140SSF Radio Remote Control System Operators Manual Based On Software Version 140-00-3C

Nautilus International
Control & Engineering Ltd.
6866 Russell Ave.

Burnaby, B.C. Canada
V5J 4R9
Telephone: (604) 430-8316

Fax: (604) 430-1962
General Email: info@nautilus-intl.com
Website: www.nautilus-intl.com
140SSF Radio Remote Control

System
Operators Manual
based on
Software Version 140-00-3C

May, 2005
M:\ACCOUNTS\KATHERIN \MANUAL \140SSF\Software\VR140-00-3C standard @ Feb 2004\140-00-3C Operator.doc, 5/26/05, 9:17 AM Page 1 of 37
140SSF RRC Operators Manual
System Software VR#140-00-3C
Table of Contents
Table of Contents
Table of Contents ............................................... 2 The Information Menu...................................... 18

Differences between the 120SSF and the 140SSF Modes of Operation .......................................... 19
............................................................................ 4
ON/OFF Operating Mode ................................. 19
Hardware Differences .........................................4
Proportional Operating Mode............................ 19
Operating Differences.........................................4
Proportional Danfoss Mode .............................. 20
Safety Differences ..............................................4 Starting the Engine .......................................... 20
Safety.................................................................. 5
On/Off or Proportional Mode ........................... 20
Warnings 1 through 15 .......................................5
Danfoss Mode ................................................ 21
System Safety Checks ........................................7
Stopping the Loader ......................................... 21
Full Feedback in Half Duplex Mode. ....................7
Operator Intervention ...................................... 21
Warning 16.........................................................7
140SSF System Software Intervention ............... 21
Failsafe Mode ...................................................7
Delay Shutdown............................................... 21
Delayed Engine Shutdown.................................8
Fuel Solenoids ................................................. 22
Portable Unit Self Testing..................................9
The Park Brake................................................. 22
Remote Vehicle Unit – Self Testing .....................9
The Service Brake............................................. 22
On/Off Commands........................................................9
Tramming functions ......................................... 23
Proportional Commands................................................9
Left Joystick On/Off Mode............................... 23
RVU Additional Safety Features ..........................9
Tramming in the On/Off Mode.................................. 23
Operating the System....................................... 11
Basic 140SSF Design ........................................11 Left Joystick Proportional Mode........................ 23
Steering Functions ........................................... 24
Elphinstone LHD Mode ................................... 11
120SSF/140SSF Compatibility...........................11 Left Joystick On/Off Mode............................... 24
Left Joystick Proportional Mode........................ 24
Portable Control Unit ...................................... 11
Left Joystick Proportional Danfoss Mode ........... 25
Remote Vehicle Unit ....................................... 11
Safety and the Danfoss Steering Valve.............. 26
Portable Unit Controls......................................12
Boom Functions ............................................... 26
Switch – Push to Stop ..................................... 12
Keypad Button - ‘START’.................................. 12 Right Joystick On/Off Mode ............................ 26
Keypad Button - ‘F. LTS ................................... 12 Raising/Lowering the Boom...................................... 26
Keypad Button - ‘HORN.................................... 12 Right Joystick Proportional Mode ..................... 27
Keypad Button - ‘R. LTS................................... 12 Raising/Lowering the Boom...................................... 27
Keypad Button - ‘DELAY SHUTDN’ .................... 13 Bucket Functions ............................................. 27
Keypad Button - ‘PARK’’ ................................... 13 Right Joystick On/Off Mode ............................ 27
Toggle Switch - NORMAL/SELECT STATUS....... 13 Loading/Dumping the Bucket................................... 27
Toggle Switch - FIRE EXT ................................ 13 Right Joystick Proportional Mode ..................... 28
Fire Ext. on Delay Time...............................................13 Loading/Dumping the Bucket................................... 28
Programmable Left Joystick .............................. 14 Eject – All Operating Modes.............................. 28
Danfoss Steering Mode...............................................14 Throttle –Prop or Prop Danfoss Mode ................ 28
Elphinstone LHD Mode...............................................14 IMPORTANT SAFETY FEATURE!...................... 29
Programmable Right Joystick............................ 14 Half/Full Throttle – On/Off Mode ..................... 29
Australian 140SSF .......................................... 14 Fire Extinguisher – All Operating Modes ........... 29
Australian Danfoss Steering............................. 15 Select Status Switch ........................................ 30
Modifying the System .......................................15 Explanation ................................................... 30
Powering up the RVU........................................15 Front Lights – All Operating Modes ................... 31
Turning on the PCU..........................................15 Rear Lights – All Operating Modes .................... 31
Entering the Operator Code.............................. 16 Horn – All Operating Modes.............................. 31
Power Checks...................................................16 Tilt Detection – All Operating Modes................. 31
PCU Battery Checks ........................................ 16 PCU Low Battery Warning................................. 32
PCU Battery Warning ...................................... 17 System Warning Messages ............................... 32
PCU Battery Cutoff.......................................... 17 Message #1 - Battery Warning!.......................... 32
External Power Connector ............................... 17 Message #2 - Battery Too Low Not Transmitting.. 33
Fault Warnings.................................................18 Message #3 - Transmitter out of Lock ................ 33
Table of Contents
Message #4- Receiver out of Lock ...................... 33

Message #5- Too many Errors Detected .............. 33
Message #6- Shutdown! Case Tilted.................. 33
Default Messages.............................................33
Keyboard Messages ..........................................34
Card Error Messages ........................................35
Maintenance..................................................... 36
Monthly Inspection ..........................................36
Three Month Inspection ...................................36
Semi-Annual Inspection ...................................36
General Information .........................................36
Portable Control Unit (PCU).............................. 36
7.2V Batteries ................................................ 36
Differences between the 120SSF and the 140SSF
Differences between the 120SSF and the 140SSF
Hardware Differences Operators must not approach the LHD unless

1. Card B is modified (with new software). they first see that the front lights are on.
2. Card G is new (+ new software).
3. The Motherboard is modified.
4. The RVU has a new green LED that (when
lit) indicates that the system is operating
correctly.
5. The fuel output now comes from Card-G to
Pin-S.
Operating Differences
1. The ‘FUEL’ output can’t be inverted. (Active
High only).
2. It is no longer possible to adjust the Fuel
Delay time using software. It is set at
approximately 35 seconds.
3. When the Fire Extinguisher is activated all
PCU controls are locked out (disabled) and
the display shows:
FIRE EXT. ACTIVATED
The Operator has to turn off the PCU and then turn it back
on again to reactivate the unit.
4. When communications are lost between

the PCU and the RVU for any reason, all
outputs (except delayed fuel) will be open
circuit.
Safety Differences
1. The new Card-G has an extra 3 independent
hardware safety checking circuits.
a) One to monitor the status of the micro -
controller (µc) in Card-B.
b) The second to monitor the µc in Card-G.
c) The third to monitor the radio transceiver
directly.
If any of these 3 checks fail, the Master Relay

on Card-G will be de-energized. This will cut
Batt+ to Cards C/D/E and open circuit all of
these cards’ outputs causing the RVU’s green
LED to be extinguished.
2. Operators must now check that the front lights

on the RVU go out when the PCU is turned off.
Safety
Safety
change the frequency and associated ID Code.

This document was written for both male and This is potentially very dangerous! If you must
female personnel. However, for convenience, we change the Card B Micro-Controller, then make
have only referred to the male gender. sure the frequency, associated ID Code and the
parameters are set correctly before giving the
Warnings 1 through 15 system back to the Operator. CHECK the
WARNING 1 frequency and associated ID Code as described in
Before operating the Portable Control Unit (PCU), WARNING 9.
make absolutely sure that it is safe to do so. It is
your responsibility to check the Portable’s Do not remove the Micro-Controller from its
Information Messages as shown in paragraph 9 to socket unless absolutely necessary to do so.
Repeated removals and re-insertions of the
ensure that you have chosen the correct Portable
Micro will cause the socket contacts to loosen,
Unit for the LHD you want to remotely control. and the socket will no longer hold the Micro-
Controller securely.
WARNING 2 WARNING 6
If you are testing the system while it is mounted The Main PCB in the PCU contains the EPROM and
on a Loader, you must ensure that the Loader is in Micro-Controller. The EPROM contains the
a safe and secure area where there is no possible software program for the system. The Micro-
danger to personnel and/or equipment. Take Controller operates/controls the system by
special care to ensure that the Loader cannot accessing the EPROM and executing the program’s
possibly harm you. Always stay in a protected instructions. Replacing the Main PCB EPROM may
location until the test has been completed and the change the frequency and associated ID Code.
Loader has been immobilized. This is potentially very dangerous! If you must
change either the Main PCB, the Micro or the
WARNING 3 EPROM then make sure the frequency and
If you are in the Supervisor Mode and you wish to associated ID Code is set correctly before giving
change any of the system parameters you must the system back to the Operator. CHECK the
ensure that the Loader is in a safe and secure area frequencies as described in WARNING 9.
where there is no possible danger to personnel
and/or equipment. Do not remove the Micro-Controller from its socket
unless it is absolutely necessary to do so.
WARNING 4
Repeated removals and re-insertions of the Micro
FM Radio signals will travel an unexpectedly long
will cause the socket contacts to loosen, and the
way. Do not think it is safe to operate the Portable
socket will no longer hold the Micro-Controller
just because the Loader is several hundred metres
securely.
away and out of sight. Always! Switch off the
Portable and disable the Loader whenever it is not
WARNING 7
being used. Don’t take chances!
Each authorized Service Branch is responsible for
keeping an accurate reference list of the radio
NOTE: The 140SSF Radio Remote Control has
control systems that have been sold to each
been shown to operate underground at a range of
customer and the frequency that has been
up to 200 METRES. We do not know what the
allocated for each one. When in doubt always
maximum range limit is. DON’T TAKE CHANCES!
check the frequency at which the PCU is operating
WARNING 5 against your Service Branch’s Reference List. You
Card B in the RVU contains a Micro-Controller. may also contact the factory direct at Tel: 604-430-
The Micro-Controller contains the software 8316, (Fax) 604-430-1962. Email:
program for the system and operates/controls the nautilus@nautilus-intl.com
system by executing the program’s instructions.
Replacing Card B or the Micro-Controller may
Safety
WARNING 8 WARNING 12
Sometimes customers or sales representatives Do not use the system if either the PCU or RVU is
may sell used radio control systems to another damaged or punctured. This may allow the ingress
party without informing the Nautilus factory and of fluids and other contaminants that in turn may
ensuring that the information contained in the cause the system to malfunction.
PCU’s memory has been updated.
WARNING 13
Always check that the information displayed by the Note that there are several ways to apply the
PCU as described in paragraph 9 agrees with your Service Brake and Park Brake. Make sure that ALL
Radio Frequency Reference List. of them are tested and operate effectively before
commencing radio remote control operation.
WARNING 9
• Power up the PCU by twisting the red PUSH TO Make sure that you, the operator are in a safe
STOP button clockwise and allowing it to pop- location and cannot be harmed by the Loader if it
up. Do not activate any other switches while malfunctions. The Service and/or Park Brakes are
you are doing this. applied by:
• Press down on the right side of the rocker
switch located on the top of the right hand 1. Releasing the yellow deadman button on the
joystick and then release it. left joystick.
• The PCU will NOT transmit messages at this 2. Pushing down hard on the PUSH TO STOP
time, it will only display information on the button.
frequency, ID Code, Serial Numbers, Software 3. Tilting the Portable Unit past the 45° point
Version and any other useful information that (nominal) for more than 0.5 second.
Nautilus was given at the time of purchase. 4. Pushing down and holding the right or left
rocker switch on the top of the left joystick.
WARNING 10 5. Loss of communication between the PCU &
It is absolutely essential to the safety of personnel RVU for more than 0.5 second.
and equipment that each Radio Remote Control
System uses a unique frequency and ID code. WARNING 14
All new 140SSF Systems have the ability to activate
Using the same frequency and ID code for different a warning device (HORN) and to flash the Front
Radio Remote Control Systems used in the same and Rear Lights whenever the START ENGINE
mine is extremely dangerous and may cause a switch is operated. This complies with the latest
FATALITY. Mine Regulations. Check that the audible and
visual alarms function correctly when the Portable
It is important at every opportunity to educate and Unit is activated and the Operator Code is entered.
inform customers, salespersons and any other Do not continue if there is a problem.
personnel connected with radio controls of this
fact. WARNING 15
When the operator activates the system
WARNING 11 successfully the ‘TX ON CODE OK’ output from the
Authorized Service Departments will be given the Remote Vehicle Unit will change from an open
Supervisor Security Access Code(s). These codes circuit to Battery +. This output must be used to
allow various options to be selected and activate a 24V lamp (or strobe) on the LHD that will
parameters changed. Do not give the Security warn the operator and other personnel in the
Code combinations to unauthorized, untrained vicinity that the LHD is under remote control.
personnel. Built into every system is the ability to
change the Supervisor Code. Therefore, if If it is safe to do so, the operator can now try to
unauthorized persons know the Supervisor Access start the engine. When he presses the ‘START’
Code you can change it, but DON’T forget the new button on the Portable Unit the RVU will
code number. immediately:
Safety
• Activate the Horn where the brakes are applied and the fuel (and
• Flash the Front and Rear Lights therefore the engine) is shut off.
This will warn the operator and other personnel
that the engine is about to start under remote For example:
control.
• If the Remote Ve hicle Unit cannot detect the
Portable Control Unit for 0.5 (1/2) second the
The operator must continuously hold down the
micro-controller in the Remote Vehicle Unit
‘START’ button for 3-seconds before the engine will
automatically open circuits all outputs.
start to crank. The Horn and Lights will continue
• If the Remote Vehicle Unit receives messages
to warn personnel for as long as the operator keeps
on the correct frequency but which have the
his finger on the ‘START’ button. When the engine
wrong Identification Code, the Remote Vehicle
is running the operator should release the ‘START’
Units micro-controller automatically open
button.
circuits all outputs.
System Safety Checks
Full Feedback in Half Duplex Mode. Warning 16
This means that when the PCU transmits data to In the Nautilus System the Portable Control Unit
the RVU by radio there is a short pause and then is the Master Unit. Even if the radio link between
the RVU sends a message back to the PCU. There the portable control unit and the remote vehicle
is a short pause and then the PCU transmits unit is lost the Loader will not be left uncontrolled,
again. This process occurs every 110 msec or nine but will enter a failsafe mode by opening a Main
times a second. Approximately nine messages are Relay in the RVU which cuts battery power to ALL
sent by the PCU and nine by the RVU every second. functions. Only the Fuel has the capability to
remain activated for approximately 30 seconds.
Even if the radio link is lost the Loader will not be Because the software code is constantly being
left uncontrolled. changed in response to customer requests, there
is always the possibility that no matter how much
The RVU’s micro-controller will force the system to care is taken, a mistake could be made in the
enter a mode where the brakes are applied and the programming that could cause a malfunction. To
fuel (and therefore the engine) is shut off. prevent this from happening Nautilus has chosen
to add 4 special hardware circuits on the Safety
All potentially dangerous actions require a Sensor Card – G. These hardware checks are in
command explicitly issued by the operator. This addition to the CRC code, fixed ID Code, and the
message must arrive undistorted at the Remote hardware and software watchdogs that are used to
Vehicle Unit. monitor the program
The Radio link(s) between the Portable Control Failsafe Mode

Unit and the Remote Vehicle Unit is constantly Failsafe mode, as explained above cuts the battery
monitored by CRC (Cyclic Redundancy Check), positive voltage (nominally +24V) to all of its driver
Error Checking & Identification Code, regardless of cards, therefore all outputs will be open circuit.
the operator’s activity. This allows the system to Note that functions which require +24V to be ‘safe’
detect any problems before they can affect the are not acceptable except for the Service Brake on
system’s performance. Elphinstone loaders..
The CRC, error checking, and ID also make sure Generally there are two functions that can be a
that the system will not respond to any radio problem.
signal (even on the same frequency) except the one
that originated from its own Portable Control Unit. a) Service Brake. The service brake should be as
Loss of useful signal (due to extraneous follows:
interference) will result in the RVU’s micro- • 0V (or open circuit) = Service Brake applied.
controller forcing the system to enter a mode • +24V (Battery +) = Service Brake released.
Safety
b) Fuel Solenoid. The Fuel solenoid should be as • If the operator doesn’t touch any of the
follows controls then the Portable will NOT cancel
• 0V (or open circuit) = Fuel shut off (Engine the delay stop.
Stopped) • The Portable will send a ‘DELAY STOP’
• +24V (Battery +) = Fuel flowing (Engine message to the Remote Vehicle Unit (RVU).
Running) The RVU will wait to see what happens
next.
Delayed Engine Shutdown
To protect the operator, Nautilus has implemented The operator hits the E-Stop on the Portable. The
very strict operational procedures for activating a system checks to see if the ‘DELAY STOP’ button
30 second delayed ‘Stop Engine’, which we will refer was still being pushed (or stuck down) at the time
to as a ‘DELAY SHUTDN’. the Portable Unit was turned off with the E-Stop.
If it was, it will not accept the ‘DELAY STOP’
a) If the operator presses the ‘DELAY SHUTDN’ command and will immediately shut down (open
button, the Portable Unit’s display will warn circuit) ALL functions on the LHD.
him by showing:
e) In order for an operator to successfully cause a
30 second ‘Delayed Shutdown’ the following
ENGINE SHUTDOWN must happen and in the correct sequence:
WILL BE DELAYED
• The operator must press and release the
‘DELAY SHUTDN’ button on the Portable
b) The operator may be busy controlling the LHD Unit.
and not look down at the display so the • Once the button has been pushed the
Portable will wait to see what the operator display will show:
does next.
ENGINE SHUTDOWN
If he touches any of the controls (joystick, WILL BE DELAYED
button, etc.) then the system will assume that

the operator accidentally pushed the ‘DELAY
SHUTDN’ button and will cancel it The operator cannot activate any button, toggle
immediately. switch or joystick or the delay will be cancelled
c) If the ‘DELAY SHUTDN’ button on the Portable immediately.
ever gets stuck in the down position (activated)
then the display will warn the operator by f) The operator must turn off the Portable Control
showing. Unit by hitting down on the E-Stop.
g) The Remote Vehicle Unit (RVU) will failsafe and
ENGINE SHUTDOWN open circuit the outputs to ALL functions
WILL BE DELAYED (except delayed fuel).
h) When the LHD ‘fail-safes’ and all of the
outputs are open circuit, the (TX ON CODE)
We will assume the worst possible case. light on the LHD showing it is under remote
• The operator does not see the warning control will go out informing the operator that
display. it is safe to approach the loader (not valid for
• The button sticks a fraction of a second Elphinstone loaders
before the operator is about to hit the The operator has 30 seconds to get to the LHD
Emergency Stop (E-Stop). and switch to ‘MANUAL CONTROL’ or the fuel
d) In this case, when the ‘DELAY SHUTDN’ will automatically be shut off when the 30
button gets stuck the Portable (as usual) will seconds have elapsed.
wait to see what happens next. j) If the operator sets the delay fuel correctly and
then switches off the Portable, the engine will
run for 30 seconds.
Safety
If he powers up the Portable again and Every On/Off output from the Remote Vehicle
establishes communication with the Remote Unit has a feedback circuit that is monitored by
Vehicle Unit, the 30-second time period will the micro-controller.
automatically be reset to zero. Switching off If any of these outputs ever disagrees with the
the Portable will almost immediately (after 0.5 command being sent by the Portable Unit, the
sec) stop the LHD. Remote Vehicle Unit will open circuit all
outputs.
Portable Unit Self Testing b) Important!
a) When the unit is first powered up, the micro- The 24V relays on the LHD come in many
controller will scan the ‘control inputs’ ie, the different sizes and styles and although they
pushbuttons, toggle switches and joysticks to require a reasonably large minimum voltage to
ensure they are all in the ‘OFF’ position pull in (in some cases only 14V or 15V) some
(electrically open-circuit.) If any control is will hold in with very low voltages (in some
activated during the power-on sequence: cases only 6V or 7V). To be sure that we use
b) The Portable Unit micro will not allow any data the worst case values, all new systems (for
to reach the radio transmitter. monitoring purposes only) will consider:
c) The display will show the operator which • Remote Vehicle Unit ON/OFF output < 3V
control is being activated and ask him to = OFF
release it, eg; • Remote Vehicle Unit ON/OFF output > 3V
= ON
RELEASE Proportional Commands

FORWARD
c) All proportional commands are also checked (9
times per second) to ensure the proportional
output voltages agree with the commands being
If the operator was not moving the left joystick sent by the Portable Unit. Every proportional
‘Forward’ while the Portable was powering up, then output from the Remote Vehicle Unit has a
it is obvious that there must be a fault that is feedback circuit that is monitored by the micro-
incorrectly activating the ‘Forward’ function. controller. If any of these outputs ever
disagrees with the command being sent by the
This fault must be corrected before the micro- Portable Unit, the Remote Vehicle Unit will
controller will allow the operator to use the open circuit all outputs.
Portable Unit. d) Because the operators move the proportional
controls (joysticks) on the Portable Unit
Remote Vehicle Unit – Self Testing extremely quickly, it is very difficult to measure
The Remote Vehicle Unit continually checks (9 the precise voltage being put out by the
times per second) that it’s output voltages agree Remote Vehicle Unit at an exact time. This
with the valid command messages being received usually results in an error of about ± 8%. To
from the Portable Unit. prevent annoying false alarms Nautilus will
permit an error of ± 20% before shutting down
These command messages are divided into 2 the LHD.
groups before being checked.
RVU Additional Safety Features
On/Off Commands Feedback information is taken from every RVU
a) If for example the operator has just powered up output and is constantly monitored and compared
the Portable Unit but none of the functions with the Commands sent by the PCU.
have yet been activated, the Remote Vehicle
Unit will be receiving 8 messages per second The micro-controller in the Remote Vehicle Unit
and each one will instruct the unit to de- constantly monitors the output control cards
energize all On/Off outputs. (Relay Cards) that have hardware error detection
circuitry. If a disagreement between the command
Safety
message and the feedback message is detected,

the output control card will send an error flag to
the micro-controller. The micro-controller checks
for error flags every communication cycle time. If
an error is detected, the micro-controller will find
out which card has the output problem and send a
warning message to the Portable Control Unit.
This warning message will appear on the PCU’s
display.
The sensor card in the Remote Vehicle Unit

contains a micro-controller that sends all of the
(serial) command data to each of the 3 Control
Cards. A ‘watchdog’ circuit has been added to the
Sensor Card to check to see if the software ever
‘freezes’. If it does, the micro -controller will be
reset, clearing all of the data from the 3 Control
Cards and open circuiting all outputs.
Some customers require that sensors (eg; engine

oil temperature, oil pressure etc.) located on the
Loader be monitored. The 140SSF System has the
capability to monitor these sensors. The micro-
controller in the Remote Vehicle Unit detects any
abnormal status sensor reading and sends an
appropriate warning message to the Portable
Control Unit which in turn displays this warning on
the LCD display for the operator.
Operating the System
Basic 140SSF Design between the older 120SSF and the new 140SSF
The basic design of the new 140SSF safety system systems.
is that all output voltages from the Nautilus
Remote Vehicle Unit to the LHD will be cut off Portable Control Unit
(open circuit) when a fault is detected. If there is 1. The hardware for the 140SSF Portable is
no voltage to the LHD’s solenoids or relays then identical to the 120SSF Portable hardware, only
the machine cannot move or operate in any way the software is different.
and will be safe. 2. A 140SSF Portable can be used with a 120SSF
Remote Vehicle Unit providing the software in
However, this is only truly safe if the functions on the 140SSF Portable is replaced with 120SSF
the LHD are wired as shown below: software that matches the 120SSF Remote
Vehicle Unit. Similarly a 120SSF Portable can
Open Circuit (0V) = Service Brakes be used with a 140SSF Remote Vehicle Unit
applied providing the software in the 120SSF Portable
Open Circuit (0V) = Fuel Shut Off is changed to match the version of software
Open Circuit (0V) = Transmission in contained in the 140SSF Remote Vehicle Unit.
Neutral
Open Circuit (0V) = Throttle at Idle 3. The 140SSF Portable is identified with the label
Open Circuit (0V) = Park Brake applied “140SSF” which is found on the front faceplate.
and so on….
Remote Vehicle Unit
It is our experience over many years that there are 1. Cards A, C, D and E remain unchanged. This
still a few LHD’s that have ‘Fuel’ solenoids that means they are interchangeable between the
allow the engine to run when no voltage is present 140SSF Remote Vehicle Unit and the 120SSF
(open circuit). If this is the case, a relay can be Remote Vehicle Unit.
added which will allow the ‘Fuel’ to operate more 2. The Card B (Communications Card) and Card G
safely. The same is true for the Service Brake. (Sensor Card) in the 140SSF have been
Some LHD’s require +24V to apply the Service modified and are no longer compatible with the
Brake. Obviously this is not desirable because if 120SSF system B and G Cards. The software is
the wire to the Service Brake solenoid is cut, or the also very different and this new version is not
fuse blows the brake will not be applied. This can compatible with any of the older 120SSF
also be easily and quickly corrected by adding a software versions. The software chips
relay. Please contact the Nautilus factory for contained in the 140SSF Remote Vehicle Unit
details. should never be swapped with any of the
software chips contained within the 120SSF
Elphinstone LHD Mode Remote Vehicle Unit.
For Elphinstone loaders it is safe to invert the 3. The Motherboard contained within the 140SSF
Nautilus RVU Service Brake output using the Remote Vehicle Unit is not compatible with the
Supervisor menu so that +24v applies the Service Motherboard contained within the 120SSF
Brake. This is because the brake is not released Remote Vehicle Unit. Do not exchange them!
on the loader until the tramming joystick selects 4. The 140SSF Remote Vehicle Unit is identified
Fwd/Rev. with the label “140SSF” which is found on the
front label.
120SSF/140SSF Compatibility
IMPORTANT!
In order to meet the new requirements described Prior to operating the Loader with the Nautilus
above, the 120SSF Radio Remote Control System 140SSF Radio Remote Control system,
has been discontinued and replaced with the operators must have read and have a thorough
under-standing of this complete Operation
140SSF Radio Remote Control System. The
Manual.
following paragraphs explain the differences
• When the 3-second countdown has been

Portable Unit Controls completed the Portable Control Unit will send a
Do not operate any of the Portable Unit’s controls signal to the RVU (which in turn sends a
without first reading and understanding this entire command to the LHD) to crank the engine.
operation manual Once the engine has started the operator
should release the ‘START’ button.
Look at the top of the Portable Control Unit or the
drawing showing the layout of the Portable Control Keypad Button - ‘F. LTS
Unit that is included in the drawing section of this This is a maintained function, ie; if the front lights
manual. are off and the operator presses down and then
releases the F. LTS button the front lights will go
Note that there is a 6-button keypad, two toggle on. Press the F. LTS button again and release and
switches, two joysticks and a Push to Stop switch the front lights will go off. If the lights won’t go off,
mounted on the Portable Control Unit. then the Front Lights switch in the cab has
probably been left in the ON position.
The keypad, control switches and joysticks allow
the operator to remotely control the functions of It is not good to leave the cab ‘Front Lights’ or
the LHD. ‘Rear Lights’ switches ‘On’ when the operator is
going to operate remotely because this will make it
Each keypad button, control switch and joystick is impossible for the Nautilus RVU to flash these
listed below along with a short description of its lights and warn the operator that there is an
function. important safety message on his Portable Unit’s
display that he should look at. Another good
Switch – Push to Stop reason to turn off the Lights before changing over
The Push to Stop switch is used to power up (apply from manual to remote control is shown below:
battery power to) the Portable Unit. To apply power
to the Portable, rotate the ‘Push to Stop’ switch IMPORTANT SAFETY RECOMMENDATION
clockwise and allow it to pop-up. To shut off the The operator should turn off the loader’s front and
Portable, push down hard on the big red button. rear lights before changing from ‘Manual’ to
The button should drop down about 6mm and ‘Remote’ operation and leaving the cab. When the
remain down. operator has moved a safe distance away from the
loader he can activate the Portable Unit and then
This will disconnect battery power and cut the turn on the front lights. He should leave them on
communication link between the Portable and the until he has finished the ‘Remote’ operation.
RVU on the LHD. When he turns off the Portable Unit using the
‘DELAY SHUTDN’ feature the engine will still be
After approximately 0.5 second, all output running but he can watch the front lights and
functions from the RVU will be open circuited ensure that they go off approximately half a second
except for ‘Delayed Fuel’ (if selected). after the Portable Unit shuts down. This will be his
check that the 140SSF RVU master relay has
Keypad Button - ‘START’ turned off the power to all of the control relays and
it is safe to approach the loader.
This is a momentary function. When the ‘START’
button is held down for a full 3-seconds and
Keypad Button - ‘HORN
providing:
• The PCU is communicating securely with the This is a momentary function, ie; the horn will
RVU and there aren’t any warning messages. sound for as long as the operator holds down this
• The Operator Code has been entered and pushbutton.
accepted
Keypad Button - ‘R. LTS
• The Park Brake and Service Brake have been
applied. This is a maintained function, ie; if the rear lights
are off and the operator presses down and then
releases the R. LTS button the rear lights will go checking message shows the operator the
on. Press and release the R. LTS button again and condition of the Portable Unit’s Battery. If the
the rear lights will go off. operator pushes this switch forward and releases it
again, the second status-checking message will
Keypad Button - ‘DELAY SHUTDN’ appear. As long as the operator keeps pushing this
This is a maintained function. When the ‘DELAY switch forward and releasing it various status
SHUTDN’ button is pressed down and then checking messages will appear on the Portable’s
released the message ‘ENGINE SHUTDN WILL BE LCD display. In order to cancel the status
DELAYED’ should appear on the Portable’s LCD checking messages the operator must pull this
display. As soon as this message appears, the toggle switch back to “NORMAL OPERATION” and
operator can hit down on the red ‘PUSH TO STOP’ then release it to back to the centre (Off) position.
button. This will cause the Fuel output at the RVU
to stay on for approximately 30 seconds. Important!
Operators must NOT activate the ‘SELECT STATUS’
It is possible for an operator to accidentally push switch while operating the loader because in this
the ‘DELAY SHUTDN’ button during normal mode the Portable will not be able to display any
operations without realizing it. To prevent this, the other messages including warning messages.
Portable Unit will automatically cancel the “Delay
Shutdn’ as soon as the operator touches any of the Toggle Switch - FIRE EXT
Portable Unit’s controls. This is a 3-position toggle switch labeled ‘FIRE
EXT’. To activate the Fire Extinguisher System,
The only way an operator can successfully activate this switch must be lifted and pushed forward to
the ‘Delayed Engine Shutdown’ is to press and the ‘FIRE EXT.’ position and held there against the
release the ‘DELAY SHUTDN’ button, not touch spring pressure for 3-seconds. Once the 3-second
any other control button, toggle switch or joystick countdown has finished the ‘FIRE EXT’ output
and push down on the big red ‘PUSH TO STOP’ (+24v) will be sent from the RVU to activate the
button until it latches in the down (Off) position. Fire Suppression System. The operator must NOT
release the ‘FIRE EXT’ switch until he sees that
If the operator presses and holds down the ‘DELAY the Fire Suppression System has been activated.
SHUTDN’ button and keeps the button down while After the 3-second countdown has finished and the
he hits down on the red ‘PUSH TO STOP’ the Fire Suppression System successfully activated,
system will assume that the ‘DELAY SHUTDN’ the operator can release the ‘FIRE EXT’ switch.
button is stuck down and will immediately shut The Portable Unit will shut down and no longer
down the loader. send any more messages to the RVU. This will
open circuit all outputs including the Fuel to
Keypad Button - ‘PARK’’ prevent the fire from spreading.
This is a maintained function, ie if the park brake
Fire Ext. on Delay Time
is already applied and the operator presses down
There is a Supervisor option that allows the
and then releases the PARK button the park brake
Remote ‘Fire Ext’ to operate quite differently. In
will be released. Press and release the PARK
this option the radio control signal (+24v) is sent to
button again and the park brake will be applied.
activate the Fire Suppression system as soon as
Toggle Switch - NORMAL/SELECT STATUS the “Fire Ext’ switch is activated ie; without waiting
for the 3-second countdown. This is very useful
This is a 3-position, spring return to centre (OFF)
when the customer adds his or her own time delay
toggle switch. This switch is used to enable and
into the Fire Suppression circuit.
disable STATUS messages and also to cancel any
Warning Messages that appear on the operator’s
For example, one customer has a 3-second timer of
LCD screen. When the switch is pushed forward
their own built into their Fire Suppression system
once toward “SELECT STATUS” and then released,
to prevent false trips. If they didn’t use this
the first status checking message will appear on
Supervisor option their operators would have to
the Portable’s LCD display. The first Status
wait for the Nautilus 3-second countdown to finish
and then when the Portable Unit’s display showed To acknowledge this warning and to be able to
that the Fire Suppression had been activated they operate the Portable Unit the operator must enter
would have to continue holding the switch for an extra code. The Supervisor code must only give
another 3-seconds until the customer’s 3-second to an operator by a Supervisor once the Supervisor
timer had also timed out. However, if the ‘Fire Ext is sure the operator fully understands that this
.On Delay Time’ is set to zero the Fire Suppression feature must only be used on those special
system would be activated at the end of the loaders that have Danfoss Steering. Selecting the
Nautilus 3-second countdown. ‘Danfoss Steering’ mode for loaders which are Not
fitted with Danfoss steering is dangerous! Call
Programmable Left Joystick the Nautilus factory for more information before
The microprocessor controlled steer left joystick is operating if you have any questions.
used to give the operator full proportional control
of the Throttle (providing the rocker switch on Elphinstone LHD Mode
theRight joystick is not activated and already has If your 140SSF has the ‘Elphinstone LHD’
control of the throttle). This joystick also controls supervisor option and if your Supervisor has
the Fwd/Rev direction relays plus full proportional selected this option, then the Steering joystick and
control of the Steering. The yellow deadman button its yellow deadman button will change the way they
on this joystick is used to release the Service function to duplicate the way an Elphinstone
Brake. The rocker switches on top of this joystick loader operates. In this mode, the Service Brake
will apply the Service Brake and override the yellow will only be released when the yellow deadman
deadman button if it is activated. button is activated and the joystick is moved
Fwd/Rev or Left/Right. To apply the Service Brake,
Danfoss Steering Mode the operator only has to release the ‘Deadman’
For Toro loaders such as the 007, 0010 and 1400D button.
which require special Danfoss Steering voltages
the operator should ask the Supervisor to select Programmable Right Joystick
the following: The microprocessor controlled right joystick controls the
1. ‘Change between Prop. or On/off.’ (select LHD’s Boom and Bucket and gives the operator full
PROP) proportional control of both functions. As long as the left
2. ‘PCU: ‘Normal Prop.’ or ‘Danfoss’ mode (select rocker switch on the right joystick is held down, ½ throttle
DANFOSS mode) will be applied (unless the left joystick is activated and
3. Choose ‘Steer Left’ = 6v or 18v to suit the already has control of the throttle). If the right rocker
loader. switch is held down full Throttle will be applied (unless
4. Choose ‘Steer Right’ = 6v or 18v to suit the the left joystick is activated and already has control of the
loader. throttle.
Australian 140SSF
This lets the supervisor choose the required
This unit is specially designed to meet Australian
voltages so that the vehicle steers in the correct
safety requirements and the Risk Assessment that
direction when the steering joystick is activated.
was conducted and approved on 2-8-1999.
This requires that the left and right joysticks
This allows the operator full proportional control of
cannot be accidentally activated.
the Danfoss Valve with full safety.
Nautilus has met this requirement for the left

Once the Danfoss Steering mode has been
joystick by adding the deadman button. The right
selected by the Supervisor and the operator powers
joystick is disabled unless one of its rocker
up the system and activates the Portable Unit, the
switches is also activated. The left side of the
Portable Unit’s display will warn the operator by
rocker switch is used to enable the joystick
showing the message: ‘WARNING DANFOSS
without increasing the Throttle output. ‘Idle’
STEERING MODE ON’.
throttle is very useful when the operator has a full
bucket and gravity alone will bring the bucket down
as quickly as he wants. When the operator needs
more power from the engine, the right rocker 7. Change the Cap Lamp Battery Warning
switch is used to select full throttle and also to voltage.
enable the joystick. 8. Change the Cap Lamp Battery Cut off voltage.
9. Change the way the Service Brake is applied,
The speed at which the Boom and Bucket functions either +24v to apply the brake (Elphinstone
move is fully proportional and determined only by only) or +24v to release it (all other loaders).
the joystick (how far the operator moves the 10. Change between On/off and Proportional
joystick away from the center (OFF) position). The mode with the option of selecting Danfoss
Throttle only supplies more rev’s to the engine and Steering mode.
the hydraulic pumps so they have the ability to 11. Change the Supervisor Security Access Code.
operate at full capacity. 12. ‘Tx Only with Modulation’. Change the way
the system operates so that the Portable
Australian Danfoss Steering Unit can transmit commands to the RVU and
For those loaders such as the Toro 0010, 1400D ignore all feedback messages. In this mode
and 007 which have Danfoss steering, the new the Portable radio is transmitting in simplex
Australian requirements call for two separate mode and the RVU is also receiving in
Danfoss Steering Valves on each loader, one for simplex mode.
Steer Left and the other for Steer Right. The 13. Transmit a 2KHz tone to test the radio.
140SSF system gives the operator full proportional 14. Select Receive only to test the radio.
control of the steering for all of these types of 15. Change to operate an Elphinstone loader.
loaders. Sometimes the steering valves on these
loaders are different (reversed) from one vehicle to Powering up the RVU
another and when the remote controls are Turn on the power to the RVU (Remote Vehicle
installed the machine steers the wrong way. This Unit) by pushing the ‘POWER ON’ toggle switch up
can easily be corrected by swapping the 2 wires to the ‘POWER ON’ position. If the PCU is already
from the Nautilus RVU to the two Danfoss Valves on and good communication is established between
that select the direction (Steer Left/Right). The the RVU and the PCU the LCD on the RVU’s
single output wire that supplies both of the CARD-B will show (example only)
proportional Danfoss Valves with 6vdc to 18vdc
remains unchanged. RVU IS RECEIVING
FREQ: ___.___MHz
Modifying the System
The operator should be aware that the Supervisor
can change (in software) some of the operating If the PCU has not been powered up or has been
parameters of the system to optimize the system’s powered up but good communications have not
performance. These options are: been established between the RVU and the PCU
1. Change the minimum and maximum voltages the following message will appear on CARD-B’s
going to the 7 proportional electro-hydraulic LCD.
valves from the Nautilus Remote Vehicle Unit
2. Enable or Disable the relay card output error NO MSG RECEIVED
checking system (except for safety functions) FREQ: ___.____MHz
3. Change whether the RVU sends +24v to the
Fire Suppression system as soon as the ‘Fire
Ext’ switch is activated or wait until the 3- This display shows that the RVU cannot detect any
second count-down has been completed. valid transmission from the PCU. Refer this
4. Change the orientation of the joysticks problem to your Supervisor.
(Rotate electronically 90°).
5. Change the Nautilus Battery Warning Turning on the PCU
voltage. If the system has been set to the Danfoss steering
6. Change the Nautilus Battery Cut off voltage.. mode the display will warn the operator by
showing:
applied and the Transmission placed in neutral.

“WARNING DANFOSS” Make sure the Front and Rear Lights are switched
“STEERING MODE ON” off. The Cab switch must be changed from the
MANUAL to the REMOTE position which should
supply battery power (+24v) to the Nautilus RVU.
The reason for the warning is that if the loader Prior to powering up the Portable, move a safe
does not have a Danfoss Steering Valve, the distance away from the loader and insert two
loader will immediately and unexpectedly steer to Nautilus 7.2V rechargeable batteries into the
the right or left as soon as the system is powered pockets at the back of the Portable Unit.
up. This is because when the steering joystick is
released, the RVU output voltage (when in Danfoss Check that the Portable is securely attached to the
mode) will be +12V. This output is ‘OFF’ for a shoulder harness and ensure that you are in a safe
Danfoss valve but means steer right or left for a area prior to powering up the Portable Unit.
‘normal’ steering solenoid.
Hold down the left side of the rocker switch on top
To make sure the operator doesn’t ignore this of the left joystick and keep it down while rotating
warning he will have to contact his supervisor or the big red ‘Push To Stop’ button. Release the big
the Nautilus factory and obtain the special security red button and allow it to pop-up. The LCD display
code that is required to operate while in Danfoss will show:
mode.
TRANSMITTER IS
I t is the responsibility of the Supervisor and the READY
operator to find out if that loader really does have a
Danfoss steering valve before using the special
code.
Once you see this message you can release the
IMPORTANT rocker switch and the display will change to show:
Before using the Portable Unit to operate the
loader, the operator must check the Portable to
make sure that it is clearly marked as being the PARK BK: APPLIED
correct remote unit for the loader he wants to SERV BK: APPLIED
control and then check the information supplied as
described below:
The Portable Unit is now communicating with the
After powering up the Portable Unit by rotating the RVU on the loader and the system is ready to
big red ‘PUSH TO STOP’ button and allowing it to accept operator commands.
pop-up, the operator can press and release the
right rocker switch on the right joystick. This gives
the operator information about his 140SSF system Power Checks
When the operator has finished checking the data, PCU Battery Checks
he should switch off the Portable by hitting down
Now that the PCU and RVU are communicating
on the ‘PUSH TO STOP until it latches in the down
with each other, push the SELECT STATUS switch
position.
on the PCU once and then release it. The display
will show: (example only)
Entering the Operator Code
If the operator has read and understood the
complete ‘Operation Manual’ and is ready to NAUT BATT 7.85V
WARNING AT 6.83V
control the loader, the first step is to set the cab
controls on the LHD so that it is ready to be
remotely controlled. The Parking Brake should be
Remember the system is ready to accept The PCU and LHD will remain in this condition
commands so don’t operate any controls unless until the operator acknowledges the low battery
the loader is in an approved test area and you the warning by pushing the NORMAL OPERATION
operator are in a safe location! switch that will allow him to continue.
a) The top line shows that the more powerful of c) These battery warnings will re-occur every 5
the 2 batteries inserted into the Portable is minutes and keep reminding the operator to
currently at 7.85V. If you have kept the 2 exchange the PCU batteries for freshly charged
batteries as a set and used them together in ones as soon as possible.
the Portable regularly, the other battery will
also be very close to the same voltage. You PCU Battery Cutoff
can check this by removing one battery while If the operator does not change the batteries
the Portable is still activated. Replace this quickly enough after the battery warnings have
battery and then remove the other one and occurred then the voltage will drop to an
check the voltage again. unacceptable level and the micro-controller will
turn off the Portable’s radio transmitter and
Before starting each shift it is a good idea to
disable all of the command functions. The display
check the voltage for each battery and also
will flash:
make sure you have 2 spare freshly charged
batteries in your shirt pocket. The voltage
shown for a freshly charged battery will vary, BATTERY TOO LOW
depending on age, temperature, etc. but you NOT TRANSMITTING
should expect a minimum of 7.8V for systems
manufactured after January 2000.
b) If the operator checks the battery voltages The only option now is to switch off the Portable by
regularly every shift, he will know when the pushing down on the red PUSH-TO-STOP button
batteries are close to their ‘Warning Level’ and replacing the batteries with a freshly charged
voltage which is usually set at the factory to set.
6.83V. Although it is adjustable, we recommend
that Supervisors do not change it without first External Power Connector
consulting Nautilus. This is an option that customers will specify on
their purchase order only if they require the
PCU Battery Warning Portable to operate from a Cap-Lamp Battery or an
a) Once the battery warning level has been external power supply instead of the Nautilus
reached, the RVU will (attempt to) flash the batteries.
front and rear lights on the LHD to attract the
operator’s attention and warn him to look down This may be useful in a testing laboratory where
at the Portable’s LCD display. If the operator the user doesn’t want to have to keep changing
has left the lights on the LHD manually batteries.
activated, the RVU will not be able to turn
them off (and on). and warn the operator. NOTE: An external power supply will
However, the LHD will also be disabled with need to deliver an average of 1.5Amps at 3v
the Parking Brake and the Service Brakes and 0.5Amp at 9VDC to power the Portable.
However, peak currents are significantly
applied and the rear lights will be flashed. greater therefore requiring a powerful DC
b) The fuel will NOT be shut off to the engine. Power Supply to properly test this feature.
The display will show:
b) If the customer is using a Cap Lamp Battery to
power the Portable instead of the Nautilus
PCU BATTERY
WARNING batteries, the LCD display will give the same
type of warnings as it does for the Nautilus
batteries. When the Cap Lamp voltage drops to
approximately 4.0V (3.8V measured on the LCD
display using the SELECT STATUS switch) the system he has selected is suitable for the loader
display will show: he wants to remotely operate.
If the information shown on the Portable’s LCD
display does not agree with information the
PCU BATTERY
supervisor has provided for the operator then the
WARNING
operator must not operate the Loader. Instead the
operator must inform his supervisor of any
discrepancies and receive the supervisor’s
If the voltage is allowed to fall to approximately permission prior to proceeding.
3.5V (3.3V on the LCD display) the display will
flash: You can access the Information Menu by switching
on the Portable Unit (rotating the big red ‘Push To
Stop’ button and allowing it to pop-up) and then
BATTERY TOO LOW
pressing and releasing the right rocker switch on
NOT TRANSMITTING
the right joystick.
Usually the End User’s name will appear on the

Portable’s LCD followed by any other information
Fault Warnings the customer has provided ie; mine level, model of
If a warning is shown on the LCD display, you loader etc.
may push the ‘NORMAL OPERATION’ switch on
the PCU to acknowledge the fault. Warnings that The model number of the radio remote control
do not affect safety may be cancelled for system will appear next.
approximately 5 minutes. After the 5 minutes have
elapsed, if the fault is still present, the warning MODEL:
140SSF
will return to remind you to get the problem
corrected as soon as possible. If the fault is not
serious, the warning can be cancelled again for
another 5 minutes by pushing the ‘NORMAL This message will remain on the Portable’s LCD
OPERATION’ switch. display for approximately 2 seconds and then will
This feature is meant to give the operator time to automatically be followed by the operating
remove his vehicle from a potentially dangerous frequency and identification code (example shown
area such as a Stope. The fault warning must be below).
investigated at the earliest opportunity and
appropriate action taken to remedy the fault and to
FREQ 471.2000MHz
ensure the system is safe for use before ID CODE: 10110111
continuing.
The Information Menu

The first line of example #1 shows the UHF radio
The Information menu allows the operator to view
frequency that the Portable Control Unit is
details such as the current radio channel,
currently set to. The second line shows the
(frequency), total elapsed time the Portable Unit
identification code: This Identification (ID) Code is
has been used, serial numbers of the Portable and
an additional safety feature.
it’s mating RVU, the Software Version installed in
the system etc. If the Customer has provided
This message will remain on the LCD for
additional information, the operator will be able to
approximately 2 seconds and will automatically be
see this on the LCD display data such as the Mine
followed by: (Example only)
name and level, Loader model etc. Prior to
operating the Loader the operator should always
check the Information Menu to ensure that the SN 2004-00598
GOLDBK# 2029
ENTER CODE
The first line of this example shows the Serial

number of the Portable Control Unit. The second
line shows the Goldbook number of the Portable
Control Unit. If the operator is satisfied that the information
shown on the Portable’s LCD display agrees with
The Goldbook number is an additional internal the information the supervisor has provided, he
reference number assigned by Nautilus to remotely can proceed to enter the ‘Operator Code’ and
controlled equipment. This message will remain control the Loader. If the code is entered
on the LCD display for approximately 2 seconds incorrectly, the operator must shut off the Portable
and will automatically be followed by: (Example Unit and enter the ‘Operator Code again.
only)
Modes of Operation
MATING RVU The software version which has been installed in
SN 2002-01497 this system is VER 140-00-3C. This software has
been designed so that a supervisor can choose
between having the system operate in one of three
different operating modes. These modes are:
The first and second line of this example shows 1. ON/OFF Mode
the mating Remote Vehicle Unit’s (RVU’s) Serial 2. Proportional Mode
number. This message will remain on the LCD 3. Proportional/DANFOSS Mode
display for approximately 2 seconds and will then
show the next message. (Example only) An explanation of how each mode of operation
works with respect to the loader is detailed below.
VER. 140-00-3C ON/OFF Operating Mode

Jan 2004
In this case all of the Loader’s valve s and
solenoids are ON/OFF. An ON/OFF valve or
solenoid has been designed to be either fully open
or fully closed. ON/OFF operation is very hard on
The first line of this example shows the software equipment and over time may cause significant
version used for this system. The second line damage to a Loader since the hydraulics are
shows the date the software was created. This switched between maximum (ON) and OFF quite
message will remain on the LCD display for rapidly. Some LHD’s do have On/Off solenoids and
approximately 2 seconds and will then show the a Supervisor who knows the security access code
next message. (Example only) can set the Nautilus 140SSF to control this type of
loader in just a few seconds.
TOTAL ELAPSED Proportional Operating Mode

TIME: 00023.5HR In this case the LHD has a mixture of Proportional
and ON/OFF valves and solenoids. Proportional
control allows the operator to smoothly increase or
decrease the speed of the chosen function.
This example shows the amount of time that the Proportional control functions are:
PCU has been used since it was first shipped from
the factory. This message is the last information Throttle (PWM) Increase/Decrease 0-99%
message and will remain on the LCD display for Boom (PWM) Raise/Lower 0-99%
approximately 2 seconds followed by: Steer (PWM) Left/Right 0-99%
Bucket (PWM) Load/Dump 0-99%
PARK BK: APPLIED

All other functions are simple ON/OFF functions.
SERV BK: APPLIED
Proportional Danfoss Mode

In this case the Supervisor has entered the
Supervisor menu and chosen ‘Proportional’ mode As soon as the display shows this message,
followed by ‘Prop.Danfoss’ mode. the operator knows that communication has
been established between the Portable and the
In this mode the loader has a mixture of standard RVU and the ‘FUEL’ has been turned on ready
PWM. Proportional and ON/OFF valves plus the to start the engine. The operator should now
unusual ‘Danfoss Steering’ output which allows turn on the Front Lights.
the operator to smoothly increase or decrease the f) Please refer to the drawing of the Portable
speed at which the loader changes direction. These Control Unit label layout in the drawing section
Steering outputs are shown in the box below: of this manual. The ‘START’ (Engine) control is
a momentary green pushbutton. When this
Steer Left Off Right button is pushed and held down several
6v 12v 18v things will happen at the same time:
• The display will start a 3-second
Depending on how the loader has been countdown.
manufactured it may have the Steering Left/Right • The RVU will send +24v to the Horn.
reversed. In this case a Supervisor can change the • The RVU will flash the Front and Rear
Nautilus Danfoss Steering outputs to take care of Lights
this problem as shown below: g) The lights and horn are to warn the operator
and any other persons in the vicinity to move
Steer Left Off Right away from the loader because it is about to
18v 12v 6v start under remote control.
h) The Portable’s LCD will display ‘STARTING
A Loader with Danfoss Steering Valve(s) must ENGINE IN 3-secondS’ and count down from 3-
always be operated in the Proportional Danfoss 2-1 followed by the message ‘ENGINE IS
Mode.
CRANKING’
Starting the Engine

STARTING ENGINE
On/Off or Proportional Mode IN 3-secondS
Once you are absolutely sure of points a) to f)
below you can then proceed to start the LHD’s
engine. followed by:
a) You have read and completely understand all STARTING ENGINE

sections of this manual prior to this section IN 2 SECONDS
b) All Safety Precautions have been followed and

the Front and Rear cab light switches turned
off. followed by:
c) The Supervisor has selected the Standard STARTING ENGINE

‘Proportional’ or ‘On/Off’ mode. IN 1 SECOND
d) The operator has powered up the Portable Unit

and entered the ‘Operator’ code.
e) The message ‘Transmitter is Ready’ has One second after this last display, the Portable
appeared on the Portable’s LCD screen Control unit will send a signal to the RVU to tell it
followed by: to crank the engine. The display will then show
the following message for as long as the START

button is held down. • The PCU batteries discharging all the way down
to the BATTERY CUTOFF level.
• A radio communication interruption between
ENGINE IS PCU and RVU for more than 0.5 seconds.
CRANKING • Invalid, incorrect or corrupted data messages
are received by the RVU for more than 0.5
second.
• The PCU is tilted for more than 0.5 second.
As soon as the engine starts you can release the
“START” pushbutton. If any of the above occur, the RVU will open
circuit all outputs to the LHD.
Danfoss Mode Delay Shutdown

THIS OPTION DOES NOT APPLY TO PLACER
DOMES SOFTWARE VERSION 140-00-3C There is another way to stop the engine called a
‘DELAYED SHUTDOWN’. This is used when the
The procedure for starting the engine is the same operator wants to change from Radio Remote
in DANFOSS mode as in ON/OFF or Proportional Control to manual (cab) control without stopping
Mode except that the extra (security) ’Operator the LHD’s engine. Nautilus has built in several
Code’ must also be entered after the Display warns safeguards to protect the remote operator from
the operator he is in Danfoss mode. accidentally putting himself at risk when
attempting to implement a ‘Delayed Shutdown’.
While under radio control in any mode of operation When the ‘Delay Shutdn’ has been successfully
the LHD may be stopped either by operator activated the display will show:
intervention (eg: hitting down on the ‘Emergency
Push to Stop’) or system software intervention.
ENGINE SHUTDOWN
WILL BE DELAYED
Stopping the Loader
Operator Intervention
There is only one recommended way for an operator
The operator must then hit down on the big red
to quickly stop the LHD in an emergency and that
‘Push To Stop’ button. Once the PCU has been
is to follow the two steps shown below:
switched off:
1) The operator releases his grip on both
joysticks . This should automatically apply the a) The engine will keep running for approximately
Service Brake, de-energize the Forward and 30 seconds. The operator must climb into the
Reverse relays (Neutral), drop the Throttle to cab and switch from Remote to Manual
idle and not make any more changes to the operation in less than 30 seconds or the
Steering Solenoids. engine will stop.
2) Hit down on the big red ‘Push to Stop’. This b) Once the Cab switch is moved from the
will shut off power to the Portable and cause ‘Remote’ to the ‘Manual’ position, the +24v
the RVU to open circuit all outputs to the LHD. power to the Radio Remote Control Unit on the
This will shut off or disable all functions. LHD will be cut and the manual cab controls
will take over and keep the engine running.
140SSF System Software Intervention
c) The operator will drive the LHD for as long as
The 140SSF System has been designed in such a
required and then may wish to switch back
way that certain sequences of events or operating
from Manual (cab) operation to Radio Remote
conditions that are considered to be unsafe to the
Control. When the cab switch is moved from
operator or the machine will cause the 140SSF
the ‘Manual’ position to the ‘Remote’ position,
System to stop the LHD from operating. Non-
+24V power (Battery+) will again be connected
Operator controlled stops of the LHD may be
to the Radio Control Unit (RVU) which will take
caused by:
over control of the loader and keep the engine

running for approximately 30 seconds. PARK BK: RELEASED
SERV BK: APPLIED
d) The operator has 30 seconds to leave the cab,
pick up the Portable Radio Control Unit, power
it up and enter the correct ‘Operator Code’ or
Remember you can apply or release the ‘Park
the engine will stop.
Brake at any time by momentarily pressing the
‘PARK’ pushbutton.
Fuel Solenoids
There are very few LHD’s that require 0V or an
The Service Brake
open circuit to keep the loader’s engine running. A
Nautilus 140SSF Systems are designed to failsafe
Mine Electrician can perform a simple and
by open circuiting all outputs from Nautilus’s
inexpensive modification for these LHDs. Please
Remote Vehicle Unit to the LHD. Therefore,
consult Nautilus for the best way to do this at
Service Brakes should operate in the same way as
(604) 430-8316.
Parking Brakes ie; spring applied and requiring
IMPORTANT SAFETY CONSIDERATION! power (Battery +) to release them.
Operators must not leave the Portable Unit
powered up after they have finished remotely For those customers who have Elphinstone LHDs
controlling the loader and are ready to approach that require +24V to apply their Service Brakes,
the vehicle, climb into the cab and switch to please refer to ‘Modifying the System’ earlier in
Manual Mode. this manual. If you have any other type of loader
that requires +24v to apply the Service Brake
It is dangerous to approach the loader without first please consult Nautilus for the best way to do this
being sure that the Master Power Relay in the RVU at (604) 430-8316.
has open circuited all of the outputs except for
delayed fuel. Also, it saves the Portable Control When the operator first turns on the Portable
Unit’s batteries and they will last approximately Control unit, the Service Brake (and the Park
double the operating time if the PCU is switched Brake) will automatically be applied and the PCU’s
off when it is not being used. LCD will show:
The Park Brake PARK BK: APPLIED

SERV BK: APPLIED
When the operator first powers up the Portable
Control unit and enters the ‘Operator Code’, the
Park Brake (and the Service Brake) will
The yellow button, located on the front of the left
automatically be applied and the PCU’s LCD will
joystick is a deadman switch. The operator must
show:
first release the Parking Brake and then
continually hold in the deadman button to keep the
PARK BK: APPLIED Service Brake released and enable the other left
SERV BK: APPLIED joystick functions.
IMPORTANT! Pressing either side of the rocker

switch on the right hand joystick will cause the
To release the Park Brake press and release the
Service Brake to be applied even if the yellow
pushbutton labeled “PARK” (#6) on the Portable’s
"deadman" switch is activated (held in) at the same
keypad. If you have released the Park Brake but
time. This fe ature allows the operator to override
have not released the Service Brake the PCU’s LCD
the "deadman" button in case it ever sticks in the
will show:
‘service brake released’ position.
The override is only meant to be used long enough

to allow the operator to move the loader to a safe The same principle applies when the operator
location where the operator can operate manually moves the left joystick into the REVERSE position.
until the fault has been repaired. The MOVE REV relay/solenoid will be energized in
a similar way and the display will show:
Tramming functions REVERSE

Left Joystick On/Off Mode
Tramming in the On/Off Mode
NOTE: In the ON/OFF Mode when the operator is

using the left joystick to TRAM forward or reverse The disadvantage of On/Off tramming is that the
the ½ throttle and the full throttle functions operator has only 2 throttle speeds to choose from
(located on the right and left rocker switches on (half and full) when remotely operating the LHD.
the left joystick) are enabled. This means the
operator can use the left or right rocker switches
on the left joystick to obtain additional Left Joystick Proportional Mode
speed/power from the LHD’s engine to tram NOTE: In the Proportional Mode when the
forward or reverse. operator is using the left joystick to TRAM forward
or reverse the proportional full throttle function
Although ‘FORWARD’ and ‘REVERSE’ are (located on both the right and left rocker switches
proportional outputs, the system is on the left joystick) is disabled. This means the
programmed to treat them like ON/OFF operator cannot use the right and left rocker
functions. These outputs will therefore be
BATT+ when the operator sends the command switches on the left joystick to obtain additional
to tram FORWARD or REVERSE. Note that speed/power from the loader’s engine to tram
these outputs, as well as being fused, are forward or reverse.
electronically protected against short-circuits.
Should a short circuit occur on these outputs,
Assume that a 140SSF Portable Control Unit (PCU)
the affected proportional driver will shut itself
off.. Should this happen, the RVU must be shut and its mating Remote Vehicle Unit (RVU) are both
off, the short must be eliminated, and then the powered up and communicating correctly. When
RVU may be turned ON again to resume normal the operator releases both brakes and moves the
operation. left joystick forward and out of the deadband zone
the RVU will send BATT+ to the MOVE FWD
Assume that a 140SSF Portable Control Unit (PCU) relay/solenoid.
and its mating Remote Vehicle Unit (RVU) are both
powered up, communicating correctly and the The RVU also sends a proportional pulse width
engine is running. The operator moves the left modulated signal to the Throttle solenoid. As the
joystick on the Portable out of the deadband zone joystick moves out of the deadband zone in the
into the FWD position. An On/Off FWD signal is FWD direction the display will show:
sent from the Portable to the RVU and from the
RVU to the FWD relay on the LHD. This causes
the LHD to move forward. As the joystick is moved
FWD00
farther and farther away from the centre position
the speed will not change. The operator must use
the ½ or Full Throttle rocker switch to increase
engine speed. The following message will appear The rate at which the movement occurs is
on the Portable’s LCD display: proportional to the position of the joystick and is
shown on the display as a percentage.
FORWARD
This means FWD 00% or the minimum FWD
position. As the joystick is moved farther and
farther away from the centre (OFF) position, the throttle power can be obtained by holding down
percentage will keep smoothly increasing from FWD either the left (Half Throttle) or right rocker switch
00(%) up to 99(%). (Full Throttle) on the left joystick. When the
joystick has been moved out of the deadband zone
When the joystick is moved from the centre (OFF) in the direction of Steer Left and about halfway
position in the REV direction, the RVU will send through its full travel, the display will show:
BATT+ to the MOVE REV relay/solenoid. This will
occur as soon as the joystick moves out of the
deadband area. The RVU also sends a proportional LEFT
pulse width signal to the Throttle Solenoid. The
display will show:
The same principal applies when the operator

REV00
moves the PCU joystick into the STEER RIGHT
position. When the joystick has been moved out of
the deadband zone in the direction of Steer Right
and about halfway through its full travel, the
display will show:
This means REV00% or the minimum REV position.
As the joystick is moved farther and farther away
from the centre (OFF) position, the percentage will RIGHT
keep smoothly increasing from REV00(%) up to
REV99(%).
Steering Functions Left Joystick Proportional Mode

Left Joystick On/Off Mode NOTE: In the Proportional Mode when the
NOTE: In the ON/OFF Mode when the operator is operator is using the left joystick to proportionally
using the left joystick to STEER left or right the ½ control the Steering, the half or full throttle
throttle and the full throttle funct ions (located on functions located on the right and left rocker
the right and left rocker switches on the left switches on the left joystick are enabled. This
joystick) are enabled. This means the operator can means the operator can use the right or left rocker
use the right and left rocker switches on the left switches on the left joys tick to obtain additional
joystick to obtain additional speed/power from the speed/power from the LHD’s engine to steer left or
LHD’s engine to steer to the right or the left. right.
Assume that a 140SSF Portable Control Unit (PCU) Assume that a 140SSF Portable Control Unit (PCU)
and its mating Remote Vehicle Unit (RVU) are both and its mating Remote Vehicle Unit (RVU) are both
powered up and communicating correctly. The powered up and communicating correctly. The
operator moves the left joystick on the Portable out operator moves the left joystick on the Portable out
of the deadband zone into the STEER LEFT of the deadband zone into the STEER LEFT
position. position.
An On/Off STEER LEFT signal is sent from the PCU Note that although the Steer Left/Rt joystick does
to the RVU and from the RVU to the Steer Left NOT control the Throttle solenoid, as the joystick
Solenoid on the LHD. moves farther away from the centre (OFF) position
and towards the MAX. LEFT position, the
Note that the Steer Left/Rt functions do NOT percentage will increase causing the RVU
control the Throttle solenoid, however on most proportional output to increase. The display will
LHDs activating the ‘LEFT’ function does cause the show an increase from LEFT00 (Example #1) up to
LHD to move slowly to the left without the Throttle LEFT99 (Example #2) and the RVU pulse width
function being applied. If necessary, additional modulated waveform will deliver more power to the
Steer Left solenoid making the LHD articulate to The PCU’s left joystick (STEERING) is not being
the left more quickly. In reality, if the engine is moved and (providing the Prop. Danfoss Mode has
just idling there may not be sufficient power to the been selected) the output to the ‘Multipurpose
hydraulics to make the vehicle articulate. Card’ in the RVU will be a P.W.M. 100Hz signal,
24V PK-PK (Battery +) at a 50% duty cycle.
Example 1
The ‘Multipurpose Card’ will convert this PWM
signal to +12VDC. This +12V (Off) signal should
LEFT00 not cause the loader to articulate.
If the ‘Steering’ joystick is moved to the left, the

PWM output will proportionally decrease from 50%
Example 2 (Off) to 25% (max. Steer Left) and the
‘Multipurpose Card’ will convert this to a
corresponding DC voltage which will smoothly
LEFT99
decrease from +12VDC (Off) down to +6VDC (max.
Steer Left.)
If the ‘Steering Joystick’ is gradually moved to the

If necessary, additional throttle power can be
right, the PWM duty cycle will increase from
obtained by holding down either the left (Half
50%(Off) to 75% (max. Steer Right) and the
Throttle) or right rocker switch (Full Throttle) on
‘Multipurpose Card’ output will increase from
the left joystick.
+12VDC (Off) to 18VDC (maximum Steer Right).
When the joystick is moved in the Steer Right

The output from the RVU’s Multipurpose Card’ to
direction the same sequence of events will occur
the Danfoss Valve will therefore be somewhere
except that the RVU will send the proportional
between 6VDC and 18VDC with 12VDC being the
signal to the Steer Right solenoid.
‘OFF’ position. In this way full proportional control
of both functions (Steer Left and Steer Right) is
The benefit of proportional steering is that the
achieved using only one output wire from the RVU
operator has full control over the speed at which
(Pin-H).
the LHD articulates ie; changes steering direction.
You can see from the drawing below that the

Left Joystick Proportional Danfoss Mode
Danfoss Valve coil is supplied with +12V on one
side and the other is driven by the Nautilus
THIS OPTION DOES NOT APPLY TO PLACER
DOME’S SOFTWARE VERSION 140-00-3C ‘Multipurpose Card’ output.
NOTE: In the Proportional Danfoss Mode when DANFOSS

VALVE
the operator wants to use the left joystick to
proportionally control the Steering, the half or full +1 2V
throttle functions located on the right and left LEFT OFF RI G HT

6V 12V 18 V
rocker switches on the left joystick are enabled.
This means the operator can use the right or left RVU ' MULTI PUR POSE' CARD
rocker switches on the left joystick to obtain

additional speed/power from the LHD’s engine to
steer left or right. You can see that if the RVU ‘Steer’ (Nautilus)
output is +12VDC, and the other side of the coil is
Assume that a 140SSF Portable Control Unit (PCU) +12V then there is no current going through the
and its mating Remote Vehicle Unit (RVU) are both Danfoss Valve Coil and it will be inactive.
powered up and communicating correctly. Therefore when the PCU’s left joystick is not being
used (Off), it must cause the RVU to send +12VDC +12V from the Loader on the other side of the
to the Danfoss Steering Valve. coil it will cause the Loader to articulate
sharply to the left.
If the PCU joystick is moved to the Steer LEFT d) To the best of our knowledge there is a safety
position it sends a command to the RVU telling it circuits within some of the Danfoss Steering
to drop the voltage from 12V down towards 6V. Valves which can prevent this dangerous
occurrence from taking place but this an
This sends current through the Danfoss Valve expensive optional extra which may not have
making it STEER LEFT. been purchased by the loader manufacturer.
Nautilus makes sure that this could not
If the PCU joystick is moved to the Steer RIGHT happen by removing the 24VDC power to the
position it sends a command to the RVU telling it Danfoss Steering Valve that will disable it and
to raise the voltage from 12V up to 18V. This prevent the valve from changing it’s steering
sends current through the Danfoss Valve in the position (a different method is used in
other direction making it STEER RIGHT. Australia).
e) The RVU disables the Danfoss Valve by only
It is possible in the Supervisor Menu to revers e supplying the 24VDC power to the Valve when
the outputs from the RVU so that the 6V direction the STEERING joystick is activated, ie. in the
is Steer Right instead of Steer Left and the 18v STEER LEFT or STEER RIGHT position. This
direction becomes Steer Left instead of Steer 24VDC is designated “Steering Valve Power”
Right. and is available at Pin M of the Command
Cable.
Safety and the Danfoss Steering Valve
THIS OPTION DOES NOT APPLY TO PLACER Boom Functions
DOMES SOFTWARE VERSION 140-00-3C Right Joystick On/Off Mode
Raising/Lowering the Boom
The Danfoss Steering Valve appears to be well NOTE: When the operator is using the right
designed and has its own built in protection joystick to RAISE or LOWER the boom the
circuit, however there is a concern that if the proportional throttle functions (located on the right
output of the RVU is shorted to ground (0V) then a and left rocker switches on the left joystick) are
current would flow through the coil of the Danfoss enabled. This means the operator can use the
Valve causing it to articulate sharply to the Left or right or left rocker switches on the left joystick to
Right. If the output of the RVU is shorted to +24V, obtain additional speed/power from the LHD’s
(BATT+) then a current would flow through the coil engine to raise or lower.
in the other direction of the Danfoss Valve causing
it to articulate sharply in the other direction. The Assume that a 140SSF Portable Control Unit (PCU)
following points a) through e) illustrate this safety and its mating Remote Vehicle Unit (RVU) are both
concern in greater detail: Let’s assume that: powered up and communicating correctly.
a) The operator has not touched the STEERING The operator moves the right joystick on the
joystick and it is in the centre (OFF) position Portable out of the deadband zone into the BOOM
so the PCU keeps sending valid commands to UP position. A +24v BOOM UP signal is sent from
the RVU informing it that the Loader must not the Portable to the RVU and from the RVU to the
articulate. RAISE solenoid on the LHD. This message causes
b) The computer and electronic circuitry in the the Loader’s BOOM to rise. As the joys tick is
RVU is generating the 50% duty cycle signal moved farther and farther away from the centre
(+12VDC) but cannot output this signal due to position the speed will not change. The operator
a short which is holding the output at ground must use the ½ or Full Throttle rocker switches to
(0V). obtain additional power to raise the boom. The
c) Since the Danfoss Steering Valve is receiving following message will appear on the PCU’s LCD.
0V on one side of the coil (from the RVU) and
RAISE
RAISE00
The same principle applies when the operator Example 2

moves the right joystick into the BOOM DN
position. The BOOM DN solenoid will be energized
RAISE99
in a similar way and the display will show:
LOWER

the left joystick. When the joystick is mo ved into
Right Joystick Proportional Mode
the Boom Lower direction the same sequence of
Raising/Lowering the Boom
events will occur except that the RVU will send the
NOTE: When the operator is using the right
proportional signal to the Boom Lower solenoid.
joystick in the proportional mode to RAISE or
LOWER the boom the proportional throttle
functions (located on the right and left rocker
Bucket Functions
switches on the left joystick) are enabled. This
Right Joystick On/Off Mode
means the operator can use the right or left rocker
switches on the left joystick to obtain additional Loading/Dumping the Bucket
speed/power from the LHD’s engine to raise or
lower. NOTE: When the operator is using the right
joystick to LOAD or DUMP the bucket the ½ or full
Assume that a 140SSF Portable Control Unit (PCU) throttle functions (located on the right and left
and its mating Remote Vehicle Unit (RVU) are both rocker switches on the left joystick) are enabled.
powered up and communicating correctly. The This means the operator can use the right or left
operator moves the right joystick on the Portable rocker switches on the left joystick to obtain
out of the deadband zone into the BOOM UP additional speed/power from the LHD’s engine to
position. load or dump the bucket.
Note that although the ‘Raise’ function does NOT Assume that a 140SSF Portable Unit and its mating
control the Throttle solenoid, as the joystick moves Remote Vehicle Unit (RVU) are both powered up
farther away from the centre (OFF) position and and communicating correctly.
towards the max.. RAISE position, the percentage
will increase causing the RVU proportional output The operator moves the right joystick on the
to increase. The display will show an increase Portable out of the deadband zone into the LOAD
from RAISE00 (Example #1) up to RAISE99 (Rollback) position. An On/Off (+24v) signal is
(Example #2) and the RVU pulse width modulated sent from the Portable to the RVU and from the
waveform will deliver more power to the Boom RVU to the LOAD solenoid on the loader. This
Raise solenoid to try to make the boom raise more causes the Bucket to Load (Rollback). As the
quickly. However, unless the operator uses one of joystick is moved farther and farther away from the
the rocker switches to select Proportional Throttle centre position the speed will not change. The
it is unlikely that there will be enough engine rev’s operator must use the ½ or Full Throttle rocker
to power the hydraulics and raise the Boom. switches to obtain additional power to load the
bucket.
Example 1
The following message will appear on the Portable’s more power to the Bucket Load solenoid making
LCD display. the LHD’s bucket load more quickly.
LOAD Example 1
LOAD00
The same principle applies when the operator

moves the right joystick into the DUMP position.
The BUCKET DUMP solenoid will be energized in a Example 2
similar way and the display will show:
LOAD99
DUMP

the left joystick.
Right Joystick Proportional Mode
When the joystick is moved into the Bucket Dump
Loading/Dumping the Bucket
direction the same sequence of events will occur
NOTE: When the operator is using the right except that the RVU will send the proportional
joystick in the proportional mode to LOAD or signal to the Bucket Dump solenoid.
DUMP the bucket the ½ or full throttle functions
(located on the right and left rocker switches on
the left joystick) are enabled. This means the
operator can use the right or left rocker switches Eject – All Operating Modes
on the left joystick to obtain additional Holding in the yellow deadman button on the right
speed/power from the LHD’s engine to load or joystick will cause the RVU to send a message to
dump. the EJECT” Relay. The display on the PCU will
show:
Assume that a 140SSF Portable Control Unit and
its mating Remote Vehicle Unit (RVU) are both
powered up and communicating correctly. The EJECT
operator moves the right joystick on the Portable ON
out of the deadband zone into the Bucket ‘Load’
position. Note that although the Bucket functions
do NOT control the Throttle solenoid, as the
joystick moves farther away from the centre (OFF) To turn off the EJECT function release the
position and towards the max. ‘LOAD’ position, the yellow deadman button on
percentage will increase causing the RVU
proportional output to the ‘Load’ solenoid to Throttle –Prop or Prop Danfoss Mode
increase.
In Proportional Mode, there is no Half-Throttle or
Full Throttle solenoid just one proportional
The display will show this increase from LOAD00
solenoid. When the left joystick is moved outside
(Example #1) up to LOAD99 (Example #2) and the
the deadband zone the Throttle will be selected
RVU pulse width modulated waveform will deliver
and the Tram Fwd/Rev function will show it’s
value. In the example below the Throttle value is

88% (Fwd).
HALF THROTTLE
LEFT38 DUMP63
FWD88 RAISE44
When the Right side of the rocker switch on top of

the left joystick is activated, the RVU will send
If the rocker switch on top of the right joystick (Rt BATT+ to the Full Throttle solenoid and the display
side) is activated (Full Throttle), the RVU sends a will show:
proportional signal to the Throttle solenoid with a
pulse-width-value of 99% (99% duty cycle). If the
FULL THROTTLE
rocker switch on top of theRight joystick (Left side)
is activated (Half Throttle), the RVU sends a
proportional signal to the Throttle solenoid with a
pulse-width value of 50% (50% duty cycle).
Fire Extinguisher – All Operating Modes

IMPORTANT SAFETY FEATURE! On the left hand side of the Portable is a 3
To protect the operator, the 140SSF RRC has some position lift-to-operate’ switch labeled ‘FIRE EXT’.
added safety features which control the actions of This ‘Fire Ext’ toggle switch is spring loaded and
the Half-Throttle and Full Throttle rocker switches. cannot accidentally be left in the ‘FIRE EXT’
Let us assume that the operator is standing position
closely behind the LHD (which he shouldn’t ever
do) and is moving the LHD back towards him very In order to activate the loader’s Fire Suppression
slowly and very carefully. System the Operator must lift up this toggle, push
the toggle forward and hold it there against spring
If the operator accidentally hits either the Half pressure until the Fire Suppression system has
Throttle or Full Throttle rocker switch the LHD been activated. It will normally take 3-seconds
would quickly accelerate and may run over him. To before the countdown is finished and the RVU
prevent this, the left joystick (which controls the sends +24V to activate the fire extinguisher. (The
Throttle) and the left joystick rocker switches supervisor menu can be used to remove this 3-
(which also control the Throttle) are mutually second delay if required)
exclusive. This means when one is activated, the
other is disabled. This works very well as follows: When the ‘FIRE EXT’. switch is activated, the
Portable’s LCD display will show:
When the operator is tramming, the left joystick is
in use and is controlling the throttle, therefore the
Half/Full Throttle rocker switches will be disabled. FIRE EXTINGUISH
When the operator is using the the bucket or the IN 3-secondS
boom, and extra engine rev’s are needed, the Half
or Full Throttle switch will be in use and control of
the throttle by the Left Joystick will be disabled.
followed by:
Half/Full Throttle – On/Off Mode FIRE EXTINGUISH

When the Left side of the rocker switch on top of IN 2 SECONDS
the left joystick is activated, the RVU will send
BATT+ to the Half Throttle solenoid and the display
will show: followed by:
normally appear on the LCD’s display including

FIRE EXTINGUISH ‘Warning’ messages.
IN 1 SECOND
The operator enters the ‘Select Status’ mode by
first powering up the Portable Unit, entering the
‘Operator Code’ and then momentarily activating
And then the screen will flash: the ‘Select Status’ toggle switch. The first message
shows the status of the Nautilus batteries. There
FIRE EXTINGUISH are 2 batteries, but the display only has room to
IS ACTIVATED show the voltage of the more powerful battery) On
the top line for example: you can see that it is
‘NAUT. BATT 7.53V’.
NOTE: Because this is a 140SSF System with The bottom line shows how far the battery voltage
extra safety features, the Fuel is no longer can fall before the operator receives a ‘Battery
controlled by the micro-controller in the RVU. In Warning’ message ‘WARNING AT 6.83V
order to shut off the fuel after the Fire Suppression
System is activated, ALL functions must be shut NAUT BATT 7.53V
off. The easiest way to do this is to shut off the WARNING AT 6.83V
Portable Unit that will de-energize the Main Safety
Relay.
Therefore, when the operator sees that the Fire If the operator pushes this switch forward again
Suppression has been activated and releases the and releases it the next status message will
‘Fire Ext’ switch the Portable will automatically appear. This will be the status of the first output of
stop communicating with the RVU. Card-C. (C1) If he activates this switch again the
status of the second output of Card-C (C2) will
To prevent the Fire Extinguisher squib on the LHD appear and so on until the last output of Card-C
from being triggered accidentally by electrical noise (C8) is displayed.
or interference, the customer should install a relay
to activate the squib. If the ‘Select Status’ switch is activated again, the
next message will show the status of Card-D (D1)
Select Status Switch and so on until the last status of Card-D is
This switch is used to enable and disable Status displayed (D8). Activating the ‘Select Status’
messages. This is probably the most important switch another eight times will show the status of
feature of the 140SSF and very useful when the eight outputs from Card-E (E1 to E8).
trouble-shooting.
It is very important to remember that regardless
Explanation of what position this switch is in the operator
The ‘Select Status’ toggle switch allows the will still be able to control the LHD. However,
operator to monitor the Portable’s Battery Status if status checking has been activated the
operator will not be able to see any operation or
followed by the outputs from the RVU’s three
warning message.
control cards C/D/E
These cards control all loader functions. In order to cancel the ‘Select Status’ mode at any
time the operator must move this toggle switch
An operator must not use this feature while he back to the ‘NORMAL OPERATION’ position and
is remotely operating the loader. He should
then release it back to the centre position.
first make sure the loader has come to a stop,
the brakes are applied and he is in a safe
location. This is because using the ‘Select Status’ IMPORTANT SAFETY CONCERN!
If you are removing a damaged or dysfunctional
feature blocks any other messages that would
Portable from operation and replacing it with
another Portable Unit please keep in mind that the

frequency and modes of operation for the new REAR LIGHTS
unit must be identical to that of the damaged ON
Portable.
In other words if the new Portable is set to the

proportional (P.Norm) mode and it replaces a To turn the Rear Lights OFF, the operator must again
damaged Portable that was operating in ON/OFF press the R.LTS button. The Rear Lights will be turned
mode, you must ensure that the replacement OFF and the display will show:
Portable is changed by a Supervisor to the On/OFF
mode so that it mates properly with the existing REAR LIGHTS
RVU. OFF
Most people remember to check that the frequency

is the same for both the Portable Unit and the RVU
Horn – All Operating Modes
but sometimes forget to check that the modes are
Activating the HORN button on the Portable
the same.
Control unit will sound the Horn on the LHD for as
long as the operator keeps the button pressed.
Other examples would be ‘Danfoss Steering Mode,,
The following message should appear:
the ‘Fire Ext On Delay Time’, ‘Change Joystick
Functions’, ‘Change Output Activations’ etc.
HORN
Front Lights – All Operating Modes

Momentarily pressing the F.LTS button on the
Portable Control unit will cause the RVU to send
BATT+ to the LHD’s “Front Lights Relay”. The
Remember to sound the HORN before moving the
display on the PCU will show:
LHD just in case there is anyone close to the
remote vehicle who is hidden from view.
FRONT LIGHTS
ON
Tilt Detection – All Operating Modes
If the Portable is tilted from the horizontal in any
direction for more than 0.5 seconds, the display
will flash:
To turn the Front Lights OFF, the operator must
again press the F.LTS button and the BATT +
output to the LHD FRONT LIGHTS will be turned SHUTDOWN!
off. The display will show: CASE TILTED
FRONT LIGHTS
OFF The Portable will immediately turn off the radio
transmitter interrupting communications with the
RVU which will (0.5 second later) cause an
Emergency Stop condition. This means:
a) All outputs will be open circuit.
Rear Lights – All Operating Modes
b) All functions which were being used by the
Momentarily pressing the R.LTS button on the
operator will be cancelled.
Portable Control unit will cause the RVU to send
c) The PCU will not accept any commands from
BATT+ to the LHD’s “Rear Lights Relay”. The
the joysticks, buttons, rocker switches or
display on the PCU will show:
toggle switches.
The PCU and the system will remain in this These warnings will continue until the battery
condition until it is reset by: voltage is too low to operate the unit. If the
• Pressing down on the PUSH TO STOP button operator was using a Cap Lamp battery as the
(Cutting off power). power source then the portable will display a
• Powering up the Portable Unit and entering the warning at about 3.2V, at which point the Cap
Operator Code correctly. Lamp battery must be replaced.
This procedure helps to prevent an operator who If the operator does not change the batteries
may be sick or dazed and has fallen over, from quickly enough the voltage will drop below an
sitting or standing upright and re-activating the acceptable level and the microprocessor will turn
unit before he is mentally ready to operate the off the Radio transmitter and disable all of the
loader. command functions. The display will then show:
PCU Low Battery Warning

A voltage detection circuit within the 140SSF BATTERY TOO LOW
Portable control unit continuously monitors the NOT TRANSMITTING
Nautilus battery or Cap Lamp voltage and warns
the operator when it is time to replace the
batteries with fresh ones. The Radio Transmitter will remain off until the
Portable Control Unit is shut off and the batteries
The two Nautilus 7.2 Volt Ni-Cad batteries are replaced with freshly charged ones.
supplied with the system can be discharged down
to about 6Volts. However, in order to give the
operator some time to safely park the Loader, the System Warning Messages
Portable display will warn the Operator when the
batteries reach approximately 6.85Volts. At this Explanation
time the display, instead of showing the condition
System Warning Messages are messages that the
of the Park and Service Brakes, will keep reminding
microprocessor wants to bring to the attention of
the operator of the LOW BATTERY condition:
the Operator. There are 6 System Warning
Messages.
PCU BATTERY
Message# Message Description
WARNING!
1. Battery Warning!
2. Battery too Low Not Transmitting!
When this message appears, the operator should 3. Transmitter out of Lock
replace the Nautilus Ni-Cad batteries with a 4. Receiver out of Lock
freshly charged set as soon as possible. To ensure 5. Too Many Faults
the operator doesn't miss this warning message; 6. Case Tilted!
1. The LHD's FRONT and REAR LIGHTS will be
flashed on and off
Message #1 - Battery Warning!
2. The Service Brake will be applied
This message means that the power available to
These conditions will apply until the operator the Portable from the Batteries or the Cap Lamp
acknowledges that he has seen the warning by Battery is too low and that if the situation is not
activating the NORMAL OPERATION switch corrected the Portable will soon have to shut down.
allowing the remote operation to continue. After 5
minutes, the warning message will be repeated. PCU BATTERY
WARNING!
TOO MANY ERRORS

Message #2 - Battery Too Low Not DETECTED
Transmitting
This message means that the power available to
the Portable from the 7.2V Battery/s or the Cap Solution: Turn the System off and then on again.
Lamp Battery is now below the pre-programmed If this does not work notify your Supervisor.
level and there is not enough power available to
operate the system.
Message #6- Shutdown! Case Tilted
This message means that the PCU has shut down
BATTERY TOO LOW and stopped controlling the RVU because the PCU
NOT TRANSMITTING has been tilted too much and for more than 0.5
second.
Message #3 - Transmitter out of Lock SHUTDOWN!

The following message means that the CASE TILTED
microprocessor cannot program the UHF radio
transmitter.
Solution: Turn the Portable off (hit the red ‘Push
TRANSMITTER To Stop’, power it up again and enter the ‘Operator
OUT OF LOCK Code’. If this does not work notify your Supervisor.
Solution: turn the System off and then on again. Default Messages
If this does not work notify your Supervisor who Any time the Portable Unit is communicating
should call the Nautilus factory for help or send securely with the RVU and the operator is not
the Portable Unit back to the factory for servicing. using any of the controls, one of the following
‘default’ messages should be displayed. These
Message #4- Receiver out of Lock default messages show the three possible states of
The following message means that the the loader’s brakes:
microprocessor cannot program the UHF radio
receiver. 1. Both Brakes (Park and Service) are applied
RECEIVER
PARK BK: APPLIED
OUT OF LOCK
SERV BK: APPLIED
Solution: Turn the System off and then on again.

If this does not work notify your Supervisor who 2. Both Brakes (Park and Service) are released
should call the Nautilus factory for advice.
PARK BK: RELEASED

Message #5- Too many Errors Detected SERV BK: RELEASED
The following message means that there are
multiple errors on the printed circuit cards in the
RVU. An example would be if more than 5 relay
functions have a problem at the same time. 3. Park Brake is released. Service Brake is
applied
If the ‘Select Status’ toggle switch is being

operated (or is damaged) during the power-up
PARK BK: RELEASED
SERV BK: APPLIED sequence, then following message should appear
on the Portable’s LCD display.
RELEASE
SELECT STATUS
Keyboard Messages
If you have correctly entered the Operator Code,
(you are not touching any of the controls) and see
This message means when the Portable was
one of the following messages on the Portable
powered up and the ‘Operator Code’ was entered,
Unit’s LCD display then there is a problem.
the microprocessor checked all of the switches and
found that the ‘Select Status’ switch was activated.
1 Release Start
There are 3 reasons this might have happened.
2 Release Horn
These are:
3 Release Emergency Stop
4 Release Retract (Optional)
a) The operator was holding this switch activated.
5 Release Fuel Delay b) The ‘Select Status’ switch may look normal but
6 Release Front Lights electrically the contacts are damaged (shorted),
7 Release Rear Lights activating the ‘Select Status’ function.
8 Release Park Brake c) Somewhere between the ‘Select Status’ switch
9 Release Normal Operation and the microprocessor input, there is a short
10 Release Select Status circuit falsely generating the Select Status
11 Release Fire Extinguisher function.
12 Release Service Brake
13 Release Half Throttle The warning message tells you that until the
14 Releas e Full Throttle problem is resolved ie; “RELEASE SELECT STATUS”
15 Release Left Rocker the microprocessor will not allow the PCU to accept
16 Release Right Rocker any commands from the operator (not even the
Operator Code). The same thing is true for all of
17 Release Steer Right
the other warning messages.
18 Release Steer Left
19 Release Forward
Messages 1-12 describe the status of the
20 Release Reverse
pushbutton switches and the toggle switches,
21 Release Bucket Dump
messages 13-16 describe the status of the rocker
22 Release Bucket Load switches located on top of the right and left
23 Release Boom Up joysticks, messages 17-20 describe the status of
24 Release Boom Down the left joystick and messages 21-24 describe the
status of the right joystick.
Any of the above messages eg: “RELEASE -----------
-“ means that the microprocessor inside the Warning messages for switches, buttons and
Portable detected that one (or more) of the rocker switches are easy to understand so let’s
pushbuttons, toggle switches, rocker switches, look at warning messages 17 - 24 that refer to the
joysticks or the deadman button on the left joysticks. Each joystick has a “deadband” or NO
joystick was activated during the Power- ACTION area.
Up/Operator Code sequence and shouldn’t have
been! The warning message tells you which one is This is to ensure that even after several years of
causing the problem. harsh use, when the joystick is released and fails
to return exactly to the centre (OFF) position the
Example: function will still be cancelled. The Deadband on a
Joystick is defined as an area of joystick movement If the operator didn’t move the joystick during the
that does not activate any functions. If you picture ‘Power-On’ sequence then there must be a fault on
a joystick and its area of operation from the top the main circuit board or the small Joystick board
(plan view) you would see something which looks or the joystick needs re-calibrating.
like this.
If any of the other controls are activated during the
‘Power On’ sequence then similar warning
LE F T J OY ST ICK
messages will be generated asking the operator to
release them.
FWD
Card Error Messages

LEFT RIGHT
The Supervisor has the option of enabling or
disabling the error message detection software. If
this option is enabled error messages will indicate
if there is a problem with an output from the RVU.
LEFT ROCKER SWITCH
DEADBAND AREA
(NO ACTION IN THIS
REV AREA) An error message will appear on the Portable’s LCD
when the microprocessor in the RVU measures an
output and it’s value does not equal the output
value commanded by the Portable Unit. All of the
The area inside the smaller circle corresponds to messages shown in the ‘Status Message’ section of
the deadband area. It will make no difference in this manual (with the exception of the “Battery
which direction you move the Joystick while it is in Warning” message) have a corresponding error
this area because there will be no corresponding message that will appear on the LCD display
functions activated. As soon as you move the automatically if there is a problem with that RVU
joystick outside this deadband area in any output
direction then the joystick functions will be
If the error detection software is enabled and
activated.
depending on which mode of operation is currently
being used (ON/OFF, Proportional or Proportional
If a joystick is out of calibration, when the
Danfoss) one of the following error messages will
operator releases the joystick it may physically
appear automatically on the PCU’s display.
return to the deadband (Off) area but will be
incorrectly generating a joystick control voltage. The origin of the message will depend on which
The micro-controller knows that all of the controls output has generated the error message:
are supposed to be ‘Off’ during the Power-
ON/OFF OPERATING MODE
On/Operator Code sequence so it will send a
• ‘OUTPUT TOO HI/LOW’
message to the operator asking him to release the
joystick as shown in the example below:
PPOP. OR PROP.DANFOSS MODE
• ‘% ERROR TOO HI/LOW’
The micro doesn’t know whether the operator
•
moved the joystick during ‘Power-On’ or the
joystick is damaged. An example of a warning If an error message appears, momentarily activate
message resulting from joystick calibration the ‘Normal Operation’ mode and see if the
problems (on the left joystick) would look like this: warning message can be cancelled. If not, stop
operating and inform your Supervisor immediately.
RELEASE
STEER LEFT
Maintenance
Maintenance
Monthly Inspection
It is recommended that a suitably trained person Do not attempt to clean the PCU with a power hose
undertake a monthly inspection of the Radio or direct a power hose against it for any reason. It
Remote Control system on site. This monthly is water resistant but not waterproof.
inspection should include:
Never allow the PCU to sit in water. Water may
Visual checks of the equipment for physical enter the case through the Battery contacts at the
damage to mechanical and/or electronic parts bottom of the case.
Always handle the unit with care. Do not drop or
Visual inspection of all seals to ensure that no treat harshly.
moisture has entered and all seals are intact
Do not use the PCU if the case is cracked or
Operational checks. Check all radio control damaged.
functions.
Do not expose the unit to temperatures outside its
This monthly check should include a maintenance specified operating range.
inspection report and check sheet.
7.2V Batteries
The batteries supplied with the 140SSF Radio
Three Month Inspection Remote Control System are 600m/A hr
Unscrew any cable connectors from the RVU. rechargeable nickel cadmium batteries.
Clean connector contacts (pins) by spraying with an
electric contact cleaner and then wipe clean. • 2 fully charged batteries that are brand new
should last approximately 4.5 hours to 5 hours
when used in a 140SSF Portable Control Unit.
Semi-Annual Inspection • New batteries can be charged approximately
300-400 times
It is recommended that a Nautilus service
• Always ensure the batteries are fully charged
agent undertake a semi-annual inspection of prior to storage
the Portable Control Unit and the Remote • Never store batteries for longer than 6 months
Vehicle Un it (s). This semi-annual inspection • The rate of self-discharge for batteries that
should include operational simulation tests have been stored in a fully charged state is
and report. approximately 1% of the diminishing capacity,
ie; it is faster at the beginning and slows down
General Information as the battery discharges. The shelf life
expectancy under these circumstances is less
All equipment that is sensitive to moisture has
than 6 months because the battery will almost
been sealed with a type of silicone sealant (gasket)
surely discharge below 6 volts.
material, which is specifically designed for
• Do not subject the batteries to non-complete
Electronic Equipment. If it is necessary to break
charging cycles, ie; topping up the batteries
this seal at any time you must ensure that the old
while they are in storage.
sealant is cleaned away and new sealant put in
• Do not discharge a battery below 1V/cell or 6
place prior to sealing the unit.
volts measured on the battery. This will
almost certainly damage the battery. There is
Portable Control Unit (PCU)
only a 50% chance of recovery if the battery
VERY IMPORTANT!
goes below 6 volts.
Always ensure that the top plate is securely
• Note that trickle charging with a current below
fastened to the case and the flexible seal provided
C/30 does no good and harms the cells.
with each PCU is securely in place.
Maintenance
Trickle charging with a current above C/10

causes damage to the battery. The optimal
value of trickle charge current is about C/15, or
40mA.

140SSF Radio Remote Control System Operators Manual Based On Software Version 140-00-3C

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140SSF Radio Remote Control System Operators Manual Based On Software Version 140-00-3C

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Nautilus International

Control & Engineering Ltd.

6866 Russell Ave.

Telephone: (604) 430-8316

140SSF Radio Remote Control

Software Version 140-00-3C

Table of Contents ............................................... 2 The Information Menu...................................... 18

Message #4- Receiver out of Lock ...................... 33

Differences between the 120SSF and the 140SSF

Hardware Differences Operators must not approach the LHD unless

FIRE EXT. ACTIVATED

4. When communications are lost between

If any of these 3 checks fail, the Master Relay

2. Operators must now check that the front lights

change the frequency and associated ID Code.

The Radio link(s) between the Portable Control Failsafe Mode

button, etc.) then the system will assume that

RELEASE Proportional Commands

message and the feedback message is detected,

The sensor card in the Remote Vehicle Unit

Some customers require that sensors (eg; engine

Operating the System

• When the 3-second countdown has been

Nautilus has met this requirement for the left

applied and the Transmission placed in neutral.

Usually the End User’s name will appear on the

The Information Menu

The first line of this example shows the Serial

VER. 140-00-3C ON/OFF Operating Mode

TOTAL ELAPSED Proportional Operating Mode

PARK BK: APPLIED

Proportional Danfoss Mode

Starting the Engine

a) You have read and completely understand all STARTING ENGINE

b) All Safety Precautions have been followed and

c) The Supervisor has selected the Standard STARTING ENGINE

d) The operator has powered up the Portable Unit

the following message for as long as the START

Danfoss Mode Delay Shutdown

over control of the loader and keep the engine

The Park Brake PARK BK: APPLIED

IMPORTANT! Pressing either side of the rocker

The override is only meant to be used long enough

Tramming functions REVERSE

NOTE: In the ON/OFF Mode when the operator is

The same principal applies when the operator

Steering Functions Left Joystick Proportional Mode

If the ‘Steering’ joystick is moved to the left, the

If the ‘Steering Joystick’ is gradually moved to the

When the joystick is moved in the Steer Right

You can see from the drawing below that the

NOTE: In the Proportional Danfoss Mode when DANFOSS

throttle functions located on the right and left LEFT OFF RI G HT

rocker switches on the left joystick to obtain

The same principle applies when the operator Example 2

If necessary, additional throttle power can be

The same principle applies when the operator

If necessary, additional throttle power can be

value. In the example below the Throttle value is

When the Right side of the rocker switch on top of

Fire Extinguisher – All Operating Modes

Half/Full Throttle – On/Off Mode FIRE EXTINGUISH