Zapi EPS-AC0, Руководство пользователя, Страница: 12 / 95

Page - 12/95 AEMZP0BA - EPS-AC0 - User Manual
4 SYSTEM COMPONENTS
The eps-ac0 controller needs some external parts in order to work. The following list
describes the complete equipment.
4.1 Steering Motor
The steering system includes a three phase AC induction motor. The motor rated
power (S2-1h) changes with the truck type. As a thumb rule:
1) A low level OP asks a motor with rated power higher than 250 W @ 3000 rpm.
2) A reach truck asks a motor with rated power higher than 400 W @ 3000 rpm.
Obviously the above list is only a rough information: the motor should be chosen
from time to time according the rated torque and speed customer’s specifications.
4.2 Gear Box and total reduction ratio
Normally, the total reduction ratio between steered wheel and motor shaft should be
close to 1:200. Normally it is split into:
1) Gear box ratio close to 1:50.
2) External gears ratio close to 1:4.
The maximum continuous output torque requirement changes with the truck type. As
a thumb rule and in the worst case (stalled steer):
1) A low level OP asks a maximum torque of about 250 Nm on the wheel to steer.
2) A reach truck asks a maximum torque of about 600 Nm on the wheel to steer.
Obviously the above list is only a rough information: the reduction ratio together with
the gear-box should be chosen from time to time according the customer’s
specifications.
4.3 Eps-ac0 controller
It consists of a control unit on a PCB marked AEMZPA0B (see Figure 4.1) which
operates the AC asynchronous motor for manual and centering mode. Eps-ac0
works with 24 to 36 V battery and a maximum current up to 50 Aac.
It has flash memory aboard and it is possible to boot the SW in the Master
microprocessor through both, Serial hand set connector (CNC) and via CAN Bus.
For the Slave microprocessor, only via CAN Bus booting is admitted. A Zapi own
program (Flasher) is needed to boot-on the SW.