Curtis 1222 User manual

Manual
Model 1222
Electric Steering Controller
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2013 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. 53122, OS15 1/29/13
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
» Software Version OS 15.0 «

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CONTENTS
1. OVERVIEW ..............................................................................1
2. INSTALLATION AND WIRING .............................................4
Mounting the Controller .....................................................4
High Current Connections and Wiring Guidelines ..............6
Low Current Connections and Wiring Guidelines ...............8
Controller Wiring: Safety Requirements ...........................11
Input/Output Specifications ...............................................13
3. PROGRAMMABLE PARAMETERS .....................................17
Program Menu ..................................................................18
4a. MONITOR MENU ................................................................57
4b. CONTROLLER INFORMATION MENU ...........................70
4c. CONTROLLER FUNCTIONS MENU .................................71
5. COMMISSIONING ...............................................................72
6. INTERFACE WITH MASTER CONTROLLER ...................93
7. DIAGNOSTICS AND TROUBLESHOOTING ....................99
8. MAINTENANCE .................................................................110
APPENDIX A Vehicle Design Considerations
APPENDIX B EN 14839 Compliance
APPENDIX C Programming Devices
APPENDIX D Specifications, 1222 Controller
CONTENTS

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FIGURES
fig. 1: Curtis 1222 controller .............................................................. 1
fig. 2: Mounting dimensions, Curtis 1222 controller ........................ 4
fig. 3a: Wiring diagram ...................................................................... 11
fig. 3b: Software control diagram ....................................................... 12
fig. 4: Command Input Device “0” signal flow ................................ 24
fig. 5: Command Input Device “1” signal flow ................................ 25
fig. 6: Command Input Device “2” signal flow ................................ 27
fig. 7: Command Input Device “3” signal flow ................................ 29
fig. 8: Command Input Device “4” signal flow ................................ 30
fig. 9: Steer Command Map ............................................................. 31
fig. 10: Position Feedback Device “0” signal flow ............................... 37
fig. 11: Position Feedback Device “1” signal flow ............................... 38
fig. 12: Position Feedback Device “2” signal flow ............................... 41
fig. 13: Position Feedback Device “3” signal flow ............................... 42
fig. 14: Position Control signal flow ................................................... 53
fig. 15: Velocity Control signal flow ................................................... 53
fig. 16: Steering Sensitivity Map ......................................................... 54
fig. 17a: Input Command signal flow .................................................. 96
fig. 17b: Position Feedback signal flow ................................................. 97
fig. 17c: Position/Velocity Control signal flow ..................................... 98
fig. B-1: Supervisory system ................................................................B-1
TABLES
table 1: High current connections ....................................................... 7
table 2: Low current connections ...................................................... 10
table 3: Programmable parameter menus .......................................... 18
table 4: Monitor menu ...................................................................... 57
table 5: Types of LED display ........................................................ 100
table 6: Troubleshooting chart ......................................................... 101
table D-1: Specifications, 1222 controllers .........................................D-1
FIGURES / TABLES

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OVERVIEW
The Curtis Model 1222 is an AC induction motor controller for electric
power steering (EPS) systems. In these “steer by wire” systems, the AC steering
gearmotor functions as an actuator to change the angle of the vehicle’s steered
wheel(s) and thus change the direction of travel. The 1222 performs as the
steering system controller, interpreting the steering command input and wheel
position feedback, then driving the steering motor to move the steered wheel(s)
to the desired position.
The Curtis 1222 controller is designed for use as an electric power steer-
ing controller for 300–1400W AC induction gearmotors with overall gear
reductions between 50:1 and 800:1 on vehicles using Curtis VCL AC motor
controllers. Intended applications are material handling vehicles such as reach
trucks, order pickers, stackers, “man up” warehouse trucks, and other similar
industrial vehicles.
1
1 — OVERVIEW
Fig. 1 Curtis 1222 electric
steering controller.
Advanced Motor Control
✓ Absolute Position (pedestrian stacker) or Relative Position
(reach truck) control modes.
✓ Supports >360° multi-turn steering mode.
✓ Indirect Field Orientation (IFO) vector control algorithm
provides maximum possible torque while ensuring maximum
efficiency and accurate current control.
More Features ☞

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✓ 16 kHz PWM switching frequency ensures silent operation
across the 0–200Hz stator frequency range.
✓ Advanced PWM techniques produce low motor harmonics,
low torque ripple, and minimized heating losses, resulting
in high efficiency.
✓ 70A RMS 2-minute current output.
✓ 24–48V nominal supply voltage.
Versatile Steering Input and Feedback Options
✓ Steering command input via CAN, dual redundant
quadrature encoder, sine/cosine sensor, sawtooth sensor,
or analog voltage inputs.
✓ Steered angle feedback via dual redundant homing switch,
quadrature encoder, sine/cosine sensor, sawtooth sensor, or
analog voltage inputs.
✓ Fully programmable input/output ratio mapping.
✓ Configurable homing methods, center offset, auto-center,
and end-stop protection.
✓ Programmable force feedback driver for command input
devices featuring variable friction tactile feedback (TFD).
Maximum Safety
✓ Dual redundant configuration of all safety-related parts.
✓ Two microprocessors, each with its own EEPROM memory.
✓ Separate input paths to each micro for all input and feedback
signals.
✓ 5A high-side fault output driver, consisting of two switches
connected in series; each switch is controlled by one micro
with independent supervision.
✓ Meets the requirements of the latest international functional
safety standards.
Unmatched Flexibility
✓ CANopen system communications.
✓ 35-pin AMPSEAL logic connector.
✓ Software includes a library of pre-defined AC steering motor
types from various manufacturers.
✓ Programmable motor temperature input prevents thermal
damage to motor and supports all commonly used thermistors.
1 — OVERVIEW

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✓ Integrated hourmeter and diagnostic log functions.
✓ +5V and +10V low-power supplies for input sensors, etc.
✓ Curtis 1313 handheld programmer and 1314 PC Programming
Station provide easy programming and powerful system diagnostic
and monitoring capabilities.
✓ Integrated Status LED gives instant diagnostic indication.
✓ Field upgradeable software.
Robust Reliability
✓ Insulated Metal Substrate (IMS) powerbase ensures superior
heat transfer.
✓ Intelligent thermal cutback and overvoltage/undervoltage
protection functions maintain steering while reducing traction
speed until severe over/under limits are reached.
✓ Rugged sealed housing and AMPSEAL connector meet IP65
environmental standards for use in harsh environments.
✓ Reverse polarity protection on battery connections
and short circuit protection on all output drivers.
Familiarity with your Curtis controller will help you install and operate it prop-
erly. We encourage you to read this manual carefully. If you have questions,
please contact your local Curtis representative.

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2 — INSTALLATION & WIRING
2
Fig. 2 Mounting
dimensions, Curtis 1222
motor controller.
Dimensions in millimeters (and inches)
INSTALLATION AND WIRING
MOUNTING THE CONTROLLER
The outline and mounting hole dimensions for the 1222 controller are shown
in Figure 2. The controller meets the IP65 requirements for environmental
protection against dust and water. Nevertheless, in order to prevent external
corrosion and leakage paths from developing, the mounting location should
be carefully chosen to keep the controller as clean and dry as possible.
It is recommended that the controller be fastened to a clean, flat metal
surface with four 6mm (1/4") diameter bolts, using the holes provided. A thermal
joint compound can be used to improve heat conduction from the controller
heatsink to the mounting surface. Additional heatsinking or fan cooling may
be necessary to meet the desired continuous ratings.

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2 — INSTALLATION & WIRING
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. Disconnect the motor or jack up the vehicle and get the drive wheels off the
ground before attempting any work on the motor control circuitry.
HIGH CURRENT ARCS — Batteries can supply very high power, and arcing can occur if they
are short circuited. Always open the battery circuit before working on the motor control
circuit. Wear safety glasses, and use properly insulated tools to prevent shorts.
LEAD ACID BATTERIES — Charging or discharging generates hydrogen gas, which can
build up in and around the batteries. Follow the battery manufacturer’s safety recom-
mendations. Wear safety glasses.
☞
CAUTION
You will need to take steps during the design and development of your
end product to ensure that its EMC performance complies with applicable
regulations; suggestions are presented in Appendix A.
The 1222 controller contains ESD-sensitive components. Use appro-
priate precautions in connecting, disconnecting, and handling the controller.
See installation suggestions in Appendix A for protecting the controller from
ESD damage.

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2 — INSTALLATION & WIRING: High Current Connections
HIGH CURRENT CONNECTIONS
There are five high-current terminals, identified on the controller housing as
B+, B-, U, V, and W.
Table 1 High Current Connections
TERMINAL FUNCTION
B+ Positive battery to controller.
B- Negative battery to controller.
U AC steer motor phase U.
V AC steer motor phase V.
W AC steer motor phase W.
Lug assembly
Five aluminum M6 terminals are provided. Lugs should be installed as follows,
using M6 bolts sized to provide proper engagement (see diagram):
• Place the lug on top of the aluminum terminal, followed by
a high-load safety washer with its convex side on top. The
washer should be a SCHNORR 416320, or equivalent.
• If two lugs are used on the same terminal, stack them so the
lug carrying the least current is on top.
• Tighten the assembly to 10.2 ±1.1 N·m (90 ±10 in-lbs).
High current wiring recommendations
Battery cables (B+, B-)
These two cables should be run close to each other between the controller
and the battery. Use high quality copper lugs and observe the recommended
torque ratings. For best noise immunity the cables should not run across the
center section of the controller. With multiple high current controllers, use a
star ground from the battery B- terminal.

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2 — INSTALLATION & WIRING: High Current Connections
Motor wiring (U, V, W)
The three phase wires should be close to the same length and bundled together
as they run between the controller and the motor. The cable lengths should be
kept as short as possible. Use high quality copper lugs and observe the recom-
mended torque ratings. For best noise immunity the motor cables should not
run across the center section of the controller. In applications that seek the
lowest possible emissions, a shield can be placed around the bundled motor
cables and connected to the B- terminal at the controller. Typical installations
will readily pass the emissions standards without a shield. Low current signal
wires should not be run next to the motor cables. When necessary they should
cross the motor cables at a right angle to minimize noise coupling.

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LOW CURRENT CONNECTIONS
All low power connections are made through a single 35-pin AMPSEAL con-
nector. The mating plug housing is AMP p/n 776164-1 and the contact pins
are AMP p/n 770520-3. The connector will accept 20 to 16 AWG wire with
a 1.7 to 2.7mm diameter thin-wall insulation.
The 35 individual pins are characterized in Table 2.
2 — INSTALLATION & WIRING: Low Current Connections
J1
Low current wiring recommendations
Command input encoder and Steer motor encoder
The encoder wires should be bundled together as they run between the motor
and controller logic connector. These can often be run with the rest of the low
current wiring harness. The encoder cables should not be run near the motor
cables. In applications where this is necessary, shielded cable should be used
with the ground shield connected to the I/O ground (pin 18 or pin 30) at only
the controller side. In extreme applications, common mode filters (e.g. ferrite
beads) could be used.
CAN connection
The two CAN wires should be connected directly to the corresponding CAN
pins on the traction controller: running from pin 23 (CAN High) on the
steering controller to pin 23 (CAN High) on the traction controller, and from
pin 35 (CAN Low) on the steering controller to pin 35 (CAN Low) on the
traction controller.
Note: The 1222 controller has no internal 120Ω CAN terminating
resistor. Typically the wiring of the CAN bus nodes is a daisy chain topology
with 120Ω CAN terminating resistors at each end. If the vehicle wiring is done
such that the 1222 is the last node in the chain, an external 120Ω terminating
resistor should be provided by the OEM in the wiring harness.
CAN wiring should be kept away from the high current cables and cross
it at right angles when necessary.
All other low current wiring
The remaining low current wiring should be run according to standard practices.
Running low current wiring next to the high current wiring should always be
avoided.

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2 — INSTALLATION & WIRING: Low Current Connections
Table 2 Low Current Connections
PIN NAME DESCRIPTION
1 Keyswitch Provides logic power for the controller and power
for the coil drivers.
2 Contactor Driver Driver for steer contactor.
3 [reserved] Not used.
4 [reserved] Not used.
5 Force Feedback Driver Driver for force feedback coil.
6 [reserved] Not used.
7 Ground Ground.
8 Command Analog 1 Primary steer command pot.
9 Interlock Input 1 Primary interlock switch input.
10 Home Input 2 Primary home switch input.
11 Interlock Input 3 Supervisory interlock switch input.
12 Home Input 4 Supervisory home switch input.
13 Coil Return This is the coil return pin for all the contactor coils.
14 Command Encoder 1A Steer Command Encoder 1 input phase A.
15 +10V Regulated low power +10V output.
16 Position Analog 5 Primary position feedback pot.
17 Position Analog 6 Supervisory position feedback pot.
18 Ground Ground.
19 Command Analog 3 Supervisory steer command pot.
20 Command Encoder 2B Steer Command Encoder 2 input phase B.
21 +5V Regulated low power +5V output.
22 Motor Temperature Sensor Motor temperature sensor.
23 CAN High CAN bus high.
24 Fault Output Steer fault output.
25 Command Encoder 1B Steer Command Encoder 1 input phase B.

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26 Steer Motor Encoder 4A Steer Motor Encoder 4 input phase A.
27 Steer Motor Encoder 4B Steer Motor Encoder 4 input phase B.
28 TX Serial transmit line.
29 RX Serial receive line.
30 Ground Ground.
31 Steer Motor Encoder 3A Steer Motor Encoder 3 input phase A.
32 Steer Motor Encoder 3B Steer Motor Encoder 3 input phase B.
33 Command Encoder 2A Steer Command Encoder 2 input phase A.
34 +5V Regulated low power +5V output.
35 CAN Low CAN bus low.
2 — INSTALLATION & WIRING: Low Current Connections
Table 2 Low Current Connections, cont’d
PIN NAME DESCRIPTION

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Fig. 3a Wiring diagram, Curtis 1222 electric steering controller.
2 — INSTALLATION & WIRING: Controller Wiring
CONTROLLER WIRING: Safety Requirements
As shown in the wiring diagram (Figure 3a), the 1222’s keyswitch power must
go through the traction controller so that when the keyswitch is turned off both
controllers turn off. The fault output (Pin 24) should be able to shut down
the traction system in the case of a serious fault; otherwise the system may not
meet the international safety requirements listed in Table D-1.
As shown in the wiring diagram, two steer command devices and two
position feedback devices are used. The 1222 supervises and matches each
1222 CONTROLLER
J1-8
J1-21
Home Input 4
J1-12
Home Input 2
J1-10
Interlock Input 3
J1-11
Interlock Input 1
J1-9
Command Encoder 1A
J1-14
Command Encoder 1B
J1-25
Command Encoder 2A
J1-33
Command Encoder 2B
J1-20
Ground
J1-18
AC
STEER
MOTOR
J1-1 Keyswitch
STEER MOTOR
ENCODER 3
and
ENCODER 4
**
J1-31
J1-32
J1-26
J1-27
J1-2
J1-24
J1-15
J1-28
J1-29
J1-7
SERIAL
SERIAL PORT
(4-pin Molex)
4
3
1
2
KEYSWITCH
V
Steer Motor Encoder 3A
Steer Motor Encoder 4A
Fault Output
+10V
RX
Ground
U
W
Steer Motor Encoder 3B
Steer Motor Encoder 4B
Contactor Driver
BATTERY
(24–48V)
B+
B-
TX
EMERGENCY
STOP
+5V
J1-21
J1-23
J1-35
CAN Low
CAN High CURTIS
AC
TRACTION
CONTROLLER
J1-19
J1-18
Command Analog 3
Command Analog 1
+5V
Ground
STEER
COMMAND
ENCODER 1
and
ENCODER 2
*
J1-34
J1-16
J1-17
J1-7
+5V
Position Analog 6
Position Analog 5
Ground
STEER COMMAND
POTS *
Reserved
J1-3
Reserved
J1-4
Force Feedback Driver
J1-5
MOTOR
TEMPERATURE
SENSOR
POSITION
FEEDBACK
POTS
**
J1-34
+5V
J1-30
Ground
STEER
CONTACTOR
J1-13
Coil Return
J1-6
EM BRAKE
TRACTION
MAIN
CONTACTOR
STEER
CONTACTOR
J1-5
J1-13
J1-1
J1-23
J1-35
N.O.
N.C.
** Encoder 4 is not used if
the feedback pots are used.
Reserved
J1-6
J1-9
J1-22
Motor Temp Sensor
*Mutually exclusive;
use either pots or encoders.
INTERLOCK SWITCH
HOMING SWITCH
†
†
†An external 120Ω resistor may
be required at the 1222 end of
the CAN bus; see page 15.
FORCE
FEEDBACK
COIL
Coil Return
J1-13

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2 — INSTALLATION & WIRING: Controller Wiring
device input to its counterpart (steering to steering, feedback to feedback). If
any of these input pairs do not match, the 1222 begins its fault sequence to
bring the vehicle to a stop.
As shown in the software control diagram (Figure 3b), the safety critical
parts are included twice to provide redundancy:
· two microprocessors
· separate paths to each micro for the command and feedback signals
· cross checks on the normalized steer command
· cross checks on the normalized wheel position.
A following error check ensures that the wheel position tracks the steer command.
Although not shown in the wiring diagram, the analog inputs can be
used for single sine/cosine sensors or sawtooth sensors instead of for redundant
pairs of pots. Each single sensor has two levels of fault detection, which provide
redundancy; see description of Tolerance parameter in Sin/Cos Sensor menus
(pages 26 and 41) and in Sawtooth Sensor menus (pages 28 and 42).
The wiring diagram (Figure 3a) is designed for generic applications and may
not fully meet the requirements of your system. You may wish to contact your
local Curtis representative to discuss your particular application. In cases where
the wiring deviates from the wiring shown in Figure 3a, it is up to the OEM
to evaluate the overall system safety.
Fig. 3b Software control diagram.

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2 — INSTALLATION & WIRING: I/O Signal Specifications
INPUT/OUTPUT SIGNAL SPECIFICATIONS
The input/output signals wired to the 35-pin connector can be grouped by
type as follows; their electrical characteristics are discussed below.
— digital inputs
— driver outputs
— analog inputs
— power supply outputs
— keyswitch and coil return inputs
— communications port inputs/outputs
— encoder inputs.
Digital inputs
The digital inputs must be wired to switch to B+ (not to ground). All digital
inputs are protected against shorts to B+ or B-.
A home switch is required if encoder position feedback is used (Position
Feedback Device = 1).
DIGITAL INPUT SPECIFICATIONS
LOGIC INPUT VOLTAGE ESD
SIGNAL NAME PIN THRESHOLDS IMPEDANCE RANGE TOLERANCE
Interlock Input 1 9 Rising edge= 10.7 kΩ 10–65 V ± 8 kV (air
Home Input 2 10 5 V max discharge)
Interlock Input 3 11 Falling edge=
Home Input 4 12 1.5 V min
Driver outputs
The fault output shuts down the traction system if the 1222 has a fault. This
output switches B+ to the high side of the traction main contactor and EM
brake; without this signal, the system shuts down.
All driver outputs are protected against shorts to B+ or B-.
DRIVER OUTPUT SPECIFICATIONS
OUTPUT OUTPUT PROTECTED ESD
SIGNAL NAME PIN TYPE FREQUENCY CURRENT VOLTAGE TOLERANCE
Contactor Driver 2 Low Side 16 kHz 2 A max 65 V ± 8 kV (air
Force Feedback Driver 5 Low Side 16 kHz 2 A max 65 V discharge
Fault Output 24 High Side n/a 5 A max 65 V

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Analog inputs
The command and position analog inputs are used when the steer command and
position feedback devices are pots or sine/cosine sensors or sawtooth sensors.
The motor temperature sensor input provides a constant current appro-
priate for a thermistor sensor. Some standard predefined motor temperature
sensors are supported in software (see Sensor Type parameter, page 49). Note:
The industry standard KTY temperature sensors are silicon temperature sensors
with a polarity band; the polarity band of a KTY sensor must be the end
connected to I/O Ground (pin 7).
All analog inputs are protected against shorts to B+ or B-.
2 — INSTALLATION & WIRING: I/O Signal Specifications
ANALOG INPUT SPECIFICATIONS
OPERATING INPUT PROTECTED ESD
SIGNAL NAME PIN VOLTAGE IMPEDANCE VOLTAGE TOLERANCE
Command Analog 1 8 0 to 10 V 100 kΩ 65 V ± 8 kV (air
Command Analog 3 19 discharge)
Position Analog 5 16
Position Analog 6 17
Motor Temp Sensor 22
Power supply outputs
The +5V supply is used for all steer command and position feedback devices.
The +10V supply is provided for the handheld programmer; it should not be
used for steer command or position feedback devices because voltage could
change when the programmer is plugged in. Both power supply outputs are
protected against shorts to B+ or B-.
POWER SUPPLY OUTPUT SPECIFICATIONS
OUTPUT OUTPUT PROTECTED ESD
SIGNAL NAME PIN VOLTAGE CURRENT VOLTAGE TOLERANCE
+5V 21, 34 5 V ±10% 100 mA max
* 65 V ± 8 kV (air
+10V 15 10 V ±10% 100 mA max
* 65 V discharge)
Ground 7, 18, 30 n/a n/a n/a
*
The total combined current from +5V and +10V outputs should not exceed 150 mA.
J1-7
J1-22

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Keyswitch input and coil return
Keyswitch power to the 1222 is provided through the coil return of the traction
controller. This ensures that the steer controller is not turned Off unless the
traction controller is Off. Both controllers shut down in the event of a fault.
Coil suppression for the traction controller is provided when the traction
main contactor and EM brake are wired to the fault output (pin 24). However,
you may wish to use coil suppression diodes to reduce EMI emissions.
Coil Return should be wired to the positive battery side of the steer
contactor so that switching noise associated with PWM operation of the
contactor is localized to the contactor wiring only.
Reverse polarity protection is ensured only when the keyswitch input and
coil return are wired as shown in Figure 3a (page 11)..
2 — INSTALLATION & WIRING: I/O Signal Specifications
Communications ports
Separate CAN and serial ports provide complete communications and program-
ming capability for all user available controller information.
Note: The 1222 controller has no internal 120Ω CAN terminating resis-
tor. Typically the wiring of the CAN bus nodes is a daisy chain topology with
120Ω CAN terminating resistors at each end. If the vehicle wiring is done such
that the 1222 is the last node in the chain, then an external 120Ω terminating
resistor should be provided by the OEM in the wiring harness.
The Curtis programmer plugs into a connector wired to pins 28 and 29,
along with ground (pin 7) and the +10V power supply (pin 15); see wiring
diagram, Figure 3a.
KEYSWITCH AND COIL RETURN INPUT SPECIFICATIONS
OPERATING MAX INPUT PROTECTED ESD
SIGNAL NAME PIN VOLTAGE CURRENT VOLTAGE TOLERANCE
Keyswitch 1 Between under- 50–500 mA 65 V ± 8 kV (air
and overvoltage + coil return current discharge)
Coil Return 13 cutbacks 10 A 65 V
COMMUNICATIONS PORT SPECIFICATIONS
SUPPORTED PROTECTED ESD
SIGNAL NAME PIN PROTOCOL/DEVICES DATA RATE VOLTAGE TOLERANCE
CAN High 23 CANopen up to 1 Mbps -5 V to ± 8 kV (air
CAN Low 35 (MaxV + 10 V) discharge)
with < 30 V
differentially
Tx 28 1313 Handheld as required, -0.3 to 12 V ± 8 kV (air
Rx 29 Programmer, 9.6 to 56 kbps discharge)
1314 PC Program-
ming Station

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2 — INSTALLATION & WIRING: I/O Signal Specifications
Encoder inputs
These inputs are used when the steer command and position feedback devices
are encoders. Command Encoders 1 and 2 are for steer commands, and Steer
Motor Encoders 3 and 4 are for feedback.
Pairs (A, B) of control lines are internally configured to read quadrature
type encoders. The encoders are typically powered from the 5V supply (pin 21),
but can be powered from any external supply (from 5V up to B+) as long as
the logic threshold requirements are met.
Note: Steer Motor Encoder 3 is always required, even when redun-
dant analog feedback inputs are used (feedback pots or sine/cosine sensors
or sawtooth sensors). Encoder 3 must be directly connected to the motor shaft
as it is used for motor control; it must have a minimum of 32 ppr. Encoder 4,
if it is used, can be connected to either the motor shaft or the steered wheel; if
it is connected to the steered wheel, it should have a minimum resolution of
0.5 counts/degree (equivalent to 45 ppr).
ENCODER INPUT SPECIFICATIONS
LOGIC INPUT MAX PROTECTED ESD
SIGNAL NAME PIN THRESHOLDS IMPEDANCE FREQ. VOLTAGE TOLERANCE
Command Encoder 1A 14 Rising edge= 1 kΩ 2 kHz 65 V ± 8 kV (air
Command Encoder 1B 25 4 V max discharge)
Falling edge=
1 V min
Command Encoder 2A 33
Command Encoder 2B 20
Steer Motor Encoder 3A 31 10 kHz
Steer Motor Encoder 3B 32
Steer Motor Encoder 4A 26
Steer Motor Encoder 4B 27