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ZAPI driver -ACECOMBIX

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I/O sensor configuration Description

ZAPI driver -ACECOMBIX

1. Scope of Application

This article is relevant for debugging and configuring ZAPI-COMBIX Drives.

Second, Debugging Resources

Tools for Debugging:

Debugging through the handheld side of the ZAPI drive.

For connection and debugging methods, please refer to the Smart Console User Guide - Easy Operation Version (Chinese) V0.0.pdf

Step Three: Wiring and Parameter Modification

3.1 Electrical Connection

Connect the driver cables in accordance with the electrical diagram of the vehicle.

Notice:

The electrical wiring diagram for the same driver may vary for different forklifts. Therefore, refer to the actual electrical schematic diagram for accurate information.

3.2 Parameter Modification Procedure

ConnectionSmart ConsoleHand End

Connect the handheld end to the ZAPI and note the distinction between CANH and CANL above the drive when using the smart Console.

Modify the parameters based on Step 4: Drive Configuration Parameters.

3.3 Attention Items

Note:

When connecting to the smart Console, always check the connections for CANH, CANL, and F2A to ensure they are correct.
Make sure to select the correct baud rate for the connection.

Four, Drive Configuration

4.1 Modification of ZAPI driver kinematic parameters

Issue: The vehicle is unable to move when in normal condition and at normal speed. Upon inspection, the speed sent by the SRC controller is normal and the ZAPI driver has driving current output, but the motor remains in a state of blocked rotation.
Parameter location in menu:MAIN MENU - HARDWARE SETTING

Parameter modification:

Change the SAT FREQUENCY to 160HZ;
Change the BRAKING MODUL to 150HZ;
Adjust BOOST AT HI FREQ to 63%;
Set BOOST CORNER FRE to 60;
Set MAXSLIP 0 to 4;
Set MAXSLIP 1 to 9;
Set FREQSLIP 1 to 25;
Set MAXSLIP 2 to 8;
Set FREQSLIP 2 to 45;
Set MAXSLIP 3 to 8;
Set FREQSLIP 3 to 50;
Set MAXSLIP 4 to 10;
Set FREQSLIP 4 to 55;

Notice:

Modify the parameters on the left side of the parameter list to match the parameters in the red box on the right. This will resolve the issue of motor rotation being blocked due to low speed torque.
If the ZAPI driver is still outputting drive current but the motor remains locked, adjust the parameters as described above.

4.2 ZAPI Driver Proportional Valve Parameters Modified

Addressing issues during the descent process, such as fork jitter and unstable control speed of the proportional valve, parameters were adjusted based on existing analysis. However, after adjusting these parameters, the issue of the control proportional valve not responding well to delivery speed remained unresolved.

The parameter can be found in the following menu location: MAIN MENU - SPECIAL ADJUSTMENTS

Change the value of MINEVP to 6.3;
Change the value of MAXEVP to 70.2;
Set the value of EVP OPEN DELAY to 0;
Set the value of EVP SHUT DOWN DELAY to 0;
The DITHER AMPLITUDE [high-frequency oscillation amplitude] should be set to 0;
The DITHER FREQENCY [high-frequency oscillation frequency] should be set to 83.3. If jitter occurs, change this value to 41.6;