培训文档AMWP10&11 5-8100

浙江鼎力机械股份有限公司
Zhejiang Dingli Machinery Co.,Ltd

邮箱/Mailbox：service@cndingli.com 网址/Website：www.cndingli.com
培训资料
（Training Files）
AMWP-8100
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操作
OPERATION
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1、地面控制器（Ground Control Panel ）
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1
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2
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6
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3 ○
4 ○
5
1 显示屏（LED）（Push and hold the button to active Mast

信息显示和参数设定（Information display elevation/lowering function）
and parameters setting）
5 小臂选择按钮（Jib select button）
2 控制台选择开关（Key switch for platform 持续按住按钮激活小臂升降功能（Push
/ off / ground control selection） and hold the button to active Jib elevation
/lowering function）
3 臂式升降选择按钮
（Mast telescoping select button） 6 动作开关（Movement function switch）
持续按住按钮激活桅柱升降功能往上拨：桅柱上升/逆时针回转/小臂上升
（Push and hold the button to active Mast （Move upwards: mast elevation, counter
elevation/lowering function） clockwise turntable rotation or jib elevation）;

往下拨：桅柱下降/顺时针回转/小臂下降
4 回转选择按钮（Mast slew select button）（Move downwards: mast lowering, lockwise
持续按住按钮激活桅柱回转功能 turntable rotation or jib lowering）
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2.平台控制（Platform Control Panel）
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9 ○
1
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2
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2
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3
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8
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3
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7
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6 ○
5 ○
4
1 功能辅助开关（Function enable switch） /lowering function）
2 拇指开关：行走转向功能/转台回转功能 6 小臂升降选择按钮（Jib elevation select

○ 7
（Thumb rocker switch for steer/Turntable button）
slew functions）持续按住按钮激活小臂升降功能（Push
and hold the button to active Jib elevation
3 比例控制手柄（Proportional control /lowering function）
handle）
7 喇叭（Horn）
4 故障代码显示和电池电量显示（Fault code
dislay and battery level indicator） 8 行走功能按钮（ Drive function select
button）
5 桅柱升降选择按钮（Mast elevation select
button） 9 紧急停止按钮（ Red Emergency Stop
持续按住按钮激活桅柱升降功能（Push button）
and hold the button to active Mast elevation
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3.刹车释放(Brake release)
3.1 用楔子垫住车轮，以防止机器滚动。
(Chock the wheels to prevent the machine from rolling.)
3.2 将地面和平台控制器上的红色“紧急停机”按钮均拉出到“开”位置。
(Pull out the red Emergency Stop button on both the ground and platform controls to the
on position.)
3.3 打开钥匙开关选择地面控制，按住桅柱上升按钮和小臂上升按钮5秒以上，待等到蜂鸣
器发出嘀嘀的响声后；显示器出现W28和W41循环提示。刹车已经释放。如果你想关掉刹
车释放，只需关掉下控的钥匙开关。
（Turn on the keyswitch to Ground control position, press and hold the mast lift button
and Jib lift button more than 5s until the beeper is working, the brake is released when
W28 and W41 is displayed alternately. If you want to close the brake release, just turn off
the key switch）
3.4 将地面和平台控制器上的红色“紧急停机”按钮均推到“关”位置。
(Push the red Emergency stop button on both the ground and platform controls to the off
position.)
4.应急操作(Emergency Operation)
4.1 桅柱下降 mast boom lowering down
4.1.1 向外拉动紧急下降控制拉钮。pull out the emergency lowering control button
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桅柱紧急下降
Mast post
emergency descent
4.2 小臂下降 jib lowering down
4.2.1 逆时针转动小臂油缸上的阀。turn the jib cylinder valve in the direction CCW
小臂紧急下降
Jib boom
emergency descent
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液压系统
Hydraulic system
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1. 液压原理图（Hydraulic schematic）
中文 Chinese
摆杆油缸起升油缸
回转马达
转向油缸
压力传感器
AE
Cc UP
Ps
J J
摆杆阀下降阀
11133458 11133405
A1 B1 A C B
B1 A1 A2 B2 A3 B3 T
泵站:
CLN24VX75X19PXCNBKJN1
180bar
手动泵 M
过滤器
泵站参数：
电机：24V,3000W
油泵：排量1.9cc/r
液压油箱
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英文 English
AA
Filter
2
1 AJ
AK
2
1
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1.1 阀块（Manifolod）
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5 6
1、左右转向电磁阀 4、小臂上升电磁阀
(Left/Right steering solenoid) (Jib elevation solenoid)
2、底座回转电磁阀 5、小臂下降电磁阀
(Jib lowering solenoid)
(Turntable left/right slew solenoid)
6、桅柱下降电磁阀
3、桅柱上升电磁阀
(Mast lowering solenoid
(Mast elevation solenoid)
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电控系统
Electric control system
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1.主要控制元器件（Major parts）
序号配件描述
主控制器整台机器的大脑，所有的输入输出都有它控制。
ECU （ECU Control all input and output signal.）
水平传感器 X 轴设定最大倾斜角度 2.5 度为最大角度，Y 轴设

Tilt sensor 定最大倾斜角度为 2.5 度，当底盘在起升状态倾斜
老款 Old 角度超过设定值，控制器发出倾斜报警并限制机器
行走和起升的功能。
（The angle setting of X axle is 2.5 degrees and
the angle setting of Y axle is 2.5 degrees.If the
chassis angle more than the setting in elvated
position,the tilt sensor alarm and stop drive and
lift function。）
2
新款 New
ZAPI 行走控制器用于比例控制驱动和起升电机的转速。（Motor

controller for drive/lift and steering function.）
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带动泵转动，驱动液压油运动实现功能。(Electric
泵电机 motor with hydraulic pump for lift function)
Pump motor
给机器上的电池充电。机器在充电过程中切断控制
充电器回路里的总电源。
Charger （To charge the batteries; the control power will
be cut off when charging.）
实时监测小臂起升的压力，并配合小臂上的转角电
压力传感器位计，来实现超载报警并限制起升状态行走和起升
Pressure sensor
的功能。(Working with jib angle potentiometer to
monitor the Jib hydraulic oil pressure for getting
platform overload warning function)
来检测小臂角度的转角电位计
小臂转角电位计
（To monitor the jib angle position）
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上限位开关桅柱起升最大位置限制开关。
Up limit switch （The maximum limit switch for lift; to cut off the
lift function if activitied）
行走速度开关控制在起升状态慢速行走，收拢状态高速行走。
Drive speed switch （To control low drive speed in elvated position
and high drive speed in lowest position.）
坑洞保护开关控制在起升状态慢速行走，收拢状态高速行走。实
Pot-hole switch 现当起升状态两侧坑洞开关没有打开状态的报警并
限制行走和起升的功能。
（To control low drive speed in elvated position
10 and high drive speed in lowest position；the
machine will warn and limit drive and lift function
if the pothole switches are not activited in
elevated position）
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2、电路图新版中文（Electric schematic New Chinese）

2 020B GN(18) 11 020B RD(16)
U4 J3 显示和按键模块 U3 手柄 (MB)
急停开关蜂鸣器 J4
B2
1 2 3 4 5 6 7 8 9 10 11 12 13 14
使能
4216 BU(18)
SB5
1 020A YE(18) 10 020A RD(16) GND3 BK(18)
AGND BK(18)
007 RD(18)
CAN5H YE(18)
CAN5L GN(18)
左转
GND1 BK(18)
005A RD(20)
4223 BK(18)
+5V RD(18)
U5 IO-CORE 120Ω
24 =24针Sibas连接器CT1 (A-J1,B-J2)
A16 右转
24 =24针Sibas连接器CT2 A8 4208 RD(18)
充电器 16 =16针Sibas连接器CT3 SQ5
小臂上行程开关 A23 4223 BK(18) 005A RD(20) 3 005 WH(20)
1 CP1 BK(18) 4306 WH(20) 16 4306 BU(18) B6 A13 4213A BU(20) 4213A BU(20) 2 4213 GY(20)
12 =12针Dusch连接器 B7 4307A BU(20) 4307A BU(20) 4 4307 BK(20)
020A YE(18)
CANH BN(20) 6 CANH BN(20) 9 CAN2H YE(18) A14 B8 4308A BU(20) 4308A BU(20) 5 4308 RD(20)
2 CP2 WH(18) 8 =8针Dusch连接器 A17 4217A BU(20) 4217A BU(20) 7 4217 VT(20)
CANL BU(20) 7 CANL BU(20) 8 CAN2L GN(18) A6 A4 4204 BU(18) GND4A BK(20) 1 GND4 BN(20)
- + 脚踏 SQ6
BK(20) WH(20) 7 4209 BU(18) A9 B1 4301 BU(18) 008A RD(20) 6 008 BU(20)
SQ7
BK(20) WH(20) 4211 BU(18) A11 A2 4202 BU(18) 006A RD(20) 8 006 OG(20)
+5V RD(18)
防挤压开关 A1 4201 BU(18)
2 3 9 10
003 RD(20) CAN5H YE(18)
CAN5L GN(18)
RD(16)
00305 RD(16) 5 003 BN/WH(18) 3 BN+WH(18) 4
上控
CAN2H YE(18)
CAN2L GN(18)
00306 RD(16) 6 003+ RD(18) 4 GY(18) 5
下控 00302 RD(16) 7 003-2 RD(16) 6 GND5 BK(18)
00303 RD(16) 8 003-3 RD(16)
00304 RD(16) 9 003-4 RD(20) 2 14 12 15 3 1 13
00301 RD(16) 6 003-1 WH(20) 4
压力传感器 4204 WH+GN(22) 1
U2(CANVIEW3)
GND BU(20)
GND7 BK(16) 24 GND BK(20) LS1 4201 YE(20) RP2
003 RD(20) GND BK(20) +5V BN(20) 3 2 GND GY(20)
8 CAN3L GN(18) GND6 BK(16) 23 GND BK(16)
小臂角度电位计
RD(1)
4202 WH(20)
7 CAN3H YE(18) GND5 BK(16) 22 GND BK(20)
120Ω YV8
显示器 4 GND8 BK(18) GND13 BK(15) 8 GND5 BU/BK(18) 5 BU+BK(18) 4301 GN(20)) GND BU(20)+BK(20)
5 +VB RD(18) 小臂下降阀
CAN5H YE(18) 17 CANH WH(20)
CAN5L GN(18) 18 CANL GN(20) GND BK/VT(20)
1 003-2 RD(16) 5 RD(16)
电源急 SB4
020A RD(16)
003-3 RD(16) 6 RD(16)

停开关 ECU1(LE70) GND BK(20) WH(20)
A14 GN(18) A14 A30 A30 BU(16) 7 A30 BU(20) TILT 003 RD(20)
RD(1)
坑洞开关
A26 YE(18) A26
SQ3 桅杆下限位行程开关
A31 BU(16) A31 BU(16) A31 B15 B15 BU(16) 20 B15 YE(20) 003 RD(20) SQ1
A25 RD(16) A25 桅杆上限位行程开关
FU1 SQ4
A33 RD(16) A33 B17 B17 BU(16) 21 B17 GN(20) 003 RD(20)
250A 钥匙开关 A34 RD(16) A34 注:本原理图适用 AMWP1100-8100、AMWP11.5-8100.
003b RD(14)
SA1 SQ2
B33 RD(16) B33 A20 A20 BU(16) 5 A20 BK(20) 3 BK(20) RD/BU(16)
坑洞开关
001d RD(16) B34 RD(16) B34
HL1
A10 A10 BU(16) 19 A10 BN(20) GND-1 BK(20)
RD(1)
003m RD(18) 标灯
001 RD(13) 1 001 RD(13) FU2 SB1 喇叭
A28 RD(18) A28 A9 A9 BU(16) 18 A9 WH(20) GND BK(20)
10A 桅柱上下选择按钮
001c RD(14) SB2 YV5 桅杆降电磁阀 (S)
A16 RD(18) A16 A5 A5 BU(16) 17 A5 YE(20) GND BK/VT(20)
003a RD(14) 转盘左右选择按钮 B13A BK(16) 7 BK(16)
SB3 YV1 后轮右转电磁阀 (F-B3)
蓄电池 KA3 A17 RD(18) A17 A1 A1 BU(16) 11 A1 BN/RD(16)
小臂上下选择按钮 B13B BK(16) 8 BK(16)
24v 020B GN(18) 4 020B RD(16) GND1 BK(16)
YV2 后轮左转电磁阀 (F-A3)
S1 上升 A18 RD(18) A18 A2 A2 BU(16) 12 A2 BN/BU(16)
继电器 ECU2
U1(CPV) A19 RD(18) A19 003-4 RD(20) 1 电源
下降 YV3 转盘左转电磁阀 (E-A2)
1 CPV RD(16) A3 A3 BU(16) 13 A3 GN/RD(16) CANH WH(20) 9 总线高 -T1 2XBK(11) 驱动电机
PWM 交换模块
RD(1)
2 B1 BU(16) B1 BU(16) B1 CANL GN(20) 8 总线低 F1 BU(13)

YV4 转盘右转电磁阀 (F-B2)
B24 BU(16) B24 BU(16) B24 A4 A4 BU(16) 14 A4 GN/VT(16)
RD(1)
4 M3
6 GND12 BK(16) A22 BK(16) A22 YV6 B2 BU(20) 14 后退励磁
桅杆升电磁阀 (D-B1)
7 B1A BU(16) A6 A6 BU(16) 15 A6 RD/BU(16) B3 GN(20) 3 前进
刹车
B24A BU(16) A32 BK(16) A32 B7 GY(20) 2 行走使能 BU(13))
9 YV7 小臂向上电磁阀 (D-A1) BU(13)
A7 A7 BU(16) 16 A7 BU/RD(16) B9 WH(20) 17 速度切换
B24A WH(20) 2XRD(11)
15 B24A BU(16) B23 BN(20) 15 泵站使能
B1 2XRD(11)
B1A YE(20) 16 B1A BU(16) B2 B2 BU(16) 14 B2 BU(20) A29 YE(20) 7 转角电位计
GND BK(13) 2 GND0 BK(13) GND4 BK(18) A23 BU(18) A23 B3 B3 BU(16) 13 B3 GN(20) MDT1 RD(16) 12 励磁检测
M2
24 GND10 BK(16) 蜂鸣器 B7 11 右刹车释放励磁
B7 BU(16) B7 GY(20) B13B BU(20) 32
左刹车释放
19 B13A BK(16) GND9 BK(16) B9 B9 BU(16) 12 B9 WH(20) B13A GN(20) 25 F2 BU(13) 刹车
20 B13B BK(16) GND11 BK(16) B23 B23 BU(16) 10 B23 BN(20) B1A YE(20) 5 行走 -T2 2XBK(11) 驱动电机
KA4 A29 A29 BU(16) 21 A29 YE(20) B24A WH(20) 4 起升
A29 GN(20) 9 WH+GN(22) 1 转角电位计 CON- BK(20) 11 接触器 -P BK(1) M1 RD(1)

B13 BU(18) GND2 BK(18) RP1
B13A GN(20)
B13B BU(20)
B20 B20 RD(16) 3 B20 RD(20) 1 RD(22) 3 CON+ RD(20) 10 接触器 B+ B-

刹车继电器泵
B13 BU(18) B13 A21 A21 BK(16) 4 A21 BK(20) 2 BK(22) 2
RD(15) 22 MDT1 RD(16) RD(1)
23 MDT2 RD(16) 10 RD(16)
BK(1)
KM1
接触器
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英文 English
U4 J3 Display and Button Module U3 Joystick(MB)
2 020B GN(18) 11 020B RD(16)
E-STOP Switch J4
B2 Buzzer
1 2 3 4 5 6 7 8 9 10 11 12 13 14
DEADMAN
4216 BU(18)
SB5
1 020A YE(18) 10 020A RD(16) GND3 BK(18)
AGND BK(18)
007 RD(18)
CAN5H YE(18)
CAN5L GN(18)
Steer Left
GND1 BK(18)
005A RD(20)
4223 BK(18)
+5V RD(18)
U5 IO-CORE 120Ω
24 =24 Pin Sibas Connector CT1 (A-J1,B-J2)
A16 Steer Right
24 =24 Pin Sibas Connector CT2 A8 4208 RD(18)
CHARGER Lift Up Limit Switch Of Jib Boom A23 4223 BK(18) 005A RD(20) 3 005 WH(20)
16 =16 Pin Sibas Connector CT3 SQ5
1 CP1 BK(18) 4306 WH(20) 16 4306 BU(18) B6 A13 4213A BU(20) 4213A BU(20) 2 4213 GY(20)
12 =12 Pin Dusch Connector B7 4307A BU(20) 4307A BU(20) 4 4307 BK(20)
020A YE(18)
CANH BN(20) 6 CANH BN(20) 9 CAN2H YE(18) A14 B8 4308A BU(20) 4308A BU(20) 5 4308 RD(20)
2 CP2 WH(18) 8 =8 Pin Dusch Connector A17 4217A BU(20) 4217A BU(20) 7 4217 VT(20)
CANL BU(20) 7 CANL BU(20) 8 CAN2L GN(18) A6 A4 4204 BU(18) GND4A BK(20) 1 GND4 BN(20)
- + FootSwitch SQ6
BK(20) WH(20) 7 4209 BU(18) A9 B1 4301 BU(18) 008A RD(20) 6 008 BU(20)
Anti-Extrusion Switch SQ7
BK(20) WH(20) 4211 BU(18) A11 A2 4202 BU(18) 006A RD(20) 8 006 OG(20)
+5V RD(18)
2 3 A1 4201 BU(18)
9 10
003 RD(20) CAN5H YE(18)
CAN5L GN(18) Platform Control Module
RD(16)
00305 RD(16) 5 003 BN/WH(18) 3 BN+WH(18) 4
CAN2H YE(18)
CAN2L GN(18)
00306 RD(16) 6 003+ RD(18) 4 GY(18) 5
Ground Control Module 00302 RD(16) 7 003-2 RD(16) 6 GND5 BK(18)
00303 RD(16) 8 003-3 RD(16)
00304 RD(16) 9 003-4 RD(20) 2 14 12 15 3 1 13
00301 RD(16) 6 003-1 WH(20) 4
Pressure Sensor 4204 WH+GN(22) 1
U2(CANVIEW3 )
GND BU(20)
GND7 BK(16) 24 GND BK(20) LS1 4201 YE(20) RP2
003 RD(20) GND BK(20) +5V BN(20) 3 2 GND GY(20)
8 CAN3L GN(18) GND6 BK(16) 23 GND BK(16) Potentiometer of Jib Boom
RD(1)
4202 WH(20)
7 CAN3H YE(18) GND5 BK(16) 22 GND BK(20)
120Ω YV8
Display 4 GND8 BK(18) GND13 BK(15) 8 GND5 BU/BK(18) 5 BU+BK(18) 4301 GN(20)) GND BU(20)+BK(20)
5 +VB RD(18) Lift Down Valve of Jib Boom(M)
CAN5H YE(18) 17 CANH WH(20)
Power Switch CAN5L GN(18) 18 CANL GN(20) GND BK/VT(20)
1 003-2 RD(16) 5 RD(16)
SB4
020A RD(16)
003-3 RD(16) 6 RD(16)

ECU1(LE70) GND BK(20) WH(20)
A14 GN(18) A14 A30 A30 BU(16) 7 A30 BU(20) TILT 003 RD(20)
RD(1)
Pothole Switch
A26 YE(18) A26
SQ3 Lift Down Limit Switch
A31 BU(16) A31 BU(16) A31 B15 B15 BU(16) 20 B15 YE(20) 003 RD(20) SQ1
A25 RD(16) A25
FU1 SQ4 Lift Up Limit Switch
A33 RD(16) A33 B17 B17 BU(16) 21 B17 GN(20) 003 RD(20)
250A Key Switch
A34 RD(16) A34 NOTE:THE DRAWING IS APPLIED TO AMWP1100-8100、AMWP11.5-8100.
003b RD(14)
SA1 SQ2
B33 RD(16) B33 A20 A20 BU(16) 5 A20 BK(20) 3 BK(20) RD/BU(16)
Pothole Switch
001d RD(16) B34 RD(16) B34
HL1
A10 A10 BU(16) 19 A10 BN(20) GND-1 BK(20)
RD(1)
003m RD(18) Beacon

001 RD(13) 1 001 RD(13) FU2 SB1 Horn
A28 RD(18) A28 A9 A9 BU(16) 18 A9 WH(20) GND BK(20)
10A Lift Enable Switch
001c RD(14) SB2 YV5 Lift Down Valve(S)
A16 RD(18) A16 A5 A5 BU(16) 17 A5 YE(20) GND BK/VT(20)
003a RD(14) Steer Enable Switch B13A BK(16) 7 BK(16)
SB3 YV1 Steer Right Valve(F-B3)
GB1 Battery KA3 A17 RD(18) A17 A1 A1 BU(16) 11 A1 BN/RD(16)
Lift Enable Switch Of Jib Boom B13B BK(16) 8 BK(16)
24v 020B GN(18) 4 020B RD(16) GND1 BK(16)
YV2 Steer Left Valve(F-A3)
S1 Up A18 RD(18) A18 A2 A2 BU(16) 12 A2 BN/BU(16)
Relay ECU2
A19 RD(18) A19 003-4 RD(20) 1 Power
U1(CPV) Down YV3 Turntable Rotate Left Valve(E-A2)
1 CPV RD(16) A3 A3 BU(16) 13 A3 GN/RD(16) CANH WH(20) 9 CANH -T1 2XBK(11)
PWM Convertor Module
Drive Motor
RD(1)
2 B1 BU(16) B1 BU(16) B1 CANL GN(20) 8 CANL F1 BU(13)

YV4 Turntable Rotate Right Valve(F-B2)
B24 BU(16) B24 BU(16) B24 A4 A4 BU(16) 14 A4 GN/VT(16)
RD(1)
4 M3
GND12 BK(16) A22 BK(16) A22 B2 BU(20) 14 Backward Excitation
6 YV6 Lift Up Valve(D-B1)
7 B1A BU(16) A6 A6 BU(16) 15 A6 RD/BU(16) B3 GN(20) 3 Forward Brake
B24A BU(16) A32 BK(16) A32 B7 GY(20) 2 Drive Enable BU(13))
9 YV7 Lift Up Valve of Jib Boom(D-A1) BU(13)
A7 A7 BU(16) 16 A7 BU/RD(16) B9 WH(20) 17 Speed Change
B24A WH(20) 2XRD(11)
15 B24A BU(16) B23 BN(20) 15 Pump Station Enable
B1 2XRD(11)
B1A YE(20) 16 B1A BU(16) B2 B2 BU(16) 14 B2 BU(20) A29 YE(20) 7 Angle Potentiometer
GND BK(13) 2 GND0 BK(13) GND4 BK(18) A23 BU(18) A23 B3 B3 BU(16) 13 B3 GN(20) MDT1 RD(16) 12 Field Testing M2
Buzzer Excitation
24 GND10 BK(16) B7 B7 BU(16) 11 B7 GY(20) B13B BU(20) 32 right Brake Release
19 B13A BK(16) GND9 BK(16) B9 B9 BU(16) 12 B9 WH(20) B13A GN(20) 25 Left Brake Release Brake
F2 BU(13) Drive Motor
20 B13B BK(16) GND11 BK(16) B23 B23 BU(16) 10 B23 BN(20) B1A YE(20) 5 Drive
-T2 2XBK(11)
KA4 A29 A29 BU(16) 21 A29 YE(20) B24A WH(20) 4 Lift
A29 GN(20) 9 WH+GN(22) 1 Potentiometer CON- BK(20) 11 Contactor -P BK(1) M1 RD(1)
B13 BU(18) GND2 BK(18) RP1
B13A GN(20)
B13B BU(20)
Relay B20 B20 RD(16) 3 B20 RD(20) 1 RD(22) 3 CON+ RD(20) 10 B+ B-

B13 BU(18) B13 A21 A21 BK(16) 4 2 2 Pump Motor
A21 BK(20) BK(22)
RD(15) 22 MDT1 RD(16) RD(1)
23 MDT2 RD(16) 10 RD(16)
BK(1)
KM1
DC Contactor
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3、电气控制说明(Electric Control instruction)
3.1 开机画面(Boot screen)

首先打开系统的电池开关，再打开下控箱的钥匙开关，左边位置为平台控制，右边位置为
下车控制，显示器上电 9-30Vdc，进入初始画面，画面显示鼎力 LOGO,下表画面切换频率
为 1S。(First, turn on the battery switch of the system.power, then switch the key on the
ground controlling box. The left position means platform controlling and the right position
means ground controlling. It enters into the boot screen when the display powered on 9-
30Vdc., and display the LOGO of “DingLi”. The frequency of the switch picture is 1s)
3.2 主界面(Main interface)

初始画面经过 3 秒后，进入套筒车的监测画面；(After three seconds in startup screen, it
will turn into the monitor screen of the 12Mt Vertical Mast)
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3.3 显示图标(Display icon)
操作切换图标(Operation selected icon)
下车控制平台控制平台控制平台控制

(Ground control) 桅柱起升模式小臂起升模式牵引模式
(Paltform control (Paltform control (Paltform control
Mast up and Jib up and down) Traction mode)
down)
通过钥匙开关的选择，下车控制时，在无报警和限制的情况下，可进行套筒车的任何动
作；平台控制时，必须激活 PCU 上面的薄膜按钮并以绿色 LED 灯表示激活状态，当系
统断电时，平台控制选择按钮不具有记忆功能，需要再次激活薄膜按钮。(When the
key’s switch turn into the ground controlling, you can enable all actions when there are
no alarm or limit. When the key turns into the platform controlling, you must activate
the thin film button on the PCU and the green LED means activated state. When the
system turn off the main power, the chosen button don’t possess memory function, so
you need activate the thin film button again)
下车控制时，PCU 面板上的三个功能选择按钮失效，仅喇叭按钮激活，用于在选择下
车控制时，通过平台喇叭按钮还能提示现场工作人员。(When the key switch turn into
the ground controlling, the three function chosen buttons lose efficacy on the PCU,
only the horn button is activated. This condition is used for reminding the field man by
the horn button)
快慢速切换图标(Switch speed icon)
慢速图标快速图标
(Slow icon) (Fast icon)
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快慢速图标通过件系统的以下的条状态自动切换慢速图纸，其他状态时，自动显示快速图
标；(Under the following circumstances, the system will turn into slow icon automatically.
Else it will turn into Fast icon)
A 桅柱脱离下限位置，自动显示慢速图标;(When the vertical mast takes off the lower

position switch, it will turn into Slow icon)
B 小臂升到上行程开关，自动切换到慢速图标；(When the jib lift up to upper position

switch, it will turn into Slow icon)
C 当电池电量低于 10%电量时，自动切换到慢速图标；(When the battery electric quantity

is lower than 10%, it will turn into Slow icon)
倾斜图标(Incline icon)
倾斜图标
(Incline icon)
当套筒车底盘倾斜角度大于水平传感器 X=2.5°，Y=2.5°时，且桅柱脱离下限制位置时，倾
斜图标自动切换；水平传感器角度设定通过外部设定，系统接受高电平常闭信号。(When
the 12Mt Vertical Mast incline angle bigger than horizon sensor X=2.5°,Y=2.5°and the
vertical mast takes off the lower position switch, the incline icon will turn on automatically;
The angle setting of the horizon sensor is through external set. The system receives the
high level NC signal.)
电池电压值(The battery voltage)
该图标显示系统电池的实时电压值，该数据通过 CAN 总线由 ECU 发送给显示器。当系统

动作时，可以实时反应电压的波动状况。(The icon display the actual time voltage and
ECU send the data to display by the CAN BUS. When the system is working, it will
display the actual time voltage fluctuation.)
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工作时间值(Working time)
该图标显示系统的工作时间，当系统工作时，该计时器自动记录累计工作时间，保存频率
为 1 分钟/次，单位为：小时（H）,最大可显示 9999.9H；可通过 VT3 软件 wincope.net 实
现工作时间的清零。(The icon displays system of working time. When the system is
working, the timer will add up the working time automatically. The save frequency is once
a minute. The unit is hour (H). The maximum is 9999.9H; The software of the VT3
wincope.net can make the working time reset)
牵引模式图标(Traction mode icon)
前进图标后退图标刹车图标刹车释放图标
(Forward) (Backward) (Brake) (Brake release)
显示器通过系统不同的牵引模式，显示前进，后退，刹车停止和刹车释放图标；(The
display can shows forward, backward, brake and brake release icon by the different
traction mode)
A 当套筒车钥匙开关选择到上车控制的牵引模式，手柄向前操作，套筒车向前方运动，根
据系统的不同速度实时显示前进速度变化图标；图标以递加，循环的方式显示；(When the
key switch turn into the platform controlling and enable traction mode, the joystick works
forward, the 12Mt Vertical Mast will move forward. According to the different speed it
shows the icon of forward speed change. The icon is showed in increase gradually and
circulation ways.)
B 当套筒车钥匙开关选择到上车控制的牵引模式，手柄向后操作，套筒车向后方运动，根
据系统的不同速度实时显示后退速度变化图标；图标以递加，循环的方式显示；(When the
key switch turn into the platform controlling and enable traction mode, the joystick works
backward, the 12Mt Vertical Mast will move backward. According to the different speed it
shows the icon of backward speed change. The icon is showed in increase gradually and
circulation ways)
行驶方向显示图标(Traction direction icon)
前进速度显示图标
(Forward icon)
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回退速度显示图标
Backward icon
A 当套筒车进行除前进或后退动作时，如车轮转向，桅柱起升等动作时，刹车处于闭合状
态，保证车轮处于静止状态，同时刹车图标被激活。 (When the 12Mt Vertical Mast
operate other actions except for traction, for example wheel steering, vertical mast lifting
up, the brake will turn on, to ensure the wheel is in a state of rest. At the same time, the
brake icon will be activated)
B 当套筒车的桅柱处于下限位，且钥匙开关处于下车控制时，按住下控面板的桅柱起升按
钮和小臂起升按钮，保持 2s 后，刹车释放图标被激活，出现提示代码 W:28,同时刹车处于
打开状态，在外力的作用下，车轮可以进行短时移动。在刹车释放模式下，为了保护减速
装置，不可以长期处于该模式。(hen the vertical mast is on the lower position and the key
switch turn into ground controlling, enable button of the vertical lifting up and jib lifting up
for two seconds, the brake release will be activated and the displayer will shows the
warning code “W:28”. At the same time, the brake turn off. The wheel can move for short
time under the action of the external force. In order to protect the brake equipment, it
mustn’t be on the brake release mode for a long time)
如果将刹车状态恢复到正常模式，需要按下急停按钮或者电池主开关，断电重启，刹车释
放图标自动切换到刹车模式。(If you want to make the brake mode to normal mode, you
need to press the emergency button or the battery master switch, the system will restart
and the brake release icon turn into the brake mode automatically)
按钮图标(Buttom icon)
正常工作状态下，主界面的最上面显示鼎力公司的英文“DingLi Machinery”,触控屏幕的该区
域，显示自动切换到实时时钟功能。再次触控，时钟和 logo 自动切换。(In the normal
working states, the topside of the main interface displays the logo “DingLi Machinery”. If
you touch the area on the screen, it will turn into the real-time clock. If you touch again,
the clock and the logo will automatic switchover)
当有报警和提示时，该区域的触控功能失效，仅显示报警或提示代码，代码循环显示。
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提示代码可以随着提示信息的减除而消失，但是报警代码，只有在报警减除时，断电重启
才能减除此报警。(When the system has the alarm or warning, the touching function will
be disabler. It will just show the alarm or warning list, the list will be showed circularly.
Warning list can disappear with the warning message deduction. But alarm list, but as to
the alarm disappear you must restart the system can remove the alarm)
提示代码出现时，以脉冲方式激活上下车的喇叭；报警代码出现时，喇叭以长鸣的方式并
且切断系统的所有动作。(When the warning list appeared, it will activate the buzzer by
the pulse mode; When the alarm warning list appeared, the buzzer will ring endlessly. At
the same time, any operation will cut off.)
主界面的右下角显示“菜单”按钮，系统进入菜单的目录按钮；(The botton right corner of
the main interface shows the menu button)
菜单按钮
(menu button)
3.4 菜单界面(Menu interface)

菜单界面的 6 个图标多可以触摸控制进入到指定界面。(There are six icons in the menu
interface. If you touch the icon, you can enter into the corresponding interface)
返回主界面
(Return to the main interface)
进入输入输出界面
(Enter into the input and output interface)
进入工具设定界面
(Enter into the tooling setting interface)
进入密码设定界面
(Enter into the password setting interface)
进入报警代码注释界面
(Enter into alarm list annotation interface)
进入提示代码注释界面
(Enter into warning list annotation interface)
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3.4.1 输入输出界面 (Input and output interface)
该界面显示主要输入输出的状态，包括输入模拟量，开关量和输出电磁阀的状态。触控每
个界面的标题栏位置，系统会自动中英文版本的切换，断电重启的默认状态为英文版本。
(This interface shows the main input and output, include analog input, dight input and
output solenoid valve. When you touch some interface title bar, the system will switch the
chinese and english. If you restart, the default state is english.)
3.4.2 工具设定界面 (Tooling setting interface)

该界面可以修改实时时钟的时间和显示器屏幕的背光灯的亮度调节。(The interface can
adjustment the real-time clock time and the brightness of the backlight)
返回到菜单界面(Return to the menu

interface)
保存设定(Save setting)
图标闪烁，进入背光灯亮度修改状态
(This icon blink, it will enter into
brightness control state)
图标闪烁，进入时钟修改状态 (This icon
blink, it will enter into adjustment clock
state)
光标闪烁，表示可以修改对应参数(The
cursor blinks, you can change the
corresponding parameter)
时钟修改功能激活时，用于左移动光标
(When the adjustment clock state is
activated, it uses for moving the cursor
left)
时钟修改功能激活时，用于右移动光标
(When the adjustment clock state is
activated, it uses for moving the cursor
right)
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时钟修改功能激活时，用于增加时间设
定值(When the adjustment clock state
is activated, it uses for adding to the
time setting value)
背光灯修改功能激活时，用于增加亮度
值(When the brightness control state is
activated, it uses for adding to the
brightness value)
时钟修改功能激活时，用于减少时间设
定值(When the adjustment clock state
is activated, it uses for decreasing to
the time setting value)
背光灯修改功能激活时，用于减少亮度
值(When the brightness control state is
activated, it uses for decreasing to the
brightness value)
3.4.3 密码设定界面 (Password setting interface)

系统的校验功能和关键参数，需要密码才能进入修改。(If you want to change the verify
function and the key parameter, you need the password setting)
注意：进入该界面需要经过培训的人员才能操作，因为不正确的设定，会导致系统没有任
何动作。
(Waring: If you want to enter into the interface, you must be a trained and qualified
personnel. Because if your setting is wrong, the system will be no any operation.)
正确输入”3156”密码后，才能显示
“ENTER”图标，其他状态该图标为隐藏
状态。
(Only you input the “3156”correctly, it
can show the icon “ENTER”. If not, the
icon will be hidden)
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正确输入密码后，可进入如下界面；(If you input the password correctly, it will enter into
the following interface)
何动作。
personnel. Because if your setting is wrong, the system will be no any operation)
A 小臂角度校验，用于小臂的上下限位和称重功能。当小臂电位计更换或者发生故障报警
时，需要进行校验；(Jib Angle, for jib upper and lower position, load functionWhen the Jib
angel sensor is replaced or alarms for abnormality,we need to reset the Jib angle.)
B 小臂压力校验，用于称重功能。当小臂压力传感器更换或者发生异常超载报警时，需要
进行校验；(Jib pressure, for the load functionWhen the Jib pressure is replaced or alarms
for abnormality,we need to reset the jib pressure )
C 车轮的转向校验，用于转向时的限制和减速转向功能。当更换驱动电机后或者转向异常
时，需要进行校验(Steer wheeling, for the limit of the wheeling steer and the speed cut
function When the steer wheel is replaced or alarms for abnormality,we need to reset the
steer wheel)
3.4.3.1 小臂角度校验(Jib angle verify)
正向角度校验反向角度校验
(Forward direction angle verify) (Reverse direction angle verify)
在进行角度校验时，需要带数显的水平尺肯定到小臂的臂架上，便于在任何位置能读出实
际角度值。(When you verify the angle, you need a levelling instrument which can read
out the digital. In order to read out the angle value, you need put the levelling instrument
on the jib)
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数显水平尺
(Digital readout levelling instrument)
步骤 1：将小臂角度调到正向 0 度位置，按下，观察界面最上

面的模拟量自动导入到“P0Adc”位置。(Set the jib angle to 0 degree forward direction.
Press the , the topside analog quantity will input the “P0Adc”
position)

面的模拟量自动导入到“30Adc”位置。(Set the jib angle to 30 degree forward direction.
Press the , the topside analog quantity will input the “30Adc”
position)
步骤 3：将小臂角度调到正向最大角度位置，按下，观察界面最
上面的模拟量自动导入到“PMaxAdc”位置。(Set the jib angle to maximum forward
direction. Press the , the topside analog quantity will input the
“PMaxAdc” position)
步骤 4：将小臂角度调到反向 0 角度位置，按下，观察界面最

上面的模拟量自动导入到“N0Adc”位置。(Set the jib angle to 0 degree reverse direction.
Press the , the topside analog quantity will input the “N0Adc”
position)
步骤 5：将小臂角度调到反向 30 角度位置，按下，观察界面最

上面的模拟量自动导入到“-30Adc”位置。(Set the jib angle to 30 degree reverse direction.
Press the , the topside analog quantity will input the “-30Adc”
position)
步骤 6：将小臂角度调到反向最大角度位置，按下，观察界
面最上面的模拟量自动导入到“-MaxAdc”位置。(Set the jib angle to maximum reverse
direction. Press the , the topside analog quantity will input

the “-MaxAdc” position)
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步骤 7：记录以上所有数据，断电重启，确认模拟量是否保存到正确的位置。(Save above
data and restart. Ensure the analog quantity is saved to the correct position)
3.4.3.2 小臂压力校验(Jib pressure verify)
反向压力校验正向压力校验
(Reverse direction angle verify) (Forward direction angle verify)
步骤 1：放额定载重在平台上，将小臂角度调到反向 50 度位置，按下
，观察界面最上面的模拟量自动导入到“N50A”和“N50P”位置。
(Set the jib angle to 50 degree reverse direction. Press the ,

the topside analog quantity will input the “N50A” and “N50P” position)
步骤 2：将小臂角度调到反向 25 度位置，按下，观察界面最

上面的模拟量自动导入到“N25A”和“N25P”位置。(Set the jib angle to 25 degree reverse
direction. Press the ,the topside analog quantity will input the
“N25A” and “N25P” position)
步骤 3：将小臂角度调到反向 0 度位置，按下，观察界面最上

面的模拟量自动导入到“P0A”和“P0P”位置。(Set the jib angle to 0 degree reverse direction.
Press the ，the topside analog quantity will input the “P0A”
and “P0P” position)

面的模拟量自动导入到“P30A”和“P30P”位置。(Set the jib angle to 30 degree forward
“P30A” and “P30P” position)
步骤 5：将小臂角度调到正向 50 度位置，按下，观察界面最

上面的模拟量自动导入到“P50A”和“P50P”位置。(Set the jib angle to 50 degree forward
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“P50A” and “P50P” position)
步骤 6：记录以上所有数据，断电重启，确认模拟量是否保存到正确的位置。(Save above
data and restart. Ensure the analog quantity is saved to the correct position)
3.4.3.3 车轮转向校验(Steet potentiometer verify)
在进行车轮转向校验时，需要将车轮打下全行程，确认界面最上面的模拟量是递加或递减
的方式变化，否则需要重新安装转向电位计位置。(When you verify the wheel steering,
you need to turn total excursion. Ensure the topside analoy quantity is increase or
decrease gradually. If not, you need reset the position of the potentiometer)
步骤 1：将车轮转向转到右侧最小位置，按下图标；(Turn
to the min right steer, press the icon)
步骤 2：将车轮转向转到最中心位置，按下图标；(Turn to
the center position, press the icon)
步骤 3：将车轮转向转到左侧最大位置，按下图标；(Turn to
the max left steer, press the icon)
步骤 4：断电重启；(Restart)
3.4.4 参数设定(Parameter setting)

正确输入密码后，首先进入参数校验界面，再按照如下的按钮，进入参数设定界面；
(When you input the password correctly, you will enter into the parameter verify interface.
Then according to the following button, you can enter into the parameter setting inferface)
何动作或者危险动作。
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personnel. Because if your setting is wrong, the system will be no any operation or
dangerous)
A 小臂下限角度设定，用于小臂工作斗底部到地面的距离；(Jib angle limit setting, for the

distance from the bottom of the cage to the groud)
B 称重功能激活/禁止，用于选择是否需要称重功能；(The load function enable/disable,

for chose the load function is on or off)
C 动作蜂鸣的激活/禁止，用于选择是否需要动作蜂鸣；(Buzzer enable/disable, for

chose the buzzer is on or off)
3.4.4.1 小臂下限角度设定(Jib angle limit setting)
界面中“Limit angle”显示目前小臂下限角度的设定；设定范围为-450 到-600；(The “Limit

angle” in the interface show the jib limit angle setting now; the range is -450 to -600)
代表每按一次，以 10 的步长递加，并且保存；( stands for you press it once,

the angle will increase 10 and it will save automatically)
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代表每按一次，以 10 的步长递减，并且保存；( stands for you press it once,

the angle will decrease 10 and it will save automatically)
3.4.4.2 称重功能激活/禁止(Load function enable/disable)
通过点击图标，以实心点图标，来显示选择称重功能。例如上图表示称重功能被禁
止；(You can click on the icon, the solid point show the chosen load function. For
example, the cograph stand for the load function is disable)
3.4.4.3 动作蜂鸣的激活/禁止(Buzzer function enable/disenable)
通过点击图标，以实心点图标，来显示选择动作蜂鸣功能。例如上图表示动作蜂鸣功
能被激活；(You can click on the icon, the solid point show the chosen buzzer
function. For example, the cograph stand for the buzzer function is enable)
31 / 44
3.4.5 速度设定界面
1.行走速度设定，用于调整套筒车前进后退速度及手柄使能的动作斜坡；(Travelling speed
setting,it is used to adust the forward and backward speed and the joystick start/ stop
slope)
2.转向速度设定，用于调整套筒车车轮转向速度；(Steering speed setting,it is used to

adust the wheel steering speed)
3.桅柱起升速度设定，用于调整套筒车垂直桅柱起升速度；(Mast lift up speed setting,it is

used to adust the vertical mast lifting up speed)
4.桅柱回转速度设定，用于调整套筒车垂直桅柱左右回转速度；(Mast rotation speed

setting,it is used to adust the vertical mast left and right slewing speed)
5.小臂起升速度设定，用于调整套筒车小臂起升速度；(Jib lift up speed setting,it is used to

adust the jib lifting up speed)
3.4.5.1 行走速度设定 Travelling speed setting,i
前进速度设定 Forward speed setting
32 / 44
界面中“Forward speed”显示目前套筒车前进速度的设定；设定范围为 1000 到 4400；(The
“Forward speed” in the interface show the machine forward speed setting now; the range
is 1000 to 4400)

the speed will increase 50 and it will save automatically)

the speed will decrease 50 and it will save automatically)
后退速度设定(Backward speed setting)
界面中“Backward speed”显示目前套筒车后退速度的设定；设定范围为 1000 到 4400；

(The “Backward speed” in the interface show the machine backward speed setting now;
the range is 1000 to 4400)


3.4.5.2 前进启动斜坡设定 Forward start slope setting
界面中“F Start slope”显示目前套筒车的前进启动斜坡的设定；设定范围为 0 到 100；

(The “F Start slope” in the interface show the machine forward start slope setting now; the
range is 0 to 100)

the slope will increase 1 and it will save automatically)

the slope will decrease 1 and it will save automatically)
33 / 44
3.4.5.3 前进停止斜坡设定 Forward stop slope setting
界面中“F Stop slope”显示目前套筒车前进停止斜坡的设定；设定范围为 0 到 100；

(The “F Stop slope” in the interface show the machine forward stop slope setting now; the
range is 0 to 100)


3.4.5.4 后退启动斜坡设定(Backward start slope setting)
界面中“B Start slope”显示目前套筒车后退启动斜坡的设定；设定范围为 0 到 100；

(The “B Start slope” in the interface show the machine backward start slope setting now;
the range is 0 to 100; )


34 / 44
3.4.5.5 后退停止斜坡设定(Backward stop slope setting)
界面中“B Stop slope”显示目前套筒车后退停止斜坡的设定；设定范围为 0 到 100；

(The “B Stop slope” in the interface show the machine backward stop slope setting now;


3.4.5.6 车轮转向速度设定(Steer speed setting)
界面中“Steer speed”显示目前套筒车车轮转向速度的设定；设定范围为 500 到 2000；

(The “Steer speed” in the interface show the machine wheel steering speed setting now;


3.4.5.7 桅柱举升速度设定(Mast lift up speed setting)
35 / 44
界面中“Mast up speed”显示目前套筒车桅柱举升速度的设定；设定范围为 1000 到 4400；
(The “Mast up speed” in the interface show the machine mast lift up speed setting now;


3.4.5.8 桅柱回转速度设定 (Mast rotation speed setting)
界面中“Mast left”显示目前套筒车桅柱左回转速度的设定；设定范围为 100 到 1500；

(The “Mast up speed” in the interface show the machine mast right rotation speed setting
now; the range is 100 to 1500)


3.4.5.9 桅柱右回转速度设定(Mast right rotation speed setting)
界面中“Mast right”显示目前套筒车桅柱右回转速度的设定；设定范围为 100 到 1500；

(The “Mast right” in the interface show the machine mast right rotation speed setting now;

36 / 44

3.4.5.10 小臂举升速度设定(Jib lifting up speed setting)
界面中“Jib up speed”显示目前套筒车小臂举升速度的设定；设定范围为 0 到 1000；

(The “Jib up speed” in the interface show the machine jib lift up speed setting now; the
range is 0 to 1000)


3.5 水平传感器清零步骤(Tilt Sensor SET ZERO Operation)

当水平传感器更换后，或者水平传感器异常报警时。需要将水平传感器清零。(When the level
sensor is replaced or alarms for abnormality,we need to reset the level sensor)
1、将机器行驶到水平的平台上。 (Drive machine on the level ground)

2、打开机器电源，找到水平传感器。(Turn on the keyswitch, find the location of the tilt
sensor)
3、通过调节三个弹簧，确保气泡在传感器的正中间。(By adjusting three springs,to make

sure the bubble is in the center of the sensor.)
4、找到清零的孔位（ZERO）。(Find the location of “ZERO”)
37 / 44
5、按住按钮（ZERO）直到传感器上侧指示灯红绿交替闪烁，待红绿指示灯停止交替闪烁
绿灯常亮，传感器清零工作完成。(Pressing the ZERO button until the red and green
lights on the side light of sensor flash alternately,after the red and green lights stop
flashing alternately and the green light keep solid,the sensor reset finished)
3.6 报警代码界面(Alarm list interface)
Display Description （English ）中文故障描述（Chinese）

1 Iocore CPUa canbus fault IoCore 扩展模块 CPUa CAN 通讯报警
2 Iocore CPUb canbus fault IoCore 扩展模块 CPUb CAN 通讯报警
3 Reserved 备用
4 Canbus off CAN 总线 busoff
5 Y joystick fault Y 轴手柄故障
6 Reserved 备用
7 Jib Angle Sensor Fault 小臂角度传感器故障
8 Jib Press Sensor Fault 小臂压力传感器故障
9 Left motor brake coil open circuit 左电机刹车线圈开路
10 Left motor brake coil short circuit 左电机刹车线圈短路
11 Right motor brake coil open circuit 右电机刹车线圈开路
12 Right motor brake coil short circuit 右电机刹车线圈短路
13 LE70 memory P fault 控制器内部 P 存储器故障
14 LE70 memory R fault 控制器内部 R 存储器故障
15 Reserved 备用
38 / 44
16 zapi driver canbus fault zapi 驱动器 can 总线故障

17 PCU canbus fault 上控手柄模块 CAN 总线故障
18 Jib_mA Press_fault_A A 通道压力故障
19 Jib_mA Press_fault_B B 通道压力故障
20 Jib_mA Press_Diff_fault 冗余压力溢出
3.6 提示代码界面 Warning list interface
Display Description （English ）中文故障描述（Chinese）

3 Canview3 Canbus fault Canview3 显示器 CAN 通讯报警
6 Steer Sensor Fault 车轮转向电位计故障
15 LE70 Pinout fault LE70 控制器部分电磁阀输出针脚故障
20 Lift block travel 起升后限制行走
21 Pothole Guard error 坑洞报警提示
22 Mast upper position limit 桅柱上限位提示
23 Mast lower position limit 桅柱下限位提示
24 Jib upper position limit 小臂上行程开关提示
25 Anti_collision 高空防撞提示
26 Anti_squeeze 防挤压提示
27 Voltage of battery less than 70% 电池电压低于 70%
28 Manual brake release 手动刹车释放
29 Jib upper angle limit 小臂上角度限制
30 Jib lower angle limit 小臂下角度限制
90 90% Load pre-warning 90%负载预提示
101 Overload 220kg , PCU show "OL" 工作斗超载-220KG,PCU 显示“OL”
102 Tilt， PCU show "LL" 倾斜报警提示,PCU 显示“LL”
31 Serial error 串口通讯错误
32 EEPROM KO 存储器错误
逻辑单元错误（钥匙开关电压信号不稳
Logic failture
33 定）
34 Battery low 电量低 10%
35 Drive shorted 主接触器驱动短路
36 Contactor driver 主接触器不能闭合
39 / 44
37 FORW+BACK 同时有前进后退信号
驱动 1 错误（控制器内部检测到主接触器
Drive 1 KO
38 信号错误）
驱动 2 错误（控制器内部检测到 EB 信号错
Drive 2 KO
39 误）
40 EB1 DRV. Shorted 左刹车驱动短路
41 EB2 DRV. Shorted 右刹车驱动短路
44 AUX DRV. Shorted Pin12 口短路
45 EB coil shorted
48 Output mismatch 逻辑板和界面信号不匹配
49 Brake enable
50 Steer out of RNG. 转向电位器超出设定值
51 Incorrect start 启动顺序错误
52 Mismatch N. 逻辑板和界面板信号不匹配
53 A12 DRV. Fail A12 驱动失败
54 AUX enable short 辅助使能短路
55 MC enable short 逻辑板主接触器使能短路
56 MC coil open 主接触器不能闭合
57 Wrong set BAT. 电压设置错误
58 Analog input 界面输入信号错误
59 Waiting for node 等待节点信号（Power 有故障）
60 No CAN MSG. 无 CAN 通讯
61 Flash checksum 闪存检查
62 Wrong RAM memory 错误的 RAM 存储
63 Serial error 串口通讯错误
64 Logic failure 存储器错误
65 Left VMN low 左电机 VMN 低
66 Left VMN high 左电机 VMN 高
67 Right VMN low 右电机 VMN 低
68 Right VMN high 右电机 VMN 高
69 Pump VMN low 泵电机 VMN 低
70 Pump VMN high 泵电机 VMN 高
71 VMN low
72 VMN high
73 Contactor closed 主接触器粘连
74 Contactor open 主接触器无法闭合
75 Pump I=0 ever 泵电机工作时，检测到电机电流为 0
40 / 44
76 Left STBY I high 电机停止时，检测到左电机电枢有电流

77 Right STBY I high 电机停止时，检测到右电机电枢有电流
78 Pump STBY I high 泵电机停止时，检测到电机电枢有电流
在电机静止状态下，检测到有励磁电流通
High field CUR.
79 过
80 No field CUR. 电机工作状态下，检测不到励磁电流
81 Capacitor charge 电容充电
82 High temperature 控制器温度过高（75)
83 Driver 1 KO. 驱动 1 故障
84 Driver 2 KO. 驱动 2 故障
85 Pump I SENS. KO 泵电流传感器故障
86 ARMDX. COIL shorted 右电枢短路
87 ARMSX. COIL shorted 左电枢短路
88 V field not ok 励磁电压故障
89 TH. sensor KO 控制器温度传感器故障
91 TRAC. SENS.KO 电枢传感器故障
92 Wait for enable 等待使能信号
93 Driver 3 KO 驱动 3 故障
94 TRAC. EN. shorted 行走使能短路
95 Pump EN. shorted 泵使能短路
96 Steer out of RN. 转向电位器超出设定值
97 Analog input 模拟量输入错误
98 SP. Mismatch 内部信号不匹配
99 No CAN MSG. 无 CAN 通讯
100 Flash checksum 闪存检查
103 Wrong RAM. memory 错误的 RAM 存储
104 FLDDX coil short 右励磁短路
105 FLDSX coil short 左励磁短路
41 / 44
常规保养
42 / 44
Daily Maintenance
1、液压油更换（Hydraulic oil change）

更换和测试液压油对于机器的性能表现和使用寿命是非常重要的。脏的液压油
和滤芯可以导致机器性能不好，连续使用可能会导致零件损坏，如果在极端恶
劣的环境下工作，需要更换液压油的频率要比平常环境多很多。
（Replacement and testing of the hydraulic oil is essential for good machine
performance and service life. Dirty oil and suction strainers may cause the
machine poorly and continued use may cause components damage.
Extremely dirty conditions may require oil changes to be performed more
often.）
建议每两年或者机器运行 1200 个小时，更换液压油。（Every 2years or

1200 hours of operation, hydraulic oil need to be changed.）
43 / 44
2、电池的维护（Maintenance of battery）
2.1 每周检查和清洁一次(Weekly check and clean the battery)
2.2 每两周检查电池液面的状态，保证电池配备充足的电池液。
(Check the situation of water level of battery in two weeks, to make sure the
water is enough in the battery. )
44 / 44

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浙 江 鼎 力 机 械 股 份 有 限 公 司

Zhejiang Dingli Machinery Co.,Ltd

1、地面控制器（Ground Control Panel ）

1 显示屏（LED） （Push and hold the button to active Mast

elevation/lowering function） clockwise turntable rotation or jib elevation）;

2.平台控制（Platform Control Panel）

1 功能辅助开关（Function enable switch） /lowering function）

2 拇指开关：行走转向功能/转台回转功能 6 小臂升降选择按钮（Jib elevation select

(Chock the wheels to prevent the machine from rolling.)

the key switch）

4.1.1 向外拉动紧急下降控制拉钮。pull out the emergency lowering control button

4.2 小臂下降 jib lowering down

4.2.1 逆时针转动小臂油缸上的阀。turn the jib cylinder valve in the direction CCW

(Left/Right steering solenoid) (Jib elevation solenoid)

Electric control system

水平传感器 X 轴设定最大倾斜角度 2.5 度为最大角度，Y 轴设

ZAPI 行走控制器 用于比例控制驱动和起升电机的转速。（Motor

2、电路图 新版 中文（Electric schematic New Chinese）

003-3 RD(16) 6 RD(16)

2 B1 BU(16) B1 BU(16) B1 CANL GN(20) 8 总线低 F1 BU(13)

A29 GN(20) 9 WH+GN(22) 1 转角电位计 CON- BK(20) 11 接触器 -P BK(1) M1 RD(1)

B20 B20 RD(16) 3 B20 RD(20) 1 RD(22) 3 CON+ RD(20) 10 接触器 B+ B-

003-3 RD(16) 6 RD(16)

003m RD(18) Beacon

2 B1 BU(16) B1 BU(16) B1 CANL GN(20) 8 CANL F1 BU(13)

Relay B20 B20 RD(16) 3 B20 RD(20) 1 RD(22) 3 CON+ RD(20) 10 B+ B-

3、电气控制说明(Electric Control instruction)

3.1 开机画面(Boot screen)

3.2 主界面(Main interface)

操作切换图标(Operation selected icon)

下车控制 平台控制 平台控制 平台控制

快慢速切换图标(Switch speed icon)

A 桅柱脱离下限位置，自动显示慢速图标;(When the vertical mast takes off the lower

B 小臂升到上行程开关，自动切换到慢速图标；(When the jib lift up to upper position

C 当电池电量低于 10%电量时，自动切换到慢速图标；(When the battery electric quantity

电池电压值(The battery voltage)

该图标显示系统电池的实时电压值，该数据通过 CAN 总线由 ECU 发送给显示器。当系统

牵引模式图标(Traction mode icon)

前进图标 后退图标 刹车图标 刹车释放图标

(Forward) (Backward) (Brake) (Brake release)

行驶方向显示图标(Traction direction icon)

3.4 菜单界面(Menu interface)

3.4.2 工具设定界面 (Tooling setting interface)

返回到菜单界面(Return to the menu

3.4.3 密码设定界面 (Password setting interface)

3.4.3.1 小臂角度校验(Jib angle verify)

步骤 1：将小臂角度调到正向 0 度位置，按下 ，观察界面最上

步骤 2：将小臂角度调到正向 30 度位置，按下 ，观察界面最上

步骤 4：将小臂角度调到反向 0 角度位置，按下 ，观察界面最

步骤 5：将小臂角度调到反向 30 角度位置，按下 ，观察界面最

direction. Press the , the topside analog quantity will input

3.4.3.2 小臂压力校验(Jib pressure verify)

(Set the jib angle to 50 degree reverse direction. Press the ,

步骤 2：将小臂角度调到反向 25 度位置，按下 ，观察界面最

步骤 3：将小臂角度调到反向 0 度位置，按下 ，观察界面最上

步骤 4：将小臂角度调到正向 30 度位置，按下 ，观察界面最上

步骤 5：将小臂角度调到正向 50 度位置，按下 ，观察界面最

3.4.3.3 车轮转向校验(Steet potentiometer verify)

the center position, press the icon)

the max left steer, press the icon)

3.4.4 参数设定(Parameter setting)

A 小臂下限角度设定，用于小臂工作斗底部到地面的距离；(Jib angle limit setting, for the

B 称重功能激活/禁止，用于选择是否需要称重功能；(The load function enable/disable,

浙江鼎力机械股份有限公司

1 显示屏（LED）（Push and hold the button to active Mast

ZAPI 行走控制器用于比例控制驱动和起升电机的转速。（Motor

2、电路图新版中文（Electric schematic New Chinese）

下车控制平台控制平台控制平台控制

前进图标后退图标刹车图标刹车释放图标

步骤 1：将小臂角度调到正向 0 度位置，按下，观察界面最上

步骤 2：将小臂角度调到正向 30 度位置，按下，观察界面最上

步骤 4：将小臂角度调到反向 0 角度位置，按下，观察界面最

步骤 5：将小臂角度调到反向 30 角度位置，按下，观察界面最

步骤 2：将小臂角度调到反向 25 度位置，按下，观察界面最

步骤 3：将小臂角度调到反向 0 度位置，按下，观察界面最上

步骤 4：将小臂角度调到正向 30 度位置，按下，观察界面最上

步骤 5：将小臂角度调到正向 50 度位置，按下，观察界面最

4.桅柱回转速度设定，用于调整套筒车垂直桅柱左右回转速度；(Mast rotation speed

Display Description （English ）中文故障描述（Chinese）

Display Description （English ）中文故障描述（Chinese）