Control System ST14
RCS Presentation
Objectives
You will know the Atlas Copco Scooptram ST 14,
from the inside and the outside, including
hydraulic & electrical systems, basic
maintenance routines and troubleshooting.
Content
Overview Transmission and Axles
Safety an how to Drive D/H & Steering System
Hydraulics Introduction Brake System
Electrical System General Maintenance
Control System (RCS) Troubleshooting
Engine and Fuel System Options
2
Control System
RCS
System Description
Can Bus Signals (Can open & J1939)
Modules
Component Location
Sensors (analog digital)
In & Output signals
Menu Description
Fault Finding
3
(AC
)
Control System
RCS CAN- CAN-
Vice President CAN- OPEN OPEN
CAN- CAN- Display OPEN
OPEN OPEN
J1939
I/O I/O Decoder Decoder
Mechanic Mechanic Secretary Secretary
J1939
TCU/EconC Engineer
J1939
ECM Electrician
4
(AC
)
Control System
Address
D541 D501 D540 D560 D543 D561
MU
D510 D576 D577 D511
Decoder Decoder Decoder
Joystick Joystick I/ O Sensor Sensor I/ O
DISP
D601 D602
ECM TCU/EconC
5
(AC
)
Control System
Address
Add 1
Add 1 Add 0 Add 3
D541 D501 D540 D543
MU
D510 D511
Decoder Decoder
DISP Decoder I/ O I/ O
End plug
Add 0
Add 0
End plug
End plug
D601 D602
ECM TCU/EconC
6
Control System
Address plugs
0-9106 1324 90
1-9106 1324 91
2-9106 1324 92
3-9106 1324 93
End plug (120 Ohm)
9106 2066 78
Address plugs
0-9106 1324 30
1-9106 1324 31
End plug (120 Ohm)
9106 0968 00
7
Control System
How it’s connected on ST14
8
Signals
CAN signals
Signals
CAN Cable
_
(Black)
Can high 24v
(Blue)
+
(Red)
Can low
(White) Connections
Pin1: Ground
Pin2: +
Pin3: -
Pin4:high
Pin5:low
10
Can bus cable general rules
The weakest point on a cable is the contact.
Minimum bending radius is 200 mm
200mm
Make sure all contacts are relieved so they can't
move if the cable moves.
Put all CAN-bus cable in a protection hose and
make sure it’s covered all the way.
If the cable is in a position where it will move,
attach the protection hose in both ends.
Route the CAN-bus cable separately from other
sensor cables.
If you use cable ties, make sure that they do not
cut into the cable jacket or even deform the cable
If the CAN-bus cable is to long, make big bends
and hide it.
11
(AC
)
Signals
CAN communication power 24V _
(Black)
24v
24 Volt via Can cable
G3
Connections +
Pin1: Ground (Red)
Pin2: +
Pin3: -
Pin4:high
D501 Pin5:low
Disp
D540 D541 D543 D510 D511
Decoder Decoder Decoder I/O I/O
12
Signals
CAN Externally 24V
24 Volt via Can cable
G3
D501 External power 24 volt
Disp
D540 D541 D543 D510 D511
Decoder Decoder Decoder I/O I/O
13
Signals
CAN HI/CAN LO
5v
Can high 2.6V
2,5v
Can low 2.4V
0v
14
Modules
ST-14
Modules and sensors
Modules
Display modul
X1 – Power 24V
X2 – J1939
X3 – CAN IN/OUT
X4 – CAN IN/OUT
X5 – Address
X6 – USB
X7 – Serial port (Not used)
X1 Connection X2 Connection X3/4 Connection
1. 24v (Pin) 1. NA (Pin) 1. GND ( Pin)
2. 24v (Pin) 2. NA (Pin) 2. Can + (Pin)
3. Gnd (Pin) 3. NA (Pin) 3. Can – (Pin)
4. Gnd (Pin) 4. 925 (Pin) 4. Can high (Pin)
5. 926 (Pin) 5. Can low (Pin)
16
Modules
Decoder modules
X1 – Power 24V
X3 – CAN In/Out
X4 – CAN In/Out
X5 – Address
X6 – NOT USED
X8 – Analog input
Digital in
X9 – Digital in
Digital out
X1 Connection X3/4 Connection
1. 24v (Pin) 1. GND (Pin)
2. 24v (Pin) 2. Can + (Pin)
3. Gnd (Pin) 3. Can – (Pin)
4. Gnd (Pin) 4. Can high (Pin)
5. Can low (Pin)
17
Modules
I/O Modul (In/out Modul)
X25 External Power
X7/13 Connection
1. Can low (Pin)
2. Can high (Pin)
3. 24v (Pin)
4. Gnd (Pin)
18
Component Location
RCS Components @ ST-14
Component Location
Right side rear
D541
D601
D602
A 20 box
20
Component Location
Right side midship
D511
21
Component Location
Left side midship
D510
22
Component Location
Left side cab D543 D540
D501
23
Sensors
Sensors
Analog sensor
Fuel level (c)
Pressure sensors
Angle sensors (c)
Joysticks (c)
Temperature sensors
Length sensor for stabcyl (c)
– Interface
– Sensor
25
Sensors
Digital sensor (on or off)
Level sensor
– Hydraulic
– Transmission
– Lincoln lube (opt)
– Cooling fluid
Filter switch
– Air
– Transmission
– Hydraulic
Door interlock
– Door (inductive)
– Armrest
26
Transducer 0-350 Bar
Accumulator pressure
Brakes apply limit 83 Bar limit 110 Bar
400
350
300
250
Bar
200
150
100
50
0
0 0,5 1 1,5 2 2,5 3 3,5 4 4,5 5
Volt Standard operating
Pressure 140 Bar
B410 Accumulator pressure B359 Brake pressure
B411A Hoist base B411B Hoist rod 0,5 Volt = 0 bar
4,5 Volt = 350 bar
27
Sensor
Pedals
Brake B422
Hall effect sensor
Throttle B382
Hall effect sensor
28
(AC
)
Sensors
Sensors D576
Steering sensor
80%
8 degrees before
44 degrees
D576 Connection
1. N/A (Pin)
2. Can + (Pin)
3. Can – (Pin)
4. Can high (Pin)
5. Can low (Pin)
29
(AC
)
Sensors
Sensors D577
Boom angle sensor
–Ride ctrl
–Load weighing
–Load lights
D577
D577 Connection
1. N/A (Pin)
2. Can + (Pin)
3. Can – (Pin)
4. Can high (Pin)
5. Can low (Pin)
30
Sensors
Sensors D560 & D561
Joystick
D560 Connection D560 Connection
1. Y1 Axis, 5VDC Supply 1. X Axis, 5VDC Supply
2. Y1 Axis, Signal A 10-90% 2. X Axis, Signal A 10-90%
3. N/A 3. X Axis, Signal B 10-90%
4. Y1 Axis, GND 4. X Axis, GND
5. Y2 Axis, 5VDC Supply 5. Y Axis, 5VDC Supply
6. N/A 6. Y Axis, Signal A 10-90%
7. Y2 Axis, Signal A 10-90% 7. Y Axis, Signal B 10-90%
8. Y2 Axis, GND 8. Y Axis, GND
9. N/A 9. N/A
10. N/A 10. N/A
11. N/A 11. N/A
12. Common GND 12. Common GND
13. Push button 1 (upper left) 13. Push button 1 (upper left)
14. Push button 2 (upper right) 14. Push button 2 (upper right)
15. Push button 3 (lower left) 15. Push button 3 (lower left)
16. Push button 4 (lower right) 16. Push button 4 (lower right)
17. Push button 5 (Trigger) 17. Push button 5 (Trigger)
31
Input and Output signals
2 different signal
In
Analog
Digital
Out
Pulse Width Modulation Signal (Analogue)
Digital
Input and Output signals
The I/O Module
End Plug
CAN Out X7 X 13 CAN In
X1 X 19
X8 X 14
X2 X 20
Address plug X9 X 15
X3 X 21 Digital In: X11, X15, X24
X 10 X 16 Digital Out: X2, X20, X22
X4 X 22 Analogue In: X6, X8, X10, X14, X16, X17
X 11 X 17
X5 X 23
PWM Out: X1, X3, X4, X5, X19, X21, X23
X 12 X 18 Encoder (Pulse sensor in): X12, X18
X6 X 24
33
Input and Output signals
The I/O Module X1 Pwm
X2 D out
End Plug X3 Pwm
X4 Pwm
X5 Pwm
X6 A in
CAN O ut X7 X 13 CAN In
X1 X 19
X7 Can out
X8 X 14 X8 A in
X2 X 20
X9 Address plug
Address plug X9 X 15
X3 X 21
X10 A in
X 10 X 16 X11 D in
X4 X 22
X12 Di enc
X 11 X 17
X5 X 23 X13 Can in
X 12 X 18 X14 A in
X6 X 24
X15 D in
X16 A in
X17 A in
X18 Di enc
X19 Pwm
X20 D out
X21 Pwm
X22 D out
X23 Pwm
X24 D in
X25 Power
34
Input and Output signals
Digital input signal (D in) (Two channels on each input A&B)
Transmission oil level
Transmission oil filter
Hyd oil level
Air filter
Hyd oil filter
Lincoln Lube level (opt)
Digital In:
1. In A
2. Gnd A
3. 24v A
4. 24v B
5. Gnd B
6. In B
35
Input and Output signals
Digital input signal (D in) (Two channels on each input A&B)
36
Input and Output signals
Digital out signals (D out) (Two channels on each output A&B)
Lights (Relay)
Sts Beacon (Relay)
Lincoln lube
Horn
Checkfire (RRC)
Digital Out:
1. Out A-
2. Out B-
3. Out A+
4. Out B+
37
Input and Output signals
Digital out signals (D out) (Two channels on each input A&B)
38
Input and Output signals
Analog input signal (A in)
Fuel level
Pressure transducer
Temp switch
Bucket Pos sensor
Angle sensors
X10 Analogue In:
1. In 0-5v
2. Gnd
3. +5v
4. +12v
5. In 6,5v
6. Current loop in
39
Input and Output signals
Analog input signal (A in)
Analogue In:
1. In 0-5v
2. Gnd
3. +5v
4. +12v
5. In 6,5v
6. Current loop in
40
Input and Output signals
Pulse Width Modulation signal (PWM)
(Two channels on each output A&B)
Movement
Bucket
Boom
Steering
Eod (opt)
Brakes
Float/ Ride
PWM Out:
1. A-
2. B-
3. A+
4. B+
41
Input and Output signals
Pulse Width Modulation signal (PWM)
PWM Out:
1. A-
2. B-
3. A+
4. B+
42
Input and Output signals
Digital in signal D in 6 pin 2 channels
Digital out signal D out 4 pin 2 channels
Analog in signal A in 6 pin 1 channel
Pulse with modulation PWM 4 pin 2 channel
43
Menu Description RCS
DISPLAY D501 F1
Menu D1
Shows Vehicle
information
Navigation buttons
in Menu level
45
DISPLAY D501 F2
Menu D2
Shows Engine
information
46
DISPLAY D501 F3
Menu D3
Shows Trans &
Brake information
47
DISPLAY D501 F4
Menu D4
Shows Optional
functions
48
Menu Description
49
(AC
)
Menu Description RCS
OPERATOR (OP) Service at site (SE) Atlas Copco Sales company (AC)
Esc
Operator Vehicle Hydraulics Drive Train Diagnostics Log
User Information Information Information Modules Save
Language Load Weigh Emergency Levers Save All
Display Ride Control Brake Pedals Event Log
Units Lubrication Calibration Administration DTC Log
Brake Test Positioning Password Maintenance
Override Calibration Statistics
Stall Test Clear
Declutch
Load
RCS shutdown
50
(AC
)
Menu Description RCS
OP= Operator
SE= Service mine (code)
AC= Atlas Copco Service (id + code)
ACP= Product company (id + code)
51
(AC
)
Menu Description RCS
52
(AC
)
Menu Description RCS
53
Menu Description RCS
Engine time
Transmission time
Clock time
54
(AC
)
Menu Description RCS
Solenoid Current requirements:
Dump / Hoist:
Start spool movement: 300 mA ± 50 mA
End spool movement: 600 mA ± 70 mA
Steering / EOD:
Start spool movement: 260 mA ± 50 mA
End spool movement: 510 mA ± 70 mA
55
(AC
)
Vehicle Menu
56
(AC
)
Hydraulics Menu
57
(AC
)
Sensors
Pressure sensors - Offset
Offset
bar
50
40
30
20
10
0 1 2 3 4 5 6 Volt
0,5 4,5
0,5 Volt = 0 bar
58
(AC
)
Sensors
Pressure sensors - Coefficient
Coefficient
How to find the coefficient:
bar
•Measure the pressure with a
gauge
•Adjust the coefficient until gauge
250
and reading in computer
correspond
140 bar
0
Volt
0 0,5 1 2 3 4 4,5 5 6
59
Menu Description RCS
60
Menu Description RCS
61
(AC
)
Diagnostics Menu
Diagnostics Module
62
(AC
)
Diagnostics Menu
Diagnostics Module
(Option)
63
(AC
)
Diagnostics Menu
Diagnostics Module D510
64
(AC
)
Diagnostics Menu
Diagnostics Module D511
65
(AC
)
Diagnostics Menu
Diagnostics Module D540 1/2
66
(AC
)
Diagnostics Menu
Diagnostics Module D540 2/2
67
(AC
)
Diagnostics Menu
Diagnostics Module D541
68
(AC
)
Diagnostics Menu
Diagnostics Module D543
69
(AC
)
Diagnostics / Levers Menu
100%
20%
70
(AC
)
Diagnostics / Levers Menu
71
(AC
)
Diagnostics Menu
72
(AC
)
Log Menu
73
Log Menu
74
(AC
)
Log Menu
75
(AC
)
Download New Software
Preparations
Contact your local Atlas Copco
representative to get updated
software files.
Open the zip file from Atlas Copco
by double clicking it and copy the
files to the root of an empty USB
stick.
Verify that the USB stick contains
the files and folder shown on the
image above (some files can
differ).
It is important that all these files
exists in the root folder of the USB
stick.
76
(AC
)
Download New Software
1/3
Start RCS system
Go to “Operator/ User”
Log in with your ID-USB stick and / or password
Go to ”diagnostic / Administration “
Put a USB stick in the machine
Chose ”Save parameters”
When save is Ok, remove the USB stick
Turn off the RCS system
Put the USB stick with the new program on the
machine and start RCS again.
77
(AC
)
Download New Software
2/3
When RCS boot menu is showed, select “2. Load
new program code” by pressing arrow down and
ENTER
When RCS system tells you to reboot, take out
the USB stick and reboot the system
When RCS system has started, log in with your
ID-USB stick and / or password
Go to ”diagnostic / Administration” again
Put the USB stick in the machine that you saved
the parameters on
Chose ”Load parameters”
78
(AC
)
Download New Software
3/3
When load is Ok, Go to ”Diagnostics / Pedals”
Push ”Calibrate” for throttle and follow the
instruction
Continue with “Brake pedal”
DONE
We now recommend that a “brake test” and a
function test is preformed.
79
We are committed to your
superior productivity through
interaction and innovation.
80
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