Curtis 1353 User manual

Manual
CANopen Expansion Module
Read Instructions Carefully!
Specications are subject to change without notice.
© 2017 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. 53053, Rev F June 2017
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
Model 1353

Curtis 1353 CANopen Expansion Module Manual – June 2017
pg. ii
CHAPTERS
1: OVERVIEW ...................................................................................................................................... 1
DESCRIPTIONS OF KEY FEATURES ................................................................................................ 2
2: INSTALLATION AND WIRING ............................................................................................................ 4
MOUNTING THE MODULE.............................................................................................................. 4
CONNECTIONS ............................................................................................................................. 6
WIRING: BASIC CONFIGURATION ................................................................................................... 8
WIRING: APPLICATION EXAMPLE .................................................................................................. 10
INPUT/OUTPUT SIGNAL SPECIFICATIONS...................................................................................... 11
3: CANOPEN COMMUNICATIONS........................................................................................................ 15
MINIMUM STATE MACHINE .......................................................................................................... 15
NMT MESSAGES.......................................................................................................................... 18
EMERGENCY MESSAGES ............................................................................................................. 19
HEARTBEAT ................................................................................................................................. 19
4: PDO COMMUNICATIONS ................................................................................................................ 20
5: SDO COMMUNICATIONS ................................................................................................................ 23
SDO 1353 RESPONSE (SDO-MISO) .............................................................................................. 24
TYPES OF SDO OBJECTS ............................................................................................................. 24
COMMUNICATION PROFILE OBJECTS............................................................................................ 25
Manufacturer’s Status Register................................................................................................ 27
Store Parameter Object ........................................................................................................... 28
Restore Default Parameters..................................................................................................... 29
PARAMETER PROFILE OBJECTS................................................................................................... 30
MONITOR OBJECTS..................................................................................................................... 35
6: DIAGNOSTICS AND TROUBLESHOOTING......................................................................................... 37
FAULT LOG ................................................................................................................................... 39
7: SERIAL COMMUNICATIONS & PROGRAMMING................................................................................ 40
PROGRAM MENUS....................................................................................................................... 40
MONITOR MENUS........................................................................................................................ 45
FAULT MENU................................................................................................................................ 47
TABLE OF CONTENTS

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Curtis 1353 CANopen Expansion Module Manual – June 2017
TABLE OF CONTENTS cont’d
APPENDIX A: DESIGN CONSIDERATIONS............................................................................................. 48
ELECTROMAGNETIC COMPATIBILITY (EMC).................................................................................. 48
ELECTROSTATIC DISCHARGE (ESD).............................................................................................. 49
APPENDIX B: PROGRAMMING DEVICES .............................................................................................. 50
PC PROGRAMMING STATION (1314)............................................................................................. 50
HANDHELD PROGRAMMER (1313)............................................................................................... 50
PROGRAMMER FUNCTIONS ......................................................................................................... 50
APPENDIX C: SPECIFICATIONS ........................................................................................................... 51

pg. iv
FIGURES
Figure 1: Curtis 1353 CANopen expansion module ............................................................................. 1
Figure 2: Mounting dimensions .......................................................................................................... 4
Figure 3: Basic wiring diagram .......................................................................................................... 8
Figure 4: Application example ........................................................................................................... 10
TABLES
Table 1: Connector pinout .................................................................................................................. 7
Table 2: Communication prole object dictionary .............................................................................. 25
2a: Manufacturer’s status registers ..................................................................................... 27
2b: Store parameter object .................................................................................................. 28
2c: Restore default parameters object ................................................................................. 29
Table 3: Parameter prole object dictionary ...................................................................................... 30
Table 4: Monitor object dictionary ..................................................................................................... 35
Table 5: Troubleshooting chart ........................................................................................................... 38
Table 6: Program Menus: 1313/1314 Programmer............................................................................. 40
Table 7: Monitor Menus: 1313/1314 Programmer.............................................................................. 45
Table C-1 Specications: 1353 Module.............................................................................................. 51
TABLE OF CONTENTS cont’d
Curtis 1353 CANopen Expansion Module Manual – June 2017

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1 — OVERVIEW
1 — OVERVIEW
e Curtis 1353 is a CANopen interface module with hydraulic system oriented functions, inputs,
and outputs. It provides simple, exible, and cost-eective control of up to nine proportional or on/
o hydraulic valves. It can be used on internal combustion engines and electric vehicles.
e 1353 can extend the I/O capabilities of the Curtis VCL-driven system and enhance the systems
that use Curtis AC controllers by providing additional I/O. Although the 1353 has specic features
orienting it towards hydraulic valve control, the I/O and rmware are designed to give it the exibility
to be used in many generic applications, such as Mobile Elevating Work Platforms (MEWPs) and
aerial lis.
e housing is designed to meet the dicult environment seen in material handling and outdoor
equipment. is water-tight design can survive high shock, vibration, freezing, and dust. One section
of the housing is aluminum which allows a simple method for heat-sinking the internal drivers.
Figure 1
Curtis 1353 CANopen
interface module.
Features include:
• 9 high-frequency output drivers, which can also be used as active-high digital inputs.
• Closed loop constant current, constant voltage, or direct PWM control on each output.
• Built-in programmable dither control for hydraulic valves.
• Min/Max current and Ramp up/down time setting for driver outputs.
• Built-in coil yback diodes.
• 6 analog inputs (0–15V), which can also be used as virtual digital inputs.

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pg. 2
• 2 quadrature encoder inputs.
• 5V and 12V current limited power supplies.
• Optional serial port, for Curtis programmer or display.
• CANopen communication port controlled by two xed PDO maps and programmable over
SDOs.
• CAN Node ID selectable through digital inputs or virtual digital inputs.
• Soware and hardware watchdog circuits ensure proper soware operation.
• IP65-rated enclosure allows the 1353 to be mounted in multiple orientations, and protects
it even in harsh environments.
• Status LEDs provide external monitoring.
DESCRIPTIONS OF KEY FEATURES
High Frequency Driver Outputs
e 1353 contains nine identical output drivers. ese drivers can sink up to 3amps each through an
inductive load, with the total current limited to 18A. Internal yback diodes to B+prevent voltage
spikes. High frequency PWM (16 kHz) provides smooth current to the load.
Constant Current or Voltage Outputs
In Constant Current mode, the soware runs a closed loop PI controller to provide an average
constant current. This current is commanded over PDO as a 0–100% command based on the
maximum current and minimum current settings with ramping features (set through SDO or a
Curtis programmer).
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 (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.
Min/Max Current
Max Current parameter sets the maximum allowed driver current through the load when driver
command is 100%.
Most proportional valves need a non-zero closed current in order to start opening immediately.
Min Current parameter sets the minimum driver current through the load when driver start (driver
command > 0).

1 — OVERVIEW pg. 3
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Ramp Up/Down
In 1353, each driver has a build-in ramping function that is applied to the command. ere are
separate values for ramping up and ramping down.
When driver is command on, the Ramp Up parameter sets the time (in ms) to go from the Min to
Max current. When driver is command o, the Ramp Down parameter sets the time (in ms) to go
from the Max to Min current.
Outputs as Active High Digital Inputs
Each output can be used as a digital input. Each input is digitally ltered to eliminate switch “bounce”
or noise in the signal. ere is a power resistor pull-down to B-at each input; therefore, these inputs
are active high to B+.
Voltage Analog Inputs
e 1353 has six 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 six 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 1353 has two quadrature encoder inputs, which share with the Analog 1–4 pins. e 1353 can
detect an open fault on the encoder input wire.
CAN Interface
e 1353 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 Map
e 1353 can receive two PDOs and respond with two PDOs. ese PDOs are xed, simplifying the
VCL interface to the module. All programmable parameters and viewable values within the 1353 are
accessible by SDOs or with a Curtis programmer.
Familiarity with your Curtis 1353 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.

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pg. 4
2 — INSTALLATION AND WIRING
MOUNTING THE MODULE
e outline and mounting hole dimensions for the 1353 module are shown in Figure 2. e module
should be mounted using two #10 or M5 screws.
Care should be taken to prevent contaminating the connector area before the mating 23-pin
connector is installed. Once the system is plugged together, the 1353 meets the IP65 requirements
for environmental protection against dust and water. Nevertheless, 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
Figure 2
Mounting dimensions,
Curtis 1353 expansion
module.
65 (2.6)
130 (5.2)
Status
LED
100
(3.9)
87
(3.4)
6.3 (0.25) dia.,
2 plcs
39
(1.5)
If the outputs will be used at or near their maximum ratings, it is recommended that the module be
mounted to a good heatsinking surface, such as an aluminum plate.
Dimensions in millimeters (and inches)

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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.
The 1353 contains ESD-sensitive components. Use appropriate precautions in connecting,
disconnecting, and handling the module. See installation suggestions in Appendix A for protecting
the module from ESD damage.
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 off 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 manufacturer’s safety recommendations.
Wear safety glasses.
CAUTION

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pg. 6
CONNECTIONS
All connections are made through the 23-pin AMPSEAL connector. e mating plug housing is
AMP p/n 770680-1, and the contact pins are AMP p/n 770520-3. e connector will accept 20 to 16
AWG wire with a 1.7 to 2.7 mm diameter thin-wall insulation.
Note that the 1353’s pins are not sealed until the mating connector is fully engaged and locked.
e cable harness connector has a silicone rubber seal that is an integral part of the module’s sealing.
e 23 individual pins are characterized in Table 1.
CAUTION
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Wiring recommendations
Power and ground (Pins 1, 2, 9)
e B+and B-cables should be run close to each other between the module and the battery. For
best noise immunity the cables should not run across the center section of the module.To prevent
overheating these pins, the wire gauge must be sucient to carry the continuous and maximum
loads that will be seen at each pin.
Driver outputs (Pins 15–23)
e driver outputs produce high frequency (16 kHz) pulse waves that can radiate RFI noise. e wire
from the module to the load should be kept short and routed with the return wire back to the module.
CANbus (Pins 7 and 8)
It is recommended that the CAN wires be run as a twisted pair. However, many successful applications
at 125 kbit/s are run without twisting, simply using two lines bundled in with the rest of the low
current wiring. CAN wiring should be kept away from the high current cables and cross it at right
angles when necessary. If the 1353 is at the end of the CANbus, the bus needs to be terminated by
externally wiring a 120Ω ½W resistor across CAN High and CAN Low.
All other low current wiring (Pins 3, 5–6, 10–14)
e remaining low current wiring should be run according to standard practices. Running low
current wiring next to the high current wiring should always be avoided.

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Table 1 Connector Pinout
Pin Name Description
1 B+Battery positive.
2 B-Battery negative.
3+5 V Regulated low power +5 V output.
4 I/O GND Input and output ground reference.
5 Analog Input 4 / Encoder 2B Voltage or Resistive Input4 & Quadrature Encoder Input Phase 2B.
6 Analog Input 3 / Encoder 2A Voltage or Resistive Input3 & Quadrature Encoder Input Phase 2A.
7 CAN H CANbus High communication line.
8 CAN L CANbus Low communication line.
9 B-Redundant battery negative (for high current drive).
10 +12 V Unregulated low power +12 V output.
11 Analog Input 5 / Serial Tx Voltage or Resistive Input5 & serial transmit.
12 Analog Input 6 / Serial Rx Voltage or Resistive Input6 & serial receive.
13 Analog Input 2 / Encoder 1B Voltage or Resistive Input2 & Quadrature Encoder Input Phase 1B.
14 Analog Input 1 / Encoder 1A Voltage or Resistive Input1 & Quadrature Encoder Input Phase 1A.
15 Input/Output 9 Active high Input9 & high power PWM active low Output9.
16 Input/Output 8 Active high Input8 & high power PWM active low Output8.
17 Input/Output 7 Active high Input7 & high power PWM active low Output7.
18 Input/Output 6 Active high Input6 & high power PWM active low Output6.
19 Input/Output 5 Active high Input5 & high power PWM active low Output5.
20 Input/Output 3 Active high Input4 & high power PWM active low Output4.
21 Input/Output 3 Active high Input3 & high power PWM active low Output3.
22 Input/Output 2 Active high Input2 & high power PWM active low Output2.
23 Input/Output 1 Active high Input1 & high power PWM active low Output1.

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pg. 8
WIRING: BASIC CONFIGURATION
A basic wiring diagram is shown in Figure 3, and described below. e diagram shows the standard
power and battery connections, as well as some basic uses for the inputs and outputs.
J1-7
J1-8
J1-2
J1-9
J1-1
J1-23
J1-22
J1-21
J1-20
J1-19
J1-18
J1-17
J1-16
J1-15
J1-3
KEYSWITCH
SWITCH
BATTERY
(12–80V)
REVERSE
POLARITY
PROTECTION
PROPORTIONAL
VALVE
CONTACTOR
CAN PORT
1353
ANALOG INPUT 1/ENCODER 1A
ANALOG INPUT 2/ENCODER 1B
ANALOG INPUT 3/ENCODER 2A
ANALOG INPUT 4/ENCODER 2B
I/O GND
INPUT/OUTPUT 1
INPUT/OUTPUT 2
INPUT/OUTPUT 3
INPUT/OUTPUT 4
INPUT/OUTPUT 5
INPUT/OUTPUT 6
INPUT/OUTPUT 7
INPUT/OUTPUT 8
INPUT/OUTPUT 9
CAN H
CAN L
+5V
ENCODER
J1-14
J1-13
J1-6
J1-5
J1-4
0–15V IN
RESISTIVE THROTTLE,
RTD, etc.
J1-10
J1-11
J1-12
SERIAL PORT
(4-pin Molex)
4
3
1
2
DISPLAY
8
6
5
+12V
ANALOG INPUT 6/RX
ANALOG INPUT 5/TX
Figure 3
Basic wiring diagram, Curtis 1353 CANopen expansion module.
Power Connection
e battery is connected to the module’s B+ pin though a fuse, a diode, and a keyswitch. e fuse
protects the wiring in the event of a short or failure. e return path of the coils is also brought back
to the B+pin to utilize the yback diodes connected inside the 1353 between B+and each driver
output.
e keyswitch is used to turn on the system. When the keyswitch is closed, B+goes high and the
1353’s power supply brings up the module.

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Driver Outputs
All nine drivers (Pins 15–23) are identical. Each is capable of driving a closed-loop current-controlled
proportional valve or a voltage-controlled contactor. Each driver has independent mode, max, and
dither settings.
ese are high-power drivers. e internal impedance to ground will cause leakage current to ow
through the output even when the output driver is o. is leakage current can be enough (>2 mA)
to light high-eciency LEDs.
In the wiring diagram, the output at Pin 23 is shown driving a proportional valve coil. is driver is
programmed for Constant Current mode and would have some Dither applied.
e second output shown (Pin 22) is driving a basic contactor coil. is output is in the Constant
Voltage mode and can be set to run at a lower voltage than the nominal battery voltage.
Switch Inputs
All the outputs can be used as Active High inputs (“On” when connected to B+). It is important
that the output command be set to 0% for each input used or a direct short from B+to B-will be
generated when the driver is pulsed On, which could damage the FET driver. In the wiring diagram,
I/O 9 (Pin 15) is shown as an Active High input switching to B+.
Analog Inputs
e fourth analog input (Pin 5) is shown being used with an RTD. is requires enabling the Analog
Input 4 pull-up, which allows the input to measure resistive sensors.
CANbus
e 1353 has an internal 1 kΩbus termination resistor. is internal impedance matches the system
requirements for a mid-line connection or short stub connection. If the 1353 is to be used at the
end of the CANbus, an external 120 Ω½W resistor must be added externally across the CAN H
and CAN L lines at or near the module to provide proper termination. e higher the bit rate (i.e.,
the higher the baud), the more critical this becomes. e 1353 can communicate up to 1 Mbit/s on
a properly terminated/wired bus.

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pg. 10
WIRING: APPLICATION EXAMPLE
The wiring diagram in Figure 4 provides an example of proportional valve control for an
electric forklift.
J1-7
J1-8
J1-2
J1-9
J1-1
J1-23
J1-22
J1-21
J1-20
J1-19
J1-18
J1-17
J1-16
J1-15
J1-3
KEYSWITCH
BATTERY
(12–80V)
REVERSE
POLARITY
PROTECTION
LIFT-UP VALVE
LOWERING VALVE
CAN PORT
1353
ANALOG INPUT 1/ENCODER 1A
ANALOG INPUT 2/ENCODER 1B
ANALOG INPUT 3/ENCODER 2A
ANALOG INPUT 4/ENCODER 2B
I/O GND
INPUT/OUTPUT 1
INPUT/OUTPUT 2
INPUT/OUTPUT 3
INPUT/OUTPUT 4
INPUT/OUTPUT 5
INPUT/OUTPUT 6
INPUT/OUTPUT 7
INPUT/OUTPUT 8
INPUT/OUTPUT 9
CAN H
CAN L
+5V
J1-14
J1-13
J1-6
J1-5
J1-4
REACH
FW/BW
J1-10
J1-11
J1-12
SERIAL PORT
(4-pin Molex)
4
3
1
2
+12V
ANALOG INPUT 6/RX
ANALOG INPUT 5/TX
TILT-UP VALVE
TILT-DOWN VALVE
SHIFT LEFT VALVE
SHIFT RIGHT VALVE
REACH FW VALVE
REACH BW VALVE
OPTION VALVE
SHIFT
LEFT/
RIGHT
TILT
UP/
DOWN
LIFT-UP/
LOWERING
Figure 4
Application example, Curtis 1353 CANopen expansion module.

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INPUT/OUTPUT SIGNAL SPECIFICATIONS
e input/output signals wired to the 23-pin connector can be grouped by type as follows; their
electrical characteristics are discussed below.
• driver outputs
• digital inputs
• analog inputs with virtual digital input
• encoder inputs
• serial port
• auxiliary power supplies
• CANbus interface
Driver Outputs
e 1353 contains nine identical driver outputs. ese outputs have all the features necessary to drive
proportional valves as well as many other inductive and non-inductive loads. A variable amount of
dither (xed frequency command “jitter”) can be added to the PWM to prevent proportional valves
from sticking in place.
DRIVER OUTPUT SPECIFICATIONS
Signal Name Pin Max Current Impedance Frequency
Input/Output 9 15
Each driver:
3 amps
All 9 total:
18 amps
12 – 36 V models:
10 kΩ pulldown to B-
36 – 80 V models:
47 kΩ pulldown to B-
All models: 16 kHz
0–100% duty cycle
Input/Output 8 16
Input/Output 7 17
Input/Output 6 18
Input/Output 5 19
Input/Output 4 20
Input/Output 3 21
Input/Output 2 22
Input/Output 1 23
e drivers can be set for Constant Current, Constant Voltage, or Direct PWM control mode.
In Constant Current mode, the driver command of 0 to 100% is interpreted as a current from 0 to
Max Output setting (up to 3 amps). Internal current shunts are measured and fed back to a closed
loop PI controller to provide a steady current over changing loads and supply voltages.
In Constant Voltage mode, the driver command of 0 to 100% is interpreted as a voltage from 0 to
Max Output (up to 80 volts). e battery voltage is constantly monitored and fed back to a closed
loop PI controller to provide a steady voltage, compensating for battery droop and discharge. If the
command is higher than the driver can output, the PWM will max out at 100%.
In Direct PWM mode, the driver command of 0 to 100% is directly output on the driver.
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pg. 12
Each driver is monitored and will detect a short in the load, a failed internal driver FET, and/or an
open in the load wiring. At near 0% and 100% PWM, it is not possible to discern each fault and some
faults will not be detected.
If the driver outputs are connected to inductive loads, the coil should have a return line to the B+pin
of the 1353. is connection provides a path for the internal freewheel diodes to clamp the turn-o
spike. Failure to make this connection with inductive loads can cause permanent damage to the 1353
as well as propagate failures of other electronics in the system due to the high voltage spike caused
when an inductive load turns o without a freewheel path.
Digital Inputs
e nine digital I/O lines can also be used as digital (on/o) inputs. Normal “on” connection is direct
to B+; “o” is direct to B-. Input will pull low (o) if no connection is made.
DIGITAL INPUT SPECFICATIONS
Signal Name Pin Logic Threshold Input Impedance
Input/Output 9 15
All models:
Low = 1.6V
High = 4.0V
12 – 36 V models:
about 10 kΩ
36 – 80 V models:
about 47 kΩ
Input/Output 8 16
Input/Output 7 17
Input/Output 6 18
Input/Output 5 19
Input/Output 4 20
Input/Output 3 21
Input/Output 2 22
Input/Output 1 23
Because these nine lines can also be used as driver outputs, it is important to ensure that Operation
Mode is set appropriately for each line. For each pin that will be used as a digital input, Operation
Mode must be set to Input Only (see page 31). Otherwise, a direct short from the battery through
the internal driver FET will occur when the input is switched high and the FET is turned on.
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Analog Inputs
e 1353 has four or six 0– 15 V analog inputs, depending on the model. ese inputs are scaled
down by 5.76, clamped to 3.3V, and read by a 12-bit ADC internal to the MCU.
ANALOG INPUT SPECIFICATIONS
Signal Name Pin Voltage Input Impedance Protected Voltage
Range
Analog Input 1 14
Nominal input voltage:
0–15V
Input Max. reverse
voltage: -1.7V
Voltage Input Type:
~21 KΩ
Resistance input type:
~1 KΩ
-1 V to B+
Analog Input 2 13
Analog Input 3 6
Analog Input 4 5
Analog Input 5* 11
-0.3 to 12 V
Analog Input 6* 12
* Can be used as serial port on 1353-4101 and -6101.
e maximum resistive input on each analog input is 7.5 kΩ. e resistive or voltage type of analog
input can be selected by a Curtis programmer (1313/1314) or CAN SDO message.
ese six analog inputs can also be used as 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 Inputs
Analog Inputs 1–4 can be congured as two encoder inputs (Encoder 1A&1B and Encoder 2A&2B).
ese standard quadrature encoder inputs accept open collector encoders with pull-up resistors. e
encoders can be powered from the +5V supply (Pin 3) or the +12V supply (Pin 10) while using the
I/O GND as a common.
ENCODER INPUTS SPECIFICATIONS
Encoder Phase Vth LO Vth HI Frequency Max Input Impedance Protected
Voltage Range
A1.0 V 2.2 V 15 kHz 1KΩ(internal pull-up
to +4.4 V) -1 V to B+
B
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pg. 14
Serial Port (Models 1353-4101 and 1353-6101 only)
On selected models, Pins 11 & 12 can be congured as a serial port or as analog inputs via SDO. e
Curtis programmer can connect to this serial port using pins 11 & 12 along with I/O GND (Pin 4)
and +12V supply (Pin 10); see wiring diagram, Figure3. e Curtis Model 840 also can be connected
to this port.
SERIAL PORT SPECIFICATIONS
Signal Name Pin Supported Protocol/Devices Data Rate Protected
Voltage Range
TX 11 1313 Handheld Programmer, 1314 PC
Programming Station. Curtis 840 Display
As required, 9.6
to 56kbps -0.3 V to 12 V
RX 12
Auxiliary Power Supplies
e 1353 provides +12V and +5V auxiliary output power for low power circuits such as a ngertip
joystick, electronic throttle, Curtis programmer, or remote I/O boards. e return line for these low
power circuits is I/O GND (Pin 4). e maximum total combined output current is 200 mA.
AUXILIARY POWER SUPPLY SPECIFICATIONS
Signal Name Pin V out V out Tolerance I out (Max) Ripple/Noise
-12 V 10 12 V 10 % –100 mA 2%
-5 V 35 V 5 % –100 mA 2%
CANbus Interface
e CANbus interface will comply with CAN2.0B, active from 50 kbit/s to 1Mbsp communication rate.
The 1353 will be terminated by an internal 1 kΩ resistor across the CAN High and Low
communication pins. is assumes a mid-truck connection (not end-of-line). If the 1353 is placed at
the end of the communication lines, an external 120 Ω, ½ W resistor must be added across the lines.
Power
e power pins are each capable of carrying up to 9 A. Every application must use B+(Pin 1) and
one or both of the B-connections (Pins 2, 9).
Since the 1353’s nine drivers can sink a maximum combined load of 18 A, you will need to determine
the application’s maximum total loading on B-. To prevent the pin from overheating, the proper
wire gauge must be used and, if the load is greater than 9A, both B-pins connections are required.
If it is determined that both B-pins are required, you must also determine the load on B+. is
requires either knowledge of the expected PWM or actual in-application measurements. The
combined average current recirculating through the B+pin cannot exceed 9 A. is can be an issue
if the inductive loads are specied at a lower voltage than the battery supply as the applied PWM
would normally be reduced so as not to exceed the average applied voltage or current. e lower
PWM in turn raises the average current owing theourgh the B+pin as the load current recirculates
for a greater portion of the PWM period.
81
2316
9 15
81
2316
9 15
81
2316
9 15
81
2316
9 15

3 — CANOPEN COMMUNICATIONS pg. 15
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
3 — CANOPEN COMMUNICATIONS
e 1353 adheres to the industry standard CANopen communication protocol and thus will easily
connect into many CAN systems, including those using the Curtis AC and Vehicle System controllers
(1232/34/36/38, 1298, and 1310). Any CANopen-compatible master can be programmed to control
the 1353.
e 1353 receives two PDOs and responds with two PDOs. ese PDOs are xed, simplifying the
VCL interface to the controller. All programmable parameters and monitor parameters are accessible
by standard SDO transfer.
e time between incoming PDOs is monitored and if excessive, will ag a fault. is allows the 1353
to know that the system is still under master control. e 1353 also produces Heartbeat and Error
messages, which is the CiA-preferred safety and security method.
MINIMUM STATE MACHINE
e 1353 will run the CANopen minimum state machine as dened by CiA. e CANopen minimum
state machine has four dened states: Initialization, Pre-Operational, Operational, and Stopped.
Transmit Boot-up
Initialization
Pre-Operational
Operational
Stopped
Power-On
Reset
Reset
Module
Reset
Communication
When the 1353 powers up, it goes to the Initialization state; this is also known as the Boot-up state.
No CAN communications from the 1353 are transmitted in this state although the 1353 listens to the
CANbus. When the 1353 has completed its startup and self-tests, it issues an initialization heartbeat
message and automatically goes to the Pre-Operational state.
In the Pre-Operational state, the 1353 can receive and respond to SDOs and NMT commands, and
will send its heartbeat. It will not receive or send PDOs. When the master issues a goto Operational
State NMT command, the 1353 will go to full normal operation.
In the Operational state, the 1353 will start receiving and responding to PDOs and process all other
necessary CANopen messages.

3 — CANOPEN COMMUNICATIONS
Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
pg. 16
If the master sends a Stop NMT command or the 1353 detects an internal fault, the 1353 will go to the
Stopped state. In the Stopped state the 1353 will listen for NMTs and produce its heartbeat message
only. PDOs and SDOs (including any timeouts) are ignored.
At any point, if the master sends a Reset Communication or Reset Module (warm boot), the 1353
will go to the Initialization state as if there were a power-cycle.
Baud Rates
e 1353 runs at one of the seven selectable baud rates: 50kbit/s, 100 kbit/s, 125kbit/s, 250kbit/s,
500 kbit/s, 800 kbit/s, and 1Mbit/s. e baud rate can be changed by a Curtis programmer or by an
SDO. Changes in the baud rate require an NMT reset or KSI cycle.
CAN Node ID
In 1353, CAN Node ID can be selected from two parameters (Node ID Low and Node ID High) and
be determined by a wired input source. e parameter of Node ID Source selects which source is
used (see table below for detail). If no source is used, set this parameter to 0.
If Node ID Source is zero, or if selected Node ID Source is non-zero and the input of this Node ID
Source is low when 1353 power on, the Node ID Low parameter will be applied as the 1353 CAN
Node ID.
If selected Node ID Source is non-zero, and the input of this Node ID Source is high when 1353
power on, the Node ID High parameter will be applied as 1353 CAN Node ID.
Node ID Source Description
0 No source input. Parameter Node ID Low is the default CAN Node ID
1 Digital input1 is used as the Node ID Source
2 Digital input2 is used as the Node ID Source
3 Digital input3 is used as the Node ID Source
4 Digital input4 is used as the Node ID Source
5 Digital input5 is used as the Node ID Source
6 Digital input6 is used as the Node ID Source
7 Digital input7 is used as the Node ID Source
8 Digital input8 is used as the Node ID Source
9 Digital input9 is used as the Node ID Source
10 Virtual digital input1 is used as the Node ID Source
11 Virtual digital input2 is used as the Node ID Source
12 Virtual digital input3 is used as the Node ID Source
13 Virtual digital input4 is used as the Node ID Source
14 Virtual digital input5 is used as the Node ID Source
15 Virtual digital input6 is used as the Node ID Source