Kohler Curtis F Series User Manual

4 — PROGRAMMABLE PARAMETERS
Curtis AC F2-A, F4-A, F6-A Motor Controllers – FOS 4.5 – April 2022 Return to TOC
pg. 102
APPLICATION SETUP — IMU OUTPUT MENU
PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION
IMU Ready
IMU_Ready
0x3F82 0x00
0 – 1
0 – 1
0
Read Only
This parameter will transition to 1 when Pitch & Roll values are
valid from the IMU.
0 = Not ready.
1 = Ready.
IMU Pitch
IMU_Pitch
0x3F6C 0x00
–180 – 180°
–180 – 180
–180 Deg.
Read Only
Estimated pitch.
IMU Roll
IMU_Roll
0x3F6B 0x00
–180 – 180°
–180 – 180
–180 Deg.
Read Only
Estimated roll.
Vehicle Gyro X Raw
Raw_Gyro_X_v
0x3F68 0x00
–2147.484 – 2147.484
–2147483647 –
2147483647
–0.002
Read Only
Raw gyro rotation as measured by the IMU, converted to the
vehicle coordinate frame x-axis.
Vehicle Gyro Y Raw
Raw_Gyro_Y_v
0x3F69 0x00
–2147.484 – 2147.484
–2147483647 –
2147483647
–0.002
Read Only
Raw gyro rotation as measured by the IMU, converted to the
vehicle coordinate frame y-axis.
Vehicle Gyro Z Raw
Raw_Gyro_Z_v
0x3F6A 0x00
–2147.484 – 2147.484
–2147483647 –
2147483647
–0.002
Read Only
Raw gyro rotation as measured by the IMU, converted to the
vehicle coordinate frame z-axis.
Vehicle Accel X Raw
Raw_Accel_X_v
0x3F65 0x00
–2147.484 – 2147.484
–2147483647 –
2147483647
–0.002
Read Only
Raw acceleration as measured by the IMU, converted to the
vehicle coordinate frame x-axis.
Vehicle Accel Y Raw
Raw_Accel_Y_v
0x3F66 0x00
–2147.484 – 2147.484
–2147483647 –
2147483647
–0.002
Read Only
Raw acceleration as measured by the IMU, converted to the
vehicle coordinate frame y-axis.
Vehicle Accel Z Raw
Raw_Accel_Z_v
0x3F67 0x00
–2147.484 – 2147.484
–2147483647 –
2147483647
–0.002
Read Only
Raw acceleration as measured by the IMU, converted to the
vehicle coordinate frame z-axis.
APPLICATION SETUP — IMU INITIAL SETUP MENU
PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION
IMU Select
IMU_Select
0x3F83 0x00
0 – 2
0 – 2
0 This parameter indicates whether the internal IMU exists and
should be enabled, as well as allowing the use of an external IMU.
0: No IMU.
1: Use Internal IMU.
2: Use External IMU.
IMU Pitch offset
IMU_Pitch_Offset
0x3F6E 0x00
–180 – 180 degs.
–180 – 180
0.000
degrees
Offset value in units of degrees subtracted from the ‘Pitch’ value
after the attitude estimation algorithm, before data is sent to the
user via VCL.
IMU Roll Offset
IMU_Roll_Offset
0x3F6D 0x00
–180 – 180 degs.
–180 – 180
0.000
degrees
Offset value in units of degrees subtracted from the ‘Roll’ value
after the attitude estimation algorithm, before data is sent to the
user via VCL.
IMU Euler X Axis
IMU_Alignment_Euler_X
0x3F62 0x00
–180 – 180 degs.
–180 – 180
0.000
degrees
Controller to vehicle frame Euler angle about X (phi) in units of
degrees (Default 0, Range: –180 to 180).
IMU Euler Y Axis
IMU_Alignment_Euler_Y
0x3F63 0x00
–180 – 180 degs.
–180 – 180
0.000
degrees
Controller to vehicle frame Euler angle about Y (omega) in units of
degrees (Default 0, Range: –180 to 180).
IMU Euler Z Axis
IMU_Alignment_Euler_Z
0x3F64 0x00
–180 – 180 degs.
–180 – 180
0.000
degrees
Controller to vehicle frame Euler angle about Z (psi) in units of
degrees (Default 0, Range: –180 to 180).

Kohler Curtis F Series Specifications

General

Brand	Kohler
Model	Curtis F Series
Category	Controller
Language	English