EP2028320B1 - Verfahren und System zur Steuerung einer Arbeitsmaschine. - Google Patents

Verfahren und System zur Steuerung einer Arbeitsmaschine. Download PDF

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Publication number
EP2028320B1
EP2028320B1 EP07016287A EP07016287A EP2028320B1 EP 2028320 B1 EP2028320 B1 EP 2028320B1 EP 07016287 A EP07016287 A EP 07016287A EP 07016287 A EP07016287 A EP 07016287A EP 2028320 B1 EP2028320 B1 EP 2028320B1
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EP
European Patent Office
Prior art keywords
control
operating
memory
input
additional
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EP07016287A
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English (en)
French (fr)
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EP2028320A1 (de
Inventor
David Andrew Morris
Luciano Argentieri
Andrew Stuart Mayer
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JCB Compact Products Ltd
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JCB Compact Products Ltd
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Priority to DE602007010283T priority Critical patent/DE602007010283D1/de
Priority to EP07016287A priority patent/EP2028320B1/de
Priority to AT07016287T priority patent/ATE487007T1/de
Publication of EP2028320A1 publication Critical patent/EP2028320A1/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle

Definitions

  • a working implement such as a boring tool may be carried by the working arm, and its operation i.e. speed of rotation of a boring bit, may be proportionally controlled by operating a rotational actuator of the tool in proportion to the direction and extent of movement of an operator control.
  • the control device ensures that a constant flow of hydraulic fluid is provided to the selected actuator to maintain the desired actuator operation.
  • the method of the invention may include reactivating the memory mode, such that the memorised input to the control device is recalled and the desired operation of the selected actuator corresponding to the memorised input is performed.
  • a memory control may be operated for a period which is greater than or equal to a predetermined period.
  • the memory control may be operated for less than the predetermined period to activate the memory mode by recalling the last memorised input.
  • the memorised input may remain memorised by the control device even when an engine of the working machine which provides power for the machine functions, is deactivated.
  • the additional control may be capable of controlling only one selected operating function such as the operation of a working implement such as a boring tool, or may be capable of controlling a plurality of alternative operating functions, including by way of further examples only, forward drive of the machine, or the movement of one part of the working arm relative to another for a particular purpose such as grading.
  • the method may include selecting the operating function to be controlled by the additional control by actuating a selector switch to transfer control of the selected operating function to the additional control.
  • the invention has particularly but not exclusively been developed where the operator control which mounts the additional control, is a joystick which is moveable to operate other hydraulic actuators to effect other operating functions of the machine, joystick movements providing inputs to the control device which responds by operating one or more of the respective other actuators.
  • the operator control is for example, a control lever which is mechanically connected to a valve block to control operating functions e.g. by moving spools of the valve block.
  • the additional control may be a thumbwheel potentiometer which is mounted by the operator control so as to be controllable e.g. by an operator's thumb.
  • the control system may include a selector switch for transferring control of the selected operating function to the additional control, and in an embodiment in which there is a second operator control for operating hydraulic actuators for effecting operating functions of the machine, the selector switch may be mounted on the second operator control.
  • the selector switch may more conveniently be provided elsewhere, for example only, on a dashboard or other control panel of the working machine.
  • the second operator control may be a second joystick which is moveable to operate hydraulic actuators to effect operating functions of the machine, second joystick movements providing inputs to the control device which responds by operating one or more of the respective other actuators.
  • the memory mode is activated using a memory control.
  • the memory control may be a member located on the or one of the operator controls which, when operated e.g. pressed, activates the memory mode.
  • the memory control is provided on the second operator control.
  • the memory mode When the memory control is operated for a period greater than or equal to a predetermined period, the memory mode may be activated with the control device to memorise the current input from the additional control, whereas when the memory control is operated for a period less than the predetermined period, the memory mode may be activated with the control device recalling the last memorised input.
  • a working machine 10 which in the example to be described with reference to the drawings is an excavating machine which includes a body 11 and a ground engaging structure 12, which in this example includes a pair of tracks 13, driven by respective hydraulically powered track motors one of which is indicated illustratively by the reference M1, through respective track drive sprockets.
  • the body 11 is rotatable about a generally upright slew axis D relative to the ground engaging structure 12 by a hydraulic actuator which is a hydraulic motor, the general location for which is identified at 24.
  • a working machine 10 with which the invention is concerned does however have a working arm 14, for excavating and/or loading.
  • the working arm 14 is an excavating arm 14 which includes a boom part 16 from which depends a dipper arm 18.
  • a working implement 19, which in this example is a boring tool, is carried by the dipper arm 18.
  • the working arm 14 is mounted on a mounting assembly 15 for swinging rotation relative to the body 11, about a substantially upright axis A, and for up and down movement about a first generally horizontal axis B relative to the body 11.
  • the rotational movement of the arm 14 about the upright axis A is effected by a first hydraulic actuator 20 (only partly seen in figure 1 ) which acts between the body 11 and the mounting assembly 15, and arm 14 movement about the first generally horizontal axis B is effected by a second hydraulic actuator 21, which acts between the mounting assembly 15 and the boom part 16.
  • a third hydraulic actuator 22 is provided for moving the dipper arm 18 with respect to the boom part 16 about a further substantially horizontal axis C.
  • the second and third hydraulic actuators 21 and 22 act linearly to enable the working implement 19 to be raised, lowered and moved closer to or further from the machine body 11 as required.
  • a fourth hydraulic actuator 23 enables the working implement 19 to be rotated about another axis E relative to the dipper arm 18, and yet another hydraulic actuator, i.e. a hydraulic motor indicated at 28, is operative to rotate a boring tool bit 27 to effect the working operation of boring.
  • the first, second, third and fourth hydraulic actuators 20-23, and the motors 24 and 28 for driving the ground engaging structure 12 and the boring tool 19, and the track motors M1, are controlled by an operator from within a cab structure 25 of the machine 10.
  • the cab structure includes a seat 26 which has arm-mounted operator joystick controls 30.
  • the working machine 10 is provided with at least first, second and third operator controls which provide inputs to a control device 31 which may be provided anywhere practical on the machine 10, the control device 31 responding to the inputs to operate the various functions of the machine.
  • the first operator control is a joystick 30 a mounted on the operator's right hand side of the seat 26, and the second operator control is a joystick 30 b , mounted on the operator's left hand side of the seat 26.
  • the third operator control in this example is a foot pedal 33. It will be apparent that the operator controls do not necessarily have to be provided in this particular arrangement, for example the joysticks 30 a , 30 b could instead be floor mounted levers.
  • the joysticks 30 a , 30 b are servo controls which when activated, provide hydraulic or electric servo input signals to the control device 31 which may be a control valve assembly or an electronic control unit, to operate respective hydraulic actuators.
  • the first 30 a and second 30 b joystick operator controls would be controlled to operate selected operating functions of the machine 10.
  • Particular operating functions to be controlled may be changeable so the joysticks may in one operating mode be used to operate the track motors M1 to effect forward or reverse drive of the machine 10, or in another operating mode the joystick controls 30 a , 30 b may be used to operate the linear first, second, third and fourth actuators 21-23 to operate working arm 14 functions, as required.
  • the first, right hand, joystick operator control 30 a provides a mounting for an additional control 32 which in this example is a thumbwheel.
  • the first joystick operator control 30 a also has an indicator light 34, and a horn control button 36.
  • the second, left hand, operator control joystick 30 b is provided with a function selection switch, which in this example is a rocker switch 38, having first and second positions for selecting alternative operating functions for the additional, thumbwheel, control 32 to control.
  • the rocker switch 38 also has a third position which is a control selector for transferring control of the operating functions otherwise selectable by the selector switch 38, between the additional, thumbwheel, control 32 and the third operator control, i.e. the foot pedal 33.
  • the selector switch 38 is a three position rocker switch, but other kinds of selector switch 38 which enable an operating function to be controlled by the additional control 32 to be selected, may be utilised. For example, particularly but not exclusively where there are a larger number of alternative operating functions from which selection may be made for transferring control to the additional control 32, a rotational or other kind of selector switch, or even an electronic display menu style selector switch may be utilised.
  • the selector switch 38 need not be provided on the second operator control joystick 30 b , but this could be dashboard or other control panel mounted as required.
  • the second left hand operator control joystick 30 b is further provided with a function selector 40 and a memory control, namely a trigger button 42.
  • the additional, thumbwheel, control 32 is a thumbwheel potentiometer.
  • An operator can rotate the thumbwheel 32 to the left or the right from a centre position, with respect to the joystick 30 a .
  • the operator releases the thumbwheel 32, it is returned by a spring to its neutral centre position.
  • the additional control 32 can be used alternatively to signal the control device 31 to control a first selected operating function, namely the rotation of the boring tool bit 27 effected by the hydraulic motor 28, and a second selected operating function namely the swinging rotation of the working arm 14 about upright axis A with respect to the machine body 25.
  • the additional, thumbwheel, control 32 is only able to control one selected operating function at any one time. The operator selects whether the additional, thumbwheel, control 32 is used to control the first or second selected operating function, by means of the selector switch 38 on the second operator control joystick 30 b .
  • Selecting the first position of the rocker switch 38 transfers control of the first selected operating function, that is the control of the hydraulic motor 28 of the boring tool 19, to the additional, thumbwheel, control 32.
  • Selecting the second position of the rocker switch 38 transfers control of the second selected operating function, that is the swinging rotation of the working arm 14 with respect to the body 25, about axis generally upright axis A, to the additional, thumbwheel control 32.
  • Selecting the third position of the selector switch 38 transfers control of the selected operating functions to the foot pedal 33, the operator selecting whether the foot pedal 33 is required to control the first or the second selected operating function, by pressing the function selector button 40.
  • the function selector button 40 is a toggle button of known type.
  • the indicator light 34 on the first operator control joystick 30 a indicates whether the selected operating function is being controlled by the additional, thumbwheel, control 32 or by the foot pedal 33.
  • the additional, thumbwheel, control 32 like the joysticks 30 a , 30 b in this example, provides inputs to the control device 31 which responds by operating respectively, the hydraulic motor 28 of the boring tool 19 when the first selected operating function is controlled by the additional control 32, or the first actuator 20 when the second selected operating function is controlled by the additional control 32 , all depending proportionally upon the direction and extent of rotation of the thumbwheel 32.
  • the operator may activate a memory mode.
  • the memory mode enables an input from the additional, thumbwheel, control 32 which results in a desired operation e.g. hydraulic motor 28 rotational speed, to be memorised by the control device 31.
  • the memory control 42 on the second operator control joystick 30 b in this example is a button which, when depressed for a period which is greater than or equal to a predetermined period, causes the control device 31 to memorise the input currently being received from the additional, thumbwheel, control 32.
  • the indicator light 34 on the first operator control joystick 30 a flashes until the predetermined period has elapsed.
  • the hydraulic actuator effecting the selected operating function is controlled by the control device 31 in memory mode in accordance with that memorised input, until the memory mode is deactivated, or until the memory control button 42 is pressed to activate the memory mode to memorise a new input in the control device.
  • the memory control button 42 is a toggle button which, if pressed for a period which is shorter than the predetermined period either, when the memory mode is activated, de-activates the memory mode, or where the memory mode is deactivated, activates the memory mode but recalling the last memorised input.
  • control device 31 controls the flow of hydraulic fluid to the respective selected actuator to effect the respective selected operating function, by maintaining a constant flow of hydraulic fluid to the actuator, regardless of the operation or otherwise of the additional, thumbwheel, control 32.
  • Such constant hydraulic fluid flow is maintained at the selected magnitude and/or in the selected direction until the memory mode is deactivated, or until a new input from the additional thumbwheel, control 32 is memorised by pressing the control button 42 for at least the predetermined period.
  • the control device 31 retains the memorised input when the memory control button 42 is pressed to deactivate the memory mode, even when an engine 41 of the working machine 10 which provides power for the various machine functions, has been deactivated, so that if the task is interrupted, the operator can recall the memorised input and continue the task without having to adjust the additional, thumbwheel, control 32 again to find the optimum setting.
  • the selected operating function the control of which is transferred to and effected by the additional, thumbwheel or other kind of control 32 could be any of the operating functions of the working machine 10 where it is desirable to be able to memorise an input from the additional control 32 either for immediate or future use.
  • Examples of alternative operating functions which may be selected include the forward drive of the machine effected by the hydraulically driven track motors M1 where such are provided, in order to achieve a constant driving speed, or the movement of the dipper arm 18 relative to the boom part 16 which may be effected by the second actuator 22, e.g. during a grading task, when a consistent speed of movement of a levelling tool e.g. a bucket may be desirable.
  • a suitable selector switch 38 may enable any one of a large number of different machine operating functions to be selected for control by the additional control 32, with any input from the additional control 32 which results in a desired operating function being effected, being memorisable by the control device 31 upon operating the memory control 42, for immediate and/or future use.
  • one or a plurality of different inputs for each selectable operating function may be memorised by the control device 31, e.g. so that different machine operators may store preferred settings.
  • the memory control 42 being a button on the second operator control 30 a
  • this may be provided elsewhere, e.g. on a dashboard or other control panel, or even by e.g. pushing the additional control 32 which is otherwise rotatable to vary the input to the control device 31.
  • the control device 31 which receives inputs from the various operator controls, including the additional control 32, the function selector 40 and the memory control 42 etc. may be an electronic control device, or an electro-hydraulic control device, which may include one or a plurality of operationally interconnected units.
  • the control device 31 may be operative to control the various hydraulic actuators by operating spools of one or more valve blocks as is well known in the art.
  • the first and second operator controls 30a, 30b are not servo controls such as joysticks but, usually floor mounted, control levers mechanically connected directly to a valve block, the control device 31 would be operable to effect control of a selected operating function in response to controlled operation of the additional control 32 only.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Mechanical Control Devices (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Jib Cranes (AREA)

Claims (13)

  1. Verfahren zum Betreiben einer Arbeitsmaschine (10), die eine Karosserie (11), einen am Boden angreifenden Aufbau (13) und einen Arbeitsarm (14), der ein Arbeitsinstrument (19) trägt, sowie eine Bedienung (30a) zum Betätigen hydraulischer Stellglieder (20-23, 24, 28) einschließt, um Betriebsfunktionen der Maschine (10) zu bewirken, wobei an der Bedienung (30a) eine zusätzliche Steuerung (32) angebracht ist, die gesteuert werden kann, um zumindest ein ausgewähltes Stellglied zum Bewirken einer ausgewählten Betriebsfunktion zu betreiben, wobei die zusätzliche Steuerung (32) Eingabe in eine Steuervorrichtung (31) vorsieht, welche proportional reagiert, um das ausgewählte Stellglied zu betreiben, wobei das Verfahren das Steuern der zusätzlichen Steuerung (32) zum Betreiben des ausgewählten Stellglieds einschließt und, wobei die zusätzliche Steuerung (32) dazu gesteuert wird, eine Eingabe in die Steuervorrichtung (31) vorzusehen, um eine gewünschte Betätigung des Stellglieds zu erreichen, sowie ein Aktivieren eines Speichermodus durch Betätigen einer Speichersteuerung (42) einschließt, wodurch die Steuervorrichtung (31) die Eingabe memoriert und fortfährt, das ausgewählte Stellglied nach Maßgabe der memorierten Eingabe zu betreiben, indem sie eine konstante Strömung von Hydraulikfluid zu dem ausgewählten Stellglied aufrechterhält und die Steuervorrichtung (31) fortfährt, das ausgewählte Stellglied gemäß der memorierten Eingabe zu betreiben, bis der Speichermodus durch Betätigen der Speichersteuerung (42) deaktiviert oder bis der Speichermodus durch Betätigen der Speichersteuerung (42) aktiviert wird, um eine alternative Eingabe von der zusätzlichen Steuerung (32) zu memorieren.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die manuelle Bedienung des ausgewählten Stellglieds zum Bewirken der ausgewählten Betriebsfunktion durch Deaktivieren des Speichermodus durch Betreiben der Speichersteuerung (42) wieder aufgenommen wird und das Verfahren das Reaktivieren des Speichermodus durch Betreiben der Speichersteuerung (42) so einschließt, dass die memorierte Eingabe in die Steuervorrichtung (31) wieder aufgerufen und die gewünschte Betätigung des ausgewählten Stellglieds entsprechend der memorierten Eingabe durchgeführt wird.
  3. Verfahren nach irgendeinem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass, wenn der Speichermodus aktiviert ist, die Steuervorrichtung (31) die aktuelle Eingabe von der zusätzlichen Steuerung (32) memoriert, wenn die Speichersteuerung (42) eine Zeitdauer lang betrieben wird, die größer als oder gleich einer vorgegebenen Zeitdauer ist, und die letzte memorierte Eingabe wieder aufruft, wenn die Speichersteuerung (42) weniger lang als die vorgegebene Zeitspanne betrieben wird.
  4. Verfahren nach irgendeinem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Maschine (10) einen Motor (41) zum Bereitstellen von Leistung für die Stellglieder (20-23, 24, 28) einschließt, um die Betriebsfunktionen zu bewirken, und die memorierte Eingabe von der Steuervorrichtung (31) memoriert bleibt, wenn der Motor (41) der Arbeitsmaschine (10) deaktiviert wird.
  5. Verfahren nach irgendeinem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Verfahren das Betätigen eines Auswahlschalters (38) einschließt, um die Steuerung der ausgewählten Betriebsfunktion auf die zusätzliche Steuerung (32) zu übertragen.
  6. Steuersystem für eine Arbeitsmaschine (10), die eine Karosserie (11), einen am Boden angreifenden Aufbau (13) und einen Arbeitsarm (14) einschließt, der ein Arbeitsinstrument (19) trägt, wobei das Steuersystem eine Bedienung (30a) zum Betätigen hydraulischer Stellglieder (20-23, 24, 28) zum Bewirken von Betriebsfunktionen der Maschine (10) einschließt, wobei an der Bedienung (30a) eine zusätzliche Steuerung (32) angebracht ist, die dazu gesteuert werden kann, zumindest ein ausgewähltes Stellglied zum Bewirken einer ausgewählten Betriebsfunktion zu betreiben, wobei die zusätzliche Steuerung (32) Eingaben in eine Steuervorrichtung (31) vorsieht, die proportional reagiert, um das ausgewählte Stellglied zu betreiben, wobei die Steuervorrichtung (31) einen Speicher zum Memorieren einer Eingabe von der zusätzlichen Steuerung (32) einschließt, die eine gewünschte Betätigung des Stellglieds erreicht, so dass bei Aktivierung eines Speichers durch Betätigung einer Speichersteuerung (42) die Steuervorrichtung (31) die Eingabe memoriert und fortfährt, das ausgewählte Stellglied nach Maßgabe der memorierten Eingabe zu betreiben, bis der Speichermodus durch Betätigen der Speichersteuerung (42) deaktiviert oder bis der Speichermodus durch Betätigen der Speichersteuerung (42) aktiviert wird, um eine alternative Eingabe von der zusätzlichen Steuerung (32) zu memorieren.
  7. Steuersystem nach Anspruch 6, dadurch gekennzeichnet, dass die Bedienung (30a) ein Joystick ist, der bewegt werden kann, um andere hydraulische Stellglieder zu betreiben, um weitere Betriebsfunktionen der Maschine (10) zu bewirken, wobei Bewegungen des Joysticks (30a) Eingaben in die Steuervorrichtung (31) vorsehen, die durch Betreiben von einem oder mehreren der jeweiligen anderen Stellglieder reagiert.
  8. Steuersystem nach Anspruch 6 oder 7, dadurch gekennzeichnet, dass die zusätzliche Steuerung (32) ein Daumenrad-Potentiometer ist.
  9. Steuersystem nach irgendeinem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass ein Auswahlschalter (38) zum Übertragen der Steuerung der ausgewählten Betriebsfunktion auf die zusätzliche Steuerung (32) bereitgestellt ist.
  10. Steuersystem nach Anspruch 9, dadurch gekennzeichnet, dass das System eine zweite Bedienung (30b) zum Betätigen hydraulischer Stellglieder zum Bewirken von Betriebsfunktionen der Maschine (10) einschließt, wobei der Auswahlschalter (38) an der zweiten Betätigungsvorrichtung (30b) angebracht ist.
  11. Steuersystem nach irgendeinem der Ansprüche 6 bis 10, dadurch gekennzeichnet, dass die Speichersteuerung (42) zum Aktivieren des Speichermodus ein sich auf der oder einer der Bedienungen (30a, 30b) befindliches Element ist, das bei einer Betätigung den Speichermodus aktiviert.
  12. Steuersystem nach Anspruch 11, dadurch gekennzeichnet, dass, wenn die Speichersteuerung (42) eine Zeitdauer lang betätigt wird, die größer als oder gleich einer vorgegebenen Zeitdauer ist, der Speichermodus mit der Steuervorrichtung (31) aktiviert wird, um die aktuelle Eingabe von der zusätzlichen Steuerung (32) zu memorieren, und wenn die Speichersteuerung (42) eine Zeitdauer lang betrieben wird, die kürzer als die vorgegebene Zeitdauer ist, der Speichermodus aktiviert wird, wobei die Steuervorrichtung (31) die letzte memorierte Eingabe wieder aufruft.
  13. Arbeitsmaschine (10) mit einem Steuersystem nach irgendeinem der Ansprüche 6 bis 12.
EP07016287A 2007-08-20 2007-08-20 Verfahren und System zur Steuerung einer Arbeitsmaschine. Active EP2028320B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE602007010283T DE602007010283D1 (de) 2007-08-20 2007-08-20 Verfahren und System zur Steuerung einer Arbeitsmaschine.
EP07016287A EP2028320B1 (de) 2007-08-20 2007-08-20 Verfahren und System zur Steuerung einer Arbeitsmaschine.
AT07016287T ATE487007T1 (de) 2007-08-20 2007-08-20 Verfahren und system zur steuerung einer arbeitsmaschine.

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EP07016287A EP2028320B1 (de) 2007-08-20 2007-08-20 Verfahren und System zur Steuerung einer Arbeitsmaschine.

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EP2028320A1 EP2028320A1 (de) 2009-02-25
EP2028320B1 true EP2028320B1 (de) 2010-11-03

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EP1640512B2 (de) * 2004-09-28 2015-02-25 Agco SA Steuersystem für einen Lader.

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EP2028320A1 (de) 2009-02-25
ATE487007T1 (de) 2010-11-15

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