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Curtis 1353 User Manual

Canopen expansion module
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Manual
Model 1353
CANopen Expansion Module
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2017 Curtis Instruments, Inc. ® Curtis is a registered trademark of Curtis Instruments, Inc.
© The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc.
53053, Rev F June 2017

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Summary of Contents for Curtis 1353

  • Page 1 Specifications are subject to change without notice. © 2017 Curtis Instruments, Inc. ® Curtis is a registered trademark of Curtis Instruments, Inc. © The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc. 53053, Rev F June 2017...

  • Page 2: Table Of Contents

    PARAMETER PROFILE OBJECTS ....................MONITOR OBJECTS ........................6: DIAGNOSTICS AND TROUBLESHOOTING ..................FAULT LOG ........................... 7: SERIAL COMMUNICATIONS & PROGRAMMING ................PROGRAM MENUS ........................MONITOR MENUS ........................FAULT MENU ..........................pg. ii Curtis 1353 CANopen Expansion Module Manual – June 2017...
  • Page 3 ELECTROMAGNETIC COMPATIBILITY (EMC) .................. ELECTROSTATIC DISCHARGE (ESD) ....................APPENDIX B: PROGRAMMING DEVICES ....................PC PROGRAMMING STATION (1314) ..................... HANDHELD PROGRAMMER (1313) ....................PROGRAMMER FUNCTIONS ......................APPENDIX C: SPECIFICATIONS ......................pg. iii Curtis 1353 CANopen Expansion Module Manual – June 2017...
  • Page 4 Table C-1 Specifications: 1353 Module ....................FIGURES Figure 1: Curtis 1353 CANopen expansion module ................Figure 2: Mounting dimensions ......................Figure 3: Basic wiring diagram ......................Figure 4: Application example ......................pg. iv Curtis 1353 CANopen Expansion Module Manual – June 2017...

  • Page 5: 1: Overview

    It can be used on internal combustion engines and electric vehicles. The 1353 can extend the I/O capabilities of the Curtis VCL-driven system and enhance the systems that use Curtis AC controllers by providing additional I/O. Although the 1353 has specific features...

  • Page 6: Descriptions Of Key Features

    DESCRIPTIONS OF KEY FEATURES High Frequency Driver Outputs The 1353 contains nine identical output drivers. These drivers can sink up to 3 amps each through an inductive load, with the total current limited to 18 A. Internal flyback diodes to B+ prevent voltage spikes.
  • Page 7 B+. Voltage Analog Inputs The 1353 has six analog inputs that are scaled to read 0 – 15 volts. The analog channels are read by a 12-bit ADC, resulting in about 3.66 millivolt resolution. Independently adjustable filters ensure a smooth signal.

  • Page 8: 2: Installation And Wiring

    2 — INSTALLATION AND WIRING MOUNTING THE MODULE The outline and mounting hole dimensions for the 1353 module are shown in Figure 2. The module should be mounted using two #10 or M5 screws. Care should be taken to prevent contaminating the connector area before the mating 23-pin CAUTION connector is installed.
  • Page 9 You will need to take steps during the design and development of your end product to ensure that its EMC performance complies with applicable regulations; suggestions are presented in Appendix A. The 1353 contains ESD-sensitive components. Use appropriate precautions in connecting, disconnecting, and handling the module. See installation suggestions in Appendix A for protecting the module from ESD damage.

  • Page 10: Connections

    CAN wiring should be kept away from the high current cables and cross it at right angles when necessary. If the 1353 is at the end of the CANbus, the bus needs to be terminated by externally wiring a 120Ω ½W resistor across CAN High and CAN Low.

  • Page 11: Table 1 Connector Pinout

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC Table 1 Connector Pinout Name Description Battery positive. Battery negative. +5 V Regulated low power +5 V output. I/O GND Input and output ground reference. Analog Input 4 / Encoder 2B Voltage or Resistive Input4 &...

  • Page 12: Wiring: Basic Configuration

    The return path of the coils is also brought back to the B+ pin to utilize the flyback diodes connected inside the 1353 between B+ and each driver output.
  • Page 13 The 1353 has an internal 1 kΩ bus termination resistor. This internal impedance matches the system requirements for a mid-line connection or short stub connection. If the 1353 is to be used at the end of the CANbus, an external 120 Ω ½W resistor must be added externally across the CAN H and CAN L lines at or near the module to provide proper termination.

  • Page 14: Wiring: Application Example

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC WIRING: APPLICATION EXAMPLE The wiring diagram in Figure 4 provides an example of proportional valve control for an electric forklift. REVERSE POLARITY KEYSWITCH PROTECTION LIFT-UP VALVE J1-23 INPUT/OUTPUT 1...

  • Page 15: Input/Output Signal Specifications

    • CANbus interface Driver Outputs The 1353 contains nine identical driver outputs. These outputs have all the features necessary to drive proportional valves as well as many other inductive and non-inductive loads. A variable amount of dither (fixed frequency command “jitter”) can be added to the PWM to prevent proportional valves from sticking in place.
  • Page 16 If the driver outputs are connected to inductive loads, the coil should have a return line to the B+ pin of the 1353. This connection provides a path for the internal freewheel diodes to clamp the turn-off spike. Failure to make this connection with inductive loads can cause permanent damage to the 1353 as well as propagate failures of other electronics in the system due to the high voltage spike caused when an inductive load turns off without a freewheel path.
  • Page 17 Return to TOC Analog Inputs The 1353 has four or six 0 – 15 V analog inputs, depending on the model. These inputs are scaled down by 5.76, clamped to 3.3 V, and read by a 12-bit ADC internal to the MCU.
  • Page 18 B- connections (Pins 2, 9). Since the 1353’s nine drivers can sink a maximum combined load of 18 A, you will need to determine the application’s maximum total loading on B-. To prevent the pin from overheating, the proper wire gauge must be used and, if the load is greater than 9 A, both B- pins connections are required.

  • Page 19: 3: Canopen Communications

    Stopped Operational When the 1353 powers up, it goes to the Initialization state; this is also known as the Boot-up state. No CAN communications from the 1353 are transmitted in this state although the 1353 listens to the CANbus. When the 1353 has completed its startup and self-tests, it issues an initialization heartbeat message and automatically goes to the Pre-Operational state.
  • Page 20 Return to TOC If the master sends a Stop NMT command or the 1353 detects an internal fault, the 1353 will go to the Stopped state. In the Stopped state the 1353 will listen for NMTs and produce its heartbeat message only.
  • Page 21 Return to TOC Changes to the node ID require an NMT reset or KSI cycle. 1353 will issue “Node ID Source Fault” when Node ID Source is set with conflict. The following table describes the detail for each source. Node ID Source Description Input/Output1 isn’t set to input mode.

  • Page 22: Nmt Messages

    NMT (Network Management Transmission) messages are the highest priority message available. The NMT message puts the 1353 into a specific device state. These messages have 2 bytes of data sent by the master; the slave does not respond with any data to an NMT.

  • Page 23: Emergency Messages

    The heartbeat message is a very low priority message, periodically sent by each slave device on the bus. The heartbeat message has a single byte of data and requires no response. Once the 1353 is in the Pre-Operational state, the next heartbeat will be issued and will continue until communication is stopped.

  • Page 24: 4: Pdo Communications

    PDO Timeout. If the PDO-MOSI is not received within the programmed time, the 1353 will flag a fault and disable all output drivers. If the PDO Timeout parameter is set to 0, the timeout fault is disabled and the 1353 will respond to any PDO incoming at any rate without faulting.
  • Page 25 LSB. The upper 2 bits are unused and set to 0. If the input is above the High Threshold (set using a Curtis programmer or an SDO) the bit will be set to 1. If the input is below the Low Threshold, it will be set to 0.
  • Page 26 Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC RPM type In this type, PDO will send the RPM value (unit in revolutions per minute). In PDO2-MISO, for Encoder 1, byte 1 is the lowest byte of RPM and byte 2 is the highest byte. For Encoder 2, byte 5 is the lowest byte of RPM and byte 6 is the highest byte.

  • Page 27: 5: Sdo Communications

    (using the block transfer), so all the SDOs used by the 1353 are expedited SDOs. The SDOs in the 1353 are used to set up and parameterize the module. They are also used to retrieve basic module information (such as version or manufacture date), review the fault log, and monitor a few key internal variables (mostly for system debug purposes).

  • Page 28: Sdo 1353 Response (Sdo-Miso)

    Data bytes 2, 3, and 4 hold the CAN Object index and sub-index of the request SDO. If the SDO was a read command (a request for data from the 1353), data bytes 5 through 8 will be filled with the requested values, with the LSB in data byte 5 and the next least significant in byte 6 and so forth.

  • Page 29: Communication Profile Objects

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC COMMUNICATION PROFILE OBJECTS The objects found in the 0x1000 CAN Object address range are shown below in Table 2. Table 2 Communication Profile Object Dictionary Range Name Access...
  • Page 30 Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC Table 2 Communication Profile Object Dictionary cont'd Range Name Access Index Sub-index Description Can Value 0x00 Length of this structure = 6 sub-indexes. 0x1018 0x06 0x01 0x00004349 Curtis ID as defined by CiA.

  • Page 31: Manufacturer's Status Register

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC Manufacturer’s Status Register The Manufacturer’s Status Register reflects the present fault flags. Each fault has its own bit in the Status Register. Unlike the LED Status of the Emergency Message, which can only relay the highest priority fault, the 32-bit Status Register 1 and Status Register 2 show all present faults.

  • Page 32: Store Parameter Object

    A text string is required (by DS301) for the SAVE_COMMAND to increase security. On reception of the correct string, the 1353 stores the parameters and then confirms the SDO transmission. If the storing failed, the 1353 responds with an Abort SDO. If a wrong string or unsupported command is written, the 1353 will not store and responds with an Abort SDO.

  • Page 33: Restore Default Parameters

    On reception of the correct string, the 1353 updates the EEPROM and then confirms the SDO transmission. If the restore from FLASH into EEPROM failed, the 1353 responds with an Abort SDO. If a wrong string or unsupported command is written, the 1353 will not set the restore flag and responds with an Abort SDO.

  • Page 34: Parameter Profile Objects

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC PARAMETER PROFILE OBJECTS The parameters found in the 0x3000 CAN Object address range are shown in Table 3. All these parameters have Read/Write (RW) SDO access, except for the sub-index 0x00 in a parameter array, which is Read Only (RO) as indicated.
  • Page 35 Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC Table 3 Parameter Profile Object Dictionary, cont’d SDO Location Range Parameter Index Sub-index Can Value Description High Threshold 0x3021 0x01 – 0x06 0.0 – 15.0 V Sets the threshold that the analog input must go above to 0 –...
  • Page 36 Note: Parameter arrays have a sub-index 0x00 that is Read Only and returns the length of the array. This is not true of calibrations. This sub-index was added to be DS301 compliant, and the calibrations are Curtis proprietary and were not changed to be compatible with the ATS software. Scaling: 10.3 volts = 103...
  • Page 37 1353. If the 1353 over-reacts to changes in battery or load, lower these gains. If it is too slow to react, increase them. If the gains are set too high, the output may oscillate. Normally, the Proportional and Integral gains are increased or decreased together.
  • Page 38 Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC Analog Input Algorithms The voltage range of the six analog inputs is 0–15V and is scaled as 0–4095. The analog inputs are sampled after the nine driver output currents have been sampled. Each analog input is filtered by a single pole exponential filter.

  • Page 39: Monitor Objects

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC MONITOR OBJECTS The following monitor objects are found in the 0x3100 CAN Object address range, as shown in Table 4. Table 4 Monitor Object Dictionary SDO Location Range...
  • Page 40 Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC Table 4 Monitor Object Dictionary, cont’d SDO Location Range Parameter Can Value Description Index Sub-index 0x3150 0x00 0.00 – 18.00 A Total current of all 9 drivers. Total Current of Drivers 0 –...

  • Page 41: 6: Diagnostics And Troubleshooting

    Return to TOC 6 — DIAGNOSTICS AND TROUBLESHOOTING When an error occurs in the 1353, a fault message can be monitored through the Curtis programmer. Meanwhile, an emergency message will be produced on the CANbus according to the CANopen standard. This message will be sent once. When the fault clears, a No Fault emergency message will be transmitted.

  • Page 42: Table 5 Troubleshooting Chart

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC Table 5 Troubleshooting Chart Code Description Effect Recovery Fault 1353 in corrupted state. Fast Corrupt Code 1353 in Fault state. Requires repair or new software download. Encryption failure.

  • Page 43: Fault Log

    FAULT LOG The 1353 stores the last 16 faults with a time-stamp. The Fault Log is stored in non-volatile memory with the last fault always at the top of the log and the oldest fault at the end. If the buffer is full when a new fault occurs, the oldest fault is pushed of the log, the previous faults all move down, and the newest fault is placed at the top.

  • Page 44: 7: Serial Communications & Programming

    7 — SERIAL COMMUNICATIONS & PROGRAMMING The 1353 models with a serial port (1353-4101 and -6101) are compatible with Curtis programmers; see App. B. The Analog 5 and 6 inputs are multiplexed with Serial Tx and Rx. The serial port function is enabled via CANopen SDO.
  • Page 45 Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC ANALOG INPUT PROGRAM MENU * PARAMETER ALLOWABLE RANGE DESCRIPTION Input Type 0, 1 Selects the analog type: 0 = Voltage type input. 1 = Resistive type input. High Threshold 0.0 –...
  • Page 46 Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC DRIVER OUTPUT PROGRAM MENU * PARAMETER ALLOWABLE RANGE DESCRIPTION Operation Mode 0 – 3, 5 – 7 Selects the driver operation mode: 0 = Active High Digital Input mode.
  • Page 47 2 = 500 kbit/s. 3 = 800 kbit/s. 4 = 1 Mbit/s. Must cycle KSI or send an NMT RESET 1353 or send an NMT RESET CAN for the new baud rate to take effect. Node ID Source 0 – 15 Select CAN Node ID source input.
  • Page 48 1353-6xxx) and cannot be changed. If the B+ voltage stays below the Brownout voltage for > 64 ms, the 1353 will reset (equivalent to cycling the KSI). If the B+ voltage rises above the Brownout voltage before 64 ms have passed, the 1353 will not reset.

  • Page 49: Monitor Menus

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC MONITOR MENUS Through its monitor menus, the Curtis programmer provides access to real-time data during vehicle operation. This information is helpful during diagnostics and troubleshooting, and also while adjusting programmable parameters.
  • Page 50 Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC ANALOG INPUT MONITOR MENU * PARAMETER ALLOWABLE RANGE DESCRIPTION Voltage For modules that are configured as voltage input type, this variable displays the 0.0 – 15.6 V input voltage value.

  • Page 51: Fault Menu

    Present minutes of the hour meter. FAULT MENU The Curtis programmer provides a convenient way to access fault information; see Section 6: Faults and Diagnostics. The programmer displays the faults by name. It displays all faults that are currently set and also a history of all the faults that have been set since the history log was last cleared.

  • Page 52: Appendix A: Design Considerations

    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. A full metal enclosure can also improve immunity by shielding the 1353 from outside RF energy.

  • Page 53: Electrostatic Discharge (Esd)

    Return to TOC ELECTROSTATIC DISCHARGE (ESD) Curtis products, like most modern electronic devices, contain ESD-sensitive components, and it is therefore necessary to protect them from ESD (electrostatic discharge) damage. Most of the product’s signal connections have protection for moderate ESD events, but must be protected from damage if higher levels exist in a particular application.

  • Page 54: Appendix B: Programming Devices

    APPENDIX B PROGRAMMING DEVICES Curtis programmers provide programming, diagnostic, and test capabilities for the 1353 models that have a serial port. The power for operating the programmer is supplied by the host controller via a 4-pin connector. When the programmer powers up, it gathers information from the controller.

  • Page 55: Appendix C: Specifications

    Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC APPENDIX C SPECIFICATIONS Table C-1 SPECIFICATIONS: 1353 MODULE Nominal input voltage: 12 – 36 V, 36 – 80 V Electrical isolation to heatsink: 500 V ac (minimum) Storage ambient temperature range: –40°C to 85°C (–40°F to 185°F) Operating ambient temperature range: –40°C to 50°C (–40°F to 122°F)

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