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About the Gen4
Controller
master
CANopen
function
I/O
motor
slave
slave
to motors, switches,
pedals etc
Figure 4 Single controller
Torque mode
In this mode Gen4 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.
Speed mode
WARNING: Speed mode (or speed control) is not recommended for on-highway vehicles
as it can cause the traction motor/wheel to remain locked or brake severely if the wheel is
momentarily locked due to loss of traction on a slippery surface and/or mechanical
braking.
In this mode Gen4 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 operator's requested speed
(determined by throttle position) and the vehicle's actual speed. This mode is useful where
accurate speed control is required irrespective of the motor torque.
Doc. # 177/52701
2-7
Rev. 3.3
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