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Curtis 1222 Manual, os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T
b. Set the parameters Left Stop to Center and Right Stop to Center. These parameters
determine how many revolutions of the command encoders are required
to steer between the Left and Right stops. These values can be calculated
based on the encoders’ pulses per revolution (ppr) and the desired number
of revolutions of the steering wheel (counts = 4 × encoder ppr × number of
revolutions). Both encoders must have the same ppr.
Another way to set up these parameters is by observing the Encoder1 Counts
and Encoder2 Counts values and steering while observing the change in the
encoder counts during one complete revolution of the steering wheel.
“2” — Setup for Sin/Cos Sensor input (see page 26)
Note: The steer motor should not respond to this command input because the
Interlock is Off. If the steer motor shows any movement (or if the Interlock is
On), stop and resolve the issue; see Preparation for commissioning, page 74.
a. Set the parameters
Amplitude and Offset according to the sensor manufacturer’s
specifications. Amplitude is usually referred to as Gain in the specs. Amplitude
is half the peak-to-peak voltage, and Offset is the center of the peak-to-peak
from ground.
If sensor specs are not available, use the voltages shown in the Moni
-
tor
» Command Input » Analog Input » Analog1 and Analog3 variables as follows.
To calculate the Offset, find the highest and lowest values of
Analog1 and
Analog3 while slowly sweeping the command device. Add these two values
together and divide by two. Input this number in the
Offset parameter. Next,
subtract the lowest value of
Analog1 and Analog3 from the Offset param-
eter value. Input this number in the Amplitude parameter. Example: While
the command device is moved slowly,
Analog1 and Analog3 are shown to have
a maximum voltage of 4.1 V and a minimum voltage of 1.9 V; therefore,
Offset = 3.0 V and Amplitude = 1.1 V.
b. Decide if the sensor input will be in absolute position mode or relative posi
-
tion mode, and then follow Step “c” or “d” as appropriate.
Absolute Mode = On is for absolute position mode. The sensor input
typically has a range of motion that matches the range of motion of the
steered wheel (not multi-turn) and the center, right, and left positions are
all defined. Absolute position mode is typically used for walkie and walkie
rider material handling applications.
Absolute Mode = Off is for relative position mode. The sensor input is
typically a multi-turn device with the center position being wherever the sen
-
sor is positioned when the interlock is turned on. Relative position mode is
typically used for reach trucks and man-up material handling applications.
c. For Absolute Position Mode (Absolute Mode = On):
1. Move the Sin/Cos Sensor to the center position and observe the angle
shown in the Monitor
» Command Input » Analog Input » Angle Raw
variable. Set the
Center Angle to the observed angle. This parameter
5 — COMMISSIONING
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