Curtis 1232E Manual
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Curtis 1232E Manual

Enhanced ac controllers for induction motors and surface permanent magnet motors
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See also: Manual
Manual
Models 1232E / 34E / 36E / 38E
1232SE / 34SE / 36SE / 38SE
and
Enhanced AC Controllers
for Induction Motors
and Surface Permanent Magnet Motors
» Software Version OS 31.0 «
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2016 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.
53096, OS31 May 2017

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Summary of Contents for Curtis 1232E

  • Page 1 Specifications are subject to change without notice. © 2016 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. 53096, OS31 May 2017...

  • Page 2: Table Of Contents

    8B: AUTOMATED SPM MOTOR CHARACTERIZATION PROCEDURE ............9: TUNING GUIDE ..........................0 − Speed Mode Express Tuning ....................1 − Speed Mode Tuning ......................2 − Torque Mode Tuning ......................pg. ii Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017...
  • Page 3 INTERFACING THE PROPORTIONAL CURRENT DRIVER ..............USING THE FAULT HANDLER IN VCL .................... CANbus Emergency Messages ....................OEM-defined User Faults ......................VCL FUNCTIONS SPECIFIC TO 1232E/SE, 1234E/SE, 1236E/SE, & 1238E/SE CONTROLLERS ..11: DIAGNOSTICS AND TROUBLESHOOTING ..................DIAGNOSTICS ..........................Summary of LED Display Formats ..................
  • Page 4 Figure 14: Effect of Throttle Adjustment Parameters ................Figure 15: Motor Command Diagram ....................Figure 16: Control Mode Processing ....................Figure 17: Proportional Driver Processing ..................Figure B-1: Supervisory System ....................... pg. iv Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE Manual, os 31 – May 2017...

  • Page 5: 1: Introduction

    VCL (Vehicle Control Language) is an innovative software programming language developed by Curtis. Many electric vehicle functions are uniquely built into the VCL code, and additional functions can be created by OEMs as required. VCL opens new avenues of customization, allowing specific vehicle application functions to be created quickly and easily within the motor controller itself, often eliminating the need to use separate vehicle manager modules.

  • Page 6: Getting The Most Out Of Your Curtis Controller

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Like all Curtis controllers, the E and SE models offer superior operator control of motor drive performance. Features include: • Closed-loop speed and torque control for both induction (ACIM) and surface permanent magnet (SPM) motors.

  • Page 7: 2: Installation And Wiring

    2 — INSTALLATION AND WIRING MOUNTING THE CONTROLLER The outline and mounting hole dimensions for the 1232E/SE controller are shown in Figure 2a, for the 1234E/SE controller in Figure 2b, and for the 1236E/SE and 1238E/SE controllers in Figure 2c. When an Ampseal plug housing is mated with the 35-pin logic receptacle, these controllers meet the IP65 requirements for environmental protection against dust and water.

  • Page 8: Figure 2B: Mounting Dimensions, 1234E And 1234Se

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Figure 2b Mounting dimensions, M6 x 1.0, 5 plcs Curtis 1234E and 1234SE motor controllers. 140.4 Status LEDs ∅7.0 thru, 4 plcs 1234SE terminal 1234SE 1234E (5 plcs) Note: The SE has a thicker base and taller terminals.

  • Page 9: Figure 2C: Mounting Dimensions, 1236E/Se And 1238E/Se

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Figure 2c 1238E/SE Mounting dimensions, Curtis 1236E/SE and 1238E/SE motor controllers. 1.25, 5 plcs 1236E/SE Status LEDs ∅7.0 thru, 4 plcs 13 (typ.) Dimensions in millimeters. 2 — INSTALLATION AND WIRING...
  • Page 10 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 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.

  • Page 11: High Power Connections

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC HIGH POWER CONNECTIONS There are five high power terminals, identified on the controller housing as B+, B–, U, V, and W. Table 1 High Powered Connections Terminal...
  • Page 12 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Lug assembly: 1236E/SE and 1238E/SE models Five M8 terminals are provided. Lugs should be installed as follows, using M8 bolts sized to provide proper engagement (see diagram): •...

  • Page 13: Low Power 35-Pin Connections

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC LOW POWER 35-PIN CONNECTIONS All low power connections are made through a single 35-pin AMPSEAL connector. The mating plug housing is AMP p/n 776164-1 and the gold-plated socket terminals are AMP p/n 770520 (Strip form) and 770854-3 (loose piece).

  • Page 14: Table 2 Low Power Connections

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 2 Low Power Connections Related VCL* Name Description Function References Keyswitch input. Provides logic power for Keyswitch_Voltage the controller and power for the coil drivers. Automate_PWM()
  • Page 15 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 2 Low Power Connections, cont'd Related VCL* Name Description Function References Common pot low connection for the throttle Pot_Low_Output Pot Low and brake pots. Set_DigOut() Sw_14 An On/Off output driver.

  • Page 16: Controller Wiring: Basic Configuration

    The controller can be programmed to check for welded or missing contactor faults and uses the main contactor coil driver output to remove power from the controller and motor Figure 3 Basic wiring diagram, Curtis 1232E/SE, 34E/SE, 36E/SE, and 38E/SE motor controllers. J1-1 J1-13 EMERG.

  • Page 17: Switch Input Wiring

    Note that the basic wiring diagram is designed for generic applications and may not fully meet the requirements of your system. These controllers have very flexible I/O and wiring configurations; you may wish to contact your Curtis distributor or support engineer to discuss your particular application.
  • Page 18 Prop Driver *The first value is for 1232E/SE and 1234E/SE controllers, and the second value is for 1236E/SE and 1238E/SE controllers. †“MaxV” in this and the following tables is the controller’s maximum voltage; see Table D-1 for the maximum voltage of each model.
  • Page 19 Analog 2 steps 23.8 kΩ, 28.1 kΩ 72-96 V models: n/a, 28.1 kΩ * The first value is for 1232E/SE and 1234E/SE controllers, and the second value is for 1236E/SE and 1238E/SE controllers. 2 — INSTALLATION AND WIRING pg. 15...
  • Page 20 1% ripple. The 2% settling time is <25 ms for a 0–5 V step and <30 ms for a 0–10 V step. This output line is protected against shorts to B+ or B−. Note: The 1232E/SE does not have this analog output.
  • Page 21 28 and 29, along with ground (pin 7) and the +12 V power supply (pin 25); see wiring diagram, Figure 3. The Curtis “Spy” Model 840 display will connect the the serial-port pins as shown in Figure 3.
  • Page 22 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Position Feedback Input: Quadrature Encoder Two control lines are internally configured to read a quadrature type position encoder. The encoder is typically powered from the 5 V supply (pin 26) or 12 V supply (pin 25), but can be powered from any external supply (from 5 V up to B+) as long as the logic threshold requirements are met.
  • Page 23 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Position feedback input: Sin/Cos sensor Two control lines are internally configured to read a Sin/Cos sensor. Position Feedback A (pin 31) provides the sine signal, and Feedback Position B (pin 32) provides the cosine signal. The device must be set up with one sensor revolution per mechanical revolution.

  • Page 24: 3: Application-Specific Features

    Return to TOC 3 — APPLICATION-SPECIFIC FEATURES Some features of the 1232E/SE – 1238E/SE controllers affect how the specific controller is wired or parameter settings. This chapter provides background information on application-specific features, to assist the vehicle designer in the design process.
  • Page 25 Hall-effect voltage throttles: The Curtis FP Series of throttles offers multiple pedal angles and mounting configurations (floor, suspended, flush) with 0–5 Volt operation with a Idle Validation Switch (IVS). The ET-XXX electronic throttle is typically used only as a drive throttle (illustrated in Fig.

  • Page 26: Figure 5: Wiring For Type 2 Throttles

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Figure 5 Voltage Source Wiring for Type 2 throttles. Sensor-referenced 0–5V source Ground-referenced 0–5V source Pot Wiper input (Pin 16 or 17) Pot Wiper input (Pin 16 or 17) SENSOR OUTPUT (0–5V)

  • Page 27: Figure 6: Wiring For Type 3 Throttles

    Note: The option also applies to the Brake Type, which when set to Type 5 uses VCL_Brake as signal chain for the Brake_Command (see the Brake parameter menu and Figure 15) If you have questions regarding this throttle type, contact your Curtis distributor or support engineer. 3 — APPLICATION-SPECIFIC FEATURES...

  • Page 28: Motor Speed Constraints

    * This maximum allowed speed is displayed in the Monitor » Motor » Max Speed Controller Limit variable Note: In the case where the Max Speed parameter is the prevailing constraint, greater RPM may be possible. Contact your Curtis distributor or support engineer to discuss your particular application. pg. 24...

  • Page 29: Voltage Limits

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC VOLTAGE LIMITS The controller establishes both hardware-based voltage limits and parameter-based user defined limits. Overvoltage protection cuts back regen braking to prevent damage to batteries and other electrical system components due to overvoltage.

  • Page 30: 4: Programmable Parameters

    Return to TOC 4 — PROGRAMMABLE PARAMETERS These controllers have a number of parameters that can be programmed using a Curtis 1313 handheld programmer or 1314 PC Programming Station. The programmable parameters allow the vehicle’s performance to be customized to fit the needs of specific applications.

  • Page 31: Table 3 Programmable Parameters Menus: 1313/1314 Programmer

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 3 Programmable Parameters Menus: 1313/1314 Programmer CONTROL MODE SELECT....p. 31 — RESTRAINT......p. 37 CURRENT LIMITS MENU....p. 43 — Restraint Forward — Drive Current Limit 0 - SPEED MODE EXPRESS.....
  • Page 32 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 3 Programmable Parameters Menus: 1313/1314 Programmer continued EM BRAKE CONTROL MENU..p. 49 — FAULT CHECKING......p. 54 — MOTOR FEEDBACK OPTIONS....p. 59 — Brake Type —...
  • Page 33 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 3 Programmable Parameters Menus: 1313/1314 Programmer continued VEHICLE MENU........p. 64 — Metric Units — Speed to RPM — Capture Speed 1 — Capture Speed 2 —...
  • Page 34 MOSI (Master Out Slave In) = RX (Server to Client), as per CANopen nomenclature. MISO (Master In Slave Out) = TX (Client to Server), as per CANopen nomenclature. If you have questions regarding the CAN features, contact your Curtis distributor or support engineer. pg. 30...
  • Page 35 0x3010 0x00 1 = SPEED MODE 2 = TORQUE MODE Contact your Curtis distributor or support engineer if you are interested in a custom control method. NOTE: Do not change this parameter while the controller is powering the motor. Any time this parameter is changed a Parameter Change Fault (fault code 49) is set and must be cleared by cycling power;...
  • Page 36 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 1- SPEED MODE — SPEED CONTROLLER MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Max Speed 100 – 8000 rpm Defines the maximum requested motor rpm at full throttle. Partially-applied Max_Speed_SpdM throttle is scaled proportionately;...
  • Page 37 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 1- SPEED MODE — VELOCITY FEEDFORWARD MENU [OPTIONAL] PARAMETER ALLOWABLE RANGE DESCRIPTION Kvff 0 – 500 A This velocity feedforward term is designed to improve throttle responsiveness and speed controller performance, especially at low speeds.
  • Page 38 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 1- SPEED MODE — ACCELERATION FEEDFORWARD MENU [OPTIONAL] PARAMETER ALLOWABLE RANGE DESCRIPTION Kaff 0 – 500 A This acceleration feedforward term is designed to improve throttle responsiveness and speed controller performance at all speeds. It can be Kaff_SpdM 0 –...

  • Page 39: Figure 7: Acceleration Response Rate Diagram

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 1- SPEED MODE —RESPONSE MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Full Accel Rate HS 0.1 – 30.0 s Sets the rate (in seconds) at which the speed command increases when full Full_Accel_Rate_HS_SpdM throttle is applied at high vehicle speeds.

  • Page 40: Figure 8: Braking Response Rate Diagram

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 1- SPEED MODE — FINE TUNING MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Partial Decel Rate 0.1 – 30.0 s Sets the rate (in seconds) that is used to slow down the vehicle when the Partial_Decel_Rate_SpdM throttle is reduced without being released to neutral.
  • Page 41 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 1- SPEED MODE — RESTRAINT MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Restraint Forward 0 – 100% Increases torque when on a steep hill in order to limit roll-forward speed.
  • Page 42 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 1- SPEED MODE — POSITION HOLD MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Position Hold Enable On / Off Allows the Position Hold mode to be entered at zero throttle when the vehicle |Position_Hold_Enable comes to a stop.
  • Page 43 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 1- SPEED MODE — PUMP PARAMETERS PARAMETER ALLOWABLE RANGE DESCRIPTION Pump Enable* On / Off This parameter should be programmed On to operate a pump motor |AC_Pump_Enable_SpdM rather than a vehicle drive motor.
  • Page 44 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 2 - TORQUE MODE — RESPONSE MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Accel Rate 0.1 – 30.0 s Sets the rate (in seconds) at which the motor torque increases to full when Accel_Rate_TrqM full throttle is applied.
  • Page 45 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 2 - TORQUE MODE — FINE TUNING MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Creep Torque 0 – 100% Determines the amount of torque applied to the vehicle at a stop with no Creep_Torque_TrqM throttle input, to emulate the feel of an automatic transmission automobile;...

  • Page 46: Figure 9: Throttle Mapping (Torque Control Mode)

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC CURRENT + Throttle=100% Curve Regen Current Limit Drive Current Limit Creep Torque Throttle=0% Curve MOTOR MOTOR RPM - RPM + Forward/Back Neutral Taper Speed Full Restraint Speed...
  • Page 47 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC CURRENT LIMITS MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Drive Current Limit 5 – 100% Sets the maximum RMS current the controller will supply to the motor Drive_Current_Limit during drive operation, as a percentage of the controller’s full rated current.* 1638 –...

  • Page 48: Figure 12: Drive Current Limiting Map

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC DRIVE LIMITING MAP MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Nominal 0 – 100% PL_Drive_Nominal 0 – 32767 0x3060 0x00 Plus Delta 0 – 100% These parameters define the percentage of drive current limit that PL_Drive_Nominal_Plus_Delta 0 –...

  • Page 49: Figure 13: Regen Current Limiting Map

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC REGEN LIMITING MAP MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Nominal 0 – 100% PL_Regen_Nominal 0 – 32767 0x3065 0x00 Plus Delta 0 – 100% PL_Regen_Nominal_Plus_Delta 0 – 32767...
  • Page 50 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC THROTTLE MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Throttle Type PCF 1 – 5 These E and SE controllers accept a variety of throttle inputs. The throttle type Throttle_Type parameter can be programmed as follows: 1 –...
  • Page 51 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC THROTTLE MENU, cont’d PARAMETER ALLOWABLE RANGE DESCRIPTION HPD SRO Type PCF 0 – 3 Determines the type of HPD (High Pedal Disable) / SRO (Static Return to Off) HPD_SRO_Type protection.
  • Page 52 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC BRAKE MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Brake Pedal Enable On / Off Determines whether the brake input and algorithm are enabled, making the |Brake_Pedal_Enable brake throttle part of the motor control command.
  • Page 53 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC EM BRAKE CONTROL MENU PARAMETER ALLOWABLE DESCRIPTION RANGE Brake Type PCF 0 – 2 This brake type parameter determines how the EM brake responds to EM_Brake_Type the interlock input, throttle, and vehicle motor speed.
  • Page 54 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC EM BRAKE CONTROL MENU, cont’d PARAMETER ALLOWABLE DESCRIPTION RANGE Position Hold Settling Time 0 – 5000 ms Determines how long the position hold function is allowed to operate Position_Hold_Settling_Time before the EM brake is set.
  • Page 55 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC EM BRAKE CONTROL MENU, cont’d PARAMETER ALLOWABLE DESCRIPTION RANGE Torque Preload Cancel Delay 0 – 120 s The timer starts after the EM brake is set. If the timer expires before...
  • Page 56 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC DRIVERS: MAIN CONTACTOR MENU, cont’d PARAMETER ALLOWABLE DESCRIPTION RANGE Battery Voltage Compensated On / Off This parameter determines whether the main pull-in and |Main_Driver_Battery_Voltage_Compensated holding voltages are battery voltage compensated. When set...
  • Page 57 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC DRIVERS: PROPORTIONAL DRIVER MENU PARAMETER ALLOWABLE DESCRIPTION RANGE PD Enable PCF On / Off Determines how the PWM of the proportional driver is controlled. |PD_Enable On / Off When programmed On, it is controlled by the controller’s PD current control software.
  • Page 58 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC DRIVERS: FAULT CHECKING MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Driver1 Checks Enable On / Off |Driver1_Checks_Enable On / Off |OptionBits2 [Bit 1] 0x306B 0x00 Driver2 Checks Enable On / Off...
  • Page 59 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC MOTOR: CONTROL ALGORITHMS MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Motor Technology 0 – 1 Set this parameter to the type of motor in your vehicle: Motor_Technology 0 – 1...
  • Page 60 The maximum setting of the Field Weakening Drive parameter depends on the type of motor characterization that was used. If the ACIM motor was dyno characterized (i.e., sent to the Curtis factory for characterization on the motor dyno), Field Weakening Drive can be set anywhere in the range of 0% (lowest torque, highest efficiency) to 100% (highest torque, lowest efficiency).
  • Page 61 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC MOTOR: 0 – ACIM: FIELD WEAKENING CONTROL MENU, cont’d PARAMETER ALLOWABLE RANGE DESCRIPTION Weakening Rate Drive 0 – 100% Sets the control loop gains for field weakening. Setting the rate too low may Field_Weakening_Rate_Drive create surging in the vehicle as it accelerates at mid to high speeds.
  • Page 62 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC MOTOR: 0 – ACIM: LOS (Limited Operating Strategy) MENU PARAMETER ALLOWABLE DESCRIPTION RANGE LOS Upon Encoder Fault On / Off Limited Operating Strategy (LOS) is typically used to drive the vehicle back to |LOS_Upon_Encoder_Fault a repair center at very low speeds in the event the motor encoder fails.
  • Page 63 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC MOTOR: 1 – SPM (SURFACE PM MOTOR) CHARACTERIZATION TESTS MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Test Enable 0 – 1 This parameter is used to start the SPM motor characterization procedure.
  • Page 64 The four Sin/Cos Min and Max parameters’ default value is zero. This prevents the running of SPM/PMAC motors without performing the auto- characterization. See Chapter 8B for the SPM/PMAC Auto Characterization procedure. Contact your Curtis distributor or support engineer to resolve any Sin/Cos sensor errors or their parameter values. pg. 60 4 — PROGRAMMABLE PARAMETERS...
  • Page 65 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC MOTOR: TEMPERATURE CONTROL MENU PARAMETER ALLOWABLE DESCRIPTION RANGE Sensor Enable On / Off When programmed On, the motor temperature cutback and the motor |MotorTemp_Sensor_Enable temperature compensation features are enabled. This parameter can...
  • Page 66 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC BATTERY MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Nominal Voltage 24 – 96 V Must be set to the vehicle’s nominal battery pack voltage. This parameter Nominal_Voltage is used in determining the overvoltage and undervoltage protection 1536 –...
  • Page 67 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC BATTERY MENU, cont’d PARAMETER ALLOWABLE RANGE DESCRIPTION Reset Volts Per Cell 0.900 – 3.000 V The reset voltage level is checked only once, when the main contactor BDI_Reset_Volts_Per_Cell first closes.
  • Page 68 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC VEHICLE MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Metric Units On / Off When this parameter is programmed On, the distance variables (Vehicle |Metric_Units Odometer, Braking Distance Captured, Distance Since Stop, Distance Fine,...
  • Page 69 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC EMERGENCY REVERSE MENU [ & only] speed mode speed mode express PARAMETER ALLOWABLE RANGE DESCRIPTION EMR Enable On / Off Determines whether the emergency reverse function is active.
  • Page 70 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC INTERLOCK BRAKING MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Enable On / Off Determines whether the interlock braking function is active. |Interlock_Brake_Enable On / Off On = The controller will attempt to bring the vehicle to a stop using regen |OptionBits3 [Bit 7] braking when the interlock signal is removed.
  • Page 71 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC CAN INTERFACE MENU PARAMETER ALLOWABLE RANGE DESCRIPTION CANopen Interlock On / Off When programmed On, CAN NMT State must = 5 (operational state) |CANopen_Interlock_Enable On / Off in order for the interlock to be set;...

  • Page 72: Cloning Controllers

    Save the parameters from the controller to clone, which is the act of saving a “.CPF” file (Curtis Program File) using the Save/Save As . . . operations. When saving the CPF file, chose a file name with meaning as this CPF file is used to write (clone) its data to subsequent controllers.

  • Page 73: 5: Monitor Menu

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 5 — MONITOR MENU Through its Monitor menu, the 1313 handheld and 1314 PC programmers provide access to real-time data during vehicle operation. This information is helpful during diagnostics and troubleshooting, and also while adjusting programmable parameters and the vehicle’s initial setup.
  • Page 74 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Monitor Menu: INPUTS VARIABLE DISPLAY RANGE DESCRIPTION Throttle Command –100.0 – 100.0% Throttle request to slew rate block. Throttle_Command –32767 – 32767 0x3216 0x00 Throttle Multiplier –200.0 – 200.0% Multiplies or divides the throttle signal;...
  • Page 75 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Monitor Menu: INPUTS, cont’d VARIABLE DISPLAY RANGE DESCRIPTION Switch 3 On / Off Switch 3 on or off (pin 9). |Sw_3 On / Off |Switches [Bit 2]...
  • Page 76 0.00 – 10.00 V Voltage at Analog output (pin 30). Analog_Output 0 – 32767 Note: 1232E and 1232SE controllers do not include this Analog output. 0x321D 0x00 Digital Out 6 On / Off Digital Out 6 output on or off (pin 19).
  • Page 77 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Monitor Menu: BATTERY VARIABLE DISPLAY RANGE DESCRIPTION 0 – 100% Lead-acid battery discharge indicator (BDI). Effectively the battery’s BDI_Percentage remaining state-of-charge. 0 – 100 NOTE: For non lead-acid batteries, including Lithium-Ion battery packs, use 0x3308 0x00 the pack’s or cell manufacturer’s approved Battery Management System...
  • Page 78 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Monitor Menu: CONTROLLER VARIABLE DISPLAY RANGE DESCRIPTION Current (RMS) 0.0 – 1000.0 A RMS current of the controller, taking all three phases into account. Current_RMS 0 – 10000...
  • Page 79 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Monitor Menu: CONTROLLER, cont’d VARIABLE DISPLAY RANGE DESCRIPTION Motor Characterization Error 0 – 23* A Motor Characterization Fault (fault code 87) will store additional information in the Motor Characterization Error variable:* Motor_Characterization_Error 0 –...
  • Page 80 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Monitor Menu: CUTBACKS VARIABLE DISPLAY RANGE DESCRIPTION Motor Temp Cutback 0 – 100% Displays the current available as a result of \the motor temperature cutback function. MotorTempCutback 0 –...
  • Page 81 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Monitor Menu: VEHICLE VARIABLE DISPLAY RANGE DESCRIPTION Vehicle Speed –3276.8 – 3276.7 Vehicle speed, in units of MPH or KPH, depending on the setting of the Metric Vehicle_Speed Units parameter (see Program »...
  • Page 82 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Monitor Menu: CAN STATUS VARIABLE DISPLAY RANGE DESCRIPTION CAN Node ID 0 – 127 Displays the controller’s Node ID. CAN_Node_ID 0 – 127 0x3145 0x00 CAN NMT State 0 –...

  • Page 83: 6: Controller Information Menu

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 6 — CONTROLLER INFORMATION MENU This menu provides ID and version numbers for your controller hardware and software. CONTROLLER INFORMATION MENU VARIABLE DISPLAY RANGE DESCRIPTION Serial Number 0 –...

  • Page 84: 7: Initial Setup

    ACIM Motor Type parameter. • Send your ACIM motor to Curtis for testing on the factory motor dyno. Your motor’s data will be entered into the Curtis database and we will send you software with the appropriate parameter values set to match your motor.
  • Page 85 Verify that the programmer displays that the interlock is now Off. Interlock Type p.52 Contact your Curtis distributor or support engineer to resolve any issues about the interlock before continuing with these initial setup procedures. 7 — INITIAL SETUP...
  • Page 86 Brake should be = 0% through the range of brake pot motion that is considered neutral. The displayed Mapped Brake should be = 100% through the range of motion that is considered maximum brake. Contact your Curtis distributor or support engineer to resolve any issues about the brake setup before continuing with the setup procedure.
  • Page 87 (a) Already have software with the motor data programmed to match your motor. The pre-set motor data software is usually the result of contacting your Curtis distributor or support engineer and getting a match between your motor and the Curtis ACIM motor database, or by shipping a motor to Curtis for dyno characterization.
  • Page 88 For an SPM motor, observe the motor rotation and if it is turning in the wrong direction repeat the SPM auto-characterization procedure, where the direction is set in its step 11. Contact your Curtis distributor or support engineer if the proper motor direction cannot be resolved. Step 13: Emergency reverse (see page 65) Set up the parameters in the Emergency Reverse Menu.

  • Page 89: Automated Acim Motor Characterization Procedure

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 8A — AUTOMATED ACIM MOTOR CHARACTERIZATION PROCEDURE WARNING Motor will rotate during this procedure. Do not take the vehicle down off the blocks. This procedure is only for applications using an ACIM motor and quadrature encoder.

  • Page 90: Part 2A: Traction Systems Only

    All errors except “1” indicate the motor characterization data is invalid. For error “1, ” the data is valid but Encoder Steps must be set manually. Contact your Curtis distributor or support engineer if the Motor Characterization Errors indicated cannot be resolved.
  • Page 91 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC (a) Configure the vehicle to measure stall torque, by using a load cell / draw bar test. Note: You will want to perform this test quickly to avoid excessive motor heating and provide the most accurate results.
  • Page 92 Note: the present Field Weakening Drive value (0%) was determined by the above auto- characterization routine, and is not the default value (100%) in the native OS intended for the Curtis dynamometer characterized motors when a motor type (number) is utilized. The differences are: Auto Characterized: Field Weakening Drive is adjusted UP from 0% to the max Field Weakening Drive determined in this text.

  • Page 93: Part 2B: Hydraulic Systems Only

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC PART 2B: HYDRAULIC SYSTEMS ONLY Quick Links: SlipGain p.55 14. Run the SlipGain test. Max Speed Express Mode p.31 Adjust the SlipGain parameter to provide maximum torque at low speeds. Note: The present Speed Mode p.32...
  • Page 94 Note: the present Field Weakening Drive value (0%) was determined by the above auto- characterization routine, and is not the default value (100%) in the native OS intended for the Curtis dynamometer characterized motors when a motor type (number) is utilized. The differences are: Auto Characterized: Field Weakening Drive is adjusted UP from 0% to the max Field Weakening Drive determined in this test.

  • Page 95: Automated Spm Motor Characterization Procedure

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 8B — AUTOMATED SPM MOTOR CHARACTERIZATION PROCEDURE WARNING Motor will rotate during this procedure. Do not take the vehicle down off the blocks. This procedure is only for applications using an SPM motor and Sin/Cos sensor.
  • Page 96 Monitor » Controller » Motor Characterization Error and reference the following table. An error during the SPM test indicates the motor characterization data is invalid; contact your Curtis distributor or support engineer for assistance if the indicated error cannot be resolved.

  • Page 97: 9: Tuning Guide

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 9 — TUNING GUIDE Many aspects of vehicle performance can be optimized, using the wide variety of adjustable parameters available to these E and SE controllers. Once a vehicle/motor/controller combination has been tuned, the parameter values can be made standard for the system or vehicle model.

  • Page 98: Speed Mode Tuning

    WARNING parameters (page 53) and some VCL will typically be used to set up the control of these valve driver outputs. Consult with your Curtis distributor or support engineer regarding hydraulic valve control. 1 − Speed Mode Tuning (see pages 32–39)
  • Page 99 (load hold valve, proportional valve). The Proportional Driver parameters (page 53) and some VCL will typically be used to set up the control of these valve driver outputs. Consult with your Curtis distributor or support engineer regarding hydraulic valve control. 9 — TUNING GUIDE pg. 95...

  • Page 100: Torque Mode Tuning

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 2 − Torque Mode Tuning (see pages 39–42) a. Set Max Speed to the maximum speed you want to limit the motor to. b. Kp, Ki, and Kd typically do not need to be changed as the default values will work well in most applications.

  • Page 101: 10: Vehicle Control Language (Vcl)

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 10 — VEHICLE CONTROL LANGUAGE (VCL) Curtis 1232E/34E/36E/38E and 1232SE/34SE/36SE/38SE controllers have a built-in programmable logic controller with application-specific functions. VCL (Vehicle Control Language) software provides a way to implement unique and complex vehicle control functions.

  • Page 102: Variable Types

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC The VCL functions described in the VCL Common Functions Manual are available to all 1232E/ SE, 1234E/SE, 1236E/SE, and 1238E/SE controllers. These controllers have these additional specific functions, listed below.
  • Page 103 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Parameters EEPROM variables are a special type of EEPROM variable that is intended to be used to create OEM defined 1313/1314 programmer parameters. These parameters can be defined as 16- bit by using the P_User variables or they can be defined as bit (On/Off ) by using the P_User_Bit variables.

  • Page 104: Vcl Runtime Rates

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC VCL RUNTIME RATES VCL is an interpreted language. Each line of VCL code is converted (compiled) into a set of codes and then flash loaded into the controller. The controller interprets these codes one line at a time while the system is powered up.

  • Page 105: I/O Control With Vcl

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC I/O CONTROL WITH VCL Digital Inputs The controllers each have 16 digital inputs. Nine are switch inputs (Sw_1 through Sw_8, and Sw_16. These switch inputs are shown on the standard wiring diagram (Figure 3, page 12).
  • Page 106 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC The proportional driver (Driver 5 , Pin 2) is different from Drivers 1–4. It can be controlled in two ways: with the proportional driver processing function (see Figure 17) or with the VCL Put_PWM() function.

  • Page 107: Interfacing The Throttle And Brake Commands

    Scaling is 0–999 Hz = 0–32767. Analog Output The 1234E/36E/38E and 1234SE/36SE/38SE controllers have one analog output (pin 30); the 1232E/ SE has no analog output. This output is a special driver output. The switching stage is filtered to provide a smooth average voltage, instead of the actual PWM waveform seen on Drivers 1–5.
  • Page 108 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC The throttle and brake signal chains within the controller are sophisticated and flexible. Before applying VCL to modify these chains, it is important to fully understand the ramifications of implementing changes.

  • Page 109: Figure 15: Motor Command Diagram

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 10 — VEHICLE CONTROL LANGUAGE (VCL) pg. 105...
  • Page 110 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC After this final selector switch the throttle signal is the VCL variable called Throttle_Command, which is displayed as Throttle Command in the 1313/1314 Monitor » Inputs menu. Throttle_Command is the final value of the throttle signal chain that is input to the Control Mode Processing block;...
  • Page 111 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC position or an internal fault. The brake potentiometer can still be used, but must be set up using the Setup_Pot() function. When the Brake Type is set to 1–4, the variable VCL_Brake does nothing and the Brake Mapping block output signal passes through.

  • Page 112: Figure 16: Control Mode Processing

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC pg. 108 10 — VEHICLE CONTROL LANGUAGE (VCL)

  • Page 113: Interfacing The Proportional Current Driver

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC INTERFACING THE PROPORTIONAL CURRENT DRIVER VCL code can directly interface the proportional current driver (PD), as shown in Figure 17. VCL can change the working parameters of the PD and can provide the command.

  • Page 114: Using The Fault Handler In Vcl

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC USING THE FAULT HANDLER IN VCL The controller’s operating system detects various faults and takes appropri-ate fault actions to protect the controller. These faults have fault codes that are flashed on the controller status LEDs.
  • Page 115 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Status5 Bit0 = External Supply Out of Range (Code 69) Bit1 = Motor Temp Sensor Fault (Code 29) Bit2 = VCL Run Time Error (Code 68) Bit3 = +5V Supply Failure (Code 25)

  • Page 116: Canbus Emergency Messages

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC CANbus Emergency Messages The Status1–9 faults form CAN emergency message using little-endian byte ordering, where: Byte1&2 is the Error Category, Byte3 is the error register which is “set” (01) if there is an active fault, and Bytes 4–8 map into the Status 1–9 faults as per the error category.

  • Page 117: Oem-Defined User Faults

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC OEM-defined User Faults The operating system provides the capability to create OEM-defined custom faults using VCL. Just as with system faults, the VCL fault codes are flashed on the controller Status LEDs and fault text is displayed on the System Faults and Fault History menus of the 1313/1314 programmer.
  • Page 118 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC To add automatic fault actions to the VCL faults, the VCL programmer must define the desired fault actions by using the sixteen VCL variables: User_Fault_Action_01 through User_Fault_Action_16.
  • Page 119 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC This time when UserFault1.2 is set, the operating system will ShutdownInterlock and ShutdownThrottle (which will result in a Throttle_Command = 0%) in ad-dition to flashing the code 52 on the controller status LEDs. An additional VCL line was added (Put_Spy_Text (“BDI Low”)) to show how additional actions beyond those provided in the User_Fault_Action_xx can be...
  • Page 120 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC This example will result in the exact same actions as the last example, except now the fault will be displayed in the programmer’s System Faults menu (only while the fault is set) and this fault will be logged into the Fault History menu after being set.

  • Page 121: Vcl Functions Specific To 1232E/Se, 1234E/Se, 1236E/Se, & 1238E/Se Controllers

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC VCL FUNCTIONS SPECIFIC TO 1232E/SE, 1234E/SE, 1236E/SE, AND 1238E/SE CONTROLLERS Function descriptions are provided here for the functions that are unique to these controllers. They are presented in the same format that is used in the VCL Common Functions Manual for the common functions.
  • Page 122 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC DISABLE_PRECHARGE( ) This function is designed to abort the precharge function and clear any precharge fault. This function aborts the request for precharge of the capacitor bank from KSI. The resultant state of the precharge variable (Precharge_State) will be set to = 3 (for precharge aborted).
  • Page 123 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC SET_DIGOUT( ) This function turns on the selected digital output. The digital outputs are active low (On = driver on and pulled to ground, Off = open circuit at the pin).
  • Page 124 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC ENABLE_EMER_REV( ) This function is used to engage emergency reverse using VCL. The EMR Type parameter must be set to = 1 in order for the Enable_Emer_Rev() function to operate. If the system emergency reverse state is enabled (EMR_State bit variable = On), the emergency reverse function will operate according to the Emergency Reverse parameter settings;...
  • Page 125 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC SET_INTERLOCK( ) This function is used to engage the system interlock using VCL. The Interlock Type parameter (page 52) must be set to = 1 in order for the Set_Interlock() function to operate. If the system interlock is set (Interlock_ State bit variable = On), the throttle input signal is allowed to pass along the throttle chain;...
  • Page 126 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC SETUP_POT( ) This function determines the type of electrical connection of the Throttle Wiper (J1-16) and Pot2 High (J1-27) potentiometers (pot inputs). One wire pots are a 0 – 5 V input.
  • Page 127 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC SETUP_POT_FAULTS( ) This function re-sets the upper and lower wiper fault voltages for the specified pot-input that will be used to activate a pot-wiper voltage fault. The valid range for the function parameters are 0 – 6.25 V (0 –...
  • Page 128 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC START_PUMP( ) This function is used to turn on the pump lift contactor (pin 4). If the parameter Drivers » Driver3 » Contactor Enable = On (VCL HydraulicContactorEnable bit variable = On), the VCL function Start_Pump() will turn on the pump lift contactor (Driver 3).
  • Page 129 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC AUTOMATE_FREQUENCY_OUTPUT( ) This function sets up the PD Driver (pin 2) PWM output to yield a frequency proportional to the input variable at an execution rate of 16 ms. This output can be used to drive an electronic speedometer or tachometer.
  • Page 130 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC OVERRIDE_EM_BRAKE_PWM( ) This function is designed to override EM Brake. When this function is enabled, it resets the hill hold memory value. Syntax: Override_EM_Brake_PWM(Kill_Hill_Hold) Parameters: Kill_Hill_Hold 0 – Retain hill hold memory.
  • Page 131 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC MAP_TWO_POINTS( ) This function interpolates values between two points, Y1 and Y2; based upon an X input parameter. Interpolating based on X1 and X2. Typical Usage: 1. Calculate a value framed between two X-axis points projected across two Y points, where the functions’...
  • Page 132 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC BATTERY_COMPENSATE( ) This function is used to compensate a variable with battery voltage using the nominal battery setting. Syntax: Battery_Compensate(Input) Parameters: Input Variable to be compensated. Returns: Output.

  • Page 133: 11: Diagnostics And Troubleshooting

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC 11 — DIAGNOSTICS AND TROUBLESHOOTING These controllers detect a wide variety of faults or error conditions. Faults can be detected by the operating system or by the VCL code. This chapter describes the faults detected by the operating system Faults detected by VCL code (faults 51–67 in Table 6) cannot be defined here as they will vary from...

  • Page 134: Summary Of Led Display Formats

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Summary of LED Display Formats The two LEDs have four different display modes, indicating the type of information they are providing. Table 5 Types of LED Display...
  • Page 135 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC The fault actions (effect of fault) in Table 6 use the same bit-structure as the User_Fault_Action_xx listed in the OEM-defined User Faults on page 113. The variable System_Action (available in WinVCL Monitor or TACT) returns the decimal number corresponding to the active fault action bit(s).

  • Page 136: Table 6 Troubleshooting Chart

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 6 TROUBLESHOOTING CHART PROGRAMMER LCD DISPLAY CODE POSSIBLE CAUSE SET / CLEAR CONDITIONS EFFECT OF FAULT Controller Overcurrent 1. External short of phase U,V, or W motor Set: Phase current exceeded the current ShutdownMotor;...
  • Page 137 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 6 TROUBLESHOOTING CHART cont’d PROGRAMMER LCD DISPLAY CODE POSSIBLE CAUSE SET / CLEAR CONDITIONS EFFECT OF FAULT Severe KSI Overvoltage 1. Incorrect (to high) battery-voltage Set: KSI voltage exceeded Severe Overvoltage limiit ShutdownMotor;...
  • Page 138 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 6 TROUBLESHOOTING CHART cont’d PROGRAMMER LCD DISPLAY CODE POSSIBLE CAUSE SET / CLEAR CONDITIONS EFFECT OF FAULT Motor Temp Hot Cutback 1. Motor temperature is at or above the Set: Motor temperature is at or above the Reduced drive torque.
  • Page 139 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 6 TROUBLESHOOTING CHART cont’d PROGRAMMER LCD DISPLAY CODE POSSIBLE CAUSE SET / CLEAR CONDITIONS EFFECT OF FAULT Motor Open 1. Motor phase is open. Set: Motor phase U, V, or W detected open.
  • Page 140 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 6 TROUBLESHOOTING CHART cont’d PROGRAMMER LCD DISPLAY CODE POSSIBLE CAUSE SET / CLEAR CONDITIONS EFFECT OF FAULT HPD/Sequencing Fault 1. KSI, interlock, direction, and throttle Set: HPD (High Pedal Disable) or sequencing fault ShutdownThrottle.
  • Page 141 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 6 TROUBLESHOOTING CHART cont’d PROGRAMMER LCD DISPLAY CODE POSSIBLE CAUSE SET / CLEAR CONDITIONS EFFECT OF FAULT Stall Detected 1. Stalled motor. Set: No motor encoder movement detected.
  • Page 142 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 6 TROUBLESHOOTING CHART cont’d PROGRAMMER LCD DISPLAY CODE POSSIBLE CAUSE SET / CLEAR CONDITIONS EFFECT OF FAULT Motor Characterization Fault 1. Motor characterization failed during Set: Motor characterization failed during the motor ShutdownMotor;...
  • Page 143 Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC Table 6 TROUBLESHOOTING CHART cont’d PROGRAMMER LCD DISPLAY CODE POSSIBLE CAUSE SET / CLEAR CONDITIONS EFFECT OF FAULT VCL/OS Mismatch 1. The VCL software in the controller Set: VCL and OS software do not match;...

  • Page 144: 12: Maintenance

    Return to TOC 12 — MAINTENANCE There are no user serviceable parts in Curtis E/SE controllers. No attempt should be made to open, repair, or otherwise modify the controller. Doing so may damage the controller and will void the warranty.

  • Page 145: Appendix A: Vehicle Design Considerations/Emc/Esd/Recycling The Controller

    (created by long wires spaced far apart). Contactor drivers and the motor drive output from Curtis controllers can contribute to RF emissions. Both types of output are pulse width modulated square waves with fast rise and fall times that are rich in harmonics. (Note: contactor drivers that are not modulated will not contribute to emissions.) The impact of these switching...
  • Page 146 Some Curtis controllers are enclosed by a heatsink that also provides shielding around the controller circuitry, while others are partially shielded or unshielded.

  • Page 147: Electrostatic Discharge (Esd)

    ELECTROSTATIC DISCHARGE (ESD) Curtis motor controllers contain ESD-sensitive components, and it is therefore necessary to protect them from ESD (electrostatic discharge) damage. Most of the control lines have protection for moderate ESD events, but must be protected from damage if higher levels exist in a particular application.

  • Page 148: Appendix B: En13849 Compliance

    Following a type-C standard provides a presumption of conformity to the Machinery Directive. Curtis Enhanced AC Motor Controllers comply with these directives using advanced active supervisory techniques. The basic “watchdog” test circuits have been replaced with a Supervisor microcontroller that continuously tests the safety related parts of the control system;...
  • Page 149 Two safety functions are defined for Curtis Enhanced AC Motor Controllers: Uncommanded Powered Motion and Motor Braking Torque.

  • Page 150: Appendix C: Programming Devices

    The Programming Station is an MS-Windows 32-bit application that runs on a standard Windows PC. Instructions for using the Programming Station are included with the software. In addition, the Curtis 1309 Interface box with a computer-side USB and controller-side 4-pin serial Molex connection is required for the 1314 PC Programmer.

  • Page 151: Appendix D: Controller Specifications

    Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE/38SE Manual, os 31 – May 2017 Return to TOC APPENDIX D CONTROLLER SPECIFICATIONS Table D-1 SPECIFICATIONS: 1232E/SE, 1234E/SE, 1236E/SE, 1238E/SE CONTROLLERS Nominal input voltage: 24 V, 24–36 V, 36–48 V, 48–80 V, 72–96 V NOMINAL MINIMUM...
  • Page 152 These numbers are often calculated for a given application by determining an rms duty cycle current and heatsink temperature. For applications that exceed this, please contact your Curtis distributor or support engineer. *1238SE-49XX. Please contact your Curtis distributor or support engineer regarding the duty-cycle of this controller. pg. 148...

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