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. 38
Forward Forward movement is a positive (value) traction speed. On a Class III
truck with a tiller, “forks trailing” is the forward movement. For a reach
truck or counterbalanced truck, “forks leading” is forward movement.
Reverse Reverse movement is a negative (value) traction speed. On a Class III
truck with a tiller, “forks leading” is reverse movement. For a reach truck
or a counterbalanced truck, “forks trailing” is reverse movement.
PDO PDOs (Process Data Objects) pack up to 8 bytes of data into
highly efficient messages that are used to transfer run-time data
between devices while in the Operational Mode. PDOs can be
sent (TPDO) or received (RPDO) by any device. Most devices rely
on PDOs for operational data transfer, but it is not mandatory.
PDOs use the Producer-Consumer protocol. There can only be one
Producer (transmitter) of a specific PDO COB-ID, but many (or no)
Consumers (receivers).
e PDO mapping structure uses the object index to dene the data
within any given PDO. See PDO Setup, Appendix A.
Curtis uses the Manager for RPDO and the Ancillary for the TPDO.
RPDO Receive Process Data Object (RPDO). Data received by the Consumer
from Producer communication (e.g., the ancillary controller receives
data from the manager controller).
RX Receive. In CANopen, RX (Rx) is from the perspective of the
ancillary controller.
TPDO Transmit Process Data Object (TPDO). Data transmission by the PDO
Producer to PDO Consumer (e.g., the ancillary controller(s) transmits
data to the manager controller).
SDO Service Data Object (SDO). A SDO is a low priority message used to
transfer multiple data sets from a client to a server and vice versa.
Several types of data transfer are available, with the Client (manager
controller) taking the initiative for a transfer. Use the SDO process to
read or write to an object index of a Server (ancillary controller). A SDO
is used for conguring the controller via the CAN network. Dened
within the Object Dictionary are the contents of the data set. See
Appendix A for an example SDO to congure the PDO map.
SDO Download rough this service, the client (e.g., manager) of a SDO downloads data
to the server (e.g. the owner of the Object Dictionary). A “write” operation.
SDO Upload rough this service, the client of an SDO uploads (reads) data from
the server (owner of the Object Dictionary). A “read” operation.
TX Transmit. In CANopen, TX (Tx) is from the perspective of the
ancillary controller.
VCL VCL is the unique Curtis Vehicle Control language. VCL provides
the application level programmability to customize the usage, or
allow Curtis AC motor controllers to perform as ‘vehicle managers’,
eliminating the need for additional system controllers.
See the Curtis website: Curtis Vehicle Control Language (VCL).

Kohler Curtis F Series Specifications

General

Brand	Kohler
Model	Curtis F Series
Category	Controller
Language	English

Summary

1 — OVERVIEW

HOW TO USE THIS MANUAL

Guidance on navigating and utilizing the manual's content for effective controller application.

WHAT IS NEW IN FOS 4.5.0.0 ... HIGHLIGHTS

Summary of key enhancements and changes in the FOS 4.5.0.0 firmware version.

GETTING THE MOST OUT OF YOUR CURTIS CONTROLLER

Advice on optimizing controller application through understanding manual sections and tools.

2 — INSTALLATION AND WIRING

PHYSICALLY MOUNTING THE CONTROLLER

Instructions for proper physical installation and mounting of the controller for optimal performance and environmental protection.

PRECAUTIONS

Essential safety and design considerations for ensuring EMC compliance and preventing electrical issues.

HIGH CURRENT CONNECTIONS

Details on connecting high-current terminals (B+, B-, U, V, W) and recommended connection guidelines.

LOW CURRENT CONNECTIONS

Information on logic and low-power connections via AMPSEAL connectors, including pin assignments.

Rotor Position feedback

Guidance on wiring rotor position sensors, including signal wiring best practices and shielding.

CANbus

Best practices for CANbus wiring, including twisted-pair and shielded cable usage for reliable communication.

All other low power wiring

Recommendations for routing low-power wiring to avoid signal interference and protect against damage.

Protected voltages

Information on protected voltage ratings for low-power pins and crucial connection warnings to prevent damage.

3 — APPLICATION-SPECIFIC FEATURES

MOTOR SPEED CONSTRAINTS

Details on how electrical frequency, encoder pulses, and parameter settings limit maximum motor speed (RPM).

VOLTAGE LIMITS

Explanation of hardware and parameter-based voltage limits, including operating regions and thresholds.

BROWNOUT VOLTAGE

Information on the fixed brownout voltage level and controller actions when voltage falls below this threshold.

KSI AND B+ INPUT

Notes on KSI input connection to B+ terminal for controller power, precharge, and BDI usage.

BATTERY DISCHARGE INDICATOR

Explanation of the BDI algorithm for calculating battery state-of-charge (SOC) and its viewable parameters.

4 — PROGRAMMABLE PARAMETERS

PROGRAMMING MENUS

Overview of programmable parameters organized into nested menus for customization via CANbus connection.

PARAMETER CHANGE FAULTS [PCF]

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

MONITOR VARIABLES WITHIN PARAMETER MENUS

Information on specific monitor variables contained within parameter menus, which are read-only.

PROGRAMMING TOOLS

Details on PC-based Curtis Integrated Toolkit (CIT) and the Curtis 1313 handheld programmer.

5 — SYSTEM MONITOR MENU

MOTOR MENU

Displays real-time motor data including RPM, temperature, torque, power, and feedback signals.

VEHICLE MENU

Monitors vehicle speed, odometer, acceleration, and distance traveled, configurable in metric or English units.

FAULT HISTORY

Accesses and clears the controller's fault history file for diagnosing and verifying problem resolution.

6 — COMMISSIONING

INITIAL SETUP

Essential steps for setting up controller parameters and ensuring they are suited to the specific application.

TRACTION MOTOR SELECTION

Guidance on selecting and commissioning ACIM or PMAC motors, including compatibility and procedures.

AC Motor Characterization

Procedure for characterizing ACIM traction motors using a quadrature encoder or Sin/Cos sensor.

AC MOTOR TUNING GUIDE

Steps for tuning the AC traction motor performance by selecting control modes and adjusting parameters.

SETTING UP THE HYDRAULIC SYSTEM

Procedures for setting up hydraulic systems, including lift, lower, and load-hold valve controls.

7 — DIAGNOSTICS AND TROUBLESHOOTING

THE DIAGNOSTICS PROCESS

Methods for obtaining diagnostics information, including status indicators, programmer tool, and CAN emergency messages.

FAULT ACTIONS

Table detailing fault actions taken by the controller, including shutdown sequences and VCL references.

8 — MAINTENANCE

CLEANING

Procedure for routine cleaning of the controller exterior to protect against corrosion and electrical issues.

FAULT HISTORY

Accessing and clearing the controller's fault history file to diagnose and verify problem resolution.

APPENDIX A

CAN PDO MAP SETUP

Guidance on setting up PDO maps for F-Series controllers using the Curtis Integrated Toolkit™ for CAN communication.

APPENDIX B

ELECTROMAGNETIC COMPATIBILITY (EMC)

Information on emissions and immunity, and techniques to reduce EMC problems in products with Curtis controllers.

ELECTROSTATIC DISCHARGE (ESD) IMMUNITY

Necessary precautions to protect ESD-sensitive components from damage by providing sufficient distance or isolation.

DECOMMISSIONING AND RECYCLING THE CONTROLLER

Instructions for decommissioning and recycling the controller, following OEM and landfill directives.

APPENDIX C

EN 13849 COMPLIANCE

Overview of safety requirements and performance levels (PL) according to EN13849 for control systems.

APPENDIX D

CURTIS INTEGRATED TOOLKITTM

Description of CIT software for configuring and communicating with Curtis Instruments products via CAN network.

Choosing the CAN Interface Device Driver

Steps to select and install the appropriate CAN dongle driver for PC communication with the controller.

Creating a Project with a new F-Series controller

Step-by-step guide to opening the Project Explorer and creating a new project for F-Series controller configuration.

APPENDIX E

SPECIFICATIONS: CONTROLLER

Detailed specifications for AC F6-A, F4-A, and F2-A controllers, including electrical and mechanical data.