Kelly KLS-S Cheetah series Sinusoidal Permanent Motor Controller User
’s Manual
V1.13
22
0~50
The brake switch regen mode. You have to turn on the brake switch after the throttle is released
for the regen to occur.
Factory set is 10
(8)BRK_AD Brk%:It is used to adjust the max regen percentage of brake variable regen mode.
This regen mode doesn't need brake switch to support any more for KLS controller.
(9)Torque Speed KP: Speed Percent Kp in Torque Mode. Range: 0~10000 Factory set is 3000
Torque Speed KI: Speed Integral Ki in Torque Mode. Range: 0~500 Factory set is 80
Speed Err Limit: Speed Error Limit in Torque Mode. Range: 50~4000 Factory set is 1000
These three parameters are used for PID adjustment.
If you think the acceleration performance is very very strong, please adjust them to a lower
value respectively.
(10)Change Dir brake: Value range: Enable and Disable
It is only useful when you Enable the joystick function.
If you want to get swift direction changing by using joystick function, you may enable Change
Dir brake item in user program.
It will help the motor change the direction of motor quickly after you shift throttle from 0V to 5V,or
from 5V to 0V.
Suggestion: factory default is Disable.
(11)
Compensation Per%
Tried to increase the current usage during Anti-Slip operation.
(12)IVT BRK MAX and IVT BRK MIN: These two items are only useful when Joystick function is
enabled in the user program. When you want to use Change Dir Brake to reduce the delay time
when you shift the direction under joystick operation, there is a RPM limitation to use Change
Dir Brake function which is only activated when the motor RPM is between IVT BRK MIN and
IVT BRK MAX.
Suggestion: factory default is Disable.
(13)Torque Speed Kp:3000
Torque Speed Ki:80
Speed Err Limit:1000
These parameters are used for PID adjustment. If the acceleration is too aggressive, please
reduce these three parameters at the same time, vice versa. Please change the Torque Speed
Kp every 1000 units, Torque speed Ki every 100 units and Speed Err limit every 500 units.
Note: Thermistor is optional. Default to KTY84-130/150 or KTY83-122
When controller temp item shows 246 in monitor screen of user program, it is normal. This
item is only useful for internal calculation for MCU.246 is about 11 degrees in environment.
