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Kohler Curtis F Series User Manual

Kohler Curtis F Series
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4 — PROGRAMMABLE PARAMETERS
Curtis AC F2-A, F4-A, F6-A Motor Controllers – FOS 4.5 – April 2022 Return to TOC
pg. 70
APPLICATION SETUP — CAN INTERFACE MENU
PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION
CANopen Interlock
CANopen_Interlock_Enable
0x34B4 0x00
On/Off
On/Off
Off When programmed On, CAN NMT State must = 5 (operational
state) in order for the interlock to be set.
This parameter also occurs in the CAN Interface 2 menu.
Changing it in one menu also changes it in the other location.
Baud Rate
CAN_Baud_Rate
0x2001 0x01
–1 – 4
1 – 4
0 Sets the CAN baud rate for the CANopen Ancillary system:
–1 = 100Kbps
0 = 125Kbps
1 = 250Kbps
2 = 500Kbps
3 = 800Kbps
4 = 1000Kbps.
Heartbeat Rate
CANopen_Heart_Beat_Rate
0x1017 0x00
16 – 2000 ms
0 – 2000
100 ms Sets the transmission rate of the CAN heartbeat messages from
the CANopen Ancillary system.
Emergency Message Rate
CAN_Open_Emergency_Inhibit_
Time
0x1015 0x00
0 – 6554 ms
0 – 65535
16 ms Sets the minimum transmission rate of the CAN Emergency
Messages from the CANopen Ancillary system. This prevents
quickly changing fault states from generating so many
emergency messages that they ood the CANbus. The step size
is 10 ms.
CAN NMT State
CAN_NMT_State
0x32A4 0x00
0 – 127
0 – 127
Read Only Controller CAN NMT state:
0 = initialization
4 = stopped
5 = operational
127= pre-operationalThis Read Only variable also occurs in the CAN Interface 2 menu.
CAN Node ID
Can_Node_Id
0x2000 0x01
0001 – FFFFh
1 – 65535
0026h
(0x26)
(38d)
Displays the controller’s Node ID, in hexadecimal.
For example: 0x26 = 38d
Do not assign 0x00 as a device’s CAN Node ID. Such an ID will
never be detected by CIT or the 1313 HHP, and therefore be
inoperable.
CAN ports 1 and 2
If the controller is equipped with two external CAN ports (Ports 1 and 2), each may have a unique
baud rate, and CANopen node ID. Either may be used for the secure node connection to the Curtis
programming tools (see Appendix D). Note that only one port at a time may be used for Curtis tools
connection. Note also that there is a single CANopen NMT state for the controller, which will be
indicated via heartbeats unique to each port’s node ID, but which can be changed by sending NMT
commands to either port. In addition, CANopen Emergency messages will be transmitted to all CAN
ports. Each port has a unique CANopen PDO conguration, and may receive and transmit unique
data for each port.
Non-isolated CAN models
CAN1 has the internal 120Ω termination when pins 21 and 34 are connected. CAN2 does not have
the internal 120Ω termination. For applications requiring CAN2 termination, add it externally from
the controller. On these models, the CAN-circuit reference is from the controller’s I/O ground (pins
7 and 18).
CAN1
CAN1 L = pin 35
CAN1 H = pin 23
CAN1 120-Ohm termination: externally connect (short) pins 21 and 34.

Table of Contents

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Kohler Curtis F Series Specifications

General IconGeneral
BrandKohler
ModelCurtis F Series
CategoryController
LanguageEnglish

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.

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