Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE Manual, os 30
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24 NOVEMBER 2015
8 — VCL
uses the same Put_PWM() and Automate_PWM() used by these other drivers.
e scaling is 0–10 V = 0–32767.
Put_PWM(PWM6,6553)
will generate 2.0 volts at the analog output. VCL can monitor this output using
the variable Analog_Output.
INTERFACING THE THROTTLE AND BRAKE COMMANDS
VCL can interface and modify the throttle and brake signals at several points, from
the potentiometer to the final motor controller command. VCL can be used to
create a completely unique command, adjust parameters to provide MultiMode,
or modify the throttle command based on steering angle, height, etc.
e throttle and brake signal chains within the controller are sophisticat-
ed and exible. Before applying VCL to modify these chains, it is important
to fully understand the ramifications of these changes. e motor command
diagram is presented in Figure 15.
Throttle Processing
e top of Figure 15 shows the throttle processing section. e throttle signal
chain ows left to right starting with the physical throttle pot. e voltage on
the throttle wiper input (pin 16) is input into the controller and has the VCL
variable name rottle_Pot_Raw which is displayed in the Monitor » Inputs
menu of the 1313/1314 programmer. is throttle signal is then modified by
the rottle Type Processing and rottle Mapping blocks.
e rottle Type Processing block combines the rottle_Type param-
eter (see page 44) and the throttle potentiometer input (rottle_Pot_Raw)
to create a 16-bit variable containing the magnitude of the raw command.
is raw command passes to the rottle Mapping block, which re-shapes the
throttle signal magnitude and direction based on the various rottle Menu
parameters (see pages 44–46) and the direction inputs.
Following the rottle Mapping block are two switches whose purpose
is to give the throttle signal a small value (1 for the forward switch, and -1 for
the reverse switch) to indicate that a direction switch is On—but only if the
throttle signal output from the rottle Mapping block = 0.
e signal then passes through a selector switch. If the rottle_Type
parameter is set to 5 (rottle Type = VCL input, see page 44), the rottle
Mapping block output signal is ignored and the command comes from the
VCL variable VCL_rottle. e VCL program manipulates the VCL_rottle
variable to get a throttle command. When the rottle Type is set to 1–4, the
variable VCL_rottle does nothing, and the rottle Mapping block output
signal passes through.
After the “rottle Type = 5” switch, the throttle signal is modified by the
multiplying and summing nodes. ese nodes can be adjusted by VCL through
the variables rottle_Multiplier and rottle_Oset. is is the basic input
point for creating functions like MultiMode, dual drive algorithms, and height
vs. speed control. Note that the throttle multiplier has a built-in “divide by 128.”
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