Curtis 1222 - Page 77

Curtis 1222 Manual, os 15
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2 9 J A N U A R Y 2 0 1 3 D R A F T
5 — COMMISSIONING
The commissioning procedures are grouped into four sections, as follows.
The first section covers the initial setting of various parameters, before the
actual commissioning begins.
1
Preparation for commissioning
The procedures in the second section set up the steer command. The 1222
interlock and the traction interlock both remain Off.
2
Command Map setup
3
Command Input Device setup
“0” — Setup for Pot input
“1” — Setup for Encoder input
“2” — Setup for Sin/Cos Sensor input
“3” — Setup for Sawtooth Sensor input
“4” — Setup for CAN Sensor input
“5” — None (applies only to Supervision parameter)
4
Force Feedback setup
5
Verify the Command Input setup
6
Verify the Steer Motor Encoder 3 setup
The procedures in the third section require the steer motor to turn, so the
1222 interlock (the steer interlock) must be set to On. The vehicle drive wheels
continue to be jacked up off the ground to they can spin freely and steer freely
from stop to stop.
7
Position Feedback Device setup
“0” — Setup for Pot input
“1” — Setup for Encoder input
“2” — Setup for Sin/Cos Sensor input
“3” — Setup for Sawtooth Sensor input
“4” — None (applies only to Supervision parameter)
8
Set the remaining Performance and Supervision parameters
9
Verify the Position Feedback Setup
bk
Resolve any existing faults
Last, the vehicle drive wheels are lowered to the ground and the final proce
-
dures are conducted. For these procedures, the traction interlock must also be
set to On.
bl
Set the Following Error parameters
bm
Set the remaining Supervision parameters.