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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
5 — COMMISSIONING
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.
9
Verify the Position Feedback Setup
To verify the setup thus far, observe Monitor » Position Feedback » Wheel Position
(deg) and Wheel Position 2 (deg) while exercising the steer command input device
over the entire operational steer range. If either signal gives an undesired output,
go back and resolve this problem before continuing.
Next, observe the variable Monitor » Supervision » Wheel Position Error while
changing the position; this will show the difference between
Wheel Position (deg)
and Wheel Position 2 (deg). Find the maximum Wheel Position Error, and set the
Supervision
» Wheel Position Tolerance to a comfortable margin above the maximum
Wheel Position Error found.
bk
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 support
engineer to resolve any remaining issues about faults before continuing.
Do not take the vehicle down off the blocks until both the steer and
traction motors are responding properly. Once the motors are responding
properly, lower the vehicle to put the drive wheels on the ground.
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