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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.
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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
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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.
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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.
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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
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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 Input/Analog Input/FreqIN
Digital Input/Analog Input/FreqIN
Digital Input/Analog Input/FreqIN
Digital Input/Analog Input/FreqIN
Digital Input/Analog Input/FreqIN
Digital Output
Digital Output
Digital Output
Digital Output/PVG Power 1
Digital Output/PVG Power 2
Digital Output/PVG Power 3
Analog Input/CAN 2 shield
Analog Input/Temp/Rheo
Analog Input/Temp/Rheo
Analog Input/Temp/Rheo
Analog Input/Temp/Rheo
Digital Input/Analog Input
Digital Input/Analog Input
Digital Input/Analog Input
Analog Input/CAN 1 shield
Battery (+)
Battery (+)
Battery (+)
Battery (+)
Battery (+)
PWMOUT/Digital Out/PVG 1 OUT
PWMOUT/Digital Out/PVG 1 OUT
PWMOUT/Digital Out/PVG 1 OUT
PWMOUT/Digital Out/PVG 1 OUT
PWMOUT/Digital Out/PVG 2 OUT
PWMOUT/Digital Out/PVG 2 OUT
PWMOUT/Digital Out/PVG 2 OUT
PWMOUT/Digital Out/PVG 2 OUT
PWMOUT/Digital Out/PVG 3 OUT
PWMOUT/Digital Out/PVG 3 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
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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).
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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.
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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.
Enter your values in the Actual value column.
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
⎛ ⎞× ×⎜ ⎟⎝ ⎠=
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− 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.
Enter your values in the Actual value column.
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.
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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
Compliance block max current Nominal threshold current
− −= ×
−
( ) ( )( )
Nominal max current Max current tolerance Nominal threshold currentLow range high tolerance 10000
Compliance block max current Nominal threshold current
+ −= ×
−
( )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
Compliance block max current Nominal threshold current
−= ×
−
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
Compliance block max current Nominal threshold current
− −= ×
−
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( ) ( )( )
Nominal max current Max current tolerance Nominal threshold currentHigh range high tolerance 10000
Compliance block max current Nominal threshold current
+ −= ×
−
( )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 nominal threshold current determined in step E.
− 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 nominal threshold current determined in step E.
− 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 nominal threshold current determined in step E.
− 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
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.
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.
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− 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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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− 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.
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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.
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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.
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Step 7 ➙ Calibrate Thresholds
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 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.
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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.
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Step 8 ➙ Calibrate Max Currents
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 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).
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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.
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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.
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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:
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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.
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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.
− Open the Application Block parameter functions screen.
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.
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− 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.
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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.
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Tune
− Open the Application Block parameter functions screen.
– 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.
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Tune
D. Tune Soft start and Soft end percentage.
− Open the Application Block parameter functions screen.
− 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.
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E. Tune differential steering (if required).
Tune
− Open the Application Block parameter functions screen.
− Reference Application Block, page 89.
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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.
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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
×+
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G. Tune steering.
− Open the Steering Controls parameter functions screen.
− Reference Steering Controls, page 79, and set all the steering parameters as desired.
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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.
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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.
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* 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.
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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)
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Inputs Panel
Callout Item Description
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.
Range: 0-32767 (rpm)
14 Temperature Hydraulic fluid temperature.
Range: 500-1250 (50° C to 125° C)
Between Inputs and Fault Handling panels
Callout Item Description
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)
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Inputs Panel
Callout Item Description
16 Steer Profiled steer signal.
Range: -20000 to 20000 (-20000 = Left counterrotate, -10000 = Left pivot, 0 = Straight, 10000 = Right pivot,
20000 = Right counterrotate)
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.
Fault Handling Panel
Callout Item Description
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.
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Fault Handling Panel
Callout Item Description
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
Callout Item Description
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
Callout Item Description
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.
Range: 0-10000 (0 = Propel stopped, 10000 = No reduction)
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)
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Between Application Block and Calibration panels
Callout Item Description
40 Left Left speed command from the Application Block.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
41 Right Right speed command from the Application Block.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
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
Callout Item Description
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
Callout Item Description
44 Left Left speed command, possibly scaled by or generated by Calibration block.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
45 Right Right speed command, possibly scaled by or generated by Calibration block.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
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
Callout Item Description
46 Outputs
Hyperlink
Hyperlink to Outputs log screen for more detailed information on output commands and electrical signals.
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Outputs Panel
Callout Item Description
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.
Range: -10000 to 10000 (-10000 = Max displacement reverse, 0 = Stopped, 10000 = Max displacement forward)
50 Right Motor
Command
Command input to right 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)
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
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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
Callout Item Description
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.
Range: 0-10000 (0 = Stopped, 10000 = No reduction)
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
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.
Decel: Used when decel pedal is pressed.
Brake: Used when brake is requested or a fault response stops the vehicle.
14 Left Motor Left propel motor speed.
Range: 0-32767 (rpm)
15 Right Motor Right propel motor speed.
Range: 0-32767 (rpm)
16 Oil Temp Hydraulic fluid temperature. This is typically hydraulic pump return oil.
Range: 500-1250 (50° C to 125° C)
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Inputs Elements
Callout Item Description
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.
Range: -20000 to 20000 (-20000 = Left counterrotate, -10000 = Left pivot, 0 = Straight, 10000 = Right pivot,
20000 = Right counterrotate)
20 CR Counterrotate switch set to enabled.
21 Calculated Steer Profiled steer signal.
Range: -20000 to 20000 (-20000 = Left counterrotate, -10000 = Left pivot, 0 = Straight, 10000 = Right pivot,
20000 = Right counterrotate)
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
Callout Item Description
1 Location Source of fault.
2 Type Specific type of fault.
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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
Callout Item Description
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.
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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
Callout Item Description
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.
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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
Callout Item Description
1 Clear Fault
History
Removes all entries from fault history table.
2 Clear Hour
Counter
Resets hour counter to zero.
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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.
Range: -20000 to 20000 (-20000 = Left counterrotate, -10000 = Left pivot, 0 = Straight, 10000 = Right pivot,
20000 = Right counterrotate)
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.
Decel: Used when decel pedal is pressed.
Brake: Used when brake pedal is pressed or a fault response stops the vehicle.
Propel Propel command calculated from a combination of input signals.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
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Application Block Screen
Callout Parameter Description
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
Right Right speed command, before modification by Power Distribution, Trackstall, and Closed-loop Speed Control
plug-ins.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
6 Temp Derate
Multiplier
Temp Derate multiplier.
Range: 0-10000 (0 = Propel stopped, 10000 = No reduction)
7 Antistall Multiplier Antistall correction multiplier.
Range: 0-10000 (0 = Propel stopped, 10000 = No reduction)
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
Right Open-loop right speed command.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
Right Closed-loop right speed command.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
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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
Callout Item Description
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%)
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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.
The plug-in must be installed and the Plug-in status: Enabled/green before activity can function or be monitored.
Temperature Derate
Callout Item Description
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%)
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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.
The plug-in must be installed and the Plug-in status: Enabled/green before activity can function or be monitored.
Tracker
Callout Item Description
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%)
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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
Callout Item Description
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%)
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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
Callout Item Description
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.
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Analog Inputs Elements
Callout Item Description
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.
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Threshold Calibration Elements
Callout Item Description
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.
Range: Depends on compliance block. (10 = 1 mA)
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)
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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
Callout Item Description
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.
Range: 1-10000 (1 = compliance block threshold, 10000 = compliance block max current)
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.
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Max Outputs Elements
Callout Item Description
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.
Range: 0-32767 (rpm)
8 Target Speed Desired maximum motor speed.
Range: 0-32767 (rpm)
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
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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
Callout Item Description
1 Left Cmd Left speed command.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
2 Left Pump Cmd Command input to left pump compliance block.
Range: -10000 to 10000 (-10000 = Max displacement reverse, 0 = Stopped, 10000 = Max displacement forward)
3 Left Motor Cmd 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)
4 Left Forward
Pump Output
Current commanded to the coil on the left side pump that results in forward movement.
Range: Depends on compliance block. (10 = 1 mA)
5 Left Reverse
Pump Output
Current commanded to the coil on the left side pump that results in reverse movement.
Range: Depends on compliance block. (10 = 1 mA)
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
Range: Depends on compliance block. (10 = 1 mA)
7 Right Cmd Right speed command, possibly scaled or replaced by Calibration block.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full speed forward)
8 Right Pump Cmd Command input to right pump compliance block.
Range: -10000 to 10000 (-10000 = Max displacement reverse, 0 = Stopped, 10000 = Max displacement forward)
9 Right Motor Cmd Command input to right 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)
10 Right Forward
Pump Output
Current commanded to the coil on the right side pump that results in forward movement.
Range: Depends on compliance block. (10 = 1 mA)
11 Right Reverse
Pump Output
Current commanded to the coil on the right side pump that results in reverse movement.
Range: Depends on compliance block. (10 = 1 mA)
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
Range: Depends on compliance block. (10 = 1 mA)
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)
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Outputs Elements
Callout Item Description
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
Callout Item Description
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.
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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
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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
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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
Joystick 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
Joystick 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
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
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Steering Parameters
Callout Item Description
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)
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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
Callout Item Description
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)
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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.
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Park Brake Control Parameters
Callout Item Description
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)
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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
Callout Item Description
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)
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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
Callout Item Description
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)
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Engine Parameters
Callout Item Description
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)
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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.
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Ramp Parameters
Callout Item Description
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.
A 50.00% decrease in the propel command from 7500 to 2500 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)
3 Brake 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 500 (500 ms):
A 100.00% decrease in the propel command from 10000 to 0 takes 500 ms.
A 50.00% decrease in the propel command from 7500 to 2500 takes 250 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)
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.
Partial decreases in the propel command take a time that is proportional to the total decrement time.
With a A_DecTm_ms value of 700 (700 ms):
A 100.00% decrease in the propel command from 10000 to 0 takes 700 ms.
A 50.00% decrease in the propel command from 7500 to 2500 takes 350 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)
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Ramp Parameters
Callout Item Description
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).
Range: Loop Time–65535 (1000 = 1000 ms)
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
User Manual, 10103409.
Range: Loop Time–65535 (1000 = 1000 ms)
7 Soft start Soft start percentage is the percent of total ramp time in which a soft acceleration occurs.
For more about the Soft_Ramp function block, refer to the PLUS+1 GUIDE Basic Function Blocks Library
User Manual, 10103409.
Range: 0–99 (1 = 1%)
8 Soft end Soft end percentage is the percent of total ramp time in which a soft deceleration occurs.
For more about the Soft_Ramp function block, refer to the PLUS+1 GUIDE Basic Function Blocks Library
User Manual, 10103409.
Range: 0–99 (1 = 1%)
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Reduce Decel Time if Power Distribution Plug-in Active
Callout Parameter Description
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
Callout Parameter Description
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
Callout Parameter Description
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%)
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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.
The plug-in must be installed and the Plug-in status: Enabled/green before activity can function or be monitored.
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Antistall Controls
Callout Item Description
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
Callout Item Description
7 Tx Lead filter pseudo-time constant.
8 Ty Lag filter pseudo-time constant.
9 Damping Lead-Lag filter gain (dB)
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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
Callout Item Description
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).
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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
Callout Item Description
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).
The plug-in must be installed and the Plug-in status: Enabled/green before activity can function or be monitored.
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Open/Closed Loop Boundaries
Callout Item Description
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
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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
Callout Item Description
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.
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Propel Calibration Parameters
Callout Item Description
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.
Range: 0-32767 (rpm)
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
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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
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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
Callout Item Description
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.
Pump commands within Expected±(Window/2) can be captured.
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%)
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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.
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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
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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
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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
Callout Item Description
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.
Pump commands within Expected±(Window/2) can be captured.
Range: 0 to 10000 (0 to 100%)
4 Low Range Max
Window
Size 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%)
5 Expected High
Range Max
Center of window of acceptable high range (pump command) max output values.
Pump commands within Expected±(Window/2) can be captured.
Range: 0 to 10000 (0 to 100%)
6 High Range Max
Window
Size of window of acceptable high range (pump command) max output values.
Pump commands within Expected±(Window/2) can be captured.
Range: 0 to 10000 (0 to 100%)
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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
Callout Item Description
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.
Range: 1-10000 (1 = compliance block threshold, 10000 = compliance block max current)
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.
Range: Depends on compliance block. (10 = 1 mA)
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.
Range: Depends on compliance block. (10 = 1 mA)
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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
Callout Item Description
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.
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Start Calibration Elements
Callout Item Description
5 Input Calibration
Hyperlink
Switches to input calibration status log screen.
6 Threshold
Calibration
Hyperlink
Switches to threshold calibration status log screen.
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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.
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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.
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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.
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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
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ROP Name
EEPROM Name Type Default Value Description
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
S16 3800 Steering profile input 2
Steer_X3
EE_Steer_X3
S16 5400 Steering profile input 3
Steer_X4
EE_Steer_X4
S16 6800 Steering profile input 4
Steer_X5
EE_Steer_X5
S16 8000 Steering profile input 5
Steer_X6
EE_Steer_X6
S16 9000 Steering profile input 6
Steer_Y1
EE_Steer_Y1
S16 15 Steering profile output 1
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ROP Name
EEPROM Name Type Default Value Description
Steer_Y2
EE_Steer_Y2
S16 175 Steering profile output 2
Steer_Y3
EE_Steer_Y3
S16 800 Steering profile output 3
Steer_Y4
EE_Steer_Y4
S16 2100 Steering profile output 4
Steer_Y5
EE_Steer_Y5
S16 4050 Steering profile output 5
Steer_Y6
EE_Steer_Y6
S16 6500 Steering profile output 6
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
S16 3000 Propel profile input 2
Propel_X3
EE_Propel_X3
S16 4500 Propel profile input 3
Propel_X4
EE_Propel_X4
S16 6000 Propel profile input 4
Propel_X5
EE_Propel_X5
S16 7500 Propel profile input 5
Propel_X6
EE_Propel_X6
S16 9000 Propel profile input 6
Propel_Y1
EE_Propel_Y1
S16 1500 Propel profile output 1
Propel_Y2
EE_Propel_Y2
S16 3000 Propel profile output 2
Propel_Y3
EE_Propel_Y3
S16 4500 Propel profile output 3
Propel_Y4
EE_Propel_Y4
S16 6000 Propel profile output 4
Propel_Y5
EE_Propel_Y5
S16 7500 Propel profile output 5
Propel_Y6
EE_Propel_Y6
S16 9000 Propel profile output 6
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ROP Name
EEPROM Name Type Default Value Description
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
U16 500 Time for propel command to decrease from full speed
to stop if brake is activated
GDP_Ramp_Decel_Tm
GDP_ EE_Ramp_Decel_Tm
U16 1500 Time for propel command to decrease from full speed
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%
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ROP Name
EEPROM Name Type Default Value Description
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
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ROP Name
EEPROM Name Type Default Value Description
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
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ROP Name
EEPROM Name Type Default Value Description
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.
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Name Type Description
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:
Name Type Description
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)
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Name Type Description
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.
Range: 0-10000 (0 = Stopped, 10000 = No reduction)
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)
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Name Type Description
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
speed forward)
CP_FinalCmd_Right_Pct2 S16 Right speed command, possibly scaled by or generated by Calibration block.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
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.
Range: 0-10000 (0 = Stopped, 10000 = No reduction)
CP_MotorL_RPM S16 Left propel motor speed.
Range: 0-32767 (rpm)
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Name Type Description
CP_MotorR_RPM S16 Right propel motor speed.
Range: 0-32767 (rpm)
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.
Range: -20000 to 20000 (-20000 = Left counterrotate, -10000 = Left pivot, 0 =
Straight, 10000 = Right pivot, 20000 = Right counterrotate)
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.
Range: 0-32767 (rpm)
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.
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Name Type Description
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.
Range: 0-10000 (0 = Propel stopped, 10000 = No reduction)
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.
Range: 0-10000 (0 = Propel stopped, 10000 = No reduction)
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
speed forward)
GDP_CP_OL_Rcmd S16 Right speed command, before modification by Power Distribution, Trackstall,
and Closed-loop Speed Control plug-ins.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
speed forward)
GDP_CP_OL2_CmdLim S16 Maximum currently allowed speed command.
Range: 0 to 10000 (0 = Stopped, 10000 = Full speed
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Name Type Description
GDP_CP_OL2_Lcmd S16 Open-loop left speed command.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
speed forward)
GDP_CP_OL2_Rcmd S16 Open-loop right speed command.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
speed forward)
GDP_CP_Powerdist S16 Output of Power Distribution plug-in.
Range: 0-10000 (0 = Propel stopped, 10000 = No reduction)
GDP_CP_R_Propel S16 Output of propel ramp.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
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:
T: Released version.
F: Unreleased version.
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.
Range: -20000 to 20000 (-20000 = -2*Propel, -10000 = -Propel, 0 = Stopped,
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
speed forward)
GDP_CP_UR_Steer S16 Profiled steer command input to Application Block.
Range: -20000 to 20000 (-20000 = Left counterrotate, -10000 = Left pivot, 0 =
Straight, 10000 = Right pivot, 20000 = Right counterrotate)
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Name Type Description
GDP_CP_UR_Steer_L S16 Left side steering percentage calculated from steer command input, prior to
being ramped.
Range: -20000 to 20000 (-20000 = -2*Propel, -10000 = -Propel, 0 = Stopped,
10000 = Propel, 20000 = 2*Propel)
GDP_CP_UR_Steer_R S16 Right side steering percentage calculated from steer command input, prior to
being ramped.
Range: -20000 to 20000 (-20000 = -2*Propel, -10000 = -Propel, 0 = Stopped,
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:
T: Released version.
F: Unreleased version.
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.
Range: 0-10000 (0 = Propel stopped, 10000 = No reduction)
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
speed forward)
GDP_Tracker_CP_CL_Rcmd S16 Closed-loop right speed command.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
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.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
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)
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Name Type Description
GDP_Tracker_CP_Rcmd S16 Open-loop right speed command input to Tracker plug-in.
Range: -10000 to 10000 (-10000 = Full speed reverse, 0 = Stopped, 10000 = Full
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:
T: Released version.
F: Unreleased version.
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:
T: Released version.
F: Unreleased version.
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.
Range: 0-10000 (0 = Max displacement, 10000 = Min displacement)
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.
Range: 0-32767 (rpm)
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.
Range: 0-10000 (0 = Max displacement, 10000 = Min displacement)
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)
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Name Type Description
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.
Range: 0-32767 (rpm)
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.
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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.
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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
Fault type Detection condition Potential causes
|||| – – 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
Fault type Detection condition Potential causes
none The default temperature sensor can’t effectively distinguish
between extreme temperatures and electrical problems.
— —
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Fault Locations and Fault Types Fault locations: |||| – · · · 13 Brake solenoid
|||| – · · · · 14 Backup alarm
Fault type Detection condition Potential causes
|||| – 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
Fault type Detection condition Potential causes
|||| – · 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
Loose or corroded connector
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
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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
Fault type Detection condition Potential causes
|||| – – – – · 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
Defaults have not been set
Fault locations: |||| – – · · · · · 26 Engine setpoint (EEC3) |||| – – – – – · · 52 Engine speed (EEC1)
Fault type Detection condition Potential causes
|||| – – – 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
Loose or corroded connector
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
Fault type Detection condition Potential causes
|||| – – – 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
Fault type Detection condition Potential causes
|||| – – – 30 Timeout
Neutral switch signal and joystick Y axis disagree for 1000 ms. Open circuit
Short circuit
Loose or corroded connector
Joystick or neutral switch not functioning
Fault location: |||| – – – · · 32 AutoReverse/Transport/Work switch
Fault type Detection condition Potential causes
|||| – – – 30 Timeout
AutoReverse and Transport signals both true for 1000 ms. Open circuit
Short circuit
Loose or corroded connector
Switch malfunction
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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
Fault type Detection condition Potential causes
|||| – 10 Open circuit
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
Defaults have not been set
|||| – – – – · 41 Invalid config
Bad params to block. Pump or motor compliance block has invalid
parameters in GUIDE
Fault locations: |||| – – – – – 50 Left motor PPU
|||| – – – – – · 51 Right motor PPU
Fault type Detection condition Potential causes
|||| – 10 Open circuit
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
|||| – – – – · 41 Invalid config
Pulses per Rev parameter out of range. Pulses/rev parameter invalid
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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.
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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.