S-DRIVE – APPENDIX - B PG DRIVES TECHNOLOGY
SK76745/10
Set Up Procedure
It is important when setting up the vehicle that the batteries are fully charged and that
the motor is cold.
This procedure follows a sequence as below and programming of each parameter should be undertaken in that exact order.
- Set Motor Compensation
- Set Speed, Acceleration and Deceleration
- Set Brake Time
- Set Enhanced Motor Compensation (Up)
- Set Enhanced Motor Compensation (Down)
- Set Enhanced Motor Compensation (Up) Gain – this may not need adjustment
Motor Compensation
This parameter is used to match the S-Drive to the motor. It is necessary to achieve optimal drive performance and control.
It is programmable between 0mOhms and 1250mOhms.
If you know the motor armature resistance program a motor compensation value of around 2/3 of this figure as a starting point
e.g. if the armature resistance is 100 milliohms, program a value of 65 milliohms.
If you are unsure of the motor armature resistance, start with a low value - the default motor compensation value is 25mOhms for
generic S-Drive units.
Drive the vehicle, at low speed on flat ground. If the vehicle is not controllable and is uncomfortable to drive, the parameter
Motor Compensation should be adjusted down in steps of 5mOhms until the scooter feels comfortable to drive on a flat surface.
Drive the vehicle from a flat surface onto an incline, there should be no reduction in speed as the vehicle climbs the gradient. If
the speed reduces significantly increase the value of motor compensation in steps of 5mOhms. If the speed of the vehicle
increases significantly reduce the value of Motor Compensation
Drive the vehicle downwards off the incline, there should be no noticeable increase in speed between driving off the incline and
driving onto a flat surface. If the speed reduces significantly increase the value of motor compensation in steps of 5mOhms. If
the speed of the vehicle increases significantly reduce the value of Motor Compensation
Speed, Acceleration and Deceleration
The vehicle should be programmed with appropriate values for Speed, Acceleration and Deceleration.
Brake Time
This parameter sets the period of time between the controller detecting zero motor speed and the application of the solenoid
brake.
This value should be set long enough to ensure the scooter doesn’t jerk or skid on a level surface, but short enough to minimize
roll-back or roll-forward on slopes. Brake time is programmable between 0 and 2000ms in steps of 10ms. The default Value is 1
second (1000ms).
Drive the vehicle on a level surface. Set the brake time such that vehicle is stopped by the solenoid brake engaging. Then
gradually increase the brake time in steps of 50ms until the vehicles comes to a stop just before the solenoid brake is engaged.
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