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AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
connected to their structure without slip.
3. Fault in the low resolution encoder (like magnet loosened or
a hall sensor failure).
4. The STEER ANGLE has a drift (it could occur also when the
truck is standing) for noise captured on the encoder
channels
34) WATCHDOG
Alarm 0xFF08=8 Group #0 [M,S]:
- Cause:
MuC and SuC communicate on a local Can Bus communication
system. Communication between them requires a stuffing bit
(stuffing bit must be reversed at any new frame). In case the
stuffing bit is frozen longer than 100msec this alarm occurs.
- Remedy:
If it is repetitive, it reports a problem in the controller
35) CURRENT GAIN
Warning with eps on 0xFFE1=225 [M,S]:
- Cause:
This alarm occurs when the gains of the current amplifiers
(ADJUSTMENT #03 and ADJUSTMENT #04) are set to their
default values (Imax has not been regulated yet).
- Remedy:
Call Zapi assistance or replace the control.
36) SPEED SENSOR KO
Alarm 0xFF54=84 Group #2 [M,S]:
- Cause:
This alarm occurs in case of a short circuit between the two
stepper motor channels (QL on CNA#17 and DL on CNA#20)
longer than 128msec for MuC (224msec for SuC).
- Remedy:
Check for a short circuit in the wires connected to CNA#20 and
CNA#17. The short circuit likely is in the path from the stepper
motor to the CNA#17 and CNA#20 pins.
37) FB JERK
Alarm 0xFFDF=223 Group #3 [M,S]:
- Cause:
This alarm occurs in case the position of the steered wheel
measured with the encoder has a step (discontinuity) larger
than 21degrees (244/4096 revolution) within 16msec and the
step don’t go back to a lower gap for 13 consecutive samples
(total 208msec).
- Remedy:
Disturb or defect in the encoder and encoder’s wires. One
possibility is the correct 90 degrees phase shift between CHA
and CHB in the encoder has been lost.
38) STEPPER MOT MISM
Alarm 0xFFDB=219 Group #2 [M]:
- Cause:
This alarm occurs two ways:
4. Stepper motor D and Q channels are processed two ways:
A/D conversion and quadrature encoder interface. When the
A/D conversion supplies fast motion (D or Q line amplitude
larger than 4.6Vpeak) and the quadrature encoder supplies
slow motion (lower than 2 pulses within 80msec: i.e. 25Hz)
longer than 200msec.
OR
5. In case the peak value of one stepper motor channel (DL or
QL) is lower than 0.61V meanwhile the peak value of the
second channel is higher than 2V longer than 120msec (it
