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AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
2.
2
ST
VALUE:
4.00 [minimum counting within 16msec].
Zapi DUT reports 5.00 [events per 16msec].
3.
3
ST
VALUE:
6.42 [averaging counting within 16msec].
Zapi DUT reports 6.41 [events per 16msec].
4.
4
ST
VALUE:
8.00 [maximum counting within 16msec].
Zapi DUT reports 7.00 [events per 16msec].
In case the values detected are different from the above, a fault occurred.
TROUBLESHOOTING with STATUS #2:
Alarm
SELFCHECK #2
after a while turns to:
CHECK #2 OK:
occurs when the system passes the SELFCHECK #2. To pass
SELFCHECK #2 following conditions must be matched (AND logic):
1
ST
value (current) lower than 6.5Adc
AND
2
ND
value (minimum pulses in 16msec) higher equal than 4
AND
3
RD
value (maximum pulses in 16msec) lower equal than 8
SELCK 2.1 VBATT:
occurs in case the rail voltage (battery voltage) is lower than
29V (for 48V battery) and 19V (for 24V battery). It reports a failure on the cable
between plus or minus battery and the controller.
SELCK 2.2 ENC LO:
occurs in case the 2
ND
value (minimum pulses in 16 msec)
has been detected (valley detection) lower than 2 and the 1
ST
value (current in the
motor) has been detected lower than 20Aac. It reports a temporary valley in the
encoder counting. Reason could be a noise in the encoder, a bad encoder
connection.
SELCK 2.3 ENC HI:
occurs in case the 4
TH
value (maximum pulses in 16 msec)
has been detected (peak detection) higher than 8 and the 1
ST
value (current in the
motor) has been detected lower than 20Aac. It is a not likely condition and reports
a temporary peak in the encoder counting. Reason could be a noise in the
encoder, two channels of the encode toggles in the same time (no 90 degrees
shift) a bad encoder connection.
SELCK 2.4 IMAX:
occurs in case the 1
ST
value (current in the motor) has been
detected higher than 40A and the 3
RD
value (average pulses in 16msec) has been
detected lower than 4. It means the system is not able to reach the commanded
speed (25Hz). Two possibilities:
a) the steered wheel MOVES SLOWLY and the 2
ND
value (minimum pulses in
16msec) is less equal than 0 and the 3
RD
value (average pulses in 16msec) is less
than 1.00. Then the encoder is failed
b) the steered wheel DO NOT MOVE (locked). The problem is too friction likely in
the transmission. Less probable in the motor (e.g. mechanical problem on a ball
bearing)
SELCK 2.5 I > 20A:
occurs in case the 1
ST
value (current in the motor is higher
than 20Aac) and the 3
RD
value (average pulses in 16msec) is higher than 6pulses
(required speed 25Hz reached). It reports a situation of high friction to steer. A test
with the steered wheel lifted up can confirm the high friction is generated inside the
system (e.g. a failure in a ball bearing) not for an external condition like hard floor
or wheel overloaded.
SELCK 2.6 I > 10A:
occurs in case the 1
ST
value (current in the motor is higher
than 10Aac) and the 3
RD
value (average pulses in 16msec) is higher than 6pulses
(required speed 25Hz reached). Higher than 10Aac are expected in case the
steered wheel is on the floor in no load and no travel condition. Then about 12Aac
has been measured on a DUT on a smooth surface. In case THE STEERED
WHEEL IS LIFTED UP, it reports a situation that could be of high friction. When
the steered wheel is lifted up, lower than 6.5Aac are expected. Anyway, even for a
