Brake feathering reduces neutral and foot braking torques as the vehicle speed approaches 0 to prevent
any roll-back in the opposite direction. This is set at 290E
h
. Use 290E
h
,1+2 to set start and end speeds
for feathering, 290E
h
, 3 to configure the final torque at the end of braking and 290E
h
, 4+5 to configure
entry and exit ramp rates for feathering torque to prevent disturbance in torque when changing between
drive and braking conditions. Used in torque mode only.
Footbrake
The controller can use a switch or analogue voltage as the footbrake input. If a footbrake switch is
mapped, it applies maximum foot braking when the switch is closed. The footbrake switch object (2130
h
)
must be mapped to a digital input.
If the footbrake input is an analogue voltage, configure the voltage levels in the same way as the throttle.
The footbrake voltage (2221
h
) must be mapped to an analogue input.
Configure the characteristics of the footbrake at 2911
h
:
• Drive/foot braking priority. If the throttle and footbrake are pressed at the same time, this setting
determines whether the system attempts to drive or brake.
• Minimum speed for braking. Foot braking stops when the vehicle speed drops below this level.
• Footbrake voltage input and Input characteristic. These settings are similar to those for the
throttle. Refer to the Throttle section above for more information.
• Footbrake priority timeout allows the configured priority to change after a timeout period. Setting
zero will disable this feature.
The footbrake value calculated from the voltage can be read at 2621
h
.
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