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Parameter change
LEAD FB REGULAT
Set option
HOUR COUNTER
MICRO CHECK
ENCODER CONTROL
FEEDBACK DEVICE
AUTOCENTERING
Level 0 to 9. It is used to set the derivative (lead) contribution to a PID algorithm for
AUTC functions. The derivative contribution is applied to the FEEDBACK ENC value
only. High LEAD FB REGULAT value brakes the steering motor in advance respect
to the commanded position so avoiding the overshooting of the commanded
position.
On the other side generates damping and dither, close to the commanded position.
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 lead contribution (overshooting is favorite).
- LEVEL 9 : Highest lead contribution (damping is favorite).
This option specifies the hour counter mode. It can be set one of two :
- RUNNING : The counter registers travel time only
- KEY ON : The counter registers when the "key" switch is closed
This option is useful to support debug and troubleshooting. It makes possible to
inhibit the supervisor (slave uC) operations and allows the system to run with just the
main uC. When entering this operating mode the safety contacts stay open.
Therefore, traction shall be disabled.
It can be set one of two :
-PRESENT: Default setting : enable the operations of the supervisor (slave uC).
-ABSENT: Disable the operations of the supervisor (slave uC). The safety contacts
stay opened.
This option specifies if the motor is controlled via encoder or completely sensorless.
Normally it is set OFF. When glitches are heard from the motor, it is necessary to
turn to a sensored control. In this case set ENCODER CONTROL to on. Then, take
care the encoder resolution used in the software is matched with the actual encoder
resolution.
This option specifies which kind of feedback sensor is adopted. Here is the feedback
sensor list :
- Option #4 : FB ENC & ONE (or TWO) toggle switches
This is only admitted setting. It specifies the feedback sensors consists of one or two
toggle switches (in the straight and 90 degrees positions of the steered wheel)
together with an encoder in the motor.
This option makes the automatic centering (AUTC) operation available. When it is
set on, an automatic alignment of the steered wheel on the straight ahead toggle
switch is always performed at key-on. When it is set off, the AUTC at key-on is still
performed for any configuration but for the open loop (stepper motor at the steering
wheel) without angle limitation. In this latest case, the centering must be manually
executed. Besides, this option enables the AUTC on demand.
A centering request is required in this case to get the AUTC on-demand really
performed.
Description
Description
7-40
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