Sick WGS - Driver assistance system Operating instructions

Sick WGS - Driver assistance system Operating instructions

WGS Driver assistance system

O P E R A T I N G I N S T R U C T I O N S

EN

Operating instructions

WGS

This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Alteration or abridgment of the document is not permitted without the explicit written approval of SICK AG. 2

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Operating instructions

WGS Contents

Contents

1 About these operating instructions ............................................................................... 6

1.1

1.2

1.3

1.4

1.5

Function of this document .................................................................................... 6 Target group .......................................................................................................... 6 Information depth ................................................................................................. 6

Abbreviations used ............................................................................................... 7 Symbols used ........................................................................................................ 7

2

3

4

Safety ............................................................................................................................... 8

2.1

2.2

2.3

2.4

2.5

Qualified safety personnel .................................................................................... 8 Applications of the system ................................................................................... 8

Intended use ......................................................................................................... 9

General safety notes and protective measures ................................................10

2.4.1

2.4.2

2.4.3

Protection of the environment ............................................................................15

2.5.1

2.5.2

Safety notes and symbols ...................................................................10

General safety notes ............................................................................11

Potential sources of danger ................................................................12

Power consumption .............................................................................15

Disposal after final decommissioning ................................................15

System description ...................................................................................................... 16

3.1

3.2

3.3

Scope of delivery .................................................................................................16

System components ...........................................................................................18

3.2.1

3.2.2

3.2.3

Laser scanner TiM351 ........................................................................18

CAN/Ethernet converter ......................................................................20

Ethernet switch ....................................................................................20

System functionality ............................................................................................21

3.4

3.5

3.6

3.3.1

3.3.2

3.3.3

3.3.4

3.3.5

3.3.6

3.3.7

3.3.8

Calculating windrow profiles ...............................................................21

Calculating the windrow position ........................................................23

Windrow volume output .......................................................................24

Tracking the windrow measurements ................................................24

Data traffic in the CAN bus ..................................................................26

Defined output of the tracked windrow position ................................27

Supported operating modes ................................................................28

Transfer strategy and the self-monitoring function of the system ..................................................................................................29

GPS tracking and windrow tracking ...................................................................29

System requirements ..........................................................................................31

3.5.1

3.5.2

Ambient conditions ..............................................................................31

Vehicle requirements ...........................................................................31

Status indicators .................................................................................................31

Mounting ...................................................................................................................... 32

4.1

4.2

4.3

Mounting the laser scanner ...............................................................................32

4.1.1

4.1.2

4.1.3

General notes for installation ..............................................................32

Test installation ....................................................................................33

Final installation ...................................................................................34

Installing the CAN/Ethernet converter ...............................................................36

Mount the Ethernet switch .................................................................................36

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Contents

5

6

7

8

9

Operating instructions

WGS

Electrical installation ................................................................................................... 37

5.1

5.2

5.3

5.4

Wiring plan .......................................................................................................... 38 Connecting the laser scanner ............................................................................ 38

5.2.1

5.2.2

Connecting CAN/Ethernet converter ................................................................. 43 5.3.1

5.3.2

Connection to voltage supply .............................................................. 39

Ethernet connection ............................................................................ 40

Connection to the power supply ......................................................... 43 Connection to the laser scanner ........................................................ 43

5.3.3

Connection to the CAN bus ................................................................. 44

Connecting the Ethernet switch ......................................................................... 45

Commissioning ............................................................................................................. 46

6.1

6.2

Checking the operational readiness of the devices ......................................... 46 6.1.1

6.1.2

6.2.1

6.2.2

Laser scanner ...................................................................................... 46 CAN/Ethernet converter ...................................................................... 46

CAN protocol specification ................................................................................. 47

WGS inbound messages ..................................................................... 48

WGS outbound messages ................................................................... 49

6.3

6.4

6.5

Notes on configuration ....................................................................................... 50 6.3.1

Positioning the laser scanner in the vehicle coordinate system ............................................................................... 50

6.3.2

6.3.3

Determining the windrow position to be output by the setpoint in the X-direction ............................................ 51 Configuration of the CAN/Ethernet converter.................................... 51

Test mode ........................................................................................................... 52 6.4.1

6.4.2

Description files for CAN software ...................................................... 52

Overview of CAN messages ................................................................ 53

6.4.3

Visualization of test mode ................................................................... 55

Implementation .................................................................................................. 58

Maintenance ................................................................................................................. 59

7.1

7.2

7.3

Overview of maintenance tasks ......................................................................... 59 Maintenance during operation .......................................................................... 59 7.2.1

7.2.2

Cleaning the laser scanners ............................................................... 59

Visual inspection of the cables ........................................................... 60

Replacing components ....................................................................................... 61 7.3.1

7.3.2

7.3.3

Replacing a laser scanner .................................................................. 61

Replacing CAN/Ethernet converter .................................................... 62 Replacing the Ethernet switch ............................................................ 62

Fault diagnosis ............................................................................................................. 63

Annex ............................................................................................................................ 64

9.1

9.2

Technical data .................................................................................................... 64 9.1.1

9.1.2

9.1.3

System ................................................................................................. 64

Laser scanner TiM351 ........................................................................ 65

CAN/Ethernet converter ...................................................................... 66

Dimensional drawings ........................................................................................ 67 9.2.1

9.2.2

9.2.3

Dimensional drawings for the TiM351 ............................................... 67

Dimensional drawing for CAN/Ethernet converter ............................ 68

Ethernet switch dimensional drawing ................................................ 69

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Operating instructions

WGS Contents

9.3

9.4

CAN specification ................................................................................................70

9.3.1

9.3.2

9.3.3

9.3.4

9.3.5

9.3.6

CONFIG_WGS (MUX0) ..........................................................................70

CONFIG_WGS (MUX1) ..........................................................................71

MEASURE_DATA_WGS ........................................................................72

STATUS_WGS .......................................................................................73

GMS_WGS_KMC ..................................................................................74

WBSD_KMC ..........................................................................................75

CAN/Ethernet converter configuration tool .......................................................76

10 Figures and tables ....................................................................................................... 78

10.1

10.2

10.3

List of tables ........................................................................................................78

List of figures .......................................................................................................79

Keywords index ...................................................................................................81

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Chapter

1

1

1.1

About these operating instructions

Operating instructions

WGS

About these operating instructions

Please read this chapter carefully before you begin working with this documentation and the WGS driver assistance system.

Function of this document

These operating instructions provide

manufacturers

of agricultural machines or

integrators

instructions regarding the safe assembly, electrical installation, commissioning, operation and maintenance of the WGS driver assistance system. These operating instructions

do not

provide information on operating the agricultural machine in which the WGS is integrated or will be integrated. For information about this, refer to the respective vehicle's operating instructions.

1.2

Target group 1.3

Target group Manufacturer

Specialized personnel such as electrical or control engineers, etc.

Activities

Planning and installing the WGS in agricultural machines. Project engineering, mounting, electrical installation, configuration, maintenance, replacement of components, fault diagnosis, troubleshooting

Integrators

Specialized personnel such as electrical or control engineers, etc. Equipping agricultural machines with WGS Project engineering, mounting, electrical installation, configuration, maintenance, replacement of components, fault diagnosis, troubleshooting

Driver

Specialized personnel for operating and controlling the harvesting vehicle

Tab. 1: Target group

Information depth

Operating the WGS during operation These operating instructions contain information about the WGS driver assistance system on the following topics: • • System description and system integration Mounting • • • • • Electrical installation Commissioning and configuration Operation Maintenance and repairs Fault diagnosis and troubleshooting • Technical data and dimensioned drawings Furthermore, when planning and using the WGS driver assistance system, technical skills regarding control engineering, which are not covered by this document, are also required. The official and legal regulations for operating the WGS must always be complied with. 6

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Operating instructions

WGS About these operating instructions

Chapter

1

1.4

Further information on the 2D laser scanner can be obtained from the department responsible for automatic detection and position determination at SICK AG or is available online at

www.sick.com

.

Abbreviations used 1.5

CAN bus ISOBUS WGS

Symbols used

Controller Area Network = serial bus system Data bus for agricultural applications Windrow Guidance System = driver assistance system for harvesting vehicles

Recommendation Note 1. / 2. ...

   ,  Recommendations are designed to assist you in the decision-making process with respect to the use of a certain function or technical measure. Notes provide information about the features of a device, application tips, or other information that may come in useful. Instructions that must be carried out in the described order are referred to as step-by-step instructions and are indicated by numbered lists. Carefully read and follow the instructions for action. Instructions for taking action are indicated by an arrow. Carefully read and follow the instructions for action. LED symbols describe the status of a diagnostics LED. Examples:  The LED is illuminated continuously.  The LED is flashing.  The LED is off.

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Chapter

2

2 Safety

2.1

Safety

Operating instructions

WGS

This chapter concerns your own safety and the safety of the WGS driver assistance system users.  Please read this chapter carefully before you begin working with WGS.

Qualified safety personnel

The WGS must be installed, commissioned, and maintained only by adequately qualified personnel. A qualified person • has sufficient skills in the field of the respective equipment based on their technical training and experience

and

• has been instructed by the manufacturer in system operation and all applicable safety guidelines

and

• is familiar with all relevant country-specific occupational safety regulations, work safety regulations, guidelines, and generally accepted technical rules and standards (e.g., DIN standards, VDE regulations, country-specific rules) to such an extent that he/she is able to evaluate the safe condition of the power-operated equipment,

and

he/she • has access to and has read the operating instructions.

NOTE

The installation of the WGS requires extensive knowledge of control engineering.

As a result, the WGS driver assistance system can only be integrated into a vehicle by the vehicle manufacturer or an integrator.

2.2

Applications of the system

The WGS is a vehicle assistance system for the automated guidance of agricultural machines for the optimal harvesting of crops from a windrow using conventional pick-up machines. Regardless of the windrow's deposit quality, the harvesting of the crops is adapted to the actual local conditions on the field using WGS.

Current status: conventional windrows at a glance

A regular and lightly formed windrow is critical for the optimal performance and speed of harvesting machines such as balers or choppers. Accumulated clippings or irregular windrow stacking positions frequently represent causes for blockages or loss of performance. If the tractor driver is driving only by sight, it would be difficult for him or her to take advantage of the optimum performance of his or her machine. The harvesting machine can clog if it drives over a thick windrow too quickly. If the machine is driving too slowly, it is not being used optimally and precious harvesting time is lost. 8

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Operating instructions

WGS

2.3

Safety

Chapter

2 Note

Intended use

Solution: automated windrow guidance with WGS

WGS does just that. The system determines the exact position of the windrow path in real time during the harvesting process and also provides information about the respective material density. During this process, a laser scanner installed on the roof of the tractor scans the windrow path proactively. Information about the windrow positions and the respective windrow volumes are forwarded to the vehicle control system as control information for the longitudinal or transverse control and for regulating the speed of the agricultural machine via the ISOBUS. The harvest trailer can subsequently be optimally guided over the windrow (either in the middle or above the center of an area). Driving over the windrow is slowed down when a larger volume is present. Crops are harvested at high speeds when there is little volume in the windrow. As a result, the WGS makes it possible to increase productivity, while simultaneously assisting the driver. WGS only detects areas that are visible for the laser scanner in the measurement plane. In order for this to take place, the laser scanner must have a free view of the areas to be monitored.

Note

WGS may only be used as described in section instructions.

2.2 Applications of the system

. It may only be used by qualified personnel in the environment in which it was mounted and initially commissioned by qualified safety personnel in accordance with these operating WGS is a system designed for

installation

in harvesting vehicles that are ISOBUS compatible. The harvesting vehicles must have corresponding interfaces for automatic speed control and for controlling an automatic steering system. WGS is an

auxiliary

system. Accordingly, the WGS must be integrated into the harvesting vehicle so that the driver can override or switch the system off at any time. The driver bears the full responsibility for safe operation of the harvesting vehicle at all times, in particular for people who are in the hazardous zones of the harvesting vehicle.

The WGS is not a safety device for human protection and therefore does not comply with any safety standards. For safety applications, please contact SICK AG.

In the event of any other usage or of modification to the system – including in the context of mounting and installation – any claims against SICK AG under the warranty will be rendered void.

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Chapter

2

2.4

2.4.1

Safety

General safety notes and protective measures Safety notes and symbols

Operating instructions

WGS

The following safety and hazard notes are used for your own safety, for the safety of third parties, and for the safety of the machine. You must therefore observe these symbols at all times.

HAZARD

Denotes an immediate hazard that may result in severe to fatal injuries. The symbol shown on the left-hand side of the note refers to the type of hazard in question (the example here shows a risk of injury resulting from electrical current).

WARNING

Denotes a potentially dangerous situation that may result in severe to fatal injuries. The symbol shown on the left-hand side of the note refers to the type of hazard in question (the example here shows a risk of damage to the eye by laser beams).

WARNING

Denotes a potentially dangerous situation that may result in minor personal injury or possible material damage.

NOTE

Denotes a potential risk of damage or functional impairment of the device or the devices connected to it. This symbol includes a reference to supplementary technical documentation. 10

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Operating instructions

WGS

2.4.2

Safety

General safety notes

Chapter

2

WGS has been designed in a way that allows for safe operation. However, a certain level of risk will always remain. Awareness of potential sources of danger in the system will help you to work in a safer manner and thus prevent accidents. To avoid risks, please also observe the special warnings in each of the individual chapters.

WARNING

Safety notes

Observe the following to ensure the safe use of the system as intended. • • The notes in these operating instructions must be complied with. All official and statutory regulations governing the operation of the system must be complied with. • The national and international legal specifications apply to the installation and use of the system, to its commissioning, and to recurring technical inspections, in particular: – The accident prevention regulations and work safety regulations – Any other relevant safety regulations • The checks must be carried out by qualified safety personnel or specially qualified and authorized personnel, and must be recorded and documented to ensure that the tests can be reconstructed and retraced at any time. • These operating instructions must be made available to the operator of the system. The system operator must be instructed by qualified safety personnel and must read the operating instructions. • The driver must follow relevant instructions and conduct inspections in order to ensure that the screen of the laser scanner is clean and undamaged. • The laser scanner must have an unobstructed field of view. The sensor head must not be covered by other objects, for example. • SICK AG recommends carrying out a system check before commissioning the system.

WARNING

Risk resulting from improper operation

Improper installation and commissioning, damaged components, and unsuitable ambient conditions such as excessively cold or warm temperatures and high levels of dust, fog or spray, may cause faults and may result in a complete system crash.

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Chapter

2

2.4.3

Safety

Operating instructions

WGS

WARNING

System does not comply with safety standards

WGS is not suitable for the protection of persons according to the applicable safety standards for machines. The system therefore does not comply with safety standards. WGS is a driver assistance system. The driver bears the full responsibility for safe operation of the harvesting vehicle at all times, in particular for people who are in the hazardous zones of the harvesting vehicle. WGS must be integrated into the system so that the driver can override or switch the system off at any time.

Potential sources of danger

WARNING Important Laser light

WARNING

Damage to the eye by laser beams

The TiM351 laser scanner used by WGS conforms to laser class 1 (eye-safe) in accordance with EN 60 825-1 (see laser warning label on the device for publication date). This ensures compliance with 21 CFR 1040.10 except for the tolerances according to Laser Notice No. 50 of July 26, 2001. The laser operates at a γ = 850 nm wavelength (invisible infrared light). The laser beam is not visible to the human eye. The radiation emitted in normal operation is harmless to human skin and eyes. • • Improper use (e.g., opening the housing and stopping the motor) can result in dangerous exposure to radiation.  Never open the laser scanner housing. Opening the housing does not interrupt the operation of the laser beam.  Observe the laser safety regulations as per IEC 60 825Q1 (latest version). No maintenance is required to ensure compliance with laser class 1. The laser output aperture is the front screen on the laser scanner. 12

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Operating instructions

WGS Safety

Chapter

2 Electrical current

HAZARD

Risk of injury and damage caused by electrical current

Improper handling of live devices may lead to severe personal injury or death by electric shock.  Electrical installation and maintenance work must always be carried out by personnel authorized to do so.  The power supply must be disconnected when attaching and detaching electrical connections.  Select and implement wire cross-sections and their correct fuse protection in accordance with the applicable standards.  Do not touch any live components.  In the event of danger, immediately disconnect the system from the power supply.  Always use original fuses with the specified current rating.  Report any damaged cables to the maintenance team without delay.  Observe the current safety regulations when working on electrical systems.

HAZARD

Risk of injury and damage caused by potential equalization currents

The TiM3xx is designed and tested for electrical safety in accordance with EN 60950-1 (2006-04)/A11 (2009-03). It is connected to the peripheral devices via shielded cables. The cable shield (e.g. supply cable) is connected to the metal housing of the TiM351. The device can either be grounded through the cable shield or through both fastening latches. If the peripheral devices have metal housings and if the cable shields also are connected to these housings, it is assumed that all devices contained in the system have

the same ground potential.

This is achieved, for example, by complying with the following conditions: • Mounting the devices on conductive metal surfaces. • Properly grounding the devices and metal surfaces in the system. • Low-impedance and current-carrying equipotential bonding between areas with different ground potentials, if necessary. If these conditions are not met, e.g., on devices in a widely distributed system over several buildings, potential equalization currents may, due to different ground potentials, flow along the cable shields between the devices and create hazards. Potential equalization currents between the TiM3xx and other grounded devices in the system can have the following effects: • Dangerous voltages on the metal housing, e.g. of the TiM3xx • • Incorrect function or irreparable damage to the devices Damage/irreparable damage of the cable shield due to heating and cable fires  For smaller installations with only slight potential differences, the insulated installation of the TiM3xx and of peripheral devices may be a sufficient solution.

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Chapter

2 Safety

Operating instructions

WGS Specific dangers

WARNING

Risk resulting from incorrect commissioning and configuration

Do not commission without testing by qualified personnel! Before you operate the system or a device for the first time, you must have it checked and approved by qualified safety personnel.

NOTE

Claims under the warranty rendered void

Do not open the device housing. The devices are sealed.

WARNING

Risk resulting from faults

Cease operation if the cause of the malfunction has not been clearly identified. A defect in the system may result in fatal accidents or damage to the system.  Immediately stop the WGS if you cannot clearly identify the fault and if you cannot safely remedy the problem. 14

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Operating instructions

WGS

2.5

Safety

Protection of the environment 2.5.1

Chapter

2

The system has been designed to minimize its impact on the environment. It consumes very little power. Always act in an environmentally responsible manner at work. For this reason, please note the following information regarding disposal.

Power consumption 2.5.2

The system, including its components, typically consumes 3 W.

Disposal after final decommissioning

SICK does not currently take back devices that are unusable or irreparable. Always dispose of unusable or irreparable devices in an environmentally safe manner in accordance with the relevant national waste disposal regulations.  Always dispose of unusable or irreparable devices in an environmentally safe manner in accordance with the relevant national waste disposal regulations.  Dispose of all electronic assemblies as hazardous waste. The electronic assemblies are easy to dismantle.

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Chapter

3

3

System description

Operating instructions

WGS

System description

This chapter provides information on the special properties of the WGS driver assistance system. It describes the design and operating principle of the system.

3.1

Note

Always read this chapter before you plan, install, integrate and commission the system.

Scope of delivery

WGS consists of one TiM351 laser scanner with installed firmware and WGS software. In addition, a CAN/Ethernet protocol converter is required for the system's ISOBUS integration. An existing device can be used or the already configured CAN/Ethernet converter can be ordered for the system. An Ethernet switch and suitable connecting cables can optionally be purchased from SICK.

Important note

Fig. 1: WGS scope of delivery

Thorough check for completeness

 It is recommended that you carefully check for and report transport damage of any kind as soon as possible after receiving the system.  Also verify that the delivery includes all components listed on the delivery note.

Quantity

1

Part no.

1076929

Description

TiM351 laser scanner with integrated firmware and WGS software USB stick with description files (.dbc files) for test mode and diagnostics via CAN software as well as configuration software for the CAN/Ethernet converter

Tab. 2: WGS scope of delivery

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Operating instructions

WGS System description Necessary accessories Quantity Part no.

1 6060948

Tab. 3: Necessary accessories

Optional accessories Quantity Part no.

1 1 1 6051544 6042735 6048251

Tab. 4: Optional accessories

Description

CAN/Ethernet converter

Description

Ethernet switch TiM power connecting cable TiM Ethernet connecting cable Chapter

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Chapter

3

3.2

3.2.1

System description

System components Laser scanner TiM351

Operating instructions

WGS

A TiM351 laser scanner installed on the roof of the agricultural machine continuously monitors the ground in front of the vehicle in a radius of up to 6 m from the sensor during the harvesting process. Laser scanners are electro-optical sensors that use non-contact laser beams to scan the outline of their surroundings in a plane. They measure their surroundings in two-dimensional polar coordinates. A rotating mirror is used to deflect the pulsed light in a horizontal area. Due to the rotation of the mirror, a multitude of single measurements are merged to form an entire scan of an area. Scanning occurs in a sector up to 270°. The laser beam is emitted through the front screen. The scan plane position is indicated by a housing marking next to the front screen.

Fig. 2: Scan plane of the TiM351

Range finding

The 2D laser scanner measurement technology is based on what is known as the time-of flight measurement. The laser emits beams pulsed using a laser diode. If a laser pulse hits an object or person, it is reflected by the surface of the object or person in question. The reflection is registered by a photo-diode in the laser scanner's receiver. The laser scanner combines the sender and receiver in a single housing. With what is known as the pulse time method, the distance between the sensor and the object is calculated by measuring the time interval between the emission of the laser pulse and the pulse being received again. Radar systems apply this “pulse time-of-flight measurement” principle in a similar way.

Fig. 3: Remaining distance measurement of the TiM351

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Operating instructions

WGS System description

Chapter

3 Direction measurement

The rotating mirror enables radial scanning of the environment. The individual measure ments are triggered internally by an encoder in regular angle increments. One complete rotation represents one measuring process (scan). The TiM351 works at a scanning frequency of 15 Hz, i.e. it performs 15 measuring processes per second and makes the measurement results continuously available in real time via the Ethernet interface. The measuring procedure uses the averaging from multiple pulses to determine individual measured values. At an angular resolution of 1°, a measuring point is composed of an average of 84 measurements. The spot geometry of the submeasuring points is almost circular, with a measuring point taking the form of a narrow rectangle through superposition.

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Fig. 4: Direction measurement of the TiM351

Firmware and WGS software

The firmware and WGS software pre-installed in the TiM351 laser scanner upon delivery are inter-coordinated. They are updated together as a part of a program update.

Fig. 5: TiM351 with integrated firmware and WGS software

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Chapter

3

3.2.2

System description

Operating instructions

WGS

CAN/Ethernet converter

Due to the fact that the TiM351 laser scanner only has one Ethernet port, a CAN/Ethernet converter is required for the connection of the sensor to the harvesting vehicle’s CAN communication. For this purpose, the protocol converter provides a LAN connection and a CAN interface. The CAN/Ethernet converter makes it possible for the WGS to be integrated into the vehicle control system via the ISOBUS. The ISOBUS interface is the industry standard for agriculture applications. It enables ISOBUS-compliant accessory devices to be controlled via a uniform protocol, regardless of design or manufacturer. An existing CAN/Ethernet converter can always be used. If no CAN/Ethernet converter is at hand yet, the CAN/Ethernet converter available as an accessory is recommended. The converter is preconfigured upon delivery and can directly be used by the WGS driver assistance system directly.

3.2.3

Ethernet switch

Fig. 6: CAN/Ethernet converter

Optionally, an Ethernet switch connects the laser scanner with the protocol converter. The connection of the laser scanner via an Ethernet switch enables the analysis of the CAN communication during operation as well as upgrading the system via a connected configuration computer.

Fig. 7: Ethernet switch

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Operating instructions

WGS

3.3

System description

System functionality 3.3.1

Chapter

3

WGS is a system designed for use in agriculture. It supports the optimal harvesting of crops from a windrow using a conventional pick-up machine.

Calculating windrow profiles

The installed laser scanner on the roof of the harvester scans the area in front of the vehicle perpendicular to the direction of travel at a range of approximately 6 m with an inclination angle of approximately 35°. The profile line of the determined measuring point reflects the contour of the windrow's cross-section.

Fig. 8: Recording the profile measuring points

Configuring the windrow detection sensitivity

The cross section profile is extracted from the windrow cut surface. The excess height in the profile points downwards because the measurement section of the laser beam emitted to the windrow is shorter than the measurement section to the ground.

Fig. 9: Extraction of the windrow cut section

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Chapter

3 System description

Operating instructions

WGS

In order for the cross section profile to be classified as a windrow, however, it must exhibit a defined minimum height in the sloping area, among other things. If the profile height is below this, the profile is not detected as windrow.

Note

Fig. 10: Windrow detection sensitivity

The windrow detection sensitivity can be configured via the three

Robust

,

Semi-sensitive

and

Sensitive

modes. The mode is set via a corresponding CAN message. In

Sensitive

mode, cross section profiles with lower profile heights than the windrow are detected. This mode is useful for bringing in flat grass windrows, for example. However, it must be noted that faulty detections (caused by tractor tracks, heaps of soil, etc.) can result from this setting. In

Robust

mode, higher (larger) windrows are the target of the search. This mode is suited for bringing in hay windrows, for example. Please note that a windrow with a low profile height is not detected with this setting. For this reason, we recommend giving the operator the option of changing the preset windrow detection sensitivity on the display depending on the situation.

Saving a windrow profile

A new cross-section profile with WGS.

n

measuring points is determined with each scanning process as a result of the forward movement of the vehicle; this profile is saved in the

Fig. 11: Windrow profile per scan process

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Operating instructions

WGS

3.3.2

System description

Calculating the windrow position

Chapter

3

The position and the cross-sectional area are saved for each cross-sectional profile. The position of the profile section is determined either from the geometric center or from the centroid of the windrow.

Fig. 12: Determining the windrow position from the middle of the windrow/center of an area

The X and the Y position of the windrow in the vehicle coordinate system are calculated based on the mounting position of the laser scanner. The rear axle is the reference point for vehicles with front-wheel steering. For this reason, the relative view of the measuring point determined by the laser scanner is transferred to the absolute view of the vehicle model.

Fig. 13: Windrow position in the vehicle coordinate system

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Chapter

3

3.3.3

System description

Operating instructions

WGS

Windrow volume output

The windrow volume is calculated and output from the cross-sectional areas using the vehicle speed. The cross-sectional area volume provides control information for the speed with which the vehicle-trailer combination has to drive over the windrow to ensure the work machine is optimally utilizing its capacity. Driving over the windrow is slowed down when a larger volume is present. Crops can be harvested at high speeds when there is little volume in the windrow.

3.3.4

Fig. 14: Determining the windrow volume (control information for speed)

Tracking the windrow measurements

If the current curvature is available in addition to the speed of the vehicle, a vehicle model is calculated in the laser scanner. The individual windrow measurements can be tracked using the vehicle's proper motion, which is now known. Depending on the speed of the vehicle, the saved

control information for the longitudinal control X values

of the single windrow positions shift back to the previous X positions by the traveled distance. Thus, the X values provide of the harvesting vehicle. They create a

target path for the windrow path

, on which the vehicle will move, in advance.

Fig. 15: Tracking the windrow position (control information for longitudinal control)

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Operating instructions

WGS System description

Chapter

3

The

Y value

of the individual windrow position determines each deviation from the vehicle's current axis of symmetry and as a result, also the zero.

inclined position

of the vehicle relative to the windrow. To ensure the vehicle is able to drive over the windrow optimally (in the middle or above the center of an area), the inclined position must be compensated. This is done by shifting the axis of symmetry in the Y direction until the Y value is equal to The angle of revolution resulting from the shift provides the

control information for the transverse control

, i.e. the vehicle steering. The vehicle's degree setting to the windrow takes place by rotating the vehicle. This process compensates an irregular windrow deposit. The harvest trailer can subsequently be optimally guided over the windrow.

Fig. 16: Tracking the windrow position (control information for transverse control)

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Chapter

3

3.3.5

System description

Operating instructions

WGS

Data traffic in the CAN bus

All information required by WGS is supplied via the CAN bus. Here, the movement information of the vehicle as well as the mounting position of the laser scanner stored in the CAN network are important. Conversely, all measured data determined by the WGS is transmitted to the CAN bus via Ethernet and transferred to the vehicle control system as control information. The actual windrow path and the material density of the windrow are detected ahead of time by the WGS. The position of the windrow is calculated as the target trajectory in the absolute coordinate system of the vehicle and used to optimize the start position. The vehicle speed can be adjusted automatically based on volume of the cross-sectional areas.

Fig. 17: Data traffic in the CAN bus

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Operating instructions

WGS

3.3.6

System description

Defined output of the tracked windrow position

Chapter

3

If all vehicle movement information is present, the tracked windrow position at a freely selectable X position can be output on the vehicle. This allows for great precision of the vehicle's transverse control and allows for optimal positioning of the windrows in front of the baler.

Fig. 18: Defined output of the tracked windrow position

The output of the windrow position does not usually occur at the current time of measurement. Instead, it occurs in front of or behind the vehicle axle, based on the tracked windrow path, e.g. right before the harvest trailer drives over the windrow.

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Fig. 19: Windrow position output in front of/behind the rear vehicle axle

The desired output position is defined using a fixed setpoint in the X direction. Detailed

information on this can be found in chapter

6.3.2 Determining the windrow position to be output by the setpoint in the X-direction

.

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Chapter

3 System description

Operating instructions

WGS

3.3.7

Supported operating modes

Operating mode

1 2 3 WGS supports three operating modes, depending on the available movement information of the vehicle on the CAN bus. If not all movement information is available, the WGS can be operated with limited functionality. The operating mode is set via CAN message. • • • • • • Depending on the input data available, the following information is calculated and output by the WGS.

Input data

Mounting position Speed Curvature Mounting position Speed Mounting position

Cross section

X X X

X/Y position

X X X

Tab. 5: Supported operating modes

Volume

X X −

Tracking/output at the desired position

X − −

Detection quality

X X X

Operating mode 1

All information required by WGS is available on the CAN bus: • • Mounting position of the laser scanner Curvature The windrow path can be determined with this information and the windrow position output at a desired position. This enables the optimal transverse control. This prevents the cutting and overshooting of the windrow.

Operating mode 2

This operating mode is used if the curvature is not available. The volume can still be determined from the cross-section.

Note

The windrow position can be output only at the determined measuring position.

Operating mode 3

This operating mode is used if none of the required movement information is available. The volume can no longer be determined. The windrow position output is possible at the determined measuring position. Do not confuse this operating mode with the mode in which the window detection sensitivity is defined. Windrow detection sensitivity is defined independent of the operating mode. 28

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Operating instructions

WGS

3.3.8

3.4

System description

Transfer strategy and the self-monitoring function of the system

Chapter

3

A clear transfer strategy can be implemented using the WGS. The WGS uses the detection quality of the current measurement to determine a trust level of 1 to 100. This is output to the CAN bus. If the trust level, for example, drops below a defined threshold, the vehicle's current steering angle can be held for a few seconds. This technology is very well suited for bridging gaps in the windrow. If the quality drops below a defined minimum, the control can be transferred to the driver. An audible signal alerts the driver that this is happening. The laser scanner monitors its own ability to measure and also registers front screen contamination. If there is a limited measuring ability, this is output via the CAN bus. Additionally, the trust level of the measurements is set to 0.

GPS tracking and windrow tracking

For GPS-controlled harvesting processes, the outer contour of the field is screened and transferred to the vehicle control system as control information. The vehicle drives along the path that was calculated in advance. Here, the target path is usually based on the mounting width of the pick-up device (e.g. baler). However, due to the fact that the crop is not always deposited in the correct shape or width in the windrow,

GPS tracking

is problematic based on the 'random’ windrow path. The windrow path must be mapped accordingly before the pick-up process. Conversely, the data transferred to the vehicle control system by the WGS enables

windrow tracking

in real time. Here, the optimal approach position is determined in advance when driving and is transmitted to the vehicle control system.

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Fig. 20: Comparison of GPS tracking/windrow tracking

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Chapter

3 System description

Operating instructions

WGS Conclusion

The WGS-guided harvest trailer that collects the windrow does not require a GPS system for windrow tracking. The WGS enables the exact position determination of the windrow path and provides additional information regarding the respective material density, without mapping. The WGS supplies direct input quantities for the vehicle control system based on the vehicle coordinate system using the X/Y coordinates of the windrow position. Internal conversion of GPS data to vehicle coordinates is not necessary. WGS, along with the ISOBUS, uses an industrial interface established in the agriculture industry that enables the system to be integrated easily into the harvesting vehicle.

Fig. 21: GPS/WGS control information

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Operating instructions

WGS

3.5

System description

System requirements 3.5.1

3.5.2

3.6

Chapter

3

Reliable and problem-free use of WGS depends on a number of different factors.

Ambient conditions

The following conditions must be met to operate the WGS driver assistance system: • Supply voltage DC 8 ... 28 V • • –20 °C to 50 °C ambient temperature IP65 enclosure rating

Vehicle requirements

The harvesting vehicle must meet the following requirements for the integration of the WGS: • • Automation based on ISOBUS Interface for the automatic speed setting • • • Interface for controlling an automatic steering system Laser scanner installation site: outside on the roof of the driver's cab CAN bus installation site: In the driver's cab

Status indicators

In normal operation, the laser scanner is fully automatic—no operator intervention is required. Two LEDs signal the operational status of the laser scanner.

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Fig. 22: Status indicatorTiM351

LED

1 2

Color

  Green Red

Meaning

The device is ready for use. Fault.

Tab. 6: Status indicators TiM351

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Chapter

4

4

4.1

4.1.1

Mounting

Mounting

Mounting the laser scanner General notes for installation

Note

Operating instructions

WGS

The reliable and problem-free operation of the system depends primarily on the proper installation and alignment of the laser scanner. Depending on the vehicle type, the laser scanner is either mounted on the roof of the agricultural machine or in the driver's cab. The laser scanner can be mounted on the right side, left side or in the middle. The laser output is directed forwards when viewed from the front. We recommend protecting the laser scanner from direct sunlight using a cover.

Correct alignment

On site, the laser scanner must be aligned by the customer so that the measurement plane hits the ground with an inclination angle (pitch angle) of approximately 35° at a distance of roughly 6 m in front of the harvesting vehicle. The laser scanner's measurement plane must not hit the vehicle (e.g. the hood).

Note

Fig. 23: Laser scanner mounting position

Make sure that the laser scanner is not tilted in the vertical or roll axis. The laser scanner is aligned correctly if the measuring plane of the laser scanner runs

parallel to the vehicle axle

and

parallel to the ground

, i.e. the vertical angle and the roll

angle are equal to zero (refer also to Chapter

6.3.1 Positioning the laser scanner in

the vehicle coordinate system).

Fig. 24: Correct laser scanner alignment

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WGS

4.1.2

Mounting

Chapter

4

WARNING

Be sure to closely observe the following notes during mounting:

 Install the laser scanner so that it is protected from dirt and mechanical damage.  When selecting the installation position, make sure the laser scanner is protected against direct sunlight on the housing of the laser scanner (overheating) and largely protected against glares caused by sunlight or other light sources.  The WGS system can only provide sufficiently accurate control information when positioned optimally.  Ensure that the field of vision of the entire front screen is not restricted. The laser scanner must always have a clear view of the scanning area.  Always mount the laser scanner such that you are able to insert and remove the connector plug.  Avoid excessive shock and vibration loading on the laser scanner.  In the event of heavy vibration, prevent the fixing screws from accidentally coming loose using screw-locking devices.

Test installation

Before the final mounting of the WGS components on the harvesting vehicle, we recommend first testing the system's functional readiness in a test installation. 1. Mount the laser scanner to the roof of the harvesting vehicle using a temporary mechanical system. A universal fastening system such as RAM MOUNTS is suitable for this. 2. Mount the bracket to the roof of the harvesting vehicle with magnets or suction feet.

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Fig. 25: Laser scanner test installation using a temporary mechanical system

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Chapter

4

4.1.3

Mounting

Operating instructions

WGS

Final installation

3. Connect the components according to the wiring diagram (see chapter

5.1 Wiring plan

).

The CAN/Ethernet converter is housed in the driver's cab. 4. Establish the supply voltage. 5. Integrate the system into the vehicle's CAN bus. Detailed information on this can be

found in chapter

6 Commissioning

.

6. Test the function of the WGS in a test run.

NOTE

Ensure accessibility of the connections

Depending on the installation situation of the laser scanner, it is possible that the connections are not accessible or are hardly accessible after the final installation. In this case, we recommend laying and connecting the cables before the installation of the laser scanner.

Attach the laser scanner directly to the mounting plate

Mount the laser scanner directly to the mounting plate with a suitable hole pattern. On the bottom of the laser scanner, there is an M3 blind hole thread with a depth of 2.8 mm.

Note

Fig. 26: Laser scanner mounted directly to the mounting plate

1. Place the bottom of the laser scanner on the mounting plate. The positioning points must be directly on top of the hole pattern. Make sure that the laser scanner is flush with the mounting plate. 2. Tighten the laser scanner on the mounting plate from below using the M3 screws. 34

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Operating instructions

WGS Mounting

Chapter

4 Installing the laser scanner using a mounting kit

Alternatively, the laser scanner can be mounted to the mounting plate using mounting kit 1 contained in the scope of delivery. The mounting kit consists of two mounting brackets with M3 screws x 4 mm.

Fig. 27: Mounting kit 1 for mounting the TiM351

1. Place the mounting bracket on the laser scanner's blind threads. 2. Tighten the mounting bracket using two M3 screws. 3. Place the laser scanner with the mounted mounting brackets on the mounting plate 4. Tighten the mounting brackets from above using two M3 screws.

Fig. 28: Mounting the laser scanner with mounting brackets

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Chapter

4

4.2

Mounting

Installing the CAN/Ethernet converter

Operating instructions

WGS

The CAN/Ethernet converter is to be installed in a dry location protected against direct sunlight in the interior of the vehicle (e.g. in the driver's cabin). The device can be mounted on any flat surface in the driver's cab (horizontal, vertical, diagonal) using the four mounting brackets.  Select the installation site so that the connections are easily accessible.

4.3

Fig. 29: Mounting brackets on the CAN/Ethernet converter

Mount the Ethernet switch

The Ethernet switch is to be installed in a dry location, protected against direct sunlight, in the interior of the vehicle (e.g. in the driver's cabin).  Select the mounting location so that all devices can reach the Ethernet switch easily with their connecting cables.

Note

Fig. 30: Mounting the Ethernet switch

The Ethernet switch has protection class IP67, but external mounting is not recommended to avoid subjecting the male connector to mechanical stress. 36

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Operating instructions

WGS

5

Electrical installation

Electrical installation

Chapter

5

HAZARD

Disconnect the power to the system

 Make sure that all WGS components are disconnected from the power supply during electrical installation.  Only switch on the supply voltage for the TiM351 when the connection tasks have been completed and the wiring has been thoroughly checked.

HAZARD

Risk of injury due to electrical current

 Standard safety requirements must be met when working on electrical systems.  The power supply must be disconnected when attaching and detaching electrical connections.

HAZARD

Safe separation between the input and output current circuit

If the supply voltage is produced by the removal and conversion of electricity from the AC mains power supply using a stabilized power supply unit, then insufficient electrical separation between input and output current circuit may lead to an electric shock.  Only use a power supply unit whose output circuit has safe electrical separation from the input circuit by means of double insulation and a safety transformer in accordance with IEC 742 (VDE 0551).

HAZARD

Circuits must be configured as SELV or PELV circuits

 All electrical circuits connected to the TiM351 must be configured as SELV or PELV circuits (SELV = Safety Extra Low Voltage, PELV = Protective Extra Low Voltage).

HAZARD

Configure wire cross-sections in accordance with valid standards

 Wire cross-sections in the supply cable from the customer's power system must be designed in accordance with the applicable standards.

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Chapter

5

5.1

Wiring plan

Electrical installation

Establish the connections in accordance with the following wiring plan. Operating instructions

WGS

5.2

Note

Fig. 31: WGS wiring plan

We recommend implementing a user interface on the display in the driver cab for configuration and operation of the WGS driver assistance system. Corresponding implementation messages can be found in the accompanying operating instructions for the WGS.

Connecting the laser scanner

The TiM351 laser scanner mounted on the roof of the harvesting vehicle has the following connections.

Fig. 32: TiM351 connections

No. Connection

1 2 Power Ethernet

Description

Connection to the power supply/switching inputs and outputs Connection to a CAN/Ethernet converter or an Ethernet switch

Tab. 7: TiM351 connections

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Operating instructions

WGS

5.2.1

Note Electrical installation

Connection to voltage supply

Chapter

5

The TiM351 laser scanner requires a supply voltage of DC 9 ... 28 V (stabilized protective extra-low voltage [SELV or PELV] in accordance with the IEC 60364-4-41 standard [VDE 0100, part 410]). The source of electricity must be able to supply at least 5 W. The cable to connect the TiM351 to the power supply (which is available as an accessory) has an M12 plug connector on one side. The other end is open and shielded. Protect the laser scanner by installing an external 0.8 A slow-blow fuse at the beginning of the supply cable (from the perspective of the power supply).

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Note Note

Fig. 33: TiM351 connection to the power supply

1. Screw the M12 round connector of the connecting cable on the TiM351 to the

Power

female connector. 2. Run the connecting cable from the laser scanner to the power supply unit of the vehicle. It is recommended that cable shielding should be used for bundled and safe installation of the cables. 3. Connect the TiM351 to the agricultural machine's power supply.

Pin assignment of the high-voltage line

4 5 6 7

Pin

1 2 3 8 9 10 11 12

Signal

GND DC 9 ... 28 V IN 1 IN 2 Out 1 Out 2 Out 3 Out 4 PNP: INGND NPN: IN 9 to 28 V IN 3 IN 4 n.c.

Wire color

Brown Blue White Green Pink Yellow Black Gray Red Pink Gray/pink Red/blue

Description

Ground Supply voltage Switching input 1 (field set selection) Switching input 2 (field set selection) Switching output 1 (field breach) Switching output 2 (field breach) Switching output 3 (field breach) Switching output 4 (index/error) PNP: Common ground for all inputs NPN: Common reference potential of all inputs Switching input 3 (field set selection) Switching input 4 (field set selection) -

Tab. 8: Pin assignment of the TiM351 high-voltage line

Assignments in light gray font color are not used by the WGS.

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Chapter

5

5.2.2

Electrical installation

Operating instructions

WGS

Ethernet connection

There are three different configuration types for connecting the laser scanner to the Ethernet.

1. Connection for operation

In WGS operation, a direct connection of the laser scanner to the CAN/Ethernet converter is recommended.

Fig. 34: TiM351 Ethernet connection (operation)

The connection is established via the following plug connectors: • Connection cable with M12 plug connector for connecting to the laser scanner and SuperSeal plug connector for the connection to the CAN/Ethernet converter.

Fig. 35: TiM351 Ethernet connection (operation) – M12/AMP SuperSeal

• Connecting cable with two M12 plug connectors. The connection to the CAN/Ethernet converter occurs via a special adapter.

Fig. 36: TiM351 Ethernet connection (operation) – M12/M12 with M12/AMP SuperSeal adapter

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Operating instructions

WGS Electrical installation

Chapter

5 2. Connection for maintenance

The laser scanner can be connected directly to a configuration computer for importing software updates or recording sensor data. To do this, the connection cable is removed from the CAN/PC converter and connected to the configuration computer via an M12/RJ45 adapter.

Note

Fig. 37: TiM351 Ethernet connection (maintenance)

The CAN communication of the WGS cannot be recorded with this connection type.

3. Connection for diagnostics/development

For more detailed system diagnostics, an Ethernet switch has to be switched between the laser scanner and CAN/Ethernet converter. The Ethernet switch is used to connect a corresponding configuration PC. This construction allows you to log and evaluate sensor data and CAN messages during (test) operation.

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Fig. 38: TiM351:Ethernet connection (diagnostics/development)

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41

Chapter

5 Note Electrical installation

Operating instructions

WGS Notes on the connection

1. Screw the M12 round connector into the female Ethernet connector of the laser scanner. 2. Route the cable from the laser scanner to the CAN/Ethernet converter or Ethernet switch. It is recommended that cable shielding should be used for bundled and safe installation of the cables. 3. Depending on the connection type, connect the cable to the CAN/Ethernet converter or to a free connection socket of the Ethernet switch.

Pin assignment of the Ethernet cable Pin Wire

1 2 3 4 Ethernet_TX+ Ethernet_RX+ Ethernet_TX- Ethernet_RX-

Tab. 9: Pin assignment of the Ethernet cable

Description

Transmit+ Receive+ Transmit- Receive- 42

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Operating instructions

WGS

5.3

Electrical installation

Connecting CAN/Ethernet converter

Chapter

5

The CAN/Ethernet converter recommended as an accessory has the following connections:

5.3.1

5.3.2

Note

Fig. 39: Connections to the J1939/Ethernet converter

No. Connection

1 2 3 Power Ethernet SAE J1939

Description

Connection to the power supply Ethernet connection Connection for the communication on a CAN bus in commercial vehicles for determining CAN messages

Tab. 10: Connections on the CAN/Ethernet converter

It is recommended that cable shielding should be used for bundled and safe installation of the cables.

Connection to the power supply

A 2-pin AMP SuperSeal plug connector is used for the connection to the power supply.

Pin

0 V + V

Wire color

Blue Brown

Description

Ground Positive wire, DC 8 V ... 40 V

Tab. 11: Pin assignment of the 2-pin AMP SuperSeal plug connector to the power supply

Note

It is also possible to use negative voltages. In this case, the polarity must be inverted.

Connection to the laser scanner

A 4-pin AMP SuperSeal plug connector is used for the connection to the voltage supply.

Pin

4 3 2 1

Wire color

Ethernet_TX - Ethernet_TX + Ethernet_RX+ Ethernet_RX-

Description

Transmit- Transmit- Receive+ Receive-

Tab. 12: Pin assignment of the 4-pin AMP SuperSeal plug connector to the Ethernet connection

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Chapter

5

5.3.3

Electrical installation

Operating instructions

WGS

Connection to the CAN bus

The SAE J1939 network protocol describes the communication on a CAN bus in commercial vehicles for transmitting diagnostics data (e.g. motor speed, temperature) and control information. A 3-pin AMP SuperSeal plug connector is used for the connection.

Pin

Lo Shl1 Hi

Wire Description

CAN low Shielding CAN high

Tab. 13: Pin assignment of the 3-pin AMP SuperSeal plug connector to for the connection to the CAN bus

Notes on the termination

All devices connected to the ISOBUS are connected in a linear bus structure. At the beginning and at the end of the structure the cable is closed by resistors (terminated). Depending on where the CAN/Ethernet converter is connected on the CAN network, a device with or without an integrated 120 Ω resistor must be used.

• If the CAN/Ethernet converter is tapped in the middle of the CAN network, no resistor may be built into the device.

Fig. 40: Integration of the CAN/Ethernet converter without termination

• If the CAN/Ethernet converter terminates the CAN network, a device with a termination device is to be used.

Fig. 41: Integration of the CAN/Ethernet converter with termination

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Operating instructions

WGS

5.4

Electrical installation

Chapter

5 Note

The CAN/Ethernet converter without a resistor as an accessory is available to ensure the greatest possible amount of flexibility during integration. The CAN/Ethernet converter is usually tapped in the middle of the CAN network. In this case, it can be installed when it is completely configured. If tapping is not done in the middle of the CAN network, the termination unit must be on the plug.

Connecting the Ethernet switch

Connect the Ethernet switch, which is available as an accessory, to the power supply of the vehicle. The connecting cable has an M12 plug connector on one side. The other end is open and shielded.

Fig. 42: Ethernet switch connection to the power supply

Place the wires on the power supply as follows:

Wire color

Brown Blue (yellow)

Connection

Voltage Ground

Tab. 14: Ethernet switch connection to the power supply

Voltage supply

+24 V 0 V

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Chapter

6

6

Commissioning

Commissioning

Operating instructions

WGS

WARNING

Do not commission without testing by qualified safety personnel

Before you commission the system for the first time, you must have it checked and approved by qualified safety personnel. 

Observe the notes provided in chapter2 Safety.

6.1

6.1.1

Checking the operational readiness of the devices Laser scanner

After switching on the supply voltage, the TiM351 initializes and the green LED will light up to indicate its operational readiness.

6.1.2

Fig. 43: Reading off the operational readiness on the laser scanner

The laser scanner gets ready to measure automatically. It continuously scans the surrounding contour in its field of vision at a frequency of 15 Hz. The determined values are output via measuring process to the CAN bus.

CAN/Ethernet converter

The CAN/Ethernet converter, which is available as an accessory, is coordinated to the WGS. The device is identified correctly. Configuration is not necessary. 46

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Operating instructions

WGS

6.2

Commissioning

CAN protocol specification

The CAN bus supports amounts of data up to 8 bytes. Values that are longer than 1 byte are transmitted in the

Big-Endian

format. This means that the most significant (highest-level) components are named first in compound data, as is the case with the German way of writing the time: Hour:Minute:Seconds.

Example Negative numbers

Chapter

6 Meas_X (INT16) Byte1 =

0x01

Byte2 = Meas_X =

0x25 0x0125 = 293 With the 1 digit conversion = 0.01 m results in the value 2.93 m Negative numbers are represented in the two's complement The rule for forming the two's complement is: • All bits of the corresponding positive number are first inverted, i.e. a 1 bit becomes a 0 bit and vice versa. • The value 1 is added to the resulting number. A potentially occurring overflow is omitted.

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Chapter

6

6.2.1

Commissioning

Operating instructions

WGS

WGS inbound messages

The inbound messages for the WGS driver assistance system are comprised of the vehicle's movement information provided via the ISOBUS and a specific WGS configuration message.

Note

Fig. 44: WGS inbound messages (overview)

ISOBUS messages with movement information of the vehicle

ISOBUS messages supply all vehicle information to the WGS that is required for calculating the windrow position and the windrow volume. This is the following movement information in detail: •

Speed

of the vehicle •

Curvature WGS configuration message

The CAN message

CONFIG_WGS

is transmitted as a multiplex message under a single CAN identifier. It is transmitted to the laser scanner once every second. • • Part 1 of the CAN message calculation.

CONFIG_WGS

(

Sensor Config

) defines the exact mounting position and the inclination angle of the laser scanner and thus the basics of the Part 2 of the CAN message defined here.

CONFIG_WGS

(

Application Config

) defines the operating mode, the desired output position of the windrow position and the criterion for determining the windrow position. In addition, the sensitivity of the windrow detection is

You can find the technical background of the parameters in chapter

3.3 System functionality

.

We recommend programming a user interface on the display that enables convenient configuration of the incoming WGS messages. A corresponding implementation example can be found in the accompanying operating instructions for the WGS. 48

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Operating instructions

WGS

6.2.2

Commissioning

WGS outbound messages

Chapter

6

The system delivers two CAN messages with measured data and status information for each scan process. At a scanning frequency of 15 Hz, the messages to the CAN bus are sent approximately 15 times per second.

Note

Fig. 45: WGS outbound messages (overview)

• In addition to the exact windrow position and the profile section, the CAN message

MEASURE_DATA_WGS

measuring position. also contains the current quality of the windrow detection at the • The CAN message

STATUS_WGS

delivers current status information about the measurement capability of the laser scanner, about the input data available in the CAN bus and about the resulting current operating mode of the system. The total measured windrow volume is also output. We recommend implementing a user interface for visualization of the operating statuses for the driver and for fine regulating of the system. A corresponding implementation example can be found in the accompanying operating instructions for the WGS.

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Chapter

6

6.3

6.3.1

Commissioning

Operating instructions

WGS

Notes on configuration Positioning the laser scanner in the vehicle coordinate system

The exact positioning of the laser scanner takes place in a three-dimensional coordinate system.

Fig. 46: Vehicle coordinate system

The following points of origin apply to this coordinate system: • The point of origin of the X and Y coordinates is the center of the rear wheel axle for vehicles with front-wheel steering. • The point of origin of the Z coordinate is the ground level.

Fig. 47: Points of origin in the vehicle coordinate system

The exact mounting position and rotation position of the laser scanner is specified in the WGS using the following parameters:

Notes

Fig. 48: Mounting position and rotation position of the laser scanner

When entering the parameters later on, make sure that the height of the laser scanner is measured from the ground. If the laser scanner is mounted on the right side in the direction of travel, then the Y coordinate must be entered as a negative value. 50

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WGS

6.3.2

Commissioning

Determining the windrow position to be output by the setpoint in the X-direction

Chapter

6

The position on the already determined windrow path is calculated starting from the vehicle's rear axle by specifying a setpoint in the X-direction; this position is to be transferred to the vehicle control system for controlling the harvesting vehicle. The X-position of the windrow position to be transferred is specified by the setpoint on the vehicle axle and is always the same. The Y-value of the windrow position on the setpoint is formed by a section perpendicular to the vehicle axle. The output point of the windrow position can be in front of or behind the rear axle. In the case of a

positive

setpoint, the windrow position is determined at the specified distance in front of the rear axle, while in the case of a

negative

setpoint it is behind.

6.3.3

Note

Fig. 49: Setpoint for determining the output position

If the setpoint equals zero, the windrow position on the vehicle's rear axle is output.

Configuration of the CAN/Ethernet converter

The CAN/Ethernet converter, which is available as an accessory, is configured for the WGS. The configuration contains both the standard CAN identifier used by the WGS for the WGS input message

CONFIG_WGS

as well as the CAN identifier for the two ISOBUS messages for vehicle speed and curvature. If another CAN identifier must be used for the WGS input message

CONFIG_WGS

, it must be stored both in the web interface of the WGS and in the CAN/Ethernet converter. The configuration of the CAN/Ethernet converter is done with the

Compositor_SW67435

tool of the manufacturer contained on the USB stick. Further information on this can be

found in the appendix in chapter

9.4 CAN/Ethernet converter configuration tool

).

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Chapter

6

6.4

Test mode

Commissioning

Operating instructions

WGS

In WGS test mode, it is possible to configure the CAN messages with CAN software based on description files and visualize these via a web interface.

6.4.1

Requirements

Fig. 50: WGS test mode

The configuration PC is connected to the laser scanner via Ethernet and CAN/Ethernet transducer.

Description files for CAN software

The WGS driver assistance system is shipped with the following two description files.

File WGS.dbc Description DBC

(database CAN) is the description format for the CAN software from Vector Informatik GmbH.

CANalyzer WGS.sym SYM

is the description for the

PCAN-Explorer

the symbol file. software from PEAK-System Technik GmbH. The symbolic representation of the CAN messages is controlled by

Tab. 15: Description files for CAN software

The description files already contain default values, which are transferred with the respective message type. The WGS outbound messages are not transferred to the vehicle control system.  Adapt the default values to the vehicle in the corresponding CAN software. 52

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WGS

6.4.2

Commissioning

Overview of CAN messages

Chapter

6 Configuration of the WGS inbound message 'CONFIG_WGS' (part 1: 'Sensor Config') CAN-ID 0x18EFAA22 Sensor Config, Period 1 s Byte Type

0 1 2 3 4..5 UINT16 6 7 UINT8 UINT8 UINT8 UINT8 UINT8 –

Unit

[enum] [0.05 m] [0.05 m] [0.05 m] [1 deg] [1 deg] –

Name Description

Multiplexer byte Multiplexer byte = 0 Sensor_X Sensor mounting position X (-6.4 m .. 6.35 m) Sensor_Y Sensor_Z Sensor_yaw Sensor_pitch – Sensor mounting position Y (-6.4 m .. 6.35 m) Sensor mounting position Z (-6.4 m .. 6.35 m) Sensor yaw angle (-180° .. 180°) Target: 0° Sensor pitch angle (-90° .. 90°) Not used

Tab. 16: Configuration of the WGS inbound message 'CONFIG_WGS' (part 1: 'Sensor Config')

• •

Sensor_X/Sensor_Y/Sensor_Z

: Precise positioning of the laser scanner is achieved using a three-dimensional coordinate system.

Sensor_yaw/Sensor_pitch/Sensor_roll

: The rotational position of the components is defined via three angles. Yaw angle (Yaw) and roll angle (Roll) are specified as 0°. For the pitch angle (Pitch), an inclination angle of approx. 35° is recommended.

Configuration of the WGS inbound message 'CONFIG_WGS' (part 2: 'Application Config') CAN-ID 0x18EFAA22 Application Config, Period 1 s Byte Type Unit Name Description

0 1 2 3 4 UINT8 UINT8 UINT8 UINT8 UINT8 5 - 7 - [enum] [enum] [0.1 m] [enum] [enum] - Multiplexer byte Multiplexer byte = 1 App_Request 0 = windrow application deactivated 1 = 2 = 3 = active in operating mode 1 active in operating mode 2 active in operating mode 3 Setpoint_X Mode_Position Sensibility - Output of the windrow position relative to the vehicle's rear axle. Forward positive. (-12.8 .. 12.7 m) 0 = 1 = windrow position from the geometric center windrow position from the centroid 1 = 2 = 3 = Robust (hay/straw) Semi-sensitive Sensitive Not used

Tab. 17: Configuration of the WGS inbound message 'CONFIG_WGS' (part 2: 'Application Config')

• • • •

App_Request

: The specification of the operating mode is transferred depending on the available vehicle data. Keep in mind that only operating mode 1 permits the full range of functionality of the driver assistance system. For further information on the individual

operating modes, see Chapter

3.3.7 Supported operating modes

.

Setpoint_X

: The windrow position in the X-direction is output with respect to the rear vehicle axle.

Mode_Position

: The windrow position can be determined from the geometric center or the centroid of the windrow profile.

Sensitivity

: defines the windrow detection sensitivity. The smaller (lower) windrows are detected in

Sensitive mode

(3). In Robust mode (1), higher/taller windrows are the target of the search.

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6 Commissioning

Operating instructions

WGS Configuration of the CAN outbound message 'MEASURE_DATA_WGS' CAN-ID 0x18FFF0AA MEASURE_DATA_WGS, Period 67 ms (15 Hz) Byte Type Unit Name Description

0..1 UINT16 [0.01 m] Pos_X X-position relative to the fixed axis. Measuring position or Setpoint_X 2..3 UINT16 [0.01 m] Pos_Y 4 5 6 8 UINT8 UINT8 UINT8 UINT8 [0.01 m] [0.01 m] [0.01 m2] [%] LeftStart RightEnd Area Quality Y-position relative to X-axis (center of vehicle) Distance from measuring position to left end of the windrow Distance from measuring position to right end of the windrow Windrow cross-sectional area Current quality of the windrow detection at the measuring position. 0..100:

Tab. 18: Configuration of the WGS outbound message 'MEASURE_DATA_WGS'

• •

Pos_X/Pos_Y/LeftStart/RightEnd/Area

: The exact windrow position and the area of the rectangular cross-section can be calculated based on the ISOBUS messages available in the CAN bus and on the WGS inbound messages.

Quality

: The WGS uses the detection quality of the current measurement to determine a trust level of 1 to 100 and transfers this to the vehicle control system (regarding this,

refer also to Chapter

3.3.8 Transfer strategy and the self-monitoring function of the system

).

Configuration of the CAN outbound message STATUS_WGS CAN-ID 0x18FFF1AA STATUS_WGS, Period 67 ms (15 Hz) Byte Type Unit Name Description

0 1 2 UINT8 UINT8 UINT8 [enum] [enum] [enum] Sensor_Status App_Status App_Mode 0 = 1 = 0 = 1 = 0 = 1 = 2 = 3 = Sensor too dirty or error. Sensor's ability to measure is OK. Application error. e.g. input data is missing. Application is OK. deactivated active in operating mode 1 active in operating mode 2 active in operating mode 3 3..4 UINT16 5..7 – [0.01 m3] – Volume – Accumulated volume (0.0 .. 655.35 m3) Is reset by deactivating the application Not used

Tab. 19: Configuration of the WGS outbound message 'STATUS_WGS'

• • • •

Sensor_Status

: The laser scanner monitors its own ability to measure and level of contamination. If the ability to measure is limited due to contamination or if the emitted laser beam does not strike the floor inside the measuring area, this is indicated with the value 0. In addition, the detection quality is decreased.

App_Status

: Missing input data is output as 0. The operating mode is decreased accordingly.

App_Mode

: The active operating mode is transmitted depending on the currently available input data.

Volume

: The overall windrow volume during a harvesting drive is calculated and output for statistical purposes. 54

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WGS

6.4.3

Commissioning

Visualization of test mode

Chapter

6

Test mode can be visualized via the web interface of the WGS. The interface shows the central parameters of test mode and provides a display of what the laser scanner “sees” and processes. 1. Call up a browser on the connected configuration PC. 2. Enter the IP address of the laser scanner into the address bar of the browser. Upon delivery, the default IP address for the laser scanner is

192.168.1.9

. The web interface features navigation on the left which you can use to switch between the individual areas.

Ethernet

The

Ethernet

tab contains the current connection information. This cannot be changed.

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WGS result

The

WGS result

tab displays the CAN output messages with measurement data and status information. The first block displays a descriptive name of the parameter and the second block displays in data format.

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Chapter

6 Commissioning

Operating instructions

WGS WGS tracking

The

WGS tracking

tab visualizes the currently detected windrow profile. The display is updated once per second. The windrow profile therefore moves upwards continuously in the visualization due to the forward movement of the vehicle.

Scan viewer

The

Scan viewer

tab visualizes the measurement points of the laser scanner.

Note

If no windrow profile is displayed in the

WGS tracking

tab, the

Scan viewer

tab can be used to check quickly whether measurement points even exist. 56

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WGS Commissioning

Chapter

6 Parameters

The

Parameters

lab provides an image of the CAN input messages. The parameters cannot be changed via the web interface.

Settings

In the

Settings

tab, you can define the language of the web interface and optimize the display of the output device, among other things.

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Chapter

6

6.5

Commissioning

Implementation

Operating instructions

WGS

The WGS driver assistance system is implemented directly on the control unit.

Note

Fig. 51: Implementation on the control unit

An example for implementation via a user interface can be found in the accompanying operating instructions for the WGS. 58

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7

7.1

Maintenance

Maintenance

Overview of maintenance tasks

Chapter

7

The following maintenance work must be carried out at the specified time intervals:

Device Maintenance task Carried out by TiM351 laser scanner

Cleaning the front screen

Interval

Before the harvesting process or in case of a contamination message Trained personnel

7.2

7.2.1

General

Optical inspection of the laser scanner for mechanical stability of the mounting Weekly Trained personnel Visual inspection of the electrical wiring for damage 2x/year Trained personnel

Tab. 20: Maintenance intervals

Maintenance during operation Cleaning the laser scanners

The laser scanner mounted on the roof of the harvesting vehicle works maintenance-free. Maintenance is not necessary for ensuring compliance with laser class 1. To achieve the full optical output of the TiM351, the front screen of the laser scanner must be regularly checked for contamination.

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Note

Fig. 52: TiM351 cleaning

The laser scanner monitors its own ability to measure and level of contamination. In the case of a limited ability to measure (e.g. due to significant contamination), a message can be issued. Note that the detection quality is set to 0 if there is a large amount of contamination. In this situation, control of the harvesting vehicle transfers to the driver automatically.

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Chapter

7 Maintenance

Operating instructions

WGS Cleaning the front screen

 Switch off the device during cleaning.  Remove any contamination on the front screen to avoid incorrect measurements.  Wipe the front screen with a soft, wet sponge.  Then dry the front screen with a clean cloth.

WARNING

Damage to the front screen

The front screen is made of polycarbonate. The optical output is weakened by scratches and streaks on the front screen.  Do not use aggressive cleaning agents.  Do not use abrasive cleaning agents.  Avoid scratching and chafing movements on the front screen.

7.2.2

Visual inspection of the cables

The electrical installation must be checked regularly. During this process, it must be ensured that all cable connections are securely attached.

WARNING

Loose connections or scorched cables

 Defects such as loose connections or scorched cables must be rectified immediately.

HAZARD

Damaged cable insulation

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7.3

Maintenance

Replacing components

Chapter

7

Faulty or damaged components must be dismantled and replaced with new or repaired components.

HAZARD

Disconnect the power to the system

 Make sure the power supply for the entire vehicle is disconnected while you are carrying out maintenance and repair work.

HAZARD

Risk of injury due to electrical current

Only a qualified electrician or trained person working under the guidance and supervision of a qualified electrician is permitted to work on electrical systems or equipment and they must comply with the electrical regulations.

7.3.1

Replacing a laser scanner

Because all sensor and system parameters of the WGS driver assistance system are saved in the vehicle control unit, a reconfiguration is not needed when replacing a device. The replacement device can simply be connected.

NOTE

Claims under the warranty rendered void

The housing screws on the laser scanners are sealed. Any claims against SICK AG under the warranty will be rendered void if the seals are damaged or if the device is opened.

Note Replace the device.

1. Loosen the M12 round connectors on the laser scanner and remove the connecting cables from the laser scanner. 2. Dismantle the defective laser scanner from the mounting. 3. Mount the replacement device. 4. Connect the cables to the new laser scanner and screw the plug connectors together. After starting the vehicle, the configuration parameters are transfered again continuously from the CAN bus to the laser scanner via CAN message.

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Chapter

7

7.3.2

7.3.3

Maintenance

Operating instructions

WGS

Replacing CAN/Ethernet converter

The replacement device available as an accessory is already configured and can be operated immediately after the device replacement. 1. Loosen all SuperSeal connectors and remove the connecting cables. 2. Remove the defective CAN/Ethernet converter. 3. Mount the replacement device. 4. Reconnect the cables to the new CAN/Ethernet converters.

Replacing the Ethernet switch

1. Loosen all M12 round connectors on the Ethernet switch and remove the connecting cables. 2. Dismantle the defective Ethernet switch from the mounting. 3. Mount the replacement device. 4. Connect the cables to the new Ethernet switch and screw the plug connectors together. 62

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8

Fault diagnosis

Fault diagnosis

Chapter

8

This chapter describes how to identify and remedy fault situations.

WARNING

Risk resulting from faults

In general, cease operation if the cause of the malfunction has not been clearly identified. A defect in the system may result in fatal accidents or damage to the system.  Immediately stop the WGS if you cannot clearly identify the fault and if you cannot safely remedy the problem.

Error displays on the laser scanner LED

1

Color

 Red

Meaning

Device error

Tab. 21: TiM351 laser scanner fault indicator

Diagnostics of the CAN messages

For more detailed system diagnostics, a computer with installed CAN software can be switched between the laser scanner and CAN/Ethernet converter. This construction allows you to log and evaluate sensor data and CAN messages during (test) operation (for more information, also refer to the connection example in Chapter

5.2.2 Ethernet connection

).

In the test operation mode, diagnostics are carried out based on the supplied description

files (for more information, see Chapter

6.4 Test mode

).

SICK support

If you cannot remedy a fault with the help of the information provided in this chapter, please contact your respective SICK subsidiary.

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Chapter

9

9

9.1

9.1.1

Annex

Annex

Technical data System

Features

Application Target vehicles Vehicle requirement Laser class

Performance

Functions Number of laser scanners Monitored area Self-diagnosis

Interfaces

Ethernet/J1939 Operator interface

Mechanics/electronics

Supply voltage Power consumption TiM351 dimensions (L x W x H) TiM351 mounting position

Ambient data

Ambient temperature, operation Ambient temperature, storage

Tab. 22: WGS data sheet

Operating instructions

WGS

Agriculture Field choppers, balers, tractors ISOBUS-compatible agricultural machines with an interface for automatic speed control and for controlling the automatic steering system 1 (IEC 60825-1 (2007-6)), eye-safe • • • Determining swath trajectory and absolute swath position for automatic transverse control Determining the swath volume for automatic speed control Integrated vehicle model for calculating the correct proper motion Integrated self-diagnostic function • 1 Floor profile approximately 6 m in front of the harvesting vehicle  Communication with an ISOBUS network via Ethernet Software updates − DC 8 V ... 28 V 3 W (with bracket 130 mm deep) 160 mm x 155 mm x 185 mm Agricultural machine roof –25 °C ... +50 °C –25 °C ... +60 °C 64

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WGS

9.1.2

Annex

Laser scanner TiM351

Chapter

9 Features

Light source Laser class Aperture angle Scanning frequency Angular resolution Infra-red (850 nm) 1, eye-safe (EN 60825-1 (2007-10)) 270° 15 Hz 1° Working range Sensing range with 10% remission 8 m

Performance

Response time 0.05 m ... 10 m Typ. 67 ms Detectable object shape Almost any Systematic error Statistical error ± 60 mm ± 20 mm

Interfaces

Ethernet USB function Switching inputs Switching outputs Delay time Holding time

Mechanics/electronics

Electrical connection   , Micro USB in the WGS without use 4 (PNP) 3 (PNP) 67 ms ... 30,000 ms (programmable) 67 ms ... 10,000 ms (programmable) Supply voltage Power consumption Enclosure rating Protection class Weight Dimensions

Ambient data

Object remission Electromagnetic compatibility (EMC) Vibration resistance Shock resistance Ambient operating temperature Storage temperature Ambient light immunity 1 x Ethernet connection, 4-pin M12 female connector 1 x voltage supply connection, 12-pin M12 male connector 1 x micro USB socket, type B 9 V DC ... 28 V DC 3 W IP 67 III (EN 60950-1/A11 (2009-03)) 250 g (without connecting cables) 60 mm x 60 mm x 86 mm 4% ... > 1,000% (reflectors) EN 61000-6-3 (2007-01) / EN 61000-6-2 (2005-08) EN 60068-2-6 (2008-02) EN 60068-2-27 (2009-05) –25 °C ... +50 °C –40 °C ... +75 °C 80,000 lx

Tab. 23: TiM351 data sheet

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Chapter

9

9.1.3

Annex

CAN/Ethernet converter

Features

Variants Microprocessors Electrical connection Supply voltage Ambient operating temperature

Tab. 24: TiM351 data sheet

Operating instructions

WGS

Optional with integrated termination (120 Ω resistor) For data monitoring 1 x voltage supply connection, 2-pin AMP SuperSeal plug connector 1 x Ethernet connection, 4-pin AMP SuperSeal plug connector 1 x J1939 connection, 3-pin AMP SuperSeal plug connector 10 V DC ... 40 V DC 8 V AV ... 26 V AC –40 °C ... +105 °C 66

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WGS

9.2

9.2.1

Annex

Dimensional drawings Dimensional drawings for the TiM351

Chapter

9 8019357/2016-10-12

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Fig. 53: Dimensional drawings of the TiM351 laser scanner

① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪ ⑫ ⑬ ⑭ ⑮ 2 x straight plates with M3 x 4 mm screw (included in scope of delivery) M3 threaded mounting hole, 2.8 mm deep (blind hole thread) Optical cover Receiving range (light inlet) Transmission range (light emission) Function button for teach-in Red and green LED (status displays) Swivel connector Micro USB socket, type B Voltage supply connection, 12-pin M12 male connector Marking for the position of the light emission level Ethernet connection, 4-pin M12 female connector Area in which no reflective surfaces are allowed for mounted devices Bearing marking to support alignment (90° axis) 270° aperture angle (visual range)

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Chapter

9

9.2.2

Annex

Dimensional drawing for CAN/Ethernet converter

Operating instructions

WGS

Fig. 54: Dimensional drawings of the CAN/Ethernet converter

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9.2.3

Annex

Ethernet switch dimensional drawing

Fig. 55: Dimensional drawings of Ethernet switch

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Chapter

9

9.3

9.3.1

Annex

CAN specification CONFIG_WGS (MUX0)

Operating instructions

WGS

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9.3.2

Annex

CONFIG_WGS (MUX1)

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Chapter

9

9.3.3

Annex

MEASURE_DATA_WGS

Operating instructions

WGS

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9.3.4

STATUS_WGS

Annex

Chapter

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Chapter

9

9.3.5

GMS_WGS_KMC

Annex

Operating instructions

WGS

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9.3.6

WBSD_KMC

Annex

Chapter

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Chapter

9

9.4

Annex

CAN/Ethernet converter configuration tool

Operating instructions

WGS

The configuration tool of the CAN/Ethernet converter is on the USB stick included in the scope of delivery. The configuration for the WGS is already loaded on it.

Start screen Connection settings

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WGS Annex Identifier Transfer configuration

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Chapter

10

10

10.1

Figures and tables

Operating instructions

WGS

Figures and tables

List of tables

Tab. 1:

Tab. 2:

Tab. 3: Tab. 4:

Tab. 5:

Tab. 6:

Tab. 7:

Tab. 8:

Tab. 9:

Tab. 10: Tab. 11: Tab. 12:

Tab. 13:

Tab. 14:

Tab. 15:

Tab. 16: Tab. 17:

Tab. 18: Tab. 19:

Tab. 20:

Tab. 21:

Tab. 22:

Tab. 23:

Tab. 24:

Target group ........................................................................................................... 6

WGS scope of delivery ........................................................................................ 16

Necessary accessories ......................................................................................... 17 Optional accessories ............................................................................................ 17

Supported operating modes ................................................................................ 28

Status indicators TiM351 ................................................................................... 31

TiM351 connections ............................................................................................ 38

Pin assignment of the TiM351 high-voltage line ................................................ 39

Pin assignment of the Ethernet cable ................................................................. 42

Connections on the CAN/Ethernet converter ..................................................... 43 Pin assignment of the 2-pin AMP SuperSeal plug connector to the power supply ......................................................................................................... 43 Pin assignment of the 4-pin AMP SuperSeal plug connector to the Ethernet connection ............................................................................................. 43

Pin assignment of the 3-pin AMP SuperSeal plug connector to for the connection to the CAN bus .................................................................................. 44

Ethernet switch connection to the power supply ............................................... 45

Description files for CAN software ....................................................................... 52

Configuration of the WGS inbound message 'CONFIG_WGS' (part 1: 'Sensor Config')........................................................................................ 53 Configuration of the WGS inbound message 'CONFIG_WGS' (part 2: 'Application Config') ................................................................................. 53

Configuration of the WGS outbound message 'MEASURE_DATA_WGS' ........... 54 Configuration of the WGS outbound message 'STATUS_WGS' .......................... 54

Maintenance intervals ......................................................................................... 59

TiM351 laser scanner fault indicator .................................................................. 63

WGS data sheet .................................................................................................... 64

TiM351 data sheet ............................................................................................... 65

TiM351 data sheet ............................................................................................... 66

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10.2

List of figures

Figures and tables

Fig. 1:

Fig. 2: Fig. 3:

Fig. 4: Fig. 5:

Fig. 6: Fig. 7:

Fig. 8: Fig. 9:

Fig. 10: Fig. 11:

Fig. 12: Fig. 13:

Fig. 14: Fig. 15:

Fig. 16:

Fig. 17:

Fig. 18: Fig. 19:

Fig. 20:

Fig. 21:

Fig. 22:

Fig. 23: Fig. 24:

Fig. 25:

Fig. 26:

Fig. 27: Fig. 28:

Fig. 29: Fig. 30:

Fig. 31: Fig. 32:

Fig. 33:

Fig. 34: Fig. 35: Fig. 36:

Fig. 37: Fig. 38:

Chapter

10

WGS scope of delivery ..........................................................................................16

Scan plane of the TiM351 ....................................................................................18

Remaining distance measurement of the TiM351 .............................................18

Direction measurement of the TiM351 ...............................................................19

TiM351 with integrated firmware and WGS software ........................................19

CAN/Ethernet converter .......................................................................................20

Ethernet switch .....................................................................................................20

Recording the profile measuring points ..............................................................21

Extraction of the windrow cut section ..................................................................21

Windrow detection sensitivity ..............................................................................22

Windrow profile per scan process ........................................................................22

Determining the windrow position from the middle of the windrow/center of an area ...................................................................................23

Windrow position in the vehicle coordinate system ...........................................23

Determining the windrow volume (control information for speed) ....................24

Tracking the windrow position (control information for longitudinal control) ..................................................................................................................24

Tracking the windrow position (control information for transverse control) ..................................................................................................................25

Data traffic in the CAN bus ...................................................................................26

Defined output of the tracked windrow position .................................................27

Windrow position output in front of/behind the rear vehicle axle .....................27

Comparison of GPS tracking/windrow tracking ..................................................29

GPS/WGS control information .............................................................................30

Status indicatorTiM351 ........................................................................................31

Laser scanner mounting position ........................................................................32

Correct laser scanner alignment ..........................................................................32

Laser scanner test installation using a temporary mechanical system ............33

Laser scanner mounted directly to the mounting plate .....................................34

Mounting kit 1 for mounting the TiM351 ............................................................35

Mounting the laser scanner with mounting brackets .........................................35

Mounting brackets on the CAN/Ethernet converter ...........................................36

Mounting the Ethernet switch ..............................................................................36

WGS wiring plan ....................................................................................................38

TiM351 connections .............................................................................................38

TiM351 connection to the power supply .............................................................39

TiM351 Ethernet connection (operation) ............................................................40

TiM351 Ethernet connection (operation) – M12/AMP SuperSeal ....................40

TiM351 Ethernet connection (operation) – M12/M12 with M12/AMP SuperSeal adapter .............................................................................40

TiM351 Ethernet connection (maintenance) ......................................................41

TiM351:Ethernet connection (diagnostics/development) .................................41

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Chapter

10

Fig. 39:

Fig. 40: Fig. 41:

Fig. 42:

Fig. 43:

Fig. 44:

Fig. 45:

Fig. 46: Fig. 47: Fig. 48:

Fig. 49:

Fig. 50:

Fig. 51:

Fig. 52:

Fig. 53:

Fig. 54:

Fig. 55:

Figures and tables

Operating instructions

WGS

Connections to the J1939/Ethernet converter .................................................. 43

Integration of the CAN/Ethernet converter without termination ....................... 44 Integration of the CAN/Ethernet converter with termination ............................ 44

Ethernet switch connection to the power supply ............................................... 45

Reading off the operational readiness on the laser scanner ............................ 46

WGS inbound messages (overview) .................................................................... 48

WGS outbound messages (overview) .................................................................. 49

Vehicle coordinate system ................................................................................... 50 Points of origin in the vehicle coordinate system ............................................... 50 Mounting position and rotation position of the laser scanner .......................... 50

Setpoint for determining the output position ..................................................... 51

WGS test mode ..................................................................................................... 52

Implementation on the control unit..................................................................... 58

TiM351 cleaning .................................................................................................. 59

Dimensional drawings of the TiM351 laser scanner ......................................... 67

Dimensional drawings of the CAN/Ethernet converter ...................................... 68

Dimensional drawings of Ethernet switch .......................................................... 69

80

Translation of the original operating instructions | SICK 8019357/2016-10-12

Subject to change without notice

Operating instructions

WGS

10.3

Figures and tables

Keywords index

A

Abbreviations ........................................... 7 Ambient conditions ............................... 31 Application areas ..................................... 8

C

CAN bus data traffic ............................. 26 CAN description files ............................ 52 CAN messages ...................................... 26 CONFIG_WGS (Application Config) .. 53 CONFIG_WGS (Sensor Config) ......... 53 MEASURE_DATA_WGS ..................... 54 STATUS_WGS .................................... 54 CAN protocol Specification ..................................... 47 CAN/Ethernet converter ....................... 20 Connecting ........................................ 43 Mounting ........................................... 36 Operational readiness ....................... 46 Replacing .......................................... 62 CAN/Ethernet converter components . 20 Cleaning TiM351 .............................................. 59 Commissioning ..................................... 46 Components .......................................... 18 Ethernet switch ................................. 20 TiM351 .............................................. 18 Connecting the Ethernet switch ........... 45 Connection CAN/Ethernet converter ................... 43 Ethernet switch ................................. 45 TiM351 .............................................. 38

D

Dimensional drawings .......................... 67 Direction measurement ....................... 19 Disposal ................................................ 15

E

Electrical installation ............................ 37 Environment .......................................... 15 Ethernet switch ..................................... 20 Mounting ........................................... 36 Replacing .......................................... 62

8019357/2016-10-12

Subject to change without notice Chapter

10 F

Fault diagnosis ..................................... 63 Firmware ............................................... 19 Functionality ......................................... 21

G

GPS tracking/windrow tracking ........... 29

I

Implementation on the control unit ............................ 58 Inbound messages ............................... 48 Information depth .................................... 6 Intended use ............................................ 9 ISOBUS .................................................. 20 Messages .......................................... 48

K

Keywords index ..................................... 81

L

Laser scanner ....................................... 18 List of figures ........................................ 79 List of tables ......................................... 78

M

Maintenance ......................................... 59 Mode ..................................................... 22 Mounting ............................................... 32 CAN/Ethernet converter ................... 36 Ethernet switch ................................. 36 TiM351 .............................................. 32

O

Operating modes .................................. 28 Operational readiness CAN/Ethernet converter .................... 46 TiM351 .............................................. 46 Origin of the coordinates ...................... 50 Outbound messages ............................ 49

P

Power consumption .............................. 15 Protective measures ............................ 10 Pulse delay method .............................. 18

Q

Qualified safety personnel ...................... 8

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81

Chapter

10 Figures and tables R

Repair .................................................... 59 Replacing components ......................... 61

S

Safety ....................................................... 8 Safety notes .......................................... 10 Scope of delivery ................................... 16 Self-monitoring ...................................... 29 Sensitivity Windrow detection ............................ 21 Setpoint ................................................. 27 Definition ........................................... 51 SICK support ......................................... 63 Status indicators TiM351 .............................................. 31 Symbols used .......................................... 7 System components ............................. 18 System description ............................... 16 System requirements ............................ 31

T

Target group ............................................ 6 Technical data ....................................... 64 Termination ........................................... 44 Test mode .............................................. 52 TiM351 .................................................. 18 Cleaning ............................................. 59 Connecting ........................................ 38 Correct alignment ............................. 32 Ethernet connection (diagnostics) ... 41 Operating instructions

WGS

Ethernet connection (maintenance) ............................... 41 Ethernet connection (operation) ...... 40 Fault indicator ................................... 63 Final installation ................................ 34 Mounting ........................................... 32 Operational readiness ...................... 46 Replacing ........................................... 61 Status indicators ............................... 31 Test installation ................................. 33 TiM351 alignment ................................ 32 TiM351 test installation ....................... 33 Time-of-flight measurement ................. 18 Transfer strategy ................................... 29 Trust level .............................................. 29

V

Vehicle coordinate system ................... 50 Visual inspection ................................... 60

W

WGS inbound messages....................... 48 WGS outbound messages .................... 49 WGS software ........................................ 19 Windrow position Calculation ......................................... 23 Output ................................................ 27 Windrow position output ....................... 27 Windrow tracking .................................. 24 Windrow volume .................................... 24 Wiring plan ............................................ 38 82

Translation of the original operating instructions | SICK 8019357/2016-10-12

Subject to change without notice

Operating instructions

WGS Figures and tables

Chapter

10 8019357/2016-10-12

Subject to change without notice

Translation of the original operating instructions | SICK

83

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