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Curtis Instruments F Series User Manual

Curtis Instruments F Series
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4 — PROGRAMMABLE PARAMETERS
Curtis AC F4-A Motor Controller – August 2020 Return to TOC
pg. 58
APPLICATION SETUP/CAN INTERFACE — PDO SETUPS MENU
PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION
RPDO1 Note: PDO transmissions are from the perspective of the ancillary controller
RPDOs are messages received by the ancillary (i.e., send from the manager)
Timeout
can_rpdo_1_event_timer
0x1400 0x05
0 – 65535
0 – 65535
40 ms Sets the PDO timeout period for the CANopen Ancillary system.
After the ancillary controller has sent a TPDO (PDO-TX), it will
declare a PDO Timeout Fault if the manager controller has not
sent a reply RPDO (PDO-RX) message within the time set by this
parameter. Any RPDO1-4 will reset the timer.
Setting this parameter to zero (Timeout = 0) disables the PDO
timeout fault check.
See Appendix A for PDO mapping/setup.
Application Note: Based upon the F-series cdev revision, this
timer may begin as soon as the controller goes operational (NMT
= 5), and not upon the first RPDO message received. Check this
aspect using a CANbus trace if unexpected PDO Timeout errors
occur.
COB ID
can_rpdo_1_cob_id
0x1400 0x01
0 – 0xFFFFFFFF
0 – 42949672295
80000226h The application’s 11-bit COB-ID (Communication Object ID).
Note: Use VCL for 29-bit COB ID.
See Appendix A.
Length
can_rpdo_1_length
0x1600 0x00
0 – 8
0 – 8
0 Number of CAN objects in map (not the number of bits or bytes).
See Appendix A.
1
can_rpdo_1_map_1
0x1600 0x01
0h – FFFFFFFFh
0 – 4294967295
0x00050008
327688
Map 1
st
object variable and bit length (8,16, 24, or 32).
See Appendix A.
The default value, 0x00050008 is a dummy 8-bit PDO variable (as
per CANopen).
2
can_rpdo_1_map_2
0x1600 0x02
0h – FFFFFFFFh
0 – 4294967295
0x00050008
327688
Map 2
nd
object variable and bit length (8, 16, 24, or 32).
See Appendix A.
3
can_rpdo_1_map_3
0x1600 0x03
0h – FFFFFFFFh
0 – 4294967295
0x00050008
327688
Map 3
rd
object variable and bit length (8, 16, 24, or 32).
See Appendix A.
4
can_rpdo_1_map_4
0x1600 0x04
0h – FFFFFFFFh
0 – 4294967295
0x00050008
327688
Map 4
th
object variable and bit length (8, 16, 24, or 32).
See Appendix A.
5
can_rpdo_1_map_5
0x1600 0x05
0h – FFFFFFFFh
0 – 4294967295
0x00050008
327688
Map 5
th
object variable and bit length (8, 16, 24, or 32).
See Appendix A.
6
can_rpdo_1_map_6
0x1600 0x06
0h – FFFFFFFFh
0 – 4294967295
0x00050008
327688
Map 6
th
object variable and bit length (8, 16, 24, or 32).
See Appendix A.
7
can_rpdo_1_map_7
0x1600 0x07
0h – FFFFFFFFh
0 – 4294967295
0x00050008
327688
Map 7
th
object variable and bit length (8, 16, 24, or 32).
See Appendix A.
8
can_rpdo_1_map_8
0x1600 0x08
0h – FFFFFFFFh
0 – 4294967295
0x00050008
327688
Map 8
th
object variable and bit length (8, 16, 24, or 32).
See Appendix A.
Quick Link:
Appendix A p.184

Table of Contents

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Curtis Instruments F Series Specifications

General IconGeneral
BrandCurtis Instruments
ModelF Series
CategoryController
LanguageEnglish

Summary

OVERVIEW

HOW TO USE THIS MANUAL

Explains how to navigate and utilize the manual's content for understanding the controller.

GETTING THE MOST OUT OF YOUR CURTIS CONTROLLER

Provides guidance on applying and configuring the F4-A controller for optimal performance.

INSTALLATION AND WIRING

PHYSICALLY MOUNTING THE CONTROLLER

Details the process for properly mounting the controller to ensure environmental protection and optimal heat dissipation.

PRECAUTIONS

Outlines essential safety measures and EMC mitigation design considerations for controller installation.

HIGH CURRENT CONNECTIONS

Describes the connections for battery and motor phase terminals, including fuse and contactor requirements.

LOW CURRENT CONNECTIONS

Explains the use of the 35-pin AMPSEAL connector for logic and low-power signals, including component part numbers.

CONTROLLER INPUTS AND OUTPUTS

Lists available Inputs and Outputs (I/O) types, detailing their function and pin assignments.

CONTROLLER WIRING DIAGRAM (EXAMPLES)

Illustrates typical wiring configurations for various inputs, outputs, and CAN ports.

DIGITAL (SWITCH) INPUTS

Describes the controller's digital input configurations and their specifications for switch interfacing.

ANALOG INPUTS

Details the controller's support for various analog inputs and their allowable voltage ranges.

POTENTIOMETER INPUTS WITH DYNAMIC TESTING

Explains the use of potentiometer inputs for throttles and their internal fault detection circuits.

PWM AND DIGITAL DRIVERS

Describes the low-side PWM drivers and digital drivers for loads like coils and LEDs, including their electrical specifications.

POWER SUPPLY OUTPUTS

Details the 5-volt and 12-volt power supplies providing auxiliary power for low-power circuits.

KEYSWITCH AND COIL SUPPLY

Explains the connection of the keyswitch input and coil supply circuits for controller power and precharge.

CAN PORTS

Describes the two available CAN ports, their configurations, and supported protocols for communication.

MOTOR POSITION SENSOR INPUTS

Details the inputs for AC induction and synchronous motors, supporting quadrature encoders and Sine/Cosine sensors.

MOTOR TEMPERATURE INPUT

Explains the motor temperature sensor input that measures resistance for controller support.

APPLICATION-SPECIFIC FEATURES

MOTOR SPEED CONSTRAINTS

Explains how motor poles, encoder pulses, and Max Speed parameter limit the maximum motor speed.

VOLTAGE LIMITS

Describes the hardware and parameter-based voltage limits that protect the system from over/under voltage conditions.

BROWNOUT VOLTAGE

Defines the fixed brownout voltage region where the controller bridge is switched off.

PROGRAMMABLE PARAMETERS

PROGRAMMING MENUS

Groups programmable parameters into nested hierarchical menus, detailing each parameter and its operation.

PARAMETER CHANGE FAULTS [PCF]

Explains faults triggered when parameters are changed while the motor bridge is enabled.

PROGRAMMING TOOLS

Lists the tools used for programming, including PC-based CIT and the 1313 handheld programmer.

MENU CHART FORMAT

Describes how each parameter is presented in a detailed chart, including display name, allowable range, and description.

TERMINOLOGY

Provides definitions for terms used in setting parameters and commissioning the vehicle.

Speed Mode Express Parameter menus

Introduces a simplified version of Speed Mode with fewer parameters for speed-controlled applications.

Speed Mode Parameter menus

Offers comprehensive motor response parameters and tuning options for speed control.

SYSTEM MONITOR MENU

INPUTS MENU

Displays the status of all controller inputs, including analog and digital signals.

OUTPUTS MENU

Shows the status of controller outputs, including PWM and driver current values.

CURRENT LIMITS MENU

Sets parameters for drive, regen, brake, and EMR current limits as a percentage of controller rating.

CONTROLLER MENU

Displays real-time controller status, including current, temperature, and operational states.

BATTERY MENU

Shows battery status variables such as BDI, keyswitch voltage, and battery current.

COMMISSIONING

INITIAL SETUP

Outlines essential initial setup steps to ensure controller settings match the application.

TRACTION MOTOR SELECTION

Guides on determining correct motor parameters like Motor Type and Field Weakening.

ACIM MOTOR SETUP

Provides setup guidance specific to AC Induction Motors (ACIM).

Tuning Guide

Offers procedures for tuning vehicle performance after initial setup.

Setting Up the Hydraulic System

Provides procedures for setting up hydraulic systems, including lift and lower commands.

DIAGNOSTICS AND TROUBLESHOOTING

THE DIAGNOSTICS PROCESS

Explains how to obtain diagnostics information via status indicator, programmer, or CAN messages.

TROUBLESHOOTING CHART INDEX

Provides an index of flash codes, fault names, CAN indexes, and corresponding pages for troubleshooting.

FAULT ACTIONS

Describes the specific actions taken by the controller when a fault is detected, based on action codes.

MAINTENANCE

CLEANING

Provides routine cleaning procedures for the controller exterior to prevent corrosion.

FAULT HISTORY

Explains how to access and clear the controller’s fault history file using programming tools.

APPENDIX A

CAN PDO MAP SETUP

Provides guidance on setting up PDO maps using the Curtis Integrated Toolkit for F-series controllers.

APPENDIX B

ELECTROMAGNETIC COMPATIBILITY (EMC)

Discusses emissions and immunity standards and techniques to reduce EMC problems.

DECOMMISSIONING AND RECYCLING THE CONTROLLER

Outlines procedures for controller decommissioning and recycling according to OEM and landfill regulations.

APPENDIX C

EN 13849 COMPLIANCE

Explains compliance requirements for Safety Related Parts of Control Systems under EN13849.

APPENDIX D

PROGRAMMING, MONITORING, and DIAGNOSTIC SOFTWARE

Summarizes programming tools like CIT and 1313 HHP, and their applications.

CURTIS INTEGRATED TOOLKITTM

Describes the CIT software for configuring and communicating with Curtis products.

CREATING A PROJECT WITH A NEW F-SERIES CONTROLLER

Guides on creating new projects within the CIT software for controller setup.

VEHICLE CAN-PORT WIRING

Details the installation of the vehicle CAN port and its wiring specifications.

APPENDIX E

SPECIFICATIONS: CONTROLLER

Provides detailed electrical and mechanical specifications for the AC F4-A Controller.

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