10 ZAPI HAND SET DESCRIPTION
This section describes the ZAPI hand set functions. Numbers inside the
This section describes the ZAPI hand set functions. Numbers inside the trianglestriangles correspond to the same number on the hand set
correspond to the same number on the hand set keyboard buttons shown in the figurekeyboard buttons shown in the figure below. The orientation of the triangle
below. The orientation of the triangle indicates the way to the next indicates the way to the next function.function.
ADCZP0AB
ADCZP0AB EPS-AC EPS-AC OPERATING OPERATING AND AND USER USER MANUALMANUAL Page 28 of 51Page 28 of 51 10.1 MANUAL MODE STEERING OPTION - HAND SET FUNCTION MAP 10.1 MANUAL MODE STEERING OPTION - HAND SET FUNCTION MAP
10.2 MANUAL MODE STEERING OPTION AND AUTOMATIC CENTERING - HAND 10.2 MANUAL MODE STEERING OPTION AND AUTOMATIC CENTERING - HAND
SET FUNCTION MAP SET FUNCTION MAP
ADCZP0AB
ADCZP0AB EPS-AC EPS-AC OPERATING OPERATING AND AND USER USER MANUALMANUAL Page 30 of 51Page 30 of 51 10.3 MAIN MEN
10.3 MAIN MENU "U "PARAMETERS LIST"PARAMETERS LIST"
The parameters are slightly different between t
The parameters are slightly different between tacho-generator, tacho-generatoacho-generator, tacho-generator withr with automatic centering and pot steering option. (the
automatic centering and pot steering option. (the stepper motor application has thestepper motor application has the same hand set map as t
same hand set map as the tacho-generator configuration)he tacho-generator configuration)
After modifyng a parameter, memorize it with the hand set by pushing the "4" (OUT) After modifyng a parameter, memorize it with the hand set by pushing the "4" (OUT)
button and the "3" (
button and the "3" (IN) button. Double pushing the OUT button exits IN) button. Double pushing the OUT button exits without saving thewithout saving the modifications.
modifications.
10.4 PARAMETERS IN SET MODEL 0 (TACHO-GENERATOR OR STEPPER 10.4 PARAMETERS IN SET MODEL 0 (TACHO-GENERATOR OR STEPPER
MOTOR ONLY) MOTOR ONLY)
1
1)) SSPPEEEED LID LIMMIITT
Regulates the MDU maximum turning
Regulates the MDU maximum turning speed.speed.
- Level 0 is for slow
- Level 0 is for slow turning.turning.
- Level 9 is for fast turning.
- Level 9 is for fast turning.
Intermediate levels are for proportionally increasing speed settings. Maximum MDU Intermediate levels are for proportionally increasing speed settings. Maximum MDU speed has to be regulated after SET BATTERY TYPE is
speed has to be regulated after SET BATTERY TYPE is done (see JJ)done (see JJ) 2
2)) SSEENNSSIIBIBILILITTYY
It provides a non-linear relationship between MDU steering speed and It provides a non-linear relationship between MDU steering speed and tach-generator voltage when low.
generator voltage when low. This parameter produces increasing steering sensitivityThis parameter produces increasing steering sensitivity with small changes in steering input.
with small changes in steering input.
- Level 0 is for
- Level 0 is for steering response that is less sensitive to small steering wheelsteering response that is less sensitive to small steering wheel movements.
movements.
- Level 9 is for
- Level 9 is for steering response that is very sensitive to small steering wheelsteering response that is very sensitive to small steering wheel movements.
movements.
Intermediate levels are for proportionally increasing speed setting. This parameter Intermediate levels are for proportionally increasing speed setting. This parameter does not influence the maximum MDU steering rate.
does not influence the maximum MDU steering rate.
3
3)) CCRREEEEP P SSPPEEEEDD
Provides an increased torque for slow turning steering wheel. It's
Provides an increased torque for slow turning steering wheel. It's used to compen-used to compen-sate the drop in V/f
sate the drop in V/f (flux) when the frequency applied to the motor (flux) when the frequency applied to the motor is low.is low.
- Level 0 is f
- Level 0 is for no torque compensationor no torque compensation - Level 9 is for
- Level 9 is for a very strong torque compensationa very strong torque compensation
Intermediate levels are for proportionally increasing torque setting. This parameter Intermediate levels are for proportionally increasing torque setting. This parameter is useful in two ways. First
is useful in two ways. First of all it guarantees a large torque of all it guarantees a large torque for very slowly turnedfor very slowly turned handwheel. Secondly this large torque allows it to
handwheel. Secondly this large torque allows it to neutralize the elastic tire effectneutralize the elastic tire effect when the handwheel is close to being released it.
when the handwheel is close to being released it.
4
4)) CCOOMMPPEENNSSATATIIOONN
Provides stator flux compensation. The ideal motor control provides constant flux Provides stator flux compensation. The ideal motor control provides constant flux value for each working frequency. While CREEP SPEED provides low f
value for each working frequency. While CREEP SPEED provides low frequencyrequency feedforward flux compensation effect, COMPENSATION produces a feedback flux feedforward flux compensation effect, COMPENSATION produces a feedback flux compensation effect. This is a very important setting
compensation effect. This is a very important setting for an application without thefor an application without the shaft encoder be cause by turning compensation to a different
shaft encoder be cause by turning compensation to a different value than zero getsvalue than zero gets the motor flux (and torque)
the motor flux (and torque) indipendent from the battery voltage. So torque isindipendent from the battery voltage. So torque is guaranteed when the battery is low:
guaranteed when the battery is low:
- Level 0 means no compensation but a
- Level 0 means no compensation but a flux degradation when current is too highflux degradation when current is too high - Level 1 compensate the drop on power
- Level 1 compensate the drop on power mosfets and cablesmosfets and cables - Level 2 compensate the drop on power
- Level 2 compensate the drop on power mosfets, cables and stator resistancemosfets, cables and stator resistance - Level 3 means no compensation.
- Level 3 means no compensation.
This should normally be set to Level 2
This should normally be set to Level 2 as a strong compensation reduces the slipas a strong compensation reduces the slip (difference between the speed and the frequency applied to the
(difference between the speed and the frequency applied to the motor). Anmotor). An exception can be a smaller motor (small torque required) in which a
exception can be a smaller motor (small torque required) in which a strong flux (andstrong flux (and a greater magnetization current) is not necessary (Level 0).
a greater magnetization current) is not necessary (Level 0).
5
5)) ANANTTIIRROOLLBLLBACACKK
Adjusts the stand still torque value with a released handwheel. This setting is a Adjusts the stand still torque value with a released handwheel. This setting is a
percentage of Imax. The stand still torque i
percentage of Imax. The stand still torque is used to neutralize the elastic tire s used to neutralize the elastic tire effecteffect which would move the MDU an angle back in the direction it
which would move the MDU an angle back in the direction it was coming from. Thiswas coming from. This parameter is specified as a percentage of the maximum current.
parameter is specified as a percentage of the maximum current.
6
6)) AUAUXXILILIIARARY TY TIIMMEE
Defines the time, after the
Defines the time, after the handwheel is released, for which the stand still handwheel is released, for which the stand still torque istorque is applied.
applied.
- Level 0 is for no stand still torque - Level 0 is for no stand still torque - Level 1 is for
- Level 1 is for a short application of a stand still a short application of a stand still torque (about 6sec)torque (about 6sec) - Level 9 is for
- Level 9 is for a long application of a stand still a long application of a stand still torque (about 90sec)torque (about 90sec) Intermediate levels are for proportionally increasing auxiliary time.
Intermediate levels are for proportionally increasing auxiliary time.
7
7)) AUAUX FX FUUNNCCTTIIOON 3N 3
Through the Can comunication, the traction chopper supplies the truck speed Through the Can comunication, the traction chopper supplies the truck speed information to the EPS-AC. The EPS-AC
information to the EPS-AC. The EPS-AC can reduce the steering motor speed ascan reduce the steering motor speed as
ADCZP0AB
ADCZP0AB EPS-AC EPS-AC OPERATING OPERATING AND AND USER USER MANUALMANUAL Page 32 of 51Page 32 of 51 8
8)) AUAUX X FFUNUNCCTITION ON 44
Has the same purpose as the previous parameter. The only difference is the Has the same purpose as the previous parameter. The only difference is the auxaux function 4 varies the value of t
function 4 varies the value of the steering speed when the hand-wheel is turninghe steering speed when the hand-wheel is turning slowly.
slowly.
10.5 PARAMETERS IN SET MODEL 1 (TACHO-GENERATOR OR STEPPER 10.5 PARAMETERS IN SET MODEL 1 (TACHO-GENERATOR OR STEPPER
MOTOR AND AUTOMATIC CENTERING) MOTOR AND AUTOMATIC CENTERING)
All the parameters in the section 10.3 are adopted also for the tacho-generator (or All the parameters in the section 10.3 are adopted also for the tacho-generator (or
stepper motor) and automatic centering model. To this previous list
stepper motor) and automatic centering model. To this previous list here we have tohere we have to add the following parameters:
add the following parameters:
1
1)) KKPP
Used for the automatic centering set up. It
Used for the automatic centering set up. It modifies the static precision of themodifies the static precision of the position control loop. To obtain precise centering increase the KP
position control loop. To obtain precise centering increase the KP value. If value. If overshoot becomes evident, try to lower the KP
overshoot becomes evident, try to lower the KP value.value.
- Level 0 is for
- Level 0 is for less precise centering.less precise centering.
- Level 9 is for very precise steering (but
- Level 9 is for very precise steering (but "busy")."busy").
Intermediate levels are for proportionally increasing centering precision.
Intermediate levels are for proportionally increasing centering precision.
2
2)) PPOOSS. AC. ACCCUURRACACYY
Used for automatic centering set up. It
Used for automatic centering set up. It has the same KP function but it has the same KP function but it waswas introduced to increase the resolution of the static
introduced to increase the resolution of the static precision. To obtain preciseprecision. To obtain precise
centering increase the POS. ACCURACY value. If overshoot becomes evident, try centering increase the POS. ACCURACY value. If overshoot becomes evident, try to lower the POS.
to lower the POS. ACCURACY value.ACCURACY value.
- Level 0 is for
- Level 0 is for less precise centering.less precise centering.
- Level 9 is for very precise centering (but "
- Level 9 is for very precise centering (but "busy").busy").
Intermediate levels are for proportionally increasing centering precision.
Intermediate levels are for proportionally increasing centering precision.
3
3)) PPUURRSSUUIIT T RRAMAMPP
Used for automatic centering set up. It
Used for automatic centering set up. It decreases the amount of time it decreases the amount of time it takes totakes to complete an automatic centering operation.
complete an automatic centering operation.
- Level 0 is for
- Level 0 is for an automatic centering carried out with a motor an automatic centering carried out with a motor frequency of frequency of SAT.FREQ/5.
SAT.FREQ/5.
- Level 9 is for
- Level 9 is for an automatic centering carried out with a motor an automatic centering carried out with a motor frequency of frequency of SAT.FREQ.
SAT.FREQ.
Intermediate levels are for proportional frequency changes.
Intermediate levels are for proportional frequency changes.
4)
4) DEDESESENNSISIBILIBILIZAZATT
Used for automatic centering set up. It slows
Used for automatic centering set up. It slows down the MDU in the region close todown the MDU in the region close to the straight ahead position.
the straight ahead position.
- Level 0 is for
- Level 0 is for a large slowing down quasi-centered MDU.a large slowing down quasi-centered MDU.
- Level 9 is for
- Level 9 is for a no slowing down quasi-centered MDU.a no slowing down quasi-centered MDU.
Intermediate levels are for proportionally slowing down changes. The close to Intermediate levels are for proportionally slowing down changes. The close to straight position slowing down should reduce the MDU overshoot in an automatic straight position slowing down should reduce the MDU overshoot in an automatic centering operation.
centering operation.
10.6 MAIN MEN
10.6 MAIN MENU: "U: "TESTETESTER" R" FUNCTFUNCTIONS LISTIONS LIST The TESTER functions list is common for applications with or
The TESTER functions list is common for applications with or without the automaticwithout the automatic centering model. Each TESTER function provides the measurement, executed by the centering model. Each TESTER function provides the measurement, executed by the software, of the specified parameter. Descriptions of each TESTER function are
software, of the specified parameter. Descriptions of each TESTER function are givengiven below.
below.
1
1)) DDTT
Provides the value of the tacho-generator (or stepper motor)
Provides the value of the tacho-generator (or stepper motor) input from the steeringinput from the steering wheel with its sign in real
wheel with its sign in real time. The value is scaled for the time. The value is scaled for the CPU A/D converter CPU A/D converter (range 0±5Vdc). The value measured directly on the tacho-generator output is (range 0±5Vdc). The value measured directly on the tacho-generator output is sometimes higher than measured on the hand set.
sometimes higher than measured on the hand set.
2
2)) SSEET PT POOININT PT POOTT
Not used. Pot steering only. I
Not used. Pot steering only. It provides the steering handle command potentiometer t provides the steering handle command potentiometer voltage in real time (i.e. the voltage on the Pin #20 of CNA connector)(for two pots voltage in real time (i.e. the voltage on the Pin #20 of CNA connector)(for two pots closed loop position control only).
closed loop position control only).
3
3)) FFEEEEDDBACBACK PK POOTT
Provides the MDU steer angle feedback potentiometer voltage in real time.
Provides the MDU steer angle feedback potentiometer voltage in real time. A steer A steer angle straight ahead corresponds to about 2.5Vdc.
angle straight ahead corresponds to about 2.5Vdc.
4
4)) TTEEMMPPEERRATATUURREE
Provides in real time the c
Provides in real time the control unit plate temperature in ontrol unit plate temperature in celsius degrees. An celsius degrees. An alarmalarm occurs when the temperature is above 76 degrees Celsius.
occurs when the temperature is above 76 degrees Celsius.
5
5)) FFRREEQQUUEENNCCYY
Provides in real time the f
Provides in real time the frequency applied to the steering motor with its requency applied to the steering motor with its sign.sign.
6
6)) MMOOTTOOR VR VOOLTLTAGAGEE Provides in real time the
Provides in real time the voltage applied to the steering motor as a voltage applied to the steering motor as a percentage of percentage of the battery voltage.
the battery voltage.
7)
7) MOMOTTOR OR CUCURRRREENTNT
Provides in real time the phase motor current (Rms).
Provides in real time the phase motor current (Rms).
8
8)) EENNCC
Not used. It's for the optional encoder.
Not used. It's for the optional encoder.
9
9)) EENNC C SSPPEEEEDD Not used. It's for
Not used. It's for the optional encoder. This reading (and the previous) wasthe optional encoder. This reading (and the previous) was introduced to read the optional encoder speed and position. At
introduced to read the optional encoder speed and position. At present it's notpresent it's not managed.
managed.
10)
10)ENDENDSTRSTROKE CWOKE CW
Provides in real time the active state (ON)
Provides in real time the active state (ON) or not of the Clockwise (Right) limitor not of the Clockwise (Right) limit
ADCZP0AB
ADCZP0AB EPS-AC EPS-AC OPERATING OPERATING AND AND USER USER MANUALMANUAL Page 34 of 51Page 34 of 51 12)
12)CW LIMICW LIMIT LEVELT LEVEL
Provides in real time the
Provides in real time the information that the steer angle feedback potentiometer information that the steer angle feedback potentiometer has overcome the SET MAX FB POT value (see 10.8.13).
has overcome the SET MAX FB POT value (see 10.8.13).
13)
13)ACW LIMIT ACW LIMIT LEVELLEVEL Provides in real time the
Provides in real time the information that the steer angle feedback potentiometer information that the steer angle feedback potentiometer has overcome the SET MIN FB POT value (see 10.8.12).
has overcome the SET MIN FB POT value (see 10.8.12).
14)
14)AUTOMAUTOMATIC REQATIC REQ..
Provides in real time the steering state:
Provides in real time the steering state: manual or automatic. Note: this reading ismanual or automatic. Note: this reading is not the AUTOSEL (Pin #10 of CNB
not the AUTOSEL (Pin #10 of CNB connector) level but the steering state the SW connector) level but the steering state the SW isis recognizing. This information coincides with the AUTOSEL input level when this recognizing. This information coincides with the AUTOSEL input level when this input is level triggered.
input is level triggered.
15)
15)DIRECDIRECTION INPTION INPUTSUTS
Provides in real time the information of
Provides in real time the information of an active travel demand. It turns ON an active travel demand. It turns ON whenwhen either a FWD or a REV
either a FWD or a REV travel demand is present.travel demand is present.
16)
16)MM ALARM SWMM ALARM SWITCITCHH
Provides in real time the state (closed or
Provides in real time the state (closed or not) of the Master Microprocessor not) of the Master Microprocessor controlled safety switch.
controlled safety switch.
17)
17)SM ALARM SWSM ALARM SWITCITCHH
Provides in real time the state (
Provides in real time the state (closed or not) of the Slave Microprocessor controlledclosed or not) of the Slave Microprocessor controlled safety switch.
safety switch.
10.7 CON
10.7 CONFIG MENU: "FIG MENU: "SET OPTIOSET OPTIONS" NS" FUNCTFUNCTIONS LISTIONS LIST The SET OPTIONS functions list is used for
The SET OPTIONS functions list is used for all the steering options. These optionsall the steering options. These options modify the system configuration on user request. A description of
modify the system configuration on user request. A description of each option follows ineach option follows in the list below.
the list below.
ADCZP0AB
ADCZP0AB EPS-AC EPS-AC OPERATING OPERATING AND AND USER USER MANUALMANUAL Page 36 of 51Page 36 of 51 1
1)) HHOOUUR CR COOUUNNTTEERR
There are two possible value options for what will
There are two possible value options for what will appear in the root menu hand setappear in the root menu hand set display.
display.
- RUNNING = Run time when the
- RUNNING = Run time when the steering is enabled.steering is enabled.
- KEYON = Time counted continously when the logic is
- KEYON = Time counted continously when the logic is supplied.supplied.
2
2)) MMICICRRO O CCHHEECCKK
This feature is to support the
This feature is to support the debugging activity option. It is used to debugging activity option. It is used to inhibit theinhibit the Supervisor microprocesso
Supervisor microprocessor operation and allow the system to r operation and allow the system to run with just the Mainrun with just the Main
Supervisor microprocessor operation and allow the system to r operation and allow the system to run with just the Mainrun with just the Main