Model 9600/9700 Swing-Reach ® Lift Truck

counterclockwise rotation to the Steer Power Amplifier (SA). The SA drives the Steer Motor to obtain the movement requested from the tiller.

The TM monitors steer current, the Steer Motor Encoder, Steer Home Prox, and Neutral Pulse to determine that the steering system is operating correctly. When the deadman is pressed, the TM energizes the STR contactor, providing B+ to the SA to power the Steer Motor.

Guidance Overview

When the truck is in the wire guided mode, steering functions the same way as when in manual steering mode with one exception. Steering requests do not come from the CM when in wire guided mode as they do in manual steering. In the wire guided mode, steering requests originate in the GM rather than from steering encoder. To switch from manual steering to the wire guided mode, several events must occur. First, the CM must detect the Auto/Manual switch (S4) is open (Auto position). Next, the CM must advise the TM that S4 is open. When the TM is advised that S4 is in the Auto position and aligning, it transfers steering control from the Steering Encoder to the GM. The GM calculates the position of the truck relative to the wire and advises the TM what direction and how far to steer the drive unit. During wire guided operation, the GM constantly updates the TM with corrections since the trucks position relative to the guide wire constantly changes. If the truck exceeds the deviation values for Distance from Wire (DFW - how far the truck is from the wire) or Heading Angle (HA - angle of the truck to the wire) that are set in Configure, the GM informs the TM to slow or stop the truck, depending on the magnitude of the deviation.

Functional Description

During normal manual steering operation, the CM is in constant communication with the TM, updating the TM with the status of the components connected to it such as switches, the control handle, and the Steering Encoder. Likewise, the GM is cons tantly attempting to

Publication: 1089040, Issued: 08 Apr 2016