User manual

Page - 24/89 AE9ZP0BD - DUALAC2/&HP/POWER - User Manual
5 OPERATIONAL FEATURES
- Speed control.
- Optimum behaviour an a slope due to the speed feedback:
- the motors speed follows the accelerator, starting a regenerative braking
if the speed overtakes the speed set-point.
- the system can perform an electrical stop on a ramp (the machine is
electrically hold on a slope) for a programmable time (see also chapter
8.4).
- Stable speed in every position of the accelerator.
- Electronic differential feature with torque balance between external and
internal wheel.
- Regenerative release braking based upon deceleration ramps.
- Regenerative braking when the accelerator pedal is partially released
(deceleration).
- Direction inversion with regenerative braking based upon deceleration ramp.
- Regenerative braking and direction inversion without contactors: only the
main contactor is present.
- The release braking ramp can be modulated by an analog input, so that a
proportional brake feature is obtained.
- Optimum sensitivity at low speeds.
- Voltage boost at the start and with overload to obtain more torque (with
current control).
- The inverter can drive an electromechanical brake.
- Hydraulic steering function:
- the traction inverter sends a "hydraulic steering function" request to the
pump inverter on the can-bus line.
- moreover, if the pump inverter does not manage the steery function,
because it is managed by a motor other than the main hydraulic motor,
the traction inverter can manage an "hydraulic steering function" by
driving a hydro contactor which drive a hydraulic steering motor (output
C31).
- Backing forward and reverse options are available, with the tune and the
speed of the function programmable with Zapi handset.
- High efficiency of motor and battery due to high frequency commutations.
- Modification of parameters through the programming console.
- Internal hour-meter with values that can be displayed on the console.
- Memory of the last five alarms with relative hour-meter and temperature
displayed on the console.
- Diagnostic function with Zapi handset for checking main parameters.
- Built in BDI feature.
- Flash memory, sw downloadable via serial link and via CANBUS.
- Canopen interface available.
5.1 Diagnosis
The microcontrollers continually monitor the inverter and carry out a diagnostic
procedure on the main functions. The diagnosis is made in 4 points.
1) Diagnosis on key switch closing that checks: watchdog circuit, current
sensor, capacitor charging, phase's voltages, contactor drivers, can-bus
interface, if the switch sequence for operation is correct and if the output of
accelerator unit is correct, correct synchronization of the two µCS, integrity of