PAGE 152 of 177
8.3. Encoder Failure
In the event of an encoder failure, the left drive module’s motor encoder may be used
to output encoder signals to an instrument.
NOTE:
When using the motor encoder to track position, steering may cause wheel
slippage which will affect encoder accuracy.
To output the motor encoder’s signal:
1.
Ensure power to the system has been turned off.
2.
Plug the left drive
(Fig. 334-L)
module’s connector into the umbilical’s
X-ENC
socket
(Fig. 334-1)
.
3.
Plug the right drive
(Fig. 334-R)
module’s connector into the remaining socket
(Fig. 334-2)
.
4.
Ensure instrument receiving encoder signals is programed with motor encoder’s
resolution
(see “Performance Specifications” on page 9 for additional details)
.
ENC
ENC
L
2
R
1
Fig. 334 - Left drive module encoder connection
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