74
Curtis 1222 Manual, os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T
5 — COMMISSIONING
1
Preparation for commissioning
Lower these five parameter values to force low steering performance and stable
response (with the wheel off the ground) while the setup procedures are per
-
formed:
Motor
Max Speed = 1000 rpm or lower
Max Current = 20%
Motor Control Tuning
Position Kp = 5%
Velocity Kp = 5%
Velocity Ki = 5%.
Verify that the 1222 interlock = Off (Monitor
» Interlock » Interlock) and the
traction controller interlock = Off. 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 Off. If the interlock is accidentally set to On during
commissioning, the steered wheel may turn without warning.
Set these parameters based on the vehicle configuration:
Motor Control Tuning
Motor Type (see above)
Field Weakening Control
FW Base Speed (see above)
Vehicle Configuration
Interlock Type (see above)
Nominal Voltage
Contactor Driver
Contactor Control Type
Pull-In Voltage
Holding Voltage
Open Delay
Checks Enable
Sequencing Delay
Motor
Encoder3 Steps
Temperature Control
Sensor Enable
Sensor Type
Temperature Hot
Temperature Max
Sensor Fault Traction Cutback
CANopen
Baud Rate
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C A U T I O N
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