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PLUS+1™ GUIDEService Tool

Generic Dual Path Subsystem Application Service Tool User Manual

Generic Dual Path

Generic Dual Path Subsystem Application Service ToolUser Manual

2 11058326 Rev CA Apr 2011

About this Manual

Organization and Headings

To help you quickly find information in this manual, the material is divided into sections, topics, subtopics, and details, with descriptive headings set in red type. Section titles appear at the top of every page in large red type. Topic headings appear in the left-hand column in bold red type. Subtopic headings appear above the body text in bold red type and detail headings in italic red type.

References (example: See Topic xyz, page XX) are also formatted in red italic type. In Portable Document Format (PDF) files, these references are hyperlinks that jump to the corresponding document pages.

Tables, Illustrations, and Complementary Information

Tables, illustrations, and graphics in this manual are identified by titles set in blue italic type above each item. Complementary information such as notes, captions, and drawing annotations are also set in blue type.

Special Text Formatting Controls and indicators are set in bold black type.

Black italic type is used in the text to emphasize important information, or to set off words and terms that are used in an unconventional manner or alternative context.

Table of Contents A Table of Contents (TOC) appears on the next page. In the PDF version of this document, the TOC entries are hyperlinked.

Revision History

Revision Date Comment

Rev CA Apr 2011 Page 9, corrected.wiring diagram

Rev BC Apr 2010 Page 92, table order corrected.

Rev BB Dec 2009 Page 9, wiring diagram: minor correction.

Rev BA Nov 2009 Major revision.

Rev AA Dec 2008

©2011 Sauer-Danfoss. All rights reserved. Sauer-Danfoss accepts no responsibility for possible errors in catalogs, brochures and other printed material. Sauer-Danfoss reserves the right to alter its products without prior notice. This also applies to products already ordered provided that such alterations can be made without affecting agreed specifications. All trademarks in this material are properties of their respective owners.

PLUS+1, GUIDE, and Sauer-Danfoss are trademarks of the Sauer-Danfoss Group. The PLUS+1 GUIDE, PLUS+1 Compliant, and Sauer-Danfoss logotypes are trademarks of the Sauer-Danfoss Group.


11058326 · Rev CA · Apr 2011 3

Contents

T Adobe Reader® links entries in this table of contents. To follow a link, click on an entry.

Overview ............................................................................................................................................................ 5 Safety Precautions ................................................................................................................................... 5

Unintended Machine Movement .............................................................................................. 5 Flammable Cleaning Solvents .................................................................................................... 5 Fluid Under Pressure ...................................................................................................................... 5 Personal Injury .................................................................................................................................. 5

Assumptions ............................................................................................................................................. 6 Recommendations .................................................................................................................................. 6 Required Equipment .............................................................................................................................. 6 Additional Documentation .................................................................................................................. 7 System Diagram ....................................................................................................................................... 8 Wiring Diagram ........................................................................................................................................ 9 Service Tool Functions ......................................................................................................................... 10

Log Functions Screens ................................................................................................................. 10 Parameter Functions Screens .................................................................................................... 10

Start Up Procedure and Service Tool Information.............................................................................. 11 Machine Start Up ................................................................................................................................... 11 Step 1 ➙ Define ..................................................................................................................................... 12

Identify Application and Controller Information ................................................................ 12 User-defined or User-calculated Parameters ....................................................................... 13 General Information on Parameters ....................................................................................... 20

Step 2 ➙ Machine Checkout ............................................................................................................. 21 Step 3 ➙ Controller Start Up ............................................................................................................. 22 Step 4 ➙ Engine Start Up ................................................................................................................... 28 Step 5 ➙ Calibration Preparation .................................................................................................... 30 Step 6 ➙ Calibrate Inputs ................................................................................................................... 32 Step 7 ➙ Calibrate Thresholds .......................................................................................................... 36 Step 8 ➙ Calibrate Max Currents ..................................................................................................... 38 Step 9 ➙ Tuning .................................................................................................................................... 41

Log Functions ................................................................................................................................................. 55 Software.................................................................................................................................................... 55

Inputs Panel..................................................................................................................................... 55 Fault Handling Panel .................................................................................................................... 57 Application Block Panel .............................................................................................................. 58 Calibration Panel ........................................................................................................................... 59 Outputs Panel ................................................................................................................................. 59

Inputs ......................................................................................................................................................... 60 Active Faults ............................................................................................................................................ 62 Fault History ............................................................................................................................................ 64 Application Block ................................................................................................................................... 66 Antistall ..................................................................................................................................................... 68

Generic Dual Path Subsystem Application Service Tool User Manual Contents

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Temperature Derate ............................................................................................................................. 69 Tracker....................................................................................................................................................... 70 Trackstall .................................................................................................................................................. 71 Analog Inputs Calibration .................................................................................................................. 72 Pump Thresholds Calibration ............................................................................................................ 73 Max Outputs Calibration ..................................................................................................................... 75 Outputs ..................................................................................................................................................... 76 Software Components ......................................................................................................................... 78

Parameter Functions .................................................................................................................................... 79 Steering Controls ................................................................................................................................... 79 Propel Controls ...................................................................................................................................... 83 Park Brake Control ................................................................................................................................ 84 Motor PPUs .............................................................................................................................................. 86 Engine ....................................................................................................................................................... 87 Application Block .................................................................................................................................. 89 Antistall ..................................................................................................................................................... 93 Temperature Derate ............................................................................................................................. 95 Tracker....................................................................................................................................................... 96 Trackstall .................................................................................................................................................. 97 Propel Calibration ................................................................................................................................. 98 Pump/Motor Control (Proportional Motors) ............................................................................. 100 Pump/Motor Control (Two-Position Motors) ............................................................................ 102

Expected Maximum Values...................................................................................................... 104 Pump/Motor Currents ....................................................................................................................... 106 Start Calibration ................................................................................................................................... 107

Appendix A .................................................................................................................................................... 109 Downloading Compiled Application ............................................................................................ 109

Appendix B .................................................................................................................................................... 111 Downloading Read-only Parameter Files .................................................................................... 111

Appendix C .................................................................................................................................................... 112 Parameters ............................................................................................................................................. 112 Setpoints ................................................................................................................................................ 118 Checkpoints .......................................................................................................................................... 119

Appendix D .................................................................................................................................................... 128 Faults ....................................................................................................................................................... 128

Index ................................................................................................................................................................ 135


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Overview

Safety Precautions Always consider safety precautions before beginning a service procedure. Protect yourself and others from injury. Take the following general precautions whenever servicing a hydraulic system.

Unintended Machine Movement

Warning

Unintended movement of the machine or mechanism may cause injury to the technician or bystanders. To protect against unintended movement, secure the machine or disable/disconnect the mechanism while servicing.

T Best practice: Lift the driven wheels or tracks off the ground during start-up and test runs.

Flammable Cleaning Solvents

Warning

Some cleaning solvents are flammable. To avoid possible fire, do not use cleaning solvents in an area where a source of ignition may be present.

Fluid Under Pressure

Warning

Escaping hydraulic fluid under pressure can have sufficient force to penetrate your skin causing serious injury and/or infection. This fluid may also be hot enough to cause burns. Use caution when dealing with hydraulic fluid under pressure. Relieve pressure in the system before removing hoses, fittings, gauges, or components. Never use your hand or any other body part to check for leaks in a pressurized line. Seek medical attention immediately if you are cut by hydraulic fluid.

Personal Injury

Warning

Protect yourself from injury. Use proper safety equipment, including safety glasses, at all times.

Generic Dual Path Subsystem Application Service Tool User Manual Overview

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The purpose of this user manual is to provide the user comprehensive information regarding the operation of the Generic Dual Path Subsystem Application Service Tool.

Assumptions Sauer-Danfoss assumes that you can use the PLUS+1™ GUIDE Service Tool program to perform the following tasks:

• Connect the Service Tool program.

• Download programs.

• Download parameters and verify that the download is correct

• If all values are zero, do not download as this will over-write all parameters with zeros. It is important to first upload and then download.

Recommendations

T Before doing anything on the machine, read through this manual.

Required Equipment Machine start up procedure and accessing the Service Tool information requires the following equipment:

• PLUS+1 application hardware.

• PLUS+1 Service Tool program 4.1 or higher.

• PLUS+1 GUIDE Diagnostic Application File (P1D) for the Generic Dual Path (GDP) application.

• LHX files for the GDP application.

• Gateway supported by the Service Tool.

Generic Dual Path Subsystem Application Service ToolUser Manual Overview

11058326 · Rev CA · Apr 2011 7

Additional Documentation For more information, refer to the following Sauer-Danfoss literature, (publication number is in bold):

• PLUS+1 Controller Family Technical Information, 520L0719.

• Recommended Machine Electronic Control System Start-up Procedures, 11010667.

• PLUS+1 GUIDE User Manual, 10100824.

• PLUS+1 GUIDE Service Tool User Manual, 520L0899.

• PLUS+1 GUIDE Basic Function Blocks Library User Manual, 10103409.

• Generic Dual Path Subsystem Application User Manual, 11061724.

• Generic Dual Path Application Block User Manual, 11047130.

• Plug-in documentation:

− Antistall Plug-in GUIDE Programming User Manual, 11057258.

− How to Tune the Antistall and Tracker Plug-ins User Manual, 11060612.

− Temperature Derate Plug-in GUIDE Programming User Manual, 11057257.

− Tracker Plug-in GUIDE Programming User Manual, 11057260.

− Trackstall Plug-in GUIDE Programming User Manual, 11057259.

T Sauer-Danfoss product literature on line at: www.sauer-danfoss.com


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System Diagram MC050-010 Generic Dual Path Crawler/Paver System Diagram

Generic Dual Path Subsystem Application Service ToolUser Manual Overview

11058326 · Rev CA · Apr 2011 9

Wiring Diagram Generic Dual Path Crawler/Paver System Wiring Diagram

Sensor (-)Sensor (+)

C1 : 06

C1 : 31

Steer

Rv

Rv

cw

Rv

Rv

cw

Rv

Rv

cw

PropelC1 : 27

C1 : 28

C1 : 37

C1 : 38

C1 : 45

C1 : 40

C1 : 07

C1 : 44

C1 : 39

C1 : 10

C1 : 18

C1: 2 9

C1 : 11

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

31

50

C1 : 01

C1 : 02

C1 : 03

C1 : 04

C1 : 05

C1 : 23

C1 : 24

134

134

C1: 08

C1 : 09

C1 : 42

C1 : 43

Run SwitchC1: 12

C1 : 13

C1 : 16

C1 : 20

C1 : 21

C1 : 22

C1 : 30

C1: 47- 50

Battery (-)

CAN 1 High

CAN 1 Low

CAN 2 High

CAN 2 Low

Digital Input

Digital Input

5 Vdc Sensor (+)

Sensor (-)

Digital Input

Digital Input

Digital Input

Digital Input

Digital Input/Analog Input

Digital Input/Analog Input/FreqIN






Digital Output

Digital Output

Digital Output

Digital Output/PVG Power 1



Analog Input/CAN 2 shield

Analog Input/Temp/Rheo







Analog Input/CAN 1 shield

Battery (+)

Battery (+)

Battery (+)

Battery (+)

Battery (+)

PWMOUT/Digital Out/PVG 1 OUT










CAN 1*for Service Tool

Transport Mode

AutoRvs Mode

Brake Pedal

Stop Switch

Counter-Rotate Switch

Decel Pedal

CAN 2*for Engine

PPU 0 Left Motor Speed

PPU 0 Right Motor Speed

Neutral Switch

Throttle

Hydraulic Oil Temperature

Sauer-Danfoss1090173

High Temperature Indicator

Left pump EDC

Right pump EDC

Left Motor

Right Motor

Backup Alarm

Forward Reverse

Forward Reverse

CD AB

CD AB

Brake Coil

Battery

*CAN termination resistors not shown.

Rv

Rv

cw

+ -


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Service Tool Functions The Service Tool functions of the GDP Subsystem Application are used to monitor, define, and tune how the software operates.

T It is advisable to periodically export parameter sets while tuning.

Diagnostic Navigator

Log Functions Screens

The GDP application block log screens monitor input and output status signals and values from the controller application and/or logs them to a file.

Parameter Functions Screens

The GDP application block parameter screens allow the user to set, change, enable, and disable downloadable parameter configurations to optimize machine performance.

T Parameters can only be changed on the Parameter Functions screens.

T For more information on the PLUS+1 GUIDE GDP Core program refer to Generic Dual Path Application Block User Manual, 11047130 and Generic Dual Path Subsystem Application User Manual, 11061724.

T Typically, blue underlined text in a log screen is a hyperlink to another log screen.


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Start Up Procedure and Service Tool Information

Machine Start Up

Machine Start Up

Calibration

Tuning

DefineStep 1

Steps 2–4

Steps 5–8

Step 9

Generic Dual Path Subsystem Application Service Tool User Manual Start Up Procedure and Service Tool Information

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Step 1 ➙ Define

The purpose of this step is to identify the application and controller information that is used to define or calculate parameters used by the software.

There are additional default parameters provided that can be used or modified. More information on these default parameters can be found under the appropriate topic in Parameter Functions, pages 79 to 108 or Appendix C, page 112 to 127.

T Recommended: Start with the default values and then modify later while fine tuning the machine.

Identify Application and Controller Information

Use the table Throttle, Pump, and Motor Values for calculating or defining parameters. Enter your values in the Value column.

Throttle, Pump, and Motor Values

Throttle Unit Value

Expected high throttle (no load high idle engine speed) rpm

Pump information Unit Value

Pump displacement cc

Nominal threshold current mA x 10

Nominal maximum current mA x 10

Maximum current tolerance ± mA x 10

Compliance block maximum current mA x 10

Motor Information Unit Value

Motor displacement @ max angle cc

Motor displacement @ min angle cc

Motor PPU pulse per revolution pulses/revs

Nominal threshold current mA x 10

Nominal maximum current mA x 10

Maximum current tolerance ± mA x 10

Compliance block maximum current mA x 10

The compliance block maximum current is the maximum current (mA) that is defined by either the:

− PLUS+1 pump and/or motor compliance block used in the application.

− Customer (such as, the customer designing the block).

Generic Dual Path Subsystem Application Service ToolUser Manual Start Up Procedure and Service Tool Information

11058326 · Rev CA · Apr 2011 13

User-defined or User-calculated Parameters

Each of the following tables will be followed by a reference, information, and calculations. (On-line references, in red italics, are hyperlinks that link to the corresponding document pages.) The tables are presented in the same order as the Service Tool program screens. However, the order that the parameters are defined or calculated does not matter as no result from one table is used in another table.

For parameters that are “User Calculated,” the provided equations will use the values identified in the Throttle, Pump, and Motor Values table, page 12. Additionally, some of the information can be found in Parameter Functions, pages 87 to 113 and Step 9 ➙ Tuning, page 43.

For parameters that are “User Defined,” use the provided link at the bottom of each table to go to the appropriate topic in the Parameter Functions, pages 79 to108. Additionally, some of the information can be found in the following tables and under Step 9 ➙ Tuning, page 41.

Enter your values in the Actual value column.

Steering Controls

Parameter Unit Value Actual value

Pivot point % x 100 User Defined

Pivot point deadband % x 100 User Defined

Reference Steering Controls, page 79.

Park Brake Control

Brake application delay Unit Value Actual value

Minimum delay time ms User Defined

Additional time per 1000 rpm of motor speed ms User Defined

Maximum delay time ms User Defined

Brake release delay Unit Value Actual value

Brake release delay time ms User Defined

Hill hold Unit Value Actual value

Number of pulses to detect movement — — User Calculated

Reference Park Brake Control, page 84.


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The goal here is to define the brake application delay, brake release delay, and hill hold characteristics for the Park Brake Control table, page 13.

A. The application calculates brake application delay as follows:

Motor speed Additional time per 1000 rpm of motor speedBrake application delay time = Minimum delay time1000

×+

− The brake application delay time is a “live” number since it depends on the actual

motor speed when the command reaches zero. It is calculated based on “user defined” parameters and it is capped by the maximum delay time. However, the above calculated value is not actually entered anywhere.

B. Define the limits of the brake application delay time per the following:

− If the calculated brake application delay time < maximum delay time, then brake release delay time is the value calculated in step A.

− If the calculated brake application delay time > maximum delay time, then the brake release delay time = maximum delay time.

− Example:

– Minimum delay time = 1000 ms

– Additional time per 1000 rpm of motor speed = 1000 ms

– For a motor speed of 1500, calculate: 1500 1000Brake release delay time 1000 2500 ms

1000×

= + =

– If the maximum delay time was equal to 3000 ms, then the brake application delay time would be 2500 ms.

– If the maximum delay time was equal to 2000 ms, then the brake application delay time would be 2000 ms.

− Care needs to be taken in calculating brake release delay time. If the delay is too short, the brake may energize while the machine is still moving too fast resulting in an unsafe operating condition, unnecessary wear to the brakes, and performance issues.


11058326 · Rev CA · Apr 2011 15

C. Calculate the number of pulses to detect movement per the following:

( )Number of pulses to detect movement Motor PPU pulses per revolution k=

− Using k = 4 in the equation above yields 90° of rotation of the motor kit.

− Using 90° of kit rotation is a good place to start. This value can change due to gear ratio, machine characteristics, or electrical noise conditions. The higher the number of pulses to detect movement, the more the motor kit rotates before turning on the park brake.


Motor PPUs

Motor PPU pulses Unit Value Actual value

Motor PPU pulses per revolution N/A User Defined

Reference Motor PPUs, page 86.

Engine (Applicable for CAN Engines)

Engine operating range Unit Value Actual value

Expected high throttle (no load high idle engine speed) rpm User Defined

Engine low idle speed rpm User Defined

Reference Engine, page 87.

Application Block

Ramp times Unit Value Actual value

Normal acceleration (all ramp modes) ms User Defined

Normal deceleration (ramp mode 0) ms User Defined

Deceleration with brake (ramp mode 2) ms User Defined

Deceleration with decel pedal (ramp mode 1) ms User Defined

Reference Application Block, page 89.


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Propel Calibration

Engine speed Unit Value Actual value

Expected engine speed rpm User Defined

Minimum engine speed rpm User Defined

Thresholds Unit Value Actual value

Pulses required to capture threshold User Calculated

Low range Unit Value Actual value

Low range target max speed rpm User Calculated

High range Unit Value Actual value

High range target max speed rpm User Calculated

Reference Propel Calibration, page 98.

The goal here is to define the threshold and max speed calibration targets for the Propel Calibration table.

A. Calculate pulses required to capture threshold per the following:

( )Pulses required to capture threshold Motor PPU pulses per revolution k=

− Using k = 6 in the equation above yields 60°of rotation of the motor kit.

− Increasing k results the reduction of the number of pulses required to capture threshold and possibly increasing the potential for the deadband to come out of neutral. Decreasing k results in an increase in the number of pulses required to capture the threshold and a potential jump on the stroke condition. Adjust accordingly to sensor, electrical noise, gear ratio, and operator preference.

B. Calculate target max speed per the following:

− Tolerance percentage adjustment is used to account for:

– Displacement tolerances with pump max angle, motor min angle, and motor max angle.

– Volumetric efficiencies of the pump and motor.

– It is suggested that you use 10% to insure a high calibration success rate. This value can be adjusted according to preferences.

( ) Pump displacement100-Tolerance % adjustment Expected engine speedMotor displacement @ max angle

Low range target max speed 100

⎛ ⎞× ×⎜ ⎟⎝ ⎠=

( ) Pump displacement100-Tolerance % adjustment Expected engine speedMotor displacement @ min angle

High range target max speed 100

⎛ ⎞× ×⎜ ⎟⎝ ⎠=


11058326 · Rev CA · Apr 2011 17

− If the overall maximum speed point is too low, machine performance will be below its full potential. If the maximum speed point is too high, then you will not be able to calibrate maximum speed.


Pump/Motor Control

Expected max calibration values Unit Value Actual value

Low range expected max pump command* % x 100 User Calculated

Low range window* % x 100 User Calculated

High range expected max pump/motor command** % x 100 User Calculated

High range window** % x 100 User Calculated

Reference Pump/Motor Control (Proportional Motors), page 100.

Reference Pump/Motor Control (Two-Position Motors), page 102.

* Always applies to the pump.

** Applies to the motor if it is proportional. Otherwise it applies to the pump.


18 11058326 · Rev CA · Apr 2011

The goal here is to define the expected maximum calibration values for the Pump/Motor Control table.

First Five Machines

To set-up the first machine, use the factory nominal current and current tolerances at full stroke. Then multiply the window by 3.0 to create a larger calibration window to compensate for machine differences.

A. Calculate the low range expected max pump command per the following:

( )( )

Nominal max current Nominal threshold currentLow range expected max 10000

Compliance block max current Nominal threshold current

−= ×

−

B. Calculate the low range window per the following:

( ) ( )( )

Nominal max current Max current tolerance Nominal threshold currentLow range low tolerance 10000


− −= ×

−

( ) ( )( )

Nominal max current Max current tolerance Nominal threshold currentLow range high tolerance 10000


+ −= ×

−

( )Low range window Low range high tolerance Low range low tolerance 3.0= − ×

C. Calculate the high range expected max pump/motor command per the following:

− For two-position motors, the high range expected max pump/motor command value refers to the pump and therefore is the same as the low range expected max pump command value.

− For proportional motors, the high range expected max pump/motor command value refers to the motor. Use the motor’s values in order to calculate.

( )( )

Nominal max current Nominal threshold currentHigh range expected max 10000


−= ×

−

D. Calculate the high range window per the following:

− For two-position motors, the high range window value refers to the pump and therefore is the same as the low range window value.

− For proportional motors, the high range window value refers to the motor. Use the motor’s values in order to calculate.

( ) ( )( )

Nominal max current Max current tolerance Nominal threshold currentHigh range low tolerance 10000


− −= ×

−


11058326 · Rev CA · Apr 2011 19

( ) ( )( )

Nominal max current Max current tolerance Nominal threshold currentHigh range high tolerance 10000


+ −= ×

−

( )High range window High range high tolerance High range low tolerance 3.0= − ×

OptionalAfter First Five Machines

When five or more machines have been calibrated, the actual pump and motor threshold and the max current values can be used to calculate nominal values for the application. These actual nominal values can then be used in the all the equations. Because of this, the window multiplier can now be reduced from 3.0 to 1.5. This process of using actual values along with a tighter window should provide a high first pass yield and yet help identify component issues during the calibration sequence should the need arise.

A. Determine the machine’s actual pump nominal threshold current per the following:

− For each of the machines, go to the Threshold Calibration Log Screen and average the Left Fwd, Left Rvs, Right Fwd, and Right Rvs threshold values to obtain one nominal threshold current value (mA x 10) for each machine.

− Average the value from each machine to calculate the machine’s actual pump nominal threshold current (mA x 10).

B. Determine the machine’s actual pump low range nominal max current per the following:

− For each of the machines, go to the Max Output Calibration Log Screen and average the Left Fwd, Left Rvs, Right Fwd, and Right Rvs low range max values to obtain one nominal low range max (% x 100) value for each machine.

− Average the value from each machine to calculate the machine’s actual pump nominal low range max (% x 100).

− Machine’s actual pump nominal low range max current (mA x 10) =

( )Low range max (%x100) Compliance block max current Nominal threshold current Nominal threshold current10000

× − +

C. Determine the machine’s actual high range nominal max current per the following:

− For two-position motors, the machine’s actual high range nominal max current value refers to the pump and therefore is the same as the machine’s actual low range nominal max current value.

− For proportional motors, the machine’s actual high range nominal max current value refers to the motor.

− For each of the machines, go to the Max Output Calibration Log Screen and average the Left Fwd, Left Rvs, Right Fwd, and Right Rvs high range max values to obtain one nominal high range max (% x 100) value for each machine.


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− Average the value from each machine to calculate the machine’s actual nominal high range max (% x 100).

− Machine’s actual nominal high range max current (mA x 10)=

( )High range max (%x100) Compliance block max current Nominal threshold current Nominal threshold current10000

× − +

D. Calculate the low range expected max pump command per step A but use the

following:

− Machine’s actual nominal threshold current determined in step E.

− Machine’s actual low range nominal max current determined in step F.

E. Calculate the low range window per step B but use the following:


− Machine’s actual low range nominal max current determined in step F.

( )Low range window Low range high tolerance Low range low tolerance 1.5= − ×

F. Calculate the high range expected max pump/motor command per step C but use the following:


− Machine’s actual low range nominal max current determined in step G.

G. Calculate the high range window per step D but use the following:


− Machine’s actual low range nominal max current determined in step G.

( )High range window High range high tolerance High range low tolerance 1.5= − ×

General Information on Parameters

The process of defining and calculating the various parameters is now complete. These parameters can now be used in the following ways:

− Create a read-only parameter file. Reference Appendix C, pages 112 to 127, on how to do this.

− Enter each parameter in the appropriate parameter functions screen.

Step 2 ➙ Machine Checkout

Perform the following procedure to checkout the vehicle prior to controller and engine start up.


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A. Verify that the hydraulic connections are correct per hydraulic design schematic. Make corrections as needed before proceeding.

B. Verify that the proper wiring techniques have been followed per the recommended machine wiring guidelines found in the Product Installation and Start Up section of the PLUS+1 Controller Family Technical Information, 520L0719. Also verify that the wiring harness hardware matches the design schematic and that the mating connectors have the proper sealing plugs on all unused connector pins. Make corrections as needed before proceeding.

C. Complete the following sections of the Recommended Machine Electronic Control System Start Up Procedures, 11010667:

− Procedures to follow before starting the machine.

− On-machine electrical component checkout.


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Step 3 ➙ Controller Start Up

This step provides a start up procedure for the propel (drive) function of the Generic Dual Path software product supplied by Sauer-Danfoss. The purpose is to provide a method to verify and troubleshoot program changes (such as, I/O changes), wiring hook-ups, and vehicle functionality.

Warning


T Best practice: Lift the driven wheels or tracks off the ground during start-up and test runs.

Perform the following procedure on the vehicle.

A. Put vehicle in the air/wheels off the ground (vehicle on stands with the wheels free to move) and check that it is properly supported to allow operation of the propel function. Make sure there is room around the machine.

B. Do not start the engine until directed to do so.


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C. Connect the PLUS+1 Guide Service Tool program to the machine CAN bus diagnostic port and verify that the Service Tool program can communicate with all the PLUS+1 devices.

D. Using the PLUS+1 Guide Service Tool program, verify that the proper application software is loaded in the controller.

− If the software is not correct, download the complied program from the computer to the controller. In order to do this, the application ID type needs to be entered.

– Reference Appendix A, page109 to 110, on how to do this.

− If using the pre-wired Subsystem application (P1P file) with no modifications, enter Generic Dual Path.

− If using the pre-wired Subsystem application (P1P file) with modifications, contact the developer of this system for the application ID type value to enter.

− If using the stand-alone Subsystem application (I/O connections are required), contact the developer of this system for the application ID type value to enter.

Status is Valid if read only parameter filehas been downloaded to controller.

E. If a read-only parameter file exists, verify that it is loaded in the controller.

− Open the Service Tool program. On the left is the Diagnostic Navigator. If the read-only parameter file has been downloaded to the controller, it should show up under the ECU list and the Status should be Valid.

− If a parameter file exists but is not loaded on the controller, download the proper read-only parameter file from the computer to the controller.


24 11058326 · Rev CA · Apr 2011

− Reference Appendix B, page 111, on how to do this.

− If a read-only parameter file does not exist, contact the developer of the software.

− If the Generic Dual Path software has been changed in any way, modify the current read-only parameter file or create a new one.

F. Open the Generic Dual Path P1D file using the PLUS+1 Service Tool program. This allows you to see the service screens associated with the Generic Dual Path Application Software.

G

G

G. Open the Set All Defaults screen and click the Set All Defaults button.

− This loads the read-only parameters (defaults) into the EEPROM locations for use by the application.

These defaults are the tuned values from the vehicle used to develop this software. Therefore, the vehicle will not have optimal performance until it is fully calibrated and tuned. A listing of the default values can be found in Appendix C, page 112 to 127.


11058326 · Rev CA · Apr 2011 25

The inputs need to be calibrated before propel output is allowed. Once this is done, the defaults provided allow a functional but slow performance until the vehicle is completely calibrated. This provides a method for verifying and troubleshooting I/O changes, wiring, and vehicle functionality prior to complete calibration.

H. Set values you have defined and calculated. The values used by the application can be changed via the parameter screens. At any point in time, the read-only parameters (defaults) can be reset in order to start over, refer back to step G.

I

I. Open the electrical Inputs screen.

Verify that all inputs are properly recognized by the controller. Check all digital and analog inputs throughout their complete range.

J. To support the verification of input wiring, calibrate only the inputs (joysticks, decel pedals, pots, etc).

− Proceed to Step 5 ➙ Calibration Preparation, page 30 and Step 6 ➙ Calibrate Input, page 32, then abort calibration process, and proceed to step K.


26 11058326 · Rev CA · Apr 2011

K

K. Open the electrical Outputs screen.

Verify that all outputs are correct and properly recognized by the controller as the inputs are operated. Check all digital and valve outputs for functionality including:

− Verify brakes are operating properly electrically.

− Verify the direction of the joystick versus the left and right commands.


11058326 · Rev CA · Apr 2011 27

L

L. Open the Active Faults screen check for faults. All faults should be investigated and fixed. It may be necessary to turn machine off and on to clear faults.

− Reference Appendix D, page 128 to 133, for fault types and locations.


28 11058326 · Rev CA · Apr 2011

Step 4 ➙ Engine Start Up

This step continues the start up procedure for the propel (drive) function of the Generic Dual Path software product supplied by Sauer-Danfoss. The purpose is to provide a method to verify and troubleshoot the vehicle functionality.

Perform the following procedure on the vehicle.

A. Start the engine.

B. Verify the hydraulics for proper plumbing and correct operation, which includes verifying:

− Brakes are operating properly, ensure that the brakes release when they are supposed to.

− Engine and motor frequency inputs for proper magnitude and direction.

− Throttle has control of the engine.

− Propel for proper magnitude and direction by cross checking the motor frequency inputs and actual wheel or track movement.

− Steering for proper magnitude and directions by cross checking the motor frequency inputs and actual wheel or track movement.

− All other system inputs versus outputs.


11058326 · Rev CA · Apr 2011 29

C

C. Open the Active Faults screen and check for faults. All faults should be investigated and fixed. It may be necessary to turn machine off and on to clear the faults.

− Reference Appendix D, page 128 to 133, for fault types and locations.


30 11058326 · Rev CA · Apr 2011

Step 5 ➙ Calibration Preparation

Steps 5 through 8 provide the procedure for calibrating the inputs, thresholds, and max currents of the propel (drive) function of the Generic Dual Path software product supplied by Sauer-Danfoss. Your exact procedure and/or screens may vary slightly depending on the machine and/or programming changes.

The entire procedure can be done in-the-air or on-the-ground.

If calibrating the vehicle on the ground, it should be calibrated on a solid surface such as a gravel road or packed dirt. Make sure that there is at least 60 m (200 ft) in front of and in back of the crawler for low and high range max current calibration and at least 8 m (25 ft) on each side for safety. Additional space may be required depending on the vehicle.

Perform the following procedure to begin calibration.

A

B

CD

A. Open the diagnostic file and open the Start Calibration parameter functions screen.

B. Ensure the Parking brake status is ON/green to enable calibration.


11058326 · Rev CA · Apr 2011 31

C

C. To start with input calibration:

− Move all levers to their neutral positions or one end of their travel in order to prevent a bad value from being captured.

− Click the Start with Analog Input Calibration button.

− Click the Proceed to Input Calibration hyperlink (which opens the Input Calibration log functions screen).

− Proceed to D, if the inputs have already been calibrated, if not proceed to

Step 6 ➙ Calibrate Inputs, page 32.

D

D. To start with pump threshold calibration:

− Click the Start with Pump Threshold Calibration button.

− Click the Proceed to Threshold Calibration hyperlink (which opens the Threshold Calibration log functions screen).

− Proceed to the Step 7 ➙ Calibrate Thresholds, page 36.


32 11058326 · Rev CA · Apr 2011

Step 6 ➙ Calibrate Inputs

Perform the following procedures to calibrate the Inputs.

A. Calibrate Propel (Joystick Y-axis):

− The center position of the joystick should already have been captured. This occurs because once the input calibration is started, the center position (neutral) value can be obtained as long as the joystick is in the neutral position.

− Move the joystick full forward and hold for three seconds until the desired value is captured. This value will automatically be entered on the screen. Repeat for reverse direction.


11058326 · Rev CA · Apr 2011 33

− When the joystick is calibrated, the Status will change to OK/green.

− Return the joystick to the neutral position.

B. Calibrate Steer (Joystick X-axis).

− The center position of the joystick should already have been captured. This occurs because once the input calibration is started, the center position (neutral) value can be obtained as long as the joystick is in the neutral position.

− Move the joystick to the full right position and hold for three seconds until the desired value is captured. This value will automatically be entered on the screen. Repeat for the left position.

− When the joystick is calibrated, the Status will change to OK/green.

C. Calibrate Throttle Lever.

− Move the throttle lever all the way in one direction and hold for three seconds until desired value is captured. This value will automatically be entered on the screen.

− The beginning position of the throttle level should already have been captured during the start of the input calibration.

− When the throttle lever is calibrated, the Status will change to OK/green.


34 11058326 · Rev CA · Apr 2011

D. Calibrate Decel Pedal.

− Move the decel pedal to the bottom and hold for three seconds until the desired value is captured. This value will automatically be entered on the screen.

− The beginning position of the decel pedal should already have been captured during the start of the input calibration.

− When the decel pedal is calibrated, the Status will change to OK/green.

E. End Calibration.

− In order to exit calibration at this point:

– Open the Start Calibration parameter functions screen.

– Click the Abort Calibration button or as an alternate, power cycle the controller to end calibration.

– As soon as a number appears in the box, it is saved. Therefore, any values captured prior to ending calibration are saved.


11058326 · Rev CA · Apr 2011 35

G

F. Continue Calibration.

− In order to continue calibration at this point:

– Verify the joystick is in the neutral position.

– Start the engine.

– Release the Parking Brake.

– Click on the resulting Next Stage hyperlink.


36 11058326 · Rev CA · Apr 2011

Step 7 ➙ Calibrate Thresholds

Warning


T The machine will move slightly depending on the number of pulses set on the Propel Calibration parameter functions screen. Best practice: Lift the driven wheels or tracks off the ground during start-up and test runs.

Perform the following procedures to calibrate the Pump Thresholds.

A. Set throttle to high idle (verified by Engine Speed status indicator changing from red

to green).

B. Move the joystick out of the neutral position.


11058326 · Rev CA · Apr 2011 37

C. No operator action is required as the controller software will:

− Automatically ramp the input current starting from zero until PPU movement is detected on the corresponding motor.

− Automatically go through each threshold value (Left Fwd, Left Rvs, Right Fwd, and Right Rvs).

D

E

D. Wait until all of the values have been captured. This is indicated when all of the Status

indicators have changed to OK/green. The vehicle will stop on its own.

E. Return the joystick to the neutral position and click on the resulting Next Stage hyperlink.


38 11058326 · Rev CA · Apr 2011

Step 8 ➙ Calibrate Max Currents

Warning


T Machine will move up to maximum speed. Make sure there is plenty of space around the vehicle. Amount of space needed will depend on the parameters set on the Propel Calibration parameter functions screen. Best practice: Lift the driven wheels or tracks off the ground during start-up and test runs.

Perform the following procedures to calibrate the Max Currents.

A. Set the throttle to high idle (verified by Engine Speed status indicator changing from

red to green).


11058326 · Rev CA · Apr 2011 39

B. Low Range Max Currents:

− Move joystick to the full forward position and hold until the Left Fwd Low Range and Right Fwd Low Range values are captured. This is indicated when each Low Range Status has changed to OK/green.

− Move joystick to the full reverse position and hold until the Left Revs Low Range and Right Revs Low Range values are captured. This is indicated when each Low Range Status has changed to OK/green.

− When all four Low Range Max current values are captured, all the Low Range Status will have changed to OK/green. The software will automatically transition from low range to high range.


40 11058326 · Rev CA · Apr 2011

C. High Range Max Currents:

− Move the joystick to full forward position and hold until the Left Fwd High Range and Right Fwd High Range values are captured. This is indicated when each High Range Status has changed to OK/green.

− Move the joystick to full reverse position and hold until the Left Revs High Range and Right Revs High Range values are captured. This is indicated when each High Range Status has changed to OK/green.

− When all four High Range Max current values are captured, all the High Range Status will have changed to OK/green.

D. The calibration process is now complete as indicated by the screen. The machine is now ready to be driven or tuned.


11058326 · Rev CA · Apr 2011 41

Step 9 ➙ Tuning

The purpose of this step is to tune the vehicle. The tuning order is given in the flowchart below and followed by the procedures. The exception is that the procedure for tuning Antistall and Tracker can be found in How to Tune the Antistall and Tracker Plug-ins User Manual, 11060612.

Tune Accel/ Decel Ramps

Does the Machine

Oscillate?

Tune Soft Start and Soft End Percentage

No

YesTune Antistall

Differential Steering

Required

No

Tune DifferentialSteering

Yes

Two Speed Motor?

Tune Downshift andUpshift Ramp Times

Tune/Set Hysteresis between upshift and

downshift points

Yes

Tune BrakeApplication Delay

Tune Steering

No

Tune Rest ofApplicable Plug-ins

Application Block Parameter Page

Park Brake Control Parameter Page

Pump/Motor Control Parameter Page

Steering Controls Parameter Page

Plug-ins (Antistall, Temp Derate, Tracker, and Trackstall) Parameter Page

Color Key:


42 11058326 · Rev CA · Apr 2011

A

A. Tune Accel/Decel Ramps.

− Open the Application Block parameter functions screen.

− Tune according to the desired machine performance.

− Reference Application Block, page 89. In general terms:

– Less time = more aggressive performance.

– More time = less aggressive performance.

− If the machine oscillates, it may be necessary to tune the antistall. Refer to How to Tune the Antistall and Tracker Plug-ins User Manual, 11060612. The antistall plug-in is enabled by default.


11058326 · Rev CA · Apr 2011 43

B. Tune Downshift and Upshift Ramp Times (only applicable with two position motors).

T The pump should be without control orifices so that software restricts the ramping time of the pump.


Write down the Normal acceleration and Normal deceleration ramp values. You will change these values in the next step and restore these values later in this procedure.

Change to 6000

− Change the Normal acceleration and Normal deceleration ramps to 6000. This

will create a ramp of 6 seconds to go from 0 to 10000 (100%) propel command and 6 seconds to go from 10000 (100%) back to 0 propel command. Allow 100 meters for forward travel.

− Set engine speed to high throttle (no load high idle engine speed).

− Set-up log file to record motor output command (% x 100) and speed (rpm). The Log Functions/Tuning/Motor Shift Ramping screen has both of these values available. Begin logging data.

T Reference: PLUS+1 Guide Service Tool User Manual, 520L0899, or the on-line help on how to log data.


44 11058326 · Rev CA · Apr 2011

− Make a step change with the joystick to 100% propel command forward. When the machine is at max speed, make a step change with the joystick back to neutral.

− When the machine is stopped, stop the data logging.

− Export the data to Microsoft® Excel® to create a graph showing motor output speed versus time and compare to graph examples in the Parameter Functions section: Upshift Ramp Time Too fast, Upshift Ramp Time Too Slow, and Upshift Ramp Time Good, pages 103 to 104.

Modify

− If necessary, tune the Downshift and Upshift Ramp Times per the following

procedure:

– Open the Pump/Motor Control parameter functions screen.

– Modify the Downshift and Upshift Ramp Times and repeat this step until there is a smooth linear transition during shifting.


11058326 · Rev CA · Apr 2011 45

Restore to original values

− Restore the Normal acceleration and Normal deceleration ramp values.

C. Tune Hysteresis between upshift and downshift points (only applicable with 2 position motors).

Hysteresis Example for Two-position Motors

Mot

or D

ispl

acm

ent

Hysteresis

Propel Command Pct

Upshift Point

Downshift Point

UpshiftDownshift

Setting the hysteresis percentage defines the amount of propel command percent difference between the upshift and downshift points. This difference is the delay in the motor transition back to low range (high motor displacement). The purpose of this value is to eliminate constant shifting due to electrical noise or other various conditions.


46 11058326 · Rev CA · Apr 2011

Tune


– Tune according to desired machine performance.

– One possible way to check this setting is to measure the variation of the propel command due to noise by logging propel command percent versus time. Multiply the maximum propel command percent noise by a user determined safety factor and set the hysteresis to this value.


11058326 · Rev CA · Apr 2011 47

Tune

D. Tune Soft start and Soft end percentage.


− Tune according to desired machine performance.

− Reference Application Block, page 89. In general terms:

– The lower the percentage, the less percentage of the ramp is spent in the soft acceleration or deceleration phase.


48 11058326 · Rev CA · Apr 2011

E. Tune differential steering (if required).

Tune


− Reference Application Block, page 89.


11058326 · Rev CA · Apr 2011 49

F. Tune brake application delay.

Speed Lagging Command Example

Cmd

and

Spee

d

Time

CmdSpeed

time

spee

d

− Because the motor speed lags behind the speed command, the software calculates a delay for applying the brake. The motor speed captured at the time the pump command reaches zero (shown in Speed Lagging Command Example as Δ speed) is used to estimate the time (Δ time) needed to stop.

− Use the Tuning/Parking Brake Control Log screen to log these values:

Signal Description Use

CP_FinalCmd_Left_Pct2 Left speed command When both commands reach zero, Δspeed is

the higher motor speed, and this marks the

start of Δtime.

CP_FinalCmd_Right_Pct2 Right speed command

CP_MotorL_RPM Left motor speed

CP_MotorR_RPM Right motor speed

C1p23.Count Left PPU pulses in last update When both Count signals reach zero, this

marks the end of Δtime. C1p24.Count Right PPU pulses in last update

T Reference: PLUS+1 Guide Service Tool User Manual, 520L0899, or the on-line help on how to log data.

− Drive the machine by stopping under different operating conditions. For example, stop from different speeds, ramp rates, inclines, declines, etc. This testing should provide the data needed to tune the brake application delay parameters.

– From the test above, collect all the data points and plot Δ time versus Δ speed.


50 11058326 · Rev CA · Apr 2011

Tune

− Tune the brake application delay per one of the following procedures:

– Constant delay (simplest method):

– Using the data above, select a Minimum delay time (ms) value that is a good compromise and use an Additional time per 1000 rpm of motor speed value of zero. Select the Maximum delay time value to be the same as the Minimum delay time.

– Reference Park Brake Control, page 84, for how these values are entered and used.

– Linear delay:

– Perform a linear regression on the data or simply plot a best fit line. Use the data to select a Minimum delay time (ms, y-intercept) value and an additional time per 1000 rpm motor speed (slope x1000) value. Select a Maximum delay time value that you don’t want to exceed.

– Reference Park Brake Control, page 84 for how these values are entered and used.

T Brake application delay time =

1000

speed motor of rpm 1000 per time Additionalspeed Motortimedelay Minimum

×+


11058326 · Rev CA · Apr 2011 51

G. Tune steering.

− Open the Steering Controls parameter functions screen.

− Reference Steering Controls, page 79, and set all the steering parameters as desired.


52 11058326 · Rev CA · Apr 2011

H. Tune the rest of the applicable plug-ins.

− Antistall (if not done yet):

− Reference How to Tune the Antistall and Tracker Plug-ins User Manual, 11060612 for procedure.

− Tracker:

− Reference How to Tune the Antistall and Tracker Plug-ins User Manual, 11060612 for procedure.

− Trackstall:

− Open the Trackstall parameter functions screen.

The function of the trackstall min command value is to provide a minimum pump command percentage to maintain tension on the machine’s tracks. If this min command value is too low during maximum antistall reduction conditions, the pumps may destroke far enough to lose tension on the tracks causing the engine to become unloaded and surge up in speed until antistall becomes active again. This could result in surging of the engine during maximum antistall reduction conditions. Adjusting the trackstall min command correctly will not allow antistall to reduce the pump command below a point where the tracks lose tension and the engine is unloaded, causing a surging condition.


11058326 · Rev CA · Apr 2011 53

Trackstall Tuning Flow Chart

Determine method toload engine to maxAntistall reduction

value.*

No

Yes

No

Yes

Yes

Antistall log functions screen

Machine activity

Trackstall parameter functions screen

Color Key:

No

Yes

No

Does the engine speed unload or

cycle?

Does the engine speed droop too

much or stall?

Set Propel cmd to2500 (25%), unless

already at 2500.

Set Propel cmd to5000 (50%).**

Is the engine speedacceptable?

Set Propel cmd to2500 (25%).

Reduce Trackstall mincommand by 50

(0.5%).

Increase Trackstall mincommand by 50

(0.5%).

Does Antistallcorrection multiplier

= Amin value.


54 11058326 · Rev CA · Apr 2011

* In order to load the engine to the max antistall reduction value (Amin value) the vehicle might have to be against an immovable object, such as a tree stump, a pile of dirt, or the far wall of a trench. This coupled with favorable ground conditions (minimal slippage) should provide enough load to achieve this condition.

** Setting the propel command to a lower value will decrease the left and right speed commands with antistall multiplier to a lower overall command to the pumps and motors. For example: Amin = 550, Propel Cmd = 5000. During the maximum antistall reduction condition the final speed commands would be 5000 x .055 = 275 (2.75%), where at 10000 Propel Cmd the final speed commands would be 10000 x .055 = 550 (5.5%). A Trackstall Min Cmd of 450 (4.5%) would have no effect on a Propel Cmd of 10000. With a Propel Cmd of 5000, it would prevent the speed commands from falling below 450 (4.5%).

Enter values

− Temperature Derate:

− Open the Temperature Derate parameter functions screen.

− Set the values.


11058326 · Rev CA · Apr 2011 55

Log Functions

Software

1

2–4

5–9

46

51

52

10–11

12–13

14

4231

4315–17

18–27

28–30

40–41

32–33

47–50

34–35

36–37

38–39

44–45

The Software log functions screen is the top level service tool screen for monitoring values. The five panels reflect the actual organization of the GDP application and contain several hyperlinks to other screens with more information.

Inputs Panel

The Inputs panel corresponds to the Input Map and Input Conditioning blocks in the application. The percentage signals shown are scaled, profiled, and combined to produce the Propel and Steer commands. The speed and temperature signals shown are used by plug-ins inside the Application Block. The digital signals are used for safety interlocks and propel command scaling.

Inputs Panel

Callout Item Description

1 Inputs Hyperlink Hyperlink to Inputs log screen for more detailed information on input electrical signals and conditioning.

2 Propel Propel signal, usually from joystick y axis.

Range: -10000 to 10000 (-10000 = Full reverse, 0 = Stopped, 10000 = Full forward)

3 Decel Decel/throttle signal coupled by taking the minimum of decel pedal and throttle lever signals. This value is used

to scale the propel command and to calculate the requested engine setpoint.

Range: 0-10000 (0 = Stopped, 10000 = No reduction)

Generic Dual Path Subsystem Application Service Tool User Manual Log Functions

56 11058326 · Rev CA · Apr 2011

Inputs Panel


4 Steer Steer signal, usually from joystick x axis.

Range: -20000 to 20000 (-20000 = Left counterrotate, -10000 = Left pivot, 0 = Straight, 10000 = Right pivot,

20000 = Right counterrotate)

5 Run & Stop The parking brake lever’s complementary outputs are called Run and Stop. They should have opposite values.

Run on, Stop off: Parking brake lever in Run position. Propel is allowed.

Stop on, Run off: Parking brake lever in Stop position. Propel is not allowed.

Run off, Stop off: Parking brake lever may not be at end of travel, or may have a mechanical or wiring problem.

Propel is not allowed.

Run on, Stop on: Parking brake lever has mechanical or wiring fault. Propel is not allowed. If this condition is

maintained for a length of time, a fault is declared.

6 Brake On: Brake pedal pressed.

Off: Brake pedal not pressed.

7 Transport &

AutoReverse

The Transport/Work/AutoReverse Mode selector has two digital outputs. Only one should be on at a time.

Transport on, AutoReverse off: Selector in Transport Mode. Full speed is allowed.

Transport off, AutoReverse on: Selector in AutoReverse Mode. Speeds are limited to work mode in forward, but

full speed is allowed in reverse.

Transport off, AutoReverse off: Selector in Work Mode. Speeds are limited to work mode.

Transport on, AutoReverse on: Selector has mechanical or wiring fault. If this condition is maintained for a length

of time, a fault is declared and speeds are limited to work mode.

8 Neutral On: Redundant neutral signal indicates joystick in neutral.

Off: Redundant neutral signal indicates joystick out of neutral.

9 CR On: Counterrotate switch set to enabled.

Off: Counterrotate switch set to disabled.

10 Throttle Engine setpoint

Range: 0-8031 (rpm)

11 Engine Actual engine speed.

Range: 0-8031 (rpm)

12 Left Motor Left propel motor speed.

Range: 0-32767 (rpm)

13 Right Motor Right propel motor speed.


14 Temperature Hydraulic fluid temperature.

Range: 500-1250 (50° C to 125° C)

Between Inputs and Fault Handling panels


15 Propel Propel signal calculated from a combination of input signals.

Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)

Generic Dual Path Subsystem Application Service ToolUser Manual Log Functions

11058326 · Rev CA · Apr 2011 57

Inputs Panel


16 Steer Profiled steer signal.



17 Ramp Mode Set of active ramp rates used by the Application Block’s propel ramp:

Normal: Used normally, i.e. for changes of propel command due to joystick.

Decel: Used when decel pedal is pressed.

Brake: Used when brake pedal is pressed or a fault response stops the vehicle.

Fault Handling Panel

The Fault Handling panel corresponds to the Fault Handling block in the application. It interprets fault and status codes from compliance blocks and other function blocks throughout the application, and responds by disabling appropriate functionality. Reference Appendix D, page 128 to 133, for fault types and locations.



18 Fault Handling

Hyperlink

Hyperlink to Active Faults log screen for a list of active fault codes.

19 System Green: Propel is allowed.

Red: Propel ramps to zero in Brake ramp mode and then brake is applied.

20 Forward Green: Forward propel is allowed.

Red: Propel command is restricted to negative (reverse) values. Because counterrotate would have each side in

opposite directions, the steer command is restricted to exclude counterrotate.

21 Reverse Green: Reverse propel is allowed.

Red: Propel command is restricted to positive (forward) values. Because counterrotate would have each side in

opposite directions, the steer command is restricted to exclude counterrotate.

22 Full Speed Green: Full speed range is allowed.

Red: Propel command is scaled to reduce top speed.

23 High Range Green: Full range of propel command is allowed.

Red: Propel command is scaled so that motors stay at maximum displacement (for both proportional and two-

position motors).

24 Steer Green: Steer input is operational

Red: Steer input is disabled.

25 Tracker Green: Closed-loop tracking control is operational.

Red: Closed-loop tracking control is disabled. If the vehicle is still driving, the correction value will gradually

reduce. Once the vehicle stops, the correction value will stay at zero.

26 Antistall Green: Antistall is operational.

Red: Antistall is disabled. Propel will not be reduced.


58 11058326 · Rev CA · Apr 2011



27 Temp Derate Green: Temperature Derate is operational.

Red: Temperature Derate is disabled. Propel will not be reduced.

Between Fault Handling and Application Block panels


28 Propel Propel signal after possible modification by the Fault Handling block.

29 Steer Steer signal after possible modification by the Fault Handling block.

30 Ramp Mode Ramp mode after possible change by the Fault Handling block.

Application Block Panel

The Application Block panel corresponds to the Application Block in the application. It converts Propel and Steer commands into Left and Right speed commands and applies command modifications from plug-ins.

Application Block Panel


31 App Block

Hyperlink

Hyperlink to the Application Block log screen for more information on internal signals of the Application Block.

32 Antistall

Hyperlink

Hyperlink to the Antistall log screen for more information on the Antistall plug-in.

33 Antistall Antistall correction multiplier.

Range: 0-10000 (0 = Propel stopped, 10000 = No reduction)

34 Tracker

Hyperlink

Hyperlink to the Tracker log screen for more information on the Tracker plug-in.

35 Tracker Tracking correction. Added to one side and subtracted from the opposite side.

Range: -10000 to 10000 (0 = No correction)

36 Temp Derate

Hyperlink

Hyperlink to the Temp Derate log screen for more information on the Temp Derate plug-in.

37 Temp Derate Temp Derate multiplier.


38 Trackstall

Hyperlink

Hyperlink to the Trackstall log screen for more information on the Trackstall plug-in.

39 Trackstall Values below which Antistall cannot reduce the speed commands.

Range: 0-10000 (0 = Stopped, 10000 = Full speed)


11058326 · Rev CA · Apr 2011 59

Between Application Block and Calibration panels


40 Left Left speed command from the Application Block.


41 Right Right speed command from the Application Block.


Calibration Panel

The Calibration panel corresponds to the Calibration block in the application. Normally, it passes the left and right speed commands through without modification. In the Threshold calibration stage, it generates its own automatically ramped commands. In Low Range and High Range calibration stages, it multiplies them by an integrator output that progressively brings the speeds closer to the target speed.

Calibration Panel


42 Calibration

Hyperlink

Hyperlink to the log screen for active stage of calibration. If calibration mode is not active, the link points to the

Start Calibration screen.

43 Calibration Stage Active stage of calibration:

Inactive: None; normal vehicle operation

Inputs: Analog inputs

Thresholds: Pump thresholds

Low Range: Low range propel max outputs

High Range: High range propel max outputs

Between Calibration and Outputs panels


44 Left Left speed command, possibly scaled by or generated by Calibration block.


45 Right Right speed command, possibly scaled by or generated by Calibration block.


Outputs Panel

The Outputs panel corresponds to the Output Drivers and Output Map blocks in the application. Speed commands are first split into pump and motor commands. These are then scaled into currents, or digital signals in the case of two-position motors.

Outputs Panel


46 Outputs

Hyperlink

Hyperlink to Outputs log screen for more detailed information on output commands and electrical signals.


60 11058326 · Rev CA · Apr 2011

Outputs Panel


47 Left Pump

Command

Command input to left pump compliance block.

Range: -10000 to 10000 (-10000 = Max displacement reverse, 0 = Stopped, 10000 = Max displacement forward)

48 Left Motor

Command

Command input to left motor compliance block. This command is proportional for proportional motors, but

switches between 0 and 10000 for two-position motors.

Range: 0-10000 (0 = Max displacement, 10000 = Min displacement)

49 Right Pump

Command

Command input to right pump compliance block.


50 Right Motor

Command

Command input to right motor compliance block. This command is proportional for proportional motors, but



51 Backup Alarm Status of backup alarm output:

On: Backup alarm is on.

Off: Backup alarm is off.

52 Brake Release Status of brake solenoid output:

On: Solenoid is energized to release the brake.

Off: Solenoid is de-energized to apply the brake.

Inputs

2

1

3

5

6

7

8

9

10

11

12

13

20

1921

17

18

14

15

16

4

1


11058326 · Rev CA · Apr 2011 61

The Inputs log functions screen allows monitoring of inputs from electrical signals at the pins through scaling, profiling, and combining to their conditioned values. It corresponds to the Input Map and Input Conditioning blocks in the application.

Inputs Elements


1 Raw Inputs Raw hardware signals used by the application.

.DigIn Range: 0-1 (0 = Off, 1 = On)

.Volt Range: 0-5250 (1 = 1 mV)

.Freq Range: 0-10000 (1 = 1 Hz)

2 Neutral Redundant neutral signal indicates joystick in neutral.

3 Propel Propel signal, usually from joystick y axis.

Range: -10000 to 10000 (-10000 = Full reverse, 0 = Stopped, 10000 = Full forward)

4 Transport Transport/Work/AutoReverse selector in Transport position.

5 AutoRvs Transport/Work/AutoReverse selector in AutoReverse position.

6 Decel Minimum of decel pedal and throttle lever signals.


7 Run Parking brake lever in Run position.

8 Stop Parking brake lever in Stop position.

9 Brake Brake pedal pressed.

10 Calculated

Propel

Propel signal calculated from a combination of input signals.


11 Engine Cmd Engine setpoint command calculated from Decel/Throttle signal scaled into engine rpm. This value is sent to the

engine in a J1939 TSC1 message.

Range: 0-8031 (rpm)

12 Brake Release Brake release solenoid output signal:

On: Solenoid is energized to release the brake.

Off: Solenoid is de-energized to apply the brake.

13 Ramp Mode Set of active ramp rates to be used by the Application Block’s propel ramp:

Normal: Used when no pedals are pressed.


Brake: Used when brake is requested or a fault response stops the vehicle.

14 Left Motor Left propel motor speed.


15 Right Motor Right propel motor speed.


16 Oil Temp Hydraulic fluid temperature. This is typically hydraulic pump return oil.

Range: 500-1250 (50° C to 125° C)


62 11058326 · Rev CA · Apr 2011

Inputs Elements


17 Engine Speed Actual engine speed.

Range: 0-8031 (rpm)

18 Engine Setpoint Engine throttle setpoint.

Range: 0-8031 (rpm)

19 Steer Steer signal, usually from joystick x axis.



20 CR Counterrotate switch set to enabled.

21 Calculated Steer Profiled steer signal.



Active Faults

1–2

3–11

The Active Faults log functions screen lists the faults that have been detected since the last power cycle and the responses taken by the application.

Active Faults Elements


1 Location Source of fault.

2 Type Specific type of fault.


11058326 · Rev CA · Apr 2011 63

The Status indicates what responses the application has taken to faults. Reference Appendix D, page 128 to 133, for fault types and locations.

Status Elements


3 System Enabled: Propel is allowed.

Disabled: Propel ramps to zero in Brake ramp mode and then brake is applied.

4 Forward Propel Enabled: Forward propel is allowed.

Disabled: Propel command is restricted to negative (reverse) values. Counterrotate is disabled.

5 Reverse Propel Enabled: Reverse propel is allowed.

Disabled: Propel command is restricted to positive (forward) values. Counterrotate is disabled.

6 Full Speed Enabled: Full speed range is allowed.

Disabled: Propel command is scaled to reduce top speed.

7 High Range Enabled: Full range of propel command is allowed.

Disabled: Propel command is scaled so that motors stay at maximum displacement.

8 Steer Enabled: Steer input is operational

Disabled: Steer input is disabled.

9 Tracker Enabled: Closed-loop tracking control is operational.

Disabled: Closed-loop tracking control is disabled. If the vehicle is still driving, the correction value will gradually

reduce. Once the vehicle stops, the correction value will stay at zero.

10 Antistall Enabled: Antistall is operational.

Disabled: Antistall is disabled. Propel will not be reduced.

11 Temp Derate Enabled: Temperature Derate is operational.

Disabled: Temperature Derate is disabled. Propel will not be reduced.


64 11058326 · Rev CA · Apr 2011

Fault History

2–6

7

1

The Fault History log functions screen shows the fault history table that contains the statistics about faults that have occurred. This data is stored in nonvolatile memory, which is retained until cleared by the user.

Fault History Elements


1 Current Time Total time that the application has been running.

Range: 0-715827882 (10 = 1 hour)

2 Count Number of times that a fault has occurred at this location.

Range: 0-255

3 Location Source of fault.

4 Type Specific type of most recent fault at this location.

5 First Time Time stamp of first fault at this location.

Range: 0-715827882 (10 = 1 hour)

6 Last Time Time stamp of most recent fault at this location.

Range: 0-715827882 (10 = 1 hour)

7 Clear Hyperlink Hyperlink to Clear Fault History or Hour Counter screen that allows the hour counter or fault history list to be

cleared.


11058326 · Rev CA · Apr 2011 65

1

2

This screen is only accessible from the Fault History log functions screen, not from the Diagnostic Navigator.

Clear Fault History or Hour Counter Elements


1 Clear Fault

History

Removes all entries from fault history table.

2 Clear Hour

Counter

Resets hour counter to zero.


66 11058326 · Rev CA · Apr 2011

Application Block

2

1

3

7

6

5

11

9

10

4

4

4 4

8

Use the Application Block log functions screen to monitor and log internal values of the application block. Plug-ins are shown in light red. The Application Block takes steering and propel commands from the inputs and generates left and right speed commands. Plug-ins can be used to change signals through the core based on external sensors and additional inputs, such as temperature, motor speeds, a creep mode switch, etc.

Application Block Screen

Callout Parameter Description

1 Steer Profiled steer command input to Application Block.



Ramp Mode Set of active ramp rates used by the propel ramp:

Normal: Used normally, such as, for changes of propel command due to joystick.


Brake: Used when brake pedal is pressed or a fault response stops the vehicle.

Propel Propel command calculated from a combination of input signals.


2 Unramped Left

Steer

Left side steering percentage calculated from steer command input, prior to being ramped.

3 Unramped Right

Steer

Right side steering percentage calculated from steer command input, prior to being ramped.

4 Unramped

Multiplied Propel

Propel command multiplied by output of Max Command Scale plug-in, prior to being ramped.



11058326 · Rev CA · Apr 2011 67

Application Block Screen


4 Ramped Left Steer Left side steering percentage. This value is multiplied by the ramped propel command to produce the left

speed command.

Ramped Right Steer Right side steering percentage. This value is multiplied by the ramped propel command to produce the right

speed command.

Ramped Propel Output of propel ramp.

5 Left Left speed command, before modification by Power Distribution, Trackstall, and Closed-loop Speed Control

plug-ins.


Right Right speed command, before modification by Power Distribution, Trackstall, and Closed-loop Speed Control

plug-ins.


6 Temp Derate

Multiplier

Temp Derate multiplier.


7 Antistall Multiplier Antistall correction multiplier.


8 L Min Value below which Antistall cannot reduce the left speed command.

R Min Value below which Antistall cannot reduce the right speed command.

9 Left Open-loop left speed command.


Right Open-loop right speed command.


Motor Requested motor position.

(Only shown if configured for 2-position motors)

10 Correction Tracking correction. Added to one side and subtracted from the opposite side.

Range: -10000 to 10000 (0 = No correction)

11 Left Closed-loop left speed command.


Right Closed-loop right speed command.



68 11058326 · Rev CA · Apr 2011

Antistall

1

2 4

3

The Antistall plug-in provides a multiplier to reduce the speed commands to keep heavy loads from stalling the engine.

The Antistall plug-in log functions screen displays the engine’s setpoint, actual speed, and the plug-in output. The setpoint is from a throttle setting. This setting may come, for example, from a throttle position sensor or from a J1939 message.

When Antistall is enabled, output is decreased from 10000 (100.00%) to a lower value when a high load causes a decrease in engine rpm. The greater the decrease in engine rpm, the greater the decrease in the Antistall output.

Multiplying the speed commands, by the reduced Antistall output, proportionally reduces the speed commands, reducing the engine load and helping to prevent stalling.

The plug-in must be installed and the Plug-in status: Enabled/green before activity can function or be monitored.

Antistall


1 Plug-in Status Enabled = On, Disabled = Off

2 Engine Setpoint Displays desired rpm from the throttle setting (rpm)

3 Engine Speed Displays actual engine (rpm)

4 Antistall Correction Multiplier Displays the output from the Antistall plug-in.

Range: 0 to 10000 (0 to 100.00%)


11058326 · Rev CA · Apr 2011 69

Temperature Derate

1

4

25

3

The Temperature Derate plug-in is designed to prevent high temperatures from damaging the hydraulic systems. The Temperature Derate output drops from 100% to a lower user-defined value when hydraulic fluid temperatures rise above a user-defined value.

Multiplying the speed commands, by the reduced Temperature Derate output, proportionally reduces the speed commands, protecting the hydraulic systems by retarding further temperature increase.


Temperature Derate


1 Plug-in Parameter Status Enabled = Plug-in is on

Disabled = Plug-in is off

Set in Temp Derate Parameter screen.

2 Temperature Temperature input value from machine.

Range: 500-1250 (50° C to 125° C)

3 Derate Threshold User-defined threshold point value.

Range: 500-1250 (50° C to 125° C)

4 Derate Drop Temperature drop needed to reduce or return to normal (100%) value.

Range: 500-1250 (50° C to 125° C)

5 Derate Multiplier Reduced multiplier used when the system is over the user-defined threshold temperature.

Range: 0 to 10000 (0 to 100.00%)


70 11058326 · Rev CA · Apr 2011

Tracker

1

45

2

67

3

The Tracker plug-in log functions screen displays tracker plug-in signals.

The Tracker plug-in applies closed-loop control to correct tracking errors caused by uneven track loading, hydraulic leakage, and imperfect calibration.


Tracker


1 Plug-in status Enabled = Plug-in will try to correct errors.

Disabled = Plug-in will not correct errors

2 Left Cmd Displays uncorrected left speed command.

Range: -10000 to 10000 (-100.00% to 100.00%)

3 Right Cmd Displays uncorrected right speed command.

Range: -10000 to 10000 (-100.00% to 100.00%)

4 Left Speed Displays actual left motor speed.

Range: -32767 to 32767 (rpm)

5 Right Speed Displays actual right motor speed.

Range: -32767 to 32767 (rpm)

6 Corrected Commands Left Displays corrected left speed command.

Range: -10000 to 10000 (-100.00% to 100.00%)

7 Corrected Commands Right Displays corrected right speed command

Range: -10000 to 10000 (-100.00% to 100.00%)


11058326 · Rev CA · Apr 2011 71

Trackstall

1

2 453

The Trackstall plug-in interacts with the Antistall plug-in to limit the scaling applied by the Antistall plug-in to the pump commands.

The Trackstall plug-log functions screen shows the MinCmd parameter. The Trackstall uses the left and right commands to generate separate minimum commands for the left and right speed commands.

Trackstall


1 MinCmd Parameter Displays minimum command parameter as set in the Parameter Trackstall screen of the

Service Tool.

Range: 0 to 10,000 (0 to 100.00%)

2 Left Command Displays left command.

Range: -10000 to 10000 (-100.00% to 100.00%)

3 Right Command Displays right command.

Range: -10000 to 10000 (-100.00% to 100.00%)

4 Left Minimum Command Displays output minimum speed command.

Range: 0 to 10000 (0 to 100.00%)

5 Right Minimum Command Displays output minimum speed command.

Range: 0 to 10000 (0 to 100.00%)


72 11058326 · Rev CA · Apr 2011

Analog Inputs Calibration

6

7

1

2

3

4

5

The Analog Inputs log functions screen allows the analog input calibration process to be monitored or the stored values to be checked. The following are available for each input:

• All captured points.

• Live voltage scaled to the same units as the captured points.

• Calibration status.

Analog Inputs Elements


1 Min/Left Values Stored calibration points for the minimum speed, reverse, or left positions of the inputs.

Range: 0-10000 (0 = 0V, 10000 = SnsrPwr)

2 Center Values Stored calibration points for the neutral/center positions of the inputs that have one.

Range: 0-10000 (0 = 0V, 10000 = SnsrPwr)

3 Max/Right Values Stored calibration points for the maximum speed, forward, or right positions of the inputs.

Range: 0-10000 (0 = 0V, 10000 = SnsrPwr)

4 Status Shows calibration status of individual inputs:

OK: All points are captured and valid.

Partial: Calibration is active and some points are captured and valid.

None: Calibration is active but no points have been captured yet.

Invalid: A stored calibration point is invalid.


11058326 · Rev CA · Apr 2011 73

Analog Inputs Elements


5 Live Values Shows scaled voltage values of individual inputs.

Range: 0-10000 (0 = 0V, 10000 = SnsrPwr)

6 Calibration Stage

Status

Shows status of the analog input calibration stage:

Inactive: Application is in operation mode, not calibration mode.

Active: Application is in analog input calibration mode.

Complete: All analog inputs are calibrated. The application is ready for threshold calibration.

7 Next Stage

Hyperlink

Hyperlink to the threshold calibration status screen (only shown when analog input calibration is complete).

Pump Thresholds Calibration

23

1

6

7

45

The Pump Thresholds calibration log functions screen allows the threshold calibration process to be monitored or the stored pump threshold currents to be checked.


74 11058326 · Rev CA · Apr 2011

Threshold Calibration Elements


1 Threshold

Current

Pump threshold currents, stored during this stage of calibration.

Range: Depends on compliance block. (10 = 1 mA)

2 Live Pump

Command

Actual pump output currents.


3 Status Shows calibration status of individual pump thresholds:

OK: A valid threshold is stored.

Uncalibrated: Threshold is not yet calibrated, or its value is corrupted.

Too low: Motor started rotating while current was below valid range.

Too high: Current ramped above valid range before motor began rotating.

4 Engine Speed

Window

Visually indicates how high the actual engine speed is relative to the minimum needed for calibration.

5 Engine Speed

Status

Indicates if the engine speed is high enough to calibrate.

OK: Engine speed is high enough.

Increase throttle: Engine speed is too low.

6 Calibration Stage

Status

Shows status of the pump threshold calibration stage:

Inactive: Application is in operation mode, or a previous calibration stage.

Active: Application is in pump threshold calibration mode.

Complete: All pump thresholds are calibrated. The application is ready for max output calibration.

7 Next Stage

Hyperlink

Hyperlink to the threshold calibration status screen. (only shown when pump thresholds calibration is complete)


11058326 · Rev CA · Apr 2011 75

Max Outputs Calibration

2

34

1

8

56

7

9

The Max Output Calibration log functions screen allows the max pump/motor output calibration process to be monitored or the max values to be checked.

Max Outputs Elements


1 Low Range Max Calibrated low range maximum pump commands.

Range: 1-10000 (1 = compliance block threshold, 10000 = compliance block max current)

2 Low Range

Status

Shows calibration status of individual low range max pump commands:

OK: A valid point is stored.

Uncalibrated: Point is not yet calibrated, or its value is corrupted.

Too low: Target speed reached while command was below valid range.

Too high: Command ramped above valid range before target speed was achieved.

3 High Range Max Calibrated high range maximum pump (for two-position motors) or motor (for variable motors) commands.


4 High Range

Status

Shows calibration status of an individual high range max command:

OK: A valid point is stored.

Uncalibrated: Point is not yet calibrated, or its value is corrupted.

Too low: Target speed reached while command was below valid range.

Too high: Command ramped above valid range before target speed was achieved.


76 11058326 · Rev CA · Apr 2011

Max Outputs Elements


5 Engine Speed

Window

Visually indicates how high the actual engine speed is relative to the minimum needed for calibration.

6 Engine Speed

Status

Indicates if the engine speed is high enough to calibrate.

OK: Engine speed is high enough.

Increase throttle: Engine speed is too low.

7 Motor Speeds Left and right motor speeds normalized against engine speed. The target motor speed at the expected engine

speed specifies a transmission ratio. Normalization ensures that this ratio is achieved even if the engine speed

varies.


8 Target Speed Desired maximum motor speed.


9 Calibration Stage

Status

Shows status of the max output calibration stage:

Inactive: Application is in a previous calibration stage.

Active: Application is in max pump/motor output calibration mode.

Complete: Calibration is complete. Application is in operation mode.

Outputs

10

11

12

16

14

4

5

6

1

7

3

9

8

13

15

2


11058326 · Rev CA · Apr 2011 77

The Outputs log functions screen allows monitoring output commands, intermediate command values, and electrical output signals. It corresponds to the Output Drivers and Output Map blocks of the application.

Outputs Elements


1 Left Cmd Left speed command.


2 Left Pump Cmd Command input to left pump compliance block.


3 Left Motor Cmd Command input to left motor compliance block. This command is proportional for proportional motors, but



4 Left Forward

Pump Output

Current commanded to the coil on the left side pump that results in forward movement.


5 Left Reverse

Pump Output

Current commanded to the coil on the left side pump that results in reverse movement.


6 Left Motor

Output

Two-position motors: Digital on/off command to the left side motor

Range: 0-1 (0 = off, 1 = on)

Proportional motors: Current commanded to the left side motor


7 Right Cmd Right speed command, possibly scaled or replaced by Calibration block.


8 Right Pump Cmd Command input to right pump compliance block.


9 Right Motor Cmd Command input to right motor compliance block. This command is proportional for proportional motors, but



10 Right Forward

Pump Output

Current commanded to the coil on the right side pump that results in forward movement.


11 Right Reverse

Pump Output

Current commanded to the coil on the right side pump that results in reverse movement.


12 Right Motor

Output

Two-Position motors: Digital on/off command to the right side motor

Range: 0-1 (0 = off, 1 = on)

Proportional motors: Current commanded to the right side motor


13 Propel Unramped propel value used to determine if reverse is being requested by the operator.

14 Backup Alarm

Output

Digital on/off command to the backup alarm.

Range: 0-1 (0 = off, 1 = on)


78 11058326 · Rev CA · Apr 2011

Outputs Elements


15 Brake Command Apply: Park brake is commanded to be applied by de-energizing the solenoid.

Release: Park brake is commanded to be released by energizing the solenoid.

16 Brake Output Digital on/off command to the park brake solenoid.

Range: 0-1 (0 = off, 1 = on)

Software Components

1 2 3 4

The Software Components log functions screen lists all installed software components that have part numbers.

Software Components


1 ID Software component part number.

2 Name Name of software component.

3 Status Availability status of component; release status.

4 Version Installed software component version number.


11058326 · Rev CA · Apr 2011 79

Parameter Functions

Steering Controls

1

2

3

4

5

The Steering Controls parameter functions screen configures how the GDP Subsystem Application modifies the steering command before it enters the Application Block.

T A differential steering setting of 0 (0%) is assumed for the following discussion.

The joystick steer command ranges from -10000 to 10000. Negative values are on the left, zero is in the center, and positive values are on the right. The pivot point is selected in this range of values and applies to both directions of joystick movement

Generic Dual Path Subsystem Application Service Tool User Manual Parameter Functions

80 11058326 · Rev CA · Apr 2011

Joystick Steer Command Converted to the Modified Steer Command

In the Joystick Right Steer/Right Counter-Rotate Example, the pivot point is set to 9000 and the deadband is defined as 500. Values within the deadband around the Pivot Point are scaled to 10000. Signals between the Pivot Point and 10000 are rescaled to be between 10000 and 20000. Values in between are interpolated linearly. This is done symmetrically for negative values.

Joystick Right Steer / Right Counter-rotate Example

0

2000

4000

6000

8000

10000

12000

14000

16000

18000

20000

0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000

Joystick Steer Cmd (%x100)

Mod

ified

Ste

er C

md

(%x1

00)

Joystick Right Steer Cmd

Pivot Point

Counter-rotate

Right Turn

Generic Dual Path Subsystem Application Service ToolUser Manual Parameter Functions

11058326 · Rev CA · Apr 2011 81

Joystick Steer Command Examples

These examples are the resulting left and right speed commands for pivot point set at 9000, a deadband defined as 500, a few different propel commands , and joystick steer commands ranging from 0 to 10000.

Modified Steer Command Examples

These examples are equivalent graphs using the modified steer command instead.

The modified steer command in the -10000 to 10000 range is then profiled. Because a linear steering response may be too aggressive at higher speeds, the profile can be modified by the propel command. This is defined by a range of propel commands over which the profile changes, and a pair of weight values that set how linear and how curved the profile will be. The maximum curve is defined by an 8-point profile.

Some Key Commands and Results

Joystick Steer

Command

Modified Steer

Command

Left Speed

Command

Right Speed

Command

Result

-10000 -20000 -Propel Propel Counter-rotate to the left

-PivotPt±½Deadband -10000 0 Propel Left pivot steer

0 0 Propel Propel Straight

+PivotPt±½Deadband +10000 Propel 0 Right pivot steer

+10000 +20000 Propel -Propel Counter-rotate to the right

Values in between those specified in each row are interpolted linearly.

Left Track - Based on Joystick Right Steer Example

-15000

-10000

-5000

0

5000

10000

15000

0 2000 4000 6000 8000 10000


Left

Spe

ed C

omm

and

Left Track @ 100% Propel CmdLeft Track @ 70% Propel CmdLeft Track @ 40% Propel CmdLeft Track @ 0% Propel Cmd

Right Track - Based on Joystick Right Steer Example

-15000

-10000

-5000

0

5000

10000

15000

0 5000 10000


Rig

ht S

peed

Com

man

d

Right Track @ 100% Propel CmdRight Track @ 70% Propel CmdRight Track @ 40% Propel CmdRight Track @ 0% Propel Cmd

Left Track - Based on Joystick Right Steer Example

-15000

-10000

-5000

0

5000

10000

15000

0 5000 10000 15000 20000

Modified Steer Cmd (%x100)

Left

Spe

ed C

omm

and

Left Track @ 100% Propel CmdLeft Track @ 70% Propel CmdLeft Track @ 40% Propel CmdLeft Track @ 0% Propel Cmd

Right Track - Based on Joystick Right Steer Example

-15000

-10000

-5000

0

5000

10000

15000

0 5000 10000 15000 20000

Modified Steer Cmd (%x100)

Rig

ht S

peed

Com

man

d

Right Track @ 100% Propel CmdRight Track @ 70% Propel CmdRight Track @ 40% Propel CmdRight Track @ 0% Propel Cmd


82 11058326 · Rev CA · Apr 2011

Steering Parameters


1 Pivot Point Steer input point at which one side is commanded to stop.

Range: 0 to 10000 (0 to 100%)

2 Pivot Point

Deadband

Width of pivot point deadband. Steer input points between PivotPoint-(Deadband/2) and

PivotPoint+(Deadband/2) command one side to stop.

Range: 0-5000

3 Profiling Mode Profiling mode for the main steer input:

– Linear

─ The original value is passed through.

─ Input = output

─ Does not change with propel command (consistent across all speed ranges).

– Fixed profile

─ The six specified points are used to profile the steer input.

– Changes with propel cmd

─ The effective profile varies with the propel command. At lower propel commands, the steering is

more linear. At higher propel commands, it more closely follows the curve specified by the profile

points.

─ Allows for infinite adjustment between linear and fixed profile steering characteristics that

changes based on propel command. The user can specify softer steering at higher speeds and

more aggressive steering at lower speeds.

4 Profile Profile points used for Fixed profile or Changes with propel cmd profiling modes.

The input points define the corresponding output points, and values in between are interpolated on the line

between the surrounding points. The points [0,0], [10000,10000] and [20000,20000] are fixed.

─ Profile is defined by six input and six output points. The values entered need to be increasing for

each progressive point.

Range: 0-10000 (0 = Straight, 10000 = Pivot steer)

5 Low/High Propel

Commands and

Weights

Parameters that control how the propel command changes the profile.

At propel commands equal to Low Cmd and below, the Low Weight is used. At propel commands equal to

High Cmd and above, the High Weight is used. Between Low Speed and High Speed, the weight is scaled

proportionally between the Low Weight and the High Weight, shifting the effective profile curve accordingly.

Weight Parameter Range: 0-10000 (0=Linear, 10000=Follows 8-point profile)

Command Parameter Range: 0-10000 (0 = Stopped, 10000 = Full speed)


11058326 · Rev CA · Apr 2011 83

Propel Controls

1

The Propel Controls parameter functions screen configures how the Propel input is profiled. An 8-point profile is used. Both input and output profile points must be entered in increasing order from left to right.

Propel Controls Parameters


1 Propel Profile Profile points used for the propel input (usually joystick y axis).

The input points define the corresponding output points. The values in between are interpolated on the line

between the surrounding points. The outermost points are fixed at [0,0] and [10000,10000].

Range: 0-10000 (0=Stopped, 10000=Full speed)


84 11058326 · Rev CA · Apr 2011

Park Brake Control

1

2

3

4

5

6

7

The Park Brake Control parameter functions screen configures the Park Brake Control block, which controls the park brake solenoid.

This block reduces potential interference between the brake and propel. It disables propel until the brake has been released for a specified time, and it waits to apply the brake until the commands have been zero for a calculated time. The brakes are then only applied if one of these conditions is met:

• The operator requests it. (Brake pedal, etc).

• A motor is still moving. (Hill hold feature).

• A fault has occurred that disables propel.

T Coming to a stop, using the joystick or decel pedal, will not result in the brake being applied unless one of the above conditions is true.


11058326 · Rev CA · Apr 2011 85

Park Brake Control Parameters


1 Minimum Delay Base delay time before brake can be applied.

Range: 0-65535 (ms)

2 Delay Increase

Rate

Slope of brake application delay time increase. The highest motor speed at the moment the speed commands

both become zero is used to determine how much time the vehicle will need to stop. For every 1000 RPM of

motor speed, this amount of time is added to the base delay time.

Range: 0-65535 (ms)

3 Maximum Delay Maximum brake application delay time. The calculated delay time is clamped at this upper limit.

Range: 0-65535 (ms)

4 Release Delay Delay time after the brake solenoid is de-energized that propel is allowed.

Range: 0-65535 (ms)

5 Enable Hill Hold Enables brake application if uncommanded movement is detected.

6 Hill Hold Pulse

Count

Number of PPU pulses needed to trigger brake application.

7 Hill Hold Reset

Time

Time without receiving a pulse to clear pulse counter.

Range: 0-65535 (1= 1 ms)


86 11058326 · Rev CA · Apr 2011

Motor PPUs

1

2

3

4

The Motor PPUs parameter functions screen configures the scaling and fault checking of the motor PPU signals. A “no response” fault is declared if the corresponding speed command exceeds a minimum value but the PPU does not receive a pulse for a specified time.

Propel Controls Parameters


1 Pulses/Rev Number of pulses per revolution.

Range: 1-600

2 “No Response”

Min Command

Lowest speed command at which “no response” faults are detected.

Range: 0 to 10000 (0 to 100%)

3 “No Response”

Detection Time

Time to wait for a pulse before declaring “no response” fault.

Range: 0-65535 (ms)

4 Voltage Fault

Detection Time

Time to detect voltage faults. Used by PPU Compliance Blocks.

Range: 0-32767 (ms)


11058326 · Rev CA · Apr 2011 87

Engine

1

2

3

4

5

6

7

The Engine parameter functions screen configures how the application controls and communicates with the engine.

The throttle percentage signal is scaled between the Engine high idle speed and the Engine low idle speed parameters. This speed request is sent to the engine in a TSC1 message.

Actual engine speed and engine setpoint are received in the EEC1 and EEC3 messages, respectively. So that Antistall does not respond to quick setpoint changes, this value is ramped before being used.

If the application does not receive EEC1 or EEC3 messages for too long, a fault is declared. Also, if the application cannot send a TSC1 message for too long, due to high bus load, a fault is declared.

Engine Parameters


1 High Idle Engine high idle speed.

Range: 0-8031 (rpm)

2 Low Idle Engine low idle speed.

Range: 0-8031 (rpm)

3 Increase Time Time the engine takes to change from low idle to high idle under a light load.

Range: 0-65535 (ms)

4 Decrease Time Time the engine takes to change from high idle to low idle under a light load.

Range: 0-65535 (ms)


88 11058326 · Rev CA · Apr 2011

Engine Parameters


5 EEC1 Timeout Time the application waits to receive a J1939 EEC1 message before declaring a fault. The repetition rate of this

message may depend on engine speed.

Range: 0-65535 (ms)

6 EEC3 Timeout Time the application waits to receive a J1939 EEC3 message before declaring a fault. Engines should transmit this

message every 250 ms.

Range: 0-65535 (ms)

7 TSC1 Timeout Time the application waits to send a J1939 TSC1 message before declaring a fault. Engines should receive this

message every 10 ms.

Range: 0-65535 (ms)


11058326 · Rev CA · Apr 2011 89

Application Block

1—6

7—8

9

10

11

The Application Block parameter functions screen contains four sections:

• Ramp Times

• Soft Start and Soft End

• Differential Steering

• Two-Speed Motor Shift

The GDP Application Block converts steer and propel commands into left and right speed commands. It also decides when two-position motors should be shifted. This screen configures the ramps, differential steering, and motor shift hysteresis. The two values for soft start and soft end must add up to less than 100.


90 11058326 · Rev CA · Apr 2011

Ramp Parameters


1 Normal acceleration time Increment time is the time (in ms) that it takes for the propel command to increase from 0 to ±10000.

Partial increases in the propel command take a time that is proportional to the total increment time.

With an A_IncTm_ms value of 2000 (2000 ms):

A 100.00% increase in the propel command from 0 to 10000 takes 2000 ms.

A 50.00% increase in the propel command from 2500 to 7500 takes 1000 ms.

For more about the Soft_Ramp function block, refer to the PLUS+1 GUIDE Basic Function Blocks Library

User Manual, 10103409.

Range: Loop Time–65535 (1000 = 1000 ms)

2 Normal deceleration time Decrement time is the time (in ms) that it takes for the propel command to decrease from ±10000 to 0.

Partial decreases in the propel command take a time that is proportional to the total decrement time.

With a A_DecTm_ms value of 2000 (2000 ms):

A 100.00% decrease in the propel command from 10000 to 0 takes 2000 ms.





3 Brake deceleration time Decrement time is the time (in ms) that it takes for the propel command to decrease from ±10000 to 0.








4 Decel pedal deceleration

time

Decrement time is the time (in ms) that it takes for the propel command to decrease from ±10000 to 0.









11058326 · Rev CA · Apr 2011 91

Ramp Parameters


5 Steer increase time Increment time is the time (in ms) that it takes for a left or right steering percentage to increase from 0 to

±10000. Partial increases in a left or right steering percentage take a time that is proportional to the total

increment time.

With an IncTm_ms value of 444 (444 ms):

A 100.00% increase in a left or right steering percentage from 0 to 10000 takes 444 ms.

A 50.00% increase in a left or right steering percentage from 2500 to 7500 takes 222 ms.

For more about the Time_Ramp function block, refer to the PLUS+1 GUIDE Basic Function Blocks Library

User Manual, 10103409).


6 Steer decrease time Decrement time is the time (in ms) that it takes for a left or right steering percentage to decrease from

±10000 to 0. Partial decreases in a left or right steering percentage take a time that is proportional to the

total decrement time.

With a DecTm_ms value of 444 (444 ms):

A 100.00% decrease in a left or right steering percentage from 10000 to 0 takes 444 ms.

A 50.00% decrease in a left or right steering percentage from 7500 to 2500 takes 222 ms.

For more about the Time_Ramp function block, refer to the PLUS+1 GUIDE Basic Function Blocks Library



7 Soft start Soft start percentage is the percent of total ramp time in which a soft acceleration occurs.



Range: 0–99 (1 = 1%)

8 Soft end Soft end percentage is the percent of total ramp time in which a soft deceleration occurs.



Range: 0–99 (1 = 1%)


92 11058326 · Rev CA · Apr 2011

Reduce Decel Time if Power Distribution Plug-in Active


9 Reduce decel time if

Power Distribution plug-

in active

T: Scale propel decel time by the Power Distribution (Antistall) plug-in output so that the resulting speed

commands always decrease at the normal rate.

F: Do not scale propel decel time. The resulting speed commands will decrease at a lower rate if they have

been reduced by the Power Distribution plug-in.

Differential Steering


10 Speed increase of outer

track

Set the speed increase of the outer propel track. The greater the differential steering value, the greater the

increase in differential steering.

In a turn, a differential steering value of:

10000 (100.00%) adds 100% of the decrease in the inside track pump command. Enter a value of 10000 for

full differential steering.

6000 (60.00%) adds 60% of the decrease in the inside track pump command to the outside pump

command.

0 (0%) does not increase the outside track pump command.

Two-Speed Motor Shift


11 Hysteresis between

upshift and downshift

points

Set the percentage that the speed command with the highest value must drop below before the motors

shift back to low-speed. Range: 0 to 10000 (10000 = 100%)


11058326 · Rev CA · Apr 2011 93

Antistall

1

2

3

4

5

6

7

8

9

Antistall outputs a value that is multiplied by the propel commands after they are ramped. This is necessary in situations where a quick reaction time is needed, such as a lugging engine.

The Antistall output decreases from 100 % to a lower value when a high load causes a decrease in engine rpm. The greater the decrease in engine rpm, the greater the decrease in the Antistall output.

Multiplying the speed commands, by the reduced Antistall output, proportionally reduces the speed commands, thus reducing engine load and preventing stalling.



94 11058326 · Rev CA · Apr 2011

Antistall Controls


1 Antistall Enable Click check box to enable Antistall function.

2 High Throttle No load high engine idle speed (rpm)

3 A start Set engine speed at which antistall begins to reduce system output (rpm)

4 P Band Set the width of the band below Astart in which antistall drops from 100% to 0% (rpm)

5 Max Recovery Error Set error limit when engine is above Astart (usually set to 20 or 25) (rpm)

6 A min Set the minimum scaling factor by which antistall can reduce system output (% x 100)

Lead-Lag Filter


7 Tx Lead filter pseudo-time constant.

8 Ty Lag filter pseudo-time constant.

9 Damping Lead-Lag filter gain (dB)


11058326 · Rev CA · Apr 2011 95

Temperature Derate

1

2

34

5

The Temperature Derate output drops from 100% to a lower, user-defined value when hydraulic fluid temperatures rise above a user-defined value. The output returns to 100% when the temperature has dropped by a set amount. These changes are ramped.

Applications multiply their propel commands by the reduced Temperature Derate output to proportionally reduce propel commands, protecting the the hydraulic systems from over-temperature damage.

Temp Derate


1 Temp Derate Enable Click enable Temp Derate check box to function.

2 Threshold Temp Define the temperature where output is reduced (°C x 10).

3 Derate Percent Set the multiplier value to be used when over the threshold temperature.(% x 100).

4 Temperature Drop Set the temperature drop needed to return the output to 100%.(°C x 10).

5 Ramp Time Set the time required to reduce from to increase to 100% (ms).


96 11058326 · Rev CA · Apr 2011

Tracker

1

2

3

4

5

6

7

8

The Tracker plug-in applies closed-loop control to correct tracking errors caused by uneven track loading, hydraulic leakage and/or imperfect calibration. The downloaded parameters are used to configure the plug-in. There are two sections of parameters on the Tracker screen:

• Tracker Controls affect the Tracker during operation.

• Open/Closed Loop Boundaries set the boundaries between open and closed loop operation.

Tracker Controls


1 Tracker Enable Check box enables Tracker operation.

2 Integral Gain Set integral gain.

3 Proportional Gain Set proportional gain.

4 Max Correction Maximum correction, measured as a percentage of the command. (% x 100)

5 Command Filter Time Introduces lag into setpoint to match motor response to reduce overshoot from quick steering changes

(ms).



11058326 · Rev CA · Apr 2011 97

Open/Closed Loop Boundaries


6 Max Steer Steering percentage beyond which no error correction takes place (measured as a relative difference

between left and right). (% x 100).

7 Min Motor Speed Motor Speed below which tracking errors are not detected. (rpm)

8 Loaded Min Speed As engine load increases, the MinSpd parameter used by the plug-in gets scaled towards this target

value. (rpm)

Trackstall

1

The Trackstall plug-in attempts to keep tracks moving even if Antistall is reducing input. A limit is set below which Antistall cannot scale the propel commands. If propel commands are below the lower limit, it bypasses the original command.

The Trackstall plug-in works together with the Antistall plug-in to limit the scaling applied by the Antistall plug-in to the pump commands.

The value is split for left and right by proportionally reducing the value corresponding to the slower side. This is used to limit the effect of Power Distribution unless the original command is already lower, in which case the Power Distribution plug-in is not applied.

Trackstall

Callout Item Description Units

1 Min Command Set the minimum value to which the Power Distribution plug-in can reduce propel. % x 100


98 11058326 · Rev CA · Apr 2011

Propel Calibration

1

2

3

4

5

6

7

8

9

The Propel Calibration parameter functions screen configures the propel calibration process.

The threshold calibration process automatically steps through all four thresholds. For each threshold, it ramps current slowly across the range, while it waits to count a specified number of pulses on the PPU input.

Max propel output calibration mode initially allows only slow driving. When the operator commands full speed straight forward or reverse, a separate ramp is activated that brings the vehicle to the target speed. The ramp rate is proportional to the difference between the target speed and the actual speed. This is achieved by using an integrator whose output is multiplied by the speed commands.

Propel Calibration Parameters


1 Expected Engine

Speed

Engine speed for which target max motor speeds are calculated. This is usually the engine’s high idle speed.

Range: 0-65535 (rpm). This value defines the middle of a engine speed visual indicator on the propel calibration

log screens.

2 Min Engine

Speed

Minimum engine speed at which propel calibration is allowed. Set this low enough that normal engine droop

and noise do not prevent calibration.

Range: 0-65535 (rpm). This value defines the bottom of an engine speed visual indicator on the propel

calibration log screens.

3 Threshold

Capture Pulses

Number of pulses counted at PPU input to capture threshold current.


11058326 · Rev CA · Apr 2011 99

Propel Calibration Parameters


4 Threshold Ramp

Time

Time to ramp from 90% of the minimum acceptable threshold current to 110% of the maximum acceptable

threshold current. This extended range is used to detect out-of-bounds values.

Range: 0-65535 (ms)

5 Threshold Ramp

Delay

Delay after completion of a threshold calibration ramp that the next will begin.

Range: 0-65535 (ms)

6 Target max

speed

Desired max motor speed with the engine operating at Expected Engine Speed.

Reference Propel Calibration , page 98, for details on how to calculate appropriate values.


7 Integrator Time

Constant

Time constant for integrator used during max propel output calibration. The time needed for the integrator

output to change by a defined amount will be approximately proportional to this time constant.

Range: 0-65535 (ms)

8 Integrator

Starting Point

Value at which integrator begins operation. It must start at a low enough value that the resulting motor speeds

are below the target speed.

Range: 0-10000 (1 = Threshold, 10000 = Maximum coil current)

9 Speed Filter Time

Constant

Filter time constant for smoothing speed signals before they are compared with the target speed.

This parameter is used by a standard PLUS+1 Library Exponential Filter.

Range: 0-65535 (ms)

Operation of the Integrator

Comparision of various integrator times with a Target Speed of 3600 Rpm

1500

2000

2500

3000

3500

4000

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14

Time (Seconds)

Mot

or O

utpu

t Spe

ed (R

pm)

Integrate Time - 1000 mSIntegrate Time - 2000 mSIntegrate Time - 3000 mS


100 11058326 · Rev CA · Apr 2011

Pump/Motor Control (Proportional Motors)

1

2

3

4

5

The Pump/Motor Control parameter functions screen adjusts parameters for the Phase blocks, which split speed commands into pump and motor commands.

The screen above appears when the application is configured for proportional motors. A different screen appears if configured for two-position motors. Reference Pump/Motor Control (Two Position Motors), page 102.

The expected maximum values and enclosing windows are pump and motor compliance block input commands, which are percentages of the current range between the threshold and max current. For proportional motors, the low range max is a pump command and the high range max is a motor command.

For example, a S90 pump compliance block installed in the GDP Subsystem Application has a max current set to 100 mA and a typical calibrated threshold of 14 mA. If the expected max is set to 8000 and the window set to 3000, the acceptable range of max pump commands is 6500 to 9500. Multiply these command percentages by the current range and add the threshold to obtain actual currents:

Cmd10000

Max Thld Thld Current

650010000

100mA 14mA 14mA 69.9mA

950010000

100mA 14mA 14mA 95.7mA


11058326 · Rev CA · Apr 2011 101

Thus, the range of acceptable max pump current values is 69.9 mA to 95.7 mA, if the threshold is calibrated at 14 mA. The actual range will vary with threshold. The calculation is the same for motor currents, but motor thresholds are preset, not calibrated.

To start at current values and solve for the command range, calculate the current value’s position within the current range as a percentage of the range:

Cmd 10000Current ThldMax Thld

For a 24V S51 proportional motor with a current range set to 264-750 mA, and a desired acceptable max current range of 600-700 mA, the motor command range can be solved as follows:

LowCmd 10000600 264750 264

6914

HighCmd 10000700 264750 264

8971

Rounding these numbers off to the nearest hundred, this range could be approximated with an expected max of 7900 and a window of 2000.

Pump/Motor Control Parameters


1 Motor Start Point Lowest speed command that produces sub-threshold motor current.

Range: 0 to (10000 * High range max speed / Low range max speed)

2 Expected Low

Range Max

Center of window of acceptable low range (pump command) max output values.

Pump commands within Expected±(Window/2) can be captured.

Range: 0 to 10000 (0 to 100%)

3 Low Range Max

Window

Size of window of acceptable low range (pump command) max output values.


Range: 0 to 10000 (0 to 100%)

4 Expected High

Range Max

Center of window of acceptable high range (motor command) max output values.

Motor commands within Expected±(Window/2) can be captured.

Range: 0 to 10000 (0 to 100%)

5 High Range Max

Window

Size of window of acceptable high range (motor command) max output values.

Motor commands within Expected±(Window/2) can be captured.

Range: 0 to 10000 (0 to 100%)


102 11058326 · Rev CA · Apr 2011

Pump/Motor Control (Two-Position Motors)

1

2

3

4

5

6

The Pump/Motor Control parameter functions screen adjusts parameters for the Phase blocks, which split speed commands into pump and motor commands.

The screen above appears when the application is configured for two-position motors. A different screen appears if configured for proportional motors. Reference Pump/Motor Control (Two Position Motors), page 100.

The upshift and downshift ramp times are used to synchronize the pump’s change in displacement with those of the motors.

T Ramp times that are not matched to the motor result in performance that is not smooth.


11058326 · Rev CA · Apr 2011 103

Upshift Ramp Time Too Fast

Upshift Time too Fast

0

2000

4000

6000

8000

10000

12000

0 5 10 15 20

Time (Seconds)

Perc

enta

ge C

md

(% x

100

)

0

1000

2000

3000

4000

5000

6000

Motor O

utput Speed (RPM)

Left_CP_Mtr_CmdLeft_CP_Pump_CmdCP_MotorL_RPM

Pump shifts to smaller displacement before the motor can destroke to minimum angle causing a sudden decrease in motor speed and therefore vehicle speed.

Upshift Ramp Time Too Slow

The motor shifts to minimum angle before the pump can destroke to a smaller displacement causing a sudden increase in motor speed and therefore vehicle speed.

Upshift Time Too Slow

0

2000

4000

6000

8000

10000

12000

0 5 10 15 20

Time (Seconds)

Perc

enta

ge C

md

(% x

100

)

0

1000

2000

3000

4000

5000

6000

Motor O

utput Speed (RPM

)

Left_CP_Mtr_Cmd

Left_CP_Pump_Cmd

CP_MotorL_RPM


104 11058326 · Rev CA · Apr 2011

Upshift Ramp Time Good

The pump destroking to a smaller displacement and the motor shifting to minimum angle are done simultaneously resulting in linear speed change.

Expected Maximum Values

The expected maximum values and enclosing windows are pump compliance block input commands, which are percentages of the current range between the threshold and max current. For two-position motors, the low range max and high range max are both pump commands.

For example, a S90 pump compliance block installed in the GDP Subsystem Application has a max current set to 100 mA and a typical calibrated threshold of 14 mA. If the expected max is set to 8000 and the window set to 3000, the acceptable range of max pump commands is 6500 to 9500. Multiply these command percentages by the current range and add the threshold to obtain actual currents:

Cmd10000

Max Thld Thld Current

650010000

100mA 14mA 14mA 69.9mA

950010000

100mA 14mA 14mA 95.7mA

Thus, the range of acceptable max pump current values is 69.9 mA to 95.7 mA, if the threshold is calibrated at 14 mA. The actual range will vary with threshold. The calculation is the same for motor currents, but motor thresholds are preset, not calibrated.

Good Upshift Time

0

1000

2000

3000

4000

5000

6000

7000

8000

9000

10000

11000

12000

0 5 10 15 20Time (Seconds)

Perc

enta

ge C

md

(% x

100

)

0

1000

2000

3000

4000

5000

6000

Motor O

utput Speed (Rpm

)

Left_CP_Mtr_CmdLeft_CP_Pump_CmdCP_MotorL_RPM


11058326 · Rev CA · Apr 2011 105

To start at current values and solve for the command range, calculate the current value’s position within the current range as a percentage of the range:

Cmd 10000Current ThldMax Thld

For a desired acceptable max current range of 80-90 mA, the pump command range can be solved as follows:

LowCmd 10000 80 14100 14

7674

HighCmd 10000 90 14100 14

8837

Rounding these numbers off to the nearest hundred, this range could be approximated with an expected max of 8300 and a window of 1200.

Pump/Motor Control Parameters


1 Downshift Ramp

Time

Time the motor takes to change from minimum to maximum displacement. This is used to synchronize the

pump’s increase in displacement with that of the motor.

2 Upshift Ramp

Time

Time the motor takes to change from maximum to minimum displacement. This is used to synchronize the

pump’s decrease in displacement with that of the motor.

3 Expected Low

Range Max

Center of window of acceptable low range (pump command) max output values.


Range: 0 to 10000 (0 to 100%)

4 Low Range Max

Window

Size of window of acceptable low range (pump command) max output values.


Range: 0 to 10000 (0 to 100%)

5 Expected High

Range Max

Center of window of acceptable high range (pump command) max output values.


Range: 0 to 10000 (0 to 100%)

6 High Range Max

Window

Size of window of acceptable high range (pump command) max output values.


Range: 0 to 10000 (0 to 100%)


106 11058326 · Rev CA · Apr 2011

Pump/Motor Currents

1

2

3

The Pump/Motor Currents parameter functions screen allows calibrated and preset current range values to be manually adjusted.

Pump/Motor Currents Parameters


1 Phase Block Max

Outputs

Max pump/motor command values stored in the Phase blocks. These are percentages of the current range set by

the compliance block threshold and max current values.


2 Pump Currents Threshold and end current values stored in the pump compliance blocks. The thresholds are captured during

calibration. The max currents are preset to the compliance blocks’ coil max current, which enables the Phase

blocks to access the full range above threshold.


3 Motor Currents Preset current range of motor compliance blocks. (only appears if configured for proportional motors) The

thresholds are preset to the compliance blocks’ maximum allowable threshold.

Set the threshold low enough that there is some overlap between the pump and motor phases. Set the end

currents to a value that would saturate the motors.



11058326 · Rev CA · Apr 2011 107

Start Calibration

1

2

34

5

4

6

The Start Calibration parameter functions screen allows the user to start the calibration sequence or abort it before completion. The sequence is as follows:

1. Analog inputs.

2. Pump thresholds.

3. Low range max output.

4. High range max output.

Start Calibration Elements


1 Parking Brake

Status

Indicates parking brake lever status. Calibration mode cannot be entered unless the parking brake is set and

both speed commands are zero. Because the parking brake lever causes the commands to go to zero, this

requirement is not displayed separately.

2 Start with Analog

Input Calibration

Requests calibration mode, starting at the analog input stage.

3 Start with Pump

Threshold

Calibration

Requests calibration mode, skipping the analog input stage and proceeding directly to the pump threshold

stage.

4 Abort Calibration

Button

Requests that calibration mode be stopped as soon as possible. (Only appears if calibration mode is active.) If

Analog Input calibration is active, it will be aborted immediately. Propel calibration aborts only when the

operator stops the vehicle. Captured Analog Input values are retained. If propel calibration is aborted, propel

values are reset to defaults.


108 11058326 · Rev CA · Apr 2011

Start Calibration Elements


5 Input Calibration

Hyperlink

Switches to input calibration status log screen.

6 Threshold

Calibration

Hyperlink

Switches to threshold calibration status log screen.

Generic Dual Path Sub-system Application Service ToolUser Manual

109 11058326 · Rev CA · Apr 2011

Appendix A

Downloading Compiled Application

A

BC

E

D

Open PLUS+1 GUIDE Compiled Application (LHX).

A. In the Service Tool window toolbar, click File Download.

B. In the File Download window, click to select the file you want to download.

C. In the File Download window, click OK.

D. In the Open application file for download window, click the GDP file.

E. In the Open application file for download window, click Open to load the GDP file for downloading.

T Before doing anything on the machine, read through this manual.

Generic Dual Path Sub-system Application Service ToolUser Manual Appendix A

110 11058326 · Rev CA · Apr 2011

G

Type

F

Status

F. If the Auto Fix Warning window appears:

– Auto Fix, click only for minor software updates for which the parameters and calibration data can be reused.

– Ignore, click any other time.

– Cancel, click to cancel the download.

G. In the File Download tab, click the Start Download button to begin the download.

– The “does not match File” Warning window will appear if controller has an application with an old kernel on it, click Ignore.

– The “Target application type does not match file application type” Caution window will appear if the controller had a different application on it. Type Generic Dual Path and click OK.

The Status bar at the bottom of window shows Download during the download and Connect before and after the download finishes.


111 11058326 · Rev CA · Apr 2011

Appendix B

Downloading Read-only Parameter Files

AB

C

E

D

F

Status

Open PLUS+1 GUIDE Read-Only Parameter File (LHX).

A. In the Service Tool window toolbar, click File Download.

B. In the File Download window, click to select the file you want to download.

C. In the File Download window, click OK.

D. In the Open read-only parameter file for download window, click the GDP_DEFS file.

E. In the Open read-only parameter file for download window, click Open to load the GDP_DEFS file for downloading.

F. In the File Download tab, click the Start Download button to begin the download. The Status bar at the bottom of window shows: – Download during the download. – Connect before and after the download finishes.


112 11058326 · Rev CA · Apr 2011

Appendix C

Parameters

The parameter values that are used by the application are stored in EEPROM. These are also the parameters that are changed on Service Tool parameter function screens. Setting defaults copies values from the Read-Only Parameters to the corresponding EEPROM parameters. Calibration values are an exception. Most of their default values are hardcoded constants that can only be changed by editing the application in GUIDE.

Most parameter screens have a Set Defaults button. This causes defaults to be set for only the parameters on that screen. The application contains a global signal that sets all parameters and calibration values to defaults. This can be triggered two ways:

• The Set All Defaults button in the Service Tool.

• A mismatch of EE_ParamVer and the ParamVer Read-Only Parameter.

− In that case, the ParamVer Read-only Parameter is immediately copied into EE_ParamVer so that it doesn't happen again until the next time this is changed.

To change the default values defined in the Read-only Parameter file, see Create a Read-Only Parameters File in PLUS+1—How To in the PLUS+1 GUIDE User Manual, 10100824.

ROP Name

EEPROM Name Type Default Value Description

ParamVer

EE_ParamVer

U32 100 Parameter set version. If the value in the Read-Only

Parameter does not match the value in EEPROM, all

defaults will be set by copying the Read-Only

Parameter values into EEPROM.

MtrPulsPerRev

EE_MtrPulsPerRev

U16 49 Motor pulses per revolution

PPU_V_FltDetTm

EE_PPU_V_FltDetTm

U16 200 Fault detection time for PPU voltage faults (compliance

block)

PPU_NR_MinCmd

EE_PPU_NR_MinCmd

U16 200 Minimum speed command to detect PPU No Response

faults

PPU_NR_FltDetTm

EE_PPU_NR_FltDetTm

U16 1000 Fault detection time for PPU No Response faults

Engine_Rise_ms

EE_Engine_Rise_ms

U16 1000 Time engine needs to rise from low idle to high idle

Engine_Fall_ms

EE_Engine_Fall_ms

U16 1000 Time engine needs to fall from high idle to low idle

Engine_HiIdle_RPM

EE_Engine_HiIdle_RPM

U16 2400 Engine high idle speed

Engine_LoIdle_RPM

EE_Engine_LoIdle_RPM

U16 900 Engine low idle speed

Generic Dual Path Sub-system Application Service ToolUser Manual Appendix C

11058326 · Rev CA · Apr 2011 113

ROP Name


Engine_EEC1_Timeout_ms

EE_Engine_EEC1_Timeout_ms

U16 500 J1939 EEC1 (engine speed) receive timeout

Engine_EEC3_Timeout_ms

EE_Engine_EEC3_Timeout_ms

U16 1000 J1939 EEC3 (engine setpoint) receive timeout

Engine_TSC1_Timeout_ms

EE_Engine_TSC1_Timeout_ms

U16 50 J1939 TSC1 send timeout

Steer_TrimStr_Limit

EE_Steer_TrimStr_Limit

U16 5000 Maximum contribution of Trim Steer input

Steer_ProfMode

EE_Steer_ProfMode

U16 2 Steering profile mode (0=linear, 1=profile, 2=profile

that changes with propel commands)

Steer_HiWeight

EE_Steer_HiWeight

U16 7500 (Profmode=2) How profiled the steering is at high

propel commands

Steer_HiPoint

EE_Steer_HiPoint

U16 7000 (Profmode=2) Highest propel command where profile

changes

Steer_LoWeight

EE_Steer_LoWeight

U16 0 (Profmode=2) How profiled the steering is at low propel

commands

Steer_LoPoint

EE_Steer_LoPoint

U16 2500 (Profmode=2):Lowest propel command where profile

changes

Steer_PivotPt

EE_Steer_PivotPt

U16 9000 Joystick steering command that results in pivot steer

Steer_PivPtDB

EE_Steer_PivPtDB

U16 100 Deadband centered at pivot point

Steer_X1

EE_Steer_X1

S16 2000 Steering profile input 1

Steer_X2

EE_Steer_X2


Steer_X3

EE_Steer_X3


Steer_X4

EE_Steer_X4


Steer_X5

EE_Steer_X5


Steer_X6

EE_Steer_X6


Steer_Y1

EE_Steer_Y1

S16 15 Steering profile output 1


114 11058326 · Rev CA · Apr 2011

ROP Name


Steer_Y2

EE_Steer_Y2


Steer_Y3

EE_Steer_Y3


Steer_Y4

EE_Steer_Y4


Steer_Y5

EE_Steer_Y5


Steer_Y6

EE_Steer_Y6


MaxSpd_Min

EE_MaxSpd_Min

U16 1500 Minimum setting of MaxSpd input

Propel_X1

EE_Propel_X1

S16 1500 Propel profile input 1

Propel_X2

EE_Propel_X2


Propel_X3

EE_Propel_X3


Propel_X4

EE_Propel_X4


Propel_X5

EE_Propel_X5


Propel_X6

EE_Propel_X6


Propel_Y1

EE_Propel_Y1

S16 1500 Propel profile output 1

Propel_Y2

EE_Propel_Y2


Propel_Y3

EE_Propel_Y3


Propel_Y4

EE_Propel_Y4


Propel_Y5

EE_Propel_Y5


Propel_Y6

EE_Propel_Y6



11058326 · Rev CA · Apr 2011 115

ROP Name


ParkBrake_RelDelay_ms

EE_ParkBrake_RelDelay_ms

U16 200 Delay after park brake solenoid is energized that propel

can begin

ParkBrake_StopDelay_ms

EE_ParkBrake_StopDelay_ms

U16 400 Additional brake application delay per 1000 RPM of

motor speed captured at the moment commands

reached zero

ParkBrake_MinDelay_ms

EE_ParkBrake_MinDelay_ms

U16 500 Base (minimum) brake application delay

ParkBrake_MaxDelay_ms

EE_ParkBrake_MaxDelay_ms

U16 3000 Maximum brake application delay

ParkBrake_EnableHillHold

EE_ParkBrake_EnableHillHold

BOOL 1 Enable hill hold functionality (application of brake upon

detection of uncommanded movement)

ParkBrake_HillHoldDetCnt

EE_ParkBrake_HillHoldDetCnt

U16 15 Number of accumulated PPU pulses to trigger hill hold

ParkBrake_HillHoldRstTm

EE_ParkBrake_HillHoldRstTm

U16 1000 Time with no pulses after which pulse counter will reset

to zero

GDP_Core_DiffSteer_Pct2

GDP_EE_Core_DiffSteer_Pct2

S16 0 Relative increase in speed command of outer track in

steer (0=none, 10000=equal to decrease of inner track)

GDP_Core_ShiftHyst_Pct2

GDP_EE_Core_ShiftHyst_Pct2

U16 500 How far the speed commands have to fall below Phase

Point for two-position motor to downshift

GDP_Ramp_Normal_DecTm

GDP_EE_Ramp_Normal_DecTm

U16 1250 Time for propel command to decrease from full speed

to stop due to joystick

GDP_Ramp_Brake_Tm

GDP_ EE_Ramp_Brake_Tm


to stop if brake is activated

GDP_Ramp_Decel_Tm

GDP_ EE_Ramp_Decel_Tm


to stop due to decel pedal

GDP_Ramp_Normal_IncTm

GDP_EE_Ramp_Normal_IncTm

U16 2000 Time for propel command to increase from stop to full

speed

GDP_Ramp_Soft_Start

GDP_EE_Ramp_Soft_Start

U16 2 Percent of propel ramp time spent in soft acceleration

phase

GDP_Ramp_Soft_End

GDP_EE_Ramp_Soft_End

U16 2 Percent of propel ramp time spent in soft deceleration

phase

GDP_PwrSclDecTm

GDP_EE_PwrSclDecTm

BOOL 1 Multiply decel time by Power Distribution plug-in

output so that it doesn't affect the actual deceleration

rate

GDP_Ramp_Steer_IncTm

GDP_EE_Ramp_Steer_IncTm

U16 450 Time for a steering multiplier to increase from a 0 to

100%


116 11058326 · Rev CA · Apr 2011

ROP Name


GDP_Ramp_Steer_DecTm

GDP_EE_Ramp_Steer_DecTm

U16 450 Time for a steering multiplier to decrease from 100% to

0

Cal_EngSpd

EE_Cal_EngSpd

U16 2400 Engine speed for which the target max motor speeds

were calculated (usually high idle)

Cal_MinEngSpd

EE_Cal_MinEngSpd

U16 2100 Minimum engine speed needed for propel calibration

to function (High idle – droop – noise margin)

Cal_LR_IntTm_ms

EE_Cal_LR_IntTm_ms

U16 2000 Integrator time constant used during low range max

output calibration

Cal_HR_IntTm_ms

EE_Cal_HR_IntTm_ms

U16 2000 Integrator time constant used during high range max

output calibration

Cal_LRspd

EE_Cal_LRspd

U16 2223 Low range target max motor speed

Cal_HRspd

EE_Cal_HRspd

U16 3420 High range target max motor speed

Cal_FilterTm

EE_Cal_FilterTm

U16 200 Time constant for Exp Filter used on motor speeds that

are compared with target speed to decide when to

capture

Cal_ThldPulses

EE_Cal_ThldPulses

U16 9 Number of PPU pulses to capture threshold

Cal_ThldCalTm_ms

EE_Cal_ThldCalTm_ms

U16 40000 Time to ramp across threshold current range during

threshold calibration

Cal_ThldCalDel_ms

EE_Cal_ThldCalDel_ms

U16 2000 Delay time between threshold calibration ramps

Cal_LR_IntRstVal

EE_Cal_LR_IntRstVal

U16 5000 Starting point for low range max output calibration

integrator ramp

Cal_HR_IntRstVal

EE_Cal_HR_IntRstVal

U16 5000 Starting point for high range max output calibration

integrator ramp

Phase_MotorStartCmd

EE_Phase_MotorStartCmd

U16 1000 Speed command at which a proportional motor starts

sub-threshold current output

Upshift_RampTm

EE_Upshift_RampTm

U16 265 Ramp time for pump command when motor is shifted

from max to min

Downshift_RampTm

EE_Downshift_RampTm

U16 350 Ramp time for pump command when motor is shifted

from min to max

Phase_LRmax_Exp

EE_Phase_LRmax_Exp

U16 8000 Expected value for low range max pump commands


11058326 · Rev CA · Apr 2011 117

ROP Name


Phase_LRmax_Win

EE_Phase_LRmax_Win

U16 3000 Window (centered at expected value) of acceptable low

range max pump commands

Phase_LRmax_Def

Left_LR_Fwd_EE_Max

Left_LR_Rvs_EE_Max

Right_LR_Fwd_EE_Max

Right_LR_Rvs_EE_Max

U16 3000 Default value for low range max pump commands

Phase_HRmax_Exp

EE_Phase_HRmax_Exp

U16 8000 Expected value for high range max pump/motor

commands

Phase_HRmax_Win

EE_Phase_HRmax_Win

U16 3000 Window (centered at expected value) of acceptable

high range max pump/motor commands

Phase_HRmax_Def

Left_HR_Fwd_EE_Max

Left_HR_Rvs_EE_Max

Right_HR_Fwd_EE_Max

Right_HR_Rvs_EE_Max

U16 3000 Default value for high range max pump/motor

commands

GDP_Temp_Derate_Enable

GDP_Temp_Derate_EE_Temp_De_Rate_En

able

BOOL 1 Enable temperature derate plug-in

GDP_Temp_Derate_Threshold

GDP_Temp_Derate_EE_Temp_Threshold

U16 1000 Temp at which to derate speed (deg C x 10)

GDP_Temp_Derate_TD_Pct2

GDP_Temp_Derate_EE_Temp_Derate_Pct2

U16 7000 Scaling percentage when over temp

GDP_Temp_Derate_Hyst_DegC

GDP_Temp_Derate_EE_Temp_Hyst_DegC

U16 40 How far the temp must drop to return to full

performance (deg C x 10)

GDP_Temp_Derate_Ramp_mS

GDP_Temp_Derate_EE_Temp_Ramp_mS

U16 2000 Ramp time for Temp Derate output to change between

100% and reduced value

GDP_Antistall_Enable

GDP_Antistall_EE_AStall_Enable

BOOL 1 Enable Antistall plug-in

GDP_Antistall_Amin_Pct2

GDP_Antistall_EE_AStall_Amin_Pct2

U16 550 Minimum antistall output

GDP_Antistall_Astart_RPM

GDP_Antistall_EE_AStall_Astart_RPM

U16 2200 Engine speed at which antistall begins reducing output

GDP_Antistall_Damping_dB

GDP_Antistall_EE_AStall_Damping_dB

S16 -15 Damping of Lead-Lag filter

GDP_Antistall_MaxRecvyEr_RPM

GDP_Antistall_EE_AStall_MaxRecvyEr_RPM

U16 25 Limits engine speed error when above Astart


118 11058326 · Rev CA · Apr 2011

ROP Name


GDP_Antistall_PBand_RPM

GDP_Antistall_EE_AStall_PBand_RPM

U16 450 Band starting at Astart where antistall output

proportionally goes toward zero

GDP_Antistall_Tx

GDP_Antistall_EE_AStall_Tx

U16 3200 Lead filter pseudo-time-constant

GDP_Antistall_Ty

GDP_Antistall_EE_AStall_Ty

U16 48 Lag filter pseudo-time-constant

GDP_Antistall_HiIdle_RPM

GDP_Antistall_EE_AStall_High_Throttle_RP

M

U16 2400 Engine high idle speed

GDP_Trackstall_MinCmd

GDP_Trackstall_EE_TrackStall_MinCmd

U16 750 Minimum value to which Power Distribution (antistall)

plug-in can reduce commands

GDP_Tracker_Enable

GDP_Tracker_EE_Tracker_Enable

BOOL 1 Enable Tracker plug-in

GDP_Tracker_IGain

GDP_Tracker_EE_Tracker_IGain

U16 100 Integral gain

GDP_Tracker_PGain

GDP_Tracker_EE_Tracker_PGain

U16 100 Proportional gain

GDP_Tracker_MaxSteer_Pct2

GDP_Tracker_EE_Tracker_MaxSteer_Pct2

U16 1500 Maximum relative difference between left and right

that can receive closed-loop control

GDP_Tracker_Max

GDP_Tracker_EE_Tracker_Max

U16 3000 Maximum correction (relative to commands)

GDP_Tracker_MinSpd

GDP_Tracker_EE_Tracker_MinSpd

U16 200 Minimum speed input that can receive closed-loop

control

GDP_Tracker_LoadedMinSpd

GDP_Tracker_EE_Tracker_LoadedMinSpd

U16 600 Minimum closed-loop speed input when Power

Distribution plug-in indicates heaviest load

GDP_Tracker_CmdFltrTm_mS

GDP_Tracker_EE_Tracker_CmdFltrTm_ms

U16 200 Time constant for Exp Filter used on setpoint

(introduces setpoint lag to match feedback lag to

reduce overshoot in response to setpoint changes)

Setpoints

Set values accessible in service tool:

Name Type Description

SetDefs BOOL (pulse) Set all defaults by copying the Read-Only Parameter values into EEPROM.

SetDefs_PPU BOOL (pulse) Set defaults for the EEPROM parameters that appear on the Motor PPUs parameter screen.

SetDefs_Engine BOOL (pulse) Set defaults for the EEPROM parameters that appear on the Engine parameter screen.


11058326 · Rev CA · Apr 2011 119


SetDefs_PropelProf BOOL (pulse) Set defaults for the EEPROM parameters that appear on the Propel Controls parameter

screen.

SetDefs_Steer BOOL (pulse) Set defaults for the EEPROM parameters that appear on the Steering Controls parameter

screen.

SetDefs_ParkBrake BOOL (pulse) Set defaults for the EEPROM parameters that appear on the Park Brake Control parameter

screen.

SetDefs_AppBlock BOOL (pulse) Set defaults for the EEPROM parameters that appear on the Application Block parameter

screen.

SetDefs_Cal BOOL (pulse) Set defaults for the EEPROM parameters that appear on the Propel Calibration parameter

screen.

SetDefs_Phase BOOL (pulse) Set defaults for the EEPROM parameters that appear on the Pump/Motor Control parameter

screen.

StartInputCal BOOL (pulse) Enter calibration mode, starting with analog input calibration.

StartPropelCal BOOL (pulse) Enter calibration mode, starting with pump threshold calibration.

AbortCal BOOL (pulse) Abort calibration mode.

Clr_Hr_Counter BOOL (pulse) Reset hour counter to zero.

Clr_Err_History BOOL (pulse) Clear error history table.

Checkpoints

Checkpoints accessible in service tool:


CP_AutoRvsSw BOOL T: Auto Reverse mode requested.

F: Other mode requested.

CP_BackupAlarm BOOL T: Backup alarm is on.

F: Backup alarm is off.

CP_Brake BOOL Status of brake solenoid output:

T: Solenoid is energized to release the brake.

F: Solenoid is de-energized to apply the brake.

CP_BrakeSw BOOL Status of digital brake pedal input:

T: Brake pedal pressed.

F: Brake pedal not pressed.

CP_Calc_Propel S16 Propel signal calculated from a combination of input signals.

Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full

speed forward)


120 11058326 · Rev CA · Apr 2011


CP_Calc_RampMode U8 Set of active ramp rates used by the Application Block’s propel ramp:

0: Used normally, i.e. for changes of propel command due to joystick.

1: Used when decel pedal is pressed.

2: Used when brake pedal is pressed or a fault response stops the vehicle.

CP_Calc_Steer S16 Profiled steer signal.

Range: -20000 to 20000 (-20000 = Left counterrotate, -10000 = Left pivot, 0 =

Straight, 10000 = Right pivot, 20000 = Right counterrotate)

CP_CalEngSpdBar S16 Indicates engine speed status during calibration:

0: At minimum

50: At expected speed (usually high idle)

> 50: Above expected speed

CP_CalState U8 Active stage of calibration:

0: None; normal vehicle operation

1: Analog inputs

2: Pump thresholds

3: Low range propel max outputs

4: High range propel max outputs

CP_CmdEngSpd S16 Engine setpoint command calculated from Decel/Throttle signal scaled into

engine rpm. This value is sent to the engine in a J1939 TSC1 message.

Range: 0-8031 (rpm)

CP_CR_Sw BOOL T: Counter-rotate switch set to enabled.

F: Counter-rotate switch set to disabled.

CP_Decel_Pct2 S16 Decel/throttle signal coupled by taking the minimum of decel pedal and throttle

lever signals. This value is used to scale the propel command and to calculate

the requested engine setpoint.


CP_DisableAStall BOOL F: Antistall is operational.

T: Antistall is disabled. Propel will not be reduced.

CP_DisableFullSpeed BOOL F: Full speed range is allowed.

T: Propel command is scaled to reduce top speed.

CP_DisableFwd BOOL F: Forward propel is allowed.

T: Propel command is restricted to negative (reverse) values. Because

counterrotate would have each side in opposite directions, the steer command

is restricted to exclude counterrotate.

CP_DisableHighRange BOOL F: Full range of propel command is allowed.

T: Propel command is scaled so that motors stay at maximum displacement. (for

both proportional and 2-position motors)


11058326 · Rev CA · Apr 2011 121


CP_DisablePropelCal BOOL F: Propel calibration is disabled due to faults.

T: No faults are preventing propel calibration.

CP_DisableRvs BOOL F: Reverse propel is allowed.

T: Propel command is restricted to positive (forward) values. Because

counterrotate would have each side in opposite directions, the steer command

is restricted to exclude counterrotate.

CP_DisableSteer BOOL F: Steer input is operational.

T: Steer input is disabled.

CP_DisableSystem BOOL F: Propel is allowed.

T: Propel ramps to zero in Brake ramp mode and then brake is applied.

CP_DisableTempDerate BOOL F: Temperature Derate is operational.

T: Temperature Derate is disabled. Propel will not be reduced.

CP_DisableTracker BOOL F: Closed-loop tracking control is operational.

T: Closed-loop tracking control is disabled. If the vehicle is still driving, the

correction value will gradually reduce. Once the vehicle stops, the correction

value will stay at zero.

CP_DisableTrimStr BOOL F: Trim steer input is operational.

T: Trim steer input is disabled.

CP_EngSetpt_RPM S16 Engine setpoint from J1939 EEC3 message.

Range: 0-8031 (rpm)

CP_EngSpd_RPM U16 Actual engine speed from J1939 EEC1 message.

Range: 0-8031 (rpm)

CP_Err_Hist_Full BOOL T: No new fault locations can be saved in the fault history table.

F: Saving new fault locations is still possible.

CP_ErrHist_CurTime U32 Total time that the application has been running.

Range: 0-715827882 (10 = 1 hour)

CP_FinalCmd_Left_Pct2 S16 Left speed command, possibly scaled by or generated by Calibration block.


speed forward)

CP_FinalCmd_Right_Pct2 S16 Right speed command, possibly scaled by or generated by Calibration block.


speed forward)

CP_FltLoc[30] U8 Array of sources of active fault codes.

CP_FltType[30] U8 Array of specific types of active fault codes.

CP_MaxSpd_Pct2 U16 Max Speed signal, from pot or lever.


CP_MotorL_RPM S16 Left propel motor speed.



122 11058326 · Rev CA · Apr 2011


CP_MotorR_RPM S16 Right propel motor speed.


CP_NeutSW BOOL T: Redundant neutral signal indicates joystick in neutral.

F: Redundant neutral signal indicates joystick out of neutral.

CP_PhasePt U16 Highest speed command that can be achieved with the motors at maximum

displacement.

Range: 0-10000

CP_Propel_Pct2 S16 Propel signal, usually from joystick y axis.

Range: -10000 to 10000 (-10000 = Full reverse, 0 = Stopped, 10000 = Full

forward)

CP_RunSw BOOL The parking brake lever’s complementary outputs are called Run and Stop. They

should have opposite values.

T: Propel is allowed, unless Stop is also T.

F: Propel is not allowed.

CP_Steer_Pct2 S16 Steer signal, usually from joystick x axis.



CP_StopSw BOOL The parking brake lever’s complementary outputs are called Run and Stop. They

should have opposite values.

T: Propel is not allowed

F: Propel is allowed, unless Run is also F.

CP_TargetSpeed S16 Desired maximum motor speed during low range or high range propel

calibration.


CP_TransSw BOOL Digital Transport input from Transport/Work/AutoReverse mode selector.

CP_TrimStr_Pct2 U8 Trim steer signal before being added to the main steer input.

Range: -10000 to 10000 (-10000 = Full left, 0 = Neutral, 10000 = Full right)

CP_ValidDefs BOOL T: A valid read-only parameter file has been downloaded. Defaults can be set.

F: No valid read-only parameter file has been downloaded. Defaults can not be

set.

Decel_CP_LiveVal U16 Scaled voltage value of Decel pedal input.

Range: 0-10000 (0 = 0V, 10000 = SnsrPwr)

Decel_CP_Status U16 Calibration status of Decel pedal input, according to standard PLUS+1 bitwise

status pattern.

FNR_CP_LiveVal U16 Scaled voltage value of joystick y axis input.

Range: 0-10000 (0 = 0V, 10000 = SnsrPwr)

FNR_CP_Status U16 Calibration status of joystick y axis input, according to standard PLUS+1 bitwise

status pattern.


11058326 · Rev CA · Apr 2011 123


GDP_Antistall_CP_Antistall_Enabled BOOL T: Antistall is operational.

F: Antistall is disabled. Propel will not be reduced.

GDP_Antistall_CP_Antistall_Pct2 S16 Antistall correction multiplier.


GDP_Antistall_CP_EngSetPt U16 Engine setpoint input to Antistall plug-in.

Range: 0-8031 (rpm)

GDP_Antistall_CP_EngSpd U16 Actual engine speed input to Antistall plug-in.

Range: 0-8031 (rpm)

GDP_Antistall_CP_IdentNo U32 Part number of Antistall plug-in.

GDP_Antistall_CP_ReleaseStatus BOOL Release status of installed Antistall plug-in:

T: Released version.

F: Unreleased version.

GDP_Antistall_CP_SW_Version U8 Version number of installed Antistall plug-in.

GDP_CP_Cmdscale U16 Output of Max Command Scale plug-in.


GDP_CP_IdentNo U32 Part number of GDP Application Block.

GDP_CP_M_Propel S16 Propel command multiplied by output of Max Command Scale plug-in, prior to

being ramped.


speed forward)

GDP_CP_Mtr2Pos BOOL Application motor type configuration:

T: Automatically shifted 2-position motors.

F: Proportional, fixed-displacement or other motor control.

GDP_CP_MtrPosReq BOOL Motor shift request for 2-position motors:

T: Minimum displacement requested.

F: Maximum displacement requested.

GDP_CP_OL_Lcmd S16 Left speed command, before modification by Power Distribution, Trackstall, and

Closed-loop Speed Control plug-ins.


speed forward)

GDP_CP_OL_Rcmd S16 Right speed command, before modification by Power Distribution, Trackstall,

and Closed-loop Speed Control plug-ins.


speed forward)

GDP_CP_OL2_CmdLim S16 Maximum currently allowed speed command.

Range: 0 to 10000 (0 = Stopped, 10000 = Full speed


124 11058326 · Rev CA · Apr 2011


GDP_CP_OL2_Lcmd S16 Open-loop left speed command.


speed forward)

GDP_CP_OL2_Rcmd S16 Open-loop right speed command.


speed forward)

GDP_CP_Powerdist S16 Output of Power Distribution plug-in.


GDP_CP_R_Propel S16 Output of propel ramp.


speed forward)

GDP_CP_Rampmode U8 Set of active ramp rates used by the Application Block’s propel ramp:

0: Used normally, i.e. for changes of propel command due to joystick.

1: Used when decel pedal is pressed.

2: Used when brake pedal is pressed or a fault response stops the vehicle.

GDP_CP_ReleaseStatus BOOL Release status of GDP Application Block:



GDP_CP_Steer_L S16 Left side steering percentage. This value is multiplied by the ramped propel

command to produce the left speed command.

Range: -20000 to 20000 (-20000 = -2*Propel, -10000 = -Propel, 0 = Stopped,

10000 = Propel, 20000 = 2*Propel)

GDP_CP_Steer_R S16 Right side steering percentage. This value is multiplied by the ramped propel

command to produce the right speed command.


10000 = Propel, 20000 = 2*Propel)

GDP_CP_SW_Version U8 Version number of GDP Application Block.

GDP_CP_TStall_Lmin S16 Value below which the Power Distribution plug-in can not reduce the left speed

command.

GDP_CP_TStall_Rmin S16 Value below which the Power Distribution plug-in can not reduce the right

speed command.

GDP_CP_UR_Propel S16 Propel command calculated from a combination of input signals, before Max

Command Scale plug-in.


speed forward)

GDP_CP_UR_Steer S16 Profiled steer command input to Application Block.




11058326 · Rev CA · Apr 2011 125


GDP_CP_UR_Steer_L S16 Left side steering percentage calculated from steer command input, prior to

being ramped.


10000 = Propel, 20000 = 2*Propel)

GDP_CP_UR_Steer_R S16 Right side steering percentage calculated from steer command input, prior to

being ramped.


10000 = Propel, 20000 = 2*Propel)

GDP_Temp_Derate_CP_IdentNo U32 Part number of Temp Derate plug-in.

GDP_Temp_Derate_CP_ReleaseStatus BOOL Release status of Temp Derate plug-in:



GDP_Temp_Derate_CP_SW_Version U8 Version number of Temp Derate plug-in.

GDP_Temp_Derate_CP_Temp_DegC S32 Hydraulic fluid temperature. (°C x 10)

GDP_Temp_Derate_CP_Temp_Derate_Pct2 U16 Output of Temp Derate plug-in.


GDP_Temp_Derate_CP_Temp_Over_Thld BOOL State of Temp Derate plug-in:

T: Temperature is over threshold or has not yet decreased below hysteresis

band. Plug-in output is at lowered value.

F: Temperature is less than threshold. Plug-in output is at 10000.

GDP_Tracker_CP_CL_Lcmd S16 Closed-loop left speed command.


speed forward)

GDP_Tracker_CP_CL_Rcmd S16 Closed-loop right speed command.


speed forward)

GDP_Tracker_CP_Error S16 Calculated tracking error:

< 0: Left side too slow / Right side too fast

> 0: Right side too slow / Right side too slow

GDP_Tracker_CP_IdentNo U32 Part number of Tracker plug-in.

GDP_Tracker_CP_Lcmd S16 Open-loop left speed command input to Tracker plug-in.


speed forward)

GDP_Tracker_CP_Lcorr S16 Left command correction:

< 0: Decrease speed of left side

> 0: Increase speed of left side

GDP_Tracker_CP_Lspd S16 Left motor speed input to Tracker plug-in.

Range: -32767 to 32767 (rpm)


126 11058326 · Rev CA · Apr 2011


GDP_Tracker_CP_Rcmd S16 Open-loop right speed command input to Tracker plug-in.


speed forward)

GDP_Tracker_CP_Rcorr S16 Right command correction:

< 0: Decrease speed of right side

> 0: Increase speed of right side

GDP_Tracker_CP_ReleaseStatus BOOL Release status of installed Tracker plug-in:



GDP_Tracker_CP_Rspd S16 Right motor speed input to Tracker plug-in.

Range: -32767 to 32767 (rpm)

GDP_Tracker_CP_SW_Version U8 Version number of installed Tracker plug-in.

GDP_Tracker_CP_Tracker_Enabled BOOL T: Tracker is enabled.

F: Tracker is disabled. Tracking errors will not be corrected.

GDP_Trackstall_CP_IdentNo U32 Part number of Trackstall plug-in.

GDP_Trackstall_CP_ReleaseStatus BOOL Release status of installed Trackstall plug-in:



GDP_Trackstall_CP_SW_Version U8 Version number of installed Trackstall plug-in.

Left_CP_Mtr_Cmd S16 Command input to left motor compliance block. This command is proportional

for proportional motors, but switches between 0 and 10000 for 2-position

motors.


Left_CP_Pump_Cmd S16 Command input to left pump compliance block.

Range: -10000 to 10000 (-10000 = Max displacement reverse, 0 = Stopped,

10000 = Max displacement forward)

Left_CP_ScaledSpd S16 Left motor speed normalized against engine speed. This value is compared with

the target speed during low range or high range propel calibration.


MaxSpd_CP_Status U8 Calibration status of Max Speed input, according to standard PLUS+1 bitwise

status pattern.

Right_CP_Mtr_Cmd S16 Command input to right motor compliance block. This command is proportional

for proportional motors, but switches between 0 and 10000 for 2-position

motors.


Right_CP_Pump_Cmd S16 Command input to right pump compliance block.

Range: -10000 to 10000 (-10000 = Max displacement reverse, 0 = Stopped,

10000 = Max displacement forward)


11058326 · Rev CA · Apr 2011 127


Right_CP_ScaledSpd S16 Right motor speed normalized against engine speed. This value is compared

with the target speed during low range or high range propel calibration.


Steer_CP_LiveVal U16 Scaled voltage value of steer input, usually the joystick x axis.

Range: 0-10000 (0 = 0V, 10000 = SnsrPwr)

Steer_CP_Status U16 Calibration status of steer input, usually the joystick x axis, according to standard

PLUS+1 bitwise status pattern.

Throttle_CP_LiveVal U16 Scaled voltage value of throttle position input.

Range: 0-10000 (0 = 0V, 10000 = SnsrPwr)

Throttle_CP_Status U16 Calibration status of throttle position input, according to standard PLUS+1

bitwise status pattern.

TrimStr_CP_Status U8 Calibration status of Trim Steer input, according to standard PLUS+1 bitwise

status pattern.


128 11058326 · Rev CA · Apr 2011

Appendix D

Faults

Fault Types Possible for Fault Locations

Type

Open c

ircuit

Input

at 0V

Short c

ircuit

Input

at 5V

Too lo

w

Too hi

gh

No res

pons

e / Tim

eout

J193

9 Fau

lt

J193

9 Not

Availa

ble

Invali

d cal

Invali

d con

fig

Location 10 11 12 13 20 21 30 31 32 40 4110 Battery � �11 SnsrPwr � �12 Oil temp sensor13 Brake solenoid � �14 Backup alarm � �20 Joystick Y (Analog) � � � � � �21 Joystick X (Analog) � � � � � �22 Decel � � � � � �23 MaxSpd � � � � � �24 Trim Steer � � � � � �25 Throttle (30 from J1939 TSC1) � � � � � � � �26 Engine setpoint (J1939 EEC3) � � �30 Run/Stop switch �31 Neutral switch �32 AutoRvs/Trans/Work switch �40 Left pump fwd � � � �41 Right pump fwd � � � �42 Left pump rvs � � � �43 Right pump rvs � � � �44 Left motor � � � �45 Right motor � � � �50 Left PPU � � � � �51 Right PPU � � � � �52 Engine speed (J1939 EEC1) � � �

Order of priority

Only the highest priority (Location’s lowest number) fault is active for each location. While all faults should be addressed, it is suggested that the Battery (location 10) and then the Sensor Power (location 11) be investigated first. It may be necessary to turn the machine off and on to clear faults due to wiring.

For each active fault, the location code is first blinked out on the red LED, followed by the type code on the green LED. For both codes, the LED first flickers for 400 ms as an introduction. Then there is a sequence of long blinks followed by short blinks. The number of long blinks is the digit in the tens place of the code, and the number of short blinks is the digit in the ones place.

Generic Dual Path Sub-system Application Service ToolUser Manual Appendix D

11058326 · Rev CA · Apr 2011 129

For example, if the Joystick X axis has an Input at 0V fault, first the red LED will flicker to introduce the location code. It will then blink for two long pulses followed by one short pulse. Then the green LED will flicker to introduce the type code. It will then blink for one long pulse followed by one short pulse.

Fault Location Code (Red LED) Fault Type Code (Green LED)

Introduction flicker Long blinks Short blink Introduction flicker Long blink Short blink

|||| – – · |||| – · Active Faults Screen

Fault as it appears on the screen.

Fault Locations and Fault Types

Fault location: |||| – 10 Battery

Fault type Detection condition Potential causes

|||| – – 20 Too low Supply < 9V for 500 ms. Alternator

Battery

Weak or corroded power connections

|||| – – · 21 Too high Supply > 36V for 500 ms. Alternator

Incorrect battery

Short to other power source

Fault location: |||| – · 11 Sensor power


|||| – – 20 Too low

SnsrPwr < 4.75V for 500 ms. Excessive load

Short to ground

|||| – – · 21 Too high

SnsrPwr > 5.25V for 500 ms. Short to battery or other power source

Fault location: |||| – · · 12 Oil temperature sensor


none The default temperature sensor can’t effectively distinguish

between extreme temperatures and electrical problems.

— —


130 11058326 · Rev CA · Apr 2011

Fault Locations and Fault Types Fault locations: |||| – · · · 13 Brake solenoid

|||| – · · · · 14 Backup alarm


|||| – 10 Open circuit

Measured resistance too high for 500 ms. Open circuit

Damaged wires or loose or corroded connectors

|||| – · · 12 Short circuit

Measured resistance too low for 500 ms or PinStatus indicates

overload.

Short circuit

Fault locations: |||| – – 20 Joystick Y axis

|||| – – · 21 Joystick X axis

|||| – – · · 22 Decel pedal

|||| – – · · · 23 Max Speed pot

|||| – – · · · · 24 Trim Steer pot

|||| – – · · · · · 25 Throttle pot


|||| – · 11 Input at 0V

Input < 3% of SnsrPwr for 1000 ms. Open circuit

Short to ground

Loose or corroded connector

|||| – · · · 13 Input at 5V

Input > 97% of SnsrPwr for 1000 ms. Short to SnsrPwr, battery, or other power supply

|||| – – 20 Too low

Input < (Low cal point / 2) for 1000 ms. Mechanical problem in sensor

Open circuit

Short to ground


Sensor block expected low value not set

properly in GUIDE (during calibration)

|||| – – · 21 Too high

Input > ((High cal point + SnsrPwr) / 2) for 1000 ms. Mechanical problem in sensor

Short to SnsrPwr, battery, or other power supply

Sensor block expected high value not set

properly in GUIDE (during calibration)

|||| – – – 30 J1939 Timeout

TSC1 transmit overrun true for a specified time. Default timeout is

500 ms.

Extremely high bus load

Other CAN bus issue

|||| – – – · · 32 J1939 Not Available

Unable to claim address 3. Other device claiming the same address

|||| – – – – 40 Invalid cal

Some or all cal points are zero. Analog inputs not calibrated

Cal points manually set to zero in Service Tool

Defaults have not been set


11058326 · Rev CA · Apr 2011 131

Fault Locations and Fault Types Fault locations: |||| – – 20 Joystick Y axis

|||| – – · 21 Joystick X axis

|||| – – · · 22 Decel pedal

|||| – – · · · 23 Max Speed pot

|||| – – · · · · 24 Trim Steer pot

|||| – – · · · · · 25 Throttle pot


|||| – – – – · 41 Invalid config

Cal points corrupt, or block has invalid parameters. Invalid cal points manually entered in Service

Tool

Sensor block in GUIDE has invalid parameters


Fault locations: |||| – – · · · · · 26 Engine setpoint (EEC3) |||| – – – – – · · 52 Engine speed (EEC1)


|||| – – – 30 Timeout

Message not received for a specified time. Default timeout for

EEC1 is 500 ms. Default timeout for EEC3 is 1000 ms.

CAN bus improperly terminated


Engine not connected to correct bus

|||| – – – · 31 Fault

SPN value indicates fault. Specific to engine manufacturer

|||| – – – · · 32 J1939 Not Available

Desired value not available. Software needs modification to obtain data in a

different way

Fault location: |||| – – – 30 Run/Stop switch


|||| – – – 30 Timeout

Run and Stop signals both true for 1000 ms. Signal shorted to true

Mechanical problem turning on both switches

Fault location: |||| – – – · 31 Neutral switch


|||| – – – 30 Timeout

Neutral switch signal and joystick Y axis disagree for 1000 ms. Open circuit

Short circuit


Joystick or neutral switch not functioning

Fault location: |||| – – – · · 32 AutoReverse/Transport/Work switch


|||| – – – 30 Timeout

AutoReverse and Transport signals both true for 1000 ms. Open circuit

Short circuit


Switch malfunction


132 11058326 · Rev CA · Apr 2011

Fault Locations and Fault Types Fault locations: |||| – – – – 40 Left pump forward coil

|||| – – – – · 41 Right pump forward coil |||| – – – – · · 42 Left pump reverse coil |||| – – – – · · · 43 Right pump reverse coil |||| – – – – · · · · 44 Left motor coil |||| – – – – · · · · · 45 Right motor coil



Measured resistance too high for 500 ms or PinStatus indicates

open load or over temperature.

Open circuit or corroded connector (MFOut)

Open or short circuit or corroded connector

(DigOut)

|||| – · · 12 Short circuit

Measured resistance too low for 500 ms or PinStatus indicates

overload or negative current detected.

Short to ground (MFOut)

Open or short circuit or corroded connector

(DigOut)

Short to power (MFOut)

|||| – – – – 40 Invalid cal

Invalid calibration data. Invalid cal points manually entered in Service

Tool



Bad params to block. Pump or motor compliance block has invalid

parameters in GUIDE

Fault locations: |||| – – – – – 50 Left motor PPU

|||| – – – – – · 51 Right motor PPU



Voltage between 15% and 85% of SnsrPwr while frequency is 0.

Default detection time is 200 ms.

Open circuit (signal, power, or ground)

Damaged wires or loose or corroded connectors

|||| – · 11 Input at 0V

Voltage < 3% of SnsrPwr while frequency is 0. Default detection

time is 200 ms.

Signal (or power?) wire shorted to ground

|||| – · · · 13 Input at 5V

Voltage > 97% of SnsrPwr while frequency is 0. Default detection

time is 200 ms.

Signal (or ground?) wire shorted to supply.

|||| – – – 30 No response

No pulses from PPU or tracker at limit, and command above

minimum, and engine running, and not in threshold calibration,

and antistall output above Amin. Default detection time is 1000

ms.

PPU not mounted securely

PPU not physically close enough to target to

generate pulses


Pulses per Rev parameter out of range. Pulses/rev parameter invalid


11058326 · Rev CA · Apr 2011 133

Disabled Functionality Due to a Fault

Disabled functionality Cause/fault location Detail

All propel Run/Stop switches If moving, machine will ramp to a stop and the park brake will

be applied. Machine will not move under its own power. Neutral switch

Propel input

Battery voltage

Sensor power

Brake solenoid

Analog input calibration not complete

Forward propel Left forward pump coil If traveling forward, machine will ramp to a stop. Only reverse

propel will be allowed. Right forward pump coil

Reverse propel Left reverse pump coil If traveling in reverse, machine will ramp to a stop. Only

forward propel will be allowed. Right reverse pump coil

Full speed propel Steer input Propel command will be reduced to 25% (due to steer) or 15%

(due to max speed) of its normal value. Inch/Decel input

Max Speed input

High Range propel Transport/Work/AutoRvs mode switch Propel command will be reduced so that motors stay at max

displacement. Left motor coil

Right motor coil

Propel calibration not complete

Steer input Steer input Machine will only be able to be steered with the Trim Steer

input, if available. Propel command will be reduced to 25% of

its normal value.

Trim Steer input Trim Steer input Machine will only be able to be steered with the Steer input.

Tracker Left motor PPU Tracker correction will gradually diminish. After the vehicle

stops, the correction will remain zero. Right motor PPU

Antistall Engine speed (J1939 EEC1) Antistall (propel reduction) will be disabled after operator

commands vehicle to stop. Engine setpoint (J1939 EEC3)

Temp Derate Temp sensor Temperatures will not reduce propel.


134 11058326 · Rev CA · Apr 2011

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11058326 · Rev CA · Apr 2011 135

Index

T Adobe Reader links index page numbers to index topics. Click a page number to go to an index topic.

A Active Faults log functions screen, 62 Analog Inputs calibration log functions screen, 72 Antistall parameter functions screen, 93 Antistall plug-in log functions screen, 68 Appendix A

Downloading Compiled Application, 109 Appendix B

Downloading Read-only Parameter Files, 111 Appendix C

Checkpoints, 119 Parameters, 112 Setpoints, 118

Appendix D Faults, 128

Application Block log functions screen, 66 Application Block parameter functions screen, 89

E Engine parameter functions screen, 87

F Fault History log functions screen, 64

I Inputs log functions screen, 60

M Max Outputs calibration log functions screen, 75 Motor PPUs parameter functions screen, 86

O Outputs log functions screen, 76

P Park Brake Control parameter functions screen, 84 Propel Calibration parameter functions screen, 98 Propel Controls parameter functions screen, 83 Pump Thresholds calibration log functions screen, 73 Pump/Motor Control parameter functions screen

(Proporitonal Motors), 100 Pump/Motor Control parameter functions screen (Two-

Position Motors), 102 Pump/Motor Currents parameter functions screen, 106

S Software Components log functions screen, 78 Software log functions screen, 55 Start Calibration parameter functions screen, 107 Steering Controls parameter functions screen, 79

T Temperature Derate parameter functions screen, 95 Temperature Derate plug-in log functions screen, 69 Tracker parameter functions screen, 96 Tracker plug-in log functions screen, 70 Trackstall parameter functions screen, 97 Trackstall plug-in log functions screen, 71

U Upshift Ramp Time Good, 104 Upshift Ramp Time Too Fast, 103 Upshift Ramp Time Too Slow, 103

11058326 Rev CA Apr 2011

Products we offer:

• Bent Axis Motors

• Closed Circuit Axial Piston Pumps and Motors

• Displays

• Electrohydraulic Power Steering

• Electrohydraulics

• Hydraulic Power Steering

• Integrated Systems

• Joysticks and Control Handles

• Microcontrollers and Software

• Open Circuit Axial Piston Pumps

• Orbital Motors

• PLUS+1™ GUIDE

• Proportional Valves

• Sensors

• Steering

• Transit Mixer Drives

Local address: Sauer-Danfoss Inc. 3500 Annapolis Lane North Minneapolis, MN 55447, USA Phone: +1 763 509-2000 Fax: +1 763 559-5769

Sauer-Danfoss (US) Company 2800 East 13th Street Ames, IA 50010, USA

one: +1 515 239-6000 Fax: +1 515 239-6618

Sauer-Danfoss ApS DK-6430 Nordborg, Denmark Phone: +45 7488 4444 Fax: +45 7488 4400

Sauer-Danfoss GmbH & Co. OHG Postfach 2460, D-24531 Neumünster Krokamp 35, D-24539 Neumünster, Germany Phone: +49 4321 871-0 Fax: +49 4321 871 122

Sauer-Danfoss-Daikin LTD Shin-Osaka TERASAKI 3rd Bldg. 6F 1-5-28 Nishimiyahara, Yodogawa-ku Osaka 532-0004, Japan Phone: +81 6 6395 6066 Fax: +81 6 6395 8585

w w w . s a u e r - d a n f o s s . c o m

Members of the Sauer-Danfoss Group

Comatrol www.comatrol.com

Schwarzmüller-Inverter www.schwarzmueller-inverter.com

Turolla www.turollaocg.com

Hydro-Gear www.hydro-gear.com

Sauer-Danfoss-Daikin www.sauer-danfoss-daikin.com

Sauer-Danfoss is a global manufacturer and supplier of high-quality hydraulic and electronic components. We specialize in providing state-of-the-art technology and solutions that excel in the harsh operating conditions of the mobile off-highway market. Building on our extensive applications expertise, we work closely with our customers to ensure exceptional performance for a broad range of off-highway vehicles.

We help OEMs around the world speed up system development, reduce costs and bring vehicles to market faster. Sauer-Danfoss—Your Strongest Partner in Mobile Hydraulics.

Go to www.sauer-danfoss.com for further product information.

Wherever off-highway vehicles are at work, so is Sauer-Danfoss.

We offer expert worldwide support for our customers, ensuring the best possible solutions for outstanding performance. And with an extensive network of Global Service Partners, we also provide comprehensive global service for all of our components.

Please contact the Sauer-Danfoss representative nearest you.

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