Curtis 1220 - Page 33

Curtis 1220 Manual, Rev. C
29
5 — COMMISSIONING
1
Preparation for commissioning
Lower these ve parameter values to force low steering performance and sta-
ble response (with the wheel o the ground) while the setup procedures are
performed:
MOTOR
Max Speed = 1000 rpm or lower
CURRENT
Drive Current Limit = 20%
MOTOR CONTROL TUNING
Position Kp = 5%
Velocity Kp = 5%
Velocity Ki = 5%.
Verify that the 1220 interlock = O (Monitor
» Inputs & Outputs » Interlock
Switch) and the traction controller interlock = O. If either interlock is On,
either change the interlock input to the controllers or adjust the
Interlock Type
parameter until the interlock variables are both O. If the interlock is accidentally
set to On during commissioning, the steered wheel may turn without warning.
Set the following parameters based on the vehicle conguration and your desired
performance characteristics.
MOTOR
Gear Ratio
Current Rating
VEHICLE CONFIGURATION
Interlock Type
Sequencing Delay
Fault Output Control
Fault Steering Timeout
VEHICLE CONFIGURATION → Relay Driver
Main On Interlock
Pull-In Voltage
Holding Voltage
Open Delay
VEHICLE CONFIGURATION → Traction Settings
Traction Motor Max Speed
Interlock Enable Speed
Speed Limit Angle (deg)
Steering Angle Output Interlock
Verify that the correct VCL software is loaded into the Curtis AC traction con-
troller to support the 1220. Resolve any problems with the traction software
before continuing on to the commissioning procedures.