Control System ST14

RCS Presentation
 Objectives

You will know the Atlas Copco Scooptram ST 14,

from the inside and the outside, including
hydraulic & electrical systems, basic
maintenance routines and troubleshooting.

Content
Overview
Safety an how to Drive
Hydraulics Introduction
Electrical System
Control System (RCS)
Engine and Fuel System
Transmission and Axles
D/H & Steering System
Brake System
General Maintenance
Troubleshooting
Options

2
 Control System
RCS

 System Description
 Can Bus Signals (Can open & J1939)
 Modules
 Component Location
 Sensors (analog digital)
 In & Output signals
 Menu Description
 Fault Finding

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Control System
RCS CAN- CAN-
Vice President CAN- OPEN OPEN
CAN- CAN- Display OPEN
OPEN OPEN
J1939

I/O I/O Decoder Decoder

Mechanic Mechanic Secretary Secretary
J1939

TCU/EconC Engineer

J1939

ECM Electrician

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Control System
Address

D541 D501 D540 D560 D543 D561

MU
D510 D576 D577 D511
Decoder Decoder Decoder
Joystick Joystick I/ O Sensor Sensor I/ O
DISP

D601 D602
ECM TCU/EconC

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Control System
Address

Add 1
Add 1 Add 0 Add 3

D541 D501 D540 D543

MU
D510 D511
Decoder Decoder
DISP Decoder I/ O I/ O

End plug
Add 0
Add 0

End plug
End plug

D601 D602
ECM TCU/EconC

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 Control System
Address plugs
0-9106 1324 90
1-9106 1324 91
2-9106 1324 92
3-9106 1324 93

End plug (120 Ohm)

9106 2066 78

Address plugs

0-9106 1324 30
1-9106 1324 31

End plug (120 Ohm)

9106 0968 00

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 Control System
How it’s connected on ST14

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Signals

CAN signals
 Signals
CAN Cable

_
(Black)

Can high 24v

(Blue)
+
(Red)

Can low
(White) Connections
Pin1: Ground
Pin2: +
Pin3: -
Pin4:high
Pin5:low

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 Can bus cable general rules
The weakest point on a cable is the contact.

Minimum bending radius is 200 mm

200mm

Make sure all contacts are relieved so they can't

move if the cable moves.

Put all CAN-bus cable in a protection hose and

make sure it’s covered all the way.

If the cable is in a position where it will move,

attach the protection hose in both ends.

Route the CAN-bus cable separately from other

sensor cables.

If you use cable ties, make sure that they do not
cut into the cable jacket or even deform the cable

If the CAN-bus cable is to long, make big bends

and hide it.

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Signals
CAN communication power 24V _
(Black)

24v
24 Volt via Can cable
G3
Connections +
Pin1: Ground (Red)
Pin2: +
Pin3: -
Pin4:high
D501 Pin5:low

Disp

D540 D541 D543 D510 D511

Decoder Decoder Decoder I/O I/O

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 Signals
CAN Externally 24V

24 Volt via Can cable

G3

D501 External power 24 volt

Disp

D540 D541 D543 D510 D511

Decoder Decoder Decoder I/O I/O

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 Signals
CAN HI/CAN LO

5v

Can high 2.6V

2,5v

Can low 2.4V

0v
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Modules

ST-14
Modules and sensors
 Modules
Display modul

 X1 – Power 24V
 X2 – J1939
 X3 – CAN IN/OUT
 X4 – CAN IN/OUT
 X5 – Address
 X6 – USB
 X7 – Serial port (Not used)

X1 Connection X2 Connection X3/4 Connection

1. 24v (Pin) 1. NA (Pin) 1. GND ( Pin)
2. 24v (Pin) 2. NA (Pin) 2. Can + (Pin)
3. Gnd (Pin) 3. NA (Pin) 3. Can – (Pin)
4. Gnd (Pin) 4. 925 (Pin) 4. Can high (Pin)
5. 926 (Pin) 5. Can low (Pin)

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 Modules
Decoder modules

 X1 – Power 24V
 X3 – CAN In/Out
 X4 – CAN In/Out
 X5 – Address
 X6 – NOT USED
 X8 – Analog input
Digital in
 X9 – Digital in
Digital out

X1 Connection X3/4 Connection

1. 24v (Pin) 1. GND (Pin)
2. 24v (Pin) 2. Can + (Pin)
3. Gnd (Pin) 3. Can – (Pin)
4. Gnd (Pin) 4. Can high (Pin)
5. Can low (Pin)
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 Modules
I/O Modul (In/out Modul)
X25 External Power

X7/13 Connection
1. Can low (Pin)
2. Can high (Pin)
3. 24v (Pin)
4. Gnd (Pin)

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Component Location

RCS Components @ ST-14

 Component Location
Right side rear

D541

D601
D602

A 20 box

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 Component Location
Right side midship

D511

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 Component Location
Left side midship

D510

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 Component Location
Left side cab D543 D540

D501

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Sensors
 Sensors
Analog sensor

 Fuel level (c)

 Pressure sensors
 Angle sensors (c)
 Joysticks (c)
 Temperature sensors
 Length sensor for stabcyl (c)
– Interface

– Sensor

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 Sensors
Digital sensor (on or off)

 Level sensor
– Hydraulic
– Transmission
– Lincoln lube (opt)
– Cooling fluid

 Filter switch
– Air
– Transmission
– Hydraulic

 Door interlock
– Door (inductive)
– Armrest

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 Transducer 0-350 Bar
Accumulator pressure
Brakes apply limit 83 Bar limit 110 Bar
400
350
300
250
Bar

200
150
100
50
0
0 0,5 1 1,5 2 2,5 3 3,5 4 4,5 5
Volt Standard operating
Pressure 140 Bar
B410 Accumulator pressure B359 Brake pressure
B411A Hoist base B411B Hoist rod 0,5 Volt = 0 bar

4,5 Volt = 350 bar

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 Sensor
Pedals

 Brake B422
 Hall effect sensor

Throttle B382
Hall effect sensor

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Sensors
Sensors D576

Steering sensor

80%

8 degrees before
44 degrees

D576 Connection
1. N/A (Pin)
2. Can + (Pin)
3. Can – (Pin)
4. Can high (Pin)
5. Can low (Pin)

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Sensors
Sensors D577

Boom angle sensor

–Ride ctrl
–Load weighing
–Load lights

D577

D577 Connection
1. N/A (Pin)
2. Can + (Pin)
3. Can – (Pin)
4. Can high (Pin)
5. Can low (Pin)

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 Sensors
Sensors D560 & D561

Joystick
D560 Connection D560 Connection
1. Y1 Axis, 5VDC Supply 1. X Axis, 5VDC Supply
2. Y1 Axis, Signal A 10-90% 2. X Axis, Signal A 10-90%
3. N/A 3. X Axis, Signal B 10-90%
4. Y1 Axis, GND 4. X Axis, GND
5. Y2 Axis, 5VDC Supply 5. Y Axis, 5VDC Supply
6. N/A 6. Y Axis, Signal A 10-90%
7. Y2 Axis, Signal A 10-90% 7. Y Axis, Signal B 10-90%
8. Y2 Axis, GND 8. Y Axis, GND
9. N/A 9. N/A
10. N/A 10. N/A
11. N/A 11. N/A
12. Common GND 12. Common GND
13. Push button 1 (upper left) 13. Push button 1 (upper left)
14. Push button 2 (upper right) 14. Push button 2 (upper right)
15. Push button 3 (lower left) 15. Push button 3 (lower left)
16. Push button 4 (lower right) 16. Push button 4 (lower right)
17. Push button 5 (Trigger) 17. Push button 5 (Trigger)

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Input and Output signals

2 different signal
In
Analog
Digital
Out
Pulse Width Modulation Signal (Analogue)
Digital
 Input and Output signals
The I/O Module
End Plug

CAN Out X7 X 13 CAN In

X1 X 19

X8 X 14
X2 X 20
Address plug X9 X 15
X3 X 21 Digital In: X11, X15, X24
X 10 X 16 Digital Out: X2, X20, X22
X4 X 22 Analogue In: X6, X8, X10, X14, X16, X17
X 11 X 17
X5 X 23
PWM Out: X1, X3, X4, X5, X19, X21, X23
X 12 X 18 Encoder (Pulse sensor in): X12, X18
X6 X 24

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 Input and Output signals
The I/O Module X1 Pwm
X2 D out
End Plug X3 Pwm
X4 Pwm
X5 Pwm
X6 A in
CAN O ut X7 X 13 CAN In
X1 X 19
X7 Can out
X8 X 14 X8 A in
X2 X 20
X9 Address plug
Address plug X9 X 15
X3 X 21
X10 A in
X 10 X 16 X11 D in
X4 X 22
X12 Di enc
X 11 X 17
X5 X 23 X13 Can in
X 12 X 18 X14 A in
X6 X 24
X15 D in
X16 A in
X17 A in
X18 Di enc
X19 Pwm
X20 D out
X21 Pwm
X22 D out
X23 Pwm
X24 D in
X25 Power
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 Input and Output signals
Digital input signal (D in) (Two channels on each input A&B)

Transmission oil level

Transmission oil filter
Hyd oil level
Air filter
Hyd oil filter
Lincoln Lube level (opt)

Digital In:
1. In A
2. Gnd A
3. 24v A
4. 24v B
5. Gnd B
6. In B
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 Input and Output signals
Digital input signal (D in) (Two channels on each input A&B)

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 Input and Output signals
Digital out signals (D out) (Two channels on each output A&B)
Lights (Relay)

Sts Beacon (Relay)

Lincoln lube
Horn
Checkfire (RRC)

Digital Out:
1. Out A-
2. Out B-
3. Out A+
4. Out B+

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 Input and Output signals
Digital out signals (D out) (Two channels on each input A&B)

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 Input and Output signals
Analog input signal (A in)
Fuel level
Pressure transducer
Temp switch
Bucket Pos sensor
Angle sensors

X10 Analogue In:

1. In 0-5v
2. Gnd
3. +5v
4. +12v
5. In 6,5v
6. Current loop in
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 Input and Output signals
Analog input signal (A in)

Analogue In:
1. In 0-5v
2. Gnd
3. +5v
4. +12v
5. In 6,5v
6. Current loop in
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 Input and Output signals
Pulse Width Modulation signal (PWM)
(Two channels on each output A&B)
Movement
Bucket
Boom
Steering
Eod (opt)
Brakes
Float/ Ride

PWM Out:
1. A-
2. B-
3. A+
4. B+

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 Input and Output signals
Pulse Width Modulation signal (PWM)

PWM Out:
1. A-
2. B-
3. A+
4. B+

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 Input and Output signals

Digital in signal D in 6 pin 2 channels

Digital out signal D out 4 pin 2 channels

Analog in signal A in 6 pin 1 channel

Pulse with modulation PWM 4 pin 2 channel

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Menu Description RCS
 DISPLAY D501 F1

Menu D1
Shows Vehicle
information

Navigation buttons
in Menu level

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 DISPLAY D501 F2

Menu D2
Shows Engine
information

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 DISPLAY D501 F3

Menu D3
Shows Trans &
Brake information

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 DISPLAY D501 F4

Menu D4
Shows Optional
functions

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 Menu Description

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Menu Description RCS

OPERATOR (OP) Service at site (SE) Atlas Copco Sales company (AC)
Esc

Operator Vehicle Hydraulics Drive Train Diagnostics Log

User Information Information Information Modules Save

Language Load Weigh Emergency Levers Save All

Display Ride Control Brake Pedals Event Log

Units Lubrication Calibration Administration DTC Log

Brake Test Positioning Password Maintenance

Override Calibration Statistics

Stall Test Clear

Declutch

Load

RCS shutdown

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Menu Description RCS

OP= Operator
SE= Service mine (code)
AC= Atlas Copco Service (id + code)
ACP= Product company (id + code)

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Menu Description RCS

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Menu Description RCS

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 Menu Description RCS

Engine time
Transmission time
Clock time

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Menu Description RCS

Solenoid Current requirements:

Dump / Hoist:
Start spool movement: 300 mA ± 50 mA
End spool movement: 600 mA ± 70 mA
Steering / EOD:
Start spool movement: 260 mA ± 50 mA
End spool movement: 510 mA ± 70 mA

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Vehicle Menu

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Hydraulics Menu

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Sensors
Pressure sensors - Offset

Offset
bar

50

40

30

20

10

0 1 2 3 4 5 6 Volt

0,5 4,5

0,5 Volt = 0 bar

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Sensors
Pressure sensors - Coefficient

Coefficient
How to find the coefficient:
bar
•Measure the pressure with a
gauge
•Adjust the coefficient until gauge
250
and reading in computer
correspond
140 bar

0
Volt
0 0,5 1 2 3 4 4,5 5 6

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 Menu Description RCS

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 Menu Description RCS

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Diagnostics Menu
Diagnostics Module

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Diagnostics Menu
Diagnostics Module

(Option)

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Diagnostics Menu
Diagnostics Module D510

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Diagnostics Menu
Diagnostics Module D511

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Diagnostics Menu
Diagnostics Module D540 1/2

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Diagnostics Menu
Diagnostics Module D540 2/2

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Diagnostics Menu
Diagnostics Module D541

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Diagnostics Menu
Diagnostics Module D543

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Diagnostics / Levers Menu

100%

20%

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Diagnostics / Levers Menu

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Diagnostics Menu

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Log Menu

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 Log Menu

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Log Menu

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Download New Software

 Preparations
 Contact your local Atlas Copco
representative to get updated
software files.
 Open the zip file from Atlas Copco
by double clicking it and copy the
files to the root of an empty USB
stick.
 Verify that the USB stick contains
the files and folder shown on the
image above (some files can
differ).
 It is important that all these files
exists in the root folder of the USB
stick.

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Download New Software

1/3

Start RCS system

Go to “Operator/ User”
Log in with your ID-USB stick and / or password
Go to ”diagnostic / Administration “
Put a USB stick in the machine
Chose ”Save parameters”
When save is Ok, remove the USB stick
Turn off the RCS system
Put the USB stick with the new program on the
machine and start RCS again.

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Download New Software

2/3

When RCS boot menu is showed, select “2. Load

new program code” by pressing arrow down and
ENTER
When RCS system tells you to reboot, take out
the USB stick and reboot the system
When RCS system has started, log in with your
ID-USB stick and / or password
Go to ”diagnostic / Administration” again
Put the USB stick in the machine that you saved
the parameters on
Chose ”Load parameters”

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Download New Software

3/3

When load is Ok, Go to ”Diagnostics / Pedals”

Push ”Calibrate” for throttle and follow the
instruction
Continue with “Brake pedal”
DONE

We now recommend that a “brake test” and a

function test is preformed.

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 We are committed to your
superior productivity through
interaction and innovation.

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