4 — PROGRAMMABLE PARAMETERS
pg. 49
Return to TOC Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017
EM BRAKE CONTROL MENU
PARAMETER ALLOWABLE
RANGE
DESCRIPTION
Brake Type PCF
EM_Brake_Type
0x3097 0x00
0 – 2
0 – 2
This brake type parameter determines how the EM brake responds to
the interlock input, throttle, and vehicle motor speed.
0. EM brake function disabled. The EM brake driver (PWM2) is
released to general I/O use with VCL.
1. EM brake controlled by interlock. The controller will command
the EM brake to release whenever the interlock is closed
(Interlock = On). If interlock braking is enabled and the interlock
opens when the vehicle is moving at motor speed greater than
Set_Speed_Threshold, the controller will brake the vehicle to a
stop (with interlock braking) and then command the EM brake to
set. If the vehicle motor speed is less than this threshold, the EM
brake will engage after the Sequencing_Delay has expired.
If interlock braking is disabled, the EM brake will engage after
the Sequencing_Delay has expired.
2. EM brake controlled by interlock and neutral. The controller will
command the EM brake to set whenever the throttle command
is zero and motor speed is less than Set_Speed_Threshold.
Position Hold will be enabled automatically.
Pull In Voltage
EM_Brake_Pull_In_Voltage
0x3072 0x00
0 – 100%
0 – 32767
The EM brake pull-in voltage allows a high initial voltage when the
EM brake rst turns on, to ensure brake release. After 1 second, this
peak voltage drops to the EM brake holding voltage.
Note: The Battery Voltage Compensated parameter controls whether
the pull-in and holding voltages are battery voltage compensated.
Holding Voltage
EM_Brake_Holding_Voltage
0x3098 0x00
0 – 100%
0 – 32767
The EM brake holding voltage allows a reduced average voltage to
be applied to the brake coil once the brake has been released. This
parameter must be set high enough to hold the brake released under
all shock and vibration conditions the vehicle will be subjected to.
Note: The Battery Voltage Compensated parameter controls whether
the pull-in and holding voltages are battery voltage compensated.
Battery Voltage Compensated
|EM_Brake_Battery_Voltage_Compensated
|EM_Brake_Battery_Voltage_Compensated_Bit0
[Bit 0]
0x302D 0x00
On / Off
On / Off
This parameter determines whether the EM brake pull-in and holding
voltages are battery voltage compensated. When set On, the pull-in and
holding voltages are compensated relative to the set Nominal Voltage
(see Battery Menu, page 62). In other words, the output voltage is
adjusted to compensate for swings in battery voltage, so the percentage
is relative to the set Nominal Voltage—not to the actual voltage.
For example, suppose Nominal Voltage is set to 48V and Holding
Voltage is set to 75% (36V) to the output driver. Now suppose the
bus voltage dips to 40V. If Battery Voltage Compensated = On, the
output will still be 36V (Nominal Voltage × Holding Voltage) to the
coil. If Battery Voltage Compensated = Off, the output will be 30V
(Actual Voltage × Holding Voltage) to the coil.
Set EM Brake On Fault
|EM_Brake_Set_Upon_Fault
|EM_Brake_Set_Upon_Fault_Bit0 [Bit 0]
0x309B 0x00
On / Off
On / Off
When programmed On, the controller’s operating system will set the
electromagnetic brake when a fault occurs that has a fault action of
ShutdownEMBrake. See the Troubleshooting Chart, Chapter 10, for a
list of all the faults that have a fault action of ShutdownEMBrake.
Zero Speed Threshold
Zero_Speed_Threshold
0x306F 0x00
5 – 100 rpm
5 – 100
Determines the speed below which the EM brake will be
commanded to set. Setting this speed too high may cause a jerky
stop when the EM brake sets and stops the motor.
This parameter appears twice in the menu structure. Changing the
value of this parameter affects this (same) parameter in the Position
Hold menu, page 38.
This parameter is re-named for os31. It is the same as the
previous Set Speed Threshold parameter.
Zero Speed Threshold Time
Zero_Speed_Threshold_Time
0x30DA 0x00
0 – 480 ms
0 – 60
Determines how long motor speed must be below Zero_Speed_
Threshold to declare zero speed.
This parameter appears twice in the menu structure. Changing the
value of this parameter affects this (same) parameter in the Position
Hold menu, page 38.
This is a new parameter for os31
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