Set The Remaining Supervision Parameters - 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
The must be set long enough for the steered wheel to reverse
Error Time
direction and get to the minimum speed under the worst case conditions. This
may be measured in the field by moving the steer input command rapidly one
direction and then the other. This should achieve the maximum speed in one
direction followed by a reversal and acceleration past the
in the other direction. This time, doubled to provide a safety factor, should be
used for the . With appropriate tuning, most applications should be
Error Time
able to use an
Error Time
To test the following-error parameter settings, steer under worst case
conditions (maximum weight on vehicle, rough floor, new tire) as follows:
a) Steer in one direction and then reverse and steer at an angle at
least equal to the
steer back at an angle at least equal to the
reverse (quickly!) and steer back at an angle at least equal to the
Error Tolerance (deg)
Following Error is triggered.
b) Steer, always as quickly as possible, from end stop to end stop,
back and forth, until a Following Error is triggered.
While steering using these two procedures, slowly lower the
Following Error is triggered.
Finally, verify that the original proposed setting of
able margin above the setting that began to trigger the fault. If a comfortable
margin is not provided with the original proposed setting, increase the
until a comfortable margin is obtained—but also verify that the
too slow, which will create a delay in detection a real following error.

Set the remaining Supervision parameters

bm
If
Position Feedback Device
= 90°. This fault check is not used when the position feedback devices are
ance
encoders, so the setting of 90° disables this fault check.
For all other settings of
able Monitor»Supervision»
this will show the difference between Wheel Position and Encoder 3 Position.
Find the maximum Encoder Position Error (deg)
to provide a comfortable margin above the maximum
Position Tolerance
Position Error (deg) found.
Set Supervision»
Stall Steering Speed
will not cause a fault during normal operation, but will trigger a fault during
a real stall condition.
of 0.5 – 0.8 seconds.
. Then reverse (quickly!) and
Error Tolerance (deg)
. Continue doing this back and forth until a
= 1, leave the setting Supervision»
Position Feedback Device
Encoder Position Error (deg)
, and set Supervision»
and
StallTimeout
Speed Tolerance (deg/s)
then
ErrorTolerance (deg)
until a
Error Time
Error Time is a comfort-
ErrorTime
is not
ErrorTime
Encoder Position Toler-
(= 0 or = 2), observe the vari-
while changing the position;
Encoder
Encoder
to appropriate values that
Curtis 1222 Manual,
os 15