Curtis 1232E Manual de usuario

Manual

for Controller Models

1232E / 34E / 36E / 38E / 39E

and 1232SE / 34SE / 36SE

Read Instructions Carefully!

Specications are subject to change without notice.

Curtis Instruments, Inc.

200 Kisco Avenue

Mt. Kisco, NY 10549

www.curtisinstruments.com

» Software Version OS 30.0 «

DUAL DRIVE OPERATION

Curtis Dual Drive Manual, os30 iii

1 MARCH 2016

CONTENTS

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

2. WIRING..................................................................................................... 3

3. PROGRAMMABLE PARAMETERS.............................................. 6

4. CRITICAL ANGLE & INNER WHEEL SPEED .................... 10

5. DUAL DRIVE SETUP ................................................................. 13

6. VEHICLE CONTROL LANGUAGE & CAN ...................... 15

7. DIAGNOSTICS AND TROUBLESHOOTING.................... 19

CONTENTS

iv Curtis Dual Drive Manual, os30

1 MARCH 2016

FIGURES

. 1: Various Dual Drive vehicle congurations..........................................1

. 2a: Wiring between master and slave controllers.....................................3

. 2b: Basic wiring diagram for master controller.........................................4

. 2c: Basic wiring diagram for slave controller.............................................5

. 3: Typical 3-wheel Dual Drive vehicle geometry ................................ 11

. 4: Typical articulated steering Dual Drive vehicle geometry............ 11

. 5: Ratio of inner-wheel speed to outer-wheel speed........................... 12

. 6: Inner-wheel and outer-wheel speed maps......................................... 12

. 7a: Motor command diagram, master controller .................................. 16

. 7b: Motor command diagram, slave controller...................................... 17

TABLES

 1: Programmable parameters menu table ..............................................6

 2: Troubleshooting chart ....................................................................... 19

FIGURES / TABLES

Curtis Dual Drive Manual, os30 1

1 MARCH 2016

1 — OVERVIEW

OVERVIEW

e Dual Drive feature of Curtis 1232E/SE, 1234E/SE, 1236E/SE, 1238E, and

1239E controllers allows two controllers to work together in vehicles with dual

xed-axle drive motors, a steered wheel or axle, and an analog steer-angle sensor.

e two controllers must be the same size—for example, two 1234E-23XX

controllers or two 1239E-65XX controllers. Non “E” controllers cannot be com-

bined with “E” controllers.

e pair of controllers control motor speed on the inner and outer wheels

during turns, as well as vehicle speed and acceleration while turning. Current is

automatically balanced between the two traction motors when driving straight,

and a limited operating strategy (LOS) allows limp-home in case of a steer angle

sensor or single motor or controller failure.

Figure 1 shows three typical Dual Drive vehicle congurations.

Dual Drive uses dierent speed maps for the two traction motors, one for the

inner wheels and one for the outer wheels. ese maps modify the throttle re-

quests when the steering angle is outside the 10° deadband. Both are symmetrical

around steer angle = 0°.

Fig. 1 Various Dual Drive

vehicle congurations.

Three-wheel:

Front-wheel steer:

Rear-wheel steer:

Curtis Dual Drive Manual, os30

1 MARCH 2016

1 — OVERVIEW

Dual Drive limited operating strategy

Whenentering theDualDriveLOS, thecontroller’s speed requestwillbeclamped

toLOS_DualDrive_Speed.Ifthespeed requestexceedsLOS_DualDrive_Speed at

the time Dual Drive LOS is initiated, the speed request will change to LOS_Du-

alDrive_Speed subject to normal slewing constraints.

If the steer angle input is invalid, both controllers will use the Dual Drive

LOS and assume that the steer angle is 0.

If the speed encoder is invalid on only one side, that side will have its bridge

disabled, the other side will use the dual drive LOS and assume that the steer angle

is 0. If both encoder signals are invalid, the vehicle will not drive.

Curtis Dual Drive Manual, os30 3

1 MARCH 2016

Fig. 2a Wiring between the master and slave Dual Drive traction controllers.

SWITCH 2 /

ANALOG 2

J1-8

I/O GROUND J1-7

POT2 HIGH J1-27

POT2 WIPER J1-17

POT LOW J1-18

STEERING

POT

RIGHT

MOTOR

J1-5

J1-13 KSI

COIL RETURN

BRAKE

J1-1 KSI

POSITION

FEEDBACK

DEVICE

J1-26

J1-31

J1-32

J1-7

J1-23

J1-35

J1-21

J1-34

Short for 120Ω

CAN bus termination

B+

+5V

FEEDBACK B

CAN TERM L

CAN L

FEEDBACK A

I/O GROUND

CAN TERM H

CAN H

RIGHT MOTOR

TEMP

SENSOR

SLAVE CONTROLLER

1232E/34E/36E/38E/39E

1232SE/34SE/36SE

B-

DRIVER 2

SWITCH 8

J1-33

REVERSE

SWITCH 7

J1-22

FORWARD

SWITCH 3

J1-9

INTERLOCK

SWITCH 2 /

ANALOG 2

J1-8

I/O GROUND

J1-7

THROTTLE

POT HIGH

J1-15

THROTTLE

POT WIPER

J1-16

POT2 HIGH

J1-27

POT2 WIPER

J1-17

POT LOW

J1-18

THROTTLE POT

BRAKE POT

LEFT

MOTOR

MAIN

J1-5

J1-6

J1-13

DRIVER 2

DRIVER 1

KSI

COIL RETURN

MAIN

BRAKE

J1-1

KSI

J1-26

J1-31

J1-32

J1-7

J1-23

J1-35

J1-21

J1-34

Short for 120ΩΩ

CAN bus termination

BATTERY

(24–80V)

KEYSWITCH

B+

+5V

FEEDBACK B

CAN TERM L

CAN L

FEEDBACK A

I/O GROUND

CAN TERM H

B-

CAN H

LEFT MOTOR

TEMP

SENSOR

EMERGENCY

STOP

MASTER CONTROLLER

1232E/34E/36E/38E/39E

1232SE/34SE/36SE

POSITION

FEEDBACK

DEVICE

WIRING

One of the two controllers is designated the master and the other the slave. e

master controller operates the le motor and the slave operates the right motor.

e throttle and brake inputs go to the master. e steering pot input goes to the

Pot2 input on the slave controller.

A single main contactor is used, and is controlled by the master. e KSI,

CAN H, and CAN L pins of the two controllers are connected together. B+ from

the main contactor and the keyswitch are supplied to each controller through

separate pairs of fuses to enable operation to continue if one side fails. See Figure

2a, below, for an overview of the common wiring between the two controllers,

and Figures 2b and 2c for the detail in each controller.

2 — WIRING

Note: See the 1239E manual for typical wiring for the external high-voltage

battery precharge circuit and for the 12V KSI and switch/driver I/O.

Curtis Dual Drive Manual, os30

1 MARCH 2016

2 — WIRING

Fig. 2b Basic wiring diagram for master controller, Dual Drive operation.

e master controller is wired to all the components except those related to the

Right motor and the steering pot.

SWITCH 16

J1-14

SWITCH 8

J1-33

REVERSE

SWITCH 7

J1-22

FORWARD

SWITCH 6

J1-12

SWITCH 5

J1-11

SWITCH 4

J1-10

SWITCH 3

J1-9

INTERLOCK

SWITCH 2 /

ANALOG 2

J1-8

J1-24

I/O GROUND

J1-7

THROTTLE

POT HIGH

J1-15

THROTTLE

POT WIPER

J1-16

POT2 HIGH

J1-27

POT2 WIPER

J1-17

POT LOW

J1-18

THROTTLE POT

BRAKE POT

LEFT

MOTOR

MAIN

J1-2

J1-3

J1-4

J1-5

J1-6

J1-13

PROP. DRIVER

DRIVER 4

DRIVER 3

DRIVER 2

DRIVER 1

KSI

COIL RETURN

MAIN

BRAKE

J1-1

KSI

POSITION

FEEDBACK

DEVICE

J1-26

J1-31

J1-32

J1-7

J1-23

J1-35

J1-21

J1-34

Connect jumper for 120Ω

CAN bus termination

J1-25

J1-28

J1-29

J1-7

SERIAL PORT

(4-pin Molex)

CURTIS

MODEL 840

DISPLAY

BATTERY

(24–96V)

KEYSWITCH

B+

+5V

POSITION FEEDBACK B

CAN TERM L

CAN L

+12V

I/O GROUND

POSITION FEEDBACK A

I/O GROUND

CAN TERM H

B-

CAN H

LEFT MOTOR

TEMP

SENSOR

*1232E and 1232SE do not include ANALOG OUT.

EMERGENCY

STOP

J1-30

J1-10

DIG. DRIVER 6

J1-20

DIG. DRIVER 7

to J1-23 on slave controller

to J1-35 on slave controller

to KSI (J1-1)on

slave controller

to B+ on

slave controller

MASTER CONTROLLER

1232E/34E/36E/38E/39E

1232SE/34SE/36SE

SWITCH 1 /

ANALOG 1

ANALOG OUT

(0–10V)

to B- on

slave controller

Note: KTY sensor shown.

The banded end must be

connected to I/O ground.

EMERG. REV.

Curtis Dual Drive Manual, os30 5

1 MARCH 2016

Fig. 2c Basic wiring diagram for slave controller, Dual Drive operation.

e slave controller is wired only to the Right motor and its encoder and

temperature sensor, the steering pot, CAN H, CAN L, KSI, B+/B-, and an

electromagnetic brake.

SWITCH 2 /

ANALOG 2

J1-8

I/O GROUND J1-7

POT2 HIGH J1-27

POT2 WIPER J1-17

POT LOW J1-18

STEERING

POT

RIGHT

MOTOR

J1-5

J1-13 KSI

COIL RETURN

BRAKE

J1-1 KSI

J1-26

J1-31

J1-32

J1-7

J1-23

J1-35

J1-21

J1-34

Short for 120Ω

CAN bus termination

J1-25

J1-28

J1-29

J1-7

SERIAL PORT

(4-pin Molex)

B+

+5V

POSITION FEEDBACK B

CAN TERM L

CAN L

+12V

I/O GROUND

POSITION FEEDBACK A

I/O GROUND

CAN TERM H

CAN H

RIGHT MOTOR

TEMP

SENSOR

to J1-23 on master controller

to J1-35 on master controller

to KSI (J1-1)on master controller

to B+ on master controller

SLAVE CONTROLLER

1232E/34E/36E/38E/39E

1232SE/34SE/36SE

SWITCH 16

SWITCH 8

SWITCH 7

SWITCH 6

SWITCH 5

SWITCH 4

SWITCH 3

SWITCH 1 / ANALOG 1

ANALOG OUT (0–10V)

J1-14

J1-33

J1-22

J1-12

J1-10

J1-9

J1-24

J1-30

B-

DRIVER 2

J1-2

J1-3

J1-4

J1-10

J1-20

PROP. DRIVER

DRIVER 4

DRIVER 3

DIGITAL DRIVER 6

DIGITAL DRIVER 7

to B- on master controller

J1-11

*1232E and 1232SE do not include ANALOG OUT.

ANALOG OUT*

(0–10V)

J1-30

J1-6 DRIVER 1

THROTTLE

POT HIGH

J1-15

THROTTLE

POT WIPER

J1-16

Note: KTY sensor shown.

The banded end must be

connected to I/O ground.

POSITION

FEEDBACK

DEVICE

2 — WIRING

Curtis Dual Drive Manual, os30

1 MARCH 2016

DUAL DRIVE MENU .......................... p. 7

—Dual Motor Enable

—Dual Motor Slave

—CAN Node ID Other

—LOS Max Speed

MASTER MENU ............................... p. 8

—Steer Angle Max

—Turn Accel Rate

—Critical Angle

—Max Turn Speed

—Inner Wheel Speed

—Steer Type

—Steer Pot Min

—Steer Pot Zero

—Steer Pot Max

—VCL Steer Enable

SLAVE MENU .................................. p. 9

—Turn Accel Rate

—Critical Angle

—Steer Fault Min

—Steer Fault Max

TURN FEEDFORWARD MENU ............. p. 9

—Turn Accel Rate

—Turn Kvff

—Turn ff Build Rate

—Turn ff Release Rate

3 — PROGRAMMABLE PARAMETERS

PROGRAMMABLE PARAMETERS

e following programmable parameters are used to congure the Dual Drive

feature. With only a very few exceptions, all the parameters on both the master

and the slave controller should be set to the same values.

VCL is not required to operate in Dual Drive mode.

Table 1 Dual Drive Program Menus: 1311/1313 /1314 Programmer

Parameter change faults

Parameters marked pcf in the menu charts will set a Parameter Change Fault

(code 49) if they are changed while the motor bridge is enabled (interlock = On).

Although the parameter will be changed, the fault will prevent motor control

functions until the fault is cleared by cycling the keyswitch. If the motor bridge

is disabled (interlock = O ), changing these parameters will not cause a fault and

the changes will take eect immediately.

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