Kohler Curtis F Series User Manual

4 — PROGRAMMABLE PARAMETERS
pg. 57
Return to TOC Curtis AC F2-A, F4-A, F6-A Motor Controllers – FOS 4.5 – April 2022
SPEED MODE/RESTRAINT — POSITION HOLD MENU
PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION
Position Hold Enable
Position_Hold_Enable
0x3793 0x00
On/Off
On/Off
Off [PCF] Allows entering the Position Hold mode at zero throttle when the
vehicle comes to a stop.
Note: EM Brake Type = 2 also enables the Position Hold function.
Position Hold State
Position_Hold_Engaged
0x3794 0x00
–32768 – 32767
–32768 – 32767
Read Only Position Hold State
1 = Engaged
0 = Not Engaged
Kp
Kp_Position_Hold
0x378D 0x00
2 – 100 %
41 – 2048
10 % Determines the stiffness with which position is regulated when in
the Position Hold mode. High Kp values will produce less rollback
on a ramp but more bouncing. Too much Kp will cause instability.
Kd
Kd_Position_Hold
0x378C 0x00
0 – 100 %
0 – 8192
15 % Determines the damping in Position Hold mode. Some damping
must be present in the control system to keep the vehicle from
oscillating slowly (bouncing). High Kd values will improve the
dynamic response of the Position Hold controller, but too much Kd
will cause instability.
Zero Speed Threshold
Zero_Speed_Threshold
0x30F2 0x00
5 – 300 rpm
5 – 300
30 rpm Determines the speed below which the EM brake is (commanded)
set. Setting this speed too high may cause a jerky stop when the
EM brake sets and stops the motor.
This parameter appears twice in the menu structure. Changing
the value of this parameter affects this (same) parameter in the
EM Brake Control menu.
Zero Speed Threshold Time
Zero_Speed_Threshold_Time
0x30F3 0x00
0 – 480 ms
0 – 60
32 ms Determines how long motor speed must be below Zero_Speed_
Threshold to declare zero speed.
This parameter appears twice in the menu structure. Changing
the value of this parameter affects this (same) parameter in the
EM Brake Control menu.
Entry Rate
Entry_Rate_Position_Hold
0x3786 0x00
5 – 100 %
50 – 1000
50 % When the vehicle transitions from forward speed to reverse speed
or from reverse speed to forward speed (for example, when
coming to a stop while traveling up a steep ramp), Position Hold
is automatically entered immediately at zero speed regardless of
this parameter.
This parameter applies when the vehicle needs to stop without
the assistance of gravity (for example, when moving forward
down a ramp). This rate determines how quickly zero speed is
attained after the ramped speed request reaches zero. Setting
this parameter too high will make the stop seem very abrupt
and may even cause the vehicle to roll back slightly. When the
parameter is set lower the vehicle takes longer to come to a stop
and enter Position Hold mode.
Position Hold Settling Time
Position_Hold_Settling_Time
0x3783 0x00
0.0 – 5.0 s
0 – 156
3.0 sec Determines how long the position hold function is to operate
before the EM brake is set. This time should be long enough for
the hold to settle.
This parameter appears twice in the menu structure. Changing
the value of this parameter affects this (same) parameter in the
EM Brake Control menu.
Position Hold Timeout Time
Position_Hold_Timeout_Time
0x3795 0x00
0.0 – 20.0 s
0 – 625
0.0 sec This parameter, plus the Set Speed Settling Time parameter,
together set the maximum time the vehicle will stay in Position
Hold before releasing the hold and going into Restraint mode.
Setting this parameter to zero disables this timeout function,
which means the Position Hold will be held. Activating the
interlock resets the timer.

Kohler Curtis F Series Specifications

General

Brand	Kohler
Model	Curtis F Series
Category	Controller
Language	English