4 – 50 Repair Manual RRE140/160/180/200/250 © BT
Functions and parameters
Functions
T-code Valid from serial number Date Publication No.
815, 816 6051502 2008-08-21 261828-040
Steering reference
The steering sensor is used as a 180 degree reference for the 360
degree steering.
The MCU calculates the position and stores it in the memory. The steer-
ing sensor emits an active signal as a result of a half turn of the wheel;
the value is changed at 90 and 270 degrees.
Monitoring
At start-up the last known steering angle is used by the program. If the
steering angle has been changed during the time the truck has been
switched off, the saved steering angle is unreliable. Another steering
angle measurement then starts and restricts steering movement to 180
degrees until the sensor signal and steering angle have been updated.
The reference sensor is located at the steering angles ±90 degrees,
resulting in 180 degrees between each signal.
Once a steering angle has been updated for the first time after start-up,
the wheel position is checked each time the reference sensor is
passed. If the sensor signals are not received within a specified toler
-
ance or are completely absent, an error code is output.
Travel speed limitation
During start-up, travel is disabled until the steering servo is initialised
and ready.
No speed limitation is made on the basis of steering turning angle size.
Compass card
In the truck symbol on the CID, a compass card with 8 arrows is dis-
played. This indicates the direction the truck is moving in. If the operator
has not selected the direction of travel, or if there is a steering reference
error, the arrow goes out.
The compass card indicates that the truck will be moving in the direc-
tion of the drive wheel.
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