Curtis ENABLE 40 - Manual (Page 39)

33 Curtis enAble ® 40-Series Manual, Rev. B
5 — PROGRAMMABLE PARAMETERS: Compensation Parameters
COMPENSATION MENU
PARAMETER RANGE DESCRIPTION
High Speed Comp 0–100 % Sets motor load compensation at high speeds. Higher values provide
stronger disturbance rejection, while smaller values provide smoother
operation.
Low Speed Comp 0–100 % Sets motor load compensation at low speeds. Higher values provide
stronger disturbance rejection, while smaller values provide smoother
operation.
Anti-Rollback Comp 0–150 % Provides increased compensation at very low speeds, to help prevent
rollback on hills or ramps. Larger values provide more torque.
Extra Uphill Comp 0–12.0 V Extra compensation added to the drive command when stopping on
an uphill slope. This should be set high enough to keep the chair from
rolling backwards when stopping on an incline.
Uphill Threshold 0–100 % Detection threshold that allows the controller to differentiate between
an uphill ramp and flat ground. After setting Extra Uphill Comp, set
the Uphill Threshold high enough to keep the chair from driving
forward when stopping from very low speed on flat ground.
Downhill Gain 0–100 % Allows smooth stopping on downhill slopes. This should be set high
enough to ensure the chair stops smoothly in the downhill direction.
Downhill Threshold 0–255 Detection threshold that allows the controller to differentiate between
a downhill ramp and flat ground. After setting Downhill Gain, set
the Downhill Threshold high enough to keep the chair from driving
backwards when stopping from very high speed on flat ground.
Max Downhill Comp 0–255 Sets the maximum compensation allowed by the downhill gain
algorithm. Must be set higher than the Downhill Threshold. Lower this
value if the chair has a tendency to drive backwards when stopping
on a downhill.
Preload Rate 0–4.0 sec Controls smoothness of restart on inclines. Higher values will
give smoother restarts on a ramp, but may cause problems when
transitioning from a ramp to flat ground.
Extra Motor Comp 0–100 % Provides additional compensation for the non-linear losses of the
drive motor. This parameter can be used to improve low speed
control on ramps and hills.
Max Motor Voltage 0–28 V Sets the maximum battery voltage that can be applied to the motor.
Volts Headroom 0–4.0 V Amount of spare voltage reserved for steering inputs at full speed, or
when climbing ramps or curbs.