Position Feedback Device Setup; Setup For Pot Feedback - Curtis 1222 Manual

5 — COMMISSIONING
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C A U T I O N
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2 9 J A N U A R Y 2 0 1 3 D R A F T
Continuing with the commissioning procedures will require the steer motor
to turn, so you will have to enable the steer interlock (interlock = On).
The vehicle drive wheels should continue to be jacked up off the ground so
they can spin freely and steer freely from stop to stop. Enabling the steer
interlock can result in erratic movement of the steer motor.

Position Feedback Device Setup

7
Manually enable the steer interlock, so that the 1222 will begin steering; the
traction interlock can remain Off. Verify that the 1222 interlock is now On
(Monitor» Interlock» Interlock
that is causing this, change the interlock input to the steer controller, or adjust
the Interlock Type parameter (Vehicle Configuration»
Interlock variable = On.
Your position feedback device will be a dual potentiometer or a sine/cosine sen-
sor or sawtooth sensor (using pins J1-16 and J1-17) or a dual encoder motor
encoder with a Home switch (using pins J1-31, J1-32, J1-26, and J1-27 for the
motor encoders and J1-12 for the Home switch). Most applications will have
a primary feedback device and a supervisory feedback device.
Set the
Position Feedback Device
parameter to the type of input you will be using:
Position Feedback Device
0 = Pot feedback
= Encoder feedback
1
= Sin/Cos Sensor feedback
2
= Sawtooth Sensor feedback
3
Use the appropriate setup procedure for the devices, for the type of device you
have chosen for each. For applications with only a primary position feedback
device, you will need to set the
—
"0"

Setup for Pot feedback

a. Use the steer command input to move the steered wheel to the Left stop.
If the steer motor turns to the Right when the command is to turn to the
Left, shut down the vehicle and disconnect the battery. Swap any two of
the steer motor phase cables (U, V, or W) at the 1222; this will reverse the
direction of the steer motor. Reconnect the battery and retest to confirm
that the steer motor now turns to the Left when commanded to turn Left.
Once the steered wheel has moved to the Left stop, observe the two volt-
ages shown in the Monitor» Position Feedback» Analog Input»
Analog6 variables. Set the parameters
the observed voltages.
If the steered wheel fails to reach the Left stop because it reaches the
voltage before it reaches the stop, adjust the
Analog5 Left Stop
(see pages 34–36)
). If Interlock = Off, resolve the fault condition
parameter and the
Types
Supervision Feedback Device
0 = Pot feedback
= Encoder feedback
1
= Sin/Cos Sensor feedback
2
= Sawtooth Sensor feedback
3
= None
4
Supervision Feedback Device
(see page 37)
Analog5 Left Stop
) until the
Interlock Type
Supervision Feedback Device
Types
parameter to 4.
Analog5 and
and to
Analog6 Left Stop
Analog5 Left Stop
Curtis 1222 Manual,
os 15