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Electro Hydraulic Steering System Guide

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0% found this document useful (0 votes)

237 views70 pages

Electro Hydraulic Steering System Guide

Uploaded by

nel027ngms

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

Trainee document:

EHS, ST4/4
©201826 DAF Trucks N.V., Eindhoven,
The Netherlands.
In the interest of continuing product development,
DAF reserves the right to change specifications
or products at any time without prior notice.
No part of this publication may be reproduced
and/or published by printing, by photocopying, on
microfilm or in any way whatsoever without the
prior consent in writing of DAF Trucks N.V.
The content of this training material is solely
meant for training purposes and can therefore not
be used for actual “life” situations. The
information in this document is subject to
changes. For the correct chassis specific
technical data, it is imperative to consult the
Service information.

Structure

EHS
1
QUESTIONS & ASSIGNMENTS
2

TABLE OF CONTENTS
EHS

Page Date

1. INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 . . . . . 201826

1.1 System Introduction EHS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Position components: Power pack and hydraulic steering cylinder . . . . . .
1-1 . . . . .
1-4 . . . . .
201826
201826 1
1.3 System overview: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 . . . . . 201826

2. SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 . . . . . 201826

2.1 Hydraulic system overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 . . . . . 201826
2.2 Steering trailing axle hydraulically . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 . . . . . 201826

3. COMPONENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 . . . . . 201826

3.1 Power pack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 . . . . . 201826
3.2 Hydraulic steering cylinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 . . . . . 201826
3.3 Steering angle sensor (F701) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 . . . . 201826
3.4 Steering angle sensor (F916) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 . . . . 201826

4. CONTROL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 . . . . . 201826

4.1 Trailing axle steering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 . . . . . 201826
4.2 Centering of trailing axle above 45 km/h. . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 . . . . . 201826
4.3 Disengaging control of trailing axle when the trailing axle is raised. . . . . . 4-6 . . . . . 201826

5. BLOCK DIAGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 . . . . . 201826

5.1 Block diagram: Electro Hydraulic Steering system (EHS) . . . . . . . . . . . . . 5-1 . . . . . 201826

1. INTRODUCTION
1.1 SYSTEM INTRODUCTION EHS

Steering system general description

On the eCampus site, an 1
ePresentation of the 'EHS principle
working' is available to support the
explanation included in this training
manual.

The Electro Hydraulic Steering system (EHS) is a

stand-alone power-on-demand system for
steering the trailing axle. The EHS system
comprises a hydraulic steering cylinder, a power
pack and sensors.

Chassis configurations EHS

1
1

G005674
1 FAN / FTN
2 FAQ
3 FAX

NOTE:
- Steering to the left means: The
vehicle takes a left-hand corner.
- Steering to the right means: The
vehicle takes a right-hand corner.

Trailing axle steering angle control

The trailer axle angle steering control depends
on:
- Steering angle front axle
-
-
wheel base
vehicle speed 1
Depending on the front axle steering angle and
the vehicle wheel base and vehicle speed the
trailing axle is steered with a specific steering
angle. The wheels are steered in all situations
around the same pivot point (Ackermann
principle).
Between a vehicle speed of 25 km/h to 45 km/h
the trailing axle is linearly steered back to the
straight-ahead position.
What is the definition of the wheel
base?

What is the influence of vehicle speed

on the behaviour of the EHS system?

Is the trailing axle steering angle at a

specific front axle steering angle bigger
or smaller at a long wheel base vehicle
compared to a vehicle with a shorter
wheel base?

.....................................................................................................................................................

1.2 POSITION COMPONENTS: POWER PACK AND HYDRAULIC STEERING

CYLINDER

3 2

2
3

E506408

1 Trailing axle
2 Power pack with integrated Electro
Hydraulic Steering system ECU (P023)
3 EHS cylinder with integrated position

1
sensor (L204)

Assembly power pack/ hydraulic steering

cylinder

B A

C D S705052-2
A Electric motor with Electro Hydraulic
Steering system ECU (P023)
B Oil tank with integrated pump
C EHS cylinder (L204) with integrated
position sensor
D Valve block

.....................................................................................................................................................

1.3 SYSTEM OVERVIEW:

System overview CF and XF with MX-11 or

MX-13 engine
1 1

F-CAN
VECU

V-CAN2

EBS-3

CAN
EHS P023
2

CAN
4.1

F-CAN
4.2

E506430
1 Power pack with Electro Hydraulic
Steering system ECU (P023)
2 EHS cylinder (L204)
4 Steering column
4.1 Steering angle sensor (F701)
4.2 Steering angle sensor (F916)

System overview CF with PX-7 engine

NOTE: A CF with PX-7 engine (FAN
configuration) uses VIC-3 instead of
VECU.

1 Power pack with Electro Hydraulic 1

Steering system ECU (P023)
2 EHS cylinder (L204)
4 steering column
4.1
4.2
steering angle sensor (F701)
steering angle sensor (F916) VIC-3
F-CAN
1
V-CAN2

EBS-3

CAN
EHS P023
2
CAN
4.1

F-CAN
4.2

S705073

General description
The power pack comprises:
- Electro Hydraulic Steering system ECU
(P023)
- electric motor
- pump
- oil reservoir
Hydraulic steering cylinder comprises:
- valve block
- integrated position sensor (L204)
- hydraulic steering cylinder with piston
The available vehicle signals on the CAN bus are
transmitted to the power pack with integrated
Electro Hydraulic Steering system ECU (P023).
For example: steering wheel angle signal. From
these signals, the EHS determines the desired
steering angle of the trailing axle. The EHS ECU
controls the pump with the electric motor on the
basis of the target-actual comparison.
The pressure generated acts on the particular
piston surface of the cylinder (L204) and moves
the cylinder’s piston rod in or out. The integrated
position sensor provides the return (feedback)
signal. The wheels on the trailing axle are turned
to the desired angle by coupling the cylinder unit
to a control arm. A control arm transmits the
steering forces via the tie rods.
NOTE:
- Steering the vehicle to the right
means that the hydraulic steering
cylinder of the rear axle extends.
- Steering the vehicle to the left
means that the hydraulic steering
cylinder of the rear axle retracts.

Electro Hydraulic Steering system ECU (P023)

The EHS control functions include:
- steering trailing axle
- centering steering axle
1 - inhibit steering control of trailing axle when
the trailing axle is raised.
The various signals are communicated to the
Electro Hydraulic Steering system ECU (P023)
via CAN.
Various signals from different components and
systems are used:
Steering angle sensor (F916)
The steering angle sensor (F916) communicates
the steer wheel angle to the Electro Hydraulic
Steering system ECU (P023). This signal is used
to calculate the desired trailing axle steering
angle.
EHS is a safety critical system. For these reason
two different steering wheel angle sensors are
used.
Steering angle sensor(F701)
The steering angle sensor (F701) communicates
the steer wheel angle to the ECU EBS-3 (D376).
This signal is used as redundant signal.
NOTE: Between the vehicle speed 0
km/h and 25 km/h the EHS system
requires one of the steering angle
sensor signals.
Above a vehicle speed of 25 km/h the
EHS system requires two steering
wheel angle sensors.
When above the vehicle speed of 25
km/h only one steering wheel sensor
signal available is, the Electro Hydraulic
Steering system ECU (P023) controls
the trailing axle wheels in the straight
ahead position.

Tachograph (B525)
The tachograph (B525) transmits a vehicle speed
signal to the Electro Hydraulic Steering system
ECU (P023). The Electro Hydraulic Steering
system ECU (P023) needs a vehicle speed signal
to establish whether the trailing axle must steer or
not.
PCI (D420)
The PCI transmits an engine speed signal to the
Electro Hydraulic Steering system ECU (P023).
The purpose of this signal is to check for engine
running.
NOTE: For a CF truck with PX-7
engine, ECS-DC6 (D431) transmits an
engine speed signal to the Electro
Hydraulic Steering system ECU (P023).

ECAS-5 (D453)
The ECAS-5 unit transmits a signal to the Electro
Hydraulic Steering system ECU (P023). Steering
of the trailing axle is inhibited when the trailing
axle is raised.
VIC/DIP (D358/D366) 1
The VIC/DIP informs the driver via the instrument
panel about:
- yellow 'steering gear' error messages (less
serious faults)
- red 'steering gear' error messages (serious
faults)
The wheel speed sensors transmit signals to the
EBS (D376) electronic control unit. These signals
are also used for the EHS system as speed
signal.
NOTE: The Electro Hydraulic Steering
system ECU (P023) uses always the
highest vehicle speed value to control
the trailing axle position.

EHS ECU location in data network (CF/XF)

Body Builder Body Builder AGC-A

Connector-Cabin Connector-Chassis EAS-4 Diagnosis
R R R
AGC-A

1
Selector
BB-CAN A-CAN
AGC-A
R
IMMO BBM PCC PCI TraXon
R R R
V-CAN1
R
V-CAN2
MTCO AEB-
R CAN
SWS DIP-5 DTCO Airbag-3 LDWS-3 AEBS-2 EBS-3 EST-54
R R
I-CAN
R
D-CAN
R
FMS HD-OBD
VECU Connector Connector DCM RWCP CCP ACH-WW VIC-3
R
CCC-CAN
Basic Radio LIN R
TI-2 TNR CAMERA CCC
C-CAN
R
R

BEM TPM EHS CDS-4 ALS-2 CSM

F-CAN
LIN
R R
LIN
CMF SAC ECAS-5 CMR CSC
RC-ECAS Cabin Switch Cluster

LIN
ILS Alternator

ELS
E505646-2

EHS ECU location in data network (CF with

PX-7 engine)
Body Builder Body Builder AGC-A
Connector-Cabin Connector-Chassis Diagnosis
R R

BB-CAN
AGC-A
Selector

AGC-A
ECS-DC6
1
IMMO BBM Astronic
R R R
V-CAN1
V-CAN2

R
TSU
R
MTCO R
DIP-5 SWS AEBS-1
DTCO R
ECAS-4
VIC-3 I-CAN
R

D-CAN
R R
EBS-3.3 LDWS-3
OBD FMS
Connector Connector DCM
C-CAN
R
R
R
Telephone
Interface-2 TNR Airbag-3 CCC CDS-4 ALS-2 ELC
Basic Radio
LIN LIN

F-CAN
R CCP ELS

SAC EHS

S705074

Steering angle front axle and trailing axle

X1 Y
X2

1
A

X Y

C
E506480
A steered front axle within the dead zone
A X1 steered front axle to right with steering
angle is less as 4 degrees (within dead
zone)
A X2 steered front axle to left with steering
angle is less a 4 degrees (within dead
zone)
A Y trailing axle steering angle stays 0
degrees
B steered front axle left bend
B X steered front axle is negative
B Y steered trailing axle is positive
C steered front axle right bend
C X steered front axle is positive
C Y steered trailing axle is negative

NOTE: The steering dead zone is a

front axle steering angle area where the
trailing axle is not steered. This is done
to make the system less sensitive
during driving straight ahead and to
improve safety.

NOTE: The calculated requested

position of the trailing axle steering
position is called the 'setpoint'.
The difference between the calculated
requested trailer axle steering position
and the actual trailer axle steering
position is called the 'offset'. The
1
Electro Hydraulic Steering system ECU
determines which offset is acceptable.
The acceptable offset is vehicle speed
depending.
The acceptable offset for a driving
vehicle is larger compared with a
vehicle without speed.

If the measured (actual) angle is within the

acceptable offset value, then the Electro
Hydraulic Steering system ECU (P023) does not
change this. And the power pack keeps the
length of the cylinder constant.
Is the trailing axle steering angle
positive or negative when the vehicle
takes a left-hand corner?

.....................................................................................................................................................

2. SYSTEM
2.1 HYDRAULIC SYSTEM OVERVIEW

On the eCampus site, an

ePresentation 'Overview of the 1
hydraulic system' is available to support
the explanation included in this training
manual.

The hydraulic system consists of two main

components. Namely:
- The power pack, consisting of an electric
motor driven pump, control unit and oil
reservoir.
- Hydraulic steering cylinder unit with
integrated position sensor and valve block.

ECU 1.8 1
1.1
M

1 1.2

1.4 1.3
1.9

1.6
1.5
1.7
B T A

B T A
2

2.2 2.1

2.5 2.3

2.4

2.7
2.6
2.8

B2 X2 A2
B1 X1 A1
2.10 2.9
S

S705051

1 EHS power pack

1.1 electrical motor
1.2 oil pump
1.3 non-return valve
1.4
1.5
non-return valve
strainer 1
1.6 strainer
1.7 oil reservoir
1.8 Electro hydraulic steering ECU (P023)
A connection point to hydraulic steering
cylinder (cylinder extended)
B connection point to hydraulic steering
cylinder (cylinder retracted)
T connection point to hydraulic steering
cylinder (return tank)
2 hydraulic steering cylinder
2.1 non-return valve
2.2 non-return valve
2.3 pressure limiting valve
2.4 2/2 valve
2.5 pressure limiting valve
2.6 two-way select high valve
2.7 safe mode valve
2.8 2/2 valve
2.9 position sensor
2.10 piston
A connection point to EHS power pack
(cylinder extended)
B connection point to EHS power pack
(cylinder retracted)
T connection point to EHS power pack
(return tank)

NOTE: The pressure limiting valves

(2.3 and 2.5) open at a pressure above
200 bar for a short moment. To limit the
maximum oil pressure in the system.
This can happen when the trailing axle
steers against a pavement.

NOTE:
- Connection A1 - A2 is an external
hydraulic connection on hydraulic
steering cylinder.
- Connection X1 -X2 is an external
hydraulic connection on hydraulic
steering cylinder.
- Connection B1 - B2 is an external
hydraulic connection on hydraulic
steering cylinder.

Which components are activated when

the vehicle takes a bend to the right?

What is the function of components 2.3

1 and 2.5?

What is the function of component 2.7?

.....................................................................................................................................................

2.2 STEERING TRAILING AXLE HYDRAULICALLY

Steering straight ahead

On the eCampus site, an
ePresentation of the 'Operating
principle of the hydraulic system' is 1
available to support the explanation
included in this training manual.

On the eCampus site, an

ePresentation of the 'Operating
principle of the hydraulic system
(emergency situation)' is available.
To support the explanation included in
this training manual.

ECU 1.8 1
1.1
M

1 1.2

1.4 1.3
1.9

1.6
1.5
1.7
B T A

B T A
2

2.2 2.1

2.5 2.3

2.4

2.7
2.6
2.8

B2 X2 A2
B1 X1 A1
2.10 2.9
S

S705053
When the vehicle is steered in the straight ahead
position, the hydraulic steering cylinder piston is
in the centre position.
The steering circuit and hydraulic steering
cylinder and all components are filled with oil
without pressure (if there are no forces on the
tyres).

Steering to the right

ECU 1.8 1 ECU 1.8 1
1.1 1.1
M M

1
1.2 1.2

1.4 1.3 1.4 1.3

1.9 1.9

1.6 1.6
1.5 1.5
1.7 1.7
B T A B T A

B T A B T A
2 2

2.2 2.1 2.2 2.1

2.5 2.3 2.5 2.3

2.4 2.4

2.7 2.7
2.6 2.6
2.8 2.8

B2 X2 A2 B2 X2 A2
B1 X1 A1 B1 X1 A1
2.10 2.9 2.10 2.9
S S

A B

S705054
A Steering from centre position to the right-
hand bend
B Steering from the right-hand bend back to
the centre position

Steering to the left

ECU 1.8 1 ECU 1.8 1
1.1 1.1
M M

1
1.2 1.2

1.4 1.3 1.4 1.3

1.9 1.9

1.6 1.6
1.5 1.5
1.7 1.7
B T A B T A

B T A B T A
2 2

2.2 2.1 2.2 2.1

2.5 2.3 2.5 2.3

2.4 2.4

2.7 2.7
2.6 2.6
2.8 2.8

B2 X2 A2 B2 X2 A2
B1 X1 A1 B1 X1 A1
2.10 2.9 2.10 2.9
S S

A B

S705055
A Steering from centre position to the left-
hand bend.
B Steering from the left-hand bend back to
the centre position

Centring steering axle above 45 km/h

Above 45 km/h the trailing axle is not steered, and
is always in the straight ahead position. This is
done electronically. The position sensor in the
hydraulic steering cylinder measures the actual
position of the piston.
If the trailing axle position is not in the requested
position (set point with allowed offset), caused by
steering forces, the system corrects this
immediately.

Emergency situation
If a trailing axle steers to the right or left, and the
power supply is interrupted, the trailing axle
wheels come slowly back to the centre position.
After this, the trailing axle steering is hydraulically
locked. This happens when driving the vehicle
forwards and power supply is interrupted, due to
1
wheel forces.
When an axle is steered, the caster angle
naturally wants to return the axle to the straight
ahead position.

ECU 1.8 1 ECU 1.8 1

1.1 1.1
M M
1.2 1.2

1.4 1.3 1.4 1.3

1.9 1.9

1.6 1.6
1.5 1.5
1.7 1.7
B T A B T A

B T A B T A
2 2

2.2 2.1 2.2 2.1

2.5 2.3 2.5 2.3

2.4 2.4

2.7 2.7
2.6 2.6
2.8 2.8

B2 X2 A2 B2 X2 A2
B1 X1 A1 B1 X1 A1
2.10 2.9 2.10 2.9
S S

A B

S705056-2
A trailing axle steered and power supply
interrupted
B trailing axle locked in straight ahead
position

What is the reason that a steered

trailing axle without control (emergency
situation) comes back in the straight
ahead position during driving forward?

1 A steered trailing axle is not controlled

(emergency situation). Why does this
trailing axle not come back in the
straight ahead position during reverse
drive?

Search in the Service information

which oil is used for the EHS system.

How is the trailing axle controlled in the

straight ahead position at a vehicle
speed higher as 45 km/h?

.....................................................................................................................................................

3. COMPONENTS
3.1 POWER PACK

The power pack consists of an electric motor with

integrated ECU, a hydraulic gear wheel pump, 1
two non-return valves with two strainers and an
oil reservoir.

2.1
1.3

1.2
2.3 2.2

1.1

2.4
2.5

2 1
G005621-2
1 Electric motor with integrated ECU
1.1 Electro Hydraulic Steering system ECU
(P023)
1.2 Connection collar
1.3 electric motor
2 Hydraulic part
2.1 Filler nozzle
2.2 Hydraulic gear wheel pump
2.3 Cover of hydraulic part
2.4 Non-return valve
2.5 Non-return valve

NOTE: The electric motor has two

directions of rotation.
Cover of the hydraulic part is
transparent so that oil level is visible
from the outside.

Search in Service Information how to

check oil level of the EHS system.

Electro Hydraulic Steering system ECU (P023)

The Electro Hydraulic Steering system ECU
(P023) is integrated in the power pack.
The Electro Hydraulic Steering system ECU
(P023) controls the entire system. Via the F-CAN
1 it communicates with components and other
systems. Via a dedicated CAN it communicates
with the piston position sensor in the hydraulic
steering cylinder.
Electro Hydraulic Steering system ECU (P023)
connector overview
A power supply before ignition (KL30)
B earth (KL31) C
C vehicle signals
D hydraulic steering cylinder sensor signals

NOTE: The signals in connector C and A

D can be checked with the mini-Break
D
Out Box. B
S705062
On which connector and pin number is
it possible to check the CAN signals
from the position sensor in the hydraulic
steering cylinder?

.....................................................................................................................................................

3.2 HYDRAULIC STEERING CYLINDER

The hydraulic steering cylinder consists of a

hydraulic steering cylinder with valve block and
an integrated position sensor.
Steering mechanism
1
Depending on the steering direction the various
valves in the valve block are operated
hydraulically, in such away that the piston in the
cylinder moves in the correct direction.
The integrated position sensor gives feedback to
the Electro Hydraulic Steering system ECU
(P023) on the actual piston position.
Centre position
B T A
2

2.2 2.1
2.5 2.3

2.4

2.7
2.6
2.8

B2 X2 A2
B1 X1 A1
2.10 2.9
S

S705057
The lines A, T and B are connected with the EHS
power pack. The 2/2 valves (2.4 and 2.8) and
save mode valve (2.7) are in the rest position.
The non-return valves (2.1 and 2.2) and 2/2
valves (2.4 and 2.8) block the oil on both sides in
the hydraulic steering cylinder.
The hydraulic steering cylinder cannot move to
the left or right in this situation.

NOTE:
- Steering to the left means: The
vehicle takes a left-hand bend.
- Steering to the right means: The
vehicle takes a right-hand bend.
1 Steering to the left (vehicle)
The power pack pressurises the hydraulic
steering cylinder via connection B. The piston in
the hydraulic steering cylinder moves to the right.
The oil pressure activates the 2.2 valve (2.4) and
safe-mode valve (2.7). Safe-mode valve (2.7) is
now in the locked position. The 2/2 valve (2.4) is
in the open position.
During the hydraulic steering cylinder piston
movement to the right, the oil on the right side of
the piston can flow via connection T, back to the
reservoir in the power pack.

B T A
2

2.2 2.1

2.5 2.3

2.4

2.7
2.6
2.8

B2 X2 A2
B1 X1 A1
2.10 2.9
S

S705058

Steering to the right (vehicle)

The power pack pressurises the hydraulic
steering cylinder via connection A of the hydraulic
steering cylinder. The piston in the hydraulic
steering cylinder moves to the left. The oil
pressure activates the 2.2 valve (2.8) and safe-
mode valve (2.7). Safe-mode valve (2.7) is now in
1
the locked position. 2/2 valve (2.8) is in the open
position.
During the hydraulic steering cylinder piston
movement to the left, the oil on the left side of the
piston can flow via connection T back to the
reservoir in the power pack.

B T A
2

2.2 2.1

2.5 2.3

2.4

2.7
2.6
2.8

B2 X2 A2
B1 X1 A1
2.10 2.9
S

S705059

Hydraulic steering cylinder connections

B T A
2

1 2.2 2.1

2.5 2.3

2.4

2.7
2.6
2.8

B2 X2 A2
B1 X1 A1
2.10 2.9
S

B2 B
X2

A
B1 X1 A1 T A2

S705060

A connection point hydraulic steering

cylinder to power pack (steering to the
right)
A1-A2 connection pipe between hydraulic
steering cylinder valve block and
hydraulic steering cylinder (connected
with connection point A)
1
B connection point hydraulic steering
cylinder to power pack (steering to the
left)
B1-B2 connection pipe between hydraulic
steering cylinder valve block and
hydraulic steering cylinder (connected
with connection point B)
T connection point hydraulic steering
cylinder to power pack (to reservoir)
X1-X2 connection pipe between hydraulic
steering cylinder valve block and
hydraulic steering cylinder (connected
with connection point T)

Integrated position sensor

The Electro Hydraulic Steering system ECU
(P023) must know the position of the piston in the
hydraulic steering cylinder. This position has a
direct relation with the trailing axle steering angle.
For this purpose, a piston position sensor is
mounted in the hydraulic steering cylinder. The
piston is fitted with a permanent magnet and the
piston sensor can detect the piston's actual
position.
The position of the hydraulic steering cylinder
position is communicated to the Electro Hydraulic
Steering system ECU (P023) via a dedicated
CAN connection.

B A

S705061
A integrated position sensor
B piston with permanent magnet

The integrated position sensor is calibrated at the

zero position (straight ahead) by the supplier.
It is very important that the hydraulic steering
cylinder is mounted with the trailing axle in the
straight ahead position. This is the calibrated zero
1 position. When aligning a trailing axle (EHS), it is
important that the cylinder is in centre position.
DAVIE is required to read the zero position.
Search in the Service information the
job: Replace the hydraulic steering
cylinder. Read how to check and adjust
the steering cylinder.

Does the position sensor in DAVIE

represent a value in mm or degrees?

Search in the Service information for

the job: 'Replace the hydraulic steering
cylinder'.

Describe the step by step procedure

on how to replace the hydraulic steering
cylinder.

EHS cylinder (L204) diagram

L204 EHS cylinder

Sensor_supply
Sensor_GND
P023 Electro Hydraulic Steering system ECU

CAN-H

CAN-L
5 2 3 4
1
L204
cylinder EHS

6274

6273
7089

7090
D5 D2 D3 D4

Private-CAN_H

Private-CAN_L

Sensor_GND

Sensor_supply
P023
ECU Electro Hydraulic Steering
E506487

.....................................................................................................................................................

3.3 STEERING ANGLE SENSOR (F701)

NOTE: The steering angle sensor

(F701 is connected with a dedicated

1 CAN with the EBS-3 system.

The steering angle sensor (F701) is located on

the steering column, immediately beneath the
steering wheel.

R600789

The steering angle sensor comprises an optical

sensor (1) with light sensor, a code ring (2) and a
microprocessor (3). When the steering wheel
turns, the microprocessor displays a barcode by
interruptions of the light traps. The direction of
rotation and the speed of the angular
displacement can then be derived from this
barcode.
On the basis of this information:
2 1
- a prediction is made for the vertical stability
control or when a critical tilt is likely to occur.
- the lateral stability control a check is made to 3
see whether the vehicle's reaction matches
the driver's intention.
Whenever the contact is on and the vehicle drives
a check is automatically performed of:
- the steering angle sensor centre position
- the relationship between steering wheel
angular displacement and steering angle
Centre position of the steering angle sensor
(F701) CAN
This check is performed by checking the centre 1
position of the steering angle sensor (the centre
position is recorded via the barcode information)
in the straight-ahead position. Straight-ahead 2
position information comes from the lateral
acceleration and yaw angle speed sensors and if
necessary making adjustments with the software.
If the centre position difference is too large, a R600780
VSC error message is activated on the
instrument panel.

Relationship between steering wheel angular

displacement and steering angle
This check is performed with the following units of
measurement: steering wheel angle, vehicle
speed, measured yaw angle speed and steering
angle. These variables are measured for different
steering wheel angles and are then stored as
1
reference readings in the EBS unit. These
reference readings are compared with the
parameters stored in the EBS unit. If, for
example, after a repair to the steering gear an
incorrect or different mechanical adjustment is
made, the results may differ from the reference
readings or parameters stored earlier in the EBS
unit. If the difference is too large, a VSC warning
indicator is activated on the instrument panel.
Steering angle sensor (F701) signal

1000
A B A1 B1

-1000
0.0 9.3 18.6 27.9 37.3 46.6 55.9 65.2 74.5 83.8 93.1 102.4 111.8 121.1 130.4 sec

1 EBS-3 Steering wheel angle 4.40 5 EBS-3 Lateral acceleration 0.30

2 DTCO Vehicle speed 0.00 kph 6 EBS-3 Yaw rate -0.02
3 EBS-3 Wheel speed,Front axle... 1.45 kph
4 EBS-3 Wheel speed,Front axle... 1.45 kph
E506485
1 steering wheel angle
2 vehicle speed
3 wheel speed. front axle, left
4 wheel speed, front axle, right
5 lateral acceleration
6 yaw rate
A steering wheel rotate to the right (relative
signal)
A1 steering wheel rotate to the right (absolute
signal)
B steering wheel rotate to the left (relative
signal)
B1 steering wheel rotate to the left (absolute
signal)

The steering angle sensor (F701) generates a

signal from the movement of the steering wheel.
When the ignition is switched on, the steering
wheel movement signal is relative. The EBS ECU
(D376) does not know when the steering wheel is
1 in the straight ahead position. The EBS-3 ECU
(D376) receives information from the front wheel
speed sensors to decide what the straight ahead
position is.
The steering angle sensor (F701) signal changes
from a relative signal to an absolute signal after
the vehicle drives a certain distance.
Is the steering angle sensor (F701)
signal positive or negative during a
right-hand corner?

Describe the reason that EHS needs

two steering angle sensors (F701 and
F916).

Steering angle sensor (F701) diagram

D376 ECU EBS-3
P029 clock spring
F701 steering angle sensor 180

F916 steering angle sensor

D377 modulator front axle 1

CAN_H
CAN_L
Gnd

Ub
B1 B2 B4 B3
D377
modulator front axle

9164

5491

3934

3935
D 10 D7 D1 D4

modulator_front_axle_GND

modulator_front_axle_CAN_L

modulator_front_axle_CAN_H
modulator_front_axle_24V
120

steering_angle_CAN_H
steering_angle_CAN_L
steering_angle_GND

steering_angle_24V
D9 D 12 D2 D5

D376
ECU EBS-3

F-CAN

9163

3928

3929
3927
9163

3927

3952
3953

6 5 4 1 B2 B1 B3 B4
CAN_L

CAN_H
gnd

F_CAN_H
supply_24V

Ub
KL31B
F_CAN_L

180
F701
sensor angle steering

F916 P029
sensor steering angle clock spring

E506486-2

.....................................................................................................................................................

3.4 STEERING ANGLE SENSOR (F916)

General function.

1 The steering angle sensor (F916) described in

this document:
- provide a measuring value for the absolute
angle (position) of the steering wheel;
- includes the capability of identification of the
steering wheel zero position (centre position)
with sensor calibration.
- Controller Area Network (CAN) interface is
included in the sensor housing.
Location of the steering angle sensor F701 /
F916 on the steering column

B2 C

G005682
A steering angle sensor (F701)
B steering angle sensor (F916)
B1 bracket
B2 mounting plate with screws
C connector

Internal components steering angle sensor

(F916)

A gear wheel
A1 cam
B
B1
gear wheel with integrated magnets (B1)
magnets integrated in the gear wheel
A1 1
C printed circuit board
C1 position sensors
C2 CAN controller A

4 2
C1

C C2
I406300

Internal components steering angle sensor (F916)

A gear wheel A1
B
A1 nock
B1
B gear wheel with integrated magnets
B1 magnets
C magnetic field sensor
C2 CAN controller CAN
D A / D (analogue / digital) converter C D

B1
A
B
R601764

Basic principle steering angle sensor (F916)).

The steering angle sensor consists of two
magnetic field sensors (c) located underneath the
two gear wheels with integrated magnets (B).
1 Main gear wheel (A) drives the two gear wheels
(B). The main gear wheel (A) is via nock (A1)
connected to the steering shaft. When the
steering wheel is turned, the magnets generate
an analogue signal which is converted by the A /
D converters (D). A CAN controller sends this
information to the dedicated CAN bus.
Steering angle sensor (F916) diagram

KL15
1234

steering_angle_GND
steering_angle_24V
E351

Sensor_supply
F-CAN F-CAN

Sensor_GND
fuse electrical systems

supply_24V
F_CAN_L

F_CAN_H
Fuse_F20

10A
E763

CAN-H

CAN-L
gnd
fuse EHS

125A
1 2 D6 1 4 6 5 D12 D9 5 2 3 4

P027 D400 F916 D376 L204

3952

3953

9163

3927
3953

3952

fuse box chassis supply sensor steering angle ECU EBS-3 cylinder EHS
central box

6274

7091
3952

7089

7090
3953

3953
1381

3952
1074
1008

A A1 C4 C6 C5 C3 C2 D5 D2 D3 D4
KL30

Private-CAN_H

Private-CAN_L
KL30

KL15

F-CAN_H
F-CAN_L

F-CAN2_L

F-CAN2_H

Sensor_GND

Sensor_supply
B
1033

C
KL31
KL31

D B1

A518 P023
batteries power supply ECU Electro Hydraulic Steering
9216

G525-1 G820
ground flywheelhouse chassis ground
E506483-2
A518 batteries power supply
D376 EBS-3 ECU
D400 central box
E351 fuse, electrical systems
E763 fuse, EHS
F916 steering angle sensor
G525 flywheel housing, earth
G820 Chassis earth
L204 EHS cylinder
P023 ECU electro hydraulic steering
P027 fuse box chassis supply

Which system mainly needs the

information provided by the steering
angle sensor (F701)?

1
.....................................................................................................................................................

.....................................................................................................................................................

4. CONTROL FUNCTIONS
4.1 TRAILING AXLE STEERING

KL15

1
1234

steering_angle_GND
steering_angle_24V
E351

Sensor_supply
F-CAN F-CAN

Sensor_GND
fuse electrical systems

supply_24V
F_CAN_L

F_CAN_H
Fuse_F20
10A
E763

CAN-H

CAN-L
gnd
fuse EHS

125A
1 2 D6 1 4 6 5 D12 D9 5 2 3 4

P027 D400 F916 D376 L204

3952

3953

9163

3927
3953

3952
fuse box chassis supply sensor steering angle ECU EBS-3 cylinder EHS
central box

6274

7091
3952

7089

7090
3953

3953
1381

3952
1074
1008

A A1 C4 C6 C5 C3 C2 D5 D2 D3 D4
KL30

Private-CAN_H

Private-CAN_L
KL30

KL15

F-CAN_H
F-CAN_L

F-CAN2_L

F-CAN2_H

Sensor_GND

Sensor_supply
B
1033

C
KL31
KL31

D B1

A518 P023
batteries power supply ECU Electro Hydraulic Steering
9216

G525-1 G820
ground flywheelhouse chassis ground
E506483-2
The two steering wheel sensors mounted in the
steering column detect the steering wheel angle.
The Electro Hydraulic Steering system ECU
(P023) receives the signal of the steering angle
sensor (F701) via EBS and the F-CAN.
The Electro Hydraulic Steering system ECU
(P023) receives the signal of the steering angle
sensor (F916) via the F-CAN.
These two sensor signals correspond with the
steering angle of the steering wheel. The front
axle steering angle is calculated in the ECU.
The Electro Hydraulic Steering system ECU
(P023) subsequently needs more conditions to
determine whether the trailing axle steers.
These are:
- the engine must be running
- the vehicle speed must be below 45 km/h
- the status of the trailing axle (lifted or not
lifted)
The Electro Hydraulic Steering system ECU
(P023) receives two CAN messages that indicate
the vehicle speed:
- vehicle speed from tachograph (B525)
- vehicle speed from EBS-3 (D376) (indicated
by the wheel speed sensors)

If all these conditions are met, the Electro

Hydraulic Steering system ECU (P023) activates
the electric motor and pump. The Electro
Hydraulic Steering system ECU (P023) can
activate the electric motor and hydraulic pump in
1 two directions to generate oil pressure at the
correct side of the hydraulic steering cylinder
piston.
The integrated hydraulic steering cylinder
position sensor (L204) measures the piston
position. With this value the Electro Hydraulic
Steering system ECU (P023) calculates trailing
axle steering angle. The Electro Hydraulic
Steering system ECU (P023) monitors the piston
position until the desired position is reached.
Protection
The EHS system protects the system when there
is no steering wheel angle change. Therefore the
system checks (during standstill or almost
standstill) if there is steering wheel activity. If
there is no steering wheel activity for at least 6 s,
the system switches to a passive mode. A
passive mode means that there is no electric
motor torque available. The (overload) protection
becomes also active when the trailing axle
steering is blocked (for example steered against
a pavement). The trailing axle angle cannot reach
the calculated and requested position.
As soon as either the vehicle speed increases or
the steering wheel is turned, the overload
protection stops and the system steers to the
desired position.

-10
0.0 2.6 5.2 7.9 10.5 13.1 15.7 18.3 21.0 23.6 26.2 28.8 31.4 34.1 36.7 sec

1 EHS Vehicle speed 0.00 kph 5 EHS Front wheel angle -31.50
2 EHS Trailing wheel angle 9.95 6 EHS Set value trailing wheel an.. 10.16
3 EHS Steering shaft angle 744.23
4 EHS Electric motor torque 0.00 Nm
S705070
1 Vehicle speed
2 Trailing wheel angle
3 Steering shaft angle
4 Electric motor torque
5 Front wheel angle
6 Set value trailing wheel angle

Search in the CAN topology overview

how the engine running signal is
communicated to the EHS system.

Search in the CAN topology overview

how the engine running signal is
communicated to the EHS system of a
1
CF with PX-7 engine vehicle.

.....................................................................................................................................................

4.2 CENTERING OF TRAILING AXLE ABOVE 45 KM/H.

KL15

1234

steering_angle_GND
steering_angle_24V
1
E351

Sensor_supply
F-CAN F-CAN

Sensor_GND
fuse electrical systems

supply_24V
F_CAN_L

F_CAN_H
Fuse_F20
10A
E763

CAN-H

CAN-L
gnd
fuse EHS

125A
1 2 D6 1 4 6 5 D12 D9 5 2 3 4

P027 D400 F916 D376 L204

3952

3953

9163

3927
3953

3952
fuse box chassis supply sensor steering angle ECU EBS-3 cylinder EHS
central box

6274

7091
3952

7089

7090
3953

3953
1381

3952
1074
1008

A A1 C4 C6 C5 C3 C2 D5 D2 D3 D4
KL30

Private-CAN_H

Private-CAN_L
KL30

KL15

F-CAN_H
F-CAN_L

F-CAN2_L

F-CAN2_H

Sensor_GND

Sensor_supply
B
1033

C
KL31
KL31

D B1

A518 P023
batteries power supply ECU Electro Hydraulic Steering
9216

G525-1 G820
ground flywheelhouse chassis ground
E506483-2
Above 45 km/h the steering angle of the trailing
axle is returned to the straight ahead position
irrespective of the signal transmitted by the
steering angle sensors (F701 and F916) on the
steering column.
Check valve test
The EHS ECU tests the check valves in the
hydraulic steering cylinder by performing the
check valve test.
The EHS system performs this test above a
specific vehicle speed and under specific
conditions.
Search in the Service documentation
the diagnostic conditions of DTC
520211-7.

Search in the Service documentation

the diagnostic conditions of DTC
520202-7.

NOTE: Be aware that DTC 520202-7

means that the conditions to perform a
check valve test are not met. This does
not mean that there is something
wrong. Consult for this the
troubleshooting procedure that is
described in the service information.

If the EHS system was not able to check the

check valves with the check valve test, then after
15 attempts, a warning on DIP appears. This is
because the conditions are not met for the check
valve test.
Search in the CAN topology overview 1
how the vehicle speed signals are
communicated to the EHS system.

.....................................................................................................................................................

4.3 DISENGAGING CONTROL OF TRAILING AXLE WHEN THE TRAILING AXLE

IS RAISED.

1
KL15

1234

steering_angle_GND
steering_angle_24V
E351

Sensor_supply
F-CAN F-CAN

Sensor_GND
fuse electrical systems

supply_24V
F_CAN_L

F_CAN_H
Fuse_F20
10A
E763

CAN-H

CAN-L
gnd
fuse EHS

125A
1 2 D6 1 4 6 5 D12 D9 5 2 3 4

P027 D400 F916 D376 L204

3952

3953

9163

3927
3953

3952
fuse box chassis supply sensor steering angle ECU EBS-3 cylinder EHS
central box

6274

7091
3952

7089

7090
3953

3953
1381

3952
1074
1008

A A1 C4 C6 C5 C3 C2 D5 D2 D3 D4
KL30

Private-CAN_H

Private-CAN_L
KL30

KL15

F-CAN_H
F-CAN_L

F-CAN2_L

F-CAN2_H

Sensor_GND

Sensor_supply
B
1033

C
KL31
KL31

D B1

A518 P023
batteries power supply ECU Electro Hydraulic Steering
9216

G525-1 G820
ground flywheelhouse chassis ground
E506483-2
A steered trailing axle can be lifted. The Electro
Hydraulic Steering system ECU (P023) receives
a CAN message (via F-CAN from ECAS-5) about
the trailing axle position (lifted or not lifted). When
the trailing axle is lifted, the Electro Hydraulic
Steering system ECU (P023) returns the steering
angle of the trailing axle back actively to the
centre position. The valves are in the rest position
and the hydraulic steering cylinder piston is
blocked hydraulically in the centre position.
The trailing axle returns first to the straight ahead
position before the trailing axle raises. If the
trailing axle is lifted the EHS system is no longer
active.
When the trailing axle is lowered, the Electro
Hydraulic Steering system ECU (P023) vehicle
receives a CAN message. Depending on the
vehicle speed, there are two different
possibilities:
- the Electro Hydraulic Steering system ECU
(P023) activates the electric motor and pump
immediately, to control the steering angle of
the trailing axle to the desired position. This
happens above a specific vehicle speed.
- the Electro Hydraulic Steering system ECU
(P023) activates the electric motor and pump
after the vehicle is steered through the dead
zone. This happens below a specific vehicle
speed.

Search in the CAN topology overview

how the ECAS-5 ECU communicates to
the EHS system about the position of
the trailing axle.

1
.....................................................................................................................................................

.....................................................................................................................................................

5. BLOCK DIAGRAMS
5.1 BLOCK DIAGRAM: ELECTRO HYDRAULIC STEERING SYSTEM (EHS)

KL15

1
1234

steering_angle_GND
steering_angle_24V
E351

Sensor_supply
F-CAN F-CAN

Sensor_GND
fuse electrical systems

supply_24V
F_CAN_L

F_CAN_H
Fuse_F20
10A
E763

CAN-H

CAN-L
gnd
fuse EHS

125A
1 2 D6 1 4 6 5 D12 D9 5 2 3 4

P027 D400 F916 D376 L204

3952

3953

9163

3927
3953

3952
fuse box chassis supply sensor steering angle ECU EBS-3 cylinder EHS
central box

6274

7091
3952

7089

7090
3953

3953
1381

3952
1074
1008

A A1 C4 C6 C5 C3 C2 D5 D2 D3 D4
KL30

Private-CAN_H

Private-CAN_L
KL30

KL15

F-CAN_H
F-CAN_L

F-CAN2_L

F-CAN2_H

Sensor_GND

Sensor_supply
B
1033

C
KL31
KL31

D B1

A518 P023
batteries power supply ECU Electro Hydraulic Steering
9216

G525-1 G820
ground flywheelhouse chassis ground
E506483-2
A518 batteries power supply
D376 EBS-3 ECU
D400 central box
E351 fuse, electrical systems
E763 fuse, EHS
F916 steering angle sensor
G525 flywheel housing, earth
G820 Chassis earth
L204 EHS cylinder
P023 Electro Hydraulic Steering system ECU
P027 fuse box chassis supply

Block diagram: Electro Hydraulic Steering

system (EHS) for CF with PX-7 engine
KL15

1234

steering_angle_GND
steering_angle_24V
1
E351

Sensor_supply
F-CAN

Sensor_GND
fuse electrical systems

supply_24V
F_CAN_L

F_CAN_H
Fuse_F20
10A
E763

CAN-H

CAN-L
gnd
fuse EHS
125A
C1 B1 D6 3 2 1 4 6 5 D12 D9 5 2 3 4

P041 D400 F916 D376 L204

3952

3953

9163

3927
3953

3952
fuse box chassis supply sensor steering angle ECU EBS-3 cylinder EHS
central box

6274

7091
7089

7090
3953
1381

3952
1074
1008

2 1 L219
termination resistor F-CAN

A A1 C4 C6 C5 C3 C2 D5 D2 D3 D4
KL30

Private-CAN_H

Private-CAN_L
KL30

KL15

F-CAN_H
F-CAN_L

F-CAN2_L

F-CAN2_H

Sensor_GND

Sensor_supply
B
1033

C
KL31
KL31

D B1

A518 P023
batteries power supply ECU Electro Hydraulic Steering
9216

G525-1 G820

S705072
A518 batteries power supply
D376 EBS-3 ECU
D400 central box
E351 fuse, electrical systems
E763 fuse, EHS
F916 steering angle sensor
G525 flywheel housing,earth
G820 Chassis earth
L204 EHS cylinder
P023 Electro Hydraulic Steering system ECU
P041 fuse box chassis supply
L219 termination resistor F-CAN

The block diagram for the CF with PX-7 engines

deviates from block diagram for CF/XF vehicle
with MX-11 engine or MX-13 engine.
The CF with PX-7 engine vehicles does not use a
VECU. The F-CAN is connected to VIC.

3952

3953
L219
termination resistor F-CAN
1
1

2
3952

3953

3952

3953

3952

3953

3952

3953
3952

3953
C5 C6 C3 C2
4 2 3 1 1 4 C 37 C 38
F-CAN2_H
F-CAN_H
F-CAN_L

F-CAN2_L

CAN_H

CAN_H
CAN_L

CAN_L

F_CAN_L

F_CAN_H
F_CAN_H
F_CAN_L
P023 F916
D412 D358
ECU Electro Hydraulic Steering sensor steering angle
ECU air processing unit ECU VIC-3

S705071
D358 ECU VIC-3
F916 steering angle sensor
D412 ECU air processing unit
P023 Electro Hydraulic Steering system ECU
L219 termination resistor F-CAN

Search in the Service information the

location of fuse E763.

.....................................................................................................................................................

TABLE OF CONTENTS
Questions & assignments

Page Date

1. QUESTIONS & ASSIGNMENTS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 . . . . . 201826

1.1 QA-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 . . . . . 201826
1.2 QA-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 . . . . . 201826
1.3 QA-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 . . . . . 201826

1. QUESTIONS & ASSIGNMENTS

1.1 QA-1

Working principle steering angle sensor

(F701)
On the eCampus site, an
ePresentation 'QA-1' is available to
support the explanation included in this
training manual.
2
1000
A B A1 B1

-1000
0.0 9.3 18.6 27.9 37.3 46.6 55.9 65.2 74.5 83.8 93.1 102.4 111.8 121.1 130.4 sec

1 EBS-3 Steering wheel angle 4.40 5 EBS-3 Lateral acceleration 0.30

At [Link]
- Check the steering angle.
- Describe the amount of rotations
and the steering direction.

At [Link]
Describe the steering angle, direction
and amount of rotations.

At 1:14- [Link]
- Describe what happens in this
area.

At 1:24- [Link]
Describe what happens in this area.

At 2:37- [Link]
- Describe what happens in this area
with the vehicle speed.
- Describe what happens in this area
with the driving direction.

At 3:23- 3:40 (monitor time):

Operation of the steering wheel the
same in area A1 and A (drawing
2 E506485). Describe the differences
between the two areas.

Check in the monitor:

- Maximum steering wheel angle
(steering to the right).
- Maximum steering wheel angle
(steering to the left).

Describe the reason why the absolute

sensor F916 is added to a vehicle
equipped EHS.

.....................................................................................................................................................

1.2 QA-2

Communication power pack versus hydraulic

steering cylinder.

2
A

E506490
A CAN High signal (dedicated CAN EHS)
B CAN Low signal (dedicated CAN EHS)
C position of the power pack

Via which power pack connector does

the power pack communicate with the
hydraulic steering cylinder?

Which information is communicated

via the dedicated CAN (EHS)?

What are the pin number functions in

this connector?

What is the sensor power supply

voltage in this connector?

.....................................................................................................................................................

2 .....................................................................................................................................................

.....................................................................................................................................................

1.3 QA-3

Communication to power pack

A 2
B

E506492
A CAN High signal (F-CAN)
B CAN Low signal (F-CAN)
C photo position of the power pack

Via which power pack connector

communicates the power pack with
other vehicle systems?

Which information is communicated

via the F-CAN to the power pack?

What are the pin number functions in

this connector?

The driver notices that the EHS system

does not work properly. Mention at
least five reasons what can cause the
trailing axle problems.

.....................................................................................................................................................

2 .....................................................................................................................................................

.....................................................................................................................................................

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Electro Hydraulic Steering System Guide

Uploaded by

Electro Hydraulic Steering System Guide

Uploaded by

Trainee document:

1. INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 . . . . . 201826

2. SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 . . . . . 201826

3. COMPONENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 . . . . . 201826

4. CONTROL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 . . . . . 201826

5. BLOCK DIAGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 . . . . . 201826

Steering system general description

The Electro Hydraulic Steering system (EHS) is a

Chassis configurations EHS

Trailing axle steering angle control

What is the influence of vehicle speed

Is the trailing axle steering angle at a

1.2 POSITION COMPONENTS: POWER PACK AND HYDRAULIC STEERING

Assembly power pack/ hydraulic steering

1.3 SYSTEM OVERVIEW:

System overview CF and XF with MX-11 or

System overview CF with PX-7 engine

1 Power pack with Electro Hydraulic 1

Electro Hydraulic Steering system ECU (P023)

EHS ECU location in data network (CF/XF)

Body Builder Body Builder AGC-A

BEM TPM EHS CDS-4 ALS-2 CSM

The abbreviations for the network branches on

EHS ECU location in data network (CF with

Steering angle front axle and trailing axle

NOTE: The steering dead zone is a

NOTE: The calculated requested

If the measured (actual) angle is within the

On the eCampus site, an

The hydraulic system consists of two main

1 EHS power pack

NOTE: The pressure limiting valves

Which components are activated when

What is the function of components 2.3

What is the function of component 2.7?

2.2 STEERING TRAILING AXLE HYDRAULICALLY

Steering straight ahead

On the eCampus site, an

Steering to the right

1.4 1.3 1.4 1.3

2.2 2.1 2.2 2.1

2.5 2.3 2.5 2.3

Steering to the left

1.4 1.3 1.4 1.3

2.2 2.1 2.2 2.1

2.5 2.3 2.5 2.3

Centring steering axle above 45 km/h

ECU 1.8 1 ECU 1.8 1

1.4 1.3 1.4 1.3

2.2 2.1 2.2 2.1

2.5 2.3 2.5 2.3

What is the reason that a steered

1 A steered trailing axle is not controlled

Search in the Service information

How is the trailing axle controlled in the

The power pack consists of an electric motor with

NOTE: The electric motor has two

Search in Service Information how to

Electro Hydraulic Steering system ECU (P023)

NOTE: The signals in connector C and A

3.2 HYDRAULIC STEERING CYLINDER

The hydraulic steering cylinder consists of a

Steering to the right (vehicle)

Hydraulic steering cylinder connections

A connection point hydraulic steering

Integrated position sensor

The integrated position sensor is calibrated at the

Does the position sensor in DAVIE

Search in the Service information for

Describe the step by step procedure

EHS cylinder (L204) diagram

3.3 STEERING ANGLE SENSOR (F701)

NOTE: The steering angle sensor

1 CAN with the EBS-3 system.

The steering angle sensor (F701) is located on

The steering angle sensor comprises an optical