Curtis 1220 - Page 39

Curtis 1220 Manual, Rev. C
35
(2) If the encoder is installed after the motor gearbox,
Encoder Single Pulse Period = Gearbos Ratio*60*10
6
/(Max Steer Motor
RPM*Encoder PPR) should be > 66μs.
Example: Max Steer Motor RPM = 3000.
Gearbox ratio = 40:1.
40*60*10
6
/(3000*Encoder PPR) > 66
Encoder PPR < 12120
In either case, we recommend setting Encoder Steps to a value greater than 16
to avoid possible sampling error which will lead to poor following accuracy.
5
Set the Motor Control Tuning parameters (see page 21)
a. Restore these two parameter values to their desired performance settings:
Motor » Max Speed
Current » Drive Current Limit.
If Position Feedback Device = 2, set Homing Speed (which is a percentage of Max
Speed) to the desired setting.
b. Temporarily set Steering Sensitivity » LS Sensitivity and HS Sensitivity = 100%.
With this setting, and the drive wheels still jacked up o the ground, set
the three parameters in the Motor Control Tuning menu (see page 21) to
get correct responsiveness to the steer command input.
Note: Setting these values too high will result in unstable responsiveness.
Increase these values as high as possible without becoming unstable:
Motor Control Tuning » Position Kp
Motor Control Tuning » Velocity Kp
Motor Control Tuning » Velocity Ki.
After setting these three parameters, return LS Sensitivity and HS Sensitivity to
their proper values.
6
Verify the position feedback setup
To verify the setup thus far, observe Monitor » Position Feedback » Wheel Position
(deg) while exercising the steer command input device over the entire operational
steer range. If the signal gives an undesired output, go back and resolve this
problem before continuing.
7
Resolve any existing faults
Cycle the Keyswitch input to reset the vehicle controllers. Check the active
faults in the controller and resolve any faults until all have been cleared. All
faults must be cleared before lowering the vehicle drive wheels to the ground.
Use Section 6 for help in troubleshooting. Contact your Curtis customer sup-
port engineer to resolve any remaining issues about faults before continuing.
5 — COMMISSIONING