AEMZP0EA - EPS-AC0 SWs&ENC - User Manual Page - 49/95
Step3 Set the NO LOAD CURRENT adjustments to the current the motor drains
when lightened at the maximum flux (see 11.4.2.10).
Step4 Leave the handle steer in its straight position. Enter and Save the
adjustment ZERO SP POT (see 11.4.2.17). This operation is used to
automatically learn the twin pot voltage.
Step5 Set AUTO REQ TYPE in the set model menu to level 0 (no automatic
function).
Step6 Set option TILLER DEAD ZONE to ON and recycle the key. (Now the
controller applies a dead band around the straight ahead position of the
tiller. Inside this dead band the steered wheel pursuits the SET STEER 0-
POS value without any correction).
Step7 Leave the handle steer in its straight position. Drive the truck and roll up and
down the adjustment SET STEER 0-POS until the truck is straight travelling.
Step8 Recycle the key to turn TILLER DEAD ZONE to OFF.
Step9 Set 1ST ANGLE COARSE (and FINE) to get the steered wheel position
limited at +90 degrees when the SET POINT POT reading is maximum.
This is the direction where the FEEDBACK ENC reading is higher than 2.5
Vdc.
Step10 Set 2ND ANGLE COARSE (and FINE) to get the steered wheel position
limited at -90 degrees when the SET POINT POT reading is minimum. This
is the direction where the FEEDBACK ENC reading is lower than 2.5 Vdc.
Step11 Try to adjust the NUMBNESS parameter to get the steer less sensitive
when close to the straight ahead direction (see 11.4.4.17). (For every new
NUMBNESS value, repeat the above Step9 and Step10).
Step12 Try different settings for KP, POS. ACCURACY, LEAD FB REGULAT and
LAG FB REGULAT to avoid overshoot or damping during the pursuing
operation (see paragraph 11.4.4).
Step13 (CAN Bused system only). Set the Dynamic Numbness in closed loop
(steering sensitivity reduces when the truck speed increases). The
parameters to handle this function are AUX FUNCTION#2 and AUX
FUNCTION #3 (see 11.4.4.5-4).
Step14 (No CAN Bused system only). Connect a traction travel demand to CNA#1.
It can be a tiller switch (or a dead-man or a seat switch). This operation
supplies the information the truck is moving or not to stand-by the steer
when the truck is standing.
Step15 Try to adjust parameters DYNAM NUMB ANG and DYNAM NUMB SPEED
(see 11.4.4.8 and 11.4.4.9). These regulation reduce the sensitivity of the
steering system for small movements of the tiller. Reduction of the
sensitivity is got by clamping the steering motor speed.
10.1.4 Twin Pot & AUTC
When the AUTC is required, it is necessary to carry out all the Steps in paragraph
10.1.3 together with the following:
Step1 When the autocentering (AUTC) is required, it is necessary to contact a
Zapi technician to decide the physical and the superior protocol layers for
the AUTC demanding. (AUTC is a customized function that the eps-ac0
does not execute in its standard version).
One possible arrangement for the AUTC request could be a via CAN bus
demanded centering.
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