Lattec Herd Navigator Installation guide

April 8, 2011 HN FAQ Memo, Version 3.0 Page 1 of 108
Herd Navigator
FAQ Memo

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Table of Contents
1Introduction.............................................................................................................................................. 4
1.1 Revision History .............................................................................................................................. 4
2Trouble shooting...................................................................................................................................... 6
2.1 HSM error messages:....................................................................................................................... 6
2.1.1 AI State = Wait ............................................................................................................................ 6
2.1.2 DosageLineOpenTimeout............................................................................................................ 6
2.1.3 DosageMissed.............................................................................................................................. 6
2.1.4 BD1Posttimeout........................................................................................................................... 6
2.1.5 BD5PostSampleTimeout.............................................................................................................. 7
2.1.6 BD5PresampleTimeout................................................................................................................ 7
2.1.7 BD3 Air........................................................................................................................................ 7
2.1.8 BD3PresampleTimeout................................................................................................................ 7
2.1.9 EL_AC_OFF_EXTERNAL_BUS............................................................................................... 7
2.1.10 Heart beat : AC ........................................................................................................................ 8
2.1.11 Heart beat : AI.......................................................................................................................... 8
2.1.12 Heart beat : SI .......................................................................................................................... 8
2.1.13 Heart beat : DSM ..................................................................................................................... 8
2.1.14 Heart beat: PC.......................................................................................................................... 8
2.1.15 Incubator 90% RH / or visible signs of liquid in the IM.......................................................... 8
2.1.16 Quarantine................................................................................................................................ 9
2.2 VMS and VMS sampler errors in HSM......................................................................................... 10
2.3 Trouble shooting on samplers........................................................................................................ 12
2.4 Using the “Sample all” function in the AC.................................................................................... 14
3Best Practices / How do I....................................................................................................................... 15
3.1 Sample Intake................................................................................................................................. 15
3.1.1 Activate Sample simulation in SI. (Parlour only and needs Vacuum)....................................... 15
3.1.2 How to simulate samples trough SI :......................................................................................... 17
3.1.3 How to manually test Safty/flush and Filter valve in SI (Needs Vacuum):............................... 18
3.1.4 Start Cleaning from SI menu : ................................................................................................... 19
3.1.5 Adjustment of Index on SI Multivalve. ..................................................................................... 20
3.1.6 Mounting the Tube for Milkpump in the Sample Intake. .......................................................... 23
3.1.7 Correct mounting of the Air detector assembly, BD1,BD5,BD3 and BD4............................... 27
3.2 Analyzer Instrument (AI)............................................................................................................... 36
3.2.1 Procedure for complete cleaning of milk transport system between SI and AI......................... 36
3.2.2 Measuring the water amounts during AI cleaning..................................................................... 45
3.2.3 Adjustment of dosage needle clean position.............................................................................. 48
3.2.4 Howto –Close Hatch Manualy.................................................................................................. 52
3.2.5 Replacing Flow and Dosage module + 2 years AI service........................................................ 55
3.3 HN and Delaval C200 parlour cleaning......................................................................................... 58
3.3.1 Abbreviations............................................................................................................................. 58
3.3.2 Herd Navigator and C200 installation in the parlour................................................................. 58
3.3.3 C200 and HN cleaning sequence............................................................................................... 59
3.3.4 C200 parametre.......................................................................................................................... 60
3.3.5 AC and SC parameters............................................................................................................... 60
3.3.6 SI parameter............................................................................................................................... 61
3.3.7 C200 parameters from diff. HN Farms...................................................................................... 62

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3.4 Sampler. ......................................................................................................................................... 64
3.4.1 Recalibration of sampler transfer time....................................................................................... 64
4INFO:..................................................................................................................................................... 65
4.1 Menu overview for the Sample Intake, (SI)................................................................................... 65
4.2 Menu overview for the Analyser instrument (AI) ......................................................................... 67
4.3 Menu overview for the Analysis controller (AC).......................................................................... 72
4.4 Connecting AI to the drain with pn:60045416............................................................................... 74
4.5 Tube Connections on Sampler version II....................................................................................... 75
4.6 Replacing the CIP box in the Parlour/VMS Sample Intake (upgrade).......................................... 77
5Appendices:............................................................................................................................................ 79
5.1 AC.................................................................................................................................................. 79
5.1.1 Remote connection to AI or SI trough AC whit ethernet : ........................................................ 79
5.1.2 AC basis settings IP address (Reset / New instalation) (VMS / Parlour) ................................. 80
5.1.3 Update orders in AC / HN service controller............................................................................. 81
5.2 Updating firmware in HN Units..................................................................................................... 83
5.2.1 Tools Needed :........................................................................................................................... 83
5.2.2 Preparation and Connection to the Unit..................................................................................... 83
5.2.3 Programming the Unit................................................................................................................ 85
5.3 Updating the AC, AI, or SI boards with new version of the bootloader........................................ 89
5.4 Sampler programming guide :........................................................................................................ 92
5.4.1 Decimal - hexadecimal conversion table................................................................................... 98
5.5 Updating FPGA software on HN2 AI............................................................................................ 99
5.6 HN2 AI startup settings................................................................................................................ 102
5.6.1 Step 1 : Connect AI to the Ethernet. ........................................................................................ 102
5.6.2 Step 2: Entering the rest of the Ethernet settings in the AI configuration. .............................. 103
5.6.3 Step 3 : Use the AC‟s Web interface to setup AC to use HN-2 AI. ........................................ 105
5.6.4 Step 4 : Setup the Alcom address for the AI in Sample Intake to same address as the AC..... 108

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1 Introduction.
This is the third version of a Memo intended to be used by service technicians working with the Herd Navigator
system.
This third version includes new chapters as well as some existing chapters are updated, mainly to cover the HN
version 2 systems as well.
However the process of constantly developing and filling the memo with the necessary information, will continue.
We are therefore very interested in getting your feedback, on both the things that are in the Memo, and the things
that you miss in the Memo.
In this way we can help each other to develop a “handbook” allowing all Herd Navigator Technicians to have the
necessary information and guidelines to do their job the best way.
The Memo contains four main Chapters
A trouble shooting section: with description of error messages, and the possible causes and actions.
In this section there is references to relevant chapters in the next section.
A best practice / How do I section: This section has descriptions of the different procedures for working with and
operating the Herd Navigator systems.
This includes things as cleaning, adjustments, assembly instructions, simulating operation for test purposes. Ect.
An Info section:
This section has useful information on upgrades made on the system, and where to find the latest technical diagrams
ect.
An Appendices section:
This section has chapters on how to download firmware, list of settings ect.
1.1 Revision History
Date
Revision
Responsible
Comments
2010-09-23
1.1
PEC
1. released version
2010-12-10
2.0
PEC
2.1.15 incubator 90%.... updated.
2.1.16 Quarantine, updated.
2.2 VMS and VMS sample …., added.
2.4 Using sample all function , added
3.1.6 Mounting tube for milkpump, added.
3.1.7 Air detector , updated.
3.2.1. procedure for cleaning….updated
3.2.2. Measuring water amounts.. added.
3.2.3 Cleaning position ……, added.
3.3 HN /C200 cleaning, now in English.
4.1 Menu overview SI, added.
4.2 Menu overview AI, added.
4.3 Menu overview AC, added.
4.5 Connecting the AI to drain, added.
4.6 Tube connections on sampler verII, added
4.7 Replacing the SI CIP box …, added.
5.1.3 Update orders in AC, added.
5.2 updating Firmware in HN units, added.
5.3 updating boards with bootloader, added.
Mounting of BD on detergent, removed.
General minor error corrections.
2011-04-08
3.0
PEC
3.1.6 Mounting tube for milkpump, updated.
3.2.1 Procedure for cleaning……, updated.

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3.2.2 measuring the water …….,updated
3.2.3 Adjustment of clean pos….,updated.
3.4.1 Recalibration of sampler transf…, added.
5.5 Updating FPGA software on HN2.., added.
5.6 HN2 AI startup settings, added.

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2 Trouble shooting.
2.1 HSM error messages:
2.1.1 AI State = Wait
Description: An error In the AI has occurred causing the AI to restart, after restart the AI is unable to initialize all
modules and go to standby mode.
Causes / Actions: Restart AI, if it doesn’t go to standby mode: Open AI, restart again and check witch module that
doesn’t initialize.
Look for errors on that module.
2.1.2 DosageLineOpenTimeout
Description: The SI has sent a sample to the AI. The AI has not responded to that, and the sample will timeout.
Causes / Actions: Check if AI is in Standby or Auto mode: if not restart AI, if it doesn’t go to standby mode: Open
AI, restart again and check witch module that doesn’t initialize.
Look for errors on that module.
2.1.3 DosageMissed
Description: The SI has sent a sample to the AI. The AI has not responded to that, and the sample will timeout.
Causes / Actions: Check if AI is in Standby or Auto mode: if not restart AI, if it doesn’t go to standby mode: Open
AI, restart again and check witch module that doesn’t initialize.
Look for errors on that module.
2.1.4 BD1Posttimeout
Description: The backend of the sample send from SI has not been detected by BD1 within the expected timeslot.
(the front end has been detected.)
Causes / Actions: Check for leaks in the Safety/flush valve and the filter.
Check that the Tube from SI to AI has the correct length, and that the BD1 is placed at correct distance from SI.
References: 2.1.3 How to manually test Safty/flush and Filter valve in SI (Needs Vacuum):
2.1.2 How to simulate samples trough SI :

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2.1.5 BD5PostSampleTimeout
Description: The backend of the sample send from SI has not been detected by BD5 in the expected timeslot. (the
front end has been detected.)
Causes / Actions: Check filter operation, if filter doesn’t lift, no air will be present in the tube after the sample.
Check mounting of BD5. Check tube length is correct between MV arm and Flush valve.
References: 2.1.7Correct mounting of the Air detector assembly
2.1.6 BD5PresampleTimeout
Description: The sample send from SI has not been detected by the BD5 within the expected timeslot.
Causes / Actions: IF this error occurs together with BD3 errors, look for actions at BD3 errors.
Else it could be caused by leaking milk pump tube (pressure side) or check filter and safety/flush valves.
References: 2.1.3 How to manually test Safty/flush and Filter valve in SI (Needs Vacuum):
2.1.2 How to simulate samples trough SI :
2.1.7 BD3 Air
HSM Error message:
Description: Sample detected at BD3 but sample has been to short or there has been air bubbles in the sample.
Causes / Actions: Check MV arm tube for leakage. Check positioning of MV arm. Check lift of MV arm.
References: 2.1.5 Adjustment of Index on SI Multivalve.
2.1.8 BD3PresampleTimeout
Description: No sample has been detected at BD3 within the expected timeslot.
Causes / Actions: Test milking at farm, thus no milk samples taken at all.
Error in milk pump or milk pump tube, in the SI.
Error in safety flush valve.
No milk sent from sampler.
Mainline out valve on AI clogged.
References: 2.1.3 How to manually test Safty/flush and Filter valve in SI (Needs Vacuum):
2.1.2 How to simulate samples trough SI :
2.1.9 EL_AC_OFF_EXTERNAL_BUS
Description: The Alcom node no. that the AC uses is used by another unit on the Alcom bus.
Causes / Actions: Change Alcom node No. For AC on the external Canbus (alcom)

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2.1.10 Heart beat : AC
Description: No connection to AC,
Causes / Actions: Restart unit. Check farm internet connection.
2.1.11 Heart beat : AI
Description: No connection to AI,
Causes / Actions: Restart unit. Check farm internet connection.
2.1.12 Heart beat : SI
Description: No connection to SI,
Causes / Actions: Restart unit. Check farm internet connection.
2.1.13 Heart beat : DSM
Description: No connection to DSM software,
Causes / Actions: Restart pc. Check farm internet connection.
2.1.14 Heart beat: PC
Description: No connection to the DSM pc,
Causes / Actions: Restart pc. Check farm internet connection.
2.1.15 Incubator 90% RH / or visible signs of liquid in the IM.
Description: The Too high humidity in the AI incubator compartment. Probably caused by leakage in the
dosage or waste system in the AI. If there is visible liquid in the Incubator, it can be milk, water, diluent or
a mix of the three.
Actions:
-Open the AI.
-Clean of any visible liquid in the Incubator compartment.
-Check for leakage and fix or replace any broken tubes or connections.
-Leakage in the dosage system can sometimes only be visible with working pressure on the tubes, to get
this:
-Request a prime of diluent from the AI display, and check for leaks in the diluent system.
-Request a CIP from the AI display, and check for leaks in the mainline, and dosage line.
-Check that the waste tube has a slope all the way, otherwise it can overflow.
-Clean the AI thoroughly for any residues of milk/diluent/water. If the incubator disk needs cleaning,
remove it and clean it with a soft brush and lukewarm soap water.
-If the humidity is high in the incubator after cleaning, a bag of desicant (used to load in storage) can be
placed in the waste container. Instruct the farmer to remove the bag after next milking session.

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2.1.16 Quarantine
Description: The quarantine indicates that there is a problem with the dosage system in the Herd
Navigator.
If there is a problem with the dosage system it is likely that the dosage volume will be to little or no dosage
at all. This situation will affect the measurements of all four constituents, leading to false reactions in the
bio-models, and leading to false alarms. The LDH sticks is sensitive to the dosage volume and no or little
dosage will show up as very low LDH, and out off range results. To avoid false input to the bio-models ,the
level of the measurements on the LDH sticks is continuously monitored. If the general level of LDH
(measured over a number of samples) drops, the Quarantine function gets active. The quarantine function
will then make sure that all these results are quarantined and not used in the Bio-models. Furthermore the
quarantine function will stop measuring on BHB, Urea and progesterone sticks. The monitoring of the LDH
measurements will continue, and the quarantine function will detect if the results will revert to normal
levels again. After a given number of good LDH results the quarantine will be cancelled and the
measurement on all constituents will continue.
Most often the quarantine requires a visit by the service technician to clean the complete dosage system.
Causes / Actions: Leaks in dosage system, or tubes clogged.
Inspect all tubes and clean the complete milk line from SI to AI.
Note that a given number of “good” samples are required after a quarantine, before the quarantine is
cancelled.
Reference: 2.2.1 Procedure for complete cleaning of milk transport system between SI and AI.

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2.2 VMS and VMS sampler errors in HSM.
TransferFailed: (Bd4.xPresampleTimeout, x=TubeNo.)
1. Error in VMS sampler, no milk from the sampler to the transfer tube.
2. Wrong pressure in transfer tube, caused by milking pressure in the VMS.
3. If on a new installation, it could be caused by a wrong setting in the ”detect Window” in AC. The SI will
try to detect the lead end of the sample at a time where the sample is either before or after Bd4.x.
4. Incorrect mounting of Bd4.x, or Bd4.x has been exposed to water.
Bd4PostsampleTimeout: (only warning)
1. Sample in VMS sample container is to big.
2. Too high pressure resistance in the transfer tube, causing decreased performance of milk tube pump.
could be caused by pinched tube..
3. Incorrect mounting of Bd4.x, or Bd4.x has been exposed to water.
Bd4PostsampleTimeout+ Bd5PostsampleTimeout: (only warnings)
1. Incorrect mounting of Bd4.x, or Bd4.x has been exposed to water.
Bd4PostsampleTimeout+ Bd5PostsampleTimeout+ Bd1PostsampleTimeout:
1. Incorrect mounting of Bd4.x, or Bd4.x has been exposed to water.
Bd4Air:
1. Sample in VMS sample container is too little.
2. Air bubbles in the sample.
Bd5PresampleTimeout:
1. Lead end of sample has been detected by Bd4.x, but no sample entered BD5. Could be caused by defect
in SI stop valve (pinch valve) or missing sample from VMS.
2. Incorrect mounting of Bd5, or Bd5 has been exposed to water.
Bd5Air:
1. Sample in VMS sample container is to little.
2. Air bubbles in the sample..
Bd5PostsampleTimeout:
1. Incorrect mounting of Bd4.x, or Bd4.x has been exposed to water.
2. Incorrect mounting of Bd5, or Bd5 has been exposed to water.
3. Coatings in main line tube (ø2mm) causing malfunction of Bd5, could be caused by cleaning problems.
Bd5PostsampleTimeout+ Bd1PostsampleTimeout:
1. Incorrect mounting of Bd4.x, or Bd4.x has been exposed to water.
2. Incorrect mounting of Bd5, or Bd5 has been exposed to water.
3. Coatings in main line tube (ø2mm) causing malfunction of Bd5, could be caused by cleaning problems.
Bd1PostsampleTimeout:

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1. Incorrect mounting of Bd1, or Bd1 has been exposed to water.
2. Coatings in main line tube (ø2mm) causing malfunction of Bd5, could be caused by cleaning problems.
Ready For CIP Timeout:
1. Error in heating the CIP containers in the SI
Ready For CIP Timeout+Fill Timeout:
1. Error in water supply or water level sensors in CIP containers in SI
Fill Timeout:
1. Error in water supply or water level sensors in CIP containers in SI
No AI-CIP water:
1. Error in water supply or water level sensors in CIP containers in SI
Bd5 eller Bd1 CIP Air Detect:
1. Air has been detected in Bd5 or Bd1 during cleaning,
2. Check HSM->Climate->cleaning diagram below. to see if it is a bubble or missing water.
3. If it is a bubble it is OK
4. if missing water ict could be an error in water supply or water level sensors in CIP containers in SI
SI Detergent Empty:
1. Empty Detergent container, or an air bubble has been detected by the detergent Bd.

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2.3 Trouble shooting on samplers.
Error types :
1. Sampler is not connected to the bus..
2. Sampler is not taking milk in.
3. Sampler is unable to empty the milk out of sampler.
4. The sample is not reaching the MV, after leaving the sampler.
5. The sample reaches the MV but is not transported further from here.
Error type 1 : Sampler is not connected to the bus..
.
action download new firmware version, remember to erase old version first.
error type 2 : Sampler is not taking milk in.
Typical causes : No vacuum, Tube has fallen of, Knife not correct mounted.
Malfunction of sampler valve.
Error type 3: Sampler can not empty the milk out again.
Typical causes: tube fallen off, top valve can not open, dump valve can not open.
Error type 4: The sample does not reach the MV.
Typical causes: tube fallen off, top valve can not open, Transfer valve can not open, Speed Valve can not
close.
Error Type 5: The sample reaches the MV, but is not transported further from here.
Typical causes: Speed valve can not open.
Trouble shooting on samplers.
Start by checking:
-Vacuum at the samplers are min. 32kPh,
-The pulsator works as it should,
-Alcom-bus is correctly connected
Start the sampler test function in the AC.
Go to the AC menu Item: 4 -> 2 -> 5 Sampler Test.
Sampler Index = the first sampler you want to test where 0 = 40 1 = 41, etc.
Number of samples. = Number of samplers from the Sample Index sampler and on, typically set to 1

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because you only look at a sampler at a time.
Delay = time each valve is open at a time, while routine run in ms. Recommended 1000 - 2000ms, so there
is plenty of time to see each valve open / close.
When you press OK, the test will start until you press Enter again, or test times out.
the test makes the valves alternately opened and closed again. This can be from seen on the 5 LEDs on the
circuit board
If you suspect a particular valve, and find it hard to see if it closes / opens as expected, then you can
connect a VPR 100 to the stud and see if vacuum rise / fall as expected when it operates.
If there is a vacuum all the time, there is a big change for the O-ring on the solenoid valve is leaking /
missing, or magnet missing.
REMEMBER THAT AFTER THE USE OF THE SAMPLER TEST RUTINE
YOU SHOULD RESTART THE ENTIRE SYSTEM BEFORE YOU LEAVE THE FARM.

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2.4 Using the “Sample all” function in the AC.
When trouble shooting on the Herd Navigatorsystem the “sample all” function in the AC can be very
helpful.
This function ensures that all cows milked on a given milking point/vms are sampled. This will make it
possible to monitor and troubleshoot on more samples during the milkingsession
The sample all is in menu 424 in the AC,
Sampler index: determines the given sampler/vms that “sample all” should be applied to.
On VMS: index 1 = VMS-1, Index 2=VMS-2, ect.
On Parlour:index 0 = sampler node 40, Index 1= sampler node 41, ect.
Period: determines the no. of milking sessions that the “sample all” should be applied to. It‟s only
recommended to set this to 1 session, or OFF, to stop “sample all”
Prog: if set to yes progesterone measurements will be made on samples from this sampler / VMS.
LDH: if set to yes LDH measurements will be made on samples from this sampler / VMS.
BHB: if set to yes BHB measurements will be made on samples from this sampler / VMS.
Urea: if set to yes Urea measurements will be made on samples from this sampler / VMS.
OK:saves the selected settings for the given sampler/VMS..
NOTE: for using the “sample all” on more samplers/VMS each sampler / VMS has to be set individually.

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3 Best Practices / How do I.
3.1 Sample Intake
3.1.1 Activate Sample simulation in SI. (Parlour only and needs Vacuum).
First get acces to the menu in SI… this can be trough AC via Ethernet, or direct whit RS-232 cable to the
circuit board (baud rate 38400).
If not in the menu, press M
Then pres 4, for service menu.
Then pres 1, for simulate.
Then press 1, for Simulate Flags.
Activate Sim Active.
Activate NSR to AI (New Sample Ready), and chose Cont on Number Samples.(continuous samples)
If complete test, then Sim AI = No, else chose Yes, for simulating AI (f.eks. if the AI is disconnected, or
need to separate the test from the AI).

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After pressing OK, the test start, and will take samples from the first sampler on the Multivalve.

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3.1.2 How to simulate samples trough SI :
Needed: 1 bottle water or milk. (Normally used a ½L soda bottle and taken water/milk on the farm).
1. Take silicone tube from Sampler 40, of the transfer tube inside the SI.
2. Fill water in the bottle, and put it a good place near the SI, so the tube can reach it. But do NOT put
the tube in the bottle yet.
3. Turn on the Vacuum.
4. Start the Simulating in SI, using the “Activate Sample simulation in SI” guide.
5. Then, when the Multivalve arm moves to the Sampler 40 position, and lift the arm… put the tube
down in the water.
6. The SI will now suck the water up from the bottle, past BD3, then past BD5, and then open release
the arm + open the filter, to fill air in the tube.
7. If there is no problems, then the arm will lift again, and take a sample again.
8. If there is a problem, the arm will move to home position, and pump cleaning water to the AI, and
then start over again… if it fails more than 2-3 times, then the simulation needs to be activated
again.
9. When the test is finish, and problem is solved, the power should be taken on the hole system, so it
restarts to make sure the SI is not in simulation mode anymore.

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3.1.3 How to manually test Safty/flush and Filter valve in SI (Needs Vacuum):
First get acces to the menu in SI… this can be trough AC via Ethernet, or direct whit RS-232 cable to the
circuit board (baud rate 38400).
If not in the menu, press M
Then pres 4, for service menu.
Then press 1, for Simple Functions
With Enter toogle on/off on the valve to test.
In same menu, Main Line valve can be tested also (the on inside the AI, on the side whit drain tube). And Milk pump
can be started, and stopped again.
Example to open Filter Flush
When finished testing, make sure to restart the complete system, to restore normal operation for the SI.

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3.1.4 Start Cleaning from SI menu :
First get acces to the menu in SI… this can be trough AC via Ethernet, or direct whit RS-232 cable to the
circuit board (baud rate 38400).
If not in the menu, press M
Press 1, for Maintenance menu
Press 2, for AI Cip
Press Enter to activate CIP, and the SI starts to fill Clean and Rinse whit water, and heat it up. In about 20-25min, the
CIP is started.

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3.1.5 Adjustment of Index on SI Multivalve.
3.1.5.1 Adjustment:
Make sure the SI is turned on, and that Vacuum for the SI is on.
Use the service interface via terminal or AC
Press Mfor Main Menu.
Press 4 for Service, and press enter for service password.
Press 3to go to Complex functions.
Press Enter to go to Adjust MV Arm.
The Current Offset from Index value is displayed.
The multi valve arm is now positioned at pos. 1, (the stud with the cylindrical mark ) and the arm will be
lifted so that the tube on the arm is in contact with the lid on the multivalve.