MXPA99008464A - Aerial work platform boom having ground and platform controls linked by a controller area network - Google Patents

Abstract

An aerial work platform (138) supported by a riser boom (120), a telescoping main boom (124), and a jib boom (138). Boom movement may be controlled by a platform control module or a ground control module connected to a controller by a controller area network (CAN). Movement of the platform (136) and the jib boom (138) are limited to a predefined envelope. If an operator attempts to move the platform (136) outside the envelope, the controller (206) automatically retracts the telescoping boom section (124) or automatically levels the jib boom section (138) in order to maintain the platform (136) within the acceptable envelope. Boom section select switches (262) permit the operator to select and move sequentially or simultaneously in different directions. Timers which are part of the system include various interlocks to accomplish safety and power saver features.

Description

HIGH WORK PLATFORM AGUILON THAT HAS LAND CONTROLS OF PLATFORM UNITED BY A NETWORK CONTROLLER AEREA FIELD OF THE INVENTION The invention relates generally to overhead work platforms and, in particular, to a computer-based control system, for an aerial work platform that has various aspects of safety and control.

BACKGROUND OF THE INVENTION With respect to the control of overhead work platforms, it is known to use a control panel that operates the aerial work platform whenever a manually activated switch, such as a foot switch, is maintained in the depressed position. In case the switch is released, the control panel is inactivated. Alternatively, the aerial work platform may contain selectively placed switches, which must be held in place by the operator. These switches interrupt power when an operator leaves the operating station and takes a remote position with respect to the switches, so that the switches are no longer held in place by the operator. There is a need for a computer-based control system for an aerial work platform, which allows the operation of the platform by an operator at its base or on the platform, and which includes security and interlacing aspects that prevent inadvertent operation or insecure of the aerial work platform.

BRIEF DESCRIPTION OF THE INVENTION It is an object of this invention to provide a controller microprocessor for an aerial work platform, which has controls on the ground and on the platform, linked by a controller area network, to transmit the input commands issued by an operator on the platform control or in the ground control, to a controller; so that the operation of the boom can occur efficiently and safely from any of the controls. It is also an object of this invention to provide a controller together with sensors for an aerial work platform, which restrict or minimize the operation of the platform in certain positions beyond a predefined three-dimensional envelope, to increase the safe operation of the platform inside a security envelope.

It is also an object of this invention to provide such a controller which provides automatic retraction of the platform to maintain the platform within the safety envelope and which automatically retracts the boom in response to certain commands from an operator attempting to operate the boom out of the shell. of security. It is an object of this invention to provide a computer-based electronic control for an aerial working platform, which ramps the boom movement in any applicable direction, to provide the smooth and safe operation of the boom and its movement. It is also an object of this invention to provide said controller that executes multiple boom movements, sequentially and / or simultaneously, in an efficient, safe and smooth manner. Another objective of this invention is to provide said aerial work platform that has sensors and application program to prevent inadvertent or unsafe operation of the boom and to save energy. In one form, the invention is an aerial work apparatus comprising a base, a platform, a boom connecting the platform and the base, a hydraulic system for moving the boom section and a control of the boom. The boom control controls the hydraulic system in response to operator inputs to move the boom sections according to the operator input. The boom control comprises a first control module in the base, which responds to an operator to provide boom movement commands, to make the boom move in a desired direction; a second control module on the platform, which responds to an operator, to provide pen movement commands, to make the boom move in a desired direction; and a controller area network, which interconnects the first control module and the second control module. In another form, the invention comprises a shell controller, suitable for use with an aerial work platform having a boom, comprising a plurality of feather sections; a hydraulic system to move the pen sections; a work platform supported by the pen; a base that supports the pen; a boom control to provide a boom control signal to the hydraulic system; controlling the boom control signal to the hydraulic system to control the movement of one of the plurality of boom sections. The envelope controller comprises a subroutine or position detector circuit for detecting a position of the boom sections or the work platform, with respect to a position of the base; and a subroutine or position limit circuit to inhibit the boom control signal that is provided to the hydraulic system _when the subroutine or position detector circuit indicates that the detected position of the boom sections or work platform, with respect to the position of the base, will exceed one envelope limit, so that the envelope controller limits the position of the pen sections or the working platform with respect to the position of the base so that it is within a predefined region.

In another form the invention comprises an aerial work apparatus comprising a base, a platform, a pen having a plurality of pen sections connecting the platform and the base; a hydraulic system for moving the boom sections and a boom control to control the hydraulic system in response to an operator input to move the boom sections according to the operator input. The pen controller comprises a pen section selector switch, which responds to the operator input, to select one of the plurality of pen sections to move it; a pen movement input switch, which responds to the operator input to provide a pen direction signal, indicative of a desired direction of pen movement for the selected pen section to be moved, and provide a speed desired pen; and a boom ramp controller, which responds to the boom section selector switch and the motion action input switch, to control the hydraulic system to move the selected boom section according to the boom direction signal; the boom ramp controller being adapted to cause the hydraulic system to move the selected boom section at a variable speed that does not exceed a preset maximum speed, so that the boom is accelerated at a pre-set speed from zero speed to desired speed. In another form the invention comprises an aerial work apparatus comprising a base, a platform, a pen having a plurality of pen sections connecting the platform and the base; a hydraulic system to move the boom sections and a boom control to control the hydraulic system in response to the operator input, to move the boom sections according to the operator input. The pen control comprises a pen section selector switch, which responds to an operator input to select only one of the plurality of pen sections to be moved; a boom movement input switch, which responds to the operator input, to provide a boom direction signal, indicative of a desired direction of boom movement; and a boom controller, which responds to the boom section selector switch and the boom motion input switch, to control the hydraulic system for performing boom movement; the boom controller being adapted to cause the hydraulic system to sequentially move the boom from a movement requested by the operator, to the next movement requested by the operator, or to simultaneously move the boom in a second direction in response to a movement requested by the operator; operator, while the boom is moving in response to a previous movement, requested by the operator. In another form the invention comprises an aerial work platform comprising a plurality of pen sections; a boom control for providing a movement output signal to control a movement of one of the plurality of boom sections in response to input from an operator to the boom controller; and a subroutine or time control circuit. The subroutine or time controller circuit comprises a subroutine or safety circuit to monitor the operator input requesting the movement of the boom and to prevent the boom control from responding to the operator input requesting the movement of the boom in case that there has not been any operator input requesting the boom movement during a first period of time; and a subroutine or energy saving circuit for monitoring the operator input to the boom control; deactivating the subroutine or energy-saving circuit, to the boom control, when the energy-saving subroutine or circuit detects that there has not been an operator input to the boom control for a second period of time. In another form the invention comprises an aerial work apparatus comprising a base, a platform, a pen connecting the platform and the base; a hydraulic system to move the pen sections; and a boom control to control the hydraulic system, in response to the operator input to move the boom sections according to the operator input. The pen control comprises a microprocessor having inputs to receive the operator inputs and having outputs that provide output signals that are a function of the operator input provided to the microprocessor input; the hydraulic system responds to the output signals; a first control module in the base, which responds to an operator to provide first command signals of movement of the boom, to make the boom move in a desired direction; the motion control signals of the boom being supplied to the microprocessor inputs; and a second control module on the platform, which responds to an operator, to provide second command signals of movement of the boom, to cause the boom to move in a desired direction; the second movement signals of the boom are supplied to the microprocessor inputs.

BRIEF DESCRIPTION OF THE DRAWINGS AND APPENDICES Figure 1 is a perspective illustration of an aerial working platform having a raised articulated boom. Figure 2a is a block diagram of a preferred embodiment of the control area network according to the invention. Figure 2b is a block diagram of a preferred embodiment of a boom control system, based on CAN, according to the present invention. Figure 3 is a top plan view of a platform control panel module, suitable for use with a boom control system, based on CAN, in accordance with the present invention.

Figure 4 is a top plan view of a ground control panel module, suitable for use with a boom control system, based on CAN, in accordance with the present invention. Fig. 5A is a geometric diagram of operating zones defining a secure work envelope, within which movement is restricted by means of a casing control system of a boom control system, based on CAN, according to Figs. with the present invention. Figure 5B is a geometric diagram of the self-retracting zones of a CAN-based boom control system, in accordance with the present invention. Figure 6A is a graph illustrating the operation of a subroutine or soft start circuit for use with a CAN based boom control system, in accordance with the present invention, in which an operation function F1 is reduced in ramp up to 50%, while a new function is ramp up to 50% simultaneously, and both functions are ramped up to 100% later. Figure 6B is a graph illustrating the operation of a subroutine or soft start circuit for use with a CAN based boom control system, in accordance with the present invention, in which an operation function F1 is reduced in ramp up to 50%, while ramping up a new function simultaneously, and then both functions are ramp up to 100%.

Figures 7A-7H are flow diagrams illustrating interlocks and shell control according to the invention. Appendix A is an example of a system database. Appendix B is an example of the aspects of the database, according to the invention. Appendix C is a summary of a preferred embodiment of the inputs and outputs to the platform and ground controls.

DETAILED DESCRIPTION OF THE PREFERRED MODALITIES Figure 1 is a diagram of an aerial working platform 10, suitable for use with the present invention. The aerial work platform 10 comprises a base unit 100. The base unit 100 is mounted on a plurality of wheels 102, at least two of which are directional. A transmission 104, mounted within the base unit 100, is adapted to drive one or more of the wheels 102. The base unit 100 can be further divided into a rotary pen holder 106 and a base chassis 108. The support 106 includes a base operator controller panel 110, which is adapted to rotate with the support 106 around the base chassis 108, as indicated by arrow 109, in response to a rotation transmission 112, mounted within the chassis of base 108. Support 106 also includes a hydraulic system 115 for powering the rotation transmission 112, and for providing power to move the boom sections. As is known in the art, the hydraulic system can include variable speed motors, electrically driven, which drive hydraulic pumps at variable speeds to move the boom sections at variable speeds. Alternatively, the hydraulic system can be operated by a fuel burning motor, and can include a constant pressure system having proportional valves that receive a modulated pulse amplitude signal, to control the movement of the boom section, although it is preferred that the wheels are driven by variable speed electric motors, it is contemplated that the wheels can be moved by the hydraulic system 114. A boom 120 is mounted in parallelogram configuration in the base unit 100, at a pivot point 122. A main telescopic boom 124 is connected to the boom 120, by a connector member 126 and pivot points 28 and 130. A hydraulic cylinder 131 expands and contracts to control the position of the telescopic main boom 124. Other hydraulic elements (not shown) control the position of the other boom sections. The telescopic pen 124 further comprises a non-extending member 132, and a extending member 134. A working platform 136 is connected to the extending member 134, by means of a boom 138. The boom additionally comprises an upper arm 140 of boom and a lower boom arm 141, in a parallelogram configuration, and interconnected by a cylinder 142 to rotate the boom 138. A platform turner 144 rotates the platform around the boom 138, while keeping it in a substantially horizontal position. The platform 136 of the machine will rotate 90 ° in any direction, in a level plane, as indicated by the arrows 150, and will move up and down with the boom 138, as indicated by arrows 152. The experts in The subject will recognize that the pen configuration described above comprises an articulated boom for the aerial working platform 10. The boom control system illustrated in FIGS. 2A and 2B has a configuration that satisfies the requirements for the flexibility of the control system, its possibility of programming, multiplexing and the rapid design cycle time. In general, the control system of the work platform consists of two primary components, a ground control station (GCS, acronym for its English designation: Ground Control Station), illustrated in the left portion of Figure 2B, and a platform control station (PCS, acronym for its English designation: Platform Control Station), illustrated in the right portion of Figure 2B. The two components are linked to be used as a system that responds to the instructions of an operator. The components are limited by a controller area network (CAN, acronym for its English designation: Controller Area Network), which can be any network, such as a local area network that has a microprocessor in each node, or it can be a network controlled by a single computer, having a land controller card 202 and a platform controller card 204, to provide information to a computer-based controller 206, via a collector 208, such as twisted pair cables. Preferably, the ground control station GSC serves as a master controller and the platform control station PSC serves as a remote input device to the master controller. Accordingly, the controller 206 may be located in the base with the ground controller card 202. Appendix C illustrates the entrances and exits to and from the stations. However, those skilled in the art will recognize that this configuration is not a necessary limitation for the invention, and that the controller 206 may be located remote from both the ground controller card 202 and the platform controller card 204; or, in some cases, the controller 206 may be located in combination with the platform controller card 204; in each case, with a variety of inputs and outputs. It is contemplated that the controller 206 may have an input / output port (not shown) that would interface with another computer, such as a laptop (laptop) which would allow the system of the invention to be configurable, since the outputs of the system and its logical relations with the other inputs and outputs of the system can be varied by means of the laptop. The series of instructions describing the inputs, the outputs and their relationships, constitute the system database (appendix A) that has aspects (appendix B) that controls the operation of the aerial work platform 10. As indicated above further detailed, the controller 206 may be programmed with parameters that define the operation of the boom, and specify one or more of the following parameters: Parameters that define a shell within which the boom is allowed to operate; Parameters that cause the boom to retract automatically in certain positions, in response to certain actions requested by the operator, Parameters that define the ramping of the speeds or the decrease in ramp of the movement speeds of the boom; Parameters that define sequential functions of the pen; Parameters that define simultaneous functions of the pen; o Parameters that define periods of time, based on the status of various switches; and during those periods of time, the pen is allowed to operate.

AIR CONTROLLER NETWORK (CAN) Figures 2A and 2B are block diagrams of a preferred embodiment of a boom control system, based on CAN, according to the invention. In general, the CAN would have at least two nodes: (1) a ground control station GCS (or module) which is the primary control and includes a ground controller card 202, and a ground control platform 400; and (2) a PCS platform control station (or module), which is a secondary control and includes a platform controller card 204, and a platform control platform 300. The controller 206 for controlling the operation of a hydraulic system 226 for driving the boom and for controlling an operation control 227 for driving the base may be part of any mode or a separate node. The platform control station PCS, the ground control station GCS and the controller 206 are interconnected by a pair of twisted, shielded wires 208 which serve as a CAN collector. Optionally, the transmission control 227 may constitute a fourth node connected to the CAN. Alternatively, rete wiring can be used to interconnect the transmission control 227 and / or any interlock switches to the controller 206 to minimize unauthorized or unsafe operation. The PCS forms an interface with all the platform inputs, except a transmission controller speed potentiometer (not shown), located on the drive actuator lever 224, and is used to calibrate the actuator lever. The directional and speed inputs of the transmission control system (forward, reverse and high speed) and a high-speed request signal are connected through a multiplexer system and are arbitrated by a system database ( Appendix A). In order to provide redundancy, to prevent violation and to provide a check of the interlock switches in any position, each switch may have a single-pole, dual-position switch (SPDT, acronym for its English designation: Single Pole, Double Throw) which, when operated properly, provides an open circuit and a closed circuit.

PLATFORM CONTROL STATION (PCS) Referring now to Figure 2B, to operate any boom function from the PCS platform control station, the operator places an on / off key switch 210, located on the ground panel, in the "ON" position. . In addition, a second requirement in order to operate any boom control function is that an emergency stop switch 212 is set or removed by the operator on the platform. In addition, it is also required that a foot switch interlock 214 be placed on the platform, for example, when depressed by the operator. After these three (3) interblocks are made, the operator _ you can select and activate any pen function. Any or all of these interlocks can be physically connected to control 206, or they can be communicated to control 206 by means of CAN. If they are physically connected, their status is still monitored by the CAN to implement various aspects of security. To select a pen function, the operator must press a button corresponding to the pen section that he wishes to operate, in a platform control panel 300 (or module), as shown in figure 3. In particular, each section The pen has a pen function button associated with it which, when depressed, selects the particular pen section to be operated, and indicates said selection by exciting a warning buzzer 216, which will sound once. This indicates to the operator that the particular function has been selected. In addition, each section has an associated LED that will illuminate to indicate the particular pen section that has been selected for operation by the operator. Switches 262 (ie, function buttons) for selecting pen section, and LED indicators 264 associated with each pen section will be described below with respect to FIGS. 3 and 4. Once it has been selected by the operator a boom section, the operator can then activate a boom function, by actuating a directional motion input switch, such as by moving a boom controller lever 218 on the platform control panel 300, in the desired direction. In response, the controller 206 will provide appropriate signals to a hydraulic system 226 that controls a pump motor and / or valves at a rate responsive to the increasing or decreasing deflection in the boom control lever 218. To stop any further movement of the activated function, the operator simply releases the pen control lever 218, to its centered position.

The system includes deadlocks and time controllers that can limit the additional movement of the boom. In cases where a pen section has been selected and moved, and movement has been completed, so that the movement has stopped, the selected function will remain active for a short period of time, until one of the following events: (1) is not requested by the operator plus movement of the selected pen section, for more than a predetermined period of time, such as ten seconds; (2) the operator releases the platform foot switch interlock 214; or (3) e! Emergency stop switch 212 is placed in the high position. If any of these three events occur, the previously selected pen section and the activated function are inactivated and the alert buzzer 216 will indicate that the function has been inactivated with two short sounds. In case the operator releases the interlock 214 of the foot switch, the warning buzzer 216 will indicate the release with two short sounds. Whoever is an expert in the field will recognize that these aspects of security to interlock and limit the operation can be implemented in numerous ways. For example, as illustrated in FIG. 2B, a separate security subroutine or circuit 222 (as required by security standards ANSI or EN280 for aerial equipment using computer controls) may be associated with controller 206 to monitor the switch. foot 214 and emergency stop switch 212, as well as to track the time since the operator last moved the selected beam section. Alternatively, the subroutine or security circuit 222 may be implemented by a modular application program within the controller 206, which provides the monitoring function. In general, the subroutine or safety circuit monitors the input signals from the boom controller, such as those provided by the foot switch 214, the stop switch 212 and the boom control lever 218, by the controller board 204. platform and CAN 208 for controller 206. Additionally, it is contemplated that the system may also include an energy saving aspect. If there is no activity on the PCS platform control station for a preset period of time, such as three minutes, the system will remove the selection of all functions and switch to an energy saving mode ("asleep"). Alert buzzer 216 will sound twice to indicate the change in system status. Inactivity is defined as the absence of any pen movement or transmission during the preset three-minute period. As with the security interlock noted above, this aspect can be implemented by a subroutine or separate energy-saving circuit 222, as shown in FIG. 2, or it can be implemented by application program that is executed by the controller 206. In power saving mode, all panel LEDs are turned off by controller 206 and all circuit ignition is disabled. In this energy saving mode the device may appear to be "OFF". However, the control system and the network are still functional and consume a small amount of energy. When operating from the PCS platform control station, the operator can recover from the power saving mode (inactivity), activating or recycling the foot switch 214 or the emergency stop switch 212. This aspect also functions as a security measure since the operator can not be in permanent contact with the switch 214 standing with some foreign object. For example, if an operator on the platform 136 places a wedge with a foreign object, such as a beverage container on the foot switch 215, to keep the switch in its closed or lower position, this aspect would prevent the operation of the the platform after absence of activity during the preset period. As a result, an operator could not circumvent the purpose of the foot switch by permanently contacting it with a foreign object. Additional energy saving aspects are contemplated and can also be implemented. For example, in cases where the The operator or person responsible for stowing the device will forget to turn off the on / off switch 210, controlled by the operator, the batteries could be extinguished after a prolonged period of time without operating. To help prevent or minimize this situation, the controller 206 may activate a ground motion alarm, after a preset period of prolonged inactivity, such as half an hour. At that point, the movement alarm will remain active for a period of time, such as one minute. After another pre-set period, such as half an hour of inactivity, the warning cycle will start sounding the movement alarm again. In effect, the machine is signaling a signal to remind the operator to turn off the machine. In summary, the invention preferably includes a subroutine and / or time control circuit in combination with, or programmed with the controller 206, which includes a second subroutine and / or security circuit 222, and a saving subroutine and / or circuit 220. of energy of three (3) minutes. The safety circuit 222 monitors the movement output signals initiated by the operator by activating the selector switches of the boom section or boom control lever. The safety circuit 222 prevents the boom controller 206 from responding to the boom control lever if there has been no boom movement or boom section selection by means of a boom section selection switch, during a first period, such as 10 seconds. This prevents inadvertent activation and / or movement of the boom if the operator accidentally touched the boom control lever more than 10 seconds after the last operator command. This safety circuit assumes that the operator is working on the platform instead of moving it, and essentially "kills" the boom control lever, so that it will not move the boom if the operator accidentally collides with it while working. The power security circuit 220 monitors the input signals of the boom controller and deactivates the controller 206 when the power saver circuit 220 detects that there have been no input signals from the boom controller for a second period of time, such as three. (3 minutes. This decreases the power to the system and requires that the foot switch 214 be passed through a cycle (open and closed) in order to power the system. The energy-saving feature also provides a safety aspect because it prevents an operator from forcefully inserting a can or other foreign object into the foot switch to keep it permanently closed. To feed one or more of the wheels 102 to operate the transmission and steering functions of the apparatus, there are also a series of interlocks that must be put in place. In particular, the platform emergency stop switch 212 is required to be put on or removed and the foot switch of the platform to be set or depressed. When these two interlocks are made, the operator can select and activate the transmission or steering functions of the device. All transmission or pulse movement is controlled by a transmission control lever 224 on the platform control panel 300. The control lever 224 proportionally controls the transmission speed on two separate scales: low scale and high scale. The transmission rate scale is selected by pressing the transmission scale switch 304 in the platform control panel 300. The high scale speed can only be activated when the boom is supported and a boom support interlock switch is closed, to indicate that the boom is in the supported position, and an angle sensor indicates that the angle of slope to which Rest the platform is less than five degrees. The boom support interlock switch and / or the angle sensor constitute a position detector circuit or, if they are implemented in an application program, they constitute a subroutine position detector. To stop movement of the active transmission or steering function, the operator can release the transmission control lever 224 to its centered position, release the platform foot switch interlock 214 or release the emergency stop switch 212. As noted above, these switches would be SPDT switches. For example, when the boom is supported, one side of the boom switch would provide a closed loop, and the other side would provide an open loop. When the pen is not supported, the first side would provide an open circuit and the other side would provide a closed circuit. If both sides are simultaneously open or closed, this would indicate to the controller microprocessor 206 that a breakdown would have occurred (see displays 346 and 460, below). If the platform 100 is equipped with a four-wheel drive or steering direction, the position sensors can be located on each wheel to indicate the position of the wheel. Preferably the wheels would be parallel and direct before moving from one type of direction to another. Additionally, control 206 can be programmed to automatically orient all wheels to be parallel and straight ahead, when changing from one type of address to another. The PCS platform control station has two primary input banks: a switch input matrix and a discrete digital input terminal strip. The controller 206, which is preferably located on the platform, scans a 4 x 5 commutator matrix, for operator commands, and monitors the discrete digital inputs of the interlock inputs, such as the foot switches, the booster limit switches or extension, and the emergency stop switch. The interlocks are entered into the control system, so that they can be included in the machine's database description. Certain interblocks are also routed to the subroutine or to the interlock circuits of the device, which are external to the control system. The following is a description of the elements that are illustrated in Figure 3, which form the inputs to the switch matrix.

A cornet switch 302 operates the electrical cornet located in the unit Base 100, to allow the operator to alert others around the aerial work platform. A scale switch 304 selects the speed scale (high scale or low scale) for the transmission system. As noted before, the operation of this function is governed by the position of the interlocks and the support switch. A scale LED indicator 306 indicates the status of the scale switch 304. A base turn function switch 308 generates a request to rotate the pen holder 106. The base will rotate 180 ° in any direction. In general, for all boom functions, its activation, its direction and its speed would be governed and controlled by the boom control lever inputs and each function is controlled by the position of the interlock inputs. A LED indicator 310 for rotating the base light illuminates when the base turn function switch 308 is selected, such as when pressed by the operator. A switch 312 of the hoist function can be activated, by the operator, to select the movement of the hoist boom 120. The hoist boom 120 will raise or lower the level of the platform 136. An indicator 314 LED function pen The hoist is illuminated when the hoist boom function switch 312 is activated. A switch 316 of the main boom function generates a request to move the main telescopic boom 124. The main boom 124 operates around pivot point 128 and will raise and carry the position of platform 136 inward, or lower and force outwardly. the position of platform 136. A LED indicator 318 of the main boom function is illuminated when this function is selected by the operator. A telescoping boom function switch 320 generates a request to extend or retract the telescopic boom 124. The telescopic boom 124, depending on the angle of the boom 120, will extend and force upward or will retract and force inwardly, the platform 136. A LED indicator 322 of the function of the telescopic boom is illuminated when the telescopic boom function is selected by the operator. A switch 324 of the boom function generates a request to move the boom 138. Boom 138 operates to pivot about a pivot point in response to the parallelogram 142 configuration of the boom, and when it is below the horizontal position, the function will raise and force out or lower and force inward, the position of platform 136. When boom 138 is above the horizontal position, its function will raise and force in or lower and force out the position of the platform 136. An indicator LED 326 of the boom function lights when that function is selected. A switch 328 in the platform level function generates a request to automatically level the platform 136. An LED indicator 330 of the platform leveling function is illuminated when this function is selected. A switch 332 of the function of rotating the platform generates a request to rotate the platform. The platform 136 of the machine will rotate 90 ° in any direction, in a level plane, as indicated by arrows 150 in Figure 1, and will move up and down, with the boom, as indicated by arrows 152. An LED indicator 334 of the function of rotating the platform will light up when that function is selected. An emergency power switch 336 generates a request to operate an emergency hydraulic pump. The hydraulic emergency pump is driven by an electric motor connected to the 12-volt emergency battery. When that function is selected, an LED 338 of emergency power is illuminated. The terminal strip inputs for the PCS platform control station are as follows: a control lever excitation signal A, which corresponds to a transmission command for the controller 206; a control lever excitation signal B, corresponding to a transmission direction for the controller; a direction signal to the right of the transmission control lever, which corresponds to a steering command to the right for the controller; an address signal to the left of the transmission control lever, which corresponds to an address command to the left for the controller; the foot switch interlock; the emergency stop interlock; an interbocking limit switch of the boom, which is triggered when the boom 138 is at a low angle; the redundant interboxing limiting switch, low boom angle, which is triggered when the boom 138 is not at a low angle; the x-axis input of the boom control lever, which is an analog input proportional to the controller, which represents the position, on the X axis, of the boom control lever; and an input on the "y" axis of the boom control lever, which is an analog input proportional to the controller, which represents the position on the "y" axis of the boom control lever. The PCS platform control station has two primary output banks: the LED output matrix and the discrete digital output terminal strip. The platform controller refreshes a 4 x 4 LED matrix, to indicate functions and feedback, and also controls discrete digital outputs for alarms. The states of the LEDs in the platform station are determined by the system database (Appendix A) and are sent to the platform control station from the GCS ground control station, through the CAN network of the system. The platform LED array outputs for the device are the LED 306-338, which were noted above. In addition, LED array outputs include a LED array 340 of the battery bank (48 vdc) which indicates the state of the 48-volt battery bank; a normal or correct status LED, indicating that there are no errors present in the system, and a status alert LED 344, indicating errors present in the system. The platform control panel 300 also includes a numeric display 346, which reports the errors and the status of the system. For example, errors may include inconsistent switch indications. The support switch can not indicate that the pen is in the holder at the same time as _The angle switch indicates that the pen is at an angle since, by definition, a supported pen is at an angle of zero degrees. Neither the extension switch and the retraction switch can be activated simultaneously. Some error would cause control 206 to disable the unit, while other errors may allow limited or unlimited operation.

The terminal strip outputs for the PCS platform control station are an individual function alert signal, which is a buzzer indicating the depressed switch and various other function control states. There is a cable that connects the PCS platform control station with the GCS ground control station. Between the two stations there are eleven signal and power supply cables. There is a terminal strip on the control card of the terminal strip of the platform control station, which interfaces the control station with an external processor, such as a laptop. Tilt alarm is provided, as part of the platform control station.

TIERA CONTROL STATION (GCS) The GCS ground control station has two primary input banks from the switch input matrix, and from the discrete digital inputs of the interface connectors. Controller 206 which is located at the ground control station scans a matrix of switches of 4 x 5 operator inputs and monitors the discrete digital inputs for deadlocks and alerts, such as the boom sensor and boundary sensor switches. The matrix inputs of the ground switch panel are as follows. Figure 4 illustrates the ground control panel 400 (or module). It includes a ground control interblocking switch 402, which corresponds to platform foot switch 214, at the platform control station. A platform control LED 404 lights up when the platform control is selected, while an LED 406 ground control illuminator is illuminated when ground control is in use. A base turn function switch 408 generates a request to rotate the boom holder 106. A base turn function indicator LED 410 is illuminated when the base oscillation function has been activated. A boom-function switch 412 generates a request to move the boom 120. An indicator 414 boom-function LED is illuminated when this function is selected. A master boom function switch 416 generates a request to pivot the main telescopic boom, which request is indicated by illuminating a 418 main pen function LED. A telescoping boom function switch 420 generates a request to extend or retract the telescopic boom, which function is indicated by illuminating a LED indicator 422 of the telescopic boom function. A boom function switch 424 generates a request to move the boom 138, a function that is indicated by illuminating an indicator LED 426 of the boom function. A switch 428 of the platform level function generates a request to level the platform 136, which request is indicated by illuminating a LED indicator 430 of the platform leveling function. A platform rotation function switch 432 generates a request to rotate the platform, request that is indicated by illuminating the LED indicator 434 of the function of rotating the platform. An emergency power switch 436 generates a request for the emergency hydraulic pump, which request is indicated by illuminating the emergency power indicator LED 438. The ground control panel 400 also includes a pen movement input switch, for controlling the directional movement of the pen, such as the pen keyboard 252. Alternatively, the pen keyboard 252 can be replaced by a control lever. In the control lever 440, a high-speed rise switch activates the movement of the selected section of the boom upwards, at a fast speed of the pump motor. A low speed rise switch 442 activates the movement of the selected section of the boom upwards, at a slow speed of the pump motor. A high speed descending switch 444 activates the movement of the selected downward boom section at a fast speed of the pump motor. A low speed downcomer 446 activates the movement of the selected downward boom section at slow speed of the pump motor. A clockwise high-speed switch 448 activates the movement of the selected section of the boom, clockwise, at a fast speed of the pump motor. A dextrorotatory low speed switch 450 activates the movement of the selected section of the boom clockwise at low speed of the pump motor. A left-hand high-speed switch 452 activates the movement of the selected boom section levógiramente at fast speed of the pump motor. A left-hand slow-speed switch 454 activates the movement of the selected section of the boom left-hand at slow speed of the pump motor. In other words, the GCP 400 provides two-speed control of boom movement, using the 252 keypad, while the PCS 300 provides variable speed control of the boom movement by means of the control lever 218. The Ground Control GCS includes the following discrete inputs to controller 206: a low pressure brake release input indicates that the hydraulic pressure is too low to release the wheel brakes for driving operations; a tilt switch input indicates that the apparatus is inclined (ie, that the tilt switch is active); a downward main boom entry indicates that the main boom 124 is in the totally low position; a main feather entry not down indicates when the feather -principal 124 is not fully in the lowered position; a high-angle input of the main boom indicates when the main boom angle is raised (eg, more than 50 °); a non-raised angle entry of the main boom indicates that the angle of the main boom is not raised; an extended main boom entry indicates when the main boom 124 is extended by a maximum amount (eg, 83.82 cm; a non-extended main boom entry indicates when the main boom 124 is not extended; a retracted main boom entry indicates when the the main boom 124 is fully retracted, and a non-retracted main boom entry indicates when the main boom 124 is not fully retracted.As with the platform control panel 300, the ground control panel 400 includes a satisfactory status LED 456 , a 458 status alert LED and a 460 numeric display. The GCS ground control station has two primary output banks to the LED output matrix and the high side actuator output bank (master controller driver board The actuator card is connected to the devices in the device by means of various connectors located in the GCS housing. of earth refreshes a matrix of 4 x 4 LEDs to indicate functions and feedback, and also controls the digital outputs for valves, alarms, solenoids and relays. The states of the LEDs on the ground station are determined by the system database and are sent to the LED interface card / control switch of the ground station, through the CAN network of the system. Additionally, the ground control panel 400 includes an hour meter 462, which indicates the hours of operation of the aerial work platform 10. Also the ground control panel 400 includes an emergency stop limiter 256 and a switch 258 of the connection / disconnection key (see Figure 2) which corresponds to the aspects of the platform control panel 300.

The ground control panel 400 also includes a ground control interblocking switch 260, which corresponds in function to the platform foot switch interblock 214. The interblock switch 260 of the ground control is located on the surface of the ground control panel 400 and must be continuously depressed by the operator in order to maintain active control of the aerial work platform 10 from the control panel 400. Earth. As a result, the controller 206 responds to the selection switches of the boom section (312, 316, 320, 324, 328, 332, 412, 416, 420, 424, 428 and 432) and the input switches of the boom section. the boom, to control the hydraulic system to effect the movement of the boom. It is contemplated that the controller may be adapted to cause the hydraulic system to discontinue boom movement for a previously selected boom section its boom motion input switch is in the selected (second) position when the boom selection switch is selected. Pen movement selects a different current pen section from the previously selected pen section. Additionally, the boom controller can be adapted to cause the hydraulic system to initiate boom movement for the currently selected boom section after discontinuing the movement of the previously selected boom section, so that only one boom section can to be moved by an operator at the same time, and the pen movement for the previously selected pen section is discontinued, before the currently selected pen section is moved. Referring to Figure 5, there are four limit switches that monitor the position of the boom. The limit switches provide inputs to the controller 206 and are incorporated in the rule database that describes the apparatus. For diagnostic purposesEach limiting switch has a redundant contact physically connected to the controller 206. The limiting switch 1 is a limiter switch of the main boom angle, which measures the angle of the main boom, with respect to the horizontal, and is activated whenever a angle of the main boom 124 is low or is below a preset maximum, such as 50 °. The limit switch 2 is a limit switch for the extension of the main boom, which measures the extension of the main boom and is active whenever the main telescopic boom is extended less than a predetermined amount, such as 83.82 cm. Limiting switch 3 is a retracted main boom limit switch, which detects the position of the main boom and is active whenever the main boom is almost fully retracted, such as within 22.86 cm. The limit switch 4 is a boom angle limiting switch, which measures the angle of the boom with respect to the horizontal, and is active whenever the angle of the boom is less than a predetermined amount, such as 30 ° above the horizontal . Optionally, a fifth limit switch, not illustrated in FIG. 5, may be employed in the form of a main boom support limiting switch, which monitors the position of the main boom and is active when the main boom and the boom are in the most down position. There may be two conditions that can limit the movement of the pen. The first condition is called the position A and includes the positions in which the angle of the boom 138, with respect to the horizontal, is not low and the main boom 124 is extended less than 83.82 cm. In position A, the requests to lift the boom 138 are ignored. In position A, the function of lowering the boom is allowed.; however, the boom will be automatically activated if a command is issued to retract the boom downward while the position A exists. A second condition is called position B and includes positions at which the angle of the main boom 124 with respect to the horizontal is low and the main boom 124 is extended more than 23.22 cm. In position B the requests to extend the main boom 124 are ignored, while the retraction function is always allowed; however, the retraction function will be activated -automatically if the command to lower the main boom is issued, while position B exists. As illustrated in figure 5 this defines the shaded area ZONE. OF DENIAL ONE that identifies an area in which the platform is not allowed to operate. In addition, this defines a shaded area DENIAL AREA TWO, in which the boom is not allowed to operate. It should also be noted that when the boom moves from an angle of more than 50 ° to less than 50 °, the controller 206 starts a self-retraction mode, to retract the main boom, so that the platform is kept within acceptable operating areas. The following table summarizes the "negation" operating area and the position of the boom, as detected by the switches for positions A and B: ZONES ANGLE EXTENSION BOTTLE ZONE OF DENIAL ONE 0 to 35 ° 83.82 to 170.18 cm N / A ZONE OF DENIAL TWO 35 to 75 ° 0 to 83.82 cm 0 to 45 ° SWITCHES POSITION A POSITION B 1.- ANGLE 0 to 50 ° 50 to 75 ° 2.- EXTENSION 0 to 83.82 cm 83.82 to 170.18 3. - TOTAL RETRACTION 0 to 15.24 cm 15.24 to 170.18 4. - BOTTLE -90 ° to -20 ° -20 ° to + 45 ° A shell controller suitable for use with an aerial working platform, having a boom comprising a plurality of boom sections, a hydraulic system for moving boom sections, a work platform supported by the boom, a supporting base the boom, a boom controller for providing a boom control signal to the hydraulic system, a boom control signal that controls the hydraulic system to control the movement of one of the plurality of boom sections; comprising the envelope controller: As a result, the invention includes a subroutine or position detecting circuit to detect a position of the boom sections or the work platform relative to a base position, and a subroutine or position limitation circuit (implemented in peripheral or in application program in the controller 206) to inhibit a boom control signal that is provided to the hydraulic system from the controller 206, when the position detecting circuit indicates that the detected position of the boom or work platform sections, with respect to the position of the base, they will exceed one envelope limit, whereby the envelope controller limits the position of the pen or work platform sections with respect to the position of the base, to that they are within a previously defined region. Additionally, the invention includes a subroutine or self-retracting circuit for retracting the extendable section when the operator moves the pen sections or work platform out of the previously defined region to maintain the work platform within the previously defined region. The apparatus operates according to a defined set of rules. The rule database, together with certain controller variables, define the operation of the aerial work platform 10. The CAN controller area network includes a multiplexer system that performs the specific function of passing information between the nodes of the control system. pen control. The network is designed to be used within the parameters and guidelines of the Society of Automotive Engineers, specification No. J1939. The multiplexer system exists within the SAE J1939 network, as a separate segment. A segment is distinguished by all the devices that watch the signal at the same time. The multiplexer system is called a sub-network of the electric control segment of the boom, and can be connected to each other with other segments, through devices that include repeaters, bridges and routers. Collectively, all the segments together form the SAE J1939 network throughout the vehicle. There are five devices that are part of the electric control segment of the pen, controlled by a message format. Each device has a discrete input and output locator space. The devices are the platform entry / exit node, the control lever input / output node of the boom, the ground output node, the input node of the ground control switch, and the MCN master controller node (acronym for its English designation: Master Controller Node ). The MCM master control module (acronym for its English designation: Master Control Module) is located inside the envelope of the ground control station. The MCM is the main controller 206 for the entire system, and it is its primary function to evaluate the system's rule database and arbitrate data to and from other devices in the network. The operation of the electrical system is dictated by a previously defined database (Appendix A). The database describes the relationships between the devices of the electrical system. The MCM evaluates the database and arbitrates data to and from each specific device in the system. The MCM implements multiplexing in class 1 of the database machine to evaluate the system database, which resides in a temporary non-volatile memory of the device. One of the nodes of the CAN is a platform entry / exit node. This is a generic node that interfaces with a switch panel matrix and determines the LED outputs that are commanded by the MCM. This node also allows discrete digital inputs and outputs. Another node is a boom control lever node, which interfaces with analog control levers, dual access, such as mechanical control levers, with potentiometers or control levers inductively coupled with independent access outputs. The control lever note translates the positions of the control lever into a series of switches and addresses and reports the data to the master control module. The LED node / switching panel of the ground control also It is a generic (non-intelligent) node that interfaces with a switch panel matrix and determines the LED outputs that are commanded by the master control module. This node is located inside the envelope of the ground control station. The power output transmission node contains a bank of high-side output drivers, which connect to and control the components of the apparatus. This node is located inside the envelope of the ground control station. The peripheral for the platform control station serves the feed output driver node and, additionally, serves the control lever node of the boom. The peripheral for the master control module serves the feed driver output node, as well as the input / output data space of the master control module network. However, the network sees these nodes as an independent occupation address space. The nodes can be separated to independent peripheral components, without any impact on the total system. One as of the invention includes a soft start or ramp function, in which the controller responds to the pen section selector switches and the pen movement input switches, to control the hydraulic system to gradually move the pen section selected according to the pen direction sign. As shown in Figure 6, the controller causes the hydraulic system to move the selected boom section at a speed that is accelerated to a preselected linear speed, from a zero speed to a preset maximum speed. For example, line 600 illustrates a situation in which the operator is requesting the movement of a boom section at maximum speed. This request could be indicated by the maximum deflection of the control lever 218 of the boom, or by selecting one of the high-speed switches of the ground control panel 400. In this situation, the controller 206 provides a digital signal that starts at zero speed and ramps up to a maximum speed for a period of two seconds. (This digital signal is converted to an analog signal by an analog-to-digital converter, not shown, and the converted analog signal is supplied to the hydraulic system 226). In another example, line 602 illustrates a situation in which the operator is requesting the movement of a pen section in half, or 50%, of the maximum speed. This request could be indicated by the partial reflection of the control lever 218 of the boom, or by selecting one of the low speed switches of the ground control panel 400. In this situation, the controller 206 provides a digital signal that starts at zero speed and rises in a sustained ramp up to 50% of the maximum speed, during a second period. It is contemplated that the ramp formation regimes may be non-linear and that the ramp formation period (shown in Figure 6 as two seconds) could be 0.5 second or less, or 2.0 seconds or more. Additionally, the ramp formation period may vary, depending on the function. For example, the ramp-forming period for raising a boom section could be 0.5 seconds, while the ramp-forming period for lowering a boom section could be longer and set at 0.75 seconds to start the movement of the boom more slowly. decline. On the other hand, the period of ramp formation to rotate a feather section could be even greater and be set at 1.5 seconds to effect the rotation movement which is initiated even more slowly than the descent movement. As a result, the controller 206 constitutes a boom ramp-forming controller, in response to the pen section selector switches and the pen motion input switches., to control the hydraulic system to move the selected boom section according to the boom direction signals generated by the boom movement input switches. The boom-forming driver of the boom is adapted to cause the hydraulic system to move the selected boom section at a speed that is accelerated at a previously set rate, from zero speed to a previously set speed, as shown in the figure 6. It is also contemplated that the controller 206 may be programmed to cause the hydraulic system to discontinue substantially instantaneously the movement of the selected boom section in response to an operator input indicating that the movement of the boom section should be terminated. selected pen, or that indicates that another pen section should be moved. For example, if the operator suddenly releases the control lever 218 of the boom, and allows it to return to its central position, the digital signal provided by the controller 206 would be terminated, causing the hydraulic system to immediately terminate the movement of the selected section. of the pen. This provides a safety aspect, since the operator has the option to immediately discontinue the movement of the boom section in the event of a dangerous or unsafe condition. This aspect of the invention and the immediate termination of the movement of a pen section is illustrated in FIG. 6 by line 600 falling from the maximum speed to zero speed in 2.5 seconds and by line 602, which falls from 50. % of the maximum speed up to zero speed in 2.0 seconds. As shown in Figure 6B, it is also contemplated that the control 206 allows a movement of the pen in a second direction while the pen is being moved in a first direction. For example, suppose that the member 134 of the telescopic pen 132 is being extended (what we will call the function F1) and that the operator wishes to raise the boom 138 (what we will call the function F2). As shown in Figure 6b, at time t0 the function F1 is operating to extend the telescopic boom at full speed. At the moment ti the operator requests that function F2 be executed in addition to function F1. In response, the controller 206 performs the function F1 in descending ramp up to 50% and, simultaneously, performs the function F2 in ascending ramp, so that at time t2 both functions F1 and F2 are at 50% of the maximum operating speed (what is called a speed of -transition). Subsequently, the controller raises function F1 and function F2 in ramp, simultaneously up to the maximum at time t3. It is contemplated that the down-ramp rate and down-ramp point for the F1 function could be different than the up-ramp rate and the up-ramp point for the function F2. For example, the function F1 could be reduced in ramp up to 75%, while the function F2 ramps up to 30% and then ramp both functions simultaneously or sequentially, either to the same ramp-up rate or to different ramps regimes or regimes that are proportional to each other. It is also contemplated that any and all parameters (eg, ramp rates, maximum speed, transition speed, speed when operating other functions, speed when the unit is challenged in its power, etc.), that are related to the operation of each function, can be programmable by an operator in the field. For example, the platform station or the base station would have a keypad that would allow the operator to indicate the maximum speed for a particular function; the ramp-up rate or the ramp-down rate, as illustrated in Figures 6A and 6B, the maximum speed or the transition speed. A separate series of parameters can also be programmed or implemented in case several functions are executed simultaneously, and the power of the device is tested. For example, you could run the reduced maximum and transition speeds when you are running three or more functions simultaneously, so that the device does not test your power. Referring to FIGS. 7A-7H, the operation of the microprocessor of the controller 206 is particularly illustrated, in accordance with the invention, in particular with respect to envelope control, error detection and automatic retraction. In figure 7a the state of the support switch is first evaluated. The support switch has two sides which, as noted above, must have an opposite state, so that when the side 1 of the support switch is high, the side 2 of the support switch is low, and vice versa. In step 702, side 1 of the support switch is evaluated. If side 1 is low, the microprocessor proceeds to step 704 to consider side 2 of the support switch. If side 2 is high, it is an indication that the boom is not supported and in the state (2), so that the high-speed drive is disabled at stop 706. If side 2 of the support switch is low (and since side 1 is also low) an error is indicated, since both sides should not be low, and the operation is interrupted by step 708. If side 1 of the Support switch is high, the microprocessor proceeds from step 702 to step 710, to evaluate the state of side 2 of the support switch. If side 2 is also high, an error is again indicated, since both sides should not be high, and the operation is interrupted by step 708. If side 2 is low, this indicates that the pen is supported and in the state (1), and that the microprocessor can proceed with the next subroutine to consider the angle switch. In step 712, side 1 of the angle switch is considered. If side 1 is low, side 2 of the angle switch is considered by step 714. If side 2 is high, this indicates that the angle of the pen is low (eg, less than 50 °), so that the pen is in the state (4) and the operation of the device can proceed. If side 2 is low (and since side 1 is also low) an error is indicated and the operation of the apparatus is interrupted in step 716. If side 1 of the angle switch is high, the microprocessor comes from step 712 to step 718 to consider the state of side 2 of the angle switch. If side 2 is also high, an error is indicated again and the operation of the apparatus is interrupted by step 716. If side 2 is low, this indicates that the angle of the pen is equal to or greater than 50 ° and that the pen is in the state ( 3). The microprocessor can then proceed to the next subroutine. In Figure 7B the microprocessor determines whether the member 134 has been extended from the telescoping pen 124. In step 732 the state of the side 1 of the retraction switch is evaluated. If it is low, the state of side 2 of the retract switch is evaluated, in step 734. If side 2 is high, this indicates that the pen has not been fully retracted, and is in the state (6), so that the high-speed transmission is disabled, in step 736. If the side 2 is low (and since the side 1 is also low) an error is indicated, so that the operation of the apparatus in step 738 is interrupted. If side 1 of the retraction switch is high, side 2 of the retraction switch is evaluated. If side 2 is also high, an error is again indicated and the operation of the apparatus is interrupted by step 738. If side 2 is low, this indicates that the pen has been fully retracted, which means that the pen is in the state (5). Next, the pen extension switch is considered. In general, this switch indicates when the pen has been extended more than a previously fixed amount, such as 83.82 cm. In step 742, side 1 of this extension switch is evaluated. If side 1 is low, the microprocessor proceeds in step 744 to evaluate side 2 of the extension switch. If side 2 is high, this indicates that the pen has been extended less than 83.82 cm, and that the pen is in state (i). If side 2 of the extension switch is low (and side 1 is low) an error is indicated and operation of the apparatus is interrupted in step 746. If side 1 of the extension switch is high, the microprocessor proceeds to evaluate side 2 of the extension switch in step 748. If side 2 is also high, an error is again indicated and operation of the apparatus is interrupted in step 746. If side 2 is low, this indicates that the boom has been extended 83.82 cm or more, and the pen is considered to be in state (7). In FIG. 7C the boom angle switch 138 is evaluated. In step 752, the side 1 of the boom angle switch is evaluated.

If it is low, the microprocessor proceeds to step 754 to evaluate side 2 _ of the boom angle switch. If side 2 is high, this indicates that the boom angle is low (for example, less than or equal to 15 ° above the horizontal), so that the boom is in state (10). If side 2 is low (and side 1 is low), an error is indicated so that operation of the apparatus in step 758 is interrupted. If side 1 is high, the microprocessor proceeds in step 760 to evaluate the side 2 of the boom angle switch. If side 2 is also high, a switch error is indicated and operation of the apparatus in step 758 is interrupted. If side 2 is under this it indicates that the boom angle is greater than 15 ° above the horizontal, and that the pen is in the state (9). The following table summarizes the various states of the pen and the corresponding status numbers.

PEN STATUS PICTURE Status Switch Status of the boom (1) supported support (2) unsupported support (3) angle of the boom angle > 50 ° (4) boom angle angle < 50 ° (5) retracted retraction (6) extended retraction (7) extended extension more than 33 ° (8) extended extension less than 33 ° (9) Boom angle angle > 15 ° horizontal (10) boom angle angle < 15 ° horizontal In Figure 7D the microprocessor compares the state of the support and angle switches and the state of the extension and retraction switches. If any of these comparisons indicate that the compared switches are inconsistent with each other, the operation of the device is interrupted. In particular, the support and angle switches are compared in step 772. If the Indian support switch state 1 and the angle switch indicate status 3, this is an inconsistency, because the support switch is indicating that the pen is supported and the angle switch is indicating that the pen is at a high angle (not supported) so that a switch error is detected and the operation is interrupted in step 774. Otherwise, the microprocessor proceeds to the step 776 to compare the state of the retraction and extension switches. If the retract switch indicates status 5 and the extension switch indicates state 7, this is an inconsistency, since the retract switch is indicating that the boom is retracted, and the extension switch is indicating that the boom is extended more than 83.82 cm (not retracted). Accordingly, the microprocessor goes to step 774 to interrupt the operation of the apparatus. Otherwise the operator inputs are considered acceptable in step 778. Subsequently the microprocessor will execute one of the subroutines illustrated in Figures 7E-7H, depending on the position of the platform. If the platform is in the shell zone 1 and the operator is indicating instructions to extend the boom, which would cause the platform to approach zone 3 (which is an area without operation) as indicated in figure 5D, the microprocessor will execute the subroutine of figure 7E. In step 782 the status of the extension switch is considered. In step 784 the state of the angle switch is considered. The reference number 780 indicates an AND gate. If the extension switch indicates status 7 (boom extended more than 83.82 cm) and the angle switch indicates status 4 (an angle less than 50 °), two high inputs are provided to gate AND 780, so that the The microprocessor goes to step 786 to disable any further extension of the extendable member 136. For any other state combination, when it is in zone 1 and approaches zone 3, extension is allowed with step 788. If the platform is in the envelope zone 4 and the operator is trying to approach zone 3 by lowering the boom, the subroutine illustrated in FIG. 7F is executed. If the extension and angle switches indicate states 7 and 4 to the AND 790 gate, the microprocessor executes the self-retracting aspect in step 792, to retract the extendable boom until it is in a safe operating zone. Otherwise the operator is allowed to lower the boom in step 794. The subroutine in Figure 7G refers to a situation in which the platform is in the wrapping areas 1 or 2, and the operator is attempting to approach the zone 3B (which is an area without operation) lifting the boom. If the boom angle switch indicates status 9 and the extension switch indicates status 7, so that high inputs are provided to gate 796 AND, up boom movement is disabled with step 798. Otherwise, the microprocessor allows the upward movement of the boom with step 802.

Figure 7H is the applicable subroutine when the platform is in zone 4B and the operator is attempting to approach zone 2B (which is an area without operation) by retracting the boom. If the boom angle switch indicates status 9 and the extension switch indicates status 8, high signals are provided to gate AND 804, so that the microprocessor executes step 806 to automatically move the boom downward. Otherwise, the microprocessor executes step 808 to allow the operator to retract the boom. Since various changes could be made to the above constructions and methods, without departing from the scope of the invention, it is intended that all the material contained in the foregoing description and shown in the accompanying drawings be construed as illustrative only and not in a limiting sense .

APPENDIX A _ // Snorkel DD version 1.2 // 27-02-98 // this database will operate all the 33/38 machines as described // in the manual and supports all aspects of the // controller, rev. 1.2. #ifndef DEFAULTJDATABASE #define DEFAULT DATABASE #define NO_DDV 0X0000 // 0X0000 DDVO #define NO_DDV1 OXOOOO // 0X0000 DDV1 (secondary DDV) #define FILLER 0x0000 // available for database dodc expansion // SNORKEL MCM INPUTS // == ============== // DID: 0 // DIDDR: 0 // BASE LOCALIZER (TICKETS): 0X0000 #define GND_INP: _FULLRET OXOOOB // (C1 -5 ) fully retracted telescopic pen. #define GND_RED_FULLRET OXOOOF // (C1-6) fully retracted redundant = no GND_INP_FULLRET #define GND_INF_LSLT33 0X0003 // (C1-7) true limiter switch when extended less than 83.82 cm. #define GND_RED_LSLT33 OXOOOE // (C1-8) redundant extension limiter switch = no GND_INP_LSLT33 #define GND_INF_LSANG 0X0002 // (C1-9) true limit switch when main boom angle is LOW #define GND_RED_LSANG 0X000D // (C-10) Redundant boom angle = no GND INF LSANG #define GND_RED_BMCRA 0X001 B // (C1 -11) Supported redundant pen switch = no GND_INF_BMCRA #define GND_INP_BMCRA 0X000C // (C1-12) main boom and boom fully down (supported) #define GND_INP_LEVEL 0X001 A // (C2-1) level sensor (tilt) true when tilted #define NOT_BND_INP_LEVEL 0X401 A // (C2-1) level sensor (inclination) (negative pin logic) #define GND_INP_BRKPSI 0X0019 // (C2-2) true when the brake release pressure is low #define GND_INP_ALM1 0X0018 // (C2-3) input driver type alarm 1) #define GND_INP_ALM2 0X0001 // (C2-4) input type alarm 2 (desc) #define GND_INP_DOM 0X0011 // (C6-5) true (ground pin) when home machine #define GND_INP_C6_T 0x0006 / / (C6-T) available for use #define GNDJNP-C6-U 0x0012 // (C6-U) available for use #define GND_INP-C6_V 0x0007 // (C6-V) available for use #define GNDJNP-.TYPE33 0x0013 // (C6-W) true (ground pin when machine type 33 (DDV0-4) #define CONN_C6_W_DDV 0x0013 // (C6-W) evaluated in DDVO bit 4 - do not erase #define GND_INP: _ C6_X 0x0008 // (C6-X) available for use #define CONN_C6_X_DDV 0x0008 // (C6-X) evaluated in DDVI bit 5 not deleted. #define GND_INP_DRERR 0X0016 // exciter bank error #define GND_PSW_GMODE 0X0017 // inter-bias switch (selector) of ground control. // NODO SWITCHER OF EARTH SNORKEL // DID: 9 // DIDADDR: 0 // BASE LOCALIZER INPUTS: 0X1200 // The earth-switching node matrix is mapped in the // system with the following locators (the matrix is // explored in row formation) column #define GND_PSW_EXTND 0X1201 // GCS telescopic boom switch. #define GND_PSW_LIFT 0X1302 // GCS main boom switch #define GND_PSW_RISER 0X1203 // GCS boom switch #define GND_PSW_SWING 0X1204 // GCS body swing switch #define GND_PSW_JIB 0X1206 // GCS boom switch #define GND_PSW_EMPWR 0X1209 // GCS switch Emergency power supply #define GND_PSW_ROTAT 0X1207 // GCS platform turn switch #define GND_PSW_LEVEL 0X1208 // GCS platform level switch. #define GND_PSW_DWNHI 0X120A // GCS high-speed downstream function switch #define GND_PSW_DOWLO 0X120B // GCS downstream function low speed switch #define GND_PSW_CCLO 0X120C // GCS low speed function switch CCW #define GND_PSW_CCHI 0X120D // GCS high-speed function switch CW #define GND_PSW_CWLO 0X1210 // GCS low-speed function switch CW #define GND_PSW_CWHI 0X1211 // GCS high-speed function switch CW #define GND_PSW_UPLO 0X1212 // GCS low-speed function switch above #define GND_PSW_UPHI 0X1213 // GCS function switch upwards. // BASE LOCALIZER OUTPUTS: 0X3200 // The LED matrix of the ground switch node is // mapped in the system with the following locators // (the matrix is a row-column formation scanned) #define GND_LED_JIB 0X3204 // boom LED indicator #define GND_LED_RISER 0X3205 // LED indicator: lifting pen #define GND_LED_SWING 0X3206 // LED indicator body oscillation. #define GND_LED_LIFT 0X3207 // LED indicator: main hoist pen #define GND_LED_LEVEL 0X3208 // LED indicator: platform level #define GND_LED_GMODE 0X3209 // LED indicator Ground control mode #define GND_LED_EMPWR 0X320A // LED indicator: mode emergency supply #define GND_LED_PMODE 0X320B // LED indicator: Platform control mode #define GND_LED_ROTAT 0X320C // LED indicator: platform rotation #define GND_LED_FAULT 0X320D // LED indicator: System fault #define GND_LED_NORML 0X320E // LED indicator system normal. #define GND_LED_EXTND 0X320F // LED indicator: telescopic boom // NODO OPERATOR SNORKEL // DID: 8 // DIDADDR: 0 #define GND_SIG_C2_7 0X3017 // (C2-7) output: available for use. #define GND_SIG_C2_8 0X3016 // (C2-8) output: available for use. #define GND_SIG_PCPWR 0X3015 // (C2-9) Output: ignition-2 (pump controller power) #define GND_OUT_DRVCMD2 0x3014 // (C2-10) output: Transmission command signal. #define GND_OUT_DRVCMD1 0x3011 // (C2-11) output: transmit command signal #define GND_OUT_HIDRV 0X3010 // (C2-12) output: high range command #define GND_VLV_JIBDN 0X301 E // (C3-1) Valve: Bone below #define GND_VLV_RTRCT 0X301 F // (C3-2) Valve: retract telescope. #define GND_VLV_RISDN 0x3008 // (C3-3) valve: Lifter down. #define GND_VLV_RISUP 0x3000 // (C3-4) Valve: lifter above #define GND_VLV_SWCC 0X300D // (C3-5) Valve: body oscillation CCW #define GND_VLV_SWCW 0X300C // (C3-6) Valve: body oscillation CW # define GND_VLV_LVDN 0X3018 // (C3-7) Valve: Platform level below # define GND_VLVJ_VUP 0X3019 // (C3-8) Valve: platform level above #define GND_VLV_LFTDN 0X301A // (C3-9) valve: main hoist below # define GND_VLV_JIBUP 0X301 B // (C3-10) valve: boom above. #define GND_VLV_LFTUP 0X301 C // (C3-11) valve: hoist above. #define GND_VLV_EXTND 0X301 D // (C3-12) Valve: extend telescope. #define GND_ALM_TILT 0X300B // (C4-1) output: tilt alarm (audible) #define GND_ALM_HORN 0x300A // (C4-2) output: cornet relay. #define GND_VLV_STRT 0x3009 // (C4-3) valve: right direction #define GND_VLV_STLFT 0x3001 // (C4-4) valve: left direction #define GND_VLV_EMPWR 0X300E // (C4-5) Valve: Deviator valve emergency pump #define GND_RLY_DRSIG Ox300F // (C4-6) output: foot switch #define GND_OUT_C4_7 0X3002 // (C4-7) Output: available for use. #define GND_OUT_C4_8 0X3003 // (C4-8) Output: available for use. #define GND_ALM_MOTIO 0X3004 // (C4-9) Output: motion alarm. #define GND_OUT_C4_10 0x3005 // (C1-10) output: available for USE. #define GND_VLV_ROTCC 0X3006 // (C4-11) Valve: Platform rotation CCW. #define GND_VLV_ROTCW 0X3007 // (C4-12) Valve: Platform rotation CW #define GND_RLY_PMPSG 0x3013 // (C6-A) Output: hydraulic pump contactor #define GND_RLY_AXPMP 0x3012 // (C6-C) output: power supply emergency / steering pump contactor // NODO SNORKEL PLATFORM SWITCH // DID: 10 // DIDADDR: 0 // BASE LOCALIZER ENTRIES: 0X1400 // The node matrix of the platform switch is mapped to // the system with the following locators, (the array is // a formation of row-column scanned) #define PLT_PSW_RISER 0X1400 // lifter switch in PCS #define PLT_PSW_SWING 0X1401 // body oscillation switch in PCS #define PLT_PSW_EMPWR 0X1402 // emergency power switch in PCS #define PLT_PSW_HORN 0X1404 // switch of cornet in PCS #define PLT PSW JIG 0X1405 // boom switch in PCS #define PLT_PSW_PLROT OX1406 // switch platform rotation in PCS #define PLT_PSW_LIFT 0X1408 // main boom switch in PCS #define PLT_PSW_EXTND 0X1409 // boom switch in PCS #define PLT_PSW_LEVEL 0X140A // platform level switch in PCS #define PLT_PSW_HIDRV 0X140B // high transmission range switch #define PLT_INP_DRVREQB 0X1413 // (term # 5) reverse transmission #define PLT_PLT_INP_DRVREQR 0X5413 // (term # 5) reverse transmission (negative pin logic) #define PLT_INP_DRVREQA 0X1412 // (term # 6) Forward transmission #define PLT_INP_STRRT 0X1411 // (term # 7) address to the right. #define PLT_INP_STLFT 0X1410 // (term # 8) address to the left #define PLT_INP_FOTSW 0X140F // (term # 9) toggle switch #define PLT_INP_ESTOP 0x140E // (term # 10) emergency stop switch (platform signal) #define NOT_PLT_INP_ESTOP 0x40C // (term # 10) emergency stop switch (platform signal) #define PLT_INP_TERM_11 0x140D // (term # 11) available for use. #define PLT_INP_TERM_12 0x140C // (term # 12) available for use. #define PLT_INP_JIBANG 0x1414 // (term # 13) true limiter switch when boom is at low angle. #define PLT_RED_JIBANG 0x1415 // (term # 14) redundant boom low angle = no PLT_INP_JIBANG // BASE LOCAL OUTPUTS: 0X3400 // The LED matrix of the platform switch node is // mapped in the system with the following locators (the // matrix is a row-column formation scanned). #define PLT_LED_BAT20 0X3400 // LED indicator battery 0% -20% (RED) #define PLT_LED_BAT40 0X3401 // LED indicator: battery 20% -40% (YELLOW) #define PLT_LED_DAT60 0X3402 // LED indicator: Battery 40% -60% (YELLOW) #define PLT_LED_BAT80 0X3403 // LED indicator: battery 60% -80 & (GREEN) #define PLT_LED_JIB 0X3404 // LED indicator: boom #define PLT_LED_RISER OX3405 // LED indicator: Lifter pen #define PLT_LED_SWING 0X3405 // LED indicator: 5 body oscillation. #define PLT_LED_LIFT 0X3407 // LED indicator: main boom. #define PLT_LED_LEVEL 0X3408 // LED indicator: platform level, io #define PLT_LED_BAT100 OX3409 // LED indicator: battery 80% -100% (GREEN) #define PLT_LED_EMPWR 0X340a // LED indicator: emergency power #define PLT_LED_HIDRV 0x340B / / LED indicator: 15 transmission range high #define PLT_LED_ROTAT OX340C // LED indicator: platform rotation #define PLT_LED_SYSFT 0X340D // LED indicator: system fault. 0 #define PLT_LED_SYSN0 0X340E // LED indicator: normal system #define PLT_LED_EXTND OX340F // LED indicator: telescopic pen #define PLT_OUT_ALERT 0x3416 // (term # 15) output: status alert buzzer #define PLT_OUT_TERM_16 0x3417 // (term # 16) Output: available for use. // NODE OF CONTROL LEVER SNORKEL // DID: 7 // DIDADDR: 0 // the control lever decoding card transmits // the status of the inputs of the control lever to the master control module //, defining the inputs as follows: #define JS_SwY_Pos OxOEOO // input: control lever on positive Y axis #define JS_SwX_Pos 0x0E01 // input: control lever on axis of positive X #define JS_SwY_Neg 0x0E02 // input: control lever on axis of negative Y #define JS_SwX_Neg 0x0E03 // input: control lever on axis of negative X #define JS_SwY_PosHi 0x0E04 // input: control lever on Y axis very positive #define JS_SwX_PosHi 0x0E05 // input: control lever on X axis very positive #define JS_SwY_NegHi OxOEOß // input: control lever on the axis of the Y very negative #define JS_SwX_NegHi 0x0E07 // input: control lever on X axis very negative #define JS_Off_State OxOEOd // input: control lever centered. #define JS_On_State 0x0E09 // input (control lever connected (off center) #define JS On_Xaxis OxOEOA // input: control lever on the axis of the X #define JS_On_Yaxis OxOEOB // input: control lever on the axis of Y #define JS_None3 OxOEOC // input: not defined #define JS_None4 OxOEOD // input: not defined #define JS_None5 OxOEOE // input: not defined #define JS_None6 OxOEOF // input: not defined #define JS_Spd-SwO 0x0E10 // input: bit 0 of the velocity value (0-100%) #define JS_Spd-Sw1 0x0E11 // input: bit 1 of the velocity value (0-100%) #define JS_Spd-Sw2 0x0E12 // input bit 2 of the value of speed (0-100%) #define JS_Spd-Sw3 0x0E13 // input bit 3 of the velocity value (0-100%) #define JS_Spd-Sw4 OxOE14 // input bit 4 of the velocity value (0-100%) # define JS_Spd-Sw5 0x0E15 // input bit 5 of the velocity value (0-100%) #define JS_Spd-Sw6 0x0E16 // input bit 6 of the velocity value (0-100%) #define JS_Spd-Sw7 0x0 E17 // input bit 7 of the speed value (0-100%) Note: it never sets. #define JS_NULL_DATA 0x2E00 // output: used to get control lever in list of valid devices. // SYSTEM STORAGE MODULE // System storage modules occupy three ids of the device. These variables are defined as necessary // to maintain the variables or the interstitial results // of the database. // DID: 15 // DIDADDR: 13-15 #define SYS_VAR_GNDCW 0X1 FAO // CW fast or CW slow ground #define SYS_VAR_GNDCC OXIFA! // CCW fast or CCW slow ground. #define SYS_VAR_GNDUP 0X1 FA2 // fast rise or slow rise of ground #define SYS_VAR_BNDDN 0X1 FA3 // Fast low or low ground slow #define SYS_VAR_PLTCW 0X1 FA4 // Fast CW or slow platform CW #define SYS_VAR_PLTCC 0X1 FA5 // CCW fast or CCW platform slow #define SYS_VAR_PLTUP 0X1 FA6 // upload quickly or upload platform slow #define SYS_VAR_PLTDN 0X1 FA7 // slow down or slow down from platform #define SYS_VAR_GUDLO 0X1 FA8 // Upload slow or slow from ground #define SYS_VAR_GLRLO OX1 FA9 // CC slow or CCW slow ground #define SYS_VAR_GUDHI 0X1 FAA // fast rise or fast ground low #define SYS_VAR_GLRHI 0X1 FAB // Fast or earth fast CCW. #define SYS_VAR_PLTUD 0X1 FAC // raise or lower of platform #define SYS_VAR_PLTUD 0X1 FAD // left or right of platform. #define SYS_VAR_GNDHI 0X1 FAE // Fast earth switch pressed #define SYS_VAR_GNDLO 0X1 FAF // slow ground switch pressed #define SYS_VAR_STEER 0X1 FB1 // address request #define SYS_VAR_CONTRL 0X1 FB2 // any boom request #define SYS_VAR_UP_CN 0X1 FB3 // any request to raise / lower pen #define SYS_VAR_CC_CW 0X1 FB4 // any pen request CC / CW #define SYS_VAR_EXRET 0X1 FB5 // extend or retract #define SYS_VAR_SWING 0X1 FB6 // oscillate CC or oscillate CW #define SYS_VAR_ROTAT 0XIFB7 / / rotate CC or rotate CCW #define SYS_VAR_LEVEL 0X1 FB8 // level up or level down #define SYS_VAR_JIBLT 0X1 FB9 // Bottom below or hoist below #define SYS_VAR_SWROT 0X1 FBA // oscillate or rotate #define SYS_VAR_LEJLT 0X1 FBB // functions hoisting or leveling boom #define SYS_VAR_JILUP 0X1 FBC // raise boom or raise hoist #define SYS_VAR_GNDUD 0x1 FBD // any ascent or descent from the ground #define SYS_VAR_GNDLR 0x1 FBE // any left / right (cc / cw) from the ground #define SYS_AUTO_RETR 0x1 FBF // true when the automatic retraction function is active #define SYS_AUTO_RETR2 0x1 FBO // true when the automatic retraction function is on and ramp to zero # define SYS_EXTJNLK 0x3FA0 // true when the extension is approved #define SYS_VAR_RETR1 0x3FA1 // interstitial retraction certain #define SYS_VAR_RETR2 0x3FA2 // interstitial retraction certain #define SYS_VAR_NOTRIM 0x3FA3 // true when not active speed clipping #define NOT_SYS_VAR_NOTRIM 0x7FA3 // true when the trimming speed is active (negative pin logic) #define SYS_VAR_VALVE 0x3FA4 // any active valve #define NOT_SYS_VAR_VALVE 0x7FA4 // not any active valve (negative pin logic) #define SYS_VAR_LJLRI 0X3FA5 // level or retraction valve active boom. #define SYS_VAR_SRREX 0X3FA6 // retraction valve or ex-tension oscillate or tilt, active. #define SYS_VAR_LJIBL 0X3FA7 // boom valve or active hoist level #define SYS VAR RISER 0X3FA8 // active subordinate valve #define SYS_VAR_ROLL 0x3PA9 // moving vehicle variable #define NOT_SYS_VAR_ROLL 0x7FA9 // variable of moving vehicle ( negative logic) #define SYS_VAR_HIDRV 0x3FAA // active high transmission #define SYS_VAR_NOTRIMA 0x3FAC // no clipping speed, case A #define SYS_VAR_NOTRIMB 0x3FAD // no clipping speed case B #define SYS_RETR_DLNK 0x3FAE // joggers set when auto-retraction is certain #define SYS_AUTO_JIBDWN 0x3FB4 // Variable bounce auto decrease #define NOT_SYS_AUTO_JIBDWN 0x7FB4 // No variable bounce auto-descent (negative pin logic) #define SYS_VAR_JIBRT 0x3FB5 // Boom > 83.82 and extension < 83.82 used for boom self-descent. #define GND_REQ_RTRCT 0x3FB6 // Requested Retraction #define GND_REQ_JIBDN 0x3FB7 // Boom Drop Requested #define GND_REQ_JIBUP 0x3FB8 // Boom Boom Requested #define SYS_VAR_BMCRA 0x3FB9 // true when boom is supported and fully retracted #define SYS_VAR_JIBEXT 0x3FAF // Boom up and extended telescopier pen // these variables are used for CE options when they are // incorporated into the database; note that to disable CE restrictions, connector 2-3 must be true // to overcome CE constraints. #define SYS_VAR_UNDER8M 0X3FBA // less than 8 meters (for CE) #define SYS_VAR_DRVENBL 0x3FBB // enable transmission (for CE) #define SYS_VAR_DRVREQ1 0x3FBC // interstitial variable for transmission command 1 #define SYS_VAR_DRVREQ2 0x3FBD // interstitial variable for command transmission 2 #define SYS_VAR_PMPREQ 0x3FBE // interstitial variable for pump signal. #define SYS_VAR_GCENBL 0x3FBF // earth control approval variable (CE) #define SYS_VAR_LVLENBL 0x3FB0 // enable platform level (CE) #define SYS_VAR_LVLREQD 0x3FB1 // interstitial platform level #define SYS_VAR_LVLREQU 0x3FB2 // interstitial platform level # define SYS_VAR_MA1 0X1 FCO // storage variable in motion alarm db #define SYS_VAR_MA2 0X1 FC1 // storage variable in motion alarm db #define SYS_VAR_DOWN 0X1 FC2 // with any intention of moving down #define SYS_VAR_ALLMOT 0X1 FC3 // inputs dictate all desired motion alarm #define SYS_VAR_38ONLY 0x1 FC4 // allows certain functions only for 38 #define SYS_TRASH_CAN 0X3FFE // garbage exit #define SYS_VAR_STOP 0X3FFF // stop marker // special case - these DDCW are for use in the system // for the case of TRUE and FALSE. See the // specification in the DDCWs for additional information on how // evaluations work for these two cases. #define SYSJNP TRUE 0XBFFF // always true #define SYS_INP_FALSE OXFFFF // always false #define AND_TRUE 0XDFFF // always true #define OR_FALSE OXFFFF // always false #define AND_FALSE OXFFFF // always false // VIRTUAL INPUT / OUTPUT MODULE SNORKEL // DID: 15"// DIDADDR: O // These variables are set by the program modules to // the measure - the pagers can be used (but not // set) by the database. #define SYS_VOM_GMODE 0X3E00 // system ground mode #define SYS_VOM_PMODE 0X3E01 // system platform mode #define SYS_VOM_EMODE 0x3E02 // active emergency power mode #define NOT_SYS_VOM_EMODE 0x7E02 // without active emergency power mode (negative logic) #define SYS_VOM_HSREQ 0x3E03 // high transmission range mode, // there are two outputs for the panel function inputs - // pending requests and panel requests.When a switch is pressed on the panel, the request is acknowledged. you d by the controller and it becomes pending. A pending // request becomes a valid panel request when the // boom speed is zero (ramp to, or from). The // valid panel request also remains as pending request // until another function button is pressed; then // the new function becomes pending current function once the previous function has been ramp-down to zero. #define SYS_PRQ_SWING 0X1 E03 // active application panel: Body Swing function #define SYS_PRQ_RISER 0X1 E04 // active application panel: #define lift function SYS_PRQ_LIFT 0X1 E05 // active application panel: #define function Izadora SYS_PRQ_EXTND 0X1 B06 // active panel request: telescoping function #define SYS_PRQ_JIB 0X1 B07 // active panel request: boom function. #define SYS_PRQ_PLROT 0X1 B08 // active panel request: rotation function #define SYS_PRQ_LEVEL 0X1 B09 // active panel request: leveling function. // # define SYS_PRQ_EMPWR 0X1 BOA // active panel request: emergency power function. // #define SYS_PDN_SWING 0X1 EOB request pending function: #define body swing SYS_PDN_RISER 0X1 // request pending EOC function: #define up SYS_PDN_LIFT 0X1 E0D // request pending function: #define SYS_PDN_EXTND hoist // OXQEOE feature request pending: telescope #define SYS_PDN_JIB 0X1 EOF // pending function request: boom #define SYS_PDN_PLROT 0X1 E10 // pending function request: rotate. #define SYS_PDN_LEVEL 0x1 E11 // pending function request: level. 0x1 #define SYS_VOM_CHIRP E12 // true when system function / status alert 0x1 #define SYS_VOM_TURNOFF E13 // true when at rest ( "sleep") for 1 hour 0x1 #define SYS_VOM_PWRDN E14 // true when the system is in of low power / rest. // SYSTEM POTENTIOMETER MODULE DID // 15 // DIDADDR: 1 // #define VOM_POT_CMD0 E20 0x1 command potentiometer 0 // #define VOM_POT_CMD1 E21 0x1 Potentiometer 1 #define command VOM_POT_CMD2 E22 0x1 command potentiometer // 02 // #define VOM_POT_CMD3 E23 0x1 potentiometer command 3 #define VOM_POT_CMD4 0x1 E24 // potentiometer command 4 #define VOM_POT_CMD5 0x1 E25 // potentiometer command 5 #define VOM_POT_CMD6 0x1 E26 // potentiometer command 6 #define VOM_POT_CMD7 0x1 E27 // potentiometer command 7 #define VOM_POT_CMD8 0x1 E28 // potentiometer command 8 #define VOM_POT_CMD9 0x1 E29 // potentiometer command 9 #define VOM_POT_TRIM50 0x1 E2B // potentiometer profile (50%) #define NOT_VOM_POT_TRIM50 0x5E2B // without potentiometer profile 1 (negative logic) # define VOM_POT_TRIM25 0x1 E2C // potentiometer profile 2 (25%) #define VOM_POT_ONZERO 0x3E20 // true potentiometer output when zero. #define VOM_POT_OFFZERO 0x3E21 // true potentiometer output when it is not zero #define VOM_POT_POSVAL1 0x3E22 // true potentiometer output when set to Valí #define VOM_POT_POSVAL2 0x3E23 // true potentiometer output when in Val2 #define VOM_POT_POSVAL3 0x3E24 // output certain potentiometer when in Val3 #define #define SIZE_DB NUM_DODES 118 944 // total number words in the training database (dodes * 8) long code DODE_DATABASE [SIZE_DB] = // must be a device in the database to be // included in the network. Add a null in the locator space - // leverage control lever so that it is included in "on // view" of the master controller. JS_NULL_DATA, NO_DDV, SYS_INP_FALSE, SYSJNP_FALSE, SYS_INP_FA LSE, // SYS_INP_FALSE, NO_DDV1, FILLER, GROUND MODE / MODE PLATFORM LIGHTS // ======================= ================================================ LED ground mode when the ground mode is set / / of the GND_LED_GMODE system, NO_DDV, SYS_VOM_GMODE, SYS_INF_TRUE, SYS_IN F_FALSE, //SYS_INP_FALSE, NO_DDV1.FILLER // Platform mode LED set when the system platform // mode is set. GND_LED_PMODE, NO_DDV, SYS_VOM_PMODE, SYS_INP_TRUE, SYS_INP_FALSE, // SYS_INP_FALSE, NO_DDV1, FILLER /? ARIABLES OF SYSTEM FOR COMBINATION OF MOVEMENT // ======================================================================================================== ========== // These variables are put into various combinations of // switches and valves, and can be used by the // data base. // Ground control enable set to enable the // ground control (CE). // approved ground control operation when the // platform stop is removed and is in ground mode or is not in CTS mode (it is in home mode). SYS_VAR_GCENBL, NO_DDV, NOT_PLT_INP_ESTOP, SYS_VOM_GMODE, GND_INP_ // DOM, SYS_VOM_GMODE, NO_DDV1, FILLER /? / Ariable ground down // set in downward direction; speed switch // tight // low speed downhill commutator from earth and ground // mode or high speed downhill commutator from // ground and ground mode SYS_VAR_GNDDN, NO_DDV, GND_PSW_DWNLO, SYS_VAR_GCENBL, GN D_PSW_ DWNHI, SYS_VAR_GCENBL, NO_DDV1, FILLER // Ascent variable from ground // set in up direction, speed switch pressed down // variable up from ground when set // low speed switch for ground ascent and mode / / from earth, or the high-speed switch // of ascent on the ground and the mode from the ground. SYS_VAR_GNDUP, NO_DDV, GND_PSW_UPLO, SYS_VAR_GCENBL, GND_ PSW_ UPHI, SYS_VAR_GCENBL, NO_DDVI, FILLER // Variable of ascent in earth or descent in earth // put with any function of ascent or descent of // earth. // ascent or descent variable on the ground, set when the ascent variable is placed on the ground or the // descent variable on the ground is set. SYS_VAR_GNDUD, NO_DDV, SYS_VAR_GNDUP, SYS_INP_TRUE, SYS_VA R_GNDDN, SYS_INP_TRUE, NO_DDVI, FILLER // Variable below station on platform set to lever // control; down direction switch down, platform variable down when the platform switch is down and platform mode. SYS_VAR_PLTDN, NO_DDV, JS_SwY_Neg, SYS_VOM_PMODE, SYS_INP_F ALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // Variable station rise platform set to // control lever, up direction switch // pressed, platform ascent variable when it is // platform upgrade switch and platform mode. SYS_VAR_PLTUP, NO_DDV, JS_SwY_Pos, SYS_VOM_PMODE, SYS_INP_FA LSE, SYS_INP_FALSE, NO_DDV1, FILLER, // Platform ascent variable or platform descent // set with any platform up or down function, platform up or down variable // set when the variable is set Silver rise - // shape or platform descent variable. SYS_VAR_PLTUD.NO_DDV, SYS_VAR_PLTUP, SYSJNP_TRUE, SYS_VAR_ PLTDN, SYS_INP_TRUE, NO_DDV1.FILLER, // Ascent-descent variable set with any function // of ascent or descent. // System rise variable set when // the up / down earth variable is set or the platform up / down variable // is set. SYS_VAR_UP_DN, 0x0004, SYS_VAR_GNDUD, SYS_INP_TRUE, SYS_VAR_ PLTUD, SYS_INP_TRUE, NO_DDV1.FILLER, /? / Ariable ground levogy set in left-hand direction // speed switch pressed, variable left-hand ground // when the low-speed left-hand switch is set // ground and is in ground mode, or the ground-speed high-speed switch is set and is in ground mode. SYS_VAR_GNDCC, NO_DDV, GND_PSW_CCLO, SYS_VAR_GCENBL, GND_ PSW_CCHI, SYS_VAR_GCENGL, NO_DDV1.FILLER / A / ariable dextrorotatory of ground set in the clockwise direction, // velocity switch pressed // variable dextrorotatory of earth when the low-speed switch is placed clockwise and is in mode //of Earth; or when the high-speed earth speed switch is on and is in ground mode. SYS_VAR_GNDCW, NO_DDV, GND_PSW_CWLO, SYS_VAR_GCENGL, GND _PSW_CWHI, SYS_VAR_GCENBL, NO_DDV1, FILLER /? Left / right ground arc (CC-CW) set with // any right or left-hand earth function // left-right earth variable set when // the dextrorotatory variable of earth or the variable // levogy of earth is set. SYS_VAR_GNDLR, NO_DDV, SYS_VAR_GNDCW, SYS_INP_TRUE, SYS_VA R_GNDCC, SYS_INP_TRUE, NO_DDV1.FILLER /? / Arvier levógira of platform, put in the lever of // control levógiro, commutator depressed, // variable levógira of platform put when it is the // commutator levógiro of platform and the way of platform. SYS_VAR_PLTCC.O_DDVJS_SwX_Pos, SYS_VOM_PMODE, SYS_INP_FAL SE, SYS_INP_FALSE, NO_DDVI, FILLER, /? ariable dextrorotatory platform placed on the lever of // control, switch pressed, // dextrorotatory variable of platform when the // dextrorotatory platform switch and platform mode is set. SYS_VAR_PI, TCW, NO_DDV, IS_SwX_Neg, SYS_VOM_PMODE, SYS_INF_F ALSE, SYS_INF_FALSE, NO_DDV1, FILLER /? left / right ariable platform (CC-CW), set // with any dextrorotatory or left-handed platform function, // platform left / right variable set when the dextrorotary variable of the platform is set // or the variable // levorotatory platform. SYS_VAR_PLTLRM, NO_DDV, SYS_VAR_PLTCW, SYS_INP_TRUE, SYS_VA R_PLTCC, SYS_INP_TRUE, NO_DDVI, FILLER, // clockwise / leftward variable set with any function // clockwise or leftward / left / right. /? clockwise / left-handed ariable of system set when the left / right variable of the earth or the variable // left of the platform is set //. SYS_VAR_CC_CW, NO_DDV, SYS_VAR_GNDLR, SYS_INP_TRUE, SYS_VAR _PLTLR, SYS_INP_TRUE, NODDVI, FILLER, // Boom control variable set with any boom control // function // system control variable set when the system up / down variable // is set or the system is set // dextrorotatory variable / levorotatory of the system. SYS_VAR_CNTRL, NO_DDV, SYS_VAR_UP_DN, SYS_INP_TRUE, SYS_VAR _CC_CW, SYS_INP_TRUE, NO_DDVI, FILLER, /? ARIABLES OF SYSTEM FOR SPEED OF MOVEMENT OF HABI- // TACCULO FROM EARTH BUTTONS // Left / right high-speed variable on the ground // set when any direction button is pressed to // high speed left / right or right-handed / left-handed on // earth, // variable high left / right on ground when / / is set (upside down commutator on ground and // earth mode) or on (high // levrogiro switch on ground and ground mode) SYS_VAR_GLRHI, NO_DDV, GND_PSW_CWHI, SYS_VOM_GMODE, GND_P SW_CCIIL, SYS_VOM_GMODE , NO_DDV1.FILLER // Variable low speed left / right on the ground // set when any direction button is pressed at // low speed left / right or right-hand / left-hand on // ground. // low variable left / right on ground set when // is set (low-speed switch on ground and // ground mode) or low on (low-current switch // on ground and ground mode) SYS_VAR_GLRLO, NO_DDV, GND_PSW_CWLO, SYS_VOM_GMODE, GND_ PSW_CCLO, SYS_VOM_GMODE, NO_DDV1.FILLER // Variable of high speed of ascent / descent, in earth, // set when any variable of high // speed of ascent / descent in earth / is selected / / high speed variable of ascent / descent in earth // when the high switch is set for descent in // earth and it is in ground mode, or the switch is set // high for ascent in earth and it is in mode of Earth.

SYS_VAR_GUDHI, NO_DDV, GND_PSW_DWNHI, SYS_VOM_GMODE, GND_ PSWJJPHI, SYS_VOM_GMODE, NO_DDVI, FILLER /? ariable low rise / descent speed, on the ground, // set when any low variable // up / down speed is selected // variable low rise / down speed on the ground // when the switch is set of low for descent in // earth and is in ground mode, or the switch is set // of low for ascent in earth and is in ground mode. SYS_VAR_GUDLO.NO_DDV, GND_PSW_DWNLO, SYS_VOM_GMODE, GND _PSW_UPLO, SYS_VOM_GMODE, NO_DDVI, FILLER // Variable of high speed in earth set when doing // any request of high speed from ground. /? high speed ariable on the ground when there is high // ascent / descent speed on land or high speed // left / right on the ground.

SYS_VAR_GNDHI, NO_DDV, SYS_VAR_GUDHI, SYS_INP_TRUE, SYS_VAR_ GLRHI, SYS_INP_TRUE, NO_DDV1, FILLER, // Low ground speed variable set when any low speed request is made from ground. /? low speed ariable on the ground when there is low // speed of ascent / descent on land or low speed // left / right on the ground. SYS_VAR_GNDLO, NO_DDV, SYS_VAR_GUDLO, SYS_INP_TRUE, SYS_VAR _GLRLO, SYS_INP_TRUE, NO_DDV1, FILLER // DEPENDENCE EXPRESSIONS AT THE DEVICE OUTPUT OF // THE MAIN FEET SECTION // Detection without extension zone // auto-retraction enabled when the limiter switch // of the main boom angle is low and the // limiter switch is not retracted SYS_AUTO_RETR, 0x1000, GND_INPJ_SANG, GND_RED_LSLT33, SYS_INP _FALSE, SYS_INP_FALSE, NO_DDVI, FILLER // system auto-retract joggers (used with extension LED // SYS_RETR_BLNK, 0x0040, SYS_AUTO_RETR, SYS_INP_TRUE, SYS_INP_F ALSE, SYS_INP_FALSE, NO_DDVI, FILLER // main boom retraction // note that sys_auto_retr2 is output from a system vom when // auto-retracts and the boom speed has been decremented in // ramp to zero. // retract the pen when there is request from the panel to // extend and (ground down switch or platform up / down switch), when self-retraction is enabled and the main boom is lifted // down but only when it is not a machine 33. SYS_VAR_RETR1, 0x1000, SYS_PRQ_EXTND , SYS_VAR_GNDDN, SYS_PR1 _EXTND, SYS_VAR_PLTUP, NO_DDV1, FILLER, SYS_VAR_RETR2,0x1000, SYS_PRQ_LIFT, SYS_VAR_GNDDN, SYS_PRO_L IFT, SYS_VAR_PLTDN, NO_DDV1.FILLER, GDN_REQ_RTRCT, 0x0004, SYS_VAR_RETR1, SYS_INP_TRUE, SYS_VAR_ RETR2, SYS_AUTO_RETR2, NO_DDVI, FILLER GND_VLV_RTRCT, 0x1000, GND_REQ_RTRCT, NOT_SYS_AUTO_JIBDWN, SYS_INP_ FALSE, SYS_INP_FALSE, 0x8000, FILLER // Extend the main boom // extend the boom when there is request from the panel to // extend and (ground climb switch or platform lift / // switch) // but not when auto-retraction is enabled // but only when the main boom angle switch // error is not active, and is not active active the error of // extension switch; // but only when it is not a machine 33 GND_VLV_EXTND.0x1204, SYS_PRQ_EXTND, SYS_VAR_GNDUP, SYS_PR Q_EXTND, SYS_VAR_PLTDN, 0x86000, FILLER // Main boom extension LED // turns on the main boom extension function LED // in the ground and platform box when there is request // panel for extension or (is enabled auto-retraction // and pressed the up / down switch), // but only when it is not a machine 33. GND_LE_EXTND, 0x1000, SYS_PND_EXTND, SYS_INP_TRUE, SYS_RETR_ BLNK, SYS_VAR_UP_DN, NO_DDV1.FILLER, PLT_LED_EXTND, 0x1000, SYS_PND_EXTND , SYS_INP_TRUE, SYS_RETR_ BLNK, SYS_VAR_UP_DN, NO_DDVI, FILLER // Main boom left down. // The main boom hoist is down when there is // panel request to hoist and (descent switch on // ground or deck descent switch) // but not if // auto-retraction is enabled GND_VLV_LFTDN, 0x8004, SYS_PRQ_LIFT, SYS_VAR_GNDDN, SYS_PRQ_L IFT, SYS_VAR_PLTDN, 0x8600, FILLER // Main boom leveler pointing up // The main boom hoist is lifted when there is request // on hoisting panel and (ground climb switch or // platform lift switch) / / but only when the commutator error is not active I angle of the main boom and the error of the // extension switch is not active.

GND_VLV_LFTUP, 0x0004, SYS_PRQJJFT, SYS_VAR_GNDUP, SYS_PRQJ_ IFT, SYS_VAR_PLTUP, 0x9600, FILLER // MAIN FEED LIFTING LIGHT // The main boom lifting function LED comes on when there is a panel request to hoist. GND_LED_LIFT, NO_DDV, SYS_PND_LIFT, SYS_INP_TRUE, GNDJNF_C6_U , SYS_INP_TRUE, NO_DDVI, FILLER, PLT_LED_LIFT, NO_DDV, SYS_PND_LIFT, SYS_INP_TRUE, SYS_INP_FALS E, SYS_INP_FALSE, NO_DDVi-FILLER, // BOTTLE SECTION // Boom down // Determine when the boom is down (angle> 33, // boom <33) // Boom down when: // boom panel request and (downhill switch // on the ground or platform descent switch) or when // the boom is high and extends less than 83.82 cm SYS_AUTO_JIBDWN, 0x1000, PLT_FGD_JIDANG, GND_INP_LSLT33, SYS_IN P_ FALSE, SYSJNP_FALSE, NO_DDV1, FILLER, GND_REQ_JIBDN, 0x0004, SYS_PRQ_JIB, SYS_VAR_GNDDN, SYS_PRQ_JI G, SYS_VAR_PLTDN, NO_DDV1, FILLER, GND_VLV_JIBDN, 0x0004, GND_REQ_JIBDN, SYS_INP_TRUE, SYS_AUTO_J IBDWN, GND_REQT, NO_DDV1.FILLER, // Boom up // the boom goes up when: // there is request in panel for boom and (climb switch // on the ground or platform climb switch) // but only when the angle switch error // of the main boom is not active, and the error of the // extension switch is not active. GND_REQ_JIBUP, 0x0004, SYS_PRQ_JIB, SYS_VAR_GNDUP, SYS_PRQ_JI B, SYS_VAR_PLTUP, NO_DDVI, FILLER, GND_VIN_JIBUP, NO_DDV, GND_REQ_JIBUP, NOR_SYS_JIBDWN, SYS_IN P_FALSE, SYS_INF_FALSE, 0x1600, FILLER, // Boom Led // Turn on the Boom LED when // there is a request in boom panel. GDN_LED_JIB, NO_DDV, SYS_PND_JIB, SYS_INP_TRUE, GND_INP_C6_V, S YS_INP_TRUE, NO_DDVi, FILLER, PLT_LED_JIB, NO_DDV, SYS_PND_JIB, SYS_INP_TRUE, SYS_INP_FALSE, S YS_ INP_FALSE, NO_DDVI, FILLER // Enable platform leveling (CE) // set when platform leveling is approved // leveling is enabled when the boom is fully // supported or when there is no CE machine SYS_VAR_LVLENBL, NO_DDV , SYS_VAR_BMCRA, SYS_INP_TRUE, GND_IN P_DOM, SYS_INP_TRUE, NO_DDVI, FILLER, // Platform leveling down // The platform is leveled downwards when // there is request on panel to level down and (switch // down on ground or platform downward switch) SYS_VAR_LVLREQD, 0x0004, SYS_PRQ_LEVEL, SYS_VAR_GNDDN, SYS_P RQ_LEVEL, SYS_VAR_PLTDN, NO_DDVI, FILLER, GND_VLV_LVLDN, 0x0004, SYS_VAR_LVLREQD, SYS_VAR_LVLENBL, SYS_ INP_FALSE, SYS_INP_FALSE, Ox8000, FILLER, // Leveling up the platform // The platform is leveled downwards when // there is a request on the panel to level downwards and (switch downwards / downwards on the ground or platform downward switch) SYS_VAR_LVLREQU. 0x0004, SYS_PRQ_LEVEL, SYS_VAR_GNDUP, SYS_ P RQ_LEVEL, SYS_VAR_PLTUP, NO_DDVI, FILLER, GND_VLV_LVLUP, 0x0004, SYS_VAR_LVLREQU, SYS_VAR_LVLENBL, SYS_INP_FALSE, SYS_INP_FALSE, 0x8000, FILLER. // Platform leveling LED // The platform leveling LED lights when // there is a panel request to level the platform, // but only when it is not a machine 33. GND_LED_LEVE, NO_DDV, SYS_PND_LEVEL, SYSJNP_TRUE, GND_INP_C 6_X, SYS_INP_TRUE, NO_DDVI, FILLER, PLT_LED_LEVEL, NO_DDV, SYS_PND_LEVEL, SYS_INP_TRUE, SYS_INP_F ALSE, SYS_INP_FALSE, NO_DDVI, FILLER.

// Lifter pen down // Lifter pen is down when // there is request on panel to raise y (down / down commutator or platform down switch) GDN_VLV- RISDN, 0x0004, SYS_PRQ_RISER, SYS_VAR_GNDDN, SYS_PRQ_RISER, SY S_VAR_PLTDN, 0x8000, FILLER // Lifter pen up // Lifter boom goes up when // there is request in panel for lifter and (downhill / downhill commutator or platform down switch) // but only when it is not active the switch error // of angle of the main boom and the error of // extension switch is not active. GND_VLV_RISUP, 0x0004, SYS_PRQ_RISER, SYS_VAR_GNDUP, SYS_PRQ _RISER, SYS_VAR_PLTUP, 0x8000, FILLER. // Lifting pen LED // The platform level LED lights up when // there is a panel request to level the platform. GND_LED_RISER, NO_DDV, SYS_PND_RISER, SYS_INP_TRUE, GNDJNP_ C6_T, SYS_INP_TRUE, NO_DDVI, FILLER PLTJ_ED_RISER, NO_DDV, SYS_PND_RISER, SYS_INP_TRUE, SYS_INP_F ALSE, SYS_INP_FALSE, NO_DDVI, FILLER. // Lever rotation of the platform // The platform rotates clockwise when: // there is a request in the panel to turn and (left-handed switch in // ground or left-hand switch in platform), // but only when it is not a machine 33 // but only when it is not a machine 33. CND_VLV_ROTCC, 0x1004, SYS_PRQ_PLROT, SYS_VAR_GNDCC, SYS_PR Q_PLROT, SYS_VAR_PLTCC, 0x8000, FILLER, // clockwise rotation of the platform // The platform rotates clockwise when: // there is request for rotation y (right-handed switch on the ground or // right-handed switch on platform), // but only when no is a machine 33. GND_VLV_ROTCW.0x1004, SYS_PRQ_PLROT, SYS_VAR_GNDCW, SYS_P RQ_PLROT, SYS_VAR_PLTC2,0x8000, FILLER, // Platform rotation LED // Turn on the platform rotation LED when: // there is a panel request for the platform to rotate, // but only when it is not a machine 33.

GND_LED_ROTAT, 0x1000, SYS_PND_PLROT, SYS_INP_TRUE, SYS_INP_F ALSE, SYS_INP_FALSE, NO_DDVI, FILLER, PLT_LED_ROTAT, 0x1000, SYS_PND_PLYT_SYS_INP_TRUE, SYS_INP_F ALSE, SYS_INP_FALSE, NO_DDVI, FILLER. // left-hand oscillation of the body // The body oscillates levógiramente when: // there is request in panel for the body to oscillate and // (left-handed commutator in earth or left-hand commutator in // platform). GND_VLV_SWCC, 0x0004, SYS_PRQ_SING, SYS_VAR_GNDCC, SYS_PRQ_ SWING, SYS_VAR_PLTCC, 0x8000, FILLER // Right-handed oscillation of the body // The body oscillates dextrorotatively when: // there is request in panel for the body to oscillate and // (right-handed commutator in ground or right-handed commutator in // platform). GND_VLV_SWCW, 0xO004, SYS_PRQ_SWING, SYS_VAR_GNDCW, SYS_PR Q_SWING, SYS_VAR_PLTCW, 0x8000, FILLER, // Body oscillation LED // Turn on the body oscillation LED when: // there is request in panel for body oscillation GND_LED_SWING, NO_DDV, SYS_PND_SWING, SYSJNP_TRUE, SYS_INP_ FALSE, SYS_INP_FALSE, NODDVI, FILLER, PLT_LED_SWING, NO_DDV, SYS_PND_SWING, SYS_INP_TRUE, SYSJNP_ FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // Ignition relay 2 (supply to pump controller) // Ignition relay 2 (power relay to // pump controller) is always on) GND_SIG_PCPWR, NO_DDV, SYS_INP_TRUE, SYS_INP_TRUE , SYS_INP_F ALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // CONTROL SIGNALS FOR EXCITATION CONTROLLERS AND DE // PEN // FEEDING ECU OF EXCITATION UNIT (CONTROLLER IN // CABLE FORM) * "'= = = = ° = = = = == == = = /? / ariable less than 8 meters for CE options // when the platform is less than 8 meters (CE) // system variable to less than 8 meters, when the telescopic boom is completely retracted // and the boom angle is // high or is low boom angle SYS_VAR_UNDER8M, NO_DDV, GND_INP_FULLRET, GND_RED_LSANG, G ND_INP_ LSANG, SYS_INP_TRUE, NO_DDVI, FILLER // Enabling exciter for CE mode // set to enable excitation functions (CE) // is enabled the transmission when there is less than 8 meters and no // there are valves operating or it is not a CE machine. SYS_VAR_DRVENBL, NO_DDV, SYS_VAR_UNDER8M, NOT_SYS_VAR_VAL VE, GND_INP_DOM, SYSJNP_TRUE, NO_DDVI, FILLER, // transmission signal when // foot switch is pressed and the platform mode is selected.

GND_RLY_DRSIG, NO_DDV, PLTJNP_FOTSW, SYS_FBM_PMODE, SYS_IN P_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER // Direction signal of the transmission control direction signal of the transmission unit when // there is request "A" of transmission in the control lever and // there is no request switch ("B "transmission, // but only when // there is a foot switch and it is not in // emergency power mode // and if transmission is enabled (CE) SYS_VAR_DRVREQ1, 0X27801.PLT_INP_DRVREQa, NOT_PLTJNPJDRVR EQB, SYSJNP_FALSE, SYSJNP_FALSE, NO_DDVI, FILLER GND_OUT_DRVCMDI, 0X2801, SYS_VAR_DRVREQ1, SYS_VAR_DRVENBL, SYS_INP_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // Transmission control "follow" signal // "follow" is signaled to the transmission unit when // the transmission request switch "A" is placed I the control lever , or switch "B" of // request is set; // but only when // there is a foot switch and it is not in // emergency power mode, I / and if the transmission (CE) is enabled. SYS AR_DRVREQ2,0X2801, PLT_INP_DRVREQA, SYSJNP_TRUE, PLT_I NP'_DRVREQB, SYS_INP_TRUE, NO_DDVI, FILLER GND_OUT_DRVCMD2,0X2801, SYS_VAR_DRVREQ2, SYS_VAR_DRVENBL, SYS_INP_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER // Vehicle movement // vehicle movement variable when there is // transmission command 1 or transmission command 2. SYS_VAR_ROLL, NO_DDV, GND_OUT_DRVCMD1, SYS_INP_TRUE, GND_O UT_DRVCMD2, SYS_INP_TRUE, NO_DDVI, FILLER, // boom full braintend interboxing // There is full boom support interboxing when // the boom switch supported and the fully retracted switch are closed. SYS_VAR_BMCRA, OxOOOO, GND_INP_BMCRA, GND_INP_FULLRET, SYSJN P_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // High transmission range signal // high transmission range once the asset remains active // until the foot switch is released. // high system storage transmission signal, // when there is a high-scale system request and it is in platform mode or there is high signal transmission on the ground; // but only when the switch // support error is not active and the switch error is not fully // retracted. SYS_VAR_HIDRV, 0x0000, SYS_VOM_HSREQ, SYS_VOM_PMODE, GND_O UT_HIDRV, SYS_INP_FALSE, NO_DDVI, FILLER, SYS_VAR_HIDRV, 0x0000, SYS_VAR_HIDRV, GND_INP_LEVEL, SYS_INP_F ALSE, SYS_INP_FALSE, NO-DDVI, FILLER, GND_OUT_HIDRV, 0X0001, SYS_VAR_HIDRV, SYS_VAR_RMCRA, SYS_INP _FALSE, SYS_INP_FALSE, 0x0900, FILLER. // High LED excitation // High requested excitation scale PLT_LED_HIDRV, NO_DDV, GND_OUT_HIDRV, SYSJNP_TRUE, SYS_INP_F ALSE, SYS_INP_FALSE, NODDVI, FILLER /? / VALVE ACTIVATION ARIABLES // The following series of equations in this section is used // only to result in an equation that establishes // a variable that is true when any valve is // active: SYS_VAR_VALVE // any valve // set with any function of valve SYS_VAR_VALVE, NO_DDV, SYS_VAR_LJLRI, SYSJNP_TRUE, SYS_VAR_S RREX, SYS_INP_TRUE, NO_DDVI, FILLER, SYS_VAR_VALVE, NO_DDV, SYS_VAR_VALVE, NOT_SYS_VAR_ROLL, SYS _VAR_VALVE, GNDJNP_DOM, NO_DDVI, FILLER, // Hydraulic pump signal // There is a hydraulic pump signal when // there is no emergency power supply and there is any system control // booster valve and there is no rolling (CE) // no emergency power supply and any control valve // of the system boom, and it is not a CE machine, there is request for accumulation of brake pressure loosening // and transmission request. SYS_VAR_PMPREQ, NO_DDV, NOT_SYS_VOM_EMODE, SYS_VAR_VALVE, SYSJNP_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, SYS_VAR_PMPREQ, NO_DDV, SYS_VAR_PMPREQ, NOT_SYS_VAR_ROLL, SYS_VAR_PMPREQ, GND_INP_DOM, NO_DDVI, FILLER, GND_RLY_PMPSG, NO_DDV, SYS_VAR_PMPREQ, SYS_INP_TRUE, GNDJ NP_BRKPSI, SYS_VAR_ROLL, NO_DDVI, FILLER, /? ariable to rotate platform // is set when there is the platform rotates clockwise-left-handed // // mind, // platform rotation variable when // there is function of right-handed rotation or left-handed rotation. SYS_VAR_ROTAT, NO_DDV, GND_VLV_ROTCW, SYS_INP_TRUE, GND_VL V_ROTCC, SYS_INP_TRUE, NO_DDVI, FILLER. /? / ariable of body oscillation // it is set when the body oscillates dextrorotatory-levógiramente. // body oscillation variable when // there is a right-hand oscillation function or an oscillation function // levogy SYS_VAR_SWING, NO_DDV, GND_VLV_SWCC, SYS_INP_TRUE, GND "VLV_ SWCW, SYS_INP_TRUE, NO_DDVI, FILLER, /? ariable oscillation / rotation // is set with any oscillation or rotation function // oscillation / rotation variable when // there is platform rotation variable or oscillation variable // body. SYS_VAR_SWROT, NO_DDV, SYS_VAR_SWING, SYS_INP_TRUE, SYS_VAR _ROTAT, SYS_INP_TRUE, NO_DDVI, FILLER, /? ariable retraction / extension // It is set with the extension or retraction function. /? ariable extension / retraction is set when // the retraction valve is active or when the // extension valve is active. SYS_VAR_EXRET, NO_DDV, GND_VLV_RTRCT, SYS_INP_TRUE, GND_VLV _EXTND, SYS_INP_TRUE, NO_DDVI, FILLER, // Variable of oscillation, rotation, retraction or extension. // It is set with the function of oscillation, rotation, extension or // retraction. /? ariable oscillation / rotation when there is rotational variable - // platform or variable body oscillation. SYS_VAR_SRREX_NO_DDV, SYS_VAR_EXRET, SYS_INP_TRUE, SYS_VAR _SWROT, SYS_INP_TRUE, NO_DDVI, FILLER, // Variable boom below / hoist below. // It is put when the boom or the hoist moves down, // The boom is put down / hoist down when there is // boom function down or hoist function down. SYS_VAR_JIBLT, NO_DDV, GND_VLV_JIBDN, SYS_INP_TRUE, GND_VLV_L FTDN, SYS_INP_TRUE, NO_DDVI, FILLER, // level variable // is set with any movement of the leveling function, // leveling variable when there is leveling function towards // up or leveling function downwards.

SYS_VAR_LEVEL, NO_DDV, GND_VLV_LVLUP, SYS_INP_TRUE, GND_VLV_ LVLDN, SYS_INP_TRUE, NO_DDVI, FILLER, // Variable boom up / hoist up // Set when boom lift or hoist is up, // Boom lift / hoist lift is set when // boom function is up or function of hoist above. SYS_VAR_JILUP, NO_DDV, GND_VLV_JIBUP, SYS_INP_TRUE, GND_VLV_L FTUP, SYS_INP_TRUE, NO_DDVI, FILLER, // Variable raise / lower boom level down / hoist // down, // set with boom / hoist down or any function of // level movement.

// Boom variable / hoist / level is set when // the level variable is set or the variable of // boom down / hoist below is set. SYS_VAR_LEJLT, NO_DDV, SYS_VAR_LEVEL, SYS_INP_TRUE, SYS_VAR_J IBLT, SYS_INP_TRUE, NO_DDVI, FILLER, // Izador, boom or leveling // is set with any function of boom movement, // hoist or leveling. // boom variable / hoist / leveling set when setting / leveling variable, boom or hoist. SYS_VAR_LJIBL, NO_DDV, SYS_VAR_JILUP, SYSJNP_TRUE, SYS_VAR_LF JLT, SYS_INF_TRUE, NO_DDVI, FILLER, // lifter // set with lifter / drop lifter // lifter valve, // lifter raise / lower variable when // lifter lift valve or lifter drop-down valve. SYS_VAR_RISER, NO_DDV, GND_VLV_RISDN, SYS_INP_TRUE, GND_VLV_ RISUP, SYS_INP_TRUE, NO_DDVI, FILLER, // lifter, hoist, boom or leveling // is set with any boom movement function, // hoist, lifter or leveling, // lifter variable, boom, hoist or leveling when / / there are variable of lifter or variable of hoist / boom / set. SYS_VAR_LJLRI, NO_DDV, SYS_VAR_RISER, SYS_INP_TRUE, SYS_VAR_LI BL, SYS_INP_TRUE, NO_DDVI, FILLER, // SPEED CUTTING INPUTS IN THE CONTROLLER VELO - // CITY OF THE PEN (profile entries aka Sevcon) // Case A full speed // without trimming output voltage, when there are // elevator, extension or retraction valves.

SYS_VAR_NOTRIMA, NO_DDV, GND_VLV_RISUP.SYS_INP_TRUE, SYS_VA R_EXRET, SYS_INP_TRUE, NO_DDVI, FILLER // Case B of full speed. // No cutout output voltage when // [(there is request for brake release pressure and no // there are valves)], // but only when the foot switch is set. SYS_VAR_NOTRIMB.0x0001, GND_INP_BRKPSI, NOT_SYS_VAR_VALVE, S YS_ INF_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // full speed command // no cutout output voltage when there are // lift, extension or retraction valves. SYS_VAR_NOTRIM, NO_DDV, SYS_VAR_NOTRIMA, SYS_INP_TRUE, SYS_V AR_NOTRIMB, SYS_INP_TRUE, NO_DDVI, FILLER, // Average allowed velocity // output voltage cut by 50% when there are // boom lift or main rise valves. VOM_POT_TRIM50, NO_DDV, GND_VLV_JIBUP, SYS_INP_TRUE, GND_VLV _LFTUP, SYSJNP_TRUE, NO_DDVI, FILLER, // One-quarter speed allowed // output voltage trimmed to 25% when // there is no sys_var_notrim or vom_pot_trim50, // in other words, when operating any other // valve other than the ones mentioned in the two previous // equations. VOM_POT_TRIM25, NO_DDV, NOT_VOM_POT_TRIM50, NOT_SYS_VAR_N OTRIM, SYS_INP_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // STEERING FUNCTIONS // Left direction function // left direction when the platform foot switch and the direction on the control lever are on the left GND_VLV_STLFT, NO_DDV, PLT_INP_FOOTSW, PLTJNP_STLFT, SYS_INP _FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // direction function to the right // direction to the right when // there is foot switch on platform and the control lever // indicates right direction. GND_VLV_STRRT, NO_DDV, PLT_INP_FOOTSW, PLT_INP_STRRT, SYSJN P_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // EMERGENCY FEED / AUXILIARY /? / ariable address // it is set when there is address input and foot switch // steering variable set when it points // the right direction control lever or signals the left direction control lever //, but only when There is foot switch. SYS_VAR_STEER, 0X0001, PLT_INP_STRRT, SYS_INP_TRUE, PLT_INP_ST LFT, SYS_INP_TRUE, NO_DDVI, FILLER, // Auxiliary pump relay // Auxiliary hydraulic pump activated when there is // system direction function or emergency mode and // boom control valve . GND_RLY_AXPMP, NO_DDV, SYS_VAR_STEER, SYS_INP_TRUE, SYS_VOM _EMODE, SYS_VAR_VALVE, NO_DDVI, FILLER, // Emergency power LEDs // turn on the emergency power LED on the ground // when the emergency mode variable and the emergency power LED are set to ground mode or of // platform. GND_LED_EMPWR, NO_DDV, SYS_VOM_EMODE, SYS_VOM_GMODE, PLT _LED_EMPWR, SYS_VOM_PMODE, NO_DDVI, FILLER, // Platform emergency power LED, when // the emergency mode variable and the emergency power LED are set in platform or ground mode. PLT_LE_EMPWR, NO_DDV, SYS_VOM_EMODE, SYS_VOM_PMODE, GND_L ED_EMPWR, SYS_VOM_GMODE, NO_DDVI, FILLER, /? emergency feed diverter valve.

// The earth valve is supplied when there is // auxiliary pump on and system variable valve // connected. GND_VLV_EMPWR, NO_DDV, GND_RLY_AXPMP, SYS_VAR_VALVE, SYS_l NP_FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // ALERTS AND ALARMS OF THE MACHINE // Cornet // The cornet sounds when // the cornet switch is on the platform or the cornet switch is on the ground. GND_ALM_HORN, NO_DDV, PLT_PSW_HORN, SYSJNP_TRUE, SYS_INP_F ALSE, SYS_INP_FALSE, NO_DDVI, FILLER, // Tilt alarm // tilt alarm sounds when // there is no level switch and there is no boom switch // supported. GND_ALM_TILT, NO_DDV, NOT_GND_INP_LEVEL, GND_RED_BMCRA, SYS _INP_FALSE, SYSJNP_FALSE, NO_DDVI, FILLER, // Motion alarm // the motion alarm sounds when (trans-// mission and ground input 2) or (downward movement and // ground input), or // when (they are entrance 1 of earth and entrance2 of earth and // any movement). SYS_VAR_DOWN, NO_DDV, GND_VLV_JIBDN, SYS_INP_TRUE, GND_VLV_ RTRCT, SYS_INP_TRUE, NO_DDVI, FILLER, SYS_VAR_DOWN, NO_DDV, SYS_VAR_DOWN, SYS_INP_TRUE, GND_VLV_ RISDN, SYS_INP_TRUE, NO_DDVI, FILLER, SYS_VAR_DOWN, NO_DDV, SYS_VAR_DOWN, SYS_INP_TRUE, GND_VLV_ LFTDN, SYS_INP_TRUE, NO_DDVI, FILLER, SYS_VAR_DOWN, NO_DDV, SYS_VAR_DOWN, SYS_INP_TRUE, GND_VLV_LVLDN, SYS_INP_TRUE, NO_DDVI, FILLER, SYS_VAR_MA8, NO_DDV, GND_INP_ALM2, SYS_VAR_ROLL, GND_INP_AL M1, SYS_VAR_DOWN, NO_DDVI, FILLER, SYS_VAR_ALLMOT, NO_DDV, GND_INP_ALM1, GND_INP_ALM2, SYSJNP_ FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, SYS_VAR_MA2, NO_DDV, SYS_VAR_UP_DN, SYS_VAR_ALLMOT, SYS_VAR _ROLL, SYS_VAR_ALLMOT, NO_DDVI, FILLER GDN_ALM_MOTIO, NO_DDV, SYS_VAR_MA1, SYS_INP_TRUE, SYS_VAR_M A2, SYS_INP_TRUE, NO_DDV1.FILLER // Platform function alert // function alert sound when set // system variable chirp PLT_OUT_ALERT, NO_DDV, SYS_VOM_CHIRP, SYSJNP_TRUE, SYS_INP_ FALSE, SYS_INP_FALSE, NO_DDVI, FILLER, JS_NULL_DATA, NO_DDV, SYSJNP_FALSE, SYS_INP_FALSE, SYSJNP_FA LSE, SYS_INP_FALSE, NO-DDVI, FILLER); #endif (end) APPENDIX B Aspects of the database at 23-02-98 (program review 1.2 / 1.3) Switch errors and error handling aspects. Limiter switch errors.- The control system monitors the inputs of the limit switch and will detect errors if the inputs are not consistent with predetermined states. An advantage of electronically controlled systems, with respect to mechanically controlled systems, is that decisions can be based on a series of switch states, to disable certain operations and functions. There are two types of limiter switch errors: those that are directly associated with the poles of the switch, and those that are determined by relative comparison of the states of other limit switches. Type I switch errors: Incorrect states of the switch pole.- The limit switches used in the device are switches of the single-pole, double-stroke or position type. Each limit switch of the system has both poles wired to the controller. For each state of the limiter switch, there is a discrete input in the control system. This methodology requires and uses more system inputs, but it also greatly increases the safety of the device, because the inappropriate combinations of the limiting switch can be monitored. For example, in a traditional system (electromechanical control), a limit switch can be configured to indicate that the angle of the boom is low. The switch only needs a single pole and would indicate the following states: Feather position LS input LS input (redundant) Low angle CONNECTED NONE High angle DISCONNECTED NONE With this type of limiting switch a system would not be able to determine if the low angle limiter switch cable has been shorted or opened. An operator could potentially operate the machine while it is in conditions that are not stable. With the electronic control system, and redundant monitoring of the status of the limiting switch, the switch can reach four discrete states, which are the following: Boom position LS input LS input (redundant) Low connected angle disconnected High angle disconnected connected Error status disconnected Disconnected connected error status Based on these states, a short-circuited or broken wire can be detected by the control system. Limitations: There are certain limitations associated with the monitoring of a single redundancy. It is feasible that a cable could be split or that a switch could be shredded, which would result in one of the wires of the limiting switch being short-circuited with respect to the positive voltage (CONNECTED) and that the other switch wire would be open in Short circuit (DISCONNECTED). Another limitation of checking a single redundancy is that it can not protect against or detect a situation when a limit switch is wired backwards (the main and redundant poles are changed). In that case, for the system, the switch (if it is not in an error state) would seem to be working correctly for the controller. Type II switch errors: Limit switch inconsistent states.- A secondary switch error monitoring method is one that will minimize (not necessarily eliminate) the potential limitations listed above. The method compares certain states of the limiting switch with the expected states of other limit switches. As an example, if the fully retracted limiter switch is ON, it is expected that the limiter switch extended less than 83.82 cm, is also CONNECTED. If this is not the case, then there is an inconsistent switch state and an error is logged in the system. It should be noted that the inconsistent switch error is only active if there are no other switch errors present. If there are other switch errors present, then the type II limiter switch error can not be determined with any precision. In addition, the type II limiting switch error can be used by the database, so that the existence of this particular error can be handled as a discrete case. Type II errors are recognized as follows: Detection: If the fully retracted limit switch is ON, then the limiter switch for extension less than 83.82 cm would also be CONNECTED. Detection: If the supported boom limit switch is ON, then the main boom low angle limiter switch must be CONNECTED. With the two previous comparisons, the system can potentially detect the wiring errors in the following switches: Limit switch fully retracted Limit switch extension Boom limit switch supported Main boom angle limiter switch. Limitations.- There are limitations in the general switch error detection methodology. It is possible that the fully retracted limiter switch is wired backwards, and that the extension limiter switch is also wired backwards, giving the false indication that the limit switches are not inconsistent. IMPORTANT NOTE: It is important that the states of the limiter switch and all the operation of the appliance, including the limiter switch and the wrap operation, should be checked by a qualified technician after connecting any limiting switch - either at the time of manufacture or at the time of manufacture. the time to put into service or repair a switch, or at any time when the wiring of the device is modified, regardless of whether the wiring changes are made in the switch or in any other point of the system. It is important that after any wiring or wiring service that is done to the lifting device in any way, the states of the limit switch and the entire apparatus, including the operation of the limit switch and the housing, should be checked by a qualified technician.

Error states of the limiting switch and the database. DDV Limit Switch Error Handler (DDV1) .- The database can use the DDV LM results by making certain database output expressions, depending on the state of the limit switch errors. The level of function exclusion may vary from basic to complex, depending on the requirements of the system and the aptitude of the database designer. The initial issuance of the database for ATB-38K incorporates (entirely through the database, through the use of the LM DDV), the following function limitations: NOTE: If inconsistent or multiple switch data is detected (more of one) switch errors (v1.3), any movement is stopped.

RESTRICTED FUNCTION BY Retracting the boom high boom angle while active telescoping are the extension limiter switch or main boom angle limiter switch errors. Extend the high boom angle boom while active telescoping the extension limiter switch or main boom angle limiter switch errors. Active ex-voltage limiting commutator error. Active Main Boom Limiter Switch Error, Main Boom Down Boom Angle High While Extension Limit Switch or Main Boom Angle Limiter Switch Errors Are Active. Active extension limiter switch error. Main boom low limit switch switch active, Main boom top boom angle high while extension limiter switch or main boom angle limiter switch errors are active. Active ex-voltage limiting commutator error. Low main boom limit switch error, active. Boom low limit switch commutator error, active. Boom up Extension limiter switch error, active. Low main boom limit switch error, active. Boom angle limiter switch active, Boom above is always allowed Lifter boom down high boom angle while active boundary switch or boom angle limiter commutator errors are active.

Lifter boom at high boom angle while active extension limiter switch errors or main boom angle limiter commutator errors. Platform level High boom angle while downwards are active extension limiter or limit switch switch errors of the main boom. Platform level high boom angle while upwards are active active limiter switch or limiter commutator of main boom angle.

Rotate high boom angle platform while active limiter switch or boom angle limiter switch errors are active. Oscillate high boom angle body while active limiter switch or boom angle limiter switch errors are active.

Motion Alarm Selection The database has been designed to allow four different states of the movement alarm. The table describes those states: ENTRY OF ENTRY OF TYPE OF ALARM ALARM 1 ALARM 2 Disconnected disconnected none Disconnected connected only downward movement alarm connected disconnected only impulse movement alarm connected connected alarm of any movement.

CE / Domestic operation The database enables and disables certain operations when the domestic appliance input is active. The following aspects are completely controlled by the database when the domestic operation is disconnected (CE mode). • When a pen function is operating, the feed functions are disabled • When a feed function is operating, pen functions are disabled. • When the pen is not supported, the platform leveling functions are disabled. • When the boom angle is high and the telescoping boom is not fully retracted, the feed functions are disabled. • If the platform control station's emergency stop switch is not in the "STOP" position, control is disabled from the ground station; the emergency power mode overcomes this aspect.

Type 33 device operation The database disables certain functions when the type 33 input is active. The following functions are controlled by the database when the input is activated (grounded): • Rotating functions are disabled the platform. • Telescoping pen functions are disabled.

APPENDIX C PLATFORM ENTRIES AND DEPARTURES Entrances to the platform control station The platform control station has two primary input banks: the switch input matrix and the discrete digital input terminal strip. The platform controller scans a 4 x 5 switch matrix for operator commands, and monitors the discrete digital inputs for inter-bias inputs (foot switch, boom limit switches, and emergency stop switch). The interlocks are inputs to the control system, so that they can include the description of the machine in the database. Certain interlocks are also routed to the interbiochemistry circuits of the apparatus, which are external to the control system. Switch matrix inputs (ATB 33 system) The inputs to the switch panel matrix for the ATB 33 machine are the following: BUTTON DESCRIPTION Cornet Operates the electric cornet located at the base of the machine. Scale Select the speed scale (high scale or low scale) for the transmission system. The operation of this function is governed by the position of the inter- bugs (see the description of the database). Function oscillation of Generates a request for the basic basis of oscillation of the base. The base of the machine will rotate 180 degrees in any direction. NOTE: For all boom functions, activation, direction and speed will be dictated and controlled by the inputs of the boom control lever, and each function is governed by the position of the interim inputs. blocking. Refer to the description of the database for each particular function. Boom function will generate a request for the lifter, lifting boom. The lifter will raise and lower the level of the platform.

Main pen function Generates a request for the main pen function. The main boom will raise and carry the position of the platform inward, or it will lower and force the position of the plate to the outside. Function of teles-boom generates an application for the copying. of the telescopic pen. The telescopic boom (depending on the angle of the main boom) will extend and force up or down and force the position of the platform inwards. Boom function generates a request for boom function. The boom operates around a pivot point and when it is below the horizontal position, the function will lift and carry in or lower and force out the position of the platform; and when it is below the horizontal position, the function will lift and force out, or lower and force inward the position of the platform. Leveling function generates a request for the platform funla. leveling of the platform.

Function of rotating the plagenera a request for the funtaforma. rotation of the platform. The platform will rotate 180 degrees.

Emergency Alimentation Generates a request for the emergency hydraulic pump. The hydraulic emergency pump is driven by an electric motor connected to the 12 VDC emergency battery.

Terminal strip inputs (System ATB.33) .- The terminal strip inputs for the platform control station are the following: Input Description Excitation signal A Control command excitation command input to the control system Excitation signal B Excitation direction input from control lever to control system. Directional RT signal Directional input on the right of the control lever to the control system. of transmission. Directional LFT signal Direction entry to the left of the control lever to the control system. of transmission. Switch interlock Switching interface of the skin switch to the control system NOTE: this interlock is also connected by a discreet wire to the interblocking circuits located at the base of the machine. Stop interlock Switch input of emergency emergency stop and inter-bias control system. NOTE: This interblocking is also connected by a discrete wire to the inter-blogging circuits located at the base of the mag- nine. Angle interlocking Limiter switch input to the low boom control system when the boom is at a lower angle. Redundant interlock Switch input limiter to low angle boom control system when the boom is at a lower angle. X-axis input of the proportional analog input which control lever represents the position on the pen axis. of the X of the control lever of the pen. Y-axis input of the proportional analog input which control lever represents the position on the pen axis. of the Y of the control lever of the pen.

Direction inputs of the transmission control lever.- Two steering inputs of the transmission control lever are used to control the forward and reverse transmission functions. The control lever used for the transmission function is common with other machines and has the following table of true for the transmission direction (see also the input signal section of the transmission controller): PUSHED PUNCH TO: REVERSE ADVANCE.

Signal "A" of transmission CONNECTED CONNECTED Signal "B" of transmission DISCONNECTED CONNECTED Platform control station outputs The platform control station has two primary output banks: the LED output matrix and the discrete digital output terminal strip. The platform controller refreshes a 4 x 4 LED array to indicate functions and feedback, and also controls discrete digital outputs for alarms. The states of the LEDs in the platform station are determined by the system database and are sent to the platform control station from the ground control station, through the system network (CAN). LED matrix outputs (ATB System 33). The LED matrix outputs of the platform for the ATB 33 machine are as follows: LED DESCRIPTION Scale LED Indicates active high scale speed LED oscillate Indicates the oscillation function of the selected base base. Feather LED lift and Indica function of dora lifting pen. Selected Main pen LED Indicates function of the selected main pen. LED telescopic boom Indicates the function of a telescopic pen. Selected, or active auto-retraction mode. Boom LED Indicates boom function selected. _LED Leveling Indicates selected platform plating leveling function. LED rotation indicates the function of rotation of the plaplataform. selected form. Emergency power emergency power mode. selected agency Battery bank LED- Indicates the state of the battery bank (48 VDC) of 48 volts. Satisfactory status LED that there are no errors present in the system. Warning LED Indicates that there are errors present in the state. System. Numeric display Reports errors and system status.

Outputs from the terminal strip (ATB 33 system). The terminal strip outputs for the platform control station are as follows: INPUT DESCRIPTION Alert signal A buzzer indicating pre-set switch and other various function control states.

CONNECTIONS / TERMINATIONS OF PLATFORM CONTROL STATION Cable connector for the platform control station. - There is a cable that connects the platform control station to the ground control station. Between the two stations there are eleven (11) signal and power supply wires (refer to schematic drawing No. 102785).

CONNECTOR: Deutsch P / N HD34-24-19PN Position Circuit Description 1 CAN shielded CAN wire 2 CAN low CAN signal 3 CAN high CAN signal 4 Replacement 5 Feed boom SW Power to limit switch boom angle switch. 6 Transmission speed 1 Transmission speed signal. 7 Transmission speed 2 Transmission speed signal. 8 Battery earth ground 9 Platform signal Interlocking platform emergency stop. 10 Ignition key +14 VDC power supply to platform 11 foot switch 1 Foot switch source to platform 12 spare 13 foot switch 2 platform foot switch return (signal) 14 spare 15 active tilt alarm tilt alarm 16 spare 17 angle non-low boom commutator angle limiter non-boom low boom. 18 spare 19 low angle boom commutator boom low angle limit switch.

Terminal strip of platform control station.- There is a terminal strip on the control card that interfaces with the control station and the outside world, and is defined as follows: TERMINAL CIRCUIT DESCRIPTION 1 IGNITION KEY power supply of - »VDC of analog platform 2 not used - 3 X axis of position lever on the X axis control of the control lever of the boom.

Y-axis lever position on the Y-axis control the control lever of the boom. Transmission signal B of the direction of the mission transmission control lever (connected = reverse) Transmission command signal A of transmission transmission mission of the transmission control lever (connected = transmission), right direction Right direction input on the control lever of the transmission. 8 right-hand direction right-hand entry on the transmission control lever. 9 Foot switch 2 * Foot switch signal input. 10 Platform signal * Platform emergency stop interboxing. 11 unused input 12 unused input 13 low boom angle boom entry low boom limit switch input. 14 non-low angle of redundant limiting switch boom; angle not low, 15 warning output warning function buzzer output 16 unused output 17 no connection 18 no connection 19 CAN shielding * shielded wire for CAN collector 20 CAN low * CAN signal 21 CAN high * signal CAN 22 OUTPUT + 5VDC 5-volt supply for boom control lever 23 GROUND * battery ground 24 GROUND battery ground for boom control lever. * denotes circuit connections to the pen cable connector.

EARTH CONTROL STATION OPERATIONAL OVERVIEW Transmission and steering functions.- An operator can not move or direct the device from the ground control station. Boom functions.- To operate any boom function from the ground control station, you need to turn the key to the "on" position; the earth-stop emergency switch is put (removed), and the earth mode inter-mode switch is set (depressed). After these two inter-bursts are made, the operator can select and activate any pen function. To select a pen function the operator must press the button of the desired pen section. When a function button is pressed, an alert buzzer will sound once to indicate that the function has been selected, and the associated panel LED will illuminate. To activate a pen function the user must select and maintain an appropriate pen direction button and speed button. The pump motor speed will ramp up to the selected boom speed (fast or slow). NOTE: Certain pen functions depend on the state of the inter-logging states of the limiting switch.

To stop the movement of the active function the operator can release the pen direction button. While movement has stopped the pen, the selected function will remain active until one of the following situations occurs: 1. Motion is not requested by the operator for more than 10 seconds. 2. The inter-cycle switch is released in ground mode; or 3. The emergency stop switch is released (note that this disconnects the power of the entire control system, see the interlock and power section). If there is no activity on the ground control station for more than three minutes, the system will remove the selection of all functions and proceed to a rest mode ("sleep") that saves energy. A warning buzzer will sound once to indicate the change of state of the system. Inactivity from ground is described as no activity in the ground mode inter-mode switch. When operating from the ground control station the operator can recover from the energy saving mode (inactivity) of the inter-cycle switch in ground mode.

TICKETS AND OUTPUTS OF STATION CONTROL IN LAND Entries in the ground control station. The ground control station has two input banks: the switch input matrix and discrete digital inputs from the interface connectors. The ground controller scans a 4 x 5 commutator matrix for operator inputs, and monitors discrete digital inputs for inter-bugs and alerts (boundary sensor and boundary limit switches). Inputs of the commutator matrix in the ground control panel (ATB system 33/38). The matrix inputs on the ground switch panel for the ATB 33 machine are as follows: BUTTON DESCRIPTION Control switch Interblocking switch, with earth ground trolley. The commutator is equivalent to the interblock switch _ standing on the platform control station. Oscillation function Generates a request for the base function. of base oscillation. The base of the machine will rotate 180 degrees in any direction. NOTE: When operating from the GCS. the activation of the boom function, the direction and the speed will be dictated and controlled by the speed and direction inputs of the boom, and each function is governed by the position of the inter-bore entries - refer to the description of the database for each particular function. Boom function generates a request for the function of the lifter pen. The lifting pen will raise and lower the level of the platform. Fountain pen function A request for the cipal function. of the main pen. The main boom operates around a pivot point and will raise and carry inward the position of the platform, or lower and force out the position of the platform. Function of the pen Generates a request for the telescopic function of the telescopic pen. The telescopic boom (depending on the angle of the main boom) will extend and force upwards, or lower and force the position of the platform inwards. Boom function Generates a request for boom function. The boom operates a pivot point aerator and, when it is below the horizontal position, the function will raise and carry out, or lower and force inward, the position of the platform. Leveling function Generates a request for the foundation of the platform leveling platform. Rotation function Generates a request for the platform rotation platform. The platform will rotate 180 degrees. Emergency power- Generates a request for the hydraulic emergency pump. The hydraulic emergency pump is driven by an electric motor connected to the 12 VDC emergency battery. High speed up Starts an appropriate function requested upwards at fast speed of the pump motor. Low speed up Starts a suitable function called up at low speed of the pump motor. High speed down Starts a suitable function requested downwards, at fast speed of the pump motor. Low speed down Starts a suitable function requested downwards, at slow speed of the pump motor. High right-hand speed Initiates a suitable function right-handed at fast speed of the pump motor. Low clockwise speed Initiates a suitable function clockwise at slow speed of the pump motor.

High left-hand speed Initiates a suitable function from the left-hand side at fast speed of the pump motor. Low left-hand speed Initiates a suitable function at the slow speed of the pump motor.

Discrete inputs in the ground control station (ATB system 33/38). The inputs of the device are connected to the controller through of the Deutsch connectors located in the GCS envelope. The following entries are defined: ENTRY DESCRIPTION Low pressure to release Indicates too low brake pressure to release the wheel brakes for transmission operations. Tilting switch that the appliance is inclined to swim (active tilt switch) Main boom entry when the main boom is turned down fully down. Main boom entry Active when the main boom does not pal not down is completely down. High angle input Active when the angle of the main main boom is high (more than 33 degrees). Angle input is not Active when the angle of the high boom in the main main boom is not high. Main feather input when the extended headrest feather extended more than 83.82 cm. Main boom entry when the main boom is not extended not more than 83.82 cm. Main feather input when the retracted head retractor feather is fully retracted. Main feather input when the non-retracted main feather is fully retracted.

Outputs from the ground control station. The ground control station has two primary output banks: the LED output matrix and the high-side exciter output bank (master controller driver board). The exciter card is connected to the devices in the apparatus through various Deutsch connectors located in the GCS envelope. The ground controller refreshes a 4 x 4 LED array to indicate functions and feedback and also controls the digital outputs for valves, alarms, solenoids and relays. The LED states at the ground station are determined by the system database and are sent to the LED interface card / control switch on the ground station, through the system network (CAN). Outputs of the LED matrix (ATB 33 system). The outputs of the ground LED matrix for the ATB 33 machine are as follows: LED DESCRIPTION Base rotation LED Indicates that the base rotation function is selected. Lifting pen LED Indicates that the lifting pen function is selected. Main pen LED Indicates that the main pen function is selected. Telescoping pen LED Indicates that the function of the telescopic pen is selected. Boom LED Indicates boom function is selected. Leveling platform LED Indicates that the leveling platform function is selected.

LED rotating platform Indicates that the function of rotating the platform is selected. Emergency power Indicates that the emergency power mode is selected. LED control mode Indicates that the system is in the platform control mode from the platform. LED control mode Indicates that the system is in ground control mode from ground. Successful status LED Indicates that there are no errors present in the system. Status alert LED Indicates that there are errors present in the system. Numeric display Reports errors in the active system.

Outputs from the ground control station (ATB System 33/38). The connector outputs for the ground control station are as follows: OUTPUT DESCRIPTION VALVE: Platform turns Activates the rotation valve clockwise dextrorotatory of the platform. VALVE: Platform turns Activates the valve of left-hand rotation of the platform. VALVE: Telescoping boom Activates extended spreading valve of the telescopic boom. VALVE: Retraction of the activates the retraction valve telescopic boom of the telescopic boom. VALVE: The main boom rises from the main valve. VALVE: low main boom Activates the valve for lowering the main boom VALVE: Boom boom Activates boom lift valve. VALVE: Low boom Activates the boom lowering valve. VALVE: Raises level of the Activate platform platform level rise valve. VALVE: Low level of the Activates platform lowering platform level valve. VALVE: Right turn of Activate the turn-off valve dextrobase of apparatus turn of the base. VALVE: Left-hand rotation of Activates the left-hand rotation valve of the base unit. VALVE: Raises boom Levan Activates the lift valve of the lifting pen. VALVE: low feather lift the down valve of the lifting pen. VALVE: left direction Activates the steering valve on the left. VALVE: right direction Activates the steering valve on the right. VALVE: Hydraulic power emergency hydraulic emergency hydraulic valve. SIGNAL: Command 1 of trans- Activates the mission command input. transmission to the transmission system. SIGNAL: Command 2 of transActivates the command input of the transmission mission to the transmission system. SIGNAL: High scale of Activates the entry of high scale transmission to the transmission system. SIGNAL: Analog of velociSeñal of control of speed of the dad of motor pump to the controller of the bomb. ALARM: Horn relay Activates the cornet relay ALARM: Movement of the activates the fin device of the movement machine. RELAY: Relay of 48 Activates the relay of the control¬ Pump volts (ignition-2).

Address outputs of the transmission controller. Two transmission outputs of the boom control system (in the GCS) are connected to the inputs in the transmission control system. These outputs command the transmission function (move) and the direction of the transmission (forward or reverse). The transmission command outputs (or inputs to the transmission controller) are defined as follows: FORWARD REVERSE Command 1 connected transmission output disconnected Command 2 connected connected transmission output CONNECTIONS / TERMINATIONS IN EARTH CONTROL STATION CONNECTOR 1 (INPUT CONNECTOR): Deutsch P / N DT13-12PA CONNECTOR 2 (input / output connector): Deutsch P / N DT13-12PA CONNECTOR 3 (output connector): Deutsch P / N DT13-12PA CONNECTOR 4 (output connector): Deutsch P / N DT13-12PA CONNECTOR 5 (platform connector): Deutsch P / N HD34-24-19PN CONNECTOR 6 (power supply / interlock): Deutsch P / N HD34-24- -21 PN aaa ^ aA ^^ ta INTERLOCKING SYSTEM The control box of the ground station contains an interbiochemistry circuit that interfaces with the safety switches and devices of the device. The interbiochemistry system is located on a separate card in the control box and also contains the auxiliary battery charger circuit and the system's main power circuit breaker. There are two primary control interblocking switches: the platform foot switch interboxing and the ground control switch interboxing. There is only one primary control interblock, the control inter-log signal (refer to block drawing DWG # 102784). The interblock control signal activates interblocking and load isolation relays on the blocking card. In the platform mode, the foot switch will activate the control inter-control signal and in the ground control mode, the Lock control via the ground control mode switch. The two inter-bias relays that depend on the control inter-bias signal are the master inter-batch relay 1 (MIR1) and the master inter-binary relay 2 (MIR2). Master interblock relay 1. The MIR1 is used to interlock the contactor signal of the hydraulic pump motor. The signal enters the relay from the high-side driver on the master controller board, through the ribbon cable connector, to the inter-bias card. The inter-bleached pump request signal is sent to connector # 6-A. If the control lock signal is not present, there can be no hydraulic pump operation. Master interblock relay 2. The MIR2 is used to interlock the motor contactor signal of the auxiliary (emergency) hydraulic pump. The signal enters the relay from the high-side driver on the master controller board, through the ribbon cable connector, to the inter-bias card. The inter-bite pump request signal is sent to connector # 6-C. If the control interblocking signal is not present, there can be no operation of the emergency hydraulic pump. Auxiliary battery charger relay. The control interblocking signal also activates the auxiliary battery charger circuit, to isolate the auxiliary battery from the inverter when a function is active (see Charger / Power circuit). Foot switch intercommunication. The foot switch switch inter-bias signal is passed through the ground control box, from platform connector # 5 to power / interlock connector # 6. The circuit can be used when required by the OEM for blocking devices that may or may not be connected to the control system. It is the responsibility of the OEM to determine that the external wiring is appropriate and that it is suitable for any given application. Platform emergency stop switch. The emergency stop switch signal from the platform provides power to the foot switch on the platform and also to an interlocking relay that provides the electrical system with an ignition circuit attached to the 14 VDC converter. This interbioqueo, so-called platform signal inter-signaling is active as long as the device is in platform mode and the platform emergency stop button (removed) is set. Interblock interface examples. There are several methods (if not unlimited) to form the interface of the device (and inter-bugs) with the control system. The interface of the appended device serves schematically as a representative circuit that has been tested and proven over time. As shown, the apparatus interface schematic (drawing # 102785) coupled with the circuit board schematic of the interblock interface (drawing # 102784) has the following inter-bating characteristics: NON-ACTIVE PLATFORM SIGNAL: • The system Transmission is disabled • No foot switch interboxing is possible • There is no inter-platform signal from platform in the network • The control from GCS is still functional. FOOT SWITCH INTERLOCK SIGNAL NOT ACTIVE: • No MIR1 (no main hydraulic pump for boom functions) • No MIR2 (no auxiliary hydraulic pump for boom or steering functions). • No inter-biasing for transmission control system • There is no inter-bias signal from the foot switch of the network. • The control from GCS is still functional.

FEEDING AND LOADING SYSTEM The control system is connected in a "dual battery" configuration by means of a series of diodes configured as a battery isolator (refer to drawing # 102784). The voltage supplies are connected to the power / interlock card through the 6-D connector (14 VDC from the 48-volt to 14-volt converter) and the 6-E connector (12-volt auxiliary battery). The auxiliary battery is charged by means of the auxiliary battery charger relay, provided that the control inter-bias signal is not present. When the device is not working, the auxiliary 12-volt (emergency) battery is directly connected to the output voltage of the converter, so it receives charge. The system energy of the circuit is connected to the battery isolator circuit and is protected by a 15 amp fuse. The system power circuit is directly routed to the 6-G connector. This circuit is used as the main power circuit to the controller and controller driver banks. The system power circuit is connected to the controller via connector # 1-1. NOTE: In application 33/38 this circuit is routed through the disconnect relay, which is activated whenever a 48-volt charger is plugged into an AC power source to charge the 48-volt battery bank. Note also that the inverter source (48 volts) is disconnected from the converter during charging. Example of battery power / charging system. There are several methods (if not unlimited) to form the interface of the charger apparatus with the control system. While the power connections to the control system are well defined, the external battery and wiring circuits of the apparatus are beyond the scope and control of the boom control system. Shown in schematic drawing # 102785 is a representative circuit that has been tested and proven over time; This circuit can be modified or redesigned, as required by the OEM to meet the power needs and conditions of the other components of the device (such as the transmission control system, the pump contactors and the pump speed controllers ). The circuit of the energy systems and their suitability for a particular application is the responsibility of the OEM. Below is a brief description of the power and wiring methodologies used in the test model. Master disconnect switch. The master disconnect switch disconnects the 48-volt battery bank from the device. The 12-volt auxiliary battery of the control system is disconnected by a separate series of contacts on that switch. AC line charger and disconnect relay. When the charger is plugged into an AC line, the internal relay disconnects the 48 volts from the converter and disconnects the system power from the circuit, from the control system. This condition makes the controller and all the functions of the device inoperative. While the charger is connected to line power, the 48-volt battery bank is receiving a charge. Voltage converter. The voltage converter drops the 48 volt supply to 14 volts of the operating voltage of the controller and the system components. NOTE: To allow the auxiliary battery to receive a charge, it is directly connected to the auxiliary battery when the device is not working. The auxiliary battery bank is charged only by the converter in the example circuit - Pump controller power relay. The pump controller's power relay connects the 48-volt supply to the hydraulic pump controller and the 48-volt battery sensing line of the boom control system. This relay is activated by the ignition circuit 2 (which is activated in power increase). This relay scenario is primarily to prevent 48 volts being applied to the boom control system without proper grounding or power being supplied to the controller (or the connector being improperly plugged in). Additionally, this relay will be cut to reduce the energy consumption during the "sleep" mode or system rest / energy reduction. Contactor of the hydraulic pump. The hydraulic pump motor and the power cables to the pump controller are connected only when required for operation. The hydraulic pump contactor is activated by the control system when required (see the database section in operation for rules). Auxiliary / emergency hydraulic pump contactor. The power cable to the auxiliary hydraulic pump motor is only connected when it is required for its operation. The contactor of the auxiliary hydraulic pump is activated by the control system when required (see section of operation database, for rules).

WIRING / OPERATING LIMIT SWITCHERS There are four limit switches that monitor the position of the boom. The limit switches are connected to the controller and are incorporated in the rule database, which describes the apparatus. For diagnostic purposes, each limit switch has a redundant contact, connected to the controller. The limit switches are defined as follows: Main boom angle limiter switch: The main boom angle limiter switch is active whenever the angle of the main boom is low (less than 33 degrees). Main boom extension limiter switch: The main boom extension limiter switch is active as long as the main telescopic boom is extended less than 83.82 cm. Boom Main Boom Limiter Switch: The boom main boom limit switch is active as long as the main boom is fully retracted. Boom angle limiter switch: The boom angle limiter switch is active whenever the angle of the boom is low (less than 33 degrees above horizontal). Main boom restraint switch supported: The main boom limit switch supported is true when the main boom and lift boom are in the lowest position. The stability analysis evaluated and determined by Snorkel Engineering results in the following requirements and envelope limitations for certain boom functions: Condition "A" (BOTTLE): Defined as the condition when the boom angle is not low and the boom is extended less than 83.82 cm. Boom up: the requests are ignored while condition A exists. Boot below: The bounce function is always granted below; however, the boom will automatically be activated to lower if a boom retraction command is issued while condition "A" exists. Condition "B" (EXTENSION): Defined as the condition when the angle of the main boom is low and the main boom is extended more than 83.82 cm. Extension: Applications are ignored as long as condition "B" exists. Retraction: The retraction function is always granted; however, the retraction function will be automatically activated if a main down command is issued, while condition "B" exists.

FUNCTIONS AND RULES OF THE SYSTEM The device operates with a defined set of rules. The rules database, together with certain controller variables (refer to the database section), precisely defines the operation of the machine. It is imperative that, before implementing the design of the machine, the rules of operation have been explicitly defined by the OEM, that is, that the base of rules has been developed by a person who has an exact and complete understanding of the machine and how it should work The exception to this is that the machine-specific functions that are beyond the scope of discrete boolean relationships, available through the database. The specific functions of the machine are custom-made program modules for the client, embedded in the control system, and are called Virtual Output Modules (VOM) of the system. A VOM uses variables from the database and can also set database variables, so that the database developer has access to the VOM. The base of rule 33/38 is defined as follows: Line: GCS ground mode LED Description: Output indicator Rule: Set when the earth mode switch of the system is active.

Line: GCS platform mode LED Description: Output indicator Rule: Set when the platform mode of the system is active.

Line: Variable below, ground Description: Variable database. Rule: Set when the down switch at low ground speed and the ground mode are set, or when the down switch at high ground speed and the ground mode are set. _ Line: Variable above, ground. Description: Database variable. Rule: Set when the top switch is set at low ground speed and ground mode, or when the top switch is set at high ground speed and ground mode.

Line: Variable above, ground or below, ground Description: Database variable Rule: Set when the variable of upward ground or variable downward is set.

Line: Variable below, of the platform station Description: Database variable Rule: Set when the bottom switch is set, on the pen control lever, and the platform mode.

Line: Variable above, from the platform station Description: Database variable Rule: When the top switch is on the boom control lever and the platform mode.

Line: Platform variable above or platform below Description: Database variable Rule: set when the platform variable is set up or the platform variable is set below.

Line: Variable up or down Description: Database variable. Rule: Set when the variable is placed above / below ground, or the variable above / below the platform is set.

Line: Levógira variable of Earth Description: Variable of database. Rule: Set when the ground-speed low-speed switch is in and is in ground mode, or when the ground-speed high-speed switch is set and is in ground mode.

Line: Ground dextrorotatory variable Description: Database variable.

Rule: Set when the ground speed dextrorotatory low speed switch is set, and is in ground mode; or when the dextrorotative high-speed earth switch is set, and is in ground mode.

Line: Left / right variable (levógiro-dextrógiro) of earth. Description: Database variable. Rule: Set when the dextrorotatory variable of earth is set or when the left-hand earth variable is set.

Line: Platform left-handed variable. Description: Database variable. Rule: When the platform left-hand switch is set and in platform mode.

Line: Dextrorotatory variable of platform Description: Database variable. Rule: Set when the dextrorotatory platform switch is set and in platform mode.

Line: Left / right variable (levógira-dextrógira) of platform Description: Variable of database. Rule: Set when the dextrorotatory variable of platform is set or the platform left-handed variable is set.

Line: Variable dextróg anger / levó ira Description: Variable database. Rule: Set when the left / right ground variable is set, or when the left / right platform variable is set.

Line: Variable left / right at high speed, ground Description: Variable database. Rule: Set when the dextrorotative switch is set high, on the ground, and is in ground mode, or when the left-hand commutator is set to high, ground, and is in ground mode.

Line: Left / right variable at low speed, ground Description: Variable database. Rule: Set when the low speed, ground speed switch is on and is in ground mode, or when the low speed ground speed switch is set, ground, and is in ground mode.

Line: Variable up / down at high speed, ground Description: Variable database. Rule: Set when the bottom switch is set at high ground speed, and is in ground mode; or when the top switch is set at high ground speed, and is in ground mode.

Line: Variable up / down at low speed, ground. Description: Database variable. Rule: Set when the bottom switch is set at low speed, ground and is in ground mode; or when the top switch is set at low speed, ground and is in ground mode.

Line: High speed, ground variable Description: Database variable: Rule: Set when set up / down at high ground speed, or left / right at high speed, ground.

Line: Variable of low speed, of earth Description: Variable of database. Rule: Set when there is up / down at low speed, from ground, or left / right at low speed, from ground.

Feather Section Rules Line: Request for auto-retraction Description: System variable Rule: When the low angle limiter switch of the main boom and the 83.82 cm limiter switch is set, it is not retracted.

Line: Auto-retraction elusion variable Description: Database variable Rule: When there is system auto-retraction variable and (elusion variable of system output).

Line: Retraction of the main boom Description: Rule output: When there is request on the panel for extension and (down switch, earth switch or down switch, platform) or (when auto-retraction is enabled and the boom is down main lifter), but not when the boom is automatically lowering into the safety zone.

Line: Main boom extension Description: Rule output: When there is request in extension panel and (up, ground switch, or platform up switch), but not when auto-retraction is enabled.

Line: GCS main boom extension LED Description: Rule output: When there is request on extension panel or (auto-retraction enabled and up / down switch depressed).

Line: Main hoist feather, below. Description: exit. Rule: When there is request in panel to hoist and (down switch, ground, or down switch, platform), but not if auto-retraction is enabled.

Line: Main hoisting feather. above. Description: Output Rule: When there is request in panel to move and (top switch, ground switch or top switch, platform switch).

Line: LED of main GCS hoist boom Description: Output Rule: When there is request in the panel to go.

Line: Main boom LED of PCS Description: Output Rule: When there is request in the panel to hoist.

Line: Boom auto-descent Description: Database variable. Rule: When the angle of the boom is elevated and is extended less than 83. 82 cm Line: Boom below Description: Rule output: When there is a request in the panel for boom and (down switch, ground switch or down switch, platform) or when the boom retraction and self-lowering variable is set.

Line: Boom above Description: Exit. Rule: When there is a request in the panel for boom and (top switch, ground switch or top switch, platform switch), but not when the boom auto-lowering variable is set.

Line: GCS boom LED Description: Output Rule: Boom request in the panel.

-Ranglon: Boom LED in PCS Description: Output Rule: When boom request is in the panel.

Line: Leveling below platform Description: Rule output: When there is request in the leveling panel downwards and (bottom switch, ground or bottom switch, platform).

Line: Leveling up platform Description: Output Rule: When there is request in the leveling panel upwards and (top switch, ground or overhead switch, platform).

Line: GCS platform leveling LED Description: Rule output: When there is request in the panel to level the platform.

Line: PCS platform leveling LED Description: Rule output: When there is request in the panel to level the platform.

Line: Lifting pen below Description: Output Rule: When there is request to lift on the panel and (bottom switch, earth or bottom switch, platform).

Line: Lifting boom above Description: Output Rule: When there is request on the panel to lift and (down switch, ground or switch below, from the platform).

Line: GCS lifting pen LED Description: Output. Rule: When there is a request to level the platform in the panel.

Line: Lifting pen LED, from PCS Description: Output. Rule: When there is a request to level the platform, in the panel.

Line: Levogiro rotation of the platform Description: Output. Rule: When there is request for rotation in the panel and (ground levogroir switch or platform left-hand switch).

Line: Dextrix rotation of the platform Description: Exit. Rule: When there is request of rotation in the panel and (dextrógiro ground switch or dextrógiro platform switch).

Rung: Platform rotation LED in GCS Description: Rule output: When there is request to rotate the platform, in the panel.

Line: Platform rotation LED in PCS Description: Rule output: When there is request to rotate the platform in the panel.

Line: Levogy body oscillation Description: Rule output: When there is request to oscillate the body in the panel and (ground levogy switch or platform levogy switch).

Line: Right-handed oscillation of the body Description: Exit. Rule: When there is a request to oscillate the body in the panel and (ground dextrorotary switch or dextrorotatory platform switch).

Line: Body oscillation LED in GCS Description: Output. Rule: When there is request from the panel for body oscillation.

Line: Body oscillation LED in PCS Description: Output.

Rule: when there is request from the panel for the oscillation of the body.

Line: Ignition output 2 Description: Output. Rule: Set when the controller has power.

Transmission control rules Line: Transmission command signal 1 Description: Output: Rule: Transmission switch A of the control lever and transmission switch B not of control lever; but only when the foot switch is active and is not in emergency power mode.

Line: Transmission command signal 2 Description: Output _ Rule: Transmission switch A of the control lever or transmission switch B of the transmission lever; but only when the foot switch is active and is not in the emergency power mode.

Line: Vehicle movement Description: Database variable Rule: When any transmission signal is active.

Line: High transmission scale Description: Rule output: when available (panel request, high transmission and platform mode) and (the boom is supported and fully retracted), but only when the foot switch is active.

Line: High scale LED in PCS Description: Output. Rule: When there is transmission in high scale.

Valve activation variable: The following series of rules is used only to result in an equation that establishes a variable that is true when any valve is active; The variable is: any active boom valve.

Line: Platform rotation variable Description: Database variable Rule: When the platform rotates clockwise or the platform rotates levógiramente.

Line: Body oscillation variable Description: Database variable Rule: When oscillating clockwise or oscillating levógiramente.

Line: Oscillation / rotation variable Description: Database variable. Rule: When there is platform rotation variable or body oscillation variable.

Line: Retraction / extension variable Description: Database variable Rule: When the retraction valve is active or the extension valve is active.

Line: Variable of Oscillation / rotation / retraction / extension Description: Variable of database. Rule: When there is variable of retraction or extension, or there is variable of rotation of platform, or there is variable of oscillation of body.

Line: Bottom down / bottom uprider variable Description: Database variable Rule: When there is boom function down or hoist function down.

Line: Variable of boom above / hoist above Description: Variable of database. Ruler: Boom function up or main hoist function up.

Line: Leveling variable Description: Database variable. Rule: When there is leveling function up or there is leveling function down.

Line: Bottom down / bottom down / leveling variable Description: Variable of the database Rule: When the leveling variable is set or the down / downward boom variable is set.

Line: Riser / boom / leveling variable Description: Database variable Rule: When the leveling variable or the boom variable or the hoist variable is set.

Line: Lifter variable Description: Database variable Rule: It is put either with the lifter valve on top or lifter down.

Line: Lifter / hoist / boom / leveling Description: Database variable. Rule: It is set with any function of boom, hoist, lifter or leveling movement.

Line: Any active boom valve Description: Database variables Rule: When the oscillation or rotation or retraction or extension function or hoist or boom or lifter or leveling function is active.

PEL SPEED TRIMMING AND SPEED CONTROLLER INPUTS Line: Total allowed speed (without boom speed cut) Description: System command - Rule: When the lifter, top, extension or retraction valves are active (low pressure to release brakes and foot switch).

Line: Average allowed speed (feather speed cut to 50%) Description: System command Rule: When boom valve is up or main boom is up.

Line: One quarter speed allowed Description: System command. Rule: When full speed is not allowed or half speed is allowed.

Line: Hydraulic pump signal Description: Exit (inter-biased) Rule: When any boom function valve is active and there is no emergency pump mode or low pressure mode for brake release and the foot switch is active.

Emergency power control / auxiliary Line: Address variable Description: Database variable. Rule: When the steering is set to the right on the transmission control lever, or the steering is set to the left on the transmission control lever, but only when the foot switch is active.

Line: Auxiliary hydraulic pump relay Description: output. Rule: When there is variable of direction or (emergency mode and any variable of valve of pen) Line: Function of direction to the left Description: Output Rule: When it is put the commutator of foot of the platform and the direction to the left in the transmission control lever.

Line: Right direction function Description: Rule output: When the platform foot switch is set and the right direction on the transmission control lever.

Line: Emergency power LED in GCS Description: Rule output: When the emergency mode variable is set and it is in ground mode or the emergency power LED is on the platform.

Line: Emergency power LED in PCS Description: Rule output: When the emergency mode variable and the platform mode or the emergency power LED, is set.

Line: Emergency power diverter valve Description: Output.

Rule: When the auxiliary pump (emergency) and any boom valve is connected.

Alerts and Alarms of the magic Line: Horn relay Description: Output. Rule: When the cornet switch is placed on the platform.

Line: Tilt alarm Description: Output Rule: The leveling switch is not set or the boom switch supported is set.

Line: Motion alarm Description: Output. Rule: Any boom valve or transmission function.

Line: Chirp Alert Description: Exit. Rule: When the system control system requires function chirp.

Node error status.- Each node has the ability to report its error status to the master control module. The master control module will also report the system error status to the devices in the network. The platform input / output node and the ground input / output node are configured with displays that will display the error status when informed from the MCM. Node errors.- The following table lists the error codes currently supported by the system.

Claims (23)

NOVELTY of the INVENTION CLAIMS

1. - An aerial working apparatus, characterized in that it comprises: a base; a plataform; a pen that connects the platform with the base; a hydraulic system to move the pen sections; and a boom control to control the hydraulic system in response to the operator input, to move sections of the boom according to the operator input; said boom control comprising: a first control module in the base, which responds to an operator providing movement commands of the boom, to make the boom move in a desired direction; a second control module in the platform, which responds to an operator providing movement commands of the boom, to make the boom move in a desired direction; and a controller area network interconnecting the first module control module and the second control module.

2. The apparatus according to claim 1, further characterized in that the boom control includes a programmable microprocessor with parameters that control the operation of the apparatus.

3. The apparatus according to claim 2, further characterized in that the parameters include one or more of the following: parameters that define a shell within which the boom is allowed to operate; parameters that cause the boom to retract automatically in certain positions, in response to certain actions requested by the operator; parameters that define speeds that increase in ramp or speeds that decrease in ramp, in the movement of the boom; parameters that define sequential functions of the pen; parameters that define simultaneous functions of the pen; or parameters that define periods of time based on the state of various switches, and during those periods of time the pen is allowed to operate.

4. The apparatus according to claim 1, further characterized in that the pen control comprises a shell controller comprising: a sub-routine or position detector circuit, to detect a position of the pen or platform sections of work in relation to a position of the base; and a sub-routine or position limitation circuit to inhibit the boom control signal that is being provided to the hydraulic system, when the sub-routine or position detector circuits indicate that the detected position of the boom sections or the work platform, in relation to the position of the base, exceeds a wrapped limit; so that the envelope controller limits the position of the pen or work platform sections relative to the position of the base, to be within a predefined region.

5. The apparatus according to claim 1, further characterized in that the pen control comprises: a pen section selector switch, which responds to an operator input, to select one of the plurality of pen sections that is going to move; a boom movement input switch, which responds to the input of the operator to provide a boom direction signal, which indicates a desired direction of boom movement for the selected boom section to be moved, and provides a desired pen speed; and a boom ramp controller, which responds to the selector switch of the boom section and the boom movement input switch, to control the hydraulic system so that it moves the selected boom section according to the directional signal of the pen; said boom ramp controller being adapted to cause the hydraulic system to move the selected boom section at a variable speed not exceeding a preset maximum speed, so that the boom accelerates at a preset speed from zero speed to speed desired.

6. The apparatus according to claim 1, further characterized in that the control of the boom is adapted to cause the hydraulic system to sequentially move the boom from a movement requested by the operator to the next movement requested by the operator, or move the boom simultaneously in a second direction in response to a movement requested by the operator, while the boom is moving in response to a previous movement requested by the operator.

7. - The apparatus according to claim 1, further characterized in that the boom control includes: a sub-routine or safety circuit, to monitor the operator input that solicits the movement of the boom, and to prevent the boom control respond to the operator input requesting the movement of the pen, in case there has not been an operator input requesting the movement of the pen during a first period of time; and a sub-routine or energy-saving circuit, to monitor the operator input to the control of the boom; deactivating said sub-routine or energy-saving circuit the boom control, when the sub-routine or the energy-saving circuit does not detect operator input to the control of the boom during a second period of time.

8. A shell controller suitable for use with an aerial work platform, having a pen comprising a plurality of pen sections; a hydraulic system to move the pen sections; a work platform supported by the pen; a base that supports the pen; a boom control to provide a boom control signal to the hydraulic system; the boom control signal controlling the hydraulic system to control the movement of one of the plurality of boom sections; said cassette controller characterized in that it comprises: a sub-routine or position detector circuits, for detecting a position of the boom sections or of the work platform with respect to a position of the base; and a sub-routine or position limitation circuit, to inhibit the boom control signal that is provided to the hydraulic system, when the sub-routine or position detector circuit indicates that the detected position of the boom sections or of the working platform with respect to the position of the base, will exceed one envelope limit; so that the envelope controller limits the position of the pen sections or of the work platform in relation to the position of the base, to that it is within a previously defined region.

9. The controller according to claim 8, further characterized in that the boom sections include an extensible section, and additionally comprising a sub-routine or auto-retraction circuit, to retract the expandable section when the operator provides an entry that requests the movement of the pen sections or the work platform outside the previously defined region; maintaining in this way the work platform within the previously defined region.

10. The apparatus according to claim 8, further characterized in that the pen control comprises: a pen section selector switch, which responds to the operator input to select one of the plurality of pen sections that is to be move; a pen movement input switch, which responds to the operator input to provide a pen direction signal indicating a desired direction of boom movement, for the selected pen section to be moved, and which provides a desired pen speed; and a boom ramp controller, which responds to the boom section selector switch and boom movement input switch, to control the hydraulic system, to move the selected boom section according to the direction signal of the boom. feather; The boom ramp controller is adapted to cause the hydraulic system to move the selected boom section at a variable speed not exceeding a preselected maximum speed, so that the boom is accelerated at a pre-set speed from zero speed to speed. desired speed.

11. The apparatus according to claim 8, further characterized in that the boom control is adapted to cause the hydraulic system to sequentially move the boom from a movement requested by the operator., to the next movement requested by the operator, or to simultaneously move the boom in a second direction, in response to a movement requested by the operator, while the boom is moving in response to a previous movement requested by the operator.

12. The apparatus according to claim 8, further characterized in that the boom control includes: a sub-routine or safety circuit to monitor the operator input requesting the movement of the boom and to prevent the boom control respond to the operator input requesting the movement of the pen, in case there has been no operator input requesting the movement of the pen during a first period of time; and a sub-routine or energy saving circuit, to monitor the operator input to the boom control; by deactivating said sub-routine or said energy-saving circuit, the control of the boom when the sub-routine or the energy-saving circuit does not detect operator input in the control of the boom during a second period of time.

13.- An aerial work apparatus, characterized in that it comprises: a base; a plataform; a pen having a plurality of pen sections connecting the platform with the base; a hydraulic system to move the pen sections; and a boom control to control the hydraulic system in response to the operator input, to move the boom sections according to the operator input; said boom control comprising: a boom section selector switch, which responds to the operator input to select one of the plurality of boom sections to be moved; a pen movement input switch, which responds to the operator input, to provide a pen direction signal, one direction indicator -desired the movement of the pen, for the selected pen section that is to be moved, and that provides a desired pen speed; and a boom ramp controller, which responds to the selector switch of the boom section, and to the boom movement input switch, to control the hydraulic system to move the selected boom section according to the boom direction signal. the pen; said boom ramp controller being adapted to cause the hydraulic system to move the selected boom section at a variable speed not exceeding a preset maximum speed, so that the boom will accelerate at a pre-set speed from zero speed to speed desired.

14. The apparatus according to claim 13, further characterized in that the boom control includes a microprocessor and wherein the predetermined maximum speed is programmable by the operator through the microprocessor.

15. The apparatus according to claim 13, further characterized in that the boom ramp controller is adapted to cause the hydraulic system to substantially instantaneously discontinue the movement of the selected boom section in response to an operator input. that indicates that the movement of the selected pen section should be terminated, or that another pen section should be moved.

16. The apparatus according to claim 13, further characterized in that the controller of the boom ramp makes a transition from the movement of the boom in a first direction to moving the boom simultaneously in a first direction and in a second direction, ramping the movement in the first direction to a first determined value, and ramping the movement in the second direction to a second determined value; and then, ramping the movements in the first and second directions, simultaneously.

17. The apparatus according to claim 13, further characterized in that the boom control is adapted to cause the hydraulic system to sequentially move the boom from a movement requested by the operator to the next movement requested by the operator, or to move simultaneously the boom in a second direction in response to a movement requested by the operator while the boom is moving in response to a previous movement requested by the operator.

18. The apparatus according to claim 13, further characterized in that the boom control includes: a sub-routine or a safety circuit to monitor the operator input requesting the movement of the boom and to prevent the control of pen responds to the operator input requesting the movement of the pen, in case there has been no operator input requesting the movement of the pen during a first period of time; and a sub-routine or energy-saving circuit for monitoring the operator input to the boom control; by deactivating said energy-saving sub-routine or circuit, the boom control when the sub-routine or the energy-saving circuit detects that there has been no operator input in the boom control for a second period of time.

19. - An aerial working apparatus, characterized in that it comprises: a base; a plataform; a pen having a plurality of pen sections, connecting the platform and the base; a hydraulic system to move the pen sections; and a boom control to control the hydraulic system in response to the operator input, to move the boom sections according to the operator input; said boom control comprising: a boom section selector switch, which responds to the operator input, to select only one of the plurality of boom sections to be moved; a pen motion input switch, which responds to an operator input to provide a pen direction signal, which indicates a desired direction of pen movement; and a boom controller that responds to the boom section selector switch and the boom motion input switch, to control the hydraulic system to effect boom movement; the boom controller being adapted to cause the hydraulic system to sequentially move the boom of a movement requested by the operator to the next movement requested by the operator, or to simultaneously move the boom in a second direction, in response to a movement requested by the operator; operator, while the pen is moving in response to a previous movement requested by the operator.

20. The apparatus according to claim 19, further characterized in that the boom control includes: a sub-routine or a safety circuit to monitor the operator input requesting the movement of the boom and to prevent the control of pen responds to the operator input requesting the movement of the pen, in case there has been no operator input requesting pen movement, during a first period of time; and a sub-routine or an energy-saving circuit, to monitor the operator input to the boom control; said sub-routine or said energy saving circuit disabling the control of the boom when the sub-routine or the energy-saving circuit does not detect operator input to the control of the boom during a second period of time.

21. An aerial work platform, characterized in that it comprises: a plurality of pen sections; a boom control to provide a movement output signal to control the movement of one of the plurality of boom sections, in response to the input of an operator to the boom control; and a sub-routine or a time control circuit, comprising: a sub-routine or a safety circuit to monitor the operator input requesting boom movement, and to prevent the control of the boom from responding to a operator input requesting the movement of the pen, in case there has been no operator input requesting the movement of the pen during a first period of time; and a sub-routine or an energy-saving circuit, to monitor the operator input to the control of the boom; disabling said sub-routine or said energy-saving circuit the control of the boom when the sub- • 196"^ routine or the energy-saving circuit does not detect operator input to the Control the pen for a second period of time.

22. The platform according to claim 21, characterized further because the second period of time of the sub-routine or the energy-saving circuit is greater-than the first period of time of the sub-routine or the safety circuit. 23.- A work aerial apparatus, characterized in that it comprises: a base; a plataform; a pen that connects the platform and the base; a hydraulic system to move the pen sections; and a control of boom to control the hydraulic system in response to the operator input, to move the boom sections according to the operator input; comprising the pen control: a microprocessor having inputs to receive the operator inputs and having outputs that provide output signals that are a function of the operator input provided at the microprocessor input; the hydraulic system responds to the output signals; a first control module in the base, which responds to an operator, to provide first command signals of the movement of the boom, to cause the boom to move to a desired direction; the first movement command signals from the boom are supplied to the microprocessor inputs; and a second control module on the platform, responding to an operator, to provide second command signals of movement of the boom, to cause the boom to move in a desired direction; the second command signals of the movement of the pen to the inputs of the microprocessor are supplied. ri £ ^^ and £ __u = _______? ______ tt_