INDIVIDUAL PROJECT DELIVERABLE

1. BACKGROUND AND MOTIVATION

Forests cover roughly 30% of the world’s land surface and are not only vital parts of our
everyday survival but are also important buffers to prevent multiple natural disasters such as
soil erosion, floods, rainfalls, and most importantly mitigate climate change. In countries like
Sweden, where 58% of the total land surface is dominated by forests, forestry emerged as a
key factor for the national economy. The Swedish forest industry has a long-term goal of
developing autonomous and semi-autonomous forestry vehicles.
There are mainly two types of off-road vehicle used in the forestry industry: the harvester,
which fells and delimbs the trees, and cuts the trunk into logs of a predetermined size, and the
forwarder, which collects the logs in a tray, and carries them to the nearest road for collection.
A forwarder is shown in figure 1.

Figure 1. A forwarder: XT28

A typical forwarder is equipped with an electrically controlled hydraulic crane. The crane
allows self-loading and piling logs. The traditional control of a forwarder requires a lot of skill
and multitasking. A forwarder operator has to manually operate the boom and the outer boom,
the extension boom, the grapple rotation and its opening. The basic performance indicator is
the number of collected or piled logs in a given time. It significantly depends on how many of
the crane functions can be operated at the same time. The complexity and difficulty of
controlling a forwarder crane requires long time of operator training and results in a high
burden on the operator during the work. High burden makes the operator getting tired faster
and thus becoming less efficient. A suggested solution strategy is to enhance the production
capacity by increasing the level of automation. At the same time, the working environment for
the operator can be improved by a reduced workload, provided that the human machine
interaction is adapted to the new automated functionality.
3. OPERATING A FORWARDER CRANE
There are three main categories of task that the crane operator performs.
A. Decision and planning: This is the mental work that is required to plan and coordinate the
other work tasks and to optimize their execution. The operator needs to plan the route
through the harvested area, select the order in which to pick up the logs, and plan for the
number of assortments and their location.
B. Vehicle transportation. Moving the vehicle between the log piles along the trail, as well as
between the forest and the road-side.
C. Crane manipulation: Grasping, moving and releasing logs.
A more detailed description of the task for a forwarder is shown in figure 2. Studies report that
90% of the spent in crane manipulation by the operator.

Figure 2. Forwarder task

2. THE MAIN WORKING PRINCIPLE

There exist several classifications of robot manipulators with variations in power source
(hydraulic, electric, pneumatic), control method (servo / non-servo, closed loop / open loop)
and application area (assembly / non-assembly). Depending on its field of application, a robotic
system is also defined by its geometry. Several ways of linked motions are possible which are
listed below:
- cartesian or gantry manipulator (movement limited by 3 prismatic joints)
- cylindrical manipulator (one revolute joint and 2 prismatic joints)
- spherical manipulator (two revolute joints and one prismatic joint)
- articulated manipulator (three revolute joints)
Articulated manipulator configuration is chosen for XT28 crane and the system design is shown
in figure 3.

Figure 3. Articulated manipulator

This configuration allows the gripper for reaching a wide working area. Geometrical
description for crane of XT28 is shown in figure 4.

Figure 4. Crane sketch

3.1 Crane Control system:
The control of the crane system involves several tasks such as, signal perception, data
processing, actuating operations of the hydraulic cylinder etc. A typical flow for the articulated
manipulator is shown in figure 5.

Figure 5. Data flow for crane system

By using an input device, the desired position of the crane gripper is commanded to the CPU.
The sensors present in the crane system provide necessary feedback information about the
environment, angle of the links, position of the gripper etc. The control algorithm will be
implemented in the computer and is responsible for generating a suitable output signal to the
actuators which in turn will move the mechanical structure.

4. HYDRAULIC CYLINDERS

4.1 Why Hydraulic cylinders:

Hydraulic cylinders are widely used in forwarder. They apply a force to the crane elements
that controls the joint motion. In general, hydraulic actuators are much more powerful that
electric actuators of comparable size due to high actuation forces and high-power density.
Because of their simple construction and low cost, hydraulic cylinders are the best solution
here.

A crane operator easily controls the valves and consequently distributes the fluid through the
load sensing hydraulic system. Hydraulic fluid is transmitted under high pressure through the
hoses into the cylinder chambers. Thus, the cylinder force acts on the linkage and move the
arms of the crane. This is phenomenon is demonstrated in Figure 6.
 Figure 6. Mechanical analogy of hydraulic cylinders

For equal pressure in the chambers, the hydraulic cylinders with two times the diameter of
another cylinder ( ₂ = 2 × ₁), can exert a force which is four times higher since F₂ is
₂ ₁
proportional to ₂ = = . By making use of this phenomenon, a hydraulically
operated crane is able to carry extremely high payloads, which makes it perfect for operations
in forest.

4.2 Selection:

Simple calculations for the forces needed in hydraulic cylinders to lift the payload was done.
the first step of completing these calculations were by making a Free body diagram of the forces
of the crane (see Figure 7).

Figure 7. Free body diagram for hydraulic cylinder force calculations

Considering the equilibrium of moment about point B, we have, Fa=14×((OB×sinθ)/GD) KN

Upon calculating for all possible values of θ, the highest value for Fa is 147.08 KN. Similar
calculations were done for the jib and telescopic forearm and they are 93 KN and 124.74 KN
respectively.

The Hydraulic cylinders are from the manufacturer Melin and Carlson Hydraulic AB. They are
one of Sweden’s best assorted manufacturer of hydraulic cylinders, with a thorough
understanding of the demands for applications in forestry. They also have a wide range of
stroke lengths and comes with in built position sensors inside the cylinder. The cylinder sketch
is given in Figure 8.

Figure 8. Hydraulic cylinder dimensions

The force table for the Hydraulic cylinders from the manufacturer is given in Figure 9 and the
selection is highlighted.

Figure 9. Force table for hydraulic cylinder

4. SENSORS

The crane is equipped with sensors that can be used for different measurements and to carry
out feedback control. There are:
- three angular sensors placed on the rotary joints
- three load sensors attached at the end of each cylinders
- one position sensor placed on the telescopic forearm
- six pressure sensors, two for each of the three hydraulic cylinders
4.1 Placement of sensors:
In figure 10, the different types of sensors and their location at the crane is shown.

Figure 10. Crane and sensor placement

Pressure sensors:
Pressures are often measured using the physical principle that the medium that is pressurized
squeezes against a mechanical diaphragm. This diaphragm will deform and thus the
deformation can be related to the pressure inside of the medium. In XT28 crane, pressure
sensors are MBS 2050 from the manufacturer Danfoss which is shown in figure 11.

Figure 11. Pressure sensor MBS 2050

These sensors are especially suitable for Hydraulic application and can withstand severe
influences like cavitation, liquid hammer or pressure peaks. They offer reliable pressure
measurement even under harsh environmental conditions. The sensor has a measuring range
between 0-60 MPa with a sensitivity of 0.3% of maximum pressure. The data sheet for the
sensor is available in Appendix.

Load sensors:
The XT28 crane is equipped with load sensors that can be connected directly to the cylinder
and its mounting. The load sensor selected for the crane is U9C sensor from manufacturer HBM
is shown in figure 12. The data sheet for the sensor is available in Appendix.

Figure 12: Load sensor U9C

Angular sensors:
There are mainly two types of angular sensors: absolute and incremental sensors. The output
of absolute encoders indicates the current position, but the output of incremental encoders
provides information about the motion. Hence, incremental sensors are preferred in crane
application. The angular sensor selected is MA500 Incremental sensor from manufacturer
Emeta and is shown in figure 13. The data sheet for the sensor is available in Appendix.

Figure 13. Angular sensor MA500

Position sensor:
Position sensors are used for measuring the cylinder lengths and speeds. To obtain a stable and
precise signal, the correct attachment of these sensors is most important. The position sensor
is Precision Potentiometer 3541H-1-102L from manufactured Bourns and is shown in figure
14. The potentiometer is mounted on the frame of the extension boom cylinder and its wires
end is connected to end of cylinders rod. The data sheet for the sensor is available in the
Appendix.

Figure 14: Precision position sensor 3541H-1-102L

5. DETERMINIG THE OPTIMIZED SKELETON OF THE CRANE:

In this section a systematic method for the design of forwarder cranes is described. The method
allows for the synthesis of optimized crane skeleton. The basis of optimizing crane skeleton is
minimizing the weight of the crane or maximizing the working space of the crane. This include
finding the crane dimensions which are,
1. The lengths of the crane sections: boom (Lc), outboom (Lp), telescopic lengthener (Lt),
and pillar (ho).
2. The limiting angles of boom rotation (ψo and ψk), and
3. the limiting angles of outboom rotation (ϕo and ϕk,)

5.1 Design variable selection:

The hydraulic crane skeleton is determined by the base machine parameter and bunk
dimensions. The main parameters are:
1. Machine carrying capacity (Q)
2. Machine chassis height (Hchassis)
3. Cab height (Hcab)
4. Dimension of bunk (length -A, width- B)
5. Height of bunk (Hbunk)
6. The maximum admissible height of the machine (Hmax)
7. Height of grapple (Hgrap)
 8. The minimum necessary horizontal distance from the boom-pillar hinge axle (or axis
of pillar rotation) to the bunk (C)

The hydraulic crane of a forwarder as an object of design is characterized by the following

main parameter:
1. Maximum outreach
2. Lifting moment
3. Rotation moment
The main geometry parameters for the crane is shown in figure 15.

Figure 15. Main geometric parameter for the crane

5.2 Functional constraint:

The specification of forwarder cranes is characterized by four main boundary positions. They
are listed below:
1. The first position is determined by the transport location of the crane on an empty truck.
This is determined by the overall dimension of the base machine.
2. Second by the log location on the ground. This is the maximum crane outreach.
3. Third by the nearness of the bunk deck relative to the pillar rotation axis, and
4. Forth position is determined by the greatest crane working height during the loading-
unloading.
Others positions of the crane are intermediates to these four positions which do not have an
influence on the synthesis of the crane skeleton. All these four positions are shown in figure
16.
 Figure 16. Skeleton compound scheme

The following equations are then used to solve the crane skeleton [4].
+( × ) = + (ℎ + ℎ − )
ℎ + ℎ + . cos( ) − . cos( − )− >
. sin( ) + . sin( − )=
ℎ + ℎ + . cos( ) − − =
ℎ = − . cos( )
= . cos( − )
. sin( ) − . sin( − )<
+ + <

Thus, we have eight unknown and eight equations. We solve them to get the design variables.
6. APPENDIX
Bore Piston rod
D1 D2 L L1 L2 L3 A1 A2 d1 d2 d3 d4 d5 B1 B2 U U1 U2 U3 U4 U5 G M N

25 16 102 140 130 105 44 26 38 12 16 8 16 16 10 12 31 20 30 25 15 G1/4" M12 14

20 20
40 122 180 152 125 52 25 58 20 20 10 20 16 14 43 22 35 30 17 G1/4" M16 18
25 25
25 25
50 127 195 161 130 52 25 68 25 35 12 25 20 16 50 25 40 30 19 G3/8" M20x1,5 22
32 32
32 32
63 142 220 185 150 62 28 78 30 35 16 30 22 17 56 30 48 35 25 G1/2" M24x2 28
40 40
40 40
80 152 240 215 165 62 28 88 35 40 20 35 25 17 61 40 65 40 30 G1/2" M30x2 35
50 50
50 50
100 162 270 245 180 67 33 108 45 50 25 45 32 17 71 50 80 55 35 G1/2" M42x2 45
63 63
63 63
125 182 320 270 200 73 35 138 60 60 30 60 44 22 91 55 85 65 40 G1/2" M48x2 55
80 80
80 80
140 202 350 315 225 83 40 148 70 70 35 70 49 17 91 65 95 70 40 G3/4" M68x3 60
100 100

Bore Piston rod Push force in kN Pull force in kN Push force in kN Pull force in kN Bore area Piston rod area
diameter diameter at 18 MPa at 18 MPa at 25 MPa at 25 MPa cm2 cm2

25 16 8,8 5,2 12,3 7,2 4,91 2,9

20 22,6 17 21,4 23,6 12,56 9,42

40
25 22,6 13,8 31,4 19,1 12,56 7,65
25 35,3 26,5 49,1 36,8 19,63 14,72
50
32 35,3 20,9 49,1 29 19,63 11,59
32 56,1 41,6 77,9 57,8 31,1 23,12
63
40 56,1 33,5 77,9 46,5 31,16 18,6
40 90,4 76,8 125,6 94,2 50,24 37,68
80
50 90,4 55,1 125,6 76,5 50,24 30,63
50 141,3 106 196,3 147,2 78,5 58,88
100
63 141,3 85,2 196,3 118,4 78,5 47,34
63 220,8 164,7 306,6 228,7 122,66 91,5
125
80 220,8 130,3 306,6 181 122,66 72,42
80 276,9 186,5 384,7 259,1 153,86 103,62
140
100 276,9 135,6 384,7 188,4 153,86 75,36
1
2
 U9C
Force Transducer

Special features

- Tensile/compressive force transducer

- Accuracy class 0.2

Data sheet
- Nominal (rated) forces 50 N - 50 KN
- Non‐rusting, protection class IP67
- Configurable with different cable lengths,
plug assembly on request
- High rigidity, particularly suited for
dynamic measurement tasks

Principle of the U9C force transducer

Load application via
threaded bolts

Measuring body

Connection cable,
4‐wire

B3812-1.2 en HBM: public

Dimensions (in mm)

U9C with nominal (rated) forces 50 N, 100 N and 200 N

approx.
10.5
approx.
5.5 Cable Ø 3

min. bending radius 10 mm

U9C with nominal (rated) forces 0.5 kN to 50 kN

M
R
F
E

A
B

Cable Ø 3

min. bending
G

radius 10 mm
F

R
M

Nominal (rated) force A­0.1 B C E F G M R Y Z

of the U9C
[mm]
0.5 kN to 1 kN 26 44.5 20.5 13 9.5 13.5 M5 20 approx. 5.5 2.7
2 kN to 20 kN 26 60 28.5 21 16 21 M10 40 approx. 5.5 5
50 kN 46 84 40 28 21.5 28 M16 x 1.5 80 approx. 5.5 8

HBM 2 B3812-1.2 en HBM: public

 U9C cable diagram
1: White, measurement signal (+)

2: Black, excitation voltage (−)

4: Red, measurement signal (−)

3: Blue, excitation voltage (+)

Cable shield, connected to the housing

Mounting accessories (dimensions in mm)

Knuckle eyes
(to be ordered separately)

a.f.

Nominal Ordering number A BH7 D F G H J K L M a.f. W

(rated) forces
[mm]
50 N to 1 kN 1­Z8/100kg/ZGW 10 5 18 27 36 6 9 11 4 M5 9 8
2 kN to 20 kN 1­U9/20KN/ZGWR 20 10 28 43 57 10.5 15 19 6.5 M10 17 14
50 kN 1­U9a/50kN/ZGW 28 16 42 64 85 15 22 27 8 M16 x 1.5 22 21

B3812-1.2 en HBM: public 3 HBM

 U9C with one or two knuckle eyes

b
a

Nominal (rated) amin amax bmin bmax

force
[mm]
50 - 20 N 55 59 82 86
0.5 - 1 kN 56 61 83 88
2 - 20 kN 79 82 122 125
50 kN 116 116 180 180

Mounting dimensions of the U9C when using knuckle eyes

HBM 4 B3812-1.2 en HBM: public

Specifications
N 50 100 200
Nominal (rated) force Fnom
kN 0.5 1 2 5 10 20 50
Accuracy
Accuracy class 0.2
Relative reproducibility and repeatability
brg % < 0.2
errors without rotation
Relative reversibility error v0.5 % < 0.2
Non-linearity dlin % < 0.2
Relative creep (30 min) dcr,F % < 0.2 < 0.1
Effect of the bending moment at 10% Fnom *
dMb % 0.055 0.045 2.35 2.45 0.5
10 mm (typical)
Effect of temperature on sensitivity
in the nominal (rated) temperature range TKC % / 10 K 0.2
in the operating temperature range TKC % / 10 K < 0.5
Effect of temperature on the zero signal
in the nominal (rated) temperature range TK0 % / 10 K < 0.2
in the operating temperature range TK0 % / 10 K < 0.50
Electrical characteristics
Nominal (rated) sensitivity Cnom mV/V 1
Relative zero signal error ds,0 mV/V +/- 0.2
Sensitivity error dc % < +/-1 tensile , < +/-2 compressive
Tensile/compressive sensitivity variation dzd % <2
Input resistance Ri Ω 250 - 400 300 - 450
Output resistance Ro Ω 200 - 400 145 - 450
Insulation resistance Ris Ω > 1*10 9
Operating range of the excitation voltage Bu,gt V 0.5 - 12
Reference excitation voltage Uref V 5
Connection 4-wire circuit
Temperature
Reference temperature t.ref °C 23
Nominal (rated) temperature range Bt,nom °C -10 to +70
Operating temperature range Bt,g °C -30 to +85
Storage temperature range Bt,S °C -30 to +85
Characteristic mechanical quantities
Max. operating force FG 200 150
Limit force FL % of > 200 > 150
Fnom
Breaking force FB > 400
Limit torque Nm 1.7 3.4 2.5 3.7 4.5 28 23 11 11 35
Limit bending moment when loading with
Nm 0.17 0.7 1.5 3.7 3.8 10.2 14.4 8.2 8.6 28.5
nominal (rated) force
Static lateral limit force when loading with % of
Fq 100 50 100 50 18 6 8
nominal (rated) force 2) Fnom
Nominal (rated) displacement mm 0.008 0.018 0.03 0.05 0.09 0.14
Fundamental resonance frequency kHz 6.5 9.1 12.6 15.3 15.9 13.2 14.5 14.6 14.6 7.2
% of
Relative oscillation width 70 80 70
Fnom
General information
Degree of protection per EN 60529 1) IP67
Spring element material Steel
Potting material Silicone
Cables Four-wire circuit, PUR insulation
Cable length m 1.5, 3, 7, 12
Weight g 75 100 400
1) 1 m water column; 0.5 h
2) Pure lateral force without bending moment

B3812-1.2 en HBM: public 5 HBM

Versions and ordering numbers

Code Measuring Ordering number The ordering numbers shown in gray are preferred types, they can be
range delivered rapidly.
All force transducers with 1.5 m cable, open ends and without TEDS.
0050 50 N 1­U9C/50N
The order no. for the preferred types is 1‐U9C…
0100 100 N 1­U9C/100N
The order no. for customer‐specific designs is K‐U9C‐…
0200 200 N 1­U9C/200N
00K5 0.5 kN 1­U9C/0.5KN
The ordering number example K-U9C-05k0-12m0-F-T shown further below
01k0 1 kN 1­U9C/1KN refers to a: U9C, 5 kN nominal (rated) force with 12 m cable, 15‐pin Sub‐D
02k0 2 kN 1­U9C/2kN connector and TEDS
05k0 5 kN 1­U9C/5kN
10k0 10 kN 1­U9C/10kN
20k0 20 kN 1­U9C/20KN
50k0 50 kN 1­U9C/50KN

Cable length Plug version Transducer identification

1.5 m Free ends With TEDS
01m5 Y T
3m 15‐pin Sub­D connector Without TEDS
03m0 F S
5m MS3106PEMV connector
05m0 N
6m 15‐pin Sub‐HD connector
06m0 Q
7m
07m0
12 m
12m0

K‐U9C‐ 05k0‐ 12m0‐ F‐ T

All cable lengths can be combined with all plugs.

TEDS can only be ordered in conjunction with a plug option. It is not possible to combine TEDS and free cable
ends.

B3812-1.2 en HBM: public

Subject to modifications. Hottinger Baldwin Messtechnik GmbH

All product descriptions are for general information Im Tiefen See 45 ⋅ 64293 Darmstadt ⋅ Germany
only. They are not to be understood as a guarantee Tel. +49 6151 803‐0 ⋅ Fax +49 6151 803‐9100
of quality or durability. Email: info@hbm.com ⋅ www.hbm.com

measure
HBM and predict with confidence 6 B3812-1.2 en HBM: public
 Features

TN
■ Bushing mount

IA
■ RoHS compliant*

PL
M ■ Optional center tap and rear shaft extension
CO
S
oH

■ Optional AR lug feature

*R

■ Gangable with common or concentric shafts

■ High torque available
■ Non-standard features and specifications
available

3540/3541 - Precision Potentiometer

Electrical Characteristics1 3540 Wirewound Element 3541 Hybritron® Element Product Dimensions
Standard Resistance Range................ 100 to 100 K ohms .....................1 K to 100 K ohms
Total Resistance Tolerance.................. ±5 % ...........................................±10 % 3540S-1/3541H-1
Independent Linearity .......................... ±0.25 % ......................................±0.25 % 18.3
Effective Electrical Angle ..................... 3600 ° +10 °, -0 ° .......................3600 ° +10 °, -0 ° (.72)
Absolute Minimum Resistance/ ........... 1 ohm or 0.1 % maximum ..........0.2 % maximum 14.35 ± .38
Minimum Voltage ............................. (whichever is greater) (.565±.015)
Noise/Output Smoothness .................. 100 ohms ENR maximum ..........0.1 % maximum 5.72 ± .38
Dielectric Withstanding Voltage (MIL-STD-202, Method 301) (.225±.015)
Sea Level ......................................... 1,000 VAC minimum ..................1,000 VAC minimum 1 10.32 +.00/.05
Power Rating (Voltage Limited By Power Dissipation or 447 VAC, Whichever Is Less) DIA.
3 (.406+.000/-.002)
+70 °C.............................................. 2 watts ........................................2 watts
3/8 " 32-UNEF-2ATHD
+125 °C............................................ 0 watt..........................................0 watt 2
Insulation Resistance (500 VDC) ........ 1,000 megohms minimum ..........1,000 megohms minimum .25
X 45 ° CHAMFER
Resolution............................................ See recommended part nos. .....Essentially infinite (.010)
ADJUSTMENT
SLOT .81 WIDE
Environmental Characteristics1 (.032)
.81±.25
Operating Temperature Range ............ -40 °C to +125 °C .......................-40 °C to +125 °C X DEEP
1.52 (.032±.010)
Storage Temperature Range ............... -55 °C to +125 °C .......................-55 °C to +125 °C
Temperature Coefficient Over (.06) 6.342 + .000/ - .023
Storage Temperature Range2.......... ±50 ppm/°C maximum/unit .........±100 ppm/°C maximum/unit 7.92 ± .38 (.2497+.0000/-.0009)
Vibration .............................................. 15 G ...........................................15 G (.312 ± .015) DIA.
Wiper Bounce .................................. 0.1 millisecond maximum ...........0.1 millisecond maximum
Shock................................................... 50 G ...........................................50 G 19.05 ± .38 20.62 ± .79
Wiper Bounce .................................. 0.1 millisecond maximum ...........0.1 millisecond maximum (.750 ± .015) (.812 ± .031)
Load Life .............................................. 1,000 hours, 2 watts ...................1,000 hours, 2 watts
Total Resistance Shift ...................... ±2 % ...........................................±5 %
Rotational Life (No Load)..................... 1,000,000 shaft revolutions2 .....5,000,000 shaft revolutions2 OPTIONAL ANTIROTATION LUG
(-91) 1.42 X .50 ON 7.4 RADIUS.
Total Resistance Shift ...................... ±5 % maximum ..........................±5 % maximum LENGTH 1.27 FROM MOUNTING SURFACE.
Moisture Resistance (MIL-STD-202, Method 103, Condition B) (SUGGESTED PANEL HOLE 1.6 DIA.)
Total Resistance Shift ...................... ±2 % maximum ..........................±5 % maximum
IP Rating .............................................. IP 40 ...........................................IP 40 30 °
±5° 6.35
(.25)
Mechanical Characteristics1
15.88
Stop Strength.......................................................................................... 53 N-cm (75 oz-in.) minimum R MAX.
(.625)
Mechanical Angle ......................................................................................................3600 ° +10 °, -0 ° 12.45
Torque (.49)
Starting & Running @ +25 °C ...............................................................0.49 N-cm (0.7 oz.-in.) max.
Starting & Running @ -40 °C................................................................1.76 N-cm (2.5 oz.-in.) max.
Mounting ..................................................................................... 170-200 N-cm (15-18 lb.-in.) max.
Shaft Runout.................................................................................................0.08 mm (0.003 in.) T.I.R.
Lateral Runout ..............................................................................................0.13 mm (0.005 in.) T.I.R.
Shaft End Play ..............................................................................................0.30 mm (0.012 in.) T.I.R. MTG. FACE
15.88
Shaft Radial Play ..........................................................................................0.08 mm (0.003 in.) T.I.R. 22.23 ± .38
(.625)
DIA. MIN.
Pilot Diameter Runout ..................................................................................0.08 mm (0.003 in.) T.I.R. (.875 ± .015)
Backlash ....................................................................................................................... 1.0 ° maximum
Weight .................................................................................................................Approximately 21 gm
Terminals ......................................................................................................... Gold-plated solder lugs TOLERANCES: EXCEPT WHERE NOTED
Soldering Condition DECIMALS: .XX ±
.25
.XXX ±
.13
Manual Soldering........................................................... 96.5Sn/3.0Ag/0.5Cu solid wire or no-clean (.010), (.005)
rosin cored wire; 370 °C (700 °F) max. for 3 seconds FRACTIONS: ±1/64
Wave Soldering .................... 96.5Sn/3.0Ag/0.5Cu solder with no-clean flux; 260 °C (500 °F) max. MM
DIMENSIONS:
for 5 seconds (IN.)
Wash processes ..................................................................................................Not recommended
Marking ................................................. Manufacturer’s name and part number, resistance value and
tolerance, linearity tolerance, wiring diagram, and date code 2 WIPER
Ganging (Multiple Section Pots.) ............................................................................... 2 cups maximum
Hardware .................................................... One lockwasher (H-37-2) and one mounting nut (H-38-2)
is shipped with each potentiometer.
CCW 1 3 CW

1At room ambient: +25 °C nominal and 50 % relative humidity nominal, except as noted. CLOCKWISE
2Consult manufacturer for complete specification details.

Recommended Part Numbers

BOLDFACE LISTINGS ARE IN STOCK AND READILY
Part Number Resistance (Ω) Resolution Part Number Resistance (Ω) AVAILABLE THROUGH DISTRIBUTION.
3540S-1-201L 200 .042 3541H-1-102L 1,000 FOR OTHER OPTIONS CONSULT FACTORY.
3540S-1-501L 500 .031 3541H-1-202L 2,000 ROHS IDENTIFIER:
3540S-1-102L 1,000 .027 3541H-1-502L 5,000 L = COMPLIANT
3540S-1-202L 2,000 .021 3541H-1-103L 10,000
3540S-1-502L 5,000 .021 3541H-1-203L 20,000
3540S-1-103L 10,000 .019 3541H-1-503L 50,000
3540S-1-203L 20,000 .014 3541H-1-104L 100,000
Specifications are subject to change without notice.
3540S-1-503L 50,000 .011 Customers should verify actual device performance in their specific applications.
3540S-1-104L 100,000 .008
*RoHS Directive 2002/95/EC Jan. 27, 2003 including annex and RoHS Recast 2011/65/EU June 8, 2011.
 3540/3541 - Precision Potentiometer
Panel Thickness Dimensions

2.46 - 3.81
(.097 - .150)

PANEL

HEX NUT
10.44 ± .07
DIA.
(.411 ± .003)

7.42
R
(.292)

ADDITIONAL HOLE FOR

ANTI-ROTATION PIN LOCKWASHER
1.60 +.08/-.03
DIA. POT
(.063 +.003/-.001)

Anti-rotation pin hole is shown at six o'clock

position for reference only. The actual location is
determined by the customer's application. Refer
to the front view of the potentiometer to see the
location of the optional A/R pin.

Panel thickness and hole diameters are

recommended for best fit. However, customers
may adjust the dimensions to suit their specific
application.

MM 0.127
DIMENSIONS: TOLERANCES: ±
(INCHES) (.005)

REV. 11/12
“Hybritron” is a registered trademark of Bourns, Inc.
Specifications are subject to change without notice.
Customers should verify actual device performance in their specific applications.
REFERENCE:

[1] Pedro La Hera, Uwe Mettin, Ian R. Manchester, Anton Shiriaev. Identification and Control
of a Hydraulic Forestry Crane. Department of Applied Physics and Electronics, Ume˚a
University
[2] Simon Westerberg. Semi-Automating Forestry Machines, Motion Planning, System
Integration, and Human-Machine Interaction. Department of Applied Physics and Electronics
/ Industrial Doctoral School, Umeå University, Sweden
[3] Alexander Heinze. Modelling, simulation and control of a hydraulic crane. Växjö
Universitet

[4] Y.Y. Gerasimov and V.S. Siounev. Forest Machinery Crane Compound Scheme Synthesis:
“Skeleton” Part. Petrozavodsk State University Petrozavodsk, Russia.