 3 5 3 Tool See also the next figure 1 The Y offset is set to 1 34 2 The holes separation is set to 0 25 3 The holes tooth angle is set to 100 4 The effective area width is set to 0 85 5 It is possible to select a custom shape or a standa...

Страница 23: ...Teledyne PDS LEGO Excavator Drivers Crane configuration 19 Figure 3 5 Crane configuration Tool ...

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Страница 25: ...cket potentiometer 9 C compass 16 connection diagram 12 Crane Configuration 17 D device drivers 15 Dredge Positioning system 16 L LEGO Excavator 3 P parallelogram 10 Positioning device 16 potentiometers 4 12 R range 13 S stick potentiometer 7 V VRU 16 W Wago 857 414 12 ...

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