Curtis Instruments 1351 User manual

Read Instructions Carefully!
Specications 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
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
CAN I/O Module
Model 1351
System Controller
»Software Device Profile 2.10.0.0 «
Manual

Curtis Model 1351 – December 2018
pg. ii
CHAPTERS
1: OVERVIEW ...................................................................................................................................... 1
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−)................................................................................................. 7
THE LOW-POWER WIRING GUIDELINES ......................................................................................... 7
Parameter Settings................................................................................................................. 7
Encoder feedback (Pins 1, 2, 8, 10, and 14, 15)...................................................................... 7
CANbus (Pins 3 & 4 and 5 & 6) ............................................................................................... 7
All other low power wiring...................................................................................................... 7
Protected Voltages................................................................................................................. 12
THE SYSTEM CONTROLLER’S WIRING DIAGRAM (EXAMPLE)......................................................... 13
PWM (coil-voltage-current/PV) Drivers................................................................................... 14
Half-Bridge Drivers................................................................................................................ 17
Digital (driver) Outputs........................................................................................................... 18
Safety Output ........................................................................................................................ 18
Analog Output ....................................................................................................................... 18
Switch (digital) Inputs............................................................................................................ 19
Virtual Switches .................................................................................................................... 19
Analog (voltage) Inputs.......................................................................................................... 21
Pot Inputs.............................................................................................................................. 22
RTD Inputs ............................................................................................................................ 22
High Speed Digital Inputs ...................................................................................................... 23
Encoder Inputs ...................................................................................................................... 24
Quadrature Encoders ...................................................................................................... 24
Sine/Cosine Position sensors........................................................................................... 25
TABLE OF CONTENTS

Curtis Model 1351 – December 2018 pg. iii
TABLE OF CONTENTS cont’d
Sawtooth Position Transducer ......................................................................................... 26
CAN Ports.............................................................................................................................. 27
Power Supply Outputs........................................................................................................... 28
Keyswitch and Coil Return/Safety Output............................................................................... 29
3: PROGRAMMABLE PARAMETERS .................................................................................................... 30
PROGRAMMABLE PARAMETERS .................................................................................................. 30
PROGRAMMING MENUS............................................................................................................... 30
MENU CHART FORMAT ................................................................................................................ 30
Terminology .......................................................................................................................... 31
SDO Write Message............................................................................................................... 32
THE PROGRAMMABLE PARAMETERS ........................................................................................... 33
SYSTEM CONTROLLER ................................................................................................................ 33
Battery Discharge Indicator ................................................................................................... 34
INTPUTS...................................................................................................................................... 37
Switches ............................................................................................................................... 38
Virtual Switches .................................................................................................................... 42
Analog Inputs ........................................................................................................................ 44
RTD Input.............................................................................................................................. 47
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. iv
TABLE OF CONTENTS cont’d
4: MONITOR VARIABLES..................................................................................................................... 70
SYSTEM CONTROLLER ................................................................................................................ 71
INPUTS........................................................................................................................................ 71
OUTPUTS..................................................................................................................................... 75
ACCELEROMETER........................................................................................................................ 77
5: VEHICLE CONTROL LANGUAGE (VCL).............................................................................................. 78
VCL OVERVIEW ............................................................................................................................ 78
SUMMARY OF VCL BASICS........................................................................................................... 78
Variables and Constants........................................................................................................ 79
VCL VARIABLE TYPES AND MEMORY ............................................................................................ 79
SDO Write Message............................................................................................................... 80
VCL Function Examples ......................................................................................................... 80
VCL, Watchdog Timer and Faults............................................................................................ 81
CAN FUNCTIONS (VCL SETUP)...................................................................................................... 85
NMT Control.......................................................................................................................... 85
Node Guarding ...................................................................................................................... 86
Emergency Message Monitoring............................................................................................ 88
SDO Management ................................................................................................................. 91
CREATING AND USING CAN MAILBOXES (VCL SETUP)................................................................... 97
Conguration of a Transmit Mailbox....................................................................................... 98
Conguration of a Receive Mailbox....................................................................................... 100
Controlling a Receive Mailbox............................................................................................... 104
SRDOS ....................................................................................................................................... 105
Example Transmit SRDO Setup ............................................................................................. 107
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

FIGURES
FIGURE 1: THE 1351 SYSTEM CONTROLLER ....................................................................................... 3
FIGURE 2: MOUNTING AND DIMENSIONS (INCHES & MM).................................................................... 4
FIGURE 3: THIRTY-FIVE PIN AMPSEAL CONNECTOR............................................................................. 6
FIGURE 4: EXAMPLE WIRING DIAGRAM .............................................................................................. 13
FIGURE 5: WIRING FOR 3-WIRE POTENTIOMETER.............................................................................. 112
FIGURE 6: WIRING FOR 2-WIRE POTENTIOMETER.............................................................................. 112
TABLE OF CONTENTS cont’d
7: DIAGNOSTIC AND TROUBLESHOOTING.......................................................................................... 114
THE DIAGNOSTICS PROCESS ...................................................................................................... 114
8: MAINTENANCE ............................................................................................................................. 121
CLEANING................................................................................................................................... 121
FAULT HISTORY........................................................................................................................... 121
APPENDIX A: VCL FUNCTIONS ........................................................................................................... 122
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
Curtis Model 1351 – December 2018 pg. v

Curtis Model 1351 – December 2018
pg. vi
TABLES
TABLE 1: THE AMPSEAL CONNECTOR COMPONENTS & PART NUMBERS ............................................ 6
TABLE 2: LOW CURRENT CONNECTIONS............................................................................................. 8
TABLE 3: LOW CURRENT CONNECTION’S PROTECTED VOLTAGE......................................................... 12
TABLE 4: DRIVER OUTPUTS ELECTRICAL SPECIFICATIONS.................................................................. 17
TABLE 5: HALF-BRIDGE DRIVERS ELECTRICAL SPECIFICATIONS......................................................... 17
TABLE 6: DIGITAL OUTPUTS (DRIVERS) ELECTRICAL SPECIFICATIONS ................................................ 18
TABLE 7: ANALOG OUTPUT SPECIFICATIONS ...................................................................................... 18
TABLE 8: SWITCH (DIGITAL) INPUTS ELECTRICAL SPECIFICATIONS..................................................... 20
TABLE 9: ANALOG (VOLTAGE) INPUTS ELECTRICAL SPECIFICATIONS................................................... 21
TABLE 10: POTENTIOMETER INPUT ELECTRICAL SPECIFICATIONS...................................................... 22
TABLE 11: RTD INPUTS ELECTRICAL SPECIFICATIONS........................................................................ 23
TABLE 12: HIGH SPEED DIGITAL INPUTS............................................................................................. 23
TABLE 13: QUADRATURE ENCODER INPUTS ....................................................................................... 24
TABLE 14: SINE/COSINE SENSOR INPUTS .......................................................................................... 25
TABLE 15: SAWTOOTH SENSOR INPUTS............................................................................................. 26
TABLE 16: CAN PORTS....................................................................................................................... 27
TABLE 17: POWER-SUPPLY OUTPUTS ELECTRICAL SPECIFICATIONS .................................................. 28
TABLE 18: KSI & COIL RETURN/SAFETY OUTPUT ............................................................................... 29
TABLE 19: PROGRAMMABLE PARAMETERS MENUS ........................................................................... 31
TABLE 20: MONITOR VARIABLES MENUS............................................................................................ 70
TABLE 21: VCL VARIABLES BY MEMORY TYPE .................................................................................... 80
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
TABLE OF CONTENTS cont’d

Return to TOC Curtis Model 1351 – December 2018
1 — OVERVIEW pg. 1
HOW TO USE THIS MANUAL
is manual describes how to:
• Properly mount and wire the module
• Understand the congurable inputs and outputs
• Apply specic features to match an application
• Access and change parameters
• View and use monitor variables
• Customize applications with the Curtis Vehicle Control Language (VCL)
• Preform an initial setup following the commissioning guidelines
• Diagnose and troubleshoot faults
• Select and use the available programming and diagnostic tools
1 — OVERVIEW
e Curtis Model 1351 System Controller provides 26 multi-functions I/O for application in stand-
alone or 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.
e 1351 System Controller was designed for a wide variety of applications, such as material handling
vehicle masters, base controllers for aerial trucks, operator interface in man-up platforms, land-
based installation controllers replacing PLCs, ICE and Hybrid system controllers, hydraulic manifold
control and many others. Some of these applicable vehicles are picture on this page.

1 — OVERVIEW
Curtis Model 1351 – December 2018 Return to TOC
pg. 2
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 &
commissioning, and use the diagnostic and troubleshooting guide are critical to proper operation
of the 1351 System Controller. For additional technical support, contact the Curtis distributor or the
regional Curtis sales-support oce.

2 — INSTALLATION SPECIFICATIONS AND WIRING pg. 3
Return to TOC Curtis Model 1351 – December 2018
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 at surface devoid of protrusions, ridges, or a curvature that can cause damage
or distortion to its heatsink (base plate). To simplify the use of the 3-axis accelerometer, mount the
1351 in a level/orthogonal orientation. Secure the controller using evenly torqued bolts to the vehicle’s
mounting surface. When mounted to a metal surface, additional heat sinking or fan cooling is not
necessary to meet the 1351’s peak and continuous current ratings.
When installed with the matching vehicle-harness connector, the 1351 system controller meets the IP65
requirements for environmental protection against dust and water. Nevertheless, in order to prevent
external corrosion and leakage paths from developing, select a mounting location that will keep the
controller as clean and dry as possible.
Figure 1
e 1351 System
Controller

2 — INSTALLATION SPECIFICATIONS AND WIRING
Curtis Model 1351 – December 2018 Return to TOC
pg. 4
Figure 2
Mounting and dimensions (inches & mm)
125
160
146.0
111.0
4X Ø7.0
6.5
(38.5)
2X M5X0.8 10 MIN.
STATUS LED

2 — INSTALLATION SPECIFICATIONS AND WIRING pg. 5
Return to TOC Curtis Model 1351 – December 2018
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
run unexpectedly—be alert of the system’s moving parts and systems disconnect. Block or
stay well clear of any potentially trapping, pinching or impact area during development. Test
and debug the application in a safe and controlled area.
HIGH CURRENT ARCS—Batteries can supply very high power where arcing can occur if
they are short-circuited. Always open the battery circuit before working on the motor control
circuits.
Wear safety glasses, and use properly insulated tools to prevent shorts.
LEAD ACID BATTERIES—Charging or discharging generates hydrogen gas, which can build up
in and around the batteries. Follow the battery manufacturer’s safety recommendations.
Wear safety glasses when servicing, charging and working around the battery.
LITHIUM ION BATTERIES—Follow the battery manufacturer’s “safety precautions for the
Lithium Ion battery pack.”
Wear safety glasses when servicing, charging and working around the system’s battery.
CAUTION

2 — INSTALLATION SPECIFICATIONS AND WIRING
Curtis Model 1351 – December 2018 Return to TOC
pg. 6
THE 35-PIN AMPSEAL CONNECTIONS
All logic and low power connections are through a single 35-pin AMPSEAL connector integrated into
the cover utilizing gold-plated pins. e matching receptacle’s wire silos come sealed by a membrane.
Pierced the membrane by inserting the individually terminated wires. To maintain the IP65 rating,
use the proper wire gauge and insulation thickness. Seal any non-used wire positions that have their
silo-diaphragm pierced with the specic seal plug.
• Figure 3 shows e 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.
Figure 3
irty-Five pin AMPSEAL
connector
AMPSEAL 35 PIN Connector
Harness-side view
Table 1 The AMPSEAL Connector Components & Part Numbers
Matching AMPSEAL 35-pin Component * Part Number
AMPSEAL receptacle housing (the black vehicle-harness plug)776164-1
Plug’s gold-plated socket terminals (strip form p/n) 770520
Plug’s gold-plated socket terminals (loose piece p/n) 770854-3
Silo seal plug (for non-used pin positions with a pierced membrane) 770678-1
Harness wire size (gauge) 0.5 – 1.25 mm2
(20 – 16 AWG)
Wire diameter (overall) [i.e., uses wire with thin-wall insulation] 1.7 – 2.7 mm
*AMPSEAL components and tooling are available worldwide from multiple TE Connectivity electrical component distributors.
Reference the TE Connectivity Document: Application Specification 114-16016. http://www.te.com/commerce/
DocumentDelivery/DDEController
TE Connectivity website: http://www.te.com/usa-en/products/connectors/automotive-connectors/intersection/ampseal-
connectors.html

2 — INSTALLATION SPECIFICATIONS AND WIRING pg. 7
Return to TOC Curtis Model 1351 – December 2018
BATTERY CONNECTIONS (B+, B−)
e 1351 utilizes the 35-pin connector for the logic I/O. e 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
& 12) for the Coil Return/Safety Output functions. Use both pins if the peak current of the operating
drivers could exceed 13 amps. Additionally, use the Coil Return/Safety Output to provide reverse battery
polarity protection and safe shutdown of a failed driver.
B+/B– bolt/screw specication:
• read: M5 x 0.8
• Material/Class: Class 5.8 or better
• Maximum thread engagement length: 10mm
• Minimum thread engagement: 6 mm
• Torque: 3.2 ± 0.4N.m (28.3 ± 3.5 in-lbs.)
THE LOW-POWER WIRING GUIDELINES
Parameter Settings
e generic 35-pin I/O assignments described in Table 2 correspond to the example wiring diagram
conguration shown in Figure 4. Many inputs and outputs (I/O) are congurable by their parameter
settings to operate as a digital switch input, an analog input, or as a low-side driver for energizing
contactor and relay coils. Table 2 lists the alternative uses, while Tables 4 – 18 provide further details
by type.
Encoder feedback (Pins 1, 2, 8, 10, and 14, 15)
All four wires (+5 V, Feedback(s) A & B, and I/O ground) of these position signals should be bundled
together as they run between the rotational/position sensor and system controller logic connector.
Oen, they routing is with the rest of the low current wiring harness, but avoid routing near motor
cables. In applications where routing with high-power cables is necessary, shielded cable should be
used with the ground shield connected to the I/O ground (pin 8) only at the controller. In extreme
applications, utilize common mode lters (e.g. ferrite beads).
CANbus (Pins 3 & 4 and 5 & 6)
A good practice is to route the CAN wires as a twisted pair. Keep the CANbus wiring away from the
high current cables, crossing such cables at right angles when necessary.
All other low power wiring
Route the remaining low power wiring according to standard practices. When designing the vehicle’s
wiring and routing, keep the input lines such as throttle, temperature, and the above mentioned motor
feedback signals separate from controller’s output lines such as the coil driver outputs. Avoid routing
the low-power wiring parallel to the high power (and current) battery and motor cables.

2 — INSTALLATION SPECIFICATIONS AND WIRING
Curtis Model 1351 – December 2018 Return to TOC
pg. 8
Table 2 Low Current Connections
Pin Driver Output Digital Input Analog Input
(Range)
Special or
Dedicated Usage
Related VCL*
Function References
1 Digital Out 1 Switch Input 13
Virtual Switch 1 Analog 1 (0-5V) Encoder 2B Automate_Driver( ) Put_Driver( )
Digital_Out_1_State
Switch_13
Analog_1_Volts
Virtual_Switch_1
Encoder_2_RPM
Encoder_2_Position
CSS/1313 HHP Programmer:
Configuration\Outputs\Digital Drivers
Configuration\Inputs\Switches\SW 13
Configuration\Inputs\Virtual Switches\VSW 1
Configuration\Inputs\Analog Inputs
Configuration\Inputs\Encoder Input
2Switch Input 14
Virtual Switch 2 Analog 2 (0-5V) Encoder 2A Scale_Value( )
Analog_2_Volts
Virtual_Switch_2
Encoder_2_RPM
Encoder_2_Position
CSS/1313 HHP Programmer:
Configuration\Inputs\Switches\SW 14
Configuration\Inputs\Virtual Switches\VSW 2
Configuration\Inputs\Analog Inputs
Configuration\Inputs\Encoder Input
3 CAN 1 Low
Setup_CAN_Transmit_
Mailbox( )
Setup_CAN_
Recieve_Mailbox( ),
Etc.
CSS/1313 HHP Programmer:
Configuration\CAN\Port 1
4 CAN 1 High See CAN 1 Low
CSS/1313 HHP Programmer:
Configuration\CAN\Port 1
5 CAN 2 Low
CSS/1313 HHP Programmer:
Configuration\CAN\Port 2
6 CAN 2 High
CSS/1313 HHP Programmer:
Configuration\CAN\Port 2
7 KSI Keyswitch_Voltage
8 I/O Ground
9 + 12V (Output) Control_External_
Power()
Ext_12V
Ext_12V_Current
CSS/1313 HHP Programmer:
Configuration\System Controller\External Supplies

2 — INSTALLATION SPECIFICATIONS AND WIRING pg. 9
Return to TOC Curtis Model 1351 – December 2018
Pin Driver Output Digital Input Analog Input
(Range)
Special or
Dedicated Usage
Related VCL*
Function References
10 + 5V (Output) Control_External_
Power()
Ext_5V
Ext_5V_Current
CSS/1313 HHP Programmer:
Configuration\System Controller\External Supplies
11 Safety Output Coil Return Put_Driver( ) Safety_Output_State
12 Safety Output Coil Return Put_Driver( ) Safety_Output_State
13 PWM Driver 1 Switch Input 1 Proportional
Automate_Driver( )
Put_Driver( )
Setup_Ramp( ), Etc.
Driver_1_PWM
Driver_1_Current
Switch_1
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver1
Configuration\Inputs\Switches\SW 1
14
High Speed Input 1
Virtual Switch 3
Analog 3 (0-5V) Encoder 1B
Virtual_Switch_3
Analog_3_Volts
Encoder_1_RPM
Encoder_1_Position
CSS/1313 HHP Programmer:
Configuration\Inputs\Virtual Switches\VSW 3
Configuration\Inputs\Analog Inputs
Configuration\Inputs\High Speed Inputs
Configuration\Inputs\Encoder Inputs
15
High Speed Input 2
Virtual Switch 4
Analog 4 (0-5V) Encoder 1A
Virtual_Switch_4
Analog_4_Volts
Encoder_1_RPM
Encoder_1_Position
CSS/1313 HHP Programmer:
Configuration\Inputs\Virtual Switches\VSW 4
Configuration\Inputs\Analog Inputs
Configuration\Inputs\High Speed Inputs
Configuration\Inputs\Encoder Inputs
16 Virtual Switch 5 Analog 5 (0-20V) RTD 1
Virtual_Switch_5
Analog_5_Volts
RTD_1_R
RTD_1_OUT
CSS/1313 HHP Programmer:
Configuration\Inputs\Analog Inputs
Configuration\Inputs\RTD Input
Configuration\Inputs\Virtual Switches\VSW 5
17 Virtual Switch 6 Analog 6 (0-20V) RTD 2
Virtual_Switch_6
Analog_6_Volts
RTD_2_R
RTD_2_OUT
CSS/1313 HHP Programmer:
Configuration\Inputs\Analog Inputs
Configuration\Inputs\RTD Input
Configuration\Inputs\Virtual Switches\VSW 6
Table 2 Low Current Connections, cont’d

2 — INSTALLATION SPECIFICATIONS AND WIRING
Curtis Model 1351 – December 2018 Return to TOC
pg. 10
Pin Driver Output Digital Input Analog Input
(Range)
Special or
Dedicated Usage
Related VCL*
Function References
18 Virtual Switch 7 Analog 7 (0-20V) RTD 3
Virtual_Switch_7
Analog_7_Volts
RTD_3_R
RTD_3_OUT
CSS/1313 HHP Programmer:
Configuration\Inputs\Analog Inputs
Configuration\Inputs\RTD Input
Configuration\Inputs\Virtual Switches\VSW 7
19 Virtual Switch 8 Analog 8 (0-20V) RTD 4
Virtual_Switch_8
Analog_8_Volts
RTD_4_R
RTD_4_OUT
CSS/1313 HHP Programmer:
Configuration\Inputs\Analog Inputs
Configuration\Inputs\RTD Input
Configuration\Inputs\Virtual Switches\VSW 8
20 Virtual Switch 9 Analog 9 (0-20V) Pot Wiper
Virtual_Switch_9
Analog_9_Volts
Wiper_Position
Pot_Resistance
CSS/1313 HHP Programmer:
Configuration\Inputs\Analog Inputs
Configuration\Inputs\Virtual Switches\VSW 9
21 Virtual Switch 10 Analog 10 (0-20V) Pot High (0-10V) Virtual_Switch_10
Analog_10_Volts
CSS/1313 HHP Programmer:
Configuration\Inputs\Analog Inputs
Configuration\Inputs\Virtual Switches\VSW 5
22 Virtual Switch 11 Analog 11 (0-20V) Analog Out
Virtual_Switch_11
Analog_Out_
Command
Analog_11_Volts
CSS/1313 HHP Programmer:
Configuration\Inputs\Analog Inputs
Configuration\Inputs\Virtual Switches\VSW 11
Configuration\Outputs\Analog Output
23 HB Driver 1 Automate_Driver( )
Put_Driver( )
Driver_11_PWM
Driver_11_Current
CSS/1313 HHP Programmer:
Configuration\Outputs\Half-Bridge Drivers
24 PWM Driver 2 Switch Input 2 Proportional Automate_Driver( )
Put_Driver( )
Driver_2_PWM
Driver_2_Current
Switch_2
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver2
Configuration\Inputs\Switches\SW 2
Table 2 Low Current Connections, cont’d

2 — INSTALLATION SPECIFICATIONS AND WIRING pg. 11
Return to TOC Curtis Model 1351 – December 2018
Pin Driver Output Digital Input Analog Input
(Range)
Special or
Dedicated Usage
Related VCL*
Function References
25 Digital Out 2 Switch Input 11 Automate_Driver( )
Put_Driver( )
Digital_Output_2_State
Switch_11
CSS/1313 HHP Programmer:
Configuration\Outputs\Digital Drivers
Configuration\Inputs\Switches
26 PWM Driver 3 Switch Input 3 Automate_Driver( )
Put_Driver( )
Driver_3_PWM
Driver_3_Current
Switch_3
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver3
Configuration\Inputs\Switches\SW 3
27 PWM Driver 4 Switch Input 4 Automate_Driver( )
Put_Driver( )
Driver_4_PWM
Driver_4_Current
Switch_4
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver4
Configuration\Inputs\Switches\SW 4
28 PWM Driver 5 Switch Input 5 Automate_Driver( )
Put_Driver( )
Driver_5_PWM
Driver_5_Current
Switch_5
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver5
Configuration\Inputs\Switches\SW 5
29 PWM Driver 6 Switch Input 6 Automate_Driver( )
Put_Driver( )
Driver_6_PWM
Driver_6_Current
Switch_6
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver6
Configuration\Inputs\Switches\SW 6
30 PWM Driver 7 Switch Input 7 Automate_Driver( )
Put_Driver( )
Driver_7_PWM
Driver_7_Current
Switch_7
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver7
Configuration\Inputs\Switches\SW 7
31 PWM Driver 8 Switch Input 8 Automate_Driver( )
Put_Driver( )
Driver_8_PWM
Driver_8_Current
Switch_8
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver8
Configuration\Inputs\Switches\SW 8
32 PWM Driver 9 Switch Input 9 Automate_Driver( )
Put_Driver( )
Driver_9_PWM
Driver_9_Current
Switch_9
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver9
Configuration\Inputs\Switches\SW 9
Table 2 Low Current Connections, cont’d

2 — INSTALLATION SPECIFICATIONS AND WIRING
Curtis Model 1351 – December 2018 Return to TOC
pg. 12
Protected Voltages
e low-power pins’ protected voltage ratings listed in Table 3 are absolute—they are not for normal
operation. To prevent damage to the controller, do not connect (short circuit) the I/O Ground (pin 8)
to battery positive.
Table 3 Low Current Connections Protected Voltages
Controller Pin Number Minimum
(reverse) Voltage
Maximum
Voltage
ESD
Air Discharge CONTACT
All other pins −1
MaxV +10V ±15kV ±8kV 7 (KSI) −MaxV
11, 12 (Coil Return/Safety Output) −MaxV
8 (I/O Ground) Not protected
Pin Driver Output Digital Input Analog Input
(Range)
Special or
Dedicated Usage
Related VCL*
Function References
33 PWM Driver 10 Switch Input 10 Automate_Driver( )
Put_Driver( )
Driver_10_PWM
Driver_10_Current
Switch_10
CSS/1313 HHP Programmer:
Configuration\Outputs\PWM Drivers\Driver10
Configuration\Inputs\Switches\SW 10
34 Digital Out 3 Switch input 12 Automate_Driver( )
Put_Driver( )
Digital_Output_3_
State
Switch_12
CSS/1313 HHP Programmer:
Configuration\Outputs\Digital Drivers
Configuration\Inputs\Switches
35 HB Driver 2 Automate_Driver( )
Put_Driver( )
Driver_12_PWM
Driver_12_Current
CSS/1313 HHP Programmer:
Configuration\Outputs\Half-Bridge Drivers
Table 2 Low Current Connections, cont’d
* The related VCL columns are applicable when employing VCL. Use the VCL “functions” to access the various I/O features. VCL “references” are
predefined names for specific pins and use in the CSS/1313-HHP Monitor app. References are read-only Monitor variables. Refer to the OS SysInfo file
for specific VCL functions, constants, controller system variables, usage, and CAN Object IDs.

2 — INSTALLATION SPECIFICATIONS AND WIRING pg. 13
Return to TOC Curtis Model 1351 – December 2018
THE SYSTEM CONTROLLER’S WIRING DIAGRAM (EXAMPLE)
e 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. In this
example, the Li/Lower and Steer Angle potentiometers connections are 3-wire potentiometer inputs,
while the control of the main contactor is by another device. Figure 4’s connections are representative
of just some of the possible 1351 System Controller wiring congurations.
Note: In cases where an application’s wiring and I/O usage deviates from the wiring shown in Figure 4,
it is up to the OEM to evaluate the overall system safety. Always ensure a conguration is thoroughly
tested and veried for the application.
Figure 4
Example Wiring Diagram
1351 System Controller




Encoder


+12V
+5V




















KSI













11
12
Gauge







{
{








Engine Temp
 

33
4
3
6
5
10
2
1
8
29
30
31
32

21
20
22
9



14
25
34
28
27
26
24
13

35
23
17
16
Oil Temp
Oil Pressure
15
19
18
(B+ for the PWM drivers)
}

2 — INSTALLATION SPECIFICATIONS AND WIRING
Curtis Model 1351 – December 2018 Return to TOC
pg. 14
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+). ese are high-frequency pulse width modulation (PWM) drivers. Via parameter
settings, each has one of four operating modes: O, Direct PWM, Voltage Compensated, and Current
Control. e drivers can control (sink) up to 3 amperes, although the 15 total drivers have a combined
current limit of 23 amperes (when using both Coil Return pins 11 & 12*). All inductive loads shall be
connected to the coil return (pins 11 & 12), which provides yback diode protection. Resistive and
RC (inrush) loads shall not exceed three amps (peak). Each driver oers current measurement, output
state monitoring, and open/short fault detection. During setup and development, use the Test feature
(via VCL) to verify the fault detection of the driver circuits and external load connections. Each driver
is protected against shorts to B+or B−.
O (Open) e output driver FET is o (non-energized). Use this mode to disable the driver
output to allow the pin usage as an input.
Direct PWM e Direct PWM mode allows the driver to produce PWM as commanded.
FET and wiring diagnostics are performed in this mode. e PWM produced
is equal the command percentage by directly writing to the variable Driver_X_
Command, where the value of 0 – 1000 commands from 0.0 – 100.0% PWM.
Voltage Comp e Voltage Compensated mode continuously regulates the driver PWM based
on the command, the Nominal Voltage setting and the present battery voltage in
an attempt to provide a constant average voltage at the output. FET and wiring
diagnostics are performed in this mode. Initial and continuous PWM % timing
control is applied. e command is a % of nominal voltage desired at the output.
Current Control The Current Regulated Mode interprets the command as a load current
request. is mode uses the feedback from current shunts to regulate (using a
PI controller) the PWM and thus provide the requested load current. Use this
mode to control Proportional Valves. It requires several additional features for
proper position control: Dither, Min/Max current settings, and PI gain settings.
On a normally closed valve, the Maximum current will provide a full open valve
and minimum current commands a fully closed valve. Setting the minimum
current above zero amps allows the valve to be quickly energized, and ready to
move quickly when commanded. Use the Maximum Current setting to calculate
the dither amount.
A 0.0% command will command zero current and the FET will be completely
o (irrespective of the Minimum setting). 0.1% will command a jump to the
Minimum Current and from there the current will linearly increase to Maximum
Current at 100% command.
Dither provides an amount of cyclically changing current to vibrate the solenoid
and keep it from “sticking” in one position. Without dither, it is harder to make
small adjustment in the proportional valve position. Dither has both a frequency
and amount. Note that the PI controller gains are critical in controlling dither
and should be adjusted to ensure the dither is properly generated.
Dither Waveform (current control/proportional valve mode)