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ELECTRONIC CONTROL SYSTEMS

AN INTRODUCTION TO
THE NEW SPACE 4000
CONTROL SYSTEM

Issue 1.1 SPACE 4000 1:1


ELECTRONIC CONTROL SYSTEMS

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent, or
incorrect operation of the equipment or from misuse of the equipment.
Every effort has been made to ensure the accuracy the contents of this Manual, however the manufactures,
publishers and author accept no liability for any loss, damage or injury caused by any errors in or omissions
from the information contained within this document.
The contents of this Manual are believed to be correct at the time of printing. In the interests of a commitment
to a policy of continuous development and improvement , the manufacturer reserves the right to change the
specification of the products or their performance or the contents of this Manual, without notice.
All rights reserved. No part of this Manual may be stored, reproduced or transmitted in any form or by any
means, electronically or mechanically including photocopying, recording or by any information retrieval
system, without permission in writing from the publisher.

Copyright HIAB AB February 2003

HIAB AB
SE-824 83
Hudiksvall
Sweden

Telephone +46 (0) 650 91000


FAX: +46 (0) 650 12174

Author: CLM

Date of Issue: February 2003

1:2 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Contents

What is space 4000?. .................................................................... 5


Functions. ................................................................................................... 6
Components................................................................................... 7
User Interface Front. ................................................................................... 7
Buttons and Leds. ....................................................................................... 7
Buttons and Leds (cont.)............................................................................. 9
User Interface Rear........................................................................ 10
Connections. ............................................................................................... 11
4000 Standard Bottom. ................................................................. 12
Connections. ............................................................................................... 12
4000 Radio Receiver...................................................................... 14
Connections. ............................................................................................... 14
4000 Radio Receiver Connections (cont). .................................................. 15
4000 Relay Box. ............................................................................. 16
Connections. ............................................................................................... 16
4000 Relay box Connections (cont)............................................................ 17
4000 Relay box Connections (cont)............................................................ 18
Extended Box. ....................................................................... 19
Connections. ............................................................................................... 19
Extended box connections (cont). .............................................................. 20
Column Box. .................................................................................. 21
Connections . .............................................................................................. 21
Column box connections (cont). ................................................................. 22
Controls....................................................................................................... 23
HiDrive controller. ......................................................................... 23
Controls....................................................................................................... 23
Connection drawing. ..................................................................... 25
Maintenance and adjustments. .................................................... 26
Terminal programs...................................................................................... 26
Using the new program............................................................................... 26
Changing system type. ............................................................................... 29
Crane Config File. ....................................................................................... 30
Parameters and Variables............................................................. 31
Understanding Parameters. ........................................................................ 31
Channels. ....................................................................................... 32
Understanding Channels. ........................................................................... 32
Channels list. .............................................................................................. 32
Channels list (cont). .................................................................................... 33

Issue 1.1 SPACE 4000 1:3


ELECTRONIC CONTROL SYSTEMS

Contents

Parameters list .............................................................................. 34


1. OLP function. .......................................................................................... 34
2. MSC-function. ......................................................................................... 35
3. Analog inputs. ......................................................................................... 36
4. Remote control. ...................................................................................... 37
5. Lever position sensors. ........................................................................... 38
6. Pressure sensors. ................................................................................... 39
7. Digital inputs. .......................................................................................... 40
8. Stability. .................................................................................................. 41
9. Digital outputs. ........................................................................................ 42
10. Service. ................................................................................................. 42
11. PLC. ...................................................................................................... 43
12. Various.................................................................................................. 44
13. Counters and Timers. ........................................................................... 46
14. Errors. ................................................................................................... 48
Variables......................................................................................... 55
1. OLP function. .......................................................................................... 55
2. MSC-function. ......................................................................................... 56
3. Analog inputs. ......................................................................................... 56
4. Remote control. ...................................................................................... 57
5. Lever position sensors. ........................................................................... 58
6. Pressure sensors. ................................................................................... 59
7. Digital inputs. .......................................................................................... 59
8. Stability. .................................................................................................. 61
9. Digital outputs ......................................................................................... 61
11. PLC ....................................................................................................... 61
10. Service. ................................................................................................. 61
12. Various.................................................................................................. 62
Notes. ............................................................................................. 66
Notes. ............................................................................................. 67

1:4 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

What is space 4000?

SPACE 4000 has been developed to work in conjunction with the new HIAB V80R remote control valve
and shares many of the now proven components developed for the SPACE 3000 system. Use of these
components has also allowed the use of CAN based communication in SPACE 4000.

Further development of the SPACE 3000 standard box allows this box to be used, for both the 3000 and
4000 systems only the User Interface is different. This means that in the future the 3000 standard box will be
withdrawn and replaced by the 4000 standard box removing the need to hold two different boxes in your spare
parts stock. SPACE 4000 will also share the same column and extended boxes as SPACE 3000.

New for the 4000 system is the User Interface, Radio Receiver/Output box, a new Relay box and a new hand
controller unit. Although named the 4000 Relay box it will be possible to use this box with any of the current
CAN-based control systems produced by HIAB.

The new hand controller shares the same housing as the RadioDrive unit, it is however completely new inside
and is not interchangable with the RadioDrive hand controller. The controller has 3 operating groups making it
possible to control up to 18 proportional functions. A digital display window giving information about possible
problems has also been added. Additional buttons now allow you to control relay operated functions easily
from the hand controller.

SPACE 4000 is also equipped to run PLC programs to help with some of the more difficult operational
requirements that customers can be faced with.

Issue 1.1 SPACE 4000 1:5


ELECTRONIC CONTROL SYSTEMS

Functions

The following functions are available in SPACE 4000

OLP
Overload protection on inner and other boom with pre-warning

OLP WINCH
Overload protection on winch with pre-warning, if winch with pre-warning

ADC
Automatic Duty Control raises capacity when crane is in hook mode, normal capacity if in tool mode. Sensed
with spool sensor on lever 6 or function winch.

OLP RELEASE
Override of OLP

ADO
Automatic dumping of oil when crane not in use

SLEWING SECTOR
Lowered capacity in sector

CONTROL PLATFORM
Crane movement restricted over platform

MANUAL EXTENSION
Lowered capacity when manual extension is in use

HORN
Sounds when button pressed or when 90% / OLP is detected (pre-warning, time and level settable).

MSC
Manual Speed Control, EXTENDED BOX and MSC valve block must be fitted

ADS
Automatic damping on slewing, EXTENDED BOX, ADS sensors and ADS valve block must be fitted

ASC
Automatic Speed Control, load dependent speed

EXTERNAL DUMP
External dump if EXTENDED BOX fitted.

DIAGNOSTICS
service indicator, errors ..

1:6 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Components

User Interface Front

Buttons and Leds

1.ON/OFF BUTTON & LED


Button for switching on/off the system. If button pressed and held for more then 2s when system is on the
lamp test is activated, as long as the button is pressed all red leds light, when released all red leds continue to
light for 3 seconds then all green leds light for 3 seconds

LED green
Steady = system on
Blinking = system on and STOP button pressed in (PSBM oil 1 function)
Off = system off

Issue 1.1 SPACE 4000 1:7


ELECTRONIC CONTROL SYSTEMS

Buttons and Leds (cont.)

2.RELEASE BUTTON AND LED


Button for:
1. switching on OLP release if crane has OLP
2. switching on Dump valve/valves if not OLP, if dump valve 2 present it is also switched on, connected
to a relay or extended box (switched off after 10 minutes and when a crane function is used dump
valve 2 is always switched off)
Green LED
Steady = Dump valve on (PSBM oil 2 function)
off = Dump valve off (PSBM oil 2 function)
Red LED
Steady red = OLP
Blinking red = Release button pushed and allowed to run crane (OLP case)
Steady green = Dump valve2 on (if dump valve 2 present)

3.HORN BUTTON
Button for switching on the horn if present

4.REMOTE CONTROL BUTTON


Button to activate remote control. Press and release to activate, repeat to de-activate.

Steady Green = Remote control on


Blinking Green = Stop button pressed in
Blinking Red = Radio Interference

5.STAB SECTOR LED


LED to show that crane is in a stability sector
LED green
Steady = Crane is in sector and crane capacity is lowered
Off = Crane is not in sector

6.SERVICE/ERROR LED
LED to show that system has error or time to service crane
LED green/red
Steady green = Time to service the crane, x seconds after start-up
Steady red = System has error/errors
Flashing red = CAN communication error

1:8 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Buttons and Leds (cont.)

7.IB/OB_PRESS BAR LEDs


LEDs to show pressure in inner/other boom cylinder in percentage of actual OLP limit
LEDs 90% & 100% red, 50% & 70% red/green
-Sequence
50% = LED 1 steady green
70% = LED 1 & 2 steady green
90% = LED 1-3 blinking red
100% = LED 1-4 steady red

All flashing red = Flashes for 5 seconds when system is switched off and the inner boom is high

Sweep LEDs = LEDs sweep when OLP in corresponding cylinder and release
activated and release allowed

Note 1, if no outer boom pressure sensor present, pressure and sweep function on other boom
LEDs are inactivated. (Example some M-link cranes)

8.WINCH LED
LED to show 90% or OLP in winch
LED red
Blinking = Winch has 90% of nominal load
Steady = Winch has 100% of nominal load OLP

Flashing = Flashes for 5 seconds when system switch off and inner boom high

9.ADC LED
LED to show if crane is working with hook or tool capacity, if system type ADC not selected always off
LED green
Steady = Crane is working with hook(added) capacity
Off = Crane is working with normal capacity

10.MAN EXT LED


LED to show that crane is working with Manual extension logic (Switch on/off with hand controller)
LED green
Steady = Manual extension logic on
Off = Manual extension logic off

11.STOP BUTTON
Total stop button, overrides all other controls. Press in to prohibit all crane functions, turn clockwise to release.

Issue 1.1 SPACE 4000 1:9


ELECTRONIC CONTROL SYSTEMS

User Interface Rear

Visually the back of the SPACE 4000 User Interface is the same as SPACE 3000.

Two x 7 connector plinths for the CAN connection cabling. NOTE: If no connections are made to the CAN out
plinth (P2) a bridge wire must be placed between P2.5 & P2.6. Failure to do this will result in error code E3
being displayed.
One x 5 position jumper field, used to tell the 4000 standard box the number of the interface in the system.
As with SPACE 3000 it is possible to use upto 4 user interfaces in the SPACE 4000 system.

1:10 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Connections

Plinth Description
P1.............................. CAN (From/to Standard bottom)
P1.1........................... 0V
P1.2........................... 24V
P1.3........................... CAN H
P1.4........................... CAN L
P1.5........................... Emergency stop out
P1.6........................... Emergency stop in
P1.7........................... on/off of the system

P2.............................. CAN (From/to Cover 2, Extended box)


P2.1........................... 0V
P2.2........................... 24V
P2.3........................... CAN H
P2.4........................... CAN L
P2.5........................... Emergency stop out
P2.6........................... Emergency stop in
P2.7........................... on/off of the system

One x 5 position jumper field, used to tell the 4000 standard box the number of the interface in the
system. As with SPACE 3000 it is possible to use upto 4 user interfaces in the SPACE 4000 system.
Note: Jumper field named nc is not used, strapping has no effect.

Issue 1.1 SPACE 4000 1:11


ELECTRONIC CONTROL SYSTEMS

4000 Standard Bottom

SPACE 4000 ST



Connections
Plinth Description
P1 ..............................................SPOOL SENSORS 1-4
P1.1 ...........................................0V
P1.2 ...........................................24V
P1.3 ...........................................signal from spool sensor 1 (0-5V)
P1.4 ...........................................signal from spool sensor 2 (0-5V)
P1.5 ...........................................signal from spool sensor 3 (0-5V)
P1.6 ...........................................signal from spool sensor 4 (0-5V)

P2 ..............................................SPOOL SENSORS 5-6


P2.1 ...........................................0V
P2.2 ...........................................24V
P2.3 ...........................................signal from spool sensor 5 (0-5V)
P2.4 ...........................................signal from spool sensor 6 (0-5V)

P3 ..............................................TERMINAL
P3.1 ...........................................0V
P3.2 ...........................................24V
P3.3 ...........................................Data out
P3.4 ...........................................Data in

1:12 SPACE 4000 Issue 1.1


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Plinth Description
P4 .................................... SWITCH FOR INDICATOR ON PLATFORM
P4.1 ................................. 0V
P4.2 ................................. 24V
P4.3 ................................. Signal 24V from on platform Indicator (0/24V)

P5 .................................... Column box


P5.1 ................................. 0V
P5.2 ................................. 24V
P5.3 ................................. Signal from IB pressure sensor (4-20mA)
P5.4 ................................. Signal from OB pressure sensor (4-20mA)
P5.5 ................................. Signal from OB tilt indicator (4-20mA)
P5.6 ................................. Signal from IB tilt indicator (4-20mA)
P5.7 ................................. Signal from winch indicator (4-20mA)
P5.8 ................................. Signal from second IB tilt indicator (control platform)(0/24V)
P5.9 ................................. Signal from Extension out indicator(0/24V)

P6 .................................... SLEWING SECTOR 1


P6.1 ................................. 0V
P6.2 ................................ 24V
P6.3 ................................. Signal from slew sect_1 Indicator (positive) (0/24V)
P6.4 ................................. Signal from slew sect_1 Indicator (negative) (0/24V)
P6.5 ................................. Signal from slew sect_2 Indicator (positive) (0/24V)
P6.6 ................................. Signal from slew sect_2 Indicator (negative) (0/24V)

P7 .................................... CAN (From/to Cover 1)


P7.1 ................................. 0V
P7.2 ................................. 24V
P7.3 ................................. CAN H
P7.4 ................................. CAN L
P7.5 ................................. Emergency stop out
P7.6 ................................. Emergency stop in
P7.7 ................................. on/off

P8 .................................... HORN
P8.1 ................................. 0V
P8.2 ................................ HORN (24V, 2A)

P9 .................................... DUMP VALVE 1


P9.1 ................................. 0V
P9.2 ................................. To dump valve

P10 .................................. POWER IN


P10.1 ............................... 0V truck
P10.2 ............................... 24V truck (15-35V, 10A)

Note: P10 0V and 24V on this plinth dont have the same potential as the other plinths in the system
because there is a filtering unit between them.

One x 5 position jumper field, used to tell the 4000 standard box the number of the interfaces in the system.
As with SPACE 3000 it is possible to use upto 4 user interfaces in the SPACE 4000 system.
Note: Jumper field named nc is not used, strapping has no effect.

Issue 1.1 SPACE 4000 1:13


ELECTRONIC CONTROL SYSTEMS

4000 Radio Receiver

Connections
Plinth Description
P1 ...................................CAN in
P1.1 ................................0V
P1.2 ................................24V
P1.3 ................................CAN H
P1.4 ................................CAN L
P1.5 ................................Emergency stop out
P1.6 ................................Emergency stop in
P1.7 ................................On/off

P2 ...................................CAN out
P2.1 ................................0V
P2.2 ................................24V
P2.3 ................................CAN H
P2.4 ................................CAN L
P2.5 ................................Emergency stop out
P2.6 ................................Emergency stop in
P2.7 ................................On/off

1:14 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

4000 Radio Receiver Connections (cont)

Plinth Description Plinth Description


P3 .................................. Output 1-2 P7A............................... Output 9-10
P3.1 ............................... 0V P7A.1............................ 0V
P3.2 ............................... Output Valve 1-1 P7A.2............................ Output Valve 9-1
P3.3 ............................... Output Valve 2-1 P7A.3............................ Output Valve 10-1
P3.4 ............................... Output Valve 2-2
P3.5 ............................... Output Valve 1-2 P7B .............................. Output 9-10
P3.6 ............................... 0V P7B.1............................ Output Valve 10-2
P7B.2............................ Output Valve 9-2
P4 .................................. Output 3-4 P7B.3............................ 0V
P4.1 ............................... 0V P8 ................................. Output 11-12
P4.2 ............................... Output Valve 3-1 P8.1 .............................. 0V
P4.3 ............................... Output Valve 4-1 P8.2 .............................. Output Valve 11-1
P4.4 ............................... Output Valve 4-2 P8.3 .............................. Output Valve 12-1
P4.5 ............................... Output Valve 3-2 P8.4 .............................. Output Valve 12-2
P4.6 ............................... 0V P8.5 .............................. Output Valve 11-2
P8.6 .............................. 0V
P5 .................................. Output 5-6
P5.1 ............................... 0V P9 ................................. External Antenna
P5.2 ............................... Output Valve 5-1 P9.1 .............................. 0V
P5.3 ............................... Output Valve 6-1 P9.2 .............................. Antenna signal
P5.4 ............................... Output Valve 6-2
P5.5 ............................... Output Valve 5-2
P5.6 ............................... 0V

P6 .................................. Output 7-8


P6.1 ............................... 0V
P6.2 ............................... Output Valve 7-1
P6.3 ............................... Output Valve 8-1
P6.4 ............................... Output Valve 8-2
P6.5 ............................... Output Valve 7-2
P6.6 ............................... 0V

JUMPER FIELD b1-b3, is used to set the address in the system.


ext_ant, is used to set internal or external antenna

LEDS
Red Error = error, radio signal corrupted
Green Data = Radio data is ok
Yellow Squelch = Carrier detected
Green Power = power to the system

Issue 1.1 SPACE 4000 1:15


ELECTRONIC CONTROL SYSTEMS

4000 Relay Box

1 2 3 4

Connections

Plinth Description
P1 ............................................. CAN in
P1.1 .......................................... 0V
P1.2 .......................................... 24V
P1.3 .......................................... CAN H
P1.4 .......................................... CAN L
P1.5 .......................................... Emergency stop out
P1.6 .......................................... Emergency stop in
P1.7 .......................................... On/off

1:16 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

4000 Relay box Connections (cont)

Plinth Description
P2 ............................................. CAN out
P-1 ............................................ 0V
P-2 ............................................ 24V
P-3 ............................................ CAN H
P-4 ............................................ CAN L
P-5 ............................................ Emergency stop out
P-6 ............................................ Emergency stop in
P-7 ............................................ On/off

P3 ............................................. Relay 1
P-1 ............................................ 0V Truck
P-2 ............................................ Relay 1 out, 24V 2A (potential as 24V Truck)
LED .......................................... Steady green when power on plinth

P4 ............................................. Relay 2
P-1 ............................................ 0V Truck
P-2 ............................................ Relay 2 out, 24V 2A (potential as 24V Truck)
LED .......................................... Steady green when power on plinth

P5 ............................................. Relay 3
P-1 ............................................ 0V Truck
P-2 ............................................ Relay 3 out, 24V 2A (potential as 24V Truck)
LED .......................................... Steady green when power on plinth

P6 ............................................. Relay 4
P-1 ............................................ 0V Truck
P-2 ............................................ Relay 4 out, 24V 2A (potential as 24V Truck)
LED .......................................... Steady green when power on plinth

P7 ............................................. Relay 5
P-1 ............................................ 0V Truck
P-2 ............................................ Relay 5 out, 24V 2A (potential as 24V Truck)
LED .......................................... Steady green when power on plinth

P8 ............................................. Relay 6
P-1 ............................................ 0V Truck
P-2 ............................................ Relay 6 out, 24V 2A (potential as 24V Truck)
LED .......................................... Steady green when power on plinth

Issue 1.1 SPACE 4000 1:17


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4000 Relay box Connections (cont)

Plinth Description
P9 ................................... Relay 7
P-1.................................. 0V Truck
P-2.................................. Relay 7 out, 24V 2A (potential as 24V Truck)
LED ................................ Steady green when power on plint

P10 ................................. Relay 8


P-1.................................. 0V Truck
P-2.................................. Relay 8 out, 24V 2A (potential as 24V Truck)
LED ................................ Steady green when power on plinth

P11 ................................. IN
P-1.................................. 0V Truck
P-2.................................. 24V Truck
P12 ................................. IN
P-1.................................. 0V Truck
P-2.................................. 24V Truck

CAN Led Flashing Red = CAN protocol missing or strapping error


Flickering Green = SPACE system switched On, emergency stop Out.
Flashing Green = SPACE system switched On, emergency stop In.

Status Led Steady Green = Relays Ok, external and CAN supplies present.
Flashing Red = Relay malfunction. All relay outputs are disabled.

Jumper field b1-b4, to set the address in the system of the relay box, relay behaviour and
action is set via terminal in SPACE box. Up to 4 relay boxes can be used.

NOTE !

1:18 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Extended Box










SPACE 4000 EX






Connections
Plinth Description
P1 ............................ ADS VALVE
P1.1 .........................0V, not same potential as other 0V.
P1.2 .........................24V (24V 1A)

P2 ............................ADS PRESSURE 1
P2.1 .........................24V
P2.2 .........................signal from pressure sensor (4-20mA)

P3 ............................ADS PRESSURE 2
P3.1 .........................24V
P3.2 .........................signal from pressure sensor (4-20mA)

Issue 1.1 SPACE 4000 1:19


ELECTRONIC CONTROL SYSTEMS

Extended box connections (cont)

Plinth Description
P4 .................................EXTRA SENSOR INPUT
P4.1 ..............................0V
P4.2 .............................24V
P4.3 ..............................signal from extra Indicator (0/24V)

P5 .................................SPOOL SENSORS 7-8


P5.1 ..............................0V
P5.2 ..............................24V
P5.3 ..............................signal from spool sensor 7 (0-5V)
P5.4 ..............................signal from spool sensor 8 (0-5V)

P6 .................................CAN (From/to Cover 2)


P6.1 ..............................0V
P6.2 ..............................24V
P6.3 ..............................CAN H
P6.4 ..............................CAN L
P6.5 ..............................Emergency stop out
P6.6 ..............................Emergency stop in

P7 .................................CAN (From/to extra boxes)


P7.1 ..............................0V
P7.2 ..............................24V
P7.3 ..............................CAN H
P7.4 ..............................CAN L
P7.5 ..............................Emergency stop out
P7.6 ..............................Emergency stop in
P7.7 ..............................On/off of the system

P8 .................................DUMP VALVE 2
P8.1 ..............................0V
P8.2 ..............................24V (24V, 2A)

P9 .................................MSC
P9.1 ..............................0V
P9.2 ..............................24V (24V, 2A)

P10 ...............................EXTRA SENSOR INPUT


P10.1 ............................0V
P10.2 ............................24V
P-10.3 ...........................signal from extra Indicator (0/24V)

P11 ...............................EXTRA DUMP VALVE


P11.1 ............................Relay contact
P11.2 ............................Relay contact

Note. Jumper fields are not used in the Extended Box,


strapping has no effect on the system.

1:20 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Column Box

Connections
Plinth Description
P1 ............................SPACE3000/4000
P1.1 .........................0V
P1.2 .........................24V
P1.3 .........................Signal from IB pressure sensor (4-20mA)
P1.4 .........................Signal from OB pressure sensor (4-20mA)
P1.5 .........................Signal from OB tilt indicator (4-20mA)
P1.6 .........................Signal from IB tilt indicator (4-20mA)
P1.7 .........................Signal from winch indicator (4-20mA)
P1.8 .........................Signal from second tilt indicator(ib)/indicators(ib&ob) (control platform)(0/
24V)
P1.9 .........................Signal from Extension out indicator/ second tilt indicator(ob) (0/24V)

P2 ............................To sensors 1
P2.1 .........................0V
P2.2 .........................24V
P2.3 .........................Connection to winch signal (4-20mA)
P2.4*........................0V
P2.5*........................24V
P2.6*........................Connection to extension out/OB fixed platform indicator (0/24V)
*See note.1

Issue 1.1 SPACE 4000 1:21


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Column box connections (cont)

Plinth Description
P3 .................................................To sensors 2
P3.1 ..............................................0V
P3.2 ..............................................24V
P3.3 ..............................................Connection to IB fixed platform tilt indicator (0/24V)
P3.4*.............................................0V
P3.5*.............................................24V,from P-3
P3.6*.............................................Connection to OB fixed platform tilt indicator (0/24V)
*See note 1.

P4 .................................................To sensors 3
P4.1 ..............................................24V
P4.2 ..............................................Connection to IB pressure sensor (4-20mA)
P4.3 ..............................................24V
P4.4 ..............................................Connection to OB pressure sensor (4-20mA)
P4.5 ..............................................24V
P4.6 ..............................................Connection to OB tilt indicator (4-20mA)
P4.7 ..............................................24V
P4.8 ..............................................Connection to IB tilt indicator (4-20mA)

Note 1
Connection is made in this way if an Extension Out sensor is fitted. If no sensor is fitted connect
as shown in illustration on previous page.

1:22 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

HiDrive controller

Controls

In addition to the normal six proportional control levers the HiDrive hand controller incorporates the following
devices:

1. Visual identity.
The thin blue line around the lever control plan label identifies the hand controller as
HiDrive and not RadioDrive.
2.Channel change button.
Used when it is necessary to change channels because of interference from outside sources. Press and
hold down the horn button (5), press the channel button and release. The new channel number will be
displayed in the LED window (8) until the horn button is released.
3.OLP release button.
Press and hold button whilst operating a function that will reduce the cranes loading. Warning Leds
will display in sweeping sequence on user interface during release operation. The Dump 2 cannot be
activated with this button, this function must be activated with the button on the User Interface.

Issue 1.1 SPACE 4000 1:23


ELECTRONIC CONTROL SYSTEMS

5. Horn button. The horn button has three functions:


(a) To activate the remote controller, release stop button and press and release the horn button once.
(b) Once the hand controller is activated the horn button can be used to sound the crane horn.
(c) Part of radio channel change and Manual Ext sequence. See items 2&10
6. Group switch
The group toggle switch allows the operator to select the group of functions to be controlled by the
proportional levers. The function groups can be individually set to an operators own requirements.
7. Speed selector switch
During normal crane operation this switch is set towards the leopard symbol. When the switch is
moved to the snail symbol the crane speed is reduced to 50%
8. Digital display window
This window currently displays the following information:
(a) When the hand controller is switched on the selected radio channel is displayed for
approx. 2 secs
(b) Two alternating red dots flash to indicate the controller is activated.
(c) When the horn button is pressed to activate the hand controller and a fault is detected on a lever
for example; lever not centred, the letter E is displayed for 2 secs followed by L x.
(x=lever number. Slew lever=1)
(d) When the horn button is pressed to activate the hand controller and a fault is detected on a button,
the letter E is displayed for 2 secs followed by x (x=button number. Horn button=1)
(e) The letter L in the window indicates that battery voltage is low in the hand controller battery.
Recharge or change the battery.
9. Relay control buttons
These three buttons can be set to operate various functions controlled by the SPACE 4000
relay box. They have an on/off function and can be set for both holding and non-holding modes of
operation. No function labels are fitted because the functions will be set by the dealers.
10. Manual extensions
To activate the Manual Extension logic press the Horn (5) and release (3) buttons together. The Leds
on the User Interface will work in the usual way for this function. Press the buttons in the same way to
de-activate the function.

1:24 SPACE 4000 Issue 1.1


HIGH INNER BOOM LOCK/COVER
WARNING KIT "OPTION"

Issue 1.1
WARNING LAMP
WARNING INTERFACE 1 1
PLACED IN CABIN 2 34 56 2 34 56 1 2 34 56 1 2 3 4 OLP
7
6 5 extra relay out puts 90%
5
4 4
3 RADIO RECIVER 3
2 2 REMOTE ON
1 1
7 SPACE 4000 UI 7 1
6 7 6 5 4 32 1 7 6 5 4 32 1 6 RELAY BOX 2
5 5
4 4
3 3 1
2 2 2
1 1
TO WARNING
24V LAMP IN CABIN
IGNITION/
TNDNING

TO COLUMN BOX
24V MAIN POWER

1 2 3 456 78 9 1 2 3 4 1 2 3 456 7
4 1
3 2
6B 5B 2
4B 3B 2B 1B 1 1
4 2
3 1
2 SPACE 4000 ST
1 2
6
6A 5A 5
4A 3A 2A 1A 4
3

SPACE 4000
2
1
Cable 1A connect to 1A on the positioner.
Cable 2A connect to 2A on the positioner.
ETC.
Connection drawing

DUMP COMPUTER
VALVE

SLEWINGSECTOR
HORN
6B 5B 4B 3B 2B 1B
2
1

V-80
ELECTRONIC CONTROL SYSTEMS

1:25
ELECTRONIC CONTROL SYSTEMS

Maintenance and adjustments


Terminal programs

In general you will recognise most of the terminal program from the original SPACE 3000 program. However,
new terminal programs have been developed for both Windows and DOS based terminal units, the aim of this
section is to highlight some of the more important changes. The new programs work on both SPACE 3000
and SPACE 4000.
For Windows you must use the program named S3000 Win.exe version 2.00 (or later), for DOS use
SPC4000.exe version 1.00 (or later). The currently available interface units all work with SPACE 4000 and no
new units are required.

Using the new program

The Main Menu screen in the new program has a new button in the bottom Lefthand corner named CAN.
Click on this button and the screen below is revealed.

The CAN menu. All boxes connected to the CAN bus are shown here. Clicking on the file button lets you load
parameter settings for the box selected in the CAN modules window only. The counter button will give you
access to information about how the box has been used. The most useful button however is Init.

1:26 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Clicking the Init button will reveal the screen shown above. Click on the Address button and you will move
to the screen shown below. SPACE 4000 can only be operated with 1 HiDrive hand controller unit, so if you
change the hand controller you must go to this window and enter the serial number of the new unit.

Clicking the Channels button on the Init menu reveals the menu above. With this menu you can change
the channels of the SPACE 4000 receiver box. This means that you can tell the DA outputs which remote
lever and group they should listen to for their comands. This is the same as using V-Type for RadioDrive or
strapping the DA modules in Combirive. There is of course a difference with SPACE 4000, you will see 12
outputs displayed.

Issue 1.1 SPACE 4000 1:27


ELECTRONIC CONTROL SYSTEMS

Remember, if you make changes in the SPACE 4000 receiver you must tell the SPACE standard bottom.
To do this, from the Main Menu select Init, from the Init menu select Remote and the screen above will be
displayed. Make the selectons you require and click OK. To access this screen you must have REM in the
system type.

If we now return to the CAN menu and in the CAN Module window select Relay box 1 and click Init, the
screen above is displayed. In this screen you can set the SPACE 4000 relay box. The function/Group windows
are self explanatory, however some new teminology appears in the type windows. New terminology has been
applied to replace latch, toggle, etc. In the future these functions will be named Holding and Non-Holding. This
maybe best described as:
Press and hold relay button to operate function = non-Holding
Press and release relay button function operates, press and release again function off = Holding
Where the letters EM appear against a type, this indicates that the function will listen to the emergency stop
and switch off if the emergency stop button is pressed in.

NonHldEM = Non-Holding relay, listening to emergency stop.


NonHld = Non-Holding relay not listening to emergency stop.
Lamppole = This relay assigned to lamp pole
Blackout = This relay assigned to Blackout function. (Military applications only)
HldEM = Holding relay listening to emergency stop.
HldEMMem = Holding relay, listening to emergency stop with memory function. Will
reactivate automatically when emergency stop is released.
Hld= Holding relay not listening to emergency stop.
Wrklight = This relay assigned to worklight.

1:28 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Changing system type

A new screen has been introduced to the terminal program to make changing the system type easier. To access
this screen if you have a Service level password, in the Main Menu click on Diagnostic in the display box and
press the page down (PgDn) key on terminal, Factory display will appear (greyed out). Now click on parameters
and the first screen shown below appears, click on the System type button to take you to the next screen. If you
have Diagnostic access simply press Page Down on your keyboard to change the display level.

Once you arrive at the screen shown above you can either click on the tick box to the left of the screen, or
enter the system type number directly into the New System Type window. To complete the operation you must
enter a protected parameter password into the password window, click on the Change System Type button
and a window appears confirming the changes have been made.

Issue 1.1 SPACE 4000 1:29


ELECTRONIC CONTROL SYSTEMS

Crane Config File

When starting a crane and clicking on the Init button you may see the screen below appear. As explained in
the pop-up window, this is an information screen only and has no affect on the performance of the crane. It is
designed to be completed by the dealer after the insatllation of the crane.

To access the Crane Config screen click OK in the pop-up window and the screen below appears.

Click Crane Config.

Now fill in the appropriate boxes and click OK

1:30 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Parameters and Variables

Understanding Parameters

In the following description the name variable is used for program variables that change according to the
state of the crane.

The name parameter is used for program variables that are constants for the SPACE 4000 program (there
are of course no real constants, because the user can change them with the service-terminal). The SPACE
4000 program is adapted to different crane types and working conditions with the parameters.

All the variables and parameters in this description can be monitored and eventually changed (see below) with
the VARS and PARS selections of the SPACE 4000 terminal. When a variable is chosen on the terminal its
value is shown on the screen, and the value changes as the value of the variable changes. When a parameter
is chosen, the terminal shows its present value and prompts the user for a new value.

All the parameters belongs to one of three access-levels (level S, Service, level D, Diagnostic or level F,
Factory), and so do the users password (required when the service-terminal is started). To be able to change
a parameter, the users access-level has to be at least the same as the parameters access-level. During
the initiating of the system, some parameters are automatically changed by the terminal, even if the users
access-level not would allow the user to manually change the parameter.

All parameters and variables also belong to one of three display-levels (S, D or F). You must have the same
or higher display-level selected in the terminal programs main menu, otherwise the parameter/variable is not
shown under the parameter/variable menus.

This description classes the variables and parameters in the same way as the SPACE 4000 terminal, and the
classes are:

1. OLP
2. ASC / MSC
3. Analog inputs
4. Remote Control
5. Levers
6. Pressures
7. Digital inputs
8. Stability
9. Digital outputs
10. Service
11. PLC
12. Various
13. Counters and Timers (special menu)
14. Errors (special menu)
15. PLC operands (for PLC programs)

Note. All the parameters and variables will be shown on the terminal, even if the system-type of the actual
control does not include all the options. For example if you have a crane without winch, the variables and
parameters for the winch will still be shown on the terminal (but they have no meaning for the system).

Issue 1.1 SPACE 4000 1:31


ELECTRONIC CONTROL SYSTEMS

Channels

Understanding Channels

Parameters with the extension _chan allocated to them require a channel number to be entered to activate a
feature. The list below shows the channel normal channel number allocation. It is important to note that there
are two different types of inputs to SPACE: Digital = 0v or 24v and Analog = variable voltage input. When
connecting an accessory to SPACE 4000 the list below shows what type of signal can be connected to a
plinth. See the example below.

A Military customer has requested you to supply crane with SPACE 4000 and they want the blackout feature
with a keyswitch to operate it. Blackout is activated by a 0v=off, 24v=on signal so you know you are dealing
with a digital input. By looking at the parameter information you can see that the limits given for this feature
are channel numbers 1-36. However reference to the channel list shows that only 8 of the 36 channel
inputs will support a digital input. For the purpose of this example you will not have an Extended box, so this
reduces your choice to 4 possible channels (23-26 inclusive). The crane is not fitted with a platform or manual
extensions so this leaves plinth P4 in the standard bottom available. Connect the keyswitch 24v signal to
plinth P4:3 and and enter channel number 24 into the parameter blackout_chan. SPACE 4000 now knows
that when a signal is received at plinth 4:3 it must execute the blackout function.

Remember it is only possible to assign 1 function to a plinth terminal, and the channel number for the terminal
is fixed as shown in the following list.

Channels list
Channel Terminal Normally used for
-1 Input not in use
0 P1:3 Analog input: Spool sensor 1
1 P1:4 Analog input: Spool sensor 2
2 P1:5 Analog input: Spool sensor 3
3 P1:6 Analog input: Spool sensor 4
4 P2:3 Analog input: Spool sensor 5
5 P2:4 Analog input: Spool sensor 6
6 EXT-P5:3 Extended box analog input: Spool sensor 7
7 EXT-P5:4 Extended box analog input: Spool sensor 8
8 P5:8 Analog input: Second Inner Boom Tilt Indicator (for platform logic)
9 P5:7 Analog input: Winch Indicators
10 P5:6 Analog input: Inner Boom Tilt Indicator
11 P5:5 Analog input: Outer Boom Tilt indicator
12 P5:4 Analog input: Outer Boom Pressure Sensor
13 P5:3 Analog input: Inner Boom Pressure Sensor
14 P6:3 Digital input: Slewing sector 0 Positive Indicator
15 P6:4 Digital input: Slewing sector 0 Negative Indicator
16 P2:5 Analog input: Spool sensor 9

1:32 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Channels list (cont.)

17 EXT-P4:3 Extended box analog input: On Platform indicator


18 EXT-P10:3 Extended box analog input: Extra sensor
19 plc_anin[0] = PLC OW4
20 plc_anin[1] = PLC OW5
21 plc_anin[2] = PLC OW6
22 plc_anin[3] = PLC OW7
23 P5:9 Digital input: Extensions out indicator
24 P4:3 Digital input: Manual Extension / On Platform indicator
25 P6:5 Digital input: Slewing sector 1 Positive Indicator
26 P6:6 Digital input: Slewing sector 1 Negative Indicator
27 EXT-P5:5 Extended box digital input: Extra indicator
28 EXT-P5:6 Extended box digital input: Extra indicator
29 plc_digin.0 = PLC O8
30 plc_digin.1 = PLC O9
31 plc_digin.2 = PLC O10
32 plc_digin.3 = PLC O11
33 plc_digin.4 = PLC O12
34 plc_digin.5 = PLC O13
35 plc_digin.6 = PLC O14
36 plc_digin.7 = PLC O15

Issue 1.1 SPACE 4000 1:33


ELECTRONIC CONTROL SYSTEMS

Parameters list

1. OLP function

end_pos_spd parameter access:F display:F limits:0..255 default:50


The speed at which (% lever deflection) the inner or outer booms can be driven down if they
were driven up when the OLP was activated (a big load lifted or cylinder end position).

end_pos_time parameter access:D display:D limits:20..100 default:20


How long (number of sample intervals) the inner or outer booms can be driven down if they
were driven up when the OLP was activated (a large load lifted or cylinder end position).

mlink_mode parameter access:D display:D limits:0..1 default:0


If the crane has a mechanical link (mlink_mode = 1) or not (mlink_mode = 0). Note that the
ib_tilt_chan parameter also has to be set for the mechanical link logic to work. If ib_tilt_chan is
set, but mlink_mode = 0, the ib_tilt signal is used for high inner boom warning only.

olp_lim parameter access:S display:S limits:50..150 default:100


The default OLP limit pressure (in % of the working pressure ??_p_lim) for the two different
OLP-systems (Inner Boom and Outer Boom). The final OLP limit pressure will vary depending
on MSC, MultiMode, errors, cabin area and so on.
Note! This parameter will always default to 100 % when the power is switched on.

olp_rel_lim parameter access:F display:F limits:100..120 default:108


Sets the limit (relative to the current inner and outer boom OLP limits) over which the OLP
Release function is disabled the second time the OLP Release is used during the same OLP
situation.

olp_rel_time parameter access:F display:F limits:0..255 default:200


The number of sample intervals (50 ms) the OLP-release mode is active when the release
switch is activated and a forbidden function is driven. Note! The OLP Release time is halved
(run with double speed) when the MSC is not active.

olp_rel_wait parameter access:F display:F limits:0..65565 default:30


The number of seconds the OLP-release mode is inhibited after the previous OLP-release.

w_top_n parameter access:D display:D limits:0..255 default:22


w_top_p parameter access:D display:D limits:0..255 default:12
These parameters contains a bit pattern that describes which functions should be stopped in
the negative (w_top_n) and positive (w_top_p) directions when the winchs top-switch indicator
is activated.

1:34 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

2. MSC-function
Manual Speed Control or ASC function: Automatic Speed Control

asc_old_fact parameter access:F display:F limits:1..12800 default:32


An ageing factor for the ?b_p_asc pressure signals. When ?b_p_filt increases, ?b_p_asc
follows without delay, but when ?b_p_filt decreases, ?b_p_asc decreases with asc_old_fact *
1/128 % per sample interval. (The default value 32 gives an ageing factor of 5% per second).

asc_rel_mode parameter access:S display:S limits:0..1 default:0


A non-zero value in this parameter means that the MSC/ASC should be automatically
deactivated when the pressure drops below the MSC/ASC-pressures. If the parameter is zero,
the MSC/ASC is not deactivated before the user releases all the levers.

ib_asc_lim[2]] parameter access:F display:F limits:0..128 default:80,100


ob_asc_lim[2] parameter access:F display:F limits:0..128 default:80,100
MSC: ?b_asc_lim[0] is the pressures (% of ib_olp_lim and ob_olp_lim) at which the MSC-
system should be activated.
ASC: the pressures (% of ib_olp_lim and ob_olp_lim) at which the ASC-reduction starts
(speeds start to reduce) and has reached its maximum value (speed reached the minimum
value). asc_lim[0] < asc_lim[1].

ib_asc_olp_add parameter access:F display:F limits:0..20 default:10


ob_asc_olp_add parameter access:F display:F limits:0..20 default:10
How many %-units the OLP pressure limit (ib_olp_lim and ob_olp_lim) shall increase when
MSC or ASC is selected (system type MSC or ASC).

ib_asc_spd_p[FUNCS] parameter access:F display:F limits:0..100


ob_asc_spd_p[FUNCS] parameter access:F display:F limits:0..100
defaults: 100, 42, 42, 100, 100,100,100,100
Max speed in positive directions [%] when the inner boom or outer boom MSC or ASC is active.
If both ?SC-systems are active at the same time, the lower of the max speeds are used.

ib_asc_spd_n[FUNCS] parameter access:F display:F limits:0..100


ob_asc_spd_n[FUNCS] parameter access:F display:F limits:0..100
defaults:: 100, 52, 52, 100, 100,100,100,100
Max speed in negative directions [%] when the inner boom or outer boom MSC or ASC is
active. If both ?SC-systems are active at the same time, the lower of the max speeds are used.

mm_ib_olp_add[2] parameter access:F display:F limits-20..20 default:0,0


mm_ob_olp_add[2] parameter access:F display:F limits-20..20 default:0,0
How many %-units the OLP pressure limit (ib_olp_lim and ob_olp_lim) shall in/decrease in the
different MultiModes. The first value is for Hook Mode and the second for Winch Mode (in Tool
Mode the OLP limits are not changed)

mm_off_lift[2] parameter access:F display:F limits: 0..4 default:0,1


How many lifts must be performed before the multimode returns to Hook Mode from Tool Mode
and Winch Mode.

mm_off_time[2] parameter access:F display: F limits: 60..240 default:60,60


How many seconds must elapse before the multimode returns to Hook Mode from Tool Mode
and Winch Mode.

Issue 1.1 SPACE 4000 1:35


ELECTRONIC CONTROL SYSTEMS

msc_act_mode parameter access:S display:S limits:0..2 default:0


This parameter describes how the MSC is activated:
0: Auto The MSC is automatically activated always when the (inner or outer boom)
pressure reaches the MSC-limit. Levers that are deflected more than the MSC-
limit, are hydraulically forced back to the MSC-limit.
1: Non-limitingThe MSC is automatically activated only if no lever needs to be forced back (no
function is being driven too fast). Otherwise the MSC is not activated until all
levers are centred.
2: Zero-pos. The MSC is activated only when all levers are centred. This means that when
the crane load increases, you will first get an OLP at the crane nominal capacity
(100%). When you centre the levers, the MSC will be activated (also limiting the
valve spool strokes) and the crane capacity will increase with ??_msc_olp_add
%.

unload_der parameter access:F display:F limits:-100..0 default:-10


If the inner boom pressure calculation (ib_p_der)
ib_p_der) is more negative than this parameter while a
ib_p_der
ASC is active, the ASC will not be released until all remote levers have been centred.

3. Analog inputs

Note! The anin_max[]-, anin_min[]- and anin[]


anin[]-arrays are not function-related, but the indexes
refer to the channel number of the analog inputs (0..18, see the table in the beginning of this
description)

anin_max[19] parameter access:F display:F limits:0..255


defaults: 240,240,240,240,240,240,240,240,
255,240,240,240,240,240,255,255,
255,255,255
Max permitted value on the analog input. A input that exceeds this value, is considered faulty
(shorted to +24V or +5V).

anin_min[19] parameter access:F display:F limits:0..255


defaults: 16, 16, 16, 16, 16, 16, 16, 16,
0, 16, 16, 16, 16, 16, 0, 0,
0, 0, 0
Min permitted value on the analog input. A input that is below this value, is considered faulty
(open or grounded).

1:36 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

4. Remote control
func_k[FUNCS] parameter access:D display:D limits:0..100 defaults:100
An amplification coefficient 0..100 %, with which the solenoid current outputs for each crane
function multiplies its control data.

give_oil[REMS] parameter access:D display:D limits:0..255 defaults:0


This parameter is used to activate the dump valve for remote channels that are not assigned to
any crane function. The 4 high bits (16 = group 1, 32 = group 2, 64 = group 3 and 128 = group
4) indicates that the channel needs oil in the corresponding remote control group(s).

ramp_time parameter access:F display:F limits:0..48 default:10


How many sample intervals (50 ms) the supervision of the lever- (spool-) sensors should be
inhibited when the max permitted speed is changed during remote control.

rem_chan[FUNCS] parameter access:F display:F limits:0..255


defaults: 16, 17, 18, 19, 20, 20, 21, 255
Remote control channel 0..7 for each function. The four highest bits of the value (decimal
16, 32, 64 and 128) indicates to which remote control group (s) the function belongs. 255 if a
function is not remote controlled.

rem_a_ramp[FUNCS] parameter access:F display:F limits:1..100


defaults: 4, 4, 4, 4, 4, 20, 20, 20
The ramp (%-units / sample interval) when the max allowed remote control speed is increasing
(as when deactivating ASC, if asc_release_mode is on). The slowest ramp you can get is 20
%/sec (1 %/sample). A parameter value of 100 means no ramp (100 %/sample).

rem_r_ramp[FUNCS] parameter access:F display:F limits:1..100


defaults: 4, 20, 20, 20, 100, 20, 20, 20
The ramp (%-units / sample interval) when the max allowed remote control speed is decreasing
(as when activating ASC/OLP). The slowest ramp you can get is 20 %/sec (1 %/sample). A
parameter value of 100 means no ramp (100 %/sample).

micro_factor[3] parameter access:D display:D limits:0..100 default: 53, 33, 20


The micro-speeds of the remote control system. This parameter does not actually change the
speed, it just tells the SPACE-system the speed that are used by the remote control system, so
that the lever supervision can work correctly.

Issue 1.1 SPACE 4000 1:37


ELECTRONIC CONTROL SYSTEMS

5. Lever position sensors

func_dir[FUNCS] parameter access:D display:D limits:0..1 defaults:0


0 if the function has normal lever directions (positive direction = lever up). 1 for functions with
reversed lever directions (positive direction = lever down).

lev_ad_chan[FUNCS] parameter access:F display:F limits:-1..22 defaults:0,1,2,3,4,4,5,-1


anin-channel (0..22) for each functions lever position sensor. -1 if the function does not have a
sensor.

lev_db parameter access:S display:S limits:0..50 default:33


The dead band [%] of the valve, that is, how much the lever has to be moved, before it is
opened.

lev_n_range[FUNCS] parameter access:F display:F limits:-120..120 default:75


How much the analog input value differs from lev_offs[] when the valve is fully open in the
negative direction.

lev_p_range[FUNCS] parameter access:F display:F limits:-120..120 default:-75


How much the analog input value differs from lev_offs[] when the valve is fully open in the
positive direction.

lev_offs[FUNCS] parameter access:F display:F limits:76..178 default:128


The analog input value when the lever is centred.

lev_rem_add parameter access:F display:F limits:0..48 default:35


MSC: how much [%-units] the signal from the lever-sensors (variable lever
lever) may exceed the
MSC max speeds (??_asc_spd_? parameters) when the MSC is active (valve stroke limited
with the hydraulic MSC system).
ASC: how much [%-units] the signal from the lever-sensors (variable lever
lever) may exceed the
remote control signal (variable rem_out) when the remote control is in use. If lever > rem_out +
lev_rem_add for a longer time than lev_rem_time samples, the oil is dumped.

lev_rem_time parameter access:F display:F limits:0..40 default:25


MSC: When the msc_act_mode is in Auto-mode (0), the spool-position supervision (see
lev_rem_add) is by-passed for this time (sample intervals, 50ms), when the MSC is activated
(gives time for the hydraulic MSC-system to force back the valves to allowed speeds).
ASC: When comparing lever-sensor signals to the remote control signals (see lev_rem_add
above), the dumping of the oil is delayed lev_rem_time sample intervals (to compensate for
delays in remote control transmission, valve movement, analog input sampling/filtering etc.).

lev_zero_range parameter access:F display:F limits:0..50 default:25


How much (in % of full stroke) the lever-transducer-inputs may vary from the centred position
for the control to accept the lever as centred (used to supervise that the levers are not moved
manually when the remote control is connected).

1:38 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

oil_need_n[FUNCS] parameter access:D display:D limits:0..100 default:100


oil_need_p[FUNCS] parameter access:D display:D limits:0..100 default:100
The amount of pump-flow [l/min] each crane function needs for full speed (lever
lever = 100%) in the
negative resp. positive directions.

win_sel_gr parameter access: F display: F no limits default: 241


With this parameter you tell the system in which remote control group/manual mode the Winch
function should exist. The bits 0x10, 0x20, 0x40 and 0x80 corresponds to the remote control
groups 1, 2, 3 and 4, and the bit 0x01 is for the manual mode. The parameter should be used
when the crane is equipped with a selector valve for the winch.
For example, if you have a selector valve on the winch and the valve is connected so that
the oil goes to the winch when the valve is off, and to the tool 2 functions when the valve is
activated. The valve is connected so that it is activated when the remote control group 2 is
selected and inactivated otherwise, the rem_chan-parameters are set so that the winch is
controlled with lever 5 in group 1, and the tool 2 with the same lever in group 2. The solenoid
outputs for these functions are set to work on lever 5 in group 1 and 2, the spool sensor for
_sel_gr to 209 -> the winch
the tool 2 function is set to the same as for the winch: -> set win_sel_gr
function is unconnected when group 2 is selected -> the spool sensor will be used for the Tool
2 instead.

6. Pressure sensors
The system has connections for two pressure sensors, inner boom and outer boom. Both sensors have
a collection of parameters and variables which are named ib_p_?? and ob_p_??.

The pressure signals are calculated and filtrated in the following way:

- first the analog input values are converted to absolute pressures:


??_p_mom = (anin[??_p_chan] - 44) * ??_p_p_range / 180
- the relative pressure is calculated: ??_p_r = 100 * ??_p_mom / (??_p_lim * (100 + ??_p_lim_corr)
/ 100)
- the relative pressure signal (??_p_r) is filtered (average of the 20 latest values) and stored in ??_p_
filt
- the peak pressure (??_p_asc) is a peak value decaying according to the asc_old_fact parameter

der_zero_lev parameter access:F display:F limits:1..111 default:50


The minimum speed the functions must be moving (%, read from lever[]) before the pressure
sensor supervision is activated (the pressure must not be constant for a longer time than der_
zero_time). The supervision can be disconnected by setting this parameter to 111 (because
the max value for lever[] is 110).

der_zero_time parameter access:F display:F limits:10..3600 default:1800


The time (seconds) in which the pressure values may be constant when the corresponding
function is moving over a min speed (der_zero_lev). If the pressure value is constant longer,
the sensor is considered faulty.

Issue 1.1 SPACE 4000 1:39


ELECTRONIC CONTROL SYSTEMS

frict_comp parameter access:D display:D limits:-12..12 default:0


A compensation for friction in the cylinders. This value is subtracted from the filtrated
relative pressure values (??_p_filt) when the cylinder is moving in positive direction (positive
compensation) or negative direction (negative compensation).

ib_p_chan parameter access:F display:F limits:-1..22 default:13


ob_p_chan parameter access:F display:F limits:-1..22 default:12
The analog input channel (0..22) the pressure sensor is connected to. -1 if the function do not
have a sensor.

ib_p_lim parameter access:F display:F limits:0..400 default:250


ob_p_lim parameter access:F display:F limits:0..400 default:250
The working (100%-) pressure [bar] for the functions.

ib_p_lim_corr parameter access:S display:S limits:-20..+3 default:0


ob_p_lim_corr parameter access:S display:S limits:-20..+3 default:0
A person with access-level 1 can with this parameter adjust the ib_p_lim- and ob_p_lim-values.

ib_p_p_range parameter access:F display:F limits:0..1024 default:400


ob_p_p_range parameter access:F display:F limits:0..1024 default:400
The pressure range of the pressure sensor [bar], that is, the pressure that gives a 20 mA signal
current

stop_tool_1_load parameter access:S display:S limits:0..255 default:200


When the inner boom pressure (ib_p_filt) is higher than this level, the positive direction of
TOOL_1 is stopped. Intended to used on cranes with the support legs on the TOOL_1-function.

stop_tool_2_load parameter access:S display:S limits:0..255 default:200


When the inner boom pressure (ib_p_filt) is higher than this level, the positive direction of
TOOL_2 is stopped. Intended to used on cranes with the support legs on the TOOL_2-function.

7. Digital inputs
blackout_chan parameter access:D display:D limits:-1..36 default:-1
The channel number to which a dark mode request switch is connected. When this parameter
is set to 1, the dark mode cant be activated and the lamps in the system works in the normal
way. When the parameter is set to a channel number, the lamps and the OLP and Prewarning
horn will be shut off as default; only when the input is read as 0, the lamps can work (this means
for example that when switching on the system, the covers remains dark until the input has been
read (and is 0) and the state has been transmitted to the covers.

ext_in_chan parameter access:D display:D limits:-1..36 default:-1


The channel number (usually 19) for the crane extension in-indicator (used to give a higher
manual extension load when the crane extensions are out).

ib_tilt_chan parameter access:S display:S limits:-1..36 default:-1


The channel number for the inner boom tilt indicator

lo_load_inp_chan parameter access:D display:D limits:-1..36 default:-1


A digital input with which the crane capacity can be reduced

1:40 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

lo_load_inp_load parameter access:D display:D limits:0..100 default:50


The inner boom capacity is limited to this value [%] when the lo_load_inp_chan is set ( 1)
and the lo_load_inp -variable is off ( 1).

man_ext_load[2] parameter access:D display:D limits:0..100 default:50,75


The inner boom capacity is limited to this value [%] when the manual extension mode is
selected in the PSB. The first value (should be lower) is used when the crane extensions are in
(ext_in_inp = 1) or no ext_in-indicator is connected (ext_in_chan = -1) and the second value
(higher) when the crane extensions are out (ext_in_inp = 0).

ob_tilt_chan parameter access:F display:F limits:-1..36 default:11


The channel number for the outer boom tilt indicator

plc_tilt_chan[4] parameter access:D display:D limits:-1..36 default:-1,-1,-1,-1


The channel numbers for the four extra tilt indicator for use by the PLC program

stand_ib_low_chan parameter access:D display:D limits:-1..36 default:-1


The channel number for the inner boom tilt indicator for the stand platform

stand_ob_low_chan parameter access:D display:D limits:-1..36 default:-1


The channel number for the outer boom tilt indicator for the stand platform

stand_on_chan parameter access:D display:D limits:-1..36 default:-1


The channel number for the person on platform-indicator

win_box_type parameter access:S display:S limits:0..1 default:0


Tells the system which type of winch box is used. 0 means the old Hiab box with connections
for 4 on/off indicators (wload, wend, wtop and wdis). 1 means the new winch box with analog
load sensor and on/off wend indicator.

win_chan parameter access:F display:F limits:-1..22 default:-1


The channel to which the winch-box is connected

8. Stability
stab_n_chan[3] parameter access:D display:D limits:-1..36 default:-1,-1,-1
The channel number for the three slewing sector negative-side indicators

stab_p_chan[3] parameter access:D display:D limits:-1..36 default:-1,-1,-1


The channel number for the three slewing sector positive-side indicators

stab_olp[3] parameter access:S display:S limits:0..100 default:60,100,100


The level (in %) to which the inner boom OLP-pressure limit shall reduce when the slewing is
inside an OLP_SECT restriction sector.

stab_sect_type[3] parameter access:D display:D limits:0..2 default:0,0,0


This parameter sets the type of the three different slewing sectors
0 OLP_SECT normal capacity reducing stability sector
1 STOP_SECT end damping sector
2 STND_SECT sector for stand platform

Issue 1.1 SPACE 4000 1:41


ELECTRONIC CONTROL SYSTEMS

stop_legs_load parameter access:D display:D limits:0..100 default:40


The inner boom pressure level (%, ib_p_filt) at which the remote control channels for support-
legs up are disabled.

stop_legs_p[REMS] parameter access:D display:D limits:0..255 defaults: all 0


stop_legs_n[REMS] parameter access:D display:D limits:0..255 defaults: all 0
When the inner boom load (ib_p_filt) is higher than stop_legs_load the positive (stop_legs_p)
and/or negative (stop_legs_n) remote control directions will be stopped for the channels which
have a 1 in the bit corresponding to the current remote control group(s).

9. Digital outputs
olp_horn_on parameter access:S display:S limits:0..10 default:3
How many times (1 second apart) the horn should beep when the crane (inner or outer boom)
load reaches the OLP level.

olp_horn_time parameter access:S display:S limits:0..255 default:90


How long (in 600 Hz timer ticks) the OLP horn beeps should be.

prew_horn_on parameter access:S display:S limits:0..10 default:1


How many times (1 second apart) the horn should beep when the crane (inner or outer boom)
load reaches the prewarning level.

prew_horn_time parameter access:S display:S limits:0..255 default:30


How long (in 600 Hz timer ticks) the prewarning horn beeps should be.

remb_horn_on parameter access:S display:S limits:0..10 default:2


How many times (1 second apart) the horn should beep when the remote control unit indicates
that its battery level is low.

remb_horn_time parameter access:S display:S limits:0..255 default:60


How long (in 600 Hz timer ticks) the RCU battery warning horn beeps should be.

slr_horn_onparameter access:S display:S limits:0..10 default:1


How many times (1 second apart) the horn should beep when the crane slews into a capacity
restricting sector

slr_horn_time parameter access:S display:S limits:0..255 default:30


How long (in 600 Hz timer ticks) the slewing restriction horn beeps should be.

10. Service
prod_date (parameter) terminal access display:F no limits no default
A text-string containing the date the OLP-program was started for the first time (the timer/
counter structure initialised).

srvc_date (parameter) terminal access display:F no limits no default


A text-string containing the date the service counters were previously reset.

1:42 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

tot_10_date (parameter) terminal access display:F no limits no default


A text-string containing the date when the tot_time counter passed 10 hours (600 minutes)

srvc_lon_date (parameter) terminal access display:F no limits no default


A text-string containing the date when the service indicator was turned on (one of the service
intervals full). The string is emptied when the service counters are reset (service performed).

srvc_days parameter access:F display:F limits: 0..3653 default: 365


The number of calendar days in a service interval (0 to disable the function)

srvc_lifts parameter access:D display:D limits: 0..30000 default: 10000


The number of lifts (lift_ctr)
lift_ctr) in a service interval (0 to disable the function)
lift_ctr

srvc_tot_hours parameter access:D display:D limits: 0..20000 default: 2000


The number of total hours (tot_time) in a service interval (0 to disable the function)

srvc_use_hours parameter access:D display:D limits: 0..10000 default: 1000


The number of crane in use hours (use_time) in a service interval (0 to disable the function)

11. PLC
plc_name parameter access:D display:D limits:n/a No default
A string (max 19 characters) containing a description of the PLC-program

plc_par_1 parameter access:D display:D limits:0..65535 default 0


plc_par_2 parameter access:D display:D limits:0..65535 default 0
plc_par_3 parameter access:D display:D limits:0..65535 default 0
plc_par_4 parameter access:D display:D limits:0..65535 default 0
A set of parameters that can be used as input words to the PLC-program (instead of constant
words). Can be used to define time-delays, pressure limits and so on, when it is desirable that
the value is changable without changing the PLC-program.

Issue 1.1 SPACE 4000 1:43


ELECTRONIC CONTROL SYSTEMS

12. Various
ads_mode parameter access:D display:D limits:0..1 default:0
The ADS-system is activated with this parameter. A zero means that the crane does not have
ADS and 1 that the crane has ADS. Note that the Extended bottom, the two ADS pressure
sensors and a ADS-valve also must be present.

apo_time parameter access:S display:S limits:0..255 default:30


The Automatic Power Off-time in minutes (set to zero to disable Automatic Power Off). The
system will automatically switch of the power if the crane has not been used (all levers centred)
for this time.

autodumpofftime parameter access:S display:S limits:180..600 default:600


The maximum time [seconds] the Automatic Dumping of Oil can be switched off (by pressing
the Release switch). After this time the ADO will be switched back on (and the dump and dump
2 valves back off).

crane_config parameter terminal access display:F limits:n/a default:n/a


A string (max 29 characters) containing crane configuration information (set with the terminals
INIT-CONF menu).

crane_info parameter access:D display:D limits:n/a default: (empty)


A string (max 19 characters) containing additional information about the crane and/or
parameter settings. Shown after the crane_type in the header area of the terminal program.

crane_ser_no parameter access:S display:S limits:n/a default:Default


A string (max 19 characters) containing the serial number of the crane (asked by the terminal at
initialisation).

crane_type parameter access:F display:F limits:n/a default:Default


A string (max 19 characters) containing a description of the parameters. Automatically set to
the crane-type by the terminal at initialisation.

dump_time parameter access:S display:S limits:2..255 default:3


The number of seconds the dump-valve should remain active after all levers has been centred.
This automatic dumping function can be disabled by setting dump_time = 255.

dump2_group parameter access:S display:S limits:0..255 default:1


With this parameter you tell the system in which remote control group/manual mode the dump
2 valve should be activated. The bits 0x10, 0x20, 0x40 and 0x80 corresponds to the remote
control groups 1, 2, 3 and 4, and the bit 0x01 is for the manual mode.

dump2_mode parameter access:F display:F limits:0..1 default:1


A parameter that describes how the SPACE Dump-output (Dump 1 valve) should follow the
Dump 2 valve signal in remote mode:
- 0 Dont activate dump 1 when dump 2 active. The automatic dumping must be
turned off manually.
- 1 The dump 1 output follows the dump 2 signal.

1:44 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

err_load parameter access:F display:F limits:10..90 default:80


The basic OLP-limit (%) when an load-reducing error is active. All lever-errors are load-
reducing.

err_speed parameter access:F display:F limits:10..120 default:50


The max speed for all functions when a speed-reducing error is active. All pressure and crane-
position-errors are speed-reducing.

ibp_stabtest (parameter) terminal access display:F limits:n/a default:n/a


This parameter collects the max pressure [bar] during stability tests. The parameter is set to 0
on a new box, and after that it saves the max inner boom pressure (ib_p_mom) while the olp_
lim parameter is set higher than 100%.

password (parameter) access:S display:S limits:n/a default:n/a


To be able to change any of the password protected parameters (system_type, serial_no), this
password semi-parameter must first be set to the correct value. This value is dependent of the
serial number of the box (serial_no parameter). The password is automatically reset to zero
every time the power is switched off.

serial_no password protected parameter terminal access display:F limits:n/a default:n/a


The serial number of the SPACE-3000 box. Should be automatically set at production.

system_type password protected parameter access:S display:S limits:n/a default:n/a


This is a 8-bit word describing which options the system has included. A 1 in a bit means
that the corresponding option exists in this system. This parameter can be changed with the
terminal to activate or deactivate different options.
The bits in system type are:

bit 0 (dec 1) Remote controlled SPACE 4000 (Manual SPACE 3000


otherways)
bit 1 (dec 2) ADC
bit 2 (dec 4) ASC for SPACE 4000 or MSC for SPACE 3000
bit 3 (dec 8) OS-crane

Note!
The OS-mode bit in the system_type parameter is intended for HiDrive 4000 remote
controlled OverSeas cranes. On HiDrive 4000 controlled cranes, SPACE 4000 must be used
(and the OS-mode bit set in the system type). The consequences of setting OS-mode are:
ADC (if it is included in the system type) is active only in remote mode
ASC/MSC (if it is included in the system type) is active only in remote mode
Automatic dumping of oil (ADO) does not work in manual mode (the Dump valve is
always active once it been activated with the OLP Release switch)
In manual mode the Dump valve is normally always active (after power on or
emergency stop, is must be activated by pressing the OLP Release switch). In the
case of an OLP-situation the Dump valve is deactivated (and thus the crane stopped).
The Dump valve can then be reactivated by pressing and holding the OLP Release
switch while driving the crane out of the OLP situation.
only one pressure sensor (inner boom) is supported (the ob_p_chan parameter is
ignored)
spool sensors are not supported (the lev_chan parameter is ignored)

Issue 1.1 SPACE 4000 1:45


ELECTRONIC CONTROL SYSTEMS

13. Counters and Timers


The system has both time (minute-) counters and event counters (both cumulative [C] and monthly
diary [D]):
ado_off_ctr F C+D counts how many times the automatic dumping has been switched
off with the Release switch.
asc_act_time F C+D counts how many minutes the crane has been used with MSC/
ASC active.
asc_ctr F C+D counts how many times the MSC/ASC has been activated.
auto_dump_ctr F C+D counts how many times the automatic dumping has caused the oil
to be dumped.
auto_dump_time F C+D counts how many minutes the automatic dumping has caused the
oil to be dumped.
dump_time S C+D counts how many minutes the dump valve output has been on.
dump2_ctr F C+D counts the times the DUMP2-output has been activated
dump2_time F C+D counts how many minutes the DUMP2-output has been on.
error_ctr[ERRS] S C+D counts the times individual errors are activated. Each time a new
error is given, the corresponding counter is incremented by one.
Most of the errors are not counted if they appear during the first
second after power on, only the E9, E35, E52 and E53 errors are
counted.
func_time[FUNCS] F C+D a counter for each crane function that counts how many minutes
the function has been used (lever not centred and oil not dumped).
ib_OLP_ctr D C+D counts how many times an inner boom OLP-situation has occurred
in the system.
ib_prewarn_ctr D C+D counts how many times the inner boom prewarning pressure level
has been reached
ib_p50_ctr D C+D counts how many times the inner boom pressure level has been
above 50% of the OLP level
ib_p70_ctr D C+D counts how many times the inner boom pressure level has been
above 70% of the OLP level
lift_ctr D C+D counts how many lifts have been done with the crane
lift_days F C+D counts how many days the crane has been used so that the
lift_ctr is incremented
lift_mmh_ctr F C+D counts how many lifts have been done with the crane in Hook
Mode
lift_mmw_ctr F C+D counts how many lifts have been done with the crane in Winch
Mode
lifts_today D C counts how many lifts have been done with the crane today
man_ext_ctr D C+D counts how many time the Manual Extension or lo_load logic is
activated
man_ext_time D C+D counts how many minutes the crane has been used with Manual
Extensions selected in the PSB or with the lo_load_inp active.
mm_off_ctr F C+D counts how many times the Multi Mode has been returned to basic
Tool Mode
mmh_act_time F C+D counts how many minutes the crane has been used in Hook Mode.
mmw_act_time F C+D counts how many minutes the crane has been used in Winch
Mode.

1:46 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

ob_OLP_ctr D C+D counts how many times an outer boom OLP-situation has occurred
in the system.
oil_need_XXX_ctr F C (XXX = 060, 080, 100, 120 and 140) counts how many times the
oil_need has been above each level [lpm]
oil_need_time[16] F C counts how many minutes the oil_need has been in 16 different
ranges. The first range is 1..9 lpm, the second 10..19 lpm, and
the last range is for oil needs over 150 lpm.
OLP_rel_ctr D C+D counts how many times the OLP-release-function has been used.
pwr_on_ctr F C+D counts how many times the power has been switched on to the
system
srvc_lifts_left S C counts how many lifts have been don with the crane since the
previous service
srvc_tot_time_left S C counts how many tot_time-minutes is left to the next service.
srvc_use_time_left S C counts how many use_time-minutes is left to the next service.
stab_OLP_ctr D C+D counts how many times an inner boom OLP-situation has occurred
because of some slewing sector limitation.
stab_time F C+D counts how many minutes the crane has been used in the stability
sector.
stand_on_time F C+D counts how many minutes the crane has been used with a person
on the stand platform (stand_on 1)
stand_sect_ctr F C+D counts how many times the crane (slewing and eventually inner
and outer booms) has been stopped because of the stand platform
logic.
tot_time S C+D counts how many minutes the power has been on to the OLP-box.
use_time S C+D counts how many minutes the crane has been used (lever not
centered and oil not dumped).
wi_OLP_ctr D C+D counts how many times the winch overload indicator (wload) has
been activated.

In addition to the counters and timers above, the system also has three sets of collective counters,
a load cycle counter using the rain flow method, a max pressure per lift counter and a power on time
counter. These counters are stored in one common 113 positions long array of 4-byte words so that
the rain flow counters are stored in the first 50 positions (0..49), the max pressure per lift counters in
positions 50..99 and the power on time counters in positions 100..112. The rain flow counters use the
ib_p variable as input and the max pressure per lift counters the filtrated ib_p_avg variable (which first
has to convert back to absolute pressure). Both set of counters use the same way of classifying the
pressures to load levels:
if (p < 0) level = 0;
else if (p >= 420) level = 43;
else level = 1 + p / 10;
The Power On Time counters classifies the power on time (from power-on till the last time the crane is
used, excluding the time to automatic power off) in 10-minute classes, so that the first counter (number
100) counts the times the power was on under 10 minutes, the second class (101) the times the power
was on between 10 and 20 minutes, a.s.o. to the last class (112) which counts times the power was on
over 120 minutes.

Issue 1.1 SPACE 4000 1:47


ELECTRONIC CONTROL SYSTEMS

14. Errors
Here follows a list of all the possible error messages from the SPACE 3000 program, a short description of
them and the action taken by the errors. The different actions are:
- ERR_LAMP The error lamp in the systems cover(s) will be lit
EMER_STOP Emergency Stop (dumpvalve deactivated).
- LO_SPEED The max allowed speeds are reduced to err_speed (%).
- LO_LOAD The max allowed loads for the inner and outer booms are reduced to err_load %
of the max allowed speeds otherwise should be.
- STOP_OUT The extension out function is stopped.
- PWR_OFF The power will be automatically shut off

Most of the errors are reset automatically when the faulty condition disappears, but a few errors require
reseting manually. A manual reset can be done with the terminal (ERRORS / CLEAR) or by switching the
power off and on.

E 0: Lo power EMER_STOP + ERR_LAMP


The supply voltage to the SPACE 3000 box is too low (< 16V).

E 1: I/O-fuse EMER_STOP + ERR_LAMP


The automatic fuse for the 24V-supply to the sensors and indicators (others than the ones
covered by the E6:Column-fuse) has tripped. Manual reset.

E 2: DMP-fuse EMER_STOP + ERR_LAMP


The automatic fuse for the dump-valve output has tripped. Manual reset.

E 3: Emergency Stop EMER_STOP


The Emergency Stop chain is broken (no voltage on P7:6)

E 4: DMP-output EMER_STOP + PWR_OFF + ERR_LAMP


The connection to the dump valve is broken (open circuit) or the solid state relay driving the
dump valve is broken. The error is set when there is voltage on the dump valve output (P9:2)
although the solid state relay should be off. Manual reset.

E 5: Em Stop Chain EMER_STOP + ERR_LAMP


The Emergency Stop chain is faulty! One or more of the covers indicates emergency stop, but
the main SPACE 3000 board still have voltage on the input (P7:6) from the chain (no E3 error).
Manual reset.

E 6: Column-fuse EMER_STOP + ERR_LAMP


The automatic fuse for the 24V-supply to the column box (P5:2) has tripped. Manual reset.

E 7: Terminal-fuse EMER_STOP + ERR_LAMP


The automatic fuse for the 24V-supply to the terminal (P3:2) has tripped. Manual reset.

E 8: CAN-fuse EMER_STOP + ERR_LAMP


The +5V supply to the CAN-bus driver is too low (because of an overload on the CAN-bus?).
Manual reset.

1:48 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

E 9: HORN-output error ERR_LAMP


The Horn output is faulty:
- either the startup test (t4) of the output has failed, which can be caused by a faulty solid state
relay or by a short circuit of the output pin to either ground or +24V. In this case the error is
given immedetially at startup, and it cant be reset.
- or, if the error appears when trying to activate the horn output, the solid state relay for the
HORN-output is on, but the system cant measure a high enough voltage on the output pin (P8:
2), probably because the automatic fuse has tripped. In this case the error will be automatically
reset when the Horn-switch is released.

E10: Extended box error LO_LOAD + ERR_LAMP


A (one or more) channel parameter is set pointing to one of the inputs from the extended box
(channels 6, 7, 17, 18, 23 or 24), or one of (or both) the msc_mode or ads_mode parameters is
set to 1 indicating that the extended box should exist, but the extended box does not seem to be
present (SPACE 3000 is not receiving any CAN protocols from the extended box).

E11: Internal Error (Time) ERR_LAMP


The SPACE 3000 system performs its control/supervision routine every 50 ms, started by a 20
Hz timer. But if the previous time hasnt been completed, when the timer tries to start it again,
this error will be given. The system will work anyhow, but the error indicates some kind of internal
problem. Manual reset.

E12: Spool sensor 1 (ch0/P1:3) OOR LO_LOAD + ERR_LAMP


The analog input value on input P1:3 (channel 0, usually used for spool sensor 1) is out of range
(defined by the anin_min[0] and anin_max[0] parameters).

E13: Spool sensor 2 (ch1/P1:4) OOR LO_LOAD + ERR_LAMP


The analog input value on input P1:4 (channel 1, usually used for spool sensor 2) is out of range
(defined by the anin_min[1] and anin_max[1] parameters).

E14: Spool sensor 3 (ch2/P1:5) OOR LO_LOAD + ERR_LAMP


The analog input value on input P1:5 (channel 2, usually used for spool sensor 3) is out of range
(defined by the anin_min[2] and anin_max[2] parameters).

E15: Spool sensor 4 (ch3/P1:6) OOR LO_LOAD + ERR_LAMP


The analog input value on input P1:6 (channel 3, usually used for spool sensor 4) is out of range
(defined by the anin_min[3] and anin_max[3] parameters).

E16: Spool sensor 5 (ch4/P2:3) OOR LO_LOAD + ERR_LAMP


The analog input value on input P2:3 (channel 4, usually used for spool sensor 5) is out of range
(defined by the anin_min[4] and anin_max[4] parameters).

E17: Spool sensor 6 (ch5/P2:4) OOR LO_LOAD + ERR_LAMP


The analog input value on input P2:4 (channel 5, usually used for spool sensor 6) is out of range
(defined by the anin_min[5] and anin_max[5] parameters).

E18: Spool sensor 7 (ch6/EXT-P5:3) OOR LO_LOAD + ERR_LAMP


The analog input value on input P5:3 in the extended box (channel 6, usually used for spool
sensor 7) is out of range (defined by the anin_min[6] and anin_max[6] parameters).

Issue 1.1 SPACE 4000 1:49


ELECTRONIC CONTROL SYSTEMS

E19: Spool sensor 8 (ch7/EXT-P5:4) OOR LO_LOAD + ERR_LAMP


The analog input value on input P5:4 in the extended box (channel 7, usually used for spool
sensor 8) is out of range (defined by the anin_min[7] and anin_max[7] parameters).

E20: 2nd inner boom tilt (ch8/P5:8) OOR LO_SPEED + LO_LOAD + ERR_LAMP
The analog input value on input P5:8 (channel 8, usually used for the stand platforms
inner boom too low-indicator) is out of range (defined by the anin_min[8] and anin_max[8]
parameters).

E21: Winch sensors (ch9/P5:7) OOR LO_SPEED + LO_LOAD + ERR_LAMP


The analog input value on input P5:7 (channel 9, usually used for the winch sensor) is out of
range (defined by the anin_min[9] and anin_max[9] parameters).

E22: Inner boom tilt (ch10/P5:6) OOR LO_SPEED + LO_LOAD + ERR_LAMP


The analog input value on input P5:6 (channel 10, usually used for the inner booms tilt
indicator) is out of range (defined by the anin_min[10] and anin_max[10] parameters).

E23: Outer boom tilt (ch11/P5:5) OOR LO_SPEED + LO_LOAD + ERR_LAMP


The analog input value on input P5:5 (channel 11, usually used for the outer booms tilt
indicator) is out of range (defined by the anin_min[11] and anin_max[11] parameters).

E24: Outer boom press (ch12/P5:4) OOR LO_SPEED + STOP_OUT + ERR_LAMP


The analog input value on input P5:4 (channel 12, usually used for the outer booms pressure
sensor) is out of range (defined by the anin_min[12] and anin_max[12] parameters).

E25: Inner boom press (ch13/P5:3) OOR LO_SPEED + STOP_OUT + ERR_LAMP


The analog input value on input P5:3 (channel 13, usually used for the inner booms pressure
sensor) is out of range (defined by the anin_min[13] and anin_max[13] parameters).

E26: Slew indicator (ch14/P6:3) OOR LO_SPEED + LO_LOAD + ERR_LAMP


The analog input value on input P6:3 (channel 14, usually used for one of the slewing sector
indicators) is out of range (defined by the anin_min[14] and anin_max[14] parameters).

E27: Slew indicator (ch15/P6:4) OOR LO_SPEED + LO_LOAD + ERR_LAMP


The analog input value on input P6:4 (channel 15, usually used for one of the slewing sector
indicators) is out of range (defined by the anin_min[15] and anin_max[15] parameters).

E28: Spool sensor 9 (ch16/P5:9) OOR LO_SPEED + LO_LOAD + ERR_LAMP


The analog input value on input P5:9 (channel 16, usually used for the stand platforms
outer boom too low-indicator) is out of range (defined by the anin_min[16] and anin_max[16]
parameters).

E29: On platform ind (ch17/EXT-P4:3) OOR LO_SPEED + LO_LOAD + ERR_LAMP


The analog input value on input P4:3 in the extended box (channel 17, usually used for the
stand platforms on platform indicator) is out of range (defined by the anin_min[17] and anin_
max[17] parameters).

E30: Extra ind (ch18/EXT-P10:3) OOR LO_SPEED + LO_LOAD + ERR_LAMP


The analog input value on input P10:3 in the extended box (channel 18, a spare input not
used by any particular function) is out of range (defined by the anin_min[18] and anin_max[18]
parameters).

1:50 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

E31: Slew sector 1 LO_SPEED + LO_LOAD + ERR_LAMP


The crane has entered the first (set with the stab_?_chan[0] parameters) slewing sector, but
the entering direction in unknown, either because both sector indicators were deactivated at
the same time, or because there was a conflict between the entering direction indicated by the
indicators and the direction the lever sensor indicated.

E32: Slew sector 2 LO_SPEED + LO_LOAD + ERR_LAMP


The crane has entered the second (set with the stab_?_chan[1] parameters) slewing sector, but
the entering direction in unknown, either because both sector indicators were deactivated at
the same time, or because there was a conflict between the entering direction indicated by the
indicators and the direction the lever sensor indicated.

E33: Slew sector 3 LO_SPEED + LO_LOAD + ERR_LAMP


The crane has entered the third (set with the stab_?_chan[2] parameters) slewing sector, but
the entering direction in unknown, either because both sector indicators were deactivated at
the same time, or because there was a conflict between the entering direction indicated by the
indicators and the direction the lever sensor indicated.

E34: Winch Ind LO_SPEED + LO_LOAD + ERR_LAMP


There is a conflict in the state of the winch indicators: the end limit (3 coils left) and top limit (2
blocks) indicators are both activated (but were not activated simultaneously, which would have
been interpreted as winch disabled, wire totally in).

E35: Parameter
The crane-parameters are uninitialised, have a checksum error or one or more of them are out
of range. The terminal program shows the exact cause in the upper part of its main menu. If this
error is detected at power-on, the SPACE 3000 program will be stopped (-> E48: Not run).

E36: Lev not cent EMER_STOP + ERR_LAMP


The levers (spool sensors) were not centred when the power was switched on or when the
emergency stops were deactivated.

E37: Inner Boom Pressure LO_SPEED + ERR_LAMP


The inner boom pressure sensor is probably faulty: The inner boom has been moving with at
least the speed set in the der_zero_lev parameter (50%) for a der_zero_time seconds long time
(default 30 minutes), but the pressure value from the sensor has not changed at all.

E38: Outer Boom Pressure LO_SPEED + ERR_LAMP


The outer boom pressure sensor is probably faulty: The outer boom has been moving with at
least the speed set in the der_zero_lev parameter (50%) for a der_zero_time seconds long time
(default 30 minutes), but the pressure value from the sensor has not changed at all.

Issue 1.1 SPACE 4000 1:51


ELECTRONIC CONTROL SYSTEMS

E39: Cover 1 Error ERR_LAMP


This error is caused by two different reasons:
- the SPACE 4000 system strappers are set so that the cover number 1 should be present in
the system, but the system does not receive any CAN-protocols from that cover (cov_stat[0]
= 0).
- the cover is present in the system, but reports an internal error (see the cov_stat[0] variable):
- one of the covers switches is faulty (not released after power on)
- the incoming 24V supply is not ok (> 12V)
- the outgoing 24V supply is not ok (> 12V)
- the 5V supply for the LEDs is not ok (> 4V)
- a conflict in the emergency stop chain is found (chain broken but still voltage on the
outgoing terminal P2:5)

E40: Cover 2 Error ERR_LAMP


This error is caused by two different reasons:
- the SPACE 4000 system strappers are set so that the cover number 2 should be present in
the system, but the system does not receive any CAN-protocols from that cover (cov_stat[1]
= 0).
- the cover is present in the system, but reports an internal error (see the cov_stat[1] variable):
- one of the covers switches is faulty (not released after power on)
- the incoming 24V supply is not ok (> 12V)
- the outgoing 24V supply is not ok (> 12V)
- the 5V supply for the LEDs is not ok (> 4V)
- a conflict in the emergency stop chain is found (chain broken but still voltage on the
outgoing terminal P2:5)

E41: Cover 3 Error ERR_LAMP


This error is caused by two different reasons:
- the SPACE 4000 system strappers are set so that the cover number 3 should be present in
the system, but the system does not receive any CAN-protocols from that cover (cov_stat[2]
= 0).
- the cover is present in the system, but reports an internal error (see the cov_stat[2] variable):
- one of the covers switches is faulty (not released after power on)
- the incoming 24V supply is not ok (> 12V)
- the outgoing 24V supply is not ok (> 12V)
- the 5V supply for the LEDs is not ok (> 4V)
- a conflict in the emergency stop chain is found (chain broken but still voltage on the
outgoing terminal P2:5)

E42: Cover 4 Error ERR_LAMP


This error is caused by two different reasons:
- the SPACE 4000 system strappers are set so that the cover number 4 should be present in
the system, but the system does not receive any CAN-protocols from that cover (cov_stat[3]
= 0).
- the cover is present in the system, but reports an internal error (see the cov_stat[3] variable):
- one of the covers switches is faulty (not released after power on)
- the incoming 24V supply is not ok (> 12V)
- the outgoing 24V supply is not ok (> 12V)
- the 5V supply for the LEDs is not ok (> 4V)
- a conflict in the emergency stop chain is found (chain broken but still voltage on the
outgoing terminal P2:5)

1:52 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

E43: ADS Valve Error ERR_LAMP


The ads_mode parameter is set but
- the extended box does not exist (ext_stat[0..7] = 0)
- the ADS valve is not connected to the extended box
- the ADS valve output is faulty

E44: ADS P1 Error ERR_LAMP


The ads_mode parameter is set but
- the extended box does not exist (ext_stat[0..7] = 0)
- the ADS pressure sensor 1 (see ext_stat[6]) is out of range (analog input value not in range
16 240 = 1.4 .. 21.4 mA).

E45: ADS P2 Error ERR_LAMP


The ads_mode parameter is set but
- the extended box does not exist (ext_stat[0..7] = 0)
- the ADS pressure sensor 2 (see ext_stat[7]) is out of range (analog input value not in range
16 240 = 1.4 .. 21.4 mA).

E46: MSC-output ERR_LAMP


The msc_mode parameter is set but
- the extended box does not exist (ext_stat[0..7] = 0)
- the MSC valve is not connected to the extended box
- the MSC valve output is faulty

E47: DMP2-output ERR_LAMP


The extended box incdicates that the Dump 2 valve output is faulty.

E48: Not run EMER_STOP + ERR_LAMP


The SPACE 4000 program is stopped because
- the supply voltage is too low (E0: Lo power)
- the parameters were faulty at startup (E35: Parameter)
- stopped by the terminal program (initiating spool sensors or writing parameters)

E49: Service!
One of the service counters (total time, use time or number of lifts) is full. Reset the counters
with the terminal (after performing the periodical service of course).

E50: Unknown cover in system ERR_LAMP


The system receives status protocols from a cover, but the jumper for that cover is not set in
the standard bottoms strapping field

E51: CAN buffer overrun ERR_LAMP


The programs internal CAN transmission buffers are full. Indicates some kind of problem with
the external CAN-bus. Manual reset.

E52: Real Time Lost


The Real Time Clock has stopped or lost its time

Issue 1.1 SPACE 4000 1:53


ELECTRONIC CONTROL SYSTEMS

E53: PLC Program Lost ERR_LAMP


The PLC program was illegal at startup

E54: Remote battery empty ERR_LAMP


The HD4000 RCU indicates that the battery level is low

E55: Remote Contol Unit ERR_LAMP


The HD4000 RCU indicates that it has errors

E56: Radio Receiver Error ERR_LAMP


The HD4000 radio receiver indicates that is has errors

E57: Remote Output Unit ERR_LAMP


One of the HD4000 output units indicates that it has errors

E58: Remote Output Open ERR_LAMP


One of the HD4000 output units indicates that one of the solenoid outputs is open

E59: Remote Output Shorted ERR_LAMP


One of the HD4000 output units indicates that one of the solenoid outputs is shorted

E60: PLC Program Error ERR_LAMP


The PLC program is faulty, either too long or contains a too long loop (max 100 program steps
allowed)

E61: PLC Error 1 ERR_LAMP


The PLC Error 1 output bit (O33) is set in the PLC program

E62: PLC Error 2 ERR_LAMP


The PLC Error 2 output bit (O34) is set in the PLC program

E63: PLC Error 3 ERR_LAMP


The PLC Error 3 output bit (O35) is set in the PLC program

E64: PLC Error 4 ERR_LAMP


The PLC Error 4 output bit (O36) is set in the PLC program

E65: Relay Box Error ERR_LAMP


Any of the relay boxes indicates an error (startup test error, feedback error or missing relay
supply voltage).

E66: Lever supervision


A conflict between the the remote control data and the spool sensor input:
lever > rem_out + lev_rem_add for a longer time than lev_rem_time samples and the oil is
dumped

1:54 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Variables

1. OLP function

ib_olp_lim variable display:S


the present OLP-activating pressure for the inner boom (in % of the working pressure ib_p_
lim). This value is normally 100, but changes according to MSC-status, MultiMode, stability
conditions and so on.

ob_olp_lim variable display:S


the present OLP-activating pressure for the outer boom (in % of the working pressure ob_p_
lim). This value is normally 100, but changes according to MSC-status, MultiMode, stability
conditions and so on.
olp_out_n[FUNCS] variable display:F
a non-zero value in these bytes indicates that the OLP of some function (inner boom, outer
boom, winch or slewing sector) has stopped the negative direction for the corresponding
functions.

olp_out_p[FUNCS] variable display:F


a non-zero value in these bytes indicates that the OLP of some function (inner boom, outer
boom, winch or slewing sector) has stopped the positive direction for the corresponding
functions.

olp_rel_ctr variable display:F


shows the number of sample intervals that remains of the OLP release mode.

olp_rel_w_ctr variable display:S


shows the number of seconds that remains until the OLP release mode can be activated again.

Issue 1.1 SPACE 4000 1:55


ELECTRONIC CONTROL SYSTEMS

2. MSC-function
Manual Speed Control or ASC-function: Automatic Speed Control

ib_asc_fact variable display:D


ob_asc_fact variable display:D
shows the actual ASC-levels in %, 0% means that ASC is not activated, 100% that the ASC
is fully activated (lowest speed). On MSC cranes the only possible values are 0% (MSC not
active) and 100% (MSC active).

asc_out_n[FUNCS] variable display:D


asc_out_p[FUNCS] variable display:D
shows the actual max allowed speed [%] in the negative and positive directions for the different
functions. These speeds are dependent of (in addition to ib_asc_fact
asc_fact and ob_asc_fact) the
error-status (some errors gives reduced crane-speed), the PLC program and OLP-status (OLP
will give zero max speed on forbidden directions).

mm_active variable display: 2


an variable that shows in which Multi Mode the crane currently is. The modes are:
0 Tool Mode (Basic capacity)
1 Hook Mode (mm_?b_olp_add[0] capacity used, typically +10%)
2 Winch Mode (mm_?b_olp_add[1] capacity used, typically +5%)

mm_off_lcnt[2] variable display: 2


shows how many lifts remains until the Multi Mode returns to Hook Mode

mm_off_tcnt[2] variable display: 2


shows how many seconds remains until the Multi Mode returns to Hook Mode

3. Analog inputs

anin[19] variable display:S


these variables contain the raw data from the analog inputs. A value of 0 corresponds to a
input voltage of 0 V or a current of 0 mA. The full scale value is 255 and corresponds to a input
voltage of +5V or current of 22.7 mA.

supv_anin[3] variable display:D


this variable contains the analog input values for the voltage supervision functions. These
values are not accessible through the anin-variable. The values are:

Index Terminal Function


0 (P7:2) +24V supervision
1 (P7:6) +24D supervision
2 (P9:2) Dump output supervision

1:56 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

4. Remote control

global_gain variable display:D


this is the remote control gain [% of max speed] received from the micro-switch on the remote
control unit.

remote variable display:D


a set of bits describing the state of the remote control selection. The bits are:
REM_SEL 1 The Remote is selected
REM_ON 2 The Remote is running

rem_fact[REMS] variable display:F


the actual remote amplification factor used (a product of func_k[FUNCS] and plc_func_
k[FUNCS]).

rem_in[FUNCS] variable display:D


the received remote control data for each function.

rem_in_chan[REMS] variable display:F


the received remote control data for each remote control channel.

rem_in_ctrl variable display:F


the received remote control byte (contains group select bits 0 and 1 and micro info in bits 2 and
3).

rem_max_n[REMS] variable display:F


rem_max_p[REMS] variable display:F
the transmitted max negative and positive speed data for each remote control channel.

rem_out[FUNCS] variable display:D


the transmitted remote control data (after all restrictions and rescalings). This value is
compared to lever[FUNCS] when supervising that the valve is not manoeuvred manually when
remote mode selected.

rem_out_stat[3] variable display:F


the status bits from the HD4000 output units (max 3 units). The bits are:
OUT_V24_IN_OK 0x40 The incoming 24V supply is ok (> 12V)
OUT_V24_OUT_OK 0x20 The outgoing 24V supply is ok (> 12V)
OUT_V24_SUPP_OK 0x10 The 24V output supply is ok (> 12V)
OUT_INT_ERR_BIT 0x08 Internal Error
OUT_SHORT_ERR_BIT 0x04 Output shorted
OUT_OPEN_ERR_BIT 0x02 Output open
OUT_ACTIVE_BIT 0x01 Outputs active

Issue 1.1 SPACE 4000 1:57


ELECTRONIC CONTROL SYSTEMS

rem_rcu_stat variable display:F


the status bits from the HD4000 Remote Control Unit. The bits are:
RCU_LEV_ERR_BIT 0x80 Lever/Button Error
RCU_BATT_BIT 0x40 The Remote control unit battery is empty
RCU_SW3_BIT 0x20 On/Off-switch 3
RCU_SW2_BIT 0x10 On/Off-switch 2
RCU_SW1_BIT 0x08 On/Off-switch 1
RCU_CHAN_BIT 0x04 The Channel switch in the RCU
RCU_HORN_BIT 0x02 The Horn switch in the RCU
RCU_OLP_REL_BIT 0x01 The OLP Release switch in the
RCU

rem_rcv_stat[3] variable display:F


the first byte contain the status bits from the HD4000 receiver. The bits are:
RCV_EM_IN_OK 0x40 The incoming emergency stop chain voltage is ok
(> 12V)
RCV_EM_MID_OK 0x20 The emergency stop chain voltage after the stop
switch
RCV_EM_OUT_OK 0x10 The outgoing emergency stop chain voltage is ok
(> 12V)
RCV_INT_ERR_BIT 0x08 Internal Error
RCV_FIELD_BIT 0x04 A weak field warning
RCV_RECEIVE_BIT 0x02 The Radio Receiver is receiving frames
RCV_ACTIVE_BIT 0x01 The Radio Receiver is active

the second and the third bytes contains the receiver channel number and the receiving quality

scale_n[REMS] variable display:F


scale_p[REMS] variable display:F
the transmitted negative and positive scale factors for each remote control channel.

5. Lever position sensors

lever[FUNCS] variable display:D


shows the lever position [%]. Should correspond to the amount of oil that flows trough the
valve. The lever-calculations are done in the following way:
- lever = anin[lev_ad_chan]
- if (analog input out of range) lever = lev_offs
- lever = lever - lev_offs
- lever = (100 + lev_db) * lever / lev_p_range (or lev_n_range depending of the direction)
- if lever at this point is higher than lev_zero_range the levers are considered to be not
centered
- if (lever > lev_db) lever = lever - lev_db else lever = 0
- limit lever to +/- 110%
func_dir != 0) lever = -lever
- if (func_dir

oil_need variable display:S


the sum of the momentary needed pump-flows [l/min] for the different functions.

1:58 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

6. Pressure sensors

ib_p_mom variable display:S


ob_p_mom variable display:S
the actual momentan pressure in bars.

ib_p_r variable display:F


ob_p_r variable display:F
the momentary (unfiltrated) relative (to ??_p_lim) pressure [%].

ib_p_filt variable display:S


ob_p_filt variable display:S
the filtrated relative pressure [%].

ib_p_asc variable display:D


ob_p_asc variable display:D
peak-values of the ?b_p_filt variables decaying with the rate set with the asc_old_fact
parameter. Used for the MSC/ASC-detection (gives a off-delay).

7. Digital inputs

digin variable display:D


the state of the eight digital input pins:

Bit Dec Name Terminal Normally used for


0 1 DIGIN_0 P5:9 Extensions out indicator
1 2 DIGIN_1 P4:3 Manual Extension / On Platform indicator
2 4 DIGIN_2 P6:5 Slewing sector 1 Positive Indicator
3 8 DIGIN_3 P6:6 Slewing sector 1 Negative Indicator
4 16 STRAP_0 P11:5
5 32 STRAP_1 P11:4
6 64 STRAP_2 P11:3
7 128 STRAP_3 P11:2

voltin variable display:D


the state of the eight voltage supervision signals:

Bit Dec Name Terminal Used for


0 1 VBHORN P8:2 The voltage on the Horn output (relay supervision)
1 2 V24TERM P3:2 The voltage supply to the terminal connection (fuse supervision)
2 4 V5VCAN - The voltage supply to the CAN-interface
3 8 VON_OFF (P7:7) Input from the On/Off-switch
4 16 VSTOP_ P7:6 Input from the Emergency Stop chain
IN
5 32 V24VCOL P5:2 The voltage supply to the column box (Fuse supervision)
6 64 V24VIO P1:2 The voltage supply to other I/O (Fuse supervision)
7 128 DMP_VEN - Input from the Watchdog circuit for the Dump valve output

Issue 1.1 SPACE 4000 1:59


ELECTRONIC CONTROL SYSTEMS

blackout variable display:S


the actual state of the dark mode request switch input (0 = normal mode, 1 = dark mode, -1
= not in use)

ext_in_inp variable display:S


the actual state of the crane extensions in input (0 = extension in, 1 = extension out, -1 = not
in use)

ib_tilt variable display:S


the actual state of the inner boom tilt indicator (0 = down, 1 = up, -1 = not connected).

lo_load_inp variable display:S


the actual state of the crane capacity reducing input (0 = off, 1 = on, -1 = not connected).

man_ext_sel variable display:S


a flag indicating whether manual extensions are selected or not (selected with the manual
extension switch on the panel). If an Crane Extensions In-indicator is connected, this
variable can also get the value 2 which means that manual extension are selected, but the
crane extensions are out (ext_in_inp = 0) -> use the higher man_ext_load[1].

ob_tilt variable display:S


the actual state of the outer boom tilt indicator (0 = down, 1 = up, -1 = not connected).

plc_tilt[4] variable display:S


the actual state of the four extra tilt indicators (0 = down, 1 = up, -1 = not connected).

stand_on variable display:D


the actual state of the person on platform indicator (0 = off, 1 = on, -1 = not connected).

stand_ib_low variable display:D


the actual state of the stand platforms inner boom too low indicator (0 = low, 1 = high, -1 =
not connected).

stand_ob_low variable display:D


the actual state of the stand platforms outer boom too low indicator (0 = low, 1 = high, -1 =
not connected).

win_load variable display:S


the actual winch load (% of the winch capacity). Only if a new winch box is used (win_box_
type = 1).

wload variable display:S


the actual state of the winch overload indicator (0 = off, 1 = on, -1 = not connected).

wend variable display:S


the actual state of the winch 3 coils left indicator (0 = off, 1 = on, -1 = not connected).

wtop variable display:S


the actual state of the winch top-position indicator (0 = off, 1 = on, -1 = not connected).

wdis variable display:S


the actual state of the winch disabled signal (0 = off, 1 = on, -1 = not connected).
(wdis is activated when the inputs for both wend and
wtop are activated at the same time).

1:60 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

8. Stability

stab_n[3] variable display:S


stab_p[3] variable display:S
the current status of the slewing sector indicators (negative and positive for three different
sectors)

stab_sects[3] variable display:S


the status of the three slewing sectors. A zero means that the crane is out of the restricted
sector. -1 means that the sector has been entered in the negative direction and +1 that the
sector is entered in the positive direction. 2 means that the entering direction is unknown
(indicator error or conflict with the valve-position)

stab_sect variable display:S


the combined (worst case) status of all the three slewing sectors. A zero means that the crane
is not in any sector. -1 means that the crane has entered a restricted sector in the negative
direction and +1 that the sector is entered in the positive direction. 2 means that the entering
direction is unknown or that two conflicting sectors are active.

9. Digital Outputs
No variable information applies to this group.

10. Service
srvc_prev_days variable display:S
the number of days since the previous service.

11. PLC
plc_out_relays
plc_digin
plc_dump
plc_olp_out_p[FUNCS]
plc_olp_out_n[FUNCS]
plc_ibl_red
plc_obl_red
plc_max_speed
plc_anin[4]
plc_stop_func_p
plc_stop_func_n
plc_ibl_max
plc_obl_max
plc_func_spd_p[FUNCS]
plc_func_spd_n[FUNCS]
plc_func_k[FUNCS]
plc_asc_select
plc_olp_release
variables (display:F) that are outputs from the PLC-program and inputs to the OLP-program.

Issue 1.1 SPACE 4000 1:61


ELECTRONIC CONTROL SYSTEMS

12. Various

apo_ctr variable display:D


shows the time (minutes) left to the Automatic Power Off.

can_stat[8] variable display:F


these are the status protocol bytes that SPACE 4000 sends out on the CAN bus to the covers,
extension bottom, HD4000 and relay boxes. The meaning of the bytes in the protocol are:

byte dec Name Description


0 1 SYST_ON The system is on
0 2 OIL_1 The emergency stop chain is Ok
0 4 OIL_2 The Dump valve output is on
0 8 DMP_2 The Dump 2 valve output is on
0 16 LEV_CENT All levers centered
0 32 SLEW_OUT The slewing is being driven
0 64 SERVICE The crane needs service
0 128 ERROR The system has errors
1 1 TOOL_MODE The system is in Tool Mode
1 2 HOOK_MODE The system is in Hook Mode
1 4 MAN_EXT Manual Extensions selected
1 8 IBH The inner boom is too high
1 16 SLEW_SECT The slewing is in the cabin sector
1 32 OLP OLP active
1 64 OLP_REL OLP Release active
1 128 MSC The MSC output is active
2 1 WIN_OLP The winch has 100% load
2 2 WIN_PREW The winch has 90% load
2 4 WIN_MODE The system is in Winch Mode
2 8 LAMP_TST_R Lamp Test for red lamps
2 16 LAMP_TST_G Lamp Test for green lamps
2 32 ADS_MODE ADS is selected (ads_mode != 0)
2 64 MAN_EXT_2 Manual extensions selected and extensions out
2 128
3 1 IB_50 The inner boom has 50% load
3 2 IB_70 The inner boom has 70% load
3 4 IB_90 The inner boom has 90% load
3 8 IB_100 The inner boom has 100% load
3 16 OB_50 The outer boom has 50% load
3 32 OB_70 The outer boom has 70% load
3 64 OB_90 The outer boom has 90% load
3 128 OB_100 The outer boom has 100% load
4 errs The number of active errors

1:62 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

5 err_id The ID for the first (lowest number) active error


6 1 BLACKOUT_MODE Dark mode selected (blackout_chan != -1)
6 2 BLACKOUT Dark mode active
6 4 MAN_SEL Manual mode selected
6 8 REM_SEL Remote mode selected
6 16 REM_ON Remote running
6 32 RADIO_ERR Radio Error
6 64
6 128
7 1 PLC O0 Relay output from the PLC-program
7 2 PLC O1 Relay output from the PLC-program
7 4 PLC O2 Relay output from the PLC-program
7 8 PLC O3 Relay output from the PLC-program
7 16 PLC O4 Relay output from the PLC-program
7 32 PLC O5 Relay output from the PLC-program
7 64 PLC O6 Relay output from the PLC-program
7 128 PLC O7 Relay output from the PLC-program

cov_stat[4] variable display:F


these are the status-word from the max. four covers (control panels). The status-word for a not
existing cover is 0. The meaning of the individual bits in the words are:

bit dec Name Description


0 1 V24_IN_OK The incoming 24V supply is ok (> 12V)
1 2 V24_OUT_OK The outgoing 24V supply is ok (> 12V)
2 4 EM_IN_OK The incoming emergency stop chain voltage is ok (>
12V)
3 8 EM_OUT_OK The outgoing emergency stop chain voltage is ok (> 12V)
4 16 HORN_BIT The Horn-switch is pressed
5 32 MAN_EXT_BIT The Manual Extension switch is pressed
6 64 REL_BIT The Release switch is pressed
7 128 SW_FAULT A switch is faulty (not released after power on)
8 256 V5_OK The 5V supply for the LEDs is ok (> 4V)
9 512 EM_MID_OK The emergency stop chain voltage after the stop-switch
10 1024 REM_BIT The Remote switch is pressed
11 2048 CANCEL_BIT A two-switch action pressed, cancel the Release press

Issue 1.1 SPACE 4000 1:63


ELECTRONIC CONTROL SYSTEMS

ext_stat[8] variable display:F


these are the status protocol bytes from the extension bottom. If the extension bottom does not
exist, all bytes are zero. The meaning of the bytes in the protocol are:

byte dec Name Description


0 1 E_SECT_P_INP Ch 23: The P-Indicator Input for the Extended Slewing
Sector
0 2 E_SECT_N_INP Ch 24: The N-Indicator Input for the Extended Slewing
Sector
0 4 E_STOP_IN Input from the Emergency Stop Chain
0 8 E_STOP_OUT Input from the Emergency Stop Chain
0 16 E_ADS_ON The ADS valve output is on
1 1 E_DMP2_VALVE The Dump 2-valve is connected
1 2 E_MSC_VALVE The MSC-valve is connected
1 4 E_ADS_VALVE The ADS-valve is connected
1 8 E_DMP2_OUT_ERR The Dump 2-output is faulty
1 16 E_MSC_OUT_ERR The MSC-output is faulty
1 32 E_ADS_OUT_ERR The ADS-output is faulty
1 64 E_DMP_FUSE The +24D fuse (F1) has tripped
2 EXT_LEV7_BYTE Ch 6: The Lever 7 input byte
3 EXT_LEV8_BYTE Ch 7: The Lever 8 input byte
4 EXT_PLTF_BYTE Ch 17: The On Platform input byte
5 EXT_EXTS_BYTE Ch 18: The Extra Sensor input byte
6 EXT_ADS_P1_BYTE The ADS Pressure 1 Input Byte
7 EXT_ADS_P2_BYTE The ADS Pressure 2 Input Byte

idle_time variable display:F


the software have a counter that is incremented always when the CPU is idle and reset to zero
in every sample interval. The contents of the counter just before every reset, is filtrated and
transferred to the idle_time variable. The variable gives a measure of how much capacity the
CPU has left.

max_out_n[FUNCS] variable display:D


max_out_p[FUNCS] variable display:D
the actual maximum permitted speed [%] for each function in both directions (negative resp
positive). These values reflects the status of the MSC, the different OLP:s and the LO_SPEED-
errors.

rb_stat[12] variable display 3


three status bytes from each of the max four relay boxes in the system. The first byte (from
each box) containes the following bits:

1:64 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

rb_stat[12] variable display 3


three status bytes from each of the max four relay boxes in the system. The first byte (from
each box) containes the following bits:

Bit Dec Function


0 1 Outputs active
1 2 External voltage supply on
2 4 Feedback error on any of the outputs
3..6 Not used, always 0
7 128 Always 1 (indicates that the relay box is present)

Issue 1.1 SPACE 4000 1:65


ELECTRONIC CONTROL SYSTEMS

Notes

1:66 SPACE 4000 Issue 1.1


ELECTRONIC CONTROL SYSTEMS

Notes

Issue 1.1 SPACE 4000 1:67