Curtis 1222 User Manual

Manual

Model 1222

Electric Steering Controller

»

Software Version OS 15.0

«

Curtis Instruments, Inc.

200 Kisco Avenue

Mt. Kisco, NY 10549

www.curtisinstruments.com

Read Instructions Carefully!

Specifications are subject to change without notice.
© 2013 Curtis Instruments, Inc. ® Curtis is a registered trademark of Curtis Instruments, Inc.
© The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc. 53122, OS15 1/29/13

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CONTENTS

1. OVERVIEW ..............................................................................1

CONTENTS

2. INSTALLATION AND WIRING .............................................

Mounting the Controller .....................................................4

High Current Connections and Wiring Guidelines ..............6

Low Current Connections and Wiring Guidelines ...............8

Controller Wiring: Safety Requirements ...........................

Input/Output Specifications ...............................................

3. PROGRAMMABLE PARAMETERS .....................................

Program Menu ..................................................................

4a. MONITOR MENU ................................................................

4b. CONTROLLER INFORMATION MENU ...........................

11
13

17
18

57

70

4c. CONTROLLER FUNCTIONS MENU .................................71

COMMISSIONING ...............................................................72

5.

6. INTERFACE WITH MASTER CONTROLLER ...................

93

4

7. DIAGNOSTICS AND TROUBLESHOOTING ....................

MAINTENANCE .................................................................110

8.

APPENDIX A Vehicle Design Considerations
APPENDIX B EN 14839 Compliance
APPENDIX C Programming Devices
APPENDIX D Specifications, 1222 Controller

99

Curtis 1222 Manual, os 15 iii

FIGURES / TABLES

FIGURES

fig. 1: Curtis 1222 controller .............................................................. 1

2 9 J A N U A R Y 2 0 1 3 D R A F T

fig. 2: Mounting dimensions, Curtis 1222 controller ........................

fig. 3a: Wiring diagram ......................................................................

fig. 3b: Software control diagram .......................................................

11

12

fig. 4: Command Input Device “0” signal flow ................................ 24

fig. 5: Command Input Device “1” signal flow ................................

fig. 6: Command Input Device “2” signal flow ................................

fig. 7: Command Input Device “3” signal flow ................................

fig. 8: Command Input Device “4” signal flow ................................

fig. 9: Steer Command Map .............................................................

fig. 10: Position Feedback Device “0” signal flow ...............................

fig. 11: Position Feedback Device “1” signal flow ...............................

fig. 12: Position Feedback Device “2” signal flow ...............................

fig. 13: Position Feedback Device “3” signal flow ...............................

fig. 14: Position Control signal flow ...................................................

fig. 15: Velocity Control signal flow ...................................................

fig. 16: Steering Sensitivity Map .........................................................

25

27

29

30

31

37

38

41

42

53

53

54

4

fig. 17a: Input Command signal flow ..................................................

fig. 17b: Position Feedback signal flow .................................................

fig. 17c: Position/Velocity Control signal flow .....................................

96

97

98

fig. B-1: Supervisory system ................................................................B-1

TABLES

table 1: High current connections ....................................................... 7

table 2: Low current connections ......................................................

table 3: Programmable parameter menus ..........................................

table 4: Monitor menu ......................................................................

table 5: Types of LED display ........................................................

table 6: Troubleshooting chart .........................................................

table D-1: Specifications, 1222 controllers .........................................

10

18

57

100

101

D-1

iv

Curtis 1222 Manual, os 15

1

Fig. 1 Curtis 1222 electric

steering controller.

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1 — OVERVIEW

OVERVIEW

The Curtis Model 1222 is an AC induction motor controller for electric
power steering (EPS) systems. In these “steer by wire” systems, the AC steering
gearmotor functions as an actuator to change the angle of the vehicle’s steered
wheel(s) and thus change the direction of travel. The 1222 performs as the
steering system controller, interpreting the steering command input and wheel
position feedback, then driving the steering motor to move the steered wheel(s)
to the desired position.

The Curtis 1222 controller is designed for use as an electric power steer
ing controller for 300–1400W AC induction gearmotors with overall gear
reductions between 50:1 and 800:1 on vehicles using Curtis VCL AC motor
controllers. Intended applications are material handling vehicles such as reach
trucks, order pickers, stackers, “man up” warehouse trucks, and other similar
industrial vehicles.

-

Curtis 1222 Manual, os 15

Advanced Motor Control

✓ Absolute Position (pedestrian stacker) or Relative Position

(reach truck) control modes.

✓ Supports >360° multi-turn steering mode.

✓ Indirect Field Orientation (IFO) vector control algorithm

provides maximum possible torque while ensuring maximum
efficiency and accurate current control.

More Features

☞

1

1 — OVERVIEW

2 9 J A N U A R Y 2 0 1 3 D R A F T

✓ 16 kHz PWM switching frequency ensures silent operation

across the 0–200Hz stator frequency range.

✓ Advanced PWM techniques produce low motor harmonics,

low torque ripple, and minimized heating losses, resulting
in high efficiency.

✓ 70A RMS 2-minute current output.

✓ 24–48V nominal supply voltage.

Versatile Steering Input and Feedback Options

✓ Steering command input via CAN, dual redundant

quadrature encoder, sine/cosine sensor, sawtooth sensor,
or analog voltage inputs.

✓ Steered angle feedback via dual redundant homing switch,

quadrature encoder, sine/cosine sensor, sawtooth sensor, or
analog voltage inputs.

✓ Fully programmable input/output ratio mapping.

✓ Configurable homing methods, center offset, auto-center,

and end-stop protection.

✓ Programmable force feedback driver for command input

devices featuring variable friction tactile feedback (TFD).

Maximum Safety

✓ Dual redundant configuration of all safety-related parts.

✓ Two microprocessors, each with its own EEPROM memory.

✓ Separate input paths to each micro for all input and feedback

signals.

✓ 5A high-side fault output driver, consisting of two switches

connected in series; each switch is controlled by one micro
with independent supervision.

✓ Meets the requirements of the latest international functional

safety standards.

Unmatched Flexibility

2

✓ CANopen system communications.

✓ 35-pin AMPSEAL logic connector.

✓ Software includes a library of pre-defined AC steering motor

types from various manufacturers.

✓ Programmable motor temperature input prevents thermal

damage to motor and supports all commonly used thermistors.

Curtis 1222 Manual, os 15

2 9 J A N U A R Y 2 0 1 3 D R A F T

✓ Integrated hourmeter and diagnostic log functions.

✓ +5V and +10V low-power supplies for input sensors, etc.

✓ Curtis 1313 handheld programmer and 1314 PC Programming

Station provide easy programming and powerful system diagnostic
and monitoring capabilities.

✓ Integrated Status LED gives instant diagnostic indication.

✓ Field upgradeable software.

Robust Reliability

✓ Insulated Metal Substrate (IMS) powerbase ensures superior

heat transfer.

✓ Intelligent thermal cutback and overvoltage/undervoltage

protection functions maintain steering while reducing traction
speed until severe over/under limits are reached.

✓ Rugged sealed housing and AMPSEAL connector meet IP65

environmental standards for use in harsh environments.

✓ Reverse polarity protection on battery connections

and short circuit protection on all output drivers.

Familiarity with your Curtis controller will help you install and operate it prop­erly. We encourage you to read this manual carefully. If you have questions,
please contact your local Curtis representative.

Curtis 1222 Manual, os 15

3

2 — INSTALLATION & WIRING

2

Fig. 2 Mounting

dimensions, Curtis 1222
motor controller.

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INSTALLATION AND WIRING

MOUNTING THE CONTROLLER

The outline and mounting hole dimensions for the 1222 controller are shown
in Figure 2. The controller meets the IP65 requirements for environmental
protection against dust and water. Nevertheless, in order to prevent external
corrosion and leakage paths from developing, the mounting location should
be carefully chosen to keep the controller as clean and dry as possible.

It is recommended that the controller be fastened to a clean, flat metal
surface with four 6mm (1/4") diameter bolts, using the holes provided. A thermal
joint compound can be used to improve heat conduction from the controller
heatsink to the mounting surface. Additional heatsinking or fan cooling may
be necessary to meet the desired continuous ratings.

4

Dimensions in millimeters (and inches)

Curtis 1222 Manual, os 15

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2 — INSTALLATION & WIRING

You will need to take steps during the design and development of your
end product to ensure that its EMC performance complies with applicable
regulations; suggestions are presented in Appendix A.

The 1222 controller contains ESD-sensitive components. Use appro­priate precautions in connecting, disconnecting, and handling the controller.
See installation suggestions in Appendix A for protecting the controller from
ESD damage.

C A U T IO N

☞

Working on electrical systems is potentially dangerous. Protect yourself against
uncontrolled operation, high current arcs, and outgassing from lead acid batteries:

UNCONTROLLED OPERATION — Some conditions could cause the motor to run out of

control. Disconnect the motor or jack up the vehicle and get the drive wheels off the
ground before attempting any work on the motor control circuitry.

HIGH CURRENT ARCS — Batteries can supply very high power, and arcing can occur if they

are short circuited. Always open the battery circuit before working on the motor control
circuit. Wear safety glasses, and use properly insulated tools to prevent shorts.

LEAD ACID BATTERIES — Charging or discharging generates hydrogen gas, which can

build up in and around the batteries. Follow the battery manufacturer’s safety recom­mendations. Wear safety glasses.

Curtis 1222 Manual, os 15

5

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2 — INSTALLATION & WIRING: High Current Connections

HIGH CURRENT CONNECTIONS

There are five high-current terminals, identified on the controller housing as

B+, B-, U, V, and W.

TERMINAL FUNCTION

B+ Positive battery to controller.

B- Negative battery to controller.

U AC steer motor phase U.

V AC steer motor phase V.

W AC steer motor phase W.

Lug assembly

Five aluminum M6 terminals are provided. Lugs should be installed as follows,
using M6 bolts sized to provide proper engagement (see diagram):

Table 1 High Current Connections

• Place the lug on top of the aluminum

terminal, followed by
a high-load safety washer with its convex side on top. The
washer should be a

• If two lugs are used on the same

SCHNORR 416320, or equivalent.

terminal, stack them so the

lug carrying the least current is on top.

• Tighten the assembly to 10.2 ±1.1 N·m (90 ±10 in-lbs).

6

High current wiring recommendations

Battery cables (B+, B-)

These two cables should be run close to each other between the controller
and the battery. Use high quality copper lugs and observe the recommended
torque ratings. For best noise immunity the cables should not run across the
center section of the controller. With multiple high current controllers, use a
star ground from the battery

B- terminal.

Curtis 1222 Manual, os 15

2 9 J A N U A R Y 2 0 1 3 D R A F T

2 — INSTALLATION & WIRING: High Current Connections

Motor wiring (U, V, W)

The three phase wires should be close to the same length and bundled together
as they run between the controller and the motor. The cable lengths should be
kept as short as possible. Use high quality copper lugs and observe the recom
mended torque ratings. For best noise immunity the motor cables should not
run across the center section of the controller. In applications that seek the
lowest possible emissions, a shield can be placed around the bundled motor
cables and connected to the

B- terminal at the controller. Typical installations

will readily pass the emissions standards without a shield. Low current signal
wires should not be run next to the motor cables. When necessary they should
cross the motor cables at a right angle to minimize noise coupling.

-

Curtis 1222 Manual, os 15

7

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2 — INSTALLATION & WIRING: Low Current Connections

LOW CURRENT CONNECTIONS

All low power connections are made through a single 35-pin AMPSEAL con
nector. The mating plug housing is AMP p/n 776164-1 and the contact pins
are AMP p/n 770520-3. The connector will accept 20 to 16 AWG wire with
a 1.7 to 2.7mm diameter thin-wall insulation.

The 35 individual pins are characterized in Table 2.

J1

Low current wiring recommendations

Command input encoder and Steer motor encoder

The encoder wires should be bundled together as they run between the motor
and controller logic connector. These can often be run with the rest of the low
current wiring harness. The encoder cables should not be run near the motor
cables. In applications where this is necessary, shielded cable should be used
with the ground shield connected to the I/O ground (pin 18 or pin 30) at only
the controller side. In extreme applications, common mode filters (e.g. ferrite
beads) could be used.

-

CAN connection

The two CAN wires should be connected directly to the corresponding CAN
pins on the traction controller: running from pin 23 (CAN High) on the
steering controller to pin 23 (CAN High) on the traction controller, and from
pin 35 (CAN Low) on the steering controller to pin 35 (CAN Low) on the
traction controller.

Note: The 1222 controller has no internal 120

Ω CAN terminating

resistor. Typically the wiring of the CAN bus nodes is a daisy chain topology
with 120
such that the 1222 is the last node in the chain, an external 120

Ω CAN terminating resistors at each end. If the vehicle wiring is done

Ω terminating

resistor should be provided by the OEM in the wiring harness.

CAN wiring should be kept away from the high current cables and cross

it at right angles when necessary.

All other low current wiring

The remaining low current wiring should be run according to standard practices.
Running low current wiring next to the high current wiring should always be
avoided.

8

Curtis 1222 Manual, os 15

2 9 J A N U A R Y 2 0 1 3 D R A F T

2 — INSTALLATION & WIRING: Low Current Connections

Table 2 Low Current Connections

PIN NAME DESCRIPTION

1 Keyswitch Provides logic power for the controller and power

2 Contactor Driver Driver for steer contactor.

3 [reserved] Not used.

4 [reserved] Not used.

5 Force Feedback Driver Driver for force feedback coil.

6 [reserved] Not used.

7 Ground Ground.

8 Command Analog 1 Primary steer command pot.

9 Interlock Input 1 Primary interlock switch input.

10 Home Input 2 Primary home switch input.

11 Interlock Input 3 Supervisory interlock switch input.

12 Home Input 4 Supervisory home switch input.

for the coil drivers.

13 Coil Return This is the coil return pin for all the contactor coils.

14 Command Encoder 1A Steer Command Encoder 1 input phase A.

15 +10V Regulated low power +10V output.

16 Position Analog 5 Primary position feedback pot.

17 Position Analog 6 Supervisory position feedback pot.

18 Ground Ground.

19 Command Analog 3 Supervisory steer command pot.

20 Command Encoder 2B Steer Command Encoder 2 input phase B.

21 +5V Regulated low power +5V output.

22 Motor Temperature Sensor Motor temperature sensor.

23 CAN High CAN bus high.

24 Fault Output Steer fault output.

25 Command Encoder 1B Steer Command Encoder 1 input phase B.

Curtis 1222 Manual, os 15

9

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2 — INSTALLATION & WIRING: Low Current Connections

Table 2 Low Current Connections, cont’d

PIN NAME DESCRIPTION

26 Steer Motor Encoder 4A Steer Motor Encoder 4 input phase A.

27 Steer Motor Encoder 4B Steer Motor Encoder 4 input phase B.

28 TX Serial transmit line.

29 RX Serial receive line.

30 Ground Ground.

31 Steer Motor Encoder 3A Steer Motor Encoder 3 input phase A.

32 Steer Motor Encoder 3B Steer Motor Encoder 3 input phase B.

33 Command Encoder 2A Steer Command Encoder 2 input phase A.

34 +5V Regulated low power +5V output.

35 CAN Low CAN bus low.

10

Curtis 1222 Manual, os 15

2 9 J A N U A R Y 2 0 1 3 D R A F T

1222 CONTROLLER

J1-8

J1-21

Home Input 4

J1-12

Home Input 2

J1-10

Interlock Input 3

J1-11

Interlock Input 1

J1-9

Command Encoder 1A

J1-14

Command Encoder 1B

J1-25

Command Encoder 2A

J1-33

Command Encoder 2B

J1-20

Ground

J1-18

AC

STEER

MOTOR

J1-1

Keyswitch

STEER MOTOR

ENCODER 3

and

ENCODER 4

**

J1-31
J1-32
J1-26
J1-27

J1-2

J1-24

J1-15

J1-28

J1-29

J1-7

SERIAL

SERIAL PORT

(4-pin Molex)

4

3

1

2

KEYSWITCH

V

Steer Motor Encoder 3A

Steer Motor Encoder 4A

Fault Output

+10V

RX

Ground

U

W

Steer Motor Encoder 3B

Steer Motor Encoder 4B

Contactor Driver

BATTERY
(24–48V)

B+

B-

TX

EMERGENCY
STOP

+5V

J1-21

J1-23

J1-35

CAN Low

CAN High

CURTIS

AC

TRACTION

CONTROLLER

J1-19

J1-18

Command Analog 3

Command Analog 1

+5V

Ground

STEER

COMMAND

ENCODER 1

and

ENCODER 2

*

J1-34
J1-16
J1-17

J1-7

+5V

Position Analog 6

Position Analog 5

Ground

STEER COMMAND

POTS

*

Reserved

J1-3

Reserved

J1-4

Force Feedback Driver

J1-5

MOTOR

TEMPERATURE

SENSOR

POSITION

FEEDBACK

POTS

**

J1-34

+5V

J1-30

Ground

STEER

CONTACTOR

J1-13

Coil Return

J1-6

EM BRAKE

TRACTION

MAIN

CONTACTOR

STEER

CONTACTOR

J1-5

J1-13

J1-1

J1-23

J1-35

N.O.

N.C.

**

Encoder 4 is not used if
the feedback pots are used.

Reserved

J1-6

J1-9

J1-22

Motor Temp Sensor

*

Mutually exclusive;
use either pots or encoders.

INTERLOCK SWITCH

HOMING SWITCH

†

†

†

An external 120Ω resistor may
be required at the 1222 end of
the CAN bus; see page 15.

FORCE

FEEDBACK

COIL

Coil Return

J1-13

2 — INSTALLATION & WIRING: Controller Wiring

CONTROLLER WIRING: Safety Requirements

As shown in the wiring diagram (Figure 3a), the 1222’s keyswitch power must
go through the traction controller so that when the keyswitch is turned off both
controllers turn off. The fault output (Pin 24) should be able to shut down
the traction system in the case of a serious fault; otherwise the system may not
meet the international safety requirements listed in Table D-1.

As shown in the wiring diagram, two steer command devices and two

position feedback devices are used. The 1222 supervises and matches each

Fig. 3a Wiring diagram, Curtis 1222 electric steering controller.

Curtis 1222 Manual, os 15

11

2 9 J A N U A R Y 2 0 1 3 D R A F T

2 — INSTALLATION & WIRING: Controller Wiring

device input to its counterpart (steering to steering, feedback to feedback). If
any of these input pairs do not match, the 1222 begins its fault sequence to
bring the vehicle to a stop.

As shown in the software control diagram (Figure 3b), the safety critical

parts are included twice to provide redundancy:

· two microprocessors

· separate paths to each micro for the command and feedback signals

· cross checks on the normalized steer command

· cross checks on the normalized wheel position.

A following error check ensures that the wheel position tracks the steer command.

Although not shown in the wiring diagram, the analog inputs can be
used for single sine/cosine sensors or sawtooth sensors instead of for redundant
pairs of pots. Each single sensor has two levels of fault detection, which provide
redundancy; see description of Tolerance parameter in Sin/Cos Sensor menus
(pages 26 and 41) and in Sawtooth Sensor menus (pages 28 and 42).

The wiring diagram (Figure 3a) is designed for generic applications and may
not fully meet the requirements of your system. You may wish to contact your
local Curtis representative to discuss your particular application. In cases where
the wiring deviates from the wiring shown in Figure 3a, it is up to the OEM
to evaluate the overall system safety.

Fig. 3b Software control diagram.

12

Curtis 1222 Manual, os 15

2 9 J A N U A R Y 2 0 1 3 D R A F T

2 — INSTALLATION & WIRING: I/O Signal Specifications

INPUT/OUTPUT SIGNAL SPECIFICATIONS

The input/output signals wired to the 35-pin connector can be grouped by
type as follows; their electrical characteristics are discussed below.

— digital inputs

— driver outputs
— analog inputs
— power supply outputs
— keyswitch and coil return inputs
— communications port inputs/outputs
— encoder inputs.

Digital inputs

The digital inputs must be wired to switch to B+ (not to ground). All digital
inputs are protected against shorts to B+ or B-.

A home switch is required if encoder position feedback is used (Pos

ition

Feedback Device = 1).

DIGITAL INPUT SPECIFICATIONS

LOGIC

SIGNAL NAME PIN THRESHOLDS

Interlock Input 1 9 Rising edge= 10.7 kΩ 10–65 V ± 8 kV (air
Home Input 2 10 5 V max discharge)
Interlock Input 3 11 Falling edge=
Home Input 4 12 1.5 V min

INPUT VOLTAGE ESD

IMPEDANCE RANGE TOLERANCE

Driver outputs

The fault output shuts down the traction system if the 1222 has a fault. This
output switches B+ to the high side of the traction main contactor and EM
brake; without this signal, the system shuts down.
All driver outputs are protected against shorts to B+ or B-.

DRIVER OUTPUT SPECIFICATIONS

SIGNAL NAME PIN TYPE FREQUENCY

Contactor Driver 2 Low Side 16 kHz 2 A max 65 V ± 8 kV (air
Force Feedback Driver 5 Low Side 16 kHz 2 A max 65 V discharge
Fault Output 24 High Side n/a 5 A max 65 V

OUTPUT

OUTPUT PROTECTED ESD

CURRENT VOLTAGE TOLERANCE

Curtis 1222 Manual, os 15

13

2 9 J A N U A R Y 2 0 1 3 D R A F T

2 — INSTALLATION & WIRING: I/O Signal Specifications

Analog inputs

The command and position analog inputs are used when the steer command and
position feedback devices are pots or sine/cosine sensors or sawtooth sensors.

J1-22

The motor temperature sensor input provides a constant current appro
priate for a thermistor sensor. Some standard predefined motor temperature
sensors are supported in software (see Sensor Type parameter, page 49). Note:
The industry standard KTY temperature sensors are silicon temperature sensors

J1-7

with a polarity band; the polarity band of a KTY sensor must be the end
connected to I/O Ground (pin 7).

All analog inputs are protected against shorts to B+ or B-.

OPERATING

SIGNAL NAME PIN VOLTAGE

Command Analog 1 8 0 to 10 V 100 kΩ 65 V ± 8 kV (air
Command Analog 3 19 discharge)
Position Analog 5 16
Position Analog 6 17
Motor Temp Sensor 22

ANALOG INPUT SPECIFICATIONS

INPUT PROTECTED ESD

IMPEDANCE VOLTAGE TOLERANCE

-

Power supply outputs

The +5V supply is used for all steer command and position feedback devices.
The +10V supply is provided for the handheld programmer; it should not be
used for steer command or position feedback devices because voltage could
change when the programmer is plugged in. Both power supply outputs are
protected against shorts to B+ or B-.

POWER SUPPLY OUTPUT SPECIFICATIONS

OUTPUT

SIGNAL NAME PIN VOLTAGE

+5V 21, 34 5 V ±10% 100 mA max * 65 V ± 8 kV (air
+10V 15 10 V ±10% 100 mA max
Ground 7, 18, 30 n/a n/a n/a

The total combined current from +5V and +10V outputs should not exceed 150 mA.

*

OUTPUT PROTECTED ESD

CURRENT VOLTAGE TOLERANCE

65 V discharge)

*

14

Curtis 1222 Manual, os 15

2 9 J A N U A R Y 2 0 1 3 D R A F T

2 — INSTALLATION & WIRING: I/O Signal Specifications

Keyswitch input and coil return

Keyswitch power to the 1222 is provided through the coil return of the traction
controller. This ensures that the steer controller is not turned Off unless the
traction controller is Off. Both controllers shut down in the event of a fault.

Coil suppression for the traction controller is provided when the traction
main contactor and EM brake are wired to the fault output (pin 24). However,
you may wish to use coil suppression diodes to reduce EMI emissions.

Coil Return should be wired to the positive battery side of the steer
contactor so that switching noise associated with PWM operation of the
contactor is localized to the contactor wiring only.

Reverse polarity protection is ensured only when the keyswitch input and
coil return are wired as shown in Figure 3a (page 11).

KEYSWITCH AND COIL RETURN INPUT SPECIFICATIONS

OPERATING

SIGNAL NAME PIN VOLTAGE

Keyswitch 1 Between under- 50–500 mA 65 V ± 8 kV (air
and overvoltage + coil return current discharge)

Coil Return 13

cutbacks

MAX INPUT PROTECTED ESD

CURRENT VOLTAGE TOLERANCE

10 A

.

65 V

Communications ports

Separate CAN and serial ports provide complete communications and program­ming capability for all user available controller information.

Note: The 1222 controller has no internal 120

Ω CAN terminating resis-

tor. Typically the wiring of the CAN bus nodes is a daisy chain topology with
120Ω CAN terminating resistors at each end. If the vehicle wiring is done such
that the 1222 is the last node in the chain, then an external 120

Ω terminating

resistor should be provided by the OEM in the wiring harness.

The Curtis programmer plugs into a connector wired to pins 28 and 29,
along with ground (pin 7) and the +10V power supply (pin 15); see wiring
diagram, Figure 3a.

COMMUNICATIONS PORT SPECIFICATIONS

SUPPORTED

SIGNAL NAME PIN PROTOCOL/DEVICES

CAN High 23 CANopen up to 1 Mbps -5 V to ± 8 kV (air
CAN Low 35 (MaxV + 10 V) discharge)
with < 30 V
differentially

Tx 28
Rx 29
1314 PC Program-

1313 Handheld as required, -0.3 to 12 V ± 8 kV (air

Programmer, 9.6 to 56 kbps discharge)

ming Station

DATA RATE VOLTAGE TOLERANCE

PROTECTED ESD

Curtis 1222 Manual, os 15

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2 9 J A N U A R Y 2 0 1 3 D R A F T

2 — INSTALLATION & WIRING: I/O Signal Specifications

Encoder inputs

These inputs are used when the steer command and position feedback devices
are encoders. Command Encoders 1 and 2 are for steer commands, and Steer
Motor Encoders 3 and 4 are for feedback.

Pairs (A, B) of control lines are internally configured to read quadrature
type encoders. The encoders are typically powered from the 5V supply (pin 21),
but can be powered from any external supply (from 5V up to B+) as long as
the logic threshold requirements are met.

Note: Steer Motor Encoder 3 is always required, even when redun
dant analog feedback inputs are used (feedback pots or sine/cosine sensors
or sawtooth sensors). Encoder 3 must be directly connected to the motor shaft
as it is used for motor control; it must have a minimum of 32 ppr. Encoder 4,
if it is used, can be connected to either the motor shaft or the steered wheel; if
it is connected to the steered wheel, it should have a minimum resolution of

0.5 counts/degree (equivalent to 45 ppr).

-

ENCODER INPUT SPECIFICATIONS

LOGIC

SIGNAL NAME PIN THRESHOLDS

Command Encoder 1A 14 Rising edge= 1 kΩ 2 kHz 65 V ± 8 kV (air
Command Encoder 1B 25 4 V max discharge)
Falling edge=
1 V min
Command Encoder 2A 33
Command Encoder 2B 20
Steer Motor Encoder 3A 31 10 kHz
Steer Motor Encoder 3B 32
Steer Motor Encoder 4A 26
Steer Motor Encoder 4B 27

INPUT MAX PROTECTED ESD

IMPEDANCE FREQ. VOLTAGE TOLERANCE

16

Curtis 1222 Manual, os 15

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS

PROGRAMMABLE PARAMETERS

The 1222 controller has a number of parameters that can be programmed us­ing a Curtis 1313 handheld programmer or 1314 Programming Station. The
programmable parameters allow the steering performance to be customized to
fit the needs of specific applications.

PARAMETER MENU CHARTS

The programmable parameters are grouped into nested hierarchical menus, as
shown in Table 3. The menu charts contain descriptions of each parameter.

PARAMETER ATTRIBUTES

Some parameters are subject to one or both of the following conditions, as
noted in the menu charts.

Parameter Change Fault (PCF)

When a new value is written, a Parameter Change Fault (code 49) is issued.
This is true both for writes via a CAN message and for writes via the serial bus
(using the 1313/1314 programmer). For safety purposes, the Parameter Change
Fault forces the vehicle operator to cycle power; cycling power clears the fault.
Subject parameters are marked

Requires Idle State (RIS)

To successfully write the parameter, a Device State = 0 (Not Ready to Switch
On), 2 (Switch On Disabled), 3 (Ready to Switch On) or 14 (Fault) is required.
This is true both for writes via a CAN message and for writes via the serial bus
(using the 1313/1314 programmer). The 1222 will reply with an Abort message
to any write attempted when the Device State is not one of those listed above.
The 1222 will not process the aborted write message, which means the new
parameter value will not be written. Subject parameters are marked

MENU CHART FORMAT

Individual parameters are presented as follows in the menu charts:

•

.

.

n

Parameter name Allowable range Parameter Description of the parameter’s
as it appears in the in the attribute function and, where applicable,
programmer display programmer’s units (PCF, RIS) suggestions for setting it

⇓ ⇓ ⇓ ⇓

Analog1 Center 0 – 10.00 V

0x400A 0x00 0 – 1023 a steer position command of center (Steer Command = 0°).

⇑ ⇑

CAN Object index Allowable range
and sub-index in CAN units

Curtis 1222 Manual, os 15

Defines the Analog 1 wiper voltage required to produce

•

n

17

3 — PROGRAMMABLE PARAMETERS

2 9 J A N U A R Y 2 0 1 3 D R A F T

Table 3 Programmable Parameter Menus

COMMAND DEVICE

Command Input Device ................ p. 20

Supervision Input Device ............. p. 20

0 – Analog1 and 3 ....................... p. 23

—Analog1 Left

—Analog1 Center

—Analog1 Right

—Analog1 Fault Min

—Analog1 Fault Max

—Analog3 Left

—Analog3 Center

—Analog3 Right

—Analog3 Fault Min

—Analog3 Fault Max

1 – Encoder1 and 2 ..................... p. 25

—Left Stop to Center

—Right Stop to Center

—Swap Encoder1 Direction

—Swap Encoder2 Direction

Sin/Cos Sensor ...................... p. 26

2 –

—Left Angle (deg)

—Center Angle (deg)

—Right Angle (deg)

—Offset

—Amplitude

—Swap Direction

—Absolute Mode

—Fault Min

—Fault Max

—Tolerance

3 – Sawtooth Sensor ................... p. 28

—Left Angle (deg)

—Center Angle (deg)

—Right Angle (deg)

—Min Volts

—Max Volts

—Swap Direction

—Absolute Mode

—Fault Min

—Fault Max

—Tolerance

4 – CAN .................................... p. 30

—CAN Steer Center Offset

—CAN2 Steer Center Offset

—CAN Steer Left Stop to Center

—CAN Steer Right Stop to Center

—CAN Steer Swap Direction

—CAN2 Steer Swap Direction

—Absolute Mode

Command Map ........................... p. 31

—Left Stop (deg)

—P1 Input

—P1 Output (deg)

—P2 Input

—P2 Output (deg)

—P3 Input

—P3 Output (deg)

—P4 Input

—P4 Output (deg)

—P5 Input

—P5 Output (deg)

—P6 Input

—P6 Output (deg)

—Right Stop (deg)

Force Feedback Device ................ p. 33

—Enable

—End Stop

—End Stop Vibe

—Vibe On Time

—Vibe Off Time

—Min Voltage

—Max Voltage

—Max Torque

FEEDBACK DEVICE

Position Feedback Device ............ p. 34

Supervision Feedback Device ....... p. 34

0 – Analog5 and 6 ....................... p. 37

—Analog5 Left Stop

—Analog5 Center

—Analog5 Right Stop

—Analog5 Fault Min

—Analog5 Fault Max

—Analog6 Left Stop

—Analog6 Center

—Analog6 Right Stop

—Analog6 Fault Min

—Analog6 Fault Max

1 – Encoder3 and 4

—Encoder3 Counts/Degree

—Encoder4 Counts/Degree

—Swap Encoder3 Direction

—Swap Encoder4 Direction

—Auto Center Type

—Center Offset (deg)

—Homing ........................... p. 39

—Input Type

—Home on Interlock

—Homing Direction Method

—Homing Cam Angle (deg)

—Homing Speed

—Homing Timeout

2 – Sin/Cos Sensor

—Offset

—Amplitude

—Swap Direction

—Center Position (deg)

—Fault Min

—Fault Max

—Tolerance

3 – Sawtooth Sensor .................. p. 42

—Center Position (deg)

—Min Volts

—Max Volts

—Swap Direction

—Fault Min

—Fault Max

—Tolerance

.................... p. 38

.................... p. 41

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3 — PROGRAMMABLE PARAMETERS

Table 3 Programmable Parameter Menus, cont’d

VEHICLE CONFIGURATION .......... p. 43

—Nominal Voltage

—Interlock Type

—Fault Steering Timeout

—Steer Contactor Driver ....... p. 44

—Contactor Control Type

—Pull-In Voltage

—Holding Voltage

—Open Delay

—Checks Enable

—Sequencing Delay

—Traction Speed Input .......... p. 45

—Input Type

—Type 1 – Encoder 1

—Encoder1 Steps

—Swap Encoder1 Direction

—Interlock Enabled Speed

SUPERVISION

—5V Current Min

—5V Current Max

—Steer Command Tolerance (deg)

—Wheel Position Tolerance (deg)

—Encoder Position Tolerance (deg)

—Home Reference Tolerance (deg)

—Stall Steering Speed

—Stall Timeout

—

—Error Tolerance (deg)

—Speed Tolerance (deg/s)

—Error Time

............................ p. 46

Following Error ................. p. 47

MOTOR ..................................... p. 48

—Max Speed

—Max Current

—Encoder3 Steps

—Swap Encoder3 Direction

—Temperature Control

—Sensor Enable

—Sensor Type

—Sensor Temp Offset

—Temperature Hot

—Temperature Max

—Sensor Fault Traction Cutback

—

User-Defined Temp Sensor .. p. 50

—Sensor 1

—Temp 1

. . . . .

—Sensor 7

—Temp 7

.......... p. 49

CANopen ................................... p. 51

—CAN Required

—Node ID

—Node ID Supervisor

—Baud Rate

—Producer Heartbeat Time

—PDO1 Timeout Time

MOTOR CONTROL TUNING ............ p. 52

—Position Kp

—Velocity Kp

—Velocity Ki

—Steering Sensitivity

........... p. 54

—LS Sensitivity

—HS Sensitivity

—Low Speed

—Mid Speed

—High Speed

—Field Weakening Control

..... p. 55

—FW Base Speed

—Field Weakening

—Weakening Rate

—Min Field Current

—Motor Type ..................... p. 56

C A U T IO N

☞

Curtis 1222 Manual, os 15

We strongly urge you to read Section 5, Initial Setup, before adjusting any of
the parameters.

Even if you opt to leave most of the parameters at their default settings,

it
is imperative that you perform the procedures outlined in Section 5, which
set up the basic system characteristics for your application

.

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

INPUT DEVICE PARAMETER

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Command Input Device 0 – 4
0x4003 0x00 0 – 4 and supervisory user steer commands:

Supervision Input Device

0x40E4 0x00 0 – 5 to two potentiometers as redundant inputs.

0 – 5

These two parameters determine which inputs will be used as the primary

•

n

•

n

0 = Pot input, where Analog 1 and Analog 3 inputs are connected

When an analog steering command is used, two channels
are required.

NAME PIN FUNCTION

Analog 1 8 Primary analog input command

Analog 3 19 Supervisory analog input command

It is best practice to wire the primary and supervisory input sig
nals in an “X” configuration (0–5V and 5V–0). However, the 1222
has independent maps and will support redundant signals that
move in the same direction.

-

1 = Encoder input, where Encoder 1 and Encoder 2 inputs are

connected to two quadrature encoders as redundant inputs.

When an encoder steering command is used, two quadra
ture encoders are required. In the table below, “+” and “-” indicate
encoder phase differences (“-” being some amount of phase shift
from “+”). This means that the primary and supervisory encoders
do not have to have the same alignment.

NAME PIN FUNCTION

Encoder 1A 14 Primary quadrature encoder command A+

Encoder 1B 25 Primary quadrature encoder command A-

Encoder 2A 33 Supervisory quadrature encoder command B+

Encoder 2B 20 Supervisory quadrature encoder command B-

-

x

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

INPUT DEVICE PARAMETER, cont’d

2 = Sin/Cos Sensor command, where Analog 1 and Analog 3 inputs

are connected to a sine-cosine transducer. The transducer could
be mounted to a steering wheel or a tiller arm. The sensor may
be set up as either an absolute or relative position device, using
the Absolute Mode parameter (see page 26).

When this steering command is used, sine and cosine
channels are both required (and together serve as the primary
and supervisory devices).

NAME PIN FUNCTION

Analog 1 8 Sine input (Command Analog 1)

Analog 3 19 Cosine input (Command Analog 3)

3 = Sawtooth Sensor command, where Analog 1 and Analog 3 inputs

are connected to a sawtooth transducer. The transducer could
be mounted to a steering wheel or a tiller arm. The sensor may
be set up as either an absolute or relative position device, using
the Absolute Mode parameter (see page 28).

When this steering command is used, primary sawtooth and
offset sawtooth channels are both required (and together serve
as the primary and supervisory devices).

NAME PIN FUNCTION

Analog 1 8 Primary sawtooth input (Command Analog 1)

Analog 3 19 Offset sawtooth input (Command Analog 3)

Curtis 1222 Manual, os 15

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

INPUT DEVICE PARAMETER, cont’d

4 = CAN Sensor command, where the input to the 1222 comes via

a CAN bus message (i.e., “steer-by-wire”). The CAN sensor
may be set up as either an absolute or relative position device,
using the Absolute Mode parameter (see page 30).

CAN Index Sub-Index FUNCTION

0x4445 0x00 Primary CAN Steer Command

0x44D6 0x00 Supervisory CAN Steer Command

The CAN indexes for both steer commands should be set up with
the generic CANopen PDO mapping objects. For EN 13849 it is
recommended that the CAN steer commands be sent in separate
PDO messages and that the supervisory CAN2 steer command
be the opposite polarity and that the CAN2 Steer Swap Direction
parameter be set for the supervisory command only.

This option is available only for the Supervision Input Device

IMPORTANT

☞

When the Supervision Input Device is set to 5, steer

5 = None. No supervisory steer command device is connected.

Only a single steer command device (the primary) is used.

parameter. Using this setting will make the system

non-compliant with EN 13849.

command supervision is disabled. This option is provided
to allow systems not compliant with EN 13849 to be set up
without having to supply connections to the supervisory inputs
from the single primary input device.

22

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS:

COMMAND INPUT DEVICE 0 – ANALOG1 and 3

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Analog1 Left 0 – 10.00 V
0x4008 0x00 0 – 1023 command of full left (Steer Command = -100% = Left Stop).

Analog1 Center 0 – 10.00 V
0x400A 0x00 0 – 1023 command of center (Steer Command = 0% = 0°).

Analog1 Right 0 – 10.00 V
0x4009 0x00 0 – 1023 command of full right (Steer Command = 100% = Right Stop).

Analog1 Fault Min 0 – 10.00 V Sets the minimum threshold for the Analog 1 steer command pot input.
0x400E 0x00 0–1023 If the Analog 1 steer command pot voltage goes below this threshhold for

Analog1 Fault Max 0 – 10.00 V Sets the maximum threshold for the Analog 1 steer command pot input.
0x400F 0x00 0 – 1023 If the Analog 1 steer command pot voltage rises above this threshhold for

PCF

RIS

Defines the Analog 1 wiper voltage required to produce a steer position

• n

Defines the Analog 1 wiper voltage required to produce a steer position

• n

Defines the Analog 1 wiper voltage required to produce a steer position

• n

60 ms, a fault is issued.

60 ms, a fault is issued.

Command Input Parameters

Analog3 Left 0 – 10.00 V

0x409F 0x00 0 – 1023 command of full left (Steer Command = -100% = Left Stop).

Analog3 Center 0 – 10.00 V

0x40A1 0x00 0 – 1023 command of center (Steer Command = 0% = 0°).

Analog3 Right 0 – 10.00 V

0x40A0 0x00 0 – 1023 command of full right (Steer Command = 100% = Right Stop).

Analog3 Fault Min 0 – 10.00 V Sets the minimum threshold for the Analog 3 steer command pot input.

0x400B 0x00 0 – 1023 If the Analog 3 steer command pot voltage falls below this threshhold for

Analog3 Fault Max 0 – 10.00 V Sets the maximum threshold for the Analog 3 steer command pot input.

0x400C 0x00 0 – 1023 If the Analog 3 steer command pot voltage rises above this threshhold for

Defines the Analog 3 wiper voltage required to produce a steer position

• n

Defines the Analog 3 wiper voltage required to produce a steer position

• n

Defines the Analog 3 wiper voltage required to produce a steer position

• n

60 ms, a fault is issued.

60 ms, a fault is issued.

Curtis 1222 Manual, os 15

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

Fig. 4 Command Input Device “0” signal flow (Analog 1 shown; Analog 3 is similar).

24

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

COMMAND INPUT DEVICE 1 – ENCODER1 and 2

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Left Stop to Center -32768 – 0
0x4094 0x00 -32768 – 0 command from the center position (Steer Command = 0% = 0°) to

PCF

RIS

Defines the total steer command encoder counts to produce a steer

• n

the full left position (Steer Command = -100% = Left Stop).
Left Stop to Center is always a negative number.

Right Stop to Center 0 – 32767
0x406D 0x00 0 – 32767 command from the center position (Steer Command = 0% = 0°) to

Swap Encoder1 Direction On / Off
0x406C 0x00 On / Off input.

Swap Encoder2 Direction On / Off
0x4069 0x00 On / Off input.

Defines the total steer command encoder counts to produce a steer

• n

the full right position (Steer Command = 100% = Right Stop).
Right Stop to Center is always a positive number.

Changes the direction (left or right) of the Encoder 1 steer command

• n

Changes the direction (left or right) of the Encoder 2 steer command

• n

Fig. 5 Command Input Device “1” signal flow (Encoder 1 shown; Encoder 2 is similar).

Curtis 1222 Manual, os 15

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

COMMAND INPUT DEVICE 2 – SIN/COS SENSOR

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Left Angle (deg) -1800.0° – 0.0°
0x40CC 0x00 -20480–0 required to produce a steer command of full left (Steer Command = -100%).

PCF

RIS

In Absolute Position mode, this parameter defines the position (in degrees)

• n

In Absolute Position mode, this parameter should be adjusted within the
range -180.0° – 0.0°.
In Relative Position mode, the parameter defines the number of turns
(in degrees) required to produce a steer command from center to full left
(Steer Command = -100%).

Center Angle (deg) -180.0° – 180.0°
0x40D2 0x00 -2048–2047 required to produce a steer command of center position (Steer Command =

Right Angle (deg) 0.0° – 1800.0°
0x40CD 0x00 0–20479 required to produce a steer command of full right (Steer Command = 100%).

Offset 0 – 10.00 V
0x40CE 0x00 0 – 1023 sin/cos sensor. This value is usually available in the sensor specifications,

Amplitude 0 – 10.00 V
0x40DE 0x00 0 – 1023 for the sin/cos sensor input signals.

Swap Direction On / Off
0x406A 0x00 On / Off the wires to pins 8 and 19.

Absolute Mode On / Off
0x40F0 0x00 On / Off The sensor is in relative position mode when this parameter is set to Off.

In Absolute Position mode, this parameter defines the position (in degrees)

• n

0%).
In Relative Position mode, this parameter is not used.

In Absolute Position mode, this parameter defines the position (in degrees)

• n

In Absolute Position mode, this parameter should be adjusted within the
range 0.0° – 180.0°.
In Relative Position mode, the parameter defines the number of turns
(in degrees) required to produce a steer command from center to full right
(Steer Command = 100%).

Set this parameter to the midpoint voltage of the sine wave output of the

• n

and is typically half the voltage supply to the sensor.

Set this parameter to one half of the expected peak-to-peak voltage

• n

Use this parameter to invert the signal to avoid physically swapping

• n

The sensor is in absolute position mode when this parameter is set to On.

• n

Fault Min 0 – 10.00 V Sets the minimum threshold for the Analog 1 and Analog 3 inputs of the

0x400B 0x00 0 – 1023 sin/cos sensor. If either the Analog 1 or Analog 3 voltage falls below this

threshold for 60 ms, a fault is issued.

Fault Max 0 – 10.00 V Sets the maximum threshold for the Analog 1 and Analog 3 inputs of the
0x400C 0x00 0 – 1023 sin/cos sensor. If either the Analog 1 or Analog 3 voltage rises above this

threshold for 60 ms, a fault is issued.

Tolerance 0 – 10.00 V The sine and cosine signals are used together to calculate the absolute
0x40DF 0x00 0 – 1023 position, i.e. arctan (Analog 1 / Analog 3). This calculated position is then

used to back-calculate the expected sine and cosine inputs, based on
the Amplitude parameter. If the difference between these expected inputs
(Command Sin/Cos Sensor Angle 2) and the actual inputs (Command
Sin/Cos Sensor Angle) is greater than the set Tolerance voltage for 60 ms,
a fault is issued. This provides a second level of fault detection and triggers
a separate SinCos Command fault.

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2 9 J A N U A R Y 2 0 1 3 D R A F T

+

-

Fig. 6 Command Input Device “2” signal flow.

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

Curtis 1222 Manual, os 15

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2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS:

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Left Angle (deg) -1800.0° – 0.0°
0x40CC 0x00 -20480–0 required to produce a steer command of full left (Steer Command = -100%).

Center Angle (deg) -180.0° – 180.0°
0x40D2 0x00 -2048–2047 required to produce a steer command of center position (Steer Command

Right Angle (deg) 0.0° – 1800.0°
0x40CD 0x00 0–20479 required to produce a steer command of full right (Steer Command = 100%).

Command Input Parameters

COMMAND INPUT DEVICE 3 – SAWTOOTH SENSOR

PCF

RIS

In Absolute Position mode, this parameter defines the position (in degrees)

•

n

In Absolute Position mode, this parameter should be adjusted within the
range -180.0° – 180.0°.
In Relative Position mode, the parameter defines the number of turns
(in degrees) required to produce a steer command from center to full left
(Steer Command = -100%).

In Absolute Position mode, this parameter defines the position (in degrees)

•

n

= 0%). In Absolute Position mode, this parameter should be adjusted within
the range -180.0° – 180.0°.
In Relative Position mode, this parameter is not used

In Absolute Position mode, this parameter defines the position (in degrees)

•

n

In Absolute Position mode, this parameter should be adjusted within the
range -180.0° – 180.0°.
In Relative Position mode, the parameter defines the number of turns
(in degrees) required to produce a steer command from center to full right
(Steer Command = 100%)

.

.

Min Volts 0 – 10.00 V
0x40EC 0x00 0 – 1023 Along with Max Volts and Tolerance, this parameter is used to fault-check

Max Volts 0 – 10.00 V
0x40ED 0x00 0 – 1023 Along with Min Volts and Tolerance, this parameter is used to fault-check

Swap Direction On / Off
0x406A 0x00 On / Off the wires to pins 8 and 19.

Absolute Mode On / Off
0x40F0 0x00 On / Off The sensor is in relative position mode when this parameter is set to Off.

Fault Min 0 – 10.00 V Sets the minimum threshold for the Analog 1 and Analog 3 inputs
0x400B 0x00 0 – 1023 of the sawtooth sensor. If either the Analog 1 or Analog 3 voltage falls

Fault Max 0 – 10.00 V Sets the maximum threshold for the Analog 1 and Analog 3 inputs
0x400C 0x00 0 – 1023 of the sawtooth sensor. If either the Analog 1 or Analog 3 voltage rises

Tolerance 0 – 10.00 V The Analog 1 and Analog 3 voltages of the sawtooth sensor should always
0x40DF 0x00 0 – 1023 be 0.5*(Max Volts - Min Volts) apart. A fault check is done by comparing

Set this parameter to the minimum voltage of the sawtooth waveform.

•

n

the sawtooth signals.

Set this parameter to the maximum voltage of the sawtooth waveform.

•

n

the sawtooth signals.

Use this parameter to invert the signal to avoid physically swapping

•

n

The sensor is in absolute position mode when this parameter is set to On.

•

n

below this threshold for 60 ms, a fault is issued.

above this threshold for 60 ms, a fault is issued.

the two voltages and calculating the error. If the error is greater than the
Tolerance voltage for 60 ms, a fault is issued. This provides a second level
of fault detection and triggers a separate Sawtooth Command Sensor fault.

28

Curtis 1222 Manual, os 15

2 9 J A N U A R Y 2 0 1 3 D R A F T

+

-

Fig. 7 Command Input Device “3” signal flow.

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

Curtis 1222 Manual, os 15

29

2 9 J A N U A R Y 2 0 1 3 D R A F T

+

-

3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

COMMAND INPUT DEVICE 4 – CAN

ALLOWABLE
PARAMETER RANGE DESCRIPTION

CAN Steer Center Offset -32768 – 32767
0x40E7 0x00 -32768–32767 command of center position (Steer Command = 0%). This allows a

PCF

RIS

Defines the position (in counts) required to produce a steer

•

n

service technician to recalibrate center without having to physically
adjust the sensor.
Note: This parameter is applicable only in absolute position mode.

CAN2 Steer Center Offset -32768 – 32767
0x40E6 0x00 -32768–32767 command2 of center position (Steer Command2 = 0%). This allows a

CAN Steer Left Stop to Center -32768 – 0
0x40E8 0x00 -32768–0 steer command from the center position (Steer Command = 0%) to

CAN Steer Right Stop to Center 0 – 32767
0x40E9 0x00 0 – 32767 steer command from the center position (Steer Command = 0%) to

CAN Steer Swap Direction On / Off

0x40EB 0x00 On / Off

CAN2 Steer Swap Direction On / Off

0x40EA 0x00 On / Off input.

Absolute Mode On / Off

0x40F0 0x00 On / Off to On.The sensor is in relative position mode when this parameter is

Defines the position (in counts) required to produce a steer

•

n

service technician to recalibrate center without having to physically
adjust the sensor.
Note: This parameter is applicable only in absolute position mode.

Defines the total CAN steer command sensor counts to produce a

•

n

the full left position (Steer Command = -100%). Left Stop to Center is
always a negative number.

Defines the total CAN steer command sensor counts to produce a

•

n

the full right position (Steer Command = 100%). Right Stop to Center
is always a positive number.

Changes the direction (left or right) of the CAN steer command input.

•

n

Changes the direction (left or right) of the CAN2 steer command

•

n

The sensor is in absolute position mode when this parameter is set

•

n

set to Off.

When setting up a steering command CAN device, for the system to be EN 13849

☞

compliant, one PDO must be sent to the main processor and one to the supervisor.
For additional security, it is recommended that the PDO sent to the supervisor be the
opposite polarity and that Swap Direction be set for the supervisor only. Contact Curtis
technical support for help with setting up PDOs.

Fig. 8 Command Input Device “4” signal flow.

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3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

A command map is used in the input command signal flow to compensate for
steering geometry differences between vehicles (steered wheel on the left side,
middle, or right side).

The command map menu contains 14 parameters defining an 8-point
map that modifies the steer command input. The first point (Left Stop (deg))
always defines the steer command input of -100% and the last point (Right
Stop deg)) always defines the steer command input of 100%.

COMMAND MAP

ALLOWABLE
PARAMETER RANGE DESCRIPTION

P1–P6 Input -100.0 – 100.0 %

-32768 – 32767 to the steer command map.

PCF

RIS

These six parameters define the steer command input (in %)

•

P1 Input = 0x401C 0x00

•

n

P2 Input = 0x401E 0x00

•

n

P3 Input = 0x4020 0x00

•

n

P4 Input = 0x4022 0x00

•

n

P5 Input = 0x4024 0x00

•

n

P6 Input = 0x4026 0x00

•

n

Left Stop (deg),

-32768 – 0 of the steer command map.

P1–P6 Output (deg),

-32768 – 32767

Right Stop (deg)

-180.0° – 0.0° These eight parameters define the steer command output (in degrees)

Left Stop (deg) = 0x401B 0x00

•

n

-180.0° – 180.0°

0.0° – 180.0°

0 – 32767

P1 Output (deg) = 0x401D 0x00

•

n

P2 Output (deg) = 0x401F 0x00

•

n

P3 Output (deg) = 0x4021 0x00

•

n

P4 Output (deg) = 0x4023 0x00

•

n

P5 Output (deg) = 0x4025 0x00

•

n

P6 Output (deg) = 0x4027 0x00

•

n

Right Stop (deg) = 0x4028 0x00

•

n

The steer command map is shaped by points A – H.

X Y

A -100% Left Stop (deg)

B P1 input P1 Output (deg)

C P2 input P2 Output (deg)

D P3 input P3 Output (deg)

E P4 input P4 Outpu (deg)

F P5 input P5 Output (deg)

G P6 input P6 Output (deg)

H 100% Right Stop (deg)

Fig. 9 Steer Command Map.

Curtis 1222 Manual, os 15

The map in this example is set up to provide a deadband

in the center (points D and E) and less sensitivity at the

ends (between A and B, and between G and H).

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3 — PROGRAMMABLE PARAMETERS: Command Input Parameters

In the command map, if Left Stop (deg) = -180° and Right Stop (deg) = 180°,

☞

true 360° steering (also known as “round and round” steering) is enabled. This
means the steered wheel will not have end stops and a command change from

-175° to 175° will cause the steered wheel to travel 10° clockwise rather than
350° counterclockwise. 360° steering is compatible with all steering input
devices except Type 0 - Analog1 and 3.

Although any map shape can be set up, it is recommended that the map

always be set so that a Steer Command of zero % equals a Steer Command
(deg) of zero. This is necessary to ensure that the auto-center functions work

correctly and will aid in system troubleshooting.

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3 — PROGRAMMABLE PARAMETERS:

FORCE FEEDBACK MENU

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Enable On / Off
0x4013 0x00 On / Off output driver (pin 5).

End Stop On / Off When set to On, the output will go to the Max Voltage (see below) when the
0x40E2 0x00 On / Off steering command exceeds the end stop until the input device changes direction.

End Stop Vibe On / Off When End Stop and End Stop Vibe are both set to On, the output will go to a
0x40E3 0x00 On / Off PWM mode of Max Voltage (vibrating according to Vibe On Time and Vibe Off

Vibe On Time 0 – 100 ms Sets the On time of the end stop vibration function.

0x40F2 0x00 0 – 100

PCF

RIS

When set to On, enables the force feedback function via the force feedback

•

n

The force feedback function is used to make a steering input device harder
to turn in proportion to the torque output of the steering motor. A force feedback
coil must be connected to the force feedback output driver (pin 5).

Time) when the steering command exceeds the end stop until the input device
changes direction.
Example: If Vibe On Time = 30 ms and Vibe Off Time = 70 ms, the vibration
would be 10 Hz, 30% duty cycle.

Command Input Parameters

Vibe Off Time 0 – 100 ms Sets the Off time of the end stop vibration function.

0x40F3 0x00 0 – 100

Min Voltage 0.0 – 80.00 V

0x40BB 0x00 0 – 800 motor torque of zero. The minimum voltage corresponds to the minimum force.

Max Voltage 0.0 – 80.00 V

0x40BC 0x00 0 – 800 value of the estimated motor torque is at or above the set Max Torque. The

Max Torque 0 – 5000 Nm

0x40BA 0x00 0 – 5000 force feedback coil. When setting this parameter it is useful to view the estimated

Sets the minimum voltage output of the force feedback coil at an estimated

•

n

Sets the maximum voltage output of the force feedback coil when the absolute

•

n

maximum voltage corresponds to the maximum force.

Sets an estimated steer motor torque at with the Max Voltage is output to the

•

n

steer motor torque (Monitor » Steer Motor » Motor Torque).

Fig. 10 Force feedback signal flow.

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3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters

FEEDBACK DEVICE PARAMETER

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Position Feedback Device 0 – 3
0x4005 0x00 0 – 3 and supervisory steer position feedback.

Supervision Feedback Device 0 – 4
0x40E5 0x00 0 – 4 are connected to two potentiometers as redundant feedback pots.

These parameters define which inputs will be used to determine the primary

•

n

0 = Steer pot position feedback, where Analog 5 and Analog 6 inputs

•

n

When analog position feedback is used, two channels are
required.

NAME PIN FUNCTION

Analog 5 16 Primary analog feedback

Analog 6 17 Supervisory analog feedback

It is best practice to wire the primary and supervisory input sig
nals in an “X” configuration (0–5V and 5V–0). However, the 1222
has independent maps and will support redundant signals that
move in the same direction.

-

1 = Encoder position feedback, where Encoder 3 and Encoder 4

are connected to two quadrature encoders as redundant inputs.

When encoder position feedback is used, two quadrature
encoders are required. In the table below, “+” and “-” indicate
encoder phase differences (“-” being some amount of phase shift
from “+”). This means that the primary and supervisory encoders
do not have to have the same alignment.

NAME PIN FUNCTION

Encoder 3A 31 Primary quadrature encoder feedback A

Encoder 3B 32 Primary quadrature encoder feedback B

Encoder 4A 26 Supervisory quadrature encoder feedback A

Encoder 4B 27 Supervisory quadrature encoder feedback B

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3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters

FEEDBACK DEVICE PARAMETER, cont’d

2 = Sin/Cos Sensor feedback, where Analog 5 and Analog 6 inputs

are connected to a sine-cosine transducer. This transducer is
mounted in a location where it can sense the actual wheel
position.

When this position feedback is used, sine and cosine
channels are both required (and together serve as the primary
and supervisory feedback devices).

NAME PIN FUNCTION

Analog 5 6 Sine input (Feedback Analog 5)

Analog 6 17 Cosine input (Feedback Analog 6)

3 = Sawtooth Sensor feedback, where Analog 5 and Analog 6 inputs

are connected to a sawtooth transducer. This transducer is
mounted in a location where it can sense the actual wheel
position.

When this position feedback is used, primary sawtooth and
offset sawtooth channels are both required (and together serve
as the primary and supervisory feedback devices).

NAME PIN FUNCTION

Analog 5 6 Primary Sawtooth input (Position Analog 5)

Analog 6 17 Offset Sawtooth input (Position Analog 6)

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3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters

FEEDBACK DEVICE PARAMETER, cont’d

4 = None. No supervisory position feedback device is connected.

Only a single position feedback device (the primary) is used.
This option is available only for the Supervision Feedback Device

IMPORTANT

parameter. Using this setting may make the system non­ compliant with EN 13849, and must be evaluated by the OEM.

☞

When the Supervision Feedback Device is set to 4, wheel
position supervision is disabled. This option is provided to allow
systems not compliant with EN 13849 to be set up without having
to supply connections to the supervisory inputs from the single
primary feedback device.

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3 — PROGRAMMABLE PARAMETERS: Position Feedback

POSITION FEEDBACK DEVICE 0 – ANALOG5 and 6

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Analog5 Left Stop 0 – 10.00 V
0x407F 0x00 0 – 1023 is at the Left Stop (Wheel Position = Left Stop).

Analog5 Center 0 – 10.00 V
0x4081 0x00 0 – 1023 is at the center position (Wheel Position = 0°).

Analog5 Right Stop 0 – 10.00 V
0x4080 0x00 0 – 1023 is at the Right Stop (Wheel Position = Right Stop).

Analog5 Fault Min 0 – 10.00 V Sets the minimum threshold for the Analog 5 steer position feedback pot.
0x40AE 0x00 0 – 1023 If the Analog 5 steer position feedback pot voltage falls below this

Analog5 Fault Max 0 – 10.00 V Sets the maximum threshold for the Analog 5 steer position feedback pot.
0x40AF 0x00 0 – 1023 If the Analog 5 steer position feedback pot voltage rises above this

PCF

RIS

Defines the Analog 5 wiper voltage when the steer position feedback

•

n

Defines the Analog 5 wiper voltage when the steer position feedback

•

n

Defines the Analog 5 wiper voltage when the steer position feedback

•

n

threshold for 60 ms, a fault is issued.

threshold for 60 ms, a fault is issued

Parameters

Analog6 Left Stop 0 – 10.00 V

0x40A3 0x00 0 – 1023 is at the Left Stop (Wheel Position = Left Stop).

Analog6 Center 0 – 10.00 V

0x4082 0x00 0 – 1023 is at the center position (Wheel Position = 0°).

Analog6 Right Stop 0 – 10.00 V

0x40A4 0x00 0 – 1023 is at the Right Stop (Wheel Position = Right Stop).

Analog6 Fault Min 0 – 10.00 V Sets the minimum threshold for the Analog 6 steer position feedback pot.

0x4011 0x00 0 – 1023 If the Analog 6 steer position feedback pot voltage falls below this

Analog6 Fault Max 0 – 10.00 V Sets the maximum threshold for the Analog 6 steer position feedback pot.

0x4012 0x00 0 – 1023 If the Analog 6 steer position feedback pot voltage rises above this

Defines the Analog 6 wiper voltage when the steer position feedback

•

n

Defines the Analog 6 wiper voltage when the steer position feedback

•

n

Defines the Analog 6 wiper voltage when the steer position feedback

•

n

threshold for 60 ms, a fault is issued.

threshold for 60 ms, a fault is issued.

Fig. 10 Position Feedback Device “0” signal flow (Analog 5 shown; Analog 6 is similar).

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+

-

+

-

3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters

POSITION FEEDBACK DEVICE 1 – ENCODER3 and 4

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Encoder3 Counts/Degree 10.0 – 1000.0
0x40C7 0x00 100 – 10000 wheel position. Encoder3 Counts/Degree is always a positive number.

Encoder4 Counts/Degree 0.5 – 1000.0
0x40C8 0x00 5 – 10000 wheel position. Encoder4 Counts/Degree is always a positive number.

Swap Encoder3 Direction On / Off

0x4014 0x00 On / Off

Swap Encoder4 Direction On / Off

0x4068 0x00 On / Off

Auto Center Type 0 – 1 Defines which event will trigger the controller to center

0x407D 0x00 0 – 1 the steered wheel.

Center Offset (deg) -180.0° – 180.0° The Center Offset is the difference between the zero position (center)

0x4018 0x00 -32768 – 32767 for the application and the home reference position (found during

Defines the number of Encoder 3 counts (pulses × 4) per degree of

•

n

Defines the number of Encoder 4 counts (pulses × 4) per degree of

•

n

Note that a lower range is provided for Encoder4 Counts/Degree
than for Encoder3 Counts/Degree. This allows the Encoder 4 sensor to
use the steering gear rather than being a sensor pickup on the motor.

Changes the direction of the Encoder 3 steer position feedback.

•

n

Changes the direction of the Encoder 4 steer position feedback.

•

n

0 = Auto Center after homing.
1 = Auto Center after homing and every interlock.

homing). During homing, the home position is found and once the
homing is completed the zero position is offset from the home
position by adding the Center Offset to the home position. All
subsequent absolute moves shall be taken relative to this new zero
position, including Auto Center. If the home switch is at the same
position as center, set Center Offset to zero.

Fig. 11 Position Feedback Device “1” signal flow (Encoder 3 shown; Encoder 4 is similar).

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3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters

POSITION FEEDBACK DEVICE 1 – ENCODER3 and 4: HOMING

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Input Type 0 – 2 Defines which inputs will be used to determine Home position.
0x407E 0x00 0 – 2 0 = Single NO switch (switch 2 input).

1 = Single switch with NO and NC contacts (same as two switches with
crossed polarity: switch 2 is NO and switch 4 is NC).
2 = Two switches with the same NO polarity (switch 2 is NO and
switch 4 is NO).

Home on Interlock 0 – 1 Defines when the homing function is activated.
0x4075 0x00 0 – 1 0 = Home when keyswitch is turned On.

1 = Homing on first Interlock = On. If the interlock signal is turned off
during the homing, the homing procedure is paused (PWM off) and
will resume when the interlock becomes active again.

Homing Direction Method 0 – 3 Defines which method is used to find Home position. The method
0x407C 0x00 0 – 3 determines the initial direction the homing function takes and on which

edge the homing function is complete.
0 = Left of positive Home switch.
1 = Right of positive Home switch.
2 = Right of negative Home switch.
3 = Left of negative Home switch.

Methods 0 and 1 use a Home switch that is On if the wheel is to the

right of it and Off if the wheel is to the left of it. At the start of homing
the wheel will move to the left if the Home switch is On and to the right
if it is Off. The home position is just to the left of the switch transition in
method 0 and just to the right of the switch transition in method 1.

Methods 2 and 3 use a Home switch that is On if the wheel is to the

left of it and Off if the wheel is to the right of it. At the start of homing
the wheel will move to the right if the Home switch is On and to the left
if it is Off. The home position is just to the right of the switch transition in
method 2 and just to the left of the switch transition in method 3.

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3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters

POSITION FEEDBACK DEVICE 1 – ENCODER3 and 4: HOMING, cont’d

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Homing Cam Angle (deg) 5.0° – 180.0° For 360° steering this parameter should be set to the angle of the
0x40F5 0x00 910 – 32767 homing cam. This setting is necessary because the 360° function has

the homing switch triggered in two different wheel positions.

Homing Speed 0 – 100.0 % Defines the speed of the steering motor during the homing function,
0x407B 0x00 0 – 32767 as a percentage of the steer motor Max Speed.

The lower the set value of Homing Speed, the more accurate the
homing will be; it is therefore recommended that Homing Speed be
set as low as tolerable. Although higher values will allow the homing
function to be completed more quickly, the results will be less consistent
than with lower values.

Homing Timeout 0.1 –5.0 s Defines the allowable time for homing to find home. A Home Position
0x40F4 0x00 1 – 50 Not Found fault is issued if the homing goes longer than the set Homing

Timeout without finding home.

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+

-

3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters

POSITION FEEDBACK DEVICE 2 – SIN/COS SENSOR

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Offset 0 – 10.00 V
0x40D1 0x00 0 – 1023 of the sin/cos sensor. This value is usually available in the sensor

PCF

RIS

Set this parameter to the midpoint voltage of the sine wave output

•

n

specifications, and is typically half the voltage supply to the sensor.

Amplitude 0 – 10.00 V
0x40E0 0x00 0 – 1023 for the sin/cos sensor input signals.

Swap Direction On / Off
0x4015 0x00 On / Off the wires to pins 16 and 17.

Center Position (deg) -180.0° – 180.0°
0x40D3 0x0 -32768 – 32767 position feedback at the center (straight) position (Wheel Position = 0%).

Fault Min 0 – 10.00 V Sets the minimum threshold for the Analog 5 and Analog 6 inputs
0x4011 0x00 0 – 1023 of the sin/cos sensor. If either the Analog 5 or Analog 6 voltage falls

Fault Max 0 – 10.00 V Sets the maximum threshold for the Analog 5 and Analog 6 inputs
0x4012 0x00 0 – 1023 of the sin/cos sensor. If either the Analog 5 or Analog 6 voltage rises

Tolerance 0 – 10.00 V The sine and cosine signals are used together to calculate the
0x40E1 0x00 0 – 1023 absolute position, i.e. arctan (Analog 5 / Analog 6). This calculated

Set this parameter to one half of the expected peak-to-peak voltage

•

n

Use this parameter to invert the signal to avoid physically swapping

•

n

Defines the sin/cos position (in degrees) that corresponds to a steer

•

n

This setting allows the service technician to re-calibrate the center
(straight) without having to physically adjust the sin/cos sensor.

below this threshold for 60 ms, a fault is issued.

above this threshold for 60 ms, a fault is issued.

position is then used to back-calculate the expected sine and cosine
inputs, based on the Amplitude parameter. If the difference between
these expected inputs and the actual inputs is greater than the set
Tolerance voltage for 60 ms, a fault is issued. This provides a second
level of fault detection and triggers a separate SinCos feedback fault.

Fig. 12 Position Feedback Input Device “2” signal flow.

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+

-

3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters

POSITION FEEDBACK DEVICE 3 – SAWTOOTH SENSOR

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Center Position (deg) -180.0° – 180.0°
0x40D3 0x00 -32768 – 32767 feedback at the center (straight) position (Wheel Position = 0%).

PCF

RIS

Defines the position (in degrees) that corresponds to a steer position

•

n

This setting allows the service technician to re-calibrate the
center (straight) without having to physically adjust the sawtooth
sensor.

Min Volts 0 – 10.00 V

Max Volts 0 – 10.00 V

0x40EF 0x00 0 – 1023 Along with Min Volts and Tolerance, this parameter is used to fault-

Swap Direction On / Off

0x4015 0x00 On / Off to pins 16 and 17.

Fault Min 0 – 10.00 V Sets the minimum threshold for the Analog 5 and Analog 6 inputs

0x4011 0x00 0 – 1023 of the sawtooth sensor. If either the Analog 5 or Analog 6 voltage falls

Fault Max 0 – 10.00 V Sets the maximum threshold for the Analog 5 and Analog 6 inputs

0x4012 0x00 0 – 1023 of the sawtooth sensor. If either the Analog 5 or Analog 6 voltage

Tolerance 0 – 10.00 V The Analog 5 and Analog 6 voltages of the sawtooth sensor should

0x40E1 0x00 0 – 1023 always be 0.5*(Max Volts - Min Volts) apart. A fault check is done by

Along with Max Volts and Tolerance, this parameter is used to fault-

•

n

check the sawtooth signals.

Set this parameter to the maximum voltage of the sawtooth waveform.

•

n

check the sawtooth signals.

Inverts the signal to prevent having to physically swap the wires

•

n

below this threshold for 60 ms, a fault is issued.

rises above this threshold for 60 ms, a fault is issued.

comparing the two voltages and calculating the error. If the error is
greater than the Tolerance voltage for 60 ms, a fault is issued. This
provides a second level of fault detection and triggers a separate
Sawtooth Command fault.

Fig. 13 Position Feedback Input Device “3” signal flow.

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3 — PROGRAMMABLE PARAMETERS: Vehicle Configuration Parameters

VEHICLE CONFIGURATION MENU

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Nominal Voltage 24.0 – 48.0 V
0x405E 0x00 307 – 614 voltage.

Interlock Type 0 – 3
0x4001 0x00 0 – 3 0 = KSI (interlock turns on with keyswitch).

Fault Steering Timeout 0.0 – 8.0 s This parameter applies only when a steer fault action of either “Warning
0x40DD 0x00 0 – 80 then Shutdown” or “Hold then Shutdown” is triggered (see Table 6,

If the vehicle does not stop within the set timeout, at the end of the

If the vehicle does stop within the set timeout, the fault output will open

This parameter must be set to the vehicle’s nominal battery pack

•

n

Defines which inputs will be used to determine an interlock:

•

n

1 = Single NO switch (Switch 1 Input).
2 = Single switch with NO and NC contacts
(same as two switches with crossed polarity, such as
Switch 1 is NO and Switch 3 is NC).
3 = CAN bus PDO message from the traction controller.

troubleshooting chart).
When one of these faults is detected, the Fault Steering Timeout
sets the maximum time allowed for the traction controller to bring the
vehicle to a stop.
Typically this parameter is set to zero. When set to zero, there is no
“warning” and there is no “hold” before the shutdown.
Setting this parameter to a value greater than zero can allow time
for the traction system to start interlock braking to come to a smoother,
gentler stop before the fault output forces the traction contactor to open
and EM brake to release.

timeout the fault output will force the traction contactor to open and the
EM brake to release, thus causing the vehicle to stop.

the traction contactor and release the EM brake immediately when the
vehicle stops, without waiting for the expiration of the timeout.
Note: Setting this parameter to a value greater than zero requires
the traction controller’s software (VCL and parameters) to permit
interlock braking. Please review your traction software before setting this
parameter to a non-zero value.

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3 — PROGRAMMABLE PARAMETERS: Vehicle Configuration Parameters

VEHICLE CONFIGURATION: STEER CONTACTOR

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Contactor Control Type 0 – 2
0x4095 0x00 0 – 2 0 = No steer contactor (Contactor Driver = Off).

1 = Steer contactor controlled by contactor driver.

2 = Steer contactor controlled by traction controller (Cont. Driver = Off).

Pull-in Voltage 0 – 80.0 V The contactor pull-in voltage parameter allows a high initial voltage
0x4061 0x00 0 – 800 when the contactor driver first turns on, to ensure contactor closure.

Holding Voltage 0 – 80.0 V
0x4062 0x00 0 – 800 voltage to be applied to the contactor coil once it has closed.

This parameter determines how the steer contactor is controlled.

•

n

This setting is used when the 1222 B+ stud is wired to a battery
with no steer contactor. This setting is not recommended and
may not meet the required vehicle safety standards.

This is the recommended setting, and is used when the 1222 B+
stud is wired to a steer contactor. Type 1 requires programming
the Pull-in Voltage, Holding Voltage, Open Delay, and Checks
Enable parameters.

This setting is used in systems that have only one main contactor
to supply both the traction controller and the 1222. In these sys­tems, the traction controller must tell the 1222 that the contactor
is open or closed in the CAN PD01 message.

After 1 second, the pull-in voltage drops to the steer contactor holding
voltage.
Note: The pull-in voltage is always battery voltage compensated.

The contactor holding voltage parameter allows a reduced average

•

n

This parameter must be set high enough to hold the contactor closed
under all shock and vibration conditions the vehicle will be subjected to.
Note: The holding voltage is always battery voltage compensated.

Open Delay 0 – 40 s The open delay can be set to allow the steer contactor to remain closed
0x4060 0x00 0 – 40 for a period of time (the open delay) after the interlock is turned off.

The delay is useful for preventing unnecessary cycling of the
contactor and for maintaining power to auxiliary functions that may still be
used for a short time after the interlock has turned off.

Checks Enable 0n / Off When programmed On, the controller performs ongoing checks to ensure
0x4067 0x00 On / Off that the steer contactor has closed properly each time it was commanded to

do so, and that it has not welded closed.
These checks (Contactor Welded and Contactor Did Not Close) are not
performed if the parameter is programmed Off.The contactor driver, however,
is always protected from short circuits.

Sequencing Delay 0 – 5.0 s The sequencing delay feature allows the interlock switch to be cycled
0x4063 0x00 0 – 50 within a set time (the sequencing delay), thus preventing inadvertent

deactivation of the steering control. This feature is useful in applications
where the interlock switch may bounce or be momentarily cycled during
operation.

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3 — PROGRAMMABLE PARAMETERS: Vehicle Configuration Parameters

VEHICLE CONFIGURATION: TRACTION SPEED INPUT

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Input Type 0 – 2 This parameter defines how the traction speed is determined by the 1222.
0x40B5 0x00 0 – 2 0 = Traction speed input disabled.

PCF

RIS

1 = Encoder1 input (not allowed if Command Input Device = 1)
2 = CAN bus PDO message from the traction controller.

Encoder1 Steps 32 – 1024
0x4007 0x00 32 – 1024 This must be set to match the traction motor encoder; see info on the

Swap Encoder1 Direction On / Off
0x406C 0x00 On / Off The traction encoder provides data used to determine traction speed.

Interlock Enabled Speed 0 – 500 rpm This parameter sets the traction speed above which interlock will
0x40B7 0x00 0 – 500 automatically be enabled, thus enabling steering.

Sets the number of traction motor encoder pulses per revolution.

•

n

traction motor nameplate.
This parameter is valid only for Traction Speed Input Type 1.

Changes the traction motor encoder’s effective direction of rotation.

•

n

This parameter must be set such that when the traction motor is turning
forward, the traction speed is positive.
This parameter is valid only for Traction Speed Input Type 1.

A setting of zero disables this function.

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3 — PROGRAMMABLE PARAMETERS: Supervision Parameters

SUPERVISION MENU

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

5V Current Min 0 – 100 mA Defines the lower threshold of the output current of the +5V supply
0x4096 0x00 0 – 1000 (pins 21 and 34). At or below this threshold, a fault is issued.

5V Current Max 0 – 100 mA Defines the upper threshold of the output current of the +5V supply
0x4097 0x00 0 – 1000 (pins 21 and 34). At or above this threshold, a fault is issued.

Steer Command Tolerance (deg) 2.0° – 90.0° Defines the maximum difference allowed between the two steer
0x40AA 0x00 364 – 16380 command inputs (Steer Command and Steer Command 2).

If the programmed tolerance is exceeded, a fault is issued.
The difference between the two steer command inputs can be
seen in the monitor variable Steer Command Error.
A setting of 90.0° turns off this fault check.

Wheel Position Tolerance (deg) 2.0° – 90.0° Defines the maximum difference allowed between the two position
0x40AB 0x00 364 – 16380 feedback outputs (Wheel Position and Wheel Position 2).

If the programmed tolerance is exceeded, a fault is issued.
The difference between the two wheel position outputs can be
seen in the monitor variable Wheel Position Error.
A setting of 90.0° turns off this fault check.

Encoder Position Tolerance (deg) 2.0° – 90.0° Defines the maximum difference allowed between the Wheel Position
0x40DC 0x00 364 – 16380 and the Encoder 3 Position.

This parameter should be used only for configurations where
the programmed Position Feedback Device = 0 (Analog 5 and 6)
or = 2 (Sin/Cos Sensor) or = 3 (Sawtooth Sensor).
If Position Feedback Device = 1 (Encoders 3 and 4) the Wheel
Position and Encoder 3 Position are the same. Therefore this check
should not be used when Position Feedback Device = 1.
If the programmed tolerance is exceeded, a fault is issued.
The difference between the Wheel Position and the Encoder 3
Position can be seen in the monitor variable Encoder Position Error.
A setting of 90.0° turns off this fault check.
For 360° steering, disable the fault check (set Encoder Position
Tolerance (deg) = 90.0°). This is necessary because if the wheel
were turned in the same direction multiple rotations, Wheel Position
would eventually drift away from the Encoder 3 Position due to the
small inaccuracy in the Encoder Counts Per Degree which would
build over multiple rotations.

Home Reference Tolerance (deg) 2.0° – 90.0° Defines the maximum difference allowed between the two home
0x40B6 0x00 364 – 16380 reference inputs (Home Reference and Home Reference 2).

If the programmed tolerance is exceeded, a fault is issued.
The difference between the two home reference inputs can be
seen in the monitor variable Home Reference Error.
A setting of 90.0° turns off this fault check. .

Stall Steering Speed 0 – 65535 rpm Defines the speed below which the steer motor will be considered
0x40DB 0x00 0 – 65535 stalled if it remains below this speed for the length of time defined

by the Stall Timeout parameter. When this condition is detected,
a fault is issued (code 36, Motor Stalled).
A setting of Stall Speed = 0 turns off this fault check.

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3 — PROGRAMMABLE PARAMETERS: Supervision Parameters

SUPERVISION MENU, cont’d

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Stall Timeout 0 – 2000 ms Defines the timeout time for the motor stalled fault check.

0x40DA 0x00 0 – 2000

SUPERVISION: FOLLOWING ERROR

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Error Tolerance (deg) 1.0° – 90.0° Defines the maximum difference allowed between Steering Command (deg)
0x40BE 0x00 182 – 16380 and Wheel Position (deg). The difference can be seen in the monitor

variable Following Error (deg).
If the programmed Error Tolerance (deg) is exceeded for the
programmed Error Time while the wheel speed is less than the programmed
Speed Tolerance (deg/s), a Following Error fault is issued.
A setting of Error Tolerance (deg) = 90.0° turns off this fault check.

Speed Tolerance (deg/s) 0.0 – 180.0 This parameter defines the minimum allowed speed for the steered wheel.
0x40C0 0x00 0 – 32767 This is a second condition for the Following Error check. By checking

the velocity of the steered wheel (first derivative of Wheel Position) this
check ensures that the steered wheel is moving in the correct direction at
or above the minimum allowed speed. The wheel speed can be seen in the
monitor variable Wheel Speed (deg/s).
A setting of Speed Tolerance (deg/s) = 0.0 removes the influence of
steered wheel speed from the Following Error check.
Setting Speed Tolerance (deg/s) to a value greater than zero (thus
enabling the influence of wheel speed in the Following Error check) should
allow the Error Tolerance (deg) and Error Time parameters to be set lower
without false fault trips. Setting Error Time lower allows the Following Error
fault to be detected more quickly.

Error Time 0.1 – 10.0 s Defines how long Error Tolerance (deg) can be exceeded if the steered
0x40BF 0x00 1 – 100 wheel is not moving in the right direction with a Wheel Speed (deg/s)

equal to or greater than the Speed Tolerance (deg/s).
Since the first derivative (Wheel Speed (deg/s)) is inherently noisy,
the timer is implemented as a count-up/count-down timer (Following Error
Time Accumulated) where the fault time is set by the parameter Error
Time.
Example: If Error Tolerance (deg) = 5 and Speed Tolerance (deg/s)
= 10, the Following Error Time Accumulated will count
Tolerance is >5

and the Wheel Speed (deg/s) <10. Following Error Time

Accumulated will count down if either the Error Tolerance
Speed (deg/s)

≥10.

up when the Error

≤ 5 or the Wheel

Error Time must be set long enough for the steered wheel to reverse
direction and reach the minimum speed (Speed Tolerance (deg/s)) under
the worst case conditions.

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3 — PROGRAMMABLE PARAMETERS: Motor Parameters

MOTOR MENU

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Max Speed 0 – 8000 rpm
0x401A 0x00 0 – 8000

Max Current 5 – 100 %
0x4126 0x00 1638 – 32767 motor during steering operation, as a percentage of the controller’s full

Encoder3 Steps 32 – 1024
0x40D6 0x00 32 – 1024 must be set to match the steer motor encoder; see specifications on the

Swap Encoder3 Direction On / Off
0x4014 0x00 On / Off encoder provides data used to determine steer speed.

Defines the maximum allowed steer motor rpm.

•

n

Defines the maximum rms current the controller will supply to the steer

•

n

rated current. Reducing this value will reduce the maximum steer torque.

Sets the number of of steer motor encoder pulses per revolution. This

•

n

steer motor nameplate.
Adjusting this parameter can be hazardous; setting it improperly
may cause vehicle malfunction, including uncommanded steer motor drive.

Changes the steer motor encoder’s effective direction of rotation. The steer

•

n

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3 — PROGRAMMABLE PARAMETERS: Motor Parameters

MOTOR: TEMPERATURE CONTROL

ALLOWABLE
PARAMETER RANGE DESCRIPTION

Sensor Enable On / Off The Sensor Enable parameter can be used only if a temperature sensor
0x403C 0x00 On / Off has been properly configured in the steering motor. When Sensor Enable

PCF

RIS

is programmed On, the motor temperature cutback feature and the motor
temperature compensation feature are enabled.
The motor temperature cutback feature will reduce traction speed
between the Temperature Hot and Temperature Max setpoints, but it will
not inhibit the 1222 steering.
The motor temperature compensation feature will adapt the motor
control algorithms to varying motor temperatures, for improved efficiency
and more consistent performance.

Sensor Type 0 –

0x4085 0x00 0 – 5

Type 1 KTY83–122

Type 2 2 × Type 1 in series

Type 3 KTY84-130 or KTY84-150

Type 4 2 × Type 3 in series

Type 5 PT1000

Custom sensor types can be set up if none of the predefined types is

Note: The industry standard KTY temperature sensors are silicon

Sensor Temp Offset -20.0 – 20.0 °C Often the sensor is placed in the motor at a location with a known offset to
0x4064 0x00 -200 – 200 the critical temperature; the offset can be corrected with this parameter.

Temperature Hot 0 – 250.0 °C Defines the temperature at which traction speed cutback begins. The cut

0x40AC 0x00 0 – 2500 is linear between the Temperature Hot and Temperature Max setpoints.

5 The following sensor types are predefined in the software.

C AU T I ON

☞

Type 0 User-defined sensor

appropriate for your application. Sensor Type 0 is for a user-defined motor
temperature sensor; see menu on the next page for the user-defined
parameters that must be configured for Type 0 sensors.

temperature sensors with a polarity band; the polarity band of a
KTY sensor must be connected to I/O ground (pin 7).

The
parameter can also be used to correct a known offset in the sensor itself.

back

J1-22

J1-7

-

Temperature Max 0 – 250.0 °C Defines the temperature at which traction speed is cut back to the speed
0x40AD 0x00 0 – 2500 defined by the Sensor Fault Traction Cutback parameter.

Sensor Fault Traction Cutback 0 – 100 % Defines the amount of traction speed cutback that will result from a sensor
0x40BD 0x00 0 – 100 fault.

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3 — PROGRAMMABLE PARAMETERS: Motor Parameters

MOTOR: USER-DEFINED TEMPERATURE SENSOR

This menu contains 14 parameters (7 sensor-temperature pairs) which
define a 7-point map that is used to map the voltage input to a sensor
temperature profile.
This menu is used only when Motor Temperature Sensor Type = 0
(User-defined).
It is best to select one point near the Temperature Hot value so the
controller will accurately regulate motor temperature.

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Sensor 1–7 0.0 – 10.0 V The seven Sensor parameters define inputs to the user-defined
see list 0 – 1023 temperature sensor map.

The units are in volts.

Sensor 1 = 0x4086 0x00

Sensor 2 = 0x4088 0x00

Sensor 3 = 0x408A 0x00

Sensor 4 = 0x408C 0x00

Sensor 5 = 0x408E 0x00

Sensor 6 = 0x4090 0x00

Sensor 7 = 0x4092 0x00

Temp 1–7 -60.0 – 250.0 °C The seven Temp parameters define outputs to the user-defined
see list -600 – 2500 temperature sensor map.

The units are in °C.

Temp 1 = 0x4087 0x00

Temp 2 = 0x4089 0x00

Temp 3 = 0x408B 0x00

Temp 4 = 0x408D 0x00

Temp 5 = 0x408F 0x00

Temp 6 = 0x4091 0x00

Temp 7 = 0x4093 0x00

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3 — PROGRAMMABLE PARAMETERS: CANopen Parameters

CANopen MENU

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

CAN Required On / Off
0x40F6 0x00 On / Off is connected to the CAN bus. Set CAN Required = Off for systems where

Node ID 1 – 127
0x5001 0x01 1 – 127 of the two node IDs that need to be set up for the 1222 controller.

Node ID Supervisor 1 – 127
0x40B2 0x00 1 – 127 second of the two node IDs that need to be set up for the 1222 controller.

Baud Rate 0 – 4

0x5001 0x02

Producer Heartbeat Rate 16 – 200 ms

0x1017 0x00 16

0 – 4 0 = 125 Kbps

– 200 the 1222 controller.

Set CAN Required = On for systems where the 1222 steering controller

•

n

the 1222 steering controller is stand-along (not connected to the CAN bus).
When programmed On, a fault check is made to verify that the steer
ing controller is set (via the CAN bus) to CAN NMT State = Operational
within 80 ms of the interlock being applied.

Sets the Node ID of the CANopen Slave system. This is the first

•

n

Sets the supervisor Node ID of the CANopen Slave system. This is the

•

n

The Node ID Supervisor should always be different from the Node ID.

Sets the CAN baud rate for the CANopen Slave system:

•

n

1 = 250 Kbps
2 = 500 Kbps
3 = 800 Kbps
4 = 1 Mbps

Sets the rate at which the CAN heartbeat messages are sent from

•

n

-

PDO1 Timeout Time 40 – 120 ms

0x40CB 0x00 40

– 120 The steering controller will set a fault if this timer expires between

Sets the PDO1 timeout period for receiving the PDO1 CAN message.

•

n

receiving PDO1 messages.

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3 — PROGRAMMABLE PARAMETERS: Motor Control Tuning Parameters

MOTOR CONTROL TUNING MENU

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Position Kp 0.1 – 100.0 % Determines how aggressively the steer controller attempts to match
0x4047 0x00 1 – 32767 the steer position to the commanded steer position. Larger values

provide tighter control.
If the gain is set too high, you may experience oscillations as the
controller tries to control position. If it is set too low, the motor may
behave sluggishly and be difficult to control.
See Figure 14.
Position Kp can be fine-tuned using the Steering Sensitivity
parameters (page 54).

Velocity Kp 0 – 100.0 % Determines how aggressively the steer controller attempts to match
0x4065 0x00 0 – 32767 the steer velocity to the determined velocity to reach the desired position.

Larger values provide tighter control.
If the gain is set too high, you may experience oscillations as the
controller tries to control velocity. If it is set too low, the motor may
behave sluggishly and be difficult to control.
See Figure 15.

Velocity Ki 0 – 100.0 % The integral term (Ki) forces zero steady state error in the determined
0x4066 0x00 0 – 32767 velocity, so the motor will run at exactly the determined velocity. Larger

values provide tighter control.
If the gain is set too high, you may experience oscillations as the
controller tries to control velocity. If it is set too low, the motor may take
a long time to approach the exact commanded velocity.
See Figure 15.

52

Curtis 1222 Manual, os 15

+

+

-

+

Fig. 14 Position Control signal flow.

-

+

2 9 J A N U A R Y 2 0 1 3 D R A F T

3 — PROGRAMMABLE PARAMETERS: Motor Control Tuning Parameters

*

“Kp*” is the percentage of Position Kp determined
by the Steering Sensitivity Map; see Fig. 16.

Fig. 15 Velocity Control signal flow.

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3 — PROGRAMMABLE PARAMETERS: Steering Sensitivity

MOTOR CONTROL TUNING: STEERING SENSITIVITY

ALLOWABLE
PARAMETER RANGE DESCRIPTION

LS Sensitivity 20 – 100 % Defines the steering sensitivity at very low speeds (i.e., at near zero
0x4132 0x00 6553 – 32767 traction rpm), as a percentage of the programmed Position Kp.

HS Sensitivity 20 – 100 % Defines the steering sensitivity at high speeds, as a percentage
0x4133 0x00 6553 – 32767 of the programmed Position Kp.

Low Speed 0 – 32767 rpm
0x4134 0x00 0 – 32767 vehicle accelerates.

Mid Speed 0 – 32767 rpm
0x4135 0x00 0 – 32767 to the programmed HS Sensitivity value as the vehicle accelerates.

PCF

RIS

Sensitivity is typically reduced at low speeds to prevent excessive
hunting for the commanded position.

Sensitivity is typically reduced at high speeds to make the vehicle
easier to drive.

Defines the speed at which 100% sensitivity will be applied, as the

•

n

Defines the speed at which 100% sensitivity will start to decrease

•

n

Parameters

High Speed 0 – 32767 rpm

0x4136 0x00 0 – 32767 value will be applied.

Sets the speed at and above which the programmed HS Sensitivity

•

n

The steering sensitivity map is shaped by the settings

of the five parameters in the Steering Sensitivity menu,

with the two sensitivity parameters along the Y axis

and the three speed parameters along the X axis.

X (RPM) Y (%)

A 0 LS Sensitivity

B Low Speed 100%

C Mid Speed 100%

D High Speed HS Sensitivity

The map adjusts the proportional gain (Position Kp) as

a function of traction speed.

Fig. 16 Steering Sensitivity Map.

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3 — PROGRAMMABLE PARAMETERS: Field Weakening Control

Parameters

MOTOR CONTROL TUNING: FIELD WEAKENING CONTROL

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

FW Base Speed 200 – 6000 rpm This parameter needs to be reset each time the Motor Type is changed.
0x410A 0x00 200 – 6000 See Motor Type table on page 56.

Field Weakening 0 – 100 % Determines the amount of high speed power the controller will allow,
0x4108 0x00 0 – 1024 while still maintaining maximum effficiency at the allowed power.

Reducing this parameter effectively reduces controller current at high
speeds, which can reduce energy consumption and motor heating, but
at the expense of reduced available torque from the motor.

Weakening Rate 0 – 100 % Determines the control loop gains for field weakening. Setting the rate
0x412B 0x00 0 – 500 too low may create surging in the vehicle as it accelerates at mid to high

speeds. Setting the rate too high may create high frequency oscillations
(usually audible) when the vehicle accelerates at mid to high speeds.

Min Field Current 0 – 800 A Min Field Current sets the amount of current used to pre-flux the steer
0x4112 0x00 0 – 8000 motor field. This current will run in the steer motor whenever the bridge

is enabled (Interlock = On). Pre-fluxing the steer motor improves steering
response, but because it also reduces efficiency and causes controller
and steer motor heating, this parameter is typically set to zero.

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3 — PROGRAMMABLE PARAMETERS: Motor Type Parameter

MOTOR TYPE PARAMETER

ALLOWABLE
PARAMETER RANGE DESCRIPTION

PCF

RIS

Motor Type 0 – 22
0x40B0 0x00 0 – 22 many AC motors. The table also provides appropriate settings for the

Motor Type STEER MOTOR VOLTAGE (V) WATTAGE (W) FW Base Speed (rpm)

0 [User defined] n/a n/a n/a

1 ABM 4DG63D_4 24 670

2 CFR AM106.0026 24 1000

3 Kordel KM A 63/4-80/3 24 700

4 Iskra ASG 7101 24 300

5 [Reserved] n/a n/a n/a

6 Metalrota ARD114 24 700

7 CFR AM106.0124 36 600

8 CFR AM106.0059.01 48 600

9 Schabmuller 50060170 24 580

This parameter references a predefined set of motor parameters for

•

n

FW Base Speed parameter.
If your motor is not included here, consult your local Curtis
customer support engineer for information on how to set these three
parameters based on your application and motor.

2600

2500

450

1525

2020

2200

1250

500

10 Superec SY09-0.6Q 24 600

11 Kordel KM A 80/4-60/3 24 400

12 Iskra ASG 7102 24 300 2900

13 Metalrota ARD111A or ARD 117 48 700

14 Schabmueller 10066174 48 500

15 CFR AM090.0019 48 400

16 CFR AM090.0021 24 400

17 Yuchen XQY-0.6 24 600 3000

18 Tongda OR743001 48 700

19 ABM SDH14576/DG63D-4 48 900

20 Superec B493112 48 600

21 CFR AG106.0060 24 800

22 KDS YDZ0.6-4-6740 48 600

2300

2300

790

600

960

1500

1200

2000

2200

2850

1620

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2 9 J A N U A R Y 2 0 1 3 D R A F T

4a — MONITOR MENU

MONITOR MENU

Through its Monitor menu, the handheld programmer provides access to real­time data during vehicle operation. This information is helpful during diagnostics
and troubleshooting, and also while adjusting programmable parameters.

Table 3 Monitor Menu

COMMAND INPUT . . . . . . . . . . . . . . . . . . . p. 58

—Target Speed

—Target Position
—Steer Command (deg)
—Steer Command 2 (deg)
—Steer Command
—Steer Command 2

—Analog Input . . . . . . . . . . . . . . . . . . p. 59

—
—
—Angle (deg)
—Angle 2 (deg)
—Angle Raw (deg)
—Angle Raw 2 (deg)

—Encoder Input . . . . . . . . . . . . . . . . . p. 60

—Encoder 1 Counts

—Encoder 2 Counts
—Encoder 1
—Encoder 1
—
—

—CAN Input . . . . . . . . . . . . . . . . . . . . . p. 61

—CAN Steer Command

—
—
—CAN2 Steer Counts

POSITION FEEDBACK . . . . . . . . . . . . . . . . p. 62

—Wheel Position (deg)
—Wheel Position 2 (deg)
—Left Stop Reached
—Right Stop Reached

—Analog Input . . . . . . . . . . . . . . . . . . p. 62

—
—
—Position Raw (deg)
—Position 2 Raw (deg)

—Encoder Input . . . . . . . . . . . . . . . . . p. 63

—Encoder 3 Degrees from Home
—Encoder 4 Degrees from Home
—Encoder 3 Counts from Home
—Encoder 4 Counts from Home
—Encoder 3 Position (deg)
—
—
—
—

SUPERVISION

—Following Error (deg)
—Wheel Speed (deg/s)
—Steer Comma
—Wheel Position Error (deg)
—
—Home Reference Error (deg)

Analog 1
Analog 3

Encoder 2A
Encoder 2B

CAN2 Steer Command
CAN Steer Counts

Analog 5
Analog 6

Encoder 3A
Encoder 3B
Encoder 4A
Encoder 4B

. . . . . . . . . . . . . . . . . . . . . . . p. 64

Encoder Position Error (deg)

(deg)

A
B

nd Error (deg)

INTERLOCK. . . . . . . . . . . . . . . . . . . . . . . . . p. 65

—Interlock

Switch1

—
—

Switch3

HOME REFERENCE

—

Home

—

Switch2

—

Switch4

OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . p. 65

—Fault Output Voltage

Contactor Driver PWM

—
—Force Feedback Driver PWM

BATTERY AND SUPPLY

—Capacitor Voltage
—Keyswitch Voltage
—10v Out
—

5v Out

—

5v Out Current

STEER MOTOR

—Motor RPM
—Motor Torque
—Temperature
—Temperature Sensor Voltage

CONTROLLER

—Current (RMS)
—Modulation Depth
—Frequency
—Temperature
—Contactor Sta
—Steer Command State

Device State

—
—Keyswitch Hour Meter
—Interlock Hour Meter

CAN STATUS

—

CAN NMT State

—From Traction Controller. . . . . . . . . p. 69

—Traction Motor RPM
—Traction Is Ready
—CAN Interlock

—To Traction Controller . . . . . . . . . . . p. 69

—Enable Traction
—Traction Cutback
—Traction Fault Action

. . . . . . . . . . . . . . . . . . p. 65

. . . . . . . . . . . . . . . p. 66

. . . . . . . . . . . . . . . . . . . . . . p. 66

. . . . . . . . . . . . . . . . . . . . . . . p. 67

te

. . . . . . . . . . . . . . . . . . . . . . . . p. 68

Curtis 1222 Manual, os 15

57

4a — MONITOR MENU: Command Input

DISPLAY
VARIABLE RANGE DESCRIPTION

Target Speed -32768 – 32767 rpm Steer motor speed target for the velocity
0x442E 0x00 -32768 – 32767 control loop.

2 9 J A N U A R Y 2 0 1 3 D R A F T

Monitor Menu: COMMAND INPUT

Target Position (deg)

0x4427 0x00 -32768 – 32767

Steer Command (deg)

0x44BA 0x00 -32768 – 32767

Steer Command 2 (deg)

-180.0° – 180.0° Wheel position target for the position
control loop.

-180.0° – 180.0° The operator’s final Steer Command
(in degrees).

-180.0° – 180.0° The operator’s redundant final Steer

0x44BB 0x00 -32768 – 32767 Command (in degrees).

Steer Command

0x4423 0x00 -32768 – 32767

-100.0 – 100.0 % The operator’s Steer Command (in percent)
that is the input into the command map.

The output of the command map is
the Steer Command (in degrees).

Steer Command 2

-100.0 – 100.0 % The operator’s redundant Steer Command

0x446A 0x00 -32768 – 32767 (in percent) that is the input into the com

mand map.
The output of the command map is
the Steer Command 2 (in degrees).

-

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4a — MONITOR MENU: Command Input

Monitor Menu: COMMAND INPUT → Analog Input

DISPLAY
VARIABLE RANGE DESCRIPTION

Analog 1 0 – 10.00 V The voltage measured at the Command
0x4413 0x00 0 – 1023 Analog 1 input (pin 8).

Analog 3 0 – 10.00 V The voltage measured at the Command
0x4414 0x00 0 – 1023 Analog 3 input (pin 19).

Angle (deg)

0x44BC 0x00 -32768 – 32767 and Sawtooth sensor inputs.

-2880.0 – 2880.0 This variable is used by both the Sin/Cos

In Absolute Position mode, Angle (deg) =
Angle Raw (deg) minus the Center Angle (deg)
parameter.
In Relative Position mode, Angle (deg)
= Angle Raw (deg) minus the relative center
angle (which is recalculated each time the
interlock is enabled).

Angle 2 (deg)

0x44BD 0x00 -32768 – 32767 and Sawtooth sensor inputs.

-2880.0 – 2880.0 This variable is used by both the Sin/Cos

In Absolute Position mode, Angle 2 (deg)
= Angle Raw 2 (deg) minus the Center Angle
(deg) parameter.
In Relative Position mode, Angle 2 (deg)
= Angle Raw 2 (deg) minus the relative center
angle (which is recalculated each time the
interlock is enabled).

Angle Raw (deg)

-2880.0 – 2880.0 This variable is used by both the Sin/Cos

0x44BE 0x00 -32768 – 32767 and Sawtooth sensor inputs. It is calculated

from the sensor input voltages (pins 8 and 19).

Curtis 1222 Manual, os 15

Angle Raw 2 (deg)

-2880.0 – 2880.0 This variable is used by both the Sin/Cos

0x44BF 0x00 -32768 – 32767 and Sawtooth sensor inputs. It is calculated

from the sensor input voltages (pins 8 and 19).

59

4a — MONITOR MENU: Command Input

DISPLAY
VARIABLE RANGE DESCRIPTION

Encoder 1 Counts -2147483648 – 2147483647 Encoder 1 counts from a command

0x4420 0x00 -2147483648 – 2147483647

Encoder 2 Counts -2147483648 – 2147483647 Encoder 2 counts from a command

0x4474 0x00 -2147483648 – 2147483647 to the center position. Moving the

2 9 J A N U A R Y 2 0 1 3 D R A F T

Monitor Menu: COMMAND INPUT → Encoder Input

to the center position. Moving the
command encoder should increase
the counts (positive or negative,
depending on the direction moved).
A command left of center will
be negative counts.
A command right of center will
be positive counts.

command encoder should increase
the counts (positive or negative,
depending on the direction moved).
A command left of center will
be negative counts.
A command right of center will
be positive counts.

Encoder 1A On / Off Command Encoder 1A switch input
0x4478 0x00 On / Off On or Off (pin 14). This can be used to

verify that phase A of Command Encoder 1
is operating correctly.

Encoder 1B On / Off Command Encoder 1B switch input
0x4479 0x00 On / Off On or Off (pin 25). This can be used to

verify that phase B of Command Encoder 1
is operating correctly.

Encoder 2A On / Off Command Encoder 2A switch input
0x447A 0x00 On / Off On or Off (pin 33). This can be used to

verify that phase A of Command Encoder 2
is operating correctly.

Encoder 2B On / Off Command Encoder 2B switch input
0x447B 0x00 On / Off On or Off (pin 20). This can be used to

verify that phase B of Command Encoder 2
is operating correctly.

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4a — MONITOR MENU: Command Input

Monitor Menu: COMMAND INPUT → CAN Input

DISPLAY
VARIABLE RANGE DESCRIPTION

CAN Steer Command -32768 – 32767 The incoming primary CAN steering

0x4445 0x00 -32768 – 32767

command communicated on the CAN bus.

Typically the CAN object is mapped into
a PDO message. The system arrangement
determines which PDO message is used.

CAN 2 Steer Command -32768 – 32767 The incoming supervisory CAN steering
0x44D6 0x00 -32768 – 32767 command communicated on the CAN bus.

Typically the CAN object is mapped into
a PDO message. The system arrangement
determines which PDO message is used.

CAN Steer Counts -32768 – 32767 The primary CAN steering sensor counts
0x44D5 0x00 -32768 – 32767 from the center position command.

A command left of center will be
negative counts; a command right of center
will be positive counts.
In Absolute Position mode, CAN Steer
Counts = CAN Steer Command minus the
Center Offset parameter.
In Relative Position mode, CAN Steer
Counts = CAN Steer Command minus the
relative center angle (which is recalculated
each time the interlock is enabled).

CAN 2 Steer Counts -32768 – 32767 The supervisory CAN steering sensor

0x44D4 0x00 -32768 – 32767

counts from the center position command.

A command left of center will be
negative counts; a command right of center
will be positive counts.
In Absolute Position mode, CAN 2
Steer Counts = CAN 2 Steer Command
minus the Center Offset parameter.
In Relative Position mode, CAN 2 Steer
Counts = CAN 2 Steer Command minus the
relative center angle (which is recalculated
each time the interlock is enabled).

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61

4a — MONITOR MENU: Position Feedback

DISPLAY
VARIABLE RANGE DESCRIPTION

Wheel Position (deg) -180.0° – 180.0° The final wheel position.

0x2000 0x00 -32768 – 32767

2 9 J A N U A R Y 2 0 1 3 D R A F T

Monitor Menu: POSITION FEEDBACK

Wheel Position 2 (deg)

0x4458 0x00 -32768 – 32767 position.

-180.0° – 180.0° The operator’s redundant final wheel

Wheel Position 2 is compared to Wheel
Position, and if the difference exceeds the
programmed Wheel Position Tolerance, a
fault is issued (code 56: Wheel Position
Supervision).

Left Stop Reached On / Off Flag indicating the left stop has been
0x4421 0x00 On / Off reached.

Right Stop Reached On / Off Flag indicating the right stop has been

0x4422 0x00 On / Off

reached.

Monitor Menu: POSITION FEEDBACK → Analog Input

DISPLAY
VARIABLE RANGE DESCRIPTION

Analog 5 0 – 10.00 V The voltage measured at the Position
0x4411 0x00 0 – 1023 Analog 5 input (pin 16).

Analog 6 0 – 10.00 V The voltage measured at the Position
0x4480 0x00 0 – 1023 Analog 6 input (pin 17).

Position Raw (deg)

-180.0° – 180.0° The angle calculated by the primary

0x44C0 0x00 -32768 – 32767 microprocessor from the input voltages

(pins 16 and 17) for the Sin/Cos or
Sawtooth sensors.

Position 2 Raw (deg)

-180.0° – 180.0° The angle calculated by the supervisory

0x44C1 0x00 -32768 – 32767 microprocessor from the input voltages

(pins 16 and 17) for the Sin/Cos or
Sawtooth sensors.

62

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4a — MONITOR MENU: Position Feedback

Monitor Menu: POSITION FEEDBACK → Encoder Input

DISPLAY
VARIABLE RANGE DESCRIPTION

Encoder 3 Degrees -180.0° – 180.0° Encoder 3 degrees from home position.
from Home

0x44C3 0x00

-32768 – 32767 The steer motor rotating should change the

degrees; a move left of home position will

be in negative degrees and a move right of
home will be in positive degrees.

Encoder 4 Degrees
from Home

0x44C4 0x00

-180.0° – 180.0° Encoder 4 degrees from home position.

-32768 – 32767 The steer motor rotating should change the

degrees; a move left of home position will

be in negative degrees and a move right of
home will be in positive degrees.

Encoder 3 Counts -2147483648 – 2147483647 Encoder 3 counts from the home
from Home

0x441F 0x00

-2147483648 – 2147483647 position. The steer motor rotating

should change the counts; a move

left of home position will be
negative counts, and a move right
of home will be positive counts.

Encoder 4 Counts -2147483648 – 2147483647 Encoder 4 counts from the home
from Home

0x4473 0x00

-2147483648 – 2147483647 position. The steer motor rotating

should change the counts; a move

left of home position will be
negative counts, and a move right
of home will be positive counts.

Encoder 3
Position (deg)

0x44D0 0x00

-180.0° – 180.0° Wheel position based on Encoder 3 counts.

-32768 – 32767 Accuracy depends on the parameters

Encoder 3 Counts from Home and Center Off

set being configured correctly. This variable
is used in a supervision check (see code 56:

-

Wheel Position Supervision).

Curtis 1222 Manual, os 15

Encoder 3A On / Off Steer Motor Encoder 3A switch input On or Off

0x4434 0x00 On / Off (pin 31). This can be used to verify that phase A

of Steer Motor Encoder 3 is operating correctly.

Encoder 3B On / Off Steer Motor Encoder 3B switch input On or Off
0x4435 0x00 On / Off (pin 32). This can be used to verify that phase B

of Steer Motor Encoder 3 is operating correctly.

Encoder 4A On / Off Steer Motor Encoder 4A switch input On or Off
0x447C 0x00 On / Off (pin 26). This can be used to verify that phase A

of Steer Motor Encoder 4 is operating correctly.

Encoder 4B On / Off Steer Motor Encoder 4B switch input On or Off
0x447D 0x00 On / Off (pin 27). This can be used to verify that phase B

of Steer Motor Encoder 4 is operating correctly.

63

4a — MONITOR MENU: Supervision

DISPLAY
VARIABLE RANGE DESCRIPTION

2 9 J A N U A R Y 2 0 1 3 D R A F T

Monitor Menu: SUPERVISION

Following Error (deg) -180.0° – 180.0° Following Error = Steer Command 2

0x44C9 0x00 -32768 – 32767 minus Wheel Position 2. If the difference

exceeds the programmed Following
Tolerance, a fault is issued (code 73:
Following Error).

Wheel Speed (deg/s)

-180.0° – 180.0° Rotational velocity of the steered wheel.

0x44D8 0x00 -32768 – 32767 This variable can be useful when setting

up the Following Error check parameters,
particularly Speed Tolerance (deg/s).

Steer Command Error (deg)

-180.0° – 180.0° Steer Command Error = Steer Command

0x44CA 0x00 -32768 – 32767 minus Steer Command 2. If the difference

exceeds the programmed Steer Command
Tolerance, a fault is issued (code 55:
Steer Command Supervision).

Wheel Position Error (deg)

-180.0° – 180.0° Wheel Position Error = Wheel Position

0x44CB 0x00 -32768 – 32767 minus Wheel Position 2. If the difference

exceeds the programmed Wheel Position
Tolerance, a fault is issued (code 56:
Wheel Position Supervision).

Encoder Position Error (deg)

-180.0° – 180.0° Encoder Position Error = Wheel Position

0x44D2 0x00 -32768 – 32767 minus Encoder 3 Position. If the difference

exceeds the programmed Encoder Posi

­tion Tolerance, a fault is issued (code 56:
Wheel Position Supervision).

Home Reference Error (deg)

-180.0° – 180.0° Home Reference Error = Home Reference

0x44CC 0x00 -32768 – 32767 minus Home Reference 2. If the difference

exceeds the programmed Home Reference
Tolerance, a fault is issued (code 54:
Home Reference Tolerance Fault).

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4a — MONITOR MENU: Interlock, Home Reference, and Outputs

Monitor Menu: INTERLOCK

DISPLAY
VARIABLE RANGE DESCRIPTION

Interlock On / Off The interlock is used to enable/disable the
0x440C 0x00 On / Off the electric steering. The source of the

interlock state is determined by the Interlock
Type parameter.

Switch1 On / Off Switch 1 input On or Off (pin 9). This input
0x440A 0x00 On / Off is used as an input for the NO contact of the

Interlock switch.

Switch3 On / Off Switch 3 input On or Off (pin 11). This input
0x444F 0x00 On / Off is used as an input for the NC contact of the

Interlock switch.

Monitor Menu: HOME REFERENCE

DISPLAY
VARIABLE RANGE DESCRIPTION

Home On / Off Home is used to recalibrate the position,
0x440D 0x00 On / Off when the position feedback devices are

encoders (Position Feedback Device = 1).

Switch2 On / Off Switch 2 input On or Off (pin 10). This input
0x440B 0x00 On / Off is used as an input for the NO contact of the

Home switch.

Switch4 On / Off Switch 4 input On or Off (pin 12). This input
0x4450 0x00 On / Off is used as an input for the NC contact of the

Home switch.

Monitor Menu: OUTPUTS

DISPLAY
VARIABLE RANGE DESCRIPTION

Fault Output Voltage 0.0 – 80.0 V Voltage measured at the Fault Output
0x440F 0x00 0 – 1023 (pin 24).

Curtis 1222 Manual, os 15

Contactor Driver PWM

0 – 100 % Steer contactor driver PWM output (pin 2).

0x44A4 0x00 0 – 32767

Force Feedback Driver PWM

0 – 100 % Force feedback driver PWM output (pin 5).

0x44A7 0x00 0 – 32767

65

4a — MONITOR MENU: Battery and Supply

DISPLAY
VARIABLE RANGE DESCRIPTION

Capacitor Voltage 0.0 – 80.0 V Voltage of steer controller’s internal capacitor

0x4417 0x00 0 – 1023

2 9 J A N U A R Y 2 0 1 3 D R A F T

Monitor Menu: BATTERY AND SUPPLY

bank at the B+ terminal.

Keyswitch Voltage

0x4416 0x00 0 – 1023

0.0 – 20.0 V Voltage measured at the +10V output (pin 15).

10v Out

0x445E 0x00 0 – 1023

0.00 – 10.00 V Voltage measured at the +5V output

5v Out

0x44A9 0x00 0 – 1023

5v Out Current

0x4415 0x00 0 – 1000

0.0 – 80.0 V Voltage measured at the keyswitch input
(pin 1).

(pins 21 and 34).

0 – 100.0 mA Measured current of the +5V output supply

(pins 21 and 34).

Monitor Menu: STEER MOTOR

DISPLAY
VARIABLE RANGE DESCRIPTION

Motor RPM -32768 – 32767 rpm Steer motor speed in revolutions per minute.

0x4433 0x00 -32768 – 32767

Motor Torque -5000 – 5000 Nm The estimated torque in the steer motor.

0x44D7 0x00 -5000 – 5000 This variable can be useful when setting up

the force feedback parameters, particularly
Max Torque.

Temperature

-3276.8 – 3276.7 °C Steer motor temperature as measured by

0x441B 0x00 -32768 – 32767 the motor temperature sensor input (pin 22).

Temperature Sensor Voltage

0x4410 0x00 0 – 1023

0.00 – 10.00 V Voltage measured at the motor
temperature sensor input (pin 22).

66

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2 9 J A N U A R Y 2 0 1 3 D R A F T

4a — MONITOR MENU: Controller

Monitor Menu: CONTROLLER

DISPLAY
VARIABLE RANGE DESCRIPTION

Current (RMS) 0 – 6553.5 A RMS current of the steer controller, taking all
0x44B1 0x00 0 – 65535 three phases into account.

Modulation Depth 0.0 – 100.0 % Percentage of available voltage being used.

0x4520 0x00

0 – 1024

Frequency -300 – 300 Hz Steer controller electrical frequency.

0x452F 0x00 -18000 – 18000

Temperature

0x441A 0x00

-3276.8 – 3276.7 °C Steer controller internal temperature.

-32768 – 32767

Contactor State 0 – 4 Steer contactor state:
0x44AA 0x00 0 – 4 0 = open

1 = closing
2 = closed
3 = opening
4 = fault.

Steer Command State 0 – 255 Steer command state:
0x4432 0x00 0 – 255 0 = init

1 = open phase check
2 = homing
3 = auto center
4= steering
5 = idle
6 = steering faulted.

Device State 0 – 255 Device state:
0x444C 0x00 0 – 255 0 = “Not Ready To Switch On”:

controller initialization state

2 = “Switch On Disabled”:

software upload state

3 = “Ready To Switch On”:

controller enabled, motor bridge
disabled, Interlock = Off

4 = “Switched On”:

controller enabled, processing
the Interlock = On command

5 = “Operation Enabled”:

controller enabled, motor bridge
enabled, Interlock = On

13 = “Fault Reaction State”:

controller processing a shutdown
fault action

14 = “Fault”:

controller shut down by shutdown
fault action, Fault Output = Off

.

Curtis 1222 Manual, os 15

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2 9 J A N U A R Y 2 0 1 3 D R A F T

4a — MONITOR MENU: Motor Tuning and CAN Status

DISPLAY
VARIABLE RANGE DESCRIPTION

Keyswitch Hour Meter 0 – 429496729.5 hour Displays the total time the steer

0x4499 0x00

0 – 4294967295 controller has been powered On.

Interlock Hour Meter 0 – 429496729.5 hour Displays the total time the steer

0x4498 0x00 0 – 4294967295 controller has had the interlock On.

DISPLAY
VARIABLE RANGE DESCRIPTION

CAN NMT State 0 – 255 Controller CAN NMT state:
0x1C00 0x00 0 – 255 0 = initialization

Monitor Menu: CONTROLLER, cont’d

Monitor Menu: CAN STATUS

4 = stopped
5 = operational
127 = pre-operational.

68

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4a — MONITOR MENU: CAN STATUS

Monitor Menu: CAN STATUS → FROM TRACTION CONTROLLER

DISPLAY
VARIABLE RANGE DESCRIPTION

Traction Motor RPM -32768 – 32767 rpm Traction motor speed in revolutions per
0x441E 0x00 -32768 – 32767 minute.

This variable is based on the input
selected with the Traction Speed Input
Type parameter.

Traction Is Ready On / Off Flag sent by the traction controller over

0x2081 0x00 On / Off

the CAN bus (PDO1_MOSI Byte 3) to
indicate whether the traction motor is
ready. Typically implemented in the traction
controller VCL to indicate that the traction
main contactor is closed.

CAN Interlock On / Off Flag sent by the traction controller over

0x4447 0x00 On / Off

the CAN bus (PDO1_MOSI Byte 4) to
indicate whether the interlock is enabled.
This flag is used by the 1222 only when
Interlock Type = 3.

Monitor Menu: CAN STATUS → TO TRACTION CONTROLLER

DISPLAY
VARIABLE RANGE DESCRIPTION

Enable Traction On / Off Flag sent from the steer controller
0x2001 0x00 On / Off to enable the traction controller.

Traction Cutback

0 – 100 % Variable sent from the steer controller

0x2003 0x00 0 – 100 to cut back the speed of the traction motor.

Traction Fault Action

0 – 10 Variable sent from the steer controller

0x2005 0x00 0 – 10 to trigger a fault action in the traction

controller.
0 = no fault
1 = stop traction
2 = reduce traction speed
3 = no action.

Curtis 1222 Manual, os 15

69

4b — CONTROLLER INFO MENU

4b

2 9 J A N U A R Y 2 0 1 3 D R A F T

CONTROLLER INFORMATION MENU

This menu provides ID and version numbers for your controller hardware and
software.

CONTROLLER INFORMATION MENU

DISPLAY
VARIABLE RANGE DESCRIPTION

Model Number 0 – 4294967295 Model number. For example, if you have
0x5000 0x08 0 – 4294967295 a 1222 controller with the model number

1222-5101, the Model Number variable will
have a value of 12225101.

Serial Number 0 – 4294967295 Serial number. For example, if the serial
0x1018 0x04 0 – 4294967295 number printed on your controller is

13125L.11493, the Serial Number variable
will have the value of 11493.

Protocol Version 0 – 32767 Version of the serial communications protocol.

0 – 32767

Param Block Version 0 – 32767 Version of the parameter block.

0 – 32767

Mfg Date Code 0 – 65535 Controller date of manufacture, with the first

0x4801 0x00 0 – 65535 two digits indicating the year and the last

Hardware Version 0 – 65.535 The hardware version number uniquely

0x4802 0x00 0 – 65535 describes the combination of power base

OS Version 0 – 65535 Version number of the operating system

0x4804 0x00 0 – 65535 software that is loaded into the controller.

three indicating the day. For example, if the
serial number printed on your controller is
13125L.11493, the Mfg Date Code variable
will have the value of 13125 (125th day of

2013).

assembly and the logic, cap, and IMS board
assemblies used in the controller.

This variable specifies the
number of the controller’s operating system.

major version

70

Build Number 0 – 65535 Build number of the operating system

0x4803 0x00 0 – 65535 software that is loaded into the controller.

This variable specifies the
number of the controller’s operating system.

SM Version 0 – 655.35 Version number of the Start Manager
0x4800 0x00 0 – 65535 software that is loaded into the controller.

minor version

Curtis 1222 Manual, os 15

4c

2 9 J A N U A R Y 2 0 1 3 D R A F T

4c — CONTROLLER FUNCTIONS MENU

CONTROLLER FUNCTIONS MENU

This menu allows you to reset parameters to their default values and reset the
interlock hour meter to zero.

CONTROLLER INFORMATION MENU

DISPLAY
FUNCTION RANGE DESCRIPTION

Restore to Factory Defaults Yes / No Set to “Yes” to reset all programmable
Yes / No parameters to their factory default settings.

Clear Interlock Hour Meter Yes / No Set to “Yes” to set the interlock hour
Yes / No meter to zero hours.

Curtis 1222 Manual, os 15

71

5 — COMMISSIONING

5

2 9 J A N U A R Y 2 0 1 3 D R A F T

COMMISSIONING

The 1222 steer controller can be used in a variety of vehicles, which differ widely
in characteristics and in their input and feedback devices. Before driving the
vehicle, it is imperative that the commissioning procedures be carefully followed
to ensure that the controller is set up to be compatible with your application.

The 1222 controller must be used in conjunction with a Curtis AC

traction controller with VCL. The Curtis traction controller must implement

special software (VCL) to communicate with the 1222 controller, via the CAN
bus, and to support safe vehicle operation.

A single main contactor can be used to support both traction and steer
controllers. All vehicles must use the Fault Output connection (J1-24) to
allow the 1222 to disable the traction main contactor during certain fault
conditions.

* * *

The correct value for the Motor Type and FW Base
Speed parameters
each AC motor. You can determine these values in one of

the following ways:

Check the motor types that are already supported

➡

by comparing your motor model number to the
list of characterized motors listed in the parameter
description for Motor Type (page 56). If there is a
match, consult the table for the correct FW Base
Speed based on the Motor Type and Nominal
Voltage.

Contact Curtis with the manufacturer’s part

➡

number for your motor. We have a database
of many AC motors for which we have already
determined the correct motor parameter settings.
If no testing has been done, it may be possible for
Curtis to dyno test your motor. Contact Curtis
before shipping your motor.

BEFORE YOU START

must be determined individually for

* * *

72

C A U T IO N

☞

After obtaining this information, set the Motor Type and

FW Base Speed parameters to their correct values.

Before starting the commissioning procedures, jack the vehicle drive wheels
up off the ground so that they spin freely and steer freely from stop to stop.
Manually disable the Interlock (traction and steer) so that the 1222 will not

begin steering and the traction wheel will not turn. Double-check all wiring to
ensure it is consistent with the wiring guidelines presented in Section 2. Make
sure all connections are tight. Turn on the controller and plug in the handheld
programmer.

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

The commissioning procedures are grouped into four sections, as follows.

The first section covers the initial setting of various parameters, before the
actual commissioning begins.

The procedures in the second section set up the steer command. The 1222
interlock and the traction interlock both remain Off.

“0” — Setup for Pot input
“1” — Setup for Encoder input
“2” — Setup for Sin/Cos Sensor input
“3” — Setup for Sawtooth Sensor input
“4” — Setup for CAN Sensor input
“5” — None (applies only to Supervision parameter)

The procedures in the third section require the steer motor to turn, so the
1222 interlock (the steer interlock) must be set to On. The vehicle drive wheels
continue to be jacked up off the ground to they can spin freely and steer freely
from stop to stop.

Preparation for commissioning

1

2 Command Map setup

3 Command Input Device setup

4 Force Feedback setup

5 Verify the Command Input setup

6 Verify the Steer Motor Encoder 3 setup

“0” — Setup for Pot input
“1” — Setup for Encoder input
“2” — Setup for Sin/Cos Sensor input
“3” — Setup for Sawtooth Sensor input
“4” — None (applies only to Supervision parameter)

Last, the vehicle drive wheels are lowered to the ground and the final proce
dures are conducted. For these procedures, the traction interlock must also be
set to On.

Position Feedback Device setup

7

Set the remaining Performance and Supervision parameters

8

Verify the Position Feedback Setup

9

Resolve any existing faults

bk

Set the Following Error parameters

bl

Set the remaining Supervision parameters.

bm

-

Curtis 1222 Manual, os 15

73

5 — COMMISSIONING

C A U T IO N

☞

2 9 J A N U A R Y 2 0 1 3 D R A F T

Preparation for commissioning

1

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

74

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5 — COMMISSIONING

Temporarily set these six parameters to disable the supervision; this will allow
for easier setup of the primary and redundant signals:

Supervision

Steer Command Tolerance = 90°

Wheel Position Tolerance = 90°

Encoder Position Tolerance = 90°

Home Reference Tolerance = 90°

Stall Steering Speed = 0

Following Error » Error Tolerance = 90°

Steer Direction

Parameter and monitor values for wheel position and steer motor speed are
signed (i.e., they are positive and negative values).

Right wheel positions (positive values) are such that when traveling in
the forward vehicle direction in a vehicle with the steered wheel in the front
the steer direction is to the driver’s right.

Left wheel positions (negative values) are such that when traveling in
the forward vehicle direction in a vehicle with the steered wheel in the front
the steer direction is to the driver’s left.

In vehicles where the steered wheel is in the back, these directions are
reversed.

Curtis 1222 Manual, os 15

If your application has a motor temperature sensor, check the temperature
(Monitor

» Steer Motor » Temperature) and verify that the reading is correct or

resolve the problem.

Verify that the correct VCL software is loaded into the Curtis AC traction
controller to support the 1222. Verify that the CAN communications between
the AC traction controller and the 1222 are operating correctly. Resolve any
problems with the traction software or CAN communications before continu
ing on to the commissioning procedures.

75

-

5 — COMMISSIONING

IMPORTANT

☞

IMPORTANT

☞

2 9 J A N U A R Y 2 0 1 3 D R A F T

Command Map setup (see page 31)

2

The fourteen parameters in the Command Map menu define an 8-point map,
as described on page 31. The input to the Command Map (in units of %) can
be observed in Monitor » Command Input » Steer Command. The output to the
Command Map (in units of degrees) can be observed in Monitor » Command
Input » Steer Command (deg).

The Left Stop (deg) parameter is paired with a value of -100%, and the Right

Stop (deg) parameter is paired with a value of 100%. The P1-P6 Output values fill

in the continuum between the two stops; these values should get positive when
center is crossed. Similarly, the P1-P6 Input parameters should start with negative
percent values and increase to positive percent values. The settings of the point
pairs can be customized to shape the map according to the needs of the applica­tion. In general, starting with a linear command map without any deadband is
recommended for vehicles that have the steered wheel in the center.

Setting the Left Stop (deg) and Right Stop (deg) to the correct angle is critical to
the setup of the vehicle as these two parameters set the maximum steering angle.
They must be set before continuing on to set up the position feedback.

Although any map shape can be set up, it is recommended that the map
always be set so that a Steer Command of zero equals a Steer Command (deg) of
zero. This is necessary to ensure that the auto-center functions work correctly,
and will aid in system troubleshooting.

Setting the parameters Left Stop (deg) to -180° and Right Stop (deg) to 180°
results in true 360° steering (also known as “round and round” steering). This
means the steered wheel will not have end stops and a command change from

-175° to 175° will cause the steered wheel to travel 10° clockwise rather than
350° counterclockwise. True 360° steering is compatible with all command
input devices except Type 0 - Analog1 and 3.

76

Command Input Device setup (see pages 20–22)

3

Your steering command input device will be a dual potentiometer or a sine/cosine
sensor or sawtooth sensor (using pins J1-8 and J1-19) or a dual encoder (using
pins J1-14, J1-25, J1-33, and J1-20). Most applications will have a primary
command input device and a supervisory command input device.

Set the Command Input Device parameter and the Supervision Input Device
parameter to the type of input you will be using:

Command Input Device Types Supervision Input Device Types

0 = Pot input 0 = Pot input

1 = Encoder input 1 = Encoder input

2 = Sin/Cos Sensor input 2 = Sin/Cos Sensor input

3 = Sawtooth Sensor input 3 = Sawtooth Sensor input

4 = CAN Sensor input 4 = CAN Sensor input

5 = None

Use the appropriate setup procedure for the devices, for the input you have
chosen for each. For applications with only a primary command input device,
you will need to set the Supervision Input Device parameter to 5.

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2 9 J A N U A R Y 2 0 1 3 D R A F T

5 — COMMISSIONING

“0” — Setup for Pot input (see page 23)

Note: The steer motor should not respond to this command input because the
Interlock is Off. If the steer motor shows any movement (or if the Interlock is
On), stop and resolve the issue; see Preparation for commissioning, page 74.

a. Move the steer command pots to the Left position (not to the actual physi-

cal stop, but a small amount away, to allow for pot tolerance variation) and
observe the two voltages shown in the Monitor
Input

» Analog1 and Analog3 variables. Set the parameters Analog1 Left and

Analog3 Left to the observed voltages.

» Command Input » Analog

b. Move the steer command pots to the Center position and observe the two

voltages shown in the

log1 Center and Analog3 Center to the observed voltages.

Analog1 and Analog3 variables. Set the parameters Ana-

c. Move the steer command pots to the Right position (not to the actual physi

cal stop, but a small amount away, to allow for pot tolerance variation) and
observe the two voltages shown in the

Analog1 and Analog3 variables. Set the

parameters Analog1 Right and Analog3 Right to the observed voltages.

d. Set the four fault parameters (

Min, and Analog3 Fault Max). Set these to voltages that will not be reached dur-

Analog1 Fault Min, Analog1 Fault Max, Analog3 Fault

ing normal operation, but will be reached when the steer command inputs
become faulty (e.g., should there be an open or short circuit).

The Fault Min settings must be below the minimum voltage seen on

Analog1 or Analog3 when steered to the maximum left and right positions.

The Fault Max settings must be above the maximum voltage seen on

Analog1 or Analog3 when steered to the maximum left and right positions.

“1” — Setup for Encoder input (see page 25)

Note: The steer motor should not respond to this command input because the
Interlock is Off. If the steer motor shows any movement (or if the Interlock is
On), stop and resolve the issue; see Preparation for commissioning, page 74.

a. Both command encoders must move in the same direction and the values

must be positive for the Right direction and negative for the Left direction,
as defined on page 73. Observe the Monitor
Input

» Encoder1 Counts and Encoder2 Counts variables. While moving the com-

» Command Input » Encoder

mand encoders, verify that these values are both positive (for movements to
command Right steer direction) or negative (for movements to command
Left steer direction). If so, go on to Step “b”.

If one or both of the Encoder Counts is incorrect, use the parameters

Swap Encoder1 Direction and/or Swap Encoder2 Direction. Recheck the Encoder1

Counts and Encoder2 Counts variables and verify that they both move in the

same direction with the correct sign. If problems persist, contact your Curtis
customer support engineer before continuing.

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5 — COMMISSIONING

2 9 J A N U A R Y 2 0 1 3 D R A F T

b. Set the parameters Left Stop to Center and Right Stop to Center. These parameters

determine how many revolutions of the command encoders are required
to steer between the Left and Right stops. These values can be calculated
based on the encoders’ pulses per revolution (ppr) and the desired number
of revolutions of the steering wheel (counts = 4 × encoder ppr × number of
revolutions). Both encoders must have the same ppr.

Another way to set up these parameters is by observing the Encoder1 Counts

and Encoder2 Counts values and steering while observing the change in the
encoder counts during one complete revolution of the steering wheel.

“2” — Setup for Sin/Cos Sensor input (see page 26)

Note: The steer motor should not respond to this command input because the
Interlock is Off. If the steer motor shows any movement (or if the Interlock is
On), stop and resolve the issue; see Preparation for commissioning, page 74.

a. Set the parameters

Amplitude and Offset according to the sensor manufacturer’s

specifications. Amplitude is usually referred to as Gain in the specs. Amplitude
is half the peak-to-peak voltage, and Offset is the center of the peak-to-peak
from ground.

If sensor specs are not available, use the voltages shown in the Moni

tor

» Command Input » Analog Input » Analog1 and Analog3 variables as follows.

To calculate the Offset, find the highest and lowest values of

Analog3 while slowly sweeping the command device. Add these two values

together and divide by two. Input this number in the
subtract the lowest value of

Analog1 and Analog3 from the Offset param-

Offset parameter. Next,

Analog1 and

eter value. Input this number in the Amplitude parameter. Example: While
the command device is moved slowly,

Analog1 and Analog3 are shown to have

a maximum voltage of 4.1 V and a minimum voltage of 1.9 V; therefore,
Offset = 3.0 V and Amplitude = 1.1 V.

b. Decide if the sensor input will be in absolute position mode or relative posi

tion mode, and then follow Step “c” or “d” as appropriate.

Absolute Mode = On is for absolute position mode. The sensor input

typically has a range of motion that matches the range of motion of the
steered wheel (not multi-turn) and the center, right, and left positions are
all defined. Absolute position mode is typically used for walkie and walkie
rider material handling applications.

Absolute Mode = Off is for relative position mode. The sensor input is

typically a multi-turn device with the center position being wherever the sen
sor is positioned when the interlock is turned on. Relative position mode is
typically used for reach trucks and man-up material handling applications.

-

-

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78

c. For Absolute Position Mode (Absolute Mode = On):

1. Move the Sin/Cos Sensor to the center position and observe the angle
shown in the Monitor
variable. Set the

» Command Input » Analog Input » Angle Raw

Center Angle to the observed angle. This parameter

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5 — COMMISSIONING

must be set before the Left and Right angle parameters are set, because
the center angle is based on the raw reading and normalizes the angle
for setting up the Left and Right angles.

2. Move the Sin/Cos Sensor to the Left position (not to the actual
physical stop, but a small amount away, to allow for sensor tolerance
variation) and observe the angle shown in the Monitor
Input

» Analog Input » Angle variable. If the observed angle was nega-

tive, set the

Left Angle parameter to the observed angle.

If the observed angle was positive, change the parameter

Direction. Verify that the steer direction sign is correct (-), and then

return to step b to reset the

Angle parameter to the observed angle.

Center Angle parameter. Finally, set the Left

» Command

Swap

3. Move the Sin/Cos Sensor to the Right position (not to the actual
physical stop, but a small amount away, to allow for sensor tolerance
variation) and observe the angle shown in the

Right Angle parameter to the observed angle.

Angle variable. Set the

d. For Relative Position Mode (Absolute Mode = Off ):

1. Set the

Center Angle to zero, as this parameter is not used in relative

position mode.

2. Set the

Left Angle parameter to the number of turns (in negative degrees)

required to produce a steer command from center to full left.

3. Set the

Right Angle parameter to the number of turns (in degrees) re-

quired to produce a steer command from center to full right.

e. Set the two fault parameters (

Fault Min and Fault Max) to voltages that will

not be reached during normal operation, but will be reached when the steer
command inputs become faulty (e.g., should there be an open or short cir
cuit).

The Fault Min settings must be below the minimum voltage seen on

Analog1 or Analog3 when steered to the maximum left and right positions.

The Fault Max settings must be above the maximum voltage seen on

Analog1 or Analog3 when steered to the maximum left and right positions.

f. The

Tolerance parameter can be set in either of two ways.

1. Obtain the tolerance of Min Volts and Max Volts from the manufacturer’s
specs, and then calculate the worst case difference in voltage between
the calculated voltages and the measured
over the range of the sensor. Set the

Analog1 and Analog3 voltages

Tolerance to a comfortable margin

above the maximum calculated difference.

2. Manually lower the

Tolerance value while adjusting the Sin/Cos Sen-

sor over the entire output range until the fault Sin/Cos Command
Sensor (Fault Code 47) is generated. Repeat this until you find the
minimum Tolerance value that will not cause the fault (over the entire
sensor range). Set the

Tolerance to a comfortable margin above the

minimum tolerance found.

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“3” — Setup for Sawtooth Sensor input (see page 28)

Note: The steer motor should not respond to this command input because the
Interlock is Off. If the steer motor shows any movement (or if the Interlock is
On), stop and resolve the issue; see Preparation for commissioning, page 74.

a. Set the parameters Min Volts and Max Volts according to the sensor manufacturer’s

specifications. If sensor specs are not available, use the voltages shown in the
Monitor
lows. To get the correct values for
est values of
put the lowest value as
the command device is moved slowly,
a minimum voltage of 1.9 V and a maximum voltage of 4.1 V; therefore,

Volts = 1.9 V and Max Volts = 4.1 V.

» Command Input » Analog Input » Analog1 and Analog3 variables as fol-

Min Volts and Max Volts, find the highest and low-

Analog1 and Analog3 while slowly sweeping the command device. In-

Min Volts and the highest value as Max Volts. Example: While

Analog1 and Analog3 are shown to have

Min

b. Decide if the sensor input will be in absolute position mode or relative posi

tion mode, and then follow Step “c” or “d” as appropriate.

Absolute Mode = On is for absolute position mode. The sensor input

typically has a range of motion that matches the range of motion of the
steered wheel (not multi-turn) and the center, right, and left positions are
all defined. Absolute position mode is typically used for walkie and walkie
rider material handling applications.

Absolute Mode = Off is for relative position mode. The sensor input is

typically a multi-turn device with the center position being wherever the sen
sor is positioned when the interlock is turned on. Relative position mode is
typically used for reach trucks and man-up material handling applications.

c. For Absolute Position Mode (Absolute Mode = On):

1. Move the Sawtooth Sensor to the center position and observe the
angle shown in the Monitor

Raw variable. Set the Center Angle to the observed angle. This parameter

» Command Input » Analog Input » Angle

must be set before the Left and Right angle parameters are set, because
the center angle is based on the raw reading and normalizes the angle
for setting up the Left and Right angles.

2. Move the Sawtooth Sensor to the Left position (not to the actual
physical stop, but a small amount away, to allow for sensor tolerance
variation) and observe the angle shown in the Monitor

» Analog Input » Angle variable. If the observed angle was nega-

Input
tive, set the

Left Angle parameter to the observed angle.

If the observed angle was positive, change the parameter

Direction. Verify that the steer direction sign is correct (-), and then

return to Step “b” to reset the

Left Angle parameter to the observed angle.

Center Angle parameter. Finally, set the

» Command

Swap

3. Move the Sawtooth Sensor to the Right position (not to the actual
physical stop, but a small amount away, to allow for sensor tolerance
variation) and observe the angle shown in the

Right Angle parameter to the observed angle.

Angle variable. Set the

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d. For Relative Position Mode (Absolute Mode = Off ):

1. Set the

Center Angle to zero, as this parameter is not used in relative

position mode.

2. Set the

Left Angle parameter to the number of turns (in negative degrees)

required to produce a steer command from center to full left.

3. Set the

Right Angle parameter to the number of turns (in degrees) re-

quired to produce a steer command from center to full right.

5 — COMMISSIONING

e. Set the two fault parameters (

Fault Min and Fault Max) to voltages that will not

be reached during normal operation, but will be reached when the steer com
mand inputs become faulty (e.g., should there be an open or short circuit).

The Fault Min settings must be below the minimum voltage seen on

Analog1 or Analog3 when steered to the maximum left and right positions.

The Fault Max settings must be above the maximum voltage seen on

Analog1 or Analog3 when steered to the maximum left and right positions.

f. The

Analog1 and Analog3 voltages of the Sawtooth Sensor should always be

0.5*(Max Volts - Min Volts) apart. A fault check is done by comparing the two
voltages and calculating the error. If the error is greater than the

Tolerance

voltage for 60 ms, a fault is issued.

The

Tolerance parameter can be set in either of two ways.

1. Obtain the tolerance of the sensor from the manufacturer’s specs, and

then calculate the worst case difference between the two channels. Next
determine the difference between the worst case and the ideal, ABS
(WorstCase - 0.5*(
value. Set the

Max Volts - Min Volts)). This is the minimum Tolerance

Tolerance to a comfortable margin above the minimum

Tolerance found.

2. Manually lower the

Tolerance value while adjusting the Sawtooth Sen-

sor over the entire output range until the Sawtooth Command Sensor
(Fault Code 47) is generated. Repeat this until you find the minimum

Tolerance value that will not cause the fault (over the entire sensor

range). Set the

Tolerance to a comfortable margin above the minimum

tolerance found.

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Curtis 1222 Manual, os 15

“4” — Setup for CAN Sensor input (see page 30)

Note: The steer motor should not respond to this command input because the
Interlock is Off. If the steer motor shows any movement (or if the Interlock is
On), stop and resolve the issue; see Preparation for commissioning, page 74.

a. Decide if the sensor input will be in absolute position mode or relative posi

tion mode, and then follow Step “b” or “c” as appropriate.

Absolute Mode = On is for absolute position mode. The sensor input

typically has a range of motion that matches the range of motion of the
steered wheel (not multi-turn) and the center, right, and left positions are
all defined. Absolute position mode is typically used for walkie and walkie
rider material handling applications.

81

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5 — COMMISSIONING

2 9 J A N U A R Y 2 0 1 3 D R A F T

Absolute Mode = Off is for relative position mode. The sensor input is

typically a multi-turn device with the center position being wherever the sen
sor is positioned when the interlock is turned on. Relative position mode is
typically used for reach trucks and man-up material handling applications.

b. For Absolute Position Mode (Absolute Mode = On):

1. Move the CAN Sensor to the center position and observe the counts

shown in the Monitor

mand variable. Set the CAN Steer Center Offset to the observed counts.

» Command Input » CAN Input » CAN Steer Com-

2. With the CAN Sensor still in the center position, observe the counts

shown in the Monitor

mand variable. Set the CAN2 Steer Center Offset to the observed counts.

» Command Input » CAN Input » CAN2 Steer Com-

3. Move the CAN Sensor to the Left position (not to the actual physical

stop, but a small amount away, to allow for sensor tolerance variation)
and observe the counts shown in the Monitor » Command Input » CAN
Input

» CAN Steer Counts and CAN2 Steer Counts variables. The observed

CAN Steer Counts and CAN2 Steer Counts must both be negative. Change

the CAN Steer Swap Direction and CAN2 Steer Swap Direction as necessary to
achieve negative count values for the

Counts variables. If changes were made to either of the swap param-

eters, return to the beginning of Step “b” to reset the

Offset and CAN2 Steer Center Offset parameters. Set the CAN Steer Left Stop

CAN Steer Counts and CAN2 Steer

CAN Steer Center

parameter to the observed count.

4. Move the CAN Sensor to the Right position (not to the actual physical

stop, but a small amount away, to allow for sensor tolerance variation)
and observe the counts shown in the Monitor
Input

» CAN Steer Counts and CAN2 Steer Counts variables. Set the CAN

Steer Right to Center parameter to the observed count.

» Command Input » CAN

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82

c. For Relative Position Mode (Absolute Mode = Off):

1. Set the

CAN Steer Center Offset and CAN2 Steer Center Offset to zero, as

these parameters are not used in relative position mode.

2. Set the

CAN Steer Left Stop to Center parameter to the number of nega-

tive counts required to produce a steer command from center to full
left.

3. Set the

CAN Steer Right Stop to Center parameter to the number of counts

required to produce a steer command from center to full right.

4. Verify that turning the CAN sensor to the left results in negative

counts for both the
ables. Change the
as necessary to achieve negative count values for both the

Counts and the CAN2 Steer Counts variables.

“5” — None. No Supervisory Steer Command Input Device (see page 22)

CAN Steer Counts and the CAN2 Steer Counts vari-

CAN Steer Swap Direction and CAN2 Steer Swap Direction

CAN Steer

is option is available only for the Supervision Input Device parameter, and
allows systems with a single steer command device to be set up without having

Curtis 1222 Manual, os 15

IMPORTANT

☞

2 9 J A N U A R Y 2 0 1 3 D R A F T

5 — COMMISSIONING

to supply connections from the single primary input device to the supervisory
inputs. Using a single steer command device will make the system non-

compliant with EN 13849.

Force Feedback Setup (see page 33)

4

If the command input device has a force feedback option, turn this function on by
setting the parameter Command Device

Set up the force using the

Min Voltage, Max Voltage, and Max Torque param-

eters. If end stop force desired, set the parameter
vibration is desired, set the parameter
frequency and duty cycle using the parameters

Verification of the Command Input Setup

5

» Force Feedback Device » Enable = On.

End Stop = On. If end stop force

End Stop Vibe = On and set the vibration

Vibe On Time and Vibe Off Time.

To verify the setup thus far, observe Monitor » Command Input » Steer Command

(deg) and Steer Command 2 (deg). If either signal gives an undesired output, you

must go back and resolve this problem before continuing.

Observe the variable Monitor

changing the steer command input; this will show the difference between

Command (deg)

Error, and set the Supervision

and Steer Command 2 (deg). Find the maximum Steer Command

» Steer Command Tolerance to a comfortable margin

» Supervision » Steer Command Error while

Steer

above the maximum Steer Command Error found. In most vehicles the sensors
should be designed to allow using a

Steer Command Tolerance of 10° or less.

Verification of Steer Motor Encoder 3 Direction

6

Note: The steer motor should move freely as there should be no power applied
to the steer motor. If the steered wheel cannot move freely and be safely moved
(or if the Interlock is On), please stop and resolve the issue.

Use the Monitor » Steer Motor » Motor RPM menu to check the Encoder 3 direc-
tion. Rotate the steer motor by hand and observe the sign of
is Right and negative is Left. If you get a positive
the motor in the Right direction and a negative
motor in the Left direction, the Motor

» Swap Encoder3 Direction parameter is set

Motor RPM when you rotate

Motor RPM when you rotate the

Motor RPM. Positive

correctly and should not be changed.

If you get negative

direction,

Swap Encoder3 Direction must be changed. Cycle KSI power and repeat

until you are satisfied that

Motor RPM when you rotate the motor in the Right

Swap Encoder3 Direction is correctly set. Contact your

Curtis customer support engineer to resolve any issues about encoder direction
before continuing.

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5 — COMMISSIONING

C A U T IO N

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2 9 J A N U A R Y 2 0 1 3 D R A F T

Continuing with the commissioning procedures will require the steer motor
to turn, so you will have to enable the steer interlock (interlock = On).
The vehicle drive wheels should continue to be jacked up off the ground so
they can spin freely and steer freely from stop to stop. Enabling the steer

interlock can result in erratic movement of the steer motor.

Position Feedback Device Setup (see pages 34–36)

7

Manually enable the steer interlock, so that the 1222 will begin steering; the
traction interlock can remain Off. Verify that the 1222 interlock is now On
(Monitor

» Interlock » Interlock). If Interlock = Off, resolve the fault condition

that is causing this, change the interlock input to the steer controller, or adjust
the Interlock Type parameter (Vehicle Configuration

Interlock variable = On.

» Interlock Type) until the

Your position feedback device will be a dual potentiometer or a sine/cosine sen
sor or sawtooth sensor (using pins J1-16 and J1-17) or a dual encoder motor
encoder with a Home switch (using pins J1-31, J1-32, J1-26, and J1-27 for the
motor encoders and J1-12 for the Home switch). Most applications will have
a primary feedback device and a supervisory feedback device.

Set the

Position Feedback Device parameter and the Supervision Feedback Device

parameter to the type of input you will be using:

Position Feedback Device Types Supervision Feedback Device Types

0 = Pot feedback 0 = Pot feedback
1 = Encoder feedback 1 = Encoder feedback
2 = Sin/Cos Sensor feedback 2 = Sin/Cos Sensor feedback
3 = Sawtooth Sensor feedback 3 = Sawtooth Sensor feedback

4 = None

Use the appropriate setup procedure for the devices, for the type of device you
have chosen for each. For applications with only a primary position feedback
device, you will need to set the Supervision Feedback Device parameter to 4.

“0” — Setup for Pot feedback (see page 37)

a. Use the steer command input to move the steered wheel to the Left stop.

If the steer motor turns to the Right when the command is to turn to the
Left, shut down the vehicle and disconnect the battery. Swap any two of
the steer motor phase cables (U, V, or W) at the 1222; this will reverse the
direction of the steer motor. Reconnect the battery and retest to confirm
that the steer motor now turns to the Left when commanded to turn Left.

Once the steered wheel has moved to the Left stop, observe the two volt-

ages shown in the Monitor

Analog6 variables. Set the parameters Analog5 Left Stop and Analog6 Left Stop to

» Position Feedback » Analog Input » Analog5 and

the observed voltages.

If the steered wheel fails to reach the Left stop because it reaches the

Analog5 Left Stop voltage before it reaches the stop, adjust the Analog5 Left Stop

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2 9 J A N U A R Y 2 0 1 3 D R A F T

5 — COMMISSIONING

to a value that will allow the Left stop to be reached. Adjust Analog6 Left Stop
similarly, if necessary.

b. Similarly, move the steered wheel to the Center and observe the two voltages

shown in the Analog5 and Analog6 variables. Set the parameters Analog5 Center
and Analog6 Center to the observed voltages.

c. Finally, move the steered wheel to the Right stop and observe the two volt

ages shown in the

Right Stop and Analog6 Right Stop to the observed voltages.

d. Set the four fault parameters (

Min, and Analog6 Fault Max). Set these to voltages that will not be reached

Analog5 and Analog6 variables. Set the parameters Analog5

Analog5 Fault Min, Analog5 Fault Max, Analog6 Fault

during normal operation, but will be reached if the steer position feedback
becomes faulty (e.g., should there be an open or short circuit).

The Fault Min settings must be below the minimum voltage seen on

Analog5 or Analog6 when steered to the maximum left and right positions.

The Fault Max settings must be above the maximum voltage seen on

Analog5 or Analog6 when steered to the maximum left and right positions.

“1” — Setup for Encoder feedback and Home Switch (see pages 38–40)

a. If you have set up a 360° steering function with the command map (see

page 81), you must set up the parameter Feedback Device

» 1-Encoder3 and

4 » Homing » Homing Cam Angle (deg). For 360° steering this parameter should
be set to the angle of the homing cam. This setting is necessary because the
360° steering function has the homing switch triggered in two different
wheel positions.

-

b. Set the

Input Type, Home on Interlock, and Homing Speed parameters. Homing Speed

can be set to a lower speed than required as the final setting will be performed
in Step

c. Review the diagrams in the

page 39. Then determine the correct
Monitor

-a.

8

Homing Direction Method parameter description on

Homing Direction Method by observing the

» Home Reference » Home variable while also observing the position

of the steered wheel and the Home switch.

If

Home = On and the steered wheel is to the right of the Home switch

(or Home = Off and steered wheel is to the leftt), setting Homing Direction

Method to either 0 or 1 will result in the correct direction toward the Home

switch during homing. Choose 0 or 1 depending on which side of the Home
switch you prefer the steered wheel to be when homing is complete.

If

Home = On and the steered wheel is to the left of the Home switch

(or Home = Off and steered wheel is to the right), setting Homing Direction

Method to either 2 or 3 will result in the correct direction toward the Home

switch during homing. Choose 2 or 3 depending on which side of the Home
switch you prefer the steered wheel to be when homing is complete.

After setting the

Homing Direction Method, verify that the homing function

works correctly starting from either side of the Home switch.

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5 — COMMISSIONING

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d. The correct settings for Encoder3 Counts/Degree and Encoder4 Counts/Degree can

be either calculated or determined by testing.

Calculation method:

Encoder Counts/Degree = Gear Ratio * Encoder PPR * 4/360

Note: The factor of 4 in the equation accounts for the number
of edges in one encoder pulse (rising phase A, falling phase A,
rising phase B, falling phase B).

Example: Steer motor gearbox ratio = 45:1
Big gear around steer motor = 80 teeth
Small gear around steer motor shaft = 20 teeth

Encoder 3 steps (pulses per revolution) = 32.
The overall Gear Ratio = 45 * 80/20 = 180:1.
Encoder3 Counts/Degree = Gear Ratio * Encoder PPR * 4/360
= 180 * 32 * 4/360 = 64.

Testing method:

Use the steer command input to move the wheel position to a known

angle. For best accuracy, choose a known angle as far as possible

from the Home switch; this will usually be either the Left stop or

the Right stop. If you cannot reach the “known angle,” most likely

the present setting of Encoder# Counts/Degree is too high; you can

check whether Monitor » Position Feedback » Left Stop Reached or

Right Stop Reached = On. Decreasing the Encoder# Counts/Degree values

will move the Left and Right stops out, allowing more movement

of the steered wheel.

When the wheel position reaches the “known angle” (usually either

the Left or Right stop), observe the two variables Monitor » Position

Feedback » Encoder Input » Encoder3 Counts from Home and Encoder4

Counts from Home

. Divide these values by the number of degrees
between the known angle and the Home switch to get the Encoder
Counts/Degree for both encoders.

Example: Home Switch is at -4°
Left Stop (deg) set to 90°
Right Stop (deg) set to 90°.
Use the steer command input to steer the wheel to a 90° position.
(This is the confirmed physical steer angle and may not agree
with the monitored wheel position variable.) Observe the variables
Monitor » Position Feedback » Encoder Input » Encoder3 Counts from

Home and Encoder4 Counts from Home.

Encoder3 Counts from Home = 6016
Encoder4 Counts from Home = 3008.

6016/90 - (-4) = 6016/94 = 64
So set Encoder3 Counts/Degree = 64.

3008/90 - (-4) = 3008/94 = 32
So set Encoder4 Counts/Degree = 32.

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5 — COMMISSIONING

Note: Encoders 3 and 4 can have different counts/degree, either
because they have different PPRs or because Encoder 4 is not a steer
motor encoder (e.g., it may be counting teeth of the steering gear).

“2” — Setup for Sin/Cos Sensor feedback (see page 41)

a. Set the parameters Amplitude and Offset according to the sensor manufacturer’s

specifications. Amplitude is usually referred to as Gain in the specs. Amplitude
is half the peak-to-peak voltage, and Offset is the center of the peak-to-peak
from ground.

If sensor specs are not available, use the voltages shown in the Monitor

sition Feedback
calculate the Offset, find the highest and lowest values of

» Analog Input » Analog5 and Analog6 variables as follows. To

Analog5 and Analog6

» Po-

while slowly sweeping the position feedback device. Add these two values
together and divide by two. Input this number in the
subtract the lowest value of
value. Input this number in the
position feedback device is moved slowly,

Analog5 and Analog6 from the Offset parameter

Amplitude parameter. Example: While the

Analog5 and Analog6 are shown to

Offset parameter. Next,

have a maximum voltage of 4.1 V and a minimum voltage of 1.9 V; therefore,
Offset = 3.0 V and Amplitude = 1.1 V.

b. Use the steer command input to move the steered wheel (and the position

feedback Sin/Cos Sensor) to the center position and observe the angle shown
in the Monitor

» Position Feedback » Analog Input » Position Raw variable. Set

the Center Position to the observed angle.

c. Use the steer command input to move the steered wheel (and the position

feedback Sin/Cos Sensor) to the Left position and observe the angle shown in
the Monitor » Position Feedback » Wheel Position variable. The Left steer direc-
tion must be set up as negative. If the observed angle is positive, change the

Swap Direction parameter and verify that the wheel position sign is now correct.

d. Set the two fault parameters (

Fault Min and Fault Max) to voltages that will not

be reached during normal operation, but will be reached if the position feed
back inputs become faulty (e.g., should there be an open or short circuit).

The Fault Min settings must be below the minimum voltage seen on

log5 or Analog6 when steering between the maximum left and right positions.

Ana-

The Fault Max settings must be above the maximum voltage seen on

Analog5 or Analog6 when steering between the maximum left and right positions.

e The

Tolerance parameter can be set in either of two ways.

1. Obtain the tolerance of Min Volts and Max Volts from the manufacturer’s
specs, and then calculate the worst case difference in voltage between
the calculated voltages and the measured
ages over the range of the sensor. Set the

Analog5 and Analog6 volt-

Tolerance to a comfortable

margin above the maximum calculated difference.

2. Manually lower the

Tolerance value while adjusting the Sin/Cos Sen-

sor over the entire output range until the fault Sin/Cos Feedback

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87

5 — COMMISSIONING

2 9 J A N U A R Y 2 0 1 3 D R A F T

Sensor (Fault Code 48) is generated. Repeat this until you find the
minimum Tolerance value that will not cause the fault (over the entire
sensor range). Set the

Tolerance to a comfortable margin above the

minimum tolerance found.

“3” — Setup for Sawtooth Sensor feedback (see page 42)

a. Set the parameters Min Volts and Max Volts according to the sensor manufacturer’s

specifications.

If sensor specs are not available, use the voltages shown in the Moni

tor » Position Feedback » Analog Input » Analog5 and Analog6 variables as fol-
lows. Find the highest and lowest values of
sweeping the position feedback device. Input the lowest value as
the highest value as
is moved slowly,

Max Volts. Example: While the position feedback device

Analog5 and Analog6 are shown to have a maximum voltage

Analog5 and Analog6 while slowly

Min Volts and

of 4.1 V and a minimum voltage of 1.9 V; therefore, Max Volts = 4.1 V and
Min Volts = 1.9 V.

-

b. Use the steer command input to move the steered wheel (and the position

feedback Sin/Cos Sensor) to the center position and observe the angle shown
in the Monitor

» Position Feedback » Analog Input » Position Raw variable. Set

the Center Position to the observed angle.

c. Use the steer command input to move the steered wheel (and the position

feedback Sawtooth Sensor) to the Left position and observe the angle shown
in the Monitor » Position Feedback » Wheel Position variable. The Left steer direc-
tion must be set up as negative. If the observed angle is positive, change the

Swap Direction parameter and verify that the wheel position sign is now correct.

d. Set the two fault parameters (

Fault Min and Fault Max) to voltages that will not

be reached during normal operation, but will be reached if the position feed
back inputs become faulty (e.g., should there be an open or short circuit).

The Fault Min settings must be below the minimum voltage seen on

log5 or Analog6 when steering between the maximum left and right positions.

Ana-

The Fault Max settings must be above the maximum voltage seen on

Analog5 or Analog6 when steering between the maximum left and right positions.

e. The

Analog5 and Analog6 voltages of the Sawtooth Sensor should always be

0.5*(Max Volts - Min Volts) apart. A fault check is done by comparing the two
voltages and calculating the error. If the error is greater than the

Tolerance

voltage for 60 ms, a fault is issued.

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88

The

Tolerance parameter can be set in either of two ways.

1. Obtain the tolerance of the sensor from the manufacturer’s specs, and
then calculate the worst case difference between the two channels.
Next determine the difference between the worst case and the ideal,
ABS (WorstCase - 0.5*(

Tolerance value. Set the Tolerance to a comfortable margin above the

Max Volts - Min Volts)). This is the minimum

minimum Tolerance found.

Curtis 1222 Manual, os 15

IMPORTANT

☞

2 9 J A N U A R Y 2 0 1 3 D R A F T

5 — COMMISSIONING

2. Manually lower the Tolerance value while adjusting the Sawtooth Sen-
sor over the entire output range until the fault Sawtooth Feedback
Sensor (Fault Code 48) is generated. Repeat this until you find the
minimum Tolerance value that will not cause the fault (over the entire
sensor range). Set the

Tolerance to a comfortable margin above the

minimum tolerance found.

“4” — None. No Supervisory Position Feedback Device (see page 36)

is option is available only for the Supervision Feedback Device parameter, and
allows systems with a single position feedback device to be set up without having
to supply connections from the single primary feedback device to the supervisory
inputs. Using a single position feedback device may make the system non-

compliant with EN 13849, and must be evaluated by the OEM.

Set the remaining Performance and Supervision parameters

8

a. Restore these two parameter values to their desired performance settings:
Motor

» Max Speed

Motor » Max Current.

If

Position Feedback Device = 1, set Homing Speed (which is a percentage of Max

Speed) to the desired setting.

b. Observe Monitor

» Battery and Supply » 5v Out and set the following parameter

values to a comfortable margin above and below the observed value:

Supervision

Supervision » 5V Current Min.

The

5V Current Min setting should be such that it will detect a disconnected

» 5V Current Max

sensor (pot, encoder, or sine/cosine sensor) in either the steer command or
position feedback circuit. Check the settings by disconnecting a steer com
mand sensor and verify that a 5V Current Out of Range fault (code 69) is
triggered. Similarly, disconnect a position feedback sensor and verify that a
code 69 fault is triggered.

c. If a Home switch is present, steer across the Home switch while observing

Monitor

Tolerance to a comfortable margin above the maximum Home Reference

» Supervision » Home Reference Error. Set Supervision » Home Reference

Error found.

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Curtis 1222 Manual, os 15

d. Temporarily set Steering Sensitivity

» LS Sensitivity and HS Sensitivity = 100%.

With this setting, and the drive wheels still jacked up off the ground, set

the three parameters in the Motor Control Tuning menu (see page 52) to
get correct responsiveness to the steer command input.

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5 — COMMISSIONING

2 9 J A N U A R Y 2 0 1 3 D R A F T

Note: Setting these values too high will result in unstable responsiveness.

Increase these values as high as possible without becoming unstable.

Motor Control Tuning

Motor Control Tuning » Velocity Kp
Motor Control Tuning » Velocity Ki.

After setting these three parameters, return

their proper values.

Verify the Position Feedback Setup

9

To verify the setup thus far, observe Monitor » Position Feedback » Wheel Position

(deg) and Wheel Position 2 (deg) while exercising the steer command input device

over the entire operational steer range. If either signal gives an undesired output,
go back and resolve this problem before continuing.

Next, observe the variable Monitor » Supervision » Wheel Position Error while
changing the position; this will show the difference between
and Wheel Position 2 (deg). Find the maximum Wheel Position Error, and set the
Supervision
Wheel Position Error found.

» Wheel Position Tolerance to a comfortable margin above the maximum

» Position Kp

LS Sensitivity and HS Sensitivity to

Wheel Position (deg)

C A U T IO N

☞

Resolve any existing faults

bk

Cycle the Keyswitch input to reset the vehicle controllers. Check the active faults
in the controller and resolve any faults until all have been cleared. All faults
must be cleared before lowering the vehicle drive wheels to the ground. Use
Section 6 for help in troubleshooting. Contact your Curtis customer support
engineer to resolve any remaining issues about faults before continuing.

Do not take the vehicle down off the blocks until both the steer and
traction motors are responding properly. Once the motors are responding

properly, lower the vehicle to put the drive wheels on the ground.

90

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

Set the Following Error parameters (see page 47)

bl

Setting up the following-error function involves setting three parameters:
Supervision

Error Time.

The parameters

» Following Error » Error Tolerance (deg), Speed Tolerance (deg/s), and

Error Tolerance (deg) and Speed Tolerance (deg/s) are related

through the equation:

Speed Tolerance (deg/s) ≤ Error Tolerance (deg) * Min(LS Sensitivity, HS Sensitivity) * Position Kp

360 RPM * 360 deg * 1 Min * 1

*
1 deg 1 Rev 60 s Gear Ratio

where Gear Ratio =

Note that

Error Tolerance (deg) is in degrees and Speed Tolerance (deg/s) is in degrees/

Motor Revs
Wheel Revs

.

,

second. LS Sensitivity, HS Sensitivity, and Position Kp are all in percent, and should
be entered in decimal form in this equation (e.g., 50% = 0.5). It is recom
mended that

Speed Tolerance (deg/s) be set to about half the value given by the

above equation, to allow some safety factor.
If the gear ratio is not known, it may be determined experimentally by
adjusting the Encoder3 Counts/Degree until the Encoder 3 Position (deg) looks close
after multiple revolutions. The gear ratio can then be calculated as:

Gear Ratio =

Encoder3 Counts/Degree

Encoder3 Steps * 4 1 Rev

360 deg

*

.

Likewise, if the gear ratio is known, Encoder3 Counts/Degree may be determined
by the above equation. If we then combine these two equations and include
the suggested safety factor of 1/2, we get:

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Curtis 1222 Manual, os 15

Speed Tolerance (deg/s) = 0.5 * Error Tolerance (deg) * Min(LS Sensitivity, HS Sensitivity)

*

Position Kp *

Encoder3 Steps

Encoder3 Counts/Degree

.

The Error Tolerance (deg) value should be not too large to accept the steady state
error, and not too small to accept the resulting

Speed Tolerance (deg/s). For example,

an Error Tolerance (deg) of 20° means that no fault will be detected as long as the

Wheel Position (deg) is within ±20° of Steer Command (deg). Thus a steady state error

of 20° is allowed, which is probably too high for most applications. If we choose
instead an

ance (deg/s) for some typical settings of Position Kp = 35%, LS Sensitivity = 70%,
HS Sensitivity = 50%, and a gear ratio of 132, we get a Speed Tolerance (deg/s) of

Error Tolerance (deg) of only 2° and calculate the resulting Speed Toler-

2.9 deg/s. For most applications this is probably too slow for the wheel to be
moving in the right direction without a fault being issued. For most applica
tions, an

Tolerance (deg/s) of at least 10 deg/s is often needed to be acceptable.

Error Tolerance (deg) between 5° and 10° works well. Likewise, a Speed

91

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5 — COMMISSIONING

2 9 J A N U A R Y 2 0 1 3 D R A F T

The Error Time must be set long enough for the steered wheel to reverse
direction and get to the minimum speed under the worst case conditions. This
may be measured in the field by moving the steer input command rapidly one
direction and then the other. This should achieve the maximum speed in one
direction followed by a reversal and acceleration past the

Speed Tolerance (deg/s)

in the other direction. This time, doubled to provide a safety factor, should be
used for the
able to use an

Error Time. With appropriate tuning, most applications should be

Error Time of 0.5 – 0.8 seconds.

To test the following-error parameter settings, steer under worst case
conditions (maximum weight on vehicle, rough floor, new tire) as follows:

a) Steer in one direction and then reverse and steer at an angle at

least equal to the
steer back at an angle at least equal to the

Error Tolerance (deg). Then reverse (quickly!) and

Error Tolerance (deg) then

reverse (quickly!) and steer back at an angle at least equal to the

Error Tolerance (deg). Continue doing this back and forth until a

Following Error is triggered.

b) Steer, always as quickly as possible, from end stop to end stop,

back and forth, until a Following Error is triggered.

While steering using these two procedures, slowly lower the

Error Time until a

Following Error is triggered.

Finally, verify that the original proposed setting of

Error Time is a comfort-

able margin above the setting that began to trigger the fault. If a comfortable
margin is not provided with the original proposed setting, increase the
until a comfortable margin is obtained—but also verify that the

Error Time

Error Time is not

too slow, which will create a delay in detection a real following error.

92

Set the remaining Supervision parameters

bm

If Position Feedback Device = 1, leave the setting Supervision » Encoder Position Toler-

ance = 90°. This fault check is not used when the position feedback devices are

encoders, so the setting of 90° disables this fault check.
For all other settings of
able Monitor

» Supervision » Encoder Position Error (deg) while changing the position;

Position Feedback Device (= 0 or = 2), observe the vari-

this will show the difference between Wheel Position and Encoder 3 Position.
Find the maximum

Position Tolerance to provide a comfortable margin above the maximum Encoder

Position Error (deg)

Set Supervision

Encoder Position Error (deg), and set Supervision » Encoder

found.

» Stall Steering Speed and Stall Timeout to appropriate values that

will not cause a fault during normal operation, but will trigger a fault during
a real stall condition.

Curtis 1222 Manual, os 15

6

2 9 J A N U A R Y 2 0 1 3 D R A F T

6 — INTERFACE WITH MASTER

INTERFACE WITH MASTER CONTROLLER

The 1222 controller is a slave controller. The master controller is a Curtis AC
traction controller. The controllers communicate with each other through the
CAN bus.

CAN MESSAGES

The 1222 and the traction controller communicate with each other through
the CAN bus, using PDO messages. The 1222 sends an emergency message
to the traction controller any time a fault is set or cleared.

PDO Message Configuration

The traction controller sends PDO1_MOSI every 40 ms and the steering controller
sends both PDO1_MISO and PDO2_MISO every 20 ms.

PDO1_MOSI — Received from traction controller every 40 ms

Byte 1 — TractionMotorRPMCAN (CAN Index 0x2080, Low Byte)

Byte 2 — TractionMotorRPMCAN (CAN Index 0x2080, High Byte)

Byte 3 — TractionIsReady (CAN Index 0x2081, Bit 0)

Byte 4 — CANInterlock (CAN Index 0x4447, Bit 0)

Byte 5 — Unused

Byte 6 — Unused

Byte 7 — Unused

Byte 8 — Unused

PDO1_MISO — Sent by the 1222 every 20 ms when in operational state

Byte 1 — WheelPosition (CAN Index 0x2000, Low Byte)

Byte 2 — WheelPosition (CAN Index 0x2000, High Byte)

Byte 3 — 0 (Reserved)

Byte 4 — TractionCutback (CAN Index 0x2003)

Byte 5 — TractionFaultAction (CAN Index 0x2005)

Byte 6 — EnableTraction (CAN Index 0x2001)

Byte 7 — 0

Byte 8 — 0

PDO2_MISO — Sent by the 1222 every 20 ms when in operational state

Byte 1 — EnableTractionInverted (CAN Index 0x2002)

Byte 2 — TractionCutbackInverted (CAN Index 0x2004)

Byte 3 — Switches (CAN Index 0x4475)

Byte 4 — 0

Byte 5 — 0

Byte 6 — 0

Byte 7 — 0

Byte 8 — 0

Curtis 1222 Manual, os 15

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6 — INTERFACE WITH MASTER

2 9 J A N U A R Y 2 0 1 3 D R A F T

TractionMotorRPMCAN is the rpm of the traction motor and can be used to

determine when to steer (see

TractionIsReady is used if programmed Contactor Type = 2; it has bit 0 = contactor

Interlock Enabled Speed, page 45).

is open, and bit 1 = contactor is closed.

CANInterlock is the interlock from the traction system that is used if programmed

Interlock Type = 3; it has bit 0 = interlock is open, and bit 1 = interlock is

closed.

WheelPosition is the position of the steered wheel, in degrees. This is used by

the traction system to determine the maximum allowed speed.

TractionCutback is the percentage of its MaxSpeed that the traction controller

is allowed to run.

TractionFaultAction has bit 0 = no fault, bit 1 = stop traction, bit 2 = reduce

traction speed, and bit 3 = no action. See right-hand column in the

troubleshooting chart (Table 6).

EnableTraction has bit 0 = stop and bit 1 = traction enabled.

EnableTractionInverted is the inverse of EnableTraction.

TractionCutbackInverted is the inverse of TractionCutback.

Switches has bit 0 = Interlock Input 1, bit 1 = Home Input 2, bit 2 = Interlock

Input 3, and bit 3 = Home Input 4.

Emergency Message Configuration

The 1222 sends an emergency message any time a fault is set or cleared. For a descrip
tion of the variables see the troubleshooting chart (Table 6) and the generic Curtis
CANopen specification.

Byte 1 — ErrorCode (Low Byte)

Byte 2 — ErrorCode (High Byte)

Byte 3 — ErrorRegister (CAN Object 0x1001)
0x01 if any fault is present or 0x00 is no faults

Byte 4 — SubCode See the troubleshooting chart

Byte 5 — FlashCode See the troubleshooting chart

Byte 6 — TractionFaultAction See the troubleshooting chart

Byte 7 — Reserved

Byte 8 — Reserved

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94

Curtis 1222 Manual, os 15

2 9 J A N U A R Y 2 0 1 3 D R A F T

6 — INTERFACE WITH MASTER

GENERIC AC TRACTION CONTROLLER SOFTWARE

IMPORTANT

☞

Review your application’s needs carefully to ensure they are met by the condi
tions described below and the signal flow diagram presented in Figure 17. If
they are not, contact your local Curtis representative for assistance in recon
figuring the software.

The bulleted items below are based on AC_Traction_with_1222.vcl software
features description for VCL App Version = 2.00.

• The 1222 software is limited to traction applications that use Speed
Mode or Speed Mode Express. If your AC controller uses Torque Mode,
you will need to make changes in the software. Contact your local Curtis
representative.

• You must use 1222 software version OS 13.0 or later; earlier versions will
not work.

• Steering CAN Comm Failure (AC controller fault code 51) is set when:

– AC controller is unable to receive a CAN heartbeat from

the 1222 on startup

– neither PDO1_MISO nor PDO2_MISO arrives within 50 ms

(PDO Timeout)

– redundant 1222 CAN data (from PDO1_MISO and

PDO2_MISO) mismatches for more than 100 ms.

-

-

• Severe Steering Fault (code 52) is set when the traction fault action sent
from the 1222 to the AC controller (in either a PDO1_MISO or an
emergency message) indicates Stop Traction (=1).

• Steering Fault (code 53) is set when the traction fault action sent from
the 1222 to the AC controller (in either a PDO1_MISO or an emergency
message) indicates Reduce Traction Speed (=2) or No Action (=3).

• The generic AC traction controller software contains a traction speed
reduction map with the wheel position angle at different forward and
reverse maximum speeds.

• PDO1_MOSI messages are sent every 40 ms; if you want a different
frequency, you will need to change the AC traction controller software.

• The 1222 Traction Cutback (from PDO1_MISO) will reduce the trac
tion speed by reducing the throttle command. This method of traction

speed reduction means that the traction Emergency Reverse function
will not be speed-reduced by the 1222 Traction Cutback data.

Note: The AC controller’s Analog Output (pin 30) can be connected to the
Curtis 1165 wheel position indicator to display the 1222 wheel position from
PDO1_MISO.

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Curtis 1222 Manual, os 15

95

6 — INTERFACE WITH MASTER

+

-

+

-

+

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2 9 J A N U A R Y 2 0 1 3 D R A F T

96

Fig. 17a Input Command signal flow.

Curtis 1222 Manual, os 15