mode and for open loop slip motors. Proportional speed limit above must be enabled for this option
to have any effect.
• Driveability Consolidation. Normally, driveability profiles are only used to reduce vehicle
performance, however, if this is enabled, an active driveability profiles over-writes the baseline. This
allows vehicle performance to increase when a profile is active. Note, that this feature is not
available in all software builds.
• Allow step change in steering angle. If enabled, steering angle can change instantly with steering
voltage. If disabled, steering angle is rate limited to 90º/s, which prevents sudden steering angle
changes in the event of a steering sensor wire-off.
• Virtual FS1 enable/disable. If enabled, this sets up a virtual FS1 feature on systems with dual
throttle inputs configured.
• Positive (absolute) Steer Angle only enable/disable. If enabled steer angle is always positive in both
directions. Used for single traction systems with steering cutback. Motor mapped must be left
motor
• Separate Seat Regen Braking enable/disable. If enabled, separate regen setting is activated for
regenerative braking with operator off the seat. Seat Regen settings are set at 2928
h
.
• Slave Left Motor Speed Inversion enable/disable. Inverts left motor slave actual speed when slave
inversion switch activates.
• Proportional speed limit during drive enable/disable. If enabled, speed limit is proportional to
throttle only in braking states. Maximum speed limit is allowed in drive states. Only used in torque
mode and for flux vector motors. Proportional speed limit above must be enabled for this option to
have any effect.
Set the following driveability features at 2910
h
,22:
• Direction selected indication in controlword is latched enable/disable. If enabled the selected
direction bit in the control word holds the previous selected direction and doesn’t return to neutral.
This will help prevent the vehicle from rolling back uncontrolled on an incline if the throttle is
pressed very briefly when hill-hold or controlled roll-off is active.
• The latching on the seat regen braking enabled/disable. If enabled (default) the seat regen braking
state can only be exited by closing the seat switch, then changing the direction selection, for
example from Forward to Neutral. If disabled, the seat regen braking state will be exited when the
seat switch is closed.
• Brake feathering during seat regen braking enable/disable. If enabled (default) brake feathering will
be applied to the braking torque during seat regen braking state. If disabled it will use the level set
in 2928
h
to 0 RPM.
.
An s-curve profile can be applied to the speed target (in speed mode) or maximum speed (in torque
mode). This can be set at 290A
h
.
Acceleration and braking
See ‘Driveability profiles’ for more information on page 64.
Some vehicles can exhibit shock due to the rapid reversal of torque after a direction change. 2909
h
can be
set to force the vehicle to remain stationary for a period before driving in the new direction.
To prevent early exit from neutral braking, a debounce timer can be set at 290D
h
. Neutral braking only
finishes when the vehicle has been stopped for longer than this time. This can help prevent early exit of
neutral braking due to motor oscillation caused by under damped suspension.
On vehicles with gearbox meshing issues, a slower rate of torque ramp up at low speeds can be
configured at 291C
h
. This slow rate of change of torque lessens shock due to gear meshing. Used in
torque mode only.
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