Setting The Eps-Ac0; Complete Set-Up Description; Stepper Motor Only; Stepper Motor & Autc - Zapi EPS-AC0 SWs&ENC User Manual

10 SETTING THE EPS-AC0

10.1 Complete set-up description

This procedure shall be executed on the prototype after the installation procedure is
completed (see topic 9). The complete set-up changes vs. the truck configuration.
Seek your own configuration below:

10.1.1 Stepper Motor only

Step1 Set the SET SAT FREQ adjustment to the corner frequency of the steering
Step2 Set OVERSAT FREQ adjustment in order the sum between SET SAT
Step3 Set the NO LOAD CURRENT adjustments to the current the motor drains
Step4 Set the steer sensitivity with the SPEED LIMIT and SENSITIVITY
Step5 Set AUTO REQ TYPE in the set model menu to level 0 (no automatic
Step6 (CAN Bused system only). Set the Dynamic Numbness in open loop
Step7 (No CAN Bused system only). Connect a traction travel demand to CNA#1.
10.1.2 Stepper Motor & AUTC
When the AUTC is required, it is necessary to carry out all the Steps in paragraph
10.1.1 together with the following:
Step1 When the autocentering (AUTC) is required, it is necessary to contact a
Step2 Turn the truck in the automatic centering mode, drive the truck and roll up
Step3 Set the parameters KP, POS. ACCURACY, LEAD FB REGULAT and LAG

10.1.3 Twin Pot only

Step1 Set the SET SAT FREQ adjustment to the corner frequency of the steering
Step2 Set OVERSAT FREQ adjustment in order the sum between SET SAT
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motor (see 11.4.2.7).
FREQ and OVERSAT FREQ gives the wished maximum steering motor
speed (see 11.4.2.8).
when lightened at the maximum flux (see 11.4.2.10).
parameters (see 11.4.4.1-2).
function). (See 11.4.3.2).
(steering sensitivity reduces when the truck speed increases). Use
parameters AUX FUNCTION#2 and AUX FUNCTION #3 (see 11.4.4.5-4).
It can be a tiller switch (or a dead-man or a seat switch). This operation
supplies the information the truck is moving or not to stand-by the steer
when the truck is standing.
Zapi technician to decide the physical and the superior protocol layers for
the AUTC demanding. (AUTC is a customized function that the eps-ac0
does not execute in its standard version).
One possible arrangement for the AUTC request could be a via CAN bus
demanded centering.
and down the adjustment SET STEER 0-POS until the truck is straight
travelling.
FB REGULAT to avoid overshoot or damping during the centering operation
(see paragraph 11.4.4).
motor (see 11.4.2.7).
FREQ and OVERSAT FREQ gives the wished maximum steering motor
speed (see 11.4.2.8).
AEMZP0EA - EPS-AC0 SWs&ENC - User Manual