Table Of Contents - Zapi EPS-ACW User Manual

1 INTRODUCTION ...................................................................................................................
2 FEATURES ............................................................................................................................
3 MECHANICAL SPECIFICATIONS ........................................................................................
4 MECHANICAL DRAWING ....................................................................................................
5 MOTOR AND GEAR BOX .....................................................................................................
6 ELECTRICAL SPECIFICATIONS .......................................................................................
7 BLOCKS DIAGRAM ............................................................................................................
7.1 Speed Control Mode (Open Loop) ............................................................................ 11
7.2 Position Control Mode (Closed Loop) ....................................................................... 12
7.3 Steer Assist Mode (Torque Assisted) ....................................................................... 12
8 FUNCTIONS OF THE EPS-ACW ........................................................................................
8.1 Manual Mode Steering .............................................................................................. 13
9 SYSTEM COMPONENTS ...................................................................................................
9.1 Steering Motor .......................................................................................................... 14
9.2 Gear Box and total reduction ratio ............................................................................ 14
9.3 EpsacW controller ..................................................................................................... 14
9.4 Sensor in the steering wheel .................................................................................... 15
9.4.1
9.5 Feedback sensors .................................................................................................... 15
9.5.1
10 CONNECTING DRAWING ..................................................................................................
10.1 Connector assignment for a configuration with 1ENC, 2SWs & 2CANs ................... 23
11 INSTALLATION PROCEDURE ...........................................................................................
11.1 One shot installation procedure for an arrangement without mechanical limitation .. 24
12 SETTING THE EPS-ACW ...................................................................................................
12.1 Complete set-up description ..................................................................................... 26
12.1.1 Manual mode with the Stepper Motor ......................................................... 26
12.2 Quick set-up .............................................................................................................. 26
12.2.1 Stepper Motor without mechanical angle limitation ..................................... 26
12.2.2 Stepper Motor with mechanical angle limitation .......................................... 27
12.3 Sectors vs. Cam position and switches configuration ............................................... 27
12.3.1 Sectors when ENC SPEED is positive in CounterClockWise (CCW)
12.3.2 Sectors when ENC SPEED is positive in ClockWise (CW) direction .......... 29
12.4 AUX FUNCTION 11 manual setting .......................................................................... 29
12.5 PULSE IN 180 DEG manual setting ......................................................................... 30
12.6 Autoteaching ............................................................................................................. 31
13 PROGRAMMING & ADJUSTMENTS USING DIGITAL CONSOLE ...................................
13.1 Adjustments via console ........................................................................................... 33
13.2 Description of console (hand set) & connection ....................................................... 33
13.3 Description of standard console menu ..................................................................... 34
13.3.1 Settings in Stepper motor with Encoder and Two Toggles Switches .......... 35
13.3.2 Config menu "SET OPTIONS" functions list ............................................... 36
13.3.3 Config menu "ADJUSTMENTS" functions list ............................................. 39
13.3.4 Config menu "SET MODEL" functions list ................................................... 42
13.3.5 Main menu "PARAMETER CHANGE" functions list ................................... 44
13.3.6 Zapi menu "HARDWARE SETTINGS" functions list ................................... 47
AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
Contents
Stepper motor ............................................................................................. 15
Prox switches and Cam: mounting specification ......................................... 16
direction ...................................................................................................... 28
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