Zapi EPS-AC Скачать руководство пользователя страница 25 | Manualshive

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Zapi EPS-AC Скачать руководство пользователя страница 25

Page 25

9 SETTING THE STEERING

Use the ZAPI hand set to adjust the manual steering settings.

9.1 TACHO-GENERATOR OR STEPPER MOTOR CONTROLLED STEERING

The following procedure should be used only after "One Shot Installation Procedure" in
Section 7 is completed. Carry out the procedure in the following sequence.
1) Use the hand set to specify the steering is tacho-generator type using the SET

MODEL setting (see 10.9).

2) Adjust SET BATTERY TYPE to the battery voltage in the truck using the hand set

(see 10.8.6).

3) Regulate the maximum frequency to the motor rated frequency. Use the hand set

adjustment SET SATURATION FREQ (see 10.8.7).

4) Regulate the SPEED LIMIT for steering on the hand set. Higher values cause the

MDU to turn faster (see 10.4.1).

5) Adjust the slow steering responce using the SENSIBILITY setting on the hand set. A

higher value causes faster responce (see 10.4.2).

Note:
Low settings of the SPEED LIMIT result in almost no steering responce when turning
the steering wheel al low speed. To avoid this problem increase the SENSIBILITY
setting.

9.2 AUTOMATIC CENTERING

1) For automatic centering operation it is necessary to adjust SET MODEL to level 1.

When an automatic centering request on the input Pin #10 of CNB connector is
recognized an automatic MDU alignment will start.

2) Adjust the steer angle centering precision using KP and POSITION ACCURACY

parameters on the hand set. The first is for coarse regulation, the second is for fine
regulation. Higher value of these parameters increase the precision, but make
steering "busy" with dither.

3) Use the hand set SET STEER 0-POS (see 10.8.11) to adjust the steer angle

feedback pot for straight steering MDU.The setting may be adjusted up and down in
5mV increments from the 2.5V default voltage. Test the results by driving the truck
forward and reverse with a centered MDU. Watch for straight travel.

4) Use PURSUIT RAMP on the hand set to adjust the automatic centering speed (see

10.5.3).

5) Use DESENSIBILIZAT on the hand set to adjust the automatic centering speed

closely the straight ahead MDU position (see 10.5.4).

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Содержание EPS-AC

Страница 1: ...ng 14 6 1 2 Stepper motor steering 15 6 1 3 Tacho generator steering with automatic centering 16 6 1 4 Stepper motor steering with automatic centering 17 6 1 5 Interface description 18 7 One shot inst...

Страница 2: ...ks alarms 46 11 1 5 Five blinks alarms 46 11 1 6 Six blinks alarms 47 12 Safety controls and their use 49 12 1 Safety controls in tacho generator and automatic centering steering 49 12 2 Safety on mot...

Страница 3: ...and other controllers placed on the truck rapid and simple so potentially extending the steering performance to steer equalization for traction speed CAN management of a wire guidance application and...

Страница 4: ...ntrol unit using the logic marked ADCZPA0D which operates the AC motor for both manual and automatic centering steering There are three different control units available 1 A 24 36Vbatt unit provides a...

Страница 5: ...t 36V 2 30A current rating Imax 70A if the battery voltage is 48Vdc about 1KW rated power motor 3 22A current rating Imax 50A if the battery voltage is greater than 48Vdc about 1 2KW rated power motor...

Страница 6: ...encoder CNA 6 16 17 and 7 directly connected to the steering motor shaft This is an option for a special application E g fine steering speed control safety improvement etc A typical manual controlled...

Страница 7: ...ontroller HARDWARE SETTING 48 80 Imax 50Aac Adjustable with the hand held controller HARDWARE SETTING 2 3 COMMAND DEVICE SPECIFICATIONS 2 3 1 Tacho generator or stepper motor We supply two command dev...

Страница 8: ...output shaft should be a 5K conductive plastic potentiometer A multi turn potentiometer is suggested to ensure negligible mechanical play The feedback angle potentiometer should rotate approximately e...

Страница 9: ...Page 9 3 MECHANICAL SPECIFICATIONS...

Страница 10: ...with the speed of the steering wheel Steering sensitivity and maximum speed are adjustable by using the ZAPI hand held controller 4 2 AUTOMATIC CENTERING Through the AUTOSEL input request it is possib...

Страница 11: ...and inputs Travel demands are connected in the CNA 5 and CNA 15 positions They are used in the automatic centering to restart steering always when the truck is moving When J7 is closed between pins No...

Страница 12: ...d between pins No 1 and 2 the encoder supply is 16Vdc when closed between pins No 2 and 3 the encoder supply is 5Vdc J2 This is a two pin jumper When closed the safety contact is internally grounded W...

Страница 13: ...Page 13 6 POWER CONNECTION DIAGRAM Note Reversing Battery positive and negative will damage the unit...

Страница 14: ...Page 14 6 1 ELECTRICAL DRAWING 6 1 1 Tacho generator steering...

Страница 15: ...Page 15 6 1 2 Stepper motor steering...

Страница 16: ...Page 16 6 1 3 Tacho generator steering with automatic centering...

Страница 17: ...Page 17 6 1 4 Stepper motor steering with automatic centering...

Страница 18: ...should be connected between connector CNB Pin 2 16Vdc supply and CNB Pin 8 device driver collector d The Eps Ac provides an internal safety contact accessible through connector CNB pin 7 and CNB pin 1...

Страница 19: ...ledgment provides a max 2Amps NPN open collector driver normally GND connected that opens when an automatic centering operation is finished h The CAN connections are provided on the Pin 3 and Pin 4 CN...

Страница 20: ...le feedback pot wiper and battery negative The wiper should be connected to Pin 11 of connector CNA Not leading MDU means the steering traction wheel is opposite to the driving seat When the steering...

Страница 21: ...DT DL For the tacho generator application this is a tacho generator connection It is internally connected to battery negative GND For the stepper motor application this is a stepper motor line called...

Страница 22: ...m conditions 9 DT QL This is a tacho generator connection or a stepper motor line called Q line 10 AUT This is the automatic request input It can be either an active level or edge detection depending...

Страница 23: ...configuring Jumper J2 6 VCC Optional encoder supply When an encoder is used it may be supplied through this pin The output voltage is selected through the jumper J8 see 5 7 GND This is internally con...

Страница 24: ...steer angle indicator gauge LEDs 0Vdc corresponds to the steer angle feedback pot voltage that was memorized using the ZAPI hand control for SET MAX FB POT 4 5Vdc corresponds to the steer angle feedb...

Страница 25: ...ring responce when turning the steering wheel al low speed To avoid this problem increase the SENSIBILITY setting 9 2 AUTOMATIC CENTERING 1 For automatic centering operation it is necessary to adjust...

Страница 26: ...ation of the Drive Unit see 10 8 12 2 Use SET MAX FB POT on the hand set to memorize the steer angle feedback pot voltage for maximum Counter Clockwise rotation of the Drive Unit see 10 8 13 3 Use the...

Страница 27: ...his section describes the ZAPI hand set functions Numbers inside the triangles correspond to the same number on the hand set keyboard buttons shown in the figure below The orientation of the triangle...

Страница 28: ...Page 28 10 1 MANUAL MODE STEERING OPTION HAND SET FUNCTION MAP...

Страница 29: ...Page 29 10 2 MANUAL MODE STEERING OPTION AND AUTOMATIC CENTERING HAND SET FUNCTION MAP...

Страница 30: ...mum turning speed Level 0 is for slow turning Level 9 is for fast turning Intermediate levels are for proportionally increasing speed settings Maximum MDU speed has to be regulated after SET BATTERY T...

Страница 31: ...mpensate the drop on power mosfets cables and stator resistance Level 3 means no compensation This should normally be set to Level 2 as a strong compensation reduces the slip difference between the sp...

Страница 32: ...was introduced to increase the resolution of the static precision To obtain precise centering increase the POS ACCURACY value If overshoot becomes evident try to lower the POS ACCURACY value Level 0...

Страница 33: ...EDBACK POT Provides the MDU steer angle feedback potentiometer voltage in real time A steer angle straight ahead corresponds to about 2 5Vdc 4 TEMPERATURE Provides in real time the control unit plate...

Страница 34: ...ote this reading is not the AUTOSEL Pin 10 of CNB connector level but the steering state the SW is recognizing This information coincides with the AUTOSEL input level when this input is level triggere...

Страница 35: ...G MENU SET OPTIONS FUNCTIONS LIST The SET OPTIONS functions list is used for all the steering options These options modify the system configuration on user request A description of each option follows...

Страница 36: ...motor control it could be a valid support to make steering control easier in a closed loop application steering position control 5 LIMIT DEVICE When this option is set ON the steer angle feedback pot...

Страница 37: ...both stator resistance and current gain amplifiers acquisition procedure is enabled As soon as this adjustment is turned to a Level different from 0 a DATA ACQUISITION alarm will immediately occurs 2...

Страница 38: ...constant voltage Vbatt for higher than saturation frequency values weakening region 8 OVERSAT FREQ The limit frequency for the constant voltage control law degraded flux and torque is set through this...

Страница 39: ...3 button The display changes to the present feedback pot value Push the OUT 4 and the ENTER 3 button to save this new reading 13 SET MAX FB POT Is used to adjust the scaling of the clockwise 90 degre...

Страница 40: ...w SET MODEL value will be acquired only after the key is switched off 10 10 MAXIMUM CURRENT ADJUSTMENT With the hand set is possible to modify the maximum current setting In order to modify it Enter t...

Страница 41: ...lse every 16msec to run an interrupt service routine reading the command on the SM When this synchronisation pulse is missing for more than 100msec this alarm occur Remedy If the alarm occurs permanen...

Страница 42: ...occurs permanently it is necessary to substitute the logic 9 KM CLOSED Cause It occurs when the MM has detected its safety contact closed prior to being commanded Remedy The alarm can be due to a wro...

Страница 43: ...alarm occurs So we recommend the safety switch should be directly connected to the supply source plus battery or minus battery with no interposed switches If the alarm does not occur for the wrong wir...

Страница 44: ...If the alarm occurs permanently it is necessary to substitute the logic 5 MAIN CONT OPEN Cause It occurs during init by Can Bus synchronisation with traction module if main contactor doesn t close Re...

Страница 45: ...e problem is not due to wiring replace the stepper motor 3 Q LINE SENSOR KO Cause It occurs when the stepper motor channel on CNB pin 9 is open Remedy check the stepper motor wires and measure the ste...

Страница 46: ...on the hand set display Push twice the Enter button If the alarm occurs permanently it is necessary to substitute the logic Note each time the Eprom release is changed this alarm could occur So we sug...

Страница 47: ...M2 settings to try a logic substitution 2 VMN NOT OK Cause It occurs when in the initial rest state at least one of the phases of the motor voltage is high that means the voltage between D47 and D48 a...

Страница 48: ...when in the rest state the Vu Vw phase motor voltage is high that means the voltage between D48 anode and gnd is not in the window Vu Vw 0 0 25Vdc see Fig 11 1 6 2 Remedy If the alarm occurs permanent...

Страница 49: ...eady state motor current is less than 6Aac this alarm could unwillingly occur 12 3 SAFETY ON FAILURE OF THE STEERING TACHO GENERATOR The safety on tacho generator failure detects the presence on the l...

Страница 50: ...wiper pin of the steer angle feedback pot In fact the 5K pot is connected with two resistances that confine its center point inside the two limits specified above if the pot is correctly connected see...

Страница 51: ...nt that could lead to additional vehicle damage must be communicated to ZAPI technical staff or the technical sales network so that corrective action and an appropriate decision regarding continued op...

Страница 52: ...STRUZIONE APPARECCHIATURE ELETTRONICHE OLEODINAMICHE INDUSTRIALI COSTRUZIONE APPARECCHIATURE ELETTRONICHE OLEODINAMICHE INDUSTRIALI COSTRUZIONE APPARECCHIATURE ELETTRONICHE OLEODINAMICHE INDUSTRIALI 4...

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