Curtis 1232E Manual
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Curtis 1232E Manual

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Manual
DUAL DRIVE OPERATION
for Controller Models
1232E / 34E / 36E / 38E / 39E
1232SE / 34SE / 36SE / 38SE
and
» Software Version OS 37.0 «
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2021 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.
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
53097 DD Supplement, Rev A May 2021

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  • Page 1 Specifications are subject to change without notice. © 2021 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. 53097 DD Supplement, Rev A May 2021...

  • Page 2: Table Of Contents

    FIGURE 5: RATIO OF INNER-WHEEL SPEED TO OUTER-WHEEL SPEED..........11 FIGURE 6: INNER-WHEEL AND OUTER-WHEEL SPEED MAPS.............. 11 FIGURE 7A: MOTOR COMMAND DIAGRAM, MANAGER CONTROLLER..........15 FIGURE 7B: MOTOR COMMAND DIAGRAM, ANCILLARY CONTROLLER..........16 pg. ii Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021...

  • Page 3: 1: Overview

    Return to TOC 1 — OVERVIEW The Dual Drive feature of Curtis 1232E/SE, 1234E/SE, 1236E/SE, 1238E/SE, and 1239E controllers allows two controllers to work together in vehicles with dual fixed-axle drive motors, a steered wheel or axle, and an analog steer-angle sensor.

  • Page 4: 2: Wiring

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC 2 — WIRING One of the two controllers is designated the manager and the other the ancillary. The manager controller operates the left motor and the ancillary operates the right motor. The throttle and brake inputs go to the manager.

  • Page 5: Figure 2B: Basic Wiring Diagram For Manager Controller, Dual Drive Operation

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC The manager controller is wired to all the components except those related to the Right motor and the steering pot. to KSI (J1-1) on ancillary controller J1-1 J1-13...

  • Page 6: Figure 2C: Basic Wiring Diagram For Ancillary Controller, Dual Drive Operation

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC The ancillary 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.

  • Page 7: 3: Programmable Parameters

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC 3 — PROGRAMMABLE PARAMETERS The following programmable parameters are used to configure the Dual Drive feature. With only a very few exceptions, all the parameters on both the manager and the ancillary controller should be set to the same values.
  • Page 8 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC DUAL DRIVE MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Dual Motor Enable On / Off To turn on the Dual Drive feature, set this parameter On in both controllers. |Dual_Motor_Enable...
  • Page 9 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC DUAL DRIVE MANAGER MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Steer Angle Max (deg) 45 – 90 deg Set this to the maximum steer angle that is physically possible on the vehicle.
  • Page 10 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC DUAL DRIVE ANCILLARY MENU PARAMETER ALLOWABLE RANGE DESCRIPTION Turn Accel Rate 0.1 – 30.0 s As the steering angle increases from the edge of the deadband to the critical...

  • Page 11: 4: Determining Critical Angle And Inner Wheel Speed

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC 4 — DETERMINING CRITICAL ANGLE AND INNER WHEEL SPEED The first step in setting up the Dual Drive feature is to determine the values of two parameters: Critical Angle, the angle at which the vehicle pivots with its inner wheel stationary, and Inner Wheel Speed, the desired inner-wheel speed at a 90°...

  • Page 12: Figure 3: Typical 3-Wheel Dual Drive Vehicle Geometry

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Figure 3 Typical 3-wheel Dual Drive vehicle geometry. Figure 4 Typical articulated steering Dual Drive vehicle geometry. pg. 10 4 — DETERMINING CRITICAL ANGLE AND INNER WHEEL SPEED...

  • Page 13: Figure 5: Ratio Of Inner-Wheel Speed To Outer-Wheel Speed

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC The inner wheel speed is determined by the outer wheel speed, as shown in Figure 5. It decreases from 100% of the outer wheel speed to zero at the programmed critical angle, and then from zero to the programmed Inner Wheel Speed value at the maximum steering angle.

  • Page 14: 5: Dual Drive Setup

    Return to TOC 5 — DUAL DRIVE SETUP First complete the setup procedures for the two controllers as outlined in the 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE os37 manuals.. Then proceed with these Dual Drive setup procedures. Before starting the Dual Drive setup procedures, jack the vehicle drive wheels up off the ground so that they spin freely.
  • Page 15 Swap Encoder Direction or Swap Two Phases parameters. (Refer to setup procedures in the 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manuals for help resolving encoder issues.) If the motor still does not respond appropriately, contact a Curtis customer support engineer to resolve the issues before continuing.

  • Page 16: 6: Vehicle Control Language & Can

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC 6 — VEHICLE CONTROL LANGUAGE & CAN The motor command diagrams for the Dual Drive controllers are shown in Figure 7a (for the manager controller, which controls the Left traction motor) and Figure 7b (for the ancillary controller, which controls the Right traction motor).

  • Page 17: Figure 7A: Motor Command Diagram, Manager Controller

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC 6 — VEHICLE CONTROL LANGUAGE & CAN pg. 15...

  • Page 18: Figure 7B: Motor Command Diagram, Ancillary Controller

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC pg. 16 6 — VEHICLE CONTROL LANGUAGE & CAN...
  • Page 19 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC The CAN messages indicated by the A, B, and C points in Figures 7a and 7b are shown in the byte maps below, along with the additional variables that are available (and CAN Index) to Dual Drive applications.
  • Page 20 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Bit7 = LOS_Clear_Flag Used to clear LOS speed in the other traction controller. Bit8 = Precharge_Sync_Manager_Flag Used to synchronize the precharge between the left and right motors. The contents of Flags_Ancillary_More and Flags_Manager_More are as follows:...

  • Page 21: 7: Troubleshooting

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC 7 — TROUBLESHOOTING With Dual Drive systems there are two traction controllers, and when faults occur they usually affect both of the controllers. The Dual Drive Troubleshooting Chart (Table 2) is written from the perspective of the controller that is issuing the fault.
  • Page 22 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC The fault actions (effect of fault) in Table 2 use the same bit-structure as the User_Fault_Action_xx listed in controller’s manual (OEM-defined User Faults). The variable System_Action (available in the WinVCL Monitor, or TACT) returns the decimal number corresponding to the active fault action bit(s).

  • Page 23: Table 2 Dual Drive Troubleshooting Chart

    Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT Controller Overcurrent 1. External short of phase U,V, or W Set: Phase current exceeded the current ShutdownMotor;...
  • Page 24 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT Severe B+ Overvoltage 1. See Monitor menu » Battery: Set: Capacitor bank voltage exceeded ShutdownMotor;...
  • Page 25 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT Digital Out 6 Overcurrent 1. External load impedance on Digital...
  • Page 26 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT Coil4 Driver Open/Short 1. Open or short on driver load.
  • Page 27 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT Pot2 Wiper Low 1. See Monitor menu » Inputs: Pot2 Raw.
  • Page 28 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT VCL Run Time Error 1. VCL code encountered a runtime Set: Runtime VCL code error condition.
  • Page 29 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT Fault On Other Traction 1. A fault is active on the other...
  • Page 30 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT Driver Supply 1. Internal controller fault in the voltage Set: Internal controller fault detection.
  • Page 31 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT Sin/Cos Sensor Fault The relationship between the rotor Set: The battery current significantly disagrees ShutdownMotor;...
  • Page 32 Curtis 1232E/34E/36E/38E/39E & 1232SE/34SE/36SE/38SE Manual, os37.0 – May 2021 Return to TOC Table 2 DUAL DRIVE TROUBLESHOOTING CHART cont'd CODE PROGRAMMER LCD DISPLAY POSSIBLE CAUSE SET / CLEAR CONDITIONS (status#,bit) EFFECT OF FAULT EMR Rev Timeout 1. Emergency Reverse was activated and Set: Emergency Reverse was activated and ran ShutdownEMBrake;...

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