AGD SYSTEMS 342100 AGD342-100-xxx Speed Enforcement Ranging Radar User Manual 342PM ISS07 indd
AGD SYSTEMS LTD AGD342-100-xxx Speed Enforcement Ranging Radar 342PM ISS07 indd
User manual
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| Document ID | 1907178 |
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| Document Description | User manual |
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| Date Submitted | 2013-02-26 00:00:00 |
| Date Available | 2013-02-26 00:00:00 |
| Creation Date | 2013-02-20 10:26:27 |
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| Document Lastmod | 2013-02-20 10:31:23 |
| Document Title | 342PM_ISS07.indd |
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ISO 9001 ISO 14001 Registered Quality Management Registered 015 Environmental Management 015 ©AGD Systems Limited 2013 Doc. Ref. 342 PM ISS8 PRODUCT MANUAL table of contents INTRODUCTION Product & technology Key features Typical applications Product overview INSTALLATION Radar mounting geometry Radar mounting height Selecting a suitable site Radar in normal operation SYSTEM HARDWARE OVERVIEW System hardware overview RS422 serial interface Temperature sensor Power supply Radar characteristics 10 SOFTWARE FUNCTIONALITY Overview 11 RADAR COMMANDS Radar Commands Radar Command list *TS Command & Hardware self-test *SR Command & the 50KHz Reference Clock *IQ Port Command MESSAGE FORMATS Event Start message Event End message Heart Beat message Tuning Fork message Event Quality message Radar messages in normal operation Explanatory notes for radar event & quality messages Radar Error messages CRC8 C CODE WORKED EXAMPLE ANTENNA PLOTS TECHNICAL SPECIFICATIONS Product specification TEST & CALIBRATION Dedicated test equipment 12 13 14-15 16 16 17 18-19 20 21 22-23 24 25 26-27 28 29 30 31 Manufacturing test process Hyperion Test Equipment END OF LIFE – DISPOSAL INSTRUCTIONS (EOL) IMPORTANT SAFETY INFORMATION Safety precautions Low power non-ionising radio transmission and safety DISCLAIMER 32 33 34 35 36 36 Warranty INTRODUCTION PRODUCT & TECHNOLOGY 342 The 342 has been designed specifically to measure the speed and range of passing vehicles for enforcement purposes in multiple lanes. The radar is able to track up to eight target signals in both approaching and receding directions simultaneously. The radar offers fixed and mobile deployment options in conjunction with a host photographic based enforcement system. KEY FEATURES • Radar reports speed and range to each event • Speed measurement from 20kph to 320kph across multiple lanes • Target range measurement from 2-60 metres • Can discriminate between approaching and receding traffic • Custom designed planar antenna • Ease of integration to host system • High speed RS422 serial communications to host equipment • Hardware target simulation built into the radar • Continuous radar self check features INTRODUCTION TYPICAL APPLICATIONS Multiple lane control from fixed infrastructure Multiple lane control from mobile systems PRODUCT OVERVIEW Flange mounting points Power/Test connector Power Low / High LED RS422 Data connector Tripod mounting point INSTALLATION RADAR MOUNTING GEOMETRY The radar is to be installed with the bore of the radar at 22˚ from the direction of travel of the targets in the lanes. It can be installed at a height in the range 1m to 5m with various considerations. When installed, especially if it is placed inside host equipment, it is important that the radar’s radome is not covered or interrupted as this will distort the radar’s beam and/or affect the sensitivity of the radar. The typical coverage of the radar is shown in the following diagram. 22º -3dB 342 Beam Analysis Mounting Height: 4m Mounting Angle: 7.5˚ below horizontal Targets: vehicle reflection assumed from a height of 1m 2747mm 4006mm 4976mm installation RADAR MOUNTING height The radar can be installed at different heights but operation is best in the height range 1m to 3.5m. The radar can be mounted up to a height of 5m but it is important to understand that at these higher mounting heights the vertical cosine will affect the speed reading of the radar to progressively under-read for increasing heights for lanes that are too close to the radar. It is therefore recommended that a minimum off-set, that is, a minimum perpendicular distance from the mounting position to the nearest enforceable lane is adopted as shown in the following table. Mounting Height Minimum Offset Radar Declination Angle Comment 1-2m 2m 0º 3m 3m 0º 4m 4m 7.5º TBC 5m 6m 7.5º TBC Selecting a Suitable Site When choosing to deploy the radar on a site the following is a non-exhaustive list of considerations which should be taken into account; • Do the lane(s) have a measurable radius which cause the vehicles to travel on an arc around the radar? • Does the roads surface slope in a direction excessively which means deployment is not possible or needs to be accounted for in the set-up/alignment process of the radar. • Is the nearest lane to be covered greater than the specified offset given the proposed deployment height for the radar? • Are there any large reflecting surfaces directly in front or behind the radar mounting position? Radar messages in Normal Operation When the radar is installed and aligned correctly it will perform to specification. SYSTEM HARDWARE OVERVIEW SYSTEM HARDWARE OVERVIEW Microwave Transceiver Module Vt Transmitter Modulation Control PLL Co-processor Target Simulator Analogue to Digital Converters Non Volatile Memory Temperature Sensor Digital Signal Processor RS422 Test Connections SYSTEM HARDWARE OVERVIEW RS422 Serial Interface A UART interface is provided that uses RS422 voltage levels on the communications connector. The default baud rate for this interface is 115200. This however maybe changed using the *BAUD command to speeds of up to 926000. The *BAUD command must be followed by a *PUS command to store the new value to non-volatile memory. This new value will be used next time the radar reboots. The serial interface default setup during normal operation is shown in table below. default uart settings Parameter Value Baud rate 115200 Data bits Parity bits odd Stop bits Flow control None The RS422 provides the primary output of the radar in the form of ASCII messages. The communications connector is a Bulgin PXO412/08P connector, mating type PX0410/08S/6065. The pin out of the connector is shown in the table below. RS422 Connector Connections Pin No Signal Description A (RX+) RS422 Signals B (RX-) Z (TX+) Y (TX-) Not connected Not connected GND Not connected Ground or 0V Temperature Sensor A temperature sensor has been installed in the radar. The temperature of the radar may be requested using the *TEMP command. SYSTEM HARDWARE OVERVIEW Power supply The radar is powered using a DC voltage in the range of 10 to 16 Volts. This is supplied on the power and test connector. This connector is a Bulgin PXO412/06P mating type PX0410/06S/4550. Reverse polarity protection is included in the design. The radar can take a large current during power up that is of the order of amps which only lasts for ~1ms and as such should not affect most applications. A thermal fuse with a 750mA rating has been installed to protect against electrical short circuit fault conditions. power / test Connector Connections Pin No Signal Description REF REF Reference frequency RS422 voltage levels I and Q port connections for directly measuring received signal or for simulated signal injection VIN Supply voltage 10 to 16Vdc GND Supply ground Do not connect. Power-Up Sequence Upon initialisation from power-up or *REBOOT the radar will respond with the following sequence of messages; AGD SYSTEMS LTD AGD342 RANGING ENFORCEMENT RADAR Firmware Version MI-146-2-P2 Firmware Compile Time 10:21:21 Dec 5 2012 Co-Processor Firmware MI-147-1,Nov 12 2012 ........ HB,00000000*FD Whilst the radar is carrying out its self-test functions a series of decimal points will appear. When finished the radar will report a Heartbeat (HB) message to indicate the radar has successfully initialised and is normally operating. The host system should not send the radar any messages whilst it is initialising. Messages should be sent to the radar after the HB is received. The radar will always send an initial HB message after initialising following power-up even when the HB message is turned off. Power Supply Tolerance The radar power supply is specified between 10 and 16Vdc. These are the limits applied on test and calibration. The radar will operate outside this range but its operation is not specified. At 12V dc the current is 250mA. When VSUPPLY < 10Vdc (but enough to power the radar) the LED will permanently Illuminated. When VSUPPLY > 16Vdc (but below fuse limit) the LED will flash. SYSTEM HARDWARE OVERVIEW importAnt Radar Characteristics The radar has been designed to have a specific set of functional characteristics which make it suitable for speed measurements for enforcement applications. Radar Antenna The antenna design is a planar patch array with the following performance; Parameter Specified Notes Horizontal Beam-width 4.5˚ -3dB (HPBW) Vertical Beam-width 15˚ -3dB (HPBW) Side-lobe Suppression >15dB E-Field Horizontal Plane Polarised Operating Frequency Band and Power The transmitter is a Phase Locked Loop (PLL) controlled MMIC based oscillator. The design confidence means that the nominal centre frequency of the transmission shall remain within a 10MHz window for the required 7 years for a radar functioning normally. The change in frequency with temperature is measured to be ≤ ±1.21MHz over the operating temperature range -20ºC to +60ºC. The radar frequency and power is as follows; Parameter Specified Operating Frequency Band 24.075 – 24.125 GHz Frequency Modulation (FM) 9.4MHz Power <100mW eirp Field Strength Typically 450mV/m ITU Code 9M4FXN Notes At 3m 10 SOFTWARE FUNCTIONALITY Overview The 342 radar uses a real time operating system that continuously samples the input. The radar is continuously performing a number of tasks simultaneously using a time multiplexing method. The main data capture and processing task flow diagram is shown below. Start Data Capture Find Range of Targets Perform FFTs Remove Poor Quality Targets Detect Possible Targets in FFT Data Associate Detections to Tracks Add Accurate Speed Measurement Process Track Information (PTI) Tuning Fork Test 11 RADAR COMMANDS RADAR Command overview Commands are used to control the operation of the radar. These are sent over the RS422 UART link. Commands are immediately followed by an operator that indicates the required action. Not all operators are supported for all commands. Where an operator is used and it is not supported the radar will respond with a warning message. The table shows the operators that are used by the radar. Operator Operation Set something to a value e.g. *LS=50sets low speed threshold to 50 Respond with value or values Set default value for parameter Provide help on the command Do something e.g. *REBOOT! Reboots the radar Command Operators Where a command is used to enquire or set a radar parameter the radar will respond in a set way. The radar will respond with a hash, #, followed by the command name, operator used and then the value of parameter or parameters. For example *LS=50 Radar responds with #LS=50km/Hr *LS? Radar responds with #LS?50km/Hr *FSN? Radar responds with #FSN?11111111,22222222,3333333,4444444 Where a function requires to provide more feed back than can fit on a single line the radar will prefix each line with a # followed by the command name. An example of this is the MOTOROLA-FLASH command. Communications Command Interpreter Error message If the user enters incorrect syntax or tries to set a parameter out of range this will be reported as an error. The radar will return #ERROR followed by a description of the error. 12 RADAR COMMANDS RADAR Command List Command Function Units, Resolution or Values *BAUD Used to enquire/set baud rate of radar *BAUD=115200 *BAUD? Programmed baud rate is used the next time the radar is rebooted (Default 115200) Range: 115200 - 921600 *CRC32 Reports the CRC for the currently installed program in the Flash *CRC? Sets the default values for the radar *DEFAULTS! *DEFAULTS *DIR *ESD *FSN *HBP *IQPORT *LS *PUS *REBOOT Used to enquire/set radar direction detection mode Used to enquire/set the event start distance. This is the distance a target has to travel before an event start message is sent, in metres. Reports the security serial numbers of the radar's flash memories Enquire/set the heart beat period that is measured in frames. Setting this to zero turns off the heart beat Enquire/set the IQ port configuration as input or output. Not Implemented Used to enquire/set the low speed threshold speed *DIR=A (Default=R) A = advance R = recede D = dual direction *ESD=1.0 *ESD? (Default 2.0m) Range: 1-5m *FSN? Enquire Flash serial number values *HBP? Enquire value (Default 60) *HBP=5 Set heart beat period to 5 seconds Range: 0 - 86400 seconds *IQPORT = ø set to output (default) *IQPORT = I set to input *LS? Enquire what threshold speed is *LS=50 Set threshold to 50 of current speed units (Default 20kph) Range: 20kph - 160kph Program current user parameters into flash memory *PUS! Used to force a hardware reset of the radar *REBOOT! *SN Normally used to enquire about radar serial number *SN? Enquire about radar’s serial number *SR Used to enquire the radars measured sample rate *SR? *SU Used to enquire / set the speed units type *SU=K Set speed units to Kph *SU=M Set speed units to Mph *SU? Enquire what speed units are being used (Default M) Reports the temperature measured inside the radar *TEMP? *TEMP *TS Self-Test; used to simulate a target *TS=1,A *VS This command is used to enquire about the radars power supplies voltage levels *VS? AGD Provides radar software version AGD LIST This command lists the available commands LIST! HELP Lists all commands along with command help information HELP Used to reprogram the radars firmware The new program is in motorola hex format MOTOROLA_FLASH *EED *VER *TFM STATUS Used to enquire/set the event exit distance. This is the *EED=2 Set EED distance to 2m distance, in metres, a target has to travel after its last detection (Default 1.2m) Range: 1-5m before a event exit message is sent. This command is used to enquire the versions of the firmware *VER? of the main and co-processors *TFM=1 Enable tuning fork messages This command is used to enable or disable tuning fork *TFM=0 Disable tuning fork messages messages (Default 0) Used to enquire radar configuration and status 13 STATUS! RADAR COMMANDS *TS Command & Hardware Self-Test The radar has a built in hardware based target simulator. This command is used to perform a self-test using this built in target simulation hardware. There are twelve targets that maybe simulated in either receding or approaching directions The format of the command is: *TS= , The target parameters for each target are shown in the table below. Target Number Speed(MPH) Range (Metres) Distance Travelled in Beam (Metres) 50 16 25 80 16 10 120 16 10 190 16 10 50 32 25 80 32 10 120 32 10 190 32 10 50 64 25 10 80 64 10 11 120 64 10 12 190 64 10 For example *TS=1,A Radar Response; ES,000018F7,00000003,X,050.0,M,016.0*16 #TS:COMPLETE EE,000019CD,00000003,X,050.0,M,016.0,025.2,022.0*DA QM,000019CD,00000003,X,050.0,00.00,M,104.4,100,100*7A 14 RADAR COMMANDS *TS Command & Hardware Self-Test (CONTINUED) It is recommended that the system uses the following pass/fail criteria for acceptance to specification for a radar self-test. It is also recommended that after power-up of the radar, the host system calls the radar self-test function to simulate at least one approaching and one receding target. When in Bi-Directional mode the radar will report both advancing and receding simulated targets. When in Advance Mode the radar will only accept and report simulated targets that are advancing. If a recede simulated target is requested the radar processing will reject the target as ‘wrong direction’ and only #TS:COMPLETE message will be sent as confirmation that the simulation has been completed. When in Recede mode vice versa. Parameter Criteria For Event Start Message Criteria For Event End Message Criteria For Quality Message Speed ≤ ± 0.2 (mph or Km/h) ≤ ± 0.2 (mph or Km/h) N/A N/A Distance ≤ ± 0.5 m ≤ ± 0.5 m Event Length N/A ≤ ± 0.5 m N/A Direction 100% correct 100% correct N/A Checksum 100% correct 100% correct 100% correct Peak Power Speed (PPS) N/A N/A ±0.5 of simulated speed PPS Standard Deviation N/A N/A TBD % Speed readings N/A N/A >95% % Range Readings N/A N/A >95% The hardware target simulator is fully independent of the radar measurement system. This is used to verify the operation of the radars measurement circuitry. The self-test does NOT operate automatically on power-up of the radar. During simulation the microwave front end is disconnected from the ADC to avoid any possible interference with the simulation. The radar self-test function can be called at any time using the *TS command. The *TS command calls a pre-loaded simulated test target condition. There is a selection of pre-loaded test target conditions as set out. As the test targets are a true simulation of a real target the respective event messages from the radar will occur at differing times dependant on the simulation called. i.e the time between the Event Start Message and the Event End Message will be significantly longer if a simulation is for a slow long target than if a simulation for a fast short target is selected. To distinguish real targets from simulated targets the radar inserts an X or a Y in the direction fields of all related messages produced. 15 RADAR COMMANDS *SR Command & the 50KHz Reference Clock The *SR command is used to enquire about the radars measured sample rate. This is an additional self-test feature to confirm correct operation of the radar to specification. For example *SR? Radar Response #SR?50002.21 There is no pass/fail criteria for the host system for this response as the radar periodically performs this test against pre-set criteria. The radar uses an analogue to digital converter, ADC, to digitise the received signals. The ADC clock source is derived from a crystal on the digitiser board. The crystal used has a frequency of 12.0MHz. This clock is divided down by 240 to give a reference clock frequency of 50.0KHz. The reference clock is provided on balanced line outputs compatible with RS422 signal levels. The radar constantly monitors the sampling frequency by comparing how long the radar takes to collect data samples by using the processors crystal as a reference, which is independent from the ADC clock source. Measurements are compared approximately every five seconds and if measurements show a large enough error then the radar will send an error message 06. The last measurement of the ADC clock frequency can be accessed at any time by using the *SR command. *IQ Port Command This command is used to enquire or set the IQ port configuration as input or output. The IQ port is default set to an output. For example *IQPORT? Radar response #IQPORT?0 The IQ port provides connections that may be used to observe or inject IQ signals for independent test house measurement performance verification. When the IQ port is configured as an input the radar will disconnect from the microwave module and connect its baseband circuitry to the IQ port pins. The radar will measure injected events in the normal way and the radar will mark detected targets with a direction field of X or Y depending on the direction of the target indicating the test condition. It should also be noted that the IQ Port can be configured as an input. 16 MESSAGE FORMATS RADAR EVENT MESSAGES Event Start message This message is sent after the radar has established that a vehicle has entered the radar’s beam. The numbers above the boxes in the diagram below indicate how many bytes are used for each field. MT Frame Number Target Number Speed Target Range Check Sum Message Type ES Direction A, R, X or Y Speed Units Event Start message format Name Size / Bytes Value STX MT ‘ES’ = Event Start ‘,’ Frame Number XXXXXXXX ‘,’ Target Number XXXXXXXX ‘,’ Direction ‘A’ = Approaching Target ‘R’ = Receding Target ‘X’ = Simulated approaching target ‘Y’ = Simulated receding target ‘,’ Speed ‘DDD.D’ ‘,’ Speed Units ‘M’=MPH ‘K’=km/hr Notes Start of message byte Message type Comma Frame number in hexadecimal format Comma Target identification number in hexadecimal format Comma Direction the target is travelling. Comma Target speed to one decimal place in decimal format The speed units used for the measurement ‘,’ Target Range ‘DDD.D’ ‘*’ Asterisk Check Sum ‘XX’ Check sum in hexadecimal format ETX 17 Comma Target range in metres End of message byte MESSAGE FORMATS RADAR EVENT MESSAGES Event End Message This message is sent once a target has been detected for a significant amount of time. This message can be used by a host system to trigger a camera to capture images for a receding target enforcement system. MT Frame Number Target Number Speed Target Range Distance Travelled in Beam Message Type EE Direction A, R, X or Y MA Check Sum Speed Units Radar Mounting Angle 18 MESSAGE FORMATS RADAR EVENT MESSAGES Event End message format Name Size / Bytes Value STX MT ‘EE’ = Event End ‘,’ Frame Number XXXXXXXX ‘,’ Target Number XXXXXXXX ‘,’ Direction ‘A’ = Approaching Target ‘R’ = Receding Target ‘X’ = Simulated approaching target ‘Y’ = Simulated receding target ‘,’ Speed ‘DDD.D’ ‘,’ Speed Units ‘M’=MPH ‘K’=km/hr ‘,’ Target Range ‘DDD.D’ ‘,’ Distance Travelled in beam ‘DDD.D’ ‘,’ MA ‘DD’ Notes Start of message byte Message type Comma Frame number in hexadecimal format Comma Target identification number in hexadecimal format Comma Direction the target is travelling. Comma Target speed to one decimal place in decimal format The speed units used for the measurement Comma Target range in metres Comma The distance a target has travelled while in the beam of the radar. Radar mounting angle in degrees. This is the angle the radar uses to calculate the speed of a target ‘*’ Asterisk Check Sum ‘XX’ Check sum in hexadecimal format ETX 19 End of message byte MESSAGE FORMATS RADAR EVENT MESSAGES Heart Beat message This message is sent each time the heart period expires. The heart beat message period is controlled using the *HBP command. The heart beat period is measured in frames. MT Frame Number Check Sum Message Type HB Heart Beat message format Name Size / Bytes Value STX MT ‘HB’ = Heart Beat ‘,’ Frame Number XXXXXXXX ‘*’ Check Sum ‘XX’ ETX Notes Start of message byte Message type Comma Frame number in hexadecimal format Asterisk Check sum in hexadecimal format End of message byte Notes to Heart Beat Message The heartbeat period is set in seconds using the *HBP command. Setting the hearbeat period to 0 secs will turn the hearbeat off. The maximum setting for the heartbeat period is 86400 secs. A heartbeat message will always be produced after the radar initialises even if the heartbeat is turned off. The host system should not send messages to the radar after power-up until this initial heartbeat message is received. 20 MESSAGE FORMATS RADAR EVENT MESSAGES Tuning Fork message This message is sent when a tuning fork target has been detected. This message is sent after a event end message is sent. MT Frame Number Target Number Speed Target Range Check Sum Message Type TF Speed Units Tuning Fork message format Name Size / Bytes Value STX MT ‘TF’ = Tuning Fork ‘,’ Frame Number XXXXXXXX ‘,’ Target Number XXXXXXXX ‘,’ Speed ‘DDD.D’ ‘,’ Speed Units ‘M’=MPH ‘K’=km/hr Notes Start of message byte Message type Comma Frame number in hexadecimal format Comma Target number in hexadecimal format Comma Comma The speed units used for the measurement ‘,’ Target Range ‘DDD.D’ ‘*’ Asterisk Check Sum ‘XX’ Check sum in hexadecimal format ETX 21 Comma Target range in metres End of message byte MESSAGE FORMATS RADAR EVENT MESSAGES Event Quality message Once an event end message is sent, the measurements relating to the event are analysed. These various elements of the event are reported in the Event Quality Message. MT Frame Number Target Number Peak Power Speed Peak Power Speed Standard Deviation Message Type QM Direction A, R, X or Y Event Peak Power Percentage Speed Readings Speed Units Percentage Range Readings 22 Check Sum MESSAGE FORMATS RADAR EVENT MESSAGES Event Quality message format Name Size / Bytes Value STX MT ‘QM’ = Quality Message ‘,’ Frame Number XXXXXXXX ‘,’ Target Number XXXXXXXX ‘,’ Direction ‘A’ = Approaching Target ‘R’ = Receding Target ‘X’ = Simulated approaching target ‘Y’ = Simulated receding target Peak Power Speed ‘DDD.D’ ‘,’ Peak Power Speed Standard Deviation ‘DDD.D’ ‘,’ Speed Units ‘M’=MPH ‘K’=km/hr ‘,’ Event Peak Power ‘DDD.D’ ‘,’ Percentage Speed Readings ‘DDD’ ‘,’ Percentage Range Readings ‘DDD’ Notes Start of message byte Message type Comma Frame number in hexadecimal format Comma Target number in hexadecimal format Comma Direction the target is travelling. Comma Comma The speed units used for the measurement Comma Comma The value of actual speed readings taken as a function of the total possible expressed as a percentage Comma The value of actual range readings taken as a function of the total possible expressed as a percentage ‘*’ Asterisk Check Sum ‘XX’ Check sum in hexadecimal format ETX 23 End of message byte MESSAGE FORMATS Radar messages in Normal Operation Example data from radar set in Bi-Directional Mode and the Heartbeat set to 5 seconds. HB,00003560*68 HB,00003930*40 ES,00003B15,00000014,R,029.3,M,017.1*2A EE,00003B87,00000014,R,029.5,M,023.2,009.5,022.0*DE QM,00003B87,00000014,R,029.5,00.93,M,095.1,081,081*84 HB,00003D00*31 HB,000040D0*BE HB,000044A0*26 HB,00004870*D4 ES,00004988,00000015,R,029.1,M,017.4*46 EE,00004A0A,00000015,R,029.7,M,022.2,010.7,022.0*78 QM,00004A0A,00000015,R,029.7,00.67,M,092.8,087,083*7E ES,00004AE6,00000016,R,031.0,M,018.1*20 EE,00004B4D,00000016,R,031.5,M,021.7,009.5,022.0*9C QM,00004B4D,00000016,R,031.5,00.52,M,093.4,086,085*E2 ES,00004B55,00000017,A,030.1,M,030.5*F4 EE,00004BAA,00000017,A,029.2,M,029.0,006.8,022.0*86 QM,00004BAA,00000017,A,029.2,00.82,M,080.3,070,065*9C HB,00004C40*D1 ES,00004D86,00000018,A,033.1,M,030.2*CE EE,00004DCE,00000018,A,032.9,M,027.9,006.7,022.0*7C QM,00004DCE,00000018,A,032.9,00.63,M,084.4,073,071*75 ES,00004F7D,00000019,A,040.1,M,032.2*9D EE,00004FC9,00000019,A,039.7,M,030.2,007.8,022.0*6A QM,00004FC9,00000019,A,039.7,00.64,M,085.9,085,081*25 HB,00005010*7B HB,000053E0*8D 24 MESSAGE FORMATS Explanatory Notes For Radar Event & Quality Messages The Event Start (ES) message contains both initial target speed and range information. The radar will have tracked the vehicle for a short distance before this message is sent. As only a relatively small amount of target information is available to the radar at this stage, the range and speed of the target are not fully evaluated by the radar and are provided for the system to make some initial decisions about whether to be interested in the target. The initial speed and range readings in the ES message will have been qualified by the radar against a series of checks to ensure that the event information is of sufficient quality to proceed with a target track. The physical position on the road of the target corresponding to the sending of the ES message can be moved by altering the Event Start Distance (*ESD). A longer ESD will improve the quality of the ES speed and distance measurement and make the ES message occur later. Reducing the ESD will have the opposite effect. Making the ESD too small may lead to premature ES messages. When the vehicle can no longer be tracked by the radar an Event End (EE) message is generated. This message contains the speed of the vehicle which should be used for the Event as all possible speeds would have been processed during the event. The range of the target in the EE message will generally be different from that of the ES message because the target will have moved along the carriageway during the event. Generally, the ES range will be less than the EE range for receding target and vice versa. The distance the target travels after the track is lost to when the EE message is sent is set by the Event End Distance (*EED) message. Making the EED too small may result in multiple events being generated for a single target. In the Event End message, the distance travelled in the beam by the target (Event Length) is reported in metres. This measurement is directly proportional to the length of the target in the event. Depending on the range this measurement will be approximately 8m for a saloon car and approximately 20m for a truck. Generally, a larger event length can result in a larger difference in the range measurements reported in the ES and EE messages. The Quality Message (QM) always immediately follows the EE message. The reported Peak Power Speed in the QM is the same as that used in EE speed reading. The radar processes 195 readings per second and the standard deviation of all those readings for the associated event are reported as a standard deviation in the QM. The peak power reading is the maximum signal strength seen for the event. The peak power for a given target will be reduced at increasing range. Generally, for a given range, cars produce a lower peak power reading than for trucks. Whilst the radar processes 195 range and speed readings per second not all these readings pass the radars quality check for a given reading. Say, 100 speed readings are collected for an event (that’s an event which lasts approx. 513mS) but the radar rejects 12 of the readings, the QM field Percentage Speed Readings will report 088. That is, 88 good readings from the possible 100 taken is reported as 88%. Firstly, the speed reading is assessed and then the corresponding range reading for that speed is then assessed. If a speed reading is rejected, the corresponding range reading is automatically rejected. Continuing with the example, there will be 88 ranges corresponding to the accepted speeds. Each range is then quality checked to a given tolerance and rejected or passed. If they all pass the range quality check the Percentage Range Readings will report 088. The Percentage Range Readings field is always less than or equal to the Percentage Speed Readings. Finally, if the radar had rejected 14 of the available range measurements the reported Percentage Range Reading would be 074. 25 MESSAGE FORMATS RADAR ERROR MESSAGES Operational Error message The operational error message is an unsolicited message used to report degrees of variance of the radar from normal operation. MT Error Number Reference Number Check Sum Message Type ER Operational Error message format Name Size / Bytes Value STX MT ‘ER’ = Error Message Notes Start of message byte Message type ‘,’ Error Number DD Comma Error number in decimal format - see table on next page for details Comma ‘,’ Reference Number DDDDD ‘*’ Asterisk Check Sum ‘XX’ Check sum in hexadecimal format ETX 26 Reference number used to help isolate error source. This can change between software versions and should not be used by the host system. End of message byte MESSAGE FORMATS RADAR ERROR MESSAGES Error Number table Error Number Description Response Actions 01 Corruption of User Configuration Data Radar will attempt to restore Factory Default Data configuration set User will need to reset individual configuration variances from default set 02 Corruption of Radar operation will Return radar to AGD for repair and/or Factory Default Data automatically shut down as recalibration Configuration set operation to specification cannot be assured 03 Radar operation will Corruption automatically shut of Critical Configuration Data down as operation to specification is not possible 04 Internal communication error. Communication between radar processors has failed. Radar operation will automatically shut down Return radar to AGD for repair and/or calibration 05 General error Radar has internal code tags to indicate resource usage and levels of processing load User should ignore if infrequent. Repeated occurrence suggests radar nearing specification limits and should be shut down by the user. It should be noted that repeated occurrence of this message may be owing to the specific site at which it is deployed and or the associated targets making the radar work close to its operational processing limits. 06 Sampling Frequency Error The radar will continue to If the sampling Frequency Error is operate. persistent ie more than one message every 10 secs, then the radar operation to specification cannot be assured and should be shut down by the host system. The radar should be returned to AGD for repair and/or recalibration 27 Return radar to AGD for repair and/or recalibration CRC8 C CODE WORKED EXAMPLE CRC8 C Code CRC8 checksums are used on the standard radar messages. The checksum calculation is performed on all bytes, up to and including the asterisk character. These checksums are calculated using the following C code. //Lookup table for CRC8 calculation //Needs to be initialised with InitCRC8 U8 crc8_table[256]; /********************************MemCRC8******************************* This function calculates the CRC8 of a data array pointed to by data and of length length. Uses polynomial x^8 + x^2 + x + 1. Lookup table used by function is initialised by the InitCRC8 function. */ unsigned char MemCRC8(void *data, unsigned int length) unsigned char crc8; unsigned char i; unsigned char *dptr; dptr = (unsigned char*)data; crc8 = 0; //Start with a value of 0 for(i = 0; i < length; i++) crc8 = crc8_table[crc8 ^ *dptr]; ++dptr; return crc8; #define GP 0x107 /* x^8 + x^2 + x + 1 */ #define DI 0x07 /****************************InitCRC8****************************** Initialises the lookup table for the MemCRC8 function Uses polynomial x^8 + x^2 + x + 1 */ void InitCRC8(void) int i,j; unsigned char crc; for (i=0; i<256; i++) crc = i; for (j=0; j<8; j++) crc = (crc << 1) ^ ((crc & 0x80) ? DI : 0); crc8_table[i] = crc & 0xFF; 28 ANTENNA PLOTS ANTENNA PLOTS Power (dB) -10 -20 -30 -40 -50 -200 -180 -160 -140 -120 -100 -80 -60 -40 -20 20 Angle (Degrees) Horizontal Beam Pattern Vertical Beam Pattern 3dB Level 29 40 60 80 100 120 140 160 180 200 technical specifications 50mm 288mm 112mm 50mm SPECIFICATIONS Technology FMCW Radar Radiated Power <100mW EIRP Transmit Frequency In the band 24.075 to 24.125GHz Transmit Bandwidth 9.4MHz Range 2 to 60m Mounting Flange fixings or tripod mount Mounting Height 1 - 3.5m nominal Speed Range 20 to 320kph Weight 0.8 Kg nominal Housing Material Polycarbonate (UL94 V-2) Housing Finish Self coated black Sealing IP66 Operating Temperature -20°C to +60°C Power 2.9 - 3.3W Power Supply 10-16Vdc Radar Output RS422 EMC Specification ETSI EN 301 489 and BS EN 50293 Radio Specification ETSI 300.440, FCC CFR47 Part 15.245 Owing to the Company’s policy of continuous improvement, AGD Systems Limited reserves the right to change their specification or design without notice. This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference, that may cause undesired operation. See 47 CFR Sec. 15. 19 A separation distance of at least 20 centimetres should normally be maintained between this product and the body of users or nearby persons. Changes or modifications to this equipment, not expressly approved by AGD Systems Ltd, may void the user’s authority to operate this equipment. 30 TEST & CALIBRATION DEDICATED TEST EQUIPMENT The key test functions performed by Hyperion to Certify the premium performance of the 342 are: • True range simulation of target • Target speed and direction simulation at a given range • Radar target processing optimisation • Transmitted radar frequency modulation measurement • Verification of interface and communication protocols • Test cycle time of 9 minutes 31 MANUFACTURING TEST PROCESS TEST EQUIPMENT: HYPERION TM INTELLIGENT DETECTION SYSTEMS PRODUCT TEST: 315 | 316 | 317 | 335 | 336 | 342 TEST FUNCTION: • True range simulation of target • Radar target processing optimisation • Test cycle time 9 minutes • Verification of communication protocols HYPERION was designed and developed by AGD Systems Hyperion™ is a bespoke set of test equipment designed and developed by AGD Systems. It is dedicated to the testing of the AGD portfolio of ‘ranging’ FMCW vehicle radars. 100% of the 342 units manufactured at AGD are Certified by Hyperion. FULL RANGE HYPERION is dedicated to the testing of the AGD portfolio of ‘ranging’ FMCW vehicle radars. It provides true range simulation and both target speed and direction simulation at a given range The key test functions performed by Hyperion to Certify the premium performance of your Intelligent Detection System are: • True range simulation of target • Target speed and direction simulation at a given range • Radar target processing optimisation • Transmitted radar frequency modulation measurement • Verification of interface and communication protocols • Test cycle time of 9 minutes The radar test sequences performed by Hyperion on the radar under test provides a thorough examination of the performance of the 342 radar and specifically the ranging measurement capability provided by the FMCW technology deployed. This gives full control of simulated targets’ signal size, speed, direction and range. LIFETIME PRODUCT TRACEABILITY There are clearly defined pass and fail criteria at all stages within the Hyperion test process. The test results in association with the product build revision are recorded on a product serial number basis. The full suite of test measurements is instantly sent to the dedicated product database within the AGD secure server facility, providing full traceability during the product lifetime. The AGD Certified symbol is your mark of assured performance. 32 Optimisation of frequency signals on Hyperion ensures full compatibility with country requirements within the 24GHz radar operating band. END OF LIFE – DISPOSAL INSTRUCTIONS (EOL) IMPORTANT AGD342 RADAR TRAFFIC DETECTOR Item 13 Qty Material PCB Assembly Zinc Alloy ABS Mixed Metal & PVC Polycarbonate PC, Brass PCB Assembly Item 14 15 16 17 18 19 20 Qty 10 Material PCB Assembly Nickel Silver Steel Mixed Metal & PVC Steel Steel Steel • • • • • Reuse / Recycle Separate & Recycle Downcycle Hazardous Recovery Non- Recyclable This document serves as a guideline only for EOL procedures and further guidance may need to be sought from the appropriate authority or agency. 33 importAnt Safety Precautions All work must be performed in accordance with company working practices, in-line with adequate risk assessments. Only skilled and instructed persons should carry out work with the product. Experience and safety procedures in the following areas may be relevant: • Working with mains power • Working with modern electronic/electrical equipment • Working at height • Working at the roadside or highways 1. This product is compliant to the Restriction of Hazardous Substances (RoHS - European Union directive 2002/95/EG). 2. Should the product feature user-accessible switches, an access port will be provided. Only the specified access port should be used to access switches. Only non-conductive tools are to be used when operating switches. 3. The product must be correctly connected to the specified power supply. All connections must be made whilst the power supply is off or suitably isolated. Safety must take always take precedence and power must only be applied when deemed safe to do so. 4. No user-maintainable parts are contained within the product. Removing or opening the outer casing is deemed dangerous and will void all warranties. 5. Under no circumstances should a product suspected of damage be powered on. Internal damage may be suggested by unusual behaviour, an unusual odour or damage to the outer casing. Please contact AGD for further advice. 34 importAnt IMPORTANT INFORMATION Low Power Non-Ionising Radio Transmission and Safety Concern has been expressed in some quarters that low power radio frequency transmission may constitute a health hazard. The transmission characteristics of low power radio devices is a highly regulated environment for the assurance of safe use. There are strict limits on continuous emission power levels and these are reflected in the testing specifications that the products are approved to. These type approval limits are reflected in the product specifications required for a typical geographic area such as those for the EU (ETS300:440), for the USA (FCC part 15c) and for Australia/ New Zealand (AS/NZS 4268). The limits adopted in these specifications are typically replicated in many other localized specifications. The level of safe human exposure to radio transmission is given by the generally accepted guidelines issued by the International Commission on Non-Ionizing Radiation Protection (ICNIRP). This body has issued guidance for limiting exposure to time-varying electric, magnetic and electromagnetic fields (up to 300 GHz) which are quoted below. Radar and ICNIRP limit comparison Radar Transmitted Level (Note 4) ICNIRP Limit (Table 6) Exposure Margin Power (mW EIRP) <100mW (<20dBm) N/A Max Power Density (mW/cm2) 3.18µW/cm2 at 50cm (Note 3) <50W/m2 (5mW/cm2) (Note 2) Field Strength (V/m) at 3m <0.58V/m (5.8mV/cm) (Note 1) <137V/m (1370mV/cm) Typical Informative Limits for Radar Transmission Approval ETS300:440 FCC (part15c) AS/NZS 4268 N/A 100mW (20dBm) 1875mW (Note 1) 100mW (20dBm) 0.064% N/A N/A N/A 0.42% 0.58V/m (5.8mV/cm) (Note 1) 2500mV/m (25mV/cm) 0.58V/m (5.8mV/cm) (Note 1) Note 1 Values are calculated conversions for comparison purposes. Note 2 Other equivalent limits include; Medical Research Council Limit of 10mW/cm2, IACP limit of 5mW/cm2 (at 5cm) and UK CAST limit of 5mW/cm2 Note 3 Calculation is made on the assumption antenna is a point source therefore the actual value is likely to be significantly less than that quoted. Note that a theoretical max level at a 5cm distance (which gives 0.318mW/cm2) is at a point in the field where the radar beam is not properly formed. Note 4 Comparison for product model 342 operating in the band typically 24.050GHz to 24.250GHz From the table it can be seen that it is extremely unlikely that a potentially hazardous situation could occur owing to the use of such low power devices. It is considered to be good practice not to subject humans to radiation levels higher than is necessary. In a works environment where multiple equipment on soak test are to be encountered then it is considered good practice to contain the equipment in an appropriate enclosure lined with radar absorbing material. 35 DISCLAIMER While we (AGD Systems) endeavour to keep the information in this manual correct at the time of print, we make no representations or warranties of any kind, express or implied, about the completeness, accuracy, reliability, suitability or availability with respect to the information, products, services, or related graphics contained herein for any purpose. Any reliance you place on such information is therefore strictly at your own risk. In no event will we be liable for any loss or damage including without limitation, indirect or consequential loss or damage, or any loss or damage whatsoever arising from loss of data or profits arising out of, or in connection with, the use of this manual. Warranty AGD Systems Limited White Lion House Gloucester Road, Staverton, Cheltenham Gloucestershire, GL51 0TF, UK T: +44 (0)1452 854212 F: +44 (0)1452 854213 E: sales@agd-systems.com W: agd-systems.com ISO 9001 ISO 14001 Registered Quality Management Registered 015 Environmental Management 015 ©AGD Systems Limited 2013 Doc. Ref. 342 PM ISS8 All 342 radars are supplied with a 12 month return to factory warranty. Products falling outside this period may be returned to AGD Systems for evaluation, chargeable repair or re-calibration.
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xmp.iid:0FE23CB640206811871FD12422686590, xmp.iid:E331783244206811871FD12422686590, xmp.iid:D073001148206811871FD12422686590, xmp.iid:8183160649206811871FD12422686590, xmp.iid:8283160649206811871FD12422686590, xmp.iid:E1B0D45E4A206811871FD12422686590, xmp.iid:65F4C3D53F20681188C6B8B7614D0CC5, xmp.iid:B374CA974020681188C6B8B7614D0CC5, xmp.iid:B474CA974020681188C6B8B7614D0CC5, xmp.iid:1F9B13E74320681188C6B8B7614D0CC5, xmp.iid:8AC0BAF21C2068118C14AA86BD1E37C7, xmp.iid:DABA085B1D2068118C14AA86BD1E37C7, xmp.iid:3F9DBF80342068118C14AA86BD1E37C7, xmp.iid:ED16EB9A3C2068118C14AA86BD1E37C7, xmp.iid:625C4DE43D2068118C14AA86BD1E37C7, xmp.iid:DAA58E1F3E2068118C14AA86BD1E37C7, xmp.iid:F6DD26563E2068118C14AA86BD1E37C7, xmp.iid:F6823874072068118C14C8B77971C8D1, xmp.iid:1B819D913520681188C6876B800A2991, xmp.iid:D397A3633620681188C6876B800A2991, xmp.iid:61CA20740720681188C6A3E29626D323, xmp.iid:62CA20740720681188C6A3E29626D323, xmp.iid:63CA20740720681188C6A3E29626D323, 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xmp.iid:58156BFF442068118083ECEE9122F361, xmp.iid:CB3A6EB6452068118083ECEE9122F361, xmp.iid:8B6A5F03472068118083ECEE9122F361, xmp.iid:A4984DF80C206811822AEC12154361D8, xmp.iid:011FDDD52E206811822AEC12154361D8, xmp.iid:5A1CBC53242068118083E6D306190ED6, xmp.iid:7BAED90F2C2068118083E6D306190ED6, xmp.iid:F2A3CD101C2068118083E98687D1D5BF, xmp.iid:1EB740261C2068118083E98687D1D5BF, xmp.iid:4E3408661C2068118083E98687D1D5BF, xmp.iid:BA14CA7E1C2068118083E98687D1D5BF, xmp.iid:489D07B61C2068118083E98687D1D5BF, xmp.iid:21F4BC63262068118083E98687D1D5BF, xmp.iid:37B573A40D2068118A6DF6CFF5FC802E, xmp.iid:970B1715102068118A6DF6CFF5FC802E, xmp.iid:74121F90102068118A6DF6CFF5FC802E, xmp.iid:F6C01A740720681188C6AF972E915A99, xmp.iid:DA2C52EB2720681188C6F1A30D594B5B, xmp.iid:F4B97E093020681188C6F1A30D594B5B, xmp.iid:7816167407206811871F8020E3CE2A2E, xmp.iid:68E32D080A206811822AD44C80169799, xmp.iid:EA97C63C0A206811822AD44C80169799 History When : 2009:09:24 16:59:35+01:00, 2009:09:24 16:59:35+01:00, 2009:09:24 17:05:11+01:00, 2009:09:24 19:30:01+01:00, 2009:10:05 11:35:07+01:00, 2009:10:22 15:17:21+01:00, 2009:10:22 22:43:14+01:00, 2009:10:23 14:18:16+01:00, 2009:10:23 14:27:48+01:00, 2009:10:23 15:10:20+01:00, 2009:10:23 15:23:15+01:00, 2009:10:27 16:17:05Z, 2009:10:27 16:17:11Z, 2009:10:27 17:07:12Z, 2009:10:28 16:13:12Z, 2009:11:13 11:52:12Z, 2010:07:13 08:29:32+01:00, 2010:07:13 08:30:31+01:00, 2010:07:13 08:31:11+01:00, 2010:07:13 09:15:20+01:00, 2011:06:15 15:55:41+01:00, 2011:06:15 15:56:40+01:00, 2011:06:15 17:08:10+01:00, 2011:06:16 09:37:53+01:00, 2011:06:16 11:27:57+01:00, 2011:06:16 11:44:31+01:00, 2011:06:16 11:49:33+01:00, 2011:06:16 12:30:32+01:00, 2011:06:16 12:42:10+01:00, 2011:06:16 12:59:37+01:00, 2011:06:16 13:12:10+01:00, 2011:06:17 13:25+01:00, 2011:06:17 13:33:35+01:00, 2011:06:17 13:41:17+01:00, 2011:06:17 14:07:10+01:00, 2011:06:17 15:17:53+01:00, 2011:06:17 15:24:09+01:00, 2011:06:17 17:40:24+01:00, 2011:06:20 14:00:14+01:00, 2011:06:21 16:55:36+01:00, 2011:06:21 17:03:35+01:00, 2011:06:21 17:22:04+01:00, 2011:06:21 17:36:08+01:00, 2011:06:22 16:58:07+01:00, 2011:06:22 17:03:29+01:00, 2011:06:24 14:16:57+01:00, 2011:06:24 14:19:55+01:00, 2011:06:27 16:48:11+01:00, 2011:06:27 16:55:13+01:00, 2011:06:28 12:27:30+01:00, 2011:06:28 12:57:51+01:00, 2011:07:07 11:58:23+01:00, 2011:07:07 12:11:11+01:00, 2011:07:07 12:11:49+01:00, 2011:07:07 12:16:17+01:00, 2011:07:14 16:08:14+01:00, 2011:07:14 16:18:38+01:00, 2011:07:14 16:31:08+01:00, 2011:07:14 16:34:37+01:00, 2011:07:14 16:42:29+01:00, 2011:07:14 16:46:30+01:00, 2011:07:14 16:57:39+01:00, 2011:07:14 16:58:57+01:00, 2011:07:14 17:06:19+01:00, 2011:07:17 18:35:17+01:00, 2011:09:15 10:32:31+01:00, 2011:09:15 10:35:05+01:00, 2011:09:15 15:22:21+01:00, 2011:09:22 10:35:44+01:00, 2011:09:22 11:24:03+01:00, 2011:09:22 11:37:36+01:00, 2011:09:22 11:52:31+01:00, 2011:09:22 12:40:12+01:00, 2011:09:22 13:03:36+01:00, 2011:09:22 13:10:14+01:00, 2011:09:22 13:20:10+01:00, 2011:09:22 16:12:28+01:00, 2011:09:22 16:27:34+01:00, 2011:09:22 16:30:49+01:00, 2011:09:22 16:31:15+01:00, 2011:09:22 16:37:19+01:00, 2011:10:24 10:43:06+01:00, 2011:10:24 10:59:48+01:00, 2011:10:24 11:10:35+01:00, 2011:10:24 11:20:58+01:00, 2011:10:24 11:32:16+01:00, 2011:10:24 11:32:35+01:00, 2011:10:24 11:50:18+01:00, 2011:10:24 12:14:41+01:00, 2011:10:25 07:27:16+01:00, 2011:10:25 07:29:20+01:00, 2011:10:27 10:40:15+01:00, 2011:10:27 10:53:57+01:00, 2011:11:14 14:21:46Z, 2011:11:14 14:21:46Z, 2011:11:14 14:25:08Z, 2011:11:14 14:26:23Z, 2011:11:14 14:34:52Z, 2011:11:14 14:43:28Z, 2011:11:14 14:56:30Z, 2011:11:14 15:03:03Z, 2011:11:14 15:03:27Z, 2011:11:14 16:45:26Z, 2011:11:14 17:21:42Z, 2011:11:14 21:07:58Z, 2011:11:15 09:51:42Z, 2011:11:15 09:53:52Z, 2011:11:15 15:51:03Z, 2011:11:15 16:08:50Z, 2011:11:15 16:13:47Z, 2011:11:15 16:25:12Z, 2011:11:15 16:28:08Z, 2011:11:15 16:30:51Z, 2011:11:15 16:33:22Z, 2011:11:15 16:39:28Z, 2011:11:15 16:40:49Z, 2011:11:15 16:44:06Z, 2011:11:15 16:49:57Z, 2011:11:21 09:41:50Z, 2011:11:21 10:11:15Z, 2011:11:21 10:16:34Z, 2011:11:22 15:51:44Z, 2011:11:23 09:31:52Z, 2011:11:23 09:58:21Z, 2011:11:23 17:02:27Z, 2011:11:23 17:05:58Z, 2011:11:25 10:27:41Z, 2011:11:25 10:34:56Z, 2011:11:25 11:28:58Z, 2011:11:25 13:32:06Z, 2011:11:25 13:43:12Z, 2011:11:25 13:56Z, 2011:11:25 14:21:49Z, 2011:11:25 14:24:18Z, 2011:11:25 14:29Z, 2011:12:01 09:19:21Z, 2011:12:01 09:36:53Z, 2011:12:01 09:38:12Z, 2012:04:16 11:16:53+01:00, 2012:04:16 11:50:49+01:00, 2012:04:16 12:49:32+01:00, 2012:04:16 14:11:26+01:00, 2012:04:16 14:24:24+01:00, 2012:04:16 14:53:24+01:00, 2012:04:16 14:57:05+01:00, 2012:04:16 15:07:53+01:00, 2012:04:16 15:10+01:00, 2012:04:16 15:12:36+01:00, 2012:04:16 16:55:28+01:00, 2012:04:16 18:30:19+01:00, 2012:04:26 15:18:12+01:00, 2012:04:26 15:23:36+01:00, 2012:04:26 15:41:18+01:00, 2012:04:26 16:03:03+01:00, 2012:04:26 17:30:50+01:00, 2012:04:26 17:33:46+01:00, 2012:04:26 17:39:34+01:00, 2012:04:30 09:23:16+01:00, 2012:04:30 10:05:42+01:00, 2012:04:30 10:30:16+01:00, 2012:04:30 10:39:10+01:00, 2012:04:30 10:45:49+01:00, 2012:04:30 11:47:55+01:00, 2012:04:30 17:05:29+01:00, 2012:04:30 17:24:52+01:00, 2012:04:30 17:25:44+01:00, 2012:04:30 17:31:24+01:00, 2012:04:30 17:31:49+01:00, 2012:05:01 09:11:12+01:00, 2012:05:01 09:39:19+01:00, 2012:05:01 10:13:43+01:00, 2012:05:01 10:25:24+01:00, 2012:05:01 10:44+01:00, 2012:05:01 10:47:04+01:00, 2012:05:21 09:18:43+01:00, 2012:05:21 12:45:07+01:00, 2012:05:21 13:10:26+01:00, 2012:05:21 13:16:31+01:00, 2012:05:21 13:49:03+01:00, 2012:05:21 13:58:31+01:00, 2012:05:21 14:02:03+01:00, 2012:05:21 14:31+01:00, 2012:05:21 15:08:20+01:00, 2012:05:21 15:37:38+01:00, 2012:05:21 15:41:42+01:00, 2012:05:21 16:08:36+01:00, 2012:05:21 16:33:33+01:00, 2012:05:21 17:01:15+01:00, 2012:05:21 17:08:06+01:00, 2012:05:21 17:12:32+01:00, 2012:05:21 17:17:45+01:00, 2012:05:22 15:53:48+01:00, 2012:05:22 15:59:14+01:00, 2012:05:22 16:20:43+01:00, 2012:05:22 16:22:55+01:00, 2012:05:23 11:32:39+01:00, 2012:05:23 11:35:34+01:00, 2012:05:23 14:21:16+01:00, 2012:05:23 15:19:16+01:00, 2012:05:23 15:28:29+01:00, 2012:05:23 15:30:08+01:00, 2012:05:23 15:31:40+01:00, 2012:05:23 15:46:31+01:00, 2012:05:25 14:10:33+01:00, 2012:05:25 14:16:26+01:00, 2012:05:28 09:04:41+01:00, 2012:05:28 09:04:49+01:00, 2012:05:28 09:05:21+01:00, 2012:06:11 12:32:07+01:00, 2012:06:15 15:00:21+01:00, 2012:06:15 15:53:07+01:00, 2012:06:19 15:06:04+01:00, 2012:06:19 15:35:17+01:00, 2012:06:19 15:38:44+01:00, 2012:06:20 13:22:41+01:00, 2012:06:22 09:25:26+01:00, 2012:06:22 09:46:07+01:00, 2012:06:22 10:24:53+01:00, 2012:06:22 10:28:19+01:00, 2012:06:28 08:52:56+01:00, 2012:06:28 09:25:03+01:00, 2012:06:28 09:51:22+01:00, 2012:06:28 10:15:48+01:00, 2012:06:28 10:27:12+01:00, 2012:06:28 10:32:51+01:00, 2012:06:28 10:33:01+01:00, 2012:06:28 10:57:43+01:00, 2012:06:28 10:58:20+01:00, 2012:06:28 11:02:41+01:00, 2012:06:28 12:05:34+01:00, 2012:06:28 13:44:55+01:00, 2012:06:28 13:55:41+01:00, 2012:06:28 14:20:43+01:00, 2012:06:28 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