Curtis 1239E - Page 105

Return to TOC Curtis 1239E-1269E Manual, os 37.0 RevA – May 2021
9 — TUNING GUIDE
pg. 101
1 − Speed Mode Tuning
1.1 Adjust Max Speed to the maximum speed the motor should turn in the vehicle application; this
speed setting corresponds to an input of full throttle.
1.2 Adjust the Typical Max Speed to the approximate maximum speed that the motor will spin. is
is usually the same value as the setting for Max Speed, but some applications have a Max_Speed_
SpdM that changes (in the VCL soware). If the Max_Speed_SpdM changes, set the Typical Max
Speed to the highest speed the motor is expected to reach. is value does not need to be set
precisely since it will not change motor performance. Typical Max Speed sets a reference point
for the “rate” parameters (accel, decel, brake rates), so that applications that have a changing
Max_Speed_SpdM will not experience changes in the rates (because the rates are referenced to
the unchanging Typical Max Speed value). Once the Typical Max Speed parameter is set, do not
readjust it without adjusting all the rate parameters as well.
1.3 Kp and Ki (LS & HS) typically do not need to be changed as the default values work well in
most applications. ese parameters control how tightly the actual motor speed will track the
requested speed trajectory (speed trajectory is set by the Accel, Decel, and Brake rates).
To adjust the Kp (for looser or tighter following of the speed trajectory), follow these guidelines:
• Set the following parameters. Before setting them, make a note of their present (default) settings
so they can be returned to the original values at the end of this procedure.
– In the Speed Mode » Speed Controller menu, set the Max Speed to low value (≈1000 rpm),
as high speed operation is not needed to observe system response.
– In the Speed Mode » Response menu, set all the Accel and Decel rates to their fastest values
(0.1 seconds); this allows better observation of the system response.
– In the Speed Mode » Restraint menu, set the Soft Stop Speed parameter = 0 rpm to
disable the so stop speed function.
– In Speed Mode » Restraint» Position Hold Menu, set Position Hold Enable = Off
such that the position hold function will not interfere with the speed control gain
setup procedure.
– If the vehicle has an EM Brake, in the EM Brake menu, set the EM Brake Type = 1.
is setting will release the EM Brake as soon as interlock is asserted.
• Cycle KSI to clear any faults. en, assert (close) the Interlock.
• Using very quick, pulsing throttle movements, increase the throttle and then release it to 0%.
e intent is to give the speed controller torque impulses.
• Increase Kp and repeat the throttle tests. Increase Kp until noticing marginal stability (normally
motor bouncing, or continuous oscillation in the gears, is heard). Note: It is possible that very
heavy vehicles will not experience marginal stability even at the highest setting of Kp.
• Once the Kp setting for marginal stability is found, reduce the Kp value by about one
third (i.e., nal Kp = marginal stability Kp * 2/3).
• If using Speed Mode Express, enter this Kp value for the Kp parameter in the Speed Mode
Express menu.
• Set the Max Speed, Accel/Decel, So Stop Speed, Position Hold, and Brake Type parameters
back to their original values.
Quick Links:
Control Mode select p.35
Speed Mode menu p.36
Max Speed
Kp
Ki
Typical Max Speed p.57
Quick Links:
Speed Controller menu p.36
Response menu p.38
Accel Rates
Decel Rates
Brake rates
Restraint menu p.40
So Stop Speed
Position Hold menu p.41
EM Brake Control menu p.52