En-User Manual RT Controller v.2.1

User Manual
RT Controller
1
User Manual
RT Controller
User Manual for RT Controller
Version 2.1 (090724)
Part no: 630014
This work is protected by the Copyright Act and may not be

copied, distributed or amended. Failure to comply with this
Act can result in prosecution and fines, imprisonment or an
obligation to pay compensation to the author/owner.
Contents
?
1. Introduction..................................... 10 4.3.1 Feeder end levels...................... 26
? 1.1 What controls what?......................... 13 4.3.2 Feeder's start level.................... 27
1.2 How does the system work?.............. 11 4.3.3 Feeder's max level..................... 27
4.3.4 Feeder's fixed levels................... 27
2. Installation....................................... 15 4.3.5 Ramp time............................... 28
2.1 Assembly instructions....................... 16 4.3.6 The feeder’s middle level............ 28
2.2 Assembly example........................... 18 4.4 Information . .................................. 29
2.3 Start-up settings.............................. 20 4.4.1 Software version ...................... 29
4.4.2 Serial number........................... 29
? 3. User interface................................... 21
3.1 Operating mode............................... 22
3.2 Main menu...................................... 22
4.4.3 Show EEPROM.......................... 30
4.4.4 Show stored fault codes............. 30
4.4.5 Remove stored fault messages.... 30
3.3 Language setting............................. 23 4.5 Output settings................................ 31
3.4 Master mode menu.......................... 23 4.5.1 Switch position of the outputs..... 31
4.5.2 Change direction....................... 32
4. Summary main menu....................... 25 4.5.3 Function off/on......................... 32
4.1 End levels....................................... 26 4.6 Recalibration................................... 33
4.2 Start levels..................................... 26 4.7 Ramp time...................................... 33
4.3 Feeder settings ............................... 26 4.8 Copy banks..................................... 33
4.9 Middle levels................................... 34
6 Contents
5. Summary of the master mode menu.35 5.9 Current response............................. 42
5.1 Ripple amplitude.............................. 36 5.10 Derive.......................................... 42
5.2 Feeder ripple................................... 36 5.11 Crawler control ............................. 42
5.3 Ripple frequency.............................. 36
5.4 Output type.................................... 37 6. Output settings................................ 43
5.5 Feeder type..................................... 37 6.1 Switch position................................ 44
5.6 Erase EEPROM................................. 37 6.2 Change direction.............................. 45
5.7 Hysteresis . .................................... 38 6.3 Function off/on................................ 46
5.8 Logic ............................................. 38
5.8.1 DIN test................................... 39 7. Output levels.................................... 47
5.8.2 Out3 - Output for the feeder....... 39 7.1 Feeder's start level........................... 48
5.8.3 Out4A - Output for open grapple. 39 7.2 Feeder's end levels........................... 49
5.8.4 Out4B - Output for close grapple..39 7.3 Feeder's fixed levels......................... 51
5.8.5 Out5 - Output for coupler............ 39 7.4 Feeder's max level........................... 53
5.8.6 Out6 - Extra output................... 39 7.5 Start levels..................................... 54
5.8.7 Prop4 ..................................... 39 7.6 End levels....................................... 55
5.8.8 Double push............................. 40
5.8.9 AK-trigger ............................... 40 8. Configuration banks......................... 57
5.8.10 Switch banks ......................... 41 8.1 Current configuration bank................ 58
5.8.11 Lock input signal..................... 41 8.2 Change configuration bank................ 58
8.3 Copy banks..................................... 58
Contents 7
9. Advanced settings............................ 60 9.19.1 Ripple Amplitude..................... 80
9.1 Output type.................................... 61 9.19.2 Feeder ripple........................... 81
9.2 Middle levels................................... 63 9.19.3 Ripple Frequency..................... 81
9.3 Feeder type..................................... 65
9.4 The feeder’s middle level.................. 66 10. Trouble shooting............................ 82
9.5 DIN test......................................... 67 10.1 List of input signal faults................. 83
9.6 Logic.............................................. 67 10.2 List of system faults....................... 84
9.7 Prop4 mode.................................... 69 10.3 List of output faults........................ 85
9.8 Double push ................................... 70 10.4 Show stored fault messages............ 86
9.9 Ramp time...................................... 71 10.5 Remove stored fault messages......... 86
9.10 Ramp time for feeder...................... 72 10.6 Erase EEPROM............................... 87
9.11 AK-Trigger..................................... 72 10.7 Serial number................................ 87
9.12 Switch banks with button................ 73 10.8 Software version............................ 87
9.13 Lock speed with button................... 74
9.14 Current response........................... 75
9.15 Derive.......................................... 76
9.16 Track control................................. 76
9.17 Hysteresis..................................... 77
9.18 Recalibration................................. 78
9.19 Ripple........................................... 80
8 Contents
APPENDIX 1. Installation summary............................................ 88
APPENDIX 2. Connection of proportional valve............................ 90
APPENDIX 3. Common default settings....................................... 91
APPENDIX 4(1). Default settings bank A.................................... 92
APPENDIX 4(2). Default settings bank A.................................... 93
APPENDIX 5(1). Default settings bank B.................................... 94
APPENDIX 5(2). Default settings bank B.................................... 95
APPENDIX 6(1). Default settings bank C.................................... 96
APPENDIX 6(2). Default settings bank C.................................... 97
APPENDIX 7(1). Default settings bank D.................................... 98
APPENDIX 7(2). Default settings bank D ................................... 99
APPENDIX 8. Declaration of conformity.................................... 100
APPENDIX 9. CONNECTIONS................................................... 101
APPENDIX 10. Menu register.................................................. 102
Contents 9
button RT Controller
roller (RTC)
Proportional valve
outputs
Joystick inputs
?
1. Introduction
?
This manual describes how to assemble and set your RT

Controller to control tilt rotators on excavators. Joystick
The machine's standard joysticks are replaced by joy-
What is RT Controller (RTC)? sticks equipped with rollers. The rollers are used to control
The RT Controller (RTC) is an electronic unit designed the rotation and tilt, as well as other hydraulic functions,
to control different models and brands of tilt rotators. If proportionally. This means the speed of the functions are
has six outputs which are designated Out1-6. The out- controlled variably. The joysticks are connected to the in-
puts control the tilt rotator's valves and the proportional puts on the RTC.
valve.
Proportional valve (proportional pressure reducing valve)
Which parts need to be installed? The installation of a proportional valve on the machine al-
The system to control a tilt rotator apart from the RTC lows the RTC to control the oil flow out to the Tilt rotator.
consists of two joysticks, a proportional valve and ca-
bling.
10 Introduction
1.2 How does the system work? 5. Feeder valve
The figure overleaf provides a schematic diagram of how One of the valve sections on the machine's valve block
the system control for a tilt rotator works: is used to feed oil to the tilt rotator. If several functions
on the tilt rotator are used, the RTC increases the flow so
that the speed is attained on all functions. The proportional
1. Control joystick valve together with the feeder valve is usually known as
The rollers and buttons on the joystick is used to control the the “feeder function” or “feeder”.
tilt rotator's hydraulic functions. The rotation and tilt are
controlled proportionally with the joystick’s rollers. 6. External valves
The external valves on the tilt rotator receive and distrib-
2. RT Controller (RTC) ute the oil flow from the feeder to the functions that should
The RTC receives signals from the joystick, processes these provide the movement.
and then sends out current which regulates how much the
valves open. 7. Hydraulic functions
The RTC controls the rotation, tilt, grapple and coupler. It is
3. Pedal also possible to control a double-acting function by tempo-
Most excavators are equipped with a pedal to control the rarily switching off one of the other functions.
flow to an extra hydraulic function. The pedal is usually
used for the rotator tilt.
4. Proportional valve
A proportional valve is connected after the pedal so that the
RTC controls the feeder valve instead of the pedal and also
the oil flow out to the tilt rotator.
Introduction 11
7 6
tilt rotator
2
4
5
valve block
pump
x
tank
12 Introduction
1.1 What controls what? Proportional grapple
The above diagram describes what controls what Pressing the button linked to DIN3 redirects the
if the system is installed according to the assem- left roller to control the grapple instead of rota-
bly instructions in chapter 2 and is installed action. This is known as Prop4 mode.
cording to the default settings.
Extra output
The joystick rollers are called A1 and A2. They The RT Controller (RTC) has an extra output,
control the rotation and tilt. The joystick is also which for example, can be used to engage an ex-
equipped with buttons that are linked to the dig- tra function. A function is then disconnected, for
ital inputs DIN2, DIN3, DIN4 and DIN5. example, the grapple and is replaced by the extra
function.
Introduction 13
14 Installation
2. Installation
General: Instructions:
The following chapter is not adapted to a specific ma- 1. Install the system as per the assembly instructions.
chine model, but has been written as a general instruc- Also see Appendix 1 for the installation summary.
tion describing how to install the RT Controller (RTC)
for proportional control of a tilt rotator. 2. Make the start-up settings.
If you have received special installation instructions, 3. Continue on to chapter 3.

you should follow those, instead of this chapter. For ex-
emple, if the system is equipped with optional functions 1.1 What controls what?.................................................13
for wheel or track control. Contents:
1.2 How does the system work?......................................11 Page:
2.1 Assembly instructions...............................................16
2.2 Assembly example...................................................18
2.3 Start-up settings......................................................20
Installation 15
2.1 Assembly instructions
Proportional valve
1 Start by installing the electrically Feeder valve

controlled proportional valve and
connect it between the pedal and
the feeder valve as shown in the
hydraulic diagram, see Appendix
2.
A 1/4 inch hose to all valve connec-

tions is sufficient.
The P-connection is connect-

ed to the servo pressure.
The T-connection should be

connected to the same return
as the servo-pedal or to the
non-pressurized servo cover
on the feeder valve.
The Ped-connection is
2 Mount the RTC where it is easily accessible connected to the pedal. Disconnect the hose that runs from the
and so that it is possible to read the display pedal to the feeder valve and connect
from the driver's seat. Connect the case so it to the Out connection.
that it is earthed to the machine chassis.
16 Installation
4 Connect the supply voltage 9-30V to the
brown and white wires.
The wires must be fuse protected, they should

share a 10 A fuse. The wire cross section
should be at least 2 mm2 and must not ex-
ceed 3 metres. The yellow and green wire is
ground to the machine chassis.
brown
+9-30V
white
yellow
GND green
6 Connect the connector

to the RTC.
OUT3
OUT6
3 Connect the connec- The output Out6 does not need to

tor to the propor- 5
be connected, but can be used to
tional valve. control an extra function.
Installation 17
2.2 Assembly 9 Connect the cable screen
example to the joystick cabling, see
paragraph 13.
7 Secure the cable from the tilt rotator on

the stick and route the cable into the cab.
8a For APL card model APLRL:

Connect the wire from the ma-
chine's attachment lock and
its switch. See the instructions Connect the RTC to the APL
supplied with the APL card. 10
card.
APL card
8c Connect the cable from tilt rotator to

the APL card. The wire conductors are
numbered and connected differently
depending on the make of tilt rotator.
Connect the conductors according to
the supplied instruction.
8b Connect the coupler to

the APL card.
18 Installation
11 Fit the control joysticks. Is important that the
yellow grey yellow joystick wire is routed one turn around the
grey
joystick rod and is secured before it continues.
NOTE! The wire and the joysticks must not
pink pink
blue be clamped.
12 Connect the wires from joysticks with the re-

lay card and the RTC. Connect the left-hand
joystick to the wire marked “V” and the right
joystick to the wire marked “H”. Connect the
conductors from the joystick buttons to DIN2,
DIN3, DIN4 and DIN5.*
black black
GND Connect the cable
grey grey 13
DIN5 screen to machine
pink pink cabling, see para-
DIN3 graph 9.
blue blue
R
DIN4
yellow 1234 relay card
HANDLE RTC
white black
GND
grey grey
DIN2
pink pink
DIN3 L
blue blue
DIN4 *Optional: The buttons that do not
yellow 1234 relay card
control functions through the RTC
can be connected on the relay card
(marked 1-4), for example, to con-
trol the machine's horn. (Max 1A 30V
HANDLE RTC
DC).
Installation 19
Move the
2.3 Start-up settings 1. Move each roller on the joysticks slowly forward and 2. Continue by pressing the mid-
When the RTC is started for the first backward to the end positions. Continue until the black dle button.
time the message above is shown on squares on display stop flashing. Now move the rollers
the display. The joysticks now need to slowly a few times forward and backward over the center
be calibrated so that they can be used position.
for control purposes.
Release the rockers to their

middle position and press OK.
SVAB
Release th Release th
3. Release all joysticks so that they are in their center positions and then
press the middle button to complete calibration. (If calibration should fail or
needs to be repeated read chapter 7.17.
20
? 3. User interface
Before any settings are made you need to become ac- 1.Read through sections 3.1-3.4.
quainted with the RT Controller's (RTC) user interface.
2. Continue on to chapter 4.
The interface consists of a display and three buttons.
The display shows the setting options and your position
in the menu system. Contents: Page:
3.1 Operating mode.......................................................22
3.2 Main menu..............................................................22
3.3 Language setting.....................................................23
3.4 Master mode menu..................................................23
User interface 21
3.1 Operating mode 3.2 Main menu 1. To access the menu, hold the down arrow at the
The rotator tilt can be controlled when the Settings are made on the main same time as you press the up arrow three times.
system is in the operating mode. menu to adapt the system to the
machine and driver.
2. To browse down through the menu, press 3. To browse up through the menu, press 4. To return to the operating mode, scroll
the down arrow. the up arrow. to Return and press the middle button.
22 User interface
Språk:
Svenska
Language:
English
SVAB Språk Language Kieli:
Bank: A Svenska English
Soumi
Sprache:
Deutsch
Lengua:
Espanol
3.3 Language setting 1. To change the language press both arrow keys 2. Use the arrow keys to browse through the
All text on the RTC's display are for approximately 3 seconds and release to ac- available languages.
available in different languages cess the language menu.
from the language menu.
SVAB Master M
Bank: A Return
Language
English
3. Use the middle button to choose 3.4 Master mode menu To enter the menu press the arrow keys according to the
a language and return to operating The master mode menu is above combination.
mode. used to make advanced set-
Tip! Wherever you are in the menu you can always press
tings. NOTE! The menu is
and hold the middle button for 3 seconds to return to
designed for technicians and
installers. the operating mode.
Note! Previous settings made are not saved!
User interface 23
24 User interface
Main menu Mastermode
4. Summary main menu
What do you do on the main menu? Contents: Page:

Settings are adjusted on the main menu to adapt the system 4.1 End levels...............................................................26
to the machine. 4.2 Start levels.............................................................26
4.3 Feeder settings .......................................................26
Instructions: 4.3.1 Feeder end levels............................................26
1. Read and follow through the main menu using your own RT 4.3.2 Feeder's start level..........................................27
Controller (RTC). 4.3.3 Feeder's max level...........................................27
4.3.4 Feeder's fixed levels........................................27
4.3.5 Ramp time.....................................................28
4.3.6 The feeder’s middle level..................................28
4.4 Information . ..........................................................29
4.4.1 Software version ............................................29
4.4.2 Serial number.................................................29
4.4.3 Show EEPROM................................................30
x3 4.4.4 Show stored fault codes...................................30
x3 x1 x2 x1 x1 x1
4.4.5 Remove stored fault messages..........................30
4.5 Output settings........................................................31
4.5.1 Switch position of the outputs...........................31
4.5.2 Change direction.............................................32
Tip! 4.5.3 Function off/on...............................................32
Note that the sub-menus on the main menu 4.6 Recalibration...........................................................33
have the same order in this chapter as in 4.7 Ramp time..............................................................33
your RT Controller (RTC). 4.8 Copy banks.............................................................33
4.9 Middle levels...........................................................34
Summary main menu 25

4.1 End levels End levels can be found on the main 4.2 Start levels
The end levels determine how much the menu. To set an end level see section The start levels determine how much the
external valves for rotation and tilt shall 7.2 Feeder’s end levels page 49. external valves for rotation and tilt shall
open when the roller that controls each open when the roller that controls each
function is moved to its end position. function is moved to its start position.
Start levels can be found on the main 4.3 Feeder settings 4.3.1 Feeder end levels
menu. To set a start level see section Settings to control the feeder correctly The feeder's end levels determine the
7.5 Start levels page 54. are made on Feeder settings. Feed- speed of rotation, tilt and proportional
er settings can be found on the main grapple when the roller that controls the
menu. See chapter 7. Output levels corresponding function is moved to its
end position.
page 47.
26 Summary main menu

Feeder settings can be found on the main menu. 4.3.2 Feeder's start level The feeder's Start level can be found under
The feeder's End levels can be found under The feeder's start level is common Feeder settings. To set a start level see section
Feeder settings. To set an end level see section to all functions. A correctly set 7.1 Feeder’s start level page 48.
7.2 Feeder’s end levels page 49. start level means that the feeder
feeds oil when one of the rollers is
moved to its start position.
4.3.3 Feeder's max level The feeder's Max level can be found under Feed- 4.3.4 Feeder's fixed levels
In order for the tilt rotator not to take er settings. To set a Max level see section 7.4 The feeder's fixed levels determine the
all the oil from the system, the max Feeder’s max level page 53. speed of open/close grapple and the ex-
level limits how much the feeder shall tra function, i.e. the functions that are
open at most when several functions controlled by a digital input signal (but-
are running simultaneously. ton).

AB
The feeder's Fixed levels can be found under 4.3.5 Ramp time
Feeder settings. To set a Fixed level see section The ramp time is the time it takes for the
7.3 Feeder’s fixed levels page 51. output level to change when the roller is
moved to a new position.
The feeder's ramp time setting can be found 4.3.6 The feeder’s middle level
under Feeder settings on the main menu. To If the feeder is controlled by an actuator
set a Ramp time see section 9.9 Ramp time the middle level must be set. The middle
page 71. level shall ensure that the actuator is in
the valve's neutral position when the roller
is in its middle position.

The feeder's Middle level can then be found un- 4.4 Information
der Feeder settings. To set a Middle level see sec- Under information you will find system
tion 9.4 The feeder’s middle level page 66. information, for example the serial
number and fault codes. Information
can be found after Feeder settings on
the main menu.
Return Return Return Return
Endlevels Software version Endlevels Software version
Startlevels Serial number Startlevels Serial number
Feeder-settings Show EEPROM Feeder-settings Show EEPROM
Information Stored fault messages Information Stored fault messages
Output-settings Remove stored fault messages Output-settings Remove stored fault messages
Recalibration Recalibration
Ramptime Ramptime
Copy banks Copy banks
Midlevels Midlevels
4.4.1 Software version 4.4.2 Serial number

This option shows a version number of the software in RTC. The RTC has a serial number that can be shown on the display
Software version can be found under the main menu. section by selecting Serial number under Information on the main menu.
10.8 Software version page 87. The number is also on the label on the top edge of the enclo-
sure.

Return Return
Endlevels Software version
Startlevels Serial number
Feeder-settings Show EEPROM
! !! Information
Output-settings
Stored fault messages
Remove stored fault messages
Recalibration
Ramptime
Copy banks
Midlevels
4.4.3 Show EEPROM 4.4.4 Show stored fault Select Show stored fault codes under Information on the main
EEPROM is memory used for the codes menu to view the stored fault codes. See section 10.4 Show
system’s adjustable settings, To facilitate trouble shooting stored fault messages page 86.
which are shown as codes. The the fault codes that occur are
codes are only used by the saved.
manufacturer.
Return Return
Endlevels Software version
Startlevels Serial number
! Feeder-settings Show EEPROM
!! Information
Output-settings
Stored fault messages
Remove stored fault messages

Recalibration
Ramptime
Copy banks
Midlevels
4.4.5 Remove stored fault mes- Select Remove stored fault messages under Information
sages on the main menu to delete stored fault messages. See
Stored fault codes can only be de- section 10.5 Remove stored fault messages page 86.
leted when all fault messages have
been read.

4.5 Output settings Output settings can be found on the
The system can be set so that main menu. See chapter 6. Output
rotator and the tilt can be con- settings page 43.
trolled with whichever hand in
whichever direction.
4.5.1 Switch position of the outputs To switch the outputs, select Switch position of the outputs from
When you switch positions of the outputs, the roller that con- Output settings on the main menu. See section 6.1 Switch posi-
trols the tilt will then control the rotator and vice versa. tion page 44.

AB
B
A
4.5.2 Change direction To change direction, select Change direction under Output settings
If required, the signals from a on the main menu. See section 6.2 Change direction page 45.
double-acting output can change
places so that the functions are re-
versed.
...
4.5.3 Function off/on To switch off a function go to Function off/on on the main
If a function is not used, it can be switched off. A menu. See section 6.3 Function off/on page 46.
function that is switched off does not move when
the roller is moved to the side.

4.6 Recalibration To recalibrate an input signal, go to Rec- 4.7 Ramp time
If a new joystick is connected to the alibration on the main menu. See section Ramp time is the time period it takes for
system or if the first calibration has not 9.18 Recalibration page 78. the signal from one output to go from the
been successful, the joystick should be start level to the end level when the joy-
recalibrated. stick is moved from the center position to
the end position.
Ramp time can be found on the main 4.8 Copy banks Copy banks can be found on the main
menu. See section 9.9 Ramp time page Once you have made settings on one menu. See section 8.3 Copy banks page
71. bank, it is possible to copy these settings 58.
to other banks.

4.9 Middle levels This option is only available on the menu
The middle level is the signallevel sent if you have at least one output set as the
from the controller to the actuator when actuator. Middle levels can be found on
the roller that controls the actuator is in the main menu after Copy banks. See
its middle position. section 9.2 Middle levels page 63.

Funktioner................................
... Mastermode Utgångar..................................
... Dubbeltryck...............................
... Utstyrningstyp......................................
... Rippelamplitud......................................
5. Summary of the master mode menu

... Hysteres............................................
... Töm EEPROM............................................
... Summer.............................................
..
... What do you do in the Master mode menu? Contents: Page:

... Settings are configured on the master mode menu to adapt 5.1 Ripple amplitude......................................................36
... the system to the machine. This menu is intended for the tech- 5.2 Feeder ripple...........................................................36
... nicians or installers. 5.3 Ripple frequency......................................................36
..
Instructions: 5.4 Output type............................................................37
..
1. Read and follow through the master mode menu using your 5.5 Feeder type.............................................................37
..
.. own RT Controller (RTC). 5.6 Erase EEPROM.........................................................37
.. 5.7 Hysteresis . ............................................................38
.. 5.8 Logic .....................................................................38
5.8.1 DIN test.........................................................39
Press the following combination to access 5.8.2 Out3 - Output for the feeder.............................39
the master mode menu: 5.8.3 Out4A - Output for open grapple.......................39
5.8.4 Out4B - Output for close grapple.......................39
5.8.5 Out5 - Output for coupler.................................39
5.8.6 Out6 - Extra output.........................................39
x3 x1 x2 x1 x1 x1 5.8.7 Prop4 ...........................................................39
5.8.8 Double push...................................................40
5.8.9 AK-trigger .....................................................40
5.8.10 Switch banks ...............................................41
Tip! 5.8.11 Lock input signal...........................................41
Note that the sub-menus on the master mode menu 5.9 Current response.....................................................42
have the same order in this chapter as in your 5.10 Derive..................................................................42
RT Controller. 5.11 Crawler control .....................................................42
Summary of the master mode menu 35

!
AB
!
5.1 Ripple amplitude To change the ripple amplitude for the 5.2 Feeder ripple
Ripple amplitude is the variation in size tilt and rotation, select Ripple amplitude Feeder ripple is, as ripple amplitude, the
of amperage that keeps the valve slide in on the master mode menu. See section variation in size of amperage that keeps the
vibration, which in turn means that it be- 9.19.1 Ripple Amplitude page 80. valve slide in vibration, which in turn means
comes more adaptive and can be control- that it becomes more adaptive and can be
led without jerking. controlled without jerking.
To change the ripple amplitude for the 5.3 Ripple frequency To change the ripple frequency for the
feeder, select Feeder ripple on the master The ripple frequency determines how many tilt and rotation, select Ripple frequency
mode menu. See section 9.19.2 Feeder periods per second the ripple should have. on the master mode menu. See section
ripple page 81. The same frequency applies to both rotation 9.19.3 Ripple Frequency page 81.
and tilt (the feeder is always set to 80 Hz).
36 Summary of the master mode menu

?
?
5.4 Output type To set the output type, select Output type 5.5 Feeder type
The output type may need to be on the master mode menu. See section 9.1 The feeder is usually controlled by a propor-
changed depending on the type Output type page 61. tional valve, but sometimes the feeder can
also be an actuator. In these cases the feeder
of valve that controls rotation and should be set so that correct output type is
tilt. used.
To change the feeder type, select 5.6 Erase EEPROM To erase the EEPROM memory select Erase
Feeder type on the master mode This option resets the RTC to its default EEPROM on the master mode menu. See sec-
settings. When the EEPROM-memory is tion 10.6 Erase EEPROM page 87.
menu. See section 9.3 Feeder type
erased the system restarts and the start
page 65. up settings must be made again.

Ripple Amplitude
Feeder Ripple
Ripple Frequency Return

Output type High
Feeder type Low
Erade EEPROM
Hysteresis
Logic
Current Response
Derive
Crawler-control
5.7 Hysteresis Hysteresis can be found on the master mode

Hysteresis determines the size of the menu. Choose whether you wish to set High or
middle position on a joystick. Low, see section 9.17 Hysteresis page 77.
5.8 Logic Logic can be found on the master

On the logic menu you can determine which input signals (rollers mode menu. See section 9.6 Logic
and buttons) that should control the different outputs. page 67.

Ripple Amplitude Return Ripple Amplitude Return
Feeder Ripple DIN-test Feeder Ripple DIN-test
Ripple Frequency Out3 Ripple Frequency Out3
Output type Out4A Output type Out4A
Feeder type Out4B Feeder type Out4B
Erade EEPROM Out5 Erade EEPROM Out5
Hysteresis Out6 Hysteresis Out6
Logic Prop4 Logic Prop4
Current Response Dubbeltryck Current Response Dubbeltryck
Derive AK-trig Derive AK-trig
Crawler-control ... Crawler-control ...
5.8.1 DIN test To perform a DIN test, select DIN test under 5.8.2 Out3 - Output for the feeder
Using DIN test you can check Logic on the master mode menu. See section 5.8.3 Out4A - Output for open grapple
which button/roller is linked to 9.5 DIN test page 67. 5.8.4 Out4B - Output for close grapple.
each input signal. See section 9.6 Logic page 67.
... Återgå
Pytsarrippel DIN-test
Rippelfrekvens Out3
Utstyrningstyp Out4A
Pytsartyp Out4B
Töm EEPROM Out5
Hysteres Out6
Logik Prop4
Strömsvar Dubbeltryck
Derivering AK-trig
Bandstyrning ...
5.8.5 Out5 - Output for coupler. 5.8.7 Prop4

5.8.6 Out6 - Extra output. Prop4 mode means that you control the grapple proportionally in both direc-
See section 9.6 Logic page 67. tions. An optional roller can be reconnected to control the grapple instead of
the e.g. rotation, when the selected DIN-button is pressed in. When you run the
grapple in Prop4 mode, the rotortilt’s other functions are also affected.

To change the button that activates Prop4 mode, 5.8.8 Double push
select Prop4 under Logic on the master mode menu. A button that is programmed with double push is activated when you press
See section 9.7 Prop4 mode page 69. it, but is not deactivated when you release the button, but must be pressed
again to deactivate.
To activate double push go to Double push under 5.8.9 AK-trigger

Logic on the master mode menu. See section If a roller is connected to control an on/off
9.8 Double push page 70. output, it is possible to determine whether
it should take the ramp time into consid-
eration or not.

To activate or deactivate AK-trigger, select AK- 5.8.10 Switch banks To the sets which button shall control Bank switch,
trigger under Logic on the master mode menu. To quickly change the configu- select bank switch under Logic on the master
See section 9.11 AK-Trigger page 72. ration bank, for example when mode menu. See section 9.12 Switch banks with
changing the attachment, you can button page 73.
program a button so that when
pressed the bank is changed.
5.8.11 Lock input signal To program a button to lock the speed, select
You can program a button to lock the speed. The Lock input signal under Logic on the master mode
function then runs at the same speed as long as the menu. See section 9.13 Lock speed with button
preselected button is pressed down but without the page 74.
roller being used.

Ripple Amplitude
Feeder Ripple
Ripple Frequency
Output type
Feeder type
Erade EEPROM
Hysteresis
Logic
Current Response
Derive
Crawler-control
5.9 Current response To switch the current response con- 5.10 Derive
The current response control controls the trol on or off, select Current response Oversteer is used to get the feeder to control the
output amperage and can discover open in the master mode menu. Note! return faster when a joystick is moved back. The
circuits, short-circuits, incorrect supply switching off the current response oversteer can be set using a derivation factor.
voltage and to high output levels. control is associated with risk! See
section 9.14 Current response page
75.
To set the derivation, select Derive on 5.11 Crawler control To activate crawler control, select
the master mode menu. See section If the system is installed with crawler control, Crawler control on the master mode
9.15 Derive page 76. the rollers can be connected to control the track menu. See section 9.16 Track con-
instead of rotation and tilt. Before you choose to trol page 76.
activate crawler control, you must first check
whether e.g. the left-hand roller controls the
track both forward and backward.
6. Output settings
This chapter describes how you set the system so that you 1. Test run the system.
can control rotation and tilt with the correct hand and in the
correct direction. 2. Switch positions on the rotator and tilt, if you
want to control the functions with the opposite
hand.
3. Change the direction of the functions you

wish to run in the opposite direction.
4. If the function is not to be used it can be

switched off.
Contents: Page:
6.1 Switch position........................................................44
6.2 Change direction......................................................45
6.3 Function off/on........................................................46
Output settings 43
6.1 Switch position 1. To switch the positions, go to Swap outputs from Output settings on
When you switch the positions of the outputs the roller the main menu.
that controls the tilt will control rotation and vice versa.
2. Browse to the option Yes by pressing the down arrow. 3. Confirm and return to the main menu by
pressing the middle button.
44 Output settings
6.2 Change direction 1. To change direction, go to Change direction under Output settings on
It is possible to change the direction of a function. This the main menu.
means that you can select to control e.g. rotation clock-
wise instead of anticlockwise when the roller is moved
to the left.
2. Select the function you wish to change 3. Release the roller, the display confirms that 4. Return to the main menu by press-
the direction on by moving the roller that the direction has been changed. ing the middle button.
controls the function.
Output settings 45
6.3 Function off/on 1. To switch off a function go to Function off/on under Output settings
A function can be switched off if it is not going to be used. on the main menu.
A function that has been switched off does not move when
you move the roller.
2. Select the function you wish to switch off 3. Release the roller, the display confirms that 4. Return to the main menu by
by moving the roller that controls the func- the function has been switched off. pressing the middle button. Repeat
tion. the procedure to activate the func-
tion again.
46 Output settings
7. Output levels
General: Section: Instructions:
An output level is the amperage sent to a valve when
The levels for the feeder are set first:
you move the roller or press the button. The more
the roller is moved to the side the high the level sent 7.1 Set the feeder's start level.*
out. This results in the valve opening more and the 7.2 Set the feeder's end level for: - rotation
speed of the function increasing.
- tilt
- proportional grapple
The figure below shows how the output levels vary in
different roller positions. 7.3 Adjust the fixed levels for: - open grapple
- close grapple
- extra function
7.4 Adjust the feeder's max level if necessary.
Now continue to set the levels for the valves on the

tilt rotator:
7.5 Set the start levels both directions.

7.6 Set the end levels both directions.
The system should be ready for use after the settings.

The remainder of this manual, chapters 6-8 are not
compulsory. They describe how the system can be
This chapter describes how the output levels are ad-
further adapted.
justed so that the hydraulic functions can be control-
led at the right speed.
*If the feeder is controlled by an actuator the settings
as in chapters 9.3 and 9.4 should be made first.
Output levels 47
7.1 Feeder's start level 1. To set the feeder's start level select Start level 2. Select the function and direction
The feeder's start level is common to all under Feeder settings. to set the feeder's start level with by
functions. A correctly set start level means moving the roller that controls the
that the feeder feeds oil when one of the function. (Select rotation as this func-
rollers is moved to its start position. tion is the easiest to set.
3. Release the roller. The values for the start level are 4. The rotator can now be run in both directions, but can only be set in the
shown: selected direction. Keep the roller still in the position that the feeder starts
to feed oil to the rotor. In this position the coupler is stationary, yet on
A shows the new value. the verge of moving. Save the value by pressing the middle button. Now
B shows the previous value. release the roller to return to the main menu.
48 Output levels
7.2 Feeder's end levels 1. To set an end level, select End levels under 2. Select the function and direction
The feeder's end levels determine the Feeder settings. by moving the roller that controls
speed of rotation, tilt and proportional this function. Start by setting the
grapple when the roller that controls the feeder's end level for rotation.
corresponding function is moved to its
end position.
3. Release the roller. The values for the end level are 4. The rotor can now be run in both directions, but can only be set in the
shown: selected direction. Find the position with the roller where the coupler rotates
at a speed of approximately 8 seconds/turn. Hold the roller in this position
A shows the new value. and save the value with the middle button.
B shows the previous value.
Output levels 49
4
5. Release the roller and return to the main menu. When the feeder's end level for the tilt To set the end levels for proportional
Do not forget to repeat the setting for the opposite is set, it may be difficult to set the cor- grapple, press a DIN button (DIN3 is
direction. Also set the end levels for the tilt and rect speed. Find a position with the roller preset) to activate prop4 and move
proportional grapple in the same way. where the coupler goes from end posi- the roller. The display should now ap-
tion to end position in approximately 4 pear as in the figure above. Set a suit-
seconds. able speed.
Sometimes it may be difficult to set the If you receive this message it is because Remember that the end level can never be
exact value with the roller. You can always you have set a too the high value. Never set higher than the max level. Neither can
use the arrow keys to adjust the value increase the values more than you see it be set lower than the start level.
when you set a level. the function's speed increase over the en-
tire roller movement.
50 Output levels
7.3 Feeder's fixed levels 1. To adjust a fixed level, go to Fixed levels under 2. Select the input signal to determine
The feeder's fixed levels determine the Feeder settings. the level for. Use the arrow keys to
speed of open/close grapple and the extra scroll through the different input sig-
function, i.e. the functions that are con- nals. Press the middle button to se-
trolled by a digital input signal (button). lect.
Choose input
Return
DIN1
Choose inp
DIN2 DIN2
DIN3
DIN4
DIN5
You can also choose DIN-input by pressing a button on the handle.

The DIN-input which is connected to this button is then chosen in the
display.
Output levels 51
Fixed levels
Choose Fixed le
function Fixed le 372(340)
340(340)
3. Select a roller to set the level with by mo- 4. Let go of the roller. The value for the 5. Adjust the value with the roller or the
ving it to the side. fixed level is shown. arrow keys. Press the middle button to
save the value. Let go of the roller to re-
turn to the main menu.
52 Output levels
7.4 Feeder's max level 1. To adjust the max level, go to Max level under 2. Now select the roller to set the
In order for the tilt rotator not to take Feeder settings. max level with by moving it to the
all the oil from the system, the max side.
level limits how much the feeder shall
open at most when several functions
are running simultaneously.
Decrease the max level if:
- the machine sounds strained.

- the hoses cannot manage the
flow.
Increase the max level if the end

levels need to be set higher and
the max level limits this.
NOTE! The max level can never

be set lower than the feeder’s
end levels.
4. Release the roller. The value for the max level 5. Adjust the value with the roller or the ar-
is shown. rows. Save by pressing the middle button. Tip! The max level is adjusted
after the feeder’s end level as
long as you haven’t accessed
the max level settings.
Output levels 53
7.5 Start levels 1. To set a start level, select Start levels 2. Select the function and direction to set the
The start levels determine how much the on the main menu. start level for by moving the roller that con-
external valves for rotation and tilt shall trols the function. In the aforementioned ex-
open when the roller that controls each ample rotation is selected clockwise.
function is moved to its start position.
3. Release the roller. The value for the start 4. The function can now be run in both directions, but can only be set in the se-
level is shown. lected direction. Find a position where the roller makes the coupler move, but at
the lowest possible speed. Hold the roller in this position and save the value with
the middle button. Release the roller and return to the main menu. Remember to
repeat the setting of both the rotation and tilt in both directions.
54 Output levels
7.6 End levels 1. To set an end level, select End levels 2. Select the function and direction to set the
The end levels determine how much the on the main menu. end level for by moving the roller that controls
external valves for rotation and tilt shall the function. In the aforementioned example
open when the roller that controls each rotation is selected clockwise.
function is moved to its end position.
3. Release the roller. The value for the end 4. Move the roller to its end position. Now released the roller so that the valve starts to
level is shown. The function can now be run close. You will notice this as the speed decreases. Now increase slightly to find the posi-
in both directions, but can only be set in the tion where the valve is fully open by a small margin. Hold the roller in this position and
selected direction. save the value with the middle button. Release the roller and return to the main menu.
Remember to repeat the setting of both the rotation and tilt in both directions.
Output levels 55
56 Output levels
7.1 Feeder's start level...................................................48
8. Configuration banks 7.2 Feeder's end levels...................................................49

7.3 Feeder's fixed levels.................................................51
7.4 Feeder's max level...................................................53
7.5 Start levels.............................................................54
General: Contents: Page:
7.6 End levels...............................................................55
This chapter describes how to use the RT Controller's 8.1 Current configuration bank........................................58
(RTC) configuration banks. 8.2 Change configuration bank........................................58
8.3 Copy banks.............................................................58
By switching between configuration banks you can easily
change to another set of preset settings. This is ideal if
you change drivers or attachments.
Most settings that are made are saved in the configura-

tion bank currently selected. Appendices 4-7 show the
settings which are saved in the banks. The settings that
are common to all banks can be found in Appendix 3.
Configuration banks 57
8.1 Current configuration bank 8.2 Change configuration bank 1. Press the middle button.
The RTC has four banks. The current To adapt the system to different drivers
bank is shown in the operating mode. or attachments you can switch banks.
2. Use the arrow keys to scroll 3. Press the middle button to choose the bank and 8.3 Copy banks
through the different banks. return to the operating mode. Once you have made settings on a bank,
it is possible to copy these to one of the
other banks to provide a starting point.
58 Configuration banks
1. Make sure the bank you wish to copy 2. Use the down arrow to switch to Yes. Press the middle button to return to the
is the current bank. Now select Copy main menu. All bank settings have now been
banks on the main menu. copied, expect the setting Switch banks with
button (section 9.12 Switch banks with but-
ton page 73).
Configuration banks 59
9. Advanced settings
General: Contents: Page:
This chapter describes settings to further adapt the 9.1 Output type............................................................61
control system. This may come into question for optional 9.2 Middle levels...........................................................63
functions or special machine models. 9.3 Feeder type.............................................................65
9.4 The feeder’s middle level..........................................66
Normally a special instruction is provided if any of these 9.5 DIN test.................................................................67
settings are necessary.
9.6 Logic......................................................................67
9.7 Prop4 mode............................................................69
9.8 Double push ...........................................................70
9.9 Ramp time..............................................................71
9.10 Ramp time for feeder..............................................72
9.11 AK-Trigger.............................................................72
9.12 Switch banks with button........................................73
9.13 Lock speed with button...........................................74
9.14 Current response...................................................75
9.15 Derive..................................................................76
9.16 Track control.........................................................76
9.17 Hysteresis.............................................................77
9.18 Recalibration.........................................................78
9.19 Ripple...................................................................80
9.19.1 Ripple Amplitude...........................................80
9.19.2 Feeder ripple.................................................81
9.19.3 Ripple Frequency...........................................81
60 Advanced settings
9.1 Output type 1. To set the output type, select Output 2. Select rotation or tilt to set the output
The output type may need to be type on the master mode menu. type by moving one of the rollers.
changed depending on which type of
valve controls rotation and tilt.
3. Release the roller. Browse between the four different setting The option V-function is selected if the function is linked to a dou-
options with the help of the arrow keys. ble-acting directional valve that can be controlled proportionally.
Advanced settings 61
Menu
Middle l
The option Actuator A is selected if the valve is When the actuator is se- The option On/Off is used for valves that are con-
controlled by an actuator linked to the output's A- lected as the output type trolled in three positions: close, open direction A
connection. Actuator B is selected if the actuator an additional option Mid- or open direction B.
is connected to the B-connection. If one of these
dle levels is added to the
options is selected the middle level should also be
set, see page 63. main menu.
Utstyrni
V-funkt.
Output type Single A only sends Output type Single B works simi- Press the middle button to se-
a signal on the A-output even if larly to Single A but uses only the lect the output type and return
the axis is drawn to B. This type is B-output. to the master mode menu.
used, amongs others, with wheel
control valves.
Middle le
335(335)
9.2 Middle levels WARNING! When the middle level Should an unintentional movement occur
The middle level is the output signal that en- is set there is a large risk of unin- during installation, you can always cancel the
sures the actuator is in the valve's neutral po- tentional movement. Ensure the process by pressing the middle button. You will
sition when the roller is in its middle position. machine has plenty of room and then be returned to the main menu.
that no persons are in the vicinity.
Return
End levels
Start levels
Feeder settings Mittnivå

Choose
Information function 335(335)
Output type
Recalibration
Ramptime
Copy banks
Midlevels
1. To set a middle level, go to Middle 2. Select the roller to set the middle 3. Release the roller. The values for the
levels in the main menu. level with, by moving the roller. middle levels are shown.
350
Middle le
335(335)
Middle le
356(335)
Middle le
350(335)
4. It is now possible to control the actuator 5. Note the hydraulic function that the 6. Use the down arrow key until the hy-
backwards and forwards with the arrow valve controls. Press the up arrow key so draulic cylinder is still but on the verge of
keys. that cylinder moves in either direction. moving. Note this value.
308
350 Middle le
308 329(335)
Middle le 350 - 308 = 42
302(335) 42 / 2 = 21
308 + 21 = 329
Middle le
308(335)
7. Now press the down arrow key so that 8. Use the up arrow key until the cylinder 9. Set the middle level by determining the
cylinder moves in the opposite direction. is again still but on the verge of moving. value that lies between the two values you
Note the value. have just attained (see example above).
Rippel Amplitude
Feeder Ripple
Ripple Frequency
Output type
Middle l Feeder type
329(335)
Erase EEPROM
Hysteresis
Logic
Current Response
Derive
Crawler-control
10. Save the value by pressing the middle 9.3 Feeder type 1. To change the feeder type, select
button.. The feeder is usually controlled by a Feeder type on the master mode
proportional valve, but sometimes the menu.
feeder can also be an actuator. The
feeder type shall then be set so that the
correct output type is used.
Feeder type
Feeder t
V-funkt. V-func
Actuator
2. Use the arrow keys to scroll between the two op-

tions. Select V-func. if the feeder is controlled by a
proportional valve and Actuator if it is controlled by
an actuator. If actuator is selected the middle level
should be set, see section 9.2 Middle levels page
63.
9.4 The feeder’s middle level 1. To set the middle level for the feeder output, 2. Select the roller to set the middle
If the feeder is controlled by an actuator select Middle level under Feeder settings. level with, by moving the roller.
the middle level must be set. The middle
level shall ensure that the actuator is in the
valve's neutral position when the roller is in
its middle position.
3. Release the roller. The values for the middle level 4. It is now possible to control the actuator backward and forward with the
are shown: roller. The arrow keys can also be used. The other roller deactivates the actua-
tor. Adjust the position of the actuator so that the valve slide in the machine's
A shows the new value. valve blocked is in its center position. This is noticeable when the actuator does
B shows the previous value. not move when it is activated or deactivated. Now press the middle button to
save the value.
9.5 DIN test 1. To perform a DIN test, select DIN test under 2. Press the buttons to be tested. The
DIN test is used to check which button Logic on the master mode menu. display shows which inputs signal the
or roller is the input signal. button is. Press the middle button to
return to the logic menu.
9.6 Logic 1. To change which input signal controls which output, select
In the Logic menu you can decide which input signals (rollers and Logic on the master mode menu. Now select one of the out-
buttons) should control the different outputs. The outputs that can puts Out3, Out4A, Out 4B, Out5 or Out6 to set.
be set are the feeder (Out3), – open grapple (Out4A), – close
grapple (Out4B), coupler (Out5) and extra output (Out6).
Return Return
A1A A1A
A1B A1B
A2A A2A
A2B
Out4A A2B
Out4A A2B Av
DIN1 DIN1 Off DIN1
DIN2 DIN2
DIN3 DIN3
DIN4 DIN4
DIN5 DIN5
Norm Norm
2. Use the arrow keys to browse through You can also choose input signal by pressing a button or moving a
the list of input signals that can control roller on the handle. The input signal which is connected to this button
the output. (The rollers have an input or roller is then selected in the display.
signal for each direction, and are known Note. In all of the logic menus the signals can be chosen by doing as
as A1A and A1B and A2A and A2B. ) described above.
Out4A Out4A
DIN1 On On Button Norm. Of Off
Off On
3. Press the middle button to switch between the op- Norm. sets the normal mode. Off
tions Off and On. Select On to control the output with means the selected input signals
the selected input signal. Select Off for the input sig- control the output. On means that
nals that are not to be controlled. Select Return to exit the output still sends the signal
the setting and return to the Logic menu. until the selected input signals are
activated.
9.7 Prop4 mode To change so that the right-hand roller (A2) controls the grapple instead of the
Prop4 mode means that you control the grapple left hand roller (A1), change the logic settings for Out4A and Out4B as above.
proportionally in both directions. The roller that See section 9.6 Logic page 67 about how to make settings in the logic.
controls rotation can be reconnected to con-
trol the grapple if the preselected DIN button is
pressed (DIN3 is preset).
1. To change the button that activates Prop4 mode, 2. Use the arrow keys to browse 3. Press the middle button to select On
select Prop4 under Logic on the master mode through the list of the digital input for the input signal that shall activate
menu. signals (buttons). Prop4 mode. NOTE! Do not forget to
deactivate the input signal that will not
be used. Select Return to return to the
logic menu.
9.8 Double push A button programmed with double push is activated with a single push, but
A button that is not programmed as a double push must be deactivated with an additional push.
is activated when you press it down and deactivated
when you release it.
1. To activate double push go to Double push under 2. Select the input signal (button) to 3. Select the option On with the mid-
Logic on the master mode menu. be set as a double push by scrolling dle button to activate double push.
with the arrow keys. Now select Return to return to the
Logic menu.
9.9 Ramp time 1. To set a ramp time, select Ramp 2. Now select the function and direction
The ramp time is the time it takes for the time on the main menu. to set the ramp time for by moving the
output level to change when the roller is roller linked to the function. (This step
moved to a new position. is not necessary if the feeder's ramp
time has been selected.
3. Ramp time can be set when the roller is 4. Adjust the time by using the arrow 9.10 Ramp time for feeder
moved from the middle position (Up), or when keys and save the middle button. Long The ramp time is the time it takes for the
it is released to return to the middle position ramp times mean the system will be output level to change when the roller is
(Down). Select the option with the arrow keys slower/softer and short times mean the moved to a new position.
and press on the middle button to continue. system will be faster, yet jerky.
A ramp time can also be set for a feeder if 9.11 AK-Trigger 1. To activate or deactivate AK-Trigger, select
the system is equipped with one. If so select, If a roller is connected to control AK-trigger under Logic on the master mode
Ramp time under Feeder settings. an on/off output, you can deter- menu.
mine whether it should take (“on”)
ramp time or not (“off”).
2. Now select the roller that the AK- 3. Use the middle button to switch AK- 9.12 Switch banks with button
Trigger shall be activated for by scroll- Trigger to be On or Off. Select Return to In order to quickly switch the configuration
ing with the arrow keys. exit the setting and return to the Logic bank, e.g. with an attachment change, it is
AIN1-2 is another for the left-hand role menu. possible to program a button to switch the
and AIN3-4 for the right-hand. bank.
1. To set which button shall control Bank switch, 2. Use the arrow keys to select a 3. Use the arrow keys to select one of
select bank switch under Logic on the master bank to switch to (a switch to the the buttons.
mode menu. bank currently selected cannot be
made). Now press the middle but-
ton to continue.
4. Press the middle button to switch the 9.13 Lock speed with button ...the button is then pressed
option Off to On. Select Return to return. It is possible to program a button to lock the at the same time as the roll-
Note. If a double push button is selected speed. To lock the speed means you run a func- er is held in its position...
then the option double push must also tion using the roller at an appropriate speed (see
be activated in the switched to bank. the figure above)...
...the roller can now be released, the function 1. To program a button to lock the speed, select 2. Select the roller with the ar-
continues at the same speed as long as the but- Lock input signal under Logic on the master mode row keys. AIN1-2 is the left-
ton is held in. menu. hand roller and AIN3-4 is the
right-hand. Now press the mid-
dle button to continue.
3. Scroll using the arrow keys to the 9.14 Current response 1. To switch the current response control
button to be selected. Now press the The current response control controls the out- on or off, select Current response on the
middle button to change Off to On. Se- put amperage and can discover open circuits, master mode menu.
lect Return to return. short-circuits, incorrect supply voltage and to
high output levels.
WARNING! To switch off current moni- 2. Select one of the outputs Out1 3. Use the middle button to switch the current re-
toring is associated with a risk of dam- (rotation), Out2 (tilt) or Out3 sponse control Off or On for the selected output. Se-
age to the equipment, example, short- (feeder) using the arrow keys. lect Return to return to the master mode menu.
circuiting.
9.15 Derive 1. To set differentiation, select Derive 2. Use the arrow keys to adjust
Oversteer is used to get the feeder to decrease fast- in the master mode menu. the required differentiation factor.
er when a roller is moved back. A differentiation fac- Use the middle button to save and
tor is used to control the size of the oversteer. return to the menu.
9.16 Track control 1. To activate track control, select 2. Select the option Yes by press-
If the system is installed with track control, the rollers can Track control on the master mode ing the down arrow. Now press
be connected to control the track instead of route station menu. on the middle button to return to
and tilt. Before you choose to activate track control, you the master mode menu.
must first check whether e.g. the left-hand roller controls
the track both forward and backward.
9.17 Hysteresis The hysteresis' low value determines 1. To set the hysteresis, select Hysteresis
The hysteresis' high value determines how far from the middle position that the on the master mode menu. Now choose to
how much you must move a roller from function is deactivated when you release set either High or Low.
the middle position before something the roller back.
happens.
2. Select the roller to set the hysteresis for. 3. Use the arrow keys to decrease or in-
crease the value. The hysteresis' high value
can never be set lower than the low value
and vice versa. Press the middle button to
exit and return to the master mode menu.
9.18 Recalibration 1. To perform a recalibration, select 2. Switch to the option Yes with the down
If a new joystick is connected to the Recalibration on the main menu. arrow.
system or if the first calibration has not
been successful, the joystick should
recalibrated.
3. Press the middle button. 4. Move the rollers slowly backward and forward to their end positions. Continue until
the black squares on display stop flashing.
4. Press the middle button. 5. Release all joysticks so that they are in their center positions and then
press the middle button to complete calibration.
9.19 Ripple The amplitude is too high if the 9.19.1 Ripple Amplitude
Ripple is the variation in amperage that holds the valve sounds or vibrates heavily The ripple amplitude determines how strong
coil vibrating so it can move without jerking. and too low if the hydraulic cyl- the vibration shall be for the external valves
inder's movement is delayed or (rotortilt).
jerky.
Rippel Amplitude
Feeder Ripple
Ripple Frequency
Output type
Ripple a
Feeder type 45( 45)
Erase EEPROM
Hysteresis
Logic
Current Response
Derive
Crawler-control
1. To change the ripple amplitude for the tilt 2. Adjust the value with the arrow
and rotation, select Ripple Amplitude in the keys and exit by pressing the middle
master mode menu. button.
Rippel Amplitude
Feeder Ripple
Ripple Frequency
Output type
Feeder R
Feeder type 45( 45)
Erase EEPROM
Hysteresis
Logic
Current Response
Derive
Crawler-control
9.19.2 Feeder ripple 1. To change the ripple amplitude for the 2. Adjust the value with the arrow keys
The Feeder ripple decides how powerful the vi- internal valve (feeder), select Feeder Ripple and exit by pressing on the middle but-
bration will be for the internal valve (feeder). in the master mode menu. ton.
Rippel Amplitude
Feeder Ripple
Ripple Frequency
Output type
Ripple F
Feeder type
80 Hz
Erase EEPROM
Hysteresis
Logic
Current Response
Derive
Crawler-control
9.19.3 Ripple Frequency 1. To change the ripple amplitude for the inter- 2. Adjust the value with the arrow
The ripple frequency determines how many nal valve (feeder), select Ripple Frequency in keys and exit by pressing the middle
periods per second that the ripple should the master mode menu. button. Recommended frequency is
have. The same frequency applies for both 80-100 Hz.
the rotation and tilt. (The feeder always at 80
Hz.
10. Trouble shooting
General: Instruction with a fault:
The RT Controller (RTC) can detect many system faults. The 1. Discover the type of fault and where the fault
output related to the fault is shutoff so that no dangerous is located. Carry out the measure listed. Fre-
situations can occur. For most faults it is sufficient to release quently the fault is a problem with cabling.
the joystick so that the function can be run again.
2. If the fault persists contact SVAB. Prepare
When a fault is detected a three digit fault code is shown on by writing down the software version and serial
the display. These codes and proposals for measures are de- number. It can also be a good idea to check the
scribed in the list. stored fault messages.
The first two digits state the type of

Contents: Page:
fault, in this example the fault is an
10.1 List of input signal faults.........................................83
output fault.
10.2 List of system faults...............................................84
The third digit states where the
10.3 List of output faults................................................85
fault is, in this example the fault
10.4 Show stored fault messages....................................86
applies to output 1.
10.5 Remove stored fault messages.................................86
10.6 Erase EEPROM.......................................................87
10.7 Serial number........................................................87
10.8 Software version....................................................87
Fault description.
82 Trouble shooting
10.1 List of input signal faults
An input signal fault is a fault somewhere between the joystick and the RTC. The fault is usually due to bad contact
or a crushed cable/wire.
Type: Cause: Action:
10 One of the joystick’s rollers is not centerd during start up. Do not touch the joystick’s rollers during
start up.
11 Joystick’s signal lies outside of the calibrated end positions. Try to recalibrate the joystick if it works in
This may be due to defective cabling in the joystick or some positions. Check the cabling if the
incorrect calibration of the joystick. joystick does not work at all.
12 The joystick’s sensor sum is incorrect. This is probably due Check the cabling, rectify any bad contact.
to bad contact, a fault on one of the joystick’s sensors or Check the control unit’s earth connection.
that the control unit has a poor earth connection.
13 Defective microswitch. The microswitch on the joystick Check the wiring carefully and rectify any
does not work as it should in relation to the joystick’s bad contact. Carefully check the joystick
analogue sensor. This is probably due to bad contact or a wire connector!
defective microswitch.
14 One of the digital input signals that is pulse monitored is Check that DIN1 is connected to the pulsat-
short-circuited to earth. ing earth and not to the common earth.
15 1). One of the input signals is above 4.75 V or below 0.25 Check the wire carefully and rectify any bad
V during joystick calibration. 2). Bad linearity between X- contact. Carefully check the joystick’s wire
signals. 3). Faulty middle level calibration (the error code connector!
is only shown when the middle button is pushed after the
middle level calibration).
Trouble shooting 83
10.2 List of system faults
The system contains two microprocessors which control each other. Therefore many different faults can be detected.
Contact SVAB with repeated system faults.
702 Fault on the main processor. Rectify any damage to the handle cable’s
5V-feed. Otherwise contact SVAB.
703 Write error to EEPROM-memory. Contact SVAB.
704 Read error from EEPROM-memory. The configuration banks’ Rectify any damage to the handle cable’s
settings have been restored to the default values. 5V-feed. Otherwise contact SVAB.
705 Read error from EEPROM-memory. All stored fault codes Contact SVAB.
have been reset.
706 Read error from EEPROM-memory. All settings in the cur- Contact SVAB.
rent configuration bank have been restored to the default
values.
707 Memory fault. The main processor’s primary memory is Contact SVAB.
damaged.
71X A communication fault occurred between the microproces- Rectify any damage to the handle cable’s
sors. The last digit states the type of fault. 5V-feed. Otherwise contact SVAB.
If the display’s background flashes this means the auxiliary Contact SVAB.
processor does not work as it should.
84 Trouble shooting
10.3 List of output faults
AB ! This system can detect different faults on the outputs, for example, a short-circuit.
30 Short-circuit on one of the proportional outputs. Make sure the cabling is fitted correctly and
that the cabling is not damaged.
31 Open circuit on one of the proportional outputs. Ensure that the cabling is not damaged and
that all connectors are connected correctly.
32 Current response fault. The supplied current does not cor- Try to decrease the end level for the output.
respond with the amperage. This may be due to a too low Check connections, grounding and supply
input voltage, too hot coil or that the end level is set too voltage.
high.
33 Short circuit on one of the on/off outputs. Ensure that the cabling is not damaged and
that the load of the output does not exceed
2,5A. To activate the output you must enter
and leave the main menu.
34 Open circuit on one of the on/off outputs. Ensure that all the connectors are connected
correctly and that none of the cabling is
(346) damaged.
A common error code is 346. 346 means

that a button is connected without having
a connection to a function. To solve this ac-
cess Out6 and turn off Din4. see section 9.6
Logic page 67.
35 The coupler’s current circuit is made. When the coupler is In all probability the fault arises when there
activated its earth connection should be broken. is moisture in the connector.
Check the coupler switch and its connec-
tions.
Trouble shooting 85
10.4 Show stored fault 1. Select Show stored fault messages under Information 2. Use the arrow keys to scroll
messages on the main menu to view the stored fault messages. through the fault codes and the
To facilitate trouble shooting middle button to exit. The number
the fault messages that occur of times the fault has occurred is
are saved. shown under fault code.
10.5 Remove stored fault 1. Select Remove stored fault messages under Information 2. Use the down arrow to select Yes
messages on the main menu to delete stored fault codes. and then confirm with the middle but-
The stored fault messages can ton.
only be removed if the previ-
ous messages have been read.
86 Trouble shooting
10.6 Erase EEPROM 1. To erase the EEPROM memory select Erase 2. Use the down arrow to select Yes and
This option restores the RTC to its default EEPROM on the master mode menu. then confirm with the middle button.
settings. When the EEPROM-memory is
erased the system restarts and the start
up settings must be made again.
10.7 Serial number 10.8 Software version

The RTC has a serial number that can be shown on the dis- This option shows a version number of the software in RTC. Select
play by selecting Serial number under Information on the main Software version under Information on the main menu.
menu. The number is also on the label on the top edge of the
enclosure.
Trouble shooting 87
APPENDIX 1. Installation summary Page 1(2)
grey yellow grey yellow
pink pink
blue 2
Handle
Extra output (OUT6) 1
1 Contact: Wire: 2 Contact: Wire:

1 AIN1 Brown 1 AIN3 Brown
2 GND Yellow 2 GND Yellow
3 AIN2 White 3 AIN4 White
4 +5V_OUT Green 4 +5V_OUT Green
Proportional valve (OUT3)
88
3 4 5 Page 2(2)
Contact: Wire: Contact: Wire: Contact: Wire:

1 GND Yellow 1 GND White 1 GND 11
2 AIN1 Brown 2 GND White 2 GND 8
3 GND Yellow 3 GND Green 3 GND Green/Yellow
RT Controller
4 AIN3 Brown 4 GND Yellow 4 GND
5 D_GND Red 5 OUT6 Brown 5 D_GND 10
6 DIN2 Grey 6 OUT3 Brown 6 DIN1 9
7 DIN4 Blue 7 MAIN_V+ White 7 GND Black
8 +5V_OUT Green 8 MAIN_V+ Brown 8 OUT1A 3
9 AIN2 White 9 OUT1B 2
10 +5V_OUT Green 10 OUT2A 7
11 AIN4 White 11 OUT2B 6
12 DIN1 Black 12 OUT4A 5
13 DIN3 Pink 13 OUT4B 4 3
14 DIN5 Grey 14 OUT5 1
4
Coupler switch
APL2 card
89
APPENDIX 2. Connection of proportional valve
Tilt Rotor Gripple Coupler
Rotortilt
Out
Pedal Feeder valve

Ped. T
Proportional
shuttle valve
Servo pressure
Tank
90
APPENDIX 3. Common default settings
Setting: Rotation (Out1): Tilt (Out2): Feeder (Out3):

Start level 200
Middle level (if actuator) 330
save in bank
Ripple amplitude 18
Ramp time up 12
Differentiation factor 4
Feeder type V-func.
Send on CAN no
Current monitoring on on on
Ripple frequency 80 Hz 80 Hz
What is meant by default settings?

The default settings are the values that the RTC is preprogrammed with.
What is meant by common settings?

If any changes are made to the settings above these will be saved in common
memory. Accordingly, these settings apply even with a bank change.
91
APPENDIX 4(1). Default settings bank A Page 1 (2)

Middle level (if actuator) 0 0 save in
Start level direction A/B 200/200 200/200 common
End level direction A/B 700/700 700/700 300/300 (Out1)

300/300 (Out2)
300/300 (Out4)
Fixed level DIN1 340
Max level 400
Ripple amplitude 45 save in
Ramp time up 8 8 common
Ramp time down 12 12
Output type V-function V-function

Change direction no no
Shutdown no no
Change position on functions no
Track control no
92
APPENDIX 4(2). Default settings bank A Page 2 (2)
A1A A1B A2A A2B DIN1 DIN2 DIN3 DIN4 DIN5 Normal
Feeder (Out3) X X X X X X
Grapple (Out4A) X X
Grapple (Out4B) X X
Coupler (Out5) X
Extra (Out6) X
AK-trigger
Activate Prop4 X
Double push
Switch bank B
Switch bank C
Switch bank D
Lock AIN1-2
Lock AIN3-4

What can these settings be used for?

The default settings in bank A contain values that are suitable as a starting point
when setting the control of a tilt rotator. The default settings for bank A are identical
to bank B.
93
APPENDIX 5(1). Default settings bank B Page 1 (2)
Setting: Rotor (Out1): Tilt (Out2): Feeder (Out3):


300/300 (Out2)
300/300 (Out4)
Max level 400

Shutdown no no
Track control no
94
APPENDIX 5(2). Default settings bank B Page 2 (2)
Feeder (Out3) X X X X X X
Grapple (Out4A) X X
Grapple (Out4B) X X
Coupler (Out5) X
Extra (Out6) X
AK-trigger
Activate Prop4 X
Double push
Switch bank A
Switch bank C
Switch bank D
Lock AIN1-2
Lock AIN3-4


The default settings in bank B contain values that are suitable as a starting point
when setting the control of a tilt rotator. The default settings for bank B are identi-
cal to bank A.
95
APPENDIX 6(1). Default settings bank C Page 1 (2)


300/300 (Out2)
300/300 (Out4)
Max level 400

Shutdown no no
Track control no
96
APPENDIX 6(2). Default settings bank C Page 2 (2)
Feeder (Out3)
Grapple (Out4A) X
Grapple (Out4B) X
Coupler (Out5)
Extra (Out6) X
AK-trigger
Activate Prop4
Double push
Switch bank A
Switch bank B
Switch bank D
Lock AIN1-2
Lock AIN3-4


The default settings in bank C contain values that are appropriate as a starting
point when setting wheel control (wheel control is an extra option, see the supplied
instruction how to set a control system for tilt rotator and wheel).
97
APPENDIX 7(1). Default settings bank D Page 1 (2)


300/300 (Out2)
300/300 (Out4)
Max level 400

Shutdown no no
Track control no
98
APPENDIX 7(2). Default settings bank D Page 2 (2)
Feeder (Out3)
Grapple (Out4A)
Grapple (Out4B)
Coupler (Out5)
Extra (Out6) X
AK-trigger
Activate Prop4
Double push
Switch bank A
Switch bank B
Switch bank C
Lock AIN1-2
Lock AIN3-4


The default settings in bank D contain values that are appropriate as a starting
point when setting track control (track control is an extra option, see the supplied
instruction how to set a control system for tilt rotator and track).
99
APPENDIX 8. Declaration of conformity
Declaration of conformity
The manufacturer declares that the product complies with the requirements in
EMC directive 89/336 89/336/EC

CE directive 93/68 EC
Machinery Directive 98/37/EC through EN954-1 Category 3
Type of Equipment: Control system for mobile use
Brand Name: RT Controller

Manufacturer: SVAB Hydraulik AB
Address: Ulvsättersgatan 2
SE-694 91 HALLSBERG
Phone: +46 (0)582 15230

Telefax: +46 (0)582 15232
E-mail: epost@svab.se
The manufacturer within EU/EES declares under sole responsibility that this product com-
plies with the requirements in the aforementioned standard directives.
SVAB Hydraulik
Kent Bengtsson
100
APPENDIX 9. CONNECTIONS
101
APPENDIX 10. Menu register
Return Return
End levels............................ s.55 Ripple Amplitude.......... s.80
Start levels.......................... s.54 FeederRipple.............. s.81
Feeder settings....................... s.47 RippleFrequency........... s.81
Return Output type............... s.61
Main menu End levels..................... s.49 Mastermode Feeder type............... s.65
Start levels................... s.48 menu Erase EEPROM.............. s.87
Max level...................... s.53 Hysteresis................ s.77
Fixed levels................... s.51 Return
Ramp time...................... s.72 High............. s.77
Middle level................... s.66 Low.............. s.77
Logic..................... s.67
Information........................... s.29 Return
Return DIN-test......... s.67
Firmware version............... s.29 Out3............. s.67
Serial number.................. s.30 Out4A............ s.67
Show EEPROM.................... s.30 Out4B............ s.67
Stored error messages.......... s.30 Out5............. s.67
Erase stored error messages.... s.30 Out6............. s.67
Prop4............ s.69
Output-settings....................... s.43
Double push...... s.70
Return
AK-trig.......... s.72
Swap outputs................... s.44
Change bank...... s.73
Change direction............... s.45
Lock input....... s.74
Function on/off................ s.46
Current Response.......... s.75
Recalibration......................... s.78 Derive.................... s.76
Ramp time............................. s.71 Crawler-control........... s.76
Copy banks............................ s.58
Middle levels......................... s.63
102
103
Ulvsättersgatan 2
SE-694 91 Hallsberg
PHONE: +46 (0) 582-152 30
FAX: +46 (0) 582-152 32
www.svab.se
epost@svab.se
Part no: 630014
104

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User Manual

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This work is protected by the Copyright Act and may not be

This manual describes how to assemble and set your RT

If you have received special installation instructions, 3. Continue on to chapter 3.

1 Start by installing the electrically Feeder valve

A 1/4 inch hose to all valve connec-

The P-connection is connect-

The T-connection should be

The wires must be fuse protected, they should

6 Connect the connector

3 Connect the connec- The output Out6 does not need to

7 Secure the cable from the tilt rotator on

8a For APL card model APLRL:

8c Connect the cable from tilt rotator to

8b Connect the coupler to

12 Connect the wires from joysticks with the re-

Release the rockers to their

4. Summary main menu

What do you do on the main menu? Contents: Page:

Summary main menu 25

26 Summary main menu

Summary main menu 27

28 Summary main menu

Return Return Return Return

Endlevels Software version Endlevels Software version

Startlevels Serial number Startlevels Serial number

Feeder-settings Show EEPROM Feeder-settings Show EEPROM

Information Stored fault messages Information Stored fault messages

Copy banks Copy banks

4.4.1 Software version 4.4.2 Serial number

Summary main menu 29

Endlevels Software version

Startlevels Serial number

Feeder-settings Show EEPROM

Remove stored fault messages

! Feeder-settings Show EEPROM

Remove stored fault messages

30 Summary main menu

Summary main menu 31

32 Summary main menu

Summary main menu 33

34 Summary main menu

5. Summary of the master mode menu

... What do you do in the Master mode menu? Contents: Page:

Summary of the master mode menu 35

36 Summary of the master mode menu

Summary of the master mode menu 37

Ripple Frequency Return

5.7 Hysteresis Hysteresis can be found on the master mode

5.8 Logic Logic can be found on the master

38 Summary of the master mode menu

Feeder Ripple DIN-test Feeder Ripple DIN-test

Ripple Frequency Out3 Ripple Frequency Out3

Output type Out4A Output type Out4A

Feeder type Out4B Feeder type Out4B

Erade EEPROM Out5 Erade EEPROM Out5

Hysteresis Out6 Hysteresis Out6

Logic Prop4 Logic Prop4

Current Response Dubbeltryck Current Response Dubbeltryck