Zapi EPS-AC0 SWs&ENC User Manual page 89

5) STEER SENSOR KO
- Cause:
- Remedy:
6) FB SENS LOCKED
- Cause:
- Remedy:
7) STEPPER MOTOR MISM
- Cause:
- Remedy:
8) ENCODER ERROR
- Cause:
- Remedy:
9) BAD ENCODER SIGN
- Cause:
AEMZP0EA - EPS-AC0 SWs&ENC - User Manual
plate on the steered wheel.
2) A ring of the sensor bearing has a slip (the sensor bearing has
two rings: one is connected to the rotor shaft; the other is
connected to the motor frame. Check these two rings are strictly
connected to their structure without slip).
3) The WHEEL ANGLE has a drift (it could occur also when the
truck is standing) for noise captured on the encoder channels.
CAN Bus Code =84
This alarm occurs if the command potentiometer (CPOC1 on
CNA#9 or CPOC2 on CNA#8) changes with a jerk larger than
MAX SP SLOPE (see 11.4.6.3). This alarm is used to catch a
discontinuity in the voltages of the command potentiometer.
Change the twin pot.
CAN Bus Code =222
This alarm occurs only when option ENCODER CONTROL is off.
Then, if the encoder is frozen and the steering motor is demanded
for moving at higher than 40% of the maximum motor speed, this
alarm occurs.
Check the encoder is right working. This alarm may be masked
(for the trouble shooting activity only) by setting special adjustment
DEBUG OUTPUT to level 11 and recycling the key (see 11.4.6.4).
Then it is possible to verify the reading ENC SPEED is frozen or
not meanwhile the steering motor is turning.
CAN Bus Code =219
This alarm occurs if the frequency and the amplitude of the
voltages from the stepper motor lines are mismatched in between
(i.e. the voltage from the D and Q line of the stepper motor have
high amplitude but with very low frequency). In normal condition
when the amplitude of the stepper motor lines increases, the
frequency of the stepper motor lines must increase too.
This alarm occurs also if a stepper motor line (D or Q) is short
circuited to minus battery.
Check if a stepper motor line is short circuited to minus battery.
Otherwise it is necessary to replace the controller.
CAN Bus Code =241
It occurs when ENCODER CONTROL is set ON and the real
frequency does not pursuit the commanded frequency
This condition is several times due to either, a mismatching
between the Encoder resolution used in the SW and the real
encoder resolution, or a wrong connection between the two
encoder channels. In this latest case swap the channels of the
encoder (CNB#8 with CNB#7).
CAN Bus Code =83
It occurs when the ENC SPEED in the tester menu has opposite
sign than FREQUENCY in the tester menu.
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