MOBA-matic, CAN - Levelling system (eng) Levelling system MOBA-matic, CAN_sf 2 A concept you‘ll...

MOBA Mobile Automation AG • Kapellenstr. 15 • 65555 Limburg / GermanyTelefon: +49 6431 95770 • Telefax: +49 6431 9577177 • E-Mail: [email protected] • www.moba.de09/2009

Levelling system

MOBA-matic

2Levelling system MOBA-matic, CAN_sf

A concept you‘ll find realized in the MOBA-matic!

MOBA-matic system provides for automatic control of paver screed elevation and inclination. It offers a full range of functions that enables you to make the most efficient use of your paver. Equipped with state-of-the-art technology, the MOBA-matic nevertheless offers total handling convenience.

MOBA-matic - Introduction

A levelling system that is

» easy to operate

» absolutely precise

» safe and reliable

» and adaptable to future needs



Conventional New generation

Grade- and slope-controllers be used for screed leveling for decades.The MOBA-matic is the newest generation of level controller and was developed for asphalt paver especially.On account of technical advantages and flexibility the MOBA –matic replace the analog units G176 (Grade controller) and S276 (Slope controller) more and more.Because still one controller is responsible for the tow point on each side of the machine, the replacement can be done step by step, means also combinations of both control systems are possible.

Possibility of combination on one machine



Set value

Reset

Slope direction

Set point changing

Slope direction

Set point changing

Set value

Reset

Slope direction

Set value

Set point changing

Reset

The changing from the analog to the digital handset at the S276 will already give the operator a familiarity in using.


The MOBA-matic is modular constructed.The operating unit which includes the control-outputs and the sensors are separate assemblies.

Based on modern micro processor technique and working with digital interfaces the controllerhave the possibility to cooperate with different sensor types, suitable for every application The digital controller recognize the linked sensor automatically and is ready to work immediately.

MOBA-matic - no other system is so flexible!

System architecture

Laser receiverLS-3000

Ultra sonic sensor SONIC-SKI®

Mech. rotary sensorDIGI ROTARY

Slope sensor DIGI-SLOPE

3-D

BIG SONIC-SKI®

Wire rope sensor

Digital controller


System architecture

The MOBA-matic system set up for each side of machine self-

sufficient. Controlling of the left and the right side is

independent.

For example...

... LEFT side with Sonic-Ski

... RIGHT side with Laser receiver


Equipment (examples)

Grade control

Grade control Grade control

Grade control

Slope control

1 x Digital controller1 x Sensor cable1 x Grade sensor

2 x Digital controller2 x Sensor cable2 x Grade sensor

2 x Digital controller2 x Sensor cable1 x Grade sensor1 x Slope sensor

2 x Digital controller2 x Sensor cable2 x Grade sensor1 x Slope sensor

Grade control

Grade control Slope control


Grade- and Slope controller become established as standard-equipment for each paver.

That’s why most of the European pavers designed and fit out to equip with levelling devices.

10 pole connectorat each side

valve„UP“

valve„DOWN“

To the sensor

To the machine

BAT- +

ABCD

Machine connection


Starting up – in praxis

So simple in use:

2. Connect the appropriate sensor with the controller

1. Connect the controller to the machine 3. Adjust the screed to start position

4. Set your working level and activateautomatic mode

... and ready to work !


LED-indicatorSignal-monitoring for valve outputs and alarm status

LC-DisplaySet value monitoringSensor indication

The digital controller

Key unitSet point changingSet point confirmationActual value alignmentAutomatic activation

Function lamps (LED)Automatic activeSensor positionSensor mode

The digital controller is the interface between user, sensors and level control.The actual operating status shown via 3 indication ranges and the complete system can be handled via only 4 buttons - really easy to operate with.


Adaptation to machine/application

Individual parameter settings

For machine type (first machine operation) (Memory function for 40 types):

Valve drive - ON/OFF valves NPN, PNP (PWM)- Proportional valves- Servo valves

Min. pulses /- currents

Frequency of valve drive with ON/OFF valves

Unit of displayed value - cm- inch- feet

Resolution of slope value - 0.01 = 1/10%- 0.05 = 5/100%- 0.02 = 2/100%

For application:

Sensitivity - dead band- Proportional band (pulsing range)

Control window


Summary of advantages of the digital controller

» Simple handling (only 4 buttons)

» System status at a glance

» Adaptable to every machine (Hydraulic)

» Memory function for different hydraulic types

» CAN interface

» Waterproofed by compound of complete unit

» Automatic sensor recognition


SONIC SKI: Ultra sonic sensing

The SONIC SKI® sensor is the first device equipped with multiple ultrasonic oscillators. Five sensors determine the distance to the reference point, while a sixth is used for temperature compensation.

Grade levelling with contact free sensing from ground, string line or curb.Maximum flexibility by using different references, no mechanicalwear, no soiling of the sensor.

5 eyes see more than 1 !


Advantages of SONIC-SKI® : stringline sensing

error: up to 1,29 cmaccuracy: + / - 2mm

AsphaltschichtAsphalt layer

Sonic-Ski Single sensing

25 cm sensing width

Seil25 cm sensing width

12,5 cm

60 c

m

61,29 cm

Asphalt layer

In stringline sensing the Sonic-Ski use the measurement of the oscillator nearest to the rope. Thus the measurement value is accurate to within +/- 2mm at the full sensing width of 25 cm.


Advantages of SONIC-SKI® : stringline sensing

What happens at the critical boundary range?As noted the Sonic-Ski works exact within a scanning range of 25 cm (tolerance +/.-2mm).If the scanning range will be left lateral, only the outer sensor can detect the rope. Without taking steps against, you would get the same error than using a single ultrasonic.

To realise a “clean” transition from working range to system alarm both outer sensors will be considered. The outer sensor is used for the measurement value, (shortest distance to the rope) but this measurement only is accepted in the overlapping range of second. If the rope is only detected from the outer ultrasonic sensor, the window alert will be activated immediately and the valve outputs be switched off. This makes sure that the control outputs will be blocked immediately if the scanning range is exceeded.


Advantages of SONIC-SKI® : ground sensing

Copy all errorsFade out errors

Reference Reference

S1 + S2 + S33

Averaging Single sensing

In ground sensing five ultrasonic measurements are made separate and simultaneous. Two of them (with the most positive and negative difference to the original set point) will be excluded – the three others will be taken for the calculation of the average. Due to this reason small irregularities will be taken out of the calculation and will not have an influence to the average result.

Asphalt layer Asphalt layer


BIG SONIC-SKI ®

By combining three Sonic-Ski® sensors it has become possible to sense a ground section at several, spatially separated spots. The MOBA-matic® leveling system calculates an average value from these measurements and deduces a virtual reference level.


A level where all waves become smooth !

BIG SONIC-SKI ®

Combining the two averaging systems enables you to sense nearly all surfaces, irrespective of their condition.

New advantages:» Even an unevenness which covers a larger ground section (e.g. road waves) will be smoothed out

without any difficulty. For this reason, the system works even more efficient than a single Sonic-Ski®.

» In addition, you can choose by key-touch whether the reference is to be duplicated with one Sonic-Ski® only or whether the average value of all sensor measure-ments is to be used.

Ski1 + Ski2 + Ski33

Asphalt layer Asphalt layer


BIG SONIC-SKI®

DLSII Digital controller(04-25-10453)

Sonic-Ski®CAN-Version(04-21-10020)

Coil cable 6m, CANwith bus-resistors,to connect Sonic-Skior Big-Ski junction box to the controller(04-02-02624)

Coil cable12m, CAN

(04-02-02621)

Coil cable12m, CAN

(04-02-02621)

Coil cable6m, CAN

(04-02-02620)To the machine



Junction box(04-03-00415)


BIG SONIC-SKI® - Mechanical parts „Modular“

Main beam „Modular“Partial length

Middle part: approx. 2,50 mModule element: each approx. 2,00 mSensor exten. bracket: each approx. 1,50 m

Total length- with 2 module elements: approx. 9 m- with 4 module elements : approx. 13 m



Main beam „Modular“

» Compact modulare parts

» easy mounting by one person only

» can be extended at will



Sensor brackets

» slideable

» swivel mountedapplications» curves» in front of the paver» behind the screed



Machine adaption

» Clamp brackets at the tow arm

» swivel mounted swing arm for individual positioning of the beam.


Zur Maschine

1

23

4

5

5

7

7

7

1

3

4

5

2

2

BIG SONIC-SKI®

Electronicpos qty description1 1 Digital controller2 1 cable connection machine3 1 cable connection controller/sensor 4 1 Junction box5 3 Sonic-Ski Sensor, CAN6 1 Sensor coil cable, 6 m7 2 Sensor coil cable, 12 m

Modular mechanicsPos qty description1 1 Basic beam, 9 m kit2 or Basic beam, 13 m kit2 2 Swing-Arm3 1 clamp bracket, rear4 1 clamp bracket, front


BIG SONIC-SKI®

„With the Big Sonic-Ski® all advantages of the reliable Sonic-Ski®are literally stretched to length.“


BIG SONIC-SKI®

First job site of the Big-Ski: 1999/2000

Highway A1 Gevelsberg/Wetter,

Mounted on a paver of company Oevermann


DIGI-ROTARY : mechanical sensing

Mechanical sensing from ground, string line or curb.

The Digi-Rotary sensor is still the most accurate sensor. But on account of mechanical parts there are disadvantages like:

1. wear at the bearings of rotation shaft 2. sensing ski get sticky.


LS-3000: Laser levelling

Grade leveling with a laser beam used as reference.

The Proportional-Laser receiverLS-3000 is preferred for large areas, e.g. sports fields,airports.

The laser receiver operates with most conventional rotational lasers, as for example red light emitter (Helium, Neon) and infrared emitter.


Multi-channel-receivers basically have a big disadvantage: The working point is fixed at the middle range of the receiving window. These receivers can detect deviations in steeps only .To change the working point the detector must be adjusted mechanically or the adjustment has to be done by the use of an additional electrical mast. Only evaluating each receiving cell separately allows a precise detection where the beam hits. Every change will be recognized with an accuracy of 1 mm. Only in this way a proportional controlaccording to the value of deviation can realized. An additional electrical mast or mast control is not necessary.

Advantages of the LS-3000

range 2

range 1Working pointrange 1

range 2

deviation deviation

Working point

value in mm

Multi-canel LS-3000

value in mm


DIGI-SLOPE : Slope detection

The Digi-Slope Sensor has to be mounted on the screed to detect the actual slope of the working tool. Contrary to the mechanical pendulum and liquid sensor the sensing device of the Digi-Slope sensor is specially designed for applications on construction machinery. The unit offers the required accuracy even if operated with high vibration (compaction) and high temperature environments.


3-D Control

Topographical features will be rendered in 3-dimensional form during the surveying process, and the data obtained will be fed into the computer, forming the basis for the future course of a road. An express goal of our development efforts was the direct translation of computer data into machine commands.For this reason an interface with a total station, i.e. the connection of an objective-pursuing theodolite to the MOBA-matic was developed.

In this system, the optical measuring instrument determines the position of a reflector on the paver and transmits the position data to an on-board computer. The computer compares the vehicle position with the target data from the topographical model. Every deviation will be adjusted with the MOBA-Matic. The machine implement the correct target values at all time.


Simple handling (4 buttons)

greatest variety of sensors- Ultrasonic - multiple sensing (Ground:averaging, string line:+/- 2mm)

- Proportional laser receiver (independent set point, real prop. control)

- Rotary sensor (highest accuracy, cheap, no alternative from competitors)

- Big Ski (no good reference necessary)

- 3 D

Adaptable to all kind of hydraulics (individual parameter settings)

1 System for different Machines (Memory for 40 hydraulic types)

CAN (Interference protection by digital data transfer, open system= Flexible to add new technology)

Most popular system (approx. 600 systems/ year – 80% of European paver market)

Summary of features and advantages

Date post:	29-May-2020
Category:	Documents
Upload:	others
View:	31 times
Download:	0 times

MOBA-matic, CAN - Levelling system (eng) Levelling system MOBA-matic, CAN_sf 2 A concept you‘ll...

Documents