Curtis 1355 Manuel utilisateur

Manual

Model 1355

5x High Current Output

CANopen Slave Soft Starter 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

Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A iii

CONTENTS

1. OVERVIEW ............................................................................ 1

2. INSTALLATION AND WIRING .......................................... 3

Mounting the Module ........................................................ 3

High Power Connections .................................................... 5

Low Power Connections ..................................................... 5

Wiring: Basic Conﬁguration, 1355-X001 .......................... 8

Wiring: Basic Conﬁguration, 1355-X101 .......................... 9

3. PROGRAMMER MENUS ................................................... 10

Program Menus................................................................. 10

Monitor Menus ................................................................ 17

4. CANopen COMMUNICATIONS ........................................ 21

Baud Rates ....................................................................... 21

Node Addresses ................................................................ 21

Heartbeat ......................................................................... 21

Emergency Messages ........................................................ 21

PDOs ............................................................................ 23

SDOs ........................................................................... 24

Communication Prole Objects ....................................... 24

Parameter Prole Objects ................................................. 25

5. DIAGNOSTICS & TROUBLESHOOTING ...................... 35

Troubleshooting Chart...................................................... 36

appendix aVehicle Design Considerations

appendix bProgramming Devices

appendix cSpeciﬁcations, 1355 Module

CONTENTS

iv Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A

FIGURES

. 1: Curtis 1355 module ................................................................ 1

. 2: Mounting dimensions, Curtis 1355 ........................................ 3

. 3a: Basic wiring diagram, 3x full bridge actuators ......................... 8

. 3b: Basic wiring diagram, 6x digital inputs ................................... 9

Fig. 4: Driver acceleration ................................................................. 14

TABLES

 1: Connector pinout .................................................................. 6

 2: Program menus .................................................................... 10

 3: Monitor menus .................................................................... 17

 4: Communication prole object dictionary ............................ 24

 5: Parameter prole object dictionary ....................................... 25

 6: Troubleshooting chart .......................................................... 36

 C-1: Speciﬁcations, Curtis 1355 ................................................. C-1

FIGURES / TABLES

Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A 1

30 OCTOBER 2014 DRAFT

OVERVIEW

e Curtis Model 1355 is a 5x high-current half bridge output module for soft

start of electrical motors. e 1355 is available with either three full actuator

outputs or six digital inputs.

e module is designed to give it the exibility to be used in a variety of

sweepers/scrubbers. Typically M1–M3 are used to drive the brushed permanent

magnet motors that power the scrubbing brush pads, and M4–M5 are used to

drive the series-wound DC vacuum motors used to recover the used cleaning

solution from the oor.

e housing is designed to meet the dicult environment seen in mate-

rial handling and outdoor equipment. is water-tight design can survive high

shock, vibration, and dust.

1 — OVERVIEW

Fig. 1 Curtis 1355

CANopen slave soft starter

module.

Features include:

3Programmable DC nominal supply: 24V, 36V, or 48V

3Five high-current half bridge drivers for motor loads (M1–M5)

33A driver output for a main (line) contactor, with overload protection

3KSI input

3CAN bus port

3Threaded busbars for B+, B-, and the five motor loads

314-pin AMPSEAL connector for low-power loads (actuator loads, CAN bus,

KSI, I/O, etc.)

More Features +

2Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A

3Protection from short circuits, under/over voltage, and reverse polarity

3Capacitor bank pre-charge circuit prevents arcing

3Field upgradeable firmware

3IP65 sealing

3Externally viewable dual power/status LED clearly flash the fault code

3Serial communication port for Curtis 1311/1313/1314 programmers

31355-X001: three full bridge drivers for linear actuators, typically used to lift/

lower the brush deck and the squeegee and control the detergent delivery pump

31355-X101: six digital inputs; Digital Input 6 can be used as an interlock.

SOFT START MODE

Soft Start mode provides a linear acceleration ramp from 0V to full voltage

(pure DC, no PWM), and linear deceleration from full voltage to 0V. In this

way, it can reduce the starting current of the motor, and also can eectively

mitigate the surging problem of the inertia system when stopping.

PWM MODE

If Soft Start mode is not desired, M1–M5 can drive motors at PWM% within

the 1-hour rating.

PARALLEL MODE (M4/M5) and H-BRIDGE MODE (M1/M2)

e M4 and M5 outputs can be used in parallel to drive a single large motor

load for vacuum. e 1355 uses the parameters of M4 to control the motor.

e M1 and M2 outputs can provide bi-directional motor control by

connecting one motor load in an H-bridge conguration. e 1355 uses the

parameters of M1 to control the motor.

Both Parallel mode and H-Bridge mode can run in either Soft Start mode

or PWM mode.

Familiarity with your Curtis 1355 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

Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A 3

30 OCTOBER 2014 DRAFT

2 — INSTALLATION & WIRING

Fig. 2 Mounting

dimensions, Curtis 1355

soft starter module.

Dimensions in millimeters

INSTALLATION AND WIRING

MOUNTING THE MODULE

e outline and mounting hole dimensions for the 1355 module are shown in

Figure 2. e module should be securely mounted to the vehicle using four

M5 screws.

Care should be taken to prevent contaminating the connector area

before the mating14-pin connector is installed. Once the system is plugged

together, the 1355 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

B+

M3M3

Ø 6.00, 4 plcs

M5 x 0.8, 10 min, 5 plcs

M6 x 1.0, 10 min, 2 plcs

8.0

72 120

108

153

165

4Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A

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 1355 contains ESD-sensitive components. Use appropriate precau-

tions in connecting, disconnecting, and handling the module. See installation

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

Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A 5

30 OCTOBER 2014 DRAFT

HIGH POWER CONNECTIONS

e B+ and B- connections are via female-threaded M6 busbars; the suggested

torque in 5.5 N∙m. e ve motor outputs (M1, M2, M3, M4, M5) are connected

via female-threaded M5 busbars; the suggested tightening torque is 3.5 N∙m.

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.

M1 and M2 can be used together to provide bi-directional motor control

by connecting one motor load across these two outputs, making a full bridge

conguration. e motor is controlled by the M1 programable parameters.

M4 and M5 can be used together as parallel outputs to drive a single large

motor load for vacuum operation.

M1–M5 are protected from both over and under temperature; warnings

are issued when the temperature reaches the cutback threshold and output is

disabled when the temperature reaches the cuto threshold.

LOW POWER CONNECTIONS

All connections are made through the 14-pin AMPSEAL connector. e low

power connector will mate to a 14-pin AMPSEAL wire header.

2 — INSTALLATION & WIRING: Low Current Connections

CAUTION

e module’s plastic cover features a molded-in receptacle that mates with

a standard 14-pin AMPSEAL housing and includes keying features to prevent

incorrect insertion.e connector will provide a proper seal and latch for the

o-the-shelf AMPSEAL wire header/plug. Note that the 1355’s pins are not

sealed until the mating connector is fully engaged and locked.

e 14 individual pins are characterized in Table 1, for the three actuator

model (1355-X001) and the six digital input model 1355-X101).

1410

6 9

6Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A

2 — INSTALLATION & WIRING: Low Current Connections

Table 1 Connector Pinout

PIN 1355-X001 1355-X101

1 Actuator 2B Digital Input 1

2 Main Contactor Driver Main Contactor Driver

3 CAN L CAN L

4 CAN H CAN H

5 +15V +15V

6 Actuator 2A Digital Input 2

7 Serial Rx Serial Rx

8 Serial Tx Serial Tx

9 KSI KSI

10 Actuator 3B Digital Input 3

11 Actuator 3A Digital Input 4

12 B- B-

13 Actuator 1B Digital Input 5

14 Actuator 1A Digital Input 6 (Interlock)

e pins shared by both models are described below. e remaining pins (1,

6, 10, 11, 13, 14) are model-specic and are described below the individual

wiring diagrams.

Main Contactor Driver (pin 2)

is is a low side driver to switch the main contactor coil. e output is switched

On after KSI is closed and all power on seft-tests have been completed. It will

open in the event of some severe faults in the 1355 module.

CAN L/H (pins 3, 4)

e 1355 is congured to function as a CAN slave only. A CAN master can

read all inputs and outputs, monitor values and error codes, control all outputs,

and set parameter values. ere is no end-of-line termination resistor built into

the module; if the 1355 is placed at the end of the communication lines, an

external 120 Ω ½W resistor must be added across the lines.

e 1355 will be controlled by two single 8 byte CAN PDOs and will

return two single 8 byte PDOs over the CANopen protocol. SDOs can be sent

to program various settings and features within the module.

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