Curtis 1239E - Page 46

4 — PROGRAMMABLE PARAMETERS
Curtis 1239E-1269E Manual, os 37.0 RevA – May 2021
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pg. 42
2 - TORQUE MODE — SPEED LIMITER MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Max Speed
Max_Speed_TrqM
0x3021 0x00
500 – 10000 rpm
500 – 10000
Denes the maximum allowed motor rpm for torque control mode
(independent of throttle position). In torque control mode, full throttle
requests 100% of the available torque. Partially-applied throttle is scaled
proportionately; e.g., 40% applied throttle corresponds to a request for 40% of
the available torque.
NOTE: The maximum motor rpm is subject to the constraints on page 26.
Kp
Kp_TrqM
0x3023 0x00
0 – 100%
0 – 8192
Determines how aggressively the speed controller attempts to limit the speed
of the motor to Max Speed. Larger values provide tighter control.
If Kp is set too high, the application may experience oscillations as the
controller tries to control speed. Setting Kp too low may result in a top speed
much higher than Max Speed.
Ki
Ki_TrqM
0x3025 0x00
5 – 100%
50 – 1000
The integral term (Ki) forces zero steady state error, so the motor speed will
be limited to Max Speed. Larger values provide faster control.
If the gain is set too high, the application may experience oscillations as the
controller tries to limit speed. If it is set too low, it may take a long time for the
motor to approach Max Speed from overspeed.
Kd
Kd_TrqM
0x3836 0x00
0 – 100%
0 – 8192
Provides damping as the vehicle approaches top speed, thereby reducing
overshoot. If Kd is set too high, the vehicle may take too long to reach top
speed. If Kd is set too low, the vehicle may overshoot top speed, especially
when traveling downhill.