Zapi EPS-AC0 SWs&ENC User Manual page 71

11) AUXILIARY TIME
This parameter defines the time, after the steer handle is released and the travel
demand deactivated, for which the stand still torque is applied.
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Intermediate levels are for proportionally increasing auxiliary time. The stand still
torque reduces with a ramp from the ANTIROLLBACK value down to zero with a
delay specified with this setting.
12) ANTIROLLBACK
This parameter adjusts the standstill torque after the steer handle is released
and the travel demand deactivated. It is in percentage of the maximum current.
Injecting a continuous current in the motor generates the stand still torque. It is
useful (together with the CREEP SPEED parameter, see 11.4.4.3) to neutralize
the recall torque generated by the elastic tyre on the steered wheel.
13) 1ST ANGLE COARSE
This parameter regulates in coarse steps the maximum steered wheel angle in
the direction where FEEDBACK ENC is higher than 2.5 V.
In closed loop applications:
it is a scaling factor between the SET POINT POT reading and the FEEDBACK
ENC reading. By increasing this parameter, the maximum steered wheel angle
increases too. The maximum angle should be regulated in feedforward way by
properly adjusting these angle settings.
In open loop applications:
parameters 1ST and 2ND ANGLE COARSE both to level 9 get the steered
wheel angle unlimited. Lower setting for 1ST ANGLE COARSE limits the
maximum angle in the range 80 degrees +Level*4degrees (e.g. Level 0 means
limitation to +80deg; Level 1 means limitation to +84deg and so on).
14) 1ST ANGLE FINE
(Twin Pot version only). This parameter regulates in fine steps the maximum
steered wheel angle in the direction where FEEDBACK ENC is higher than 2.5
V. It is used in closed loop application only (Twin Pot) and it is a scaling factor
between the SET POINT POT reading and the FEEDBACK ENC reading.
By increasing this parameter, the maximum steered wheel angle increases too.
15) 2ND ANGLE COARSE
This parameter regulates in coarse steps the maximum steered wheel angle in
the direction where FEEDBACK ENC is lower than 2.5 V.
In closed loop applications:
it is a scaling factor between the SET POINT POT reading and the FEEDBACK
ENC reading. By increasing this parameter, the maximum steered wheel angle
increases too. The maximum angle should be regulated in feedforward way by
properly adjusting these angle settings.
In open loop applications:
parameters 1ST and 2ND ANGLE COARSE both to level 9 get the steered
wheel angle unlimited. Lower setting for 2ND ANGLE COARSE limits the
maximum angle in the range -80 degrees -Level*4degrees (e.g. Level 0 means
limitation to -80deg; Level 1 means limitation to -84deg and so on)..
16) 2ND ANGLE FINE
(Twin Pot version only). This parameter regulates in fine steps the maximum
AEMZP0EA - EPS-AC0 SWs&ENC - User Manual
LEVEL 0: No stand still torque.
LEVEL 1: Brief application of the stand still torque (about 6 secs).
LEVEL 9: Long application of the stand still torque (about 90 secs).
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