Eps DC 406d9d69f5

MENU
INDEX
Page
Introduction .......................................................................................................... 3
Equipment for Adjustment .................................................................................. 3
1 System Components ..................................................................................... 3
1.1 Two Inductive Wire Sensors (Antennas) ............................................... 3
1.2 5kW Steer Angle Position Potentiometer ............................................... 3
1.3 Steering Servo Motor Control Unit ........................................................ 4
1.4 Operator Console .................................................................................. 4
1.5 Steering Servo Motor ............................................................................ 4
1.6 Steering Handle..................................................................................... 4
1.7 Line Driver (Guide Wire Signal Generator) ........................................... 4
2 Electrical Specifications ............................................................................... 5
2.1 Battery Voltage Range .......................................................................... 5
2.2 Steer Motor Current Range ................................................................... 5
2.3 Guide Wire Signal ................................................................................. 5
2.4 Command Device Specifications ........................................................... 6
3 Mechanical specifications ............................................................................ 7
3.1 Steering Reduction Ratio ...................................................................... 8
3.2 Steer Angle Feedback Potentiometer Reduction Ratio ........................ 8
3.3 Installing antenna .................................................................................. 8
4 System description ..................................................................................... 10
4.1 Automatic Wire Guided Steering ......................................................... 10
4.2 Manual Steering with Tacho Generator .............................................. 10
4.3 Manual Steering with Potentiometer ................................................... 10
4.4 Wire Guided Steering Operating Sequence ........................................ 10
4.5 Real time running cicle FLOWCHART ................................................ 12
5 System configuration.................................................................................. 13
5.1 Jumper Configuring ............................................................................. 13
5.2 Power connection diagram .................................................................. 15
5.3 Tacho handwheel steering plus wire guidance
electrical drawing ................................................................................ 16
5.4 Tacho-Generator Steering Wheel and Automatic Centering ............... 19
5.5 Pot. (Return-To-Center) Controlled Steering plus Wire
Guidance Electrical Drawing ............................................................... 21
5.6 Pot. (Return-to-Center) Controlled Steering ........................................ 24
5.7 One shot installation procedure .......................................................... 26
6 Description of motherboard connection................................................... 29
6.1 Motherboard Connector D Description ................................................ 29
6.2 Motherboard Connector and description ............................................. 33
7 Description of Wire Guidance Card Connections .................................... 35
7.1 Eight Pin Guidance Card Connector ................................................... 36
8 Setting motherboard ACSZPA0B ............................................................... 37
8.1 Setting the maximum current (IMax.) .................................................. 38
8.2 Setting tachometric feedback .............................................................. 38
8.3 Setting the manual steering................................................................. 40
Page 1
MENU
9 Wire guidance card ACSZPB0B ................................................................. 42

9.1 Setting plugging................................................................................... 42
9.2 Antenna settings on steering wheel (FWD) ......................................... 42
9.3 Potentiometer Offset Setting ............................................................... 43
9.4 Setting the steering error offset ........................................................... 43
9.5 Setting potentiometric feedback .......................................................... 43
9.6 Gain loop adjustment. ......................................................................... 44
9.7 Setting Load Wheel (REV) Antenna .................................................... 44
9.8 Weighted Setting of Antennas when Traveling Load Wheel
Direction .............................................................................................. 44
9.9 Setting Acquisition Angle ..................................................................... 45
9.10 Guidance Alarm Tolerance Adjustment............................................... 45
9.11 Maximum Wire Guidance Steering Angle Adjustment
(Pot. Out of Range Alarm) ................................................................... 47
10 Tip on setting up ......................................................................................... 48
10.1 Reverse Potentiometric Feedback ...................................................... 48
10.2 Reverse antenna feedback: ................................................................ 48
11 Alarms and trouble shooting ..................................................................... 49
11.1 Description of fuses ............................................................................. 49
11.2 Description of alarms .......................................................................... 50
12 Supplement ZAPI Hand Set Description ................................................... 56
12.1 Tach-Generator Steering Option - Hand Set Function Map ................ 56
12.2 Pot. Steering Option - Hand Set Function Map ................................... 57
12.3 Main Menu "Parameters" List .............................................................. 58
12.4 Main Menu: Tester Functions .............................................................. 62
12.5 Main Menu: "Alarms" functions ........................................................... 63
12.6 Config Menu: "Set options" function list .............................................. 64
12.7 Config Menu: "Adjustments" Function List .......................................... 68
13 Safety controls and their use ............................................................. 70
13.1 Safety controls in manual steering ...................................................... 70
13.2 Safety devices in automatic steering. .................................................. 71
14 Periodical maintenance to .......................................................................... 72
= The information contained in the paragraphs marked with this symbol is essential
for the purpose of safety.
SIGNED IN APPROVAL
COMPANY DEPT. SERVICES MANAGEMENT EXECUTIVE
ENGINEERING SECTION EXECUTIVE
EXPORT MANAGER
Publication No. ACSZP0CA

Edition: April 1998
Page 2
MENU
INTRODUCTION
This equipment enables manually controlled electric power steering and automatic
straight line wire guided steering. Manually controlled steering is available in either of
the following options:
- manually operated multi-turn steering using a tacho-generator fixed to the steering
handle
- manually operated return-to-center steering using a potentiometer attached to the
spring returned steering handle that automatically centers steering when the handle
is released.
In addition, this hardware controls the guide wire acquisition when the truck is ap-
proaching and seeking the guide wire for transition to automatic wire guided steering.
Automatic straight line wire guided steering is possible for both directions of travel.
Configuration options, manual steering adjustment and measurement functions, and
troubleshooting operations are simplified with the use of the ZAPI hand held controller
equipped with Eprom release number CKULTRA ZP3.01 or later.
Improved safety and operation are provided by having one microprocessor perform
operations and a second microprocessor execute perform supervisor functions.
The microprocessors combined with the ZAPI hand held controller make service inter-
face easy and direct, reducing adjustment and troubleshooting time. Increased steering
motor performance and reduced noise levels are achieved by using MOSFET technol-
ogy operating at 16 kHz, which is above the normally heard frequency band.
EQUIPMENT FOR ADJUSTMENT

ZAPI Hand Set
Digital multimeter that can measure AC voltages up to 10 kHz
1 SYSTEM COMPONENTS
The automatic wire guidance system includes:
1.1 TWO INDUCTIVE WIRE SENSORS (ANTENNAS)

There is a REV (load wheel) antenna mounted under the cab and a FWD (DRIVE
UNIT) antenna mounted at the drive end of the truck. Both sensors are mounted on the
center line of the truck. Each antenna includes two pick up coils that detect guide wire
signal strength. During normal wire guided operations one pick up coil in each of the
antennas is to the left of the wire and the other pick up coils are to the right of the wire.
1.2 5kW
W STEER ANGLE POSITION POTENTIOMETER
A 10 turn 5 kW potentiometer is mounted directly to the end of the output shaft on the
steering gear reduction box. This potentiometer measures the angle of the DRIVE UNIT
(Master Drive Unit) directly. The full range of possible voltage output is approximately 0
- 5 VDC. This single potentiometer provides steer angle feedback information for
manual steering and wire guidance. This potentiometer also provides information for
steer angle indicator gauge mounted on the operator console of multi-turn steering
equipped trucks.
Page 3
MENU
1.3 STEERING SERVO MOTOR CONTROL UNIT

a) A mother board marked ACSZPAOB operates the steering motor for both manual
and automatic steering. There are two different mother boards available:
1. A universal mother board that provides a maximum of 21 A at 24 - 80 VDC.
2. A high output mother board that provides a maximum of 34 A at 24 - 48 VDC.
b) A guidance (antenna processing) card marked ACSZPBOB converts the signals
from the antennas and from the steer angle feedback potentiometer into a bi-
directional steering error that produces steering demand to the mother board.
This steering error that produces steering demand is produced directly through
electronic combination or comparison of the antenna feedback and the steer angle
feedback. This does not go through a microprocessor.
1.4 OPERATOR CONSOLE

In addition to the steer handle feedback device the following devices are also mounted
in the operator console:
a) Key switch
b) Manual/automatic steering selection switch (AUTO SEL)
c) An audible warning buzzer (BUZZER)
d) An "automatic" indicator lamp (AUTO LED)
e) A "manual" indicator lamp (MAN LED)
1.5 STEERING SERVO MOTOR

The steering system includes a permanent magnet DC servo motor with a rated power
that is:
a) 20 A current rating (Imax = 34 A) if the battery voltage is 48 V DC or less
b) 12 A current rating (Imax = 21 A) if the battery voltage is greater than 48 V DC.
1.6 STEERING HANDLE

Two operator steering input options are provided. These may be selected using the
ZAPI hand held controller. They include:
a) A multi-turn steering handle or wheel attached to a tacho-generator. The recom-
mended tacho-generator is (Airpax Part No. 24 VDC - 9904-120-16206). Mount-
ing the tacho-generator to eliminate axial or radial loading on the input shaft is
important to reliable operation.
b) A 180 degree rotation steering handle attached to a potentiometer. The potentio-
meter provides the steering system with the angle of the steering handle.
1.7 LINE DRIVER (GUIDE WIRE SIGNAL GENERATOR)
The line driver provides a sinusoidal (alternating current) signal of the required fre-
quency and strength to the guide wire.
Page 4
MENU
2 ELECTRICAL SPECIFICATIONS
2.1 BATTERY VOLTAGE RANGE

Voltage input range for different releases of steering mother boards.
Universal release 24 - 80 VDC
24/48 release 24 - 48 VDC
2.2 STEER MOTOR CURRENT RANGE

Universal release Imax £ 21 A DC. Adjustable with TM3.
24/48 release Imax £ 34 A DC. Adjustable with TM3.
2.3 GUIDE WIRE SIGNAL

6.25 kHz @ 78 mA RMS (± 50 Hz and 60 - 90 mA)
Other frequencies are possible especially including:

5.2 kHz @ 35 mA RMS
Other frequencies are possible such as 7 and 10 kHz.
As the guidance frequency changes, a non-standard guidance card (ref. ACSZPBOB)

has to be installed which has the narrow band pass filters tuned to the different fre-
quency. Usually, due to changing signal strength associated with changing frequen-
cies, new guidance antennas will also be required. The antennas have the gain modi-
fied to ensure adequate signal strength arrives at the control card.
Note: If the signal strength and frequency change in agreement with the following
formula, then no new antennas are required with a changing frequency.
Ifd = If0 + (((f0 - fd)/f0) x If0)
If0 = Current at 6.25 kHz (78 mA RMS)

Ifd = Current at desired frequency
f0 = 6.25 kHz
fd = Desired frequency
Page 5
MENU
2.4 COMMAND DEVICE SPECIFICATIONS
2.4.1 TACHO GENERATOR

Tach Generator is to be AIRPAX 24 VDC - Part No. 9904-120-16206. Use of other
devices may provide non-optimum performance.
2.4.2 POTENTIOMETERS
Position potentiometer control loops require typical pot values of 10 kW for both return-
to-center steering and steering angle feedback. 10 kW ³ steering handle feedback pot
value ³ 2.5 kW . Satisfactory performance requires that both of the following conditions
be met:
1) Provide 80% of the electrical range of the steering angle feedback potentiometer
corresponding to 180 degrees of DRIVE UNIT steering angle.
2) Provide at least 40% of the electrical range for the steering handle potentiometer.
Page 6
MENU
3 MECHANICAL SPECIFICATIONS
Fig. 3.1
Page 7
MENU
3.1 STEERING REDUCTION RATIO

At rated servo-motor RPM with a reduction gear, the steering speed should be equal to
about 180 degrees in 5 seconds. There should also be adequate torque generated to
statically steer the truck on smooth concrete.
3.2 STEERING ANGLE FEEDBACK POTENTIOMETER REDUCTION RATIO

The steering angle feedback potentiometer should rotate approximately for the 80% of
its total numbers of turns corresponding to 180 degrees of steering angle. The higher is
the percent excursion, the better are resolution and accuracy.
The pot. shaft is directly connected to the output shaft of the steer gear box and is
secured with a set screw.
3.3 INSTALLING ANTENNA

The bottom edge of each antenna must be positioned approximately 6 to 8 cm above
the embedded guide wire. This corresponds to 1.75" - 2.5" above the surface of the
floor. This assumes the guide wire is 1.6cm below the surface of the floor.
Fig. 3.3.1
The center of the antenna should be aligned with the center line of the truck. The
DRIVE UNIT antenna (FWD ANTENNA) is mounted behind the DRIVE UNIT. The load
wheel antenna (REV ANTENNA) may be mounted on the load wheel axle line. It is
better if this antenna can be mounted further toward the load end of the truck.
Fig. 3.3.2
Page 8
MENU
The forward and reverse antennas must be mounted so the coil side of the antennas
both face the same direction.
ALLOWED
Fig. 3.3.3
ALLOWED
Fig. 3.3.4
NOT ALLOWED
Fig. 3.3.5
Page 9
MENU
4 SYSTEM DESCRIPTION
4.1 AUTOMATIC WIRE GUIDED STEERING

The guide wire embedded in the floor induces an electrical signal in the antennas
mounted on the center line of the truck proportional to the position of the truck in rela-
tion to the wire. The control electronics continuously steers the truck in an effort to
keep the combination of steering angle error and antenna error = zero. When all an-
tenna coils have an equal strength signal there is no steering demand.
4.2 MANUAL STEERING WITH TACHO GENERATOR

This option uses a tacho generator attached to the steering wheel to convert the steer-
ing wheel rotation into an electrical signal. The control logic sets the steer servo-motor
in motion at a speed that increases with the speed of the steering wheel. Steering
sensitivity and maximum speed are adjustable by using the ZAPI hand held controller.
4.3 MANUAL STEERING WITH POTENTIOMETER
This option uses a potentiometer attached to the steering handle to convert handle
motion into an electrical signal. The response speed and precision are adjustable using
the ZAPI hand held controller.
4.4 WIRE GUIDED STEERING OPERATING SEQUENCE

For your reference here are the different operating modes and light and buzzer opera-
tions. Guidance Operational Modes
GREEN
RED LIGHT TRACTION
OPERATION STEERING LIGHT BUZZER BRAKES
(MANLED) SLOW DOWN
(AUTOLED)
Guidance off
(not near Manual On Off Off Released No
guide wire)
Guidance off
(near guide Manual Flash Off Off Released Yes
wire)
Guidance
acquisition
Manual Flash Flash On Released Yes
does not see
wire yet
Guidance
acquisition
Automatic Off Flash On Released Yes
sees wire but
not on wire
Guidance
Automatic Off On Off Released No
acquired
Guidance
Off Frozen Frozen Fast on Set -
signal lost
Fig. 4.4.1
Page 10
MENU
Manual Steering Mode - All steering input is controlled by the operator.
Wire Acquisition Mode - The operator selects automatic steering using the toggle
switch on the console. The steering changes to Wire Acquisition Mode. The operator
continues to manually steer the truck. The steering/guidance controller automatically
reduces truck travel speed to slow by opening a speed reduction relay.
If the truck is approaching the wire load first, then both antennas have to detect the
guide wire before manual steering is taken from the operator and automatic steering
attempts to capture the wire. This requires an angle of approach of not more than
approximately ± 5 degrees to the guide wire. The operator continues to be responsible
for steering until the wire is fully captured.
If the truck is approaching the wire DRIVE UNIT first, then only the DRIVE UNIT an-
tenna has to detect the guide wire before manual steering is taken from the operator
and automatic steering attempts to capture the wire. This requires an angle of approach
of not more than approximately ± 30 degrees to the guide wire. The operator continues
to be responsible for steering until the wire is fully captured.
Fig. 4.4.2
Automatic Wire Guided Steering Mode - When both antennas are aligned with the
guide wire, then fully automatic steering is enabled. The truck may travel at full speed.
The truck is fully in control of steering and automatic stopping is enabled. The signal in
the antennas is used to steer the truck.
If the truck is not aligned with the guide wire in Automatic Mode, then the truck auto-
matically stops, brakes are applied, both the AUTO and MANUAL lights are frozen, and
the buzzer has the error audibly encoded. Counting the number and sequence of
beeps provides an error code to the operator.
Page 11
MENU
4.5 REAL TIME RUNNING CICLE FLOWCHART
Fig. 4.5.1
Page 12
MENU
5 SYSTEM CONFIGURATION
5.1 JUMPER CONFIGURING
5.1.1 WIRE GUIDED CARD (ACSZPB0B) JUMPER.

J1 = Specifies the control logic for forward and reverse direction of travel on traction. It
should be configured in one of the following ways:
a) J1 as in the figure 5.1.1 means the enabling contacts for TRAVEL are ACTIVE
HIGH. This means that the external travel enable contacts are connected to
battery positive.
Fig. 5.1.1
b) J1 as in the figure 5.1.2 means the enabling contacts for TRAVEL are ACTIVE
LOW. This means that the external travel enable contacts are connected to bat-
tery negative.
Fig. 5.1.2
NOTE: It is important to set the "DIR INP ACTIVE LOW" (see par. 12.6.2) option using
the ZAPI hand set: OFF if a) was chosen for J1
ON if b) was chosen for J1.
Page 13
MENU
5.1.2 MOTHERBOARD (ACSZPA0B) JUMPERS.

J1 = Factory configured with the jumper installed. This is a microprocessor functional
mode selection.
J2 = Select the supply voltage for the command encoder.
J3, J4, J5 = For special applications only (see par. 8.2).
J6 = When connected gives the speed reduction switch a ground (GND) reference.
The reference is normally floating.
J7 = When connected gives the locking in straight direction steering switch a ground
(GND) reference. The reference is normally floating. This features is to control an
electromechanical steer straight feature in automatic mode.
J8 = When connected gives the steering alarm switch a ground (GND) reference. The
reference is normally floating. This provides a single point disconnect for EPS and
stopping travel.
Fig. 5.1.3
Page 14
MENU
5.2 POWER CONNECTION DIAGRAM
Fig. 5.2.1
The functional diagrams concerning the possible configurations are shown.

Four different operating options (Tacho-generator + wire guidance, Tacho-generator
steering only, Pot steering + wire guidance, and Pot steering only) are provided.
"Tacho-generator steering only" and "Pot steering only" support "Automatic Centering"
also.
Page 15
MENU
5.3 TACHO HANDWHEEL STEERING PLUS WIRE GUIDANCE

ELECTRICAL DRAWING
Fig. 5.3.1
Page 16
MENU
5.3.1 INTERFACE DESCRIPTION:

a) The steering angle feedback potentiometer should be rigidly mounted to the steer-
ing linkage with no joint clearance..
b) The FWD antenna is mounted on the DRIVE UNIT end of the truck.
c) The REV antenna is mounted on the load end of the truck.
d) The FWD travel input corresponds to travel in the drive unit direction. The REV
travel input corresponds to travel in the load end direction.
e) Pins 4 on connector D on the mother board is connected to the FWD (drive unit)
travel input. This pin is common with Pin 1 of the guidance board (eight pole)
connector. Pins 2 on connector D on the mother board is connected to REV (load
wheel) travel input. This pin is common with Pin 2 of the guidance board (eight
pole) connector.
Each direction input may be active high (plus battery) or low (minus battery).
Specify the mode of operation by configuring the Jumper J1 on the guidance
(upper) card (see 5.1.1) and select the operation level using the ZAPI hand held
controller (see 12.6.2).
f) Pin 9 of connector D on the motherboard is connected to the highest voltage
potential side of the traction motor armature. This pin is common with pin 4 of the
guidance card (eight pole) connector. Pin 11 of connector D on the motherboard
should be connected to the lowest voltage potential side of the traction motor
armature. This pin is common with pin 8 of the guidance card (eight pole) connec-
tor (see 6.1.4).
g) The AUTO LAMP comes on when there is a request for wire guided steering, i.e.,
when the guidance switch is turned on. It is blinking during speed reduction condi-
tions. The active AUTOSEL level for automatic guidance (low or high) is
selectable using the ZAPI hand held controller (see 12.6.1).
h) The MAN LAMP is on during manual operation and goes out as soon as the truck
steers independently from the manual input. The MAN LAMP is blinking during
slow down conditions.
i) Pin 3 of connector D on the mother board is internally connected to a normally
open (NO) contact on the mother board. This contact is closed when the key
switch is turned on. The contact opens when there is an alarm. This contact
provides ground (GND) reference to the brake relay and the main steering relay.
When the brake relay loses this ground and opens, the brakes are applied and
traction enable ground to the traction card is lost. (Note:The jumper J8 should be
installed on the motherboard.)
j) Pin 5 of connector D on the mother board is internally connected to a normally
open (NO) contact. This contact is closed when the key switch is turned on and
remains in such a position while in manual mode and in wire-seeking operations.
The contact opens when the truck is perfectly aligned to the wire (AUTOMATIC
mode). This contact should provide and remove ground (GND) connection to an
electromechanical device locking the wheel in a quasistraight position. (Note:The
jumper J7 should be installed on the motherboard).
Page 17
MENU
k) Pin 6 and 15 of connector E on the mother board are internally connected to a

normally open contact on the mother board. This contact is closed by the key
switch and open in case of one of the following speed reduction conditions:
1) If the truck is in the manual steering mode and is close to a guide wire. (Mini-
mizes possibility that an operator will go fast when inside an aisle and not on
wire guidance.)
2) When the truck is in the wire acquisition mode until both antennas are aligned
with the guide wire.
3) When the truck is in the wire guided mode and has shifted sideways more than
2/3 of the "lateral out" alarm threshold (see 9.9).
l) Pin 14 of connector E on the motherboard provides 0 - 4 VDC to control the
steering angle indicator gauge LEDs. Pin 4 and Pin 5 of connector E on the
motherboard respectively provide negative and postive 12 VDC to the steering
indicator.
Page 18
MENU
5.4 TACHO-GENERATOR STEERING WHEEL AND AUTOMATIC CENTERING

Refer to the previous section on Tacho-Generator Steering with wire guidance. Here
the wire guidance option is removed and the steering angle feedback potentiometer is
connected to Pins 16, 17, and 18 of connector E on the mother board instead of to a
connector on the wire guidance board.
Fig. 5.4.1
Page 19
MENU

a) The 10kW steering angle feedback potentiometer should be rigidly mounted with
no clearance to the steering linkage. The pot. wiper is connected to Pin 18 of
connector E on the mother board. The ends of the pot. are connected to Pins 16
and 17 of connector E on the mother board.
b) FWD (drive unit) antenna direction of travel request should be connected to Pin 4
on connector D on the mother board. REV (load end) antenna direction of travel
request should be connected to Pin 2 on connector D on the mother board.
Applications with pot. steering and without wire guidance require these inputs to
stop steering dither when the truck is motionless.
c) The guidance board is not required for automatic centering with rail guidance.
The AUTO LAMP comes on when there is a request for automatic centering of
steering. The request for automatic steering centering is caused when photo
switches detect the presence of the guide rails (in place of the AUTO SEL switch
being turned on.)
d) The MAN LAMP is on during manual operation.
e) Pin 3 of connector D on the mother board is internally connected to a normally
traction enable ground to the traction card is lost. (Note: The jumper J8 should
be installed on the mother board to provide ground reference to pin 3.)
f) Pin 5 of connector D on the mother board is internally connected to a normally
open (NO) contact on the mother board. This contact closes when the key switch
is turned on and remains in this position while in manual mode and in automatic
self-centering operations. The contact opens when the automatic self-centering
operation has been carried out successfully. (Note: The jumper J7 should be
installed on the mother board to provide ground reference to pin 5).
g) Pin 14 of connector E on the motherboard provides 0 - 4 VDC to control the
steering angle indicator gauge LEDs. Pin 4 of connector E on the motherboard
provides negative and Pin 5 of connector E on the motherboard provides positive
12 VDC to the steering angle indicator gauge.
Page 20
MENU
5.5 POT. (RETURN-TO-CENTER) CONTROLLED STEERING PLUS WIRE

GUIDANCE ELECTRICAL DRAWING
Fig. 5.5.1
Page 21
MENU

a) The steering angle feedback pot. should be rigidly mounted to the drive unit steer-
ing linkage with minimum clearance.
b) The steering handle pot. wiper is connected to Pin 10 of connector E on the
mother board. The end points of the pot. are connected to Pins 11 and 12 of
connector E on the mother board.
c) The FWD antenna is mounted on the drive unit end of the truck.
d) The REV antenna is mounted on the load wheel end of the truck.
e) Request to travel in the FWD (drive unit) antenna direction should be connected to
Pin 4 of connector D on the mother board. Request to travel in the REV (load
wheels) antenna direction should be connected to Pin 2 of connector D on the
mother board.
Each direction input may be active high (plus battery) or low (minus battery).
Specify the mode of operation by configuring the Jumper J1 on the guidance
(upper) card (see 5.1.1) and select the operation level using the ZAPI hand held
controller (see 12.6.2).
f) Pin 9 of connector D on the motherboard is connected to the highest voltage
potential side of the traction motor armature. This pin is common with pin 4 of the
guidance card (eight pole) connector. Pin 11 of connector D on the motherboard
should be connected to the lowest voltage potential side of the traction motor
armature. This pin is common with pin 8 of the guidance card (eight pole) connec-
tor (see 6.1.4).
g) When the AUTO SEL switch is turned on, the AUTO LAMP starts blinking when
the truck is in the guidance acquisition mode and remains lit continuously when
the truck is in the guidance acquired mode. The active (for automatic guide)
AUTO SEL level (low=closed or high=open) can be selected using the ZAPI hand
held controller (see 12.6.10).
h) MAN LAMP is on when the truck is in the manual steering mode. The MAN LAMP
blinks during all slow down conditions. It goes out as soon as the truck steers
automatically and there is no slow down condition.
i) Pin 3 of connector D on the mother board is internally connected to a normally
be installed on the mother board.)
j) Pin 5 of connector D on the mother board is internally connected to a normally
open (NO) contact. This contact closes when the key switch is turned on and
remains in such a position while in manual mode and in wire-seeking operations.
The contact opens when the truck is perfectly aligned to the wire (AUTOMATIC
mode). This contact should provide and remove ground (GND) connection to an
electromechanical device locking the wheel in a quasistraight position. (Note:The
jumper J7 should be installed on the motherboard).
Page 22
MENU
k) Pin 6 and 15 of connector E on the mother board are internally connected to a

normally open contact on the mother board. This contact is closed by the key
switch and open in case of one of the following speed reduction conditions:
1) If the truck is in the manual steering mode and is close to a guide wire. (Mini-
mizes possibility that an operator will go fast when inside an aisle and not on
wire guidance.)
2) When the truck is in the wire acquisition mode until both antennas are aligned
with the guide wire.
3) When the truck is in the wire guided mode and has shifted sideways more than
2/3 of the "lateral out" alarm threshold (see 9.9).
l) Pin 14 of connector E on the motherboard provides 0 - 4 VDC to control the
12 VDC to the steering indicator gauge.
Page 23
MENU
5.6 POT. (RETURN-TO-CENTER) CONTROLLED STEERING
This is similar to Pot. Controlled Steering with wire guidance. Here the steering angle
feedback pot. and steering handle pot. connections have been moved down to the
mother board from the guidance card. This application does not require a guidance
card.
Fig. 5.7.1
Page 24
MENU

a) The steering angle feedback pot. wiper should be connected to Pin 18 of connec-
tor E on the motherboard. The ends of the steering angle feedback pot. should be
connected to Pins 16 and 17 of connector E on the motherboard. The pot. should
be rigidly mounted to the steering linkage to minimize joint clearance.
b) Pin 4 of connector D on the motherboard is connected to travel request in the
FWD (drive unit) antenna direction of truck travel. Pin 2 of connector D on the
motherboard is connected to travel request in the REV (load wheel) antenna
direction of truck travel. (Jumper J1 on ACSZPF0A should be correctly configured
(see 5.7 step 5) and the selected level should also be set by the ZAPI hand held
controller see 12.6.2).
c) The guidance board is not required for automatic centering with rail guidance.
The AUTO LAMP comes on when there is a request for automatic centering of
steering. The request for automatic steering centering is caused when photo
switches detect the presence of the guide rails (in place of the AUTO SEL switch
being turned on.)
d) The MAN LAMP is on during manual operation.
e) Pin 3 of connector D on the mother board is internally connected to a normally
be installed on the mother board.)
f) Pin 5 of connector D on the mother board is internally connected to a normally
open (NO) contact on the mother board. This contact closes when the key switch
is turned on and remains in this position while in manual mode and in automatic
self-centering operations. The contact opens when the automatic self-centering
operation has been carried out successfully. (Note: The jumper J7 should be
installed on the mother board to provide ground reference to pin 5).
g) Pin 14 of connector E on the motherboard provides 0 - 4 VDC to control the
12 VDC to the steering angle indicator gauge.
Page 25
MENU
5.7 ONE SHOT INSTALLATION PROCEDURE
This section of the manual describes the connection procedures for the antennas,
potentiometers, and tacho-generator.
Carry out the following steps with the steer motor disconnected. Disregard alarms that
appear during the first and second step. Work in the manual mode.
Step 1 - STEERING WHEEL OR HANDLE (COMMAND) DEVICE CONNECTIONS
a) TACHO-GENERATOR STEERING - Connect the two wires from the tacho-generator
so that clockwise rotation of the steering wheel produces an increasing (higher positive)
command value. This may be measured two ways. Using the ZAPI hand held control-
ler see the TESTER MENU (see 12.4.4). The second way is to use a DC voltmeter
connected to the tacho-generator wire that you plan to connect to Pin 8 of connector D
on the mother board (DT+) and the minus terminal on the battery.
b) POT. STEERING - The steering handle pot. has 3 wires; two end wires and a wiper
wire. Connect the two "end wires" from the steering handle pot. so that clockwise
rotation of the handle produces an increasing (higher positive) command value. This
may be measured two ways. Using the ZAPI hand held controller see the TESTER
MENU (see 12.4.1). The second way is to use a DC voltmeter connected to the handle
pot. wiper wire that you plan to connect to Pin 10 of connector E on the mother board
and the minus terminal on the battery.
c) Perfect adjustment of the steering handle pot. center point is not necessary. The
center point value will be memorized later using the ZAPI hand held controller (see
12.7.4).
Step 2 - STEERING ANGLE FEEDBACK POT. CONNECTIONS
a) The steer angle feedback pot. has 3 wires; two end wires and a wiper wire. If the
truck has a not leading MDU (Motor Drive Unit - see Fig 5.7.1)* connect the two end
wires to Pins 16 and 17 of connector E on the motherboard so when the drive unit(s) is
turned counter-clockwise (clockwise for a truck with a leading MDU) the value on the
wiper is increasing. This value may be measured in two ways. Using the ZAPI hand
held controller through the TESTER MENU (see 12.4.2). The second way is to use a
DC voltmeter connected to the steering angle feedback pot. wiper wire and battery
negative. The wiper wire should be connected to Pin 18 of connector E on the mother
board.
Fig. 5.7.1
* Not leading MDU : means the steering-traction wheel is opposite to the driving seat.
When the steering handle is turned clockwise, the MDU turns counterclockwise.
Leading MDU : means the steering traction wheel is on the same side of the driving seat. When the steering
handle is turned clockwise, the MDU turns clockwise too.
Page 26
MENU
b) Physically adjust the steering angle feedback pot. so with the drive unit straight
ahead, the wiper voltage is 2.55 VDC. This will require a minimum trimmer pot. adjust-
ment to get wire guidance performance as required. If wire guidance is not required on
the truck, then this precise adjustment is not necessary, because the manual mode
zero point for the steering angle feedback pot. can be adjusted using the ZAPI hand
held controller. See the CONFIG MENU (see 12.7.1).
STEP 3 - STEER MOTOR CONNECTIONS
After adjusting and connecting the steering handle pot. or tacho-generator and the
steering angle feedback pot., connect the two steering motor wires so that a clockwise
steering handle movement causes either a counterclockwise steer motor movement, for
a not leading MDU truck, or a clockwise steer motor movement, for a leading MDU
truck. If this operation is carried out correctly, the truck will turn clockwise when the
steering handle is moved clockwise while the truck is travelling in frontal direction (with
respect to the driving seat).
STEP 4 - LIMIT SWITCH CONNECTIONS
After completing Steps 1 - 3, check that the limit switch connected to Pin 1 of connector
D on the motherboard stops steering in the handwheel clockwise direction. Then,
check that the limit switch connected to Pin 7 of connector D on the motherboard stops
steering in the counterclockwise direction.
MANUAL STEERING CONNECTION IS COMPLETE. (SET UP AND ADJUSTMENT IS
NOT COMPLETE.)
STEP 5 - KEY CONNECTOR
If the wire guidance board is not installed, then a small "key" connector must be in-
serted into flat cable connector A on the motherboard. This "key" connector uses a
transistor and some passive components to provide a travel request to the software.
The forward and reverse travel inputs must be externally wired from Pin 2 and 4 on
connector D of the motherboard to this "key" connector. This approach eliminates the
need to have a guidance board with the Automatic Steering Centering option.
Configure the jumper J1 on ACSZPF0A board as follows:
Fig. 5.7.2
Page 27
MENU
STEP 6 - GUIDANCE ONLY - ANTENNA CONNECTIONS

The FWD antenna is mounted on the drive unit end of the truck. The REV antenna is
mounted on the load wheel end of the truck.
Determine the connection of the guidance antennas as follows:
a) Assume left and right are determined by an operator on the driving seat. Connect
the right FWD (drive unit) antenna coil to (FR) Pin 11 of big connector on the
guidance board. Connect the left FWD (drive unit) antenna coil to (FL) Pin 10 of
big connector on the guidance board (see 7).
b) Assume left and right are determined by an operator staying on the driving seat.
Connect the right REV (load wheel) antenna coil to (RR) Pin 4 of big connector on
the guidance board. Connect the left REV (Load wheel) antenna coil to (RL) Pin 3
of big connector on the guidance board (see 7).
c) If you have any problems connecting the wires you may refer to the next two
sketches for antenna coil location, mounting orientation and possible wire color
combinations in the sensors. From these you should be able to determine which
color wire to connect to the guidance board for each antenna.
Fig. 5.7.3
It is very important that the coils on each antenna be mounted so they are facing the
same direction.
Fig. 5.7.4
Page 28
MENU
6 DESCRIPTION OF MOTHERBOARD CONNECTION
This section describes connectors D and E on the mother board
6.1 MOTHERBOARD CONNECTOR D DESCRIPTION
Fig. 6.1.1
6.1.1 AUDIBLE AND VISUAL SIGNALS (MANLED, AUTOLED, BUZZER, +12V)

MANLED (13): This connection provides a ground line to switch on the manual
operation light. It is rated for 50 mA. If a LED is chosen, an external
series resistor (1.5 kW ) is required. If a lamp is chosen, an external
supply voltage (up to +24 V DC) is required. This indicator is on
during normal manual steering mode and flashing while any slow
down or emergency stop action.
AUTOLED (10): This connection provides a ground line to switch on the automatic
operation indicator light. It is just for a LED device (the series resistor
is inside). This indicator is on during auto steering mode and flashing
while any slow down or emergency stop action when guidance has
been selected by the operator.
Page 29
MENU
BUZZER (16) This connection provides a ground line to switch on the buzzer. It is
rated for 50 mA. This connection also provides the output for
encoding alarm conditions using the buzzer (see 11.2). The buzzer
sounds during the following three operating states:
- Guidance acquisition mode in progress until the truck is aligned
with the wire. This is a slow beeping.
- Aborted guidance acquisition due to lost wire capture lock. Alarm
sounds for a maximum of 3 seconds.
- A new steering mode begins, such as switching from manual to
automatic or back to manual. The alarm sounds a beep for 0.5
seconds.
+12 V (14) AUTOLED, MANLED, and BUZZER described above can be
supplied by +12 VDC from this pin.
6.1.2 AUTOMATIC MODE REQUEST (AUTOSEL, GND).
AUTOSEL (15): This is the steering mode selection input. Depending on the set up
used with the ZAPI hand held controller (see 12.6.10), this input
(either active level or edge detection) is recognized by the controller
when the event happens. Depending on how the truck is equipped,
either guidance acquisition mode is entered or the automatic steering
centering happens when this input is recognized. This input pin may
be connected to:
- directly to external ground (GND)
- an internal ground reference on pin 17 of the same connector
- to an external open collector transistor
- to a push-pull interface stage with a maximum rail voltage of 24V
DC
GND (17): Provides GND reference voltage.
6.1.3 TACHO-GENERATOR CONNECTIONS (DT+, DT-)
DT+ (8), DT- (6) Connect the tacho-generator for manual steering control between
these two pins. Pin 6 is internally connected to battery negative
(GND):
Fig. 6.1.3.1
Page 30
MENU
6.1.4 CONNECTIONS TO THE DRIVE SYSTEM (MA, MI, A1, A2).

MA (4) A request to travel in the drive unit direction must provide a signal on this
input, either at battery positive or battery negative. Either level may be
selected during set up with the ZAPI hand held controller (see 12.6.1) and
configuring Jumper J1 on the guidance card (see 5.1.1).
MI (2) A request to travel in the load wheel direction must provide a signal on this
selected during set up with the ZAPI hand held controller (see 12.6.2) and
configuring Jumper J1 on the guidance card (see 5.1.1).
A1 (9): This should be connected to the higher of two connections to the traction
motor brushes (armature).
A2 (11): This should be connected to the lower of two connections to the traction
These are used to identify the actual direction of travel of the truck. They make it possi-
ble to determine which direction the truck is traveling when regenerative braking is
being applied. The most common motor controller configuration is shown in the follow-
ing drawing.
Fig. 6.1.4.1
6.1.5 INTERNAL RELAY CONNECTIONS FOR INTERFACE WITH THE OUTSIDE.
There are 4 external interface relays on the mother board (ACSZPA0B), two of which
have contacts accessible on pin K3 (pin 5) and K2 (pin 3) of connector D.
Fig. 6.1.5.1
Each contact can switch direct currents of 4 A DCR at the most.
Description of Internal Relay Control
Page 31
MENU
K2 (3): Normally open contact is closed by switching on the key. When the key switch
is on, these contacts open in case of steering or guidance alarm. If Jumper J8
on the mother board is closed, K2 is ground referenced. This means ground is
provided out of pin 3 whenever the key switch is on and there is no alarm. If
the key switch is turned off or there is an alarm the ground is switch off at pin 3.
If Jumper J8 on the mother board is open, K2 is floating and may be refer-
enced to any preferred potential at the second connection of this contact at pin
1 of connector E on the mother board.
K3 (5): Normally open contact is closed by switching on the key. When either guidance
acquisition or automatic centering ends, this contact opens. It remains open in
case of alarm in automatic mode. This contact closes again when the steering
is returned to manual mode. If Jumper J7 on the mother board is closed, K3 is
ground referenced. If Jumper J7 is open, the contacts are floating and may be
referenced to the preferred potential at the second connection of this contact at
pin 2 of connector E on the mother board.
6.1.6 LIMIT MICROSWITCH CONNECTION (CLS, CCLS).
CLS (1): It is possible to stop steering in the direction that causes either positive signals
from the tacho-generator or increasing steering handle pot. voltage by opening
the connection between CLS (pin 1) and negative (GND = pin 17 of connector
D on the mother board). Therefore, connection of a normally closed switch
between pin 1 and pin 17 on connector D of the mother board acts as a clock-
wise steering limit switch.
CCLS (7): It is possible to stop steering in the direction that causes either negative
signals from the tacho-generator or decreasing steering handle pot. voltage by
opening the connection between CCLS (pin 7) and negative (GND = pin 17 of
connector D on the mother board). Therefore, connection of a normally closed
switch between pin 7 and pin 17 on connector D of the mother board acts as a
counterclockwise steering limit switch.
Page 32
MENU
6.2 MOTHERBOARD CONNECTOR AND DESCRIPTION
Fig. 6.2.1
Connector D is required for compatibility with earlier versions of tacho-generator EPS
(Electric Power Steering) and wire guidance. Connector E on the mother board is an
added connector used for steering handle pot. input, travel speed reduction switch and
to support recently introduced manual steering options.
NK2 (1): This is the second (lower potential) alarm switch connection. The first
connection is on pin 3 of connector D on the mother board. If jumper J8
on the motherboard is closed, the pin 1 is ground referenced and NK2 is
at ground (GND) potential. If jumper J8 on the mother board is open,
NK2 is floating. (It assumes an externally applied potential.) NK2 (Pin 1
of connector E on the mother board) must be connected to a lower
potential than K2 (Pin 3 of connector D on the mother board).
NK3 (2): This is the second (lower potential) of the locking-straight-wheel-switch
connection. The first connection is on pin 5 of connector D on the
mother board. If jumper J7 on the motherboard is closed, pin 2 is
ground referenced and NK3 is at ground (GND) potential. If jumper J7
on the mother board is open, NK3 is floating. (It assumes an externally
applied potential.) NK3 (Pin 2 of connector E on the mother board) must
be connected to a lower potential than K3 (Pin 5 of connector D on the
mother board).
GND (3,4): Are internally connected to ground (battery minus) reference, these may
be used for Steering Angle Direction LED gauge connections or other
interface cards.
Page 33
MENU
+12 VDC (5): Output for internally provided + 12 VDC stabilized supply. It may be
used for Steering Angle Direction LED gauge connections or other
interface cards. The maximum rated output is 40 mA.
WARNING: Do not short circuit this pin, because it is common with the
Electric Power Steering card supply.
NRV (6): This is the one side of the second speed reduction switch connection.
The first connection is pin 15 on connector E of the mother board. This
pin is one side of a switch and is typically connected in series with other
similar switches supplying the traction controller speed reduction input.
AUTOLAMP (7): Provides a switched ground reference for the AUTOLAMP that is cable
of switching a maximum lamp rating of 50 mA, +24 VDC. This reference
is switched on when the AUTOSEL switch is turned on. Connect the
AUTOLAMP between this point and an external supply of + 24 VDC
maximum.
CHOUT (8): Outputs key switch voltage. (The input of key switch voltage to the
mother board is on Pin 12 of connector D.) It is possible to use this as
an outside interface supply.
+5 VDC (9): Outputs regulated + 5 VDC supply. WARNING: Do not short circuit this
pin or the power supply on the board will fail.
CPOC (10), PPOC (11), NPOC (12):
The steering handle command potentiometer is connected to these
points. CPOC (Pin 10) is the wiper point. PPOC (Pin 11) is the positive
end voltage (+5 VDC). NPOC (Pin 12) is the negative end voltage (0
VDC).
CFC (13): Not available - Diagnostic input for limit switch functionality.
INDIC (14): Outputs a scaled and converted 0 to 4 VDC steering angle feedback
potentiometer position for the steering angle indicator gauge LEDs. 0
VDC corresponds to the steering angle feedback pot. voltage that was
memorized using the ZAPI hand control for SET STEER MAX. 4 VDC
corresponds to the steering angle feedback pot. voltage that was
memorized using the ZAPI hand control for SET STEER MIN.
See 12.6.6 to reverse turning direction displayed.
RV (15): First speed reduction switch connection. The second connection is Pin 6
of connector E on the mother board. This is one end of a dry contact
that is normally connected in series with other switches in the traction
controller input slow down circuit.
NPOT (16), PPOT (17), CPOT (18):
For applications without wire guidance, these are the connections for the
steering feedback pot. CPOT(Pin 18) is the wiper point. PPOT(Pin 17) is
the positive end voltage (+5 VDC). NPOT(Pin 16) is the negative end
voltage (0 VDC).
Page 34
MENU
7 DESCRIPTION OF WIRE GUIDANCE CARD CONNECTIONS
The wire guidance card 11 pin connector needs no description since it is only con-
nected to the wire guidance antennas and input for automatic steering and is described
earlier (see the electrical drawings fig. 5.3.1 and fig 5.5.1).
.
Fig. 7.1
The 8 pin connector on the guidance board passes through some of the connector D
signals .
Fig. 7.2
Page 35
MENU
7.1 EIGHT PIN GUIDANCE CARD CONNECTOR

This connector passes through signals to and from connector D on the mother board.
MA (1) A request to travel in the drive unit direction must provide a signal on this
selected during set up with the ZAPI hand held controller and configuring
Jumper J1 on the guidance card.
MI (2) A request to travel in the load wheel direction must provide a signal on
this input, either at battery positive or battery negative. Either level may
be selected during set up with the ZAPI hand held controller and
configuring Jumper J1 on the guidance card.
AUTOSEL (3): This is the steering mode selection input. Depending on the set up used
with the ZAPI hand held controller (see 12.6.10), this input (either active
level or edge detection) is recognized by the controller when the event
happens. Depending on how the truck is equipped, either guidance
acquisition mode is entered or the automatic steering centering happens
when this input is recognized. This input pin may be connected to:
- directly to external ground (GND)
- an internal ground reference on pins 5, 6, and 7 of the same connector
- to an external open collector transistor
· to a push-pull interface stage with a maximum rail voltage of 24 volt DC
A1 (4): This should be connected to the higher of two connections to the traction
GND (5, 6, 7): Provides GND reference voltage to battery negative.
A2 (8): This should be connected to the lower of two connections to the traction
These are used to identify the actual direction of travel of the truck. They make it possi-
ble to determine which direction the truck is traveling when regenerative braking is
being applied.
Page 36
MENU
8 SETTING MOTHERBOARD ACSZPA0B

The mother board has 4 trimmer potentiometers. Two of the trimmer pots (TM1 and
TM2) are internal settings to be made in the testing stage. The other settings should be
made with reference to the particular equipment options on the truck being adjusted.
Use the following instructions
MOTHER BOARD POTENTIOMETERS AND ZAPI HAND SET
Fig. 8.1
Page 37
MENU
8.1 SETTING THE MAXIMUM CURRENT (IMAX.)

TM3 Adjust clockwise to increase maximum current to the steering motor. Adjust
counterclockwise to reduce maximum current to the steering motor. Set
maximum steering motor current to 34 A for the 24/48V version of the
mother board and 21 amps for the universal version of the mother board.
Settings higher than the limit can damage the steering card. Measure the
steer motor current by producing a locked rotor condition in the steer motor
and connect an ammeter in series with the steer motor.
8.2 SETTING TACHOMETRIC FEEDBACK

TM4 This adjustment is only required in cases of very high steer motor
resistance (producing more than a 25% drop in battery voltage at maximum
current setting with a locked steer motor). This adjustment is not required
unless this condition exists.
This adjustment is used to partially compensate the voltage drop on the
motor resistance in order to associate the control signal with the speed
(instead of with the voltage) of the motor. This option has been created
mainly to improve the dynamics of the system in the event of automatic
steering. Therefore, if:
1) The control unit only operates on manual electric steering.
OR:
2) The voltage drop on the motor resistor at the maximum current
(Rmot x IMax) is less than 25% VBatt.
The difficulty of setting TM4, along with the poor benefits produced,
advise ignoring this setting by opening J3, J4 and J5.
In the other cases, TM4 should be set so as to insert a bipolar
connection, of the type shown below, in the circuit.
Fig. 8.2.1
This must have a resistance between A and B expressed by the
following equation:
880
RAB = [ kΩ ]
RMOT ⋅ IMAX
Where: Rmot = resistance of the steering servo-motor (W )
Imax = maximum steering current (A)
Page 38
MENU
After determining the desired RAB it is necessary to make the jumper

between J3, J4 and J5 which, correcting TM4, allows obtaining the
desired RAB.
Fig. 8.2.2
Fig. 8.2.3
For example: in the above drawing, a resistor TM4=75kW is inserted.
The IMax the servo-amplifier is set to, is specified on the hand set.
It is possible to make a practical setting of TM4 by locking the steer
motor on maximum current and adjusting TM4 to have 0V on pin 8 of the
integrated circuit U19. Should any doubts remain on the correctness of
the TM4 setting, leave all 3 jumpers J3, J4, J5 open.
Page 39
MENU
8.3 SETTING THE MANUAL STEERING

Only the ZAPI hand set is required to adjust the manual steering settings.
8.3.1 POT. STEERING:

The following procedure should be used only after the "One Shot Installation Procedu-
re" in Section 5.7 is completed. Complete the procedures in the following sequence.
1) Specify SYSTEM CONFIG as pot. steering (see 12.6.8).
2) Release the steering handle and let it come to its rest position. Without moving it,
use the hand set to memorize the steering handle voltage using ZERO SP POT
(see 12.7.4).
3) Use the hand set SET STEER 0-POS (see 12.7.1) to adjust the steering angle
feedback pot. for straight steering in manual mode. The setting may be adjusted
up and down in 5 mV increments from the 2.5 V default voltage. Test the results
by driving the truck forward and reverse with hands off the steering handle.
Watch for straight travel.
4) Turn the steering handle 90 degrees fully clockwise. Adjust 1ST SPEED COARSE
and 1ST SPEED FINE on the hand set until the desired drive unit steering angle is
achieved (see 12.3.11 and 12.3.12).
5) Turn the steering handle 90 degrees fully counterclockwise. Adjust 2ND SPEED
COARSE and 2ND SPEED FINE on the hand set until the desired drive unit
steering angle is achieved (see 12.3.13 and 12.3.14).
6) Adjust the steering angle centering precision using "KP" on the hand set (see
12.3.3). Higher values of KP increase the precision, but make the steering "busy".
Adjust KD (see 12.3.4) to provide good precision with minimum oscillation and
overshoot.
7) Use SET STEER MIN on the hand set to memorize the steering angle feedback
pot voltage corresponding to the maximum counterclockwise rotation of the
handwheel (see 12.7.2).
8) Use SET STEER MAX on the hand set to memorize the steering angle feedback
pot voltage corresponding to the maximum clockwise rotation of the handwheel
(see 12.7.3).
9) Use ACCELERATION on the hand set to adjust manual steering response. Level
0 = 9 seconds for 180 degrees of steering. Level 9 = 3 seconds for 180 degrees
of steering (see 12.3.15).
10) Use DESENSIBILIZAT on the hand set to adjust for slower steering response
close to a steady state position. This is useful for slowing the steering response
when an operator wishes to make small corrections in manual steering (see
12.3.16).
Page 40
MENU
8.3.2 TACH-GENERATOR CONTROLLED STEERING REGULATION

Four adjustment steps are recommended.
1) Use the hand set to specify the steering is Tacho-Generator type using the SYS-
TEM CONFIG setting (see 12.6.8).
2) Adjust SET BATTERY TYPE to the battery voltage in the truck using the hand set
(see 12.7.6).
3) Regulate the SPEED LIMIT for steering on the hand set. Higher values cause the
steered wheel to turn faster (see 12.3.1).
4) Adjust the slow steering response using the SENSIBILITY setting on the hand set.
An higher value causes faster response (see 12.3.2).
Notes:
- Low settings of the SPEED LIMIT result in almost no steering response when turning
the steering wheel at low speeds. To avoid this problem increase the SENSIBILITY
setting.
8.3.3 STEERING ANGLE INDICATOR GAUGE
If your truck equipped with tach-generator steering also has a steering angle indicator
gauge with LED's then you will also need to perform steps 3, 7, and 8 described in Pot.
Steering for the gauge to respond correctly.
8.3.4 AUTOMATIC CENTERING
If automatic centering is requested, then you will also need to perform steps 3, 6, 7, 8,
9, and 10 described in Pot. Steering for the steered wheel to be properly centered.
Page 41
MENU
9 WIRE GUIDANCE CARD ACSZPB0B
This card processes the signals supplied by the wire guidance antennas and steering
angle feedback pot. that are used to generate steering error in the automatic (wire
guided) steering mode. This steering error is then used by the mother board to make
steering corrections.
On the wire guidance card there are 2 diodes (DL1 and DL2) for warnings:
DL1, DL2 DL1 is on when the drive unit antenna is close to a guide wire in the
floor. DL2 is on when the load wheel antenna is close to a guide wire in
the floor.
In addition, there are 14 setting to be made in the suggested order for automatic (wire
guided) mode.
Fig. 9.1
9.1 SETTING PLUGGING

TM12 This setting adjusts the guidance card to distinguish between when the truck is
travelling or stopped. Measure the DC voltage at test point 2 (TP2) and gradu-
ally accelerate the machine. The voltage at TP2 must be +5 VDC as long as
the truck is stopped. This must switch to 0 VDC with the contactor closed, but
before the truck begins to move.
Turning TM12 clockwise causes the transition at TP2 from +5 VDC to 0 VDC to
take place with higher accelerator demand.
9.2 ANTENNA SETTINGS ON STEERING WHEEL (FWD)

TM1, TM2 Position the truck so the drive unit antenna (FWD) is centered over the
guide wire. Adjust the signals from the right and left coils in the antenna
so they are equal. Set the output gain from the antenna coils to 180 mV
RMS using a multimeter that can measure AC voltages up to 10 kHz
(refer to your owner's manual.) Trimmer Pot. 1 (TM1) adjusts the AC
voltage at Test Point 9 (TP9). Trimmer Pot. 2 (TM2) adjusts the AC
voltage at Test Point 10 (TP10). Turning the pots. clockwise reduces the
signal.
Page 42
MENU
9.3 POTENTIOMETER OFFSET SETTING

TM10 The steering angle feedback pot. must be installed so that with the drive unit
straight ahead the voltage on Test Point 6 (TP6) (coincidental with the pot.
wiper) measures as close to 0 VAC as possible.
If during mechanical tightening of the steering angle feedback pot. shaft, the
signal level from the pot shifts it is possible using this adjustment to bring the
required value back to the minimum using Trimmer Pot 10 (TM10). In making
this adjustment: Travel 10 meters in drive wheel direction on wire guidance. If
TM10 is not correctly adjusted the truck will travel parallel to the guide wire
some distance but always with a straight wheel. Use the ZAPI hand set on
SPECIAL POT ADJ setting (see 12.6.7). This causes an immediate steering
alarm and disables the control unit so you may regulate TM10 to give the
minimum voltage possible on Test Point 6 (TP6) corresponding to a straight
drive wheel position.
9.4 SETTING THE STEERING ERROR OFFSET

TM9 To refine this setting, align the truck in the automatic (guidance) mode with the
wire and stop all travel demand. After 30 seconds the guidance system will go
into TIME OUT status when it stops steering until there is again a travel de-
mand. Using a voltmeter attached to Test Point 4 (TP4) adjust TM9 until 0VDC
is measured.
Fig. 9.4
9.5 SETTING POTENTIOMETRIC FEEDBACK
TM13 Adjusting TM13 counterclockwise causes the truck to make larger steering
corrections in response to a given antenna error. This setting also affects the
steering performance during guidance acquisition mode. Turning TM13
counterclockwise results in shorter faster guidance acquisition.
Turning TM13 clockwise causes the truck to make smaller steering corrections
in response to a given antenna error. It also results in shorter and faster
guidance acquisition. However, this setting can be used to soften the wire
guidance when tracking a guide wire that is not very straight.
WARNING: Turning TM13 too far clockwise will result in the truck "wandering" on
wire guidance and failing to track the wire.
Page 43
MENU
9.6 GAIN LOOP ADJUSTMENT.

TM15 Optimum performance of wire guidance is achieved by coordinating the adjust-
ment of trimmers TM13 and TM15 as needed.
Turning TM15 clockwise increases the sensibility of automatic steering re-
sponse to an antenna error in wire guided mode. This will cause the truck to
track the guide wire more closely, but will also cause the steering to be more
likely to oscillate (dither).
9.7 SETTING LOAD WHEEL (REV) ANTENNA

TM3, TM4 Travel drive wheel first on guidance for 10m and slow to a stop.
Measure TP11 and adjust TM3 for 180 mV RMS. Measure TP12 and
adjust TM4 for 180 mV RMS. Turning the trimmer pots clockwise
decreases the signal.
NOTE: A multimeter that can accurately measure AC voltages up to 10
kHz is required. (Check your multimeter owner's manual.)
9.8 WEIGHTED SETTING OF ANTENNAS WHEN TRAVELING LOAD WHEEL

DIRECTION
TM14 When the truck is traveling in the load wheel direction the steering error is
produced by combining the errors of the load wheel (REV) and drive wheel
(FWD) antennas. Turning TM14 counterclockwise gives more weight to the
antenna on the drive unit (FWD) end. This further limits the side to side move-
ment of the truck at the drive unit end when guiding and travelling load wheels
first.
On a short wheel base truck is possible to reduce the correction level while
traveling in the load wheel direction by using the ZAPI hand set. Set the LONG
VEHICLE option to OFF using the hand set (see 12.6.3).
If the truck guides parallel to, but not centered on, the guide wire when travelling in the
load wheel direction:
- Ensure you have already set TM3, TM4, and TM14
- Check that the load wheel antenna is perfectly aligned with the drive wheel antenna
Fig. 9.8.1
Page 44
MENU
If the problem continues, travel on the guide wire in the load wheel direction and stop
the truck at a point where the misalignment is very evident. At this point check TP11,
which Trimmer 3 (TM3) corresponds to and TP12, which Trimmer 4 (TM4) corresponds
to. Adjust whichever point is higher, through trial and observation until the lateral shift
is zero when traveling in the load wheel direction on guidance.
9.9 SETTING ACQUISITION ANGLE

TM5 Turning TM5 counterclockwise increases the steering correction during the
drive wheel first direction of wire acquisition. NOTE: Increased angles of
approach to the guide wire during acquisition mode require longer for the truck
to be aligned with the wire for operation in minimum clearance very narrow
aisles.
9.10 GUIDANCE ALARM TOLERANCE ADJUSTMENT
TM8 This trimmer adjusts the limit a guidance antenna may be off the wire without
setting off an alarm.
The trimmer adjustment is supported by the ZAPI hand set as described below.
Move the truck in manual steering mode in the load wheel direction of travel
parallel to the guide wire so the center line of the truck is about 70 mm (2.75
in.) from the wire. Using the ZAPI hand set, read the ANTENNA ERROR (see
12.4.3) value and adjust TM8 to obtain an antenna error value of 4.5 VDC (or
0.5 VDC if the truck is on the opposite side of the wire.) Note: if the truck is
centered over the wire, then the ANTENNA ERROR will be 2.5 VDC.
NOTE: The ANTENNA ERROR read using the ZAPI hand set will correspond
to the antenna on the end of the truck that was leading the last direction
traveled/selected.
Fig. 9.9.1
Page 45
MENU
To modify the alarm tolerance four parameters are provided (see 12.3.5 ÷ 12.3.8
1) FWD UPP ERR ANT = Adjusts the sideways alarm threshold relative to a
lateral shift of the drive wheel (FWD) antenna that increases over 2.5 VDC
the ANTENNA ERROR measurement. (UPPer is for higher than 2.5 VDC.
We do not use right and left references in this section. They are too easily
confused.)
FWD UPP ERR ANT level = 0 gets alarm for 3.5 VDC on ANTENNA ER-
ROR point. This is a very sensitive alarm threshold.
FWD UPP ERR ANT level = 8 gets alarm for 4.5 VDC on ANTENNA ER-
ROR point. This is a very insensitive alarm threshold.
FWD UPP ERR ANT level = 9 disables the alarm for this pickup coil side.
2) FWD LOW ERR ANT = Adjust the sideways alarm threshold relative to a
lateral shift of the drive wheel (FWD) antenna for an ANTENNA ERROR
measurement that is below 2.5 VDC.
FWD LOW ERR ANT LEVEL = 0 gives an alarm for 1.5 VDC on ANTENNA
ERROR point. This is a very sensitive alarm threshold.
FWD LOW ERR ANT LEVEL = 8 gives an alarm for 0.5 VDC on ANTENNA
ERROR point. This is a very insensitive alarm threshold.
FWD LOW ERR ANT LEVEL = 9 disables the alarm for this pickup coil side.
3) REV UPP ERR ANT = Adjusts the sideways alarm threshold relative to a
lateral shift of the load wheel (REV) antenna for an ANTENNA ERROR
measurement that is above 2.5 VDC.
REV UPP ERR ANT level = 0 gets alarm for 3.5 VDC on ANTENNA ER-
REV UPP ERR ANT level = 8 gets alarm for 4.5 VDC on ANTENNA ER-
REV UPP ERR ANT level = 9 disables the alarm for this pickup coil side.
4) REV LOW ERR ANT = Adjusts the sideways alarm threshold relative to a
lateral shift of the load wheel (REV) antenna for an ANTENNA ERROR
measurement that is below 2.5 VDC.
REV LOW ERR ANT level = 0 gets alarm for 1.5 VDC on ANTENNA ER-
REV LOW ERR ANT level = 8 gets alarm for 0.5 VDC on ANTENNA ER-
REV LOW ERR ANT level = 9 disables the alarm for this pickup coil side.
Page 46
MENU
9.11 MAXIMUM WIRE GUIDANCE STEERING ANGLE ADJUSTMENT

(POT. OUT OF RANGE ALARM)
TM7 This trimmer is used to adjust the maximum steering angle correction which
can occur during wire guided steering without setting off an alarm. Adjust is
supported by the ZAPI hand set controller.
Drive the truck in the manual mode close to the guide wire. Rotate the steering
handle until the drive unit has reached the maximum absolute angle allowed in
wire guidance mode. Set SPECIAL POT ADJ to "ON" using the ZAPI hand set.
Immediately an alarm (ADJ. ZERO POT) occurs and the steering wheel posi-
tion is frozen. Using the FEEDBACK POT measurement (12.4.2), read the AC/
DC converted pot. (see 12.6.7) value and adjust TM7 to obtain a feedback pot
value of 4.5 VDC (or 0.5 VDC if the chosen direction of steering is below 2.5
VDC.)
Note: FEEDBACK POT value is 2.5 VDC for steering straight ahead with a
correctly adjusted TM10. The value of FEEDBACK POT will either increase, in
a not leading MDU truck, or decrease, in a leading MDU truck, for
counterclockwise drive unit steering rotation. FEEDBACK POT measures
steering angle feedback pot. voltage in automatic (wire guidance) mode and
manual mode. Since these measurements are very different, do not confuse
the manual mode reading with the automatic mode reading. There is a special
exception. When "SPECIAL POT ADJ" is set (see 12.6.7) to "ON", FEED-
BACK POT measures the automatic mode reading even with the steering in
manual mode. Since only one trimmer is provided for the two directions of
drive unit steering, the ZAPI hand set is used to separate them (see 12.3.9 ÷
12.3.10).
1) UPPER ERROR POT = Adjusts the POT OUT OF RANGE alarm threshold
relative to steering angle rotations resulting in values over 2.5 VDC
measured with FEEDBACK POT on the ZAPI hand set.
UPPER ERROR POT = 0 results in an alarm level of 3.5 VDC on the
FEEDBACK POT point. This is a very sensitive setting.
UPPER ERROR POT = 8 results in an alarm level of 4.5 VDC on the
FEEDBACK POT point. This is a very insensitive setting.
UPPER ERROR POT = 9 disables the POT OUT OF RANGE alarm.
2) LOWER ERROR POT = Adjusts the POT OUT OF RANGE alarm threshold
relative to steering angle rotations resulting in values less than 2.5 VDC
measured with FEEDBACK POT on the ZAPI hand set.
LOWER ERROR POT = 0 results in an alarm level of 1.5 VDC on the
FEEDBACK POT point. This is a very sensitive setting.
LOWER ERROR POT = 8 results in an alarm level of 0.5 VDC on the
FEEDBACK POT point. This is a very insensitive setting.
LOWER ERROR POT = 9 disables the POT OUT OF RANGE alarm.
Finally, it is possible to make small corrections to the feedback potentiometer's zero
position used for "POT OUT OF RANGE" alarm using the ZERO AUTO FB adjustment
(see 12.7.5).
Page 47
MENU
10 TIP ON SETTING UP
If the "ONE SHOT INSTALLATION PROCEDURE" has been performed correctly, fol-
lowing information is not necessary. If problems have been found, then the information
below provides some ideas on solving them.
Position the truck over the guide wire using manual mode steering.
With the truck positioned over the guide wire, turn on the wire guidance using the
AUTOSEL switch on the operator console. Select the desired direction of travel and
move the truck a few cm in that direction. At this stage the system will go into auto-
matic steering. If all goes well the steering wheel will set itself in a direction leading the
truck to capture the guide wire. It is simple to check this with the truck stationary and
the drive unit antenna to the side of the wire. If the truck was last travelling in the drive
unit direction the drive unit should be angled to intercept the guide wire. See the draw-
ing below:
Fig. 10.1
If this is not observed, then there are one of two possible sources of the problem.
10.1 REVERSE POTENTIOMETRIC FEEDBACK

If the drive unit swerves toward either of the two steering limits with the truck over the
guide wire and the antenna moved to the side of the wire, then swap over NPOT (7)
and PPOT (5) on the big Connector on the wire guidance board (see 7).
Fig. 10.1.1
10.2 REVERSE ANTENNA FEEDBACK:
If the steering wheel corrects in a proportional manner, but away from the wire when
the truck is parked over, but not on the guide wire, then swap the connection FL (10)
and FR (11) for the drive wheel (FWD) antenna and the connections RL (3) and RR (4)
for the load wheel (REV) antenna on the big connector on the wire guidance board (see
7).
Fig. 10.2.1
Page 48
MENU
11 ALARMS AND TROUBLE SHOOTING
11.1 DESCRIPTION OF FUSES

The system has two fuses.
- A 32 A fuse (F1) in series with the battery positive protecting the power portion of the
steering and guidance boards.
Fig. 11.1.1
- A 3 A fuse (F2) in series with the key and placed on the motherboard to protect the
logic.
If the key is switched on and the steering system shows no response, check the 3 A
logic fuse. If the fuse on the power portion of the unit is blown, an alarm "I=0 EVER" is
produced.
Page 49
MENU
11.2 DESCRIPTION OF ALARMS

If the Fuse (F2) is intact, the system signals through a combination of lights (AUTOLED
and MANLED) and audible devices (BUZZER) any failures:
Each alarm or failure is encoded on the BUZZER with a number of high frequency
beeps, repeated in bursts, corresponding with the alarm numbers in the list below. Low
frequency beeps are reserved for wire acquisition mode only. To discriminate between
manual mode and automatic mode alarms, the lights (AUTOLED and MANLED) are
frozen when an alarm occurs and give information on the mode of operation the truck
was in when the error occurred. The same information is repeated in a more direct
fashion on the ZAPI hand set. Below is a list of the alarms with the numbers that corre-
spond to the beep code.
11.2.1 MANUAL MODE ALARMS.
ALARM 1 MICRO SLAVE KO
Signal is repeated single beep burst of the BUZZER and lighted MANLED.
Cause: Occurs when the supervisor microcontroller has found one of the following
incorrect events. The number of each possible cause is displayed on the
right hand side of the ZAPI hand set.
1) Two series connected alarm switches are used for safety reasons. Each
microcontroller controls one of them and diagnoses the other's switch.
If the master microcontroller finds the supervisor controlled switch open
during steady state operations, this alarm occurs.
If the supervisor microcontroller finds one of the two switches disagrees
with the commands, during initial phase, this alarm occur.
2) The supervisor microcontroller has missed receiving an update (every
16 ms) from the master processor. The master processor is reading
commands (tach-generator, pots., limit switches, etc.) and informs the
supervisor with a regular signal. If this interrupt is missed, the
supervisor behaves as through the command inputs are not being
processed and stop the truck opening its own alarm switch.
3) The supervisor microcontroller has missed the fixed time (48 ms)
watchdog timer pulse on the power portion functionality test. Every
48 ms the master processor sends and update pulse to the supervisor
microcontroller. If a pulse is missed it looks like the power portion
diagnosis was not executed so the supervisor stops the truck.
4) The supervisor microcontroller has determined a command action that
disagrees with generated by the master controller.
5) The supervisor microcontroller has determined a measured steering
angle feedback pot. evolution disagrees with the command pot. voltage.
Remedy: Switch off the machine and power it up again. If the problem persists,
replace the unit.
Page 50
MENU
ALARM 2 I=0 EVER

Indicated by repeated two beep burst on the BUZZER and a lighted MAN-
LED.
Cause: Occurs if there is a power failure on the power portion of the steering
controller and in any case where steer motor current cannot increase above
zero and with the appropriate sign (+ or -) when commanded.
Remedy: Check that fuse F1 (32 A) on the logic board is intact.
Check that the steer motor and its wires have not been cut off.
Check that the motor is mechanically loaded. With the motor running freely
it should require a running current greater than 6% of IMax.
If the problem persists, replace the unit.
ALARM 3 STEER SENSOR KO or FB POT LOCKED
Indicated by repeated three beep burst on the BUZZER and a lighted MAN-
LED.
Cause: STEER SENSOR KO occurs if DT (Tach-Generator) is interrupted or short
circuited (if the SYSTEM CONFIG option is Tach-Generator selection) or if
one of the pins or wires leading to the steering angle feedback pot or the
steering handle pot. is disconnected.
FB POT LOCKED occurs when the feedback value does not change its
value even though commanded to change.
Remedy: If the problem is not due to the wiring, replace the tach-generator, or
suspect potentiometer.
In regard to pot steering, the alarm occurs only if the voltage across the
central point and the end of the pot. is greater than 4.9 V or is less than
0.1V. For the FB POT LOCKED alarm confirm the mechanical connection
between the pot. and steer motor and the electrical functionality of the pot.
Fig. 11.2.1.1
Page 51
MENU
ALARM 4 EEPROM KO
Indicated by repeated four beep burst on the BUZZER and a lighted MAN-
LED.
Cause: Occurs due to a hardware or software defect of the non-volatile on-board
parameters memory.
Remedy: Switch off the machine and turn it on again. If the problem persists, replace
the unit.
ALARM 5 HIGH TEMPERATURE
Indicated by repeated 5 beep burst on the BUZZER and a lighted MANLED.
Cause: Occurs if temperature of the power base exceeds 78°C (172°F).
Remedy: Let the unit cool down. If the alarm occurs systematically, it is necessary to
improve the unit's heat dissipation capability.
ALARM 6 STBY I HIGH
Cause: Occurs when,at rest, there should be no current for a disabled power unit
and the sensor shows an unforeseen output voltage level.
Remedy: Try to adjust the sensor offset with TM2 on the mother board. Measure the
voltage at pin 1 of U19 (integrated circuit). Voltage must be adjusted to 0 V.
If alarm persists, replace the unit.
Fig. 11.2.1.2
Page 52
MENU
ALARM 7 RELAY KO
Cause: Two alarm switches are connected in series enabling traction controller to
operate. The first switch is closed by the master microcontroller. The
second switch is closed by the supervisor microcontroller. Both
microcontrollers execute diagnostic tests on their own and the others
opened or closed state switches. If the master microcontroller finds its own
switch closed before commanding it closed or finds its own switch open
before commanding it open, then this alarm occurs.
If this error occurs immediately after switching on the key, then it appears
the contact that is shorted (welded) without a driving signal. If the error
occurs later, then it appears the contact that is in a locked open position
with a driving signal present.
Remedy: Confirm the previous theory about shorted or open contacts. If no faults
can be identified, read the explanation below of the open switch diagnostic
test to help you understand the alarm reasons.
As the picture below shows, there are three diagnostic points; low voltage,
mid point, and high voltage end that are read by software. When the
switches are open, the three diagnostic points have different potential
values thank to the polarization resistances. If the outside interface
connected on Pin 3 of connector D or Pin 1 of connector E on the mother
board gets one end equal to the midpoint it looks like the switch is closed
before it driven and an unwanted alarm occurs.
Fig. 11.2.1.3
11.2.2 WIRE GUIDANCE MODE ALARMS.
To escape the steering from any of the following alarms it is necessary to switch off the
key.
ALARM 1 MICRO SLAVE KO
Indicated by a repeated single beep burst of the BUZZER and both AUTO-
LED and MANLED are lit.
Cause and Remedy: See 11.2.1 ALARM 1 in manual mode.
Page 53
MENU
ALARM 2 LATERAL OUT

Indicated by repeated two beep burst of the BUZZER and both AUTOLED
and MANLED are lit.
Cause: It occurs in the case of a higher than set threshold lateral shift during wire
guided mode of operation (see 12.3.5 ÷ 12.3.8).
Remedy: Confirm that during motion the antenna error signal does not exceed the
threshold. Warning: A disconnected antenna coil wire or a swiftly changing
magnetic field deformation around the guide wire (crooked wire, reinforcing
rod, AC motor wires in the floor) can cause an alarm condition.
ALARM 3 PATH
Indicated by repeated 3 beep burst on the BUZZER and both AUTOLED
and MANLED are lit.
Cause: Occurs if the antenna signal used for guidance in the travelling direction
goes below the required threshold. The alarm occurs at the same time that
the track present LEDs DL1 for drive wheel sensor and DL2 for load wheel
sensors are off.
Remedy: This alarm may occur if the guide wire in the floor is cut, if the signal picked
up by the antenna is too low, or if the antenna(s) is not properly adjusted
concerning the gain.
ALARM 4 EEPROM KO
and MANLED are lit.
ALARM 5 HIGH TEMPERATURE
and MANLED are lit.
ALARM 6 LOOP
and MANLED are lit.
Cause: Occurs when in wire guided mode, the steering angle feedback pot. error
will not neutralize the antenna error (regardless of travel direction). This
makes it appear as though the closed loop control on steering angle
feedback pot. has been opened.
Remedy: Try to reduce the truck oscillation on the guide wire by adjusting TM15
(clockwise increases steering speed response) and TM13
(counterclockwise makes the truck to make larger steering corrections) on
the wire guidance card.
The alarm occurs while the truck is travelling in the guided mode of steering
and the voltage on pin 7 of IC U6 of the wire guidance card exceeds +5
VDC.
Page 54
MENU
Fig. 11.2.2.1
An open circuit in the steering angle feedback pot., a damage of the
steering angle feedback pot., loose mechanical connection of the feedback
pot., broken steer chain, broken steering gear box, broken steer motor, or
noise induced on a guidance antenna can also cause this alarm.
ALARM 7 RELE KO
and MANLED are lit.
ALARM 8 STEER HAZARD

and MANLED are lit.
Cause: Occurs if a limit switch opens during an automatic controlled wire guided
steering mode or a looking for path phase.
Remedy: To get out of the alarm, select the manual mode steering using the AUTO-
SEL switch on the operator console.
ALARM 9 POT OUT OF RANGE
and MANLED are lit.
Cause: During guidance mode (automatic) the drive unit has a too large steering
angle. The maximum allowable steering angle is adjustable using the ZAPI
hand set and TM7 (see 9.10).
Remedy: If the alarm occurred during normal guidance mode operations without an
excessive steering angle and it is practical to increase the steering angle
limit, then it is possible to carry out such operation through the ZAPI hand
set and TM7 as described in 12.3.6 ÷ 12.3.10 and 9.10 sections.
Page 55
MENU
12 SUPPLEMENT ZAPI HAND SET DESCRIPTION
This section describes the ZAPI hand set functions. Numbers inside the triangles cor-
respond to the same number on the hand set keyboard buttons shown in the figure
below. The orientation of the triangle indicates the shift direction of the button effect.
Fig. 12.1
12.1 TACH-GENERATOR STEERING OPTION - HAND SET FUNCTION MAP
Fig. 12.1.1
Page 56
MENU
12.2 POT. STEERING OPTION - HAND SET FUNCTION MAP
Fig. 12.2.1
Page 57
MENU
12.3 MAIN MENU "PARAMETERS" LIST

The manual steering mode parameters are partially different between Tach-Generator
and Pot Steering as described in paragraphs 12.1 and 12.2.
Each parameter is described below without separating between Tach-Generator and
Pot steering options. To locate each parameter inside its host menu, see the Function
Maps in paragraphs 12.1 and 12.2. In every case a specific attribute is given to each
parameter.
After modifying a parameter, memorize it with the hand set by pushing the "4" (OUT)
button and a "3" (IN) button. Double pushing the OUT button gets out without saving
the modifications.
Fig. 12.3.1
Here is a description of the parameter adjustments and what they affect.
.1 SPEED LIMIT: tach-Generator Steering only, it regulates the MDU maximum
turning speed.
- Level 0 is for slow turning
- Level 9 is for fast turning
Intermediate levels are for proportionally increasing speed settings. Maximum
MDU speed has to be regulated after SET BATTERY TYPE is done (see 12.7.6).
The higher the battery type is set to, the higher the MDU turning speed for a given
value of the SPEED LIMIT parameter.
.2 SENSIBILITY: tach-Generator steering only, it provides a non-linear relationship
between steering handle input (command) and MDU steering speed at small
command input changes. This parameter produces increasing steering sensitivity
with small changes in steering input.
- Level 0 is for steering response that is less sensitive to small steering handle
movements
- Level 9 is for steering response that is very sensitive to small steering handle
movements
Intermediate levels are for proportionally increasing speed settings. This param-
eter does not influence the maximum MDU steering rate.
Page 58
MENU
.3 KP: pot. steering and automatic centering option only. It modifies the static preci-
sion of the position control loop. To obtain precise return to center feedback pot
voltage, increase the KP value. If dither or overshoot becomes evident, try to
lower the KP value.
- Level 0 is for less responsive and precise steering.
- Level 9 is for very responsive and precise steering (but "busy").
Intermediate levels are for proportionally increasing speed settings.
.4 KD: pot. steering and automatic centering option only. It modifies the dynamic
behavior of the position control loop. To reduce steering angle feedback pot.
overshoot or oscillations, adjust this parameter. (It is the Derivative (lead) contri-
bution to a typical PD (Proportional/Derivative) control loop dynamic algorithm.
- Level 0 is for a complete proportional controlling algorithm.
- Level 9 is for a maximum leading contribution controlling algorithm. This
means the MDU start to slow a lot as it approaches near a steady state posi-
tion. This is maximum overshoot (dither) reduction.
Intermediate levels are for proportionally increasing the derivative contribution.
.5 FWD UPP ERR ANT: wire guidance only. It modifies the threshold for a lateral
shift that, when exceeded, provides a "LATERAL OUT" alarm. This parameter
adjusts the limit threshold corresponding to FWD antenna side lateral shift relative
to the coil side that increases over 2.5 volts the ANTENNA ERROR test value. 2.5
VDC ANTENNA ERROR value is for a perfectly centered antenna.
- Level 0 is for a lateral out alarm threshold of 3.5 VDC (consistent with AN-
TENNA ERROR value.)
TENNA ERROR value.)
- Level 9 disables this alarm in the specified direction.
.6 FWD LOW ERR ANT: wire guidance only. It modifies the threshold for a lateral
adjusts the limit threshold corresponding to FWD antenna side lateral shift relative
to the coil side that decreases below 2.5 volts the ANTENNA ERROR test value.
2.5 VDC ANTENNA ERROR value is for a perfectly centered antenna.
TENNA ERROR value.)
TENNA ERROR value.)
Page 59
MENU
.7 REV UPP ERR ANT: wire guidance only. It modifies the threshold for a lateral
adjusts the limit threshold corresponding to REV antenna side lateral shift relative
to the coil side that increases over 2.5 volts the ANTENNA ERROR test value. 2.5
VDC ANTENNA ERROR value is for a perfectly centered antenna.
TENNA ERROR value.)
TENNA ERROR value.)
.8 REV LOW ERR ANT: wire guidance only. It modifies the threshold for a lateral
adjusts the limit threshold corresponding to REV antenna side lateral shift relative
to the coil side that decreases below 2.5 volts the ANTENNA ERROR test value.
2.5 VDC ANTENNA ERROR value is for a perfectly centered antenna.
TENNA ERROR value.)
TENNA ERROR value.)
.9 UPP ERROR POT: wire guidance only. It modifies the threshold for a maximum
allowable MDU steering angle in the guided mode that causes POT OUT OF
RANGE alarm. This parameter adjusts the steering angle limit that corresponds to
an increasing steering angle voltage over 2.5 VDC found on the FEEDBACK POT
test value. (2.5 VDC is a perfectly centered MDU.)
- Level 0 is for a POT OUT OF RANGE threshold of 3.5 VDC (consistent with
FEEDBACK POT value.)
.10 LOW ERROR POT: wire guidance only. It modifies the threshold for a maximum
allowable MDU steering angle in the guided mode that causes POT OUT OF
RANGE alarm. This parameter adjusts the steering angle limit that corresponds to
a decreasing steer angle voltage below 2.5 VDC found on the FEEDBACK POT
test value. (2.5 VDC is a perfectly centered MDU.)
Page 60
MENU
.11 1ST SPEED COARSE: pot steering only. Although the name is ambiguous, it
modifies in large steps the MDU maximum steering angle in the direction of in-
creasing steering angle feedback voltage above 2.5 VDC. If the "ONE SHOT
INSTALLATION PROCEDURE" was executed correctly, this direction of MDU
movement corresponds to clockwise steering handle movement. This parameter
is used to regulate the 90 degree MDU steering angle in the specified direction
corresponding the 90 degrees of steer handle movement.
- Level 0 is for the smallest maximum MDU steering angle
- Level 9 is for the largest maximum MDU steering angle
Intermediate levels are for proportionally increasing angle.
.12 1st SPEED FINE: pot. steering only. Although the name is ambiguous, it modifies
in small steps the MDU maximum steering angle in the direction of increasing
steering angle feedback voltage above 2.5 VDC. If the "ONE SHOT INSTALLA-
TION PROCEDURE" was executed correctly this direction of MDU movement
corresponds to clockwise steering handle movement. This parameter is used to
regulate the 90 degree MDU steering angle in the specified direction correspond-
ing the 90 degrees of steer handle movement.
Intermediate levels are for proportionately increasing angle.
.13 2nd SPEED COARSE: pot. steering only. Although the name is ambiguous, it
modifies in large steps the MDU maximum steering angle in the direction of de-
creasing steering angle feedback voltage below 2.5 VDC. If the "ONE SHOT
INSTALLATION PROCEDURE" was executed correctly this direction of MDU
movement corresponds to counterclockwise steering handle movement. This
parameter is used to regulate the 90 degree MDU steering angle in the specified
direction corresponding the 90 degrees of steer handle movement.
.14 2nd SPEED FINE: pot. steering only. Although the name is ambiguous, it modi-
fies in small steps the MDU maximum steering angle in the direction of decreasing
steering angle feedback voltage below 2.5 VDC. If the "ONE SHOT INSTALLA-
TION PROCEDURE" was executed correctly this direction of MDU movement
corresponds to counterclockwise steering handle movement. This parameter is
used to regulate the 90 degree MDU steer angle in the specified direction corre-
sponding the 90 degrees of steering handle movement.
Page 61
MENU
.15 ACCELERATION: pot. steering only. It increases the amount of time it takes to
complete 180 degrees of steering angle sweep beyond the physical time limit
imposed by steering motor rating and current limit. It operates by modifying the
steering handle feedback voltage with a ramp.
- Level 0 is for about 9 seconds for 180 degrees of steering
- Level 9 is for about 3 seconds for 180 degrees of steering
- Intermediate levels are for proportional time changes
.16 DESENSIBILIZAT: pot. steering only. It slows the MDU steering motion around
each steady state position. Its action is evident for a fixed steering handle angle
of ± 30 degrees from the center position. This parameter proportionally reduces
the MDU steering speed.
- Level 0 is for no slowing of MDU steering near center steer handle position
- Level 9 is for slowing the MDU steering 10 times more than what is imposed
with the ACCELERATION parameter.
- Intermediate levels are for proportional changes in response
12.4 MAIN MENU: TESTER FUNCTIONS
The TESTER functions list is common for both tach-generator and pot steering options.
Each TESTER function provides the measure, executed by the software, of the speci-
fied parameter. To locate each parameter inside its host menu, see the function maps
in paragraph 12.1 and 12.2. Descriptions of each TESTER function are given below.
.1 SET POINT POT: pot. steering only. It provides the steering handle feedback
voltage in real time.
.2 FEEDBACK POT: pot. steering and wire guidance only. It provides the MDU
steering angle feedback voltage in real time. When the system is in manual mode,
then hand set measured value is equal to the voltage present on the central termi-
nal of the FB (steering angle feedback) pot. with respect to the GND point.
When the system is in wire guidance mode, the FB (steering angle feedback) pot.
is supplied with AC voltage, so the hand set displays an AC/DC converted value.
2.5 VDC equals steering angle straight ahead. Higher or lower values are for a
turned drive unit.
Exception: When the SPECIAL POT ADJ is set ON, regardless of steering mode,
the FEEDBACK POT value is always measured as though the truck is in the wire
guided mode of steering.
.3 ANTENNA ERROR: wire guidance only. It provides the antenna error in real
time. The antenna error is the difference between the right and left coil voltage on
the antenna that leads the last travel direction selected. If the truck was last
traveling drive unit first, then the drive unit antenna error is the one measured. If
the trucks was last travelling load wheels first, then the load wheel antenna error is
the one measured. Since the antennas provide an AC voltage to the hand set, it
converts these values to a continuous value. 2.5 VDC corresponds to an antenna
that is centered over the guide wire. The value is higher or lower if the antenna is
shifted to the side of the guide wire. This measurement is also available in the
manual mode of steering if the truck is near a guide wire.
Page 62
MENU
.4 DT: tach-generator steering only. It provides the value of the tach-generator input
from the steering handle with its sign in real time. The value is scaled for the CPU
A/D converter (range = ± 5 VDC). The value measured directly on the tach-gen-
erator output is sometimes higher than measured on the hand set.
.5 MM ALARM SWITCH: used on all steering options. It provides the real time state
(Close = ON, Open = Off) of the Main Microprocessor controlled alarm switch.
There are two switches connected in series to this alarm. The first one is control-
led by the main microprocessor and the second is controlled by the supervisor
microprocessor.
.6 SM ALARM SWITCH: used on all steering options. It provides the real time state
(Close = ON, Open = Off) of the Supervisor Microprocessor controlled alarm
switch. There are two switches connected in series to this alarm. The first one is
controlled by the main microprocessor and the second is controlled by the super-
visor microprocessor.
.7 ENDSTROKE ACW: (Counterclockwise Steering Limit Sw.State): used on all
steering options. It provides the real time state (Active (open) = ON, Not Active
(Closed) = Off) of the limit switch connected to Pin 7 of connector D on the
motherboard.
.8 ENDSTROKE CW: (Clockwise Steering Limit Sw.State): used on all steering
options. It provides the real time state (Active (open) = ON, Not Active (Closed) =
Off) of the limit switch connected to Pin 1 of connector D on the motherboard.
.9 TEMPERATURE: used on all steering options. It provides real time the control
unit metallic temperature in Celsius degrees. An alarm occurs when the tempera-
ture is above 78°C (172° F).
12.5 MAIN MENU: "ALARMS" FUNCTIONS

Inside the "ALARMS" menu of the hand set, the last five alarm events can be displayed
with the number of repetitions and the hour of the last occurrence for each kind of
alarm.
Page 63
MENU
12.6 CONFIG MENU: "SET OPTIONS" FUNCTION LIST

The SET OPTIONS functions list is used for all steering options. These options modify
the system configuration on user request. To locate the function inside its host menu,
see the function maps in paragraph 12.1 and 12.2. A description of each option follows
in the list below.
Fig. 12.6.1
Page 64
MENU
.1 HOUR COUNTER: there are two possible value options for what will appear in the
root menu hand set display.
- RUNNING = Run time when the steering is enabled.
- KEYON = Time counted continuously when the motherboard is supplied.
.2 INP ACTIVE LOW: there are two possible options for this value regarding travel
direction request.
- ON = External travel requests are active LOW.
- OFF = External travel requests are active HIGH.
.3 LONG VEHICLE: there are two options for wire guidance. This is used to reduce
the combined wire guidance antenna error when travelling in the load wheel direc-
tion (for a short truck).
- ON = Normally weighted combined antennas error (preferred choice.)
- OFF = Reduced weighted combined antennas error (for a short truck)
.4 STB I=0 EVER: there are two options for manual mode steering. If set on the
power stage functionality. If the motor current goes down near zero when com-
manded a corresponding alarm occurs. It is continuously diagnosed (also in rest
position)
- ON = Continuous diagnosis (with tiresome audible noise but an alarm condition
could be discovered before the steering motion)
- OFF = Diagnosis inhibited during steering rest status.
.5 MICRO CHECK: this feature supports the debugging activity option. It is used to
inhibit the Supervisor microprocessor operation and allow the system to run with
just the Main processor support. This operating mode does not allow the
supervisor controlled alarm switch to close. Therefore, traction is disabled.
- NONE = Inhibits supervisor functions
- PRESENT = Enables diagnostic interaction between Main and Supervisor
microprocessors. (This is only allowed in the running mode.)
.6 DIRECTION GAUGE: there are two options for trucks equipped with a steering
angle direction gauge. This setting permits the indicated turning direction dis-
played on the gauge to be reversed.
- OPTION #1 = Output on Pin 14 of connector E on the motherboard connector
varies from 4 VDC for STEER MAX condition to 0 VDC for STEER MIN condi-
tion.
- OPTION #2 = Output on Pin 14 of connector E on the motherboard connector
varies from 0 VDC for STEER MAX condition to 4 VDC for STEER MIN condi-
tion.
Page 65
MENU
.7 SPECIAL POT ADJ: this special option provides additional assistance in the
adjustment of the steering angle feedback pot. When set ON, an ADJ. ZERO
POT alarm occurs immediately. Ignore it. The important thing is that the FEED-
BACK POT hand set reading is for AC/DC converted value from the steering angle
feedback pot. that is used in wire guidance. The SPECIAL POT ADJ feature of
the ZAPI hand set is useful in adjusting trimmers TM10 and TM7 on the wire
guidance card.
TM10 Travel 10 meters in drive wheel direction on wire guidance. If TM10 is not
correctly adjusted the truck will travel parallel to the guide wire some
distance. If this is the case, use the ZAPI hand set on SPECIAL POT ADJ
setting. Immediately an alarm (ADJ. ZERO POT) occurs and the steering
wheel position is frozen. You may regulate TM10 to give the minimum
voltage possible on Test Point 6 (TP6) corresponding to a straight drive
wheel position.
TM7 Drive the truck in the manual mode close to the guide wire. Rotate the
steer handle until the drive unit has reached the maximum absolute angle
allowed in wire guidance mode. Set SPECIAL POT ADJ to "ON" using the
ZAPI hand set. Immediately an alarm (ADJ. ZERO POT) occurs and the
steering wheel position is frozen. Using ZAPI hand set, read the
FEEDBACK POT value and adjust TM7 to obtain a feedback pot value of
4.5 VDC (or 0.5 VDC if the chosen direction of steering is below 2.5 VDC.)
Note: FEEDBACK POT value is 2.5 VDC for steering straight ahead with a
correctly adjusted TM10. The value of FEEDBACK POT will increase
for clockwise drive unit steering and decrease for counterclockwise drive
unit steering. FEEDBACK POT measures steering angle feedback
pot. voltage in automatic (wire guidance) mode and manual mode.
Since these measurements are very different, do not confuse the
manual mode reading with the automatic mode reading. There is a
special exception. When "SPECIAL POT ADJ" is set to "ON",
FEEDBACK POT measures the automatic mode reading even with
the steering in manual mode. Since only one trimmer is provided for
the two directions of drive unit steering, the ZAPI hand set is used to
separate them (see 12.3.9 ÷ 12.3.10).
.8 SYSTEM CONFIG: use with all steering options. There are four possible settings:
- LEVEL = 0 = Tach-generator steering plus wire guidance.
- LEVEL = 1 = Tach-generator steering plus automatic centering.
- LEVEL = 2 = Pot steering plus wire guidance.
- LEVEL = 3 = Pot steering plus automatic centering.
- LEVEL = 4 = Encoder plus wire guidance.
- LEVEL = 5 = Encoder plus automatic centering.
In the event that only the manual mode is required, the choice of the level can be
made taking into account only the manual steering command (either
tachogenerator or potentiometer). For instance, if the steering command is the
tachogenerator and no other functions are required, one of the two levels "0" or
"1", can be chosen.
Page 66
MENU
.9 ANTENNA REF SEL: use with wire guidance option. It selects which antenna
signal must be used to supply the feedback pot.
- OPTION #1 = The pot. is supplied with the antenna signal corresponding to the
direction of travel actually selected. (Recommended choice).
- OPTION #2 = The pot. is supplied with the FWD (drive unit) antenna signal.
- OPTION #3 = The pot. is supplied with the REV (load wheel) antenna signal.
.10 AUTO INP ACTIVE: use with all steering options. It sets the active logic level (or
edge) for the automatic mode request (AUTOSEL). It is common for both wire
guidance or automatic steering centering requests.
- OPTION #1 = External automatic request is active LOW ("LOW" means lower
than +4 VDC).
- OPTION #2 = External automatic request is active HIGH ("HIGH" means higher
than +5 VDC).
- OPTION #3 = The external automatic request is active for falling edge of odd
numbering (i.e., the first falling edge is for automatic, the second is return to
manual, the third is for automatic, etc.)
- OPTION #4 = The external automatic request is active for rising edge of odd
numbering (i.e., the first falling edge is for automatic, the second is return to
manual, the third is for automatic, etc.)
Page 67
MENU
12.7 CONFIG MENU: "ADJUSTMENTS" FUNCTION LIST

The ADJUSTMENTS functions list is a slightly different between tacho-generator and
pot. steering options. Tacho-generator has BATTERY TYPE and pot. has ZERO SP.
POT. Settings are for parameter values unique to specific applications. To locate each
function inside its host menu see the functions maps (paragraph 12.1 and 12.2). A
description of each function is given below.
.1 SET STEER 0-POS: this parameter only needs to be set for the pot. steering
option. It is used to set the steering angle feedback pot. wiper voltage corre-
sponding to the center position of steering for the manual steering mode. The
steering handle must be released when adjusting this parameter.
Adjust by entering SET STEER 0-POS and pressing Enter (3) again. The default
value is 2500.0 mV. You may roll the value up and down using the (5) and (6)
keys in 5 mV increments. (An higher value turns the truck in the clockwise direc-
tion when travelling in frontal direction with respect to the driving seat).
.2 SET STEER MIN: it is used to adjust the scaling of the 90 degree rotation of the
MDU, corresponding to a complete counterclockwise handwheel rotation, for use
with the LED steering angle indicator gauge and for other software functions that
require full scale range of steering.
Adjust with guidance in Manual Mode after completing 2ND SPEED FINE and
2ND SPEED COARSE adjustments. Turn the handwheel completely
counterclockwise and with the SET STEER MIN in the ZAPI hand set display,
push the ENTER (3) button. The display changes to the present feedback pot.
value. Push the ENTER (3) button again to memorize this new reading.
.3 SET STEER MAX: it is used to adjust the scaling of the 90 degree rotation of the
MDU, corresponding to a complete clockwise handwheel rotation, for use with the
LED steering angle indicator gauge and for other software functions that require
full scale range of steering.
Adjust this setting with guidance in Manual Mode after completing 1ST SPEED
FINE and 1ST SPEED COARSE adjustments. Turn the handwheel completely
clockwise and with the SET STEER MAX in the ZAPI hand set display, push the
ENTER (3) button. The display changes to the present feedback pot. value. Push
the ENTER (3) button again to memorize this new reading.
.4 ZERO SP. POT: it is used to capture the zero setting of the steer handle pot. for
manual mode steering.
Adjust this setting by releasing the steer handle on a pot. steered truck. With
ZERO SP. POT in the display, press ENTER (3) button on the hand set. The
display changes to the present steer handle pot. voltage. Press ENTER (3) button
again to memorize this new reading.
Page 68
MENU
.5 ZERO AUTO FB: this setting is used for wire guided operations. It is used to
modify the 2.5 V default value used to calculate POT OUT OF RANGE limits. The
alarm situation occurs if:
1) the FEEDBACK POT in wire guidance state is over ZERO AUTO FB plus the
set limit. The set limit is 1 VDC if UPPER ERROR POT parameter is set to 0
and the set limit is 2 VDC if the UPPER ERROR POT parameter is set to 8.
2) the FEEDBACK POT in wire guidance state is less than ZERO AUTO FB minus
the set limit. The set limit is 1 VDC if LOWER ERROR POT parameter is set to
0 and the set limit is 2 VDC if the LOWER ERROR POT parameter is set to 8.
Only a small modification of the 2.5 VDC default value is permitted (2.5 ± 0.4
VDC). To adjust this setting, be sure that the truck is in wire guidance mode and
the drive unit is straight ahead. With ZERO AUTO FB on the display of the hand
set, push ENTER (3) button. The display changes to the current AC/DC con-
verted steering angle pot. feedback voltage. Push ENTER (3) button again to
memorize this new reading. This memorized value is only used to modify the POT
OUT OF RANGE limits.
.6 SET BATTERY TYPE: it is used by software to scale the tach-generator signal
with the battery voltage. The higher is the battery voltage, the higher is the
software controlled voltage to the steer motor must be for the same tacho-genera-
tor rotation speed. There are nine values; 12, 24, 36, 40, 48, 60, 72, 80, and 96
available. The desired value is selected by rolling up or down (pressing the 5 or 6
button) until the desired value is displayed. Then push the OUT (4) button and
then ENTER (3) button to save the selected value.
Page 69
MENU
13 SAFETY CONTROLS AND THEIR USE
13.1 SAFETY CONTROLS IN MANUAL STEERING

Six malfunctioning conditions are tested on electric manual steering:
a) Safety on reclosing the internal current loop.
b) Safety on failures of the steering DT (tach generator manually controlled steering)
c) Safety on pot. wires cut off (in pot. controlled manual steering)
d) Safety on the presence of steering current when the truck is at rest
e) Safety on a locked feedback pot. voltage (pot. controlled manual steering only)
f) Crossed diagnosis between master and supervisor microcontroller.
Here is a detailed look at them.
a) The functional diagram of the unit follows
Fig. 13.1.1
Reclose internal current loop verifies in real time the current set point (I*) and the
real current of the motor (I) have the same sign.
Since this internal current loop includes the power section and the motor itself, a
defect in either of these will cause this alarm.
WARNING: This alarm is unwillingly activated even though while the steering
motor is running, absorbs less than 6% of IMax. This possibility is excluded by
setting IMax to appropriate values for the power capacity required by the geared
motor.
P REQ
Approximately: I M A X = ⋅3
V BATT
b) The safety on DT failures detects the presence on the line of DT resistance.
This is possible having introduced it as a load for an astable oscillator.
It is therefore possible to detect defects due to disconnection and short
circuiting the DT.
c) The safety on pots cut off operates searching for either higher than 4.9 VDC or
less than 0.1 VDC on the wiper pins of the pots. In fact, each pot is polarized
with a couple of resistance that confine its center points inside the two limits
specified above if the pots correctly connected (see fig. 11.2.1.1).
d) The microprocessor logic continuously tests the current sensor output at rest
and finding to be other than zero, causes an alarm.
Page 70
MENU
e) If the steering angle feedback pot. voltage does not change for more than 0.5
seconds after there has been a change in the steer handle pot, then an FB
POT LOCKED alarm occurs.
f) Each microcontroller independently reads the command input (tach-generator
or pot) and calculates a consequent controlling action. While the master gen-
erated action becomes the executive, the supervisor's is just for a matching
comparison. As each microcontroller receives both its own and the other
microcontroller's values, if they are mismatched each microcontroller may open
its own alarm switch
All six of these alarm conditions make a relay to open removing the negative
enable to the traction controller.
13.2 SAFETY DEVICES IN AUTOMATIC STEERING.

Four malfunctioning conditions are tested in automatic (guided mode) steering:
a) Failure due to a persistent wire guidance error detected by the difference between
leading antenna signal and feedback pot. voltage (LOOP alarm).
b) Large leading antenna lateral shift (LATERAL OUT alarm).
c) Large drive unit steering angle in guidance mode (POT OUT OF RANGE alarm).
d) Small (or no) induced signal on the leading antenna (PATH alarm).
Each condition is described in more detail below.
a) In guided mode, the operating logic expects to neutralizing the error from the
steering antenna with a change in steering angle. The outcome is, that apart from
a certain transient, the system moves so quickly that the automatic steering error
remains close to zero.
Fig. 13.2.1
If the system fails to accomplish this condition due to a malfunction this alarm is
activated.
b) If, during guided mode, the leading antenna comes off the guide wire to the side
by a margin greater than set with TM8 (wire guidance card trimmer) and with the
ZAPI hand set, then this alarm occurs immediately.
c) If, during guided mode, the drive unit steering angle is greater than the one set
with TM7 (wire guidance card trimmer) and the ZAPI hand set, then this alarm
occurs immediately.
d) If the leading antenna signal goes to or near zero, this alarm condition occurs
immediately.
Any one of these alarm conditions make a relay to open removing the negative enable
to the traction controller.
Page 71
MENU
14 PERIODICAL MAINTENANCE TO
Every 3 months perform the following checks:
- Check main remote control switch contact wear. Replace when contacts are worn.
- Check mechanical movement of main remote control switch contactor. It must be
free and not jammed up.
- Check power wiring going to the battery and steering motor. The terminals must be
tight and firmly connected. The insulation must be sound.
All work must be performed by qualified trained personnel. All replacement parts must
be genuine OEM parts.
Any potential problem discovered by the service technician periodically checking the
equipment that could lead to additional vehicle damage must be communicated to ZAPI
technical staff or the technical sales network so that corrective action and appropriate
decision regarding continued operation of the equipment can be made.
If a user detects a steering or guidance problem, it is the user's responsibility to remove

the truck from service, tag it, and notify a service technician for corrective action. If an
alarm is sounding he must record the number of beeps in each burst and the condition
of the AUTOLED and MANLED (lit or unlit) prior to turning the truck off with the key
switch, opening a side gate, or changing the position of the guidance switch
(AUTOSEL) on the console.
IN THE EVENT OF TROUBLE WITH THE ELECTRICAL EQUIPMENT

MAKING IT DANGEROUS TO USE THE VEHICLE, THE USER MUST NOT
USE IT.
Page 72
MENU
ELECTRONIC INDUSTRIAL DEVICES

42028 - POVIGLIO - (R.E.) - Via Parma, 59 - ITALIA
Tel. (0522) 960050 (r.a.) - Tlx. 530021 AINDRE I - Fax (0522) 960259
TECHNICAL DOCUMENTATION
DC-EPS POWER STEERING +
ACSZPB0B WIRE GUIDANCE CARD

Eps DC 406d9d69f5

Uploaded by

Copyright:

Available Formats

Eps DC 406d9d69f5

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Eps DC 406d9d69f5

Uploaded by

Copyright:

Available Formats

MENU

9 Wire guidance card ACSZPB0B ................................................................. 42

COMPANY DEPT. SERVICES MANAGEMENT EXECUTIVE

ENGINEERING SECTION EXECUTIVE

Publication No. ACSZP0CA

EQUIPMENT FOR ADJUSTMENT

The automatic wire guidance system includes:

1.1 TWO INDUCTIVE WIRE SENSORS (ANTENNAS)

1.3 STEERING SERVO MOTOR CONTROL UNIT

1.4 OPERATOR CONSOLE

1.5 STEERING SERVO MOTOR

1.6 STEERING HANDLE

2.1 BATTERY VOLTAGE RANGE

2.2 STEER MOTOR CURRENT RANGE

2.3 GUIDE WIRE SIGNAL

Other frequencies are possible especially including:

Other frequencies are possible such as 7 and 10 kHz.

As the guidance frequency changes, a non-standard guidance card (ref. ACSZPBOB)

Ifd = If0 + (((f0 - fd)/f0) x If0)

If0 = Current at 6.25 kHz (78 mA RMS)

2.4 COMMAND DEVICE SPECIFICATIONS

2.4.1 TACHO GENERATOR

3.1 STEERING REDUCTION RATIO

3.2 STEERING ANGLE FEEDBACK POTENTIOMETER REDUCTION RATIO

3.3 INSTALLING ANTENNA

4.1 AUTOMATIC WIRE GUIDED STEERING

4.2 MANUAL STEERING WITH TACHO GENERATOR

4.4 WIRE GUIDED STEERING OPERATING SEQUENCE

Manual Steering Mode - All steering input is controlled by the operator.

4.5 REAL TIME RUNNING CICLE FLOWCHART

5.1 JUMPER CONFIGURING

5.1.1 WIRE GUIDED CARD (ACSZPB0B) JUMPER.

5.1.2 MOTHERBOARD (ACSZPA0B) JUMPERS.

5.2 POWER CONNECTION DIAGRAM

The functional diagrams concerning the possible configurations are shown.

5.3 TACHO HANDWHEEL STEERING PLUS WIRE GUIDANCE

5.3.1 INTERFACE DESCRIPTION:

k) Pin 6 and 15 of connector E on the mother board are internally connected to a

5.4 TACHO-GENERATOR STEERING WHEEL AND AUTOMATIC CENTERING

5.4.1 INTERFACE DESCRIPTION:

5.5 POT. (RETURN-TO-CENTER) CONTROLLED STEERING PLUS WIRE

5.5.1 INTERFACE DESCRIPTION:

k) Pin 6 and 15 of connector E on the mother board are internally connected to a

5.6 POT. (RETURN-TO-CENTER) CONTROLLED STEERING

5.6.1 INTERFACE DESCRIPTION:

5.7 ONE SHOT INSTALLATION PROCEDURE

STEP 6 - GUIDANCE ONLY - ANTENNA CONNECTIONS

6 DESCRIPTION OF MOTHERBOARD CONNECTION

This section describes connectors D and E on the mother board

6.1 MOTHERBOARD CONNECTOR D DESCRIPTION

6.1.1 AUDIBLE AND VISUAL SIGNALS (MANLED, AUTOLED, BUZZER, +12V)

6.1.4 CONNECTIONS TO THE DRIVE SYSTEM (MA, MI, A1, A2).

6.2 MOTHERBOARD CONNECTOR AND DESCRIPTION

7 DESCRIPTION OF WIRE GUIDANCE CARD CONNECTIONS

7.1 EIGHT PIN GUIDANCE CARD CONNECTOR

8 SETTING MOTHERBOARD ACSZPA0B

MOTHER BOARD POTENTIOMETERS AND ZAPI HAND SET

8.1 SETTING THE MAXIMUM CURRENT (IMAX.)