LORD TFD Steering Units for STEER-BY-WIRE SYSTEMS Steer-By-Wire Systems in Industrial and Off-Highway Equipment

® LORD TFD Steering Units FOR STEER-BY-WIRE SYSTEMS Steer-by-Wire Systems in Industrial and Off-Highway Equipment

Electro-hydraulic and fully-electric Steer-by-Wire (SbW) systems are gaining favor over traditional mechanical and hydraulic steering systems. Vehicles with SbW systems tend to consume less energy, which reduces the cost of ownership and improves environmental impact. In SbW systems there is no mechanical connection between the steering wheel and road wheels, which has challenged OEMs in providing the operator with a high quality steering feel. In response to this challenge LORD offers a line of Tactile Feedback Device (TFD) steering units.

2 WHAT IS A TFD STEERING UNIT?

The TFD steering unit is a key component of fully-electric and electro-hydraulic SbW systems. These devices provide an integrated solution that combines bearing support, steering position sensing, communication and continuously variable resistive steering torque, all to deliver high-fidelity tactile feedback and maximum control to the operator.

LORD Corporation has been a pioneer of SbW steering units since 1999, when the first device began production in a forklift truck application. The LORD TFD steering unit is maintenance-free and will never require inspection or adjustment during its expected service life. There are very few moving parts in the design, which greatly enhances durability. With more than 400,000 devices in service today, LORD Corporation has a long history of providing reliable and safe devices for industrial and off-highway equipment.

3 HOW DOES A TFD STEERING UNIT WORK? The TFD steering unit is typically mounted below the vehicle’s steering wheel. As the operator turns the steering wheel, the hall-effect steering sensor detects and transmits the steering position to the vehicle steering controller. The steering controller uses information from a variety of vehicle inputs to determine the preferred steering response.

The steering response can be programmed for partial or multiple rotations, to be speed sensitive, and to generate end-stop control, position detents and more. Integration with other devices and technologies, such as electric motors, GPS and vision systems, can provide sophisticated hybrid steering control.

These devices provide an integrated solution for electric

and electro-hydraulic Steer-by-Wire systems.

Torque feedback to the operator is generated through our proprietary “Direct Shear Mode” design, in which a rotor attached to a shaft shears magnetically responsive (MR) material against a fixed stator. As the current commanded by the vehicle steering controller to the TFD steering unit changes, a low- power (0-1 amp) coil generates a magnetic field that instantaneously changes the properties of the MR material and the subsequent torque feedback.

With torque feedback independent of speed and temperature, a wide variety of applications can benefit from the smooth and quiet steering feel.

4 BENEFITS OF LORD TFD STEERING UNITS IMPROVED STEERING FEEDBACK RELIABLE CONTROL SIGNALS PERFORMANCE • MULTIPLE NON-CONTACT SENSOR • PROGRAMMABLE RESISTIVE CONFIGURATIONS (2, 3 OR 4 STEERING FEEDBACK BASED OUTPUTS) ON EQUIPMENT OPERATING • ANALOG (V) AND/OR DIGITAL (PWM) CONDITIONS OUTPUTS • SMOOTH STEERING TORQUE • PROTECTED FROM EMC INDEPENDENT OF VEHICLE SPEED AND TEMPERATURE • SIL2/3 SAFETY RATING

• NO “STICK SLIP” AT LOW SPEEDS (COMMON WITH FRICTION BRAKES) INCREASED DESIGN FLEXIBILITY

• NO ELECTRIC MOTOR • EXTENSIVE PORTFOLIO OF “COGGING” FEEL STANDARD AND CUSTOMIZED SOLUTIONS • INCREASED EASE OF OFF-ROAD MANEUVERABILITY • ROBUST, EASY-TO-INSTALL, COMPACT DESIGN • IMPROVED ACCURACY AT ON-ROAD SPEEDS • IMPROVED STEERING ERGONOMICS FOR THE OPERATOR • LOW POWER CONSUMPTION • NO REQUIRED MAINTENANCE • FAST RESPONSE TIME

Current Applications: Industrial Lift Trucks, Agriculture &

Construction Equipment, Electric Vehicles, Marine

5 TFD Steering Unit Product Portfolio LORD Corporation has a diverse portfolio of TFD steering units to satisfy a variety of customer requirements. Our portfolio includes devices capable of producing resistive steering torque ranging from 5Nm to 20Nm.

5NM DEVICES 5NM PRODUCT SPECIFICATIONS Category Specification The adoption of smaller steering wheels has increased as many industrial Product Weight 1.3 kg (2.9 lbs) and off-highway Equipment OEMs consider more innovative and flexible Rated Torque @ 1A 5 Nm nominal (3.7 lb-ft) steering interfaces. To meet the various needs of these applications, Off-State Torque @ 0A <0.5 Nm (<0.4 lb-ft) LORD has developed a standard product line of 5Nm devices which Operating Speed 180 rpm max include the following features: -35 °C to +80 °C Operating Temperature (-31 °F to +176 °F) • 2-channel dual-redundant, non-contact, Hall effect steering sensor Axial Force Limit 1500 N max (337 lbf) • Sensor output (three options) Bending Moment Limit 50 Nm max (36.9 lb-ft) • Standard digital (PWM) multi-rotational code Current Control 12 VDC • Analog code suitable for controllers with limited digital I/O Coil Resistance 10 Ω nominal Current (max) 1.5 A peak • Analog multi-rotational code with no discontinuities in the signal Current (continuous) 1.0 A Sensor Resolution 12 bit • Shaft connection200 (two options) n98 Sensor Linearity +/- 1.2% Full Scale • Flat 4X n8.4 Environmental Protection IP66 ALIGNMENT FEATURE ALIGNMENT FEATURE • Cross-drilled

n12 n12

• Deutsch DTM04-6P connector M8 X 1.25 n3.2 • 20 AWG wire 12.45

n12.65 Ø15 • 200mm cable length o80 o95 4 3 2 1

• 10 Ohm coil 8.6 17 17

D D

NMEA 2000 DEVICE NET CROSS DRILLED13 27 SHAFT FLAT SHAFT13 47 51 51

2X 131

C C 200 15.7 n98 FULL R 11.8 48 4X n8.4 2X 135° ALIGNMENT FEATURE ALIGNMENT FEATURE 6.49

n12 n12 6.5 Ø15.2 M8 X 1.25 n3.2 12.45 B B 3X M8x1.25-6H (139) n12.65 Ø15 139 o80 o95 9.78 25 62.7

166.1 8.6 17 17

13 27 13 47

PROPRIETARY NOTICE UNLESS OTHERWISE SPECIFIED DWG CORPORATION TYPE 51 51 A THE INFORMATION CONTAINED HEREIN F.M.P. = FOR MANUFACTURING PURPOSES A IS PROPRIETARY TO LORD ALL DIMENSIONS ARE TO POINTS OF INTERSECTION Erie, Pa 16514-0040 SC CORPORATION AND SHALL NOT BE DIMENSIONING/TOLERANCING PER ASME Y14.5 - 2009 REPRODUCED OR DISCLOSED IN ABBREVIATIONS, ACRONYMS, TERMINOLOGY PER TS-027 WHOLE OR IN PART OR USED FOR ANY MACHINED SURFACES = 3.2µm (125µin) MAX DESIGN OR MANUFACTURE EXCEPT BREAK ALL SHARP EDGES 0.1mm - 0.6mm (.005in - .025in) SEE SHEET 1A WHEN SUCH USER POSSESSES DIRECT, AVERAGING OF DIAMETERS NOT PERMISSIBLE FOR ADDITIONAL WRITTEN AUTHORIZATION FROM LORD ALL DIMENSIONS ARE IN MILLIMETERS DRAWING NO. CORPORATION. DIMENSIONS IN [ ] ARE IN INCHES DETAILS CAGE SIZE REV CALC. WT. SEE ELASTOMER THIRD ANGLE PROJECTION SURFACE AREA (SQ. cm) *DIMENSIONS ARE IN MILLIMETERS (kg.) SHEET 1A VOL (CU. cm) 76005 C SH 2 OF 2 4 3 2 1 LORD PROPRIETARY 6 12NM DEVICES 12NM PRODUCT SPECIFICATIONS For applications with larger steering wheels, LORD has a standard 12Nm Category Specification TFD steering unit to accomodate the higher steering torque. Product Weight 2.7 kg (6.0 lbs) Rated Torque @ 0.8A 10 Nm nominal (7.4 lb-ft) Off-State Torque @ 0A <1.0 Nm (<0.75 lb-ft) Operating Speed 120 rpm max 

 -35 °C to +80 °C  Operating Temperature    (-31 °F to +176 °F)  Axial Force Limit 1500 N max (337 lbf) Bending Moment Limit 50 Nm max (36.9 lb-ft)  Current Control 12 VDC   Coil Resistance 11 Ω nominal

  Current (max) 1.5 A peak   Current (continuous) 1.0 A  Sensor Resolution 12 bit  Sensor Linearity +/- 1.2% Full Scale

*DIMENSIONS ARE IN MILLIMETERS

20NM DEVICES 20NM PRODUCT SPECIFICATIONS 4 3 2 1 For applications requiring maximum steering torque, LORD offers a 20Nm Category Specification TFD steering unit. The 20Nm TFD contains an integrated controller which Rated torque at 100% command 20 Nm nominal (14.8 lb-ft) Off-state torque at 0% command <1.0 Nm (<0.75 lb-ft) D uses inputs from the CAN-bus, allowing for highly tunable steering settings. D Operating speed 120 rpm maximum NMEA 2000 DEVICE NET Product weight 3.3 kg (7.3 lbs) Supply voltage 9-36 VDC System power draw (continuous) 2.6 W 2X 131 System power draw (at 100% 17 W current command) C C Two independent CAN 2.0B 15.7 CAN transceivers (29-bit FULL R 11.8 48 identifiers), 250 kBaud 2X 135° 6.49 Absolute, non-contact, Sensor type Hall effect

6.5 Ø15.2 Sensor resolution 14-bit Cable connection Dual NMEA 2000 Devicenet

B B 3X M8x1.25-6H Compatible with U-Flex X52 (139) 139 Shaft connection  tilt mechanism 9.78 25 62.7 Vertical (shaft up) to hori- Installation orientation 166.1 zontal (-10°) Axial force limit 1500 N max (337 lbf) -15 °C to 85 °C Operating temperature (5 °F to 185 °F)

PROPRIETARY NOTICE UNLESS OTHERWISE SPECIFIED DWG CORPORATION TYPE A THE INFORMATION CONTAINED HEREIN F.M.P. = FOR MANUFACTURING PURPOSES A IS PROPRIETARY TO LORD ALL DIMENSIONS ARE TO POINTS OF INTERSECTION Erie, Pa 16514-0040 SC Environmental protection IP67, 1000-hr salt fog CORPORATION AND SHALL NOT BE DIMENSIONING/TOLERANCING PER ASME Y14.5 - 2009 REPRODUCED OR DISCLOSED IN ABBREVIATIONS, ACRONYMS, TERMINOLOGY PER TS-027 WHOLE OR IN PART OR USED FOR ANY MACHINED SURFACES = 3.2µm (125µin) MAX SEE SHEET 1A DESIGN OR MANUFACTURE EXCEPT BREAK ALL SHARP EDGES 0.1mm - 0.6mm (.005in - .025in) Safety rating SIL2 design intent WHEN SUCH USER POSSESSES DIRECT, AVERAGING OF DIAMETERS NOT PERMISSIBLE FOR ADDITIONAL WRITTEN AUTHORIZATION FROM LORD ALL DIMENSIONS ARE IN MILLIMETERS DRAWING NO. CORPORATION. DIMENSIONS IN [ ] ARE IN INCHES DETAILS CAGE SIZE REV CALC. WT. SEE ELASTOMER THIRD ANGLE PROJECTION SURFACE AREA (SQ. cm) (kg.) SHEET 1A VOL (CU. cm) 76005 C SH 2 OF 2 4 3 2 1 LORD PROPRIETARY 7 CUSTOMIZED SOLUTIONS LORD also designs and manufactures various customized devices, which are tuned to specific customer requirements. These designs may include the following unique features:

• Quad-Redundant steering sensors • Housings • Shaft connections • Cable connections and length • Coil resistance • Sensor outputs • CAN-bus enabled devices

CAN-BUS COMMUNICATION

We have integrated CAN capability into our TFD steering unit product line, enabling more sophisticated steering algorithms using various vehicle inputs. Working closely with an OEM, LORD can use CAN-bus communication to enhance the steering feel of a vehicle in ways not possible with previous technology.

CAN-BUS SPECIFICATIONS Category Specification Version 2.0 B Transceiver Type High Speed Speed 250 kbit/sec (programmable) Message ID Size 11 or 29 bits 50 ms (programmable Message Output Rate 10 - 100ms)

Steering wheel and stand shown above are for demonstration purposes only. Please contact LORD to schedule a demonstration of one of our TFD devices.

Values stated in this brochure represent typical values, as not all tests are run on each lot of material produced. For formalized product specification regarding specific product end uses, contact the Customer Support Center.

Information provided herein is based upon tests believed to be reliable. In as much as LORD Corporation has no control over the manner in which others may use this information, it does not guarantee the results to be obtained. In addition, LORD Corporation does not guarantee the performance of the product or the results obtained from the use of the product or this information where the product has been repackaged by any third party, including but not limited to any product end-user. Nor does the company make any express or implied warranty of merchantability or fitness for a particular purpose concerning the effects or results of such use.

LORD provides valuable expertise in adhesives and coatings, vibration and motion control, and magnetically responsive technologies. Our people work in collaboration with our customers to help them increase the value of their products. Innovative and responsive in an ever-changing marketplace, we are focused on providing solutions for our customers worldwide ... Ask Us How.

LORD Corporation LORD Corporation LORD Corporation World Headquarters Asia Pacific Regional Headquarters Europe Regional Headquarters 111 Lord Drive Central Plaza, Suite 707, 18 Harbour Road, 2, Chemin du Pavillon Cary, NC 27511-7923 Wanchai,Hong Kong CH-1218 Le Grand Saconnex USA Geneva, Switzerland Customer Support Center (in United States & Canada) +41 22 761 50 74 +1 877 ASK LORD (275 5673) [email protected] www.lord.com For a listing of our worldwide locations, visit LORD.com.