1. Scope of Application

This article is relevant to debugging and configuring the Curtis-1232E.

Second, Debugging Resources

Software Debugging:

• Curtis Software _1314-4402 PC Programming Station (OEM).zip

Debugging Tools:

• 1309 USB Data Cable Connection

Three, Wiring and Transformation

The wiring is done according to the motor schematic diagram of the actual project.

Four, Drive Configuration

Follow these steps to configure Curtis drives related to your drive.

Explanation of relevant parameters:
1232EACos20 New Edition _manual.pdf
Curtis Cortis-1220 -- Instruction Manual for Electric Steering Power Controller.pdf

Method for connecting the walking drive and steering drive:

• Launch the 1314 PC software and click on the Connect button

• Standard connection for pedestrian driver: Model Number The model number 1232 is displayed.

4.1 Parameter Settings of Walking Drive 1232E

4.1.1 Modifying Low-battery Mode Parameters

• BDI Lockout Enable should be set to off

• BDI Lockout Level should be set to 0%

• When Low BDI Mode is enabled, the Max Speed Low BDI parameter should be adjusted to match the motor drive's Max Speed setting.

1. For instance, the highest steering speed during driving is 4000rpm, as illustrated in Figure 4.1.1:

Figure 4.1.1

2. For instance, the highest steering velocity in certain drives is 2000rpm.

• BDI Alam Level set to 0;

• BDI Lockout Level parameter set to 0;

• Max Speed in Low BDI can be set to the value of Max speed. See Figure 4.1.2:

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4.1.2 Modifying Walk Following Performance Parameters

1. 0-Speed Mode Express with kp and ki value settings

Figure 4.1.3

4.1.3 Modifying the Current Limit

1. Remove the current restriction at this point, as illustrated in Figure 4.1.4:

Figure 4.1.4

4.1.4 Modify the current value of the proportional valve

[Note: The Heli-CDD-proportional valve is not used, so it does not need to be modified.]
Description of parameters related to the proportional valve:

Figure 4.1.5
When formulating the protocol, it was stipulated that the decrease corresponds to the maximum opening of the decrease ratio valve from 0 to 255.

Figure 4.1.6

4.1.5 Modifying the Response Time of the Electromagnetic Lock

• Position Hold Setting Time: Change the value to 300ms.

• Brake Set Time: Change the value to 200ms.

• Torque Release Time: Change the value to 100ms.

The parameters are displayed in Figure 4.1.7:

Figure 4.1.7

4.1.6 Checking the Baud Rate of the CAN Bus

Check whether the baud rate is set correctly, as shown in Figure 4.1.8:

• Baud Rate set to 1 (250K)

Figure 4.1.8

4.1.7 Modify the maximum global acceleration and deceleration

• This parameter is utilized to mitigate the issue of vehicle overshooting at the destination point. It can regulate the maximum acceleration and deceleration throughout the entire motion process.

The positions of parameters are illustrated in Figure 4.1.9:

Figure 4.1.9
This parameter can be customized based on various models:

4.1.8 Modifying LOS mode Parameters

From a practical standpoint, if the driver triggers the motor to lock or if there is a motor encoder error, the following will occur: the Throttle Command will be set to zero, as will the Motor RPM. If the Motor RPM is zero, the system will enter Curtis LOS mode, which is a restricted operation mode. In this mode, if the forward enable signal is sent, the vehicle will comply with the LOS Max Speed set speed value and will not respond to the speed delivered by the driver.
Therefore, the LOS mode needs to be modified, as shown in Figure 4.1.10:

• LOS Upon Encoder Fault should be set to off.

• LOS Max Speed should be set to 100rpm.

• LOS Max Current should be set to 100A.

Figure 4.1.9

4.1.9 Modify the error reporting duration of the encoder

• Fault stall time: Set it to 1 second.

4.2 Steering Driver 1220C Parameter Settings

The interface that appears after a successful connection confirms that the 1220C connection is functioning properly:

4.2.1 Modifying Angle Mapping Parameters

• If the angle is ±120°, follow the setting method illustrated in figure 4.2.1 below:

Figure 4.2.1

4.2.2 Verify the encoder wire count of the steering motor

Robot-related models and information on steering motor encoders:

The parameters are set as illustrated in Figure 4.2.2:

Figure 4.2.2

4.2.3 Verify that the deceleration ratio of the steering mechanism is properly set

• If the reduction ratio of the reducer is 23.9, please complete the form below.

Information on Rebot-Related Models and Deceleration Ratios:

• If the reduction ratio of the reducer is 24.975, please complete the form below.

Information on Rebot-Related Models and Deceleration Ratios:

The location of parameters is displayed below:

Figure 4.2.3

4.2.4 Fine-tune the speed and timing of returning to zero

The location for modifying parameters is illustrated in Figure 4.2.4:

Figure 4.2.4

4.2.5 Checking the Baud Rate of the Steering Driver

Connect using the 1309 module with Curtis1232E. To check, use can. If the baud rate is set correctly,

• Set Baud Rate to 1 (250K) for optimal performance

Please refer to Figure 4.2.5 for the location of parameter modification:

Figure 4.2.5

4.2.6 Verification method for adjusting rudder angle follower and overshoot effect

1. Use caution when making modifications: The response and performance of forklifts can vary, and operations should be carried out according to the specific forklift being used.

• Set Position Kp to 100%

• Set Velocity Kp to 30%

• Set Velocity Ki to 6.5%

Figure 4.2.6

2. Change the values associated with Step 1 to roboshop and confirm the above interface

• Turn the rudder to a 90° angle

• Note: In the following figure, what is the highest possible value for Angle feedback? Please record the corresponding values.

3. Continue with Step 2 until you discover a dataset with strong follow-through and overshooting

Complete Record Form

4. The third step is repeated until a dataset with accurate tracking and minimal overshoot is achieved. Typically, we repeat this process multiple times to determine the appropriate parameters.

Our default parameters are Position Kp at 100%, Velocity Kp at 30%, and Velocity Ki at 6.5%. However, it should be noted that the relevant parameters vary for different forklifts, and testing and verification should be carried out according to the actual vehicle body.

4.3 Modification Parameters Related to Attached Table

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4.4 Supplementary Test Methods of Steering Motor

1. Using the testing method outlined in section 4.2.3, an improved result can be achieved by adjusting the position Kp, Velocity Kp, and Velocity Ki parameters. Once combined, these settings should be tested by instructing the roboshop to move to five different angles: -90°, 90°, 0°, 45°, and -45°. The resulting roboshop return angle should be observed.

2. If both objectives can be met, proceed. If not,

• Verify the steering motor configuration by checking the angle using the Map in section 4.2.1 to ensure correct mapping

• If only a portion of the angle can be reached, suspect an issue with 1220C

• If all angles cannot be met, verify the number of encoder lines and deceleration ratio in the parameters of 1220C