GMK 6250 All Wheel Steering Training

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GMK 6250 All Wheel Steering
Function description:
Under normal highway steering conditions axles 1,2,3,5, & 6 are all steering axles.
All the highway steering axles are interconnected by a mechanical linkage to
synchronise the axles. A mechanical locking mechanism (steering idler assembly) is
installed to enable axle 5 & 6 to be unlocked from the synchronised position and steer
independently from the front axle group. However, once unlocked from the front axle
group, axles 5 & 6 remain synchronised by a mechanical linkage. Axle 4 has steering
capability, but in highway mode it remains locked in the straight-ahead position by an
internal lock within the steering cylinder. There is no mechanical connection to the
other steering axles. Axle 3 has a single steering cylinder for normal highway steering
and a hydraulic cylinder locked by an internal lock, in mid stroke, which acts as a
drag link between the normal steering cylinder and the wheels.
The all wheel steering system allows all six axles to be steered in crab or co-ordinated
modes on the jobsite. Steering geometry, which is suitable for highway travel does
not normally allow correct steering alignment in the all wheel steering mode. The
problem of overcoming the Ackermann principles, which are applicable to the
steering geometry during highway travel, is achieved with a unique
electronic/hydraulic control steering system.
When operational, the steering system allows the front three axles, 1-3 to be steered
with the steering wheel. The third axle has an additional independent hydraulic
control for the drag link steering cylinder, dictated by the relative steering angle
between axles 1-2 & 5-6 respectively. This allows the third axle to be steered by
combined or individual control of the two cylinders connected to it. Three control
modes are possible for axle 3. Mode 1: control from the conventional steering
cylinder when the steering wheel is turned. Mode 2: with additional series control to
the drag link cylinder, thus combining the cylinders and giving additional steering
lock. Mode 3: with control only from the drag link cylinder when the steering wheel is
not turned from the straight-ahead position. Axles 5 & 6 are steered with a rocker
switch from the driver’s seat. Axle 4 is steered by independent cylinders with control
dictated by the relative steering angle of axles 1-2 & 5-6 respectively.
The system consists of an electronic control module (ESX). The module is given
input/command values from a potentiometer mounted on the mechanical steering lock
assembly, which gives the steering position reference (command value) between axle
1-2 & 5-6. Axles 3 and 4 each have individual potentiometers to measure their actual
angles in relation to the command values. The electronic module compares the
difference and via individual proportional control valves and individual steering
cylinders, brings axles 3 and 4 to correspond with the steering angles of the axles 1-2
& 5-6 respectively. Axle 3 overcomes the problem of standard steering geometry by
using the additional drag link cylinder to provide the steering lock required for correct
wheel tracking in the all wheel steering mode. As axle 4 is steered by independent
cylinders, it can also meet the wheel tracking requirements of all wheel steering.
GMK 6250 Training Information. May 98. All wheel steering. Page 1
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All wheel steering:
Proportional control principle:
• The third axle lockable drag link cylinder, fourth axle lockable steering cylinder
and the steering idler assembly are all unlocked on selection of all wheel steering.
• Control of the front axle steering is from the steering wheel and the rear axles are
steered by a rocker switch located on the driver’s seat.
• Once unlocked, the steering idler potentiometer gives a command value to ESX
related to the relative position of the front and rear axles.
• ESX control via proportional solenoids will control the steering cylinders until the
actual position stroke potentiometers correspond with the command value. This
control matches the third & fourth axle wheel tracking to the selected steering
configuration dictated by the front and rear axles, which produces the command
value from the relative angle potentiometer in the rear steering idler assembly.
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System functions:
Selection of independent rear steering is by a switch -S4 in the driver’s cab. A relay
interlock -K1 is controlled by the Allison ECU to inhibit power to the switch until the
gear selector is placed in neutral or a low gear not higher than second. Subject to
correct gear selection, the ESX module receives a 24v unlock signal.
The ESX module then provides power to the pneumatic solenoids -Y1 & Y12, which
will then unlock the lockable drag link cylinders of axles 3 & 4 and unlock the rear
steering idler assembly. Switches in the cylinders and the steering idler provide
locked/unlocked status to the ESX and when unlocked give an up-shift lock signal to
the Allison ECU/unlocked warning via light -H6 in the driver’s cab.
Solenoid valves -Y21, -Y22, -Y31 & -Y32 are energised by ESX to disengage the
hydraulic connection between axle pair 5 & 6 from steering axles 1, 2 & 3.
Additionally, the solenoid valves now connect the steering cylinders of axles 5 & 6 to
the direction valves -Y2 left lock & -Y3 right lock, which give independent steering
control via the driver’s seat switch to axles 5 & 6.
Operation of the all wheel rear steering via the seat switch provides a direction-input
signal to ESX and energises solenoid valve -Y9 via relay K30 (suspension interlock)
for operating pressure. This valve will re-route P1 supply from steering circuit 1 to
the proportional control valve block at port P. The pump volume is also increased to
55 litres per min via the 5.5-mm flow control orifice, which is in the diverter valve
block. An additional valve –Y11 beside the diverter valve also energised by ESX
now connects a 150 bar relief valve to the load sense line of P1. This will reduce the
actual rear steering pressure to approximately 165 bar.
Oil entry into the proportional valve block is controlled by solenoid valve -Y10,
which is energised by the ESX module. Although the porting arrangement looks
strange, this is only to achieve maximum flow into the valve by using both ports.
Once oil enters the block, it supplies both proportional valves via a 2.5-mm restrictor
for each valve. The proportional valve functions -Y5 = Left lock axle 3, -Y6 = right
lock axle 3, -Y7 = left lock axle 4 & -Y8 right lock axle 4 are all controlled by a
(mA) current output from ESX. A single 1.5 litre accumulator is connected to the oil
supply downstream of the solenoid valve -Y10 to make up any flow requirement.
There are two relief valves integrated into the valve block. One is set to 180 bar and
functions as a maximum system pressure safety valve, the other is set to 130 bar and
functions as a sequence valve to give control priority to axles 3 & 4. Oil flow exits
the block via a 2.0-mm restrictor from port A3, onward bound to the direction control
block for axles 5 & 6.
Oil enters the rear steering direction control block at port P5 and gains access to the
direction valve through solenoid valve-Y4 de-energised, or is routed through a 2 mm
restrictor when energised. The solenoid is energised by ESX to give a slow motion
function to reduce the speed of axles 5 & 6 when locking/unlocking the rear steering
idler assembly. The direction valve -Y2 left lock & -Y3 right lock routes oil to the
steering cylinders from the direction control block via the front/rear blocking
solenoids on ports P1 – P4. 20 bar in line relief valves are connected to these ports to
generate back-pressure in the steer cylinders to reduce reaction during highway travel.
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All wheel steering:
When locked for highway operation, the rear steering idler assembly rotates only as a
fixed idler to connect the front and rear steering groups. As the steering levers remain
locked at 1800 there is no change to the output (command value) of the relative angle
potentiometer. However, when the rear steering idler is unlocked the steering levers
are separated and are free to rotate in any direction, irrespective of the other lever’s
position. The difference from the 1800 position, or relative angle of the two levers is
used to drive the potentiometer and produce the output (command value) necessary to
control the all wheel steering function.
Steering idler locked in highway Steering idler unlocked in all wheel

mode steering mode (configuration b)
Command value is
Command value
produced relative to
remains at zero
lever positions
value
Relative angle potentiometer
Please see drawing 3010600 for further details
The power supply to the relative angle potentiometer is 8.5 volts. As long as the
levers remain at 1800 to each other, the command value will remain at zero value.
The zero value = half the voltage span. The command value voltage will rise or fall
depending on the lever positions, which are dictated by the selected steering
configuration. This rising/falling command value is used to control the proportional
valves via the ESX module and thus select the correct direction and degree of steering
lock required for axles 3 & 4. A rising command value from zero will select a left
steering lock and a falling command value from zero will select a right steering lock.
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All wheel steering:
View of rear steering idler assembly The potentiometer below is mounted

internally, with the body connected to
one steering lever and the spindle
=47 –S3 lock/unlock switch
connected to the other lever.
This produces a command value
relative to the lever positions.
To rear
To front axles 5 - 6
axles 1 - 3
Air pressure from solenoid valve –Y12 will provide air to overcome the internal spring force in the
cylinder (similar to maxibrake) and lift the outer body to unlock/disengage axles 5 & 6 from the
front axles. This allows both levers to rotate freely, irrespective of the other lever’s position.
View of steering cylinder stroke/feedback potentiometer installation.

Both cylinders use the same type of potentiometer as the steering idler ass’y
Potentiometer
The following page, showing possible steering configurations illustrates the relative
angles of the steering idler levers and the resulting command value outputs. Although
compatible command values can be found, these are produced by different
configurations, that still requires the same steering configuration of axles 3 & 4.
This symbol will be used to represent the relative steering angles of the
rear steering idler levers and the corresponding command value.
Steering lever position for axles 5 & 6
Steering lever position for axles 1 & 2
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Steering configurations: Relative angle command value (X)

from steering idler assembly levers
Front
a)
X= 0
b)
X= < 0
c)
X= 0
d)
X= > 0
e)
X= Max
f)
X= > 0
g)
X= 0
h)
X= < 0
j)
X= Min
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The following pages give an engineering development description of the

all wheel steering system and list the predetermined system parameters.
System calibration of All Wheel Steering System for GMK 6250

version 1.3
1. Specification of All Wheel Steering System for GMK 6250
1.1. Separate Steering System
The steering of the axles 1, 2 and 3 is controlled by the steering wheel.

Axles 5 and 6 are controlled by a rocker-switch located on the driver’s
seat. Axles 3 and 4 are controlled electro-hydraulically according to the
steering lock of the front and rear axle systems.
1.2. Operation of the All Wheel Steering System
The key-operated switch is turned on. For this purpose, the driving
speed must be <15 km/h and the gear signal has to be ≤ 2nd. The
driving speed and the gear signal are not checked by the ESX.
Current is supplied to the ESX after having turned on the key-operated
switch (UE and UB) and therefore, the ESX is completely out of action
during highway travel. The separate steering system is activated by
means of a toggle switch, which is connected to D+ of the ESX.
As soon as the toggle switch is switched to separate steering mode,

the lockable steering cylinders and the front axle/rear axle system
(steering idler assembly) connection are electro-pneumatically
unlocked (digital outputs 9 and 6 on HIGH). The steering system supply
pump is triggered (output 10, output 5, DO Baby on HIGH) and the
steering valves of axles 3 and 4 are pulsed (output 1, 2, 3 and 4 are
alternately powered in order to make the unlocking process easier).
The state of unlocking is indicated by one switch each (N/C) on the
steering cylinders and one switch on axle 5-6 steering idler assembly.
Rear steering (DigIn 2, DigIn 4, DigIn 6 OPEN means unlocked). If the
unlocking of the axles 3 and 4 is indicated, the relevant axle is no
longer pulsed. If all the three switches are open, the control switches
over to separate steering mode (DO baby11, 12, 13, and 15 on HIGH).
With all wheel steering mode, the axles 5 and 6 are controlled by
rocker-switch (DigIn 8, DigIn10). The axles 5 and 6 are controlled by a
two-position valve (output 7, output 8). As regards the software, no
limitation of the limit stops has to be integrated. With all wheel steering
mode, axles 1 and 2 are still hydraulically controlled. Axles 3 and 4 are
controlled according to the steering angle between the front axle/rear
axle system. Designated outputs are digital output 10 and PWM-output
5). A control lamp (output 11) shows the all wheel steering mode. If the
control lamp does not light up, the all wheel steering mode is not
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activated. A permanent light means the all wheel steering mode is

activated. A flashing control lamp indicates that there is an all wheel
steering electronic error.
To de-activate the all wheel steering mode, the switch “separate

steering mode” is reset. When resetting the toggle switch, the re-
locking of the steering cylinders of axles 3 and 4 is selected (digital
output 6 on LOW). The steering hydraulic system remains in the all
wheel steering mode (axles 3 and 4 are still being controlled according
to the steering angle between front axle/rear axle system) and the
control lamp still lights up permanently. As soon as the axles 3 and 4
align with the highway mode position, the relevant cylinders lock
automatically. As soon as the locking of the steering cylinders of axles
3 and 4 is indicated (DigIn 2 and DigIn 4 on HIGH), the re-locking of the
front axle/rear axle steering idler assembly is selected and the control
of axles 3 and 4 is switched off. When the front axle/rear axle steering
idler assembly aligns with the highway mode position, the steering
idler will lock automatically. Once the steering is locked (DigIn2, DigIn4
and DigIn 6 on HIGH), the steering hydraulic system will be reset to
highway mode (DO Baby 11, 12, 13, 15 on LOW). The steering system
supply pump is switched off (output 10, output 5, DO Baby 16 on LOW)
and the control lamp of the all wheel steering system extinguishes.
After having turned back the key-operated switch, the gear range inhibit
is also released.
The hardware (relay interlock) maintains system power if the key-

operated switch is turned back, before the all wheel steering mode is
fully locked in highway mode.
When de-activating the all wheel steering mode please consider the
following two cases:
1st case: Toggle switch was set to highway travel and is now
turned back to separate steering mode, before the
steering cylinders of the axles 3 and 4 will be locked.
Reaction: Steering cylinders 3 and 4 are unlocked (digital
output 6 on HIGH). Separate steering mode remains
activated.
2nd case: Toggle switch was set to highway travel and is now
turned back to separate steering mode, after the steering
cylinders of the axles 3 or 4 have been locked.
Reaction: Axle 3 and (or) axle 4 (depending on which axle
is already locked) are controlled until both steering
cylinders & the steering idler are locked. Afterwards, the
separate steering mode will be reactivated.
In the second case, partial re-locking and then unlocking

can cause control difficulties, please allow system to lock
completely prior to unlocking.
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The steering system can be locked in two ways.
1. The operator moves the steering wheel carefully until the front
axle and rear axle steering lock match. The steering locks
automatically.
2. The operator actuates the rear axles steering and searches for
the front axle position. For this purpose, the steering speed
(slow motion) of the axles 5 and 6 (digital output Baby14 on
HIGH) is reduced, as soon as the front axle/rear axle system
ratio is within a certain tolerance value +/-100. Once the steering
speed is reduced, it remains the same until all the steering
cylinders and the steering idler assembly is locked.
1.3 Troubleshooting
The following errors on the peripheral equipment of the ESX can be

recognised: line disconnection, short-circuit to UB or short-circuit to
ground on the digital outputs; line disconnection, short-circuit to UB or
short-circuit to ground on the analogue outputs; too great and too
frequent deviation of the axles 3 and 4 from the command value.
Furthermore, the steering valves are checked, i.e. it is checked if with a
certain PWM-ratio, the corresponding current is flowing.
If one of these errors is recognised, all outputs will be cut off and the
relevant error code will be stored in the EEPROM of a ring memory.
The ring memory can store max. 15 errors. If there are more errors to
be stored, the “oldest error” will be overwritten. That error, which
occurred as the last one, will always be stored. The error memory can
be displayed via PC by reading the EEPROM. Additionally, the last
error can be read by means of the control lamp. If an error is indicated
by a flashing control lamp, the error code of the last error will be put
out via the control lamp after having switched on and off the toggle
switch. Two resistor boards –RN1 & -RN2 (+BE550.A4) are used to
continuously check the system integrity of the switched digital inputs:
Digin 2, Digin 4, Digin 6, Digin 8 & Digin 10.
1.4 Memorising and reading out of the EEPROM-values
The EEPROM-values are memorised and read out via RS232 by

means of an editor made available by Grove.
1.5 Calibration of the steering angle transmitters

PC-software produced by Deutsche GROVE
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ESX Pin Connections
PIN Configuration Comments Connection

1 AGND For external sensors TA 35/35
2 Output 10 Digital output 1 A Energise solenoid 47-Y9 to route supply
pump to steering system.
3 Output 12 Digital output 1 A Not used
4 RXD Serial interface RS232
5 TXD Serial interface RS232
6 AIN 2 Analogous voltage input Set value sensor (steering angle sensor)
7 AIN 3 Analogous voltage input Steering angle sensor axle 3
8 AIN 5 Analogous voltage input Steering angle sensor axle 4
9 AIN 7 Analogous power or Not used
voltage input
10 Module 26 Module 2 Pin 6 Not used
11 Baby 22 Not used
12 Dig In 2 Digital input Acknowledgement axle 3 locked
13 Dig In 4 Digital input Acknowledgement axle 4 locked
14 Dig In 6 Digital input Acknowledgement axle 5/6 locked
15 Dig In 8 Digital input Switch axle 5 & 6 to right
16 Dig In 10 Digital input Switch axle 5 & 6 to left
17 Dig In 12 Digital- / torque input Not used
19 Dig In 16 Digital- / torque input
20 Baby 12 Digital output 4A Switch over rear axle steering
Solenoid 47-Y22
21 Baby 14 Digital output 4A Speed reduction axle 5 & 6
(slow motion 47-Y4)
22 Baby 16 Digital output 4A Pump pressure limited to 165 bar
Solenoid 47-Y11
23 8,5 V ext. 8,5 V for external TA 35/35
sensors
24 Output 9 Digital output 1A Unlock axle 5 & 6,
Solenoid 47-Y12
25 Output 11 Digital output 1A Control light
26 -Wire CAN CAN-Bus
27 +Wire CAN CAN-Bus
28 D+ Toggle switch all wheel steering
voltage input
voltage input
voltage input
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32 A IN 8 Analogous voltage input Res.
33 Res Res. Not used
42 Baby 11 Digital output 4A Switch over rear axle steering,
Solenoid 47-Y21
Solenoid 47-Y31
Solenoid 47-Y32
45 Baby 21 Not used
46 Output 1 PWM output 4A with Axle 3 to left,
power measurement Proportional solenoid 47-Y5
47 Output 2 PWM output 4A with Axle 3 to right,
48 Output 3 PWM output 4A with Axle 4 to left,
49 Output 4 PWM output 4A with Axle 4 to right,
50 Baby 23 Not used
51 Baby 24 Not used
52 Baby 25 Not used
53 Res. Res. Res.
54 +UB Continuous current Key switch
supply
55 GND Electr. Ground Vehicle ground
56 +UB Power supply Key switch
61 Output 6 Digital output 4A Unlock axles 3 & 4
Solenoid 47-Y1
62 Output7 Digital output 4A Axle 5 & 6 to left
Solenoid 47-Y2
63 Output 8 Digital output 4A Axle 5 & 6 to right
Solenoid 47-Y3
64 Output 5 PWM output 4A with Release oil flow to all wheel steering,
power measurement Solenoid 47-Y10
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65 XGND1 Not used
66 XGND1 Not used
67 XGND2 Not used
68 XGND2 Not used
Description of the EEPROM parameters:

The EEPROM editor provides 13 masks that are explained in the following table:
Mask Description
Read error memory Mask for reading the error memory. The last 15
errors will be saved in a memory.
Set error memory Mask for setting back the error memory. After
energising the field “read”, the error memory will be
set back.
Actual current of axles Mask for displaying the control valve flow (I max).
After activating the mask, the control valve flow of
axle 3 & 4 will be displayed in mA.
Regulating circuit axle 3 Amplification factor and integration time constant of
positioning regulator axle 3
Regulating circuit axle 4 Amplification factor and integration time constant of
position regulator axle 4
Sensor calibration This mask contains:
1. Zero offset compensation factors and current

correction values. When calibrating, parameter
will be determined and written into the
EEPROM. They must not be changed.
2. Read voltages at the calibration points of axles.
When calibrating, parameter will be determined
and written into the EEPROM. They must not be
changed.
3. Value of outgoing current for axles 3 & 4, when
these axles are in the calibration mode with fixed
current value when energised. The given current
will be added to starting current in program.
Sensor monitoring With this mask the sensor monitoring can be
activated and de-activated. Furthermore, there are the
reference values for the conversion of the voltage
values in units of degrees.
Set value / actual value of the axles Mask showing the set and actual values. After
activating of this mask, the set and actual values of
axles will be displayed in degrees/10.
Current regulator Mask contains amplification factor and integration
time constant of the power position regulator.
Furthermore, the starting current (I min) and max (I
max). steering direction valve flow can be adjusted.
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Mask Description
Tolerance speed reduction Mask for the determination of the area, from
which the axles 5 & 6 are controlled with
reduced speed in degrees / 10
Monitoring of the digital in- and outputs In this mask, the digital in- and outputs can be
activated and de-activated.
Monitoring of regulating circuit and control In this mask, the monitoring of the axles 3 &
valve 4 can be activated and de-activated. This
function is deactivated, as deviations from the
desired value are possible, due to the
“pressure requirements”.
For monitoring the steering valve, a certain
PWM – relation will be assigned to a certain
current. Therefore, the max. and min. ohmic
resistance of the steering valves are to be
provided.
Valve pulsation In this mask, the pulsation time and amplitude
of pulsation for axle 3 & 4 can be determined.
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The following values are suitable for the EEPROM – parameter:

The values are predetermined and should not be changed.
Mask (M) / Parameter (P) Value

Read error memory (M) All values in this mask are written
by ESX, see error code table.
Set back of error memory (M) -
Actual value of axles (M) -
Regulating circuit axle 3 (M)
Amplification regulating circuit 3 (P) 20000
Value factor regulating circuit axle 3 (P) 500
Regulating circuit axle 4 (M)
Amplification regulating circuit 4 (P) 20000
Value factor regulating circuit axle 4 (P) 500
Sensor calibration (M)
Set value sensor (current correction) (P) See *
Set value sensor (zero offset compensation) (P) See *
Voltage set value sensor left stop (P) 6300...7000mV
Voltage set value sensor locked (P) 3300...3900mV
Voltage set value sensor right stop (P) 700...1400mV
Axle 3 (current correction) (P) See *

Axle 3 (zero offset compensation) (P) See *
Voltage left stop axle 3 (P) 700...950mV
Voltage axle 3 locked (P) 3800...4200mV
Voltage right stop axle 3 (P) 7400...7650mV
Axle 4 (current correction) (P) See *

Axle 4 (zero offset compensation) (P) See *
Voltage left stop axle 4 (P) 700...950mV
Voltage axle 4 locked (P) 3800...4200mV
Voltage right stop axle 4 (P) 7400...7650mV
Outgoing current if axles are controlled by switches (P) 500mA
Sensor monitoring (M)

Max. value of axle 3 (P) +479 degrees/10
Min. value of axle 3 (P) -450 degrees/10
Value axle 3, locked (P) 0 degrees/10
Max. value axle 4 (P) +479degrees/10

Min. value axle 4 (P) -450 degrees/10
Value axle 4, locked (P) 0 degrees/10
Max. value of set value sensor (P) +419 degrees/10

Min. value of set value sensor (P) -450 degrees/10
Value of set value sensor, locked 0 degrees/10
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Mask (M) Parameter / (P) Value

Set – and actual value of axles (M)
Read – in value set value sensor +419...-430 degrees/10
Set value axle 3 (P) +479...-450 degrees/10
Actual value axle 3 (P) Must agree with set value
Set value axle 4 (P) +479...-450
Actual value axle 4 (P) Must agree with set value
Current regulator (M)
Max. voltage of steering valve (P) 1100mA
Starting current steering valve (P) 200mA
Amplification of current regulator (P) 800
Integral factor of current regulator (P) 300
Tolerance speed reduction (M) 100 degrees/10
Section +/- from which the speed for axle 5/6 will be
reduced (P)
Monitoring of the digital in- and outputs (M)
Softdip: monitoring digital outputs (P) 1
Softdip: monitoring digital inputs (P) 1
Monitoring of regulating circuit and steering valves (M)
Softdip: monitoring of control system (P) 0 (deactivated)
Max. tolerance of axle 3 Not relevant, because
Max. allowable tolerances of the set value axle 3 (P) Monitoring
is not
Max. tolerance of axle 4 activated.
Max. allowable tolerances of the set value axle 4 (P)
Monitoring steering valve: minimum ohmic resistance 120 Ohm/10

Monitoring steering valve: maximum ohmic resistance 230 Ohm/10
Pulsed valve (M)

Pulsed time of axle 3/4 6 in 1/40ms
Pulsing outgoing current. Value of outgoing current when 300 mA
pulsing.
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The values “set value sensor (current corrections)” and “set value sensor (zero offset
compensation)” will be determined during the calibration by means of the following
parameters:
Max. value of set value sensor (a)

Min. value of set value sensor (b)
Value of set value sensor, locked condition (c)
Voltage set value sensor left stop (d)

Voltage set value sensor, locked (e)
Voltage set value sensor right stop (f)
Set value sensor (current correction) = [(b - a) x 1000] / (f – d)

Set value sensor (zero offset compensation) = c x 1000 – set value sensor (current
correction) x e
** Calculation as in *, only with parameter of axle 3

*** Calculation as in *, only with parameter of axle 4
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Error-Code Programmdefines Remarks
1 Axle 3 out of Tol

2 Axle 4 out of Tol
3 KS UB Sensor Axle 3 AIN 3 ( Pin 7)
4 KS Ground LU Sensor axle 3 AIN 3 ( Pin 7)
5 KS UB Sensor Axle 4 AIN 5 (Pin 8)

6 KS Ground LU Sensor axle 4 AIN 5 (Pin 8)
7 KS UB Sensor Set value sensor AIN 1 (Pin6)

8 KS Ground LU Set value sensor AIN 1 (Pin6)
9 Error WD configuration System error

11 Error read eprom System error
12 KS Ground Release oil flow Output 5 (PWM 4 A ,Pin 64)

13 KS UB Release oil flow Output 5 (PWM 4 A ,Pin 64)
14 LU Release oil flow Output 5 (PWM 4 A ,Pin 64)
15 LU or KS UB Release oil flow Output 5 (PWM 4 A ,Pin 64)
16 Unknown err Release oil flow System error
17 KS Ground unlock axle 3, 4 Output 5 (DigOut 4 A, Pin 61)

18 KS UB unlock 3, 4 Output 5 (DigOut 4 A, Pin 61)
19 LU unlock axle 3, 4 Output 5 (DigOut 4 A, Pin 61)
21 LU or KS UB unlock axle 3, 4 line disconnection are unkown,
because ampere to low
22 Unknown error Diag unlock axle System error

4
23 KS Ground axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)

24 KS UB axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)
25 LU axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)
26 LU or KS UB axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)
27 Unkown ERR Diag axle 5, 6 to System error
left
28 KS Ground axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)

29 KS UB axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)
31 LU axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)
32 LU or KS UB axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)
33 Unknown err Diag axle 5, 6 System error
to right
H.Eilers 20.03.00 Error-Code- Liste Separate Lenkung.xls 1

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35KS UB unlock axle 5, 6 Output 9 (DigOut 1 A, Pin 24)

36 Unknown err unlock axle 5, 6 System error
37 KS ground solenoid 47-Y9 Output 10 (DigOut 1 A, Pin2 )

38 KS UB solenoid 47-Y9 Output 10 (DigOut 1 A, Pin2 )
39 Unknown err solenoid 47-Y9 System error
41 KS ground control light Output 11 (DigOut 1 A, Pin 25)

42 KS UB control light Output 11 (DigOut 1 A, Pin 25)
43 Unknown err control light System error
44 Error PWM axle 3 left Output 1 (PWM 4 A, Pin 46)

line disconnection, shortcut UB or
shortcut ground on PWM output
45 Error PWM axle 3 right Output 2 (PWM 4 A, Pin 47)

46 Error PWM axle 4 left Output 3 (PWM 4 A, Pin48)

line disconnection,shortcut UB or

48 Unknown err Diag axle 3 left System error

49 Unknown err Diag axle 3 right System error
53 Out of range errror diag System error
54 KS ground solenoid47-Y21 Baby 11 (DigOut 4 A, Pin42)

55 KS UB solenoid 47-Y21 Baby 11 (DigOut 4 A, Pin42)
56 LU solenoid 47-Y21 Baby 11 (DigOut 4 A, Pin42)
57 LU or KS Ub solenoid 47-Y21 Baby 11 (DigOut 4 A, Pin42)
58 Unknown err Diag solenoid System error
47-Y21
59 KS ground solenoid47-Y22 Baby 12 (DigOut 4 A, Pin 20))

61 KS UB solenoid 47-Y22 Baby 12 (DigOut 4 A, Pin 20))
62 LU solenoid 47-Y22 Baby 12 (DigOut 4 A, Pin 20))
63 LU or KS Ub solenoid 47-Y22 Baby 12 (DigOut 4 A, Pin 20))

Deutsche Grove

47-Y22
65 KS ground solenoid 47-Y31 Baby 13 (DigOut 4 A, Pin 43)
66 KS UB solenoid 47-Y31 Baby 13 (DigOut 4 A, Pin 43)
67 LU solenoid 47-Y31 Baby 13 (DigOut 4 A, Pin 43)
68 LU or KS UB solenoid 47-Y31 Baby 13 (DigOut 4 A, Pin 43)
47-Y31
71 KS ground speed reduction

solenoid 47- Y4 Baby 14 (DigOut 4 A, Pin 21)
72 KS UB speed reduction
73 LU speed reduction
74 LU or KS UB speed reduction
75 Unknown err Diag solenoid
47- Y4 System error

47-Y32 System error

85 LU or KS sloenoid 47-Y11 Baby 16 (DigOut 4 A, Pin 22)
86 Unknown err Diag soleniod
47-Y11 System error
87 Out of range BB Output number System error

88 Out of range BB babyborder System error
89 KS Switch axle 5, 6 Digital -Input axle 5, 6 to left and

axle 5, 6 to right high pegel together
91 KS UB LU return axle 3 DigIN 2, Pin 12

92 KS ground return axle 3 DigIN 2, Pin 12
93 Unknown err return axle 3 System error

Deutsche Grove
94 KS UB LU return axle 4 DidIN 4, Pin 13

95 KS ground return axle 4 DidIN 4, Pin 13
97 KS UB LU return axle 5, 6 DidIN 6, PIN 14
98 KS ground return axle 5, 6 DidIN 6, PIN 14
99 Unknown err return axle 5, 6 System error
111 KS UB LU switch axle 5, 6 right DigIN 8, Pin 15

112 KS ground switch axle 5, 6 right DigIN 8, Pin 15
113 Unknown err switchaxle 5, 6 right System error

116 Unknown err swit.axle 5, 6 right System error
117 Unknown err Diag DidIN System error

118 DigIN out of range err System error
119 Axle 3 locked during moving Axle 3 switch locked during steering mode
122 Axle 5, 6 locked during moving Axle 5, 6 switch locked during steering mode
123 EXT 8,5 V out of tol. 8,5 V power supply sensor out of Toleranz
shortcut to ground or shortcut to UB
124 No WD alive System error
Discription
KS UB shortcut to 24V plus supply
KS ground shortcut to 24V minus supply
KS ground LU shortcut to 24V minus supply or line disconnection
LU Line disconnection
Tol tolerance

Error-Code- Liste Separate Lenkung.xls
1 Axle 3 out of Tol

2 Axle 4 out of Tol
3 KS UB Sensor Axle 3 AIN 3 ( Pin 7)
4 KS Ground LU Sensor axle 3 AIN 3 ( Pin 7)
5 KS UB Sensor Axle 4 AIN 5 (Pin 8)

6 KS Ground LU Sensor axle 4 AIN 5 (Pin 8)
7 KS UB Sensor Set value sensor AIN 1 (Pin6)

8 KS Ground LU Set value sensor AIN 1 (Pin6)
9 Error WD configuration System error

11 Error read eprom System error
12 KS Ground Release oil flow Output 5 (PWM 4 A ,Pin 64)

13 KS UB Release oil flow Output 5 (PWM 4 A ,Pin 64)
14 LU Release oil flow Output 5 (PWM 4 A ,Pin 64)
15 LU or KS UB Release oil flow Output 5 (PWM 4 A ,Pin 64)
16 Unknown err Release oil flow System error

18 KS UB unlock 3, 4 Output 5 (DigOut 4 A, Pin 61)
19 LU unlock axle 3, 4 Output 5 (DigOut 4 A, Pin 61)
21 LU or KS UB unlock axle 3, 4 line disconnection are unkown,
because ampere to low
22 Unknown error Diag unlock axle System error

4
23 KS Ground axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)

24 KS UB axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)
25 LU axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)
26 LU or KS UB axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)
27 Unkown ERR Diag axle 5, 6 to System error
left
28 KS Ground axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)

29 KS UB axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)
31 LU axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)
32 LU or KS UB axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)
33 Unknown err Diag axle 5, 6 System error
to right
H.Eilers 21.03.00 1
35KS UB unlock axle 5, 6 Output 9 (DigOut 1 A, Pin 24)

36 Unknown err unlock axle 5, 6 System error
37 KS ground solenoid 47-Y9 Output 10 (DigOut 1 A, Pin2 )

38 KS UB solenoid 47-Y9 Output 10 (DigOut 1 A, Pin2 )
39 Unknown err solenoid 47-Y9 System error
41 KS ground control light Output 11 (DigOut 1 A, Pin 25)

42 KS UB control light Output 11 (DigOut 1 A, Pin 25)
43 Unknown err control light System error
44 Error PWM axle 3 left Output 1 (PWM 4 A, Pin 46)


46 Error PWM axle 4 left Output 3 (PWM 4 A, Pin48)

line disconnection,shortcut UB or


53 Out of range errror diag System error
54 KS ground solenoid47-Y21 Baby 11 (DigOut 4 A, Pin42)

55 KS UB solenoid 47-Y21 Baby 11 (DigOut 4 A, Pin42)
56 LU solenoid 47-Y21 Baby 11 (DigOut 4 A, Pin42)
57 LU or KS Ub solenoid 47-Y21 Baby 11 (DigOut 4 A, Pin42)
47-Y21
59 KS ground solenoid47-Y22 Baby 12 (DigOut 4 A, Pin 20))

61 KS UB solenoid 47-Y22 Baby 12 (DigOut 4 A, Pin 20))
62 LU solenoid 47-Y22 Baby 12 (DigOut 4 A, Pin 20))
63 LU or KS Ub solenoid 47-Y22 Baby 12 (DigOut 4 A, Pin 20))
H.Eilers 21.03.00 2

47-Y22
47-Y31
71 KS ground speed reduction

72 KS UB speed reduction
73 LU speed reduction
74 LU or KS UB speed reduction
47- Y4 System error

47-Y32 System error

85 LU or KS sloenoid 47-Y11 Baby 16 (DigOut 4 A, Pin 22)
86 Unknown err Diag soleniod
47-Y11 System error
87 Out of range BB Output number System error

88 Out of range BB babyborder System error
89 KS Switch axle 5, 6 Digital -Input axle 5, 6 to left and

axle 5, 6 to right high pegel together
91 KS UB LU return axle 3 DigIN 2, Pin 12

92 KS ground return axle 3 DigIN 2, Pin 12
H.Eilers 21.03.00 3
94 KS UB LU return axle 4 DidIN 4, Pin 13

95 KS ground return axle 4 DidIN 4, Pin 13
97 KS UB LU return axle 5, 6 DidIN 6, PIN 14
98 KS ground return axle 5, 6 DidIN 6, PIN 14
99 Unknown err return axle 5, 6 System error

113 Unknown err switchaxle 5, 6 right System error

116 Unknown err swit.axle 5, 6 right System error
117 Unknown err Diag DidIN System error

118 DigIN out of range err System error
122 Axle 5, 6 locked during moving Axle 5, 6 switch locked during steering mode
123 EXT 8,5 V out of tol. 8,5 V power supply sensor out of Toleranz
shortcut to ground or shortcut to UB
124 No WD alive System error
Discription
KS UB shortcut to 24V plus supply
KS ground shortcut to 24V minus supply
KS ground LU shortcut to 24V minus supply or line disconnection
LU Line disconnection
Tol tolerance
H.Eilers 21.03.00 4

GMK 6250 All Wheel Steering Training

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GMK 6250 All Wheel Steering Training

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Deutsche GROVE

GMK 6250 All Wheel Steering

All wheel steering:

Proportional control principle:

All wheel steering:

Steering idler locked in highway Steering idler unlocked in all wheel

Relative angle potentiometer

Please see drawing 3010600 for further details

All wheel steering:

View of rear steering idler assembly The potentiometer below is mounted

View of steering cylinder stroke/feedback potentiometer installation.

Steering lever position for axles 5 & 6

Steering lever position for axles 1 & 2

Steering configurations: Relative angle command value (X)

The following pages give an engineering development description of the

System calibration of All Wheel Steering System for GMK 6250

1. Specification of All Wheel Steering System for GMK 6250

1.1. Separate Steering System

The steering of the axles 1, 2 and 3 is controlled by the steering wheel.

1.2. Operation of the All Wheel Steering System

As soon as the toggle switch is switched to separate steering mode,

activated. A permanent light means the all wheel steering mode is

To de-activate the all wheel steering mode, the switch “separate

The hardware (relay interlock) maintains system power if the key-

In the second case, partial re-locking and then unlocking

The steering system can be locked in two ways.

The following errors on the peripheral equipment of the ESX can be

1.4 Memorising and reading out of the EEPROM-values

The EEPROM-values are memorised and read out via RS232 by

1.5 Calibration of the steering angle transmitters

ESX Pin Connections

PIN Configuration Comments Connection

PIN Configuration Comments Connection

PIN Configuration Comments Connection

Description of the EEPROM parameters:

1. Zero offset compensation factors and current

The following values are suitable for the EEPROM – parameter:

Mask (M) / Parameter (P) Value

Axle 3 (current correction) (P) See *

Axle 4 (current correction) (P) See *

Outgoing current if axles are controlled by switches (P) 500mA

Sensor monitoring (M)

Value axle 3, locked (P) 0 degrees/10

Max. value axle 4 (P) +479degrees/10

Max. value of set value sensor (P) +419 degrees/10

Mask (M) Parameter / (P) Value

Monitoring steering valve: minimum ohmic resistance 120 Ohm/10

Pulsed valve (M)

Max. value of set value sensor (a)

Voltage set value sensor left stop (d)

Set value sensor (current correction) = [(b - a) x 1000] / (f – d)

** Calculation as in *, only with parameter of axle 3

Error-Code Programmdefines Remarks

1 Axle 3 out of Tol

5 KS UB Sensor Axle 4 AIN 5 (Pin 8)

7 KS UB Sensor Set value sensor AIN 1 (Pin6)

9 Error WD configuration System error

12 KS Ground Release oil flow Output 5 (PWM 4 A ,Pin 64)

17 KS Ground unlock axle 3, 4 Output 5 (DigOut 4 A, Pin 61)

22 Unknown error Diag unlock axle System error

23 KS Ground axle 5, 6 to left Output 7 (DigOut 4 A, Pin 62)

28 KS Ground axle 5, 6 to right Output 8 (DigOut 4 a, Pin 63)

34 KS Ground unlock axle 5, 6 Output 9 (DigOut 1 A, Pin 24)