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13. Back-Up Alarm/ Outrigger Alarm – located on the rear plate of the chassis; contains
two different tones of auible alarming: 1) when the machine is put into REVERSE, and 2)
when the outriggers are being deployed
Finally the below rotation harness connects to the engine for communication to and from the
engine through the use of J1939 CAN communication protocol.
The harness that connects to the electrical slipring above rotation connects the sensors, mod-
ules, and lighting above rotation to the CAN network of the machine. At the top of the turntable
is a third control module for the machine. This I/O module collects and transmits the signals
and communication for the above rotation components, including the components for the RCL
system. Electrical components’ connects above rotation include:
1. Swing Position Sensor – located in the slipring itself; transmits data to the above rota-
tion control module on the CANOPEN network for swing angular position of the boom
2. Cable Reel – mounted on the side of the boom; transmits data for boom angle and reel
rotations, which is used for computing boom length/load radius
3. Anti-Two-Block Switch – located on the boom tip; provides feedback when the load is
two-blocked
4. Above Rotation Lighting – optional lighting for strobe lights and work lights
5. Drum Rotation Sensor – located as part of the hoist; provides rotational feedback to
the control system and joystick-mounted thumper, that is integral to the hoist control joy-
stick
6. Boom Angle Inclinometer – located integral to the cable reel; transmits the measured
angle of the boom
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