8A — AUTOMATED ACIM MOTORCHARACTERIZATION PROCEDURE
pg. 87
Return to TOC Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017
(a) Congure the vehicle to measure stall torque, by using a load cell / draw bar test. Note: You will want
to perform this test quickly to avoid excessive motor heating and provide the most accurate results.
Turn o encoder fault detection (Motor » Encoder Fault Setup » Fault Detection Enable).
While applying and holding full throttle, adjust SlipGain until you measure peak torque.
If you want to have encoder fault detection active (recommended), turn it back on.
(b) Alternately, the vehicle can be used as the “draw bar test” by accelerating the motor to a
predetermined speed (rpm)—with the quickest time corresponding to the optimum SlipGain.
is method uses the controller’s time-to-speed function. e test-acceleration will be at full
controller current.
Begin by setting the corresponding Accel Rates to very fast values, based upon the application’s
Control Mode.
Speed Mode Express: Accel Rate.
Speed Mode: Full Accel LS, Full Accel HS, Low Accel.
Torque Mode: Accel Rate.
On the 1313 programmer, add these two items to the Favorites shortcut, to easily toggle between them:
Monitor » Vehicle » Capture Speed 1
Monitor » Vehicle » Time to Speed 1
Parameters (Program) » Motor Control Tuning » 0-ACIM » Characterization Tests » SlipGain.
Next, set the Capture Speed 1 parameter to an rpm enveloping the motor’s desired maximum torque
range. e monitor item, Time to Speed 1, will record the time taken for the vehicle (motor) to go
from zero rpm to the programed Capture Speed 1 during its most recent acceleration.
To perform the test, from a stop, accelerate the vehicle through the predetermined speed. e
timer starts counting when full throttle is applied, and stops counting when the speed is reached.
A built-in trigger will allow the test to begin again once the vehicle comes to a stop and the
throttle is re-engaged, so be sure to note the value of the test rst before accelerating-away in
subsequent runs. Each time, adjust the SlipGain value until the Time to Speed 1 is minimized.
is test should be run repeatedly over the same stretch of at or uphill ground. Loading the vehicle
will improve results, the idea being to have the motor produce maximum torque as in the draw-
bar method. Work quickly, to avoid excessive motor heating, to obtain the most accurate results.
15. Run the FW Base Speed test.
Set the FW Base Speed to 6000 rpm. The test should be run with batteries that have a
reasonable charge.
Motor » Control Algorithms » 0-ACIM » Field Weakening Control » FW Base Speed
Set the Accel Rates to be very fast, so that you’ll be accelerating at full current during the test.
From a stop, quickly apply full throttle to accelerate to a high speed. Aer the motor settles at
a speed for a moment, release the throttle to stop the test run. Note the value of the Base Speed
Captured (Monitor » Controller » Motor Tuning » Base Speed Captured), and enter this value
for the FW Base Speed setting.
Note:
– e base speed capture test restarts each time the vehicle comes to a stop and the throttle is
released, so be sure to note the value before driving (accelerating) away.
– This FW Base Speed parameter not only needs to be set during initial setup, yet reset each
time the Motor Type or the low speed current limit is changed. For example, if you lower
Drive_Current_Limit or PL_Drive_Nominal, retest and reset this parameter.
Quick Links:
SlipGain p.55
Fault Detection Enable p.60
Express Mode p.31
Accel Rate
Speed Mode p.35
Full Accel HS
Full Accel LS
Low Accel Rate
Torque Mode p.40
Accel Rate
Capture Speed 1 p.64
Time to Speed 1 p.77
Quick Links:
Drive_Current_Limit p.43
PL_Drive_Nominal p.44
FW Base Speed p.56
Base Speed Captured p.76
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