Product Manual 26635 (Revision C, 7/2016) : L-Series Position Controller With CAN Capability

Product Manual 26635
(Revision C, 7/2016)
Original Instructions
L-Series Position Controller

with CAN Capability
Software: 5418-6084, 5418-6638, 5418-7022
Installation, Programming, & Troubleshooting Manual

Read this entire manual and all other publications pertaining to the work to be
performed before installing, operating, or servicing this equipment.
Practice all plant and safety instructions and precautions.
General
Precautions Failure to follow instructions can cause personal injury and/or property damage.
This publication may have been revised or updated since this copy was produced.
To verify that you have the latest revision, check manual 26455 , Revision Status &
Distribution Restrictions of Woodward Technical Publications, on the publications
Revisions page of the Woodward website:
www.woodward.com/publications
The latest version of most publications is available on the publications page. If

your publication is not there, please contact your customer service representative
to get the latest copy.
Any unauthorized modifications to or use of this equipment outside its specified

mechanical, electrical, or other operating limits may cause personal injury and/or
property damage, including damage to the equipment. Any such unauthorized
Proper Use modifications: (i) constitute "misuse" and/or "negligence" within the meaning of
the product warranty thereby excluding warranty coverage for any resulting
damage, and (ii) invalidate product certifications or listings.
If the cover of this publication states "Translation of the Original Instructions"

please note:
The original source of this publication may have been updated since this
Translated translation was made. Be sure to check manual 26455 , Revision Status &
Publications Distribution Restrictions of Woodward Technical Publications, to verify whether
this translation is up to date. Out-of-date translations are marked with . Always
compare with the original for technical specifications and for proper and safe
installation and operation procedures.
Woodward reserves the right to update any portion of this publication at any time. Information provided by Woodward is
believed to be correct and reliable. However, no responsibility is assumed by Woodward unless otherwise expressly
undertaken.
Manual 26635
Copyright © Woodward 2012–2016
All Rights Reserved
Manual 26635 L-Series Position Controller w/ CAN Capability
Contents
ACRONYMS/ABBREVIATIONS ..................................................................... III

WARNINGS AND NOTICES .......................................................................... IV
ELECTROSTATIC DISCHARGE AWARENESS ................................................. V
REGULATORY COMPLIANCE ...................................................................... VI
CHAPTER 1. GENERAL INFORMATION .......................................................... 1
Purpose and Scope ................................................................................................ 1
How to Use This Manual ........................................................................................ 1
Intended Applications ............................................................................................. 1
Introduction ............................................................................................................. 1
Programmable Features ......................................................................................... 2
Service Tool Software ............................................................................................ 3
CHAPTER 2. SYSTEM DESCRIPTION/APPLICATION OVERVIEW....................... 4
System Operation ................................................................................................... 4
Temperature Sensing ...........................................................................................10
Current Limiting based on Temperature ...............................................................10
RS-232 Communications......................................................................................10
CAN Communications ..........................................................................................10
Device Identifier ....................................................................................................11
J1939 Message Overview ....................................................................................12
CANopen ..............................................................................................................20
Faults ....................................................................................................................23
CHAPTER 3. INSTALLATION ...................................................................... 28
Introduction ...........................................................................................................28
General Installation, Operation Notes and Requirements ....................................28
Unpacking .............................................................................................................29
Mechanical Installation .........................................................................................29
Electrical Installation .............................................................................................34
Description of Electrical I/O ..................................................................................37
CHAPTER 4. SERVICE TOOL ..................................................................... 47
Introduction ...........................................................................................................47
Description ............................................................................................................47
Getting Started .....................................................................................................48
L-Series Configuration ..........................................................................................49
Configuration Parameters.....................................................................................51
Position Calibration and Verification .....................................................................67
Calibration Sequence Overview ...........................................................................68
Position Verification ..............................................................................................68
CHAPTER 5. TROUBLESHOOTING .............................................................. 72
Introduction ...........................................................................................................72
General System Troubleshooting Guide ..............................................................72
Engine/Generator Troubleshooting ......................................................................73
Troubleshooting Diagnostic Flags ........................................................................75
Electrical Troubleshooting Guide .........................................................................77
CHAPTER 6. PRODUCT SUPPORT AND SERVICE OPTIONS........................... 79
Product Support Options ......................................................................................79
Product Service Options .......................................................................................79
Returning Equipment for Repair ...........................................................................80
Replacement Parts ...............................................................................................80
Engineering Services ............................................................................................81
Woodward i
L-Series Position Controller w/ CAN Capability Manual 26635
Contacting Woodward’s Support Organization ....................................................81
Technical Assistance ............................................................................................82
APPENDIX A. L-SERIES CONFIGURATION SUMMARY .................................. 83
APPENDIX B. L-SERIES CONTROL SPECIFICATIONS ................................... 85
REVISION HISTORY .................................................................................. 89
DECLARATIONS ....................................................................................... 90
Illustrations and Tables
Figure 2-1. System Overview .................................................................................4

Figure 2-2. Functional Overview.............................................................................5
Figure 2-3. Position Demand Logic ........................................................................6
Figure 2-4. PWM Linear Demand to Position .........................................................7
Figure 2-5. PWM Non-Linear Demand to Position .................................................7
Figure 2-6. Analog 0–5 V Linear Demand to Position ............................................8
Figure 2-7. Analog 0–5 V Non-Linear Demand to Position ....................................8
Figure 3-1. L-Series Outline Drawing ...................................................................30
Figure 3-2. L-Series Cover Types ........................................................................31
Figure 3-3a. L-Series Shaft Types........................................................................32
Figure 3-3b. L-Series Shaft Types........................................................................33
Figure 3-3c. L-Series Shaft Types ........................................................................34
Figure 3-4. Typical L-Series Position Control Application Wiring .........................36
Figure 3-5. Acceptable PWM Input Types ............................................................38
Figure 3-6. Relay Driver Output ............................................................................39
Figure 3-7. Typical AUX1 and AUX2 Usage ........................................................41
Figure 3-8 CAN System Wiring Example .............................................................44
Figure 3-9. CAN Shielding ....................................................................................45
Figure 3-10. Ground Junction Point......................................................................46
Figure 4-1. Example Service Tool Screen ............................................................47
Figure 4-2. Typical Programming Datalink Harness Wiring .................................48
Figure 4-3. Configuration Selection Options ........................................................51
Figure 4-4. Configuration Editor—Overview Tab .................................................51
Figure 4-5. Configuration Editor—Setup tab ........................................................53
Figure 4-6. Configuration Editor—Discrete Output Tab .......................................56
Figure 4-7. Configuration Editor—Alarm/Shutdown Tab ......................................58
Figure 4-8. Configuration Editor— Security Tab ..................................................58
Figure 4-9. Security Tab Set Password Pop-up ...................................................59
Figure 4-10. Security Tab Set Password Pop-up .................................................60
Figure 4-11. Service Tool—Overview Tab ...........................................................61
Figure 4-12. Service Tool – Alarms Tab ...............................................................63
Figure 4-13. Service Tool – Shutdowns Tab ........................................................64
Figure 4-14. Service Tool – Internal Shutdowns Tab ...........................................64
Figure 4-15. Service Tool—Identification Tab ......................................................65
Figure 4-16. Service Tool—PID Tuning Window..................................................66
Figure 4-17. Service Tool—PID Tuning Properties Window ................................67
Figure 4-18. Service Tool—Verify Position Calibration ........................................69
Figure 4-19. Service Tool—Manual Position Calibration .....................................69
Figure 4-20. Service Tool—Manual Position Calibration Settings .......................70
Figure 4-21. Service Tool – Auto Position Calibration..........................................71
Figure C-1. Bode Plot of L-Series Response .......................................................88
ii Woodward
Acronyms/Abbreviations
AUX auxiliary
EEPROM electrically-erasable programmable read-only memory
EMC electro-magnetic compatibility
GUI graphic user interface
I/O inputs/outputs
Isoch isochronous
ITB integrated throttle body
L-Series Woodward electronic engine governor that contains both a rotary
actuator and a controller circuit board
MPU magnetic pick up
OEM original equipment manufacturer
PWM pulse-width modulated
rpm revolutions per minute
RS-232 a communications standard
TPS throttle position sensor
The following are trademarks of Woodward, Inc.:

Woodward
The following are trademarks of their respective companies:

DeviceNet (Open DeviceNet Vendor Association, Inc.)
Woodward iii
Warnings and Notices

Important Definitions
This is the safety alert symbol. It is used to alert you to potential
personal injury hazards. Obey all safety messages that follow this
symbol to avoid possible injury or death.
 DANGER—Indicates a hazardous situation which, if not avoided, will result
in death or serious injury.
 WARNING—Indicates a hazardous situation which, if not avoided, could
result in death or serious injury.
 CAUTION—Indicates a hazardous situation which, if not avoided, could
result in minor or moderate injury.
 NOTICE—Indicates a hazard that could result in property damage only
(including damage to the control).
 IMPORTANT—Designates an operating tip or maintenance suggestion.
The engine, turbine, or other type of prime mover should be

equipped with an overspeed shutdown device to protect against
runaway or damage to the prime mover with possible personal injury,
Overspeed / loss of life, or property damage.
Overtemperature / The overspeed shutdown device must be totally independent of the
Overpressure prime mover control system. An overtemperature or overpressure
shutdown device may also be needed for safety, as appropriate.
The products described in this publication may present risks that

could lead to personal injury, loss of life, or property damage.
Always wear the appropriate personal protective equipment (PPE) for
Personal Protective the job at hand. Equipment that should be considered includes but is
not limited to:
Equipment
 Eye Protection
 Hearing Protection
 Hard Hat
 Gloves
 Safety Boots
 Respirator
Always read the proper Material Safety Data Sheet (MSDS) for any
working fluid(s) and comply with recommended safety equipment.
Be prepared to make an emergency shutdown when starting the

engine, turbine, or other type of prime mover, to protect against
runaway or overspeed with possible personal injury, loss of life, or
Start-up property damage.
On- and off-highway Mobile Applications: Unless Woodward's

control functions as the supervisory control, customer should install
a system totally independent of the prime mover control system that
Automotive monitors for supervisory control of engine (and takes appropriate
action if supervisory control is lost) to protect against loss of engine
Applications control with possible personal injury, loss of life, or property
damage.
iv Woodward
To prevent damage to a control system that uses an alternator or

battery-charging device, make sure the charging device is turned off
before disconnecting the battery from the system.
Battery Charging
Device
Electrostatic Discharge Awareness

Electronic controls contain static-sensitive parts. Observe the
following precautions to prevent damage to these parts:
 Discharge body static before handling the control (with power to
Electrostatic the control turned off, contact a grounded surface and maintain
Precautions contact while handling the control).
 Avoid all plastic, vinyl, and Styrofoam (except antistatic
versions) around printed circuit boards.
 Do not touch the components or conductors on a printed circuit
board with your hands or with conductive devices.
To prevent damage to electronic components caused by improper
handling, read and observe the precautions in Woodward manual
82715, Guide for Handling and Protection of Electronic Controls,
Printed Circuit Boards, and Modules.
Follow these precautions when working with or near the control.

1. Avoid the build-up of static electricity on your body by not wearing clothing
made of synthetic materials. Wear cotton or cotton-blend materials as much
as possible because these do not store static electric charges as much as
synthetics.
2. Do not remove the printed circuit board (PCB) from the control cabinet
unless absolutely necessary. If you must remove the PCB from the control
cabinet, follow these precautions:
 Do not touch any part of the PCB except the edges.
 Do not touch the electrical conductors, the connectors, or the
components with conductive devices or with your hands.
 When replacing a PCB, keep the new PCB in the plastic antistatic
protective bag it comes in until you are ready to install it. Immediately
after removing the old PCB from the control cabinet, place it in the
antistatic protective bag.
EMC Directive:Declared to Directive 2014/30/EU of the European Parliament

and of the Council of 26 February 2014 on the
harmonization of the laws of the Member States
relating to electromagnetic compatibility (EMC)
Woodward v
Regulatory Compliance
European Compliance for CE Marking:
These listings are limited only to those units bearing the CE Marking.
EMC Directive: Declared to Directive 2014/30/EU of the European
Parliament and of the Council of 26 February 2014 on
the harmonization of the laws of the Member States
relating to electromagnetic compatibility (EMC)
Other European Compliance:

Compliance with the following European Directives or standards does not qualify
this product for application of the CE Marking.
Machinery Directive: Compliant as partly completed machinery with

Directive 2006/42/EC of the European Parliament
and the Council of 17 May 2006 on machinery.
North American Compliance:

These listings are limited only to those units bearing the CSA agency
identification.
CSA: CSA Certified for Class I, Division 2, Groups A, B, C

& D, T3C at 105 °C Ambient for use in Canada and
the United States.
Certificate #1380416
This product is certified as a component for use in

other equipment. The final combination is subject to
acceptance by CSA International (or UL) or local
inspection.
The L-Series is suitable for use in Class I, Division 2, Groups A, B, C, D per CSA
for Canada and U.S. or non-hazardous locations only.
Wiring must be in accordance with North American Class I, Division 2 wiring

methods as applicable, and in accordance with the authority having jurisdiction.
Field wiring must be suitable for at least 105 °C.
The actuator should be protected from exposure to sunlight and rain.
EXPLOSION HAZARD—Do not connect or disconnect while circuit is

live unless area is known to be non-hazardous.
Substitution of components may impair suitability for Class I,

Division or Zone applications.
RISQUE D’EXPLOSION—Ne pas raccorder ni débrancher

tant que l’installation est sous tension, sauf en cas
l’ambiance est décidément non dangereuse.
La substitution de composants peut rendre ce matériel

inacceptable pour les emplacements de Classe I,
applications Division ou Zone.
vi Woodward
Chapter 1.
General Information
Purpose and Scope

This manual provides the necessary background information for applying the
L-Series control to gas/gasoline reciprocating engines. This manual is intended
primarily for OEMs, who may find it useful to copy some of the information from
this manual into their application user manuals.
This manual does not contain instructions for the operation of the complete
engine system. For engine or plant operating instructions, contact the plant-
equipment manufacturer.
This version of the manual applies to all CAN-capable L-Series Position Control
models with software 5418-6084, 5418-6638, or 5418-7022. The software
version can be identified on the Identification tab of the Service Tool.
How to Use This Manual

The following summarizes how to install an L-Series actuator into a new or
existing system:
 Unbox and inspect the hardware.
 Mount and wire the hardware following the procedures and
recommendations in Chapter 3.
 Optionally configure the control using the Service Tool (Chapter 4).
 Optionally stroke the valve and verify dynamics and functionality.
 Troubleshooting guidelines are provided in Chapter 5.
 Specifications are provided in Appendix B.
Intended Applications
The L-Series control is designed for various industrial applications, including but
not limited to generator sets, welders, portable refrigeration units, irrigation
pumps, chipper shredders, and mobile industrial gas or gasoline reciprocating
engines. Key environmental characteristics of these applications include
extended industrial operating temperatures (–40 to +105 °C/–40 to +221 °F),
Industrial EMC Requirements, electrical transients, and lower operating voltages
(12/24 V).
Introduction
The L-Series provides a building-block approach to total engine management.
The modular bi-directional actuator design easily attaches to fuel pumps, mixers,
or throttle bodies. For information on Woodward throttle body applications, refer
to manual 26249 (ITB and LC-50).
Woodward also offers a non-CAN position control version and L-Series versions
for Speed Control applications (manual 26250) and Process Control applications
(manual 26251).
Woodward 1
The L-Series position control accepts a position command and drives the 0–60
degree output shaft to the commanded position based on an internal shaft
position sensor. The high-efficiency torque motor delivers 0.34 N·m (0.25 lb-ft)
nominally over 60° travel range to operate fuel or air control devices (see
specifications in Appendix B for torque performance over the full product
temperature range).
The L-Series position control accepts either a PWM command, a CAN command,
or a 0–5 V command for output positioning. The command signals are issued by
the appropriate supervisory engine management system, and the L-Series must
be set up properly in software to expect the correct signal for the application. The
position command input can also be set up with a primary and a backup input,
providing redundancy.
For status purposes, a relay driver output is available that changes state
whenever a fault or error condition is experienced by the L-Series controller.
If the system so requires, the L-Series provides a direct position output signal in
the form of a dc voltage. The TPS (throttle position sensor) output represents full
counterclockwise (CCW) to clockwise (CW) rotation of the actuator shaft, and
thus gives the operator an external position indication after installation and while
the unit is operating.
When included with an ITB (integrated throttle body), the actuator

depends solely on the return spring inside the throttle body
assembly to drive toward minimum fuel when not powered. Therefore
other positive shutdown devices like fuel shut-off solenoids are
recommended to ensure shutdown upon loss of signal to the control
system. Also, separate overspeed trip devices are always mandatory.
Programmable Features
Control setup and tuning is accomplished through the use of a PC (personal
computer), Woodward Service Tool software, and a programming harness. The
features identified below are described in Chapters 2 and 4. Briefly, the
programmable features include:
 General Setup Parameters
o Position Demand Select (Primary/Backup; CAN, PWM or Analog)
o Fail Position
o Min Position Direction (CCW or CW)
o Actuator Curve Selection (Linear or Non-linear)
o CAN Setup
 PWM Setup Parameters
o PWM Drive Select (Push-Pull, High-Side Drive or Low-Side Drive)
o PWM Offset
 Valve Position Control Parameters
 Non-Linear Actuator Settings
o Position Request (5 curve input points)
o Actuator Position (5 curve output points)
 Discrete Output Settings
o Output’s Non-Fault Condition (ON or OFF)
o Fault Selections as Discrete Output Indications
 Fault Settings
o Latching or Non-Latching Fault Indications
o Position Error Magnitude & Delay
o Fault Selections as Alarms or Shutdowns
2 Woodward
Service Tool Software

The L-Series Service Tool software is a Microsoft Windows based GUI (graphic
user interface). The Service Tool Software gives the OEM the ability to:
 Configure product settings based on application requirements
 Tune the control with the engine running during application development
 Create configuration files for downloading into multiple controls
 Download configuration files
 Extract and view fault codes for field diagnosis
 Update control dynamics during field service
 Calibrate the control for user stops
Detailed descriptions of software installation are available in Chapter 4.
Woodward 3
Chapter 2.
System Description/Application Overview
System Operation
On power-up, the L-Series actuator will establish its identity based on the CAN ID
inputs and ensure that service tool communications are not active prior to
initializing CAN communications. The actuator will immediately drive to maintain
the position commanded by the supervisory control.
Optionally, a Run Enable input can be used to activate or de-activate the

L-Series output. This input can also be used to reset shutdown fault conditions.
Upon an engine shutdown command, the independent engine shutdown solenoid

or solenoid valve in the fuel supply should be de-activated and the power supply
disconnected from the speed control. This shutdown signal should be sent
directly from the engine control panel and should be independent and separate
from the L-Series controller.
Position Demand
(Analog/PWM/CAN)
Customer Actual Position (0-5V)

Controller
Status
L-Series
Run Enable
Power Input
(10-32Vdc)
RS-232
Service Tool
Figure 2-1. System Overview
Driver Input Power

The L-Series will handle a voltage range of 10 to 28 Vdc at full specified torque.
The actuator is functional in the range of 8 to 32 Vdc, but accuracy and/or torque
can be diminished at the extreme ends of this range.
The supply voltage failure levels are below 6.25 V and above 33 V. The unit can
be configured to either alarm or shut down upon detection of a supply voltage
fault.
4 Woodward
L-Series Position Control Functional Overview
TPS TPS
Act’l Position Ouput
(0.75-4.25 V for CW-CCW) De-code
Linearization
Scaling &
Fault
Detection
Woodward
Calibration Settings
Configuration
Manual 26635
Anlg Dmd Settings Direction Tuning

CW / Pos’n
Scaling &
Analog Demand Aux 2 Fault CCW Sensor
(0.5-4.5 V) Detection Fault
5-pt curve
F
Position Linear/
PWM Demand PWM Dmd Demand NonLinear Position Motor LAT
Pwm + Scaling & PWM Motor
10-90% Duty Selection User Controller
Fault (configured) Driver
6-26 Vdc Fault Scaling
Detection
300-1500 Hz S
F
CAN ID HIGH Select Aux 1 or 5
Demand
CAN ID LOW Select Aux 2 CANBus
Logic
Aux 4
CAN / Serial Aux 3 Fault F Scaling & Fault F
Communications Fault
RS232 Detection OverTemp
Service Port
F
On-Board
Logic Temp Sensor
Current
Limters
12/24V Input Power +12/24V

(8-32 Vdc)
Scaling &
Fault Fault
S (shutdown)
Detection Fault Logic
F (any fault) A (alarm)
Figure 2-2. Functional Overview

+V
Discrete
Status F (any fault)
Out Logic
(discrete output driver)
24Vdc = ON (status ok) Discrete
Relay
Out
Aux 1
Run Enable
(optional)
L-Series Position Controller w/ CAN Capability
5
Position Command Signal

The L-Series can accept either a single position command or a redundant
position command. A redundant command uses two position commands, one as
the primary command and one as a backup. If the primary fails, the unit can
continue to run using the backup command (see Figure 2-3). The command
source can be sent over CAN, as a PWM command signal input, or an analog
0–5 Vdc command signal input, depending on how the software application is
configured.
(Primary Demand Fault AND Backup Demand OK)

Init
Use Primary (Backup Demand Fault AND Primary Demand OK)

Use Backup
Demand OR Demand
(Primary Demand OK for > 10 sec
AND Tracking OK)
Primary Demand Fault

AND Backup Demand Fault
Backup Demand Fault AND
Primary Demand Fault
Backup Demand OK
Primary Demand OK AND
AND Primary Demand Fault
Reset* AND Reset*
Demand
Failed
*Reset not required if configured as

non-latching
Figure 2-3. Position Demand Logic
PWM Position Command

The PWM will function with various types of input sources, including high-side,
low-side open collector, and push-pull—depending on the configuration. It will
handle a PWM frequency range from 300 to 1500 Hz at amplitudes ranging from
5 V up to battery voltage. Normal operating range is from 10% to 90% duty cycle,
representing the hard stops in the actuator (Figure 2-4). The input can be
optionally set to a non-linear mode which provides a 5-point curve relationship
between position signal and desired position (Figure 2-5).
The input failure levels are below 3% and above 97% duty cycle. The unit can be
configured to either alarm or shut down on detection of a position command
failure. The shutdown failsafe position is also user-configurable and can be set to
any point between 0% and 100%.
A user-configurable offset is available to adjust the input duty-cycle reading, as

needed.
6 Woodward
100 user-defined shutdown
Desired Actuator Position, %

90 failsafe position
80
70
60
50
40
30
user-defined shutdown
20
failsafe position
10
0
0 10 20 30 40 50 60 70 80 90 100
PWM Position Signal Duty Cycle, %
Figure 2-4. PWM Linear Demand to Position

80
70
60
50
40
30
20
user-defined points
10
0
0 10 20 30 40 50 60 70 80 90 100
PWM Position Signal Duty Cycle, %
Figure 2-5. PWM Non-Linear Demand to Position
Analog (0–5 V) Position Command

The 0–5 V input uses a different pin in the connector, and it has a usable range
of 0.5 to 4.5 V to command the throttle from minimum to maximum position
(Figure 2-6). The input can be optionally set to a non-linear mode which provides
a 5-point curve relationship between position signal and desired position (Figure
2-7).
The input failure levels are below 0.2 V and above 4.8 V. The units can be
configured to alarm or shut down on detection of a position command failure
(loss of all position command inputs). The shutdown failsafe position is also user-
configurable and can be set to any point between 0% and 100%.
Woodward 7

80
70
60
50
40
30
failsafe position
10
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Position Signal Voltage
Figure 2-6. Analog 0–5 V Linear Demand to Position

80
70
60
50
40
30
20 user-defined points
10
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Position Signal Voltage
Figure 2-7. Analog 0–5 V Non-Linear Demand to Position
CAN Position Command

CANbus can be used to monitor unit status and/or control the commanded
position. The CAN messaging is selectable between J1939 and CANopen. CAN
details are provided later in this chapter.
When used as a position command, a minimum update rate is expected or a

CAN fault will be issued. This update rate is user-configurable. The L-Series can
be configured to alarm or shut down on detection of a position command failure
(loss of all position command inputs). The shutdown failsafe position is also user-
configurable and can be set to any point between 0% and 100%.
8 Woodward
Discrete Output
A discrete output is provided to serve as a status indicator. This switchable
discrete output is a closure to ground capable of sinking 250 mA with an output
voltage rise of less than 1.5 V, and it is available to power external relays for
devices such as alarms or fuel shutoff solenoids. The circuit is protected
internally against overcurrent and inductive spikes, so external clamping is not
necessary.
This output can be configured as either normally on/open (preferred failsafe

setting) or normally off/closed. In addition, the faults that drive the relay status
can be configured individually. For details, refer to Chapter 4 (Service Tool).
There are two conditions that will prevent the discrete output from operating
correctly:
 If battery positive is accidentally connected to the discrete output;
 If the discrete output is shorted to ground.
The circuit will protect itself in the event of a miswire, but it will hold the output
open (floating) until the fault is removed.
Run Enable Discrete Input

An optional Run Enable discrete input can be configured for use. The Run
Enable operation provides a closed-to-run function which, when open, forces the
shaft controller into a low-current “limp” mode. The Run Enable can also be used
to clear a latching shutdown condition since a closure of the input will issue a
reset command.
Actual Position Feedback (TPS)

The L-Series provides a 0–5 V signal representing actual shaft rotational
position, where 0.75 V and 4.25 V correspond to full counterclockwise to
clockwise rotation, respectively. This signal is fed directly off the position sensor
to ensure no delays are introduced by the processor. However, this signal is also
uncorrected, so the difference between this signal and actual position can vary
up to ±10% over the operating temperature range.
Additional Inputs/Outputs
Auxiliary Inputs—There are four auxiliary inputs on the L-Series controller, all of
which are capable of both analog and discrete functions. They can all be
functionally defined for purpose in the software application. Although they are
very flexible, two of them are shared with the serial and CAN communications, so
will be unavailable if the L-Series is connected to the Service Tool or when CAN
is used. More detail concerning the auxiliary inputs is provided in Chapter 3
(Installation).
5 V Output—A 5 Vdc output has been provided on the L-Series actuator to

power external sensors, if necessary. The 5 V output is limited to 10 mA, but this
is sufficient for most light-duty ratiometric sensors.
Woodward 9
Temperature Sensing
The L-Series has an on-board temperature sensor to monitor board temperatures
and protect the unit from overtemperature. This temperature is monitored and a
fault is annunciated if the set point is exceeded.
Current Limiting based on Temperature

The controller provides actuator current limiting based on the electronics
temperature. Depending on actuator and circuit board thermal models, the
software reduces current as necessary to avoid conditions that would damage
the device due to extreme temperatures.
Current limiting based on temperature begins when the combined current and
temperature environment causes board temperatures greater than 117 °C. The
limit curve is a linear derate from full current at 117 °C down to zero current at
125 °C. At 117 °C, an Over Temperature fault is annunciated. Depending on the
current (actuator torque) and ambient operating temperatures, the unit may never
reach a reduced level.
RS-232 Communications
RS-232 communications are available on the L-Series when used with an
external transceiver connected to pins 4 and 6. Serial communications allow for
the use of a service and configuration tool with the L-Series actuator. The
simplest way to establish this interface is to use Woodward kit # 8923-1061.
Functions available through this port include tuning, monitoring, and configuration
of the position controller. Detailed driver status information is also available.
Any RS-232 wiring must meet the requirements in the EIA RS-232 Standard
document. The RS-232 standard states that the length of the RS-232 cable
between the driver and the PC must be less than 50 ft (15 m) with a total
capacitance less than 2500 pF. The RS-232 data rate is fixed at 19.2 kbps. The
communication port is non-isolated and susceptible to both EMI noise and
ground loops related to PC connections and typical industrial environments.
The service port is not isolated and is not intended to function while
the prime mover is in normal operation. The service port is provided
for configuration and setup only.
CAN Communications
To use CAN (Controller Area Network), the L-Series version that supports CAN
must be purchased. The L-Series Position Control can provide either J1939 or
CANopen, based on the CAN Protocol setting in the Service Tool. AUX3 and
AUX4 inputs are not available for other I/O options since they are used for CAN
communications.
10 Woodward
Parameter Format
The L-Series uses a little-endian format when handling multiple-byte parameters
(i.e. a position demand of 50% is $FF0F, not $0FFF). All parameters must use
this format unless otherwise specified.
CAN Fault Indication

When a CAN position command is configured, if new position updates from CAN
are not received within the configured CAN Fail Timeout, a CAN Demand Fault is
annunciated. Additionally in J1939 mode, a CAN fault is activated if address
claiming is not successful. Faults are globally configured as either latching or
non-latching. An option is available to latch-in the CAN fault, to ensure a CAN
fault is annunciated over the CAN link when configured as non-latching.
Position Tamper Fault

A position tamper fault can be configured to ensure the primary demand matches
the backup CAN demand. The criteria for matching is defined by the CAN
Tracking Error Maximum and Delay settings (found on the Alarm/Shutdown tab in
the Configuration Editor). If the difference between the primary demand and the
CAN backup is greater than the Maximum for the Delay time, a Position Tamper
Fault is issued, and the primary demand is no longer used—the CAN demand is
used instead. To use this fault, CAN must be configured as the backup demand,
and the position tamper fault must be enabled (Setup tab of Configuration
Editor). This fault is disabled if CAN is failed (no signal or updates too slow).
J1939
This section describes the communication that will take place over the J1939
Data Link when the optional CAN communication link is used and configured for
J1939. For details, see SAE J1939/11. The L-Series uses CAN 2B with 29-bit
identifiers.
Device Identifier
The device source address is a Service Tool configurable parameter (CAN
Device Identifier). The L-Series has an allowed range of 18 to 21 (12 to 15 hex),
allowing multiple L-Series controllers on a single CAN link. The configured
Device Identifier affects the PDU Specific portion of the incoming position
demand message.
Support for up to 4 L-Series devices on one bus is provided with firmware

5418-6638 and 5418-7022 (2 devices with firmware 5418-6084). Unique device
identifiers are selectable through discrete inputs, CAN ID LOW, and CAN ID
HIGH. When used, the device identifier is based on the state of these discrete
inputs at power-up.
CAN ID HIGH CAN ID LOW Selected Device
input input Number
Open / low Open / low 1
Open / low Closed / high 2
Closed / high Open / low 3
Closed / high Closed / high 4
A discrete input selection configured as ‘Not Used’ is interpreted as Open.
Woodward 11
J1939 Message Overview

The following information is continuously sent over the CAN:
 L-Series Data (position, position setpoint, and temperature)
 L-Series Fault Status (Alarms and Shutdowns)
The following information is sent over the CAN upon request:

 Software Version Number, Parameter File name, Serial Number, and
Address Claimed.
The L-Series Position Controller optionally receives the following information over
CAN:
 Position Demand
 DM13
PGN 60928 Address Claimed (ACL) message

Address Claimed / Cannot Claim Message
Message
Update rate: on startup. on request, response to Address Claimed
Data length: 8 bytes
Data page: 0
PDU format: 238
PDU specific: 0
Priority: 6
PGN: 60928 (0xEE00)
Data
Bytes 1.1 - 3.5: (21 bits) Identity Number, SPN 2837
Bytes 3.6 - 4.8: (11 bits) Manufacturer Code, SPN 2838
Byte 5.1: (3 bits) ECU Instance, SPN 2840
Byte 5.4: (5 bits) Function Instance, SPN 2839
Byte 6.1: (8 bits) Function, SPN 2841
Byte 7.1: (1 bit) Reserved
Byte 7.2: (7 bits) Vehicle System, SPN 2842
Byte 8.1: (4 bits) Vehicle System Instance, SPN 2843
Byte 8.5: (3 bits) Industry Group, SPN 2846
Byte 8.8: (1 bit) Arbitrary Address Capable, SPN 2844
The Address Claimed message will be sent out shortly after power has been
applied to the L-Series. The Address Claimed message will also be sent out in
response to a Request for Address Claimed. The Request for Address Claimed
can be sent to a specific Address or to the Global Destination Address, 255. The
L-Series will respond to a specific query, or one to the Global Destination
Address, 255.
The Source Address for the L-Series is configurable uniquely using the service
tool. Since Dynamic Addressing is not supported, the L-Series will only try to
claim the configured address. If a higher priority device claims the configured
address, the L-Series will stop communicating as defined per SAE J1939.
The Address Claimed Message will also be sent out if the L-Series receives an
Address Claimed message from the same Address as the receiving node and a
lower priority (higher value) NAME. The entire 8-byte value of the NAME is used
for arbitration with the Arbitrary Address Capable Field as the Most Significant
Bit.
12 Woodward
The Cannot Claim Address message will be sent out if the L-Series receives an
Address Claimed message with the same Source Address as the receiving node
and with a higher priority (lower value) NAME. The entire 8-byte value of the
NAME is used for arbitration with the Arbitrary Address Capable Field as the
Most Significant Bit.
The Cannot Claim Address will also be sent out in response to a Request for
Address Claimed if the address was unsuccessfully claimed. The Cannot Claim
Address message is identical to the Address Claimed message in all aspects
except that the Source Address of the L-Series is replaced with 254.
If the L-Series cannot claim an Address, a status bit will be set and any position
demand value from CAN will be forced to zero (this may cause a shutdown
depending on demand source settings).
L-Series NAME fields:

Arbitrary Address Capable: 0 / Disabled
Industry Group Field: 0 / Global
Vehicle System Instance: 0 / First Instance
Vehicle System Field: 0 / Non-specific System
Function Field: 15 / Fuel System
Function Instance Field: 0 / First
ECU Instance Field: 0 or 1 (for Device 1 or 2 if CAN ID is used)
Manufacturer Code Field: 153 / Woodward Governor Industrial Controls
Identity Number Field: Unique
PGN 65532 Valve Data Message

Data message transmitted by the L-Series. Note that actual and desired valve
position are transmitted separately in both a 1-byte and 2-byte format.
Message
Update rate: 0.1 sec
Data page: 0
PDU format: 255
PDU specific: 252
Priority: 7
PGN: 65532 (0xFFFC)
Data
Byte: 1 Actual valve position (8 bits)
2 Desired valve position (8 bits)
3 Electronics Temperature
4 Reserved
5...6 Actual valve position (2 bytes)
7...8 Desired valve position (2 bytes)
Actual valve position—Measured position. A value of 0% represents min and a

value of 100% represents max.
Data length: 1 byte
Resolution: 1/2.56 % / bit, 0 offset
Range: 0 to 100% (scaled from 0 to FF hex)
Error Indicator set if: None
Woodward 13
Desired valve position—Desired position. A value of 0% represents min and a
Data length: 1 byte
Range: 0 to 100% (scaled from 0 to FF hex)
Electronics Temperature—internal temperature of the L-Series electronics. A

value of 0% represents min and a value of 100% represents max.
Data length: 1 byte
Resolution: 1 °C / bit, –40 °C offset
Range: –40 to +210 °C (scaled from 0 to FA hex)
Error Indicator set if: Temperature sensor failed
Actual valve position—Measured position. A value of 0% represents min and a

Range: 0 to 100% (scaled from 0 to 1FFF hex)
Desired valve position—Desired position. A value of 0% represents min and a

PGN 65533 Diagnostics from L-Series Valve

Diagnostics message transmitted by the L-Series. The L-Series transmits the
current status of its diagnostics, regardless of the fault mapping used (i.e. Alarm
vs Shutdown). The diagnostics status indications are bit mapped to indicate the
active or in-active state. Two bits are used for every fault condition to indicate the
status (see Bit Code Legend section).
Bytes 1-4 of the diagnostic message are set to indicate their current status and
bytes 5-6 indicate historical (logged) value status. The logged diagnostics are
retained in non-volatile memory. They provide an indication of the events that
occurred since the last time they were cleared/reset.
Message
Update rate: 0.1 sec
Data page: 0
PDU format: 255
PDU specific: 253
Priority: 6
PGN: 65533 (0xFFFD)
Data
Byte: 1..4 Diagnostics (current)
5..8 Diagnostics (logged)
14 Woodward
Bit code legend
The following diagnostics and events status will be sent by the L-Series actuator
in a sequence.
Bit code Description

00 Inactive
01 Active
10 Reserved
11 Not Available
Bit position in a byte is “8 7 6 5 4 3 2 1”

Bit position 0 is least significant bit.
Example: Bit position 2 is “1” and all others bits are “0”, byte value is 2.
Diagnostic codes
The following diagnostics will be sent by the L-Series actuator.
J-1939 data frame bit

Diagnostics
position
Watch Dog Reset 1,2
Brown Out Reset 3,4
EEPROM Fail 5,6
Position Sensor Fail 7,8
Temperature Sensor Fail 9,10
Voltage Sense Fail 11,12
Relay Short Fail 13,14
All Position Demands Failed 15,16
OverTemp 17,18
Position Error 19,20
Position Tamper Fault 21,22
Spare — sent as “11”
(firmware 5418-6084) 23,24
CAN Stop Command (firmware 5418-6638)
Analog Demand Failed (input out of range) 25,26
PWM Demand Failed 27,28
(duty cycle out of range)
CAN Demand Failed 29,30
Stop Command from Run Enable Input 31,32
PGN 65298-65301 Valve Position Command

Position command received by the L-Series, determined by the device identifier.
For example device 18 (12h) will only accept proprietary PGN 65298.
Message
Update rate: between 5 and 100 ms
Data page: 0
PDU format: 255
PDU specific: DA (L-Series Source Address*)
Priority: 1
Supported PGNs: 65298-65301 (0xFF12 … 0xFF15)
*Note: L-Series is limited to values of 18, 19, 20, and 21.
Data
Byte: 1...2 Valve Position Demand
3 Command Bits (only supported in 5418-6638 firmware)
4...8 Reserved/Not Used
Woodward 15
Valve position demand — CAN commanded position setpoint.
Command bits (byte 3) – 5418-6638 firmware only

Data length: 1 byte
Bits 1-2: Reset Active Diagnostics
00 No action
01 Reset action *
10 Reserved
11 Not supported
Bits 3-4: Reset Logged Diagnostics
00 No action
01 Reset action *
10 Reserved
11 Not supported
Bits 5-6: Operation Control (Run/Stop)
00 No action
01 Shutdown (limp, same as keyswitch input)
10 Reserved
11 Not supported
Bits 7-8: RESERVED/NOT USED
* A reset action must be preceded by a no action command or the device will not
perform the requested action—the bits cannot remain in a ‘01’ state. The reset
action occurs only upon the transition from 00 to 01.
Reset Active Diagnostics

When the Reset action bit pattern is received on bits 1–2 of byte 3, the device will
clear the diagnostics that are no longer active in the device. Diagnostics are
displayed on the service tool and are sent as bits 1–32 (bytes 1–4) on PGN
65533. This command is only valid (needed) when latching faults are configured.
When configured as non-latching, faults are automatically cleared (no reset is
required).
Only the Reset Action bit pattern (01) will activate a reset. All other commands
are interpreted as no action. The reset action requires a rising edge, meaning the
signal must go to another value and then back to 01 before another reset will be
performed.
Reset Logged Diagnostics

When the Reset action bit pattern is received on bits 3–4 of byte 3, the device will
clear the Logged diagnostics history stored in the device. These logged
diagnostics are displayed on the service tool and are sent as bits 33–64 (bytes
5–8) on PGN 65533.
Only the Reset Action bit pattern (01) will activate a reset. All other commands
are interpreted as no action. The reset action requires a rising edge, meaning the
signal must go to another value and then back to 01 before another reset will be
performed.
Operation Control (Run/Stop)

When the Shutdown bit pattern (01) is received on bits 5–6 of byte 3, the device
will be put in a limp mode, the same as opening the RunEnable discrete input
(coil current off). It also triggers a diagnostic (CAN Stop Commanded) which is
available on both the service tool and over J1939 for troubleshooting purposes
and as an option for the discrete output.
16 Woodward
Only the Shutdown bit pattern (01) will activate the CAN Stop Command. All
other commands will be interpreted as 'Run'.
PGN 59904 Requested Messages

PGN request received by the L-Series. The software version number, parameter
filename, serial number and address claimed messages can be requested using
the request message below. Requests for serial number utilize RTS/CTS or BAM
transport protocol to accommodate the data length (>8 bytes).
Message
Update rate: on request
Data page: 0
PDU format: 234
PDU specific: DA
Priority: 6
PGN: 59904 (0xEA00)
Data:
Byte: 1..3 requested data PGN* (byte 3 is msb)
4..8 reserved
*Supported PGNs: 60928, 65242, 65259, and 65496.
PGN 65242 Software Identification (SOFT) message

The software identification message is provided only upon request. One field is
sent with 6 bytes of data representing the software version as follows: 2 bytes for
major revision, 2 bytes for minor revision, and 2 bytes for bug fix version.
Message
Data page: 0
PDU format: 254
PDU specific: 218
Priority: 6
PGN: 65242 (0xFEDA)
Data:
Byte 1: Number of Software Identification Fields, SPN 965
Data length: 1 byte
Resolution: 1 /bit, 0 offset
Range: 0 to 250 (0x00 to 0xFA)
Actual value: 1 (will always report 1)
Bytes 2-7: Software Identification, SPN 234
Resolution: ASCII, 0 offset
Range: 0 to 255 per byte
Actual value: varies**
Byte 8: Delimiter, SPN 234
Data length: 1 byte
Range: 0 to 255
Actual value: 42 (0x2A)
Character: *
**Data actual value for firmware 5418-6084 NEW is ‘020000’ (for major rev ‘2’)
Data actual value for firmware 5418-6638 NEW is ‘020100’ (minor rev ‘1’)
Data actual value for firmware 5418-7022 NEW is ‘030000’ (for major rev ‘3’)
Woodward 17
PGN 65259 Component Identification (CI) message

The component identification message is provided only upon request and is used
to query the serial number of the device. Requests for this message utilize
transport protocol to accommodate the data length (>8 bytes). See SAE J1939-
21 and the example below. The optional make, model, and unit number fields of
this message are not used.
Message
Data length: Variable
Data page: 0
PDU format: 255
PDU specific: 235
Priority: 6
PGN: 65259 (0xFEEB)
Data:
Byte 1-2: Delimiter, SPN 234
Data length: 1 byte
Range: 0 to 255
Actual value: 42 42 (0x2A 0x2A)
Character: **
Byte 3-10: Serial Number field, SPN 588
Data length: 1 byte
Resolution: 1 /bit, 0 offset
Range: 0 to 250 (0x00 to 0xFA)
Actual value: varies
Byte 11-12: Delimiter, SPN 234
Data length: 1 byte
Range: 0 to 255
Actual value: 42 42 (0x2A 0x2A)
Character: **
Note: data is basically **cccccccc** sent in 2 messages, where c is the 8-byte
serial number representation.
Data1: 01 2A 2A (first 5 bytes of serial number)
Data2: 02 (last 3 bytes of serial number) 2A 2A FF FF
Example sequences with ECM requesting Component ID (serial number)

where SA=18 (12h)
Specific Request
Action Message Actual (hex)
ECM-to-L-Series request RQST SOFT, 65259 EA1200 (EB FE 00)
L-Series-to-ECM RTS TP.CM_RTS, 16,14,0,2,2,65259 EC0012 (10 OE 00 02 02 EB FE 00)
ECM-to-L-Series CTS TP.CM_CTS,17,2,2,0,0,65259 EC1200 (11 02 02 00 00 EB FE 00)
L-Series-to-ECM data1 TP.DT, 1, data 1-7 EB0012 (01 2A 2A 31 31 31 31 31)
L-Series-to-ECM data2 TP.DT, 2, data 8-14 EB0012 (02 31 31 31 2A 2A FF FF)
ECM-to-L-Series EndOfMsg TP.ACK, 19,14,2,2,0,65259 EC1200 (13 FF 00 02 00 EB FE 00)
Global Request
Action Message Actual (hex)
ECM-to-L-Series request RQST SOFT, 65259 EAFF00 (EB FE 00)
L-Series-to-ECM BAM TP.CM_BAM, 16,14,0,2,2,65259 ECFF12 (20 OE 00 02 FF EB FE 00)
L-Series-to-ECM data1 TP.DT, 1, data 1-7 EBFF12 (01 2A 2A 31 31 31 31 31)
L-Series-to-ECM data2 TP.DT, 2, data 8-14 EBFF12 (02 31 31 31 2A 2A FF FF)
18 Woodward
PGN 65496 Settings Filename message

This proprietary message is provided only upon request (global or specific) and is
used to query the filename of the configuration settings stored in the device. The
value transmitted corresponds to that displayed on the Identification tab of the
Service Tool.
Message
Data page: 0
PDU format: 255
PDU specific: 216
Priority: 6
PGN: 65496 (0xFFD8)
Data:
Byte: 1...8 Parameter file identifier. 8-bytes, 1 character/byte.
PGN 57088 DM13 Stop Start Broadcast message

The SAE J1939-73 DM13 Start/Stop broadcast messaging capability is available
in the L-Series and can be used to stop or start broadcast messages or to
suspend loss of communication diagnostics. The intent of this message is to
minimize network traffic as well as eliminate nuisance diagnostics. The L-Series
supports Start/Stop and Suspend/Resume functions. DM13 should only be used
when the engine is stopped.
Start/Stop
The L-Series will respond to the Start and Stop Broadcast commands for the
‘Current Data Link’ and supports the Hold Signal to maintain the Stop state for
another 6 seconds. In addition to ceasing message broadcasts, the L-Series
suspends loss of communications diagnostics during a DM13 Stop state.
Suspend/Resume
The suspend function turns off the loss of communication diagnostics in the L-
Series. An example usage would be when an ECM reflash is initiated. Loss of
communication diagnostics will resume upon receipt of a DM13 resume signal,
upon receipt of a position command (normal ECM communication resumes) or a
device power cycle. Indefinite suspension is supported, temporary suspension is
not supported.
Message
Data page: 0
PDU format: 223
PDU specific: DA
Priority: 6
PGN: 57088 (0xDF00)
Data
Byte: 1 bits 8-7 Current Data Link (Start/Stop)
bits 6-1 (not supported)
Byte: 2-3 (not supported)
Byte: 4 bits 8-5 Hold Signal
bits 4-1 Suspend Signal (Suspend/Resume)
Byte: 5-6 Suspend Duration (not supported)
Byte: 7-8 SAE Reserved
Woodward 19
Start/Stop bit interpretation (SPN1230)
Bit Code Description
00 Stop Broadcast
01 Start Broadcast
10 Reserved
11 Don’t Care/take no action (leave as is)
Suspend Signal bit interpretation (SPN 2618)
0000 Indefinite suspension of all broadcasts
0001 Indefinite suspension of some messages
0010 Temporary suspension of all broadcasts (not supported)
0011 Temporary suspension of some messages (not supported)
0100-1101 SAE Reserved
1110 Resuming normal broadcast pattern
1111 Not Available
Hold Signal bit interpretation (SPN 1236)
0000 All Devices
0001 Devices whose broadcast state has been modified
0010-1110 SAE Reserved
1111 Not Available
PGN 55808 Reserved for ISO 15765*

The L-Series can communicate and be reflashed via UDS using a third party tool.
This is implemented per OEM proprietary requirements. Woodward does not
provide a method in the L-Series service tool to allow reflash. Prior to reflash, the
engine must be off and the L-Series in a stopped position, since the actuator is
uncontrolled through the whole reflashing process.
*Available only in 5418-7022
Prior to reflash, engine must be off and valve in stopped position

since valve is uncontrolled through the whole reflashing process.
CANopen
Overview
CANopen is a networking system based on the CAN serial bus. CANopen
assumes that the device’s hardware has a CAN transceiver and CAN controller
as specified in ISO 11898. The CANopen specification covers both application
layer and communication profile. The CANopen profile family specifies
standardized communication mechanisms and device functionality. It is
maintained by an international users’ and manufacturers’ group called CAN in
Automation (CiA).
The L-Series CANopen Data Link is functional when the optional CAN
communication link is used and the CAN Protocol is configured for CANopen. For
details on the CANopen protocol, refer to CiA DS301 Version 4.02.
Initially only one L-Series was going to be on a single CAN link. This requirement
has recently changed and some areas of this document will also change as a
result.
20 Woodward
CAN Bit Timing

In CANopen mode, the L-Series bit timing provides a data rate of 250 kbps only.
Device Identifier
The Device Identifier is a Service Tool configurable parameter, allowing multiple
L-Series controllers on a single CAN link. Allowed values for the Device Identifier
are from 1 to 127.
The configured Device Identifier affects the COB-ID of the incoming message.
COB-IDs follow the predefined connection set as defined on page 78 of DS301.
Heartbeat
The L-Series heartbeat message is transmitted at the user-defined Heartbeat
Producer Time set using the Service Tool.
Network Management (NMT) States

The NMT state machine is implemented per the DS301 standard. When the
L-Series powers up, it will transfer through the Initialization state to the Pre-
Operational state where it will remain until commanded into the Operational
state.
The following are not supported:

 Synchronization (SYNC) object
 Node Guarding
 Service Data Objects (SDOs) -- (except for the Identity object, Device Type,
and Error Register)
 Time Stamp Object
 Emergency Object
In the Pre-Operational State:

 Module Control Services (NMT commands) are handled
 Heartbeat is functional
 SDOs (those supported) are functional
In the Operational State:

 All communication objects are handled including PDOs (Process Data
Objects)
In the Stopped State:

 Module Control Services (NMT commands) are handled
 Heartbeat is functional
The following Module Control (NMT Zero) services are supported:

 Start Remote Node
 Stop Remote Node
 Enter Pre-Operational mode
 Reset Node
 Reset Communication
Woodward 21
Requested Messages
The software version number, parameter filename, and serial number messages
can be obtained using a request of the Identity Object. The Identity Object is
accessed via SDO upload at OD Index 0x1018.
The Identity Object supports 4 sub indexes:

 The Vendor ID for Woodward is 0x170
 The Product Code for Position Control is 0x1
 The Revision Number is defined to be the firmware number plus rev (i.e.
firmware 5418-6084 rev NEW would be ‘541860840’)
 The Serial Number is a unique identifier set at the factory.
Received Messages
The L-Series receives only one input command from CAN, the position demand
setting. To use this input, either the primary or backup position command signal
must be set for ‘CAN’. The maximum message receive frequency that the L-
Series can respond to is 9 ms. The minimum receive rate, prior to an
annunciated fault, is determined by the CAN Fault Timeout setting in the Service
Tool.
PDO1 (Rx) - Message size is 2 bytes

Byte Parameter Scaling
0 to 100% (scaled from 0

1 -2 Position Demand (Low byte first )
to 1FFF hex)
22 Woodward
Transmitted Messages
The transmitted parameters are shown in Table 1. These parameters are
transmitted at a frequency of one per second.
PDO1 (Tx) - Message size is 8 bytes. Unused bytes will be set to FF

Byte Parameter Scaling
1 Actual Position
to FF hex)
2 Desired Position
to FF hex)
Diagnostics 1
Bit0 – Watchdog Reset
Bit1 – Brownout Reset
Bit2 – EEPROM Fault
3 Bit3 – Position Sensor Fault Bit field
Bit4 – Temperature Sensor Fault
Bit5 – Supply Voltage Fault
Bit6 – Discrete Out / Relay Fault
Bit7 – Position Command Fault
Diagnostics 2
Bit0 – Over temperature
Bit1 – Position Error
Bit2 – Position Tamper Fault
4 Bit3 – (spare) Bit field
Bit4 – Analog Posn Command Fault
Bit5 – PWM Fault
Bit6 – CAN Fault
Bit7 – Run Enable Fault
–40 to +215 °C, –40 offset
5 Internal Temperature
(scaled from 0 to FF hex)
6 Reserved
7 Historical Diagnostics 1 Bit field
8 Historical Diagnostics 2 Bit field
Faults
Faults are separated into two categories: Logged Faults and Current Faults. The
Current Faults are volatile and reset every time power is applied. Current Faults
are detected faults that are presently active; they may latch or not latch
depending on the fault. All latching Current Faults are reset by a power cycle or
Service Tool reset. All logged faults are latched and written to the EEPROM.
They must be cleared through the Service Tool.
A fault can have three effects on the control:

 Change the discrete output state (Alarm);
 Shutdown–drive to fail direction and change the discrete output state
(Alarm); or
 Shutdown–go limp and change the discrete output state (Alarm).
A parameter is available to configure the fault to either an alarm or a shutdown.
The shutdown action performed (go limp or drive to fail position) is fault-
dependent. Some faults are dedicated shutdowns and cannot be configured—
they are identified as such below. A "go limp" command overrides a "drive to fail
position" if more than one fault is set.
Faults can be configured as either latching or non-latching. This is a general

setting that applies to all faults, unless otherwise noted. When configured as
Woodward 23
non-latching, a Reset is not needed. If latching mode is configured, a Reset or
power-cycle is required to clear the fault and resume positioning.
Watchdog Reset
Watchdog Reset is true if a watchdog timer timeout occurred which resulted in a
reset of the microprocessor. This is a hard-coded alarm. If detected, the control
will attempt to continue normal operation.
Brownout Reset
Brownout Reset is true if CPU Voltage drops below 4.2 V but not below 1 V. The
brownout detect circuit will reset the CPU. This is a hard-coded alarm. If
detected, the control will attempt to continue normal operation.
EEPROM Fail
EEPROM Fail indicates failure or corruption of the internal non-volatile memory.
If the CRC is not correct for the EEPROM data, this fault will be set true. This is a
hard-coded internal shutdown. If detected, the control output will go limp. A
power cycle is required to clear this fault.
Position Sense Fail

This indicates a failure of the internal Position Sensor. This is a hard-coded
internal shutdown. If detected, the control output will drive to the Shutdown
Position using current control. This fault latches and requires a reset or power
cycle to clear.
Failure levels: >4.75 V and < 0.25 V

Persistence: 650 ms
Voltage Sense Fail

Indicates an out-of-range signal on the input power. Could indicate input power
out of range or a fault in the supply voltage sense circuitry.
Failure levels: >33 V and <6.25 V

Persistence: 650 ms
Can be configured as an alarm or shutdown. If configured as a shutdown, the

control will drive to Shutdown Position (using current control) if this fault is
detected. If configured as an alarm, the control will internally default to an
assumed 32 V power supply voltage (decreased torque at lower actual voltages)
and attempt to continue normal operation if this fault is detected. The value
displayed on the Service Tool will show sensed value, not default.
Temp Sense Fail

Indicates a failure of the internal on-board Temperature Sensor.
Failure levels: >150 °C and <–45 °C

Persistence: 650 ms
24 Woodward
Hysteresis: 5 °C (<145 °C or >–40 °C to clear)

control will drive to Shutdown Position (using position control) if this fault is
detected.
OverTemp
If the on-board temperature sensor reads above 117 °C, this error will be set,
which is the temperature at which current limiting begins. At 125 °C, the
temperature-based current limiting will effectively make the output "limp" by
reducing the drive current to zero.
Failure levels: >117 °C

Persistence: 650 ms
Hysteresis: 5 °C (<1120 °C to clear)

control will go limp if this fault is detected. If configured as an alarm, the control
will attempt to continue normal operation.
Position Error
Position Error detection logic will indicate a difference between commanded
position and actual position exceeded for longer than the set delay. The error
magnitude and duration are customer-configurable parameters.
Failure levels: Set by customer variable, Error > |PosErrorMax|

Persistence: Set by customer variable, Position Error Delay.
Hysteresis: none
Override: Whenever the current is being limited to a factor of 1/2 normal
maximum or less. This would be because of high temperature (see section on
Temp Sensing and Current Limiting) or a shutdown that causes the output to go
"limp".

detected. If configured as an alarm, the control will attempt to continue normal
operation.
Relay Output Shorted

The relay driver is thermally protected against wiring errors. If incorrectly wired,
the output will turn off and then set the Error Bit.

operation.
PWM Input Failed

Indicates the PWM position command input (PWM Demand) is out of range. This
indication is only active when the position demand is configured for 'PWM'.
Woodward 25
operation.
Failure levels: >97% Duty and < 3% Duty

Persistence: 250 ms
Hysteresis: 1% (<96% or >4% to clear)
Analog Demand Failed

Indicates the AUX2 position command input (Analog Demand) is out of range.
This indication is only active when the position demand is configured for 'Analog'.

operation.
Failure levels: >4.8 V and < 0.2 V

Persistence: 650 ms
Hysteresis: 0.05 V (<4.75 V or >0.025 V to clear)
CAN Fault
Indicates the address was not successfully claimed (J1939) or the position
command over CAN is stopped or the detected CAN position command updates
are too slow. The command failed detection is only active when the position
demand is configured for 'CAN'. If new position updates from CAN are not
received within the configured CAN Fail Timeout a CAN Fault is annunciated.

operation.
Position Demand Failed

Indicates all position demand signals are failed. When configured for redundant
inputs, both the primary and the backup signals must be out of range to activate
this fault.

operation.
Run Enable Shutdown

The Run Enable discrete input is opened. The shutdown is only active when Run
Enable is configured for use. This is a hard-coded shutdown. The control will go
limp if this condition is detected.
26 Woodward
CAN Stop Commanded (not available in 5418-6084 firmware)

Indicates a Stop Command was issued over CAN. This is a hard-coded
shutdown. The control will go limp if this condition is detected.
Tamper Fault
CAN command failed is only active when the backup position demand is
configured for 'CAN' and Tamper Fault is enabled.
Indication that the primary position command does not match the CAN position
command. When this condition is detected the primary command will be “faulted”
and the backup (CAN) command will be used.

operation.
Failure levels: Set by customer variable, |Error| > CAN Tracking Error Max
Persistence: Set by customer variable, CAN Tracking Error Delay
Override: Fault is disabled for CAN Fault
Woodward 27
Chapter 3.
Installation
Introduction
This chapter provides instructions on how to mount and connect the L-Series
controller into a system. Hardware dimensions are provided for mounting the
device to a specific application.

External fire protection is not provided in the scope of this product. It

is the responsibility of the user to satisfy any applicable
requirements for their system.
Due to the hazardous location listings associated with this product,

proper wire type and wiring practices are critical to operation.
Due to typical noise levels in turbine or engine environments,

hearing protection should be worn when working on or around the L-
Series.
The surface of this product can become hot enough or cold enough
to be a hazard. Use protective gear for product handling in these
circumstances. Temperature ratings are included in the specification
section of this manual.
Do not connect any cable grounds to “instrument ground”, “control

ground”, or any non-earth ground system. Make all required
electrical connections based on the wiring diagrams (Figure 3-4).
General Installation, Operation Notes and

Requirements
Woodward strongly recommends use of the following devices.

Failure to use any of these devices can cause personal injury or
property damage:
 Use an independent device for positive shutdown, such as a fuel
shut-off valve.
 Use an external spring to return to minimum fuel.
 Use a predicted min fuel shutdown procedure.
28 Woodward
Unpacking
Be careful when unpacking the actuator. Check the unit for signs of damage,
such as bent or dented panels, scratches, and loose or broken parts. Notify the
shipper and Woodward if damage is found.
Mechanical Installation
Mounting Location
Locate the L-Series control a distance from sources of extreme radiant heat,
such as exhaust manifolds or turbochargers. The operating temperature range of
the control is –40 to +105 °C (–40 to +221 °F). In spark-ignited applications,
make sure the L-Series is located away from the ignition coil, and that harness
wires are not routed next to the spark plug wires.
Mounting Orientation
While it is not a requirement, it is good practice to orient the connector feature on
the control in a horizontal or downward orientation to minimize fluid accumulation
between the enclosure and the mating connector’s gasket.
Actuator Configuration
The L-Series actuator utilizes a 2-inch (50.8 mm) square mounting bolt pattern
and is intended to fit within an envelope of 2.618 x 2.618 x 2.540 (66.50 x 66.50 x
64.52 mm) with the short dimension along the shaft axis. Two shaft seal
configurations are available, an internal lip seal and an external lip seal with
spring backup (Figure 3-2). In addition, six independent output shaft
configurations are available (Figure 3-3). Consult Woodward Applications
Engineering for the application appropriate seal and shaft configuration.
Mounting Hardware
Use #10 or M5 fasteners to attach the L-Series control to the mounting bracket.
The bracket and attaching hardware must be designed to hold the weight and to
withstand the vibration associated with prime mover mounting. Use the
appropriate fasteners for securing the mounting bracket to the engine.
Woodward 29
Figure 3-1. L-Series Outline Drawing
30 Woodward
Figure 3-2. L-Series Cover Types
Woodward 31
Figure 3-3a. L-Series Shaft Types
32 Woodward
Figure 3-3b. L-Series Shaft Types
Woodward 33
Figure 3-3c. L-Series Shaft Types
Electrical Installation
Figure 3-4 shows a wiring pin-out of the L-Series control, as viewed by looking
into the control’s connector feature. Typical connections to external devices are
also shown.
The L-Series has an operating voltage range of 8 to 32 Vdc with nominal
voltages of 12 or 24 Vdc. The power supply is reverse polarity protected, and
consumes 32 W maximum power at a peak current of 1 A (32 V) assuming 4 Ω
stator resistance at 25 °C. These assumptions are based on the fact that the
software limits the power to the rotary actuator to 25 W at any given time and
input voltage (in the valid range). The control system should be protected with a
6 A slow-blow fuse in the voltage supply lines. Typical max average current is 2.1
A, or max 25 W at 12 V. The application should be configured to turn on power to
the actuator when the engine is first cranked.
34 Woodward
Centralized load suppression is required when using an L-Series.

The L-Series power supply input is not designed to withstand
transient events typical of industrial or automotive environments
(alternator load dump or power line surge). The centralized
suppression must limit transient events to less than 45 V at the L-
Series input power terminals.
Electrical Connections


Prior to installation, refer to the wiring diagrams and the representative I/O
interfaces schematic in this chapter. Also, review the hardware I/O specifications
in Appendix B.
The control will only meet ingress protection specifications while the
Deutsch connector is installed in the unit. As such, the unit should
not be exposed to operating environments unless the mating
connector is installed. In addition, if a wire is not used for each of the
12 pins on the control, a Deutsch 114017 plug must be used in place
of each missing wire. Failure to adhere to these guidelines may
result in product failure or decreased life.
Use 16 to 18 AWG (1 to 1.5 mm²) stranded copper wire with insulation that
meets temperature requirements in the harness design. A wiring harness stress
relief within 16” (406 mm) of the control’s connector is recommended. Limit all I/O
and signal lines to less than 30 m (98 ft). Also limit input power (B+/B–)
connections to an earth grounded battery or conditioned power interface to less
than 10 m (33 ft) from the L-Series product.
A conditioned power interface is an interface which offers equivalent

common mode and differential mode conditioning of that of a
grounded 24 V lead acid battery.
Dress the harness with wire loom to contain it in a single bundle. Use grommets
when passing the harness through metal panels.
Woodward 35
Connector
The following Deutsch connector components are recommended for harness
designs:
Recommended Optional
Mating Connector DT06-12SA-P012
Secondary Lock W12S-P012
Sockets 0462-201-16141 1062-16-0122
Crimp Tool HDT-48-00 DTT-16-00
Sealing Plug 114017
For convenience, Woodward part number 8928-396 is a kit that provides all the necessary
Deutsch components (crimp tool not included).
Crimping methods for the Deutsch connector pins must be followed as

prescribed by the manufacturer. Woodward is not responsible for
damage or loss of performance resulting if any other method of crimping
is used. Use of the listed part numbers of Deutsch connector components
is strongly recommended.
6A FUSE
+
12/24 Vdc
connector POWER INPUT + 1 -
key
TPS OUTPUT 2 THROTTLE POSITION
12 1 V (0.75 VDC TO 4.25 Vdc )
PWM -/AUX -
3
(SIG. GND)
11 2
AUX3+/RS232 TX 4
10 3 SERIAL COMMUNICATIONS (USE
INPUT POWER GND 5 WOODWARD 8923-1061 TO
9 4 CONNECT TO COMPUTER)
AUX4+/RS232 RX 6
8 5
+5V OUT 7 12 V/24 V OPTIONAL RUN ENABLE DISCRETE
7 6 INPUT (CLOSED TO RUN)
AUX1+ 8
connector 5 Vdc - 32 Vdc, 500 mA max.
key RELAY DRIVER 9
RELAY COIL
CUSTOMER CONTROL
Connector Pinout as Viewed 0.5-4.5 +
AUX2+ 10
Looking Into PWM OR 0.5-4.5 V
L-Series Control PWM + POSITION COMMAND
PWM+ 11
-
POS. CMD COMMON
IGN 12
VIS-168
08/3/4
Figure 3-4. Typical L-Series Position Control Application Wiring
Connector
Description Comment
Pin #
+12 V/24 Vdc Input
1 Supply power
Power
2 TPS Signal Output Direct position feedback output indication
3 PWM – / AUX – Ground for the PWM or AUX command signal common
RS-232 transmit / CAN
4 For use with the service tool and CAN
H
5 Input Power Ground Ground for the 12 V/24 V input power
6 RS-232 receive / CAN L For use with the service tool and CAN
7 5 V Out Power for external sensors (10 mA max)
8 Aux Input 1 Optional Run Enable or CAN ID discrete input
9 Relay Driver Output Status / fault detection output
10 Aux Input 2 Optional 0–5 V command input or CAN ID selector
11 PWM + / Aux Input 5 Optional PWM command input or CAN ID discrete input
12 Ignition Input Not used—Leave open
36 Woodward
Description of Electrical I/O

Representative circuitry for the L-Series inputs/outputs is provided in Figure 3-5
below.
Power Supply Input (+12 Vdc/24 Vdc at pin 1, ground at pin 5)—The L-Series is
configured for 12 or 24 V nominal operation, although it will handle 8–32 V. The
power supply terminals are reverse polarity protected, and in the case that a
reverse polarity condition exists, the L-Series actuator will not power-up and will
remain at the minimum stop if attached to a throttle body with an internal return
spring.
Woodward recommends using a 6 A slow-blow fuse on the power supply line

feeding pin 1 of the L-Series actuator.
The input power must be fused. Failure to fuse the L-Series could,
under exceptional circumstances, lead to explosion, personal injury,
or damage to the control valve.
PWM Command Input (+PWM at pin 11, PWM ground at pin 3)—This actuator
can be configured to handle a PWM signal from a high-side or low-side open-
collector or open-drain source, as well as from a push-pull (customer pull-up)
source. The necessary pull-up and pull-down voltages to accommodate the
open-collector sources are handled within the L-Series actuator. Nominally, the
frequency of PWM is 1 kHz, but it will handle the full range of 300 to 1500 Hz.
See Figure 3-5 below, which describes the possible input types and
configurations for the PWM input.
This input (pin 11) can also be used as a CAN ID HIGH discrete input, referred to
as Aux5. This feature only applies to J1939 and is not available in firmware
5418-6084.
This actuator can also be commanded using an analog signal of

0–5 V. See the description below for the auxiliary input pins. AUX2 is
used as the analog command input. The PWM and AUX2 input pins
should not be tied together.
TPS Output (pin 2, referenced to either pin 3 or pin 5)—This pin feeds the output
of the Hall effect position sensor to the terminal wiring. The output range of this
pin should be approximately 0.75 Vdc when the actuator is full counterclockwise
(when viewed at the end of the shaft), and approximately 4.25 Vdc when the
actuator is at full clockwise. This gives the end user an indication of throttle
position.
Woodward recommends that the TPS output be used to externally

verify that the position command and subsequent actual position
matches the command signal sent. In addition to a positioning error
validation, the TPS signal should be monitored to detect out-of-range
errors on the TPS output. Failure to comply with this
recommendation can result in undetected system faults, and in
extreme cases, can cause personal injury and/or property damage.
This output is meant for an approximate indication of shaft position

only. The unconditioned output accuracy must be considered when
using this signal externally. Refer to the specification for TPS
accuracy.
Woodward 37
For this type of PWM Source... ...the L-Series PWM Input looks like...
High-Side Open-Collector (open-drain) PWM Source L-Series Configured for “Pull-Down”
5 - 32 VDC
L-Series
Pin 11
To
PNP (or P-Channel FET) 4 kW 9.5 kW Processor
Internal Clamped to 5V, then
12 kW
Command compared with 2.5V reference.
L-Series Configured for “Pull-Up”

Low-Side Open-Collector (open-drain) PWM Source
Internal 5V
Pull-Up
L-Series 12 kW
NPN (or N-Channel FET) Pin 11
To
Internal 4 kW 9.5 kW Processor
Command
Compared with 2.5V
reference.
Push-Pull PWM Source (three kinds)
5 - 32 VDC L-Series Configured for “Push-Pull”
L-Series
Pin 11
To
Internal 5 - 32 VDC
Processor
Command OR 13.5 kW
Clamped to 5V, then

compared with 2.5V reference.
Internal
Command
5 - 32 VDC
OR
Internal
Command
Figure 3-5. Acceptable PWM Input Types
38 Woodward
RS-232 Connections (pin 4 and pin 6)—These pins are for serial communication
with the L-Series actuator. An external RS-232 transceiver is necessary to make
communications possible with the Woodward L-Series Service Tool. A
connectivity kit can be purchased from Woodward to accomplish this. Further
instructions for using this connectivity kit are provided in Chapter 4. See also the
description below on Auxiliary Inputs.
Relay Driver Output (pin 9)—This pin provides the end user with a means for
detecting a fault or shutdown condition that is experienced by the L-Series
actuator. It is a low-side driver capable of sinking 250 mA (not to exceed 500 mA)
through an external load such as a lamp or relay. This circuit is internally
protected against over-current conditions and inductive flyback, such as from a
relay coil. By default, this circuit will be configured in a failsafe manner, meaning
it will be active (conducting) when no fault exists, but if power is lost or a fault is
detected by the L-Series actuator, the circuit will open. See Figure 3-6 below for
typical usage of this feature.
Woodward recommends that the Relay Output be configured for the

failsafe ‘Normally On’ mode, to ensure maximum fault protection and
annunciation. Failure to follow these guidelines could, under
exceptional circumstances, lead to personal injury and/or property
damage.
5-32 VDC,
500mA maximum
Lamp Relay
Indicator Coil
OR Relay Driver
Status back
L-Series
to Processor
Pin 9
Self-Protecting From
.01mF FET Processor
Figure 3-6. Relay Driver Output
5 V Output (pin 7, referenced to pin 3)—The +5 Vdc Power Output is intended to

power any external transducer that depends on a steady 5 V source. The
maximum output current is 10 mA.
Woodward 39
Auxiliary Inputs (pins 4, 6, 8, and 10)—The L-Series has three dedicated digital
inputs (AUX2, AUX3, and AUX4) used to activate various features of the control.
Shorting an auxiliary input pin to battery voltage activates it. Removing battery
voltage from an input pin or shorting the pin to ground deactivates the input. If it
is decided not to use battery voltage with the auxiliary digital inputs, Woodward
recommends that at least 3 V be present on an input pin in order to change its
state from inactive to active. All discrete inputs will be the same voltage as the
system power supply and will be active only while the input is in a high state. For
AUX2, AUX3, and AUX4, greater than 2.5 Vdc is considered high, and less than
0.8 Vdc is considered low. For the AUX1 discrete input only, the input must
exceed 3 V to activate the discrete state. AUX3 and AUX4 are also used for
digital communications such as RS-232 (service tool) or CAN (If the CAN option
was purchased). RS-232 and CAN will NOT run simultaneously.
An additional CAN ID HIGH discrete input (AUX5, pin 11) can be configured to
support up to four J1939 devices on a single bus.
AUX1 can be configured as a run enable or CAN ID LOW discrete input (J1939
mode only). This configuration must be specified in the configuration of the
device using the Service Tool. If AUX1 is selected to perform the run enable
function, then 5 V (5–32 V) applied to pin 8 will allow the control to run normally.
When this input is opened, the actuator will be in stand-by mode. When in stand-
by, the actuator driver will be disabled, and the shaft will be limp.
AUX2 can be used as either a 0–5 V position command signal or as a CAN ID

discrete input (J1939 mode only). The software must be configured to recognize
the input’s function. When configured as a CAN ID LOW discrete input, the input
is monitored on power-up to determine which ID to use. Device 1 is selected if
closed/high and device 2 is selected if open/low.
See Figure 3-7 below for typical usage of AUX1 and AUX2 when the L-Series is
configured as an analog position control.
This actuator can also be commanded using a PWM signal. See the
description above in the PWM Command Input section. The PWM and
AUX2 input pins should not be tied together.
All connector pins are short-circuit protected to ground and power

except pins 3 and 5, which are not protected against shorts to battery
positive. Installation of a fuse on the power ground wire to pin 5
would provide protection to these pins but does not mean one is not
needed in the power connection. Pin 1 (B+) still needs protection
against a short to ground.
40 Woodward
5-32 VDC L-Series

Aux.1 Input
Run Enable Discrete
(Pin 8) Clamp to 5V
Discrete Input ** Run/Stop
Closed to Run 10k Signal to
Processor
1000pF 10k
L-Series
Aux.2 Input
(Pin 10) Clamp to 5V Analog
Command
0.5V to 4.5VDC 10k Signal to
Command Signal Processor
1000pF 499k
** if optional external Run Enable is chosen during L-Series configuration, Aux. 1 can be used to enable or
disable the actuator output shaft torque.
Figure 3-7. Typical AUX1 and AUX2 Usage
When using a CAN-enabled L-Series actuator, if AUX3 or AUX4 are

used as discrete inputs, do not tie pin 4 or pin 6 directly to the BAT+
input (pin 1). Doing so can damage the control. If it is desired to use
AUX3 and/or AUX4 as discrete input(s) instead of CAN, connect to
the supplied 5 V output (pin 7), or use an independent power source
of less than 10 Vdc.
Communications
The L-Series can communicate using CANbus protocol or serially using RS-232.
CAN is an optional feature that requires additional hardware and a CAN-capable
processor. For protocol details, refer to the CAN section in chapter 4 of this
manual.
RS-232 communications are available on the L-Series when used with an

external transceiver connected to pins 4 and 6. Serial communications allow for
the use of a service and configuration tool with the L-Series actuator. The
simplest way to establish this interface is to use Woodward kit # 8923-1061.
On CAN-capable units, both CAN and RS-232 share the same I/O pins. The L-
Series performs a check on these pins in power-up to determine if the Service
Tool is attempting to communicate with the unit. If not, CAN is initialized and
used. When finished with the Service Tool functions, disconnecting the RS-232
communications and cycling the input power will re-establish CAN
communications.
Woodward 41
RS-232/Service Tool Connections (pin 4 and pin 6)
These pins are for serial communication with the L-Series actuator. An external
RS-232 transceiver is necessary to make communications possible with the
Woodward L-Series Service Tool. A connectivity kit can be purchased from
Woodward to accomplish this. Further instructions for using this connectivity kit
are provided in Chapter 4.
Woodward recommends that the OEM or packager provide a breakout cable that
is connected to the L-Series service port and run to an easily accessible area on
the engine. The service port is absolutely necessary to set up and troubleshoot
the L-Series.
Any RS-232 wiring must meet the requirements in the EIA RS-232 Standard
document. The RS-232 standard states that the length of the RS-232 cable
between the driver and the PC must be less than 50 ft (15 m) with a total
capacitance less than 2500 pF. The RS-232 data rate is fixed at 19.2 kbps. The
communication port is non-isolated and susceptible to both EMI noise and
ground loops related to PC connections and typical industrial environments.
Functions available through the Service Tool include tuning, monitoring, and
configuration of the position controller. Detailed driver status information is also
available. For details, refer to the Service Tool chapters of this manual.
The service port is not isolated and is not intended to function while
the prime mover is in normal operation. The service port is provided
for configuration and setup only.
CAN Connections (pin 4 and pin 6)

As a general rule for CAN networks, use the following and refer to the table
below.
 Wiring length restrictions depend on the baud rate used. The L-Series only
supports 250 kbps in CANopen mode and 250 or 500 kbps in J1939 mode.
 The “Trunk” is the length between the two units at the physical ends of the
network; or the two termination points if the end units have a drop cable.
 The “Cumulative Drop” is the added length of all drop wires from the trunk to
the devices.
 The “Maximum Drop” is the maximum allowed for any 1 drop.
The limits below are the maximum allowed by the CAN standard, when isolated.
Shorter lengths in practice are highly recommended in order to maintain a high
level of reliability.
Since the L-Series CAN communications is not isolated, a distance of

40 meters should not be exceeded without adding an isolator.
Baud Rate Trunk Length Cumulative Drop Maximum Drop

250 kbps 250 m (820 ft) 78 m (256 ft) 6 m (20 ft)
42 Woodward
CAN Network Termination
CAN networks must be terminated with a 121  1% differential resistance at
each end of the network. It is necessary to terminate the network to prevent
interference caused by signal reflections. Depending on length, many CAN
networks will not operate at all without the proper termination. Generally it is a
good idea not to build the termination into a node since CAN is intended to be a
plug-and-play type network with RIUP (remove and insert under power).
However, no specific restrictions are placed on the inclusion of termination
resistors in a node.
Termination resistors must be installed only at the physical ends of the network.
Terminating other midpoint units can overload the network and stop all
communications. As a rule, no matter how many units are on a network, there
should never be more than two terminations installed.
If termination resistors are provided within a node, the EMC test should be
conducted both using and not using the termination network to validate that both
wiring versions provide acceptable results. This assumes the termination network
can be disabled which is generally true.
Termination is a simple 121 , ¼ watt, 1% metal film resistor placed between

CAN high and CAN low terminals (differential termination) on or near the two end
units.
CAN Network Construction

While there are different ways to physically connect devices on a network, the
most reliable method for multi-drop networks is a “daisy chain” configuration, also
called a “zero drop length” connection. A “backbone with stubs” is also
acceptable, but will require more attention to wiring for reliable performance. In a
daisy chain, wires are run from device one to device two to device three, etc. In a
backbone with stubs, a main trunk line is run between the two devices that are
physically farthest apart, and then stub lines are run from the intermediate
devices to the trunk line. Stubs should be kept as short as possible and may
never exceed 6 m (20 ft). See wiring example below for a graphical
representation.
In most applications, a ground wire is needed between all units on the network.
The preferred method for isolated ports is to include a separate wire in the CAN
cable. This keeps the communications and ground reference at the same
potential at all times. For this reason the recommended cable types below are
DeviceNet cables, which include an extra wiring pair.
Non-isolated nodes may not have a signal ground available for connection. If a
signal ground is not available, use the alternate wiring scheme of connecting the
CAN ground wire from the isolated nodes to the B- terminal at a non-isolated
node (this is typically the signal reference for CAN if isolation is not provided).
Woodward 43
Figure 3-8 CAN System Wiring Example
CAN Cable Recommendations

Use only recommended shielded cabling for a CAN network. Correct cable is
available from Belden, Lapp Cable, or other suppliers providing an equivalent
cable.
Here are the cable specifications from the DeviceNet standard, a good source for
CAN requirements.
Data pair impedance 120. ±10% at 1 MHz

Cable capacitance 12 pF/ft at 1 kHz (nominal)
Capacitive unbalance 1200 pF/1000 ft at 1 kHz
Propagation delay 1.36 ns/ft (maximum)
DC Resistance 6.9  / 1000 ft @ 20 °C (maximum)
19 strands, 1.0 mm² corresponds to 18 AWG,
Data Pair
individually tinned, 3 twists/foot
19 strands, 1.5 mm² corresponds to ~16 AWG,
Power Pair
individually tinned, 3 twists/foot
19 strands Tinned Copper shielding braid or shielding
Drain / Shield Wire
braid and foil
Cable type twisted pair cable. 2x2 lines
20 x diameter during installation or 7 x diameter
Bend Radius
fixed position
0.13 dB/100 ft @ 125 kHz (maximum)
Signal attenuation 0.25 dB/100 ft @ 500 kHz (maximum)
0.40 dB/100 ft @ 1000 kHz (maximum)
“DeviceNet” cable is a good example of CAN cable, but use caution as most
DeviceNet cables are not rated for on-engine temperatures.
When using DeviceNet cables, only use the “Thick” or “Trunk” cable. The
advantage of “Thick” cables is the conductor size. Larger gauge conductors fare
much better in high vibration environments.
44 Woodward
Below are two example DeviceNet CAN cables that are suitable for on-engine
use if the wiring area stays below 75 °C. Other cables may exist.
Part Number Description

PVC, 18 AWG shielded data pair, 15 AWG shielded power pair.
Belden 3082A
300 V insulation.
PVC, 18 AWG shielded data pair, 16 AWG shielded power pair.
Belden 7896A
600 V insulation.
Halogen free, 18 AWG shielded data pair, 15 AWG shielded
Lapp Cable 2710-250
power pair. 300 V insulation
CAN Shielding
Shielded cable is required for industrial applications. Only very cost sensitive
automotive applications attempt to use unshielded cable for communications.
Unshielded cables and improperly shielded cables are likely to cause
communication problems and unreliable control operation. The standard for CAN
networks is that each device will have an ac-coupled (connected through a
0.01 µF coupling capacitor) shield connection and a single shield ground location
will be provided. The ground location does not have to be at a unit connector, it
can be any convenient place in the system but should be the same ground as
used for the system power.
YES !!
Other CAN HI CAN HI
Units On
CAN Bus Shielded Twisted-Pair (STP)
CAN LO CAN LO
Shield Shield
YES !!
Other CAN HI CAN HI
Units On
CAN LO CAN LO
Shield Shield
NO !!
Other CAN HI CAN HI
Units On
Shielded Twisted-Pair (STP)
CAN Bus CAN LO CAN LO
Shield Shield
NO !!
Other CAN HI CAN HI
Units On
CAN LO CAN LO
Shield Shield
Figure 3-9. CAN Shielding
Woodward 45
Ground Junction (see Figure 3-10)—This grounding junction is provided for
joining external ground wires. THERE IS NOT AN INTERNAL CONNECTION TO
CIRCUIT GROUND. Terminal pins 3 and 5 must be used for access to the circuit
ground. This junction point is completely electrically isolated from the L-Series
actuator’s electronics, and is solely for convenience during installation.
GROUND
Ground
Junction
JUNCTION
Figure 3-10. Ground Junction Point
46 Woodward
Chapter 4.
Service Tool
Introduction
This chapter covers tuning, configuring, calibrating, and servicing the control via
the L-Series Service Tool. The control should already be installed on the engine.
Many applications are delivered pre-configured, calibrated, and

tuned. These units do not require the use of the Service Tool.
Description
The Service Tool software is used to configure, tune, and troubleshoot the
L-Series controller. This chapter identifies the parameters available that can be
viewed and provides detailed information on configuring and setting up the
L-Series to the customer-specific field application.
The Service Tool software resides on a PC (personal computer) and

communicates to the L-Series through connector pins 4 and 6. An external
RS-232 transceiver is necessary to make communications possible with the
Woodward L-Series service tool. A connectivity kit (Woodward # 8923-1061) can
be purchased from Woodward to accomplish this.
Figure 4-1. Example Service Tool Screen
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The following hardware is required to work with the L-Series control:
 PC-compatible laptop or desktop computer with at least one available serial
communications port, and Windows 2000, XP, NT 4.0, Vista, Win 7 (32- and
64-bit) as the operating system.
 Programming/datalink harness as shown in Figure 4-2.
In addition to the hardware, the following are the distributions of tool software
needed to communicate with the control:
 Woodward part number 9927-1222, L-Series Service Tool
There is a potential for serial port damage when communicating with

the L-Series control. This is caused by a difference in ac voltage
between neutral and earth ground. If the PC RS-232 port ground is
referenced to ac neutral, and the L-Series control is referenced to
battery ground (ac earth ground), a large amount of current can be
experienced. To avoid this situation, we strongly recommend placing
an isolation transformer between the ac outlet and the PC.
Figure 4-2. Typical Programming Datalink Harness Wiring
Getting Started
Installation Procedure
The Service Tool software can be downloaded and installed from the Woodward
internet site (www.woodward.com/software).
What to do next
After the software is installed, connect a serial communications cable between
the RS-232 connections on the L-Series control and an unused serial port on
48 Woodward
your computer. Run the Service Tool program and select the appropriate comm
port. Once connected to the control, the status bar will display ‘connected’ and
the Service Tool screen will populate with monitor parameters.
On CAN versions, the Communication/Connect command must be issued prior to

powering-up the L-Series. Since the same I/O pins are used for both Service
Tool and CAN communications, the only time the Service Tool is enabled is on
power up. If a Service Tool connect is detected, CAN will be disabled and the
Service Tool communications will remain active.
An unsafe condition could occur with improper use of these software

tools. Only trained personnel should have access to these tools.
Service Tool Help

More help on using Service Tool is available and included with the installation of
the Service Tool product. Service Tool Help can be accessed from the Service
Tool ‘Contents’ drop-down window selection under the Help menu located on the
Main Window.
Software Version Identification

The Service Tool software version can found by selecting ‘About’ under the Help
menu. The L-Series software version can be found on the right-most tab sheet
(Identification) of the Service Tool screen. The Service Tool and Control must be
connected to view this information. Refer to this version information in any
correspondence with Woodward.
Configuration Password
If a password has been saved in the configuration file, the file cannot be opened
without first entering the password. Once a configuration with a password has
been loaded into the L-Series driver, the control configuration cannot be opened
without the password. All other service tool functions do not require a password
including: writing over a password protected file configuration, writing over a
password protected control configuration, using the Position Calibration Tool, and
using the Edit Position PID.
L-Series Configuration
The L-Series can be configured either on-line or off-line. On-line configuration
can only be performed when the Service Tool is connected to and
communicating with the L-Series control. Off-line configuration can be done at
any time; however, settings will not take effect until they are loaded into the
control.
If using non-linear mode, control power must be cycled after loading

a new configuration.
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The current L-Series control configuration settings can be viewed at any time
when connected to the control by opening the Configuration Editor (File/Open
Control Configuration). See Figure 4-3.
A Configuration Summary worksheet is provided in Appendix of this manual to

allow documentation of application configuration settings.
OEM Configuration File Data

The OEM can save configuration file specific data with the service tool by
selecting Properties under the File menu pull down. This is a text field and can be
used to store data such as:
 Customer
 Engine Type
 Application Type
 Notes
Configuring the Unit—On-Line

Unit configuration is summarized as follows:
 Open the Configuration Editor Dialog by selecting ‘File/Open Control
Configuration’.
 Edit the configuration settings.
 Load the configuration to the L-Series control.
As changes are made to Configuration parameters, they are not used

by the driver until a ‘load’ command is issued. Selecting the ‘Close
Window’ box/button closes the Configuration Editor and does not
make any changes to the driver.
Configuring the Unit—Off-Line

Unit configuration is summarized as follows:
 Open the Configuration Editor Dialog using the File/New or File/Open
options.
 Edit the configuration settings.
 Save the configuration to a file. At a later date simply open the configuration
and load it into the control.
50 Woodward
Figure 4-3. Configuration Selection Options
Configuration Parameters
There are five tab sheets that contain all the configuration settings: Overview,
Setup, Discrete Output, Alarm/Shutdown and Security.
Overview Tab Sheet

The Overview tab (Figure 4-4) contains general positioning settings for the
application. A description of each configuration parameter and its adjustment
range is also available in the contents of the Service Tool Help.
Figure 4-4. Configuration Editor—Overview Tab

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Min Position
Sets the position controller direction. Allowed values: CW and CCW.
Shutdown/ Fail Position

Sets the position controller position, in percent, when a shutdown condition is
detected. Allowed values: 0-100%.
Note: If the Shutdown/Fail Position is not set to ‘0.0’, the ‘Actuator fails to a non-
zero position.’ indication is activated. This is to alert the user of a potential unsafe
condition.
Friction/Dither Setting
Sets the position controller’s friction and dither values. This parameter should be
set to zero (no effect) while tuning the PID and then increased for optimum
response. If unsure, a typical value would be 25. Allowed values: 0–100.
Proportional Gain
Sets the position controller PID’s proportional gain. Increased gain corresponds
to increased PID output (higher proportional = faster response). This setting can
also be dynamically adjusted using the PID Tuning screen. Allowed values: 0–
100%.
Integral Gain
Sets the position controller PID’s integral gain. Increased gain corresponds to
increased PID output (higher integral = faster response). This setting can also be
dynamically adjusted using the PID Tuning screen. Allowed values: 0–100%.
Derivative Gain
Sets the position controller PID’s derivative gain. Increased gain corresponds to
increased PID output (higher derivative = faster response). This setting can also
be dynamically adjusted using the PID Tuning screen. Allowed values: 0–100%.
Setup Tab Sheet

The Setup tab (figure 4-5) provides all the position demand settings for the
application including PWM, analog and CAN setup parameters. Changing the
Demand Input Source will modify the parameter settings available as well as the
displayed indications within the Service Tool.
A description of each configuration parameter and its adjustment range is also

available in the contents of the Service Tool Help.
Demand Input Source

The Position Demand Source can be set to one of the following:
Single Selects a single, non-redundant position demand input.
Redundant Selects a redundant (primary/backup) position demand
input.
Primary Position Demand Input

The Primary Position Demand source can be set to one of the following:
PWM Selects a PWM position demand input.
Analog Selects an analog (0–5 V) position demand input.
CAN Selects a CAN position demand input.
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Backup Position Demand Input- (only displayed if configured for Redundant
Demand Inputs)
The Backup Position Demand source can be set to one of the following:
PWM Selects a PWM position demand input.
Analog Selects an analog (0–5 V) position demand input.
CAN Selects a CAN position demand input.
Note: The Primary and Backup Position Demand input cannot be set to the same
source.
Maximum Demand Difference - (only displayed if configured for Redundant

Demand Inputs)
Sets the max difference between primary and backup demands.
Allowed values: 0.0 to 100%
Figure 4-5. Configuration Editor—Setup tab
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PWM Settings - (only displayed if PWM is selected as a Demand Input)
Two additional configuration parameters appear when the position demand
is set to PWM (see Figure 4-6).
PWM Pull Up Select

Selects the appropriate PWM source. This configures the L-Series input
internally to provide the proper pull-up logic. For details on selection of this
parameter, refer to Chapter 3. Allowed values: Push-Pull, High Side Drive,
or Low Side Drive.
PWM Offset
Sets the PWM Duty cycle offset. This setting is provided to compensate for
duty cycle variations in PWM input frequencies, voltages, and types.
Allowed values: –5.01 to +5.01%
CAN Settings
CAN Fail Timeout - (only displayed if CAN is selected as a Demand Input)

Sets the maximum allowed delay between CAN receive / inputs (Rx), in
seconds, before a CAN Fault is annunciated. Allowed values: 0–10 seconds
CAN Protocol Select

Selects the desired CAN messaging format. For details refer to the CAN
section in chapter 2. Allowed values: J1939 or CANopen.
CAN Device Identifier (only displayed for CANopen)

Sets the CAN Device ID (COB-ID). Allowed values: 1–127
CAN ID Discrete Input (only displayed for J1939 with firmware 5418-6084)
Determines if the CAN ID selector is used. When used, allows two to four
different device identifiers, determined by the discrete input state on device
power-up. Allowed values: Not Used or Aux 2.
CAN ID LOW Discrete Input (only displayed for J1939 with firmware 5418-6638)
power-up. Allowed values: Not Used or Aux 2.
CAN ID HIGH Discrete Input (only displayed for J1939 with firmware 5418-6638)
power-up. Allowed values: Not Used, Aux 1 or Aux5.
CAN Device Identifier (only displayed for J1939)

Sets the device source address. Allowed values: 18–21
CAN Device Identifier 2 (only displayed for J1939 when using CAN ID LOW
discrete input)
Sets the device source address when the CAN ID discrete inputs select unit
2. Allowed values: 18–21
CAN Device Identifier 3 (only displayed for J1939 when using CAN ID HIGH
discrete input)
54 Woodward
CAN Device Identifier 4 (only displayed for J1939 when using both CAN ID
HIGH and LOW discrete inputs)
CAN Data Rate (only displayed for J1939)

Selects the data rate for J1939 messaging. Allowed values: 250 or 500
kbps.
Enable Position Tamper Fault - (only displayed if CAN is selected as the

Backup Position Demand Input)
When selected, activates the Position Tamper Fault logic which disables the
Primary Demand if it doesn’t track the CAN demand.
Heartbeat Producer Time - (only displayed for CANopen)

Sets the time increment for sending CANopen NMT heartbeat messages, in
seconds. Allowed values: 0–10 seconds
Run Enable Select

Determines the functionality of Run Enable.
Allowed values: Not Used or Aux 1.
Non-linear Actuator
Selects either a Linear position command, when unchecked, or a Nonlinear
5-point curve command. Linear/Nonlinear refers to the relationship between
the position requested and the position commanded to the position PID.
When this box is checked, additional parameters appear to set up the
5-point demand curve.
If the non-linear curve is changed, control power must be cycled.
Position Request (%)

There are five breakpoint values that correspond to the position requested
by the analog or PWM input signal. These values set up the curve inputs.
Allowed values: 0–100%.
These values must maintain a monotonic increase in their values, in order

from lowest to highest. Also, after the configuration is loaded into the
control, power must be cycled on the control before the settings take effect.
Actuator Position (%)

There are five breakpoint values that correspond to the modified actuator
position command. These values set up the curve outputs. Allowed values:
0–100%.
Discrete Output Tab Sheet

The Discrete Output (Figure 4-6) screen contains the discrete output
configuration settings. If the discrete output is not used, these settings can be
skipped.
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Relay Output Configuration
The relay output can be configured to one of the following:
Normally On Sets the relay driver to a normally on mode that turns off
for any of the faults selected. This is the preferred,
failsafe output configuration.
Normally Off Sets the relay driver to a normally off mode that turns on
for any of the faults selected.
Woodward recommends that the Relay Output be configured for the

failsafe ‘Normally On’ mode, to ensure maximum fault protection and
annunciation. Failure to follow these guidelines could, under
exceptional circumstances, lead to personal injury and/or property
damage.
Relay Output Fault Selections

The list of faults displayed can be individually selected to activate the relay
output. Any of the selected faults will either turn the output off if configured for
Normally On or turn the output on if configured for Normally Off.
Woodward recommends that all faults be configured to activate the

discrete output, this ensures maximum fault annunciation.
Figure 4-6. Configuration Editor—Discrete Output Tab
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Alarm/Shutdown Tab Sheet

The Alarm/Shutdown (figure 4-7) screen contains the alarm and shutdown
configuration settings.
Shutdown/Alarm Fault Selections

The list of faults displayed can be individually selected to either perform a
Shutdown or just Alarm (no action).
Woodward recommends that all faults be configured as shutdowns,

which ensures maximum fault protection. Failure to follow these
guidelines could, under exceptional circumstances, lead to personal
injury and/or property damage.
Enable Fault Latching

This setting determines whether the faults are latching or non-latching. When set
to latching, a reset command is required to clear the fault.
Enable CAN Fault Latching – (only displayed on CAN units if Enable Fault
Latching is false)
This setting determines whether the CAN fault is latching or non-latching. This
option is provided to latch-in the CAN fault even though all other faults are set to
non-latching.
Position Error Maximum (%)

Maximum deviation between the actual position and the position command. If the
Error is exceeded for longer than the Position Error Delay, then the Position Error
fault is annunciated. Allowed values: 0–100%.
Position Error Delay (sec)

Delay for position error annunciation. Allowed values: 0–10 seconds.
CAN Tracking Error Maximum (%) – (only displayed if Position Tamper Fault is
used)
Maximum deviation between the primary position demand and the CAN position
demand. If the Error is exceeded for longer than the CAN Tracking Error Delay,
then the Position Tamper Fault is annunciated.
Allowed values: 0–100% but must be greater than the Max Demand Difference
setting.
CAN Tracking Error Delay (sec)

Delay for Position Tamper Fault. Allowed values: 0–10 seconds.
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Figure 4-7. Configuration Editor—Alarm/Shutdown Tab
Security Tab Sheet

The security (figure 4-8) screen contains the security configuration settings.
Figure 4-8. Configuration Editor— Security Tab
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Security Configurations
All checked features will have the security password enforced prior to allowing
the function. Unchecked features will not be prompted with a password.
Read Configuration
When checked, requires a password before the configuration can be read
from the L-Series control (protects Open From Control execution).
This is the minimum level of protection and is required in order to use any
other security option.
Configuration Load
When checked, requires a password before a configuration can be loaded
into the L-Series control (protects Load to Control execution).
Position Calibration
When checked, requires a password before the position calibration mode
can be entered (protects Manual and Automatic Position Calibration menu
options).
Position PID Edit

When checked, requires a password before allowing tuning to the position
PID (protects Edit Position PID menu option).
Figure 4-9. Security Tab Set Password Pop-up
Loading the Configuration (Save)
Select the File/’Load to Control’ option from the menu or Blue Arrow icon on the
Configuration Editor to load the changes into the control. The L-Series process
must be zero prior to allowing a ‘Load’ command. This feature can be optionally
password protected.
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Figure 4-10. Security Tab Set Password Pop-up
Monitoring the Driver

The Service Tool has five different tab sheets to monitor driver parameters. The
tab sheet screens include:
 Overview (Figure 4-11)
 Alarms (Figure 4-12)
 Shutdowns (Figure 4-13)
 Internal Shutdowns (Figure 4-14)
 Identification (Figures 4-15)
Each screen displays the position setpoint and actual position values.
Position Setpoint
Displayed value of the position demand, in percent.
Actual Position
Displayed value of the actual position, in percent.
Status Bar Indications

At the bottom of the Service Tool window is a status bar. The status bar has two
sections. The bottom left section displays communication status and bottom right
section displays alarm & shutdown status.
Communication Status
This section of the status bar shows the status of communication between the
service tool and the L-Series Driver. For more information, see Establishing
Communication.
 Connected—The Service Tool is connected to and communicating with the
driver.
 Not Connected—The Service Tool is not connected to the driver.
 Connecting—The Service Tool is attempting to connect to the driver. This
message is displayed when Connect is selected from the Communications
menu or when attempting to re-establish communication to the driver. If the
connection is lost it will continuously attempt to re-connect.
Alarm Status
Indicates that one or more alarms on the Alarms screen are active.
Shutdown Status
Indicates that one or more shutdowns on the Shutdowns or Internal Shutdowns
screen are active.
60 Woodward
Overview Parameters Screen

To monitor the overview parameters, go to the Overview page (Figure 4-11) on
the main window.
Figure 4-11. Service Tool—Overview Tab
Supply Voltage
Displayed value of the input power, in volts, as read by the processor.
Power Demand
Displayed value of the power demanded, in watts, as read by the processor. This
is an indication of the work output.
Electronics Temperature
Displayed value of the electronics temperature sensor, in degrees Celsius, as
read by the processor. The temperature sensor is physically located between the
electronics module and the LAT motor.
PWM Input (Duty Cycle)

Displayed value of the PWM input, in percent duty cycle. This indication is
displayed only when the position demand is set to ‘PWM’.
AUX2 Input
Displayed value of the analog 0–5 V input, in volts. This indication is displayed
only when the position demand is set to ‘0.5 V’.
Discrete Output
On/Off status of the discrete output command. The indicator is illuminated when the
channel is commanded to ON and grayed-out when the command signal is OFF.
Run Enabled
Open (off) / Closed (on) indication of the Run Enable discrete input.
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Full Travel Position Setpoint
Indication of the position setpoint in terms of total overall unit travel. Useful if a
less than full-travel user-calibrated range is used.
Full Travel Actual Position

Indication of the actual position in terms of total overall unit travel. Useful if a less
than full-travel user-calibrated range is used.
Full Travel Sensor Position

Indication of the position in terms of total overall unit travel before linearization.
This value will match the TPS output.
Shutdown and Alarm Indications

The Shutdown and Alarm screens display the status is both active and logged
fault conditions. The logged indications provide a history of events even after the
unit has been power-cycle of run again.
Indicates a logged alarm condition.
Indicates an active alarm condition.
Indicates a logged shutdown condition.
Indicates an active shutdown condition.
An active fault is one that is currently active or latched in the control. The
latching/non-latching faults configuration setting factors into this indication. If the
fault is latching, then an active fault could either be one that is still present or one
that occurred but has not been reset. Latched faults can be cleared by cycling
power on the L-Series control or by selecting the ‘Reset Alarms and Shutdowns’
button on any of the Alarm or Shutdown screens.
A logged fault is one that occurred but is no longer currently active or latched in
the control. Logged faults are permanently cleared by selecting the ‘Reset
Logged Alarms and Shutdowns’ button on any of the Alarm or Shutdown
screens.
62 Woodward
Alarms Screen
To monitor the alarm conditions, go to the Alarms page on the main window. The
values displayed on this screen dynamically change with the fault configuration.
Refer to chapter 2 for a complete listing and details of all the faults.
Figure 4-12. Service Tool – Alarms Tab
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Shutdowns and Internal Shutdowns Screens

To monitor the shutdown conditions, go to the Shutdowns and the Internal
Shutdowns pages on the main window. The values displayed on the Shutdowns
screen dynamically change with the fault configuration. Refer to chapter 2 for a
complete listing and details of all the faults.
Figure 4-13. Service Tool – Shutdowns Tab
Figure 4-14. Service Tool – Internal Shutdowns Tab
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Identification Screen
To monitor the L-Series product identification, go to the Identification (Figure 4-
15) page on the main window.*
Figure 4-15. Service Tool—Identification Tab
* ECU_Part_Number, Software_Part_Number, Boot_Loader_Version, Device_Name and

ECU_Audit_Trail are available in 5418-7022 only.
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Tuning the PID

The Service Tool can be used to tune the PID or to just trend/monitor the PID
output. To get to the PID Tuning screen, select the Edit Position PID from the
Tools menu selection.
The L-Series controller can be put into a manual control mode from this screen
by selecting the “Enable Manual Position Tuning’ checkbox (Figure 4-16). Once
in manual mode, the position setpoint box is highlighted and the value displayed
is actively positioning the output. Use this command to create step changes for
the PID and monitor the response using the displayed trend.
Pressing the Properties button pops open the Properties Window (Figure 4-17).
From this window the user can adjust the trending window properties including
the update rate and display range.
Figure 4-16. Service Tool—PID Tuning Window
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Figure 4-17. Service Tool—PID Tuning Properties Window
Position Calibration and Verification

Position calibration is available to map the position command input to the actual
rotational travel of the unit. It is only used when the full travel of the actuator is
constrained or limited such that 0 to 60 degrees of travel is not used. For
example, an application-specific position calibration could map 0–100% position
command to 10–40 degrees actual rotation.
There are two methods available to perform a position calibration: Automatic or

Manual. If the application has hard stops that correspond to the actual min/max
travel, then either Auto or Manual methods can be used—although auto is easier.
If hard stops are not available, then the auto method will give invalid results and
the manual method must be followed.
The Service Tool can be used to calibrate the control to end user stops (physical
or soft) or to verify the position calibration. To get to the Position Calibration
screens select the desired function from Position Calibration under the Tools
menu selection.
Position Calibration is only used when the full travel of the actuator
is constrained or limited such that 0 to 60 degrees of travel is not
used.
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Calibration Sequence Overview

The following outlines the basic steps required to execute the position calibration.
Automatic Mode
1. Select Automatic Position Calibration Mode.
2. Select CW or CCW Direction.
3. L-Series automatically rotates in both CW and CCW directions until the stops
are detected. The values are then captured and stored.
4. When completed, cycle the power on the L-Series.
5. Woodward recommends that a Position Verification be performed to confirm
the calibration is correct. See Position Verification below.
Manual
1. Determine to rotational travel limits. This can be done by positioning the unit
to the minimum and maximum positions and recording the position settings.
2. Select Manual Position Calibration Mode.
3. Select Direction.
4. Enter the pre-determined rotational travel limits values.
5. When completed, cycle the power on the L-Series.
6. Woodward recommends that a Position Verification be performed to confirm
the calibration is correct. See Position Verification below.
Position Verification
When the Verify Position screen is entered, the control is put into position control
and the position is set to the position the control was at when the screen was
entered. The screen displays the “User” Requested Position, Actual Position,
Minimum Position, and Maximum Position (see Figure 4-18). These User
Positions are calculated from the user-calibrated stops.
The Full Travel Actual Position is the full stroke factory position without user
stops after software linearization. The Full Travel Sensor Position is the full
stroke factory position without user stops before software linearization. The Full
Travel Sensor Position will match the TPS Output Signal.
The Verify Position screen can be used to check the calibration or to get the
minimum and maximum position values for the manual calibration. If the Enable
Requested Position Tuning box is checked the valve can be positioned anywhere
from 0 to 100% of the user minimum and maximum stops by entering a value into
the Requested Position. If the Enable Requested Position Tuning box is
unchecked the valve will go limp and can be physical positioned by hand.
If the full factory position calibration range is not being used (the
Manual or Automatic Calibration has been performed) and the
minimum position direction is changed, the calibration must be run
again for the Verify Position mode to work correctly.
68 Woodward
Figure 4-18. Service Tool—Verify Position Calibration
Manual
The manual calibration mode is used to set the minimum position and fail
direction and to calibrate the valve to user soft stops (inside of any physical
stops). The first screen to appear when entering the manual mode is used to set
the minimum position and fail direction. This setting must be correct before
manually calibrating the valve.
Figure 4-19. Service Tool—Manual Position Calibration
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The next screen is used to set the minimum and maximum positions for the user
soft stops. To find the minimum and maximum soft stops use the verify position
mode described above to position the valve and use the Full Travel Actual
Position reading for minimum and maximum position values.
After leaving this mode, power must be cycled for the new settings to
take effect.
Figure 4-20. Service Tool—Manual Position Calibration Settings
70 Woodward
Automatic
The automatic calibration mode is used to set the minimum position and fail
direction and to calibrate the valve to user physical stops (mechanical hard
stops). Like the manual mode, the first screen to appear is used to set the
minimum position and fail direction. This setting must be correct before automatic
calibration is performed.
After setting minimum position and fail direction the screen below will appear.
The control is now moving first to the CCW stop and then to the CW stop to get
the physical minimum and maximum positions.
After leaving this mode, power must be cycled for the new settings to
take effect.
Figure 4-21. Service Tool – Auto Position Calibration
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Chapter 5.
Troubleshooting
Introduction
This chapter presents several broad categories of application failures typically
experienced in the field, possible causes, and some tests used to verify the
causes. Because the exact failure experienced in the field is the product of the
mechanical/electrical failure combined with the configuration file resident in the
control, it is left as the OEM’s responsibility to create a more detailed
troubleshooting chart for the end user. Ideally, this end-user troubleshooting
chart will contain information about mechanical, electrical, engine, and load
failures in addition to the possible governor failures. For more detailed
information about governor system failure modes and effects, contact Woodward
for a copy of the system DFMEA.
The troubleshooting scenarios listed below assume that the end user has a
digital multi-meter at his disposal for testing voltages and checking continuity,
and assume that the application has been engineered and tested thoroughly.
General System Troubleshooting Guide

The following is a general troubleshooting guide for areas to check which may
present potential difficulties. By making these checks appropriate to your
engine/turbine before contacting Woodward for technical assistance, your system
problems can be more quickly and accurately assessed.
 Valves
 Is the wiring correct?
 Is the direction of the stroke correct?
 Is the direction of the failsafe shutdown correct?
 Does the valve move through its proper stroke smoothly?
 Does the valve travel its full stroke?
 Can mid-stroke be obtained and held?
 Does the valve fully seat (close)?
 Does the valve fully open?
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Engine/Generator Troubleshooting
Problem Possible Cause Suggested Test/Correction
Move throttle by hand. Assess
Stuck throttle/frozen shaft smoothness, friction, and return
spring force.
Disconnect starter motor solenoid.
Disconnect harness from governor.
Power not applied to control Activate application. Test for +12/24
V between +12/24 V pin and ground
pin.
Verify status of input. Measure input.
Run Enable not closed Verify input and configuration using
Service Tool.
No configuration or Using Service Tool, read
incorrect configuration in configuration from controller and
Engine does not controller. evaluate parameters for correction.
start Using Service Tool, read faults from
Fault detected in controller. controller. Verify/correct any
shutdown conditions.
Do a power cycle and reflash
L-Series again. L-Series will use
communication settings from last
reflashing event. If L-Series will fail
to read non-volatile memory
Unsuccessful reflashing* correctly it will use default
communication settings:
CAN baud rate 250k, Device
Address 0x15, ECU_Part_Number
4385563 and Device_Name
‘flcntvlv’.
Using Service Tool, tune the position
Improperly tuned dynamics.
dynamics.
Intermittent position Using Service Tool, verify fault
Engine unstable command input signal. indications.
Device sending position
Measure input signal. Verify signal
command is sending
using Service Tool.
oscillating signal.
Using Service Tool, tune the position
Improperly tuned dynamics.
Poor frequency dynamics.
control Friction/dither improperly Using Service Tool, adjust the
set. Friction/Dither setting.
Non-indexed linkage Manually verify full travel of throttle
slipped on shaft. plate.
Unable to develop
Using Service Tool, view status of
full power
Fault detected in controller. fault codes. Take appropriate action
for active faults.
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Engine/Generator Troubleshooting (cont’d.)

Problem Possible Cause Suggested Test/Correction
Measure input duty cycle and
convert to percentage. Verify
PWM input signal
controller signal using Service Tool.
inaccuracy.
If different, adjust the PWM Offset
value in the Configuration Editor.
Check the wiring.
Look for loose connections and

disconnected or misconnected
Wiring fault or ground loop. cables and connections.
Not controlling at
desired position Remove all wiring except the
setpoint position command and power input
and verify operation/functionality.
Measure the analog command
voltage arriving at pin 10 to verify
Analog input signal that it is at the expected value in the
inaccuracy. range of 0.5 to 4.5 V. Use the
service tool to verify that AUX2 is
being read correctly.
Manually verify full shaft movement.
Output shaft is bound or
Use the “verify position” function of
sticking.
the service tool (Chapter 4).
Check the wiring leading to pin 9 for
open connections or
misconnections.
Wiring fault.
Verify that pin 9 is not connected
Discrete output not directly to input power or ground.
working Using the Service Tool, verify that
the faults and shutdowns are
selected properly and that the output
Configuration.
is configured for expected operation
(either normally “on” or normally
“off”).
Check AUX3 and AUX4
Wiring fault.
connections.
Verify harness setup and

Service Tool not connections (see chapter 4)
communicating–
‘Not Connected’ Check that Service Tool is running.
status indicated
Verify the port setting is correct.
Must be ‘connecting’ during power-

CAN is enabled.
up on CAN units.
Service Tool not
communicating–
Old version of Service Tool Re-install Service Tool, get the latest
‘Error message
or file corruption or bad version from the Woodward web site
displayed on PC
install. (www.woodward.com)
when trying to
connect
Password is case-sensitive, make
sure you enter the password
Service Tool will correctly using upper and lower
not accept Cap Lock is on. case.
password
If password is lost contact the OEM
for retrieval.
* Available in 5418-7022 only
74 Woodward
Troubleshooting Diagnostic Flags

Error Flag Description Possible Source Possible Action
Bad or damaged battery. Replace battery.
Defective battery charging Fix battery charging

The power supply
system. system.
voltage is higher than
Supply the diagnostic limits.
Incorrect setting of power Set correct voltage levels
Voltage
supply voltage level. on power supply.
Failure The Power supply
voltage is lower than
Power supply wiring to long or Make sure wiring is of the
the diagnostic limits.
to thin. Control will flag low correct thickness and
voltage during higher power length according to
uses. manual.
Control has been placed in an
Lower temperature by
environment that is too hot or
adding cooling, heat
too cold.
shielding, moving the unit,
This error is set if the
etc.
Temperature temperature inside The internal temperature sensor
Sense the control is higher is defective. This can be
Increase temperature by
Failed or lower than allowed determined by checking the
adding heat.
by the specifications. temperature of the unit and
comparing this to the service
Return unit to Woodward
tool value of the electronics
for repair.
temperature.
Check/tune position
Incorrect position control dynamics using the
If the demanded dynamics or friction setting. Service Tool.
position and the
Position
actual position are Binding or excessive friction in Perform a position
Error
outside the the actuator linkage, or stops calibration.
configured limits. are set inside the desired range
of travel. Check all mechanical
linkages and stops.
Position If the internal position
Internal failure of position
Sensor sensor is outside the Return unit to Woodward.
sensor.
Failure diagnostic limits.
Internal All internal shutdowns
The Control is defective. Return unit to Woodward.
Shutdown will set this flag.
The software can’t
write to the EEPROM.
EEPROM
The Control is defective. Return unit to Woodward.
Failure The software can’t
read from the
EEPROM.
Possible power problem.
Power source voltage drop.
The brown out
detection flag Check wiring for bad or
Loss of power or intermittent
indicates power to the loss connection.
Brown Out power supply wiring.
Control has sagged to
Reset
a point of non- Make sure wiring is of the
Power supply wiring to long or
operation and is now correct thickness and
too thin. L-Series will reset
restored. length according to
during transient power uses.
manual.
After software update, the
This is a normal situation.
software watchdog will reset the
Reset the error code and
Control.
If the watchdog has reset the stored errors.
Watchdog
reset the Control, this
Reset
flag will set. This is an abnormal
The software is disrupted by
situation. Return the unit
EMI or an internal component
to Woodward.
failure.
Woodward 75
Troubleshooting Diagnostic Flags (cont’d.)

Error Flag Description Possible Source Possible Action
Check ambient temperature
around Control.
Verify temperature reading

High internal Detection of high of using service tool.
Overtemperature
temperature. temperature.
If the temperatures seem
normal, could indicate a
problem with the temperature
sensor.
Control detected a
Incorrect or
fault in the Check wiring for bad or lost
Relay Fail Short intermittent wiring
discrete out connection.
problem.
wiring.
Incorrect or Check wiring for bad or lost
Control detected intermittent wiring connection.
Run Enable that the Run problem.
Shutdown Enable discrete in
is not active. Incorrect Verify configuration. Check
configuration. Run Enable setting.
Incorrect or Check wiring for bad or lost
intermittent wiring connection.
Control detected
Position Demand problem.
all position
Failed
demands failed.
Incorrect Verify configuration. Check
configuration. Run Enable setting.
Incorrect or
intermittent wiring Check wiring for bad or lost
Control detected problem. connection. Following Analog
Analog Demand analog (0–5 V) Input troubleshooting listed
Failed position demand below.
failed.
Incorrect Verify configuration.
configuration.
Incorrect or
Check wiring for bad or lost
intermittent wiring
connection. Following PWM
Control detected problem.
PWM Demand Input troubleshooting listed
PWM position
Failed below.
demand failed.
Incorrect
Verify configuration.
configuration.
Check wiring for bad or lost
Indicates CAN
Incorrect or connection. Follow the CAN
communication
intermittent wiring troubleshooting listed below.
fault or bus
problem.
arbitration failure
(J1939 address
claim) or that CAN
CAN Demand Incorrect Verify CAN configuration
messages are
Failed configuration. settings.
received at a rate
slower than the
configured
Device not sending Verify ECM messages and
minimum update
updates fast enough update rates. Verify
rate (CAN Fail
or regularly (bursts). configuration of L-Series min
Timeout).
update rate.
Control Incorrect or Check wiring for bad or lost
determined the intermittent wiring connection.
Position Tamper primary demand is problem.
Fault not tracking the
CAN position Incorrect Verify configuration. Check
demand. configuration. CAN Tracking settings.
76 Woodward
Electrical Troubleshooting Guide

Analog Input
If the Analog Input is not functioning properly, verify the following:
 Measure the input voltage. It should be in the range of 0.5–4.5 V.
 Check the values seen by the L-Series driver using the Service Tool and
verify that it matches the input signal.
 Verify that there are no or minimal ac components to the Analog Input
signal. AC components can be caused by improper shielding.
 Check the wiring. If the inputs are reading 0 or the engineering units that
correspond to 0 V, look for loose connections and disconnected /
misconnected cables/connections.
 Check the software configuration to ensure that the input is configured
properly as the Demand Source.
PWM Input
If the PWM input is not functioning properly, verify the following:
 Measure the input voltage, frequency, and duty cycle.
 Check the values seen by the L-Series driver using the Service Tool and
verify that is matches the input signal.
 Check the wiring. Look for loose connections and disconnected /
misconnected cables/connections.
 Check the software configuration to ensure that the input is configured
properly as the demand source.
CAN Input
If the CAN connection is not functioning properly, verify the following:
 Check the values seen by the L-Series driver, if any, using the Service Tool
and verify that is matches the sent signal and/or received signal.
 Check the wiring. Look for loose connections and disconnected /
misconnected cables/connections. Verify 120 Ohm resistor at ends of
transmission lines.
 Check the software configuration to ensure that the signal is configured
properly (Device ID, fail timeout, protocol, etc).
Run Enable Discrete Input

If the run enable discrete input is not functioning properly, verify the following:
 Measure the input voltage on the terminal block. It should be in the range of
10–28 Vdc.
 Check the status of the input from the Overview screen of the Service Tool.
 Check the wiring, looking for loose connections or misconnected cables.
 Verify the input is properly configured.
Alarm or Shutdown Conditions

If the L-Series control has any alarm or shutdown conditions, refer to Chapter 2
for details on the exact cause of the condition. The Service Tool must be used to
determine the cause of any shutdown or alarm condition. Refer also to the
‘Troubleshooting Diagnostics Flags’ section above.
Woodward 77
Discrete Output
If the discrete output is not functioning properly, verify the following:
 Measure the output voltage on the terminal block. It should be in the range
of 10–28 Vdc when the output is off/false. The voltage will be in this range
only if all shutdowns are false. This can be verified through the Service Tool.
 Check the wiring, looking for loose connections or disconnected /
misconnected cables.
 Verify the configuration of the output.
Service Tool
If the service tool is not functioning properly, review the installation information in
Chapter 4. Verify the following:
 Check the wiring, looking for loose connections or disconnected /
misconnected cables.
 Check that Service Tool is running. Verify the Port setting is correct.
 Follow on-screen error messages. Re-install software as needed. The latest
version of software is available for download from the Woodward web site
(www.woodward.com).
 Service Tool will not communicate if reflashing has been unsuccessful (this
is available only in firmware version 5418-7022). See ‘Unsuccessful reflash’
section for more details.
Unsuccessful Reflash
The ability to reflash is only provided in firmware version 5418-7022 using J1939
PGN 55808. On an unsuccessful reflash the device will not function and will
remain in boot mode. The output shaft will be limp (no drive current). To recover
do a power cycle and repeat reflashing sequence. Communication settings (CAN
baud rate, Device Address, Identification) will remain inherited from previously
installed firmware. Nevertheless in rare occasion when L-Series was unable to
read EEPROM, communication settings and identity may be defaulted:
 CAN baud rate set to 250kbps,
 Device Address set to 0x15.
 Serial Number set to 12345678
When device is in a boot mode, following NAME is used in J1939 Address Claim:
L-Series NAME fields:

Arbitrary Address Capable: 0 / Disabled
Industry Group Field: 0 / Global
Vehicle System Instance: 0 / First Instance
Vehicle System Field: 0 / Non-specific System
Function Field: 15 / Fuel System
Function Instance Field: 0 / First
ECU Instance Field: 0 / Device 1
Manufacturer Code Field: 153 / Woodward Governor Industrial Controls
Identity Number Field: Unique
Also please note that Device Address is based on configuration, so if that

changes in reflashed firmware, Device Address may be changed as well.
78 Woodward
Chapter 6.
Product Support and Service Options
Product Support Options

If you are experiencing problems with the installation, or unsatisfactory
performance of a Woodward product, the following options are available:
1. Consult the troubleshooting guide in the manual.
2. Contact the OE Manufacturer or Packager of your system.
3. Contact the Woodward Business Partner serving your area.
4. Contact Woodward technical assistance via email
(EngineHelpDesk@Woodward.com) with detailed information on the
product, application, and symptoms. Your email will be forwarded to an
appropriate expert on the product and application to respond by telephone
or return email.
5. If the issue cannot be resolved, you can select a further course of action to
pursue based on the available services listed in this chapter.
OEM or Packager Support: Many Woodward controls and control devices are
installed into the equipment system and programmed by an Original Equipment
Manufacturer (OEM) or Equipment Packager at their factory. In some cases, the
programming is password-protected by the OEM or packager, and they are the best
source for product service and support. Warranty service for Woodward products
shipped with an equipment system should also be handled through the OEM or
Packager. Please review your equipment system documentation for details.
Woodward Business Partner Support: Woodward works with and supports a

global network of independent business partners whose mission is to serve the
users of Woodward controls, as described here:
 A Full-Service Distributor has the primary responsibility for sales, service,
system integration solutions, technical desk support, and aftermarket
marketing of standard Woodward products within a specific geographic area
and market segment.
 An Authorized Independent Service Facility (AISF) provides authorized
service that includes repairs, repair parts, and warranty service on
Woodward's behalf. Service (not new unit sales) is an AISF's primary
mission.
 A Recognized Engine Retrofitter (RER) is an independent company that
does retrofits and upgrades on reciprocating gas engines and dual-fuel
conversions, and can provide the full line of Woodward systems and
components for the retrofits and overhauls, emission compliance upgrades,
long term service contracts, emergency repairs, etc.
A current list of Woodward Business Partners is available at

www.woodward.com/directory.
Product Service Options

Depending on the type of product, the following options for servicing Woodward
products may be available through your local Full-Service Distributor or the OEM
or Packager of the equipment system.
 Replacement/Exchange (24-hour service)
 Flat Rate Repair
 Flat Rate Remanufacture
Woodward 79
Replacement/Exchange: Replacement/Exchange is a premium program
designed for the user who is in need of immediate service. It allows you to
request and receive a like-new replacement unit in minimum time (usually within
24 hours of the request), providing a suitable unit is available at the time of the
request, thereby minimizing costly downtime.
This option allows you to call your Full-Service Distributor in the event of an
unexpected outage, or in advance of a scheduled outage, to request a
replacement control unit. If the unit is available at the time of the call, it can
usually be shipped out within 24 hours. You replace your field control unit with
the like-new replacement and return the field unit to the Full-Service Distributor.
Flat Rate Repair: Flat Rate Repair is available for many of the standard
mechanical products and some of the electronic products in the field. This
program offers you repair service for your products with the advantage of
knowing in advance what the cost will be.
Flat Rate Remanufacture: Flat Rate Remanufacture is very similar to the Flat
Rate Repair option, with the exception that the unit will be returned to you in “like-
new” condition. This option is applicable to mechanical products only.
Returning Equipment for Repair

If a control (or any part of an electronic control) is to be returned for repair,
please contact your Full-Service Distributor in advance to obtain Return
Authorization and shipping instructions.
When shipping the item(s), attach a tag with the following information:
 return number;
 name and location where the control is installed;
 name and phone number of contact person;
 complete Woodward part number(s) and serial number(s);
 description of the problem;
 instructions describing the desired type of repair.
Packing a Control
Use the following materials when returning a complete control:
 protective caps on any connectors;
 antistatic protective bags on all electronic modules;
 packing materials that will not damage the surface of the unit;
 at least 100 mm (4 inches) of tightly packed, industry-approved packing
material;
 a packing carton with double walls;
 a strong tape around the outside of the carton for increased strength.
To prevent damage to electronic components caused by improper

handling, read and observe the precautions in Woodward manual
82715, Guide for Handling and Protection of Electronic Controls,
Printed Circuit Boards, and Modules.
Replacement Parts
When ordering replacement parts for controls, include the following information:
 the part number(s) (XXXX-XXXX) that is on the enclosure nameplate;
 the unit serial number, which is also on the nameplate.
80 Woodward
Engineering Services
Woodward’s Full-Service Distributors offer various Engineering Services for our
products. For these services, you can contact the Distributor by telephone or by
email.
 Technical Support
 Product Training
 Field Service
Technical Support is available from your equipment system supplier, your local
Full-Service Distributor, or from many of Woodward’s worldwide locations,
depending upon the product and application. This service can assist you with
technical questions or problem solving during the normal business hours of the
Woodward location you contact.
Product Training is available as standard classes at many Distributor locations.

Customized classes are also available, which can be tailored to your needs and
held at one of our Distributor locations or at your site. This training, conducted by
experienced personnel, will assure that you will be able to maintain system
reliability and availability.
Field Service engineering on-site support is available, depending on the product

and location, from one of our Full-Service Distributors. The field engineers are
experienced both on Woodward products as well as on much of the non-
Woodward equipment with which our products interface.
For information on these services, please contact one of the Full-Service

Distributors listed at www.woodward.com/directory.
Contacting Woodward’s Support Organization

For the name of your nearest Woodward Full-Service Distributor or service
facility, please consult our worldwide directory published at
www.woodward.com/directory.
You can also contact the Woodward Customer Service Department at one of the
following Woodward facilities to obtain the address and phone number of the
nearest facility at which you can obtain information and service.
Products Used In Products Used In Products Used In

Electrical Power Systems Engine Systems Industrial Turbomachinery
Systems
Facility ---------------- Phone Number Facility ----------------Phone Number Facility ----------------Phone Number
Brazil -------------- +55 (19) 3708 4800 Brazil -------------- +55 (19) 3708 4800 Brazil -------------- +55 (19) 3708 4800
China ----------- +86 (512) 6762 6727 China ----------- +86 (512) 6762 6727 China ----------- +86 (512) 6762 6727
Germany: Germany ------- +49 (711) 78954-510 India--------------- +91 (129) 4097100
Kempen ---- +49 (0) 21 52 14 51 India--------------- +91 (129) 4097100 Japan -------------- +81 (43) 213-2191
Stuttgart -- +49 (711) 78954-510 Japan -------------- +81 (43) 213-2191 Korea -------------- +82 (51) 636-7080
India--------------- +91 (129) 4097100 Korea -------------- +82 (51) 636-7080 The Netherlands - +31 (23) 5661111
Japan -------------- +81 (43) 213-2191 The Netherlands - +31 (23) 5661111 Poland -------------- +48 12 295 13 00
Korea -------------- +82 (51) 636-7080 United States ---- +1 (970) 482-5811 United States ---- +1 (970) 482-5811
Poland -------------- +48 12 295 13 00
United States ---- +1 (970) 482-5811
For the most current product support and contact information, please visit our
website directory at www.woodward.com/directory.
Woodward 81
Technical Assistance
If you need to contact technical assistance, you will need to provide the following information.
Please write it down here before contacting the Engine OEM, the Packager, a Woodward
Business Partner, or the Woodward factory:
General
Your Name
Site Location
Phone Number
Fax Number
Prime Mover Information

Manufacturer
Engine Model Number
Number of Cylinders
Type of Fuel (gas, gaseous, diesel,
dual-fuel, etc.)
Power Output Rating
Application (power generation, marine,
etc.)
Control/Governor Information
Control/Governor #1
Woodward Part Number & Rev. Letter
Control Description or Governor Type
Serial Number
Control/Governor #2
Serial Number
Control/Governor #3
Serial Number
Symptoms
Description
If you have an electronic or programmable control, please have the adjustment setting positions or
the menu settings written down and with you at the time of the call.
82 Woodward
Appendix A.
L-Series Configuration Summary
APPLICATION ________________________________________________
ACTUATOR SERIAL NUMBER ____________________________________

For details on individual settings, refer to Chapter 4.
Configuration Settings – Position Controller

Overview
Min Position Direction CCW ____ CW ____
Shutdown Position (%) = ______________
Proportional Gain (%) = ______________
Integral Gain (%) = ______________
Derivative Gain (%) = ______________
Friction / Dither Setting = ______________
Setup
Single or Redundant/Backup Selection Single ____ Redundant ____
Primary Position Demand Selection PWM ____ Analog ____ CAN ____
Backup Position Demand Selection PWM ____ Analog ____ CAN ____
Maximum Demand Difference (%) = ______________
PWM Input
PWM Drive Select Push-Pull ____ High Side ____ Low Side ____
PWM Offset (%) = ______________
CAN
CAN Fail Timeout (sec) = ______________
Protocol J1939 ____ CANopen ____
CAN ID LOW Discrete Input Not Used ____ Aux 2 ____
CAN ID HIGH Discrete Input Not Used ____ Aux 1 ____ Aux 5 ____
Device Identifier = ______________
Device Identifier 2 = ______________
Data Rate 250 K ____ 500 K ____
Heartbeat Producer Time (sec) = ______________
Enable Position Tamper Fault? Yes ____ No ____
Run Enable Not Used ____ Aux 1 ____
Use Non-linear Actuator Curve? Yes ____ No ____
Non-Linear Actuator Settings

Position Request (pt 0) (%) = ______________
Actuator Position (pt 0) (%) = ______________
Woodward 83
Discrete Out
Discrete Out Normally On? Yes ____ No ____
Indicates Watchdog Reset? Yes ____ No ____
Indicates Brownout Reset? Yes ____ No ____
Indicates EE Prom Failure? Yes ____ No ____
Indicates Position Sensor Failure? Yes ____ No ____
Indicates Temperature Sensor Failure? Yes ____ No ____
Indicates Supply Voltage Fault? Yes ____ No ____
Indicates Relay Fault? Yes ____ No ____
Indicates Position Demand Failure? Yes ____ No ____
Indicates Overtemperature? Yes ____ No ____
Indicates Position Error? Yes ____ No ____
Indicates Run Enable Shutdown? Yes ____ No ____
Indicates Analog Demand Failed? Yes ____ No ____
Indicates PWM Demand Failed? Yes ____ No ____
Indicates CAN Demand Failed? Yes ____ No ____
Indicates Position Tamper Fault? Yes ____ No ____
Indicates CAN Stop Command? Yes ____ No ____
Faults (Shutdown/Alarms)
Temp Sensor Failure Action Shutdown ____ Alarm ____
Supply Voltage Fault Action Shutdown ____ Alarm ____
Relay Fault Action Shutdown ____ Alarm ____
Position Demand Failure Action Shutdown ____ Alarm ____
Overtemperature Action Shutdown ____ Alarm ____
Position Error Action Shutdown ____ Alarm ____
Position Tamper Fault Shutdown ____ Alarm ____
Faults are Latched? Yes ____ No ____

CAN Fault is Latched? Yes ____ No ____
Position Error Max (%) = ______________

Position Error Delay (sec) = ______________
CAN Tracking Error Max (%) = ______________
CAN Tracking Error Delay (sec) = ______________
Security
Apply security to Configuration Reading? Yes ____ No ____
Apply security to Configuration Loading? Yes ____ No ____
Apply security to Position PID Edit? Yes ____ No ____
Apply security to Position Calibration? Yes ____ No ____
Password = ______________
84 Woodward
Appendix B.
L-Series Control Specifications
Specifications
Power Supply 12/24 V systems (10–32 Vdc) reverse polarity
protection, 2.5 A max
Power Consumption 32 W maximum
Torque Nominal: 0.34 N·m (0.25 lb-ft) at 25 °C
Maximum Transient (at 105 °C): 0.20 N·m (0.15 lb-ft)
Minimum Continuous (at 105 °C): 0.14 N·m (0.10 lb-ft)
Mass/Weight 425 g (15 oz)
Power-Up to Operation Time <250 ms (< 1 s CAN versions)
Performance
Positioning Accuracy ±2% at 25 °C
±4% (analog), ±3.6% (PWM), ±3% (CAN)–over temp
range
Slew Time 10%–90% 33 ms
Overshoot 1%
Settling Time 10 ms
–6 db Roll-off at ±0.5% Input 32 Hz
–3 db Roll-off at ±2% Input 8 Hz
Environment
Ambient Operating Temperature –40 to +105 °C (–40 to +221 °F)
Storage Temperature –40 to +125 °C (–40 to +257 °F)
EMI/RFI EN61000-6-2 : Immunity for Industrial Environments
EN61000-6-4 : Emissions for Industrial Environments
SAE J1113-21: Radiated Immunity (100 V/m)
SAE J1113-11: Conducted Transient Immunity –
Pulse 5b
Suppressed Load Dump (45 V)
Humidity US MIL-STD 810E, Method 507.3, Procedure III
Salt Spray US MIL-STD 810E, Method 509.3, Procedure I
Shock MS1-40G 11 ms sawtooth
Random Vibration Random: 0.3 G²/Hz, 10–2000 Hz (22.1 Grms) 3 h/axis
Sine: 5 G 2.5 mm peak-to-peak, 5–2000 Hz, 3 h/axis,
90 min dwells, 1 octave/min
Drop SAE J1211, Paragraph 4.8.3 (modified)
Thermal Shock SAE J1455, Paragraph 4.1.3.2
Ingress Protection IP56 per EN60529
Analog Command Input

Parameter Value
Input Type 0–5 V, Single-Ended Input
Input Scaling 0.5 V = 0% and 4.5 V = 100% position
Max Input (Full Scale) 5 V ± 1%
Isolation None
Transient Protection According to EMC norm
Input Impedance 499 k
Anti-Aliasing Filter 1 anti-aliasing pole at 0.001 ms (159 kHz)
Resolution 10 bits
±1.3% of full scale over the temperature
Accuracy
range of –40 to +125 °C, including drift
I/O Latency 8.2 ms
Calibration Method 2-point linear software calibration
Out of Range Signal < 0.2 V or > 4.8 V
Input protected against 32 Vdc steady
Overvoltage Protection
state
Woodward 85
PWM Command Input
Parameter Value
Input Magnitude 5–32 V p-p
Frequency Range 300–1500 Hz
Duty Cycle Scaling 10% = fully closed and 90% = fully open
Isolation None
Input Impedance Push-Pull Mode 44 kΩ–113 k
Input Impedance Open Collector Mode,
15 k
High Side or Low Side.
Resolution 16 bits at 300 Hz, 14 bits at 1.5 kHz
±1% of full scale (duty cycle), over the
Accuracy temperature range of –40 to +125 °C,
including drift
I/O Latency 8.2 ms
Duty cycle offset adjustment is available
Calibration in Service Tool. This will tailor the input to
the signal source
Out of Range Frequency None
Out of Range Duty Cycle < 3% or > 97%
Discrete Input
Parameter Value
Input Current 0.5 mA @ 5 Vdc
Input Type Ground referenced discrete input
Delay Time for Shutdown < 200 ms for system to recognize shutdown
Delay Time for Reset
< 1 s for valves to move to minimum position
Detection
Max Voltage from +
32 V (power input voltage)
Connection
None, Intended for use with external relay or other dry
Isolation
contact
Input Thresholds > 3.1 Vdc = “ON” < 0.8 Vdc = “OFF”
Input Current 0.5 mA @ 5 Vdc
Discrete Output
Parameter Value
Output Type Low-side output driver
Max Contact Voltage (Open) 32 V
Max Current 0.5 A
Max Contact Voltage at 0.5 A
1.5 V
(Closed)
Max Delay Time for Opening
8.2 ms
Contact
Default at Power Up Configurable in software
Error Condition Configurable in software
OK Condition Configurable in software
Driving Inductive Loads Yes, internally protected low-side switch
Utilizes circuitry that will open the contact when
Protection output contacts are short-circuited. Self-resetting
when fault is removed
86 Woodward
TPS Output
Parameter Value
Output Type 0–5 V, single-ended
0.75 V = full CCW position and 4.25 V = full CW
Output Scaling
position
Isolation None
3 db Circuit Bandwidth 350 Hz
Transient Protection According to EMC norm
Output Impedance 2.8 k (±1%)
Accuracy ±10% of full scale, @ 25 °C
Temperature Drift ±0.4% over the full temperature range
I/O Latency n/a – direct from position sensor
Calibration Method Sensor-in-place factory calibration. 2-point linear
Out of Range Signal < 0.25 V or > 4.75 V
Output protected against 32 Vdc, steady-state; if
Overvoltage Protection >28 V is applied to pin 2, a position-related error will
be annunciated
RS-232 Serial Communication Service Port

Parameter Value
Isolation None
Baud Rate Fixed 19.2 Kbaud
Outputs are TTL level. Requires external transceiver
Electrical Interface for conversion to RS-232 levels for proper
communication !!
Pinout Tx = pin 4, Rx = pin 6, Gnd = pin 3
10 m (33 ft), not meant for permanent connection
Maximum Cable Length
(for service only)
Cable Type Straight-through (no crossover)
CAN Communications (optional)

Parameter Value
2-wire CAN, version 2.0B
Type
software selectable CANopen or J1939
Complies with SAE J1939 but uses proprietary group
J1939
extensions; 29-bit
CANopen CANopen node (ref CiA DS301 Version 4.02)
Device Identifier Service Tool software setting
Isolation None
Fixed 250 kbps (CANopen)
Baud Rate
250 or 500 kbps (J1939)
Lo = pin 6 (AUX4), Hi = pin 4 (AUX3)
Pinout
(shared with RS-232 communications)
40 m (130 ft)
If an isolator is used:
Line Limitations
Trunk Length: 250 m (820 ft)
Maximum Drop: 6 m (20 ft)
Cumulative Drop: 78 m (256 ft)
Fault Detection Service Tool setting
Electronics Temperature Sensor

Parameter Value
±2 °C at 25 °C ambient
Accuracy
±3 °C over full range (–40 to +125 °C)
I/O Latency 8.2 ms
Woodward 87
Software Execution Rates
Software Routine Nominal Software Execution Rate
Position Control Algorithms 1.6 ms
Position Demand Algorithms 8.2 ms
Analog Input Logic 8.2 ms
PWM Input Logic 8.2 ms
Serial Port background task
CAN communications 8.2 ms
Run Enable Discrete Input 8.2 ms
Discrete Output 8.2 ms
Diagnostics 8.2 ms
Reliability and Quality Goals

The L-Series control system has a reliability target of 17 500 hours MTBF. It also has a
quality goal of less than 25 PPM when measuring out-of-the-box defects. This quality goal
is a target based on continuous improvement.
Figure C-1. Bode Plot of L-Series Response
88 Woodward
Revision History
Changes in Revision C—
 Added information for new part number 5418-7022
 Updated Declarations
Changes in Revision B—
 Improvements to clarity and wording
Changes in Revision A—
 Added information for new part number 5418-6638
Woodward 89
Declarations
90 Woodward
Woodward 91
We appreciate your comments about the content of our publications.
Send comments to: icinfo@woodward.com
Please reference publication 26635C.
PO Box 1519, Fort Collins CO 80522-1519, USA

1000 East Drake Road, Fort Collins CO 80525, USA
Phone +1 (970) 482-5811  Fax +1 (970) 498-3058
Email and Website—www.woodward.com
Woodward has company-owned plants, subsidiaries, and branches,

as well as authorized distributors and other authorized service and sales facilities throughout the world.
Complete address / phone / fax / email information for all locations is available on our website.

Product Manual 26635 (Revision C, 7/2016) : L-Series Position Controller With CAN Capability

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Product Manual 26635

L-Series Position Controller

Software: 5418-6084, 5418-6638, 5418-7022

Installation, Programming, & Troubleshooting Manual

The latest version of most publications is available on the publications page. If

Any unauthorized modifications to or use of this equipment outside its specified

If the cover of this publication states "Translation of the Original Instructions"

ACRONYMS/ABBREVIATIONS ..................................................................... III

Illustrations and Tables

Figure 2-1. System Overview .................................................................................4

The following are trademarks of Woodward, Inc.:

The following are trademarks of their respective companies:

Warnings and Notices

The engine, turbine, or other type of prime mover should be

The products described in this publication may present risks that

Be prepared to make an emergency shutdown when starting the

On- and off-highway Mobile Applications: Unless Woodward's

To prevent damage to a control system that uses an alternator or

Electrostatic Discharge Awareness

Follow these precautions when working with or near the control.

EMC Directive:Declared to Directive 2014/30/EU of the European Parliament

Other European Compliance:

Machinery Directive: Compliant as partly completed machinery with

North American Compliance:

CSA: CSA Certified for Class I, Division 2, Groups A, B, C

This product is certified as a component for use in

Wiring must be in accordance with North American Class I, Division 2 wiring

Field wiring must be suitable for at least 105 °C.

The actuator should be protected from exposure to sunlight and rain.

EXPLOSION HAZARD—Do not connect or disconnect while circuit is

Substitution of components may impair suitability for Class I,

RISQUE D’EXPLOSION—Ne pas raccorder ni débrancher

La substitution de composants peut rendre ce matériel

Purpose and Scope

How to Use This Manual

When included with an ITB (integrated throttle body), the actuator

Service Tool Software

Detailed descriptions of software installation are available in Chapter 4.

Optionally, a Run Enable input can be used to activate or de-activate the

Upon an engine shutdown command, the independent engine shutdown solenoid

Customer Actual Position (0-5V)

Figure 2-1. System Overview

Driver Input Power

Anlg Dmd Settings Direction Tuning

12/24V Input Power +12/24V

Figure 2-2. Functional Overview

Position Command Signal

(Primary Demand Fault AND Backup Demand OK)

Use Primary (Backup Demand Fault AND Primary Demand OK)

Primary Demand Fault

*Reset not required if configured as

Figure 2-3. Position Demand Logic

PWM Position Command

A user-configurable offset is available to adjust the input duty-cycle reading, as

100 user-defined shutdown

Desired Actuator Position, %

PWM Position Signal Duty Cycle, %

Figure 2-4. PWM Linear Demand to Position

100 user-defined shutdown