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
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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.

1 — OVERVIEW
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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.

2 — INSTALLATION AND WIRING
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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)

2 — INSTALLATION AND WIRING pg. 5
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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
81
2316
9 15
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.