Zapi EPS-AC0, Руководство пользователя, Страница: 44 / 95

Page - 44/95 AEMZP0BA - EPS-AC0 - User Manual
For every truck released on the field, the default set-up shall reply the prototype
settings and so no installation procedure is required except for the acquisition of the
limiting position (see the quick set-up 11.2).
Carry out the procedure in the following order.
Step1 Connect the AC motor phases in such a way the phase references U, V, W
on the steering motor correspond to the terminals references (U, V, W) on
the eps-ac0.
Step2 In the SET MODEL menu set the SYSTEM CONFIG setting to LEVEL 1 to
steer in closed loop with a twin pot in manual mode (RTC). Turn off and on
the key in order the setting is acquired.
Step3 Set the FEEDBACK DEVICE to OPTION #1 to specify your feedback
solution is the sole FEEDBACK POT. Switch off the key after the change. (It
is necessary to start with the sole feedback pot to avoid a POSITION
ERROR due to the unknown scaling between the encoder counting and the
feedback pot value before of an encoder learning operation - Step 13 and
15 below).
Step4 Set option ENCODER CONTROL to OFF.
Step5 Connect the feedback pot in such a way the FEEDBACK POT reading in the
tester menu assumes higher voltage when the FREQUENCY in the tester
menu is positive. When a FB POT LOCKED alarm occurs immediately after
switching on the key, it means the motor is turning away from the wished
position (i.e. FEEDBACK POT decreases when the FREQUENCY is
positive). Then it is necessary to swap the PPOT with NPOT (CNB#2 with
CNB#1).
Step6 Connect the encoder. The encoder supply is between CNB#4 (5 Vdc) and
CNA#11 (GND): the two channels are CNB#8 (CHA) and CNB#7 (CHB).
Step7 Verify the reading ENC SPEED in the tester menu is consistent with the
reading FREQUENCY in the tester menu. Consistent means that ENC
SPEED and FREQUENCY must have the same sign and a close value. If
ENC SPEED has a wrong sign, swap CHA (CNB#8) with CHB (CNB#7). If
ENC SPEED is not close to FREQUENCY, the encoder resolution is wrong
and a different SW is needed (see 12.4.7.12 and 12.4.7.8).
Step8 If the motor runs well without glitches, it is possible to stays with ENCODER
CONTROL to OFF; otherwise, turn ENCODER CONTROL to ON.
Step9 Verify the steered wheel rotates in the correct direction according to the
hand wheel. If it isn’t, swap CPOC1 (CNA#9) with CPOC2 (CNA#8).
Step10 Set the LIMIT DEVICE option to OFF to avoid the maximum angle
limitations.
Step11 Set NUMBNESS parameters to Level 0.
Step12 Move the hand wheel until the maximum (plus 90 degrees) steered wheel
angle is achieved (Increase 1ST ANGLE COARSE - and FINE - if
necessary). This position (plus 90 degrees) corresponds to the maximum
value of the FEEDBACK POT reading in the TESTER menu.
Step13 With the steered wheel in the maximum angle (plus 90 degrees), enter and
save the adjustment SET MAX FB POT on the hand set to memorize the
steer angle feedback pot voltage for the maximum (plus 90 degrees) limit
position. If present, the maximum of the FB ENC is recorded too (although it
is not shown in the hand set).
Step14 Move the steering wheel until the minimum (minus 90 degrees) steered
wheel angle is achieved (Increase 2ND ANGLE COARSE - and FINE - if
necessary). This position (minus 90 degrees) corresponds to the minimum
value of the FEEDBACK POT reading in the TESTER menu.
Step15 With the steered wheel in the minimum angle (minus 90 degrees), enter and
save the adjustment SET MIN FB POT on the hand set to memorize the
steer angle feedback pot voltage for the minimum (minus 90 degrees) limit