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Description

Driver to decode the output data telegram from a MikroDigger Depth Control System XC1 device (manufacterer MIKROFYN A/S, Denmark).

This device can be found on excavators, cranes, diggers, etc. and consists of a main display unit and several inclination sensors. These sensor are mounted on the boom, the stick and the bucket in order to measure its angle (pitch). The XC1 then calculates accurately the horizontal and vertical position of the bucket or grab. The position and the angle measurements can be outputted as an ASCII datastring to a serial device (read QINSy).


    Driver Information

    Driver Mikrofyn MikroDigger Interface Type Serial Driver Class Type Terminated
    UTC Driver (question) No Input / Output Input Executable DrvQPSTerminated.exe MIKRODIGGER
    Related Systems
    Related Pages
    Table of Contents

    Decoding Notes

    The driver automatically detects the outputted telegram format.

    It is recommended to use the extended data telegram, so the XC1 needs to be instructed to send this telegram by a command.

    Interfacing Notes

    The driver is a so-called passive driver, i.e. it does not send commands or data back to the sensor, so only one-way serial cable wiring is needed, using the following wiring diagram:

    DB-25

    Sensor

    or

    DB-9

    Sensor


    DB-25

    COM

    or

    DB-9

    COM

    Pin 2

    TXD


    Pin 3

    TXD

    -----

    Pin 3

    RXD


    Pin 2

    RXD

    Pin 3

    RXD


    Pin 2

    RXD

    X

    Pin 2

    TXD


    Pin 3

    TXD

    Pin 7

    SG


    Pin 5

    SG

    -----

    Pin 7

    SG


    Pin 5

    SG

    The default baudrate settings, from the XC1 technical documentation, are 38400, 8, 1, none.

    Database Setup

    • In order to decode the calculated bucket position, add a USBL System to your template database setup, and select driver "MIKROFYN MikroDigger (Bucket)". 

      Important: 
      The Transducer and the Reference Node on the 2nd page of the system wizard must be the GPS Antenna node. Further, make sure that the setting "Correction Already Applied to Data Heading" is set to "None". The setting "Sign Convention for Z Data" must be set to "Positive upward (height)".On the last wizard page, select for the USBL Target the node that represents the bucket tip, located on the bucket object. 

      For this system the fields "VERT" and "HORI" are decoded. These fields are available in all three telegram messages.
    • In order to decode the heading of the crane (machine), add a Gyro and Compass System to your template and select the driver "MIKROFYN MikroDigger (Heading)". 

      Important: 
      The Slot number on the next page of the system wizard must be "MHEAD", in capitals

      For this system the field "MHEAD" is decoded. Notice that this field is not part of the "Drill Software Data Telegram from XC1" message.
    • In order to decode the (pitch) angles of the boom(s), the stick, and the bucket, add a Pitch, Roll and Heave Sensor System to your template and select the driver "MIKROFYN MikroDigger (Roll-Pitch) (Pitch)". 

      Important: 
      The Slot number on the next page of the system wizard depends on for which object you want the angle decoded. You may select "BOOM1", "BOOM2", "STICK" or "BUCKET", all in capitals. 

      For this system the fields "BOOM1", "BOOM2", "STICK" and "BUCKET" are decoded as pitch observation. These fields are only available in the "Extended Data Telegram from XC1" message.
    • In order to decode the roll and pitch of the crane (machine), add a Pitch, Roll and Heave Sensor System to your template and select the driver "MIKROFYN MikroDigger (Roll-Pitch) (Pitch)". 

      Important: 
      The Slot number on the next page of the system wizard must be "MACHINE", in capitals. 

      For this system the fields "PITCH" and "ROLL" are decoded as a pitch/roll observation. Notice that these fields are not part of the "Drill Software Data Telegram from XC1" message.
    • Other fields from the telegram may be decoded as generic observations, for displaying or analyzing purposes. Add a Miscellaneous System to your template and select driver "MIKROFYN MikroDigger". On the next wizard page, add for each field you want to decode a generic observation. 

      Important: 
      The Slot Id must be in capitals, and the same as the field identifier as described in the telegram formats. E.g. use Slot "CROSS" in order to decode the Cross slope angle from the "Extended Data Telegram from XC1" message.

    SLOT ID RESUMÉ

    System

    Description

    Slot Id

    USBL

    Decoding the vertical distance from GPS Antenna to the bucket tip as USBL dZ observation.
    Decoding the horizontal distance from GPS Antenna to the bucket tip as USBL dY observation.
    The USBL dX observation will be zero.

    not required

    Pitch, Roll and Heave Sensor

    Decoding the pitch and the roll for the crane (machine)

    MACHINE

    Pitch, Roll and Heave Sensor

    Decoding the angle of the first boom, as pitch observation

    BOOM1

    Pitch, Roll and Heave Sensor

    Decoding the angle of the second boom, if present, as pitch observation

    BOOM2

    Pitch, Roll and Heave Sensor

    Decoding the angle of the stick, as pitch observation

    STICK

    Pitch, Roll and Heave Sensor

    Decoding the angle of the bucket, as pitch observation

    BUCKET

    Gyro and Compass

    Decoding the heading of the crane (machine), as heading observation

    MHEAD

    Miscellaneous

    Decoding each field individually as generic observation

    VERT
    HORI
    BHEAD
    BUCKET_WID
    BUCKET_NO
    BUCKET_TIP
    NS_TILT
    EW_TILT

    The I/O Interface parameters must be the same as for all the systems defined above.

    Drivers IO Notes

    Command line parameter description for "drivers.io" file. Please do not edit this drivers.io file, or only after contacting the QPS support department.

    Commandline 'MIKRODIGGER' tells the driver to expect data from a MikroDigger XC1 unit.

    Additional Information

    References: MIKROFYN publications