Curtis 1353 Manuel utilisateur

Manual

CANopen Expansion Module

Read Instructions Carefully!

Specications are subject to change without notice.

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

pg. iii

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

pg. 1

Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017

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

Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC

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

Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017

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

Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC

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)

(3.4)

6.3 (0.25) dia.,

2 plcs

(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

Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017

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

2 — INSTALLATION AND WIRING

Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC

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

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.

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