Zapi EPS-AC0 SWs&ENC - SET ENC at 360 Manual Setting; Autoteaching

Page - 52/95 AEMZP0EA - EPS-AC0 SWs&ENC - User Manual
10.4 SET ENC AT 360 manual setting
Skill person only. When the angle of the steered wheel has a mechanical limitation,
it is not possible to perform the autoteaching procedure. Then it is necessary to
manually set the encoder counting corresponding to a complete steered wheel
revolution.
In order this operation may be possible, a procedure for direct writing in EEPROM is
supplied. As this is a sensitive operation (normally the steered wheel should not
have mechanical limitation), we qualify skill persons only for performing this
operation.
To write the SET ENC AT 360 directly in the EEPROM, select ADDR 0034 (SW
ZP0.91) in the READ EEPROM hidden menu. Then, write in the data at the right
side of the display (X=), the encoder counting corresponding to a full steered wheel
revolution.
This value may be calculated after knowing:
1) Encoder resolution (resol = pulses per revolution)
2) Total gears ratio (n = turns of the motor shaft corresponding to one turn of the
steered wheel)
Then the encoder counting, corresponding to a complete steered wheel resolution,
will be:
SET ENC AT 360=4*resol*n
This value must be transformed in four digit of a hexadecimal format.
Let us considering an example:
Suppose we have:
resol = 32 pulses/rev n=157.25
Then SET ENC AT 360 will be 4*32*157.25=20128
Transformation in hexadecimal format will be:
20128/4096=4 with remainder=3712
3744/256=14=E with remainder=160
160/16=10=A with remainder=0
Final remainder=0
Then the correct value to be written on the right side of ADDR=0034 in EEPROM
will be X=4EA0.
Push the enter key (see Figure 11-1) to write the new X data at this location.
10.5 Autoteaching
Autoteaching is the simplest set-up procedure when the correct setting for AUX
FUNCTION 11 is known and the steered wheel has not mechanical limitation. If
AUX FUNCTION 11 is not correctly set, the autoteaching sequence will not
successful ends.
1) Set hardware setting AUX FUNCTION 11 to the correct value
2) Set hardware setting AUTOTEACHING to ON and save the setting.
3) Recycle the key. The steering motor starts turning searching for the correct
sequence on the straight ahead sensor.
4) The display of the hand set shows the alarm DATA ACQUISITION.
5) When the data are correctly collected, the steering motor stops.
6) Then the inscription DATA ACQUISITION is replaced by the values collected
for the reading ENC COUNT AT 360 (left side) and ENC COUNT AT 180
(right side).