Zapi EPS-AC0, User Manual, Page: 47 / 95

AEMZP0BA - EPS-AC0 - User Manual Page - 47/95
Step1 Connect the AC motor phases in such a way the phase references U, V, W
on the steering motor correspond to the terminals references (U, V, W) on
the eps-ac0.
Step2 In the SET MODEL menu set the SYSTEM CONFIG setting to LEVEL 0 to
steer in open loop with a stepper motor in manual mode. Turn off and on the
key in order the setting is acquired.
Step3 Set the FEEDBACK DEVICE to OPTION #4 to specify your feedback
solution is the encoder with one or two toggle switches. Switch off the key
after the change.
Step4 Turn the special adjustment DEBUG OUTPUT to Level 11 to inhibit the
alarm POSITION ERROR and recycle the key.
Step4 Set option ENCODER CONTROL to OFF.
Step5 Connect the encoder. The encoder supply is between CNB#4 (5 Vdc) and
CNA#11 (GND): the two channels are CNB#8 (CHA) and CNB#7 (CHB).
Step6 Verify the 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 has a wrong sign, swap CHA (CNB#8 with CHB (CNB#7). If
ENC SPEED is not close to FREQUENCY, the encoder resolution is wrong
and a different SW is needed (see 12.4.7.12 and 12.4.7.8).
Step7 If the motor runs well without glitches, it is possible to stays with ENCODER
CONTROL to OFF; otherwise, turn ENCODER CONTROL to ON.
Step8 Verify the steered wheel rotates in the correct direction according to the
hand wheel. If it isn’t, swap DL (CNA#9) with QL (CNA#8).
Step9 Set the LIMIT DEVICE option to OFF to avoid the maximum angle
limitations.
Step10 Detect the encoder counting corresponding to a steered wheel revolution.
To do that, turn the steered wheel some revolutions in CW direction and
read the ENC COUNT AT 360 in the tester menu. At every falling edge of
the CNA#3 toggle switch (SW1), this reading is updated. It corresponds to
the encoder counting for a complete revolution of the steered wheel. ENC
COUNT AT 360 shows real time the encoder counting between two
consecutive falling edges on the straight ahead toggle switch. The reading
is scaled in the range 0 to
±
5 V.
5 V corresponds to an encoder counting of 2
15
events.
-5 V corresponds to an encoder counting of -2
15
events.
To be sure the shown value is correct, turn the steered wheel some
revolutions in the opposite direction. I expect the reading ENC COUNT AT
360 gets the same value but with opposite sign.
Step11 Enter and save the adjustment SET ENC AT 360. The absolute value in the
reading ENC COUNT AT 360 will be recorded on SET ENC AT 360.
Step12 Recycle the key and turn the steered wheel to get the WHEEL ANGLE
reading in the tester menu close to 0 degrees.
Step13 Check the orientation of the steered wheel in the position having WHEEL
ANGLE close to 0. If the steered wheel has not the wished orientation
change AUX FUNCTION 11. If AUX FUNCTION 11 is set to Level 5, it is
necessary to change to Level 4 or vice versa. If AUX FUNCTION 11 is set
to Level 2, it is necessary to change to Level 3 or vice versa.
Step14 Recycle the key. Now, when WHEEL ANGLE is null, the steered wheel
must be oriented in the wished direction.
Step15 Turn the steered wheel to have the reading WHEEL ANGLE close to +45
degrees (first sector). Read the ENDSTROKE CW and ENDSTROKE ACW
in the tester menu. Set AUX FUNCTION 11 to the proper level as specified
below:
ENDSTROKE CW=OFF and ENDSTROKE ACW=OFF:
Level 2