HA16RTJ

TECHNICAL TRAINING
DIAGNOSTIC LEVEL II
All models HA16RTJ - (HA46JRT)

How to use this document?
MAINTENANCE AND REPAIR OPERATIONS ON YOUR HAULOTTE MACHINE
MUST BE DONE ONLY BY TRAINED, EXPERIENCED AND AUTHORIZED TECHNICIANS
You have between the hands the summary given during the HAULOTTE technical training
It will enable you to find information necessary for the maintenance and the repair of your
HAULOTTE machine .
Thanks to the guide below you will reach the required chapter quickly.
Chapter 1: Main features and functions

It is a resume of the information contained in the manual user delivered with the machine: components,
overall dimensions, working zones, commands, etc…
Chapter 2: Study of the electric diagram

You will find there the elements as following:
- A summary of the standardized symbols used by HAULOTTE Group
- The complete wiring diagram of the studied model
- The non exhaustive list of the electric looms and electronic boards
- Localization of the main safety units (tilt , limit switches, sensors,transducers…)
- Logical equations of operation: by function, to diagnose the main dysfunctions
Chapter 3: Study of the hydraulic diagram

You will find there the elements as following:
- a summary of the standardized symbols used by HAULOTTE Group
- the complete hydraulic diagram of the studied model
- a localization of the main hydraulics manifold (proportional block , on/off movements block,…)
Chapter 4: Adjustments
This is the adjustments and calibrations, hydraulics and electric, necessary to the good maintenance of the
material. You will find as well the methods of adjustment with table values.
Chapter 5: Guide of breakdown

Quick summary of the step to be followed for possible sources of breakdown.
In case of any defect or any dysfunction you will be able to identify the elements in question, whatever they
are electric or hydraulic.
Chapter 6: Summary of the versions

This manual treats of the latest version, however this summary table enables you to find the former
versions of the material (electric and hydraulics).
Chapter 7: Special functions

This chapter gathers all the functions and adjustment specific to carry out on the machine. There does not
exist for all the materials and depends on the studied model.
It must be the subject of a special attention as an intervention badly carried out can deteriorate the good
performance of the machine and thus consequently the safety of the users.
Only a technician HAULOTTE or approved by HAULOTTE Services is able to carry out this kind of
intervention.
On this chapter, some special adjustment (sensors) are also explained prior to calibration ( depends on the
model)
Chapter 8: List of Schematics

In this chapter, all schematics in A3 size are listed (electric/hydraulic) and if required some extras lay out
TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

4000202840 E07-14 2/212
REVISION
Revision Edition Subject Created Validated Modified Translated Language

by by by by
00 02-14 Creation MGD R&D FLH MGD EN
01 07 -14 Newest failures list + MGD MGD MGD EN
newest option like
ASB
(Active Shield Bar)

4000202840 E07-14 3/212
SUMMARY
1. MAIN FEATURES AND FUNCTIONS ............................................................................................................................... 6
1.1. CHARACTERISTICS ............................................................................................................................................................ 6
1.1.1. Description of the models ........................................................................................................................................ 6
1.1.2. main components ..................................................................................................................................................... 7
1.1.3. Overall dimensions .................................................................................................................................................. 9
1.1.4. working zone.......................................................................................................................................................... 10
1.1.5. main features ......................................................................................................................................................... 11
1.1.6. transport position .................................................................................................................................................. 11
1.2. THE COMMANDS (UP/DOWN) ........................................................................................................................................ 12
1.2.1. lower controls ........................................................................................................................................................ 12
1.2.2. the display.............................................................................................................................................................. 13
1.2.3. upper controls........................................................................................................................................................ 17
1.3. THE MULTIPLE MOVEMENTS ............................................................................................................................................ 21
1.4. STRUCTURE OF THE SYSTEM ........................................................................................................................................... 24
1.5. THE ECU MODULES .......................................................................................................................................................... 25
1.5.1. U106 SPU 7066 module master ............................................................................................................................ 25
1.5.2. U104 node B2 slave ............................................................................................................................................... 31
1.5.3. U101 Display module ............................................................................................................................................ 33
1.5.4. EGV Kubota module .............................................................................................................................................. 34
1.5.5. the printed circuit board ........................................................................................................................................ 35
2. THE ELECTRICAL PART ................................................................................................................................................. 38
2.1. SYMBOLS USED ............................................................................................................................................................... 38
2.2. METHODOLOGY OF CONTROL.......................................................................................................................................... 43
2.2.1. electric continuity control...................................................................................................................................... 43
2.2.2. Control of an on/off valve ...................................................................................................................................... 43
2.2.3. control of components ........................................................................................................................................... 44
2.3. THE SCHEMATICS ............................................................................................................................................................ 48
2.4. THE MAIN SAFETY COMPONENTS ..................................................................................................................................... 48
2.4.1. The sensors in detail .............................................................................................................................................. 50
2.5. DESIGNATION OF ELECTRIC ITEMS ................................................................................................................................... 56
2.6. LIST OF ITEMS ON SHEMATICS ......................................................................................................................................... 58
2.6.1. engine part ............................................................................................................................................................. 58
2.6.2. Fuses...................................................................................................................................................................... 58
2.6.3. inputs ..................................................................................................................................................................... 59
2.6.4. Outputs .................................................................................................................................................................. 61
2.7. LOGICAL FUNCTIONS....................................................................................................................................................... 64
2.7.1. spu power supply ................................................................................................................................................... 64
2.7.2. Turret control box conditions ................................................................................................................................ 66
2.7.3. Platform’s control box conditions ......................................................................................................................... 67
2.7.4. Load Management System ..................................................................................................................................... 69
2.7.5. Movements conditions ........................................................................................................................................... 71
2.7.6. Engine Management conditions ............................................................................................................................ 72
2.7.7. Brake release conditions ....................................................................................................................................... 78
2.7.8. Drive conditions .................................................................................................................................................... 79
2.7.9. Steering conditions ................................................................................................................................................ 83
2.7.10. Boom conditions .................................................................................................................................................... 87
2.7.11. arm conditions ....................................................................................................................................................... 91
2.7.12. Telescope conditions ............................................................................................................................................. 94
2.7.13. Turret rotation conditions ..................................................................................................................................... 98
2.7.14. Jib conditions ...................................................................................................................................................... 101
2.7.15. Basket rotation conditions ................................................................................................................................... 105
2.7.16. Basket compensation’s conditions ....................................................................................................................... 108
2.7.17. Differential lock conditions ................................................................................................................................. 111
2.7.18. Differential unlock conditions ............................................................................................................................. 112
2.7.19. Option Active Shield bar ..................................................................................................................................... 113
3. THE HYDRAULIC PART................................................................................................................................................. 116
3.1. SYMBOLS USED ............................................................................................................................................................. 116
3.2. THE HYDRAULIC BLOCKS ............................................................................................................................................... 121

4000202840 E07-14 4/212
3.2.1. General overview................................................................................................................................................. 121
3.2.2. The pvg block....................................................................................................................................................... 122
3.2.3. proportional block ............................................................................................................................................... 124
3.2.4. block on/off .......................................................................................................................................................... 125
3.2.5. drive block ........................................................................................................................................................... 128
3.2.6. steering block 2ws ............................................................................................................................................... 131
3.2.7. steering block 4ws ............................................................................................................................................... 132
3.2.8. oscillating axle block ........................................................................................................................................... 134
4. ADJUSTMENTS ................................................................................................................................................................. 135
4.1. ADJUSTMENTS WITH DIAG PAD CONSOLE ...................................................................................................................... 135
4.2. FAILURES LIST ............................................................................................................................................................... 136
4.2.1. List of failures per category................................................................................................................................. 137
4.3. SETTINGS MENU ............................................................................................................................................................ 151
4.4. DIAGNOSTIC MENU ....................................................................................................................................................... 154
4.5. MENU INPUTS/OUTPUTS ................................................................................................................................................ 162
4.6. MENU INFORMATIONS ................................................................................................................................................... 165
4.7. ADJUSTMENT OF SPEEDS ............................................................................................................................................... 166
4.8. ADJUSTMENT OF PRESSURES ......................................................................................................................................... 168
4.8.1. port plug for pressures control ............................................................................................................................ 168
4.8.2. pressure adjustments on pump ............................................................................................................................ 168
4.9. OVERLOAD .................................................................................................................................................................... 169
4.9.1. calibration of the tare .......................................................................................................................................... 170
4.9.2. calibration with fixed weight ............................................................................................................................... 171
4.9.3. calibration with adjustable weight ...................................................................................................................... 172
4.9.4. control of the calibration ..................................................................................................................................... 173
4.9.5. Messages of possible errors ................................................................................................................................ 173
5. SIMPLIFIED BREAKDOWN GUIDE ............................................................................................................................. 174
5.1. QUICK CHECKINGS ON DRIVE ......................................................................................................................................... 174
5.2. QUICK CHECKINGS ON MOVEMENTS .............................................................................................................................. 174
5.3. QUICK CHECKINGS ON ENGINE....................................................................................................................................... 175
5.4. NO ENGINE START.......................................................................................................................................................... 177
5.5. NO ARM ......................................................................................................................................................................... 177
5.6. NO BOOM ....................................................................................................................................................................... 177
5.7. NO TELESCOPIC BOOM ................................................................................................................................................... 177
5.8. NO TURRET ROTATION ................................................................................................................................................... 178
5.9. NO JIB ............................................................................................................................................................................ 178
5.10. NO BASKET ROTATION ................................................................................................................................................... 178
5.11. NO BASKET COMPENSATION .......................................................................................................................................... 178
5.12. NO DRIVE ...................................................................................................................................................................... 178
5.13. ONLY LOW SPEED .......................................................................................................................................................... 179
5.14. NO STEERING ................................................................................................................................................................. 179
5.15. NO OSCILLATING AXLE ................................................................................................................................................. 179
5.16. NO DIFFERENTIAL LOCK ................................................................................................................................................ 179
6. SUMMARY OF VERSIONS HA16RTJ MODELS ......................................................................................................... 180
7. SPECIAL FUNCTIONS ..................................................................................................................................................... 182
7.1. CANBUS ......................................................................................................................................................................... 182
7.2. ADJUSTMENT PROCEDURE FOR SPECIFIC DEVICES.......................................................................................................... 183
7.2.1. any ils sensor ....................................................................................................................................................... 183
7.2.2. tilt sensors............................................................................................................................................................ 185
7.2.3. alternator controls ............................................................................................................................................... 187
7.2.4. Kubota fuel coil and sensors ............................................................................................................................... 188
8. LIST OF SCHEMATICS ................................................................................................................................................... 193

4000202840 E07-14 5/212
1. MAIN FEATURES AND FUNCTIONS
1.1. CHARACTERISTICS
1 .1 .1 . DESCRIPTION OF THE MODELS

4000202840 E07-14 6/212
1 .1 .2 . MAIN COMPONENTS

4000202840 E07-14 7/212
4000202840 E07-14 8/212
1 .1 .3 . OVERALL DIMENSIONS

4000202840 E07-14 9/212
1 .1 .4 . WORKING ZONE

4000202840 E07-14 10/212
1 .1 .5 . MAIN FEATURES
1 .1 .6 . TRANSPORT POSITION
Example of transport on truck

4000202840 E07-14 11/212
1 .2 . THE COMMANDS (UP/DOWN)
1 .2 .1 . LOWER CONTROLS

4000202840 E07-14 12/212
1 .2 .2 . THE DISPLAY
LED Function Color

1 Safety command control Orange
2 Failure Red
3 Outreach limit Orange
4 Overload Red
5 Wait to start Orange
6 Engine Warning Orange
7 Engine Stop Red
8 DPF Orange
9 DPF disable Orange
10 HEST Red

4000202840 E07-14 13/212
 Detail on indicators
Symbol Name Output Control Description

ON Light test at machine’s power/start up
ON Selected Control box is overriding control box
Power On LED1 BLINK Model version or engine configuration or country
option not set
OFF Other cases
ON Light test at machine’s start up
BLINK Active or detected failure
BLINK Service counter null valued
Warning LED2
BLINK Model version or engine configuration or country
option not set
OFF Other cases
Reach BLINK Model version or engine configuration or country
LED3 option not set
limitation
OFF Other cases
BLINK Overload alarm is active
BLINK Overload system failure is active/detected
Overload LED4
option not set
OFF Other cases
ON Engine’s preheat is running before starting
Engine’s
LED5 BLINK Model version or engine configuration or country
preheat
option not set
OFF Other cases

ON Engine’s warning is active
BLINK
(5 times at Service counter is lower than 20h
Engine’s power on)
LED6
warning BLINK Service counter is null valued (time to next
(permanent) maintenance)
option not set
OFF Other cases

4000202840 E07-14 14/212
ON (3secs) Engine’s immobilizing time is running
ON (1sec) Engine’s start failed (time out on start phase)
Engine’s ON
LED7 Engine failure (coolant, pressure, alternator…)
stop (permanent)
option not set
OFF Other cases
DPF BLINK Model version or engine configuration or country
LED8 option not set
Disabled
OFF Other cases (unused for now)
DPF LED9 option not set
HEST LED10 option not set

4000202840 E07-14 15/212
Note: the display is showing 2 informations
When power is switched ON during the checking, the display is showing how many hours are remaining
before the next service on KUBOTA engine
This service hours counter is resetted at 500hours if
 The new program is installed in the SPU
 By connecting the diagnostic console OPTIMIZER (with daily code) in menu Service Counter
After checking the final display is showing the running hours (all lights OFF if no alarm in progress)
(This counter could also be resetted by connecting the console enter the daily code , in menu Hourmeter )
For more details regarding how to connect./use the console , refer chapter 4

4000202840 E07-14 16/212
1.2.3.UPPER CONTROLS
Detail of the indicator

4000202840 E07-14 17/212
HL900 HL300 HL307 HL305 HL304 HL301 HL302 HL303 Not Used
HL807 HL801 HL800 Not Used HL802 Not Used HL720 Not Used

4000202840 E07-14 18/212
 Detail of symbols

ON Selected Command console is upper
BLINK Model version or engine configuration or
Power On HL900 country option not set
BLINK Machine powered on and control box is not
upper control box
OFF Other cases
ON Enable pedal is valid (movement is enable)
Enable
HL807 BLINK Model version or engine configuration or
Pedal
country option not set
OFF Other cases
ON Gas oil low level is detected (SQ189 sensor
open for 10seconds)
Fuel low HL307
level country option not set
OFF Other cases
BLINK Failure has been detected or is active
Failure / HL801 BLINK Model version or engine configuration or
Danger country option not set
OFF Other cases
ON Tilt is detected (even with folded machine)
Tilt HL800 BLINK Model version or engine configuration or
OFF Other cases
ON Overload is active
ON Underload is active
Overload HL802 BLINK Overload system is failing
OFF Other cases
Engine BLINK Model version or engine configuration or
HL300
Preheat country option not set
OFF Other cases

4000202840 E07-14 19/212
DPF HL301
OFF Other cases
HEST HL302 country option not set
OFF Other cases
DPF Disabled HL303 country option not set
OFF Other cases
ON Tilt 10° is active and basket level raise set
point is active
ON Tilt -10° is active and basket level descent
Basket Tilt HL561 set point is active
OFF Other cases
ON Engine failure has been detected (F09.xx)
ON Engine immobilizing timer running (1s if
start phase failed, 3s if engine was stopped
Engine stop HL305 normally)
OFF Other cases
ON Engine warning has been detected
BLINK
(5 times at Service counter is lower than 20h
Engine
HL304 power-on)
warning
ON Service counter is detected to null value
OFF Other cases

4000202840 E07-14 20/212
1 .3 . THE MULTIPLE MOVEMENTS
EC standards
1 2 3 4 5 6 7 8 9
Platform Rotation
Steering (2WS or
Turret Rotation
Platform Level
Telescope
Standard
Simultaneous movements
Boom
Drive
4WS)
Arm
Jib
VAR[AuthorizedMvt]=1
MS |
HS |
MS
HS
µS
µS
LS
LS
µS 0 0 0 0 0 0 0
LS 1 1 1 1 1 1 0
1 Drive 1
MS| 0
1 0 0 1 1 0
HS
µS 0 0 0 0
Steering LS 1 1 1 1
2 0
(2WS or 4WS) MS| 0
1 0 0
HS
3 Turret Rotation 1 1 1 1 1 0
4 Arm 1 1 1 0 0
5 Boom 1 1 0 0
6 Telescope 1 0 0
7 Jib 0 0
Platform
8 0
Rotation
9 Platform Level

4000202840 E07-14 21/212
AUSTRALIA standards
1 2 3 4 5 6 7 8 9
Platform Rotation
Turret Rotation
(2WS or 4WS)
Platform Level
Telescope
Australia
Steering
Boom
Drive
Arm
Jib
MS |
HS |
MS
HS
µS
µS
LS
LS
µS 1 1 1 1 1 1 0
1 Drive LS 1 1 1 1 1 1 1 0
MS| HS 1 0 0 0 1 1 0
µS 1 1 1 1 1
Steering
2 LS 1 1 1 1 1 0
(2WS or 4WS)
MS| HS 1 0 0 0 1
4 Arm 1 1 1 0 0
5 Boom 1 1 0 0
6 Telescope 1 0 0
7 Jib 0 0
8 Platform Rotation 0
9 Platform Level
Note : :The machine gets a dedicated hydraulic block to allow the combination of jib and steering movements

4000202840 E07-14 22/212
USA Standards
1 2 3 4 5 6 7 8 9
Platform Rotation
Steering (2WS or
Turret Rotation
Platform Level
Telescope
USA
Boom
Drive
SM_ANSI_002
4WS)
Arm
Jib
MS |
HS |
MS
HS
µS
µS
LS
LS
µS 1 1 1 1 1 1 0
LS 1 1 1 1 1 1 0
1 Drive 1
MS| 0
1 0 0 1 1 0
HS
µS 1 1 1 1
Steering LS 1 1 1 1
2 0
(2WS or 4WS) MS| 0
1 0 0
HS
4 Arm 1 1 1 0 0
5 Boom 1 1 0 0
6 Telescope 1 0 0
7 Jib 0 0
Platform
8 0
Rotation
9 Platform Level

4000202840 E07-14 23/212
1 .4 . STRUCTURE OF THE SYSTEM
The system has 2 ECU modules (SPU master on turret and Node B2 slave located on upper controls
The U101 (multi display and the Kubota module EGV (Electronic Governor) are linked to the SPU through
a standard can bus J1939 ,where as the ECU U104 is linked to the SPU through Haulotte can bus
U104 ECU DIGITAL /ANALOG

DIGITAL (SLAVE)
/ANALOG OUTPUTS
B2 NODE
INPUTS
BASKET
CAN 2.0 A CAN 2.0 B

TURRET
HAULOTTE J1939
DIGITAL U106 ECU U101 ECU Semi Electronic KUBOTA

/ANALOG (MASTER) (SLAVE) Engine module
DIGITAL /ANALOG
INPUTS SPU (DISPLAY) V1505 – (EGV)
OUTPUTS
/ANALOG
OUTPUTS
/ANALOG
DIGITAL
INPUTS
DIGITAL

4000202840 E07-14 24/212
1 .5 . THE ECU MODULES
1 .5 .1 . U106 SPU 7066 MODULE MASTER

It’s located in turret near the lower control box
 Detail on connectors

4000202840 E07-14 25/212
PLUG CN1A
PIN WIRE NAME FUNCTION
1 Not used
2 174 ST300 Temperature probe for cooling fluid in engine
+ 5 volts
SQ531 (ILS telescope extended)-
3 395
SQ520 (ILS boom lifted)-
SQ420 (ILS arm angle)
4 144 SA800 Emergency command
5 0 GB1 Battery (-)
6 0 GB1 Battery (-)
7 Not used
8 189 SQ300 Low fuel level
9 385 SA905 Start/stop engine ( lower controls)
10 Not used
11 860 SA250 Turret rotation right side
12 0 GB1 Battery (-)
13 Not used
FU7
14 109 V batt ECU turret
(15A)
15 340 SA530 Telescope extension (lower controls)
16 Not used
17 300 SA520 Main boom lift
18 123 YV160 PVG in error
19 Not used
FU11
20 105 V Bat
(7,5A)
21 200 SA420 Arm lift
22 Not used
23 Not used
24 Not used
25 Not used
26 Not used
PLUG CN1B
1 120 Command Load Sensing valve YV800 (+)
2 187 Command horn relay KA9
3 686 High Speed drive supply on valves YV110 / YV111
4 192 Command generator relay KA2
5 0 Battery (-)
6 620 Command YV900, movements ON/OFF and steering
7 170 Command stop engine relay KA3
8 121 Command Load Sensing valve YV800 (-)
9 Not used
10 201 Command arm lift YV420U
11 600 SA300 Regeneration engine TIERIV (option)
12 481 SA720 Basket compensation descent (lower controls)
13 500 SA620 Jib lifting (lower controls)
14 610 SA300 Regeneration engine TIERIV inhibited ( option)
15 510 SA620 Jib descent (lower controls)
16 1003 Can
17 1003 Can
18 103 V power from fuse FU13
19 Not used
20 114 SA901 Information selection basket from SA901
21 150 SQ800 Tilt sensor
22 386 SA905 Enable switch (lower controls)
4000202840 E07-14 26/212
23 480 SA720 Basket compensation lift (lower controls)
24 Not used
25 1001 Can HG L
26 Not used
27 621 Command crab mode steering YV607
28 188 Command EL901, option flashing light
29 186 Buzzer HA901
30 162 Command preheating relay KM160
31 880 Command turret rotation YV250
33 Not used
34 1002 Can HG H
PLUGCN2A
1 122 Fault monitoring on PVG drive coil YV160
2 783 Command crab/synchro brake release YV105
3 387 Command telescopic boom YV530
4 381 Command boom lift YV520
5 689 Command differential lock YV100
6 145 Command emergency pump relay KM160
9 Not used
10 320 SA520 Command boom descent (lower controls)
11 840 SA250 Command turret rotation (lower controls)
12 220 SA420 Commande arm lift (lower controls)
13 Not used
14 Not used
15 Not used
16 Not used
17 360 SA530 Command telescopic boom retraction (lower controls)
18 2003 Can
19 780 Command oscillating axle unlocking YV101
20 282 Command arm lift YV420 (lower controls)
21 Not used
22 0 Battery (-)
23 169 Command start relay KA4
24 622 Command synchro steering mode YV108
25 Not used
26 782 Command brake release YV102
PLUG CN2B
1 2002 Can 2.0 H
3 Not used
4 Not used
5 301 Command boom lift YV520U
6 Not used
7 221 Command arm descent YV420D
8 841 Command turret rotation left side YV250L
10 2001 Can 2.0 L
11 Not used
12 384 SQ520 ILS Detection boom lifted
13 380 SQ531 ILS Detection telescope extented
14 281 SQ420 ILS Detection arm angle
15 Not used

4000202840 E07-14 27/212
16 Not used
17 Not used
18 Not used
19 2003 Can
20 Not used
21 Not used
22 Not used
23 Not used
24 Not used
25 861 Command turrte rotation right side YV250R
26 687 Command medium speed drive valves YV113/ YV115
27 Not used
28 687 Command medium speed drive valves YV113/ YV115
29 Not used
30 0 Battery (-)
31 Not used
32 Not used
33 Not used
34 321 Command bom descent YV520D
PLUG CN3A
2 601 Command FL steering YV150L
3 Not used
4 Not used
5 Not used
6 Not used
8 Not used
9 124 PVG drive setpoint on PVG
10 Not used
11 222 SQ900 ILS arm/boom exit if option oscillating axle
12 Not used
13 Not used
14 602 Command FR steering YV150R
15 Not used
16 Not used
17 332 SQ532 ILS telescope if option oscillating axle
18 Not used
19 Not used
20 341 Command telescopic boom extension YV530O
21 361 Command telescopic boom retraction YV530I
22 Not used
23 0 Battery (-)
24 Not used
25 690 Command MS/HS drive mode YV112/YV114
26 Not used

4000202840 E07-14 28/212
PRISE CN3B
1 690 Command MS/HS drive mode YV112/YV114
2 Not used
3 Not used
4 686 HS drive supply on valves YV110 et YV111
5 Not used
6 Not used
7 Not used
9 Not used
10 Not used
11 Not used
12 Not used
13 115 SA901 Information turret selection from SA901
14 102 Alternator (D+)
15 142 SB801 Emergency stop ( lower controls)
16 Not used
17 Not used
18 Not used
19 Not used
20 Not used
21 173 SP300 Pressure switch oil engine
22 0 Battery (-)
23 125 ST900 Hydraulic oil overheating
24 Not used
25 Not used
26 Not used
27 Not used
28 Not used
29 Not used
30 212 SP109 Pressure switch oscillating axle
31 Not used
32 Not used
33 4002 Can H 3
34 4001 Can L 3

4000202840 E07-14 29/212
Note: on SPU module, there is 2 types of digital outputs:
LS (Low Side) and HS: (High Side)
Exception: safety valves where HS and LS outputs are combined as follow:

For all these outputs, at OFF state, the module detects an open circuit but the software ignores this
information and drives the outputs

4000202840 E07-14 30/212
1 .5 .2 . U104 NODE B2 SLAVE
It’s located inside the upper control box

4000202840 E07-14 31/212
See detail on pcb equipped with leds upper controls

4000202840 E07-14 32/212
1 .5 .3 . U101 DISPLAY MODULE
It’s located on front door on lower control box
Lay out details

4000202840 E07-14 33/212
1 .5 .4 . EGV KUBOTA MODULE
This module called EGV (Electronic Governor) is located behind the KUBOTA engine and controls all
engine actuators (rpm/ temperature/rpm)
KM160
Lay out details on EGV (see at the end of this book)

4000202840 E07-14 34/212
1 .5 .5 . THE PRINTED CIRCUIT BOARD
It’s located inside the lower control box
All main fuses and relays are located in this PCB

4000202840 E07-14 35/212
R10 47Ω / 2W (L_ALT)

4000202840 E07-14 36/212
4000202840 E07-14 37/212
2. THE ELECTRICAL PART
2 .1 . SYMBOLS USED
Battery (2 elements of 6V)
Alternator
Fuse (Here 25 amps)
Coil double roll
Electric motor
Light/Bulb
Diode
Hourmeter

4000202840 E07-14 38/212
Standard push-button of safety “mushroom-
headed button”
Rotary knob
Push-button
Limit switch
Pressure switch
Key selector with 3 positions (T turret, O neutral,

N platform)
Toggle switch with 2 positions (here

lifting/descent)
Electrovalve
relay
horn

4000202840 E07-14 39/212
Proportional electrovalve (PWM type )
Pulse Width Modulation
Proportional electrovalve (PVG type)
Controller/joysticks
Foot “pedal” switch
buzzer
“light”
Tilt sensor ( ramp/slope detection)

4000202840 E07-14 40/212
Angle sensor (reach limitation)
Contact « mercury » (basket angle detection)
Resistor (here value 220Ω, 1/4 Watts, tolerance

of 1%)
Sensor length (reach limitation)
Pressure sensor (weighing)
Angle sensor (weighing)
Standard light “Led”
Strain gauge
ILS Switch detection of the magnets on the

telescopic boom/arm extension (Interrupteur
Lame Souple)

4000202840 E07-14 41/212
Level detector (diesel tank)
Proximity detector with impulses (detection teeth

slew ring)
Tranducer F/I Force/intensity for load

measurement on basket/Platform
Temperature detection switch
Temperature detection sensor
Pressure detection sensor
Speed detection sensor
Engine coil (start/stop)

4000202840 E07-14 42/212
2 .2 . METHODOLOGY OF CONTROL
Note: during an intervention on a component or a loom, it is important to remember to switch OFF the
power supply of the machine in order to avoid any risk.
2 .2 .1 . ELECTRIC CONTINUITY CONTROL

The continuity check of a loom or an electric component determines the resistor of this device, in order to
detect a possible interruption of continuity (open circuit, short-circuit…).
This control is carried out with a multimeter commutated in position Ohmmeter (Ω).
First of all, it is necessary to determine the terminals of the component or the cable to control and insulate
them.
Then, connect the multimeter in order to record the value.
It must indicate a value of resistor close to 0 Ω if continuity is good.
In the contrary case (resistor which tends towards the infinite one : ∞), continuity presents a defect.
Control of insulation
At the contrary of continuity, insulation represents a non electric connectiion between the ground and the
component
The test of insulation consists in obtaining the opposite result of that described for continuity, i.e. a value of
the Ohmmeter which must tend towards the infinite one : ∞
2 .2 .2 . CONTROL OF AN ON/OFF VALVE

Note: These tests are to be carried out when power is ON.
Also control the state of the terminals or any other connectors (oxydation…)
Control supply of the coil
Disconnect the plug socket of supply of the valve in order to connect in derivation the multimeter on the
terminals of the connector (see below).
Select the position to voltmeter (V), and then activate the command to the valve which must be tested.
The voltage indicated by the voltmeter must be close to the tension of battery

4000202840 E07-14 43/212
Control intensity of the coil
Disconnect the plug socket of supply of the valve in order to connect in series the multimeter on the
terminals of the connector (example below).
Select the position Ammeter (A), then activate the command to the valve which must be tested.
The intensity indicated by the voltmeter must be of approximately 2A (to be checked according to the data
manufacturer)
Control resistance of the coil

Disconnect the plug socket of supply of the valve in order to connect the multimeter on the terminals of the
connector industry.
Select the position Ohmmeter (Ω), then compare the value measured with that of the data manufacturer.
In the event of nonconformity of the coil, replace it.
2 .2 .3 . CONTROL OF COMPONENTS
 Control of an electric relay

Disconnect the relay,then locate its various terminals.
Control the resistor of the solenoid terminals 85 and 86 (see manufacturer datas) using a
multimeter in Ohmmeter position.
If the resistor is null, change the relay.
If this test is OK, check continuity between terminals 30 and 87a and insulation between terminals
30 and 87
In the event of dysfunction, replace the relay.

4000202840 E07-14 44/212
 supply control of the relay
Locate the relay without disconnecting it and locating it its various terminals.
Control the continuity of terminal 86 with the ground
.(In the event of defect of continuity, check the concerned loom)
Connect the multimeter in position Voltmeter (V) between terminal 30 and the ground and thus
control the power supply of the component (It must be close to the battery voltage Vbat)
Select the function of this relay and check the output voltage between terminal 87 and ground.
In the event of dysfunction, replace the relay

4000202840 E07-14 45/212
 Control of a fuse
Color code
Fuse check
Multimeter in Ω position, it must indicate a value near 0
NOK
OK
 Control of a diode
Locate the diode and disconnect it from the loom.
Control must be done with a multimeter in “diode” position.
Connect the multimeter on each terminal of the diode, in one direction then on the other.
In one direction, the diode should have no continuity,
in the other it must beep
If the diode is beeping in both ways, replace it.

4000202840 E07-14 46/212
 How to identify the impedance of the resistance by reading the colors

4000202840 E07-14 47/212
2 .3 . THE SCHEMATICS
See all versions at the end of this manual
2 .4 . THE MAIN SAFETY COMPONENTS

4000202840 E07-14 48/212
2 .4 .1 . THE SENSORS IN DETAIL
 SQ800 Tilt sensor (signal wire 150 always = Vbat if machine is on flat ground)
 SQ420 Arm angle sensor (=1 if machine stowed)
 SQ520 Boom angle detection (= 1 if stowed)
X
 SQ900 boom angle ILS sensor (=1 if stowed and only if machine equipped with oscillating axle )
 SQ531 ILS telescope detection (=1 if retracted)

 SQ532 ILS telescope detection (=1 if retracted only if machine equipped with oscillating axle)
SQ531
SQ532
SQ531

4000202840 E07-14 51/212
 KUBOTA engine
2 3

4000202840 E07-14 52/212
Mark Item Designation
1 ST300 Overheating detection
2 YA300 Electronic start/stop accelerator
3 SV300 Speed engine sensor
4 SP300 Oil engine pressure detection
5 ST302 Water temperature sensor
 ST900 hydraulic oil temperature detection (>104°C)
 SQ 300 low fuel detection

4000202840 E07-14 53/212
 SP109 pressure detection only if machine equipped with oscillating axle
Mark Items Functions

1 YV101 Oscillating axle mode (YV101 = 1 if in drive and machine in stowed position)
Pressure transducer
2 SP109 If P ≥ 10 b axle is unlocked
If P ≤ 4 bars axle is locked
 SP800/SP801 strain gauges for basket weight detection
Jib side
Basket side

4000202840 E07-14 54/212
 ST720 (+ 10° )/ST721(-10°) Tilt sensors for basket inclination

4000202840 E07-14 55/212
2 .5 . DESIGNATION OF ELECTRIC ITEMS
The electrical components are identified by a system of letters and figures which is a standard on newest
Haulotte models
This designation indicates each component: per function /family
Its nature (relay, contactor,…)
Its family (movements boom, movements drive,…)
Its sub family (lift, descent, forward,…)
 Example : How to identify YV250
C4
PREFIX SUFFIX C1 C2 C3 (optional)
Y V 2 5 0 L
--> electrovalve, for turret, orientation movement, number 1, left
Prefix Suffix Component

CN Connector lower box (LCB)
CN B Connector upper box (UCB)
CE Connector slip ring (collecteur)
C Capacitor
D Diode
E H Heater
E L (Flashing light / Beacon / Working light...)
E V Fan
F U Fuse
G Alternator
G B Battery
H Hourmeter
H A Audio warning device (avertisseur sonore)
H L Light
K M Contactor
K A Auxiliary relay
K T Timing Relay
M Motor or pump
P Display
Q F Circuit-breaker
Q S Disconnect switch
R Resistor
R P Potentiometer
S A Switch
S B Push button switch
S G Gauges
S M Joystick (SM900, SM901, SM902, …)
S P Pressure sensor

4000202840 E07-14 56/212
S Q Position sensor (ON/OFF)
S L Length transducer
S R Angle transducer
S T Temperature sensor
S V Speed sensor
T Transformer
U ECU (Electronic Control Unit)
X P Plug
Y V Electrovalve
Y A Command coil
Y B Electrical brake
C1 Machine part C4 Detail

Frame Up
1 (Driving/Steering/Braking/axles/Outriggers) U
2 Turntable D Down
3 Engine O Extend (Out)
4 Arm /mast I Retract (In)
5 Boom L Left
6 Jib R Right
7 Basket / Platform F Forward
or B Backward (Reverse)
8 Safety Devices X Axe X
9 General/Other Y Axe Y
N Out of Neutral
G Ground
S Supply Voltage
a Direction a
b Direction b
C2 Function type C3
(index)
Direction
0 No Direction/ multiple General 0..9
1 directions
2 Up/Down Jib / Lifting / Platform Level / Outrigger 0..9
3 Axles
In/Out 0..9
4 Telescoping / Outrigger
5 Left/Right Rotation / Steering 0..9
6
Fwd/Rev Driving 0..9
7
0..9
0..9

4000202840 E07-14 57/212
2 .6 . LIST OF ITEMS ON SHEMATICS
In the following tables

The column n°2 gives the coordinates of the components on different the sheets from the wiring
schematics in order to easily find their position.
The first figure corresponds to the number of page and the second to the column (generally from 1 to 20)
of the corresponding page
The column n°3 indicates the position on the connector on modules
The state noted “0” corresponds to 0V, opened contact or not activated.
The state noted “1” corresponds to the tension of the circuit, closed or activated contact.
 Glossary
FWD Forward (drive)

REV Reverse (drive)
FL Front Left
FR Front Right
RL Rear Left
RR Rear Right
PF Platform
LS Low Speed drive
LS valve/adj Load sensing valve/adjustment
MS Medium Speed drive
HS High Speed drive
ILS Magnet sensor (Interrupteur Lame Souple)
2 .6 .1 . ENGINE PART
ENGINE ELEMENTS
M300 02 - 08 Starter =1 for engine starting (101 -165)
ALT 02 - 10 Alternator 60A , Ignition is 12VDC when engine running (172)
EGV 02 - 12 Electronic Governor for KUBOTA engine rpm control
M800 02 - 04 Emergency pump (141 = 1 when running)
R301- 02 - 06
Preheating resistors
R304
2 .6 .2 . FUSES
FUSES
FU2 03 - 02 Generator (20A)
FU3 03 - 03 Start/stop engine (15A)
FU4 03 - 04 Engine start (25A)
FU5 03 - 08 Main supply + Vbat (30A)
FU6 03 - 08 Option overspeed (20A)
FU7 03 - 15 Supply V ECU node B2 (15A)
FU8 03 -10 Not used (20A)
FU9 03 - 12 Supply accessories (20A)

4000202840 E07-14 58/212
FU11 03 - 09 Supply V bat permanent (7.5A)
FU13 03 - 11 Supply V power SPU (20A)
FU17 03 - 14 Selection ground/upper controls (5A)
FU23 02 - 19 Overspeed relay option (40A)
FU34 08 - 10 Supply strain gauges (1A)
FU122 02 - 03 Emergency pump (250A)
FU161 02 - 05 Preheating (100A)
FU180 02 - 02 Cooler option (30A)
Note : the strain gauges is protected by a fuse (FU34 = 1A) located inside the upper control box
2 .6 .3 . INPUTS
MAIN COMMANDS- SWITCHS/JOYSTICKS
QS100 02 - 15 Battery cut out switch ( option) (101)
SA100 07 - 08 CN104.19 Differential lock (B110)
SA101 07 - 12 CN104.13/14 4WS Steering mode crab B104/Synchro B105)
SA110 07 - 17 CN104.7/6 Drive mode ( Low Speed B111, High Speed B112, Medium mid
position)
SA250 05 -05 1A11-2A11 Turret orientation (840 -860)
SA300 05 - 16 1B11-1B14 Regeneration of engine particles (Tiers4) (600-610)
SA303 07 - 05 CN105.3 Engine start/stop (B128)
SA420 05 - 11 1A21-2A12 Arm lift/descent (200-220)
SA520 05 - 09 1A17-2A10 Boom lift/descent (300-320)
SA530 05 - 07 1A15-2A17 Telescopic boom extension/retraction (340-360)
SA531 07 - 18 CN105.1/2 Telescopic boom ext/ret (B118/B119)
SA620 05 – 14 1B13-1B15 Jib lift/descent (500-510)
SA621 07 – 13 CN104.15/16 Jib lift/descent (B120/B121)

4000202840 E07-14 59/212
SA720 05 – 12 1B23-1B12 Basket compensation up/down (480-481)
SA721 07 – 16 CN104.9/10 Basket compensation up/down (B114/B115)
SA751 07 – 14 CN105.36/35 Basket rotation left/right (B124/B123)
SA800 07 – 06 CN105.4 Emergency pump (B129)

SA801 03 – 16 Emergency lowering (override) (113)
SA900 03 – 06 Main switch power ON/OFF (104)
SA901 03 – 16 Selection ground/upper controls (117)
SA903 03 – 10 Beacon light option (183)
SA904 08 - 19 Option working light (183)
SA905 05 – 04 1A9-1B22 Engine start /enable switch ground controls (385-386)
SA906 07 – 09 CN104.11 Generator (B116)
SA907 07 – 07 CN104.1 Horn
SB800 08 - 16 CN105.12 Foot enable switch ( =1 for any movement) (B141)
SB801 03 – 14 Main Emergency-stop button lower controls (143)
SB802 07 – 03 Main Emergency push button upper controls (113)
SB900 08 - 11 CN105.10 Active bar reset (1 to reset the Active bar mode) (B157)
SM900 08 - 04 Boom/turret rotation

Neutral position B103
Signal range B302/B303 (4.5 VDC – 2.5 VDC – 0.5VDC)
SM901 08 - 06 Arm
Signal range B301 (4.5 VDC – 2.5 VDC – 0.5VDC)
SM902 08 - 09 Drive
Neutral position B100/B101
Signal range B300 (4.5 VDC – 2.5 VDC – 0.5VDC)
Front wheels steering (2WS) B109/B108
ECU MODULES
U101 Multi function CAN display (cluster)
04 – 17
U106 Master ECU module SPU
U104 Slave ECU module node B2 (upper controls)
SENSORS
SP109 06 – 07 3B-30 Pressure switch 10b for oscillating axle (if > 1.5V axle free) (212)
SP300 02 – 15 Engine oil pressure detection (ON if P < 1b)(173)

SP800 08 - 18 CN106.4/5 Strain gauges for basket load detection (B310/B311)
SP801
SQ300 06 – 03 1A8 Low fuel level detection ( =1 if low) (189)
06 – 18 2B14 Arm detection (ILS in front of magnet =1 if stowed) (384)
SQ420
If < 4V OFF - , if > 6V short circuit with Vbat)
SQ520 06 – 16 2B12 Boom detection (ILS in front of magnet =1 if stowed) (384)
SQ531 06 – 14 2B13 Telescope detection (ILS in front of magnet =1 if retracted) (380)

4000202840 E07-14 60/212
SQ532 06 – 06 3A17 Telescope detection ILS in front of magnet =1 if retracted) (332)
SQ800 06 – 10 1B21 Slope detection (signal wire 150 =1 if machine levelled)
SQ900 06 – 04 3A11 Arm+ boom position (ILS in front of magnet =1 if stowed) (222)
SQ902 08 - 12 CN105.5 Active bar detection (=1 if detected) (B150)
SR720 08 - 14 CN105.17 Basket inclination (=1 if at -10°) (B146)
SR721 08 - 13 CN105.16 Basket inclination (=1 if at +10°) (B145)
ST300 02 – 16 Engine oil overheating detection (=1 if overheat) (174)
ST302 02 – 11 Water temperature detection in engine (130)
ST900 06 – 12 3B23 Hydraulic oil overheating detection (= 1 if OK) (125)
ST902 02 – 02 Temperature switch detection (oil cooler) (190)
SV300 02 – 13 Engine speed detection (133)
2 .6 .4 . OUTPUTS
RELAYS – CONTACTORS
KA2 05 – 17 1B4 Option generator command (192)
KA3 05 – 18 1B7 Engine start/stop command (170)
KA4 05 – 19 2A23 Engine start command (169)
KA7 03 – 03 For engine start (Tiers4)
KA9 05 – 15 1B2 Horn command (187)
KAC 08 - 12 CN105.30 Active bar command (B510)
KMG 03 – 13 Main contactor (142)
KMP 03 – 14 Power relay (keeps power a few seconds after KMG)
SD85 02 – 19 Option overspeeed relay
KM120 02 – 04 Emergency pump (145)
KM160 02 – 07 Preheating (162)
KM300 02 – 08 Starter (165)
VALVES
YA300 02 – 14 Electronic engine speed control coil (135)

YV100 06 – 07 2A5 Differential lock (=1 if axle unlocked in Low speed) (689)
05 – 08 2A19
YV101 Oscillating axle unlocking (780)
05 – 06 2A26
YV102 Brake release (782)
YV105 05 – 07 2A02 Brake release in 4WS (=1 no in drive /tilt mode) (783)
06 – 09 1B27
YV107 Crab steering mode (YV108=1 if right ) (621)
06 – 10 2A24
YV108 Synchro steering mode ( YV107 =1 if left) (622)
YV110 06 – 05 3B4 Valve for drive mode (1 in High Speed) (686)

4000202840 E07-14 61/212
YV111 06 – 06 1B3 Valve for drive mode (1 in High Speed) (686)
YV112 06 – 02 3A25 Valve for drive mode (1 in MS/HS) (690)
YV113 06 – 04 2B26 Valve for drive mode (1 in MS/HS) (687)
YV150L 06 – 07 3A2 Front left steering (601)
YV150R 06 – 08 3A14 Front right steering (602)
05 – 02 3A9
PVG for drive signal wire 124 25% - 75% Vbat)
1A18
YV160 Fault monitoring survey signal wire 123 must be <15%Vbat or >
85%Vbat
YV250 06 – 16 1B31 PWM safety valve for turret rotation (880)

YV250L 06 – 17 2B8 Left turret rotation (841)
YV250R 06 – 18 2B25 Left turret rotation (861)
YV420 05 – 11 2A20 Safety PWM valve for arm lift/descent (282)
YV420D 06 – 14 2B7 Arm descent (221)
YV420U 06 – 15 1B10 Arm lift (201)
YV520 05 – 12 2A4 Safety PWM valve for boom lift/descent (381)
YV520D 06 – 12 2B34 Boom descent (321)
YV520U 06 – 13 2B5 Boom lift (301)
YV530 05 – 13 Safety PWM valve for telescop ext/ret (387)
YV530I 06 – 11 3A21 Telescopic boom retraction (361)
YV530O 06 – 12 3A20 Telescopic boom extension (341)
YV620D 08 – 13 CN105.32 Jib descent (B604)
YV620U 08 – 14 CN105.31 Jib lift (B603)
YV720D 08 – 17 CN105.28 Basket compensation down (B600)
YV720U 08 – 18 CN105.27 Basket compensation up (B607)
08 – 16 CN105.33
YV750L Basket rotation left side (B605)
08 – 15 CN105.34
YV750R Basket rotation right side (B606)
05 – 09 1B1-1B8
YV800 Load sensing valve (=1 for any movement) (120-121)
06 – 18 1B6
YV900 PWM safety valve for ON/OFF jib/basket block (620)

4000202840 E07-14 62/212
BUZZER AND LIGHTS
HA901 05- 14 1B29 Buzzer (186)
HA902 07 – 09 CN106.16 Buzzer (B508)
HA907 03 – 13 Horn (184)
EL901 05 – 05 1B28 Option flashing light (188)
EL903 03 – 11 Option beacon (185)
EL904 08 - 19 Option working light (183)
EL905 08 - 11 CN106.29 Active bar detection (B608)
HL901 08 - 09 CN106.19 Active bar activated (B609)
HL902 08 - 10 CN106.29 Active bar detection (B608)
HLXX 07 Upper controls pcb with leds for indication/alarms

4000202840 E07-14 63/212
2.7. LOGICAL FUNCTIONS
This chapter describes function per function the necessary conditions in order to authorize or prohibits the
movement
It’s more detailed than in the chapter 5 so the service technician will have the choice, to go first to the main
topics in chap 5 to follow or consulting this chapter in order to have more details of the function that needs
to be checked.
 Glossary
U Up A IN Analogic Input
D Down D IN Digital Input
L Left D OUT Digital output
R Right A OUT Analog output
F FWD PWM Pulse Width Modulation
(Proportionnal valve in current
square modulated signal)
B REV/back VAR Internal variable in the Module (not
accessible with the console)
SETP Setpoint I/O Inputs/outputs
2 .7 .1 . SPU POWER SUPPLY
Wake-Up Input WUI1 D-IN LED LED status LED

Emergency stoppers EMSTOP D-IN
Permanent 12V supply 12VP A-IN
12V outputs’ supply rail 12VD1 A-IN
Machine
12V outputs’ supply rail 12VF1 A-IN
Power Supply
Overriding switch SA801 D-IN
F(Engine) SuspendCoreShutdown VAR
F(Eeprom) RequestPending VAR
Machine ID F12.04 FAIL

4000202840 E07-14 64/212
REQUIREMENTS DEFINITION
The principal supply of master ECU (SPU 70-66) is always powered with a permanent 12V
(12VP). The ECU handles its start and stop sequence with an internal control.
The start sequence is controlled when wake-up input is powered:
WUI1=ON
The stop sequence is controlled when :
 wake-up input is in low state (ON/OFF key, emergency stopper): WUI1=OFF
no EEPROM request pending (no write or read request): EEPROM=NOREQUEST
engine not in immobilizing state: CTRL[Engine]≠STOP
F PS_*_001
Wake-up input WUI1 is provided by the ON/OFF key and depends on the state of emergency
stoppers and overriding switch:
‐ When the upper control box’s emergency stopper is pushed and overriding switch
SA801 is not activated , the wake-up input WUI1 is seen as “OFF”
‐ When the lower control box’s emergency stopper is pushed, the wake-up input WUI1
is seen as “OFF”
‐ When “ON/OFF” key SA900 is on “OFF” position, the wake-up input is WUI1 seen as
“OFF”
The machine is powered on by switching the ON/OFF key SA900 to “ON” position : KMG
relay is closed then the following signals raise to battery voltage:
 WUI1: wake up signal for SPU controller, power line for sensors
 12VD1: ECU outputs’ supply rail
F PS_*_002  12VF1: ECU outputs’ supply rail
 12VF2: ECU outputs’ supply rail
 node B2 controller supply (platform slave, via KMP and FU7 fuse)
 sensors’ supply voltage (via KMP and FU7 fuse)
 engine’s relays supply voltage (via KMP and FU7 fuse)
 actuators supply voltage (ground)
PS_*_003 When the SPU controller is powered on, and its status is OK, the status LED blinks (1s
F
ON/1s OFF)
At each power on, a check between the current software identifier and the EEPROM saved
software identifier is made; should the identifiers be different, the default values for all
PS_*_004 settings are reloaded:
F
 SPEEDS/RAMPS/OPTIONS/MACHINE CONFIG, failure F12.04
 overload system values, failure F06.01
 Hour counter is forced to null value (0)
F PS_*_005 When the emergency stoppers (turret and platform) are pulled: EMSTOP=ON(12V).
Should one of the two emergency stoppers be pushed (turret and/or platform), the actuator’s
PS_*_006 supply voltage is cut off: EMSTOP=OFF (0V), and the main power supply is cutoff:
F
WUI1=0V, 12VD1=0V, 12VD2=0V, 12VD3=0V, 12VD4=0V, 12VD5=0V, 12VF1=0V,
12VF2=0V, 12VF3=0V, 12VF4=0V
The overriding switch SA801 allows to bypass electrically the state of the upper control box’s
F PS_*_007 emergency stopper and then to put power back to following power supplies: WUI1, 12VD1,
12VD2, 12VD3, 12VD4, 12VD5, 12VF1, 12VF2, 12VF3, 12VF4

4000202840 E07-14 65/212
To secure the stuck of KMP power relay, the power supply of outputs’ supply rail is
monitored: in case of an emergency stopper is pushed, and the output’s supply is still on for
F PS_*_008 2s, a failure is activated
D2s(EMSTOP=OFF & (12VD1=12V | 12VD2=12V | 12VD3=12V | 12VD4=12V | 12VD5=12V
| 12VF1=12V | 12VF2=12V | 12VF3=12V | 12VF4=12V)  F02.04(A)=1
2 .7 .2 . TURRET CONTROL BOX CONDITIONS
Enable witch/ SA905EN VAR 0|1

D-IN
Emergency Pump EnableDevice
Overriding switch SA801 D-IN SETP Engine 0|1
Engine start / stop SA905ST D-IN SETP EmergencyPump 0|1
Throttle SA601 D-IN SETP Throttle 0|1
Turret Rotation – Left | SA250L | SETP UP|N|DOWN:
D-IN
Right SA250R PfLevel 0|1000
Arm – Up | Down SA420U | SETP UP|N|DOWN:
D-IN
SA420D Jib 0|1000
Boom – Up | Down SA520U | Turret SETP UP|N|DOWN:
D-IN
SA520D & Boom 0|1000
Telescope – SA530O | Overriding SETP OUT|N|IN:0|1
D-IN
Extend | Retract SA530I Control Telescope 000
Jib –Up | Down SA520U | Box SETP LEFT|N|RIGH
D-IN
SA520D TurntableRotate T:0|1000
Platform Level – SA720U | SETP UP|N|DOWN:
D-IN
Up | Down SA720D Arm 0|1000
F(LS Valve) MvtRunning FAIL F13.02(A) TCB Switch
VAR Failure (2 dirs
active)
F(Engine Management) Engine FAIL F13.12(A) TCB Switch
CTRL Failure
(neutral)
The movements driven from the turret control box are secured with an enable device
managed as following, VAR[EnableDevice]:
the enable device is activated by SA905EN enable switch,
the enable switch SA905EN must be detected in inactive state at first turret control box
selection,
if the enable switch is activated for 8 or more seconds without any movements, the enable
F CB_T_001 device is disable, then the enable switch must be released to be considered again. The
movements considered to trigger the 8s timers are: arm or boom lifting, boom telescoping,
turret rotation, jib and platform level.
When overriding control box, the overriding switch is used as an enable device
VAR[EnableDevice]:
the enable device is activated by SA801 enable switch (no deactivation’s timer)

4000202840 E07-14 66/212
The movements driven from the switches of turret control box are secured with the detection of
neutral position after each engine’s start-up:
 each movement’s switch is invalidated during engine’s start-up
 when engine has started or has failed its start:
F <  if the switch has not been detected in neutral state, it remains invalidated
 else if the switch has been detected in neutral state, it is validated
The neutral state for movements’ switches corresponds to both digital inputs (direction A and
direction B) in inactive state: D-IN1=0 & D-IN2=0. The detection of none neutral state will not
produce the raise of a failure.
The ON/OFF set point of 3 positions switches with neutral check (2 D-IN) is defined by values 0
(NEUTRAL), 1 (FWD|OUT|UP|LEFT) or 2 (REV|IN|DOWN|RIGHT) if:
 the neutral position of the switch has been detected after power up the machine: D-IN1=0
& D-IN2=0
F CB_T_003  and the switch position is coherent (at least one input set to 0): D-IN1=0 | D-IN2=0
 and the turret enable device is active (see PC_T_01): ED=1
 and the neutral position of the switch has been detected after the deactivation of the dead
man: D-IN1=0 & D-IN2=0.
2 .7 .3 . PLATFORM’S CONTROL BOX CONDITIONS
Enable switch (foot SB800 VAR 0|1

D-IN
pedal) EnableDevice
Engine start / stop SA303 D-IN SETP Engine 0|1
Generator SA906 D-IN SETP DriveSpeed LS|MS|HS
Emergency pump SA800 D-IN SETP SteeringMode C|2WS|S
Horn SA907 D-IN SETP Generator 0|1
Drive Joystick / Y axis SM902 A-IN SETP EmergencyPump 0|1
Forward out neutral SM902F SETP 0|1
D-IN
position Horn
Reverse out neutral SM902B SETP LEFT|N|RIGHT:0|100
D-IN
position PfRotation
Steering – Left | Right SM902L | SETP UP|N|DOWN:0|100
D-IN
SM902R PfLevel
Steering mode – SA101CR | SETP UP|N|DOWN:0|100
D-IN
Crab | Sync SA101SY Jib
Drive speed selection – SA110L | SETP LEFT|N|RIGHT:0|100
D-IN Upper
Low | High SA110H Steering
Control
Differential lock SA100 D-IN SETP Drive FWD|N|REV:[0-100]
Box
Boom Joystick / Y axis SM900Y A-IN SETP Boom UP|N|DOWN:[0-100]
Turret Rotation SM900X SETP OUT|N|IN:[0-100]
A-IN
Joystick / X axis Telescope
Boom/Turret out of SM900N SETP LEFT|N|RIGHT: [0-
D-IN
neutral position TurntableRotate 100]
Arm Joystick / Y axis SM901 A-IN SETP Arm UP|N|DOWN: [0-100]
Arm out of neutral SM901N SETP 0|1
D-IN
position DifferentialLock
Telescope – SA531O | FAIL F05.01(A) Drive Joy. Failure
D-IN
Extend | Retract SA531I (range)
Jib – Up | Down SA621U | FAIL F05.02(A) Arm Joy. Failure
D-IN
SA621D (range)
Platform level – SA721U | FAIL F05.04(A) Boom Joy.
D-IN
Up | Down SA721D Failure(range)
Platform rotation – SA751L | FAIL F05.05(A) Turr Rotat Joy.
D-IN
Left | Right SA751R Failure(range)

4000202840 E07-14 67/212
FAIL F05.11(A) Drive Joy.
Failure(range)
FAIL F05.12(A) Drive Joy.
Failure(neutral)
FAIL F05.13(A) Turret Rotat. Joy.
Failure(neutral)
FAIL F13.01(A) PCB Switch Failure
(2 dir active)
FAIL F13.11(A) PCB Switch Failure
(no neutral)
The movements driven from the platform control box are secured with an enable device
managed as following, VAR[EnableDevice]:
 the enable device is activated by SB800 foot pedal
 the foot pedal SB800 must be detected in inactive state at first platform control box
F CB_P_001 selection
 if the SB800 foot pedal is activated for 8 or more seconds without any movements,
the enable device is disabled, then the enable foot pedal must be released to be
considered again. The movements considered to trigger the 8s timer are: drive,
steering, arm or boom lifting, boom telescoping, turret rotation, jib, platform rotation and
platform level.
The movements driven from the switches of platform control box are secured with the
detection of neutral position after each engine’s start-up:
 each movement’s switch is invalidated during engine’s start-up
F CB_P_002  if the switch has not been detected in neutral state, it remains invalidated
 else if the switch has been detected in neutral state, it is validated
The neutral state for movements’ switches corresponds to both digital inputs (direction A
and direction B) in inactive state: D-IN1=0 & D-IN2=0. The detection of none neutral state
will not produce the raise of a failure.
The movements driven from the joysticks of the platform control box are secured with the
detection of neutral position after each engine’s start-up:
 each movement’s joystick is invalidated during engine’s start-up
CB_P_003  if the joystick has not been detected in neutral state, it remains invalidated
F
 if the joystick has been detected in neutral state, it is validated
The neutral state for movements’ joysticks corresponds to analog input in a given range:
A-IN  [2.35 – 2.65]V for one axis joysticks, and A-IN1  [2.35 – 2.65]V & A-IN2  [2.35 –
2.65]V for two axis joysticks. The detection of none neutral state will not produce the raise
of a failure.
The analog set point of joysticks with two out of neutral signals is formatted in the range [0
– 100]% for each direction if:
 the neutral position of both axis has been detected after power up the machine: A-IN
 [2.35 – 2.65]V
 and the out of neutral signal is active: OUT-N = 1
 and the axis set point is inside the operating range: A-IN  [0.2 – 4.8]V
CB_P_003  and the out of neutral signals are coherent with the axis set point
 and the platform enable device is active (see CB_P_001): ED = 1
 and the neutral position of the switch has been detected after the deactivation of the
dead man (the resumption of the movement without transition to neutral is possible
during 500ms only): A-IN  [2.35 – 2.65]V
 and an extra condition
Otherwise the set point of the function is set to 0 (NEUTRAL)

4000202840 E07-14 68/212
The analog set point of joysticks with one out of neutral signal is formatted in the range [0
– 100]% for each direction if:
 the neutral position of both axis has been detected after power up the machine: A-IN
 [2.35 – 2.65]V
 and the out of neutral signal is active: OUT-N = 1
 and the axis set point is inside the operating range: A-IN  [0.2 – 4.8]V
 and the out of neutral signal is coherent with the axis set point
F CB_P_004  and the platform enable device is active (see CB_P_001): ED = 1
 and the neutral position of the switch has been detected after the deactivation of the
dead man (the resumption of the movement without transition to neutral is possible
during 500ms only): A-IN  [2.35 – 2.65]V
 and an extra condition: neutral detection after engine’s start up
Otherwise the set point of the function is set to 0 (NEUTRAL).
2 .7 .4 . LOAD MANAGEMENT SYSTEM
(Not for US/CDN version warning signal only))
Gauge 1 – 4mA..20mA SP800 A-IN VAR GaugesOutOfRange 0|1

Gauge 2 – 4mA..20mA SP801 A-IN VAR GaugesIncoherent 0|1
Not Set | STD | AUS | USA Country OPT VAR GaugesNotCalibrated 0|1
F(Tilt) Tilt VAR Load VAR GaugesCalibFailure 0|1
F(Machine Position) UnfoldedMachine VAR Selection VAR GlobalWeight_kg [kg]
F(LS Valve) MvtRunning VAR / VAR GlobalWeight_lb [lb]
F(Eeprom) OffsetSP800 VAR Load VAR WeightSP800 [kg]
F(Eeprom) GainSP800 VAR Measurement VAR WeightSP801 [kg]
F(Eeprom) OffsetSP801 VAR VAR OverloadAlarm 0|1
F(Eeprom) GainSP801 VAR
F(Diagnostic Tool) OffsetAdjRqst VAR
F(Diagnostic Tool) GainAdjRqst VAR
Overload function is available in Europe and Australia countries version: it is based on strain
LM_*_001 gauges system providing a 4/20mA signals depending linearly on the load. Each strain gauge
measures a load between 0kg (4mA) and 1000kg (20mA).
LM_*_002 The system manages a load of 230Kg to produce overload alarm flag.
The overload threshold for 230kg load is 250kg (maximum normal load + nearly 10%), if the
computed load overruns the overload threshold during 1 second, the overload alarm is
LM_*_003
activated :
D1s(VAR[GlobalWeight_kg]>250kg)  VAR[OverloadAlarm]=1
The pre overload threshold for 230kg load is 230kg (maximum normal load), if the computed
LM_*_004 load overruns the pre overload threshold during 1 second, the pre overload alarm is activated
:D1s(VAR[GlobalWeight_kg]>230kg)  VAR[PreOverloadAlarm]=1

4000202840 E07-14 69/212
The load measurement is based on the MOBA sensors containing two strain gauges; these
gauges must be gain adjusted (at least once) and offset adjusted to be adapted to the
machine characteristics.
The calibration sequence is initiated by the operator with the diagnostic tool with level access
F LM_*_005
code 2 or 3:
1° step: Basket leveling to horizontal position (operator’s checking)
2° step: Offset setting (empty basket)
3° step: Gain setting (250 Kg in basket)
Offset adjustment data are checked for each sensor. Theoretical value of the sensor signals
for offset is 5800µA. If the measured signal for offset calibration is out of the range
F LM_*_006 [3800-7800] µA, the offset adjustment fails.
VAR[OffsetAdjRqst]=1 & (SP800<3800 | SP800>7800) VAR[GaugesCalibFailure]=1
VAR[OffsetAdjRqst]=1 & (SP801<3800 | SP801>7800) VAR[GaugesCalibFailure]=1
Gain adjustment data are checked for each sensor. Theoretical value for gain is 625 (given in
“0.1g/µA”). If the measured signal for gain adjustment (done with 250kg in the basket) is out of
F LM_*_007 the range [550-700], the calibration fails.
VAR[GainAdjRqst]=1 & (SP800<9500 | SP800>10500) VAR[GaugesCalibFailure]=1
VAR[GainAdjRqst]=1 & (SP801<9500 | SP801>10500) VAR[GaugesCalibFailure]=1
The coherence between the two gauges is periodically checked. If the measured weights are
F LM_*_008 far more than 50kg during 1seconde, the load gauges are considered as incoherent.
D1s(|VAR[WeightSP800] – VAR[WeightSP801]| > 50kg)  VAR[GaugesIncoherent]=1
The valid range of the measured signals is [3500µA;20000µA]. If a gauge provides a signal
out of this range during 1seconde, the out of range failure is activated.
F LM_*_009
D1s(SP800<3500µA | SP800>20500µA | SP801<3500µA | SP801>20500µA)
 VAR[GaugesOutOfRange]=1
For each gauge, the load is computed as follow (given in “kg”):

800 800
800
10000
801 801
LM_*_010 801
F 10000
The total load is computed as follow (given in “kg”):

800 801
_
2

4000202840 E07-14 70/212
2 .7 .5 . MOVEMENTS CONDITIONS
F(Arm) Arm CTRL D-OUT YV800 LS Valve Power

F(Boom) Boom CTRL D-OUT YV800G LS Valve Ground
F(Boom’s Telescope) Telescope CTRL VAR MvtRunning 0|1
F(Turret Rotation) TurntableRotate CTRL VAR DriveRunning 0|1
F(Drive) Drive CTRL LS VALVE
F(Steering) Steering CTRL
F(Platform Level) PFLevel CTRL
F(Jib) Jib CTRL
F(Platform Rotation) PFRotation CTRL
Current movement flag VAR[MvtRunning]: one(at least) movement running

VAR[MvtRunning]=(CTRL[Boom]≠N:0 | CTRL[Telescope]≠N:0 | CTRL[TurntableRotate]≠N:0
F LS_V_001
| CTRL [Arm]≠N:0
| CTRL [PfLevel]≠N:0 | CTRL[Jib]≠N:0 | CTRL[PfRotation]≠N:0)
Current drive flag VAR[DriveRunning]: one(at least) movement running

F LS_V_002
VAR [DriveRunning]=(CTRL[Drive]≠N:0 | CTRL[Steering]≠N:0)
LS valve is automatically activated if the function is allowed, the inactivation is timed for
F LS_V_003 1second after the function is disabled:
CTRL[LSValve]=LS_V_004
LS valve activation is allowed (A) if the following condition is satisfied:

Validation A Description
Drive is running or Steering CTRL[Drive]≠N:0 |
is running or Turret Rotation CTRL[Steering]≠N:0 |
is running or Arm lifting is CTRL[TurntableRotate]≠N:0 |
F LS_V_004 running or Boom lifting is CTRL[Arm]≠N:0 |
0 Enable 1 1 running or Telescoping is CTRL[Boom]≠N:0 |
running or Jib lifting is CTRL[Telescope]≠N:0 |
running or Platform rotation CTRL[Jib]≠N:0 |
is running or Platform level is CTRL[PfRotation]≠N:0 |
running CTRL[PfLevel]≠N:0
The following components drive the brake releasing function:

 YV800: LS valve control signal
F LS_A_001  YV800G: LS valve connection to ground
YV800=CTRL[LSValve]
YV800G=CTRL[LSValve]

4000202840 E07-14 71/212
2 .7 .6 . ENGINE MANAGEMENT CONDITIONS
Coolant ET1@18FEEE00h CTRL Engine INIT..STOP

J1939
Temperature
Engine Speed EEC1K@0CF40000h J1939 VAR SuspendCoreShutdown 0 | 1
Engine DM1@18FECA00h D-OUT KM160 Preheat
J1939
diagnostic relay
Reception Time TimeOut EECK D-OUT KA3 Engine
Out J1939 supply
relay
Coolant ST160 D-OUT KA4 Engine
D-IN
Temperature start relay
Engine Oil SP162 VAR EngineStop
D-IN
Pressure
Alternator DPLUS D-IN VAR EngineWarning
Emergency stop EMSTOP J1939 TSCK@0CF41021h Set Engine
D-IN
Speed
Not
OPT
Set|TierIII|TierIV Engine
F(Machine’s
VAR
State) ConfiguredMachine Engine
F(Control Box) Engine CTRL Management
F(Power PowerOn
VAR
Supply)
F(Emergency EmergencyPump
CTRL
Pump)
F(Control Box) CtrlBox VAR
F(Control Box) Throttle SETP
F(Boom) Boom CTRL
F(Telescope) Telescope CTRL
F(Turret
TurntableRotate CTRL
Rotation)
F(Drive) Drive CTRL
F(Steering) Steering CTRL
F(Platform
PfLevel CTRL
Level)
F(Jib) Jib CTRL
F(Platform
PfRotation CTRL
Rotation)
Drive Valve F04.10 FAIL

4000202840 E07-14 72/212
The Tier III engine’s management is enabled only if the machine has been configured, and if
F ET3_V_000 engine’s configuration is “Tier III”: VAR[ConfiguredMachine]=1 & CFG[Engine]=”Tier III” (that
means no engine’s start up if machine is not configured)
Communication between engine ECU and SPU uses the CAN link #2 with extended
F ET3_V_001
identifiers, according to the J1939 norm (extended identifiers, speed 250kbs)
Engine ECU sends data on the CAN link if it is supplied via the KA1 relay: time out is
F ET3_V_002 activated on the engine speed frame to detect reception failures; the failure is timed at KA1
relay activation (2s).
The engine ECU sends periodically (1000ms) the coolant temperature to the SPU in the
F ET3_V_003
standard J1939 frame “ET1” (CAN Id ET1@18FEEE00).
The engine ECU sends periodically (200ms) the engine speed to the SPU in the proprietary
F ET3_V_004
J1939 frame “TSCK” (CAN Id TSCK@0CF40000).
The engine ECU sends periodically (1000ms) the engine ECU battery potential to the SPU in
F ET3_V_005
the standard J1939 frame “VEP” (CAN Id VEP@018FEF700).
When a failure or a warning is detected, the engine ECU sends the standard failure frame
DM1 (CAN Id DM1@18FECA00): the frame signals sensors failures (speed sensor,
F ET3_V_006
temperature sensor), actuator failures, or battery over voltage: VAR[EngineStop],
VAR[EngineWarning]
The SPU commands automatically preheat at engine’s start up demand, controls the preheat
F ET3_V_007
time and at the end of preheat time starts automatically the engine.
Total preheat time will be (based on data received through ET1 frame)
- 15s if temperature is lower than -10°C : VAR[CoolantTemp]<-10
 VAR[PreheatTime_ms]=15000
- 10s if temperature is lower than 0°C : -10≤VAR[CoolantTemp]<0
F ET3_V_008 - 5s if temperature is lower than +5°C : 0≤VAR[CoolantTemp]<+5
- 3s if temperature is lower than +15°C : 0≤VAR[CoolantTemp]<+15
- no preheat if temperature is higher than 15°C : +15≤VAR[CoolantTemp]
The engine preheat, start and stop function happens at the specified set point (start request
or stop request) depending on the activated panel:
F ET3_V_009
VAR[CtrlBox]=PCB & SB161=  SETPOINT[Engine]= 
VAR[CtrlBox]=TCB & SA303S=  SETPOINT[Engine]= 
CTRL[EngineStatus]:
0 engine INIT (initialization, or formerly running)
1  engine PREHEATING
2  engine READYTOSTART
F ET3_V_010 3  engine STARTING
4  post heating : no post heating
5  engine RUNNING
6  engine STOP: immobilizing time, no allowed restart during 3 s: the engine stop light is
ON during this time
Engine is considered as running if engine speed is higher than 800RPM

F ET3_V_011
VAR[EngineSpeed]≥800RPM  VAR[EngineRunning]=1

4000202840 E07-14 73/212
Cooling temperature failure is activated 1 if: VAR[CoolantTempFailure]=1,

ET3_V_012 VAR[EngineStop]=1
F
 Liquid cooling sensor active ( =OFF ) when engine running and 15s after cranking
 sensor filtering: 2s filtering 30s after engine start up
Oil pressure failure is activated if: VAR[OilPressureFailure]=1, VAR[EngineStop]=1

F ET3_V_013  Oil pressure sensor active ( =OFF) when engine running and 15s after cranking
 sensor filtering: 6s filtering
D+ failure is activated 1 if: VAR[DplusFailure]=1, VAR[EngineStop]=1

F ET3_V_014  D+ input = OFF when engine running
 input filtering: 2s
The starter relay KA2 is activated during a maximum of 8s: if the engine is not seen as
F ET3_V_015
running, the “starting” stage ends, the new stage is “init”.

4000202840 E07-14 74/212
Init
Request Heating
Brake Heating
PreHeatin
Preheating Time_ms
ReadyToS
WaitTo Start
AgainTime_ms Request Start
BrakeStart
Stop | TimeOutStart_ms Start
VAR[EngineRunning]
VAR[EngineRunning]
Stop
Running
Conditions Kubota Electronical

RequestHeating Rising edge on start/stop switch SETPOINT[Engine]= &
F ET3_V_016 \F04.10.00004(D)
PreHeatingTime Function of the engine temperature PreheatTime_ms=F
with no drive failure (CoolantTemp)
RequestStart 1 (always true) 1
EngineRunning Engine speed above 800RPM VAR[EngineSpeed]>800RPM
Stop Rising edge on start/stop switch SETPOINT[Engine]=
or Power OFF (wake-up or | VAR[PowerOn]=0 | \EMSTOP
emergency) | D6s(DPLUS=0)
or Alternator OFF for more than 6s | VAR[CoolantTempFailure]=1
(stalling) | VAR[OilPressureFailure]=1
or Engine overheating failure active | F04.10.00004(D)
(F09.01)
or Engine oil pressure low failure
active (F09.02)
or Drive Valve failure (F04.10.00004)
WaitToStartAgain 1s if start has failed (break or timeout) VAR[WaitToStartAgain_ms]=10
00ms
or 3s if engine was running or
VAR[WaitToStartAgain_ms]=30
00ms
BrakeHeating Power OFF (wake-up or emergency) VAR[PowerOn]=0 | \EMSTOP
or Rising edge on start/stop switch | SETPOINT[Engine]=
BrakeStart Power OFF (wake-up or emergency) VAR[PowerOn]=0 | \EMSTOP
or Rising edge on start/stop switch | SETPOINT[Engine]=
| F04.10.00004(D)
TimeoutStart 8s (hold delay for starter’s relay if VAR[TimeOutStart_ms]=8000m
engine has not been detected started) s

4000202840 E07-14 75/212
F ET3_V_017 Idle speed of the engine is set to 1100RPM.
F ET3_V_018 Minimum engine speed with one movement running (at least) is set to 1200RPM
F ET3_V_019 Maximum speed of the engine is set to 3000RPM.
For drive motion:

 While micro speed drive: the engine’s speed is set to 2000RPM
 Whine low speed/medium speed/high speed: the engine’s speed is speed relative to
set point value:
Engine’s Speed
(RPM)
28
F ET3_V_020
22
Set point
0 200 800 100 value
(°/°°)

4000202840 E07-14 76/212
The engine speed is set according to the controlled movement, with an offset of 5%, with a
minimum equals to 1200RPM, a maximum equals to 2400RPM (2 requested movements) or
2700RPM (3 requested movements).
Needed Engine Controlled Engine
Speed Speed
Movements
(RPM) (RPM)
VAR[EngineSpeed]
No movement 1100 1050
Drive except 2800 From 2200 to 2800
micro
Drive micro speed 2000 2000
Steering 330 1500
(2WS or 4WS)
F ET3_V_021 Turret Rotation 600 1400
Arm Raise 730 1800
Arm Descent 400 1800
Boom Raise 550 1600
Boom Descent 390 1400
Telescope Extend 850 1600
Telescope Retract 600 1600
Jib Raise 160 1400
Jib Descent 90 1400
Platform rotation 60 1400
Platform level 170 1400
raise
Platform level 170 1400
down
If simultaneous movements are requested, the each movement engine speeds are added
ET3_V_022 and the engine speed is set according to the result, with a minimum equals to 1200RPM
F
(minimum speed with one movement), a maximum equals to 2400RPM (2 requested
movements) or 2700RPM (3 requested movements).
The following components drive the engine management:

Tier III Init Preheat ReadyToStart Start Running Stop
KM160 0 1 0 1 0 0
KA4 0 0 0 1 0 0
F ET3_A_001 KA3 1/0(*) 1 1 1 1 0
SuspendCore
0 0 0 0 1 1
Shutdown
1/(0*): the engine’s supply relay is powered on for the first 10s after start up. It is then
powered off until the next start step.

4000202840 E07-14 77/212
2 .7 .7 . BRAKE RELEASE CONDITIONS
F(Drive) Drive CTRL CTRL ReleaseDriveBrake 0|1

F(Steering) Steering CTRL CTRL Release4WSBrake 0|1
Brake Releasing
F(Tilt) Tilt VAR D-OUT YV102 Brake releasing valve (Drive)
F(Steering) SteeringMode CTRL D-OUT YV105 Brake releasing valve (4WS)
The drive brake is automatically released if the function is allowed, the inactivation is timed
for 1second (without tilt) or 100ms (with tilt activated) after the function is disabled:
F BR_V_001
CTRL[ReleaseDriveBrake]=(M1s(BR_V_002) & VAR[Tilt]=0) | (M1000ms(BR_V_002) &
VAR[Tilt]=1)
Drive brake releasing is allowed (A) if all of the following conditions are satisfied:
F BR_V_002 Enable
0 (ReleaseDrive 1 1 Drive is running CTRL[Drive]≠N:0
Brake)
BR_V_003 The 4WS steering mode brake is automatically released if the function is allowed:
F
CTRL[ReleaseBrake_Drive]=(BR_V_004)
4WS brake releasing is allowed (A) if all of the following conditions are satisfied:
Steering is running and CTRL[Steering]≠N:0 &
1 1
F BR_V_004 Enable drive is not running CTRL[Drive]=N:0
0 (Release4WS Steering mode is crab or CTRL[SteeringMode]=CRAB|S
2 1
Brake) sync YNC
3 1 Tilt is inactive VAR[Tilt]=0
The following components drive the brake releasing function:

 YV102: brake release function (for drive and 2WS steering mode selection)
F BR_A_001  YV105: brake release function if crab or sync steering mode is selected, tilt detected and
steering active without driving
YV102=CTRL[ReleaseDriveBrake]
YV105=CTRL[Release4WSBrake]

4000202840 E07-14 78/212
2 .7 .8 . DRIVE CONDITIONS
F(Control Box) CtrlBox VAR CTRL Drive FWD|N|REV:[0..100]

F(Control Box) Drive SETP CTRL DriveSpeed µS | LS | MS | HS
F(Control Box) DriveSpeed A- YV160 Drive Fwd/Rev
SETP
OUT (PVG)
F(Engine Engine D- YV160S YV160 Power
CTRL
Management) OUT supply
F(Generator) Generator D- YV112 Middle/High Speed
CTRL
OUT 1
F(Simultaneous) AuthorizedMvt D- YV113 Middle/High Speed
VAR
OUT 2
F(Simultaneous) NbRunningMvts D- YV114 Middle/High Speed
VAR
OUT 3
F(Simultaneous) NbRunningMvtsMax D- YV115 Middle/High Speed
VAR
OUT 4
F(Machine’s State) Tilt D- YV110 High Speed 1
VAR
OUT
F(Machine’s State) DriveTiltSafety D- YV111 High Speed 2
VAR
OUT
F(Machine’s State) UnfoldedMachine VAR Drive
F(Load Measurement) OverloadAlarm VAR Motion
Joystick’s Neutral SM902F| SM902B D-IN /
F(Anti Crush) AcCutForwardDrive VAR Drive Speed
F(Anti Crush) AcCutReverseDrive VAR
[0..100]% Drive Fwd/Rev Max SPEED
[0..100]% µS Drive Fwd/Rev
SPEED
Max
[0..100]% Drive Fwd/Rev min SPEED
[1..250] Drive Fwd Acc/Dec RAMP
[1..250] Drive Rev Acc/Dec RAMP
0|1 Min Speed Setting MNT
Power relay F02.04(A) FAIL
Drive valves F04.10(D) FAIL
Oscillating axle valve F04.34(A) FAIL
No Loading Calibration F06.01(A) FAIL
Gauges out of Range F06.03(A) FAIL
Incoherence of F06.04(A)
FAIL
Gauges
Low Power F06.05(A) FAIL
Oscillating axle sensor F07.34(A) FAIL
CAN Failure F12.01(A) FAIL
Note : These following conditions are linked to diagnostic menu ( cuttings conditions) described in chapter
4.4 Diagnostic menu .
E for Enable /G for General/S for Simultaneous/O for Overload/T for Tilt/R for Reach limit/F for Failure/S
for Specific
The drive movement happens in the specified direction and set point and regarding to validation
and slow down conditions:
F DS_V_001
SETP[Drive] = FWD|N|REV : [0-100]%
Remark: drive movement is available only from platform control box

4000202840 E07-14 79/212
Forward(F) and/or Reverse (R) Drive movement is allowed if all validation conditions are
F DS_V_002
satisfied and none of cut-offs condition is true
Validation F R Enable Conditions

0 Enable Machine powered on for more
1 1 1 D3s(VAR[PowerOn])
than 3s
2 1 1 Engine is running CTRL[Engine]=RUNNING
Forward(F) and/or Reverse (R) drive motion is/are inhibited if at least one of the all cut-off
F DS_V_003
condition is activated:
Cut-Off F R General Cut-Off Conditions

1 1 1 Generator is running CTRL[Generator]=RUNNING
1 General CTRL[Drive]=N:0 &
Maximum number of running
2 1 1 VAR[NbRunningMvts]=
movements is reached
VAR[NbRunningMvtsMax]
Cut-Off F R Simultaneous Movements Cut-Off Conditions

Simultaneous Requirements SM_CE_003 |
22 1. 1 1 VAR[Authorized Movement]=0
Movements SM_AU_002 | SM_ANSI_002
Cut-Off F R Overload Cut-Off Conditions

3 Overload 1 1 1 Overload alarm is active VAR[OverloadAlarm]=1
Cut-Off F R Tilt Cut-Off Conditions

VAR[Tilt]=1 &
Tilt activated with unfolded
4 Tilt 1 1 1 VAR[UnfoldedMachine]=1 &
machine and drive’s safety tilt
VAR[DriveTiltSafety]=1
Cut-Off F R Reach Limit Cut-Off Conditions

Reach
5 none
Limit

4000202840 E07-14 80/212
Cut-Off F R Failure Cut-Off Conditions

1 1 1 KMP relay stuck F02.04(A)
Detected failure on drive
2 1 1 F04.10(D)
proportional electro valve
3 1 1 Active failure on LS valve F04.11(A)
Oscillating axle locking and F04.34(D) &
4 1 1
machine unfolded VAR[UnfoldedMachine]=1
Weight system not calibrated F06.01(A) &
5 1 1
and machine unfolded VAR[UnfoldedMachine]=1
6 Failure Weight sensors out of range F06.03(A) &
6 1 1
Weight sensors incoherence F06.04(A) &
7 1 1
Weight sensors low power and F06.05(A) &
8 1 1
Oscillating axle sensor failure F07.34(D) &
9 1 1
F12.01(D) &
10 1 1 Failure F12.01 is active
VAR[UnfoldedMachine]=1
Cut-Off F R Extra Cut-Off Conditions

1 1 1 Speed shifting pending VAR[StopToShift]=1
Activ’bar activated for forward VAR[AcCutForwardDrive]=1 &
2 1
7 Extra drive from upper control box VAR[CtrlBox]=PCB
Activ’bar activated for reverse VAR[AcCutReverseDrive]=1&
3 1
drive from upper control box VAR[CtrlBox]=PCB
Slowdown Value (%) Slow down condition : available only when Emergency
F|R pump is not running
SPEED[ Machine is unfolded VAR[UnfoldedMachi
F DS_V_004 (µS Drive Fwd Max) / ne]=1
1
SPEED
(µS Drive Rev Max]
2 1 Minimum speed setting is activated MNT[MinSpeed]=1
To insure the drive function, the failure signal provided by the PVG valve is read, and treated to
F DS_V_005
cut drive movements.
Drive Speed Selection Validation
The drive speed is controlled by the “Drive Speed” set point coming from the Platform control box
SETP[DriveSpeed]=LS|MS|HS
F DS_V_101 SETP[DriveSpeed]=LS means low speed selection.
SETP[DriveSpeed]=MS means medium speed selection.
SETP[DriveSpeed]=HS means high speed selection.

4000202840 E07-14 81/212
Micro speed selection is forced if machine is detected out of folded position (including error
F DS_V_102 cases):
VAR[UnfoldedMachine]=1  CTRL[DriveSpeed]=uS
Shifting from low speed to medium speed or high speed is considered after a 200ms detection’s
time for joystick in neutral position:
SETP[DriveSpeed]=MS|HS & CTRL[DriveSpeed]=LS 
F DS_V_103
D200ms(SM902F=0 & SM902B=0)  VAR[NeutralValidated]=1
VAR[NeutralValidated]=1 & (SM902F= | SM902B=) 
CTRL[DriveSpeed]=SETP[DriveSpeed]
Shifting from medium speed to high speed is considered after a 200ms detection’s time for
joystick in neutral position: SETP[DriveSpeed]=MS & CTRL[DriveSpeed]=HS 
F DS_V_104 D200ms(SM902F=0 & SM902B=0)  VAR[NeutralValidated]=1
VAR[NeutralValidated]=1 & (SM902F= | SM902B=) 
CTRL[DriveSpeed]=SETP[DriveSpeed]
Shifting from medium or high speed to low speed is considered at drive’s control neutral position
F DS_V_105 after detection of joystick’s neutral position :
D200ms(SM902F=0 & SM902B=0)  VAR[StopToShift]=1
Shifting from high speed to medium speed is considered at drive’s control neutral position after
F DS_V_106 detection of joystick’s neutral position :
D200ms(SM902F=0 & SM902B=0)  VAR[StopToShift]=1
While driving in low speed, for USA/AUS country version, leaving folded position causes the
F DS_V_107 shifting from low speed to micro speed without drive’s stop and without stop of the movement
causing the leave of folded position.
While driving in low speed, for STD country versions, leaving folded position causes the shifting
F DS_V_108 from low speed to micro speed without drive’s stop and with stop of the movement causing the
leave of folded position
The following components drive the drive movement:

 YV160/ YV160S: control movement direction and speed / PVG power supply
F DS_A_001
 YV112 & YV113 & YV114 & YV115: Medium/High speed selection
 YV110 & YV111 & Medium speed YV: High speed selection

4000202840 E07-14 82/212
2 .7 .9 . STEERING CONDITIONS
F(Control Box) CtrlBox VAR CTRL Steering LEFT|N|RIGHT:0|100

F(Control Box) Steering SETP CTRL SteeringMode 2WS | SYNC | CRAB
F(Control Box) SteeringMode A- YV900 Platform &
SETP
OUT Jib/Steering speed
F(Engine Engine D-OUT YV150L EV Steering front left
CTRL
Management)
F(Generator) Generator D-OUT YV150R EV Steering front
CTRL
right
F(Simultaneous) AuthorizedMvt VAR D-OUT YV107 (opt.) EV Crab/Sync mode
F(Machine’s State) Tilt VAR D-OUT YV108 (opt.) EV Crab/Sync mode
F(Machine’s State) DriveTiltSafety VAR
F(Machine’s State) UnfoldedMachine VAR
F(Machine’s State) 4WSEnable VAR
F(Load Measurement) OverloadAlarm VAR Steering
Motion
F(Anti Crush) AcCutSteering VAR
/
[0..100]% Steering SPEED
Steering Mode
Steering valves F04.01(A) FAIL
Drive valves F04.10.00004(A) FAIL
LS valve F04.11(A) FAIL
Steering mode valves F04.33(A) FAIL
Oscillating Axle Valves F04.34(A) FAIL
Incoherence of F06.04(A)
FAIL
Gauges
Oscillating Axle Sensor F07.34(A) FAIL
for Specific
The steering movement happens in the specified direction and set point, regarding to
validation and slow down conditions:
F ST_V_001
SETP[Steering]=LEFT|N|RIGHT: [0-100]%
Remark: steering movement is available only from platform control box
Steering (both directions, each mode) is allowed if all validation conditions are satisfied and
F ST_V_002
none of cut-offs condition is true (see ST_V_003):
Validation L R Enable Conditions

Machine powered on for more
0 Enable than 3s
2 1 1 Engine is running VAR[Engine]=RUNNING
Steering for Left (L) or Right (R) directions and for each mode is inhibited if at least one of
F ST_V_003
the all cut-off condition is activated:

4000202840 E07-14 83/212
Cut-Off L R General Cut-Off Conditions

1 General 1 1 1 Generator is running CTRL[Generator]=RUNNING
Cut-Off L R Simultaneous Movements Cut-Off Conditions

Simultaneous Requirements SM_CE_003 |
2 Movements 1 1 1 VAR[Authorized Movement]=0
SM_AU_002 | SM_ANSI_002
Cut-Off L R Overload Cut-Off Conditions

Cut-Off L R Tilt Cut-Off Conditions

VAR[Tilt]=1 &
Tilt activated with unfolded
4 Tilt 1 1 1 VAR[UnfoldedMachine]=1 &
machine and drive’s safety tilt
VAR[DriveTiltSafety]=1
Cut-Off L R Reach Limit Cut-Off Conditions

5 Reach Limit none
Cut-Off L R Failure Cut-Off Conditions

2 1 1 Active failure on steering valve F04.01(A)
Active failure on drive valve
F04.10.00004(A) &
3 1 1 with internal code “4” and
CTRL[Engine]=RUNNING
engine running
4 1 1 LS valve failure F04.11(A)
Oscillating axle locking and F04.34(D) &
5 1 1
6 1 1
6 Failure and machine unfolded VAR[UnfoldedMachine]=1
Weight sensors out of range F06.03(A) &
7 1 1
8 1 1
9 1 1
10 1 1
F12.01(A) &
11 1 1 Failure F12.01 is active
Cut-Off L R Extra Cut-Off Conditions

Anti crush active for steering
7 Extra 1 1 1 VAR[AcCutSteering]=1
motion
F ST_V_004 There is no slow down for steering movement.
If steering mode function is authorized regarding to conditions, the steering mode selection
F ST_M_001 happens in the specified mode (2 Wheels Steering or CRAB or SYNC):
SETP[SteeringMode]= 2WS|CRAB|SYNC

4000202840 E07-14 84/212
The steering mode function drives the condition to activate/inhibit the electro valves enabling
the 4 wheels steering system:
 2 wheels steering mode, front wheels only are driven
SETP[SteeringMode]=2WS | VAR[4WSEnable]=0  CTRL[SteeringMode]=2WS
F ST_M_002
 crab mode, front and back wheels are driven in the same direction
SETP[SteeringMode]=C & VAR[4WSEnable]=1  CTRL[SteeringMode]=C
 synchronized mode, front and back wheels are driven in opposite directions
SETP[SteeringMode]=S & VAR[4WSEnable]=1  CTRL[SteeringMode]=S
In case F04.33 is active, steering mode is forced to 2WS.

F ST_M_003
F04.33(A)  CTRL[SteeringMode]=2WS
The following components drive the drive movement:

 YV900: control movement speed
F ST_A_001  YV150L: steering left
 YV150R: steering right
 YV107|YV108: Crab/Synchronized mode

4000202840 E07-14 85/212
The formatted control (CTRL[Steering]) is applied on the actuators driving the steering
movement depending on the chosen mode :
Selection
Movement
Steering
direction
Mode
YV150R
YV150L
YV107
YV108
YV900
Acc
0
min
SPEED[Steering
2WS MAX 1 0 0 0
Max]% 2000mA
Dec
0
min
Acc
0
min
SPEED[Steering
LEFT CRAB MAX 1 0 1 0
Max]% 2000mA
Dec
0
min
Acc
0
min
F ST_A_002 SPEED[Steering
SYNC MAX 1 0 0 1
Max]% 2000mA
Dec
0
min
NEUTRAL 0 0 0 0 0
Acc
0
min
SPEED[Steering
2WS MAX 0 1 0 0
Max]% 2000mA
Dec
0
min
Acc
0
min
SPEED[Steering
RIGHT CRAB MAX 0 1 0 1
Max]% 2000mA
Dec
0
min
Acc
0
min
SPEED[Steering
SYNC MAX 0 1 1 0
Max]% 2000mA
Dec
0
min

4000202840 E07-14 86/212
2 .7 .1 0 . BOOM CONDITIONS
F(Control Box) CtrlBox VAR CTRL Boom UP|N|DOWN:[0..100]

F(Control Box) Boom SETP A-OUT YV520 Boom speed
F(Engine) Engine CTRL D-OUT YV520U Boom Raise
F(Emergency EmergencyPump D-OUT YV520D Boom Descent
CTRL
Pump)
F(Generator) Generator CRTL
F(Simultaneous) AuthorizedMvt VAR
F(Simultaneous) NbRunningMvts VAR
F(Simultaneous) NbRunningMvtsMax VAR
F(Machine’s Tilt
VAR
State)
F(Machine’s UnfoldedMachine
VAR
State)
F(Load OverloadAlarm
VAR
Measurement)
F(Load WeightSP800/406
VAR
Measurement)
[0..100]% Boom Raise Max SPEED
[0..100]% Boom Descent Max SPEED
[0..100]% Boom min SPEED Boom
[1..250] Boom Raise Acc/Dec RAMP Lifting/Lowering
[1..250] Boom Descent
RAMP
Acc/Dec
Power Relay F02.04(A) FAIL
Boom valves F04.05(A) FAIL
Oscillating axle F04.34(A)
FAIL
valve
No Loading F06.01(A)
FAIL
Calibration
Gauges out of F06.03(A)
FAIL
Range
Incoherence F06.04(A)
FAIL
Gauges
Oscillating Axle F07.34(A)
FAIL
Sensor
for Specific

4000202840 E07-14 87/212
The boom’s movement happens in the specified direction and set point regarding to validation and
F BL_V_001 slow down conditions:
SETP[Boom]=UP|N|DOWN: [0-100]%
Raise (U) or Descent (D) of boom is enabled if all validation conditions are satisfied and none of
F BL_V_002
cut-offs condition is true (see BL_V_003):
Enable U D Enable Conditions

than 3s
0 Enable CTRL[Engine]=RUNNING |
Engine is running or
2 1 1 CTRL[EmergencyPump]=RUNNIN
Emergency pump is running
G
F BL_V_003 Raise (U) or Descent (D) of boom is enabled if one at least of the cut-off conditions is active
Cut-Off U D General Cut-Off Conditions

1 General CTRL[Boom]=N:0 &
Cut-Off U D Simultaneous Movements Cut-Off Conditions

Simultaneous 1..1 Requirements SM_CE_003 |
2 1 1 VAR[AuthorizedMvt]=0
Movements 0 SM_AU_002 | SM_ANSI_002
Cut-Off U D Overload Cut-Off Conditions

Overload alarm is active and VAR[OverloadAlarm]=1 &
3 Overload 1 1 1
not overriding control box VAR[CtrlBox]≠OCB
Cut-Off U D Tilt Cut-Off Conditions

4 Tilt none
Cut-Off U D Reach Limit Cut-Off Conditions

Reach
5 none
Limit

4000202840 E07-14 88/212
Cut-Off U D Failure Cut-Off Conditions

Active failure on boom valves F04.05(A) &
2 1 1
and engine is running CTRL[Engine]=RUNNING
F04.10. 00004 (A) &
engine running
Active failure on LS valve and F04.11(A) &
4 1 1
engine is running CTRL[Engine]=RUNNING
Active failure on Oscillating F04.34(D) &
5 1
axle unlocking valve VAR[UnfoldedMachine]=1
6 1 1 and machine unfolded and VAR[UnfoldedMachine]=1 &
6 Failure not overriding control box VAR[CtrlBox]≠OCB
Weight sensors Low power F06.05(A) &
10 1
Can failure and Platform
11 1 1 F12.01(D) & VAR[CtrlBox]=PCB
control box
Cut-Off U D Extra Cut-Off Conditions

Platform control box and
VAR[CtrlBox]=PCB &
1 1 load under -40kg on SP800
(VAR[WeightSP800]<-40kg)
gauge
Platform control box and
VAR[CtrlBox]=PCB &
2 1 load under -40kg on SP801
(VAR[WeightSP801]<-40kg)
gauge
7 Extra
Activ’bar activated for
VAR[AcCutBoomRaise]=1&
3 1 boom raise and platform
VAR[CtrlBox]=PCB
control box active
Activ’bar activated for boom
VAR[AcCutBoomDescent]=1&
4 1 descent and platform
VAR[CtrlBox]=PCB
control box active

4000202840 E07-14 89/212
Following conditions slowdown the boom raise (U) or descent (D) set point when engine is
running. With emergency pump running, no slow down is applied.
Slowdown Value
(%) Slow down condition : available only when engine is running
CTRL[Engine]=RUNNING &
U D
1 60 60 Active control box is overriding control box VAR[CtrlBox]=OCB
60 60 Failure on load measurement system or on F06.01(A) | F06.03(A) |
2 Oscillating axle unlocking valve F06.04(A) | F06.05(A) |
F04.34(A)
3 80 80 Active control box is lower control box VAR[CtrlBox]=TCB
F BL_V_004 80 80 Tilt is active and machine is unfolded VAR[Tilt]=1 &
4
100 40 Arm descent movement and boom is down CTRL[Boom]=D &
5
VAR[BoomDown]=1
6 1 1 Minimum speed settings menu is active MNT[MinSpeedSetting]=1
Arm raise and boom raise and telescope CTRL[Arm]=U &
7 75
extend run simultaneously CTRL[Telescope]=O
Arm descent and boom descent and CTRL[Arm]=D &
8 75
telescope retract run simultaneously CTRL[Telescope]=I
100% fits the movement maximum speed.
In case many slowdown conditions are active, the most important slowdown is active.
The following components drive the boom lifting movement:
 YV520: boom movement’s speed, proportional current drive output (4A max)
F BL_A_001
 YV520U: control up movement, proportional current drive output used as digital output
 YV520D: control down movement, proportional current drive output used as digital output

4000202840 E07-14 90/212
2 .7 .1 1 . ARM CONDITIONS
F(Control Box) CtrlBox VAR CTRL Arm UP|N|DOWN:[0..100]

F(Control Box) Arm SETP A-OUT YV420 Arm speed
F(Engine) Engine CTRL D-OUT YV420U Arm Raise
F(Emergency Pump) EmergencyPump CTRL D-OUT YV420D Arm Descent
F(Generator) Generator CTRL
F(Machine’s State) Tilt VAR
F(Load Measurement) OverloadAlarm VAR
F(Load Measurement) WeightSP800/801 VAR
F(Anti Crush) AcCutArmRaise VAR
F(Anti Crush) AcCutArmDescent VAR
[0-100]% Arm Raise Max SPEED
Arm
[0-100]% Arm Descent Max SPEED
Lifting/Lowering
[0-100]% Arm min SPEED
[1-250] Arm Raise Acc/Dec RAMP
[1-250] Arm Descent Acc/Dec RAMP
Arm valves F04.04(A) FAIL
Incoherence Gauges F06.04(A) FAIL
Oscillating Axle Sensor F07.34(D) FAIL
for Specific
If arm’s movement is authorized regarding to conditions, it happens in the specified direction (up
F AL_V_001 or down), at the specified set point ([0-100]%):
SETP[Arm]=UP|N|DOWN: [0-100]%
Raise (U:up) or Descent (D:down) of arm is allowed if all validation conditions are satisfied and
F AL_V_002
none of cut-offs condition is true (see AL_V_003):
Validation U D Enable Conditions

than 3s
2 1 1 CTRL[EmergencyPump]=RUNNIN
G

4000202840 E07-14 91/212
F AL_V_003 Raise (U:up) or Descent (D:down) of arm is inhibited if one at least of the following cut-off
conditions is active:

1 General CTRL[Arm]=N:0 &

Simultaneous 1..1 Requirements SM_CE_003 |
2 1 1 VAR[Authorized Movement]=0

3 Overload 1 1 1

4 Tilt None

5 Reach Limit None

Active failure on arm valves F04.04(A) &
2 1 1
and engine is running CTRL[Engine]=RUNNING
F04.10. 00004 (A) &
engine running
4 1 1
Active failure on Oscillating F04.34(D) &
5 1
6 1 1 and machine unfolded and not VAR[UnfoldedMachine]=1 &
overriding control box VAR[CtrlBox]≠OCB
6 Failure
9 1 1 machine unfolded and not VAR[UnfoldedMachine]=1 &
10 1
control box

4000202840 E07-14 92/212

Platform control box and load VAR[WeightSP800]<-40kg &
1 1
under -40kg on SP800 gauge VAR[CtrlBox]=PCB
2 1
under -40kg on SP801 gauge VAR[CtrlBox]=PCB
Anti crush active for arm raise
VAR[AcCutArmRaise]=1 &
3 1 motion and platform control box
7 Extra VAR[CtrlBox]=PCB
active
Activ’bar activated for arm
VAR[AcCutArmDescent]=1 &
4 1 descent motion and platform
VAR[CtrlBox]=PCB
control box active
5 Time-out after arm raise T200ms(CTRL[Arm]=D)
6 Time-out after arm descent T200ms(CTRL[Arm]=U)
Following conditions slowdowns the arm raise set point (U) and/or the arm descent (D) set point
when engine is running. With emergency pump running, no slow down is applied.
Slowdown Value
U D
Active control box is overriding control VAR[CtrlBox]=OCB
1 60 60
box
Failure on load measurement system or F06.01(A) | F06.03(A) |
2 60 60 on Oscillating axle unlocking valve F06.04(A) | F06.05(A) |
F04.34(A)
F AL_V_004
Tilt is active and machine is unfolded VAR[Tilt]=1 &
4 80 80
Arm descent movement and arm is CTRL[Arm]=D:[0..100] &
5 100 40
down VAR[ArmDown]=1
7 65 Arm and boom descent simultaneously CTRL[Boom]=D
The slow downs are inactivated in case of movement with Emergency pump.
The following components drive the arm lifting movement:

 YV420: control movement speed, proportional current drive output (4A max)
F AL_A_001
 YV420U: control up movement, proportional current drive output used as digital output
 YV420D: control down movement, proportional current drive output used as digital output

4000202840 E07-14 93/212
2.7.12. TELESCOPE CONDITIONS
F(Control Box) CTRL Telescope EXT|N|RET:

CtrlBox VAR [0-100]
F(Control Box) A-OUT YV530 Telescope
Telescope SETP Speed
F(Engine) D-OUT YV530O Telescope
Engine CTRL Extend
F(Emergency Pump) D-OUT YV530I Telescope
EmergencyPump CTRL Retract
F(Load Measurement) OverloadAlarm VAR
F(Anti Crush) AcCutTelescopeExtend VAR
F(Anti Crush) AcCutTelescopeRetract VAR
Boom’s
[0-100]% Boom Tel Extend Max SPEED
Telescope
[0-100]% Boom Tel Retract Max SPEED
[0-100]% Boom Tel min SPEED
[1-250] Boom Tel Extend Acc/Dec RAMP
[1-250] Boom Tel Retract
Acc/Dec RAMP
Telescope valves F04.06(A) FAIL
FAIL
Calibration
Low power F06.05(A) FAIL
for Specific
The telescope’s movement happens in the specified direction and set point regarding to validation
F BT_V_001 and slow down conditions:
SETP[Telescope]=OUT|N|IN: [0-100]%
Extension (O: out) or Retraction (I: in) of telescope is allowed if all validation conditions are satisfied
F BT_V_002
and none of cut-offs condition is true (see BT_V_003):

4000202840 E07-14 94/212
Validation O I Enable Conditions

than 3s
0 Enable
Engine is running or CTRL[Engine]=RUNNING |
2 1 1
Emergency pump is running CTRL[EmergencyPump]=RUNNING
F BT_V_003 Extension (O:Out or Retraction (I:in) of boom’s telescope is inhibited if one at least of the following
cut-off conditions is active:
Cut-Off O I General Cut-Off Conditions

1 General CTRL[Telescope]=N:0 &
2 1 1 VAR[NbRunningMvts]=VAR[NbRunn
ingMvtsMax]
Cut-Off O I Simultaneous Movements Cut-Off Conditions

Simultaneous 1.. Requirements SM_CE_003 |
Cut-Off O I Overload Cut-Off Conditions

3 Overload 1 1 1
Cut-Off O I Tilt Cut-Off Conditions

4 Tilt None
Cut-Off O I Reach Limit Cut-Off Conditions

5 Reach Limit None

4000202840 E07-14 95/212
Cut-Off O I Failure Cut-Off Conditions

Active failure on telescope F04.06(A) &
2 1 1
valves and engine is running CTRL[Engine]=RUNNING
F04.10. 00004 (A) &
engine running
4 1 1
Failure active on Oscillating F04.34(D) &
5 1
6 Failure overriding control box VAR[CtrlBox]≠OCB
Weight sensors Low power and F06.05(A) &
10 1
control box
Cut-Offs O I Extra Cut-Off Conditions

Activ’bar activated telescope
VAR[AcCutTurntableRotateLeft]=1
1 1 extension and platform control
& VAR[CtrlBox]=PCB
box active
7 Extra
VAR[AcCutTurntableRotateRight]=
2 1 telescope retraction and
1& VAR[CtrlBox]=PCB
platform control box active

4000202840 E07-14 96/212
Following conditions slowdown the boom’s telescope extension (O: out) or retraction (I: in) set point
when engine is running. With emergency pump running, no slow down is applied.
Slowdown Value
O I
60 60 Failure on load measurement or on F06.01(A) |F06.03(A) |
2 Oscillating axle unlocking valve F06.04(A) | F06.05(A) |
F04.34(A)
F BT_V_004 80 80 Tilt is active and machine is unfolded VAR[Tilt]=1 &
4
100 50 Telescope retract movement and CTRL[Telescope]=R &
5
telescope is retracted VAR[TelescopeIn]=1
Arm raise and boom raise and telescope CTRL[Arm]=U &
7 45
extend run simultaneously CTRL[Boom]=U
Arm descent and boom descent and CTRL[Arm]=D &
8 50
telescope retract run simultaneously CTRL[Boom]=D
The following components drive the boom telescoping movement:

 YV530: boom telescope movement’s speed, proportional current drive output (4A max)
BT_A_001
 YV530O: control outward movement, proportional current drive output used as digital output
 YV530I: control inward movement, proportional current drive output used as digital output

4000202840 E07-14 97/212
2.7.13. TURRET ROTATION CONDITIONS
F(Control Box) CTRL TurntableRotate LEFT|N|RIGHT:

CtrlBox VAR [0..100]
F(Control Box) A- YV250 Turntable
TurntableRotate SETP OUT Rotation Speed
F(Engine) D- YV250L Turntable
Engine CTRL OUT Rotation Left
F(Emergency D- YV250R Turntable
Pump) EmergencyPump CTRL OUT Rotation Right
F(Machine’s
State) Tilt VAR
F(Machine’s
State) UnfoldedMachine VAR
F(Load
Measurement) OverloadAlarm VAR
F(Anti Crush) AcCutTurntableRotateLeft
F(Anti Crush) AcCutTurntableRotateRight Turntable
Rotate
[0..100]% Turret Rotation Max SPEED
Motion
[0..100]% Turret Rotation min SPEED
[1..250] Turret Rotation Acc/Dec RAMP
Boom valve F04.03(A) FAIL
Drive valve F04.10.004(A) FAIL
Valve FAIL
LS valve failure F04.11(A) FAIL
FAIL
Calibration
Range FAIL
FAIL
Gauges
FAIL
Sensor
for Specific

4000202840 E07-14 98/212
The turret rotation movement happens in the specified direction and set point, regarding to
F TR_V_001 validation and slow down conditions:
SETP[TurntableRotate] = LEFT|N|RIGHT: [0-100]%
Turntable Rotate for Left (L) or Right (R) directions is allowed if all validation conditions are
F TR_V_002
satisfied and none of cut-offs condition is true (see TR_V_003):

than 3s
Engine is running or Emergency
2 1 1 CTRL[EmergencyPump]=RUNNI
pump is running
NG
Turntable Rotate for Left (L) and/or Right (R) directions is inhibited if at least one of the all cut-off
F TR_V_003
condition is activated:

1 General CTRL[Arm]=N:0 &
Cut-Offs L R Simultaneous Movements Cut-Off Conditions

Cut-Offs L R Overload Cut-Off Conditions

Overload alarm is active and not VAR[OverloadAlarm]=1 &
3 Overload 1 1 1
Cut-Offs L R Tilt Cut-Off Conditions

4 Tilt None
Cut-Offs L R Reach Limit Cut-Off Conditions

Reach
5 None
Limit

4000202840 E07-14 99/212
Cut-Offs L R Failure Cut-Off Conditions

Failure active on turret rotation F04.03(D) &
2 1 1
valve and engine is running CTRL[Engine]=RUNNING
Active failure on drive valve with
F04.10. 00004 (A) &
3 1 1 internal code “4” and engine
running
Active failure on LS valve and F04.11(D) &
4 1 1
Weight sensors out of range and F06.03(A) &
Weight sensors incoherence and F06.04(A) &
Can failure and Platform control
9 1 1 F12.01(A) & VAR[CtrlBox]=PCB
box
Cut-Offs L R Extra Cut-Off Conditions

Activ’bar activated for left turret
VAR[AcCutTurntableRotateLef
1 1 rotation and platform control box
active t]=1 & VAR[CtrlBox]=PCB
7 Extra
Activ’bar activated for right turret
VAR[AcCutTurntableRotateRig
2 1 rotation and platform control box
active ht]=1 & VAR[CtrlBox]=PCB
Following conditions slowdown the turret rotation left or right (L|R) set point when engine is
Slowdown Value (%) Slow down condition : available only when engine is running
L|R CTRL[Engine]=RUNNING &
Active control box is overriding VAR[CtrlBox]=OCB
1 60
control box
Failure on load measurement F06.01(A) | F06.03(A) | F06.04(A) |
2 60 system or on Oscillating axle F06.05(A) | F04.34(A) | F07.34(A)
TR_V_004 unlocking valve
Active control box is lower VAR[CtrlBox]=TCB
3 80
control box
Tilt is active and machine is VAR[Tilt]=1 &
4 70
unfolded VAR[UnfoldedMachine]=1
Minimum speed settings menu is MNT[MinSpeedSetting]=1
5 1
active

4000202840 E07-14 100/212
The following components drive the turret rotation movements:

 YV250R: control movement to right and speed
F TR_A_001
 YV250L: control movement to left and speed
2.7.14. JIB CONDITIONS

F(Control Box) CTRL Jib UP|N|DOWN:
F(Control Box) A-OUT YV900 Platform &
Jib/Steering
Jib SETP speed
F(Engine) Engine CTRL D-OUT YV620U Jib Raise
F(Emergency D-OUT YV620D Jib Descent
Pump) EmergencyPump CTRL
F(Load
Measurement) OverloadAlarm VAR
F(Load
Measurement) WeightSP800/SP801 VAR
F(Drive) Drive CTRL
F(Control Box) Steering SETP Jib
Lifting/Lowering
[0-100]% Jib Raise Max SPEED
[0-100]% Jib Descent Max SPEED
[0-100]% Jib min SPEED
[1-250] Jib Raise Acc/Dec RAMP
[1-250] Jib Descent Acc/Dec RAMP
Jib Valves F04.07(A) FAIL
Drive Valves F04.10.00004(A) FAIL
FAIL
Calibration
FAIL
Range
FAIL
Gauges
FAIL
Sensor
for Specific

4000202840 E07-14 101/212
The jib’s movement happens in the specified direction and set point regarding to validation and
F JL_V_001 slow down conditions:
SETP[Boom]=UP|N|DOWN: [0-100]%
Raise (U:up) or Descent (D: down) of jib is allowed if all validation conditions are satisfied and
F JL_V_002
none of cut-offs condition is true (see JL_V_003):
Validation U D Enable Conditions

than 3s
2 1 1 CTRL[EmergencyPump]=RUNNI
NG
F JL_V_003 Raise (U:up) or Descent (D:down) of jib is inhibited if one at least of the following cut-off
conditions is active

1 General CTRL[Jib]=N:0 &
Cut-Off U D Simultaneous Movements Cut-Off Conditions

Cut-Off U D Overload Cut-Off Conditions

3 Overload 1 1 1
Cut-Off U D Tilt Cut-Off Conditions

4 Tilt None
Cut-Off U D Reach Limit Cut-Off Conditions

5 Reach Limit None

4000202840 E07-14 102/212
Cut-Off U D Failure Cut-Off Conditions

Active failure on jib valves and F04.07(A) &
2 1 1
F04.10. 00004 (A) &
engine running
4 1 1
6 1 1 and machine unfolded and not VAR[UnfoldedMachine]= 1 &
7 1 1 and machine unfolded and not VAR[UnfoldedMachine]= 1 &
8 1 1 machine unfolded and not VAR[UnfoldedMachine]= 1 &
9 1 1 Can failure F12.01(A)
Cut-Off U D Extra Cut-Off Conditions

1 1
under “-40kg” on SP800 gauge VAR[CtrlBox]=PCB
2 1
under “-40kg” on SP801 gauge VAR[CtrlBox]=PCB
Steering set point active while CTRL[Drive]≠0 &
3 1 1
drive is active SETP[Steering]≠0
Activ’bar activated for jib raise VAR[AcCutJibRaise]=1 &
4 1
and platform control box active VAR[CtrlBox]=PCB
Activ’bar activated for jib
7 Extra VAR[AcCutJibDescent]=1 &
5 1 descent and platform control
VAR[CtrlBox]=PCB
box active
6 1 1 Time-out after steering motion T200ms(CTRL[Steering ]≠0)
Time-out after platform level or T200ms(CTRL[PFRotation]≠0 |
7 1 1
platform rotation CTRL[PFLevel]≠0)
M200ms(CTRL[Jib]=D &
Time-out for change of SETP[Jib]=U) |
8 1 1
direction M200ms(CTRL[Jib]=U &
SETP[Jib]=D)

4000202840 E07-14 103/212
Following conditions slowdown the jib raise (U) or descent (D) set point when engine is running.
With emergency pump running, no slow down is applied.
Slowdown Value
U D
Failure on load measurement system or on F06.01(A) | F06.03(A) |
F JL_V_004 2 60 60 Oscillating axle unlocking valve F06.04(A) | F06.05(A) |
F04.34(A) | F07.34(A)
4 80 80
5 1 1 Minimum speed setting menu is active MNT[MinSpeedSetting]=1
The following components drive the jib lifting movement:

 YV900: control movement speed (common PWM valve to platform, jib and steering
F JL_A_001 movements)
 YV520U: Jib Raise ON/OFF valve
 YV520D: Jib Descent ON/OFF valve

4000202840 E07-14 104/212
2.7.15. BASKET ROTATION CONDITIONS
F(Control Box) CTRL PfRotation LEFT|N|RIGHT:

F(Control Box) A-OUT YV900 Upper
PfRotation SETP movements
F(Engine) D-OUT YV750L PF Rotation
Engine CTRL Left
F(Emergency D-OUT YV750R PF Rotation
Pump) EmergencyPump CTRL Right
F(Overload) OverloadAlarm VAR
F(Drive) Drive CTRL
F(Control Box) Steering SETP
F(Anti Crush) AcCutPfRotation VAR
[0-100]% PF Rotation Max SPEED Platform
[0-100]% PF Rotation min SPEED Rotation
[1-250] PF Rotation
Acc/Dec RAMP
Platform rotation
valves F04.08(A) FAIL
FAIL
Calibration
FAIL
Range
FAIL
Gauges
FAIL
sensor
for Specific

4000202840 E07-14 105/212
The platform rotation movement happens in the specified direction and set point, regarding to
validation and slow down conditions:
F PR_V_001
SETP[PfRotation]=LEFT|N|RIGHT:[0-100]%
Remark: platform rotation function is available from Platform control box only.
Platform rotation for Left (L) or Right (R) direction is allowed if all validation conditions are
F PR_V_002
satisfied and none of cut-offs condition is true (see PR_V_003):

than 3s
0 Enable
2 1 1
F PR_V_003 Left (L) or Right (R) platform rotation is inhibited if one at least of the following cut-off

1 General CTRL[PfRotation]=N:0 &
2 1 1 VAR[NbRunningMvts]=VAR[NbRunn
ingMvtsMax]
Cut-Off L R Simultaneous Movements Cut-Off Conditions

Simultaneou 1.. Requirements SM_CE_003 |
s Movements 10 SM_AU_002 | SM_ANSI_002
Cut-Off L R Overload Cut-Off Conditions

Cut-Off L R Tilt Cut-Off Conditions

4 Tilt None
Cut-Off L R Reach Limit Cut-Off Conditions

5 Reach Limit None

4000202840 E07-14 106/212
Cut-Off L R Failure Cut-Off Conditions

Active failure on platform
F04.08(A) &
2 1 1 rotation valves and engine is
running
with internal code “4” (failure F04.10. 00004 (A) &
3 1 1
signal from PVG) and engine CTRL[Engine]=RUNNING
running
4 1 1
6 Failure 5 1 1 and machine unfolded and VAR[UnfoldedMachine]=1 &
Weight sensors low power F06.05(A) &
9 1 1 Active failure on CAN F12.01(A)
Cut-Off L R Extra Cut-Off Conditions

Steering set point active while
1 1 1 drive is active (except CTRL[Drive]≠0 & SETP[Steering]≠0
Australia)
VAR[AcCutPfRotation]=1 &
2 1 1 platform rotation and platform
7 Extra VAR[CtrlBox]=PCB
control box active
Time-out after steering
3 1 1 M200ms(CTRL[Steering ]≠0)
motion (200ms)
Time-out after platform level M200ms(CTRL[PFLevel]≠0 |
4 1 1
or jib (200ms) CTRL[Jib]≠0)
Following conditions slowdown the platform rotation left (L) or right (R) set point when engine is
Slowdown Value
L R
Failure on load measurement system or on F06.01(A) | F06.03(A) |
F PR_V_004 1 80 80 Oscillating axle unlocking valve and F06.04(A) | F06.05(A) |
machine is unfolded F04.34(A) | F07.34(D)
2 80 80

4000202840 E07-14 107/212
The following components drive the basket rotation movement:

 YV900: control movement speed (common PWM valve to platform, jib and steering
F PR_A_001 movements)
 YV750L: platform left rotation on/off valves
 YV750R: platform right rotation on/off valves
2 .7 .1 6 . BASKET COMPENSATION’S CONDITIONS
Basket Tilt +10° CTRL PfLevelUP|N|DOWN:

SR721 D-IN [0-100]
Basket Tilt -10° A-OUT YV900 Platform &
Jib/Steering
SR720 D- IN speed
F(Control Box) D-OUT YV720U Platform
CtrlBox VAR Level Raise
F(Control Box) D-OUT YV720D Platform
Level
PfLevel SETP Descent
F(Engine) Engine CTRL
F(Emergency Pump) EmergencyPump CTRL
F(Overload) OverloadAlarm VAR
F(Control Box) AcCutPfLevel VAR
[0-100]% PF Level Raise Max SPEED Platform
[0-100]% PF Level Descent Max SPEED Level
[0-100]% PF Level min SPEED
[1-250] PF Level Raise Acc/Dec RAMP
[1-250] PF Level Descent
Acc/Acc RAMP
Platform Level valves F04.02(A) FAIL
Basket Tilt sensors F07.15(A) FAIL
FAIL
Calibration
Oscillating axle
sensor F07.34(A) FAIL
Note : These following conditions are linked to diagnostic menu ( cuttings conditions) described
in chapter 4.4 Diagnostic menu .
for Specific

4000202840 E07-14 108/212
The platform level movement happens in the specified direction and set point, regarding to
F PL_V_001 validation and slow down conditions:
SETP[PfLevel]=UP|N|DOWN:[0-100]%
Platform level for Up (U) and Down(D) directions is allowed if all validation conditions are satisfied
F PL_V_002
and none of cut-offs condition is true (see PR_V_003):
Validation U D Description
than 3s
0 Enable
2 1 1
F PL_V_003 Platform level for Up (U) and Down(D) directions is inhibited if one at least of the following cut-off
Cut-Offs U D Description
1 General 1 1 1 Generator is running CTRL[Generator]=RUNNING
VAR[OverloadAlarm]=1 &
3 Overload 1 1 1 Overload alarm is active
VAR[CtrlBox]≠OCB
4 Tilt None
5 Reach Limit None

4000202840 E07-14 109/212
Active failure on platform
F04.02(A) &
2 1 1 level valves and engine is
running
with internal code “4” (failure F04.10. 00004 (A) &
3 1 1
signal from PVG) and engine CTRL[Engine]=RUNNING
running
4 1 1
6 Failure 5 1 1 and machine unfolded and VAR[UnfoldedMachine]=1 &
Weight sensors low power F06.05(A) &
9 1 1 Active failure on CAN F12.01(A)
Cut-Off U D Description
Positive basket tilt (+10°) is SR721=1 & VAR[CtrlBox]=PCB
1 1 active and Platform control
box is active
Negative basket tilt (-10°) is SR720=1 & VAR[CtrlBox]=PCB
2 1 active and Platform control
box is active
7 Extra
Activ’bar activated for VAR[AcCutPfLevel]=1
3 1 1
platform level
Time-out after steering
4 1 1 M200ms(CTRL[Steering ]≠0)
motion (200ms)
Time-out after platform M200ms(CTRL[PFRotation]≠0 |
5 1 1
rotation or jib (200ms) CTRL[Jib]≠0)

4000202840 E07-14 110/212
Following conditions slowdown the platform level up (U) or down (D) set point when engine is
Slowdown Value
U D
Failure on load measurement system or on (F06.01(A) | F06.03(A) |
F PL_V_004 Oscillating axle unlocking valve and F06.04(A) | F06.05(A) |
2 60 60
machine is unfolded F04.34(A) | F07.34(A)) &
4 80 80
The following components drive the PFLevel movement:
F PL_A_002
 YV720D: Platform Level Down on/off valves
 YV720U: Platform Level Up on/off valves
2.7.17. DIFFERENTIAL LOCK CONDITIONS
F(Control Box) DifferentialLock SETP CTRL DifferentialLock 0|1

F(Drive) Drive CTRL Differential Lock D-OUT YV100 Differential Lock
F(Drive) DriveSpeed CTRL
for Specific
DL_V_001 The differential lock is activated if the function is allowed and the set point is active:
CTRL[DifferentialLock]=SETP[DifferentialLock] & DL_V_002
Differential lock is allowed (A) if all of the following conditions are satisfied:
DL_V_002
1 1 Drive is running CTRL[Drive]≠N:0
0 Enable
2 1 Applied speed is low speed CTRL[DriveSpeed]=LS
The following components drive the differential lock system:

F DL_A_001
 YV100: Differential lock valve

4000202840 E07-14 111/212
2.7.18. DIFFERENTIAL UNLOCK CONDITIONS
Oscillating SP109 CTRL OscillatingAxleUnlock 0|1

Axle
control A-IN
valve
pressure
F(Drive) Drive Differential D-OUT YV101 Oscillating
CTRL Lock Axle
Unlock
F(Machine UnfoldedMachine VAR OscillatingAxleValveFailure 0|1
VAR
Position)
F(Machine OscillatingAxleEnable VAR VAR OscillatingAxleSensorFailure 0|1
Position)
for Specific
The differential lock is automatically activated if the function is allowed (Oscillating Axle
F AU_V_001 enabled via machine’s configuration model, used as setpoint)
CTRL[OscillatingAxleUnlock]=AU_V_002 & VAR[OscillatingAxleEnable]=1
Oscillating axle unlock is allowed (A) if all of the following conditions are satisfied:
F AU_V_002
1 1 Drive is running CTRL[Drive]≠N:0
0 Enable
2 1 Machine is not unfolded VAR[UnfoldedMachine]=0
The pressure in the Oscillating axle control valve is monitored compared to the computed
control to detect failures. The sensor monitoring the pressure is checked to detect its failure.
The expected states are:
CTRL[OscillatingAxle
Difference between supply voltage VAR[OscillatingAx
Unlock]
AU_V_003 and signal voltage leFailure]
F (YV101=)
ON |WUI1-SP109|>1500mV 0
OFF |WUI1-SP109|<1100mV 0
ON D2000ms(|WUI1-SP109|)<1500mV 1
OFF D2000ms(|WUI1-SP109|)>1100mV 1
The pressure of the Oscillating axle control valve is monitored: the SP109 analogue sensor
measures the pressure. The signal of the sensors is compared with the supply voltage (109
wire, WUI1 voltage) to detect sensor electrical failure.
Difference between supply voltage
F AU_V_004 VAR[OscillatingAxleSensorsFailure]
and signal voltage
|WUI1-SP109|<200mV 1 (open circuit)
200mV< |WUI1-SP109|<6000mV 0
6000mV<|WUI1-SP109| 1 (short circuit)
F AU_A_001 The following components drive the oscillating axle:

 YV101: Oscillating axle unlocking electro valve

4000202840 E07-14 112/212
2 .7 .1 9 . OPTION ACTIVE SHIELD BAR
The following table explains the conditions of movements (if option is installed and activated)
Inactive | Active Activ’ Shield Bar OPT D-OUT HL901

Active Bar SQ902 D-IN D-OUT EL905
Reset Button SB900 D-IN
F(Control Box) Drive CTRL
F(Control Box) TurntableRotate CTRL
Drive Joystick / Y axis SM902Y D-IN
Steering switch SM902L/R D-IN
Turret Rotation Joystick Activ’ Shield Bar
/ X axis SM900X D-IN
Arm Joystick / Y axis SM901Y D-IN
Boom Joystick / Y axis SM900Y D-IN
Telescope switch SA531O/I D-IN
Jib switch SA621U/D D-IN
Platform rotation switch SA751L/R D-IN
Platform level switch SA721U/D D-IN
AC_*_001 The anti crush system is optional: the activation or deactivation of this safety is done with the
F
diagnostic tool.
When the option is inactive, the outputs of the function are inactive (no cut off):
OPT[Activ’ Shield Bar]=Inactive  VAR[AcCutForwardDrive]=0, VAR[AcCutReverseDrive]=0,
VAR[AcCutReverseDrive]=0, VAR[AcCutSteering]=0, VAR[AcCutTurntableRotateLeft]=0,
AC_*_002 VAR[AcCutTurntableRotateRight]=0, VAR[AcCutArmRaise]=0, VAR[AcCutArmDescent]=0,
F
VAR[AcCutBoomRaise]=0, VAR[AcCutBoomDescent]=0, VAR[AcCutTelescopeExtend]=0,
VAR[AcCutTelescopeRetract]=0, VAR[AcCutJibRaise]=0, VAR[AcCutJibDescent]=0,
VAR[AcCutPfRotation]=0, VAR[AcCutPfLevel]=0, VAR[AntiCrushActiveHorn],
VAR[AntiCrushActiveLight]=0

4000202840 E07-14 113/212
When the option is activated, the system checks the state of the SQ902 input (B2 node) to raise the
cut-offs’ alarm as following
Running Movements when active bar is detected in active state
Movements cut-offs Arm or Others
Drive Turntable Rotate
when platform control Boom or mvts
box: Forward Reverse Left Right Telescope
or Jib
Forward 1 0 1 1 1 1
Drive
Reverse 0 1 1 1 1 1
Turntable Left 0 0 1 0 0 0
Rotate Right 0 0 0 1 0 0
Raise 1 1 1 1 1 1
Arm
Descent 0(*) 0(*) 0(*) 0(*) 0(*) 0(*)
F AC_*_003 Raise 1 1 1 1 1 1
Boom
Descent 0(*) 0(*) 0(*) 0(*) 0(*) 0(*)
Extend 1 1 1 1 1 1
Telescope
Retract 0(*) 0(*) 0(*) 0(*) 0(*) 0(*)
Raise 1 1 1 1 1 1
Jib
Descent 0(*) 0(*) 0(*) 0(*) 0(*) 0(*)
Others 0(*) 0(*) 0(*) 0(*) 0(*) 0(*)
1 Movement from upper control box is cut-off until anti crush reset has been detected
Movement from upper control box is cut-off until all movements’ joysticks and switches
0(*)
are detected in neutral position
0 Movement from upper control box is authorized
The movements controlled from turret control box are not cut-off when anti crush safety is
activated.
All movements joysticks and switches from platform control box are in neutral position when:
2.35≤SM902Y≤2.65 & SM902L=SM902R=0 & 2.35≤SM900X≤2.65 & 2.35≤SM901Y≤2.65 &
2.35≤SM900Y≤2.65 & SA531O=SA531I=0 & SA621U=SA621D=0 &SA751L=SA751R=0 &
SA721U=SA721D=0  VAR[NeutralJoysticksAndSwitches]=1
Forward drive: cut if forward drive is running if machine is unfolded when anti crush safety raises
OPT[Activ’ Shield Bar]=Active & CTRL[Drive]≠REV & SQ902=OFF
VAR[AcCutForwardDrive]=1 & SQ902=ON & SB900=ON
Reverse drive: cut if reverse drive is running if machine is unfolded when anti crush safety raises
OPT[Activ’ Shield Bar]=Active & CTRL[Drive]≠FWD & SQ902= OFF &
VAR[AcCutReverseDrive]=1 & SQ902=ON & SB900=ON &
Forward and Reverse drive: cut if drive is not running if machine is unfolded when anti crush safety
raises
OPT[Activ’ Shield Bar]=Active & CTRL[Drive]=N & SQ902=OFF & VAR[UnfoldedMachine]=1
VAR[AcCutForwardDrive]=1 & VAR[AcCutReverseDrive]=1 & SQ902=ON & SB900=ON &
Left Turret Rotation: cut if left turret rotation is running when anti crush safety raises
OPT[Activ’ Shield Bar]=Active & CTRL[Turntable]=LEFT & SQ902= OFF
VAR[UnfoldedMachine]=1 + VAR[AcCutTurntableRotateLeft]=1 & SQ902=ON & SB900=ON
Right Turret Rotation: cut if right turret rotation is running when anti crush safety raises
OPT[Activ’ Shield Bar]=Active & CTRL[Turntable]=RIGHT & SQ902= OFF &
VAR[AcCutTurntableRotateRight]=1 & SQ902=ON & SB900=ON &
Arm Raise: cut when anti crush safety raises until system is reset with dedicated button
OPT[Activ’ Shield Bar]=Active & SQ902= OFF & VAR[UnfoldedMachine]=1 
VAR[AcCutArmRaise]=1 & SQ902=ON & SB900=ON

4000202840 E07-14 114/212
Boom Raise: cut when anti crush safety raises until system is reset with dedicated button
VAR[AcCutBoomRaise]=1 & SQ902=ON & SB900=ON
Telescope Extension: cut when anti crush safety raises until system is reset with dedicated button
VAR[AcCutTelescopeExtend]=1 & SQ902=ON & SB900=ON
Jib Raise: cut when anti crush safety raises until system is reset with dedicated button
VAR[AcCutJibRaise]=1 & SQ902=ON & SB900=ON
Arm Descent: cut when anti crush safety raises, authorized again at all movements’ neutral set
point
VAR[AcCutArmRaise]=1 & VAR[NeutralJoysticksAndSwitches]=1 
Boom Descent: cut when anti crush safety raises, authorized again at all movements’ neutral set
point
OPT[Anticrush]=Active & SQ902= OFF & VAR[UnfoldedMachine]=1 
VAR[AcCutBoomDescent]=1 & VAR[NeutralJoysticksAndSwitches]=1 
Telescope Retraction: cut when anti crush safety raises, authorized again at all movements’ neutral
set point
OPT[Anticrush]=Active & SQ902= OFF & VAR[UnfoldedMachine]=1 
VAR[AcCutTelescopeExtend]=1 & VAR[NeutralJoysticksAndSwitches]=1 
Jib Descent: cut when anti crush safety raises, authorized again at all movements’ neutral set point
OPT[Activ’ Shield Bar]=Active & SQ902= OFF & VAR[UnfoldedMachine]=1
Platform Rotation: cut when anti crush safety raises, authorized again at all movements’ neutral set
point
Platform Level: cut when anti crush safety raises, authorized again at all movements’ neutral set
point
Lights and klaxon:

SQ902=1  VAR[Activ’ Shield Bar]=1, VAR[AntiCrushActiveLight]=1
SQ902=ON & SB900=1

4000202840 E07-14 115/212
3. THE HYDRAULIC PART
3 .1 . SYMBOLS USED
Pump with variable cubic capacity flow

(here maximum 38 cc /rpm)
Pump with fixed cubic capacity flow (here 23 cc/rpm)
Pump with bi-directional variable flow (used for the

hydrostatic transmission in closed circuits on HAULOTTE
booms like HA32PX, HA41PX, H28TJ+, H43TPX, and
HT23RTJ…
Hydraulic motor with 2 directions of drive

(ex FWD/REV)
Variable cubic capacity drive motor with 2 directions of

drive
15cc for High speed drive
45 cc for Low speed drive
Filter (normally 10 microns)
Check valve

4000202840 E07-14 116/212
Check valve calibrated at 4.5b
Priority valve /shuttle valve
Piloted check valve
Circuit selector switch/shuttle valve
Position hydraulic valve(used for the HA32PX/HA41PX)
Adjustable pressure relief valve

(here set at 145 bars/2104 psi)
Fixed flow restrictor

(here diameter of 0.75 mm)

4000202840 E07-14 117/212
Fixed fow restrictor (0.3 L/mn)
Adjustable flow restrictor
Pressure sensor (Pressure /Voltage)
Adjustable pressure switch

(here set at 170 bars)
Flow divider
Position valve 4 ways, 3 positions in closed center
Distribuitor/ safety valve
Counter balance valve with piloting the opposite line (here

set at 210bars)

4000202840 E07-14 118/212
Position valve proportional 5/3 with piloting manual by
lever
Rotary cylinder /jack (here range at 180°)
Piloted valve
Manual valve with automatic return (used to readjust the

part of compensation on HA32/41PX)
proportional valve 4 ways/3 positions
Pressure balance/flow control valve
Flow regulator
Tap valve

4000202840 E07-14 119/212
Double transmission pressure regulator used in drive
circuit
Pressure regulator
Counterbalance valve hydraulically piloted by opposite

line (used for protection the movement in descent mode)
Piloted pressure regulator
Compensator valve
Circuit selection

4000202840 E07-14 120/212
3 .2 . THE HYDRAULIC BLOCKS
3 .2 .1 . GENERAL OVERVIEW
 Location in turret
 Location in chassis
Oscillating axle Steering Drive
Slip ring (option)

4000202840 E07-14 121/212
3 .2 .2 . THE PVG BLOCK
YV160
YV800
YV160 Drive PVG Valve

YV800 Load Sensing Valve

4000202840 E07-14 122/212
Note: The SPU module checks that the PVG signal is inside the range when powering the
machine
Deutsch
Wire Functions Signal value
connector
0 3 Gnd ECU 0
4 + 12 volts +12 volts (Vbat)
122
(Vbat)
2 Input at at +Vbat if
Monitoring <15%Vbat or >85%
123
fault survey Vbatt
(failure F04-10-4)
1 Between 25%Vbat
124 Consigne
and 75%Vbat

4000202840 E07-14 123/212
3 .2 .3 . PROPORTIONAL BLOCK
5 8 12
2
3 6 9 11
1 4 10 13
7

1 YV420 (80.1) PWM valve for arm lift (maxi 20l/mn – 5.5gpm)
2 YV420U (20.1) Safety valve for arm lift
3 YV420D (10.6) Safety valve for arm descent
4 YV520 (85.1) PWM for boom lift (maxi 12l/mn – 3gpm)
5 YV520U (10.1) Safety valve for boom lift
6 YV520D (10.2) Safety valve for boom descent
7 YV530 (80.2) PWM valve for telescopic boom (maxi 20l/mn – 5.5gpm)
8 YV530I (10.5) Safety valve for telescopic boom extension
9 YV530O (20.2) Safety valve for telescopic boom retraction
10 YV250 (85.2) PWM valve for turret rotation (maxi 12l/mn – 3gpm)
11 YV250R (10.4) Safety valve for turret rotation right side
12 YV250L (10.3) Safety valve for turret rotation left side
13 YV900 (85.3) PWM valve for ON/OFF movements/steering (maxi 8l/mn – 1.5gpm)
14 60.1 to 60.5 Flow control (pressure balance) valves for each movement
15 (40) Relief valve (100b) for turret rotation protection
PWM : Pulse Width Modulation Valve

(Square signal modulated in current)
14
15

4000202840 E07-14 124/212
Detail
3 .2 .4 . BLOCK ON/OFF
4
5
6 8

4000202840 E07-14 125/212
9
1 YV620U (SV2) Jib lift valve
2 YV620D (SV2) Jib descent valve
3 YV750L (SV3) Basket rotation left side valve
4 YV750R (SV3) Basket rotation right side valve
5 YV720D (SV1) Basket compensation valve (down)
6 YV720U (SV1) Basket compensation valve (up)
7 LS1 Circuit selector
Relief valve 240b (avoids boom lift when
8 RV1
compensation is at at full stroke)
9 CB1/CB2 Counterbalance valve 210b for basket compensation
Detail from supplier

4000202840 E07-14 126/212
Quick logic equation

4000202840 E07-14 127/212
3 .2 .5 . DRIVE BLOCK
2
3
8
4
1 5
7 8
2
3 4 5
6
1
Mark Valves Function

1 YV113 (7) High/Medium Speed drive valve
2 YV114 (6.3) High /Medium Speed drive valve
3 YV100 (5) Differential lock valve
4 YV115 (8) High/Medium Speed drive valve
5 YV110 (6.2) High Speed drive valves
6 YV112 (6.1) High/Medium Speed drive valve
7 YV111 (4) High Speed drive valves
8 YV102 (3) Brake release valve

4000202840 E07-14 128/212
 Detail from supplier

4000202840 E07-14 129/212
4000202840 E07-14 130/212
3 .2 .6 . STEERING BLOCK 2WS
1 2

1 YV150L Steering left side valve
2 YV150R Steering right side valve

4000202840 E07-14 131/212
3 .2 .7 . STEERING BLOCK 4WS
1 40.3
40.3
40.4
40.4
2
3

YV105 = 1 (rear axle free) only if machine in neither in drive mode
1 YV105
nor in slope and in 4WS steering mode
2 YV107 (20) YV107 = 1 in crab mode (left) and synchro mode (right)
3 YV108 (20) YV108 = 1 in crab mode (right) and synchro mode (left)
4 YV150L (10) Steering left side valve
5 YV150R (10) Steering right side valve
40.3/40.4 Shuttle valve (circuit selection)
3 2

4000202840 E07-14 132/212
 Détail from supplier

4000202840 E07-14 133/212
3 .2 .8 . OSCILLATING AXLE BLOCK

Oscillating axle is free (YV100 =1) if machine in drive mode and in
1 YV101
stowed position
Analogic pressure transducer
2 SP109
If P ≥ 10b (>1.5VDC) axle is free , if P ≤ 4b (<1.1VDC) axle is locked

4000202840 E07-14 134/212
4. ADJUSTMENTS
4 .1 . ADJUSTMENTS WITH DIAG PAD CONSOLE
The adjustments, parameter settings and lists of alarms of the machine are accessible through this
console or the laptop version
The VCI (Vehicle Computer Interface) adapter could be connected from any controls (turret or in platform)
using wireless or cable connection
The full description of how to use that console and their menus is explained in a technical note PI144
(for more informations refer to your nearest HAULOTTE SERVICES of your area )
VCI

4000202840 E07-14 135/212
4 .2 . FAILURES LIST
 For any failure code type A (ACTIVE), it will appear on display in lower control and the warning light
will flicker on upper controls(see below)
In order to reset this failure, it will be necessary to check the faulty component
 For any failure code type D (DETECTED), it will also appear on display in lower control and the
warning light will flicker on upper controls.
In order to reset this failure which has been detected and no more active, it will be necessary to fold the
machine until full stowed position, and then switch OFF then ON again the main power
 For any failure code type N , it means that this alarm will never appear on display
 An internal code (column C) with 5 digits, visible only with the console allows specifying the trigger
condition(s) of the failure.
Each trigger condition is associated with a single code number (16 possible single codes in decimal format
corresponding to a single bit in binary format):
If several conditions are active at the same time, single codes are added to form the resulting code
displayed.
For example, if conditions of single code 1 and 4 are active, then the resulting code displayed will be 5
(1+4 = 5)
Single code
Decimal Binary Bit
1 0000000000000001 1
2 0000000000000010 2
4 0000000000000100 3
8 0000000000001000 4
16 0000000000010000 5
32 0000000000100000 6
64 0000000001000000 7
128 0000000010000000 8
256 0000000100000000 9
512 0000001000000000 10
1024 0000010000000000 11
2048 0000100000000000 12
4096 0001000000000000 13
8192 0010000000000000 14
16384 0100000000000000 15
32768 1000000000000000 16

4000202840 E07-14 136/212
All alarms codes are gathered per category (ex F02xxx contactors)
MENU DESCRIPTION LEVEL

DETECTED FAILS Counters and state of detected and active failures 2*
F<cat>.<num> F<cat>.<num> : <status> <code>
<description>
<detail>
Times: xxxxx <index>/<nbr>
ALL FAILS Counters and state of all failures (56 in total) 2*

F02: CONTACTORS
F03: RELAY
F04: ELECTRO-VALVES
F05: JOYSTICKS
F07: SENSORS
F08: ELECTRIC CIRC.
F09: ENGINE
F10: FUNCTIONS
F11: SECURITIES
F12: INTERNAL FAULTS
F13: SWITCHES
FAILURE LOGS Last failures detected log 3*
F<cat>.<num>.<code>
4 .2 .1 . LIST OF FAILURES PER CATEGORY
FAILURES N C Description
CONTACTORS
F02.02 D Digital output’s failure: Emergency pump relay

Emergency Pump  KM120=FAIL
KM120 Check relay, connection to ground, and connection to U106 ECU
F02.04 D Incoherence between the emergency stop status and the presence of voltage
Power Contactor on power line
KMP  EMSTOP=0 & (12VD1>8.00V | 12VD2>8.00V | 12VD3>8.00V |
12VD4>8.00V | 12VD5>8.00V | 12VF1>8.00V | 12VF2>8.00V | 12VF3>8.00V |
12VF4>8.00V)
Check emergency stop, KMP relay, fuses and wiring
F02.05 D Digital output’s failure: Preheating relay

Heating Relay  KM160=FAIL [Engine]=TierIII
KM160 Check relay, connection to ground and connection to U106 ECU

4000202840 E07-14 137/212
RELAYS
F03.06 D Digital output’s failure: Horn relay

Horn Relay  KA9=FAIL
KA9 Check relay, connection to ground and connection to U106 ECU
F03.08 D Digital output’s failure: Starter relay

Start Relay  KA4=FAIL
F03.09 D 1 Digital output’s failure : throttle relay, pull wire (available with mechanical
Supply/KeySwitch engine only)
Rel  KM300=FAIL
KA300 Check relay, Check connection to ground, Check connection to U106 ECU
2 Digital output’s failure : throttle, hold wire (available with mechanical engine
only)
 YA300=FAIL
Check relay, Check connection to ground, Check connection to U106 ECU
F03.11 D Digital output’s failure: Generator relay Failure while generator on

Generator Relay  KA2=FAIL& SETP[Generator]=ON
ELECTROVALVES
For each failure, check the internal code.

For failures about digital electro valves controlled by the U104 ECU (platform slave ECU): the detected failures are
“open circuit” or “short circuit”, check the harness between the ECU and the hydraulic block controlling the
movement, check the valves.
For failures about proportional or digital electro valves controlled by U106 ECU (turret master ECU): the detected
failures are open circuit (OC), short-circuit to VBAT (SC+), short-circuit to GROUND (SC-), low current (LC) and
power supply error (PSE).
First check the type of failure by reading the status of the output in the menu “INPUTS-OUTPUTS => DIGITAL
OUTPUTS / ANALOGUE OUTPUTS”.
If OC/SC+/SC-/LC: check harness, check there is no misconnection between signal and ground supply or power
supply.
If PSE: check the supplies are well connected: 12VD1 (1B.18), 12VD2 (2A.08), 12VD3 (2B.02), 12VD4 (3A.01),
12VF1 (1B.32), 12VF2 (2A.07), 12VF4 (3A.07).
For steering (movement and mode), drive (speed), differential lock, brake releasing and oscillating axle electro
valves: check the connections through the revolving joint.
F04.01 D Proportional output’s failure: steering movement (with or without movement)

Steering 1  YV900=FAIL
YV900/160L/160R
2 Digital output’s failure: left steering movement (with or without movement)
 YV150L=FAIL
4 Digital output’s failure: right steering movement (with or without movement)

 YV150R: steering digital electro valve failure

4000202840 E07-14 138/212
ELECTROVALVES
F04.02 D 1 Proportional output’s failure: platform level movement (with or without movement)
Compensation  YV900=FAIL
YV900/720U/720D
2 Digital output’s failure: platform level raise movement (with or without movement)
 YV720U=FAIL
4 Digital output’s failure: platform level descent movement (with or without

movement)
 YV720D=FAIL
F04.03 D 1 Proportional output’s failure: turntable rotate movement (with or without

Turret rotation movement)
YV250/250L/250R  YV250=FAIL
2 Digital output’s failure: turntable rotate left movement (with or without movement)
 YV250L=FAIL
4 Digital output’s failure: turntable rotate left movement (with or without movement)
 YV250R=FAIL
F04.04 D 1 Proportional output’s failure: arm movement (with or without movement)

Arm  YV420=FAIL
YV420/420U/420D
2 Digital output’s failure: arm lifting movement (with or without movement)
 YV420U=FAIL
4 Digital output’s failure: arm lowering movement (with or without movement)

 YV420D=FAIL
F04.05 D 1 Proportional output’s failure: boom movement (with or without movement)

Boom  YV520: boom lifting proportional electro valve failure
YV520/520U/520D
2 Digital output’s failure: boom lifting movement (with or without movement)
 YV520U=FAIL
4 Digital output’s failure: boom lowering movement (with or without movement)

 YV520D=FAIL
F04.06 D 1 Proportional output’s failure: telescope movement (with or without movement)

Telescope  YV530=FAIL
YV530/530O/530I
2 Digital output’s failure: telescope extension movement (with or without
movement)
 YV530O=FAIL
4 Digital output’s failure: telescope retraction movement (with or without movement)

 YV530I=FAIL

4000202840 E07-14 139/212
ELECTROVALVES
F04.07 D 1 Proportional output’s failure: jib movement (with or without movement)

Jib  YV900: jib lifting proportional electro valve
YV900/620U/620D
2 Digital output’s failure: jib lifting movement (with or without movement)
 YV620U: Jib Raise digital electro valve failure
4 Digital output’s failure: jib lowering movement (with or without movement)

 YV620D: Jib Raise digital electro valve failure
F04.08 D 1 Proportional output’s failure: platform rotation movement (with or without

Cage Rotation movement)
YV900/750L/750R  YV900=FAIL
2 Digital output’s failure: platform rotation left movement (with or without

movement)
 YV750L: Cage rotation left digital electro valve failure
4 Digital output’s failure: platform rotation right movement (with or without

movement)
 YV750R: Cage rotation right digital electro valve failure
F04.10 D 1 Proportional output’s failure: drive movement (while driving)

Drive  YV160=FAIL
YV160/160S/160FA YV160 is supply powered via the YV160S output from U106 ECU during 2s
(once) at startup and when drive is running. Otherwise YV160 is not supplied,
and then seen as failing.
Check YV160: connection to ground(pin3), and to U106 ECU (pin1), to YV160S
(pin4)
Check YV160S: connection to YV160 electro valve (pin4)
2 Digital output supplying the PVG while driving is failing

 YV160S=FAIL
: YV160 is supply powered via the YV160S output from U106 ECU during 2s
Check YV160: connection to ground (pin3), to U106 ECU (pin1), to YV160S
(pin2)
Check YV160S: connection to YV160 electro valve (pin2)
4 Failure indicator for PVG is active

 YV160FA: failure indicator provided by PVG component, mechanical problem
detected
YV160 is supply powered via the YV160S output from U106 ECU during 2s

4000202840 E07-14 140/212
ELECTROVALVES
F04.11 D 1 Digital output’s failure: LS valve

Principal YV800=FAIL
movements See §Erreur ! Source du renvoi introuvable.: YV800 and YV800G are
Chk YV800 activated when drive, steering or movement(s) are running. Otherwise YV800 and
YV800G are not connected and then seen as failing.
2 Digital output’s failure: LS valve ground supply

YV800G=FAIL
See §Erreur ! Source du renvoi introuvable.: YV800 and YV800G are
activated when drive, steering or movements are running. Otherwise YV800 and
YV800G are not connected and then seen as failing.
F04.20 D 1 Digital output’s failure: drive middle and high speed

Drive Speed  YV112=FAIL
YV112..YV111 Check YV112/YV114: check valves, connection between the two U106 ECU
outputs (690 equipotential), check connection to slip ring, connection between
slip ring and electro valves, and connections to ground
2 Digital output’s failure: drive middle and high speed

 YV113=FAIL
Check YV113/YV115: check valves, connection between the two U106 ECU

 YV114=FAIL
Check YV112/YV114: check valves, connection between the four U106 ECU

 YV115=FAIL
Check YV113/YV115/: check valves, connection between the four U106 ECU
16 Digital output’s failure: drive high speed

 YV110=FAIL
32 Digital output’s failure: drive high speed

 YV111=FAIL

4000202840 E07-14 141/212
ELECTROVALVES
F04.21 D Digital output’s failure: differential locking

Differential locking  YV100=FAIL
YV100 Check YV100: check valve, check connection to U106 ECU outputs (689
equipotential), check connection to slip ring, connection between slip ring and
electro valves, and connections to ground
F04.33 D 1 Digital output’s failure: steering mode with 4 wheels steering option activated:
Steering mode  YV107=FAIL
YV107/YV108 YV107/YV108: check valves, connection to U106 ECU outputs (621/622
2 Digital output’s failure: steering mode with 4 wheels steering option activated:
 YV108=FAIL & VAR[4WSEnable]
YV107/YV108: check valves, connection to U106 ECU outputs (621/622
F04.34 D 1 Digital output’s failure: oscillating axle unlocking with oscillating axle option
Front Axle  YV101=FAIL
Unlocking YV101: Check connection to ground, connection to U106 ECU digital output,
YV101 check connection to slip ring, connection between slip ring and electro valves
2 Detection of incoherence between the state of control for oscillating axle and
pressure in the oscillating axle control valve when drive control is above the third
of maximum control:
 YV101=ON & D2000ms((WUI-SP109)<1500mV) &
VAR[OscillatingAxleEnable]
YV101: Check connection to ground, check connection to U100 ECU digital
output, check connection to electrical collector, check connection between
electrical collector and electro valve
SP109: check connection to ground, check connection to U100 ECU digital input,
check connection to electrical collector, check connection between electrical
collector and electro valve
Check also minimum speed for both directions (when reaching the third of the
joystick’s stroke on front direction, drive must be effective “wheels are turning to
front direction” / when reaching the third of the joystick’s stroke on reverse
direction, drive must be effective “wheels are turning to reverse direction”)
4 Detection of incoherence between the state of control for oscillating axle and
pressure in the oscillating axle control valve: control is OFF and detection of
pressure
 YV101=OFF & D2000ms((WUI-SP109)>1100mV)
YV101: Check connection to ground, connection to U100 ECU digital output,
check connection to slip ring, connection between slip ring and electro valves,
SP109: check connection to ground, connection to U100 ECU digital input, check
connection to slip ring, connection between slip ring and electro valves,

4000202840 E07-14 142/212
ELECTROVALVES
F04.35 D 1 Digital output’s failure: brake releasing

Brake Releasing  YV102=FAIL
YV102/YV105 YV102: check connection to U106 ECU outputs (782 equipotential), check
connection to slip ring, connection between slip ring and electro valves, and
connections to ground
2 Digital output’s failure: brake releasing with 4 wheels steering option activated:
 YV105=FAIL
YV105: With 4WS activated, check connection to U106 ECU outputs (783
electro valves and connections to ground
JOYSTICKS
The following joysticks’ failures are relevant if failure F08.05 is not active (failure of 5V supplying signal). First check
the 5V supplying the joysticks’, then the harness between ECU and joysticks.
F05.01 D Drive joystick failure: out of range [0.2..4.8] V

Drive Joystick 1 SM902Y<0.20V and SM902Y>4.80V
SM902Y
Drive joystick failure: analogue signal and out of neutral incoherence

2  (SM902F = 1 and SM902B = 1) & (2.45V<SM902Y<2.55V)
 or SM902F = 0 & SM902Y<2.00V
 or SM902B = 0 & SM902Y>3.00V
F05.02 D Arm joystick failure: out of range [0.2..4.8] V

Arm Joystick 1 SM901Y<0.20V and SM901Y>4.80V
SM901Y
Arm joystick failure: analogue signal and out of neutral incoherence

2  SM901N=1 & (2.45V<SM901Y<2.55V)
 or SM901N=0 & (SM901Y<2.00V and SM901Y>3.00V)
F05.04 D Boom joystick failure: out of range [0.2..4.8] V

Boom Joystick 1 SM900Y<0.20V and SM900Y>4.80V
SM900Y
Boom joystick failure: analogue signal and out of neutral incoherence
2  SM900N=1 & (2.45V<SM900Y<2.55V) & (2.45V<SM900X<2.55V)
 or SM900N=0 & (SM900Y<2.00V and SM900Y>3.00V) & (SM900X<2.00V |
SM900X>3.00V)

4000202840 E07-14 143/212
JOYSTICKS
F05.05 D Turret rotation joystick failure: out of range [0.2..4.8] V

Turret Joystick 1 SM900X<0.20V and SM900X>4.80V
SM900X
Turret rotation joystick failure: analog signal and out of neutral incoherence
Boom joystick failure: analog signal and out of neutral incoherence
2  SM900N=1 & (2.45V<SM900Y<2.55V) & (2.45V<SM900X<2.55V)
 or SM900N=0 & (SM900Y<2.00V and| SM900Y>3.00V) & (SM900X<2.00V |
SM900X>3.00V)
F05.11 A No detection of joystick’s neutral position at machine’s power-on.

Joystick neutral Release joystick / Check joystick
SM902Y

Joystick neutral 2 Release joystick / Check joystick
SM901Y

Joystick neutral 3 Release joystick / Check joystick
SM900X/Y
WEIGHING SYSTEM
F06.01 A No overload calibration, do overload calibration

No Loading Cal VAR[GaugesNotCalibrated]=1
Calibrate Do calibration process
F06.03 D Gauges out of range (weighing system activated)

Gauges out of Range 1  SP800 not between [1500; 20500]µA
SP800/SP801 Check SP800 and SP801 connections to ground, to U104 ECU analog inputs
Gauges out of range (weighing system activated)

2  SP801 not between [1500; 20500]µA
Check SP800 and SP801 connections to ground, to U104 ECU analog inputs
F06.04 D SP800 measured weight and SP801 measured weight are more than 50kg far
Incoh Gauges (and gauges are not out of range and gauges are calibrated)
SP800/801 Check SP800 and SP801 connections to ground, to U104 ECU analog inputs
Do calibration process
F06.05 D Low power for strain gauges is detected low : VbattB2 basket is under 8500mV
Low Power Check gauges’ power supply.
Gauges supply

4000202840 E07-14 144/212
SENSORS
F07.01 D Failure: incoherence states between SQ900 and SQ420 sensors’ value:
Low Position 1 SQ900=ON & SQ420=OFF
SQ900/SQ420/SQ520 Machine folded, check the state of the sensors:
SQ900=ON & SQ420=ON
Then unfold slowly the machine and check the next sensors’ state is:
SQ900=OFF & SQ420=ON
SQ900=OFF & SQ420=OFF
Failure: incoherence states between SQ900 and SQ520 sensors’ value:

2 SQ900=ON & SQ520=OFF
Machine folded, check the state of the sensors:
SQ900=ON & SQ520=ON
SQ900=OFF & SQ520=ON
F07.03 D Failure of voltage of SQ520 sensor, above [6.0V] : possibly short circuit to
Boom Angle UBAT, or 5V_REF output supply voltage is failing.
SQ520 Check SQ520 voltage value.
Check short circuit between signal and 12V or 5VREF and 12V.
Check sensor’s power supply is 5VREF.
Arm Angle UBAT, or 5V_REF output supply voltage is failing.
Check short circuit between SQ420 and 12V or 5VREF and 12V.
Teles. Length UBAT, or 5V_REF output supply voltage is failing.
Check short circuit between SQ380 and 12V or 5VREF and 12V.
F07.15 D Incoherence between basket tilt sensors: SR721/SR720

Compensation pos. Check position sensors with basket tilt = 0°
SR721/SR720 SR721=OFF & SR720=0FF
Check position sensors with basket tilt > 10°
SR721=ON & SR720=OFF
Check position sensors with basket tilt < -10°
SR721=OFF & SR720=ON
F07.30 N Incoherence between engine pressure signal and engine state : engine is not
Engine oil pressure running and SP300 in ON position (engine running)
SP300

4000202840 E07-14 145/212
SENSORS
F07.34 D 1 Difference between supply voltage and SP109 sensor voltage is below 200mV:
Front Axle Unlocking open circuit detected.
SP109 1) Check connectors (sensor and ECU side)
2) Check harness
3) Check/Replace sensor
D 2 Difference between supply voltage and SP109 sensor voltage is above

6000mV: short circuit is detected.
1) Check/Plug connectors (sensor and ECU side)
2) Check/Plug harness
3) Check/Replace sensor
N Description
FAILURES C
Check fuses
ELECTRIC CIRCUITS - POWER SUPPLY
F08.04 D Detected ECU voltage difference

Calc. Input Supply  Difference between U106 (SPU) and U104 (basket B2)
Chk U104/U106 Check U100, U104 and U106 supply voltage
Check supply voltage coherence between all ECU (more than 2000mV far
during the first 4 seconds after machine’s power-on)
F08.05 D 1 Failure on regulated 5V output of U104 ECU (basket slave node B2) supplying
Calc. Input Supply the joysticks.
U106 5V regul  5V output is measured out the range [4.5;5.5]V and 5V output not failing
Check the harness (check short circuit to power supply, to ground supply,
open circuit…)
2 Failure on regulated 5V output of U104 ECU (basket slave node B2) supplying
the joysticks.
 Detected failure on 5V output
Swich OFF/ON the machine, check the failure has gone (probable cause:
internal failure of the ECU)
F08.08 D 1 Supplies’ input detected as unplugged on connectors : check the CN2.A

Unplugged connector for U106 ECU
connector  12VD2<1.00V & 12VF2<1.00V
Connectors /Fuses
2 Supplies’ input detected as unplugged on connectors : check the CN2.B
connectors for U106 ECU:
 12VD3<1.00V & 12VF3<1.00V
4 Supplies’ input detected as unplugged on connectors : check the CN3.A

 12VD4<1.00V & 12VF4<1.00V

4000202840 E07-14 146/212
N Description
FAILURES C
Check fuses
ELECTRIC CIRCUITS - POWER SUPPLY
8 Supplies’ input detected as unplugged on connectors : check the CN3.B

 12VD5<1.00V & 12VD6<1.00V
ENGINE
F09.01 D Engine overheat

Water temperature
Engine overheat
F09.02 D Engine oil pressure

Oil pressure
Engine pressure
F09.07 D Available with semi electronic engine, warning lamp received from engine
Amber warning lamp ECU: J1939 SPN 110/158/190/3509/523774/523771/523772
Check engine (see details of code on Diagnostic /functions/Tiers3 var/Failure SPN1)
F09.08 D Available with semi electronic engine, stop lamp code received from engine
Red stop lamp ECU: J1939 SPN 158/190/3509/523771/523772
Check engine (see details of code on Diagnostic /functions/Tiers3 var/Failure SPN1)
F09.10 D Alternator failure : only for future TIV/Tiers III variable rpm engine)
D+  T2s(DPLUS=OFF & VAR[Engine]=RUNNING)
Engine alternator  T2s(CTRL[Engine]=RUNNING & (DPLUS=OFF | 12VP<12.00V)
FUNCTIONS
F11.06 N Digital output’s failure: lower control box buzzer

Buzzer 1 HA901=FAIL
HA901/HA902
Digital output’s failure: upper control box buzzer

2 HA902=FAIL

4000202840 E07-14 147/212
INTERNAL FAULTS
F12.01 D CAN network failure detected with turret B2 ECU (U100)

CAN Fault Machine not supplied, with multimeter, check the resistance between 1001
Check wires (CAN high) and 1002 (CAN low) is nearly 60 Ω (if 0Ω or 120Ω: failure, check
“res term” connection for all ECUs)
Check ECU supplies line
Check address connections for each B2 ECU
(CN106.18/CN106.19/CN106.20)
F12.02 Internal failure of SPU: access to EEPROM (read or write).

E2P Read/Write Error Restart machine.
Change U106 ECU
F12.04 Detected change in software machine identification: all the settings forced to
E2P Param Reset default values (ramps, speeds, options, machine configuration and erase of
Check SETTINGS calibration).
F12.05 D 1 Machine’s model is not set.

Machine not set Set machine model (HA16RTJ or HA16RTJO or HA16RTJPRO).
Check SETTINGS
2 “Country” is not set.
Set “Country” (USA or AUS or STD or RUS).
4 Serial number is not set.

Set machine’s serial number.
8 Some options are not set.

Set machine’s options (“Buzzer”, “Flashing Light”, “Fleet Management”,
“Activ’Shied Bar”).
16 Some configurations are not set.

Set machine’s options (“Engine”).
SWITCHES
F13.01 D 1 Detected failure on lower console switch: two directions active at the same
Lower box switches time for arm switch:
Sw.:2 dir active  SA420U=ON & SA420D=ON
2 Detected failure on lower console switch: two directions active at the same
time for boom switch
 SA520U=ON & SA520D=ON
time for telescope switch
 SA530O=ON & SA530I=ON

4000202840 E07-14 148/212
SWITCHES
time for turret rotation switch
 SA250L=ON & SA250R=ON
time for jib switch
time for platform level switch
F13.02 D 1 Detected failure on upper console switches: two directions active at the
Platform switches same time for telescope switch
Sw.:2 dir active  SA531O=ON & SA531I=ON
2 Detected failure on upper console switches: two directions active at the same
time for jib switch:
time for platform rotation switch:
time for platform level switch:
time for steering rocker switch
 SM902L=ON & SM902R=ON
time for steering mode switch
 SA101C=ON & SA101S=ON
time for speed selector switch
 SA110H=ON & SA110L=ON
F13.10 A 1 Neutral detection failure at machine’s power-on for lower console switches:
Switches neutral arm switch is active
Sw.: Lower box
2 Neutral detection failure at machine’s power-on for lower console switches:
boom switch is active

telescope switch is active

turret rotation switch is active

4000202840 E07-14 149/212
SWITCHES
16 Neutral detection failure at machine’s power-on for lower console switches: jib
switch is active

platform level switch is active

engine start/stop switch is active
enable switch is active
F13.11 A 1 Neutral detection failure at machine’s power-on for upper console switches:
Switches neutral 2 telescope switch is active
Sw.: Upper box
2 Neutral detection failure at machine’s power-on for upper console switches: jib
switch is active
4 Neutral detection failure at machine’s power-on for upper console switches:

platform rotation switch is active

platform level switch is active

steering rocker switch is active

engine start/stop switch is active

emergency pump switch is active
horn switch is active
differential lock switch is active
enable pedal is active

4000202840 E07-14 150/212
CAN J1939
F15.06 D Problem detected in J1939 CAN

Check CAN2 Machine not supplied, with multimeter, check the resistance between 2001
- (CAN high) and 2002 (CAN low) is nearly 60Ω (if 0Ω or 120Ω: failure, check
“res term” connection for all ECUs)
Check ECU supplies line
Check CAN connection for Display and/or engine.
4 .3 . SETTINGS MENU
Menu Description Level

SPEEDS Movement Maximum and Minimum Speeds
Drive Fwd Max High speed drive forward maximum speed 2*
Drive Rev Max High speed drive reverse maximum speed 2*
µS Drive Fwd Max Micro speed drive forward maximum speed 2*
µS Drive Rev Max Micro speed drive reverse maximum speed 2*
Drive Fwd min Drive forward minimum speed (used for all speeds) 2*
Drive Rev min Drive reverse minimum speed (used for all speeds) 2*
Steering Max Steering speed (same for left and right directions) maximum speed 2*
Boom Raise Max Boom Raise maximum speed 2*
Boom Descent Max Boom Descent maximum speed 2*
Boom min Boom minimum speed 2*
Turret Rotation Max Turret rotation maximum speed 2*
Turret Rotation min Turret minimum speed 2*
Boom Tel Extend Max Boom telescope extend maximum speed 2*
Boom Tel Retract Max Boom telescope retract maximum speed 2*
Boom Tel min Boom telescope minimum speed 2*
Jib Raise Max Jib Raise maximum speed 2*
Jib Descent Max Jib Descent maximum speed 2*
Jib min Jib minimum speed 2*
PF Level Raise Max Platform level up maximum speed 2*
PF Level Descent Max Platform level down maximum speed 2*
PF Level min Platform level minimum speed 2*
PF Rotation Max Platform rotation maximum speed 2*
PF Rotation min Platform rotation minimum speed 2*
RAMPS
Drive Fwd Acc Drive forward Forward acceleration duration (used for all speeds) 2*
Drive Fwd Dec Drive forward deceleration duration (used for all speeds) 2*
Drive Rev Acc Drive reverse Forward acceleration duration (used for all speeds) 2*
Drive Rev Dec Drive reverse deceleration duration (used for all speeds) 2*
Boom Raise Acc Boom raise acceleration duration 2*
Boom Raise Dec Boom raise deceleration duration 2*
Boom Descent Acc Boom descent acceleration duration 2*
Boom Descent Acc Boom descent deceleration duration 2*
Boom Tel Extend Acc Boom telescope extend acceleration duration 2*
4000202840 E07-14 151/212
Boom Tel Extend Dec Boom telescope extend deceleration duration 2*
Boom Tel Retract Acc Boom telescope retract acceleration duration 2*
Boom Tel Retract Dec Boom telescope retract deceleration duration 2*
Turret Rotation Acc Turret Orientation acceleration duration 2*
Turret Rotation Dec Turret Orientation deceleration duration 2*
Jib Raise Acc Jib raise acceleration duration 2*
Jib Raise Dec Jib raise up deceleration duration 2*
Jib Descent Acc Jib descent acceleration duration 2*
Jib Descent Dec Jib descent deceleration duration 2*
PF level Raise Acc Compensation up acceleration duration 2*
PF level Raise Dec Compensation up deceleration duration 2*

PF level Descent Acc Compensation down acceleration duration 2*
PF level Descent Dec Compensation down deceleration duration 2*
PF Rotation Acc Platform rotation acceleration duration 2*
PF Rotation Dec Platform rotation deceleration duration 2*
* The default level 2 access code is 2031 : [ACCESS CODE][ENTER CODE]
OPTIONS
Country Country choice: 3*
0 [Not Set]  country not set (no engine startup/no Emergency pump startup)
1 [STD]  STD version conforming to EN280 norm
2 [AUS]  AUS version conforming to AS norm
3 [USA]  USA version conforming to ANSI & CSA norm
Buzzer Buzzer special activations:
0 [Off]  no special activation
1 [Descent]  activation while arm descent, boom descent, telescope
retraction, jib descent,platform level descent
2 [Mvts]  activation while arm lifting, boom lifting, boom telescoping, turret
orientation, jib lifting, platform rotation, platform level
3 [Drive]  activation while drive, steering
4 [Drive+Mvts]  activation under conditions (1) or (2)
Flashing light Flashing light special activations:
0 [Off]  no special activation
1 [Mvts]  activation while arm lifting, boom lifting, boom telescoping, turret
orientation, jib lifting, platform rotation, platform level
2 [Drive]  activation while drive, steering
3 [Drive+Mvts] activation under conditions (1) or (2)
4 [On]  Always ON after power on
Fleet management Activation of the fleet management system: transmission over CAN bus of data to
generate activity report
-
0 [Inactive]  no transmission
1 [Active]  transmission over CAN bus activated (see §38)
Anticrushing Activation of the active bar system:
0 [Inactive]  no alarm, no movement’s safety
1 [Active]  to active the surveys made by anti crush system
(Note if selected and option not installed , some movement are cut in upper
controls - from lower controls , no movement cut)
* The level 3 code is linked to the serial number of the machine and the date inside the SPU, so it changes
daily.

4000202840 E07-14 152/212
CALIBRATION
Conditions to enter in calibration menus:
- Machine folded
- Tilt inactive
- Load cells not out of range
- Platform within the tilts range [-10;+10]°
- Command from Lower controls
MACHINE CONFIGS
Engine Engine choice (not used yet, only TIERIII machines): 3*
0 [Not Set]  not set, (no engine startup/no emergency pump
startup)
1 [TIERIII Var. Speed]  TIERIII engine type with variable RPM
2 [TIERIV]  TIER IV engine type (not available for now)
Model version Machine type choice: (to validate the jib presence) 2*
0 [Not Set]  not set, (no engine startup/no emergency pump
startup)
1 [HA16RTJ]  no 4WS, no Oscillating axle
2 [HA16RTJO]  no 4WS, Oscillating axle
3 [HA16RTJPRO]  4WS, Oscillating axle (and continuous rotation of
turntable)
MAINTENANCE 3
Min Speed Setting When activated, this menu forces the movements’ speeds to their minimum 3
speed to allow an easier set of speeds.
SERVICE COUNTER 2*
Edit Service Counter 2
HOURMETER 3*
Edit Hourmeter 3
DATE & HOUR 3
Edit Hour & Date
SERIAL NUMBER 3*
Edit machine’s serial
number

4000202840 E07-14 153/212
4 .4 . DIAGNOSTIC MENU
The diagnostic menu is very important on that model as it will permit to the technician to focuse only on the
dysfunction encountered and then save time to repair the machine
The explanation done below is built on the same basis for all movements including drive mode.
Commands all commands coming from lower/upper controls

Inputs Digitals or analogic inputs (ETOR-EANA)
Setpoint (0-100%) In Diagnostic menu ,it’s the parameter Internal setpoint
for the function described Neutral to Fwd/up:left or
Rev/down/Right ) ( 0-1000pts)
This setpoint is null when no movement is performed or
there is failire on the josytick
Cuttings Conditions for cutting the movements
-- null movement is authorized
-- 1 movement is inhibited
Validation and formatting Conditions for validation of the movement
the command
Slow down Condtions for slowing down the movement
( from 0 to 100%)
Control (0-100%) In Diagnostic menu , it’s the parameter Internal control
for the internal command of the function (0 -1000pts)
Outputs Digitals or Analogic outputs ( STOR-SPWM –SANA)
Actuator Any device like valves/cylinders/motors/relays
 Explanation of the cinematic grafcet
Cuttings
Function
DIG IN DIG OUT
ANA IN ANA OUT
Secured and Setpoint Secured and Control Actuators
Commands formatted formatted Actuators
set point [0-100]% control [0-100]%
Slowdown
 Explanation of the Cuttings function
Bit Field : 8 bits bits field (to be read from right to left), value 0bxxxxxxxx where x is 0 or 1 valued
all bits at null value =movement is authorized
1 : movement is inhibited / 0 : condition OK (movement is authorized)
This is valid for every movement including drive mode
 Bit 0 (E for Enable) : movement general deactivation (1=movement not selected)

 Bit 1 (G for General) : general inhibition
 Bit 2 (S for Multiple Movements) inhibition due to simultaneous movement cutting
 Bit 3 (O for Overload) : inhibition due to machine in overload
 Bit 4 (T for Tilt) inhibition due to machine tilted (in slope)
 Bit 5 (R for Reach Limit) inhibition due to machine in reach limit
 Bit 6 (F for Failure) : inhibition due to failures
 Bit 7 (X for Specific) : inhibition due to specific conditions
F/U/L: F for Forward drive / Up for lifting /L for left
R/D/R: R for Reverse drive / Down for descent / R for right

4000202840 E07-14 154/212
See some examples:
Drive cuttings
1FUL=00000000 Drive movement is full authorized (all at 0)
2RDR=00000000
XFRTOSGE
Telescope cuttings Telescope movement is forbidden due to “E” safety, E=enable
1FUL=00000001 [E0.2] For E0.2 See Telescope requirements on chapter 2
2RDR=00000001 [E0.2] (Engine and Emergency pump not running)
XFRTOSGE
Boom cuttings Boom raise is authorized, boom descent is forbidden due to “X”
1FUL=00000000 safety, X=extra
2RDR=10000000 [X7.1] For X7.1 See Boom requirement on chapter 2
XFRTOSGE ( load beyond -40kg on SP800 gauge)
Jib cuttings Jib raise and descent are forbidden due to “G” safety, G=General
1FUL=00000010 [G1.1] For G1.1 See Jib requirements on chapter 2
2RDR=00000010 [G1.1] (Generator is running or four movements already engaged)
XFRTOSGE
Note: the joystick values are inverted compared to some other models
Position Front /right Neutral Rear /left

Values 0.5VDC (~100pts) 2.5VDC (~500 pts) 4.5VDC(~900pts)
 Detail of DIAGNOSTIC menu
MOVEMENTS Description
Drive (1/8)
SM902 Value of the drive joystick : 0.5mV (min front) – 2.5mV(neutral) – 4.5mV (max back)
SM902F Out of neutral front (ON=joystick out of neutral)
SM902B Out of neutral rear (ON=joystick out of neutral)
SB800 Enable pedal (ON=enable pedal pushed)
SA110L Low speed selector : ON if selector = low speed
SA110H High speed selector : ON if selector = high speed
SA101C Crab steering mode selector : ON if selector = crab
SA101S Synchro steering mode selector : ON if selector = synchro
Drive Setpoint Computed set point for drive: 0(no movement) .. 100.0 (max)
Applied Speed Micro speed (00) / Low speed (01) / Middle speed (10) / High speed (11) : based on
SA110L and SA110H selectors’ value
Drive cuttings Drive cuttings conditions
Drive slowdown Drive slow down value (≠100 if micro speed, 100 for low speed and high speed)
Drive control Computed control for drive
YV160 Analog output 3V..6V..9V –
drive : from 6V to 9V forward, from 6V to 3V reverse drive
YV160S YV160 power supply
YV112 High Speed Drive
YV110 Middle and High Speed Drive
YV111 Middle and High Speed Drive
YV100 Differential lock
YV900 Drive brake releasing
YV101 Oscillating axle unlocking

4000202840 E07-14 155/212
Steering (2/8)
SM902L Joystick rocker : Steering left button
SM902R Joystick rocker : Steering right button
SB800 Enable pedal (ON=enable pedal pushed)
Steering Setpoint Computed set point for steering: 0(no movement)  100.0 (max)
Steering cuttings Drive cuttings conditions
Steering control Computed control for steering
Steering mode Current steering mode : 0=2 wheels steering, 1=Crab steering, 2=Sync steering
YV900 Analog output 0-2000mA – steering (and jib/platform movements)
YV150L Digital output – front left steering
YV150R Digital output – front right steering
YV107 Digital output – optional (4WS): crab left rear steering / sync right rear steering
YV108 Digital output – optional (4WS): sync left rear steering / crab right rear steering
YV105 Digital output – optional (4WS): brake releasing dedicated to sync and crab mode
Turret Rotation (3/8)
SA250L Turret control box – turret rotation left button
SA250R Turret control box – turret rotation right button
SA303ENAB Turret control box – enable switch
SM900X Platform control box – Value of the turret rotation joystick :
0.5mV (right) – 2.5mV(neutral) – 4.5mV (left)
SM900N Platform control box – Out of neutral for SM120X and SM120Y axis of S120 joystick
SB800 Platform control box – Enable pedal (ON=enable pedal pushed)
Tur. Rotat. Setpoint Computed set point for turret rotation: 0(no movement)  100.0 (max)
Tur. Rotat. Slowdown Turret rotation slow down value
Tur. Rotat. cuttings Turret rotation cuttings conditions
Tur. Rotat. control Computed control for jib lifting
YV250 Analog output 0-2000mA – turret rotation movements
YV250L Digital output – turret rotation left
YV250R Digital output – turret rotation right
Arm (4/8)
SA420U Turret control box – arm raise button
SA420D Turret control box – arm descent button
SM901Y Platform control box – Value of the lifting joystick :
0.5mV (max up) – 2.5mV(neutral) – 4.5mV (min down)
SM901N Platform control box – Out of neutral for SM901Y axis of S130 joystick
Arm Setpoint Computed set point for arm: 0(no movement) .. 100.0 (max)
Arm Slowdown Arm slow down value
Arm cuttings Arm cuttings conditions
Arm control Computed control for Lifting
YV420 Analog output 0-2000mA – arm movements
YV420U Digital output – arm raise
YV420D Digital output – arm descent
Boom (5/8)
SA520U Turret control box – boom raise button
SA520D Turret control box – boom descent button
SM900Y Platform control box – Value of the lifting joystick :
0.5mV (max up) – 2.5mV(neutral) – 4.5mV (min down)
SM900N Platform control box – Out of neutral for SM900X and SM900Y axis of SM120 joystick
Boom Setpoint Computed set point for boom: 0(no movement)  100.0 (max)
Boom Slowdown Boom slow down value
Boom cuttings Boom cuttings conditions
Boom control Computed control for Boom
YV520 Analog output 0-2000mA – boom movements
4000202840 E07-14 156/212
YV520U Digital output – boom raise
YV520D Digital output – boom descent
Telescope (5/8)
SA530O Turret control box – telescope extend button
SA530I Turret control box – telescope retract button
SA531O Platform control box – telescope extend button
SA531I Platform control box – telescope retract button
Telescoping Setpoint Computed set point for telescoping: 0(no movement) . 1000 (max)
Telescoping Slowdown Lifting slow down value
Telescoping cuttings Lifting cuttings conditions
Telescoping control Computed control for Lifting
YV530 Analogue output 0-2000mA – telescope movements
YV530O Digital output – telescope extend
YV530I Digital output – telescope retract
Jib (6/8)
SA520U Turret control box – jib raise button
SA520D Turret control box – jib descent button
SA303E Turret control box – enable switch
SA621U Platform control box – jib raise button
SA621D Platform control box – jib descent button
Jib Setpoint Computed set point for jib lifting: 0(no movement) .. 1000 (max)
Jib Slowdown Jib lifting slow down value
Jib cuttings Jib lifting cuttings conditions
Jib control Computed control for jib lifting
YV900 Analogue output – basket and jib movements (for U<Ubatt/2) and steering (for U>Ubatt)
YV520U Digital output – jib lifting up control
YV520D Digital output – jib lowering control
Platform level (7/8)
SA420U Platform control box – basket rotation left button
SA420D Platform control box – basket rotation right button
SA303ENAB Platform control box – Enable switch
SA721U Platform control box – platform level raise button
SA721D Platform control box – platform level descent button
PF Level Setpoint Computed set point for Compensation : 0(no movement) .. 1000 (max)
PF Level Slowdown Compensation slow down value
PF Level cuttings Compensation cuttings conditions
PF Level control Computed control for Compensation
YV900 Analog output – basket and jib movements (for U<Ubatt/2) and steering (for U>Ubatt)
YV720R Digital output – platform level raise control
YV720D Digital output – platform level descent control
Platform rotation (8/8)
SA751L Platform control box – basket rotation left button
SA751R Platform control box – basket rotation right button
PF Rotat Setpoint Computed set point for platform rotation: 0(no movement) .. 100.0 (max)
PF Rotat Slowdown Basket rotation slow down value
PF Rotat cuttings Basket rotation cuttings conditions
PF Rotat control Computed control for Basket rotation
YV900 Analogue output – basket and jib movements (for U<Ubatt/2) and steering (for U>Ubatt)
YV750L Digital output – platform rotation left control
YV750R Digital output – platform rotation right control

4000202840 E07-14 157/212
FUNCTIONS Description
Engine (T3 Fix) (1/X)  TEMPORARY
Power On Machine powered on : key on ON position
Active Console Currently Active panel, 1=lower Control Box, 2=upper Control Box,
3=overriding Control Box
Start setpoint Engine start set point
Start control Engine control : 0=init step, 1=preheat step, 2=ready to start step, 3=start step,
4=post heat step, 5=running step, 6=immobilizing step
12VP Battery potential (permanent 12V)
ST161 Coolant proportional temperature (0..UBAT), 0mV=harness malfunction,
UBAT= coolant hot temperature
R. ST161 Computed resistance in ohms for ST161 sensor
Preheating time Computed preheating time (in ms) according to R.ST161
Temperature Fail Engine coolant Temperature failure, check ST160, check harness
Pressure Fail Engine pressure failure, check SP162, check harness
Dplus Failure Engine alternator failure, check harness
DPLUS DPLUS signal, should be >12V when engine is running, near 0V when engine
is stopped
SP162 Engine Pressure
ST160 Engine digital coolant temperature
SA162 Throttle button on lower panel
KA1 Stop engine relay (ON=engine supplied)
KA2 Start engine relay (ON=start request)
KM160 Preheat relay (ON=preheat request)
KA5 Throttle pull relay (ON=Throttle pull activated, during the first 100ms of
acceleration only)
AccelHold Throttle hold output (ON=Throttle hold activated, during all the acceleration)
Engine (T3 Var) (2/X)
Power On Machine powered on : key on ON position
Active Console Currently Active panel, 1=lower Control Box, 2=upper Control Box,
3=overriding Control Box
Start setpoint Engine start set point
Start control Engine control : 0=init step, 1=preheat step, 2=ready to start step, 3=start step,
4=post heat step, 5=running step, 6=immobilizing step
Engine Stop Lamp Engine stop request coming from ECU engine (CAN)
Temperature (CAN) Coolant temperature (in °C) coming from ECU engine (CAN)
Engine Speed rqst Engine speed request (in RPM) from U104 ECU (master HAULOTTE Group
ECU)
Engine Speed ackn Measured engine speed (in RPM) coming from ECU engine (CAN)
Engine Ubatt (CAN) Measured battery potential (in mV) coming from ECU engine (CAN)
12VP Measured battery potential (permanent 12V) coming from U104 ECU (12VP)
Preheating time Computed preheating time (in ms) according to R.ST161
Temperature Fail Engine coolant Temperature failure, check ST160, check harness
Pressure Fail Engine pressure failure, check SP162, check harness
Dplus Failure Engine alternator failure, check harness
DPLUS DPLUS signal, should be >12V when engine is running, near 0V when engine
is stopped
SP162 Engine Pressure
ST160 Engine digital coolant temperature
SA162 Throttle button on lower panel
KA1 Stop engine relay (ON=engine supplied)
KA2 Start engine relay (ON=start request)
KM160 Preheat relay (ON=preheat request)
KA5 Throttle pull relay (ON=Throttle pull activated, during the first 200ms of
acceleration only)
AccelHold Throttle hold output (ON=Throttle hold activated, during all the acceleration)

4000202840 E07-14 158/212
DM1[0] Status 11111111 : OK, no detected problem
Engine lamp status, 2 bits for each flag:
Malfunction Stop Lamp Warning Lamp Protect Result
Lamp Lamp
11 11 11 11 No failure
xx 01 xx xx Stop lamp
activated (engine
stop)
xx 11 01 xx Warning lamp
activated (engine
warning)
DM1[1] Flash 11111111 : OK, no detected problem
Flash code for engine lamp, 2 bits for each flag:
00 Slow, useful if the lamp status present in DM1[0] Status variable is
01 (see upper: malfunction/stop/warning or protect lamp)
01 Fast, useful if the lamp status present in DM1[0] Status variable is 01
(see upper: malfunction/stop/warning or protect lamp)
11 Fix, useful if the lamp status present in DM1[0] Status variable is 01
(see upper: malfunction/stop/warning or protect lamp)
DM1 Failure Count Should be 0, if non zero detected failure by engine ECU
Number of activated failures in the DM1 frame
DM1 Length Should be 0, if non zero detected failure by engine ECU
Length of the DM1 frame
Failure SPN 1 SPN Cause Repair:
110 Engine overheat Overheat of engine water temperature
Water temperature sensor Ground short circuit of sensor
110 low /harness
Water temperature sensor Open circuit of sensor / harness,
110 high =+UB short circuit
Open circuit, short circuit, or damage
158 Battery voltage: High of harness. Failure of battery
Engine speed exceeds threshold
190 Engine overrun speed
Sensor supply voltage 1:
3509 Low Sensor supply voltage 1
CAN Communication
523774 Abnormal CAN Bus (2000/2001)
Open circuit, short circuit, or
523771 Actuator Abnormal damage of harness.
Engine Speed Sensor Open circuit, short circuit,
523772 Abnormal or damage of harness.
Failure Mode 1 First detected failure mod in the DM1 frame coming from engine ECU.
Failure Count 1 First detected failure counter in the DM1 frame coming from engine ECU
Failure SPN 2 See Failure SPN 1
Failure Mode 2 Second detected failure mod in the DM1 frame coming from engine ECU.
Failure Count 2 Second detected failure counter in the DM1 frame coming from engine ECU
Failure Mode 3 Third detected failure mod in the DM1 frame coming from engine ECU.
Failure Count 3 Third detected failure counter in the DM1 frame coming from engine ECU
Failure Mode 4 Fourth detected failure mod in the DM1 frame coming from engine ECU.
Failure Count 4 Fourth detected failure counter in the DM1 frame coming from engine ECU
Failure Mode 5 Fifth detected failure mod in the DM1 frame coming from engine ECU.
Failure Count 5 Fifth detected failure counter in the DM1 frame coming from engine ECU
Emergency Pump (3/X)
SA905EN Turret’s Enable switch/Emergency pump switch
SA800 Platform’s Emergency pump switch
Emergency Pmp setpoint Set point for Emergency pump function
4000202840 E07-14 159/212
Emergency Pmp cuttings Cut-offs for Emergency pump function
Emergency Pmp control Control for Emergency pump function
KM120 Emergency pump’s control relay
LS Valve (5/X)
LS Valve cuttings Cut-offs for LS valve function
LS Valve control Control for Emergency pump function
YV800 YV800 LS valve control
YV800G YV800 LS valve ground control
Brake Release (6/X)
Drv unbrake cuttings Cut-offs for drive brake release’s function
Drv unbrake control Control for drive brake release’s function
YV102 YV102 drive brake release’s electro valve
4WS unbrake cuttings Cut-offs for 4WS dedicated brake release’s function
4WS unbrake control Control for 4WS dedicated brake release’s function
YV105 YV105 drive brake release’s electro valve
Differential Lock (7/X)
SA100 Platform differential lock switch
Diff Lock setpoint Set point for differential lock function
Diff Lock cuttings Cut-offs for differential lock function
Diff Lock control Control for differential lock function
YV100 YV100 differential lock electro valve
Oscillating Axle Unlock (8/X)
Oscillating Axle cuttings Cut-offs for Oscillating axle function (optional)
Oscillating Axle control Control for Oscillating axle function (optional)
YV101 YV101 Oscillating axle unlock electro valve (optional)
Generator (9/X)
SA906 Platform generator switch

Generator setpoint Set point for generator
Generator cuttings Cut-offs for generator function
Generator control Control for generator function
KA2 KA2 relay for generator
STATE Description
Overload (1/5)
Estimated Load (kg) Estimated load in kilograms computed via SP800 and SP801 gauges signal value and
offset + gain calibration values
Estimated Load (lb) Estimated load in pounds computed via SP800 and SP801 gauges signal value and
offset + gain calibration values
SP800 Signal value for SP800 strain gauge in micro ampere : 4000uA to 20000uA
SP801 Signal value for SP801 strain gauge in micro ampere : 4000uA to 20000uA
Overload Alarm Overload flag alarm, 1=overload currently detected
Underload Alarm Underload flag alarm, 1=underload currently detected
No calibration Calibration flag, 1=weighing system not calibrated
Gauges Incoherence Incoherence flag, 1=estimated load from SP480 and SP481 gauges are more than
80kg far.
SP800 Out of Range Out of range flag for SP480 gauge, valid range is 3500uA..20000uA
SP801 Out of Range Out of range flag for SP481 gauge, valid range is 3500uA..20000uA
Gg1 estim. load (kg) Estimated load in kilograms computed via SP480 gauge and offset+gain calibration
values
Gg2 estim. load (kg) Estimated load in kilograms computed via SP480 gauge and offset+gain calibration
values
Gauge 1 Offset Calibrated offset for SP480 gauge
Gauge 1 Gain Calibrated gain for SP480 gauge
Gauge 2 Offset Calibrated offset for SP481 gauge
Gauge 2 Gain Calibrated gain for SP481 gauge
Overload thres (kg) Overload threshold corresponding to the current applied load

4000202840 E07-14 160/212
Hysteresis (kg) Hysteresis to acknowledge the overload alarm flag (acknowledge= Overload thres-
Hysteresis)
Underload thres (kg) Underload threshold
Machine State (2/5)
Power On Machine powered on : key on “ON” position
Active Console Currently Active panel, 1=lower Control Box, 2=upper Control Box, 3=overriding
Control Box
Arm down Arm is detected in down position
Boom down Boom is detected in down position
Telescope In Telescope is detected in retracted position
Unfolded Machine Machine is unfolded (boom not down, or arm not down, or telescope not in)
Tilt Tilt is active (whatever machine position may be)
Engine running Engine is running
Emergency Pump Emergency pump is running
running
Overload Alarm Machine currently overloaded
Hourmeter Value of the hour meter
Service Counter Value of the service counter
Mode State (3/5)
U100 Mode Mode of turret’s node controller
U104 Mode Mode of basket’s node controller
EEPROM State (4/5)
Max EEPROM stack Maximum number of simultaneous read or write EEPROM requests (since power on)
Curr. EEPROM stack Current number of simultaneous read or write EEPROM requests
Curr. EEPROM status Current EEPROM driver status
EEPROM stack error More than 32 simultaneous read or write EEPROM requests detection, restart
machine if non zero
EEPROM status error EEPROM driver status (0=non error) , restart machine if non zero
EEPROM State (4/5)
Execution time T10ms Duration of fast task (in us)
Execution time T40ms Duration of slow task (in us)

4000202840 E07-14 161/212
4 .5 . MENU INPUTS/OUTPUTS
ECU Nb Name Description

DIGITAL INPUTS
Turret master 1 SQ800 Tilt sensor
Node (U106) 2 SQ300 Fuel level indicator (ON=low level)
SPU can
3 SA801 Overriding switch
gateway
4 SA901TU Turret’s selection indicator
5 SA901PF Platform’s selection indicator
6 EMSTOP Emergency stopper (ON=no emergency stopper pushed)
7 SA905EN Enable switch / Emergency pump
8 SA905ST Engine start/stop switch
9 SA601 Throttle
10 DPLUS Alternator signal
11 SP300 Engine pressure switch
12 ST300 Engine coolant temp switch
13 ST100 Hydraulic oil overheat switch
14 SA250L Turret rotation left switch
15 SA250R Turret rotation right switch
16 SA420U Arm raise switch
17 SA420D Arm descent switch
18 SA520U Boom raise switch
19 SA520D Boom descent switch
20 SA530O Telescope extend switch
21 SA530I Telescope retract switch
22 SA620U Jib raise switch
23 SA620D Jib descent switch
24 SA720U Platform raise switch
25 SA720D Platform descent switch
Platform slave 1 SA303 Engine start/stop switch
Node (U104) 2 SA800 Emergency pump switch
3 SA907 Horn switch
4 SA110H High speed selector switch
5 SA110L Low speed selector switch
6 SA100 Differential lock switch
7 SB800 Enable pedal
8 SM902L Steering left switch (rocker)
9 SM902R Steering right switch (rocker)
10 SA101C Steering mode switch: crab mode
11 SA101S Steering mode switch: sync mode
12 SA531O Telescope extend switch
13 SA531I Telescope retract switch
14 SA621U Jib raise switch
15 SA621D Jib descent switch

4000202840 E07-14 162/212
16 SA751L Platform rotation left switch
17 SA751R Platform rotation right switch
18 SA721U Platform level raise switch
19 SA721D Platform level descent switch
20 SR721 Tilt sensor : platform level angle > +10° if ON
21 SR720 Tilt sensor : platform level angle < -10° if ON
22 SM902F Off neutral signal for drive joystick, forward direction
23 SM902B Off neutral signal for drive joystick, reverse direction
24 SM900N Off neutral signal for boom and turret rotation joystick
25 SM901N Off neutral signal for arm joystick
26 SA906 Generator switch (optional)
DIGITAL OUTPUTS
Turret master 1 YV800 LS valve (ON if movement(s)/drive running)
Node (U106) 2 YV800G LS valve ground supply
SPU can
3 YV160S Power supply for drive proportional electro valve
gateway
4 YV112 Middle/High speed electro valve
8 YV110 High speed electro valve
9 YV111 High speed electro valve
10 YV150L Steering left digital electro valve
11 YV150R Steering left digital electro valve
12 YV107 Crab/sync steering mode digital electro valve
13 YV108 Crab/sync steering mode digital electro valve
14 YV250L Turret rotation left digital electro valve
15 YV250R Turret rotation right digital electro valve
16 YV420U Arm raise digital electro valve
17 YV420R Arm descent digital electro valve
18 YV520U Boom raise digital electro valve
19 YV520D Boom descent digital electro valve
20 YV530O Telescope extend digital electro valve
21 YV530I Telescope retract digital electro valve
22 YV100 Differential lock electro valve
23 YV101 Oscillating axle unlocking digital electro valve (optional)
24 YV900 Drive brake releasing digital electro valve
25 YV105 4 Wheels Steering (crab or sync mode) brake releasing digital electro
valve
26 KA3 Engine supply relay
26 KM160 Engine preheat relay
27 KA4 Engine starter relay
28 KA5 Engine throttle relay,
29 YA166H Engine throttle, hold
30 KA9 Horn relay

4000202840 E07-14 163/212
31 HA901 Buzzer
32 EL901 Flashing light (optional)
33 KM120 Emergency pump relay
34 KA2 Generator relay
Platform slave 1 YV620U Jib raise electro digital electro valve
Node B2 (U104) 2 YV620D Jib raise electro digital electro valve
3 YV720U Platform level raise digital electro valve
4 YV720D Platform level descent digital electro valve
5 YV750L Platform rotation left digital electro valve
6 YV750R Platform rotation right digital electro valve
7 HL900 Ignition light (ON if platform is the selected control box)
8 HL807 Enable pedal (ON if enable pedal switch is valid)
9 HL307 Low level fuel light
10 HL801 Failure light
11 HL800 Tilt light
12 HL802 Overload light
13 HL720 Platform exceeded tilt limit light
14 HL300 Engine preheat light
15 HL304 Engine warning light
16 HL305 Engine stop light
17 HL301 Engine DPF light
18 HL302 Engine HEST light
19 HL303 Engine DPF Disable light
ANALOG INPUTS
Turret master 1 ST601 Engine coolant proportional temperature to set preheating time
Node (U106) 2 SQ800 Tilt sensor (wire 150 = 1 if not in slope)
SPU can
3 SQ530 Telescope Retracted sensor, SQ530=5000mV telescope is retracted
gateway
4 SQ531 Telescope Retracted sensor redundancy for Oscillating axle option 
SQ531=ON telescope is retracted
5 SQ520 Boom down sensor, SQ520=5000mV  boom is down
6 SQ421 Arm down sensor, SQ421=5000mV  arm is down
7 SQ900 Arm and Boom down sensor for Oscillating axle option  SQ900=ON :
arm and boom are down
8 WUI Wake up input, ON if key and emergency stoppers are ON
9 12VP Permanent 12V
10 12VB 12V key switch
11 12VD1 Outputs supply rail, must be near 12VP value
18 12VF1 Outputs supply rail, must be near 12VP value

4000202840 E07-14 164/212
Platform slave 1 SM902 Drive joystick: 0.5V/2.5V/4.5V (forward/neutral/reverse)
Node B2(U104) 2 SM900X Turret rotation joystick, X axis: 0.5V/2.5V/4.5V (right/neutral/left)
3 SM900Y Boom joystick, Y axis: 0.5V/2.5V/4.5V (up/neutral/down)
4 SM901Y Arm joystick, Y axis: 0.5V/2.5V/4.5V (up/neutral/down)
5 SP800 Strain gauge for weighing system, 1.5mA to 20.5 mA
6 SP801 Strain gauge for weighing system, 1.5mA to 20.5 mA
7 12VB U104 Supply voltage of platform node
8 5V U104 5V supply for joystick from U104 node, must be near 5V
ANALOG OUTPUTS
Turret master 1 YV160 Analog output 3V..6V..9V –
Node (U106) drive : from 6V to 9V forward, from 6V to 3V reverse drive
SPU can 2 YV250 Analog output 0-2000mA – turret rotation movements
gateway 3 YV420 Analog output 0-2000mA – arm movements
4 YV520 Analog output 0-2000mA – boom movements
5 YV530 Analog output 0-2000mA – telescope movements
6 YV900 Analog output 0-2000mA – steering/jib/platform movements
Platform slave 1 HA902 PVG output driving platform buzzer
Node (U100)
4 .6 . MENU INFORMATIONS
Parameters Description Level

6.1 VERSIONS
HA16RTJ Soft revision : <model version>.<release>.<diag>.< machine id >
SPU BSP ACTIA SPU Drivers revision
SPU Bootloader SPU boot loader revision
B2 Node Soft revision for B2 type slave nodes on turret
EVENT LOG ONLY FOR FACTORY USE - DO NOT ERASE 3*
!!FACTORY USE
ONLY!!
+ and – to erase
log
Overrid. 8 last dates of overriding control command activation and contexts associated 3*
Activation with each date
Context: aaa aaa bbb ccc
aaa aaa : absolute measured weight when activating the overriding
system (kg)
bbb : 0 if measured weight is positive, 1 if negative
ccc : 1=overload, 2=underload
Country Change 8 last dates of “country” option’s modification 3*
Context: aaa bbb ccc ddd
aaa : country option old value (0:USA / 1:STD / 2:AUS)
bbb : country option new value (0:USA / 1:STD / 2:AUS)
ccc & ddd : always 000

4000202840 E07-14 165/212
Soft Rev. Change 8 Last Dates of software uploading (vXX.YY.WW.ZZ) 3*
Context : aaa bbb ccc ddd
aaa : software identifier (XX)
bbb : software identifier (YY)
ccc : software identifier (WW)
ddd : software identifier (ZZ)
DATA LOG
DATE & HOUR
* No Level access code to read / Level access code needed to erase event log
4 .7 . ADJUSTMENT OF SPEEDS
Note :
As all commands are controlled by PWM (Pulse Width Modulation) valves, it’s necessary to adjust the min
value then the maxi value, in order to have the same adjustment during lifting and lowering without
hysterisis
This must be done from upper controls only as the movements from lower controls are slow down (80% of
the full setpoint)
 Procedure (min speed settings)

Select option « Min Speed Setting » in menu SETTING ->MAINTENANCE.
Adjust each min speed in order to have the movement as lowest as possible (this could be done during the
movement)
This option will permit to
 Pilot all movements at min speed , whatever the inclination of the joystick is.
 Delete all acceleration/deceleration ramps.
 Procedure (maxi speed settings)

See enclosed table in order to adjust at the right value/time
The stop watch must be launched at the beginning of the command ( not at the beginning of the
movement).
All adjustement written below are theoretical and settings must be done with standard oil
(if too cold , run a few times the engine + movement before adjusting them)

4000202840 E07-14 166/212
MOVEMENTS SETTINGS DIRECTION VALUES
Drive Fwd Max FWD 32s ± 1s / 50 m
Drive Rev Max REV 32s ± 1s / 50 m
Begining of the
Drive FWD min FWD
movement
Drive + steering Begining of the
Drive REV Min RDV
movement
µS Drive Fwd Max FWD 51s +/- 5s during 10m
µS Drive Rev Max REV 51s +/- 5s during 10m
Steering Max Lock to lock 5s ± 1s
Boom Lifting Up Max Lift 25s ± 2s
Boom Lifting Dn Max Descent 25s ± 2s
Boom
Begining of the
Boom min Descent
movement
Arm Lifting Up Max Lift 28s± 3s
Arm Lifting Dn Max Descent 25s ± 3s
Arm
Begining of the
Arm min Descent
movement
Turret Rotation Max Left and right 45 ± 4s ½ turn
Turret rotation Begining of the
Turret rotation min Left or right
movement
Boom Tel Out Max Extension 12s ± 2s
Boom Tel In Max Retraction 11s ± 2s
Telescoping
Begining of the
Bom tel min Retraction
movement
Jib Lifting Up Max Lift 30s ± 3s
Jib Lifting Dn Max Descent 30s ± 3s
Jib
Begining of the
Jib min Descent
movement
Compensation Up
Lift 8s ± 2s
Max
Compensation Dn
Compensation Descent 8s ± 2s
Max
Begining of the
Compensation Min Descent
movement
Basket Rotation Max Left and right 25s ± 2s
Basket rotation Begining of the
Basket rotation Min Left or right
movement
Note : if one or several movements are not adjusted correctly , the machine is not working with alarm
F12.05 ( Machine not set)
In that case , lauch the movment which need to be set ( the chrono will be automatic) if the time is not the
range (increase or decrease the moveme,t spepd and test again until getting the right value

4000202840 E07-14 167/212
4 .8 . ADJUSTMENT OF PRESSURES
4 .8 .1 . PORT PLUG FOR PRESSURES CONTROL

All pressures could be ckecked by connecting a pressure gauge on port M as shown below
4 .8 .2 . PRESSURE ADJUSTMENTS ON PUMP

 Load sensing (LS)
 Main flow
 The pump is preset at a Load sensing pressure of 20b (+-2b)/290 psi

 The pump is preset at a main pressure of 240b (+-5b)/3480 psi
Pmaxi adjust
Load Sensing adjust

4000202840 E07-14 168/212
 Main datas
Maxi speed 3200 rpm

Maxi pressure setting 240b (+/-5b)
Load Sensing setting 22b (+/-2b)
Pump Cubic capacity 21cc (0 / -0.5cc)
Maxi pump flow 63 l/mn at 3000 rpm
 The settings
Designation Pressure Adjustment port

Maxi pressure setting 240 +/- 5b On pump
Load sensing setting 22 +/-2b On pump
Pressure turret orientation 120 +/- 5b On proportional block
Lowering boom 130 +/- 5b On boom cylinder valve
Emergency pump 160 +/-10b On emergency pump
4 .9 . OVERLOAD
This procedure explained below must be done when any component linked to the Load Management
System has been replaced or when a new module SPU is intalled
Connect the VCI adapter (Vehicle Computer Interface) then launch the application (or switch ON the
console)
Enter level 2 (2031) or daily code (level 3)
Select Machine settings/Calibration/
Selct the desired function
 Tare Calibration of the offset
 Reset 250kg calibration with fixed
 Reset 75kg to 300kg calibration with adjustable weight ( level 3 only)

4000202840 E07-14 169/212
4 .9 .1 . CALIBRATION OF THE TARE
Reset 0kg?
[OK] [+] [+]
[OK]
Reset 0kg Reset 0kg

Not Calibrated [-]
Calibrated
Calibrate? Erase?
[-]
Reset 0kg
EMPTY BASKET
[OK]
Reset 0kg
Checking
Reset 0kg [+]

Range=[5200-
SP800:Failure| 8200]
Success SP800=xxxx:OK|
[OK] [OK]
Reset 0kg
Failure|Success

4000202840 E07-14 170/212
4 .9 .2 . CALIBRATION WITH FIXED WEIGHT
Reset 250kg?
[OK] Calibrate
[+]
[OK] [+]
[OK]
Reset 250kg Reset 250kg

Not Calibrated Calibrated
Calibrate? [-] Erase?
[-]YES [+]NO [-] YES [+]NO
[-]
Reset 250kg
LOAD BASKET WITH
250kg
[OK]Calibrate
[OK]
Reset 250kg
Checking
....................
Reset 250kg [+] Range=[550-700]

SP800:Failure|Success SP800=xxxx:OK|NOK
[+]Infos [OK]Exit [OK]Next
[OK] [OK]
Reset 250kg
Failure|Success
[OK]To End

4000202840 E07-14 171/212
4 .9 .3 . CALIBRATION WITH ADJUSTABLE WEIGHT
Reset 75 to 300kg
[OK] Calibrate
[OK [+] [+]

[OK
Reset 75 to 300kg Reset 75 to 300kg
Not Calibrated Calibrated
Calibrate? [-] Erase?
[-]YES [+]NO [-] YES [+]NO
[-]
Reset 75 to 300kg
[+] Reset 75 to 300kg Push [+] button =
LOAD BASKET WITH
1 Time SET LOADED WEIGHT -1kg
75 to 300kg
[-] 251kg [+] On calibration
[OK]When ready
[OK]When ready weight
[OK
[-] 2 Times [+] 2
Reset 75 to 300kg
Reset 75 to 300kg Push [+] button =
SET LOADED WEIGHT
SET LOADED WEIGHT +1kg
[-] 250kg [+]
[-] 249kg [+] On calibration
[OK]When ready [-]
[OK]When ready weight
1 Time
[OK
Push [+]/[-] buttons to set the calibration weight
with each step at 1kg
Reset 75 to 300kg
SET LOADED WEIGHT
[-] xxxkg [+]
[OK]When ready
[OK
Reset 75 to 300kg
[OK]Calibrate
[OK
Reset 75 to 300kg
Checking
....................
Reset 75 to 300kg Range=[550-700]

SP480:Failure|Success [+] SP480=xxxx:OK|NOK
[+]Infos [OK]Exit [+]Next
[OK [OK
Reset 75 to 300kg
Failure|Success
[OK]To End

4000202840 E07-14 172/212
4 .9 .4 . CONTROL OF THE CALIBRATION
Control Weight?
Press OK to Start
Weight=xxxxkg/xxxxlbs
Overload=YES|NO
[+]/[-]Return
4 .9 .5 . MESSAGES OF POSSIBLE ERRORS

Fold machine (machine is detected as unfolded)
Reset xxx If folded : Check arm, boom and telescope sensors.
Unfolded Machine
Detected
Press Any Key
Level the platform to horizontal position (platform angle is

Reset xxx detected >+10° or <-10°)
Basket Tilt
Detected
If platform is horizontal: Check platform angle switches inside
Press Any Key upper control box.
Machine is not on flat ground. Move the machine to a place

Reset xxx with flat ground.
Machine Tilt
Detected If ground is flat: Check tilt switch.
Press Any Key
Out of range detected for SP800 and or SP801 gauge(s) :

Reset xxx failure F06.03.
Gauges out of range
Check SP800/SP801
Repair : check harness, fuse 1A in the upper control box
Press Any Key

4000202840 E07-14 173/212
5. SIMPLIFIED BREAKDOWN GUIDE
This guide does not replace the diagnostic functions described previously in this manual,
It allows the technician to have a logical step of breakdown service, detailing the successive steps to be
followed starting from general tips until the details.
The checking of the electric part is carried out in priority because less sensitive to the external parameters
than the hydraulics part (temperature, pollution, viscosity…).
The denomination of the movements describes below implies both directions (example neither lifting, nor
descent from both controls (up and down)
For a quicker diagnostic:
 Do check first the failures code on Cluster display and refer to the alarms list
 Do check also all fuses located on the main printed circuit board located inside the lower control box
Note: Some options like ASB (Activ Shied Bar) if installed and activated will stop all movements from
upper controls only ( except turntable rotation) , all movements from lower controls remain active , refer to
Haulotte services for more details
5 .1 . QUICK CHECKINGS ON DRIVE
5 .2 . QUICK CHECKINGS ON MOVEMENTS

4000202840 E07-14 174/212
5 .3 . QUICK CHECKINGS ON ENGINE

4000202840 E07-14 175/212
4000202840 E07-14 176/212
5 .4 . NO ENGINE START
 Battery GB1 (14V)
 Main key switch SA900 /Emergency push buttons SB801-SB802
 Start switches SA905-SA303
 One or more toggle switch or joystick not in neutral position
 Alternator resistor R10
 Starter M300/KM300
 Relays/contactors KA3-KA4-KMG-KMP-KM160/KM300
 Engine temperature sensors ST300/ST302
 Oil engine pressure sensor SP300
 Engine speed sensor SV300
 Alternator resistor R10
 Alternator charge IG =0
 Accelerator coil YA300
 Low fuel SQ300
 SPU/node B2/EGV ECU modules
5 .5 . NO ARM
 Foot pedal switch SB800 (upper controls)
 Enable switch SA905 (lower controls)
 Toggle switch SA420
 Signal on SM901 joystick (0.5/2.5/4.5VDC)
 Signal on YV800/YV420/YV420U/D
 Machine not in overload (SP800/SP801) not for US/CDN version
 Option active bar SQ902 not activated
 Flow control valve
 SPU/node B2 ECU modules
 Slowdown movements if slope sensor SQ800 activated
5 .6 . NO BOOM
 Signal on SM900 joystick ( 0.5/2.5/4.5VDC)
5 .7 . NO TELESCOPIC BOOM
 Toggle switches SA530/SA531
 Signal on YV800/YV530/YV520O/I

4000202840 E07-14 177/212
5 .8 . NO TURRET ROTATION
 Signal on SM901 joystick (0.5/2.5/4.5VDC)
 Signal on YV800/YV250/YV250R/L
 Slowdown movements if tilt sensor SQ800 activated
5 .9 . NO JIB
5 .1 0 . NO BASKET ROTATION
 Toggle switches SA751
 Signal on YV800/YV900/YV750L/R
5 .1 1 . NO BASKET COMPENSATION
 Tilt sensors SR720/SR721
5 .1 2 . NO DRIVE
 Signal on SM902 joystick ( 0.5/2.5/4.5VDC)
 Valve YV800/YV160/YV102
 Brake circuit
 If not high speed SQ532/SQ900/SQ520/SQ420/SQ531
 Machine not in tilt (SQ800) not for US version

4000202840 E07-14 178/212
5 .1 3 . ONLY LOW SPEED
 Valves YV110/YV111/YV112/YV113/YV114/YV115
 SQ532/SQ900/SQ520/SQ420/SQ531
5 .1 4 . NO STEERING
 Valves YV800/YV900/YV107/YV108/YV150L/YV150R
 Rocker on joystick SM902
 YV105 if machine not in drive mode and not in tilt (SQ800 OK)
5 .1 5 . NO OSCILLATING AXLE
 Valves YV800/YV101
 Pressure switch SP109
 Machine in drive mode and stowed position with turret aligned
5 .1 6 . NO DIFFERENTIAL LOCK
 Valves YV800/YV100
 Machine in Low speed drive mode

4000202840 E07-14 179/212
6. SUMMARY OF VERSIONS HA16RTJ MODELS
HA16RTJ/RTJO/PRO – HA46RTJ/RTJO/PRO Electric Hydraulic

Version RTJ -RTJO All countries 4000043490
4000029430
Version PRO All countries 4000025050
List of former similar models HA16PX/HA18PX-HA46JRT/HA51JRT
HA15X/HA16X Electric Hydraulic

Pre version 280 with pedals Standard EC E572 B16529
Pre-280 version without pedals Standard EC E565 B16529
Version IN 280 (until June 2006) Standard EC E603 P22873
+ change steering axle- with the joystick Standard EC 137P270910 180P212140
AUS version E603 P22873
US version E603 P22873
HA16PE Electric Hydraulic

Pre version 280 (without pedals) (until May 2005) Standard EC E436 C B15160
Version IN 280 Standard EC E567 B15160
Version IN 280 + basket rotation with limit switchs Standard EC E586 B15160
E586 B
AUS version B15160
E436 C
E436 (P20251)
US version E586 B B15160
E436 C
HA16PE-PX Electric Hydraulic

Pre version 280 (without pedals) (until June 2003) Standard EC E436 C B15832
Version IN 280 (until June 2004) Standard EC E567 B15832
Version IN 280 + basket rotation with limit switchs Standard EC E586 B15832
E586 B
AUS version B15832
E436 C
E436 (P20251)
US version E586 B B15832
E436 C
HA16-18NT Phase 1 Machine with relay EHR-EHF Electric Hydraulic

Pre version 280 + relay EHR (until September 2003) Standard EC E567 P22513
Version IN 280 + relay EHR (until September 2003) Standard EC E567 P22513
AUS Version (until September 2003) E584 P22513
US version (until September 2003) E584 P22513
HA16-18NT Phase 2 EN280 Joystick 3v/6v/9v Electric Hydraulic

Standard (until January 2006) Standard EC E567 P22513
+ addition of steering relays + change steering axle-
Standard EC E584 P22513
with the joystick + button compensation bottom panel
AUS version E567 P22513
US version E567 P22513

4000202840 E07-14 180/212
HA16SPX and NT Phase 0 EN280
Electric Hydraulic
machine with progressivity
Standard (until March 2005) Standard EC E595 P21214
+ turret slewing plug socket on block TOR Standard EC E595 P21214
Only NT model Standard EC E598 179P260650
E582
AUS version P21214
E595
E582
US version P21214
E595
Pre version 280 = Detection overload (threshold of alarm then cut-off movements)
Version EN 280 = detection overload with cut-off movements

4000202840 E07-14 181/212
7. SPECIAL FUNCTIONS
7.1. CANBUS
CAN = Controller Area Network
BUS = network (2 wires CAN H (High) and CAN L (Low) for datas transmission between ECU)
ECU = Electronic Control Unit (called “module” in HAULOTTE Group)
 PRINCIPLE
The CAN is a serial communication system, this clever system permits a safe and quick transmission
between different units (or peripherals) connected on the bus (like sensors, valves, joysticks and so on.)
The CAN bus is a network on which the electronic units (called nodes) are connected and is able to
communicate each other on the network thanks to the defined protocol.
The Bus is a network on which are connected electronic units (called node) able to communicate
between them by the network thanks to a preset protocol.
All the connected peripherals have the possibility simultaneously of sending messages on the bus.
Each message receives a set of priorities, which makes it possible the other peripherals to recognize the
message which interests it and to be unaware of the others.
(Example the values with standard signal movements will be treated in priority because they must be
transmitted very frequently due to their value )
Note :
On that model, the system is equipped with 2 CAN –BUS (J1939 standard one and the 2nd HG one)
U104 ECU DIGITAL /ANALOG

DIGITAL (SLAVE)
/ANALOG OUTPUTS
B2 NODE
INPUTS
BASKET
CAN 2.0 A CAN 2.0 B

TURRET
HAULOTTE J1939
DIGITAL U106 ECU U101 ECU Semi

/ANALOG (MASTER) (SLAVE) Electronic
DIGITAL /ANALOG
INPUTS SPU NODE BAUSER 808 KUBOTA
OUTPUTS
/ANALOG
OUTPUTS
/ANALOG
DIGITAL
INPUTS
DIGITAL

4000202840 E07-14 182/212
SPU lower controls ECU node B2 (slave)
(master)
 CAN BUS LINE CHECK
From any controls in parallel on the line (shunt between wires 1001 and 1002) = reading 60 Ω
Note
One shunt removed = 120 Ω.
Two shunts removed = 240 Ω
7.2. ADJUSTMENT PROCEDURE FOR SPECIFIC DEVICES

This chapter explains how to adjust the main specific devices located in the machine
7.2.1.ANY ILS SENSOR

As shown below, the best adjustment is between 6 and 15 mm and in the center of the
magnet
- Fit the sensor so as the distance between magnets and

sensor will be ideally between 6 and 15mm

4000202840 E07-14 183/212
 Boom sensor SQ520
~ 6mm
 Arm angle SQ421
 Telescope detection SQ530
~ 6 mm

4000202840 E07-14 184/212
7 .2 .2 . TILT SENSORS
The tilts sensors SR400/SR420 must be adjusted in order to limit the inclination of the basket
compensation at +/- 10° (as shown below)

4000202840 E07-14 185/212
4000202840 E07-14 186/212
7.2.3.ALTERNATOR CONTROLS

4000202840 E07-14 187/212
7.2.4.KUBOTA FUEL COIL AND SENSORS
Note : this procedure is valid only for engine equipped with EGV (Electronic Governor) module with speed
sensor SV300 and variable accelerator coil YA300
YA300
SV300

4000202840 E07-14 188/212
 Speed Sensor SV300
Check the state of the harness and if necessary, replace it

Remove the connector of the speed sensor (3P)
Start the engine
Measure the voltage between the terminals of the connectors (harness side)
Terminal 1 – Terminal 3 12V

Voltage
Terminal 1 – Terminal 2 5V
- When the measurements are above theses values, speed sensor SV300 must be replaced.
- When the measurements are out of range, the EGV must be replaced.
(1) Speed sensor

(2) Speed sensor connector (harness side)
Terminal 3 (GND)
Terminal 4 (Signal)
Terminal 5 (+)

4000202840 E07-14 189/212
 Water temperature sensor ST302

Remove the connector of the water temperature sensor (2P).
Start the engine.
Measure the voltage between the terminals of the connector (harness side)
Voltage Terminal 1 – Terminal 2 5V
- When the measurements are above these values, ST302 must be replaced.
- When the measurements are out of range, replace the EGV.
(1) Water temperature sensor

(2) Water temperature sensor connector (harness side)
(3) Terminal 1 (+)
(4) Terminal 2 (-)

4000202840 E07-14 190/212
 Oil pressure switch SP300

Remove the connector of the oil pressure switch (1P)
Measure the resistance between the terminal of the connector (harness side) and chassis
Resistance Terminal 1 – Chassis Infinity
- When the measurements are above these values, replace the oil pressure switch SP300.
- When the measurements are out of range , replace the EGV module
(1) Oil pressure switch

(2) Oil pressure switch connection harness

4000202840 E07-14 191/212
 Accelerator coil YA300

Remove the connector of the actuator (2P)
Start the engine
Measure the voltage between the terminals of the connector (harness side)
Resistance Terminal 1 – Terminal 2 12 V
- When the measurements are above these values, Check the actuator according to the procedure of
confirming the actuator’s movement.
- When the measurements are out of range, replace the EGV module .
(1) Actuator
(2) Actuator connection harness
(3) Terminal 1 (+)
(4) Terminal 2 (-)

4000202840 E07-14 192/212
How to check it
1. Measure the resistance between the terminals of the actuator’s connector
Resistance Terminal 1 – Terminal 2 2 to 4 Ω
2. (a) When the measurements are above these values. The actuator is normal electrically.
Check the actuator’s movement
(b) When the measurements are out of range, replace the coil YA300t.
3. Remove the actuator from the engine
4. Supply the voltage (12V) to the actuator
5. (a) When the rod of the actuator moves smoothly. The actuator is normal
(b) When the rod of the actuator does not move smoothly, replace it.
Please not handling, the actuator as it might be hot
(A) Key switch OFF position

(B) Key switch ON position
8. LIST OF SCHEMATICS
See below all schematics (electric/hydraulics) of all HA16RTJ models

4000202840 E07-14 193/212
4000202840 E07-14 195/212
4000202840 E07-14 196/212
4000202840 E07-14 197/212
4000202840 E07-14 198/212
4000202840 E07-14 199/212
4000202840 E07-14 200/212
4000202840 E07-14 201/212
4000202840 E07-14 202/212
4000202840 E07-14 203/212
4000202840 E07-14 204/212
4000202840 E07-14 205/212
4000202840 E07-14 206/212
STANDARD LAY OUT EGV KUBOTA MODULE
YA300
SV300
ST302
M300

4000202840 E07-14 207/212
4000202840 E07-14 208/212
4000202840 E07-14 209/212
4000202840 E07-14 210/212
4000202840 E07-14 211/212
4000202840 E07-14 212/212

HA16RTJ

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

HA16RTJ

Uploaded by

Copyright:

Available Formats

TECHNICAL TRAINING

All models HA16RTJ - (HA46JRT)

Chapter 1: Main features and functions

Chapter 2: Study of the electric diagram

Chapter 3: Study of the hydraulic diagram

Chapter 5: Guide of breakdown

Chapter 6: Summary of the versions

Chapter 7: Special functions

Chapter 8: List of Schematics

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Revision Edition Subject Created Validated Modified Translated Language

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

1 .1 .1 . DESCRIPTION OF THE MODELS

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Example of transport on truck

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

LED Function Color

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Symbol Name Output Control Description

Symbol Name Output Control Description

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Detail of the indicator

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Symbol Name Output Control Description

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

U104 ECU DIGITAL /ANALOG

CAN 2.0 A CAN 2.0 B

DIGITAL U106 ECU U101 ECU Semi Electronic KUBOTA

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

1 .5 .1 . U106 SPU 7066 MODULE MASTER

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Exception: safety valves where HS and LS outputs are combined as follow:

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Lay out details

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Lay out details on EGV (see at the end of this book)

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Battery (2 elements of 6V)

Fuse (Here 25 amps)

Coil double roll

TRAINING MANUAL DIAGNOSTIC Level 2 HA16RTJ all models

Key selector with 3 positions (T turret, O neutral,

Toggle switch with 2 positions (here