Model 6210 Maintenance Manual
Section 8.Theory of Operation Direction/Speed Control
Direction/Speed Control The following descriptions assume the battery is charged, connected, and the truck is ON.
Travel Speed (Max)
Loaded
Empty
3.4 mph (5.5 kph)
3.6 mph (5.8 kph)
Control Arm Positioning When the control arm is in the upper rest position, the parking brake is engaged. When the control arm is within 6 to 78° of the upper rest position, the brake is allowed to disengage (when travel is requested), the Arm Angle Proximity Switch (SW2) closes and enables travel. When the control arm is placed in the bottom 8° of its operating range, the Arm Angle Proximity Switch (SW2) opens, engaging the parking brake.
Travel Request, Forks-First When the thumb controls are rotated in the reverse direction (forks-first) from neutral: •
Reverse travel signal is detected via hall effect sensors, converted into a travel instruction in the Vehicle Manager, and transmitted via the CAN to the traction amplifier.
•
The Vehicle Manager verifies that the emergency reverse button is not activated before supplying the travel command to the traction amplifier.
•
The Vehicle Manager verifies that switch SW2 (Arm Angle Proximity Switch) is engaged for travel mode.
•
The voltage at U, V, and W of the traction motor will vary from 24V to –24V. The voltage is proportional to the position of the thumb controls.
•
The drive wheel starts to rotate in reverse direction at a speed proportional to the voltage at the traction motor.
•
The traction amplifier controls all truck inputs and outputs (excluding handle head inputs).
Travel Request, Forks Trailing When the thumb controls are rotated in the forward direction (tractor-first) from neutral: •
A forward travel signal is detected via hall effect sensors, converted into a travel instruction in the Vehicle Manager, and transmitted via the CAN to the traction amplifier.
•
The Vehicle Manager verifies that the emergency reverse button is not activated before supplying the travel command to the traction amplifier.
•
The Vehicle Manager verifies that switch SW2 (Arm Angle Proximity Switch) is engaged for travel mode.
•
The voltage at U, V, and W of the traction motor will vary from 24V to –24V. The voltage is proportional to the position of the thumb controls.
•
The drive wheel starts to rotate in forward direction at a speed proportional to the voltage at the traction motor.
•
The traction amplifier controls all truck inputs and outputs (excluding handle head inputs).
Publication: 1146947, Revised: 12 Jan 2017
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