AF9ZP0BA - EPS-ACW REACH TRUCK - User Manual Page - 47/90
speed. At full drive speed the attenuation of the scaling factor is maximum.
SENSITIVI VS TRC to 100% means no attenuation of the scaling factor with
the truck speed (no limitation on the steering motor speed).
SENSITIVI VS TRC to 20% means the scaling factor is attenuated to 0.2 at
full truck speed.
SENSITIVI VS TRC to 10% means the scaling factor is attenuated to 0.1 at
full truck speed (steer less sensitive).
Obviously, to perform the Dynamic Numbness compensation, it is necessary
to know the drive speed and so the eps-ac0 must be CAN Bus connected.
12) MAX SPEED TRAC
This parameter sets the frequency in Hertz corresponding to the 100% of the
traction speed. When the traction speed is higher equal than MAX SPEED
TRAC, epsacw considers the traction speed is full speed.
13.3.6 Zapi menu “HARDWARE SETTINGS” functions list
To enter this Zapi hidden menu a special procedure is required. Ask this procedure
directly to a Zapi technician.
Here we have the parameters for the motor control.
KP1
KI1
KP2
KI2
KP3
KI3
ID RMS MAX
TR MILLISEC
Figure 13.3.6-1
1) ID RMS MAX
Maximum direct current in Arms. Factory adjusted.
2) MAX FLUX
Maximum linked flux (peak value in milliweber) in the delta model. Tipically it
is given by the formula 159*Vbatt/corner_freq. Not used.
3) TR MSEC
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