!   "#
$  % 

 
5^W\YcXBUfYcY_^ # 4UfU\_`UTRi* =<D>

4QdU*!$ (" 1edX_b* B14C9C

7‰ddY^W;73U\\UbCdb%4#!"'%<UXbdUB‰TTU^cU^7Ub]Q^iDU\*$) %!#&( )& 

6Qh*$) %!#&( )&( U=QY\*dUSXT_S0W_UddY^WTU9^dUb^Ud*gggW_UddY^WTU
 


&  

  

 

   


  


  



  

      !

" #  !

  # !

! $%  &%$%  !

   


 

    

   

    !   

  
     '()** +,% )** -

   .  +,% )** ()  /

  !" #   $  %

               

               


 !&&'    

             !" #$% 
   

               
!" #$%  
 0    

 ''   

 $  '   
 '  $ $    
  $   (! $  )* $  + ,
  $  ! $  )  + 
-
  $  *. 

  $     


,  $  /0 '  $  


5^W\YcXBUfYcY_^ #4QdU*!$ (" "

 


%  ! ( $   


-  !10 $   

 .2  $   


# 3 "  

  $  4! 

  $    ! 

   

 # 565 1 $ 

" , 1$   2

   ! "   

" )$ 
"
3 *%   .*  

 ! #  

$ ! %" 

&  

5^W\YcXBUfYcY_^ #4QdU*!$ (" #

    


  
DXUCU^c_b6ecY_^3_^db_\\Ub87 &!$!(1TUdUb]Y^UcdXU`_cYdY_^_VQfUXYS\URQcUT
_^gXUU\U^S_TUbc@47@CYcecUTV_bY^YdYQ\YjY^WQ^Tce``_bdY^WdXYc_T_]UdbYScic
dU]DXUTYVVUbU^SUcY^`_cYdY_^RUdgUU^dXUU^S_TUbcQ^TdXU@47@CS_]RY^UTgYdX
dXU7@CQSSebQSiWYfU^Ri7@C3_^db_\\Ub87 &!$!'1U^QR\UdXUSQ\Se\QdY_^_VdXU
_fUbQ\\`_cYdY_^Y^WQSSebQSiCX_bdZe]`cY^dXU7@C`_cYdY_^QbUdXecc]__dXUTDXYc
XQ^TR__[TUcSbYRUcCU^c_b6ecY_^3_^db_\\UbcgYdXC_VdgQbU87 &!$!(75!fUbcY_^
! $DXUS_^db_\\UbXQcQdUb]Y^Q\S_^V_b]Q\cUbfYSUY^dUbVQSUV_b`QbQ]UdUbcUddY^W
Q^TVebdXUbcicdU]Q^Q\icYc

DXU`_cYdY_^_ed`edYcQ]UQcebU_VTUfYQdY_^Vb_]QcdbQYWXdbUVUbU^SU\Y^UU WQ\_^W
Q S_^dQY^Ub cdQS[ 7@C 3_^db_\\Ub 87 &!$!'1 Y^S\eTY^W C_VdgQbU 87 &!$!'77 Yc
Q\c_^USUccQbiV_bdXYccicdU]4UdQY\UTY^V_b]QdY_^QR_ed7@C3_^db_\\Ub87 &!$!'
1 Yc Y^S\eTUT Y^ _eb CicdU] 4UcSbY`dY_^ 87 &!$!'87 &!$!'77 Q\c_ `Qbd _V dXU
cS_`U_Vce``\iV_bdXYccicdU]

DXU_ed`ed`_cYdY_^Y^WTQdQYcecUTV_bU^QR\Y^WdXU1ed_]QdYSCdUUbY^W Ve^SdY_^Qc
gU\\QcdXU3_^dQY^UbDbQS[Y^WVe^SdY_^1c\_^WQcdXUXYWX\iQSSebQdU`_cYdY_^_ed`ed
VecY_^_V47@CQ^TU^S_TUb`_cYdY_^dXQdYc^USUccQbiV_bU^QR\Y^WdXUSbQ^US_^db_\
d_Qed_]QdYSQ\\icdUUbdXUSbQ^UYcQfQY\QR\UdXYccYW^Q\Ycce``\YUTV_bR_dXVe^SdY_^c
1ed_]QdYSCdUUbY^WQ^T3_^dQY^UbDbQS[Y^W

9^SQcUdXU47@CQSSebQSiTUSbUQcUcQ^TdXUQSSebQSi_VdXUcicdU]Yc^_\_^WUb
W__TU^_eWXV_b1ed_]QdYSCdUUbY^W3_^dQY^UbDbQS[Y^WYccdY\\`_ccYR\UQ^TdXUcic
dU] Qed_]QdYSQ\\i \Y]Ydc Ydc `_cYdY_^ _ed`ed d_ dXU 47@C cYW^Q\ _^\i 9V dXU 7@C VQY\c
S_]`\UdU\i3_^dQY^UbDbQS[Y^WbU]QY^c`_ccYR\UQcY^dXYcSQcUdXUcicdU]_ed`edcdXU
U^S_TUbcYW^Q\c_^\i

GXU^ cgYdSXY^W _^ dXU SbQ^U Q cYW^Q\ ceVVYSYU^d\i QSSebQdU V_b U^QR\Y^W 3_^dQY^Ub
DbQS[Y^WYcY]]UTYQdU\iQfQY\QR\UcY^SUdXU\QcdQfQY\QR\U`_cYdY_^RUV_bUcgYdSX_VVYc
Q\gQicbUS_bTUT

GXU^dXU3_^dQY^UbDbQS[Y^WVe^SdY_^Yc_`UbQdY^W_^dXUU^S_TUbcYW^Q\_^\idXU`_
cYdY_^YcbUcUdRiQµ3_^dQY^Ub=QdSXY^WµcYW^Q\*CY^SUS_^dQY^UbcSQ^_^\iRUcd_bUTY^
TUVY^UTc\_dcdXU`_cYdY_^TUdUb]Y^UTRidXUU^S_TUbcYcS_bbUSdUTgYdXdXU`_cYdY_^
Y^V_b]QdY_^_VdXU^UQbUcdc\_d

GXU^UfUbdXU`_cYdY_^YcTUdUb]Y^UTRidXUU^S_TUbc_^\idXUcicdU]_ed`edcdXUQS
SebQSifQ\eUµ!µ

5^W\YcXBUfYcY_^ #4QdU*!$ (" $

 


 

<54c

 BUcUd;Ui






;Ui^_Ve^SdY_^
 85HB_dQbiCgYdSX^_Ve^SdY_^


 
3?=#CUbfYSU9^dUbVQSU




 6b_^d@Q^U\87&!$!(

  
DXUV_\\_gY^WV_ebY^dUbVQSUcQbUY^S\eTUT3?=!"Q^T$QbU_^\iQSSUccQR\UfYQdXU
RQS[`\Q^U+Q\c_bUVUbd_dXU_fUbQ\\7@CCicdU]4UcSbY`dY_^°.`Y^Q\\_SQdY_^*

! 3?=!*BC"#"BC$""TQdQ_ed`edTQdQY^`edU WV_bS_]]e^YSQdY_^gYdX
Secd_]Ub@<3+!)" 2QeT(>!

" 3?="*BC"#"S_^^USdY_^d_7@C3_^db_\\Ub+!)" 2QeT(>!

# 3?=#*BC"#"Y^dUbVQSUV_bc_VdgQbUT_g^\_QT

$ 3?=$*BC"#"cUbfYSUY^dUbVQSU+!)" 2QeT(>!)& !)" #($ 2QeT

QbUcU\USdQR\U

      

DXUV_\\_gY^W\YWXdU]YddY^WTY_TUcQbU_^dXUVb_^d`Q^U\*

<54@_gUbbUT

<54"iU\\_g

<54!iU\\_g

<54$iU\\_g

<54#iU\\_g


 
DXU@_gUb<54Yc_^gXU^UfUbdXUcicdU]YcS_^^USdUTd_dXUQ``b_`bYQdU@_gUbce`
`\i



 

DQR\U!\YcdcdXUVe^SdY_^c_VdXUTYVVUbU^d<54c

5^W\YcXBUfYcY_^ #4QdU*!$ (" %

 



         
 

O-<54_^⊕-<54R\Y^[Y^W?-<54_VVH-e^TUVY^UT

CdQ^TQbT ⊕ H H H `b_WbQ]V\_g

CdQ^TQbT H O⊕? H H \_S[UTcdQdU

CdQ^TQbT H H ⊕ H TQdQd_Vb_]@<3

CdQ^TQbT H H H ⊕ bUSUYfY^W7@C`_cYdY_^c
 <54Ve^SdY_^c

<54#cYW^Q\YjUcdXUdbQ^c]YccY_^Q^TbUSU`dY_^_VTQdQd_Q^TVb_]dXU@<39V33=
@b_d_S_\XQcRUU^cU\USdUTdXUdbQ^c]YccY_^_V5>AcgYdSXUcdXU<54_^Q^T5?D
cgYdSXUcYd_VVQWQY^


 9VdXUcicdU]g_b[cS_bbUSd\idXU^<54#Yc_^V_b( _VdXUdY]U

bUVUbQ\c_d_SXQ`dUbDb_eR\UCX__dY^WY^CUbfYSU=Q^eQ\
CO7%'&% 

<54$cYW^Q\YjUcdXUbUSU`dY_^_VTQdQVb_]dXU7@C3_^db_\\UbDXU<54YccgYdSXUT
_^TebY^WdXUbUSU`dY_^_VTQdQQ^T_VVgXY\UdXU`_cYdY_^TQdQYc`b_SUccUT?^USiS\U
dQ[UcQ``b_h! ]c

4ebY^WbUSU`dY_^dXU<54cbUQSdY^dXUcQ]UgQi9^V_b]QdY_^bUWQbTY^WDb_eR\UcX__d
Y^WY^SQcUQVQY\ebUYccec`USdUTYcY^S\eTUTY^dXUS_bbUc`_^TY^WSXQ`dUbc_VdXU
CUbfYSU=Q^eQ\CO7%'&% 

 
  !"# 
>_Ve^SdY_^

 $ !
>_Ve^SdY_^

%  $ !
@bUccY^WdXYc[UiV_bQ``b_h% cgYdXQdXY^d__\WU^UbQdUcQbUcUd

 &'  (' &' 

   

DXUbUQbUUYWXdTYWYdQ\Y^d`edcDXUcUY^`edcQbU_`dYSQ\\iTUS_e`\UT1S_]]_^7>4
XQcd_RUS_^^USdUT1SebbU^d_VQ``b_h% ]1YcWU^UbQdUT`UbY^`edgXU^S_^^USd
UTd_"$ F

5^W\YcXBUfYcY_^ #4QdU*!$ (" &

 



   

DXUbUQbUUYWXdTYWYdQ\_ed`edcDXUcU_ed`edcQbU_`dYSQ\\iTUS_e`\UT1S_]]_^Uh
dUb^Q\`\ec`_dU^dYQ\XQcd_RUS_^^USdUT1SebbU^d_VQ``b_h% ]1YcWU^UbQdUT`Ub
_ed`edgXU^S_^^USdUTd_"$ F

   

DXUbUQbUV_ebQ^Q\_WY^`edcDXUiQbUbUQ\YjUTQcTYVVUbU^SUQ]`\YVYUb9^`edf_\dQWUc
RUdgUU^! FQ^T! FQbUQ\\_gUT

    

DXUbUQbUV_ebQ^Q\_W_ed`edcgYdXQ^_ed`edf_\dQWUbQ^WU_V! Fd_! F

     

$Y^`ed`_bdcUhYcdV_bdXUb_dQbiU^S_TUbcUQSXdbQS[1Q^T2DXUf_\dQWUY^`edSQ^
RUQTQ`dUTd_dXUU^S_TUbc_fUbY^dUb^Q\cUddY^WQc^USSUccQbi*Vb_] d_% Fd_ d_
"$ F`\UQcUcdQdUbUaeYbUTf_\dQWUbQ^WUgXU^_bTUbY^WUaeY`]U^d

9dYc`_ccYR\Ud_ecU@ecX@e\\_b@e\\4_g^U^S_TUbc+QWQY^cdQdUi_ebbUaeYbU]U^dc
e`_^ _bTUbY^WDXUcYW^Q\XQcd_RUbUSdQ^We\Qb Q^TYdc Ubb_bbQdUSQ^^_dRUQR_fU
!% _VYdc_ed`ed\UfU\

5^W\YcXBUfYcY_^ #4QdU*!$ (" '

   


  

    )"* ++  " ,-' * ,

++ 
DXUTQdQbUS_bTbU`UdYdY_^bQdUYc! ]c

   

FUXYS\U d_))) fUXYS\U^e]RUbBD7_bB=7^_QTZecdQR\U

1WU d_))) e^YdK! ]cMbUc_\edY_^! ]c

HS__bTY^QdU )))))))d_))))))) e^YdK]]MbUc_\edY_^! ]]

IS__bTY^QdU )))))))d_))))))) e^YdK]]MbUc_\edY_^! ]]

JS__bTY^QdU )))))))d_))))))) e^YdK]]MbUc_\edY_^! ]]

1^W\U d_#%%) Q^W\U_VdbQfU\e^YdK ! 4UWbUUcMbUc_\edY_^

! 4UWbUUc

JY^SbU]U^dc )))d_))) ]UQcebUTY^SbU]U^dc

CdQdec! d_"%% cdQdecRidU!

CdQdec" d_"%% cdQdecRidU"

CdQdec# d_"%% cdQdecRidU#

CdQdec$ d_"%% cdQdecRidU$

CdQdec% d_"%% cdQdecRidU%

3XUS[Ce] d_"%% UhS\ecYfU_b_`UbQdY_^_VQ\\SXQbQSdUbc_VdXUTQdQ

bUS_bT
 4QdQbUS_bTcdbeSdebU7@C3_^db_\\Ub°.CU^c_b6ecY_^ 3_^db_\\Ub

5^W\YcXBUfYcY_^ #4QdU*!$ (" (

   


    . # " ,-' * ++  )*

DXUTQdQbUS_bTcdbQ^c]YddUTd_dXUfUXYS\US_^db_\\UbY^S\eTUY^V_b]QdY_^QR_eddXU`_
cYdY_^cdQdecY^V_b]QdY_^QR_eddXUY^dUWbYdi_VdXUTQdQQ^TdXUcicdU]SXQbQSdUbYcdYS


    ! "   #

         !"

DXURY^QbiTQdQYcdbQ^c]YddUTUfUbi% ]c

     

! !2idU 1C399 &!*¾-² ¾CdQbdSXQbQSdUb²

" !2idU CD1DEC2ID5*

2Yd!*^_diUdecUT
2Yd"$*cicdU]SXQbQSdUbYcdYSbUVUbd_DQR\U$
2Yd%(*aeQ\YdiSXQbQSdUbYcdYS°QSSebQSi_V`_cYdY_^
_ed`ed!&cdU`cbUVUbd_DQR\U%

#$%& $2idU cYW^UT\_^W H@_cYdY_^*HK]]M

Y^S\cYW^

'()! $2idU cYW^UT\_^W I@_cYdY_^*IK]]M

Y^S\cYW^

!! !2idU e^cYW^UTSXQb CdQS[^e]RUb

gYdX_edcYW^

!"!# "2idU e^cYW^UTY^d 4YbUSdY_^Q^W\U*αK  !TUWbUUcM

gYdX_edcYW^

!$!% "2idU cYW^UTY^d FU\_SYdi*fKS]cM

Y^S\cYW^

!& !2idU e^cYW^UTSXQb 3XUS[ce]_fUbdXUS_]`\UdUcUd_V!%RidUcY^S\

Y^S\SXUS[RidU* SXUS[RidU*C-
C-

 CdbeSdebU_VRY^QbiTQdQbUS_bTCU^c_b6ecY_^3_^db_\\Ub°.@<3

   

^_decUT

! h <QcUbCSQ^^Ub

! h 7@C

! ! h ^_decUT
 CicdU]3XQbQSdUbYcdYSRYdc"d_$_VcdQdecRidU

5^W\YcXBUfYcY_^ #4QdU*!$ (" )

   



 !    
" # $ %

!% ! ! ! ! ! S]_bRUddUb @47@CQ^T
?T_]Udbi
!$ ! ! ! " S]

!# ! ! ! # S]

!" ! ! % S]

!! ! ! ! ' S]

! ! ! ! S]

) ! ! !% S]

( ! " S]

' ! ! ! # S] 7@C_^\i

& ! ! % S]

% ! ! ! S]

$ ! !% S]

# ! ! " S]

" ! # S]

! ! 7@CVQY\UT ?T_]Udbi_^\i

^_fQ\YTTQdQ ^_cicdU]
 AeQ\Ydi3XQbQSdUbYcdYS

DXUcicdU]Yc`bUS_^VYWebUTd_Q^QSSebQSidXbUcX_\T_Vµ%µ-! S]DXUbUV_bUQSSebQSifQ\eUc"
dXb_eWX%T_^_dQ``UQbe^\UccdXU`bUcUddY^WcQbUQ\dUbUTQSS_bTY^W\i

5^W\YcXBUfYcY_^ #4QdU*!$ (" !

   


    !"     

DXUdb_\\Ui`_cYdY_^YcdbQ^c]YddUTUfUbi% ]cVb_]dXU@<3d_dXUCU^c_b6ecY_^3_^
db_\\UbfYQdXUcQ]UY^dUbVQSU

     

! !2idU 1C399 &"*¾.² ¾cdQbdSXQbQSdUb²

"#$% $2idU cYW^UT\_^W db_\\Ui`_cYdY_^K]]M

& !2idU e^cYW^UTSXQb gUYWXd

' !2idU e^cYW^UTSXQb `_cYdY_^cdQdec

()! !! $2idU cYW^UT\_^W 3_^dQY^Ub@_cYdY_^

!" !2idU e^cYW^UTSXQb SXUS[ce]

 CdbeSdebU_VRY^QbiTQdQbUS_bT@<3°.CU^c_b6ecY_^3_^db_\\Ub



   $$%  

9VTQdQYcUhSXQ^WUTfYQ33=@b_d_S_\Y^@UUbd_@UUb]_TUdXUCU^c_b6ecY_^3_^
db_\\UbdbQ^c]YdcdXUS_bbUc`_^TY^WTQdQQ^TbUaeUcdcTQdQVb_]dXU@<3V_bbUSU`dY_^
@<3T_Uc^_dcdQbdY^aeYbYUcYdcU\VDXU!&dbQ^c]YddUTRidUcQbUgbYddU^Y^dXUcdQbdQT
TbUcc& !DXU&bUSUYfUTRidUcQbUbUQT_ed_VcdQbdQTTbUcc&! !9^SQcUdXUSbQ^U
Yc^_d]_fY^WdXUCU^c_b6ecY_^3_^db_\\UbbUaeUcdcUfUbi! ]cY^V_b]QdY_^bUWQbT
Y^W dXU db_\\Ui `_cYdY_^ Vb_] dXU @<3 GXY\U dXU SbQ^U Yc ]_fY^W dXU CU^c_b6ecY_^
3_^db_\\UbdbQ^c]YdcYdcTQdQbUS_bTUfUbi! ]cd_dXU@<3

5^W\YcXBUfYcY_^ #4QdU*!$ (" !!

   


 #  $     %& ' ( )$

!"

     

! !2idU 1C399 &!*¾-² ¾CdQbdSXQbQSdUb²

" !2idU CD1DEC2ID5*

2Yd!*^_decUT
2Yd"$*CicdU]SXQbQSdUbYcdYSbUVUbd_DQR\U$
2Yd%(*AeQ\YdiSXQbQSdUbYcdYS°QSSebQSi_V`_cYdY_^
_ed`ed!&cdU`cbUVUbd_DQR\U%

#$%& $2idU cYW^UT\_^W H@_cYdY_^*HK]]M

Y^S\cYW^

'()! $2idU cYW^UT\_^W I@_cYdY_^*IK]]M

Y^S\cYW^

!!!" "2idU e^cYW^UTY^d CdQS[^e]RUb

gYdX_edcYW^

!#!$ "2idU e^cYW^UTY^d 4YbUSdY_^Q^W\U*αK  !TUWbUUcM

gYdX_edcYW^

!%!& "2idU cYW^UTY^d FU\_SYdi*fKS]cM

Y^S\cYW^

 33=TQdQbUS_bTcdbeSdebUCU^c_b6ecY_^3_^db_\\Ub°.@<3

DXUcdbeSdebU_VdXUcdQdecRidUYcTUcSbYRUTY^DQR\U$_^`QWU)

 #  $!"$     

%& ' ( )

     

!"#$ $2idU cYW^UT\_^W db_\\Ui`_cYdY_^K]]M

% !2idU e^cYW^UTSXQb gUYWXd

& !2idU e^cYW^UTSXQb `_cYdY_^cdQdec

'()! $2idU cYW^UT\_^W S_^dQY^Ub`_cYdY_^K]]M

 33=TQdQbUS_bTcdbeSdebU@<3°.CU^c_b6ecY_^3_^db_\\Ub

  " /  

DXUCUbfYSU9^dUbVQSUYcecUTV_bcUddY^WdXUcicdU]`QbQ]UdUbcQcgU\\QcV_bVebdXUb
cicdU]Q^Q\icYc3_^^USdQ@3dXQdXQcQDUb]Y^Q\@b_WbQ]gYdX1>C95]e\QdY_^d_dXU
Y^dUbVQSUCUbfYSU9^dUbVQSU3?=$DXUY^dUbVQSU`QbQ]UdUbcQbUcUdQd#($ RQeT
SQ^RUSXQ^WUTd_!)" ^_`QbYdi(TQdQRYdcQ^T!cd_`RYdDUb]Y^Q\U]e\QdY_^Yc
1>C9gYdX! ]c\Y^UTU\Qi

5^dUbY^W+QSdYfQdUcQbU`UQdUT_ed`ed_VdXUSebbU^dTYc`\Qi

5^W\YcXBUfYcY_^ #4QdU*!$ (" !"

   


 %% 

Main Menu

P: Edit Parameters

D: Display Output

T: Output as Textfile

'M' always returns to Main Menu

 CSbUU^cX_d*=QY^]U^e
E`_^cicdU]cdQbde`dXU]QY^]U^eQ``UQbc_^dXUcSbUU^1ddXYc`_Y^dYdYc`_ccYR\U
d_cU\USd_^U_VdXUfQbY_ecVe^SdY_^c

5^W\YcXBUfYcY_^ #4QdU*!$ (" !#

   



 # % 
8QfY^WcU\USdUTdXUVe^SdY_^@QbQ]UdUb=U^edXU_`UbQd_bYcbUaeUcdUTd_U^dUbdXU
`Qccg_bT

*+
 DXU`Qccg_bTcX_e\TRU[^_g^_^\id_aeQ\YVYUT`Ubc_^^U\dXQd
QbUdbQY^UT_^dXU`b_WbQ]cicdU]9^`ed_VY^QSSebQdU`QbQ]U
dUbceceQ\\i\UQTcd_]Q\Ve^SdY_^_VdXUcicdU]


 1\\cUdQR\U`QbQ]UdUbc^UUT_^\id_RUcUd_^SUTebY^WdXUY^YdYQ\
Y^cdQ\\QdY_^

!! Warning !!

Most of the adjustable parameters have an influence

on the systems stability!

Enter password:

 CSbUU^cX_d*@Qccg_bT`b_]`d@QbQ]UdUb=U^e
?^SUdXU`Qccg_bTXQcRUU^QSSU`dUTdXU`QbQ]UdUb]U^eYcTYc`\QiUT

5^W\YcXBUfYcY_^ #4QdU*!$ (" !$

   


Parameter Menu

1: set parameters of main program

2: set parameters of odometry (geometry)
3: set parameters of odometry (position)
4: set parameters of DGPS
5: set parameters of controller
6: set parameters of wheel measures

7: load default parameters

8: load parameters out of flash
9: save parameters into flash
10: test variables

11: parameter update

12: parameter download

0: return to main menu

Input:

 CSbUU^cX_d*@QbQ]UdUb=U^e
1ddXYc`_Y^dYdYc`_ccYR\Ud_cU\USddXUfQbY_ecY^`ed]U^ec_VTYVVUbU^d`b_WbQ]`Qbdc
9^QTTYdY_^dXYcceR]U^eU^QR\UcdUcdY^WQ^TcQfY^WSXQ^WUT`QbQ]UdUbc_bbU`\QS
Y^WdXU]gYdXdXUbUS_bTUT_bTUVQe\d`QbQ]UdUbc9dYcQ\c_`_ccYR\Ud_SQbbi_edR_dX
`QbQ]UdUbe`\_QTQ^TT_g^\_QT

6_bdXUdY]URUY^WSXQ^WUT`QbQ]UdUbc_VceR]U^ecdXb_eWXQbU_^\icQfUT
Y^QdU]`_bQbiV\QcX]U]_biDXUcU`QbQ]UdUbc]QidXU^RUdbQ^cVUbbUTd_dXUbe^^Y^W
`b_WbQ]Ri`bUccY^WdUcdfQbYQR\UcDXUiQbUf_\QdY\U_^\ifQ\YTe^dY\dXU^Uhd
cicdU]bUcdQbde^dY\dXUiQbUVY^Q\\i`Ub]Q^U^d\icQfUTRiQSdYfQdY^W`_Y^dcQfU`Q
bQ]UdUbc1^i`QbQ]UdUbcbUS_bTUT`bY_bd_dXYcQSdY_^QbU\_cdDXUbUV_bUYdYcbUS_]
]U^TUTd_cQfUbe^^Y^W`QbQ]UdUbcUddY^WcfYQ `QbQ]UdUbT_g^\_QTY^QVY\U
_^Q@3RUV_bUUVVUSdY^WQ^iSXQ^WUcDXYcVY\U]QidXU^RUbU\_QTUTYV^USUccQbiRi
`bUccY^W`QbQ]UdUbe`TQdU

5^W\YcXBUfYcY_^ #4QdU*!$ (" !%

   


 %  # # 

Main Program Variables

1: baud rate of service port 38400 bd

2: GPS version GG
3: output protocol CCM
4: vehicle RTG Genua
5: display status on monitor off

Vehicle Type

6: automatic wheel measuring on

7: inserting wheel diameter off
8: spreader meter / increment (current: 0.0010000000 [m])
9: trolley weight (wght.) (current: 23.000 [t-kg])
10: ENG. wght. > E-House wght. (current: 6.320 [t-kg])
11: maximal distance trolley (current: 18.15 [m] )
12: meter / weight fraction (current: 0.00094 [m/t-kg])
13: antenna hight (current: 20.00 [m] )

0: return to parameter menu

Input:

 CSbUU^cX_d*`QbQ]UdUbY^`ed]QY^`b_WbQ]

DXYc]U^eU^QR\UcSXQ^WY^WSUbdQY^cicdU]SXQbQSdUbYcdYSc9^QTTYdY_^dXYc]U^eY^
S\eTUcfQbYQR\UcdXQdQbU^_dQ\\_SQdUTd_Q^i_dXUb`QbQ]UdUbSQdUW_bi


 1\\cUdQR\U`QbQ]UdUbc^UUT_^\id_RUcUd_^SUTebY^WdXUY^YdYQ\
Y^cdQ\\QdY_^

@_Y^dU^QR\UccUddY^WdXU,  $-   GXU^SXQ^WY^WdXYc

`QbQ]UdUbQbUcdQbdYc^USUccQbiV_bdXUSXQ^WUd_dQ[UUVVUSd

@_Y^dU^QR\UcdXUcU\USdY_^_VTYVVUbU^d .  77Y^TYSQdUcQ^Y^`ed

TQdQbUS_bTgYdXe`d_! TYVVUbU^d\_SQ\S__bTY^QdUcicdU]c?dXUbgYcU_^\idg_S_
_bTY^QdUcicdU]cQbUQfQY\QR\U

@_Y^dU^QR\UccU\USdY^WdXU.. 3ebbU^d\i33=Q^TQcY]`\URY^Qbi
_ed`edQbUQfQY\QR\UcQ

@_Y^d-$  2USQecUdXUcU^c_bVecY_^S_^db_\\UbYcQR\Ud_cd_bUdXU`QbQ]UdUbc
V_b]_bUdXQ^_^UfUXYS\Udi`UYdYc`_ccYR\Ud_SX__cU]_bUdXQ^_^UfUXYS\Udi`U9^
dXYcSQcU_^\iRTG GenuacX_e\TRUSX_cU^

5^W\YcXBUfYcY_^ #4QdU*!$ (" !&

   


@_Y^dU^QR\Uc_ed`ed_VdXU!/  QddXU]_^Yd_bY^dUbVQSUDXYcY^V_b]Q

dY_^Yc_^\i^USUccQbiV_b`b_WbQ]db_eR\UcX__dY^WDXec`_Y^d%_eWXdd_RUTUQSdY
fQdUTQdQ\\dY]Uc

@_Y^dU^QR\UccgYdSXY^WdXU   0$   /_^_b_VVDXYcfQ\eUYce^

SbYdYSQ\Q^T_^\iY^V\eU^SUcdXUTQdQQWU_VdXU`_cYdY_^_ed`ed

@_Y^d  QSdYfQdUc dXU Qed_]QdYS Y^`ed _V dXU   0$    V_b dXU
_T_]UdbiDXYcfQ\eUYcQTTUTd_dXU_T_]UdbiY^SUbdQY^SQcUc*_^SUdXUcicdU]XQc
bUQSXUTdXU]QhY]e]^e]RUb_VQfUbQWUQR\U]UQcebU]U^dcQ^TYVdXU7@CVQY\c


 2UV_bUbU\UQcY^WdXYc`_Y^dYdYcUccU^dYQ\d_dX_b_eWX\iSXUS[dXU
`\QecYRY\Ydi_VdXU]UQcebUTgXUU\TY]U^cY_^c9VdXU_T_]Udbi_b
dXUWU_]Udbi_VdXUfUXYS\UQbUd__Y^QSSebQdUdXU`_cYdY_^Y^W
gY\\RUS_]UY^cdQR\UQVdUbQSUbdQY^`UbY_T_VdY]U

@_Y^dU^QR\UccUddY^WdXU   $  .   DXYcbUc

_\edY_^XQcd_RUcUdgYdXecU_VdXU7@CRUSQecUdXUSbQ^UY^S\Y^UcTeUd_dXUgUYWXd
_VdXUdb_\\UiDXYcY^S\Y^QdY_^cX_gcYdcU\VY^Q^QTTYdY_^db_\\UidbQfU\\Y^WTYcdQ^SU

@_Y^dU^QR\UccUddY^WdXU 0 /$Y^D_^^U;7DXYccX_e\TRUcUdd_QTQ`d

dXUgXUU\cYjUY^`b_`_bdY_^d_dXURebTU^Q``\YUT

@_Y^d /1/$8UbUYc]UQ^ddXUgUYWXdTYVVUbU^SURUdgUU^dXUTYUcU\U^WY^U
cYTUQ^TdXUUX_ecUcYTU

@_Y^d U^QR\UccUddY^WdXU 2   DXYcYcdXU]QhY]e]TYcdQ^SU

dXUdb_\\UiSQ^dbQfU\

@_Y^d30 /$   DXYcVe^SdY_^cdQdUcdXUbU\QdY_^RUdgUU^dXUbUTeS

dY_^Y^gXUU\cYjUY^`b_`_bdY_^d_dXURebTU^Q``\YUTd_Yd

@_Y^d  $ /$DXYc`QbQ]UdUbY^TYSQdUcdXUXUYWXd_VdXU7@C1^dU^^Q

bUdeb^cd_dXU`QbQ]UdUb]U^e

5^W\YcXBUfYcY_^ #4QdU*!$ (" !'

   


  #   & # '( # )

The Odometric Navigation System (ONS)

Geometric Variables

1: wheel diameter right (current: 1.563200 [m])

2: wheel diameter left (current: 1.550169 [m])
3: wheel spacing (current: 23.5000 [m])
4: axles spacing (current: 0.0000 [m])
5: increments / wheel rotation (current: 35630 )
6: longitudinal offset (current: 0.0000 [m])
7: horizontal offset (current: -7.1800 [m])

8: automatic increment measuring

0: return to parameter menu

Input:

 CSbUU^cX_d*DXU_T_]UdbYS^QfYWQdY_^cicdU]
Q^TQbUV_bcUddY^WdXU0$  °X_gUfUbdXYcVe^SdY_^Yc_^\ibUS_]
]U^TUTYVdXUUVVUSdYfUgXUU\TYQ]UdUbcQbUfUbiQSSebQdU\i[^_g^9VdXYcYc^_ddXU
SQcUdXUgXUU\TYQ]UdUbcX_e\TRUTUdUb]Y^UTdXb_eWX`_Y^dQed_]QdYSY^SbU]U^d
]UQcebY^W

@_Y^d0$ .  /U^QR\UccUddY^WdXUc`QSY^WRUdgUU^dXUSU^dbUc_VdXUdg_

gXUU\cUaeY``UTgYdXb_dQbiU^S_TUbcV_bdXU_T_]Udbi

@_Y^d   2  .  / Yc _^\i ^USUccQbi YV dXU b_dQbi U^S_TUbc QbU ]_e^dUT _^
cdUUbUTVb_^dgXUU\c_VQfUXYS\U9^Q^i_dXUbSQcUdXYc`QbQ]UdUbYcjUb_

@_Y^d  30$    cUdcdXU^e]RUb_VY^SbU]U^dc`UbgXUU\b_dQ

dY_^9dQTTYdY_^Q\\iU^QR\UcY^S\eTY^WdXUWUQbY^dXUSQ\Se\QdY_^_VdXUY^SbU]U^dc`Ub
gXUU\b_dQdY_^°._^\i^USUccQbiYVdXUb_dQbiU^S_TUbcQbU]_e^dUT_^dXU]_d_bcY^
cdUQT_VdXUgXUU\cdXUWUQbVQSd_bY^SbUQcUcdXUQ]_e^d_VY^SbU]U^dc

CY^SUdXU_T_]UdbiQed_]QdYSQ\\ibU\QdUcd_dXUQhYcQb_e^TgXYSXQfUXYS\Udeb^cUW
dXUWU_]UdbYSSU^dbU_VQ^BD7`_Y^dcQ^TU^QR\UcUddY^WQ-dXQdY^TY
SQdUcdXU`_Y^ddXU_ed`ed_eWXdd_bU\QdUd_

@_Y^d U^QR\Uc]UQcebY^WdXU -0$     fYQ7@CDXUVe^SdY_^

      /TUdUb]Y^UcfYQ7@CX_g]Q^iY^SbU]U^dcdXUbUQbU
`UbdbQfU\\UT]UdUbCY^SU7@C]UQcebU]U^dcQbU\QTU^gYdX^_YcUYdYc^USUccQbid_
be^dXU]UQcebU]U^d_fUbQ\_^WUbTYcdQ^SUdXQ^!]UdUb

5^W\YcXBUfYcY_^ #4QdU*!$ (" !(

   


7U^UbQ\be\U*DXU]_bUQSSebQdUdXU7@CTebY^WdXU`UbY_T_VdXU]UQcebU]U^dQ^T
dXU \_^WUb Q^T cdbQYWXdUb dXU TYcdQ^SU dbQfU\\UT dXU RUddUb dXU ]UQcebU]U^d 6_b Q
W__T]UQcebU]U^d7@CRUddUb% S]TYcdQ^SU\_^WUb! ]UdUbcQ^We\Qb]_TYVYSQ
dY_^c]Q\\UbdXQ^_^UTUWbUUdXUfQ\eUV_bµ]UdUbc`UbY^SbU]U^dµgY\\^_\_^WUbfQbi
]eSX>_gdXUUVVUSdYfUgXUU\TYQ]UdUbSQ^RUTUdUb]Y^UTecY^WdXUY^`edfQ\eUV_b
µY^SbU]U^dc`Ubb_dQdY_^µDXYcfQ\eUSQ^dXU^RUQTTUTd_dXUgXUU\TY]U^cY_^cRi
`bUccY^W7

Automatic Increment Measuring

Align the crane in stack direction.

Then press [S] to start the procedure.
Press [E] once a distance of min. 10 m has been travelled.
[T] enables transfering of the calculated wheel parameters to
the odometry. [M] returns to menu.

increments
right: 0 left: 0

meter / increment
right: 0.000000 left: 0.000000

wheel diameter at 35630 increments / rotation

right: 0.00000 left: 0.00000

travelled distance: 0.00 GPS accurac 0.00

 CSbUU^cX_d*1ed_]QdYSY^SbU]U^d]UQcebY^W

5^W\YcXBUfYcY_^ #4QdU*!$ (" !)

   


  #   # '   )

DXYc]U^eU^QR\Uc`bUcUddY^WQ .   $DXYc`QbQ]UdUbYc
_^\iY]`_bdQ^dV_bdXU_`UbQdY_^gYdX_ed7@CQ^T]QiRUYW^_bUTV_b^_b]Q\_`UbQdY_^

The Odometric Navigation System (ONS)

Position Variables

1: number of tolerated single side increments

(current: 20)

0: return to parameter menu

Input:

 CSbUU^cX_d*?T_]UdbYS>QfYWQdY_^CicdU]
@_Y^dcUdcdXUgQdSXT_WdY]U_^dXUb_dQbiU^S_TUbcCX_e\TQb_dQbiU^S_TUbRU
S_]UTUVUSdYfUYdYc`_ccYR\Ud_cUddXUQ]_e^d_VcY^W\UcYTUbUQTY^WcQ\\_gQR\U9V
R_dXcYTUc_VdXUSbQ^UT_^_dTbYfU_VVQddXUcQ]UdY]UQSUbdQY^Q]_e^d_V\UQgQi
XQcd_RUQ\\_gUTDXYcSQ^^_dX_gUfUbRUcUdd__XYWX9VdXUVYWebUYccUdd_ dXU^dXU
gQdSXT_WYcdeb^UT_VV

5^W\YcXBUfYcY_^ #4QdU*!$ (" "

   


  #  (*

DXYc]U^eU^QR\UccUddY^WTUVQe\d`QbQ]UdUbcV_bdXU7@C

The Differential Geographic Position System (DGPS)

1: minimal number of satellites (current: 5 )

2: min. accuracy for auto. steering (current: 0.10 [m])

3: min. accuracy for container track. (current: 1.00 [m])

4: longitude position offset (current: 0.00 [m])

5: horizontal position offset (current: 9.12 [m])

0: return to parameter menu

Input:

 CSbUU^cX_d*47@C
DXUfQ\eUcUdV_b   ,  T_Uc^_diUdXQfUQ^iY]`_b
dQ^SU9dYc]UQ^dV_bVedebUcicdU]fQbYQdY_^c

DXUfQ\eUcUdV_b    - Y^TYSQdUcdXUd_\UbQR\U]QhY]e]7@C

Ubb_bV_bQbU\YQR\U_T_]UdbYSS_^db_\9VdXYcd_\UbQ^SUXQcQfUbidYWXdTUVY^YdY_^U W
" S]dXUcicdU]gY\\RUfUbiQSSebQdURedQddXUcQ]UdY]UgY\\VQY\]_bU_VdU^UQSX
dY]UdXU7@CT_Uc^_d]UUddXUbUaeYbUTQSSebQSi


 DXYcfQ\eUcX_e\T^_dUhSUUT! S]cY^SUUfU^Y^^_^VYhUTcdQ

decdXU7@C]QibUQSXQ^QSSebQSi_V" S]RedY^dXYcSQcUdXU
QSdeQ\Ubb_b]QiRUUfU^WbUQdUb

@_Y^dY^TYSQdUcdXU47@CQSSebQSiV_b3_^dQY^UbDbQS[Y^W

@_Y^dc  / .   Q^T$ 4  .   U^QR\UcUd

dY^WdXUfQ\eUcV_bdXUfUSd_bVb_]dXUSU^dbU_VdXUc`bUQTUbd_dXUSU^dbU_VdXUSbQ^U
DXUfUSd_bVb_]dXU7@CQ^dU^^Qd_dXUSU^dbU_VdXUc`bUQTUbYccUdY^dXU7@C3_^
db_\\Ub

5^W\YcXBUfYcY_^ #4QdU*!$ (" "!

   


+  #    

DXYc]U^eYcTUcYW^UTV_bcUddY^WdXU`QbQ]UdUbc_VdXUbUWe\Qd_bcDXUcUbUWe\Qd_bc
QbUecUTd_[UU`dXU_T_]UdbYScicdU]QSSebQdU_fUbQ`UbY_T_VdY]U9dYcT_^URi
/  /$_^7@CbUVUbU^SU`_Y^dcDXUbUQbUdg_bUWe\Qd_bcQfQY\QR\U*
9VdXUbUYcQbUcUddY]UdXUcicdU]YcbUWe\QdUTRiQ@9S_^db_\\UbY^Q^i_dXUbSQcUQ
@S_^db_\\UbYcecUT9dYc]eSXUQcYUbd_cUddXU`QbQ]UdUbfQ\eUcV_bQ@S_^db_\\UbQ^T
dXUbUce\dcQbUW__TV_b]_cdQ``\YSQdY_^cDXU@9S_^db_\\UbYc_^\i^USUccQbiV_bc`U
SYQ\Q``\YSQdY_^c

9dYc^USUccQbid_cUddXU`QbQ]UdUbcV_b%S_^db_\\UbcDXU`_cYdY_^S_^db_\\UbcQbUce]
]QbYjUTd_dg_S_^db_\\Ubc*X_bYj_^dQ\Q^T\_^WYdeTY^Q\S_^db_\\Ubc

Controller Variables

1: angle controller Tn (current: 0.00 [s] )

2: angle controller Kp (current: 0.00050 )
3: speed factor (current: 0.00000 )

4: horizontal controller Tn (current: 0.00 [s] )

5: horizontal controller Kp (current: 0.15000 )

6: longitude controller Tn (current: 0.00 [s] )

7: longitude controller Kp (current: 0.10000 )

8: minimal speed (current: 0.200 [m/s])

9: number of tol. false positions (current: 50 )

10: maximal deviation angle (current: 20.000 [ø] )

11: maximal deviation horizontal (current: 0.500 [m] )
12: maximal deviation longitudinal (current: 1.000 [m] )

0: return to parameter menu

Input:

 CSbUU^cX_d*3_^db_\\UbfQbYQR\Uc
9dYcUccU^dYQ\d_cUdQfQ\eUV_bdXU .RUSQecUdXU7@CQ^W\UV\eSdeQdUc
d__]eSXV_bfUbi\_gc`UUT

@_Y^d   .Y^TYSQdUcdXU]QhY]e]_VdXU"5fQ\eUDXYcfQ\eU

c`Q^ccX_bd7@CVQY\ebUcDXU<_S[YcY^SbU]U^dUTe^TUbS_]`\YQ^SUgYdXdXU\Y]Ydc
cUde^TUb`_Y^dcdXb_eWX9VdXUcUfQ\eUcQbUUhSUUTUTdXU<_S[fQ\eUYc
TUSbU]U^dUTGXU^<_S[fQ\eUbUQSXUcjUb_dXUTQdQ`QS[UdcU^dd_dXU@<3gY\\Y^
TYSQdUQ7@CVQY\ebU

5^W\YcXBUfYcY_^ #4QdU*!$ (" ""

   


,  #  -. %  #  

DXYc]U^eYcecUTV_bcUddY^WdXUQed_]QdYSgXUU\]UQcebU]U^dfQ\eUc1Y]_VdXUcU
cUddY^WcYcd_cU\USdVb_]dXU]UQcebUTfQ\eUcdXURUcd]UQcebU]U^dc

Wheel Measurement

1: amount of averaged values (current: 100 )

2: delay to start averaging (current: 5 )

3: minimal speed (current: 0.50 [m/s])

4: maximal deviation of angle (current: 5.00 [ø] )

5: maximal angular velocity (current: 2.00 [ø/s])

6: maximal deviation hor. control (current: 0.50 [m] )

7: maximal deviation long. control (current: 0.10 [m] )

8: maximal acceleration (current: 1.00 [m/s])

0: return to parameter menu

Input:

 CSbUU^cX_d*GXUU\]UQcebU]U^dfQbYQR\Uc
CY^SUdXU7@CeceQ\\idbQ^c]Ydc`_cYdY_^Ubb_bcdXUfQ\eUcUde^TUb`_Y^d ,
 - /- Y^TYSQdUcdXU^e]RUb_V]UQcebU]U^dcecUTV_bQfUbQWY^W2U
SQecUdXUbUQbUQ\gQicc\YWXdS_^db_\TYVVUbU^SUcRUdgUU^?>CQ^T7@CgXU^cdQbdY^W
dXUfUXYS\UdXUcdQbdY^W`_Y^d_VdXU]UQcebU]U^dc]QiRUTU\QiUTe^TUb 
  - / /

DXUfU\_SYdicUde^TUb  .cX_e\TRUcYW^YVYSQ^d\iXYWXUbdXQ^dXU

]Y^Y]e]c`UUTcUdV_bdXUS_^db_\\UbcRUSQecUV_bQ^UVVUSdYfUgXUU\]UQcebU]U^d
dXUS_^db_\\UbcXQfUd_RUQSdYfQdUT

DXU\Y]Ydc
\Y]YdccUde^TUb
\Y]Ydc dXb_eWXQbUecUTd_VebdXUbY]`b_fUdXU]UQcebY^WbUce\d
7U^UbQ\be\U*dXUdYWXdUbdXUS_^TYdY_^cdXU]_bUQSSebQdUdXUbUce\d9VdXUbUce\dYc^_d
ceVVYSYU^d\iQSSebQdUdXU_T_]UdbYScicdU]gY\\RUS_]UY^cdQR\UcY^SUYdTU`U^Tc_^
dXUgXUU\TYQ]UdUbc9VdXUcUdgXUU\TYQ]UdUbcQbUY^QSSebQdUdXUgXUU\TYQ]UdUbc
TUdUb]Y^UTRidXUgXUU\]UQcebU]U^dgY\\RUVebdXUbTUWbQTUT?^dXU_dXUbXQ^TYV
dXUcUd\Y]YdcQbUd__dYWXdgXUU\]UQcebU]U^dYc^_d`_ccYR\U

5^W\YcXBUfYcY_^ #4QdU*!$ (" "#

   


/    &  # 

DXYcceR]U^eU^QR\Uc\_QTY^WdXUTUVQe\d`QbQ]UdUbc8_gUfUbYdYc^_dbUS_]]U^T
UTd_g_b[_^dXU]

0   1. # 
DXYcVe^SdY_^U^QR\Uc\_QTY^WdXU`QbQ]UdUbccQfUTY^dXUV\QcX<_QTY^WdXUcU`QbQ]
UdUbcdQ[UcQVUgcUS_^Tc

 *2  # 

DXYcVe^SdY_^U^QR\UccQfY^WdXUSebbU^d`QbQ]UdUbc`Ub]Q^U^d\iY^dXUV\QcX]U]_bi
9dYcbUS_]]U^TUTd_dUcdSXQ^WUT`QbQ]UdUbcVYbcdgYdXdXUVe^SdY_^µdUcdfQbYQR\Ucµ
bUVUbd_cUSdY_^##"_^`QWU!$RUV_bUcQfY^WdXU]DXUcQfY^WdXU^dQ[UcQVUg
cUS_^Tc


"  3 ! 

DXYcVe^SdY_^dbQ^cVUbcdXU`QbQ]UdUbcd_dXU`b_WbQ]9dYcUccU^dYQ\d_SQbUVe\\idUcd
SXQ^WUT`QbQ]UdUbcRUV_bUcQfY^WdXU]RUSQecUe`_^cQfY^W^Ug`QbQ]UdUbcdXU
_\TfQ\eUcgY\\RU_fUbgbYddU^

  # 4 
DXYcVe^SdY_^U^QR\Uc\_QTY^WQcUd_V`QbQ]UdUbcgYdXY^QVY\U_^Q@3Y^d_dXUcU^c_b
VecY_^S_^db_\\Ub9dYcT_^UU WgYdXdXU`b_WbQ]8i`UbdUb]9dYcbUS_]]U^TUTd_cUd
QSXQbQSdUbTU\Qi_V! ]cd_Qf_YTQ^Ubb_bS_TURUY^WcX_g^

Parameter Update

Ready to receive data

0 Bytes received

 CSbUU^cX_d*@QbQ]UdUbE`TQdU

  #   
DXYcVe^SdY_^U^QR\Uc \_QTY^WdXUSebbU^dcUd_V `QbQ]UdUbcY^d_Q VY\U _^Q@39d Yc
T_^UUWgYdXdXU`b_WbQ]8i`UbdUb]DXYcVY\U]QidXU^QWQY^RUbU\_QTUTY^d_dXU
CU^c_b6ecY_^3_^db_\\UbgYdXdXUVe^SdY_^µ@QbQ]UdUbE`TQdUµYV^USUccQbi

Parameter Download

Press [Y] to start data logger.

Press any key after completion of download.

 CSbUU^cX_d*@QbQ]UdUb4_g^\_QT

5^W\YcXBUfYcY_^ #4QdU*!$ (" "$

   


     

Test Output

PDGPS ONS Speed

Angle : 0.00 [ø] Angle : 0.00 [ø] Diesel side: 0.00 [m/s]
Pos X: 0.00 [m] Pos X: 0.00 [m] Average : 0.00 [m/s]
Pos Y: 0.00 [m] Pos Y: 0.00 [m] EHouse side: 0.00 [m/s]
Pos X0: 0.00 [m] Pos X0: 0.00 [m]
Pos Y0: 0.00 [m] Pos Y0: -7.18 [m]
Pos Z: 0.00 [m] Ang Re: 0.00 [ø]

Controller Accuracy
EAngle : 0.00000 [ø] YAngle : 0.00000 [ø] PDGPS : 50.00 [m]
EPos XQ: 0.00000 [m] YPos XQ: 0.00000 [m] Code : 0
EPos YQ: 0.00000 [m] YPos YQ: 0.00000 [m] Pos : 0.00 [m]
EPos XL: 0.00000 [m] YPos XL: 0.00000 [m] Horiz.: 0.00 [m]
EPos YL: 0.00000 [m] YPos YL: 0.00000 [m] Lock : 0

Wheel Measures Trolley Position System Status

Right U: 1.554838 [m] Pos. : 0.000 [m] Status: 0
Left U: 1.531100 [m] Weight: 0 [t] Stack : 0
Right M: 1.563200 [m]
Left M: 1.550169 [m]
Cond. : FF [space] returns to main menu.
Average: 0

 CSbUU^cX_d*DUcd_ed`edc
DUcd_ed`edcY^1>C99V_b]QdDXYcTYc`\QicX_gcY]`_bdQ^dfUXYS\UTQdQ*

 9^dXUe``Ub\UVdXQ^TS_b^UbdXUbUQbU`_cYdY_^cQ^TQ^W\UcTUdUb]Y^UTRidXU
!&!
DXU / YcTUVY^UTY^]QdXU]QdYSQ\`_cYdYfUTYbUSdY_^\UVddeb^*Y^SbUQcY^WQ^W\U
fQ\eUDXUHQhYcYcY^ _TYbUSdY_^CY^SUdXUQ^W\UYcTUdUb]Y^UTVb_]dXUfU\_S
YdiS_]`_^U^dcY^HQ^TITYbUSdY_^YdYc^_de`TQdUTV_b\_gUbc`UUT@_cH@_c
IQ^T@_cJQbUdXU`_cYdY_^c_VdXU7@CQ^dU^^QTUdUb]Y^UTRidXU7@CcicdU]
@_cYdY_^c@_cH Q^T@_cI QbUS_^fUbdUTd_dXU/  $ 

 9^dXUe``UbSU^dbUdXUbUQbUdXU`_cYdY_^c_VdXU  - /   
?>CDXUiS_^cYcd_VQ^W\UQ^T`_cYdY_^@_cYdY_^c@_cH Q^T@_cI QbUY^dXU
cQ]U]Q^^UbbU\QdUTd_dXUSU^dbU_VdXUSbQ^U

 9^dXUe``UbbYWXdXQ^TS_b^UbdXU.$ YcTYc`\QiUT

 D_dXU\UVdY^dXUSU^dbU_VdXUTYc`\QidXUbUQbU  -  , Q^TdXU

QSXYUfUT  DXUiQbU  -   DXUcicdU]gY\\SQ\Se\QdUdXU
Q^W\UTYVVUbU^SURUdgUU^7@CQ^T?>CQ^W\UdXU`_cYdY_^TYVVUbU^SU_VdXU

5^W\YcXBUfYcY_^ #4QdU*!$ (" "%

   


X_bYj_^dQ\S_^db_\\UbY^HQ^TITYbUSdY_^5@_cHAQ^T5@_cIAQcgU\\QcdXU
S_^db_\TYVVUbU^SU_VdXU\_^WYdeTY^Q\S_^db_\\UbY^HQ^TITYbUSdY_^5@_cH<Q^T
5@_cI<


 GXU^RUWY^^Y^Wd_TbYfUYdYc`_ccYR\UdXQddXUS_^db_\TYVVUb
U^SUc_VdXUS_^db_\\UbcRUS_]UfUbi\QbWUDXYcYcTeUd_dXU
VQSddXQddXU_T_]UdbYScicdU]Yc^UYdXUbS_^db_\\UTRUV_bUYdXQc
RUU^Y^YdYQ\YjUT^_bTebY^WQ7@CVQY\ebUGXY\UdXUS_^db_\\UbcQbU
Y^_`UbQdY_^S_^db_\fQbYQR\UcQbUQfQY\QR\UTU`U^TY^W_^dXU
fUXYS\UdXUTUfYQdY_^_VdXUQ^W\US_^db_\\UbcX_e\T^_dUhSUUT
%_dXUTUfYQdY_^_VdXUX_bYj_^dQ\S_^db_\\UbcX_e\TRUQ``b_h
! S]Q^TdXUTUfYQdY_^_VdXU\_^WYdeTY^Q\S_^db_\\UbTU`U^T
Y^W_^dXUc`UUTcX_e\TRUgYdXY^dXU\Y]Ydc_V" S]1^Y^TY
SQdY_^V_bQW__T_T_]UdbYScicdU]YcdXUVQSddXQddXUcYW^c_V
dXUS_^db_\TYVVUbU^SUcS_^dY^e_ec\ifQbiQ`UbY_TYSQ\\i

 9^dXUfUbiSU^dbU_VdXUTYc`\QidXUS_bbUc`_^TY^W  -  , QbUcX_g^

DXUS_^db_\fQbYQR\UccX_e\TQ\gQicRUc]Q\\UbdXQ^dXUS_^db_\TYVVUbU^SUc7U^
UbQ\be\U*1^Y^TYSQdY_^V_bQW__T_T_]UdbYScicdU]YcdXUVQSddXQddXUcYW^c_VdXU
S_^db_\fQbYQR\UcS_^dY^e_ec\ifQbiQ`UbY_TYSQ\\i

 D_dXUbYWXdY^dXUSU^dbU_VdXUTYc`\QidXUbUYcdXU  .@47@CYc

dXUQSSebQSiY^TYSQdY_^_VdXU7@CbUSUYfUbY^TYSQdUcdXUQSSebQSi_ed`ed
d_dXU@<3S_TUTQSS_bTY^Wd_DQR\U%!bU\QdUcd_dXUTYcdQ^SURUdgUU^dXU
7@CQ^TdXU?>C`_cYdY_^µ8_bYjµcdQ^TcV_bdXU$ 4  -   µBQcdµYcQ
cdQdecY^TYSQdY_^ Y^SbUQcUce`d_Q^QTZecdQR\UfQ\eUQc\_^WQcQS_^VYW
ebQR\UQSSebQSiYc[U`d9^SQcUdXU7@C`_cYdY_^VQY\cRbYUV\iµBQcdµTUSbUQcUc9V
µBQcdµTUSbUQcUcd_jUb_dXYcVQY\ebUYcY^TYSQdUTY^dXUS_bbUc`_^TY^WTQdQbUS_bT
°._`UbQdY_^gYdX_T_]UdbYScicdU]_^\i
DXecdXYcfQbYQR\U`bUfU^dcXQfY^Wd_cd_`dXUSbQ^UY]]UTYQdU\iTebY^WRbYUV7@C
VQY\ebUc8_gUfUbTU`U^TY^W_^dXUaeQ\Ydi_VdXU_T_]UdbYScicdU]fQ\eUc
WbUQdUbdXQ^% -% CUScX_e\T^_dRUecUTcY^SUY^dXYcSQcUYdYc^_\_^WUb
`b_RQR\UdXQddXU7@CgY\\QWQY^bUQSXQecUVe\QSSebQSi\UfU\gYdXY^Q]Y^Y]e]
_V_^U]Y^edU

 9^dXU\_gUb\UVdXQ^TS_b^UbdXUTYc`\QicX_gcY^V_b]QdY_^bUWQbTY^WdXU0$ 
  DXUfQbYQR\UcµbYWXdeµQ^Tµ\UVdeµY^TYSQdUdXUSebbU^d\iSQ\Se\QdUT
0$     ecUTd_`_cYdY_^dXUfUXYS\U9^dXUcUfQbYQR\UcdXUgUYWXdSeb
bU^d\iQ``\YUTd_dXUgXUU\cYcSQ\Se\QdUTY^d_dXUcX_g^bUce\dcµbYWXd]µQ^Tµ\UVd
]µcX_gdXU]UQcebUTgXUU\TY]U^cY_^c YcQfQbYQR\UdXQdY^TYSQdUc
gXUdXUbdXUgXUU\]UQcebY^WVe^SdY_^YcQSdYfUcdQdec- *- /cX_gcdXU
^e]RUb_V]UQcebU]U^dcecUTV_bdXUSQ\Se\QdY_^_VdXUgXUU\TY]U^cY_^cWYfU^
V_bµ\UVdµQ^TµbYWXdµ

 9^dXU\_gUbSU^dbUdXUTYc`\QicX_gcdXU .   

 9^dXU\_gUbbYWXdXQ^TS_b^UbdXU YcTYc`\QiUTDXUS_TY^W_VdXU
cicdU]cdQdecYccX_g^Y^dXUV_\\_gY^WdQR\U

5^W\YcXBUfYcY_^ #4QdU*!$ (" "&

   


 

GQYdY^WV_bTQdQVb_]dXU7@C3_^db_\\Ub

$ GQYdY^WV_bceVVYSYU^dQSSebQSi_VdXU`_cYdY_^

( GQYdY^We^dY\dXUdbQfU\\UTTYcdQ^SUYcceVVYSYU^dV_bY^YdYQ\YjY^WdXU
?>C

!" GQYdY^WV_bTQdQVb_]dXU7@CS_^db_\\UbQVdUbQS_^^USdY_^Y^dUb
be`dY^cdQ^TcdY\\

!& GQYdY^WV_bTQdQVb_]7@CS_^db_\\UbQVdUbS_^^USdY_^Y^dUbbe`dTeb
Y^W]_dY_^

" GQYdY^WV_bceVVYSYU^dQSSebQSi_VdXU`_cYdY_^V_\\_gY^WQ7@CVQY\
ebUTebY^WcdQ^TcdY\\

"$ GQYdY^WV_bceVVYSYU^dQSSebQSi_VdXU`_cYdY_^V_\\_gY^WQ7@CVQY\
ebUTebY^W]_dY_^

"( GQYdY^WV_bceVVYSYU^dc`UUT

#" 3XQ^WUY^TYbUSdY_^

#& GQYdY^WV_bS_^db_\\UbTU\Qi

$ 3_^db_\\UbV_bgQbT

$$ 3_^db_\\UbRQS[gQbT
 3_TUcV_bcicdU]cdQdec

    " 5 65 1 #

6_bTYQW^_cdYSbUQc_^YdYc^USUccQbid_cQfUdXUY]`_bdQ^dTQdQVb_]dXUcU^c_bVecY_^
DXYcYc]QTU`_ccYR\UY^dXU]QY^]U^ecUU##!_^`QWU!#e^TUbdXU`_Y^dOut-
put text fileDXUTQdQ_ed`edYccU^dQcQcUbYQ\TQdQcdbUQ]gYdXQcU]YS_\_^
cU`QbQdY^WUQSXfQbYQR\UQ^T\Y^UU^TcS\_cUTgYdXQbUdeb^

DXYcTQdQ_ed`edSQ^RUcQfUTRiecU_VdXU`b_WbQ]8i`UbDUb]cdQ^TQbT`b_WbQ]
V_b=YSb_c_VdGY^T_gc)%Q^T)(D_QSXYUfUdXYcQ\\dXQdYcbUaeYbUTYcdXQddXU`_Y^d
capture textYcSX_cU^Vb_]dXU\YcdY^dXU]U^eRQbe^TUb`_Y^dtransferQ^TQ
VY\U^Q]UYcU^dUbUTDXUT_Se]U^dQdY_^YcQddXUU^T_VdXUdUcdTbYfUd_RUS\_cUT
gYdXY^dXUcQ]U`b_WbQ]6_\\_gY^WdXYcdXUdUhdVY\USQ^RU_`U^UTgYdX=YSb_c_Vd5h
SU\

E`_^_`U^Y^WdXUVY\UdXUcUddY^WcgY\\XQfUd_RUseparatedQ^T]Qb[UTgYdXQcU]
YS_\_^>_gYdYc`_ccYR\Ud_cX_gdXUTQdQY^dXUV_b]_VQTYQWbQ]Q^Td_cQfUdXUVY\U
QcQ^5hSU\VY\U1c5hSU\]Qb[cdXUS_\e]^cgYdXQ\UddUbdXUV_\\_gY^WdQR\UUh`\QY^c
dXUTQdQV_b]QdQSS_bTY^Wd_dXU\UddUbcQccX_g^Y^5hSU\

5^W\YcXBUfYcY_^ #4QdU*!$ (" "'

   


&' (  

1 d_#& _ 4YbUSdY_^_VdbQfU\Vb_]7@CcicdU]

2 ! ]d_! ] 7@CH3__bTY^QdUdQ[U^Vb_]7@CQ^dU^^Q

3 ! ]d_! ] 7@CI3__bTY^QdUdQ[U^Vb_]7@CQ^dU^^Q

4 ! ]d_! ] 7@CJ3__bTY^QdUdQ[U^Vb_]7@CQ^dU^^Q

5 d_#& _ ?>C4YbUSdY_^_VdXUSbQ^UQ^W\UWYfU^d_@<3

6 ! ]d_! ] ?>CH3__bTY^QdUdQ[U^Vb_]dXUbUWe\QdY^W`_Y^d_VdXU
SbQ^UHS__bTY^QdUWYfU^d_@<3

7 ! ]d_! ] ?>CI3__bTY^QdUdQ[U^Vb_]dXUbUWe\QdY^W`_Y^d_VdXU
SbQ^UHS__bTY^QdUWYfU^d_@<3

8 ! ]d_! ] 7@CH3__bTY^QdUdQ[U^Vb_]SbQ^USU^dbU`_Y^d

9 ! ]d_! ] ?>CI3__bTY^QdUdQ[U^Vb_]SbQ^USU^dbU`_Y^d

: ! ]d_! ] ?>CH3__bTY^QdUdQ[U^Vb_]SbQ^USU^dbU`_Y^d
dXYc]UQcebU]U^dcX_e\TQVdUbY^YdYQ\YcQdY_^RUdXUcQ]UQcdXU
]UQcebU]U^dY^S_\e]^8_VVcUd

; ! ]d_! ] ?>CI3__bTY^QdUdQ[U^Vb_]SbQ^USU^dbU`_Y^d
dXYc]UQcebU]U^dcX_e\TQVdUbY^YdYQ\YcQdY_^RUdXUcQ]UQcdXU
]UQcebU]U^dY^S_\e]^9_VVcUd

< d_#& _ BUWe\QdY^WTYVVUbU^dYQ\Q^W\UDXYc]UQcebU]U^dcX_e\TQVdUb

Y^YdYQdY_^RiQfU\_SYdi_fUb! ]c^_dRU]_bUdXQ^" _
XYWX`U^T\UbQdUTeUd_7@C

= ! ]d_! ] BUWe\QdY^WTYVVUbU^SUY^bYWXdQ^We\QbTYbUSdY_^HS_]`_^U^d
DXYc]UQcebU]U^dcX_e\T^_dRU]_bUdXQ^! S]

> ! ]d_! ] BUWe\QdY^WTYVVUbU^SUY^bYWXdQ^We\QbTYbUSdY_^IS_]`_^U^d

DXYc]UQcebU]U^dcX_e\T^_dRU]_bUdXQ^! S]

? ! ]d_! ] BUWe\QdY^WTYVVUbU^SUY^\_^WYdeTYdQ\TYbUSdY_^HS_]`_^U^d
DXYc]UQcebU]U^dcX_e\T^_dRU]_bUdXQ^# S]

@ ! ]d_! ] BUWe\QdY^WTYVVUbU^SUY^\_^WYdeTYdQ\TYbUSdY_^IS_]`_^U^d
DXYc]UQcebU]U^dcX_e\T^_dRU]_bUdXQ^# S]

A ! d_! BUWe\Qd_biS_bbUSdY_^\UfU\V_bdXUQ^W\UDXYc]UQcebU]U^d
cX_e\TQVdUbY^YdYQ\YcQdY_^^_dRU]_bUdXQ^!

B ! ]d_! ] BUWe\Qd_biS_bbUSdY_^\UfU\V_bbYWXdQ^We\QbTYbUSdY_^HS_]
`_^U^dDXYc]UQcebU]U^dcX_e\T^_dRU]_bUdXQ^! S]

C ! ]d_! ] BUWe\Qd_biS_bbUSdY_^\UfU\V_bbYWXdQ^We\QbTYbUSdY_^IS_]
`_^U^dDXYc]UQcebU]U^dcX_e\T^_dRU]_bUdXQ^! S]
 6_b]Qd_VTQdQY^dUhdVY\UU WV_bY]`_bdY^5hSU\`Qbd!_V"

5^W\YcXBUfYcY_^ #4QdU*!$ (" "(

   


&' (  

D ! ]d_! ] BUWe\Qd_biS_bbUSdY_^\UfU\V_b\_^WYdeTYdQ\TYbUSdY_^HS_]`_
^U^dDXYc]UQcebU]U^dcX_e\T^_dRU]_bUdXQ^# S]

E ! ]d_! ] BUWe\Qd_biS_bbUSdY_^\UfU\V_b\_^WYdeTYdQ\TYbUSdY_^IS_]`_
^U^dDXYc]UQcebU]U^dcX_e\T^_dRU]_bUdXQ^# S]

F ! d_! ]c 3bQ^UfU\_SYdi

G "d_" 6QSd_bV_bdXUSQ\Se\QdY_^_VdXUQSdeQ\gXUU\TYQ]UdUb

H ≈GXUU\TYQ]UdUb 3Q\Se\QdUTbYWXdXQ^TgXUU\TYQ]UdUb

I ≈GXUU\TYQ]UdUb 3Q\Se\QdUT\UVdXQ^TgXUU\TYQ]UdUb

J d_<_S[ <_S[cX_e\TQVdUbY^YdYQ\YcQdY_^Q\]_cdRUdXUUhQSd\UfU\Qc
U^dUbUTV_b\_S[

11 d_$$ CU^c_bVecY_^cdQdeccUUDQR\U)_^`QWU"'

12 !d_$% @bUfY_eccU^c_bVecY_^cdQdeccUUDQR\U)_^`QWU"'

13 d_! ] BYWXdQ^We\QbTYVVUbU^SURUdgUU^?>CQ^T7@C

14 d_!% AeQ\YdiSXQbQSdUbYcdYS_V`_cYdY_^Q]_e^dWYfU^d_@<3

15  "d_% ] 7@CQSSebQSi\UfU\

16 d_"%% CdQdec_VdXUbUWe\Qd_bbUWe\Qd_b_^\iQSdYfURQ _dXUbgYcUTYV

VUbU^SUd__\QbWU

17 d_"%% CdQdec\_S[Ri ?;_dXUbgYcUdXU\_S[\UfU\gY\\VQ\\

18 d_! CdQS[^e]RUb

19 d_) Be^^Y^W^e]RUb_VdXUSQ\Se\QdY_^

1: d_" ]c 4QdQQWU_VdXU7@CS_bbUSdY_^TQdQVb_]dXU7@CRQcUcdQdY_^

1; !( d_!( _ 1^W\U7@CSQ\Se\Qd_bi]QY^`_Y^dV_bQ^W\UbUWe\QdY_^

 6_b]Qd_VTQdQY^dUhdVY\UU WV_bY]`_bdY^5hSU\`Qbd"_V"

5^W\YcXBUfYcY_^ #4QdU*!$ (" ")

   


  -# 0&
1^UgVYb]gQbUfUbcY_^cX_e\TVYbcdRU\_QTUTY^d_QTYbUSd_bi_^Q\Q`d_`ecY^WdXU
`b_WbQ]c=_^UhUQ^T=_^RQd

9^_bTUbd_RUQR\Ud_\_QTQ^UgVYb]gQbUY^d_dXUCU^c_b6ecY_^3_^db_\\UbYdXQcd_
RU bU]_fUTVb_] dXUbQS[DXU^dXUV_eb cSbUgc_^ dXUVb_^d`Q^U\ _VdXUS_^db_\\Ub
XQfUd_RUe^cSbUgUTQ^TbU]_fUT>_gdXUV_\\_gY^WR_QbTYcfYcYR\U*

 4bQgY^W_VR_QbT_VdXUCU^c_b6ecY_^c3_^db_\\UbY^S\:e]`Ubc

6_b dXU `b_WbQ]]Y^W `b_SUTebU Y^cUbd dXU `b_WbQ]]Y^W Ze]`Ub Q^T bU]_fU dXU
gQdSXT_WZe]`Ub

*+
 4_^_d]Yhe`dXUcUZe]`Ubc

6_bfUbcY_^87 &!$!(1!QbUcYcdQ^SUYcQddQSXUTd_dXUgQdSXT_WZe]`UbDXU^bU
]_e^ddXUCU^c_b6ecY_^3_^db_\\UbQ^TS_^^USddXUc_S[Ud_^dXUVb_^d`Q^U\d_dXU
\Q`d_`>_gcdQbde`dXU\Q`d_`Q^TdXU7@CbQS[CdQbddXU`b_WbQ]MON.BAT_^dXU
S_]`edUbDXU]_^Yd_bgY\\^_g\_QTdXU]_^Yd_b`b_WbQ]Y^d_dXUCU^c_b6ecY_^3_^
db_\\UbcdQdec]UccQWUcQbU_ed`ed9^SQcUdXU]_^Yd_bYc^_d\_QTUTQed_]QdYSQ\\i
UhYddXU`b_WbQ]ecY^WbQ^T<`bUccdXUbUcUd_VdXUCU^c_b6ecY_^3_^db_\\UbV_b%
cUS_^TcQ^TbUcdQbdMON.BAT

?^SUdXU]_^Yd_bYc\_QTUTcdQbddXU`b_WbQ]gYdXdXU[Uic J1]U^eYcTYc
`\QiUT6YbcddXU]U]_biXQcd_RUTU\UdUTgYdX\DXU^dXU^UgVYb]gQbU]QiRU
\_QTUT ecY^W [Uic c  ^Q]U _V `b_WbQ] ?^SU dXU \_QTY^W `b_SUcc Yc _fUb
\UQfU dXU ]_^Yd_b fYQ b < >_g bU]_fU dXU R_QbT _^SU ]_bU TbQg dXU `b_WbQ]
Ze]`UbQ^TcUddXUgQdSXT_WZe]`Ub6Y^Q\\ibUQccU]R\UdXUTUfYSUQ^TdXUbQS[

5^W\YcXBUfYcY_^ #4QdU*!$ (" #

      


        

  *&!
DXYc]Q^eQ\Yc`b_dUSdUTRiS_`ibYWXd1\\bYWXdcbUcUbfUTFY_\QdY_^cQbUceRZUSdd_`U
^Q\\UWYc\QdY_^_VdXU3_`ibYWXd

  1+' .+ !
1^iY^V_b]QdY_^WYfU^Ycd_RUe^TUbcd__TQccicdU]TUcSbY`dY_^_^\iRedYc^_dd_RU
dQ[U^QcWeQbQ^dUUTVUQdebUc1^ifQ\eUcQbUbUVUbU^SUfQ\eUcDXU`b_TeSdSXQbQS
dUbYcdYScQbU_^\ifQ\YTYVdXUcicdU]cQbUecUTQSS_bTY^Wd_dXUTUcSbY`dY_^

DXYcY^cdbeSdY_^]Q^eQ\XQcRUU^TbQg^e`d_dXURUcd_V_eb[^_g\UTWU9^cdQ\\QdY_^
cUde`Q^T_`UbQdY_^_VdXUTUfYSUgY\\RU_^dXUSecd_]Ubµc_g^bYc[<YQRY\YdiV_bS_^
cUaeU^dYQ\TUVUSdcYcUhS\eTUTGUbUcUbfUdXUbYWXdV_bSXQ^WUcU^S_ebQWY^WdUSX^Y
SQ\ Y]`b_fU]U^dc GU Q\c_ bUcUbfU dXUbYWXdd_ SXQ^WU dXUS_^dU^dc _V dXYc]Q^eQ\
gYdX_edXQfY^Wd_WYfU^_dYSUd_Q^idXYbT`Qbdi

5^W\YcXBUfYcY_^ #4QdU*!$ (" #!

    


 ! 

6YWebU! 6b_^d@Q^U\87&!$!( %
6YWebU" CSbUU^cX_d*=QY^]U^e  !#
6YWebU# CSbUU^cX_d*@Qccg_bT`b_]`d@QbQ]UdUb=U^e  !$
6YWebU$ CSbUU^cX_d*@QbQ]UdUb=U^e  !%
6YWebU% CSbUU^cX_d*`QbQ]UdUbY^`ed]QY^`b_WbQ] !&
6YWebU& CSbUU^cX_d*DXU_T_]UdbYS^QfYWQdY_^cicdU] !(
6YWebU' CSbUU^cX_d*1ed_]QdYSY^SbU]U^d]UQcebY^W !)
6YWebU( CSbUU^cX_d*?T_]UdbYS>QfYWQdY_^CicdU]  "
6YWebU) CSbUU^cX_d*47@C  "!
6YWebU! CSbUU^cX_d*3_^db_\\UbfQbYQR\Uc ""
6YWebU!! CSbUU^cX_d*GXUU\]UQcebU]U^dfQbYQR\Uc  "#
6YWebU!" CSbUU^cX_d*@QbQ]UdUbE`TQdU  "$
6YWebU!# CSbUU^cX_d*@QbQ]UdUb4_g^\_QT  "$
6YWebU!$ CSbUU^cX_d*DUcd_ed`edc  "%
6YWebU!% 4bQgY^W_VR_QbT_VdXUCU^c_b6ecY_^c3_^db_\\UbY^S\:e]`Ubc  #

5^W\YcXBUfYcY_^ #4QdU*!$ (" #"

   


"  # 

DQR\U! <54Ve^SdY_^c  &

DQR\U" 4QdQbUS_bTcdbeSdebU7@C3_^db_\\Ub°.CU^c_b6ecY_^ 3_^db_\\Ub  (
DQR\U# CdbeSdebU_VRY^QbiTQdQbUS_bTCU^c_b6ecY_^3_^db_\\Ub°.@<3  )
DQR\U$ CicdU]3XQbQSdUbYcdYSRYdc"d_$_VcdQdecRidU  )
DQR\U% AeQ\Ydi3XQbQSdUbYcdYS !
DQR\U& CdbeSdebU_VRY^QbiTQdQbUS_bT@<3°.CU^c_b6ecY_^3_^db_\\Ub  !!
DQR\U' 33=TQdQbUS_bTcdbeSdebUCU^c_b6ecY_^3_^db_\\Ub°.@<3  !"
DQR\U( 33=TQdQbUS_bTcdbeSdebU@<3°.CU^c_b6ecY_^3_^db_\\Ub  !"
DQR\U) 3_TUcV_bcicdU]cdQdec "'
DQR\U! 6_b]Qd_VTQdQY^dUhdVY\UU WV_bY]`_bdY^5hSU\  "(

5^W\YcXBUfYcY_^ #4QdU*!$ (" ##

  


$ 
1 `b_WbQ]]Y^W #
gQdSXT_W #
QSSebQSi "%
Q^W\U "% <
Qed_]QdYSY^SbU]U^d]UQcebY^W !(
Qed_]QdYSgXUU\]UQcebY^W !' <54 %
<54!d_<54$ %
2 `_gUb %
\YWXdU]YddY^WTY_TUc %
RQeTbQdU_VdXUcUbfYSUY^dUbVQSU !&
\_S[ ""
RY^QbiTQdQbUS_bT )
R_QbT # =
3 ]Y^Y]e]QSSebQSi\UfU\ "!
]Y^Y]e]^e]RUb_VcQdU\\YdUc "!
33=TQdQbUS_bT !"
]Y^Y]e]c`UUT """#
S_^db_\TUfYQdY_^c "%
S_^db_\\Ub $ ?
S_`ibYWXd #!
_ed`ed`bd_S_\ !&
4
@
TQdQbUS_bTV_b]Qd )
TU\Qid_cdQbdQfUbQWY^W "# @S_^db_\\Ub ""
TYc`\Qi_ed`edc "% `QbQ]UdUb !%
`QbQ]UdUbT_g^\_QT "$
5 `QbQ]UdUb_V_T_]Udbi !(
`QbQ]UdUb_VdXUTW`c "!
UhSU\V_b]Qd "'
`QbQ]UdUb_VdXUbUWe\Qd_bc ""
6 `QbQ]UdUb_VgXUU\]UQcebU]U^d "#
`QbQ]UdUbe`TQdU "$
VQ\cU`_cYdY_^Y^W "" @9S_^db_\\Ub ""
VYb]gQbU # `_cYdY_^_VVcUd "!
V\QcX "$ `b_WbQ]cdQdec !'
7 A
7@C $ aeQ\YdiSXQbQSdUbYcdYSc !
8 B
XQbTgQbU % bQcd "&
87
&!$!' $ C
&!$!( $
cUbfYSUY^dUbVQSU !"
&!$!(75! $
c_VdgQbU $(
X_bYj_^dQ\TUfYQdY_^ "&
]QY^]U^e !#
9 `QbQ]UdUb]U^e !%
fUbcY_^c $
Y^`edTQdQbUS_bTc !& c`UUT_VdXUSbQ^U "%
Y^dUbVQSUc % cdQbd`_cYdY_^_VdXU_T_]Udbi "
3?= % cdQdec "&
cUbfYSUY^dUbVQSU !" cicdU]cdQbde` !#
cicdU]cdQdec "&
:
Ze]`Ub #

5^W\YcXBUfYcY_^ #4QdU*!$ (" #$

  


D G
dUb]Y^Q\ !" gXUU\TYQ]QdUbc !(
dUcdfQbYQR\Uc "$ gXUU\TY]U^cY_^c "&
db_\\Ui`_cYdY_^ !'"& gXUU\]UQcebU]U^d "&

F
fUSd_b !(

5^W\YcXBUfYcY_^ #4QdU*!$ (" #%