User manual

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The two graphs show the output voltage from a non-calibrated potentiometer with
respect to the mechanical “zero” of the control lever. MI and MA indicate the point
where the direction switches close. 0 represents the mechanical zero of the
rotation.
The Left Hand graph shows the relationship of the motor voltage without signal
acquisition being made. The Right Hand Graph shows the same relationship after
signal acquisition of the potentiometer.
3.3 Other analog control unit
1) Input C18 is an analog input, whose typical application is for proportional
braking. It should be in a 3 wire configuration. Potentiometer value should be
in the 0.5-10 kohm range. Generally, the load should be in the 1.5 mA to 30
mA range.
The CPOTB (C18) signal range is from 0 to 5 V or from 0 V to 10 V.
2) Connections C25 (PTHERMR) and C24 (NTHERMR) are used for the right
motor thermal sensor. Connections C35 (PTHERML) and C34 (NTHERML)
are used for the left motor thermal sensor. Sensors can be digital (on/off
sensor, normally closed) or analog. See also chapter 8.4 for more
explanation.
3) In the versions with integrated pump chopper (DUALAC2&HP and
DUALAC2&HP POWER), it is possible to input to the controller an analog
signal for proportional lifting. This input will be the output of a potentiometer
(3 wires, resistance in the 1 to 10 kohm range) or of a Hall Effect device; the
load must be below 10 mA. CPOTLIFT (D9) signal has to be within the 0 to
10 V range.
3.4 Speed feedback
The traction motors control is based upon the motor speed feedback. The speed
transducer is an incremental encoder, with two phases shifted at 90°. The
encoder can be of different types :
- power supply: +5 V or +12 V
- electric output: open collector ( NPN or PNP), push-pull
For more details about encoder installation see also chapter 4.2.5.
3.5 Steering angle transducer
Angular position of steered wheels is transduced to an electric information
(voltage) by means of a potentiometer, with following characteristics:
- resistance in the 2 kohm to 20 kohm range;
- suggested rotation electric angle: at least 300°;