10 — VEHICLE CONTROL LANGUAGE (VCL)
Curtis 1239E-1269E Manual, os 37.0 RevA – May 2021
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pg. 114
Control
Mode
Select
= 0, 1, 2
0
2
Kvff
Kp
Max Speed
(P.H.) Entry Rate
(P. H.) Exit Rollback Reduction
Kaff
(Kvff) Release Rate
(Kvff) Build Rate
(P.H.) Zero Speed Threshold Time
(P.H.) Zero Speed Threshold
Kp
Max Speed
Reversal Soften
Brake Rate
Accel Release Rate
Accel Rate
Ki
Brake Taper Speed
Gear Soften
Creep Torque
2
TORQUE MODE
1
SPEED MODE
0
2
(Kaff ) Release Rate
Kbff
Neutral Braking
Brake Release Rate
Max Speed Decel
Back Full Restraint Speed
Control
Mode
Select
= 0, 1, 2
Throttle_Command
Brake_Command
-EMR Speed
EMR_State = On
and
Interlock_State = On
[see Fig. 18]
[see Fig. 18]
Controller Torque Command
[see Fig. 18]
0
2
Motor_RPM
Motor_RPM
Bold = Parameters
Italics = Other R/W Variables
Full Accel Rate HS
Low Accel Rate
Neutral Decel Rate LS
Full Brake Rate HS, (LS) Low Brake Rate
Partical Decel Rate
(P. H.) Kd
(P. H.) Kp
Restraint Back
Restraint Forward
Max Speed Accel
(Kaff ) Build Rate
Max Speed Decel
Neutral Taper Speed
Kd
Ki HS
Reversal Soften
Accel Rate
Kp
Max Speed (P. H.) Exit Rollback Reduction
Brake Rate
Decel Rate
(P.H.) Entry Rate
(P.H.) Zero Speed Threshold Time
(P.H.) Zero Speed Threshold
(P. H.) Kp
0
SPEED MODE EXPRESS
(P. H.) Kd
Motor_RPM
Position Hold (P.H.) Timeout
Ki
-EMR Speed
EMR_State = On
and
Interlock_State = On
1
1
1
Brake_Command >0
0%
0%
>0
Soft Stop Speed
Soft Stop Speed
Position Hold (P.H.) Timeout Time
Forward Full Restraint Speed
Creep Release Rate
Creep Build Rate
Brake Full Creep Cancel
Brake_Command
Note: In Speed Mode Express it is possible to include some of the Speed Mode
parameters. Use any of the Speed Mode parameters except those with the
same names as their SpeedMode Express counterparts (for example, Max Speed)
or with names including the words Accel Rate, Decel rate, or Brake Rate.
Ki LS
Position Hold Settling Time
Full Accel Rate LS
Neutral Decel Rate HS
Figure 19
Control Mode processing.
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