® Instruction book

IQAN-LL/LM
Publ no HY17-8330-IB/UK
Edition July, 2007
 Contents

Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Safety symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
General safety regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Construction regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Safety during installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Safety during start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety during maintenance and fault diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
IQAN-LL/LM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
The control lever's parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
The IQAN-Lx control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
I/O overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
CAN related functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
4 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Polarity reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
CAN-bus interruption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Input/ output Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
System Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
LED indicator showing different Lx modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Mounting the unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Mounting considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Mounting methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
6 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Connectors C1 and C2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Connector pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Connecting of Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
IQAN-Lx addressing/terminating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Terminating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Reference voltage, VREF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Connecting sensors and switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Connecting sensors to the voltage inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
7 Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Start-up procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Starting the control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Prepare for system start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Start the system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
IQAN-Lx Technical Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Appendix B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Error codes, messages and actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Appendix C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Dimensioning of the IQAN-Lx module types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Instruction book, IQAN-Lx 2

 Safety symbols
1 Introduction

1 Introduction

These instructions are to be used as a reference tool for the vehicle manufacturer’s
design, production, and service personnel.
The user of these instructions should have basic knowledge in the handling of
electronic equipment.

Safety symbols
Sections regarding safety, marked with a symbol in the left margin, must be read and
understood by everyone using the system, carrying out service work or making changes
to hardware and software.
The different safety levels used in this manual are defined below.

W ARNING
Sections marked with a warning symbol in the left margin, indicate that a hazardous
situation exists. If precautions are not taken, this could result in death, serious injury or
major property damage.

C AUTION
Sections marked with a caution symbol in the left margin, indicate that a potentially
hazardous situation exists. If precautions are not taken, this could result in minor injury
or property damage.

N OTICE
Sections marked with a notice symbol in the left margin, indicate there is important
information about the product. Ignoring this could result in damage to the product.

Contact the manufacturer if there is anything you are not sure about or if you have any
questions regarding the product and its handling or maintenance.
The term "manufacturer" refers to Parker Hannifin Corporation.

Instruction book, IQAN- Lx 3

 General safety regulations
2 Precautions

2 Precautions

General safety regulations

Work on the hydraulics control electronics may only be carried out by trained
personnel who are well-acquainted with the control system, the machine and its safety
regulations.

W ARNING
Mounting, modification, repair and maintenance must be carried out in accordance
with the manufacturer's regulations. The manufacturer has no responsibility for any
accidents caused by incorrectly mounted or incorrectly maintained equipment. The
manufacturer does not assume any responsibility for the system being incorrectly
applied, or the system being programmed in a manner that jeopardizes safety.

W ARNING
Damaged product may not be used. If the control system shows error functions or if
electronic modules, cabling or connectors are damaged, the system shall not be used.

W ARNING
Electronic control systems in an inappropriate installation and in combination with
strong electromagnetic interference fields can, in extreme cases, cause an unintentional
change of speed of the output function.

N OTICE
As much as possible of the welding work on the chassis should be done before the
installation of the system. If welding has to be done afterwards, the electrical
connections on the system must be disconnected from other equipment. The negative
cable must always be disconnected from the battery before disconnecting the positive
cable. The ground wire of the welder shall be positioned as close as possible to the
place of the welding. The cables on the welding unit shall never be placed near the
electrical wires of the control system.

Construction regulations
C AUTION
The vehicle must be equipped with an emergency stop which disconnects the supply
voltage to the control system's electrical units. The emergency stop must be easily
accessible to the operator. The machine must be built if possible, so that the supply
voltage to the control system's electrical units is disconnected when the operator leaves
the operator’s station.

Safety during installation

C AUTION
Incorrectly positioned or mounted cabling can be influenced by radio signals which can
interfere with the functions of the system.

Instruction book, IQAN- Lx 4

 General safety regulations
2 Precautions

Safety during start-up

W ARNING
The machine's engine must not be started before the control system is mounted and its
electrical functions have been verified.
Ensure that no one is in front, behind or nearby the machine when first starting up the
machine.
Follow the instructions for function control in the Start-up section.

Safety during maintenance and fault diagnosis

C AUTION
Ensure that the following requirements are fulfilled before any work is carried out on
the hydraulics control electronics.
• The machine cannot start moving.
• Functions are positioned safely.
• The machine is turned off.
• The hydraulic system is relieved from any pressure.
• Supply voltage to the control electronics is disconnected.

Instruction book, IQAN- Lx 5

 IQAN-LL/LM
3 Product description

3 Product description

IQAN-LL/LM
IQAN joystick controllers come in two sizes:
• IQAN-LM is a smaller type of control lever (Lever, Mini)
• IQAN-LL is a larger type (Lever, Large)
The large and the small lever are the same in terms of signals and therefore both are
called IQAN-Lx.
.
1

2
4
4

5 5

6 6
9 10
9 10 7 8

7 8

The IQAN-Lx module types.

The control lever's parts

Control lever -Lx consists of:
1 Handle
2 Rocker (Option)
3 Switch (Option)
4 Bellows
5 Mounting flange
6 Lower part
7 Connector C1 for CAN bus, supply voltage, address idTag.
8 Connector C2 for inputs and outputs.
9 Indicator for supply voltage.
10 Status indicator for IQAN-Lx.

Instruction book, IQAN- Lx 6

 IQAN-LL/LM
3 Product description

The IQAN-Lx control signals

The IQAN-Lx is used to control the object in two or three directions:
• the lever is moved to the right/left, direction X +/-.
• the lever is moved forwards/back, direction Y +/-.
• the rocker is moved upwards/downwards, direction Z +/-.
The control signal is proportional to the lever's working range.
The control signal is transferred internally from the IQAN-Lx via the CAN bus to the
master unit. The control signal's data is treated in the system and is then available as an
output signal, for example in the expansion unit IQAN-XT2. The IQAN-Lx can be
equipped with a proportional rocker ("G" handle option for -LL, "D" handle option for
-LM), or with buttons ("N" or "E" handle option for -LL ).
The following descriptions refer to a fully equipped lever, but is also applicable to the
functions on levers with no rocker or buttons.
The IQAN-Lx are delivered with an outgoing cable that has 2 connectors for all inputs
and outputs.
IQAN-MDM IQAN-LM joysticks Expansion units

IQAN-Lx in a typical system

I/O overview
+BAT ADDR-H
-BAT ADDR-L

+VREF CAN-H
-VREF Lx CAN-L

2x VIN 1x DOUT
6x ext. DIN
4x int. DIN

Inputs
The IQAN-Lx module has up to 4 internal digital inputs for buttons in the lever handle..
(4) Digital inputs DIN-G thru DIN-J (IQANdevelop software

or

(4) Digital inputs DIN-I thru DIN-L (IQANdesign software)

Instruction book, IQAN- Lx 7

 IQAN-LL/LM
3 Product description

There are five (5) digital inputs in the C2 connector for external signals..
(5) Digital inputs DIN-A thru DIN-E

The IQAN-Lx module has two (2) voltage inputs VIN-A and VIN-B for connection of
0-5 Vdc signals. These inputs can be configured as digital inputs with IQANdesign
software for reading switches. Voltage inputs and digital inputs share positions, see
below.
(2) Voltage inputs VIN-A, VIN-B

or

(2) Digital inputs DIN-G, DIN-H (IQANdesign software only)

Outputs
An IQAN-Lx may have 2 or 3 proportional lever directions, XY or XYZ.
There is one (1) digital output, DOUT-A This output can also be configured as a digital
input with IQAN software. Digital output and digital input share positions, see below.
(1) Digital output DOUT-A

or

(1) Digital input DIN-F

The digital output, DOUT-A may be activated when there is an error message for the
system, such as a short-circuit and input or output interruption. By connecting the
digital output to a warning lamp or audio signal, the driver is alerted that an error
message has been given.

Connection of DOUT
Connect the alarm (audio signal) between pin C2:6 and -BAT (the battery’s negative
pole). See the illustration below. An active output gives battery voltage (11-32 Vdc) to
the pin. The maximum load is 200 mA.

10 1

12 3

Connection of DOUT as an alarm output.

CAN related functions

The master unit uses a CAN-bus (CAN = Controller Area Network) to communicate
with the IQAN-Lx module. The CAN-bus is a robust communication protocol that is
widely used and well proven within the automotive industry.

Instruction book, IQAN- Lx 8

 General
4 Safety

4 Safety

General
In order to fulfil high safety demands, the Lx module uses a real-time operating system
for fault tolerant embedded systems. The Lx module has an internal watchdog function.
If the watchdog detects any software errors, necessary precautions will be activated.

Polarity reversal
The Lx module is protected against power supply polarity reversal, provided an
external fuse, max 3A (Fast) is being used. Polarity reversal can damage the unit if the
fuse is not used.

CAN-bus interruption
The Lx module has special safety functions if the CAN-bus is interrupted. Each module
checks for any interruptions in the CAN-bus communication. If an error occurs the
master will present a related message on the display. The Lx module will also indicate
the error with an error code ref., see page 9.

Input/ output Protection

All inputs on the Lx module are designed to withstand the maximum specified supply
voltage. The outputs are protected against short circuit. Furthermore, an error on one
input or the output will not influence other inputs.

System Diagnostics
The yellow blinking LED on the module indicates normal status. If there is an error
detected, the master will present a message on the display. The Lx module also
indicates error status through the red blinking LED as shown below.
This gives an immediate diagnosis as to the nature of the error that has occurred.

Green, power on LED

Yellow/ red, status LED

The location of the LED indicators on the IQAN-Lx module.

The green LED indicates power on. The yellow/red LED will be blinking red when an
error has been detected. To get futher information about the error messages, see
Appendix B, on page 26

Instruction book, IQAN- Lx 9

 General
4 Safety

LED indicator showing different Lx modes

Status Blink (yellow light)

Normal (no errors)

Error Error Blink (red light)

code

1 I/O and
voltage errors

2 High
temperature

3 CAN error

4 Hardware and
VREF error

5 Address error

6 Software error

A small recommendation...
You can use the internal diagnostics in the IQAN master to get more information about
the Lx module. Then following values are measured:
Internal temperature [°C]

Power supply [V]

Reference voltage [V]

Instruction book, IQAN- Lx 10

 Mounting the unit
5 Mounting

5 Mounting

Mounting the unit

N OTICE
The IQAN-Lx unit should be mounted according to the following instructions.

Mounting considerations
• The control lever must be built in so that it is protected against damp, dirt and
mechanical damage.
• The machine manufacturer must consider the need of a protective catch, or similar,
to prevent unintentional working of the lever

N OTICE
Take careful consideration when positioning the unit.
• Mount the unit so that it is not exposed to external heat, e.g. from the engine or
heater
• Mount the unit so that the LEDs are visible
• Mount the unit so there is no risk that the harness can be folded, crushed, worn or
damaged in any way
• Locate the harness so there is no pressure on the connector.
• Use ergonomics. The control lever should be mounted at a height so that there is no
pressure on the driver's arm and shoulders. IQAN-LM should be mounted at an
angle so that the driver's wrist is held normally. The IQAN-LL combined with
moveable arm rests can provide good ergonomics.

15

Always consider ergonomics when installing hand controls.

• The control lever IQAN-LM with 3rd axis is intended to be positioned so that the
rocker is manoeuvred with the thumb.

Instruction book, IQAN- Lx 11

 Mounting the unit
5 Mounting

Mounting methods
• Control lever IQAN-LM can be mounted by screws into the flange or fastened with
a clamp ring.

N OTICE
The clamp ring must be positioned a maximum of 10 mm under the flange.

max 10 mm
Mounting the IQAN-LM with a clamp ring.

• Control lever IQAN-LL must only be mounted using screws through the flange.

4x

Mounting the IQAN-LL with screws.

Please refer to the IQAN-Lx installation sheet for mounting dimensions.

Instruction book, IQAN- Lx 12

 Connectors C1 and C2
6 Installation

6 Installation

Connectors C1 and C2
Connector kit Parker 5031048

Housing, C1 AMP no. 1-967627-1 C1

Pin type AMP no. 1062-20-0222

Lock type AMP no. 967632-1

Housing, C2 AMP no. 1-967622-1 C2

Pin type AMP no. 2-963745-1

Lock type AMP no. 967632-1

Recommended 0.75-1 mm2 (18 AWG)

cable
IQAN tool kit Parker no. 5031061a
a.The IQAN tool kit description is found in the ’IQAN accessories’ datasheet.

+BAT ADDR-H
-BAT ADDR-L

+VREF CAN-H
-VREF Lx CAN-L

2x VIN 1x DOUT
6x ext. DIN
4x int. DIN

Instruction book, IQAN- Lx 13

 Connector pin assignments
6 Installation

Connector pin assignments

Symbol Pin Input Function
No. Output

+BAT C1:4 - Power supply

C2:9

-BAT C1:1 - Power supply

C2:12

+BAT2 C1:5 - Power supply

-BAT2 C1:2 - Power supply

+VREF C2:8 - Voltage reference for external sensors. Sourcing +5V.

-VREF C2:7 - Voltage reference for external sensors. Return (0V).

CAN-L C1:3 - CAN high voltage bus line.

CAN-H C1:12 - CAN low voltage bus line.

CAN-L C1:9 - CAN high voltage bus line.

CAN-H C1:6 - CAN low voltage bus line.

ADDR-L C1:8 - Address

ADDR-H C1:5 - Address

I/O Alternative functions or naming.

IQANdevelop IQANdesign
DIN-A C2:1 I DIN-A DIN-A
DIN-B C2:2 I DIN-B DIN-B
DIN-C C2:3 I DIN-C DIN-C
DIN-D C2:4 I DIN-D DIN-D
DIN-E C2:5 I DIN-E DIN-E
DIN-F C2:6 I/O DOUT-A DOUT-A
VIN-A C2:10 I VIN-A DIN-G
VIN-B C2:11 I VIN-B DIN-H
DIN-G internal I DIN-G DIN-I
DIN-H internal I DIN-H DIN-J
DIN-I internal I DIN-I DIN-K
DIN-J internal I DIN-J DIN-L

Instruction book, IQAN- Lx 14

 Supply Voltage
6 Installation

Supply Voltage
C AUTION
Before any installation of the IQAN system can take place, make sure the ignition lock
is turned off and the battery is disconnected.

Emergency stop
Make sure an Emergency Stop disconnecting the power supply, is easily accessible at
any time. The figure below shows how to connect the emergency stop.

Connecting of Supply Voltage

The supply voltage, should be within the operating range, see Appendix A, on page 23.
Connect the supply voltage to +BAT pin C1:4 through a fuse. The fuse shall be 3A fast
(F). The ground connection is made from -BAT pin C1:1 to the negative pole on the
battery.

E-stop

+BAT, pos. C1:4 *

3A fast
+ -

-BAT, pos. C1:1

*This is a symbol for disconnecting

switch for battery, ignition lock and
other fuses.

Connecting the emergency stop and voltage supply.

N OTICE
Do not use the chassis as the negative terminal.

Instruction book, IQAN- Lx 15

 Supply Voltage
6 Installation

Multiple modules connected to voltage supply

When connecting more than one Lx module, each of the units will have to be separately
connected to the battery voltage and protected with a fuse. Requisite fuse level should
be 3A, fast (F).

EXAMPLE

Lx-A0 Lx-A1 Lx-A2 LX-A3

- + - + - + - +
+BAT, pos. C1:4
-BAT, pos. C1:1

3A
*
+ -
-BAT +BAT

* Symbol for disconnecting

switch for battery, ignition
lock and other fuses.

Connecting several modules to the power supply.

Instruction book, IQAN- Lx 16

 IQAN-Lx addressing/terminating
6 Installation

IQAN-Lx addressing/terminating
Addressing
Each Lx module will have a specific address, enabling the master module to
communicate with the modules through the CAN-bus. When operating, the system
distinguishes between different modules by first verifying the module type and
secondly, through the modules having unique addresses.

EXAMPLE
If having an IQAN-Lx module with address 0, the system will denote this
one as Lx-A0, The letter "A" refers to CAN-bus A.

The maximum number of similar modules in a system is four or eight depending on the
master module, denoted in the first case as addresses 0, 1, 2, 3 respectively. In order to
assign any Lx module a unique CAN-address, an ID-Tag will have to be connected to
the positions ADDR-H and ADDR-L.

1 10
2 11
3 12

ADDR-L, pos. 7
0

ID-Tag ADDR-H, pos. 8

Connecting of Id-Tag in Lx connector.

Terminating
To eliminate interference in the communication, through the CAN-bus, the CAN-bus
must be terminated. Because the master module always is located at the beginning of
the bus, the master is provided with an internal termination.
You will only need to terminate the end of the bus.
If an IQAN-Lx is located at the end of the CAN-bus then use an ID-tag having a
combined address and terminating function. This is denoted with a "T" for terminating,
after the appropriate address such as; 0T, 1T, 2T...

Selecting appropriate Id-Tag

• Check the address number of the module.
• If the module is located at the end of the CAN-bus then select the appropriate ID-
Tag denoted with a "T".

N OTICE
The CAN-bus must not be terminated using an external regular terminating resistor,
due to the fact that terminating is made from within the Lx module in conjunction with
the installed ID-Tag.

Instruction book, IQAN- Lx 17

 Reference voltage, VREF
6 Installation

Reference voltage, VREF

The IQAN-Lx module is internally equipped with a voltage regulator to generate the
reference voltage VREF. The standard reference voltage will feed different kinds of
sensors, potentiometers and joysticks.

+VREF, pos C2:8

-VREF, pos C2:7

VREF positions.

N OTICE
Maximum load for the VREF is different according to 12/24 Vdc power
supply, see Appendix A, on page 23.

Instruction book, IQAN- Lx 18

 Connecting sensors and switches
6 Installation

Connecting sensors and switches

Connecting sensors to the voltage inputs
The sensor signal range must be 0-5 Vdc. To detect signal errors such as short circuits
or interruptions the active signal range is recommended to be within 0.5-4.5 Vdc.

[V]
5 Error detection range

Active signal range

0 Error detection range

t

Active signal range.

The current consumption related to the voltage input is negligible.

The following describes the connection of any analog sensor. This includes
temperature, pressure, angle and position sensors. The positive terminal of the sensor is
connected to the +VREF position and the corresponding negative terminal to the -
VREF position. The sensor signal is connected to appropriate VIN position. For a
resistive type element, select the potentiometer value for the sensor to achieve the best
linearity.

EXAMPLE
Connect the positive and negative terminals of the position sensor to
+VREF, position C2:8, and -VREF, position C2:7, respectively. Then
connect the sensor signal to VIN-A, position C2:10.

10 1
11 2
12 3

VIN-A, pos. C2:10

-VREF, pos. C2:7

+VREF, pos. C2:8

Position Sensor

Connecting VREF and sensor signal VIN-A.

N OTICE
The negative terminal of the sensor must not be connected to the chassis.
Maximum load for VREF position, see Appendix A, on page 23.

Instruction book, IQAN- Lx 19

 Connecting sensors and switches
6 Installation

Connecting switches to the inputs

Switches could be connected to the inputs, to create a digital on/off signal. The
switches may be connected to +VREF and DIN respectively for 5Vdc signal. The
current consumption for the input is negligible.

EXAMPLE
Connect the positive and negative terminals of the switch to +VREF,
position C2:8, and DIN-A, position C2:1, respectively.

10 1
11 2
12 3

+VREF, pos. C2:8

DIN-A, pos. C2:1

Connecting a switch to DIN-A and VREF.

N OTICE
Maximum load for VREF position, see Appendix A, on page 23.
It is possible to connect system voltage +BAT to the input through a switch in order to
reserve 5Vdc VREF for sensors and potentiometers.

EXAMPLE
Connect the positive and negative terminals of the switch to supply or the
unit’s +BAT, position C2:9 and DIN-A, position C2:1, respectively.

10 1
11 2
12 3

+BAT, pos. C2:9

DIN-A, pos. C2:1

Connecting a switch to DIN-A and +BAT.

Instruction book, IQAN- Lx 20

 Start-up procedures
7 Start-up

7 Start-up

Start-up procedures
This chapter contains instructions for action to be taken in connection with the initial
start.

W ARNING
Risk of injury!
If the control system is not fitted properly, the machine could move uncontrollably. The
machine’s engine shall not be started before the control system is completely fitted and
its signals are verified.

Starting the control system

Start the control system as follows:

• Prior to start, all modules and cables are to be fitted correctly.
• Check fuses, i.e. make sure that the supply voltage to the modules is equipped with
the correct fuse.
• Make sure that connections for supply voltage and return lines are correct in the
cable’s conductor joint.
• Make sure the emergency stop works.
The emergency stop should disconnect the supply voltage to all modules.
Alternatively, the emergency stop may also shut off the diesel engine or a dump valve,
and with that depressurize the hydraulic system.

Prepare for system start

W ARNING
Make sure no one is in dangerous proximity to the vehicle to avoid
injuries when it starts.

Prepare for the initial system start as follows:

• The engine for the hydraulic system’s pump shall be in off position.
• Make sure that all connectors are properly connected.
• Turn on the control system.
• Make sure that voltage is being supplied to all modules, the green diode shall be
illuminated on all modules. Also make sure that master is in contact with all
modules by reading the master’s display. Error messages are displayed if the master
is not in contact with one or more of the modules.
• Make sure the emergency stop is functioning properly.

Instruction book, IQAN- Lx 21

 Start-up procedures
7 Start-up

Start the system

Start the system as follows:

• Start the engine for the hydraulic system’s pump, assuming that all mentioned
preparations have been carried out and have correct values.
• Calibrate and adjust input and output signals according to the instructions related to
the master menu system and check each and every output function carefully.
• In addition to these measures, the machine shall also meet the machine directives
for the country in question.

Instruction book, IQAN- Lx 22

 IQAN-Lx Technical Overview
Appendix A

Appendix A

IQAN-Lx Technical Overview

Absolute Maximum Ratingsa

Limit values
Parameter Unit Remark
min. typ. max.

Ambient temperature, TA – 40 +70 °C

Storage temperature – 40 +100

Maximum voltage supply on +BAT 34 V Reverse polarity protected

with 3A fuse.
Voltage on any pin with 34 V
respect to -BAT
Maximum current into 2 A
-VREF
Maximum current sourced by all outputs 400 mA

a.The “Absolute Maximum Ratings” table lists the maximum limits to which the device can be subjected without damage. This doesn´t
imply that the device will function at these extreme conditions, only that, when these conditions are removed and the device operated
within the “Recommended Operating Conditions”, it will still be functional and its useful life won’t have been shortened.

Environmental ratings
Limit values
Parameter Unit Remark
min. typ. max.

EMI
EN 55022:1994 conducted emission class B, 0.15-30 MHz
EN 55022:1994 radiated emission class B, 30-1000 MHz
ISO 11452-2:1995 50 V/m 20-1000 MHz
ISO 11452-4:2001 75 mA 1-200 MHz
ISO 7637-3:1995 80 V
ISO 7637-2:1990 V 1a,2,3a,3b,4,
EN 61000-4-8:1993 100 A/m
ESD
ISO 10605:2001 15 15 kV air
6 contact
4 handling
Mechanical environment
IEC 68-2-64:1993 Fh 0.1 g2/Hz 15- 250 Hz, 10 hours
IEC 68-2-29:1987 Eb 40 g 6 ms

Climate environment
IEC 68-2-18:2000 Ra1 30 min 60mm/h
IEC 68-2-30:1985 Db 6 cycles +55°C, 95% RH
IEC 68-2-3:1969 Ca 10 days 44°C, 93% RH
IEC 68-2-2:1993-01 Bb 72 hour 70°C
IEC 68-2-1:1993-02 Ab 16 hour -40°C
IEC 68-2-14:1984 Nb 10 x 6 hour -40°C to 70°C
Chemical environment
IEC 68-2-52:1996 Kb 72 hour

Instruction book, IQAN-Lx 23

 IQAN-Lx Technical Overview
Appendix A

Recommended Operating Conditionsa

Limit values
Parameter Unit Remark
min. typ. max.

Ambient temperature, TA – 40 +70 °C

Voltage supply, VBAT 11 32 V

Total load on DOUT 400 mA

a.Recommended operating conditions are given for maximum and minimum conditions where normal performance is still available from
the device. Once the normal operating conditions are exceeded, the performance of the device may suffer.

System
TA = +25 °C (unless otherwise specified)

Limit values
Parameter Unit Remark
min. typ. max.

Start-up delay 300 ms Power to activated output

CAN message response time 9 ms
Output voltage on VREF 4.9 5.0 5.1 V load < 40mA
Maximum load current on VREF 15 mA Vdrop < 25mV (0.5%)
VBAT =11V to 32V 45 Vdrop < 50mV (1%)
48 Vdrop < 100mV (2%)
Current supply outputs = off
VBAT =14V 46 mA no load on VREF
57
VBAT =28V

I/O
TA = +25 °C (unless otherwise specified)

Limit values
Parameter Unit Remark
min. typ. max.

VIN (Voltage input)

Signal range low 0 0.05 V
Signal range high 4.9 5.0 5.1 V
Input resistance 62 kΩ
Signal resolution 5 mV
Total unadjusted error -35 35 mV VREF as source <40mA
-100 100 External source
DIN (On/off input)
Input signal low 1.0 V
Input signal high 4.0 V
Trigg level, low level (0) 1.21 V DIN-A to DIN-F
Trigg level, high level(1) 1.42 V DIN-A to DIN-F
Input resistance 5.6 kΩ

Instruction book, IQAN-Lx 24

 IQAN-Lx Technical Overview
Appendix A

I/O
TA = +25 °C (unless otherwise specified)

Limit values
Parameter Unit Remark
min. typ. max.

DOUT (on/off output)

Load current 400 mA
Voltage drop (VBAT -VDOUT) V
load IL = 0.5A 0.2
load IL = 2A 0.8

Off-State output current: 10 µA

Max load inductance: 1000 mH @ 400 mA
Short Circuit current limit 1.2 A

Instruction book, IQAN-Lx 25

 Error codes, messages and actions
Appendix B

Appendix B

Error codes, messages and actions

If one of the following errors are detected, a message will be presented on the master
display together with an error code on the module. In some cases, the module will turn
off, to increase safety.

W ARNING
Don’t use the machine if an error message or error code is activated.
The following sections will present what measures to take for different error situations
put into appropriate context.

LOW/ HIGH SUPPLY VOLTAGE

Situation Error code Action Lx Comment

+BAT < 8,5 V Error 1 - Check voltage supply

+BAT > 34 V Error 1 - Check voltage supply

VREF ERROR
Situation Error code Action Lx Comment

VREF < 4,9 V Error 1 - Check voltage

VREF > 5,1 V Error 1 - Check voltage

MODULE IS OFFLINE
Situation Error code Action Lx Comment

CAN-bus off Error 3 All outputs shuts Check CAN-bus

off.

ADDR-H < 4,9 V Error 5 - Check voltage

ADDR-H

ADDR-H > 5,1 V Error 5 - Check voltage

ADDR-H

ADDR-L < 0,5 V Error 5 During start up: Check voltage

The module turns ADDR-L
off.

ADDR-L > 4,5 V Error 5 During start up: Check voltage

The module turns ADDR-L
off.

Software error Error 6 The module turns Contact supplier.

off.

Instruction book, IQAN-Lx 26

 Error codes, messages and actions
Appendix B

HIGH TEMPERATURE
Situation Error code Action Lx Comment

Internal temperature Error 2 - Check ambient

> max temp temperature

Internal temperature sensor Error 4 - Contact supplier

error

ERROR: PARAMETER AND INTERNAL

Situation Error code Action Lx Comment

Parameter error Error 6 No calibration of Contact supplier

signals.

Error ZP outer Error 4 No calibration of Contact supplier

signals.

Error ZP inner Error 4 No calibration of Contact supplier

signals.

Error _-axis Error 4 All outputs shuts Excessive force has

off. been applied to end of
stroke

Error Start block Error 4 All outputs shuts Check that Lx is

off. centered during power-
up

Instruction book, IQAN-Lx 27

 Dimensioning of the IQAN-Lx module types
Appendix C

Appendix C

Dimensioning of the IQAN-Lx module types

ø6 (4x)

IQAN-LL

105
N0, N2, N2T, N4

80
E2

80 U
105
ø9.8
G

8
4
218

211
ø9

158

117
44

ø64
ø91

IQAN-LM
D 50 A

ø15
96

69
71

ø89
45° (4x)

ø5 (4x)
.5
39

unit = mm

Instruction book, IQAN-Lx 28

For latest information visit our website www.iqan.com Information in this instructionbook is subject to change without notice

Parker Hannifin Parker Hannifin Publ no HY17-8330-IB/UK

Mobile Controls Division Mobile Controls Division Edition 07/2007
SE-435 35 Mölnlycke 203 Pine Street
Sweden Forest City, NC28043
Tel +46 31 750 44 00 USA
Fax +46 31 750 44 21 Tel +1 828 245 3233
www.parker.com Fax +1 828 248 9733