GF30.35-W-0002MP Drive control (FR) function 24.9.

02
ENGINE 541.9 in MODELS 930, 932, 933, 934
ENGINE 542.9 in MODEL 930, 932, 934

W30.35-1158-79

Integration in the extended vehicle

network
A63 Autonomous intelligent cruise S1 Drive switch
A3 Drive control (FR) control unit control (ART) S2 Engine control/permanent brake
A4 Flame starting system control unit control unit operating lever
(FLA) - Only on vehicles with Code (ET5) S3 Splitter switch
- Only on vehicles with Code Autonomous intelligent cruise S7 Reverse gear switch
(M89) Flame starting system control S9 Neutral position switch
A6 Engine control (MR) control unit A64 Front module (FM) Y1 Pneumatic constant throttle
A7 Base module (GM) A65 Rear module (HM) solenoid valve
A11 Telligent brake system (BS) control B1 Foot throttle actuator Y2 Engine brake flap solenoid valve
unit B2 Clutch travel sensor Y29 Solenoid valve split (MS1)
A15 Gear control (GS) shift control unit B3 Countershaft rpm sensor Y30 Solenoid valve split (MS2)
A16 Gear control (GS) control unit B4 Outside temperature sensor
A20 Retarder control (RS) control unit B5 Parking brake switch
- Only on vehicles with Code B6 Coolant level switch
(BA9) Voith secondary B7 Air filter monitoring sensor
retarder R B17 Vehicle speed sensor
115 B46 High-low pressure switch
A22 Parameterizable special module a) On vehicles with Code (GE2)
CAN 1 Vehicle CAN Electronic drive control II or with
(PSM) control unit
CAN 3 Frame CAN Code (GS7) Gear control II.
- Only on vehicles with Code
CAN 4 Engine CAN b) On vehicles with Code (GS3)
(EM7) Parameterizable special
CAN 5 Transmission CAN "hydraulic" gearshift.
module with body CAN bus or
Code (EM8) Parameterizable G2 Generator
special module with body and P2 Instrument (INS)
trailer CAN bus P3 Modular tachograph (MTCO)

General information
The drive control unit (FR), like the engine control unit (MR), is an Autonomous intelligent cruise control (ART) (A63)
independent electronic system that functions as the interface - Only for vehicles with Code (ET5) Autonomous
between the chassis and the drive train. intelligent cruise control
It regulates, controls and monitors all vehicle-specific functions Retarder control (RS) control unit(A20)
required while driving, with the main task being calculation of the - Only on vehicles with Code (BA9) Voith R 115
engine torque required by the driver and transmission of this secondary retarder
torque to engine control (MR). Instrument cluster (INS) (P2)
The central control unit is the drive control (FR) control unit (A3), Base module (GM) (A7)
which is connected to a variety of control units via the vehicle CAN
(CAN 1) including: Via the GateWay function of the base module (GM) (A7), drive
Telligent brake system (BS) A11control unit control (FR) is also able to exchange information on the frame
Parameterizable special module (PSM) (A22) CAN (CAN 3) with the front module (FM) (A64) and the rear
- Only on vehicles with Code (EM7) Parameterizable module (HM) (A65).
special module with body CAN bus or Code (EM8)
Parameterizable special module with body and trailer
CAN bus
© Daimler AG, 3/21/09, G/09/09 / gf30.35-w-0002mp / Drive control (FR) function Page 1/3
ENGINE 541.9 in MODELS 930, 932, 933, 934 ENGINE 542.9 in MODEL 930, 932, 934
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1 functions of the drive control (FR)
1.1 Calculation and transmission of the specified engine
torque.
The specified engine torque is a purely calculated value,
which arises from driving commands made by the driver.
This value is primarily dependent on the position of the
accelerator pedal, which is determined by the drive control
(FR) control unit (A3) in conjunction with the foot throttle
actuator (B1).
Drive control (FR) can limit the specified engine torque to
maintain the legally prescribed maximum speed or during a
regulating intervention by the Antilocking System (ABS) or
Acceleration Slip Regulation (ASR).
Drive control (FR) calculates the specified engine torque and
transmits it via the engine CAN (CAN 4) to engine control
(MR)
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1.4 Regulation of speed.
Convenience systems are integrated in the drive control (FR)
system for speed regulation, such as cruise control,
Temposet and cruise control braking. The braking control
system (cruise control braking) allows the driver to set a
maximum speed which (particularly in the case of steep
slopes) is adjusted by means of virtually infinite regulation of
the braking torque. The required control specifications are
calculated by the drive control (FR) control unit (A3) and sent
over the vehicle CAN (CAN 1) to the retarder control (RS)
control unit (A20).
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2 Additional functions of the drive regulation (FR)
2.1 Vehicles with Code (GS7) Gear control II .
A shift control unit is installed on vehicles with Code (GS7)
Gear control II instead of a gearshift lever.
The shift signals from the shift control unit on the gear
control (GS) (A15) are detected by the drive control (FR)
control unit (A3) and sent to the gear control (GS) control
unit (A16) over the transmission CAN (CAN 5).
2.2 Vehicles with Code (GS7) Gear control II and (GE2)
Electronic drive control II .
On vehicles with the additional Code (GS7) Gear control II,
which are fitted with the Code (GE2) Electronic drive control
II, the drive control (FR) control unit (A3) takes on the role of
determining the automatic gear selection as well as
calculating all processes needed for controlling the clutch.
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2.4 Vehicles with Code (BA9) Voith secondary retarder R
115.
The retarder control (RS) control unit (A20) determines the
maximum retarder torque based on the rotational speed of
the retarder that can be converted and transmits this to the
drive control (FR) control unit (A3).
The drive control (FR) control unit (A3) on vehicles with
Code (BA9) Voith secondary retarder R 115 also receives
information on the positions of the engine control/permanent
brake operating lever (S2) from the retarder control (RS)
control unit (A20). It distributes the prescribed torque which
can be requested over the various lever positions or in
various steps and sends these back to the retarder control
(RS) control unit (A20).
© Daimler AG, 3/21/09, G/09/09 / gf30.35-w-0002mp / Drive control (FR) function
ENGINE 541.9 in MODELS 930, 932, 933, 934 ENGINE 542.9 in MODEL 930, 932, 934
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1.2 Control of the constant throttles and engine brake flap
Actuation of the respective solenoid valve is carried out by
the drive control (FR) control unit (A3) according to switch
position of the engine control/permanent brake operating
lever (S2).
1.3 Determination and provision of vehicle speed .
Drive control (FR) determines the current vehicle speed
based on various input values upon which a number of
factors are dependent, including limitation of the specified
engine torque, and makes this value available to other
systems via the vehicle CAN bus (1).
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1.5 Preregulation of the generator and monitoring of the
charge current .
Preregulation of the generator does not take place via the
charging indicator lamp but instead by means of a circuit in
the drive control (FR) control unit (A3).
The drive control (FR) control unit (A3) also monitors the
charge current of the generator (G2) and requests indication
of the symbol for charge control in the instrument (INS) (P2)
via the vehicle CAN bus (1) if the charge current is either too
low or missing altogether.
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2.3 Vehicles with Code (GS3) "hydraulic" gear shifting.
On vehicles with Code (GS3) "Hydraulic" gear shifting, the
drive control (FR) detects the applied position of the
transmission based on information from the neutral position
switch (S9) and the reverse gear switch (S7). This is required,
for example, to issue a start release message to engine
control (MR) when a start command is given.
On vehicles with Code (GS7) Gear control II, the applied
position of the transmission is detected by the gear control
(GS) control unit (A16) and sent to the drive control (FR)
control unit (A3) over the transmission CAN (CAN 5).
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2.5 Vehicles with Code (ET5) Autonomous intelligent cruise
control.
The additional switches on the engine control/permanent
brake operating lever (S2) for vehicles with Code (ET5)
Autonomous intelligent cruise control are read in by the drive
control (FR) control unit (A3).
If the engine control/permanent brake operating lever (S2) is
operated in the appropriate position, then drive control (FR)
activates or deactivates autonomous intelligent cruise control
(ART) or changes the requested speed of the vehicle or the
desired clearance to the vehicle immediately ahead.
Once autonomous intelligent cruise control (ART) is active,
drive control (FR) makes a calculation based on various input
information as to whether the vehicle must be accelerated or
decelerated. It then initiates appropriate acceleration or
deceleration of the vehicle, for example, by correction of the
specified engine torque, activation of the permanent brake
(retarder) or a request application of the brake by the brake
control (BS).
Page 2/3
 Specified engine torque calculation, function GF30.35-W-3002MP
Actuation of engine brake/constant throttle GF30.35-W-3000MP
actuation, function

© Daimler AG, 3/21/09, G/09/09 / gf30.35-w-0002mp / Drive control (FR) function Page 3/3
ENGINE 541.9 in MODELS 930, 932, 933, 934 ENGINE 542.9 in MODEL 930, 932, 934