Kobelco SK210LC-9 Install guide

SHOP
MANUAL model
INDEX
HYDRAULIC EXCAVATOR
SPECIFICATIONS
MAINTENANCE
SYSTEMDISASSEMBLING
TROUBLESHOOTING
E/GOPT.
1
2
3
4
5
6
7
SPECIFICATIONS SECTION
MAINTENANCE SECTION
SYSTEM SECTION
DISASSEMBLY SECTION
TROUBLESHOOTING
ENGINE SECTION
PROCEDURE OF INSTALLING
OPTIONS SECTION
Book Code No. S5YN0046E04
0-1
SK210 LC - 9
Copyright©2017 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E04] [0209CsCshWbYs]

21
21. MECHATRO CONTROLLER
［21. MECHATRO CONTROLLER］
21-1
Book Code No. S5YN2146E01
TABLE OF CONTENTS
21.1 SUMMARY OF MECHATRO CONTROL SYSTEM ………………………………………………………21-4
21.1.1 MECHATRO CONTROL SYSTEM IN GENERAL ……………………………………………………21-4
21.1.2 UNLOAD VALVE CONTROL ……………………………………………………………………………21-6
21.1.3 POSITIVE CONTROL & P-Q CONTROL ……………………………………………………………21-7
21.1.4 BOOM UP CONFLUX CONTROL ………………………………………………………………………21-9
21.1.5 ARM IN RECIRCULATION & CONFLUX CONTROL ………………………………………………21-11
21.1.6 ARM-IN ANTI-CAVITATION CONTROL ………………………………………………………………21-13
21.1.7 ARM-OUT CONFLUX CONTROL ………………………………………………………………………21-14
21.1.8 BUCKET DIGGING ANTI-CAVITATION CONTROL …………………………………………………21-16
21.1.9 SWING PRIORITY CONTROL …………………………………………………………………………21-18
21.1.10 TRAVEL STRAIGHT CONTROL ………………………………………………………………………21-20
21.1.11 PRESSURE RELEASE CONTROL ……………………………………………………………………21-22
21.1.12 N&B SWITCH CONTROL (OPTION) …………………………………………………………………21-24
21.1.13 OPTION CONFLUX CONTROL (OPTION) …………………………………………………………21-26
21.2 MECHATRO CONTROLLER …………………………………………………………………………………21-28
21.2.1 SUMMARY OF MULTI DISPLAY ………………………………………………………………………21-28
21.2.2 SELF DIAGNOSIS DISPLAY ……………………………………………………………………………21-42
21.2.3 SERVICE DIAGNOSIS DISPLAY FUNCTION ………………………………………………………21-45
21.2.4 TROUBLE HISTORY DIAGNOSIS………………………………………………………………………21-55
21.2.5 SET PROCEDURE OF MAINTENANCE SCHEDULE ………………………………………………21-56
21.2.6 ADJUSTING PROCEDURE OF DISPLAY ……………………………………………………………21-58
21.2.7 MECHATRO CONTROL EQUIPMENT …………………………………………………………………21-64
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

Issue Date of Issue Applicable Machines Remarks
First edition June, 2013 SK210LC-9 : YQ13-10001~ S5YN2146E01
(NA)
October, 2013 SK210LC-9 : YQ13-10001~ (North America / Europe)
［21. MECHATRO CONTROLLER］
21-2
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
PREFACE
This manual explains only those related to the electro hydraulic conversion as mechatro control. This
manual summarizes the mechatro system and the function of the mechatro controller related
apparatuses. Regarding the conditions before and after each conversion, refer to the hydraulic system
and the electric system.
［21. MECHATRO CONTROLLER］
21-3
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21.1 SUMMARY OF MECHATRO CONTROL SYSTEM
21.1.1 MECHATRO CONTROL SYSTEM IN GENERAL
［21. MECHATRO CONTROLLER］
21-4
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
［21. MECHATRO CONTROLLER］
21-5
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21.1.2 UNLOAD VALVE CONTROL
(1) On starting any one of operations, the control pilot secondary pressure switches spools and
enters in respective low pressure sensors.
(2) The output voltage of low pressure sensor is input to mechatro controller and the mechatro
controller processes pilot signal and outputs command according to the input voltage to each
unload pressure proportional valve.
(3) Each unload pressure proportional valves output pilot secondary pressure according to the
command output by mechatro controller and switches each unload spools.
(4) With this operation, the bleed opening according to lever manipulated movement is obtained,
consequently the pump pressure which is used to actuate each actuators are delivered and
makes each actuator start operating.
［21. MECHATRO CONTROLLER］
21-6
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
21.1.3 POSITIVE CONTROL & P-Q CONTROL
［21. MECHATRO CONTROLLER］
21-7
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

(1) Positive control
1. On starting any one of operations, pilot secondary pressure switches each spool and is input to
each low pressure sensor.
2. The output voltage of low pressure sensor is input to mechatro controller and the mechatro
controller processes pilot signal and outputs command according to the input voltage to each
unload pressure proportional valve.
3. Each pump proportional valve outputs pilot secondary pressure according to the command output
by mechatro controller and changes the tilting angle of each pump and controls the delivery rate.
4. With this operation, the delivery rate according to lever manipulated movement is fed to the
actuator, and consequently the working speed according to the lever manipulated movement will be
obtained.
(2) P-Q control
(1) The output voltage of high pressure sensor provided on each pump line is input to mechatro
controller and the mechatro controller processes pilot signal and operates the command according
to the input voltage (load pressure).
(2) The lower value between command values calculated by positive control and operated value
found by P-Q control {operated value found in item 1)} is selected and is output to each pump
proportional valve as command value.
(3) Each pump proportional valve outputs pilot secondary pressure according to the command output
by mechatro controller and changes tilting angle of each pump and controls the delivery rate.
(4) With this operation, the delivery rate according to lever manipulated movement is fed to actuator
and consequently working speed will be obtained according to lever movement.
［21. MECHATRO CONTROLLER］
21-8
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
21.1.4 BOOM UP CONFLUX CONTROL
［21. MECHATRO CONTROLLER］
21-9
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

(1) On starting boom up operation, boom up operating pilot pressure switches boom spool and boom
up conflux spool and is input to low pressure sensor.
(2) The output voltage of low pressure sensor is input to mechatro controller and the mechatro
controller processes pilot signal and outputs command according to the input voltage to P1 and P2
proportional valves and P1 and P2 unload proportional valves.
(3) Each proportional valve outputs pilot proportional valve secondary pressure according to the
command output by mechatro controller and changes P1 and P2 pump delivery rate and switches
P1 and P2 unload pressure control valve.
(4) With original hydraulic pressure command, boom main spool and boom up conflux spool are
switched, and also with the command by mechatro controller, P1 and P2 pumps and P1 and P2
unload valves are switched and consequently the delivery oil on P1 pump side confluxes delivery
oil on P2 pump side during boom up operation.
［21. MECHATRO CONTROLLER］
21-10
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
21.1.5 ARM IN RECIRCULATION & CONFLUX CONTROL
［21. MECHATRO CONTROLLER］
21-11
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

(1) Recirculation and conflux (Low loading)
1. On starting arm-in operation, arm-in operating pilot secondary pressure is input to arm 1 spool,
arm 2 spool and low pressure sensor.
2. The output voltage of low pressure sensor is input to mechatro controller and the mechatro
controller processes pilot signal and outputs command according to the input voltage to P1 and P2
proportional valves, P1 and P2 unload proportional valves and reverse proportional valve for arm-in
2 spool.
In case of combined operation, the pilot pressure other than arm-in operation is input to low
pressure sensor and the output voltage is input to mechatro controller. And the mechatro
controller processes pilot signal according to the combined operation and outputs command, which
is different from the arm-in independent operation, to P1 pump proportional valve, P1 unload
proportional valve and reverse proportional valve for arm-in 2 spool.
3. Primary pressure of reverse proportional valve for arm-in 2 spool is arm-in pilot secondary pressure
and it switches arm 2 spool by proportional secondary pressure according to command. (Arm 2
spool controls recirculation rate and conflux rate.)
The other proportional valves output proportional secondary pressure according to command from
mechatro controller. These proportional valves change the delivery rate of P1, P2 pump, and
switch P1, P2 unload valve.
4. The arm 1 spool is switched according to original oil pressure command, and P1, P2 pumps, P1,
P2 unload spools and arm 2 spool are switched according to the command output by mechatro
controller, and consequently the return oil from the arm cylinder rod side is recirculated in P1 and
P2 pumps delivery oil during arm operation.
(2) Recirculation cut
The voltage output by high pressure sensor on P2 side is input to mechatro controller, and when the
load is raised during arm operation the mechatro controller processes pilot signal processing according
to the pressure detected by high pressure sensor and outputs command to cut recirculation into
reverse proportional valve for arm-in 2 spool.
The reverse proportional valve for arm-in 2 spool outputs pilot secondary pressure according to the
command output by mechatro controller and switches arm 2 spool to recirculation cut position, and
consequently recirculation passage is blocked.
［21. MECHATRO CONTROLLER］
21-12
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
21.1.6 ARM-IN ANTI-CAVITATION CONTROL
(1) On starting arm-in operation, arm-in operating pilot secondary pressure switches arm 1 spool and
is input to low pressure sensor.
(2) The engine speed command output by accel potentiometer is input to mechatro controller.
(3) Low pressure sensor output voltage is input to mechatro controller, and the mechatro controller
processes pilot signal processing and outputs command according to the input voltage to P2 pump
proportional valve and P2 unload proportional valve.
(4) And also outputs command according to input pressure output by potentiometer to reverse
proportional valve for arm 2 spool.
(5) Each proportional valves output pilot secondary pressure according to each command output by
mechatro controller, and consequently since the reverse proportional valve for arm 2 spool is
controlled to spool stroke according to engine speed and changes recirculation rate to prevent the
cavitation from occurring even if pump delivery rate is low due to low engine speed.
［21. MECHATRO CONTROLLER］
21-13
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21.1.7 ARM-OUT CONFLUX CONTROL
［21. MECHATRO CONTROLLER］
21-14
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
(1) On starting arm-out operation, arm-out operating pilot pressure switches arm 1 spool and arm 2
spool and is input to low pressure sensor.
(2) The output voltage of low pressure sensor is input to mechatro controller and the mechatro
controller processes pilot signal and outputs command according to the input voltage to P1 and P2
proportional valves and P1 and P2 unload proportional valves.
(3) Each proportional valve outputs pilot proportional valve secondary pressure according to the
command output by mechatro controller and changes P1 and P2 pump delivery rate and switches
P1 and P2 unload pressure control valves.
(4) With original hydraulic pressure command, arm 1 spool and arm 2 spool are switched and also
with the command output by mechatro controller, P1 and P2 pumps and P1 and P2 unload valves
are switched, and consequently the delivery oil on P2 pump side confluxes delivery oil on P1
pump side during arm-out operation.
［21. MECHATRO CONTROLLER］
21-15
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21.1.8 BUCKET DIGGING ANTI-CAVITATION CONTROL
［21. MECHATRO CONTROLLER］
21-16
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
(1) On starting bucket digging (dump) operation, bucket digging operating pilot pressure switches
bucket spool and is input to low pressure sensor.
(2) The engine speed command output by accel potentiometer is input to mechatro controller.
(3) The output voltage of low pressure sensor is input to mechatro controller and the mechatro
controller processes pilot signal and outputs command according to the input voltage to P1 and P2
pump proportional valves, P1 and P2 unload proportional valves and travel straight proportional
valve.
(4) Each proportional valve outputs pilot proportional valve secondary pressure according to the
command output by mechatro controller and changes P1 and P2 pump delivery rate and switches
P1 and P2 unload valves and travel straight valve of control valve.
(5) The tandem passage is connected to P2 port because of the travel straight valve switched and P1
pump delivery oil confluxes P2 pump delivery oil because of P2 unload valve switched.
(6) ATT boost solenoid valve turns the solenoid valve on according to the engine speed, and outputs
secondary pressure, and actuate stroke limiter and then controls the stroke of bucket spool.
The control of spool stroke makes the prevention of cavitation possible even if engine speed is
low and pump delivery rate is low.
(7) When P1 pump pressure was raised at cylinder stroke end, etc. the solenoid valve is closed
according to the pump pressure, and when the pump pressure is high, the boost solenoid valve
does not work to control the stroke limit of bucket spool.
［21. MECHATRO CONTROLLER］
21-17
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21.1.9 SWING PRIORITY CONTROL
［21. MECHATRO CONTROLLER］
21-18
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]

21
(1) During arm-in operation, arm operating pilot secondary pressure switches arm spool and is input
to low pressure sensor on starting swing operation (or arm-in operation during swing operation),
and swing operation pilot secondary pressure switches swing spool and is input to low pressure
sensor.
(2) The output voltage of low pressure sensor is input to mechatro controller and the mechatro
controller processes pilot signal and outputs command according to the input voltage to P1 and P2
proportional valves, P1 and P2 unload pressure proportional valves, travel straight valve and
reverse proportional valve for arm 2 spool.
(3) Each proportional valve outputs pilot proportional valve secondary pressure according to the
command output by mechatro controller and changes P1 and P2 pump delivery rate and switches
P1 and P2 unload spool, travel straight spool, arm 2 spool.
(4) With original hydraulic pressure command, arm 1 spool and swing spool are switched and also
with the command by mechatro controller, P1 and P2 unload spools, travel straight spool and
arm 2 spool are switched enabling for two pump flow rates to be supplied to the arm cylinder
head side, and consequently the return oil on arm cylinder rod side is recirculated into arm
cylinder head side.
(5) ion by priority, and operated by the recirculated oil, making the operation with minimum speed
drop possible.
［21. MECHATRO CONTROLLER］
21-19
Copyright © 2015 Kobelco Construction Machinery Co.,Ltd. All rights reserved. [S5YN0046E03] [0109CsCshWbYs]