Retrofit of Drill

prepared for remote drilling

operation

M. Bähtz 08/09

2

CAN-Bus Topology

CAN-Bridge

ICN-VV

CAN-Master/

CAN-RC

CANopen

J1939

ICN-D2

ICN-D1

Engine J1939

3

Function of ControllerCAN-Master:

- Manage drill control

- RC-Interface

- ICN-D1:

- Manage digital in and outputs of switch panel

-CAN-Bridge:

- Manage analog sensors

- Translating J1939 to CANopen

- ICN-VV:

- PWM-Control and BangBang Control

- ICN-D2:

Drilling control

ICN-VVJ1939

CANopen

Mast

ICN-D2

J1939

CAN-Master

Drive control

CAN-Bridge ICN-D1

4

Wiring – Cab-Board

drill control, DCF/CPU1

RC interface, DCF/CPU2

drill control, ICN-D1

drill control, ICN-D2

5

Wiring – Valve-Board

drill control, ICN-V1

drill control, ICN-V2

drill control, DCF/IO

drill control, DCF/CPU

ICN-VV

DIGSY

CPU

6

Cab – New Controls

• Tablet-PC designed for rough & harsh applications, connected to the remote gateway bus (CANopen)

• functionality with Electronic Dashboard & Remote Service System,diagnostic port available

• electrical joysticks• “Murphy Gauge” for redundant engine data

Top View Side View

7

Dashboard – Drill Screen

• Pressure Gauges for drilling operation- rotation,- pull down,- system (aux),- bit air

• Icons between the gauges display drill states respectively interlocks

• Status of icon changes on input of prox. switch or logic

A detailed description of the interlocks is given in the:

SKS12 LAGUNAS NORTE OPERATIONAL INTERLOCKS GUIDE

8

How to measure on a CAN-Bus

Make a visual inspection of all CAN-Bus connections and components

Check on both sides of the CAN-Bus if the termination resistors are existing and connected properly

measure the resistance between CAN_H to ground and CAN_L to ground. Values which are below 10kOhm are suspicious and could be a sign for a high-Ohm connection between a bus line and ground

measure the resistance between CAN_H to supply voltage (Vbat) and CAN_L to supply voltage (Vbat). Values which are below 10kOhm are suspicious and could be a sign for a high-Ohm connection between a bus line and supply voltage

9

How to measure on a CAN-Busmeasure the resistance between CAN_H and CAN_L. So you can check if the termination resistors are existing and if they have the correct value or if there is a cable break or a short circuit. The value you measure should be in the range of 55…70 Ohms

disconnect either the CAN_H or CAN_L wire.

measure the resistance of the bus ring line including the termination resistors. The result gives you information if the termination resistors are existing and if they have the right value or if there is a cable break or short circuit somewhere.

10

CAN Bus monitor

Troubleshooting the CAN-Bus with a monitoring program

- shows messages of the devices

- every device (controller) is sending a „heartbeat“ cyclicly soon powered on

- heartbeat is on identifier 700 + Node ID

- Node IDs: 1, 2, 3, 4, 5, 6

- CAN-Bus baudrate is 250 kbps

11

How to reset ICN-ControllerWhile main power switch on:

- key switch on (ignition)

- change node ID with DIP switch to a valuegreater than 6

- key switch off/on

- reset node ID (old value)

- key switch off/on

-

=> Module/Controller is reseted and should start to communicate

DIP SwitchBaud rate

12

How to read the pin out for ICN-D

Pin out for ICN-D:

- X5.0 describes the Node ID and connector number (ID = 5, connector 0)

- Column for Inputs and Outputs

- Description for inputs and outputs

Number of connector

Pin

num

ber

13

How to read the pin out for DCF