Setup For Sin/Cos Sensor Input - Curtis 1222 Manual

5 — COMMISSIONING
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2 9 J A N U A R Y 2 0 1 3 D R A F T
b. Set the parameters
Left Stop to Center
determine how many revolutions of the command encoders are required
to steer between the Left and Right stops. These values can be calculated
based on the encoders' pulses per revolution (ppr) and the desired number
of revolutions of the steering wheel (counts = 4 × encoder ppr × number of
revolutions). Both encoders must have the same ppr.
Another way to set up these parameters is by observing the
and Encoder2 Counts values and steering while observing the change in the
encoder counts during one complete revolution of the steering wheel.
—
"2"

Setup for Sin/Cos Sensor input

Note: The steer motor should not respond to this command input because the
Interlock is Off. If the steer motor shows any movement (or if the Interlock is
On), stop and resolve the issue; see Preparation for commissioning, page 74.
a. Set the parameters
Amplitude
specifications. Amplitude is usually referred to as Gain in the specs. Amplitude
is half the peak-to-peak voltage, and Offset is the center of the peak-to-peak
from ground.
If sensor specs are not available, use the voltages shown in the Moni-
tor»Command Input»Analog Input»
To calculate the Offset, find the highest and lowest values of
Analog3 while slowly sweeping the command device. Add these two values
together and divide by two. Input this number in the
subtract the lowest value of
eter value. Input this number in the
the command device is moved slowly,
a maximum voltage of 4.1 V and a minimum voltage of 1.9 V; therefore,
Offset = 3.0 V and Amplitude = 1.1 V.
b. Decide if the sensor input will be in absolute position mode or relative posi-
tion mode, and then follow Step "c" or "d" as appropriate.
Absolute Mode = On is for absolute position mode. The sensor input
typically has a range of motion that matches the range of motion of the
steered wheel (not multi-turn) and the center, right, and left positions are
all defined. Absolute position mode is typically used for walkie and walkie
rider material handling applications.
Absolute Mode = Off is for relative position mode. The sensor input is
typically a multi-turn device with the center position being wherever the sen-
sor is positioned when the interlock is turned on. Relative position mode is
typically used for reach trucks and man-up material handling applications.
c. For Absolute Position Mode (Absolute Mode = On):
1. Move the Sin/Cos Sensor to the center position and observe the angle
shown in the Monitor» Command Input» Analog Input»
variable. Set the
and
Right Stop to Center
(see page 26)
and according to the sensor manufacturer's
Offset
Analog1 and
Analog1 and Analog3
Amplitude
Analog1
to the observed angle. This parameter
Center Angle
. These parameters
Encoder1 Counts
Analog3 variables as follows.
Analog1
parameter. Next,
Offset
from the Offset param-
parameter. Example: While
and Analog3 are shown to have
Angle Raw
Curtis 1222 Manual,
and
os 15