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Walk Mode

Introduction

Walk mode is an auxiliary command source triggerable over network communication, for example, via your display walk command.

This page will cover the setup and tuning of walk mode.

Setup

  1. Enable Features bit 11 Walk mode enable.

  2. Set Walk mode signal source to 4 / serial (display)

  3. Set Vehicle jog speed to limit walk mode speed.

    Note

    Speed is only limited if in Speed regulator mode 0 / Speed or 2 / Torque mode with speed limiting. Speed regulator mode 1 / Torque mode is not speed limited.

    • Regular speed regulation control loop applies.

    • Speed regulator Ki for Walk mode and Speed regulator Kp for Walk mode can be used instead of Speed regulator Ki and Speed regulator Kp for walk mode. Set to non-zero to use them.

  4. Verify walk command works.

    1. If using a display, enable walk command.

    2. If sending value over network, write 1 to Display walk command to enable, and 0 to disable walk mode.

Application Notes

This feature is only available with TE configuration 1 Pedal Bikes (ISO13849) "EN" as of firmware 6.017 and up.

This feature requires a heartbeat of faster than 0.4 Hz.

Send Remote state command a rolling counter on the high byte to satisfy the heartbeat. For example: Low byte = 0 and High byte = Rolling counter from 0 to 255 on 100 ms interval.

Byte Function Notes
Low byte Remote State Command 0 = Off, 1 = Idle, 2 = Active
High byte Watchdog Counter Rolling Counter from 0 to 255