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TriPod User Manual
AA0277.indd REV 04
A diagnostic mode allows various systems of the crawler to be individually monitored and tested.
Extreme care must be taken. Improper use may cause system damage.
Name
Description
LdriveEnc
Left Drive Wheel Encoder Feedback
LdriveEnable
Left Drive Wheel Amplifier Enable=1, Disable=0 (Right click toggles)
RdriveEnc
Right Drive Wheel Encoder Feedback
RdriveEnable
Right Drive Wheel Amplifier Enable=1, Disable=0 (Right click toggles)
SteerEnc
Steering Wheel Encoder Feedback
SteerEnable
Steering Wheel Amplifier Enable=1, Disable=0 (Right click toggles)
InclinoEnc
Inclinometer Encoder Position (Optional)
IdlerEnc
Read Idler Encoder Position (Optional)
XjoyVal
Right Joystick Value
YjoyVal
Left Joystick Value (Right click toggles menu scrolling so real values can be read.)
SteerHomeSw
Status of steering home switch (1=on, 0=off)
SteerLimitSw
Status of steering limit switch (1=on, 0=off)
CommErrors
Count of communications errors between crawler and operator display
DriveStatus
Shows the status of the three motor drives as a single digit. Steer-Left-Right
1 – Commutation failure
3 – Over temperature
4 – Drive externally disabled
5 – Short in wiring
6 – Current limiting active
9 – Internal supply protection mode
A – Shunt active
B – Over voltage
D – Under voltage
E – Amplifier OK
F – Power up reset
DriveRelays
Toggles drive brake relays on and off. Note, if the relays are ON, than the brakes
are OFF. Care must be taken when using this as the crawler may back drive
rapidly. 0=On, 1=Off.
LDriveCommand
RDriveCommand
SteerCommand
Applies a simple continuous torque command to the selected motor.
LDriveMonitor
RDriveMonitor
SDriveMonitor
Monitors the drive status and command value to each motor drive. Status codes
are as described in DriveStatus above.
DriveCommand
Applies a simple continuous torque command to both drive motors simultaneously.
SoftwareVersion Shows the current software version.
Controls
Left Joystick – Scrolls up and down in the setting list. Last menu item is always exit to “Main Menu”.
Right Pushbutton click – Depends on current item being displayed. See diagnostic item list.
Right Pushbutton hold – Exits to “Main Menu”.
