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AFMNA0AA – EPS-BLI HYG – User Manual
10 E-STEERING MOTOR CONTROLLER
ALARMS
This chapter gives the list of the alarms the E-steering motor controller can raise.
When an alarm occurs, traction must be brought to a controlled safe state. This
activity IS FULLY IN CHARGE OF THE LIFT TRUCK MANUFACTURER. See 10.1
for the details.
10.1 Stop traction when E-steering motor controller is no longer
operative
In case of an alarm in the E-steering motor controller, the traction must be brought to
a controlled safe state (traction stop or traction speed limitation). The E-steering
motor controller invokes this event with a STOP TRACTION REQUEST sent on the
CAN bus communication system. If this STOP TRACTION REQUEST lacks longer
than a delay (stated in less than 100 ms following EN1175) the traction must be
brought to a controlled safe state too. An optional hardwired output (CNA#14) is
available too.
U
Whenever at least one of the two microcontrollers in the E-steering motor
controller detects an alarm in the steering system, that microcontroller turns on
(from LOW to HIGH) a STOP TRACTION REQUEST bit in a PDO (STATUS
WORD) continuously sent to the unit designated to stop the traction.
The job in the Zapi steering system finishes when the STOP TRACTION
REQUEST has been sent. After that, the lift truck Manufacturer is responsible
for coordinating the communication between different units in the truck and
furthermore for testing and validating that this alarm information will be
properly handled in the destination unit (traction master control) and leading to
a traction safe state when the steering system is no longer operative.
NOTE: “steering system no longer operative” may occur in two modes:
1) At least one between MuC and SuC STOP TRACTION REQUEST bit is not
received by the traction master control longer than a delay (this delay must be
chosen according EN1175).
2) Both STOP TRACTION REQUEST bits are received by the traction master
control (see below) and at least one of them is in its active (alarmed) state.
Let us call the unit in the truck designated to lead the traction in a safe state (whatever
it is) as the traction master control (TMC).
TMC is expected to continuously send a PDO (used as a synchronization frame) to the
E-steering motor controller:
TMC
EPS_MuC_SuC (synch like frame)
The two uCs inside the E-steering motor controller must answer:
1) EPS_MuC
TMC
and
2) EPS_SuC
TMC
