Functions and parameters
Functions
Publication No. Date Valid from serial number T-code
261828-040 2008-08-21 6051502 815, 816
© BT Repair Manual RRE140/160/180/200/250 4 – 49
4.8.7 Steering
Steering position check
The truck has position steering that is speed-controlled. The pulse gen-
erator in the steering wheel sends a steering speed to the CID, and this
is sent as a CAN telegram to the MCU. Then the MCU converts this val
-
ue into a variance reading from the current position and sends a new
setpoint to the EPS, which controls the steering motor.
Monitoring
The pulse generatoris a twin generator and two separate pulse trains
are received by the CID. If the two signals do not reach the same level
within a given time limit, an error code is output.
There is also monitoring to ensure that the pulse generator speed is not
abnormally high.
Steering speed
At low travel speeds, the steering speed is high so that large wheel
manoeuvres can be carried out using only small movements of the
steering wheel. At higher travel speeds, the steering speed is reduced
to prevent loss of sensitivity in the truck steering.
The steering speed can be adjusted with an operator parameter.
Monitoring
In the case of a high steering value the current steering speed must be
higher than a given speed, otherwise an error code is output.
In the case of a low steering value, the speed must be under a given
speed, otherwise an error code is output.
When the steering servo is deactivated, the actual steering speed must
be 0, otherwise an error code is output.
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