S1X

Generic Anti Spin

Valve Control
System

System
Description

174

155

POWER

SYSTEM
MODE 60,25
55,75
STATUS

8,5 8,5
10

10

123,5

10,5

AMP Stecker
AMP Connector

1 14

15 28 55
29 42
 S1X Generic Anti Spin Valve Control System
System Description
Overview

DESCRIPTION The Sauer-Danfoss Antispin Valve Control System combines the capabilities of modern
digital electronics with the worldwide proven Sauer-Danfoss hydrostatic components, to
enhance the machine performance and operation.

The microprocessor-based S1X provides flexibility and is designed for the future.

With easy-to change parameters (in software) it is possible to make an individual setup
for different machine types.

FEATURES • Environmentally hardened for mobile applications.

• Supply voltage 12 VDC or 24 VDC.

• Software changes without hardware operations.

• Easy to service.

• Flexibility: 2 - 4 motors.

• Active while steering.

• Individual setup per software:

- Selection of different steering modes
- Vehicle geometric
- Track width
- Wheel base
- Wheel diameter
- etc.

SYSTEM COMPONENTS • S1X-16 G2 AMP K196 S1X Electronic w/o CAN

• S1X-26 G2 AMP K196C S1X Electronic w CAN

• ASC Twin Valves

- 12 Volt, standard piston (507479)
- 12 Volt, special piston (507831)
- 24 Volt, standard piston (507832)
- 24 Volt, special piston (507833)

• Steering Sensor MCX103B1050 (788760)

• Manual Graphic Interface, english (517044)

• Manual SUSMIC-DIA 1, english (517046)

© 2001, Sauer-Danfoss

Sauer-Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Sauer -Danfoss reserves the
right to alter its products without prior notice. This also applies to products already ordered provided that such alterations can be made without
subsequent changes being necessary in specifications already agreed. All trademarks in this material are properties of the respective companies.
Sauer-Danfoss and the Sauer-Danfoss logotype are trademarks of the Sauer-Danfoss Group. All rights reserved.

2 BLN-96-9905-E • Rev. E • 04/2002

 S1X Generic Anti Spin Valve Control System
System Description
S1X Mobile Microcomputer

LED OVERVIEW
174 7
155 6

5
POWER

SYSTEM 4
MODE
55,75 60,25
STATUS

8,5
8,5
10

10

123,5

10,5

2 3 1

1 14
15 28 55
29 42

1 S1X
2 Mounting slots
3 AMP connector
4 Diagnostic LED red Error check
(STATUS) Lights up if an error is detected.

5 Diagnostic LED yellow Software check

(MODE) Flashes with approx. 0.5Hz (slow) if the program is running fine.
Flashes with approx. 5Hz (fast) if no program is loaded.
No flashing if in setup mode.

6 Diagnostic LED green 5VDC internal

(SYSTEM) Lights up if 5VDC internal is O.K.

7 Diagnostic LED green Battery after ignition switch

(POWER) Lights up if the battery voltage is connected after ignition.
S01697b

BLN-96-9905-E • Rev. E • 04/2002 3

 S1X Generic Anti Spin Valve Control System
System Description
ASC Twin Valve

ASC TWIN VALVE Gage port M7

Main port A
ISO 11926-1
control pressure for port A 1.0625-12 UN-2B
AMP Junior Timer ISO 11926-1 [1-1/16-12 UN-2B]
0.4375-20 UNF-2B
[7/16-20 UNF-2B] Supply port P
DN 25 Typ III 40 MPa series
per ISO 6162 [SAE 1.00]
4 Thread: 0.4375-14UNC-2B
M7 [7/16-14UNC-2B]
25 [1.00] min.
full thread depth

A
Drain port L
ISO 11926-1

P
0.5625-18 UNF-2B
[9/16-18 UNF-2B]
X3 L

B
M8 Main port B
Control pressure supply X3
ISO 11926-1 ISO 11926-1
0.5625-18 UNF-2B 1.0625-12 UN-2B
[9/16-18 UNF-2B] [1-1/16-12 UN-2B]

Gage port M8
control pressure for port B
ISO 11926-1
0.4375-20 UNF-2B
[7/16-20 UNF-2B]
A M7 X3 M8 B

P L
S01893a

TECHNICAL DATA Max. flow rate at inlet port P: 125 l/min

Max. absolute system pressure: 480 bar

Pressure droop at max. flow rate: (T = 50°C, n = 28 cSt) = 4 bar

Control pressure at port X3: 20..30 bar

Response time at stepped current input: 150 msec

Max. flow at closed valve: (400 bar delta, T = 50°C, n = 28 cSt) = 14 l/min

Drainage from flapper system: about 2.5 l/min continuously

4 BLN-96-9905-E • Rev. E • 04/2002

 S1X Generic Anti Spin Valve Control System
System Description
System Block Diagram

SYSTEM BLOCK DIAGRAM

PPU PPU

Engine

PPU PPU

Timer PID

Timer PID
Calculate
controller
setpoint
Timer PID

Timer PID

ASC Main switch DI

ASC Status
ASC switch rear (Option) DI

Transport switch
DI
(Option)

2nd offset switch (Option)

DI
(Optional: pump neutral switch)

Rv
Potentiometer front steering A
(Optional: FNR lever) D
Calculate
Rv steering
difference

Rv
Potentiometer rear steering A
(Optional: Slope sensor) D
Rv

Voltage regulator
RS232
F1 Sensors
V Interface for
10A System SUSMIC-DIA
Output check 1 to 4
t driver
+ Batt. -
12/24VDC
S01826a

BLN-96-9905-E • Rev. E • 04/2002 5

 S1X Generic Anti Spin Valve Control System
System Description
Theory of Operation

GENERAL REMARKS The ASC System is an antislip control for hydrostatic driving systems. It is possible to use
this system in wheeled machines of up to 4 wheels driven individually. The ASC System
is especially useful for applications with fixed motors, but can also be combined with
variable displaced motors.
The ASC System consists of a central digital controller S1X, speed sensors for each motor,
el. proportional flow devider (double valve in one case) and if necessary a max. of 2
steering sensors. Each motor is fitted with a speed sensor. It is important to take note
that the amount of impulses per wheel rotation show the highest possible frequency
resolution to be able to guarantee a good performance of the antislip control. The
pressure ports of the favoured driving direction of the individual motors are combined at
port A and B by means of a flow devider.
The flow devider provides both motors with the required flow, generally these are the
2 motors for one axle. The P-port of the flow devider must be connected to the pump.
The port for leakages must be connected to the reservoir directly. If it is required to
keep the ASC System active while steering, the machine needs to be fitted with steering
sensors respectively.

FUNCTION The system determines the current speed of each motor and calculates the speed of the
wheel with the help of the respective machine data (wheel circumference, gear change,
pulse/rpm, etc.).
When driving straight forward the speed of the slowest wheel is used as a reference
for the remaining wheels. When driving in a curve the speed of the wheels is propor-
tionally set to their turning circles. The wheel with the smallest relative speed is used
as a reference in this case. The turning circles are calculated out of the steering
information according to the respective calculation modules relative to the steering
mode. Considering the reference speed (vehicle speed), the theoretical wheel speed is
defined in taking the steering influence into account.
The difference between the actual speed and the theoretical wheel speed results in the
slip for each wheel. If the controller detects slip on one or more wheels, the respective
flow to the motor will be reduced by the ASC valve. Throttling continuous until the
general speed lies below the boundary speed.

STEERING MODES All steering modes must be based on Ackermann’s geometrical steering algorithms.

The different modes are as follows:

• no steering
• front wheel steering
• front steering 4WD
• rear wheel steering
• combined front and rear wheel steering
• articulated steering
• bogie steering
• combined articulated and bogie steering
• hill mode

The output of the steering sensor needs to be direct proportional to the steering angle
of the wheel.

6 BLN-96-9905-E • Rev. E • 04/2002

 S1X Generic Anti Spin Valve Control System
System Description
Connectors

CONNECTORS
1 Crimp tool for power timer, Id. No. 509575
Die set for power timer, Id. No. 509576
Crimp tool for micro timer, Id. No. 509577
(Measuring Adapter Id. No. 510987)

2 Recommendation MCX103B1050, Id. No. 788760. Example:

S1X If a potentiometer is used, it should have a
68Ω
resistance value of ≥ 1kΩ and ≤ 10kΩ.If there is
POWER
a need for the whole range, then the potentiometer
SYSTEM must have series resistors. The series resistor has 1kΩ
MODE to be approximately 7% of the resistance value.
STATUS The voltage of the analog input must increase,
68Ω
if the pedal is pushed.

3 We do not supply FNR and mode switches, therefore no

connectors can be recommended.

4 If an external speed sensor is used, the device must have

an open collector output (NPN)
5 PC (only for optimization)

AMP Connector
Id. No. 512263
5

RS232 Cable
Id. No. 511241

RS232 Connector (female)

Id. No. 511032 For field service
SUSMIC-DIA 1 5
Id.-No. 504780
ESC ENTER

MENU CODE
COMMAND

Metri Pack Connector

Id. No. 745471 2
Steering
MCX103B sensor

4 PPU with Turck Connector part of the motor

Id. No. 500724 (straight) or
Id. No. 500725 rightangle)

AMP Junior Timer

Id. No. 508388
ASC valve
S01719a

BLN-96-9905-E • Rev. E • 04/2002 7

 S1X Generic Anti Spin Valve Control System
System Description
System Connection Diagram

SYSTEM CONNECTION DIAGRAM

1 Contact capability min. 6A
2 Malting fuse 10A
3 Position shown: ASC OFF
4 Position shown: Transport OFF
5 Max. 3,25A each pin
= Option
*

ASC Main switch

3
AMP Stecker, 42polig
AMP connector, 42pin
2nd offset switch *
(Optional: Pump neutral switch)
Sensor (-) 1
Digital Input 0 2 ASC switch rear *

Digital Input 1 * 3 3

Digital Input 2 * 4
Transport switch *
Digital Input 3 * 5
4
High Current 0 (+) 6
High Current 1 (+) 7 Valve 1 Motor front left
High Current 0 FB (-) 8
High Current 1 FB (-) 9
Valve 2 Motor front right
Low Current 0 FB (-) * 10
Low Current 1 FB (-) * 11
nc 12 PPU 1 Motor front left
RS232 Ground 13
Sensor (+) 14
PPU 2 Motor front right
Battery (-) 15
PPU Input 0 16
PPU Input 1 17 PPU 3 Motor rear left
PPU Input 2 18
PPU Input 3 19 PPU 4 Motor rear right
RS232 TxD 20
RS232 RxD 21 1
2
3
High Current 4 (+) * 22 4 SUB-D Diagnostic connector
5
6 (female), 9pin
High Current 4 FB (-) 23 7
8 Terminals
High Current 5 (+) * 24 9 Terminals Batt. (-)
High Current 5 FB (-) 25 Batt. (+)

High Current 2 (+) 26

High Current 3 (+) 27 Valve 3 Motor rear left

Battery (+) 28
5
Battery (-) 29 Valve 4 Motor rear right
nc 30
Analog Input 0 31 Terminals
Analog Input 1 32 Sensor (-)
Rv
Low Current 4 FB (-) * 33 Potentiometer front steering
cw
Low Current 5 FB (-) * 34 Terminals (Optional: FNR lever)
Rv
Sensor (+)
nc 35 1
Rv
nc 36 S1 2
Potentiometer rear steering
cwcw
(Optional: Slope sensor) F1
CAN High 37 Rv

CAN Low 38 + Batt. -

CAN Shield 39 CAN Bus Terminals 12/24V DC

Digital Output 0 40
Digital Output 1 * 41 ASC Status front/rear *
Battery (+) 42
5 ASC Status rear *
517047

8 BLN-96-9905-E • Rev. E • 04/2002

S1X Generic Anti Spin Valve Control System
System Description
Notes

BLN-96-9905-E • Rev. E • 04/2002 9

OUR PRODUCTS
Hydrostatic transmissions
Hydraulic power steering
Electric power steering
Closed and open circuit axial piston
pumps and motors
Gear pumps and motors
Bent axis motors
Radial piston motors
Orbital motors
Transit mixer drives
Planetary compact gears
Proportional valves
Directional spool valves
Cartridge valves
Hydraulic integrated circuits
Hydrostatic transaxles
Integrated systems
Fan drive systems
Electrohydraulic controls
Digital electronics and software
Battery powered inverter
Sensors
BLN-96-9905-E • Rev. E • 04/2002
Sauer-Danfoss Hydraulic Power Systems
– Market Leaders Worldwide
Sauer-Danfoss is a comprehensive supplier providing complete
systems to the global mobile market.
Sauer-Danfoss serves markets such as agriculture, construction, road
building, material handling, municipal, forestry, turf care, and many
others.
We offer our customers optimum solutions for their needs and
develop new products and systems in close cooperation and
partnership with them.
Sauer-Danfoss specializes in integrating a full range of system
components to provide vehicle designers with the most advanced
total system design.
Sauer-Danfoss provides comprehensive worldwide service for its
products through an extensive network of Authorized Service
Centers strategically located in all parts of the world.
Sauer-Danfoss (US) Company
2800 East 13th Street
Ames, IA 50010, USA
Phone: +1 515 239-6000, Fax: +1 515 239-6618
Sauer-Danfoss (Neumünster) GmbH & Co. OHG
Postfach 2460, D-24531 Neumünster
Krokamp 35, D-24539 Neumünster, Germany
Phone: +49 4321 871-0, Fax: +49 4321 871-284
Sauer-Danfoss (Nordborg) A/S
DK-6430 Nordborg, Denmark
Phone: +45 7488-4444, Fax: +45 7488-4400
Sauer-Danfoss (US) Company
3500 Annapolis Lane North
Minneapolis, MN 55447, USA
Phone: +1 763 509-2084, Fax: +1 763 559-0108
www.sauer-danfoss.com