Bobcat Telescopic

Handlers
New Control System of
Longitudinal Stability
LLMI-LLMC according to
directives EU EN15000
By GZ

November, 2011

4701010–EN-LLMC-LLMI Stability Control System

LLMI-LLMC

¾LLMI: Longitudinal Load Moment Indicator

¾LLMC: Longitudinal Load Moment Controller

¾LLMS: Longitudinal Load Moment Sensor

¾Aggravating movements are those,

which reduce the longitudinal stability.

Page 1
New Features of the Longitudinal Stability System
LLMI-LLMC
The main difference between the previous and the actual machines is the speed
reduction function before the machine gets into an unstable situation.

The speed reduction makes the function operation smoother, avoiding a rough stop due to
boom inertia.

Furthermore, the behavoir of the machine operation is different:

¾When the boom is fully retracted, the LLMC system is not active. In this situation
boom functions are not stopped, but their speed is reduced in order to avoid
machine instability.

¾The buzzer is only disabled when the boom is fully retracted.

¾ If the boom is operated at an angle greater than 5°(e.g. boom up/down & Fork tilt
(open/close)) the speed will be reduced!

¾ In these conditions the use of the machine as a loader becomes more practical.

Page 2
New Features of the Longitudinal Stability System
LLMI-LLMC

When the operator activates the override, the LLMC allows movement at a reduced speed.

The override functions within 60 seconds after the operator releases the override switch.

The Orange LED on the LLMI display informs the operator about the system activity as follows:

9 LED light “ON” - system is active.

9 LED flashing intermittantly - system is not active.

NOTE: In the later condition the system cannot control the machine stability.

NOTE: When using an attachment like a man platform or a winch, the use of the
override switch is disabled.

Page 3
LLMI-LLMC

NG27 schematic principle

Stability level
Sensor CAN 1 Stability 1 1 Proportional control
LLMI Controller 1
LLMS 1 valve (reduced speed)

Stability level
Sensor CAN 2 Stability 2 Safety valve
2
LLMC Controller 2
LLMS 2 (functions cut-off)

Page 4
LLMI-LLMC

NG25, 33, 34 Schematic principle

Sensor
LLMI
LLMS 1

Proportional control valve

Sensor (Reduce speed)
LLMS 2

LLMC

Safety valve
functions cut-off

Page 5
Architecture System
Modifications
LLMI-LLMC

NG25, 33, 34 Previous architecture

( Load cell sensor ) Signal from joystick

Stability 1

Stability level 1 BCC

ISL controller
Valve block

Pump

AMA Valve

Aggravating
Boom angle Buzzer By-pass key
functions stop
sensor 25° (Shunt)

Page 7
LLMI-LLMC

NG25, 33, 34 Architecture according to EN15000

LoadLoad
cells with
cell redundant
with Signal from
Hydraulic
signals
redundant signals Joystick pump

Stability Stability
1 2
AMA
Valve block
valve
Stability level 2
LLMI CAN BUS LLMC
Stability level 1
proportional signal

Buzzer Override Sensor Aggravating

switch boom retracted functions stop

Boom angle
switch 5°

Page 8
Proportional Control Valve on T25 – T33 & T2250

EV20

LS line from
valve block

EV16

SAFETY CONTROL
BLOCK
Proportional control valve:

The function of this valve is to reduce the

speed of different functions when the load
level is 65 to 75% of the admissible maximum
load (this corresponds to the beginning of
instability).

JOYSTICK The movements/functions are:

9Boom down
9Fork opening
EV3 9One‐way auxiliary line
JOYSTICK
LOCK VALVE

In every case, the speed reduction occurs

Pilot line
before the cylinders reach end stroke .

Page 9
New Arm Sensors

Sensor (Boom retracted detection)

The electrical system that communicates with

the AMA, differs from the previous one.

Now, two sensors have been added:

9One for detecting boom retraction.

9A new one to a detect 5°boom angle

(this replaces the 25°angle sensor, no
longer used on machines with EN15000).
.
When the boom is fully retracted all functions
are active below or above 5°

NOTE: The buzzer is not active in the

above condition.

Boom angle
sensor 5°

Page 10
 LLMI-LLMC

NG27 Previous architecture

Load cell
+12V PWR

Stability
level 1
BCC
Stability level 1
Main
control unit

ISL Control line Relay

No feeding
Safety system

Valve block

Boom angle sensor Buzzer By-pass Man Platform Aggravating

25° key Work mode movement stop

Page 11
LLMI-LLMC
NG27 EN15000 New architecture
Load cells with
redundant signal
BCC control +12V PWR EV3 cuts LS
Stability Stability Unit (functions stop)
level 1 level 2
Relay
K13(CEC)
Stability
level 2 Controller
2
LLMI CAN BUS LLMC

Stability Controller
level 1
1

Buzzer Override Work mode

switch MP/winch
Signal to Danfoss
proportional valve

Sensor (Boom Signals from Aggravating

Boom angle
retraction detected) Joystick movements stop
sensor 5°

Page 12
BCC Controller T40140 – 170 & 35120 MP

CPU + in / out protections

CPU
+LEVAG INCLINATION TELESCOPE
CAN High

CAN Low

AXE 1 AXE 2 AXE 3

LEVAGE INCLINATION TELESCOPE

EVP 1 EVP 3
EVP 2

PVEK DANFOSS PVEK DANFOSS PVEK DANFOSS

TOOL
The new processor (CPU) manages the signals to the EVP 4 Auxiliary / winch
solenoids of different functions and the winch
(see the schematic).
PVEK DANFOSS

The speed reduction of different functions happens when the detected load level is 65‐75% of the
maximum admissible load. This occurs before the function comes to a stop.
Movements are: Boom lower, Fork opening, and Auxiliary lines both senses.

Page 13
Safety valve (functions cut-off) T40110–40170 & T35120 MP
Safety valve: Fuse F14
When the load level reaches 80% of the admissible load and
the boom is above 5 °all functions are disabled. K13 energized
if LLMC (ok)
(LEVEL OR STAB. ACTION)

LS ET PUISSANCE
(LS + POWER)
From Joystick

ReLect
Safety valve +12V
EV 3 uses the LS line if LLMC (ok)

ELECTRO LS
EV3

LS SHUT OFF
VALVE
Page 14
Protections against Winch Overload Condition
Page 18/19 electrical

RADIO LEVERAGE + INCLIN.

schematic

RADIO TELESC. + OUT]L

CPU + in / out protections
Winch Overload
management

Led activation
when winch is
detected

Switches on RH
dashboard

Page 15
Boom Angle Limitaion Operations with MP / Winch

Maximum boom angle

limitation switch

Winch

U2-39
From work mode Fuse F14
selector switch

(LEVEL OR STAB. ACTION)

LS ET PU]SSANCE
(LS + POWER)
From
LLMC

EV3
CPU + in / out protections

Page 16
LLMI-LLMC Calibration
LLMI Display

1 3
Test button: LED’s on display
indicate the systems
¾System test/calibration. status.

¾The red LED on the test

button is for diagnosis
purposes. It indicates 2
system malfunctions and
flashes when a problem is
detected.

The orange LED on the control

button indicates the following:

¾Lamp steady - (fix)

system is active.

¾Lamp blinking – system

disabled.
Page 18
Calibration Procedure (Warnings)

Before performing the calibration, run

the machine to warm up the oil and
axles.

Check that the bolts, Item 1(that fit the

load cells), are tightened to the correct
torque, 65 N·m.

NOTE: Calibration has to be performed within 5 minutes, if it takes longer,

switch the key to off and repeat.

During calibration the buzzer will sound every time the test button is
pressed. To be successful, we recommend parking the machine on a
flat surface with the wheels straight.

Continue by lifing a load (about 50% of maximum load), decrease rear axle load
pressure and extend boom, 3m, until rear wheels are off the ground. Then place the
load on the ground, retract the boom and turn the engine off.

Page 19
Calibration Procedure for Machines According to “EN 15000”

1) Press and hold the TEST button while starting the engine. Stop Pre/heat
Then, quickly press the TEST button 3 times within 4 seconds.
Start
NOTE: To indicate the system is in calibration mode LED’s 2 & 3 will
flash and a buzzer will sound intermittently for 3 seconds.

2) The green LED’s, Item 2, will illuminate to indicate that the system is
ready to record the first calibration point.

3) Without a load and attachment carrier

fully tilted up, retract and raise the
boom to the maximum height.

4 ) Press the Test button once to record

the first calibration point.

Page 20
Calibration Procedure for Machines According to “EN 15000”

5) The orange and red LED’s will illuminate to indicate the

system is ready for the second calibration point.

6) Lift a load about 40 cm off the ground, then extend the boom until
the rear wheels lift off the ground, wait until the machine is in balance.

7) At this point, press the Test button to record the second calibration
point.

8) LED’s 2 & 3 will illuminate for 3 seconds and the buzzer will sound
2 times to validate the procedure.

NOTE: If the buzzer sounds and the LED’S flash in any configuration
then a calibration error has occurred.
(See the error section, page 6-10-3, of the Service Manual).

After calibration the system will return to normal operation mode!

Page 21
Functional Test of the LLMI - LLMC

NOTE: After calibration, it is possible to check the first calibration point.

The test can be performed as follows:

1) Raise the boom, fully retracted and without attachment.

2) Tilt the attachment carrier fully up.

3) Press and hold the TEST button for 5 seconds.

4) Release the TEST button.

The calibration test is finished. Two test results are possible:

9 The four green LEDs light up, calibration is OK.

9 The orange and red LEDs light up, calibration is out of range. Please, redo calibration of
the LLMC system.

NOTE: If the Test button is pressed and held for more than 60 seconds the
procedure will stop automatically and the system returns to a normal
operating mode.
Page 22
Suggested to Run the Machines and Eventually Re-calibrate
Machines Before Delivery to Customers
On new machines a new re-calibration could be necessary after days of operation, it is
evident that the signals from the axle sensors become stabilized during such a period
because of two situations:

9 Weight on the axle (compression) and position of the transmission relative to the
frame (traction effort) have influence on the signals.

These situations are purely due to the new technology of machines EN 15000.

The same thing happens on competitors machines with same technology.

Check
before
delivery!

Page 23
THANK YOU

Page 24