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C C h h a a p p t t e e r 1
r 1 C C O O N N TR
1 1 . .
C C o o nt ntro rol l l l e e r r S S y y s s t t e e m m
1 1 . . 1 1
S S y y s s t t e e m L
m La a y y o o u u t t
Five or seven independent controllers are linked together
Five or seven independent controllers are linked together
by the Controller Area Network (CAN) to communicate with
by the Controller Area Network (CAN) to communicate with
each other to control the truck.
each other to control the truck.
The logic unit is
The logic
unit is the heart
trucks.
trucks.
The configuration of
The configuration of the controller system
two types according to the lifting system.
two types according to the lifting system.
System layout for FC type
System layout for FC type
Contactors
Contactors
Switches
Switches
Display
Display
Key
Key
switch
switch
Direction lever
Direction lever
Accelerator
Accelerator
Right
Right
traction inverter
traction inverter
DSP card
DSP card
Sensors
Sensors
U
U
M
M
V
V
W
W
Right traction motor
Right traction motor
TRO O L L L L E E R R
the heart of the
of the control system
control system for the
the controller system is classified
is classified into
Logic Unit
Logic Unit
Logic card
Logic card
Tra
Traveling contro
veling
control,
l,
Lifting control,
Lifting control,
Safety function,
Safety function,
etc.
etc.
Motor control
Motor control
command
command
FC lever input
FC lever input
Sensing
Sensing
data
data
CAN bus
CAN bus
Left
Left
traction inverter
traction inverter
DSP card
DSP card
Sensors
Sensors
U
U
M
M
V
V
W
W
Left traction motor
Left traction motor
The input unit
The input unit is connected to
The
The output
output unit
unit is is connected
valve assembly.
valve assembly.
for the lift
lift
The inverters and EPS
The inverters and EPS controller are connected to the
motor.
motor.
into
The logic unit is connected to
The logic unit is
Contactor control signal
Contactor control signal
Lift lock solenoid control signal
Lift lock solenoid control signal
Input
Input
unit
unit
Output
Output
Pump inverter
Pump inverter
unit
unit
DSP card
DSP card
FC hydraulic
FC hydraulic
control valve
control valve
assembly
assembly
U
U
M
M
V
V
W
W
EPS
EPS
controller
controller
Pump motor
Pump motor
U
U
_
_
M
M
W
W
Power stearing
Power stearing
Motor
Motor
CHAPTER 1 CONTROLLER
CHAPTER 1 CONTROLLER
is connected to the FC contr
the FC control lever.
ol lever.
connected to to the
the FC
FC hydraulic
hydraulic control
controller are connected to the each
connected to the other d
the other devices.
evices.
FC control lever
FC control lever
FC solenoid
FC solenoid
command
command
FC solenoid
FC solenoid
Lift c
Lift c
Tilt cylinder
Tilt cylinder
control signal
control signal
Lift lock
Lift lock
solenoid valve
solenoid valve
Hydraulic
Hydraulic
pump
pump
Steering
Steering
contactor
contactor
Line
Line
contactor
contactor
Electric power
Electric power
control
each
ylinder,
ylinder
,
Battery
Battery
500918
500918
1-1
1-1
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