Setup For Sin/Cos Sensor Feedback - Curtis 1222 Manual

Curtis 1222 Manual,
os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T
Note: Encoders 3 and 4 can have different counts/degree, either
because they have different PPRs or because Encoder 4 is not a steer
motor encoder (e.g., it may be counting teeth of the steering gear).
—
"2"

Setup for Sin/Cos Sensor feedback

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 Monitor» Po-
sition Feedback» Analog Input»
calculate the Offset, find the highest and lowest values of
while slowly sweeping the position feedback device. Add these two values
together and divide by two. Input this number in the
subtract the lowest value of
value. Input this number in the
position feedback device is moved slowly,
have 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. Use the steer command input to move the steered wheel (and the position
feedback Sin/Cos Sensor) to the center position and observe the angle shown
in the Monitor» Position Feedback» Analog Input»
the to the observed angle.
Center Position
c. Use the steer command input to move the steered wheel (and the position
feedback Sin/Cos Sensor) to the Left position and observe the angle shown in
the Monitor» Position Feedback»
tion must be set up as negative. If the observed angle is positive, change the
parameter and verify that the wheel position sign is now correct.
Swap Direction
d. Set the two fault parameters (
be reached during normal operation, but will be reached if the position feed-
back inputs become faulty (e.g., should there be an open or short circuit).
The Fault Min settings must be below the minimum voltage seen on
log5 or Analog6 when steering between the maximum left and right positions.
The Fault Max settings must be above the maximum voltage seen on
Analog5 or Analog6 when steering between the maximum left and right positions.
e The parameter can be set in either of two ways.
Tolerance
1. Obtain the tolerance of
specs, and then calculate the worst case difference in voltage between
the calculated voltages and the measured
ages over the range of the sensor. Set the
margin above the maximum calculated difference.
2. Manually lower the
sor over the entire output range until the fault Sin/Cos Feedback
(see page 41)
and according to the sensor manufacturer's
Offset
Analog5 and Analog6
Analog5 and Analog6 from the Offset parameter
parameter. Example: While the
Amplitude
Analog5
Wheel Position
variable. The Left steer direc-
Fault Min and Fault Max
and from the manufacturer's
MinVolts MaxVolts
Analog5
Tolerance
value while adjusting the Sin/Cos Sen-
Tolerance
5 — COMMISSIONING
variables as follows. To
Analog5 and Analog6
parameter. Next,
Offset
and Analog6 are shown to
Position Raw variable. Set
) to voltages that will not
Ana-
and Analog6 volt-
to a comfortable
87