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21. MECHATRO CONTROLLER

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21. MECHATRO CONTROLLER

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21-1

Book Code No.

E01

TABLE OF CONTENTS

21.1 SUMMARY OF MECHATRO CONTROL SYSTEM

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21-4

21.1.1 MECHATRO CONTROL SYSTEM IN GENERAL

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21-4

21.1.2 UNLOAD VALVE CONTROL

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21-6

21.1.3 POSITIVE CONTROL & P-Q CONTROL

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21-7

21.1.4 BOOM UP CONFLUX CONTROL

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21-9

21.1.5 ARM IN RECIRCULATION & CONFLUX CONTROL

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21-11

21.1.6 ARM-IN ANTI-CAVITATION CONTROL

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21-13

21.1.7 ARM-OUT CONFLUX CONTROL

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21-14

21.1.8 BUCKET DIGGING ANTI-CAVITATION CONTROL

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21-16

21.1.9 SWING PRIORITY CONTROL

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21-18

21.1.10 TRAVEL STRAIGHT CONTROL

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21-20

21.1.11 PRESSURE RELEASE CONTROL

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21-22

21.1.12 N&B SWITCH CONTROL (OPTION)

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21-24

21.1.13 OPTION CONFLUX CONTROL (OPTION)

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21-26

21.2 MECHATRO CONTROLLER

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21-28

21.2.1 SUMMARY OF MULTI DISPLAY

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21-28

21.2.2 SELF DIAGNOSIS DISPLAY

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21-42

21.2.3 SERVICE DIAGNOSIS DISPLAY FUNCTION

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21-45

21.2.4 TROUBLE HISTORY DIAGNOSIS

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21-55

21.2.5 SET PROCEDURE OF MAINTENANCE SCHEDULE

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21-56

21.2.6 ADJUSTING PROCEDURE OF DISPLAY

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21-58

21.2.7 MECHATRO CONTROL EQUIPMENT

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21-64

Содержание SK210LC-9

Страница 1: ...E G OPT 1 2 3 4 5 6 7 SPECIFICATIONS SECTION MAINTENANCE SECTION SYSTEM SECTION DISASSEMBLY SECTION TROUBLESHOOTING ENGINE SECTION PROCEDURE OF INSTALLING OPTIONS SECTION Book Code No S5YN0046E04 0 1...

Страница 2: ...ANTI CAVITATION CONTROL 21 16 21 1 9 SWING PRIORITY CONTROL 21 18 21 1 10 TRAVEL STRAIGHT CONTROL 21 20 21 1 11 PRESSURE RELEASE CONTROL 21 22 21 1 12 N B SWITCH CONTROL OPTION 21 24 21 1 13 OPTION CO...

Страница 3: ...ks First edition June 2013 SK210LC 9 YQ13 10001 S5YN2146E01 NA October 2013 SK210LC 9 YQ13 10001 North America Europe 21 MECHATRO CONTROLLER 21 2 Copyright 2015 Kobelco Construction Machinery Co Ltd A...

Страница 4: ...zes the mechatro system and the function of the mechatro controller related apparatuses Regarding the conditions before and after each conversion refer to the hydraulic system and the electric system...

Страница 5: ...SUMMARY OF MECHATRO CONTROL SYSTEM 21 1 1 MECHATRO CONTROL SYSTEM IN GENERAL 21 MECHATRO CONTROLLER 21 4 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCsh...

Страница 7: ...ach unload pressure proportional valve 3 Each unload pressure proportional valves output pilot secondary pressure according to the command output by mechatro controller and switches each unload spools...

Страница 9: ...ned 2 P Q control 1 The output voltage of high pressure sensor provided on each pump line is input to mechatro controller and the mechatro controller processes pilot signal and operates the command ac...

Страница 11: ...lot proportional valve secondary pressure according to the command output by mechatro controller and changes P1 and P2 pump delivery rate and switches P1 and P2 unload pressure control valve 4 With or...

Страница 13: ...trols recirculation rate and conflux rate The other proportional valves output proportional secondary pressure according to command from mechatro controller These proportional valves change the delive...

Страница 14: ...l valve and P2 unload proportional valve 4 And also outputs command according to input pressure output by potentiometer to reverse proportional valve for arm 2 spool 5 Each proportional valves output...

Страница 16: ...ot proportional valve secondary pressure according to the command output by mechatro controller and changes P1 and P2 pump delivery rate and switches P1 and P2 unload pressure control valves 4 With or...

Страница 18: ...nload valves and travel straight valve of control valve 5 The tandem passage is connected to P2 port because of the travel straight valve switched and P1 pump delivery oil confluxes P2 pump delivery o...

Страница 20: ...ve outputs pilot proportional valve secondary pressure according to the command output by mechatro controller and changes P1 and P2 pump delivery rate and switches P1 and P2 unload spool travel straig...

Страница 22: ...ng to the high priority select pressure in the attachment system operating Boom arm bucket swing option pilot pressure during operation 2 P1 unload proportional valve Outputs switching pressure accord...

Страница 24: ...ure release control to ECU and fixes engine speed to pressure release control speed 3 Outputs maximum command to P1 and P2 unload valves and each pilot secondary pressure fixes P1 and P2 unload valves...

Страница 26: ...han above error display is output to gauge cluster 2 Breaker circuit 1 Select breaker mode through select switch 2 Breaker display appears on gauge cluster 3 The return oil from the breaker passes thr...

Страница 28: ...P1 and P2 pump proportional valves P1 and P2 unload pressure proportional valves and travel straight proportional valve 4 Each proportional valves output pilot proportional valve secondary pressure a...

Страница 29: ...AY Electro hydraulic conversion information is displayed on the multi display of the gauge cluster 1 Controls 2 Gauge cluster 21 MECHATRO CONTROLLER 21 28 Copyright 2015 Kobelco Construction Machinery...

Страница 30: ...uel consumption value is 90 or less of the fuel consumption value of relief operation at H mode the green mark turns on common logic in each mode 21 3 Screen selection by work mode select switch The m...

Страница 31: ...er mode switch 3 to select Breaker mode from attachment modes And selected Breaker mode is indicated Depending on the attachment employed select the applicable mode from Digging Nibbler and Breaker Be...

Страница 32: ...nd Breaker the settings of 10 patterns are available Both Nibbler are set in conditions SET 6 as factory default in the above table at shipping Both Breaker are set in conditions SET 1 as factory defa...

Страница 33: ...6 and select desired set number To set desired set number press NEXT ARROW SWITCH 7 8 Using switch UP ARROW SWITCH 5 or DOWN ARROW SWITCH 6 set the desired flow rate Then press menu switch 2 and the c...

Страница 34: ...y c Press NEXT ARROW SWITCH 7 and BREAKER SETTING d is displayed 7 There are 10 steps from SET 1 to SET 10 Using switch UP ARROW SWITCH 5 or DOWN ARROW SWITCH 6 and select desired set number To set de...

Страница 35: ...NG MODE to NIBBLER MODE or BREAKER MODE The flow rate indication screen b appears 3 When the display is flow rate indication screen b press Menu Switch to enter into USER MENU display c 4 Move cursor...

Страница 36: ...ilter 500 Hr Hydraulic oil filter 1 000 Hr Hydraulic oil 5 000 Hr 1 Remaining time display to the engine oil change This display shows the remaining time of INTERVAL REMAINING TIME EXCHANGE DAY 21 8 M...

Страница 37: ...AINING TIME EXCHANGE DAY 4 Remaining time display to the coming hydraulic oil change This display shows the remaining time of INTERVAL REMAINING TIME EXCHANGE DAY For the setting procedure of maintena...

Страница 38: ...NSUMPTION as display c and press RIGHT arrow switch And Fuel Efficiency Graph display d appears 3 The graph indicates the fuel consumption from 12 hours ago to now in a 2 hour intervals And the values...

Страница 39: ...eration 1 1 Clock display function Current time is displayed 1 2 Self diagnosis display When abnormality is detected on mechatro system like sensor proportional valve etc this displays error code 1 3...

Страница 40: ...oil 3 Failure history display function Stores abnormality occurred on mechatro system in the past and displays in order of recent occurrence 4 Mechatro adjustment display Displays procedure for adjus...

Страница 41: ...P switch 3 or DOWN switch 4 point the cursor to SERVICE ADJUST 1 display b Press NEXT switch 5 and SERVICE ADJUST 1 2 c is displayed 4 Using UP switch 3 or DOWN switch 4 point the cursor to CAMERA 1 S...

Страница 42: ...5 Setting of camera Make sure that CAMERA 1 SETTING in SERVICE ADJUSTMENT1 2 screen is ON and CAMERA 2 and CAMERA 3 SETTING are OFF Check the setting No Parts Parts Normal condition Corrective action...

Страница 43: ...and pin No refer to the section C 1 Mechatro controller explained later Electric circuit diagram or harness is available to identify wire No and wire color 2 I O configuration 3 Self diagnosis display...

Страница 46: ...switch ON keeping buzzer stop switch pressed Buzzer stop switch 2 After logo mark is displayed the screen changes in service diagnosis mode The service diagnosis screen Mode No 1 Screen No 1 is displa...

Страница 47: ...y screen list is shown below The conditions for display are H mode engine low speed and lever to neutral position 1 Service diagnosis mode No 1 21 MECHATRO CONTROLLER 21 46 Copyright 2015 Kobelco Cons...

Страница 50: ...21 2 Service diagnosis mode No 2 3 Service diagnosis mode No 3 21 MECHATRO CONTROLLER 21 49 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCshWbYs...

Страница 51: ...PSV P1 UL BPC P2 UL BPC BOOM RAISE BOOM LOWER ENG SPEED POWER SHIFT 11 0 to 16 0 M 11 0 to 16 0 M 560 to 750 mA 560 to 750 mA 360 mA 360 mA 3 0 M 0 0 M 1970 to 2030 0 mA 3 Service diagnosis data list...

Страница 52: ...2 D 3 D 6 B 3 B 4 B 1 B 7 G 3 P1 PRES P2 PRES P1 PSV P2 PSV P1 UL BPC P2 UL BPC S TRAVEL ARM IN 2 ARM OUT ARM IN BOOM RAISE SWING ENG SPEED POWER SHIFT 33 0 to 35 8 M 33 0 to 35 8 M 415 to 525 mA 415...

Страница 53: ...0 mA Operation No 10 Swing in full lever operation relief H mode Hi idle Operation No 11 Swing in full lever operation in operation H mode Hi idle No 24 ARM SWING No 24 ARM SWING C 1 C 2 E 1 E 2 D 1...

Страница 54: ...3 0 M 0 0 M 1970 to 2030 0 mA Operation No 14 Bucket dump in full lever operation relief H mode Hi idle Operation No 15 Bucket dump in full lever operation in operation H mode Hi idle No 25 BUCKET No...

Страница 55: ...0 mA Conflux switch is OFF Relief set pressure is value of shipping Operation No 18 Travel right in full lever operation travel idling H mode Hi idle Operation No 19 Travel left in full lever operati...

Страница 56: ...arrow switch to move the item down 6 Turn the starter key switch OFF and the display is disappeared 21 21 2 4 TROUBLE HISTORY DIAGNOSIS The items of error detected by mechatro controller self diagnos...

Страница 57: ...lter 1 000 Hr Hydraulic oil 5 000 Hr 1 The engine oil change time is displayed on the multi display by 500 hours as a warning but the buzzer does not sound 2 The fuel filter change time is displayed o...

Страница 59: ...or to SWITCH STATUS Press RIGHT arrow switch to enter into SWITCH STATUS display d 3 Using UP or DOWN arrow switch move the cursor to AUTO IDLE STOP as display e 4 Press RIGHT arrow switch to enter in...

Страница 60: ...or UP move cursor to CLOCK SETTING display Press NEXT to select CLOCK SETTING display d 3 Using switch DOWN or UP select YEAR MONTH DAY HOUR MINUTE display Press NEXT to select desired item 4 Using s...

Страница 61: ...NEXT to select SCREEN SETTING display d 3 Move cursor to CONTRAST display d on SCREEN SETTING display Press NEXT to select desired value 4 Using cursor and get the desired values Step of adjustable ra...

Страница 62: ...G display d 3 Using UP or DOWN arrow switch move the cursor to Brightness day as display e 4 Press RIGHT arrow switch and the display becomes as display f The background color of the value turns to be...

Страница 63: ...display d 3 Using UP or DOWN arrow switch move the cursor to Brightness night as display e 4 Press RIGHT arrow switch and the display becomes as display f The background color of the value turns to b...

Страница 64: ...mitation combination of return selector adjustment Engine speed ON OFF of engine rpm display Auto acceleration Adjustment the type of the engine speed of auto deceleration runs up abruptly Change of s...

Страница 65: ...TRO CONTROL EQUIPMENT 1 C 1 Mechatro controller 1 Outside view 2 List of connectors 21 MECHATRO CONTROLLER 21 64 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 01...

Страница 70: ...cluster Mechatro controller CAN communication White 21 2 Gauge cluster symbol C 2 1 General view 2 Connector CN 600 Harness side 3 Connector CN 601 Harness side 4 Function a It processes signals by c...

Страница 71: ...elect switch 8 Digging mode switch 9 Nibbler mode switch 10 Breaker mode switch 11 Up arrow switch 12 Down arrow switch 13 Next arrow switch 14 Back arrow switch 15 Back light LED 5 Summary of display...

Страница 76: ...1 4 High pressure sensor LS52S00015P1 5 Low pressure sensor LC52S00019P1 21 MECHATRO CONTROLLER 21 75 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCshWbYs...

Страница 78: ...COLOR CODING STANDARD FOR HYDRAULIC CIRCUITS 22 8 22 4 NEUTRAL CIRCUIT 22 8 22 5 TRAVEL CIRCUIT 22 10 22 6 BUCKET CIRCUIT 22 12 22 7 BOOM CIRCUIT 22 14 22 8 SWING CIRCUIT 22 18 22 9 ARM CIRCUIT 22 20...

Страница 79: ...edition June 2013 SK210LC 9 YQ13 10001 S5YN2246E01 NA Revision October 2013 SK210LC 9 YQ13 10001 S5YN2246E02 North America Europe 22 HYDRAULIC SYSTEM 22 2 Copyright 2015 Kobelco Construction Machinery...

Страница 80: ...circuits are built up with the following functions and features in order to achieve easy operability safety mass volume handling and low fuel consumption 22 HYDRAULIC SYSTEM 22 3 Copyright 2015 Kobel...

Страница 81: ...8K2075 10 Pilot valve travel YN30V00105F2 11 Inline filter YN50V00020F1 Y 457400 12 Suction strainer LQ50V00004F1 13 Solenoid valve assy YN35V00047F3 8KWE5A 30 14 Filter element YN52V01016F3 FZ1F183S0...

Страница 85: ...s transformed to the rise of output voltage corresponding to the pressure input by the low pressure sensor Mechatro controller signal processes this change of voltage resulting in rise of command curr...

Страница 86: ...TRAL CIRCUIT Positive control function at safety lock lever down unlocked position 22 HYDRAULIC SYSTEM 22 9 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsC...

Страница 87: ...PCb and PCa ports switches the unloading spool in CLOSE side 22 5 2 2 SPEED TRAVEL SOLENOID COMMAND CIRCUIT AND AUTO 1st SPEED RETURN FUNCTION 1 Purpose Change travel motor speed with switch 2 Princip...

Страница 88: ...22 TRAVEL CIRCUIT Travel 2nd speed RH LH simultaneous operation 22 HYDRAULIC SYSTEM 22 11 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCshWbYs...

Страница 89: ...in STD specification travel bucket swing arm proportional voltage from low pressure sensor inputs in mechatro controller and then the engine speed returns to the dial set position corresponding to the...

Страница 90: ...Bucket digging Travel straight conflux Auto accelation and Standby flow rate constant control 22 HYDRAULIC SYSTEM 22 13 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN004...

Страница 91: ...ircuit and parallel circuit Since P1 unloading valve is closed the boom spool is moved and bypass circuit is closed the oil opens load check valve LCb through parallel circuit and flows into boom spoo...

Страница 92: ...22 BOOM CIRCUIT Boom up operation Confluence function 22 HYDRAULIC SYSTEM 22 15 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCshWbYs...

Страница 93: ...ver is at neutral the drain line on the lock valve CRb poppet spring chamber is closed which causes the poppet closed The result is that the oil returning from the boom cylinder head H to the boom spo...

Страница 94: ...22 BOOM CIRCUIT Boom down operation Prevention of natural boom falling 22 HYDRAULIC SYSTEM 22 17 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCshWbYs...

Страница 95: ...leased if the swing parking solenoid is de excited only when the secondary operating pressure in the swing and arm in actions acts upon any of the low pressure sensors SE 5 7 3 The swing parking solen...

Страница 97: ...nd is flowed into arm 1 spool 2 On the other hand P1 pump delivery oil flows in P1 port of C V 2 and the flows in travel straight section and travel right tandem path Then because arm 2 spool was swit...

Страница 98: ...CUIT Arm in Light load operation Arm variable recirculation Anti cavitation function 22 HYDRAULIC SYSTEM 22 21 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109...

Страница 99: ...ion and reduce rod pressure 3 Operation 1 P2 pump delivery oil flows in the travel left section through P2 port of C V 2 and branched off in by pass circuit and parallel circuit Consequently the arm s...

Страница 100: ...M CIRCUIT Arm in Heavy load operation Arm confluence recirculation cut function 22 HYDRAULIC SYSTEM 22 23 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCsh...

Страница 101: ...ows through arm 1 spool and confluences with P1 delivery oil opens lock valve of arm lock valve CRar with free flow and is flowed into arm cylinder rod R side through Ba port of C V 2 3 On the other h...

Страница 102: ...22 ARM CIRCUIT Arm out operation Confluence function 22 HYDRAULIC SYSTEM 22 25 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCshWbYs...

Страница 103: ...P2 tandem circuit and travel straight spool 2 The delivery oil flowed into P1 parallel circuit of P1 pump opens check valve CP1 and LCb and flows in boom spool which exerts on boom up operation The d...

Страница 104: ...BINED CIRCUIT Boom up Travel forward 1st speed operation Travel straight function 22 HYDRAULIC SYSTEM 22 27 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsC...

Страница 105: ...pressure flowing to arm cylinder and give a priority of the delivery of P2 pump to swing operation 3 Operation 1 The swing main circuit operates with P2 pump flow But on P2 pump circuit side the flow...

Страница 106: ...22 COMBINED CIRCUIT Swing Arm in operation swing priority function 22 HYDRAULIC SYSTEM 22 29 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCshWbYs...

Страница 107: ...mp flow rate to the minimum 2 Unloading proportional valves PSV D PSV B output secondary pressure and the secondary pressure flows in PCb PCa ports of C V 2 and switches the P1 P2 unloading valves to...

Страница 108: ...22 PRESSURE DRAIN RELEASE CIRCUIT At pressure release mode 22 HYDRAULIC SYSTEM 22 31 Copyright 2015 Kobelco Construction Machinery Co Ltd All rights reserved S5YN0046E03 0109CsCshWbYs...

Страница 110: ...PERATORS CONTROLS 23 33 23 5 5 UPPER ELECTRIC ASSY 23 35 23 5 6 UPPER HARNESS ASSY 23 36 23 5 7 UPPER HARNESS ASSY FLOOR PLATE 23 70 23 5 8 HARNESS ASSY REAR CAMERA 23 88 23 5 9 HARNESS ASSY OVER LOAD...

Страница 111: ...edition June 2013 SK210LC 9 YQ13 10001 S5YN2346E01 NA Revision October 2013 SK210LC 9 YQ13 10001 S5YN2346E02 North America Europe 23 ELECTRICAL SYSTEM 23 2 Copyright 2015 Kobelco Construction Machiner...

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