Today's festivities will include the "learn steer":procedures outlined in my rough notes from the manual:

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EASiTM Orderpicker Maintenance Manual Systems Overview Modes of Operation LEARN Steer ACAUTION Run LEARN Steer to calibrate the steer motor Prior to LEARNing height and weight, the vehicle should be placed in an arearcuits. where the platform is able to lift beyond the upper mast reference switch (156 ir [396 cm] plus the height of the carriage) assembly with the electronic steering control NOTE: Before beginning this portion of LEARN jack the tractor up so the drive tire is off the floor When HT/WT is selected, the following message appears A WARNING CARRIAGE WILL AUTOMATICALLY LIFT/LOWER BETWEEN THE REFERENCE SWITCHES Use extreme care whenever the truck is acked up for any reason. Never block the truck between the telescopic and the floor. Use a suitable hoist to stabilize the mast. Keep hands and feet clear from beneath the vehicle while jacking. Use jack stands or solid blocks to support truck do not rely on jacks. Refer to page 2-11 The operator is prompted as follows STEP ON DEADMAN TO BEGIN This message will scroll continuously until the operator steps on the deadman. After the operator steps on the deadman, the carriage will immediately begin to lift. The display will continuously scroll the following message TO ABORT, STEP OFF DEADMAN 1. Select STEER from the LEARN menu. The If all the parameters measured during LEARN are within tolerance, the following message will following message will appear: JACK UP DRIVE UNIT AND BLOCK VEHICLE READY? appear 2. After the f truck is jacked and blocked, press ENTER. The following message will DONE LEARNING HEIGHT AND WEIGHT If, at any time during LEARN, the operator steps off the deadman pedal or th outside a tolerance, the following message appear: e measurements fall STEP ON DEADMAN TO START TEST 3. After the deadman is depressed, the following message is displayed: appears UNABLE TO LEARN... LOWER THEN PRESS ENTER TO LEARNING STEER UNIT, TO ABORT PRESS ENTER CONTINUE For optimum responsiveness of the steering, the ESM needs to know the power required to move the drive unt and the speed at which the drive unit rotates when steering. During LEARN Steer, the ESM calibrates its steer motor contro. If the failure is not the result of stepping off the deadman, attempt to learn again. If repeated attempts to learn fail, run tests:. Test A05 Pressure Sensor Voltage (Page 6-121) circuits to the individual characteristics in the steer system to optimize the operation of the steering.. Test 100 Lower Mast Reference Switch (Page 6-148) The following is a description of what occurs during LEARN Steer Test 101 (Page 6-149) Test 110 Display Flow Sensor Count (Page 6-156) (use active maintenance) 1 Upper Mast Reference Switch. The CCC informs the ESM via BUS+/- to begin LEARN Steering. The ESM Auto Steer centersthe drive unit. PDMM-0101, Issued: 6/18/03 3-15...

Sounds like fun, doesn't it?