Section 8.Theory of Operation

Functional Operation

(via BUS1) regarding VR1 position to determine the direction and rate of the request.

Load Handler position, vehicle height, and optional devices may cause additional restrictions or inhibit the function.

Once the TM has determined the direction and rate requested, it communicates the speed requested to the TPA. The TPA controls the TPC, Traction Motor speed and direction for optimal performance. The TPA monitors Traction Motor current and imposes restrictions as necessary. The TPA sends temperature information to the TM which may impose restrictions.

Load Handler System

Load Handler operation requires both right hand deadman pedal switches (S2 and S23), and the left hand deadman switch (S9) to be activated.

Traverse/Reach

For Traverse/Reach, the CM processes a change in voltage at the Traverse/Reach pot (VR4). A command is sent to the TM (via BUS1) to energize the LHC. The CM activates the hydraulic solenoids that determine Traverse and Reach/Retract direction and speed.

Traverse speed is determined by the position of VR4. Traverse position is calculated by input from the Traverse Feedback Pot (VR5). The mini-mast decelerates as it approaches the stops.

The rotate mechanism must be nested CW or CCW and the mini-mast must be at least half way across the platform before Traverse/Reach is allowed.

Rotate

For Rotate, the CM processes a change in the voltage at the Rotate pot (VR3). A command is sent to the TM (via BUS1) to energize the LHC. The CM activates the hydraulic solenoids that determine direction and speed. Rotate speed is determined by the posi tion of VR3. Rotate position is calculated by input from the Rotate

Model 9600/9700 Swing-Reach ® Lift Truck

Position Feedback Pot (VR6). Rotation speed decelerates as it approaches the stops.

The reach mechanism must be fully nested before Rotate is allowed.

Auto Traverse and Rotate

The Auto Traverse and Rotate function is initiated by pressing the Attachment button located at the base of the traction control handle with both deadman pedals pressed and then activating the rotate control. Once initiated, the function remains active, even if the button is released. The speed of the load handler is continuously variable between fully stopped and the full configured speed, exactly the same as it is when operated manually. The function stops if the EPO is pushed, either deadman pedal is released, the rotate control knob is released, the reach mechanism moves out of its fully retracted position, or when the load handler reaches the nested state on the opposite side. The reach mechanism must be fully retracted for this function to be allowed.

Auto Center Nest

Auto Center Nest automatically centers traverse and rotate. Auto Center Nest is initiated the same way as Auto Traverse and Rotate. Once initiated, the Attachment button is pressed a second time. The Auto Center Nest function rotates the forks and traverses the turret to the centered positions. The reach mechanism must be fully retracted for this function to be allowed.

NOTE: Auto Traverse/Rotate and Auto Center Nest are not available if the truck has the “Extended M” or the “Attachment” option enabled.

Steering

The Steering Encoder is attached to the steer tiller on the carriage. It contains two encoders in a single package.

Each encoder produces two quadrature phased channels that are sensed by the CM and sent to the TM via BUS1. The TM sends steer commands for either clockwise or

Publication: 1089040, Issued: 08 Apr 2016