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Parameter change
COMPENSATION
1ST ANGLE COARSE
2ND ANGLE COARSE
AUXILIARY TIME
ANTIROLLBACK
LAG FB REGULAT
Level 0 to 2. This parameter applies a compensation for the drops in the motor
connections to have a real Emf/f control law.
- LEVEL 0 : No compensation.
- LEVEL 1 : Compensate the drop on power mosfets and cables.
- LEVEL 2 : Compensate the drop on power mosfet, cables and motor resistance.
COMPENSATION to LEVEL 2 is strongly suggested (the correct setting
of the motor resistance is required when COMPENSATION is set to
LEVEL 2)
This parameter regulates in coarse steps the maximum steered wheel angle in the
direction where FEEDBACK ENC is higher than 2.5 V.
Parameters 1st and 2nd ANGLE COARSE both to level 9 get the steered wheel
angle unlimited. If parameter change level 2 to level 9, it means that 180 angle
system is changed to 360 angle system.
This parameter regulates in coarse steps the maximum steered wheel angle in the
direction where FEEDBACK ENC is lower than 2.5 V.
Parameters 1st and 2nd ANGLE COARSE both to level 9 get the steered wheel
angle unlimited. If parameter change level 2 to level 9, it means that 180 angle
system is changed to 360 angle system.
This parameter defines the time, after the steer handle is released and the travel
demand deactivated, for which the stand still torque is applied.
- LEVEL 0 : No stand still torque.
- LEVEL 1 : Brief application of the stand still torque (about 6 secs).
- LEVEL 9 : Long application of the stand still torque (about 90 secs).
Intermediate levels are for proportionally increasing auxiliary time. The stand still
torque reduces with a ramp from the ANTIROLLBACK value down to zero with a
delay specified with this setting.
This parameter adjusts the stand still torque after the steer handle is released and
the travel demand deactivated.
It is in percentage of the maximum current. Injecting a continuous current in the
motor generates the stand still torque. It is useful (together with the CREEP SPEED
parameter) to neutralize the recall torque generated by the elastic tyre on the
steered wheel.
Level 0 to 9. It is used to set the integral (lag) contribution to a PID algorithm for
AUTC functions.
The integral contribution is applied to the FEEDBACK ENC value only. It works like
a low pass filter to get smooth the pursuing next to the commanded position. The
derivative (lead) contribution generates dither that is possible to reduce by
increasing this adjustment. Obviously lag and lead regulations influence the stability
of the closed loop and so different setting must be empirically tried to avoid
oscillations.
- LEVEL 0 : Lowest lag contribution (high cut off frequency low pass filter).
- LEVEL 9 : Highest lag contribution (low cut off frequency low pass filter).
Description
7-39
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