SD-CT OFF-ROAD SYSTEM ELECTRONIC TRACTION CONTROL

S D -C T O F F -R O A D S Y S T E M

E L E C T R O N IC T R A C T IO N C O N T R O L

T E C H N I C A L C A T A L O G

Methodology :

This document is intended for manufacturers of machines that incorporate Poclain Hydraulics products. It describes the technical characteristics of Poclain Hydraulics products and specifies installation conditions that will ensure optimum operation.

This document includes important comments concerning safety. They are indicated in the following way:

This document also includes essential operating instructions for the product and general information. These are indicated in the following way:

The views in this document are created using metric standards.

The dimensional data is given in mm and in inches (inches are given in brackets in italic) Safety comment.

Essential instructions.

General information .

Information on the model number.

Weight of component without oil.

Volume of oil.

Units.

Tightening torque.

Screws.

Information intended for Poclain-Hydraulics personnel.

CONTENT

Acc esso ries Cha rac te ristic s In st allatio n

CHARACTERISTICS 4

Foreword 4

Operating principles 5

System main characteristics 6

Diagram of working principles 7

ACCESSORIES 8

SD-CT-200 8

SmartDrive™ CT input characteristics 11

SmartDrive™ CT output characteristics 13

Male connector communication 14

Main connectors 15

SD-CT cable 17

Traction control (in-line) valve 18

Traction control (flanged) valve 20

2-pin AMP Timer Junior connector 22

Speed sensor T4 23

4-pin M12 cable 25

SD-CT-200 Identification 26

List of SD-CT Off-Road system components 27

INSTALLATION 29

Parameters 33

Appendix 37

CHARACTERISTICS

FOREWORD

Hydrostatic transmissions have an inherent differential function. As consequence, the maximum torque which can be transmitted to drive wheels supplied by one pump is limited by the wheel with the poorest adhesion. Loss of adherence can cause loss of control or immobilization of the vehicle, premature tire wear, excess fuel consumption or damage to the ground.

The SD-CT Off-Road System from Poclain Hydraulics provides complete control of wheel speed, thus preventing such problems.

It consists of the following components:

Regulating computer

Set-up / calibration / diagnostic by computer

Wheel speed sensor

Turn sensor - not supplied by Poclain Hydraulics.

Flow control valve

Acc esso ries

In st allatio n

OPERATING PRINCIPLES

The speed sensors incorporated in the hydraulic motors continuously measure the rotation speed of each powered wheel. The regulating computer compares those speeds and if necessary reduces hydraulic flow to the wheel which is slipping. (by means of a regulating valve).

SD-CT Off-Road System standard configuration

In the standard configuration of the Off-Road System the double regulating valves are located on the hydraulic motor supply lines.

On a flat surface

Example of a four drive wheel machine running on a flat surface in a straight line, in perfect conditions (perfect adherence, identical tire rolling circumference…):

• Pressures at P, P1 and P2 are equal;

• Flow Q = Q1 + Q2;

• The rotation speeds of the wheels number 1 and 2 are the same.

If the wheel number 1 loses adherence :

The overall circuit pressure falls to the one dictated by wheel number 1, which is slipping;

• Flow Q1 becomes greater than Q2;

The rotation speed of wheel n°1 increases and the one of wheel number 2 falls to zero speed.

If there is no traction control, this will cause the machine to stop.

The SD-CT Off-Road System controls wheel speeds by varying the flow (of wheels supply) within the double regulating valve (1). It reduces flow Q1 and increases the pressures P and P2 to provide machine traction and prevent wheel skid consequences. When all the wheels have reached the same rotation speed, the double regulating valve (1) opens completely. It will only close if a difference in wheel speed occurs again.

This control system operates continuously. The regulating mechanism comes into play only in accordance with the parameters which have been set by the machine manufacturer.

When traveling down a slope

The system works on the flat surface as well as up or down grades. For machines which need to operate on slopes in excess of 20%, the following configuration is recommended by Poclain Hydraulics.

Steep slope circuit:

For machines which have to work on steep slopes (e.g. grape-harvesters, post emerge sprayers) the double regulating valve is installed on the return circuit of the front wheel. The system will then limit the return flow from the front motors and control the speed of the machine on the slope.

Turn detection

The SD-CT Off-Road System operates also during turns. It detects the machine's turning direction (to the right, to the left or straight on) by means of a turn detector and either disable the regulation or corrects the flow to the wheels depending on the steering geometry.

This detection can be the continuous type (using a potentiometer) which can calculate theoretical wheel speeds throughout the turn Unlike traditional flow dividers the system engages ifself

only when wheel slip occurs. Only one pump is required for a vehicle with two or more drive wheels.

SYSTEM MAIN CHARACTERISTICS

Examples of parameters

Mechanical parameters specific to the machine

• Wheel circumference, type of the turn detection, Turn angle, wheel track, etc…

• Parameters setting according to the application (3 levels of access authorization : user, manufacturer, expert)

• Regulation activation, minimum and maximum action speed, number of wheel to regulate, etc…

Description Characteritics

Number of wheels controlled by the system 2 to 4

Number of steering wheels or articulated machine 2 to 4

Number of wheels controlled by one valve 1 to 2

Maximum flow regulated per wheel 50 l/mn [13.2 GPM]

Maximum flow without regulation per wheel 120 l/mn [31.7 GPM]

Maximum turn detectors range ± 90°

Supply voltage 12 VCC

24 VCC

Hydraulic circuit maximum pressure 450 bar [6500 PSI]

Type of use High pressure (heavy duty)

Operation temperature -40 °C à 85 °C [-40 °F to 185 °F]

Oil temperature -10 °C à 100 °C [14 °F to 212 °F]

Features

Traction control of each wheel by the electro-hydraulic system Digital measurement of wheel speed (possible use of CAN bus) Steering angle measurement (optional sensor)

Poclain Hydraulics offers the hydraulic antiskid system TwinLock™, synchronized transmission system using torque transfer.

Acc esso ries

In st allatio n

DIAGRAM OF WORKING PRINCIPLES

The SD-CT Off-Road System consists of the following components:

(a)One control regulating computer dedicated to the traction control system;

(b)One double regulating valve providing regulation of the input flow of the two motors on the same axle;

(c)1 or 2 turn detectors (potentiometer or On/Off sensor);

(d)One speed sensor which must be installed on each regulated motor;

(e)Switch (on/off), operation warning light, speed display…

To obtain optimum traction control in turns

Poclain Hydraulics recommends to use a potentiometer turn detector.

Poclain Hydraulics motors combined with the SD-CT Off- Road System must be equipped with speed sensor or speed sensor predisposition.

Front right Rear right

Front left Rear left

ACCESSORIES

SD-CT-200

SmartDrive™ CT controller characteristics

Contact your Poclain Hydraulics sales engineer for all adaptations.

Commercial name SD-CT-200

Part number A46841P

Operating voltage 8 V to 32 V

Operating temperature - 40°C to 85°C [-40 °F to 185°F]

Overall dimensions See below

Material - Aluminum AISi₉Cu₃ (Box)

- PA66 plastic with 20% of fiberglass (cap) - Silicon (seal)

Mass 1,270 kg ±10%

[2,76 lb] ±10%

Mounting 4 x Ø 7 mm

4 x [0.275" dia.]

Controller Ingress Protection with counterpart connectors

mounted IP 67 (according to EN60529 oct 1992)

Max. quiescent current consumption (ignition switched off) 5 mA

12V system max current 35,4 A

24V system max current 17 A

Maximum usage profile:

12V System:

(Supply voltage 16V) - 6 HSD PWM outputs 400Hz, 95% 8 Ω loads - 4 HSD digital outputs on, 6.15 Ω loads 24V System:

(Supply voltage 32V) - 6 HSD PWM outputs 400Hz, 95% 32Ω loads - 4 HSD digital outputs on, 32Ω loads

Performance level Capacity to reach PL d level according to ISO13849:2015 standard

Mean Time To Failure (MTTF) 85,1 years (ambient temperature of 40°C [104°F]) with operating profil of 11,87%

(4 hours per day, 5 days per week, 52 weeks per year)

Mean Time To Dangerous Failure (MTTFd) 224.2 years

Diagnostic Coverage (DC) 90,9% (medium)

Category 2

Electrical protection Over-voltage, reverse polarity, ground and battery short circuit

Microcontroller One 32 bits microcontroller and one 8 bits microcontroller

ECU programming Programming with a PC using the PHASES™-CT software application

ECU set-up Set-up with the software PHASES™-CT

Universal inputs (UN) 9

Analog inputs (AN) 11

Frequency inputs (FIN) 5

Wake-Up Input (WUI) 1

Ground sense input (GND_SENSE) 1

HSD PWM 2A outputs 6

Accessories

Cha rac te ristic s In st allatio n Environmental performances

ESD and EMC:

Electromagnetic compatibility of vehicles is required by European Union. The vehicle manufacturers have to submit a technical file or a sample of their machine at a qualified service center certification.

The SmartDrive ™ CT controller passed with success the electromagnetic compatibility tests of electronic sub-assembly.

Overall dimensions of the Smart Drive™ CT controller

For any information request concerning qualification tests (steady state,transient,climatic,mechanical,corrosive atmos- phere, ESD and ECM) , Contact your Poclain Hydraulics sales engineer.

Type Standard Parameters

EC marking 2004/108/EC

Electro-Magnetic Compatibility EN/ISO14982:2009 Agricultural and forestry machines

Electro-Magnetic Compatibility EN13309:2010 Construction machines

Electro-Magnetic Compatibility EN12895:2000 Forklifts

E marking 2004/104/EC Automotive EMC directive

On demand Poclain Hydraulics will deliver list and severity levels of EMC tests.

1 9

26 34

1 7

20 26

2 x Ø 7 [dia. 0.27]

43,5 [1.71] 12,7 [0.50] 56 [2.20]

180,4 [7.10]

221,8 ± 0,7 [8.73 ± 0.03] 236,2 [9.30]

144 ± 0,5 [5.67 ± 0.02]

Installation

Fitting the controller

The controller must be fixed on a rigid support. Make sure that there is enough space to fit the connector (min. 65 mm [min. 2.56 in]).

The controller shall be preferably mounted in vertical position (connectors at the bottom) to enhance ventilation and avoid dust accumulation on cooling fins.

The controller's housing has to be connected to the ground (chassis) of the vehicle and to be installed on a flat surface (flatness of 0,5/

100x100mm [3.94x3.94 in]).

Machine wiring recommendations

• All the cables must be encased in flexible metal or plastic sleevings;

• All cables or sleevings must be held well in place and locked in to prevent pull-out;

• Bring the sleeving supports close together;

• The sleevings must be able to slide into the anchoring;

Screw (X4): M6 Nut (x4): M6 Shim (x4) : M6 Tightening torque: 6 Nm

Top

Bottom

Accessories

Cha rac te ristic s In st allatio n

SMARTDRIVE™ CT INPUT CHARACTERISTICS

Universal inputs (UN) Inputs are software selectable as:

• 0-32V measurement

• 0-5V measurement (UN 01 to 08)

• Digital High Side switch

• Digital Low Side switch

The selection of the configuration is done individually from input UN01 to UN08 and by group of 4 for the other inputs. These inputs are protected against short circuits to ground, battery and negative voltage up to-1V.

0-32V measurement configuration

Input range 0 to 32V

Input resistance > 11,9 kΩ from UN01 to UN08 > 20,3 kΩ from UN09 to UN15

Resolution 12 bits

Sampling rate 1 kHz

Full scale accuracy ±5,5%

0-5V measurement configuration

Input range 0 to 5V

Input resistance 100 kΩ

Resolution 12 bits

Sampling rate 1 kHz

Full scale accuracy ±2,1%

Digital High Side configuration

Input range 0 to 32V

Threshold adjustable by software Default values:

- Low level switchingthreshold : 3V - High level switching threshold : 6 V

Switch current 10,8 mA from UN 01 to 08

9,8 mA from UN 09 to 15 Digital Low Side configuration

Input range 0 to 32V

Threshold adjustable by software

Default values:

- Low level switchingthreshold : 3V - High level switching threshold : 6 V

Switch current 8,4 mA

Input at 0V,supply voltage at 28V

Analog inputs (AN)

These inputs are populated to perform 0-5V measurement.

These inputs are protected against short-circuit to ground and battery and negative voltage until -1V.

0-5V measurement configuration

Input range 0 to 5V

Input resistance 100 kΩ

Resolution 12 bits

Sampling rate 1 kHz

Full scale accuracy ±2,1%

Frequency inputs (FIN) Inputs are software selectable as:

• Open Collector PNP VBAT voltage frequency measurement

• Open Collector NPN VBAT voltage frequency measurement

• Open Collector NPN 0-5V voltage frequency measurement (FIN_01 only) Selection is made individually for each input.

These inputs are protected against short-circuit to ground and battery and negative voltage until -1V.

OC PNP VBAT voltage frequency measurement configuration:

Input range 0,1 Hz to 30 KHz

0 to 32V

Switch current 9,6 mA input to 28V

Trigger levels Low 2V

High 3,8V

Compatible with sensors supplied with 0- VBAT and 0-5V

Accuracy (Hz)

OC NPN VBAT voltage frequency measurement configuration:

Input range 0,1 Hz to 30 KHz

0 to 32V

Switch current 9,3 mA Input at 0V, battery voltage at 28V

Trigger levels Low 2V

High 3,8V

Compatible with sensors supplied with 0- VBAT and 0-5V

Accuracy (Hz)

OC NPN 0-5V voltage frequency measurement configuration:

Input range 0,1 Hz to 30 KHz

0 to 5V

Switch current 4,5 mA Input at 0V

Trigger levels Low 2V

High 3,8V

Compatible with sensors supplied with 0- VBAT and 0-5V

Accuracy (Hz)

Wake-up input (WUI)

This input allows to wake up or sleep the controller.

It has to be connected after ignition key (see supply wiring schematic page 33).

A voltage from 8V to 32V wakes up the controller.

A missing voltage sleeps the controller.

Ground sense input (GND_SENSE)

± ^Frequency

Frequency _ 1

1 +10^-6

± ^Frequency

Frequency _ 1

1 +10^-6

± ^Frequency

Frequency _ 1

1 +10^-6

This input must be wired together with the other ground signals to a unique point.

As soon as GND_SENSE signal will be disconnected, the controller will de-activate all its outputs.

Accessories

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SMARTDRIVE™ CT OUTPUT CHARACTERISTICS

PWM and digital outputs are protected against short-circuit to ground / over-current and battery, over-temperature and under- voltage.

LSD outputs are protected against short-circuit to battery and over-temperature.

Sensor supply 5V output is protected against short-circuits to battery and ground and over-temperature.

PWM outputs 2A

These outputs can be configured in PWM mode and current control.

Description

DC voltage (ON state) >(Battery voltage - 1V)

DC current 2 A max.

PWM frequency 100 to 400 Hz

PWM duty cycle 0% or 5 to 100%

Resolution of 0,4%

Digital outputs 2,6A Description

DC voltage (On state) >(Battery voltage - 1V)

DC current 2,6 A max.

Digital outputs 2A Description

DC voltage (On state) >(Battery voltage - 1V)

DC current 2 A max.

LSD outputs 5,2 A Description

DC voltage (On state) 1V max.

DC current 5,2 A max.

LSD outputs 4 A Description

DC voltage (On state) 1V max.

DC current 4 A max.

Sensor supply 5V output Description

DC voltage (On state) 5V ±4%

DC current 400 mA max.

Communication

SmartDrive™ CT controller has 3 CAN standard 2.0A or extended 2.0B buses, whose speed can reach 500kb / s max.

CAN 1 is used for downloading, diagnostic and communication with other Poclain Hydraulics components.

CAN 2 is used to receive information coming from machine.

CAN 3 is only used for communication with engine.

CAN 3 offers the ability of wake up by CAN bus.

LED

Controller in sleep mode: the led is off.

Controller is operational : the led flashes.

MALE CONNECTOR COMMUNICATION

Mounting tools for the connector

This connector has to be present on the machine to permit SmartDrive™ CT maintenance.

Commercial name KIT-CONNECT-COM-M-SD-CT

Part number Poclain Hydraulics A48693C

Function Diagnosis and download the software embedded in the SmartDrive ™ CT controller via CAN bus

Compatibility Electronic transmission management with SmartDrive™ CT controller

Manufacturer DEUTSCH

Features Référence

Components

1x Receptacle HD10-9-1939PE

1 x Closing cap HDC9-JDL082397

1 x Gasket HD10-9-GKT

7 x pins 0460-202-1631 (AWG16-20)

4 x Stoppers 114-017

Operating temperature For the connector: -55°C to 125°C [-67°F to 257°F]

For the gasket: -57°C to 107°C [-70.6°F to 224.6°F]

Ingress Protection IP67

Wire section 0,5 to 1.0 mm² [0.019 to 0.039 in²] (16, 18, 20 AWG)

Insulation diameter 1,35 to 3,05 mm [0.053 to 0.12 in]

Description AMP reference

Crimpers HDT-48-00

Extractor 0411-310-1605

Accessories

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MAIN CONNECTORS

Mounting tools for the connector

Characteristics SD-CT-200

Commercial name KIT-CONNECT-SD-CT-200

Poclain Hydraulics part number A48149L

Function SmartDrive™ CT controller's Counter-part connectors

Compatibility Electronic transmission management with SmartDrive™ CT controller

Component AMP reference

Connector A 1473416-1 x1

Connector B 4-1437290-1 x1

Sockets 3-1447221-3 x65

Stoppers 4-1437284-3 x50

Wire section 0,75 to 1,25 mm² [0.00116 to 0.00194 in²]

Insulation diameter for wire section 0,75 to 1,25 mm² [0.00116 to 0.00194 in²] :

1,6 to 2,4 mm [0.063 to 0.094 in]

Operating temperature -40°C to 85°C [-40°F to 185°F]

Ingress Protection IP67

Description AMP reference

Crimpers 1454509-1

Connector B

Connector A

Overall dimensions

Connector A: 1473416-1 Connector B: 4-1437290-1

Socket:3-1447221-3

Stopper: 4-1437284-3

34,55 [1.36] 18,1 [0.71]

32,2 [1.27]

34,55 [1.36] 18,1 [0.71]

38,2 [1.50]

33,2 [1.31]

9,7 [0.38]

Ø 3 [dia. 0.12]

Accessories

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SD-CT CABLE

Commercial name CABLE-SD-CT-200-60-5000

Part number A48878D

Function Connect SmartDrive™ CT ECU to the machine wiring and have a male communication connector.

Compatibility Transmission management with SmartDrive™ CT ECU.

Features

Length of cable 5m

Operating temperature - 40°C to 85°C [-40 °F to 185°F]

Ingress protection IP67 according to IEC 60529

Number of wires 60

Wire section 0,75 mm² [0.029 in²] for signals

1 mm² [0.039 in²] for VBAT_P and power outputs 1,25 mm² [0.049 in²] for VBAT_D1, VBAT_D2 and -VBAT

Insulation diameter 1,6 to 2,2 mm [0.063 to 0.086 in]

Each wire is numbered with locating pin and connector.

For the CAN bus, the identification is performed by the cable bus number.

Dimensions

The non used wires should be individually insulated because of possible voltage.

200 ± 20 [7.87 ± 0.79]

5000 ± 100 [197 ± 3.94]

300 ± 10 [11.82 ± 0.40]

1000 ± 20 [39.36

± 0.79]

SD-CT-200 (SD-CT-300)

TRACTION CONTROL (IN-LINE) VALVE

Flow / voltage Q < 20 l/min [5.2 GPM] 20 [5.2 GPM] < Q < 50 l/min [13.2 GPM]

12 V 24 V 12 V 24 V

Commercial name VMA-020-T1-12-00 VMA-020-T1-24-00 VMA-050-T1-12-00 VMA-050-T1-24-

00

Part number 004843325J 004843348J 004843326K 004843347H

Function Proportional Flow Control Valve used to regulate a control wheel slip Compatibility Electronic transmission management

Hydraulic symbol

Pressure loss

P bar P [PSI]

Accessories

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Installation

• Block position when fixing Horizontal.

• Chassis fixing

Ref. Quantity Class N.m [lb.ft] ± 10 % (as per standard DIN 912)

M 10 2 8.8 49 [36]

Motor and valve drain piping must be connected directly to the tank.

Hydraulic connections

Port Function Connection

Max pressure

bar [PSI] N.m [lb.ft] ± 10 %

P HP connection Bride DN 25 PN 400 450 [6000] 90 [66]

A-B HP connection M 27 x 2 450 [6000] 200 [148]

F Drain M 14 x 1.5 1 [14] 45 [33]

G LP supply M 14 x 1.5 15 [217]  P < 30 [435] 45 [33]

1

TRACTION CONTROL (FLANGED) VALVE

Flow / voltage Q < 20 l/min [5.2 GPM] 20 [5.2 GPM] < Q < 50 l/min [13.2 GPM]

12 V 24 V 12 V 24 V

Commercial name VMA-020-F0-12-00 VMA-020-F0-24-00 VMA-050-F0-12-00 VMA-050-F0-24-00

Part number 004843327L 004843350L 004843328M 004843349K

Function Proportional Flow Control Valve used to regulate a control wheel slip Compatibility Electronic transmission management

Hydraulic symbol

Pressure loss

P bar P [PSI]

Accessories

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Installation

Block position when fixing Horizontal.

Make sure that the mounting face is clean with no grease.

Remove the protective plate.

Make sure that the O-rings are correctly positioned.

Install the valve on the mounting face with the help of the lug.

Chassis fixing

Quantity Class N.m [lb.ft] ± 10 % (as per standard DIN 912)

M12 4 8.8 86 [63.5]

Hydraulic connections

Port Function Connection Max pressure

bar [PSI] N.m [lb.ft] ± 10 %

P HP connection Bride DN 25 PN 400 450 [6000] 90 [66]

A-B HP connection M 27 x 2 450 [6000] 200 [148]

F Drain M 14 x 1.5 1 [14] 45 [33]

G LP supply M 14 x 1.5 15 [217]  P < 30 [435] 45 [33]

M1-M2 Pressure measurement M 14 x 1.5 0  P < 20 bar [290] 45 [33]

Electrical connections on E1 and E2:

Motor and valve drain piping must be connected directly to

2-PIN AMP TIMER JUNIOR CONNECTOR

Commercial name VMA CONNECTOR VALVE KIT

Part number 007142206S

Compatibility

In-line valve Flanged valve

Manufacturer's references

Manufacturer AMP

Contacts 927 846 - 2

Body connector 827 551 - 3

Wire section 0.5 to 1 mm²

Insulation diameter 1.4 to 2.1 mm

Connector mounting

1.

Strip 5 mm [0.19 in] of insulation off the cables. Crimp the lugs (001051611F) onto the cables using an AMP CERTI-LOCK 169400 tool. Protect the connection with heat-shrink tubing (A), or Rislon fixed plastic tubing.

2. Refer to your general wiring diagram, inserting each lug into its housing until it clicks into place.

Layout

Accessories

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SPEED SENSOR T4

Commercial name T4 SENSOR 12-44 T4 SENSOR 12-53 T4 SENSOR 12-62

Part number A22082C A22083D A22084E

Lenght L(*) 44 [1.73] 53 [2.09] 62 [2.44]

Function Detect movements : rotation speed

Compatibility Electronic transmission management

(*) : According to the size of the motor, consult your Poclain Hydraulics sales engineer

Features

Maximum range 1.15 mm [0.045’’]

Supply voltage 8 - 30 V

Current consumption 20 mA max.

Output type - 1 push-pull square frequency signal

- Maximum load current: 20 mA - Voltage at low state: < 1.5 V

- Voltage at high state: > (power supply voltage - 3.5 V)

Frequency range 0 to 15 kHz

Operating temperature - 40°C to + 125°C [- 40°F to 257°F]

Protection rating IP68 (sensitive side) / IP67 (connector side)

Material Stainless steel

Electrical protection Reverse polarity

Signals are not protected against short circuit to ground or supply.



Layout

Installation

Disconnecting the accessories and speed set up

In the case of motors predisposed to speed, the existing shutter needs to be removed and eliminated before installing the sensor and its attachment device.

To install the sensor, see the ''Installation guide'' brochure No. B61352L.

Connection of the speed sensor Remove the plastic plug on the connector.

Function Pin number

Power supply 1

Not present 2

Ground 3

Square frequency signal 4

For the connection of connectors, please refer to the connection table and the general cabling plan contained in the installation brochure for your transmission.

Cables for Speed Sensors T4 connection

Sales Code Item Code

ELEC-CABLE-M12-180°-5000 A07468S

ELEC-CABLE-M12-90°-5000 A04999J

Accessories

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4-PIN M12 CABLE

Commercial name ELEC-CABLE-M12-180°-5000 ELEC-CABLE- M12-90°-5000

Part number A07468S A04999J

Compatibility

Speed sensor, digital sensor and temperature sensor.

Features

Lenght of cable 5 m

Material PUR

Number of wires 4

Sections of wires 0.34 mm²

Protection IP68

Layout 180° 90°

Connector Mounting

Securely hand tighten the cable's ring to sensor connector M12.

Electrical wiring

Pin Wire

1 Brown

2 White

3 Blue

4 Black

1 2 3 4

SD-CT-200 IDENTIFICATION

A : Commercial name e.g. SD-CT-200 B : Part number and update:

e.g. A46841P

C : Serial number (Shop number):

e.g. 925198745365874

D : Number of chronological order (2 digits for year + 2 digits for week):

e.g. 1344 E : E marking number

The part number must be given for all replacement part orders.

SD-CT-XXX AXXXXXX

YYWW

9XXXXXXXXXXXXXX

ACXXXXXX ind APH 42-23-3 STDX

12/24 Volts

E

I0R-04 12836

A

B

D

E C

Accessories

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LIST OF SD-CT OFF-ROAD SYSTEM COMPONENTS

System study

To simplify the integration of Poclain Hydraulics components into your system, our sales engineers investigate your specific needs.

Commercial code Part number

Regulating computer SD - CT - 200 A46841P



Main connector KIT-CONNECT-SD-CT-200 A48149L



SmartDrive^TM CT200 cable (5 m) CABLE-SD-CT-200-60-5000 A48878D



Communication connector KIT-CONNECT-COM-M-SD-CT A48693C



Pack connector with:

4x connector kit VMA valve 2x connector kit rotary potentiometer 1x main connector kit SD-CT-200 1x male communication connector kit

KIT-CONNECT-CT200-OFFROAD B11664C



PHASES-CT software PHASES-CT B29588K



In-line valves



Q < 20 l/min [5.2 GPM] 12V VMA-020-T1-12-00 004843325J



Q < 20 l/min [5.2 GPM] 24V VMA-020-T1-24-00 004843348J



20 [5.2 GPM] < Q < 50 l/min [13.2 GPM] 12V VMA-050-T1-12-00 004843326K





Flanged valves



Q < 20 l/min [5.2 GPM] 12V VMA-020-F0-12-00 004843327L



Q < 20 l/min [5.2 GPM] 24V VMA-020-F0-24-00 004843350L



20 [5.2 GPM] < Q < 50 l/min [13.2 GPM] 12V VMA-050-F0-12-00 004843328M





Regulating valve connector Kit connecteur valve VMA 007142 206S



Speed sensor

T4 SENSOR 12-44 A22082C



T4 SENSOR 12-53 A22083D



T4 SENSOR 12-62 A22084E



M12 cable for speed sensor ELEC-CABLE-M12-180°-5000 A07468S



ELEC-CABLE-M12-90°-5000 A04999J



Digital sensor (wire) DETECTEUR TOR M18 CABLE 003241160A



Digital sensor (connector) DETECTEUR TOR M18 CONNECT 003241159Z

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M12 cable for digital sensor (connector) ELEC-CABLE-M12-90°-5000 A04999J

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ELEC-CABLE-M12-180°-5000 A07468S

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Commercial codes and part numbers may change during the lifetime of the system. To have the latest update, please, contact Poclain Hydraulics.

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INSTALLATION

Machine safety recommendations

Before installation

• Be sure that the hydraulic system power source (engine) is stopped and that the battery is disconnected.

• Do not proceed to installation on a hot or pressurized hydraulic system (accumulators must be purged).

During installation

• Some hydraulic components are very heavy. Secure them with a lifting device of adequate capacity when installing on the machine frame.

• During handling, protect all interface surfaces from shocks (piloting surfaces, studs, ports, connectors, plugs, etc.)

• Ensure cleanliness of piloting and thrust surfaces of components and devices on the chassis before reassembly (no paint).

• Never heat hydraulic fluid, as it may flame at high temperature. Some solvents are also flammable.Do not smoke during installation.

Machine wiring recommendations

• All the cables must be encased in flexible metal or plastic sheaths;

• All cables or sheaths must be held well in place and locked in to prevent pull-out;

• Bring the sheath supports close together;

• The sheaths must be able to slide into the anchoring;

• Avoid mechanical stresses in the cables;

• Do not place the cables or sheaths close to moving or vibrating parts;

• Do not lay the sheaths along sharp angles. Protect them at each bend;

• Avoid laying the sheaths too close to high heat sources;

• Use wires with abrasion-resistant sheaths;

• Use cables that resist temperatures between 85°C and 105°C close to heat sources;

• Separate power cables from control cables;

Pass the cables inside the machine, ensuring as much contact as possible with metal surfaces (steel). This will act as a shield against electromagnetic radiation.

Software installation

To work, your system needs a SmartDrive™CT controller as well as the embedded software that will be loaded onto the controller.

For loading this software:

Poclain Hydraulics or your distributor has sent you the embedded software on a CD-rom, by e-mail or by another means. Use the PC PHASES™ CT software to transfer the application to the SmartDrive™ CT controller.

The machine manufacturer is responsible for safety measures during the installation of our products. They must comply with applicable laws in the country or state.

Place the machine on the wheel blocks.

Set up a safety area.

Observe all personnel safety instructions.

Hot or pressurized hydraulic fluid may cause serious burns &

infections to the human body. Consult a doctor in case of ac- cident.

System setting

Use the PHASES™ CT software to set up the system:

For further information about the PHASES™ CT software application, consult the online help or PHASES™ CT catalogue.

Set-up with the PHASES™ CT software application

• Install the PHASES™ CT software (see installation guide n° A48679M).

• Connect the SmartDrive™ CT controller to the PC by connecting the PC's USB to controller's communication connector (CAN bus link) via cable ..COM-CABLE-SD-CT-300-PC (P/N A48183X), SUBD9 connector with integrated 120Ω termination resistor and adapter

..CABLE-USB-CAN-CONVERTER (P/N A48780W).

We propose two solutions for communicating with the SmartDrive™ CT controller:

For further information, see PHASES™ CT user guide no. A48679M.

These cables are supplied with PHASES™ CT in the B29588K - KIT-CABLE-PHASES-CT kit.

Via the communication connector installed on the machine.

For the wiring of the connector see the table on page 20.

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To machine KIT-CONNECT-COM-M-SD-CT

P/N A48693C

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COM-CABLE-SD-CT-300-PC (P/N A48183X)

CABLE-USB-CAN-CONVERTER (P/N A48780W)

Customer's harness

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Checking the installation before starting up

Checking

• Check that all the valves regulating the wheels hydraulic supply and that the sensors (speed sensor and turn sensor) have been correctly connected to the electrical beam.

• Check the electrical wiring.

Hydraulic circuit

Check that the connection of the following components is in conformity with the hydraulic circuit diagram and with their respective installation and commissioning manuals.

• valves;

• hydraulic pump;

• hydraulic motors.

Via SmartDrive™ CT cable.

The elements to be checked depend on the application of each vehicle. Please remember that each manufacturer is ultimately responsible for checking their machinery at the end of the line.

The pressure drop in the hydraulic motor return circuits must not bring the pilot pressure in the valves below 22 bar [319 PSI].

The valve and motor drain piping must be connected di-

To machine CABLE-SD-CT-200-60-5000 (P/N A48878D)

or

CABLE-SD-CT-300-86-5000 (P/N A48877C)

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COM-CABLE-SD-CT-300-PC

(P/N A48183X) CABLE-USB-CAN-CONVERTER

(P/N A48780W)

PC PHASES™ CT software combined with SmartDrive™ CT

PHASES™ CT enables : Set-up

The settings of the SmartDrive™ CT may need to be changed if there is a change in characteristics or operating conditions.

The PHASES™ CT software manages 3 access levels to settings:

• Service

• Manufacturer

• Expert

The last two levels are restricted to technicians with specific training (access restriced through password).

Downloading

Using a PC and the PHASES™ CT software allows to :

• Download the software to the SmartDrive™ CT;

• Send and retrieve set-up files.

Calibration

The PHASES™ CT software allows to calibrate the minimum, maximum and neutral positions of the sensors installed on the machine in order to optimize the system’s operation.

Diagnostics

The PHASES™ CT software enables the user to download the system's operating data. The data collected is used to identify possible malfunctions.

Study of the system

Our sales engineers will analyze your specific needs to facilitate the integration of Poclain Hydraulics components into your system.

Training

Available on request.

Any modification of the value of a setting must be carried out by a qualified engineer trained by the machine manufacturer. The Poclain Hydraulics technical support team can advise you in defining your settings.

Modifications to the settings may require a new qualification of the machine. If in doubt, contact your Poclain Hydraulics sales engineer.

For further information, see PHASES™ CT user guide no. A48679M.

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PARAMETERS

Summary chart

Machine characteristics Wheels

Front Wheel Circumference Rear Wheel Circumference

Front wheel’s number of impulsion per revolution Number of holes Rear wheel’s number of impulsion per revolution Number of holes

FL wheel present Wheel’s presence

FR wheel present Wheel’s presence

RL wheel present Wheel’s presence

RR wheel present Wheel’s presence

Speed sensor type for wheel sensors

(0=Push/Pull, 1= Pull up, 2= Pull down) Define the speed sensor type used in the wheels Machine performance

Offroad allowance Offroad Min Speed Offroad Max Speed Calibration Steering Sensor 1

Voltage when steering wheel is in most left position Complete left turn voltage for steering sensor Voltage when the machine goes straight Straight line voltage for steering sensor Voltage when steering wheel is in most right position Complete right turn voltage for steering sensor Steering Sensor 2

Voltage when steering wheel is in most left position Complete left turn voltage for steering sensor Voltage when the machine goes straight Straight line voltage for steering sensor Voltage when steering wheel is in most right position Complete right turn voltage for steering sensor Steering sensors

Steering Sensors type Front steering sensor type

(DIGITAL=3, CAN=2, ANALOG=1, NONE=0) Steering sensor’s type Rear steering sensor type

(DIGITAL=3, CAN=2, ANALOG=1, NONE=0) Steering sensor’s type Max Turn Radius

Max turn radius FL wheel Maximum turn radius (m) for the front left wheel

Max turn radius FR wheel Maximum turn radius (m) for the front right wheel

Max turn radius RL wheel Maximum turn radius (m) for the rear left wheel

Max turn radius RR wheel Maximum turn radius (m) for the rear right wheel

Off Road Antiskid Offset Computation

Min speed value for max offset, front wheels Average speed when the valve’s offset value is maximum Max speed value for min offset, front wheels Average speed when the valve’s offset value is minimum Min speed value for max offset, rear wheels Average speed when the valve’s offset value is maximum Max speed value for min offset, rear wheels Average speed when the valve’s offset value is minimum

Detailed information

Number of impulsions per revolution

This is the number of holes in the wheel or in the motor. These are the holes used to determine the wheel’s speed, thus is the number of impulsions a very important data for the anti-skid regulation system to work.

FL wheel, FR wheel, RL wheel, RR wheel

These parameters indicate if the vehicle possesses the corresponding wheel. If you set one of these parameters at 1 it will mean that the corresponding wheel does exist. If you set it at 0, it will mean that the vehicle doesn’t have such a wheel. Set at 1 every wheel you want the anti- skid regulation system to work on: of course, for the anti-skid regulation system to work on a wheel, this wheel needs to be equipped with a speed sensor and an anti-skid valve needs to be assigned to it as well.

Offroad min speed, offroad max speed

These parameters allow you to select the minimum and the maximum speeds for the anti-skid system to work. Authorized range is 0 to 15 m/s.

Out of range values shall be rejected. Please keep in mind that, of course, min speed has to be fewer than max speed, otherwise the anti-skid regulation system won’t work.

Steering sensors calibration

These parameters are used to calibrate analog steering sensors if you can’t or don’t want to do it using the PHASES CT’s tab provided.

Authorized range is 0.25 to 4.75V. Out of range values shall be rejected. Please keep in mind the following instructions regarding steering sensors calibration:

• Min voltage < Voltage when the machine goes straight – 1.

• Voltage when the machine goes straight < Max voltage – 1.

• Min voltage will be regarded as the voltage delivered by the steering sensor when it reaches a complete left turn.

• Max voltage will be regarded as the voltage delivered by the steering sensor when it reaches a complete right turn.

Steering sensors type

These parameters allow you to set the steering sensors’ type you’re using on each axle. If you choose 0 (default value) it means that there is no sensor.

If you choose 1 it means the axle is equipped an analog steering sensor. An analog steering sensor sends a voltage in function of the turn it detects. It needs to be calibrated (see 1.2.5) to work properly.

If you choose 2 it means the information on the axle’s turn is sent to the SD-CT by a CAN message.

If you choose 3 it means the axle is equipped with a digital steering sensor. This type of sensor only detects that the vehicle is turning or not. If your vehicle is only equipped with such sensors, off road won’t work when you’ll be turning.

PID Computation

Max action Maximum valve’s action

P Gain D Gain

I Gain to close the valve I Gain to open the valve Valve timers

Time lapse while the valve is closed in case of an adherence-losing wheel down hill

Time lapse while the valve is opened in case of an adherence-losing wheel down hill

Regulation Tresholds

Minimum slip ratio for adherence loss down hill Minimum slip ratio for the regulation to occur

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These parameters are used in the offset computation. The offset is applied to the valve position: it is the command when the machine isn’t skidding. The parameters may differ from an axle to the other. Please refer to the following graph for more precise information:

PID Computation

These parameters allow you to configure the anti-skip regulation. It is indeed a PID regulation. You can configure the gains. Maximum authorized value is 400. You can also configure the maximum authorized action value. By default it is set to 80%.

You might be interest in setting the target value as well. You can do it by modifying the “Minimum slip ratio for the regulation to occur”. 1 means you allow a wheel’s speed to be twice as fast as the average wheel’s speed (+100%), 0.5 means it can be half faster (+50%), and so on. You might want to try and set it at a fewer value than 0: it is not permitted.

Valve Timers

When a wheel loses adherence downhill, the regulation valve will alternately close and open to correct the situation: you can chose for how long it will be close or open with these parameters.

In the meantime, you might want to look at the parameter “Minimum slip ratio for adherence loss downhill”. It is used to determine when a wheel is slower enough than the others to be considered as adherence-losing. It works the same way as “Minimum slip ratio for the regulation to occur” except that it needs to be negative.

Speed Max

Min Offset

Max

Min

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APPENDIX

Electrical wiring

Wiring of the speed sensor of the front left wheel

The speed sensors have to be supplied by the battery voltage (0V +VBAT).

Don’t use the GND pins of the controller to connect the pin 3 (GND) of the speed sensor.

Wiring of the speed sensor of the front right wheel

The speed sensors have to be supplied by the battery voltage (0V +VBAT).

Don’t use the GND pins of the controller to connect the pin 3 (GND) of the speed sensor.

Wiring of the speed sensor of the rear left wheel

The speed sensors have to be supplied by the battery voltage (0V +VBAT).

Don’t use the GND pins of the controller to connect the pin 3 (GND) of the speed sensor.

Sensor supply

GND

Square Frequency signal 1

2

3 GND

4

Not connected

+VBAT

B-29

Sensor supply

GND

Square Frequency signal 1

2

3 GND

4

Not connected

+VBAT

B-21

Sensor supply

GND

Square Frequency signal 1

2

3 GND

4

Not connected

+VBAT

B-30

Wiring of the speed sensor of the rear right wheel

The speed sensors have to be supplied by the battery voltage (0V +VBAT).

Don’t use the GND pins of the controller to connect the pin 3 (GND) of the speed sensor.

Wiring of the Rotary potentiometer 1

The rotary potentiometer must provide a 0,5 - 4,5V signal (error detection).

Wiring of the Rotary potentiometer 2

The rotary potentiometer must provide a 0,5 - 4,5V signal (error detection).

Sensor supply

GND

Square Frequency signal 1

2

3 GND

4

Not connected

+VBAT

A-21

Sensor supply (5V or Vbat)

Signal

AGND

B-23

A-20

Sensor supply (5V or Vbat)

Signal

AGND A-20

B-32

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The digital sensor 1 have to be supplied by the battery supply voltage.

Wiring of the Digital sensor 2

The digital sensor 2 have to be supplied by the battery supply voltage.

Sensor supply

Signal

GND 1

2

3

+VBAT

A-11

GND Brown

Black

Blue

Color Description

Pin

1

2

3

+VBAT

A-16

GND Sensor supply

Signal

GND Brown

Black

Blue

Color Description

Pin

Wiring of TRACTION CONTROL VALVE

Wiring of Power supply and Ground on ECU

Wiring of Antiskid lamp and activation function of the anti-skid

Power supply Valve front left

GND +

-

Connector B -16

GND

Power supply Valve front right

GND +

-

Connector B -3

GND

Power supply Valve rear left

GND +

-

Connector B -4

GND

Power supply Valve rear right

GND +

-

Connector B -26

GND

+VBAT_P +VBAT_D1

ECU

+VBAT_D1 +VBAT_D2 +VBAT_D2

GND_SENSE -VBAT GND

15A

20A

20A

+VBAT_WUI

HSD_DIG_03

GND

HSD_DIG_02 + VBAT

Key switch

Ignition

Input Relay

Failure lamp

Status lamp Connector

A -7 Connector

B -8 Connector

B -9

Connector B -19

Connector B -20

Connector A -1

Connector B -34

Connector A -23

Connector B -7

Connector B -25

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24/11/2020 submitted.

Illustrations are not binding.

The Poclain Hydraulics brand is the property of Poclain Hydraulics S.A.