7ST30I00_E_2_S

DATE : 08/01/2007

REV. 2.0

7ST30I00
ELECTRIC STEERING SYSTEM CONTROLLER

- USERS GUIDE -

08/01/2007

7ST30I00_E_2_S

- INTRODUCTION The controller 7ST30I00 is a 4 quadrant driver for PMDC gearmotors powered by battery 24V or 36V that provides a position control by mean of a reference signal (joystick) and a feedback signal (optical encoder on the steering system axe or on the steering gearmotor) . The driver is equipped with a powerful microprocessor for digital control of the gearmotor (position, speed, acceleration, current) , failures and diagnostics analysis of the system and programmation. The power stage is an H bridge configuration that operates with the PWM technology at 16 KHz. The driver is designed in accordance with the most important EC standards.

FEATURES
POWER SUPPLY BATTERY RATED CURRENT MAX CURRENT FREQUENCY HEATSINK MAX TEMPERATURE OPERATING TEMPERATURE ENCODER 24 V (p/n. ) - 36V (p/n 7ST30C00 ) 10 ADC 30 ADC ( Ta = 25 C) 16KHz 90 C -10 C / 40 C - 2 channels encoder ( mounted on the steering gearmotor ): CH-A and CH-B ( position control ) - 3 channels encoder ( mounted the steering axe ): CH-A and CH-B ( position control), CH-C ( zero position reference) Relay output (free contacts) for external enable : excited when running OK. Programmable dead band in middle position of the joystick for better straight direction. 2 Sensibilities of the steering proportional to the speed Not linear response option: more accuracy near central position than maximum right or left position Breaking wires, wrong connection of the encoder and steering motor, loose of encoder pulses. JOYSTICK 5 K 160 X 95 X 65 (H) mm - OUTPUT SHORT CIRCUIT PROTECTION - MOSFET SHORT CIRCUIT PROTECTION - THERMAL PROTECTION - REVERSE BATTERY PROTECTION - OVERLOAD MOTOR PROTECTION - AUTO RE-CENTER ( only with the 3 channels encoder ) - MICROPROCESSOR RUNNING OK CONTROL

ALARM RELAY STEERING SENSIBILITY

JOYSTICK FUNCTION ENCODER SAFETY POSITION REFERENCE SIZES PROGRAMMABLE PARAMETERS SAFETY

08/01/2007

7ST30I00_E_2_S

MECHANICAL DRAWING

Measures are in mm.(inch).

picture 1

08/01/2007

7ST30I00_E_2_S

WIRING DIAGRAM

POWER WIRES OTHER

: 2,5 mm2 (rated current < 32A) - 4 mm2 (rated current < 32A) 6 mm2 (rated current < 40A) - 10 mm2 (rated current < 63A) : 0,25-1 mm2

08/01/2007

7ST30I00_E_2_S

- I/O CONNECTOR 16v Molex connector (Molex p/n.39012160, contacts p/n.39000038)

Pin 1: N.O. RELE OUTPUT Pin 2: N.C. RELE OUTPUT

Open when running OK

Close when running OK

Pin 3: JOYSTICKS Y-AXIS INPUT Pin 4: RESET SWITCH INPUT

Travel speed reference from Joystick (open if not used). Steering center reset (open if not used) Joysticks negative supply

Pin 5: JOYSTICKS NEGATIVE SUPPLY OUTPUT Pin 6: JOYSTICKS X-AXIS INPUT

Steering reference

Pin 7: JOYSTICKS POSITIVE SUPPLY OUTPUT

Joysticks positive supply

Pin 8: OPTIONAL OUTPUT Pin 9: COMMON RELE

Active Low 2Amps max ( short circuit protected ) + internal Diode

Common Alarm relay contact Connection for the diagnostic Blinking Led indicator (5Vdc-10mA) output : the number of blinks means the alarm type (example 5 blinks means Alarm 5).

Pin 10: ALARM LED OUTPUT

Pin 11: OPTIONAL INPUT Pin 12: MODE 1-2 SWITCH

Mode1-2 input: Mode 1 or 2 selection (open if not used) Negative voltage (-M) in FORWARD direction traction motor wire input (open if not used) Positive voltage( +M ) in FORWARD direction traction motor wire input (open if not used)

Pin 13: TRAVEL MOTOR VOLTAGE 1 (-M)

Pin 14: TRAVEL MOTOR VOLTAGE 2 (+M) Pin 15: KEY OUTPUT Pin 16: KEY INPUT
Key input

Key output (0,5A PTC protected)

08/01/2007

7ST30I00_E_2_S

4v Molex connector (Molex p/n.3901240, contacts p/n. 39000038)

Used for handheld programmer

CONNECTOR J4 (encoder input): Amp Modu 2 cod. 280360, contacts cod.182206/

PIN 1 2 3 4 5 6 WIRE BLACK YELLOW GREEN BLUE RED DESCRIPTION Encoder negative (black) Encoder CH B Encoder CH A Encoder CH - C Encoder power supply FUNCTION 0V Channel B : 2000 pulse/revolution Channel A : 2000 pulse/revolution Zero position : 1 pulse/revolution + 5V

picture 3 M5 power screws (M5)

+ B: - B: M1: M2:

Positive DC power supply input, Negative DC power supply input, Positive Motor output ( in forward direction ), Negative Motor output ( in forward direction ),

08/01/2007

7ST30I00_E_2_S

PARAMETERS:

PARAMETER
RESET TO DEFAULT M1: MAX ANGLE M1: MAX SPEED M1: STEERING DEL M1: BW MAX ANGLE M1: FW MAX ANGLE M1: BW MIN ANGLE M1: FW MIN ANGLE M1: JOYSTICK P1 M1: JOYSTICK P2 M1: JOYSTICK P3 M2: MAX ANGLE M2: MAX SPEED M2: STEERING DEL M2: BW MAX ANGLE M2: FW MAX ANGLE M2: BW MIN ANGLE M2: FW MIN ANGLE M2: JOYSTICK P1 M2: JOYSTICK P2 M2: JOYSTICK P3 SPEED REFERENCE V MOTOR ADJ JOYSTICK ADJ DEC. SPEED REF. INC. SPEED REF. REF. DEAD BAND REF. CALIBRATION BATTERY VOLTAGE

DESCRIPTION
Reset to default parameters Drive wheel rotation angle. Max speed. Delay steering reference. Not used Y-axis voltage with max steering angle in forward. Not used Y-axis voltage with zero steering angle in forward. Joystick chart point 1. Joystick chart point 2. Joystick chart point 3. Drive wheel rotation angle. Max speed. Delay steering reference. Not used Y-axis voltage with max steering angle in forward. Not used Y-axis voltage with zero steering angle in forward Joystick chart point 1. Joystick chart point 2. Joystick chart point 3. Joystick reference ( = JOYSTICK ) or travel motor voltage reference ( = V MOTOR ). Input traction motor voltage adjust : max value Joystick reference adjust : max value Y-axis Delay on decreasing speed reference Delay on increasing speed reference Joystick dead-band X-axis Enable joystick calibration: Battery supply voltage

DEFAULT
0 72 66 300 100 100 150 150 24 48 68 72 90 300 100 100 150 150 24 48 68 VMOTOR 24.0 4.8 30 30 50 NO 24

08/01/2007

7ST30I00_E_2_S

PARAMETER
MAX CURRENT RATED CURRENT OVERLOAD TIME CENTER RESET NOT USED ACCES KEY POSITION GAIN INT SPEED LOOP PROP SPEED LOOP INT CURR LOOP PROP CURR LOOP J2 - PIN 4 J2 PIN 11 J2 PIN 12 # ENCODER PULSES MOTOR RPM GEAR RATIO CH C VIEWER NOT USED NOT USED NOT USED I ADJ

DESCRIPTION
Current limit [A] Imax Rated current In Overload protection [s] t Enable center position reset at next power-on: Access key for locked parameters. Position gain. Integral gain speed loop Proportional gain speed loop Integral gain current loop Proportional gain current loop Pin 4 of J2 input configuration. Pin 11 of J2 input configuration. Pin 12 of J2 input configuration. Number of encoders pulses/revolution. Gearmotors max RPM ( first axis ). Encoder-steering axe ratio. Channel C viewer enable. Not used Not used Not used Motor Current adjust

DEFAULT
20 8 20 0 --0 300 2 800 200 3000 TO GND TO GND TO GND 2000 4800 1 0 ------30