Quick Set-Up; Stepper Motor Without Mechanical Angle Limitation; Stepper Motor With Mechanical Angle Limitation; Twin Pot With Or Without Mechanical Angle Limitation - Zapi EPS-AC0 SWs&ENC User Manual

10.2 Quick set-up

This procedure shall be executed on every manufactured truck. It changes with the
configuration.

10.2.1 Stepper Motor without mechanical angle limitation

We assume the special adjustment AUX FUNCTION 11 is correctly set in its default
value. Then a single step set-up procedure is required.
Step1 Set special adjustment AUTOTEACHING to ON and recycle the key.
With this procedure the correct values for SET ENC AT 360 and SET ENC AT 180
are automatically collected and saved (see 11.4.2.15-16).
When the Automatic Centering (AUTC) is required on a truck working open loop in
manual mode (stepper motor), it is necessary to guide the truck in automatic mode
and to perform the following steps:
Step2 Roll-up and down the adjustments SET STEER 0-POS to get the truck
Step3 Roll-up and down the adjustments SET STEER 180 to get the truck straight

10.2.2 Stepper Motor with mechanical angle limitation

We assume the special adjustment AUX FUNCTION 11 together with the
adjustment SET ENC AT 360 are correctly set in their default value. Then no quick
set-up is required.
When the Automatic Centering (AUTC) is required on a truck working open loop in
manual mode (stepper motor), it is necessary to guide the truck in automatic mode
and to perform the following steps:
Step1 Roll-up and down the adjustments SET STEER 0-POS to get the truck

10.2.3 Twin Pot with or without mechanical angle limitation

A truck working closed loop in manual mode (with a Twin Pot connected at the
handle bar side) always works with (electrically) limited angle in the steered wheel.
As consequence, the accuracy of the setting SET ENC AT 360 is not a critical point.
A not accurate (manual or default) setting creates only a value on the WHEEL
ANGLE reading that can be not perfectly matched with the actual steered wheel
angle. So, for closed loop applications, we assume the special adjustment AUX
FUNCTION 11 together with the adjustment SET ENC AT 360 are correctly set in
their default value (autoteaching not required). In case the default setting is strongly
inaccurate, an autoteaching procedure is required (see 10.4 and 10.5). The
following quick set-up procedure includes also the case of Automatic Centering
Step1 Release the handlebar in its straight-ahead position and acquire the
Step2 Set option TILLER DEAD ZONE to On and recycle the key.
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straight travelling when automatic centered on the null WHEEL ANGLE (see
11.4.2.18).
travelling when automatic centered on the 180 degree WHEEL ANGLE (see
11.4.2.19)
straight travelling when automatic centered on the null WHEEL ANGLE (see
11.4.2.18).
adjustments ZERO SP POT (to record the rest twin pot voltage).
AEMZP0EA - EPS-AC0 SWs&ENC - User Manual