Torque Mode Tuning - Kohler Curtis F Series Manual

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1.5 In the Speed Mode » Response menu, adjust the Accel and Decel Rate parameters as necessary
1.6 In the Speed Mode » Response menu, adjust the remaining Brake Rate parameters as necessary
1.7 The parameters in the Speed Mode » Response » Fine Tuning menu typically do not need to be
2 − Torque Mode Tuning
2.1 Set the Torque Mode's Max Speed to the application's maximum motor speed (rpm).
2.2 Set the Typical Max Speed to the expected maximum motor speed (rpm).
2.3 The Torque Mode's Kp, Ki, and Kd parameters typically do not need to be changed as the default
Quick Links:
Torque Mode p.59
Fine Tuning
p.60
Figures 12–14
p.16-18
Current Limits menu p.127
Typical Max Speed p.130
2.4 Adjust the parameters shown in Figure 12 to set up the throttle mapping:
6 — COMMISSIONING
• Once the Kp setting for marginal stability is found, reduce the Kp value by about one-
third (i.e., final Kp = marginal stability Kp * 2/3).
• If using Speed Mode Express, enter this Kp value for the Kp parameter in the Speed
Mode Express menu.
• Set the Max Speed, Accel/Decel, Soft Stop Speed, Position Hold, and Brake Type
parameters back to their original values.
while moving the throttle to different positions (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.).
while reversing the throttle input (i.e., full throttle forward 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 these Brake Rates 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.).
changed as the default values work well in most applications.
Programmer: Torque Mode » Max Speed (0x391D)
Programmer: Motor Setup » Typical Max Speed (0x3543)
values will work well in most applications. These parameters control how tightly the controller
limits the speed of the motor to the programmed Max Speed.
Programmer: Torque Mode:
Kp
Ki
Kd
Programmer: Controller Setup » Current Limits:
Drive Current Limits
Regen Current Limits
Programmer: Torque Mode:
Neutral Braking
Neutral Taper Speed (Reference Fig. 13)
Forward Full Restraint Speed
Back Full Restraint Speed
Programmer: Torque Mode » Fine Tuning:
Creep Torque
Curtis AC F2-A, F4-A, F6-A Motor Controllers – FOS 4.5 – April 2022
pg. 189