8A — AUTOMATED ACIM MOTORCHARACTERIZATION PROCEDURE
pg. 89
Return to TOC Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017
PART 2B: HYDRAULIC SYSTEMS ONLY
14. Run the SlipGain test.
Adjust the SlipGain parameter to provide maximum torque at low speeds. Note: The present
SlipGain value was determined by the auto-characterization procedure, and is not the default value.
On the 1313 programmer, add the motor current to the items in the Favorites shortcut, to easily
toggle between them:
Monitor » Controller » Current (RMS)
Parameters (Program) » Motor Control Tuning » 0-ACIM » Characterization Tests » SlipGain.
Set Max Speed to a fairly low speed (but high enough to be able to li a heavy load on the
forks), typically 800 rpm. e Max Speed setting must be below the motor base speed, which is
measured in the next step.
Put a very heavy load on the forks, preferable a max load.
Apply full throttle, and adjust the SlipGain parameter until the motor current is minimized. If
the vehicle has a multistage mast, work in the rst stage only so that the load is consistent.
is will be the SlipGain parameter value, unless following step 15, the base speed used here
(e.g., 800 rpm) was too high.
15. Run the FW Base Speed test.
Note: For this test, because the hydraulic motor (disconnected from the pump) can quickly
accelerate past the “Base Speed”, it will be necessary to pre-ux the motor current prior to
running this test to get an accurate measure of base speed. Since the controller will be running
current with no throttle, ensure this test’s 1313 Favorites items are loaded so the test continues
without delay to prevent motor and controller heating. en, be sure to to re-set the controller to
cancel the pre-ux following the test. is test is for hydraulic (pump) motor working in Speed
Mode only. Run this test with batteries that have a reasonable charge.
Set in the 1313 Favorites
Parameters (program) » Motor » Control Algorithms » 0-ACIM » Field Weakening Control » FW Base Speed
Parameters (Program) » Motor » Control Algorithms » 0-ACIM » Field Weakening Control » Min Field Current
Monitor » Controller » Motor Tuning » Test Field Current
Monitor » Controller » Motor Tuning » Base Speed Captured
Set the Max Speed to 6000 rpm (i.e., beyond the maximum desired pump speed).
Set the Accel rates to be very fast, so the motor will be accelerating at full current during the test.
Use only Speed Speed Modes for hydraulic systems.
Record the value of the Test Field Current (Monitor) and enter this value for the Min Field
Current parameter.
e controller is now running current with no throttle, so continue this test without delay
to prevent motor and controller heating.
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. Note the value of the Base Speed
Captured and enter this value for the FW Base Speed parameter setting.
When this test is nished, you must re-set the parameter Min Field Current = 0 Amps to
cancel the pre-ux current. Verify that the pre-ux current is canceled before continuing.
CAUTION
WARNING
Quick Links:
SlipGain p.55
Max Speed
Express Mode p.31
Speed Mode p.32
Current (RMS) p.74
Quick Links:
FW Base Speed p.56
Express Mode p.31
Accel Rate
Speed Mode p.35
Full Accel HS
Full Accel LS
Low Accel Rate
Test Field Current p.76
Min Field Current p.57
Base Speed Captured p.76
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