SCOOPTRAM ST7 / ST7LP

Revision: 1.3 (2011-08-15)

Control system
RCS (Rig Control System) and electrical system
Control system
Electrical system
Introduction of electrical system Sensors and switches
Component locations Circuit breakers and fuses
Marking of components Preparations before welding
Schematics and diagrams
ST7 / ST7LP Electrical system
Introduction
ST7 / ST7LP Controlsystem
Introduction / How to read

B143
Hydraulic level sensor
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Introduction / How to read
ST7 / ST7LP Controlsystem
Introduction / How to read
ST7 / ST7LP Controlsystem
Marking of components

How the components are named

B
S W D Sensor / Guard
Switch / Control Harness / Diode /
lever Cable Y
(Digital Solenoid valve
component)
F R
Fuse
Resistor
S
Circuit breaker

X K H
Connector Relay Lights

A Assembly (e.g. component box) K Relay

B Sensor / Guards M Motor
D Diode / Digital component R Resistor
E Electrical section S Switch / Control lever
F Fuse W Harness / Cable
G Power source X Connector
H Lights Y Solenoid valve
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Component location
Powerframe
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Component location
Powerframe
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Component location
Midship
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Component location
Midship area
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Component location
Midship area
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Component location
Cabin
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Component location
Cabin
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Component location
Cabin
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Component location
Cabin
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Component location
Rear Powerframe
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Component location
Powerframe
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Component location
Powerframe
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Component location
Powerframe
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Component location
Loadframe
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Component location
Powerframe option
 Control system
RCS (Rig Control System)
Introduction of RCS User levels
System description Menu description
Component locations Troubleshooting and fault finding
The RCS modules

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Introduction of RCS

Why did Bosch invent CAN?

The original electrics used in vehicles (cars, buses…), called point-to-point or dedicated wiring, started
to get very complex due to higher demands of electrical components in vehicles which lead to expensive
and bulky harnesses that also were very heavy and very troublesome to work with designwise

I/O

ECU Device

Overview of a conventional dedicated wiring system without CAN

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System description
Communication with sensors

+24V +5V +0.5V ~ +4.5V 11001101…

1
Sensor supply voltage
2
Sensor return voltage
3
Decoder digital return

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 ST7 / ST7LP Controlsystem
System description All values are only examples
In reality the values will look different
Communication with sensors
+5V

+3.7V 11001101…

85%
Raw value 438

Calibration table for Hydraulic level sensor

Raw value Value
102 0
204 42
438
616
85
100
85%
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System description
CAN signals

Connections
CAN High Pin 1: Ground
(blue) Pin 2: +
Pin 3: -
Pin 4: High
Pin 5: Low

Negative (-)
(black)
+21 Volts
+21 Volt
CAN Low (red)
(white)

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System description
CAN signals

5V

CAN High (2.6V)

2.5V

CAN Low (2.4V)

0V
This is how the CAN-Bus signal looks like in idle state
In reality the signal never looks like this because all the modules constantly communicates with each other
However when we measure the signal with the tools from the service bag, these are the levels that we are measuring

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System description
CAN signals
5V Dominant bit (0)

3.5V

2.5V Idle

1.5V
Parts of a message
Recessive bit (1)

Time

250 bit/second

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System description
CAN power from batteries

24 Volt from batteries cable

D501 CAN-driver in D501 receives 24 Volt from batteries

Display and sends out 21 Volt to the CAN line

21 Volt from D501

D540 D541 D543 D510 D511 D520

Decoder Decoder Decoder I/O I/O RRC MU (Opt)

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System description
External power from batteries

24 Volt main power from battery

D501
Display

*Redundant D512 D540 D541 D543 D510 D511 D520

steering (option) I/O Decoder Decoder Decoder I/O I/O RRC MU

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Component locations

ECU TCU
D501

D601 D602 D540 D543

*RRC (Option)

D520

D541

In A20 box

*Redundant
steering (option)
D512 D510 D511

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Component locations

E20 POWERFRAME E30 LOADFRAME

E10 OPERATORS COMPARTMENT

D501 x End plug

Display X19 X19

X1 X1
End plug x
X3 X4

X3 X4 X2 X3 X4 X3 X4

X5 D510 D511
Address plug 1 I/O-Module I/O-Module
X13 X13
Address plug 0 Address plug 1

D541 D540 D543

Decoder Decoder Decoder
X5 X5
Address plug 0 Address plug 3

E40 TRANSMISSION E50 POWER UNIT

D520
D602 D601 RRC Machine unit
TCU Controller ECU Controller (option)

CANopen
J1939

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Component locations

E20 POWERFRAME E30 LOADFRAME

E10 OPERATORS COMPARTMENT
CANopen
D501 x End
Endplugplug

Display X19 X19 (120 Ohm)

CANopen X1 X1
End plug x
End plug 0
X3 X4
(120 Ohm)
0 1
X3 X4 X2 X3 X4 X3 X4
J1939
End plug
X5 (120 Ohm) D510 D511
1 Address plug 1 0 3 I/O-Module I/O-Module
X13 X13
Address plug 0 Address plug 1

D541 D540 D543

Decoder Decoder Decoder
X5 X5
Address plug 0 Address plug 3

E40 TRANSMISSION E50 POWER UNIT

J1939 0
3 0 End plug
(120 Ohm) D520
D602 D601 RRC Machine unit
TCU Controller ECU Controller (option)

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The address- and end plugs
How to know the difference
The address- and end plugs are visually almost the same, but the difference is there…

M12
round female connector

9106 1324 38 1-9106 1324 91

End plug (120 Ohm) Address plugs

End plugs only has a part number written on it Address plugs has a leading number followed by its part number

9106 1324 38 3-9106 1324 93

Address- and end plugs colors may vary

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CAN cables

General rules for CAN cable routing < 200 mm

 The weakest point on a cable is the connector

 Minimum bending diameter is 200 mm
 Make sure all contacts are relieved so they can’t Correct Incorrect
move if the cable moves
 Put all CAN cables in a protection hose and make
sure they are covered all the way
 If the cable is in a position where it will move,
fix the protection hose in both ends
 Route the CAN cables separate from other cables
such as power cables or analog cables
 If you use cable ties, make sure that they do not cut Correct Incorrect
in to the cable jacket or even deform the cable
 If the CAN cable is too long, make big bends and hide it
but make sure that the minimum bending diameter is 200 mm

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Modules
D501 Display module

Menu keys

Navigation keys

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Modules
D501 Display module

X1 Power 24V
X2 J1939 communication
X3 CAN communication
X4 CAN communication
X5 Address plug connection
Address plug is necessary*

X6 USB interface
X7 Camera input

Backview of D501 display

* Even though there is only one display in the CAN network,

it will need the address plug to function properly
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Modules
D501 Display module

Connector legend

X1 X2 X3 X4 X5 X6 X7
Power J1939 CAN CAN Address USB Camera
Pin 1 +24V Not used Ground Ground Bit 2 Vbus Not used
Pin 2 +24V Not used CAN + CAN + Bit 1 D- Camera B
Pin 3 Ground Not used CAN - CAN - Ground D+ Video Gnd
Pin 4 Ground 925 CAN High CAN High Bit 0 Ground Camera A
Pin 5 N/A 926 CAN Low CAN Low Bit 4 Shield Not used
Pin 6 N/A N/A N/A N/A N/A Not used Not used
Pin 7 N/A N/A N/A N/A N/A Not used Not used
Pin 8 N/A N/A N/A N/A N/A Not used Not used

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Modules
D501 Display module

Status LED:s / diodes

Program load 50 ms LED activated 50 ms deactivated

Preoperational mode 500 ms LED activated 500 ms deactivated
Stopped mode 50 ms LED activated 50 ms deactivated
Operational mode 1000 ms LED activated 1000 ms deactivated

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Modules
D540, D541, D543 Decoder modules

 Converts analog to digital and vice versa

 10 digital, sinking inputs
 10 analog inputs
 25 digital, sinking outputs
Designed to drive LED’s or small relays

 Each decoder needs their own unique address plug

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Modules
D540, D541, D543 Decoder modules

X1 Power 24V
X3 CAN communication
X4 CAN communication
X5 Address plug connection
Address plug is necessary (multiple units)

X6 RS232
The RS232 port is currently not used

X8 Digital in/Analog in
X9 Digital out

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Modules
D540, D541, D543 Decoder modules

Connector legend

X1 X3 X4 X5 X6
Power CAN CAN Address RS232
Pin 1 +24V Ground Ground Bit 2 Not used
Pin 2 +24V CAN + CAN + Bit 1 Not used
Pin 3 Ground CAN - CAN - Ground Not used
Pin 4 Ground CAN High CAN High Bit 0 Not used
Pin 5 N/A CAN Low CAN Low Bit 4 Not used
Pin 6 N/A N/A N/A N/A Not used
Pin 7 N/A N/A N/A N/A Not used
Pin 8 N/A N/A N/A N/A Not used

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Modules
D540, D541, D543 Decoder modules

Connector legend example

X8
Analog/Digital In
Pin 1 Ground Pin 11 Potfeed Pin 21 Ground Pin 31 Digital 8
Pin 2 Analog 1 Pin 12 Analog 6 Pin 22 Digital 1 Pin 32 Digital 9
Pin 3 Potfeed Pin 13 Ground Pin 23 Digital 2 Pin 33 Ground
Pin 4 Analog 2 Pin 14 Analog 7 Pin 24 Digital 3 Pin 34 Digital 10
Pin 5 Ground Pin 15 Potfeed Pin 25 Ground Pin 35 Digital 11
Pin 6 Analog 3 Pin 16 Analog 8 Pin 26 Digital 4 Pin 36 Digital 12
Pin 7 Potfeed Pin 17 Ground Pin 27 Digital 5 Pin 37 Ground
Pin 8 Analog 4 Pin 18 Analog 9 Pin 28 Digital 6
Pin 9 Ground Pin 19 Potfeed Pin 29 Ground
Pin 10 Analog 5 Pin 20 Analog 10 Pin 30 Digital 7

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Modules
D540, D541, D543 Decoder modules

Connector legend example

X9
Digital Out
Pin 1 LED feed Pin 11 LED 10 Pin 21 LED 20 Pin 31 Keyb. In 4
Pin 2 LED 1 Pin 12 LED 11 Pin 22 LED 21 Pin 32 Keyb. In 5
Pin 3 LED 2 Pin 13 LED 12 Pin 23 LED 22 Pin 33 Keyb. Out 1
Pin 4 LED 3 Pin 14 LED 13 Pin 24 LED 23 Pin 34 Keyb. Out 2
Pin 5 LED 4 Pin 15 LED 14 Pin 25 LED 24 Pin 35 Keyb. Out 3
Pin 6 LED 5 Pin 16 LED 15 Pin 26 LED 25 Pin 36 Keyb. Out 4
Pin 7 LED 6 Pin 17 LED 16 Pin 27 LED feed Pin 37 Keyb. Out 5
Pin 8 LED 7 Pin 18 LED 17 Pin 28 Keyb. In 1
Pin 9 LED 8 Pin 19 LED 18 Pin 29 Keyb. In 2
Pin 10 LED 9 Pin 20 LED 19 Pin 30 Keyb. In 3

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Modules
D540, D541, D543 Decoder modules

Status LED:s / diodes

Program load 50 ms LED activated 50 ms deactivated

Preoperational mode 500 ms LED activated 500 ms deactivated
Stopped mode 50 ms LED activated 50 ms deactivated
Operational mode 1000 ms LED activated 1000 ms deactivated

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Modules
D540, D541, D543 Decoder modules

D540 D541 D543

 Keypad  Powerframe sensors  Steering joystick

 Cab electrics  Gear inputs  D/H joystick
 Backup alarm
 Rear lights
 Machine stops
 Emergency steering

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Modules
D510, D511, D512 In- and Output modules (I/O modules)

 Controls functions and receives inputs from sensors

 Controls many different types of sensors
Pulse, current, digital and analog sensors

 Diagnostic LED’s for each port on the module

 8 current controlled outputs for proportional valves
PWM (Pulse Width Modulation) for e.g. controlling valve spools

 Each module needs their own unique address plug

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Modules
D510, D511, D512 In- and Output modules (I/O modules)

CAN X1, X19

CAN communication

24V X25
Power supply

PWM X7, X8, X9, X10, X14, X15, X16, X24

Pulse Width Modulation for controlling proportional valves

PNP X6, X11, X12, X17, X18

Sends out / receives a positive 24V signal when active

AIN X2, X3, X4, X20, X21, X22

Analog inputs from sensors

NPN X5, X23

Sends out / receives a negative (sinking) signal when
active

Address X13
Connection for the unique address plug

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Modules
D510, D511, D512 In- and Output modules (I/O modules)

Status LED:s / diodes

Program load 50 ms LED activated 50 ms deactivated

Preoperational mode 500 ms LED activated 500 ms deactivated
Stopped mode 50 ms LED activated 50 ms deactivated
Operational mode 1000 ms LED activated 1000 ms deactivated

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 ST7 / ST7LP Controlsystem
Modules
D510, D511, D512 In- and Output modules (I/O modules)

D510 D511 D512

 Horn  Lincoln Lube (option)  Redundant steering (option)

 Steering  Load Weighing (option)
 Boom and bucket
 Ride Control
Float Control
 Misc sensor inputs
from powerframe

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User levels

Different user levels for authorization

There are different user levels where all the levels have different authority to
adjust machine settings and in some cases different authority to view information

OP Operator No access to settings

SE Service mine Adjust basic settings
AC Atlas Copco service Limited machine settings
ACP AC Product Company Full access to settings

OP is logged on as default and need no authorization to log on

SE needs a code to log on, and AC and ACP needs an additional USB key

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Menu description

Menu keys

Navigation keys

ESC
Pressing the navigation button will bring you to the last active view inside the menus
but is also used to close notifications, windows and to abort some operations

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Menu description

How to adjust settings in the menus

 Use the arrow buttons to select which value or setting to adjust Checkbox On/Off
The setting or value will go from light gray to becoming dark gray

 Press Enter button to make the value or setting adjustable

The setting or value will go from dark gray to black which means its adjustable Dropdown menu Multiple values

 Use the arrow buttons to adjust the value

Arrow Up Increase a setting or value (e.g. increase a number)
Textfield Number / text values
Arrow Down Decrease a setting or value (e.g. decrease a number)
Arrow Left Move the cursor inside the value or setting to the left
Arrow Right Move the cursor inside the value or setting to the right

 Press Enter again to save your modifications or press ESC to abort

Light gray color Dark gray color Black color

Setting is not selected Setting is selected using the Setting is adjustable and can be
arrow buttons adjusted using the arrow buttons

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Atlas Copco Site service level Operator level
Menu description
ESC

Operator Vehicle Hydraulics Drive train Diagnostics Log

User Information Information Information Modules Save

Languages Load weigh Calibration Transmission Levers Save All

Display Ride control Pedals Event Log

Units Lubrication Administration DTC log

Converter Stall Fire supp. Passwords Maintenance

Load Calibration Calibration Statistics

Traction Control Positioning

RCS shutdown

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Menu description

OPERATOR LEVEL (OP)

OP Operator No access to settings

OP is logged on as default and need no authorization to log on

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Menu description Operator level
Load weight
MENU D1 Location field current load
Date and time
F1

Load weight Fuel level

counter

Engine hours

Notification area visible in all main views

Gray Green Yellow Red

Standby Status OK / Active Warning active Alarm active

Different colors of notification symbols in the notification area

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Menu description Operator level
Engine
MENU D2 temperature

F2

Engine
Engine RPM oil pressure

Notification area visible in all main views

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Menu description Operator level
Transmission
MENU D3 oil pressure

F3

Transmission
temperature Actual brake pressure
at wheel end
Hydraulic oil
temperature

Notification area visible in all main views

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Menu description Operator level

MENU D4
F4

Override warnings
and alarms

Notification area visible in all main views

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Menu description Operator level

MENU Operator
ESC

Menu navigation buttons

Location field

Operator menu

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Menu description Operator level

MENU Operator / User

ESC

Enter code to log on Indicates which user level

that is trying to log on
Shows currently
logged on user level

Shows expiration date

of current USB key
(if any in USB slot)

Log on with user level

 Use the arrow keys to enter your code and press Enter
 Press ESC to abort log on attempt
 After logged on, press ESC to return to Operator menu

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Menu description Operator level

MENU Operator / Languages

ESC

Adjust menu
language

Adjust menu language

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Menu description Operator level

MENU Operator / Display

ESC

Adjust display
Adjust display contrast
brightness

Adjust display settings

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Menu description Operator level

MENU Operator / Units

ESC

Set system units

Set system units (Metric or Imperial)

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Menu description Operator level

MENU Operator / Converter Stall

ESC

Activate
Converter Stall

Adjust RPM for

Converter Stall

Converter Stall
See the Drivetrain training material for more information

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Menu description Operator level

MENU Operator / Load

ESC

Adjust settings
for Load weight

Adjust settings for Load weight

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Menu description Operator level

MENU Operator / Traction Control

ESC

Set Engine max RPM

when Traction Control
is active

Adjust settings for Traction Control

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Menu description Operator level

MENU Vehicle
ESC

Vehicle information

Vehicle menu

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Menu description Operator level

MENU Hydraulics
ESC

Hydraulics information

Hydraulics menu

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Menu description Operator level

MENU Drive train

ESC

Drive train information

Drive train menu

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Menu description Operator level

MENU Diagnostics
ESC

Diagnostics menu

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Menu description Operator level

MENU Diagnostics / Modules

ESC

Green
Status OK

Red with exclamation

Module problem / failure

White border
Module selected
Press Enter to open info

Modules view
Overview of all modules located on the machine and their current status
Navigate around the module view using the Arrow buttons

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Menu description Operator level

MENU Diagnostics / Modules / Module info

ESC

Module information

Detailed module information

Detailed information about selected module (in this case the D510 I/O module)

Press ESC to return back to Module view

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Menu description Operator level

MENU Diagnostics / Levers

ESC

Diagnostics of levers
actuation for both axis
and button functions
Calibration status
of levers (joysticks)

Levers (joysticks) diagnostics

Verify calibration status and function of levers (joysticks)

Press ESC to return back to Diagnostics menu

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Menu description Operator level

MENU Diagnostics / Pedals

ESC

Diagnostics of pedals
actuation

Calibration status
of brake- and throttle pedals

Pedals (brake and throttle) diagnostics

Verify calibration status and function of pedals

Press ESC to return back to Diagnostics menu

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Menu description Operator level

MENU Diagnostics / Troubleshoot

ESC

Troubleshoot menu
Gives you guidance and help with solving common problems

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Menu description Operator level

MENU Log
ESC

Save log files for Save all log files

Statistics and
Production logs (option)

Show DTC log

Show Event log (engine, transmission)

Log menu
Menu for reviewing and saving machine logs
To save log files you need a USB drive mounted in the USB slot

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Menu description Operator level

MENU Log / Event Log

ESC

Scroll up in event log

Scroll down in event log

Scroll to bottom (last event)

Event log sorted in

ascending order

Save Event log file

to mounted USB drive
Event Log
Gives information about events, warnings, alarms etc…
To save event log file you need a USB drive mounted in the USB slot

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Menu description Operator level

MENU Log / Event Log

Time Shows when event occurred
ESC Date and time

Importance Event importance

Information, warning or error event

Type Event type

Indicates type of event

Info Information
Information about event in clear text

Event type declaration

EV Event
Is shown as popup in the display

SC StateChange (On / Off)

SC gets active and inactive and will show
a symbol in the notification area when active

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Menu description Operator level

MENU Log / DTC Log

ESC

Save DTC log file

to mounted USB drive
DTC log sorted in
ascending order

DTC Log
Gives information about fault codes sent from the ECU and TCU
To save DTC log file you need a USB drive mounted in the USB slot

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Menu description Operator level

MENU Log / DTC Log

ESC

Time Shows when fault occurred

Src Indicates CAN-source

0 = Cummins engine, 3 = Funk transmission

SPN Suspect Parameter Number

Indicates where the problem occured

FMI Failure Mode Identifier

Indicates type of problem

Info Information
Information about problem in clear text

Src, SPN and FMI are all part of the

SAE J1939 standard

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Fault finding and troubleshooting

Service toolbox 9106 2241 80 for CAN (CANopen)

 Contains all necessary tools for conducting fault finding and troubleshooting on the CAN network
 Multimeter, CAN tester, I/O tester, test cables and more…

Contents
A CAN tester Main- and CAN power, traffic, cable test…
B Resolve tester Only for TME products
C Multimeter Standard multimeter
D Encoder tester Only for TME products
E Test cables For breaking in to existing CAN cables etc…
F I/O tester For testing I/O modules (M12 tester)
G Test box Only for TME products
H Connectors End plugs, address plugs, connectors…

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Fault finding and troubleshooting

Service toolbox / CAN tester

 Main power to I/O modules from batteries (+24V)

 CAN power distribution (+21V)
 CAN traffic (CAN High and CAN Low) activity
 Cable resistance test (CAN line resistance)

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Fault finding and troubleshooting

Service toolbox / Multimeter

 Fluke multimeter
 For measuring alternating (AC) and direct (DC) current
 Resistance and diode measuring capabilities
 Use together with CAN tester to read data from CAN tester

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Fault finding and troubleshooting

Service toolbox / Test cables

 Use test cables to break in to existing CAN cables

 Do not use as replacement cables on the machine
 M12 connectors in both ends
 Comes in various lengths

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Fault finding and troubleshooting

Service toolbox / I/O tester (M12 tester)

 Use to break in to CAN line for measuring I/O data

 Measure I/O inputs and outputs (analog, digital, PWM…)
 Also called RCS M12 Tester

Pin I/O CANopen Atlas-CAN

1 +24V Shield CAN -

2 I/O B 0-5V CAN + CAN LO

3 GND PWM CAN -

4 I/O A 0-20mA CAN HI CAN HI

Input: +5V CAN LO CAN +

5
Output: GND

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Fault finding and troubleshooting

Service toolbox / Connectors

 End plugs (120 Ohm resistance)

 Address plugs with different addresses
 Various CAN connectors that might come in handy

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Fault finding and troubleshooting

Kvaser Memorator

 Use the Kvaser Memorator to record CAN traffic

 Kvaser Part number: 00351-4
 Records in standardized formatc (CSV-files)
 To use together with e.g. CANalyzer software
 More information at www.kvaser.com

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 Committed to
sustainable productivity.