Curtis 1220 - Page 38

34
Curtis 1220 Manual, Rev. C
Setup for Encoder feedback and Home Switch (see pages 16–17)
a. Verify that the feedback position encoder is working in the correct direction.
Steer to the right, and observe the Monitor » Controller » Motor RPM variable.
In a vehicle traveling forward with the steer motor in front, this value should
be positive; see diagram on page 30. If necessary, change the Program
» Feed-
back Device
» Encoder » Swap Encoder Direction parameter.
b. Set the Homing Direction Method, Home on Interlock, and Homing Speed parameters.
Homing Speed can be set to a lower speed than required as the nal setting
will be performed in Step
5
-a.
c. Review the diagrams in the Homing Direction Method parameter description on
page 17. en determine the correct
Homing Direction Method by observing
the Monitor
» Inputs and Outputs » Home Switch variable while also observing
the position of the steered wheel and the Home switch.
If Home Switch = On and the steered wheel is to the right of the Home
switch (or
Home Switch = O and steered wheel is to the left), setting Homing
Direction Method to either 0 or 1 will result in the correct direction toward the
Home switch during homing. Choose 0 or 1 depending on which side of the
Home switch you prefer the steered wheel to be when homing is complete.
If Home Switch = On and the steered wheel is to the left of the Home
switch (or
Home Switch = O and steered wheel is to the right), setting Homing
Direction Method to either 2 or 3 will result in the correct direction toward the
Home switch during homing. Choose 2 or 3 depending on which side of the
Home switch you prefer the steered wheel to be when homing is complete.
If Home Switch = On and the steered wheel is just on the Home switch
(and when
Home Switch = O when the steered wheel is not on the Home
switch), set
Homing Direction Method to 4. en set Homing Compensation (deg)
to the value shown in the Monitor
» Command Input » Target Position (deg)
variable after steering the tiller head and making the steered wheel just on
the center of the Home switch.
After setting the Homing Direction Method, verify that the homing function
works correctly starting from either side of the Home switch.
d. e correct settings for Encoder Steps (pulses per revolution, or PPR) can be
calculated as follows.
(1) If the encoder is installed before the motor gearbox (i.e., attached
to the steer motor rotor),
Encoder Single Pulse Period = 60*10
6
/(Max Steer Motor RPM*Encoder PPR)
should be > 66μs.
Example: Max Steer Motor RPM = 3000.
60*10
6
/(3000*Encoder PPR) > 66
Encoder PPR < 303
5 — COMMISSIONING