TM70 Console Box Models 3/4/5/6/7/8

TM70 Console Box Models 3/4/5/6/7/8
OPERATION & INSTALLATION
MANUAL
TM70
CONSOLE BOX TRANSMITTER
T70/3/4/5/6/7/8 MODELS
TM70Pi V3.2 (10/01) 120021.pdf.
IKUSI reserves the right to modify this information without prior notification..
INDICE
Pág.
1.- DECLARATION OF CONFORMITY (870MHZ ISM BAND) ........................................................................1
2.- DECLARATION OF CONFORMITY (433MHZ ISM BAND) ........................................................................2
3.- SYSTEM DESCRIPTION .............................................................................................................................3
4.- SAFETY INSTRUCTIONS............................................................................................................................4
4.1.- WHAT YOU MUST DO............................................................................................................................. .........4
4.2.- WHAT YOU MUST NOT DO ...............................................................................................................................4
4.3.- FCC RECOMENDATIONS.. ...............................................................................................................................5
5.- INSTALLATION… ........................................................................................................................................6
5.1.- CB70 BATTERY CHARGER ..............................................................................................................................6
5.2.- RECEIVER ....................................................................................................................................................7
5.3.- STARTING UP ............................................................................................................................. ...................9
6.- USING THE SET ........................................................................................................................................11
7.- MAINTENANCE ........................................................................................................................................12
7.1.- WARRANTY .................................................................................................................................................12
7.2.- PRECAUTIONS ............................................................................................................................................12
7.3.- TROUBLESHOOTING ............................................................................................................................. .......13
ANNEX A.- PROGRAMMING A SPARE TRANSMITTER. ............................................................................15
ANNEX B.- PROGRAMMING THE MACHINE IDENTIFICATION IN LCD TRANSMITTERS. ......................16
ANNEX C.- FREQUENCY CHANNEL CHANGING.........................................................................................17
8.- CAN OPEN INTERFACE ...........................................................................................................................18
8.1.- INTRODUCTION ............................................................................................................................. ..............19
8.2.- CAN BUS CONNECTION ............................................................................................................................. ...19
8.3.- TRANSMITER’S DATA DICTIONARY.................................................................................................................20
8.4.- PUSHBUTTONS AND CONSOLE BOX PDO’S .....................................................................................................22
8.5.- RECEIVER DATA DICTIONARY ...................................................................................................................... .23
8.6.- RECEIVER’S SIGNALLING..............................................................................................................................25
8.7.- TM70 CAN RECEIVERS ............................................................................................................................. ....25
9.- LCD70 DISPLAY OPTION ........................................................................................................................28
9.1.- INTRODUCTION AND FUNCTIONAL DESCRIPTION ............................................................................................29
9.2.- INTERNAL CONNECTION ............................................................................................................................. ..30
9.3.- T70 TRANSMITTER AND LCD70 DISPLAY ASSEMBLY .......................................................................................31
9.4.- LCD70 DISPLAY OPERATING MODES .............................................................................................................32
9.5.- DATA FEEDBACK OPERATING MODE ..............................................................................................................33
9.5.1.- CHARACTERS MAP ...................................................................................................................................................... 34
9.5.2.-AVAILABLE ICONS......................................................................................................................................................... 35
9.5.3.-EXAMPLE: VT100 DATA FEEDBACK............................................................................................................................. 37
10.- “FIRST COME – FIRST SERVED” OPERATION ....................................................................................40
10.1- INTRODUCTION ............................................................................................................................. .............41
10.2- TWO TRANSMITTER SYSTEMS .................................................................................................................... .41
TM70Pi V3.2 (10/01) 120021.pdf.
IKUSI reserves the right to modify this information without prior notification.
i
11.- RANGE LIMITER ......................................................................................................................................42
11.1- SYSTEM DESCRIPTION ................................................................................................................................43
11.2- INFRARED SENSOR ....................................................................................................................................43
11.3- INFRARED TRANSMITTER ............................................................................................................................44
11.4- INSTALLATION ............................................................................................................................................45
11.5- LA70 TECHNICAL CHARACTERISTICS ...........................................................................................................46
12.- “PITCH & CATCH” OPERATION.............................................................................................................47
12.1- INTRODUCTION ..........................................................................................................................................48
12.2- TWO TRANSMITTER SYSTEMS .....................................................................................................................48
13.- TANDEM OPERATION.............................................................................................................................50
13.1- INTRODUCTION ..........................................................................................................................................51
13.2- ONE MASTER TRANSMITTER SYSTEM ...........................................................................................................52
13.3- TWO MASTER TRANSMITTER SYSTEMS .........................................................................................................52
14.- ANALOGUE FEEDBACK CALIBRATION ...............................................................................................54
14.1- INTRODUCTION ..........................................................................................................................................55
14.2- CALIBRATION OF THE ANALOGUE FEEDBACK WITH LCD DISPLAY ....................................................................55
14.3 - LR71/LR72 AND 0-10V CARD ASSEMBLY .....................................................................................................57
15.- IN 0450P OPTION.....................................................................................................................................58
15.1- INRTODUCTION AND FUNCTIONAL DESCRIPTION ...........................................................................................59
15.2- IN 0450P AND LR70 ASSEMBLY ...................................................................................................................60
16.- IN4D OPTION ...........................................................................................................................................61
16.1- INTRODUCTION AND FUNCTIONAL DESCRIPTION ...........................................................................................62
16.2- IN4D AND LR71/LR72 ASSEMBLY .................................................................................................................65
17.- INCAN OPTION ........................................................................................................................................66
17.1.- INTRODUCTION & FUNCTIONAL DESCRIPTION ..............................................................................................67
17.2.- CONNECTIONS & JUMPERS CONFIGURATION ...............................................................................................67
18.- A1P4RCAN OPTION................................................................................................................................69
18.1.- INTRODUCTION & FUNCTIONAL DESCRIPTION ..............................................................................................70
18.2.- CONNECTIONS & JUMPERS CONFIGURATION ...............................................................................................70
19.- A2ICAN OPTION......................................................................................................................................73
19.1.- INTRODUCTION & FUNCTIONAL DESCRIPTION ..............................................................................................74
19.2.- CONNECTIONS & JUMPERS CONFIGURATION ...............................................................................................75
20.- A2VCAN OPTION ....................................................................................................................................78
20.1.- INTRODUCTION & FUNCTIONAL DESCRIPTION ..............................................................................................79
20.2.- CONNECTIONS & JUMPERS CONFIGURATION ...............................................................................................80
20.3.- EXPANSIONS POWER SUPPLY ELECTRONIC BOARD POT70V4 .......................................................................83
21.- TELEALIGNMENT OPTION ....................................................................................................................84
21.1.- INTRODUCTION .........................................................................................................................................85
21.2.- TELEALIGNMENT PROCESS ........................................................................................................................85
22.- R70/XX RECEIVERS / SW 3.2 VERSION COMPATIBLE.......................................................................92
22.1.- MAIN CHARACTERISTICS ............................................................................................................................93
22.2.- REMARKS FOR THE INTERNAL WIRINGS .......................................................................................................97
TM70Pi V3.2 (10/01) 120021.pdf.
IKUSI reserves the right to modify this information without prior notification.
ii
p
ey
IKUSI
TM7!PiV3.2 (10101) 120021pdf.
IKUSIreservesthe right to modifythis information Wlhout prior ncti1ication.
iii
1.- DECLARATION OF CONFORMITY (870MHz ISM BAND)
DECLARACION DE CONFORMIDAD
CONFORMITY DECLARATION
KONFORMITÄTSERKLÄRUNG
DECLARATION DE CONFORMITE
DICHIARAZIONE DI CONFORMITA'
DECLARAÇAO DE CONFORMIDADE
VERKLARING VAN GELIJK VORMIGHEID
El Fabricante
The Manufacturer
Der Hersteller
Le Fabricant
Il Fabbricante
O Fabricante
De Fabrikant
Declara que el producto: Telemando IKUSI
Declares that the product: Remote Control IKUSI
Erklärt, dass das Produkt: Funkfernsteuerung IKUSI
Déclare que le produit: Télécommande IKUSI
Dichiara che il prodotto: Radiocomando IKUSI
Declara que o produto: Radiocomando IKUSI
Verklaart dat het product: Radiobesturing IKUSI
Cumple con las Directivas de Consejo:
Complies with the provisions of Council:
Erfüllt die Richtlinien des Rates:
Accompli les Directives du Conseil:
E´conforme alle Direttive del Consiglio:
Cumpre as Directivas del Consello:
Conform is met de richtlijnen van de Raad:
Normas armonizadas utilizadas:
Applied harmonized standards:
Angewendete harmonisierte Normen:
Normes harmonisées utilisées:
Norme armonizate utilizzate:
Normas harmonizados aplicados:
Volgens geharmoniseende normen:
02/07/2007
TM70Pi V3.2 (10/01) 120021.pdf
IKUSI reserves the right to change this information without prior notice.
ANGEL IGLESIAS, S.A.
Paseo Miramón 170
SAN SEBASTIAN - SPAIN
NIF: A-20-036.018
Tel : (+34) 943 448800
Fax: (+34) 943 448819
www.ikusi.com
TM70/3/4/5/6/7/8 - 870
TM70/3/4/5/6/7/8 - 870
98/37 EEC MACHINERY
99/5 EEC R&TT
ETSI EN 300220-1 V1.3.1
ETSI EN 300220-3 V1.1.1
ETSI EN 301489-1 V1.6.1
ETSI EN 301489-3 V1.4.1
EN 55022 : 1994
EN 61000-4-2 : 1995
EN 61000-4-3 : 1996
EN 61000-4-4 : 1995
EN 61000-4-5 : 1995
EN 61000-4-6 : 1996
EN 61000-4-11 : 1994
EN 61000-3-2 : 1995
EN 61000-3-3 : 2001
EN 60950-1 : 2001
EN 50178 : 1998
EN 60204-32 : 2001
EN 60529 : 2000
EN 13557 : 2004
EN-954-1 o EN 13849 : 2004
1
2. - DECLARATION OF CONFORMITY (433MHz ISM BAND)
DECLARACION DE CONFORMIDAD
CONFORMITY DECLARATION
KONFORMITÄTSERKLÄRUNG
DECLARATION DE CONFORMITE
DICHIARAZIONE DI CONFORMITA'
DECLARAÇAO DE CONFORMIDADE
VERKLARING VAN GELIJK VORMIGHEID
El Fabricante
The Manufacturer
Der Hersteller
Le Fabricant
Il Fabbricante
O Fabricante
De Fabrikant
Declara que el producto: Telemando IKUSI
Declares that the product: Remote Control IKUSI
Erklärt, dass das Produkt: Funkfernsteuerung IKUSI
Déclare que le produit: Télécommande IKUSI
Dichiara che il prodotto: Radiocomando IKUSI
Declara que o produto: Radiocomando IKUSI
Verklaart dat het product: Radiobesturing IKUSI
Cumple con las Directivas de Consejo:
Complies with the provisions of Council:
Erfüllt die Richtlinien des Rates:
Accompli les Directives du Conseil:
E´conforme alle Direttive del Consiglio:
Cumpre as Directivas del Consello:
Conform is met de richtlijnen van de Raad:
Normas armonizadas utilizadas:
Applied harmonized standards:
Angewendete harmonisierte Normen:
Normes harmonisées utilisées:
Norme armonizate utilizzate:
Normas harmonizados aplicados:
Volgens geharmoniseende normen:
02/07/2007
TM70Pi V3.2 (10/01) 120021.pdf
IKUSI reserves the right to change this information without prior notice.
ANGEL IGLESIAS, S.A.
Paseo Miramón 170
SAN SEBASTIAN - SPAIN
NIF: A-20-036.018
Tel : (+34) 943 448800
Fax: (+34) 943 448819
www.ikusi.com
TM70/3/4/5/6/7/8 - 433
TM70/3/4/5/6/7/8 - 433
98/37 EEC MACHINERY
99/5 EEC R&TT
ETSI EN 300220-1 V1.3.1
ETSI EN 300220-3 V1.1.1
ETSI EN 301489-1 V1.6.1
ETSI EN 301489-3 V1.4.1
EN 55022 : 1994
EN 61000-4-2 : 1995
EN 61000-4-3 : 1996
EN 61000-4-4 : 1995
EN 61000-4-5 : 1995
EN 61000-4-6 : 1996
EN 61000-4-11 : 1994
EN 61000-3-2 : 1995
EN 61000-3-3 : 2001
EN 60950-1 : 2001
EN 50178 : 1998
EN 60204-32 : 2001
EN 60529 : 2000
EN 13557 : 2004
EN-954-1 o EN 13849 : 2004
2
3.- SYSTEM DESCRIPTION
The TM70/3, TM70/4, TM70/5, TM70/6, TM70/7, and TM70/8 console type transmitter radio remote
control systems, are designed for the remote control of hoists and cranes (overhead cranes, tower
cranes, hydraulic loader cranes, concrete pumps, driverless vehicles, etc) and are particularly suitable
for applications when the operator needs to be able to choose the est location from which to carry out
an operation.
The system consists of a transmitter for selecting commands and a receiver, which is connected to the
electrical system of the machine to be operated. The system also comes with a battery charger and
two rechargeable batteries.
Main technical characteristics:
System TM70
Frequency band
869,700 to 870,000 MHz; ERP <5mW
433,050 to 434,040 MHz; ERP <1mW
434.040 to 434.790 MHz; ERP <10mW
902.000 to 928.000 MHz; ERP <1mW
Response Time
Temperature range
100 ms
-20º a +70ºC
Transmitters T70/3, T70/4, T70/5, T70/6, T70/7 y T70/8
Ingress protection
IP65
Receivers: R70/13, R70/21, R70/29 y R70/36, R70/13A4V, R70/13A6V, R70/13A8V, R70/13A4I,
R70/13A6I , R70/13A8I and R70/XX
Power supply
Consumption
Relays
STOP Relays
Protection
Electrical Safety
48, 115, 230 Vac ± 10%, 50/60 Hz
Optional 12 ó 24 Vdc
20 W
230 Vca/8 A
230 Vca/6 A
IP65
Class II (EN50178)
The CB70/BC70K battery charger
Power supply
Batteries:
Voltage
Capacity
Charging temperature
Discharge temperature
Battery life
230 Vac ± 10%, 50 Hz;
optional 115 Vca, 60 Hz;
DC Range : from 10,5v to 35v.
BT20K
4,8 V
2000 mAh NiMH
0º a 45ºC
-20º a 50ºC
12 a 18h
TM70Pi V3.2 (10/01) 120021.pdf
IKUSI reserves the right to change this information without prior notice.
3
4.- SAFETY INSTRUCTIONS
These instructions must be read carefully in order to install and use the set properly
and to keep it in perfect working condition and to reduce the risks of misuse.
Do not use this set on machines in potentially explosive atmospheres.
Any use other than that specified in this manual is dangerous. The following
instructions must be strictly adhered to.
4.1 - WHAT YOU MUST DO
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Strictly adhere to the instructions for installation contained in this manual
Make sure that professional and competent personnel carry out the installation.
Ensure that all site and prevailing safety regulations are fully respected.
Make sure that this manual is permanently available to the operator and maintenance
personnel.
Keep the transmitter out of reach of unauthorised personnel.
On starting each working day, check to make sure that the STOP button and other safety
measures are working.
When in doubt, press the STOP button.
Whenever several sets have been installed, make sure the transmitter you are going to use is
the right one. Identify the machine controlled on the label for this purpose on the transmitter.
Service the equipment periodically.
When carrying out repairs, only use spare parts supplied by IKUSI dealers.
4.2 - WHAT YOU MUST NOT DO
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Never make any changes to the set, which have been studied and approved by manufacturer.
Never power the equipment other than with the specified power supply.
Never allow unqualified personnel to operate the equipment.
After use, never leave the equipment ON. Always use the contact key or the STOP button to
avoid accidentally activating manoeuvres.
Do not use the set when visibility is limited.
Avoid knocking or dropping the set.
Do not use the set if failure is detected.
TM70Pi V3.2 (10/01) 120021.pdf
IKUSI reserves the right to change this information without prior notice.
4
4.3 - FCC RECOMENDATIONS (Only valid for equipment that works in 915MHz ISM band)
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two
conditions:
1. This device may not cause harmful interference, and
2. This device must accept any interference received, including interference that may cause
undesired operation.
Changes or modifications not expressly approved by the manufacturer could void the user's
authority to operate the equipment.
To comply with FCC RF exposure compliance requirements, this device and its antenna must
not be co-located with, or operating in conjunction with, any other antenna or transmitter.
This equipment has been tested and found to comply with the limits for a Class A digital device,
pursuant to Part 15 of the FCC Rules.
These limits are designed to provide reasonable protection against harmful interference when
the equipment is operated in a commercial environment.
This equipment generates, uses, and can radiate radio frequency energy and, if not installed
and used in accordance with the instruction manual, may cause harmful interference to radio
communications.
Operation of this equipment in a residential area is likely to cause harmful interference in which
case the user will be required to correct the interference at his own expense.
TM70Pi V3.2 (10/01) 120021.pdf
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5
5.- INSTALLATION
5.1 - CB70 (BC70K) BATTERY CHARGER
The battery charger CB70 has two charging compartments that can simultaneously charge
battery types BT06, BT12 (TM60 series) and BT06K, BT20K (TM70 series).
Connect the charger to the mains using the power source
and cable supplied. On installing the battery charger,
bear in mind that the batteries must be charged at
temperatures over 0ºC and that the power supply must
be left on all night.
Place the batteries in the charger. Please wait about 5
seconds between consecutive insertions of batteries in
their locations.
CB70
Each battery location has a green led indicator
associated.
Green led indications:
1) Green led blinking: it indicates that the battery is excessively unloaded ; when the led finishes
blinking it indicates that the normal loading operation mode has begun.
2) Green led permanently lightning: it indicates normal loading operation mode.
3) Green led extinguished: it indicates that the battery loading process has finished.
The capacity of the batteries decreases with use. Their life span is estimated to be 500
recharging cycles, but this depends largely on the conditions of use, for which the following is
recommended:
 Do not recharge the battery until it is completely flat. The transmitter indicates this moment.
 Always charge the batteries at temperatures between 0º and 45ºC (the batteries will not
become fully charged at temperatures exceeding 45ºC). Remember that the charger must
not be left in direct sunlight.
 Charge the batteries at least once every six months.
 Avoid short-circuits between the battery contacts. Do not carry charged batteries in
toolboxes or next to other metal objects (keys, coins, etc.).
 Always keep contacts clean.
 Never leave batteries in direct sunlight.
Warning: if the battery charger is powered with lower voltage than 10,3v DC, the green led
indicates battery in charging process, even if there is no battery placed in the charger.
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
Only use IKUSI manufactured batteries
The exhausted batteries must be disposed of or recycled safely according to local standards

The IKUSI - ATEX batteries (BT06K-ATEX and BT20K-ATEX), only can be re-charged with the
BC70K or CB70 battery charger. Remark: these batteries will damage when using IKUSI’s CB60
battery charger.
TM70Pi V3.2 (10/01) 120021.pdf
IKUSI reserves the right to change this information without prior notice.
6
5.2 - RECEIVER
Make sure that the crane is stopped for the entire duration of the assembly process,
keep the work area free and wear protective clothing.
Park the crane and position stop-ends (if these are not available use appropriate
signs) at a suitable distance so that other cranes on the same runway do not hit it.
Check the power-supply voltage and turn off the mains switch.
Remember that the receiver has several voltage-powered circuits. Even when the
power has been cut off, there is still a risk of electrical shocks.
Find a suitable location for the receiver with easy access, in a place designated for reception of
the radio transmitter signal, and away from any intense radio electric disturbance sources.
Install the receiver cabinet using 4 elastic absorbers (M8).
Figure 5. Receiver, external antenna and cable extension cables kit.
If necessary, it is possible to improve signal reception, by using the extension cables and
external antenna kit. This kit is applicable only for non-transmitting receivers.
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7
Connect the power supply and the receiver outputs on the corresponding relay board plug-in
terminals. Do this following the outputs diagram, which is supplied with the set. This diagram
indicates the correspondence between the transmitter commands and the receiver outputs.
The STOP relays KSTOP1 y KSTOP2 are in series and must be connected to the main
contactor coil circuit.
The K2/START is activated once the start-up command is held down.
The K1/SAFETY relay is a safety relay, which is activated when certain commands predefined
as “active” on configuration of the set, (i.e. commands which give rise to manoeuvres), are
activated.
.
Figure 6. Receiver’s electronic card
Remember to connect the ground cable.
Only use fireproof cables for connections.
Select the appropriate voltage on the receiver, (230, 115 or 48 Vac – 12 or 24 Vcc)
TM70Pi V3.2 (10/01) 120021.pdf
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8
5.3 - STARTING UP
Proceed with caution; the equipment may not be connected correctly which may
lead to unforeseeable movements on starting-up.
Once the receiver has been connected, disconnect the power supply to the motors, (for
example, by removing the fuses) and power on the receiver. First of all the LEDs will light on an
instant to test that all are all right, after this the receiver will enter into a ‘SCANNING’ mode and
the following LED’s will be lit in the receiver;
POW ER (1):
ON, indicates that the power supply is correct.
HARDOK (2):
ON, indicates the absence of faults on the boards.
SIGNAL (3):
OFF, in the case of the channels being signal free. Blinks ON when
there is a RF signal on the channels.
DATA (4):
OFF, when there is not another TM70 system active in the area.
Blinks ON in the opposite case.
ID (5):
OFF
CAN_RUN (6):
ON, Indicates that CAN communications with expansion boards are
OK.
CAN_ERR (7):
OFF
ORDER (8):
OFF
RELAY (9):
OFF
Figure 7. Signalling LEDs in the receiver.
1.-Label for crane
identification.
5
1
2.-LED.
2
3.-Command elements.
4.-Contact key.
5.-Start button.
4
6
3
6.-STOP button.
7.-Option: LA70 Range
Limitation.
8
7
8.-Optional: LCD70 Display +
LA70 (able to be activated by
EEPROM).
Figure 8. Command and signalling elements in the transmitter
TM70Pi V3.2 (10/01) 120021.pdf
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9
Next, turn transmitter ON to OPERATION mode, as follows:
 Place a charged battery in the transmitter.
 Turn the contact key.
 Push and pull out the STOP button, (LED flashes orange-green). If the transmitter has LCD,
it displays the identification of the machine, as well as the battery level.
 Press the start button. The green LED should now light indicating that the transmitter is
transmitting.
On receiving a signal from the transmitter, the receiver enters in OPERATION mode; the
following LED’s will light up on the receiver:
POW ER:
ON, indicates that the power supply is correct.
HARDOK:
ON, indicates that defects have not been detected on the board.
SIGNAL:
ON, indicates that it is receiving a RF signal at the working frequency.
DATA: When ON indicates that the data received has a correct format.
ID:
When ON indicates that the receiver has recognised the transmitter’s
identification code.
CAN_RUN:
ON, Indicates that communications with CAN expansion boards are OK.
CAN_ERR:
OFF
ORDER:
ON, Indicates the activation of any digital manoeuvre
RELAY:
ON, Indicates the activation of STOP relays
Now, the STOP relays KSTOP1 and KSTOP2 will be activated. The K2/START relay is
activated once the start button is pushed.
Press on any of the transmitter’s manoeuvre buttons and its corresponding relay will be
activated. In case of an active manoeuvre, the safety relay K1/SAFETY will also activate.
Check to make sure all the other manoeuvres work in this way.
Turn off the transmitter using the STOP button, and make sure that on doing so the relays are
deactivated and the DATA, ID and SIGNAL LED’s go out. They behave exactly as in
‘SCANNING’ mode.
Reconnect the power supply to the motors, move to the usual work position and check to see if
all the manoeuvres and the stop button are functioning correctly.
IMPORTANT REMARK:
IKUSI does not take responsibility of an incorrect installation, interferences produced by collision of
frequencies, nor of the management of the working frequencies in fixed facilities, where several radio
remotes systems, share or can share, the same zone or working area.
TM70Pi V3.2 (10/01) 120021.pdf
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10
6.- USING THE SET
To ensure correct use of the equipment, follow the instructions below:

Make sure the transmitter you are going to use is the right one, identifying the machine on the
identification label. In the case of transmitters with LCD display, you are able to edit the
machine identification label, (ANNEX B). It will allow to the operator to identify the machine
before the starting of the equipment.
When modified the Machine Identification Label in the transmitter, it do not get
updated in the receiver’s EEPROM. To do so proceed to copy the transmitter’s
EEPROM into the receiver’s EEPROM.

Attach the belt to the transmitter unit. Its use is recommended to prevent the equipment from
falling.

Introduce a charged battery, turn the contact key and activate the transmitter.

To activate the system, you must first pull out the STOP button, the LED should then give an
orange-green pulse; then press the START button. If you find that the STOP button has already
been pulled out, it is necessary to push it in and then pull it out again, as this sequence will
allow the check in of the STOP circuit. If the unit has experienced a time-out autodisconnection, it is not necessary to repeat the STOP button procedure, simply push the
START button for 1 second.

The green LED should light up, indicating that the transmitter has started transmitting. From
now on, if any of the transmitter’s command buttons are pressed, the corresponding manoeuvre
will be activated.
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To be able to start up the transmitter, all the command controls associated with active
manoeuvres must be in the neutral position (not activated). This is not the case for the selection
functions.

When 4 minutes have passed and no active manoeuvre command has been activated, the
transmitter automatically goes to STAND BY mode, indicated by green pulses each 3 seconds.
To start it up once more, press the START button.

The transmitter is equipped with a circuit for monitoring the battery level. When this level drops
below a pre-established limit, the transmitter LED starts to flash in red; 5 minutes later the
transmitter switches off, and the machine’s main contactor is deactivated. During this time, the
load has to be located on a safe position. If the STOP button is activated during this time,
transmitter will not start again, unless battery is replaced.

In transmitters with LCD, the battery power level is indicated as follows:
 3 segments:
charge greater than 50%.
 2 segments:
charge between 50 and 10%.
 1 segment: charge between 10 and 5%.
 Nothing:
charge lower than 5%.

To switch off the transmitter, press the STOP button or turn off the contact key.
Remember that you are going to remote control a moving piece of machinery. The
safety instructions described in chapter 3 of this manual must be strictly adhered to.
TM70Pi V3.2 (10/01) 120021.pdf
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11
7.- MAINTENANCE
7.1 - WARRANTY
IKUSI guarantees the TM70 remote control sets for a period of up to one year after the date of
delivery. This guarantee covers repairs and the replacement of defective pieces at our
Technical Service Department. Both the transmitter and receiver will be necessary if any repairs
or replacements need to be carried out.
The guarantee does not cover damage resulting from the following:
Transport.
Incorrect installation.
Repairs or alterations made to the equipment by personnel other than from IKUSI.
Obvious misuse or incorrect maintenance of the equipment
Our Technical Service reserves the right to evaluate breakdowns and damage.
Under no circumstances will IKUSI be held responsible for hold-ups at work, accidents or
expenses incurred as a result of equipment malfunctioning.
7.2 - PRECAUTIONS
This equipment is designed for use in an industrial environment. However, we recommend you
follow the instructions below to extend the life span of your remote control set:







Use the belt provided with the transmitter to prevent the transmitter from falling.
Do not clean the transmitter with solvents or pressurised water. Use a damp cloth or soft
brush.
Use and recharge the battery regularly.
Check every day that the STOP pushbutton is working.
Disconnect the receiver cables if soldering/welding work is going to be carried out on the
crane.
Periodically check the condition of the transmitter rubber seals. Change these over if they
show signs of deterioration to ensure they remain watertight.
Clean the battery contacts.
TM70Pi V3.2 (10/01) 120021.pdf
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12
7.3 - TROUBLESHOOTING
The transmitter and receiver have status monitoring LED’s, which help to identify irregularities.
The most common signals are contained in the tables below:
TRANSMITTER
LED
MEANS
Solid green
Transmitter transmitting normally. OPERATION mode.
Green pulses.
Transmitter ready for start-up. STAND BY mode.
Red slow flashing
Battery level low
Red fast flashing
Probably, EEPROM module is not plugged in.
Red double flashing
Transmitter cannot start up because a manoeuvre command is
present.
Solid red
Transmitter failure
RECEIVER
In OPERATION mode the 5 LED’s must be lit as has been previously described in section 4.3
Starting. If this is so, press the transmitter manoeuvre buttons and observe the response of the
output relays. If the response is normal, the problem is not related to the remote control
equipment and the installation must be checked. If any of the relays is not activated, the
problem is associated with the remote control equipment. If this happens, observe the
appearance of the LED’s:
LED
LIT
POW ER
Power Supply OK
HARDOK
Board OK
SIGNAL
RF signal OK
FLASHING
-Slow: fault in the board
Fast: error in EEPROM
RF signal detection
SCANNING mode
OFF
Power Supply not OK
Fault in the board
in The receiver is not receiving
RF signals
DATA
--
Is receiving the correct data Signal
from a TM70
correct
ID
--
ID Code OK
received
is
not
ID not recognised
ORDER
Any digital
manoeuvre ON
--
No digital manoeuvre ON
RELAY
STOP relays ON
--
STOP relays OFF
There are also two LEDs in the received which will describe the status of the CAN-BUS. If the
CAN connection is not working, check the status of next LEDs:
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LED
LIT
CAN_RUN
Operating status
CAN_ERR
Communication OK
FLASHING
Pre-operating status
Communication error
OFF
CAN communication
active
non
CAN controller disconnected
If the problem is associated with the equipment, please send both the transmitter and the
receiver to the your Technical Assistance Service Agent, together with a description of the
problem and the status of the LED’s.
If the transmitter becomes so damaged that a spare has to be arranged, it can be quickly
substituted by following the instructions in ANNEX A.
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14
ANNEX A - PROGRAMMING A SPARE TRANSMITTER.
In case of damage to the transmitter, it is quickly possible to restore service, if a spare transmitter is
available. To achieve this we have to install into the spare transmitter the exact parameters of that to
be replaced.
These parameters are stored in an EEPROM memory module EP70, accessible from the exterior of
the transmitter. Switch off the damaged transmitter and extract the EP70 module by unloosening the
four screws, as shown, and then incorporate this module into the spare transmitter.
In cases where the damage to the transmitter prevents removal of the EP70 module, the spare
transmitter can be programmed with the memory module EP70 found inside the receiver.
To achieve this, proceed as follows:
SQUARE: The actuator or mechanism associated to this symbol
will be used to copy the EEPROM.
7. Please indentify in the console upper part the symbol associated
to the special function“Copy EP” (SQUARE).
8. Being the spare transmitter off, remove its empty EP70 module as
described above, and insert the EP70 module from the receiver.
9. Introduce a charged battery, turn on the ON/OFF key, push and extract the STOP button. The LED
will pulse green for around 15 seconds.
10. To copy its contents into the internal memory of the transmitter
press the actuator or mechanism identified as “Copy EP”
followed by START, keeping both buttons pressed together while
LED blinks red. Once the LED start to blink orange, release the
pushbuttons and LED will lit green. In the LCD display models
the words “Reading...” and “Reading ok Change EEP” will be
indicated. In case the LED remains in red colour, (or the LCD
displays “Reading nok”), repeat the process.
11. When the copying process has completed, extract the EP70 and
replace it into the receiver. Insert a new EP70 module into the spare transmitter and again press the
actuator or mechanism identified as “Copy EP”. The LED will flash orange, which indicates that the
empty EP70 is being written with the stored parameters In the LCD display models the words
“Writing...” and “W riting ok” will be indicated. In case the LED remains in red colour, (or the LCD
displays “Writing nok”), repeat the process.
12. Afterwards press the STOP. This completes the programming processes.
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15
ANNEX B.- PROGRAMMING THE MACHINE IDENTIFICATION IN LCD TRANSMITTERS.
Transmitters with the LCD display option allow the operator to program a machine identification label
of up to 24 text characters. This identification is displayed on transmitter starting-up.
This text must identify the machine with a name that is commonly known by the workmen.
When first starting the transmitter you can edit/introduce this text as follows:
11. Identify in the Technical Data Sheet supplied with your system the actuator assigned to the
functions “Configuration”, “ENTER”, “UP”, “DOWN” y “ESC”
12. Introduce a battery and turn the ON/OFF key to ON .
13. Push in and then extract the STOP button and you will observe the LED pulse orange-green.
14. Press pushbutton “Configuration followed by START button and keep both pressed together
for 2 seconds and then you will enter the CONFIG mode.
15. Push “ENTER” to get into the Menu.
16. Move through the menu with pushbuttons “UP” y “DOWN” until reaching the EDIT LABEL
menu.
17. Push “ENTER”
18. Once you have entered into EDITING mode, there appears in the display the text "CRANE ??"
in which the first character blinks. From this point you can edit the name of the machine by
means of the push buttons “Down”, “Up”, “Enter” and “Escape”, whose functions are described
as follows:

“DOWN”: To move for the list of established characters in descending order

“UP”:


“ESC”:
To move for the list of characters established in ascending order
To return to the previous character in the display.
“ENTER”: To validate the published character and move to the following one, (towards
the right hand)
19. Push START to store the edited text. LCD will show the message “SAVED” for 2 seconds.
20. You exit the EDITING mode by pressing the STOP.
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16
ANNEX C.- BASE CHANNEL CHANGING.
Console box transmitters with software version V2.4 have implemented the base channel changing
functionality in a standard way (assigning symbols to mechanisms).
8)
Identify the “▲” symbol associated to the corresponding maneuver
(base channel tens modification) and the “■” symbol associated to
the corresponding maneuver (base channel units modification),
preferably associated to the following mechanisms: pushbuttons,
selectors, joysticks, etc.
9) With the transmitter switched on, release the STOP button. Press the
mechanism identified with the symbol “▲” (pushbutton, selector, joystick, etc.) and then the “Start”
pushbutton. Although the “active order” status is signalized (red LED blinking and buzzer active),
wait until the LED is signaling orange continously.
10) The LED wiil show the current base channel information, using red and green pulses:
Number of green pulses = number of tens of the current base channel.
Number of red pulses = number of units of the current base channel.
11) Then the LED will light in orange colour continously.
12) Changing to the new base channel:
New channel “units”: press the “■” symbol as many times as the number of units of the new base
channel.
New channel “tens”: press the “▲” symbol as many times as the number of tens of the new base
channel.
13) The LED will show the new base channel information following the procedure of point 3).
14) Press STOP pushbutton; the new base channel will be recorded and the transmitter will be ready to
work in the new channel.
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17
8.- CAN OPEN INTERFACE V 2.4
CANopen INTERFACE V2.4
TM70
TM70Pi V3.2 (10/01) 120021.pdf.
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18
8.1 - INTRODUCTION
The TM70 system with CANopen interface is integrated in CANopen networks where it will work in slave
mode. It handles the Bus the state of the Pushbuttons of the TM70 transmitter, such that any external device
can react consequently.
The functionality of the system is according the CiA DS-301 v4.0.2. specification. The implemented profile is
described in CiA DS-401 v2.1 (Input/Output standard), where the pushbutton manoeuvres are considered as
digital inputs.
The implemented characteristics are:
NMT Functioning: slave.
NodeID: EEPROM configurable, from 1 to 127.
Baud rate: EEPROM configurable. Supported speeds: 10, 20, 50, 100, 125, 250, 500, 800 and 1000 Kbps.
Error control: it can work “Heartbeat” as well as “Node/life guarding”. EEPROM configurable.
Number of PDO’s: 2 TPDO (manoeuvres state).
 Objects 1800 – 1A00
 Objects 0x1801 – 0x1A01
2 RPDO (receiver PDOs)
EEPROM parameters recording: not supported.
8.2 - CAN BUS CONNECTION
In order to connect the CAN bus to the LR72 pcb, it contains a 5 poles connector (P4).
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The LED signalling is the one recommended by the CiA (CAN in Automation) Organisation in its document
DR-303-1:
Bus Termination
Next to the connector, there is one jumper that allows to connect/disconnect the bus termination. It is
important for a correct bus operation that bus terminations are connected in both ends, and disconnected in
the intermediate nodes.
8.3 - TRANSMITTER DATA DICTIONARY
The dictionary objects supported by the TM70 are:
1000: DEVICE TYPE
1001: ERROR REGISTER
1002: STATUS REGISTER
1003: PREDEFINED ERROR FIELD
1003.0: number of errors
1003.x: standard error field
1005: COB-ID SYNC
1006: COMMUNICATION CYCLE PERIOD
1007: SYNCHRONOUS WINDOW LENGTH
1008: MANUFACTURER DEVICE NAME
1009: MANUFACTURER HARDWARE VERSION
100A: MANUFACTURER SOFTWARE VERSION
100C: GUARD TIME
100D: LIFE TIME FACTOR
1014: COB-ID EMCY
1015: INHIBIT TIME EMERGENCY
1017: PRODUCER HEARTBEAT TIME
1018: IDENTITY OBJECT
1018.0: number of entries
1018.1: Vendor ID
1018.2: Product Code
1018.3: Revision Number
1018.4: Serial number
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1800: TRANSMIT PDO COMMUNICATION PARAMETER
1800.0: number of entries
1800.1: COB-ID
1800.2: Transmission type
1800.3: Inhibit time
1800.4: Event timer
1801: TRANSMIT PDO COMMUNICATION PARAMETER
1800.0: number of entries
1800.1: COB-ID
1800.2: Transmission type
1800.3: Inhibit time
1800.4: Event time
1A00: TRANSMIT PDO MAPPING PARAMETER
1A00.0: number of entries
1A00.1: PDO mapping entry
1A00.2: PDO mapping entry
1A00.3: PDO mapping entry
1A00.4: PDO mapping entry
1A01: TRANSMIT PDO MAPPING PARAMETER
1A01.0: number of entries
1A01.1: PDO mapping entry
1A01.2: PDO mapping entry
1A01.3: PDO mapping entry
1A01.4: PDO mapping entry
6000: DIGITAL INPUT 8 BITS
6000.0: number of entries
6000.1: start and stop buttons (start1, start2, stop)
6000.2: Inputs 1-8
6000.3: Inputs 9-16
6000.4: Inputs 17-24
6000.5: Inputs 25-32
6000.6: Inputs 33-40
6000.7: Inputs 41-48
6000.8: Inputs 49-56
6000.9: Inputs 57-64
6000.10: Inputs 65-72
6000.11: Inputs 73-80
6000.12: Display status (CAN return)
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21
8.4 - PUSHBUTTONS AND CONSOLE BOX PDOs
PUSHBUTTONS
The system is provided with a 4 byte configured transmission PDO (bytes with information):
1st byte
Object 6000.1
Start1
Start2
Stop
0
0
0
0
0
2nd byte
Object 6000.2
M1
M2
M3
M4
M5
M6
M7
M8
3rd byte
Object 6000.3
M9
M10
M11
M12
M13
M14
M15
M16
4th byte
Object 6000.4
M17
M18
M19
M20
A1
A2
0
0
The PDO transmission is configured by default as “event driven”, this is, it is sent every time there is a
change on any input.
CONSOLE BOX
The system is provided with 12 byte configured transmission PDO (bytes with information). The 12th byte
includes one bit ( “0” or “1”), corresponding with the display status -> Ready (0) Busy (1)
1st byte
Objeto
6000.1
Start1
Start2
Stop
0
0
0
0
0
2nd byte
Objeto
6000.2
I1
I2
I3
I4
I5
I6
I7
I8
3rd byte
Objeto
6000.3
I9
I10
I11
I12
I13
I14
I15
I16
8th byte
Objeto 6000.8
I49
I50
I51
I52
I53
I54
I55
I56
9th byte
Objeto 6000.9
I57
I58
I59
I60
I61
I62
I63
I64
10th byte
Objeto 6000.10
I65
I66
I67
I68
I69
I70
I71
I72
4th byte
Objeto
6000.4
I17
I18
I19
I20
I21
I22
I23
I24
5th byte
Objeto
6000.5
I25
I26
I27
I28
I29
I30
I31
I32
6th byte
Objeto
6000.6
I33
I34
I35
I36
I37
I38
I39
I40
7th byte
Objeto
6000.7
I41
I42
I43
I44
I45
I46
I47
I48
11th byte
12th byte
Objeto 6000.11 Objeto 6000.12
I73
“0” o “1”
I74
I75
I76
I77
I78
I79
I80
The PDO transmission is configured by default as “event driven”, this is, it is sent every time there is a
change on any input.
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22
8.5 - RECEIVER DATA DICTIONARY
NumRPDO: it is a variable which must be configured to use CAN return or not. The value to activate CAN
return is 2. The value to deactivate CAN return is 0.
1400: RECEIVE PDO1 COMMUNICATION PARAMETER
1400.0: number of entries
1400.1: COB-ID
1400.2: Transmission type
1400.3: Inhibit time
1400.4: Event timer
1401: RECEIVE PDO2 COMMUNICATION PARAMETER
1401.0: number of entries
1401.1: COB-ID
1401.2: Transmission type
1401.3: Inhibit time
1401.4: Event timer
1600: RECEIVE PDO1 MAPPING PARAMETER
1600.0: number of entries
1600.1: PDO mapping entry
1600.2: PDO mapping entry
1601: RECEIVE PDO2 MAPPING PARAMETER
1601.0: number of entries
1601.1: PDO mapping entry
1601.2: PDO mapping entry
1601.3: PDO mapping entry
1601.4: PDO mapping entry
1601.5: PDO mapping entry
1601.6: PDO mapping entry
1601.7: PDO mapping entry
1601.8: PDO mapping entry
6200: DIGITAL OUTPUT 8 BITS
6200.0: number of entries
6200.1: LEDs
6200.2: Buzzer
6411: ANALOGUE OUTPUT 16 BITS
6411.0: number of entries
6411.1: LCD1
6411.2: LCD2
6411.3: LCD3
6411.4: LCD4
6411.5: LCD5
6411.6: LCD6
6411.7: LCD7
6411.8: LCD8
When the receiver is configured as an SLAVE in the CANOpen standard bus it can communicate with other
devices in the CAN bus. In this operating mode (CAN return) the receiver can trasnmitt information to control
for example leds, the buzzer and the messages to show in the LCD70 display for the console box and only
messages in the pushbutton models.
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CONSOLE BOX:
The receiver can accept a maximun of 2 frames of data; the first frame contains 2 bytes of data. The first
byte controls the led status and the second byte controls the buzzer state.
The second frame contains 8 bytes of data. These bytes contains the information that can be displayed in
the display using VT100 commands which control the editing format of the data in the display.
PUSHBUTTON:
In this case, the VT100 commands are different from the console box because the display layout and the
functionality are also different.
RETURN IFORMATION MANAGEMENT EXAMPLE
Data transmission and reception:
The external device and the remote control receiver can communícate through the CAN bus. Both
devices can interchange data frames called PDOs (Programming Device Objects)
The external device will send to the remote control receiver 2 data frames to be sent to the remote
transmitter. There will be two different data frames: RPDOs (Reception Programming Device Object) input
data frames from the external device to the radio remote receiver; TPDOs (Transmission Programming
Device Object) from the radio remote receiver to the external device.
RPDO
The user, depending on the external device can control the messages to edit in the LCD display as
well as the LEDs and the internal buzzer.
In case of handheld pushbutton transmitters the system only can send messages to the display. In
case of console box transmitters, the system can managed messages, LEDs and internal buzzer. Two
RPDOs will be received
RPDO1:
In this data frame, the receiver will obtain the information about the LEDs status and the buzzer
status, as digital data input.
COB-ID = RPDO1_ID + Node_ID = 0x200 + 100
Two data will be received:
6200 object, sub-index 1 (LEDs)
6200 object, sub-index 2 (buzzer)
RPDO2:
This data frame contains the information to be shown in the display. This data package contains 8
byes: VT100 commands or data to be shown in the display
COB-ID = RPDO2_ID + Node_ID = 0x300 + 100
Eight data will be received:
6410 object, sub-index 1 to 8 (8 bytes with VT100 compatible commands)
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The received display commands will be 8 bytes grouped frames. If the length of the frame is higher
the radio remote receiver will split the data in 8 bytes data frames. For the radio remote receiver the
received data are transparent; the receiver does not process the information.
8.6 -RECEIVER’S SIGNALLING
The receiver is furnished with two signalling LEDs, controlled according to CIA DR-303-3 recommendation:
CAN-RUN (green): indicates the system state inside the CANopen machine state:
 Blinking every 200 ms. In preoperational state.
 Solid green permanently in operational state.
 One blink every second in stop state.
CAN-ERR (red): indicates error if switched on; in normal conditions it must be switched off.
8.7 - TM70 CAN RECEIVERS
Ref. 3302750 (7503 70GR401 RX R70CANC3 433)
Ref. 3302751 (7504 70GR903 RX R70CANC3 915)
70GR902 RX-RCANNOCE Ref. 3302626
Available frecuencies (ISM bands)
Power supply / Maximum consumption
Inputs / Outputs interface
Ingress protection
Antenna
Working frequency selection
Weight
Dimensions
EEPROM
Signalling
Connexions
STOP function
CAN BUS termination (120 Ohm)
Passive STOP time
Input protection
Output protections (STOP)
Operating mode temperatura range
Storage temperatura (24h)
Storage temperature –long periodsTM70 range supported transmitters
Specifications
915MHz (FCC certified)
433MHz
9-35v DC / 5W maximum
CAN:Standard CAN Open protocol 401 (CIA DS401)
IP67 / NEMA-6
External: NEARSON S325TR-015 or equivalent
Automatic: LBT (listen before talking)
430 gr.
Long = 151mm / Width = 129mm (160mm with PG) /
Height = 61mm
Extractable EP70 module
MultiLED:
7 external LEDS (6 green + 1 bicoloured)
2 internal LEDS (CAN status: 1 red + 1 green)
Fast PLUG-IN plugs and 2 x M16 cable glands
1) Power supply cable gland: M16 / IP67
2) Inputs / Outputs interface cable gland: M16 / IP67
Cat. 3 EN-954-1 / 2 STOP relays: 250V / 6A maximum
STOP response time = 50 miliseconds
ON / OFF jumper (internal)
Programmable: 0,5 to 2 seconds (máx)
PTC / 0,3A fuse
VDR in contacts
-20ºC / +70ºC (-4ºF / 158ºF)
-25ºC / +75ºC (-13ºF / 167ºF)
-25ºC / +55ºC (-13ºF / 131ºF)
T70/1/2; T70/3/4; T70/5/6; T70/7/8
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Connections scheme :
Receiver’s dimensions in milimeters:
It is also available the option Ref. IKUSI 3302620 “Fast fixation kit”, including a
set of 4 magnets and 4 shock absorbers
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Maintenance and troubleshooting / LED’s signaling
RECEIVER’S LED SIGNALING
LED
POWER
COLOUR
GREEN
HARDOK
GREEN
RED
HARDOK
SIGNAL
DATA
ID
RELAY
ORDER
Internal
LEDS
signaling
GREEN
GREEN
GREEN
GREEN
GREEN
STATUS
Switch On if powered
Solid green LED if no error
detected
REMARKS
Power supply OK
PROPOSED ACTION
Check the power supply
Receiver hardware OK
OK
Blinking during start up process
Please wait to finish the
start up process
Solid red LED if one of these errors
appears:
Electronic board hardware
- Watchdog activated /
breakdown
Oscillator breakdown /
wrong ROM checksum
- Reset activated
Replace the electronic
board
Blinking fast : wrong EEPROM
checksum / Data corrupted / CAN
Bus error
Reprogramme EEPROM
----------------
LED Off if no radio signal detected
(Squelch)
- LED On and the transmitter
switched Off indicates occupied
radio channel
Verify transmitter’s radio
- LED On and DATA switched
and battery
Off indicates radio channel
occupied by a non IKUSI
system
LED Off if a wrong frame is
received
Blinking if receiving good frames
LED Off and SIGNAL LED On:
Radio breakdown
Replace radios
Switched Off and DATA LED
switched On: no valid ID
If the radio channel is not
busy: verify transmitter’s
selected ID or reset
receiver ID
Blinking if a correct ID is received
STOP relay activated
----------------
SIGNAL; DATA and ID LED
On, indicates valid frames from
the transmitter. Correct link.
OK
----------------
----------------
----------------
----------------
CAN-RUN (green): indicates the system state inside the CANopen machine state:
 Blinking every 200 ms. In preoperational state.
 Solid green permanently in operational state.
 One blink every second in stop state.
CAN-ERR (red): indicates error in the field-bus; if switched on; in normal conditions it must be switched off.
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27
9.- LCD70 DISPLAY OPTION
LCD70 DISPLAY OPTION
TM70
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9.1 - INTRODUCTION and FUNCTIONAL DESCRIPTION
The LCD70 is a 102x80 dot matrix display that can be configured as follows: 4 function
customized keyboard and a 4 function standard keyboard (ENTER/ESC/UP/DOWN), both with
4 bicoloured LEDS.
LCD70 MODULE:
The LCD70 has a configuration of 120x80 points and supports the following representation
format : 2 lines x12 characters / line + icons
KEYBOARD:
The hardware of the LCD70 is ready to connect to 4 functions keyboard.
LEDS and BACKLIGHT
The LCD70 display has 4 bicoloured LEDS (red, green and orange colours) and it also
supports a backlight of 15 seconds.
BLOCK DIAGRAM:
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9.2 - INTERNAL CONNECTION
POWER SUPPLY and I2C BUS
The LE73/74/7EF card provides 3V3 and GND signals to power on the display module
through P6 connector marked as “LCD” in the PCB, as well as the SDA and SCL I2C bus
signals, using a 4 wire coloured braid cable, code IKUSI 1095083.
PIN
1
2
3
4
NAME
3V3
SCL
SDA
GND
DESCRIPTION
3.3 V DC Power Supply
I2C Clock
I2C Data
Ground
RANGE LIMITER
The LCD70 display provides a connector for the range limit option; the used cables and
signals are as follows: 5V, DATA y GND. These cables are connected to the LE73/74/7EF card
through P8 connector, “LAL” marked in the PCB, using a 3 colour braid cable code IKUSI
1095082.
PIN
1
2
3
NAME
5VIR
DATA
GROUND
DESCRIPTION
5 V DC power supply
Range Limiter Data
Ground
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9.3 - T70 TRANSMITTER and LCD70 DISPLAY ASSEMBLY
TM70/3/4 UPPER PART
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9.4 - LCD70 DISPLAY OPERATING MODES.
OPERATING MODES:
The LCD70 display allows entering in these operating or special modes:




EDIT CRANE LABEL: To edit the crane’s name.
INPUT CALIBRATION: To calibrate the analogue voltage feedback 0–10v.
OUTPUT CALIBRATION: To adjust through Tele Alignment option, the analogue
outputs.
To enter to special operating modes, like “Programming a spare transmitter” (with the
“copy EEPROM” functionality) and “Base channel changing” (see Annex A and Annex
C).
TRIANGLE: Associated with the corresponding mechanism, it allows to enter to the base
channel changing mode and to increase the number of “tens” of the new base channel.
SQUARE: Associated with the corresponding mechanism, it allows to enter to the “Copy
EEPROM” functionality, and to increase the number of “units” of the new base channel.
Entering to the “Base channel changing” mode:
Press the mechanism associated with the triangle symbol “▲” (see the
icon in the console box front plate), and then press “Start” button.
Entering to the “Copy EEPROM” mode:
Press the mechanism associated with the square symbol “■” (see the
icon in the console box front plate), and then press “Start” button.
Entering in configuration mode:
1.
To access the Tele-Alignment menu must be pressed in sequence the "ENTER" (default
configuration) + "START".
2. The buttons ▲ “UP” and ▼ “DOWN” allow to navigate in the software and to select the
required option.
3. The “ENTER” function validates the selected option and with the ▲ “UP” and ▼ “DOWN”. It
also allows choosing the required value If there is a range of values available or for going to
a lower level of the software’s menu.
4. The “ESC” function aborts any selected option of the menu and it also allows returning to an
upper level of the software’s menu.
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9.5 - DATA FEEDBACK OPERATING MODE
The data feedback selection (returned information), can be performed by (a) software or by (b)
hardware (i.e. using a rotatory selector).
(a) Software selection (by default): with the ▲ “UP” and ▼ “DOWN” options, the desire
feedback information can be sequentially selected.
(b) Hardware selection: the remote’s technical datasheet must include and to identify, the
mechanism that will allow this selection.
Remarks (for multiple returns / multiple feedback):
The transmitter can process multiple feedbacks but only one information can be displayed at the
same time.
There are two possibilities for the multiple feedback:
1) CAN return + one direct input in the receiver.
In this case the receiver must have an analogue electronic card (IN010V or IN0450P) or a digital
electronic card (IN4D) connected to the LR70 card. The INCAN configuration is not allowed in
this case.
In the CAN bus the receiver works as a slave.
2) INCAN electronic board + one direct input in the receiver.
In this case any amount of analogue or digital cards can be connected directly or using the
INCAN expansion card; the CAN return will be disabled.
In the CAN bus the receiver works as a master.
Systems including software revision 2.4.x., will only support the feedback signal directly
connected to the LR70 electronic card. Nevertheless, and due to the INCAN card option the
system will be able to manage several feedback information at the same time with software
revision 3.1.x. or greater.
The user will be able to select the feedback information he wants to show in the LCD70 display.
For this purpose a software or hardware selector will be used. With the software selector and
after pressing the corresponding manoeuvre (Mi) –mechanism or any display function assigned, the position of the selector will increase showing the next configured feedback information and
pressing another manoeuvre (Mi) the position will decrease. Thus the selection will be in both
senses. Depending on the position of the selector the transmitter will show a feedback or
another configured one and the display’s message will change sequentially.
The first feedback will be the information corresponding to the INxxxx card connected directly to
the receiver LR70 board, and then the following INxxxx associated to the INCAN inputs,
depending in the order they are connected, from the lower to the higher position.
Into the EEPROM, and the INCAN file all the parameters will be configured to specify the
LCD70 display feedback edition.
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9.5.1 CHARACTERS MAP
The characters of the table correspond to ASCII standard. Also, you can build big numeric
characters combining four of them: two in the upper line and another two in the lower line.
The characters that have been used to build the bigger one are beginning from B0h direction.
Therefore, for write a big ‘1’ we will write consecutively the character of the B0h and B1h
directions on the upper line and the character of the B2h and B3h directions on the lower line.
On the other hand, it exist the following special characters:
-
km/h in 3 characters: 0x83, 0x84, 0x85
ft in 1 character: 0x86
lbs in 2 separated characters: 0x8A, 0x8B
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9.5.2 AVAILABLE ICONS:
The available icons for the display are:
-
-
Battery: 43h direction. This icon is composed by other 4 icons
o Cover of the battery
o Left cell
o Central cell
o Right cell
NEW : 2h direction. If the level is different from zero, will appear
9.5.3 DISPLAY CONTROL BY VT100
CONTROL CHARACTERS
The VT100 control characters recognized by the LCD70 display are:
- ESC (1Bh): Control character that initialises a control sequence.
- NUL (00h): Ignored on input (not stored in input buffer).
All the other control characters cause no action to be taken.
VALID CONTROL SEQUENCES
Definitions:
The following listing defines the basic elements of the ANSI mode control sequences.
1. Control Sequence Introducer (CSI): in the VT100 the CSI is ESC [
2. Parameter string: a string of parameters separated by a semicolon (3Bh)
3. Final character: a character whose bit combination terminates an escape or control
sequence (‘m’, 6Dh)
Control Sequences
- ESC [ 0 (1Bh 5Bh 30h): Control sequence to turn off all character attributes (‘0’ is the
optional, default value)
- ESC [Pn ; Pn H (1Bh 5Bh line 3Bh column 48h): moves the active position of the cursor to
the position specified by the parameters. The default condition with no parameters present
is equivalent to a cursor to home action. Lines are numbered consecutively, with the origin
being line 1, column 1. The cursor is not allowed to be positioned outside the margins
(lines 1 to 4, columns 1 to 12). A sequence with one Pn numeric parameter with a default
(0) parameter will be interpreted as wrong sequence. Example: ESC [ 2 ; 0 H or ESC [ 2 ;
H are wrong sequences !
- ESC [ 2 J (1Bh 5Bh 32h 4Ah): all lines are erased, and the cursor does not move
- ESC [ 4 (1Bh 5Bh 34h): All following characters transmitted are underscored until receiving
an escape sequence ESC [ 0 m
- ESC [ 5 (1Bh 5Bh 35h): All following characters transmitted are blink until receiving an
escape sequence ESC [ 0 m
- ESC [ 7 1Bh 5Bh 37h): All following characters transmitted are negative (reverse) image until
receiving an escape sequence ESC [ 0 m
All other control sequences or wrong sequences cause no action to be taken.
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Example: Control Sequence to turn off all character attributes, and then turn on underscore and blink
attributes simultaneously. Alternative sequences which will accomplish the same thing:
In only one sequence:
ESC [ ; 4 ; 5 ; m
(1Bh 5Bh 3Bh 34h 3Bh 35h 3Bh 6Dh)
Same but divided in three independent sequences:
ESC [ m (1Bh 5Bh 6Dh)
ESC [ 4 m (1Bh 5Bh 34h 6Dh)
ESC [ 5 m (1Bh 5Bh 35h 6Dh)
BUFFERED MESSAGES
When the application interest is refreshing a full screen, or a line, only after completely received, two
control charters, STX and ETX, allow to store the partially received text in a internal buffer until
complete reception, and then it will be written in the LCD.
ASCII Control Character Codes Implemented
- STX (02h): start of text. Init entering text in the input buffer
- ETX (03h): end of text. Finish entering data in the input buffer and writes the buffer contents
in the LCD display
If these ASCII Character Codes are not used, data will be immediately represented as soon as it is
received by the display. STX and ETX ASCII control characters can not be used as parameters of
a VT100 control sequence. Buffered messages can include control sequences with arrays of
characters.
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Example: VT100 data feedback
Write messages on display
The texts are sent in 8 packages of 8 bytes each, preceded by an identifier COB_ID=0x300+node_ID. Inside these packages, you can send texts by different
modes for view the same message. For example, the next text:
File
1
2
1
2
3
4
5
Column
6 7 8
I
I
K
K
U
U
S
S
I
I
I
K
9
10
11
U
S
I
12
We can write the next message differently:
a) First, will appear ‘IKUSI’ text, then we will move the position of the cursor to line2-column 1, and finally we will visualize the text ‘IKUSI IKUSI’ on the second
line.
Text
Message (Hex)
Meaning
Position
LCD1
49
I
LCD1
1B
LCD2
4B
K
LCD2
5B
LCD3
55
U
LCD3
32
LCD4
53
S
LCD4
3B
;
LCD5
49
LCD5
31
LCD6
00
LCD6
48
LCD7
00
LCD7
6D
LCD8
00
LCD8
00
Position
I
Shift command
Message (Hex)
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Text
Message (Hex)
Meaning
Position
LCD1
49
I
[
LCD2
4B
Line 2
LCD3
55
LCD4
53
S
LCD5
49
LCD6
20
LCD7
LCD8
Meaning
Position
ESC
Column 1
Final command 'm’
Text
Message (Hex)
Meaning
LCD1
49
I
K
LCD2
4B
K
U
LCD3
55
U
LCD4
53
S
I
LCD5
49
I
Space
LCD6
20
Space
00
LCD7
00
00
LCD8
00
37
b) W e can write the same message like this:
Position
Text
Message (Hex)
Meaning
Position
Shift command
Message (Hex)
Meaning
Position
Text
Message (Hex)
Meaning
Position
Text
Message (Hex)
Meaning
LCD1
49
I
LCD1
1B
ESC
LCD1
49
I
LCD1
55
U
LCD2
4B
K
LCD2
LCD3
55
U
LCD3
5B
[
LCD2
4B
K
LCD2
53
S
32
Line 2
LCD3
55
U
LCD3
49
I
LCD4
53
S
LCD4
3B
;
LCD4
53
S
LCD4
20
Space
LCD5
49
I
LCD6
00
LCD5
31
Column 1
LCD5
49
I
LCD5
00
LCD6
48
LCD6
20
Space
LCD6
00
LCD7
00
LCD7
6D
LCD7
49
I
LCD7
00
LCD8
00
LCD8
00
LCD8
4B
K
LCD8
00
Final command 'm’
c) Or we can visualize all the text at once:
Position
Text
Message (Hex)
Shift command
Message (Hex)
Meaning
Position
Meaning
Position
Text
Message (Hex)
Meaning
LCD1
02
Start ‘STX’
LCD1
1B
ESC
LCD1
49
I
LCD2
49
I
LCD2
5B
[
LCD2
4B
K
LCD3
4B
K
LCD3
32
Line 2
LCD3
55
LCD4
55
U
LCD4
3B
;
LCD4
53
LCD5
53
S
LCD5
31
Column 1
LCD5
LCD6
49
I
LCD6
48
LCD7
00
LCD7
6D
LCD8
00
LCD8
00
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Final command 'm’
Position
Text
Message (Hex)
Meaning
LCD1
49
I
LCD2
4B
K
U
LCD3
55
U
S
LCD4
53
S
49
I
LCD5
49
I
LCD6
20
Space
LCD6
20
Space
LCD7
00
LCD7
03
End ‘ETX’
LCD8
00
LCD8
00
38
Once that we have completed the 24 characters, we have to write the command for send the cursor to line 1column 1. Otherwise, we will lose everything we write. W e have still used only 4 packages of 8 bytes;
therefore, we have other 4 available for example to send the state of LEDs and Buzzer.
Switching-on the LEDs & Buzzer
For establish the state of the LEDs and the buzzer we have to send a package of 2 data. This package have
to be preceded by an identifier COB_ID=0x200+node_ID.
LEDs
BUZZER
 From 0 to 255 value
 0 or 1 value
The first data says if the LEDs are lit in green, red or amber (combining green and red). It is a binary code
that reads as follows, for example:
LED 4
Red Green
128
64
 Data
0
0
LED3
Red Green
32
16
1
1
LED 2
Red Green
8
4
1
LED 1
Red Green
2
1
0
0
1
= 57h
The second data says if the buzzer is ON (1) or OFF (0). This is the complete package:
LEDs & Buzzer
Position
Message (Hex)
Meaning
LCD1
57
Led1=Green; Led2=Red; Led3=Amber; Led4=Off
LCD2
01
Buzzer ON
LCD3
LCD4
LCD5
LCD6
LCD7
LCD8
Important: The last byte of the second package that the systems transmit could have different values:
-
If the value is 1, means that the CAN message from the master is already sent to the transmitter and
the receiver could receive one more message and save it to send later to the transmitter.
If the value is 0, means that the transmitter has already received CAN message and is ready to
receive another one.
If the value is 3, means that the buffer is full and is waiting for the confirmation from the transmitter.
If you send a message in this state, because it has nowhere to store it, be lost.
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10.- “FIRST COME – FIRST SERVED”
“FIRST COME – FIRST SERVED”
OPERATION
TM70
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TM70 – “FIRST COME – FIRST SERVED” OPERATION
10.1 - INTRODUCTION
This option allows the operation of one crane individually by using two transmitters with two different
ID codes, which determine which transmitter is governing the crane at a certain time. For First come
– First served applications the receiver is required to scan the radio channels in order to receive
radio signals from different transmitters.
The First come – First served mode is defined by EEPROM, and the transmitters do not need to
have a selector. The First come – First served mode consists of a receiver which liberates the ID
code every time the receiver is switched off, and hence it starts searching for IDs defined in the
EEPROM ID code list. The first valid ID code found is selected, and locked on to it until the operator
releases the crane by pressing the Stop button. After a time defined in EEPROM (0.1 – 25 seconds,
default 4 seconds), the receiver liberates the ID to which it was locked and starts scanning IDs and
radio channels. The first transmitter switched on is the First transmitter to hold control of the crane,
and it will not let any other transmitter to have control of the crane until the transmitter is switched
off.
A First Come – First Served operation with cranes is always delicate, given that
the receiver is FREE every time the STOP button is pressed or there is a radio link
failure.
10.2 - TWO TRANSMITTERS SYSTEMS
RECEIVER 1
ID1
ID2
F1
F1
F2
F2
ID1
ID2
TRANSMITTER 1
TRANSMITTER 2
Transmitters 1 and 2 have two different IDs and transmit in two different radio channels. Once the
receiver is switched off by any of the transmitters, after the liberation time defined in the EEPROM,
the receiver starts scanning for IDs and radio channels, looking for a frame with the start order
pressed.
A First come – First served system can have up to 32 different transmitters governing a single
receive
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11.- RANGE LIMITER
RANGE LIMITER
TM70
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11.1 - SYSTEM DESCRIPTION
TM70 radio remote control systems can be equipped with a range limitation option for overhead
cranes, through which, the system is able to determine if the transmitter is located outside of a zone,
defined as a working area, and deactivates the controls when these situations arise.
The system consists of one or more Infrared transmitters LA70, installed either in fixed positions or on
the controlled crane, oriented in such a way that it covers the targeted working zone. In these cases
the transmitters of the remote control sets are equipped with a sensor which receives the information
coming from the LA70 transmitter. This information is analysed by transmitter microprocessor, which,
in this way knows when the operator has left the working area. Consequently, outputs are deactivated.
Application examples:
11.2 - INFRARED SENSOR
As explained above, the sensor element is located in the remote control transmitter and its function is
to receive the infrared information coming from the LA70 transmitter. The location of this sensor is the
following:
The transmitter microprocessor receives the information from the sensor and checks the identity of the
crane. As soon as the sensor stops receiving the signal coming from the crane, the transmitter LED,
which was green, begins to flash in red, (in case of belly box transmitters, a buzzer also sounds), in
order to let the operator know that he has moved too far away. If this situation lasts longer than 4
seconds, all the active commands are cancelled, although communication is maintained with the
receiver. In this way the main contactor and the selection orders are maintained.
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In order to return to the operating mode, all the worker has to do is move back into the working zone.
Movement orders must be disabled in order to restart movement. Once the transmitter enters the
working area, movement orders will not be ready to be used unless they have gone to zero. This is to
make movements start in first speed. If the remote control is provided with a Display, whenever the
transmitter is out of range, the message “Out of Range” will be displayed.
The remote control has got 4 modes of operation defined in the EEPROM:
1.- Range Limiter only at startup (Electronic Key): In order to make the transmitter work, it is necessary
that the transmitter is inside the starting zone, defined by the position of the infrared transmitter.
2.- Range Limiter only in operation: The transmitter can be started anywhere, but the movement
orders will not work until the transmitter is inside the working zone.
3.- Range Limiter at startup and operation: The transmitter in order to work must be inside the working
zone always.
4.- Range Limiter only as an output Relay: This functionality makes the transmitter not to show In
range or Out of range situation in the transmitter itself. It will not mask any order. The information will
be sent to the receiver in order to process the information as an output relay or a condition to the relay
table.
11.3 - INFRARED TRANSMITTER
This is the element installed in the crane, which generates the infrared modulated radiation with an
identity code, which permits the sensor its identification.
Emission angle in long travel direction is wider than those of cross travel direction. In this way, the
working area covered by a transmitter is similar in shape to an ellipse, whose dimensions depend on
the height of the bridge over the ground. Approximately, the diagonals of the ellipse according to the
height are the following:
h (m)
D (m)
d (m)
6
24
10
8
32
13
10
40
17
12
48
20
14
56
23
16
64
26
18
68
29
20
70
32
In cases in which it is believed that the area covered by one transmitter is not enough, more slave
transmitters can be installed.
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11.4 - INSTALLATION
Make sure that the crane is switched off during the assembly operation. Clear the
work area and use security clothing.
Check the power supply and disconnect the power supply to the crane.
Do not forget to connect the earth cable.
Use flame resistant cables for the connections.
 Find a suitable place for the installation of the infrared transmitter, away from elements,
which could generate intense electrical disturbances and obstacles to the transmission of
light.
 Choose the correct power supply and connect it.
 Fit the jumper selector in master position.
 Select the code programmed in the EEPROM memory of the transmitter.
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In cases in which the area covered by a transmitter is not sufficient, other LA70 transmitters can be
connected in series, programmed as slaves in the selector. In this case the code emitted corresponds
with the selector in the master transmitter.
The communication connection between transmitters must be done with shielded wires.
11.5 - TECHNICAL CHARACTERISTICS OF THE LA70
Infrared Transmitter
Power supply
48, 115, 230 Vac ± 10%; 50/60 Hz
Operating temperature
-20 a +65ºC
Protection
IP55
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12.- “PITCH & CATCH” OPERATION
“PITCH & CATCH” OPERATION
TM70
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TM70 – “PITCH & CATCH” OPERATION
12.1 - INTRODUCTION
This option allows the operation of one crane by two transmitters, through the selection of ID codes,
which determine the mode of operation. For this application, the SCAN option for the receivers is
required in order to receive transmitters in different channels.
This mode of operation consists of the use of a crane by two different transmitters. The first
transmitter governing the crane gets hold of the crane until it as switched off (in principle exactly as
the First come – First served mode of operation). In the event of pressing the STOP pushbutton, the
other transmitter is switched on and the START order is being pressed, the second transmitter gets
hold of the crane without falling the STOP relays. This way, users of the same crane with different
transmitters can pass each other the crane without falling the STOP relays. As the START
pushbutton must be pressed when transferring the crane if the START relay has got a connected
Horn, when the transfer is done an audible sound can be produced.
Pitch & Catch operation is always delicate, given that the receiver is FREE every
time the STOP button is pressed or there is a radio link failure.
12.2 - TWO TRANSMITTERS SYSTEMS
RECEIVER 1
ID1
ID2
F1
F1
F2
F2
ID2
ID1
TRANSMITTER 1
TRANSMITTER 2
Transmitters do not need selectors. The receiver is the one that Frees its ID code.
When a Pitch & Catch operation needs to be performed, the user of the transmitter that wants to
Catch the crane must ask the user holding the crane to release the crane. The procedure is the
following: The owner of the crane must press the STOP button while the user that wants to Catch
the crane must be pressing the START button. The receiver will free the ID code and will SCAN new
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ID codes and new channels, if in the lapse of time of a passive STOP, it encounters the new ID it will
keep on going without falling the STOP relays.
In the event that the transmitter governing the crane stops while the second transmitter is switched
off, the system will STOP normally and will be free until one transmitter with a valid ID presses the
START button.
When a Pitch & Catch operation is finished, the first transmitter to press START will get hold of the
crane.
This mode of operation is personalised in the remote control EEPROM and must be done by IKUSI
personnel only.
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13.- TANDEM OPERATION
TANDEM OPERATION
TM70
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TM70 – TANDEM OPERATION
13.1 - INTRODUCTION
This option allows the operation of two cranes individually or in tandem by using one transmitter by
the selection of ID codes, which determines the mode of operation. For tandem applications both
receivers are required to scan the radio channels in order to receive radio signals from different
transmitters.
Once a mode has been selected, the access to the selected receiver or receivers will be blocked for
other transmitters, until they have not been liberated by the transmitter having the control. This
blocking is maintained even in case that the equipment is switched off.
When a selection is made with the transmitter disconnected, the transmitter will not start and shows
in the LED that the selection made is not correct with 0,4s red pulses. The transmitter must be
switched off and restart it with the selection with which it was switched off.
A Tandem operation with cranes is always delicate.
Remember that there are safety devices, (limit switches, anti collision guard
systems, etc.), which can affect and stop one of the cranes, while the other
continues working.
In the tandem systems with LCD Display option, in the 1st line of the display will be shown the crane
nd
1 name and in the 2 line the crane 2 name. With the selector switch in position 1+2 both names will
be shown.
You can personalize the name of the 2 cranes following the description in ANNEX A in this manual.
The modified name of the crane in the transmitter will not be updated in the
receiver EEPROM. In order to do it, please copy the new information located in
the transmitter EEPROM into the receiver one.
IMPORTANT REMARK:
The frequency set up of tándem systems supplied from IKUSI is by default F1= CB / F2 = CB+4
By default CB = CT.
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13.2 - ONE MASTER TRANSMITTER SYSTEMS
RECEIVER 2
RECEIVER 1
F2
F1
F2
ID1
ID2
ID2
SLAVE
F1
F2
ID1
MASTER
F2
ID2
The Master Transmitter has got a crane selector “1 / 1+2 / 2”, while the slave transmitter has only
got a release “R” push button.
When a tandem operation is needed, the operator of the master transmitter must require the slave
transmitter operator the liberation of receiver 1. In order to do it, it has to be pressed simultaneously
the release “R” push button and the Start button. The transmitter will send receiver 1 the liberation
order, remaining like that disconnected and ready to accept a new ID code.
When arriving to this stage, the position “1+2” may be selected in the master transmitter and then
press the Start button until the Green LED is switched on. By doing this, the transmitter will send the
liberation order to receiver 2 and following that, it will send the new ID code. Both receivers, 1 and 2,
will then be started and ready to tandem operation.
When tandem operation has finished, the master transmitter must select position 2 again and press
the Start button. By doing this, receiver 1 is again ready to be used by the slave transmitter, and the
master transmitter only controls receiver 2.
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13.3 - TWO MASTER TRANSMITTERS SYSTEMS
RECEIVER 1
RECEIVER 2
F1
F2
F1
F2
ID1
ID2
ID1
ID2
F2
F1
F1
F2
ID2
ID1
MASTER I
MASTER II
In the event of push button systems in tandem operation, with two Master transmitters, both of them
will have a “1 / 1+2 / 2” selector and a release pushbutton “R”.
When one of the transmitters must work in tandem, the operator must require his workmate the use
of the crane. To liberate the crane the operator will have to press “R” and Start simultaneously in his
transmitter. The receiver in which, the operator was working will be liberated and ready to accept
another ID code within the list, and the transmitter gets disconnected.
Following this, the transmitter that is going to perform the tandem operation, the position “1+2”
should be selected and then press the Start button until the green LED light is switched on. Both
receivers will be connected with the transmitter.
When the operation has been finalised, the “R” and Start buttons must be pressed simultaneously, to
liberate both receivers, and be able to do new operations.
With console transmitters, the function “R” is included in a four step rotary selector “R / 1 / 1+2 / 2”.
The way of operation is the same in both cases.
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14.- ANALOGUE FEEDBACK / IN 0-10V OPTION / CALIBRATION
ANALOGUE FEEDBACK
IN 0-10v OPTION
CALIBRATION
TM70
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TM70 – ANALOGUE FEEDBACK CALIBRATION
14.1 - INTRODUCTION
Systems with analogue feedback need to have the options Display and Analogue Feedback.
Systems with analogue feedback need at startup the calibration of the analogue input by the
distributor or the user. The following steps need to be done:
14.2 - CALIBRATION OF THE ANALOGUE FEEDBACK WITH LCD DISPLAY
Transmitters with display option, allow the operator the calibration of the analogue input through the
edition of a three digit value plus a comma and a measurement unit up to three characters.
The modified feedback calibration data will not be updated in the receiver
EEPROM. In order to do it, please copy the new information located in the
transmitter EEPROM into the receiver one.
At the remote control start up the Calibration must be done as follows:
1. Insert a fully charged battery and turn ON the
contact key.
2. Push and Pull the STOP pushbutton. An orange
blink will be seen on the LED followed by green
pulses and the LED switches off.
3. Place a known load on the crane in order to
introduce the First value in Calibration mode.
4. Switch off the remote control and start the system
entering in CALIBRATION mode. In order to do so,
it is necessary to do the following:
5. Press LCD70 push button “ENTER” (default value)
and press START pushbutton. Keep both
pushbuttons pushed for a couple of seconds until
the CONFIG option appears on the display.
Remark: It is possible using the TMConfig
tool to assign a different function; this
function must defined and written in the
equipment technical datasheet
6. Press the push button “ENTER” to go into
the MENU.
7. To move through the menu, use “UP” (▲) and “DOWN” (▼) functions the CALIBRATION
menu appears.
8. Press “ENTER” function.
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9. In CAL.ENTER mode, choose one of the following options: 2.1- > VALUE 1; 2.2 -> VALUE 2
and 2.3 -> UNITS. Pressing “ENTER” function the required option is selected.
 “DOWN” function (▼) : To move through the character list in a descending order.

“UP” function (▲) : To move through the character list in an ascending order.
 “ESC” function: To return to the previous character or previous menu in the display.
 “ENTER” function: To validate the edited character and move to the next character.
10. Once the corresponding value to the pending load has been assigned, the value in the
display will be of three digits plus a comma. Units must be edited such that the value
represented and the units are coherent. Validate the value inserted pressing START.
VALUE 1 will be memorised.
11. Press “ESC” to return to the previous menu in order to edit the units. Units must have no
more than three characters.
12. Press STOP and restart the crane again. Replace the load with another known load.
13. Repeat the process again (steps 4 to 8) selecting VALUE 2 in the Calibration menu.
14. Once finished the feedback calibration process, the system will be calibrated.
At this point the system is ready to work normally. Until calibration is performed, data appearing in
the display will be inconsistent.
Calibration generates a linear interpolation of the possible values. This means that it can be used
with all systems that generate a linear analogue outputs. For non linear systems the interpolation will
not produce a correct display value. Calibration allows to obtain negative values.
Example of calibration of a load cell:
st

Enter into the calibration mode and introduce the value corresponding to the hook without load (1
value).

Validate the value pressing START. Extinguish the transmitter.

Start the system again and raise a known load.

Extinguish the transmitter and enter again to the calibration mode for the edition of the 2 value.

Press START to validate the value.

Press pushbutton 1 to edit the units.

Press START to validate the units.

Extinguish the transmitter.

The equipment is already ready to work normally.
nd
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14.3 - LR71/72 and IN0-10V ASSEMBLY
IN0-10V (Ref. 2303755)
Cod-2303755
Cod-1131026(x4)
Cod-1135024(x2)
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57
15.- IN0450P OPTION
IN0450P OPTION
TM70
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15.1 - INTRODUCTION and FUNCTIONAL DESCRIPTION
The IN0450P electronic card can be conected to the LR70, 0-3V analogue input and it allows to
measure the frequency coming from a pulse generator operating between 0 - 450 Hz range.
This electronic card is a frequency voltage converter and it can be used, for example, as an
interface between an anemometer (sensor) that provides a pulsed signal, in order to show in the
transmitter’s display the speed of the wind, in real time mode, using the feedback option.
The card supplies a +12v DC voltage output to power the sensor.
Technical characteristics:




Maximum resolution: 8 bits.
Input frequency range: 0 – 450 Hz.
Galvanically isolated from the main logic board (LR70).
Operating temperature range: –20ºC a +70ºC
Signals and connections block diagram:
+12v DC
ENTRADA PULSOS
PULSED SIGNAL INPUT
GND
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15.2 - IN0450P and LR70 ASSEMBLY
Cod. 1131026 (x4)
IN0450P
Cod. 1135024 (x2)
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16.- IN4D OPTION
IN4D OPTION
TM70
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16.1 - INTRODUCTION AND FUNCTIONAL DESCRIPTION
The IN4D electronic card provides 4 digital inputs interface to the TM70 receiver. This card can be
connected as an expansion -as single card- in the LR70 receiver card through P16 connector. The IN4D
card can also be used as a multi-digital input using the INCAN option (multiple IN4D inputs option), as an
alternative to the single one.
The IN4D card is basically a four digital to analogue signal converter. The four digital signals (IN1, IN2,
IN3 and IN4) are converted to a 0 to 3 volts analogue value, available in the LR70 (or in the INCAN card).
See figure 1.
The four digital inputs, IN1, IN2, IN3 and IN4 must have the following analogue values, in reference to the
pin 6 (GND) ; I3 connector:
 0 to 4V is equivalent to a deactivated state or ‘0’ logic state.
 8 to 28V is equivalent to an activated state or ‘1’ logic state.
+VI
I3
IN4D
I1
1
1
2
2
IN2
3
3
IN3
4
4
IN4
5
5
GND
6
6
IN1
Figure 1
See I3 connector: 1 to 6 pins.
Very important remark: Do not apply higher voltages than 28 volts, in order to prevent card’s
damage.
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If there is no external voltage range available, the card provides through pin number 1 (+VI), a voltage
between 12 and 20 volts, to activate the inputs as shown in the figure 2.
I3
+VI
I1
IN4D
1
1
IN1
2
2
IN2
3
3
IN3
4
4
5
5
6
6
IN4
GND
Figure 2
Block diagram of the signals (see figure 3):
LR70
I3
IN1
I1
P16
1
1
2
2
1
+VI
2
3
IN2
3
3
3.3V
IN3
4
4
GND
4
IN4
5
5
GND
5
GND
6
6
IN
6
Figure 3
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Electronic card top view (see figure 4).
I1
6
5
1
3
5
2
4
6
4
3
2
1
I3
Figure 4
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16.2 - IN4D AND LR71/LR72 ASSEMBLY
Cod- 1131026(x4)
pin 1
Cod- 1135024(x2)
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17.- INCAN OPTION
INCAN OPTION
TM70
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17.1- INTRODUCTION and FUNCTIONAL DESCRIPTION
The INCAN interface allows to increase (until N*5 +1) the capacity of analogue and digital inputs in the LR72
electronic card. ( N = number of INCAN cards; maximum = 2 units).
INCAN
Input 1
μC
CANH
LR72
Input 2
CAN
CANL
Input 3
3.3V
GND
10-20V
+VI
Input 4
Input 5
POWER SUPPLY
Each INCAN interface can support 5 (maximum) digital/analogue input micro-modules.
 IN4D: 4 digital inputs module (0 - 24VDC).
 IN010V: Voltage analogue input (range: 0 - 10 VDC).
 IN0450P: Pulses input (range: 0 – 450pps; pulses per second). (Example: To use with anemometer
sensors).
A TM70 system can operate with 2 INCAN electronic cards (maximum capacity), so the following
configurations will be supported:
 40+ (4) IN4D card directly connected to the LR72  max. 44 digital inputs (0-24VDC).
 10+ (1) IN10V card directly connected to the LR72  max. 11 analogue inputs (8 bit resolution).
 10+ (1) IN450P card directly connected to the LR72  max. 11 input pulsed signal counter (0-450
pps).
17.2– CONNECTIONS & CONFIGURATION JUMPERS
The INCAN expansion is connected to LR72 electronic card through two connectors: RL4 (2 pins -> +VI and
GND signals) and RL3 (5 pins) for CAN bus signals. in practice GNDCAN and SHLCAN are connected.
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RL4
Pin
+
RL3
Pin
1
2
3
4
5
Name
+VI
GND
Name
GNDCAN
CANL
SHLCAN
CANH
VCAN
Function
DC power supply between 8 and 30V.
Ground
Function
CAN Ground
CANL bus signal (CAN low signal)
Shielding
CANH bus signal (CAN High signal)
Power supply
The positioning of the 5 analogue/digital input micro-modules will be consecutively from left to right as shown in
the picture below:
+VI GND CANL CANH
BUS TERMINATION
CAN ADRESS
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18. - A1P4RCAN OPTION
A1P4RCAN OPTION
TM70
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18.1.- INTRODUCTION and FUNCTIONAL DESCRIPTION
The A1P4RCAN CAN expansion module provides to the TM70 receiver, 4 relays output and an analogue output
at the same time. The analogue output simulates a digital potentiometer with 64 steps available in each semiaxis of the power supply. See the diagram block below (size ½ of LR72):
K1
K2
CAN
K3
K4
+V
11k2
VOUT
-V
GND
This CAN expansion provides to the user the following outputs :


An analogue output simulated by a digital potentiometer with 128 steps and galvanically isolated.
Free to use four relays outputs, K1, K2,K3 and K4.
These outputs are controlled by CAN BUS, writing in its addresses CANOpen frames. The CAN address of the
electronic card is conformed using the 7 jumpers of P1 connector. Jumper in position 1 corresponds with the
first bit of the CAN address. Thus, inserting several bridges it is possible to select different addresses from «1 »
7
until «127» (2 ), maximum.
Very important : The address « 0 » is not a valid address ; so the board allways must be fitted with at least one
jumper. With one jumper it is possible to configure 7 different addresses.
18.2.- CONNECTIONS & JUMPERS CONFIGURATION
LR72 ELECTRICAL CONNECTION
This expansion is connected to the LR72 board using two connectors; 2 pins connector labeled RL4 for power
supply 8-30V (+VI and GND); 5 pins connector labeled RL3 for CAN Bus connection with the following signals :
Pin
1
2
3
4
5
Name
GNDCAN
CANL
SHLCAN
CANH
VCAN
Function
Ground
CANL bus signal (CANLow signal)
Shielding
CANH bus signal (CANHigh signal)
Power Supply
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RL1
RL2
1
+VI
GND
5
RL3
RL4
RL3
+VI
GND
1
5
RL4
Cod. 1141684: TM70 1M abatable base
Cod. 1184005: UNEX 2221-0 clip
Cod. 1095040: CAN RC70 1 expansion cable
Cod. 1131030: M3x6 C/R DIN84 screw
Cod. 2303908: A1P4RCAN electronic board
RELAY OUTPUTS
The following connections are available for each relay: normally open (NO), normally closed (NC) and common,
in the RL1 connector as shown in the following table. Disposition of 4 manoeuvre relays of 250V/8A.
Pin
1
2
3
4
5
6
7
8
9
10
11
12
Function
K1 contact: normally closed
K1 common contact
K1 contact: normally opened
K2 contact: normally closed
K2 common contact
K2 contact: normally opened
K3 contact: normally closed
K3 common contact
K3 contact: normally opened
K4 contact: normally closed
K4 common contact
K3 contact: normally opened
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ANALOGUE OUTPUT
The analogue output is connected through RL2 connector with the following signals (Imax=15mA):
Pin
1
2
3
4
Name
VOUT
GND
-V
+V
Function
Analogue Output
Potentiometer’s middle point
Negative power supply (Minimun: -50V)
Positive power supply (Maximun: 50V)
TELE-TEACHING (V3.1 OF SOFTWARE OR HIGHER VERSIONS)
Through Tele-Alignment can set the maximum and minimum values, the polarity inversion, acceleration or
deceleration ramp and curve type of the analogue output. To change to Tele-Alignment mode is necessary to
introduce a bridge in the jumper P5 (see Jumpers configuration). Only available for TM70 consol box from
3.1 software version or higher.
CAN CAN
+
VI GN
CAN
TELEALIGNMENT
Relay outputs
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Analogue
72
19.- A2ICAN OPTION
A2ICAN OPTION
TM70
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19.1- INTRODUCTION & FUNCTIONAL DESCRIPTION
The A2VCAN electronic board gives to the modular TM70 systems an analogue output in current (PWM), allow
the government of electro-hydraulic proportional valves with input reference in current. The electronic board
contains two output stages galvanically each other separated and from the control common logic.
CAN bus
CANopen
Protocol
LR72
RECEIVER
LOGIC
BOARD
+ Vi
CONTROL LOGIC BOARD (uP)
A2ICAN
VPP1
GND1
VO1
VR1
VPP2
GND2
VO2
VR2
PWM1 VO1
PWM2 VO2
ISP
A2ICAN electronic board is an expansion of two analogue outputs controlled by the CANopen interface.
The A2ICAN electronic board implement, for integration into the TM70 system, an own resident software in its
microprocessor, that performs the following functions:
 Communication with the LR72 electronic board through CANOpen protocol, using the standard profile
401, input/output digital/analogue (CIA DS401 - CANopen Device Profile for Generic I/O Modules).
 Generates two analogue outputs in current according to the received instructions and the settings for
each output.
There are two types of response curves for each output:
 Linear: response of the analogue output proportional to the input
 Non-linear: the response of the analogue output is exponentially regarding the input. Variations of the
joystick inputs at the beginning of his movement will result in small changes of the output voltage, while
the same variations of the joystick input at the end of the movement will result in major changes in the
output voltage.
The choice of one or another profile is decided by a customization parameter P (customizable by EEPROM or
Tele-Alignment), which uses 0 for linear curve and 1, 2 or 3 for exponential curves from low to high grade.
It also can be programmed exit ramps on rise and/or fall per semiaxis. The form of response of the ramps is
under defined output type: linear or nonlinear.
The ramp speed is defined for each semiaxis by a parameter that can take a value between 0 and 15, by
default 0. Each of these values corresponds to a ramp time from minimum to maximum value given by the
following table:
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0  without ramp
1  0,1 s
2  0,2 s
3  0,3 s
4  0,4 s
5  0,5 s
6  0,6 s
7  0,8 s
8  1,0 s
9  1,2 s
10  1,5 s
11  1,7 s
12  2,0 s
13  2,5 s
14  3,5 s
15  5,0 s
Each output is a PW M signal with current feedback in which is possible the control and compensation of the
switching frequency and pulse width. It also implements a superimposed "dither" signal on the output, with
variable frequency and amplitude, to soften the response of certain hydraulic valves. The "dither" is available
only when the switching frequency of the PWM output is 5 kHz:
 PW M Frequency range: 33,35,40,45 ... 1275 and 5000 Hz
 Dither Frequency range: 33 ... 255 Hz
 Dither Amplitude range: 0 ... 50%
Through Tele-Alignment can set the maximum and minimum values, the polarity inversion, acceleration or
deceleration ramp and curve type of the analogue output. To change to Tele-Alignment mode is necessary to
introduce a bridge in the jumper P6 (see Jumpers configuration). Only available for TM70 consol box from
3.1 software version or higher.
Other features of the PWM current outputs:
 Power supply range of the expansion 8-30V, and of the outputs 5-35V.
 Each output channel has 2 outputs only one of which will be connected, according to the sign of the
input. 2 PWM outputs are identical and independent.
 The output resolution is 128 steps by semiaxis (256 max – 8 bit), corresponding to step 0 a null output
and step 127 to obtained from the permanent exit from the positive supply.
 Max current = 5A (each output).
 Outputs protected against short-circuit.
19.2- CONNECTIONS & JUMPERS CONFIGURATION
CONNECTIONS WITH THE LR72
The expansion connects to the LR72 electronic board through two connectors, one of 2 pin for power supply (VI
+ and GND) and the other of 5 pin for the CAN bus with the following signals:
Power connector
Pin number
Function
GND
Ground
+VI
DC between 8 y 30V
CAN bus connector
Name
Function
VCAN
Power supply
CANH
CANH pin of the CAN bus
GNDCAN
Ground (Shielding)
CANL
CANL pin of the CAN bus
GNDCAN
Ground
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OUTPUTS
Each analogue output has two serial relays that switch the output signal to one of two ways, the direct or the
inverse. If not activate any of the relays, both outputs (the direct and inverse) are disconnected.
OUTPUT PWM1
The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment:
Output 1 connector
Pin Name
Function
VPP1
Power of channel 1
GND1
Ground of channel 1
VO1
DIRECT analogue PWM output of channel 1
VR1
INVERSE analogue PW M output of channel 1
OUTPUT PWM2
The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment:
Output 2 connector
Pin name
Function
VPP2
Power of channel 2
GND2
Ground of channel 2
VO2
DIRECT analogue PWM output of channel 2
VR2
INVERSE analogue PW M output of channel 2
ISP (PROGRAMACION “IN CIRCUIT” / “IN SYSTEM”)
The expansion has a connector to record “In-System” (eg. Microprocessor software update). This connector has
10 pins:
ISP connector
Pin name
ISP2
TX2
RX2
GND
Function
Input connected to the ground to place the microcontroller in recording mode
Not used
Receiving data signal
Ground
RX1
TX1
ISP
Receiving data signal
Transmisión data signal
Not used
VCC
MRNOT
+VI
Power supply output at 3,3 V
Reset input, active when it is connected to ground
Power supply output at 12 V (not stabilized, can vary between 8 y 22 V)
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JUMPERS CONFIGURATION
Size ¼ of LR72
Connections with the LR72
P5: “Jumper” for configuration of the
CAN direction of the expansion.
“Jumper” = ON  “1” logic.
Programmable addresses: 1…63
max
P6: “Jumper” to enable or disable the
Tele-Alignment process.
Enabled Tele-Alignment = “jumper”
placed or ON.
P6
Disabled Tele-Alignment = “jumper”
eliminated or OFF.
P6
1 = VPP (channel power)
2 = GND (Channel ground)
3 = VO (DIRECT analogue PWM output)
4 = VR (INVERSE analogue PWM output)
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20.- A2VCAN OPTION
A2VCAN OPTION
TM70
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20.1- INTRODUCTION & FUNCTIONAL DESCRIPTION
The A2VCAN electronic board gives to the modular TM70 systems an analogue output in voltage option, allow
the government of variable frequency drives with voltage control, electro-hydraulic proportional valves with input
reference in voltage, etc. The electronic board contains two output stages galvanically each other separated
and from the control common logic.
CAN bus
CANopen
Protocol
LR72
RECEIVER
LOGIC
BOARD
+ Vi
CONTROL LOGIC BOARD (uP)
A2VCAN
VPP1
GND1
VO1
VR1
VPP2
VNN2
VO2
VR2
OUTPUT1 VO1
OUTPUT2 VO2
ISP
A2VCAN electronic board is an expansion of two analogue outputs controlled by the CANopen interface. Can
generate two analogue outputs (dependent on supply voltage) with a resolution of 10 bits (1024 steps).
The A2VCAN electronic board implement, for integration into the TM70 system, an own resident software in its
microprocessor, that performs the following functions:
 Communication with the LR72 electronic board through CANOpen protocol, using the standard profile
401, input/output digital/analogue (CIA DS401 - CANopen Device Profile for Generic I/O Modules).
 Generates two analogue outputs in voltage according to the received instructions and the settings for
each output.
There are two types of response curves for each output:
 Linear: response of the analogue output proportional to the input
 Non-linear: the response of the analogue output is exponentially regarding the input. Variations of the
joystick inputs at the beginning of his movement will result in small changes of the output voltage, while
the same variations of the joystick input at the end of the movement will result in major changes in the
output voltage.
The choice of one or another profile is decided by a customization parameter P (customizable by EEPROM or
Tele-Alignment), which uses 0 for linear curve and 1, 2 or 3 for exponential curves from low to high grade.
It also can be programmed exit ramps on rise and/or fall per semiaxis. The form of response of the ramps is
under defined output type: linear or nonlinear.
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The ramp speed is defined for each semiaxis by a parameter that can take a value between 0 and 15, by
default 0. Each of these values corresponds to a ramp time from minimum to maximum value given by the
following table:
0  without ramp
1  0,1 s
2  0,2 s
3  0,3 s
4  0,4 s
5  0,5 s
6  0,6 s
7  0,8 s
8  1,0 s
9  1,2 s
10  1,5 s
11  1,7 s
12  2,0 s
13  2,5 s
14  3,5 s
15  5,0 s
Through Tele-Alignment can set the maximum and minimum values, the polarity inversion, acceleration or
deceleration ramp and curve type of the analogue output. To change to Tele-Alignment mode is necessary to
introduce a bridge in the jumper P6 (see Jumpers configuration). Only available for TM70 consol box from
3.1 software version or higher.
Other features of the PWM current outputs:
 Power supply range of the expansion 8-30V, and of the outputs 5-35V.
 Max current = 10 mA (each output).
 Outputs protected against short-circuit.
20.2- CONNECTIONS & JUMPERS CONFIGURATION
CONNECTIONS WITH THE LR72
The expansion connects to the LR72 electronic board through two connectors, one of 2 pin for power supply (VI
+ and GND) and the other of 5 pin for the CAN bus with the following signals:
Power connector
Pin number
Function
GND
Ground
+VI
DC between 8 y 30V
CAN bus connector
Name
Function
VCAN
Power supply
CANH
CANH pin of the CAN bus
GNDCAN
Ground
CANL
GNDCAN
CANL pin of the CAN bus
Ground
OUTPUTS
The voltage outputs are generated from PWM pulses, and them filtered result in radiometric tension outputs
(dependent on supply voltage). The two outputs are electrically isolated respect to the logic and each other.
The control of relays is done via VREL1 and VREL2 signals. Also, it needs to be activated the common of both
relays by VCOMREL signal. When the relays are off, the output voltage VO1 and VO2 are the values of
reference voltage VR1 and VR2 connected at each output.
The output values range goes from 0 to 100% of power supplies VPP1 and VPP2 connected to each of the
outputs and have a resolution of 10 bits (1024 values).
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OUTPUT 1 (VO1)
The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment:
Output 1 connector
Pin Name
Function
VPP1
Power of channel 1
GND1
Ground of channel 1
VO1
Analogue output of channel 1
VR1
Zero position signal signal to get through the output 1 when the relay is inactive
OUTPUT 2 (VO2)
The connections of the output 1 are through 4 pole terminal plug, with the follow pin assignment:
Output 2 connector
Pin name
Function
VPP2
Power of channel 2
GND2
Ground of channel 2
VO2
Analogue output of channel 2
VR2
Zero position signal signal to get through the output 2 when the relay is inactive
ISP (PROGRAMACION “IN CIRCUIT” / “IN SYSTEM”)
The expansion has a connector to record “In-System” (eg. Microprocessor software update). This connector has
10 pins:
ISP connector
Pin name
ISP2
TX2
RX2
Function
Input connected to the ground to place the microcontroller in recording mode
Not used
Receiving data signal
GND
RX1
TX1
Ground
Receiving data signal
Transmisión data signal
ISP
VCC
MRNOT
+VI
Not used
Power supply output at 3,3 V
Reset input, active when it is connected to ground
Power supply output at 12 V (not stabilized, can vary between 8 y 22 V)
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JUMPERS CONFIGURATION
Size ¼ of LR72
Connections with the LR72
P5: “Jumper” for configuration of the
CAN direction of the expansion.
“Jumper” = ON  “1” logic.
Programmable addresses: 1…63
max
P6: “Jumper” to enable or disable the
Tele-Alignment process.
Enabled Tele-Alignment = “jumper”
placed or ON.
P6
Disabled Tele-Alignment = “jumper”
eliminated or OFF.
P6
1 = VPP (channel power)
2 = GND (Channel ground)
3 = VO (Channel voltaje analogue output)
4 = VR (Zero position voltage, when K rely of
each channel is inactive.
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20.3- EXPANSIONS POWER SUPPLY ELECTRONIC BOARD POT70V4
POT70V4 is an independent and isolated electronic board with 4 power supplies, which are used to supply the
output stage of the A2VCAN electronic board’s analogue outputs.
This expansion is mounted as datasheet; only the number of required DC/DCs (power supplies) will be
mounted. Each DC/DC can supply the outputs of two A2VCAN; 4 analogue outputs in voltage.
The energy for POT70V4 module is provided by the LR72 board.
Technical features:
 Size ¼ of LR72
 2 DC/DC available:
o 12V/0/-12V, 85mA
o 15V/0/-15V, 65mA
 Power supply range of DC/DC: 9 to 18V
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21.- TELEALIGNMENT OPTION
TELEALIGNMENT OPTION
TM70
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21.1 - INTRODUCTION
Access to this option can be activated or deactivated by EEPROM, by EEPROM recorder and/or TM70Config, if
it is connected in the expansion the Jumper which enables Tele-alignment. Cards that support Tele-Alignment
are:
 A1P4RCAN(1 relay based potentiometric output card)
 A2VCAN (2 voltage analogue output card)
 A2ICAN (2 PWM current analogue outputs card)
A2ICAN and A2VCAN expansion cards are interchangeable, but the position and number of outputs will be
the same, also will require a modification of EEPROM due to differences in the output parameters. The new
expansion will be automatically recognized by the system. At the time of accessing to the Tele-Alignment menu,
the system makes a recognition of all the expansions connected to the CAN bus and supported outputs. All
information is synchronized between the transmitter and receiver.
The Tele-Alignment process requires the use of display LCD70 option (soft. version 3.1 or higher) or the TM70
Tele-Teaching support module (IKUSI Ref. 2305120-00A) designed for that purpose.
21.2 – TELE-ALIGNMENT PROCESS
The navigation through the software will be done by using the ▲ "UP" ▼ "DOWN", ENTER (validate selection)
and "ESC" (abort selection) keys, but are configurable by EEPROM and/or TM70Config. In situations where you
would press "UP" or "DOWN" repeatedly, there is a progressive move by holding down the key.
To access the Tele-Alignment menu must be pressed in sequence the "ENTER" (default) + "START".
This configuration is defined by EEPROM, but ENTER function may be replaced by any other manoeuvre by
TM70Config to change the access sequence to the Tele-Alignment menu.
The default menus are in English, but you can choose between English and Spanish by EEPROM and/or
TM70Config or Menu option (5. SELECT LANGUAGE).
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CONFIG MODE
1. EDIT CRANE LABEL
2. INPUT CALIBRATION
3. OUTPUT CALIBRATION
4. SAVE
SAVING
PLEASE WAIT
PLEASE WAIT
3.1
5. SELECT LANGUAJE
3.2 RESET
3.3 FORB CAL MEN
PLEASE WAIT
RESETING VALUES
CONFIRM MENU DISABLE
GEN. ERROR
CONFIG MODE
MOVE
ERROR 1
X1 EXP_TYPE Y1
X2 EXP_TYPE Y2
ERROR 2
OUTPUT
X EXP_TYPE Y
3.1.1 LIMIT VALUES
3.1.2 POLARITY INV
3.1.1.1 MAX VALUES
3.1.1.2 MIN & CERO
3.1.1.3 ZERO RELE ON
GETTING POLARITY
ERROR 3
POSITIVE MAX
NN%
NEGATIVE MAX
NN%
GEN. ERROR
POSITIVE MIN
NN%
ZERO ADJUST
NN%
GEN. ERROR
NEGATIVE MIN
NN%
ZERO ADJUST
NN%
ERROR 4
GEN. ERROR
DIRECT POLA
CHANGE?
INVERSE POLA
CHANGE?
INVERTING
POLARITY
ELIMINATING
INVERSION
ERROR 5
GEN. ERROR
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(**
(*
(*) IF PWM FREQ. = 0 (HIGH FREQUENCY)
GEN. ERROR
(**) ONLY FOR A2ICAN
(ONLY IN 1ST OUTPUT OF THE EXPANSION)
GEN ERROR
3.1.6.1.1 %: NNN
3.1.5.1 PWM: NNN
3.1.6.1
3.1.5 PWM FREQ
3.1.6.2.1 HZ: NNN
3.1.6.2 FREQUENCY
3.1.6 DITHER
3.1.7 RESET OUTPUT
3.1.4 RAMPS
3.1.3 CURVE TYPE
3.1.3.1 TYPE: N
RESETING OUTPUT
3.1.4.1 ACCEL RAMP
3.1.4.2 RAMPA DECEL
GEN. ERROR
GEN. ERROR
3.1.4.1.1 ACCEL RAMP +
3.1.4.1.2 ACCEL RAMP –
3.1.4.2.1 DECEL RAMP +
3.1.4.1 RAMP: NN
3.1.4.2 RAMP: NN
GEN. ERROR
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3.1.4.2.2 DECEL RAMP –
87
21.2.1 – MENU 3.1 ADJUST
IMPORTANT: After adjustment for each parameter in each semiaxis, validate the setting before returning
back on the menu, otherwise would not be recorded. This validation is always performed by pressing
START. Finally and after setting all the parameters required, validate the 4. SAVE ALL menu to record in
the EEPROM all the settings.
In the next image we can see the different parameters that can be configured and will be described below:
By entering in this menu, the user is asked to activate the manoeuvre associated with the output to be
adjusted. Outputs associated with the manoeuvre will be displayed in the following format:
X EXP_TYPE Y
X: Number of the analogue output
Y: Output Number of the output
EXP_TYPE: Type of analogue output (A1P4RCAN, A2VCAN, A2ICAN)
The user has to select which of the exits wants to teleadjust. To do this, interested output should be flashing.
If there are two exits on screen, using the UP / DONWN can select the desired output. To confirm the
selection press START. At that time, and for a time will display the output you have selected.
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LIMIT VALUES:
Set the limits of the analogue output (+ Smin, Smin, smax + smax and Scero)  NOTE: These actions
involve movement of the manoeuvre to adjust!

The adjustment of MAX and MIN values is performed with the manoeuvre moved for know which
output and which semiaxis is going to be adjusted.

As you are pressing UP/DOWN keys, value will be updated on the screen.

ZERO value of the output will be adjusted with the manoeuvre in the neutral position.

The LCD will guide at all times to report that the five possible parameters are adjusted depending on
the position of the paddles.

ZERO RELE ON: By entering this submenu is permanently activated the output of the expansion in
the absence of a order. This can be used to identify potential errors that cause unwanted movements.
POLARITY INV:
It allows the reverse polarity of outlets, such as:
CURVE TYPE:
Tour types of curve available:

Type 0: Linear response.

Type 1, 2 y 3: Exponential responses.
RAMPS:
The acceleration and/or deceleration ramp speed is defined for each semiaxis by a parameter that can take
a value between 0 and 15, default 0. Each of these values is a ramp time defined in seconds by the following
table:
0  without ramp
4  0,4 s
8  1,0 s
12  2,0 s
1  0,1 s
5  0,5 s
9  1,2 s
13  2,5 s
2  0,2 s
6  0,6 s
10  1,5 s
14  3,5 s
3  0,3 s
7  0,8 s
11  1,7 s
15  5,0 s
These values are modified by EEPROM recorder.
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PWM FREQUENCY:
Only available for outputs with current regulation (A2ICAN). Is defined by a parameter that can take a value
between 0 and 255 and equivalent to the following frequency PW M values:
Parameter
0
1…5
6
7…255
PW M Frequency
5000 Hz
Adjustment not valid
33 Hz
35…1275 Hz (Parameter x 5)
The Tele-Alignment of these values will not allow to an exit that is not the first of each expansion
module.
DITHER:
Only available for outputs with current regulation (A2ICAN) and if “PWM FREQ. = 0 (5000 Hz)”.

Dither frequency range: 33...255 Hz

Dither Amplitude range: 0...50%

The Tele-Alignment of these values will not allow to an exit that is not the first of each
expansion module.
RESET OUTPUT:
Allows the user to restore the data of the analogue output selected with the default values from IKUSI in
EEPROM (only one exit).
TROUBLE SHOOTING
ERROR TYPE DESCRIPTION ON SCREEN
COMMENTS
ERROR 1
If more than one joystick moves together
If doesn’t have associated output
HARDWARE NOT DETECTED
ERROR 2
HARDWARE NOT DETECTED
Expansion is not initialized (output associated absent)
PLACE ENABLE JUMPER
Initialized expansion, Tele-Alignment jumper not connected.
TOO JOYSTICK SELECTED
When moving the analogue paddle to adjust the outputs are selected
more than one axis/joystick.
DIFFERENT JOYSTICK
If you move a different joystick than selected when start the TeleAlignment menu.
ERROR 3
ERROR 4
ERROR 5
GEN. ERROR
More than two associated outputs (maximum 2 associated analogue
outputs per manoeuvre)
THIS ADJUST NOT POSSIBLE If the expansions output relay only activates when exceeds Cmin.
THIS ADJUST NOT POSSIBLE When the output relay is activated whenever link exist.
PUT JOYSTICK TO NEUTRAL
If the adjustment is possible and moves any paddle.
NO ACCESS TO MEMORY
Not access to memory to update data.
ADJUST NOT VALID
The expansion indicates invalid values.
QUEST./ANSW. NOT VALID
Erroneous communication between Rx and expansions.
NO ANSWER OF EXPANS.
Erroneous communication because the expansion doesn’t answer.
ERROR
Other error.
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2.2 – MENU 3.2 RESET VALUES:
Restores all outputs that support Tele-Alignment by IKUSI default values.
2.3 – MENU 3.3 FORB CAL MEN:
To disable or cancel the entry to the Tele-Alignment menu. From this moment if you want to activate again,
you should be using the recorder and/or TM70Config.
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22.- R70/XX RECEIVERS / SOFTWARE VERSION SW 3.2 COMPATIBLE
R70/XX RECEIVERS
SW 3.2 version compatible
TM70
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22.1 – MAIN CHARACTERISTICS
Software version 3.2:
New TM70 range software features supported:
- Up to 5 R8CAN electronic boards -> it allows to include in the same box up to 53 relays
- Up to 10 analogue outputs; maximun: 5 x A2VCAN or 5 x A2ICAN or 5 x A1P4RCAN cards or a MIX
of these cards completing 10 analogue outputs
- The IN 0-4/20mA analogue current input card is supported (when available).
- IN4D without feedback information as a linking condition in multi-receiver systems.
- Analogue outputs with independent and progressive response. Up to 8 different and selectable
progressive responses (only programable by EEPROM; it cannot be tele-aligned in this versión).
Hardware and mechanics compatible with software version SW 3.2:
Important Remark: This software versión is only compatible with LR72 E version cards or higher
versions.
The new mechanics allows to configure the R70 receiver with these 4 modular OPTIONS (maximun
configurations)
OPTION 1:
½ SIZE SLOT (x4)
½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1)
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OPTION 2:
½ SIZE SLOT (x1) + ¼ SIZE SLOT (x6)
½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1)
OPTION 3:
½ SIZE SLOT (x2) + ¼ SIZE SLOT (x4)
½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1)
OPTION 4:
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½ SIZE SLOT (x3) + ¼ SIZE SLOT (x2)
½ SIZE SLOT (x1) + P.S. (x1) + LR72 (x1)
List of expansión type and slot size required:
EXPANSION TYPE
SLOT SIZE
ELECTRONIC CARD
R8CAN
1/2
A1P4RCAN
1/2
INCAN
1/2
IN 0-10V
Direct assembly in LR72 or INCAN cards
IN 0-450P
Direct assembly in LR72 or INCAN cards
IN-4D
Direct assembly in LR72 or INCAN cards
A2ICAN
1/4
A2VCAN
1/4
Electrical and mechanical characteristics:
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R70/XX
Available frequencies (ISM bands)
AC current power supply (according to model)
DC current power supply (according to model)
Ingress protection
Antenna
Working frequency channel selection
Weight
Dimensions
EEPROM
Signaling
Connections
Maximun current over resistive load
Operating temperature
Storage temperature
Storage temperature –long periodsMaximun comsumption
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Specifications
915MHz
870MHz/433MHz
419MHz
48V/115/230v AC 50/60Hz (+15% / -20% Vin)
8-32v DC
IP65 / NEMA-4
External (standard)
Fix or automatic (listen before talking EEPROM)
Maximum = 7 Kg (53 relays)
Length = 350 mm / Wide = 250 mm / Heigth = 150mm
Internal and extractable (EP70)
MultiLED: internal LEDs
External input/output terminal plugs for using with
cable glands and base panel connectors
6A
-20ºC / +70ºC (-4ºF / 158ºF)
-25ºC / +75ºC (-13ºF / 167ºF)
-25ºC / +55ºC (-13ºF / 131ºF)
40 VA
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22.2 – REMARKS FOR THE INTERNAL WIRINGS
POWER wirings
CAN bus wirings
UPPER SLOT
-
The POWER cables MUST be wired and guided by the center of the slot.
The rest of the CAN bus wirings can be placed without any restriction
BOTTOM SLOT
P.S.
LR72
R8CAN
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HEADQUARTER - SPAIN
IKUSI - Ángel Iglesias S.A.
Pº Miramón, 170
20009 San Sebastián, SPAIN
Tel.: +34 943 44 88 00
Fax: +34 943 44 88 20
[email protected]
www.ikusi.com
AUSTRALIA - NEW ZEALAND
IKUSI ANZ PTY LTD
Tel.: +61 3 9720 7022
Fax: +61 3 9720 7422
[email protected]
CHILE
INGENIERÍA IKUSI CHILE, LTDA.
Tel.: +56 2 335 9661
Fax: +56 2 233 7511
[email protected]
FRANCE
IKUSI FRANCE SARL
Tel.: +33 1 43 03 52 22
Fax: +33 1 43 03 52 42
[email protected]
MEXICO
IKUSI MÉXICO, S.A. DE C.V.
Tel.: +52 55 5663 8600
Fax: +52 55 5663 8684
[email protected]
GERMANY
IKUSI GmbH
Tel.: +49 8464602420
Fax: +49 8464602423
[email protected]
PORTUGAL
IKUSI ELECTRÓNICA, LDA.
Tel.: +351 22 947 8240
Fax: +351 22 947 8249
[email protected]
RUSSIA
IKUSI, LLC.
Tel.: +7 495 583 93 41
Fax: +7 495 586 17 71
[email protected]
UNITED ARAB EMIRATES
IKUSI MIDDLE EAST FZE
Tel.: +971 4 204 5606
Fax: +971 4 204 5610
[email protected]
COLOMBIA
IKUSI COLOMBIA, S.A.
Tel.: +57 1 638 63 54
Fax: +57 1 621 15 65
[email protected]
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