9: Tuning Guide - Curtis 1239E Manual

Curtis 1239E-1269E Manual, os 37.0 RevA – May 2021
Many aspects of vehicle performance can be optimized, using the wide variety of adjustable
parameters available to the controller. Once a vehicle/motor/ controller combination has been tuned,
the parameter values can be made standard for the system or vehicle model. Any changes in the
motor, the vehicle drive system, or the controller will require that the system be tuned again to
provide optimum performance.
Selecting the Control Mode
Before starting to tune the vehicle's performance, select which control mode to use. Set the Control
Mode Select parameter = 0 (Speed Mode Express), = 1 (Speed Mode) or = 2 (Torque Mode). Cycle
KSI input Off and then On (to clear any parameter change faults) and use the 1313 handheld or
1314 PC programmer to check for faults in the controller. Then proceed to the tuning steps for the
control mode selected.
Conduct the steps in the sequence given, because successive steps build upon the ones before. It
is important that the effect of these programmable parameters be understood in order to take full
advantage of the controller's powerful features. Please refer to the descriptions of the applicable
parameters in Chapter 4 if there is any question about what any of them do.
0 − Speed Mode Express Tuning
Speed Mode Express is the same as Speed Mode with the exception that it has fewer parameters and is
therefore simpler to use. Most vehicle applications will find success with Speed Mode Express; however,
Quick Links: for some applications vehicle performance cannot be satisfactorily fine-tuned in Speed Mode Express.
Control Mode select p.35
In this case, change the control mode to Speed Mode (i.e., set Control Mode Select =1).
Speed Mode Express menu p.35
Max Speed
0.1 Adjust Max Speed to the maximum speed the motor should turn in the vehicle application; this
Kp
Ki
Accel Rate
0.2 Adjust Typical Max Speed to the approximate maximum speed that the motor will spin. This is
Decel Rate
Brake Rate
Typical Max Speed p.57
0.3 Kp and Ki typically do not need to be changed as the default values will work well in most
0.4 Adjust the Accel Rate and Decel Rate as necessary while moving the throttle to different positions
0.5 Adjust the Brake Rate as necessary while reversing the throttle input (i.e., full throttle forward
pg. 100
9 — TUNING GUIDE
speed setting corresponds to an input of full throttle.
usually the same value as the setting for Max Speed, but some applications have a Max_Speed_
SpdMx that changes (in the VCL software). If the Max_Speed_SpdMx changes, set Typical Max
Speed to the highest speed the motor is expected to reach. This value does not need to be set
precisely since it will not change motor performance. Typical Max Speed sets a reference point
for the "rate" parameters (accel, decel, brake rates), so that applications that have a changing
Max_Speed_SpdMx will not experience changes in the rates (because the rates are referenced
to the unchanging Typical Max Speed value). Once the Typical Max Speed parameter is set, do
not readjust it without adjusting all the rate parameters as well.
applications. If choosing to adjust Kp (for looser or tighter following of the speed trajectory set
by the accel, decel, and brake rates), follow the procedure in step "d" in the 1-Speed Mode tuning
(next section).
(i.e., neutral to full throttle, half throttle to full throttle, full throttle to half throttle, full throttle
to neutral, neutral to low throttle, etc.).
to low throttle reverse, full throttle forward to full throttle reverse, full throttle reverse to low
throttle forward, etc.). If a brake input is present in the application (Brake Pedal Enable = On)
continue adjusting Brake Rate by applying different amounts of brake throttle (i.e., full throttle
forward, then apply full brake or full throttle forward, then apply low brake, etc.).
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9 — TUNING GUIDE