Installation Procedure; Stepper Motor With Encoder And Toggle Switches. Steered Wheel Without Mechanical Limitation: One Shot Installation Procedure - Zapi EPS-AC0 SWs&ENC User Manual

9 INSTALLATION PROCEDURE

By setting FEEDBACK DEVICE to OPTION#4 and recycling the key, the encoder
will be used in combination with one or two toggle switches to measure the steered
wheel angle. The toggle switch in the straight ahead position (0 degrees) of the
steered wheel is used to initialize the encoder counting.
This operation is performed through an automatic centering at key-on: the steered
wheel rotates automatically until an edge is detected on the straight ahead switch.
After the encoder has been initialized, it will be used for closing the loop with the
commanded position.
9.1 Stepper Motor with Encoder and Toggle Switches. Steered wheel
without mechanical limitation: one shot installation procedure
This procedure is relative to the connecting drawings Figure 5-3 It is valid also for
application with electrically limited angle provided that, the steered wheel may rotate
for a full revolution without mechanical limitations (i.e. without end strokes). It
describes the step by step installation procedure to get the prototype working in
manual mode: to raise the AUTC function it is necessary to make the complete set-
up procedure (see topic 10).
For every truck released on the field, the correct installation set-up is already known
(as it was determined from the test on the prototype) and so no installation
procedure is required except for the quick set-up (see the quick set-up 10.2).
Carry out the procedure in the following order.
Step1 Connect the AC motor phases in such a way the phase references U, V, W
Step2 In the SET MODEL menu set the SYSTEM CONFIG setting to LEVEL 0 to
Step3 Set the FEEDBACK DEVICE to OPTION #4 to specify your feedback
Step4 Set option ENCODER CONTROL to OFF.
Step5 Set special adjustment DEBUG OUTPUT to level 11 and recycle the key.
Step6 Connect the encoder. The encoder supply is between CNB#4 (5 Vdc in the
Step7 Recycle the key and try to steer. If an alarm BAD ENCODER SIGN occurs,
Step8 Perform the procedure to acquire the motor resistance (see 12.2).
Step9 If the motor runs well without glitches, it is possible to stays with ENCODER
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on the steering motor correspond to the terminals references (U, V, W) on
the eps-ac0.
steer in open loop with a stepper motor in manual mode. Turn off and on the
key in order the setting is acquired.
solution is an encoder in the motor shaft together with one or two toggle
switches. Switch off the key after the change.
(With this operation, some diagnosis are inhibited so inconsistent actions of
the steering system are possible. Be prudent).
24/36V version; 13V in the 36/48V version) and CNA#11 (GND): the two
channels are CNB#8 (CHA) and CNB#7 (CHB).
swap CHA (CNB#8) with CHB (CNB#7). Then recycle the key and verify the
reading ENC SPEED in the tester menu is consistent with the reading
FREQUENCY in the tester menu. Consistent means that ENC SPEED and
FREQUENCY must have the same sign and a close value. If ENC SPEED
is not close to FREQUENCY, the encoder resolution is wrong and it will be
not possible to work with ENCODER CONTROL to ON (a different SW is
needed in this case).
CONTROL to OFF; otherwise, turn ENCODER CONTROL to ON.
AEMZP0EA - EPS-AC0 SWs&ENC - User Manual