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Curtis Instruments 1351 Manual

Can i/o module, system controller
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Manual
CAN I/O Module
Model 1351
System Controller
» Software Device Profile 2.10.0.0 «
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2018 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
53227 Rev A December 2018

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Summary of Contents for Curtis Instruments 1351

  • Page 1 Specifications are subject to change without notice. © 2018 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. 53227 Rev A December 2018...

  • Page 2: Table Of Contents

    HOW TO USE THIS MANUAL ......................1 GETTING THE MOST OUT OF YOUR CURTIS CONTROLLER ............. 2 2: INSTALLATION SPECIFICATIONS AND WIRING .................. 3 PHYSICALLY MOUNTING THE 1351 SYSTEM CONTROLLER ............3 PRECAUTIONS ..........................5 THE 35-PIN AMPSEAL CONNECTIONS ................... 6 BATTERY CONNECTIONS (B+, B−) ....................
  • Page 3 High Speed Digital Inputs ...................... 49 Encoder Input ........................50 OUTPUTS ............................. 52 PWM Drivers ......................... 53 Half-Bridge Drivers ........................ 61 Digital Drivers ........................65 Safety Output ........................66 Analog Output ........................67 CAN ............................. 68 Curtis Model 1351 – December 2018 pg. iii...
  • Page 4 Example Receive SRDO Setup ....................109 6: INITIAL SETUP & COMMISSIONING ....................110 INITIAL SETUP ..........................110 BEFORE YOU START ........................110 TO BEGIN............................ 110 PARAMETER SETTINGS – METHOD OVERVIEW ................111 pg. iv Curtis Model 1351 – December 2018...
  • Page 5 APPENDIX B: VEHICLE SYSTEM DESIGN CONSIDERATIONS-&-RECYCLING ......... 132 ELECTROMAGNETIC COMPATIBILITY (EMC) ................. 132 DECOMMISSIONING AND RECYCLING THE CONTROLLER ............. 133 APPENDIX C: PROGRAMMING DEVICES FOR THE 1351 ..............134 APPENDIX D: EN 13849 COMPLIANCE ....................136 APPENDIX E: 1351 MODELS AND SPECIFICATIONS ................138 FIGURES FIGURE 1: THE 1351 SYSTEM CONTROLLER ..................
  • Page 6 TABLE 22: LED FLASH PATTERNS ..................... 114 TABLE 23: FAULT RECORD (SUB-INDEX & BYTES) ................115 TABLE 24: FAULT TABLE: THE SET/CLEAR CONDITIONS & FAULT ACTIONS ......... 116 TABLE E: MODEL CHART AND SPECIFICATIONS ................. 137 pg. vi Curtis Model 1351 – December 2018...

  • Page 7: 1: Overview

    CAN connected systems. With ample user code space and the enhanced real-time Curtis Vehicle Control Language (VCL), OEMs can use the 1351 controller to develop a wide range of vehicle and system control applications as the master or a slave in a multi-module installation.

  • Page 8: Getting The Most Out Of Your Curtis Controller

    Return to TOC GETTING THE MOST OUT OF YOUR CURTIS CONTROLLER Thoroughly read and refer to this manual to apply and configure the 1351. Understanding the installation & wiring guidelines, the parameter settings, the VCL functions, the initial setup &...

  • Page 9: 2: Installation Specifications And Wiring

    PHYSICALLY MOUNTING THE 1351 SYSTEM CONTROLLER Figure 1 is the 1351 System Controller. Its outline and mounting-hole dimensions are in Figure 2. Mount the controller to a flat surface devoid of protrusions, ridges, or a curvature that can cause damage or distortion to its heatsink (base plate).

  • Page 10: Figure 2: Mounting And Dimensions (Inches & Mm)

    Curtis Model 1351 – December 2018 Return to TOC 146.0 4X Ø 7.0 STATUS LED 2X M5X0.8 10 MIN. Figure 2 Mounting and dimensions (inches & mm) pg. 4 2 — INSTALLATION SPECIFICATIONS AND WIRING...

  • Page 11: Precautions

    Curtis Model 1351 – December 2018 Return to TOC PRECAUTIONS Take the steps during the design and development of the application to ensure that the EMC performance complies with applicable regulations; EMC mitigation techniques are in Appendix B. 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 can cause the system actuators or motors to...

  • Page 12: The 35-Pin Ampseal Connections

    • Figure 3 shows The AMPSEAL receptacle (plug) housing and silo numbering. • Table 1 lists the matching vehicle harness components. • Table 2 lists the individual 1351 System Controller inputs and outputs characterizations, by pin number, including the associated VCL functions and diagnostic Monitor variables.

  • Page 13: Battery Connections (B+, B−)

    BATTERY CONNECTIONS (B+, B−) The 1351 utilizes the 35-pin connector for the logic I/O. The B+ and B– studs provide the higher current needs of the drivers than a typical KSI supplied controller. Notice that the controller uses two pins (11 &...

  • Page 14: Table 2 Low Current Connections

    Curtis Model 1351 – December 2018 Return to TOC Table 2 Low Current Connections Related VCL* Analog Input Special or Driver Output Digital Input (Range) Dedicated Usage Function References Digital_Out_1_State Switch_13 Switch Input 13 Automate_Driver( ) Analog_1_Volts Digital Out 1...
  • Page 15 Curtis Model 1351 – December 2018 Return to TOC Table 2 Low Current Connections, cont’d Related VCL* Analog Input Special or Driver Output Digital Input (Range) Dedicated Usage Function References Control_External_ Ext_5V + 5V (Output) Power() Ext_5V_Current CSS/1313 HHP Programmer:...
  • Page 16 Curtis Model 1351 – December 2018 Return to TOC Table 2 Low Current Connections, cont’d Related VCL* Analog Input Special or Driver Output Digital Input (Range) Dedicated Usage Function References Virtual_Switch_7 Analog_7_Volts Virtual Switch 7 Analog 7 (0-20V) RTD 3...
  • Page 17 Curtis Model 1351 – December 2018 Return to TOC Table 2 Low Current Connections, cont’d Related VCL* Analog Input Special or Driver Output Digital Input (Range) Dedicated Usage Function References Automate_Driver( ) Digital_Output_2_State Digital Out 2 Switch Input 11 Put_Driver( )

  • Page 18: Protected Voltages

    Curtis Model 1351 – December 2018 Return to TOC Table 2 Low Current Connections, cont’d Related VCL* Analog Input Special or Driver Output Digital Input (Range) Dedicated Usage Function References Driver_10_PWM Automate_Driver( ) PWM Driver 10 Switch Input 10 Driver_10_Current...

  • Page 19: The System Controller's Wiring Diagram (Example)

    THE SYSTEM CONTROLLER’S WIRING DIAGRAM (EXAMPLE) The 1351’s Inputs and Outputs (I/O) can easily conform to a wide range of applications. Use this chapter and Chapter 3’s parameters information for insight into using and setting up each type of I/O. Figure 4 is the example-wiring diagram using the 1351 as an ICE driven hydraulic systems controller.

  • Page 20: Pwm (Coil-Voltage-Current/Pv) Drivers

    Curtis Model 1351 – December 2018 Return to TOC PWM (coil-voltage-current/PV) Drivers Drivers 1 through 10 utilize a low side quarter-bridge topology to drive inductive loads connected to the Coil Return (B+). These are high-frequency pulse width modulation (PWM) drivers. Via parameter settings, each has one of four operating modes: Off, Direct PWM, Voltage Compensated, and Current Control.
  • Page 21 Curtis Model 1351 – December 2018 Return to TOC Note: The drivers’ measure current just before the PWM is shut off; therefore, there is a lower limit where the current cannot be read. For the low side drivers, this is 8%. For HB drivers (see below) in low- side mode, this is 12%.
  • Page 22 Curtis Model 1351 – December 2018 Return to TOC Pull-in and Hold The Pull-in and Hold function works on the raw VCL command (Driver_X_ Command) and is applied before the Ramping Function (see below). This function provides a time at an Initial Level and then the rest of the time at the applied command.

  • Page 23: Half-Bridge Drivers

    Curtis Model 1351 – December 2018 Return to TOC Table 4 Driver Outputs Electrical Specifications Output Type Current PWM Frequency Output Current* Signal Input Activity Level Measurement Name Impedance Output Low Accuracy Short-Circuit Sense Limit Voltage Driver 1 Driver 2...

  • Page 24: Digital (Driver) Outputs

    Curtis Model 1351 – December 2018 Return to TOC Digital (driver) Outputs The three digital outputs are low-side drivers with a 3-ampere current (sink) limit. As low-side drivers, they can only be turned ON or OFF. The control modes for PWM, constant current or voltage are not available.

  • Page 25: Switch (Digital) Inputs

    Curtis Model 1351 – December 2018 Return to TOC Switch (digital) Inputs The controller offers flexibility in configuring the analog/digital inputs as Off/On switch signals. All switch inputs have a pull-down resistor. Some have an additional selectable pull-up resistor, and a few can be enabled to become floating input (no pull-up with high impedance pull-down resistor).

  • Page 26: Table 8 Switch (Digital) Inputs Electrical Specifications

    Curtis Model 1351 – December 2018 Return to TOC Table 8 Switch (digital) Inputs Electrical Specifications Type Signal Name Input Impedance Logic Threshold TYPICAL DIGITAL (SWITCHED) INPUTS Switch 1 Selectable Pull-up with fixed Pull-down* Switch 2 Fixed Pull-down: Switch 3 >...

  • Page 27: Analog (Voltage) Inputs

    Curtis Model 1351 – December 2018 Return to TOC Analog (voltage) Inputs The system controller supports a variety of analog inputs. Analog inputs measure voltage applied to the input pin. The voltage range depends on the input used, as shown in Table 9.

  • Page 28: Pot Inputs

    Return to TOC Pot Inputs The 1351 System Controller provides Analog Inputs 9 and 10 to be configured for connection to a potentiometer. Potentiometers can be connected as 2-wire using only the wiper (Analog 9/pin 20) and ground (I/O Gnd, pin 8), or 3-wire, using the wiper, ground, and Analog 10 (pin 21) for pot high.

  • Page 29: High Speed Digital Inputs

    RTD 4 High Speed Digital Inputs There are two high-speed inputs on the 1351—High Speed Input 1 and High Speed Input 2. These inputs are intended to measure the frequency of incoming 5 volt pulses, the pulse width, or used as counters/accumulators.

  • Page 30: Encoder Inputs

    Curtis Model 1351 – December 2018 Return to TOC Encoder Inputs The 1351 System Controller accepts two position encoder inputs labeled as Encoder 1 and Encoder 2. Three types of encoders can be connected: • Quadrature Encoders with Open Collector outputs •...

  • Page 31: Sine/Cosine Position Sensors

    While a sin/cos sensor is typically used in Surface Permanent Magnet (SPM) motor applications, an example 1351 application is linear-travel position, such as fork reach, where one revelation covers the range from retracted to fully extended. Measurement and comparison of the two signals at any point can determine the absolute position of the sensor and thus the forks location.

  • Page 32: Sawtooth Position Transducer

    Curtis Model 1351 – December 2018 Return to TOC Sawtooth Position Transducer The sawtooth transducer has two analog signals that ramp up as its shaft rotates through 360 degrees. As illustrated below, the signals are offset by 180 degrees. Unlike the sine/cosine sensor, each signal provides an absolute indication of position, thus requiring a different set of setup parameters.

  • Page 33: Can Ports

    CANopen) or the 29-bit (such as J1939). Port 1 must be used for FLASH programming and CSS tool interfacing. The CAN ports are not isolated, sharing the 1351 internal power supply and I/O ground (B -) reference. Each CAN port requires a unique Node IDs and can run a different baud rate.

  • Page 34: Power Supply Outputs

    Curtis Model 1351 – December 2018 Return to TOC Power Supply Outputs The +5 V and +12 V external supplies provide auxiliary power for low-power circuits such as encoders, potentiometers, RTDs, and similar devices. The I/O Ground (at pin 8) is the return line for these low power devices.

  • Page 35: Keyswitch And Coil Return/Safety Output

    Battery Discharge Indicator (BDI) uses the keyswitch voltage. The Coil Return/Safety Output (pins 11 and 12) are derived from B+. If the 1351 will drive a contactor that supplies power to the B+ stud, its coil must be wired to KSI (pin 7) and have its own flyback diode, because the Safety Output/Coil Return is only active if there is power on the B+ stud.

  • Page 36: 3: Programmable Parameters

    3 — PROGRAMMABLE PARAMETERS PROGRAMMABLE PARAMETERS The 1351 System controller’s programmable parameters enable the user to customize it to the needs of specific applications even without using VCL. All parameters are programmed over CAN Port1 using the PC-based Curtis Software Suite program or the CAN model 1313 handheld programmer The 1351 does not support serial-communication programming.

  • Page 37: Terminology

    The CANopen standard defines a 16-bit bit index and an 8-bit sub-index. The object dictionary is the method by which a CANopen device communicates. Every 1351 parameter and monitor variable has its own unique CAN Object Index, which is listed in the parameter and monitor tables.

  • Page 38: Sdo Write Message

    The SDO process is used primarily to read or write to an object index of a Server (slave controller). A SDO is used for configuring the 1351 system controller via the CAN network. The contents of the data set are defined within the Object Dictionary.

  • Page 39: The Programmable Parameters

    Return to TOC THE PROGRAMMABLE PARAMETERS The System Controller menu is where the 1351’s voltage (Power), battery discharge indicator (BDI), 5 and 12-volt power supplies (External Supplies), and the 1351’s Temperature parameters are located. Note that within the parameter menus are read-only monitor variables which are helpful when setting parameters and their affects.

  • Page 40: Battery Discharge Indicator

    Curtis Model 1351 – December 2018 Return to TOC SYSTEM CONTROLLER — POWER PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Keyswitch Voltage 0.0 – 140.0 V Read Only The measured voltage at the KSI input (pin 7). Keyswitch_Voltage 0 – 14000 0x331C 0x00 Nominal Voltage 12.0 –...
  • Page 41 Curtis Model 1351 – December 2018 Return to TOC SYSTEM CONTROLLER — BDI PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION BDI Reading 0 – 100 % Read Only Present BDI % reading. BDI_Percentage 0 – 100 The Battery Discharge Indicator (BDI) is the battery State-of- 0x331D 0x00 Charge (SOC) as a percentage.
  • Page 42 Curtis Model 1351 – December 2018 Return to TOC SYSTEM CONTROLLER — EXTERNAL SUPPLIES PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Ext 5V 0.0 – 10.0 V Read Only The measured output voltage at the 5V supply (pin 10) Ext_5V 0 – 1000...

  • Page 43: Intputs

    Curtis Model 1351 – December 2018 Return to TOC INPUTS RTD INPUT..........INPUTS p. 47 —RTD 1 SWITCHES..........p. 38 —Resistance —SW 1 —Value —Status —RTD Enable —Open State —RTD 1 Map —Active Level —RTD Resistance —Debounce —Point 1 ..

  • Page 44: Switches

    Curtis Model 1351 – December 2018 Return to TOC Switches All switch inputs have a pull-down resistor. Some have and additional selectable pull-up circuit and a few can be enabled to be floating (no pull-up circuit or pull-down resistor). In this section, the switch parameters are described by their common groupings, while Figure 4 illustrates their external wiring diagram and pinouts.
  • Page 45 Curtis Model 1351 – December 2018 Return to TOC INPUTS — SWITCHES, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION SW2 through SW8: X = the Switch Number, which is part of the VCL parameters’ name (see SW1 as the example) Status Off –...
  • Page 46 Curtis Model 1351 – December 2018 Return to TOC INPUTS — SWITCHES, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Usage examples: When the Open State is set to Pull-Up, and the Active State is set to Low, switching the input to ground (B−) will be seen in VCL as the switch is ON When the Open State is set to Pull-Up and the Active State is set to High, switching the input to ground will be seen in VCL as the switch is OFF;...
  • Page 47 Curtis Model 1351 – December 2018 Return to TOC INPUTS — SWITCHES, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Active Level Low/High High Set the active state of the input, whether low = On or High = On Switch_X_Active_Level 0 = Low...

  • Page 48: Virtual Switches

    Return to TOC Virtual Switches The 1351 System Controller can process each of the analog input channels as a digital input switch by comparing the incoming voltage to corresponding high and low threshold parameters—resulting in a “virtual” Off or On switch. The resulting virtual switch (VSW) status is available to VCL.
  • Page 49 Curtis Model 1351 – December 2018 Return to TOC INPUTS — VIRTUAL SWITCHES, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Active level Low – High When an analog input is used as virtual switch, set the active Virtual_Switch_X_Active_Level level to Low or High (here). Then set the corresponding Analog 0 –...

  • Page 50: Analog Inputs

    Return to TOC Analog Inputs The 1351 System Controller processes each of the analog input channels and makes the value available to VCL. The parameter sets for each analog input are the same—although Analog 1-4 have a lower input voltage limit. The analog inputs share the same set of parameters and monitor variables, distinguished by their individual switch number as illustrated in the switches table (below).
  • Page 51 Curtis Model 1351 – December 2018 Return to TOC INPUTS — ANALOG INPUTS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Analog 5 through 11: X = Analog Input Number which is part of the VCL parameters’ name Value 0.0 – 20.0 V...
  • Page 52 Curtis Model 1351 – December 2018 Return to TOC INPUTS — POT INPUT PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Resistance 0 – 15000 Ohms Read Only The calculation of the wiper resistance to ground. Pot_Resistance 0 – 15000 0x3319 0x00 Wiper Position 0 –...

  • Page 53: Rtd Input

    Return to TOC RTD Input The 1351’s RTD 10kΩ resistance range will accommodate the many resistive sensing devices. The 1351 System Controller’s 4-point parameter mapping of RTD inputs offers customized resistive values to specify a “value” (voltage) output for a given resistance, thus enabling a wide range of RTD usage for temperature, pressure, linear-motion, and similar applications.
  • Page 54 Curtis Model 1351 – December 2018 Return to TOC INPUTS — RTD INPUT, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Point 3 0 – 10000 Ohms The resistance of the RTD at the corresponding voltage point. RTD_X_R3 0 – 10000 This R-values map MUST be in ascending/increasing order.

  • Page 55: High Speed Digital Inputs

    High Speed Digital Inputs There are two high-speed digital inputs on the 1351. These inputs can be used to measure input frequency and pulse width or used as counters/accumulators. These inputs can also be used for a quadrature (encoder) input, but they cannot be used as both high-speed inputs and encoders simultaneously.

  • Page 56: Encoder Input

    1351 usage. The type of encoder wired to each 1351 input must be selected and setup using the following parameters. The specific encoder parameter menus are context enabled, thus they are visible in CSS/1313 HHP based upon the “Type”...
  • Page 57 Curtis Model 1351 – December 2018 Return to TOC INPUTS — ENCODER INPUT, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Sine/Cosine Encoder This menu is Context Enabled: It is visible when Type = Sine/Cosine Encoder Note, the sin/cos sensor physical waveforms are not bipolar, but center around an offset voltage, typically around 2.5v. The Peak-Peak voltage swing may be as small a 1volt or up to 2.5 volts.

  • Page 58: Outputs

    Curtis Model 1351 – December 2018 Return to TOC OUTPUTS DIGITAL DRIVERS........OUTPUTS p. 65 —Digital Out 1 State PWM DRIVERS........p. 53 ..—Driver 1 —Digital Out 3 State —PWM —Digital Out 1 Mode —Current .

  • Page 59: Pwm Drivers

    Return to TOC PWM Drivers The ten 1351 Drivers are PWM controlled and have current measurement, output state monitoring and fault detection functions. Each driver can operate in one of the following modes: Open, Direct PWM, Voltage Compensated and Constant Current. All drivers operate at >15 kHz PWM. Drivers are VCL (or CAN message) commanded by directly writing to the variable Driver_X_Command, where the value range of 0 –...
  • Page 60 Curtis Model 1351 – December 2018 Return to TOC OUTPUTS — PWM DRIVERS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION 3 = Current Cntrl (Current Control) Regulates the current through the driver. Typically used to control Proportional Valves (PV). This mode interprets the command as a load current request to regulate the PWM (via a PI controller) and thus the requested load current.
  • Page 61 X= 1 – 4 for the VCL name Driver_X_Checks_Enable Parameter’s CAN Index by When ON, the 1351 will check the voltage at the output pin to see Driver_X_Checks_Enable if it matches the current status of the driver. If the driver is Off,...
  • Page 62 Curtis Model 1351 – December 2018 Return to TOC OUTPUTS — PWM DRIVERS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION 1 – 100 % The proportional section of the PI (Proportional/Integral) current Driver_X_Kp regulator within the 1351 system controller. 20 – 2048 X= 1 –...
  • Page 63 A value of 0 millisecond disables any ramping resulting in a step-function-change when the driver command decreases or is stopped (Driver_X_Command = 0). The ramp down duration is not applied when the 1351 is turned off (switched off). 3 — PROGRAMMABLE PARAMETERS pg. 57...
  • Page 64 Curtis Model 1351 – December 2018 Return to TOC OUTPUTS — PWM DRIVERS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Hold Level 0.0 – 100.0 % 0.0 % The percentage command for the Initial Hold Level. Driver_X_Hold_Level 0 – 1000 X= 5 – 10 for the VCL name Driver_X_Hold_Level This is the percentage the driver will initially “jump to”...
  • Page 65 Curtis Model 1351 – December 2018 Return to TOC OUTPUTS — PWM DRIVERS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Current Control This menu is Context Enabled: Visible only when Control Mode = Current Cntrl Max Current 0 – 3000 mA 0 mA Maximum current that the 100% command will effectuate.
  • Page 66 Curtis Model 1351 – December 2018 Return to TOC OUTPUTS — PWM DRIVERS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION 1 – 100 % The proportional section of the PI (Proportional/Integral) current Driver_X_Kp regulator within the 1351 system controller. 20 – 2048 X= 5 –...

  • Page 67: Half-Bridge Drivers

    Curtis Model 1351 – December 2018 Return to TOC Half-Bridge Drivers The Half Bridge drivers can be set to operate in two different topologies: Low or High side. • In Low side topology, the load must be connected to the driver pin and B+, Keyswitch or Coil Return.
  • Page 68 Curtis Model 1351 – December 2018 Return to TOC OUTPUTS — HALF-BRIDGE DRIVERS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Type Low-Side Low-Side 0 = Low-side driver (connects the load to B−/ground) Half_Bridge_X_Mode High-Side 1 = High-side driver (connects the load to B+/battery) X= 11 or 12 for the VCL name Half_Bridge_X_Mode Parameter’s CAN Index by Half_...
  • Page 69 Curtis Model 1351 – December 2018 Return to TOC OUTPUTS — HALF-BRIDGE DRIVERS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Initial Level 0.0 – 100.0 % 0.0 % The percentage command for the Initial Hold Level. Driver_X_Hold_Level 0 – 1000 This is the percentage the driver will initially “jump to” without ramping.
  • Page 70 Curtis Model 1351 – December 2018 Return to TOC OUTPUTS — HALF-BRIDGE DRIVERS, cont’d PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Dither Amount 0 – 100 % The percent of the HB Driver’s Driver_X_Max_Current parameter Driver_X_Dither_Amount that is applied above and below its set point.

  • Page 71: Digital Drivers

    Curtis Model 1351 – December 2018 Return to TOC Digital Drivers The three digital drivers are low-side drivers, each with a 3-ampere current (sink) limit. These outputs can only be commanded by the VCL constants ON or OFF. (or 1 and 0). The control modes for PWM, constant current or voltage are not available.

  • Page 72: Safety Output

    Curtis Model 1351 – December 2018 Return to TOC Safety Output The Safety Output has three distinct roles: 1. It provides controllable load power for the PWM and Digital drivers 2. Loads connected to this are protected against reversed battery connections 3.

  • Page 73: Analog Output

    Curtis Model 1351 – December 2018 Return to TOC Analog Output This adjustable 0-10V output is intended to drive high-impedance loads, such as a battery discharge indicator or hour meter. The Analog Output can swing from 0-10 volts. The following settings and monitor value are available for the Analog Output pin.

  • Page 74: Can

    Enables the electronically controlled termination resistor (120 Ω) CAN_1_Termination for CAN Port 1. 0 – 1 0x3002 0x00 This termination is internal to the 1351, no additional or external hardware is required. Port 2 NMT State 0 – 127 (0 – 127 )
  • Page 75 Enables the electronically controlled termination resistor (120 Ω) CAN_2_Termination for CAN Port 2. 0 – 1 0x3003 0x00 This termination is internal to the 1351, no additional or external hardware is required. Cross Connection Off – Enabled Enable the 2 CAN Ports to be connected together.

  • Page 76: 4: Monitor Variables

    Monitor variables are read only items intended to assist with setting-up the 1351 system controller parameters. Use the monitor variables for 1351 faults and system diagnostic. As noted in Chapter 3, monitor variables shown in the Programmer App’s parameter menus are the same as those in the Monitor menu.

  • Page 77: System Controller

    This variable is also available in the parameter External Supplies menu, see: Configuration\System Controller\External Supplies\Ext 12V Current Module Temperature −50.0 – 100.0°C The internal temperature of the 1351 System Controller. Module_Temperature −500 – 1000 If excessive or unexpected high temperature, reconsider mounting method 0x3329 0x00 and location.
  • Page 78 Curtis Model 1351 – December 2018 Return to TOC MONITOR VARIABLES: INPUTS Switch Input/Switches → VARIABLE DISPLAY RANGE DESCRIPTION Switch X 0 – 1 0 = Off Switch_X 0 – 1 1 = On Switch 1 is based upon the corresponding SW X parameter settings. Use Monitor Variable CAN Index Switch_X VCL to implement the value of Switch_1 in software.
  • Page 79 The calculation of the wiper resistance to ground. Pot_Resistance 0 – 15000 The 1351 System Controller’s dynamically calculated resistance of a 0x3319 0x00 connected potentiometer. Pin 20 is the wiper (between pin 21, Pot Hi and pin 8, I/O Gnd).
  • Page 80 Curtis Model 1351 – December 2018 Return to TOC MONITOR VARIABLES: INPUTS High Speed Digital Input → VARIABLE DISPLAY RANGE DESCRIPTION Count 0 – 4294967295 Count is based on the Type parameter selection. The counter range is 0 – HS_Input_X_Count ) –...

  • Page 81: Outputs

    Curtis Model 1351 – December 2018 Return to TOC MONITOR VARIABLES: OUTPUTS PWM Drivers → VARIABLE DISPLAY RANGE DESCRIPTION Driver 1 0.0 – 100.0 % The driver’s PWM percentage. Driver_X_PWM 0 – 1000 Note: Replace X with 1 – 10 for the specific Driver_X_PWM...
  • Page 82 Curtis Model 1351 – December 2018 Return to TOC MONITOR VARIABLES: INPUTS Digital Drivers → VARIABLE DISPLAY RANGE DESCRIPTION Digital Out 1 State OFF – ON Present state of the digital output. When it is the driver and is commanded Digital_Output_X_State on, the pin will be pulled to B-/ground and the state will read ON (1).

  • Page 83: Accelerometer

    1 g and approximately 0 in the other two. Z-axis The accelerometer’s z-axis is from bottom to top on the 1351. If the 1351 is placed flat on its cold plate (connections up), the accelerator’s z-axis (monitor variable Z) will read positive 1 g and approximately 0 in the other two.

  • Page 84: 5: Vehicle Control Language (Vcl)

    * VCL programming assistance (and the Application Note: Migrating VCL projects from E to F-series) is available from Curtis. Contact your Curtis distributor or support engineer for help or training with the setup and VCL programming of the 1351 System Controller and its application.

  • Page 85: Variables And Constants

    However, the value of the parameter’s stored in FRAM remains unchanged; so when the controller is turned off, the run-time RAM value will be lost. The next time the 1351 system controller is powered back on, the “old” value of Ramp Up will be restored from FRAM memory. To save this RAM value in VCL, the VCL writer must use the NVM_Write_Parameter function ((i.e.,...

  • Page 86: Sdo Write Message

    Curtis Model 1351 – December 2018 Return to TOC Table 21 VCL variables by memory type Memory Quantity Name Object Range Save Type FRAM P_User1 – P_User300 0x4000 – 0x412B Manual Save Autouser1 – Autouser300 0x4200 – 0x432B Lost at shutdown FRAM NVUser1 –...

  • Page 87: Vcl, Watchdog Timer And Faults

    Curtis Model 1351 – December 2018 Return to TOC VCL, Watchdog Timer and Faults Using VCL code, watchdog timers can be setup to ensure that specific parts of the VCL code are operating properly. The watchdog can be started, stopped and “kept alive” in up to five separate places in the code.
  • Page 88 Curtis Model 1351 – December 2018 Return to TOC function Set_Watchdog_Fault_Action() User defined actions when the watchdog timer times-out. When a watchdog timer times-out, the user-defined actions are launched by the OS. These watchdog fault actions are setup in identical fashion to the User Fault Action in VCL.
  • Page 89 Curtis Model 1351 – December 2018 Return to TOC function Kick_Watchdog() Starts and reset the specified watchdog timer. The first call of this starts the watchdog timer (required). Succeeding calls will reset (re-starts) the watchdog timer timing. syntax Kick_Watchdog(WD#) arguments:...
  • Page 90 Curtis Model 1351 – December 2018 Return to TOC function MAP_TWO_POINTS() This function interpolates values between two points, Y1 and Y2; based upon an X input parameter. Interpolating based on X1 and X2. Typical Usage: 1. Calculate a value framed between two X-axis points projected across two Y points, where the functions’...

  • Page 91: Can Functions (Vcl Setup)

    1 and Port 2. NMT Control When a 1351 CAN port is enabled to be a master, it can then send Network Management (NMT) commands to slave controllers. The 1351 has two CAN ports, CAN1 (Port_1_Node_Id) and CAN2 (Port_2_Node_ID). The NMT state of each port is available by its specific read-only monitor variable, port_2_nmt_state and port_2_nmt_state.

  • Page 92: Node Guarding

    A controller can be setup to monitor the heartbeats of every node on the system. It will calculate the time between heartbeats and generate error flags when they are lost. It will also record the CANopen State of the Node. The 1351 can monitor up to 16 Nodes. Enable_Node_Guarding() Turns On/Off heartbeat monitoring. function Disable_Node_Guarding() Disable will clear out ALL nodes from the guarding list.
  • Page 93 Curtis Model 1351 – December 2018 Return to TOC function Rate = Get_Heartbeat_Time() If the heartbeat has not been lost, this function will return the time between the last two heartbeats. syntax Get_Heartbeat_Time(Port, Node_ID) arguments: The primary CAN port, pins 3 & 4 Port_1 = CAN1 The secondary CAN port, pins 5 &...

  • Page 94: Emergency Message Monitoring

    Curtis Model 1351 – December 2018 Return to TOC Emergency Message Monitoring Emergency messages are collected by the CAN master (when enabled) and placed into an indexed buffer. Messages can be retrieved by the NODE ID or the depth of the buffer can be retrieved and messages pulled out one-by-one.
  • Page 95 Curtis Model 1351 – December 2018 Return to TOC function Error_Index = Check_CANopen_Emergency() Checks for message on port & device Check if there was an emergency message active on this port and slave device. If the Node ID = GLOBAL (0) than any emergency message will be found.
  • Page 96 Curtis Model 1351 – December 2018 Return to TOC function Status = Clear_Emergency_Message_Buffer() Remove messages from the emergency message buffers. This function can be used to remove messages from the emergency message buffers. This might be needed if messages have not been removed in a long time and the buffer is full.

  • Page 97: Sdo Management

    Ten VCL functions are described here to manage Service Data Objects (SDOs)*. SDOs are used to either read data from another device to send data to the device. In either case, the 1351 OS will send an SDO and then wait for and buffer the return. The VCL needs only to poll the SDO buffer for the response.
  • Page 98 Curtis Model 1351 – December 2018 Return to TOC function Check_SDO_Read() Check if a specific request for SDO data has been fulfilled syntax Check_SDO_Read(Reception_ID) arguments: Specify the buffer handle provided by the Request_ Reception_ID SDO_Read function returns: = waiting for the message to be received. (i.e., cannot send another read request until the previous request has populated the buffer).
  • Page 99 Curtis Model 1351 – December 2018 Return to TOC function Variable = Get_SDO_Data() Pull the data from the request receive buffer syntax Get_SDO_Data(Reception_ID) arguments: Specify the buffer handle provided by the request Reception_ID function returns: Returns a single 32 bit value and removes the...
  • Page 100 Node ID. The function will return a handle (i.e., Write_ID) to the 1351’s write buffer location where the data will be placed. Each buffer location is 32 bits (4 bytes) wide. The VCL can have up to 16 pending SDO writes.
  • Page 101 Curtis Model 1351 – December 2018 Return to TOC function Check_SDO_Write() Check if a specific write for SDO data has been fulfilled. syntax Check_SDO_Write(Reception_ID) arguments: Specify the buffer handle provided by the Write _ID SDO_Write function returns: = waiting for the response from the slave device to be received (i.e., cannot send another write request until the previous...
  • Page 102 Curtis Model 1351 – December 2018 Return to TOC function Status = Clear_SDO_Read_Buffer() Clears the read buffer Status = Clear_SDO_Write_Buffer() Clears the read buffer These functions can be used to remove all messages from the respective buffers. This might be needed if messages have not been removed in a long time and the buffer is full.

  • Page 103: Creating And Using Can Mailboxes (Vcl Setup)

    The 1351’s CAN mailbox functions are the same as for the Curtis F-series controllers, and are thus different than the E/SE series of controllers. The 1351 System Controller differs in the fact it has two CAN ports that share the available mailboxes and PDO setups between CAN port 1 and CAN port 2.

  • Page 104: Configuration Of A Transmit Mailbox

    Curtis Model 1351 – December 2018 Return to TOC Configuration of a Transmit Mailbox function Setup_CANopen_Transmit_Mailbox() Sets up the initial parameters for a CANopen mailbox This CANopen specific function sets up the initial parameters for a CANopen mailbox. It serves the same purpose as the generic setup function, but simplifies the setup for CANopen users.
  • Page 105 Curtis Model 1351 – December 2018 Return to TOC function Define_CANopen_Transmit_Data() Used to define the data sent from the mailbox. This function is used to define the data sent from the mailbox. Up to 64 bits can be loaded into a single message.

  • Page 106: Configuration Of A Receive Mailbox

    Curtis Model 1351 – December 2018 Return to TOC Configuration of a Receive Mailbox function Setup_CANopen_Receive_Mailbox() Sets up the initial parameters for a CANopen mailbox. This CANopen specific function sets up the initial parameters for a CANopen mailbox. It serves the same purpose as the generic setup function, but simplifies the setup for CANopen users.
  • Page 107 Curtis Model 1351 – December 2018 Return to TOC function Define_CANopen_Receive_Data() Used to define the data received in a mailbox is arranged This function is used to define how the data received in a mailbox is arranged. Up to 64 bits can be loaded into a single message.
  • Page 108 Curtis Model 1351 – December 2018 Return to TOC function Setup_Recieve_Mailbox_Auto_Reply() Mailbox to be sent upon receipt of data Configure a transmit mailbox to be sent upon receipt of data in this RX mailbox. The RX and TX mailboxes should be fully defined and configured before using this function.
  • Page 109 Setup a timeout fault that is active if this mailbox does not receive new data within the Timeout period Usage example: set a fault if a slave controller/device fails to send data to the 1351 master controller. Critical data that is not received within a given time period triggers a fault.

  • Page 110: Controlling A Receive Mailbox

    Curtis Model 1351 – December 2018 Return to TOC Controlling a Receive Mailbox The receive mailbox processing is a bit more complex than the transmit mail box, although there are many similarities, such as the mailbox must be enabled for any actions to occur and must be disabled before any setup functions.

  • Page 111: Srdos

    Curtis Model 1351 – December 2018 Return to TOC SRDOs CANopen standard DS304 defines the method to produce Safety Related Date Objects. When enabled, the Primary will create the first message and the Supervisor will follow with the data inverted second message.
  • Page 112 Curtis Model 1351 – December 2018 Return to TOC Disable_Transmit_SRDO() Stops the SRDO function Disable_Receive_SRDO() Stops the SRDO These two functions stop the SRDO. If set to a cyclic rate, this will stop transmissions syntax Disable_Transmit_SRDO(SRDO_Handle) Disable_Receive_SRDO(SRDO_Handle) arguments: See RETURN: SRDO_Handle = Setup_Transmit_...

  • Page 113: Example Transmit Srdo Setup

    IDs and message data. After this set up, the main loop of VCL must call the Send_SRDO(SRDO_ XMT_Handle) command to cause the 1351 to send the two linked SRDO messages. Note that only the Primary port mailbox Data is defined. In an SRDO transmit, the Supervisor will use the same data definition as the Primary, but will invert the data when sent from the Supervisor.
  • Page 114 Curtis Model 1351 – December 2018 Return to TOC function SRDO_Rcv_Handle = Setup_Receive_SRDO() Sets up the timing detection and fault functions for a receive SRDO The receive mailboxes must already be setup prior to using this function. Since the SRDO consists of two messages and is received and checked by both CAN ports, there are four mailboxes used total.

  • Page 115: Example Receive Srdo Setup

    Curtis Model 1351 – December 2018 Return to TOC Example Receive SRDO Setup The example below assumes the variables have been setup previously for the mailbox handles, Node IDs and message data. After this set up, the main loop of VCL must check for the valid operation of the SRDO reception using the VCL function check_SRDO_receive(SRDO_RCV_Handle).

  • Page 116: 6: Initial Setup & Commissioning

    BEFORE YOU START The 1351 is not a motor controller. It is often used as the master controller on a vehicle where there are motor controllers and gauges. Communication between devices is via the CANbus. Before beginning vehicle commissioning (command &...

  • Page 117: Parameter Settings - Method Overview

    RTD). Temperature menu. If the application requires a minimum or maximum 1351 module temperature limit that is different from the −20°C to 100°C default limits, make the adjustments to these parameters 36).

  • Page 118: Figure 5 Wiring For 3-Wire Potentiometer

    Curtis Model 1351 – December 2018 Return to TOC Status) is included in each of the analog input sub-menus. It is recommended each input be verified as part of the initial setup. Pot Inputs require setting the Type parameter. Do this first, and then set the resistance and tolerance parameters.
  • Page 119 For inductive loads (coils), the connection at the Coil Return provides a common-to-all fly-back diode to B+ internal to the 1351. Driving capacitive loads, such as gauge or LED indicators, may cause non-intended results, and often an inline resistive element may be required to increase the RC time-constant on the powered device (i.e., the load) to obtain...

  • Page 120: 7: Diagnostic And Troubleshooting

    Curtis motor controller standard (e.g., E/SE controllers). The 1351 uses a format where the Red LED flashes the upper Tens digit number and the Yellow LED flashes the lower Ones digit number. The flash cycle is 500 ms with a 250 ms On time.

  • Page 121: Table 23 Fault Record (Sub-Index & Bytes)

    Time of First Detection 4 bytes Fault Type Table 24 lists all the 1351 System Controller Faults. Use these to diagnose system faults. • The Flash Code sequence (Hex, and decimal equivalents for values A-F) • The Fault Name and Type •...

  • Page 122: Table 24 Fault Table: The Set/Clear Conditions & Fault Actions

    Curtis Model 1351 – December 2018 Return to TOC Table 24 Fault Table: The Set/Clear Conditions & Fault Actions Flash Code Fault Name Set/Clear Conditions Fault Actions Under Voltage Set: KSI voltage dropped below the Min Voltage limit. Shutdown all driver outputs/...
  • Page 123 Curtis Model 1351 – December 2018 Return to TOC Table 24 Fault Table: The Set/Clear Conditions & Fault Actions, cont’d Flash Code Fault Name Set/Clear Conditions Fault Actions Driver 9 Fault Set: Driver 9 is either open or shorted. Or Driver 9 Fault Type(s): current exceeded 3.5A...
  • Page 124 Curtis Model 1351 – December 2018 Return to TOC Table 24 Fault Table: The Set/Clear Conditions & Fault Actions, cont’d Flash Code Fault Name Set/Clear Conditions Fault Actions Set: VCL Run Time Error detected Clear: Edit VCL application software to fix this error...
  • Page 125 Curtis Model 1351 – December 2018 Return to TOC Table 24 Fault Table: The Set/Clear Conditions & Fault Actions, cont’d Flash Code Fault Name Set/Clear Conditions Fault Actions User 16 Fault 0x52 Fault Type(s): See User 1 fault (above) See User 1 fault (above)
  • Page 126 Curtis Model 1351 – December 2018 Return to TOC Table 24 Fault Table: The Set/Clear Conditions & Fault Actions, cont’d Flash Code Fault Name Set/Clear Conditions Fault Actions Supervision Set: Internal controller failure Shutdown all driver output 0x71 Fault Type(s): Clear: Reset Controller.

  • Page 127: 8: Maintenance

    Return to TOC 8 — MAINTENANCE There are no user serviceable parts in Curtis 1351 system controller. No attempt should be made to open, repair, or otherwise modify the controller. Doing so may damage the controller and will void the warranty.

  • Page 128: Appendix A: Vcl Functions

    Curtis Model 1351 – December 2018 Return to TOC APPENDIX A — VCL FUNCTIONS Function Name Arguments Short Comment Description new/unique to 1351 = (✔) Map_Two_Points 2 Point Interpolation Routine This routine interpolates between two points Y1 and Y2 based upon an input x. Interpolating based...
  • Page 129 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) Get_Transmit_Status (Handle) VCL_FUNCTION get_transmit_status Clear_Transmit_Status (Handle) VCL_FUNCTION clear_received_transmit_status Get_Receive_Timeout (Handle) VCL_FUNCTION get_receive_timeout Get_Receive_ID (Handle) VCL_FUNCTION Get the received arbitration ID...
  • Page 130 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) Get_Map_Segment Return the Segment Containing X This function returns the segment (0 to 7) of the input variable using the specified map. If the X input is less than the lowest X value in the table, then the segment number will be 0.
  • Page 131 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) Automate_Driver (Driver,@Source, mode) VCL_FUNCTION automate_driver; Make a pwm output update on automatically every 4ms Setup_Ramp Setup a ramp This function allows you to initialize the following ramp variables.
  • Page 132 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) Setup_Select Setup a Selector Switch Block This function installs new values for a 2 position selector switch. If you set parameter 2 to 0 the selector block will be disabled.
  • Page 133 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) Reset_Controller Hardware reset Perform a software reset Setup_Timer Setup a Timer This function initializes a timer to a particular value...
  • Page 134 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) Setup_3140T Setup a 3140 gauge Setup a 3140 gauge and returns handle for a 3140 gauge. The OS will automatically send an NMT message to the gauge to make it go operational.
  • Page 135 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) Get_Fault_Count Get_Fault_Type Get_Fault_CAN_Id Get_Flash_Code Get_Parameter_Min_Raw Gets the minimum raw value of an Gets the minimum raw value of an input input parameter.
  • Page 136 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) send_NMT (✔) (Port,Node_ID,command) Send a NMT command globally to a specific node (Port,Node_ID) View the current state of a specific node on the get_nmt_state (✔)
  • Page 137 Curtis Model 1351 – December 2018 Return to TOC Function Name Arguments Short Comment Description new/unique to 1351 = (✔) get_SDO_length (✔) (Handler) Find out how many active data bytes are in the received message (Handler) Get the received data get_SDO_data (✔)

  • Page 138: Appendix B: Vehicle System Design Considerations-&-Recycling

    Curtis Model 1351 – December 2018 Return to TOC APPENDIX B — VEHICLE SYSTEM DESIGN CONSIDERATIONS-&-RECYCLING VEHICLE DESIGN CONSIDERATIONS REGARDING ELECTROMAGNETIC COMPATIBILITY (EMC) AND ELECTROSTATIC DISCHARGE (ESD) ELECTROMAGNETIC COMPATIBILITY (EMC) Electromagnetic Compatibility (EMC) encompasses two areas: emissions and immunity. Emissions are radio frequency (RF) energy generated by a product.

  • Page 139: Decommissioning And Recycling The Controller

    Curtis Model 1351 – December 2018 Return to TOC Curtis controllers contain ESD-sensitive components. It is therefore necessary to protect them from ESD damage. See Table 3 (page 12) for the controller ESD ratings. ESD immunity is improved by providing sufficient distance or isolation between conductors and the ESD source so that a discharge will not occur.

  • Page 140: Appendix C: Programming Devices For The 1351

    DEVICES FOR THE 1351 This manual was written using Curtis software and hardware “tools” to access the parameters and monitor items. These tools are required to setup and fully utilize the 1351 System Controller. They also access the faults and offer diagnostic routines.
  • Page 141 * Contact your Curtis distributor or the regional Curtis sales office to obtain the Curtis Software Suite and the 1313 HHP. Consult with your Curtis support engineer for help or training with the setup and using these tools and the 1351 System Controller. APPENDIX C — PROGRAMMING DEVICES FOR THE 1351...

  • Page 142: Appendix D: En 13849 Compliance

    These hazards must be mitigated by VCL programming and are not inherent functions of the 1351. What the 1351 does provide is a secure and safe platform to develop these applications. The 1351 includes the Operational Integrity Safety Function that ensures that the basic inputs and outputs are operating within design limits, that the internal logic functions are operating correctly, and that all memory locations are secure and contain valid data.
  • Page 143 The final PL, MTTFd and DC% will vary with each system application design. The designer applying the 1351 must refer to the calculations provided in the 1351 SRPCS Calculation spreadsheet. There, the designer can easily select the I/O used and find the resulting...

  • Page 144: Appendix E: 1351 Models And Specifications

    Curtis Model 1351 – December 2018 Return to TOC APPENDIX E — 1351 MODELS AND SPECIFICATIONS Table E Model Chart and Specifications Item 1351-5001 1351-7001 Voltage 12-48V 36-96V CAN ports Analog Inputs Dynamic Pot Input RTD Inputs Switch Inputs High Speed Inputs...

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