33Service Manual – CS7010™
04 - Control System
This control system chapter focuses primarily on the Main Machine Controller and the power modules.
The machine contains several other controllers, as described below, which are discussed in their respective
chapters.
Functional Description
The CS7010 is a distributed network of various controllers that interact to control all of the machine
functions. The top level controller is the Main Machine Controller (MMC), which provides commands to
the other controllers directing them to complete their associated tasks. (Refer to the “Functional Diagram”
on page 34 .) The MMC also directly controls many of the low-power motors and devices, while also
monitoring many of the system sensors.
Two power modules control the high-power motors of the system, based on CANBus commands from the
MMC. The power modules monitor the performance and operation of the motors, and communicates this
status back to the MMC via the CANBus.
The wheel drive motor has its own dedicated controller, which drives the motor based on direct commands
from the operator foot pedal, the MMC, and feedback from the motor itself. The wheel drive controller is
described in more detail in the 20 - Wheel System, Traction Chapter on page 76.
The steering motor has its own dedicated controller, which drives the motor based on direct commands from
the operator steering wheel (sensor) and feedback from the steering motor and steering limit switches. The
steering module also has the ability to enable or disable the drive function if the steering system is not ready
for machine movement. The steering module also controls the torque feedback device on the steering wheel
to provide controlled resistance to rotation. The steering controller is described in greater detail in the 22 -
Steering System chapter on page 86.
The engine controller is integral to the engine, and operates and monitors all engine functions semi-
autonomously. The engine controller and MMC communicate for basic functions and to provide engine status
to the MMC. The engine controller is described in more detail in the respective Engine chapters.
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