Curtis ENABLE 40 - Manual (Page 47)

41 Curtis enAble ® 40-Series Manual, Rev. B
8 Set Up Compensation
Setting the compensation parameters carefully will provide the proper control
force during turning, caster reversal, and hill and curb climbing, and will also
provide smooth and responsive acceleration and steering. Once the compen-
sation values have been set, typically they do not need to be adjusted again.
However, sometimes the chair feels too jumpy or too sluggish even after the
best attempts to tune the drive and steering parameters. If this is the case, you
will want to come back to the compensation parameters.
STEP
1. Using the keypad, select the lowest speed mode.
STEP
2. Turn the chair left and right while adjusting the Low Speed Comp
parameter (Program > Motor Controller > Compensation menu.
If the casters will not flip around and the chair “stalls,” increase
the Low Speed Comp value.
STEP
3. You should never use 100% compensation; a typical value is 50
to 80%. If you find that a very high Low Speed Comp is needed,
it is possible that the PWM is being limited by the Turn Min
Speed parameter (Program > Profile 1 > Steer menu), which will
need to be adjusted higher.
STEP
4. If Low Speed Comp is set too high, the chair will feel jumpy or
jerky while turning. If it does, reduce the Low Speed Comp.
STEP
5. Initially, set the High Speed Comp equal to the Low Speed
Comp. When you reach the Steering Sensitivity procedure (bm)
you may wish to lower the High Speed Comp value if the chair
seems too “nervous” or stiff at high speed.
9 Set the Forward and Reverse Accel/Decel Rates
The parameters adjusted during this procedure are all found in the Program >
Profile 1 > Drive menu.
STEP
1. Use the keypad to select the fastest speed mode.
STEP
2. Set the Fwd Max Speed parameter to 100%, and the Rev Max Speed
parameter to a lower value for a comfortable reverse speed.
STEP
3. Set the Tremor Suppression parameter to 60%, which will provide
nominal filtering.
STEP
4. Accelerate forward from a dead stop, and adjust the Fwd Accel
High Speed parameter for a slightly aggressive feel. (We will
soften it later with other parameters.)
STEP
5. Accelerate in reverse from a dead stop, and adjust the Rev Accel
High Speed parameter similarly.
STEP
6. To adjust the Rev Decel, drive the chair in reverse at full throttle
and then release the joystick. Adjust the Rev Decel High Speed
parameter to provide the required stopping distance.
STEP
7. Use the keypad to select the slowest speed mode.
STEP
8. Repeat Steps 2–6 for the corresponding low speed parameters.
7 — TUNING GUIDE