Page – 20/75 AFMNA0AA – EPS-BLI HYG – User Manual
8 SETTING THE E-STEERING MOTOR
CONTROLLER
Two procedures: one for the first prototype (paragraph 8.1) and one for every E-steering
motor controller released on the field (paragraph 8.2) are described here. Then
calibration and acquisition procedures follow.
8.1 Prototype set-up
This procedure shall be executed on the prototype after the integrated steering system
has been installed on the truck and the installation procedure has been performed. All
the steps below are assumed to be performed with the Zapi PC CAN Console (or with
the Zapi hand set in a remote mode from another unit in the truck or with a customized
VMC and its CAN bus supported object dictionary). Any new set-up for a parameter must
be saved and the key re-cycled before re-testing it.
Step1 Make a ZERO SP POT self-acquisition (see 8.3).
Step2 Make a SET STEER 0-POS calibration (see 8.4).
Now the system is expected to work properly in a basic set-up configuration.
Step3 Set the limiting position of the steered wheel with parameters 1ST ANGLE
GAIN and 2ND ANGLE GAIN (see 9.2.4).
Step4 Acquire settings NEG SP1 DELTA and POS SP1 DELTA (see 9.2.2).
Step5 Select the handling for the force-feedback device with options FRICTION
MODE (see 9.2.1).
Step6 Set the minimum force-feedback profile via parameters SET STEER MIN, SET
STEER HTS, SET TFD LTS, SET TFD HTS (see 9.2.4).
Step7 Set the maximum force-feedback profile via parameter SET STEER MAX (see
9.2.4).
Step8 Check that the steady state response of the steered wheel to a same set point
is accurate and repetitive enough. Tune POS ACCURACY if it is not (see
13.2.4.16 and 13.2.4.17).
Step9 Check the dynamic response of the steered wheel to a step in the set point is
fast enough and free from overshooting. Tune parameters LEAD FB
REGULAT and LAG FB REGULAT if it is not (see 9.2.4).
Step10 Set parameters related to dynamic numbness as to reduce the sensitivity of
the steering response with traction speed (see 9.2.4).
Step11 Set AUXILIARY TIME (see 9.2.4).
8.2 Quick set-up
This procedure shall be executed on every manufactured truck. In mass production, the
default set-up is assumed to work properly and so only procedures to adapt the steering
assembly to the particular mounting arrangement (on its own lift truck) are required.
All the steps below are assumed to be performed with the Zapi PC CAN Console (or with
the Zapi hand set in a remote mode from another unit in the truck or with a customized
VMC and its CAN bus supported object dictionary). Any new set-up for a parameter must
be saved and the key re-cycled before re-tested.
Step1 Make a ZERO SP POT self-acquisition (see 8.3).
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