Supervision Menu - Curtis 1222 Manual

PARAMETER
5V Current Min
0x4096 0x00
5V Current Max
0x4097 0x00
Steer Command Tolerance (deg)
0x40AA 0x00
Wheel Position Tolerance (deg)
0x40AB 0x00
Encoder Position Tolerance (deg) 2.0° – 90.0°
0x40DC 0x00
Home Reference Tolerance (deg)
0x40B6 0x00
Stall Steering Speed
0x40DB 0x00
46
2 9 J A N U A R Y 2 0 1 3 D R A F T

SUPERVISION MENU

ALLOWABLE
RANGE
0 – 100 mA Defines the lower threshold of the output current of the +5V supply
0 – 1000 (pins 21 and 34). At or below this threshold, a fault is issued.
0 – 100 mA Defines the upper threshold of the output current of the +5V supply
0 – 1000 (pins 21 and 34). At or above this threshold, a fault is issued.
2.0° – 90.0° Defines the maximum difference allowed between the two steer
364 – 16380 command inputs (Steer Command and Steer Command 2).
If the programmed tolerance is exceeded, a fault is issued.
The difference between the two steer command inputs can be
seen in the monitor variable Steer Command Error.
A setting of 90.0° turns off this fault check.
2.0° – 90.0° Defines the maximum difference allowed between the two position
364 – 16380 feedback outputs (Wheel Position and Wheel Position 2).
If the programmed tolerance is exceeded, a fault is issued.
The difference between the two wheel position outputs can be
seen in the monitor variable Wheel Position Error.
A setting of 90.0° turns off this fault check.
Defines the maximum difference allowed between the Wheel Position
364 – 16380 and the Encoder 3 Position.
This parameter should be used only for configurations where
the programmed Position Feedback Device = 0 (Analog 5 and 6)
or = 2 (Sin/Cos Sensor) or = 3 (Sawtooth Sensor).
If Position Feedback Device = 1 (Encoders 3 and 4) the Wheel
Position and Encoder 3 Position are the same. Therefore this check
should not be used when Position Feedback Device = 1.
If the programmed tolerance is exceeded, a fault is issued.
The difference between the Wheel Position and the Encoder 3
Position can be seen in the monitor variable Encoder Position Error.
A setting of 90.0° turns off this fault check.
For 360° steering, disable the fault check (set Encoder Position
Tolerance (deg) = 90.0°). This is necessary because if the wheel
were turned in the same direction multiple rotations, Wheel Position
would eventually drift away from the Encoder 3 Position due to the
small inaccuracy in the Encoder Counts Per Degree which would
build over multiple rotations.
2.0° – 90.0° Defines the maximum difference allowed between the two home
364 – 16380 reference inputs (Home Reference and Home Reference 2).
If the programmed tolerance is exceeded, a fault is issued.
The difference between the two home reference inputs can be
seen in the monitor variable Home Reference Error.
A setting of 90.0° turns off this fault check. .
0 – 65535 rpm Defines the speed below which the steer motor will be considered
0 – 65535 stalled if it remains below this speed for the length of time defined
by the Stall Timeout parameter. When this condition is detected,
a fault is issued (code 36, Motor Stalled).
A setting of Stall Speed = 0 turns off this fault check.
3 — PROGRAMMABLE PARAMETERS:
DESCRIPTION
Supervision Parameters
Curtis 1222 Manual,
os 15