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--- robots:hako:controlspec:welcome [2012/10/02 15:52]
karina [System concept]
+++ robots:hako:controlspec:welcome [2012/10/02 15:56]
karina [System concept]
@@ Line 11: / Line 11: @@
 ^Operation mode^^
-|Sensor: Multi-position key switch.<html><br></html> 1 = Off<html><br></html>2 = Remote<html><br></html>3 = Automatic|Sensor output:|
+|Sensor: Multi-position key switch.<html><br></html> 1 = Off<html><br></html> 2 = Remote<html><br></html> 3 = Automatic|Sensor output:<html><br></html>1 = ESX input D+, 0 Volt alternative open relay contact.<html><br></html>2-3: “Mode control relay”:<html><br></html> 2 = Relay contact, open<html><br></html> 3 = Relay contact, closed|
-| | |
+By switching to mode Automatic the ESX outputs must be in the automatic driving start-up conditions, which are: The steering is set to centre (straight forward), Diesel pump is set to idle, CVT is set to neutral and relays for 3-point linkage, PTO and engine stop are un-powered.
+(By extension of the ESX functions it is expected that e.g. sensor signal inconsistencies will be used for failure checking to ensure a gracefull system degradation).
+**__1 Steering__**\\
+In the driving modes “Remote control” and “Automatic” a Danfoss PVG 32 proportional valve controls the hydraulic steering normally controlled by the steering wheel hydraulic steering unit. The controlled hydraulic flow will approximately depend linearly of the control voltage. The actuation of the PVG 32 is controlled by an analogue signal from the ESX.
+The steering angle is measured by potentiometers at both front wheels. The potentiometer signals are conditioned to suit the ESX input voltage range.
+Set point for average steering angle is determined by GT 2000.
+^Steering^ ^
+|Actuator: Danfoss PVG32, spool type AA (may-be other), electric proportional actuation type PVES.|Actuator input: ESX interface for Danfoss PVG32|
+|Sensor: 2 potentiometers (front wheel steering angles), with output voltage range conversion electronics.|Sensor output, conditioned: Analogue voltage, range 1 - 4 V (Alternative may be suggested by Mech@tronic IT)|
-= ESX input D+, 0 Volt alternative open relay contact.
--3: “Mode control relay”:
-= Relay contact, open
-= Relay contact, closed|

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