Zapi ACE3, User Manual

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Page – 76/139 AFFZP0BB – ACE3 – User Manual
8.5 Deceleration time
The DECEL. BRAKING parameter allows to define the deceleration rate depending
on final-speed setpoint. Deceleration time is evaluated differently by software for
speed steps greater or smaller than 100 Hz.
Case 1 (black trace in the graph):

Initial speed = 110 Hz

Final-speed setpoint = 10 Hz

DECEL. BRAKING = 2,5 s
The deceleration time results 2.5 s.
Case 2 (red trace in the graph):

Initial speed = 60 Hz

Final-speed setpoint = 10 Hz

DECEL. BRAKING = 2,5 s
The deceleration rate is re-scaled so that the deceleration time results
equal to DECEL. BRAKING, in this case 2.5 s.
Case 3 (green trace in the graph):

Initial speed = 150 Hz

Final-speed setpoint = 10 Hz

DECEL. BRAKING = 2,5 s
The deceleration time results:
150
100
∙ 2.5 3,75
4
Note: This example is valid for all the braking-related parameters:
DECEL. BRAKING, INVER. BRAKING, RELEASE BRAKING, TILLER BRAKING,
PEDAL BRAKING, SPEED LIMIT BRK, STEER BRAKING.