LEGO Excavator User manual

LEGO Excavator
Teledyne PDS
Version 1.0.0
June 2017
Teledyne RESON B.V.
Stuttgartstraat 42- 44
3047 AS Rotterdam
The Netherlands
Tel.: [phone]
www.teledyne-reson.com

Teledyne RESON has made every effort to ensure the accuracy and completeness of this document;
however, because ongoing development efforts are made to continually improve the capabilities of our
products, we cannot guarantee the accuracy of the contents of this document. We disclaim liability for
errors, omissions, or future changes herein.
The accompanying software and documentation are proprietary products owned by Teledyne RESON and
protected under international copyright law.
Copyright © All rights reserved. No part of this publication may be copied, reproduced, or translated,
without the prior written consent of Teledyne RESON. No part of this publication may be stored or
transmitted in any electronic form without the prior consent of Teledyne RESON. Any unauthorized use is
a violation of copyright laws. Teledyne PDS™ is a trademark of Teledyne RESON.
Amendment Record Sheet
Rev.
Date
Reason for Modifications
1.0.0
26/06/2017
First version of the Manual.

Teledyne PDS - LEGO Excavator Contents
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Contents
1LEGO Excavator 1
1.1 Introduction......................................................................................................1
2LEGO Excavator preparations 3
2.1 Introduction......................................................................................................3
2.2 The LEGO Excavator ......................................................................................3
2.3 Potentiometers ................................................................................................4
2.3.1 Boom..........................................................................................................5
2.3.2 Stick...........................................................................................................7
2.3.3 Bucket........................................................................................................9
2.3.4 Electrical connection................................................................................12
2.3.5 Potentiometer range adjustment..............................................................13
3Drivers & Crane configuration 15
3.1 Introduction....................................................................................................15
3.2 Device drivers................................................................................................15
3.3 Driver properties............................................................................................16
3.3.1 Positioning device....................................................................................16
3.3.2 VRU .........................................................................................................16
3.3.3 Compass..................................................................................................16
3.3.4 Dredge Positioning system......................................................................16
3.3.5 Crane Configuration.................................................................................17
3.3.5.1 Boom ..............................................................................................17
3.3.5.2 Stick................................................................................................18
3.3.5.3 Tool.................................................................................................18

Teledyne PDS - LEGO Excavator LEGO Excavator
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1
1LEGO Excavator
1.1 Introduction
For demonstration and training purposes, Teledyne RESON has implemented her
dredge monitoring system to a LEGO Excavator.
The behavior of the excavator is visualized in Teledyne PDS and gives the user a real
life experience of the Teledyne PDS Excavator application.
To measure the boom, stick and bucket position are potentiometers added to the
LEGO crane.
This manual describes the precautions to take to use the LEGO Excavator for the
Teledyne PDS Excavator application.
See the Teledyne PDS Excavator User manual for more information about the
Teledyne PDS Excavator application.

Teledyne PDS - LEGO Excavator LEGO Excavator preparations
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3
2LEGO Excavator preparations
2.1 Introduction
The following is needed to use the LEGO Excavator for the PDS Excavator
application:
LEGO Excavator
Three 5k ohm potentiometers
Teledyne RESON Dredge (LEGO) interface
Teledyne PDS license
Additional LEGO axis (to connect potentiometer to boom, stick and bucket).
Additional LEGO blocks (to create parallelogram)
2.2 The LEGO Excavator
The LEGO Excavator (LEGO item 8043) is used. This excavator is equipped with
move, dig, spin and lift motorized functions.
The LEGO Excavator is constructed by the user according to the LEGO building
instructions.
Figure 2-1 LEGO Excavator

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LEGO Excavator preparations Teledyne PDS - LEGO Excavator
2.3 Potentiometers
To measure the boom, stick and bucket position are potentiometers used.
Figure 2-2 Potentiometer
Measure
Potentiometer
Boom
5K ohm linear
Single turn with shaft
Stick
5K ohm linear
Single turn with shaft
Bucket
5K ohm linear
Single turn with shaft
The potentiometers are mounted on the crane. The wiring is connected to the
Teledyne RESON LEGO interface.

Teledyne PDS - LEGO Excavator LEGO Excavator preparations
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2.3.1 Boom
The boom potentiometer is mounted on the right side of the crane chassis (see Figure
2-3, Figure 2-4.
Figure 2-3 Boom - chassis
Figure 2-4 Boom potentiometer location
The potentiometer is fixed to the chassis. The axis of the potentiometer is fixed to a
LEGO axis. The LEGO axis is fixed to the boom.

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LEGO Excavator preparations Teledyne PDS - LEGO Excavator
Figure 2-5 Boom axis
Figure 2-6 Axis fixed to boom.
Crane chassis
Potentiometer
Thread of
potentiometer fixed
in chassis
LEGO Axis fixed to
potentiometer axis
Crane boom
Axis fixed into
boom