AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual Page - 59/90
Figure 14.1–1
14.2 STATUS #2: selfcheck of the Encoder and Transmission
Reading STATUS #2 in the tester menu monitors the response of the steering
system when commanded to rotate at a fixed speed of 25Hz. To run this
selfcheching routine set option SELFCHK STATUS to LEVEL 2 and recycle the
key. An alarm SELFCHECK #2 occurs and STATUS #2 in the TESTER menu,
shows real time four values in time sharing:
1
ST
VALUE: long duration value (about 2secs): this is the average value of the
current (Aac) in the motor when commanded to turn at a fixed speed (25Hz). (If the
steered wheel is lifted up the expected value is about 3.5Aac @ 25°).
2
ND
VALUE: first short duration value (about 500msecs): it is the minimum value
(valley detection) of the encoder pulses counted in 16msec during this selfchecking
routine @ fixed speed (25Hz).
3
RD
VALUE: second short duration value (about 500msecs): it is the average
value of the encoder pulses counted in 16msec during this selfchecking routine @
fixed speed (25Hz). (Expected value is 6.42 pulses per 16msec).
4
TH
VALUE: third short duration value (about 500msecs): it is the maximum value
(peak detection) of the encoder pulses counted in 16msec during this selfchecking
routine @ fixed speed (25Hz).
2
ND
and 4
RD
values are expected to be integer values, a little bit lower (2
ND
) and a
little bit higher (4
TH
) than 3
RD
value. For instance, 2
ND
value could be 5.00 and 4
TH
value could be 7.00 (pulses per 16msec).
So, if you launch the STATUS #2 closed loop selfchecking routine with a steered
wheel lifted up, following data collection is an example of the correct sequence:
1. 1
ST
VALUE: lower than 6.50 [Aac].
Zapi DUT reports 3.6 [Aac].
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