Installation instruction control system for

Tiltrotators
XControl G2
DocNo: 700322ENB
Installation instruction control system for
Tiltrotators
XControl G2
DocNo: 700322ENB
4 | Installation instruction XControl G2 Tiltrotator control | Introduction

Installation instruction control system for Tiltrotators

XControl G2

Published by:
Steelwrist AB
Bäckvägen 18
192 54 Sollentuna
Sweden
+46-626 07 00
www.steelwrist.com

Installation instruction in original.

Copyright © 2015, Steelwrist AB. No part of this document can be reproduced.

 Installation instruction XControl G2 Tiltrotator control | TOC | 5

Contents

1. Introduction.....................................................................................................7
1.1. General Information................................................................................................................................8
1.2. Steelwrist Support Structure...................................................................................................................8
1.3. Safety levels...........................................................................................................................................8
1.4. Safety instructions..................................................................................................................................9
1.5. Environmental aspects...........................................................................................................................9

2. XControl Generation 2..................................................................................11

2.1. System Overview and function description...........................................................................................12

3. Schematics....................................................................................................15
3.1. XControl G2 hydraulic schematic ........................................................................................................16
3.2. XControl G2 electric schematic ...........................................................................................................17

4. Installation procedure...................................................................................19
4.1. Installation Preparation.........................................................................................................................20
4.2. Mount the machine cable connector.....................................................................................................20
4.3. Route the machine cable......................................................................................................................20
4.4. Mount the joysticks...............................................................................................................................21
4.5. Connect the left joystick........................................................................................................................23
4.6. Connect the right joystick......................................................................................................................24
4.7. Mount the cabin module.......................................................................................................................25
4.8. Prepare and connect the machine cable..............................................................................................25
4.9. Connect the power cable .....................................................................................................................26
4.10. Mount Display ....................................................................................................................................27
4.11. Mount the CAN Support socket .........................................................................................................27
4.12. Distribute cables to console................................................................................................................28
4.13. Interlock the excavator's quick coupler circuit....................................................................................28
4.14. Connect the safety gate......................................................................................................................29
4.15. Mount the switch for the attachment coupler......................................................................................30
4.16. Connect the cabin module..................................................................................................................30
4.17. Mount warning label............................................................................................................................31
4.18. Mount the pressure and tank hoses...................................................................................................31

5. System start up.............................................................................................33

5.1. Start up the system...............................................................................................................................34
5.2. Name functions in the joysticks ...........................................................................................................37
5.3. Set the excavator's pressure and flow levels........................................................................................39
5.4. Run Auto Tuning...................................................................................................................................40
5.5. Verify safety functions...........................................................................................................................40
5.6. Verify tiltrotator functions......................................................................................................................41
5.7. Prepare for delivery to customer...........................................................................................................43
6 | Installation instruction XControl G2 Tiltrotator control | TOC

5.8. Installation Checklist.............................................................................................................................44

5.9. Feedback..............................................................................................................................................45

6. Error codes....................................................................................................47
6.1. Error codes via XCG2 Display .............................................................................................................48
6.2. List Error Codes with XCG2 Display.....................................................................................................50
6.3. Error code via LED...............................................................................................................................52
Chapter

1
1. Introduction
Topics:

• General Information
• Steelwrist Support Structure
• Safety levels
• Safety instructions
• Environmental aspects
8 | Installation instruction XControl G2 Tiltrotator control | 1. Introduction

1.1. General Information

This installation instruction is intended for you as installation technician of Steelwrist tiltrotators. In order to get the
most out of the instruction you should have a basic knowledge about mechanics, hydraulics and electronics. If
anything is unclear of if you have questions do not hesitate to contact the Steelwrist Support line. (see below).
You may also be helped by the User Manual supplied together with the tilt rotator. This can also be downloaded
from Steelwrist Support web.
Steelwrist tiltrotators are CE marked. This means that they are designed, manufactured and described in accordance
with current directives and requirements. However, it is important that all security requirements are considered in
the installation, maintenance and use. This is the case for safety regulations in this manual, the excavator's manual
and local safety rules relating to the area where the machine is used. If the tiltrotator rebuilt or complemented in a
way without Steelwrists written approval the CE marking and warranty ceases to apply immediately. Steelwrist
reserves the right to make technical changes without prior notice.
This information is valid at the time of printing of this publication. Steelwrist reserves the right to make technical
changes without prior notice.

1.2. Steelwrist Support Structure

Our goal is to give you as installation technician of Steelwrist products the best support possible. You can reach
Steelwrist Support Line on telephone +46 8 6260712. On the Steelwrist Support web you can also find additional
information that will be useful during the installation. You can log in on www.steelwrist.com if you already have an
account.
If you do not already have a login on the Support web you can sign up for login on the Support web by clicking
"Distributor Login" then "Register".

1.3. Safety levels

Most accidents occur as a result of carelessness or negligence to follow given safety instructions. For us at Steelwrist
safety is very important and we will do our best to avoid risks with preventive measures. However no safety instruction
or protection measure, no matter how good they are made, is better than a prudent machine operator.
To classify risks we use in this manual the following safety levels and recommendations:
Danger:
• Danger indicates that an accident will occur if the regulation is not followed. The accident will result in
serious injury or death.
• Read carefully the user's manual and understand the contents before the product is first installed and
used. Avoid dangerous work situations. For questions, contact your dealer or Steelwrist.

Warning:
• Warning indicates that an accident may occur if the regulation is not followed. The accident could result
in serious injury or death.
• Read carefully the user's manual and understand the contents before the product is first installed and
used. Avoid dangerous work situations. For questions, contact your dealer or Steelwrist.

Caution:
• Caution indicates that an accident may occur if the regulation is not followed. The accident could result
in injury.
• Read carefully the user's manual and understand the contents before the product is first installed and
used. Avoid dangerous work situations. For questions, contact your dealer or Steelwrist.

Note:
• Note can be something we want do draw your attention to which can improve or deteriorate the
performance of your excavator.
• Read carefully the user's manual together with the excavators user manual and make sure to maintain
best possible performance.
 Installation instruction XControl G2 Tiltrotator control | 1. Introduction | 9

1.4. Safety instructions

The tiltrotator is also designed to manage a certain torque and excavators of a certain machine weight. The tiltrotator
should not be installed on an excavator above the specified weight. However, it is possible to mount a tiltrotator on
a machine with lower performance than the intended machine weight, provided that tiltrotators own weight is taken
into account. Ensure that your tiltrotator match the excavator's performance.
Warning: Never use tiltrotator or work tool to lift a person.

Warning: Always follow safety instructions for the machine, tiltrotator and work tools.

Warning: Do not stand near the work tools when the machine is in use and always stand clear from lifted
work tools.

Warning: When the tool is being connected or disconnected, the safety distance is three meters from the
work tool. (For some types of hydraulically powered tools the safe distance can be even higher, consult
the user manual for the work tool.)

Warning: Only authorized and trained personnel may use tiltrotator. It is important that the operator take
the time to learn how to manage to tiltrotator safely before using the machine.

Warning: Always turn off the machine for maintenance and repair work.

Caution: Remember to relieve pressure in hydraulic system before work is started. Be careful when
searching for leaks as hot hydraulic fluid can cause skin burns, and hydraulic fluid under pressure can
penetrate skin.

1.5. Environmental aspects

As part of Steelwrist environmental work, we strive to make products over their life cycle have as little environmental
impact as possible, it is important that environmental considerations be taken into account during installation.
The following applies to assembly and disassembly work:
• All dismantling work shall be in accordance with applicable national laws regarding health, work safety and
environment.This will include all labor, handling, sorting, transportation, storage and disposal of components,
hydraulic oil, and other materials.
• Consideration must be given to soil and surface water in order to prevent contamination. Harmful substances
and hazardous waste must be handled and stored in well ventilated areas in accordance with national laws and
regulations.
• Local safety instructions should be well known and respected.
• Transportation of hazardous waste shall be made by approved forwarder.
• During dismantling, metals, hydraulic hoses, hydraulic oils, greases and other materials should be sorted and
disposed of appropriately in accordance with laws and regulations.
Chapter

2
2. XControl Generation 2
Topics:

• System Overview and function

description
12 | Installation instruction XControl G2 Tiltrotator control | 2. XControl Generation 2

2.1. System Overview and function description

For some excavator models, additional electrical and hydraulic schematics show the connection of the system in
more detail for the specific machine type. Study them for a better understanding how the installation is supposed
to work. This description is considered as a summary.
System overview

4 5
3

1
2

7
 Installation instruction XControl G2 Tiltrotator control | 2. XControl Generation 2 | 13

Steelwrist8 XControl G2 consists

7 6
of the following components: 5 4 3

Machine QC Machine
Lockout Power
F 17

14

4 5

E
13

12 19

20 20 Safety gate

10
7
D 6

11
8

3
POS Art.No. Pc(s). Descrip
C
1 801070 1 XCG2 T
2 801059 1 XCG2 C
8
3 800349 1 XCG2 D
8
4 800717 1 Joystick
18 5 800718 1 Joystick
6 801065 1 Switch,
On Tiltrotator 7 802212 1 Dual Fe
8 801062 3 Cable,
1 9 802011 1 Adapte
B 10 801063 1 Cable,
15 11 801064 1 Cable,T
12 802018 1 Cable,
16 13 802202 1 Cable,
14 801068 1 Cable,
15 1 Cable,
16 1 Cable X
17 802219 1 Cable X
18 801069 1 QC Ena
Drawn by Approved by
A PAN

T his drawing remains S teelwris t property and s hould

not be copied without our written allowance.
Nor it is permitted to s how or give this to a
third pers on. C ontravention will be pros ecuted
with the s upport of exis ting law.
1. Tiltrotator module 11. Cable with a buzzer to the switch for the tiltrotators
8 7 6 5 4 3
attachment coupler
2. Cabin module 12. Feeder valve cable
3. Display 13. Cable Power/CAN Cabin Module
4. Joystick Left 14. Machine cable
5. Joystick Right 15. Tiltrotator cable
6. Attachment coupler switch (QC-switch) 16. Valve cable harness Tiltrotator
7. Feeder valve 17. Cable XCG2 Generic Power adapter*
8. Joystick/Display cabel (Can Cable) 18. Quick Coupler Enable plug
9. Adapter T M8 XCG2 19. Cable Safety gate
10. Cable with CAN Support Socket 20. Cable to the excavators original functions

*Machine unique cable for power supply are not designed for all excavators.
14 | Installation instruction XControl G2 Tiltrotator control | 2. XControl Generation 2

In XControl G2 the central control, the brain of the system, is divided into two modules, the Cabin Module (2),
mounted in the excavator's cabin and the Tiltrotator module (1), mounted in tiltrotator. The job of the Cabin module
is based on input signals from the joysticks (4 and 5 to control the feeder valve (7) so that the right amount of oil
reaches the tiltrotator. The job of the Tiltrotator module is to control the valves on the tiltrotator.
The tiltrotator module is communicating with the cabin module via CAN-bus.
The display (3) is used to make the settings in the system and to provide information about the system. The display
does not need to be connected for the system to function and can be disconnected. The attachment coupler switch
(6) is used when the operator would like to open the tiltrotator's attachment coupler to switch work tools. The cable
(19) is also used to create a safety circuit (interlocking) so that the machine's quick coupler not can be opened by
mistake and tiltrotators fall off. It is often machine adapted.
When the driver wants to disconnect the tiltrotator the machine cable connector must be disconnected. A safety
plug (18) is then put in the machine cable connector which makes it possible to open the excavators's quick coupler.
The joystick is connected to the cabin module via the joystick cable (8) and connected to the excavator's original
features via cable to the machine's original functions.
The CAN support socket (9) is used when connecting a computer to the system.
Chapter

3
3. Schematics
Topics:

• XControl G2 hydraulic schematic

• XControl G2 electric schematic
 Servo Pressure

PEDAL
HAM/AUX
Tank
See below for general hydraulic schematic.

Original pedal hose

3.1. XControl G2 hydraulic schematic

Dual Feeder w Out Port Shuttle

OUT B
16 | Installation instruction XControl G2 Tiltrotator control | 3. Schematics

B
IN B

A
MP 1. Move hoses from pedal ports 1 and 2

SPOOL
to the feeder valve ports OUT A and OUT B.

AUX/HAMMER
2. Fit new hoses between the pedal ports 1
IN A and 2 to the feeder valve ports IN A and IN B.

OUT A 3. Fit hoses to the Feeder valve ports P and T to

T
T P
servo pressure and tank respectively.
Original pedal hose

Description
Schematic Dual Feeder Valve Integration Generic
Drawn by Approved by Drawn date Drawing No Revision Sheet

SLU MNI 2013-07-08 700346 A 1(1)

 8 7 6 5 4 3 2 1
Revision:
B: Redrawn to 2 pages, major changes. ECR3063, 120806/SLU
C: CAN/Power hub replaced by 802202. Added 802019. Changed dual feedercable , 801061 replaced by
F 802018. Added all CAN cables and adaptors. Added Joystick button/roller description. ECR 4119 /130329 PAN F
D: Changed 801068 to 802216 and 802018 to 802181.Changed colors and connector on 802202 and
802219.ECR 6243. 140901/MFI
Optional Optional Optional Optional
S7 S6 S4 S3 S2 R1 R2 S5 S1 S7 S6 S4 S3 S2 R1 R2 S5 S1 Joystick RIGHT
(R) (F) S3
S2

HECR
HECR
HECR
HECR
S1 S4

S5 R1

GND
OUT1
OUT2
+5V
GND
OUT1
OUT2
+5V
GND
OUT1
OUT2
+5V
GND
OUT1
OUT2
+5V
E S6 E
R2

1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
S7

1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2

1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2
1
2

1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
Button Cable Tiltrotator Without Tiltrotator Button Cable Tiltrotator Without Tiltrotator
S1 CAN Not used Not used Axis 1 Axis 3 DIN DIN Axis 1 Axis 3 DIN DIN S1 CAN Not used* Not used*
S2 Grey Machine function Machine function S2 Grey Machine function Machine function
S3 Blue Machine function Machine function
Joystick Input Card Joystick Input Card S3 Blue Machine function Machine function
CAN CAN
S4 Green Machine function Machine function S4 Green Machine function Machine function
S5 CAN Not used* Not used* S5 CAN Oil Activate Oil Activate
S6 Brown Machine function** Machine function** S6 Brown Machine function** Machine function**
S7 White Machine function** Machine function** S7 White Machine function** Machine function**

Blue
Blue

Grey
Grey
R1 CAN Rotation Not used R1 CAN Tilt Auxilary

White
White

Green
Green

Brown
Brown
R2 CAN Extra* Not used* R2 CAN Gripper* Not used*
* With Wheel Steering option * With Wheel Steering option
See below for general electric schematic.

S5 CAN Shift Gripper /Extra Not used

4
3
2
1
4
3
2
1
S1 CAN Steering Activation Steering Activation
R2 CAN Steering Steering R2 CAN Gripper / Extra Not used
D * With Track Steering option * With Track Steering option D

8
7
6
5
4
3
2
1
4
3
2
1
4
3
2
1
Tiltrotator S5 CAN Shift Travel /Gripper Not Used S5 CAN Shift Steering/Extra Not Used
801069
R2 CAN Steering / Extra Steering R2 CAN Travel / Gripper Travel
QC Safety Plug ** Button 6 & 7 is an option, 2A7D Joystick. ** Button 6 & 7 is an option, 2A7D or 2A5D-FNR Joystick

1
2
3
4
5
6
7
8
3.2. XControl G2 electric schematic

Green
White
Brown
Blue
Red
Grey
Pink
Yellow
Machine Power 801062 1
Brown Brown 1 1 Brown 2
+
Blue 802219 Blue Blue
GND 2 2 3
Brown
4
Blue

801062
CAN Support
White 1 1 + +OUT 1 1
Grey Socket
2 2 + CAN_H 2 2
Green 3 3 CAN_H GND 3 3
C Brown 4 4 GND CAN_L 4 4 1 1 C
801063

Pink 5 5 GND 2 2 XCG2 Display

Yellow 6 6 CAN_L +OUT 1 1 3 3
CAN_H 2 2 4 4
White

802216
GND 3 3

802011
Brown 1 1
CAN_L 4 4 2 2
Machine QC 3 3
Lockout +OUT 1 1 4 4 1 1
CAN_H 2 2 2 2
801062
GND 3 3 3 3
Green 1 1 Green CAN_L 4 4 4 4
White 2 2 White
Brown 3 3 Brown
Blue 4 4 Brown

XCG2 Cabin Module

Red White 802202
5 5
Grey 6 6 Grey
Pink 7 7 Pink
B Yellow Yellow 1 1 LED 3 OUT4 1 1
B
8 8 Brown
2 2 LED 2 OUT3 2 2 1 1
White 2 2
3 3 LED 1 GND 3 3
4 4 DWN OUT2 4 4
802181
5 5 ENT GND 5 5
Yellow Green
6 6 UP GND 6 6 1 1
White Brown Green Yellow
1 1 7 7 COUPL.SW. IN 1 OUT1B 7 7 2 2
Grey White Brown
2 2 8 8 COUPL.SW. IN 2 OUT1A 8 8
Brown Grey White
3 3 801064 9 9 GND GND 9 9
4 4 Green Yellow 10 10 SOUNDER
5 5 Yellow Green 11 11 GND
6 6 12 12 +5V
7 7 Yellow + 13 13 AIN6
Grey Black
8 8 14 14 AIN5
Machine Safety
9 9 gate Switch 15 15 GND
10 10 16 16 COUPL.SW. OUT Drawn by Approved by Size
A QC Switch PAN MNI A3 A
Page Date
This drawing remains Steelwrist property and should 2(2) 130329
Safety gate
not be copied without our written allowance . + XCG2 Electrical Schematic Drawing number Rev.
Nor it is permitted to show or give this to a
third person . Contravention will be prosecuted Generic 700057 D
with the support of existing law .
8 7 6 5 4 3 2 1
Installation instruction XControl G2 Tiltrotator control | 3. Schematics | 17
Chapter

4
4. Installation procedure
Topics:

• Installation Preparation
• Mount the machine cable connector
• Route the machine cable
• Mount the joysticks
• Connect the left joystick
• Connect the right joystick
• Mount the cabin module
• Prepare and connect the machine
cable
• Connect the power cable
• Mount Display
• Mount the CAN Support socket
• Distribute cables to console
• Interlock the excavator's quick
coupler circuit
• Connect the safety gate
• Mount the switch for the attachment
coupler
• Connect the cabin module
• Mount warning label
• Mount the pressure and tank hoses
20 | Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure

4.1. Installation Preparation

Before starting the control system installation, it is important to verify the excavator's normal functionality and that
actions are taken which will later facilitate the installation.
1. Connect the tiltrotator to the excavator quick coupler or mount the direct fitted tiltrotator. We recommend that
the tiltrotator is connected in this phase of the installation process instead of at the end. In this way you will know
that quick coupler hydraulics and quick coupler switch works as it should before starting the installation.
2. Stretch the arm and boom so that it later is easy to route the machine cable over arm and boom.
3. Caution: Risk of injury if the power is not disconnected during the installation process.

Disconnect all electrical power with the main switch.

4. Dismount cover plates under the cabin and around the boom in order to route the cable in a correct way.

4.2. Mount the machine cable connector

Prepare space on the excavator arm so that the machine cable plug is easily accessible for the driver while seated
in a sheltered location.
1. The mounting bracket can be either screwed or welded into place. Always consult the excavator documentation
before welding or drilling in the arm, always follow the manufacturer's recommendations. For some machines,
there may be a machine adapter plate designed and in that case use it.

2. Screw the machine cable connector on the Mounting bracket with 2 pcs MC6S M3x12 with nuts.

4.3. Route the machine cable

The Machine cable is striped with enclosed stripes along a pipe or hose from machine cable connector along the
arm and down to the boom root. Be careful not to tighten the strips to hard so that the cable during operation
 Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure | 21

damaged or worn. Make sure the cable is mounted so that it is not worn, crimped or bent into tight radiuses. This
would reduce the life time of the cable.
1. Stripe the machine cable every 40th cm along the pipe / hose. In order to protect the cable in the sensitive area
of the joint of the arm and boom, cover the cable in this area with a protective tube.

2. Pull the machine cable via the boom root into the cabin. Note that appropriate covers may need to be removed
for better access.
3. Pull the cable inside the cab but do not cut the machine cable at this point in the installation.

4.4. Mount the joysticks

The joysticks should be mounted so that the driver gets the best ergonomics. Also ensure that the cables are drawn
in such a way that it later can move freely without wear and tear. Make sure the cable is mounted so that it is not
worn, crimped or bent into tight radiuses.
1. Dismount covers and the excavators original joysticks.
22 | Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure

2. Mount the appropriate adapter bolt that fits into the excavator servo base.

3. Attach the joystick to the joystick base. Take advantage of the original joystick check-nut to lock the joystick in
its position. It is important that the angle of the handle is set so that the best ergonomics for the driver is obtained.
Rule of thumb: The flat surface with thumb rollers, should point towards the center of the drivers seat. The driver
should be able to have the wrist straight in normal sitting position.
 Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure | 23

4. Let the cables from the joystick make a loop around the adapter bolt and stripe. It is important that the cable is
not worn or pinched when the joystick is moved to it's end positions.

4.5. Connect the left joystick

The Left joystick should be connected according to schematic with reference to the following figure.

1. Connect joystick
24 | Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure

2. Connect the machine's original functions.

3. Unused wires should be put back into the plastic tube for future use, i.e. if more features are to be connected
later.

4.6. Connect the right joystick

The Right joystick should be connected according to schematic with reference to the following figure.

1. Connect joystick.
 Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure | 25

2. Connect the machine's original functions.

3. Unused wires should be put back into the plastic tube for future use, i.e. if more features are to be connected
later.

4.7. Mount the cabin module

1. Remove the panels to fit the cabin module.
2. Mount the cabin module on mounting bracket art.nr 801076 with 2 screws M5x20 MC6S and washers.
3. Press the cabin module and mounting bracket in the cab of a well-cleaned surface with adhesive tape. Place
in a location so that cables have required length. For certain machines are machine specific mounting bracket
designed and shall be used.

4.8. Prepare and connect the machine cable

To ensure future serviceability we recommended to have a long enough cable to be able to lift the Cabin module
to the drivers seat and still have it connected.
1. Route the machine cable in an appropriate way, for example along the cable to the Power/CAN cable and on
to the cabin module.
2. Cut the machine cable and dismantle about 100 mm.
26 | Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure

3. Connect with supplied socket as shown in the picture.

• 1 = Green (CAN High)

• 2 = White (+)
• 3 = Brown (GND)
• 4 = Blue (Loop 1) Interlock att. coupler
• 5 = Red (Loop 2) Interlock att. coupler
• 6 = Grey (+)
• 7 = Pink (GND)
• 8 = Yellow (CAN Low)

4. Connect the machine cable to the Power/CAN cable.

4.9. Connect the power cable

1. Connect the power supply cable, connect the brown wire to + and the white wire to ground.
2. Note: It is very important that the system has good Ground connection. Ensure that for instance paint
is not applied on the ground connection. Poor Ground might lead to overheating of the control boxes
but also errors that are difficult to debug.

3. If necessary, mount fuse.

 Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure | 27

4.10. Mount Display

The display is mounted so the driver can easily manage the display and so that the driver can clearly see the screen.
Make sure the screen is not in the way of any controls or window opening.
1. Mount the display on the bracket or mounting plate with 2 screws M4x10 MC6S, see picture below.

2. Press the display and the mounting plate on the window of the well cleaned surface with double sided tape.

4.11. Mount the CAN Support socket

In order to facilitate later service and support a CAN Support Socket is mounted, which makes it easy to connect
a computer to the control system if need be. To do this you need a service tool (XControl G2 Programming Kit)
which can be ordered from Steelwrist, this tool is needed normaly not used during the installation work.
1. Drill a hole (diameter 12.5 mm) as shown in the picture.
2. Mount the cable with CAN Support socket in the hole.
28 | Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure

4.12. Distribute cables to console

1. Collect and route the cables to each armrest / console. See picture below. *PWM-feeding is an option. Then no
valve is included and feeding is done directly into the machine's control computer. Connection is often done via
connector to the original joystick.

2. Each sides cables are placed in the enclosed protective cover.

3. Distribute the covers with cables along the servo hoses inside the consoles. Ensure that they are not worn or
pinched when the seat / armrest / security gate is moved in its end positions.
4. Connect the CAN cable to joystick and display.
5. Route the feeder valve cable or if it is PWM feeding connect left / right joystick.

4.13. Interlock the excavator's quick coupler circuit

In order to ensure that the excavator's quick coupler can not be opened as long tiltrotators is connected, the quick
coupler circuit interlocked electrically. The result of this interlock is that a safety plug must be connected into the
machine cable connector before the excavator's quick coupler circuit can be activated. This is a very important
safety function. This is a very important safety function that prevents the driver from accidentally drop the tiltrotator
if wrong quick coupler switch is used.
See below for principled interlocking of the excavator quick coupler circuit.
 Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure | 29

4.14. Connect the safety gate

The excavators safety gate is connected so that tiltrotator and quick coupler can not be used unless the safety gate
is in active mode (ie the position where the excavator is to be used). Connection can be done directly in the electrical
switch or for example via a pressure guard connected to the excavator's servo hydraulics. Without this signal is no
power on any valve outputs. Connection can be done in two different ways.
Connection with positive signal

Connection with ground signal

30 | Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure

4.15. Mount the switch for the attachment coupler

The switch to for the tiltrotator's attachment coupler is mounted in the panel so that it is accessible for the driver.
A buzzer is mounted on the cable to the switch. The buzzer indicates that the switch is open. It is important that it
be placed so that the driver will hear the sound of the buzzer.
Mount the tiltrotator attachment coupler switch on a vacant position, see picture of example of mounting.

4.16. Connect the cabin module

To ensure best serviceability, we recommend that the cabin module is connected so that it is a good order on the
wiring. Cables that are long are striped together so that it is easy to see how the cables are connected.
1. Connect the Joystick CAN-plug in the connector to the cabin module. It does not matter which one of the three
sockets that is used.
2. Connect the CAN plug via the Y-cable to a socket on the cabin module.
3. Connect the cable to the CAN Support Socket to the other plug on the Y-cable.
4. Connect the black plug. (Among other quick coupler switch and safety gate and in some cases PWM signal)
5. Connect the yellow plug (Feeder Valve cable).
6. Connect the blue plug (Power / CAN cable).
7. Attach all cables neatly and functionally with stripes.
 Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure | 31

4.17. Mount warning label

As the tiltrotator alters the functionality of the excavator, it is important that this is labeled in a way that clarifies the
risks and what the operator must consider when using the tiltrotator.
Mount the sticker showing that the excavator is equipped with a tiltrotator from Steelwrist., clearly visible to the
driver.

4.18. Mount the pressure and tank hoses

It is important to get the right length on the feeder hoses. If they are too long there is a risk that they can accidentaly
get caught in something and if they are too short there is unnecessary wear and tear (which will eventually lead to
a service call). A good rule of thumb is that the feeder hoses should pass through the extension of the lower arm
shaft.
If we imagine a straight line starting at the hose connection on the arm, passing through the center of the bottom
pin on the arm and ends in the hose connection on the tiltrotator, then this is the maximum length of the hose. If
the feeder hoses are made to be a few centimeters (3-5cm) longer than this length the hose routing to be fine. The
alternative is to route the feeding hoses along the linkage but you should then be aware that the tube often wears
too much and the hose may need to be replaced more often.
Note: This can be affected by the angle of the excavators quick coupler which, in this case must be
compensated for. It can sometime be an advantage to use a 45 degree adaptor between the hose and the
coupling on the excavator.

1. Mount adapters and hydraulic quick couplings for the pressure (P) and return line (T).
32 | Installation instruction XControl G2 Tiltrotator control | 4. Installation procedure

2. If feeder hoses have been ordered then these are mounted. Otherwise own manufactured hoses are used.

3. Open shut off valves on the arm.

Chapter

5
5. System start up
Topics:

• Start up the system

• Name functions in the joysticks
• Set the excavator's pressure and
flow levels
• Run Auto Tuning
• Verify safety functions
• Verify tiltrotator functions
• Prepare for delivery to customer
• Installation Checklist
• Feedback
34 | Installation instruction XControl G2 Tiltrotator control | 5. System start up

5.1. Start up the system

After the installation is done it is now time to start up the system and tune the excavator and tiltrotator for the best
driving feeling and lowest fuel consumption. To start the system, it is important to ensure that all devices are
connected correctly, and that the tiltrotator is connected according to in the Installation Preparation in this document.
Warning: Make sure safety is on top of the priority. Read the safety instructions in previous section of
this installation instruction!

Note: Some of the following commands must be made in XControl G2's Service Mode. To access the
service mode, press four seconds on the invisible button located in the middle of the navigation bar on the
second menu page. Exit from the Service Mode is done in the same way as Entry.

1. Turn on machine power. Note that if the safety gate signal is detected via a pressure sensor then you must also
start the engine.
If the system is correctly connected, the touch screen will now light up.

2. Ensure that you are in Profile 1 (profile name appears at the top right of the touch screen)
 Installation instruction XControl G2 Tiltrotator control | 5. System start up | 35

3. Go to the second menu page by pressing the right button and click System Info and go to page 2.

If all CAN devices are correctly connected to the CAN network the following units will be shown in the list. The
right column shows the module's software version.
• Cabin module
• Tiltrotator module
• Handle Right
• Handle Left
• Display
36 | Installation instruction XControl G2 Tiltrotator control | 5. System start up

4. Return to the main menu, press "Troubleshooting" on the first menu page. Go to "Test Input" on page three.
a) Scroll all rollers individually back and forth between the end positions and ensure that the green icon is
displayed and the indicates values are between 0-100% for each roller.

b) Close the safety gate and make sure the green symbol of security gate lights up.

c) Set the attachment coupler switch to "Open-position" and make sure that the buzzer is sounding and that
the green icon is displayed (after the pop-up window has been acknowledged). Then close the attachment
coupler switch to "Lock-position".
 Installation instruction XControl G2 Tiltrotator control | 5. System start up | 37

5. Press Troubleshooting on the first menu page. Go to "Test Outputs" on page four.
a) Close the safety gate.
b) Run each feature individually and make sure the green icon is displayed in each direction and that the feeder
valve in left direction.

c) Set the switch to the attachment coupler in open position and make sure the green icon is displayed.

d) Open the security gate and make sure that no signals are sent out when a roller is used.

5.2. Name functions in the joysticks

Unless there is some machine specific instructions, verify that the functions are connected according to the Industry
organisation "Maskinleverantörerna" standard whereby functions are placed as follows.
Note: When joystick steering is mounted some rollers can for safety reasons be locked to theirs functions.
The standard from the Industry organization "Maskinleverantörerna" is used in this instruction.

1. Verify that the functions are connected as follows.

• Rotation: Left thumb roller. When the thumb is pulled to the right the attachment coupler shall rotate
counterclockwise (viewed from above).
• Tilt: Right thumb roller. When the thumb is pulled to the right the right hand bucket corner will be lowered.
• Gripper: Right index finger roller. When the index finger roller is pulled to the right the gripper will close.
• Extra: Left index finger roller (assuming that no joystick control option is installed). When the index finger
roller is pulled to the right oil flow will be sent to the right extra function.
38 | Installation instruction XControl G2 Tiltrotator control | 5. System start up

2. Enter names on each button (in service mode!) Go into the layout and press the appropriate line in the table.
a) Press Layout and select joysticks left or right.

b) Click on the row corresponding to the desired button in the table and select Rename.
 Installation instruction XControl G2 Tiltrotator control | 5. System start up | 39

3. Connect button that will activate LockPressure. This button is used to activate the hydraulic pressure and thus
activate the lock without any other valve on tilt rotator being activated.
a) Go into the Layout (in service mode) and choose the correct button in the table, click the Setup Output and
select Feeder. Click ok.
b) Name the button Lock Pressure and click OK.

5.3. Set the excavator's pressure and flow levels

It is important to set the excavator's pressure and flow to the right levels. Too high pressure and flow rates endangers
hydraulic components, degrade manueverability at the same time as fuel consumption increases.
1. Ensure that the maximum pressure during operation does not exceed 210 bar at the end of the arm and that
the return line is connected directly to tank. Maximum recommended back pressure on the tank side is 20 bar.
2. Limit maximum flow (if possible) to what is specified in the user's manual for the tilt rotator.
Use the following values for Steelwrist tiltrotators
• X04: approx 50 l/ min
• X06: approx 50 l/min
• X07: approx 60 l/min
• X12: approx 80 l/min
• X18: approx 100 l/min
• X20: approx 120 l/min
• X26: approx 120 l/min
40 | Installation instruction XControl G2 Tiltrotator control | 5. System start up

5.4. Run Auto Tuning

Ensure that the pressure and tank hoses are connected and that shutoff valves for pressure / tank connection are
open.
1. Start the machine and close the safety gate.
2. Press the System Info button and make sure that both the rotation and pulse sensor works ok by verifying that
the values are changed when the attachment coupler is rotating. (more than one turn).

3. Go into service mode and click on Auto Tuning and select Machine.

4. Turn the excavator to normal working RPM and turn off any automatic idling.
5. Lift the tiltrotaton at least 1 meter up in the air and ensure that the tiltrotators is horizontal.
6. Read and push next on the information pages until you get to page 5.

7. Start the Auto Tuning by pulling and holding a roller activated. Note that if the roller is released then the Auto
Tuning is terminated automatically. If you wish to resume the Auto Tuning you must start again from the beginning.
8. Let the Auto Tuning process work though the calibration cycle, which may take 3 to 5 minutes to complete, and
then press OK when the the auto-tuning process indicates complete.

5.5. Verify safety functions

The safety functions must be verified prior to further test is done.
 Installation instruction XControl G2 Tiltrotator control | 5. System start up | 41

Warning: Make sure no personnel are within the safety distances before starting verification of security
features and functionality.

1. Verify that the wedge / pins on the excavators's quick coupler, if a quick coupler is attached, is firmly entering
and locks in to the upper coupler of the tiltrotator.
2. Verify that the output signals to tiltrotator and quick-release is cut if the safety gate is opened
3. Verify that the machine's quick coupler lock is disconnected and inoperative when the tilt rotator is installed and
works and when the safety plug is mounted in the machine cable connector.
a) Place tiltrotators on or near the ground.
b) Try to activate and open the excavators quick coupler. It shall be impossible to disconnect tiltrotators from
the quick coupler.
c) Close the quick coupler switch.
d) Go out of the machine and disconnect the tiltrotator cables and hoses.
e) Plug in safety plug in the machine cable connector.
f) It shall now be possible to operate the excavators quick coupler. Verifiera dess funktion.
g) Attach the tiltrotators in the quick coupler and connect hoses and wiring.
4. Verify that the machine has the correct function of the Profile 5 which is without tiltrotator:
a) Disconnect the tiltrotator cable.
b) Verify that the system switches to Profile 5 (NOTE Error code 9002 appears if tiltrotators removed without
disconnecting the power.)

5. Verify that the wedge / pins on the tiltrotators attachment coupler is firmly entering and locks in to the bracket
on the bucket pins.

5.6. Verify tiltrotator functions

1. Test that all tiltrotator functions work separately.
1. Rotation
2. Tilt
3. Gripper
4. Extra
5. Lock
42 | Installation instruction XControl G2 Tiltrotator control | 5. System start up

2. Verifiera that the rotation function is correctly set

a) Go to the System Info menu, and make sure that the maximum speed of the rotor is between 7 and 8.5 rpm
per minute at maximum speed.

b) Tilta Tilt the tiltrotator to its end position, while the rotor is rotated slowly (about 2rpm) then "pump" the tilt
function to max and pressurize to maximum pressure. Verify that the rotation speed does not increase by
more than about 1 rpm.
c) Pull the roller to full speed on the rotation and release the roller so that it returns to normal position. The
motor should slow down smoothly. Verifiera in both directions.
3. Verify that the tilt function is set correctly.
a) Click on System Info, and make sure tiltfunktionens speed is between 17-25 degrees per second with a
maximum speed.
b) Pull the roller to full speed on the tilt and release the roller so that it returns to normal position. The tilt funcions
should slow down smoothly. Verifiera in both directions.
4. Verify that the grapple moves with moderate speed (about 4-5 seconds to open or close fully)
5. If possible, connect a flow meter or a tool to extra function outlets and verify that the appropriate flow is obtained
at max speed.
6. Verify the lock function repeatedlyby opening coupler lock + pressureize by pressing the button that was named
Locking Pressure. Check that the lock is locking and unlocking properly.
7. Verify that the machine has the correct function of the Profile 5 which is without tiltrotator:
a) Disconnect the tiltrotator cable.
b) Verify that the system switches to Profile 5 (NOTE Error code 9002 appears if tiltrotators removed without
disconnecting the power.)

c) Verify functions as defined in the MASTERTABLE (eg slope function, hammer function, etc.)
 Installation instruction XControl G2 Tiltrotator control | 5. System start up | 43

5.7. Prepare for delivery to customer

Prior to delivery, it is important that the profile that has been used during the installation process is copied to the
other profiles in the system. It is possible to name the profiles for different drivers or for different tools.
1. Go to Profile and copy profiles from Profile 1 to all other profiles. Name the profiles if desired.

2. Clear any error codes generated in the system during installation by entering Troubleshooting in Service Mode.
3. Exit the Service Mode so that end users can only use User Mode.
44 | Installation instruction XControl G2 Tiltrotator control | 5. System start up

5.8. Installation Checklist

The following checklist will help you to ensure that the installation is properly done and that everything works as it
should.Om If you can answer questions with OK then you have also the basis for the CE documentation since you
as installer is responsible for doing. Save this documentation along with other machine documentation.

Table 1: Installation checklist

Check point OK? Note

Security Features verified (according

to previous section)
Verify that the safety sticker is
mounted in the cab.
Verify that the naming of the buttons
is correct in "Layout".
Hydraulic pressure to the the
tiltrotator set to maximun 210 bar.
Counter pressure on the tank line is
lower than 20 bar.
Tiltrotator functions verified
(according to previous section).
Verify that the hoses between
tiltrotator and arm are routed so that
they do not touch the arm or the
tiltrotator.
Verify that the tiltrotator does not
collide with the linkage during the
movement of the arm and tiltrotator.
Verify that there are no oil leaks after
installation of the feeder valve and
tiltrotator.

Excavator Serial Number:

Tiltrotator Serial Number:
Verification done by:
_______________________________________________________
Signature, Name, Company, Place, Date
 Installation instruction XControl G2 Tiltrotator control | 5. System start up | 45

5.9. Feedback
We at Steelwrist strive to continously improve our products and our processes.
If you have comments or improvement suggestions on this publication, the delivery or our products, please take a
copy of this page and send, fax or mail to us at the following address.

By mail By fax By email

SteelwristAB +46 (0)8 626 07 15 support@steelwrist.com
Avd. Support
Bäckvägen 18
S-192 54 Sollentuna
Sweden

From
Name:
Organization:
How can we reach you:

Document number:______________________________
Page or pages:__________________________________
Proposal___________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
___________________________________________________________________________________________________
Date:_________________________________________
Name:________________________________________
Chapter

6
6. Error codes
Topics:

• Error codes via XCG2 Display

• List Error Codes with XCG2 Display
• Error code via LED
48 | Installation instruction XControl G2 Tiltrotator control | 6. Error codes

6.1. Error codes via XCG2 Display

If an active fault is shown by a red error icon at the top of the display. General help is available by clicking the
question mark icon. If there is no display installed see chapter - Error codes via LED.
1. To get to the menu in the display click on the tool icon.

2. Select Troubleshooting. Any active faults appear as buttons in the first submenu page "active fault".
 Installation instruction XControl G2 Tiltrotator control | 6. Error codes | 49

3. Click on an error message for further information and guidance (3 sub-menus: 1. description, 2. action, 3. support)

4. In menu page "previous errors" are the last error message that occurred. Note that the error can occur by natural
causes such. if tiltrotators removed with machine power on.
50 | Installation instruction XControl G2 Tiltrotator control | 6. Error codes

6.2. List Error Codes with XCG2 Display

Table 2: Error codes via LED

Error code Indication Explanation

11XY Cause: The signal from the roller is out of calibrated working range. This may be
due to a defective roller or incorrect calibration of the roller. X indicates CAN ID
and Y indicates which roller in the handle it applies.
Solution: If (XY) is working to some extent, it probably needs to be recalibrated.
If it is completely irresponsive, check the wiring and rollers connector inside (X)
and rectify any bad contact.
X=5 Right Handle
X=6 Left Handle
Y=1 Thumb Roller
Y=3 Pointing Finger Roller
12XY Cause: Incorrect roller sensor sum received from (XY). This is probably due to
bad contact or a defective roller sensor.
Solution: Check the wiring inside of the (X) and rectify any bad connector on (Y)
or its wire.
X=5 Right Handle
X=6 Left Handle
Y=1 Thumb Roller
Y=3 Pointing Finger Roller
1420 Cause: The pulse monitored input indicates detect signal pattern for the quick
coupler or the communication between the cabin module and the tiltrotator module
is interrupted.
1. Make sure that the quick coupler switch is working properly.
2. Check the wiring between the cabin module and the quick coupler switch.
15XY Cause: The signals from the roller did not pass the latest roller calibration made.
X indicates the CAN-ID, ie 5 for right handle, 6 for left. Y indicates which roller in
the handle it applies.
Solution:
1. Check the wiring inside of the (X) and rectify any bad contact.
2. Replace the roller if the problem persists.
2215 Cause: The buzzer is not working properly. This may be due to an interruption or
short circuit.
Solution:
1. Check the wiring to the summer and rectify any bad contact.
2. Replace the summer if the problem persists.
30XY Cause: One of the proportional outputs is short-circuited. X indicates the CAN-ID,
Y indicates which output it applies.
Solution: Check that the wiring from output (Y) on (X) is correctly fitted and that
there is no wire damage.
X=1 The cabin module
X=2 The tiltrotator module
 Installation instruction XControl G2 Tiltrotator control | 6. Error codes | 51

Error code Indication Explanation

Y=1 1
Y=2 2
Y=3 3
Y=4 4
Y=5 5
31XY Cause: The proportional output has been interrupted. X indicates the CAN-ID, Y
indicates which output it applies.
Solution: Check output (Y) on (X) and make sure that the connectors are coupled
correctly and that there is no wire damage.
X=1 The cabin module
X=2 The tiltrotator module
Y=1 1
Y=2 2
Y=3 3
Y=4 4
Y=5 5
331Y Cause: One of the On / Off outputs on the cabin module is short-circuited or
overloaded. Y indicates which output of the cabin module it applies.
Solution: Check the wiring from output (Y) on the cabin module for wire damage.
Make sure that the output amperage does not exceed 2,5A.
Y=3 Output 3
Y=4 Output 4
341Y Cause: One of the outputs on the cabin module is interrupted. Y indicates which
output of the cabin module it applies.
Solution: Check output (Y) on the cabin module and make sure that the connectors
are coupled correctly and that there is no wire damage. Make sure that the solenoid
is operational.
Y=3 Output 3
Y=4 Output 4
3429 Cause: Interrupted quick coupler output signal.
Solution:
1. Check the wiring between the tiltrotator module and the quick coupler’s solenoid
for wire damage.
2. Check the solenoid and make sure it is operational.
3. Replace the tiltrotator module if the problem persists.
3329 Cause: Short circuit on the quick coupler output signal.
1. Check the wiring between the tiltrotator module and the quick coupler’s solenoid
for wire damage.
2. Check the solenoid and make sure it is operational.
3. Replace the tiltrotator module if the problem persists.
70XY Cause: Internal error such as communication between processes in a device or
a memory. X indicates the CAN ID of the device that is affected (1,2,5,6,9) Y can
52 | Installation instruction XControl G2 Tiltrotator control | 6. Error codes

Error code Indication Explanation

be used to specify what caused the error code but it is rarely interesting for the
user.
X=1 The cabin module
X=2 The tiltrotator module
X=5 The right grip
X=6 The left grip
X=9 The display
71XY Cause: Internal error eg communication between processors in a device or a
memory. X indicates the CAN ID of the device that is affected (1,2,5,6,9) Y can
be used to specify what caused the error code but it is rarely interesting for the
user. These errors are often errors counted by another.
X=1 The cabin module
X=2 The tiltrotator module
X=5 The right grip
X=6 The left grip
X=9 The display
900X CAN-timeout. The unit is not connected or it is defective.
X=1 The cabin module
X=2 The tiltrotator module
X=5 The right grip
X=6 The left grip
X=9 The display

6.3. Error code via LED

On the cabin module XControl are 4 LED lights that can be used to describe the error codes when no display is
installed. Named LED1 lights (green) LED2 (red), LED3 (red) and LED4 (red).

Table 3: Error codes via LED

LED no Indication Explaination

LED1 Constant Green Cabin-module is active and in tiltrotator-mode

Flashing Green The system is in Profile 5 (auxiliary hydraulics). This also indicates that the
cabin-module has lost contact with the tiltrotator-module
LED2+LED3 Together these form the error type
 Installation instruction XControl G2 Tiltrotator control | 6. Error codes | 53

LED no Indication Explaination

Off - Off A CAN-module is missing

Off - On Input error
On - Off Output error
On - On Internal system error
LED4 This decribes which module / input / output / function that relates to the error. For
error type “Off - Off” LED4 flash with "soft" flashes according to the list below: :
1 time Cabin-module is missing on the CAN-bus (Should not be possible to get)
2 times Tiltrotator-module is missing on the CAN-bus
4 times Module for Joystick steering is missing on the CAN-bus
5 times Right joystick is missing on the CAN-bus
6 times Left joystick is missing on the CAN-bus
9 times Display is missing on the CAN-bus
For the other error types LED 4 first flash the unit number in which the error occurred
with hard flashes. After that it flashes with soft flashes to tell which input / output /
function has an error. Example LED2=On, LED3=Off, LED4<Two hard flashes>
<Two soft flashes>
Units: 1. Cabin module
2. Tiltrotator module
3. N/A
4. Steering module
5. Right joystick
6. Left joystick
7. N/A
8. N/A
9. Display
Outputs Cabin 1. Out1 = Feeder
module:
2. Out2 = Configured Prop
3. Out3 = Configured On/Off
4. Out4 = Configured On/Off
Outputs 1. Out1 = Rotation
Tiltrotator
module:
2. Out2 = Tilt
3. Out3 = Gripper
4. Out4 = Extra
5. Out5 = Quick coupler
Outputs 1. Out1 = Directional valve Right / Left
Steering
module Wheel
steering:
2. Out2 = Proportional valve steering speed
3. Out3 = Pressure switch
54 | Installation instruction XControl G2 Tiltrotator control | 6. Error codes

LED no Indication Explaination

4. Out4 = Gear logic – High gear disable

Outputs 1. Out1 = Direction valve Right Track Forward / Reverse
Steering
module Track
steering:
2. Out2 = Direction valve Left Track Forward / Reverse
 Steelwrist AB
Bäckvägen 18
192 54 Sollentuna
Sweden
+46-626 07 00
www.steelwrist.com

700322ENB