Manual Version 1.01, 28.01.

2005

Error Table
Safety Steering System
Mobile Crane FA029 / FA035

Project: Tadano FAUN

Auxiliary Steering System

For Mobile Cranes

Type: SLC 019 062

MOBIL
Bössingerstraße 33
D-74243 Langenbeutingen
ELEKTRONIK 07946 / 9194 - 0
GMBH
FAX 07946 / 9194 - 30

http://www.mobil-elektronik.com
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Technical changes pre served.

File: G:\PROJEKTE\019\000-099\019062\Bedienan\BA19062_EN_V100_Error table.doc

Date: 28. Januar 2005 Ro
Author: Dipl. Ing. B. Plöger,
Dipl. Ing. K. Klugesherz,
Dipl. Ing. (FH) Thomas Göppel
Version: version 1.01, 28.01.2005 /Gp

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Error Memory
All errors which have been occured are stored in an EEPROM memory and are kept without supply. The error
memory contains 32 storage positions each providing 3 error codes (location, kind of error, priority).
In order to simplify the reason for the errors they are subdivided in location, kind of error and priority.
Location and kind of error describe the defective area:
Location: e.g.: angle transducer track 1 of axle 1
Kind: e.g.: cable break, tolerance....
The priority defines the reaction of the system in case of an error:
Priority 0: Warning, the steering behaviour is not affected.
Priority 1: The steering is kept until the axle passes 0° the next time.
Priority 2: The axle is centered immediately (active steering).
Priority 3: Switch off in the secure state (setting the axle hydraulically free)

To read or erase the error memory with the diagnosis terminal please select the menu 'error memory'. Therefore
enter the diagnosis mode by pressing “Menu / Enter” for 3 seconds and select error memory menu with the Plus
and Minus keys.

Reading Error memory

The error memory mode is activated with the ENTER-key. The display changes to the first error storage
position. The error memory mode can be left any time by pressing the ESC-key.
Pressing the PLUS- and MINUS-key the errors can be read one after the other. At the end of the error memory
(position 32) the display jumps back to position 1 automatically.
As soon as an error 255, 255, 255 appears in the display there are no further errors written in the memory. Thus
the error position before is the last error message written to memory. If the error memory is erased completely
there are only „255“ contained.

Erasing Error Memory

The error memory can be erased at any state of diplay in the error memory mode.

After having pressed the PLUS-key for at least 3 seconds the erase process can be started by confirming the
request message appering on the display.
Pressing the ESC-key the memory will not be erased. The display changes to the error memory mode again.
Pressing the ENTER-key starts the erasing process.

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While the memory is erased the progress is displayed on the second line of the display.

After the memory has b een erased all storage positions are set to 255. The display automatically changes to the
first position.

The menu 'error memory' can be left by pressing the ESC-key.

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Loc. Kind of error Prio Description, trouble-shooting

01 Reserve
...
04
05 Digital Outputs
... 05=DO1, 06=DO2, 07=DO3, 08=DO4, 09=DO5, 10=DO6,
19 11=DO7, 12=DO8, 13=DO9, 14=DO10, 15=DO11, 16=DO12,
17=DO13, 18=DO14, 19=DO15

02 Cable break 1 Cable break detected at the according output. The wiring has to
be checked!
Notes for the troubleshooting:
By doing a resistance measurement at the clamps of the 54 -pole-plug with the
steering computer removed, the single valve solenoid coils can be checked.
Switching valves have typical coil resistances from 15 up to 30 ohms.
x If there are a number of outputs detecting a cable break at the same time, a
disconnection of a common return wire could be possible.
x If the error can not be found out by mesauring the resistance, the cross section
of a common return wire could be too sm all.

03 Short circuit 3 Short circuit detected at the according output. The wiring has to
be checked!
Notes for the troubleshooting:
By doing a resistance and voltage measurement at the clamps with the steering
computer removed from the plug, the kind of short circuit can be found out. It is
possible that there are short circuits to ground potential or to +24V supply voltage.
At the output clamps there must not be a voltage that exceeds 3V!

05 Parameter setting 3 Internal configuration error of the com puter.

12 > max. value 3 Internal configuration error of the computer.
This error can only be removed by factory.
20 PWM outputs
... 20=PWM1 (Prop.-valve axle1 solenoid A),
29 21=PWM2 (Prop.-valve axle1 solenoid B),
22=PWM3 (Prop.-valve axle2 solenoid A),
23=PWM4 (Prop.-valve axle2 solenoid B)

02 Cable break 3 Cable break detected at the according output. The wiring has to
be checked!
Notes for the troubleshooting:
By doing a resistance measurement at the clamps of the 54 -pole-plug with the
steering computer removed, the single valve solenoid coils can be checked.
Proportional valves (9V solenoid coils) have typical coil resistances from 2 up to
3,5 ohms
x If there are a number of outputs detecting a cable break at the same time, a
disconnection of a common return wire could be possible.
x If the error can not be found out by mesauring the resistance, the cross section
of a common return wire could be too small.

03 Short circuit 3 Short circuit detected at the according output.The wiring has to
be checked!
Notes for the trouble shooting:
See „Cable break“ of the PWM outputs.

05 Parameter setting 0 Internal configuration error of the computer.

30 Power Supply

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Loc. Kind of error Prio Description, trouble-shooting

02 Cable break 0 Supply from clamp 15 (ignition) is not available. Input signal is not
detected
Notes for trouble shooting:
Signal „fuse_ingnition“ is expected to be active in normal operation. Check fuse.

04 Plausibility 0 Supply of the steering computer from clamp 15 (ignition) is

unplausible.
Time span between „ignition“ and „en gine running“ was too short.
Short circuit estimated between both signals.
Notes for trouble shooting:
Signal „fuse_ignition“ is expected to be active at first position in normal operation.
Right after 1 second engine can be started and signal „fuse_genera tor“ is thought
to be active.
See also L36,04,00

10 5V reference 1 The reference voltage at clamp 34 exceeds the allowed tolerance

range! Check the wiring of the connected angle transducers!
Maybe there is a short circuit.
Notes for the trouble shooting:
The 5V reference supplies the angle transducers and the pressure sensors. With
the steering computer connected, clamp 34 must deliver a voltage of 5V. If the
voltage deviates, the angle transducers and sensors should be disconnected one
after one to find out the faulty connection.
The shields of the connected sensors should be controlled, too.

12 > max. value 3 Maximum allowed power supply voltage is exceeded!

Ubat at clamp J12.1 is higher than 30V!
13 < minimum value 3 Minimum allowed power supply vo ltage is undershot!
Ubat at clamp J12.1 is higher than 14V!
31 Speed > 0 1 Power supply is switched -on at a speed higher than 10 km/h. The
power supply is not secure, check the wiring!
Notes for the trouble shooting:
There may be a tottering contact in the power supply. Has the vehicle be towed ?

31 Parameter
05 Parameter setting 2 Wrong parameter values, standard value is used instead.
Notes for trouble shooting:
Edit the parameter shown on the display

19 Deviation 0 Parameters do not match to the configuration released. Release

signature must be entered in P_39.
System operation time is limited to 5 minutes after power -on.
Notes for trouble shooting:
Download released parameters with PCS.

19 Deviation 1 Parameters do not match to the configur ation released. Release

signature must be entered in P_39.
System has been switched off after 5 minutes operation.

Notes for trouble shooting:

Download released parameters with PCS.

32 Pressure Sensor
02 Cable break 1 There is no signal from the pre ssure sensor. Check the wiring!
Notes for the trouble shooting:
Measure the voltage of the sensor output with the steering computer connected.
You can also use the PCS. The voltage must have a value between 0,5V and
4,5V.

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Loc. Kind of error Prio Description, trouble-shooting

26 Build-up pressure 1 Pressure signal is unplausible while pressure is built up. Check
the pressure sensor and the pressure supply.
The pressure signal must increase when the load valve is opened
and no steering movements are done.
33 Pressure Supply
05 Parameter 3 The parameter setting of the hydraulic supply in P_80 is wrong.
09 Level 0 Cable break or lack of oil in the tank.
Notes for the trouble shooting:
Check the oil level, in normal operation the input should be at +U bat.

12 > max. value 3 The maximum value (P_90) has bee n exceeded. Check the
hydraulic supply.
13 < min. Wert 3 The maximum value (P_89) has been undershot. Check the
hydraulic supply.
26 Build-up pressure 1 The hydraulic pressure could not be built up after the ignition
system and the „load control“ has been switched on, and the time
that´s programmed in P_91 has runned down. Check the
pressure supply and the pressure sensor.
Notes for trouble shooting:
The input „load control“ may only be set after the motor is already running.

45 Maintenance 0 The pressure filter is closed, the electrical monitoring was

generating a message
Note for trouble-shooting:
Check the state of the oil filter. In normal operation the input should be at +U bat

34 Charge Control
02 Cable break 0 Signal for engine rotation c an be received from CAN bus.
However, a defect is shown.
Notes for trouble shooting:
– engine control box is defect

04 Plausibility 0 Signal for engine rotation can be received from CAN bus.
However, the signal is not available.
Notes for trouble shooting:
– engine control box is defect
– wrong engine control box configuration

06 Timeout 0 Signal for engine rotation can not be received from CAN bus.
Notes for trouble shooting:
– engine control box is defect
– CAN-Bus ist not connected

31 Speed > 0 1 The vehicle moves (>20km/h) and charge control is not active
(engine is off).
Notes for trouble-shooting:
check the wiring

36 Redundant
power supply
02 cable break 0 Supply of the steering computer from clamp 91 (generator) is not
available although engine is running. Input signal is not detected.
Notes for trouble-shooting:
Signal „fuse_generator“ is expected to be active in normal operation with engine
running. Check fuse.

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Loc. Kind of error Prio Description, trouble-shooting

04 Plausibility 0 Supply of the steering computer from clamp 91 (generator ) is not
plausible.
Signal “fuse_generator” is active although engine is off. Short
circuit is supposed.
Notes for trouble-shooting:
Signal „fuse_generator“ is expected to be to be active at first position in normal
operation. Right after 1 second engine can be started and signal
„fuse_generator“ is thought to be active.
See also L30,04,00

37 Rigid axle
09 Level 0 Operation or selection of steering program not possible as signal
„rigid axle lifted“ not active.
Notes for trouble-shooting:
Rigid axle must be lifted. If the axle is already lifted digital signal „rigid axle lifted“
should be checked.

38 Wheel-driven pump
04 Plausibility 0 Signal „wheel-driven pump“ is active while vehicle is standing still
or inactive while vehicle is driving.
Notes for trouble-shooting:
Check digital signal „wheel -driven pump“

40, 42, Angle Transducer

44, 46, Axle x 40= axle1, 42= axle 2, 44= axle 3, 46= axle 4,
48, 50 Track 1 48= setpoint generator 1, 50= setpoint generator 2

02 Cable break 1 The voltage of the slider lies within the range of cable break
detection. Check the wiring of this angle transducer.
Notes for the trouble shooting:
The angle transducer of the front axle is not supplied or stands in overturned
position. There is also the possibility of a cable break of the „5V external“ or „5V
reference“ supply line. Measure the following voltages at the analogue inputs:

Voltage > 4,8 V: - Short circuit of the slider to clamp J10.4

or J2.11 or 24 V.
- Mechanical range exceeded ?
- Cable break be tween J2.2 and
angle transducer track 1
Voltage < 0,2 V: - Short circuit of the slider against clamp J2.2 or against
vehicle ground
- Cable break between slider and angle transducer
- Cable break between J10.4 and angle transducer
- Mechanical range exceeded ?
For exact location the following resistances should be measured with unplugged
steering computer:
Between clamp J10.4 and J2.2. As there are connected at least two tracks you
should neasure about 1000 Ohm (750 – 1250 Ohm). In case of dev iations there is
a cable break / short circuit of the output „5V -Ref.” or „0V-Signal“.

05 Parameterprog. 0 Parameter P_64 is programmed wrong.

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Loc. Kind of error Prio Description, trouble-shooting

17 Summation of 2 The summation of the potentiometer voltages is unplausible. The
tracks 1 and 2 power supply of the second potentiometer track may be
exchanged.
Notes for the trouble shooting:
When the vehicle is in use:
Check the connection of the shield of the angle transducer.
When doing the start -up after installation:
Check the voltages of the angle transd ucer by using the PCS. When steering the
rear axle from the left to the right mechanical stop, the voltage of the
potentiometer track 1 must increase. When the voltage of track 1 is o.k.
(increasing voltage when steering to the right direction) there may be an error of
the supply of track 2. Exchange Pin 1 and 3 of potentiometer track 2.
If the voltage of track 1 decreases when steering in right direction, there is an
error of the supply of track 1. Exchange Pin1 and 3 of the potentiometer track 1.

18 Difference 2 The measured angle difference between track 1 and 2 exceeds

tracks 1/2 the value that is programmed in parameter P_65.
Notes for the trouble shooting:
When the vehicle is in use:
Check the connection of the shield of the angle transducer.
When doing the start -up after installation:
The angle transducer must be aligned.

41, 43, Angle Transducer 41= axle 1, 43= axle 2, 45= axle 3, 47= axle 4,
45, 47, Axle x 49= setpoint generator 1, 51= setpoint generator 2
49, 51 Track 2
02 Cable Break 1 The voltage of the slider lies within the range of cable break
detection. Check the wiring of this angle transducer.
Notes for the trouble shooting:
The angle transducer of the front axle is not supplied or stands in
overturned position. There is also the pos sibility of a cable break
of the „5V external“ or „5V reference“ supply line. Measure the
following voltages at the analogue inputs:

Voltage > 4,8 V: - Short circuit of the slider to clamp J10.4

or J2.11 or 24 V.
- Mechanical range exceeded ?
- Cable break between J2.11 and
angle transducer track 2
Voltage < 0,2 V: - Short circuit of the slider against clamp J2.2
or against vehicle ground
- Cable break between slider and angle transducer
- Cable break between J2.11 and angle transducer
- Mechanical range exceeded ?
For exact location the following resistances should be measured
with unplugged steering computer:
Between clamp J2.11 and the isolated supply. There must be
measured a value of ca. 2000 Ohm. In case of deviations there is
a cable break or a short circuit of the output „5V -ext“ or „0V-
Signal“.
11 5V external 1 The power supply voltage „5V external“ at clamp 33 exceeds the
allowed tolerance range! Check the wiring of the connected angle
transducers and pressure sensors! Mayb e ther is a short circuit.
Notes for trouble shooting:
See „5V reference“ of the power supply.
52 Speed 1

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Loc. Kind of error Prio Description, trouble-shooting

02 Cable break 0 Speed signal is displayed to be faulty on CAN bus.
Notes for trouble shooting:
Check all components providing speed signals ( ABS-controller, tachymeter)

04 Plausibility 0 Speed signal is not available on CAN bus.

Notes for trouble shooting:
Check configuration of all components providing speed signals (ABS -controller,
tachymeter)

05 Parameter setting 1 Wrong parameter settin g for speed measurement.

See parameters P_16, P_72
06 Timeout 0 Speed signal is not receivable on CAN bus.
Notes for trouble shooting:
Check all components providing speed signals (ABS -controller, tachymeter)

18 Deviation 1 Difference between speed 1 a nd 2 exceeds the allowed range

(P_73). One of the speed signals may have a malfunction.
Notes for the trouble shooting:
Check the speed measurements by doing a test drive.
- Is the tachymeter o.k. ?
- Has the tire equipment been changed (diameter of tires ?) Accomodate
parameter P_17.
- In case of proximity initiator switches: Check the correct distance between
initiator and the metallic release.

53 Speed 2
02 Cable break 0 Speed signal is displayed to be faulty on CAN bus.
Notes for trouble shooting:
Check all components providing speed signals (ABS -controller, tachymeter)

04 Plausibility 0 Speed signal is not available on CAN bus.

Notes for trouble shooting:
Check configuration of all components providing speed signals (ABS -controller,
tachymeter)

05 Parameter- 1 Parameter for the speed signal is programmed wrong or the

progrmming value of WIZ2 (P_17) is too high.

06 Timeout 0 Speed signal is not receivable on CAN bus.

Notes for trouble shooting:
Check all components providing speed signals (AB S-controller, tachymeter)

55, 56, Monitoring of the 55 = axle 1, 56 = axle 2,

57, 58 steering angle 57 = axle 3, 58 = axle 4
steered axle X
05 Parameter- 0 Parameter of the steering angle deviation monitoring is
programming programmed wrong.
19 Deviation 3 The allowed control deviation is exceeded longer than defined in
P_97. The axle did not reach the correct position.
Notes for the trouble shooting:
Are there probably too high steering forces required?
Does the hydraulic supply deliver enough oil ?

30 Inverse movement 3 The axle moves opposite the expected direction.

Notes for the trouble shooting:
When doing the start -up after installation:
Is the sense of rotation of the angle transducer correct and is the proportional
valve connected correct ly? Does the slider of the proportional valve cramp? Is
there any play in the coupling of the angle transducer?

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Loc. Kind of error Prio Description, trouble-shooting

37 v1 > v >v2 0 Warning: Threshold of the control deviation has been exceeded
for a short time at a vehicle speed between P_98 and P_99.
Check the steering speed and the hydraulic supply.
38 v2 > v > v3 0 Warning: Threshold of the control deviation has been exceeded
for a short time at a vehicle speed between P_99 and P_100.
Check the steering speed and the hydraulic supply.
39 v3 > v > v4 0 Warning: Threshold of the control deviation has been exceeded
for a short time at a vehicle speed between P_100 and P_101.
Check the steering speed and the hydraulic supply.
40 v > v4 0 Warning: Threshold of the control deviation has been exceeded
for a short time at a vehicle speed above P_101.
Check the steering speed and the hydraulic supply.
41 v > v4 3 Warning: Threshold of the control deviation has been exceeded
for a short time by the factor P_106.
The axle has been switched -off immediately
Notes for the trouble shooting:
Are there too high steering forces ?
Is the hydraulic supply sufficiant ?

60, 62, Alignment 60 = axle 1, 62 = axle 2,

64, 66, Angle Transducer X 64 = axle 3, 66 = axle 4,
68, 70 Track 1 68 = setpoint generator 1
70 = setpoint generator 2

04 Plausibility 3 The alignment procedure of the front axle is not complete.

Repeat the alignment procedure! Always do a complete
alignment procedure (left stop, middle, right stop)
42 0° - alignment 3 The 0° alignment value exce eds the allowed tolerance range.
The 0° position of the angle transducer must be accomodorated
to the 0° position of the axle.
43 Left alignment 3 The alignment value of the left mechanical stop exceeds the
allowed tolerance range.
The angle transducer h as to be aligned.
44 Right alignment 3 The alignment value of the right mechanical stop exceeds the
allowed tolerance range.
The angle transducer has to be aligned.
31 speed > 0 0 An alignment is not allowed while driving.
61, 63, Alignment 61 = axle 1, 63 = axle 2,
65, 67, Angle Transducer X 65 = axle 3, 67 = axle 4,
69, 71 Track 1 69 = setpoint generator 1
71 = setpoint generator 2

04 Plausibility 3 The alignment procedure of the front axle is not complete.

Repeat the alignment procedure! Al ways do a complete
alignment procedure (left stop, middle, right stop)
42 0° - alignment 3 The 0° alignment value exceeds the allowed tolerance range.
The 0° position of the angle transducer must be accomodorated
to the 0° position of the axle.
43 Left alignment 3 The alignment value of the left mechanical stop exceeds the
allowed tolerance range.

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Loc. Kind of error Prio Description, trouble-shooting

The angle transducer has to be aligned.
44 Right alignment 3 The alignment value of the right mechanical stop exceeds the
allowed tolerance range.
The angle transducer has to be aligned.
72 CAN terminal
06 Timeout 0 The connection to the operation terminal is interrupted.
Notes for the trouble-shooting:
Check the wiring and fuses.

73 Confirmation
07 Active 0 Due to an error of a redundant component (e.g. angle transducer
front axle) a key operation of the driver is expected in order to
switch off upshift interlock (LED “menu/enter” is alternating, press
key “menu/enter”.
Notes for the trouble-shooting:
Read error memory and remove error.

74 Software

46 Overload 0 The process time is exceeded and not constant anymore.

Notes for the trouble-shooting:
A constant process time is important in remote network systems.
The warning should not appear regular. Check if there has been
a change of parameters.
75 CAN connection
06 Timeout 0 The connection to the terminal is interrupted.
Notes for the trouble-shooting:
Check the wiring and fuses .
76 Setpoint generator
04 Plausibility 1
05 Parameter 3
77 Axle configuration
05 Parameterprog. 3 At least one of the parameters P_52 to P_55 has been
programmed wrong
78 Steering suppression
05 Parameterprog. 3 Parameter P_18 is programmed wrong.
79 Steering angle
reduction
05 Parameterprog. 3 Parameter P_70 or P_71 is programmed wrong.
80 Global Setpoint ramp
05 Parameterprog. 3 At least one of the parameters P_119 to P_121 is programmed
wrong.
81 Fuse check
09 Level 0 The digital input is not active.
Check the redundant fuse (3 Ampere) of the error lamp or the
wiring.
82 Centering unit

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Loc. Kind of error Prio Description, trouble-shooting

02 Cable break 2 Cable break of the pressure sensor of the centering unit.
Check the wiring and sensor.
83 Steering Program
Keys
04 Plausibility 0 The operation elements for the steering program selection are
not operated correctly. No oper ations will be accepted anymore
Notes for trouble shooting:
Check if there is a short circuit or if there is a key cramping .

05 Parameter setting 0 Wrong parameter setting P_112 and P_128.

Notes for trouble shooting:
Check values

84 Reduction of the
Steering Line
05 Parameterprog. 3 Parameter P_70 or P_71 are programmed wrong.
21 Locking cycle 3 Locking of axle was not possible after finishing reduction of the
steering line.
Notes for trouble shooting:
Steering program „narrow curve“ is expected t o be finished automaticay.
However, axle locking was not possible .

85 Bus Stop Function

05 Parameterprog. 3 At least one of the parameters P_43 to P_45 or P_17 is
programmed wrong
86 Speed limit
04 Plausibility 3 Vehicle speed is expected to be l imited. However, a speed of
30km/h has been exceeded.
Notes for trouble shooting:
Check vehicle behaviour and wiring

87 CAN-Master
06 Timeout 0 CAN-connection of the present steering computer to main
controller (SLC master) has been interrupted.
Notes for trouble shooting:
Check wiring and fuses

18 Deviation 0 The front axle positions of both steering circuits are deviating.
Notes for trouble shooting:
Check the values measured concerning the mechanical angle. Do an alignment of
both front axles.

47 Break down 0 Main controller (SLC master) has been failed with error pending.
Notes for trouble shooting:
Check operation of the master steering computer. Maybe the
steering system can only be operated under limitations .
88 CAN-Slave 1
06 Timeout 0 CAN-connection of the present steering computer to further
controller (SLC slave) has been interrupted.
Notes for trouble shooting:
Check wiring and fuses

18 Deviation 0 The front axle positions of both steering circuits are deviating.

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Loc. Kind of error Prio Description, trouble-shooting

Notes for trouble shooting:
Check the values measured concerning the mechanical angle. Do an alignment of
both front axles.

47 Break down 0 Further controller (SLC master) has been failed with error
pending.
Notes for trouble shooting:
Check operation of the further steer ing computer. Maybe the
steering system can only be operated under limitations .
89 CAN-Slave 2
06 Timeout 0 CAN-connection of the present steering computer to further
controller (SLC slave) has been interrupted.
Notes for trouble shooting:
Check wiring and fuses

18 Deviation 0 The front axle positions of both steering circuits are deviating.
Notes for trouble shooting:
Check the values measured concerning the mechanical angle. Do an alignment of
both front axles.

47 Break down 0 Further controller (SLC master) has been failed with error
pending.
Notes for trouble shooting:
Check operation of the further steering computer. Maybe the
steering system can only be operated under limitations .
90, 91, Axle locking 90 = axle 1, 91 = axle 2,
92, 93 92 = axle 3, 93 = axle 4,
16 Drift 0 Only with mechanical locked axles:
The locking position does not appropriate to the aligned 0° -value.
Check the axle and the coupling of the angle transducer!
Notes for the trouble shooting:
May the axle move, caused by me chnical tensions or play of the
angle transducer´s coupling? Repeat the alignment of the axle!
19 Deviation 3 There is a deviation from the locking position or the retaining is
not possible. The actual value is higher than 0°.
The allowed deviation is s et in parameter P_94.
Notes for the trouble shooting:
The centred axle has moved out of the 0° position or it won´t
reach the 0° position to be locked. Check the mechanical
coupling of the angle transducer if there is too much play.
When doing the start -up after installation:
The alignment procedure of the rear axle should be done.

When the vehicle is in use:

Check the actual value of the rear axle. The rear axle should not
move in a range of more than 0,5°. Are there any axle tensions
possible, especiall y when driving through a curve ? Does the
steering axle alter when the vehicle suspends, is the angle
transducer fixed to the frame?
21 Locking cycle 3 Only with mechanical locked axles:
The axle was not retained after the end of the locking cycle.
Check the centering switch of the mechanical retainment.

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Loc. Kind of error Prio Description, trouble-shooting

22 Unlocking cycle 3 Only with mechanical locked axles:
The axle can not be steered even after an unlocking cycle is
done.
Check the centering switch and the compressed air.
23 Locking state 3 Only with mechanical locked axles:
The centering switches of the retained axle are not in correct
position.
Check the centering switches.
24 Unlocking state 1 Only with mechanical locked axles:
The centering switches of the retained axle are not in correct
position.
Check the centering switches and the compressed air.
43 Drift centering 3 Deviation from locking position. Actual value > 0°. The allowed
position deviation is programmed inP_94.
steered axle 1
Notes for the trouble shooting:
The centred axle has moved out of the 0° position or it won´t
reach the 0° position to be locked. Check the mechanical
coupling of the angle transducer if there is too much play.
When doing the start -up after installation:
The alignment procedure of the rear axle should be don e.

When the vehicle is in use:

Check the actual value of the rear axle. The rear axle should not
move in a range of more than 0,5°. Are there any axle tensions
possible, especially when driving through a curve ? Does the
steering axle alter when the vehi cle suspends, is the angle
transducer fixed to the frame?
44 Drift centering 3 Deviation from locking position. Actual value > 0°. The allowed
position deviation is programmed inP_94.
steered axle 2
Notes for the trouble shooting:
The centred axle has mo ved out of the 0° position or it won´t
reach the 0° position to be locked. Check the mechanical
coupling of the angle transducer if there is too much play.
When doing the start -up after installation:
The alignment procedure of the rear axle should be done.

When the vehicle is in use:

Check the actual value of the rear axle. The rear axle should not
move in a range of more than 0,5°. Are there any axle tensions
possible, especially when driving through a curve ? Does the
steering axle alter when the vehicl e suspends, is the angle
transducer fixed to the frame?
95, 96, Test of the actuator 95 = axle 1, 96 = axle 2,
97, 98 steered axle X 97 = axle 3, 98 = axle 4
32 Check valve 3 A movement of the axle is possible although the check valves are
opened closed (currentless). Probably the check valves are defective.
33 Check valve 3 The axle won´t move even if the check valves are opened (turned
closed on). Probably the check valves are defective or the required
steering forces are too high.
34 Circulation valve 3 The circulation valve does not work (closed/opened).

BA19062_EN_V101_Error table.doc
 MOBIL Manual Seite 16 von 18
ELEKTRONIK error table 25.01.2005
GMBH
SLC 019 062 Ro

Loc. Kind of error Prio Description, trouble-shooting

35 Centering 3 Only axles with centering system:
function A centering of the axle is not possible. Check if the steering
forces are too high.
36 Hydraulic 3 Only axles with centering system:
retainment of the The centering part of the cylinder is not lockable hydraulically.
centering cylinder Maybe the non-return valve at the cylinder is defective.
100 Digital Inputs 100 = DE1, .... 119 = DE20
...
119 04 Plausibility 3 Internal error of a safety input
05 Parameter 3 Internal configuration error.
programming Correction of parameters necessary.
12 > max. value 3 Internal configuration error.
Correction of parameters necessary.
120 Analogue Inputs 120 = AE1, .... 29 = AE10
...
129 03 Short circuit 3 Short circuit between analogue inputs.
Check the wiring!
04 Plausibility 3 Internal error of a safety input
140 Digital Inputs 140 = CAN-DE1, .... 156 = CAN-DE16
... via CAN bus
156 04 Plausibility 3 Internal error of a CAN input
05 Parameter 3 Internal configuration error.
programming Correction of parameters necessary.
12 > max. value 3 Internal configuration error.
Correction of parameters necessary.
160 Digital Outputs 160 = CAN-DA1, .... 176 = CAN-DA16
... via CAN bus
176 04 Plausibility 3 Internal error of a CAN output
05 Parameter 3 Internal configuration error.
programming Correction of parameters necessary.
12 > max. value 3 Internal configuration error.
Correction of parameters necessary.
239 Steering computer
1 .. 4 3 Internal error, exchange steering computer
5 3 Parameter error
– reload parameter with PCS -Software
– exchange steering computer
6 3 Software error
– reflash software
– exchange steering computer
7 .. 18 3 Internal error, exchange st eering computer
19 3 Test of internal safety switch failed
– check digital outputs for short circuits to supply voltage
– exchange steering computer

BA19062_EN_V101_Error table.doc
 MOBIL Manual Seite 17 von 18
ELEKTRONIK error table 25.01.2005
GMBH
SLC 019 062 Ro

Loc. Kind of error Prio Description, trouble-shooting

20 3 Internal error, exchange steering computer
21 .. 36 3 Test of digital outputs failed
– check digital outputs for short circuits to supply voltage
– exchange steering computer
41 .. 46 3 Digital outputs of expansion board do not switch.
Output No. concerned = error code – 24
– check digital outputs for short circuits to supply voltage
– exchange steering computer
61 .. 74 3 Fault of digital inputs of expansion board
Input No. concerned = error code – 34
– check voltage at digital input
– exchange steering computer
95 3 Expansion board 1 out of order.
- exchange board
99 3 No supply of safety digital outputs available
– check voltage
– exchange steering computer
101 .. 105 3 Internal error, exchange steering computer
106 3 power supply too high (>31V)
– check voltage
107 3 power supply too low (<14V)
– check voltage
108 3 Max. allowed internal temperature exceeded (> 85°C)
– check temperature
– exchange steering computer
109 .. 113 3 Internal error, exchange steering computer
114 3 Reference voltage +5Vref out of tolerance
– check voltage
– check sensors for short circuit
– exchange steering computer
115 3 Reference voltage +5Vext out of tolerance
– check voltage
– check sensors for short circuit
– exchange steering computer
116 3 Test of internal safety switch failed
– check digital outputs for short circ uits to supply voltage
– exchange steering computer
121 .. 136 3 Test of digital outputs failed.
Output No. concerned = error code – 120
– check digital outputs for short circuits to supply voltage
– exchange steering computer
161 .. 176 3 Error of digital input
Input No. concerned = error code – 160
– check voltage
– exchange steering computer
BA19062_EN_V101_Error table.doc
 MOBIL Manual Seite 18 von 18
ELEKTRONIK error table 25.01.2005
GMBH
SLC 019 062 Ro

Loc. Kind of error Prio Description, trouble-shooting

201 .. 208 3 Error of analog input
Input No. concerned = error code – 200
– check voltage
– exchange steering computer
221 .. 222 3 Error of analog output
Input No. concerned = error code – 220
– check voltage
– exchange steering computer
240 Redundant Electronic

BA19062_EN_V101_Error table.doc