Workshop Manual XR-AC

Copyright protected. No part of this manual

may be reproduced in any form. Copyright
reserved.

40770u

First issue: 05/04 Workshop

Last revision: Manual XR-AC Id. Nr.8 054 344
 Foreword

Foreword

This workshop manual (WM) is a collection of

technical data and functional descriptions for
the standard vehicle.
5/0002

It is intended as a guide which should be kept

at hand at all times, to help explain the
technical features of the vehicle and
consequently ensure that maintenance and
repair are carried out correctly.

The workshop manual is updated on a regular

basis with additional sheets.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

5/0003

Updating workshop manuals

Our range of equipment is subject to continuous
development and improvement. A consequence
of this is that components or assemblies are
reserved.

sometimes replaced or their function changed.

In order to guarantee that the owner of a

workshop manual is always in possession of 5/0004
up-to-date and relevant doumentation, the
manual must be updated using the method
described overleaf.

40770u

Issue: 05/04 Workshop Sheet no.

XR-AC
Replaces issue: Manual I
 Foreword
Updating workshop manuals

1. Replacing incorrect sheets

If a sheet contains an error, e.g. if adjustment

values have been altered, the sheet in
question must be replaced.
The new sheet can be identified by the
information at the left-hand side of the page Page footer of an existing sheet
footer (1). The date of issue is updated here
Issue: 02/02 Workshop Sheet no.3-04
in the Issue line (2). The date of issue of the Replaces issue: Manual
XR-AC

sheet which needs replacing is specified in

the Replaces issue line (3). The sheet no. 1 4
remains the same (4). 2
Page footer of a corrected sheet
Every time a change is made, the cover Issue: 10/02 Workshop XR-AC Sheet no.3-04
sheet is replaced. The date of first issue Replaces issue: 02/02 Manual
and the date of the last update are shown in
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

field 9. This means that the workshp manual

edition is immediately obvious. 3
Page footer of a cover sheet
First issued: 02/02 Workshop XR-AC
2. Inserting new sheets Last updated: Manual
Id. no. 8 054 258

If new, altered or additional components are 9

introduced to the series, it may be necessary
reserved.

to insert one or more additional sheets.

An additional sheet can be identified by the
changes at the left and right of the page Page footer of an existing sheet
footer (5 + 6). Issue: 02/02 Workshop Sheet no.3-04
XR-AC
At the left, in the Issue line, is the current Replaces issue: Manual
date of issue (7). At the right, the additional
sheet is marked with the sheet no. with a
consecutive index (8). 5 6
The list of contents for the assembly in Page footer of an additional sheet
question must also be replaced. Issue: 10/02 Workshop XR-AC Sheet no.
3-04.1
Replaces issue: Manual

We send new sheets, whether they are 7

replacement or additional sheets, and new 8
lists of contents, to all the vehicle owners we
know of by mail.

Issue: 05/04 Workshop Sheet no.

XR-AC
Replaces issue: Manual II
 Foreword

Notes, Imprint
We can accept no liability for warranty claims
relating to work carried out in accordance
with the instructions in this workshop manual.

The warranty terms remain unaffected.

Works continuously on the

development of its industrial trucks. We
would ask for your understanding that we
reserve the right to make alterations and that
errors cannot be excluded, and that no
warranty claims may be based on the
information, illustrations or descriptions
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

contained in this workshop manual.

reserved.

Issue: 05/04 Workshop Sheet no.

XR-AC
Replaces issue: Manual III
 ✮❑❋ ✂◗✂❊❏❈❘ ❚

✪❏❈❘ ❚✂✂✂ ✜ Vehicle data

✪❏❈❘ ❚✂✂✂✔✜ Drive motor
✪❏❈❘ ❚✂✂✂✕✜ Drive wheel
✪❏❈❘ ❚✂✂✂✖✜ Gear
✪❏❈❘ ❚✂✂✂✗✜ Electro-magnetic parking brake
✪❏❈❘ ❚✂✂✂✘✜ Generator service brake
✪❏❈❘ ❚✂✂✂✙✜ Hydraulic/mechanical service brake
✪❏❈❘ ❚✂✂✂✚✜ Brake deceleration
✪❏❈❘ ❚✂✂✂✛✜ Steering
✪❏❈❘ ❚✂ ✒✜ Guide to the electrical components
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

✪❏❈❘ ❚✂ ✜ Travel and pump controller (FPS) A10

✪❏❈❘ ❚✂ ✔✜ Load handling controls module (LAS) 8U61
✪❏❈❘ ❚✂ ✕✜ Converters 1U6/2U3
✪❏❈❘ ❚✂ ✖✜ Display 8A5
❚  ❚ ❋✏

✪❏❈❘ ❚✂ ✗✜ CAN bus

✪❏❈❘ ❚✂ ✘✜ Supply and emergency-stop circuit
✪❏❈❘ ❚✂ ✚✜ Single-lever potentiometers 2R9-2R13
✪❏❈❘ ❚✂ ✛✜ Inductive proximity switches
✪❏❈❘ ❚✂✔✒✜ Travel transducer 1U20

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✰✽
 ✮❑❋ ✂◗✂❊❏❈❘ ❚
✪❏❈❘ ❚✂✔ ✜ DC/DC converter U30
✪❏❈❘ ❚✂✔✔✜ Height measuring system 8B21
✪❏❈❘ ❚✂✔✕✜ Foot pedal adjustment
✪❏❈❘ ❚✂✔✖✜ Hydraulic functions
✪❏❈❘ ❚✂✔✗✜ Chassis valve block
✪❏❈❘ ❚✂✔✘✜ Reach carriage valve block
✪❏❈❘ ❚✂✔✙✜ Additional hydraulics valve block
✪❏❈❘ ❚✂✔✚✜ Line break protection
✪❏❈❘ ❚✂✔✛✜ Lowering brake valve
✪❏❈❘ ❚✂✕✒✜ Load holding valve
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

✪❏❈❘ ❚✂✕✕✜ Hydraulic pump

✪❏❈❘ ❚✂✕✖✜ Tank indicator
✪❏❈❘ ❚✂✕✗✜ Tank
✪❏❈❘ ❚✂✕✘✜ Runback filter
❚  ❚ ❋✏

✪❏❈❘ ❚✂✕✙✜ Lubrication plan

✪❏❈❘ ❚✂✕✚✜ Service software
✪❏❈❘ ❚✂✕✛✜ Error codes
✪❏❈❘ ❚✂✖✒✜ Winflash

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✽
 ✮❑❋ ✂◗✂❊◗❖❘◗ 

• Drive wheel..............................................................................................Sheet 3-01

• Brake pedal .............................................................................................Sheet 7-05
• DC / DC converter .................................................................................Sheet 21-01 ff
• Display ...............................................................................................Sheet 14-01 ff
• Speed sensor of drive/hydraulic motors ...........................................Sheet 13-09
• Speed sensor of drive motor ..............................................................Sheet 02-05
• Pressure relief valve .............................................................................Sheet 25-04
• Single-lever potentiometer ..................................................................Sheet 18-01
• Electro-magnetic parking brake .........................................................Sheet 5-01 ff
• Travel and pump controller ..................................................................Sheet 11-01 ff
• Travel transducer ...................................................................................Sheet 20-01 ff
• Drive motor ................................................................................Sheet 2-01 ff
• Gear ...............................................................................................Sheet 4-01 ff
• Main brake cylinder ...............................................................................Sheet 7-10
• Height measuring system ....................................................................Sheet 22-01 ff
• Hydraulic pump ......................................................................................Sheet 33-01
• Hydraulic/mechanical brake ................................................................Sheet 7-01 ff
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Inductive proximity switch ....................................................................Sheet 19-01

• Actual value potentiometer ..................................................................Sheet 9-15 ff
• LAS module .............................................................................................Sheet 12-01 ff
• Load holding valve ................................................................................Sheet 30-01
• Line break protection ............................................................................Sheet 28-01
• Steering unit ............................................................................................Sheet 9-01 ff
• Steering wheel ...........................................................................Sheet 9-14
❚  ❚ ❋✏

• Emergency release valve ....................................................................Sheet 25-06

• Proportional valve for lowering ...........................................................Sheet 25-05
• Runback filter ..........................................................................................Sheet 36-01
• Lowering brake valve ............................................................................Sheet 29-01
• Foot pedal adjustment ..........................................................................Sheet 23-01
• Setpoint potentiometer .........................................................................Sheet 9-10 ff
• Tank ...............................................................................................Sheet 35-01
• Tank indicator..........................................................................................Sheet 34-01
• Travel converter .....................................................................................Sheet 13-01 ff
• Hydraulic converter ...............................................................................Sheet 13-01 ff
• Chassis valve block ...............................................................................Sheet 25-01 ff
• Reach carriage valve block .................................................................Sheet 26-01 ff
• Additional hydraulics valve block .......................................................Sheet 27-01

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✽✰
 ✪◗  
✂✪❏❈❘ ❚✂ ✜ ✽ ❏❑❊ ✂❋❈❈
-Guide to signs and vehicle number ............................................Sheet 1-01
-Production number and consecutive identification numbers ......Sheet 1-02
-Technical data.............................................................................Sheet 1-03
-Definition of the directions of movement.....................................Sheet 1-04

• ✪❏❈❘ ❚✂✔✜ ✫❚❑ ✂❖◗◗❚

-General .......................................................................................Sheet 2-01
-Technical data.............................................................................Sheet 2-02
-Connections................................................................................Sheet 2-02
-Temperature monitoring..............................................................Sheet 2-03
-Speed sensor..............................................................................Sheet 2-05
-Removal......................................................................................Sheet 2-06
-Installation...................................................................................Sheet 2-09
-Dismantling .................................................................................Sheet 2-10
-Maintenance ...............................................................................Sheet 2-12
-Mast hitch ...................................................................................Sheet 2-13
-Half mast hitch ............................................................................Sheet 2-14
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• ✪❏❈❘ ❚✂✕✜ ✫❚❑ ✂❏

-Changing the drive wheel ...........................................................Sheet 3-01

• ✪❏❈❘ ❚✂✖✜ ✮ ❈❚
-Commissioning ...........................................................................Sheet 4-01
-Changing the oil..........................................................................Sheet 4-02
-Removal / installation..................................................................Sheet 4-03
❚  ❚ ❋✏

• ✪❏❈❘ ❚✂✗✜ ✬ ❊❚◗✎❖❈ ❑❊✂❘❈❚ ❑ ✂❉❚❈

-General .......................................................................................Sheet 5-01
-Function ......................................................................................Sheet 5-01
-Removal......................................................................................Sheet 5-02
-Changing the brake disk .............................................................Sheet 5-03
-Adjusting the brake clearance ....................................................Sheet 5-04
-Adjusting the braking moment ....................................................Sheet 5-05
-Releasing the brake mechanically ..............................................Sheet 5-05
-Checking the brake coil ..............................................................Sheet 5-06

• ✪❏❈❘ ❚✂✘✜ ✮ ❚❈◗❚✂ ❚❑❊ ✂❉❚❈

-General .......................................................................................Sheet 6-01
-Function ......................................................................................Sheet 6-01

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✽✰✰
 ✪◗  
✂✪❏❈❘ ❚✂✙✜ ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈ ✂ ❚❑❊ ✂❉❚❈
-Function ......................................................................................Sheet 7-01
-Plan of the braking system .........................................................Sheet 7-02
-Removal......................................................................................Sheet 7-03
-Adjusting the brake clearance ....................................................Sheet 7-04
-Adjusting the brake pedal ...........................................................Sheet 7-05
-Bleeding/filling the brake system
• Filling ........................................................................Sheet 7-07
• Bleeding....................................................................Sheet 7-08
-Main brake cylinder
• General.....................................................................Sheet 7-10
• Special base valve ....................................................Sheet 7-11
• Removal/installation .................................................Sheet 7-12

• ✪❏❈❘ ❚✂✚✜ ✩❚❈ ✂❋ ❊ ❚❈❑◗

-General .......................................................................................Sheet 8-01
-Preparations for measurement ...................................................Sheet 8-01
-Evaluating the measurement
• Testing the service brake..........................................Sheet 8-02
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Testing the parking brake .........................................Sheet 8-02

• ✪❏❈❘ ❚✂✛✜ ✺ ❚❑
-General .......................................................................................Sheet 9-01
-Technical data for the steering unit .............................................Sheet 9-01
-Function ......................................................................................Sheet 9-02
-Block diagram .............................................................................Sheet 9-04
-Steering unit
❚  ❚ ❋✏

• General.....................................................................Sheet 9-05
• Connections..............................................................Sheet 9-05
• Removal ...................................................................Sheet 9-07
• Installation ................................................................Sheet 9-08
-Removing the drive unit ..............................................................Sheet 9-09
-Setpoint potentiometer
• General.....................................................................Sheet 9-10
• Connections/signals..................................................Sheet 9-11
• Testing ......................................................................Sheet 9-12
• Removal ...................................................................Sheet 9-12
• Installation ................................................................Sheet 9-13
-Adjusting the turning force of the steering wheel........................Sheet 9-14
-Actual value potentiometer
• General.....................................................................Sheet 9-15
• Connections/signals .................................................Sheet 9-16
• Testing ......................................................................Sheet 9-17
• Removal ...................................................................Sheet 9-17
• Installation ................................................................Sheet 9-18
-Adjusting the entire steering system...........................................Sheet 9-19

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✽✰✰✰
 ✪◗  
• ✪❏❈❘ ❚✂✛✜ ✺ ❚❑

-360° Steering
• General .................................................................................Sheet 9-20
-Recognisable features......................................................Sheet 9-21
• Setpoint potentiometer
-General.............................................................................Sheet 9-22
-Connections/signals .........................................................Sheet 9-23
• Actual value potentiometer
-General.............................................................................Sheet 9-24
-Connections/signals .........................................................Sheet 9-25
• Steering unit..........................................................................Sheet 9-26
• Drive unit...............................................................................Sheet 9-27

-Software versions .......................................................................Sheet 9-28

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏
❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual ✿✹✎ ✪ ✽✰✰✰✏✰
 ✪◗  
✂✪❏❈❘ ❚✂ ✒✜✮❑❋ ✂◗✂❏ ✂ ❊❚❑❊❈ ✂❊◗❖❘◗ 
-Basic equipment .......................................................................Sheet 10-01
-Options .....................................................................................Sheet 10-02
-Block diagram ...........................................................................Sheet 10-03

• ✪❏❈❘ ❚✂ ✜✻❚❈ ✂❈ ❋✂❘❖❘✂❊◗ ❚◗ ❚✂✡✭✷✺☛✂ ✒

-General ..................................................................................Sheet 11-01
-Regulating principle of the drive motor .....................................Sheet 11-02
-Regulating principle of the hydraulic motor...............................Sheet 11-04
-Pin assignment/signals .............................................................Sheet 11-05
-"Control OK" signal (SOK) ........................................................Sheet 11-07
-Charging the capacitor unit.......................................................Sheet 11-09
-Control of the main contactor....................................................Sheet 11-10
-Converter enable ......................................................................Sheet 11-12
-Phase monitoring......................................................................Sheet 11-13
-Travel control signals
• Vmax ........................................................................Sheet 11-14
• V=2.5 km/h..............................................................Sheet 11-15
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

-Hydraulics control signals .........................................................Sheet 11-16

-Determining the battery capacity ..............................................Sheet 11-17
-Hour meter ................................................................................Sheet 11-18
-Anti-roll monitor.........................................................................Sheet 11-19
-Software versions .....................................................................Sheet 11-20

• ✪❏❈❘ ❚✂ ✔✜ ✳◗❈❋✂❏❈ ❋ ❑ ✂❊◗ ❚◗ ✂❖◗❋ ✂✡✳ ✺✂❖◗❋ ☛✂✚✼✘

-General .....................................................................................Sheet 12-01
❚  ❚ ❋✏

-Control of the hydraulics

• General...................................................................Sheet 12-02
• Block diagram.........................................................Sheet 12-03
• Control signals for lifting the main lift......................Sheet 12-04
• Control signals for lowering the main lift.................Sheet 12-05
• Control signals for DS reaching..............................Sheet 12-06
• Control signals for LS reaching ..............................Sheet 12-07
• Control signals for DS tilting ...................................Sheet 12-08
• Control signals for LS tilting....................................Sheet 12-09
• Control signals for side shift right ...........................Sheet 12-12
• Control signals for side shift left..............................Sheet 12-13
• Simultaneous movements ......................................Sheet 12-14
• Zero point monitoring..............................................Sheet 12-15
• Reach dampening ..................................................Sheet 12-16
• Hydraulic options ....................................................Sheet 12-17
• Guide to input/output signals for hydr. functions.....Sheet 12-19

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✰✿
 ✪◗  
✂✪❏❈❘ ❚✂ ✔✜ ✳◗❈❋✂❏❈ ❋ ❑ ✂❊◗ ❚◗ ✂❖◗❋ ✂✡✳ ✺☛✂✚✼✘
-Electro-magnetic brake control
• General...................................................................Sheet 12-20
• Parking and emergency braking function ...............Sheet 12-20
• Monitoring...............................................................Sheet 12-21
-General vehicle options ............................................................Sheet 12-23
-Safety monitoring
• General...................................................................Sheet 12-24
• Switching-on sequence ..........................................Sheet 12-26
• Block diagram.........................................................Sheet 12-27
-Pin assignment X10..................................................................Sheet 12-28
-Pin assignment X11 ..................................................................Sheet 12-30
-Software versions .....................................................................Sheet 12-32

• ✪❏❈❘ ❚✂ ✕✜ ✪◗  ❚ ❚✂ ✼✘✑✔✼✕

-General ..................................................................................Sheet 13-01
-Technical data...........................................................................Sheet 13-02
-Diagram of functional principle .................................................Sheet 13-03
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

-The principle of speed/torque regulation ..................................Sheet 13-04

-Status LED................................................................................Sheet 13-05
-Connections
• Control signals ........................................................Sheet 13-06
• Power signals..........................................................Sheet 13-07
-Charging the capacitor unit.......................................................Sheet 13-08
-Speed sensor............................................................................Sheet 13-09
-Temperature monitoring............................................................Sheet 13-10
❚  ❚ ❋✏

-Converter coding.......................................................................Sheet 13-11

• ✪❏❈❘ ❚✂ ✖✜ ✫❑❘ ❈✂✚ ✗

-General .....................................................................................Sheet 14-01
-Displays ....................................................................................Sheet 14-02
-Onboard diagnosis....................................................................Sheet 14-03
• Travel program selection ........................................Sheet 14-04
• Battery type setting.................................................Sheet 14-05
• Display of the digital inputs.....................................Sheet 14-06
• Display of the analogue inputs ...............................Sheet 14-08
• Display of the vehicle type......................................Sheet 14-12
• Software version query...........................................Sheet 14-13
-Error codes ...............................................................................Sheet 14-14
-Software versions .....................................................................Sheet 14-15

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✿
 ✪◗  
✂✪❏❈❘ ❚✂ ✗✜ ✪ ✵✂❉
-General .....................................................................................Sheet 15-01
-CAN 1 bus structure (vehicle bus) ............................................Sheet 15-02
-CAN 2 bus structure (converter bus) ........................................Sheet 15-03
-Signal levels..............................................................................Sheet 15-04
-Data telegrams
• CAN 1 (vehicle bus)................................................Sheet 15-05
• CAN 2 (converter bus)............................................Sheet 15-07
-Error codes / bus test................................................................Sheet 15-08

• ✪❏❈❘ ❚✂ ✘✜ ✺❘❘ ✂❈ ❋✂ ❖ ❚ ❊✎◗❘✂❊❑❚❊❑

-Block diagram ...........................................................................Sheet 16-01

• ✪❏❈❘ ❚✂ ✚✜ ✺❑ ✎  ❚✂❘◗ ❑◗❖  ❚✂✔✹✛✎✔✹ ✕

-General .....................................................................................Sheet 18-01
-Potentiometer structure ............................................................Sheet 18-02
-Resistance measurement .........................................................Sheet 18-02
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• ✪❏❈❘ ❚✂ ✛✜ ✰ ❋❊❑ ✂❘❚◗❑❖❑✂❑❊❏ 

-General .....................................................................................Sheet 19-01

• ✪❏❈❘ ❚✂✔✒✜ ✻❚❈ ✂❚❈ ❋❊ ❚✂ ✼✔✒

-General .....................................................................................Sheet 20-01
-Measured values ......................................................................Sheet 20-01
-Adjustment................................................................................Sheet 20-02
❚  ❚ ❋✏

• ✪❏❈❘ ❚✂✔ ✜ ✫✪✑✫✪✂❊◗  ❚ ❚✂✼✕✒

-General .....................................................................................Sheet 21-01
-Technical data ..........................................................................Sheet 21-02
-Connections..............................................................................Sheet 21-03

• ✪❏❈❘ ❚✂✔✔✜ ✯ ❑ ❏✂❖ ❈❚❑ ✂ ❖✂✚✩✔

-General .....................................................................................Sheet 22-01
-Function ...................................................................................Sheet 22-01
-Removing/installing the measuring system ..............................Sheet 22-03
-Removing the sensor bearing...................................................Sheet 22-04
-Installing the sensor bearing.....................................................Sheet 22-05

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✿✰
 ✪◗  
✂✪❏❈❘ ❚✂✔✕✜ ✭◗◗✂❘ ❋❈ ✂❈❋ ❖ 
-General .....................................................................................Sheet 23-01

• ✪❏❈❘ ❚✂✔✖✜ ✯❋❚❈ ❑❊✂❍ ❊❑◗ 

-Lifting the main lift.....................................................................Sheet 24-01
-Lowering the main lift................................................................Sheet 24-02
-Reaching ..................................................................................Sheet 24-03
-Tilting/transverse reach/additional hydraulics ...........................Sheet 24-04
-Block diagram ...........................................................................Sheet 24-05

• ✪❏❈❘ ❚✂✔✗✜ ✪❏❈❑✂❈  ✂❉ ◗❊

-Guide to the valve block ...........................................................Sheet 25-01
-Functional elements..................................................................Sheet 25-02
-Adjusting work
• Pressure relief valve ...............................................Sheet 25-04
• Max. lowering speed...............................................Sheet 25-05
-Emergency release valve .........................................................Sheet 25-06
-Electrical data ............................................................................Sheet25-07
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• ✪❏❈❘ ❚✂✔✘✜ ✹ ❈❊❏✂❊❈❚❚❑❈ ✂❈  ✂❉ ◗❊

-Guide to the valve block ...........................................................Sheet 26-01
-Functional elements..................................................................Sheet 26-02
-Adjusting work ..........................................................................Sheet 26-04
-Electrical data ...........................................................................Sheet 26-04

• ✪❏❈❘ ❚✂✔✙✜ ❋❋❑❑◗ ❈ ✂❏❋❚❈ ❑❊✂❈  ✂❉ ◗❊

❚  ❚ ❋✏

-Guide to the valve block ...........................................................Sheet 27-01

• ✪❏❈❘ ❚✂✔✚✜ ✳❑ ✂❉❚ ❈ ✂❘❚◗ ❊❑◗

-General .....................................................................................Sheet 28-01
-Types used ...............................................................................Sheet 28-02

• ✪❏❈❘ ❚✂✔✛✜ ✳◗ ❚❑ ✂❉❚❈ ✂❈ 

-General .....................................................................................Sheet 29-01
-Function ...................................................................................Sheet 29-01

• ✪❏❈❘ ❚✂✕✒✜ ✳◗❈❋✂❏◗ ❋❑ ✂❈ 

-General .....................................................................................Sheet 30-01

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✿✰✰
 ✪◗  

• ✪❏❈❘ ❚✂✕✕✜ ✯❋❚❈ ❑❊✂❘❖❘

-General .....................................................................................Sheet 33-01
-Types used ...............................................................................Sheet 33-01

• ✪❏❈❘ ❚✂✕✖✜ ✻❈ ✂❑ ❋❑❊❈◗❚

-Tank indicator............................................................................Sheet 34-01

• ✪❏❈❘ ❚✂✕✗✜ ✻❈
-Tank ..........................................................................................Sheet 35-01

• ✪❏❈❘ ❚✂✕✘✜ ✹ ❉❈❊ ✂❍❑  ❚

-General .....................................................................................Sheet 36-01
-Replacing the filter ....................................................................Sheet 36-01

• ✪❏❈❘ ❚✂✕✙✜ ✳❉❚❑❊❈❑◗ ✂❘ ❈

-Lubrication plan ........................................................................Sheet 37-01
-Lubricants .................................................................................Sheet 37-02
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

-Taking out of service / disposal ................................................Sheet 37-03

• ✪❏❈❘ ❚✂✕✚✜ ✺ ❚❑❊ ✂◗❍❈❚

-General .....................................................................................Sheet 38-01
-Making a connection.................................................................Sheet 38-02
-FM-I Servicemaster
• Menu guide.............................................................Sheet 38-03
• Commissioning the steering, general .....................Sheet 38-05
❚  ❚ ❋✏

-Commissioning the steering 180° ........................Sheet 38-06

-Commissioning check 180°-system .....................Sheet 38-09
-Correcting the straight-on position 180°-system ..Sheet 38-09
-Adjusting the flutter 180°-system .........................Sheet 38-11
-A/D converter calibration 180°-system.................Sheet 38-17
-Correcting the steering speed 180°-system.........Sheet 38-19
-Setting the gear transmission ratio 180°-systemSheet 39-19.1
-Reverse steering 180°-system.............................Sheet 38-20

-Commissioning the steering 360° ........................Sheet 38-21

-Adjustment steering wheel turns 360°-system.....Sheet 38-26
-A/D converter calibration 360°-system.................Sheet 38-27
-Adjusting the flutter 360°-system .........................Sheet 38-28
-Setting the gear transmission ratio 360°-system .Sheet 38-31

-Error messages for teaching-in 180° and 360° ....Sheet 38-32

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✿✰✰✰
 ✪◗  
• ✪❏❈❘ ❚✂✕✚✜ ✺ ❚❑❊ ✂◗❍❈❚
-FM-I Servicemaster
• Commissioning the hydraulics................................Sheet 38-40
-Commissioning with standard parameter set.......Sheet 38-42
-Recommended values for initial commissioning ..Sheet 38-50
-Commissioning with vehicle-specific file ..............Sheet 38-53
-Commissioning with LAS module data ................Sheet 38-54
-Teaching-in of the 4-lever system ........................Sheet 38-55
• Loading parameters................................................Sheet 38-56
• Diagnosis................................................................Sheet 38-57
-Error memory .......................................................Sheet 38-58
-List of errors .........................................................Sheet 38-60
-Analogue values for hydraulics ............................Sheet 38-63
-Analogue values for steering ...............................Sheet 38-64
-Input switching signals LAS / FPS .......................Sheet 38-65
-Travel transducer .................................................Sheet 38-67
-Travel drive ..........................................................Sheet 38-68
-Hydraulic drive .....................................................Sheet 38-69
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

-Version information ..............................................Sheet 38-70

• LAS module software update .................................Sheet 38-71
• Setting the parameters in the FPS .........................Sheet 38-75
-Travel parameters ................................................Sheet 38-76
-Operating hour counter ........................................Sheet 38-78
-Battery type ..........................................................Sheet 38-79
-Hydraulics characteristics ....................................Sheet 38-80
❚  ❚ ❋✏

• ✪❏❈❘ ❚✂✕✛✜ ✬❚❚◗❚✂❊◗❋ 

-Description of errors .................................................................Sheet 39-01

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✿✰✽
 ✪◗  
• ✪❏❈❘ ❚✂✖✒✜ ✾❑ ❍ ❈❏

✽ ❚❑◗ ✂✽ ✏✒✘
-General .....................................................................................Sheet 40-01
-Block diagram ...........................................................................Sheet 40-02
-Description................................................................................Sheet 40-03
-Setting up a connection with the vehicle...................................Sheet 40-07
-Downloading the FPS software ................................................Sheet 40-08
-Downloading the steering software...........................................Sheet 40-09
-Downloading the LAS module software....................................Sheet 40-10
-Updating programs ...................................................................Sheet 40-12

✽ ❚❑◗ ✂✽ ✏
-General .....................................................................................Sheet 40-13
-Preparation for downloading to the CAN control system ..........Sheet 40-15
-Selecting the truck ....................................................................Sheet 40-16
-Selecting the control system.....................................................Sheet 40-17
-Selecting the file .......................................................................Sheet 40-18
Copyright protected. No part of this manual

-Checking the connection ..........................................................Sheet 40-19

may be reproduced in any form.

-Programming start ....................................................................Sheet 40-20

Copyright reserved.

-End program .............................................................................Sheet 40-21

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
✿✹✎ ✪ ✿✽
 Chapter
Kapitel 11 Fahrzeugdaten
vehicle data
Guide to signs on the vehicle and vehicle number

Load diagram Vehicle no. on reach carriage

1/0218

40775u

UVV test plaque

Urheberrechtlich geschützt. Jede Form der
Vervielfältigung, auch auszugsweise, ist
untersagt. Copyright reserved.

40777u

Factory nameplate

40770u

40776u

Issue: 05/0402/02 Workshop Sheet no.

Replaces issue: Manual
XR-AC 1-01
 Kapitel
Chapter1 1 Fahrzeugdaten
vehicle data

Production number and consecutive identification numbers

Our industrial trucks are allocated a production number for identification purposes.
This production number can be found on the factory nameplate of the vehicle.

The production number contains a code for the vehicle type and a consecutive
identification number. Vehicle changes are always introduced from a certain
identification number onwards.

However, please always specify the entire production number when making enquiries.

The following vehicles are described in this workshop manual: trucks with load carrying
capacities of 1.4 t (XR14AC), 1.6 t (XR16AC) and 2.0 t (XR20AC).

Guide to production numbers

Production number
Urheberrechtlich geschützt. Jede Form der
Vervielfältigung, auch auszugsweise, ist

1836 0 58300
61 1856 00001
untersagt. Copyright reserved.

Consecutive identification number

XR14AC

61 1837 0 00001

XR16AC

61 1838 0 00001

XR20AC

Issue: 05/0402/02 Workshop Sheet no.

Replaces issue: Manual
FM-I Typ 451
XR-AC 1-02
 Chapter 1 vehicle data
Technical data
The data listed here applies for a standard vehicle (mast h1= 2250 mm). The values for
"Current consumption" and "Operating pressures" are average values taken from several
different vehicles. These values are influenced, among other things, by the mast (mast
height h1), the max. load-bearing capacity and the battery used.

Vehicle type XR14AC XR16AC XR20AC

1
Rated load-bearing capacity kg 1400 1600 2000
Battery voltage V 48 48 48
Battery capacity Ah 420/560/700 420/560/700 560/700
Power consumption in acc. with VDI cycle KWh/h . 4.6 5.3 5,90
Battery weight ± 5% (acc. to manufacturer)kg 750/940/1120 750/940/1120 940/1120
Empty weight incl. battery 2 kg 3035/3235/3425 3065/3265/3455 3296/3496
Drive motor output KW 6 6 6
Hydraulic motor output KW 11.5 11.5 11.5
Steering motor output KW 0.5 0.5 0,5
max. travel speed with/without load 3 km/h 11 11 11
Acceleration over 10m with/without load s / 5.0/4.6 5.2/4.6 5.5/4.7
Urheberrechtlich geschützt. Jede Form der
Vervielfältigung, auch auszugsweise, ist

Climbing ability with/without load % / 10/15 10/15 9.5/15

4
Drive motor curr. at V=2.5km/h, w/o load A 6 ca. 70-90 ca. 70-100 ca. 70-100
Drive motor curr. at V=11km/h, w/o load 4 A 0 ca. 100-120 ca. 100-130 ca. 100-130
untersagt. Copyright reserved.

Drive motor current on acceleration to

11 km/h, without load 4 A 3 ca. 260-280 ca. 260-290 ca. 260-310
Lifting speed with/without load m/s 3 ca. 0.36/0.6 ca. 0.32/0.6 ca. 0.28/0.48
Operating pressure, lifting with load bar 4 ca. 130-190 ca. 200-230 ca. 160-180
Current consumption, lifting with load A 6 ca. 250-280 ca. 270-290 ca. 270-290
Lowering with load (main lift) m/s 0 ca. 0,52 ca. 0.54 ca. 0.50
Lowering with load (free lift) m/s 0 ca. 0,49 ca. 0.49 ca. 0.48
Reaching speed with load 5 cm/s 9,5-11.5 9.5-11.5 9.5-11.5
Operating pressure, reaching with load bar 4 ca. 40-70 ca. 40-70 ca. 40-70
Current consumption, reaching with load A 0 ca.100-140 ca.100-140 ca.100-140
Tilting time out of vertical s ca. 3.0 ca. 3.0 ca. 3.0
Operating pressure for tilting with load bar 4 ca. 75-110 ca. 75-110 ca. 75-110
Current consumption for tilting with load A 0 ca. 100-180 ca. 100-180 ca. 100-180
Side shift with load cm/s ca. 4.4 ca. 4.4 ca. 4.4
Oper. pressure, side shift with load bar 4 ca. 100-120 ca. 100-120 ca. 100-120
Current cons., trans. reach with load A 0 ca. 140-170 ca. 140-170 ca. 140-170
Adjustment of pressure limiting valve 6 bar 5 ca. 150-220 ca. 210-245 ca. 180-200
1 = As the lifting height increases, the load-bearing capacity decreases (see diagram of loads on the mast)
2 = The empty weight varies according to the different mast heights. These specifications apply for a mast
with a height of h1= 2250 mm
3 = The max. travel speed can be set separately in 5 different travel programs to between 1 and 11 km/h
4 = All values measured with the travel parameters set to the default factory settings
5 = The reaching speed can be set with parameters and is between 5 and 6 seconds from one stop to the
other, depending on the type of battery used (affects the reaching depth) and the vehicle type (mean
reaching speed 10.5 cm/sec.)
6 = The valve is generally set to "Operating pressure for lifting with nominal load + 10%"

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 1-03
 Kapitel
Chapter1 1 vehicle data
Fahrzeugdaten

Definition of the directions of movement

Tilting
Load side (LS) Drive wheel side (DWS)

Reach to Reach to
load side drive side
Lifting
(LS) (DWS)
mast
Urheberrechtlich geschützt. Jede Form der
Vervielfältigung, auch auszugsweise, ist
untersagt. Copyright reserved.

Lowering
mast

Travel direction Travel direction

load side (LS) drive side (DWS)

0/0352

The descriptions left and right assume that you are looking in the drive
side travel direction!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 1-04
 Chapter 2 Drive motor
✮ ❚❈
✻❏ ✂❋❚❑ ✂❖◗◗❚✂❑✂❈✂✕✎❘❏❈ ✂❈  ❚ ❈❑ ✂❊❚❚ 
❖◗◗❚✂✡❈ ❊❏❚◗ ◗✂❖◗◗❚✂❑❏✂❙❑❚❚ ✂❊❈
❚◗◗❚☛✏

✰✂❑✂❊◗ ❚◗ ❋✂❉✂❈✂❊◗  ❚ ❚✂❏❑❊❏✂ ❚❈ 

❑ ◗❑❋❈ ✂✕✎❘❏❈ ✂❈  ❚ ❈❑ ✂◗ ❈ ✂❍❚◗❖✂❏
❉❈ ❚✂◗ ❈ ✂✡❘ ❈ ✂ ✂ ✪◗  ❚ ❚✍✂✮ ❚❈ ☛✏

✻❏ ✂✕✎❘❏❈ ✂❈◗❚✂❚◗❈❚✂❍❑ ❋✂ ❚❈ ✂◗ ❈ ✂❑

❏ ✂❙❑❚❚ ✂❊❈ ✂❚◗◗❚✂✡ ☛✂❉✂❉❚ ❈ ❑ ✂❖❈ ❑❊
❍❑ ❋✂ ❑ ✂✡◗ ✂❏ ✂❘❚❑ ❊❑❘ ✂◗❍✂◗ ❈ ✂❑ ❋❊❑◗ ☛✏
✻❏❑✂❑ ❋❊ ❋✂◗ ❈ ✂❑✂❏◗❚✎❊❑❚❊❑ ❋✂❉✂❏ ✂❏◗❚✎
❊❑❚❊❑✂❚❑ ✂✡✔☛✏✂✻❏ ✂❘◗ ❚✂ ❚❈ ❋✂❑ ✂❏❑✂❈✂❑
❚ ✂ ❚❈ ✂❈✂❚◗◗❚✂❖❈ ❑❊✂❍❑ ❋✏✂✻❏❑✂❚◗◗❚✂❍❑ ❋
❈ ❖❘✂◗✂❍◗ ◗✂❏ ✂❈◗❚✂❚◗❈❚✂❍❑ ❋✍✂❑✏ ✏✂❏
❚◗❈❑◗ ❈ ✂❘ ❋✂◗❍✂❏ ✂❈◗❚✂❍❑ ❋✂❑✂❏❑ ❏ ❚✂❏❈ ✂❏❈
◗❍✂❏ ✂❚◗◗❚✂❍❑ ❋✂✡❈ ❊❏❚◗ ◗☛✏✻❏❑✂❋❑❍❍ ❚ ❊ ✂❑
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

❚◗❈❑◗ ❈ ✂❘ ❋✂❑✂ ◗ ✂❈✂ ❑❘❘❈ ✏

2/0238

✻❏❑✂❍ ❊❑◗ ❈ ✂❘❚❑ ❊❑❘ ✂❖ ❈ ✂❏❈✂❊❈❚❉◗ ✂❉❚❏ 

❈❚ ✂ ◗✂ ◗ ❚✂ ❋ ❋✂❑ ✂❏ ✂❖◗◗❚✍✂❈ ❋
❊◗  ❙  ✂❏❈✂◗❑ ❑ ✂❑ ✂❏ ✂❑ ❑❋ ✂◗❍✂❏ ✂❖◗◗❚
❍❚◗❖✂❊❈❚❉◗ ✂❉❚❏✂❋✂❑✂ ◗✂ ◗ ❚✂❈✂❘❚◗❉ ❖✏ Magnetic field of the
stator rotary field
✰ ✂❏❑✂❈✍✂❉✂❊❏❈ ❑ ✂❏ ✂❚◗❈❑◗ ❈ ✂❘ ❋✂◗❍✂❏
❚  ❚ ❋✏

❈◗❚✂❍❑ ❋✂✡❍❚ ❙ ❊✂◗❍✂❏ ✂❈  ❚ ❈❑ ✂◗ ❈ ☛✍

❏ ✂❘ ❋✂❊❈ ✂❉ ✂❊❏❈ ❋✍✂❈ ❋✂❉✂❊❏❈ ❑ ✂❏
◗ ❈ ✂❏ ✂❊❚❚ ✂❊❈ ✂❉ ✂❊❏❈ ❋✂❑ ❋❑❚ ❊ ✍✂❈ ❋
❊◗  ❙  ✂❏ ✂◗❚❙ ✂❚  ❈ ❋✂✡❘ ❈ ✂
✪◗  ❚ ❚✍✂✻❏ ✂❘❚❑ ❊❑❘ ✂◗❍✂❘ ❋✑◗❚❙
❚  ❈❑◗ ☛✏
Rotational direction
✻❏ ✂❘ ❋✂❑✂❋  ❊ ❋✂❉✂❈✂❘ ❋✂ ◗❚✂❑  ❚❈ ❋ of stator rotary field
❑ ✂❏ ✂❖◗◗❚✂✡ ◗❚✂❉ ❈❚❑ ✂✡✕☛☛✍✂❏❑❊❏✂❑ 2/0239
❊◗ ❊ ❋✂❋❑❚ ❊ ✂❈✂❏ ✂❊◗  ❚ ❚✂✡❘ ❈ ✂
✫❚❑ ✂❖◗◗❚✍✂✺❘ ❋✂ ◗❚ ☛✏ 2
1
◗✂❑  ❚❈ ❋✂❑ ✂❏ ✂❖◗◗❚✂✡❑ ✂❏ ✂❈◗❚✂❊◗❑ ✂✡✖☛☛✂❑
❈✂ ❖❘❚❈❚ ✂ ◗❚✍✂❏❑❊❏✂❘❚◗ ❊✂❏ ✂❖◗◗❚✂❍❚◗❖
◗ ❚ ◗❈❋❑ ✂✡❘ ❈ ✂ ✂ ✫❚❑ ✂❖◗◗❚✍✂✻ ❖❘ ❚❈❚
❖◗ ❑◗❚❑ ☛✏✂✻❏❑✂❑✂❈ ◗✂❊◗ ❊ ❋✂❋❑❚ ❊ ✂❈✂❏
❊◗  ❚ ❚✏

2/0240

3 4
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 2- 01
 Chapter 2 Drive motor
✻ ❊❏ ❑❊❈ ✂❋❈❈ 1

Model: AF 124 - L3
Motor design: Alternating current
asynchronous motor with
squirrel cage rotor
Connection method: Delta
No. of pairs of poles: 2
Class of rating: S2 - 60
Voltage: 0 - 28 V AC
Rated current: 177 A AC
Rated frequency: 80 Hz 2/0241
Frequency response: 0 - 130 Hz
Rated output: 6.0 KW
Rated speed: 2340 rpm
Protection class: IP 00
Insulation class: F
Motor bearing lifetime: 12,000 hrs
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Remark: Some of this technical data can be found

on the motor nameplate (1).

✪◗ ❊❑◗ 
✫ ❑ ❈❑◗ ✂◗ ✂❖◗◗❚ ✴ ❈ ❑
❚  ❚ ❋✏

2/0242
Main current terminals

U Phase U from converter

V Phase V from converter
W Phase W from converter

Sensor terminals

Input, temperature sensor

X2.1 Iconst = 2.56 mA
X2.2 n.c.
X2.3 0V supply, temperature sensor
2/0243

X1.1 12V supply, speed sensor X2 X1

X1.2 Channel B, 0V active switching
X1.3 0V supply, speed sensor
X1.4 Channel A, 0V active switching
2/0244

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✒✔
 Chapter 2 Drive motor
Temperature monitoring
1

The motor temperature is sensed by a temperature

sensor integrated directly in the stator coil (1).
The temperature sensor works by the same
principle as a PTC resistor (increasing temperature
= increasing resistance value), however this special
version (silicon sensor) has an almost linear course
(see characteristic curve).

The temperature sensor is supplied with constant

current I = 2.56 mA by the converter (please see
"Converter, Connections, Control signals").
In this way, the measured temperature is sent back
to the converter as a voltage value. 2/0245

At 20°C, this represents a voltage of about 1.4V

(145°C = 3.35V, 150°C = 3.45V).
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

The temperature measured in this way is sent to the

FPS via the CAN bus 2 (please see "CAN bus"). In
the event of excess temperature, the FPS then
issues an error code, which is sent via CAN bus 1
to the LAS module (entry in the error memory) and
to the display (to be displayed). The result is a
power reduction.
❚  ❚ ❋✏

✬❚❚◗❚✂❊◗❋ (see "Error codes")

2/0246

FE25: Temperature > 145°C, 50% power reduction

FE26: Temperature > 150°C, motor is switched off
FE27: Temperature sensor faulty or connector
pulled out (please see "Drive motor,
Connections");
The motor is switched off.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✒✕
 Chapter 2 Drive motor
Temperature monitoring
✻ 

✻◗✂ ✂❏ ✂ ◗❚✍✂❊◗ ❊◗❚✂✿✔✂❈✂❏ ✂❖◗◗❚✂❖ ✻✑✉✪ ✹✑✶❏❖ ✻✑✉✪ ✹✑✶❏❖

❉ ✂❋❑❊◗ ❊ ❋✏✂ ✂❚ ❑❈ ❊ ✂❖ ❈❚ ❖ ✂❖ -40 355 100 1000
❏ ✂❉ ✂❊❈❚❚❑ ❋✂◗✂◗ ✂❏ ✂ ◗❚✂❑❋ ✂◗❍✂❏ -30 386 110 1063
❊◗ ❊◗❚✂❉  ✂✿✔✏ ✂❈ ❋✂✿✔✏✕✏✂✭❑ ❈ ✍✂❏ -20 419 120 1129
 ❖❘ ❚❈❚ ✂❈✂❏ ✂❖◗◗❚✂❏◗❑ ✂❖✂❉
-10 455 130 1197
❖ ❈❚ ❋✏✂✻❏ ✂❖ ❈❚ ❋✂❈  ✂❏◗ ❋
0 493 140 1268
❊◗❚❚ ❘◗ ❋✂❑❏✂❏◗ ✂❏◗ ✂❑ ✂❏ ✂❈❉ ✂◗✂❏
❚❑ ❏✂✈✂✔✒ ✏ 10 533 150 1340
20 576 160 1415
25 598 170 1493
✰❖❘◗❚❈ ✂ ◗ ✂◗ ✂❖ ❈❚❑ ✂❏ ✂❑  ❈❑◗ 30 621 180 1572
❚ ❑❈ ❊ ✂❈✂❏ ✂❖◗◗❚✜ 40 668 190 1654
50 718 200 1739
✻❏ ✂ ❖❘ ❚❈❚ ✂ ◗❚✂❖✂❉ ✂❏◗❚✎❊❑❚❊❑ ❋ 60 769 210 1825
70 824 220 1914
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

❑❏◗✂❍❈❑ ✂❍◗❚✂❑  ❈❑◗ ✂❖ ❈❚ ❖ ✍

◗❏ ❚❑ ✂❏ ✂ ◗❚✂❑ ✂❉ ✂❋❈❖❈ ❋✂❉✂❏ 80 880 230 2006
❏❑ ❏✂ ✂◗ ❈ ✄ 90 939 240 2099
❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✒✖
 Chapter 2 Drive motor
Speed sensor 1

The speed sensor is designed as a "sensor

bearing" (ball bearing with speed sensor) and is
located inside the motor, pressed onto the rotor
shaft (1).

Structure 2/0247

- Connecting lead (2) 5 2 3

- Outer sensor ring (3)
- Inner pulse ring (4)
- Deep-groove ball bearing (5)

It is connected directly to the converter, which

supplies it with 12V power and evaluates it (please
see "Converter, Connections, Control signals").
The two sensor signals (signal A and signal B) are
also sent to the FPS.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Remark: Monitoring of the speed sensor signal by

the FPS is only possible with the so-
called "FPS 2".
On vehicles with "FPS 1", the speed
sensor is not connected to the FPS
(please see "FPS").
2/0248
❚  ❚ ❋✏

The converter needs the sensor information in 4

order to regulate the speed of the drive motor.
If no signals arrive at the converter, the motor is
only controlled by a minimum.

Remark: The converter itself does not generate an

error code if the sensor is faulty!

The FPS ("FPS 2") compares the speed sensor

information that it has recorded itself, with the
information it receives from the converter via the
CAN bus 2.
If there is a difference between these two speed
values, the FPS generates an error code "FE 28"
(please see "Error codes"). However, this does not
have an effect on the way the motor behaves.
This means that if the connector of the speed
sensor is disconnected, this is not detected (no FE
code but motor only driven to a minimum).

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✒✗
 Chapter 2 Drive motor
Speed sensor
If the two channels at the speed sensor are
swapped or two phases are swapped at the motor,
the speed specification and speed response do not
match.
The result is that the polarity for the rotational
direction of the motor is changed constantly, which
makes the motor vibrate strongly.

✪❏ ❊ ❑ ✂❏ ✂❘ ❋✂ ◗❚ 2/0249

Remark: When viewed looking at the sensor side,

if the inner ring turns clockwise, the rising
edge of Signal B is ahead of the rising Direction of rotation
View towards
edge of Signal A. the sensor side
The sensor connects 0V active signals! Hall sensors
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Test 12V power supply between X1.1 and X1.3 at red black
speed sensor.
• Test sensor signal A between X1.1 and X1.4 at
speed sensor. To do so, release magnetic brake U
blue white
electrically and move the vehicle forwards and 2/0122

backwards slightly by pushing and pulling. The Signal B (blue)

signal level should change between approx. 11.5V

and 3.5V.
❚  ❚ ❋✏

• Repeat this procedure in exactly the same way

with sensor signal B between X1.1 and X1.2. Signal A (white)
• Drive the vehicle slowly. The voltage value of the
sensor signal is then approx. 6-7 V (DC
measurement). t

✺❘ ❋✂ ◗❚
Remark: The speed sensor can be replaced and
can also be tested outside the vehicle 12V Signal A Signal B 0V

(please see "Drive motor, Removal"). To X1.1 X1. 4 X1.2 X1.3

to FPS
do so, connect 12V to the sensor with, for X1.15
example, a power pack, and turn the 11.5V/3.5V X1.24
inner ring of the speed sensor. Check the ✽

signal change of the channels (0V / 12V) ✽

with a measuring device. 12V

X1.3 X1.5 X1.6 X1.4

Red wire: 12V 12V 12V

Black wire: 0V
White wire: Signal A ✪◗  ❚ ❚

Blue wire: Signal B

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✒✘
 Chapter 2 Drive motor
Removal
Note: Once the drive motor has been
removed, the vehicle is no longer
braked. For this reason, secure the
vehicle before removing the motor, to
prevent it from rolling away!

• Pull out the battery plug.

• If the vehicle is fitted with an electrical seat

adjustment device, this must first be removed in
order to access the motor. 2/0243

1 3 2
• Disconnect the connectors for the magnetic brake
(1), speed sensor (2) and temperature monitoring
(3), marking them beforehand if necessary.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Disconnect the power leads (phases U, V, W) (4)

at the motor, marking them beforehand if
necessary.

• Remove the magnetic brake (please see "Electro-

magnetic parking brake, Removal").
❚  ❚ ❋✏

• Screw an M8 eyebolt into the rotor shaft (5).

• Release the 6 hexagon socket screws (6) on the 2/0242

motor flange. 4 5

2/0250
6
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 2- ✒✙
 Chapter 2 Drive motor
✹ ❖◗❈
✭❈ ✂❈✂❚◗❘ ✂◗✂❏ ✂❍◗❚ ✂❘❚◗ ✂◗❍✂❈✂❍◗❚ ✎ ❑❍✂❚❊
◗❚✂◗✂❈✂ ❑❍❑ ✂❉❈❚✂❑❏✂❈✂❖❈✂❏❑❊❏✂✡ ✍✂❘ ❈ ✂
✫❚❑ ✂❖◗◗❚✍✂✴❈✂❏❑❊❏ ☛✏
Note: Do not work without lifting gear! A great
deal of force is required to release the
connection between the motor and
gear!
Lift the drive motor out vertically,
making sure not to tilt it, otherwise there
0/0129
is a risk of damage to the drive pinion
1
and the gear!
• Hold the loose end of the rope taut. Place the
lifting bar on the vehicle chassis and lift the drive
motor out.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

If you are working with a fork-lift truck, the rope

must be pulled very taut. Release the motor from
the gear by rocking the drive motor gently back
and forth, and lift it up and out.
Remark: If the drive motor is lifted out with rope
that gives slightly, you must not
❚  ❚ ❋✏

attempt simply to lift the drive motor

out with the fork-lift truck. If this were
to be attempted and the motor were
released suddenly from the gear, there 2/0251

would be a sudden jerking movement 2

which could cause damage not only to
the drive motor but also to the vehicle,
and might injure anyone standing in
the area.
✳❈✂❏ ✂❖◗◗❚✂❋◗ ✂◗ ✂❈✂◗❍✂❚❍❈❊ ✂✡ ✏ ✏✂❈
❘❈ ☛✂❈ ❋✂❚ ❖◗ ✂❏ ✂ ❑❍❑ ✂ ❙❑❘❖ ✏
• Cover the free gear opening (2)

2/0252

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✒✚
 Chapter 2 Drive motor
Installation
Note: Only use the prescribed screw length
(M8x22), otherwise the four-point
bearing may be damaged.

Before installation, lubricate the end of the shaft (1)

lightly with oil. Do not use grease!!
To install the drive motor, follow the instructions for
removal in reverse order (please see "Drive motor,
Removal").
Clean the gear opening.
The drive motor must be installed with a lifting aid 2/0253

so that the motor is not tilted as it is lowered in

1
(risk of damage to the drive pinion and the gear).
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

The best way to do this is to lower the motor slowly

into the gear on a rope which is attached to a lifting
bar with a "half mast hitch" knot (please see "Drive
motor, half mast hitch").

Remark: The 6 fastening screws should be

❚  ❚ ❋✏

tightened diagonally in several passes

to 23Nm.

2/0256

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✒✛
 Chapter 2 Drive motor
Dismantling
In order to replace the speed sensor in the drive
motor, the motor must be completely dismantled.
After removing the motor from the vehicle (please
see "Drive motor, Removal"), proceed as follows:

• If there is still an M8 eyebolt in place (1, needed

for removing the motor) remove it, and also
remove the brake driver (2), brake disk (3) and
friction plate (4).

• Remove the adjusting spring (5).

2/0254

• Remove the circlip (6). 4 3 6 2 7 1

9 8
• Remove the 3 M5x25 screws (7).
11
12
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Drive the rotor shaft carefully out of its seat with a

block of wood and a hammer (see Fig. 3).
13
Note: The rotor cannot be pulled right out
because of the supply lead for the sensor 14
bearing. Leave the rotor lying loosely in
the housing!
❚  ❚ ❋✏

• Release the 4 threaded rods (8) by removing the 4 15

nuts (9).
5
• Remove the motor flange (10), including the
threaded rods.

• Remove the screws and plates (11) of the motor

terminals. 10

• Remove the 3 insulating bushes (12) by releasing 2/0088

the screw (13).

• Mark the terminal lugs (14) of the stator coils with

U,V, W and push them inside the end shield (15).

2/0255

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✒
 Chapter 2 Drive motor
Dismantling

• Make a mark (1) to show the position of the end

shield in relation to the stator housing (for correct
alignment when assembled again subsequently)
and carefully remove the end shield (2).

• Pull the rotor out of the stator housing.

• Pull the sensor bearing (3) off the rotor with a disc
puller (4).

To ❈ ❖❉ the motor, follow the instructions 2/0257

above in reverse order.
1 2
Remark: When mounting the sensor bearing,
ensure that it is installed the right way
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

round.
The connecting lead (5) should point
towards the "rotor package" (Fig. 3)!

Note: The sensor bearing must not be mounted

on the rotor shaft by hitting it with a
hammer - there is a high risk that this will
damage the sensor bearing!!
❚  ❚ ❋✏

Mount the sensor bearing with a suitable

tool, or press it on with a press! 2/0258

4 3

2/0259

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2-
 Chapter 2 Drive motor
Maintenance
Since there are no carbon brushes in the motor and
the only sensor bearing has a lifetime of 12,000
operating hours (including lubrication), the motor is
practically maintenance-free!
The only attention it needs is for you to listen for
abnormal sounds during the normal vehicle
maintenance intervals (this is an indication of any
mechanical damage that may have occurred)!
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏
❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✔
 Chapter 2 Drive motor
✴❈✂❏❑❊❏
✻❏ ✂❖❈✂❏❑❊❏✂❑✂❈✂ ◗✂❏❈✂❊❈ ✂❉ ✂ ❋✂◗✂
 ❊❚ ✂❈✂ ◗❈❋✂❈✂❈✂❘ ❊❑❍❑❊✂❘◗❑ ✏

✭◗❚❖✂❈✂ ◗◗❘✂❑❏✂❏ ✂❚◗❘ ✏

0/0132

✾❑❏✂❏ ✂❍❚ ✂ ❋✂◗❍✂❏ ✂❚◗❘ ✍✂❍◗❚❖✂❈ ◗❏ ❚

◗◗❘✂ ✂◗✂❏ ✂❍❑❚✂◗ ✏✂✰✂❑✂❑❖❘◗❚❈ ✂◗✂❚ ✎
❖ ❖❉ ❚✂❏❈✂❏ ✂ ❋✂◗❍✂❏ ✂❚◗❘ ✂❖✂❈ ❈
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

❉ ✂◗ ✂◗❘✂◗❍✂❏ ✂ ◗◗❘✂✡ ☛✏

0/0133
❚  ❚ ❋✏

✷❏✂❏ ✂ ❊◗ ❋✂ ◗◗❘✂❉ ❏❑ ❋✂❏ ✂❍❑❚✂ ◗◗❘✏

✰❍✍✂❍◗❚✂ ❈❖❘ ✍✂❈✂❋❚❑ ✂❖◗◗❚✂❑✂◗✂❉ ✂❚ ❖◗ ❋
❑❏✂❈✂❊❚◗❉❈❚✍✂❏ ✂◗✂ ◗◗❘✂❖✂❉ ✂❘❏ ❋
◗ ◗✂❏ ✂❊❚◗❉❈❚✂❑ ✂❏❑✂❘◗❑❑◗ ✏
Move the crowbar into position. Push the knot
into position and pull out the load on your
shoulder.

0/0134

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✕
 Chapter 2 Drive motor
✯❈ ❍✂❖❈✂❏❑❊❏
✻❏ ✂❏❈ ❍✂❖❈✂❏❑❊❏✂❑✂❈✂ ◗✂❏❈✂❊❈ ✂❉ ✂ ❋✂◗
❏◗ ❋✂❏ ❈✂ ◗❈❋✂❑❏✂ ❚✂ ❑ ✂❍◗❚❊ ✂❈ ❋✂ ◗ ❚
❏ ❖✂ ❋ ❚✂❊◗ ❚◗ ✏

✭◗❚❖✂❈✂ ◗◗❘✂❑❏✂❏ ✂❚◗❘ ✏

0/0132

✳ ❈❋✂❏ ✂❚◗❘ ✂◗✂❏ ✂❉❈❊ ✂◗✂❍◗❚❖✂❈✂ ❑ ✏

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

0/0111
❚  ❚ ❋✏

✷❏✂❏ ✂❊❚◗❉❈❚✂❏❚◗ ❏✂❏ ✂ ◗◗❘✂❈ ❋✂❏

❉ ❋✏

Move the crowbar into position. Push the knot

into position and hold the free end in one hand.
Lower the load by slowly feeding out the rope.

0/0112

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 2- ✖
 Chapter 3 Drive wheel
Changing the drive wheel
Dimension when NEW: Ø 343 mm/136 mm

The drive wheel must be replaced when:

- the running surface is very pitted or
out of round 230 mm
- the diameter of the tyre has
decreased by 10%, Fig. 1
e.g. 343 mm - 10% = 309 mm. 5-01 19

Remark: If the steering is used when the

vehicle is at a standstill, the degree
of wear on the drive wheel is
increased!
For this reason, avoid excessive
steering when the vehicle is at a
standstill!
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Removal
• Jack up the vehicle to about 230 mm (Fig. 1) Fig. 2
5-01 17
and secure it to prevent it rolling away!
• Remove the covers.
❚  ❚ ❋✏

• Apply the parking brake with the switch.

• Move the drive wheel into the straight-on
position and loosen the 7 drive-wheel nuts
(Fig. 2).
• Move the drive wheel into a 90° position and
remove the nuts (Fig. 3).
• Pull off the drive wheel, taking care not to Fig. 3
5-01 18
damage the threaded bolts.
• Tilt the drive wheel down under the gear and
pull it forwards (Fig. 4).

When mounting the new drive wheel, tighten the

wheel nuts diagonally in several passes.

Tightening torque: 140 Nm

5-01 20 Fig. 4

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 3- 01
 Chapter 4 Gear
Commissioning the gear 6 1
The following types of gear oil are used:

Standard oil: SAE 80

Ambient temperature: 0°C bis 40°C
(see "Lubrication plan, Lubricants")

Low-temperature oil: SAE 75 W-90

partly synthetic
Ambient temperature: to -40°C
(see "Lubrication plan, Lubricants")

Oil volume: approx. 3.6 l

Transmission: i = 19.16 0/0350

Hinweis:
The given amount of oil is a guideline only. The
correct amount of oil is that required for the level
to reach the lower edge of the filling hole (1).
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

This means that the spur gear is submerged in

2
oil by about 1/3 of its height (2). Filling is also
possible through the screw (3) when the motor
has is removed from the vehicle. It is important
to ensure here that the oil is only filled up to the Oil level
lower edge of the filling hole (1) (remove the
screw for this purpose)!
❚  ❚ ❋✏

Overfilling must be avoided, otherwise oil can 4

escape at the gear bleeder screw (4), the seals
may be damaged and it is possible that the
operating temperature may not be maintained.
Check that the gear bleeder screw is clean.

Lubricating the bogie bearing: 2/0097

The bogie bearing should be lubricated once a

year through the two lubricating nipples (5). This 5 3
is particularly important every time the gear has
been cleaned (e.g. with steam jets).

Grease type: All-purpose grease (see

"Lubrication plan, Lubricants")

Lubricating the gearwheel steering:

The toothed gear ring (6) should be lubricated
with all-purpose grease every 3 months.
2/0099

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 4- 01
 Chapter 4 Gear
Changing the oil
The first oil change must be carried out after
approx. 50-100 operating hours.
All subsequent oil changes should be carried out
after approx. 2000 operating hours or at least
once a year.
In the intervals between oil changes, the oil level
should be checked once a quarter and topped up
if necessary.

Remark: The gear oil must be drained off

when the vehicle is warm.
The maximum permissible operating
temperature is 80°C. Fig. 1 5-01 12

Changing the oil

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Jack up the vehicle and secure it to prevent it

rolling away.
• Move the gear into the drainage position (see 2
Fig. 1).
• Set an oil catchment vessel under the oil
drainage screw (1). It should have a volume of
❚  ❚ ❋✏

approx. 4 litres.
• Remove the oil filler screw (2).
• Remove the oil drainage screw (1) and let the oil
run out.

Note: Risk of scalding!

The oil temperature may be as
high as 80°C! Fig. 2 0/0350

• Screw the oil drainage screw back in place,

using a new sealing ring
• Fill with new gear oil, up to the lower edge of
the threaded hole for the oil filler screw (see
the "Gear, Commissioning" section)
• Screw the oil filler screw back in place with the
sealing ring.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 4- 02
 Chapter 4 Gear

Removal / Installation

Removal
• Pull out the battery plug.
• Jack up the vehicle to about 230 mm (Fig. 1)
and secure it to prevent it rolling away!
• Remove the covers.
• Remove the drive wheel (see "Drive wheel")
• Remove the drive motor (see "Drive motor, 230 mm
Removal").
• Drain off the gear oil (see "Gear, Changing
5-01 19
the oil"). Fig. 1

• Replace the oil drainage screw.

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Secure the gear with a pulley or a second

fork-lift truck (see "Drive motor, Removal").
• Remove the 6 cheese-head screws (1).
• Carefully lower the gear by gently easing
down the pulley or the second fork-lift. The
wheel bolts must face upwards during this
process.
❚  ❚ ❋✏

• Remove the gear by pulling it forwards and

tilting it upwards (Fig. 3)

Fig. 2 2/0099

1
Installation

To replace the gear, follow the instructions above

in reverse order.
The tightening torque for the cheese-head
screws (1) is:

80Nm

Remark: Once the gear has been installed

again, the electrical steering must be
newly adjusted (see "Steering,
Steering unit, Installation"). Fig. 3
2 1 5-03 02

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 4- 03
 Chapter 5 ✬ ❊❚◗✎❖❈ ❑❊✂❘❈❚ ❑ ✂❉❚❈

General
The brake system in this vehicle is a two/three-part
system which consists of:
• A parking brake
An electro-magnetic brake (1) on the drive motor
as a parking brake or as emergency-stop brake
for the event that the electrical steering fails.

• A service brake
- A generator drive motor brake (3) with power
recovery.
- A hydraulically/mechanically actuated internally
acting brake (2) in the load wheels as a back-
up for the generator brake. 2/0079
1 3

Function
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

When no current is supplied, the spring set (4)

presses against the armature disk (5). This in turn
presses against the brake disk (6), which is now
pressed between the mounting flange (7) and the
armature disk and consequently blocks the drive =
braked condition.
1/0170
When the magnetic coil (8) is supplied with current, 2
❚  ❚ ❋✏

it becomes magnetic and pulls the armature disk (5)

against the spring force. This releases the brake 10 8 9 4
disk (6) and the motor can turn = unbraked
condition.
The opening and closing action of the brake is
x
controlled by the LAS module (see sheet on "LAS
Module, controlling the electro-magnetic brake"), in
accordance with: 1/0171
11 6 7 5
- the "parking brake" switch (12)
12
AND
- the "Steering OK" signal from the steering logic
The adjusting nut (9, see "Adjusting the braking
moment") can be used to adjust the braking
moment and the screws (10), together with the
adjusting sleeves (11), can be used to adjust the
brake clearance "X" (see "Adjusting the brake
clearance").

40771u

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 5- 01
 Chapter 5 ✬ ❊❚◗✎❖❈ ❑❊✂❘❈❚ ❑ ✂❉❚❈

Removal 1

Remark: When the brake unit is removed, the

travel drive is unbraked. For this reason,
secure the vehicle before removing the
brake, to prevent it from rolling away.

• Disconnect the electrical connection (1, connector 1/0171

X1) at the brake.

2
• Release the 3 hexagon socket screws (2) M8X65.

• Remove the entire brake unit.

To install the brake unit, follow the instructions

above in reverse order; tightening torque for the
screws (2) : 25Nm.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Remark: Once the electromagnetic brake has

been installed, the brake clearance must
be checked without fail and adjusted if
necessary (see "Adjusting the brake
clearance"). A function test must also be
carried out on the brakes.
The brake deceleration moment must
❚  ❚ ❋✏

2/0079
also be checked (see "Brake
deceleration").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 5- 02
 Chapter 5 ✬ ❊❚◗✎❖❈ ❑❊✂❘❈❚ ❑ ✂❉❚❈

Changing the brake disk 1

Note: While the brake disk is being changed,
the travel drive is unbraked. For this
reason, secure the vehicle before
removal, to prevent it from rolling away.

The brake disk (4) must be replaced when it is so

worn that adjustment of the brake clearance (up to
approx. 0.45 mm) with the adjusting sleeves (2) is
no longer possible. The brake disk must also be
replaced in the event of cracks or non-radial wear.
In order to replace the brake disk, it is necessary in
some cases to remove the electromagnetic brake.

• Release the 3 screws (1) M8X65 evenly. Ensure

that the adjusting sleeves (2) do not turn as you 2/0079
3 2
do so.
4 5
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Disconnect connector X1 of the brake and remove

the magnetic coil (3).

• Pull the brake disk (4) up and off, over the pinion
(5).

• Replace the magnetic coil (3) and tighten the

screws (1) in several passes. Tightening torque:
❚  ❚ ❋✏

25Nm
2/0080

Note: After replacing the brake disk, you must

check the brake clearance without fail
(see "Adjusting the brake clearance")
and carry out a function check on the
brake. The brake deceleration moment
must also be checked (see "Brake
deceleration").

Thickness of a new brake disk: 8mm

Replace at residual thickness of: 6mm

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 5- 03
 Chapter 5 ✬ ❊❚◗✎❖❈ ❑❊✂❘❈❚ ❑ ✂❉❚❈

Adjusting the brake clearance

The electromagnetic brake does not have to be 1
active in order to check the brake clearance.
3
• Loosen the 3 fastening screws (1). Do not remove
them entirely.

• Turn the adjusting sleeves (2) in or out with an

open-ended spanner until a clearance of 0.2 -
0.33 mm can be measured with a feeler gauge
0.2 - 0.35 mm
between the magnetic element (3) and the
armature disk (4).
4 2 6/0148

• Check the brake clearance at three points close to

the screws.

• Tighten the fastening screws (1) again and check

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

the clearance again. Readjust if necessary.

❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 5- 04
 Chapter 5 ✬ ❊❚◗✎❖❈ ❑❊✂❘❈❚ ❑ ✂❉❚❈

Adjusting the braking moment

The braking moment can be adjusted with the Dim. X 1

adjusting nut (1). The nut can be adjusted in steps
of 90°.
Turning the nut in an anti-clockwise direction
reduces the spring force and consequently the
braking moment.

Remark: The adjusting screw is pre-set in the

factory to a dimension of X = 7.5 mm.
1/0184
The required braking moment is
achieved with this setting (see "Brake
deceleration"). 2
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Releasing the brake mechanically

The brake must be released mechanically when:

• The brake coil or a component which is essential

for releasing the brake is faulty and the vehicle
has to be moved.
❚  ❚ ❋✏

1/0187

• The vehicle chassis has to be pushed into a

different position during commissioning of the
vehicle.
For this purpose, two M8X60 screws (2) must be
screwed in, so that the armature plate is pulled
directly against the body of the magnet and the
brake disk is freed.

Note: The two screws must be removed again

before the vehicle is put into operation!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 5- 05
 Chapter 5 ✬ ❊❚◗✎❖❈ ❑❊✂❘❈❚ ❑ ✂❉❚❈

Checking the brake coil approx. 42Ω

If the LAS module detects an error in the area used Ω

for triggering the electro-magnetic brake, the error
code "FE 65" or "FE75" appears on the display and
travel is blocked (see "LAS module, checking the
electro-magnetic brake").
A resistance measurement must be taken to check
the brake coil. 2 1

Connector X1 at the brake:

Pins 1 + 2 approx. 42Ω 4 3

5/0010

Technical data for the brake coil:

Model: 1EB50-34
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Rated voltage: 48V

Holding voltage: approx. 29V
Output: 54W
INom: approx. 1.2A

IHold: approx. 0.7A

❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 5- 06
 Chapter 6 Generator service brake

General
In the generator braking process, a kind of service
braking is actuated which is assisted by the
hydraulic/mechanical brake when the brake pedal is
applied more heavily .

Function

The generator brake can be triggered in 3 different

ways and its parameters set separately in the travel
and pump controller (FPS):

• By releasing the deadman switch (1) with

tdelay. = 1 sec. 40772u
Relevant parameter in the FPS : "Deceleration 1
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

DS or LS"

• By releasing travel transducer (2, micro-switch).

Relevant parameter in the FPS: "Deceleration
DS or LS"

• By tapping the brake pedal (3, micro-switch).

Relevant parameter in the FPS: "Brake 2
❚  ❚ ❋✏

deceleration DS/LS"
5/0095
"Reversing" (switching over the travel direction
during travel) is also a form of generator braking 6/0031

and can be adjusted with the parameter "Reversing

deceleration DS or LS" in the FPS.

1/0182

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 6- 01
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Function
This brake system is a positive-acting system, i.e. a
braking operation is initiated by a build-up of
pressure. The two load wheels (1) are braked.

When the foot brake is actuated, the wheel brake

cylinders (2) are placed under pressure by the main
brake cylinder and consequently press the brake
shoes (3) against the inside of the load wheel rims. 1/0170

1
When the foot brake is released, the brake shoes 2
are returned to their home position again by tension
springs (4).

Remark: When the foot brake is actuated, a

switch is actuated at the same time,
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

which also initiates a generator braking 4 3

operation.
❚  ❚ ❋✏

6/0283

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 01
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Plan of the braking system

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

1/0185
❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 02
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Removal
Note: When the brake unit is removed, the
load wheel in question is unbraked. For
this reason, secure the vehicle before
removal, to prevent it from rolling away.

• Jack up the load wheel.

• Release the 2 screws M8X16 (1) and remove the 1/0177

1 2
cover disk (2).

• Pull the load wheel (3) off the axle (4).

• Remove the brake lead cover (5).

• Releae the brake lead (6).

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Note: Brake fluid leaks out during this process!

Use cleaning cloths or something similar 1/0170

to prevent the area being soiled! 3 4

5
• Release the 7 screws M10X12 (7).

• Pull the entire brake plate (8) off over

the axle (9).
❚  ❚ ❋✏

To install the brake unit, follow the instructions

above in reverse order. Tightening torque for the 7
M10 screws: 46 Nm. Secure with Loctite.
Tightening torque for the 2 M8 screws: 17 Nm.
After this process, bleed all air our of the brake 1/0178
6
system and carry out a function check on the brake
8 7 9
(see "Bleeding/filling the brake system"). Check the
brake clearance and readjust if necessary (see
"Adjusting the brake clearance").
The brake deceleration must also be checked (see
"Brake deceleration").

1/0179

Issue: 10/02 Workshop Sheet no.

Replaces issue: 02/02 Manual
XR-AC 7- 03
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Adjusting the brake clearance

Note: The brake deceleration values must be
checked once a year and after all
adjustments/repairs made to the brake
system (see "Brake deceleration").

Checking the brake linings for the brake lining

thickness

There are openings (1) made in the brake plate and

the reach carriage guide which are designed for
visual inspection of the brake linings. If there is only 1/0180

a residual thickness of about 2 mm visible, the 1

brake shoes must be replaced.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Adjusting the brakes

The inner shoe brake has a central adjustment

feature for the clearance and enveloping circle. In
this adjusting process, a wedge (2) is drawn
between the contact points of the brake shoes,
which causes the size of the enveloping circle to
change. As a result, ideal utilisation of the brake 1/0179
❚  ❚ ❋✏

linings is achieved, while at the same time, the 2

leverage for initiation of the braking force is
improved. After every new adjustment of this brake
wedge, the brake shoes must be re-centred by
braking several times.

Turning the adjusting hexagon (2) to the right pulls

the wedge up, in other words expands the
enveloping circle and results in adjustment of the
1/0181
brake linings. Turning to the left makes the
enveloping circle smaller. The brake clearance is
0.3 - 0.5 mm.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 04
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Adjusting the brake pedal

The brake pedal must be adjusted when: 3
4
- The main brake cylinder (1) has been replaced,
- The piston rod clearance ("snifter clearance")
(2) is not correct, 1
- Components in the brake pedal assembly have
been replaced. 2 5

Note: Since an optimum braking effect

cannot be guaranteed while adjusting
work is being carried out on the brake
pedal, the vehicle must be secured to
prevent it from rolling away. 5/0077

• Slightly loosen the nut (3) of the stopper for the

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

brake pedal movement distance.

X
• Move the stopper (4) along the slot until distance
X at the brake pedal (see diagram) measures
approx. 62 mm, between the lower edge of the
pedal and the mounting plate of the accelerator
pedal. The measurement must be taken without
the rubber pedal cover (5).
❚  ❚ ❋✏

• Tighten the nut (3).

1/0186
• Loosen the nut (7) and turn the threaded rod (6)
so that there is a clearance of 1 mm between the
piston and piston rod of the main brake cylinder.
Tighten the nut again.
This "snifter clearance" is not visible, since the
protective cap covers the end of the piston rod. It
can, however, be felt easily, by pressing the
brake pedal slowly downwards out of its home
position with your hand. When the piston rod has
moved a distance of 1 mm, you should feel a
slight resistance, which is caused by the piston
rod and the piston coming into contact with each
other.
5-03 26

3 6 7

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 05
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Adjusting the brake pedal

• Bend the actuating plate (1) of the foot brake

by hand, so that when the brake pedal is not
actuated, the switch is actuated and the switch
is freed when the pedal is tapped lightly.
This is indicated by a quiet "clicking" noise
made by the switch.

The return force of the pedal is determined

unalterably by the tension spring (2). No
adjustment can be made here. 5-03 26

2 1
If necessary, the spring must be replaced and a
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

check carried out to ensure that the mechanical

elements run smoothly.
❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 06
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Bleeding/filling the brake system 1

Caution: When handling brake fluid, ensure that
the aggressive fluid does not come into
contact with the eyes, skin, clothing or
parts of the fork-lift truck. If you get
brake fluid in your eyes, rinse them out
immediately with lots of clear water. If
you get brake fluid on your skin, wash it
off immediately with soap.
Never mix brake fluid with mineral oil or
dispose of it together with mineral oil!
1/0182
Filling
Brake fluid is hygroscopic, i.e. it absorbs moisture
from the air. For this reason, we recommend
replacing the brake fluid at least once a year.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Brake fluid that overflows when you are filling and

bleeding air out of a new brake system or during
maintenance may on no account be used for filling
the system.

• Fill the storage tank (1)with brake fluid.

• Remove the dust cap from the bleeder valve (2),
push on a well-fitting hose and hang the other
❚  ❚ ❋✏

end of the hose in an open glass container that is

positioned higher than the first end. 1/0178
2
Remark: Wind a cloth or something similar
around the bleeder valve so that no
brake fluid can escape into the brake!

• Open the bleeder valve by a quarter to a half turn.

• "Pump" the brake pedal until brake fluid without
any bubbles in it emerges from the hose. If
necessary, top up the storage tank with more
brake fluid.
• Close the bleeder valve.
• Carry out the same procedure on the 2nd load
wheel.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 07
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Bleeding/filling the brake system

Bleeding 1
If good braking results are not achieved until the
pedal is pressed several times, or if the system
has been newly filled with brake fluid, the brake
system must be bled of air.

If you have an "Ate brake filling and bleeding

device" at your disposal, follow the Instructions for
Use provided by Teves, the manufacturer.

If a device of this kind is not available, the brake

system must be bled as follows. Two people are 1/0182

needed for this work.

• Empty the storage tank (1) and fill it with new

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

brake fluid.

• Remove the dust cap from the bleeder valve (2),

push on a well-fitting hose and hang the other
end of the hose in an open glass container that is
positioned higher than the first end.
❚  ❚ ❋✏

• One person presses the brake pedal down as far

as it goes and holds it in this position.

1/0178
Caution: Ensure that the bleeder hose cannot 2
slip out of place. Cover the glass with
a cleaning cloth to catch any splashes.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 08
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Bleeding/filling the brake system

Bleeding

• The second person opens the bleeder valve (1)

by a quarter or a half turn.

• Brake fluid should emerge due to the pressure

exerted by the brake pedal.

• Close the bleeder valve again immediately.

• Release the brake pedal so it returns to its home

position.

1/0178

Repeat this process between 4 and 7 times until 1

only bubble-free, clear brake fluid emerges into the
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

glass container.
If the oil level in the compensation container drops
significantly during this process, the system must
be topped up with new "Ate brake fluid".

Do not reuse brake fluid that has run out of the

system.
❚  ❚ ❋✏

Repeat the entire process with the 2nd load wheel.

Remark: The individual cylinders must be bled

one after the other. You should start
with the brake cylinder that is furthest
away from the main cylinder. If you find
that air often gets into the brake system
or if the brake cylinders lose brake fluid,
the affected brake cylinder must be
replaced.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 09
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

✴❈❑ ✂❉❚❈ ✂❊ ❑ ❋ ❚

✮ ❚❈
2
The main brake cylinder is located under the
pedal for the foot brake in the underfloor
compartment, and is connected to the brake
pedal by a turning mechanism. The main brake 3 4 1
cylinder initiates and controls the entire braking
operation, because when the brake pedal is
pressed, the main brake cylinder piston (1) F
presses the brake fluid in the brake system into
the wheel cylinders.
5/0078

The compensation tank (2) is mounted directly on

the main cylinder and must always be filled
adequately with brake fluid, up to about
15 - 20 mm below the edge of the lid.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

✹ ❖❈❚ ✜ Only ever use original brake fluid! Do

not add any mineral oil! The brake
fluid should be replaced once a year.

The main brake cylinder has a protective cap (3)

which prevents dust and water penetrating into
the cylinder. The protective cap is fitted with an air
hole so that the air contained in the protective cap
can escape when the main brake cylinder is
❚  ❚ ❋✏

actuated.

The protective cap must be mounted so that the

air hole is at the bottom. If the protective cap is
installed so that the air hole is at the top, water
may collect in the protective cap which can
penetrate into the main cylinder when the brake is
actuated.

The consequences of this are:

- Formation of rust at the main brake cylinder

hole, which can cause damage to the seconda-
ry ring (4) and result in loss of brake fluid.
- The main brake cylinder piston can freeze solid
at minus temperatures.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 10
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Main brake cylinder

General

If there are leaks at or in the main brake cylinder,

or in the event of other damage, the entire main
brake cylinder must always be replaced, since
special tools and expertise are required for repair
work!

Special base valve

Fig. 1 5/0078

So that the pressure is released fully to 0 bar when

the brakes are released, the main brake cylinder is
fitted with a "special base valve" (1).
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Due to this feature, the brakes can be released 1

fully, in connection with the "snifter clearance" of 1
mm (see "Adjusting the brake pedal").

Unlike a normal base valve, the special base valve

has a throttling hole "D" (Fig. 2).
❚  ❚ ❋✏

On the one hand, the throttling hole makes it

possible for excess pressure to be fully released.
On the other hand, it guarantees that when the
pedal is pressed repeatedly very fast, brake fluid
can be "pumped" into the system of hoses by the
main brake cylinder piston. This is useful, for
Fig. 2 5/0079
example, for filling and bleeding the brake system
if there is no filling and bleeder device available.

In order to avoid confusion between main brake

cylinders with a special base valve and other main
brake cylinders, the former is marked with a metal
or adhesive strip with the words "Cylinder has
special base valve" on it.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 11
 ✯❋❚❈ ❑❊✑❖ ❊❏❈ ❑❊❈
Chapter 7  ❚❑❊ ✂❉❚❈

Main brake cylinder

Removal 3

Note: Secure the vehicle to prevent it from

rolling away, since the brake system is
not fully functional during this work!
• Release the lock nut on the fork head (1) and
push out the fastening screw.
• Release the two fastening screws (2) and tilt the
main brake cylinder over.
• Dismantle the fork head and actuating plate (3) of
the foot brake pedal. 5-03 27

• Remove the two fastening screws (2) and the 2 1

stopper.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Pull out the main brake cylinder and lay it down.

Remark: The main brake cylinder must be laid

down with the storage tank upwards,
otherwise brake fluid will run out of the
ventilation hole.
❚  ❚ ❋✏

• Remove the brake hose.

To install the main cylinder, follow the instructions

above in reverse order.

After this process, all air must be bled out of the

brake system, the brake pedal set correctly and the
brake clearance and the brake deceleration value
checked.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 7- 12
 Chapter 8 ✩❚❈ ✂❋ ❊ ❚❈❑◗
✮ ❚❈
The brake deceleration value is measured with a
dynometer (Fig. 1).
This works on the principle of the pendulum,
which registers irregular movements with great 2
precision.
During travel at a steady speed over an even
surface, the pendulum always hangs vertically
and shows zero on the dial (Fig. 2). On
acceleration, the pointer deflects to the right
(clockwise) and on brakeing (deceleration), it
moves to the left. 1
5/0115

✷❚ ❘❈❚❈❑◗ ✂❍◗❚✂❖ ❈❚ ❖  Fig. 1

Moisten the rubber sucker on the underside of the

measuring instrument (ideally with glycerin), then
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

use the lever (1) to fasten the dynometer onto a

horizontal surface.
The dial must face towards the driver's seat and
be mounted in the direction of travel.

Before every deceleration measurement, the

measuring case (2) must be tipped to move the
measuring pointer to zero. The dynometer has
❚  ❚ ❋✏

3 5/0116
been set to the correct zero position by tipping the Fig. 2
case when the measuring pointer can move
almost a full turn to the left (anti-clockwise) from 4
zero and almost half a turn to the right.

The maximum pointer (3) must be reset manually,

by turning the knob at the centre of the dial (4)
clockwise, until the pointer is set as closely as
possible to zero.

During the braking process, the maximum pointer

moves to the maximum deflection point together
5/0117
with the measuring pointer and remains there Fig. 3

when the other moves back (Fig. 3). Deceleration in %

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 8- 01
 Chapter 8 ✩❚❈ ✂❋ ❊ ❚❈❑◗

Evaluating the measurement

•Calculate the maximum vehicle speed
(V = distance/time).

• Accelerate the vehicle to Vmax. in the direction

of the load (reverse).

Testing the service brake

• Stop the vehicle with full force by pressing the

brake pedal. Read the braking deceleration
value "F" in % off the dynometer (i.e. the
maximum pointer reading).

•The following values are required:

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Example v = 10 km/h

With rated load

F = 1.86 x V
F = 1.86 x 10 km/h
F =18 %
❚  ❚ ❋✏

Testing the parking brake

• The parking brake (electromagnetic brake)

must be tested by switching the switch (brake
open/closed, 1S3) or actuating the emergency-
stop switch during travel.

Required value with rated load F = 10%.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 8- 02
 Chapter 9 Steering
General
The steering (1) is a fully electrical 180° ring
gear steering system (for 360° steering option,
please see "Steering, 360° steering") made up
of the following components:

- Steering unit with gear (2)

- Drive unit (3) with
actual value potentiometer (4)
- Setpoint potentiometer (5)

The steering system is practically

maintenance-free. Only the gear ring (6) and
2/0076
the gearwheel (7) must be lubricated with all-
6 1
purpose grease as part of the quarterly
maintenance plan.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Technical data for the steering unit

(180° version)
2
Id. no. : 8 425 916 / 8 426 559 AT
Model : SL 062-Z1
Motor version : Carbon-brushless DC-
motor with permanent
magnet and flange-
mounted cyclo gear (i=59)
reserved.

Voltage : 48V 3
Speed : 2400 rpm
Output : 500W
Protection class : IP54
Insulation class : F 4
Steering speed : ca. 72°/s -> ca. 2.5s/180° 1/0043

(the value depends on the vehicle)

Remark: If the steering is used when the

vehicle is at a standstill, the
degree of wear on the drive
wheel is increased. For this
reason, avoid excessive steering
when the vehicle is at a
standstill!

30416

5 7

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 01
 Chapter 9 Steering
Function
When the vehicle is switched on, the steering is
activated immediately, on condition that the
voltage supply at connector X47 of the steering
unit is fitted (see "Steering, Steering unit"), the
setpoint and actual value potentiometers are
connected and in working order, and the steering
does not detect any errors during the switch-on
self-test.
In the event that there are errors, these are shown
on the display in the form of an error code (see
"Error codes").

When the steering wheel is turned, a change in the

setpoint is generated, and this is compared in the
steering logic with the value of the actual value
potentiometer.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

As long as the setpoint and actual values are

different, the integrated power unit in the steering
unit drives the integrated motor, in order to balance
out the difference between the setpoint and actual
values.

The steering logic receives the information "vehicle

reserved.

moving" or "vehicle at a standstill" via CAN BUS 1.

At a standstill, a difference of Imax = 37A is only
possible during the first 3 seconds after a
difference has been detected, then the current is
limited to I = 8A.

During travel, however, the theoretical Imax = 37A

is always possible, but is not usually reached,
since the rolling resistance of the wheel is
considerably lower than the static friction
resistance at a standstill.

As a result of derivation of the actual value

potentiometer signal, the drive wheel position is
sent via CAN-BUS 1 to the LAS module, which
then in turn also evaluates the actual travel
direction and uses this information to control the
wheel position indicator on the display via CAN-
BUS 1.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 02
 Chapter 9 Steering

Function
If an error occurs in the steering system
during operation, the "Steering OK" signal is
switched off (0V = OK) and the electro-
magnetic brake on the drive motor is closed
immediately by the LAS module. Travel is
also blocked. The relevant error code
appears on the display (see "Error codes").

Because the "Steering OK" signal is also sent

via CAN-BUS 1, if the CAN BUS between the
steering and the LAS module fails, the brake
is also closed and travel is switched off
(redundant safety).

Remark 1: In the steering unit itself is an

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

incremental encoder. This is

checked every time the steering/
vehicle is switched on. For this
reason, it is normal for the
steering to make a short
movement to the right/left when
the vehicle is switched on.
reserved.

Remark 2: All the settings (except the basic

mechanical settings) for the
steering are made with the
"Service software".

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 03
 Chapter 9 Steering
Block diagram
Wheel position display
with integrated travel
direction
FPS
Display
Vehicle moving/at
standstill
Travel direction
X*: 40769u

• Vehicle moving/at standstill CAN BUS 1

• Steering adjustment with 2/0077

service software
Query steering Actual value for
software version steering with LAS module
travel direction

Remark:
Setpoint With the 360° stee-
generator ring option, the me-
Copyright protected. No part of this manual

Steering OK
may be reproduced in any form. Copyright

chanism is different
(please see "Stee- Steering active
2/0071
ring, 360° steering"). Actual value
Error code Key switch
O
1/0038 Steering OK F2

. Emergency-stop
Release brake X* +24V
Setpoint
3F1
reserved.

Electromagn. brake +48V

Steering unit
• Control/power unit
• Motor
• Gear

Actual value

1/0039

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 04
 Chapter 9 Steering
Steering unit

General

The steering unit is made up of

• The control electronics with integrated
power unit (1) 1
• Carbon brushless DC motor with
permanent magnet (2)
• Cyclo gear with transmission i=59 (3)
2
The steering is one unit, and can only be
replaced as a complete element.

Connections 3

X47, 16-pin connector

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

1/0045
1 +48V via main contactor for steering (power
supply)
2 +48V via main contactor for steering (power
supply)
3 +48V via main contactor for steering (power
supply)
4 +48V via main contactor for steering (power X47
supply)
reserved.

5 0V (power supply)
1/0046
6 0V (power supply)
7 0V (power supply)
8 0V (control unit)
9 n.c.
10 48V supply for control unit (direct UBatt) X48/C
11 2+48V, enable steering signal via key switch
Connector Socket
12 "Steering OK" output (0V active = OK)
13 n.c. 1
2
14 n.c.
4
15 n.c. 3 1 2

16 n.c. 4
3

1/0069

X48/C, 4-pin connector (CAN BUS)

1 (brown) CAN_H
2 (white) CAN_L
1/0070
3 (blue) 2+24V
4 (black) 0V
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 05
 Chapter 9 Steering

Steering unit

Connections

X49/G and X50/L

X49/G, 6-pin connector (actual value
potentiometer) Connector Socket
1 8
1 (brown) +12V 2
7 2
2 (white) Actual value signal 6V ± 3 1
approx. 2.5V 4
6 3
3 n.c. 5 6 5 4
4 n.c. 1/0071

5 (grey) n.c. (actual value signal, control

potentiometer)
6 (pink) 0V
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Remark: Since 04/2003, the control potentio- 1/0072

meter has also been wired up but is

not evaluated (preparation for 360°
steering, please see "Steering, 360°
steering, Steering unit").

X50/L, 6-pin connector (setpoint

potentiometer)
reserved.

1 (brown) +12V
2 (white) Setpoint signal for main
potentiometer 6V ± approx. 4.5V
3 n.c.
4 (black) Setpoint signal for control
potentiometer (90° phase shift)
8.5V ± approx. 4.5V with "null
point"
5 n.c.
6 (pink) 0V

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 06
 Chapter 9 Steering
1
Steering unit

Removal

Note: Once the steering unit has been

removed, the vehicle can no longer
be steered. For this reason, jack up
the vehicle safely and prevent it
from rolling away!

• Remove all the covers in the area of the

steering unit.
• Mark the electrical connections (1) and
disconnect them. 2/0078
3
• Pull the connector (2) out of the actual value
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

potentiometer.

Note: The connector has a mechanical

detent on the underside that must
be released by hand. Do not use
force, as this may damage the
connector!
reserved.

• Release the 4 screws M10x45 (3). 1/0048

• Use a crowbar (4) to lever the complete 4 2 5

steering unit slightly out of its holder (5).
• Now lift out the entire unit up and out, and lay
it to one side.

Note: Do not lift the unit up out of its

holder without using a crowbar,
since other lifting methods may
damage the spline shaft coupling 6
("Simplaflex" (6)) that connects the
steering unit and the drive unit.

1/0049

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 07
 Chapter 9 Steering
Steering unit

Removal

• The drive unit (1) can now be levered carefully

out of the steering unit (2) with a screwdriver
or similar tool.

Installation
Fig. 1 1/0050

To replace the complete unit (steering/drive 4 1 5 2

unit), follow the instructions above in reverse
order. Pay particular attention to the following
points during this work:

• Before installation, lightly oil the end of the

shaft (5).
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• Before the complete unit can be inserted in the

holder (3), the drive wheel must be turned to 3
exactly the straight-on position with a crowbar
(Fig. 3).
Fig. 2 1/0051

• The actual value potentiometer must be set to

the straight-on position. To do so, take a
reserved.

resistance measurement between PINS 1 + 2

and PINS 1 + 5 of the actual value
potentiometer (Fig. 4). Both measurements
must give the same result (approx. 1400Ω,
theoretically 1325Ω). If necessary, turn the
toothed wheel (4) carefully with a screwdriver.

• Lower the assembly that has been pre-set in Fig. 3 1/0052

this way carefully into the holder (3) and
secure it again with the 4 screws M10x45
(tightening torque 46Nm).

• Reconnect all the electrical connections.

• Use the service software to carry out the

steering commissioning process (teaching-in).

Fig. 4 1/0053

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 08
 Chapter 9 Steering

Dismantling the drive unit

Once the complete steering unit has been
removed and the drive unit lifted out (see
"Steering, Steering unit, Removal"), the drive
unit can be dismantled.
• Release the 4 hexagon screws M3x20 (1) 9
and remove the potentiometer (2).
• Release the 4 screws M3x8 on the anti-
torsion lock (3).
• Release the 4 screws M3x16 (4) on the
planetary gear (5) and pull off the gear 8 5
1/0054
(Fig. 2).
Fig. 1
• Remove the small circlip (6) and pull off the 4 3 2 1
plate (7) with bearing.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• Remove the large circlip and washer (8).

• Push the drive pinion with spline shaft
coupling out of the housing (Fig. 3).
• Once both the M6x18 screws (9) have been
released, the spline shaft coupling (10) can
be levered out carefully with a screwdriver.
reserved.

Fig. 2 1/0055
7 6

9 10

Fig. 3 1/0056

To assembly the drive unit, follow the

instructions above in reverse order (Fig. 4).

Fig. 4 1/0057

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 09
 Chapter 9 Steering

Setpoint potentiometer

General

The setpoint potentiometer (1) is used to define

the required steering direction.
It can be accessed by removing the two plastic
shell covers (4 screws).

The potentiometer is connected to the steering

wheel (3) by the transmission (2) (transmission
ratio steering wheel : potentiometer = 4 : 1).

The two plastic sliding surfaces (4) are used to

adjust the steering force (on the principle of
static friction, see "Steering, Adjusting the
turning force").
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

30416

1 2 4 3
Because the system is a 180° steering system,
the maximum turning angle of the steering
wheel is limited mechanically by the two
tensioning pins (5).

The potentiometer itself has a 2-channel

reserved.

design, i.e. it generates 2 setpoint signals with

a phase offset of 90° (main/control potentio-
meter). Both the setpoint signals are evaluated
by the steering logic and compared to one
1/0058
another (redundant safety).

Remark: If the setpoint potentiometer is 5

faulty, the error message "FE83"
appears on the display (see "Error
codes").
This potentiometer is identical to the
actual value potentiometer.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 10
 Chapter 9 Steering
Setpoint potentiometer
Connections / signals 1
The potentiometer is connected to the steering logic at
connector X1 (1).

Pin assignment of connector X1 (Fig. 2):

1 (white) : Setpoint, main potentiometer
6V ± approx. 4.5V
2 (brown) : 12V supply
5 (pink) : 0V supply
6 (black) : Setpoint, control potentiometer
8.5V ± approx. 4.5V

Remark: The control potentiometer has a "null

point" due to the 90° phase offset, i.e. at
approx. 11V it jumps back to a starting
value of approx. 1V (Fig. 4).

Resistance measurement Fig. 1 1/0060

Main Control
potentiometer potentiometer
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Pin 1-5 1-2 6-5 6-2

Left ~350Ω ~1.6KΩ ~980Ω ~1.6KΩ
turn
Straight-~1.325KΩ ~1.325KΩ ~1,6kΩ ~900Ω
on
Right ~1.6KΩ ~350Ω ~750Ω ~1.55KΩ
turn
reserved.

Remark: The absolute values at the end points and

centre position are not particularly
important, since the potentiometer is read in Fig. 2 1/0061
("Teaching-in" steering; see "Service
software"). 1
In addition, the static current is monitored by 200Ω 3KΩ 200Ω
the potentiometer and the "flutter" by R1 2 5
and R2. The maximum permissible
fluctuation of the flutter can be adjusted (see
"Service software").
Fig. 3
3KΩ
6

Left turn Setpoint operating range Right turn

R1=Main potentiometer
U~8.5V U~11.0V
R2=control potentiometer
U~3.9V U~10.6V

U~6V U~8.5V
U~1.0V

U~1,6V U~2.9V
U-values, main pot.:

Fig. 4
1/0062

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 11
 Chapter 9 Steering

Setpoint potentiometer

Testing
1 2
There are several means of checking that the
potentiometer functions correctly:

• By measuring the resistance/voltage (see

"Steering, Setpoint potentiometer,
Connectors/signals").
• By testing the setpoint signals with the
"Service software".

The service software can be used to test the 1/0063

following values: 3

• The setpoint signals of the main/control

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

potentiometers,
• The static current through the potentiometer
(also known as cross-current),
• The "flutter" between the main and control
potentiometers .

Removal
reserved.

• Remove the covers in the area of the

setpoint generator.
• Pull out connector X1 (1)

Remark: The connector has a mechanical

lock (2). You can release this by
pressing it down with your finger.

• Remove the 4 screws (3).

• Remove the potentiometer (4) upwards.
1/0064
5 4
Remark: Ensure that the sealing ring (5) is
not lost or damaged.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 12
 Chapter 9 Steering
2
Setpoint potentiometer

Installation

• Turn the steering wheel to the left (anti-

clockwise) until it reaches the mechanical stop.
Fig. 1 1/0058
• Turn the steering wheel 2 turns to the right 1
(clockwise).
• The steering wheel is now in the straight-on
position.
The two tensioning pins (1) and the steering
wheel axis should now be flush with one
another. The steering wheel is then in the so-
called "9 o'clock position" (Fig. 2).
• Now push the potentiometer onto the free shaft
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Fig. 2 30417

end (2) of the transmission. As you do so, 2

ensure that the potentiometer shaft (2), as
shown in Fig. 3, points upwards (flattened side
faces up).
• Secure the potentiometer with the 4 screws (3).
• Push in connector X1 (4).
reserved.

Remark: A measurement must now be carried

out to check whether the potentiometer
is now also in the centre position with
regard to the resistance value!
The same resistance value of approx.
1325Ω should be measured between
pins 1 + 2 and 1 + 5.

• Mount the covers. Fig. 3 1/0064

Once the potentiometer has been mounted, it

must be read in using the service software
("Teaching-in", see "Service software").

Fig. 4 1/0063
4 3
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 13
 Chapter 9 Steering

Setpoint potentiometer

Adjusting the turning force of the

steering wheel

The static friction of the steering column (2)

and consequently the turning force needed on
the steering wheel can be adjusted at the two
plastic jaws (1).

To alter the static friction:

• Release the lock nut (3),

1/0066

• Turn the adjusting nut (4) to the right to 1 2

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

increase the steering force,

Dimension X 3 4
• Turn the adjusting nut (4) to the left to
reduce the steering force,
• Tighten the lock nut again.

Remark: A defined turning force is pre-set in

reserved.

the factory. It is derived from the

measurement X = 17.5mm for the
initial spring tension.
1/0067

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 14
 Chapter 9 Steering

Actual value potentiometer

General

The actual value potentiometer (1) measures the

actual position of the drive wheel.
The potentiometer is connected to the drive unit
(3) of the steering by the transmission (2)
(transmission ratio drive unit : potentiometer =
4 : 1).

The potentiometer itself has a 2-channel design,

i.e. it generates 2 actual value signals, but only
the signal from the "main potentiometer" is sent to
the steering logic.

As a redundant safety feature, this actual value

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

1/0068
potentiometer is compared with the signals from
2 1 3
the internal incremental encoder of the steering
unit (see "Steering, Function, Note 1").

The steering logic evaluates the actual value

signal and sends this information via CAN-BUS 1
to the LAS module. From there, the information
reserved.

about the drive wheel position, linked with the

travel direction is sent on via CAN-BUS 1 to the 40769u

display. Here, the wheel position is displayed 4

integrated with the travel direction (4).

Remark: If the actual value potentiometer is

faulty, error message "FE84" appears
on the display (see "Error codes").
This potentiometer is identical to the
setpoint potentiometer.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 15
 Chapter 9 Steering
Actual value potentiometer
Connections / signals
The potentiometer is connected to the steering
logic with connector X1 (1).

Pin assignment for connector X1 (Fig. 2):

1 (white) : Actual value, main potentiometer
6V ± approx. 2.5V
2 (pink) : 0V supply
5 (brown) : 12V supply
6 (grey) : n.c. (actual value, control potentio-
meter 3.5V± approx. 2.5V)
Fig. 1 1/0074
Remark: Since 04/2003, the control potentiometer has 1
also been wired up but is not evaluated (pre-
paration for 360° steering, please see "Stee-
ring, 360° steering, Actual value potentiome-
ter").
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Resistance measurement
Main potentiometer
Pin 1-5 1-2
Left (-90°) ~ 370Ω ~ 1,7kΩ
Centre ~ 1.325kΩ ~ 1.325kΩ
Right (+90°) ~ 1.7kΩ ~ 370 Ω
reserved.

Remark: The absolute values at the end points

and centre position are not particularly Fig. 2 1/0061

important, since the potentiometer is 1

read in ("Teaching-in" the steering; see 200Ω 3KΩ 200Ω
"Service software"). 2 5
The static current ("cross-current")
through the potentiometer is monitored
(see "Service software"). Fig. 3
3KΩ

6
Left turn Actual value operating range Right turn
R1=Main potentiometer

~3.5V ~6V ~8.5V

1/0073

Fig. 4

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 16
 Chapter 9 Steering
Actual value potentiometer

Testing 2 1

There are several means of checking that the

potentiometer functions correctly:

• By measuring the resistance/voltage (see

"Steering, actual value potentiometer,
connections/signals")
• By testing the actual value signal with the
"Service software"

The service software can be used to test the

following values:

• The actual value signal from the main

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

potentiometer
1/0075
• The static current through the potentiometer
(also known as cross-current).

Removal

• Remove the covers in the area of the actual

reserved.

value potentiometer.
• Remove the plate of the reach damping (1).
• Turn the drive wheel into the straight-on
position, using a crowbar if necessary (Fig. 2).
1/0076
• Pull out connector X1 (2).

note: The connector has a mechanical

detent on the underside that must be
released by hand. Do not use force,
otherwise the connector will be
damaged!

• Release the 4 screws (3) on the potentiometer

and remove the potentiometer from below.

1/0068

3
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 17
 Chapter 9 Steering
Actual value potentiometer

Installation

• The drive wheel must be in the straight-on

position. If necessary, turn it into this position
with a crowbar (Fig. 1).
1/0076
Remark: The flat side of the drive shaft (1) of
the transmission should now face
towards the tank.

• Push the potentiometer onto the shaft end (1). 1

As you do so, ensure that the potentiometer
shaft (2), as shown in Fig. 3, points upwards
(flattened side faces up).
• Secure the potentiometer with the 4 screws (3).
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• Push in connector X1 (4).

Remark: A measurement must now be carried

1/0077
out to check whether the
potentiometer is now also in the
centre position with regard to the
resistance value!
2
The same resistance value of approx.
reserved.

1325Ω should be measured between

pins 1 + 2 and 1 + 5.

• Mount the covers and the plate of the reach

damping again.

Once the potentiometer has been mounted, it

must be read in using the service software
("Teaching-in", see "Service software").
1/0064

1/0078
4 3
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 18
 Chapter 9 Steering
Adjusting the entire steering
system
Adjustment of the steering system includes:

• Mounting & adjusting setpoint potentiometer (1)

• Mounting and adjusting the actual value
potentiometer (2)
• Mounting and adjusting the complete steering 1/0063
1
unit (3).

Setpoint potentiometer
For mechanical installation, see "Steering, Setpoint
potentiometer, Installation".
All the other necessary adjusting work is carried
out with the service software (reading in the
setpoint key data).
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

1/0078

Actual value potentiometer 2

For mechanical installation, see "Steering, Actual
value potentiometer, Installation".
All the other necessary adjusting work is carried
out with the service software (reading in the
setpoint key data). 3

Complete steering unit

reserved.

For mechanical installation, see "Steering, Steering

unit, Installation".
All other necessary adjusting work is carried out
with the service software.

In addition, the following parameters can be

changed with the software: 1/0043

• Switching over to reverse steering

• "Correction value" for monitoring "flutter" of main/
control potentiometers of the setpoint generator
• Analogue/digital converter calibration in the
steering logic

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 9- 19
 Chapter 9 Steering
360° steering
General
As an option a 360° steering (1) is available. It is
made up of the following components:

- Steering unit with gear i=59 (2)

- Drive unit (3) with "2-channel" actual value
potentiometer (4)
- Setpoint potentiometer (5) 20076

The steering system is practically maintenance- 6 1

free. Only the gear ring (6) must be lubricated
with all-purpose grease as part of the quarterly
maintenance plan.

Technical data for the steering unit (360° version)

2
Copyright protected. No part of this manual

Id. no. : 8 428 574

Model : SL 062-Z1
may be reproduced in any form.

Motor version : Carbon-brushless DC-motor 7

Copyright reserved.

with permanent magnet and

flange-mounted cyclo gear
(i=59)
Voltage : 48V 3
Speed : 2400 rpm
Output : 500W
Protection class : IP54
Insulation class : F 4
Steering speed : ca. 72°/s -> ca. 5s/360° 10043

(value depends on the vehicle)

Remark 1: If the steering is used when the vehicle

is at a standstill, the degree of wear on
the drive wheel is increased. For this
reason, avoid excessive steering when
the vehicle is at a standstill!

Remark 2: This steering unit can only be used for

the 360° steering option. Since 01/
2004, a steering unit is available that
supports both the 180° and 360°
functions (Id. no.: W8 428 575)! 30201

In this version, the cyclo gear trans- 5

mission is i=71 (see nameplate (7))!

Issue: 06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 20
 Chapter 9 Steering
360° steering
General
Recognisable features

A vehicle equipped with the 360° steering

option can be recognised from the following
features:

- Setpoint potentiometer without mechanical

30202
end stop and transmission ratio of 1:1 (on 1
180° steering this is 4.38:1) (1)

- Steering unit with software version V4.33 or

higher (2, main and monitoring processor) 2
- The actual value potentiometer is evaluated
with both channels (3)
Copyright protected. No part of this manual

- Symbol for 360° steering (4) next to the

may be reproduced in any form.

steering wheel adjuster on the vehicle.

Copyright reserved.

The setting of the parameters, teaching-in and

diagnosis of the 360° steering must be made
3
by the service software (please see chapter 10045

38).

30203

30204

Issue: 06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 21
 Chapter 9 Steering
360° steering
Setpoint potentiometer
General

The setpoint potentiometer (1) is the same as in the

180° steering (please see "Steering, setpoint
potentiometer"). The only difference between the
two systems is their mechanism.
Because the potentiometer is mounted directly on
30202
the shaft (2), the transmission ratio is 1:1, i.e. when
1
one turn of the steering wheel is made, the
potentiometer also makes a complete turn.

The monitoring routines are also the same as for

the 180° steering (in the event of an error, FE83 2
appears on the display).

After a potentiometer has been replaced, "teaching-

Copyright protected. No part of this manual

in" must be carried out with the service software 3

may be reproduced in any form.

(please see chapter 38).

Copyright reserved.

The turning force can be adjusted at the plastic

jaws (3) (please see "Steering, setpoint
potentiometer, Adjusting the turning force of the
steering wheel").
30205
The setpoint signals are the same as for the 180°
4
steering (please see "Steering, Setpoint
potentiometer"). Since the mechanical end stops
are no longer fitted here, both potentiometer arms
have a zero window.

Remark: When mounting the steering wheel on

the shaft (2), please ensure that in the
"9 o'clock position" (please see
"Steering, Setpoint potentiometer,
Installation"), the main potentiometer is
at approx. 6V and the control
potentiometer at approx. 8.5V (Check 30206

with service software, please see

chapter 38).

For a conversion from a 180° steering system to a

360° steering system, the entire setpoint mechanism
must be replaced (4).

Issue: 06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 22
 Chapter 9 Steering
360° steering
Setpoint potentiometer

Connections / signals

The potentiometer is connected to the steering

logic with connector X1 (1).

Pin assignment for connector X1 (Fig. 2):

1 (white) : Setpoint, main potentiometer

1-11V ( approx. 6V in straight-on 30202
pos., if "teaching-in" carried out in 1
this way)
2 (brown) : 12V supply
5 (pink) : 0V supply
6 (black) : Setpoint, control potentiometer
1-11V ( approx.. 8.5V in straight-on
pos., if "teaching-in" carried out in
Copyright protected. No part of this manual

this way)
may be reproduced in any form.
Copyright reserved.

Remark: Both setpoint signals are 90° phase

offset to each other and have a "zero
window", i.e. at approx. 11V, they jump
back to a starting value of appr. 1V
(Fig. 4).
1/0061
Resistance measurement
Main Control
1
potentiometer potentiometer
Pin 1-5 1-2 6-5 6-2
2
200Ω
. 3KΩ
. 200Ω
5
Straight- ~1.325KΩ ~1.325KΩ ~1.6kΩ ~900Ω
on

1 revo- ~ 200Ω - ~200Ω - ~200Ω - ~200Ω - 3KΩ

lution 1.7KΩ 1.7KΩ 1.7KΩ 1.7KΩ 6

U~11.0V R1= Main potentiometer

U~8,5V
R2= control potentiometer
U~11.0V

U~6V U~8,5V
U~3.5V U~1.0V
U~1.0V U~2.9V
U-values main pot.:

30207

Issue: 06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 23
 Chapter 9 Lenkung
Steering

360° steering
Actual value potentiometer

General

The actual value potentiometer (1) is the same as

with a 180° steering system (please see
"Steering, actual value potentiometer").

The only difference is that the potentiometer is

now evaluated with two channels (2). This means
that both the main potentiometer and the control
1/0068
potentiometer are now conducted to the steering
1
unit.

The monitoring routines are the same as for a

Copyright protected. No part of this manual

180° steering system (if an error occurs, FE84

appears on the display).
may be reproduced in any form.
Copyright reserved.

After a potentiometer has been replaced,

"teaching-in" must be carried out with the service
software (please see chapter 38).

The actual value signals are the same as for the

180° steering (please see "Steering, Actual value 30203

potentiometer, Connections/signals"). However, 2 3

since the unit can now make a complete turn,
both potentiometer arms have a zero window.

Remark: For instructions on installing the actual

value potentiometer, please see
"Steering, Actual value potentiometer,
Installation".

For a conversion from a 180° steering system to a

360° steering system, the entire connecting lead
(3) is replaced.

Issue: 06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 24
 Chapter 9 Steering
360° steering
Actual value potentiometer

Connections / signals

The potentiometer is connected to the steering logic

with connector X1 (1).

Pin assignment for connector X1 (Fig. 2):

30203
1 (white) : Actual value, main potentiometer
1-11V (approx. 6V in straight-on 1
position)
2 (pink) : 0V supply
5 (brown) : 12V supply
6 (grey) : Actual value, control potentiometer
1-11V (approx. 3.5V in straight-on
position)

Remark: Both actual value signals are 90° phase

Copyright protected. No part of this manual

offset to each other and have a "zero

window", i.e. at approx. 11V, they jump
may be reproduced in any form.

back to a starting value of appr. 1V (Fig.

Copyright reserved.

4).

Resistance measurement
1/0061

Main Control
potentiometer potentiometer
Pin 1-5 1-2 6-5 6-2 1

Straight- ~1.325KΩ
on
~1.325KΩ ~1.6kΩ ~900Ω 2
200Ω
. 3KΩ
. 200Ω
5

1 revo- ~ 200Ω - ~200Ω - ~200Ω - ~200Ω -

lution 1.7KΩ 1.7KΩ 1.7KΩ 1.7KΩ 3KΩ
6
Drive left turn Drive right turn

~6.0V R1= Main potentiometer ~11,0V

~11.0V
R2= Control potentiometer
~8.5V
~8.5V

~3.5V
~1.0V

30208

Drive in straight-on position

Issue: 06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 25
 Chapter 9 Steering
360° steering
Steering unit

The steering unit is made up of

• The control electronics with integrated
power unit (1) 1
• Carbon brushless DC motor with
permanent magnet (2)
• Cyclo gear with transmission i = 71 (3)
2
The steering is one unit and can only be
replaced as a complete element.

The electrical connections and signals are

identical to those for the 180° version (please 3
see "Steering, Steering unit, Connections").

The only difference to the signals is that the

Copyright protected. No part of this manual

signal from the control potentiometer for the 1/0045

actual value potentiometer is now also

may be reproduced in any form.

evaluated (X49G, 6-pin connector, pin 5).

Copyright reserved.

The software version of the main and

monitoring processor (1) is V4.33 or higher.

Error codes and the method for installation and

removal of the steering unit are identical to
those for the 180° version (please see "Error
codes" and "Steering, Steering unit, Removal").

Issue: 06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 26
 Chapter 9 Steering
360° steering
Drive unit
The drive unit is basically the same as that for
the 180° version. The only difference is that the
spline shaft coupling (1) has been replaced by
a rigid coupling (driver). This means that the
centring ring marked in the diagram as "2" is 2
no longer fitted.

This modification is not absolutely necessary

for a conversion from a 180° steering system to
a 360° steering system.

Remark: These two changes will also be

made in the 180° steering as of 1/0054

01/2004.

For information on dismantling and mounting 1

Copyright protected. No part of this manual

the drive unit, please see "Steering,Dismantling

may be reproduced in any form.

the drive unit".

Copyright reserved.

1/0056

Issue: 06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 9- 27
 Chapter 9 LAS-Modul
Steering
Software versions

Version
Main proc. Mon. proc. File Comment
4.33 4.33 Elk433dl.bin - start of series 01/2004

Main proc. = Main processor Mon. proc. = Monitoring processor

Remark: Updating of the steering is carried out with the WINFLASH software. For this
purpose, a notebook is connected to the CAN bus diagnosis connector (please
see "Service software"). A CAN lead (Id. no. W8 392 452) and a CAN PC
interface (Id. no. W8 409 550) are also needed.
This equipment only allows you to update the main processor!
To change the monitoring processor to a newer version, the entire steering unit
must be replaced!

Attention: A steering unit fitted with software- version V4.33 or higher isn´t allowed to be
Copyright protected. No part of this manual

"updated" to a version less than V4.33. Otherwise the steering unit is out of or-
der and has to be replaced!
may be reproduced in any form.
Copyright reserved.

Issue: 10/02
06/03
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 12-
9- 28
32
 ✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏
❚  ❚ ❋✏

XR-AC - Basic equipment

1M1 : Drive motor
1S12 : Brake switch
1S25 : Deadman switch
1S27 : Switch for battery lock
1S28 : Switch for creep speed

Issue: 05/04
1S3 : Switch for parking brake
1S44 : Button for travel direction (with 4-lever)

Replaces issue:
1U6 : Travel converter
1U20 : Setpoint transducer for travel
1Y44 : Electro-mechanical brake
2B38 : Damping for forward reach
Chapter 10

2B39 : Damping for reverse reach

2M1 : Pump motor
Basic equipment

2R11 : Setpoint for reaching

2R12 : Setpoint for tilting
2R9 : Setpoint for lifting/lowering
2U3 : Pump converter
2Y20 : Valve for lifting
2Y2 : Proportional valve for lowering
2Y54 : Valve for reaching DS
2Y55 : Valve for reaching LS
2Y58 : Valve for tilting DS
2Y59 : Valve for tilting LS
3K1 : Steering contactor
3M1 : Steering motor / steering controller
3R10 : Actual value for steering
3R11 : Setpoint for steering
4H1 : Horn
4K1 : Horn relay
4S1 : Button for horn (with 4-lever)
6R2 : Test shunt
8A5 : Display unit

Manual
8U61 : Load handling controls

Workshop
9M6 : Fan for converter
9M7 : Fan for converter
9M22 : Fan for converter
9M23 : Fan for converter
A10 : Travel/pump controller
F1 : Main fuse
G1 : Battery
K1 : Main contactor
S1 : Key switch 4-lever
S2 : Emergency-stop Cover
U30 : DC-DC converter

XR-AC
X1 : Battery plug
X56,X60 : Drag cable connector
X98 : Diagnosis interface
X100 : Terminal board 0V / 1+24V

4-lever operation

Sheet no.
electronic componets

10- 01
30418
 ✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏
❚  ❚ ❋✏

XR-AC - Options
2R13 : Setpoint for transverse reaching
2B44 : Position switch for lift stop
2B46 : Position switch for intermediate lift stop

Issue: 05/04
2B65 : Position switch for reach/lowering lock
Options

2S3 : Button for additional hydraulics 1.1

2S4 : Button for additional hydraulics 1.2

Replaces issue:
2S26 : Button for releasing intermediate lift stop
2S68 : Button for releasing lowering lock
2Y52 : Valve for transverse reach LEFT
2Y53 : Valve for transverse reach RIGHT
Chapter 10

2Y56 : Valve for additional hydraulics 1.1

2Y57 : Valve for additional hydraulics 1.2
2Y58 : Valve for tilting DS
2Y59 : Valve for tilting LS
2Y60 : Valve for additional hydraulics 2.1
2Y61 : Valve for additional hydraulics 2.2 4-lever
4K5 : Relay for flashing warning light
5E2 : Headlamp LEFT
5E3 : Rear light RIGHT
5E4 : Rear light LEFT
5E9 : Flashing warning light
5E31 : Working headlamp RIGHT
5E32 : Working headlamp LEFT
5S1 : Switch for rear light
5S20 : Switch for working headlamps
7M20 : Motor for foot plate adjustment
7S1 : Seat switch
7S24 : Button for foot plate adjustment
8A5 : Height display
8B20 : Reference switch for height measurement

Manual
8B21 : Incremental encoder for height measurement
9S4 : Switch for seat heating

Workshop
9S18 : Switch for cab heating
A51 : Monitor for camera system
A54 : Camera
X90 : Connector plug for options

XR-AC
View A View A

Sheet no.
electronic componets

10- 02
With additional hydr. 1 With additional hydraulics 1and 2

30419
 ✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏
❚  ❚ ❋✏

Issue: 05/04
Hydraulics
Travel Switching signals for travel, e.g.
button

Replaces issue:
setpoint - Deadman
Hydraulics Height meas. - Creep speed
Analogue inputs
sensors
Chapter 10

system - Travel direction

for hydraulics
Block diagram

✫❑❘ ❈
+ Status of operation ✳◗❈❋❊◗ ❚◗ ✂❖◗❋ ✻❚❈ ✂❈ ❋✂❘❖❘✂❊◗ ❚◗
+ Hight indicator ✳ ✺ ✭✷✺
+ Diagnosis menue

CAN-Bus 1 CAN bus 1

Manual
Steering setpoint CAN bus 2

Workshop
potentiometer
Diagnosis Diagnosis
plug X99 plug X98
(RS232) (CAN) ✫✪✑ ✪ ✫✪✑ ✪
✺ ❚❑
❊◗ ❚◗ ❚ ❊◗  ❚ ❚ ❊◗  ❚ ❚
❏❋❚❈ ❑❊ ❚❈ ❑

XR-AC
Switching and
Steering proportional valves Temp. and Temp. and
CAN adapter
motor for hydraulics speed sensor
speed sensor

Sheet no.
Electro-magn.
Bolster with actual value brake Hydraulic motor Drive motor
potentiometer for steering alternating alternating
Diagnosis
electronic componets

30420
current current

10- 03
 Chapter 11 FPS
General
The travel and pump controller A10 (1, FPS) has
the following functions in this vehicle:

• Connection point for all the input signals for travel

(e.g. travel transducer, battery lock, deadman,
creep speed switch and so on)
• Determining the battery capacity and the
operating hours
• Enabling the LAS module by issuing the "control
OK" signal (SOK)
• Enabling the converters
• Monitoring and driving the converters via CAN 2/0077

bus 2 (see "CAN bus") 1 2

• Passing on the hydraulic signals determined by
the LAS module (see "LAS module, Control of the
hydraulics") to the hydraulics converter (CAN bus
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

1 -- CAN bus 2 converter = Gateway)

• Charging and monitoring the capacitor units in
the converters (see "Converters")
• Monitoring and driving the main contactor
• Setting the parameters for the travel
characteristics (see "Service software")
• Transferring all the relevant CAN bus 1 data for
reserved.

the converters to CAN bus 2 and vice versa (see

"CAN bus") 2/0106

These numerous functions are carried out and 2

monitored in the FPS by two microprocessors, the
"control processors" = SRs (also known as central
processors = ZRs) and "monitoring processors" =
UEs (also referred to as battery processors = BPs).

If errors are detected, error codes are generated

and shown on the display (see "Error codes").
Depending on the type of error, either the SOK
signal is switched off or the main contactor is
opened, or in some cases only the function may be
blocked.

All the signals sent from and to the FPS are sent
via the 42 pin connector X1 (2).

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 01
 Chapter 11 FPS
Drive motor regulating principle
24V from LAS module
There are 5 travel programs in the FPS. These (brake released)
travel programs can be adjusted separately (see
"Service software"). 1S27 1S28 1S44 1U20 1S25 1S12
0V 0V 0V 1U20 0V 0V 0V
The permitted travel status in each case is activated
on the basis of the input signals for travel (e.g. 0V 10V
deadman switch, brake pedal switch, battery lock
switch, creep speed switch). These statuses are: U>5.5V

• Creep speed (2.5 km/h, travel program 0 active)

• Generator braking to a standstill
• Vmax (travel program 1 - 4 active). ≥1 ≥1
If generator braking is initiated during travel, the
vehicle is braked using the deceleration parameters
of the travel program that is active at the time. gen. gen.
braking 1 braking 2
Creep speed (travel program 0) is active when:
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• The battery is unlocked (switch 1S27 open, no Deceleration

0V signal at FPS) DS/LS
or Travel
Brake pedal
• Creep speed has been selected with switch
deceleration
1S28 (switch open, no 0V signal at FPS)
and Parameter FP 0 FPS
• The "Brake ON" signal (electro-magnetic brake
is released) is applied (24V from LAS module to CAN bus 2
reserved.

FPS) Speed, dir. of rotation,

converter active, temp-
Generator braking is active when: erature, phase currents

• The deadman switch 1S25 is not actuated

(switch open, no 0V signal at FPS)
or
• The travel transducer 1U20 is released (travel Travel converter
transducer switch opens, no 0V signal at FPS) 1U1
or
• The brake pedal switch 1S12 is actuated (switch
open, no 0V signal at FPS)
V
The vehicle cannot be driven as long as generator U W
braking is active, even if the vehicle has been
braked to a standstill. Temp. sensor M Speed sensor
If the "Brake on" signal from the LAS module is not
applied, travel in general is blocked. 1M1

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 02
 Chapter 11 FPS
Drive motor regulating principle
24V from LAS module
(brake released)
Vmax (travel program 1-4) is active when:
No 1S44
• Creep speed is not selected creep speed
0V 1U20
• Generator braking is not active No gen.
• A travel setpoint of > 5.5V is generated by travel braking 0V 10V
transducer 1U20
U>5.5V
• The "Brake ON" signal (electro-magnetic brake
is released) is applied (24V from LAS module to
FPS)
&
Travel programs 1-4 can be selected on the display
(see "Display") or with the service software (see
"Service software").
FPS &
If no errors have occurred (see "Error codes"), a
Copyright protected. No part of this manual

constant speed and direction of rotation command

may be reproduced in any form. Copyright

is sent via CAN bus 2 to the travel converter (e.g.

12 km/h ~ 3560 1/min). This is based on the "travel
setpoint" specification, the travel direction (selection Travel with parameters FP1 - FP4
with travel direction button 1S44; the travel direction
is changed with every 0V pulse) and in accordance
with limitations set by the travel program
parameters.
CAN bus 2
reserved.

The travel converter determines the actual motor Speed, dir. of rotation,
speed with a speed sensor in the drive motor and converter active, temp-
eratur, phase currents
regulates the motor to the current speed
specification.
This actual speed is also reported back to the FPS
via CAN bus 2.
A message is also sent that the converter is active Travel converter
and consequently that the motor is being driven. 1U1
Because there are temperature sensors fitted in the
drive motor and the converter, the output power is
reduced or switched off if excess temperature V
occurs, and a relevant error message is sent via the U W
CAN bus to the FPS.
This causes an error code to appear on the display Temp. sensor
M Speed sensor
(see "Display").
1M1

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 03
 Chapter 11 FPS
Hydraulic motor regulating principle
With the hydraulic functions, the FPS only acts as a Hydraulics input signals
"conveyor" of the information that it receives from the
LAS module via CAN bus 1 and sends on to the hydraulic
converter via CAN bus 2 ("Gateway" function).
The LAS module evaluates which hydraulic axis is
selected and how high the speed of the hydraulic motor
should be (see "LAS module, Control of the hydraulics").
If the LAS module does not detect any errors in the LAS module
hydraulic section, the following information is sent to the (Logic + hydraulics parameters)
FPS:

• Speed specification CAN bus 1

• Active axis
Speed, active axis,
• Pump drive enable.
pump drive enable,
converter active
The FPS then sends the speed specification on to the
hydraulic converter.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

The converter drives the hydraulic motor in accordance

with a fixed torque / speed characteristic curve, although
the torque has priority. This means that in certain FPS
circumstances the speed may be reduced in order to
guarantee the necessary torque for lifting the load.
Under normal conditions, this speed reduction is unlikely CAN bus 2
to take effect, i.e. the axis moves at a constant speed.
Speed, converter
The actual motor speed is determined by a speed sensor
active, temperature,
reserved.

in the motor and conveyed to the converter. This in turn phase currents
regulates the motor to the current speed specification.
This actual speed is reported back to the FPS via CAN
bus 2.
A message is also sent that the converter is active and
consequently that the motor is being driven. Hydraulic converter
Because there are temperature sensors fitted in the drive
2U3
motor and the converter, the output power is reduced or
switched off if excess temperature occurs, and a relevant
error message is sent via the CAN bus to the FPS.
This causes an error code to appear on the display (see V
"Display"). U W

Temp. sensor M Speed sensor

2M1

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 04
 Chapter 11 FPS
Pin assignment/signals
All input and output signals are transmitted via the
42-pin connector X1 (1).
1

8/0123

Pin Designation Meaning Signal Type

1 UBATT+/NA Battery voltage via emergency-stop 2+48V Supply
2 ZUS_EING_1 n.c. --- Reserve
3 UMH_I_BATT Test shunt, battery capacity (high) 40mV/400A Input
4 UML_I_BATT Test shunt, battery capacity (low) 40mV/400A Input
5 ZUS_EING_2 n.c. --- Reserve
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

6 VERS_ASM Supply and converter enable 48V Output

7 VERS_NT Supply of internal power units (direct Ubatt) 48V Input
8 HYDRAULIKREL Control OK signal from FPS to LAS 0V Output
9 HAUPTSCH- 0V for main contactor by BR safety routine) 0V
( Output
10 BREMSE- n.c. --- Reserve
11 HANDBREMSE Message from LAS module that brake open 24V Input
12 SCHA_AUS_1 n.c. --- Reserve
13 SCHA_AUS_2 n.c. --- Reserve
reserved.

14 B_GND 0V from battery 0V Supply

15 GEB_N 1 IN Signal A drive motor speed sensor 0V / 12V Reserve
16 BRPED_S_IN Brake pedal switch 1S12 (0V=not actuated) 0V Input
17 BRPED_AN_IN n.c. --- Reserve
18 FAPED_S_IN Switch at travel transd. (0V=actuated) 0V Input
19 FAPED_AN_IN Travel setpoint 1U20 ~ 4.9-9V Input
20 FARI_1_IN Travel direction button 1S44 (0V pulse) 0V Input
21 FARI_2_IN Creep speed switch 1S28 (0V=vmax) 0V Input
22 TOTM_S_IN Deadman switch 1S25 (0V=actuated) 0V Input
23 BATT_RIEGEL_IN Battery lock switch 1S27 (0V=locked) 0V Input
24 GEB_N 2 IN Signal B drive motor speed sensor 0V / 12V Output
25 B_CAN_H CAN bus 2 high lead see"CAN bus"
26 B_CAN_L CAN bus 2 low lead see"CAN bus"
27 B_GND 0V for CAN bus 2 0V Output
28 10V_EXT_OUT 10V supply for travel transducer 10V Output
29 U_LAD Charge curr. 8A for C package and meas.Ubatt 8A, Uvariable Input/output
30 SCHALT_SCHL Key switch S1 1+48V Input

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 05
 Chapter 11 FPS
Pin assignment/signals
All input and output signals are transmitted via the
42-pin connector X1 (1).
1

8/0123

Pin Designation Meaning Signal Type

31 SIR_1_SK 48V for main contactor by ZR (safety routine) 48V Output
32 SIR_1_SK n.c. --- Reserve
33 ZUS_EING_3 n.c. --- Reserve
Phase monitoring of phase U
34 UN_FAAN_U 0-28V AC Input
Copyright protected. No part of this manual

Travel converter
may be reproduced in any form. Copyright

Phase monitoring of phase V

35 UN_FAAN_V 0-28V AC Input
Travel converter
Phase monitoring of phase U
36 UN_PUAN_U 0-28V AC Input
Hydraulic converter
Phase monitoring of phase V
37 UN_PUAN_V 0-28V AC Input
Hydraulic converter
38 24V_BUS_Z 24V from CAN bus 1 24V Input
reserved.

39 Z_CAN_H CAN bus 1 high lead see"CAN bus"

40 Z_CAN_L CAN bus 1 low lead see"CAN bus"
41 GND_BUS_Z 0V from CAN bus 1 0V Input
42 Z_GND 0V from battery 0V Supply

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 06
 Chapter 11 FPS
"Control OK" signal (SOK)
In order for the vehicle to carry out all its functions 48V
normally, a certain signal sequence must be
maintained so that the following signal statuses can 48V
be achieved:
S1 S2
• FPS internal self test (after key switch On) X1 30 1 7
registers OK
• Converters are switched on (see "Converter BR ZR
enable"). Ik
• Test of CAN bus 2 communication
• The capacitor package in the converters is 15V 10V 5V
charged (see also "Charging the capacitor
UOK
unit").
• The main contactor closes and the FPS issues
a "Control OK" signal (SOK) to the LAS module.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Prerequisites 15V 15V

BR ZR
OK OK
• The battery plug is plugged in:
UOK
48V at X1.7 of the FPS (supply of internal power
Relay 2 BR Relay 1
supplies and charging circuit for C package)
U &
• Emergency-stop S2 is not actuated: Check
2+48V at X1.1 of the FPS (supply of the internal
safety relays which are controlled by the battery
reserved.

X1 9 31
processor (BR) and central processor (ZR) X1.29 X1.6 X1.8
• Key switch S1 on: K1
1+48V at X1.30 of the FPS (FPS booting pro-
cess is started) 48V enable 0V SOK
converter signal to LAS

Charging C-package
in the converters

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 07
 Chapter 11 FPS
"Control OK" signal (SOK)
Remark: If the sequence 1st. emergency-stop 48V
released and 2nd. Key switch on is not
maintained, the error code "FE 01" is 48V
shown on the display and both the FPS
S1 S2
and the LAS module are blocked.
Resetting is only possible by switching X1 30 1 7
the vehicle off and then on again at the
key switch! BR ZR
Ik
If the prerequisites are met and the key switch has
been switch on, the FPS goes into operation. 15V 10V 5V

UOK
The FPS carries out an internal test and checks,
among other things, whether the two internal
processors (central processor = control processor
(ZR/SR) and battery processor = monitoring
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

processor (BR/UE) are able to communicate with 15V 15V

BR ZR
one another. OK OK
If no errors are detected here, the "Control OK"
UOK
(SOK) signal is set internally.
Relay 2 BR Relay 1
U &
Remark: The SOK signal is only sent to the LAS Check

module (X1.8), until the main contactor is

closed (see "Control of the main contac-
reserved.

X1 9 31
tor")! X1.29 X1.6 X1.8
K1
If errors are detected, this is indicated with the error
codes "FE 10, 11, 12, 14, 15, 16, 17, 18" (see "Error 48V enable 0V SOK
codes"). Errors "FE 17 and 18" can also be caused converter signal to LAS
by a fault in the CAN bus (wire breakage, see "CAN
bus"). Charging C-package
in the converters
The central processor (ZR/SR) now tests the input
signals for travel and issues the relevant error code
in the event of errors (e.g. FE 07 accelerator pedal
not in neutral position, see "Error codes").
Finally, the central processor ZR/SR switches Relay
1 on and a 48V signal is sent to the main contactor
via X1.31.
However, this does not close, since the battery pro-
cess BR/UE has not yet issued an enable signal.
The capacitors in the converters must first be
charged.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 08
 Chapter 11 FPS
Charging the capacitor unit
Once the internal FPS self test is complete (see
48V
"FPS, Control OK signal"), the converters have
been activated (see "FPS, converter enable") and
48V
the CAN bus 2 communication has been tested, the
capacitor units (30 mF) in the two converters are S1 S2
charged via X1.29 of the FPS. X1 30 1 7
This takes place with a constant current of 8A and
is checked by the battery processor/monitoring
BR ZR
processor (BR/UE). Ik

If the charge and consequently the voltage is not at

least 36V after t=3.5 seconds, the error message 15V 10V 5V

"FE 04" appears and the main contactor does UOK

not close.

If, however, the charging process is carried out

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

correctly and the voltage reaches a value of U=40V, 15V 15V

the battery processor BR/UE connects a 0V signal BR ZR
via X1.9 and the main contactor closes. OK OK
(see "Converters, Charging the capacitor unit") UOK
Relay 2 BR Relay 1
U &
Check
reserved.

X1 9 31
X1.29 X1.6 X1.8
K1

48V enable 0V SOK

converter signal to LAS

Charging C-package
in the converters

Charging lead

2/0109

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 09
 Chapter 11 FPS
Control of the main contactor
Once the internal FPS test has been carried out 48V
successfully (see "FPS, Control OK signal") and the
capacitors in the converters have been charged 48V
(see "FPS, Charging the capacitor unit"), the main
S1 S2
contactor K1 (1) is triggered.
X1 30 1 7
Remark: At first the main contactor is driven by
100% (I approx. 300 mA), afterwards the- BR ZR
Ik
re is a clocking of the main contactor coil
(I reduced to appr. 200 mA).
15V 10V 5V
If the main contactor does not close even when
UOK
triggered by the FPS (mech. fault) when travel or a
hydraulic axis is selected, the message "FE 03" is
issued (intermediate circuit undervoltage, please
Copyright protected. No part of this manual

see "Error codes"), and the message "FE 19" is

may be reproduced in any form. Copyright

issued when no current flows through the contactor 15V 15V

BR ZR
coil. OK OK
The motor makes a minimal movement until the UOK
power from the charged capacitors in the Relay 2 Relay 1
BR
converters has been used up by the selected motor. U
Check
&
Then the FPS switches off due to the error code.
reserved.

The process of switching off the main contactor X1 9 31

is always carried out simultaneously by the central X1.29 X1.6 X1.8
processor (ZR) and the battery processor (BR). The K1
following criteria cause the main contactor to switch
off or prevent the main contactor from closing at all 48V enable 0V SOK
converter signal to LAS
when the vehicle is switched on:
Charging C-package
• On switching on, the system detects that the in the converters
main contactor is already closed; Display
"FE 02" (see "Error codes"). All the functions in
the FPS are blocked.

2/0114

1
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 11- 10
 Chapter 11 FPS
Control of the main contactor

• The capacitor unit in the converters is not

charged to at least 40V or 3.5 seconds after
switching on, the voltage through the capacitor
is not at least 36V; Display "FE 04" (see "Error
codes").
• If communication has not been set up between
the FPS and the converters via CAN bus 2
within 5 seconds after the vehicle is switched
on, the system is switched off and the display
shows "FE 42 or FE 43" (see "Error codes")

• The emergency-stop switch is actuated; The

display shows "FE 01" (see "Error codes")
Copyright protected. No part of this manual

• The key switch is switched off (capacitor units

may be reproduced in any form. Copyright

are discharged automatically)

• Undervoltage has occurred in the vehicle

(U<24V); the display shows "FE 03" (see "Error
codes")

• The FPS is faulty (then no SOK signal is given

reserved.

either).

Remark: The "SOK" signal is always switched off

when the main contactor is switched off.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 11
 Chapter 11 FPS
Converter enabling
When the FPS internal self test has been comple- 48V
ted successfully (please see "FPS, Control OK
signal"), a 48V signal is issued at X1.6 via relay 2 48V
by the BR/UE. As a result, the converters are
activated (48V at X1.1 (key-start) of the converters, S1 S2
green LED at the converters on, please see X1 30 1 7
"Converters, status LED").
The BR/UE reports to the ZR/SR that the BR ZR
converters are now ready. Ik
The ZR/SR now tests whether communication with
the converters is possible via CAN bus 2. 15V 10V 5V
Then the capacitors in the converters are charged
UOK
and the main contactor closes.

The switching-on sequence is then comple-

te and the vehicle is ready for operation!
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

15V 15V
BR ZR
OK OK
UOK
Relay 2 BR Relay 1
U &
Check
reserved.

X1 9 31
X1.29 X1.6 X1.8
K1

48V enable 0V SOK

converter signal to LAS

Charging C-package
in the converters

X1.1

2/0086

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 12
 Chapter 11 FPS
Phase monitoring
The phases U (1) and V (2) are sent back to the
FPS as control signals by the power outputs of the
converters.
This means that the FPS receives a direct response
about the actual control characteristic (Acceleration/
deceleration) of the motors from the converters.

From this information, the FPS determines:

• The speed and direction of rotation

• The torque characteristic (derived from the
voltage).
2/0111

If this information does not correspond with the 1 2

information that the FPS has sent to the converters TRAVEL
via CAN bus 2 (control specification), the FPS
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

switches off the converters with a CAN bus

command. 1 2
If the converters to not react to this, the FPS
switches the main contactor off.
The relevant error code is then issued (see "Error
codes").
reserved.

Remark: The phase monitoring feature is not

currently included. The signal leads for
returning the signals are, however,
already wired up (1 and 2).

2/0110

HYDRAULICS

1 2

2/0112

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 13
 Chapter 11 FPS

Travel control signals

Vmax

The requirements for travel to take place at all are:

• FPS OK and main contactor closed (see "FPS,

Control OK signal and Control of the main
contactor")
• No error codes have been issued (see "Error
codes"). If errors have occurred, the problem
must be solved as appropriate for the error
code.

The following signals are then needed at the FPS

for travel at Vmax:

Pin Meaning Signal level

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

X1.11 Signal from LAS module that brake is released 24V

X1.16 Brake pedal (switch 1S12) not actuated 0V
X1.18 Switch at travel transducer 1U20 is actuated 0V
X1.19 Travel setpoint >5.5V ~ 4.9-9V
Travel direction button 1S44, travel direction changes
X1.20 with every 0V pulse 0V
X1.21 Creep speed switch 1S28 not actuated 0V
X1.22 Deadman switch 1S25 actuated 0V
reserved.

X1.23 Battery lock switch 1S27 actuated 0V

Remark: Signal levels of 0V mean "active" 0V signals, not "Lead open"!
If the relevant 0V signal level leads are open, 5V can be measured at the FPS
inputs (internal pull-up resistance at 5V in the FPS).
Depending on the parameters in the travel programs 1-4 (FP 1-4), the speed
may not necessarily be Vmax = 11 km/h (see "Service software"). Also, the Vmax
depends on the travel program which is selected at the time (see "Display,
Onboard diagnosis, Travel program selection").
The specified travel direction on switching on is the LS (load side).

Note: If the vehicle is fitted with the "360° steering" option, the default travel direction
after switching on will not necessarily be LS (load side).
Depending on how the drive wheel was positioned when the vehicle was
switched off, either travel direction LS or DWS (drive wheel side) can be active
when the vehicle is switched on. Please observe the combined travel direction/
wheel position indicator on the display!

Issue: 05/04
Replaces issue:
Workshop
Manual
XR-AC
Sheet no.
11- 14
 Chapter 11 FPS

Travel control signals

V = 2.5 km/h

The requirements for travel to take place at all are:

• FPS OK and main contactor closed (see "FPS,

Control OK signal and Control of the main
contactor")
• No error codes have been issued (see "Error
codes"). If errors have occurred, the problem
must be solved as appropriate for the error
code.

The following signals are then needed at the FPS

for travel at V = 2.5 km/h:
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Pin Meaning Signal level

X1.11 Signal from LAS module that brake is released 24V
X1.16 Brake pedal (switch 1S12) not actuated 0V
X1.18 Switch at travel transducer 1U20 is actuated 0V
X1.19 Travel setpoint >5.5V ~ 4.9-9V
Travel direction button 1S44, travel direction changes
X1.20 with every 0V pulse 0V
X1.21 Creep speed switch 1S28 is actuated ~ 5V
reserved.

X1.22 Deadman switch 1S25 actuated 0V AND/OR

X1.23 Battery lock switch 1S27 not actuated ~ 5V

Remark: Signal levels of 0V mean "active" 0V signals, not "Lead open"!

If the relevant 0V signal level leads are open, 5V can be measured at the FPS
inputs (internal pull-up resistance at 5V in the FPS).
Depending on the parameters in the travel program 0 (FP 0) the speed may not
necessarily be 2.5 km/h (see "Service software").
The specified travel direction on switching on is the LS (load side).

Note: If the vehicle is fitted with the "360° steering" option, the default travel direction
after switching on will not necessarily be LS (load side).
Depending on how the drive wheel was positioned when the vehicle was
switched off, either travel direction LS or DWS (drive wheel side) can be active
when the vehicle is switched on. Please observe the combined travel direction/
wheel position indicator on the display!

Issue: 05/04
Replaces issue:
Workshop
Manual
XR-AC
Sheet no.
11- 15
 Chapter 11 FPS
Hydraulics control signals
The control signals for the hydraulics are all
generated in the LAS module (see "LAS module,
Control of the hydraulics").
The FPS only acts as a conveyor of this information
to the hydraulic converter (see "FPS, Drive motor
regulating principle").
Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 16
 Chapter 11 FPS
Determining the battery capacity 1

2
At the converter for travel, there is a test shunt (2)
connected in series in the central negative battery
lead (1).
The FPs determines the actual current that is
extracted from the battery on the basis of the
voltage drop through the test shunt 6R2.
If the system detects here that a current of > 100A
is flowing, the battery capacity is calculated
together with the current battery voltage (measured 2/0113

on the capacitor charging lead at X1.29).

This value is sent to the LAS module via the CAN 48V
bus 1.
This in turn sends the information on to the display 48V
via the CAN bus, where the current battery capacity
S1 S2
Copyright protected. No part of this manual

is displayed (see "Display").

may be reproduced in any form. Copyright

X1 30 1 7

When the battery capacity is reached (red LED of

the battery capacity display on the display flashes, BR ZR
Ik
capacity < 20%), the lifting main lift function is
blocked by the LAS module.
15V 10V 5V
Test shunt data
UOK
reserved.

R = 0.1 mΩ, voltage change 40mV/400A

Remark: In order for the FPS to determine the

capacity correctly according to the type of 15V 15V
BR ZR
battery used, the battery type used in the OK OK
vehicle must be parameterised in the
UOK
FPS (see "Display, Onboard-diagnosis, Relay 2 Relay 1
BR
Setting the battery type"). U
Check
&

X1 9 31
X1.29 X1.6 X1.8
K1

48V enable 0V SOK

converter signal to LAS

Charging C-package
in the converters

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 17
 Chapter 11 FPS
Hour meter
The operating hours that are shown on the display
are determined in the FPS.
This sends the current number of operating hours
via CAN bus 1 to the LAS module. From here the
information is sent on to the display.

The FPS can count the operating hours itself when

the vehicle is switched on or when the motor is
driven.
During lowering operations, the FPS depends on
the lowering information from the LAS module
which sends this information via CAN bus 1 to the
FPS.

The method of counting the operating hours can be

set in the FPS:
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• Counting while key switch on

• Counting when motors active
• Counting when motors active and/or lowering.

The absolute number of operating hours can also

be changed(see "Service software").
reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 18
 Chapter 11 FPS
Anti-roll monitor
The FPS monitors the vehicle when it is at a
standstill.

If the FPS does not send a speed specification to

the travel converter because travel is not selected,
but the travel converter sends back a message that
the drive motor is running at at least 0.1 km/h
(actual speed response), the FPS initiates genera-
tor braking. The motor is braked to 0 km/h and then
generator braking is stopped again.
If the motor now starts up again, braking is initiated
again.

This means that the vehicle is held at a speed of

0.1 km/h.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 11- 19
 Kapitel 12
Chapter 11 LAS-Modul
FPS

Software versions

Version
SR UE File Comment
2.11 2.05 Fpssr211.bin - Start of series 01/2004
(for control proc.)

Fpsue205.bin
(for monitoring pro-
cessor)

Remark: The FPS is updated with the WINFLASH software. The notebook is connected
to the CAN bus diagnosis connector for this purpose (please see "Service soft-
ware"). A CAN lead (Id. no. W8 392 452) and a CAN-PC interface (Id. no. W8
409 550) are also needed.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue:
Ausgabe: 10/02
05/04
Replaces issue:
Werkstatt-
Workshop
Workshop-
Manual
XR-AC
Sheet
Blatt-Nr.
no.
12-
11- 20
32
 Chapter 12 LAS-Module
General
The main functions of the load handling controls
module (LAS module) (1) are to monitor, control
and pass on hydraulic signals to the FPS (via CAN
bus 1).
There are also other functions which it monitors
and controls:

Monitoring and control functions:

- Electromagnetic brake 2/0071

- Valves for the hydraulic functions 1

- Setpoints for the hydraulic functions
- Electrical steering
- CAN bus 1 communication

Other functions:
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

- Sending error messages to the display (from

LAS, steering, FPS, converters)
- Communication via CAN bus 1 with the
FPS, the steering and the display
- Evaluation and display of the height measuring 2/0074

system (option)
- Diagnosis and parameterising regarding the hy-
reserved.

draulic functions

The LAS module is divided into two CPUs, the

ÜWA-CPU (2) (monitoring CPU) and the S-CPU (3)
(control CPU). The software of the ÜWA-CPU is
permanently programmed into the unit, while the
software in the S-CPU can be programmed using a
notebook (see "Winflash").

Together with the steering unit, the display and the

FPS, the LAS module is the master module of the 2/0073

"CAN bus 1 system", (see "CAN bus"). 2 3

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 01
 Chapter 12 LAS-Module
Control of the hydraulics

General
1
There are four individual levers (1) plus max. 2 ad-
ditional buttons fitted on the vehicle for the hydrau- 4
lic movements. 3
2
1
The following functions can be carried out:

- Main lift lifting/lowering (Lever 1)

- Reaching LS/DWS (Lever 2) 40773u

- Tilting LS/DWS (Lever 3)

- Side shift R/L (Lever 4)
- Add. hydr. 1 R/L (Lever 4 + add.
button)
- Add. hydr. 2 R/L (Lever 4 + add.
button)
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Remark: For position of additional buttons, please

see "Guide to electrical components".
All hydraulic functions are only enabled
with operation of the deadman-switch!

The setpoint generators used are double potentio-

meters (bi-directional). Every function input of the
reserved.

LAS module, e.g. lifting/lowering the main lift, is

therefore made up of two analogue inputs which
are monitored internally.
The input signals are evaluated by the LAS module
and sent on to the relevant valves or the FPS.
In order for the individual functions be executed
correctly, the axes must be parameterised and the
potentiometers read in (see "Service software").
All the axes can be selected simultaneously with
the others, exception: the additional hydrauic 1 / 2
is always a single function!

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 02
 Chapter 12 LAS-Module
Control of the hydraulics

Block diagram

Setpoint e.g.
potentiometer additional hydraulics button
-
e.g.
Switch for reach
dampening
+

Connected
signal
S1 10V 0V S2 0V 0V
SOK
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

LAS module

SP
FPS
FP
S-CPU ÜWA-CPU
(parameters) AA
2+24V
CAN bus 2
CAN bus 1

2+48V
K2
reserved.

Hydraulic converter
K1

K1 / K2 = Safety
relays

Switching and Pump motor

proportional valves

SOK = FPS OK signal (24V active)

SP = Set speed for pump drive (via CAN bus 1)
FP = Enable signal for pump drive (via CAN bus 1)
AA = Selected axis (via CAN bus 1)

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 03
 Chapter 12 LAS-Module
Control of the hydraulics
Control signals for lifting the main lift
SOK = Control OK signal from the FPS (24V active) X11.1 LAS module
SP = Set speed for pump drive CAN bus 1
FP = Enable signal for pump drive CAN bus 1
AA = Selected axis CAN bus 1
HB1 = Intermediate lift stop (approx. 6.5V active) - option X11:12 LAS module
HB2 = Lift stop (approx. 6.5V active) - option X11:09 LAS module
PothS1 = Setpoint potentiometer 1 approx. 5 - 8V X11:23 LAS module
PothS2 = Setpoint potentiometer 2 approx. 5 - 2V X11:36 LAS module

Remark: The combined voltages of setpoint potentiometers PothS1 and PothS2 should be
approx. 10V, otherwise the error monitoring system responds with the relevant "FE"
error code (FE 50, see "Error codes"). The size of the "SP" signal depends on the
parameter set for the lifting function.
For main lift lifting the deadman-switch has to be operated!
Setpoint poti lifting/lowering Intermediate lift stop/lift stop
Remark:
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

- - If the intermediate lift stop (HB1)/ lift

stop (HB2) is active, approx 6.5V
should be measured at the relevant
inputs.
If the intermediate lift stop (HB1)/lift
2R9 2B46 + 2B44 + stop (HB2) is not active, approx. 19V
X1 2 1 3 4 should be measured at the relevant
inputs.
reserved.

X11 23 22 35 36 14 12 9
Poth 10V 0V Poth 0V HB1 HB2
S1 S2
see Remark SOK
approx. 5-8V approx.
5-2V
SP
LAS module FPS
FP
AA
Lifting 24V 0V
X10 4 2

35Ω / 0.5A
Hydraulic converter

(2Y2) 2Y37

( ) = Name in plan of hydraulics

Pump motor

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 04
 Chapter 12 LAS-Module
Control of the hydraulics
Control signals for lowering the main lift
SOK = Control OK signal from the FPS (24V active) X11.1 LAS module
AA = Selected axis CAN bus 1
SSP = Lowering lock 0.4m (6.5V active) - option X11:11 LAS module
SEV = Front reach (6.5V active) - option X11:10 LAS module
PothS1 = Setpoint potentiometer 1 approx. 5 - 2V X11:23 LAS module
PothS2 = Setpoint potentiometer 2 approx. 5 - 8V X11:36 LAS module

Remark: The combined voltages of setpoint potentiometers PothS1 and PothS2 should
be approx. 10V, otherwise the error monitoring system responds with the
relevant "FE" error code (FE 50, see "Error codes").
The output for lowering depends on the parameters set for the lowering
functions.
The SSP and SEV signals combined are for the "Reach and lowering lock"
function.
AA (selected axis = lowering) is for activation of the hour meter in the FPS
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

during lowering.
For main lift lowering the deadman-switch has to be operated!
Setpoint poti lifting/lowering Lowering/reach lock Remark:
- - If the lowering lock (SSP) or front
reach (SEV) are active, approx. 6.5V
should be measured at the relevant
inputs.
reserved.

If the lowering lock (SSP) or front

2R9 2B65 + 2B66 +
reach (SEV) are not active, approx.
X1 13 11 9 10 19V should be measured at the
X11 23 22 14 11 15 10
relevant inputs.
35 36
Poth 10V 0V Poth 0V SSP 0V SEV
S1 S2
see Remark SOK
approx. approx. 5-8V
5-2V

LAS module AA FPS

Lowering 24V 0V
X10 5 2

27Ω approx. 250 - 550mA

(2Y20) 2Y37

( ) = Name in plan of hydraulics

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 05
 Chapter 12 LAS-Module
Control of the hydraulics
Control signals for DS reaching
SOK = Control OK signal from the FPS (24V active) X11.1 LAS module
SP = Set speed for pump drive CAN bus 1
FP = Enable signal for pump drive CAN bus 1
AA = Selected axis CAN bus 1
SSP = Lowering lock (6.5V active) - option X11:11 LAS module
SEV = Front reach (6.5V active) - option X11:10 LAS module
SDA = Reach dampening DS (6.5V active) X11:13 LAS module
Pots_S1 = Setpoint potentiometer 1 approx. 5 - 8V X11:24 LAS module
Pots_S2 = Setpoint potentiometer 2 approx. 5 - 2V X11:21 LAS module

Remark: The combined voltages of setpoint potentiometers PotsS1 and PotsS2 should be
approx. 10V, otherwise the error monitoring system responds with the relevant "FE"
error code (FE 51, see "Error codes"). The size of the "SP" signal depends on the
parameter set for the "Pump reach" function. The output "Reach DS" depends on
the parameters set for the "Reach valve" and "Reach dampening" functions.
For reaching the deadman-switch has to be operated!
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Setpoint pot. reach DS/LS Reach/lowering lock

- - -

Dampening,
reach DS

2R11 2B65 + 2B66 + 2B38 +

X1 7 5 3 4
reserved.

X11 24 22 35 21 14 11 15 10 13
Pots 10V 0V Pots 0V SSP SEV SDA
S1 S2
approx.19V / 6.5V SOK
approx. 5-8V approx. 5-2V

SP
LAS module FPS
FP
AA
Reach DS 24V 0V
X10 7 13

9Ω / approx. 0.7-1.5A
Hydraulic converter
(2Y25) 2Y54

( ) = Name in plan of hydraulics

Pump motor

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 06
 Chapter 12 LAS-Module
Control of the hydraulics
Control signals for LS reaching
SOK = Control OK signal from the FPS (24V active) X11.1 LAS module
SP = Set speed for pump drive CAN bus 1
FP = Enable signal for pump drive CAN bus 1
AA = Selected axis CAN bus 1
SSP = Lowering lock (6.5V active) - option X11:11 LAS module
SEV = Front reach (6,5V active) - option X11:10 LAS module
SDL = Reach dampening LS (6.5V active) X11:18 LAS module
Pots_S1 = Setpoint potentiometer 1 approx. 5 - 8V X11:24 LAS module
Pots_S2 = Setpoint potentiometer 2 approx. 5 - 2V X11:21 LAS module

Remark: The combined voltages of setpoint potentiometers PotsS1 and PotsS2 should be
approx. 10V, otherwise the error monitoring system responds with the relevant "FE"
error code (FE 51, see "Error codes"). The size of the "SP" signal depends on the
parameter set for the "Pump reach" function. The output "Reach LS" depends on
the parameters set for the "Reach valve" and "Reach dampening" functions.
For reaching the deadman-switch has to be operated!
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Setpoint pot. reach DS/LS Reach/lowering lock

- - -

Dampening,
reach LS

2R11 2B65 + 2B66 + 2B38 +

X1 7 5 3 4
reserved.

X11 24 22 35 21 14 11 15 10 18
Pots 10V 0V Pots 0V SSP SEV SDL
S1 S2
approx.19V / 6.5V SOK
approx. approx.
5-8V 5-2V

LAS module
SP FPS
FP
AA
Reach LS 24V 0V
X10 6 2

9Ω / approx. 0.7-1.5A
Hydraulic converter
(2Y26) 2Y54

( ) = Name in plan of hydraulics

Pump motor

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 07
 Chapter 12 LAS-Module
Control of the hydraulics
Control signals for DS tilting
SOK = Control OK signal from the FPS (24V active) X11.1 LAS module
SP = Set speed for pump drive CAN bus 1
FP = Enable signal for pump drive CAN bus 1
AA = Selected axis CAN bus 1
PotnS1 = Setpoint potentiometer 1 approx. 5 - 8V X11:34 LAS module
PotnS2 = Setpoint potentiometer 2 approx. 5 - 2V X11:20 LAS module

Remark: The combined voltages of setpoint potentiometers PotnS1 and PotnS2 should
be approx. 10V, otherwise the error monitoring system responds with the
relevant "FE" error code (FE 52, see "Error codes").
The size of the SP signal depends on the parameter set for the "Pump tilt"
function.
For tilting the deadman-switch has to be operated!

Setpoint pot. tilting DS/LS

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

2R12

X2 6 1 11 5
reserved.

X11 34 22 35 20
Potn 10V 0V Potn
S1 S2
SOK
approx. 5-8V approx. 5-2V

LAS module SP FPS

FP
Tilting DS 0V AA
3+48V
X10 9 1

25Ω
IStarting 1A
Hydraulic converter
IWorking 0.7A (2Y3) 2Y58

( ) = Name in plan of hydraulics

Pump motor

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 08
 Chapter 12 LAS-Module
Control of the hydraulics
Control signals for LS tilting
SOK = Control OK signal from the FPS (24V active) X11.1 LAS module
SP = Set speed for pump drive CAN bus 1
FP = Enable signal for pump drive CAN bus 1
AA = Selected axis CAN bus 1
PotnS1 = Setpoint potentiometer 1 approx. 5 - 2V X11:34 LAS module
PotnS2 = Setpoint potentiometer 2 approx. 5 - 8V X11:20 LAS module

Remark: The combined voltages of setpoint potentiometers PotnS1 and PotnS2 should
be approx. 10V, otherwise the error monitoring system responds with the
relevant "FE" error code (FE 52, see "Error codes").
The size of the SP signal depends on the parameter set for the "Pump tilt"
function.
For tilting the deadman-switch has to be operated!
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Setpoint pot. tilting DS/LS

2R12

X2 6 1 11 5
reserved.

X11 34 22 35 20
Potn 10V 0V Potn
S1 S2
SOK
approx. 5-2V approx. 5-8V

LAS module SP FPS

FP
Tilting LS 0V 3+48V
AA
X10 8 1

25Ω
IStarting 1A
Hydraulic converter
IWorking 0.7A (2Y29) 2Y58

( ) = Name in plan of hydraulics

Pump motor

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 09
 Chapter 12 LAS-Module
Control of the hydraulics
Control signals for side shift RIGHT
SOK = Control OK signal from the FPS (24V active) X11.1 LAS module
SP = Set speed for pump drive CAN bus 1
FP = Enable signal for pump drive CAN bus 1
AA = Selected axis CAN bus 1
PotqS1 = Setpoint potentiometer 1 approx. 5 - 8V X11:19 LAS module
PotqS2 = Setpoint potentiometer 2 approx. 5 - 2V X11:33 LAS module

Remark: The combined voltages of setpoint potentiometers PotqS1 and PotqS2 should
be approx. 10V, otherwise the error monitoring system responds with the
relevant "FE" error code (FE 53, see "Error codes").
The size of the SP signal depends on the parameter set for the "pump
side shift" function.
For side shift the deadman-switch has to be operated!
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Setpoint pot. side shift R/L

2R13

X1 2 1 3 4
reserved.

X11 19 22 35 33
Potq 10V 0V Potq
S1 S2
approx. 5-8V approx. 5-2V SOK

LAS module SP FPS

FP
side shift R 0V 3+48V
AA
X10 10 1

25Ω
IStarting 1A
Hydraulic converter
IWorking 0.7A 2Y53

Pump motor

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 10
 Chapter 12 LAS-Module
Control of the hydraulics
Control signals for side shift LEFT
SOK = Control OK signal from the FPS (24V active) X11.1 LAS module
SP = Set speed for pump drive CAN bus 1
FP = Enable signal for pump drive CAN bus 1
AA = Selected axis CAN bus 1
PotqS1 = Setpoint potentiometer 1 approx. 5 - 2V X11:19 LAS module
PotqS2 = Setpoint potentiometer 2 approx. 5 - 8V X11:33 LAS module

Remark: The combined voltages of setpoint potentiometers PotqS1 and PotqS2 should
be approx. 10V, otherwise the error monitoring system responds with the
relevant "FE" error code (FE 53, see "Error codes").
The size of the SP signal depends on the parameter set for the "pump
side shift" function.
For side shift the deadman-switch has to be operated!
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Setpoint pot. side shift R/L

2R13

X1 2 1 3 4
reserved.

X11 19 22 35 33
PotQ 10V 0V PotQ
S1 S2
approx. 5-2V approx. 5-8V SOK

LAS module SP FPS

FP
side shift L 0V 3+48V
AA
X10 11 1

25Ω
IStarting 1A
Hydraulic converter
IWorking 0.7A 2Y53

Pump motor

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 11
 Chapter 12 LAS-Module
Control of the hydraulics
Simultaneous movements 1 2

The following simultaneous movements are possible:

- Lifting/lowering + reaching + tilting + side shift

The 4 functions can be combined with each other in

any way.

Remark: The additional hydraulics 1 or 2 are

always individual movements!

The set speed, which is transmitted via CAN bus 1 to 40744u

the FPS, is always the sum of the individual axes. In

combinations with the main lift lifting axis, the set
speed used is always in a range of 0-100%.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Example

DWS reaching and DWS tilting are selected

simultaneously, and the following set speed is set:

20 % (1) + 8 % (2) = 28 % of the max. pump speed

reserved.

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Replaces issue: Manual
XR-AC 12- 12
 Chapter 12 LAS-Module
Control of the hydraulics
Zero point monitoring
The potentiometers for lifting/lowering, reaching,
tilting and side shift are monitored by the LAS
module as soon as the vehicle is switched on.

The potentiometer setpoint values must be within

the zero range (1) of 5V +/- 0.75V (adjustable, see
"Service software"). If this is not the case, the
40773u
function in question, e.g. reaching, is not enabled.
The error message FE 54 appears on the display
(see "Error codes") and the maintenance symbol
starts to flash.

The function in question cannot be executed again

until the setpoint is within the zero range again.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Double potentiometer
U Poti V 1
10
9
Umax 8 UFo = Voltage, upper
reserved.

Arm 2 Arm 1 limit of range

7

6
UFo UFu = Voltage, lower
5 limit of range
UFu
4
3
Umin 2

-100 -80 -60 -40 -20 0 20 40 60 80 100 % deflection

Lever pushed Lever pulled

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XR-AC 12- 13
 Chapter 12 LAS-Module
Control of the hydraulics
Reach dampening

The end of the movement sequence is dampened

with a ramp, i.e. the signal for pump drive set
speed (SP) is reduced by a certain percentage in
accordance with the entered parameter value (1)
(see "Service software").
1/0245
The input information (0V signals) is provided by
inductive proximity switches (2B38 / 2B39) in a
2-wire design, which are fitted on the the reach
carriage (see Fig. 1).
When a switch has switched, a green light diode
lights up on the switch.

Values measured in practice:

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Switch not switched, SDA/SDL approx. 19V

Switch switched, SDA/SDL approx. 6.5V
40744u
1
Function SDA SDL SP
Dampening,
Reach dampening 1 - max - red. value DWS/LS reaching
DWS
- -
reserved.

Reach dampening - 1 max - red. value

LS

2B38 + 2B39 +

X11 14 13 18
0V SDA SDL
approx. approx.
19V 19V
LAS module

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XR-AC 12- 14
 Chapter 12 LAS-Module
Control of the hydraulics
Hydraulic options

There are options in the LAS module that can be

activated with a notebook, in order to extend the
hydraulic functions (see "Service software").

These options are:

1.Lift stop
Input information X51:2
-X11.12 (HB1) --> Intermediate lift stop - -

-X11.09 (HB2)--> End lift stop

-X11.08 (EHA)--> Release of
intermediate lift stop 2S26
2B44 + 2B46 +
Copyright protected. No part of this manual

Output information
may be reproduced in any form. Copyright

-CAN bus 1 (FP) -->Enable pump drive

-CAN bus 1 (SP) -->Set speed, pump drive X11 14 9 12 8 X1:42
0V HB2 HB1 EHA 0V
An intermediate lift stop can be initiated via input approx. approx.
HB1. The lift remains switched off (FP and SP) as 19V 19V
long as a 0V signal is applied at X11.12 (6.5V LAS module FPS
can be measured when the inductive proximity
reserved.

switch has switched.

This stop can be cancelled with a 0V signal at
X11.8 (EHA).

An end lift stop can be made with input HB2

(X11.9). As long as a 0V signal is applied here,
the lift remains switched off. This stop cannot be
cancelled at the "EHA" input.

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Replaces issue: Manual
XR-AC 12- 15
 Chapter 12 LAS-Module
Control of the hydraulics
Hydraulic options

2. Reaching and lowering lock

If the mast is retracted and a lowering movement is

executed below a defined height (0.4 m) (0V signal
at X11.11 SSP), the movement is blocked. Further Input information
lowering is possible if a 0V signal is applied briefly
with the release button at X11.3 (ESP). -X11.11 (SSP)--> 400 mm lowering lock
If the mast is extended, continuous lowering is -X11.10 (SEV)--> Reach end position
possible. This is monitored by a 0V signal from the -X11.3 (ESP)--> Release reaching and
"Reach end position (SEV)" switch at X11.10. lowering lock
If the mast is extended and lowered below the
defined height, the DS reach function is blocked.
This can also be cancelled again with the release
button.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

3. Additional hydraulics 1 and/or 2

If this option is selected, one or two additional

hydraulic function(s) can be controlled with the LAS
module (e.g. fork tilting, bale lifter). The input signal
is a 0V signal at X11.32 (AZ1) and/or X11.5 (AZ2).
When the operating elements (potentiometers) are Input information
reserved.

moved, outputs X10.12 (ZUSH 1.1), X10.25 (ZUSH

2) and X10.39 (ZUSH 1.2) are activated. Outputs -X11.32 (AZ1)--> Select
ZUSH 1.1 and ZUSH 1.2 are valve outputs with additional hydraulics 1
which the valves are driven directly and with which -X11.5 (AZ2)--> Select
the direction is determined. Two relays (2K46 and additional hydraulics 2
2K47) are driven by the ZUSH 2 output. Their
function is to make the valves switch over for the Output information
additional hydraulics 2.
-X10.12 (ZUSH1.1) --> Valve, add. hydr. 1.1
4. Side shift
-X10.39 (ZUSH1.2) --> Valve, add. hydr. 1.2

The side shift function is also a hydraulic option and

-X10.25 (ZUSH 2) --> Switch-over relay
can therefore also be selected or de-selected.

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XR-AC 12- 16
 Chapter 12 LAS-Module
Control of the hydraulics
Guide to the input and output signals for the hydraulic functions

Terminal I/O Function Abbr. Signal

X11:31 Input n.c.
X11:32 Input Additional hydraulics 1 AZ1 0V active
X11:5 Input Additional hydraulics 2 AZ2 0V active
X11:3 Input Release reaching/lowering lock ESP 0V active
X11:8 Input Release intermediate lift stop EHA 0V active
X11:13 Input Reach dampening DS SDA 0V active
X11:18 Input Reach dampening LS SDL 0V active
X11:11 Input Lowering lock 0.4m SSP 0V active
X11:12 Input Intermediate lift stop HB1 0V active
X11:9 Input End lift stop HB2 0V active
X11:10 Input Reach end position LS SEV 0V active
X10:9 Output Valve for tilting DS 1A (0V, PWM)
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

X10:8 Output Valve for tilting LS 1A (0V, PWM)

X10:11 Output Valve for transverse reach L 1A (0V, PWM)
X10:10 Output Valve for transverse reach R 1A (0V, PWM)
X10:12 Output Valve for additional hydr. 1.1 1A (0V, PWM)
X10:39 Output Valve for additional hydr. 1.2 1A (0V, PWM)
X10:25 Output Switch-over relay, add. hydr.2 1A (0V, PWM)
X10:4 Output Valve for lifting 0.5A (24V, PWM)
X10:5 Output Valve for lowering (prop.) 0.2-0.7A (24V,PWM)
reserved.

X10:7 Output Valve for reaching DS (prop.) 0.8-1.6A (24V,PWM)

X10:6 Output Valve for reaching LS (prop.) 0.8-1.6A (24V,PWM)
X11:23 Input Setpoint 1 for lifting/lowering POTH S1 2-8V
X11:36 Input Setpoint 2 for lifting/lowering POTH S2 2-8V
X11:24 Input Setpoint 1 for reaching POTS S1 2-8V
X11:21 Input Setpoint 2 for reaching POTS S2 2-8V
X11:34 Input Setpoint 1 for tilting POTN S1 2-8V
X11:20 Input Setpoint 2 for tilting POTN S2 2-8V
X11:19 Input Setpoint 1,transv. reach POTQ S1 2-8V
X11:33 Input Setpoint 1,transv. reach POTQ S2 2-8V
X11:1 Input Control OK from FPS SOK 24V aktiv
CAN bus 1 Output Set speed for pump drive SP 0-100%
CAN bus 1 Output Enable pump drive FP 0 oder 1
CAN bus 1 Output Selected axis AA Achsencode

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XR-AC 12- 17
 Chapter 12 LAS-Module
Electromagnetic brake control
General
1
The electromagnetic brake serves as a parking
brake, which is controlled with a switch (1) on the
operating console.

If the steering is faulty, the electromagnetic brake is

closed, even though the switch is set to the "Brake
released" position. The electromagnetic brake is
controlled and monitored by the LAS module.

Parking and emergency braking function

40771u
The handbrake switch (1) is supplied with a 0V
signal (LFF) by the steering system. If this signal is
applied at the LAS module (X11.4), together with the
signals ÜWA-CPU OK, Steering OK and SOK
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

(Control OK), the brake is released.

If any of these signals is missing, the brake is
closed, even if the switch is pressed.

Information that the brake is released is sent to the

FPS as a 24V signal, via X10.23. The drive motor is
not activated if this signal is missing.
reserved.

Block diagram of the electromagnetic brake

2+48V 2+24V

X10 15 35
ÜWA-CPU OK
LAS module
S-CPU
K1 &
SOK (Control OK from FPS)
X11 X1 SOK
ÜWA-CPU
Steering OK (via CAN bus 1) 1 8 FPS
Brake monitoring

X11 4 X10 26 X10 40

X10 30 (3+48V) 3 23
X47 12
Electromagn. HB LFF
brake 1S3
FPS Steering
1

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XR-AC 12- 18
 Chapter 12 LAS-Module
Electromagnetic brake control
Monitoring
1
The brake is clocked by the LAS module for approx.
1 second by 100 %. After this, the brake is clocked
with approx. 60% (holding voltage approx. 30V).
The output signal is checked internally in the LAS
module.
If an error is detected, the display shows:

-FE 65: Electrical brake output has detected wire

breakage during operation. No current
flows through the brake coil (clocking
40771u
response to S-CPU) and the "Brake
released" output (X10.23) to the FPS is
not set.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

-FE 75: The brake is selected, although the hand-

brake switch (1) has not been actuated
(monitoring by ÜWA-CPU).
This error is also shown if there is a wire
breakage when the vehicle is switched on.

Remark: A short-circuit across the brake coil also

causes the brake to switch off. However,
reserved.

in this case no error message is issued!

Block diagram of the electromagnetic brake

2+48V 2+24V

X10 15 35
ÜWA-CPU OK
LAS module
S-CPU
K1 &
SOK (Control OK from FPS)
X11 X1 SOK
ÜWA-CPU
Steering OK (via CAN bus 1) 1 8 FPS
Brake monitoring

X11 4 X10 26 X10 40

X10 30 (3+48V) 3 23
X47 12
Electromagn. HB LFF
brake 1S3
FPS Steering
1

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XR-AC 12- 19
 Chapter 12 LAS-Module
General vehicle options

In addition to the hydraulic options (see "LAS

module, Control of the hydraulics, Hydraulic
options), there are also other general vehicle
options in the LAS module that can be configured
using a notebook (see "Service software").
These general vehicle options are:
1.Warning light

A 24V signal is supplied at X10.31 as soon as the

vehicle is driven or the main lift is lowered.
Since the output can only be loaded with a max.
of 0.5A, a relay must be inserted here.
If this option is not activated, the output is
switched on permanently during travel and the
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

lowering main lift function (use of an all-round

light).
If the option is activated, the output is clocked
with 2.5Hz (use of a flashing light).

2.Height display
reserved.

When this is used in combination with a height

measuring system (see "Height measuring
system") the current lifting height is shown on the
display in mm.

3. DS/LS travel

A 24V signal is supplied at output X10.17 when

the vehicle is driven actively (pulses from the
drive motor speed sensor). Since the output can
only be loaded with a max. of 0.5A, a relay must
be inserted here.
This means that a signal transducer (horn or
similar) can be selected in dependence on the
travel direction.

DS = drive side, LS = load side

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XR-AC 12- 20
 Chapter 12 LAS-Module
Safety monitoring
General

Various different errors are detected and hardware

and software function sequences monitored here.
This is carried out by the two CPUs (Control CPU (1)
and monitoring or ÜWA-CPU(2), see "LAS module,
General"). Monitoring of
These two CPUs also monitor each other and various functions
exchange information continuously.

The control CPU checks:

• EEPROM memory test S-CPU

• All inputs and outputs for plausibility (Control CPU)
(min./max. limits --> wire breakage/short-circuits)
Copyright protected. No part of this manual

• Communication with the FPS (CAN bus 1)

may be reproduced in any form. Copyright

• Communication with the steering (CAN bus 1)

• Communication with the display (CAN bus 1)
• Communication with the ÜWA-CPU (internal)
• Software with "watchdog" triggering ÜWA-CPU
K1 (Monitoring CPU) K2
These checks are carried out when the vehicle is
switched on and during operation. If an error is
2+24V 2+24V
detected, an error message is issued (FE code on
reserved.

the display) and the affected function is switched off.

However, the internal safety relays K1/K2 (3) remain
closed (LED (4) is on). Monitoring of
various functions
The ÜWA-CPU checks:
3 4
• Communication with the S-CPU (internal)
• Function sequences from output function to input
function, ie. if an output is selected, the relevant
input signals for it must also be applied.
• Electromagnetic brake OK
• "Control OK" signal (SOK) from FPS has been
provided
• Contacts of the safety relays K1/K2 are open when
the vehicle is switched on

2/0073

2 1

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XR-AC 12- 21
 Chapter 12 LAS-Module
Safety monitoring
General 1 2

The checks made by the ÜWA-CPU are carried out

when the vehicle is switched on and during
operation.
If an error is detected, an error message is issued
(FE code on the display) and the affected function is
switched off. The internal safety relays K1/K2 (1)
are opened (LED (2) is off).
As a result, no vehicle functions are possible except
for the steering .

Remark: The ÜWA-CPU is not activated until 2/0073

commissioning has been carried out

correctly with the LAS module! (see
"Service software"). 6 7 5
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

If errors occur, they are allocated to an error class.

According to this classification, an entry is made in
the error memory (EEPROM), which can be read
out via the diagnosis interface and can also be
deleted again as required (see "Service software").
All errors that occur are given an error number (see
"Error codes") and are shown on the display.
reserved.

Remark: The red LED (3) on the ÜWA-CPU (4)

indicates that the CPu is ready for
operation and is functioning correctly
(flashes).
The red LED (5) on the S-CPU (6)
indicates that the process has been
initialised after the vehicle has been
switched ON at the key switch
(permanently ON). 2/0075

The red LED (7) on the S-CPU indicates 4 3

that the control processor is in operation
(flashes).
When the supply voltage is applied at the
LAS module (X10.15,X10.34, X10.35)
the LEDs must show the correct
operating status.

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XR-AC 12- 22
 Chapter 12 LAS-Module
Switching-on sequence

When the vehicle is switched on, a check is

carried out to ensure that the power supply is
applied to the LAS module in the correct order, i.e.
voltage must be applied first at X10.35 (2+24V)
and X10.15 (2+48V). This means that the
emergency-stop switch is not actuated. Not until
these two voltages are applied may voltage be
applied at X10.34 (1+24V) = key switch on.

If this sequence of

1. Emergency-stop switch released

2. Key switch on

is not maintained, error message "FE01" is issued

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

and the LAS module is blocked.

The system can then only be reset by switching
the key switch off and then on again (with the
correct voltage sequence).
reserved.

Issue: 05/04 Workshop Sheet nor.

Replaces issue: Manual
XR-AC 12- 23
 Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue:
1 2 = Maintain voltage
(Key
sequence, otherwise (Em.-stop) switch)
To FPS 2+48V (Em.-stop) FE01 2+24V 1+24V 0V
FPS OK (SOK) X11.1

Replaces issue:
05/04
Handbrake X11.4 2
1 1
Chapter 12

X10 23 15 X10 35 34 28/42

Brake released = 24V
Block diagram

U=48V, FE76 U=24V, FE77

Steering OK
CAN bus
Input HB=0V LAS module
General
SOK=OK (0V) Contact H1 power supply
Contact
& monitoring K1 K2
OK monitoring
FE78
FE79
ÜWA-CPU
(monitoring-
CPU)
OK 3+24V

Manual
3+48V FE90 FE56

Workshop
S-CPU
(control CPU)
1/
Brake monitoring Tilting
FE75 / 65 X10 3 30 1 QS, ZH 1/2 X10 4 5 7 6

XR-AC
AS LS Lifting Lowering Reaching
X10 9 8

X10 2 AS LS
13
Electro-

Sheet nor.
magnetic I-meas. I-meas. I-meas. I meas.
brake LAS module

2/0026

12- 24
LAS-Module
 Chapter 12 LAS-Module
Pin assignment X10 (1)

8/0123 2/0071
1
Pin Designation Signal Type
X10.1 Supply of valves for reach carriage 3+48V Supply
X10.2 Valve for lifting/lowering main lift 0V Supply
X10.3 Electromagnetic brake ca. 30V Output, PWM 0V
X10.4 Valve for lifting main lift 24V Output, PWM 24V
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

X10.5 Prop. valve for lowering main lift ca. 250-600mA Output, PWM 24V
X10.6 Valve for reaching LS ca. 0.8 - 1.4A Output, PWM 24V
X10.7 Valve for reaching DS ca. 0.8 - 1.4A Output, PWM 24V
X10.8 Valve for tilting LS Low active Output, PWM 0V
X10.9 Valve for tilting DS Low active Output, PWM 0V
X10.10 Valve for transv. reaching RHS Low active Output, PWM 0V
X10.11 Valve for transv. reaching LHS Low active Output, PWM 0V
X10.12 Valve for additional hydraulics 1.1 Low active Output, PWM 0V
reserved.

X10.13 Prop. valve for reaching 0V Supply

X10.14 n.c. 0V
X10.15 Power supply 2+48V Supply
X10.16 n.c.
X10.17 Travel direction LS/DS active 24V Output
X10.18 Travel direction LS/DS static Open / 24V Output
X10.19 n.c. +12V
X10.20 Incremental encoder for lifting 2+24V Supply
X10.21 n.c.

PWM 0V = Pulse width modulated signal, reference potential 0V

PWM 24V = Pulse width modulated signal, reference potential 24V

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XR-AC 12- 25
 Chapter 12 LAS-Module

Pin assignment X10 (1)

8/0123
8/0123 2/0071
1

Pin Designation Signal Type

X10:22 n.c. 0V
X10:23 Brake is open 24V Output
X10:24 Incremental encoder for lifting 0V Supply
X10:25 Switch-over relay for add. hydr. 2 Low active Output, PWM 0V
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

X10:26 Steering OK LFF 0V Output

X10:27 n.c. 0V
X10:28 Supply voltage 0V Input
X10:29 n.c. 2+48V
X10:30 Electromagnetic brake 3+48V Output
X10:31 Flashing warning light 24V / 2.5Hz Permanent/clocking
X10:32 n.c.
X10:33 n.c.
reserved.

X10:34 Supply 1+24V Input

X10:35 Supply 2+24V Input
X10:36 n.c. 0V
X10:37 n.c. 0V
X10:38 n.c. 0V
X10:39 Valve for additional hydraulics 1.2 Low active Output, PWM 0V
X10:40 Steering OK (LFF) 0V Input
X10:41 n.c. 0V
X10:42 Supply 0V Input

PWM 0V = Pulse width modulated signal, reference potential 0V

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XR-AC 12- 26
 Chapter 12 LAS-Module

Pin assignment X11 (1) 1

8/0123 2/0071

Pin Designation Signal Type

X11.1 Control OK signal (SOK) from FPS 24V Input
24V
X11.2 Incremental encoder for lifting A (INC A) 0V Input
X11.3 Releasing lowering lock (ESP) Low active Input
X11.4 Handbrake switch (HB) Low active Input
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

X11.5 Button for additional hydraulics 2 (AZ2) Low active Input

X11.6 n.c.
X11.7 Reference switch for height indicator (HW) Low active Input
X11.8 Releasing intermediate lift stop (EHA) Low active Input
X11.9 End lift stop (HB2) Low active Input
X11.10 Reach end position (SEV) Low active Input
X11.11 Lowering lock 0.4m (SSP) Low active Input
X11.12 Intermediate lift stop (HB1) Low active Input
reserved.

X11.13 Dampening of DS reach (SDA) Low active Input

X11.14 Supply voltage 0V Output
X11.15 Supply for buttons for additional hydraulics 1+2 0V Output
X11.16 Heating on (shown in display, KHA) Low active Input
X11.17 n.c.
X11.18 Dampening of LS reach (SDL) Low active Input
X11.19 Potentiometer for transv. reach, arm 1 (PotQS1)5V ± 3V Input
X11.20 Potentiometer for tilting, arm 2 (PotNS2) 5V ± 3V Input
X11.21 Potentiometer for reaching, arm 2 (PotSS2) 5V ± 3V Input

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XR-AC 12- 27
 Chapter 12 LAS-Module

Pin assignment X11 (1)

1

8/0123
2/0071

Pin Designation Signal Type

X11.22 Potentiometer power supply 10V Output
X11.23 Potentiom. for lifting/lowering, arm 1 (PotHS1) 5V +/- 3V Input
X11.24 Potentiom. for reaching, arm 1 (POTSS1) 5V +/-3V Input
X11.25 Boot input (X99) for diagnosis Input
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

X11.26 TXD (X99) for diagnosis RS232 RS232

X11.27 RXD (X99) for diagnosis RS232 RS232
X11.28 GND (X99) for diagnosis RS232 RS232
X11.29 n.c.
24V
X11.30 Incremental encoder for lifting B (INCB) 0V Input
X11.31 n.c.
X11.32 Button for additional hydraulics 1 (AZ1) Low active Input
X11.33 Potentiom. for transv. reach, arm 2 (POTQS2) 5V +/- 3V Input
reserved.

X11.34 Potentiom. for tilting, arm 1 (POTNS1) 5V +/- 3V Input

X11.35 Potentiometer supply 0V Output
X11.36 Potentiom. for lifting/lowering, arm 2 (POTHS2) 5V +/- 3V Input
X11.37 diagnosis active (X99) Input
X11.38 Power supply for display / CAN bus 2+24V Output
X11.39 CAN bus L see "CAN bus" In/output
X11.40 CAN bus H see "CAN bus" In/output
X11.41 Power supply for display / CAN bus 0V Output

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XR-AC 12- 28
 Chapter 12 LAS-Module
Software versions

Version
S-CPU ÜWA File Comments
LasFmi130.hex
1.30 1.05 (for Winflash) - start of series 01/2004

Remark: The LAS-module is updated with the WINFLASH software. The notebook is
connected to the CAN bus diagnosis connector for this purpose (please see
"Winflash"). A CAN lead (Id. no. W8 392 452) and a CAN-PC interface (Id. no.
W8 409 550) are also needed.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue: 05/04 Workshop Sheet no.

nor.
Replaces issue: Manual
XR-AC 12- 29
 Chapter 13 Converters
General
The converters have the task of generating a 3-
phase alternating current from the direct current of
the battery and of driving the drive motor or
hydraulic motor with this current. This makes it
possible to use low-maintenance alternating current
motors that function without carbon brushes and
commutators.

At its outputs U,V and W (1), the converter 2/0027

generates 3 sinusoidal signals that are offset in time
by 120° (phase shift 120°). As a result of this time-
1
staggered excitation of the stator package in the
alternating current motor (spatial arrangement of the
coils also offset by 120°), a rotating magnetic field is
generated.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

The speed can then be determined here by varying

the frequency (rotational speed of the field).
The faster the stator field rotates, the stronger is the 2/0084
tendency of the rotor field that is caused by induction
to follow this outer field.

The torque is regulated by changing the voltage. U

reserved.

The higher the voltage, the higher the current and

consequently the magnetic excitation. As the
magnetic excitation increases, the power of the
motor and consequently its torque increases.
W V
It is now the task of the converter to co-ordinate the
speed and the torque so that the power output by
the motors is optimal and as constant as possible.
This is done by a micro-processor in the converter.
The speed and direction of rotation is sent back to
the converter by a speed sensor in the motor. In
combination with the internal current measurement
of the phases, this gives a closed control circuit.
All the relevant information like the direction of
rotation and speed are sent to the converters via
CAN bus 2 of the FPS.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 01
 Chapter 13 Converters
General 4 3
The converters are protected from overloading by
temperature sensors in the converter and in the motors.
The converters for the drive (1) and hydraulic motors (2)
are absolutely identical. The coding that determines
which motor each converter is responsible for is set with
a wire jumper at connector X1 (3) (see "Converter
coding").
Information about the status of the converter can be
read off a status LED (4) at the converter (see "Status
LED"). 2/0082

Inside the converter, there is a 30mF capacitor unit

5 2 1
behind the connectors "+" (5,48V) and "B-" (6,0V). This
must first be charged when the vehicle is switched on
(see "Charging the capacitor unit").

Note: When the vehicle is switched off, this

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

capacitor unit is discharged automatically by

!
the motors, but this process takes about 5
seconds.
During this time, the conductor rails (7) have
voltage potential. 2/0081

If an emergency-stop is initiated during 6 7

operation, automatic discharging does not
take place. The capacitor unit is then
discharged at the controls compartment fan
(8).
reserved.

In the event that the automatic discharging process

does not work properly due to a technical fault it is pos-
sible to discharge the capacity unit manually by connec-
ting the mesuring device parallel to the current bar (ad-
justment resistor-measurement with 200Ω measuring
range or higher) (fig. 3). After approx. 5 minutes the vol-
tage is under the critical value of 10V. For safty reasons 2/0260
please check at first the voltage before dismantling the 8
unit (fig. 4)!!

Technical data
Model: ACS 4808
Operating voltage: 48V (37-62V) DC
Output voltage: 0 - 28V AC
Output current: 0 - 350A
Output frequency: 0 - 150 Hz
PWM switching frequency: 8 kHz (for converter
regulation)
Operating temp. range: -35°C - +55°C
2/0101

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 02
 Chapter 13 Converters
Diagram of the functional principle

FPS

CAN BUS 2 signals MOSFET transistors Rectifier diodes Capacitor unit

Converter +

Micro-
proces- UBatt
sor

Temp. sensor
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

20028
reserved.

Current actual value

Alternating current motor

Temperature sensor
Speed sensor

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 03
 Chapter 13 Converters
The principle of speed/torque
regulation
The speed is determined in the alternating current
motor by variation of the frequency.
The faster the stator field rotates, the stronger is the
tendency of the rotor field that is caused by induction
to follow this outer field. toff ton

The torque is regulated by changing the voltage.

The higher the voltage, the higher the current and 2/0083

consequently the magnetic excitation. As the

magnetic excitation increases, the power of the motor
and consequently its torque increases.
The problem now is to co-ordinate the speed and the
torque at the same time so that the power output by
the motors is optimal and as constant as possible.
High frequency
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

The basic principle by which the voltage and the

frequency are changed is "pulse width modulation"
(PWM).
By changing the switching-on time (ton) and
switching-off time (toff), an almost sinusoidal 2/0085
Low frequency
alternating voltage is generated.
reserved.

To generate an alternating voltage with a higher

frequency, the change in the pulse width takes place
faster.

To generate a lower frequency or voltage, the puse

width is decreased.

The clock frequency itself always remains constant in

this process (8 kHz).

The converters receive the information for clocking

from the FPS via CAN bus 2 (speed specifications for
travel and for the individual hydraulic axes).

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 04
 Chapter 13 Converters
Status LED 1
Information about the status of the converter can be
read off the status LED (1) on the converter.

The FPS issues the enable signal for the converters

(please see "FPS, Converter enable").
For this purpose, a 48V signal is applied at X1.1 (2)
of the converter.
This 48V supply is also the power supply for the
internal control electronics of the converter.
2/0082
After 48V are applied at X1.1, the converter carries
out an internal self test. This is shown by the status 2
LED flashing twice. If no errors are identified during
the self test, the LED remains on permanently.

If the LED is off when 48V are applied at X1.1, the

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

converter has an internal fault and must be

replaced.

If the LED flashes when 48V are applied, this

shows that the converter has detected an error.
Depending what the error is, the output power is
either reduced or switched off completely. 2/0086
reserved.

The converter sends an error code to the FPS via

CAN bus 2 (see "Error codes"). This then passes
the code on to the LAS module (via CAN bus 1),
where it is stored in the error memory (see "Service
software") and also shown on the display.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 05
 Chapter 13 Converters
Connections
Control signals 1

All the control signals are sent to the converter via

the control connector X1 (1). 8

X1 Meaning of signals
1 48V supply for the control electronics and 1
enable signal for the converter (see "Status
LED").
This signal comes from the FPS (X1.6) when
the capacitor unit in the converter is charged.
2 n.c.
3 12V supply for the motor speed sensor. 2/0086

4 0V supply for the motor speed sensor and tem-

perature sensor.
5 Input of channel 1 of the speed sensor.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Changes between 0V and approx. 9V during

operation (the input is pulled internally to 12V by
a "pull-up" resistor).
6 Input of channel 2 of the speed sensor.
Changes between 0V and approx. 9V during
operation (the input is pulled internally to 12V by
a "pull-up" resistor).
7 Output for the motor temperature sensor (
reserved.

constant current I = 2.56 mA).

Remark: The 0V reference potential for the
temperature measuring circuit is pin
X1.4. If approx. 1.6V is applied between
X1.4 / X1.7, this indicates a motor
temperature of approx. 25°C; approx.
3.4V means 145°C.
8 Converter coding (see "Converter coding")
9 Converter coding (see "Converter coding")
10 CAN H (see "CAN bus")
11 CAN L (see "CAN bus")
12 n.c.
13 0V supply, CAN bus
14 n.c.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 06
 Chapter 13 Converters
Connections

Power signals

The power signals for the converter are transmitted

via the 6 M8 threaded bolts.

Bolt Meaning

B- (1) Mechanical connecting bolt with no

electrical connection to the inside of the
converter. It is not used on the hydraulic
converter.
2/0087
Note: On the travel converter,
2 1 4 5 6 3
battery negative or the test
shunt for battery capacity
measurement is connected here
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

directly!

+ (2) 48V supply for the power unit via contactor

K1 and main fuse F1.

0V (3) 0V supply for the power unit and control

unit.
reserved.

Remark: The 0V supply does not go

directly to battery negative, but
is sent via the test shunt for
battery capacity measurement!

U (4) Output, phase U for the motor (0-28V)

V (5) Output, phase V for the motor (0-28V)

W (6) Output, phase W for the motor (0-28V)

Remark: If two phases are confused, the direction

of rotation at the motor is reversed. This
causes the motor to vibrate strongly at a
standstill, since the specified rotary
direction and the response from the
speed sensor do not match.
The converter tries to correct this by
reversing the polarity continuously.
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 13- 07
 Chapter 13 Converters
Charging the capacitor unit
3
Inside the converter, there is a 30mF capacitor unit
behind the connectors "+" (1) and "0V" (2).
This must first be charged by the FPS when the
vehicle is switched on (see "FPS, Charging the
capacitor unit").

The capacitor unit is charged with a current of

I = 8A.
The charging process is monitored by the FPS. If
the voltage does not rise above 36V within 3.5
seconds after "Key switch on", this is recognised as
2/0081
an error in the charging circuit. The error message 4 1 2
"FE04" is issued on the display and the main
contactor does not close.
Travel and all the hydraulic movements are blocked
by the FPS.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

When the vehicle is switched off, the capacitor unit

is discharged automatically by the motors.
This process takes about 5 seconds. For this
reason, it is normal for pin X1.1 (converter control
electronics supply) still to be live after the vehicle is
switched off, until the capacitors are discharged.
The status LED (3) does not go out until the
discharging process is complete. 2/0101
reserved.

Note: During the discharge process, the

conductor rails (4) have voltage potential.
If an emergency-stop is initiated during
operation, the automatic discharging
process does not take place.
However, the capacitor unit is then
discharged at the controls compartment
fan.

Remark: If the status LED stays on for much

longer than 5 seconds after switching off
(approx. 25 seconds), this is a sign that
the capacitor package has not been
discharged correctly (either automatically
or at the fan)!

For safety reasons, it is essential to check by

voltage measurement that the capacitor unit has
been discharged before removing the converters
(Fig. 2)!!
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 13- 08
 Chapter 13 Converters
Speed sensor 1

There is a speed sensor (1) in the drive motor (Fig.

1) and in the hydraulic motor (Fig. 2).
This is connected directly to the relevant converter
(connector X1, see "Converter, Connections,
Control signals").

The converter needs the speed sensor to bring it

information about the speed and direction of
rotation (on the principle of a control circuit).

Important:
If the speed sensor is faulty, no error code is
issued.
However, this fault can be recognised since the
motor in question only runs at a very low basic
speed.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

If the two channels are connected wrongly, the

motor vibrates very strongly at a standstill, since 2/0088

the direction of rotation is changed continuously.

The motor wants to turn in the right direction but the
return message from the speed sensor does not
match the specified direction.
reserved.

2/0089

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 09
 Chapter 13 Converters
Temperature monitoring
There is a temperature sensor integrated in the
power unit of the converter (see "Converter,
Diagram of the functional principle"). This monitors
that no critical temperatures are exceeded in the
power unit.
In the event that critical temperatures are reached,
the output power is first reduced and is then
switched off completely if the reduction does not
help.
Whatever the case, a relevant error code is issued 2/0081

on the display (see "Error codes").

1
FE 20
Temperature of travel converter > 80°C. The output
power is reduced linearly to 125°C.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

FE21
Temperature of travel converter > 125°C. The
output power is switched off.

FE22
Temperature sensor of the travel converter is faulty.
The output power is switched off.
2/0090
reserved.

The converter must be replaced.

2
FE 30
Temperature of hydraulic converter > 80°C. The
output power is reduced linearly to 125°C.

FE31
Temperature of hydraulic converter > 125°C. The
output power is switched off.
2/0091

FE32
Temperature sensor of the hydraulic converter is
faulty. The output power is switched off.
The converter must be replaced.

Remark: If excess temperatures are registered,

check that the fans (1) are still in working
order and that the ventilation channels (2)
are not soiled.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 10
 Chapter 13 Converters
Converter coding
1
At connector X1 (1), pin 8 and pin 9, the converter
is coded for use with travel or hydraulic functions. 98

Depending on how it is coded, it functions with a

different set of parameters, and different addresses
are used for communication with the FPS via CAN
bus 2.

Coding for travel converter

2/0086

X1.8 (ID 0): open

X1.9 (ID 1): open

Coding for hydraulic converter

X1.8 (ID 0): open

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

X1.9 (ID 1): 0V wire jumper to X1.13

reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 13- 11
 Chapter 14 Display

General

The display is connected to the CAN bus as a slave

LAS module FPS
module. It is connected with the LAS module, the
2+24V 0V
electrical steering and the FPS (see "CAN-Bus").
CAN_L CAN_H
When the vehicle is switched on, all the displays are X11 38 39 40 41 39 40 38 41 X1
driven for approx. 2 seconds (self-test). Then the
system switches over to normal mode, i.e. the
functions that are sent or received via CAN bus
X1 1 3 2 4 1 2 3 4 X48
telegram are displayed or initiated (hour meter,
travel direction, activation of the onboard diagnosis,
etc.). Display Steering

Remark: If no data is received via the CAN bus

after "Key switch ON", "FE 58" appears
on the display with this error.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

40769u
reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 14-01
 Chapter 14 Display
4 5 6 9
Displays

The following information and functions are shown

on the display:

• Display of the operating hours (hour meter) (1)

• Display of error messages (1, see "Error codes")
• Display of the onboard diagnosis (1) 40769u

• Display of the travel direction, DWS or LS (2) 10 7 1 8 3 2

• Display of the steering angle (3)
• Maintenance display (4)
• Display of brake applied/released (5)
• Creep speed (6)
• Display of the battery charge (7)
• Display of the current lifting height (8, option)
• Heating on/off (9, option)
Functions
Copyright protected. No part of this manual

• Onboard diagnosis (10, see "Display, Onboard

may be reproduced in any form. Copyright

diagnosis")

Remark: If two errors occur at the same time, they

are displayed alternately and the symbol
for maintenance flashes.
If the "Height indicator" option is
deactivated in the LAS module, the
reserved.

display is faded out (8). If the height

indicator is activated, "-----" is displayed
underneath the "Reference switch for
height indicator" (see "Height measuring
system").
If a hydraulic function is selected without
operating the deadman switch than the
brake symbol (5) is flashing!

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 14-02
 Chapter 14 Display
Onboard diagnosis
The onboard diagnosis system makes it possible to
check various switching signals and setpoints on the
operating console without a service notebook having
to be connected. The battery type can also be set, a
travel program selected and the software version
queried. 40769u

4 3 2 5 1
Remark: All the vehicle functions are active during
diagnosis. The displays for the steering
angle (1) and the battery charge level (2)
are faded out.

Opening and using the onboard diagnosis:

Press both Edit keys (3 and 4) at the same time for
about 2 seconds (acoustic signal is emitted). The first
point in the menu appears on the display (5) (see Fig. Fig. 1
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

1).
To move to the next menu point in diagnosis mode,
press the left-hand Edit key briefly (< 1 sec.).
To move to the previous menu point in diagnosis
mode, press the right-hand Edit key briefly.
To quit diagnosis mode, press the left-hand Edit key
for about 2 seconds (an acoustic signal is emitted).
reserved.

To enter the selected menu, press the right-hand

Edit key for about 2 seconds.
To quit the menu point, press the left-hand Edit key
for about 2 seconds.
The following menus are available:
0_ Travel program selection
1_ Selection of battery type and capacity
2_ Display of digital inputs of LAS module and FPS
3_ Display of analogue inputs of LAS module
4_ Display of vehicle type (parameter set type)
5_ Software versions of the vehicle components

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 14-03
 Chapter 14 Display
Onboard diagnosis

Menu 0_ Travel program selection

In menu 0_ one of the 4 travel programs (FP1 - FP4,

see "Service software") can be selected as the active
travel program.
In the default setting, travel program 1 is active.
40769u

4 1 3 2
When the menu is opened, the travel program that is
active is displayed immediately (Fig. 1).

The + (2) and - (3) keys can be used to change the

travel program (Fig. 2).

The change that has been made is transferred to the

FPS immediately and is active. Fig. 1
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

To scroll through the menu, press the Edit key (1)

briefly.

To quit the menu entirely, hold the Edit key (4) down
longer.
Fig. 2
Remark: The travel program can also be changed
with the service software.
reserved.

The features of the travel programs can

then also be parameterised if this method
is used (see "Service software")

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 14-04
 Chapter 14 Display
Onboard diagnosis

Menu 1_Battery type setting

In menus 10 and 11, the battery type is displayed

and can be altered.

Fig. 1: Display menu 1_ 40769u

Press the right-hand key (1) for about 2 secs. 2 1 4 3

(acoustic signal is emitted).

Fig. 2: Display menu point 10

The set battery type is displayed. In the example
here it is "Type 2" (see table below). Fig. 1

Fig. 3: Display menu point 11

To change to menu point 11, press the left-hand
key (2) briefly. The set battery capacity is
Copyright protected. No part of this manual

displayed. In the example here it is 420 Ah.

may be reproduced in any form. Copyright

Fig. 2
To quit one of these menu point, press the left-
hand key (2) for about 2 seconds.

To enter alteration mode in one of these menus,

the relevant menu point must be activated (Fig. 2
or 3). Press the + and - keys at the same time for
reserved.

about 2 seconds. You should hear an acoustic Fig. 3

signal.

Changing the set value

Press the + key (3) briefly and the value increases.
Press the - key (4) briefly and the value
decreases.

Saving the new value

Press both keys (+ and -) for about 2 seconds.
The newly set value is stored and the alteration
mode is quit. Assignment of battery type to ID-nos.

Lead battery ("wet battery") = 0

Quitting alteration mode without storing
Press the left-hand key (2) for about 2 seconds. CSM battery ("extra power battery") = 1
Gel battery ("dry battery") = 2
Remark: The battery type and capacity can also Special battery (not yet defined) = 3
be set with the service software (see Special battery (not yet defined) = 4
"Service software"). Special battery (not yet defined) = 5

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 14-05
 Chapter 14 Display
Onboard diagnosis
Menu 2_ Display of the digital inputs

In menu points 20 - 24 the digital inputs of the LAS

module and the FPS are displayed symbolically as
a bar code.
A "double bar" means "Signal applied"! 40769u

1 2
The Edit keys (1 and 2) can be used to switch over
between the menus.
Menu Code Signal LAS pin
20 0 SDL Reach damping, LS X11.18
20 1 SDA Reach damping, DWS X11.13
Menu Code
20 2 SEV Reach end position, LS X11.10 20 - 7 6 543 2 10
20 3 SSP 0.4m reach/lowering
lock X11.11
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

20 4 HB1 Intermediate lift stop X11.12

20 5 HB2 End lift stop X11.9
20 6 HW Ref. switch height indic. X11.7 "SDA" signal applied

20 7 MD (Reserve) X11.17
21 0 QS Selection of transv. reach X11.31
21 1 AZ1 Selection of add. hydr. 1 X11.32 Menu Code
21- 7 6 543 2 10
21 2 AZ2 Selection of add. hydr. 2 X11.5
21 3 ESP Release reach/lowering
reserved.

lock X11.3
21 4 EHA Release intermediate
lift stop X11.8 "HB" signal applied
21 5 KHA Reserve X11.16
21 6 HB Magn. brake applied/rel. X11.4
21 7 nc X11.6
22 0 SOK FPS OK X11.1 Menu Code
7 6 543 2 10
22 1 BRMS48V Magnetic brake OK X10.3 22-

22 2 2+48V to LAS module OK X10.15

22 3 3+48V to LAS module OK X10.30
22 4 2+24V to LAS module OK X10.35
22 5 3+24V to LAS module OK X10.4-7 "SOK" signal applied
22 6 1+24V to LAS module OK X10.34
22 7 nc

Remark: When a signal change is made, the

relevant symbol in the display should
change (long/short line).
Issue: Workshop Sheet no.
05/04
Replaces issue: Manual
XR-AC 14-06
 Chapter 14 Display
Onboard diagnosis
Menu 2_ Display of the digital inputs

Menu Code Signal LAS pin Menu Code

23 - 7 6 543 2 10
23 0 LFF steering registers OK CAN bus
23 1 nc -
23 2 nc -
23 3 nc -
23 4 nc - "LFF" signal applied

23 5 nc -
23 6 nc . -
23 7 nc - Menu Code
24- 7 6 543 2 10
Pin FPS
24 0 LAS message that brake rel. X1.11
24 1 Battery locked X1.23
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

24 2 Accelerator pedal switch X1.18

24 3 Brake pedal switch X1.16 Signal from travel direction
24 4 Deadman switch X1.22 button applied
24 5 Selection of creep speed X1.21
24 6 Selection of travel direction X1.20
24 7 nc -
reserved.

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 14-07
 Chapter 14 Display
Onboard diagnosis

Menu 3_ Display of the analogue inputs

The potentiometer for lifting/lowering is displayed

under menu point 30.

When the lever is moved in the lifting or lowering

direction, the value rises/drops on the display (1).
40769u
Remark: The value displayed is the actual 3 2 1
voltage value.
Example: 30 7.23 (Fig. 2) =7.23V

Fig. 1: Display of menu point 30, lever in the

neutral position approx. 5V.

Fig. 2: Display of menu point 30, lever moved as

Fig. 1
Copyright protected. No part of this manual

far as it goes in the lifting direction

may be reproduced in any form. Copyright

approx. 7.23V.

Fig. 3: Display of menu point 30, lever moved as

far as it goes in the lowering direction
approx. 2.11V.

Remark: The values shown here are only Fig. 2

reserved.

examples. They may vary from one

vehicle to another.

To enter menu point 31 (potentiometer for

reaching), press the right-hand key (2) briefly.

To quit menu point 30, press the left-hand key (3) Fig. 3
for about 2 seconds.

To quit menu 3_, press the left-hand key (3) for

about 2 seconds.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 14-08
 Chapter 14 Display
Onboard diagnosis

Menu 3_ Display of the analogue inputs

The potentiometer for reaching is displayed under

menu point 31.

When the lever is moved in the DWS or LS re-

aching direction, the value rises/drops on the
display (1). 40769u

3 2 1
Remark: The value displayed is the actual
voltage value.
Example: 31 7.21 (Fig. 2) = 7.21V

Fig. 1: Display of menu point 31, lever in the

neutral position approx. 5V.
Copyright protected. No part of this manual

Fig. 2: Display of menu point 31, lever moved as Fig. 1

may be reproduced in any form. Copyright

far as it goes in the DS direction approx.

7.21V.

Fig. 3: Display of menu point 31, lever moved as

far as it goes in the LS direction approx.
2.53V.
Fig. 2
reserved.

Remark: The values shown here are only

examples. They may vary from one
vehicle to another.

To enter menu point 32 (potentiometer for

reaching), press the right-hand key (2) briefly.
Fig. 3
To quit menu point 32, press the left-hand key (3)
for about 2 seconds.

To quit menu 3_, press the left-hand key (3) for

about 2 seconds.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 14-09
 Chapter 14 Display
Onboard diagnosis

Menu 3_ Display of the analogue inputs

The potentiometer for tilting is displayed under

menu point 32.

When the lever is moved in the DWS or LS tilting

direction, the value rises/drops on the display (1).
40769u
Remark: The value displayed is the actual 3 2 1
voltage value.
Example: 32 7.21 (Fig. 2) = 7.21V

Fig. 1: Display of menu point 32, lever in the

neutral position approx. 5V.

Fig. 2: Display of menu point 32, lever moved as

Fig. 1
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

far as it goes in the DWS tilting direction

approx. 7.21V.

Fig. 3: Display of menu point 32, lever moved as

far as it goes in the LS tilting direction
approx. 2.53V.

Remark: The values shown here are only Fig. 2

reserved.

examples. They may vary from one

vehicle to another.

To enter menu point 33 (potentiometer for

transverse reaching), press the right-hand key (2)
briefly.
Fig. 3
To quit menu point 32, press the left-hand key (3)
for about 2 seconds.

To quit menu 3_, press the left-hand key (3) for

about 2 seconds.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 14-10
 Chapter 14 Display
Onboard diagnosis

Menu 3_ Display of the analogue inputs

The potentiometer for side shift is displayed under

menu point 33. There is only a display for this with
the "4-lever" version.

When the lever is moved in the left or right

transverse reaching direction, the value rises/ 40769u
drops on the display (1).
3 2 1
Remark: The value displayed is the actual
voltage value.
Example: 33 7.21 (Fig. 2) = 7.21V

Fig. 1: Display of menu point 33, lever in the

neutral position approx. 5V.
Copyright protected. No part of this manual

Fig. 2: Display of menu point 33, lever moved as Fig. 1

may be reproduced in any form. Copyright

far as it goes in the left-hand transverse

reach direction approx. 7.21V.
Fig. 3: Display of menu point 32, lever moved as
far as it goes in the right-hand transverse
reach direction approx. 2.53V.

Remark: The values shown here are only Fig. 2

reserved.

examples. They may vary from one

vehicle to another.

To quit menu point 33, press the left-hand key (3) for
about 2 seconds.

To quit menu 3_, press the left-hand key (3) for

Fig. 3
about 2 seconds.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 14-11
 Chapter 14 Display
Onboard diagnosis

Menu 4_Display of vehicle type

The vehicle type is displayed under menu point 40.

This means the same as the activated parameter
set type in the LAS module.

Fig. 1: Display of menu point 40, Vehicle type

XR14AC 40769u

1
Remark: The values shown here are only ex-
amples. They may vary from one
vehicle to another.

To quit menu point 40, press the left-hand key (1)

for about 2 seconds.

To quit menu 4_, press the left-hand key (1) for Fig. 1
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

about 2 seconds.
reserved.

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 14-12
 Chapter 14 Display
Onboard diagnosis

Menu 5_Software version query

The current software versions of the LAS module,

the steering, the FPS, the converters and the
40769u
display are displayed under menu point 5_.
3 2 1
Fig. 1: Display of menu point 5A, Display

Fig. 2: Display of menu point 5L, LAS module

main processor (S-CPU) Fig. 1

Fig. 3: Display of menu point 5L_, LAS module

monitoring processor (ÜWA-CPU)
Fig. 2
Fig. 4: Display of menu point 5E, electrical
steering main processor
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Fig. 5: Display of menu point 5E_, electrical

steering moniroting processor Fig. 3

Fig. 6: Display of menu point 5F, FPS main

processor (ZR = main processor)
Fig. 4
Fig. 7: Display of menu point 5F_, FPS
monitoring processor (BR = battery
reserved.

processor)
Fig. 5
Fig. 8: Display of menu point 5UF, travel
converter

Fig. 9: Display of menu point 5UP, hydraulic

converter Fig. 6

Remark: The values shown here are only

examples. They may vary from one
vehicle to another. Fig. 7

To enter the different menu points 5_, press the

right or left-hand key (2 and 3) briefly.
To quit menu points 5_, press the left-hand key (3) Fig. 8
for about 2 seconds.
To quit menu 5_, press the left-hand key (3) for
about 2 seconds.
Fig. 9
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 14-13
 Chapter 14 Display
Error codes 2

In normal operating mode, the vehicle error codes

are shown on the display (1) together with the
flashing maintenance symbol (2) (for a guide to the
error codes, please see the section entitled "Error
codes").
Error code "FE 58" is of special importance and 40769u

can mean the following:

1
• The display has not received any data from the
LAS module for more than 1 second,
• The display does not receive data from the LAS
module, the FPS, the converters or the steering
when the software version is queried.

If the CAN bus communication is already faulty

when the vehicle is switched on, "FE 58" appears
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

on the display.

Remark: A specific software version query (Menu

5 of the onboard diagnosis) is a simple
means of ascertaining which of the CAN
bus components are no longer functional.
If the response given to a software query
is "FE 58", this means that the
reserved.

component in question is not responding!

When a converter is queried, the
message FE 58 is not issued if the
converter does not respond to the query,
instead the software version is shown as
0.00!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 14-14
 Chapter 14 Display
Software versions

Version Comments
1.06 - start of series 01/2004
Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 14-15
 Chapter 15 CAN-Bus

CAN BUS

General

The CAN bus (CAN = Controller Area Network) is divided

into 2 parts in this vehicle.
The CAN bus 1 links the display, the LAS module, the Info
FPs and the steering to each other.
The CAN bus 2 also links the FPS with the converters
for travel and the hydraulics.
Display Steering
The interlinked components exchange information (start) (end)
continuously via this communication bus, in the form of
"data telegram transfers".
Info CAN bus 1
The FPS has a special position here, since it also acts as
a "gateway" for the LAS module information with regard
to information about the hydraulics for the hydraulic
converter. LAS module FPS
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

A CAN bus is a linear network, i.e. it has a defined FPS

starting and finishing point. Between these points, the Info
(start)
other bus participants are decoupled in parallel and with
high resistance.
CAN bus 2
Due to the signal level technology used (differential level)
and the special structure of the data telegram, this bus Info
❚  ❚ ❋✏

system is very resistant to interference.

Also, real time performance by the system is achieved, Travel converter
thanks to the high data transfer rate of 250 Kbits/sec.
In order to maintain this transfer rate, the maximum
possible bus length is 300 m.

A CAN bus is a so-called decentralised bus system, i.e. Hydraulic converter

there is no "master" in the sense that there is, for (end)
example, in a PLC-controlled system where all the
functions are controlled by the software in the PLC.
However, the LAS module is still known as the master
here, since it

• provides the 24V power supply for the bus,

• puts the bus into operation when the vehicle is
switched on (POWER UP),
• continually checks that the bus is functioning correctly
and
• is responsible for the message management.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 15- 01
 Chapter 15 CAN-Bus

CAN 1 bus structure

Processor Processor
PDO, SDO
LAS module (master) FPS (Slave)
Junction no. 30 EMY Junction no. 10
CAN driver CAN driver

PDO, SDO

~40kΩ ~40kΩ
24V 0V

CAN_H
120Ω 120Ω
CAN_L

PDO, SDO, EMY

Ω
Display (slave) Steering (slave)
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Junction no. 50 Junction no. 08

SDO

Remark: For an explanation of PDO, SDO and EMY, see "CAN bus, data telegrams"

The display and steering form the beginning and end of the bus. Each of these ends must
be fitted with a so-called "bus end resistor" (120Ω). The LAS module is high-resistance
❚  ❚ ❋✏

decoupled in parallel with approx. 40kΩ and the FPS with approx. 40kΩ.

This means that you can ascertain whether the bus is physically in order by taking a
simple resistance measurement (see illustration):

• All bus participants connected: R approx. 60Ω

• One starting/end point is missing: R approx. 120Ω
• Starting and end point are missing: R approx. 20kΩ
• All bus participants missing: R to infinity
The bus participants are inter-connected by 4 wires:
2 wires for the 24 V power supply delivered by the LAS module
and
2 wires for the CAN_H (CAN high) and CAN_L (Can low) signals.
Remark: The leads used do not have to be specially screened leads!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 15- 02
 Chapter 15 CAN-Bus

CAN 2 bus structure

Processor

Travel converter
Junction no. 04
SDO, PDO, EMY CAN driver

~40kΩ
24V

CAN_H
120Ω 120Ω
CAN_L

0V
Ω
FPS Hydraulic converter
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Junction no. 5C Junction no. 0C

SDO, PDO, EMY

For an explanation of PDO, SDO and EMY, see "CAN bus, data telegrams"

The FPS and hydraulic converter form the beginning and end of the bus. Each of these
ends must be fitted with a so-called "bus end resistor" (120Ω). The travel converter is
❚  ❚ ❋✏

high-resistance decoupled in parallel with approx. 40kΩ.

This means that you can ascertain whether the bus is physically in order by taking a
simple resistance measurement (see illustration):

• All bus participants connected: R approx. 60Ω

• One starting/end point is missing: R approx. 120Ω
• Starting and end point are missing: R approx. 40kΩ
• All bus participants missing: R to infinity
The bus participants are inter-connected by 4 wires:
2 wires for the 24 V power supply delivered by the FPS module
and
2 wires for the CAN_H (CAN high) and CAN_L (Can low) signals.
Remark: The leads used do not have to be specially screened leads!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 15- 03
 Chapter 15 CAN-Bus

CAN BUS

Signal level
V
With the signals used in this system, we refer to a
"differential signal level", i.e. the reference point for 3.5V CAN_H
signal evaluation is not 0V, instead evaluation takes 2.5V
place between the 2 signal leads CAN_L (CAN low)
and CAN_H (CAN high).
1.5V CAN_L

If both leads are at a resting level of 2.5V, there is

no signal difference! This condition is known as Recessive Dominant Recessive t
"recessive", or we say that a piece of "0 information" 0 1 0
is transferred.

If the CAN_H lead is set higher to 3.5V and the

CAN_L lead set lower to 1.5V at the same time, this
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

gives a differential level of 2V between the leads.

This condition is known as "dominant", or we say
that a piece of "1 information" is transferred.

This change between 0/1 takes place 250,000 times

a second = a data transfer rate of 250 kBits/sec.

From a measuring point of view, this means that the

❚  ❚ ❋✏

CAN_H lead always takes on a level slightly above

2.5V and the CAN_L lead always takes on a level
slightly under 2.5V when both leads are measured
against 0V.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 15- 04
 Chapter 15 CAN-Bus
Data telegrams
SDO, PDO, EMY
CAN 1

Three different types of data telegram are exchanged

between the display, LAS, FPS and steering units: LAS module FPS

• PDO telegrams
(Process Data Object) PDO, SDO PDO, SDO, EMY

• SDO telegrams
(Service Data Object) Display Steering

• EMY telegrams
(EMergencY objects) SDO
PDOs are high-priority messages that are transferred
constantly (real time performance).
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

SDOs are low-priority messages that are only

transferred if requested (e.g. "Software version query"
via the onboard diagnosis of the display).

EMYs are the highest priority messages, since error

messages are transferred with them.

The following telegram contents are transferred:

❚  ❚ ❋✏

LAS - steering
LAS---PDO--> steering: Vehicle moving/at a standstill
Steering---PDO--> LAS: Position of drive wheel
(actual value potentiometer)
Steering is active
(response to "vehicle
moving")
Steering moment too small
Steering OK
Steering---EMY-->LAS: Error codes (FE80-89)

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 15- 05
 Chapter 15 CAN-Bus
Data telegrams

CAN 1
Display - Steering
Display---SDO-->Steering: Query of software version (onboard diagnosis display)

LAS - Display
LAS---PDO1-->Display: Position of drive wheel and travel direction
Information for LEDs for maintenance, handbrake, creep,
speed, heating
Value for height display
Error codes
LAS---PDO2-->Display: Operating hours, battery charge
Display---PDO-->LAS: Selection of keys
Display---SDO-->LAS: LAS software query
Query via the onboard diagnosis:
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

- Switching inputs, LAS module

- Analogue inputs, LAS module
- Parameter set type

LAS - FPS
LAS---PDO-->FPS: Pump setpoint (speed)
Pump enable
Selected hydraulic axis
❚  ❚ ❋✏

FPS---PDO1-->LAS: Actual speed and direction of rotation for travel

Actual speed of pump
FPS status (SOK, travel or hydraulic converter active)
Status of the travel inputs
Temperature of motors and converters
Phase currents of converters, converter phase currents
FPS---PDO2-->LAS: Operating hours
Battery capacity
FPS---EMY-->LAS: Error codes of the FPS and converter
LAS---SDO-->FPS: Diagnosis query via service-software
(e.g. Motor and converter temperatures,
converter phase currents)

Display - FPS
Display---SDO-->FPS: Software version query of FPS and converters
Diagnosis queries
Setting the travel program and battery type

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 15- 06
 Chapter 15 CAN-Bus
Data telegrams

CAN 2

Three different types of data telegram are exchanged

between the FPS and travel and hydraulic converter units: PDO FPS PDO
SDO SDO
• PDO telegrams
(Process Data Object) EMY EMY

• SDO telegrams
(Service Data Object)
Travel Hydraulic
• EMY telegrams converter converter
(EMergencY object)
PDOs are high-priority messages that are transferred
constantly (real time performance).

SDOs are low-priority messages that are only transferred if

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

requested (e.g. "Software version query" via the onboard

diagnosis of the display).

EMYs are the highest priority messages, since error

messages are transferred with them.

The following telegram contents are transferred:

❚  ❚ ❋✏

FPS - Travel converter

FPS---PDO-->Travel conv.: Set speed, converter enable,
torque and current values,
direction of rotation
Travel conv.--PDO-->FPS: Converter status, converter
temperature, drive motor temp.,
drive motor speed
Travel conv.--EMY-->FPS: Travel drive error code
FPS---SDO-->Travel conv.: Software version query

FPS - Hydraulic converter

FPS---PDO-->Hydr. con.: Set speed, converter enable
torque and current values,
direction of rotation
Hydr. con.--PDO-->FPS: Converter status, converter
temperature, hydraulic motor
temperature, hydr. motor speed
Hydr. con.--EMY-->FPS: Hydraulic drive error code
FPS---SDO-->Hydr. con.: Software version query

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 15- 07
 Chapter 15 CAN-Bus
Error codes/BUS test

If the CAN bus is damaged, this is indicated with an

"FE" error code on the display.

FE 17 --> see "Error codes"

FE 18 --> see "Error codes"
FE 41 --> see "Error codes"
FE 42 --> see "Error codes"
FE 43 --> see "Error codes"
FE 45 --> see "Error codes"
FE 48 --> see "Error codes"
FE 58 --> see "Error codes"
FE 88 --> see "Error codes"
FE 95 --> see "Error codes"
FE 97 --> see "Error codes"
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

This means that targeted troubleshooting can be

carried out on the basis of the error codes.
The wiring can also be checked by measuring the
"bus resistance" (see "CAN bus, CAN 1 bus structure
and CAN 2 bus structure").

Remark: FE95 and FE97 cannot be shown on the

❚  ❚ ❋✏

display since these two errors concern total

failure of the CAN bus system. They can
only be read out of the error memory of the
LAS module with the service software
(please see "Service software")!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 15- 08
 ✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏
❚  ❚ ❋✏

Issue:
300A 25A 10A 10A 10A

Replaces issue:
05/04
Key switch Em.-stop
✪❏❈❘ ❚✂ ✘

✩ ◗❊ ✂❋❑❈ ❚❈❖

Main contactor

Manual
Register

Workshop
Em.-stop

Travel Pump
converter converter

✿✹✎ ✪
48V vers. 48V vers.
converter converter
Steering Brake on

b/w
✺❘❘ ✂❈ ❋✂ ❖ ❚

Steering OK valves,
brake

Sheet no.
Prop.
valves Deadman
Deadman

✂ ✘✎ ✒
✔✑✒✒✛✗
Star point
❊✎◗❘❊❑❚❊❑
 Chapter 18 Single-lever potentiometer

General
The purpose of the 4 potentiometers is to specify
the setpoints for the hydraulic functions (see "Load
handling controls module, Control of the hydrau-
lics").

The potentiometers are two-directional 2-channel

potentiometers, i.e. when they are actuated, a rising
40773u
and a falling setpoint signal is generated. The rising
/ falling signal of the channel in question changes
according to the direction in which the lever is mov-
ed.
The supply voltage is 10V.

All the signals of one potentiometer are sent to the

LAS module via connector X1.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

If one of the potentiometers are faulty, this is detec-

ted by the LAS module and indicated with an error
code (FE50-54, see "Error codes") on the display.
The function of the faulty axis is then blocked.

Remark: Only the entire single-lever potentiome-

ter can be replaced. No mechanical
❚  ❚ ❋✏

adjustments of any kind are required.

When a potentiometer has been repla-
ced, the new potentiometer must be
newly read into the system ("Teaching-
in", see "Service software").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 18- 01
 Chapter 18 Single-lever potentiometer

✷◗ ❑◗❖  ❚✂❚❊❚

The actual potentiometer has 2.4 kΩ, there are 2 Channel 1
resistors, each with 800Ω, connected in series, and
there is another resistor with 1.7 kΩ in the potentio- 1.7kΩ
✕
meter arm lead. Ω
This means that when the lever is in the home posi- 800Ω 800Ω
tion, there is a signal of approx. 5V at each of the
2.4kΩ 10V
two channels 1+2.
Ω
When the lever is "pulled", the signal at channel 1 2.4kΩ 0V
rises to approx. 8V and at the same time channel 2
"drops" to approx. 2V. 800Ω 800Ω
When the lever is "pushed" exactly the opposite 1.7kΩ ✔
happens.
A movement of the lever is not detected until the sig-
nal leaves the "zero range" (1) (see "Load handling Channel 2
controls module, Control of the hydraulics, Zero
point monitoring").
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Monitoring of the potentiometer signals in the LAS

V
module is based on the fact that when both arm sig- UPoti
1
nals are added together, they should always produ- 10
ce approx. 10V. If this addition result is no longer 9
within the permitted range of 8.5-10.9V, this is reco- 8 Arm 1
Umax
gnised as an error.
7
6
✹ ❑❈ ❊ ✂❖ ❈❚ ❖  UFo
❚  ❚ ❋✏

5
UFu
When a measurement is taken between the termi- 4
nals (2), the result is a value of approx. 2 kΩ. 3
When a measurement is taken between the termi- Umin
2
Arm 2
nals (3), the result is a value of approx. 3.2 kΩ when 1
the lever is in the home position. 0
The value then rises to approx. 3.6 kΩ or falls to
2.5 kΩ, depending on the direction in which the lever -100 0 100%
is moved.
lever movement

Remark: The potentiometer can also be tested UFo = Voltage, upper limit of range
UFu = Voltage, lower limit of range
with the service software (see "Service
software").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 18- ✒✔
 Chapter 19 Inductive proximity switches

General
2
The two inductive proximity switches (1) are
used to induce the reach dampening, i.e. at the
end of the reach movement, the "pump setpoint"
sent from the LAS module to the FPS is reduced
by a switching signal from the proximity switch. 6/0026

As a result, the speed of the pump unit is

reduced. 1

These proximity switches are also used for other

vehicle options.

Inductive proximity switches detect a metal in

their proximity and consequently change their
switching status.
In order to guarantee that the switches switch,
even if there are ambient temperature
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

fluctuations, the distance between the metal and

1/0245
the proximity switch should not be greater than
7 mm.
The dampening plates for reach dampening are
located under the battery tray (angled plate) and
also under the pump unit (mounting plate).
There is an LED (2) which indicates that the
❚  ❚ ❋✏

switch has switched.

Switching signals (e.g. reach dampening):

Switch faulty or wire breakage: approx. 24 V

Switch/wiring OK and no
dampening: approx. 19.5 V
Switch/wiring OK and
dampening: approx. 6.2 V

Technical data:
Type Qx 30x4 - K9 - T1P
Supply voltage 8 - 30 V DC
Nominal switching dist. 9 mm
Static current ca. 1 mA
Load current 2 - 25 mA (depending on the
V
wiring) 8U61
Saturation voltage 6V LAS

Switching frequency 1 KHz 2/0021

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 19- 01
 Chapter 20 Travel transducer
General 1

When the pedal is pressed, the travel transducer 4

(1) generates the travel setpoint, which is sent 5
directly to the FPS. Also, when the pedal is
released, generator braking of the drive motor is
6/0032
induced.
The travel transducer is made up of the following
basic components: 3 2
5/0095
- Potentiometer for setpoint generation (2)
- Micro-switch (1) for zero point control (3)
- Pedal return spring (4) 6/0031

- Actuating pedal (5).

When the pedal is not actuated, the setpoint is

approx. 4.9V and the mounted micro-switch has
not switched. When the pedal is depressed
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

slightly, the switch switches and generates the

"Enable travel" signal (0V) for the FPS.
The setpoint should then be at approx. 5.5V.
When the pedal is fully depressed, the setpoint is
approx. 9V.
If the travel transducer supplies the wrong
signals, this is detected by the FPS, travel is
blocked and the relevant error code is issued (see
❚  ❚ ❋✏

"Error codes").
2/0022

Measured values 0V approx. 4.9-9V 10V

Potentiometer installed and adjusted (resistance

values vary according to component tolerances):

Terminal X2 Resistance value

1-3 approx. 3.75 KΩ Pin assignment
1-2 approx. 3.59 KΩ - 5.16 KΩ
2-3 approx. 3.52 KΩ - 1.96 KΩ

Potentiometer removed: 3 6/0030

Terminal X2 Resistance value 1 2

1-3 approx. 3.75 KΩ
1-2 approx. 1.61 KΩ - 5.35 KΩ
2-3 approx. 5.35 KΩ - 1.61 KΩ

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 20- 01
 Chapter 20 Travel transducer

Adjustment
If the setpoint is not within the specified range
(see "Travel transducer, General") or if the
potentiometer has been replaced, this
adjustment must be made as follows:

• Remove the travel transducer.

• Set the home position of the pedal 2
(approx. 4.9V) with the two slots (1). 6/0036
1
• With the pedal fully depressed, set the
maximum value (approx. 9V) with the slot
(2), if necessary.
• Secure the screws with securing
adhesive.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Remark: The potentiometer arm is held in 6/0037

the "home position" by an

internal spring. When the unit is
installed, this arm is already pre-
tensioned.
When removing, ensure that the
❚  ❚ ❋✏

tension on the arm is not

released suddenly, otherwise
the potentiometer may be
damaged.

The travel transducer is set in advance.

Reading in with the service software
("teaching-in") is not necessary.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 20- 02
 Chapter 21 DC/DC Converter
General
The DC/DC converter is used for the entire 24V
power supply in the vehicle.
It is located under the "display" cover directly above
the LAS module (1).

Description

When the battery plug is connected, the DC/DC

converter is supplied with battery voltage. When the
vehicle is switched on, the orange LED (2) lights up
and the DC/DC converter delivers an output voltage
of 24V. 2/0071

The converter has reverse voltage protection and 1

thermal overload protection.
3 4 2
Technical data
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Input voltage: 28V - 110V

Output voltage: 24V
Rated output voltage: 10A
Operating temperature range: -20°C - +85°C
6/0020

Connections
❚  ❚ ❋✏

5 6 7
(3) ON The converter does not supply
an output voltage of 24V until
1+battery voltage (vehicle
switched on) is applied at this
terminal
(4) SUPPLY + 28-110V battery voltage
(5) SUPPLY - 0V battery voltage
(6) OUTPUT - 0V output voltage
(7) OUTPUT + 24V output voltage

2/0072

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 21- 01
 Chapter 22 Height measuring system

General

There is a height indicator available as an optional

extra, which shows the lifting height on the display
(1) in steps of 3 mm. A sensor bearing (2) attached
to the mast and an inductive proximity switch (3)
(reference switch) are connected to the LAS
module. The sensor bearing supplies 2-channel 40769u

pulses to the LAS, which uses these to evaluate the 1 2 5 4

height and direction and sends the absolute height
value to the display via the CAN bus.

Remark: Only the main lift is measured, not the

free lift!

Function
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

When the vehicle is switched on, a test is carried out

to ascertain whether the height indicator is activated
in the LAS module (see "Service software").
• Active: "-----" is shown on the display (1)
• Not active: The display (1) stays dark.
The sensor bearing is pressed against the mast by 1/0369
❚  ❚ ❋✏

spring force (4) and the pressure roller (5). The 3

sensor is turned with the unit as soon as the free lift
is left and sends pulses to the LAS module. When
the proximity switch (reference switch) is actuated,
input HW (X11.7 low active) is activated and the
system starts. At the same time, the "Basic height"
appears on the display ("reference value of height
indicator", see "Service software"). During lifting, the
system counts upwards from the entered value and
on lowering it counts down (lifting/lowering detection
with 90° phase shift of the pulses). If the reference
switch is actuated again during lowering (low active
signal at input HW of the LAS module), the display
switches back to "-----".
✕✒✖✔✕

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 22- 01
 Chapter 22 Height measuring system

Function

If the vehicle is switched on and the main lift is

above the reference switch, "-----" is shown on the
display. To activate the current height on the
display, a reference cycle must be carried out, i.e.
the main lift must be lowered to below the reference
switch and then raised again.

Sensor bearing signals

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

24V Channel A
Channel B
0V

Remark: The sensor bearing switches active 0V signals!

❚  ❚ ❋✏

Display indicator sequence

H3 = Reference switch
switched, pulses from
H3 sensor bearing to end H3
of main lift; height
indicator active
H2 = End of free lift, pulses
H2 from sensor bearing; H2
no display until refer-
ence switch switches
H1 H1 = Free lift, no pulses H1
from sensor bearing;
no display

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 22- 02
 Chapter 22 Height measuring system

Removing/installing the measuring

system
3
• Switch off the vehicle
• Secure the mounting bracket and compression 1
spring with cable binders (1)
• Disconnect connector X1 (2)
• Release the 2 screws (3)
• Remove the entire unit from below
2

To install the entire unit, follow the instructions 2/0018

above in reverse order.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Remark: On installation, pre-tension the spring

and secure with cable binder. Do not
remove the cable binder until the unit
has been installed successfully!
❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 22- 03
 Chapter 22 Height measuring system

Removing the sensor bearing 3

• After removing the unit, remove the cable binder

so that the tension on the compression spring (1) 9
is relieved
• Release the screw (2) and remove the sensor 10
bearing from the holder (3)

Remark: Replace the hexagon nut (4) on

1/0371
installation.
2 6 5 8 1

• Release the hexagon screw (5) and take out the

disk (6)
• Push the pressure roller (7) out towards the back
• Release the 2 cheese-head screws (8)
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Push the sensor bearing (9) forwards out of the

housing (10).

1/0372

7 4
❚  ❚ ❋✏

1/0373

1/0374

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 22- 04
 Chapter 22 Height measuring system

Installing the sensor bearing

11 9 10

• Insert the sensor bearing (1) in the housing (2)

Remark: The connecting cable (3) must be at the 12

back, as shown in Fig. 1.

• Insert the pressure roller (4) in the sensor

bearing (1)
• Insert the disk (5) in the sensor bearing and
secure the pressure roller with the hexagon 1/0372

screw (6)
4 2 1 13 6 15 3
• Screw the 2 cheese-head screws (7) into the
housing with washers
• Insert the plastic sleeve (8) in the housing (2)
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Push on a plastic disk (9) at both sides

• Secure the housing (2) to the holder (12) with the
screw (10) and hexagon nut (11)

Remark: It should be possible to move the

housing together with the sensor
bearing!
❚  ❚ ❋✏

1/0374
Note: Press together the housing (2) and
holder (12) with suitable tools and secure
with cable binder (16).
• Insert threaded bolt (13), disk (14) and
compression spring (15) between the housing (2)
and holder (12)
• Screw the threaded bolt (13) into the holder (12)
and secure with the nut (17)

Remark: Insert the height measuring system that

has been pre-assembled in this way in
the mast holder and remove cable
binders after installation.
1/0371

5 14 7 16 17

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 22- 05
 ✪❏❈❘ ❚✂✔✕ ❍◗◗✂❘ ❋❈ ✂❈❋ ❖ 

✭◗◗✂❘ ❋❈ ✂❈❋ ❖ 

✻❏ ✂ ❊❚❑❊❈ ✂❍◗◗✂❘ ❋❈ ✂❈❋ ❖ ✂❑✂❈❊❑❈ ❋
❑❏✂❉◗ ✂✙✺✔✖✂✡ ☛✏
✾❑❏✂❏❑✂❍ ❈❚ ✍✂❏ ✂❖◗◗❚✂✡✔☛✂❈ ❋✂❏ ✂❈❋ ❖ 
❖ ❊❏❈ ❑❖✂❖❈ ✂❏ ✂❍◗◗❘ ❈ ✂✡✕☛✂❖◗ ✂ ❚❑❊❈ 
❘✂❈ ❋✂❋◗ ✂❈✂❏ ✂❈❖ ✂❑❖ ✏
✻❏❑✂❖ ❈ ✂❏❈✂❏ ✂◗❘❑❖❖✂◗❚ ❑ ✂❘◗❑❑◗ ✂❊❈
❉ ✂ ✂❍◗❚✂ ❈❊❏✂❋❚❑ ❚✏ ✕✒✖✔
✻❏ ✂ ❚◗❖◗◗❚✂❑✂ ✂❘ ❚❖❈  ✂◗✂✔✖✽✏
✻❏ ✂✒✽✂❑ ❈ ✂❑✂❊◗ ❊ ❋✂❑❈✂❏ ✂✭✷✺✏
✂ ◗ ✂❈✂❏ ✂❖◗◗❚✂❊❚❚ ✂✰✂❑✂✣✂ ✒ ✍✂❏ ✂❚❈ ❑✎
◗❚✂❑✂❑❊❏ ❋✂❈ ❋✂❏ ✂❖◗◗❚✂❋❚❑ ✂❏ ✂❍◗◗✂❘ ❋❈
❈❋ ❑ ✂❖ ❊❏❈ ❑❖✏
✰❍✂❏ ✂❖◗◗❚✂❊❚❚ ✂ ❊ ❋✂❍◗❚✂✥✔✒✂ ✒ ✍✂❏
❚❈ ❑◗❚✂❑✂❑❊❏ ❋✂◗❍❍✂❈ ❋✂❏ ✂❖◗◗❚✂❊◗❖ ✂◗✂❈
❈ ❋❑ ✏✂ ✂ ✎❑❊❏✂❚  ✂❑✂❏ ✂ ❊ ❈❚✏
✂❏ ✂◗❘✂❈ ❋✂❉◗◗❖✂❖ ❊❏❈ ❑❊❈ ✂ ❋✂❘◗❑❑◗ ✂◗❍
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

❏ ✂ ❖✂❏ ✂❖◗◗❚✂❑✂❑❊❏ ❋✂◗❍✂❉✂❑  ❚ ❈ ✂❖◗✎

◗❚✂❑❊❏ ✏✂
✻❏ ✂❘✂❈ ❋✂❋◗ ✂❖◗ ❖ ✂❑✂❈❊❏❑  ❋✂❉✂❊❏❈ ✎
❑ ✂❏ ✂❘◗ ✂◗❍✂❏ ✂ ❚◗❖◗◗❚✂❑❏✂❉◗ ✂✙✺✔✖✏

Remark: ✻❏ ✂ ❈✂❈❋ ❖ ✂❑✂❈❈❑ ❈❉ ✂❈✂❈

◗❘❑◗ ❈ ✂ ❚❈✏
❚  ❚ ❋✏

✻❏ ✂❖◗◗❚✂❑✂❖❈❑  ❈ ❊ ✎❍❚ ✂❈ ❋✂❊❈

◗ ✂❉ ✂❚ ❘ ❈❊ ❋✂❈✂❈✂❊◗❖❘  ✂ ❑✏
✕✒✖✔✔

Note: ✻❏ ✂❘❘ ❚✂❈ ❋✂ ◗ ❚✂❍❈ ❑ ✂❊❚ ✂◗❍ ✕ ✔

❏ ✂ ❈✂❈❋ ❑ ✂❖◗◗❚✂✡✔☛✂❏◗ ❋✂ ◗
❉ ✂❍ ✂❑ ❏ ❋✏✂✻❏ ✂❈❚ ✂❑❖❘ ✂ ❋
❈✂ ❊❚ ✎❍❑✂❘❏✎❑ ✂❉◗  ✏✂✻❏ ✂❘ ❈
❏ ✂❘❚◗❑❋ ✂  ✂◗✂❖ ❊❏❈ ❑❊❈ ✰ ✴ ✰
◗ ❚❈ ❊ ✏
✻❑ ❏ ❑ ✂❏ ✂❊❚ ✂❍ ✂❊❈ 
❘❚ ❖❈❚ ✂❍❈❑ ❚ ✂◗❍✂❏ ✂❖◗◗❚✏ ✙✺✔✖
✌✔✖✽
✿ ✒
✭✷✺

✰✎❖ ❈❚ ❖ 

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈
✿✹✎ ✪ ✂✔✕✎ ✒
 Chapter 24 Hydraulic functions

Lifting the main lift

The "lifting setpoint" is transmitted to the load
handling controls module (LAS module) by
moving the lever (1).

This supplies the "switching value for lifting"

with power and sends the "pump setpoint"
(parameter-dependent) via CAN bus 1 to the
travel and pump controller (FPS). This in turn
40773u
sends the speed setpoint on to the hydraulic 1
converter via CAN bus 2.

In this way, the speed of the pump is regula-

ted by the hydraulic converter.
1/0134

Due to the oil pressure, the valve rod is

Copyright protected. No part of this manual

opened by the "switching valve for lifting" and

may be reproduced in any form. Copyright

the oil can pass through past the pressure

balance to the main lift cylinders.

The lifting speed therefore depends solely on

the amount of oil delivered by the pump = the
pump speed.
This is proportional to the amount by which . Pressure balance
reserved.

the lever is deflected.

Remark: The hydraulic function is only en-

..
abled by operating the deadman- Valve spool
switch!
Prop. valve Switching valve
for lowering for lifting
.
Pump

Tank

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 24- 01
 Chapter 24 Hydraulic functions

Lowering the main lift

The "lowering setpoint" is transmitted to the
load handling controls module (LAS module)
by moving the lever (1).

This supplies the "proportional valve for lowe-

ring" with power (parameter-dependent). As a
result of the pressure in the system (caused
by the oil column in the main lifting cylinders 40773u
and the load), the valve rod is opened and
the oil flows through the runback filter and 1
back into the tank.

The oil that flows back also has to pass by

1/0134
the "pressure balance".
This automatically balances out the volume of
Copyright protected. No part of this manual

oil, in order to keep the "pressure point" bet-

may be reproduced in any form. Copyright

ween the pressure balance and the valve rod

constant.

As a result, consistent control of the valve rod

by the proportional valve is guaranteed, irre-
spective of the load. . Pressure balance

..
reserved.

Remark 1:The maximum lowering speed is Pconstant

limited by an adjustable stop at

the valve rod (see "Chassis valve Valve spool
block, Adjusting work").
Prop. valve Switching valve
Remark 2:The hydraulic function is only en- for lowering for lifting
abled by operating the deadman- .
switch!
Pump

Tank

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 24- 02
 Chapter 24 Hydraulic functions

Reaching
Reaching at the load side (LS) or reaching at
the drive side (DWS) is selected by deflecting
the lever (1). In accordance with this move-
ment, the "reaching setpoint" is sent to the
load handing controls module (LAS module).
This in turn supplies power to the "proportio-
nal valve for reaching" for the relevant direc-
tion (parameter-dependent). 40773u

At the same time, the "pump setpoint" is sent

from the LAS module via CAN bus 1 to the 1
travel and pump controller. This in turn sends
the speed setpoint on via CAN bus 2 to the
hydraulic converter, which regulates the
speed of the pump.
1/0134
Copyright protected. No part of this manual

The system is regulated for this process so

may be reproduced in any form. Copyright

that during an individual reach function, the

pump always delivers less oil than can ac-
tually flow through the opening of the propor-
tional valve (prevention of build-up pressure),
i.e. the speed depends on the pump speed.
Proportional
If, on the other hand, a synchronous move- valve
reserved.

ment, e.g. "lifting and reaching" is selected, Pump Tank

the increase in the pump speed results in an

intentional formation of build-up pressure at
the proportional valve, so that the function
takes place synchronously.

Remark 1: The maximum reach speed is

limited by diaphragms (see
"Chassis valve block, Functional
elements").

Remark 2:The hydraulic function is only en-

abled by operating the deadman-
switch!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 24- 03
 Chapter 24 Hydraulic functions

Tilting/side shift/additional
hydraulics 1/2
These axes all function according to the same
principle, i.e. the relevant setpoint is sent to
the load handling controls module (LAS
module) by selecting
• Tilting at the lever (1)
• Side shift at the lever (2)
• Additional hydraulics at the lever (3) (a
separate key must also be pressed). 40773u

1 2 3 + key
This supplies the relevant switching valve for
the selected direction with power. At the same
time, the "pump setpoint" is sent from the LAS
module via CAN bus 1 to the travel and pump
controller (FPS) (parameter-dependent). This
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

in turn sends the speed setpoint on via CAN 1/0134

bus 2 to the hydraulic converter, which

regulates the speed of the pump.

The speed of the movement therefore

depends solely on the amount of oil delivered
by the pump = the pump speed.
This is proportional to the amount by which
reserved.

Switching
the lever is deflected. valve
Pump Tank
Remark 1: The maximum speeds are limited
by diaphragms (see "Reach
carriage valve block, Functional
elements").
For the tilting function, a load
holding valve is integrated for the
"load side tilting" direction.

Remark 2: The hydraulic functions are only

enabled by operating the dead-
man-switch!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 24- 04
 Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.
Main lift and
free lift cylinders
with integrated

Issue:
line break protection

Replaces issue:
05/04
Distributor
block for mast
Chapter 24
Block diagram

Distributor block
Valve block for for chassis
chassis

6/0060

Reach cylinder
7/0441

side shift
cylinder
Valve block for reach carriage

Manual
1/0189

Workshop
Tank with Pump unit Load holding valve
runback
filter
T1

XR-AC
P1 1/0190

Tilting cylinder
LHV

Sheet no.
Optional
attachments
1/0188

1/0191

24- 05
Hydraulic functions

Valve block for

additional hydraulics 1/2 (optional)
 Chapter 25 Chassis valve block
Guide to the valve block
1
9 2
1 Test connection
2 Emergency release screw
8
3 Pressure relief valve
4 Proportional valve for DS reaching, 7
2Y25 (H-plan) 2Y54 (E-plan)
6
5 Proportional valve for LS reaching, 3
2Y26 (H-plan) 2Y55 (E-plan)
5 4
6 Prop. valve for lowering (pins 1+2),
2Y20 (H-plan) 2Y37 (E-plan)
7 Switching valve for lifting (pins 2+3), 1/0211
2Y2 (H-plan) 2Y37 (E-plan)
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

8 Adjusting screw for maximum

lowering speed
9 Manufacturer's nameplate

Remark: This valve block is also

suitable for operation of the
vehicle in cold stores
(-30°C)!
❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 25- 01
 Chapter 25 Chassis valve block
Functional elements
1
Test connection (1) 2
Manometer connection for measuring the
current pressure in the system and for 8
checking/adjusting the pressure relief valve
(3, see "Chassis valve block, Adjusting
work"). 7
6
Emergency release screw (2) 3
Option for opening the oil runback into the
tank and in this way lowering the fork holder 5 4
by hand in emergencies (see "Chassis valve
block, emergency release valve").
1/0211
Pressure relief valve (3)
Protects the pressure generated by the
11.5KW pump unit. (adjustment/testing, see
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

"Chassis valve block, Adjusting work").

Proportional valves for reaching (4 + 5)

These proportional valves are for selection of 2 9 8 1/0212

the direction for drive side reaching (4) and

load side reaching (5). They are also for
simultaneous lifting and reaching functions, in
which they limit the volume of oil for reaching,
❚  ❚ ❋✏

so that synchronous operation of the two

axes is achieved. In individual reaching
LS
movements, they are only used for selection AS
of the direction (see "Hydraulic functions").

Proportional valve for lowering (6)

The current supplied to this valve, and MP P T
consequently the lowering speed, is 6 3 1 7 4 5
controlled via pins 1+2.
In addition, the maximum lowering speed is
also limited by the adjusting screw (8) (see
"Chassis valve block, Adjusting work").

Switching valve for lifting (7)

This valve is for selection of the lifting
function, so that the valve rod (9) opens and
consequently the oil can flow through the
block from "P" to "A" to the lifting cylinders.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 25- 02
 Chapter 25 Chassis valve block
Functional elements
Pressure balance (1)
Internal, inside the valve block. For regulation
of the flow volume during the lowering
function (constant pressure point (2) in the
valve block).

Non-return valve (3)

Internal, inside the valve block. Acts as a
"bypass" valve during lifting, so that the oil
does not have to flow through the pressure
balance.

Pressure balance with throttling function

1/0211
(4)
Internal, inside the valve block. Together with
the internal shuttle valve (5) and the 10 7 7 10
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

diaphragms (6), this serves to limit the

maximum reach speed to 11.5 cm/sec.

Reaching diaphragms (6) 3 1 2 9 5 6

These diaphragms are screwed in directly
underneath the connectors A1 and B1 (7).
They limit the maximum reach speed to
11.5 cm/sec. They must not be adjusted.
❚  ❚ ❋✏

Diaphragm size: A1 = 3.2 mm diameter

B1 = 2.6 mm diameter
These values are stamped into the underside
(8).

Re-suction channels (9)

Internal, inside the valve block. This re-
MP P T 1/0212
suction feature for the reaching function
4
prevents air building up in the reach cylinder
if the vehicle is braked suddenly during 6
simultaneous reaching and travel.

Adjusting screws for reaching (10)

No changes may be made to these screws,
since they are used for "centre centring" of
the valve rod for the reach functions, and
they are used to determine the starting
current for the valve to start opening. They 1/0193
8
are pre-set by the manufacturer.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 25- 03
 Chapter 25 Chassis valve block
Adjusting work
3
After the valve block has been replaced,
various adjusting jobs must be carried out.
The pump and tank must also be flushed out.
This is also necessary after the pump has
been replaced.
2
Flushing out the pump and tank
• Turn the pressure relief valve (1) fully out
(0 bar setting). 1
• Pull off the valve connector for lifting/
lowering (2).
• Select lifting for 30 seconds.

Remark: "FE 60" appears on the display

because the LAS module has
detected a line breakage to the
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

lifting/lowering valve. 1/0211

2
• The oil can now circulate without pressure
and is cleaned by the runback filter.
• Reconnect the valve connector.
• Set the pressure relief valve.

Pressure relief valve (1)

❚  ❚ ❋✏

• Connect a manometer at the test

connection (3).
• Pick up the rated load.
• Measure the pressure required to lift the
rated load (= operating pressure) and if
necessary increase the pressure by
turning the screw (1) to the right.
• Add 10% to the measured operating
pressure, e.g. measured op. pressure =
180 bar + 10% (18 bar) = 198 bar. 1/0213

• Move the lifting device to the mechanical 1 3

end stop (max. pressure builds up) and
set the pressure (in example, to 200 bar).
• Finally, check that the pressure relief
valve definitely remains closed during the
transition from the free lift to the main lift,
through the brief pressure peak that
occurs here (noise emission, brief loss of
speed at mast transition point); increase
the max. pressure slightly if necessary.
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 25- 04
 Chapter 25 Chassis valve block
Adjusting work
Max. lowering speed (1)
In normal operation, the max. lowering speed is 1
determined by the proportional valve for
lowering (2) (parameter-dependent).
So that the max. permissible speed set in the 2
factory cannot be exceeded in the event of a
fault or an incorrectly set parameter, it must
also be limited at the adjusting screw (1).

Remark: The max. lowering speed of

60cm/sec may not generally be
exceeded (UVV guideline).

• Set the parameter for the proportional valve

for lowering maximum to 700mA (see
"Service software").
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

• Carry out a lowering operation with the 1/0211

rated load and measure the speed. 2

• If necessary (see values in table), adjust at
the adjusting screw (1):
Turning the screw to the right reduces the
speed
Turning the screw to the left increases the
speed
• Reset the parameter to the "normal value"
❚  ❚ ❋✏

again

Remark: If the proportional valve is opened by

100% (700mA), and the screw for the
lowering speed is unscrewed comple-
tely (to the left), the line break protec-
tion in the lifting cylinders is triggered
during the lowering operation.
1/0213
1

Table of max. lowering speeds

Mast/vehicle Vmax of free lift Vmax of main lift Tolerance
XR14AC, XR16AC height ≤ 2900mm, 49cm/s (XR14AC) 54cm/s (XR14AC) ±2cm/s
Cyl. diam. 37mm (main lift) 50cm/s (XR16AC) 56cm/s (XR16AC) ±2cm/s
XR20AC 48cm/s 52cm/s ±2cm/s
XR14AC, XR16AC height >2900mm, 49cm/s (XR14AC) 54cm/s (XR14AC) ±2cm/s
Cyl. diam. 46mm (main lift) 50cm/s (XR16AC) 56cm/s (XR16AC) ±2cm/s

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 25- 05
 Chapter 25 Chassis valve block
Emergency release valve 1

The emergency release valve (1) is for

lowering the fork holder in the event of a fault
or total failure of the control elements.
When the handle on the valve is turned to the
right, the manual lowering process is initiated.
After about 11 turns, the valve is fully open =
max. lowering speed in emergency operation.

Remark: The valve must be firmly closed

again immediately after the
lowering process.
When the controls compartment
door is closed, the valve can also
1/0211
be accessed through the step
opening (2).
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏
❚  ❚ ❋✏

1/0213
1

40770u

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 25- 06
 Chapter 25 Chassis valve block
Electrical data
Valve Voltage Current Resistance Comment Meas. (pin)
Proportional valves approx. 6.5V Parameter- approx. 9Ω The current is regulated
for reaching - 13.5V dependent, by pulse width
1+2
2Y25,2Y26 approx. 700- modulation (PWM).
1500mA Ref. voltage = 24V
Proportional valve for approx. 6.5V Parameter- approx. 27Ω The current is regulated
lowering 2Y20 - 15V dependent, by pulse width
1+2
approx. 250- modulation (PWM).
550mA Ref. voltage = 24V
Switching valve for U1 approx. I1 approx. 0.7A approx. 35Ω The current is regulated
lifting 2Y2 24V I2 approx. 0.5A by pulse width
2+3
U2 approx. modulation (PWM).
17.5V Ref. voltage = 24V

Remark: The switching valve for lifting is initially regulated to the higher starting
current I1 and then to the lower operating current I2.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏
❚  ❚ ❋✏

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 25- 07
 Chapter 26 Reach carriage valve block

Guide to the valve block

✗
✻❏ ❚ ✂❈❚ ✂❋❑❍❍ ❚ ✂❈❚❑❈ ✂◗❍✂❏ ✂❚ ❈❊❏✂❊❈❚❚❑❈
❈  ✂❉ ◗❊ ✂✡ ☛✍✂❋ ❘ ❋❑ ✂◗ ✂❏ ✂ ❏❑❊ ✂❖◗❋ ✜

✎✂✭◗❚ ✂❑ ❑ ✂❋ ❑❊ ✂❑❏✂✑✂❑❏◗✂❑❋ ✂❏❑❍✂✡✔☛

✂✂✰❋✏✂ ◗✏✜✂✾✚✂✖✔✚✂✔✖✚✂✡❘ ✂ ✽✗✗✕✔☛

✎✂✭◗❚ ✂❑ ❑ ✂❋ ❑❊ ✂❑❏✂✑✂❑❏◗✂❑❋ ✂❚ ❈❊❏✂✡✕☛

✂✂❈ ❋✂❘❚ ❘❈❚❈❑◗ ✂❍◗❚✂❈❋❋❑❑◗ ❈ ✂❏❋❚❈ ❑❊✂✡✖☛
✂✂✰❋✏✂ ◗✏✜✂✾✚✂✖✔✚✂✔✖✛✂✡❘ ✂ ✽✗✗✖✗☛

Remark: ✻❏ ✂✰❋✏✂✑✂❖◗❋ ✂ ◗✏✂❊❈ ✂❉ ✂❍◗ ❋✂◗ ✂❏ ✑✒✔ ✖

❈❖ ❘ ❈ ✂✡✗☛✏✂✻❏ ✂❈  ✂❉ ◗❊ ✂❈❚

❈ ◗✂❑❈❉ ✂❍◗❚✂◗❘ ❚❈❑◗ ✂◗❍✂❏
✚ ✘ ✔ ✙ ✛
 ❏❑❊ ✂❑ ✂❊◗ ❋✂◗❚ ✂✡✎✕✒ ☛✏

✘ ✺❑❊❏❑ ✂❈  ✂❍◗❚✂❑ ❑ ✂✫✺✍✂✔❀✕✂✡✯✎❘ ❈ ☛

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

✔❀✗✚✂✡✬✎❘ ❈ ☛
✙ ✺❑❊❏❑ ✂❈  ✂❍◗❚✂❑ ❑ ✂✳✺✍✂✔❀✔✛✂✡✯✎❘ ❈ ☛
✔❀✗✛✂✡✬✎❘ ❈ ☛ ✷
✂✚ ✺❑❊❏❑ ✂❈  ✂❍◗❚✂❖❈✂❚❈  ❚ ✂❚ ❈❊❏✍✂ ❍✍ ✻
✔❀✗✔✂✡✯✑✬✎❘ ❈ ☛ ✕✒✖✔✖

✂✛ ✂✺❑❊❏❑ ✂❈  ✂❍◗❚✂❖❈✂❚❈  ❚ ✂❚ ❈❊❏✍✂

✂❚❑ ❏✍✂✔❀✗✕✂✡✯✑✬✎❘ ❈ ☛ ✖ ✕
❚  ❚ ❋✏

✷
✻
✕✒✖✔✗

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈
XR-AC 26- 01
 Chapter 26 Reach carriage valve block

Functional elements 2 1 3

Remark: Each of these functional elements may

be fitted or not, depending on the valve
block version (see "reach carriage valve
block, Guide to the valve block").

Connection distributor, additional hydraulics (1)

Optional. Is required either single or double when
additional hydraulics are used, for supplying the 30425

separate "additional hydraulics" valve block (see 5 4

"Additional hydraulics valve block").
Switching valves for side shift (2+3)
These switching valves are for selecting the side 1
shift directions left (2) and right (3).
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Switching valves for tilting (4+5)

These switching valves are for selecting the tilting
directions LS (4) and DS (5).
❚  ❚ ❋✏

30426
4 5 3 2

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: 02/02 Manual
XR-AC 26- 02
 Chapter 26 Reach carriage valve block

Functional elements
Tilting diaphragms (1) 6
The diaphragms for tilting are screwed into the
valve block directly in connector B1 (2) and behind
the separate cover (3) for channel A1.
These diaphragms limit the max. possible tilting
time to 3 seconds.
They must not be altered!
Diaphragm size: A1 = 1.9 mm diameter
B1 = 1.8 mm diameter 30425

2 3
This diaphragm value is stamped into the underside
(4)!
Side shift diaphragms (5)
8 1 8 5
The diaphragms for side shift are screwed into the
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

valve block directly in connectors A2 and B2 (6).

Their purpose is to limit the max. transverse
reaching speed.
They must not be altered!
Diaphragm size: A2 = 2.4 mm diameter
B2 = 2.4 mm diameter
❚  ❚ ❋✏

This diaphragm value is stamped into the underside

(4)!
30426

7
Remark: If connectors A2/B2 are not used for the
side shift but for additional hydraulics, 1 5
the diaphragms are not fitted. This is
because the additional hydraulics must
be supplied wih the max. oil volume
(litres/min).

Pressure balance with throttling function (7)

1/0193

Internal, inside the valve block. Together with the 4

internal shuttle valve (8) and the relevant dia-
phragms (1, 5), its purpose is to limit the speed of
the tilting and side shift functions.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 26- 03
 Chapter 26 Reach carriage valve block

1
Adjusting work
No adjusting work of any kind is required on this
valve block (1)!

Electrical data: 1/0194

Valve Voltage Current Resistance Comment Meas. (pin)

Switching valves for U1 approx. I1 approx. The current is
tilting 24V 1A regulated by pulse
approx. 25Ω 1+2
width modulation
AS (2Y3), LS (2Y29) U2 approx. I2 approx.
(PWM). Reference
17V 0.7A voltage of the PWM
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

signal: 48V
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Switching valves for side U1 approx. I1 approx. The current is

shift 24V 1A regulated by pulse
approx. 25Ω 1+2
left (2Y52) width modulation
U2 approx. I2 approx.
(PWM). Reference
right (2Y53) 17V 0.7A voltage of the PWM
signal: 48V

Remark: The switching values are initially regulated to the higher starting current I1
❚  ❚ ❋✏

and then to the lower operating current I2.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 26- 04
 Chapter 27 Additional hydraulics valve block

Guide to the valve block 3 1 4

Id. no.: W8 424 581 (single add. hydraulics)

Id. no.: W8 424 582 (double add. hydraulics)

Either the single valve block (1) or the double valve

block (2) is used, depending on the additional P2 A1
hydraulics fitted on the vehicle.
The switching valves (3-6) are for selecting the T2 B1
direction.
When an additional hydraulics valve block is used,
a valve block for "reach carriage with preparation 1/0195
for additional hydraulics" is also needed (see
"Reach carriage valve block").

Electrical data:
Voltage Current Resistance Comment
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

U1 appr. 24V I1 approx. approx. 25Ω The current is

regulated with pulse
1A
width modulation
(PWM),
U2 appr. 17V I2 approx. approx. 25Ω Reference voltage of
0.7A the PWM signal: 48V
1/0196

2
Remark: The switching valves are initially regula-
ted to the higher starting current I1 and
❚  ❚ ❋✏

then to the lower operating current I2.

For the location of the valve blocks,
please see the section entitled "Guide to P2 A1
electrical components". B1
A2
T2
B2

5 6
1/0191

1/0197

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 27- 01
 Chapter 28 Line break protection

General
1
The line break protection (LBS, 1+2) pre-
vents uncontrolled, accelerated movement by
a loaded hydraulic consumer (i.e. a drop), if
the hydraulic back pressure is lost in the
event that a pressurized lead or connection
breaks. 6/0102 6/0103

2
Remark: Two different types of line break
protection (LBS) are used. The
LBS 1 is adjustable and the
LBS 2 is not adjustable.

The line break protection is screwed directly

into the pressure oil inlet and outlet of the
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

1/0202
hydraulic consumer that is to be protected
(see also plan of hydraulic system).
Symbolic drawing
The valves used are plate valves. When they
are in the home position, their valve screw is Simplified Detailed
lifted from the valve seat by a spring, leaving
the flow-through cross section free.
o
reserved.

(F) (B) F B
The flow resistance and blockage effect at
• • • •
the valve screw in the direction of flow B -->
v
F (operating or initiating direction) have less
v
force during normal operation than the
counterforce of the spring. The valve remains
open.

If the flow current increases in the event of

an emergency, due to the driving load, the 3
force of the flow becomes greater than the
force of the spring, and the valve closes
immediately.

Remark: To remove LBS 1 from the lifting 6/0104

cylinder, you need the special tool
with Id. no. W8 044 065 (3).
The LBS 2 can be removed with a
normal hex socket screw key.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 28- 01
 Chapter 28 Line break protection
General
1 2
The valve plate includes a diaphragm hole (3),
through which, depending on the size of the load,
a stream of oil can flow when the system
pressure is released. This means that the load
can be lowered slowly to the ground.

Remark: The gap width S determines the point 6/0102 1/0202

at which valve 1 is triggered. This

setting is made by the manufacturer
and must on no account be altered.
The width of the gap is only provided
here to help you decide whether the 3
right line break protection is installed.
In version 2 of the LBS, this gap width
is fixed and cannot be altered).
Different line break protection devices
are installed, depending on the type of
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

mast (see table and plan of hydraulics). 6/0107

Types used

Name on
Used in hydraulics plan Valve type Gap width for Id. no. Type
reserved.

LBS1 LBS2 LBS1 in mm used

XR14/16AC S7 3C-0.5-35 R1/2-35-d=0.5 0.7 W8 417 848 1

up to height S9 3C-1.0-48 R1/2-48-d=1 1.1 W8 417 845 1+2
of 2900 mm S9 3C-2X1.2-70 R1/2-70-d= 1.9 W8 417 898 1+2
2x1.2/1x1.7
XR20AC S10 3C-0.5-52 R1/2-52-d=0.5 1,2 W8 417 847 1+2
XR14/16AC S3 4C-1.5-90 R3/4-90-d=1.5 1.5 W8 414 779 1+2
from height of S4 4C-1.2-63 R3/4-63-d=1.2 1.7 W8 415 310 1
2950 mm S5 3C-0.8-80 R1/2-80-d=0.8 2.4 W8 417 844 1+2

l / min
Hole in valve plate

Remark: The "l/min" specification and the hole dimensions are stamped into the valve plate.
The size 3C indicates a 1/2 inch thread, 4C is a 3/4 inch thread.
The LBS types "S13" and "S12" are only used for a mast height of 3700 mm and up-
wards (on the "high-lift version" = XR-AC with a reinforced lifting device (additional
mast struts), the LBS "S12" and "S13" are always fitted).
The LBS "S17" is only used where the height of the lifting device is 2700 mm or
higher.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 28- 02
 Chapter 29 Lowering brake valve
✮ ❚❈
The lowering brake valve (1) is located in the
distributor block (2) on the mast.

It is a 2-way flow-control valve for lowering

single-action cylnders at a constant lowering
speed, largely irrespective of the size of the
load.

Type: R3/4-43-200 (Id. no. W8 421 546)

✹ ❖❈❚ ✜ The valve is pre-set in the factory

and its setting cannot be altered!
It is only fitted in the following
models:

- XR14/16AC with height < 2900 mm.

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

✭ ❊❑◗
At the mast transition point (main lift to free lift)
during lowering, an unfavourable combination
7/0448
of conditions (mast height, damping tolerances,
load) can cause the line break protection (LBS) 2
to be triggered. This is prevented by the
❚  ❚ ❋✏

lowering brake, as it limits the max. oil volume

(l/min) to an uncritical level as far as the LBS is
concerned.

2/0024

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 29- 01
 Chapter 30 Load holding valve

General 3

With the "fork tilting" function (attachment for fork

tilting), an additional load holding valve (1) is used.
It is mounted on the fork holder.
When the forks tilt downwards, the oil flowing out
of the tilting cylinders has to pass through the pre-
pressure valve (2) through connection "AV". This
does not open until a pressure of 160 bar has
been reached.
The oil can flow out via connection "AF". 1/0203

The opening pressure of 160 bar is set at the 1

adjusting screw (3) in the factory. This ensures
that the fork prongs never make an uncontrolled
movement, even under the rated load.

Remark: If the fork prongs move upwards on

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

their own, this is caused by an internal

❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

2
control piston in the distributor block
that has a leak.
In this case, the entire valve block (1)
must be replaced.
Id. no. W8 420 228 ( LHK 22F-160 )
❚  ❚ ❋✏

30427

1/0205

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 30- 01
 Chapter 33 Hydraulic pump

General
The pump (1) is an externally toothed gear
pump. Once the pump unit has been removed,
the pump can be detached from the motor at
the 4 fastening screws M10x115 (2).

Types used

Pumps with different delivery outputs (cm3/

revolution) are used, according to the type of
mast:
Pressure
side
Delivery
Mast/vehicle Pump type Id. no. output
3
in cm /
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

rev.

XR14/16AC height WSP 20.11,1 W8 426 480 11 Suction 6/0119

< 2900mm (thin side
cylinders)

XR20AC WSP 20.14,4 W8 426 481 14

❚  ❚ ❋✏

XR14/16AC
height >2900mm WSP 20.16,6 W8 426 482 17
(thick cylinders)

Remark: The pump type is stamped into the pump

housing. The height is the measurement from
the upper edge of the retracted mast to the
floor.

2/0069

1 2

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 33- 01
 ✪❏❈❘ ❚✂✕✖ ✻❈ ✂❑ ❋❑❊❈◗❚

✻❈ ✂❑ ❋❑❊❈◗❚
✼ ❋ ❚✂❏ ✂❋❚❑ ❚✠✂ ❈✂❑✂❏ ✂❈ ✂❑❏✂❈ ✂◗❑ ✂❑ ❏
❈✂✡ ☛✏✂✻❏ ✂◗❑ ✂  ✂❑ ✂❏ ✂❈ ✂❊❈ ✂❉ ✂❚ ❈❋✂◗❍❍
❏ ❚ ✏

✼ ✂❈✂◗❚❊❏✂❏ ✂❊❏ ❊ ❑ ✂❏ ✂  ✏

❈✂❊❏ ❊ ✂❏ ✂◗❑ ✂❑ ❋❑❊❈◗❚✜

✏ ✶ ✂❊◗❖❖❑❑◗ ❑ ✍✂❈❍ ❚✂❏ ✂❈❘❘ ❑❈ ❊ ✂❏❈

❉ ✂❑ ❈ ❋
✔✏ ✂❊❏ ❋ ❋✂❖❈❑  ❈ ❊ ✂❋❈ 
✕✏ ✾❏ ✂❏ ✂❏❋❚❈ ❑❊✂ ❖✂❏❈✂❉ ✂◗❘ ❋
❈✂❈ ✂❘◗❑ 

✹ ❖❈❚ ✜ ✻◗✂❖❈ ✂❏ ✂❚ ❈❋❑ ✍✂ ◗ ❚✂❏

❖❈✂❍ ✏✂✹ ❚❈❊✂❏ ✂❚ ❈❊❏
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

❊❈❚❚❑❈ ✂❊◗❖❘  ✂❈ ❋✂❑ ✂❏ ✂❖❈

❍◗❚❈❚❋✂❈✂❍❈❚✂❈✂❑✂ ◗ ✏

✶ ✂❊◗❖❖❑❑◗ ❑ ✍✂❍❑ ✂❏ ✂❈ ✂❘✂◗✂❏ ✂❊ ❚ ✂◗❍

❏ ✂❑ ❏✂ ❈✂❈ ❋✂❊❈❚❚✂◗✂❈ ✂❏❋❚❈ ❑❊
❖◗ ❖ ✂◗✂❏ ❑❚✂❖❈❑❖❖✂  ✍✂❑ ✂◗❚❋ ❚✂◗✂❍❑
❏ ✂❊ ❑ ❋ ❚✂❈ ❋✂❏◗ ✏✂✻❏ ✂❉ ❋✂❈ ✂❈❑❚✂◗✂◗❍
❚  ❚ ❋✏

❏ ✂❊ ❑ ❋ ❚✂❈ ❋✂❍❑ ✂❏ ✂❈ ✂❘✂❈ ❈❑ ✂◗✂❏

✙✑✒✖✗✘
❊ ❚ ✂◗❍✂❏ ✂❑ ❏✂ ❈✂❑❏✂❏ ✂ ❙❑❘❖ ✂❑ ✂❑
❏◗❖ ✂❘◗❑❑◗ ✏

✴❈❑❖❖✂◗❑ ✂  ✜ ✪ ❚ ✂◗❍✂❑ ❏✂ ❈

✴❑ ❑❖❖✂◗❑ ✂  ✜ ✳◗ ❚✂ ❋ ✂◗❍✂❑ ❏✂ ❈

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈
✿✹✎ ✪ ✂✕✖✎✒
 ✪❏❈❘ ❚✂✕✗ ✻❈

✻❈ ✂✂✂✂✂

✻❏ ✂❈ ✂✡ ☛✂❍◗❚✂❏ ✂❏❋❚❈ ❑❊✂◗❑ ✂❑✂ ◗❊❈ ❋✂ ❋ ❚✎

❈❏✂❏ ✂❋❚❑ ❚✠✂ ❈✏✂✰✂❑✂❊❚  ❋✂❋❑❚ ❊ ✂◗✂❏
❊❏❈❑✂✡✔☛✏✂✻❏ ✂❈ ✂❊❈❘❈❊❑✂❑✂✔✗✂ ✂✡❊ ❚ ✂◗❍✂❏
❑ ❏✂ ❈☛✏✂✻❏❑✂❑✂❍❍❑❊❑ ✂❍◗❚✂❈ ✂❖❈✂❖◗ ✎
❖ ✏

✶ ✂❏ ✂ ❋ ❚❑❋ ✂◗❍✂❏ ✂❈ ✂❑✂❏ ✂◗❑ ✂❋❚❈❑ ❈

❊❚ ✂✡✕☛✏✂✻❏❑✂❊❈ ✂❉ ✂❈❊❊  ❋✂❉✂❘ ❑ ✂◗✂❏
❉❈ ❚✏✂

✾❏ ✂◗❑ ✂❏❈✂❉ ✂❋❚❈❑ ❋✂◗❍❍✂❏❚◗ ❏✂❏❑✂❋❚❈❑ ❈✎

✂❊❚ ✍✂◗✂❖✂ ✂❈✂ ✂❈ ❖❑ ❑❖✂ ❈ ❑
❚❑ ✂✡✖☛✏

✹ ❖❈❚ ✜ ✶❑ ✂❊❏❈ ✂❑  ❚❈ ✂◗ ❊ ✂❈✂ ❈❚✂◗❚

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

 ❚✂✔✒✒✒✂◗❘ ❚❈❑ ✂❏◗❚✏✂✭◗❚✂❏ ✂◗❑

❘ ✂❏❑❊❏✂❏◗ ❋✂❉ ✂ ❋✍✂❘ ❈
 ✂❏ ✂ ✳❉❚❑❊❈❑◗ ✂❘ ❈ ✏
❚  ❚ ❋✏

✙✑✒✖✗✘

✖ ✕ ✔

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈
✿✹✎ ✪ ✂✕✗✎✒
 Chapter 36 Runback filter
✹ ❉❈❊ ✂❍❑  ❚
✖
✮ ❚❈
❘❘ ❑❊❈❑◗
✕
✏ ✭❑  ❚❑ ✂❏ ✂◗❑ ✂❏❈✂❚ ✂❉❈❊ ✂❑ ◗✂❏ ✂ ❖ ✔
✔✏ ✭❑  ❚❑ ✂❏ ✂❈❑❚✂❏❈✂  ❚✂❈ ❋✂ ❈ ✂❏ ✂❈ ✗

✻❏ ✂❍❑  ❚✂❑✂❖◗  ❋✂◗ ✂❏ ✂◗❘✂◗❍✂❏ ✂◗❑ ✂❈ ✂✡✘☛✏

✻❏ ✂❍❑  ❚ ❋✂◗❑ ✂ ❈ ✂❏ ✂❈ ✂❉ ◗✂❏ ✂◗❑ ✂  ✍
❏❚◗ ❏✂❈✂❏◗ ✂❏❑❊❏✂❑✂❖◗  ❋✂◗ ✂❏ ✂❍❑  ❚✂❊❘
✡ ☛✏✂✻❏❑✂❘❚  ✂❏ ✂◗❑ ✂❍◗❈❖❑ ✏ ✙✑✒✖✗✘

✂❏ ✂◗❘❘◗❑ ✂❑❋ ✂◗❍✂❏ ✂❏◗ ✂❊◗ ❊❑◗ ✂❑✂❈ ✂❈❑❚

❍❑  ❚✂✡✔☛✂❖❈❋ ✂◗❍✂❘❚  ❋✂❈ ❖❑ ❑❖✂❖ ❏❑ ✏✂✻❏❑
❑✂❍◗❚✂ ❑ ❈❑ ✂❏ ✂❈ ✏
✻❏ ✂❍❑  ❚✂❊❈❚❚❑❋ ✂ ❋✂✡✕☛✂❊◗ ❑✂◗❍✂❈✂❘❈❘ ❚✂❍❑  ❚
✖
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

✡❍❑  ❚✂❍❑ ✂ ✒✂ ❖☛✏✂✰✂❊❈ ◗✂❉ ✂❊ ❈ ❋✏

✻❏ ✂◗❑ ✂❊❈ ✂❍ ◗✂❉❈❊ ✂❑ ◗✂❏ ✂❈ ✂ ❍❑  ❚ ❋

❏❚◗ ❏✂❈✂❉❘❈✂❈  ✂❑ ✂❏ ✂ ❑❋✂✡✖☛✍✂❑ ✂❏ ✂  
❏❈✂❏ ✂❍❑  ❚✂❑✂◗◗✂❏ ❈❑ ✂◗❑ ❋✏ ✘

✹ ❘ ❈❊❑ ✂❏ ✂❍❑  ❚

✃ ✺❑❊❏✂◗❍❍✂❏ ✂❏❋❚❈ ❑❊✂ ❖✏✂✻❏ ❚ ✂❖✂❉ ✂ ◗

❚  ❚ ❋✏

❘❚ ❚ ✂  ❚ ❋✂◗ ✂❏ ✂❍❑  ❚✂❈✂❏ ✂❘❚ ❚ ✂❑❋ ✏

✃ ✼ ❊❚ ✂❏ ✂ ❑❋✂✡✖☛✏
✃ ✷ ✂◗✂❏ ✂❍❑  ❚✂❊❈❚❚❑❋ ✂✡✕☛✏
✃ ✪ ❈ ✂❏ ✂❍❑  ❚✂❊❘✂✡✗☛✍✂ ✏ ✏✂❑❏✂❊ ❈ ❚✠✂ ❈❘❏❏❈
◗❚✂❘ ❚◗ ❖✏
✘✑✒ ✔✕
✃ ✰  ❚✂❈✂ ✂❍❑  ❚✂❊❈❚❚❑❋ ✏
✃ ✪❏ ❊ ✂❏ ✂ ❈ ❑ ✂❚❑ ✂❈ ❋✂❚ ❘ ❈❊ ✂❑❍✂ ❊ ❈❚✏
✃ ✶❑ ✂❏ ✂ ❑❋✂ ❑ ❏ ✂❈ ❋✂❊❚ ✂❑✂❑ ✂❘ ❈❊ ✏

✹ ❖❈❚ ✜ ✻❏ ✂❍❑  ❚✂❏◗ ❋✂❉ ✂❚ ❘ ❈❊ ❋✂❈✂❏

❈ ✂❈❍ ❚✂✗✒✒✂◗❘ ❚❈❑ ✂❏◗❚✂◗❚✂◗ ❊
❈✂❙❈❚ ❚✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈
XR-AC ✂✕✘✎✒
 Chapter 37 Lubrication plan
Lubrication plan

1 Grease toothed gears with all-purpose

grease. 5
Every 6 months or 1000 op. hours 60596

2 Grease all bolster bearings with all-purpose

grease.
Every 12 months or 2000 op. hours

3 Lubricate all moving parts with oil.

Every 6 months or 1000 op. hours 2

4 Change the brake fluid. 1

Every 12 months or 2000 op. hours 6
2/0067
5 Change the hydraulic oil.
Every 12 months or 2000 op. hours 4
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

6 Change the gear oil.

Every 12 months or 2000 op. hours

7 Lubricate chains with chain lubricant.

Every 6 months or 1000 op. hours
1/0103
reserved.

8 Grease load wheel bearings with all-

purpose oil. 3
Every 12 months or 2000 op. hours

9 Keep the running surfaces in the mast

profiles free of corrosion with profile spray. 7,9
Every 6 months or 1000 op. hours

10 If mast or fork side shift functions are fitted,

grease the sliding surfaces with all-purpose
grease.
Every 6 months or 1000 op. hours

11 Lubricate the sliding surfaces for the battery

10
frame with all-purpose grease.
Every 6 months or 1000 op. hours
11
Remark: For lubricant types and viscosity,
please see sheet no. 37-02. 40774u

8
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 37-01
 Chapter 37 Lubrication plan
Lubricants

Hydraulic oil HLP 46 DIN 51524/T2 Id. no. W8 036 912

or
Hydraulic oil HVLP 46 DIN 51524/T3 Id. no. W8 036 916
(cold store) HVI 24

Volume: approx. 25 l

Gear oil SAE 80 Id. no. W8 036 925

Gear oil
(cold store) SAE 75W - 90 (partly synthetic) Id. no. W8 036 929

Volume: approx. 3.6 l

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Chain lubricant Stabylan 2001 Id. no. W8 010 100

Chain lubricant Syntesco Id. no. W8 036 220

(cold store)

Lubricants for anti-friction bearings and other lubrication points

reserved.

Beacon 2 Id. no. W8 010 107

Acedo X 2 (cold store) Id. no. W8 050 076

Profile spray for mast, sliding surfaces, toothed racks

Ceplattyn 1612 (also for cold store) Id. no. W8 052 125

Brake fluid
ATE SL DOT 4 / DOT 3 Id. no. W8 034 957

Other special lubricants for cold store:

For all moving parts, Kompranol Spray N74 Id. no. W8 050 077
for screw connections,
union nuts

Issue: 05/04
02/02 Workshop Sheet no.
Replaces issue: Manual
XR-AC 37-02
 Chapter 37 Lubrication plan

Taking out of service,

Disposal

If the vehicle described here has to be

taken out of service, it is important to ensu-
re that all the components are disposed of
in accordance with the regulations.
In particular the fuels used in the vehicle
must be either recycled or disposed of in 6/0597

the correct manner.

Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue: 05/04
02/02 Workshop Sheet no.
Replaces issue: Manual
XR-AC 37-03
 Chapter 38 Servicesoftware
General
Diagnosis and parameterising for this vehicle is
currently carried out with software called

"FM-I Servicemaster" (Fig. 1).

Remark: The "FM-I Servicemaster" is to be

replaced in the near future with the "Pa-
raDigXR-AC" software. This will make
further diagnosis options available.

The software can be used to make the

figure 1 40701u

following adjustments in the LAS module:

• Setting the perameters for the individual

hydraulic axes (speeds)
• Setting the parameters for general vehicle data
Copyright protected. No part of this manual

• Activating/deactivating optional functions

may be reproduced in any form. Copyright

• Reading/deleting the error memory

• "Teaching-in" the 4-lever system
• Reading out data and storing as a file
• Software-update of the module
• Diagnosis

The following is possible for the steering:

reserved.

• "Teaching-in" the steering (setpoint/actual value

potentiometer)
• Correcting the straight-on position of the drive
wheel
• Switching over to reverse or 360° steering
• Diagnosis of setpoint/actual value
potentiometers
• Correcting "flutter" in the setpoint potentiometer
• "A/D converter" calibration
• Calibrating steering speed (right/left handling)

The following can also be set in the FPS:

• Travel parameters (speeds, acceleration/

deceleration, travel programs)
• Hour meter
• Battery type
• Characteristic curve for hydraulics

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-01
 Chapter 38 Servicesoftware

Making a connection

FM-I Servicemaster

• Use the connecting lead (2) to connect the

notebook (1) to the vehicle at diagnosis socket
X99 (3) via serial interface COM1 (Fig. 1).

Remark: The connecting lead (2) is part of the

interface adapter, Id no. W8 406 464.
Alternatively, a lead (4) can be used
1/0082
where the 9-pin, sub-D socket and the Fig. 1
3 2 1
9-pin connector are connected 1:1 with
each other, Id no.: W8 397 550. 4

• Switch on the vehicle. 1:1 - connection

• Start the software
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• The diagnosis interface X99 is allocated

automatically to the relevant component by the Connector, Socket,
LAS module. 9-pin, sub-D 9-pin, sub-D
• If a connection cannot be made because
- the cable connection is faulty or
- the wrong software has been used
an error message is issued (5).
reserved.

Remark: On introduction of the "ParaDig XR-

AC" software (see "Service software,
General"), diagnosis and
parameterising will take place directly
via the CAN bus.
The notebook must then be connected 40702u

to the diagnosis interface X98 (behind 5

the driver's seat, 6) with

- the CAN lead, Id. no. W8 392 452

- the CAN PC-interface,
Id. no. W8 409 550.

2/0057

6
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 38-02
 Chapter 38 Service software
FM-I Servicemaster
Menu guide
1 2 3 4
Commissioning
After you have selected Commissioning
Commissioning (1) you
can then choose between Hydraulik
Hydraulics (2),
Teach-In Joystick/4-lever
"teaching-in 4-lever" (3) or Steering
Steering (4).
With the "Commission hydraulics" (see the section
on "Commissioning the hydraulics"), a new LAS
module can be set completely or, after a potentio-
meter have been replaced in the 4-lever system,
the values for the potentiometer can be newly
read in (teaching-in function; this function can be
also done with menu point (3)). With the "Com-
mission steering" option (see the section on
"Commissioning the steering") the steering can be 40703u

set completely (teaching-in function) and other

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

steering-related settings made. 5 6 7

Parameters
After you have selected Parameters
Parameters (5), you can
then choose between Upload data (6) and
Data Upload
Load file
Load file (7).
With the "Parameters - Data Upload" function, all
the data is read out of the LAS module and can be
reserved.

stored in a file (see "Loading parameters").

The "Parameters - Load file" function loads a file
that has previously been stored on the computer,
in order to transfer it to the LAS module or to
make alterations to it (see "Loading parameters"). 40704u

Diagnosis 8 9 10
Diagnosis (8) opens the submenus
Selecting Diagnosis
Standard
Standard (9) and Extended
Extended (10). With the
"Diagnosis - Standard" function (see "Diagnosis"),
the error memory of the LAS module can be
edited, the analogue and digital signals that are
connected to the LAS module or the FPS can be
checked, and the potentiometer for the steering
can be checked. Diagnosis of the travel and
hydraulic drive systems is also possible. The
"Diagnosis - Extended" menu point is protected by
a password and is not relevant for servicing work.
40705u

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-03
 Chapter 38 Service software
FM-I Servicemaster
Menu guide

FPS 11 12 13 14 15
In the FPS menu (11), you can choose between
the following submenus:
• Travel
Travelparameters
parameters (12) for setting the travel
characteristics
• Hour meter hour counter (13) for setting the
Operating
operating hours counter
• Battery
Batterytype
type (14) for setting the type of battery
used
• Hydraulics
Hydraulicscurve
characteristics (15) for setting the
speed/torque characteristic curve in the hydrau-
lics converter
40706u

(see the section "Setting parameters in the FPS").

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

16 17 18 19 20
Extras
In the Extras
Extras menu (16), you can choose
between ComPort PC (17), Info (18) and
ComPort PC
Software
Software Update LAS- (19).
Update LAS
Under "Extras - ComPort PC", the serial interface
can be selected that is used to connect the com-
puter to the LAS module. The default setting is
reserved.

"ComPort 1".
The Info menu point displays basic information
about the software.
"Software Update LAS" can be used to update the
LAS module with a new software version (see
"Software Update, LAS module"). 40707u

Remark: The software can be exited with the

symbol XX (20) or with the key
combination ALT
ALT + F4F4 .

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-04
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering
1
The steering must be commissioned (1) when one
of the following components has been replaced:

• Setpoint potentiometer (see "Steering,

Setpoint potentiometer")
• Actual value potentiometer (see "Steering,
Actual value potentiometer")
• Steering unit (see "Steering, Steering unit")
• Drive gear (see "Gear, Removal/installation")

Remark: Before the steering can be

commissioned with the software, the 40703u

individual components must be pre-

adjusted mechanically!
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

For this purpose, see the reference

chapters provided in brackets above.

If the setpoint/actual value potentiometer or the

steering unit have been replaced, it may be
necessary to calibrate the A/D converter first. This
is necessary if the steering wheel or bogie cross-
current is not within the specified range (5-8 mA,
reserved.

see "FM-I Servicemaster, Diagnosis, Analogue

values for steering).

Note: "Teaching-in" of the steering may not be

carried out until no errors are detected
by the steering when the vehicle is
switched on (see "Error codes").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-05
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°
1
Procedure for commissioning the steering

• Select commission
Commission steering
steering (1)
• Automatically it is displayed whether the stee-
ring is configured as a 180°- or 360° system (2).
The configuration can be modified by positioning
the sliding arrow (2) to the relevant position. The
modification is active after a keyswitch-reset.
• In the mask which is open, check that the cor-
rection value (3) is set to "Zero". If necessary,
correct using the selection fields (4) or overwrite
directly with "Zero".
40703u
• Select the Start teaching button (5).
Start Teach-In
2
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Remark: If the electromagnetic brake is open, it

is now closed automatically.

If the error message "No answer from steering"

appears when you select "Start Teach-In", check
the following:

- That the CAN BUS is in working order

reserved.

- The power supply to the steering unit (see

"Steering, Steering unit").

If both are OK and no further error codes are

40708u
shown on the display (see "Error codes"), the
5 4 3
steering unit is faulty and must be replaced.

• Set the drive wheel to the straight-on position as

instructed (6) and confirm with the "OK"
OK button
(7).

Note: When "OK"OK is pressed, the drive turns

automatically to the right (+90°) and left
(-90°). It then stops in this position.

40709u
7 6

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-06
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°
Remark: If this automatic turning process is
stopped automatically by the steering
itself and one of the following errors
appears on the Servicemaster soft-
ware, the actual value potentiometer
(see "Steering, Actual value potentio-
meter") must be checked and replaced
if necessary:

- Bogie centre position too small

- Bogie centre position too large
- Bogie potentiometer value right- 40710u

hand turn too small 2 1

- Bogie potentiometer value right-
hand turn too large
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

- Bogie potentiometer value left- hand

turn too small
- Bogie potentiometer value left- hand
turn too large

• Set the steering wheel to the "9 o'clock position"

as instructed (1) (see "Steering, Setpoint
potentiometer, Installation") and confirm with
reserved.

"OK"
OK (2).

Remark: If one of these error messages appears

on the Servicemaster Software,
- Steering wheel potentiometer
"9 o'clock" too small
- Steering wheel potentiometer
"9 o'clock" too large,
check the setpoint potentiometer and
ensure that the 9 o'clock position is
correct (see "Steering, Setpoint poten-
tiometer").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-07
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°

• Turn the steering wheel to the right-hand stop

(clockwise) as instructed (3) and confirm with
"OK"
OK (4).

Remark: If one of these error messages appears

on the Servicemaster Software,

- Steering wheel potentiometer right

hand end stop too small
- Steering wheel potentiometer right
hand end stop too large,
40711u
4 3
check the setpoint potentiometer and
ensure that the end position is correct
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

(see "Steering, Setpoint potentio-

meter").

• Turn the steering wheel to the left-hand stop

(anti-clockwise) as instructed (5) and confirm
with "OK"
OK (6).

Remark: If one of these error messages appears

reserved.

on the Servicemaster Software,

- Steering wheel potentiometer left

hand end stop too small
- Steering wheel potentiometer left 40712u

hand end stop too large, 6 5

check the setpoint potentiometer and

ensure that the end position is correct
(see "Steering, Setpoint potentio-
meter").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-08
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°

• Switch the vehicle off/on as instructed (1) and

confirm with "OK"
OK (2). The newly read-in values
from the setpoint/actual value potentiometer are
now activated!

Commissioning check

• Turn the steering wheel 4 turns to the left and to

the mechanical end stop (anti-clockwise). The 40713u
drive wheel should be in the -90° position (drive 2 1
3
wheel visible).

• Turn the steering wheel 4 turns to the right and

to the mechanical end stop (clockwise). The
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

drive wheel should be in the +90° position (gear

visible).

Remark: If the "Reverse steering" option is

configured (see "FM-I Service-
master, Reverse steering"), the left/
right-hand turning directions of the
drive wheel are interchanged. 40703u
reserved.

• The wheel position should now appear on the

display in accordance with the drive wheel
position and selected travel direction (Fig. 3).

Correcting the straight-on position 40769u

Travel direction DWS Travel direction LS

• Turn the steering wheel to the "9 o'clock" and wheel position and wheel position
position (see "Steering, Setpoint potentiometer")
• Switch the vehicle off and then on again
• Check the straight-on position of the drive wheel

If necessary, correct the straight-on position:

• Start "Commission steering" (3)

• Change the value in the "Correction value"
window (4) positively or negatively with selection
fields (5) or by making a direct entry. As you do
so, observe the position of the drive wheel.
40708u
5 4
Issue: 02/02 Workshop Sheet no.
Replaces issue: Manual
XR-AC 38-09
 Chapter 38 Service software
FM-I Servicemaster
Correcting the straight-on position 180°

• When correction of the straight-on position is

complete, select the "Exit"
Quit button (1) and, if
required, close the Servicemaster software.

Remark: Correction of the straight-on position

also affects the 90° end position, since
the entire "Steering angle curve" is
moved.

40708u

1
Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-10
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°
1
Adjusting the flutter

The two signals from the setpoint potentiometer

are monitored against each other. The difference
between them (∆R1-R2 = ∆U1-U2) is theoretically
constant and should not exceed a range of
+/- 0.3 V (see "Steering, setpoint potentiometer").

Exception:
If the "control potentiometer" runs through its "null
point" (7° range), this monitor is inactivated, 40703u

because a range of +/- 0.3V is always exceeded

here (see "Steering, setpoint potentiometer").
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

If a flutter that is too large is detected, the steering

switches off and "FE 83" is displayed.
It is possible that this flutter may have to be
adjusted, because of the potentiometer
tolerances. If this does not help, the setpoint
potentiometer must be replaced!

Procedure for automatic adjustment

reserved.

• In "Commissioning steering" (1) click on the

40708u
Other settings
Additional adjustments button (2). 2
• In the window that then opens, which is headed
4 3
"Additional steering adjustments", click on the
Start teaching button (4)
Start Teach-In

40714u

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-11
 Chapter 38 Service software
1 2
FM-I Servicemaster
Commissioning the steering 180°

Adjusting the flutter

• As instructed in the window (1) turn the steering

wheel to the right-hand mechanical end stop
(clockwise) and confirm this with "OK" (2).
• Now turn the steering wheel slowly and
40715u
continuously to the left-hand mechanical stop, 3
as specified in the instruction window (3).
This process must be completed within 20
seconds!

Remark: If the process is not completed within 20

seconds, reading-in of the values is
interrupted, and an error message (4) is
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

issued ("Teaching-in not finished at left-

hand end stop. Switch truck off/on").
This message must be confirmed with 4 5 40716u

"OK" (5) and the vehicle switched off

and then on again.
Start the entire "Teaching-in" process
again.
reserved.

• If the left-hand stop is reached within the time

limit, a message (6) appears briefly to indicate
that teaching-in of the flutter is complete, und
that the truck should be switched off and then on
again. This should be confirmed with "OK" (7). 6 8
40717u
7
Complete the "teaching-in" process with the "Quit"
button (8).

40718u

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-12
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°

Adjusting the flutter 1 2

Error messages
If automatic "teaching-in" of the flutter is not
possible, or the process has not been carried out
correctly, various text error messages (1) will
appear on the notebook display.
These must be confirmed with the "OK" button (2).
You can then start a new attempt at adjusting the
flutter.

The following messages may appear:

• "Steering wheel potentiometer flutter teaching-in

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

not started at right-hand end stop"

Solution:
40717u
- Start the teaching-in process at the right-hand
mechanical stop.
- First carry out "normal" teaching-in of the
steering and then teach-in the flutter again. If
this still does not help, replace the
reserved.

potentiometer.

• "Steering wheel potentiometer flutter teaching-in

not finished at left-hand end stop"

Solution:
- Complete the teaching-in process within 20
seconds at the left-hand mechanical end stop.
- First carry out "normal" teaching-in of the
steering and then teach-in the flutter again. If
this still does not help, replace the
potentiometer.

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-13
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°

Adjusting the flutter

Error messages
• "Steering wheel potentiometer flutter linearity
error"

Solution:
- Repeat the teaching-in process, turning the
steering wheel slowly and continuously from
end stop to end stop.
- If this does not help, replace the potentiometer.

• "Steering wheel potentiometer flutter right-hand

end stop could not be learnt"
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Solution:
- First carry out "normal" teaching-in of the 40717u

steering and then teach-in the flutter again. If

this does not help, replace the potentiometer.

• "Steering wheel potentiometer flutter left-hand

end stop could not be learnt"
reserved.

Solution:
- First carry out "normal" teaching-in of the
steering and then teach-in the flutter again. If
this does not help, replace the potentiometer.

If one of the 4 error messages listed below

appears, the potentiometer should always be
replaced:

• "Steering wheel potentiometer flutter difference

too small, PotiS1>PotiS2"
• "Steering wheel potentiometer flutter difference
too large, PotiS1>PotiS2"
• "Steering wheel potentiometer flutter difference
too small, PotiS2>PotiS1"
• "Steering wheel potentiometer flutter difference
too large, PotiS2>PotiS1"

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-14
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°

Adjusting the flutter

4 1
Manual adjustment

If automatic adjustment is not possible, you can try

to make the adjustment manually. However, this
process is usually unsuccessful.

Procedure for manual adjustment

• Turn the steering wheel slowly from end stop to

end stop, observing the "Steering wheel flutter"
display (1) as you do so.

• The point at which the display changes to red is

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

the point at which the permissible flutter is 40714u

exceeded. If this occurs in an area in which the 3 2 5

control potentiometer is within the dead range
(7° range), this should be ignored. For help in Note: With steering version V4.33
identifying this: it is when a change is made and higher, adjustment of the
from the "W1<W2" range (2) to the "W1>W2" manual calibration of the set-
range (3) and vice versa. point potentiometer flutter (5)
is no longer possible. The
reserved.

The range that is not currently active has a grey

relevant input fields are
background.
blocked automatically.
• If the display changes to red outside the dead
range, the flutter is too high and must be
adjusted. To do this, observe the value of the
fluctuation (4) at which the display changes to
red. This value may be positive or negative (you
can see this from the sign in front of number).

• If the value is positive, the correction value (5)

should be increased and if it is negative, the
value should be decreased (in steps of 5-10).

Remark: The values are generally between

100 and 130!
The values entered must be confirmed
with "ENTER" and are not activated in
the steering until the key switch has
been switched OFF/ON.
Issue: Workshop Sheet no.
05/04
Replaces issue: Manual
XR-AC 38-15
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°

Adjusting the flutter 5 6

Manual adjustment

• The correction value must be modified within the

range of which ("W1<W2" (1) or "W1>W2" (2))
the fluctuation that is too large has occurred.

Remark: The fields (6) are only for displaying the

correction values stored in the steering
unit that are currently being corrected.

• Click on the Exit

Quit button (4) and switch the
truck off and then on again. The new correction
values are then active.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• Test the steering and make another correction if

necessary. 40714u

4 1 2
• Close the Servicemaster software if required.

Remark: The flutter display (5) is not updated

reserved.

until the truck has been switched off

and then on again, since this display is
an "online" display, i.e. the values are
read directly out of the steering.
However, since the entered correction
values are not taken over by the stee-
ring electronics until the truck has been
switched off and then on again, the
display cannot be updated immediately.

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-16
 Chapter 38 Service software
FM-I Servicemaster 1

Commissioning the steering 180°

A/D converter calibration

If the setpoint or actual value potentiometer or the

complete steering unit has been replaced, the first
work that may be necessary is "A/D converter
calibration".
This is necessary if the "steering or bogie cross-
40703u
current" is not within the specified range (5-8 mA,
see "FM-I Servicemaster, Diagnosis, Analogue
values for steering").

Procedure

• Start "Commission steering" (1).

• Select the other settings
adjustments button (2).
Copyright protected. No part of this manual

Additional
may be reproduced in any form. Copyright

• Start A/D converter calibration with the Start

Start
button (3).
• Disconnect the setpoint/actual value potentiome-
ter as instructed (4) at the steering controller 40708u
2
(connector G (X49) and connector L (X50), (see
"Steering, Steering unit").
• Confirm the operation with the "OKOK button (5).
reserved.

Remark: If the setpoint/ actual value potentiome-

ter is not disconnected, the steering is
not active when calibration is complete,
and once the vehicle has been swit-
ched off and then on again, the error
message "FE83" appears on the dis-
40714u
play. 3

40719u
5 4
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 38-17
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°
1
A/D converter calibration

• Reconnect the connectors of the setpoint/actual

value potentiometers as instructed (1) and
secure in place. Complete this operation with
the "OK"
OK button (2).

• The information window (3) shows the static

currents of the setpoint potentiometer (steering
wheel cross current) and actual value potentio-
meter (bogie cross current) (see "FM-I Service-
master, Diagnosis, Analogue values for Stee- 40720u
ring"). 2
These are usually 5-8 mA. If no cross current is
displayed, the relevant potentiometers must be
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

checked.
If a cross current of > 10 mA is displayed, cali-
bration of the A/D converter has not been car-
ried out correctly; in this case, it should be re-
peated.

• Close the information window with the "OK"

OK
button (4).
reserved.

• Switch the truck off and then on again, as

specified in the instruction window (5) 40721u

4 3
• Close the Servicemaster software if required.

40722u

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-18
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°
1
Correcting the steering speed

If the steering speed to the left/right is different,

the "Commutate" parameter (4) can be used to
adjust this. The default value is "0", or the value is
displayed that has been set in the factory. This
value can be altered by +/-2. Depending on where
the speed difference lies, the value must be
changed positively or negatively.

Remark: The parameter change is not adopted 40703u

in the steering until the vehicle has

been switched off and then on again!
Copyright protected. No part of this manual

Note: The "Commutate" parameter may only

may be reproduced in any form. Copyright

be adjusted if the difference in steering

speed is extremely wide, since chan-
ging the value can cause a considera-
ble loss in steering torque!!
With steering version V4.33 and higher,
adjustment of the commutation (4) is no
longer possible! The relevant input
field is blocked automatically.
reserved.

Procedure
40708u

• You can reach the "Additional steering adjust- 2 3

ments" mask (3) by selecting "Commissioning-
steering" (1) and "Additional adjustments" (2).

• Change the "Commutate" parameter (4) as

described above.

Quit (5).
• Close the mask with Exit

40714u
4 5

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-19
 Chapter 38 Service software

FM-I Servicemaster
1
Commissioning the steering 180°

Setting the gear transmission ratio

• The parameters for setting the gear ratio (3)

can be accessed via "Commissioning - stee-
ring" (1) and the "Other settings"
Additional adjustments button
(2).

• The parameters "gear ratio i=59" and "gear ratio

i=71" (3) are used to set which version of the 40703u

cyclo gear is fitted in the steering unit (please

see "Steering, 360° steering, General").

Remark: Which gear version is fitted is marked

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

on the nameplate of the steering unit.

It is only possible to set different gear
ratios with steering unit software versi-
on V4.33 (main processor) and higher.
With older steering units, adjustment of
this parameter does not have any ef-
fect.

• After the parameter has been changed, the

reserved.

truck must be switched off and then on again

(instruction window). This process must be 40708u

confirmed with the "OK"

OK button in the instruction 2
window.
This takes you back to the start mask of the
software.

Remark: If the parameter is not set correctly

(relevant with steering versions V4.33
and higher), the steering switches off
after a certain turning angle and error
message FE84 is issued, since the
internal steering angle information
(internal incremental encoder) no
longer matches the analogue signal of
the actual value potentiometer.
40714u

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-19.1
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the steering 180°

Reverse steering 1

It is possible to set the steering to "reverse stee-

ring". This means that the direction in which the
drive wheel turns in relation to the steering wheel
is changed.

Procedure

• Start Commission steering

Commissioning steering (1).

Remark: You must ensure that the drive wheel

is in the straight-on position! 40703u

If it is not, a full teaching-in process

may be needed after the truck has
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

been switched over to reverse steering!

Reverse steering
• Activate the Reverse steering option (2).

• Quit the menu with the Exit

Quit button (3).

Remark: A sign must then be attached to the

reserved.

truck to indicate that it is equipped with

reverse steering!

40708u

2 3

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-20
 Chapter 38 Service software
FM-I Servicemaster

Commissioning the steering 360°

1
Procedure for commissioning the steering

You can access teaching-in of the steering (2)

through "Commissioning - steering" (1).
The "Selection field 180° / 360°" (3) shows the
current configuration of the steering, i.e. when
the steering is logged into, first the current confi-
guration of the steering is read out (180° or
360°), and the sliding regulator (4) positioned ac-
cordingly.
Then either the "Teaching-in 180° (5)" or "Te- 40703u

aching-in 360° (6)" area is automatically inactive

(in the example, the 180° area is inactive). 5 2 3 4 6
The 180° or 360° configuration can be changed
Copyright protected. No part of this manual

by moving the sliding regulator (4), but is not acti-

may be reproduced in any form.

vated until the key switch is switched off and then

Copyright reserved.

on again.

Remark: At the moment there are only 2 separa- 8

te steering units. One for the 180° ver-
sion (please see "Steering, General")
and one for the 360° version (please
see "Steering, 360° steering, Gene-
ral").

Note: A 180° version must not be configu-

40723u
red as a 360° version and vice versa!
7
From 01/2004, there will be a unit available that
can operate both versions.

The "Reverse steering" selection field (7) for con-

figuring a reverse steering system is for both ty-
pes of steering.

Teaching-in of the 360° steering is started with

Start Teach-In
the "Start teachin button (8) (please see "Ser-
vice software, FM-I Servicemaster, Teaching-in
the 360° steering").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual XR-AC 38- 21
 Chapter 38 Service software
FM-I Servicemaster

Commissioning the steering 360°

Teaching-in the 360° steering

The parameter 8 or 10 turns of the steering

wheel (9, please see "Service software, FM-I
Servicemaster, Teaching-in the 360° steering,
Turns of the steering wheel") are used to define
how many turns of the steering wheel (setpoint
potentiometer) are needed to make a complete
turn of the drive wheel (360°).
Additional
The "Other adjustments button (10) can be
settings"
used to enter the menu for the other steering
settings.
40723u
• A/D converter calibration (11, please see 9 10
"Servicesoftware, FM-I Servicemaster, Te-
Copyright protected. No part of this manual

aching-in the 360° steering, A/D converter

may be reproduced in any form.

calibration").
Copyright reserved.

• Teaching-in the flutter (12, please see "Service

software, FM-I Servicemaster, Teaching-in the
360° steering, Flutter")

• Setting the gear ratio (13, please see "Service

software, FM-I Servicemaster, Teaching-in the
360° steering, Setting the gear ratio")

40724u
11 12 13

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual XR-AC 38- 22
 Chapter 38 Service software

FM-I Servicemaster

Commissioning the steering 360° 1

Teaching-in the 360° steering,

Starting teaching-in

Teaching-in of the 360° steering is started with

the "Start teaching button (1):
Start Teach-In

• Turn the drive wheel (bogie) into the straight-on

position as instructed (2) by turning the steering
wheel.

Remark: In the straight-on position, the gear

should be at the right-hand side 40723u

(when looking towards the drive 2 3 4

Copyright protected. No part of this manual

wheel).
may be reproduced in any form.

Confirm the process with "OK"

OK (3). The teaching
Copyright reserved.

-in process can be interrupted by pressing the

"Exit"
Cancel button (4). For this purpose, the truck
must then be switched off and then on again
(as instructed (5)). Confirm this process with
"OK"
OK (6). This returns you to the start window
of the software.

Note: Once the drive wheel has been mo-

ved into the straight-on position and
this action confirmed with "OK"
OK (3),
the drive wheel automatically revol- 40725u
5 6
ves 360° once in a clockwise direc-
tion.

40726u

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual XR-AC 38- 23
 Chapter 38 Service software

FM-I Servicemaster
1 2 3
Commissioning the steering 360°

Teaching-in the 360° steering,

Starting teaching-in

• Once the automatic 360° turn is complete, the

instruction marked (1) appears as a command
to start teaching-in the flutter (setpoint potentio-
meter). This should be confirmed with "OK" OK (2)
or the process can be aborted with "Quit"
Cancel (3)
(return to the start mask of software and truck
must be switched off and then on again, as in-
structed).
40727u

• Confirm instruction (4) with "OK"

OK (5) and then
4 5 6
Copyright protected. No part of this manual

turn the steering wheel slowly and steadily by

may be reproduced in any form.

more than 1 turn in a clockwise direction. The

process can be aborted with "Quit"
Cancel (6), which
Copyright reserved.

takes you back to the instruction marked (1).

• When the instruction (4) has been confirmed

with "OK"
OK (5), an instruction to turn the steering
wheel now appears (7).
Once the process of turning the steering wheel
is complete, this command disappears again.

40728u

40729u

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XR-AC 38- 24
 Chapter 38 Service software

FM-I Servicemaster

Commissioning the steering 360° 1 2 3

Teaching-in the 360° steering,

Starting teaching-in

• Once the steering wheel has been turned by

one full turn, it must be brought into the "9
o'clock position", as instructed (1) (please see
"Steering, Setpoint potentiometer, Installation").

• Once the steering wheel is in the "9 o'clock

OK (2).
position, confirm this with "OK"
This process can be aborted with "Quit"
Cancel (3)
which takes you back to "Start steering-wheel
40730u
flutter teaching-in" (please see "Service soft-
Copyright protected. No part of this manual

ware, FM-I Servicemaster, Teaching-in the 360° 4 5

may be reproduced in any form.

steering, Flutter").
Copyright reserved.

• When the "9 o'clock position" is confirmed, an

instruction to switch the truck off and then on
again appears (4). As a result, all the data that
has previously been read in is stored in the
steering system and is now active.
This must be confirmed with the "OK"OK button
(5).

• Once "OK"
OK (5) has been selected, teaching-in of
the steering is complete, and you return to the
start mask of the software (6). 40731u

40701u

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XR-AC 38- 25
 Chapter 38 Service software

FM-I Servicemaster

Commissioning the steering 360° 1

Teaching-in the 360° steering,

Steering wheel turns

• Teaching-in of the steering (2) can be accessed

via "Commissioning - steering" (1).

• The parameters "8 turns of steering wheel" and

"10 turns of steering wheel" (3) are used to
define how many turns of the steering wheel
(setpoint potentiometer) are needed to make a
complete turn of the drive wheel (360°). 40703u

2 3
• When the parameter has been changed, the
Copyright protected. No part of this manual

truck must be switched off and then on again as

instructed (4) so that the change is activated.
may be reproduced in any form.
Copyright reserved.

• This process must be confirmed with "OK"

OK (5).
This takes you back to the start mask of the
software.

40723u

4 5

40731u

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XR-AC 38- 26
 Chapter 38 Service software

FM-I Servicemaster

Commissioning the steering 360° 1

Teaching-in the 360° steering,

A/D converter calibration

• A/D converter calibration (3) can be accessed

via "Commissioning - steering" (1) and the
"Other settings"
Additional adjustments button (2).

• A/D converter calibration is started by pressing

Start button (3).
the "Start"

• The function and procedure is identical to that 40703u

for the 180° version (please see "Service 2

software, FM-I Servicemaster, Commissioning
Copyright protected. No part of this manual

the steering 180°, A/D converter calibration").

may be reproduced in any form.
Copyright reserved.

40723u

40724u

Issue: 05/04 Workshop Sheet no.

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XR-AC 38- 27
 Chapter 38 Service software
FM-I Servicemaster

Commissioning the steering 360° 1

Teaching-in the 360° steering, Flutter

• Teaching-in of the flutter for the steering wheel

(setpoint potentiometer) can be accessed via
"Commissioning - steering" (1) and the
Additional
"Other adjustments button (2).
settings"

Remark: There is no separate teaching-in

process for flutter of the actual value
potentiometer (bogie potentiometer).
However, it is monitored exactly as the 40703u

flutter of the setpoint potentiometer is,

2
and in the event of failure FE84 ap-
Copyright protected. No part of this manual

pears on the display.

Teaching-in of the flutter of the actual
may be reproduced in any form.

value potentiometer takes place auto-

Copyright reserved.

matically in the background while te-

aching-in of the steering is carried out.

Start Teach-In
• It is started by selecting the "Start teaching-in
button (3).

40723u

40724u

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XR-AC 38- 28
 Chapter 38 Service software

FM-I Servicemaster

Commissioning the steering 360° 1 2 3

Teaching-in the 360° steering, Flutter

• Confirm the instruction window "Start steering-

OK (2).
wheel flutter teaching-in" (1) with "OK"
The process an be aborted with "Quit"
Cancel (3) and
the truck must then be switched off and then on
again as instructed (4).
This process must be confirmed with "OK" OK (5).
This takes you back to the start mask of the
software.

• When the start of teaching-in has been confir- 40732u

OK (2), an instruction (6) is now
med with "OK" 4 5
Copyright protected. No part of this manual

displayed, which says that after pressing the

may be reproduced in any form.

OK button (7), you should turn the steering

"OK"
Copyright reserved.

wheel slowly and steadily by more than 1 turn in

a clockwise direction.
Cancel (8),
The process can be aborted with "Quit"
which takes you back to the instruction (1).

OK (7) is pressed, the steering wheel

• After "OK"
must be turned.

40733u

6 7 8

40734u

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05/04
Replaces issue: Manual
XR-AC 38- 29
 Chapter 38 Service software

FM-I Servicemaster

Commissioning the steering 360° 1

Teaching-in the 360° steering, Flutter

• The instruction window (1) tells you to turn the

steering wheel now.

• After the steering wheel has been turned by

more than 1 full turn, the instruction (2) appears
automatically, telling you to switch the truck off
and then on again. This must be confirmed with
OK (3).
"OK"

• Once the truck has been switched off and then 40735u

on again, the new data from teaching-in the

Copyright protected. No part of this manual

2 3
steering wheel flutter is active in the steering
may be reproduced in any form.

system.
Copyright reserved.

• You are now returned to the start mask (4) of

the software.

40736u

40701u

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XR-AC 38- 30
 Chapter 38 Service software

FM-I Servicemaster

Commissioning the steering 360° 1

Teaching-in the 360° steering,

Setting the gear transmission ratio

• The parameters for setting the gear ratio (3)

can be accessed via "Commissioning - stee-
ring" (1) and the "Other settings"
Additional adjustments button
(2).

• The parameters "gear ratio i=59" and "gear ratio

i=71" (3) are used to set which version of the
40703u
cyclo gear is fitted in the steering unit (please
see "Steering, 360° steering, General"). 2
Copyright protected. No part of this manual

Remark: Which gear version is fitted is marked

may be reproduced in any form.

on the nameplate of the steering unit.

It is only possible to set different gear
Copyright reserved.

transmission ratios with steering unit

software version V4.33 (main
processor) and higher.
With older steering units, adjustment of
this parameter does not have any
effect.

• After the parameter has been changed, the

truck must be switched off and then on again.
40723u

Remark: If the parameter is not set correctly

(relevant with steering versions V4.33 3
and higher), the steering switches off
after a certain turning angle and error
message FE84 is issued, since the
internal steering angle information
(internal incremental encoder) no
longer matches the analogue signal of
the actual value potentiometer.

40724u

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38- 31
 Chapter 38 Service software

FM-I Servicemaster

Commissioning the steering 360° 1 2

Error messages for teaching-in 180° and 360°

If an error situation occurs during teaching-in of

the steering or the flutter, this is indicated by an
error message (1).
Teaching-in is aborted and the error must be rec-
tified.
The error text must be confirmed with "OK" OK (2)
and this takes you back to the start mask (3) of
the software.

Different messages are displayed, depending on

40737u
the steering version (up to V4.16 and from V4.3x
Copyright protected. No part of this manual

of the main processor).

may be reproduced in any form.

Meaning of the error messages and help 3

Copyright reserved.

"Teaching-in not enabled" (general error)

This means that when the teaching-in process

was started, the steering had already registered
an error, so that the teaching-in process cannot
be started. Note the error code on the display
(please see "Error codes") and rectify as
appropriate.

Error messages up to version V4.16

40701u

"Centre position of bogie pot. too small" or

"Centre position of bogie pot. too large"

During teaching-in of the steering, the drive

wheel is not in the straight-on position at the
beginning. Move the drive into the straight-on
position or check the actual value potentiometer
for the steering (does not send straight-on
position, see "Steering, 360° steering, actual
value potentiometer").

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XR-AC 38- 32
 Chapter 38 Service software

FM-I Servicemaster

Error messages for teaching-in 180° and 360°

Meaning of the error messages and help

Error messages up to version V4.16

"Bogie pot. value right-hand end stop too small" or "Bogie pot. value right-hand
end stop too large"

During teaching-in of the steering, the drive wheel is not in the 90° position after turning
clockwise. Check the steering mechanism and actual value potentiometer for the
steering (does not send 90° position, see "Steering, actual value potentiometer").

"Bogie potentiometer value left-hand end stop too small" or "Bogie potentiometer
value left-hand end stop too large"
Copyright protected. No part of this manual

During teaching-in of the steering, the drive wheel is not in the 90° position after turning
may be reproduced in any form.

anti-clockwise. Check the steering mechanism and actual value potentiometer for the
steering (does not send 90° position, see "Steering, actual value potentiometer").
Copyright reserved.

"Steering wheel pot. 9:00 too small" or "Steering wheel pot. 9:00 too large"

During teaching-in, the steering wheel is not in the "9 o'clock position" (please see
"Steering, setpoint potentiometer, Installation"). Turn the steering wheel into position
and check the setpoint potentiometer for the steering (does not send straight-on
position = 9 o'clock position, please see "Steering, setpoint potentiometer").

"Steering wheel pot. right-hand end stop too small" or "Steering wheel pot. right-
hand end stop too large"

During teaching-in of the steering, the steering wheel is not at the right-hand
mechanical end stop after turning clockwise (see "Steering, setpoint potentiometer,
Installation"). Turn steering wheel into position and check setpoint potentiometer of the
steering (does not send right stop position, see "Steering, setpoint potentiometer").

"Steering wheel potentiometer left-hand end stop too small" or "Steering wheel
potentiometer left-hand end stop too large"

During teaching-in of the steering, the steering wheel is not at the left-hand mechanical
end stop after turning anti-clockwise (see "Steering, setpoint potentiometer,
Installation"). Turn steering wheel into position and check setpoint potentiometer of the
steering (does not send left stop position, see "Steering, setpoint potentiometer").

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XR-AC 38- 33
 Chapter 38 Service software

FM-I Servicemaster

Error messages for teaching-in 180° and 360°

Meaning of the error messages and help

Error messages up to version V4.16

"Steering wheel pot. flutter right-hand end stop could not be learnt" or "Steering
wheel pot. flutter left-hand end stop could not be learnt"

During teaching-in of the flutter, the end values for when the steering wheel is at the left
or right-hand mechanical end stop could not be read in correctly. First carry out
"normal" teaching-in of the steering and then carry out teaching-in of the flutter again. If
this does not help, the setpoint potentiometer must be replaced.

"Steering wheel potentiometer flutter teaching-in not started at right-hand end

Copyright protected. No part of this manual

stop"
may be reproduced in any form.

Teaching-in of the flutter was not started at the right-hand mechanical end stop of the
Copyright reserved.

steering wheel. Repeat teaching-in with right-hand stop and check that the setpoint
potentiometer supplies the right setpoint for this position (please see "Steering, Setpoint
potentiometer"). If everything is OK and the error still occurs, first carry out "normal"
teaching-in of the steering and then carry out teaching-in of the flutter again. If this does
not help, the setpoint potentiometer must be replaced.

"Steering wheel potentiometer flutter teaching-in not finished at left-hand end

stop"

Teaching-in of the flutter was not finished at the left-hand mechanical end stop of the
steering wheel. Repeat teaching-in and check that the setpoint potentiometer supplies
the right setpoint for this position (please see "Steering, Setpoint potentiometer"). If
everything is OK and the error still occurs, first carry out "normal" teaching-in of the
steering and then carry out teaching-in of the flutter again. If this does not help, the
setpoint potentiometer must be replaced.

"Steering wheel potentiometer flutter linearity error"

During teaching-in of the flutter, the steering wheel was not turned slowly and steadily
from one end stop to the other, which means that the flutter could not be set. Repeat
teaching-in. If this does not help, the setpoint potentiometer must be replaced.

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XR-AC 38- 34
 Chapter 38 Service software

FM-I Servicemaster

Error messages for teaching-in 180° and 360°

Meaning of the error messages and help

Error messages up to version V4.16

"Steering wheel potentiometer flutter difference too small, Pot. S1 > Pot. S2" or
"Steering wheel potentiometer flutter difference too large, Pot. S1 > Pot. S2" or
"Steering wheel potentiometer flutter difference too small, Pot. S2 > Pot. S1" or
"Steering wheel potentiometer flutter difference too large, Pot. S2 > Pot. S1"

If one of these error messages occurs during teaching-in of the flutter, the setpoint
potentiometer of the steering must be replaced.

"Bogie will not move"

Copyright protected. No part of this manual

During teaching-in of the steering, the system has detected that the steering motor is
may be reproduced in any form.

being supplied with power but the internal incremental encoder is not supplying any
Copyright reserved.

pulses. This means that the motor is not turning. Check the steering mechanism, and if
it is OK and there are no obstacles in the turning area of the drive wheel, the steering
unit must be replaced.

Error messages from version V4.3x

"Bogie potentiometer value for right-hand end stop is outside tolerance range"
(only exists with 180° version)

Please see "Bogie potentiometer value for right-hand end stop too small" or "Bogie po-
tentiometer value for right-hand end stop too large" under "Error messages up to
version V4.16"

"Bogie potentiometer value for left-hand end stop is outside tolerance range"
(only exists with 180° version)

Please see "Bogie potentiometer value for left-hand end stop too small" or "Bogie po-
tentiometer value for left-hand end stop too large" under "Error messages up to version
V4.16"

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Replaces issue: Manual
XR-AC 38- 35
 Chapter 38 Service software

FM-I Servicemaster

Error messages for teaching-in 180° and 360°

Meaning of the error messages and help

Error messages from version V4.3x

"Bogie potentiometer flutter linearity error"

During teaching-in of the steering, teaching-in of the flutter for the actual value potentio-
meter also takes place automatically in the background. If the flutter cannot be set, this
error message appears. Repeat teaching-in of the steering. If this does not help, check
the mechanism of the actual value potentiometer (i.e. that it moves easily). If the
mechanism is OK, the actual value potentiometer must be replaced.

Remark: This error also causes FE84 in normal operation (error of actual value
potentiometer of the steering).
Copyright protected. No part of this manual
may be reproduced in any form.

"Bogie potentiometer values are below the tolerance limit" (only exists with 360°
Copyright reserved.

version)

During teaching-in of the steering, the drive wheel or the actual value potentiometer
makes a complete turn. As it does so, the actual value potentiometer runs through its
zero window with both arms (control and main potentiometer, please see "Steering,
360° steering, Actual value potentiometer"). When the zero window is reached, the
voltage should be approx. 11V and when the zero window is left again it should be
approx. 1V. If the voltage is very much less than 1V, this error is issued. This can occur
if the 12V supply lead (please see "Steering, 360° steering, actual value potentiometer")
is not connected properly. If OK, the actual value potentiometer must be replaced.

"Bogie potentiometer values are above the tolerance limit" (only exists with 360°
version)

During teaching-in of the steering, the drive wheel or the actual value potentiometer
makes a complete turn. As it does so, the actual value potentiometer runs through its
zero window with both arms (control and main potentiometer, please see "Steering,
360° steering, Actual value potentiometer"). When the zero window is reached, the
voltage should be approx. 11V and when the zero window is left again it should be
approx. 1V. If the voltage is very much higher than 11V, this error is issued. This can
occur if the 0V supply lead (please see "Steering, 360° steering, actual value
potentiometer") is not connected properly. If OK, the actual value potentiometer must
be replaced.

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Replaces issue: Manual
XR-AC 38- 36
 Chapter 38 Service software

FM-I Servicemaster

Error messages for teaching-in 180° and 360°

Meaning of the error messages and help

Error messages from version V4.3x

"Centre position of bogie potentiometer too small" or "Centre position of bogie

potentiometer too large"

Please see "Centre position of bogie pot. too small" or "Centre position of bogie pot. too
large" under "Error messages up to version V4.16"

"Bogie will not move"

Please see "Bogie will not move" under "Error messages up to version V4.16"
Copyright protected. No part of this manual

"Steering wheel potentiometer flutter linearity error"

may be reproduced in any form.
Copyright reserved.

Please see "Steering wheel potentiometer flutter linearity error" under "Error messages
up to version V4.16"

"Steering wheel potentiometer values are below the tolerance limit"

During teaching-in of the steering, the steering wheel or the setpoint potentiometer
makes a complete turn (360° version). As it does so, the setpoint potentiometer runs
through its zero window with both arms (control and main potentiometer, please see
"Steering, 360° steering, Setpoint potentiometer"). When the zero window is reached,
the voltage should be approx. 11V and when the zero window is left again it should be
approx. 1V. If the voltage is very much less than 1V, this error is issued. This can occur
if the 12V supply lead (please see "Steering, 360° steering, Setpoint potentiometer") is
not connected properly. If OK, the setpoint potentiometer must be replaced.
In the 180° version, the potentiometer does not make a complete turn, but the control
potentiometer runs through the zero window when the steering wheel is turned from
one end stop to the other (please see "Steering, Setpoint potentiometer"). In this way,
the system is monitored by the same method.

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XR-AC 38- 37
 Chapter 38 Service software

FM-I Servicemaster

Error messages for teaching-in 180° and 360°

Meaning of the error messages and help

Error messages from version V4.3x

Steering wheel potentiometer values are above the tolerance limit"

During teaching-in of the steering, the steering wheel or the setpoint potentiometer
makes a complete turn (360° version). As it does so, the setpoint potentiometer runs
through its zero window with both arms (control and main potentiometers, please see
"Steering, 360° steering, Setpoint potentiometer"). When the zero window is reached,
the voltage should be approx. 11V and when the zero window is left again it should be
approx. 1V. If the voltage is very much higher than 11V, this error is issued. This can
occur if the 0V supply lead (please see "Steering, 360° steering, Setpoint
Copyright protected. No part of this manual

potentiometer") is not connected properly. If OK, the setpoint potentiometer must be

replaced.
may be reproduced in any form.

In the 180° version, the potentiometer does not make a complete turn, but the control
Copyright reserved.

potentiometer runs through the zero window when the steering wheel is turned from
one end stop to the other (please see "Steering, Setpoint potentiometer"). In this way,
the system is monitored by the same method.

"Steering wheel pot. 9:00 too small" or "Steering wheel pot. 9:00 too large"

Please see "Steering wheel pot. 9:00 too small" or "Steering wheel pot. 9:00 too large"
under "Error messages up to version V4.16"

"Steering wheel pot. right-hand end stop too small" or "Steering wheel pot. right-
hand end stop too large"
(only exists with 180° version)

Please see "Steering wheel pot. right-hand end stop too small" or "Steering wheel pot.
right-hand end stop too large" under "Error messages up to version V4.16"

"Steering wheel pot. left-hand end stop too small" or "Steering wheel pot. left-
hand end stop too large" (only exists with 180° version)

Please see "Steering wheel pot. left-hand end stop too small" or "Steering wheel pot.
left-hand end stop too large" under "Error messages up to version V4.16"

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38- 38
 Chapter 38 Servicesoftware
Service software

FM-I Servicemaster

Error messages for teaching-in 180° and 360°

Meaning of the error messages and help

Error messages from version V4.3x

"Steering wheel potentiometer flutter teaching-in not started at right-hand end

stop" (only exists with 180° version)

Please see "Steering wheel potentiometer flutter teaching-in not started at right-hand
end stop" under "Error messages up to version V4.16"

"Steering wheel potentiometer flutter teaching-in not finished at left-hand end

stop" (only exists with 180° version)
Copyright protected. No part of this manual

Please see "Steering wheel potentiometer flutter teaching-in not finished at left-hand
end stop" unter "Error messages up to version V4.16"
may be reproduced in any form.
Copyright reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38- 39
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics
1
When a new LAS module (1) is put into operation
or if a module has been replaced, its parameters
must be reset. This involves:

• Reading in the potentiometers for a "4-lever sy-

stem"
• Adjusting the speeds for the individual hydraulic
axes
• Configuration of the options
• Setting the general vehicle data
2/0062

Remark: The error code "FE 55" appears on the

display until commissioning has been
carried out.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

The vehicle can be operated even if the LAS

module is not commissioned, because there is a
basic parameter set stored in the module.
However, only rough functional processes are
possible, so this adjustment process is essential!

Remark: As well as the settings in the LAS

reserved.

module, some basic settings must be

made in the hydraulic system and the
hydraulic converter (adjustment of the
characteristic curve for hydraulics) in
order for the hydraulics to function
smoothly.

Basic settings in the hydraulic system:

• Rinsing out the pump and tank (see "Chassis

valve block, Adjusting work")
• Adjusting the pressure relief valve (see
"Chassis valve block, Adjusting work")

This must be carried out beforehand if necessary.

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-40
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics 1
Commissioning procedure, general

• Select "Commission hydraulics" (1).

• In the type selection window (Fig. 2), there are
3 possibilities for further procedure:

- Commissioning with a vehicle-specific stan-

dard parameter set (2) if no vehicle-specific
file has previously been created (Initial com-
missioning)
- Commissioning with a vehicle-specific file 40703u

using the Load

Loadfile
file button (3). For this purpo-
2
se, the LAS data must already have been
stored in a vehicle file (see "FM-I Servicema-
ster, Commissioning with vehicle-specific file")
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

- Commissioning by reading out the data from

Data Upload
the LAS module with the Upload data button
(4, see "FM-I Servicemaster, Commissioning
with LAS module data").
This function is needed for reading in the 4-le-
ver system if this has been replaced and the
LAS module is already functional.
reserved.

• The Exit
Quit button (5) can be used to abort the
process.

40738u
3 4 5

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-41
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics
Commissioning with standard parameter set
(Initial commissioning)

Remark: Initial commissioning is only necessary

if the vehicle-specific data for the LAS
module has not previously been stored
in a file.

• Select "Commissioning hydraulics".

• Under "Truck type selection", select the relevant
truck parameter set (1) (double click with the
mouse or with and ).

• Check the "Zero window values" (2) to ensure 40738u

that the value is 1.5V for all 4 axes. The value 1

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

can be altered with the selection fields (3) or by 3

overwriting it directly.

Remark: The "Zero window" defines the neutral

position range of the potentiometer in
which movement of the controls is not
yet detected ( e.g. UNeutral = 5V;
movement starts from +/- 0.75V = 1.5V
reserved.

zero window). This can be set in a

range of 1.5V - 3.0V.

• Click on the Accept

Accept zero window button (4).
zero window 40739u

• Push the 1st lever for selecting the lowering 6 8 7 9 2 4

main lift function (5) right through as far as it
goes.
• In the relevant value window (6), the setpoint
value for lowering the main lift should reduce
and the bar display (7) should move down-
1/0134
wards. 5
• At the maximum deflection point, the end value
is shown in the window (8).
• Hold the potentiometer in this position and
confirm the voltage value with the OK OK button
(9).

40773u

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-42
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics 4 5
Commissioning with standard parameter set
(Initial commissioning)

• Pull the 1st lever for selecting the lift main lift
function (1) right through as far as it goes.
• In the relevant value window (2), the setpoint
value for lifting the main lift should increase and
the bar display (3) should move upwards.
• At the maximum deflection point, the end value is
shown in the window (4).
• Hold the potentiometer in this position and confirm 2 3 6 7 8
40739u

the voltage value with the OK OK button (5).

• It is logical to set the potentiometers in this order:
- Reaching (6)
- Tilting (7) and
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

- Side shift (8).

1/0134

Definition of movement directions/signal 1

changes:

4-lever system:
Pull lever -> setpoint increases
reserved.

(generally!)

Signal levels:
Neutral position -> approx. 5.0V 40773u
min. value -> approx. 2.0V
max. value -> approx. 8.0V

Remark: The signal levels may vary slightly due to

potentiometer tolerances.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-43
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics
Commissioning with standard parameter set
(Initial commissioning)

If an incorrect potentiometer movement direction

or no movement direction is carried out during
teaching in, an error message appears in the
adjusting window.

- "Value outside the valid range (>3V)" (1).

When the min. value is read in.
- "Value outside the valid range (<7V)" (2). 40740u

When the max. value is read in. 1 3

This information window must be confirmed with

"OK" (3) and the teaching-in operation in question
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

must be repeated!

• After all the potentiometers have been read in,

Other vehicle
select the Other vehicledata
data button (4).

40741u
reserved.

2 3
4

40739u

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-44
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics 1 6 2 4 5 3
Commissioning with standard parameter set
(Initial commissioning)

• The following is set in the "General truck data"

input mask (1):
- Truck type (2):
Depending on the vehicle (XR14AC/XR16AC/
XR20AC), the value is 14AC,16AC or 20AC
- Truck ID (3):
This 5-figure vehicle number is the specific
vehicle number that is stamped into the reach
carriage below the right-hand mast bearing. 40742u

- Maintenance interval (4): 7

Input to determine at what operating hour on
the display the maintenance symbol (8) should
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

light up constantly. 8
- Battery lock damping (5):
If the battery is unlocked, the reach speed is
reduced. The value set here determines by
how many % the speed is reduced, based on
the max. speed.
0% is pre-set in the factory ( 0% = no reduc 40769u
tion).
reserved.

- Ref. value, height display (6):

For the optional height display, the value must
be entered here which determines when the
load carriage leaves the free lift and transfers
to the main lift (reference switch for main lift is
actuated). The height display is started in
counting mode when the value entered here is
reached.
1000 mm is pre-set if there is no height display
fitted in the factory. Otherwise, the correct
value is pre-set in the factory.
- Maximum pump speed (7):
Value for the max. pump speed of the hydrau-
lic system. All the percentage settings that are
made on the "hydraulics outputs" side
(parameters for pump speeds) are based on
this value.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-45
 Chapter 38 Service software
FM-I Servicemaster
8 7 6 5 2 3 4 4
Commissioning the hydraulics
Commissioning with standard parameter set
(Initial commissioning)

- Options:
The options are only described here briefly. For
futher details, see "Load handling controls
module, Hydraulic options and General vehicle
options".
Each option is activated by clicking on the
individual selection fields (1).
40742u

Lift stop (2): 1

Activation of the intermediate lift / end lift stop
(see "Load handling controls module,
Hydraulic options").
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Lowering lock (3):

Configuration of the reach / lowering lock (see
"see "Load handling controls module,
Hydraulic options").

Additional hydraulics 1 or 2 (4):

Activation of the additional hydraulic axes (see
reserved.

"Load handling controls module, Hydraulic

options").

Side shift (5):

Selection of the side shift option (active in this
example).

Warning light (6):

Configuration of a warning light or all-round
light (see "see "Load handling controls module,
General vehicle options").

Height display (7):

Selection of the height display. This also
causes the "Ref. value height display" (8) to be
activated.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-46
 Chapter 38 Service software
FM-I Servicemaster
2 1
Commissioning the hydraulics
Commissioning with standard parameter set
(Initial commissioning)

- Options:
DS travel (1):
When "Drive side travel" is selected, an output
is set at which a signal generator can be
connected (see "Load handling controls
module, General vehicle options").

LS travel (2): 40742u

When "Load side travel" is selected, an output 3 4

is set at which a signal generator can be
connected (see "Load handling controls
module, General vehicle options").
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Deadman switch (3):

All hydraulic functions are only then enabled,
when the deadman switch is operated.

Commissioning OK (4):
This selection field is set automatically when
initial commissioning of the LAS module is
reserved.

complete. At the same time, the "UWA CPU" is

activated (see "Load handling controls module,
Safety monitoring").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-47
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics

Commissioning with standard parameter set

(Initial commissioning)

• Once the "General truck data" has been set,

Datadownload
select the data download button (1) to send the
data that has been set so far to the LAS module. 40742u

2 1
• This "Data download" (2) can be checked with
the "Progress display".

• When the data has been transferred successful-

Hydraulicsoutputs
ly, select the Hydraulic Outputs button (3).
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• In the "Hydraulics Outputs" mask (4), the speeds

of the individual axes can be set.
The percent/current values can be changed
using the selection fields (5) or by entering the
40743u
values directly in the relevant "Value field" (6). 4
5 3 6

Remark: For the correct procedure for determi-

reserved.

ning the individual axis values, please

see "FM-I Servicemaster,Recommen-
ded values for initial commissioning".

• After one or more values have been changed,

Quit button (7) and send the value
actuate the Exit
or values to the LAS module with Data
Data download
download
(8). 40744u

7
Quit
• When the data transfer is complete, select Exit
(9), do that same in the following masks, until
you are back in the "Type selection" mask.

40742u

8 9
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 38-48
 Chapter 38 Service software
FM-I Servicemaster
1
Commissioning the hydraulics

Commissioning with standard parameter set

(Initial commissioning)

• When the "Type selection mask" (1) appears,

the new speed of the axis in question can be
tested.

• To change data again, select Data Upload

upload (2).
Reading in of the data from the LAS module can
be observed on the monitor.

Other vehicle
• Use Other vehicle data Hydraulic Outputs
data (3) and Hydraulic outputs
(4) to return to the mask where the parameters
for the relevant axes can be changed. 40738u
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

2 3
Repeat this process (Parameter - Data
download - Test - Data upload - Change
parameter), until the axis in question is
optimally adjusted (see "FM-I Servicemaster,
Recommended values for initial commissio-
ning").
reserved.

• Right at the end of this process, the data must

be stored in a file:
Select Save file (5).
40739u

40742u
4 5

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-49
 Chapter 38 Service software
FM-I Servicemaster 2

Commissioning the hydraulics

Commissioning with standard parameter set C:\FmIServicemaster_eng\Config

(Initial commissioning)

• Enter a name for the file you want to save in the

"File name" field (1), e.g.: the truck no. The
specified directory (2) for storing files is "C:\FmI-
Servicemaster_eng\Config", but this can be
changed if required.

40745u
• Save the complete data for the LAS module on 1 4 3 5
the computer with the Save Quit
Save button (3).The Quit
button (4) can be used to abort the process
without saving the data. 18 6 7 8 9 10 13 14
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Quit button (5) can be used here and in

• The Quit
the following masks to close the Servicemaster
software.

Recommended values for initial commissio-

ning

When the values listed below are used, the indivi-

reserved.

dual hydraulic axes are adjusted optimally. The

speed specifications refer to a "Test with rated
40744u
load"! 17 11 12 15 16

• Specifications for pump speeds

max. speed
Lifting pump (6) 100% (100% pump speed)
Lifting ramp (18) 0 0 - 3s individual adj.
DS reaching (7) 20% approx. 10.5 cm/sec.
LS reaching (8) 30% approx. 10.5 cm/sec.
DS tilting (9) 8% approx. 3.0 sec.
LS tilting (10) 8% approx. 3.0 sec.
Side shift R (11) 12% approx. 4.4 cm/sec.
Side shift L (12) 12% approx. 4.4 cm/sec.
Add. hydr.1 R (13) 20% depends on attachment
Add. hydr. 1 L (14) 20% depends on attachment
Add. hydr. 2 R (15) 20% depends on attachment
Add. hydr. 2 L (16) 20% depends on attachment
ramp anc. movem. (17) 0 0 - 3s individual adj.
DS = Drive side LS = Load side R = Right L = Left
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 38-50
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics

Commissioning with standard parameter set

(Initial commissioning)

Recommended values for initial

commissioning:

• Current values for proportional valve for

lowering
On initial commissioning, the max. lowering
speed at the valve block in the chassis must first
be set (see "Reach carriage valve block, Adju- 40744u

sting work").
3 1 2
-> Set max. lowering (1) to 700 mA (valve 100%
open) and limit the maximum speed for lowering
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

the main lift with the adjusting screw at the valve

block.

• Now set the values for the normal lowering

function.

Starting speed for lowering approx.

Lowering min. (2) ca. 300 mA 0 cm/sec.
reserved.

ca. 460 mA Mast with "thin" cylinders

Lowering max. (1) ca. 510 mA Mast with "thick" cylinders

Ramp (3) 0.0 secs As required

• If the lowering speeds in the table in the Chap-

ter entitled "Chassis valve block, Adjusting
work" cannot be set with these max. values, the
max. value for the proportional valve must be
increased gradually in steps, until the value in
the table is reached.

• Parameter ramp
The increase time of Imin - Imax for the proportio-
nal valve for lowering is defined with this value.
A "softer" lowering start is set when this value is
increased.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-51
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics

Commissioning with standard parameter set

(Initial commissioning)
1 4
Recomm. values for initial commissioning:

• Current values for prop. valve for reaching

The proportional valve for reaching does not ac-
tually have a function in the single reaching
function, since when it is set optimally, it is al-
ways open by more than the oil volume pumped
by the pump (so no oil volume regulation takes
place).
However in the simultaneous lifting and reaching
function, it ensures that the operation takes
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

40744u
place synchronously. 6 7 3 5 2

Adjusting process

• Set DWS and LS reaching (1) to 50%.

• Set the valve values for max. DWS (2) and max.
LS (3) to give a speed of approx. 11.5 cm/sec.
(approx. 1100 mA / 1200 mA).
reserved.

• Reduce DWS and LS reaching (1) until a speed

of approx. 10.5 cm/sec. is set (approx. 20% /
30%).
Starting speed for re-
Valve min. DWS (4) appr. 700 mA aching; appr. 0 cm/sec.
Valve max. DWS (2) appr. 1000 mA appr. 10.5 cm/sec.
Starting speed for re-
Valve min. LS (5) appr. 700 mA aching; appr. 0 cm/sec.
Valve max. LS (3) appr. 1200 mA appr. 10.5 cm/sec.

DWS = Drive wheel side LS = Load side

• Set the reach damping values:

These values are used to define the reduced
speed in the reach end range (pump speed is
reduced).
Reach damping DS (6) 50% as required
Reach damping LS (7) 30% as required

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-52
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics

Commissioning with a vehicle-specific file

If an LAS module has already been parameterised

in the past and the data has been stored as a file,
commissioning can be carried out with this data if
the module is replaced at a later stage.

• Select "Commission hydraulics" (see "FM-I

Servicemaster, Commissioning the hydraulics").

Load file button (1).

• Click on the Load

• In the file window that now opens (2), open the 40738u
1
file you need (e.g. 09707.ini) with one click of
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

the mouse.

• The selected file appears under "File name" (3)

and is loaded with the Select
Select button (4). C:\FmIServicemaster_eng\config

• The process can be aborted without loading a

file by selecting Quit
Quit (5).
reserved.

• Once the vehicle specific file has been selected

and loaded, the program goes into its normal 09707.ini

commissioning routine (6, see "FM-I Service-

master, Commissioning with standard parameter
set"), i.e.:
40746u
- Setting the zero window and adjusting the 2 3 4 5
potentiometer values 6
- Confirguring the general vehicle data
- modifying the parameters for the speed of the
hydraulic axes if necessary
- Storing new data again.

40739u

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-53
 Chapter 38 Service software
FM-I Servicemaster
Commissioning the hydraulics

Commissioning with LAS module data

(Data Upload)

This method is for reading in the 4-lever system

(teaching-in process) when a lever (potentiometer)
has been replaced and a general commissioning
sequence has already been carried out. Also, the
parameters for the hydraulic axes and the general
vehicle data can be modified at the same time.

• Select "Commission hydraulics" (see "FM-I

Servicemaster, Commissioning the hydraulics")
40738u
DataUpload
• Click on the Data Upload button (1). 1 3 2
• The process of reading out the data (Upload)
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

from the LAS module can be checked on the

"Progress display" (2).
• The data read out in this way is stored tempora-
rily on the computer in a temporary file -> tmp.ini
(3).
• When the loading process is complete, the sy-
stem enters the normal commissioning routine
(4) and teaching-in of the 4-lever system can be
reserved.

carried out.
• Transmit the teaching-in data to the LAS module
with Data download (5).
Data Download
• Other
Other vehicle data (6) can be used to:
vehicle data
- Reconfigure the general truck data
- Modify the parameters for the speed of the
hydraulic axes if necessary
• The altered / read-out data from the LAS module 40747u
4 6
can be stored in a file with the Save file
Save file
command (7).
Quit button (8) interrupts the process, and
• The Exit
you return to the starting mask of the software.

40739u
5 7 8
Issue: Workshop Sheet no.
05/04
Replaces issue: Manual
XR-AC 38-54
 Chapter 38 Service software
FM-I Servicemaster

Teaching-in of the 4-lever system

To simplify the teaching-in procedure after a le-

ver has been replaced, the "Teaching-in joystick
/ 4-lever" menu point (1) has been added.

Remark: In prinicple, the procedure for te-

aching-in itself has not changed 40748u

(please see "Service software, FM-I 1 2

Servicemaster, Commissioning the
hydraulics").

• When menu point (1) is selected, the data are

read out of the LAS module (2).
Copyright protected. No part of this manual

• Then teaching-in is carried out in the same

way as it has been previously (for setting the
may be reproduced in any form.

zero range, reading in the min. / max. values,

Copyright reserved.

please see "Service software, FM-I Servicema-

40749u
ster, Commissioning the hydraulics").

Data Download
• The "Data download" button (3) is used to
write the data that has been read in into the
LAS module again (4).

• The "Exit"
Quit button (5) is used to complete the
teaching-in process, and you are returned to
the start page of the software.

40739u

4 3

40750u

5
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual XR-AC 38- 55
 Chapter 38 Service software
FM-I Servicemaster
1 6
Loading parameters

Data Upload

The Parameter - Data

Data upload
Upload function (1) can be
used to read the data out of the LAS module and
modify it (general truck data (2), hydraulic axis
parameters (3)).
The potentiometers cannot be "taught-in" here.
This is only possible in "Commission hydraulics"
(see "FM-I Servicemaster, Commissioning the 40704u

hydraulics")
2
The data changed in this way can then:

• Be transferred back into the LAS module with

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Data
Data download
Download (4).

• Be stored as a file on the computer with

Save
Save file (5)

The Parameter - Load file function (6) can be

Load file
used to open a file that has previously been stored
on the computer.
reserved.

The "General truck data" (2) and the "Hydraulic

axis parameters" (3) can also be changed here at 40742u

this point. 5 4
3

40744u

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-56
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis
1 12
Standard

Diagnosis - Standard
Standard (1) takes you into the
"Diagnosis selection window" (2).

Here you can choose between:

• Reading out and deleting the LAS module error

memory (3, see "FM-I Servicemaster, Diagnosis,
Error memory").
• Displaying the setpoint signals for the hydraulics 40705u

(4) (potentiometer signals). 3 4 5 2

• Testing the setpoint / actual value potentiome-
ters for the steering (5).
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• Testing all the switching signals that are connec-

ted to the LAS module or the FPS (6).
• Displaying the setpoint generator for travel and
the accelerator pedal switch (7)
• Temperature information for traction motor and
travel converter (8)
• Temperature information for the hydraulic motor
and hydraulic converter (9)
reserved.

Diagnosis mode can be quit with the Quit

Exit button
(11). 40752u

10 9 8 6 7 11
Extended

The Diagnosis - Extended

Extended menu point (12) is not
relevant for servicing work and is protected with a
password.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-57
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis
1
Error memory
When ErrorError memory
memory (1) is selected, the error me-
mory of the LAS module is read out and displayed
(2).
The error codes for all components are stored in
this error memory. They can also be stored in a
file (9).

The following information is displayed:

• The number of errors stored (3).

40752u
• The error number (4) with the operating hour (5),
when the error occurred for the first time. 4 3 5 7 2
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Remark: Each error is only entered once.

• Delete the error memory with Delete

Delete (6).

• The error memory can be read out again with

Read
Read (7).
reserved.

• Return to the main menu for diagnosis with

Exit
Quit (8). Bild 2

• If Save to file (9) is selected, the "Save file"

dialogue opens (10). This is used to save the
40753u
errors in a file. The storage location (11) and File 6 8 9 11
name (12) can be selected as wished.

If errors have occurred, they are allocated to an

C:\FmIServicemaster_eng\Config
error class. They are entered in the error memory
according to this classification. Errors that occur
are given an error number (see "FM-I Service-
master, Diagnosis, List of errors") and are shown
on the display.

40754u
10 12
Issue: 05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 38-58
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis

Error memory

Error class 1 (top priority)

An error is displayed and remains on the display
until it has been rectified, e.g. if the operator wants
to move the vehicle but travel is only possible in
creep speed, since the battery lock is not active.
The maintenance symbol flashes for the duration
of the error. The error is not stored.

Error class 2
Errors are displayed for as long as they are pre-
sent. They are not displayed if an error of a higher
class has occurred. If there are several errors in
this class, they are shown one after the other at
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

intervals of 2 seconds.
The first time the error occurs, the error number
and the reading on the hour meter are stored. The
maintenance symbol flashes during the error.

Error class 3
Errors in this class are shown every 2 seconds,
alternating with the operating hours.
reserved.

They are only displayed if no errors of a higher

class have occurred. If there are several errors in
this class, the next error is added to the alterna-
ting display sequence. The first time the error oc-
curs, the error number and the reading on the
hour meter are stored.
The maintenance symbol lights up for the duration
of the error.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-59
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis
List of errors
Cause
Error FPS/ Steer- ERR.
LAS Converter Class
ing No.
EMERGENCY-STOP pressed x 01 2
Main contactor - contact shorted x 02 2
Intermediate circuit undervoltage, when ULAD < 24V or F1 faul x 03 2
Intermediate circuit charging error if U_LAD <= 36V after 3.5 secs. x 04 2
Battery lock open, foot switch and accelerator pedal pressed x 05 1
- Accelerator pedal pressed before main contactor is switched on x 06
1
- Accelerator pedal pressed without foot switch (deadman)
- Acc. pedal switch does not close when acc. pedal pot. pressed U>5.5V x 07
1
- Accelerator pedal switch is closed during start-up
Acc. pedal pot. voltage: U< 0.4V or U > 9.4V (short or wire breakage) x 08 2
Acc. pedal pot. 10V supply has short circuit externally x 09 2
FPS internal CPU error x 10
2
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

FPS EEPROM write error, calculated checksum does not match stored x 11
2
checksum
Internal buffer battery is empty x 12 2
Measuring leads at the shunt resistor for battery capacity measurement x 13
2
are wrongly connected
Internal monitoring error from travel transducer x 14 2
Internal CAN bus 2 error (CAN controller faulty) x 15 2
FPS internal communication error between FPS-SR and FPS-UE after x 16
2
switching on and during operation
reserved.

FPS internal CAN bus 1 error (CAN controller faulty) x 17 2

FPS CAN bus 1 monitoring error, x 18
2
FPS has not received data change for longer than 200 ms
No main contactor selection due to wire breakage x 19 2
Travel converter, excess temperature > 80 °C x (U) 20 2
Travel converter, fatal excess temperature > 125 °C x (U) 21 2
Travel converter, sensor short-circuit or wire breakage x (U) 22 2
Travel converter, internal error x (U) 23 2
Drive motor excess temperature > 145 °C x (U) 25 2
Drive motor excess temperature > 150 °C x (U) 26 2
Drive motor temperature sensor failure (short-circuit or wire breakage) x (U) 27 2
Drive motor speed sensor error, converter CAN bus information different x 28
2
from direct FPS information
Pump converter, excess temperature > 80 °C x (U) 30 2
Pump converter, fatal excess temperature > 125 °C x (U) 31 2
Pump converter, sensor short-circuit or wire breakage x (U) 32 2
Pump converter, internal error x (U) 33 2
Pump motor, excess temperature > 145°C x (U) 35 2
Pump motor, excess temperature > 150 °C x (U) 36 2
Pump motor, temp. sensor failure (short-circuit or wire breakage) x (U) 37 2

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-60
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis
List of errors Cause
Error LAS FPS/ Steer ERR. Class
Con- ing No.
verter
SOK (Control OK signal) from FPS -> LAS x 40 2
when LAS does not see 0V at SOK input after 5 secs.
CAN bus 1 communication between LAS and FPS x 41 2
a) LAS has not received data change at 0x290 for longer than 200 ms
b) CAN wire breakage to FPS
CAN bus 2 communication error between FPS and travel converter x 42 2
CAN bus 2 communication error between FPS and pump converter x 43 2
CAN bus 1 communication error between LAS and display x 45 2
a) LAS has not received data change at 0x2D0 for longer than 1 sec.
b) CAN wire breakage to display
CAN bus 1 communication error between LAS and steering x 48 2
a) LAS has not received data change at 0x209 for longer than 200 ms
b) CAN wire breakage to steering
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Lifting potentiometer wire breakage, (arm 1 + arm 2) >11V or < 8.5V x 50 2

Reaching potentiometer wire breakage, (arm 1 + arm 2) >11V or < 8.5V x 51 2
Tilting potentiometer wire breakage, (arm 1 + arm 2) >11V or < 8.5V x 52 2
Transv. potentiometer wire breakage, (arm 1 + arm 2) >11V or < 8.5V x 53 2
Pot. for lifting, reaching, tilting, transv. outside zero window on switching on x 54 1
Commissioning not yet carried out, commissioning bit in ini file not yet set, x 55 3
ÜWA-CPU not yet activated
Internal Communication error in LAS between CPU and ÜWA-CPU x 56 2
reserved.

Communication error on CAN bus between LAS and display DIS 58

a) Display has not received answer on version requests menu 5_
b) Display has not received data via CAN bus after switching on
Hydraulic output for lifting/lowering has detected wire breakage x 60 1
Hydraulic output for reaching has detected wire breakage x 61 1
Hydraulic output for tilting has detected wire breakage x 62 1
Hydraulic output for transverse reach/add. hyd. 1 has detected wire breakage x 63 1
Hydraulic output for add. hydr. 2 has detected wire breakage x 64 1
Electric brake output has detected wire breakage x 65 1
Hydraulic output for lifting/lowering active, lifting potentiometer not selected ÜWA 70 2
Hydraulic output for reaching active, reaching potentiometer not selected ÜWA 71 2
Hydraulic output for tilting active, tilting potentiometer not selected ÜWA 72 2
Hydraulic output for tranv./add. hydr. 1 active, transv. pot. not selected ÜWA 73 2
Hydraulic output for add. hydr. 2 active, transv. pot. not selected ÜWA 74 2
Brake output active, handbrake switch not selected ÜWA 75 2
48V not supplied at LAS X10:15 ÜWA 76 2
24V not supplied at LAS X10:35 ÜWA 77 2
Internal relay K1 (3+48V) in LAS has contact short-circuit x 78 2
Internal relay K1 (3+24V) in LAS has contact short-circuit x 79 2

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-61
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis
List of errors
Cause
Errors LAS FPS/ Steer ERR. Class
Con- ing No.
verter
Electrical steering, excess/undervoltage, battery x 80 2
Electrical steering, power unit excess current x 81 2
Electrical steering, power unit excess temperature x 82 2
Electrical steering setpoint potentiometer wire breakage, short circuit, 83 2
Comparison pot arms 1/2 faulty => correct steering wheel flutter x
Electrical steering actual value potentiometer wire breakage, short 84 2
circuit,
Comparison of pot. arm1/internal incremental encoder faulty x
=> Potentiometer faulty or internal incremental encoder
Electrical steering motor model calculation error (internal error) x 85 2
Electrical steering motor position sensor error (internal error) x 86 2
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Electrical steering, internal error 87 2

x
Electrical steering, CAN bus 1 monitoring error, 88 2
ELK has not received data change at 0x208 for longer than 200 ms x
Electrical steering, EEPROM error, incorrect checksum or error in 89 2
writing/reading operation x

LAS, internal CPU error x 90 2

LAS, EEPROM parameter data set is incorrect, x 91 2
reserved.

calculated checksum does not match stored checksum

LAS, monitoring, "Steering moment too small" when vehicle moves x 94 2
LAS, communication error CAN bus 1. LAS cannot send any more data, x 95 2
no participant answering
LAS, CAN bus 1 busoff x 97 2
LAS, monitoring, no "Steering active" when vehicle moves x 99 2

Remark: For a detailed description of the errors, please see the chapter entitled "Error-
codes".
A "(U)" in the table means that the error is detected by the converter.
"ÜWA" means that the error is detected by the ÜWA-CPU in the LAS module.
All other errors of the LAS module are detected by the S-CPU (see "Load handling
controls module, Safety monitoring").
"DIS" means that the error is triggered by the display itself.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-62
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis 1
Analogue values for hydraulics

When Hydraulics analogue

Analogue values values (1) is selected, the
hydraulics
setpoint signals from the 4-lever system (potentiometer
signals) are displayed (2).

Remark: Because the potentiometers are "2-channel"

potentiometers, 2 setpoint signals are al-
ways displayed for one axis. When the po-
tentiometer in question is actuated, one si-
gnal increases (e.g. S1) and the other de-
creases at the same time (e.g. S2).

Main lift S1/S2 (3): Setpoint signals 1 and 2 from

main lift potentiometer 40752u

Reach S1/S2 (4): Setpoint signals 1 and 2 from

Copyright protected. No part of this manual

reaching potentiometer
may be reproduced in any form. Copyright

3 4 5
Tilt S1/S2 (5): Setpoint signals 1 and 2 from
tilting potentiometer
S. shift S1/S2 (6): Setpoint signals 1 and 2 from
side shift potentiometer

The relevant input voltage signals are displayed in the

"Value" column (7).
reserved.

Neutral position: approx. 5V

lever pulled: increases to approx. 8V
lever pushed: decreases to approx. 2V

The sum of the two signals (S1+S2) must always be

within a range of 8.5V - 11V, otherwise an error is de-
tected at the relevant potentiometer (FE 50-53, see 40755u

"Error codes"). 2 6 9 8 7
In the "Digit" column (8), the changed value of the inter-
nal analogue/digital converter (A/D converter) in the
LAS module is displayed.
You can return to the main diagnosis menu with ExitQuit
(9).

Remark: The analogue signals can also be called up

on the display with the "Onboard diagnosis"
(see "Display, Onboard diagnosis").

Issue: 05/04 Workshop Sheet no.

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XR-AC 38-63
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis 1

Analogue values for steering

When Steering
Analogueanalogue values (1) is selected, the si-
values steering
gnals from the setpoint/actual value potentiometers for
the steering are displayed (2).

Remark: For further details about the setpoint potentio-

meter signals, see "Steering, setpoint potentio-
meter". For further details about the actual va-
lue potentiometer signals, see "Steering, actual
value potentiometer". For information about the
steering wheel "flutter", see "FM-I Servicema-
ster,Commissioning the steering".
40752u

Steering wheel W1/W2 (3):signals from the setpoint po-

tentiometer (90° offset). 2 3 4 5 6 9
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Steering wheel flutter (4): Display of the flutter fluctuation

of setpoints 1 and 2

Remark: As long as the display is green, the fluctuation

is within the permissible tolerance range.
Outside the permissible tolerance range, the
display changes to red.
reserved.

Steering wheel cross- This is the static current that

current (5): flows continually through the set-
point potentiometer. It is approx. 40756u

5-8 mA. If the deviation is more 8 7 11 10

than >2 mA, calibration of the A/
D converter must be carried out.
If the current is too high or too
low (short-circuit/ wire breakage), +180° -180°
the display changes from green
to red (I < 5 mA / I > 18 mA).
Bogie W1/W2 (6/9): Signal from the actual value po-
tentiometer. +90° -90°
Bogie cross-current (7): This is the static current that
flows continually through the ac-
tual value potentiomer (see stee- 0°
ring wheel cross-current).
Bogie flutter (10): Display of the flutter fluctuation of
actual values 1 and 2 (only rele-
vant for 360° steering system)
Bogie angle (11): Current drive wheel position
Use Exit
Quit (8) to return to the main diagnosis menu.

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XR-AC 38-64
 Chapter 38 Service software
FM-I Servicemaster
1
Diagnosis

Input switching signals, LAS module

When Digital Inputs (1) is selected, all the input

signals that are connected to the LAS module or the
FPS can be tested to ensure that they function correctly.
When a signal is applied to the LAS module, this is sym-
bolised by the selection field (2) being filled in (in this
example, the JOH signal is applied).

Use Quit
Exit (3) to return to the main diagnosis menu.
40752u
Explanation of the signals:

Remark: The abbreviations used for the signals are

those used in the electrical circuit diagram.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Signals to the LAS

SDL = Inductive proximity switch, reach damping,
load side
SDA = Inductive proximity switch, reach damping,
drive side
SEV = Inductive proximity switch, reach end position,
load side (option in connection with SSP)
reserved.

SSP = Inductive proximity switch, lift 0.4 m for

reaching/lowering lock option
HB1 = Inductive proximity switch for intermediate lift
stop (option) 40757u
HB2 = Inductive proximity switch for end lift stop
(option) 2 3
HW = Inductive proximity switch for reference height
display (option)
MD = Mast damping (reserve)
QS = Button for selecting side shift (only with joystick
version, option)
AZ1 = Button for selecting add. hydraulics 1 (option)
AZ2 = Button for selecting add. hydraulics 2 (option)
ESP = Button for releasing reaching/lowering lock
(option)
EHA = Button for releasing intermediate lift stop
(option)
KHA = Thermostat switch for heating on (cold store
option)
HB = Switch for electromagnetic brake open/closed

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-65
 Chapter 38 Service software
FM-I Servicemaster
Diagnosis

Input switching signals, LAS module

Explanation of the signals

Signals to the LAS

JOH = Joystick coding

SOK = FPS OK
Brake circuit OK = wiring of the electromagnetic brake 40757u

and brake itself OK

2+24V to LAS = 2+24V to LAS module OK
3+24V to LAS = 3+24V to LAS module OK
3+48V to LAS = 3+48V to LAS module OK
2+48V to LAS = 2+48V to LAS module OK
Reserve = n.c.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

LFF = Steering OK (enable steering)

Signals to the FPS

Brake released = LAS registers that brake is open --> Remark: The display does not change
Battery lock OK = Battery is locked during diagnosis. However, the
Acc. pedal switch = Switch on acc. pedal actuated status of the signal that was
Brake ped. switch = Switch on brake pedal actuated available immediately before
reserved.

Deadman switch = Deadman switch is actuated diagnosis is always displayed!

Creep speed sw. = Creep speed switch actuated
Travel direction = Travel direction button actuated
Reserve = n.c.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-66
 Chapter 38 Service software
FM-I Servicemaster
1
Diagnosis

Travel transducer

The setpoint of the travel transducer (2) and the

signal of the accelerator pedal switch (3) can be
tested by selecting "Travel transducer" (1) (see
"Travel transducer").
Use Exit
Quit (4) to return to the main diagnosis
menu.

Travel setpoint
40752u

The travel setpoint (2) is approx.

2
- 4.9V (accelerator pedal in home position)
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

- 9.0V (accelerator pedal fully pressed)

If the value is not within a range of 0.4 - 9.4V,

a fault is detected in the travel transducer and the
error code "FE 08" appears (see "Error codes").

Accelerator pedal switch

reserved.

The accelerator pedal (3) monitors the neutral

position of the travel transducer, and if the travel
setpoint changes (accelerator pedal actuated), the
accelerator pedal switch must also be closed. 40758u

4 3
If U>5.5V, the accelerator pedal switch must
already have switched, otherwise the error
message "FE 07" is displayed (see "Error codes").

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 Chapter 38 Service software
FM-I Servicemaster
1
Diagnosis

Travel drive

The temperature of the travel converter (2) and

the temperature of the drive motor (3) can be de-
termined by selecting "Travel drive" (1).
Use Exit
Quit (4) to return to the main diagnosis
menu.

Temperature of the travel converter

From a temperature of > 80°C, the output power 40752u

of the converter is reduced linearly. "FE 20" ap-

pears on the display. From 125°C, the output po- 2
wer is switched off completely. "FE 21" appears
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

on the display (see "Error codes").

Temperature of the drive motor

From a temperature of > 145°C, the output power

of the converter is reduced to 50%. "FE 25" ap-
pears on the display. When the motor cools down
to <135°C again, full power is possible again.
reserved.

If the temperature reaches > 150°C, the converter

switches the output power off completely until the
temperature reaches < 145°C again. "FE 26" ap-
pears on the display (see "Error codes"). 40759u
4 3

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 Chapter 38 Service software
FM-I Servicemaster
1
Diagnosis

Hydraulic drive

The temperature of the hydraulic converter (2) and

the temperature of the hydraulic motor (3) can be
determined by selecting "Hydraulic drive (1).
Use Exit
Quit (4) to return to the main diagnosis
menu.

Temperature of the hydraulic converter

From a temperature of > 80°C, the output power 40752u

of the converter is reduced linearly. "FE 30" ap-

pears on the display. From 125°C, the output po- 2
wer is switched off completely. "FE 31" appears
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

on the display (see "Error codes").

Temperature of the hydraulic motor

From a temperature of > 145°C, the speed is

reduced to 1000 rpm by the converter. "FE 35"
appears on the display. When the motor cools
back down to <135°C, full speed is possible again.
reserved.

If the temperature reaches > 150°C, the converter

switches the output power off completely until the
temperature reaches < 145°C again. "FE 36" ap-
pears on the display (see "Error codes"). 40760u
4 3

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XR-AC 38-69
 Chapter 38 Service software
FM-I Servicemaster
1
Diagnosis

Version information

The software versions of the individual compo-

nents can be called up by selecting "Version Info"
(1) (please see "Display, Onboard diagnosis,
Menu 5").
To return to the main diagnosis menu, select
Quit (2).
Exit

40752u
Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

40761u

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-70
 Chapter 38 Service software
FM-I Servicemaster 1

LAS module software update

The operating software of the main computer in the

LAS module can be updated by selecting "Extras -
Software update LAS" (1). This software update
puts the LAS module into a kind of "New status",
i.e. all the data that has previously been stored is
deleted!
For this reason, the sequence for this process must
be followed exactly as described below. 2
40707u

Remark: The software version in the LAS module

can be called up on the display with the
"Onboard diagnosis" (see "Display, On-
board diagnosis")
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Procedure for update

• Connect the computer to the diagnosis interface

on the vehicle (see "Service software, Making a
connection") and start the FM-I Servicemaster. 40704u

Use Parameter - Data

Data upload
Upload (2) to load the
data out of the LAS module.
reserved.

Remark: The upload process is displayed as

graphics!

• Store the data as a vehicle-related file with

Save
Save file
file (3), e.g. 09707.ini (4).

Remark: The vehicle number is stamped into the 40742u

reach carriage below the right-hand 3

mast bearing (see "Vehicle data").

• When the save operation is complete, click on

Exit
Quit (5).

09707.ini

40745u

4 5
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 Chapter 38 Service software
FM-I Servicemaster
1
LAS module software update

• In the "Extras" menu, select the submenu "Soft-

ware Update LAS" (1)

• Confirm the next message, which is "Start soft-

OK . The updating
ware update LAS" with "OK"
Cancel .
process can be aborted with "Quit

Remark: Two text windows now appear with the 40707u

error messages "Serial interface can-

not open" (6) and "Scriptfile termina-
ted!". Ignore both messages and con-
firm each with OK
OK (7).

• As instructed in the next message, "Switch truck

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

OFF / ON". Then confirm this process with OK .

The Quit
Cancel button can also be used here to
stop the process.
40762u

• In the window that has now opened, "Select 6 7

HEX file" (2), select the " LasAc126.hex" file (3)
(e.g. for update to V1.26). The software update C:\FmIServicemaster_eng\Src

is started with the Load

Load button (4).
reserved.

LasAc126.hex

Remark: Additional hex files can also be stored

here for different updates in the future
(e.g. LasAc127.hex). The relevant file
must then be selected.

• The progress of the update can be followed on 40763u

the bar chart display (5). It takes about 3 minu- 3 2 4

tes.

• Automatically when the download is finished the

software displays the entrance menu again.

1/0129

5
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 Chapter 38 Service software
FM-I Servicemaster 1

LAS module software update

• Switch the truck off and then on again.

• When the truck is switched on again, the error

message "FE55" appears on the truck display
and "-------" is shown in the height display.

• The LAS module must now be "put into operati-

on" again. Start this process with "Commissio-
40703u
ning hydraulics" (1).

• In the "Type selection" window, select the

Load
Load file
file button (2)

• Select the file that was previously saved (in this

Copyright protected. No part of this manual
may be reproduced in any form. Copyright

example it was 09707.ini) and load it with the

Select
Select button (3).

• In the "Commission" window, click on the

Adopt
Acceptzero
zerowindow
window command and then transfer
the truck data back into the LAS module with the
Data
Data download
download button.
The transfer process can be observed on the
reserved.

red progress bar.

• When the transfer is complete, conclude the

process with the Quit
Exit button. 40738u
Also close the next window (Type selection) with 2
Exit
Quit .

C:\FmIServicemaster_eng\Config

09707.ini

40746u
3
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 Chapter 38 Service software
FM-I Servicemaster
LAS module software update

• Use "Diagnosis - Standard" to read out the error

memory of the LAS module and reset the error
memory with Delete
Delete (1).

Quit button (2) to close diagnosis mode

• Use the Exit
and the FM-I Servicemaster software in general.

You can then check that the update has been car-
ried out successfully with the "Onboard diagno-
sis".
To do this, select "Software query" (menu point 5) 40753u

with the display keyboard (see "Display, Onboard 1 2

diagnosis").
Copyright protected. No part of this manual
may be reproduced in any form. Copyright
reserved.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-74
 Chapter 38 Service software
FM-I Servicemaster
Setting the parameters in the FPS
1
The "FPS" menu point (1) can be used to access
the following submenus:

• Travel parameters
• Operating hour counter
• Battery type
• Hydraulics characteristics

These four menus can be used to set all the rele-

vant parameters in the FPS and the converters.
40706u

Travel parameters
Adjustment of the maximum speeds, acceleration,
deceleration and reversing.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Selection of a travel program is possible.

Operating hour counter

Adjustment and counting method of the operating
hours counter.

Battery type
Selection of the battery type (wet, dry or high-
reserved.

power) and separate adjustment of the battery

capacity.

Hydraulics characteristics
Adjustment of a torque/speed curve for the
hydraulics converter.

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-75
 Chapter 38 Service software
FM-I Servicemaster 1

Setting the parameters in the FPS

Travel parameters (1)

There are 5 different travel programs (2) to choo-
se from (FP0 - FP4):

• Creep speed 0 (FP0) is selected with the creep

speed switch on the vehicle or when the battery
is unlocked.
• Normal travel 1 (FP1) - Normal travel 4 (FP4) are 40706u

2
different travel programs that can be selected on
the display (see "Display, Onboard diagnosis").

The following parameters can be set in the indivi-

dual travel programs:
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• Max. speed DWS (3)

• Max. speed LS (4)
• Acceleration DWS (5)
• Acceleration LS (6)
• Deceleration DWS = braking when the accelera-
tor pedal or deadman is released (7)
• Deceleration LS = braking when the accelerator
pedal or deadman is released (8)
reserved.

• Reversing deceleration DWS = braking when tra-

vel direction is changed while truck is moving (9) 40764u

• Reversing deceleration LS = braking when travel 4 3 5 6 12

direction is changed while truck is moving (10)
• Brake pedal deceleration DWS/LS = braking
when the brake pedal is tapped lightly (11)

DWS = Drive wheel side, LS = Load side

The currently valid travel program is set with the

"Travel program selection" parameter (12).
However, it can also be set on the display.
Altered values can be transferred to the FPS with
the "Download
Download command (13) and are then
activated immediately. Exit
Quit (14) can be used to
return to the selection menu.

Remark: Travel program 1 is activated in the

40765u
factory. 13 7 8 9 10 11 14
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 Chapter 38 Service software
FM-I Servicemaster
Setting the parameters in the FPS

Travel parameters

The individual travel programs are pre-set in the

factory as follows:

Travel program 0
Max. speed DWS = 3.0 km/h
Max. speed LS = 3.0 km/h
Acceleration DWS = 50 %
Acceleration LS = 50 %
Deceleration DWS = 40 %
Deceleration LS = 40%
Reversing deceleration DWS = 50 % 40765u

Reversing deceleration LS = 50 %
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Brake pedal deceler. DWS/LS = 60 %

Travel program 1 Travel program 3

Max. speed DWS = 11.0 km/h Max. speed DWS = 9.0 km/h
Max. speed LS = 11.0 km/h Max. speed LS = 9.0 km/h
Acceleration DWS = 90 % Acceleration DWS = 90 %
Acceleration LS = 90 % Acceleration LS = 90 %
Deceleration DWS = 80 % Deceleration DWS = 80 %
reserved.

Deceleration LS = 80% Deceleration LS = 80%

Reversing deceleration DWS = 80 % Reversing deceleration DWS = 80 %
Reversing deceleration LS = 80 % Reversing deceleration LS = 80 %
Brake pedal deceler. DWS/LS = 80 % Brake pedal deceler. DWS/LS = 80 %

Travel program 2 Travel program 4

Max. speed DWS = 11.0 km/h Max. speed DWS = 6.0 km/h
Max. speed LS = 11.0 km/h Max. speed LS = 6.0 km/h
Acceleration DWS = 100 % Acceleration DWS = 90 %
Acceleration LS = 100 % Acceleration LS = 90 %
Deceleration DWS = 80 % Deceleration DWS = 80 %
Deceleration LS = 80% Deceleration LS = 80%
Reversing deceleration DWS = 80 % Reversing deceleration DWS = 80 %
Reversing deceleration LS = 80 % Reversing deceleration LS = 80 %
Brake pedal deceler. DWS/LS = 100 % Brake pedal deceler. DWS/LS = 80 %

Issue: Workshop Sheet no.

05/04
Replaces issue: Manual
XR-AC 38-77
 Chapter 38 Service software
FM-I Servicemaster
1
Setting the parameters in the FPS

Operating hour counter (1)

In the upper field (2), the operating hours can be

changed, and in the lower field (3), the counting
method of the internal hour meter of the FPS can
be changed.

Changing the value of the hour meter

40706u
• The current operating hours are displayed in the
field (4).
• The new value must be entered in the field (5).
• The new value is activated when the OK
OK button 2 4 5 6
(6) is selected.
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

Remark: The operating hours are not updated on

the display until the service software has
been closed.

Changing counting method of the hour meter

The hour meter can be set to count in 3 different
ways:
• "Key switch on" (7); the hours are counted as
reserved.

soon as the truck is switched on

• "Drive active"(8); the hours are only counted
when the travel and/or hydraulic motor is driven
• "Drive or lowering active" (9); the hours are
counted when the travel and/or hydraulic motor is
driven or when the lowering function is active.

To change the counting method, simply position

the arrow (10) on the option you want to select. 40766u

3 7 8 9 11 10
Remark: The "Drive or lowering active" method is
pre-set in the factory.

Use the Exit

Quit button (11) to return to the selection
menu.

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 Chapter 38 Service software
FM-I Servicemaster
1
Setting the parameters in the FPS

Battery type (1)

In this submenu, it is possible to

• Set the battery type (2) and

• Define the battery capacity (3)

Setting the battery type

The battery type is set using the ID numbers in the
field (2). The ID numbers have the following 40706u

meanings:
• 0 = Lead battery ("wet battery") 2 3
• 1 = CSM battery ("increased power battery")
• 2 = Gel battery ("dry battery")
• 3 = Special battery (not yet defined at present)
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

• 4 = Special battery (not yet defined at present)

• 5 = Special battery (not yet defined at present)
The relevant type for the battery that is used in the
truck must be set.

Setting the battery capacity

The battery capacity can be set directly in ampere-
hours (Ah) in the field (3).
reserved.

The settings can be transferred to the FPS with

the Download
Download button (4), where they are activa-
ted immediately. 40767u
Use the Exit
Quit button (5) to return to the selection
4 5
menu.

Remark: The battery type and capacity can also

be set using the onboard diagnosis fea-
ture of the display (see "Display, On-
board diagnosis").
The default setting made in the factory
is "0 / 420 Ah".

Issue: 05/04 Workshop Sheet no.

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 Chapter 38 Service software
FM-I Servicemaster
1
Setting the parameters in the FPS

Hydraulics characteristics (1)

In order for the hydraulics converter to be able to
set an optimum ratio between the torque and
speed, with relation to the truck type, a truck spe-
cific curve (2) must be set in the hydraulics con-
verter.

One of the following curves must be selected with

40706u
the arrow (3), according to the truck type:

• XR14/16AC with "thin" cylinders (diam. = 2 3

37mm), height < 2900 mm --> characteristic
curve (5)
• XR14/16AC with "thick" cylinders (diam. =
Copyright protected. No part of this manual
may be reproduced in any form. Copyright

46mm), height > 2900 mm --> characteristic

curve (6)
• XR20AC --> characteristic curve (7)

The settings can be transferred to the converter

with the Download
Download button (8), where they are
activated immediately.
reserved.

The "Parameterisable" characteristic curve (9)

activates the "Characteristic curve field" (10). This
can be used to program a new characteristic
curve.

Note: Adjustments to the freely paramete-

risable characteristic curve may
40768u
only be made in accordance with
4 5 6 7 8 9 10 11
instructions given by the factory or
our Service Centre!!

Use the Exit

Quit button (11) to return to the selection
menu.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 38-80
 Chapter 39 Error codes
Description of errors

FE01, Emergency-stop switch S2 actuated

✰❍✂❏ ✂✳ ✺✂❖◗❋ ✂❋  ❊✂❏❈✂❏ ✂ ❖ ❚ ❊✎◗❘✂❑❊❏✂❏❈✂❉ ✂❈❊❈ ❋✂❋❚❑

◗❘ ❚❈❑◗ ✍✂❏❑✂ ❚❚◗❚✂❊◗❋ ✂❑✂❑ ❋✏
✂❏ ✂ ❏❑❊ ✂❍ ❊❑◗ ✂❈❚ ✂❉ ◗❊ ❋✂❈ ❋✂❏ ✂❖❈❑ ✂❊◗ ❈❊◗❚✂✲ ✂❑✂◗❘ ❋✏
✻❏❑✂ ❚❚◗❚✂❑✂❈ ◗✂❑ ❋✂❑❍✂❏ ✂ ❖ ❚ ❊✎◗❘✂❑❊❏✂❑✂ ◗✂❚ ❈ ❋✂❉✂❑❊❏❑ ✂◗ ✂❏
 ❏❑❊ ✂❈✂❏ ✂ ✂❑❊❏✂✺ ✏✂✩◗❏✂❏ ✂✳ ✺✂❖◗❋ ✂❈ ❋✂❏ ✂✭✷✺✂❈❚ ✂❉ ◗❊ ❋✂◗✂❏❈✂❏ 
❋◗✂ ◗✂❍ ❊❑◗ ✏
✻❏❑✂ ❚❚◗❚✂❊❈ ✂◗ ✂❉ ✂❚  ✂❉✂❑❊❏❑ ✂❏ ✂ ❏❑❊ ✂◗❍❍✂❈ ❋✂❏ ✂◗ ✂❈ ❈❑ ✂❈✂❏ ✂ 
❑❊❏✏
✪❏ ❊ ✂❏ ✂ ❖ ❚ ❊✎◗❘✂❑❊❏✂❈ ❋✂❏ ✂❑❚❑ ✏

FE02, Main contactor K1, contact short-circuit

✰❍✂❏ ✂✭✷✺✂❋  ❊✂❋❚❑ ✂❏ ✂❑❊❏❑ ✎◗ ✂❘❚◗❊ ✂❏❈✂❏ ✂❊◗ ❈❊✂◗❍✂❏ ✂❖❈❑ ✂❊◗ ❈❊◗❚
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

❑✂❈ ❚ ❈❋✂❊ ◗ ❋✍✂❈ ✂❏ ✂❍ ❊❑◗ ✂❈❚ ✂❉ ◗❊ ❋✏

✰ ✂❏❑✂ ✍✂❏ ✂✭✷✺✂❊❏ ❊ ✂❏ ✂❑ ❈ ✂  ✂◗❍✂❏ ✂❊❏❈❚ ❑ ✂❈ ❋✂ ✂ ❈❋✂❍◗❚✂❏ ✂❊❈❘❈❊❑◗❚
 ❑✂❑ ✂❏ ✂❊◗  ❚ ❚✏
✰❍✂❏ ✂✭✷✺✂❋  ❊✂❏❈✂❏ ❚ ✂❑✂❈ ❚ ❈❋✂❈✂✖✚✂✽✂  ✂❈✂❑✂◗❘✂✿ ✏✔✛✂✡❊❏❈❚ ❑ ✂❊❑❚❊❑
✪✎❘❈❊ ❈ ✍✂ ✂ ✭✷✺✍✂✪❏❈❚ ❑ ✂❏ ✂❊❈❘❈❊❑◗❚✂ ❑ ☛✂❏ ✂❏ ✂ ❏❑❊ ✂❑✂❑❊❏ ❋✂◗ ✍✂❏❑
❚❚◗❚✂❊◗❋ ✂❑✂❑ ❋✏
✪❏ ❊ ✂❏ ✂❖❈❑ ✂❊◗ ❈❊◗❚✂✡ ✂ ✭✷✺✍✂✪❏ ❊ ❑ ✂❏ ✂❖❈❑ ✂❊◗ ❈❊◗❚ ☛✏
❚  ❚ ❋✏

FE03, Intermediate circuit undervoltage (UCharge < 24V)

✰❍✂❏ ✂◗ ❈ ✂❈✂◗❘✂✿ ✏✔✛✂◗❍✂❏ ✂✭✷✺✂✡❊❏❈❚ ❑ ✂❈ ❋✂ ✂ ❈❋✂❍◗❚✂❏ ✂❊❈❘❈❊❑◗❚✂ ❑✂❑
❏ ✂❊◗  ❚ ❚☛✂❑✂ ✂❏❈ ✂✔✖✽✍✂❏ ✂✭✷✺✂❑❊❏ ✂◗❍❍✏
✻❏ ✂❉❈ ❚✂❖✂❉ ✂❊❏ ❊ ❋✍✂❈ ❋✂❈✂ ✂❊❈❚❚❑ ❋✂◗✂◗✂❈❊ ❚❈❑ ✂❏ ❏ ❚✂❏ ✂❊◗ ❈❊✂◗❍
❏ ✂❖❈❑ ✂❊◗ ❈❊◗❚✂❚ ❈ ✂❊ ◗ ✂❖ ❊❏❈ ❑❊❈ ✂✡ ✂ ✭✷✺✍✂✪❏ ❊ ❑ ✂❏ ✂❖❈❑ ✂❊◗ ❈❊◗❚
❈ ❋✂ ✭✷✺✍✂✪❏❈❚ ❑ ✂❏ ✂❊❈❘❈❊❑◗❚✂ ❑ ☛✏✂✻❏❑✂ ❚❚◗❚✂❊❈ ✂❈ ◗✂◗❊❊❚✂❑❍✂❏ ✂❖❈❑ ✂❍ ✂✭ ✂❑
❍❈ ✄

FE04, Intermediate circuit charging error

✾❏ ✂❏ ✂ ❏❑❊ ✂❑✂❑❊❏ ❋✂◗ ✍✂❏ ✂❊❈❘❈❊❑◗❚✂ ❑✂❑ ✂❏ ✂❊◗  ❚ ❚✂❖✂❍❑❚✂❉ ✂❊❏❈❚ ❋
❉✂❏ ✂✭✷✺✏✂✰❍✂❏ ✂❊❏❈❚ ❑ ✂◗ ❈ ✂❑✂ ◗✂❏❑ ❏ ❚✂❏❈ ✂✕✘✂✽✂❈❍ ❚✂✤✕✏✗✂ ❊◗ ❋✍✂❏
❊❏❈❚ ❑ ✂◗ ❈ ✂✡❖ ❈❚ ❋✂❈✂◗❘✂✿ ✏✔✛✂◗❍✂❏ ✂✭✷✺☛✍✂❏ ✂✭✷✂❑❊❏ ✂◗❍❍✏
✻❏ ✂ ❊❏❈❚ ❑ ✂ ❈❋ ✂❖✂❉ ✂❊❏ ❊ ❋✂✡ ✂ ✭✷✺✍✂✪❏❈❚ ❑ ✂❏ ✂❊❈❘❈❊❑◗❚✂ ❑ ☛✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈
XR-AC 39- ✒
 Chapter 39 Error codes
Description of errors

FE05, Battery is unlocked

If the deadman switch 1S25 and the travel transducer 1U20 are actuated (micro-switch of
travel transducer closed), the FPS checks that the battery lock switch 1S27 is closed
(battery is locked). If this is not the case, travel program 0 (FP 0) is activated and the
maximum speed that is parameterised in Travel program 0 is set (default setting in
factory is 3.0 kmph, see "Service software").
Check the switch and wiring and the mechanical elements of the battery lock.

FE06, Travel transducer already actuated when the vehicle is switched

on or travel transducer actuated without deadman switch

If a "travel setpoint" signal (U>5.5V) from the travel transducer 1U20 is already detected
when the vehicle is switched on, before the main contactor K1 closes, or if the travel
transducer is actuated before the deadman switch 1S25 (incorrect operating sequence),
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

the travel function is blocked.

Check travel transducer 1U20, deadman switch 1S25 and the wiring. Maintain the correct
operating sequence.

FE07, Travel transducer switch does not close or is already closed

when the vehicle is switched on

When the FPS detects a "travel setpoint" signal (U>5.5V), the micro-switch of the travel
❚  ❚ ❋✏

transducer must also be closed. If it does not close, travel is not permitted.
The same error message is also issued if the micro-switch of travel transducer 1U20 is
already closed during the switching-on process.
Check the travel transducer (see "Travel transducer").

FE08, Travel setpoint is outside the permitted range

The travel transducer is supplied with 10 V by the FPS. The FPS monitors whether the
"travel setpoint" is always within a range of U>0.4V and U<9.4V.
If the setpoint is outside this range, the travel function is switched off.
Check the travel transducer for wire breakage / short-circuits (see "Travel transducer").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 39- ✒✔
02
 Chapter 39 Error codes
Description of errors

FE09, Short circuit of the supply voltage for travel transducer 1U20

A short-circuit has been detected at the 10V output (X1.28) of the FPS, which supplies
the travel transducer. Travel is blocked.
Check the travel transducer and wiring (see "Travel transducer").

FE10, FPS internal CPU error

The FPS has detected an internal error. The "Control OK" signal (SOK) from the FPS is
not sent (see "FPS, Control OK signal"). The hydraulic functions and travel are blocked.
Replace the FPS.

FE11, FPS EEPROM error

The parameters in the EEPROM have changed or are damaged. There is consequently
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

an error in the checksum.

The "Control OK" signal (SOK) from the FPS is not sent (see "FPS, Control OK signal").
The hydraulic functions and travel are blocked.
An attempt can be made to rectify this error by setting the parameters in the FPS again
(see "Service software").
If this still does not help, the FPS must be replaced.

✭✬ ✔✍✂✰  ❚ ❈ ✂❉❍❍ ❚✂❉❈ ❚✂◗❍✂❏ ✂✭✷✺✂❑✂❋❑❊❏❈❚ ❋

❚  ❚ ❋✏

Various parameters cannot be saved after key switch OFF / ON.

Replace the FPS.

✭✬ ✕✍✂✻ ✂ ❈❋✂❚◗ ✂❊◗ ❊ ❋✂❈✂❏ ✂❚ ❑◗❚

The FPS has detected that the polarity of the voltage supplied by the test leads of the
shunt resistor for ascertaining the battery capacity is the wrong polarity.
The battery capacity can no longer be ascertained correctly.
Check both signal leads at the test shunt and replace if necessary.

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: 02/02 Manual
XR-AC ✒✕
39- 03
 Chapter 39 Error codes
✭✬ ✖✍✂✰  ❚ ❈ ✂❖◗ ❑◗❚❑ ✂ ❚❚◗❚✂❑ ✂❚❈ ✂❚❈ ❋❊ ❚

✂ ❚❚◗❚✂❏❈✂◗❊❊❚❚ ❋✂❋❚❑ ✂❑  ❚ ❈ ✂ ❈ ❈❑◗ ✂◗❍✂❏ ✂❈ ❈ ◗  ✂❈❊❊ ❚❈◗❚✂❘ ❋❈ ✂❑ ❈

❈ ❋✂❏ ✂❑❊❏❑ ✂❑ ❈ ✂◗❍✂❏ ✂❈❊❊ ❚❈◗❚✂❘ ❋❈ ✂❑❊❏✏✂✻❚❈ ✂❑✂ ◗✂ ◗ ❚✂❘◗❑❉ ✏
✪❏ ❊ ✂❏ ✂❚❈ ✂❚❈ ❋❊ ❚✂❈ ❋✂❑❚❑ ✂✡ ✂ ✻❚❈ ✂❚❈ ❋❊ ❚ ☛✏✂✰❍✂✶✲✍✂❏ ✂✭✷✺✂❖✂❉
❚ ❘ ❈❊ ❋✏

✭✬ ✗✍✂✰  ❚ ❈ ✂✪ ✵✂❉✂✔✂ ❚❚◗❚

The FPS has detected an internal fault in its CAN controller. The hydraulic functions and
travel are blocked. Check CAN bus 2 for wiring errors (please see "CAN bus, Bus
structure CAN 2").
If the CAN bus is OK, the FPS must be replaced.

✭✬ ✘✍✂❑  ❚ ❈ ✂✭✷✺✂❊◗❖❖ ❑❊❈❑◗ ✂ ❚❚◗❚

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

The monitoring processor (Ue) and the control processor (SR) in the FPS are not able to
exchange information when the vehicle is switched on or during operation.
The "Control OK" signal (SOK) from the FPS is not sent (please see "FPS, Control OK
signal"). The hydraulic functions and travel are blocked.
Replace the FPS.

✭✬ ✙✍✂✭✷✺✂✪ ✵✂❉✂ ✍✂ ❚❚◗❚✂

❚  ❚ ❋✏

The FPS detects that there is no communication taking place via CAN bus 1 or that
communication is faulty (internal CAN controller fault).
Check that the CAN bus 1 wiring and bus terminal are correct (please see "CAN bus, Bus
structure CAN 1").
If the CAN bus is OK, the FPS must be replaced.

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: Manual
XR-AC 39- ✒✕✏
 Chapter 39 Error codes
✫ ❊❚❑❘❑◗ ✂◗❍✂ ❚❚◗❚
✭✬ ✚✍✂✭✷✺✂✪ ✵✂❉✂ ✍✂✬❚❚◗❚✂✔
The FPS detects that there is no communication taking place via CAN bus 1 or that
communication is faulty.
Check that the CAN bus 1 wiring and bus terminal are correct (see "CAN bus, Bus
structure CAN 1").
If the CAN bus is OK, the FPS must be replaced.

✭✬ ✛✍✂✴❈❑ ✂❊◗ ❈❊◗❚✂❊❈ ◗✂❉ ✂❚❑ ❚ ❋✂❋ ✂◗✂❑❚ ✂❉❚ ❈ ❈

The FPS attempts to clock the main contactor coil but there is no current flowing through
the contactor driver. Travel and the hydraulic functions are blocked.
Check the wiring of the FPS main contactors and the main contactor itself. If everything is
OK, the FPS must be replaced.

✭✬✔✒✍✂✻❚❈ ✂❊◗  ❚ ❚✂ ❖❘ ❚❈❚ ✂✥✂✚✒✉✪

The temperature in the travel converter has exceeded 80°C. The output power is reduced
linearly to 125°C (see "Converter, Temperature monitoring").
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Check ventilation of the converter.

✭✬✔ ✍✂✻❚❈ ✂❊◗  ❚ ❚✂ ❖❘ ❚❈❚ ✂✥✂ ✔✗✉✪

The temperature in the travel converter has exceeded 125°C. The output power is
switched off (see "Converter, Temperature monitoring").
Check ventilation of the converter.

✭✬✔✔✍✂✻❚❈ ✂❊◗  ❚ ❚✂ ❖❘ ❚❈❚ ✂ ◗❚✂❍❈ 

❚  ❚ ❋✏

The temperature sensor in the travel converter is faulty (short-circuit or wire breakage).
The output power is switched off (see "Converter, Temperature monitoring").
The converter must be replaced.

✭✬✔✕✍✂✻❚❈ ✂❊◗  ❚ ❚✂❑  ❚ ❈ ✂❍❈ 

The internal safety circuit in the converter has detected a fault. The output power is
switched off.
The converter must be replaced.

✭✬✔✗✍✂✫❚❑ ✂❖◗◗❚✂ ❖❘ ❚❈❚ ✂✥✂ ✖✗✉✪

The temperature in the drive motor has exceeded 145°C. The power is immediately
reduced to 50%. When the temperature drops below 135°C again, the rated output is
possible again (see "Drive motor, Temperature monitoring").

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: 02/02 Manual
XR-AC ✒✖
39- 04
 Chapter 39 Error codes
Description of errors

FE26, Drive motor temperature > 150°C

The temperature in the drive motor has exceeded 150°C. The output power is switched
off. When the temperature drops below 145°C again, 50% of the rated power is possible
again (see "Drive motor, Temperature monitoring").

FE27, Drive motor temperature sensor faulty

The temperature sensor in the drive motor is faulty (wire breakage / short-circuit) or the
connector at the motor has been pulled out.
The output power is switched off. The error message FE26 is also displayed alternately
with FE27.
Check the wiring of the temperature sensor (see "Drive motor, Temperature monitoring").
If this is OK, the temperature sensor in the motor is faulty. Replace the motor.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

FE28, Drive motor speed sensor faulty

The speed sensor in the drive motor does not deliver any pulses to the FPS or only
sends them along one channel when it is triggered by the travel converter. This means
that there is a difference between the information sent from the converter via the CAN
bus and the information the FPS has determined itself. There is no reduction in speed!
If the signals are also missing at the converter, the converter only drives the motor at a
minimum basic speed (please see "Converter, Speed sensor" and "Drive motor, Speed
❚  ❚ ❋✏

sensor").
If this is OK, the speed sensor in the motor is faulty. Replace the sensor in the motor.

FE30, Hydraulics converter temperature > 80°C

The temperature in the hydraulics converter has exceeded 80°C. The output power is
reduced linearly to 125°C (see "Converter, Temperature monitoring").
Check ventilation of the converter.

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: 02/02 Manual
XR-AC ✒✗
39- 05
 Chapter 39 Error codes
Description of errors

FE31, Hydraulics converter temperature > 125°C

The temperature in the hydraulics converter has exceeded 125°C. The output power is
switched off (see "Converter, Temperature monitoring").
Check ventilation of the converter.

FE32, Hydraulics converter temperature sensor faulty

The temperature sensor in the hydraulics converter is faulty (short-circuit or wire

breakage). The output power is switched off (see "Converter, Temperature monitoring").
The converter must be replaced.

FE33, Hydraulics converter internal fault

The internal safety circuit in the converter has detected a fault. The output power is
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

switched off.
The converter must be replaced.

FE35, Hydraulic motor temperature > 145°C

The temperature in the hydraulic motor has exceeded 145°C. The speed is immediately
limited to 1000 rpm. When the temperature drops below 135°C again, the maximum
speed is possible again (see "drive motor, Temperatur monitoring").
❚  ❚ ❋✏

FE36, Hydraulic motor temperature > 150°C

The temperature in the hydraulic motor has exceeded 150°C. The output power is
switched off. When the temperature drops below 145°C again, the speed is limited to
1000 rpm (see "drive motor, Temperature monitoring").

FE37, Hydraulic motor temperature sensor faulty

The temperature sensor in the hydraulic motor is faulty (wire breakage / short-circuit) or
the connector at the motor has been pulled out.
The output power is switched off. The error message FE36 is also displayed alternately
with FE37.
Check the wiring of the temperature sensor (see "drive motor, Temperature monitoring").
If this is OK, the temperature sensor in the motor is faulty. Replace the motor.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 39- ✒✘
06
 Chapter 39 Error codes
Description of errors

FE40, ✺✶✲✂❑ ❈ ✂❍❚◗❖✂✭✷✺✂✎✥✂✳ ✺✂ ◗✂ 

The LAS module does not receive the "Control OK" signal (SOK) from the FPS (0V
signal) within t = 7 secs. after "Key switch ON". The LAS module blocks all the hydraulic
functions. The brake cannot be released.
Check the wiring between FPS X1.8 and LAS module X11.1. If this is OK, the error is in
the FPS (see "FPS, Control OK signal").

FE41, CAN bus 1 communication error between LAS and FPS

The LAS module is not receiving any data (battery capacity, operating hours, error codes
etc.) from the FPS. Travel and the hydraulic functions are blocked.
Check that the CAN bus 1 wiring and bus terminal are correct (see "CAN bus, Bus
structure CAN 1"). Check the power supply of the FPS (see "FPS, Pin assignment/
signals").
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

If the CAN bus and the power supply are OK, the FPS must be replaced. To test whether
the FPS is the problem in faulty bus communication, the component can be contacted
directly via the onboard diagnosis of the display (Software version query, see "Display,
Onboard diagnosis, Software version query"). If "FE58" appears on the display when the
query is made (see "Display, Onboard diagnosis, Error codes") the component is faulty.
❚  ❚ ❋✏

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: 02/02 Manual
XR-AC ✒✙
39- 07
 Chapter 39 Error codes

Description of errors

FE42, CAN bus 2 communication error between FPS and travel

converter

The FPS is not receiving any data from the travel converter. The main contactor K1 is
opened.
Check that the CAN bus 2 wiring and bus terminal are correct (see "CAN bus, Bus
structure CAN 2").
If the CAN bus is OK, the converter must be replaced. To test whether the converter is the
problem in faulty bus communication, the component can be contacted directly via the
onboard diagnosis of the display (Software version query, see "Display, Onboard
diagnosis, Software version query"). If Version 0.00 appears on the display when the
query is made (see "Display, Onboard diagnosis, Error codes") the component is faulty.

Remark: This error message is also issued if the 48V supply voltage is missing at X1.1 of
the converter (see "Converter, Status LED"). This is, for example, the case when
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

the emergency-stop button has been actuated.

FE43, CAN bus 2 communication error between the FPS and hydraulic
converter

The FPS is not receiving any data from the hydraulic converter. The main contactor K1
remains closed but the hydraulic functions are blocked.
Check that the CAN bus 2 wiring and bus terminal are correct (see "CAN bus, Bus
❚  ❚ ❋✏

structure CAN 2").

If the CAN bus is OK, the converter must be replaced. To test whether the converter is the
problem in faulty bus communication, the component can be contacted directly via the
onboard diagnosis of the display (Software version query, see "Display, Onboard
diagnosis, Software version query"). If Version 0.00 appears on the display when the
query is made (see "Display, Onboard diagnosis, Error codes") the component is faulty.

Remark: This error message is also issued if the 48V supply voltage is missing at X1.1 of
the converter (see "Converter, Status LED"). This is, for example, the case when
the emergency-stop button has been actuated.

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: 02/02 Manual
XR-AC ✒✚
39- 08
 Chapter 39 Error codes
Description of errors

FE45, CAN bus 1 communication error between LAS and display

The LAS module is not receiving any data from the display. All functions continue to be
possible. Only the information on the display is no longer updated.
Check that the CAN bus 1 wiring and bus terminal are correct (see "CAN bus, Bus
structure CAN 1").
If the CAN bus is OK, the display must be replaced.

Remark: This error code cannot be shown on the display since communication has
broken down. It can, however, be read out of the error memory of the LAS
module with the service software (see "Service software").

FE48, CAN bus 1 communication error between LAS and steering

The LAS module is not receiving any data from the steering (Steering OK, wheel position,
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

etc.). The brake is closed. Travel is blocked.

Check that the CAN bus 1 wiring and bus terminal are correct (see "CAN bus, Bus
structure CAN 1"). Check the power supply of the steering (see "Steering, Steering unit,
Connections").
If the CAN bus and the power supply are OK, the steering must be replaced. To test
whether the steering is the problem in faulty bus communication, the component can be
contacted directly via the onboard diagnosis of the display (Software version query, see
"Display, Onboard diagnosis, Software version query"). If "FE58" appears on the display
❚  ❚ ❋✏

when the query is made (see "Display, Onboard diagnosis, Error codes") the component is
faulty.

FE50, Lifting potentiometer wire breakage

The two values of the setpoint potentiometer for lifting/lowering the main lift (arm 1 and
arm 2) are outside the monitoring range of 8.5 - 11V on addition.
Check the wiring between the potentiometer and the LAS module. If this is OK, replace
the potentiometer or lever. The main lift function is blocked.

FE51, Reaching potentiometer wire breakage

The two values of the setpoint potentiometer for DS/LS reaching (arm 1 and arm 2) are
outside the monitoring range of 8.5 - 11V on addition.
Check the wiring between the potentiometer and the LAS module. If this is OK, replace
the potentiometer or lever.
The reach function is blocked.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 39- ✒✛
09
 Chapter 39 Error codes

Description of errors

FE52, Tilting potentiometer wire breakage

The two values of the setpoint potentiometer for DS/LS tilting (arm 1 and arm 2) are
outside the monitoring range of 8.5 - 11V on addition.
Check the wiring between the potentiometer and the LAS module. If this is OK, replace the
potentiometer or lever.
The tilting function is blocked.

FE53, Transverse reach potentiometer wire breakage

The two values of the setpoint potentiometer for left/right-hand transverse reaching (arm 1
and arm 2) are outside the monitoring range of 8.5 - 11V on addition.
Check the wiring between the potentiometer and the LAS module. If this is OK, replace the
potentiometer or lever.
The transverse reach function is blocked.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

FE54, Potentiometer outside zero window

When the vehicle is switched on, the setpoint from the potentiometer for main lift,
reaching, tilting or transverse reaching is not within the defined zero point window, i.e. a
hydraulic function is already selected when the vehicle is switched on.
The function in question is blocked.
❚  ❚ ❋✏

Check the potentiometer and replace if necessary.

Remark: The zero window can be adjusted with the service software (see "Service soft-
ware").

FE55, Commissioning not yet carried out

Teaching-in of the potentiometer values for the 4-lever system has not yet been carried
out (see "Service software"). The hydraulic axis functions can be executed roughly.
The safety functions of the ÜWA-CPU (see "LAS module, Safety monitoring, General")
are not yet active.
Carry out the necessary commissioning work on the LAS (see "Service software").

Remark: This error message also appears if the LAS module software has been updated.
The necessary commissioning work must be carried out on the LAS module!

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC ✒
39- 10
 Chapter 39 Error codes

Description of errors
FE56, Communication error between the S-CPU and ÜWA-CPU

Internal fault in the LAS module. The two processors are no longer able to exchange data
correctly. Travel and the hydraulic functions are blocked. The brake does not open.
Replace the LAS module.

FE58, CAN bus 1 communication error between LAS module + display

The display has not received a data telegram from the LAS module for longer than 1
second, or the relevant component does not respond in a software version query of
various components in the vehicle using the display onboard diagnosis (see "Display,
Onboard diagnosis, Software version query").
Check that the CAN bus 1 wiring and bus terminal are correct (see "CAN bus, Bus
structure CAN 1"). If the CAN bus is OK, replace the component in question.

FE60, Wire breakage/short-circuit at the valve outputs for lifting/

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

lowering

When a lift main lift command is given, a short-circuit or wire breakage is detected at
output X10.4 (switching valve for lifting). The output is switched off.
When a lower main lift command is given, a short-circuit or wire breakage is detected at
output X10.5 (proportional valve for lowering). The output is switched off.
Check the wiring and the valve (see "LAS module, Safety monitoring, Block diagram").
❚  ❚ ❋✏

FE61, Wire breakage/short-circuit at the valve outputs for reaching

When the LS/DS reach command is given, a short-circuit or wire breakage is detected at
outputs X10.6/X10.7 (proportional valves).
The affected output is switched off.
Check the wiring and valve (see "LAS module, Safety monitoring, Block diagram").

FE62, Wire breakage/short-circuit at the valve outputs for tilting

When a LS/DS tilting command is given, a short-circuit or wire breakage is detected at

outputs X10.8/X10.9 (switching valves).
The affected output is switched off.
Check the wiring and valve (see "LAS module, Safety monitoring, Block diagram").

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC 39- 11
 Chapter 39 Error codes

Description of errors

FE63, Wire breakage/short-circuit at the valve outputs for transverse

reaching/additional hydraulics 1

When a left/right transverse reach or additional hydraulics 1 command is made, a wire

breakage or short-circuit is detected at outputs X10.10/X10.11 or X10.12/X10.39
(switching valves).
The affected output is switched off.
Check the wiring and valve (see "LAS module, Safety monitoring, Block diagram").

FE64, Wire breakage/short-circuit at the valve outputs for additional

hydraulics 2

When an additional hydraulics 2 command is made, a wire breakage/short-circuit is

detected at outputs X10.12/X10.39 (switching valves).
The affected output is switched off.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

Check the wiring and valve (see "LAS module, Safety monitoring, Block diagram").

Remark: If there are 2 additional hydraulics, the outputs X10.12/X10.39 are used for
both (add. hydr. 1 and add. hydr. 2). The switch-over is made with relays
2K46/2K47. This means that a faulty relay contact can also trigger this error
code.
The output for the switch-over relay (X10.25) is not monitored for wire
breakage or short-circuits!
❚  ❚ ❋✏

FE65, Wire breakage at the output for the electro-magnetic brake

When the brake is driven (clocked), the LAS module monitors this clocking process, i.e.
the continuous 1/0 change is checked internally at output X10.3 (closed brake circuit, no
wire breakage).
If this is not the case, the system recognises this as wire breakage. The LAS module
stops issuing the "Brake released" signal (X10.23) to the FPS. This means that travel is
blocked.
Check the wiring and brake (see "LAS module, Checking the electro-magnetic brake").

Remark: If there is a short-circuit, output X10.3 is switched off and travel is blocked, but
there is no FE error code displayed!

If the wire breakage has already occurred when the vehicle is switched on, FE75 is
displayed and the two internal safety relays in the LAS module are opened!
Travel and the hydraulic functions are switched off (see Error code FE75).

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC ✔
39- 12
 Chapter 39 Error codes

Description of errors

FE70, Valves for lifting/lowering active without having been selected

The LAS module detects between terminals X10.4/X10.2 (switching valve for lifting) or
X10.5/X10.2 (proportional valve for lowering) that the valves are being driven (internal
current measuring circuit detects that current is flowing), although the axis has not been
selected at the potentiometer.
There is an internal error in the LAS module (current circuit faulty, switching transistor
faulty).
Both safety relays K1 and K2 are switched off by the ÜWA-CPU. No vehicle functions
other than the steering can be used.
The LAS module must be replaced.

FE71, Valves for DS/LS reaching active without having been selected

The LAS module detects between terminals X10.7/X10.13 (proportional valve for DS
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

reaching) or X10.6/X10.13 (proportional valve for LS reaching) that the valves are being
driven (internal current measuring circuit detects that current is flowing), although the axis
has not been selected at the potentiometer.
There is an internal error in the LAS module (current circuit faulty, switching transistor
faulty).
Both safety relays K1 and K2 are switched off by the ÜWA-CPU. No vehicle functions
other than the steering can be used.
The LAS module must be replaced.
❚  ❚ ❋✏

FE72, Valves for DS/LS tilting active without having been selected

The LAS module detects between terminals X10.1/X10.9 (switching valve for DS tilting)
or X10.1/X10.8 (switching valve for LS tilting) that the valves are being driven (internal
current measuring circuit detects that current is flowing), although the axis has not been
selected at the potentiometer.
There is an internal error in the LAS module (current circuit faulty, switching transistor
faulty).
Both safety relays K1 and K2 are switched off by the ÜWA-CPU. No vehicle functions
other than the steering can be used.
The LAS module must be replaced.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC ✕
39- 13
 Chapter 39 Error codes

Description of errors

FE73, Valves for transverse reach or additional hydraulics 1 left/right

are active without having been selected

The LAS module detects between terminals X10.1 and X10.11/X10.10 (switching valves
for transverse reach left/right) or X10.1 and X10.12/X10.39 (switching valves for
additional hydraulics left/right) that the valves are being driven (internal current
measuring circuit detects that current is flowing), although the axis has not been selected
at the potentiometer.
There is an internal error in the LAS module (current circuit faulty, switching transistor
faulty).
Both safety relays K1 and K2 are switched off by the ÜWA-CPU. No vehicle functions
other than the steering can be used.
The LAS module must be replaced.

FE74, Valves for additional hydraulics 2 left/right are active without

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

having been selected

The LAS module detects between terminals X10.1 and X10.12/X10.39 (switching valves,
switch-over by relays 2K46/47) that the valves are being driven (internal current
measuring circuit detects that current is flowing), although the axis has not been selected
at the potentiometer.
There is an internal error in the LAS module (current circuit faulty, switching transistor
faulty).
❚  ❚ ❋✏

Both safety relays K1 and K2 are switched off by the ÜWA-CPU. No vehicle functions
other than the steering can be used.
The LAS module must be replaced.

FE75, Electro-magnetic brake active without having been selected

The system detects that there is a 48 V level (transistor selected or wire breakage)
applied at output X10.3 for selection of the brake, although the switch for releasing the
electro-magnetic brake has not been actuated.
Both safety relays K1 and K2 are switched off by the ÜWA-CPU. No vehicle functions
other than the steering can be used.

Remark: If there is already a wire breakage in the electro-magnetic brake when the
vehicle is switched on, error FE75 is also detected (see Error code FE65).

Check that the wiring to the brake is OK, and that there is no 0V potential applied at
X10.3.
If this is all OK, replace the LAS module.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC ✖
39- 14
 Chapter 39 Error codes

Description of errors
FE76, 48V error at the LAS module

There is no 48V signal at pin X10.15 when the vehicle is switched on. Both safety relays
K1 and K2 are switched off by the ÜWA-CPU. No vehicle functions other than the
steering can be used.
Check the wiring and if it is OK, replace the LAS module (see "LAS module, Safety
monitoring, Block diagram").

FE77, 24V error at the LAS module

There is no 24V signal at pin X10.35 when the vehicle is switched on. Both safety relays
K1 and K2 are switched off by the ÜWA-CPU. No vehicle functions other than the
steering can be used.
Check the wiring and if it is OK, replace the LAS module (see "LAS module, Safety
monitoring, Block diagram").
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

FE78, Internal safety relay K1 faulty

When the vehicle is switched on, the system detects that the contact of the internal
safety relay K1 in the LAS module is already closed (see "LAS module, Safety
monitoring, Block diagram"). All the vehicle functions are blocked.
The LAS module must be replaced.
❚  ❚ ❋✏

FE79, Internal safety relay K2 faulty

When the vehicle is switched on, the system detects that the contact of the internal
safety relay K2 in the LAS module is already closed (see "LAS module, Safety
monitoring, Block diagram"). All the vehicle functions are blocked.
The LAS module must be replaced.

FE80, Excess voltage/undervoltage at the steering

The supply voltage of the steering is faulty. Check the power supply at X47 (see
"Steering, Steering unit, Connections"). If this is OK, replace the steering unit.

Remark: The supply voltage is checked by the main steering contactor 3K1. This error
code is also issued if the contactor is faulty.

The brake closes, travel is blocked.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC ✗
39- 15
 Chapter 39 Error codes

Description of errors

FE81, Excess current in the steering power unit

Excess current has been detected internally in the power unit of the steering.
Check that the steering is not blocked mechanically by any foreign bodies or is extremely
difficult to turn due to mechanical damage. If the mechanical elements are OK, replace
the steering unit.
The brake closes, travel is blocked.

FE82, Excess temperature in the steering power unit

Excess temperature has been detected internally in the power unit of the steering, see
error code FE81.

FE83, Wire breakage/short-circuit of the steering setpoint

potentiometer
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

A fault has been detected at the setpoint potentiometer for the steering. This may have
been caused by wire breakage or a short-circuit at the potentiometer.
The brake closes, travel is blocked.
Check the setpoint potentiometer and the wiring between the potentiometer and the
steering unit (see "Steering, Setpoint potentiometer, Testing"). Replace the potentiometer
if necessary.
This error is also issued if the flutter of the potentiometer is not in order. Adjust the flutter
(see "Service software"). If adjustment is not possible, the potentiometer must be repla-
ced.
❚  ❚ ❋✏

FE84, Wire breakage/short-circuit of the steering actual value

potentiometer
A fault has been detected at the actual value potentiometer for the steering. This may
have been caused by wire breakage or a short-circuit at the potentiometer.
The brake closes, travel is blocked.
Check the actual value potentiometer and the wiring between the potentiometer and the
steering unit (see "Steering, Actual value potentiometer, Testing"). Replace the
potentiometer if necessary.
A faulty speed sensor in the steering unit can also cause this error. If the potentiometer
itself and the wiring are OK, the steering unit must be replaced.

Remark: FE83 or FE84 is also shown if the A/D converter in the steering is not adjusted
correctly. For further information on whether the A/D converter is functioning
correctly or whether it needs to be calibrated, see "Service software".

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC ✘
39- 16
 Chapter 39 Error codes
Description of errors

FE85, Motor model error in steering

A "Software model" for the steering is stored in the steering unit. If an error is detected
here (actual internal measured values do not match the software model) the steering is
switched off.
The brake closes, travel is blocked.
The steering unit must be replaced.

FE86, Motor position controller error in steering

Evaluation of the actual value potentiometer and the internal incremental encoder of the
steering do not match the values stored during the teaching-in process.
The brake closes, travel is blocked.
Turn the drive wheel into the straight-on position by hand, and do the same with the
steering wheel (setpoint and actual value potentiometers supply exactly the same value).
Switch on the vehicle. If FE86 is now no longer issued, carry out the teaching-in process
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

for the steering (see "Service software"). However, if the error message is still displayed,
the steering unit must be replaced.

FE87, Internal steering error

An internal error has occurred in the steering. The brake closes, travel is blocked. The
steering unit must be replaced.
❚  ❚ ❋✏

FE88, CAN bus error in steering

The LAS module continually sends telegrams to the steering. These telegrams are
counted in the steering unit by a counter. If the steering unit detects that one of these
telegrams is missing (the counter is not increased within a certain period of time), this
error is issued.
The brake closes, travel is blocked.
Check that the CAN bus 1 wiring and bus terminal are correct (see "CAN bus, Bus
structure CAN 1"). If the CAN bus is OK, the steering unit must be replaced.

FE89, EEPROM error in steering

The data in the steering unit has changed or is damaged. An attempt can be made to
rectify this error by completely re-commissioning the steering (see "Service software"). If
this still does not help, replace the steering unit.

Issue: 05/04 Workshop Sheet no.

Replaces issue: Manual
XR-AC ✙
39- 17
 Chapter 39 Error codes

Description of errors

FE90, Internal LAS CPU error

Internal fault in the LAS module. The two processors are no longer able to exchange data
correctly. Travel and the hydraulic functions are blocked. The brake does not open.
Replace the LAS module.

FE91, Checksum error in EEPROM parameters

The stored axis parameters have changed. Correct operation of the axes is no longer
guaranteed.
The speed of the main lift lifting function is limited to 50 % and the speed of all other
functions is limited to 75 %.
Check the parameters. If necessary, re-set and store them.
If this error occurs frequently, replace the LAS module.
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

FE 94, Steering momoent too low

If the steering detects that current is flowing through the steering motor but the internal
incremental encoder detects that the turning movement of the steering motor is non-
existent or too small, the steering switches off and registers this information with the LAS
module via the CAN bus 1.
The brake closes, travel is blocked. This monitoring function only takes place when the
❚  ❚ ❋✏

vehicle is travelling.
Check the steering mechanics. If the mechanical elements are OK, replace the steering
unit.

✭✬✛✗✍✂✪◗❖❘  ✂❉❚ ❈ ❋◗ ✂◗❍✂❊◗❖❖ ❑❊❈❑◗ ✍✂✪ ✵✂❉✂ ✍✂❈ ✂

As the "Master" of CAN bus 1, the LAS module continuously sends data telegrams via
the bus. If no telegram confirmation of any kind is sent back by any of the bus
participants, the LAS module resets itself and attempts to send data again.
Check that the CAN bus 1 wiring and bus terminal are correct (please see "CAN bus, Bus
structure CAN 1"). If the CAN bus is OK, the LAS module must be replaced.

Remark: This error code cannot be shown on the display because communication has
broken down. It can, however, be read out of the error memory of the LAS
module with the service software (please see "Service software").

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: 02/02 Manual
XR-AC ✚
39- 18
 Chapter 39 Error codes

Description of errors

FE97, Complete CAN bus 1 communication breakdown

As the "Master" of CAN bus 1, the LAS module continuously sends telegrams via the
bus. If no telegram confirmation of any kind is sent back by participants in the bus
system, the LAS module resets itself and attempts to send data again.
If this is not succesful, bus operation is switched off completely. Absolutely no vehicle
functions are then possible.
Check that the CAN bus 1 wiring and bus terminal are correct (see "CAN bus, Bus
structure CAN 1"). If the CAN bus is OK, the LAS module must be replaced.

Remark: This error code cannot be shown on the display since communication has
broken down. It can, however, be read out of the error memory of the LAS
module with the service software (see "Service software").
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂✪◗❘❚❑ ❏

FE99, Steering does not register "Steering active"

The LAS module sends the information that the "vehicle is travelling" to the steering via
CAN bus 1. This message must be confirmed by the steering with the response "Steering
active".
If this does not take place, the system registers this as a fault in the steering. The brake
closes and travel is blocked.
Check the steering system (also react to error codes FE80-89 if they are also issued). If
❚  ❚ ❋✏

everything else is OK, replace the steering unit.

Issue: 10/02
05/04 Workshop Sheet no.
Replaces issue: 02/02 Manual
XR-AC ✛
39- 19
 ✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✮ ❚❈
✰ ✂◗❚❋ ❚✂◗✂❚❈ ❍ ❚✂❋❈❈✑❘❚◗ ❚❈❖✂◗✂❏ ✂✪ ✵✂❉
❖◗❋ ✍✂❏❑❊❏✂❈❚ ✂❏ ✂❚❈ ✑❘❖❘✂❊◗ ❚◗ ❚✂✡✭✷✺☛✍
◗❈❋✂❏❈ ❋ ❑ ✂❊◗ ❚◗ ✂✡✳ ✺☛✂❈ ❋✂ ❊❚❑❊❈ ✂ ❚❑
✡✬✳✲☛✍✂◗✂ ❋✂❏ ✂❍◗ ◗❑ ✂ ❙❑❘❖ ✜✂❈✂✪ ✵✎✷✪
❑  ❚❍❈❊ ✂❈❋❈❘ ❚✂✡❋◗ ☛✂✡ ☛✍✂❈✂❘ ❊❑❈ ✂❈❋❈❘ ❚✂❊❈❉
✡✔☛✂❈ ❋✂❏ ✂ ✾✰✵✭✳ ✺✯ ✂◗❍❈❚ ✂✽ ✏✒✘✂◗❚✂✽ ✏
❈ ❋✂❏❑ ❏ ❚✏

✪ ✵✎✷✪✂✰  ❚❍❈❊ ✰❋✏✂ ◗✏✂✾✚✂✖✒✛✂✗✗✒

❋❈❘ ❚✂❊❈❉ ✰❋✏✂ ◗✏✂✾✚✂✕✛✔✂✖✗✔ ✑✒✕✙✚

✔
✻❏ ✂ ◗ ❉◗◗ ✂❖✂❍❑❚✂❉ ✂❊◗ ❊ ❋✂◗✂❏ ✂ ❏❑❊
❑❈✂❏ ✂❋◗ ✂❈ ❋✂❏ ✂❈❋❈❘ ❚✂❊❈❉ ✏
✻❏ ✂❋❑❈ ◗❑✂❑  ❚❍❈❊ ✂✡✕☛✂❑✂❉ ❏❑ ❋✂❏ ✂❋❚❑ ❚✠✂ ❈✏
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

✾❏ ✂❏ ✂ ✾✰✵✭✳ ✺✯ ✂◗❍❈❚ ✂❑✂❈❚ ❋✍✂❘❚ ✎

❋ ❍❑ ❋✂❊◗ ❍❑ ❚❈❑◗ ✂❊❈ ✂❉ ✂ ❋✂◗✂❚❈ ❍ ❚✂❈✂❍❑ ✂◗
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

❏ ✂❚ ❈ ✂✪ ✵✂❉✂❖◗❋ ✏
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✹ ❖❈❚ ✜ ✰✂❑✂❑❖❘◗❚❈ ✂❏ ✂◗❚ ❑ ✂❑❏✂❏

✾✰✵✭✳ ✺✯ ✂◗❍❈❚ ✂ ◗✂◗✂❈  ❚✂❏ ✂❘❚ ✎
❋ ❍❑ ❋✂❊◗ ❍❑ ❚❈❑◗ ✍✂◗✂❏❈✂❑ ❊◗❚❚ ❊
◗❘ ❚❈❑◗ ✂❊❈ ✂❉ ✂❘❚ ❊ ❋ ❋✏

✔✒✒✗✙

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎✒
 ✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯

✩ ◗❊ ✂❋❑❈ ❚❈❖

✳◗❈❋✂❏❈ ❋ ❑ ✂❊◗ ❚◗ 

✚✼✘ ✂✡✳ ✺☛
✳◗❊❈ ✂✰✫✂✕✒

✺◗❍❈❚ ✜✂ ✂✳❈✭❖❑✿✿✿✏❏ 
✫❑❈ ◗❑✂❑  ❚❍❈❊
✡❉ ❏❑ ❋✂❏ ✂❋❚❑ ❚✠
 ❈☛
✪ ✵✂❉

✬ ❊❚❑❊❈ ✂ ❚❑
✕✴ ✂✡✬✳✲☛
✳◗❊❈ ✂✰✫✂✒✚
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

✺◗❍❈❚ ✜✂ ✂✬ ✿✿✿❋ ✏❉❑

❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✪ ✵✂❉

✻❚❈ ✑❘❖❘✂❊◗ ❚◗ ❚

✒✂✡✭✷✺☛
✳◗❊❈ ✂✰✫✂ ✒✂

✂✂✂✂✂✂✂✂✺◗❍❈❚ ✜ ✂✭❘❚✿✿✿✏❉❑
✂✭❘ ✿✿✿✏❉❑

✹ ❖❈❚ ✜ ✻❏ ✂  ❚✂ ✿✿✿ ✂❑ ✂❏ ✂◗❍❈❚ ✂ ❈❖ ✂❈ ❋✂❍◗❚✂❏ ✂❚ ❈ ✂◗❍❈❚ ✂ ❚❑◗ ✍

✏ ✏✂ ✭❘❚✔✒✙✏❉❑ ✂❖ ❈ ✂◗❍❈❚ ✂ ❚❑◗ ✂✔✏✒✙✂❍◗❚✂❏ ✂❊◗ ❚◗ ✂❘❚◗❊ ◗❚✂◗❍✂❏
✭✷✺✏
✭◗❚✂❋ ❈❑ ✂❈❉◗✂❏ ✂◗❍❈❚ ✂ ❚❑◗ ✂❍◗❚✂❏ ✂❋❑❍❍ ❚ ✂❊◗❖❘◗ ✍✂❘ ❈ ✂
❏ ✂❚ ❈ ✂❊❏❈❘ ❚✂◗ ✂ ❈❊❏✂❊◗❖❘◗ ✂ ❋ ❚✂❏ ✂❏ ❈❋❑ ✂ ✺◗❍❈❚ ✂ ❚❑◗  ✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎✒✔
 ✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘

✫ ❊❚❑❘❑◗
✾❏ ✂❏ ✂ ✾✰✵✭✳ ✺✯ ✂◗❍❈❚ ✂❑✂❈❚ ❋✍✂❏
❑ ❋◗✂❏◗ ✂◗✂❏ ✂❚❑ ❏✂❈❘❘ ❈❚✏
✬✿✰✻ ✂❉◗ ✂✡ ☛
✾❏ ✂❏❑✂❉◗ ✂❑✂ ❊ ❋✍✂❏ ✂ ✾✰✵✭✳ ✺✯
❘❚◗ ❚❈❖✂❑✂❊ ◗ ❋✏
✹ ❖❈❚ ✜ ✾❏ ✂❏ ✂❘❚◗ ❚❈❖✂❑✂❊ ◗ ❋✂❑❏✂❏
✬✿✰✻ ❉◗ ✍✂❏ ✂ ❈✂ ❑ ✂❖❈❋ ✂❑
◗❚ ❋✏✂✾❏ ✂❏ ✂❘❚◗ ❚❈❖✂❑✂◗❘ ❋
✿✹✎ ✪❆✭✷✺✔✎✼✬

❈ ❈❑ ✍✂❏ ✂ ✾✰✵✭✳ ✺✯ ✂◗❍❈❚ ✂❑

❈❚ ❋✂❑❏✂❏❑✂◗❚ ❋✂ ❑ ✏
✺ ❈❚❊❏✂✳◗❊❈ ✂✰✫ ✂❉◗ ✂✡✔☛
✻❏❑✂❉◗ ✂❊❈ ✂❉ ✂ ❋✂◗✂❊❏ ❊ ✂❏❑❊❏✂✪ ✵✂❉
❖◗❋ ✂❈❚ ✂❊◗ ❊ ❋✂◗✂❏ ✂✪ ✵✂❉✂❈✂❏❑❊❏
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

❈❋❋❚ ✂✡✳◗❊❈ ✂✰✫☛✍✂❘ ❈ ✂❈ ◗✂ ✂ ✩ ◗❊ ✕✒✔✕✚

❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

❋❑❈ ❚❈❖ ✏
✕ ✔ ✗ ✖
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✹ ❖❈❚ ✜ ✻❏ ✂ ✺ ❈❚❊❏✂✳◗❊❈ ✂✰✫ ✂❍ ❊❑◗ ✂✡✔☛✂❑✂ ◗

❈❈❑ ❈❉ ✂◗ ✂❏❑✂ ❏❑❊ ✍✂❑✏ ✏✂❏ ✂❏❑
❍ ❊❑◗ ✂❑✂ ❊ ❋✍✂❏ ✂❖ ❈ ✂ ✻❚
✵◗❋ ✡☛✂✶ ✄ ✂❋◗ ✂❈❘❘ ❈❚✂❑ ✂❏ ✂ 
❑ ❋◗✂✡✕☛✂❉✂❏ ✂❖ ❈ ✂ ✵◗✂ ◗❋ 
❍◗ ❋ ✂❈ ❈✂❈❘❘ ❈❚✂❏◗❚ ✂❈❍ ❚❈❚❋✍
❏ ❏ ❚✂❏ ✂ ❏❑❊ ✂❑✂❑❊❏ ❋✂✶✭✭✑✶✵
◗❚✂ ◗✏
✺✾✂✯ ✂✫◗ ◗❈❋ ✂❉◗ ✂✡✖☛
✻❏ ✂ ✺✾✂✯ ✂✫◗ ◗❈❋ ✂❍ ❊❑◗ ✂❑✂ ◗✂ ❋ ❋
◗❚✂❘❘◗❚ ❋✂❑ ✂❏❑✂ ❏❑❊ ✏
✹ ❈❋✂❍❚◗❖✂✵◗❋ ✂◗✂✭❑ ✂❉◗ ✂✡✗☛
✻❏ ✂ ✹ ❈❋✂❍❚◗❖✂✵◗❋ ✂◗✂✭❑ ✂❍ ❊❑◗ ✂❑✂ ◗
❋ ❋✂◗❚✂❘❘◗❚ ❋✂❑ ✂❏❑✂ ❏❑❊ ✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎✒✕
 ✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘ ✕

✫ ❊❚❑❘❑◗

✪◗ ❍❑ ❚❈❑◗ ✂✡ ☛
✾❏ ✂❏ ✂❈❚❚◗✂✡✔☛✂ ❋ ❚✂ ✪◗ ❍❑ ❚❈❑◗ ✂❑
 ❊ ❋✍✂❈✂ ❊❑◗ ✂❑ ❋◗✂❑❏✂❘❚ ✎❋ ❍❑ ❋
❊◗ ❍❑ ❚❈❑◗ ✂◗❘ ✏✂✾❏ ✂◗ ✂◗❍✂❏ 
❊◗ ❍❑ ❚❈❑◗ ✂❑✂ ❊ ❋✍✂❑✂❑✂❈❋◗❘ ❋✏✂✻❏
❊◗  ✂◗❍✂❏ ✂❊◗ ❍❑ ❚❈❑◗ ✂❋  ❚❖❑ ✂❏❑❊❏✂❍❑
❏◗ ❋✂❉ ✂❚❈ ❍ ❚❚ ❋✂◗✂❏❑❊❏✂✪ ✵✂❉✂❖◗❋ ✜
✎ ✿✹✎ ✪❆✭✷✺✔✎✺✹ ✿✹✎ ✪❆✭✷✺✔✎✺✹
✺◗❍❈❚ ✂❍◗❚✂❏ ✂❊◗ ❚◗ ✂❘❚◗❊ ◗❚✂◗❍✂❏ ✂❚❈ ✫✼ ✳

❈ ❋✂❘❖❘✂❊◗ ❚◗ ❚✂✡✭✷✺☛✏✂✾❏ ✂❏❑✂◗❍❈❚ ✂❑ ✿✹✎ ✪❆✭✷✺✔✎✺✹

❈❊❑❈ ❋✍✂❏ ✂❍❑ ✂❏❈✂❑✂❋❑❘ ❈ ❋✂❈❉◗ ✂❏

✿✹✎ ✪❆✭✷✺✔✎✼✬
✿✹✎ ✪❆✳ ✺
✿✹✎ ✪❆✬✳✲
❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂✡✕☛✂❑✂❚❈ ❍ ❚❚ ❋✂◗✂❏ ✂✭✷✺
✡❘ ❈ ✂ ✂ ✭✷✺✍✂✺◗❍❈❚ ✂ ❚❑◗  ☛
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

✕✒✔✕✛
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

✎ ✿✹✎ ✪❆✭✷✺✔✎✼✬
✺◗❍❈❚ ✂❍◗❚✂❏ ✂❖◗ ❑◗❚❑ ✂❘❚◗❊ ◗❚✂◗❍✂❏ ✔
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

❚❈ ✂❈ ❋✂❘❖❘✂❊◗ ❚◗ ❚✂✡✭✷✺☛✏✂✾❏ ✂❏❑

◗❍❈❚ ✂❑✂❈❊❑❈ ❋✍✂❏ ✂❍❑ ✂❏❈✂❑✂❋❑❘ ❈ ❋
❈❉◗ ✂❏ ✂❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂✡✕☛✂❑✂❚❈ ❍ ❚❚ ❋
◗✂❏ ✂✭✷✺✂✡❘ ❈ ✂ ✂ ✭✷✺✍✂✺◗❍❈❚
 ❚❑◗  ☛

✎ ✿✹✎ ✪❆✳ ✺
✺◗❍❈❚ ✂❍◗❚✂❏ ✂✳ ✺✂✡ ◗❈❋✂❏❈ ❋ ❑ ✂❊◗ ❚◗ ☛
❖◗❋ ✏✂✾❏ ✂❏❑✂◗❍❈❚ ✂❑✂❈❊❑❈ ❋✍✂❏ ✂❍❑
❏❈✂❑✂❋❑❘ ❈ ❋✂❈❉◗ ✂❏ ✂❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗
✡✕☛✂❑✂❚❈ ❍ ❚❚ ❋✂◗✂❏ ✂✳ ✺✂❖◗❋ ✂✡❘ ❈ ✂
✳ ✺✂❖◗❋ ✍✂✺◗❍❈❚ ✂ ❚❑◗  ☛✏

✵◗ ✜ ✾❏ ✂❏ ✂✳ ✺✂❖◗❋ ✂❑✂❘❋❈ ❋✂

❑❏✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚ ✍✂❏❑✂❑
❊❏❈ ❋✂◗✂❏ ✂ ✂❈ ✏✂✭◗❚✂❏❑
❚ ❈◗ ✍✂❈ ✂❏ ✂❘❈❚❈❖  ❚✂❉ ❍◗❚ ✎
❏❈ ❋✂❈ ❋✂❏ ✂❊❈❚❚✂◗✂❏ ✂ ❈❊❏❑ ✎
❑ ✂◗❍✂❏ ✂✖✎  ❚✂ ❖✂✡❘ ❈ ✂ ✂
✺ ❚❑❊ ✂◗❍❈❚ ☛✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎✒✖
 ✲❈❘❑ ✂✖✒
✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘ ✕

✫ ❊❚❑❘❑◗

✪◗ ❍❑ ❚❈❑◗ ✂✡ ☛
✎ ✿✹✎ ✪❆✬✳✲
✺◗❍❈❚ ✂❍◗❚✂❏ ✂ ❊❚❑❊❈ ✂ ❚❑ ✂✡✬✳✲☛✏✂✾❏
❏❑✂◗❍❈❚ ✂❑✂❈❊❑❈ ❋✍✂❏ ✂❍❑ ✂❏❈✂❑
❋❑❘ ❈ ❋✂❈❉◗ ✂❏ ✂❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂✡✕☛✂❑
❚❈ ❍ ❚❚ ❋✂◗✂❏ ✂✬✳✲✂✡❘ ❈ ✂ ✂ ✺ ❚❑ ✍
✺◗❍❈❚ ✂ ❚❑◗  ☛
✎ ✬✴✷✻❀ ✗ ✿✹✎ ✪❆✭✷✺✔✎✺✹

✬✴✷✻❀ ✗ ✂❑✂❈✂❘ ❈❊ ✂❏◗ ❋ ❚✂❍◗❚✂❍❚

❊◗ ❍❑ ❚❈❑◗ ✏✂ ✿✹✎
✿✹✎
✪❆✭✷✺✔✎✺✹
✪❆✭✷✺✔✎✼✬
✿✹✎ ✪❆✳ ✺
✿✹✎ ✪❆✬✳✲
✰ ✂❈❋❋❑❑◗ ✂◗✂❏ ✂❊◗ ❍❑ ❚❈❑◗ ✂ ❑ ❋✂❏ ❚ ✍✂❏ ❚
❈❚ ✂❖◗❚ ✂❍◗❚✂❈❋❋❑❑◗ ❈ ✂ ❏❑❊ ✏✂✭◗❚✂❍❚❏ ❚✂❑ ❍◗❚✎
❖❈❑◗ ✍✂❘ ❈ ✂ ✂❏ ✂❚ ❈ ✂◗❚ ❏◗❘✂❖❈ ❈ ✏
❊❏ ✏✂✱ ❋ ✂✭◗❚❖✂❋❈❚
❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈

✕✒✔✕✛
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

✭ ❈❏✂❑❏✂ ◗❊❈ ✂✰✫ ✂❉◗ ✂✡✖☛

✾❏ ✂❏❑✂❉◗ ✂❑✂ ❊ ❋✍✂❏ ✂✯✬✿✂❍❑ ✂✡✕☛ ✔
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

❋❑❘ ❈ ❋✂❈❉◗ ✂❏ ✂❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂❑

❚❈ ❍ ❚❚ ❋✂◗✂❏ ✂✪ ✵✂❉✂❖◗❋ ✂❖❈❚ ❋✂ ❋ ❚
✪◗ ❍❑ ❚❈❑◗ ✂✡ ☛✏
✻❏❑✂❍ ❊❑◗ ✂❑✂ ❋ ❋✂❍◗❚✂❏ ✂✳ ✺✂❖◗❋ ✏
❊❏ ❑❊❏✂
❉ ❚❚❏✂❘❚◗

✺✾✂✩❑ ✂✫◗ ◗❈❋ ✂❉◗ ✂✡✗☛

✾❏ ✂❏❑✂❉◗ ✂❑✂ ❊ ❋✍✂❏ ✂✩✰✵✂❍❑ ✂✡✕☛
✪◗❘❚❑

❋❑❘ ❈ ❋✂❈❉◗ ✂❏ ✂❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂❑

✼❚❏

❚❈ ❍ ❚❚ ❋✂◗✂❏ ✂✪ ✵✂❉✂❖◗❋ ✂❖❈❚ ❋✂ ❋ ❚

✪◗ ❍❑ ❚❈❑◗ ✂✡ ☛✏
✻❏❑✂❍ ❊❑◗ ✂❑✂ ❋ ❋✂❍◗❚✂❏ ✂✭✷✺✂❈ ❋✂❏ ✂✬✳✲✏
✰ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂✡✘☛
✻❏ ✂❈❊❑❑❑ ✂❈ ❋✂❊◗❖❖❈ ❋✂❏❈✂❈❚ ✂❊❚❚  
❉ ❑ ✂❊❈❚❚❑ ❋✂◗✂❈❚ ✂❏◗ ✂❑ ✂❏ ✂❑ ❍◗❚❖❈❑◗
❑ ❋◗✍✂❖❈❑ ✂❋❚❑ ✂❋❈❈✂❚❈ ❖❑❑◗ ✏ ✿✹✎ ✪❆✭✷✺✔✎✺✹

✕✒✔✕✚

✘ ✖ ✗

✰
✰ ✜✜ ✒✘✑✒✕
✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏
✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✭✴✎✰✂✻❘
✿✹✎ ✪ ✖✒✎✒✖
✖✒✎✒✗
 ✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘ ✗

✫ ❊❚❑❘❑◗

✺ ❊ ✂❉◗ ✂✡ ☛
✾❏ ✂❏❑✂❉◗ ✂❑✂ ❊ ❋✍✂❈✂❑ ❋◗✂✡✔☛
❈❘❘ ❈❚✂❑❏✂❈✂ ❊❑◗ ✂◗❍✂❍❑ ✏
✾❏❑❊❏✂❍❑ ✂❈❚ ✂❋❑❘ ❈ ❋✂❋ ❘ ❋✂◗ ✂❏ ✂❊❏◗❑❊
❖❈❋ ✂ ❋ ❚✂ ✪◗ ❍❑ ❚❈❑◗ ✂✡✕☛✜
✎ ✰❍✂ ✿✹✎ ✪❆✭✷✺✔✎✺✹ ✂❈✂ ❊ ❋✍✂❏ ✂❍❑ 
❋❑❘ ❈ ❋✂❈❚ ✜ ✿✹✎ ✪❆✭✷✺✔✎✺✹

✭❘❚✿✿✿✏❉❑
✎ ✰❍✂ ✿✹✎ ✪❆✭✷✺✔✎✼✬ ✂❈✂ ❊ ❋✍✂❏ ✂❍❑ 
❋❑❘ ❈ ❋✂❈❚ ✜
✭❘ ✿✿✿✏❉❑
✎ ✰❍✂ ✿✹✎ ✪❆✳ ✺ ✂❈✂ ❊ ❋✍✂❏ ✂❍❑ 
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

❋❑❘ ❈ ❋✂❈❚ ✜ ✕✒✔✕✚

❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

✳❈✭❖❑✿✿✿✏❏ 
✕
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✎ ✰❍✂ ✿✹✎ ✪❆✬✳✲ ✂❈✂ ❊ ❋✍✂❏ ✂❍❑ 

❋❑❘ ❈ ❋✂❈❚ ✜
✬ ✿✿✿❋ ✏❉❑
✹ ❖❈❚ ✜ ✿✿✿ ✂❑ ✂❏ ✂❍❑ ✂ ❈❖ ✂❑✂❈✂❘ ❈❊ ✂❏◗ ❋ ❚
❍◗❚✂❏ ✂ ❚❑◗ ✂ ❖❉ ❚✏
✰❖❘◗❚❈ ✜
✻❏ ✂❍❑ ✂❊❏◗ ✂ ❋ ❚✂ ✺ ❊ ✂❑✂❚❈ ❍ ❚✎
❚ ❋✂◗✂❏ ✂✪ ✵✂❉✂❖◗❋ ✂❊❏◗ ✂ ❋ ❚
✪◗ ❍❑ ❚❈❑◗ ✂✡✕☛✏
✴❈❚ ✂❏ ✂❚ ❈ ✂❍❑ ✂❑❏✂❈✂❊ ❑❊ ✂◗❍✂❏ ✂❖◗ ✂❈ ❋
❈❊❑❈ ✂❑❏✂❏ ✂ ✶❘ ✂❉◗ ✂✡✖☛✏✂✻❏ ✂❍❑ ✂❍◗❚
❋◗ ◗❈❋❑ ✂❑✂ ◗✂ ❊ ❋✂❉✂ ◗✂ ✂❚❈ ❍ ❚❚ ❋
◗✂❏ ✂❚ ❈ ✂❊◗❖❘◗ ✄
✽❑  ✂❉◗ ✂✡✗☛ ✕✒✔✖✒

✾❏ ✂❏❑✂❉◗ ✂❑✂ ❊ ❋✍✂❏ ✂❋❈❈✂❊◗  ✂◗❍

❏ ✂ ❊ ❋✂❋❈❈✂❈❚ ✂❋❑❘ ❈ ❋✏✂✻❏❑✂❑✂ ◗✂◗❍✂❈  ✔ ✖
❑❖❘◗❚❈ ❊ ✂❍◗❚✂ ❚❑❊ ✂❘❚❘◗ ✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎✒✘
 ✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘
✔

✺ ❑ ✂❘✂❈✂❊◗ ❊❑◗ ✂❑❏✂❏ ✂ ❏❑❊

✺❑❊❏✂◗❍❍✂❏ ✂ ❏❑❊ ✂❈ ❋✂ ◗ ❉◗◗

✷❏✂❏ ✂✪ ✵✎✷✪✂❑  ❚❍❈❊ ✂❈❋❈❘ ❚✂✡❋◗ ☛✂❑ ◗
❏ ✂❘❈❚❈ ✂❘❚❑  ❚✂❑  ❚❍❈❊ ✂◗ ✂❏ ✂ ◗ ❉◗◗ ✂✡ ☛
✷❏✂❏ ✂❋◗ ✂❊❈❉ ✂❑ ◗✂❏ ✂✼✺✩✂❑  ❚❍❈❊ ✂◗
❏ ✂ ◗ ❉◗◗ ✂✡✔☛
✹ ❖❈❚ ✜ ✻❏ ✂❋◗ ✂❚ ❊ ❑ ✂❑✂❘❘ ✂◗ ❈ ✂❑❈
❏ ✂✼✺✩✂❑  ❚❍❈❊ ✏
✪◗ ❊✂❏ ✂❈❋❈❘ ❚✂❊❈❉ ✂◗✂❏ ✂❋◗ ✂✡✕☛✂❈ ✑✒✕✙✛

◗ ✂ ❋✂❈ ❋✂◗✂❏ ✂❋❑❈ ◗❑✂❑  ❚❍❈❊ ✂✡✗☛✂◗ ✂❏ ✕ ✖

 ❏❑❊ ✂❈✂❏ ✂◗❏ ❚✂ ❋✂✡✖☛
✹ ❖❈❚ ✜ ✻❏ ✂❋❑❈ ◗❑✂❑  ❚❍❈❊ ✂❑✂❉ ❏❑ ❋✂❏
❋❚❑ ❚✠✂ ❈✂❑ ✂❏ ✂❍❚◗ ✂❊◗❚ ❚✏
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

✺❑❊❏✂◗ ✂❏ ✂ ◗ ❉◗◗

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✺❑❊❏✂◗ ✂❏ ✂ ❏❑❊

✺❈❚✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚

✔✒✒✗✙

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎✒✙
 ✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘ ✔ ✕

✫◗ ◗❈❋❑ ✂❏ ✂✭✷✺✂◗❍❈❚

✻❏ ✂✭✷✺✂❊◗ ❑✂◗❍✂◗✂◗❍❈❚ ✂❊◗❖❘◗ ✏✂✻❏

◗❍❈❚ ✂❍◗❚✂❏ ✂❊◗ ❚◗ ✂❘❚◗❊ ◗❚✂✡✺✹☛✂❈ ❋✂❍◗❚✂❏
❖◗ ❑◗❚❑ ✂❘❚◗❊ ◗❚✂✡✼✬☛✏✂ ❊❊◗❚❋❑ ✍✂ ❑❏ ❚✂ ✿✹✎
✪❆✭✷✺✔✎✺✹ ✂✡❊◗ ❚◗ ✂❘❚◗❊ ◗❚☛✂◗❚✂ ✿✹✎ ✪❆✭✷✺✔✎
✼✬ ✂✡❖◗ ❑◗❚❑ ✂❘❚◗❊ ◗❚☛✂❖✂❉ ✂ ❊ ❋✂ ❋ ❚
✪◗ ❍❑ ❚❈❑◗ ✂✡ ☛✂✏
✰ ✂❏ ✂ ✪◗ ❍❑ ❚❈❑◗ ✂ ❊❑◗ ✂❑ ❋◗✂✡ ☛✍
✿✹✎ ✪❆✭✷✺✔✎✼✬
 ❊✂❏ ✂❚ ❈ ✂◗❍❈❚ ✂✑✂❊◗❖❘◗ 
✪❏ ❊ ✂❏❈✂❏ ✂❍❑ ✂✡✔☛✂❏❈✂❑✂◗✂❉ ✂❚❈ ❍ ❚❚ ❋✂❑ ◗
❏ ✂✭✷✺✂❑✂❏ ✂❚❑ ❏✂◗ ✂✡❑ ✂❏ ✂ ❈❖❘ ✍✂❏ ✂❍❑
❍◗❚✂❏ ✂❖◗ ❑◗❚❑ ✂❘❚◗❊ ◗❚✂◗❍✂❏ ✂✭✷✺✂ ❚❑◗
✔✏✒✕✂❑✂ ❊ ❋☛
✹ ❖❈❚ ✜ ✰❍✂❏ ✂❍❑ ✂❑✂ ◗✂❏ ✂❚❑ ❏✂◗ ✍✂ ✂❏
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

✕✒✔✕✛

✺ ❊ ✂❉◗ ✂✡✕☛✂◗✂❊❏◗◗ ✂❏ ✂❚❑ ❏✂❍❑

❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

✖
❍◗❚✂❏ ✂❘❋❈ ✂✡ ✂ ✾❑ ❍ ❈❏✍✂✫ ❊❚❑❘❑◗ ☛
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✗
✬ ❚ ✂❏❈✂❏ ✂ ❏❑❊ ✂❑✂❑❊❏ ❋✂◗
✺ ❊✂❏ ✂ ✺✾✂✩❑ ✂✫◗ ◗❈❋ ✂❉◗ ✂✡✖☛
✻❏ ✂❋◗ ◗❈❋❑ ✂❘❚◗❊ ✂❑✂❚ ❊◗❚❋ ❋✂❑ ✂❏
❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂✡✗☛✜
✷❚ ❘❈❚❑ ✂✫◗ ◗❈❋
✬❚❈❑ ✂✭ ❈❏✂✤✂❏ ✂❖ ❖◗❚✂❑ ✂❏ ✂✭✷✺✂❑✂❋  ❋
✾❚❑❑ ✂✤✂◗❍❈❚ ✂❑✂❉ ❑ ✂❚❑ ✂❑ ◗✂❏ ✂❖ ❖◗❚
✂✡❑❏✂❑ ❍◗❚❖❈❑◗ ✂❈❉◗✂❚❈ ❍ ❚✂❚❈ ☛
✺❈❚❑ ✂❈❘❘ ❑❊❈❑◗ ✂✤✂❚ ❈❚✂◗❍✂✭✷✺
✭ ❈❏❑ ✂❍❑ ❑❏ ❋✂✤✂❋◗ ◗❈❋✂❊❊ ❍ 
✿✹✎ ✪❆✭✷✺✔✎✺✹
❊◗❖❘  ❋
✹ ❖❈❚ ✜ ✰❍✂❏ ✂❈❚✂◗❍✂❚❈ ❖❑❑◗ ✂❏❈✂ ◗✂◗❚ ❋
❘❚◗❘ ❚ ✍✂❏ ✂❍◗ ◗❑ ✂❖ ❈ ✂❈❘❘ ❈❚✂❑
❏ ✂❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✜
✷❚ ❘❈❚❑ ✂❋◗ ◗❈❋✏✏✏
✬❚❚◗❚✜✂✮ ✶❘ ❚❈❑ ✴◗❋ ✂✄ ✏ ✕✒✔✖
✪❏ ❊ ✂❈ ✂❏ ✂❊◗ ❊❑◗ ✂❈ ❋✂❏❈✂❏
 ❏❑❊ ✂❑✂❑❊❏ ❋✂◗ ✏✂✹ ❈❚✂❏ ✂❘❚◗❊ ✏
✺❑❊❏✂❏ ✂ ❏❑❊ ✂◗❍❍✂❈ ❋✂❏ ✂◗ ✂❈ ❈❑
✼ ✂❏ ✂◗ ❉◗❈❚❋✂❋❑❈ ◗❑✂◗✂❊❏ ❊ ✂❏ ✂ 
◗❍❈❚ ✂ ❚❑◗ ✂✡❘ ❈ ✂ ✂ ✫❑❘ ❈✍✂✶ ❉◗❈❚❋
✫❑❈ ◗❑✍✂✴ ✂✗ ☛✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎✒✚
 ✲❈❘❑ ✂✖✒
✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘ ✔ ✕

✫◗ ◗❈❋❑ ✂❏ ✂ ❚❑ ✂◗❍❈❚

✹ ❖❈❚ ✜ ✫◗ ◗❈❋❑ ✂◗✂❏ ✂ ❚❑ ✂✡✬✳✲☛✂❑✂◗ 

❘◗❑❉ ✂❍◗❚✂❏ ✂❖❈❑ ✂❘❚◗❊ ◗❚✏✂✻◗✂❘❋❈
❏ ✂❖◗ ❑◗❚❑ ✂❘❚◗❊ ◗❚✍✂❏ ✂ ❑❚
 ❚❑ ✂ ❑✂❖✂❉ ✂❚ ❘ ❈❊ ❋✂✡❘ ❈ ✂
✺ ❚❑ ✍✂✺◗❍❈❚ ✂ ❚❑◗  ☛✏
✰ ✂❏ ✂ ✪◗ ❍❑ ❚❈❑◗ ✂ ❊❑◗ ✂❑ ❋◗✂✡ ☛✍
 ❊✂❏ ✂ ✿✹✎ ✪❆✬✳✲ ✂❊◗❖❘◗ 
✿✹✎ ✪❆✬✳✲

✪❏ ❊ ✂❏❈✂❏ ✂❍❑ ✂✡✔☛✂❏❈✂❑✂◗✂❉ ✂❚❈ ❍ ❚❚ ❋✂❑ ◗

❏ ✂✬✳✲✂❑✂❏ ✂❚❑ ❏✂◗ ✂✡❑ ✂❏ ✂ ❈❖❘ ✍✂❏ ✂❍❑
 ❚❑◗ ✂✖✏ ✘✂❑✂ ❊ ❋☛
✹ ❖❈❚ ✜ ✰❍✂❏ ✂❍❑ ✂❑✂ ◗✂❏ ✂❚❑ ❏✂◗ ✍✂ ✂❏
✺ ❊ ✂❉◗ ✂✡✕☛✂◗✂❊❏◗◗ ✂❏ ✂❚❑ ❏✂❍❑
❍◗❚✂❏ ✂❘❋❈ ✂✡ ✂ ✾❑ ❍ ❈❏✍✂✫ ❊❚❑❘❑◗ ☛
❊❏ ✏✂✱ ❋ ✂✭◗❚❖✂❋❈❚

✕✒✔✖✔
❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

✬ ❚ ✂❏❈✂❏ ✂ ❏❑❊ ✂❑✂❑❊❏ ❋✂◗ ✖

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✺ ❊✂❏ ✂ ✺✾✂✩❑ ✂✫◗ ◗❈❋ ✂❉◗ ✂✡✖☛ ✗

✻❏ ✂❋◗ ◗❈❋❑ ✂❘❚◗❊ ✂❑✂❚ ❊◗❚❋ ❋✂❑ ✂❏
❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂✡✗☛✜
❊❏ ❑❊❏✂

✷❚ ❘❈❚❑ ✂✫◗ ◗❈❋

❉ ❚❚❏✂❘❚◗

✬❚❈❑ ✂✭ ❈❏✂✤✂❏ ✂❖ ❖◗❚✂❑ ✂❏ ✂✬✳✲✂❑✂❋  ❋

✪◗❘❚❑

✾❚❑❑ ✂✤✂◗❍❈❚ ✂❑✂❉ ❑ ✂❚❑ ✂❑ ◗✂❏ ✂❖ ❖◗❚

✼❚❏

✂✡❑❏✂❑ ❍◗❚❖❈❑◗ ✂❈❉◗✂❚❈ ❍ ❚✂❚❈ ☛

✺❈❚❑ ✂❈❘❘ ❑❊❈❑◗ ✂✤✂❚ ❈❚✂◗❍✂✬✳✲
✭ ❈❏❑ ✂❍❑ ❑❏ ❋✂✤✂❋◗ ◗❈❋✂❊❊ ❍ 
❊◗❖❘  ❋
✹ ❖❈❚ ✜ ✰❍✂❏ ✂❈❚✂◗❍✂❚❈ ❖❑❑◗ ✂❏❈✂ ◗✂◗❚ ❋ ✿✹✎ ✪❆✬✳✲

❘❚◗❘ ❚ ✍✂❏ ✂❍◗ ◗❑ ✂❖ ❈ ✂❈❘❘ ❈❚✂❑

❏ ✂❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✜
✷❚ ❘❈❚❑ ✂❋◗ ◗❈❋✏✏✏
✬❚❚◗❚✜✂✮ ✶❘ ❚❈❑ ✴◗❋ ✂✄ ✏
✪❏ ❊ ✂❈ ✂❏ ✂❊◗ ❊❑◗ ✂❈ ❋✂❏❈✂❏
 ❏❑❊ ✂❑✂❑❊❏ ❋✂◗ ✏✂✹ ❈❚✂❏ ✂❘❚◗❊ ✏ ✕✒✔✖✕

✺❑❊❏✂❏ ✂ ❏❑❊ ✂◗❍❍✂❈ ❋✂❏ ✂◗ ✂❈ ❈❑

✼ ✂❏ ✂◗ ❉◗❈❚❋✂❋❑❈ ◗❑✂◗✂❊❏ ❊ ✂❏ ✂ 
◗❍❈❚ ✂ ❚❑◗ ✂✡❘ ❈ ✂ ✂ ✫❑❘ ❈✍✂✶ ❉◗❈❚❋
✫❑❈ ◗❑✍✂✴ ✂✗ ☛✏

✰
✰ ✜✜ ✒✘✑✒✕
✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏
✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✭✴✎✰✂✻❘
✿✹✎ ✪ ✖✒✎✒✚
✖✒✎✒✛
 ✲❈❘❑ ✂✖✒
✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘ ✔ ✕

✫◗ ◗❈❋❑ ✂❏ ✂✳ ✺✂❖◗❋ ✂◗❍❈❚

✵◗ ✜ ✼❘❋❈❑ ✂❏ ✂✳ ✺✂❖◗❋ ✂❑❏✂❏ ✂✾❑ ❍ ❈❏

◗❍❈❚ ✂❘✂❑✂❑ ✂❏ ✂ ✂❈ ✏✂✭◗❚✂❏❑
❚ ❈◗ ✍✂❈ ✂❏ ✂❘❈❚❈❖  ❚✂❍❑❚✂❈ ❋✂❏
❊❈❚❚✂◗✂ ❈❊❏❑ ✎❑ ✂◗❍✂❏ ✂✖✎  ❚✂ ❖
✡❘ ❈ ✂ ✂ ✺ ❚❑❊ ✂◗❍❈❚ ☛✏
✰ ✂❏ ✂ ✪◗ ❍❑ ❚❈❑◗ ✂ ❊❑◗ ✂❑ ❋◗✂✡ ☛✂ ❊
❏ ✂ ✿✹✎ ✪❆✳ ✺ ✂❊◗❖❘◗ 
✿✹✎ ✪❆✳ ✺

✪❏ ❊ ✂❏❈✂❏ ✂❍❑ ✂✡✔☛✂❏❈✂❑✂◗✂❉ ✂❚❈ ❍ ❚❚ ❋✂❑ ◗

❏ ✂✳ ✺✂❑✂❏ ✂❚❑ ❏✂◗ ✂✡❑ ✂❏ ✂ ❈❖❘ ✍✂❏ ✂❍❑
 ❚❑◗ ✂ ✏✔✒✂❑✂ ❊ ❋☛
✹ ❖❈❚ ✜ ✰❍✂❏ ✂❍❑ ✂❑✂ ◗✂❏ ✂❚❑ ❏✂◗ ✍✂ ✂❏
✺ ❊ ✂❉◗ ✂✡✕☛✂◗✂❊❏◗◗ ✂❏ ✂❚❑ ❏✂❍❑
❍◗❚✂❏ ✂❘❋❈ ✂✡ ✂ ✾❑ ❍ ❈❏✍✂✫ ❊❚❑❘❑◗ ☛
❊❏ ✏✂✱ ❋ ✂✭◗❚❖✂❋❈❚

✕✒✔✖✖
❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

✬ ❚ ✂❏❈✂❏ ✂ ❏❑❊ ✂❑✂❑❊❏ ❋✂◗ ✖

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✺ ❊✂❏ ✂ ✭ ❈❏✂❑❏✂✳◗❊❈ ✂✰✫ ✂❉◗ ✂✡✖☛ ✗ ✘

✻❏ ✂❋◗ ◗❈❋❑ ✂❘❚◗❊ ✂❑✂❚ ❊◗❚❋ ❋✂❑ ✂❏
❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂✡✗☛✜
❊❏ ❑❊❏✂

✄✄✄✹  ❑ ✂✵◗❋ ✄✄✄✂✤✂❖❈ ❑ ✂❊◗ ❊❑◗ ✂◗✂✳ ✺

❉ ❚❚❏✂❘❚◗

✵❖❉ ❚✂◗❍✂✭ ❈❏✂ ❊◗❚✂❋  ❊ ❋✜✂✚

✪◗❘❚❑

✺ ❊◗❚✂◗✂ ❚❈ ✂✤✂❖ ❖◗❚✂❈❚ ❈✂◗✂❋ 

✼❚❏

✬❚❈❑ ✂ ❊◗❚✂✘✂✤✂❖ ❖◗❚✂❈❚ ❈✂✘✂❉ ❑ ✂❋  ❋

✳❑ ✂✤✂❘❚◗ ❚ ✂❊◗  ❚✂◗❍✂❏ ✂❘❚◗ ❚❈❖❖❑
✫ ❑❊ ✂❋◗ ✂ ◗✂❘❘◗❚✂✪✹✪✜✂ ❑❘❘❑ ✂✤
✻❏❑✂❖ ❈ ✂❑✂ ◗✂◗❍✂❈ ✂❑❖❘◗❚❈ ❊ ✂❍◗❚✂❏❑
❊◗❖❘◗ 
✾❏ ✂❏ ✂❘❋❈❑ ✂❘❚◗❊ ✂❑✂❊◗❖❘  ✍✂❏❑✂❑
❑ ❋❑❊❈ ❋✂❑❏✂❏ ✂❖ ❈ ✂❖❈❚ ❋✂✡✘☛✏✂✻❏❑✂❖
❉ ✂❊◗ ❍❑❚❖ ❋✂❑❏✂❏ ✂❉◗ ✂❖❈❚ ❋✂✡✙☛✏

✕✒✔✖✗

✰
✰ ✜✜ ✒✘✑✒✕
✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏
✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✭✴✎✰✂✻❘
✿✹✎ ✪ ✒
✖✒✎✒✚
✖✒✎✒✛
✖✒✎
 ✲❈❘❑ ✂✖✒
✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘

✫◗ ◗❈❋❑ ✂❏ ✂✳ ✺✂❖◗❋ ✂◗❍❈❚

✹ ❖❈❚ ✜ ✰❍✂❏ ✂❈❚✂◗❍✂❚❈ ❖❑❑◗ ✂❏❈✂ ◗✂◗❚ ❋

❘❚◗❘ ❚ ✍✂❏ ✂❍◗ ◗❑ ✂❖ ❈ ✂❈❘❘ ❈❚✂❑
❏ ✂❑ ❍◗❚❖❈❑◗ ✂❑ ❋◗✂✡ ☛✜
✄✄✄✂✹  ❑ ✂✵◗❋ ✂✄✂✄✄✄
✬❚❚◗❚✂✄✄✂✳◗❊❈ ✂✰✫✂✄✄✄
✬❚❚◗❚✜✂✪◗ ❋✂ ◗✂❈ ✂❘✂ ◗❋
✪❏ ❊ ✂❈ ✂❏ ✂❊◗ ❊❑◗ ✂❈ ❋✂❏❈✂❏
 ❏❑❊ ✂❑✂❑❊❏ ❋✂◗ ✏✂✹ ❈❚✂❏ ✂❘❚◗❊ ✏
✰❍✂❏ ✂❋◗ ◗❈❋❑ ✂❘❚◗❊ ✂❈✂❊❊ ❍ ✍✂❑❊❏
❏ ✂ ❏❑❊ ✂◗❍❍✂❈ ❋✂❏ ✂◗ ✂❈ ❈❑
✼ ✂❏ ✂◗ ❉◗❈❚❋✂❋❑❈ ◗❑✂◗✂❊❏ ❊ ✂❏ ✂ 
◗❍❈❚ ✂ ❚❑◗ ✂✡❘ ❈ ✂ ✂ ✫❑❘ ❈✍✂✶ ❉◗❈❚❋
✫❑❈ ◗❑✍✂✴ ✂✗ ☛ ✕✒✔✖✗
❊❏ ✏✂✱ ❋ ✂✭◗❚❖✂❋❈❚
❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈

✂✬  ❚✂❏ ✂❘❈❚❈❖  ❚✂❑ ✂❏ ✂✳ ✺✂❖◗❋ ✂❈ ❈❑ ✂✑

❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

❚  ✂❈ ❋✂❊❈❚❚✂◗✂ ❈❊❏❑ ✎❑ ✂◗❍✂❏ ✂✖✎  ❚

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

 ❖✂✡❘ ❈ ✂ ✂ ✺ ❚❑❊ ✂◗❍❈❚ ☛

✪◗❘❚❑
✼❚❏ ❊❏ ❑❊❏✂
❉ ❚❚❏✂❘❚◗

✰
✰ ✜✜ ✒✘✑✒✕
✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏
✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✭✴✎✰✂✻❘
✿✹✎ ✪ ✒
✖✒✎✒✚
✖✒✎✒✛
✖✒✎
 ✪❏❈❘ ❚✂✖✒ ✾✰✵✭✳ ✺✯
✾❑ ❍ ❈❏✂✽ ✏✒✘

✼❘❋❈❑ ✂❘❚◗ ❚❈❖

✰❍✂❏ ✂◗❍❈❚ ✂◗❍✂◗ ✂◗❍✂❏ ✂✪ ✵✂❉✂❖◗❋ ✂✡✭✷✺✍

✬✳✲✂◗❚✂✳ ✺☛✂❑✂◗✂❉ ✂❘❋❈ ❋✍✂◗✂❑ ✂❚ ❊ ❑ ✂❏
❚ ❈ ✂❍❑ ✂◗ ✂❈✂✪✫✎✹✶✴✂◗❚✂❋❑  ✂◗❚✂❉✂ ✎❖❈❑ ✏
✂❑ ❈ ❈❑◗ ✂❚◗❑ ✂❑✂ ❋✂◗✂❊◗❘✂❏ ✂❍❑ ✂❈◗❖❈✎
❑❊❈ ✂❑ ◗✂❏ ✂❚ ❈ ✂❋❑❚ ❊◗❚✂◗ ✂❏ ✂❏❈❚❋✂❋❑ ✍✂◗❚✂❑
❖❈✂❉ ✂ ❊ ❈❚✂◗✂❊◗❘✂❑✂❖❈ ❈ ✂❑ ◗✂❏ ✂❚❑ ❏
❋❑❚ ❊◗❚✏
❉◗  ✂ ◗✂❊❏❈ ✂❖❈✂❉ ✂❖❈❋ ✂◗✂❏ ✂❘❚ ✎
❘ ❊❑❍❑ ❋✂❋❑❚ ❊◗❚❑ ✂◗ ✂❏ ✂❏❈❚❋✂❋❑ ✍✂❑ ❊ ✂❏
✾✰✵✭✳ ✺✯ ✂◗❍❈❚ ✂❈❊❊  ✂❏  ✂❋❑❚ ❊◗❚❑ ✂❍◗❚
❏ ✂❚ ❈ ✂❍❑ ✏
✻❏ ✂❋❑❚ ❊◗❚❑ ✂❈❚ ✂❚❊❚ ❋✂❈✂❍◗ ◗✜
✎ ✭◗❚✂❏ ✂✭✷✺
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈

✪✜❃✺✻✬✫✺❃✺✾✺✾❃✾✭✳ ✺✯❃✭✴✎❑❃✭✷✺❃✺❚❃
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏

✭❘❚✿✿✿✏❉❑ ✂✎✎✥✂❊◗ ❚◗ ✂❘❚◗❊ ◗❚

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✪✜❃✺✻✬✫✺❃✺✾✺✾❃✾✭✳ ✺✯❃✭✴✎❑❃✭✷✺❃✼ ❃
✭❘ ✿✿✿✏❉❑ ✂✎✎✥✂❖◗ ❑◗❚❑ ✂❘❚◗❊ ◗❚
✎ ✭◗❚✂❏ ✂✳ ✺✂❖◗❋
✪✜❃✺✻✬✫✺❃✺✾✺✾❃✾✭✳ ✺✯❃✭✴✎❑❃
✳ ✺❃✳❈✭❖❑✿✿✿✏❏ 
✎ ✭◗❚✂❏ ✂ ❚❑
✪✜❃✺✻✬✫✺❃✺✾✺✾❃✾✭✳ ✺✯❃✭✴✎❑❃
✬✳✲❃✬ ✿✿✿❋ ✏❉❑

✹ ❖❈❚ ✜ ✿✿✿ ✂❑ ✂❏  ✂❍❑ ✂ ❈❖ ✂❚ ❘❚  ✂❏

 ❚❑◗ ✂ ❖❉ ❚✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎ ✔
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✮ ❚❈

✶ ❚❑ 

✂✿✹✎ ✪

✂✳◗❈❋✂❏❈ ❋ ❑ ✂❊◗ ❚◗ ✂✡✳ ✺☛

✂✳❈✭✴❑ ✔✘✏❏ 
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂❏❑✂❖❈ ❈
❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✕✒✗✗

✔ ✕ ✖ ✗ ✘ ✙ ✚
✡ ☛ ✰ ❍◗✎❑ ❋◗ ✡✗☛ ✹ ❖❈❚
✰ ❚❊❑◗ ✂❍◗❚✂❏ ✂◗❘ ❚❈◗❚✏✂ ❋❋❑❑◗ ❈ ✎ ✫❑❘ ❈✂❍❑ ❋✂❍◗❚✂❈❋❋❑❑◗ ❈ ✂❑ ❍◗❚❖❈❑◗
✍✂❈ ✂ ❘✂◗❍✂❏ ✂❊◗ ❊❑◗ ✂ ✂❈ ❋ ❈ ❋✂❑ ❚❊❑◗ ✏
❏ ✂◗❍❈❚ ✂❋◗ ◗❈❋✂❈❚ ✂ ◗ ❋✂❑
❏❑✂❑ ❋◗✏ ✡✘☛ ✻ ✂✪◗ ❊❑◗
✻❏❑✂❉◗ ✂❑✂ ❋✂◗✂❊❏ ❊ ✂❏ ✂❊◗ ✎
✡✔☛ ✺ ❊✂❘ ✂◗❍✂❚❊ ✂ ❊❑◗ ✂◗✂❏ ✂ ❊ ❋✂❊◗ ❚◗ ✂ ❖✏
✺ ❊❑◗ ✂◗❍✂❏ ✂❚❊ ✑❚❊ ✂ ❚◗❘
✡✙☛ ✺❈❚✂✫❈❈✂✻❚❈ ❖❑❑◗
✡✕☛ ✺ ❊✂❊◗ ❚◗ ❚ ✻❏❑✂❉◗ ✂❑✂ ❋✂◗✂❈❚✂❏ ✂◗❍❈❚
✺ ❊❑◗ ✂◗❍✂❏ ✂❊◗ ❚◗ ✂ ❖✂◗✂❏❑❊❏ ❋◗ ◗❈❋✏
❏ ✂◗❍❈❚ ✂❑✂❋◗ ◗❈❋ ❋✏
✡✚☛ ✬✿✰✻
✡✖☛ ✺ ❊✂❍❑ ✼❑ ✂❏❑✂❉◗ ✍✂❏ ✂❊❚❚ ✂ ❑ ✂◗❍
✺ ❊❑◗ ✂◗❍✂❏ ✂❍❑ ✂❏❑❊❏✂❏❈✂◗✂❉ ❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚ ✂❈❚ ✂❈ ❋✂❈ ❋✂❏
❚❈ ❖❑ ❋✏ ❘❚◗ ❚❈❖✂ ❚❖❑ ❈ ❋✏✂

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✒
✖✒✎ ✕
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✮ ❚❈ ✂

✫ ❊❚❑❘❑◗
✻❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚ ✂❑✂ ❋✂❍◗❚✂❋◗ ◗❈❋❑ ✂❍❑ ✂◗
✪ ✵✂❊◗ ❚◗ ✂ ❖✏✂✭◗❚✂❏❑✂❋◗ ◗❈❋✍✂❏ ✂✪ ✵✎✷✪
❈❋❈❘ ❚✂❑✂❚ ❙❑❚ ❋✏
✻❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚ ✂❑✂❈❚ ❋✂❑ ✂❏ ✂✂ ✬ ❊❚◗ ❑❊
✫◗❊❖ ❈❑◗ ✂✺ ❖ ✂◗ ✂❏ ✂ ◗ ❉◗◗ ✂❉✂❈❊❊ ✎
❑ ✂ ❋❑❈ ◗❑ ✍✂ ❖ ❑❍ ❊❑◗ ✂❘❚◗ ❚❈❖ ✂❈ ❋✂ ✾❑ ✎
✭ ❈❏✂✽ ✏ ✂◗❚✂ ✾❑ ✭ ❈❏✂✽ ✏ ✔ ✏
Note: ✽ ❚❑◗ ✂✽ ✏ ✂◗❍✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚ ✂❚ ✎
❘ ❈❊ ✂❏ ✂❘❚ ❑◗✂ ❚❑◗ ✂✽ ✏✒✘✏✂✻❏
 ❚❑◗ ✂✽ ✏ ✔✂❑✂❏ ✂❍◗ ◗✎◗ ✂ ❚❑◗ ✂◗❍
✽ ✏ ✂❈ ❋✂❍ ❈❚ ✂◗ ✂❖❑ ❑❖❈ ✂❊❏❈ ✏ ✒✕✙✚
❏❑✂❖❈ ❈ ✂❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✒✔
✖✒✎ ✖
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✮ ❚❈

✷❚ ❘❈❚❈❑◗ ✂❍◗❚✂❋◗ ◗❈❋❑ ✂◗✂❏ ✂✪ ✵

❊◗ ❚◗ ✂ ❖
✭◗❚✂❋◗ ◗❈❋❑ ✂◗❍❈❚ ✂◗✂❈✂✪ ✵✂❊◗ ❚◗ ✂ ❖✍
❏ ✂✪ ✵✎✷✪✂❈❋❈❘ ❚✂✡ ☛✂❊❈ ✂❉ ✂ ❋✏✂✻❏ ✂✪ ✵✎✷✪
❈❋❈❘ ❚✂❑✂❊◗ ❊ ❋✂◗✂❏ ✂ ◗ ❉◗◗ ✂❈ ❋✂❏ ✂❚❊ ✂❈
❍◗ ◗✜
✷  ✂❏ ✂✪ ✵✎✷✪✂❈❋❈❘ ❚✂✡ ☛✂❑ ◗✂❏ ✂❘❈❚❈
❘◗❚✂❑ ✂❏ ✂ ◗ ❉◗◗ ✏
✪◗ ❊✂❏ ✂❘◗ ❚✂❘❘ ✂❊❈❉ ✂✡✔☛✂◗❍✂❏ ✂✪ ✵✎
✷✪✂❈❋❈❘ ❚✂◗✂❏ ✂✼✺✩✂❘◗❚✂❑ ✂❏ ✂ ◗ ❉◗◗ ✏
✪◗ ❊✂❏ ✂✛✎❘❑ ✂❘  ✂◗❍✂❏ ✂❈❋❈❘ ❚✂❊❈❉ ✂✡✕☛
◗✂❏ ✂✪ ✵✂✷✪✂❈❋❈❘ ❚✏
✪◗ ❊✂❏ ✂✖✎❘❑ ✂❚◗ ❋✂❊◗ ❊◗❚✂◗❍✂❏ ✂❈❋❈❘✎
✑✒✕✙✛
 ❚✂❊❈❉ ✂✡✕☛✂❑ ◗✂❏ ✂❚❊ ✠✂❊ ❚❈ ✂❋❑❈ ◗❑❊✂❑ ✎
 ❚❍❈❊ ✏ ✕ ✔
❏❑✂❖❈ ❈ ✂❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂

✺❈❚✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚ ✂✽ ✏✒✘✂◗❚✂❏❑ ❏ ❚✏

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✒✕
✖✒✎ ✗
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✾◗❚ ❑ ✂❑❏✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚

✮ ❚❈
✷❚◗❊ ❋❚ ✂❍◗❚✂❚❈ ❖❑❑ ✂❍❑ ✂❑ ✂✾❑ ❍ ❈❏✂◗❍✎
❈❚ ✂◗✂❈✂❊◗ ❚◗ ✂ ❖✜
✏ ✺ ❊✂❏ ✂❚❊ ✂✑✂❚❊ ✂ ❚◗❘✍✂❊❍✏✂ ✺ ❊❑ ✂❏
❚❊ ✏
✔✏ ✺ ❊✂❏ ✂❚❊ ✂❊◗ ❚◗ ✂ ❖✍✂❊❍✏✂ ✺ ❊❑
❏ ✂❊◗ ❚◗ ✂ ❖ ✏
✕✏ ✺ ❊✂❏ ✂❍❑ ✂◗✂❑❏✂◗✂❚❈ ❍ ❚✂◗✂❏ ✂❊◗ ❚◗
 ❖✍✂❊❍✏✂ ✺ ❊❑ ✂❏ ✂❍❑ ✏
✖✏ ✪❏ ❊ ✂❏ ✂❋❈❈✂❊◗ ❊❑◗ ✍✂❊❍✏✂ ✪❏ ❊ ❑ ✂❏
❊◗ ❊❑◗ ✏
✗✏ ✺❈❚✂❏ ✂◗❍❈❚ ✂❋◗ ◗❈❋✍✂❊❍✏✂ ✷❚◗ ❚❈❖❖❑
❈❚ ✏
❏❑✂❖❈ ❈ ✂❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✺ ❊❑ ✂❏ ✂❚❊

✻◗✂❈ ◗✂◗✂◗✂❋◗ ◗❈❋✂❈✂◗❍❈❚ ✂❍❑ ✍✂❍❑❚✂❏
❚❊ ✂◗❚✂❚❊ ✂ ❚◗❘✂❖✂❉ ✂ ❊ ❋✜
✪ ❑❊ ✂❏ ✂❈❚❚◗✂✡ ☛✂❑ ✂❏ ✂❖◗ ✂❘◗❑  ❚✏ ✕✒✗✗✔

✂ ❊❑◗ ✂❑ ❋◗✂✡✔☛✂◗❘ ✂❑ ❋❑❊❈❑ ✂❈ ✂❏ ✂❚❊ ✑ ✔

❚❊ ✂ ❚◗❘✂◗✂❏❑❊❏✂◗✂❊❈ ✂❋◗ ◗❈❋✂◗❍❈❚ ✏
✼ ✂❏ ✂❖◗ ✂❘◗❑  ❚✂◗✂❊ ❑❊ ✂❏ ✂❚❊ ✂✑✂❚❊
❚◗❘✏✂
✻❏ ✂❋❑❘ ❈✂❑ ❋◗✂❊ ◗ ✂❈◗❖❈❑❊❈ ✏✂✶ ✂❏
 ❊ ❋✂❚❊ ✂✑✂❚❊ ✂ ❚◗❘✂✡✕☛✂❑✂❋❑❘ ❈ ❋✏

✕✒✗✗✕

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✒✖
✖✒✎ ✘
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✾◗❚ ❑ ✂❑❏✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚

✺ ❊❑ ✂❏ ✂❊◗ ❚◗ ✂ ❖

❍ ❚✂ ❊❑ ✂❈✂❚❊ ✂✑✂❚❊ ✂ ❚◗❘✍✂◗✂❑ ✂❏
❋✂◗✂ ❊✂❏ ✂❊◗ ❚◗ ✂ ❖✂◗✂❏❑❊❏✂◗✂❑❏
◗✂❋◗ ◗❈❋✂❏ ✂◗❍❈❚ ✏
✪ ❑❊ ✂❏ ✂❈❚❚◗✂✡ ☛✂❑ ✂❏ ✂❖◗ ✂❘◗❑  ❚✏
✂ ❊❑◗ ✂❑ ❋◗✂✡✔☛✂◗❘ ✂❑ ❋❑❊❈❑ ✂❈ ✂❏ ✂❊◗ ❚◗
 ❖✂◗❍✂❏ ✂ ❊ ❋✂❚❊ ✂◗❚✂❚❊ ✂ ❚◗❘✂◗
❏❑❊❏✂◗✂❊❈ ✂❋◗ ◗❈❋✂◗❍❈❚ ✏
Note: ✫ ❘ ❋❑ ✂◗ ✂❏ ✂❚❊ ✑❚❊ ✂ ❚◗❘✍✂◗
✡✕☛✂◗❚✂❖◗❚ ✂✡✔☛✂❊◗ ❚◗ ✂ ❖✂❊❈ ✂❉
✕✒✖✗✖
❋❑❘ ❈ ❋✂❑ ✂❈✂ ❊❑◗ ✂❑ ❋◗✏
✔
✼ ✂❏ ✂❖◗ ✂❘◗❑  ❚✂◗✂❊ ❑❊ ✂❏ ✂❚❊ ✂✑✂❚❊
❚◗❘✏✂
❏❑✂❖❈ ❈ ✂❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂

✻❏ ✂❋❑❘ ❈✂❑ ❋◗✂❊ ◗ ✂❈◗❖❈❑❊❈ ✏✂✶ ✂❏

✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂

 ❊ ❋✂❊◗ ❚◗ ✂ ❖✂✡✕☛✂❑✂❋❑❘ ❈ ❋✏

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✰ ✂❏ ✂ ✹ ❖❈❚ ✂❑ ❋◗✂✡✗☛✍✂❈❋❋❑❑◗ ❈ ✂❑ ❍◗❚❖❈❑◗ ✂◗❚

❚ ❖❈❚ ✂❚ ❈❑ ✂◗✂❏ ✂◗❍❈❚ ✂❋◗ ◗❈❋✂❈❚ ✂❋❑✎
❘ ❈ ❋✏

✕✒✗✗✗

✕✒✗✗✘

✖ ✗

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✒✗
✖✒✎ ✙
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✾◗❚ ❑ ✂❑❏✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚

✺ ❊❑ ✂❏ ✂❍❑

❍ ❚✂ ◗❖❑ ❈❑ ✂❈✂❚❊ ✂✑✂❚❊ ✂ ❚◗❘✂❈ ❋✂❏ ✂❊◗ ❚◗
 ❖✍✂◗✂❑ ✂❏ ✂ ❋✂◗✂ ❊✂❏ ✂❍❑ ✂❏❑❊❏✂◗
❑❏✂◗✂❋◗ ◗❈❋✂◗✂❏ ✂❊◗ ❚◗ ✂ ❖✏
✪ ❑❊ ✂❏ ✂❈❚❚◗✂✡ ☛✂❑ ✂❏ ✂❖◗ ✂❘◗❑  ❚✏
✂ ❊❑◗ ✂❑ ❋◗✂✡✔☛✂◗❘ ✂❑ ❋❑❊❈❑ ✂❈ ✂❏ ✂❍❑ 
❏❑❊❏✂❊❈ ✂❉ ✂❚❈ ❖❑ ❋✂◗✂❏ ✂ ❊ ❋✂❊◗ ❚◗ ✂✎
 ❖✏
Note: ✫ ❘ ❋❑ ✂◗ ✂❏ ✂❊◗ ❚◗ ✂ ❖✍✂◗ ✂✡✔☛✂◗❚
❖◗❚ ✂✡✕☛✂❊◗ ❚◗ ✂ ❖✂❊❈ ✂❉ ✂❋❑❘ ❈ ❋✂❑ ✂❈
✕✒✗✗✙
 ❊❑◗ ✂❑ ❋◗✏✂
✔

✼ ✂❏ ✂❖◗ ✂❘◗❑  ❚✂◗✂❊ ❑❊ ✂❏ ✂❍❑ ✂◗✂❑❏

❏❑✂❖❈ ❈ ✂❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂

◗✂❚❈ ❖❑✏
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂

✻❏ ✂❋❑❘ ❈✂❑ ❋◗✂❊ ◗ ✂❈◗❖❈❑❊❈ ✏✂✶ ✂❏

 ❊ ❋✂❍❑ ✂✡✗☛✂❑✂❋❑❘ ❈ ❋✏
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✕✒✗✗✚

✖ ✕

✕✒✗✗✛

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✒✘
✖✒✎ ✚
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✾◗❚ ❑ ✂❑❏✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚

✪❏ ❊ ❑ ✂❏ ✂❊◗ ❊❑◗

✪ ✵✂❊◗ ❚◗ ✂ ❖

✻◗✂ ❚ ✂❏❈✂❏ ✂❊◗ ❊❑◗ ✂◗✂❏ ✂ ❊ ❋✂✪ ✵
❊◗ ❚◗ ✂ ❖✂❑✂◗❚ ❑ ✍✂❉ ❍◗❚ ✂❚❈ ❖❑❑ ✂❏
❋❈❈✂❑✂❑✂❘◗❑❉ ✂◗✂ ✂❏ ✂❊◗ ❊❑◗ ✂◗✂❏ ✂❊◗ ❚◗
 ❖✂❑ ✂❏ ✂ ✻ ✂✪◗ ❊❑◗ ✂❉◗ ✂✡ ☛✏
✺❑❊❏✂◗ ✂❏ ✂❚❊ ✏
❊❈ ✂❏ ✂ ✻ ✂✪◗ ❊❑◗ ✂❉◗ ✂✂✡ ☛✂❑❏
❏ ✂❖◗ ✂❘◗❑  ❚✏
✰❍✂❏ ✂❖ ❈ ✂
✂✺❑❊❏✂◗ ✂❚❊ ✂✄ ✕✒✗✘✒

❈❘❘ ❈❚✂❑ ✂❏ ✂❑ ❍◗✂❑ ❋◗✂✡✔☛✍✂❏ ✂❚❊ ✂❖✂❉ ✔

❏❑✂❖❈ ❈ ✂❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂

❑❊❏ ❋✂◗❍❍✂❑❏❑ ✂✗✂❈ ❋✂❑❊❏ ❋✂◗ ✂❈ ❈❑ ✂❈❍✎

 ❚✂❈❘❘❚✏✂✔✂✏
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂

✰❍✂❏❑✂❖ ❈ ✂❋◗ ✂ ◗✂❈❘❘ ❈❚✍✂ ❈ ✂❏ ✂❚❊

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

❑❊❏ ❋✂◗ ✏
✰❍✂❑✂❈✂ ◗✂❘◗❑❉ ✂◗✂❊❚ ❈ ✂❈✂❊◗ ❊❑◗ ✂◗✂❏
❊◗ ❚◗ ✂ ❖✍✂❏ ✂❍◗ ◗❑ ✂❖ ❈ ✂❈❘❘ ❈❚✂❑ ✂❏
✰ ❍◗✂❑ ❋◗✂✡✕☛✜
✬❚❚◗❚✜✂✪◗ ❋✂ ◗✂❈ ✂❘✂❊◗ ❚◗ ❚ ✂
◗❚
✬❚❚◗❚✜✂✮ ✶❘ ❚❈❑ ✴◗❋ ✂✄
✷◗❑❉ ✂❊❈ ✜ ✕✒✗✘

✕
✾❚◗ ✂❊◗ ❚◗ ✂ ❖✂ ❊ ❋✏
✪❈❉ ✂❊◗ ❊❑◗ ✂❑  ❚❚❘ ❋✏
✪ ✵✎✷✪✂❈❋❈❘ ❚✂❑ ❊◗❚❚ ❊ ✂❊◗ ❊ ❋✏
✪◗ ❚◗ ✂ ❖✂❋ ❍ ❊❑ ✏

✰❍✂❏ ✂❊◗ ❊❑◗ ✂◗✂❏ ✂❊◗ ❚◗ ✂ ❖✂❑✂❑ ✂◗❚❋ ❚✍✂❏
❍◗ ◗❑ ✂❖ ❈ ✂❈❘❘ ❈❚✂❑ ✂❏ ✂✰ ❍◗✂❑ ❋◗✂✡✖☛✜
✪◗ ❊❑◗ ✂◗✂❊◗ ❚◗ ❚✂✤✂✶✲✂✄

✕✒✗✘✔

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✒✙
✖✒✎ ✛
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✾◗❚ ❑ ✂❑❏✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚

✷❚◗ ❚❈❖❖❑ ✂❈❚

✪ ✵✂❊◗ ❚◗ ✂ ❖

✼❑ ✂❏ ✂ ✺❈❚✂✫❈❈✂✻❚❈ ❖❑❑◗ ✂❉◗ ✂✡ ☛✍✂❏
◗❍❈❚ ✂❋◗ ◗❈❋✂◗✂❏ ✂ ❊ ❋✂❊◗ ❚◗ ✂ ❖✂❊❈
❉ ✂❈❚ ❋✏
✺❑❊❏✂◗ ✂❏ ✂❚❊ ✏
✼❑ ✂❏ ✂❖◗ ✂❘◗❑  ❚✍✂❈❊❈ ✂❏ ✂❉◗
✺❈❚✂✫❈❈✂✻❚❈ ❖❑❑◗ ✂✡ ☛✏
✰❍✂❏ ✂❖ ❈
✺❑❊❏✂◗ ✂❚❊ ✂✄
❈❘❘ ❈❚✂❑ ✂❏ ✂✰ ❍◗✂❑ ❋◗✂✡✔☛✍✂❏ ✂❚❊ ✂❖✂❉ ✕✒✘✖

❑❊❏ ❋✂◗❍❍✂❑❏❑ ✂✗✂❈ ❋✂❑❊❏ ❋✂◗ ✂❈ ❈❑ ✂❈❍✎ ✔

❏❑✂❖❈ ❈ ✂❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂

 ❚✂❈❘❘❚✏✂✔✂✏
✰❍✂❏❑✂❖ ❈ ✂❋◗ ✂ ◗✂❈❘❘ ❈❚✍✂ ❈ ✂❏ ✂❚❊
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂

❑❊❏ ❋✂◗ ✏
✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✰❍✂❑✂❈✂ ◗✂❘◗❑❉ ✂◗✂❊❚ ❈ ✂❈✂❊◗ ❊❑◗ ✂◗✂❏

❊◗ ❚◗ ✂ ❖✍✂❏ ✂❍◗ ◗❑ ✂❖ ❈ ✂❈❘❘ ❈❚✂❑ ✂❏
✰ ❍◗✂❑ ❋◗✂✡✕☛✜
✬❚❚◗❚✜✂✪◗ ❋✂ ◗✂❈ ✂❘✂❊◗ ❚◗ ❚ ✂
◗❚
✬❚❚◗❚✜✂✮ ✶❘ ❚❈❑ ✴◗❋ ✂✄
✷◗❑❉ ✂❊❈ ✜
✕✒✘✖✔

✾❚◗ ✂❊◗ ❚◗ ✂ ❖✂ ❊ ❋✏ ✕

✪❈❉ ✂❊◗ ❊❑◗ ✂❑  ❚❚❘ ❋✏
✪ ✵✎✷✪✂❈❋❈❘ ❚✂❑ ❊◗❚❚ ❊ ✂❊◗ ❊ ❋✏
✪◗ ❚◗ ✂ ❖✂❋ ❍ ❊❑ ✏

✰❍✂❏ ✂❊◗ ❊❑◗ ✂◗✂❏ ✂❊◗ ❚◗ ✂ ❖✂❑✂❑ ✂◗❚❋ ❚✍✂❏
❋◗ ◗❈❋✂❘❚◗❊ ✂❑✂ ◗ ❋✂❑ ✂❏ ✂✰ ❍◗✂❑ ❋◗✂✡✖☛✏
✻❏ ✂❘❚◗ ❚ ✂◗❍✂❏ ✂❋◗ ◗❈❋✂❘❚◗❊ ✂❑✂❈❋❋❑❑◗ ❈ 
❑ ❚❈ ❋✂❉✂❈✂❉❈❚✂❋❑❘ ❈✂✡✗☛✏

❍ ❚✂❊❊ ❍ ✂❊◗❖❘ ❑◗ ✂◗❍✂❏ ✂❋◗ ◗❈❋✂❘❚◗❊ ✍

❏ ✂❍◗ ◗❑ ✂❖ ❈ ✂❈❘❘ ❈❚✂❑ ✂❏ ✂✰ ❍◗✂❑ ❋◗✂✡✖☛✜
✪◗ ❊❑◗ ✂◗✂❊◗ ❚◗ ❚✂✤✂✶✲✂✄
✕✒✗✘✘

✖ ✗

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✒✛
✖✒✎✔✒
 ✪❏❈❘
✪❏❈❘ ❚✂✖✒
❚ ✾❑ ❍✾✰✵✭✳
❈❏✂✽ ✏✺✯
✾◗❚ ❑ ✂❑❏✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚

✬ ❋✂❘❚◗ ❚❈❖
✸❑✂❏ ✂✾❑ ❍ ❈❏✂◗❍❈❚ ✂❑❏✂❏ ✂ ✬✿✰✻ ✂❉◗ ✂✡ ☛✏
✾❏ ✂❙❑❑ ✂❏ ✂◗❍❈❚ ✍✂❏ ✂ ❈✂ ❋✂ ❑ ✂❑
◗❚ ❋✏✂

✕✒✖✗
❏❑✂❖❈ ❈ ✂❖❈✂❉ ✂❚ ❘❚◗❋❊ ❋✂❑ ✂❈ ✂❍◗❚❖✏✂
✪◗❘❚❑ ❏✂❘❚◗ ❊ ❋✏✂✵◗✂❘❈❚✂◗❍✂

✪◗❘❚❑ ❏✂❚  ❚ ❋✏

✰ ✜ ✒✗✑✒✖ ✾◗❚ ❏◗❘ ✺❏ ✂ ◗✏

✹ ❘ ❈❊ ✂❑ ✜ ✴❈ ❈ ✿✹✎ ✪ ✖✒✎✔