User Manual
Contents
1. CAN ID 0x1F4 Byte Data 0 Compound ld 3 1 Diff Voltage 0 1V resolution 2 Fault Flags See Appendix A Fault Codes 3 4 Diagnostic Flags See Appendix A Fault Codes 5 Speed sensor noise fault flags Front Left 0x01 bit 0 Front Right 0x02 bit 1 Rear Left 0x04 bit 2 Rear Right 0x08 bit 3 BrakeStatus Flags Handbrake On 0x20 bit 5 Brake Pedal On 0x80 bit 7 6 MDC2 Mode 7 0 Diff open 1 to 4 MDC2 user modes 5 Constant diff lock MoTeC MDC2 18 Appendices CAN ID 0x1F4 Byte Data 0 Compound ld 4 1 2 Diff PWM duty 0 1 resolution 3 4 Front Right Wheel Speed 0 1 km h resolution 5 6 Front Left Wheel Speed 0 1 km h resolution 7 CAN ID 0x1F4 Byte Data 0 Compound Id 5 1 2 Slip Control Percentage Diff Lock 0 1 resolution 3 4 Rear Right Wheel Speed 0 1 km h resolution 5 6 Rear Left Wheel Speed 0 1 km h resolution 7 25Hz Messages CAN ID 0x1F5 Byte Bits Data 0 4 7 Compound Id 0 0 4 Reserved 1 2 Aux 5V Output Voltage 0 01V resolution 3 4 Battery Voltage 0 01V resolution 5 6 MDC2 Internal temperature 1 C resolution with 50 C offset 7 CAN ID 0x1F5 Byte Bits Data 0 4 7 Compound Id 1 0 4 1 Speed sensor noise fault flags Front Left 0x01 Front Right 0x02 Rear Left 0x04 Rear Right 0x082. etc may be connected to the trunk with up to 500mm 20in of twisted wire The connector for the CAN Communications Cable may also be connected to the trunk with up to 500mm 20in of twisted wire and should be within 500mm of one end of the trunk If desired two CAN Cable connectors may be used so that the MoTeC CAN Cable may be connected to either side of the vehicle Both connectors must be within 500mm of each end of the trunk CAN Cable Connector laien si O 100R Terminating S Resistors at each These wires must be Twisted end of the CAN Bus Minimum one twist per 50mm 2in 500mm lt lt CAN Bus gt gt Max C gt ov lt T E X004 500mm Max Device Device Short CAN Bus If the CAN Bus is less than 2m 7ft long then a single termination resistor may be used The resistor should be placed at the opposite end of the CAN Bus to the CAN Cable connector MoTeC MDC2 16 Appendices Appendix D ECU Communications The MDC2 communicates with the factory ECU or a MoTeC M800 ECU using the main CAN bus When used in conjunction with an M800 ECU the MDC2 controls the thermo fan the tacho and the dash temperature gauge based on data received from the M800 The M800 must be correctly configured to transmit all the required channels e Throttle position for diff control e Engine efficiency for diff control optional e Engine temperature for dashboard temperature gauge
3. feature may be used to prevent reverse engineering of user control modes MoTeC MDC2 11 Setup File Setup User Modes Lock Table Axis The Y axis of the user mode lock tables is configurable as Throttle Position or ECU Efficiency The ECU Efficiency option should only be used when the vehicle is fitted with a correctly configured MoTeC M800 ECU See Appendix D ECU Communications for more details Slip Control Enable Slip Control If slip control is enabled then the Desired Slip table and the slip control parameters are used to determine how much extra diff lock is applied to control wheel slip If slip control is disabled then the Desired Slip table has no effect Max slip control This parameter specifies the maximum amount of diff lock Ylock that can be added to attempt to control slip Slip control range This parameter is the amount of measured slip km h above the desired slip at which the Max slip control lock will be applied If the amount of measured slip is within the range desired slip slip control range then the amount of slip diff lock applied is proportional to how far the measured slip is away from the desired slip For more detail on slip control parameters and slip control examples see Slip Control in the MDC2 Functionality section Speed Axis Up to 11 values can be specified for the speed axis that is used in all of the user mode Braking and Acceleration tables The axis values must be ascend
4. or the MoTeC CAN cable connected to the CAN bus loom provided with the MDC2 The MDC2 unit must be powered to communicate with the PC Installing MDC2 Manager The MDC2 software can be installed either from the MoTeC Resource CD supplied with the MDC or from the MoTeC website software motec com au To start the program after installation click on Start gt Programs gt MoTeC gt MDC2 Manager gt MDC2 Manager 2 0 Managing Configurations An MDC2 configuration file determines exactly how the MDC2 unit will operate The MDC2 Manager software allows configurations to be created edited and sent to the MDC To prevent unauthorized copying of configuration data configurations cannot be read out of the MDC2 To create a new configuration select File New from the main menu or use the default configuration created on startup To open an existing configuration file select File Open from the main menu and select the desired file After a configuration has been created or modified it should be saved with a meaningful name by selecting File Save or File Save As from the main menu To send the currently opened configuration to the MDC2 select Online Send Config from the main menu or press F5 The configuration is automatically saved to disk when sent to the MDC2 A new configuration must be saved with a new name before it can be sent TIP To open an existing configuration file that exactly matches the configuration currently in
5. rear wheel speed is less than half of the other rear wheel speed then rear speed is simply the faster of the two rear wheel speeds e The vehicle speed is the average of the front and rear speeds weighted 80 towards the slowest speed If either the front or rear speed is less than half of the other speed then vehicle speed is simply the faster out of the front speed and rear speed If any wheel speed exceeds 300km h the sensor reading is ignored until its speed returns to below 300km h for 2 seconds This is to prevent erratic behaviour from noisy wiring or faulty sensors Handbrake Override If the front wheel speed is Okm h and the handbrake is active the handbrake will then be ignored in all lock calculations until the handbrake is released This functionality allows the diff to be locked in preparation for takeoff during a handbrake start Throttle Calibration The throttle position is received on the CAN bus from the ECU or a throttle position sensor can be optionally wired directly to the MDC2 The optional throttle position sensor input can be calibrated using a table to convert voltage to throttle position This allows non linear calibration of throttle position to more closely model the change in torque vs throttle butterfly angle The MDC2 Manager configuration program allows throttle input voltages to be read directly from the MDC2 in order to perform 0 and 100 calibrations For information on calibrating the throt
6. the MDC2 select Online Open Matching Config while connected to the powered MDCz2 If a matching configuration is found in the default location on the PC then the configuration will be loaded Changing Configurations User Mode Tables Each of the four user modes has a set of three tables that determine the diff lock characteristics for the mode The speed and throttle position or ECU efficiency axis values used for all user mode tables are configurable under the File Setup option in the main menu and can have between 2 and 11 values Linear interpolation is used between table points The Acceleration table is used to generate the lock when the foot brake is not applied MoTeC MDC2 9 Setup The Braking table is used to generate the lock when the foot brake is applied and is an override table for the Acceleration table values If a cell in the braking table is left blank the corresponding cell value from the Acceleration table is used Cell values should only be entered into the Braking table where a different value is required from the Acceleration table The Desired Slip table specifies the value above which additional diff lock will be applied according to the slip control setup parameters The Acceleration and Braking tables specify lock in 0 5 units The Desired Slip table specifies desired slip in 0 1 km h units For more information on the diff control strategy see the MDC2 Functionality section Editing Tabl
7. 2 Diagnostic Flags See Appendix A Fault Codes 3 4 Fault Flags See Appendix A Fault Codes 5 6 MDC2 Firmware version 7 eg 123 V1 23
8. e ADL2 ADL3 etc to receive MDC2 messages use the MDC2 and MDC2 Diagnostics communications templates included with the Dash Manager application PC Connection The main CAN bus is used for communication with a PC for configuration and upgrading firmware using the MoTeC UTC USB To CAN adaptor or the MoTeC CAN cable An adaptor cable is provided with the MDC2 to provide access to the CAN bus This cable also provides the power required if the MoTeC CAN cable is used to interface with a PC See Appendix C CAN Wiring Practices for recommended CAN wiring practices MoTeC MDC2 7 Functionality Miscellaneous functions Fault indication Faults are indicated by flashing the following message on the dash centre display This display will continue to flash until there have been no faults present for 2 seconds Fault codes and diagnostic codes are included in the CAN diagnostic messages as described in Appendix A Fault Codes MoTeC MDC2 8 Setup MDC2 Manager The MDC2 Manager software is necessary to configure an MDC2 unit from a PC Anew MDC2 unit must be configured before its initial use Computer requirements The MDC2 Manager software runs under Windows 95 98 ME NT4 2000 or XP operating systems The minimum recommended PC specification is a Pentium 90 with 16MB RAM and a parallel port or USB port Connecting to a MDC2 The MDC2 connects to the PC using either the MoTeC UTC USB To CAN adaptor
9. e Fan duty for thermo fan control e ECU temperature for thermo fan control to cool the under bonnet ECU e RPM for dashboard tacho The MoTeC supplied EVO X M800 configuration has the appropriate channels and communications preconfigured for the MDC2 This M800 configuration is also preconfigured to receive several channels from the M800 for logging or control purposes MoTeC MDC2 17 Appendices Appendix E CAN Messages The MDC2 communicates on the main CAN bus running at 500kbit s MDC2 operational data messages are each transmitted at 50Hz MDC2 diagnostic messages are each transmitted at 25Hz 50Hz Messages CAN ID 0x1F4 Byte Data 0 Compound ld 0 1 Diff Current Average 0 01A resolution 2 Vehicle Speed 0 1 km h resolution 3 4 Front Wheels Speed 0 1 km h resolution 5 6 Rear Wheels Speed 0 1 km h resolution 7 CAN ID 0x1F4 Byte Data 0 Compound ld 1 1 Diff Current Minimum 0 01A resolution 2 Yaw rate 0 1 deg sec resolution 3 4 Lateral G 0 001G resolution 5 6 Longitudinal G 0 001G resolution 7 CAN ID 0x1F4 Byte Data 0 Compound ld 2 1 Diff Current Maximum 0 01A resolution 2 Hydraulic Pressure 1kPa resolution 3 4 Percentage Diff Lock 0 1 resolution 5 6 Steering Angle 1deg Resolution 7 Odeg centre deg clockwise deg anticlockwise
10. eration table a braking table a desired slip table and slip control parameters Slip control may be disabled if not required The lock percentage for a user mode is determined according to the following strategy Vehicle Accel Speed table lock Brake table lock Handbrake Throttle Position or Manifold Desired Pressure Slip table Slip kph Calculation Front amp Rear lock Speed Slip control params MoTeC MDC2 3 Functionality The lock percentage for the constant lock mode is determined according to the following strategy Constant lock Handbrake lock The constant lock is equivalent to the maximum lock achieved by the Mitsubishi factory AYC ACD controller The lock percentage is always 0 in the 0 lock mode Note The handbrake status is ignored during a handbrake start from Okm h See Handbrake Override below For information on configuring the user modes see the MDC2 Manager section Slip Control The slip control strategy detects slip e rear speed front speed and increases diff lock to maintain slip close to the value specified in the Desired Slip table The Desired Slip table specifies the value above which additional diff lock will be applied according to the slip control setup parameters The calculation of lock percentage for slip control is determined by the Slip Control Range and Max Slip Control Lock parameters which apply to all
11. es Cell values in the tables may be incremented decremented using the Page Up Page Down keys or entered directly Table regions may be selected cut copied and pasted within the application or to an Excel spreadsheet An entire table region can be filled with a value by selecting the region entering the value then pressing Enter Basic maths operations can be performed on a single cell or an entire table region To perform an operation on all cells within a region select the region then enter the number followed by the operator Examples To add 15 to all values in a region select the region then type 15 To multiply all values in a region by 0 8 select the region then type 0 8 Mode Notes Comments about each user mode may be entered in the Notes field and are stored with the configuration User Mode Table Font The font type and size for the User Mode Tables may be changed using the File Select Font option File Setup Input Setup Speed The speed detection method can be selected as ABS CAN default or Wheel Speed The appropriate parameters are shown when a speed detection method is selected If the wheel speed method is selected then the wheel speed sensors must be wired directly to the MDC2 Speed Calibration The speed calibration applies to all four wheel speed inputs Pulses revolution Number of sensor pulses per wheel revolution Circumference units Units mm or inches used to specify the rollin
12. g circumference Rolling circumference Tyre rolling circumference specified in mm or inches Sensor Enable The four speed sensors Front Left Front Right Rear Left and Rear Right can be individually enabled or disabled A disabled sensor has a speed of Okm h Factory default is all sensors enabled MoTeC MDC2 10 Setup Speed Sensor For Wheel Speed speed measurement method only Hall Magnetic If the speed sensor type is hall effect or equivalent a hall switching threshold must be specified If the speed sensor type is magnetic the Magnetic Levels table on the Input Tables tab must be configured Factory default is Hall Hall threshold The switching threshold for hall effect speed sensor inputs Factory default is 2 2V Input Sources Throttle Position The throttle position can be taken from CAN messages from the ECU default or by optionally wiring the throttle position sensor directly to the MDC2 throttle position input pin If the optional Input Pin source is used the throttle position sensor is calibrated using the table on the Input Tables tab Handbrake Parkbrake The handbrake status can be taken from CAN messages from the body computer default or by optionally wiring the handbrake switch directly to the MDC2 handbrake input pin Brake Pedal The brake pedal status can be taken from CAN messages from the body computer default or by optionally wiring the brake pedal switch directly to the MDC2 brake i
13. iming mode the ignition should be turned off NOTE The pump prime mode should be used with care by experienced technicians only The MDC2 does NOT restrict pump run time or hydraulic pressure during pump prime mode Communications Main Vehicle CAN Bus The MDC2 communicates at 500kbit sec on the main vehicle CAN bus This CAN bus is used for communication to other vehicle systems for MDC2 status transmission and for communication with a PC for MDC2 configuration A summary of the CAN bus usage is shown below Received Data Source Usage Throttle Position Factory ECU or MoTeC MDC2 control strategies M800 ECU Brake pedal Factory Body Computer MDC2 control strategies Handbrake Factory Body Computer MDC2 control strategies Wheel Speeds ABS MDC2 control strategies ECU Efficiency MoTeC M800 ECU MDC2 control strategies optional Engine Temperature MoTeC M800 ECU Dashboard temperature display RPM MoTeC M800 ECU Dashboard tacho control Thermo Fan Speed MoTeC M800 ECU Thermo fan control ECU Temperature MoTeC M800 ECU Thermo fan control MDC2 Configuration PC via MoTeC UTC Configuration from MDC2 Manager MDC2 Firmware PC via MoTeC UTC Firmware upgrade from MDC2 Manager MoTeC MDC2 6 Functionality Transmitted Data Target Usage Tacho position Dashboard Tacho based on M800 ECU RPM Temperature Display Dashboa
14. ing and duplicate values are not allowed Spacing between values is not fixed allowing non linear axes Throttle Axis or MAP Axis Up to 11 values can be specified for the throttle or ECU Efficiency axis that is used in all of the user mode tables The table type throttle or ECU Efficiency is determined by the Lock Table Axis option The axis values must be ascending and duplicate values are not allowed Spacing between values is not fixed allowing non linear axes Monitoring MDC2 Data Live data from a connected MDC2 may be monitored using the Online Monitor Channels option or the F3 hotkey to open the Monitor Channels window Sending Firmware The MDC2 firmware is user upgradeable from a PC connected to the MDC2 CAN bus with the MoTeC UTC USB To CAN or the MoTeC CAN cable To upgrade the firmware the MDC2 must be powered and connected to a PC with the MDC2 Manager software installed Use Online Send Firmware to send the current firmware to the MDC2 MoTeC MDC2 12 Appendices MDC2 Installation The MDC2 is fitted in pace of the factory AYC ACD ECU underneath the dashboard To install the MDC2 remove the entire factory AYC ACD ECU bracket and unclip the plastic case from the bracket The MDC2 can be attached to the bracket with double sided tape or Velcro before the bracket is reinstalled MoTeC MDC2 13 Appendices Appendices Appendix A Fault Codes The MDC2 fault flags included in the CAN diagnos
15. lds and individual sensors can be enabled or disabled Magnetic sensor input thresholds are individually configurable for front and rear sensor pairs according to the current front and rear speeds The speed calibration can be adjusted for different wheel sizes and sensor teeth Front rear and vehicle speeds are calculated from the wheel speeds and all speeds are transmitted in CAN messages These speeds can be logged by the MoTeC ADL Advanced Dash Logger or used in logging or engine control strategies by the MoTeC M800 ECU For information on configuring speed inputs see Setup Inout Setup in the MDC2 Manager section Speed Calculations The method of calculating front rear and vehicle speeds is dependent on the status of the brake input When the foot brake is applied speeds are calculated as follows e Front Speed is the faster of the two front wheel speeds e Rear speed is the faster of the two rear wheel speeds e Vehicle speed is the faster of the calculated front speed and rear speed When the foot brake is not applied speeds are calculated as follows e The front speed is the average of the two front wheel speeds weighted 80 towards the slowest front wheel speed If one front wheel speed is less than half of the other front wheel speed then front speed is simply the faster of the two front wheel speeds e The rear speed is the average of the two rear wheel speeds weighted 80 towards the slowest rear wheel speed If one
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17. nput pin ECU Type The ECU type option must match the installed ECU MoTeC M800 or factory ECU File Setup Input Tables Magnetic Levels If magnetic wheel speed sensors are used the sensor thresholds must be specified in the magnetic levels table Thresholds are configured separately for front and rear sensors Up to 11 ascending speeds can be specified in the table and linear interpolation is used between points Throttle Position If the throttle position input source is the input pin then the throttle position sensor must be calibrated The Throttle Position table allows the throttle position sensor to be calibrated in up to 11 steps with linear interpolation between points The table specifies the throttle position characteristic between the TP Low voltage O in and the TP High voltage 100 in The Read buttons for the throttle sensor high and low voltages can be used to calibrate the sensor if the MDC2 is powered and connected to the PC To calibrate press the TP High Read button with the throttle pedal fully depressed then press the TP Low Read button with the throttle pedal fully released File Setup Output Setup Hydraulic Pressure The hydraulic pressure thresholds determine the accumulator pressures at which the pump is turned on and off The MDC2 can be configured to use the factory defaults or adjustable thresholds specified in kPa Allow CAN diagnostics The CAN data stream can be disabled or enabled This
18. olet MDC2 Mitsubishi Diff Controller User Manual Copyright MoTeC Pty Ltd 2001 2009 The information in this document is subject to change without notice While every effort is taken to ensure correctness no responsibility will be taken for the consequences of any inaccuracies or omissions in this manual 23 June 2009 Contents Introduction E 1 MDC2 Functionality EE 2 M d selection a eels ee eee E RE 2 Lock Calculation isise niini aaaea iin ieee a aeiaai 2 Slip Control heiser a e e EE e a EEA E aE a a EEEE EAR 3 lp Control example nadaa a a e i a aea aeei 3 Speed Measurement 3 Speed Calculations s s ee oea ee aaea aaraa a ee aaaea Eeee 4 Handbrake Override 3 sie cci ceecccceceeecec ens secenesescceeebecceessennedaseuea cedecteeteedtneeteecdeaseeeocs 4 Throttle Calibration inisesin ea ee anaa a AEn A NAER Ea NE Aaina En 4 Steering Position Meaeurement eeeceecceeeeeeeeeceeneeeeeeeeeeeenaeeeseeaeeeenneeeeeee 4 Hydraulic Pressure Pump Control 0 cc eeeceeeeeeeeeeeeeeeeeeneeeeeenaeeeseeeeeeenaeeeesenaes 5 Hydraulic Pressure Pump Priming Mode sssssssssessssnsnnnnsssesnrnnsnssrrnnnnnnssernnnnn 5 COMMUNICATIONS ET 5 Main Vehicle CAN Bus 5 Yaw G Sensor CAN bus 6 Datta LO QGING DEE 6 PE COmnmecton eegen atest ocatad de Beedaatevaseddces athebevetasiacbecceaae ales 6 Miscellaneous functions 2 0 cece cence tener eter eater eeeeaeeetaeeeeeeaaeeeseeeeaeeeeneeeeseaas 7 Fault ele e NEE 7 MDG2 Ma
19. otes 1 ACD valve output Switched positive output 4 CAN HI main CAN bus 5 CAN LO main CAN bus 6 5V Aux H Hydraulic pressure sensor 8 OV 9 CAN HI secondary CAN bus To Yaw G sensor 10 CAN LO secondary CAN bus To Yaw G sensor 11 Steering wheel mode switch 13 Battery 16 Battery 19 OV 20 Pump relay output Switched positive output 31 OV 32 Front left speed sensor input Magnetic or Hall 33 Front right speed sensor input Magnetic or Hall 34 Rear left speed sensor input Magnetic or Hall 35 Rear right speed sensor input Magnetic or Hall 36 Brake pedal input 12V when brakes applied 37 Handbrake input OV when handbrake ON 38 Throttle position sensor input 0 5V 39 5V Aux 40 OV 41 OV 42 Battery Output for auxiliary equipment 43 Battery Output for auxiliary equipment 44 OV 45 OV 46 CAN HI main CAN bus 47 CAN LO main CAN bus 48 SNOW light output Active low 49 GRAVEL light output Active low 50 TARMAC light output Active low 51 OV 52 OV Appendices E9 Go E 5a E1 A MoTeC MDC2 15 Appendices Appendix C CAN Wiring Practices A CAN bus should consist of a twisted pair trunk with 100R 0 25Watt terminating resistors at each end of the trunk The preferred cable for the trunk is 100R Data Cable but twisted 22 Tefzel is acceptable The maximum length of the bus is 16m 50ft including the MoTeC CAN Cable PC to CAN Bus Communications Cable CAN Devices such as MoTeC ADL M800
20. rd Temperature display based on M800 ECU engine temperature Thermo Fan Speed Body Computer Fan control high or low speed based on M800 ECU requested thermo fan speed and M800 ECU internal temperature Diff Control Mode Dashboard MDC2 mode display TARMAC etc MDC2 readings amp status 50Hz MoTeC Dash Logger or M800 ECU MDC2 data for logging or use in engine control strategies MDC2 readings amp status 25Hz MoTeC Dash Logger or M800 ECU MDC2 diagnostic data for logging MDC2 readings amp status PC via MoTeC UTC Monitor channels function in MDC2 Manager Yaw G Sensor CAN bus The MDC2 communicates at 500kbit sec with a combined yaw G sensor on a secondary vehicle CAN bus The MDC2 and yaw G sensor are the only devices on this bus Received Data Source Usage Lateral G Longitudinal G Yaw Rate Yaw G sensor Yaw G sensor Yaw G sensor Retransmitted for logging or engine control strategies Data Logging The MDC2 transmits CAN messages at 50Hz containing information about all input and output functions such as speed readings diff currents etc The MDC2 transmits CAN messages at 25Hz containing diagnostic information such as fault flags firmware versions etc The transmission of CAN messages from the MDC2 can be disabled This feature may be used to prevent reverse engineering of user control modes To configure a MoTeC logging devic
21. roduction The MoTeC Mitsubishi Diff Controller 2 MDC2 is a direct replacement for the Active Centre Diff ACD controller in the Mitsubishi EVO X The MDC2 also supports centre diff control on Active Yaw Control AYC equipped vehicles however the yaw control hardware is not used This manual covers the installation configuration and functionality of the MDC2 MoTeC MDC2 2 Functionality MDC2 Functionality Mode selection There are six user selectable control modes four of which are user configurable The control modes can be selected using the ACD toggle switch on the steering wheel The current mode is indicated in the top line of the dash centre display Optionally three mode lights SNOW TARMAC and GRAVEL can be wired directly to the MDC2 if the dash display is removed Control Mode Dash Display Top Line Lights optional 0 Lock None 1 Snow SNOW 2 Gravel GRAVEL 4 Gravel Tar TARMAC GRAVEL TARMAC alternating Constant Lock SNOW GRAVEL TARMAC Blank flashing Note If the mode has not changed for one minute then the current mode is saved and will be used next time the MDC2 is powered on Lock Calculation Lock percentage applied to the centre diff is determined primarily by the vehicle speed throttle position or engine efficiency point from a MoTeC ECU and front to rear wheel slip Each of the four user modes are configured with an accel
22. tics are sent as a bit field 16 bit with the following faults Bit 0 0x0001 1 Bad Configuration CRC failure Bit 1 Ox0002 2 Short circuit pump output Bit 2 0x0004 4 Hydraulic pressure sensor failure Bit 3 0x0008 8 Pump run time fault pump could not achieve min pressure threshold Bit 4 0x0010 16 Wheel speed CAN messages from ABS timed out Bit 5 0x0020 32 Handbrake status CAN messages from body computer timed out Bit 6 0x0040 64 Brake pedal status CAN messages from body computer timed out Bit 7 0x0080 128 ECU CAN messages timed out The MDC2 diagnostic flags included in the CAN diagnostics are sent as a bit field 16 bit with the following faults Bit 1 0x0002 2 Steering position sensor not found on CAN Bit 2 0x0004 4 Yaw G sensor not found on CAN MoTeC MDC2 14 Appendix B MDC2 Pinout and Links MDC2 Connector Pinout MI BI BIA B an E o a maa e a a Ba BS Ba bi 14 15 16 17 13 19 Ro a1 22 3 RA 5 Be a l3 4 45 lee 27 as 29 E The 26 pin MDC2 connector connects to the factory wiring loom The 22 pin MDC2 connector offers inputs and outputs for custom wiring such as direct wheel speed inputs Pin Function N
23. tle input see Setup Input Setup in the MDC2 Manager section Steering Position Measurement The steering position is received on the CAN bus from the steering position sensor MoTeC MDC2 5 Hydraulic Pressure Pump Control Functionality The MDC2 reads the hydraulic pressure sensor and controls the pump to maintain hydraulic pressure for the ACD The MDC2 implements the following strategies to protect the pump from being overrun and burnt out e If the pressure sensor is faulty or missing then the pump is turned off and remains off until the pressure sensor reads a valid reading e he pump has run for more than 20 seconds without achieving at least the low pressure threshold the pump is turned off for 20 seconds and a fault is indicated by a flashing mode indicator light e The pump will never run when the 0 lock mode has been selected Hydraulic Pressure Pump Priming Mode The hydraulic pressure pump priming mode allows the pump to be run manually by a technician during priming of the hydraulic system To enter the pump priming mode the steering wheel ACD switch should be held in the up position while turning on the ignition and then remain held for five seconds The top line of the dash display will cycle between TARMAC GRAVEL and SNOW when the priming mode is active When priming mode is active the diff lock is set at 50 and the hydraulic pump is run while the throttle pedal is pressed down To exit the pump pr
24. user modes The following algorithm determines the lock for slip control The desired slip is the output from the Desired Slip table IF Rear Speed gt Front Speed THEN Measured Slip Rear Speed Front Speed ELSE Measured Slip Front Speed Rear Speed Slip Control Factor Measured Slip Desired Slip Slip Control Range Constrain Slip Control Factor to the range 0 to 1 Slip Diff Lock Slip Control Factor Max Slip Control Lock NOTE Slip is specified as speed difference between front and rear wheels not as a ratio of the speeds The addition of the calculated slip diff lock percentage is shown in the lock percentage strategy above Slip control example Max slip control 10 lock Slip control range 20 km h Desired slip from Desired Slip table 10km h For a measured slip of 15km h slip diff lock 15 10 20 10 2 5 For a measured slip of 30km h or above slip diff lock 10 For information on configuring the slip control parameters see Setup User Modes in the MDC2 Manager section Speed Measurement The four wheel speeds are received on the CAN bus from the ABS module or the four wheel speed sensors can optionally be wired directly to the MDC2 If the ABS module is removed the sensors must be directly connected to the MDC2 MoTeC MDC2 4 Functionality When wired directly to the MDC2 the wheel speed inputs can be configured as hall effect or magnetic sensors with adjustable thresho
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