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System Description

S1X Generic Speed Control

System

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System Description S1X Generic Speed Control System

Revision history Table of revisions

Date Changed Rev

August 2015 Danfoss Layout 0600

September 2004 E

October 2001 D

2 BLN-96-0401-E • Rev 0600 • August 2015

System Description S1X Generic Speed Control System

Contents
Overview
Description..........................................................................................................................................................................................4
Features................................................................................................................................................................................................4
System Components....................................................................................................................................................................... 4
S1X Microcomputer
LED Overview.....................................................................................................................................................................................5
System Block Diagram
System Block Diagram.................................................................................................................................................................... 6
Theory of Operation
General................................................................................................................................................................................................. 7
Modes for Travel Speed Setpoint............................................................................................................................................... 7
Non Automotive Mode...................................................................................................................................................................7
FNR Set............................................................................................................................................................................................7
Automotive Mode............................................................................................................................................................................ 7
RPM Set........................................................................................................................................................................................... 7
FNR RPM......................................................................................................................................................................................... 8
Drive Direction...................................................................................................................................................................................8
Gear and Ramp Selection.............................................................................................................................................................. 8
All Range Antistall Control............................................................................................................................................................ 9
Speed Calculation Modes..............................................................................................................................................................9
SIMPLE_NORMI_MODE : 0........................................................................................................................................................9
SIMPLE_CALC_MODE : 1...........................................................................................................................................................9
DIESEL_MODE : 2.........................................................................................................................................................................9
DRUM_1_MODE : 3..................................................................................................................................................................... 9
DRUM_2_MODE : 4..................................................................................................................................................................... 9
DRUM_1_DIESEL_MODE : 5.................................................................................................................................................. 10
DRUM_2_DIESEL_MODE : 6.................................................................................................................................................. 10
Constant Speed Drive...................................................................................................................................................................10
CSD Open Loop......................................................................................................................................................................... 10
CSD Closed Loop.......................................................................................................................................................................10
CSD Open Loop and Closed Loop...................................................................................................................................... 10
Special Roller Features................................................................................................................................................................. 10
Vibration ON/OFF Control..................................................................................................................................................... 10
Waterflow Control.................................................................................................................................................................... 10
System Connection Diagram
System Connection Diagram.....................................................................................................................................................11

BLN-96-0401-E • Rev 0600 • August 2015 3

System Description S1X Generic Speed Control System

Overview

Description
The Danfoss Speed Control System combines the capabilities of modern digital electronics with the
worldwide proven Danfoss axial piston pump series and bent axis motor series to enhance machine
performance.
The microprocessor-based S1X provides flexibility and is designed for the future. The control concept
contains several individual selectable functions such as: ramp drive control, antistall, CSD, brake and
speed calculation. Additional to these standard drive modules special roller features like water control
and vibration ON/OFF are implemented.
With easy-to change parameters (in software) it is possible to make an individual setup for different kind
of machine types.

Features
• Environmentally hardened for mobile applications
• Supply voltage 12 V DC or 24 V DC
• Proportional Valve or EDC
• Analog direction or digital direction
• Software changes without hardware operations
• Wide range of system configuration options
• Easy to service
• Flexible ramp module
• 4 Software gears with different ramps
• Constant speed drive
• Antistall function
• 7 different kind of speed calculations
• Vibration ON/OFF control
• Waterflow control
• CAN J1939 connection
• Different Brake functions

System Components
• S1X-46-G2 Amp K164 S1X Electronic CAN
• Manual Graphic Interface, english

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System Description S1X Generic Speed Control System

S1X Microcomputer

LED Overview

174 7
155 6

5
POWER

SYSTEM 4
MODE
55,75 60,25
STATUS

8,5
8,5
10

10

123,5

10,5

2 3 1

1 14
15 28 55
29 42

1 S1X
2 Mounting slots
3 AMP connector
4 Diagnostic LED red Error check
(STATUS) Lights up if an error is detected.

5 Diagnostic LED yellow Software check

(MODE) Flashes with approx. 0.5Hz (slow) if the program is running fine.
Flashes with approx. 5Hz (fast) if no program is loaded.
No flashing if in setup mode.

6 Diagnostic LED green 5V DC internal

(SYSTEM) Lights up if 5VDC internal is O.K.

7 Diagnostic LED green Battery after ignition switch

(POWER) Lights up if the battery voltage is connected after ignition.
S01697b

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System Description S1X Generic Speed Control System

System Block Diagram

System Block Diagram

PPU Diesel RPM

Engine

EIF

Rv
Speed limitation A
setpoint
potentiometer cw D
Rv
Setpoint Ramp & Antistall CSD
calculation State module module
logic machine

Rv
Control handle
A
Drive setpoint
Analog FNR cw D
Rv

Ramp control Ramp

DI control
ON/OFF logic
Status output
ramp control
Antistall switch DI

Hydrostatic
gear switch
DI
1st/2nd gear
(Option)
RS232
interface
Drive mode switch for SUSMIC-
DI
FNR Set/RPM Set DIA 1 to 4

Automatic/Standby
brake switch or
digital FNR DI
Reverse switch
(Option)

Engine Rpm Diesel RPM

Timer setup CAN Bus

Speed
Wheel Rpm (Option) calculation Speed Speed
Timer module dependent dependent
module release
(Vibration) (Vibration)

Wheel Rpm (Option)

Timer

Rv Cycle control Cycle

Auxiliary A module relay
setpoint (Water) (Water)
potentiometer cw D
Rv

Voltage regulator
Emergency stop F
V
10A

+ Batt. -
12V DC
S01718b

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System Description S1X Generic Speed Control System

Theory of Operation

General

PPU Diesel RPM

Engine

(Option, if one motor system)

Drive mode switch

FNR Set/RPM Set
FNR
Setpoint
calculation
logic

Control handle FNR Ramp &

Drive setpoint to engine Setpoint State Antistall CSD
setoint generation machine module module
MCH43BMS100

Engine Rpm
Timer
Motor
curve
(Option)
Wheel Rpm
Timer
(Option)

S01823

Modes for Travel Speed Setpoint

The system can work with three different setpoint modes. With a drive mode switch it is possible to select
between a non automotive mode and an automotive mode.

Non Automotive Mode

FNR Set
This is the basic mode for the application.
The drive setpoint depends on the setting of the control handle and the speed limitation potentiometer.
The speed limitation potentiometer sets the max. output current to the drive pump in order to give the
operator of the machine the best possible range and resolution over the hand lever. The bidirectional
mobile control handle generates the drive direction signal.
Typical application is vehicle with a diesel engine running full power to fulfil auxiliary functions like
cutting, planning or harvesting. In that case the speed of the vehicle is set by the speed setpoint lever
(FNR).

Automotive Mode
There are two different automotive modes available:

RPM Set
This mode is the classic automotive mode, where the drive setpoint is generated by the engine rpm. The
maximum speed can be limited through the speed limitation potentiometer. Typical example for this is
the transport drive in higher speed, where no external functions are active. A droop of the engine
reduces by principle the setpoint of the pump.

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System Description S1X Generic Speed Control System

Theory of Operation
FNR RPM
The setpoint of the control handle generates a virtual setpoint of the engine. The engine uses a
mechanical link between the handle or pedal. In case of droop, an antistall module can compare the
engine speed setpoint through the control handle and the actual speed of the engine. The maximum
speed can be limited through the speed limitation potentiometer.

Drive Direction
The drive direction signal is given by the bidirectional mobile control handle (FNR). If a direction switch is
required, the switch must work like a control handle. A simple digital direction switch may be used
instead of the above. No neutral position is required. An analog signal of 2.5V at the control handle input
is defined as neutral, 3.5V at the control handle input are defined as forward and 1.5V at the control
handle input are defined as reverse.

Gear and Ramp Selection

For each hydrostatic gear, the ramp times for acceleration and deceleration can be set individually.

Ramp Parameters
Acceleration Deceleration

Ramp PT1 TAU Up Ramp T1 Down

Ramp Up Ramp Down

Ramp T1 Up Ramp PT1 TAU Down

S01748_11e

As shown above the ramps have an adjustable exponent, linear and PT1 delay part. These parts can be
set different for acceleration and deceleration.

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System Description S1X Generic Speed Control System

Theory of Operation
All Range Antistall Control
The antistall module is to be activated if necessary. If active, it starts working below a predefined diesel
RPM limit, or above a predefined engine load value EEC2 (CAN). It controls the output current to pump
without overloading diesel engine. Depending on the droop and the control parameters the swashplate
angle is descreased.
Transient Response of the Antistall Controller

RPM

0 t

Ι
100%

0 t
S01748_08e

Speed Calculation Modes

SIMPLE_NORMI_MODE : 0
In this mode, a simple speed calculation is done. In the setup, there are maximum values for speed in
each gear. The vehicle speed is dependent on setpoint to max. speed in each gear. No PPU is necessary,
no motor data or gear ratio data are necessary. No constant speed possible, speed setpoint is the same as
actual speed.

SIMPLE_CALC_MODE : 1
In this mode, the calculation of speed works with motor data and ratios. The pump volume and the wheel
diameter gives the speed setpoint. No constant speed possible, speed setpoint is the same as actual
speed.

DIESEL_MODE : 2
In this mode, the Diesel RPM is in the calculation. All other data works as the same, as in 1.Constant speed
is without effect, antistall is possible.

DRUM_1_MODE : 3
The real vehicle speed in this mode is calculated with the wheel motor RPM. The gear ratio and the wheel
diameter belong to the calculation of the real vehicle speed. The speed setpoint is calculated from engine
rpm and lever position. CSD (Constant Speed Drive) compares the speed of the setpoint with the actual
value by the wheel PPU. The antistall controller output is the setpoint for CSD.

DRUM_2_MODE : 4
Same logic than in DRUM_1_MODE. In this mode, there are 2 PPUs for the speed to calculate the correct
speed in curves. The vehicle speed is the average of both speeds.

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System Description S1X Generic Speed Control System

Theory of Operation
DRUM_1_DIESEL_MODE : 5
For constant speed drive, it is necessary, to use a setpoint for speed, and an actual speed to compare in a
closed loop system. The setpoint works with mode 2, the actual speed works with mode 3. The CSD
speed setpoint is dependent on the diesel engine. The antistall controller output is the setpoint for CSD.

DRUM_2_DIESEL_MODE : 6
For constant speed drive, it is necessary, to use a setpoint for speed, and an actual speed to compare in a
closed loop system. The setpoint works with mode 2, the actual speed works with mode 4. The CSD
speed setpoint is dependent on the diesel engine. The antistall controller output is the setpoint for CSD.

Constant Speed Drive

The CSD function can be activated independent or additional to the antistall function. The CSD function
can work in three different modes.

CSD Open Loop

This constant speed mode is possible if an engine PPU is installed. A reduction of an engine rpm could be
used as an increased displacement for the pump.

Possible speed mode: DIESEL_MODE

CSD Closed Loop

The closed loop mode needs a speed detection. This is done by one or two wheel PPU´s. The speed is
calculated with the number of pulses per revolution, the gear ratios and the wheel diameters. This
measured vehicle speed can be compared with a speed setpoint and controlled by a closed loop CSD
function.

Possible speed mode: DRUM_1_MODE

DRUM_2_MODE
DRUM_1_DIESEL_MODE
DRUM_2_DIESEL_MODE

CSD Open Loop and Closed Loop

This mode needs a measured speed detection and a engine speed detection. The closed loop function
must compensate less difference.

Possible speed mode: DRUM_1_DIESEL_MODE,

DRUM_2_DIESEL_MODE.

Special Roller Features

Vibration ON/OFF Control

The ON/OFF control depends on the actual vehicle speed. Parameters for start at low speed and stop at
high speed can be set individually for each gear.

Waterflow Control
The ON/OFF time is calculated depending on potentiometer setpoint and actual vehicle speed.

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System Description S1X Generic Speed Control System

System Connection Diagram

System Connection Diagram

1 Contact capability min. 6A

2 Malting fuse 10A
3 Max. 3,25A each pin
4 Position shown: Antistall OFF
5 Optional supplied by ASC
6 Position shown: Ramp control ON
Used as FNR forward switch position shown: Neutral
7 Optional not installed
8 Position shown : 1st/2nd gear
9 Used as brake switch position shown: Standby brake
Used as FNR reverse switch position shown: Neutral
10 Position shown : FNR_SET
11 Alternate FB channel configure by software
! Important use ONLY ONE
6
= Option Ramp control switch or
* Digital FNR forward switch
AMP connector, 42pin

Sensor (-) 1 9
* Automatic/Standby switch or
Digital Input 0 2 Digital FNR reverse switch
Digital Input 1 * 3
Digital Input 2 4 Antistall switch 4

Digital Input 3 * 5
High Current 0 (+) 6 Gear switch (Option) 8
High Current 1 (+) 7
High Current 0 FB (-) * 8 A
EDC Propel pump
High Current 1 FB (-) * 9 B
VORWÄRTS
C FORWARD
Low Current 0 FB (-) 10 Proportional valves
11 ! RÜCKWÄRTS (Option)
D
Low Current 1 FB (-) * 11 REVERSE

nc 12
PPU Diesel RPM
RS232 Ground 13 Terminals
Batt. (+)
Sensor (+) 14 PPU front left 5 7
Battery (-) 15
PPU Input 0 16 PPU front right 5 7
Terminals
PPU Input 1 17
Sensor (-)
PPU Input 2 18 10
FNR_SET/RPM_SET (FNR_RPM)
PPU Input 3 * 19 Terminals Drive mode switch (Option)
RS232 TxD 20 Sensor (+)
1
2
RS232 RxD 21 3
SUB-D Diagnostic connector
4
High Current 4 (+) * 22 5
6
(female), 9pin
7
High Current 4 FB (-) * 23 8
9
High Current 5 (+) * 24 Terminals
Batt. (-)
High Current 5 FB (-) * 25
Water pump
High Current 2 (+) 26 Vibro output (Option) (Option)
High Current 3 (+) * 27
Battery (+) 28 Rv
3
Battery (-) 29 cw
Speed limit setpoint potentiometer
Rv
nc 30
Analog Input 0 31
Analog Input 1 32 Rv
Control handle
Low Current 4 FB (-) 33 cw drive setpoint
Rv
Low Current 5 FB (-) 34
11 ! Rv
nc 35 1
Inch setpoint potentiometer Emergency stop
nc 36 cw
S1 2
Rv
CAN High 37 F1
Rv

CAN Low 38 Auxiliary setpoint potentiometer (Option)

cw
+ Batt. -
CAN Shield 39 Rv
12V DC
Digital Output 0 40
Digital Output 1 * 41 CAN Bus Terminals

Battery (+) 42
3 Status ramp control
512791a

BLN-96-0401-E • Rev 0600 • August 2015 11

Products we offer: Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and
electronic components. We specialize in providing state-of-the-art technology and solutions
• Bent Axis Motors
that excel in the harsh operating conditions of the mobile off-highway market. Building on
• Closed Circuit Axial Piston our extensive applications expertise, we work closely with our customers to ensure
Pumps and Motors exceptional performance for a broad range of off-highway vehicles.
• Displays
We help OEMs around the world speed up system development, reduce costs and bring
• Electrohydraulic Power vehicles to market faster.
Steering
• Electrohydraulics Danfoss – Your Strongest Partner in Mobile Hydraulics.

• Hydraulic Power Steering Go to www.powersolutions.danfoss.com for further product information.

• Integrated Systems Wherever off-highway vehicles are at work, so is Danfoss. We offer expert worldwide support
• Joysticks and Control for our customers, ensuring the best possible solutions for outstanding performance. And
Handles with an extensive network of Global Service Partners, we also provide comprehensive global
service for all of our components.
• Microcontrollers and
Software Please contact the Danfoss Power Solution representative nearest you.
• Open Circuit Axial Piston
Pumps
• Orbital Motors
• PLUS+1® GUIDE
• Proportional Valves
• Sensors
• Steering
• Transit Mixer Drives

Comatrol
www.comatrol.com
Schwarzmüller-Inverter
www.schwarzmueller- Local address:
inverter.com
Turolla
www.turollaocg.com
Hydro-Gear
www.hydro-gear.com
Daikin-Sauer-Danfoss
www.daikin-sauer-danfoss.com

Danfoss
Power Solutions Trading
Danfoss Danfoss Danfoss (Shanghai) Co., Ltd.
Power Solutions (US) Company Power Solutions GmbH & Co. OHG Power Solutions ApS Building #22, No. 1000 Jin Hai Rd
2800 East 13th Street Krokamp 35 Nordborgvej 81 Jin Qiao, Pudong New District
Ames, IA 50010, USA D-24539 Neumünster, Germany DK-6430 Nordborg, Denmark Shanghai, China 201206
Phone: +1 515 239 6000 Phone: +49 4321 871 0 Phone: +45 7488 2222 Phone: +86 21 3418 5200

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products already on order provided that such alterations can be made without changes being necessary in specifications already agreed.
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