Curtis 1356 User manual

Manual
Models 1356 &1356P
CAN Expansion Modules
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2015 Curtis Instruments, Inc. ® Curtis is a registered trademark of Curtis Instruments, Inc.
© The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc. 53221, Rev A 10/2015
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com

Curtis 1356 /1356P CAN Expansion Module Manual, Rev. A iii
CONTENTS
1. OVERVIEW ............................................................................ 1
2. INSTALLATION AND WIRING .......................................... 4
Mounting the Module ........................................................ 4
Connections and Wiring Guidelines................................... 6
Wiring: Basic Configuration .............................................. 8
Wiring: Application Example........................................... 10
Input/Output Specifications.............................................. 11
3. CANopen COMMUNICATIONS ........................................ 16
Minimum State Machine .................................................. 16
NMT Messages ................................................................ 18
Emergency Messages ........................................................ 19
Heartbeat ......................................................................... 19
4 PDO COMMUNICATIONS ............................................... 20
5. SDO COMMUNICATIONS ............................................... 23
SDO Master Request (SDO-MOSI) ................................ 23
SDO 1356 /1356P Response (SDO-MISO) .................... 24
Using an SDO to Map a PDO ........................................ 25
Types of SDO Objects ..................................................... 26
Communication Prole Objects ....................................... 26
Parameter Prole Objects ................................................. 33
Monitor Prole Objects ................................................... 38
6. DIAGNOSTICS & TROUBLESHOOTING ...................... 39
Troubleshooting ................................................................ 40
Fault Log........................................................................... 41
7. SERIAL COMMUNICATIONS & PROGRAMMING ...... 42
Program Menus ............................................................... 42
Monitor Menus ................................................................ 48
Fault Menu ...................................................................... 50
appendix aVehicle Design Considerations
appendix bProgramming Devices
appendix cSpecifications, 1356 /1356P CAN Expansion Module
CONTENTS

iv Curtis 1356 /1356P CAN Expansion Module Manual, Rev. A
FIGURES
. 1: Curtis 1356/1356P CAN expansion module .......................... 1
. 2: Mounting dimensions, Curtis 1356/1356P ............................ 4
. 3: Basic wiring diagram ............................................................... 8
. 4: Application example .............................................................. 10
TABLES
 1: Connector pinout .................................................................. 6
 2: Communication prole object dictionary ............................ 26
2a: Manufacturer’s status registers .................................... 31
2b: Store parameter object ............................................... 31
2c: Restore default parameters object ............................... 32
 3: Parameter prole object dictionary ....................................... 33
 4: Monitor object dictionary .................................................... 38
 5: Troubleshooting chart .......................................................... 40
 6: Programmer: program menus ............................................... 42
 7: Programmer: monitor menus ............................................... 48
 C-1: Specifications, Curtis 1356/1356P ..................................... C-1
FIGURES / TABLES

Curtis 1356/1356P CAN Expansion Module Manual, Rev. A 1
OVERVIEW
e Curtis 1356 and 1356P are CAN expansion modules that provide simple,
exible, and low-cost control of up to 18 I/O, two high-frequency driver out-
puts, one encoder input, and ve analog inputs. ese modules can be used
on electric vehicles and internal combustion engines.
e 1356/1356P can extend the I/O capabilities of any Curtis VCL-driven
system and enhance systems that use Curtis AC controllers by providing ad-
ditional I/O. ese expansion modules have the exibility to be used in many
applications, such as Mobile Elevating Work Platforms (MEWPs), electric
forklifts, aerial lifts, etc.
Two versions of the module are available. e 1356 is a PCBA, for which
customers develop their own case to provide environmental protection. e
1356P comes potted with a plastic tray that provides IP65 water and dust
immunity for its electronics.
1
1 — OVERVIEW
Fig. 1 Curtis 1356 and
1356P CAN expansion
modules.
More Features +
Features include:
311 active-high digital inputs
32 high-frequency driver outputs (1 amp and 3 amps), which can also be used
as active-high digital inputs
3Closed loop constant current, constant voltage, or direct PWM control on each
output
35 analog inputs (0–15V), which can also be used as virtual digital inputs
with programmable thresholds

2Curtis 1356/1356P CAN Expansion Module Manual, Rev. A
3Analog inputs are selectable for resistive sensors (0–5kΩ)
31 quadrature encoder input
3Serial port for Curtis programmer or fault code display
3CANopen communication port controlled by dynamic mapping
3Regulated 5V and unregulated 12V current-limited power supplies
3The output voltage and current of the 5V and 12V supplies can be monitored
3Software and hardware watchdog circuits ensure proper software operation
3IP65-rated protection for 1356P (exclusive of connectors)
3Red and yellow status LEDs provide external monitoring.
DESCRIPTIONS OF KEY FEATURES
Active-High Digital Inputs
e 1356 /1356P has eleven digital inputs. Each input is digitally ltered to
eliminate switch “bounce” or noise in the signal. A power resistor pull-down
to B- at each input provides active high to B+.
High Frequency Driver Outputs
e 1356 /1356P contains two driver outputs. One can sink up to 1 amp
through an inductive or a resistive load; the other can sink up to 3amps through
an inductive or a resistive load. Internal yback diodes to B+ prevent voltage
spikes. High frequency PWM (16kHz) provides smooth current to the load.
Constant Current or Voltage Outputs
e two driver outputs can work in Constant Current mode or in Constant
Voltage mode.
In Constant Current mode, the software runs a closed loop PI controller
to provide an average constant current. is current is commanded over PDO
as a 0–100% command based on the maximum current setting (set through a
Curtis programmer or an SDO).
Each output can also be programmed for Constant Voltage mode. In this
mode, the battery voltage is monitored and the PWM command is corrected
by a feed-forward controller to provide a constant average voltage commanded
over the PDO (a 0–100% command based on the maximum voltage setting).
In addition, each output can also be programmed to provide a directly
commanded PWM% output (Direct PWM mode) or shut o to be used as
an input (Active-High Digital Input Only mode).
Programmable Dither for Hydraulic Valves
Dither is a small variation in the command that keeps the seals of a proportional
valve oiled. is lubrication allows the valve to move freely for accurate PV
control. Dither is only active on drivers in Constant Current mode.
1 — OVERVIEW

Curtis 1356/1356P CAN Expansion Module Manual, Rev. A 3
Voltage Analog Inputs
e 1356 /1356P has ve analog inputs that are scaled to read 0–15 volts. e
analog channels are read by a 12-bit ADC, resulting in about 3.66 millivolt
resolution. Independently adjustable lters ensure a smooth signal.
Resistive Sensor Inputs
Each analog input can be used with resistive sensors, such as RTDs (Resistive
Temperature Devices).
Virtual Digital Inputs
e ve analog inputs are also sensed and decoded as if they were digital inputs.
A unique feature of these digital inputs is that the active high/low thresholds are
completely programmable. us, these inputs can be used with analog sensors
to detect conditions like over/under pressure, high/low level points, etc.
Encoder Interface
e 1356 /1356P has one quadrature encoder input, which shares with the
Analog 4–5 pins. e 1356 /1356P can detect an open fault on the encoder
input wire.
CAN Interface
e 1356 /1356P is CANopen compliant, responding to the standard NMT,
PDO, and SDO communications as well as the DS301-required identity and
standard objects. e Curtis CANopen extensions allow additional features,
such as OEM and User default congurations and time-stamped fault logging.
PDO Dynamic Mapping
e 1356 /1356P can receive two PDOs and respond with two PDOs. ese
PDOs use dynamic mapping. All programmable parameters and viewable values
within the 1356 /1356P are accessible by SDOs or with a Curtis programmer.
Online Update
e 1356 /1356P has the ability to update its software through the serial port
(with Curtis 1309USB) or through the CANopen interface (with Peak-CAN
tools), using existing Curtis PC software tools.
Status LEDs
e 1356 has two fault LEDs (red and yellow) to clearly ash the fault code.
Both the 1356 and the 1356P can drive a single remote LED via the serial
port, to ash the fault code.
Familiarity with your Curtis 1356 /1356P module will help you install and operate
it properly. We encourage you to read this manual carefully. If you have questions,
please contact the Curtis office nearest you.
1 — OVERVIEW

4Curtis 1356/1356P CAN Expansion Module Manual, Rev. A
2 — INSTALLATION & WIRING
2
Fig. 2 Mounting
dimensions, Curtis 1356
and 1356P expansion
modules.
Dimensions in millimeters.
INSTALLATION AND WIRING
MOUNTING THE MODULE
e outline and mounting hole dimensions for the modules are shown in Fig. 2.
e 1356P module should be mounted using two M4 screws.
e 1356 module requires the OEM to develop an appropriate case to
provide environmental protection. Mounting for the 1356 depends on the case.
Care should be taken to prevent contaminating the PCBA (1356) or
connector (1356P). In order to prevent external corrosion and leakage paths
from developing, the mounting location should be carefully chosen to keep
the module as clean and dry as possible.
+
CAUTION
100.0
92.4
3.8
3.8
62.4
70.0
60.7 5X Ø3.50
4XR3
J1 CONNECTOR J2 CONNECTOR
1 12
13 24
1 2
43
14.4 ±1.5
1.60
16.3
STATUS
LEDs
110.0
116.0
126.0
2x Ø4.50
4xR8
25.0
32.0
80.0
J1 CONNECTOR J2 CONNECTOR
121
2413
1
3
2
4
5.0
25.0
17.0
1356
1356P

Curtis 1356/1356P CAN Expansion Module Manual, Rev. A 5
If the outputs will be used at or near their maximum ratings, it is rec-
ommended that the module be mounted to a good heatsinking surface, such
as an aluminum plate.
You will need to take steps during the design and development of your
end product to ensure that its EMC performance complies with applicable
regulations; suggestions are presented in Appendix A.
e 1356 /1356P contains ESD-sensitive components. Use appropriate
precautions in connecting, disconnecting, and handling the module. See instal-
lation suggestions in Appendix A for protecting the module from ESD damage.
2 — INSTALLATION & WIRING
Working on electrical systems is potentially dangerous. You should
protect yourself against uncontrolled operation, high current arcs, and
outgassing from lead acid batteries:
UNCONTROLLED OPERATION — Some conditions could cause the motor to
run out of control. Disconnect the motor or jack up the vehicle and get
the drive wheels o the ground before attempting any work on the motor
control circuitry.
HIGH CURRENT ARCS — Batteries can supply very high power, and arcing can
occur if they are short circuited. Always open the battery circuit before
working on the motor control circuit. 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 man-
ufacturer’s safety recommendations. Wear safety glasses.
+
CAUTION

6Curtis 1356/1356P CAN Expansion Module Manual, Rev. A
2 — INSTALLATION & WIRING: Low Current Connections
pin name description
J1-1 B+ Battery positive.
Active High Digital Input1 &
J1-2 Input/Output 1 High Power PWM Active Low
Output1.
J1-3 Input 3 Active High Digital Input3.
J1-4 Input 5 Active High Digital Input5.
J1-5 Input 7 Active High Digital Input7.
J1-6 Input 9 Active High Digital Input9.
J1-7 Input 11 Active High Digital Input11.
J1-8 Input 13 Active High Digital Input13.
J1-9 Analog Input 2 Voltage or Resistive Input2.
Voltage or Resistive Input4 &
J1-10 Analog Input 4 / Quadrature Encoder Input
Encoder A Phase A.
J1-11 CAN H CAN Bus High
Communication Line.
J1-12 +5V Regulated Low Power +5V
Output.
Table 1 24-Pin Molex Connector Pin Assignment
pin name description
J1-13 B- Battery negative.
Active High Digital Input2 &
J1-14 Input/Output 2 High Power PWM Active Low
Output2.
J1-15 Input 4 Active High Digital Input4.
J1-16 Input 6 Active High Digital Input6.
J1-17 Input 8 Active High Digital Input8.
J1-18 Input 10 Active High Digital Input10.
J1-19 Input 12 Active High Digital Input12.
J1-20 Analog Input 1 Voltage or Resistive Input1.
J1-21 Analog Input 3 Voltage or Resistive Input3.
Voltage or Resistive Input5 &
J1-22 Analog Input 5 / Quadrature Encoder Input
Encoder B Phase B.
J1-23 CAN L CAN Bus Low
Communication Line.
J1-24 I/O GND Input and Output Ground
Reference.
Table 2 4-Pin Molex Connector Pin Assignment
pin name description
J2-1 Serial Rx /LED Enable Serial Receive /Status LED Enable.
J2-2 I/O GND Input and Output Ground Reference.
J2-3 Serial Tx / LED Output Serial Transmit / Status LED Output.
J2-4 +12V Unregulated Low Power +12V Output.
CONNECTIONS
e 1356 /1356P connections are made through 24-pin and 4-pin Molex
connectors. e mating plugs are Molex #39-01-2245 and #39-01-2045, and
the contact pins are #39-00-0059.
e individual pins are characterized in Tables 1 and 2.
24 23 22 21 20 19 18 17 16 15 14 13
121110987654321
J1 J2
12
34