Fig. 9 Steer Command Map - Curtis 1222 Manual

ALLOWABLE
PARAMETER
P1–P6 Input
-100.0 – 100.0 %
-32768 – 32767
Left Stop (deg),
-180.0° – 0.0°
-32768 – 0
P1–P6 Output (deg),
-180.0° – 180.0°
-32768 – 32767
0.0° – 180.0°
Right Stop (deg)
0 – 32767
Fig. 9 Steer Command Map.
Curtis 1222 Manual,
os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T
A command map is used in the input command signal flow to compensate for
steering geometry differences between vehicles (steered wheel on the left side,
middle, or right side).
The command map menu contains 14 parameters defining an 8-point
map that modifies the steer command input. The first point (Left Stop (deg))
always defines the steer command input of -100% and the last point (Right
Stop deg)) always defines the steer command input of 100%.
COMMAND MAP
RANGE
•
These six parameters define the steer command input (in %)
to the steer command map.
n
•
n
•
n
•
n
•
n
•
n
•
These eight parameters define the steer command output (in degrees)
of the steer command map.
n
•
n
•
n
•
n
•
n
•
n
•
n
•
n
•
3 — PROGRAMMABLE PARAMETERS:
DESCRIPTION
P1 Input = 0x401C 0x00
P2 Input = 0x401E 0x00
P3 Input = 0x4020 0x00
P4 Input = 0x4022 0x00
P5 Input = 0x4024 0x00
P6 Input = 0x4026 0x00
Left Stop (deg) = 0x401B 0x00
P1 Output (deg) = 0x401D 0x00
P2 Output (deg) = 0x401F 0x00
P3 Output (deg) = 0x4021 0x00
P4 Output (deg) = 0x4023 0x00
P5 Output (deg) = 0x4025 0x00
P6 Output (deg) = 0x4027 0x00
Right Stop (deg) = 0x4028 0x00
The steer command map is shaped by points A – H.
The map in this example is set up to provide a deadband
in the center (points D and E) and less sensitivity at the
ends (between A and B, and between G and H).
Command Input Parameters
X Y
A -100% Left Stop (deg)
B P1 input P1 Output (deg)
C P2 input P2 Output (deg)
D P3 input P3 Output (deg)
E P4 input P4 Outpu (deg)
F P5 input P5 Output (deg)
G P6 input P6 Output (deg)
H 100% Right Stop (deg)
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