Curtis 1239E - Page 41

Return to TOC Curtis 1239E-1269E Manual, os 37.0 RevA – May 2021
4 — PROGRAMMABLE PARAMETERS
pg. 37
1 - SPEED MODE — ACCELERATION FEEDFORWARD MENU [OPTIONAL]
PARAMETER ALLOWABLE RANGE DESCRIPTION
Kaff
Kaff_SpdM
0x3013 0x00
0 – 500 A
0 – 5000
This acceleration feedforward term is designed to improve throttle
responsiveness and speed controller performance at all speeds. It can be
thought of as a “quick start” function which can enhance responsiveness at
all speeds.
Using the present accel and decel rates, observe the average current while
running at full throttle at low speeds while accelerating without load on at
ground, and set Kaff to 50–70% of that value.
NOTE: If any accel rate parameters get changed, this parameter will need
to be changed also.
Kbff
Kbff_SpdM
0x3019 0x00
0 – 500 A
0 – 5000
This braking feedforward term is designed to improve braking responsiveness
at all speeds.
Using the present decel rates, observe the average current while running at
full throttle braking, and set Kbff to that value.
Build Rate
Acc_FF_Build_Rate_SpdM
0x3095 0x00
0.1 – 5.0 s
100 – 5000
Determines how fast the Kaff and Kbff terms build up.
If the mechanical gear-backlash is abruptly felt or heard when moving the
throttle from neutral to a very small value slowing the build rate (i.e., setting it
to a higher value) will soften the feel.
Release Rate
Acc_FF_Release_Rate_SpdM
0x3096 0x00
0.1 – 5.0 s
100 – 5000
Determines how fast the Kaff and Kbff terms release. It should be set fast
enough (i.e., at a low enough value) to prevent the vehicle from running on
after throttle release.
1 - SPEED MODE — VELOCITY FEEDFORWARD MENU [OPTIONAL]
PARAMETER ALLOWABLE RANGE DESCRIPTION
Kvff
Kvff_SpdM
0x3014 0x00
0 – 500 A
0 – 5000
This velocity feedforward term is designed to improve throttle responsiveness
and speed controller performance, especially at low speeds.
Set it to 50–70% of the current needed to maintain a very low speed,
unloaded, on at ground.
Build Rate
Vel_FF_Build_Rate_SpdM
0x3093 0x00
0.1 – 5.0 s
100 – 5000
Determines how fast the Kvff term builds up.
If the mechanical gear-backlash is abruptly felt or heard when moving the
throttle from neutral to a very small value slowing the build rate (i.e., setting it
to a higher value) will soften the feel.
Release Rate
Vel_FF_Release_Rate_SpdM
0x3094 0x00
0.1 – 5.0 s
100 – 5000
Determines how fast the Kvff term releases. If the release seems too abrupt,
slowing the release rate (i.e., setting it to a higher value) will soften the feel. It
should be set fast enough (i.e., at a low enough value) to prevent the vehicle
from running on after throttle release.