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AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual
current in the motor has been detected lower than 20Arms.
Note: at fixed 25Hz the average encoder increment is expected
to be 6.42 in 16msec.
- Remedy:
It reports a temporary valley in the encoder increment. Reason
could be a noise in the encoder, a bad encoder connection or a
local point in the steered wheel revolution with a higher friction
required (local increment of friction).
14) SELCK 2.3 ENC HI
Alarm 0xFE13=204 [M]:
- Cause:
This alarm occurs only as a response of the SELFCHECK #2. It
occurs in case the maximum encoder increment in 16msec has
been detected higher than 8 (peak detection) and the average
current in the motor has been detected lower than 20Arms.
Note: at fixed 25Hz the average encoder increment is expected
to be 6.42 in 16msec.
- Remedy:
It reports a temporary peak in the encoder increment. Reason
could be a noise in the encoder, a bad encoder connection or
the friction throughout a whole steered wheel revolution is not
constant (changes or steps in the friction within a whole
revolution).
15) SELCK 2.4 IMAX
Alarm 0xFE14=204 [M]:
- Cause:
This alarm occurs only as a response of the SELFCHECK #2. It
occurs in case the average encoder increment in 16msec has
been detected lower than 4 (motor doesn’t reach commanded
25Hz speed) and the average current in the motor has been
detected higher than 40Arms.
Note: at fixed 25Hz the average encoder increment is expected
to be 6.42 in 16msec.
- Remedy:
There are two possibilities:
1) if the steered wheel MOVES VERY SLOWLY, likely an
encoder failure occurred.
2) if the steered wheel DO NOT MOVE, likely a too friction
or even mechanical lock in the transmission (sensor
bearings, gears) occurred.
16) SELCK 2.5 I > 20A
Alarm 0xFE15=204 [M]:
- Cause:
This alarm occurs only as a response of the SELFCHECK #2. It
occurs in case the average encoder increment in 16msec has
been detected very close to the expected (higher than 6) and
the average current in the motor has been detected higher than
20Arms (overload).
Note: at fixed 25Hz the average encoder increment is expected
to be 6.42 in 16msec.
- Remedy:
There are two possibilities:
1) if the steered wheel is lifted up, this alarm reports to a
condition with too much friction required to steer (ball
bearing or transmission defected).
2) if the steered wheel is on the floor instead only a test
with the steered wheel lifted up may confirm the high
friction is generated inside the system (e.g. failure in the
ball bearings or transmission) and not for an external
physiological condition (e.g. hard floor or wheel
