The Advanced Data Manager Memograph M is a flexible and powerful system for
organizing process values. Thanks to its intuitive operation, the Memograph M
adapts quickly and easily to the respective application. The measured process values
are clearly presented on the display and logged safely, monitored against limit
values, and analyzed. Via common communication protocols, the measured and
calculated values can be easily communicated to higher-level systems and individual
plant modules can be interconnected.
Your benefits
• High data security: tamper-proof data storage and personalized access
authorization with electronic signature (FDA 21 CFR 11)
• 7" TFT display for the clear presentation of measured values
• Stainless steel front with touch operation: trouble-free operation in demanding
environments such as hygienic or hazardous areas
• HART® input card: HART® sensors directly connected provide accurate process
values for calculation and logging
• HART® gateway: time-saving direct access to HART® sensors in the field with
FieldCare using Memograph M without interrupting the measuring loop
• Integrated Web server: remote access to device operation and visualization for
lower maintenance costs
• WebDAV: data saved on SD card transmitted directly to a PC via HTTP without any
additional software
• Future-oriented: simple device upgrade to up to 20 universal/HART® and 14
digital inputs or 12 relay outputs
• System capability: supports common fieldbuses (Modbus, Profibus DP, PROFINET,
EtherNet/IP) for fast integration into different systems
• Standard interfaces: can connect a USB keyboard or mouse for faster data entry
Function and system design
Memograph M, RSG45
Measuring principle
Measuring system
Electronic acquisition, display, recording, analysis, remote transmission and archiving of analog and
digital input signals as well as calculated values.
Panel version: Device with display and operating keys for installation in a panel or control cabinet
door. There is also the option of operating it in a desktop housing or field housing.
Panel version with stainless steel front: Device with touch screen (no operating keys) for
installation in a panel or a cabinet door. There is also the option of operating it in a desktop housing
or field housing.
DIN rail version: Device without a display or operating keys for mounting on a DIN rail.
Multichannel data recording system with multicolor TFT display (order option, 178 mm (7 in) screen
size), internal memory, external memory (SD card and USB stick), galvanically isolated universal
inputs (U, I, TC, RTD, pulse, frequency), HART® inputs, digital inputs, transmitter power supply, limit
relays, digital and analog outputs, communication interfaces (USB, Ethernet, RS232/485), optionally
available with Modbus, Profibus DP or PROFINET I/O or EtherNet/IP.
An Essential Version of the Field Data Manager (FDM) software is included for SQL-supported data
analysis at the PC.
The number of inputs available in the basic device can be individually increased using a
maximum of 5 plug-in cards. The device supplies power directly to connected two-wire
transmitters. The device is configured and operated via the navigator (jog/shuttle dial) or by
touchscreen (optional) using the integrated Web server and a PC, an external USB keyboard or
mouse or with the FieldCare / DeviceCare configuration software. Online help supports the user
during local operation.
Ex version:
• The hazardous area version (Ex version) is only available in conjunction with the stainless
steel front and touch control.
• In this version, the SD card is integrated in the device and cannot be removed. The card can
be read out using the Field Data Manager (FDM) software supplied via USB or Ethernet or via
WebDAV.
Application packages /
software options
In the standard version, the Advanced Data Manager has a variety of functions, including an end-toend safety concept to meet the requirements of FDA 21 CFR Part 11. The following application
packages are available to help users meet the requirements of their applications and save time:
• Mathematics
• Telealarm
• Batch management
• Wastewater + RSB (rain spillway basin)
• Energy calculation
The application packages contain the standard functions and the specific package functions. The
individual packages can be largely combined as the user requires. The application packages can also
be activated retroactively by entering the activation code.
Standard functions
• Signal analysis: external, 1 min to 12 h, day, week, month, year
• Web server
• User administration compliant with FDA 21 CFR Part 11
• Event log/audit trail
• Process screen
• Operation time counter
• Text entry/comments
• Change language
• Time synchronization
• Linearization
• Access protection through release code
• E-mail notification in event of alarms and limit violation
• Encrypted e-mail transmission via SSL (TLS)
• Operation via external USB keyboard and mouse
• External USB or network printer
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Memograph M, RSG45
Mathematics
With the mathematics package, measured values of the inputs or the results of other math channels
can be linked mathematically. A formula with up to 200 characters can be created using a formula
editor. Once entered, the user can then check the plausibility of the formula.
Functions:
• 12 math channels
• Mathematics functions via formula editor
• Basic arithmetic operations, relational operators, logic operations and functions
Telealarm software
The Telealarm software facilitates user mobility, allowing users to respond to events while they are
on the road. E-mails or SMS messages triggered by process alarms or other important process events
can be sent to several recipients simultaneously or automatically forwarded to a recipient/
destination. Messages can be confirmed, relays controlled remotely and current values queried by
cellular phone. The Advanced Data Manager with GSM (GPRS) or Ethernet is ideal both for
environmental applications to monitor unstaffed outstations, and for tank monitoring applications.
The Telealarm software contains the mathematics package.
Functions:
• Advanced SMS/e-mail notification in the event of an alarm
• Instantaneous values queried by cellular phone
• Remote relay switching
• Alarm confirmation by SMS
Batch software
Batch management allows users to reliably record and visualize discontinuous processes. Userdefinable or externally controlled analysis intervals are possible for up to four batches
simultaneously. Batches are assigned batch-specific values and the measured data, the start, end and
duration of every batch, along with the current batch status, are displayed on the device and in the
Field Data Manager software. At the end of the batch, batch information is automatically printed out
directly at the device (USB or network printer) or is printed out via a PC with the Field Data Manager
software.
The batch software contains the mathematics package.
Functions:
• Batch report for 4 batches simultaneously
• USB barcode reader
• Automatic batch printout
• Preset counter
Wastewater + RSB (rain spillway basin)
The water/wastewater software supports operations monitoring of the water/wastewater sewage
network to obtain information about the quality and efficiency of the plant. The daily, weekly,
monthly and yearly maximum and minimum value is determined per quantity channel. Infiltration
water recording and the monitoring of rain spillway basins for reservoir and overflow events are also
functions of this software option.
The water/wastewater software contains the mathematics package and the telealarm software.
Functions:
• Rain spillway basin (reservoir/overflow)
• Highest and lowest values for quantities
• Highest and lowest values from ¼-hourly averages
• Determination of infiltration water
Energy package (water + steam)
The energy package allows users to calculate the mass and energy flow in water and steam
applications on the basis of the flow, pressure and temperature (or temperature differential).
Furthermore, energy calculations are also possible using glycol-based refrigerant media.
By balancing the results against one another or by linking the results to other input variables (e.g.
gas flow, electr. energy), users can calculate overall balances, efficiency levels etc. These values are
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Memograph M, RSG45
important indicators for the quality of the process and form the basis for process optimization and
maintenance.
The internationally recognized standard IAPWS-IF 97 is used to calculate the thermodynamic state
variables of water and steam.
In the energy software, it is also possible to compensate differential pressure flow measurement
("DP-Flow"). The calculation of flow based on the differential pressure method is a special form of
flow measurement. Volumes or mass flow rates that are determined using the DP method require
specific correction. By solving the calculation equations listed in the standard in an iterative manner,
highly accurate results for DP flow measurements can be achieved. The measurement (orifice plate,
nozzle, Venturi pipe) is performed in accordance with ISO5167. Flow measurement based on the
dynamic pressure method uses the interrelation between differential pressure and flow.
The energy package contains the mathematics package.
Additional functions:
• 12 math channels
(Channels 1-8: energy-specific formulas and formula editor, channels 9-12: formula editor)
• Heat quantity + mass calculation for water and steam applications
• Efficiency calculation
TrustSens Calibration Monitoring
Available in conjunction with iTHERM TrustSens TM371 / TM372.
Application package :
• Up to 20 iTHERM TrustSens TM371 / TM372 can be monitored via the HART interface
• Self-calibration data displayed on screen or via the Web server
• Generation of a calibration history
• Creation of a calibration protocol as an RTF file directly at the RSG45
• Evaluation, analysis and further processing of the calibration data using "Field Data Manager"
(FDM) analysis software
DependabilityReliability
Depending on the device version, the mean time between failures (MTBF) is between 52 years and
16 years (calculated based on SN29500 standard at 40°C)
Maintainability
Battery-backed time and data memory. It is advisable to have the backup battery replaced by a
service technician after 10 years.
Real time clock (RTC)
• Automatic or manual summer time changeover
• Battery buffer. It is advisable to have the backup battery replaced by a service technician after 10
years.
• Drift: <10 min./year.
• Time synchronization possible via SNTP or via digital input.
Standard diagnostic functions as per Namur NE 107
The diagnostic code is made up of the error category as per Namur NE 107 and the message number.
• Cable open circuit, short-circuit
• Incorrect wiring
• Internal device errors
• Overrange/underrange detection
• Ambient temperature out-of-range detection
Device error/alarm relay
One relay can be used as an alarm relay. If the device detects a system error (e.g. hardware defect) or
a fault (e.g. cable open circuit), the selected relay switches.
This "alarm relay" switches if the device status is "F" (Failure). If the device status is "M" (Maintenance
required), the alarm relay does not switch.
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Memograph M, RSG45
Safety
Recorded data are saved in a tamper-proof format and can be exported and archived with
manipulation protection using the Field Data Manager software.
IT security
The manufacturer only provides a warranty if the device is installed and used as described in the
Operating Instructions. The device is equipped with security mechanisms to protect it against any
inadvertent changes to the device settings.
IT security measures in line with operators' security standards and designed to provide additional
protection for the device and device data transfer must be implemented by the operators themselves.
Input
Measured variablesAnalog universal inputs
Standard version without universal inputs. Optional multifunction cards (slot 1-5) with 4 universal
inputs (4/8/12/16/20) each.
You are free to choose between the following measured variables for each universal input: U, I, RTD,
TC, pulse input or frequency input.
Integration of input variable for totalization e.g. flow (m3/h) in quantity (m3).
HART® inputs
Standard version without HART® inputs. Optional HART® input cards (slot 1-5) with 4 inputs
(4/8/12/16/20) each.
Both the digital HART® values and the 4 to 20 mA signal can be evaluated at every input.
The 4 HART® values (PV, SV, TV, QV) of a sensor can be evaluated and the analog HART® value (PV)
can be measured via the digital HART® signal. Up to 40 digital HART® values can be recorded in
total. It is possible to access the HART® sensor in the field from a PC tool (e.g. FieldCare). In this way,
the sensor can be configured from the control room and the status information of the sensor can be
analyzed/displayed. The Memograph M acts as a HART® Gateway.
Access to the connected sensors is only possible if the device is connected by Ethernet.
Port 5094 must be open in the firewall.
Digital inputs
Standard version: 6 digital inputs
Optional digital card (slot 5): 8 additional digital inputs, 6 additional relays and 2 analog outputs
Math channels
12 math channels (optional). Mathematics functions can be freely edited via a formula editor.
Integration of calculated values e.g. for totalization.
Limit values
60 limit values (individual channel assignment)
Calculated values
The values of the universal and HART® inputs can be used to perform calculations in the math
channels.
The results of the math channels can also be used for calculations in other math channels.
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Memograph M, RSG45
Measuring range
According to IEC 60873-1: An additional display error of ±1 digit is permitted for every measured
value.
User-definable measuring ranges per universal input of the multifunction card:
Measured
variable
Current (I)0 to 20 mA; 0 to 20 mA quadratic
Voltage (U)
>1 V
Voltage (U)
≤1 V
Resistance
thermometer
(RTD)
Thermocoupl
es (TC)
Pulse input
1)
(I)
Frequency
input (I)
Measuring rangeMaximum measured error of
0 to 5 mA
4 to 20 mA; 4 to 20 mA quadratic
±20 mA
Overrange: up to 22 mA or -22 mA
0 to 10 V; 0 to 10 V quadratic
0 to 5 V
1 to 5 V; 1 to 5 V quadratic
±10 V
±30 V
0 to 1 V; 0 to 1 V quadratic
±1 V
±150 mV
Pt100: -200 to 850 °C (-328 to 1562 °F) (IEC 60751:2008, α=0.00385)
Pt100: -200 to 510 °C (-328 to 950 °F) (JIS C 1604:1984, α=0.003916)
Pt100: -200 to 850 °C (-328 to 1562 °F) (GOST 6651-94, α=0.00391)
Pt500: -200 to 850 °C (-328 to 1562 °F) (IEC 60751:2008, α=0.00385)
Pt500: -200 to 510 °C (-328 to 950 °F) (JIS C 1604:1984, α=0.003916)
Pt1000: -200 to 600 °C (-328 to 1112 °F) (IEC 60751:2008, α=0.00385)
Pt1000: -200 to 510 °C (-328 to 950 °F) (JIS C 1604:1984, α=0.003916)
Cu50: -50 to 200 °C (-58 to 392 °F) (GOST 6651-94, α=4260)
Cu50: -200 to 200 °C (-328 to 392 °F) (GOST 6651-94, α=4280)
Pt50: -200 to 1100 °C (-328 to 2012 °F) (GOST 6651-94, α=0.00391)
Cu100: -200 to 200 °C (-328 to 392 °F) (GOST 6651-94, α=4280)
Pt46: -200 to 1100 °C (-328 to 2012 °F) (GOST 6651-94, α=0.00391)
Cu53: -200 to 200 °C (-328 to 392 °F) (GOST 6651-94, α=4280)
Type J (Fe-CuNi): -210 to 1200 °C (-346 to 2192 °F) (IEC 60584:2013)
Type K (NiCr-Ni): -270 to 1300 °C (-454 to 2372 °F) (IEC 60584:2013)
Type L (NiCr-CuNi): -200 to 800 °C (-328 to 1472 °F) (GOST R8.585:2001)
Type L (Fe-CuNi): -200 to 900 °C (-328 to 1652 °F) (DIN 43710-1985)
Type N (NiCrSi-NiSi): -270 to 1300 °C (-454 to 2372 °F) (IEC 60584:2013)
Type T (Cu-CuNi): -270 to 400 °C (-454 to 752 °F) (IEC 60584:2013)
Type A (W5Re-W20Re): 0 to 2500 °C (32 to 4532 °F) (ASTME 988-96)
Type B (Pt30Rh-Pt6Rh): 42 to 1820 °C (107.6 to 3308 °F) (IEC 60584:2013)
Type C (W5Re-W26Re): 0 to 2315 °C (32 to 4199 °F) (ASTME 988-96)
Type D (W3Re-W25Re): 0 to 2315 °C (32 to 4199 °F) (ASTME 988-96)
Type R (Pt13Rh-Pt): -50 to 1768 °C (-58 to 3214 °F) (IEC 60584:2013)
Type S (Pt10Rh-Pt): -50 to 1768 °C (-58 to 3214 °F) (IEC 60584:2013)
Min. Pulse length 40 μs, max. 12.5 kHz; 0 to 7 mA = LOW; 13 to 20 mA = HIGHLoad: 50 Ω
0 to 10 kHz, overrange: up to 12.5 kHz; 0 to 7 mA = LOW; 13 to 20 mA = HIGH ±0.02% @ f <100 Hz of reading
±0.1% oMR from -100 °C (-148 °F)
±0.1% oMR from -130 °C (-202 °F)
±0.1% oMR from -100 °C (-148 °F)
±0.1% oMR from -100 °C (-148 °F)
±0.1% oMR from -100 °C (-148 °F)
±0.1% oMR from -200 °C (-328 °F)
Temperature drift: ±0.01%/K oMR
±0.15% oMR from 500 °C (932 °F)
±0.15% oMR from 600 °C (1112 °F)
±0.15% oMR from 500 °C (932 °F)
±0.15% oMR from 500 °C (932 °F)
±0.15% oMR from 100 °C (212 °F)
±0.15% oMR from 100 °C (212 °F)
Temperature drift: ±0.01%/K oMR
±0.01% @ f ≥100 Hz of reading
Temperature drift: 0.01% of
measured value over the entire
temperature range
Input
resistance
Load: 50 Ω
±1 Ω
≥1 MΩ
≥2.5 MΩ
≥1 MΩ
≥1 MΩ
±1 Ω
1)If a universal input is used as a frequency or pulse input, a series resistor must be used in series connection with the voltage source. Example: 1.2
kΩ series resistor at 24 V
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Memograph M, RSG45
Current measuring range of the HART® card:
Measured
variable
Current (I)4 to 20 mA
Measuring rangeMaximum measured error of
measuring range (oMR),
temperature drift
±0.1% oMR
Overrange: up to 22 mA
Temperature drift: ±0.01%/K oMR
Maximum load and additional input parameters of the multifunction cards
Limit values for input voltage and current as well as cable open circuit detection/line influence/temperature compensation:
Measured variable Limit values (steady-state, without
destroying input)
Current (I)Maximum permitted input voltage: 2.5 V
Maximum permitted input current: 50 mA
Pulse, frequency (I) Maximum permitted input voltage: 2.5 V
Maximum permitted input current: 50 mA
Voltage (U) >1 VMaximum permitted input voltage: 35 V1 to 5 V range with disengageable cable open circuit monitoring:
Voltage (U) ≤1 VMaximum permitted input voltage: 24 V
Resistance
thermometer (RTD)
Thermocouples (TC) Maximum permitted input voltage: 24 VInfluence of line resistance: <0.001%/Ω
Measuring current: ≤1 mAMaximum barrier resistance (or line resistance):
Cable open circuit detection/line influence/temperature compensation
4 to 20 mA range with disengageable cable open circuit monitoring to NAMUR
NE43. The following error ranges apply when NAMUR NE43 monitoring is
switched on:
≤3.8 mA: underrange
≥20.5 mA: overrange
≤ 3.6 mA or ≥ 21.0 mA: open circuit (display shows: – – – –)
No cable open circuit monitoring
<0.8 V or >5.2 V: cable open circuit (display shows: - - - -)
4-wire: max. 200 Ω; 3-wire: max. 40 Ω
Maximum influence of barrier resistance (or line resistance) for Pt100, Pt500
and Pt1000: 4-wire: 2 ppm/Ω, 3-wire: 20 ppm/Ω
Maximum influence of barrier resistance (or line resistance) for Pt46, Pt50,
Cu50, Cu53, Cu100 and Cu500: 4-wire: 6 ppm/Ω, 3-wire: 60 ppm/Ω
Cable open circuit monitoring if any connection is interrupted.
Error, internal temperature compensation: ≤ 2 K
Input
impedance
Load: 10 Ω
±1 Ω
Maximum load and additional input parameters of the HART® cards
Limit values for input voltage and current as well as cable open circuit detection:
Measured variable Limit values (steady-state, without
destroying input)
Current (I)Maximum permitted input voltage: 0.5 V
Maximum permitted input current: 50 mA
Cable open circuit detection
4 to 20 mA range with disengageable cable open circuit monitoring to NAMUR
NE43. The following error ranges apply when NAMUR NE43 monitoring is
switched on:
≤3.8 mA: underrange
≥20.5 mA: overrange
≤ 3.6 mA or ≥ 21.0 mA: open circuit (display shows: – – – –)
Scan rate
Current/voltage/pulse/frequency input: 100 ms per channel
Thermocouples and resistance temperature detector: 1 s per channel
Data storage / memory cycle
Choose from the following for the memory cycle: off / 100 ms / 1s / 2s / 3s / 4s / 5s / 10s / 15s /
20s / 30s / 1min / 2min / 3min / 4min / 5min / 10min / 15min / 30min / 1h
Highspeed storage (100 ms) can be selected for up to 8 channels in Group 1 only.
Highspeed storage is not available in the energy package (option).
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256 MB internal memory:
Memograph M, RSG45
Typical recording length
Prerequisites for following tables:
• No limit value violation / integration
• Digital input not used
• Signal analysis 1: off, 2: day, 3: month, 4: year
• No active math channels
Frequent entries in the event log reduce the memory availability!
Channels in groupsStorage cycle (weeks, days, hours)
5 min1 min30 s10 s1 s
Digital inputs
Converter resolution
24 bit
Totalization
The interim value, daily value, weekly value, monthly value, annual value and overall value can be
determined (13-digit, 64 bit).
Analysis
Recording of quantity/operating time (standard function), also a min/max/median analysis within
the set time frame.
Input levelLogical "0" (corresponds to –3 to +5 V), activation with logical "1" (corresponds to
+12 to +30 V)
Input frequencymax. 25 Hz
Pulse lengthMin. 20 ms (pulse counter)
Pulse lengthMin. 100 ms (control input, messages, operating time)
Input currentmax. 2 mA
Input voltageMax. 30 V
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Memograph M, RSG45
Selectable functions
• Functions of the digital input: control input, ON/OFF message, pulse counter (13-digit, 64-bit),
operating time, message+operating time, quantity from time, Profibus DP, EtherNet/IP,
PROFINET.
• Functions of the control input: start recording, screensaver on, lock setup, time synchronization,
change group, limit value monitoring on/off, individual LV on/off, block keyboard/navigator,
start/stop analysis.
Additionally for the batch software option: reset batch number, batch limit values on/off.
Output
Auxiliary voltage output
Analog and pulse outputsNumber
The auxiliary voltage output can be used for loop power supply or to control the digital inputs. The
auxiliary voltage is short-circuit proof and galvanically isolated.
Output voltage24 VDC ±15%
Output currentMax. 250 mA
Optional digital card (slot 5): 2 analog outputs which can be operated as current or pulse outputs.
Analog output (current output)
Output current: 0/4 to 20 mA with 10% overrange
Max. output voltage: approx. 16 V
Accuracy: ≤0.1% of end of range value
Temperature drift: ≤0.015%/K of end of range value
Resolution: 13 Bit
Load: 0 to 500 Ω
Error signal as per NAMUR NE43: 3.6 mA or 21 mA can be configured
Digital output (pulse output)
Output voltage:
≤5 V corresponds to LOW
≥12 V corresponds to HIGH
Short-circuit proof (maximum 25 mA)
Speed: max. 1000 pulses/s
Pulse width: 0.5 to 1000 ms
The pulse pause is at least as long as the pulse width.
Load: ≥1 kΩ
Relay outputs
A mix of low voltage (230 V) and safety extra low voltage (SELV circuits) is not permitted at the
connections of the relay contacts.
Alarm relay
1 alarm relay with changeover contact.
Standard relay
5 relays with NO contact, e.g. for limit value messages (can be configured as NC contact).
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Memograph M, RSG45
Optional relays
Optional digital card (slot 5): 6 additional relays with NO contact e.g. for limit value alarms (can be
configured as an NC contact).
Relay switching capacity
• Max. relay switching capacity: 3 A @ 30 V DC
• Max. relay switching capacity: 3 A @ 250 V AC
• Min. switching load: 300 mW
Switching cycles
5
>10
Galvanic isolation
All inputs and outputs are galvanically isolated from each other and designed for the following test
voltages:
RelayDigitalinAnalog
Relay500
V
2 kVDC2 kVDC2 kVDC2 kVDC2 kV
DC
Digital in 2 kVDC500
V
DC
but:
Analog
in/HART®
Analog
out
2 kVDC500
V
DC
2 kVDC500
V
DC
Ethernet2 kVDC500
V
DC
RS232/
RS485
2 kVDC500
V
DC
USB2 kVDC500
V
DC
Auxiliary
voltage
2 kVDC500
V
DC
output
in/
HART®
500
V
1)
500
V
500
V
500
V
500
V
500
V
500
V
Analog
out
500
V
DC
500
V
DC
500
V
DC
500
V
DC
500
V
DC
500
V
DC
EthernetRS232/
500
V
DC
DC
500
V
DC
DC
500
V
DC
DC
-500 VDC500 V
DC
500
V
DC
DC
500
V
DC
DC
USBAuxiliary voltage output
RS485
2 kV
DC
500 VDC500 V
500 VDC500 V
500 VDC500 V
-500 V
DC
DC
DC
DC
DC
DC
500 VDCGalvanicall
y
2 kV
500 V
500 V
500 V
500 V
500 V
500 V
DC
DC
DC
DC
DC
DC
DC
connected
500
V
DC
500
V
DC
DC
500 VDC500 V
-
DC
1)Test voltage applies between inputs on power unit (terminals D11 to D61) to inputs on optional digital
card (terminals D71 to DE1). The inputs are galvanically connected on the same plug-in connector.
Cable specificationCable specification, spring terminals
All connections on the rear of the device are designed as pluggable screw or spring terminal blocks
with reverse polarity protection. This makes the connection very quick and easy. The spring
terminals are unlocked with a slotted screwdriver (size 0).
Please note the following when connecting:
• Wire cross-section, auxiliary voltage output, digital I/O and analog I/O: max. 1.5 mm2 (14 AWG)
No ferrules must be used when connecting flexible wires to spring terminals.
Shielding and grounding
Optimum electromagnetic compatibility (EMC) can only be guaranteed if the system components
and, in particular, the lines - both sensor lines and communication lines - are shielded and the shield
forms as complete a cover as possible. A shielded line must be used for sensor lines that are longer
than 30 m. A shield coverage of 90% is ideal. In addition, make sure not to cross sensor lines and
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