AF6ZP0CA – COMBIAC0 & ACE0 2uC – User Manual Page – 45/155
6.2 Dual traction motor
In the case of dual traction motors, there is additional processing of the
associated steering signal (from a potentiometer or switches) in order to generate
separate torque demands for the left and right motors of the vehicle. This allows
the two motors to be operated at different speeds, which greatly assists in turning
the vehicle and prevents wheel scrub. After the torque demands have been
generated, the operation of each motor control system is as described in the case
of a single traction motor.
6.3 Pump motor
Pump motor control is similar to traction motor control, although motion is
requested using a different combination of switches.
6.4 Torque mode
In this mode the controller maintains the motor torque output at a constant value
for a given throttle position.
This is similar to DC motors (in particular, series wound DC motors) and provides
a driving experience like a car. To prevent excessive speed when the load torque
is low, for example when driving down hill, a maximum vehicle speed can be set.
6.5 Speed mode
In this mode the controller maintains the motor at a constant speed for a given
throttle position as long as sufficient torque is available. Speed mode differs from
torque mode in that the torque value applied to the motor is calculated by the
controller based on the requested speed (determined by throttle position) and the
actual speed of the vehicle.
6.6 Protection and safety features
6.6.1 Protection features
ACE0 / COMBIAC0 is protected against the following failures and malfunctions:
- Battery polarity inversion
It is necessary to fit a main contactor to protect the inverter against reverse
battery polarity and for safety reasons.
- Connection errors
All inputs are protected against connection errors.
- Voltage monitoring
Protected against battery undervoltage and overvoltage.
- Thermal protection
If the controller temperature exceeds 85 °C, the maximum current is reduced
in proportion to the temperature excess. The temperature can never exceed
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