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SuperSigma2 AM PMS – V1.5.6 17-1-2020 Page 40 (97) ©2019 DMC GmbH Herten Germany
Dual Motor parameters
M1-61T Dual motor cu t out ”DMcut”
M1-62T Dual motor angle 1 ”DMang1”
M1-63T Dual motor angle 2 ”DMang2”
M1-64T Dual motor angle 3 ”DMang3”
M1-65T Dual motor speed 1 ”DMspd1”
M1-66T Dual motor speed 2 ”DMspd2”
M1-67T Dual motor speed 3 ”DMspd3”
These parameters define the Dual Motor function. For them to be active, the parameter “ M3-14TSingle or Dual Motor
” Si/DL/DR ” must be set to 1, 2 or 3 (if set to 3 , only “DMcut”, “DMang3” and “DMspd3” will be active) .
The parameters are working in conjunction with steering pot. The steering angle is expressed as percentage and is defined
by the following parameters:
•
“ M1-56T Steer pot minimum ”StrMin”” sets -100% of steering angle
•
“ M1-57T Steer pot middle point ”StrMid”” sets 0% of steering angle
•
“ M1-58T Steer pot maximum ”StrMax”” sets 100% of steering angle
Parameter “ M1-61T Dual motor cu t out ”DMcut”” sets the steering angle at which the motor starts to reduce speed. If,
for example, a value of 10% is chosen, then the speed reduction will commence if the steering potentiometer is outside
of a central dead band of ± 10%.
In the central dead band, the inner motor speed is equal to the outer motor speed and corresponds to the driving speed
of the vehicle.
When the setting
“ M3-14TSingle or Dual Motor ” Si/DL/DR ” is set to 1 or 2, the relationship between parameters from
M1-61T to M1-67T is explained below for both the inner and outer motors:
Inner motor:
•
Whe n the steering angle is between “ M1-61T Dual motor cu t out ”DMcut”” and “ M1-62T Dual motor angle 1
”DMang1”” settings, the motor starts to reduce speed towards “ M1-65T Dual motor speed 1 ”DMspd1””, while
it also reduces the torque towards zero.
•
When the steering angle is between “ M1-62T Dual motor angle 1 ”DMang1”” and “ M1-63T Dual motor angle 2
”DMang2”” the torque of the inner motor is zero, meaning it is able to freewheel and the speed is left free.
•
When the steering angle is beyond “ M1-63T Dual motor angle 2 ”DMang2”” and towards “ M1-64T Dual motor
angle 3 ”DMang3””, the inner motor reverse s its spinning direction and torque is increased towards half the
demanded torque. The s peed of the inner motor starts at “ M1-66T Dual motor speed 2 ”DMspd2”” and is
increased towards half of the “ M1-67T Dual motor speed 3 ”DMspd3”” setting.
•
When steering beyond “ M1-64T Dual motor angle 3 ”DMang3”” , the torque of the inner motor is maintained at
half the demande d torque and the speed is set to half of the “ M1-67T Dual motor speed 3 ”DMspd3”” setting.
Outer motor :
•
When the steering angle is between “ M1-61T Dual motor cu t out ”DMcut”” and “ M1-62T Dual motor angle 1
”DMang1”” settings, the speed of the outer motor is reduced towards “ M1-67T Dual motor speed 3 ”DMspd3”” .
•
When the steering angle is between “ M1-62T Dual motor angle 1 ”DMang1”” and “ M1-63T Dual motor angle 2
”DMang2”” the speed of the outer motor is reduced from “ M1-67T Dual motor speed 3 ”DMspd3”” towards half
of the “ M1-67T Dual motor speed 3 ”DMspd3”” setting.
•
Steering beyond the “ M1-64T Dual motor angle 3 ”DMang3”” setting maintains the speed of the outer motor at
half the “ M1-67T Dual motor speed 3 ”DMspd3”” setting.
•
The torque of the outer motor is maintained at the demanded torque in the whole steering range.
The reason because both inner and outer motors are maintaining a speed which is half of “ M1-67T Dual motor speed 3
”DMspd3”” above the “ M1-67T Dual motor speed 3 ”DMspd3”” setting, is that they are spinning in opposite direction:
this therefore produces a total speed which is twice that of one motor.
The torque of the inner motor is halved to prevent a sudden increase in speed when steering rapidly beyond the
“ M1-
63T Dual motor angle 2 ”DMang2”“ setting.