Curtis Instruments F Series

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APPENDIX A

Curtis AC F4-A Motor Controller – August 2020 Return to TOC

pg. 190

is resulting PDO mapping record is viewable in the Programmer » Applications Setup » CAN

Interface » RPDO Setups menu.

Main Page

Table of Contents2
1: Overview9
Figure 1 AC F4-A Motor Controller9
How to Use this Manual10
Getting the most out of Your Curtis Controller10
2: Installation and Wiring11
Physically Mounting the Controller11
Figure 2 AC F4-A Dimensions11
Precautions12
High Current Connections12
Table 1 High Power Connections12
Figure 3: Battery Power and Motor Phase Terminal Connections13
Low Current Connections14
Table 2 the AMPSEAL Connector Components & Part Numbers14
Figure 4 35-Pin AMPSEAL Connector14
Rotor Position Feedback (Pins 18, 26, 31, 32)15
Canbus (Pins 21, 34 and 28, 29)15
Figure 5 35-Pin AMPSEAL Connection Assignments15
All Other Low Power Wiring16
Protected Voltages16
Table 3 AMPSEAL Connections Protected Voltages16
Controller Inputs and Outputs17
Table 4 Logic and Low-Current Connections17
Controller Wiring Diagram (Examples)18
Figure 6: Ac F4-A Basic Wiring Diagram18
Figure 7: Ac F4-A Can Tiller Head Wiring Diagram19
Figure 7A: Ac F4-A Isolated Can20
Low Current 35-Pin Connector Electrical Specifications21
Digital (Switch) Inputs21
Table 5 Switch (Digital) Inputs Electrical Specifications21
Analog Inputs23
Table 6 Analog Inputs Electrical Specifications23
Potentiometer Inputs with Dynamic Testing24
Pwm and Digital Drivers25
Table 7 Potentiometer Input/Configuration Electrical Specifications25
Table 8 Driver Outputs Electrical Specifications26
Power Supply Outputs27
Table 9 Power-Supply Outputs Electrical Specifications27
Keyswitch and Coil Supply28
Table 10 Keyswitch and Coil Supply Electrical Specifications28
Can Ports29
Table 11 CAN Ports Electrical Specifications29
Motor Position Sensor Inputs30
Table 12 Digital/Quadrature Encoder Electrical Specifications30
Table 13 Sin/Cos Sensor Device Electrical Specifications31
Motor Temperature Input32
Table 14 Motor Temperature Sensor Specifications32
3: Application-Specific Features33
Motor Speed Constraints33
Voltage Limits34
Over-Voltage Region35
Severe Over-Voltage Region35
Under-Voltage Region35
Output-Disabled Region36
Brownout Voltage36
Battery Discharge Indicator36
4: Programmable Parameters37
Programming Menus37
Parameter Change Faults [Pcf]37
Monitor Variables Within Parameter Menus37
Programming Tools37
Menu Chart Format38
Terminology38
Sdo Write Message40
Parameter Menus42
Speed Mode Express48
Speed Mode49
Figure 8: Acceleration Rate Response52
Figure 9: Braking Response Rate53
Application Setup56
Figure 10 Throttle Adjustments Diagram58
Figure 11: Throttle Signal Processing60
Figure 12: Brake Signal Processing63
Figure 13: Emergency Reverse Supervision Function78
Figure 14: Interlock Brake Supervision Speed Limit for Positive Initial Speed80
Figure 15: Interlock Brake Supervision Speed Limit for Negative Initial Speed81
Figure 16: Interlock Brake Supervision Distance Check81
Figure 18: Hydraulic System Diagram, with a Fixed (On/Off) Load-Hold Valve84
Figure 19: Lift-Input Signal Chain (Processing)85
Figure 20: Lift-Lowering Signal Chain (Processing)85
Controller Setup93
Figure 21: Input 10 Digital and Analog Signal Chain95
Figure 22: Drive Current Limiting Map115
Figure 23: Regen Current Limiting Map116
Ac Motor Setup Menu117
5: System Monitor124
Table 16 System Monitor Variables124
6: Commissioning135
Initial Setup135
To Begin136
Control Mode Selection136
Parameter Settings - Method Overview136
Ac Traction Motor Setup Guide137
Controller Setup Guide139
Traction Throttle Setup141
Figure 24: Throttle Related Parameters - Setup Options142
Voltage Throttle144
Automated Acim (Motor) Characterization Procedure150
Traction Systems151
Tuning Guide155
Selecting the Control Mode155
Speed Mode Express Tuning155
Speed Mode Tuning156
Other Parameter Tuning157
Setting up the Hydraulic System158
Hydraulic Lift and Lower Command Inputs158
Lift & Lower Switch Inputs159
Lift Switch Input, with a Proportional Lowering Valve161
7: Diagnostics and Troubleshooting163
The Diagnostics Process163
Troubleshooting Chart Index168
Fault Actions172
Table 17 Fault Actions172
Table 18 Fault Code Troubleshooting Chart174
8: Maintenance191
Cleaning191
Fault History191
Canopen Pdo Mapping Object Description192
Example for Rpdo Mapping with the Cit Cit Programmer194
Example for Tpdo Mapping with the Programmer196
Example for Rpdo Mapping with Sdo Writes197
Electromagnetic Compatibility (Emc)199
Electrostatic Discharge (Esd) Immunity200
Decommissioning and Recycling the Controller200
En 13849 Compliance201
Curtis Integrated Toolkit203
Creating a Project with a New F-Series Controller205
Vehicle Can-Port Wiring212
Specifications: Controller213
Table E-1 Specifications: AC F4-A Controller213

Curtis Instruments F Series - Page 198

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