Zapi EPS-AC0 SWs&ENC User Manual page 46

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
Step10 Verify the steered wheel rotates in the correct direction according to the
To get the system properly working it is necessary to set the encoder counting for a
whole steered wheel revolution together with the specification of the toggle switches
arrangement (one or two toggle switches and their succession inside a complete
steered wheel revolution). These setting are SET ENC AT 360 and AUX FUNCTION
11 respectively. When the steered wheel has mechanical limitation, it is not possible
to launch an autoteaching procedure. Then manual setting is required (see below).
Step11 Execute the AUX FUNCTION 11 manual setting (see 10.3).
Step12 Execute the SET ENC AT 360 manual setting (see 10.4).
Step13 Set special adjustment DEBUG OUTPUT to 15 and recycle the key.
Step14 Read the WHEEL ANGLE in the tester menu and turn the steered wheel in
Step15 Now the position of the steered wheel, corresponding to a null WHEEL
The next step consists of setting the electrical limits for the steered wheel angle. The
steered wheel angle may be limited two ways:
1) in feedback way by turning option LIMIT DEVICE to ON and by properly setting
the limits with adjustments SET MAX FB ANG and SET MIN FB ANG (see 11.4.2.14
and 11.4.2.13).
2) in feedforward way by adjusting parameters 1
(see 11.4.4.13-16).
Feedback way: the steered wheel angle will be limited when it overtakes the SET
MAX FB ANG or SET MIN FB ANG.
Feedforward way: the steered wheel angle matches the handle wheel angle in a one
to one relationship. When the handle wheel hits its own mechanical limitation, the
steered wheel angle will be limited too.
Default limit for SET MAX FB ANG corresponds to a +90 degrees (measured on
reading WHEEL ANGLE in the tester menu).
Default limit for SET MIN FB ANG corresponds to a -90 degrees (measured on
reading WHEEL ANGLE in the tester menu). Obviously, the correspondence
between the reading WHEEL ANGLE and the actual steered wheel angle is
matched only in case of a correct setting for SET ENC AT 360.
In the next steps a description for changing the limit for the feedback way limitation
is described.
We suggest to perform the following Steps from 17 to 21 only in case you need an
angle limitation in feedback way with different than +/-90 degrees limits . In case that
+/-90 degrees limitation is good or in case of a feedforward angle limitation is
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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.
hand wheel. If it isn't, swap CPOC1 (CNA#9) with CPOC2 (CNA#8).
the position with a null WHEEL ANGLE. Watch the steered wheel
orientation. If it is 180 degrees turned, change AUX FUNCTION in the
following mode:
1) if AUX FUNCTION is set to 0, turn it to 1 (or vice versa)
2) if AUX FUNCTION is set to 2, turn it to 5 (or vice versa)
3) if AUX FUNCTION is set to 3, turn it to 4 (or vice versa)
Then recycle the key.
ANGLE, should be the one you expect.
ST ND
(2 ) ANGLE COARSE and FINE
AEMZP0EA - EPS-AC0 SWs&ENC - User Manual