Steering System 1

T9 rev1 03.07 my
Steering system lay-out

Sandvik Mining and Construction

 Steering System 2
T9 rev1 03.07 my
System description
The machine has center-articulated load sensing power steering with two steering cylinders. The inboard section
of converter mounted double pump (P301) delivers oil to a electrically controlled steeringmain valve (V302).
Turning the electrical operated control lever on the left-hand side connected to the chair module causes the
steering valve to open and let the hydraulic pressure to enter the steering cylinders. If the steering lever is in
neutral position, the steering system oil flows to through the priority block valve (V315) to the bucket main valve
(V204).
If the steering valve malfunctions, there is an alarm. In this case the brakes will always be activated. When the
malfunctioning is over, the brakes can be released normally (unless there is another reason for why the brakes are
engaged).
The steering cylinders are connected in a crosswise manner and can not be separately controlled.

Safety interlocks

If machine steering is stopped because of a situation that does not occur in normal usage the function that
prevents the steeringmust be disabled and the steering joystick returned into middle position before steering is
possible. For example, using the parking brake stops steering. In that case, the parking brake must released and
the steering joystick returned into middle position. Only then it is possible to steer the machine again.

The interlocks that prevent steering are as follows:

- Emergency stop is activated
- The safety analog signal does not correspond to the analog voltage data of the steering joystick
- The steering joysticks analogy voltage rating is too high or low compared to the calibrated parameters
- Parking brake is engaged
- Door is open
- The engine is not running

Sandvik Mining and Construction

 Steering System 3
T9 rev1 03.07 my
Steering diagram

Line to bucket main valve

Pilot pressure line

LS-line from Bucket pump

Line to cooler fan motors

Sandvik Mining and Construction

 Steering System 4
T9 rev1 03.07 my
Steering diagram/steering left

Line to bucket main valve

Pilot pressure line

LS-line from Bucket pump

Line to cooler fan motors

Sandvik Mining and Construction

 Steering System 5
T9 rev1 03.07 my
Electric diagram
LEFT JOYSTICK LJ1
STEERING 15/12 STEERING LEFT
R045 Interlock 116 1
OHJAUS VASEMMALLE

Output is active when:

- Emergency stop is not active

X1176

X1176
X1176
X1176
STEERING RIGHT
- The steering joystick is turned from middle position 2 OHJAUS OIKEALLE

12 11 1 2
LJ2
15/12
- The steering joystick’s analogy voltage ratings are inside the
calibrated values
C303 BU

274 WT
258 WT

601 WT
STEERING FEEDBACK
XJ18
1

1
- Parking brake is released 3 OHJAUKSEN FEEDBACK

X54 X54 X54 X54 1 12 11

- Door is closed
9 6 8 7 601 WT - Engine is running THROTTLE PEDAL
258 WT
C303 BU

274 WT
0,75

601 WT
0,75
0,75

4
KAASUPOLJIN

1
3 13 7 10 8 12 12 22 23 19
STEERING LEFT LIMIT
XC3 XC3 XC3 XC3 XC3 XC3 XC1 XC3 XC3 XC2 5 OHJAUKSEN VASEN RAJA
GND in2 in1 +5V in GND in in in in
CHAIR MODULE

CAN BUS STEERING RIGHT LIMIT

6
MIDDLE MODULE +24V OHJAUKSEN OIKEA RAJA
116 FB- GND in
142 GND in in
XM1 24/11 XM1 XM1 XM1 XM1 XM1 XM1 XM1 XM3
25/17
2 3 5 9 18 1 10 21 16

622 WT
143 WT

M110 BU
14 X148 15 X148
277 WT

0,75

0,75

0,75
278 WT

*R-C
M105 BU

M109 BU
*R-C
1
1

279 VL
280 VL

1
Interlock 142

403 WT
439a WT 439a WT 439a WT 4 3 6
X119 X119 X119

1
Outputs are active when:

M110 BU
0,75 0,75 0,75

622 WT
143 WT
BU
1

1 5 4 1 5 4 1 5 4

1,5
1,5

1,5
All control system I/O –
2 3
K092 2 3
K091 2 3
K0175GND0.1 modules are up and running
2 1 4
M109 BU M109 BU
X2166 X2166 X2166 (display not need to be

622 WT
JGND16

M110 BU
1 1
143 BK
14/19 EMERGENCY running).

1
280 GN

279 GN

282 GN
282 GN

1
STOP STATE
0,35
6
Note! Output is not active
1,5
1,5

1,5

622 BN J403.1
X41 0,35 4/25
S008 10 X117 X117 X117 X117
XJ17a
*
during few seconds after main
4/29 M110 BU
J1 14 15 16 17 0,35 switch is turned on.
4/18 9 XJ17b
280 GN

279 GN

282 GN
1
1

X41 4 1 3
7 1 1
282 GN

Y322 Y323
439 WT

2 RIGHT 2 *
0,75

LEFT

S360
STEERING LIMIT
EMERGENCY STOP
J439.2
4/25
1 2 3 5 3-56010890-16

Sandvik Mining and Construction

 Steering System 6
T9 rev1 03.07 my
Electric diagram/stand-by
LEFT JOYSTICK LJ1
STEERING 15/12 STEERING LEFT
R045 Interlock 116 1
OHJAUS VASEMMALLE

Output is active when:

- Emergency stop is not active

X1176

X1176
X1176
X1176
STEERING RIGHT
- The steering joystick is turned from middle position 2 OHJAUS OIKEALLE

12 11 1 2
LJ2
15/12
- The steering joystick’s analogy voltage ratings are inside the
calibrated values
C303 BU

274 WT
258 WT

601 WT
STEERING FEEDBACK
XJ18
1

1
- Parking brake is released 3 OHJAUKSEN FEEDBACK

X54 X54 X54 X54 1 12 11

- Door is closed
9 6 8 7 601 WT - Engine is running THROTTLE PEDAL
258 WT
C303 BU

274 WT
0,75

601 WT
0,75
0,75

4
KAASUPOLJIN

1
3 13 7 10 8 12 12 22 23 19
STEERING LEFT LIMIT
XC3 XC3 XC3 XC3 XC3 XC3 XC1 XC3 XC3 XC2 5 OHJAUKSEN VASEN RAJA
GND in2 in1 +5V in GND in in in in
CHAIR MODULE

CAN BUS STEERING RIGHT LIMIT

6
MIDDLE MODULE +24V OHJAUKSEN OIKEA RAJA
116 FB- GND in
142 GND in in
XM1 24/11 XM1 XM1 XM1 XM1 XM1 XM1 XM1 XM3
25/17
2 3 5 9 18 1 10 21 16

622 WT
143 WT

M110 BU
14 X148 15 X148
277 WT

0,75

0,75

0,75
278 WT

*R-C
M105 BU

M109 BU
*R-C
1
1

279 VL
280 VL

1
Interlock 142

403 WT
439a WT 439a WT 439a WT 4 3 6
X119 X119 X119

1
Outputs are active when:

M110 BU
0,75 0,75 0,75

622 WT
143 WT
BU
1

1 5 4 1 5 4 1 5 4

1,5
1,5

1,5
All control system I/O –
2 3
K092 2 3
K091 2 3
K0175GND0.1 modules are up and running
X2166 2 X2166 1 X2166 4
M109 BU M109 BU (display not need to be

622 WT
JGND16

M110 BU
1 1
143 BK
14/19 EMERGENCY running).

1
280 GN

279 GN

282 GN
282 GN

1
STOP STATE
0,35
6
Note! Output is not active
1,5
1,5

1,5

622 BN J403.1
X41 0,35 4/25
S008 10 X117 X117 X117 X117
XJ17a
*
during few seconds after main
4/29 M110 BU
J1 14 15 16 17 0,35 switch is turned on.
4/18 9 XJ17b
280 GN

279 GN

282 GN
1
1

X41 4 1 3
7 1 1
282 GN

Y322 Y323
439 WT

2 RIGHT 2 *
0,75

LEFT

S360
STEERING LIMIT
EMERGENCY STOP
J439.2
4/25
1 2 3 5 3-56010890-16

Sandvik Mining and Construction

 Steering System 7
T9 rev1 03.07 my
Electric diagram/Steering left
LEFT JOYSTICK LJ1
STEERING 15/12 STEERING LEFT
R045 Interlock 116 1
OHJAUS VASEMMALLE

Output is active when:

- Emergency stop is not active

X1176

X1176
X1176
X1176
STEERING RIGHT
- The steering joystick is turned from middle position 2 OHJAUS OIKEALLE

12 11 1 2
LJ2
15/12
- The steering joystick’s analogy voltage ratings are inside the
calibrated values
C303 BU

274 WT
258 WT

601 WT
STEERING FEEDBACK
XJ18
1

1
- Parking brake is released 3 OHJAUKSEN FEEDBACK

X54 X54 X54 X54 1 12 11

- Door is closed
9 6 8 7 601 WT - Engine is running THROTTLE PEDAL
258 WT
C303 BU

274 WT
0,75

601 WT
0,75
0,75

4
KAASUPOLJIN

1
3 13 7 10 8 12 12 22 23 19
STEERING LEFT LIMIT
XC3 XC3 XC3 XC3 XC3 XC3 XC1 XC3 XC3 XC2 5 OHJAUKSEN VASEN RAJA
GND in2 in1 +5V in GND in in in in
CHAIR MODULE

CAN BUS STEERING RIGHT LIMIT

6
MIDDLE MODULE +24V OHJAUKSEN OIKEA RAJA
116 FB- GND in
142 GND in in
XM1 24/11 XM1 XM1 XM1 XM1 XM1 XM1 XM1 XM3
25/17
2 3 5 9 18 1 10 21 16

622 WT
143 WT

M110 BU
14 X148 15 X148
277 WT

0,75

0,75

0,75
278 WT

*R-C
M105 BU

M109 BU
*R-C
1
1

279 VL
280 VL

1
Interlock 142

403 WT
439a WT 439a WT 439a WT 4 3 6
X119 X119 X119

1
Outputs are active when:

M110 BU
0,75 0,75 0,75

622 WT
143 WT
BU
1

1 5 4 1 5 4 1 5 4

1,5
1,5

1,5
All control system I/O –
2 3
K092 2 3
K091 2 3
K0175GND0.1 modules are up and running
X2166 2 X2166 1 X2166 4
M109 BU M109 BU (display not need to be

622 WT
JGND16

M110 BU
1 1
143 BK
14/19 EMERGENCY running).

1
280 GN

279 GN

282 GN
282 GN

1
STOP STATE
0,35
6
Note! Output is not active
1,5
1,5

1,5

622 BN J403.1
X41 0,35 4/25
S008 10 X117 X117 X117 X117
XJ17a
*
during few seconds after main
4/29 M110 BU
J1 14 15 16 17 0,35 switch is turned on.
4/18 9 XJ17b
280 GN

279 GN

282 GN
1
1

X41 4 1 3
7 1 1
282 GN

Y322 Y323
439 WT

2 RIGHT 2 *
0,75

LEFT

S360
STEERING LIMIT
EMERGENCY STOP
J439.2
4/25
1 2 3 5 3-56010890-16

Sandvik Mining and Construction

 Steering System 8
T9 rev1 03.07 my
Functional description of components

Steering main valve V302

There is a spring centered proportional spool at the
steering valve. The spool is controlled hydraulically
by internal pilot valves and it is pressure-
compensated.
The main pressure relief valve limits the maximum
valve inlet pressure to 330 bar. Valve contains also 2
safety relief valves (with 2 non-return valves) to limit
the pressure at steering cylinders (max 230 bar) and
the non--return valves to prevent cavitation.
Steering valve outputs LS pressure signal for pump.
Pilot pressure value is intergate in the steering valve.
Pilot control pressure is 35bar.
If the steering valve malfunctions, there is an alarm.
In this case the brakes will always be activated.
When the
malfunctioning is over, the brakes can be released
normally (unless there is another reason for why the
brakes are activated).

Sandvik Mining and Construction

 Steering System 9
T9 rev1 03.07 my
Functional description of components

Steering cylinder A301

Steering cylinders are single stage, double acting hydraulic cylinders. The steering cylinders are mounted
between the front and rear frames on each side of the machine.

Priority block V315

The function of the priority block is presented in chapter general hydraulics.

Steering pump P301

The function of the pumps are presented in chapter general hydraulics.

Steering limit switch S360

When steering is near maximum steering angle, inductive sensor S360 becomes active and slows the steering
function. Physical stop limits steering angle to 42,5 degrees.

Sandvik Mining and Construction

 Steering System 10
T9 rev1 03.07 my
Emergency steering system description
The emergency steering activates automatically when the engine stops or stalls in unusual way. This function
allows the operator to safely steer the unit out of the way of danger. When the engine stops suddenly, the
system activates and an electric pump generates oil pressure to allow the steering to function for a few
additional seconds. The amount of time that pump functions is 10 seconds.
Emergency steering is allowed, even when the parking brake is on.When the emergency stop is active, the
emergency steering will not function.
The symbol to the right on the main window shows the status of the emergency steering. The symbol is grey
when emergency steering is not activated, and becomes darker when emergency steering is activated.

Safety interlocks
The system prevents emergency steering in the following situations:
- Emergency stop is activated
- Door is open

Sandvik Mining and Construction

 Steering System 11
T9 rev1 03.07 my
Emergency steering main components

Pump units A309 (1)

When the emergency steering is turned on, the pump unit
capacity provides the steering main valve with the hydraulic
pressure required for steering the machine. The pump is
powered by electric motor M320.
Pressure relief valve V325 (2)
The pressure relief valve limits the pressure to 100 bar on
the pressure side of the pump unit.
Non--return valve (3)
Does not allow the capacity of pump P301 to flow to the
emergency steering system in a normal operating situation.
Non--return valve (4)
Double pump P301 is equipped with a non-return valve
which does not allow the capacity of pump unit A309 to flow
to the pressure side of double pump P301.

Sandvik Mining and Construction

T9 rev1 03.07 my
Diagnostics window for machine steeringSteering System 12
The top of the window shows the status of the lockings that affect functions. If the
symbol is black, the locking is activated. In other words, the function is allowed
when all the symbols are grey. Safety locks from left to right:
- Parking brake must be released
- Door must be closed
- Emergency stop must not be active
- Engine must be running

Monitor the status of the control movements with the signal chain on the window.
For example, when moving the steering joystick, but its voltage does not change
on the window, the steering joystick must be broken or its wiring is incorrect.

The diagnostic chain for steering is shown from left to right with symbols:
- Voltage of steering joystick (0,5....4,5V)
- The value of the CAN message converted into percentages (0...100%), when
moving the steering joystick to any extreme position, the value should be 100%
- Information on the module:
0 = the programme does not control output,
1 = the programme controls output
- The feedback current that travels through the valve’s coil (approx. 360...750 mA)

A black arrow appears next to the steering symbol on the left hand side of the
window; the arrow points to the left or right depending on the steering direction.
The information window shows the minimum and maximum currents of the
steering valvewhen turning to the left (L) and right (R).

Sandvik Mining and Construction

T9 rev1 03.07 my
Testing the movement of Steering System 13

the steering joysticks

Test the movement of the steering joysticks to the left and to
the right on this window. When the direction is activated the
little boxes around the steering joystick become darker. The
longer boxes become darker according to the voltage from
the steering joystick’s Hall-sensor.
The window also shows the status of the analog values of
the Hall-sensor.

Sandvik Mining and Construction

T9 rev1 03.07 my
Steering joystick calibration Steering System 14

(requires service password)

The calibration window is used for calibrating the movements of the
steering joystick.Select the Steering calibration window from the
calibration menu.
The bar on the left-hand side of the calibration window shows the
steering joystick voltages for the extreme positions of the steering
joystick (moving to the left, the middle position and moving to the
right).
In the fields on the right--hand side of the window, it is possible to
calibrate new voltage values for the steering joystick position. Perform
the calibration by moving the steering joystick first to its extreme
positions and then returning it to the middle position. The new voltage
values will be updated in the fields on the window.Save the calibration
by pressing the Calib button.When the calibration is finished,
amessage appears at the bottom of the window.
On the window, the dead band of the middle position means the
movement range of the steering joystick before it starts controlling the
function.
It is only possible to perform the calibration when the upper and lower
values of the bar differ from their average the amount of the dead
band. If calibration is not possible, a warning message appears at the
bottom of the window. The warning message will beremoved when it is
possible to perform calibration.

Sandvik Mining and Construction

T9 rev1 03.07 my
Checking and adjusting Steering System 15

Only perform maintenance work when the machine is parked. Use the appropriate tools for
the task. Replace or repair faulty tools and equipment. When performing maintenance and
repair work, make sure there are no unauthorised persons in the working area.

Maximum pressure
1. Ensure that the machine is on an
even surface, the parking brake is
applied and movement is
prevented by, for example, wheel
chocks.
2. Install the frame locking pin.
3. Connect a 400 bar pressure gauge
to the steering pumps pressure line
test point (A).
4. Start the engine and operate it at
1200 rpm.

Never adjust pump pressures when engine is running.

The rotating cardan shaft can cause serious injury.

Sandvik Mining and Construction

T9 rev1 03.07 my
Checking and adjusting Steering System 16

5. Screw down the steering pump stand-by pressure

adjusting screw (B) to closed position.

6. The pressure should be 280 bar. (28,0 Mpa).

7. If the readings do not match the specification:

Shut down the engine and adjust the maximum pressure by
turning the adjustment screw (C).

8. Check the steering pump stand-by pressure.

Never adjust pump pressures when engine is running.

The rotating cardan shaft can cause serious injury.

Sandvik Mining and Construction

T9 rev1 03.07 my
Checking and adjusting Steering System 17

Stand-by pressure

9. Connect a 400 bar pressure gauge to the steering pumps

pressure line test point (A).

10. Start the engine and operate it at 1200 rpm. Record the
gauge reading.

11. The stand--by pressure should be 30 bar (3,0 Mpa).

12. If the readings do not match the specification:

• Shut down the engine and adjust the stand--by pressure by
turning the adjustment screw (B).

Never adjust pump pressures when engine is running. The

rotating cardan shaft can cause serious injury!
Sandvik Mining and Construction
 Steering System 18
T9 rev1 03.07 my
Checking and adjusting

Bleeding of the steering valve

1. Ensure that the machine is on an even surface, the
parking brake is applied and movement is prevented by, for
example, wheel chocks.
2. Install the frame locking pin.
3. Place an oil drain container under the steering valve.
4. Start the engine and operate it at 1200 rpm.
5. Turn the steering left against the stoppers.
6. Bleed all air from the steering valve by opening the bleed
screw (A). Bleed oil until it flows smoothly from the bleed
port.
Note! If the valve seems not to deaerate, operate the
steering through it’s full cycle to ease the bleeding.
7. Tighten the bleed screw.
8. Turn the steering right against the stoppers
9. Bleed all air from the steering valves pilot valve by
opening the bleed screw (B). Bleed oil until it flows smoothly
from the bleed port.
Note! If the valve seems not to deaerate, operate the
steering through it’s full cycle to ease the bleeding.
10. Tighten the bleed screw.

Sandvik Mining and Construction

 Steering System 19
T9 rev1 03.07 my
Checking and adjusting
Checking of the steering valves MR-shock load
valves
MR-shock load valves limit the LS--pressure entering the
steering pump. Note! When adjusting steering valve or
steering pump, the steering pump LS-line must be
connected to steering pump controller.

1. Ensure that the machine is on an even surface, the

parking brake is applied and movement is prevented by,
for example, wheel chocks.
2. Install the frame locking pin.
3. Connect a 400 bar pressure gauge to the steering
cylinders quick disconnect fitting (C).
4. Operate the engine at 1200 rpm.
5. Turn the steering right against the stoppers and record
the gauge reading.
6. The pressure should be 210 bar (21,0 Mpa).
7. If the readings do not match the specifications:
• The shock-load valve needs to be adjusted by turning
the adjustment screw (E).
• The shock-load valve is malfunctioning and it must be
overhauled.

Sandvik Mining and Construction

T9 rev1 03.07 my
Checking and adjusting Steering System 20

8. Connect a 400 bar pressure gauge to the steering cylinder

quick disconnect fitting (D).
9. Operate the engine at 1200 rpm.
10. Turn the steering left against the stoppers and record the
gauge reading.
11. The pressure should be 210 bar (21,0 Mpa).
12. If the readings do not match the specifications:
• The shock-load valve needs to be adjusted by turning the
adjustment screw (F).
• The shock-load valve is malfunctioning and it must be
overhauled.

Sandvik Mining and Construction

T9 rev1 03.07 my
Steering cylinder Steering System 21

When the wheels face straight ahead, cylinder extension is

50%. If the machine is turned to the left, the right cylinder
extends and the left cylinder retracts. When the machine is
turned to the right, the left cylinder extends and the right
cylinder retracts. All cylinders are similar design. They are
single stage, double acting hydraulic cylinders. The steering
cylinders are mounted between the front and rear frames on
each side of the machine. In the cylinder end there is ball joint
bearing (2) fastened with circlips (1). In steering cylinders the
front end ball joint bearing is mounted to the front frame
instead of piston rod. The piston (5) is secured to the rod (19)
by two lock screws (4). On the outer diameter of the piston the
wear ring (8), piston rings (9) and piston seal (10) are located
in their own respective grooves. Between the piston and rod
there is a o-ring (7) (with a backup ring (6))to seal the joint.
The gland assembly is held in place at the end of the cylinder
tube (3) by allen head bolts (18). O-ring (12) (with a backup
ring (13)) is fitted into a groove on the outside diameter of the
gland assembly. Located in the internal bore of the gland
assembly is a seal (15) and a wiper (16). The seal prevents
leakage past the rod. The wiper cleans dirt from the rod as it
retracts. Circlip (17) retains rod wiper. Rod guide rings (14)
center the rod in the gland assembly. Cylinder rod movement
within the housing is accomplished by applying pressurised oil
flow on either side of the piston and allowing the oil on the
opposite side of the piston toreturn back to hydraulic oil tank.

Sandvik Mining and Construction