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LA6

Proportional self levelling digital device


Index
1
2
3
4
5
6

7
8
9

Operating logic ....................................................................................................... 2


Technical data ........................................................................................................ 2
Safety ................................................................................................................... 3
3.1
Electrical safety circuits and system checks ......................................................... 3
3.2
Conformity ...................................................................................................... 3
Circuit board map ................................................................................................... 4
Mechanical fitting.................................................................................................... 4
Electrical connections .............................................................................................. 5
6.1
Setup ............................................................................................................. 5
6.2
Terminal block J1: Power supply, inputs and outputs ............................................ 5
6.3
Terminal block J2: Serial port RS-232 ................................................................. 6
Calibration ............................................................................................................. 6
7.1
Zero calibration via push buttons on the board..................................................... 6
7.2
Parameters modification via push buttons ........................................................... 7
Parameters list ....................................................................................................... 8
Precautions, checks and maintenance ...................................................................... 10
9.1
Precautions ................................................................................................... 10
9.2
Checks and maintenance................................................................................. 10

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LA6
Proportional self levelling digital device
1 Operating logic
The LA6 is an automatic levelling digital microprocessor device for proportional solenoid valves systems.
Signalling outputs and CAN bus connection are available.
The system is simply set by push buttons and displays on the board.
In case of replacement of components of the system, these parts must be original parts by BPE.

2 Technical data
Power supply
Angle of intervention
Digital inputs
Digital outputs
Digital power outputs (PWM)
PWM output cycle frequency
Current feedback inputs
Nominal current absorption
(*)

CAN Bus channel


Standard protocol
Maximum speed
Communication port
Maximum data speed
Safety angle
Operating temperature
Standard protection grade
(*)
Optional

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930 Vdc
from 10 to +10 degree Definition: 1/100 of degree.
2
Imax = 0.5 A. Protected against short circuits and
2
overloading.
2
Imax = 3 A. Protected against short circuits.
7,812 KHz
DITHER Frequency = 100Hz
1
60mA at 12V
Without considering power and not power outputs
40mA at 24V
FULL CAN 2.0 A e B SAE J 1939
500 Kbit/s
RS-232 C
19.2 Kbit/s
-10 e +10 degree
-2085 C
IP 65
With BPE box. Fixation holes: 84.5 x 62.5 mm.

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LA6
Proportional self levelling digital device
3 Safety
3.1

Electrical safety circuits and system checks

The board runs a non stop autocheck to find any breakdown, failure or damage. If any problem is found, the board goes
into the alarm condition. The board is protected against:

3.2

polarity reversal
inputs overvoltage according to EN 60204 (via tranzorb on board)
outputs overvoltage, overloading, short circuits according to EN 60204 (via autoreset poliswitches fuse on
board)

Conformity

The system meets the following EMC specifications:


EN 61000-6-2
EN 50081-1
with standard ferrite core mounted on the power supply cables, with all the two wires winded up two times around the
ferrite core, as shown in the following picture:

Fig. 1: power supply wires and their winding


The system is manufactured to category B (EN 954-1).

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LA6
Proportional self levelling digital device
4 Circuit board map
Push buttons
Blue
Calibration push button
Red
Calibration push button
Yellow Calibration push button
Green Calibration push button
Terminal blocks
J1
Power supply, inputs, outputs
J2
RS-232 serial port
Displays
D1
Various visualizations
D2
Various visualizations
D3
Various visualizations
D4
Various visualizations
D5
Various visualizations

Fig. 1: Board map

5 Mechanical fitting
You must mount the LA6 electronic board box as shown in fig. 2. This photo show the board when it is in planarity
condition and when the machine is left and right tilt.

Fig. 2: How to mount the board, left and right tilt


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LA6
Proportional self levelling digital device
6 Electrical connections
All positive inputs must be connected to service positives and not be connected directly to power
supply battery.
Dot not use service positives to power supply external devices.

6.1

Setup

Selection of wires
Cabling has to be realized so as to warrant a correct wiring insulation of all parts accessible from operator or however
from unskilled workers (insulation resistance > 1 G x cm). Installation has to be made without wires having hard bends
and without machine moving cause crushes or tractions.
The cables properties must be function of the custom application.
Section of wires
Power supply:
Connections:
Digital input:
Digital and proportional outputs:
Analogue input:

6.2
Terminal
1
2
3
4

1,5 mm2 for linkages lower than 1,5 m, 2 mm2 otherwise


standard RS-232
0,5 mm2
0,5 mm2 for low power outputs, 1 mm2 for high power outputs (see section
Technical features)
see the connected transducer specific manual

Terminal block J1: Power supply, inputs and outputs

5
6
7

Meaning
Positive power supply
Side A solenoid valve positive output
Side B solenoid valve positive output
Sides A and B solenoid valve negative
output
Side A signalling positive output
Side B signalling positive output
Digital input for levelling stop and reset

8
9
10
11
12

Negative power supply


Annular mercury switch, side A
Annular mercury switch, side B

PLEASE
NOTE

Notes
The contact must be directly connected to the power supply
This is the current feedback input.
Imax = 500 mA. Normally on.
Imax = 500 mA. Normally on.
The contact must be directly connected to the power supply.
When the positive connection is loose the system stops and
reset its status.
The contact must be directly connected to the power supply
NC contact, Imax = 2 A

The contact between J1.11 and J1.12 MUST be used, with others safety
switches, to stop the whole system.

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LA6
Proportional self levelling digital device
6.3

Terminal block J2: Serial port RS-232

The drawing shows the poles used by the supplied


connector. On how to use it, please refer to Fig.2.

Fig. 4: AMP connector


Modu 2 for RS-232 serial
connection.

7 Calibration
During this phase, never cut off power supply to the board so as not to lose data storage.
Carry out the after assembly checks, if you have not completed them, as shown in chapter Checks and maintenance.

7.1

Zero calibration via push buttons on the board

Lets now look at the setting procedure:


1. Power on the board.
2. On the same time press the BLUE J, YELLOW J and GREEN J push buttons for almost three seconds. The
first P. will goes off. Now it is possible to modify the parameters.
3. Press BLUE J push button until the display will shows the 0 parameter.
4. Press YELLOW J push button to drive side A solenoid valve and press GREEN J push button to drive side
B solenoid valve. At the same time the A char will be the H char to indicate that the system is now on manul
calibration. Level the system with YELLOW J and GREEN J push buttons.
5. Press BLUE J push button until the 1 parameter is reach.
6. Press and take it pressed the RED J push button for almost 5 seconds. On every display will be show some . and
after them some -. The electronic board is now calculating the new zero. After few seconds the display will show
an angle value equal or similar to zero.
7. Press BLUE J push button until the 0 parameter is reach.
8. Press RED J push button, the display will show PAAb. The zero calibration procedure is now ended.

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LA6
Proportional self levelling digital device
7.2

Parameters modification via push buttons

Lets now look at the procedure on how to modify the board parameters, from number 6 to up:
1. Power on the board.
2. On the same time press the BLUE J, YELLOW J and GREEN J push buttons for almost three seconds. The
first P. will goes off. Now it is possible to modify the parameters.
3. Press BLUE J push button to select the parameter to modify, press GREEN J push button to increase it or
YELLOW J push button to decrease it. If you take pressed GREEN J and YELLOW J push buttons, the values
will changes fastest.
If you will press GREEN J push button, keep pressed it, press YELLOW J push buttons (or press YELLOW J
one first and GREEN J one after) the values will changes by an hundred any time.
4. To store all parameters, press RED J push button (the displays will show some .) for almost five seconds until
the display will show some -.
5. If you do not press any push button for around ten minutes, the board will come back to the normal operating
conditions (parameters can not be modified).

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LA6
Proportional self levelling digital device
8 Parameters list
Code
P.P.nn
P.P. 0
P.P. 1
P.P. 2
P.P. 3
P.P. 4
P.P. 5
P.P. 6

Meaning
The nn parameter is read only
System normal status
Tilt angle
Percentage opening for solenoid valve side A
Percentage opening for solenoid valve side B
Current for solenoid valve side A
Current for solenoid valve side B
Alarm signalling angle value

P.P. 7

Dead band

P.P. 8

Exponential error factor

P.P. 9

Positive time constant for the dynamic error


compression

P.P.10 Active positive band

P.P.11 Negative time constant for the dynamic error


compression
P.P.12 Active negative band
P.P.13 Side A solenoid valve minimum current
P.P.14 Side A solenoid valve maximum current
P.P.15 Side B solenoid valve minimum current
P.P.16 Side B solenoid valve maximum current
P.P.17 Feedback proportional constant

P.P.18 Proportional time constant

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Notes
Sets the maximum angle value, under that value the A and
B signalling outputs will stay on. Over this angle the
signalling outputs will goes off. It may be used to set an
activation percentage for the J1.5 and J1.6 outputs (ie: 90% of
the alarm level).
For angles inside this range the system does not make any
correction.
With this parameter is possible to change the system response
to small or big errors. For its small values the system response
is neutral, bigger values will attenuate the small errors and
enphatize the big ones.
Filtering time constant. If it increases, the filtering increases.
It is also the active positive band variation speed,
consequently to its repeated overcoming.
Filtering amplitude constant. If it decreases, the filtering
increases.
It is a limit for the contemplated error. If the error value is
greater than this band, it will be used the positive band limit
as the error value. It avoids that the system reacts to fast and
hard movements.
If this value is exeeded several times, the active positive band
value will be increased, according with P.P.9 value.
Like P.P.9 but about the negative side of the band
Like P.P.10 but about the negative side of the band
This is the minimum current for the side A solenoid valve
This is the maximum current for the side A solenoid valve
This is the minimum current for the side B solenoid valve
This is the maximum current for the side B solenoid valve
It is the error amplification factor. If it increases, the system
sensibility will increase.
If you increase this value, the system will be more precise, but
it will swing more quickly.
It is the system reaction time, the speed of the system to self
levelling.
It must be carefully set, together with P.P.17, to obtain a fluid
and comfotable movement. If you increase this value too
much, the system will swing too quickly.

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LA6
Proportional self levelling digital device
Advanced calibration parameters:
P.P.19

Feedback derivative constant

P.P.20

Feedback time constant

P.P.21

Feedback integrative constant

P.P.22

Time constant

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It is the system answer to time error variations.


It helps to delete the temporary planarity errors.
It is difficult to calibrate this parameter, small values are
sufficient to prevent from rebounds or little swings when the
system stops.
It is the system reaction time. It defines how the system
react to error variations.
To use together with P.P.19 to extablish what are the
swinging and rebounding speed limits.
High values will make the system to move in jerks, while
low values may balance a too high P.P.17 value
It defines how the system react to small errors for long
time.
It is usefull to correct the errors brought by the delaied
levelling corrections. Low values allow to correct the
planarity during continuous boom movements, to avoid that
bigger errors come out.
It defines the system reaction time, regarding the correction
of small errors for long time.
It is related with P.P.21 and defines the speed of P.P.21
correction.
Too high values bring the system to swing too much, untill
it reaches the alarm condition.
DO NOT MODIFY IT IF YOU DO NOT REALLY
NEED!!

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LA6
Proportional self levelling digital device
9 Precautions, checks and maintenance
9.1

Precautions

You must connect power supply wires directly to the battery.


Cut off power supply before every check or replacement.
Do not weld on machine structure before removing power supply (positive and negative) and detaching boxes from
vehicle frame or possible connections towards vehicle frame.
Provide suitable mechanical protections for connection wires, paying particular attention for transducers.
Do not place board, transducers or cabling close to sources of heat, electromagnetic interferences or power
transmissions.
Do not touch directly boards, transducers and boxes with flushing or degreaser fluids under pressure.
Do not hole the board box.

9.2

Checks and maintenance

A correctly mounted system will not need special maintenance through its operative life.
In this chapter you can find some checks for system functionality. Due to the safety functions of the system, if these
checks are not carried out it can be very dangerous for the operator.

Assembly checks
Check that the board box is horizontal when the system is in planarity condition, as shown in the Mechanical fitting
chapter.

After assembly checks


When you assemble the system for the first time you must make some checks:
Check the power supply to verify its rightness (range and noise absence).
Check the box lock and glands clamping.
Check the board shut down through main power supply switch.

Ordinary maintenance to be made at the beginning of every duty cycle


Visual check of transducers, board (box) and connection wires.
Check of power supply to verify it is correct.
Check of the equipment correct operation, by simulating a locked condition and correspondent rearming.

Extraordinary maintenance
Made by skilled workers. Ask BPE S.r.l. or its reseller/or importer. Extraordinary maintenance is considered to be
everything that is not described in ordinary maintenance and in procedure of device installation. Warning: only skilled
workers are allowed to make this type of maintenance; sanction: loss of every responsibility by BPE S.r.l..

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