1. Usage Scope

This article is applicable for debugging and configuring Curtis-1298 and Curtis-1232.

Second, debug resources

Software Debugging:

• https://ecm.seer-group.com/#doc/enterprise/6425 Curtis Software _1314-4402 PC Programming Station (OEM).zip

Revise the text in the HTML code above without changing any tags or attributes:

• https://ecm.seer-group.com/#doc/enterprise/6425 Curtis Software _1314-4402 PC Programming Station (OEM).zip

To incinerate a document:

• "Rebote-CRUTIS Burn Writing Document"

Compose formal documents:

• Download Instructions for AC Controller Program (CN).pdf

Writing Tool:

• 1309 USB Data Cable Connection

Three, Debugging and Troubleshooting

3.1 Curtis-1298驱动器程序烧录和参数调整

1. Steps for Burning Writing

** The following outlines the steps for parameter burning on the LindeL14 forklift platform using the Curtis-1298 protocol:

1.1 Preparations Before Commissioning

1.1.1 Installing the 1314-4402 PC Programming Station (OEM) to a Computer

Revised:

1.1.1 Installation of the 1314-4402 PC Programming Station (OEM) on a Computer

Link to https://ecm.seer-group.com/#doc/enterprise/6425 Curtis Software _1314-4402 PC Programming Station (OEM).zip
Burning Document: "rebote-CRUTIS Burning Document"

1.1.2 Connecting the Write Wire to the Drive Debugging Interface:

As illustrated in Figure 1.1 below, the driver is powered on, the debugging port is connected to the walking motor, and the upper computer software is opened.

Download the official document: "AC controller program download instructions (cn).pdf"

1.2 Connecting the walking motor driver

Power on the device and launch the upper computer software to connect the driving motor, as illustrated in Figure 1.2 below:

1.3 Burn Drive of Walking Motor

Document Description:
SEER_L14_REBOTE_T_1298_OS12_200612_12_0_P101_V102_1.exe: Firmware file for Curtis
SEER_L14_1298_2020_0823: Applies to Lind-L14 drive 1298
SEER_L14_1220C-2201_004535: Applies to Linde-L14 drive 1220C
SEER_REBOTE_T_1298_20200706: Applies to RAM drive 1298
SEER_REBOTE_1220C-2201_005964: Applies to RAM drive 1220C

Double-click SEER_L14_REBOTE_T_1298_OS12_200612_12_0_P101_V102_1 to start burning.exe files (refer to Figure 1.3.1)

The interface displayed after opening is depicted in Figure 1.3.2:

1.3.2 Select COM Port - "Select Defaults" allows you to update both user and OS defaults. To initiate the update, click the "Flash" button, as shown in Figure 1.3.3:

1.3.3 Click on the Flash button to initiate the burning process, as illustrated in Figure 1.3.4:

1.3.4 See below for "Download OK" - burning is complete, as shown in Figure 1.3.5:

1.3.5 Select Defaults - Select update both user and OS defaults, as shown in Figure 1.3.6:

1.3.6 Powering Off and Restarting the Drive

1.4 Burn the steering motor driver

1.4.1 Double-click on 1220C-2201_004535

1.4.2 Select OK, as depicted in Figure 1.4.2:

1.4.3 Click the "burn" button and select "ok" and "yes" successively, as shown in FIG. 1.4.3- FIG. 1.4.5:

1.4.4 Waiting to write, Figure 1.4.6:

1.4.5 Follow the prompt to close the drive, as shown in Figure 1.4.7:

1.4.6 Wait for 5 seconds and click on the prompt to open the driver, as shown in Figure 1.4.8:

1.4.7 Please wait for the burning process to complete without any errors or warnings, as shown in Figure 1.4.9:

1.5 Write 1298 parameters

Open the file linked to 1298

The burning process is identical to 1.4

2. The steps of setting the motor

Note: Before setting up the motor, carefully check if the driver has reported any errors. Figure 2.1.1:

If you find any errors, please refer to:
(1) [https://seer-group.coding.net/s/a6eeb265-f791-4b64-b055-dd55875de1d8 "1232 + 1298 fault information lookup table"
(2) https://seer-group.coding.net/s/e174b9d3-0f19-4368-aa83-a0bb86b5f6c3 "Red stroke, forklift debugging typical problems."

2.1 Setting the travelling motor

Fire seer_l14_rebote_t_1298_OS12_200612_12_12_0_p101_v102_1. exe and reset the motor parameters
2.1.1 Parameters are set according to OEM AC Controller User Manual 20110402.
2.1.2 For the matching steps, please refer to Motor Matching.
Note: Refer to Step 2 of the "Motor Matching" document to determine slip, step 3 to continue to determine do not need to do. The moving motor can be set according to the following preliminary automatic matching.
(1) Preliminary automatic matching
<1> Preliminary setting
(1) Basically set the parameters of the controller. When the KSI switch is closed, the main contactor is sucked
② Drive wheel off the ground
③ The driving wheel should be able to rotate freely
④ Clear historical faults
(2) Start the test
Note: It is important to pay attention to whether 1298 and 1220c have any errors during execution, especially those related to the main contactor.
<1> Program/Motor Control Turning/Motor Characterization Tests/Test Enable to 1, and then the sound of main contact absorption will be heard.
<2> Motor Control Turning/Motor Characterization Tests/Test Throttle to +1
At this point, the electric machine rotates
If the wheels are turned backwards, set/Test Throttle to 0 and reset Test Throttle to -1 after the motor stops
<3> The main contactor will be disconnected after the automatic test of the motor is completed
(3) Judge whether the test is successful, as shown in Figure 2.1.2
<1> After the primary contactor is disconnected, the Fault/current fault menu is displayed
<2> If the Parameter Change Fault indicates only one fault, the test succeeds
<3> Turn off at this time. After re-opening the KSI, the main contactor should be able to pull in, and the preliminary test of the motor is completed.
If the encoder is not: 32,48,64,80, the controller cannot be automatically recognized and needs to be set manually

2.2 Check the steering motor

Enter 1220C-2201-004535, then verify and adjust the encoder parameters
Note: When verifying this section, ensure that the relevant motor parameters are accurate!
(1) Set the Encoder Steps value to the correct value [256.0 for Rempert], as shown in FIG. 2.2.1

(2) Adjust and set the deceleration ratio correctly, [172.6 for Rebo], as shown in FIG. 2.2.2:

(3) Turn off the swap encoder direction, as shown in Figure 2.2.3:

(4) Adjust the Homing speed to 10%
Homing timeout is set to 20s
Note:
1. If the steering wheel cannot find the zero position, first check whether the zero sensor is installed correctly
2. The folder containing templates for Linde, Raypactor, Zhuoyi, and resulting parameters can be found here:
Curtis burning documents and templates for parameter configuration of various models

3. Define parameters for analog joystick

Note: This step is mainly for forklift trucks with handles. If there is no handle, skip this step directly.
(1) Click the Connect button.

(2) The interface that will appear:

Setting parameters are divided into three categories: forward and backward, lifting and descending, and turning.

3.1 Forward and Backward

[Corresponding to the forward and reverse operation switches on the handle]
There are two steps:

3.1.1 Forklift Parameter Monitoring

(1) In the upper computer software, go to Monitor->Input->Throttle Pot to find three positions: the middle position is used to record the voltage, as shown in FIG. 3.1.1:

(2) Turn the switch to the maximum advance limit and record the voltage value, as shown in FIG. 3.1.2:

(3) Turn the switch back to the maximum limit and record the voltage value

3.1.2 Configure parameters based on forklift truck parameters

Check whether the corresponding parameter in Control Parameter->Program->Throttle is the same as the value detected in Step 1. If it differs, modify it to the value recorded in Step 1, as illustrated in Figure 3.1.4:

The above parameters are set for lifting, descending, and steering.

3.2 Lifting and descending

In the upper computer software, go to Monitor, then Inputs, and select Pot2Raw.

3.2.1 Monitoring forklift parameters

(1) Place the lifting and descending picks in the middle position of the handle and record the voltage value, as depicted in Figure 3.2.1:

(2) Move the lifting and descending dial to the maximum limit of the descending fork and record the voltage value, as shown in FIG. 3.2.2:

(3) Move the lifting and lowering dial to the maximum limit of the lifting fork and record the voltage value, as shown in Figure 3.2.3:

Configure the parameters of the forklift truck in section 3.2.2

Verify if the corresponding parameter matches the value detected in the initial step by referring to Parameters->Program->HYD Setup. If it differs, adjust it to the value recorded in the initial step.

3.3 Steering Parameters

3.3.1 Monitoring Forklift Parameters

(1) Place the handle at the 0 position and calibrate it:
Insert the burn wire into the debugging port of the steering motor and open the upper computer software Monitor->Command Input according to the method shown in Figure 3.3.1 below. When SteerCommand is at 0%, it indicates that the vehicle is at the 0 position.

At this point, do not turn the handle. Reconnect the write wire to the walking motor and open the upper computer software. Monitor->Inputs->Analog 1 in the upper computer software indicates the transition parameters, as shown in Figure 3.3.2.
Record the voltage value at bit 0.

(2) Turn the handle to the maximum left limit and record the voltage value, as shown in Figure 3.3.3.

(3) Turn the handle to the maximum right limit and record the voltage value Z, as shown in Figure 3.3.4:

3.3.2 Configure this parameter based on parameters of the forklift truck

Check whether the corresponding parameter in Steer Setup under Parameters->Program is the same as the value detected in the first step. If it differs, modify it to the value recorded in the first step. Refer to Figure 3.3.5:

The settings of other parameters are described in the OEM AC Controller User Manual 20110402. For further information on other parameters, please refer to the preceding documents.
OEM AC Controller User Manual 20110402.pdf

4. Forklift Precision Debugging

Targeted Problems:
(1) Poor followability of forklift
(2) Low accuracy of forklift in positioning

Solutions:
(1) Debug and modify Curtis-related parameters
Meaning of related parameters:
1232EACos20 New Edition _manual.pdf
Curtis Cortis-1220 -- Instruction Manual for Electric Steering Power Controller.pdf
Note: When modifying parameters, attention should be paid to the parameters generated by motor setting, which can be directly operated according to 4.1 and 4.2 below
Please refer to the table for relevant parameters:
Comparison of Parameters of Moving Motor
Comparison of Steering Motor Parameters

4.1 Setting of parameters of the travelling motor

4.1.1 Modifying Low-battery Mode Parameters

(1) Set the BDI Lockout Level to 0%.
(2) Set the Max Speed Low BDI parameter under Low BDI Mode to match the Max Speed of the drive motor.
For example, if the maximum steering speed of the drive is 4000rpm, as shown in Figure 4.1.1:

Then set the Max Speed Low BDI to 4000rpm. If the maximum steering speed of the drive is 2000rpm, some drives may have a BDI Alam Level.
The BDI Lockout Level parameter can be set based on this parameter, as shown in Figure 4.1.2:

Set the Max Speed Low BDI to 4000rpm and the BDI Lockout Level to 0%.
If there is a BDI, set the Alarm Level to 0%.
Do not limit the speed at low power levels, as this will affect the precision of motion and the performance of response.

4.1.2 Modifying Walk Following Performance Parameters

(1) 0-Speed Mode Express Setting KP and KI Values

Or the Startup and Stop Jitter Are Detected

Note:
(1) If you find that the performance is not good, you can try increasing the KP value [set KP to 50% and KI to 50%].
(2) If the vehicle jitters when starting or stopping, you can try increasing the KI value.
Remember: Since the KP 30% KI 30% parameter combination of the Rebote-CDD model can cause vehicle jitter after blocking, the KP value should be set at 20%.

4.1.3 Modifying the Current Limit

Remove the current restriction at this point, as illustrated in Figure 4.1.5:

4.1.4 Setting the PD Max Current Parameter

When formulating the agreement, it is specified that the decrease is the maximum opening of the decrease proportional valve corresponding to 0~255.
[Note: The Linde 1298 protocol ranges from 0 to 1000, which will affect the accuracy of delivery speed.] 0 to 255 corresponds to the PD min Current to PD Max Current of the proportional valve. The value of PD max Current is the current flowing through the proportional valve.
【 Rebot CDD14】SP08-20 type proportional valve current range is 0.2~ 0.63A (approximately).
Note: Check the PD max Current of the Linde L14-1298 scheme is 0.6A.
The PD max Current of the Rebort 1232E drive can be adjusted to 0.7A.

4.2 Setting parameters of steering motor

Before modifying the parameters, we need to confirm whether the steering angle of the customer's steering motor is ±90° or ±120°!

4.2.1 Modifying Angle Mapping Parameters

If ±90°, please note that the values of Left stop (deg) and Right stop (deg) will remain at -90° and 90° respectively. Focus only on p3 Input and p3output (deg) and p4 input and p4output (deg).
** Please note that the value here corresponds to a different motor, but the value of P3 Input will affect the accuracy of steering to bit 0. Refer to Figure 4.2.1.

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

It is recommended to set the Homing Speed to 10% and the Homing Timeout time to 20 seconds. This will result in a longer return time to 0, but with higher precision, as shown in Figure 4.2.2.
We suggest that the customer's rudder Angle motor be able to steer ±120°. If not, there may be errors in the steering process, and this point needs to be clarified! When the selection range is ±120°, homing direction mode 0~3 can be selected.

4.2.3 Verification Method for Following and Overshoot Effect of Regulating 1220C Steering Motor

Caution when making modifications: The response performance of different forklifts varies, and operations should be performed according to the specific forklift being used.
(1) Open the upper computer software of 1314 and click the Connect button.

Figure 4.2.3:

(2) After the connection is complete, open the parameters-program-Motor Control Turning, as shown in Figure 4.2.4.

Modify position Kp.
Modify Velocity Kp.
Modify Velocity Ki.
(3) Modify the relevant values and verify them on the roboshop interface.
For example, if operating rudder rotation angle is 90°, refer to Figure 4.2.5:

Note: In the figure below, what is the maximum value of angle feedback? Record the relevant values, as shown in Figure 4.2.6:

(4) Repeat steps 3 and 4 until a set of data with good followability and overshoot is found.
Complete the record form.

(5) Repeat step 4 until a set of data with good followability and overshoot is achieved. We usually repeat several sets of data to determine the relevant parameters.
Our default settings are Position Kp 100%, Velocity Kp 30%, Velocity Ki 15%,
However, it should be noted that the relevant parameters for different forklifts are not the same and should be tested and verified according to the actual vehicle.
(To ensure less overshoot, set Velocity Ki to above 15%)
Note:
(1) If the relevant parameters for different forklifts are different, testing and verification should be carried out according to the actual vehicle.
(2) If the steering angle of the forklift is less than ±120°, other angles can be used to test the parameters' overshoot.
(3) If the vehicle's following performance overshoot is significant when turning, the value of Position Kp can be appropriately reduced.

4.3 Modification parameters related to attached table

https://seer-group.coding.net/s/8285d162-dedf-4c18-be8e-a72790af92d2

4.4 Supplementary test methods of steering motor

(1) Following the testing method outlined in section 4.2.3, the roboshop is utilized to deliver five angles (-90°, 90°, 0°, 45°, and -45°) after achieving an optimal combination of position Kp, velocity Kp, and velocity Ki. The returned angle from the roboshop is then observed.

(2) If both conditions can be met, then pass. If not, follow these steps:
<1> Check if the Angle Map in the steering motor configuration is correct by referring to section 4.2.1.
<2> If only part of the Angle can be reached, suspect that there may be an issue with 1220C.
<3> If none of the angles can be met, check the parameters of 1220C to verify the number of encoder lines and deceleration ratio.
Note: Please follow the instructions below:
<1> When turning from 0° to 90°, the Angle is found to be 90.1° or 89.8°, with an error of 0.1~0.3 °. This may indicate an issue with the encoder.
<2> When turning, 0° and 90° are normal, but when turning to an intermediate angle, such as 45°, the return Angle is indeed 53° (an error greater than 1°).
There are three possible reasons for this:
① Model file configuration problems
② Faulty map mapping of the 1220C file
③ The 1220C is broken