Users Manual: SN1676-1CB Canbus Control System

Terex Crane
SN1676-1CB
CANBUS CONTROL SYSTEM
USERS MANUAL
OEM Controls Inc.

10 Controls Drive, Shelton CT 06484
203.929.8431
www.oemcontrols.com
OM-17288 for terex.docx
REVISION A 11-23-09
GORFITELLI
TABLE OF CONTENTS
1.0 GENERAL INFORMATION ....................................................................................................... 3
2.0 CANBUS SYSTEM COMPONENTS.............................. ERROR! BOOKMARK NOT DEFINED.
3.0 MECHANICAL INSTALLATION .................................... ERROR! BOOKMARK NOT DEFINED.
4.0 ELECTRICAL INSTALLATION ................................................................................................. 4
5.0 CANBUS MODULE PLACEMENT/SYSTEM WIRING .. ERROR! BOOKMARK NOT DEFINED.
6.0 IDENTIFICATION KEY .................................................. ERROR! BOOKMARK NOT DEFINED.
7.0 HUMAN MACHINE INTERFACE ( HMI ) ................................................................................... 6
8.0 CANBUS LED OPERATION ( BASED ON CIA 303 SPECIFICATION )................................. 11
9.0 USING TDL TO DOWNLOAD APPLICATION SOFTWARE ........... ERROR! BOOKMARK NOT
DEFINED.
10.0 SPECIFICATIONS ......................................................... ERROR! BOOKMARK NOT DEFINED.
11.0 DOCUMENT REVISION HISTORY.......................................................................................... 13
WARNING: It is the purchaser’s responsibility to determine the suitability of any OEM Controls product for an
intended application, and to ensure that it is installed and guarded in accordance with all federal, state, local
and private safety and health regulations, codes and standards.
Due to the unlimited variety of machines, vehicles and equipment on which our controls are used, and the numerous
standards which are frequently the subject of varying interpretation, it is impossible for OEM Controls personnel to
provide expert advice regarding the suitability of a given controller for a specific application. The flexibility of our
products allows us to offer thousands of custom configurations. We can advise you of the various features that are
available and you can examine models to see what meets your needs. We believe our customers’ engineering
departments should be the qualified experts in their own product field. If the product will be used in a safety critical
application, the customer must undertake appropriate testing and evaluation to prevent injury to the ultimate user.
Should you have any questions or if any of the above warning is unclear, please contract OEM Controls at 10 Controls
Drive, Shelton, CT 06484, FAX: 203.929.3867, TEL: 203.929.8431.
CANBus USERS MANUAL Page 2 of 26

Revision E
GJO*11-10-09 per ECR#20041 ORIGINAL
REVISION A 11-23-09
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1.0 System Description

1.1 Right Hand Control
1.1.1 HCJS8M13513 CanBUS controller
1.1.1.1 Left/Right = Main Winch Control
1.1.1.2 Fwd/Rev = Boom Elevation
1.2 Left Handle Control
1.2.1 HCJS8M13514 CanBUS Controller
1.2.1.1 Left/Right = Aux Winch Control
1.2.1.2 Fwd/Rev = Super Structure Rotation
1.3 Foot pedal Control
1.3.1 CFPSM14436 CanBUS Footpedal
1.3.1.1 Heel/Toe = Tele Control
1.4 OCI1-107 Master Module
1.4.1 Master Logic Control and input module
1.4.1.1 The OCI-1 is the core of the OEM CANBus control system. It is
the module that serves as the home for the application software
that determines how each module interacts with the machine
upon which it is installed. The OCI-1 also allows the operator to
make active adjustments as well as monitor the operation of the
entire control system through use of the LCD information panel
and membrane keypad.
1.4.1.2 Human Machine Interface with Display and Membrane Overlay for
display of crane diagnostics and adjustments
1.5 OCO2-101 Proportional Valve Drive Module
1.5.1 Slave control with Current Regulated PWM outputs
1.5.1.1 The OCO-2 is a secondary or “slave” module for the OEM
CANBus control system. The primary purpose for the OCO-2 is
remote, analog and/or digital, outputs with few inputs. This
module provides high current and current regulated PWM, up to 5
Amp, outputs
1.6 ESM1-1 Energy Storage Module
1.6.1 Electronic module to protect the control system against voltage spikes
found in vehicle charging systems

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2.0 Electrical Installation

2.1 Connector Layout ( All Modules )
2.2 Connector Information ( Deutsch Part Numbers )

2.2.1 Connector “A” mates with
2.2.1.1 Deutsch DT06-12SA ( Grey )
2.2.1.2 W12S Wedge ( 1 pc )
2.2.1.3 0462-209-16141 Sockets ( up to 12 pieces )
2.2.1.4 114017 Seal Plug ( for unused connections )
2.2.2 Connector “B” mates with
2.2.2.1 Deutsch DT06-12SB ( Black )
2.2.2.2 W12S Wedge ( 1 pc )
2.2.2.3 0462-209-16141 Sockets ( up to 12 pieces )
2.2.2.4 114017 Seal Plug ( for unused connections )
2.3 Power Supply
2.3.1 Typical Supply Voltage : 8-32 VDC
2.3.1.1 Protection: The OCI Modules can withstand the following
conditions without any permanent damage.
2.3.1.2 Reverse polarity: The VBat and Ground terminals can be
INTERCHANGED
2.3.1.3 Short Circuit: Any Input or Output from the Module can be
shorted to VBat or Ground.
2.3.1.4 Over voltage: The module is able to withstand Transient Voltage
levels per IEC specification 61000-4-5:1995

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2.4 Standard Connections
2.4.1 Input-Output ( I-O ) Connections

2.4.1.1 As part of a machine’s safety system, an “emergency stop
switch”, S1, must be installed in series with all CAN modules
(OCM, OCI, and OCO) power line. The “emergency stop” must
disable the output of the module in the event of a failure.
2.4.1.2 The I-O configuration for your application is controlled by the
Application Software loaded into each CANBus module used in
your system. Consult the I-O sheet associated with your
application for your specific connection. Contact OEM Controls
for the I-O Sheet that maps your application.

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3.0 Human Machine Interface ( HMI )

3.1 The OCI1-107 has an integrated multi segment , two line display with membrane
keys that allow it to be used as the main interface to system controls and
adjustments. The Human Machine Interface ( referred to as the HMI ) will serve as
your window into the application software to allow the operator to monitor or adjust
the following information;
3.1.1 Active Function Being Used
3.1.2 Part Number and Serial Number
3.1.3 Restore the Factory Default Settings
3.1.4 Output Calibrations ( Thresh,Max,Ramp.etc)
3.1.5 I-O Status
3.1.6 CANBus Status

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4.0 User Interface Keys
4.1 Menu
MENU
SELECT
4.1.1 <MENU> enters a new menu screen and/or

4.1.2 <SELECT>s the flashing item.
4.2 Down
----
4.2.1 <MINUS> decreases an adjustable parameter such as ramp time.

4.2.2 <DOWN> selects the previous item in the current menu’s list.
4.3 Up
+
4.3.1 <PLUS> increases an adjustable parameter.
4.3.2 <UP> selects the next item in the current menu’s list.
4.4 Save
SAVE
4.4.1 <SAVE> saves the new data to EEPROM (permanent memory storage).
4.5 Simultaneously pressing <UP> and <DOWN> will reset the HMI to menu screen 0.
----

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5.0 HMI Menu System
5.1 POR menu [ Menu Screen 0 ]
RUN MODE: NORMAL RUN: DRIVE FWD

FUNCTIONS OFF Fn1A 50.5 %
5.2 Part Number and Serial Number
PN: OCI1-103.000
SN: 000000001
5.3 Restore Factory Defaults
RESTORE DEFAULTS RESTORE DEFAULTS

PRESS SELECT
5.3.1 “PRESS SELECT” is blinking.

5.3.2 The above three screens are in the MAIN menu. Use <UP> and <DOWN> to
select one for viewing. Press <MENU> to go to the following screen.
5.4 Top Level selection menu
ADJUST CAN BUS CAN BUS

IO TEST MAIN IO TEST MAIN
5.4.1 “ADJUST” is blinking

5.4.2 Use <UP> and <DOWN> to select one of the menu choices (which will be
flashing) and then press <MENU> to go there.
5.4.3 Press <EXIT> to return to menu screen 0.

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5.5 JS Controller adjustment menus
DRIVE FWD THRESH THRESH

Fn1A 25.5 % Fn1A 25.5 %
5.5.1 [menu screen 10] “DRIVE FWD” is blinking
DRIVE FWD THRESH DRIVE FWD

Fn1A 25.5 % Fn1A 25.5 %
5.5.2 [menu screen 11] “THRESH” is blinking

DRIVE FWD THRESH DRIVE FWD THRESH
Fn1A 25.5 % Fn1A %
5.5.3 [menu screen 12] “the adjustable parameter” is blinking
5.5.3.1 The HMI will enter menu screen 10 if all joystick channels are OFF
(for static adjust)
5.5.3.2 The HMI will enter menu screen 11 if one or more channels are
ON, with the most recently moved joystick’s function selected.
5.5.3.3 The HMI remembers the function (channel and direction) and the
adjustment that was most recently made for ease of use. On
initially powering the OCI-1, channel 1 direction A Threshold is
selected.
5.5.3.4 Use <UP> and <DOWN> to select a flashing item. Use <SELECT>
to select it and go to the next menu screen. Use <SAVE> /
<EXIT> to save an adjustment and return to the previous menu
screen.
5.5.3.5 Use <PLUS> and <MINUS> to adjust a parameter.
5.5.3.5.1 Note – there are customer specified limits to every
adjustment

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5.6 I/O Test menus

5.6.1 These screens are in the IO TEST menu.
5.6.1.1 Pressing <MENU> will cycle through them.
5.6.1.2 When in a given screen, such as AI, use the <UP> and <DOWN>
keys to scroll through all of the system’s input or output signals.
5.6.1.3 Press <EXIT> to return to the top level menu screen.
AI 10 11 12 V
9.99 9.99 9.99
PWM 11 PWM 12 VDD POWER SUPPLY

45.5 % 100.0 % 12.34 Volts
OCI-1 BRAIN OCO-1 MAIN BANK

ID 0 OPERATING ID 102 OPERATING
OCO-1 AUX BANK OCI-1 BUCKET JS

ID 103 OPERATING ID 64 NO DATA
Do35 36 37 38 39 Di11 12 13 14 15
1 1 1 1 0 1 1 1 0 0
5.7 CANBus menus

5.7.1 There is one display screen for each CANopen module in the system.
5.7.2 The first line is a 16-character string (put in by the application engineer)
that identifies the product type and additional information.
5.7.3 The second line shows the CANopen Node ID and the bus status which is
one of ;
5.7.3.1 OPERATING
5.7.3.1.1 normal operation per CiA spec.
5.7.3.2 STOPPED
5.7.3.2.1 stopped per CiA spec
5.7.3.3 PRE-OP
5.7.3.3.1 pre-operational (just powered up) per CiA spec
5.7.3.4 RESET
5.7.3.4.1 just performed a power-on reset per CiA spec
5.7.3.5 NO DATA

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5.7.3.5.1 the module is not communicating
5.8 Restore Factory Defaults

PRESS SELECT
5.8.1 “PRESS SELECT” is blinking.

YES or NO ? YES or NO ?
5.8.2 “NO” is blinking.
5.8.3 Use the <UP> and <DOWN> keys to select YES if you wish to actually
restore all adjustments to their factory default settings. Then press
<SELECT>
5.8.4 If “YES” was selected, you will see the following animated screen.
RESTORING NOW ! RESTORING NOW !

... ...........
5.8.4.1 After this is finished, the HMI will return to menu screen 0.
6.0 CANBus LED Operation ( Based on CiA 303 Specification )

6.1 Each OEM Controls CAN Module has a Bi-Color status LED, usually located between
the Deutsch connectors. This LED provides easy verification that the CANopen bus
is OK, and also allows easy system troubleshooting by illuminating Red, Green, or
Amber ( Red and Green on at the same time )LED’s.
6.2 In many cases, the Bi-color LED will indicate two bits of information. For example, if
the green LED led is on continuously, but the red LED is doing a “double flash”, this
means that the can module is in the operational state, but that a node guard error
has occurred.

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GREEN LED YELLOW LED

FUNCTIONALITY RED LED FUNCTIONALITY
(RUN MODE ERRORS) FUNCTIONALITY (APPLICATION
INDICATION “NMT” (BUS ERRORS) SOFTWARE)
N/A
OFF (BRIEFLY AT POWER UP } NO ERRORS N/A
BLINK TDL MODE
a continuous on/off
series, .2 sec ON PREOPERATIONAL STATE CONFIGURATION ERROR ( SEE SECTION 9 )
and .2 sec OFF
"BUS OFF" ERROR
OPERATIONAL STATE CAUSED BY >255 N/A
ON MESSAGE ERRORS
SINGLE "REDUCED BUS" ERROR
FLASH STOPPED STATE CAUSED BY >96
a .2 sec ON
followed by 1 sec MESSAGE ERRORS N/A
OFF
\DOUBLE
FLASH
.2 sec On,
.2 sec Off,
.2 sec On followed N/A NODE GUARD EVENT N/A
by 1 sec Off HAS OCCURRED
GREEN AND RED - RED AND GREEN - YELLOW AND RED -
REFERENCE ABOVE REFERENCE ABOVE INCORRECT FIRMWARE IN
RESULTS FOR EACH RESULTS FOR EACH "CPU B" ( DUAL CPU
ALTERNATING COLOR COLOR MODULES ONLY )
6.3 When a module is first powered up, it enters the pre-operational state, with a green
blink indication. If there are no CANopen messages within 5 seconds, the module
switches to stopped, with red ON indication.
6.4 One module, usually the OCI-1 “brain”, is also the NMT master (per CiA Standard
301). As long as this module, and one additional module are detected on the
CANopen bus, the system automatically enters the operational state.
6.5 At any time, if a module is powered on (for example, re-started) it will be
automatically set to operational by the NMT master.
6.6 During normal operation, if no CANopen messages are received within 75
milliseconds, the module turns off all of its local outputs. After 1 second, the
module enters the stopped state with red ON indication.
6.7 The OCI-1 provides additional bus information for each CAN module.
6.8 The CiA Standard 301 specifies four states – the 3 above plus initializing which
occurs at power on reset. The OEM CAN modules automatically transition to pre-
operational after reset, per the CiA 301 spec.

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11.0 Installation Drawings

11.1 CFP2M14436

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11.2 HCJS8M13513

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11.3 HCJS8M13514

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12.0 Cable Assembly Drawings

12.1 EPWH/1937

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13.0 System Assembly / Wiring

13.1 SN1676-1CB 1 of 2

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13.2 SN1676-1CB 2 of 2

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14.0 System Schematic

14.1 RT1120 Connection

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15.0 IO Sheets
15.1 HCJS8M13513 Right Controller

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15.2 HCJS8M13514 Left Controller

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15.3 OCI1-107

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15.4 OCO2-101

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16.0 Document Revision History

16.1 Rev A : 11-22-09*GJO

Revision E
REVISION A 11-23-09
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User Notes :

Revision E
REVISION A 11-23-09
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WARNING: It is the purchaser’s responsibility to determine the suitability of any OEM Controls product for an
intended application, and to ensure that it is installed and guarded in accordance with all federal, state, local
and private safety and health regulations, codes and standards.
Due to the unlimited variety of machines, vehicles and equipment on which our controls are used, and the numerous
standards which are frequently the subject of varying interpretation, it is impossible for OEM Controls personnel to
provide expert advice regarding the suitability of a given controller for a specific application. The flexibility of our
products allows us to offer thousands of custom configurations. We can advise you of the various features that are
available and you can examine models to see what meets your needs. We believe our customers’ engineering
departments should be the qualified experts in their own product field. If the product will be used in a safety critical
application, the customer must undertake appropriate testing and evaluation to prevent injury to the ultimate user.
Should you have any questions or if any of the above warning is unclear, please contract OEM Controls at 10 Controls
Drive, Shelton, CT 06484, FAX: 203.929.3867, TEL: 203.929.8431.

Revision E

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Terex Crane

OEM Controls Inc.

1.0 GENERAL INFORMATION ....................................................................................................... 3

2.0 CANBUS SYSTEM COMPONENTS.............................. ERROR! BOOKMARK NOT DEFINED.

3.0 MECHANICAL INSTALLATION .................................... ERROR! BOOKMARK NOT DEFINED.

4.0 ELECTRICAL INSTALLATION ................................................................................................. 4

5.0 CANBUS MODULE PLACEMENT/SYSTEM WIRING .. ERROR! BOOKMARK NOT DEFINED.

6.0 IDENTIFICATION KEY .................................................. ERROR! BOOKMARK NOT DEFINED.

7.0 HUMAN MACHINE INTERFACE ( HMI ) ................................................................................... 6

8.0 CANBUS LED OPERATION ( BASED ON CIA 303 SPECIFICATION )................................. 11

10.0 SPECIFICATIONS ......................................................... ERROR! BOOKMARK NOT DEFINED.

11.0 DOCUMENT REVISION HISTORY.......................................................................................... 13

CANBus USERS MANUAL Page 2 of 26

1.0 System Description

CANBus USERS MANUAL Page 3 of 26

2.0 Electrical Installation

2.2 Connector Information ( Deutsch Part Numbers )

CANBus USERS MANUAL Page 4 of 26

2.4 Standard Connections

2.4.1 Input-Output ( I-O ) Connections

CANBus USERS MANUAL Page 5 of 26

3.0 Human Machine Interface ( HMI )

CANBus USERS MANUAL Page 6 of 26

4.0 User Interface Keys

4.1.1 <MENU> enters a new menu screen and/or

4.2.1 <MINUS> decreases an adjustable parameter such as ramp time.

CANBus USERS MANUAL Page 7 of 26

5.0 HMI Menu System

5.1 POR menu [ Menu Screen 0 ]

RUN MODE: NORMAL RUN: DRIVE FWD

5.2 Part Number and Serial Number

5.3 Restore Factory Defaults

RESTORE DEFAULTS RESTORE DEFAULTS

5.3.1 “PRESS SELECT” is blinking.

5.4 Top Level selection menu

ADJUST CAN BUS CAN BUS

5.4.1 “ADJUST” is blinking

CANBus USERS MANUAL Page 8 of 26

5.5 JS Controller adjustment menus

DRIVE FWD THRESH THRESH

5.5.1 [menu screen 10] “DRIVE FWD” is blinking

DRIVE FWD THRESH DRIVE FWD

5.5.2 [menu screen 11] “THRESH” is blinking

5.5.3 [menu screen 12] “the adjustable parameter” is blinking

CANBus USERS MANUAL Page 9 of 26

5.6 I/O Test menus

PWM 11 PWM 12 VDD POWER SUPPLY

OCI-1 BRAIN OCO-1 MAIN BANK

OCO-1 AUX BANK OCI-1 BUCKET JS

5.7 CANBus menus

CANBus USERS MANUAL Page 10 of 26

RESTORE DEFAULTS RESTORE DEFAULTS

5.8.1 “PRESS SELECT” is blinking.

RESTORE DEFAULTS RESTORE DEFAULTS

5.8.2 “NO” is blinking.

RESTORING NOW ! RESTORING NOW !

6.0 CANBus LED Operation ( Based on CiA 303 Specification )

CANBus USERS MANUAL Page 11 of 26

GREEN LED YELLOW LED