SX Generic Anti Spin Valve Control System System Description 7,7 POWER SYSTEM MODE STATUS 60, 8, 8, 0 9 0, 0, AMP Stecker AMP Connector 8 9
SX Generic Anti Spin Valve Control System Overview DESCRIPTION The Sauer-Danfoss Antispin Valve Control System combines the capabilities of modern digital electronics with the worldwide proven Sauer-Danfoss hydrostatic components, to enhance the machine performance and operation. The microprocessor-based SX provides flexibility and is designed for the future. With easy-to change parameters (in software) it is possible to make an individual setup for different machine types. FEATURES Environmentally hardened for mobile applications. Supply voltage V DC or V DC. Software changes without hardware operations. Easy to service. Flexibility: - motors. Active while steering. Individual setup per software: - Selection of different steering modes - Vehicle geometric - Track width - Wheel base - Wheel diameter - etc. SYSTEM COMPONENTS SX-6 G AMP K96 SX Electronic w/o CAN SX-6 G AMP K96C SX Electronic w CAN ASC Twin Valves - Volt, standard piston (0779) - Volt, special piston (078) - Volt, standard piston (078) - Volt, special piston (078) Steering Sensor MCX0B00 (788760) Manual Graphic Interface, english (70) Manual SUSMIC-DIA, english (706) 00, Sauer-Danfoss Sauer-Danfoss can accept no responsibility for possible errors in catalogues, 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 subsequent changes being necessary in specifications already agreed. All trademarks in this material are properties of the respective companies. Sauer-Danfoss and the Sauer-Danfoss logotype are trademarks of the Sauer-Danfoss Group. All rights reserved. BLN-96-990-E Rev. E 0/00
SX Generic Anti Spin Valve Control System SX Mobile Microcomputer LED OVERVIEW 7 7 6 POWER SYSTEM,7 MODE STATUS 60, 8, 8, 0 9 0, 0, 8 9 SX Mounting slots AMP connector Diagnostic LED red Error check (STATUS) Lights up if an error is detected. Diagnostic LED yellow Software check (MODE) Flashes with approx. 0.Hz (slow) if the program is running fine. Flashes with approx. Hz (fast) if no program is loaded. No flashing if in setup mode. 6 Diagnostic LED green V DC internal (SYSTEM) Lights up if V DC internal is O.K. 7 Diagnostic LED green Battery after ignition switch (POWER) Lights up if the battery voltage is connected after ignition. BLN-96-990-E Rev. E 0/00 S0697b
SX Generic Anti Spin Valve Control System ASC Twin Valve ASC TWIN VALVE AMP Junior Timer Gage port M7 control pressure for port A ISO 96-0.7-0 UNF-B [7/6-0 UNF-B] M7 A Main port A ISO 96-.06- UN-B [-/6- UN-B] Supply port P DN Typ III 0 MPa series per ISO 66 [SAE.00] Thread: 0.7-UNC-B [7/6-UNC-B] [.00] min. full thread depth X P L Drain port L ISO 96-0.6-8 UNF-B [9/6-8 UNF-B] B Control pressure supply X ISO 96-0.6-8 UNF-B [9/6-8 UNF-B] M8 Main port B ISO 96-.06- UN-B [-/6- UN-B] Gage port M8 control pressure for port B ISO 96-0.7-0 UNF-B [7/6-0 UNF-B] A M7 X M8 B P L S089a TECHNICAL DATA Max. flow rate at inlet port P: l/min Max. absolute system pressure: Pressure droop at max. flow rate: Control pressure at port X: 80 bar (T = 0 C, n = 8 cst) = bar 0..0 bar Response time at stepped current input: 0 msec Max. flow at closed valve: Drainage from flapper system: (00 bar delta, T = 0 C, n = 8 cst) = l/min about. l/min continuously BLN-96-990-E Rev. E 0/00
SX Generic Anti Spin Valve Control System System Block Diagram SYSTEM BLOCK DIAGRAM PPU PPU Engine PPU PPU Timer PID Timer Timer Calculate controller setpoint PID PID Timer PID ASC Main switch DI ASC switch rear (Option) DI ASC Status Transport switch (Option) DI nd offset switch (Option) (Optional: pump neutral switch) DI Potentiometer front steering (Optional: FNR lever) A D Calculate steering difference Potentiometer rear steering (Optional: Slope sensor) A D F 0A Voltage regulator V t Sensors Output driver System check RS Interface for SUSMIC-DIA to + Batt. - /V DC S086a BLN-96-990-E Rev. E 0/00
SX Generic Anti Spin Valve Control System Theory of Operation GENERAL REMARKS The ASC System is an antislip control for hydrostatic driving systems. It is possible to use this system in wheeled machines of up to wheels driven individually. The ASC System is especially useful for applications with fixed motors, but can also be combined with variable displaced motors. The ASC System consists of a central digital controller SX, speed sensors for each motor, el. proportional flow devider (double valve in one case) and if necessary a max. of steering sensors. Each motor is fitted with a speed sensor. It is important to take note that the amount of impulses per wheel rotation show the highest possible frequency resolution to be able to guarantee a good performance of the antislip control. The pressure ports of the favoured driving direction of the individual motors are combined at port A and B by means of a flow devider. The flow devider provides both motors with the required flow, generally these are the motors for one axle. The P-port of the flow devider must be connected to the pump. The port for leakages must be connected to the reservoir directly. If it is required to keep the ASC System active while steering, the machine needs to be fitted with steering sensors respectively. FUNCTION The system determines the current speed of each motor and calculates the speed of the wheel with the help of the respective machine data (wheel circumference, gear change, pulse/rpm, etc.). When driving straight forward the speed of the slowest wheel is used as a reference for the remaining wheels. When driving in a curve the speed of the wheels is proportionally set to their turning circles. The wheel with the smallest relative speed is used as a reference in this case. The turning circles are calculated out of the steering information according to the respective calculation modules relative to the steering mode. Considering the reference speed (vehicle speed), the theoretical wheel speed is defined in taking the steering influence into account. The difference between the actual speed and the theoretical wheel speed results in the slip for each wheel. If the controller detects slip on one or more wheels, the respective flow to the motor will be reduced by the ASC valve. Throttling continuous until the general speed lies below the boundary speed. STEERING MODES All steering modes must be based on Ackermann s geometrical steering algorithms. The different modes are as follows: no steering front wheel steering front steering WD rear wheel steering combined front and rear wheel steering articulated steering bogie steering combined articulated and bogie steering hill mode The output of the steering sensor needs to be direct proportional to the steering angle of the wheel. 6 BLN-96-990-E Rev. E 0/00
MENU CODE COMMAND ESC ENTER SX Generic Anti Spin Valve Control System Connectors CONNECTORS Crimp tool for power timer, Id. No. 097 Die set for power timer, Id. No. 0976 Crimp tool for micro timer, Id. No. 0977 (Measuring Adapter Id. No. 0987) SX POWER SYSTEM MODE STATUS Recommendation MCX0B00, Id. No. 788760. If a potentiometer is used, it should have a resistance value of kω and 0kΩ.If there is a need for the whole range, then the potentiometer must have series resistors. The series resistor has to be approximately 7% of the resistance value. The voltage of the analog input must increase, if the pedal is pushed. Example: 68Ω kω 68Ω We do not supply FNR and mode switches, therefore no connectors can be recommended. If an external speed sensor is used, the device must have an open collector output (NPN) PC (only for optimization) AMP Connector Id. No. 6 RS Cable Id. No. RS Connector (female) Id. No. 0 For field service SUSMIC-DIA Id.-No. 0780 Metri Pack Connector Id. No. 77 MCX0B Steering sensor PPU with Turck Connector part of the motor Id. No. 007 (straight) or Id. No. 007 rightangle) AMP Junior Timer Id. No. 0888 BLN-96-990-E Rev. E 0/00 ASC valve S079a 7
SX Generic Anti Spin Valve Control System System Connection Diagram SYSTEM CONNECTION DIAGRAM * Contact capability min. 6A Malting fuse 0A Position shown: ASC OFF Position shown: Transport OFF Max.,A each pin = Option ASC Main switch AMP Stecker, polig AMP connector, pin nd offset switch * (Optional: Pump neutral switch) Sensor (-) Digital Input 0 ASC switch rear * Digital Input * Digital Input * Digital Input * High Current 0 (+) 6 Transport switch * High Current (+) High Current 0 FB (-) 7 8 Valve Motor front left High Current FB (-) Low Current 0 FB (-) * 9 0 Valve Motor front right Low Current FB (-) * nc RS Ground PPU Motor front left Sensor (+) Battery (-) PPU Motor front right PPU Input 0 PPU Input 6 7 PPU Motor rear left PPU Input 8 PPU Input RS TxD 9 0 PPU Motor rear right RS RxD High Current (+) * High Current FB (-) High Current (+) * High Current FB (-) 6 7 8 9 SUB-D Diagnostic connector (female), 9pin Terminals Batt. (+) Terminals Batt. (-) High Current (+) High Current (+) 6 7 Valve Motor rear left Battery (+) Battery (-) nc 8 9 0 Valve Motor rear right Analog Input 0 Analog Input Low Current FB (-) * Low Current FB (-) * nc nc CAN High CAN Low CAN Shield Digital Output 0 Digital Output * 6 7 8 9 0 Terminals Sensor (+) Terminals Sensor (-) Rv cw Rv cw cw Potentiometer front steering (Optional: FNR lever) Potentiometer rear steering (Optional: Slope sensor) CAN Bus Terminals ASC Status front/rear * S F + Batt. - /V DC Battery (+) ASC Status rear * 707 8 BLN-96-990-E Rev. E 0/00
SX Generic Anti Spin Valve Control System Notes BLN-96-990-E Rev. E 0/00 9
OUR PRODUCTS Hydrostatic transmissions Hydraulic power steering Electric power steering Closed and open circuit axial piston pumps and motors Gear pumps and motors Bent axis motors Radial piston motors Orbital motors Transit mixer drives Planetary compact gears Proportional valves Sauer-Danfoss Hydraulic Power Systems Market Leaders Worldwide Sauer-Danfoss is a comprehensive supplier providing complete systems to the global mobile market. Sauer-Danfoss serves markets such as agriculture, construction, road building, material handling, municipal, forestry, turf care, and many others. We offer our customers optimum solutions for their needs and develop new products and systems in close cooperation and partner ship with them. Sauer-Danfoss specializes in integrating a full range of system components to provide vehicle designers with the most advanced total system design. Sauer-Danfoss provides comprehensive worldwide service for its products through an extensive network of Authorized Service Centers strategically located in all parts of the world. Directional spool valves Cartridge valves Hydraulic integrated circuits Hydrostatic transaxles Integrated systems Fan drive systems Electrohydraulic controls Digital electronics and software Battery powered inverter Sensors Sauer-Danfoss (US) Company 800 East th Street Ames, IA 000, USA Phone: + 9-6000, Fax: + 9-668 Sauer-Danfoss (Neumünster) GmbH & Co. OHG Postfach 60, D- Neumünster Krokamp, D-9 Neumünster, Germany Phone: +9 87-0, Fax: +9 87-8 Sauer-Danfoss (Nordborg) A/S DK-60 Nordborg, Denmark Phone: + 788-, Fax: + 788-00 Sauer-Danfoss (US) Company 00 Annapolis Lane North Minneapolis, MN 7, USA Phone: + 76 09-08, Fax: + 76 9-008 BLN-96-990-E Rev. E 0/00 www.sauer-danfoss.com