Integrated Systems - Appendix; Main Plc; Cabin I/O Modules; Boom I/O Modules - Goldacres G6 Crop Cruiser 2 Series Operator's Manual

Main Control Module located in the storage box of the

Main PLC:

• Main 'brain' of the control system,
contains all the chassis I/O for sensors
and control
• The diagnostic lights on the PLC tell inform
the user if software is loaded and if there
are any problems (see PLC LED table in
Chapter 11 'Troubleshooting')
• The software has been written to
allow continued operation even when
sensors fail, if a sensor is faulty it can be
disconnected. But please note that some
system functionality may be lost until the
sensor can be replaced.
• Links via CAN to the Raven RCM to get
sprayer information and transfer tank
volume
• Links via CAN to Raven XRT for control
and sense when in operation
• Links to engine and transmission CAN to
exchange information and control cruise
control
• Correct operation of the PLC is critical to
machine operation.
GA8701177 REV 2 APRIL 2022

Cabin I/O Modules:

• There are two basic I/O modules inside the
cabin side console that convert the input
from the console switches and joystick
into CAN bus messages
• The CAN bus messages are then sent
to and interpreted by the PLC to operate
machine functions
• The I/O modules are not programmed,
rather they are configured with mechanical
selectors that set the CAN address and
the CAN data speed. If not set correctly
they will not be detected on the network.
• Each module has built in power and input
status lights for each input allowing quick
and easy diagnostics.
The Park Brake is not controlled by the Main PLC for
safety reasons.
Integrated Systems – Appendix
Boom I/O module.

Boom I/O Modules:

• In order to reduce the amount of wires
running to the rear of the machine, two
smaller I/O modules do the work for the
PLC at the rear
• The two modules look the same but they
are different
• Each module has a unique CAN bus
address as displayed on their screens
• The CAN bus address and data rate can
be manually set and adjusted as required
with the buttons
• The modules house diagnostic LEDs to
assist troubleshooting
• The indicator lights will display when the
output is on and flash if there is an output
disconnected. The small screen displays
the node address and the status of the
CAN bus connection.
• The modules do not contain software and
do not require updating.
Valves & Solenoids:
• Most of the plumbing valves have a built in
light, red or green, that primarily indicates
the valve position but also the fact that
they have power connected
• Note that the main suction valve has three
positions and is normally in the centered
OFF position. There will be no light on in
this position but it may still have power
connected as normal.
• The main plumbing valves have a
breakout harness for easy assembly and
diagnostics if required with the use of a
break in tee harness
• The main hydraulics also have a
breakout harness for easy assembly and
diagnostics
• The rear I/O modules will also flash a red
LED when a solenoid is disconnected
(they run a small amount of current into the
output to detect presence of connections).
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