Curtis 1232E Manual page 36

3 — PROGRAMMABLE PARAMETERS: Velocity and
PARAMETER
Kvff
Kvff_SpdM
0x3014 0x00
Build Rate
Vel_FF_Build_Rate_SpdM
0x3093 0x00
Release Rate
Vel_FF_Release_Rate_SpdM
0x3094 0x00
1 – SPEED MODE
PARAMETER
Kaff
Kaff_SpdM
0x3013 0x00
Kbff
Kbff_SpdM
0x3019 0x00
Build Rate
Acc_FF_Build_Rate_SpdM
0x3095 0x00
Release Rate
Acc_FF_Release_Rate_SpdM
0x3096 0x00
Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE Manual,
2 4 N O V E M B E R 2 0 1 5
Acceleration Feedforward Parameters
VELOCITY FEEDFORWARD MENU
1 – SPEED MODE
ALLOWABLE
RANGE
0 – 500 A This velocity feedforward term is designed to improve throttle responsiveness
and speed controller performance, especially at low speeds.
0 – 5000
For traction systems, set it to 50–70% of the current needed to maintain a
very low speed, unloaded, on flat ground.
For a pump system, set it to the lowest load current (i.e., the current
running at the minimum load). Alternatively, the responsiveness of a pump
speed control loop can be significantly enhanced by using a VCL program to
continuously update this parameter to the appropriate value as each pump
load is requested.
0.1 – 5.0 s Determines how fast the Kvff term builds up.
For traction systems, if you feel or hear the mechanical slop pick up
100 – 5000
abruptly when you move the throttle from neutral to a very small value,
slowing the build rate (i.e., setting it to a higher value) will soften the feel.
For a pump system, start with this parameter at the minimum setting.
Slowing it down (i.e., setting it to a higher value) will reduce speed over-
shoot if too much feedforward has been commanded.
0.1 – 5.0 s Determines how fast the Kvff term releases. If the release seems too abrupt,
slowing the release rate (i.e., setting it to a higher value) will soften the feel.
100 – 5000
It should be set fast enough (i.e., at a low enough value) to prevent the
vehicle from running on after throttle release.
ACCELERATION FEEDFORWARD MENU
ALLOWABLE
RANGE
0 – 500 A This acceleration feedforward term is designed to improve throttle
responsiveness and speed controller performance at all speeds. It can be
0 – 5000
thought of as a "quick start" function which can enhance responsiveness
at all speeds.
Using your present accel and decel rates, observe the average
current you are running at full throttle at low speeds while accelerating
without load on flat ground, and set Kaff to 50–70% of that value.
Note: If any accel rate parameters get changed, this parameter will
need to be changed also.
0 – 500 A This braking feedforward term is designed to improve braking
responsiveness at all speeds.
0 – 5000
Using your present decel rates, observe the average current you are
running at full throttle braking, and set Kbff to that value.
0.1 – 5.0 s Determines how fast the Kaff and Kbff terms build up.
For traction systems, if you feel or hear the mechanical slop pick up
100 – 5000
abruptly when you move the throttle from neutral to a very small value,
slowing the build rate (i.e., setting it to a higher value) will soften the feel.
For a pump system, start with this parameter at the minimum setting.
Slowing it down (i.e., setting it to a higher value) will reduce speed over-
shoot if too much feedforward has been commanded.
0.1 – 5.0 s Determines how fast the Kaff and Kbff terms release. It should be set fast
enough (i.e., at a low enough value) to prevent the vehicle from running
100 – 5000
on after throttle release.
[OPTIONAL]
DESCRIPTION
[OPTIONAL]
DESCRIPTION
30
os
(SPEED MODE)
32