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AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
11 INSTALLATION PROCEDURE
By setting FEEDBACK DEVICE to OPTION#4 and recycling the key, the encoder
will be used in combination with one or two toggle switches to measure the
steered wheel angle. The toggle switch in the straight ahead position (0 degrees)
of the steered wheel is used to initialize the encoder counting.
This operation is performed through an automatic centering at key-on: the
steered wheel rotates automatically until an edge is detected on the straight
ahead switch. After the encoder has been initialized, it will be used for closing the
loop with the commanded position.
11.1 One shot installation procedure for an arrangement without
mechanical limitation
This procedure is relative to the connecting drawings Figure 10-1. It is valid also
for application with electrically limited angle provided that, the steered wheel may
rotate for a full revolution without mechanical limitations (i.e. without end strokes).
It describes the step by step installation procedure to get the prototype working in
manual mode.
For every truck released on the field, the correct installation set-up is already
known (as it was determined from the test on the prototype) and so no installation
procedure is required except for the quick set-up (see the quick set-up 12.2).
Carry out the procedure in the following order.
Step1
Connect the Battery to the PBATT and NBATT connections of the
epsacw. Up to three wires 1.5mm
2
for PBATT are foreseen (same for
NBATT). Total current rating for three 1.31mm
2
PVC wires is about
36Adc @ Tamb=40°C. Total current rating for two 1.31mm
2
PVC wires is
about 26.5Adc @ Tamb=40°C. Total current rating for three pins of the
AMPSEAL connector in the tin plated part number is 21Adc (bottleneck).
An embedded I2t algorithm preserves connections from overload;
instead short circuit protection is in charge of the external fuse.
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 an encoder in the motor shaft together with one or two toggle
switches. Switch off the key after the change.
Step4
Set special adjustment DEBUG OUTPUT to level 11 and recycle the key.
(With this operation, some diagnosis are inhibited so inconsistent actions
of the steering system are possible. Be prudent).
Step5
Verify the steered wheel rotates in the correct direction according to the
steering wheel. If it isn’t, swap DL (CNA#17) with QL (CNA#20).
To get the system properly working it is necessary to set the encoder counting for
a half steered wheel revolution together with the specification of the toggle
switches arrangement (one or two toggle switches and their succession inside a
complete steered wheel revolution). These setting are PULSE FOR 180 DEG and
AUX FUNCTION 11 respectively. When no mechanical limitation exists on the
steered wheel, the autoteaching function is the right mean for setting PULSE FOR
180DEG and AUX FUNCTION 11 (see below).
Step6
Set special adjustment AUX FUNCTION 11 to level 0 or 1 if only one
