SIAMremote Teleoperation System Scoop Operating Guide

SIAMremote Teleoperation System

Scoop Operating Guide

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 1/71

SIAMremote Teleoperation System Scoop Operating Guide

Revision History
VERSION DATE IN-CHARGE COMMENTS
ENGINEER

1.0 98-01-06 P.A. CorbeilFirst Version

1.1 98-01-22 P.A. CorbeilCorrections in vehicle preparation section
Added new error messages
1.2 98-12-10 C. Renaud Corrections throughout the manual. Reformatted pictures
that were not correctly printed.
1.3 98-01-13 C. Renaud Corrections in diagnostic and error messages sections
1.4 99-09-01 A. Beaucage Corrections throughout the manual.
Integrate Cameras control
1.5 C. Savard Integretation of the new FASCIA
1.6 01-12-17 A. Beaucage Completion of FASCIA integration

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 2/71

SIAMremote Teleoperation System Scoop Operating Guide

Table Of Contents

1. INTRODUCTION...............................................................................................................................................6

2. SYSTEM DESCRIPTION..................................................................................................................................8

3. OPERATOR UNIT ...........................................................................................................................................12

3.1 INTERFACE ..................................................................................................................................................12
3.2 CONTROLS KEYS .........................................................................................................................................13
3.3 CONTROL LEVERS .......................................................................................................................................15
3.4 MENU SECTION ...........................................................................................................................................16
3.4.1 Keys........................................................................................................................................................16
3.4.2 Display ...................................................................................................................................................17
3.5 CONNECTIONS .............................................................................................................................................18
3.6 BATTERY REPLACEMENT ............................................................................................................................19
4. AUDIO-VIDEO UNIT ......................................................................................................................................20
4.1 INTERFACE ..................................................................................................................................................20
4.2 CONNECTIONS .............................................................................................................................................21
4.3 BATTERY REPLACEMENT.............................................................................................................................22
5. OPERATING PROCEDURES ........................................................................................................................23
5.1 PREPARATION PROCEDURES ........................................................................................................................23
5.1.1 Preparing the vehicle for teleoperation .................................................................................................23
5.1.2 Preparing the Operator unit and Audio/Video unit for teleoperation ...................................................23
5.2 ESTABLISHING A TELEOPERATION SESSION ..................................................................................................25
5.3 ENDING A TELEOPERATION SESSION ............................................................................................................27
5.4 TELEOPERATION PROCEDURES....................................................................................................................28
5.4.1 Responding to messages and warnings..................................................................................................28
5.4.2 Communication Status ...........................................................................................................................28
5.4.3 Emergency Stop command.....................................................................................................................29
5.4.4 Controlling the parking brakes ..............................................................................................................30
5.4.5 Fire suppression system activated .........................................................................................................30
5.4.6 Motor start-up and stop .........................................................................................................................30
5.4.7 Moving the vehicle .................................................................................................................................32
5.4.8 Boom and bucket control .......................................................................................................................33
5.4.9 Vehicle lights control .............................................................................................................................33
5.4.10 Adjusting video feedback...................................................................................................................34
[Link] Video and audio signal control......................................................................................................................34
[Link] Adjusting camera 1 direction (Optional) .......................................................................................................34
[Link] Adjusting camera arm position (Optional).....................................................................................................35
[Link].1 Camera arm positioning from Manual/Remote selector. .......................................................................35
[Link].2 Camera arm positioning pending teleoperation. .....................................................................................35
[Link] Adjusting camera 1 zoom and focus (Optional) ............................................................................................36
5.4.11 ECM Override control.......................................................................................................................37
5.5 CONTROLLING THE AUDIO-VIDEO UNIT .......................................................................................................37
5.6 BATTERY RECHARGE PROCEDURE ...............................................................................................................38
5.6.1 Operator unit recharge ..........................................................................................................................38
5.6.2 Audio-video unit recharge .....................................................................................................................38
5.7 MAINTENANCE PROCEDURES ......................................................................................................................38

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 3/71

SIAMremote Teleoperation System Scoop Operating Guide

5.7.1 Access to the maintenance mode............................................................................................................39

5.7.2 Light indicator operation test ................................................................................................................39
5.7.3 Control levers and keys operation test...................................................................................................39
5.7.4 Security key type control test .................................................................................................................40
5.7.5 Tilt detector operation test.....................................................................................................................41
6. CONFIGURATION..........................................................................................................................................42
6.1 SECURITY KEY ASSOCIATED WITH A VEHICLE ..............................................................................................42
6.2 RELEASING A KEY FROM A VEHICLE ............................................................................................................44
6.3 CALIBRATE THE CONTROL LEVERS ..............................................................................................................46
7. TROUBLESHOOTING....................................................................................................................................48

8. ERROR MESSAGES........................................................................................................................................64

9. WARNING MESSAGES..................................................................................................................................65

10. LEVER FUNCTIONALITY DISPLAY......................................................................................................66

11. SPECIFICATIONS ......................................................................................................................................67

11.1 OPERATOR UNIT..........................................................................................................................................67
11.2 MOBILE UNIT ..............................................................................................................................................67
11.3 ELECTRO-HYDRAULIC INTERFACE ...............................................................................................................68
11.4 2.4 GHZ RADIO ...........................................................................................................................................68
11.5 800 MHZ RADIO .........................................................................................................................................69
11.6 CAMERAS ....................................................................................................................................................69
11.7 VIDEO .........................................................................................................................................................69

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 4/71

SIAMremote Teleoperation System Scoop Operating Guide

List Of Figures and Tables

FIGURE 1: TELEOPERATION SYSTEM IN LINE-OF-SIGHT .................................................................................................8

FIGURE 2: TELEOPERATION SYSTEM WITH NETWORK.....................................................................................................9
FIGURE 3 : VEHICLE PROVIDED WITH A TELEOPERATION EQUIPMENT ........................................................................10
FIGURE 4: FASCIA OF THE OPERATOR UNIT ..................................................................................................................12
FIGURE 5: KEYS CONTROLS OF THE COMMAND SECTION..............................................................................................13
FIGURE 6: LEVERS CONTROLS OF THE COMMAND SECTION .........................................................................................15
FIGURE 7: MENU SECTION AND DISPLAY ......................................................................................................................16
FIGURE 8: REMOTE CONTROL CONNECTOR PLATE .......................................................................................................18
FIGURE 9: FRONT PANEL OF THE AUDIO-VIDEO UNIT ...................................................................................................20
FIGURE 10: CONNECTION OF THE OPERATOR UNIT TO THE AUDIO-VIDEO UNIT ...........................................................24

TABLE 1: IMPOSSIBLE TO GET A GREEN STATUS LIGHT .............................................................................................48

TABLE 2: IMPOSSIBLE TO GET A YELLOW STATUS LIGHT ..........................................................................................51
TABLE 3: IMPOSSIBLE TO GET A RED STATUS LIGHT ...................................................................................................52
TABLE 4: LOSS OF THE COMMUNICATION LINK BETWEEN THE OPERATOR UNIT AND THE VEHICLE ..........................55
TABLE 5: PROBLEMS THAT OCCUR DURING A TELEOPERATION SESSION......................................................................60
TABLE 6: ERROR MESSAGES ........................................................................................................................................64
TABLE 7: WARNING MESSAGES ....................................................................................................................................65
TABLE 8: LEVER FUNCTIONALITY DISPLAY ..................................................................................................................66

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 5/71

SIAMremote Teleoperation System Scoop Operating Guide

1. Introduction

The SIAMremote teleoperation system is dedicated to the remote operation of mining vehicles.
It has been designed to improve the safety and efficiency of loading operations in the draw
points. Thanks to its high-performance digital communication link, it can be used either in
line-of-sight or remotely through a communication network.
The SIAMremote system includes the following:
• One operator unit;
• One vehicle unit to control the vehicle interfaces and to establish the communication
with the operator unit;
• One electro-hydraulic interface on the vehicle;
• One interface to the vehicle dash;
• One audio-video kit (optional): This option include, cameras located on the vehicle and
one unit that enables the operator to visualise the images coming from the cameras and
to hear the sound from the vehicle. Also, it is possible to install a gimbal, with 2 axes,
which can be remotely controlled.
• One telecommunication network (optional) dedicated to the communication in the drifts.

The teleoperation system can be used in many ways.

! Its minimal configuration (operator unit and vehicle unit) is the line-of-sight use.
! An audio-video kit can be added for easier loading in large transverse stopes,
longitudinal stopes or ones with special configuration.
! Finally, it is possible for the operator unit to communicate with the vehicle through the
telecommunication network (SIAMnet network). This configuration allows the operator
to perform operations from a remote control room that can be located either
underground or on the surface.

The SIAMremote system offers the following technical advantages:

• Integrated and compact electronics;
• Modular design for easier integration of the STAS’ autoloading and autoguidance systems,
SIAMload and SIAMguidance;
• Highly-secure system with a protection key that prevents inappropriate operations and
eases the management of frequencies;
• Flexibility;
• Unlike any other usual remote control, SIAMremote relies on a digital transmission of the
data as well as on video and audio signals (optional) which results in a more robust
transmission.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 6/71

SIAMremote Teleoperation System Scoop Operating Guide

• The status of the remote-operated vehicle (engine and hydraulic system) can be read and
transmitted to the operator, so he can validate the operation of the vehicle without being on
the vehicle;
• High-quality of the image (with the audio-video kit);
• The vehicle unit transmits the commands to the vehicle via a DeviceNet network. This
network allows more flexibility at the instrumental level, because new actuators or sensors
can be added with only a few modifications to the existing wiring.
• An integrated system designed for easier maintenance.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 7/71

SIAMremote Teleoperation System Scoop Operating Guide

2. System Description

The following figure shows the SIAMremote teleoperation system when operated in line-of-
sight. In this mode, the operator unit can be coupled to an audio-video unit, so the operator can
have a better idea of the work he is performing.

2.4 G Hz
Operator
Unit Electro-
or Vehicle Unit Device Net hydraulic Valve Control
Control Interface
Station

Audio-video
Uni Cam eras
Dash
(m ax. 4) Dash
Interface
(option)

O perator
Vehicle
Safety-stand

Figure 1: Teleoperation System In Line-Of-Sight

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 8/71

SIAMremote Teleoperation System Scoop Operating Guide

The SIAMremote system can also be operated via a SIAMnet network. Different options are
available. Figure 2 shows a configuration of the SIAMnet in which the remote control is directly
linked to the network.

Operator
Unit
or
800
Control M hz
Station Electro-
Vehicle Unit Device Net hydraulic Valve Control
Interface

Audio-video
Unit
Cam eras
Dash
(max. 4) Dash
Interface

O perator
Vehicle
Safety-stand 800
M hz

SIAM net C om m unication

N etw rok

Figure 2: Teleoperation System with Network

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 9/71

SIAMremote Teleoperation System Scoop Operating Guide

The operator controls the teleoperated vehicle with an operator unit that is provided with control
levers and buttons. In line-in-sight teleoperation mode, the only required device is an antenna
connected to the remote control. If the system is equipped with an audio-video unit, the
operator can control the vehicle by watching the images displayed on the audio video unit
monitor.
Figure 3 show briefly the equipment installed on the vehicle.

Status Stroboscopic
lights red light
Front Rear
camera camera Dash Vehicle
(option) (option) interface unit

Antenna

Manual
Valve Remote
control Selector
switch

Figure 3 : Vehicle Provided With A Teleoperation Equipment

When needed, the vehicle hydraulic system is modified with the addition of electric control
valves. More over modifications to the electric system and to the vehicle dash are performed in
order to enable the remote control of the vehicle.
The communication and control equipment is located on the top part of the vehicle.
The vehicle unit receives the command signals from the operator unit and transmits the status
of the vehicle to the operator unit. It also transmits the video and audio signals.
The communication and control equipment is located on the top part of the vehicle.
An antenna is installed to ensure the communication with the operator unit. Two antennas are
used when the system is operated with the communication network.
When the audio-video kit is installed, the system is supplied with cameras (lights optional)
The following pieces of equipment are the only devices on the vehicle that will be used by the
operator:

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 10/71

SIAMremote Teleoperation System Scoop Operating Guide

1. Manual-Remote selector switch

Located on the dash, the operator uses this switch to choose between manual and remote
teleoperation mode.

2. Stroboscopic red light

Found on the top part of the vehicle, this light, when turned on, indicates that the actuators
are powered.

3. Status lights
A set of three lights located on the top part of the vehicle informs the operator of the status
of the teleoperation. According to the status, the appropriate light is turned on. Here are
the possible lights with their signification:
GREEN: ON: The electronics of the vehicle teleoperation system is operational.
Blink: The system is operational but one of element that is not essential
is not functional.
YELLOW: The Manual-Remote selector switch is set in Remote position. The system has
accepted this action.
RED : The vehicle is in teleoperation mode.

4. Green light of the dash (optional)

When turned on, this light, located over the Manual-Remote selector switch, indicates that
the vehicle is in manual mode.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 11/71

SIAMremote Teleoperation System Scoop Operating Guide

3. Operator Unit

3.1 Interface

The SIAMremote teleoperation system is controlled from the operator unit. This unit comprises
2 control levers, buttons and keys on a membrane keyboard and a display.
Figure 4 shows the fascia of the operator unit with control levers.

Figure 4: Fascia of the Operator Unit

The functions of each element of the operator unit are described in the following sections.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 12/71

SIAMremote Teleoperation System Scoop Operating Guide

3.2 Controls keys

Figure 5: Keys controls of the Command Section

1. Power button
Turn on or turn off the operator unit. The «Power» indicator light at the top right corner of
the button is turned on when the unit is powered by an external power source. This
indicator will blink if the external power is to weak to recharge the battery. If the external
power drops under 9 volts, the unit will shut down. The «Battery» indicator at the lower right
corner of the button is lit when the operator unit is battery operated. (Refer to section 5.6.1)

2. Emergency Stop button

Activates an emergency stop. The vehicle is stopped, the motor is turned off and the
remote control is disabled. To reset this button, the operator must turn it clockwise. (Refer
to section 5.4.3)

3. Fire key
Covered with a protective cap to prevent false activation, this key releases the automatic fire
suppression system of the vehicle. When pressed, the light indicator blinks during 3
seconds before it lights still, indicating that the fire suppression system is released. The
operator can cancel the command during these 3 seconds by pressing another time on the
key. (Refer to section 5.4.4)

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 13/71

SIAMremote Teleoperation System Scoop Operating Guide

4. Remote key
Establishes the communication with the vehicle unit on the vehicle in order to initiate a
teleoperation command. To do so, the operator must press the «Remote» key until the link
is established. During this time period, the light indicator blinks until the communication link
becomes active. Then the light indicator remains lit. (Refer to section 5.2 and 5.3)

5. Autoload (Optional)
When the teleoperation system is provided with the optional SIAMload Autoloading System
manufactured by STAS, the automatic loading of the bucket is initiated by pressing this key.
During the transitory period between the teleoperation and autoloading modes, the indicator
light blinks. When the autoloading mode is entirely switched on, the light indicator turns on.

6. Guidance key (Optional)

When the system is equipped with the optional STAS’ SIAMguidance Automatic Guidance
System, the vehicle is set to the automatic guidance by pressing this key. During the
transitory period between the teleoperation and autoloading modes, the indicator light
blinks. When the automatic guidance mode is entirely switched on, the light indicator turns
on.

7. Select equipment key (Optional)

With this key, the operator can select the required vehicle. It can be used in a network
system where a maximum of 4 vehicles is successively operated.

8. Video key (Optional)

When this key is pressed, the video image is displayed on the audio-video unit (Refer to
section [Link]).

9. Start/Stop key
Controls the motor start-up and stop (Refer to section 5.4.6).

10. ECM Override key

This key with its 2 light indicators (1 red and 1 yellow) gives information on the vehicle
motor. The key function and status depend on the type of motor (e.g. DDEC) installed on
the vehicle (Refer to section 5.4.11).

11. Horn key

The horn is activated when the key is pressed and disabled when the key is released

12. Lights key

This key turns on or turns off the vehicle rear lights (Refer to section 5.4.9).

13. Parking brakes key

Applies or releases the vehicle parking brakes (Refer to section 5.4.4).

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 14/71

SIAMremote Teleoperation System Scoop Operating Guide

3.3 Control levers

Figure 6: Levers Controls of the Command Section

1. Left control lever

This control lever is used to move the vehicle (Refer to section 5.4.7).

2. Left control lever front button

Releases the service brakes when pressed (Refer to section 5.4.7).

3. Left control lever left switch (optional)

This switch is dedicated to gear changing. To gear up, the operator shall press the switch.

4. Left control lever right switch (optional)

This switch is dedicated to gear changing. To gear down, the operator shall press the
switch.

5. Right control lever

Controls the motion of the boom/bucket.
Controls up/down of cameras arms, adjusts cameras zoom and focus and cameras
directions (gimbal up, down, right and left)

6. Right control lever front button

Controls the throttle speed. When activated, the throttle runs at full speed (Refer to section
5.4.7). Combined with the left or right switch, enable one of the following functions:

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 15/71

SIAMremote Teleoperation System Scoop Operating Guide

Controls up/down of cameras arms, adjusts cameras zoom and focus and cameras
directions (gimbal up, down, right and left). (Refer to section 5.4.10).

7. Right control lever right switch

Selects the camera rear (Refer to section [Link]).

8. Right control lever left switch

Selects the camera front (Refer to section [Link]).

3.4 Menu section

The menu section is composed of 4 keys integrated in a membrane (see Figure 7) that controls
the display menus and messages. These keys do not have indicator lights.

Figure 7: Menu Section and Display

3.4.1 Keys

1. ESC key
This key connected to the display makes it possible to refuse the option indicated on the
screen or to turn over to the preceding menu.

2. Scroll Up key
This key enables the operator to scroll up the display menus (after menu key is applied).

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 16/71

SIAMremote Teleoperation System Scoop Operating Guide

3. Menu key & Scroll Down key

This key gives possibility to enter in menu mode and enables the operator to scroll down the
display menus.

4. Enter key
This key makes it possible to validate the option displayed on the screen or to access the
screen submenus.

3.4.2 Display

The display elements, as shown in Figure 7, are the followings:

5. Comm indicator light

This indicator informs the operator on the communication status (Refer to section 5.4.2).
There is three possible status:
! Turned off: no communication.
! Turned on: the communication operates adequately.
! Blinking: a communication signal is low and could be lost.

6. Alphanumeric display
On this display (2 rows of 20 alphanumeric characters) appears messages that are
dedicated to the operator. It is also used as a console for setting some parameters of the
remote control

7. Msg indicator light

When the indicator light is turned off, there are no messages displayed on the alphanumeric
display. When it blinks rapidly, an alarm message appears on the display. When it is
steady-lighted, there is a warning message on the alphanumeric display (Refer to section
5.4.1).

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 17/71

SIAMremote Teleoperation System Scoop Operating Guide

3.5 Connections

The connector plate located at the back of the remote control is shown on Figure 8.

ANT.

ASYNC.
KEY 1
AUDIO/VIDEO

POWER ASYNC.
IN 2

Figure 8: Remote Control Connector Plate

The following connections are possible.

1. ANT.
A connector for the antenna used for telecommunication purposes. The antenna must be
connected in order to perform a telecommunication.
WARNING: The operator unit can be damaged if it is operated without an antenna during a
long time period.

2. ASYNC. 1
This connector is used to connect the operator unit to the optional Multimedia Radio Modem
(MRM) when a SIAMnet telecommunication network is used.

3. ASYNC. 2
This connector enables a computer from STAS – Mining Division to communicate with the
operator unit.

4. AUDIO/VIDEO
This connector is used to connect the operator unit to the audio-video (optional). The audio
and video signals are therefore sent to the audio-video unit. This unit can also power the
operator unit by this connector

5. KEY
This connector is used to connect the security key that enables the operator to use the
remote control. Without this key, the operator unit cannot establish a communication with
any vehicle.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 18/71

SIAMremote Teleoperation System Scoop Operating Guide

6. POWER IN
This connector is used to power the remote control from an external power supply. This
power supply shall supply 35 W with a 10 V DC. To 32 V DC voltage. A minimum of 24 V is
required to recharge the unit battery.

3.6 Battery Replacement

The operator unit can be operated from a battery without any external supply. To access the
battery, the operator shall open a door fixed with two screws and located underneath the
remote control. In order to replace the battery, the operator shall unscrew both screws, take
out the battery (if necessary) and put in a new one while making sure that the battery metallic
terminals and the battery housing terminals are facing one another.
The battery can be directly recharged without being removed from the operator (Refer to
section 5.6.1).
A full-charged battery has an approximate autonomy of:
3.6 hours with a 2.4 GHz communication in continuous operation;
1.6 hours with an 800 MHz in continuous operation.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 19/71

SIAMremote Teleoperation System Scoop Operating Guide

4. Audio-Video Unit

This unit displays video images coming from the vehicle cameras. The cameras are selected
on the operator unit. This unit also reproduces the sound coming from the vehicle.

4.1 Interface

The following figure 9 shows the audio-video unit panel together with its monitor used for the
display of video images. This unit has also a speaker hidden behind a grid, different controls
and indicators, connectors for external supplies and a connector used to link the audio-video
unit to the operator unit.

POWER SELECT 3
4
5
6
7

9 10 11

Figure 9: Front Panel of the Audio-Video Unit

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 20/71

SIAMremote Teleoperation System Scoop Operating Guide

The following controls are available:

1. POWER selector switch

This selector switch turns on or turns off the audio-video unit.

2. LOW BATTERY indicator light

When one of these indicators turns on, it notifies the operator that a battery is low. If it turns
on while the unit is in operation, the operator shall select another battery in order to replace
the rundown battery.

3. SELECT switch for batteries

This button is used to select one of the three batteries that will supply the unit.

4. POWER ON indicator light

When this indicator is turned on, the audio-video unit is in operation.

5. AUDIO selector
This selector is used to switch on or switch off the audio unit.

6. AUDIO ON indicator light

When this indicator light is turned on, the audio unit is active.

7. VOLUME control
This control is used to set the desired volume level.

8. EXTERNAL POWER indicator light

When this light is turned on, one of the external supply connectors (120 V AC or a DC
power supply) feeds the unit which is activated. However, if the indicator light is turned off
and the unit is active, it means that the unit is battery-powered and it does not feed the
operator unit.

4.2 Connections

Here are the connections located on the front panel as illustrated in Figure 9

9. AC POWER connection
Connection for the 120 V AC power supply.

10. DC POWER IN connection

Connection for an external V DC power supply such as a vehicle battery or any other
source. This power supply shall supply 24 W with a 10 V DC to 32 V DC.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 21/71

SIAMremote Teleoperation System Scoop Operating Guide

11. REMOTE CONTROL connection

Connection used to link the audio-video unit to the operator unit. This connection is an
output to power the operator unit and an input for audio and video signals coming from the
operator unit.

4.3 Battery replacement

The audio-video unit can operate from batteries without any external power supply. The
batteries are accessed through a panel located at the bottom of the front part of the unit.
To recharge the batteries, the operator shall take them out of the panel and put them on an
external charger (Refer to section 5.6.2 for more details on battery recharge).
A full-charged battery allows the operator to work for 1.6 hours in continuous operation.
The unit can hold up to three batteries.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 22/71

SIAMremote Teleoperation System Scoop Operating Guide

5. Operating Procedures

5.1 Preparation procedures

The procedures described in this section explain all the steps that need to be performed before
the vehicle can be teleoperated. It is very important that the operator complies with the
prescribed instructions in order to ensure a safe operation of the system.

5.1.1 Preparing the vehicle for teleoperation

Before teleoperating the vehicle, the following steps need to be performed:

1. Make sure the vehicle main switch is set to ON.
2. Make sure the start-up key is set to ON. The operator does not have to start the vehicle.
This can be done with the remote control.
3. Make sure the GREEN status indicator is turned on. It might take few seconds before the
light turns on after the start-up key is set to ON. When the GREEN indicator is turned on,
the vehicle teleoperation electronic system is in operation.
If the green indicator does not turn on once steps 1 to 3 are performed, refer to section 7.
4. Make sure the direction selector is set to NEUTRAL.
5. Make sure the parking brakes are applied.
6. Make sure the speed selector is set on first speed (if the transmission is not controlled).
7. On the dash, set the REMOTE/MANUAL selector switch to REMOTE.
The YELLOW status indicator turns on.
If steps 4 and 6 are not done and the engine is running, it will be immediately stopped to
make sure the vehicle will not move.
If the yellow indicator does not turn on once steps 4 to 6 are performed, refer to section 7.
The vehicle is ready to be teleoperated. The operator can leave the vehicle and head for the
location of the operator unit.

5.1.2 Preparing the Operator unit and Audio/Video unit for teleoperation

This procedure explains the steps that have to be performed by the operator in order to prepare
the operator unit and the audio-video unit for teleoperation.

PREREQUISITE: The operator will make sure he performed the previous section entitled
Preparing the vehicle for teleoperation.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 23/71

SIAMremote Teleoperation System Scoop Operating Guide

NOTE: The Operating Mining Company is liable for the operator unit installation as well as the
required environment safety. It shall also respect the in-force regulations according to
the jurisdiction that applies to the use of remote-controlled equipment. The purpose of
the following rules is only to ensure that the remote control operates in an appropriate
way.

1. Make sure the Operator unit is powered.

The operator unit must be powered according to one of the following options:
! With the operator batteries: the operator must make sure the unit is equipped
with charged batteries. For battery replacement, refer to section 3.6.
! With an external power supply (10 V DC to 32 V DC): the operator shall connect
the power supply to the POWER IN terminal on the front part of the operator unit.
! With the audio/video unit: when the audio/video unit is powered by an external
power source.

Audio-video unit Operator unit

POWER SELECT

Key
Antenna

ANT.

ASYNC.
KEY 1
AUDIO/VIDEO

POWER ASYNC.
IN 2

10-32 V DC or 120 V CA

Figure 10: Connection of the Operator Unit to the Audio-Video Unit

2. If the Audio/Video unit is used, make sure it is powered.

The audio-video unit must be powered according to one of the following options:
! With the batteries: the operator must make sure the batteries are charged. The
battery panel can hold up to 3 batteries. The operator chooses one of the three
batteries (1, 2 or 3) with the selector switch. When the indicator “low battery” of a
battery used turns on, the operator has about 10 minutes to select another one. The

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 24/71

SIAMremote Teleoperation System Scoop Operating Guide

”low battery” indicator remains turned on until the low battery is replaced with a
charged one.
! With an external power supply: the operator connects the required power supply
to the DC POWER IN (a 10 V DC to 32 V DC power supply) or to the AC POWER
supply (a 120 V AC power supply). When an external power supply is active, the
EXTERNAL POWER indicator turns on.
Note: When audio/video unit is powered by batteries it cannot power the operator unit.
3. Connect the antenna to the operator unit ANT connection as shown on Figure 10.
4. Connect the cable that links the operator unit to the audio-video unit to the AUDIO/VIDEO
terminals of each unit as shown on Figure 10.
5. Connect the security key corresponding to the vehicle to be teleoperated to the KEY
terminal on the front part of the operator unit as shown on Figure 10.
6. Make sure the operator unit is in a stable and horizontal position. It will not be possible to
establish the communication with the vehicle if the unit is tilted (a message appears on the
alphanumeric display)

The operator unit and Audio/Video unit are ready for teleoperation.

5.2 Establishing a teleoperation session

PREREQUISITE: The operator will make sure he performed the previous procedures –
5.1.1 Preparing the vehicle for teleoperation and 5.1.2 Preparing the Operator unit and
Audio/Video unit for teleoperation.

NOTE: The operator must make sure that the vehicle to be teleoperated is located within
the limits of the field covered by the telecommunication system.

1. Ensure the security key of the vehicle is inserted.

2. Make sure the Emergency Stop button is released by turning it clockwise.
3. Press the Power key during 1 second to turn on the operator unit.
4. The Power indicator is lit and a message associated with the vehicle to be teleoperated
appears on the display: where,
[Mine Name]
Id:[X] Channel:[Y]

Where [Mine Name] is the name of the mine where the system is installed,
[X] Is the identification number of the radio;
[Y] Is the number of the communication channel used. If the number displayed is 0, the
channel will be randomly selected when the communication link is established.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 25/71

SIAMremote Teleoperation System Scoop Operating Guide

The operator unit is now operational. If the Msg indicator light blinks, a problem has been
detected by the system and the corresponding error message is displayed.

NOTE: If the operator unit is not used for sometime period it automatically shuts down.
This time is set in function of customer’s needs.

5. Press and hold down the Remote key to establish a communication link with the vehicle
corresponding to the security key.
The Remote indicator blinks.

6. Release the Remote key when the Remote indicator stops blinking and is steady lighted,
and when the Comm indicator turns on.

The communication is established. The following message will appear on the display:

SIAMremote RUN (X) SIAMremote RUN (X)

[--] [--] Or Vehicle Gear 1

Where:
‘X’ Is the number of the communication channel used.
‘-‘ Depends on the status of the control levers.
The operator will notice that on the vehicle:
! The status light state passes from YELLOW to RED;
! The red stroboscopic light turns on.

NOTE: If the Remote indicator does not turn on after holding it down during a few seconds,
release it and try again a few seconds later.

7. Make sure the audio-video unit is turned on.

Set the POWER selector to ON to switch on the audio-video unit. The POWER ON
indicator turns on.
Press the Video key on the operator unit to activate the transmission of video images. The
image from one of the cameras shall appear on the monitor of the audio-video unit.
It is recommended to verify the operation of the cameras by selecting alternatively the back
camera followed by the front camera or vice versa. To do so, press the right switch of the
right control lever to visualise the image from front camera and then, the left switch to see
the image from the rear camera. The operator should see alternatively the images coming
from each camera.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 26/71

SIAMremote Teleoperation System Scoop Operating Guide

5.3 Ending a teleoperation session

PREREQUISITE: The operator must make sure he performed the previous procedure –
Establishing a teleoperation session.

1. Press the REMOTE key in order to break the communication link. Both Remote and
Comm indicators will turn off.
The following actions are performed on the vehicle:
! The service brakes (option) and the parking brakes are applied in order to stop
the vehicle.
! The transmission is set to NEUTRAL.
! All axis movements stop and remain at their position.
! The stroboscopic light is turned off.
! The RED status indicator turns off and the YELLOW status indicator turns on.

NOTE: If the motor is running when the yellow indicator turns on, it will automatically turn
off 30 seconds later, if the operator has not switched to the manual mode. If the
manual shifter is not in NEUTRAL position or if the manual control of the parking
break is released, the engine will be stopped immediately.

2. Switch off the remote control by pressing the Power button. The Power indicator turns off.

NOTE: If the operator does not turn off the operator unit and does not use it during
sometime, the unit will automatically switch off. This time is set according to
customer’s needs.

3. Head toward the vehicle and set the Manual-Remote selector switch to Manual.
The YELLOW status indicator turns off and the GREEN indicator turns on. Manual mode
will always be active regardless of the status indicators.
The vehicle in now in manual mode.

NOTE: The vehicle unit remains active for 4 seconds after the vehicle power supply is
cut.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 27/71

SIAMremote Teleoperation System Scoop Operating Guide

5.4 Teleoperation Procedures

5.4.1 Responding to messages and warnings

When the Msg indicator is turned on or is blinking, a message or warning is displayed.

1. Read the message or warning.

2. Press the Enter key to acknowledge the message or warning.
3. Take action based on message or warning.

When a message is displayed:

! the Msg indicator blinks
! the communication link is closed
! after the message is confirmed, a new teleoperation session must be established to
control the vehicle.

When a warning is displayed:

! The Msg indicator is lit.
! The communication link remains active.
! The vehicle gets in a stationary state. The vehicle stops responding to commands until
the warning is acknowledged.
! After the warning is confirmed, the operator regains control of the vehicle. The operator
is then responsible to take actions to correct the situation.

5.4.2 Communication Status

The Comm light indicator informs the operator on the communication status. When it blinks,
the system has experienced, during the last second, some problems while sending information
from the operator unit to the vehicle unit.
Reflections of communication signals and momentary communication losses can cause
intermittent blinking of the indicator. In such case, the operator can continue to operate without
any problems. However, a continuous blinking generally signifies a bad communication which
is probably due to the fact that the vehicle is too far in the drift or located in an area hardly
reachable by the antenna. The operator shall be cautious if he persists working in that area
since a communication loss could occur with the result that the vehicle could no longer be
remotely controlled.
During a communication loss equivalent to a fraction of a second, the following actions are
performed on the vehicle:
• All vehicle axis movements are stopped (back, front, steering, boom and bucket).

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 28/71

SIAMremote Teleoperation System Scoop Operating Guide

• The service brakes are applied.

When this happens on a regular basis, the operator is under the impression that the vehicle
jogs forward because the axis movements are temporarily stopped. However as soon as the
communication is restored, the motion commands are applied.
A communication loss that lasts more than 1 second will lead to an emergency stop (see
section 5.4.3). In such case, the following actions are performed:
• The communication with the vehicle is broken; the operator unit light indicators REMOTE
and COMM turn off.
• Both service (option) and parking brakes are applied to stop the vehicle.
• The transmission is set to NEUTRAL.
• The engine is shut off.
• The boom, the bucket and the steering stop and remain at their position.
• The stroboscopic light turns off.
• The RED status light turns off and the YELLOW status light turns on.

5.4.3 Emergency Stop command

PREREQUISITE: The operator must make sure that he established a teleoperation session.
Refer to section 5.2.

Press the Emergency Stop button. The following actions take place:
! The operator unit is switched off; all the indicators and the remote control display are
turned off.
! Both service (option) and parking brakes are applied in order to stop the vehicle.
! The transmission is set to NEUTRAL.
! The motor is switched off.
! All movements on the vehicle stop and the controlled equipment remains in its current
position.
! The stroboscopic light is turned off.
! The RED status indicator turns off and the YELLOW status indicator turns on.

The following conditions will also generate an emergency stop.

! The operator unit is switched off:
! The Power button is pressed and the power supply is switched off;
! The unit is operated with a rundown battery;
! The unit is operated with a switched off external power supply or the power
supply cable has been removed from the connection.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 29/71

SIAMremote Teleoperation System Scoop Operating Guide

! A problem occurred with the equipment installed on the vehicle (e.g. DeviceNet, power
supply, interface, etc.).

5.4.4 Controlling the parking brakes

PREREQUISITE: The operator must make sure that he established a teleoperation session
(Refer to section 5.2), and that the engine is started (Refer to section 5.4.6).
Press the P Brake key. The indicator will blink until the request is completed. If the parking
brakes are released, the indicator is turned off. If the parking brakes are on, the indicator is lit.

5.4.5 Fire suppression system activated

PREREQUISITE: The operator must make sure that he established a teleoperation session.
Refer to section 5.2.
1. Lift the protective cap of the Fire key.
2. Press the Fire key. The indicator of this key blinks.
The operator has 3 seconds to cancel his request. In order to do so, he shall press once
again the key. The indicator will turn off and the tripping request will be cancelled.
The system is tripped 3 seconds after the Fire key is pressed. The operator will know that
the system is switched on when the indicator stops blinking, becomes steady lighted and
that the following message is displayed:

LINK CLOSED
Extinguishing fire

The actions related to the emergency stop tripping (vehicle stop, the boom and the bucket
come to a rest, engine stop, etc.) would be performed.
The operator unit controls can no longer be used.

5.4.6 Motor start-up and stop

This section describes the steps required to start up and stop the vehicle motor with the remote
control.
PREREQUISITE: The operator must make sure that he established a teleoperation session
(Refer to section 5.2)

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 30/71

SIAMremote Teleoperation System Scoop Operating Guide

Motor start-up:
1. Preheating of the engine:

STANDARD CASE:

On a vehicle equipped with an electronic control motor (ECM), the glow plugs are
automatically heated when a communication link is established with the vehicle, i.e.
when the operator presses the Remote key. Before starting up the vehicle, the operator
shall ensure that the ECM indicators were turned on then off, indicating that the glow
plugs have been preheated. If the motor is too cold, the operator shall break the link
and restore it with the Remote key, as described in the previous procedure. This will
reinitiate the heating of the glow plugs.

As the vehicle in manual mode, the ECM controls the preheating of the glow plugs.

SPECIAL CASE
If the motor is not provided with an ECM, the operator shall press and hold down the
ECM Override key to preheat the motor. The glow plugs will be heated as long as the
key is held down.

2. Two modes are available to start the motor :

AUTOMATIC
The operator must press and release the Start/Stop key. The starter will be activated
for a maximum period of 4 seconds. While the starter is active, the Start/Stop indicator
blinks. Once the motor is started, the indicator is lit. If the operator wants to cancel the
start request, he must press the Start/Stop key again.

MANUAL
The operator must press and hold down the Start/Stop key. The starter will be active
until the operator releases the key. While the starter is active, the Start/Stop indicator
blinks. Once the motor is started, the indicator is lit.

Motor (engine) stop

Press the Start/Stop key to stop the motor.

When the motor stops, the Start/Stop indicator turns off after a few seconds.

NOTE: On most vehicles, the parking breaks are applied when the oil pressure goes down
further a motor stop. When the parking brakes are applied, the P BRAKE indicator of
the operator unit turns on.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 31/71

SIAMremote Teleoperation System Scoop Operating Guide

5.4.7 Moving the vehicle

PREREQUISITE: The operator must make sure that he established a teleoperation session
(Refer to section 5.2), has released the parking brakes (Refer to section 5.4.4) and started the
engine (Refer to section .5.4.6).

NOTE: When moving the vehicle, the throttle is proportional to the span of the lever. The further
away from the central position the lever is pushed, the higher the speed of the throttle
will be. To either extreme position, the throttle runs at full speed. This enables to
control the speed of the vehicle(forward/reverse).

NOTE: When the parking brakes are applied, all the motion commands of the vehicle are
deactivated.

1. Make sure the left control lever is in its neutral position.

2. Press the left control lever front upper button to release the service brakes. The following
message should be displayed:

SIAMremote RUN (X) SIAMremote RUN (X)

[MS] [--] Or Vehicle Gear 1

Where,
‘X’ is the number of communication channel used
‘M’ indicates that the movement mode is active
‘S’ indicates that the service brakes are released
‘-‘ depends on the status of the right control lever

NOTE: As soon as the upper button is released, the service brakes are applied. It should
be noted that the movement commands are applied to the vehicle even if the
service brakes are active. Thus the service brakes will prevent motion of the
vehicle. When the parking brakes are on, NO movement commands are applied to
the vehicle.

3. Move the left control lever towards the right, left, forward and reverse direction to move the
vehicle.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 32/71

SIAMremote Teleoperation System Scoop Operating Guide

5.4.8 Boom and bucket control

The boom can be moved up/down and the bucket can be moved dump/rollback
PREREQUISITE: The operator must make sure that he established a teleoperation session
(Refer to section 5.2) and started the engine (Refer to section 5.4.6).

1. If the full throttle is not already active, press and hold right control lever front button key.
The purpose of this action is to gain enough power to move the boom or the bucket

NOTE: The full throttle button overrides the proportional control of the left control lever, i.e.
the motion of the vehicle as well as the control of the boom and the bucket are
performed at full throttle

The following message should be displayed:

SIAMremote RUN (X)
[--] [B ] SIAMremote RUN (X)
Or Vehicle Gear 1
SIAMremote RUN (X)
[--] [BT]

Where,
‘X’ is the number of communication channel used
‘B’ indicates that boom or/and bucket movements are active
‘T’ indicates the full throttle is activated.
‘-‘ depends on the status of the left lever.

2. Move the right control lever in the directions indicated on the fascia to move the boom up,
down and to move the bucket dump, rollback. The speed of the movements of the boom
and bucket is proportional to the distance between the current lever position and the neutral
position

5.4.9 Vehicle lights control

PREREQUISITE: The operator must make sure that he established a teleoperation session.
(Refer to section 5.2).
When the vehicle is in remote control mode, the front lights are turned on if the motor is
running.
The lights key enables the control of reat lights.
Press and release lights key. The related indicator is lit when the rear lights are turned on.
The camera lights (if equipped) are controlled by the state of video transmission, if the video
transmission is off, the cameras lights are off. If the video transmission is on, the front camera
lights are on. For the rear cameras lights two controls are available.
First case: to turn on the rears cameras lights used the Light key. The rear cameras lights will
turn on independent of camera selection.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 33/71

SIAMremote Teleoperation System Scoop Operating Guide

Second case; the rear cameras lights will turn on when the rear camera is selected and will turn
off when the front camera is selected.

5.4.10 Adjusting video feedback

There are up to 4 cameras on the system. In the base video configuration, there are 2
cameras:
Camera 1: front view.
Camera 2: rear view.
It is possible to install for each camera the following options: a device (gimbal) that moves the
direction of the cameras, a device that adjusts zoom and focus of the cameras and a device
that adjusts camera arm positioning.
The following sub-sections describe procedures to:
! Control video and audio signals
! Adjust camera 1 direction
! Adjust camera 1 arm position
! Adjust camera 1 zoom and focus

These procedures describe adjustments of camera 1. The same procedure is valid for all other
cameras.

[Link] Video and audio signal control

PREREQUISITE: The operator must make sure that he established a teleoperation session.
(Refer to section 5.2).

The operator can control the video display from the operator unit by pressing the Video key. If
the video is turned off, pressing the Video key will display on the screen the image of the last
selected camera and received audio signal (optional) from the vehicle.
The cameras are selected with the button on the right control lever: the left part selects the front
camera (camera 1) and the right part selects the rear camera (Camera 2).

[Link] Adjusting camera 1 direction (Optional)

This procedure allows the operator to change the camera direction.

PREREQUISITE: The operator must make sure that he has established a teleoperation
session. (Refer to section 5.2).

1. Press the left switch on the right lever to select camera 1 and maintain the switch pressed
throughout the adjustment procedure. The following message should be displayed:

Manuel_opérateur_an.doc [--]
SIAMremote RUN (X)
2001 STAS Ltd – Mining Division
[1G]
34/71
SIAMremote Teleoperation System Scoop Operating Guide

Where,
‘X’ is the number of the communication channel being used
‘-‘ depends on the status of the left control lever
‘1’ in the lower right portion of the display indicates that camera 1 is currently selected.
‘G’ indicates that the lever will control the gimbal direction. By default, when selecting
camera 1, the gimbal is active.
2. Move the right control lever in the directions indicated on the fascia to move the camera
direction up, down, right and left. The further away the lever is pushed from is central
position the fastest the camera will move. There are limits on the up and down movements
while the left and right movements will cover a 360-degree view.

[Link] Adjusting camera arm position (Optional)

[Link].1 Camera arm positioning from Manual/Remote selector.

When the selector is a Manual position, the camera is automatically moved in lowest position.
When the selector is a Remote position, the camera is automatically moved in upper position.
If the motor is off, the camera stays on its position. When the motor will be start, the camera
will take its position.

[Link].2 Camera arm positioning pending teleoperation.

PREREQUISITE: The operator must make sure that he established a teleoperation session,
started the engine and the video signal is on. (Refer to section 5.2, 5.4.6 and 0).

This procedure allows the operator to move the camera up and down. At its lowest position, the
camera is secured behind the cab for travelling in tunnels with low clearance. When the
system is in work conditions, the camera must be taken to its highest level for a best view.
1. Press the left switch on the right lever to select camera 1 and maintain the switch pressed
throughout the adjustment procedure. The following message should be displayed:

SIAMremote RUN (X)

[--] [1 ]

Where,
‘X’ is the number of the communication channel being used
‘-‘ depends on the status of the left control lever.
‘1’ in the lower right portion of the display indicates that camera 1 is currently selected.
‘2’ in the lower right portion of the display indicates that camera 2 is currently selected.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 35/71

SIAMremote Teleoperation System Scoop Operating Guide

2. Press the front button on the right lever and maintain it pressed throughout the adjustment
procedure. The following message should be displayed :
Where,
SIAMremote RUN (X)
[--] [1A]

‘A’ indicates that the lever will control the camera arm.

3. Move the right control lever in the directions indicated on the fascia to move the camera up
and down.

[Link] Adjusting camera 1 zoom and focus (Optional)

PREREQUISITE: The operator must make sure that he has established a teleoperation
session. Refer to section 5.2.

1. Press the left switch on the right lever to select camera 1 and maintain the switch pressed
throughout the adjustment procedure. The following message should be displayed:

SIAMremote RUN (X)

[--] [1G]

Where,
‘X’ is the number of the communication channel being used
‘-‘ depends on the status of the left control lever
‘1’ in the lower right portion of the display indicates that camera 1 is currently selected.
‘G’ (for gimbal direction) is displayed when camera 1 is selected; ‘Z’ (for zoom/focus
adjustment) is displayed when camera 2 is selected.
2. Press and release the front upper button of the right lever until ‘Z’ is displayed beside the
camera identification as in:
SIAMremote RUN (X)
[--] [1Z]

3. Move the right control lever towards zoom in or zoom out as indicated on the fascia to
adjust the zoom. Move the right control lever towards focus + or focus - as indicated on the
fascia to adjust the focus.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 36/71

SIAMremote Teleoperation System Scoop Operating Guide

5.4.11 ECM Override control

PREREQUISITE: The operator must make sure that he established a teleoperation session.
Refer to section 5.2.

With an Electronic Control Motor (ECM)

When the vehicle is equipped with an ECM engine (e.g. DDEC), the ECM Override key and its
light indicators (one red and one yellow) reproduce exactly the same functionality as the one
found on the vehicle dash:
• A lighted yellow indicator signifies a minor fault of the motor that does not stop the operator
from using the vehicle.
• A lighted red indicator signifies a major fault of the motor that automatically stops the
engine.
When a major fault occurs and the ECM switches off the engine, the operator can press the
ECM Override key to restart normally the motor. This way he will be able to take the vehicle to
the shop.

NOTE: When the electronic control motor is switched on, both light indicators turn on for a few
seconds. This is normal and there is no faults.
For more details, refer to the electronic control motor operating guide.

Without an Electronic Control Motor

If the motor is not equipped with an electronic control, the operator shall use the ECM Override
key to preheat the glow plugs. Both yellow and red indicators are turned on meaning the
preheating is active.

5.5 Controlling the Audio-video unit

The audio-video unit allows the operator to view images coming from the vehicle and to hear
the vehicle sound.

PREREQUISITE: The operator must make sure that he established a teleoperation session.
Refer to section 5.2.

1. Turn on the unit by setting the POWER selector switch to ON. The video images are
displayed as soon as the teleoperation session is established.

2. The operator can activate or deactivate the audio with the AUDIO selector switch. When
the audio is active, the volume is adjusted with the VOLUME button.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 37/71

SIAMremote Teleoperation System Scoop Operating Guide

5.6 Battery recharge procedure

5.6.1 Operator unit recharge

Equipped with an intelligent integrated charger, the operator unit battery can be recharged
directly from the operator unit. When the battery is low, all the operator has to do is to supply
the unit with a 24 V DC to 32 V DC external power supply capable of supplying 35 W. Charging
will start automatically. The recharge works either with the operator unit switched on or off.

When the unit is operating with an external power source and when the indicator “Power”
blinks, the operator is informed that the external power source is to weak to recharge the
battery. It should be noted that this indicator is functional only when the operator unit is turned
on.
When the unit is operating on battery, the operator is informed of a battery low voltage when
the Power indicator blinks. If he persists in using the operator unit, it will automatically switch
off when the voltage is too low. The operator shall either change the battery (see section 4.3)
or connect an external power supply to the operator unit.

5.6.2 Audio-video unit recharge

The audio-video unit can hold up to 3 batteries. The operator shall select the battery that will
supply the unit. When the battery in operation is low, the Low Battery indicator light turns on.
The operator has a few minutes to select another battery. The batteries must be recharged
with an external charger.
The external charger discharges completely the batteries before recharging them. The purpose
of this action is to prevent the batteries from being affected by a memory effect problem that not
only restrains a complete battery recharge, but also diminishes their capacity. If a battery
capacity is diminished, it is recommended to perform twice the discharge-recharge cycle. The
battery capacity should be completely restored.
The batteries used in the audio-video unit and in the operator unit are identical and therefore,
interchangeable.

5.7 Maintenance procedures

This mode enables the operator to verify the operation of the operator unit material
components. It includes the following functions:
! Light indicators operation test;
! Control levers and keys operation test;
! Security key type control test;
! Tilt detector operation test.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 38/71

SIAMremote Teleoperation System Scoop Operating Guide

5.7.1 Access to the maintenance mode

1. To access the maintenance mode, hold down the ESC key when the operator unit is
switched on with the POWER button. The following message is displayed:
MAINTENANCE MENU
<Test Led>

2. With the Scroll Up and Scroll Down keys, select the desired function.
3. Press the Enter key to activate the function

5.7.2 Light indicator operation test

This function allows the operator to verify whether the light indicators are operational or not.

1. Select the ‘Test Led’ function as described in the previous section - Access to the
maintenance mode. The following should be displayed:
MAINTENANCE MENU
<Test Led>

When the function is activated, the following message is displayed and all light indicators
blink rapidly.
Press ESC to quit

The operator can easily locate the faulty indicators. It is important to make sure that the
light indicators work in an appropriate way since they inform the operator on the status of
the function they represent.

2. To end, press the Esc key.

5.7.3 Control levers and keys operation test

This function is used to verify if the keyboard keys and the control levers are operational. In
order to do so, the following should be displayed:

MAINTENANCE MENU
<Test input>

When this function is activated, the following message is displayed:

Press ESC to quit

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 39/71

SIAMremote Teleoperation System Scoop Operating Guide

Keys testing:

To test the keys, press one key at a time. When the key is pressed, the function name
associated with the key is displayed. For example, to verify the Remote key, press the key and
the following message appears on the display:
Press ESC to quit
Remote switch

Control lever switches testing

To test the control levers switches, press one switch at a time. The name of the functions
associated with the switch appears on the display. For example, pressing the left switch of the
left control lever will display the following message:

Press ESC to quit

SHIFTER UP switch

Control lever testing

To test the control levers, move the control lever along one of the axis. The name of the
function associated with this axis and the percentage value, proportional to the control lever
position, is displayed. Therefore, if the left control lever is moved to the left, the following
message will appear on the screen:

Press ESC to quit

FORWARD: 44%

To end, press the Esc key

5.7.4 Security key type control test

This function enables the operator to control the type of security key (master or operator) that is
being used. Before testing this function
1. Select the ‘Test key’ function as described in the previous section - Access to the
maintenance mode. The following should be displayed:
MAINTENANCE MENU
<Test key>

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 40/71

SIAMremote Teleoperation System Scoop Operating Guide

When the function is activated, a message is displayed which gives the type of security key.
For example, for a master key, the following message is displayed:
Press ESC to quit
[Mine Name] Master

Where [Mine Name] is the name of the mine where is installed the system.

2. To end, press the Esc key.

5.7.5 Tilt detector operation test

This function enables the operator to verify the operation of the tilt detector.
1. Select the ‘Test tilt’ function as described in the previous section - Access to the
maintenance mode. The following should be displayed:
MAINTENANCE MENU
<Test tilt>

When the function is activated and if the operator unit is not tilted, the following message is
displayed:
Press ESC to quit

2. Tilt the operator unit. The following message should appear on the display:
Press ESC to quit
Tilt detected

In order to determine the maximum angle, the operator must tilt the unit until the message
« Tilt detected » appears on the display. The operator must, afterward, slowly bring back
the unit to the horizontal position. The tolerated maximum angle is the angle established
when the message disappears from the display

To end, press the Esc key

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 41/71

SIAMremote Teleoperation System Scoop Operating Guide

6. Configuration

Employees who are authorised to configure the system shall perform the operations described
in this section. There are three possible types of action:
! Associate a security key with a vehicle;
! Releasing a security key from a vehicle;
! Calibrate the operator unit control levers.

In order to perform the configuration operations described in this section, the Master Mine
security key is required to access the appropriate menus.

6.1 Security key associated with a vehicle

To teleoperate a vehicle, a security key shall first be assigned to this vehicle. This procedure is
described in this section.

PREREQUISITE: Before performing this procedure, the Teleoperation start-up procedure shall
be realised. It is possible to switch on the operator unit with any key, but it is suggested to use
the Master Mine key since the following steps require the use of this key. The following
message will appear when the operator unit is switched on:

[Mine Name] Master

Id:[X] Channel:[Y]

Where,
[Mine Name] is the name of the mine where the system is installed,
[X] is the identification number of the radio,
[Y] is the number of the communication channel used. If the number displayed is 0, the
channel will be randomly selected when the communication link is established.

The steps to do are:

1. With the Master Mine security key, establish the communication with the vehicle. The
Master Mine key cannot teleoperate a vehicle; it is only used to assign an Operator
security key to a vehicle. Since the vehicle will not be teleoperated, the strobe light will
not be lit.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 42/71

SIAMremote Teleoperation System Scoop Operating Guide

2. When the communication is established, the front and rear lights of the vehicle and the
status lights will blink. This enables the operator to confirm that he is communicating
with the desired vehicle. It should be noted that even if there were more than one
vehicle waiting for a teleoperation session within reach, only one would respond to the
configuration request. The following message will appear on the display :

CONFIGURATION MENU
<Confirm Vehicle>

3. Confirm the vehicle by pressing the Enter key. If it is not the desired vehicle, abort the
communication; turn off the vehicle that responded to the configuration request and
return to step 1. Once the vehicle is confirmed, the following message is displayed :

CONFIGURATION MENU
<Set Operator Key>

4. Activate the function by pressing the Enter key. The following message shall be
displayed :

OPERATOR KEY SETTING

*Insert new op. key*

5. Replace the Master Mine security key with an Operator key that has never been
assigned to a vehicle. Assign this key to the vehicle by pressing the Enter key.

NOTE: The system validates the key. If the key has already been assigned to another
vehicle, a message that mentions the key is not accepted will be displayed:
OPERATOR KEY SETTING
*Error: key used *

6. Once the system has accepted the new operator key, the following message will
appear. The saving operation can take a few seconds.

OPERATOR KEY SETTING

*Saving... *

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 43/71

SIAMremote Teleoperation System Scoop Operating Guide

7. When the system finished saving the information, the following message is displayed:

OPERATOR KEY SETTING

*Setting completed *

8. At this point end the communication by pressing the Remote key.

9. Restore the communication by pressing another time on the Remote key. The following
message is displayed:

SIAMremote RUN (X)

Vehicle Gear 1

where,
X is the number of the communication channel used.

10. The vehicle can now be teleoperated with this key.

6.2 Releasing a key from a vehicle

Before downloading a new software version, the security key associated to the mobile
equipment shall first be released. This procedure is described in this section.

PREREQUISITE: Before performing this procedure, the Teleoperation start-up procedure

shall be realised. It is possible to switch on the operator unit with any key,
but it is suggested to use the Master Mine key since the following steps
require the use of this key. The following message will appear when the
operator unit is switched on:
[Mine Name]
Id:[X] Channel:[Y]

Where,
[Mine Name] is the name of the mine where the system is installed,
[X] is the identification number of the radio,
[Y] is the number of the communication channel used. If the number
displayed is 0, the channel will be randomly selected when

NOTE: At this stage, the information contained in the operator security key is modified.
The key is tagged “USED”. The key identification number is stored in the vehicle
unit. From now on, the vehicle unit will only respond to the operator unit that has
this key.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 44/71

SIAMremote Teleoperation System Scoop Operating Guide

WARNING: If the key is not release before downloading a new software version, this key will
be unusable.
The following steps shall be performed:
1. With the Master Mine security key, establish the communication with the vehicle. The
Master Mine key cannot teleoperate a vehicle; it is only used to assign or release an
Operator security key from a vehicle. Since the vehicle will not be teleoperated, the red
strobe will not be lit.

2. When the communication is established, the front and rear lights of the vehicle will blink.
This enables the operator to confirm that he is communicating with the desired vehicle.
It should be noted that even if there were more than one vehicle waiting for a
teleoperation session within reach, only one would respond to the configuration request.
The following message will appear on the display :

CONFIGURATION MENU
<Confirm Vehicle>

3. Confirm the vehicle by pressing <<Enter>>. If it is not the desired vehicle, abort the
communication; turn off the vehicle that responded to the configuration request and
return to step 1. Once the vehicle is confirmed, the following message is displayed :
CONFIGURATION MENU
<Set Operator Key>

4. With the Scroll Up and the Scroll Down keys, select the “Release operator key”
function. The following message is displayed:

CONFIGURATION MENU
<Release op. key>

5. Activate the function by pressing the Enter key. The following message shall be

OPERATOR KEY RELEASE

*Insert op. key*
displayed :

6. Replace the Master Mine security key with an Operator key. Release this key by
pressing the Enter key.

NOTE: The system validates the key. If the key is not a key this vehicle, a message
that mentions the key is not accepted will be displayed.

OPERATOR KEY RELEASE

*Error: wrong key *

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 45/71

SIAMremote Teleoperation System Scoop Operating Guide

7. Once the system has accepted the operator key, the following message will appear.
The saving operation can take a few seconds.

OPERATOR KEY RELEASE

*Saving... *

NOTE: At this stage, the information contained in the operator security key is modified.
The key identification number is removed in the vehicle unit. The key is tagged
“NEW”.

8. When the system has finished saving the information, the following message is
displayed:

OPERATOR KEY RELEASE

*Setting completed *

9. At this point end the communication by pressing the Remote key.

10. The vehicle can not anymore be teleoperated with this key.

6.3 Calibrate the control levers

The purpose of this action is to calibrate the ranges of the control levers. It is performed in the
maintenance mode. Contrary to the operations described in section 5.7, the calibration of the
control levers requires the use of a Master Mine security key.
Here are the steps to be followed:
1. To calibrate the control levers, access the maintenance menu. In order to do so, hold
down the Esc key when the operator unit is switched on with the Power button. The
following message appears:

MAINTENANCE MENU
<Test Led>

2. With the Scroll Up and the Scroll Down keys, select the calibration function. The
following message is displayed:

MAINTENANCE MENU
<Calibrate joystick>

3. To activate the desired function, press the Enter key. The following message is
displayed:

Move LJ upper left

Press ENTER

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 46/71

SIAMremote Teleoperation System Scoop Operating Guide

4. Move the left control lever (Left Joystick) to the required position. When the control
lever is in the right position, press the Enter key. Follow the instructions to complete the
calibration.

5. When the last step is completed, the following message appears:

Saving calibration
Please wait ...

At this point, the system is saving the calibration of the control levers, operation that can take a
few seconds. When the saving is completed, the calibration is finished. It is recommended to
verify the result of the calibration using the function “To test the control levers switch “ (Refer to
section 5.7.3).

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 47/71

SIAMremote Teleoperation System Scoop Operating Guide

7. Troubleshooting
Table 1: Impossible to Get a GREEN Status Light

PROBLEM CAUSE CONSEQUENCE SOLUTION

When the vehicle is - Burned or badly connected - System is operating. - Check the lamps and the electrical
started, the status lights do lamps. connections.
It is possible to establish a link
not turn on. The green
with the operator unit.
light usually turns on a few
seconds after the vehicle is
powered. - Faulty or badly connected - System is not operating. - Make sure the MRM Power light is turned on.
MRM. If not, check the 24 V DC. power supply.
It is impossible to establish
Check the fuses (see electrical diagrams).
a link with the operator
unit. - If the Power light is turned on, check also if
the Ready light is turned on. If not,
The status of the MRM
disconnect the MRM 24 V DC power supply
lights are usually as
and reconnect it a few seconds later. If the
following:
Ready light does not turn on, the MRM is
Power = (ON) faulty and shall be replaced.
Ready = (ON)

- Faulty or badly connected - System is not operating. - Make sure the Master I/O FIELD PWR
Master I/O module. The operator unit gives the indicator is turned on. If not, check the 24 V
following message: DC power supply. Check the fuses (see the
electrical drawings).
[DNET err MIO ID 03]
- Make sure the Master I/O DNET PWR light is
Normally The status of the
turned on. If not, make sure all the
Master I/O lights are
DeviceNet cables are properly connected.
usually as following:
- Make sure the Master I/O BUSS OFF light is
OVER FL = (OFF)
turned on. If so, ensure that all DeviceNet
RUN = (ON)
cables and the network termination are
BUSS OFF = (OFF)
connected.
CONNECT = (ON)
I/O RUN = (ON) - If one of the other Master I/O lights does not
I/O ERROR = (OFF) comply with the description in the left column,
DNET PWR = (ON) refer to the SIAMremote technical manual.
FIELD PWR = (ON)

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 48/71

SIAMremote Teleoperation System Scoop Operating Guide

(CONTINUE) - The interface TURCK module - System is not operating. - Make sure the Module Status light of the
When the vehicle is dedicated to the transmission TURCK module is green:
The operator unit displays
started, the status lights do is faulty or badly connected.
the following message: If the light is turned off, make sure the
not turn on. The green
DeviceNet cables are properly connected.
light usually turns on a few [DNET err TURCK ID 04]
seconds after the vehicle is If the light is red, disconnect the module and
powered. The PWM module lights
reconnect it. If the light remains red, the
are normally as following:
module is faulty and shall be replaced.
- Module Status = (green)
- Make sure the TURCK module Network
Network Status = (green)
Status light is green:
If the light is turned off, make sure the
DeviceNet cables are adequately connected.
- If the light is red, make sure the module
configuration switches are set at the
appropriate position (see the SIAMremote
technical manual).
- The interface PWM module - System is not operating: - Make sure the Module Status light of the
dedicated to the boom/bucket PWM module is green.
The operator unit displays
motion is faulty or badly
one of the following If the light is turned off, make sure the
connected.
messages: DeviceNet cables are properly connected.
[DNET err PWM id 04] If the light is red, disconnect the module and
reconnect it. If the light remains red, the
OR
module is faulty and shall be replaced.
[DNET err PWM ID 05]
- Make sure the PWM module Network
The PWM module lights Status light is green.
are normally as follows:
If the light is turned off, make sure the
Module Status = (green) DeviceNet cables are adequately connected.
Network Status = (green) If the light is red, make sure the module
configuration switches are set at the
appropriate position (Refer to the
SIAMremote Technical Manual).

(CONTINUE) - Other DeviceNet module is - System is not operating: - Make sure the Module Status light of the

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 49/71

SIAMremote Teleoperation System Scoop Operating Guide

When the vehicle is faulty or badly connected. The operator unit displays module is green.
started, the status lights do one of the following
If the light is turned off, make sure the
not turn on. The green messages:
DeviceNet cables are properly connected.
light usually turns on a few
[DNET err id 04]
seconds after the vehicle is If the light is red, disconnect the module and
powered. OR reconnect it. If the light remains red, the
module is faulty and shall be replaced.
[DNET err ID 05]
- Make sure the module Network Status light is
The module lights are green.
normally as follows:
If the light is turned off, make sure the
Module Status = (green) DeviceNet cables are adequately connected.
Network Status = (green) If the light is red, make sure the module
configuration switches are set at the
appropriate position (Refer to the SIAMremote
Technical Manual).

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 50/71

SIAMremote Teleoperation System Scoop Operating Guide

Table 2: Impossible to Get a YELLOW Status Light

PROBLEM CAUSE CONSEQUENCE SOLUTION

When the Manual-Remote - There is no Vehicle Ready - System is working: - Make sure the vehicle transmission is set to
switch is set to REMOTE, signal. NEUTRAL.
the Yellow Light does not The operator unit displays
turn on and the Green the following message. - Make sure the parking brake button is
Light stays on. released (if installed).
[Vehicle not ready]
- Press the testing button to make sure the
The Msg light blinks automatic fire suppression system is
operational.

(Refer to the electrical diagrams included in

the SIAMremote Technical Manual).

- There is no Parking Brake ON - System is working. - Check if the parking brakes are applied.
signal.
The operator unit displays
- Check if the oil pressure switch that notifies
the following message:
the parking brakes is applied, and operates
[Parking brake off] properly.

- The Msg light blinks. (Refer to the electrical diagrams included in

the SIAMremote Technical Manual).

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 51/71

SIAMremote Teleoperation System Scoop Operating Guide

Table 3: Impossible to Get a RED Status Light

PROBLEM CAUSE CONSEQUENCE SOLUTION

The Green Status Light is - The Manual-Remote switch is - Teleoperation Link - Set the Manual-Remote switch to Remote.
turned ON and the set to Manual. refused:
operator unit cannot
The operator unit displays
establish a teleoperation
the following message:
link.
[Selector in Manual]
The Msg light blinks.
When the Manual-Remote - The operator unit emergency - The operator unit does not - Turn clockwise the emergency stop button to
switch is set to Remote stop button is pressed or the operate: release it.
and that the yellow light is operator unit was not switched
The operator unit does not - Press the Power button to switch on the
turned ON, the operator on.
display any messages. operator unit.
unit cannot establish a
teleoperation link. The Power light is Off.
- Either no operator key is - No possible teleoperation - Insert the operator key of the vehicle to be
installed on the operator unit or link: teleoperated in the operator unit.
the one installed is not valid.
The operator unit displays
one of the following
messages:
[Key Not Detected]
or
[Key Not Valid]
The Msg light blinks.

(CONTINUE) - The operator unit is tilted more - No possible teleoperation - Make sure the operator unit is in a stable and
When the Manual-Remote than 45 degrees. link: horizontal position.
switch is set to Remote
The operator unit displays - Press the Enter key to acknowledge the Tilt
and that the yellow light is
the following message: Detected
turned ON, the operator
unit cannot establish a [Tilt Detected]
teleoperation link.
The Msg light blinks.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 52/71

SIAMremote Teleoperation System Scoop Operating Guide

- The operator key installed on - Teleoperation link refused: - Make sure the key inserted in the operator
the operator unit does not unit corresponds to the vehicle. In order to
The operator unit does not
correspond to the key do so, compare the vehicle description
display any messages, but
associated with the vehicle. displayed on the switched on unit with the
it tries to establish a link.
chosen vehicle.
The Remote light blinks
when the button is
pressed.
- The operator unit and the - Teleoperation link refused: - Check if there is another teleoperation
mobile unit cannot select a system in the area of the vehicle to be
The operator unit displays
transmission frequency. teleoperated.
one of the following
messages: - Once again try to establish a link. If the
problem persists, ask the maintenance
[Channel Busy]
personnel to check the operation frequencies
or of both systems.
[All Channels Busy]
The Msg light blinks.

(CONTINUE) - The operator unit does not - Teleoperation link refused: - The operator shall make sure he does not
When the Manual-Remote send the default values for the accidentally operate the control levers of the
The operator unit displays
switch is set to Remote commands to be applied to the operator unit when establishing a
the following message:
and that the yellow light is vehicle. communication link.
turned ON, the operator [Invalid Defaults]
- If the problem persists, check the operation
unit cannot establish a
The Msg light blinks. of the operator unit as explained in the
teleoperation link.
maintenance section of the operator unit
manual.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 53/71

SIAMremote Teleoperation System Scoop Operating Guide

- The selected operator unit is - Teleoperation link refused: - The operator shall make sure he has
not appropriate for the type of selected the operator unit required for the
The operator unit displays
vehicle to be teleoperated. type of vehicle to be teleoperated.
the following message:
[Invalid Fascia]
The Msg light blinks.

- The version of the firmware in - Teleoperation link refused: - Make sure both, the operator unit and the
the operator unit is mobile unit, have been updated.
The operator unit displays
incompatible with the one in
the following message: - Contact STAS Service Department.
the mobile unit.
[Incompatible Version]
The Msg light blinks.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 54/71

SIAMremote Teleoperation System Scoop Operating Guide

Table 4: Loss Of The Communication Link Between The Operator Unit And the Vehicle

PROBLEM CAUSE CONSEQUENCE SOLUTION

During a teleoperation - Loss of the communication link - Broken teleoperation link: - Check if both, the vehicle antenna and the
session, the between the operator unit and operator unit antenna, are in the line-of-sight.
communication link is the vehicle. The operator unit displays If not, move the operator unit in order to
broken. The Red Light the following message: improve the line-of-sight.
turns OFF and the Yellow
Light turns ON. [Communication Lost] - Make sure that the vehicle antenna is not
damaged or shifted. The vehicle antenna
The Msg light blinks. and the operator unit antenna shall be in the
same axis.

- Another teleoperated system - Broken teleoperation link: - If the key is configured to use a randomly
using the same communication chosen communication channel, the link can
channel but having different The operator unit displays be restored. An unused channel, if available,
radio identification has entered the following message: will automatically be selected. If however the
the zone of the teleoperated channels of both systems are “hardcoded”
vehicle. [Radio Interference] and are identical, the two systems cannot
work in the same area. Check the channel
- The Msg light blinks. attribution policy with the maintenance
personnel.

- Another teleoperated system - Broken teleoperation link: - This situation is unacceptable. Tow systems
using the same communication cannot be given the same radio identification.
channel and having the same The operator unit displays Inform the maintenance personnel about the
radio identification has entered the following message: conflict.
the zone of the teleoperated
vehicle [Key Interference]

- The Msg light blinks.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 55/71

SIAMremote Teleoperation System Scoop Operating Guide

(CONTINUE) - The operator unit is tilted more - Broken teleoperation link: - Make sure the operator unit is in a stable and
During a teleoperation than 45 degrees. horizontal position.
session, the The operator unit displays
communication link is the following message: - Press the Enter Key to acknowledge the Tilt
broken. The Red Light Detected message.
turns OFF and the Yellow [Tilt Detected]
Light turns ON.
- The Msg light blinks.
- See the Mucking Operating Guide.
- The OB module does not - Broken teleoperation link:
operate anymore.
The operator unit displays
the following message:

[DNET err OB ID 02]

The Msg light blinks.

- The Master I/O module does - Broken teleoperation link: - See Table 1 of this section
not operate anymore.
The operator unit displays
the following message:

[DNET err M/I ID 03]

- The Msg light blinks.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 56/71

SIAMremote Teleoperation System Scoop Operating Guide

(CONTINUE) - The interface TURCK module - Broken teleoperation link: - See Table 1 of this section
During a teleoperation dedicated tot he transmission
session, the does not operate anymore. The operator unit displays
communication link is the following message:
broken. The Red Light
turns OFF and the Yellow [DNET err TURCK ID 04]
Light turns ON.
- The Msg light blinks.

- The interface PWM module - Broken teleoperation link: - See Table 1 of this section
dedicated to the motion of the
boom/bucket does not The operator unit displays
operate anymore. the following message:

[DNET err PWM ID 04]

[DNET err PWM ID 05]

- The Msg light blinks.

- The other DeviceNet module - Broken teleoperation link: - To be completed.

does not operate anymore.
The operator unit displays - See Table 1 of this section
the following message:

[DNET err XXX ID YY]

Were:
XXX is the module name
YY is the module number
- The Msg light blinks.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 57/71

SIAMremote Teleoperation System Scoop Operating Guide

(CONTINUE) - The automatic fire suppression - Teleoperation link broken - Check if the fire suppression system has
During a teleoperation system of a vehicle may triggered.
session, the trigger. The operator unit gives the
communication link is following message: - Press the testing button to check if the
broken. The Red Light automatic fire suppression system is in
turns OFF and the Yellow [Extinguish fire] operation.
Light turns ON.
The Msg light blinks. - Check if the fire suppression system is
properly connected to the teleoperation
system.

- A significant problem occurred - Broken teleoperation link: - Press the Power button to switch off the
while the software was being operator unit.
executed. The operator unit displays
one of the following - Wait a few seconds and press the Power
messages: button to switch back on the operator unit.

[ComInf soft error] - If the problem persists or occurs on a regular

basis, contact the SIAMremote Manufacturer
[ComMsg soft error]
(STAS).
[OpPar soft error]
[Equipment soft error]
[FctState soft error]
[IoOp soft error]

The Msg light blinks

(CONTINUE) - Low Voltage supplied by the - Broken teleoperation link: - Check the battery voltage, 24 V DC should
During a teleoperation vehicle battery. be monitored.
session, the The operator unit displays
communication link is - Failure of an electric the following message: - If 24 Volts is measured, check the voltage
broken. The Red Light component on the vehicle or monitor in the Master I/O. (Refer to the
turns OFF and the Yellow electric connection problem. [Vehicle Low Voltage] electrical diagrams of the vehicle)
Light turns ON.
The Msg light blinks.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 58/71

SIAMremote Teleoperation System Scoop Operating Guide

- The Manual/Remote selector - Broken teleoperation link: - Check if the selector was accidentally set to
is defective or has been the manual position.
moved to manual position. The operator unit displays
the following message: - If the selector is in remote, check the cabling
in the Master I/O. Check the contacts of the
[Manual Mode Set] selector. Replace the selector if damaged.

- The Msg light blinks.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 59/71

SIAMremote Teleoperation System Scoop Operating Guide

Table 5: Problems that Occur during a Teleoperation Session.

PROBLEM CAUSE CONSEQUENCE SOLUTION

When a teleoperation - Faulty of badly connected - The teleoperation link - Check if the stroboscopic light is burned.
session is established, the stroboscopic light. operated properly:
red status light turns on but - Check if the 24 V DC power supply feeds the
the red stroboscopic light Using the vehicle is stroboscopic light. Refer to the diagrams of
does not blink. dangerous since there are the SIAMremote Technical Manual in order to
no visual devices to warn check the cabling and the fuses.
persons who may be in the
teleoperation area.

The vehicle does not - The service brakes or the - When the operator moves - Make sure the parking brakes are released.
respond to front, back and parking brakes are applied. the vehicle control lever, (Brake light is turned OFF).
sideways movements. the operator unit displays
the following message: - Press the hand-latch on the front part of the
control lever of the operator unit to make
[Vehicle Brakes ON] sure the service brakes are released.

The Msg light is lit. - Make sure the brakes can be released and
applied in manual mode with the brake pedal.

- The automatic fire suppression - No more power on the - Check if the fire suppression system is in
system on the vehicle may be ECM: operation.
trigger.
The Start/Stop indicator is - Check if the fire suppression system has
OFF. triggered.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 60/71

SIAMremote Teleoperation System Scoop Operating Guide

One of the following - Faulty or badly connected - The operator unit is - Stop the vehicle engine. Press the faulty
functions is not hydraulic valve. normally operating: function key on the operator unit to check if
responding: the hydraulic valve is powered.
- Faulty operator unit. The other functions
• Fwd
normally operate. - The light indicator on the hydraulic valve
• Rev solenoid shall be turned on.
• Right
- If so, check valve for proper operation.
• Left
• Boom Up - Check the light indicator on PWM module
• Boom Down Output.
• Bucket Up
- If the valve indicator light does not turn on,
• Roll Back check cabling for proper connection. If not
• Service Brake working, check the operator unit in
• Gear Up maintenance mode.
• Gear Down - Refer to the SIAMremote electrical diagrams.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 61/71

SIAMremote Teleoperation System Scoop Operating Guide

! One of the following - Failure of an electric - The operator unit - Stop the vehicle engine and press the faulty
function is not component of the vehicle or operates normally: function key.
responding: electric connection problem.
The other functions - Make sure the indicator light on the Master
Start/Stop (engine)
- Faulty operator unit. operate normally. I/O of the corresponding function is turned
ECM Override
ON or turned OFF.
Horn
Lights (rear)
If the light operated properly, the trouble is an
P Brake
electrical problem on the vehicle.
• The vehicle front lights
are not turned on. If the light malfunctions, the operation unit
They usually turn on shall be checked by means of the
when the Manual- maintenance mode.
Remote selector
switch is set to - Check functions, accessible through Manual
Remote and that the and Remote modes, for proper operation in
communication is Manual mode at first, and then, in Remote
established. mode.
• The lights of the front
- Refer to the electrical diagrams included in
cameras do not turn on
the Technical Manual.
when the cameras are
switched on with the
Video switch (if
equipped).
• The lights of the rear
cameras do not turn on
when the cameras are
switched on with the
Video switch and
when the rear camera
is selected (if
equipped).

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 62/71

SIAMremote Teleoperation System Scoop Operating Guide

In a teleoperation session, - Failure of an electric - The operator unit operates - Release of the parking brake is attempted for
the parking brake cannot component on the vehicle or normally: a period of 10 seconds after the operator
be released. The P Brake electric connection problem pressed the P Brake Key. The indicator will
indicator does not turn related to the parking brake The other functions blink during that period. The operator can
OFF. status. operated normally. move the vehicle to bring it within is reach
while the indicator is blinking.
No movements are
allowed because the
system believes the
parking brake cannot be
released.

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 63/71

SIAMremote Teleoperation System Scoop Operating Guide

8. Error Messages

The following list gives all the error messages that might appear on the display of the operator
unit. For each message, the table number of the troubleshooting section is given.
Table 6: Error Messages
Error message Table number
in Troubleshooting Section
All channels busy Table 3
Channel busy Table 3
ComInf soft error Table 4
ComMsg soft error Table 4
Communication Lost Table 4
DNET err OB ID 02 Tables 4
DNET err MIO ID 03 Tables 1 and 4
DNET err TRUCK ID 04 Tables 1 and 4
DNET err PWM ID 04 Tables 1 and 4
DNET err PWM ID 05 Tables 1 and 4
Extinguish fire Table 4
Incompatible version Table 3
Invalid defaults Table 3
Invalid fascia Table 3
IoOp soft error Table 4
Key interference Table 4
KEY NOT DETECTED Table 3
KEY NOT VALID Table 3
Manual mode set Table 4
OpPar soft error Table 4
Parking brake off Table 2
Radio interference Table 4
Selector in manual Table 3
Tilt detected Tables 3 and 4
Vehicle brakes on Table 5
Vehicle low voltage Table 4
Veh. not ready Table 2

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 64/71

SIAMremote Teleoperation System Scoop Operating Guide

9. Warning messages

The following list gives all the warning messages that might appear on the display of the
operator unit.

Table 7: Warning messages

Warning message Meaning
DNET err OB ID 02 OB computer not responding
DNET err ACQ ID 06 ACQ Devicenet module (Id 6) not responding
DNET err ACQ ID 07 ACQ Devicenet module (Id 7) not responding

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 65/71

SIAMremote Teleoperation System Scoop Operating Guide

10. Lever functionality display

The following table describes the meaning of the characters that are displayed between
brackets on the second line of the operator unit display. The characters inside the left brackets
indicate which function(s) is active on the left lever while the characters inside the right brackets
indicate which function(s) is active on the right lever.

Table 8: Lever Functionality Display

LEFT LEVER

Characters displayed Description

at left
[ ] Left lever inactive
[M ] Vehicle Movement
[MS] Vehicle Movement, Service brake released

RIGHT LEVER

Characters displayed Description

at right

[ ] Right lever inactive

[1 ] Camera 1 selected
[2 ] Camera 2 selected
[1A] Camera 1 selected and camera Arm positioning
[2A] Camera 2 selected and camera Arm positioning
[1Z] Camera 1 selected and camera Zoom/focus adjusting
[2Z] Camera 2 selected and camera Zoom/focus adjusting
[1G] Camera 1 selected and camera direction (Gimbal) adjusting
[2G] Camera 2 selected and camera direction (Gimbal) adjusting
[B ] Boom movements
[BT] Boom movements and full Throttle
[B1] Boom movements and Camera 1 selected
[B2] Boom movements and Camera 2 selected

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 66/71

SIAMremote Teleoperation System Scoop Operating Guide

11. Specifications

11.1 Operator Unit

Keyboard: With membrane and 0.75-inch keys

Programmable according to clients' needs
Control levers 2 levers, each with 2 proportional axes (8 functions)
Display Fluorescent display, 2 rows of 20 characters
Emergency stop Mushroom type with holding
Activates emergency stops, and stops the motor
Fire suppression Single button with membrane and protective cap
Housing NEMA 4 (IP66)
Dimensions 42.0 x 29.0 x 10.0 cm
Weight Approximately 5.0 kg
Power supply Rechargeable batteries
− 8-hour autonomy (2 sets of batteries)
− Semi-intelligent external battery charger
120 VAC external supply
External connections Video/audio out monitor NTSC
2 serial ports RS-232
External supply
Antenna
Security Key

11.2 Mobile Unit

Housing NEMA 4 (IP66)

Connectors Circular and waterproof
Power supply 24 VDC.
Human detection Available in option
Microphone Connector for microphone

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 67/71

SIAMremote Teleoperation System Scoop Operating Guide

11.3 Electro-hydraulic Interface

Control proportional at Steer left and right

256 levels Boom up and down
Bucket dump and rollback
Throttle (optional if DDEC not available)
Binary controls Starter
Service brakes
Parking brakes
Transmission forward and reverse
Front and rear lights
Fire suppression
Front and rear camera lights
Binary controls (option) Transmission gear 1 and 2
Shifter isolation
Proportional service brake
Note: These option are available on demand for line of site
and standard for network teleoperation
Standard Alarms Remote mode switch
Vehicle ready to start
Parking Brakes On/off
Engine oil pressure On/off
Alarms from DDEC DDEC yellow condition (check engine)
Engine DDEC red condition (stop engine)
Notes: Other signals, optionally available
Optional alarms (extra Dump/hoist low pressure
sensors) Steering low pressure
Fire suppression activated
Converter oil high temperature
Hydraulic oil low level
Hydraulic oil high temperature
Brake oil low pressure
Converter oil low pressure
Other available
Configuration of DeviceNet network
instrumentation
Notes: Because each vehicle is different, certain items need to be
discussed with the customer on a case by case basis
- Throttle (controlled by DDEC or not)
- Minimum oil filtration at 10 µm for pilot valve
- Single or dual brake system

11.4 2.4 GHz Radio

Type VHF (FCC US), 2.4 GHz

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 68/71

SIAMremote Teleoperation System Scoop Operating Guide

Operation Half duplex

Transmission rate 2.0 Mbps
Frequency spacing 16 MHz
Power 50 mW
Antenna(s) 1

11.5 800 MHz Radio

Type Underground use only

Operation Full duplex
Transmission rate 1.544 Mbps
Frequency spacing 3.2 MHz
Power 500 mW
Antenna(s) 2

11.6 Cameras

Type CCD colour with NTSC interface

Cameras Up to 4
Lens Focus fixed with auto-iris
Gimbal (Pan and tilt Option
system, 2 axes)

11.7 Video

Colour screen NTSC, 10,4 in, TFT-LCD, NEMA 4

Image resolution 384x240
Colours 256 levels of grey or by primary colour;
Standard of television NTSC
Standard of compression Motion Wavelet
Average rate per second >10 and < 20 images per second
Transmission delay < 150 ms

Usual Notes / Reminder:

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 69/71

SIAMremote Teleoperation System Scoop Operating Guide

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

______________________________________________________

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 70/71

SIAMremote Teleoperation System Scoop Operating Guide

Usual Notes / Reminder:

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

______________________________________________________

Manuel_opérateur_an.doc  2001 STAS Ltd – Mining Division 71/71