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TMC HEX support for pitch/roll sensor on free hanging variable grab

By Simon Lightbody posted 09-05-2021 19:45

  

TMC v4.4.5.9 on an EC520 based HEX system with a free hanging variable grab.

There are 2 suggested solutions:

  1. Configure the EC520 with a tilting bucket and use the 'Bucket angle' and 'Bucket Tilt' from the EC520 as the Grab Riser Pitch and Roll.
  2. Use a stand alone GS520 on CAN2 for the Grab Riser Pitch and Roll

NOTE: Until EC520 supports a 'No Attachment' configuration the dogbone sensor will be required for attachment calibration and CAN API operation.

Option #1 using TMC v4.4.5.9 is:

  • Configure the EC520 with a tilting bucket
  • Install both sensors on the Grab Riser.
  • EC520 attachment calibration is important since this will affect the bucket angle and bucket tilt from the EC520. Some testing is required but I assume if the dogbone elements are all of equal length then the computed angle will be the same as the raw sensor angle which is what we need.
  • In the TMC 'Crane Configuration' use the 'Variable Grab' tool type and use the 'Fixed joint - tilt coupler angle' setting.

Option #2 using TMC v4.4.5.9 is:

  • Install the GS520 dogbone sensor required for the EC520 attachment calibration anywhere suitable. TMC will not use the data from this sensor or the bucket angle data from the EC520.
  • Install a GS520 (v1.51 or greater) on the Grab riser (pitch/roll) and connect to CAN2 on the harness (same CAN bus as the IXXAT/TMC)
  • In TMC configure the Grab Riser sensor as a VRU (pitch/Roll) and select it as the Clamshell Common (Riser) sensor data source (See below)
  • In the TMC 'Crane Configuration' use the 'Variable Grab' tool type and use the 'Free hanging grab' setting.
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