Manual

Model 1212E
Brushed DC Permanent Magnet
Motor Controller
» Software Device Profile: 2.2.0.0 «

Curtis Instruments, Inc.

200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com

Read Instructions Carefully!

Specifications are subject to change without notice. © 2024 Curtis Instruments, Inc.
® Curtis is a registered trademark of Curtis Instruments, Inc. ® Kohler is a registered trademark of Kohler Co.
© The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc. 53250 Rev A April 2024
 TABLE OF CONTENTS

CHAPTERS

1: OVERVIEW....................................................................................................................................... 1

KEY FEATURES.............................................................................................................................. 2
TECHNICAL SUPPORT.................................................................................................................... 4
CONVENTIONS............................................................................................................................... 4
NUMERAL SYSTEM NOTATION................................................................................................. 4
MISCELLANEOUS CONVENTIONS............................................................................................. 4
2: INSTALLATION, WIRING, AND I/O CONFIGURATION............................................................................ 5

MOUNTING THE CONTROLLER....................................................................................................... 5

HIGH CURRENT CONNECTIONS...................................................................................................... 6
LOW CURRENT CONNECTIONS....................................................................................................... 7
8-PIN I/O CONNECTOR (J1)...................................................................................................... 7
16-PIN I/O CONNECTOR (J2).................................................................................................... 8
WIRING DIAGRAM.......................................................................................................................... 9
I/Os.............................................................................................................................................. 10
SWITCH INPUTS..................................................................................................................... 10
FLEXIBLE SWITCH INPUTS...................................................................................................... 10
ANALOG INPUTS..................................................................................................................... 12
POTENTIOMETER CIRCUIT...................................................................................................... 13
COIL DRIVERS........................................................................................................................ 14
COIL SUPPLY.......................................................................................................................... 14
THROTTLE INPUT................................................................................................................... 15
FORWARD AND REVERSE INPUTS........................................................................................... 15
KEYSWITCH............................................................................................................................ 16
EMERGENCY STOP SWITCH.................................................................................................... 16
CIRCUITRY PROTECTION FUSES.............................................................................................. 16
INTERLOCK INPUT.................................................................................................................. 17
EMERGENCY REVERSE INPUTS............................................................................................... 17

pg. ii Curtis Model 1212E – April 2024

 TABLE OF CONTENTS CONT’D

EM BRAKE.............................................................................................................................. 18
MODE INPUT.......................................................................................................................... 18
CHARGER INHIBIT INPUT......................................................................................................... 19
I/O GROUND........................................................................................................................... 19
HYDRAULIC FUNCTIONS......................................................................................................... 19
INHIBIT INPUT......................................................................................................................... 21
STEERING SPEED LIMIT INPUT................................................................................................ 22
HORN DRIVER AND INPUT....................................................................................................... 24
INCHING MODE INPUT............................................................................................................ 25
CREEP MODE INPUT............................................................................................................... 25
BDI OUTPUT........................................................................................................................... 26
CAN CONNECTIONS................................................................................................................ 26
3: APPLICATION-SPECIFIC FEATURES.................................................................................................. 27

ALLOWED MAXIMUM SPEED......................................................................................................... 27

LIMITED SPEED MODE AND SPEED LIMITATION............................................................................. 27
SPEED LIMIT HPD................................................................................................................... 27
SPEED LIMIT SUPERVISION FOR EMERGENCY REVERSE AND INTERLOCK BRAKING................. 28
BATTERY PROTECTION AND BDI.................................................................................................... 28
INTERNAL BDI........................................................................................................................ 29
CALIBRATE THE INTERNAL BDI............................................................................................... 29
OVERVOLTAGE AND UNDERVOLTAGE PROTECTION........................................................................ 31
OVERVOLTAGE PROTECTION................................................................................................... 32
UNDERVOLTAGE PROTECTION................................................................................................. 32
MAIN RELAY................................................................................................................................. 33
SLEEP MODE................................................................................................................................ 33
PASSWORD PROTECTION............................................................................................................. 33
LOG ON TO CHANGE PARAMETERS......................................................................................... 34
CHANGE THE PASSWORD....................................................................................................... 34

Curtis Model 1212E – April 2024 pg. iii

 TABLE OF CONTENTS CONT’D
4: PROGRAMMING MENU PARAMETERS.............................................................................................. 35

SPEED MODE MENU..................................................................................................................... 37

LOW AND HIGH SPEED ACCELERATION RATES........................................................................ 38
LOW AND HIGH SPEED DECELERATION RATES........................................................................ 39
MODE 1 AND MODE 2 MENUS................................................................................................ 40
STEERING SPEED LIMIT MENU................................................................................................ 41
SPEED LIMIT SUPERVISION MENU.......................................................................................... 42
THROTTLE MENU.......................................................................................................................... 43
THROTTLE RESPONSE PARAMETERS...................................................................................... 45
INTERLOCK MENU........................................................................................................................ 46
CURRENT MENU........................................................................................................................... 47
BOOST MENU......................................................................................................................... 47
MAIN RELAY MENU....................................................................................................................... 48
EM BRAKE MENU.......................................................................................................................... 49
BATTERY MENU............................................................................................................................ 50
BDI MENU.............................................................................................................................. 51
MOTOR MENU.............................................................................................................................. 52
EMERGENCY REVERSE MENU....................................................................................................... 53
INPUTS MENU............................................................................................................................... 54
OUTPUTS MENU........................................................................................................................... 56
GAUGE SETTINGS MENU............................................................................................................... 57
CURTIS 3150R SETTINGS MENU............................................................................................. 57
CAN INTERFACE MENU................................................................................................................. 58
RPDO AND TPDO BYTE MAP MENUS....................................................................................... 59
PASSWORD MENU........................................................................................................................ 61
CHANGE PASSWORD MENU.................................................................................................... 62
MISC MENU.................................................................................................................................. 62
5: MONITOR MENU PARAMETERS....................................................................................................... 63

CONTROLLER MENU..................................................................................................................... 64
STATE MENU.......................................................................................................................... 65
MOTOR MENU.............................................................................................................................. 65

pg. iv Curtis Model 1212E – April 2024

 TABLE OF CONTENTS CONT’D
VOLTAGE MENU............................................................................................................................ 66
INPUTS MENU............................................................................................................................... 67
SWITCHES MENU.......................................................................................................................... 68
PRIMARY SWITCHES MENU.................................................................................................... 68
SUPERVISOR INPUTS MENU.................................................................................................... 69
OUTPUTS MENU........................................................................................................................... 69
6: FAULT HISTORY MENU.................................................................................................................... 70

7: FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING............................................................................ 71

PROGRAMMING DEVICE DIAGNOSTICS.......................................................................................... 71

STATUS LED................................................................................................................................. 72
FAULT RECORDS........................................................................................................................... 72
FAULTS......................................................................................................................................... 73
8: CANopen COMMUNICATIONS.......................................................................................................... 83

BYTE AND BIT SEQUENCE ORDER................................................................................................. 83

CAN PROGRAMMING CONSIDERATIONS........................................................................................ 83
NODE IDs..................................................................................................................................... 83
MESSAGE CAN-IDs....................................................................................................................... 84
NMT STATE CONFIGURATION........................................................................................................ 84
EMERGENCY MESSAGES AND FAULTS.......................................................................................... 84
EXPEDITED SDOs.......................................................................................................................... 85
PDOs............................................................................................................................................ 86
PDO TIMING........................................................................................................................... 86
PDO MAPPING OBJECTS......................................................................................................... 86
PDO DATA BYTES................................................................................................................... 87
MAP CAN OBJECTS TO A PDO................................................................................................ 87
CAN TILLER HEAD (RPDO1, TPDO1, TPDO2)............................................................................ 88
BMS (RPDO2)......................................................................................................................... 90
STANDARD CANopen OBJECTS..................................................................................................... 91
ERROR HISTORY OBJECT (1003H).......................................................................................... 91
EM BRAKE OVERRIDE OBJECT...................................................................................................... 92
BDI PERCENTAGE OBJECT............................................................................................................ 92

Curtis Model 1212E – April 2024 pg. v

 TABLE OF CONTENTS CONT’D
9: COMMISSIONING............................................................................................................................ 93

TUNE THE THROTTLE.................................................................................................................... 93

STEP 1 PREPARE THE VEHICLE.............................................................................................. 93
STEP 2 TUNE THE DEADBAND............................................................................................... 94
STEP 3 TUNE THE THROTTLE DEMAND.................................................................................. 94
STEP 4 CONFIRM THROTTLE OPERATION............................................................................... 95
STEP 5 VERIFY THE VEHICLE’S CONFIGURATION.................................................................... 95
SET THE SYSTEM RESISTANCE..................................................................................................... 95
TUNE VEHICLE PERFORMANCE..................................................................................................... 96
STEP 1 SET THE MAXIMUM AND MINIMUM SPEEDS.............................................................. 96
STEP 2 SET THE ACCELERATION AND DECELERATION RATES................................................. 96
10: MAINTENANCE............................................................................................................................. 98

DIAGNOSTIC HISTORY................................................................................................................... 98
APPENDIX A: VEHICLE DESIGN CONSIDERATIONS REGARDING
ELECTROMAGNETIC COMPATIBILITY (EMC).................................................................... 99

EMISSIONS................................................................................................................................... 99
IMMUNITY.................................................................................................................................... 99
APPENDIX B: EN 13849 COMPLIANCE................................................................................................ 101

APPENDIX C: CURTIS PROGRAMMING DEVICES.................................................................................. 103

APPENDIX D: SPECIFICATIONS........................................................................................................... 105

pg. vi Curtis Model 1212E – April 2024

 TABLE OF CONTENTS CONT’D
TABLES
TABLE 2-1 MATING CONNECTOR PARTS: 8-PIN CONNECTOR............................................................... 7

TABLE 2-2 MATING CONNECTOR PARTS: 16-PIN CONNECTOR............................................................. 8

TABLE 4-1 EM BRAKE RESPONSE....................................................................................................... 50

TABLE 4-2 ALLOWED VALUES FOR SWITCH N FUNCTION PARAMETERS............................................. 54

TABLE 4-3 PDO MAPPING OBJECTS — CAN INDEXES........................................................................ 60

TABLE 7-1 FAULT CHART.................................................................................................................... 73

TABLE 7-2 SUPERVISOR FAULT TYPES................................................................................................ 81

TABLE 8-1 MAPPED PDO BYTES......................................................................................................... 86

TABLE 8-2 RPDO1 DATA..................................................................................................................... 89

TABLE 8-3 TPDO1 DATA...................................................................................................................... 89

TABLE 8-4 TPDO2 DATA...................................................................................................................... 90

TABLE 8-5 RPDO2 DATA..................................................................................................................... 90

TABLE B-1 SAFETY FUNCTIONS......................................................................................................... 101

TABLE D-1 MODEL CHART................................................................................................................. 105

Curtis Model 1212E – April 2024 pg. vii

 TABLE OF CONTENTS CONT’D

FIGURES
FIGURE 1-1 CURTIS 1212E CONTROLLER............................................................................................ 1

FIGURE 2-1 MOUNTING DIMENSIONS.................................................................................................. 5

FIGURE 2-2 WIRING DIAGRAM, CURTIS 1212E CONTROLLER............................................................... 9

FIGURE 2-3 STEERING ANGLES AND SPEED LIMITS............................................................................ 22

FIGURE 4-1 THROTTLE RESPONSE PARAMETERS............................................................................... 45

FIGURE 6-1 FAULT HISTORY DETAILS — CIT....................................................................................... 70

FIGURE 6-2 FAULT HISTORY DETAILS — 1313 HANDHELD PROGRAMMER.......................................... 70

FIGURE 7-1 ACTIVE FAULTS — CIT..................................................................................................... 71

FIGURE 7-2 ACTIVE FAULTS — 1313 HANDHELD PROGRAMMER........................................................ 71

pg. viii Curtis Model 1212E – April 2024

Return to TOC Curtis Model 1212E – April 2024

1 — OVERVIEW
The Curtis Model 1212E Motor Controllers provide smooth and efficient control of battery powered
vehicles equipped with Brushed Permanent Magnet (PM) motors. The 1212E is optimized for use on
light duty Class III pallet trucks and floor care machines such as sweepers and scrubbers.
The Model 1212E controllers are highly programmable, enabling OEMs to integrate Model 1212E
controllers into any low-power PM motor application.

Figure 1-1
Curtis 1212E
Controller

1 — OVERVIEW pg. 1
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KEY FEATURES
The following sections describe the controller’s features.

Fit for Purpose

• Rugged housing with a small footprint for the power rating.
• Heavy-duty M4 busbars for motor and battery connectors.
• Impervious to most oils, solvents, degreasers and other chemicals often encountered by
industrial vehicles.
• Tyco Mini-Universal Mate-N-Lok connectors, with an option to add sealed mating connectors.
• Internal main relay.
• Internal temperature sensor provides overtemperature and undertemperature protection.

Smooth and Secure Control

• Advanced speed regulation maintains precise speed over varied terrain, obstacles, curbs
and ramps.
• Boost current feature enhances performance with transient loads, such as starting on a hill and
climbing obstacles.
• Linear cutback of current ensures smooth control with no sudden loss of power during
overvoltage, undervoltage or overtemperature.
• Emergency reverse inputs.
• Dynamic throttle fault detection (open/short wiring fault detection).
• Adjustable EM brake holding voltage reduces heating of the brake coil.
• Hydraulic lift lockout protects the batteries from damaging levels of discharge.
• Charger inhibit input.
• Lift inhibit input.
• Inputs are protected against shorts to B+ and B–.
• Short-circuit protected outputs.
• A switchable high side driver (Coil Supply).

Flexible I/O
I/Os can be configured to provide up to:

• Five digital inputs

• Five analog inputs
• One potentiometer input
• Two 1.5A coil drivers for pump contactor and lower valve
• One 1.5A coil driver for electromagnetic brake
• One 30mA horn driver

pg. 2 1 — OVERVIEW
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Powerful Dual Microprocessors

• Dual-microprocessor architecture achieves up to PL=c, category 2 functional safety under EN
ISO 13849-1:2015 and EN 1175:2020.
• Blazing processor speeds for precise regulation of voltage and current.

Get More Out of Your Battery—Regardless of the Technology

• High-efficiency means more of your battery’s energy is converted to motor output power.
• Configurable overvoltage and undervoltage protection parameters.
• Wide operating voltage range allows use with cell chemistries such as lithium ion.
• Preconfigured CANopen RPDO allows communications with BMS (Battery Management
Systems) typically found on lithium battery packs.

Comprehensive CANopen Capabilities

• Plug and play support for the Curtis Model 3150 CAN display and a variety of CAN tiller heads.
• Fully CANopen compliant per CiA 301.
• Preconfigured PDOs for communicating with a commander node such as a CAN tiller head.

CAN-based Programming
• Programmable over the CANbus.
• Supports most CAN-based service tools used by major industrial truck manufacturers worldwide.
• Develop, configure, optimize and debug vehicle systems with the Curtis Integrated ToolkitTM.

Diagnostics
• Status LED for at-a-glance troubleshooting.
• Thermal cutback, warning and automatic shutdown provide protection to motor and controller.
• Error logging, fault history and CAN emergency messages.

Additional Features
• Two programmable speed modes (indoor/outdoor modes).
• Configurable BDI (Battery Discharge Indicator) function that allows data from the controller's
internal BDI, a BMS or the CANbus.
• Creep mode for vehicles operating in narrow spaces such as containers.
• Sleep mode preserves charge by powering down the controller after a programmable period
of inactivity.
• Inching mode with a programmable maximum speed allows the vehicle to move in forward or
reverse when the interlock is off.
• Five flexible switch inputs that can be configured as digital or analog inputs.
• The flexible switch inputs can be used for a variety of functions, including hydraulic lift, lower
valve, lift lockout, horn, creep mode and more.

1 — OVERVIEW pg. 3
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Complies with Relevant US and International Regulations

For details on regulatory compliance, see the Specifications.
Note: Regulatory compliance of the complete vehicle system with the controller installed is the
responsibility of the vehicle OEM.

TECHNICAL SUPPORT
For technical support, contact the Curtis distributor where you obtained your controller or the Curtis
sales-support office in your region.

CONVENTIONS
The following topics describe conventions used in this manual.

Numeral System Notation

The following table describes how this manual denotes decimal, binary, and hexadecimal numbers.
Note: The letter n in the format column represents a digit.

Numeral System Format Example

Either of the following:
• 127
Decimal • nnn
• 127d
• nnnd
Either of the following:
• 62Ah
Hexadecimal • nnnh
• 0x62A
• 0xnnn
Binary nnnb 1011b

In addition, some CANopen examples have hexadecimal values without notation. Those examples
are formatted with a monospace font and with the bytes delimited by spaces, as shown in the
following example:
21 FF 01 11 22 01 00 00

Miscellaneous Conventions
• RO means read-only.
• RW means read-write.
• N/A means not applicable.

pg. 4 1 — OVERVIEW
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2 — INSTALLATION, WIRING, AND

I/O CONFIGURATION
This chapter explains how to mount and wire the controller. The chapter also describes features and
basic configuration for the inputs, outputs, and drivers.

MOUNTING THE CONTROLLER

To prevent external corrosion and leakage paths, mount the controller in a location that will keep
the controller clean and dry. For ease of service, make sure the status LED is visible.
The controller’s electronics are sealed to IP65. The environmental protection for the connectors
depends upon whether sealed (IP54) or unsealed (IP40) TE Connectivity parts are used.
The following diagram shows the outline and mounting hole dimensions. To mount the controller,
use the two mounting holes at the opposing corners of the heatsink. The recommended installation
torque for the busbar is 1.6±0.2 N.m.

135.0

120.0

ф 4.0 Status LED

60.0
75.0
M1 M2 B− B+

4X M4X0.7 2X Ø5.0
13 MAX

45.0
40.0

20.5

Figure 2-1
Mounting Dimensions

2 — INSTALLATION, WIRING, AND I/O CONFIGURATION pg. 5

Curtis Model 1212E – April 2024 Return to TOC

WARNINGS
You must heed the following warnings:

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.
CAUTION
LEAD-ACID BATTERIES — Charging or discharging generates hydrogen gas, which can build
up in and around the batteries. Follow the battery manufacturer’s safety recommendations.
Wear safety glasses.
You will need to take steps to ensure that the vehicle system’s EMC performance complies
with applicable regulations. For guidelines, see Appendix A.
The controller contains ESD-sensitive components. Use appropriate precautions in connecting,
disconnecting, and handling the controller.

HIGH CURRENT CONNECTIONS

The controller provides four M4X0.7 terminals for high current connections:

Terminal Description
B+ Positive battery input
B– Negative battery input
M1 Motor phase M1
M2 Motor phase M2

Note: Positive current flows from phase M1 to phase M2, negative current flows from phase M2 to
phase M1.

pg. 6 2 — INSTALLATION, WIRING, AND I/O CONFIGURATION

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LOW CURRENT CONNECTIONS

The low current connections are provided by two connectors, which are described in the following
topics.

8-Pin I/O Connector (J1)

The following table describes the pins on the 8-pin connector (J1):

Pin Description
J1-1 CAN L
J1-2 CAN H
J1-3 Switch 1
J1-4 Charger Inhibit
J1-5 Switch 5
J1-6 I/O Ground
J1-7 Switch 2
J1-8 Horn Driver

The connector can be sealed to IP54 or IP40, depending upon which TE Connectivity parts are used.
The following table describes the part numbers:

Table 2-1 Mating Connector Parts: 8-Pin Connector

Part IP54 (Sealed Connector) IP40 (Unsealed Connector)

Connector TYCO #794821-1, plug TYCO #770579-1, plug
Contact TYCO #770904-1 TYCO #770904-1
Interface seals TYCO #794772-8
Wire seals TYCO #794758-1
Cavity plug TYCO #794995-1 (Cavity plugs are
required for unused pins.)

2 — INSTALLATION, WIRING, AND I/O CONFIGURATION pg. 7

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16-Pin I/O Connector (J2)

The following table describes the pins on the 16-pin connector (J2):

Pin Description
J2-1 EMR NO
J2-2 Switch 3
J2-3 Pot High
Note: This pin can also be used for
an inhibit input or LED output.
J2-4 Lift Inhibit
J2-5 Mode Input
J2-6 Pot Wiper
J2-7 Switch 4
J2-8 B+
J2-9 Reverse
J2-10 Interlock
J2-11 Forward
J2-12 KSI (keyswitch)
J2-13 Lower Driver
J2-14 Lift Driver
J2-15 EM Brake Driver
J2-16 Coil Supply

The connector can be sealed to IP54 or IP40, depending upon which TE Connectivity parts are used.
The following table describes the part numbers:

Table 2-2 Mating Connector Parts: 16-Pin Connector

Part IP54 (Sealed Connector) IP40 (Unsealed Connector)

Connector TYCO #794824-1, plug TYCO #770583-1, plug
Contact TYCO #770904-1 TYCO #770904-1
Interface seals TYCO #1-1586362-6
Wire seals TYCO #794758-1
Cavity plug TYCO #794995-1 (Cavity plugs are
required for unused pins.)

pg. 8 2 — INSTALLATION, WIRING, AND I/O CONFIGURATION

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WIRING DIAGRAM
Figure 2-2 is a representative wiring diagram. The diagram is for a walkie that has operator controls
and other components directly wired to the controller.
Note: The diagram may differ from your application’s requirements. However, the controller provides
I/Os and programmable parameters that enable vehicle designers to meet almost any requirement.
To discuss how to implement your application, contact your Curtis distributor or support engineer.

EMERGENCY
CONTROL STOP
KEYSWITCH FUSE POWER FUSE
J2-8
B+ B+
EMERGENCY
STOP

J2-12 BATTERY
KSI

INTERLOCK
J2-10 B–
INTERLOCK
M1

MODE J2-5
MODE (M1, M2) MOTOR

BB Check J2-2
SWITCH 3 M2
EM REV.
J2-1
EMR NO
J2-12
J2-7 KSI
SWITCH 4 7
J1-2 2
CAN H
LIFT INHIBIT J1-1 1
J2-4 CAN L
3150R
LIFT INHIBIT DISPLAY
J2-8 4
B+ 3
FWD J2-11 J1-6
FORWARD I/O GND
0-5V J2-6
Curtis J2-16
POT WIPER
ET-1XXX COIL SUPPLY
REV J2-9
REVERSE
EM BRAKE
J1-6 EM BRAKE DRIVER J2-15
I/O GND
J2-3 PUMP CONTACTOR
POT HIGH/INHIBIT LIFT DRIVER
J2-14
BDI
J1-5 LOWER VALVE
SWITCH 5 J2-13
LIFT LOWER DRIVER
J1-3
SWITCH 1
J1-4
LOWER CHARGER INHIBIT
J1-7 B+ J2-8
SWITCH 2
CAN H
J1-2
HORN
Programmer
I/O GND J1-6
J1-8
HORN DRIVER CAN L
J1-1

Figure 2-2
Wiring Diagram, Curtis 1212E Controller

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I/Os
The following sections describe how to connect and configure I/Os.
Almost all I/Os are protected against shorts to B+ and B−. If an I/O lacks short protection, this
chapter will note it.
Note: After you have wired the controller and specified the parameters that apply to the vehicle
system, perform the steps in the Commissioning chapter.

Switch Inputs
The following table describes specifications for the switch inputs:

Specification Value
Low to High Threshold Depends upon the input:
• Pin J2-1 (EMR NO): 15.5V ±5%
• All other inputs: 6.5–9.0V
High to Low Threshold 4.0–6.0V
Open Pin Response High active
Maximum Voltage 36V
Maximum Reverse voltage –1V
Short to B+ Protected
Short to B− Protected

Flexible Switch Inputs

Switch inputs 1–5 are flexible switch inputs that can be used for various functions. These inputs can
be used as digital switches or analog inputs. All of the flexible switch inputs can be used for the
following switches:

• Creep
• Horn
• Inching forward
• Inching reverse
• Inhibit
Note: The Pot High input (J2-3) can also be used as an inhibit input by setting Pot Hi Switch
Function to Inhibit 2 Input.

• Lift
• Lift lockout
• Lower
• Steering

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Most of the flexible switch inputs provide one or more additional functions, as described in the
following table:

Input Additional Switches

Switch 1 EMR NC (normally closed)
Switch 2 EMR NC
Switch 3 Belly button check
Switch 4 Flex ID. See Node IDs.
Switch 5 BDI output

Each flexible switch input has a corresponding Switch n Function parameter, where n represents the switch
number. These parameters assign functions to the flexible switch inputs and are contained by the Inputs menu.
For most functions, another parameter must specify that the source of the function’s data is a switch (as
opposed to CAN data). In most cases, these parameters are contained in the Inputs menu and end with the
word “Source”.
Note: The belly button check and BDI output functions do not have parameters for input sources.
If an analog input is connected to a flexible switch input, the switch’s Switch n High Threshold parameter
specifies the input’s high/low threshold voltage. The Switch n High Threshold parameters are contained by
the Inputs menu.
Take the following steps to configure a flexible switch input:
1. Connect a switch or analog input to a flexible switch input.
2. Select Programming » Inputs, then perform the following steps:
2.1. Set the Switch n Function parameter to the function for which the flexible switch input will be used.
For example, to use Switch 2 as the lower switch, set the Switch 2 Function parameter to Lower Switch.
Note: A function can only be assigned to one input. If a function is assigned to multiple inputs, a
Parameter Fault (Type 3) occurs.
2.2. For functions other than the belly button check and BDI output, specify the source of the input’s
data. The following table describes the parameter values to specify:

Switch Parameter Value

Creep Creep Input Source Creep Switch
EMR NC EMR Input Type The value depends upon the type
of switch used for the emergency
reverse input:
• NC Switch
• NO & NC Switch
Horn Horn Input Source Horn Switch
Inching forward Inching Input Source Inching Switch
Inching reverse
Inhibit Inhibit Input Source Inhibit Switch

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Switch Parameter Value

Lift Lift Input Source Lift Switch
Lift lockout Lift Lockout Input Source Lift Lockout Switch
Lower Lower Input Source Lower Switch
Steering Steering Input Type The value depends upon the type of
This parameter is on the Steering switch used for the steering input:
Speed Limit menu. • NO Switch Input
• NC Switch Input

2.3. If the input is an analog input, specify the high/low threshold voltage with the input’s Switch
n High Threshold parameter.
2.4. Cycle the keyswitch.

Analog Inputs
All of the flexible switch inputs can be used as analog inputs. The following table describes
specifications for the analog inputs.

Specification Value
Measurement Range 0–10V (2% accuracy)
Input Resistance (to B– ground) > 50kΩ
Time Constant < 1 ms

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Potentiometer Circuit
The pot high and pot wiper inputs (pins J2-3 and J2-6) are for a potentiometer circuit that provides
full fault protection against open or shorted wires anywhere in the circuit; the controller will generate
a Throttle Fault (Type 1) if a broken wire or short is detected. The potentiometer circuit can be used
for a 3-wire pot throttle or a steering angle sensor for the steering speed limit function.
Note: The Pot High input (J2-3) can also be used as an inhibit input or LED output.
Connect peripherals such as 3-wire throttle pots and steering angle sensors to the pot wiper input,
pot high input and I/O ground as shown in the following diagram:

J1-6
I/O Ground
J2-6
Pot Pot Wiper
J2-3
Pot High

The following table describes the specifications for the pot wiper and pot high inputs:

Specification Value
Input Range 0.0–10.0V
Input Impedance > 100kΩ
Maximum Voltage 36V
Maximum Reverse Voltage −1V
Short to B+ Protected
Short to B− Protected

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Coil Drivers
The controller provides three low side coil drivers, which are used for the EM brake, lift, and lower
functions. The coil drivers support a continuous 1.5A load and include fault diagnostics for open
coils and shorts.
The following table lists the coil driver specifications:

Specification Value
Active level Low = On
Maximum Current 1.5A
Frequency 20 kHz
Pulse Width Resolution 0.5% minimum
Maximum Voltage 36V
Maximum Reverse Voltage −0.5V
Short to B+ Protected
Short to B− Protected
Open Pin Response Low/Off (pulled to B−)
Logic High Threshold 7.0V
Logic Low Threshold 4.5V
Input Impedance > 50kΩ

Coil Supply
The coil supply (pin J2-16) provides a dedicated high side voltage source for driving inductive loads.
The coil supply is powered by the keyswitch input.
The coil supply circuit is switchable. The switched coil supply is used to provide a safe state if there
is a short to ground or a low-side driver cannot be turned off. The controller provides the safe state
by controlling both sides of the driver loads and cutting power to them.
The following table describes the coil supply specifications.

Specification Value
Maximum Input Current 5A
Maximum Voltage 36V
Maximum Reverse Voltage −36V
Short to B+ Protected
Short to B− Not protected

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Throttle Input
The controller supports the following types of throttles:

• 3-wire pot
• 3-wire wigwag pot
• Voltage source (0–5V)
• Wigwag voltage source (0–5V)
• CAN throttle
• CAN wigwag throttle

The Throttle Type parameter specifies the type of throttle with which the vehicle is equipped.
The controller provides fault protection against open or shorted wires only for pot throttles. For
CAUTION other throttle types, it is the responsibility of the OEM to provide any fault protection that the
vehicle system requires.
The following topics describe how to connect the various types of throttles.

3-Wire Pot Throttle

If the throttle is a 3-wire pot, the circuit provides full fault protection against open or shorted wires
anywhere in the throttle pot assembly.
Connect the pot to the pot high (J2-3), pot wiper (J2-6) and I/O ground (J1-6) pins. For a wiring
diagram and the pot inputs’ specifications, see Potentiometer Circuit.
The throttle circuit is calibrated for a 5kΩ potentiometer. If the vehicle is equipped with a non-5kΩ
pot, use the Throttle Pot Calibration Enable parameter to recalibrate the circuit.
Note: If the Pot Hi Switch Function parameter specifies a value other than Pot Hi and the Throttle
Type parameter specifies a 3-wire pot throttle, a Parameter Fault (Type 6) occurs.

Voltage Source Throttle

For 0–5V voltage throttles, connect the output signal to the pot wiper input. The negative side of the
voltage source should reference I/O ground.
The Pot High and Pot Low parameters specify the input’s voltage range. If the voltage is outside of
the range, a Throttle Fault (Type 1) occurs.

CAN Throttle
For CAN throttles, the throttle demand is received by RPDO1. The CAN Throttle Min and CAN
Throttle Max parameters specify the throttle’s data range.

Forward and Reverse Inputs

If the vehicle is equipped with a single-ended throttle, connect the forward input to pin J2-11 and
the reverse input to pin J2-9.
Note: For wigwag throttles, the driving direction is forward when the throttle input is above 50%,
reverse otherwise.
If the vehicle uses a CAN throttle, the driving direction is received by RPDO1.

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Keyswitch
The vehicle should have a keyswitch connected to pins J2-12 and J2-8 (B+). The keyswitch provides
power for all low power circuits, including drivers and the precharge function.
The keyswitch can be used as the interlock input by setting the Interlock Type parameter to
KSI Interlock.
The following table describes the keyswitch input’s specifications:

Specification Value
Maximum Input Current 8A (maximum pin rating)
Quiescent Current 100mA maximum
This is at full range battery voltage and does
not include current draw from coil loads.
Voltage Accuracy ±1%
Maximum Voltage 36V
Maximum Reverse Voltage −36V
Short to B+ Protected
Short to B− Protected

Emergency Stop Switch

To ensure operator safety, Curtis recommends that the vehicle include an emergency stop switch.
The switch, with an auxiliary contact, must be connected to the battery and keyswitch.
The Emergency Stop parameter specifies whether the vehicle is immediately stopped or decelerates
to a stop.

Circuitry Protection Fuses

To protect against accidental shorts, a low current fuse, appropriately sized for the maximum current
draw, should be connected in series with the B+ logic supply (pin J2-8).
A fuse is also recommended in the high power circuit from the battery to the controller’s B+ terminal.
This fuse will protect the power system from external shorts and should be sized appropriately for
the maximum rated current of the controller.

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Interlock Input
The interlock input signals whether the operator intends to drive the vehicle. The controller allows driving
only when the interlock is on.
The interlock input can be either a switch, the keyswitch, or a signal received by RPDO1. The Interlock Type
parameter specifies which is used.
If the vehicle is equipped with an interlock switch, connect the switch to pin J2-10.
The following considerations apply to the interlock:

• For parameters that configure the interlock input and interlock braking, see Interlock Menu.
• The interlock braking function provides a regenerative motor torque that slows the vehicle when the tiller
head is released and the interlock state changes to off. To enable the interlock braking function, set the
Interlock Brake Enable parameter to On.
• If the HPD Enable parameter is set to On, an HPD Sequencing fault occurs if more than 10% throttle is
applied before the interlock is on.
• If all of the following conditions occur, an Interlock SRO Fault occurs:
– The keyswitch is not used as the interlock input.
– The Interlock SRO Enable parameter is set to On.
– The interlock input is on when the keyswitch is turned on.

Emergency Reverse Inputs

When emergency reverse is activated while the vehicle is driving forward, the controller produces a rapid
braking force to stop the vehicle, then slowly drives the vehicle in the opposite direction.
Emergency reverse can be activated by the following inputs:

• A Normally Open (NO) switch connected to pin J2-1.

• A Normally Closed (NC) switch connected to Switch 1 (J1-3) or Switch 2 (J1-7).
• NO and NC switches used as complementary switches.
Curtis recommends using complementary switches as well as the belly button check. When
complementary switches are used, the controller continually checks both switches for conditions such
as shorts and broken connections.
• CAN messages received by the belly button bit of RPDO1.

If the vehicle uses an NC switch, the Switch n Function parameter that corresponds to the flexible switch
input must be set to EMR NC Switch, otherwise a Parameter Fault (Type 5) will occur.
The EMR Input Type parameter specifies the emergency reverse input(s), and other Emergency Reverse
parameters configure features such as acceleration and deceleration rates and the duration of emergency
reverse events. See Emergency Reverse Menu.

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Belly Button Check

The belly button check function generates a Hardware Fault (Type 3) if the controller detects a broken
wire in the circuit for the EMR NO and EMR NC inputs.
Curtis recommends that the vehicle implement the belly button check. If the vehicle is equipped
with an emergency reverse switch, implement the belly button check by taking the following steps:
1. Connect a wire to the Emergency Reverse NO (J2-1) and Switch 3 (J2-2) inputs.
2. Set the Switch 3 Function parameter to BB Check Switch.

If the vehicle uses CAN messages for emergency reverse, the belly button check signal is received
by RPDO1.

EM Brake
If an electromagnetic (EM) brake is connected to the controller, pin J2-15 (EM Brake Driver) provides
the EM brake driver. The EM brake should also be connected to pin J2-16 (Coil Supply).
The EM Brake Type parameter specifies the conditions that release and engage the EM brake. For
information on the EM Brake parameters, see EM Brake Menu.
Note: The controller’s anti-roll-forward and anti-rollback functions provide safe control when the
vehicle starts or stops on hills and ramps. The anti-roll functions are enabled if the EM Brake Time
parameter specifies Interlock & Neutral Type.
The driver optionally generates a Driver Fault (Type 1) for shorts and open coils. To enable the
driver’s fault protection, set the Fault Enable parameter to On.
If the EM brake is engaged and the motor speed is greater than the speed specified by the Fault Motor
Revs parameter for 80 ms, the EMBrake Failed to Set fault occurs.

Mode Input
The controller provides two speed modes that can be configured with different minimum and
maximum speeds, acceleration rates and deceleration rates. For example, one speed mode can be
configured for faster outdoor driving and the other for slower indoor driving.
The mode input can be a switch connected to the controller or CAN data received by RPDO1. The
Mode Input Source parameter specifies the input:

• Switch: Connect the switch to pin J2-5 and set Mode Input Source to either NO switch or NC
switch.
• RPDO1: Set Mode Input Source to CAN Switch.

The following list describes the conditions that determine the active speed mode.

• If a mode switch is not connected, Mode 1 is active.

• If the mode switch is in the on position, Mode 2 is active.
• If the mode switch is in the off position, Mode 1 is active.

For information on speed mode parameters, see Speed Mode Menu.

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Charger Inhibit Input

While the battery is charging, the charger inhibit function engages the EM brake and disables driving
and the lift and lower drivers. Charger inhibit is activated when either pin J1–4 detects that the
charger’s inhibit pin is low level or RPDO2 receives a message from a BMS that indicates the battery
is charging.
To use charger inhibit with a charger connected to the controller, the charger must have a dedicated
inhibit pin (in addition to positive and negative pins). Connect the charger’s inhibit pin to pin J1–4.
Note: The charger inhibit function automatically powers up the controller without the keyswitch
on so that the BDI is tracked during charging. When the BDI reaches 100%, the controller powers
down to avoid draining the battery.

I/O Ground
Pin J1-6 is for I/O ground. The following table describes the I/O ground specifications:

Specification Value
Maximum Current 8A (maximum pin rating)
Maximum Voltage N/A
Maximum Reverse Voltage 0V
Short to B+ Not protected
Short to B− Protected

Hydraulic Functions
The controller provides coil drivers for the lift and lower functions. The inputs for these drivers are
switches connected to flexible switch inputs or commands received by RPDO1.
To configure a driver’s PWM output, use the driver’s Pull In and Holding Voltage parameters. These
parameters are contained by the Outputs menu, which contains most of the parameters for hydraulic
functions.
The pump SRO function prevents unexpected movement of the hydraulic pump and lower valve.
To enable the function, set the Pump SRO Enable parameter to On. The function generates a Pump
SRO Fault if any of the following conditions occur:

• The lift input is active when the controller is powered on.

• The lower input is active when the controller is powered on.
• The lift and lower signals are received by CAN, however RPDO1 did not receive a message within
two seconds after the controller was powered on.
• The Lift On Interlock parameter specifies On and the lift input is active before the interlock state
is on.
• The Lower On Interlock parameter specifies On and the lower input is active before the interlock
state is on.

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The following table describes additional conditions that forbid hydraulic operations.

Condition Lift Action Lower Action

The lift and lower inputs are both active. Shut down Shut down
The battery is charging. Shut down Shut down
The Lift Lockout Input State is on. Shut down N/A
Traction is active and the First On Mode parameter Shut down Shut down
specifies 2 (Lift & Lower).
Traction is active and the First On Mode parameter Shut down N/A
specifies 1 (Lift Only).
The Lift Inhibit Input State is on. Shut down N/A
The Inhibit Input State is on. Shut down Shut down
The Interlock State is off and the Lift On Interlock Shut down N/A
parameter specifies On.
The Interlock State is off and the Lower On Interlock N/A Shut down
parameter specifies On.

Note: The states mentioned above are indicated by parameters on the Monitor menu’s Inputs menu.
The controller also provides protection against open and shorted coils. If a driver’s protection is
enabled and an open or shorted coil is detected, the controller generates a Driver Fault and shuts
down the driver. The fault type depends upon the driver. The following table lists the parameters that
enable protection against open and shorted coils:

Driver Parameter
Lift Lift Driver Fault Enable
Lower Lower Driver Fault Enable

Note: If the lift or lower driver is not used, set the Lift Driver Fault Enable or Lower Driver Fault
Enable parameter to Off.
The following sections describe the inputs and drivers for the hydraulic functions.

Lift Driver and Input

Pin J2-14 is for the lift driver.
The lift input can be a switch connected to a flexible switch input, an RPDO1 bit, or both an I/O
switch and the RPDO1 bit. The Lift Input Source parameter specifies the input.
If both of the following conditions are true, the controller clears the throttle and CAN lift commands,
even if the First On Mode parameter specifies Off:

• The Lift Input Source parameter specifies Lift Switch and CAN Lift.
• The lift switch is active.

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Lift Inhibit Input

To prevent load handling hazards, the lift inhibit function disables the lift driver if the lift inhibit input
(J2-4) is active. The Lift Inhibit Input Source parameter specifies whether the input is a normally
open (NO) or normally closed (NC) switch.

Lift Lockout Input

When the lift lockout input is active, the controller disables the lift driver. If lift lockout is activated
during a lift operation, the lockout remains active until the lift operation has finished, after which
lift operations will be disabled.
You can use the following for the lift lockout input:

• A switch connected to a flexible switch input.

Note: The lift lockout input is active high.
• RPDO1, bytes 0−1, bit 10.
• BDI percentage: The controller activates the lift lockout function when the battery’s state of
charge is less than or equal to the BDI level specified by the Lift Lockout Threshold parameter.
• Data transmitted by the Curtis 3150R gauge.
• A BMS (RPDO2, byte 5, bit 0).

The Lift Lockout Input Source parameter specifies the input.

Lower Driver and Input

Pin J2-13 is for the lower driver.
The lower input can be a switch connected to a flexible switch input, an RPDO1 bit, or both an I/O
switch and the RPDO1 bit. The Lower Input Source parameter specifies the input.
If both of the following conditions are true, the controller clears the throttle command and CAN
lower command, even if the First On Mode parameter specifies Off:

• The Lower Input Source parameter specifies Lower Switch and CAN Lower.
• The lower switch is active.

Inhibit Input
When the inhibit input is activated, the controller disables driving and the lift and lower drivers. The
following table lists the inhibit input options and the parameter values that specify these options:

Inhibit Input Parameter Value

Flexible switch input Inhibit Input Source Inhibit Switch
Note: A Switch n Function parameter
must also be set to Inhibit Switch.
RPDO1 Inhibit Input Source CAN Inhibit
Pot high input (pin J2-3) Pot Hi Switch Function Inhibit 2 Input

Note: These parameters are contained by the Inputs menu.

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Steering Speed Limit Input

The steering speed limit function limits the motor speed based on the steering angle. This provides
a smoother drive when the vehicle is turning at various angles. For example, speed can be limited to
50% of the maximum speed at a 30° steering angle and to 20% at a 60° angle.
The following parameters on the Steering Speed Limit menu configure the speed limits:

• Steering Angle 1 is the angle at which the controller starts limiting the speed.
• Steering Angle 2 is the angle at which Speed Limit 1 is applied.
• Speed Limit 2 is the speed limit when the angle reaches 90°.
Note: When the steering angle is between Steering Angle 1 and Steering Angle 2, the speed limit
is linearly scaled between 100% (no speed limit) and Speed Limit 1. When the steering angle is
between Steering Angle 2 and 90°, the speed limit is linearly scaled between Speed Limit 1 and
Speed Limit 2.

Figure 2-3 shows the relationship of these parameters:

Steering Speed Cutback

100%

Speed Limit 1

Speed Limit 2
Steering Angle

-90° Steering Steering 0° Steering Steering 90°

Angle 2 Angle 1 Angle 1 Angle 2

Figure 2-3
Steering Angles and Speed Limits

Note: The Steering Angle and Steering Speed Cutback parameters on the Motor submenu of the
Monitor menu indicate the steering angle and speed limit in real time.
You can use any of the following as the steering speed limit input. The Steering Input Type parameter
specifies which is used:

• A switch connected to a flexible switch input.

• Analog data from a steering angle sensor.
• Data transmitted by a CAN tiller head and received by RPDO1.

The following topics describe how to specify the steering speed limit input.

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Steering Speed Limit Switch

If a switch input is used, when the switch state is on the vehicle speed is limited to that specified by
the Speed Limit 1 parameter. To use a switch, do the following:
1. Connect an NO or NC switch to a flexible switch input.
2. Set the Steering Input Type parameter to either NO Switch Input or NC Switch Input.
3. Assign the steering speed limit function to the flexible switch input by following the steps in the
Flexible Switch Inputs section.
Note: If the Steering Input Type parameter specifies NC Switch Input but the steering speed limit
function is not assigned to a flexible switch input, a Parameter Fault (Type 5) will occur.

Steering Angle Sensor

If an analog steering angle sensor is used, the controller obtains steering angle data from the pot
wiper pin (J2-6). The Max Steering Left Input and Max Steering Right Input parameters define the
data’s effective range, and the Max Steering Angle parameter defines the maximum steering angle.
The Steering Analog Input parameter indicates the analog data in real time. The following diagram
shows the relationship between these parameters:

Max Steering Angle

Max Steering Left Input 0°

Max Steering Right Input

Key

Steering Angle

Steering Analog
-Max Steering Angle Input (%)

Connect the steering angle sensor to the pot wiper, pot high and I/O ground pins. For a wiring
diagram and the pot inputs’ specifications, see Potentiometer Circuit.

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When a steering angle sensor is used, the throttle must be a CAN or CAN Wigwag throttle. If a
different throttle type is specified, a Parameter Fault (Type 2) occurs.
To specify an analog input, take the following steps:
1. Set the Steering Input Type parameter to one of the following values:

– Resistive throttle = Analog R Input.

– Voltage throttle = Analog V Input.
2. Cycle the keyswitch.
3. Set the Max Steering Left Input parameter as follows:
3.1. Turn the steering device to its maximum left angle.
3.2. Get the Steering Analog Input parameter’s value.
3.3. Set Max Steering Left Input to the Steering Analog Input value.
4. Set the Max Steering Right Input parameter as follows:
4.1. Turn the steering device to its maximum right angle.
4.2. Get the Steering Analog Input parameter’s value.
4.3. Set Max Steering Right Input to the Steering Analog Input value.
5. Set the Max Steering Angle parameter to the steering device’s maximum steering angle.

CAN Steering Speed Limit Input

CAN data transmitted by a CAN tiller head can be used as the steering speed limit input. The data is
received by RPDO1. To use CAN data, set the Steering Input Type parameter to CAN Input.

Horn Driver and Input

Pin J1-8 is a horn driver with the following specifications:

Specification Value
Active Level Low = On
Maximum Current 30mA
Maximum Voltage 36V
Maximum Reverse Voltage –0.5V
Short to B+ Protected
Short to B− Protected

The horn input can be connected either to a flexible switch input or to CAN data received by RPDO1.
The Horn Input Source parameter specifies which is used.
Pin J1-8 can be used to drive a horn, an external LED or a sleep mode output. The Horn Driver
Output Type parameter specifies which is used.

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Inching Mode Input

Inching mode allows the vehicle to move in the forward or reverse direction when the interlock state
is off and the vehicle is at a standstill. When inching mode is active, the vehicle’s maximum speed is
limited to the Max Inching Speed.
The inching mode input can either be connected to flexible switch inputs 1 and 2 or CAN data
received by RPDO1. The Inching Input Source parameter specifies which is used.
To use the flexible switch inputs, take the following steps:
1. Connect the inching forward and reverse switches to flexible switch inputs.
2. Set the Inching Input Source parameter to Inching Switch.
3. Set the corresponding Switch n function parameters to Inching Forward Switch and Inching
Reverse Switch.

Creep Mode Input

Creep mode is for situations where the vehicle is operating in a narrow space, such as a container, in
which it is difficult to steer the tiller head.
In creep mode, the vehicle is reduced to the Max Creep Speed, and interlock braking is activated by
the emergency reverse input. Activating creep mode changes the interlock state to on.
Creep mode can be activated when the vehicle meets all of the following conditions:

• The interlock state is off.

• The emergency reverse state is off.
• The vehicle is still.

The creep input can be either a switch connected to one of the flexible switch inputs or an RPDO1 bit.
The controller generates a Creep SRO Fault if any of the following conditions occur:

• The creep input is on when the controller is powered on.

• The creep input is on when the interlock state changes from on to off.
• The interlock input is turned on for more than 40 ms while creep mode is active.
• The controller cannot abort the creep mode braking state after the Interlock Brake
Timeout expires.

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BDI Output
Flexible switch input 5 can be configured as a BDI output. The output voltage ranges from 0–5V,
which scales to a BDI percentage of 0–100%.
To configure Switch 5 as a BDI output, set the Switch 5 Function parameter to BDI Output.

CAN Connections
The controller implements the CANopen protocol. CAN connections use the following pins:

• CAN Low: J1-1

• CAN High: J1-2

CANbus nodes typically are wired using a daisy chain topology. Use twisted-pair wiring to minimize
the likelihood of picking up a voltage bias on only one signal. If the controller is the last node in the
chain, include an external 120Ω terminating resistor in the wiring harness.
Use the CAN Interface menu to specify properties such as the baud rate, node ID, emergency message
rate, and heartbeat rate.
The following table describes the specifications for the CAN pins.

Specification Value
Baud Rate • Minimum: 100 kb/s
• Maximum: 1 MB/s
Input Impedance > 1kΩ and < 1000pF
Protected Voltage –5V to 36V

For information on the controller's CANopen features, see CANopen Communications.

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3 — APPLICATION-SPECIFIC FEATURES
Some controller features do not have corresponding I/Os. To assist the vehicle designer in the design
and development process, this chapter provides information on these features.

ALLOWED MAXIMUM SPEED

The controller uses the following formula to calculate the vehicle’s allowed maximum speed:

Speed Scaler * MAX(Fwd Max Speed, Rev Max Speed)

The active speed mode’s Fwd Max Speed and Rev Max Speed parameters are used.
The Speed Supervision fault (Type 1) will occur if the motor speed is greater than 120% of the allowed
maximum speed for more than 500 ms.

LIMITED SPEED MODE AND SPEED LIMITATION

The limited speed mode is the speed mode that has lower values for both the Fwd Max Speed and
Rev Max Speed parameters (Mode 1 and Mode 2 menus). For example, if speed mode 2’s Fwd Max
Speed and Rev Max Speed parameter values are lower than Mode 1’s Fwd Max Speed and Rev Max
Speed values, mode 2 is the limited speed mode.
Note: If the Fwd Max Speed and Rev Max Speed parameters for both speed modes specify identical
values, the application will not have a limited speed mode. If one mode has a higher Fwd Max Speed
but a lower Rev Max Speed than the other mode, a Parameter Fault (Type 4) occurs.
The following topics describe functions related to limited speed mode.

Speed Limit HPD

To require the controller to enter the neutral state before aborting the limited speed mode, set the
Speed Limit HPD parameter to On. When the speed limit HPD function is enabled and the controller
is running in limited speed mode, the following inputs are affected:

Input Description
Mode The controller must be in the neutral state before the speed mode can be changed.
Inhibit If the Inhibit input is on when speed limit HPD is enabled, the controller disables traction
and hydraulic operations and enters the limited speed mode.
To abort the limited speed mode, in addition to turning off the Inhibit input, the throttle
must be released to neutral.
Charger Inhibit If the Charger Inhibit input is on when speed limit HPD is enabled, the controller disables
traction and hydraulic operations and enters the limited speed mode.
To abort the limited speed mode, battery charging must stop and the throttle must
be released to neutral.

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Speed Limit Supervision for Emergency Reverse and Interlock Braking

When the speed limit supervision function is enabled, the vehicle is restricted by the supervision
speed limit. This limit is a configurable percentage above the speed at which the vehicle is traveling
when emergency reverse or interlock braking is requested.
Speed limit supervision is configured with the parameters on the Speed Limit Supervision menu.
The Enable parameter enables speed limit supervision. The Speed Tolerance parameter specifies the
percentage that defines the supervision speed limit. For example, if the Speed Tolerance is 20%, the
supervision speed limit is 120% above the speed at which the vehicle is traveling when emergency
reverse or interlock braking is requested.

BATTERY PROTECTION AND BDI

The controller provides the following methods for a battery discharge indicator (BDI):

• The controller’s internal BDI. See Internal BDI.

• A battery management system (BMS) on the CANbus. See BMS (RPDO2).
• A device (other than a BMS) on the CANbus. See BDI Percentage Object.

The BDI Source parameter specifies the application’s BDI method. For information on the BDI
parameters, see BDI Menu.
Note: Switch 5 can be configured as a BDI output.
The following list describes terminology the manual uses when describing the BDI functions:

• BDI percentage: Indicates how charged the battery is, based on the range of voltages specified
with the Empty Volts Per Cell and Full Volts Per Cell parameters.
• Cell: Several of the parameter values are expressed as volts per cell. To calculate a battery’s
number of cells, divide the battery’s nominal voltage by 2. For example, a 36V battery has 18 cells.

The following list describes battery protection functions:

• If the BDI percentage is lower than the Low BDI Threshold parameter, the controller will generate
a Low BDI fault and reduce the maximum speed to the speed specified by the Low BDI Max
Speed parameter. This protects the battery against severe discharging issues.
• First-on work mode protects the battery by inhibiting the traction and lift or the traction, lift
and lower from being active at the same time. The First On Mode parameter configures first-on
work mode.
Note: The first-on work mode function does not prevent the operator from activating
emergency reverse. When the Lift Input Source and Lower Input Source parameters specify
2, and the lift I/O switch or lower I/O switch is active, the controller inhibits traction and clears
the CAN lift and lower commands regardless of the First On Mode parameter value.

• Lift lockout inhibits lift operations when the Lift Lockout Input State is on. If the Lift Lockout
Input Source parameter specifies BDI as the lift lockout input, lift operations will be inhibited if
the BDI percentage is below the percentage specified with the Lift Lockout Threshold parameter.

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Internal BDI
The internal BDI defines full and empty battery with the Full Volts Per Cell and Empty Volts Per
Cell parameters. The BDI percentage is decremented when the battery voltage is below the moving
threshold for the period specified with the Battery Discharge Time parameter. The moving threshold
is calculated as follows:
BDI percentage * (Full Volts Per Cell − Empty Volts Per Cell)
When a charger is connected, the BDI percentage is increased when the battery voltage is above the
Start Charge Voltage parameter. The Battery Charge Time parameter specifies the charge period. If
the controller is being charged, the sleep function is disabled until the BDI percentage reaches 100%.
The BDI percentage is reset to 100% if both of the following conditions are true within two seconds
after the controller was powered on:

• The battery voltage is greater than the Reset Volts Per Cell parameter.
• The BDI percentage is less than the BDI Reset Percent parameter.

Calibrate the Internal BDI

Take the following steps to calibrate the internal BDI:
Step 1. Set BDI Parameters to Initial Values
Step 2. Set Full Charge Voltage
Step 3. Set Reset Volts Per Cell
Step 4. Set Full Volts Per Cell
Step 5. Set Empty Volts Per Cell
Step 6. Set Battery Discharge Time
Step 7. Set Battery Charge Time and Start Charge Voltage
Step 8. Test and Tune

Step 1 Set BDI Parameters to Initial Values

Take the following steps to set the BDI parameters to initial values:
1. Select Programming » Battery » BDI.
2. Set the following parameters to the following values:

Parameter Value
Full Charge Voltage 2.35V
Start Charge Voltage 2.10V
Reset Volts Per Cell 2.09V
Full Volts Per Cell 2.04V
Empty Volts Per Cell 1.73V
Battery Charge Time 30 minutes
Battery Discharge Time 30 minutes

3 — APPLICATION-SPECIFIC FEATURES pg. 29

Curtis Model 1212E – April 2024 Return to TOC

Step 2 Set Full Charge Voltage

Set the Full Charge Voltage parameter by taking the following steps:
1. Plug in the charger.
2. Fully charge the batteries.
3. With the charger still attached and running, measure the battery voltage with a voltmeter.
4. Set Full Charge Voltage to 0.02V lower than the measured voltage divided by the battery’s number
of cells.

Step 3 Set Reset Volts Per Cell

Set the Reset Volts Per Cell parameter by taking the following steps:
1. Turn off or disconnect the charger.
2. Let the batteries sit for 1 hour.
3. Measure the battery voltage with a voltmeter.
4. Set Reset Volts Per Cell to 0.02V lower than the measured voltage divided by the battery’s number
of cells.

Step 4 Set Full Volts Per Cell

Set the Full Volts Per Cell parameter by taking the following steps.
1. Drive the vehicle at medium speed on a level surface for 10–15 minutes.
2. Select Monitor » Voltage.
3. Note the voltage indicated by the Keyswitch Voltage parameter.
4. Set the Full Volts Per Cell parameter to the observed voltage divided by the battery’s number
of cells.

Step 5 Set Empty Volts Per Cell

The 1.73V value to which you previously set the Empty Volts Per Cell parameter should work for
most batteries. However, you may need to increase the Empty Volts Per Cell value for some sealed
batteries. If you are not sure, consult the battery manufacturer.

Step 6 Set Battery Discharge Time

Set the Battery Discharge Time parameter by taking the following steps:
1. Drive the vehicle with a heavy load.
2. Pay attention to the battery voltage, BDI percentage and time.
3. Stop driving when the vehicle becomes sluggish and the battery voltage drops significantly. When
that happens, you have reached the fully discharged point of the battery.
4. If the BDI percentage did not reach 0% before you stopped driving, decrease the Battery
Discharge Time parameter. Use the following formula to calculate the new Battery Discharge
Time value:
New Battery Discharge Time = Present Battery
Discharge Time * (100% − BDI%)

pg. 30 3 — APPLICATION-SPECIFIC FEATURES

Return to TOC Curtis Model 1212E – April 2024

Step 7 Set Battery Charge Time and Start Charge Voltage

How you set the Battery Charge Time and Start Charge Voltage parameters depends upon whether
the vehicle is required to support partial charging.
The typical method is to require a full recharge, which means the BDI percentage is reset only after
the battery is fully charged. However, the controller can be configured to allow the operator to stop
charging in mid-cycle and view a partial charge reading.
To configure these parameters, perform one of the following procedures:

• To require full charging:

1. Set Battery Charge Time to 600 minutes.
2. Set Start Charge Voltage equal to the Full Charge Voltage parameter’s value.

• To allow partial charging:

1. Set Battery Charge Time to the product of the following equation, which uses the battery’s
amp hour rating and the charger’s average amp output:
1.5 * (Battery amp hours / Charger amps)
2. Starting with the dead battery that resulted when you set the Battery Discharge Time
parameter, plug in the charger.
3. Charge for 10 minutes.
4. Measure the battery voltage with a voltmeter.
5. Set the Start Charge Voltage parameter to the measured voltage divided by the number of
battery cells.

Step 8 Test and Tune

Once you have calibrated the controller’s internal BDI, you’ll have a good initial BDI configuration.
However, for optimal BDI accuracy, test the BDI configuration for the vehicle’s expected usage.
Factors such as battery age, hilliness, driving surface, and user weight all impact the BDI percentage’s
accuracy. If testing indicates you need to fine-tune the BDI accuracy, repeat the steps in the Calibrate
the Internal BDI section.

OVERVOLTAGE AND UNDERVOLTAGE PROTECTION

The controller’s overvoltage and undervoltage protection consists of hardware limits that can be
customized by parameters. The Battery menu contains most of the parameters that configure
overvoltage and undervoltage protection.
The following table describes the hardware voltage limits:

Nominal Severe Severe

Voltage Brownout Undervoltage Undervoltage Overvoltage Overvoltage
24V 8V 9.6V 16.8V 30V 36V

3 — APPLICATION-SPECIFIC FEATURES pg. 31

Curtis Model 1212E – April 2024 Return to TOC

Overvoltage Protection
Overvoltage protection works as follows:

• The allowed maximum voltage is the lesser of the Severe Overvoltage hardware limit and the
voltage specified with the User Overvoltage parameter.
• If the battery voltage exceeds the allowed maximum voltage when either the vehicle is in the
regenerative state or the motor voltage is more than 2V, the controller cuts back current and the
Overvoltage Cutback fault occurs.
The overvoltage cutback is handled by a PID controller. The Overvoltage Cutback parameter
indicates in real time how much cutback, if any, is being applied.

• If the battery voltage is 10V higher than the allowed maximum voltage, a Severe Overvoltage
fault (Type 1) occurs and the controller shuts down driving.
• If the keyswitch voltage is 4V higher than the allowed maximum voltage, a Severe Overvoltage
fault (Type 2) occurs and the controller shuts down driving.

Undervoltage Protection
When the battery voltage goes below the undervoltage threshold, the controller activates a closed
loop proportional/integral undervoltage controller. The undervoltage controller attempts to keep
the battery voltage from drooping by cutting back the drive current, thus reducing the load on the
battery. The Kp UV and Ki UV parameters specify the undervoltage controller’s proportional and
integral gain.
Undervoltage protection works as follows:

• The allowed minimum voltage is the greater of the Severe Undervoltage hardware limit and the
voltage specified with the User Undervoltage parameter.
• If the battery voltage is less than the allowed minimum voltage, the controller cuts back current
and the Undervoltage Cutback fault occurs. If the cutback reaches 100%, a Severe Undervoltage
fault (Type 1) occurs.
The undervoltage cutback is handled by a PID controller. You can configure the proportional
and integral terms of the undervoltage controller with the Kp UV and Ki UV parameters. The
Undervoltage Cutback parameter indicates how much cutback, if any, is being applied.

pg. 32 3 — APPLICATION-SPECIFIC FEATURES

Return to TOC Curtis Model 1212E – April 2024

MAIN RELAY
The controller’s main relay connects the battery to the capacitor bank. The controller engages the
relay when the interlock state, creep mode state or inching mode state changes to on.
When the relay starts to engage, the controller checks for the Main Relay Welded and Main Relay
Did Not Close faults. After the relay is engaged, the controller continually checks for the Main Relay
Did Not Close fault.
The controller pre-charges the capacitor bank to prevent the relay contacts from arcing when the
relay closes. If the capacitor bank is not sufficiently pre-charged, a Precharge Failed fault occurs.
The controller starts to disengage the relay when the interlock state, creep mode state or inching mode
state changes to off and the Sequencing Delay expires. To prevent arcing between the relay contacts,
the relay is disengaged when the following conditions are met:

• The armature PWM is less than 2% and the motor speed is less than 1V.
• The armature PWM or motor speed does not reach the above-mentioned values after 24 seconds.

Note: The Main Relay menu contains parameters that configure the relay.

SLEEP MODE
If sleep mode is enabled, the controller automatically powers down if the interlock or the direction
inputs have been inactive for the period specified by the Sleep Time parameter.
To disable sleep mode, set Sleep Time to 0.
Note: Pin J1-8 can be configured to provide an output that indicates whether sleep mode is active.

PASSWORD PROTECTION
The password protection feature allows only authorized users to change parameter values. Password
protection is available in your application if the Password Enable parameter indicates On.
The Password Enable parameter is read-only; the value is set during the manufacturing process. If
your application requires the Password Enable value to be changed, contact the Curtis distributor
where you obtained your controller or the Curtis sales-support office in your region.
If password protection is enabled, the Password and Change Password menus are visible. Use these
parameters to log on and to change the password.

CAUTION The default password is 0. Curtis recommends that you immediately change the default password.

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Curtis Model 1212E – April 2024 Return to TOC

The Password Status parameter on the Password menu indicates whether parameter values can be
changed. Parameters can be changed only when Password Status indicates Passed.
The following topics describe how to log on and how to change the password.

Log On to Change Parameters

If the Password Status parameter indicates a value other than Passed, you must log on in order to
change the parameter values. To log on, take the following steps with a Curtis programming device:

1. Select Programming » Password to access the Password menu.

2. Set Password Input to the password.
3. Set Password Enter to On. If the password is valid, the Password Status parameter indicates Passed.

Once you have logged on, parameter values can be changed until the keyswitch is cycled.

Change the Password

To change the password, take the following steps with a Curtis programming device:

1. If the Password Status parameter indicates a value other than Passed, log on as described in the
previous topic.
2. Select Programming » Password » Change Password to access the Change Password menu.
3. Set the New Password.
4. Set New Password Enter to On.

If the Password Status is Passed, the password has been successfully changed, otherwise repeat
these steps.

pg. 34 3 — APPLICATION-SPECIFIC FEATURES

Return to TOC Curtis Model 1212E – April 2024

4 — PROGRAMMING MENU PARAMETERS

SPEED MODE MENU........................... p. 37 THROTTLE MENU.............................. p. 43 MAIN RELAY MENU........................... p. 48

— High Speed — Throttle Type — Pull In Voltage
— Low Speed — Pot R — Holding Voltage
— Keyoff Decel Rate — Forward Deadband — Open Delay
— Speed Limit HPD — Forward Max — DNC Voltage Threshold
— MODE 1/MODE 2 MENUS...... p. 40 — Forward Map — Main Welded PWM
— Fwd Max Speed — Reverse Deadband
EM BRAKE MENU.............................. p. 49
— Fwd Min Speed — Reverse Max
— EM Brake Type
— Rev Max Speed — Reverse Map
— Pull In Voltage
— Rev Min Speed — Pot High
— Holding Voltage
— Full Accel Rate HS — Pot Low
— Fault Motor Revs
— Full Accel Rate LS — CAN Throttle Min
— Release Delay
— Low Accel Rate — CAN Throttle Max
— EM Brake Delay
— Neutral Decel Rate HS — Swap Throttle Direction
— Fault Enable
— Neutral Decel Rate LS — HPD Enable
— Full Brake Rate HS — Sequencing Delay BATTERY MENU................................. p. 50
— Full Brake Rate LS — Throttle Pot Calibration Enable — User Overvoltage
— Low Brake Rate — User Undervoltage
INTERLOCK MENU............................ p. 46
— Partial Decel Rate — Kp UV
— Interlock Type
— STEERING SPEED — Ki UV
LIMIT MENU................. p. 41 — Interlock SRO Enable
— BDI MENU............................. p. 51
— Steering Analog Input — Max Creep Speed
— BDI Source
— Steering Input Type — Interlock Brake Enable
— Full Charge Voltage
— Max Steering Left Input — Interlock Brake Decel Rate
— Start Charge Voltage
— Max Steering Right Input — Interlock Brake Timeout
— Reset Volts Per Cell
— Max Steering Angle — Max Inching Speed
— Full Volts Per Cell
— Steering Angle 1 — Inching Time Limit
— Empty Volts Per Cell
— Steering Angle 2 — BDI Reset Percent
CURRENT MENU............................... p. 47
— Speed Limit 1 — Battery Charge Time
— Drive Current Limit
— Speed Limit 2 — Battery Discharge Time
— Regen Current Limit
— SPEED LIMIT SUPERVISION — Low BDI Threshold
— Interlock Brake Current Limit
MENU........................... p. 42
— BOOST MENU....................... p. 47 — Low BDI Max Speed
— Enable
— Boost Enable — Lift Lockout Threshold
— Speed Tolerance
— Boost Current Limit
— Speed Ramp Delay
— Boost Time
— Speed Ramp Rate
— Boost Mode

4 — PROGRAMMING MENU PARAMETERS pg. 35

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MOTOR MENU................................... p. 52 OUTPUTS MENU................................ p. 56 — Map 1

— System Resistance — Horn Driver Output Type — Map 2
— Resistance Auto Comp — Lift Driver Fault Enable — Map 3
— Auto Comp Current Limit — Lower Driver Fault Enable — Map 4
— Speed Scaler — Lift Pull In Voltage — Map 5
— Current Rating — Lift Holding Voltage — Map 6
— Max Current Time — Lower Pull In Voltage — Map 7
— Cutback Gain — Lower Holding Voltage — Map 8
— Stall Fault Time — Lift On Interlock — TPDO1 — TPDO2 BYTE
— Lower On Interlock MAP MENUS.............. p. 59
EMERGENCY REVERSE MENU........... p. 53 — TPDO n Event Time
— Lift Timeout Enable
— EMR Input Type — TPDO n COB ID
— Lift Time Limit
— EMR Current Limit — Length
— Coil Supply Enable
— EMR Time Limit — Map 1
— EMR Speed GAUGE SETTINGS MENU.................... p. 57
— Map 2
— EMR Accel Rate — Type
— Map 3
— EMR Decel Rate — Node ID
— Map 4
— EMR SRO Type — Timeout
— Map 5
— EMR Interlock — Swap Vehicle Direction
— Map 6
— CURTIS 3150R SETTINGS
— Map 7
INPUTS MENU................................... p. 54 MENU............................... p. 57
— Map 8
— Switch 1 Function — Curtis Logo
— Switch 2 Function — Hourmeter Source PASSWORD MENU............................ p. 61
— Switch 3 Function — BDI Source — Password Status
— Switch 4 Function — Password Input
— Switch 5 Function CAN INTERFACE MENU...................... p. 58 — Password Enter
— Pot Hi Switch Function — Baud Rate — CHANGE PASSWORD MENU... p. 62
— Switch 1 High Threshold — Heartbeat Rate — New Password
— Switch 2 High Threshold — Emergency Message Rate — New Password Enter
— Switch 3 High Threshold — CAN NMT State
— Switch 4 High Threshold — CAN Node ID MISC MENU....................................... p. 62

— Switch 5 High Threshold — CAN Node ID 2 — Password Enable

— Lift Input Source — BMS Node ID — Pump SRO Enable

— Lower Input Source — BMS PDO Timeout — First On Mode

— Creep Input Source — Auto Operational — Sleep Time

— Mode Input Source — PDO SETUPS MENU............... p. 59 — Emergency Stop

— Lift Lockout Input Source — RPDO1 — RPDO2 BYTE — Hourmeter Type

— Inhibit Input Source MAP MENUS.............. p. 59 — Clear Hourmeter

— Lift Inhibit Input Source — RPDO n Event Time — Restore Parameters

— Horn Input Source — RPDO n COB ID

— Inching Input Source — Length

pg. 36 4 — PROGRAMMING MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

The controller provides numerous parameters that configure vehicle system performance and functionality.
The parameters are grouped into menus and described in the following topics. Each parameter is
identified with a parameter name and a CAN index.
The following list describes the columns in the parameter description tables:

• Parameter and CAN Index: The parameter name and the CAN index and sub-index. If the
keyswitch needs to be cycled after a parameter’s value is changed, the column will include the
notation “[PCF]”.
Note: When a parameter marked as [PCF] is changed, a Parameter Fault (Type 1) occurs. The
fault is cleared by cycling the keyswitch.
• Values and Raw Values: The allowed values as shown in Curtis programming devices and in
raw units suitable for CAN.
• Data Size and Read/Write: The parameter’s data size and whether the parameter is writable.

SPEED MODE MENU

The controller provides two speed modes, which are useful for driving in different conditions. For
example, one speed mode can be used for outdoor driving and the other for slower indoor driving.
The parameters on the Speed Mode menu configure speed-related functions such as minimum and
maximum speeds and acceleration and deceleration rates.
In addition to its parameters, the Speed Mode menu contains the Mode 1 and Mode 2 menus. These
menus include several acceleration rate and deceleration rate parameters whose names end with
“HS” or “LS”. The controller applies the “HS” rates when the speed reaches that specified by the High
Speed parameter, and applies the “LS” rates when the speed reaches that specified by the Low Speed
parameter. See Low and High Speed Acceleration Rates and Low and High Speed Deceleration Rates.
The Speed Mode menu contains the following menus:

• Mode 1
• Mode 2
• Steering Speed Limit
• Speed Limit Supervision

The following table describes the parameters on the Speed Mode menu.

SPEED MODE MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
High Speed 0–100% 16-bit Specifies the percentage of the motor’s maximum speed above
0x3824:00 0–32767 RW which the high speed (“HS”) parameters are used.
Low Speed 0–100% 16-bit Specifies the percentage of the motor’s maximum speed below
0x3825:00 0–32767 RW which the low speed (“LS”) parameters are used.
Keyoff Decel Rate 0.2–0.8s 16-bit Specifies the rate at which the vehicle decelerates at key-off.
0x382A:00 100–400 RW
Speed Limit HPD Off/On 8-bit Specifies whether the controller must enter the neutral state
0x3909:00 0–1 RW before limited speed mode can be aborted. See Speed Limit HPD.

4 — PROGRAMMING MENU PARAMETERS pg. 37

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Low and High Speed Acceleration Rates

The Full Accel Rate HS and Full Accel Rate LS parameters on the Mode 1 and Mode 2 menus
configure acceleration rates for low and high speeds. When throttle is applied while the vehicle is
traveling between the specified low and high speeds, the acceleration rate is linearly scaled between
the low and high acceleration rates. These acceleration rates apply to both forward and reverse.
The following diagram describes the parameters that configure the acceleration rate:

Full Accel Rate LS

Full Accel Rate HS 90% Throttle
Acceleration Rate

Low Accel Rate 10% Throttle

Motor Speed
Low Speed High Speed Fwd Max Speed

• When the speed is below Low Speed, the vehicle accelerates at the rate specified by Full Accel
Rate LS.
• When the speed is between Low Speed and High Speed, the acceleration rate is linearly scaled
between Full Accel Rate LS and Full Accel Rate HS.
• When the speed is above High Speed, the acceleration rate is specified by Full Accel Rate HS.

For steps on configuring acceleration and deceleration rates, see Set the Acceleration and
Deceleration Rates.

pg. 38 4 — PROGRAMMING MENU PARAMETERS

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Low and High Speed Deceleration Rates

The Full Brake Rate HS and Full Brake Rate LS parameters on the Mode 1 and Mode 2 menus
configure deceleration rates for low and high speeds. When the vehicle is traveling between the
specified low and high speeds and full throttle is applied in the opposite direction, the deceleration
rate is linearly scaled between the low and high speed rates. The deceleration rates apply to forward
and reverse.
The following diagram describes the parameters that configure the deceleration rate:

Full Brake Rate HS 100% Brake

Full Brake Rate LS
Deceleration Rate

Low Brake Rate 1% Brake

Motor Speed
Low Speed High Speed Fwd Max Speed

• When the speed is below Low Speed, the vehicle decelerates at the rate specified by Full Brake
Rate LS.
• When the speed is between Low Speed and High Speed, the deceleration rate is linearly scaled
between Full Brake Rate LS and Full Brake Rate HS.
• When the speed is above High Speed, the deceleration rate is specified by Full Brake Rate HS.

4 — PROGRAMMING MENU PARAMETERS pg. 39

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Mode 1 and Mode 2 Menus

Use the Mode 1 and Mode 2 menus to configure speed modes 1 and 2. Both menus contain
parameters with the same names, so the following table describes both menus’ parameters. The first
column contains the CAN indexes for both modes.
Note: The percentage-based parameters are percentages of the motor’s maximum speed.

SPEED MODE — MODE 1 AND MODE 2 MENUS

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Fwd Max Speed 0–100% 16-bit Specifies the maximum forward speed.
0x3800:00 0–32767 RW
0x3807:00
Fwd Min Speed 0–100% 16-bit Specifies the minimum forward speed.
0x3801:00 0–32767 RW
0x3808:00
Rev Max Speed 0–100% 16-bit Specifies the maximum reverse speed.
0x3802:00 0–32767 RW
0x3809:00
Rev Min Speed 0–100% 16-bit Specifies the minimum reverse speed.
0x3803:00 0–32767 RW
0x380A:00
Full Accel Rate HS 0.1s–12.0s 16-bit Specifies the rate at which the vehicle accelerates when full
0x3812:00 50–6000 RW throttle is applied at high vehicle speeds. Larger values represent
0x381B:00 slower response.
See Low and High Speed Acceleration Rates.
Full Accel Rate LS 0.1s–12.0s 16-bit Specifies the rate at which the vehicle accelerates when full
0x3813:00 50–6000 RW throttle is applied at low vehicle speeds. Larger values represent
0x381C:00 slower response.
Low Accel Rate 0.1s–12.0s 16-bit Specifies the rate at which the vehicle accelerates when a small
0x3819:00 50–6000 RW amount of throttle is applied.
0x3822:00 Adjust this parameter if you need to tune the vehicle for low
speed maneuverability.
Neutral Decel Rate HS 0.1s–12.0s 16-bit Specifies the rate at which the vehicle decelerates when the
0x3814:00 50–6000 RW throttle is released to neutral at high speed.
0x381D:00
Neutral Decel Rate LS 0.1s–12.0s 16-bit Specifies the rate at which the vehicle decelerates when the
0x3815:00 50–6000 RW throttle is released to neutral at low speed.
0x381E:00
Full Brake Rate HS 0.1s–12.0s 16-bit Specifies the rate at which the vehicle decelerates from high
0x3816:00 50–6000 RW speeds when full throttle is applied in the opposite direction.
0x381F:00
Full Brake Rate LS 0.1s–12.0s 16-bit Specifies the rate at which the vehicle decelerates from low
0x3817:00 50–6000 RW speeds when full throttle is applied in the opposite direction.
0x3820:00
Low Brake Rate 0.1s–12.0s 16-bit Specifies the rate at which the vehicle decelerates when a small
0x381A:00 50–6000 RW amount of throttle is applied in the opposite direction.
0x3823:00
Partial Decel Rate 0.1s–12.0s 16-bit Specifies the rate at which the vehicle decelerates when the
0x3818:00 50–6000 RW throttle is reduced without being released to neutral.
0x3821:00 Larger values provide a slower response.

pg. 40 4 — PROGRAMMING MENU PARAMETERS

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Steering Speed Limit Menu

The Steering Speed Limit parameters configure the steering speed limit function. The following table
describes the parameters.

SPEED MODE — STEERING SPEED LIMIT MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Steering Analog Input 0–100% 16-bit Indicates the steering sensor’s analog data. The data applies if
0x384C:00 0–1000 RO the steering input is an analog input.
Steering Input Type Enumerated 8-bit Specifies the steering speed limit input:
0x3841:00 0–5 RW 0 = None
1 = NO Switch Input
2 = NC Switch Input
3 = Analog R Input
4 = Analog V Input
5 = CAN Input
Max Steering Left Input 0–100% 16-bit Specifies the analog data that indicates the tiller head is at its
0x3842:00 0–1000 RW maximum left angle.
This parameter applies only to analog inputs.
Max Steering Right Input 0–100% 16-bit Specifies the analog data that indicates the tiller head is at its
0x3843:00 0–1000 RW maximum right angle.
This parameter applies only to analog inputs.
Max Steering Angle 0–90º 16-bit Specifies the maximum steering angle for the left and right sides.
0x384B:00 0–16383 RW
Steering Angle 1 0–90º 16-bit Specifies the steering angle at which the controller starts limiting
0x3844:00 0–16383 RW the speed.
Steering Angle 2 0–90º 16-bit Specifies the steering angle at which the Speed Limit 1
0x3845:00 0–16383 RW parameter’s speed is applied.
Speed Limit 1 0–100% 16-bit Depends upon whether the steering input is an NO or NC switch:
0x3846:00 0–32767 RW • NO or NC switch: Specifies the speed limit when the switch
is on.
• Other input types: Specifies the speed limit when the
steering angle is at Steering Angle 2.
Speed Limit 2 0–100% 16-bit Specifies the speed limit when the steering angle is at 90°.
0x3847:00 0–32767 RW This parameter is not used if the steering input is an NO or
NC switch.

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Speed Limit Supervision Menu

The Speed Limit Supervision parameters configure whether and how speed is limited for emergency
reverse and interlock braking operations. For more information, see Speed Limit Supervision for
Emergency Reverse and Interlock Braking.

SPEED MODE — SPEED LIMIT SUPERVISION MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Enable Off/On 8-bit Specifies whether speed limit supervision is enabled.
0x3910:00 0–1 RW CAUTION: Specifying Off may make the system non-compliant
with EN 1175:2020 and may cause a higher probability of
dangerous failure. Regulatory compliance of the complete
vehicle system, including this setting, is the responsibility of the
vehicle OEM.
Speed Tolerance 0–100% 16-bit Specifies the percentage portion of the supervision speed limit,
0x3911:00 0–32767 RW which is calculated as follows:
1 + Speed Tolerance
Speed Ramp Delay 100–2000 ms 16-bit Specifies the interval between when the speed limit is exceeded
0x3912:00 100–2000 RW and when speed must begin decreasing.
Speed Ramp Rate 100–500% 16-bit Specifies the slowest allowable ramp transition from the
0x3913:00 1024–5120 RW maximum speed to zero.

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THROTTLE MENU
Use the Throttle menu to specify the type of throttle used by the vehicle and to configure the throttle.
The following table describes the Throttle parameters.
Note: The Forward and Reverse Deadband, Max, and Map parameter values are percentages of the
throttle's maximum wiper voltage.

THROTTLE MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Throttle Type [PCF] Enumerated 16-bit Specifies the throttle type:
0x3340:00 0–5 RW 0 = 3 Wire Pot
1 = 3 Wire Pot Wigwag
2 = 0–5V Throttle
3 = 0–5V Throttle Wigwag
4 = CAN Throttle
5 = CAN Throttle Wigwag
Pot R 800Ω–15000Ω 16-bit Specifies the throttle pot’s resistance.
0x334A:00 800–15000 RW
Forward Deadband 0–100% 16-bit Specifies the wiper voltage at the deadband threshold while the
0x3341:00 0–1000 RW vehicle is moving forward.
Forward Max 0–100% 16-bit Specifies the wiper voltage that generates 100% controller output
0x3342:00 0–1000 RW while the vehicle is moving forward.
Forward Map 0–100% 16-bit Specifies the controller output that is generated when the throttle
0x3343:00 0–32767 RW input is at 50% while the vehicle is moving forward.
Following are guidelines for setting Forward Map:
• 50% provides a linear output response to the throttle input.
• Values below 50% reduce the controller output at low
throttle positions, providing enhanced slow speed
maneuverability.
• Values above 50% give the vehicle a faster, more
responsive feel at low throttle positions.
For more information, see Throttle Response Parameters.
Reverse Deadband 0–100% 16-bit These parameters work just like the corresponding Forward
0x3344:00 0–1000 RW parameters, except that they apply while the vehicle is moving
in reverse.
Reverse Max 0–100% 16-bit
0x3345:00 0–1000 RW
Reverse Map 0–100% 16-bit
0x3346:00 0–32767 RW
Pot High 3.0–10.0V 16-bit Specifies the maximum voltage for voltage throttles.
0x3356:00 2457–8190 RW If the throttle voltage is outside the range defined by Pot Low and
Pot High, a Throttle Fault (Type 1) occurs.
Pot Low 0–3.0V 16-bit Specifies the minimum voltage for voltage throttles.
0x3357:00 0–2457 RW
CAN Throttle Min −32768 to 32767 16-bit Specifies the minimum throttle request for CAN throttles.
0x3347:00 −32768 to 32767 RW If the throttle request is outside the range defined by CAN Throttle
Min and CAN Throttle Max, a Throttle Fault (Type 1) occurs.
CAN Throttle Max −32768 to 32767 16-bit Specifies the maximum throttle request for CAN throttles.
0x3348:00 −32768 to 32767 RW

4 — PROGRAMMING MENU PARAMETERS pg. 43

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THROTTLE MENU, cont’d

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Swap Throttle Direction [PCF] Off/On 8-bit Changes the throttle direction to the opposite direction. For
0x335B:00 0–1 RW example, if you toggle this value for a single-ended throttle, the
forward input would become the reverse input, and vice versa.
HPD Enable [PCF] Off/On 8-bit Indicates whether the HPD feature is enabled.
0x334B:00 0–1 RW When HPD is enabled, a fault occurs if the Throttle Demand
exceeds 10% when the interlock is turned on and the Sequencing
Delay expires.
The fault depends upon how long this interlock/throttle demand
state exists:
• 48 ms: HPD Sequencing fault
• 10s: Throttle Fault (Type 2)
CAUTION: Specifying Off may make the system non-compliant
with EN 1175:2020 and may cause a higher probability of
dangerous failure. Regulatory compliance of the complete
vehicle system, including this setting, is the responsibility of the
vehicle OEM.
Sequencing Delay 40–2000 ms 16-bit Specifies the time during which the interlock input, creep mode
0x334C:00 10–500 RW input or inching mode input can cycle before the HPD-related
faults occur.
A delay is useful for cases where the input is momentarily cycled,
such as when an operator briefly bounces off the seat. In such
cases, the vehicle typically should continue moving.
Throttle Pot Calibration Off/On 16-bit Calibrates the throttle. The throttle circuit by default is calibrated
Enable 0–1 RW for a 5kΩ pot. If a non-5kΩ pot is used, take the following steps
0x4F06:00 to calibrate the throttle circuit:
1. Set Pot R to the potentiometer’s resistance.
2. Connect the potentiometer’s pot high and ground to the
controller, with the pot wiper floating.
3. Set Throttle Pot Calibration Enable to On. This calibrates the
throttle circuit.

pg. 44 4 — PROGRAMMING MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

Throttle Response Parameters

The Forward/Reverse Deadband, Forward/Reverse Max, and Forward/Reverse Map parameters
specify the throttle demand that is generated by the throttle position. The following diagram shows
how these parameters work:

Figure 4-1
Throttle Response Forward Max = 90%
Forward Map values:
Parameters
80%
100% 65%
50%
35%
90%
20%
80%
Controller Out put (percent)

70%

60%

50%

40%

30%

20%

10%

0%
0% 10% 20% 30% 40% 50% 60% 70% 80% 90% 100%

Forward Deadband = 10% Throttle Input (percent)

When the throttle input reaches 50%, the controller output depends upon the Forward Map
parameter. For example, if Forward Map is 80%, the controller output is 80% when the throttle
input is 50%.

4 — PROGRAMMING MENU PARAMETERS pg. 45

Curtis Model 1212E – April 2024 Return to TOC

INTERLOCK MENU
The following table describes the interlock parameters.

INTERLOCK MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Interlock Type [PCF] Enumerated 8-bit Specifies the source of the interlock input:
0x34B0:00 0–2 RW 0 = Interlock Switch
1 = KSI Interlock
2 = CAN Interlock
Interlock SRO Enable Off/On 8-bit Indicates whether the interlock SRO function is enabled when
0x34B3:00 0–1 RW Interlock Type is not set to KSI Interlock.
If interlock SRO is enabled, an Interlock SRO Fault occurs if the
interlock state is on when the keyswitch is turned on.
Max Creep Speed 0–100% 16-bit Specifies the maximum speed when the vehicle is in creep mode.
0x34B2:00 0–32767 RW The value is a percentage of the speed mode’s maximum speed.
Interlock Brake Enable Off/On 8-bit Specifies whether interlock braking is activated when the
0x34B5:00 0–1 RW interlock signal is turned off:
On = The controller uses regen braking to stop the vehicle.
Off = The EM brake engages after the Sequencing
Delay expires.
Interlock Brake Decel Rate 0.1–8.0s 16-bit Specifies the rate at which the vehicle brakes to a stop when
0x34B6:00 50–4000 RW interlock braking is activated.
Interlock Brake Timeout 0.2–8.0s 16-bit Specifies the maximum duration of an interlock braking event.
0x34B7:00 25–1000 RW
Max Inching Speed 0–100% 16-bit Specifies the maximum speed when inching mode is active.
0x34B8:00 0–32767 RW
Inching Time Limit 0–120s 16-bit Specifies the maximum duration of an inching mode operation.
0x34B9:00 0–120 RW

pg. 46 4 — PROGRAMMING MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

CURRENT MENU
The following table describes the Current menu’s parameters.
Note: The Current menu also contains the Boost menu.

CURRENT MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Drive Current Limit 10–90A 16-bit Specifies the maximum current the controller supplies to the
0x3440:00 40–360 RW motor during driving.
Regen Current Limit 10–90A 16-bit Specifies the maximum current the controller supplies to the
0x3441:00 40–360 RW motor during regenerative braking.
Interlock Brake Current Limit 10–90A 16-bit Specifies the maximum current the controller supplies to the
0x3444:00 40–360 RW motor during interlock braking.
When interlock braking is active, the current limit is specified
by whichever of the following parameters is set to the higher
current limit:
• Interlock Brake Current Limit
• Regen Current Limit

Boost Menu
The following table describes the parameters on the Boost menu.

CURRENT MENU — BOOST MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Boost Enable Off/On 8-bit Enables or disables the boost current function.
0x3433:00 0–1 RW Boost current provides a brief increase of current to improve
performance with transient loads such as starting on a hill,
crossing a threshold, and climbing obstacles.
Boost Current Limit 10–90A 16-bit Specifies the maximum current the controller supplies to the
0x3442:00 40–360 RW motor during a boost current operation.
Boost Time 1–10s 16-bit Specifies the maximum duration of a boost current operation.
0x3435:00 63–625 RW
Boost Mode Enumerated 8-bit Specifies the condition that re-enables the boost current function
0x343F:00 0–1 RW after a boost current operation has ended:
0 = Restart on KSI. Cycle the keyswitch. (The throttle does not
need to be released to neutral.)
1 = Restart on Neutral. Release the throttle to neutral.

4 — PROGRAMMING MENU PARAMETERS pg. 47

Curtis Model 1212E – April 2024 Return to TOC

MAIN RELAY MENU

The following table describes the parameters on the Main Relay menu.
Note: For information on the controller’s internal relay, see Main Relay.

MAIN RELAY MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Pull In Voltage 0–100% 16-bit Specifies the initial voltage of the relay when the driver is first
0x34C8:00 0–4096 RW turned on.
The controller allows a high initial voltage to ensure the relay
closes. The voltage then decreases to the Holding Voltage.
Holding Voltage 0–100% 16-bit Specifies the voltage the controller applies to the relay coil after
0x34C6:00 0–4096 RW the relay closes.
Set Holding Voltage high enough so that the relay remains closed
under all shock and vibration conditions that the vehicle is
expected to encounter.
Open Delay 0.0–40.0s 16-bit Specifies how long the relay should remain closed after the
0x34CA:00 0–10000 RW interlock input has been opened.
A delay prevents unnecessary cycling of the relay.
DNC Voltage Threshold 0.5V–10.0V 16-bit Specifies the maximum voltage difference allowed between the
0x34CB:00 50–1000 RW keyswitch and capacitor bank voltages.
If this voltage difference is exceeded for 96 ms, a Main Relay Did
Not Close fault occurs.
Main Welded PWM 8–20% 16-bit Specifies the PWM the controller applies to the motor to check for
0x3540:00 2621–6554 RW the Main Relay Welded fault.

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Return to TOC Curtis Model 1212E – April 2024

EM BRAKE MENU
The following table describes the parameters on the EM Brake menu.

EM BRAKE MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
EM Brake Type [PCF] Enumerated 8-bit Specifies how the electromagnetic brake responds to the
0x3479:00 0–2 RW interlock input, throttle, and motor speed:
0 = EM Brake Disable. This is for vehicles that are not
equipped with an EM brake.
Note: When EM Brake Disable is specified, the EM brake
function can be commanded by CAN. See EM Brake
Override Object.
1 = Interlock Type.
2 = Interlock & Neutral Type. This value enables the anti-roll
functions.
For information on the EM brake’s engage and release conditions,
see Table 4-1.
Pull In Voltage 20–100% 8-bit Specifies the EM braking system’s initial voltage when the EM
0x3473:00 51–255 RW brake is activated.
To ensure that the EM brake is released, the controller allows
a high initial voltage when the EM brake is activated. This peak
voltage then decreases to the Holding Voltage.
Holding Voltage 20–100% 8-bit Specifies the reduced voltage the controller applies to the brake
0x3472:00 51–255 RW coil once the brake has been released.
Set the Holding Voltage high enough so that the brake remains
released under all shock and vibration conditions that the vehicle
is expected to encounter.
Fault Motor Revs 0.50–3.00V 16-bit Specifies the maximum allowed speed after the EM brake has
0x3471:00 50–300 RW been engaged.
If the motor speed exceeds the specified value for 80 ms with the
EM brake engaged, an EM Brake Failed To Set fault occurs.
Release Delay 40–2000 ms 16-bit Specifies how long it takes the controller to release the EM brake
0x3474:00 5–250 RW when the controller output increases above 0%.
If the delay is too short, the vehicle could roll back when the EM
brake is released.
EM Brake Delay 0.0–2.0s 16-bit Specifies how long it takes for the controller to engage the EM
0x3475:00 0–250 RW brake when the controller output decreases to 0%.
To ensure the vehicle doesn’t move before the brake fully
engages, the delay should be longer than the actual brake
setting time.
Fault Enable Off/On 8-bit Enables or disables whether the controller generates a Driver
0x3403:00 0–1 RW Fault (Type 1) if one of the following conditions occurs:
• Missing brake coil
• Shorted brake coil
• Coil driver damage

4 — PROGRAMMING MENU PARAMETERS pg. 49

Curtis Model 1212E – April 2024 Return to TOC

The following table describes the conditions that cause the controller to release and engage the EM
brake when EM braking is enabled.

Table 4-1 EM Brake Response

EM Brake Type Parameter Release Engage

Interlock Type When all of the following Depends upon whether the Interlock Brake
conditions occur: Enable parameter is On or Off:
• The main relay is engaged. • On: Depends upon the motor speed:
• The interlock state is on. – If the motor speed is greater
• The Release Delay has expired. than 1.00V, the controller regen
brakes the vehicle to a stop and
then engages the EM brake.
– If the motor speed is less
than 1.00V, the EM brake
engages after the Sequencing
Delay expires.
• Off: Engages when the Sequencing
Delay expires.
Interlock & Neutral Type When all of the following When either of the following
conditions occur: conditions occurs:
• The main relay is engaged. • The throttle command is zero and the
• The interlock state is on. motor speed is less than 1.00V.
• The throttle is out of neutral. • The throttle command is zero and the
• The Release Delay has expired. EM Brake Delay expires, regardless of
the motor speed.

BATTERY MENU
The Battery menu parameters configure overvoltage and undervoltage protection. The menu also
contains the BDI menu. The following table describes the parameters on the Battery menu.

BATTERY MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
User Overvoltage 105–150% 16-bit Specifies the overvoltage threshold. The value is a percentage of
0x33A2:00 1075–1536 RW the battery’s nominal voltage.
User Undervoltage 40–95% 16-bit Specifies the undervoltage threshold. The value is a percentage of
0x33A3:00 410–973 RW the battery’s nominal voltage.
Kp UV 0.0–100.0% 16-bit Specifies the undervoltage controller’s proportional gain. The
0x338B:00 0–1024 RW value is the desired percentage of cutback per volt. Higher values
provide tighter control.
Note: Typically, the Kp UV and Ki UV parameters are configured
together to provide the best response. To specify a linear
response, set Ki UV to 0%.
Ki UV 0–100% 16-bit Specifies the undervoltage controller’s integral gain. Higher
0x3389:00 0–16384 RW values provide tighter control.

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BDI Menu
The BDI menu contains parameters for configuring the controller’s internal BDI. For more
information, see Battery Protection and BDI.

BATTERY MENU — BDI MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
BDI Source Enumerated 8-bit Specifies the BDI data source:
0x33AC:00 0–2 RW 0 = Internal BDI
1 = CAN BDI
Note: The CAN BDI data is received by the BDI
Percentage object.
2 = BMS BDI
Full Charge Voltage 0.900–3.000V 16-bit Specifies the voltage above which the controller considers the
0x339B:00 900–3000 RW battery as having finished charging.
Start Charge Voltage 0.900–3.000V 16-bit Specifies the voltage above which the controller considers the
0x339C:00 900–3000 RW battery as starting to charge.
Reset Volts Per Cell 0.900–3.000V 16-bit Specifies the battery voltage above which the controller resets
0x33A0:00 900–3000 RW the BDI percentage to 100% if both of the following conditions
are true within two seconds after the controller was powered on:
• The battery voltage is greater than the Reset Volts Per
Cell parameter.
• The BDI percentage is less than the BDI Reset
Percent parameter.
Specify a voltage that is higher than the Full Volts Per Cell voltage.
Full Volts Per Cell 0.900–3.000V 16-bit Specifies the battery cell voltage at which the battery is
0x339E:00 900–3000 RW considered 100% charged.
Empty Volts Per Cell 0.900–3.000V 16-bit Specifies the battery cell voltage at which the battery is
0x339D:00 900–3000 RW considered 0% charged.
BDI Reset Percent 0–100% 8-bit Specifies the percentage of battery voltage below which the
0x33A6:00 0–100 RW controller will reset the BDI percentage to 100% if the conditions
described in the Reset Volts Per Cell parameter description are met.
When a battery has a high BDI percentage, its float voltage when
the keyswitch is powered on could cause false BDI resets. The
BDI Reset Percent parameter lets you preempt this problem by
specifying a minimum threshold for resetting the percentage.
Battery Charge Time 1–600 minutes 16-bit Specifies how many minutes it takes for the BDI percentage to
0x33A1:00 1–600 RW increase from 0% to 100% while the battery is being charged.
Higher battery amp/hour ratings require a larger Battery
Charge Time.
Battery Discharge Time 1–600 minutes 16-bit Specifies the period of time during which the battery voltage
0x339F:00 1–600 RW must be below the moving threshold before the controller will
decrement the BDI percentage.
Low BDI Threshold 0–100% 8-bit Specifies the BDI percentage at or below which the Low BDI
0x33AA:00 0–100 RW fault occurs.
Low BDI Max Speed 20–80% 16-bit Specifies the speed limit the controller will apply if a Low BDI
0x33AE:00 6554–26214 RW fault occurs.
Lift Lockout Threshold 0–100% 8-bit Specifies the BDI percentage at or below which the controller
0x33A9:00 0–100 RW disables the lift driver to prevent battery damage.

4 — PROGRAMMING MENU PARAMETERS pg. 51

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MOTOR MENU
The following table describes the Motor menu's parameters.

MOTOR MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
System Resistance 10–800mΩ 16-bit Specifies the resistance that the controller uses for load
0x3513:00 10–800 RW compensation and speed estimation.
The controller’s performance depends upon an accurate System
Resistance value. To calculate the correct value, see Set the
System Resistance.
Note: The system resistance is the overall amount of resistance
for the motor, brushes, wiring, and connections. The motor
temperature also affects the system resistance.
Resistance Auto Comp Off/On 16-bit Specifies whether the controller automatically measures motor
0x3514:00 0–1 RW resistance before the brake is released.
Motor resistance plays an important role in how the controller
calculates the speed. If Resistance Auto Comp is enabled, the
automatic measuring of resistance increases the accuracy of
speed calculations.
Auto Comp Current Limit 5–50% 16-bit Sets the current limit the controller uses to measure motor
0x3515:00 1638–16384 RW resistance automatically.
The value is a percentage of the Drive Current Limit parameter.
Speed Scaler 15.00–30.00V 16-bit Specifies the maximum voltage that the controller can apply
0x3516:00 1500–3000 RW to the motor. Speed Scaler is used to define the allowed
maximum speed.
Current Rating 5A–50A 16-bit Specifies the motor's current rating. Use the rating provided by
0x3548:00 20–200 RW the motor's manufacturer.
Max Current Time 0–120s 16-bit Specifies how long the motor runs at full current if the
0x3549:00 0–120 RW motor overheats. The controller cuts back current after this
timeout expires.
Cutback Gain 0–100% 16-bit Specifies how quickly the controller cuts back current if the motor
0x354A:00 0–255 RW has overheated and the Max Current Time has expired.
Higher values provide a quicker cutback.
Stall Fault Time 0–32s 16-bit Specifies how long the controller must detect the motor as not
0x3510:00 0–8000 RW moving before a Stall Detected fault will occur.
To disable stall fault detection, specify 0.

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Return to TOC Curtis Model 1212E – April 2024

EMERGENCY REVERSE MENU

The following table describes the Emergency Reverse parameters.

EMERGENCY REVERSE MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
EMR Input Type [PCF] Enumerated 8-bit Specifies the input(s) for emergency reverse:
0x3498:00 0–3 RW 0 = NO switch
1 = NC switch
2 = NO & NC switch
3 = CAN switch
If an NC switch is used, one of the Switch n Function parameters
must be set to EMR NC Switch, otherwise a Parameter Fault (Type
5) will occur.
EMR Current Limit 10–90A 16-bit Specifies the maximum current during emergency
0x3443:00 40–360 RW reverse operations.
EMR Time Limit 0–15s 16-bit Specifies how long emergency reverse will remain active after the
0x3497:00 0–3750 RW vehicle starts moving in reverse.
EMR Speed 10–100% 16-bit Specifies the maximum speed during emergency reverse. The
0x3496:00 3276–32767 RW value is a percentage of the vehicle’s maximum speed.
EMR Accel Rate 0.1–1.0s 16-bit Specifies the rate at which the vehicle accelerates in the
0x3492:00 50–500 RW opposite direction after emergency reverse has braked the
vehicle to a stop.
EMR Decel Rate 0.1–1.0s 16-bit Specifies the rate at which the vehicle brakes to a stop when
0x3493:00 50–500 RW emergency reverse is activated.
EMR SRO Type Enumerated 8-bit Specifies the conditions for which the controller generates an EMR
0x335A:00 0–2 RW SRO Fault:
0 = SRO Off. Disables EMR SRO fault detection.
1 = SRO on Interlock. Emergency reverse is active when the
interlock state changes to On.
2 = SRO on Interlock & Throttle. Emergency reverse is active
when the interlock state changes to On or the forward
throttle is engaged.
Note: The system checks for the Type 1 EMR SRO Fault
regardless of this parameter’s setting
EMR Interlock Off/On 8-bit Specifies whether the interlock must be cleared before the
0x3499:00 0–1 RW operator resumes driving after an emergency reverse operation:
On = The interlock, direction switches, and throttle must
be cleared.
Off = Only the direction switches and throttle must be cleared.

4 — PROGRAMMING MENU PARAMETERS pg. 53

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INPUTS MENU
The Inputs parameters specify the inputs used for various functions. The Switch 1 Function through
Switch 5 Function parameters specify the functions used by the flexible switch inputs. The other
parameters assign functions to inputs.
The Switch 1 Function through Switch 5 Function parameters allow the values listed in the
following table.

Table 4-2 Allowed Values for Switch n Function Parameters

Enumerated Value Numeric Value

None (This indicates the corresponding switch is not used.) 0

Lift Switch 1
Lower Switch 2
Creep Switch 3
Lift Lockout Switch 4
Horn Switch 5
Steering Switch 6
Inhibit Switch 7
EMR NC Switch (Switch 1 Function and Switch 2 Function) 8
BB Check Switch (Switch 3 Function)
Flex ID (Switch 4 Function)
BDI Output (Switch 5 Function)
Inching Forward Switch 9
Inching Reverse Switch 10

The following table describes the Inputs parameters.

INPUTS MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Switch 1 Function [PCF] See Table 4-2 8-bit Specifies the Switch 1 input’s function.
0x3330:00 0–10 RW
Switch 2 Function [PCF] See Table 4-2 8-bit Specifies the Switch 2 input’s function.
0x3331:00 0–10 RW
Switch 3 Function [PCF] See Table 4-2 8-bit Specifies the Switch 3 input’s function.
0x3332:00 0–10 RW
Switch 4 Function [PCF] See Table 4-2 8-bit Specifies the Switch 4 input’s function.
0x3333:00 0–10 RW
Switch 5 Function [PCF] See Table 4-2 8-bit Specifies the Switch 5 input’s function.
0x3334:00 0–10 RW

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INPUTS MENU, cont’d

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Pot Hi Switch Function [PCF] Enumerated 8-bit Specifies the function for which the Pot High input (J2-3) is used:
0x333E:00 0–2 RW 0 = Pot Hi Input
1 = Inhibit 2 Input
2 = LED output
Note: If this parameter specifies a value other than Pot Hi
Input and the Throttle Type parameter specifies a 3-wire pot, a
Parameter Fault (Type 6) will occur.
Switch 1 High Threshold 0–10.0V 16-bit Specifies the voltage that is considered high level if an analog
0x3360:00 0–1000 RW input is connected to Switch 1.
Switch 2 High Threshold 0–10.0V 16-bit Specifies the voltage that is considered high level if an analog
0x3361:00 0–1000 RW input is connected to Switch 2.
Switch 3 High Threshold 0–10.0V 16-bit Specifies the voltage that is considered high level if an analog
0x3362:00 0–1000 RW input is connected to Switch 3.
Switch 4 High Threshold 0–10.0V 16-bit Specifies the voltage that is considered high level if an analog
0x3363:00 0–1000 RW input is connected to Switch 4.
Switch 5 High Threshold 0–10.0V 16-bit Specifies the voltage that is considered high level if an analog
0x3364:00 0–1000 RW input is connected to Switch 5.
Lift Input Source Enumerated 8-bit Specifies the lift input’s source:
0x3335:00 0–1 RW 0 = Lift Switch
1 = CAN Lift
Lower Input Source Enumerated 8-bit Specifies the lower input’s source:
0x3336:00 0–1 RW 0 = Lower Switch
1 = CAN Lower
Creep Input Source Enumerated 8-bit Specifies the creep input’s source:
0x3337:00 0–1 RW 0 = Creep Switch
1 = CAN Creep
Mode Input Source Enumerated 8-bit Specifies the mode input’s source:
0x3339:00 0–2 RW 0 = NO Switch
1 = NC Switch
2 = CAN Mode
Lift Lockout Input Source Enumerated 8-bit Specifies the lift lockout input’s source:
0x333A:00 0–5 RW 0 = Lift Lockout Switch
1 = CAN Lift Lockout
2 = BDI Lockout
3 = 3150R Lift Lockout
4 = BMS Lift Lockout
5 = 906 Lift Lockout
Inhibit Input Source Enumerated 8-bit Specifies the inhibit input’s source:
0x333D:00 0–1 RW 0 = Inhibit Switch
1 = CAN Inhibit
Lift Inhibit Input Source Enumerated 8-bit Specifies the lift inhibit input’s source:
0x333C:00 0–1 RW 0 = NO Switch
1 = NC Switch
Horn Input Source Enumerated 8-bit Specifies the horn input’s source:
0x333B:00 0–1 RW 0 = Horn Switch
1 = CAN Horn
Inching Input Source Enumerated 8-bit Specifies the inching mode input’s source:
0x3338:00 0–1 RW 0 = Inching Switch
1 = CAN Inching

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OUTPUTS MENU
The following table describes the parameters on the Outputs menu:

OUTPUTS MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Horn Driver Output Type Enumerated 8-bit Indicates whether pin J1-8 is used to drive a horn, an external
0x340E:00 0–2 RW LED, or a sleep output:
0 = Horn Driver
1 = External LED
2 = Sleep Output
Lift Driver Fault Enable Off/On 8-bit Indicates whether the lift driver’s fault check is enabled. If the
0x3404:00 0–1 RW check is enabled, the controller generates a Driver Fault if it
detects the following conditions:
• The driver is off and the coil is open (Type 2).
• The driver is off and the coil is shorted (Type 5).
• The driver is on and the coil is open or shorted (Type 2).
CAUTION: Specifying Off may make the system non-compliant
with EN 1175:2020 and may cause a higher probability of
dangerous failure. Regulatory compliance of the complete
vehicle system, including this setting, is the responsibility of the
vehicle OEM.
Lower Driver Fault Enable Off/On 8-bit Indicates whether the lower driver’s fault check is enabled. If
0x3405:00 0–1 RW the check is enabled, the controller generates a Driver Fault if it
detects the following conditions:
• The driver is off and the coil is open (Type 3).
• The driver is off and the coil is shorted (Type 6).
• The driver is on and the coil is open or shorted (Type 3).
CAUTION: Specifying Off may make the system non-compliant
with EN 1175:2020 and may cause a higher probability of
dangerous failure. Regulatory compliance of the complete
vehicle system, including this setting, is the responsibility of the
vehicle OEM.
Lift Pull In Voltage 0–100% 8-bit Specifies the lift driver’s initial voltage when the driver is
0x3407:00 0–255 RW turned on.
Specify a voltage high enough to ensure that the lift
contactor engages.
Lift Holding Voltage 0–100% 8-bit Specifies the average voltage the controller applies to the
0x3408:00 0–255 RW lift driver.
Lower Pull In Voltage 0–100% 8-bit Specifies the lower driver’s initial voltage when the driver is
0x3409:00 0–255 RW turned on.
Specify a voltage high enough to ensure that the lower
valve engages.
Lower Holding Voltage 0–100% 8-bit Specifies the average voltage the controller applies to the
0x340A:00 0–255 RW lower driver.
Lift On Interlock Off/On 8-bit Specifies whether lift operations are available only when the
0x335C:00 0–1 RW interlock is On.
Lower On Interlock Off/On 8-bit Specifies whether lower operations are available only when the
0x335D:00 0–1 RW interlock is On.
Lift Timeout Enable Off/On 8-bit Enables or disables the lift timeout. When the timeout is enabled,
0x340F:00 0–1 RW a Lift Timeout fault is generated if the lift operating time exceeds
the time specified with Lift Time Limit.
Note: A fault is not generated if Lift Time Limit specifies 0.

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OUTPUTS MENU, cont'd

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Lift Time Limit 0–120s 8-bit Specifies the maximum duration of a lift operation while the lift
0x340D:00 0–120 RW input is active. When the time limit expires, the controller stops
supplying power to the lift driver.
To disable the lift time limit, specify 0.
Coil Supply Enable Off/On 8-bit Specifies whether the coil supply function is enabled.
0x3406:00 0–1 RW If Off is specified, the coil supply output cannot be turned off if the
lift driver or lower driver shorts to ground.
CAUTION: Specifying Off may make the system non-compliant
with EN 1175:2020 and may cause a higher probability of
dangerous failure. Regulatory compliance of the complete
vehicle system, including this setting, is the responsibility of the
vehicle OEM.

GAUGE SETTINGS MENU

The following table describes the Gauge Settings menu. If the Type parameter specifies 3150R, the
Curtis 3150R Settings menu is displayed.

GAUGE SETTINGS MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Type Enumerated 8-bit Specifies the gauge type:
0x5120:00 0–2 RW 0 = None
1 = 3150R
2 = Others
Node ID 0x01–0x7F 8-bit Specifies the gauge’s CAN node ID.
0x5121:00 0x01–0x7F RW
Timeout 0–60000ms 16-bit Specifies the CAN communications timeout for the 3150R
0x5126:00 0–60000 RW gauge’s BDI.
Swap Vehicle Direction Off/On 8-bit Swaps the vehicle’s running direction on the gauge’s display.
0x6500:00 0–1 RW

Curtis 3150R Settings Menu

The Curtis 3150R Settings parameters configure the Curtis 3150R gauge. The menu is displayed when
the Type parameter on the Gauge Settings menu specifies 1 (3150R).

GAUGE SETTINGS MENU — CURTIS 3150R SETTINGS MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Curtis Logo Off/On 8-bit Specifies whether the Curtis logo is displayed when the gauge
0x5122:00 0–1 RW is powered up.
Hourmeter Source Enumerated 8-bit Specifies the source of the gauge’s hour meter data:
0x5123:00 0–1 RW 0 = Internal
1 = CAN
BDI Source Enumerated 8-bit Specifies the source of the gauge’s BDI data:
0x5124:00 0–1 RW 0 = Internal
1 = CAN

4 — PROGRAMMING MENU PARAMETERS pg. 57

Curtis Model 1212E – April 2024 Return to TOC

CAN INTERFACE MENU

The following table describes the parameters contained by the CAN Interface menu.
Note: The CAN Interface menu contains the PDO Setups menu, which contains the PDO Byte
Map menus.

CAN INTERFACE MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Baud Rate Enumerated 16-bit Specifies the CAN baud rate:
0x2001:01 –1 to 4 RW –1 = 100 Kbps
0 = 125 Kbps
1 = 250 Kbps
2 = 500 Kbps
3 = 800 Kbps
4 = 1 Mbps
Heartbeat Rate 0–2000 ms 16-bit Specifies the cyclic rate of the controller's CAN heartbeat
0x1017:00 0–2000 RW messages.
Note: This parameter represents CANopen’s Producer
Heartbeat Time object.
Emergency Message Rate 16–400 ms 32-bit Specifies the minimum time between emergency messages
0x1015:00 4 –100 RW transmitted by the controller.
An interval prevents the controller from generating an
excessive number of emergency messages that could
otherwise flood the CANbus.
Note: This parameter represents CANopen’s Inhibit Time
EMCY object.
CAN NMT State Enumerated 16-bit Indicates the NMT state:
0x32A4:00 0–127 RO 0 = Initialization
4 = Stopped
5 = Operational
127 = Pre-operational
CAN Node ID 1h–7Fh 16-bit Specifies the controller’s node ID.
0x2000:01 1h–7Fh RW Note: Node ID 7Fh is reserved for Curtis programming devices.
CAN Node ID 2 1h–7Fh 16-bit Specifies the controller’s second node ID. If the Switch 4 Function
0x3200:00 1h–7Fh RW parameter specifies Flex ID, whether CAN Node ID 1 or CAN Node
ID 2 is used as the node ID depends upon the state of switch
input 4.
For more information, see Node IDs.
BMS Node ID 1h–7Fh 8-bit Specifies the node ID of the BMS if the BDI Source parameter
0x33C0:00 1h–7Fh RW specifies BMS BDI.
BMS PDO Timeout 0–60000 ms 16-bit Specifies the CAN communication timeout for the BMS. If a BMS
0x33C4:00 0–60000 RW is used for the BDI, a PDO Timeout fault (Type 5) will be generated
if the timeout expires before the controller receives a message
from the BMS.
Auto Operational Off/On 8-bit Specifies the controller’s NMT state when the controller
0x32B0:00 0–1 RW powers up:
Off = Pre-operational
On = Operational

pg. 58 4 — PROGRAMMING MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

RPDO and TPDO Byte Map Menus

The PDO Setups menu contains the RPDO 1–2 Byte Map and TPDO 1–2 Byte Map menus. Use these
parameters to configure the PDOs.
The PDOs are preconfigured to transmit and receive messages as described in CAN Tiller Head
(RPDO1, TPDO1, TPDO2) and BMS (RPDO2). Modify a PDO only if the application does not
require the PDO’s preconfigured function.
The menus contain parameters with the same names, allowed values, and data sizes. The only
differences between parameters of the same name are their CAN indexes. The following table
describes the RPDO 1–2 Byte Map and TPDO 1–2 Byte Map parameters and Table 4-3 lists the
parameters' CAN indexes.

CAN INTERFACE — RPDO AND TPDO BYTE MAP MENUS

VALUES DATA SIZE

PARAMETER RAW VALUES READ/WRITE DESCRIPTION
RPDO n Event Time 0–65535 ms 16-bit Specifies the RPDO’s timeout. If the RPDO does not receive data
0–65535 RW before the timeout elapses, a PDO Timeout fault occurs.
To disable the timeout, specify 0.
TPDO n Event Time 0–65535 ms 16-bit Specifies the cyclic rate of the TPDO’s messages.
0–65535 RW
RPDO n COB ID and 0–FFFFFFFFh 32-bit Specifies the PDO’s COB-ID.
TPDO n COB ID 0–FFFFFFFFh RW
Length 0–8 8-bit Specifies the number of objects mapped to the PDO.
0–8 RW
Map 1 0–FFFFFFFFh 32-bit Specifies the PDO’s first mapped object.
0–FFFFFFFFh RW
Map 2 0–FFFFFFFFh 32-bit Specifies the PDO’s second mapped object.
0–FFFFFFFFh RW
Map 3 0–FFFFFFFFh 32-bit Specifies the PDO’s third mapped object.
0–FFFFFFFFh RW
Map 4 0–FFFFFFFFh 32-bit Specifies the PDO’s fourth mapped object.
0–FFFFFFFFh RW
Map 5 0–FFFFFFFFh 32-bit Specifies the PDO’s fifth mapped object.
0–FFFFFFFFh RW
Map 6 0–FFFFFFFFh 32-bit Specifies the PDO’s sixth mapped object.
0–FFFFFFFFh RW
Map 7 0–FFFFFFFFh 32-bit Specifies the PDO’s seventh mapped object.
0–FFFFFFFFh RW
Map 8 0–FFFFFFFFh 32-bit Specifies the PDO’s eighth mapped object.
0–FFFFFFFFh RW

4 — PROGRAMMING MENU PARAMETERS pg. 59

Curtis Model 1212E – April 2024 Return to TOC

Table 4-3 PDO Mapping Objects — CAN Indexes

Parameter PDO CAN Index

RPDO 1 Event Time RPDO1 0x1400:05

RPDO 1 COB ID RPDO1 0x1400:01
Length RPDO1 0x1600:00
Map 1 RPDO1 0x1600:01
Map 2 RPDO1 0x1600:02
Map 3 RPDO1 0x1600:03
Map 4 RPDO1 0x1600:04
Map 5 RPDO1 0x1600:05
Map 6 RPDO1 0x1600:06
Map 7 RPDO1 0x1600:07
Map 8 RPDO1 0x1600:08
TPDO 1 Event Time TPDO1 0x1800:05
TPDO 1 COB ID TPDO1 0x1800:01
Length TPDO1 0x1A00:00
Map 1 TPDO1 0x1A00:01
Map 2 TPDO1 0x1A00:02
Map 3 TPDO1 0x1A00:03
Map 4 TPDO1 0x1A00:04
Map 5 TPDO1 0x1A00:05
Map 6 TPDO1 0x1A00:06
Map 7 TPDO1 0x1A00:07
Map 8 TPDO1 0x1A00:08
RPDO 2 Event Time RPDO2 0x1401:05
RPDO 2 COB ID RPDO2 0x1401:01
Length RPDO2 0x1601:00
Map 1 RPDO2 0x1601:01
Map 2 RPDO2 0x1601:02
Map 3 RPDO2 0x1601:03
Map 4 RPDO2 0x1601:04
Map 5 RPDO2 0x1601:05
Map 6 RPDO2 0x1601:06
Map 7 RPDO2 0x1601:07
Map 8 RPDO2 0x1601:08

pg. 60 4 — PROGRAMMING MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

Table 4-3 PDO Mapping Objects — CAN Indexes, cont'd

Parameter PDO CAN Index

TPDO 2 Event Time TPDO2 0x1801:05

TPDO 2 COB ID TPDO2 0x1801:01
Length TPDO2 0x1A01:00
Map 1 TPDO2 0x1A01:01
Map 2 TPDO2 0x1A01:02
Map 3 TPDO2 0x1A01:03
Map 4 TPDO2 0x1A01:04
Map 5 TPDO2 0x1A01:05
Map 6 TPDO2 0x1A01:06
Map 7 TPDO2 0x1A01:07
Map 8 TPDO2 0x1A01:08

PASSWORD MENU
The Password menu is used to log on in order to change parameter values; for more information, see
Password Protection. The menu also contains the Change Password menu.
Note: The Password menu is visible if the Password Enable parameter indicates On.
The following table describes the parameters on the Password menu.

PASSWORD MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Password Status Enumerated 8-bit Indicates the password status. The value is updated when the
0x5106:00 0–2 RO Password Enter parameter or the Change Password menu’s New
Password Enter parameter is set to On:
0 = Failed: An invalid password was specified.
1 = Passed: A valid password has been specified.
2 = N/A: No one has ever attempted to log on.
Password Input 0–9999 16-bit Specifies the password.
0x5104:00 0–9999 RW
Password Enter Off/On 8-bit To log on after setting Password Input, specify On. The Password
0x5105:00 0–1 RW Status parameter indicates whether the password is valid.

4 — PROGRAMMING MENU PARAMETERS pg. 61

Curtis Model 1212E – April 2024 Return to TOC

Change Password Menu

If the Password Status parameter on the Password menu indicates Passed, you can use the following
parameters to change the password.

PASSWORD MENU — CHANGE PASSWORD MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
New Password 0–9999 16-bit Specifies the new password.
0x5102:00 0–9999 RW
New Password Enter Off/On 8-bit To submit the New Password, specify On. The Password Status
0x5103:00 0–1 RW parameter should indicate Passed.

MISC MENU
The following table describes the parameters contained by the Misc menu:

MISC MENU

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Password Enable Off/On 8-bit Indicates whether the feature to password-protect parameter
0x5100:00 0–1 RO values is enabled.
Pump SRO Enable Off/On 8-bit Specifies whether the controller checks for the Pump
0x3359:00 0–1 RW SRO Fault.
CAUTION: Specifying Off may make the system non-compliant
with EN 1175:2020 and may cause a higher probability of
dangerous failure. Regulatory compliance of the complete
vehicle system, including this setting, is the responsibility of the
vehicle OEM.
First On Mode Enumerated 8-bit Configures first on work mode:
0x3908:00 0–2 RW 0 = Off. First on work mode is disabled.
1 = Lift Only. The traction and lift cannot be simultaneously active.
2 = Lift & Lower. The traction and lift or lower cannot be
simultaneously active.
Sleep Time 0–120min 8-bit Specifies how long the controller can be idle before it goes
0x4E30:00 0–120 RW to sleep.
To disable sleep mode, specify 0.
Emergency Stop Off/On 16-bit Specifies the vehicle’s response if the emergency stop switch
0x3519:00 0–1 RW is active:
On: The EM brake is immediately engaged and the vehicle
stops abruptly.
Off: The vehicle decelerates for a short distance before it
stops. The Keyoff Decel Rate parameter specifies the
deceleration rate.
Hourmeter Type Enumerated 8-bit Specifies the function that the hourmeter measures:
0x4E1A:00 0–2 RW 0 = KSI Hourmeter
1 = Interlock Hourmeter
2 = Driving Hourmeter
Clear Hourmeter Off/On 8-bit Specify On to reset the hour meter.
0x4E13:00 0–1 RW The hour meter’s value is indicated by the Hourmeter parameter
on the Controller menu.
Restore Parameters Off/On 8-bit Specify On to reset all parameters to their default values.
0x4E18:00 0–1 RW

pg. 62 4 — PROGRAMMING MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

5 — MONITOR MENU PARAMETERS

CONTROLLER MENU............................ p. 64 VOLTAGE MENU................................. p. 66 SWITCHES MENU.............................. p. 68

— Controller Temperature — Keyswitch Voltage — PRIMARY SWITCHES MENU.... p. 68
— Throttle Demand — Keyswitch Voltage Supervisor — Input 1 Switch
— Speed Demand — Battery Voltage — Input 2 Switch
— Armature PWM — Capacitor Voltage — Input 3 Switch
— Armature Current — Motor Voltage — Input 4 Switch
— Controller Temp Cutback — BDI — Input 5 Switch
— Overvoltage Cutback — Battery Temperature — Pot Hi Input Switch
— Undervoltage Cutback — BMS Status — Forward Switch
— Hourmeter — Reverse Switch
INPUTS MENU................................... p. 67
— STATE MENU......................... p. 65 — EMR NO Switch
— Interlock State
— Boost — Interlock Switch
— Lift Input State
— Emergency Reverse — Mode Switch
— Lift Lockout Input State
— Relay State — Lift Inhibit Switch
— Lower Input State
— Charger Inhibit Switch
MOTOR MENU................................... p. 65 — Forward Input State
— SUPERVISOR INPUTS MENU.... p. 69
— Motor Resistance Used — Reverse Input State
— EM Brake Driver Feedback
— Motor Resistance Measured — EMR Input State
— Lift Driver Feedback
— Energy Integral Cutback — Mode Input State
— Lower Driver Feedback
— Steering Angle — Horn Input State
— Supervisor Analog 1
— Steering Speed Cutback — Inhibit Input State
— Supervisor Analog 2
— Lift Inhibit Input State
— Supervisor Analog 3
— Charger Inhibit Input State
— Supervisor Analog 4
— Creep Input State
— Supervisor Analog 5
— Inching Forward Input State
— Inching Reverse Input State OUTPUTS MENU.................................. p. 69
— Pot Hi Input Switch State — Main Relay Driver PWM
— EM Brake Driver PWM
— Lift Driver PWM
— Lower Driver PWM
— Horn Driver State
— BDI Output PWM
— Coil Supply State

5 — MONITOR MENU PARAMETERS pg. 63

Curtis Model 1212E – April 2024 Return to TOC

The Monitor menu contains mostly read-only parameters that indicate real-time data. You can use
this data when configuring or troubleshooting the system.
Note: For descriptions of the columns in this chapter's parameter description tables, see Programming
Menu Parameters. Since most of the Monitor menu parameters are read-only, the tables include the
Read/Write column only for menus that contain writable parameters.

CONTROLLER MENU
The following table describes the parameters on the Controller menu.
Note: The Controller menu contains the State menu. The Cutback parameter values are percentages
of the Drive Current Limit parameter.

CONTROLLER MENU

PARAMETER NAME VALUES

CAN INDEX RAW VALUES DATA SIZE DESCRIPTION
Controller Temperature –50°C to 200°C 16-bit Indicates the controller’s heatsink temperature.
0x3000:00 –500 to 2000
Throttle Demand –100% to 100% 16-bit Indicates the slew rate block for the throttle request.
0x3353:00 –32768 to 32767
Speed Demand –100% to 100% 16-bit Indicates the speed PWM command.
0x3826:00 –32768 to 32767
Armature PWM –100% to 100% 16-bit Indicates the PWM duty cycle applied to the motor.
0x3538:00 –32768 to 32767
Armature Current −150A to 150A 16-bit Indicates the current supplied to the motor.
0x3456:00 –600 to 600
Controller Temp Cutback 0–100% 16-bit Indicates the current available due to the temperature
0x3436:00 0–4096 cutback.
100% indicates no cutback.
Overvoltage Cutback 0–100% 16-bit Indicates the current available due to the overvoltage cutback.
0x3439:00 0–4096 100% indicates no cutback.
Undervoltage Cutback 0–100% 16-bit Indicates the current available due to the undervoltage cutback.
0x343A:00 0–4096 100% indicates no cutback.
Hourmeter 0.0–999999.9 hours 32-bit Indicates how much time has elapsed since the hour meter was
0x4E17:00 0–9999999 last cleared.

pg. 64 5 — MONITOR MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

State Menu
The following table describes the parameters on the State menu.

CONTROLLER MENU — STATE MENU

PARAMETER NAME VALUES

CAN INDEX RAW VALUES DATA SIZE DESCRIPTION
Boost Off/On 8-bit Indicates whether the boost function is active.
0x3430:00 0–1
Emergency Reverse Off/On 8-bit Indicates whether emergency reverse is active.
0x3491:00 0–1
Relay State Enumerated 16-bit Indicates the main relay state:
0x34C9:00 0–11 0 = Relay is open.
1 = Precharge.
2 = Main Relay Welded fault check.
3 = Closing delay. The relay has closed but its status is
being confirmed.
4 = Missing check. The controller is verifying whether the
relay has closed.
5 = Relay is closed.
6 = Delay. The relay has received the open command but
remains closed until the Open Delay expires.
7 = Arc check.
8 = Open delay. The relay is open but is within a delay
interval before the relay can be closed again.
9 = Fault.
10 = Enable.
11 = Main Relay Welded fault check delay.

MOTOR MENU
The following table describes the parameters on the Motor menu.

MOTOR MENU

PARAMETER NAME VALUES

CAN INDEX RAW VALUES DATA SIZE DESCRIPTION
Motor Resistance Used 0–65535mΩ 32-bit Indicates the motor resistance that the controller uses when
0x3551:00 0–65535 calculating the speed.
If the Resistance Auto Comp parameter specifies On, the
controller gradually updates Motor Resistance Used to the Motor
Resistance Measured value.
Motor Resistance Measured 0–65535mΩ 32-bit Indicates the motor resistance measured by the controller.
0x3552:00 0–65535
Energy Integral Cutback 0–100% 16-bit Indicates the current cutback that occurs due to motor heating
0x3437:00 0–4096 and heat dissipation. The value is a percentage of the maximum
current, with 100% indicating no cutback.
Steering Angle –90º to 90º 16-bit Indicates the steering input’s angle.
0x3849:00 –16384 to 16383
Steering Speed Cutback 0–100% 16-bit Indicates the motor speed cutback that occurs at certain steering
0x384A:00 0–32767 angles. The value is a percentage of the maximum speed, with
100% indicating no cutback.
Note: The Steering Speed Limit parameters configure the speed
limits for various steering angles.

5 — MONITOR MENU PARAMETERS pg. 65

Curtis Model 1212E – April 2024 Return to TOC

VOLTAGE MENU
The following table describes the parameters on the Voltage menu.

VOLTAGE MENU

PARAMETER NAME VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Keyswitch Voltage 0.0–100.0V 16-bit Indicates the keyswitch voltage, which will be approximately
0x3398:00 0–10000 RO equal to the Battery Voltage.
Keyswitch Voltage Supervisor 0–100.0V 16-bit Indicates the keyswitch voltage as measured by the
0x3370:00 0–10000 RO supervisor microprocessor.
Battery Voltage 0.0–100.0V 16-bit Indicates the voltage at the controller's B+ terminal.
0x3396:00 0–10000 RO
Capacitor Voltage 0.0–100.0V 16-bit Indicates the voltage at the controller’s internal capacitor bank.
0x3397:00 0–10000 RO
Motor Voltage −40.00V to 40.00V 16-bit Indicates the voltage drop between the motor terminals.
0x3871:00 −4000 to 4000 RO
BDI 0–100% 8-bit Indicates the battery's state of charge.
0x33A4:00 0–100 RO
Battery Temperature –100ºC to 155ºC 8-bit Indicates the battery temperature measured by the BMS.
0x33C3:00 0–255 RW
BMS Status 0–255 8-bit Bit 7 indicates the BMS’s charging status. 1 indicates that the
0x33C2:00 0–255 RW battery is charging.

pg. 66 5 — MONITOR MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

INPUTS MENU
The following table describes the parameters on the Inputs menu.

INPUTS MENU

PARAMETER NAME VALUES

CAN INDEX RAW VALUES DATA SIZE DESCRIPTION
Interlock State Off/On 8-bit Indicates whether the interlock input is on or off.
0x3300:00 0–1
Lift Input State Off/On 8-bit Indicates whether the lift input is on or off.
0x3301:00 0–1
Lift Lockout Input State Off/On 8-bit Indicates whether the lift lockout input is on or off.
0x330D:00 0–1
Lower Input State Off/On 8-bit Indicates whether the lower input is on or off.
0x3302:00 0–1
Forward Input State Off/On 8-bit Indicates whether the forward input is on or off.
0x3303:00 0–1
Reverse Input State Off/On 8-bit Indicates whether the reverse input is on or off.
0x3304:00 0–1
EMR Input State Off/On 8-bit Indicates whether the emergency reverse input is on or off.
0x3306:00 0–1
Mode Input State Off/On 8-bit Indicates whether the mode input is on or off.
0x3305:00 0–1
Horn Input State Off/On 8-bit Indicates whether the horn input is on or off.
0x3309:00 0–1
Inhibit Input State Off/On 8-bit Indicates whether the inhibit input is on or off.
0x330A:00 0–1
Lift Inhibit Input State Off/On 8-bit Indicates whether the lift inhibit input is on or off.
0x330B:00 0–1
Charger Inhibit Input State Off/On 8-bit Indicates whether the charger inhibit input is on or off.
0x330C:00 0–1
Creep Input State Off/On 8-bit Indicates whether the creep input is on or off.
0x3307:00 0–1
Inching Forward Input State Off/On 8-bit Indicates whether the inching forward input is on or off.
0x3308:00 0–1
Inching Reverse Input State Off/On 8-bit Indicates whether the inching reverse input is on or off.
0x330E:00 0–1
Pot Hi Input Switch State Off/On 8-bit Indicates whether the pot high switch is on or off.
0x3322:00 0–1

5 — MONITOR MENU PARAMETERS pg. 67

Curtis Model 1212E – April 2024 Return to TOC

SWITCHES MENU
The Switches menu contains the Primary Switches and Supervisor Inputs menus.

Primary Switches Menu

The following table describes the parameters on the Primary Switches menu:

SWITCHES MENU — PRIMARY SWITCHES MENU

PARAMETER NAME VALUES

CAN INDEX RAW VALUES DATA SIZE DESCRIPTION
Input 1 Switch Off/On 8-bit Indicates whether the Switch 1 input is on or off.
0x3310:00 0–1
Input 2 Switch Off/On 8-bit Indicates whether the Switch 2 input is on or off.
0x3311:00 0–1
Input 3 Switch Off/On 8-bit Indicates whether the Switch 3 input is on or off.
0x3312:00 0–1
Input 4 Switch Off/On 8-bit Indicates whether the Switch 4 input is on or off.
0x3313:00 0–1
Input 5 Switch Off/On 8-bit Indicates whether the Switch 5 input is on or off.
0x3314:00 0–1
Pot Hi Input Switch Off/On 8-bit Indicates whether the pot high input is on or off.
0x331C:00 0–1
Forward Switch Off/On 8-bit Indicates whether the forward input is on or off.
0x3315:00 0–1
Reverse Switch Off/On 8-bit Indicates whether the reverse input is on or off.
0x3316:00 0–1
EMR NO Switch Off/On 8-bit Indicates whether the emergency reverse NO input is on or off.
0x3317:00 0–1
Interlock Switch Off/On 8-bit Indicates whether the interlock input is on or off.
0x3318:00 0–1
Mode Switch Off/On 8-bit Indicates whether the mode input is on or off.
0x3319:00 0–1
Lift Inhibit Switch Off/On 8-bit Indicates whether the lift inhibit input is on or off.
0x331A:00 0–1
Charger Inhibit Switch Off/On 8-bit Indicates whether the charger inhibit input is on or off.
0x331B:00 0–1

pg. 68 5 — MONITOR MENU PARAMETERS

Return to TOC Curtis Model 1212E – April 2024

Supervisor Inputs Menu

The following table describes the parameters on the Supervisor Inputs menu:

SWITCHES MENU — SUPERVISOR INPUTS MENU

PARAMETER NAME VALUES

CAN INDEX RAW VALUES DATA SIZE DESCRIPTION
EM Brake Driver Feedback Off/On 8-bit Indicates the feedback state of the EM brake driver.
0x332A:00 0–1
Lift Driver Feedback Off/On 8-bit Indicates the feedback state of the lift driver.
0x332B:00 0–1
Lower Driver Feedback Off/On 8-bit Indicates the feedback state of the lower driver.
0x332C:00 0–1
Supervisor Analog 1 0–40.00V 16-bit Indicates the voltage of the Switch 1 input if an analog input is
0x3377:00 0–4000 connected to it.
Supervisor Analog 2 0–40.00V 16-bit Indicates the voltage of the Switch 2 input if an analog input is
0x3378:00 0–4000 connected to it.
Supervisor Analog 3 0–40.00V 16-bit Indicates the voltage of the Switch 3 input if an analog input is
0x3379:00 0–4000 connected to it.
Supervisor Analog 4 0–40.00V 16-bit Indicates the voltage of the Switch 4 input if an analog input is
0x337A:00 0–4000 connected to it.
Supervisor Analog 5 0–40.00V 16-bit Indicates the voltage of the Switch 5 input if an analog input is
0x337B:00 0–4000 connected to it.

OUTPUTS MENU
The following table describes the parameters on the Outputs menu.

OUTPUTS MENU

PARAMETER NAME VALUES

CAN INDEX RAW VALUES DATA SIZE DESCRIPTION
Main Relay Driver PWM 0–100% 16-bit Indicates the main relay driver’s PWM duty cycle.
0x34D2:00 0–32767
EM Brake Driver PWM 0–100% 8-bit Indicates the EM brake driver’s PWM duty cycle.
0x3400:00 0–255
Lift Driver PWM 0–100% 8-bit Indicates the lift driver’s PWM duty cycle.
0x3401:00 0–255
Lower Driver PWM 0–100% 8-bit Indicates the lower driver’s PWM duty cycle.
0x3402:00 0–255
Horn Driver State Off/On 8-bit Indicates whether the horn driver is on or off.
0x340C:00 0–1
BDI Output PWM 0–100% 16-bit Indicates the BDI output’s PWM duty cycle.
0x33C5:00 0–32767
Coil Supply State Off/On 8-bit Indicates the state of the coil supply driver.
0x332F:00 0–1

5 — MONITOR MENU PARAMETERS pg. 69

Curtis Model 1212E – April 2024 Return to TOC

6 — FAULT HISTORY MENU

The Fault History menu lists the faults that have occurred since the fault history was last cleared. Each
fault’s history includes the Count, Time, First Time, and Type parameters, as shown in the following
screenshots from the Curtis Integrated ToolkitTM (CIT) and the Curtis 1313 Handheld Programmer:

Figure 6-1
Fault History
Details — CIT

Figure 6-2
Fault History
Details — 1313
Handheld
Programmer

The menu also provides the Clear History parameter:

PARAMETER VALUES DATA SIZE

CAN INDEX RAW VALUES READ/WRITE DESCRIPTION
Clear History Off/On 16-bit To clear the fault history, specify On.
0x20F0:01 0–1 RW After the fault history has been cleared, the value reverts to Off.

pg. 70 6 — FAULT HISTORY MENU

Return to TOC Curtis Model 1212E – April 2024

7 — FAULTS, DIAGNOSTICS,
AND TROUBLESHOOTING
The controller provides diagnostic information to help technicians troubleshoot. You can view the
diagnostic information using Curtis programming devices and the controller’s status LED.

PROGRAMMING DEVICE DIAGNOSTICS

The following list describes how Curtis programming devices display diagnostic information:

• Real-time data such as the statuses of inputs and outputs are displayed in the Monitor menu.
• A history of faults is displayed in the Fault History menu.
• Active faults are displayed above the parameter menus. The following examples from CIT and
the Curtis 1313 Handheld Programmer show that Hardware and Supervision faults are active:

Figure 7-1
Active
Faults — CIT

Figure 7-2
Active Faults —
1313 Handheld
Programmer

Tip: To see a fault’s fault type in CIT, expand the fault. To see a fault’s fault type in the 1313 Handheld
Programmer, select the fault.

7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING pg. 71

Curtis Model 1212E – April 2024 Return to TOC

STATUS LED
The controller has a red LED that indicates the controller's status. When the controller is operating
correctly, the LED flashes once per second.
If the controller detects a fault, the LED continuously flashes a two-digit fault code until the fault
is corrected, with a delay following each flash sequence. If more than one fault is active, the LED
continuously flashes the fault codes for all the faults.
For example, the following table shows the flash sequence when faults with fault codes 14 and 43 are
active. An empty cell indicates a delay following a flash sequence:

                                               

FAULT RECORDS
Each fault is represented by a Fault Record. Fault Records are identified by the CAN indexes listed
in Table 7-1. The following table describes the sub-indexes of Fault Records:
Note: The 03h–06h sub-indexes correspond to the fault history parameters shown in Figure 6-1.

FAULT HISTORY VALUES

SUB-INDEX DESCRIPTION READ / WRITE
PARAMETER DATA SIZE
01h N/A The status of the fault: RO 0–4294967295
• 00h = The fault has never occurred. 32-bit
• 01h = The fault is not active.
• 03h = The fault is active.
02h N/A Reserved. N/A N/A

03h Count The number of times the fault has occurred RO 0–4294967295
since the fault history was cleared. 32-bit
04h Time The time, in seconds, of the fault’s most recent RO 0–4294967295
occurrence since the fault history was cleared. 32-bit
To calculate the number of seconds, divide the
value by 10.
05h First Time The time, in seconds, of the fault’s first RO 0–4294967295
occurrence since the fault history was cleared. 32-bit
To calculate the number of seconds, divide the
value by 10.
06h Type The fault’s fault type. RO 0–4294967295
If multiple instances of the fault have occurred 32-bit
and the instances have different fault types,
sub-index 06h contains the most recent
instance’s fault type.

pg. 72 7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING

Return to TOC Curtis Model 1212E – April 2024

FAULTS
When the controller detects a fault, the controller operates in a manner that is safe in the presence of
that fault. Depending on the severity of the fault, the controller’s response can range from reducing
current to shutting down the vehicle.
Some faults are set by multiple conditions. The controller uses fault types to distinguish these
conditions. All faults have a fault type of 1; faults with multiple causes have additional fault types.
Curtis programming devices indicate the fault type.
The emergency messages transmitted when faults occur include the fault type. See Emergency
Message Format.
The following table describes the controller’s faults.

Table 7-1 Fault Chart

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
11 • Defective controller 1 The undervoltage cutback Raise the keyswitch Shut down throttle
Severe • Defective battery is 0 for 64 ms with the voltage above the
Undervoltage main relay on. brownout voltage.
0x2120
12 Low battery 1 The undervoltage cutback Raise the keyswitch Cut back the current
Undervoltage is less than 100% with voltage above the user limit
Cutback the main relay on. undervoltage threshold.
0x2121
13 • Incorrect battery voltage 1 The keyswitch voltage is Cycle the keyswitch. Shut down motor
Severe • Defective main relay 10V above the allowed Shut down main relay
Overvoltage • Defective controller AD maximum voltage. Shut down throttle
0x2130 Shut down EM brake
2 The keyswitch voltage
is 4V above the allowed
maximum voltage.
14 • Incorrect battery voltage 1 The keyswitch voltage Lower the keyswitch Cut back the current
Overvoltage • Defective main relay is greater than the user voltage until it is under limit
Cutback overvoltage threshold for the user overvoltage
0x2131 64 ms during the regen threshold.
state or when the motor
speed is greater than 2V.
15 • Defective temperature sensor 1 The controller temperature Raise the controller Shut down throttle
Controller • Low ambient temperature is less than or equal to temperature above
Severe −40°C for 48 ms. −40°C.
Undertemp
0x2141
16 • Defective temperature sensor 1 The controller Lower the controller Cut back the current
Controller • High current for an temperature is greater temperature to under the limit
Overtemp extended period than or equal to the temperature cutback point.
Cutback temperature cutback point
0x2140 for 48 ms.

17 Defective temperature sensor 1 The controller Lower the controller Shut down throttle
Controller temperature is at least temperature to under the
Severe 15°C higher than the temperature cutback point.
Overtemp temperature cutback point
0x2142 for 48 ms.

7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING pg. 73

Curtis Model 1212E – April 2024 Return to TOC

Table 7-1 Fault Chart, cont’d

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
21 • Throttle wiring fault 1 The throttle AD data is out Cycle the keyswitch. Shut down throttle
Throttle Fault • Incorrect throttle type setting of range for 48 ms.
0x2210 • Incorrect throttle operation 2 The HPD Sequencing fault
• Steering angle pot wiring fault is active for 10s.
3 The steering angle AD data
is out of range for 48 ms.
4 The throttle calibration
process failed.
22 • Incorrect throttle operation 1 At least 10% throttle Release the throttle before Shut down throttle
HPD • Defective throttle is applied for 48 ms 10s expires. If the HPD
Sequencing before the interlock state Sequencing fault is active
0x2211 changes to on. for more than 10s, the
Throttle Fault is generated.
23 Defective main relay 1 The Capacitor Voltage is Cycle the keyswitch. Shut down motor
Main Relay greater than (Keyswitch Shut down main relay
Welded Voltage − 0.7V), and the Shut down throttle
0x2220 capacitor bank voltage Shut down interlock
drop is less than 1.5V
after the Main Welded
PWM is applied to the
motor for 96 ms.
24 • Defective main relay 1 The difference between Cycle the keyswitch. Shut down motor
Main Relay • Incorrect Pull In Voltage the keyswitch voltage Shut down main relay
Did Not Close and capacitor voltage Shut down throttle
0x2221 is greater than the DNC Shut down interlock
Voltage Threshold for
96 ms when the relay is
engaged.
2 The difference between
the keyswitch voltage
and capacitor voltage
is greater than the DNC
Voltage Threshold for 96
ms after the relay is on.
25 RPDO2 indicates a fault in 1 Byte 6, bits 1–3, of RPDO2 Clear the battery No action
BMS Fault the BMS. 2 indicates that the BMS management Shut down lift
0x2222 has an active fault. system’s fault.
3 Cut back speed
4 Shut down throttle
Shut down lift
Shut down lower
26 The PTC resistor in the precharge 1 The Capacitor Voltage Cycle the keyswitch. Shut down motor
Precharge circuit is defective. is less than 65% of the Shut down main relay
Failed Keyswitch Voltage for 500 Shut down throttle
0x2223 ms after the Keyswitch Shut down interlock
Voltage is greater than
60% of the nominal
voltage at startup.
2 The Capacitor Voltage
is less than (Keyswitch
Voltage − 4V) before the
relay is engaged.

pg. 74 7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING

Return to TOC Curtis Model 1212E – April 2024

Table 7-1 Fault Chart, cont’d

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
31 • Defective motor 1 The armature current is Cycle the keyswitch. Shut down motor
Stall Detected • Defective controller greater than 90% of the Shut down main relay
0x2231 current limit and the motor Shut down throttle
speed is less than 10% of Shut down interlock
the maximum speed for
the Stall Fault Time.
32 The motor is open or shorted. 1 The capacitor voltage Cycle the keyswitch. Shut down motor
Motor Fault drop is greater than 1V Shut down main relay
0x2240 after 10% PWM was Shut down EM brake
applied to the motor for Shut down throttle
500 µs at startup. Shut down interlock
2 The motor is shorted. Open armature

3 The motor was open

when the system was
powered on.
4 The voltage on motor
phase M1 is less than
3.5V after the main relay
has been engaged.
33 The battery is not connected. 1 The battery is disconnected. Make sure the battery Shut down motor
Battery is connected and charged, Shut down main relay
Disconnect then cycle the keyswitch. Shut down EM brake
Fault 2 The battery voltage is less Shut down throttle
0x2320 than 5V. Shut down interlock
Open armature
34 Defective EM brake 1 The motor speed is The throttle is applied. No action
EM Brake greater than the Fault
Failed To Set Motor Revs parameter for
0x2321 80 ms when the EM brake
is engaged.
42 • Incorrect operation sequence 1 The interlock input is Cycle the keyswitch. Shut down motor
Interlock SRO • Defective controller on when the keyswitch Shut down main relay
Fault is turned on and the Shut down throttle
0x2532 Interlock Type parameter Shut down interlock
is not set to KSI Interlock.
43 Low battery 1 The BDI percentage is less Charge the battery Maximum speed reduced
Low BDI than the Low BDI Threshold until the BDI percentage to Low BDI Max Speed
0x2630 parameter value. is greater than Low
BDI Threshold.
44 The speed is outside of the 1 The motor speed is Cycle the keyswitch. Shut down throttle
Speed allowed range. greater than 120% of the Shut down interlock
Supervision allowed maximum speed
0x2533 for more than 500 ms.
2 The motor speed is
greater than the ramped
speed curve for more than
80 ms while the vehicle is
decelerating.
3 The motor speed is
greater than the ramped
speed curve for more
than 80 ms during
interlock braking.

7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING pg. 75

Curtis Model 1212E – April 2024 Return to TOC

Table 7-1 Fault Chart, cont’d

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
4 The motor speed is
greater than the ramped
speed curve for more than
80 ms while the vehicle
is decelerating during
emergency reverse.
5 The motor speed is
greater than the following
for more than 2s:
Ramped throttle
command percentage
* maximum speed
+ 20% of maximum
speed
45 The lift operating time expired but 1 The lift operating time Turn off the lift input. Shut down lift.
Lift Timeout the lift is still active. exceeds the time specified
0x2542 with the Lift Time Limit
parameter when the
following parameter values
are specified:
• Lift Timeout Enable
specifies 1 (On)
• Lift Time Limit is set
to a non-zero value.
51 • Defective controller 1 The armature current is Cycle the keyswitch. Shut down motor
Over Current • Defective current sensor greater than 120% of the Shut down main relay
Fault current limit for 160 ms. Shut down EM brake
0x2241 Shut down throttle
Shut down interlock
Open armature
52 Defective current sampling circuit 1 The zero current point is Cycle the keyswitch. Shut down motor
Current Sense out of range for 160 ms Shut down main relay
Fault (the range is 812±32). Shut down throttle
0x2250 Shut down interlock
2 The AD data for the
current is out of the
allowed range.
53 Driver is open or shorted 1 EM Brake driver is open Cycle the keyswitch. Shut down main relay
Driver Fault or shorted. Shut down EM brake
0x2410 Shut down throttle
2 • The lift coil is open Shut down lift
when lift driver is off
• The lift coil is shorted or
driver is open when lift
driver is on.
3 • The lower coil is open Shut down lift
when lower driver is off. Shut down lower
• The lower coil is shorted
or driver is open when
lower driver is on.
4 Horn driver is shorted. Shut down horn
5 The lift driver is shorted Shut down lift
when lift driver is off. Shut down throttle
Shut down interlock
Shut down coil supply

pg. 76 7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING

Return to TOC Curtis Model 1212E – April 2024

Table 7-1 Fault Chart, cont’d

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
6 The lower driver is Shut down lift
shorted when lower driver Shut down lower
is off. Shut down throttle
Shut down interlock
Shut down coil supply
7 Main relay feedback is Shut down motor
high when the relay is on Shut down main relay
for 100 ms. Shut down throttle
Shut down interlock
8 Main relay feedback is Shut down motor
low when the relay is off Shut down main relay
for 100 ms. Shut down throttle
Shut down interlock
54 • Incorrect operation sequence 1 The lift input is active when Cycle the keyswitch. Shut down lift
Pump SRO • Defective switch the keyswitch is turned on.
Fault 2 The lower input is active Cycle the keyswitch. Shut down lift and lower
0x2330 when the keyswitch is
turned on.
3 The controller did not The Lift Input State and Shut down lift and lower
receive CAN lift or CAN Lower Input State must
lower PDO messages both be off.
within 2s after startup.
4 The Lift On Interlock The Lift Input State and Shut down lift
parameter specifies On Lower Input State must
and the lift input is active both be off.
when the interlock state
changes to on.
5 The Lower On Interlock The Lift Input State and Shut down lift and lower
parameter specifies On Lower Input State must
and the lower input is both be off.
active when the interlock
state changes to on.
55 • Defective emergency 1 The emergency reverse Cycle the keyswitch. Shut down throttle
EMR SRO reverse switch switch is active when the
Fault • Incorrect operation sequence keyswitch is turned on.
0x2340 2 The emergency reverse Turn off the emergency
switch is active when reverse switch.
the interlock input is
turned on and the EMR
SRO Type parameter
specifies a value other
than SRO Off.
3 The absolute value Release the throttle.
of the throttle demand
is greater than 10%
after an emergency
reverse operation and
the EMR SRO Type
parameter specifies a
value other than SRO Off.
4 Emergency reverse is Cycle the keyswitch.
active when throttle in
the forward direction
is applied and the EMR
SRO Type parameter
specifies SRO on
Interlock and Throttle.

7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING pg. 77

Curtis Model 1212E – April 2024 Return to TOC

Table 7-1 Fault Chart, cont’d

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
56 Incorrect operation sequence 1 The creep input is on Turn off the creep input. Shut down throttle
Creep SRO when the keyswitch is
Fault turned on.
0x2350 2 The creep input is on but Turn off the creep input.
the interlock state has
been off for 40 ms.
3 The interlock state is on for Turn off creep mode and
40 ms during creep mode. the interlock.
4 The controller cannot Turn off creep mode and
abort the creep brake the interlock.
state after the Interlock
Brake Timeout expires.
57 Incorrect operation sequence 1 The inching forward or Turn off the inching Shut down throttle
Inching SRO inching reverse input is forward and inching
Fault on when the keyswitch is reverse inputs.
0x2351 turned on.
2 The inching forward or Turn off the inching
inching reverse input is on forward and inching
but the interlock state has reverse inputs.
been off for 40 ms.
3 The interlock state is Turn off the inching
on for 40 ms during forward, inching reverse
inching mode. and interlock inputs.
4 The inching and throttle Turn off the inching
inputs are active when the forward and inching
Interlock Type parameter reverse inputs.
specifies KSI Interlock.
61 CANbus is overloaded. 1 During the operational Cycle the keyswitch Shut down throttle
PDO Timeout NMT state, RPDO1 did or send an NMT Clear related data
0x2541 not receive a message reset command.
before the RPDO1 Event
Time expired.
2 During the operational
NMT state, RPDO2 did
not receive a message
before the RPDO2 Event
Time expired.
5 During the operational
NMT state, RPDO2 did not
receive a message from
the node specified with
BMS Node ID before the
BMS PDO Timeout expired.
6 During the operational
NMT state, a message
was not received from
the 3150R gauge
before the interval
specified by the Gauge
Setting menu's Timeout
parameter expired.

pg. 78 7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING

Return to TOC Curtis Model 1212E – April 2024

Table 7-1 Fault Chart, cont’d

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
71 • Defective MOSFET 1 The motor voltage is out Cycle the keyswitch. Shut down motor
Hardware • Defective microprocessor of range for 64 ms. Shut down main relay
Fault Shut down EM brake
0x2610 Shut down throttle
3 The belly button check Shut down interlock
is enabled and the Shut down coil supply
emergency reverse NO or
NC input’s voltage is less
than 1.5V for 100 ms.
4 UID encryption failed or
the microprocessors are
not in productive mode.
5 The CAN programming
device’s OEM code
differs from the
hardware’s OEM code.
6 Handshake with the Curtis
3150R gauge failed.
72 • Internal communication failed 1 Unmatched supervisor Cycle the keyswitch. Shut down motor
Software • Incorrect firmware firmware. Shut down main relay
Fault Shut down EM brake
2 Test mode was exited. Shut down throttle
0x2620
Received an NMT Node Reset 3 The Node Reset Shut down interlock
command while the vehicle was command is received Shut down coil supply
operating. when the motor speed
is greater than 1.00V or
the armature current is
greater than (1/16 * Drive
Current Limit).
CAN communication failed. 4 Handshake with the tiller
head failed.
5 Password for the
encryption lock failed.
6 Communication with the
encryption lock timed out.
7 Handshake with a custom
gauge failed.
81 Invalid parameter value CAN A parameter’s value is Cycle the keyswitch. Shut down motor
Parameter index of outside of its allowed Shut down main relay
Out Of Range para- data range. Shut down throttle
0x2811 meter Shut down interlock
Shut down coil supply

7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING pg. 79

Curtis Model 1212E – April 2024 Return to TOC

Table 7-1 Fault Chart, cont’d

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
82 • Invalid parameter value 1 A parameter marked as Cycle the keyswitch. Shut down motor
Parameter • Defective FRAM [PCF] in the Programming Shut down main relay
Fault Menu Parameters chapter Shut down throttle
0x2812 was set but the keyswitch Shut down interlock
has not been cycled. Shut down coil supply
2 The Steering Input Cycle the keyswitch.
Type parameter
specifies an analog
input but the Throttle
Type parameter does not
specify a CAN throttle.
3 Two or more flexible Reconfigure the flexible
switch inputs are assigned switch inputs, then cycle
to the same function. the keyswitch.
4 • The Steering Angle 1 Adjust the parameter, then
parameter is greater cycle the keyswitch.
than or equal to
Steering Angle 2.
• The Steering Angle 1
or Steering Angle 2
parameter is greater
than Steering Angle Max.
• The speed mode’s Fwd
Max Speed parameter
is less than or equal to
Fwd Min Speed.
• The speed mode’s Rev
Max Speed parameter
is less than or equal to
Rev Min Speed.
• Speed Limit HPD
specifies On, and mode
1’s Fwd Max Speed
is greater than mode
2’s Fwd Max Speed,
and mode 1’s Rev Max
Speed is less than
mode 2’s Rev Max
Speed, or vice versa.
• The Forward Deadband
parameter is greater
than Forward Max.
• The Reverse Deadband
parameter is greater
than Reverse Max.
5 • The EMR Input Type Assign the function to a
parameter specifies flexible switch input, then
NC Switch Input but cycle the keyswitch.
the emergency reverse
NC function is not
assigned to a flexible
switch input.
• The Steering Input Type
parameter specifies NC
Switch Input but the
steering function is not
assigned to a flexible
switch input.

pg. 80 7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING

Return to TOC Curtis Model 1212E – April 2024

Table 7-1 Fault Chart, cont’d

FLASH CODE
FAULT
NAME POSSIBLE CAUSES SET CONDITION CLEAR CONDITION FAULT ACTIONS
TYPE
CAN INDEX
6 The Pot Hi Switch Function Cycle the keyswitch.
parameter specifies a
value other than Pot Hi
Input but the Throttle Type
parameter specifies a
3-wire pot throttle.
An SDO • Incorrect data size Cycle the keyswitch.
abort specified for an object
code • Incorrect access mode
• Invalid CAN index
83 FRAM operation failed Block Read FRAM failed. Cycle the keyswitch. Shut down motor
NV Failure num- Shut down main relay
0x2830 ber Shut down EM brake
Shut down throttle
2 Write FRAM failed. Shut down interlock
3 Restore parameters failed Shut down drivers
during flashing.
4 Saving the brownout
flag failed.
5 Block number is out
of range.
84 Cross check failed. See Cross check failed Cycle the keyswitch. Shut down motor
Supervision Table Shut down main relay
0x2840 7-2 Shut down EM brake
Shut down throttle
Shut down interlock
Shut down drivers

The following table lists the fault types for the Supervision fault.

Table 7-2 Supervisor Fault Types

Fault Type Fault Type Variable

2 SUPERVISOR_FIFTEEN_V_SUPPLY_FAILURE
8 SUPERVISOR_HARDWARE_FAULT
11 PRIMARY_INIT_CAN_OBJ
12 PRIMARY_INIT_ILLEGAL_CAN_SIZE
13 PRIMARY_INIT_CAN_SIZE
14 PRIMARY_INIT_TIMEOUT
15 PRIMARY_WRITE_OBJECT
16 PRIMARY_WRITE_SIZE
17 PRIMARY_WRITE_TIMEOUT
18 PRIMARY_WRITE_CRC

7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING pg. 81

Curtis Model 1212E – April 2024 Return to TOC

Table 7-2 Supervisor Fault Types, cont'd

Fault Type Fault Type Variable

19 PRIMARY_WRITE_ACK
20 PRIMARY_TASK_QUEUE_FAIL
21 PRIMARY_FAULT_ACTIONS
22 PRIMARY_ALU_FAIL
23 PRIMARY_MESSAGE_WATCHDOG
24 PRIMARY_FAULT_ACK
25 SUPERVISOR_INIT_CAN_OBJ
26 SUPERVISOR_INIT_ILLEGAL_CAN_SIZE
27 SUPERVISOR_INIT_CAN_SIZE
28 SUPERVISOR_INIT_TIMEOUT
29 SUPERVISOR_WRITE_OJECT
30 SUPERVISOR_WRITE_SIZE
31 SUPERVISOR_TASK_QUEUE_FAIL
32 SUPERVISOR_ALU_FAIL
33 SUPERVISOR_MESSAGE_WATCHDOG
34 SUPERVISOR_KSI
35 SUPERVISOR_INPUT_1_SWITCH
36 SUPERVISOR_INPUT_2_SWITCH
37 SUPERVISOR_INPUT_3_SWITCH
38 SUPERVISOR_INPUT_4_SWITCH
39 SUPERVISOR_INPUT_5_SWITCH
43 PRIMARY_INPUT_1_SWITCH
44 PRIMARY_INPUT_2_SWITCH
45 PRIMARY_INPUT_3_SWITCH
46 PRIMARY_INPUT_4_SWITCH
47 PRIMARY_INPUT_5_SWITCH

pg. 82 7 — FAULTS, DIAGNOSTICS, AND TROUBLESHOOTING

Return to TOC Curtis Model 1212E – April 2024

8 — CANopen COMMUNICATIONS
The controller is fully CANopen compliant per CiA 301. This chapter describes the controller’s
CANopen features.
Some familiarity with CANopen is a prerequisite. For CANopen information, see the following pages
on the CiA web site:

• Overview: https://www.can-cia.org/canopen/
• Specifications: https://www.can-cia.org/groups/specifications/

BYTE AND BIT SEQUENCE ORDER

CANopen message byte sequences are transmitted with the least significant byte first (Little-
Endian format).
Note: This manual uses the LSB 0 Numbering convention when referring to byte and bit numbers.
For example, the following table shows an SDO that writes the data 04E2h to the object with the
index and sub-index 334C-01h:

0 1 2 3 4 5 6 7
Control Byte Index Sub-index Data
2Bh 4Ch 33h 01h E2h 04h 00h 00h

Strings are read from left to right. The following example shows how the controller transmits an SDO
segment for the string "1212E":

0 1 2 3 4 5 6 7
Control Byte Data
00h 31h = "1" 32h = "2" 31h = "1" 32h = "2" 45h = "E"

Bit sequences are transmitted from most significant to least significant bit (Big-Endian format). The
following example shows how the controller transmits the bits for the value 2Bh:

7 6 5 4 3 2 1 0
0 0 1 0 1 0 1 1

CAN PROGRAMMING CONSIDERATIONS

The following considerations apply when programming the controller:

• When a Curtis programming device is connected, the programmer uses 127 as the node ID.
• When you change parameter values with a Curtis programming device, you do not need to use the
CANopen Store Parameters object (1010h). Instead, the controller saves parameter changes to NVM.

NODE IDs
The controller provides an option for two node IDs, which are configured by the CAN Node ID 1 and
CAN Node ID 2 parameters on the CAN Interface menu. The CAN Node ID 1 parameter indicates
the controller’s primary node ID.

8 — CANopen COMMUNICATIONS pg. 83

Curtis Model 1212E – April 2024 Return to TOC

Some applications, such as dual traction applications, require two CAN nodes. For such applications,
connect a switch to switch input 4 and set the Switch 4 Function parameter to Flex ID. This
configuration enables applications to use either the CAN Node ID 1 or CAN Node ID 2 parameter
value as the node ID, depending upon the state of switch input 4. When switch input 4 is active at
start up, CAN Node ID 2 is used, otherwise CAN Node ID 1 is used.

MESSAGE CAN-IDs
The controller’s CAN messages are identified by 11-bit CAN IDs. The controller does not use 29-bit
CAN IDs.

NMT STATE CONFIGURATION

The Auto Operational parameter indicates whether the controller enters the operational or pre-
operational state when the controller is powered up.
NMT, emergency, SDO, and heartbeat messages are available in both states. PDO messages are
transmitted and received only in the operational state.

EMERGENCY MESSAGES AND FAULTS

The controller transmits an emergency message when a fault is generated or cleared. An emergency
message is sent once per fault.

Emergency Message Format

Emergency messages consist of 8 bytes, which are described in the following table:

Byte(s) Name Description

0–1 Error Code Indicates the fault code and the error category:
Byte 0 indicates the fault code, which is in the following format:
• The four most significant bits contain the fault code’s first digit.
• The four least significant bits contain the fault code's second digit.
For example, if the fault code is 82, the byte’s value would be 82h.
Note: Fault codes are listed in Table 7-1.
Byte 1 indicates one of the following error categories:
• FFh = Active fault
• 00h = Cleared fault
2 Error Register Indicates whether any faults are active on the transmitting device:
• 00h = No active faults
• 01h = At least one active fault
The value equals the value of the least significant bit in the Error
Register object.
3–4 Fault Record Object Index Indicates the CAN index of the Fault Record.
5 Fault Type Indicates the fault's fault type.
6–7 Descriptor Provides additional information about the fault. These bytes are often
used to indicate the fault’s cause.

The following emergency message indicates that a fault with fault code 82 is active. The fault's CAN
index is 2812h and the fault type is 1:
82 FF 01 12 28 01 00 00

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EXPEDITED SDOs
The least significant byte of an expedited SDO is known as the control byte. The following table
describes the control byte fields:

7 6 5 4 3 2 1 0
Command Specifier 0b n e s

The following list describes the control byte:

• The Command Specifier field indicates the SDO’s transfer type:

Transfer Type Value

Write data to a device 001b
Confirm a write 011b
Request data from a device 010b
Device responds with requested data 010b
Abort SDO 100b

• Bit 4 is always 0b.

• The values of bits 0–3 depend upon whether the SDO transfers data. If the SDO does not transfer
data, these bits are always 0b. If the SDO transfers data, the bit values are as follows:
– n indicates the number of unused data bytes.
– e = 1b, which indicates the message contains data.
– s = 1b, which indicates that the n field specifies the number of unused data bytes.

The following table lists the control byte values for the various transfer types:

Transfer Type Control Byte

Write data to a device Depends upon the data size:
• 1 byte = 2Fh
• 2 bytes = 2Bh
• 3 bytes = 27h
• 4 bytes = 23h
Confirm a write 60h
Request data from a device 40h
Device responds with requested data Depends upon the data size:
• 1 byte = 4Fh
• 2 bytes = 4Bh
• 3 bytes = 47h
• 4 bytes = 43h
Abort SDO 80h

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PDOs
The controller provides two preconfigured RPDOs and two preconfigured TPDOs:

• RPDO1, TPDO1, and TPDO2 are preconfigured to communicate with a CAN tiller head.
• RPDO2 is preconfigured to receive data transmitted by a battery monitoring system (BMS).

If the application does not require these preconfigured functions, the PDOs can be mapped to other
CAN objects. The following topics describe the controller’s PDOs.

PDO Timing
The controller's PDOs are asynchronous and are periodically transmitted and received. The controller
does not support synchronous PDOs.
A PDO's Event Time parameter indicates when the PDO transmits or expects to receive data:
• A TPDO transmits periodically using the specified time interval. A TPDO also transmits data
when the value of a mapped object changes.
• A PDO Timeout fault occurs if an RPDO does not receive data before its Event Time expires.

PDO Mapping Objects

The objects for which a PDO transfers data are specified with the sub-indexes of the PDO's mapping
object. Each sub-index specifies a CAN object's index, sub-index, and data length.
The following table describes the mapping objects’ sub-indexes:

Sub-Index Description PDO Mapping Menu Parameter

00h Indicates the number of objects for which the PDO Length
transfers data.
01h–08h Each sub-index specifies a CAN object that is mapped Map 1 through Map 8
to the PDO. The bytes specify the CAN object's index,
sub-index, and length.

The mapped objects consist of four data bytes, which are described in the following table:

Table 8-1 Mapped PDO Bytes

Byte(s) Description

0 The size of the object's data, in bits. The allowed values are:
• 08h (8 bits)
• 10h (16 bits)
• 18h (24 bits)
• 20h (32 bits)
The controller does not support mapping of individual bits.
1 The object’s sub-index.
2–3 The object’s index.

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PDO Data Bytes

A PDO transfers a maximum of 8 data bytes. The order of the bytes corresponds to the order of the
PDO's mapped objects.
For example, consider the following PDO map, which contains two 8-bit objects:

Suppose the PDO transmits the following data:

82h 04h
The least significant byte transfers the data (82h) for the object specified with the Map 1 parameter,
and the next byte transfers the data for the second mapped object.

Map CAN Objects to a PDO

Take the following steps to use a Curtis programming device to map CAN objects to a PDO.
Note: The screen shots are from CIT.
1. Send an NMT message that changes the device to the Pre-operational state.
2. Disable the PDO by changing the COB-ID's most significant bit to 1.
3. Change the Length parameter to 0.
The following example shows the disabled PDO:

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4. For each object to be mapped, specify the object’s data in a Map n parameter. The data is
described in Table 8-1.
5. Set the Length parameter to the number of mapped objects.
6. Enable the PDO by changing its COB-ID's most significant bit to 0.

The following example shows the enabled PDO, which now contains three mapped objects:

7. Send an NMT message that changes the device to the Operational state.

CAN Tiller Head (RPDO1, TPDO1, TPDO2)

RPDO1, TPDO1, and TPDO2 are preconfigured to communicate with a CAN tiller head:

• RPDO1: Receives messages from the tiller head.

• TPDO1: Transmits data for switch statuses, driver states, the hour meter, and the Analog 1
input’s voltage.
• TPDO2: Transmits data describing active faults and the Analog 2 input’s voltage.

The following tables describe the objects with which these PDOs are preconfigured.
Note: For information on configuring CAN inputs, see I/Os.

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Table 8-2 RPDO1 Data

Byte(s) Description

0–1 Switch commands from the tiller head. The switches are represented by
the following bits, with 0 = inactive and 1 = active:
• 0 = Reverse switch
• 1 = Forward switch
• 2 = Mode switch
• 3 = Belly button switch
• 4 = Lift switch
• 5 = Lower switch
• 6 = Creep mode switch
• 7 = Push switch (Reserved)
• 8 = Interlock switch
• 9 = Horn switch
• 10 = Lift Lockout switch
• 11 = Inhibit switch
• 12 = Inching forward switch
• 13 = Inching reverse switch
2–3 The throttle request. The CAN Throttle Min and CAN Throttle Max
parameters specify the allowed data range.
4–5 Reserved.
6–7 The CAN steering angle. The angle can be −90.0° to 90.0°. The CAN
data range is −16384 to 16383.

Table 8-3 TPDO1 Data

Byte(s) Description

0–1 The controller’s switch statuses. The switches are represented by the
following bits, with 0 = inactive and 1 = active:
• 0 = Charger inhibit switch
• 1 = Emergency reverse NO switch
• 2 = Mode switch
• 3 = Interlock switch
• 4 = Creep mode switch
• 5 = Reverse switch
• 6 = Forward switch
• 7 = Flexible switch input 1
• 8 = Flexible switch input 2
• 9 = Flexible switch input 3
• 10 = Flexible switch input 4
• 11 = Flexible switch input 5
• 12 = Lift inhibit switch
• 13 = Lift driver state
• 14 = Lower driver state
2–3 The Analog 1 input’s voltage. The voltage ranges from 0–20.00V. The
CAN data range is 0–2000.
4–7 The time that has elapsed since the hour meter was last set to 0.
The time ranges from 0.0–999999.9 hours. The CAN data range is
0–9999999.

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Table 8-4 TPDO2 Data

Byte(s) Description

0 Indicates the fault code, which is in the following format:

• The 4 most significant bits indicate the fault code’s first digit.
• The 4 least significant bits indicate the fault code’s second digit.
For example, if the fault code is 82, the byte’s value would be 82h.
1 Indicates the fault type.
2–3 The Analog 2 input’s voltage. The voltage ranges from 0–20.00V. The
CAN data range is 0–2000.

BMS (RPDO2)
RPDO2 is preconfigured to receive messages transmitted by a BMS. The BMS Node ID parameter
specifies the BMS’s node ID. The timeout interval for receiving BMS messages is specified with the
BMS PDO Timeout parameter. If the timeout expires, a PDO Timeout (Type 5) fault occurs.
The following table describes the objects with which RPDO2 is preconfigured.

Table 8-5 RPDO2 Data

Byte(s) Description

0–3 Reserved.
4 The state-of-charge, which ranges from 0–100%. The CAN data range is
0–255.
5 Bit 0 specifies the charging status. When charging is active, traction, lift
and lower functions are inhibited.
The other bits are reserved.
6 Bits that indicate the BMS’s fault action status, with 0 = off and 1 = on:
• 0 = Warning (no action)
• 1 = Lift lockout. When on, the lift is inhibited.
• 2=C  utback. When on, the maximum speed is reduced to the
speed specified by the Low BDI Max Speed parameter and the
current limit is reduced by 50%.
• 3=C  utoff. When this bit is 1, traction, lift, and lower are inhibited.
The other bits are reserved.
Note: If any of bits 1–3 are on, the controller generates a BMS fault.
7 The BMS temperature, which ranges from −100°C to 155°C. The CAN
data range is 0–255.

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STANDARD CANopen OBJECTS

The following table describes considerations for Curtis’s implementation of some of the standard
CANopen objects:
Note: The controller supports all CANopen objects required by CiA 301, not just the objects discussed
in the following table.

Name Index Description

Error Register 1001h Indicates if a fault is active:
0 = No active fault
1 = One or more active faults
Error History 1003h See Error History Object (1003h).
Inhibit Time EMCY 1015h This object is represented by the Emergency Message
Rate parameter.
Producer Heartbeat Time 1017h This object is represented by the Heartbeat Rate parameter.
Identity Object 1018h Provides information on the controller. The following list
describes the sub-indexes:
• 00h: The size of the object.
• 01h: The CiA-assigned identifier of Curtis Instruments,
which is 4349h.
• 02h: The controller’s product code.
• 03h: The controller’s Curtis CAN protocol version. The
upper 2 bytes contain the major version and the lower 2
bytes contain the minor version.
• 04h: The controller’s serial number.

Error History Object (1003h)

The CANopen Error History object at index 1003h provides data on the four most recently detected
faults. The sub-indexes correspond to the order in which the faults occurred. Sub-index 01h records
the most recent fault, sub-index 02h records the second most recent fault, etc.
The fault data consists of four bytes, which are described in the following table:

Byte(s) Description

0–1 Contains an error category and the fault code:

Byte 0 indicates the fault code, which is in the following format:
• The 4 most significant bits indicate the fault code’s first digit.
• The 4 least significant bits indicate the fault code’s second digit.
For example, if the fault code is 82, the byte’s value would be 82h.
Byte 1 indicates the error category, which will be one of the following:
• FFh = Active fault
• 00h = All faults are cleared
2–3 Indicates how many hours after the hour meter was last set to 0 that the
fault occurred.

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EM BRAKE OVERRIDE OBJECT

If the EM Brake Type parameter specifies EM Brake Disable, the controller’s EM brake function can
be controlled by the EM Brake Override object:

Values
CAN Index Data Size
Raw Values
0x340B:00 0–100% 32-bit
0–255

BDI PERCENTAGE OBJECT

If the BDI Source parameter specifies CAN BDI, the BDI data is received by the BDI
Percentage object:

Values
CAN Index Data Size
Raw Values
0x33AF:00 0–100% 8-bit
0–100

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9 — COMMISSIONING
After you have wired and configured the I/Os, use the following topics to configure the throttle,
system resistance, minimum and maximum speeds, and acceleration and deceleration rates.

TUNE THE THROTTLE

It is important to tune the throttle so that it operates over the throttle’s full range. When you tune the
throttle, include a buffer around the absolute full range of the throttle mechanism. This will allow
for throttle resistance variations over time and temperature and for variations in the tolerance of
potentiometer values between individual throttle mechanisms.
Take the following steps to configure the throttle so that it is compatible with your vehicle’s
requirements:
Step 1. Prepare the Vehicle
Step 2. Tune the Deadband
Step 3. Tune the Throttle Demand
Step 4. Confirm Throttle Operation
Step 5. Verify the Vehicle’s Configuration
To program the parameters to which this chapter refers, use the Curtis Integrated Toolkit or the 1313
Handheld Programmer.

Step 1 Prepare the Vehicle

Take the following steps before tuning the throttle.

CAUTION It is critical that you perform these steps.

1. Jack the vehicle drive wheels up off the ground so that they spin freely.
2. Make sure the vehicle is stable.
3. Double-check all wiring to ensure that it is consistent with the wiring guidelines. See Installation,
Wiring, and I/O Configuration.
4. Make sure all connections are tight.
5. Put the throttle in neutral.
6. Turn off the forward/reverse switches.
7. Turn on the controller.

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Step 2 Tune the Deadband

Check whether the throttle’s deadband range provides a good balance. The deadband should be wide
enough for the throttle to return to neutral when released, but also should not allow an excessive
amount of travel in the neutral zone.
If the deadband needs tuning, perform the following steps.
1. Select Programming » Throttle.
2. Adjust the Forward Deadband as follows:
• If the throttle travels too far when starting out of neutral before the brake disengages,
decrease the Forward Deadband value.
• If the brake sometimes doesn’t engage when the throttle is returned to neutral, increase the
Forward Deadband value.
3. If a wigwag throttle assembly is being used, repeat the previous step using the Reverse Deadband
parameter; otherwise, set Reverse Deadband to the same value as Forward Deadband.

Step 3 Tune the Throttle Demand

Take the following steps to ensure the controller output is 100% when full throttle is applied:
1. Select Monitor » Controller.
2. Apply full throttle and observe the Throttle Demand value. This value should be 100% at full
throttle. If the Throttle Demand value is less than 100%, perform the following steps:
2.1. Select Programming » Throttle.
2.2. Decrease the Forward Max value.
2.3. Select Monitor » Controller.
2.4. Apply full throttle and observe the Throttle Demand value.
2.5. If the value is less than 100%, repeat these steps until the value is 100%.
3. Slowly reduce the throttle until the Throttle Demand value drops below 100%, then note the
throttle position.
The throttle position represents the extra range of motion allowed by the throttle mechanism.
You can increase the throttle’s active range and provide more vehicle control by taking the
following steps.
3.1. Select Programming » Throttle.
3.2. Increase the Forward Max value.
3.3. Select Monitor » Controller.
3.4. Slowly reduce the throttle until the Throttle Demand value drops below 100%, then note
the throttle position.
3.5. Repeat this step until you are satisfied with the throttle’s active range.
4. If a wigwag throttle is being used, repeat these steps using the Reverse Max parameter; otherwise,
set Reverse Max to the same value as Forward Max.

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Step 4 Confirm Throttle Operation

To confirm the throttle is operating correctly, select a direction and operate the throttle. The motor
should rotate in the direction you selected. If it does not, verify the wiring to the throttle and motor.
The motor should run proportionally faster with increasing throttle. If not, use the Throttle menu
to adjust the throttle parameters.

Step 5 Verify the Vehicle’s Configuration

Take the following steps to verify that critical parameters are correctly set.
1. Select Monitor » Inputs.
2. Cycle each switch and make sure that the switch state changes from on to off.
3. Apply the throttle, then verify that the Throttle Demand parameter changes.
4. Verify that you’ve correctly set the functions meeting the vehicle’s requirements, such as
emergency reverse, HPD, and so on.
5. After you have validated the parameter settings, lower the vehicle drive wheels onto the ground.

SET THE SYSTEM RESISTANCE

It is critical to set the System Resistance parameter accurately. To do so, take the following steps.
Note: Perform these steps quickly and with the motor cold. A warm motor will result in incorrect
settings. If you need to repeat these steps, allow the motor to completely cool.
1. Position the vehicle up against an immovable object such as a wall or high curb.
2. Turn on the keyswitch.
3. Select Programming » Current » Boost.
4. Set Boost Enable to Off.
5. Select Programming » Current.
6. Set the Drive Current Limit parameter to 35A.
7. Select Monitor » Motor.
8. Apply full throttle in the forward direction, driving the vehicle against the immovable object.
9. Note the Motor Resistance Measured parameter’s value.
10. Repeat steps 8 and 9 three more times.
11. Select Programming » Motor.
12. Set the System Resistance parameter to the average of the four Motor Resistance Measured
values.
13. Before tuning the vehicle, reset the following parameters to their original values:
• Drive Current Limit
• Boost Enable

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TUNE VEHICLE PERFORMANCE

You can customize many aspects of vehicle performance by configuring the controller’s parameters.
Once you have tuned a vehicle system, you can make the parameter values standard for that system
or vehicle model.

If the system’s motor, vehicle drive system, or controller changes, you must retune the
CAUTION system to provide optimum performance.

Take the following steps to tune vehicle performance:

Step 1. Set the Maximum and Minimum Speeds.
Step 2. Set the Acceleration and Deceleration Rates.
It is important to perform these steps in order, because each step builds upon the previous steps.

Step 1 Set the Maximum and Minimum Speeds

For each speed mode, you can configure maximum and minimum speeds for both the forward and
reverse directions. Use the following parameters to define the maximum and minimum speeds. For
information on these parameters, see Mode 1 and Mode 2 Menus:

• Fwd Max Speed

• Rev Max Speed
• Fwd Min Speed
• Rev Min Speed

Each of these speeds is programmed as a percentage of the motor’s maximum speed.

Step 2 Set the Acceleration and Deceleration Rates

The controller’s acceleration and deceleration features provide smooth throttle response when
maneuvering at low speeds and snappy throttle response when traveling at high speeds. For more
information, see Low and High Speed Acceleration Rates.
To configure your vehicle’s acceleration and deceleration rates, take the following steps.
1. Select Programming » Speed Mode.
2. Set the Low Speed parameter to the percentage of motor speed at or below which the controller
should apply the low speed acceleration rate.
3. Set the High Speed parameter to the percentage of motor speed at or above which the controller
should apply the high speed acceleration rate.
4. Perform the following steps:
4.1. Select the Mode 1 menu.
4.2. Set the Full Accel Rate LS parameter to the rate at which the vehicle should accelerate
when full throttle is applied while the vehicle is traveling at low speed.
4.3. Drive the vehicle at a low speed, then apply full throttle. Adjust Full Accel Rate LS until
you are satisfied with the vehicle’s low speed acceleration.
For low speed testing, we recommend that you drive in a confined area such as an office
where low speed maneuverability is crucial.

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4.4. Set the Neutral Decel Rate LS parameter to the rate at which the vehicle should decelerate when
the throttle is released to neutral at low speeds.
4.5. Drive the vehicle at a low speed, then release the throttle to neutral. Adjust Neutral Decel Rate LS
until you are satisfied with the vehicle’s low speed deceleration.
4.6. Set the Full Accel Rate HS parameter to the rate at which the vehicle should accelerate when full
throttle is applied at high speeds.
4.7. Drive the vehicle at a high speed, then apply full throttle. Adjust Full Accel Rate HS until you are
satisfied with the vehicle’s high speed acceleration.
4.8. Set the Neutral Decel Rate HS parameter to the rate at which the vehicle should decelerate when
the throttle is released to neutral at high speeds.
4.9. Drive the vehicle at a high speed, then release the throttle to neutral. Adjust Neutral Decel Rate
HS until you are satisfied with the vehicle’s high speed deceleration.
4.10. Select the Mode 2 menu.
4.11. Repeat steps 4.2 through 4.9.

The following list describes additional functions that might require tuning:
• Use the Forward Map and Reverse Map parameters to adjust the relationship between the throttle
input and acceleration rate. By default, the throttle input and acceleration rate have a linear
relationship. Some applications require adjusting this relationship. For more information, see Throttle
Response Parameters.
• You can extend the throttle’s gentle acceleration range to further enhance maneuverability in confined
areas. For more information, see Low and High Speed Acceleration Rates.

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10 — MAINTENANCE
There are no user-serviceable parts in the controller. Do not attempt to open, repair, or otherwise
modify the controller. Doing so may damage the controller and will void the warranty.
It is recommended that the controller’s fault history be checked and cleared periodically as part of
routine vehicle maintenance.

DIAGNOSTIC HISTORY
You can use a Curtis programming device to access the controller’s fault history. The programming
device shows the faults that have occurred since the fault history was last cleared. The faults may be
intermittent faults, faults caused by loose wires, or faults caused by operator errors. Faults such as
HPD or overtemperature may be caused by operator habits or by overloading.
After a problem has been diagnosed and corrected, clearing the fault history is recommended. This
allows the controller to accumulate a new fault history.

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APPENDIX A — VEHICLE DESIGN

CONSIDERATIONS REGARDING
ELECTROMAGNETIC COMPATIBILITY (EMC)

Electromagnetic compatibility (EMC) encompasses two areas: emissions and immunity. Emissions
are radio frequency (RF) energy generated by a product. This energy has the potential to interfere
with communications systems such as radio, television, cellular phones, dispatching, aircraft, etc.
Immunity is the ability of a product to operate normally in the presence of RF energy.
EMC is ultimately a system design issue. Part of the EMC performance is designed into or inherent
in each component; another part is designed into or inherent in end product characteristics such as
shielding, wiring, and layout; and, finally, a portion is a function of the interactions between all these
parts. The design techniques presented below can enhance EMC performance in products that use
Curtis motor controllers.

EMISSIONS
Signals with high frequency content can produce significant emissions if connected to a large enough
radiating area (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
waveforms can be minimized by making the wires from the controller to the contactor or motor as
short as possible and by placing the wires near each other (bundle contactor wires with Coil Return;
bundle motor wires separately).
For applications requiring very low emissions, the solution may involve enclosing the controller,
interconnect wires, contactors, and motor together in one shielded box. Emissions can also couple
to battery supply leads and throttle circuit wires outside the box, so ferrite beads near the controller
may also be required on these unshielded wires in some applications. It is best to keep the noisy
signals as far as possible from sensitive wires.

IMMUNITY
Immunity to radiated electric fields can be improved either by reducing overall circuit sensitivity
or by keeping undesired signals away from this circuitry. The controller circuitry itself cannot be
made less sensitive, since it must accurately detect and process low level signals from sensors such
as the throttle potentiometer. Thus immunity is generally achieved by preventing the external RF
energy from coupling into sensitive circuitry. This RF energy can get into the controller circuitry via
conducted paths and radiated paths.
Conducted paths are created by the wires connected to the controller. These wires act as antennas
and the amount of RF energy coupled into them is generally proportional to their length. The RF
voltages and currents induced in each wire are applied to the controller pin to which the wire is
connected. Curtis controllers include bypass capacitors on the printed circuit board’s throttle wires
to reduce the impact of this RF energy on the internal circuitry. In some applications, additional
filtering in the form of ferrite beads may also be required on various wires to achieve desired
performance levels.

APPENDIX A — VEHICLE DESIGN CONSIDERATIONS REGARDING EMC pg. 99

Curtis Model 1212E – April 2024 Return to TOC

Radiated paths are created when the controller circuitry is immersed in an external field. This
coupling can be reduced by placing the controller as far as possible from the noise source or by
enclosing the controller in a metal box. Some Curtis controllers are enclosed by a heatsink that also
provides shielding around the controller circuitry, while others are partially shielded or unshielded.
In some applications, the vehicle designer will need to mount the controller within a shielded box on
the end product. The box can be constructed of just about any metal, although steel and aluminum
are most commonly used.
Most coated plastics do not provide good shielding because the coatings are not true metals, but
rather a mixture of small metal particles in a non-conductive binder. These relatively isolated particles
may appear to be good based on a DC resistance measurement but do not provide adequate electron
mobility to yield good shielding effectiveness. Electroless plating of plastic will yield a true metal and
can thus be effective as an RF shield, but it is usually more expensive than the coatings.
A contiguous metal enclosure without any holes or seams, known as a Faraday cage, provides the
best shielding for the given material and frequency. When a hole or holes are added, RF currents
flowing on the outside surface of the shield must take a longer path to get around the hole than if
the surface was contiguous. As more “bending” is required of these currents, more energy is coupled
to the inside surface, and thus the shielding effectiveness is reduced. The reduction in shielding is a
function of the longest linear dimension of a hole rather than the area. This concept is often applied
where ventilation is necessary, in which case many small holes are preferable to a few larger ones.
Applying this same concept to seams or joints between adjacent pieces or segments of a shielded
enclosure, it is important to minimize the open length of these seams. Seam length is the distance
between points where good ohmic contact is made. This contact can be provided by solder, welds, or
pressure contact. If pressure contact is used, attention must be paid to the corrosion characteristics
of the shield material and any corrosion-resistant processes applied to the base material. If the ohmic
contact itself is not continuous, the shielding effectiveness can be maximized by making the joints
between adjacent pieces overlapping rather than abutted.
The shielding effectiveness of an enclosure is further reduced when a wire passes through a hole in
the enclosure; RF energy on the wire from an external field is re-radiated into the interior of the
enclosure. This coupling mechanism can be reduced by filtering the wire where it passes through
the shield boundary. Given the safety considerations involved in connecting electrical components to
the chassis or frame in battery powered vehicles, such filtering will usually consist of a series inductor
(or ferrite bead) rather than a shunt capacitor. If a capacitor is used, it must have a voltage rating and
leakage characteristics that will allow the end product to meet applicable safety regulations.
The B+ (and B–, if applicable) wires that supply power to a control panel should be bundled with the
other control wires to the panel so that all these wires are routed together. If the wires to the control
panel are routed separately, a larger loop area is formed. Larger loop areas produce more efficient
antennas which will result in decreased immunity performance.
Keep all low power I/O separate from the motor and battery leads. When this is not possible, cross
them at right angles.

pg. 100 APPENDIX A — VEHICLE DESIGN CONSIDERATIONS REGARDING EMC

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APPENDIX B — EN 13849 COMPLIANCE

Since January 1, 2012, conformance to the European Machinery Directive has required that the Safety
Related Parts of the Control System (SRPCS) be designed and verified upon the general principles
outlined in EN 13849. EN 13849 supersedes the EN 954 standard and expands upon it by requiring
the determination of the safety Performance Level (PL) as a function of Designated Architecture plus
Mean Time To Dangerous Failure (MTTFd), Common Cause Faults (CCF), and Diagnostic Coverage
(DC). These figures are used by the OEM to calculate the overall PL for each of the safety functions
of their vehicle or machine.
The OEM must determine the hazards that are applicable to their vehicle design, operation, and
environment. Standards such as EN 13849-1 provide guidelines that must be followed in order to
achieve compliance. Some industries have developed further standards (called Type-C standards) that
refer to EN 13849 and specifically outline the path to regulatory compliance. EN 1175 is a Type-C
standard for battery-powered industrial trucks. Following a Type-C standard provides a presumption
of conformity to the Machinery Directive.
Curtis controllers comply with these directives using advanced active supervisory techniques.
The controller is designed to the requirements of EN 13849-1:2015. To mitigate the hazards
typically found in machine operations, EN 13849-1:2015 requires that safety functions be
defined; these must include all the input, logic, outputs, and power circuits that are involved in
any potentially hazardous operation.
Curtis has analyzed each safety function and calculated its Mean Time To Dangerous Failure (MTTFd)
and Diagnostic Coverage (DC), and designed them against Common Cause Faults (CCF). The safety-
related performance of the controller is summarized in the following table:

Table B-1 Safety Functions

Diagnostic MTTFd
Safety Function PL Category CCF
Coverage (years)
Traction Motor Speed Limitation c 2 >60.0% >100 Pass
Deviation from setpoint (LHS) — DC
c 2 >60.0% >100 Pass
Pump
E-Stop Direct Disconnect c 1 0.0% >100 Pass
EM Brake Control c 2 >60.0% >100 Pass
Emergency Reverse c 2 >60.0% >100 Pass
Hazardous Movement — From Rest c 2 >60.0% >100 Pass
Hazardous Movement — While
c 2 >60.0% >100 Pass
Moving
Hydraulic HPD/SRO c 2 >60.0% >100 Pass
Interlock Braking c 2 >60.0% >100 Pass
Throttle HPD/SRO c 2 >60.0% >100 Pass
Battery Charging c 2 >60.0% >100 Pass
Automatic Restoration of Drive
c 2 >60.0% >100 Pass
System Protection

APPENDIX B — EN 13849 COMPLIANCE pg. 101

Curtis Model 1212E – April 2024 Return to TOC

EN 1175 specifies that traction and hydraulic electronic control systems must use Designated
Architecture 2 or greater. This design employs input, logic, and output circuits that are monitored
and tested by independent circuits and software to ensure a high level of safety performance (up
to PL=c).
Mean Time To Dangerous Failure (MTTFd) is related to the expected reliability of the safety related
parts used in the controller. Only failures that can result in a dangerous situation are included in
the calculation.
Diagnostic Coverage (DC) is a measure of the effectiveness of the control system’s self-test and
monitoring measures to detect failures and provide a safe shutdown.
Common Cause Faults (CCF) are so named because some faults within a controller can affect
several systems. EN 13849-1:2015 provides a checklist of design techniques that should be followed
to achieve sufficient mitigation of CCFs. All circuits used by a safety function must be designed in
such a way as to score 65 or better on the CCF score sheet as provided by EN 13849-1:2015, table F.1.
Performance Level (PL) categorizes the quality or effectiveness of a safety channel to reduce the
potential risk caused by dangerous faults within the system with “a” being the lowest and “e” being
the highest achievable performance.
Contact Curtis technical support for more details.

pg. 102 APPENDIX B — EN 13849 COMPLIANCE

Return to TOC Curtis Model 1212E – April 2024

APPENDIX C — CURTIS
PROGRAMMING DEVICES

Curtis programming devices provide programming, diagnostic, and test capabilities for Curtis CAN
devices. Two programming devices are available for the controller:

• 1313 Handheld Programmer

• Curtis Integrated ToolkitTM (CIT)

CIT has the advantage of a large, easy-to-read screen. On the other hand, the 1313 Handheld
Programmer is more portable, which makes it convenient for working in the field.
The programming devices include the following features:
• Parameter adjustment. Save and restore the values of programmable parameters.
• Monitoring: Display real-time values during vehicle operation. These values include data for
inputs and outputs.
• Diagnostics and troubleshooting: Display active faults and the fault history, and allow users to
clear the fault history.
• Flashing: Update firmware of Curtis devices.

The programmers are available for the following access levels. The bullets are sorted from the highest
to lowest access level:

• OEM Factory
• OEM Dealer
• Field Advanced
• Field Intermediate
• Field Basic

A Curtis programmer can perform the actions available at or below its access level. For example, a
Field Basic programmer can only perform actions available for the Field Basic access level, while an
OEM Factory programmer can perform all actions available for any of these access levels.
The following example shows the Current menu in the CIT Programmer application. You can view
or edit a parameter by selecting it on the left-hand side. You can also view and edit all of a menu’s
parameters in one window by selecting the menu as shown below:

APPENDIX C — CURTIS PROGRAMMING DEVICES pg. 103

Curtis Model 1212E – April 2024 Return to TOC

The following example shows the same menu in the Curtis 1313 Handheld Programmer:

To edit a parameter with the 1313 Handheld Programmer, select the parameter:

For more information on the 1313 Handheld Programmer and CIT, see
https://www.curtisinstruments.com/products/programming/.

pg. 104 APPENDIX C — CURTIS PROGRAMMING DEVICES

Return to TOC Curtis Model 1212E – April 2024

APPENDIX D — SPECIFICATIONS

Nominal Input Voltage 24V

Minimum Voltage 16.8V
Maximum Voltage 30V
Electrical Isolation to Heatsink 500 VAC (minimum)
Storage Ambient Temperature −40°C to 85°C
Operating Ambient Temperature −40°C to 50°C
Thermal Cutback The controller linearly reduces the maximum current limit when the internal heatsink
temperature is between 80°C and 95°C; complete cutoff occurs above 95°C and below
–40°C.
Design Life 8000 hours
Ingress Protection Electronics sealed to IP65 per IEC 60529 (connectors can optionally be sealed to IP54).
Weight 0.5 kg
Dimensions (W × L × H) 75 mm × 135 mm × 45 mm
Mounting 2x ø5.0 mm
Power Connections 4x M4x0.7
EMC Designed to the requirements of EN 12895:2015+A1:2019
Safety Designed to the requirements of EN 1175:2020 and EN 13849-1:2015
UL UL recognized component per UL583.
TÜV TÜV certified. Certificate number AK 50624859 0001.

Note: Regulatory compliance of the complete vehicle system with the controller installed is the responsibility of the vehicle OEM.

Table D-1 Model Chart

10 Second 2 Minute 1 Hour

Model Nominal Voltage
Current Rating Current Rating Current Rating
1212E-25XX 24V 90A 50A 20A
The current ratings are based on mounting the controller on an aluminum plate (180 mm x 200 mm x 8 mm). The initial heatsink temperature is 25°C.
The motor current is held at the rating being tested for a minimum of 120% of the rated time before thermal limiting begins. The current ratings have a
5%/5A error tolerance.

APPENDIX D — SPECIFICATIONS pg. 105