Curtis 1236SE User Manual

Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE Manual, os 30
32
24 NOVEMBER 2015
3 — PROGRAMMABLE PARAMETERS: Velocity and Acceleration Feedforward Parameters (SPEED MODE)
1 – SPEED MODE ACCELERATION FEEDFORWARD MENU [OPTIONAL]
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Kaff 0 – 500 A This acceleration feedforward term is designed to improve throttle
Kaff_SpdM 0 – 5000 responsiveness and speed controller performance at all speeds. It can be
0x3013 0x00 thought of as a “quick start” function which can enhance responsiveness
at all speeds.
Using your present accel and decel rates, observe the average
current you are running at full throttle at low speeds while accelerating
withoutloadonatground,andsetKaffto50–70%ofthatvalue.
Note: If any accel rate parameters get changed, this parameter will
need to be changed also.
Kbff
0 – 500 A This braking feedforward term is designed to improve braking
Kbff_SpdM 0 – 5000 responsiveness at all speeds.
0x3019 0x00 Using your present decel rates, observe the average current you are
running at full throttle braking, and set Kbff to that value.
Build Rate
0.1 – 5.0 s Determines how fast the Kaff and Kbff terms build up.
Acc_FF_Build_Rate_SpdM 100 – 5000 For traction systems, if you feel or hear the mechanical slop pick up
0x3095 0x00 abruptly when you move the throttle from neutral to a very small value,
slowing the build rate (i.e., setting it to a higher value) will soften the feel.
For a pump system, start with this parameter at the minimum setting.
Slowing it down (i.e., setting it to a higher value) will reduce speed over-
shoot if too much feedforward has been commanded.
Release Rate
0.1 – 5.0 s Determines how fast the Kaff and Kbff terms release. It should be set fast
Acc_FF_Release_Rate_SpdM 100 – 5000 enough (i.e., at a low enough value) to prevent the vehicle from running
0x3096 0x00 on after throttle release.
1 – SPEED MODE VELOCITY FEEDFORWARD MENU [OPTIONAL]
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Kvff 0 – 500 A This velocity feedforward term is designed to improve throttle responsiveness
Kvff_SpdM 0 – 5000 and speed controller performance, especially at low speeds.
0x3014 0x00 For traction systems, set it to 50–70% of the current needed to maintain a
verylowspeed,unloaded,onatground.
For a pump system, set it to the lowest load current (i.e., the current
running at the minimum load). Alternatively, the responsiveness of a pump
speedcontrolloopcanbesignicantlyenhancedbyusingaVCLprogramto
continuously update this parameter to the appropriate value as each pump
load is requested.
Build Rate 0.1 – 5.0 s Determines how fast the Kvff term builds up.
Vel_FF_Build_Rate_SpdM 100 – 5000 For traction systems, if you feel or hear the mechanical slop pick up
0x3093 0x00 abruptly when you move the throttle from neutral to a very small value,
slowing the build rate (i.e., setting it to a higher value) will soften the feel.
For a pump system, start with this parameter at the minimum setting.
Slowing it down (i.e., setting it to a higher value) will reduce speed over-
shoot if too much feedforward has been commanded.
Release Rate
0.1 – 5.0 s Determines how fast the Kvff term releases. If the release seems too abrupt,
Vel_FF_Release_Rate_SpdM 100 – 5000 slowing the release rate (i.e., setting it to a higher value) will soften the feel.
0x3094 0x00 It should be set fast enough (i.e., at a low enough value) to prevent the
vehicle from running on after throttle release.

Curtis 1236SE Specifications

General

Brand	Curtis
Model	1236SE
Category	Controller
Language	English