168 Mobile 2006 Tracked Vehicles Bosch Rexroth AG Bosch Rexroth AG Tracked Vehicles Mobile 2006 169

Costs High-Performance Drive

Long service lives of drive components as well as cost-effectiveness for
manufacture and operation are the primary drivers of the concepts for
reducing the Total-Cost-of-Ownership (TCO).
Energy
Components from Rexroth which are matched to one another for the enti-
re area or subarea of drive and working hydraulics ensure optimal energy
usage under the high requirements of actuated time, availability, function-
ality and safe operability of the drive concepts.
Concepts for Tracked Vehicles
High Density and Reduction
of the Total-Cost-of-Ownership
(TCO)
The applications in the area of tracked vehicles are complex and range
from moving masses of dirt to artfully preparing ski slopes to unrelentingly
pushing a cutting tool into hard rock. Turning, maneuvering, accelerating
and constantly transferring high feed forces: Rexroth approached the high
requirements on the drive concepts, particularly with regards to the actuated
time and the extreme application conditions, with special hydraulic modules
(Fig. 1).

Stefan Ley
Elchingen (D)

Edwin Harnischfeger
Lohr (D)

Co-authors:

Ingo Pulch
Witten (D)

Dr. Peter Bort

Schwieberdingen (D)

Fernando Da Silva
Horb (D)
170 Mobile 2006 Tracked Vehicles Bosch Rexroth AG

1 Requirements for
tracked vehicles
The primary requirements on the
Working hydraulics
hydrostatic travel and working drives
are characterized by constantly grow- Electronics
ing performance needs and the ever
increasing demand for cost effective-
ness:
Compact dimensions of the com- Hydrostatic travel drive
ponents.
High power density.
Fan drive
Lower mass.
Planetary gear
Long service life.
Optimal transfer of the diesel en-
gine power.
FIg. 1: Drive modules for tracked vehicles.
Ability to accept increasingly larger
external forces.
High dynamics and simultaneously
sensitive operation.
User friendly, simple operation. - Crawler loaders
- Bulldozers
Fulfillment of the necessary safety
requirements in accordance with
the legal specification and norma-
tives.
Cost effectiveness for production - Trench diggers
and operation. - Tracked carriers

Furthermore, tracked vehicles are

used in a diverse range of applications
(Fig. 2). There are, as a result, addi-
tional, specific requirements, such as
a need for greater traction for crawler
loaders, bulldozers or backhoes, high
travel dynamics for ski-slope groom-
ers or uniform feed forces for trench
diggers. Rexroth offers specific solu-
tions specially adapted to these ap-
plications from its complete product
portfolio of pumps and motors, plan-
etary gears, control valves, and elec-
tronics. The modular design ensures
that these products can be combined
in such a way that they can meet the
- Snow groomers
Fig. 2: Applications for tracked vehicles.
very high demands of tracked ve- reduction of the Total-Cost-of-Own-
hicles. ership (TCO), i.e. the operational and
life-cycle costs, play an essential role
The experience and the knowledge of
here.
the application specialists at Rexroth
consistently flow into the further
development of the products. The
Bosch Rexroth AG Tracked Vehicles Mobile 2006 171

2 Travel drive Diagnostics

Parameterization
In addition to the high requirements Process monitoring Joystick
placed on dynamics, tractive effort, Display BODEM Emergency Inching Cotnroller
stop RC 6-9
power density and user-friendly op-
eration for tracked vehicles, other
important development goals include,
in particular, longer service lives of
Software
the components with the goal of im- + DPCA
Diesel engine control

proving the TCO. The optimizations Fan drive

via CAN bus

of the various Rexroth components

shown below (Fig. 3) deserve special
attention.
A6VE..EP
2.1 New generation of axial piston +GFT
units
During the development of the new
variable pumps (A4VG series 40) and
variable motors (A6VM series 71),
the tracked vehicle application was A6VE..EP
the primary innovation driver for the 2x A4VG..EP +GFT
optimization of power density, service
life and efficiency.
Fig. 3: Track drive.
Sizes
As a result of the reduction in the
drive speeds of diesel engines during 300
280
the development for Tier 3 and Tier
250

4, it was necessary to appropriately 250

adjust the displacement of A4VG
210

variable pumps (Fig. 4) and A6VM/E 200

180
175

A4VG /32
variable motors (Fig. 5) for the opti-
145

BR32
140
ccm

mal design during project planning of 150

125

BR40
110

110

the travel drives. The new sizes will be

105

available for new projects beginning

90

100
85
71

in 2007.
65
56
45

50
40
28

Increasing the pressure range

The pressure range of 400/450 bar for 0
Size A4VG /40
the current series has been exhausted size
for track drives and, in some cases, Fig. 4: Comparison of size A4VG series 32 and A4VG series 40.
exceeded at peak values. This pressure
range offers no further reserves for
of the new A4VG series 40 and A6VM
cost-effective use and service life. For
series 71 was coordinated to increase
this purpose, the further development
the pressure range to 450/500 bar.
172 Mobile 2006 Tracked Vehicles
Strengthening the rotary groups and
the roller bearing
The increase in the load ratings of the
roller bearings of the rotary groups
by an average of 30 percent under
comparable operating conditions is
reflected in a direct ratio of 1:1 in the
service life or, in other terms, makes
greater reserves available for new de-
signs. This extension of the service life
(operational life) considerably reduces
the TCO for the highly stressed and
expensive mobile equipment.
Efficiency improvement
For the new developments of the axial
piston units, emphasis was also placed
on improving the efficiency. On the
one hand, this optimization results
in improved utilization of power. On
the other, it means reduced power dis-
sipation (oil warming) in the circuits.
Through the use of a nine piston
rotary group in the A6VM/E variable
motors, it is also possible to yet again
improve the starting efficiency appre-
ciably. Even more uniform slow op-
eration at very low output speeds is, as
a result, also possible. The advantages
of these characteristics are particularly
apparent with crawler-type machines
such as crawler loaders, bulldozers
and trench diggers. They improve the
driving and steering characteristics
with respect to precision and power
utilization under both high traction
conditions as well as forward power
requirements.
Tightness and noise optimization
The assembly process for the A4VG
series 40 is improved through the
use of a barrel case. Moreover, the
new case eliminates a sealing contact
Bosch Rexroth AG
300
280
250
250
215
200
200
170
A6VM /63
160
150
BR63
140
ccm
150
BR71
115
107
100
85
80
60
55
50
28
0
Size
size A6VM /71
Fig. 5: Comparison of size A6VM series 63 and A6VM series 71.
between the case and the port plate. result of this measure. In some cases,
Movement (breathing) or corro- this will even eliminate the need for
sion at the sealing contact of this the pump splitter gearbox.
plate caused by extreme pressure and
temperature conditions is, therefore, Integratable sensors
eliminated with the new series. In order to meet both customer re-
quirements and safety requirements,
With regards to paint and rust protec-
a new high-pressure pump generation
tion, the case surface was designed so
can optionally be equipped with pres-
that the paint can ideally distribute
sure, swivel angle and speed sensors.
itself. There are no more undercuts
For the high-pressure variable motors,
present in which corrosion could
speed and temperature sensors are
form at a later time. Modern design
available as options (Fig. 6). In the
methods have helped to stiffen the
area of electronics, the connection to
housing with respect to the generated
Bosch gives Rexroth a clear competi-
impact sound and to minimize noise
tive advantage, primarily with regards
and oscillation development already
to development knowledge for sensors
during creation.
and controllers from the automobile
industry. There, not only series qual-
Through-drive capability
ity is a decisive success factor for high
During the development of the A4VG
customer benefits, but also costs and
pump generation, series 40, Rexroth
deliverability.
also optimized the through drive.
By enlarging the drive shafts and
through-drive shafts, it will be pos-
sible to transfer greater through-drive
torque in the future. A multiple pump
combination will be possible as a
Bosch Rexroth AG Tracked Vehicles Mobile 2006 173

2.2 Overspeed protection in axial

piston units and diesel engines
The integrated retarder function
(Fig. 7) in a variable pump of model
A10VO serves as an example that
innovation, durability and cost ef-
fectiveness of the entire device are in
the foreground in the further develop-
ment of the Rexroth components.
The hydrostatic travel drive of a
mobile working machine typically
consists of variable pump (e.g. A4VG) Fig. 6: Integration of sensors for A4VG series 40 and A6VM series 71.
and fixed or variable motor (e.g.
A2FM or A6VM) which are operated Function inactive Function active
in a closed circuit.
When the vehicle travels downhill,
the hydrostatic travel drive acts as
a drive brake. The hydraulic motor
then hydrostatically supports itself
A10VO85
on the driving pump and increases
the speed of the diesel engine if the Vgmax

braking torque of the diesel engine is

exceeded.
In order to absorb or prevent over-
speeding of the diesel engine, the Fig. 7: Retarder function with A10VO.

working pump is switched to maxi-

mum swivel angle via an electrically
actuated 4/2 directional valve by a
signal from the electronics. The gener-
ated flow is briefly directed via a pres- 1
4

sure-relief valve and brakes the diesel Control block

M6-Steuerblock
engine through the additional torque M6
of the working pump (Fig. 8).

Controller
rstellpumpe
Variable pump RC-
RC Steuergert
0VO/A11VO
A10VO/A11VO
Diesel speed signal

Fig. 8: Components for overspeed protection.

174 Mobile 2006 Tracked Vehicles
3 Planetary gears for track
drives with high power
density
Stability, even under the most de-
manding conditions, low weight and
compact dimensions are the core
requirements placed on planetary
gears in track applications. In order
to implement this requirement profile
with respect to gearbox technology,
Rexroth combined high quality mate-
rials together with modern calculation
programs and carefully tested produc-
tion methods. (Fig. 9) The following
further developments and optimiza-
tions for reducing the TCO deserve
special attention here:
Development cycle
The reduction in TCO begins in the
design phase with the selection of the
components which are to be used.
Through a very compact design of the
drive unit, it is possible for the manu-
facturer to optimally use or to reduce
the existing installation space of his
device.
Reduction of the overall length
The optimized matching of hydraulic
motor and gearbox with respect to in-
stallation space is ensured through the
use of A6VE/A2FE plug-in-motors.
Through the mergence of motor and
gearbox, the A10VT motor series of-
fers the most compact drive solution
for the application.
Solid-forged planetary spiders in-
crease strength and allow for reduc-
tions in material compared to cast
pins. A cantilevered mount of the
Frame plate
Plug-in-motor
Sprocket
Drive chain
Fig. 9: Installation situations of gearboxes in tracked vehicles.
planetary gear as consistent construc-
tion principle also ensures a short-
ened design (Fig. 10).
Reduction in the diameter
The use of solid-forged and hardened
annular gears results in a reduction
of wall thicknesses and, thus, of the
diameter compared to other solutions
while maintaining the same torque
capacity. The main bearing with ta-
pered-roller bearing also considerably
shortens the installation space com-
pared to other bearing designs.
In addition, up to five planets in the
main level ensure the transfer of high
torques and, thus, a high power den-
sity or for a further reduction of the
annular gear diameter with respect to
the use of three planets.
Bosch Rexroth AG
Solid-forged
supporting axle
Solid-forged
annular gear
Solid-forged
planetary spi-
ders, planetary
bearing without
cage
High production acuracy for using more
than three planetary gears per level
Delivery quality
Minimizing the procurement and
assembly costs also contribute to re-
ducing the TCO. The pre-assembled
drive unit, consisting of gearbox and
hydraulic motor, is supplied from a
single source. A high production and
assembly quality as well as a 100 per-
cent final inspection are the basis for
the high delivery quality. Inspected
and painted as a single unit, the device
can be directly installed in the work-
ing machine.
Bosch Rexroth AG Tracked Vehicles Mobile 2006 175

Higher efficiency and noise optimi-

zation
Higher efficiency and noise optimiza-
tion are the result of a high produc-
tion accuracy and minimized toler-
ances. This facilitates uniformly high
power transmission to the planetary
levels. The use of ground gear teeth
results not only in an improvement in
efficiency and, thus, a reduction of the
energy consumption, but also in noise
optimization of the gearbox.
Hydrotrac GFT travel dirve
with plug-in-motor A6VE
Reduced mass of the drive system
Compact dimensions
High tractive effort and high output speeds
High reliability though:
- Strong tapered-roller bearing
- Steel face seal
- Solid-forged main components
- Dry running multi-disk brake
- Ground sun and planetary gears
Fig. 10: Gearbox and travel motor drive unit.

Field reliability
Tractive
Field reliability and a long product Mass Power effort Vmax Travel drive

service life are the result of extensive (t) (kW) (kN) (km/h) 2x Gearbox 2x Motor 2x Pump

application knowledge which serves as 5.0 50 60 12 GRM 8 C1 4000 MCR 3 A10VG 45

the basis for the design and construc- 5.0 50 60 12 GFT 9 T2 2000 A10VT 45 A10VG 45

tion of the gearbox. The use of high 6.5 60 70 12 GFT 13 T2 4000 A6VE 55 A4VG 56
quality and robust face seals facilitate 90 12 GFT 17 T2 4000 A6VE 55 A4VG 56
high output speeds, resulting in a very 9.0 70 140 12 GFT 26 T2 1000 A6VE 80 A4VG 71
reliable and field-tested seal concept. 12 75 160 10 GFT 40 T2 9000 A6VE 107 A4VG 90/105
90 180 12 GFT 40 T2 9000 A6VE 160 A4VG 90/105
Gearbox selection table 16 150 250 11 GFT 65 T2 1000 A6VE 160 A4VG 105/140
As examples, figures 11 and 12
show independent of the device Fig. 11: Gearbox selection for crawler loaders and bulldozers.
weight class which gearboxes can be
used for crawler loaders and bulldoz-
ers (Fig. 11) or in ski-slope groomers Mass Power Tractive
effort Travel drive
(Fig. 12). (t) (kW) (kN) 2x Gearbox 2x Motor 2x Pump
5.0 130 50 GFT 13 T2 4000 A2FE 56 A4VG 71
A2FE 63
A6VE 55

5-8 240 85 GFT 24S2 9000 A2FM 107 A4VG 125

8-10 320 100 GFT 24 S2 9000 A2FM 107 A4VG 140

Fig. 12: Gearbox selection for snow groomers.

176 Mobile 2006 Tracked Vehicles Bosch Rexroth AG

4 Electronics for tracked CAN bus

Controller RC 6-9
with DPCA software
PC software
BODEM
vehicles Power
supply
Emergency
off
With the BODAS electronic platform,
Rexroth offers a complete system of Diagnostics
Joystick socket
electronic components ranging from
Safety switch CAN bus
controllers, sensors for pressure, speed interface
or temperature to input and output Light showing
operating statuses
devices in the form of joysticks and Brake
Reverse travel
displays. All electronic components Speed sensor warning signal
are specially designed for use in mo- Speed sensors

bile equipment.
Moreover, Rexroth offers a library of
application software, such as a DPCA
(Dual Path Control Version A) two-
circuit drive control, specially adapted
for use in track-driven vehicles
(Fig. 13).
4.1 DPCA track control standard
software
DPCA is an easily adaptable soft-
ware and hardware packet for drive
management of reversible, hydraulic,
two-circuit travel drives, such as those
used in tracked vehicles. It is used to
control a vehicle with separate drives
for the left and right side of the ve-
hicle. By means of a joystick with two
axes, separate setpoint specifications
are set for the travel behavior and the
steering function. For safety reasons,
both setpoint specifications are set re-
dundantly via an analog value and the
CAN bus. By deflecting the joystick
over a palpable resistance, the coun-
ter-rotation for maneuvering on the
vertical axis can be activated.
Set speed
Variable motor
Engine Variable pump A6VM...EP or
A4VG...EP A6VE...EP
Fig. 13: Typical configuration for two-circuit travel dirve control.
In addition, a synchronization con-
trol for the controlled straight-ahead
travel and an electronic load-limiting
control are integrated in the two-cir-
cuit travel drive control. The speed
control keeps the speed ratio between
the left and right drive constant dur-
ing straight-ahead travel and while
steering, i.e. in every operating condi-
tion. The load-limiting control pre-
vents overloading of the diesel engine
during increased hydraulic power
input for instance when driving up
inclines or while moving dirt.
The DPCA track control is available as
vehicle-specific, parameterizable stan-
dard software (Fig.14).
Bosch Rexroth AG Tracked Vehicles Mobile 2006 177

4.2 Customer-specific software Set speed of diesel engine

Actual speed of diese engine
according to specification book Actual speed of motor left
Actual speed of motor right

Load Limiting Control

or programming by the customer up/down Pump
left
Customer-specific software can also CAN setpoint Acceleration Speed
be created on the basis of a specifica- Setpoint drive behavior controller
analog

Emergency stop
tion book. Application programmers Pump
right
with detailed application knowledge Safety
are available at Rexroth for this pur- switch

pose. Motor
left
Steering
CAN setpoint behavior
It is also possible for customers to Setpoint steering linear/
analog progressive
program the BODAS controllers avail- Motor
right
able from Rexroth. In this case, the
Emergency
programmers can assemble various stop
software modules from the extensive Fig. 14: Method of operation of the two-circuit travel dirve control.
BODAS software library. Or, they
can create the entire software in the
C programming language and opti- Application software
mize the software for specific devices
(Fig. 15). Standard software modules with specific
optimizable parameters

4.3 Safety functions and diagno- BODAS-design consisting of standard

stics modules and extension modules

The Rexroth track control makes Custom programming by the customer or

available a number of standard safety Rexroth

functions for monitoring driving

and steering behavior. During opera-
tion, safety is ensured by checking
the start condition and the safety
switch. In addition, the lines of the
proportional solenoid outputs and Fig. 15: Three programming possibilities.
the steering and speed potentiometers
are continuously monitored for wire information on this is available in the
break and short circuit. Upon actua- specialist articles regarding Func-
tion of the Emergency-Off switch, the tional Safety and BODAS.
drive is immediately switched to an
uncritical drive state. In the event of a
malfunction detected by the electron-
ics, however, only the safety-relevant
part is switched off. The process data
and fault messages are recorded and
made available on the CAN bus. This
information can be displayed either
on the vehicles own display or via
the BODEM service tool. Additional
178 Mobile 2006 Tracked Vehicles Bosch Rexroth AG

5 Drive and control sys- - Axial piston pump A10VO

tems for the working hy-
draulics of track drives Nominal pressure: 250-280 bar
The requirements placed on the hyd- Peak pressure: 315-350 bar
raulic system are also increasing in the Typical application:
Tracked vehicles up to 45t
area of working hydraulics. In order
to meet the requirements for higher
powers with lower energy consump-
- Axial piston pump A11VO
tion, next to fixed pump systems,
primarily variable pump systems are
Nominal pressure: 350 bar
used. For machines such as bulldoz-
Peak pressure: 400 bar
ers or crawler loaders, the robustness Typical application:
and, thus, the reliability play a very Tracked vehicles 45-110t
important roll. Axial piston variable mining applications

pumps of models A10VO and A11VO

have for years contributed to reliably Fig. 16: Classification of weight classes, open circuit.
meeting the demanding requirements
placed on working hydraulics in open
Lifting Rear mounted
circuits.
cylinder ripper cylinger
Tilting
The operability of the working hy- cylinder
draulics must also meet high require-
ments. On the one hand, fast work
cycles and an aggressive response
characteristic of the individual work 5THF5
Joystick
movements is required. On the other, T
A1 A2 A3

fine control should be ensured. The P LS

need-controlled variable pumps B1 B2 B3

A10VO and A11VO in combination M6-22

with a Rexroth flow sharing block
(LUDV) ensure optimal fine con-
trol of the work equipment while
minimizing fuel consumption and
reducing the thermal loading of the
machine. The Rexroth SX or M7 flow
sharing (LUDV) control blocks are
specially matched by size to the re-
quirements of bulldozers and crawler
loaders.
Working hydraulics
A4VG 2x A10VO
Axial piston pump Axial piston pump
Fig. 17: Hydraulic arrangement in open circuit.
5.1 Pumps for working hydraulics in vehicles up to 45t, while the A11VO
The choice of working pump for with a nominal pressure of maximum
open circuits can typically be made 350 bar is used in heavier vehicles,
for tracked vehicles using the vehicle such as in mining applications (Fig.
weight class and the operating pres- 16).
sure. Thus, the A10VO with a nominal
pressure of maximum 280 bar is used
Bosch Rexroth AG
5.2 Flow sharing control blocks
(LUDV)
A typical hydraulic system which is
used frequently is shown in Figure
17. Basically, it consists of an A10VO
or A11VO variable pump or variable
pump combination, the 4THF5 joy-
stick and the M6 or SX control block
with the features specific to this ap-
plication:
SX14 LUDV control block (Fig. 18)
Control block with plate
construction.
Qmax 175 l/min (input),
120 l/min (consumer).
pmax 250 bar (pump side),
300 bar (consumer side).
Can be expanded to seven axes with
individual plates.
Open Center Closed Center flow
sharing (LUDV).
Priority valve.
Four positioning pistons for float
function.
M6-15 LUDV control block (Fig.18)
Mono control block.
Qmax 200 l/min (input),
150 l/min (consumer).
pmax 350 bar (pump side),
420 bar (consumer side).
Can be expanded to seven axes with
individual plates.
Open Center Closed Center flow
sharing (LUDV).
Priority valve.
Pilot pressure insert.
Additional boost valve for prevent-
ing cavitation.
Unlockable check valve for leakage-
free load holding.
Four positioning pistons for float
function.
Tracked Vehicles Mobile 2006 179
LUDV control block SX14
max. consumer quantity 120 L/min
max. pump pressure 250 bar
Machine size to approx. 14t.
LUDV control block M6-15
max. consumer quantity 150 L/min
max. pump pressure 350 bar
Machine size to approx. 12-20t.
LUDV control block M6-22
max. consumer quantity 300 L/min
max. pump pressure 350 bar
Machine size > 18t.
Fig. 18: Overview of flow sharing control blocks (LUDV).
M6-22 LUDV control block (Fig. 18)
Mono control block.
Qmax 350 l/min (input),
300 l/min (consumer).
pmax 350 bar (pump side),
420 bar (consumer side).
Can be expanded to seven axes with
individual plates.
Closed Center flow sharing
(LUDV).
Pilot pressure insert.
Additional boost valve for prevent-
ing cavitation.
Unlockable check valve for leakage-
free load holding.
Four positioning pistons for float
function.
Doubled consumer connections on
double monoblock.
180 Mobile 2006 Tracked Vehicles Bosch Rexroth AG

Special functions of the M6 control Tilting Lifting cylinder Rear mounted Angular control
ripper
block
Next to the features of the M6 control
blocks mentioned above, additional

Ma1

Ma2

Ma3

Ma4
Pst3

Pst5
A1

A2

A3

A4
B1

B2

B3

B4
L3

L5
MP L1 Pst1

P
T
functions can be integrated:
3 3

1
Fast motion function (Fig. 19) 1

The electrically switchable valve (1)

MT1

is activated in order to realize the fast

Pst2 L2

motion function. During this activa- 2

2

L4

L6
Mb1

Mb2

Mb3

Mb4
Pst4

Pst6
tion, the connection between the lift-
ing cylinder on the rod side towards
the tank is blocked while the plate is
lowered. The quantity of oil which Fig. 19: Fast motion and unloading functions.

drains from the lifting cylinder is

regenerated for the lowering process Electric Hydraulic
via the additional boost valve (2). The Joystick Joystick
4THE5 6THF5
short-circuit valve, which is directly
Rear mounted
mounted on the cylinder, can be elim- shield
ripper and shield
inated where applicable. Rear mounted
ripper

Unloading flushing valve (Fig. 19)

Additional advantages result from the
unloading flushing valve (3):
Flushing and heating the control
block to oil temperature.
Open Center Control Block M1-25
- max. consumer quantity 350 l/min
- max. pump pressure 250 bar
- for fixed pump systems
Fig. 20: Open Center Control Block M1-25.

Fast and aggressive response char-

M1-25 open center control block
acteristics due to the fact that the
(Fig. 20) Fig. 21: Joysticks.
minimum swivel angle of the pump
Open center systems (fixed pump
is limited and the pump delivers a
systems) are still in demand regarding
set minimum quantity as a constant 5.3 4THF5 and 6THF5 joysticks
bulldozers and crawler loaders. In or-
flow. Pressure peaks caused by closing (Fig. 21)
der to meet this requirement, Rexroth
the spool are more quickly dissipated The control block is generally con-
offers the M1-25 control block with
via the unloading flushing valve. The trolled via the THF5 hydraulic pilot
the features necessary for the specific
flushing valve on the pump can be control device. Note that the charac-
application.
eliminated. teristics of the pilot control devices
are matched to the respective, used
control block in order to facilitate
cost-effective and user-friendly work.
For electrohydraulic control of the
control block, the THE5 pilot control
device is used.
Bosch Rexroth AG Tracked Vehicles Mobile 2006 181

5.5 Electrohydraulic control Controller RC6-9

Many crawler-type machines are with VACC software
already equipped with an electronic
CAN system which connects both
the diesel engine as well as hydraulic
Safety
functions such as the travel drive. switch 2 CAN bus
Safety switch 1 interface
Working hydraulics with electrohy-
Switched input 1
draulic control can be used in these
systems. The electronic BODAS con-
troller, for example, can electronically Joystick
record the actual flow required by the
End switch A/B
consumer and direct this informa- Switched outputs 1...6
Compression factor
tion as an electric signal to the pump,
Direction switches A/B
which is then electrically adjusted. DRE E A/B
Connections per
movement axis
For such electronically linked CAN
bus designs, Rexroth offers electro-
proportional variable pumps of mod-
els A10VO...EP (Fig. 22) and A11VO...
EP.

A10VO...EP Control block

SX14/12 with DRE
6 Fan drives M6-15/22 with DRE
In order for travel and working drives
Fig. 22: A10VO with electro-proportional control.
to function optimally together with
the diesel engine and with favorable
efficiency, an appropriate cooling
system must be installed for the oil
and water circuits particularly with
regards to a reduction of the TCO.
Rexroth offers appropriate fan con-
cepts. Additional information on this
can be found in the specialist article
regarding Hydrostatic Fan Concepts.
182 Mobile 2006 Tracked Vehicles Bosch Rexroth AG

7 Accompanying mea-
sures for reducing the
TCO Project planning
To ensure that the Rexroth compo-
nents also function error-free in the Checking the operating parameters
application, the operating parameters
are determined during prototyping Commissioning
and, if necessary, potential improve-
System inspection
ments in the device periphery (e.g.
cooler, filter, piping or hydraulic oil
Device acceptance
specification) displayed so that the
life cycle of the units corresponds to
Original service parts
the requirements of the end customer.
Operating parameters here include, Repair service
above all, temperatures as well as
operating and case pressures. In ad-
Fig. 23: Accompanying measures for regarding the TCO.
dition, oscillations can also be taken
into account.
For this purpose, Rexroth makes
available experienced measurement
and application technicians for com-
missioning and device acceptance in
order to make possible definite as-
sessments of the application data and
functions (Fig. 23).

8 Conclusion
Efficiency, cost effectiveness and reli-
ability of the solutions are in the fore-
ground at Rexroth in order to further
extend the high standard in innova-
tion and quality. The product portfo-
lio is continuously developed further
on the basis of the cornerstones: envi-
ronment, energy, costs and function.
Furthermore, Rexroth is a reliable and
dependable partner for everything
from project planning to series sup-
port and service.
Bosch Rexroth AG Tracked Vehicles Mobile 2006 183