Situation 7: “M2-1 Control Mode “Spd/Torq”” = 3 (Torque control mode with speed control mode at end of
braking if footbrake operation or at zero speed) and “M1.5-1 Hill hold enable ”Off/HH/S”” = 1 (Hill Hold)
In this case the controller acts to control the torque in normal drive and to control the speed at the end of braking
if footbrake operation and in any case below “M1.2-2 Zero speed threshold ”ZSpdTh””. Since hill hold is selected, the
parameters “M1.5-2 Hill hold time ”HHTime””, “M1.5-3 Restraint hill hold speed ”HHspeed”” and “M1.5-4 Restraint hill
hold torque threshold ”HHTrqTH”” will be active.
The sequence of operation of the “end of braking” function in case of neutral braking is the same of situation 6.
End of braking if FOOT BRAKING in Torque control Mode with Speed Control Mode at end of braking if footbrake operation or at
zero speed, hill hold enabled
The following list describes the “end of braking” steps:
1. the speed decreases according to “M1.1-9 Foot brake torque “FBrake”” and the “Brake pot %” value (refer to
“M1.7-1 Brake pot minimum voltage level “BrkMin”” and M1.7-2 Brake pot maximum voltage level “BrkMax””);
2. when speed is below setting “M1.2-1 Speed threshold to enter End-of-Braking (EoB) mode ”SpdThEoB””, the
controller starts to control speed. The ramp time to zero is derived according to the brake pot position between
“M1.2-4 Ramp time from the EoB speed threshold to zero ”SpdRmpTm”” and “5M1.2-5 Ramp time from the
EoB speed threshold to zero with Footbrake “SpdRTmFB”.
3. when speed is below “M1.2-2 Zero speed threshold ”ZSpdTh””, the controller continues to control speed,
slowing linearly down to zero according to “M1.2-4Ramp time from the EoB speed threshold to zero
”SpdRmpTm””.
4. when the vehicle stops, it enters in Hill Hold mode and is held still until “M1.5-2 Hill hold time ”HHTime”” time
is elapsed. The vehicle is kept still by means of speed control algorithm;
5. when “M1.5-2 Hill hold time ”HHTime”” is elapsed, two situations are possible:
I. if the vehicle is on a slope it will roll (back or forward according to the slope) at “M1.5-3 Restraint hill
hold speed ”HHspeed”” until level ground is detected, then it stops moving.
II. If the vehicle is already at level ground the vehicle is held still.
Level ground is detected when actual torque drops below “M1.5-4 Restraint hill hold torque threshold
”HHTrqTH””.
6. The controller keeps giving power to the motor until handbrake input (digital input 7) becomes active and
“M1.5-2 Hill hold time ”HHTime”” is elapsed. Otherwise the controller never stops giving power to the
motor until it is switched off! If digital input 7 is select as speed input 3 it never stops giving power to the
motor even if this is activated.
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