Stabilizer intelligence S-IQ

Training

Loader Crane

Stabilizer intelligence

S-IQ

Version: 2018/03

Original Training Document English

PALFINGER AG

Lamprechtshausener Bundesstraße 8 5101 Bergheim | Austria

www.palfinger.com

Contents

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Contents

1 General .....................................................................................................................................5

1.1 Introduction and handling of this document ...............................................................5

1.2 Validity .......................................................................................................................5

1.3 Symbols in this document ..........................................................................................5

2 System requirements ..............................................................................................................6

3 Function ...................................................................................................................................6

3.1 General ......................................................................................................................6

3.2 Graphical representation ...........................................................................................7

3.3 S-IQ Functions ...........................................................................................................8

3.3.1 S-IQ sensor positioning ..............................................................................9

3.3.2 S-IQ1 crane stabilizers ............................................................................ 10

3.3.3 S-IQ2 additional stabilizers...................................................................... 10

3.3.4 S-IQ3 frame stabilizer .............................................................................. 11

3.3.5 S-IQ3 frame stabilizer variants ................................................................ 11

3.4 CAN bus connection ............................................................................................... 13

3.5 S-IQ Option 1-3 ....................................................................................................... 14

3.6 Comfort function ..................................................................................................... 15

3.7 Mounting position .................................................................................................... 15

4 Customer benefit .................................................................................................................. 16

5 Wiring .................................................................................................................................... 16

5.1 General ................................................................................................................... 16

5.2 Terminals ................................................................................................................ 16

5.3 Safety-related functions .......................................................................................... 17

5.4 Wiring diagrams ...................................................................................................... 18

5.4.1 Wiring diagram S-IQ1 / S-IQ2 ................................................................. 18



6 LED status codes ................................................................................................................. 21

7 Related parts ........................................................................................................................ 22

Contents

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8 PALDIAG.NET settings ........................................................................................................ 23

8.1 Main selection ......................................................................................................... 23

8.2 Setting digital sensor signals .................................................................................. 24

8.3 Setting Frame protection system (FPS) ................................................................. 25

8.4 Setting of transport and stabilizer monitoring (TRANS / ABSTW) ......................... 26

8.5 Setting (activation) of stabilizer comfort function .................................................... 27

8.6 Setting stabilizer force measurement (FSTAB) ...................................................... 28

9 PALDIAG.NET diagnostics .................................................................................................. 29

Stabilizer intelligence General

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1 General

1.1 Introduction and handling of this document

This PALFINGER original training document is a technical description of systems on a loader

crane. It will be handed out at PALFINGER trainings and should serve as a reference book for

service and repair work.

This training document is mainly addressed to specialized companies and PALFINGER

service workshops. Appropriate product knowledge and basic product education is required.

1.2 Validity

This training document is valid without any time limitation for the described system.

However, it is possible, that through further developments new versions of this document could

be available. PALFINGER reserves the right to change this document at any time.

The latest version of this training document, as well as any other technical documentation, are

available from PALFINGER general representatives or online at PALDESK under Products

Service Training Documents.

The required registration can be done at www.palfinger.com.

© Copyright by PALFINGER Duplication, also in extracts, is only permitted with written permission of PALFINGER.

1.3 Symbols in this document

The following symbols and signal words are mentioned in this document:

DANGER

Situation, that will lead to death or serious injuries.

WARNING

Situation, that could lead to death or serious injuries.

CAUTION

Situation, that could lead to minor injuries.

ATTENTION

Situation, that could lead to material damage.

IMPORTANT INFORMATION

Important information for the user.

PLEASE NOTE

Information, which makes working with the unit easier.

http://www.palfinger.com/

System requirements Stabilizer intelligence

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2 System requirements

PALTRONIC 150

SH and TEC

3 Function

3.1 General

The crane stabilizers and the additional stabilizers have to be electrically connected to the

crane. This requires a lot of time and precision by the professional staff. Incorrect connection

may lead to malfunctions.

The intelligent plug-and-play solution Stabilizer Intelligence S-IQ from PALFINGER simplifies

the connection of additional stabilizers and front or frame stabilizers.

In this context the following factors were focused:

avoid errors

simple troubleshooting

fast serviceability

fast replacement

The support signals are processed in an electronic control unit S-IQ and communicate with

the crane electronics by means of a CAN bus signal.

A separate electronic control unit is included per stabilizers pair. This unit can be mounted on

the standard position on the outrigger box or individually on the vehicle.

With a pre-assembled and sufficiently long cable harness, the sensors and lights of the

outrigger box and stabilizers can be connected comfortably, and especially, with a non-

confusable connection.

Stabilizer intelligence Function

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Up to 6 stabilizer cylinders can be integrated into the system (2 crane stabilizers + 2 additional

stabilizers + 2 front- or frame stabilizers).

IMPORTANT INFORMATION

To fulfil safety regulations, sensors with two channels are used for safety-relevant

signals. Two channels mean, that a switch requires two separate signals (NO / NC).

The switch-over must be done within 0.8 seconds. If this is not the case, an error

occurs. A switch-over, e.g. using a relay, does not work, because a relay switches too

inaccurate.

Possible sensor signals (for one stabilizer)

Stabilizer supported (SIL2 proximity sensor)

Outrigger fully extended/HPSC-L (SIL2 proximity sensor)

Outrigger retracted: transport position/plausibility (proximity sensor)

Outrigger length measurement

(CAN open, magnetostrictive length senor or rope transducer)

Stabilizer retracted (ABSTW-ABSTW)

Stabilizer force measurement FSTAB, 2 SIL2 pressure transducers (optional)

Angle measurement X-support via CAN open slewing encoder

(possible, but not realized from the software)

Supply connections for stabilizer light

3.2 Graphical representation

The S-IQ systems are assigned to supports and labelled with S-IQ1, S-IQ2 und S-IQ3 as

shown. S-IQ1 is connected to PALTRONIC 150 via CAN sensor bus.

1 S-IQ1 crane stabilizers

2 S-IQ2 additional stabilizers

3 S-IQ3 frame stabilizers

Function Stabilizer intelligence

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3.3 S-IQ Functions

The S-IQ electronic includes the following functions:

Stabilizer force measurement on the crane stabilizers (FSTAB, optional)

Analogue force measurement on the frame stabilizers (up to 4 sensors possible)

Comfort stabilizer (optional)

Digital input for parking break

Digital input for confirmation signal via a push-button – the acoustic warning can be

suppressed with a push-button in accordance with the product standard EN12999.

Safe non-contact proximity sensors are used for the digital signals.

Transport position monitoring

(2 digital outputs for optical and acoustic warning devices)

Logic:

The digital output of the optical warning device is always active as long as one of the

transport control systems on crane or stabilizers is active.

The digital output of the optical warning device is active as long as one of the transport

control systems on crane or stabilizers is active and the parking break is released.

To allow this function, the S-IQ1 electronic is powered by a separate input, independent

from the crane power supply. The ignition signal (clamp 15) from the truck should be

used. This signal is available in most cases at the truck-side electrical interface – the

digital outputs can be powered with a maximum of 1 Ampere.


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3.3.1 S-IQ sensor positioning

Version up to PK34002SH R4X Scanning sensor for stabilizer signals located

“above” outrigger cross beam

Example: PK10002SH with mechanical stabilizer system R2 Scanning sensor in roller support for

stabilizer signal located “underneath” on

outrigger cross beam

Version from PK42002SH Scanning sensor for stabilizer signal located “above” on outrigger cross beam (protected with plastic cap)

Scanning sensor for additional stabilizers can be mounted either “above” (1) or “underneath” (2) on the cross beam. This is an order option!


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Switch positions

Type Switch position underneath Switch position above

BS001 X --

BS002 X O

BS003 X O

BS004 X --

BS005 -- X

BS006 -- X

BS007 -- X

BS1003A O X

BS1242A-1 -- X

BS1286A X

BS1298A X

X Standard Equipment O Optional a retrofit kit is available at PPC to change from standard to opposite version

3.3.2 S-IQ1 crane stabilizers

The crane stabilizer are wired, factory connected and tested. The version of the S-IQ1 cable

harness depends on the crane equipment.

The digital input of the ballast weight LCA03 is located at the grey connector (C81) on S-IQ1

electronic box of the crane stabilizers.

3.3.3 S-IQ2 additional stabilizers

The additional stabilizers are factory installed and tested with the cable loop and S-IQ2

electronic.

In the additional stabilizers, the sensors and digital switches are built-in by factory.

The above mentioned plug-and-play solution has significantly improved installation safety and

assembly time to connect the units (crane stabilizers to additional stabilizers).

The S-IQ2 electronic box may basically be mounted individually (also on the truck frame) with

threaded holes on both side of the cross beam for the fixation.

It is important that the length of the pre-fabricated cable harnesses must not be changed.

The S-IQ2 electronic of the additional stabilizer has only one connector compared to S-IQ1

and S-IQ3 electronic.

On the other sides of the cable harness are pre-mounted connectors with sensor/connector

labeling. A manual wiring of the additional stabilizers is not necessary anymore (avoid errors).

The electric connection to the crane stabilizer is carried out with a pre-fabricated 5 meter

connection cable. If the cable is too short it can be extended by another 5 meter cable – this

cable kit must be ordered separately at the spare parts center.


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3.3.4 S-IQ3 frame stabilizer

Like for the additional stabilizers, the frame stabilizers will be delivered as kit.

The S-IQ3 electronic box has 2 connections. The second plug (grey) is prepared to take

pressure transducer signals.

The digital inputs for ballast weight LCA05 and LCA06 are also included in the S-IQ3 electronic

(Connector C90 blue).

3.3.5 S-IQ3 frame stabilizer variants

The PIN assignment is different depending on frame stabilizer variant. This is important on

variants with rear stabilizer and rear hatch (quadrant C).

The exact assignment can be found at crane related wiring diagrams.

crane stabilizers

S-IQ1

Connector C80 (blue)

B758

B760

Connector C81 (grey)

U330

U331

U332

U333

crane and additional stabilizers

S-IQ1 S-IQ2


B770

B772

1x front stabilizer

S-IQ1 S-IQ2 S-IQ3


B730


U334

U335



2x front stabilizers

S-IQ1 S-IQ2 S-IQ3


B730

B732


U334

U335

U326

U327

1x rear stabilizer

S-IQ1 S-IQ2 S-IQ3


B744


U336

U337

2x rear stabilizers

S-IQ1 S-IQ2 S-IQ3


B744

B746


U336

U337

U328

U329

1x front stabilizer

1x rear stabilizer with rear hatch

PK200002L-SH

S-IQ1 S-IQ2 S-IQ3


B728

B740

B744


U334

U335

U336

U337

1x front stabilizer with outrigger

1x rear stabilizer

S-IQ1 S-IQ2 S-IQ3


B724

B730

B744


U334

U335

U336

U337



3.4 CAN bus connection

1 S-IQ1 (is directly connected to X5-Box)

Connector C80 blue PIN 15/29 Connection to X5 (Sensor-Bus)

Connector C81 grey PIN 23/37 Connection to S-IQ2

2 S-IQ2 (is connected to S-IQ1 via CAN-Bus)

Connector C85 blue PIN 15/29 Connection to S-IQ1

3 S-IQ3 (is directly connected to X5-Box)

Connector C90 blue PIN 15/29 Connection to X5 (Sensor-Bus)

More detailed information regarding S-IQ is available at PALDESK:

Topic Location

Connection PALDESK crane related wiring diagrams

S-IQ Overview PALDESK Products Service Training Documents

Crane C-62 S-IQ Overview

S-IQ Harness variants PALDESK Products Service Loader Crane EMEA

Service Bulletins 2017 S-IQ Harness variants



3.5 S-IQ Option 1-3

CAN Bus

Voltage supply

Stabilizer signals

Transport position signals

Stabilizer force

S-IQ option 1-3



3.6 Comfort function

With the comfort function for stabilizers, the system switches off briefly when the stabilizer gets

in contact with ground and an acoustic signal is heard. Further stabilizer movement is possible

after lever neutral position (RRC).

Central connector Electronic unit BS-standard position

3.7 Mounting position

The roller switch for outrigger monitoring on the underside of the outrigger box was replaced

by a non-contact proximity sensor. This allows the sensor to be mounted on the upper or

underside of the outrigger box.

The mounting position of the additional stabilizers must be stated when ordering (MTF-A or

MTF-B) so that the proximity sensor is mounted on the upper or underside of the outrigger

box.

Subsequent repositioning of the sensor is possible and it can be modified in PALDIAG.NET.

Proximity sensor 1 Sensor position upperside (MTF-B)

2 Sensor position underside (MTF-A)

Customer benefit Stabilizer intelligence


4 Customer benefit

S-IQ contributes to the further improvement of the interface to the crane, and the acceleration

of mounting the additional stabilizers.

S-IQ brings the following benefits:

Massive reduction of assembly time and thus assembly costs

Pre-assembled cable harness (plug-and-play)

Error-free connection of the additional stabilizers to the crane

Better protection of outrigger monitoring switches thanks to optimized switch position

Integration of the stabilizer sensor system into the CAN bus system of the crane,

therefore directly processing the signals.

Additional stabilizers pluggable

Functional enhancements “Transport position”

Comfort function (optional)

Function HPSC-Plus LOAD (optional)

5 Wiring

5.1 General

With the S-IQ system, the physical structure of the CAN sensor bus has changed basically.

Newly developed CAN participants as well as digital sensors are used.

The new sensors for the length measurement have fixed addresses at the S-IQ units.

Addressing by wire is no longer required. Also the digital input extension is eliminated.

Every unit (crane stabilizer, additional stabilizer, frame stabilizer) got its own S-IQ

electronic unit.

The S-IQ system was developed as a plug-and-play solution.

Retrofit to S-IQ is not possible.

The S-IQ electronic units are protected with 5 A (F175) fuses by factory.

5.2 Terminals

Terminal: Name: Technical description:

851 Uzs IN Truck plus terminal via ignition ON, cl. 15 (superstructure interface)

800 GND Truck minus terminal 31 (superstructure interface)

175 Upto Truck PTO ON (superstructure interface)

650 CAN LO CAN connection from S-IQ1 to Paltronic

651 CAN HO CAN connection from S-IQ1 to Paltronic

653 CAN L1 CAN connection from S-IQ1 to S-IQ3

654 CAN H1 CAN connection from S-IQ1 to S-IQ3

401 Trans2 Main boom digital input

790 DI Input Digital signal of parking brake

792 DI Input Digital signal of acknowledgement key

794 DI OUT Digital signal, acoustic output max. 1A

796 DI OUT Digital signal, visual output max. 1A

Stabilizer intelligence Wiring


5.3 Safety-related functions

For a CE-conform design the following signals have to be indicated by an optical and

acoustical alarm in the driver’s cab.

Transport position monitoring of the boom-system (e.g. TRAN1, TRAN2)

The transport position monitoring checks if the boom-system of the crane is in transport

position or in the arm support during travel. The improper position of the boom-system

is indicated by visual and audible signals in the driver’s cab.

Transport position monitoring of the outrigger (e.g. AUSW, AUSVW, ABSTW)

The transport position monitoring checks that - when the vehicle is in driving mode - the

outriggers are completely retracted. If this is not the case, visual and audible warnings

will be given in the cab.

On cranes with S-IQ the visual and audible warnings of all transport position monitoring

units are interconnected accordingly in the S-IQ electronics and get output as digital

signals. Furthermore, the signals permitted in the loader crane standard EN 12999 can

be interlinked for suppressing the audible warning:

Signal number: Meaning: Description:

790 Parking brake engaged

Digital input on crane:

A High signal in this line means that the

parking brake of the vehicle is engaged

and the audible warning can be

suppressed.

792 Acknowledge button in the

driver's cab

Digital input on crane:

A High signal in this line suppresses the

audible warning until the status changes

the next time (acknowledge the audible

warning).

794 Audible warning

max. 1 Ampere

Digital output on crane:

The audible warning in the cab is

connected to this output (can be

acknowledged and suppressed by parking

brake).

796 Visual warning

max. 1 Ampere

Digital output on crane:

The visual warning in the cab is

connected to this output. This signal

cannot be suppressed.

PLEASE NOTE

The cables in the vehicle’s cab must be laid in compliance with the

manufacturer’s installation instructions.

Wiring Stabilizer intelligence


5.4 Wiring diagrams

5.4.1 Wiring diagram S-IQ1 / S-IQ2

S-IQ1 crane stabilizer

S-IQ2 additional stabilizers

S-IQ1 LCA03

SteckverbindungConnector

Klemmkasten X5Connection box X5

LCA03



Verlängerungskabel EEA13390

Extension cable EEA13390

5m




Ste

ckverb

indung

Connecto

rSte

ckverb

indung

Connecto

r

1m

1m

Kran S-IQ1Crane S-IQ1

Zusatzabstützung S-IQ2Additional Stabilizer S-IQ2

10m

C83

GrauGrey

BlauBlue

C83

Optional

Stabilizer intelligence Wiring




S-IQ1 LCA03

S-IQ3 frame stabilizer

S-IQ3 LCA05 / 06

S-IQ2 additional stabilizers


LCA03



Ste

ckve

rbin

dung

Connecto

rS

teckve

rbin

dung

Connecto

r

1m

1m

Kran S-IQ1Crane S-IQ1

Rahmenstützen S-IQ3Frame Stabilizer S-IQ3

GrauGrey

BlauBlue




C93

1m

EEA13464Verbindungskabel S-IQ3connection cable S-IQ3

10m

Ste

ckv

erb

indung

Co

nnecto

r

Ste

ckverb

indung

Con

necto

r

LCA05 / 06

10m


10m

C83

Zusatzabstützung S-IQ2Additional Stabilizer S-IQ2

Wiring Stabilizer intelligence




S-IQ3 LCA03 / 05 / 06

PLEASE NOTE

The mating 4-pin or 6-pin connectors are included as per crane configuration.

PLEASE NOTE

The currently applicable circuit diagrams are available at PALDESK.




C93

GrauGrey

BlauBlue

1m

10m



LCA05 / 06

10m



BlindsteckerBlind Plug



LCA03

1m

1m

EEA13464Verbindungskabel S-IQ3connection cable S-IQ3

C83


Stabilizer intelligence LED status codes


6 LED status codes

Different colour and flashing codes show information about the current status of the S-IQ

electronic unit.

Colour- / Flashcode Meaning Procedure

Slow flashing green.

2,5 seconds on

50 milliseconds off

OK

No error

Normal operation

Slow flashing orange.

2,5 seconds on

50 milliseconds off

CAN

communication

error

Check wiring

Fast flashing green.

Flashing in 0.5 seconds cycle

General

(internal) error

Check error codes with

PALDIAG.NET and

take appropriate steps,

possible replacement

of electronics

Fast flashing orange.


Parameterization

error

Check error codes with

PALDIAG.NET and

take appropriate steps,

possible replacement

of electronics

Fast flashing alternating green and orange.


Unit is in

bootloader mode

Hardware reset,

download valid

application

PLEASE NOTE

Troubleshooting should always start with checking error codes, as these information

is transmitted to PALTRONIC.

Due to its construction, the S-IQ electronic units are usually not visible from outside.

Related parts Stabilizer intelligence


7 Related parts

Pressure transducer

Inductive switch

SIL2 Inductive switch

Cable connector

(blue, grey)

Length measurement

outrigger (CAN bus)

Stabilizer light

Stabilizer intelligence PALDIAG.NET settings


8 PALDIAG.NET settings

PALDIAG.NET settings are required for the connection of S-IQ crane stabilizers and additional

stabilizers to PALTRONIC 150.

8.1 Main selection

After PALDIAG.NET login, the settings can be done via various buttons.

1 Frame protection system (FPS)

2 Monitoring transport position/comfort function (Trans / ABSTW)

3 Stabilizer force measurement (FSTAB)

4 I/O assignment

PALDIAG.NET settings Stabilizer intelligence


8.2 Setting digital sensor signals

Sensors with two channels are used with new stabilizer architecture. An invert of the signal

can be done now.

This is necessary, when sensor for signal “supported” is mounted on the lower side of the

outrigger. The configuration of all stabilizers delivered by PALFINGER is done automatically

at selection.

1 Selection of the stabilizer

2 Selection signal supported

3 Selection signal 100 % extended

4 Settings for crane stabilizers

5 Settings for additional stabilizers

6 Settings for frame stabilizers

7 Settings for ballast weights



8.3 Setting Frame protection system (FPS)

The new S-IQ system allows monitoring of frame stabilizer via pressure sensors and therefore

a more detailed overload detection.

Up to 2 frame stabilizers can be monitored with S-IQ. A permitted overload value has to be

defined due to existing bodybuilding. Cylinder values are filled in automatically at use of a

PALFINGER cylinder. When unknown cylinders are used, this data has to be determined out

of technical data sheets.

1 Frame stabilizer

2 Maximum allowed stabilizer force

3 Inner diameter cylinder

4 Rod diameter



8.4 Setting of transport and stabilizer monitoring

(TRANS / ABSTW)

The S-IQ electronic units are power supplied at normal vehicle operation for output of signals

during driving.

The following signals are available separately as DOUT on electronic unit S-IQ1:

Optical signal

Acoustic warning (can be cancelled)

1 Transport position outrigger and stabilizer active or not active for quadrant A

2 Transport position crane (Trans1, Trans2)

3 Transport position outrigger and stabilizer active or not active for quadrant D

4 Initialization (submit data to crane control system)

5 Selection of frame stabilizer configuration (see table below)

6 Transport position outrigger and stabilizer active or not active for quadrant C

7 Comfort function active or not active

8 Transport position outrigger and stabilizer active or not active for quadrant B

Frame stabilizer configuration Color Checkbox

1 front stabilizer and 1 rear stabilizer blue Frame stabilizer 1 = front

Frame stabilizer 2 = rear

2 front stabilizer yellow Frame stabilizer 1 = left

Frame stabilizer 2 = right

2 rear stabilizer purple Frame stabilizer 1 = left

Frame stabilizer 2 = right

1 rear hatch orange Frame stabilizer 1 = rear hatch



8.5 Setting (activation) of stabilizer comfort function

The comfort function stops the stabilizer movement at ground contact automatically.

Depending on lever movement or rather extending speed, the stabilizer continues to run

further more or less. Further movement of stabilizer is possible after lever neutral position

(RRC).

Stabilizer comfort function



8.6 Setting stabilizer force measurement (FSTAB)

The product standard EN12999 regulates, that all components of a loader crane must be

monitored by the overload protection. Also the crane base and the support must be monitored.

These components are highly stressed by stabilizer forces. Pressure transducers, positioned

in the stabilizers, measure the current pressure at the stabilizer cylinders.

The new S-IQ system allows monitoring of stabilizer pressure via sensors and therefore a

more detailed overload detection.

All values such as allowed overload values and cylinder diameters are loaded via PACWeb.

Due to the force transmission, stabilizer force measurement is only necessary for the crane

stabilizer cylinders. The mask is for information mainly. Changes are necessary at special

cases or at retrofit action only.

PLEASE NOTE

Stabilizer force measurement (FSTAB) must be activated in PALDIAG.NET via Plus-

Button.

The activation must be done after HPSC setting process (HPSC is active) but before

the verification process.

1 Stabilizer overload A

2 Legend

3 Stabilizer overload B

Stabilizer intelligence PALDIAG.NET diagnostics


9 PALDIAG.NET diagnostics

PLEASE NOTE

It is not allowed to open the S-IQ electronic units!

Opening results in loss of warranty!

Hardware diagnostics is limited to PALDIAG.NET diagnostics.

Active digital signals are displayed with a green LED. Analogue pressure values are converted

into bar and displayed.

PALDIAG.NET diagnostics

1 S-IQ1

2 S-IQ2

3 S-IQ3

PALDIAG.NET diagnostics Stabilizer intelligence


Signal colors:

Active signals are displayed with a green spot.

Grey spot, if no signal or not used.

Analogue signals are displayed with a yellow spot.

Power supply: red spot for plus (+) and blue spot for minus (-)

S-IQ 1 PALDIAG.NET diagnostics, connector blue and grey

S-IQ 2 PALDIAG.NET diagnostics, connector blue

Stabilizer intelligence PALDIAG.NET diagnostics


S-IQ PALDIAG.NET diagnostics, connector blue and grey

Date post:	05-Dec-2021
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