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