M1.2-1 Speed threshold to enter End-of-Braking (EoB) mode ”SpdThEoB”
This parameter defines the speed threshold under which the “End of braking” function is activated.
M1.2-2 Zero speed threshold ”ZSpdTh”
This setting defines the zero speed threshold to detect when the vehicle has reached stationary condition.
M1.2-3 Neutral brake-end delay “NBrkEnd”
This setting is normally associated with a Walkie type vehicle fitted with an electromechanical brake connected
to the “Pin A16 Contactor 2 o/p (Magnet Brake - Fan control)” on the 35-Way Connector. This setting allows a
time to hold the vehicle at zero speed when the zero speed is detected (speed lower than “M1.2-2 Zero speed
threshold ”ZSpdTh””). The vehicle will be held to speed zero if “M2-1 Control Mode “Spd/Torq”” is set to 0
(Speed Mode) or 2 (Torque mode with speed mode for the end of braking) or 3. It is usually used in conjunction
with the parameter “M1.9-1 Electric brake delay “EBrkDly”” to operate the electromechanical brake. This set
is active if Hill Hold is disabled (“M1.5-1 Hill hold enable ”Off/HH/S”” set to 0 ).
M1.2-4 Ramp time from the EoB speed threshold to zero ”SpdRmpTm”
This parameter is only active when “M2-1 Control Mode “Spd/Torq”” is set to 0, 2 or 3.
• If “M2-1 Control Mode “Spd/Torq”” is set to 0 (Speed control mode), it defines the “rounded ramp”
maximum ramp time to reach zero speed once “End of braking” mode is entered.
For example, if this parameter is set to 3s, the motor will take at maximum 3s to slow down from
“M1.2-1 Speed threshold to enter End-of-Braking (EoB) mode ”SpdThEoB”” to zero speed.
Mind that the controller smooths the ramp time, thus the time for reaching zero speed is normally
lower than this.
This ramp time refers to the time taken to decelerate from “M1.2-1 Speed threshold to enter End-of-
Braking (EoB) mode ”SpdThEoB”” to 0.
Increasing this adjustment results in a very smooth stopping when approaching zero speed.
Reducing this adjustment too much may result in harsh stopping and drive back when vehicle stops.
• If “M2-1 Control Mode “Spd/Torq”” is set to 2 (Torque control mode with Speed mode at zero speed),
it defines the ramp time applied when speed mode is engaged at zero speed.
This ramp time refers to the time taken to decelerate from ”Maximum motor frequency” (adjustable
in “Menu 3 “Autotuning””) to 0.
• In case “M2-1 Control Mode “Spd/Torq”” is set to 3 (Torque control mode with speed control mode
at end of braking if footbrake operation or at zero speed), it is the ramp time applied when the
footbrake is fully released. In case the footbrake is pressed, the ramp time to zero speed will be
derived based on the brake pot value between this parameter and “5M1.2-5 Ramp time from the EoB
speed threshold to zero with Footbrake “SpdRTmFB””.
M1.2-5 Ramp time from the EoB speed threshold to zero with Footbrake “SpdRTmFB”
This parameter is only active when “M2-1 Control Mode “Spd/Torq”” is set to 3.
It defines the ramp time to go from “M1.2-1 Speed threshold to enter End-of-Braking (EoB) mode ”SpdThEoB””.
to zero speed when the footbrake is 100% pressed.
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