The linear walking control system is shown in Figure 2-46.
The straight-line control process of Kobelco excavator is as follows.
① Start ATT (boom, arm, bucket, rotation) to carry out the walking operation (right and left), control the pressure to turn on the respective spool and send it to the respective low pressure sensor.
②If the input signal received by the electromechanical controller satisfies the conditions listed in the table in Figure 2-46, the controller determines that it is straight walking and starts the straight walking signal.
③Once the linear travel signal is issued, it is sent to the respective matching valve according to the following command signal.
④In straight running operation, P1 pump starts ATT, and P2 pump starts the walking system.
Straight line electromagnetic matching valve command: the secondary pressure of the electromagnetic matching valve is output according to the higher value of the control pressure in the ATT operation and the value of the walking control pressure.
Pl cut-off solenoid coordination valve command: the higher value of the control pressure and the left-hand walking control pressure during the ATT operation (arm and rotation) of the P2 part is output as the selected pressure.
P2 cut-off solenoid coordination valve command: the higher value of the control pressure during the ATT operation (boom and bucket) of the P2 part and the right-hand walking control pressure is output as the selected pressure.
