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Curtis 1356 Manual

Can expansion modules
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Manual
Models 1356 & 1356P
CAN Expansion Modules
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2015 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.
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
53221, Rev A 10/2015

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Summary of Contents for Curtis 1356

  • Page 1 Specifications are subject to change without notice. © 2015 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. 53221, Rev A 10/2015...

  • Page 3: Table Of Contents

    PDO COMMUNICATIONS ..........20 5. SDO COMMUNICATIONS ..........23 SDO Master Request (SDO-MOSI) ........ 23 SDO 1356 /1356P Response (SDO-MISO) ....24 Using an SDO to Map a PDO ........25 Types of SDO Objects ............. 26 Communication Profile Objects ........26 Parameter Profile Objects ..........
  • Page 4 FIGURES / TABLES FIGURES fig. 1: Curtis 1356 /1356P CAN expansion module ......1 fig. 2: Mounting dimensions, Curtis 1356 /1356P ......4 fig. 3: Basic wiring diagram ............... 8 fig. 4: Application example .............. 10 TABLES table 1: Connector pinout ..............6 table 2: Communication profile object dictionary ......

  • Page 5: Overview

    Mobile Elevating Work Platforms (MEWPs), electric forklifts, aerial lifts, etc. Two versions of the module are available. The 1356 is a PCBA, for which customers develop their own case to provide environmental protection. The 1356P comes potted with a plastic tray that provides IP65 water and dust immunity for its electronics.
  • Page 6 B- at each input provides active high to B+. High Frequency Driver Outputs The 1356 /1356P contains two driver outputs. One can sink up to 1  amp through an inductive or a resistive load; the other can sink up to 3 amps through an inductive or a resistive load.
  • Page 7 1 — OVERVIEW Voltage Analog Inputs The 1356 /1356P has five 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: Installation And Wiring

    The outline and mounting hole dimensions for the modules are shown in Fig. 2. The 1356P module should be mounted using two M4 screws. The 1356 module requires the OEM to develop an appropriate case to provide environmental protection. Mounting for the 1356 depends on the case.
  • Page 9 EMC performance complies with applicable regulations; suggestions are presented in Appendix A. The 1356 /1356P contains ESD-sensitive components. Use appropriate precautions in connecting, disconnecting, and handling the module. See instal- lation suggestions in Appendix A for protecting the module from ESD damage.

  • Page 10: Connections And Wiring Guidelines

    2 — INSTALLATION & WIRING: Low Current Connections CONNECTIONS The 1356 /1356P connections are made through 24-pin and 4-pin Molex connectors. The mating plugs are Molex #39-01-2245 and #39-01-2045, and the contact pins are #39-00-0059. The individual pins are characterized in Tables 1 and 2.
  • Page 11 If the 1356 /1356P is at the end of the CAN bus, the bus needs to be terminated by externally wiring a 120Ω ½W resistor across CAN High and CAN Low (for those models that do not have a 120Ω...

  • Page 12: Wiring: Basic Configuration

    B+ and each driver output. The keyswitch is used to turn on the system. When the keyswitch is closed, B+ goes high and the 1356 /1356P’s power supply brings up the module. Curtis 1356/1356P CAN Expansion Module Manual,...
  • Page 13 43). CAN Bus The 1356 /1356P has an internal 1 kΩ bus termination resistor. This internal impedance matches the system requirements for a mid-line connection or short stub connection. The 1356 /1356P can communicate up to 1 Mbit/s on a properly terminated/wired bus.

  • Page 14: Wiring: Application Example

    ANALOG INPUT 4 CURTIS AC 1353 J1-18 INPUT 10 CONTROLLER CAN H J1-11 J1-24 I/O GND J1-23 CAN L PORT 1356 / 1356P Fig. 4 Application example, Curtis 1356 /1356P CAN expansion module. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...

  • Page 15: Input/Output Specifications

    — auxiliary power supplies. Digital Inputs The 1356 /1356P has eleven digital inputs. In addition, the two driver outputs (Input/Output 1 and Input/Output 2) can be programmed as digital inputs (as long as the drivers are off: i.e., no current, voltage, or PWM output). Each of these digital inputs has a pull-down resistor to B-.
  • Page 16 If the driver outputs are connected to inductive loads, the coil should have a return line to the B+ pin of the 1356 /1356P. This connection provides a path for the internal freewheel diodes to clamp the turn-off spike. Failure...
  • Page 17 I/O Signal Specifications Analog Inputs The 1356 /1356P has five 0 – 15 V analog inputs. These inputs are scaled down by 5.76, clamped to 3.3 V, and read by a 12-bit ADC internal to the MCU. ANALOG INPUT SPECIFICATIONS...
  • Page 18 The CAN bus interface will comply with CAN2.0B, active from 50 kbit/s to 1Mbit/s communication rate. The 1356 /1356P will be terminated by an internal 1 kΩ resistor across the CAN High and Low communication pins. This assumes a mid-truck con- nection (not end-of-line).
  • Page 19 I/O Signal Specifications Auxiliary Power Supplies The 1356 /1356P provides +12V and +5V auxiliary output power for low pow- er circuits such as fingertip joysticks, electronic throttle, Curtis programmer, Curtis 840 display, or remote I/O boards. The return line for these low power circuits is I/O GND.

  • Page 20: Canopen Communications

    SDO transfer. The time between incoming PDOs is monitored and if excessive, will flag a fault. This allows the 1356 /1356P to know that the system is still under master control. The 1356 /1356P also produces Heartbeat and Error messages, which is the CiA-preferred safety and security method.
  • Page 21 NMT reset or KSI cycle. CAN Node ID The 1356 /1356P CAN node ID can be assigned from 1 to 127. It can be changed by a Curtis programmer or by CAN SDO. The default CAN node ID for the 1356 /1356P is 19.

  • Page 22: Nmt Messages

    NMT MESSAGES NMT (Network Management Transmission) messages are the highest priority message available. The NMT message puts the 1356 /1356P into a specific Device State, as shown below. 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

    Data bytes 4 through 8 define the specific fault. The 1356 /1356P will place the current 24-bit hour meter into data bytes 4 through 6. Bytes 7 and 8 are not used by the 1356 /1356P and are always 0x0000. The emergency message format indicating an error is shown below.

  • Page 24: Pdo Communications

    PDO Timeout. If the PDO-MOSI is not received within the programmed time, the 1356 /1356P will flag a PDO Timeout fault and disable all output drivers. If the PDO Timeout parameter is set to 0, the PDO Timeout fault is disabled and the 1356 /1356P will respond to any PDO incoming at any rate without faulting.
  • Page 25 The BDI value is a percent of the battery state of discharge: 0–100 = 0–100%; this value is gotten from the CAN master. Inputs 1–13 Status Bytes The 1356 /1356P monitors the thirteen digital inputs. The status of these inputs in default PDO-MISO mapping is as follows. PDO1-MISO Byte 1...
  • Page 26 In this type, PDO will send the RPM value (2 bytes, unit in revolutions per minute). Position type In this type, PDO will send the position value (2 bytes, unit in millimeters). Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...

  • Page 27: Sdo Communications

    The 1356 /1356P does not support large file uploads or downloads (using the block transfer), so all the SDOs used by the 1356 /1356P are expedited SDOs. The SDOs in the 1356 /1356P are used to set up and parameterize the module.

  • Page 28: Sdo 1356 /1356P Response (Sdo-Miso)

    If the SDO is a write command, bytes 5 through 8 will return the actual value written in bytes 5 – 8. In this way, if the 1356 /1356P needs to limit or round-down the SDO write request, the master will know—because the return value will be different than the sent value.

  • Page 29: Using An Sdo To Map A Pdo

    (0x1A00) and the sub-index in byte 4 shows the byte to be mapped. Bytes 5 and 6 hold the object index (0x3190) and the sub-index in byte 7 shows the byte in the 32-bit object to be mapped. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...

  • Page 30: Types Of Sdo Objects

    Emergency Rate 0x1015 0x00 0 – 1000 Message can be sent by the in 4ms steps 1356 /1356P. A setting of 0 disables the Emergency Message. 0 – 1000 ms Sets the cyclic repetition rate of the 0 – 1000...
  • Page 31 Length of this structure = 6 sub-indexes. 0x01 0x00004349 Curtis ID as defined by CiA. 0x054C1005 Product code: 0x054C1006 2 upper bytes = 1356 /1356P, 0x02 0x054C17D5 2 lower bytes = model number, 0x054C17D6 -4101, -4102, -6101, or -6102. Identity Object Hardware version is in byte 1,...
  • Page 32 Default mapped to LSB byte of Switch Input States. PDO1-MISO mapping for the 2nd PDO1-MISO application object to be mapped. 0x1A00 0x02 Mapping 2nd Default mapped to MSB byte of Switch Input States. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...
  • Page 33 Default mapped to LSB byte of Analog3 Voltage Value. PDO2-MISO mapping for the 6th PDO2-MISO application object to be mapped 0x1A01 0x06 Mapping 6th Default mapped to MSB byte of Analog3 Voltage Value. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...
  • Page 34 In these cases, a Sub-index is used to access each part of the object. Detail on the Manufacturer’s Status Register, Store Parameters, and Restore Parameters objects is presented in Tables 2a, 2b, and 2c. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...

  • Page 35: A: Manufacturer's Status Registers

    Bit 15 CAN Bus Fault Store Parameter Object The 1356 /1356P has three parameter blocks: the Normal parameter block, Back-up parameter block, and Factory parameter block. An SDO or 1313/1314 programmer Write operation will update the parameter in working RAM. All parameters in working RAM will be saved to the Normal parameter block after KSI cycle.

  • Page 36: C: Restore Default Parameters Object

    The hour meter has a special function to reset it. Writing the string “hour” to this index will cause the 1356 /1356P to preset the hour meter to the value saved in the Preset Hour parameter (0x3062). Note that only the hours can be set to a programmed value;...

  • Page 37: Parameter Profile Objects

    Sets the nominal battery voltage, which is used 120 – 360 in fault detection. 36.0V – 80.0V 1356 /1356P-4101&-4102: 12 V, 24V, 36V. 360 – 800 1356 /1356P-6101&-6102: 36 V, 48V, 60V, 72V, 80V. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...
  • Page 38 0x00 See above. See above. Digital11 Debounce Time 0x305A 0x00 See above. See above. Digital12 Debounce Time 0x305B 0x00 See above. See above. Digital13 Debounce Time 0x305C 0x00 See above. See above. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...
  • Page 39 This command is valid only when mapped and implemented by PDO-MOSI. Driver2 Command 0x3091 0x00 See above. See above. 0x3201 0x00 0 – 100 Displays BDI value (received from the master) 0 – 100 on the model 840. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...
  • Page 40 1356 /1356P. If the 1356 /1356P 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.
  • Page 41 The analog input can be configured as voltage input type or as resistive input type, using the Curtis programmer or an SDO. The value measured at the five analog inputs can be mapped to the two MISO PDOs as filtered voltage (in units of 0.01 V) or resistance (in units of ohms), depending on the setting of...

  • Page 42: Monitor Profile Objects

    0x3190 0x00 – 2 encoder is running in the reverse direction of the zero position. Encoder RPM in revolutions per 0 – 65535 rpm RPM 0x3191 0x00 minute when encoder is configured 0 – 65535 as RPM type. Calculated position value according -32.768 – 3 2.767 m Position 0x3192 0x00 to the pulse per meter when encoder -32768 – 32767 is configured as Position type. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...

  • Page 43: Diagnostics & Troubleshooting

    The flash code can also be flashed on a single remote LED connected to the serial port. For example, a code 23 would be displayed as two flashes, followed by a 500 ms delay, and finished with three flashes. The 1356 /1356P will repeat this pattern at 1 second intervals.

  • Page 44: Table 5 Troubleshooting Chart

    12V Supply Fail None. Bring voltage within range. +12V Supply is too low. External Supply External load on +5V and +12V Bring external supply current None. Out of Range exceeds 200 mA. within range. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...

  • Page 45: Fault Log

    6 — DIAGNOSTICS & TROUBLESHOOTING FAULT LOG The 1356 /1356P 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 46: Serial Communications & Programming

    7 — PROGRAMMING MENUS SERIAL COMMUNICATIONS & PROGRAMMING The 1356 /1356P implements the ESP protocol and can support the Curtis handheld 1313 programmers and the 1314 PC programming station. In ad- dition, it also supports the Curtis 840 Spyglass display.
  • Page 47 Sets the debounce time of Digital Input2 Debounce Time Input 2 in 8ms steps..8 – 1000 ms Sets the debounce time of Digital Input13 Debounce Time Input 13 in 8ms steps. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...
  • Page 48 B 1 = Positive phase when phase B is ahead of Phase A. Must cycle KSI for new setting to take effect. Sets the encoder counter to zero. Reset Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...
  • Page 49 Sets the proportional gain factor of the PI current controller. 0.1 – 100.0 % Sets the integral gain factor of the PI current controller. This menu is repeated for Drivers 1 and 2. Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...
  • Page 50 1 – 127 Sets the Node ID for the 1356 /1356P. Node ID Must cycle KSI or send an NMT Reset 1356 /1356P or an NMT Reset CAN for the new ID to take full effect. 0 – 1000 ms...
  • Page 51 2 = Load parameters from Normal parameter block. The default value for this parameter is 2. When it is programmed to 1, the 1356 /1356P will load all backup parameters after cycling KSI, and then the Restore Type value will reset to 2.

  • Page 52: Monitor Menus

    7 — PROGRAMMER: MONITOR MENUS 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. The monitored variables are arranged in hierarchical menus, as shown in Table 7.
  • Page 53 RANGE DESCRIPTION Off, On Input state of Digital Input 1. Input1 Off, On Input state of Digital Input 2. Input2 . . . Off, On Input state of Digital Input 13. Input13 Curtis 1356/1356P CAN Expansion Module Manual, Rev. A...

  • Page 54: Fault Menu

    RANGE DESCRIPTION 0 – 65535 h Present hours of the hour meter. The hour meter Hours runs all the time the 1356 /1356P is powered on. 0 – 59 min Present minutes of the hour meter. Minutes Fault Menu The Curtis programmer provides a convenient way to access fault information;...
  • Page 55 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 1356 /1356P CAN Expansion Module Manual, Rev. A...
  • Page 56 APPENDIX A: EMC & ESD DESIGN CONSIDERATIONS The Curtis 1356 /1356P includes bypass capacitors on the printed cir- cuit board’s sensitive input signals 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 perfor- mance levels.
  • Page 57 PROGRAMMING DEVICES Curtis programmers provide programming, diagnostic, and test capabilities for the 1356 /1356P. The power for operating the programmer is supplied by the host 1356 /1356P via a 4-pin connector. When the programmer powers up, it gathers information from the 1356 /1356P.
  • Page 58 APPENDIX C: SPECIFICATIONS APPENDIX C SPECIFICATIONS Table C-1 SPECIFICATIONS: 1356 / 1356P MODULE Nominal input voltage 12 – 36 V, 36 – 80 V Storage ambient temperature range -40°C to 85°C (-40°F to 185°F) Operating ambient temp. range -40°C to 50°C (-40°F to 122°F) 12–36V models...

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