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6 — COMMISSIONING

pg. 149

Return to TOC Curtis AC F4-A Motor Controller – August 2020

• Once the Kp setting for marginal stability is found, reduce the Kp value by about one-

third (i.e., nal Kp = marginal stability Kp * 2/3).

• If using Speed Mode Express, enter this Kp value for the Kp parameter in the Speed

Mode Express menu.

• Set the Max Speed, Accel/Decel, Soft Stop Speed, Position Hold, and Brake Type

parameters back to their original values.

e. In the Speed Mode » Response menu, adjust the Accel and Decel Rate parameters as necessary

while moving the throttle to dierent positions (i.e., neutral to full throttle, half throttle to full

throttle, full throttle to half throttle, full throttle to neutral, neutral to low throttle, etc.).

f. In the Speed Mode » Response menu, adjust the remaining brake rate parameters as necessary

while reversing the throttle input (i.e., full throttle forward to low throttle reverse, full throttle

forward to full throttle reverse, full throttle reverse to low throttle forward, etc.). If a brake input

is present in the application (Brake Pedal Enable = On) continue adjusting these brake rates by

applying dierent amounts of brake throttle (i.e., full throttle forward, then apply full brake or

full throttle forward, then apply low brake, etc.).

g. e parameters in the Speed Mode » Response » Fine Tuning menu typically do not need to be

changed as the default values work well in most applications.

Other Parameter Tuning

Set the Speedometer/Odometer. Refer to the Application Setup » Vehicle menu.

Helpful hints:

(1) Set the Speed to RPM parameter by using the Distance Since Stopped variable to cover a known

distance (e.g., 50 feet). Adjust the Speed to RPM parameter until Distance Since Stopped value

matches the known distance.

(2) Use the Distance Since Stopped variable to verify the vehicle tire’s rolling diameter based upon

a rollout measurement for the tire/wheel combination and the Speed to RPM parameter.

• Tire Circumference (C) = Distance/wheel-revolutions.

• Diameter (d) = C/Π. Π (pi) = 3.14159.

Quick Link:

Vehicle menu p.80

Curtis Instruments AC F4-A User Manual

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