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© 2018 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.

53227 Rev A December 2018

Curtis Instruments, Inc.

200 Kisco Avenue

Mt. Kisco, NY 10549

www.curtisinstruments.com

CAN I/O Module

Model

1351

System Controller

» Software Device Profile 2.10.0.0 «

Manual

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Summary of Contents for 1351

Page 1: ... trademark of Curtis Instruments Inc The design and appearance of the products depicted herein are the copyright of Curtis Instruments Inc 53227 Rev A December 2018 Curtis Instruments Inc 200 Kisco Avenue Mt Kisco NY 10549 www curtisinstruments com CAN I O Module Model 1351 System Controller Software Device Profile 2 10 0 0 Manual ...

Page 2: ...7 Parameter Settings 7 Encoder feedback Pins 1 2 8 10 and 14 15 7 CANbus Pins 3 4 and 5 6 7 All other low power wiring 7 Protected Voltages 12 THE SYSTEM CONTROLLER S WIRING DIAGRAM EXAMPLE 13 PWM coil voltage current PV Drivers 14 Half Bridge Drivers 17 Digital driver Outputs 18 Safety Output 18 Analog Output 18 Switch digital Inputs 19 Virtual Switches 19 Analog voltage Inputs 21 Pot Inputs 22 R...

Page 3: ...RAMMABLE PARAMETERS 30 PROGRAMMING MENUS 30 MENU CHART FORMAT 30 Terminology 31 SDO Write Message 32 THE PROGRAMMABLE PARAMETERS 33 SYSTEM CONTROLLER 33 Battery Discharge Indicator 34 INTPUTS 37 Switches 38 Virtual Switches 42 Analog Inputs 44 RTD Input 47 High Speed Digital Inputs 49 Encoder Input 50 OUTPUTS 52 PWM Drivers 53 Half Bridge Drivers 61 Digital Drivers 65 Safety Output 66 Analog Outpu...

Page 4: ...on Examples 80 VCL Watchdog Timer and Faults 81 CAN FUNCTIONS VCL SETUP 85 NMT Control 85 Node Guarding 86 Emergency Message Monitoring 88 SDO Management 91 CREATING AND USING CAN MAILBOXES VCL SETUP 97 Configuration of a Transmit Mailbox 98 Configuration of a Receive Mailbox 100 Controlling a Receive Mailbox 104 SRDOS 105 Example Transmit SRDO Setup 107 Example Receive SRDO Setup 109 6 INITIAL SE...

Page 5: ...ONTENTS cont d 7 DIAGNOSTIC AND TROUBLESHOOTING 114 THE DIAGNOSTICS PROCESS 114 8 MAINTENANCE 121 CLEANING 121 FAULT HISTORY 121 APPENDIX A VCL FUNCTIONS 122 APPENDIX B VEHICLE SYSTEM DESIGN CONSIDERATIONS RECYCLING 132 ELECTROMAGNETIC COMPATIBILITY EMC 132 DECOMMISSIONING AND RECYCLING THE CONTROLLER 133 APPENDIX C PROGRAMMING DEVICES FOR THE 1351 134 APPENDIX D EN 13849 COMPLIANCE 136 APPENDIX E...

Page 6: ...IONS 21 TABLE 10 POTENTIOMETER INPUT ELECTRICAL SPECIFICATIONS 22 TABLE 11 RTD INPUTS ELECTRICAL SPECIFICATIONS 23 TABLE 12 HIGH SPEED DIGITAL INPUTS 23 TABLE 13 QUADRATURE ENCODER INPUTS 24 TABLE 14 SINE COSINE SENSOR INPUTS 25 TABLE 15 SAWTOOTH SENSOR INPUTS 26 TABLE 16 CAN PORTS 27 TABLE 17 POWER SUPPLY OUTPUTS ELECTRICAL SPECIFICATIONS 28 TABLE 18 KSI COIL RETURN SAFETY OUTPUT 29 TABLE 19 PROG...

Page 7: ...Curtis Model 1351 System Controller provides 26 multi functions I O for application in stand alone or CAN connected systems With ample user code space and the enhanced real time Curtis Vehicle Control Language VCL OEMs can use the 1351 controller to develop a wide range of vehicle and system control applications as the master or a slave in a multi module installation The 1351 System Controller was...

Page 8: ...d configure the 1351 Understanding the installation wiring guidelines the parameter settings the VCL functions the initial setup commissioning and use the diagnostic and troubleshooting guide are critical to proper operation of the 1351 System Controller For additional technical support contact the Curtis distributor or the regional Curtis sales support office ...

Page 9: ...celerometer mount the 1351 in a level orthogonal orientation Secure the controller using evenly torqued bolts to the vehicle s mounting surface When mounted to a metal surface additional heat sinking or fan cooling is not necessary to meet the 1351 s peak and continuous current ratings When installed with the matching vehicle harness connector the 1351 system controller meets the IP65 requirements...

Page 10: ...2 INSTALLATION SPECIFICATIONS AND WIRING Curtis Model 1351 December 2018 Return to TOC pg 4 Figure 2 Mounting and dimensions inches mm 125 160 146 0 111 0 4X Ø 7 0 6 5 38 5 2X M5X0 8 10 MIN STATUS LED ...

Page 11: ...ar of any potentially trapping pinching or impact area during development Test and debug the application in a safe and controlled area HIGH CURRENT ARCS Batteries can supply very high power where arcing can occur if they are short circuited Always open the battery circuit before working on the motor control circuits Wear safety glasses and use properly insulated tools to prevent shorts LEAD ACID B...

Page 12: ... the associated VCL functions and diagnostic Monitor variables Figure 3 Thirty Five pin AMPSEAL connector AMPSEAL 35 PIN Connector Harness side view Table 1 The AMPSEAL Connector Components Part Numbers Matching AMPSEAL 35 pin Component Part Number AMPSEAL receptacle housing the black vehicle harness plug 776164 1 Plug s gold plated socket terminals strip form p n 770520 Plug s gold plated socket ...

Page 13: ...zing contactor and relay coils Table 2 lists the alternative uses while Tables 4 18 provide further details by type Encoder feedback Pins 1 2 8 10 and 14 15 All four wires 5 V Feedback s A B and I O ground of these position signals should be bundled together as they run between the rotational position sensor and system controller logic connector Often they routing is with the rest of the low curre...

Page 14: ...Inputs Encoder Input 2 Switch Input 14 Virtual Switch 2 Analog 2 0 5V Encoder 2A Scale_Value Analog_2_Volts Virtual_Switch_2 Encoder_2_RPM Encoder_2_Position CSS 1313 HHP Programmer Configuration Inputs Switches SW 14 Configuration Inputs Virtual Switches VSW 2 Configuration Inputs Analog Inputs Configuration Inputs Encoder Input 3 CAN 1 Low Setup_CAN_Transmit_ Mailbox Setup_CAN_ Recieve_Mailbox E...

Page 15: ...Encoder_1_Position CSS 1313 HHP Programmer Configuration Inputs Virtual Switches VSW 3 Configuration Inputs Analog Inputs Configuration Inputs High Speed Inputs Configuration Inputs Encoder Inputs 15 High Speed Input 2 Virtual Switch 4 Analog 4 0 5V Encoder 1A Virtual_Switch_4 Analog_4_Volts Encoder_1_RPM Encoder_1_Position CSS 1313 HHP Programmer Configuration Inputs Virtual Switches VSW 4 Config...

Page 16: ...ion Pot_Resistance CSS 1313 HHP Programmer Configuration Inputs Analog Inputs Configuration Inputs Virtual Switches VSW 9 21 Virtual Switch 10 Analog 10 0 20V Pot High 0 10V Virtual_Switch_10 Analog_10_Volts CSS 1313 HHP Programmer Configuration Inputs Analog Inputs Configuration Inputs Virtual Switches VSW 5 22 Virtual Switch 11 Analog 11 0 20V Analog Out Virtual_Switch_11 Analog_Out_ Command Ana...

Page 17: ...h Input 5 Automate_Driver Put_Driver Driver_5_PWM Driver_5_Current Switch_5 CSS 1313 HHP Programmer Configuration Outputs PWM Drivers Driver5 Configuration Inputs Switches SW 5 29 PWM Driver 6 Switch Input 6 Automate_Driver Put_Driver Driver_6_PWM Driver_6_Current Switch_6 CSS 1313 HHP Programmer Configuration Outputs PWM Drivers Driver6 Configuration Inputs Switches SW 6 30 PWM Driver 7 Switch In...

Page 18: ...put 10 Automate_Driver Put_Driver Driver_10_PWM Driver_10_Current Switch_10 CSS 1313 HHP Programmer Configuration Outputs PWM Drivers Driver10 Configuration Inputs Switches SW 10 34 Digital Out 3 Switch input 12 Automate_Driver Put_Driver Digital_Output_3_ State Switch_12 CSS 1313 HHP Programmer Configuration Outputs Digital Drivers Configuration Inputs Switches 35 HB Driver 2 Automate_Driver Put_...

Page 19: ...on is thoroughly tested and verified for the application Figure 4 Example Wiring Diagram 1351 System Controller Ba ery Primary CAN Port Secondary CAN Port Calmp Encoder B Stud B Stud 12V 5V I O GND RTD 1 Analog 5 RTD 2 Analog 6 ENC 1A Analog 4 ENC 1B Analog 3 CAN 1 Hi CAN 2 Hi CAN 1 Lo CAN 2 Lo HB Driver 1 HB Driver 2 ENC 2B Analog 1 Digital Out 1 Digital Out 2 Switch 11 Digital Out 3 Switch 12 EN...

Page 20: ...es the driver PWM based on the command the Nominal Voltage setting and the present battery voltage in an attempt to provide a constant average voltage at the output FET and wiring diagnostics are performed in this mode Initial and continuous PWM timing control is applied The command is a of nominal voltage desired at the output Current Control The Current Regulated Mode interprets the command as a...

Page 21: ...w side drivers this is 8 For HB drivers see below in low side mode this is 12 The system designer should make sure that the load resistance voltage supply and minimum current settings will keep the PWM above these values for good regulation The drivers have the pull in and hold control feature and command ramping in all three active modes The sum of all loads shall not exceed combined Coil Return ...

Page 22: ...he initial ramp functions the ramping applies to all changes in the final driver command There are separate parameter values for ramping up and ramping down the command Note that the initial pull in command value is jumped to and not ramped Setting the initial time and initial value of 0 defeats the pull in function and the ramp up be applied to the first command from 0 Ramp Down and Up function T...

Page 23: ... to operate as Low or High Side drivers In the Low Side topology connect the load to Coil Return Safety Output and the driver pin In the High Side topology connect the load from B to the driver pin Set the topology type using its Type parameter The Half Bridge HB Drivers also have the same control modes as the PWM Drivers Use them to drive high side connected Coil Return or low side connected B lo...

Page 24: ...utput provides the power to all connected loads The safety output must be enabled for the connected drivers to operate The Safety Output is normally used as the Coil Return connection for low side driver loads but it can also be used as a high side driver for a safety system contactor Once enabled the safety output can supply up to 23 amps of B voltage at the pins in common 11 and 12 see the Safet...

Page 25: ...e switch The control of the pull up pull down resistors state Pull Up Pull Down or Float is by the Open State parameter for each switch when the input is being used as a switch In all cases the input level that is considered ON is set by the Active State parameter If Active Level Low and input voltage is less than 1V the State will be On Alternatively If Active Level High and input voltage is grea...

Page 26: ...h 14 2 VIRTUAL DIGITAL INPUTS Virtual_Switch_1 Analog 1 1 Settings correspond with the associated Analog Inputs The Analog Inputs 5 10 have pull up resistors that can be enabled tied to the configured function of RTD and potentiometer inputs 178 kΩ Virtual_Switch_2 Analog 2 2 Virtual_Switch_3 Analog 3 14 Virtual_Switch_4 Analog 4 15 Virtual_Switch_5 Analog 5 16 Virtual_Switch_6 Analog 6 17 Virtual...

Page 27: ...d to the input pin The voltage range depends on the input used as shown in Table 9 Table 9 Analog voltage Inputs Electrical Specifications Signal Name Pin Measurement Range High Low Threshold Filter Time Constant Input Impedance Analog 1 1 0 5 V 0 3 000 sec 650 kΩ Analog 2 2 Analog 3 14 Analog 4 15 Analog 5 16 0 20 V 0 3 000 sec 200 kΩ Analog 6 17 Analog 7 18 Analog 8 19 Analog 9 20 Analog 10 21 A...

Page 28: ...d max Shorted to B B I O Gnd Pot Hi Open I O GND 8 Open RTD Inputs The resistive temperature device RTD inputs RTD Inputs 1 4 are connected to Analog Inputs 5 8 respectively Specific or selectable RTD devices are not offered rather each RTD input is configured mapped according to its resistive characteristics This means the 1351 s RTD Inputs can accommodate resistive devices for temperature positi...

Page 29: ...istive Range Pull up Voltage Input Impedance RTD 1 16 0 10 000 Ω 4 4V 178 kΩ RTD 2 17 RTD 3 18 RTD 4 19 High Speed Digital Inputs There are two high speed inputs on the 1351 High Speed Input 1 and High Speed Input 2 These inputs are intended to measure the frequency of incoming 5 volt pulses the pulse width or used as counters accumulators These two inputs can also be used for encoder inputs see b...

Page 30: ...d the high speed inputs simultaneously For each type of encoder the input signals are mathematically converted to position and speed In all cases the connections are referenced to the controller s I O ground pin 8 Quadrature Encoders Table 13 Quadrature Encoder Inputs Signal Pin Input Voltage Range Logic Threshold Pull Up Resistance Input Impedance Maximum Frequency A B Phase Range Phase Duty Cycl...

Page 31: ...eable by the VCL functions In this case a fault will be detected Channels for sine e g A and cosine B are parameter selectable for direction A before B or B before A While a sin cos sensor is typically used in Surface Permanent Magnet SPM motor applications an example 1351 application is linear travel position such as fork reach where one revelation covers the range from retracted to fully extende...

Page 32: ...st be maintained throughout the application s operating conditions including voltage and temperature along with speed and torque ranges when applied to a motor As illustrated in the sawtooth waveform diagram connect the sensor with one waveform cycle per mechanical revolution Channels for A and B are parameter selectable for direction A before B or B before A An example application is tracking lin...

Page 33: ... and can run a different baud rate Additionally they can be combined connected together via a parameter setting When combined each port s communications are received and sent out on the other port When combined both ports must use the same baud rate Termination for each port is selected electronically and is controlled by the CAN port setup parameters Upon power up KSI On the programmed terminatio...

Page 34: ...s e g quadrature encoder or Sin Cos sensor The current draw on this supply is measured and can be used to detect command sensor faults or wiring faults by use of min max thresholds see the monitor variable Ext 5V Current Use the 12 V supply for devices requiring higher voltage Its current draw is measured and can be used to detect sensor faults or wiring faults by use of min max thresholds see the...

Page 35: ...Safety Output feature is not PWM able It is either ON or OFF As illustrated in the wiring diagram Figure 4 connect the Coil Return circuits directly to one side of the contactors coil terminals and the other terminal to the driver pin The controller includes an internal fly back diode between each Driver and Coil Return to suppress the coils inductive voltage spike Coils with their own inductive s...

Page 36: ... ms 8 ms 8 Each driver has ramping functions that are applied to the command after the pull in and hold Following the initial ramp functions the ramping is applied to all changes in the final driver command There are separate parameter values for ramping up and ramping down the command Note that the initial pull in command value is jumped to and not ramped Driver_1_Ramp_Up_Time 0 10000 0x3130 0x00...

Page 37: ...tc Driver Types A High Side Driver switches positive voltage to the load which is connected to ground The driver is essentially the current source to the load When the driver is On conventional current is sourced from the high side driver through the load and then to ground completing the circuit A Low Side Driver switches the load to ground The load is always connected to positive voltage The dri...

Page 38: ...Client to Server communication SDO Download Through this service the client i e the master of a SDO downloads data to the server i e the salve which is the owner of the Object Dictionary SDO Upload Through this service the client of an SDO uploads reads data from the server VCL VCL is the unique Curtis Vehicle Control language VCL provides the application level programmability to customize the usa...

Page 39: ...ich are helpful when setting parameters and their affects These read only variables are italicized in this chapter s menu index tables e g in the System Controller table below SYSTEM CONTROLLER SYSTEM CONTROLLER POWER p 34 Keyswitch Voltage Nominal Voltage Max Voltage Min Voltage Brown Out Voltage BDI p 35 BDI Reading Reset Volts Per Cell Full Volts Per Cell Empty Volts Per Cell Discharge Time BDI...

Page 40: ...ent and the drivers will be shutdown The Undervoltage set point must be set at or above the Brownout Voltage setting below Brown Out Voltage Brown_Out_Voltage 0x3001 0x00 6 5 100 0 V 650 10000 0 0 V 0 Below this voltage the system will start the brown out timer and start saving NVM parameters The Drivers will shut down Depends on the Model defaults shown are for the 12 36V model Battery Discharge ...

Page 41: ...umber of cells in the battery pack Empty Volts Per Cell BDI_Empty_Volts_Per_Cell 0x3248 0x00 0 900 3 000 V 900 3000 1 730 V 1730 The empty voltage level sets the Keyswitch Voltage value that is considered to be 0 state of charge The Empty Voltage Level Empty Volts Per Cell number of cells in the battery pack Discharge Time BDI_Discharge_Time 0x3249 0x00 0 600 Minutes 0 600 34 Min 34 This parameter...

Page 42: ...ent between the 5V and 12V outputs cannot exceed 300 mA Ext 5V Enable Low_Power_5V_Mode 0x300B 0x00 0 1 Off On 0 1 1 1 0 the 5V supply pin 10 is Off 1 the 5V supply pin 10 is On Ext 12V Enable Low_Power_12V_Mode 0x300A 0x00 0 1 Off On 0 1 1 1 0 the 12V supply pin 9 is Off 1 the 12V supply pin 9 is On SYSTEM CONTROLLER TEMPERATURE PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Module Temperature Mod...

Page 43: ...lue VSW Status Filter Time Constant High Threshold Low Threshold Analog 11 POT INPUT p 46 Resistance Wiper Position Type Nominal Resistance Tolerance RTD INPUT p 47 RTD 1 Resistance Value RTD Enable RTD 1 Map RTD Resistance Point 1 Point 2 Point 3 Point 4 Output Value Point 1 Point 2 Point 3 Point 4 RTD 4 HIGH SPEED DIGITAL INPUTS p 49 Count Frequency Pulse Width Type ENCODER INPUT p 50 Encoder 1 ...

Page 44: ...ULT DESCRIPTION SW1 Status Switch_1 0x338B 0x00 Off On 0 1 Read Only Switch 1 Status ON or OFF This is the same variable as in the monitor menu Monitor Inputs Switch Input Switch 1 Note This pin can be used as the PWM Driver see Figure 4 Open State Switch_1_Open_State 0x31F0 0x00 Pull Down Pull Up 0 Pull down 1 Pull up Pull Down 0 Select either the Pull down or the Pull up input option Pull Down m...

Page 45: ...5 0x00 7 0x3207 0x00 8 0x3208 0x00 Low High 0 Low 1 High High 1 Select the active ON state of the input See the description for SW1 above Debounce Switch_X_Debounce Parameter s CAN Index by Switch No 2 0x3211 0x00 3 0x3212 0x00 4 0x3213 0x00 5 0x3214 0x00 6 0x3215 0x00 7 0x3217 0x00 8 0x3218 0x00 0 1000 ms 0 1000 0 0 Length of time that the switch state must be steady active before it is declared ...

Page 46: ...d Only Switch 1 status On 1 or Off 0 pin 32 Same as in monitor Monitor Inputs Switch Input Switch 9 Note This pin 32 can be used as the PWM Driver 9 see Figure 4 Open State Switch_9_Open_State 0x31F9 0x00 Pull Down Pull Up Float 0 Pull down 1 Pull up 2 Float Pull Down 0 Selectable Pull down or Pull up input This input can also be set to a float state utilizing neither the pull up nor the pull down...

Page 47: ...0 0 1 Off On 0 1 Read Only Switch 1 status On 1 or Off 0 Same as in monitor Monitor Inputs Switch Input Switch X Note This is the Encoder A 2A and 2B in Figure 4 Open State Switch_13_14_Open_State Parameter s CAN Index by Switch No Same 13 0x31FC 0x00 14 0x31FC 0x00 Pull Down Pull Up 0 Pull down 1 Pull up Pull Down 0 Select either the Pull down or the Pull up input option Note that both Switch 13 ...

Page 48: ...Switch X X 1 2 3 or 4 for Virtual Switches 1 4 Active level Virtual_Switch_X_Active_Level Parameter s CAN Index by Switch No 1 0x31D0 0x00 2 0x31D1 0x00 3 0x31D2 0x00 4 0x31D3 0x00 Low High 0 1 High 1 When an analog input is used as virtual switch set the active level to Low or High here Then set the corresponding Analog Input Low and High Thresholds parameters to match See Programmer Configuratio...

Page 49: ...y Switch No 9 0x31C4 0x00 10 0x31C5 0x00 Float Pull Up 0 1 Float 0 Do not set the Open State to Pull Up if this input is used for a Potentiometer connection X 9 10 for Virtual Switches 9 and 10 Active level Virtual_Switch_9_Active_Level Parameter s CAN Index by Switch No 9 0x31D8 0x00 10 0x31D9 0x00 Low High 0 1 High 1 When an analog input is used as virtual switch set the active level to Low or H...

Page 50: ...lts VSW Status Virtual_Switch_X Variable s CAN Index by Analog Input 1 0x3380 0x00 2 0x3381 0x00 3 0x3382 0x00 4 0x3383 0x00 0 1 0 1 Read Only Virtual Switch 1 pin 1 status 0 Off 1 On X 1 2 3 or 4 for the Analog Inputs 1 4 Virtual_Switch_X Filter Time Constant Analog_Input_X_Filter_TC Parameter s CAN Index by Analog Input 1 0x3030 0x00 2 0x3031 0x00 3 0x3032 0x00 4 0x3383 0x00 4 3000 ms 4 3000 8 m...

Page 51: ...g_Input_X_ Filter_TC High Threshold Analog_Input_X_High_Threshold Parameter s CAN Index by Analog Input 5 0x3024 0x00 6 0x3325 0x00 7 0x3326 0x00 8 0x3327 0x00 9 0x3328 0x00 10 0x3329 0x00 11 0x332A 0x00 0 0 20 0 V 0 2000 3 0 V 300 For usage of the Virtual Switch input threshold Voltages above this set point are processed as On Note the analog input s corresponding usage RTD 1 pin 16 Analog 5 RTD ...

Page 52: ...e 0 0 Voltage Analog 9 Input used as an analog voltage input 1 3 Wire Analog inputs 9 10 used for a 3 wire pot wiper 2 2 Wire Analog Input 9 used as a 2 wire pot Note if using pin 20 input as a virtual switch set this parameter to voltage Nominal Resistance Pot_Resistance_Nominal 0x3041 0x00 0 15000 Ohms 0 15000 0 The resistance Ohms across the 2 or 3 wire potentiometer This is the value for the 1...

Page 53: ...esistance point The meaning of the output value depends on the type of RTD used Pressure Temperature Etc Refer to the RTD X Map This variable is also in the Monitor menu Monitor Inputs RTD Input RTDX Resistance X 1 2 3 or 4 for the Value RTD_X_OUT RTD Enable RTD_X_Enable Parameter s CAN Index by RTD Input 1 0x3050 0x00 2 0x3051 0x00 3 0x3052 0x00 4 0x3053 0x00 Float Pull Up 0 1 Float 0 Pull Up RTD...

Page 54: ...ture Etc datasheet or as a customized sensor response X 1 2 3 or 4 for the Value RTD_X_OUT1 Point 2 RTD_X_OUT2 Parameter s CAN Index by RTD Input 1 0x3071 0x00 2 0x3091 0x00 3 0x30B1 0x00 4 0x30D1 0x00 32768 32767 32768 32767 0 The value output for the corresponding Point 2 resistance above This is the voltage at the input that corresponds to the resistance The meaning of the output value depends ...

Page 55: ...ising to rising edge X 1 or 2 for the Frequency HS_Input_X_Frequency Note this is the same variable in the Monitor menu Monitor Inputs High Speed Digital Input X Frequency Pulse Width HS_Input_X_Pulse_Wdith Variable s CAN Index by Pulse Width Input 1 0x3421 0x00 2 0x3424 0x00 0 0 100 0 1000 Read Only This is the width of either the high or low pulse depending on the Type setting X 1 or 2 for the F...

Page 56: ... 0x3230 0x00 None Quadrature Sin Cos Sawtooth 0 1 2 3 None 0 Set this parameter to the type of position feedback device connected to the input pins The selections is Enumeration CSS 1313 None 0 Quadrature 1 Sin Cos 2 Sawtooth 3 X 1 or 2 for the Type Encoder_X_Type Note When an encoder is used for these inputs the high speed input options are not available as described in the previous High Speed Di...

Page 57: ...voltage that the cosine waveform normally reaches X 1 or 2 for the Type Cos_X_Min Saw Encoder This menu is Context Enabled It is visible when Type Saw Encoder Sawtooth Max Min voltage signal If this analog signal goes outside the specified ranges for 60ms a fault is declared Saw Encoder Max Voltage Saw_Enc_X_Max_Voltage Parameter s CAN Index for Saw_ Enc_X_Max_Voltage 1 0x3229 0x00 2 0x3239 0x00 0...

Page 58: ...mmand Driver 10 HALF BRIDGEDRIVERS p 61 Driver 11 PWM Current Control Mode Type Ramp Up Ramp Down Initial Level Initial Time Test Command Driver 12 DIGITAL DRIVERS p 65 Digital Out 1 State Digital Out 3 State Digital Out 1 Mode Digital Out 3 Mode Test Digital Out 1 command Digital Out 3 command SAFETY OUTPUT p 66 Safety Output State Safety Out Command ANALOG OUTPUT p 67 Output Voltage Command OUTP...

Page 59: ...quates to the driver being fully ON meaning 100 percent of the Coil Return voltage B is applied to the load e g a contactor coil 50 equates to an applied voltage of 50 0 turns off the driver This variable is also located in Monitor Monitor Outputs PWM Drivers Driver X PWM Current Driver_X_Current Variable s CAN Index by Driver_X_ Current 1 0x3330 0x00 2 0x3331 0x00 3 0x3332 0x00 4 0x3333 0x00 0 00...

Page 60: ...3141 0x00 3 0x3142 0x00 4 0x3143 0x00 0 10000 ms 0 10000 8 ms 8 The time in milliseconds to go from the minimum to the maximum control mode type as a linear ramp down X 1 4 for the VCL name Driver_X_Ramp_Down_Time Direct PWM This is the pulse width percentage Voltage Comp This is nominal voltage percentage Note Coil Return B voltage Current Cntrl This is percentage between the maximum and minimum ...

Page 61: ...er_X_Min_Current Parameter s CAN Index by Driver_X_Min_Current 1 0x3120 0x00 2 0x3121 0x00 3 0x3122 0x00 4 0x3123 0x00 0 3000 mA 0 3000 0 mA 0 Minimum current that a 0 1 command will effectuate A value of 0 will turn off the driver X 1 4 for the VCL name Driver_X_Min_Current Reference the Driver_X_Command Dither Period Driver_X_Dither_Period Parameter s CAN Index by Driver_X_Dither_Period 1 0x3180...

Page 62: ...rameter above Larger values provide tighter control If the gain is set too high oscillations can occur as the controller tries to control the Driver current If it is set too low the Driver may take a long time to approach the exact commanded current Test Command Driver_X_Command Variable s CAN Index by Driver_X_ Command 1 0x3360 0x00 2 0x3361 0x00 3 0x3362 0x00 4 0x3363 0x00 0 0 100 0 0 1000 0 The...

Page 63: ...ndex by Driver_X_Ramp_Up_Time 5 0x3134 0x00 6 0x3135 0x00 7 0x3136 0x00 8 0x3137 0x00 9 0x3138 0x00 10 0x3139 0x00 0 10000 ms 0 10000 8 ms 8 The time in milliseconds to go from the minimum to the maximum control mode type as a linear ramp up X 5 10 for the VCL name Driver_X_Ramp_Up_Time Direct PWM This is the time to change the pulse width modulation percentage Voltage Comp This is the time to cha...

Page 64: ...itial level may be above or below the applied command Hold Time Driver_X_Hold_Time Parameter s CAN Index by Driver_X_Hold_Level 5 0x3164 0x00 6 0x3165 0x00 7 0x3166 0x00 8 0x3167 0x00 9 0x3168 0x00 10 0x3169 0x00 0 10000 ms 0 10000 0 ms 0 The time the Initial Level is applied X 5 10 for the VCL name Driver_X_Hold_Time This parameter allows customization of the driver s initial level parameter dura...

Page 65: ...x3187 0x00 9 0x3188 0x00 10 0x3189 0x00 2 1000 ms 2 1000 1000 ms 1000 Periodicity frequency of the applied dither X 5 10 for the VCL name Driver_X_Dither_Period Dither provides a small amount of cyclically changing current to vibrate the solenoid and thus keep it from sticking in one position Without dither it is harder to make small adjustment in the proportional valve position Dither has both a ...

Page 66: ...A4 0x00 6 0x31A5 0x00 7 0x31A6 0x00 8 0x31A7 0x00 9 0x31A8 0x00 10 0x31A9 0x00 1 100 20 2048 8 163 Integral section of the PI Proportional Integral current regulator controller X 5 10 for the VCL name Driver_X_Ki The integral term Ki forces zero steady state error so the Driver will run at exactly the commanded current in conjunction with the Kp parameter above Larger values provide tighter contro...

Page 67: ...tputs Half Bridge Drivers Driver X PWM Current Driver_X_Current Variable s CAN Index by Driver_X_ Current 11 0x333A 0x00 12 0x333B 0x00 0 000 4 000 Amps 0 4000 Read Only The Amperage through HB Drivers 1 or 2 X 11 or 12 for the VCL name Driver_X_Current This variable is also located in Monitor Monitor Outputs Half Bridge Drivers Driver X Current Control Mode Driver_X_Mode Parameter s CAN Index by ...

Page 68: ...e the pulse width modulation percentage Voltage Comp This is the time to change the average voltage Current Cntrl This is time to change the current between the minimum and maximum driver current setting A value of 0 milliseconds disables any ramping resulting in a step function change when the driver command increases Note that this Ramp Up is not applied in the Initial Level parameter Ramp Down ...

Page 69: ...old_Time This parameter allows customization of the driver s initial level parameter duration before any ramping to the longer term command percentage Current Control This menu is Context Enabled Visible only when Control Mode Current Cntrl Max Current Driver_X_Max_Current Parameter s CAN Index by Driver_X_Max_Current 11 0x311A 0x00 12 0x311B 0x00 0 3000 mA 0 3000 0 mA 0 Maximum current that the 1...

Page 70: ... attempts to match the driver current command Larger values provide tighter control If the gain is set too high oscillations can occur as the controller tries to control the Driver current If it is set too low the Driver current may behave sluggishly and be difficult to control Ki Driver_11_Ki Parameter s CAN Index by Driver_X_Ki 11 0x31AA 0x00 12 0x31AB 0x00 1 100 20 2048 8 163 Integral section o...

Page 71: ...n will be pulled to B ground and the state will read ON 1 X 1 2 or 3 for this monitor variable Digital Out X State and the corresponding VCL name Digital_Output_X_State This monitor variable is also available in the Monitor menu Monitor Outputs Digital Drivers Digital X State Digital Out 1 Mode Digital_Out_1_Mode 0x30EC 0x00 Off Enabled 0 1 0 0 Enables the Driver to be used as an output otherwise ...

Page 72: ... protect the loads in case of a system fault The VCL code examples are Safety_Out_Command ON Turns ON or OFF the Safety Output Shuts down all drivers if OFF Put_Driver SAFETY_OUTPUT 1 Turns ON the Safety Output Enables all drivers as per their individual settings and or VCL commands OUTPUTS SAFETY OUTPUT PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Safety Output State Safety_Output_State 0x3402 0...

Page 73: ...t pin OUTPUTS ANALOG OUTPUT PARAMETER ALLOWABLE RANGE DEFAULT DESCRIPTION Output Voltage Analog_11_Volts 0x330A 0x00 0 0 20 0 V 0 2000 Read Only The present output voltage state This variable is also available in the Monitor menu Monitor Outputs Analog Output Output Voltage Analog Out Command Analog_Out_Command 0x3401 0x00 0 100 0 1000 0 0 0 This adjustable 0 10V output is intended to drive high i...

Page 74: ...K 1M kbps 0 4 125k 0 Sets the CAN baud rate for the CANopen Slave system 0 125Kbps 1 250Kbps 2 500Kbps 3 800Kbps 4 1000Kbps Note that the 2 CAN ports can have different Baud Rates Heartbeat Rate Port_1_Heartbeat_Rate 0x1017 0x00 0 4000 ms 0 4000 100 Sets the rate at which the CAN heartbeat messages are sent from the CANopen port 1 system Termination CAN_1_Termination 0x3002 0x00 Off Enabled 0 1 Of...

Page 75: ... 2 This termination is internal to the 1351 no additional or external hardware is required Cross Connection CAN_Port_Cross_Connection 0x3004 0x00 Off Enabled 0 1 Off Enable the 2 CAN Ports to be connected together Any message received on either Port 1 or Port 2 will be received by both CAN1 and CAN2 Any message send by CAN 1 or CAN 2 will be sent out both ports This is often used when CANopen SRDO...

Page 76: ...SYSTEM CONTROLLER p 71 Keyswitch Voltage Ext 5V Ext 5V Current Ext 12V Ext 12V Current Module Temperature INPUTS p 71 SWITCHINPUT p 71 Virtual Switch 1 Virtual Switch 2 Virtual Switch 11 Switch1 p 72 Switch 2 Switch 14 ANALOG INPUT p 72 Analog 1 Analog 2 Analog 11 POT INPUT p 73 Wiper Position Resistance RTD INPUT p 73 RTD1 Resistance Value RTD2 Resistance Value RTD3 Resistance Value RTD4 Resistan...

Page 77: ...ntroller External Supplies Ext 12V Ext 12V Current Ext_12V_Current 0x3328 0x00 0 1000 mA 0 1000 The measured output current at the 12V supply pin 9 Note the combined load current between the 5V and 12V outputs cannot exceed 300 mA This variable is also available in the parameter External Supplies menu see Configuration System Controller External Supplies Ext 12V Current Module Temperature Module_T...

Page 78: ...00 7 0x33C1 0x00 8 0x33C2 0x00 9 0x33C3 0x00 10 0x33C4 0x00 11 0x33C5 0x00 12 0x33C6 0x00 13 0x33C7 0x00 14 0x33C8 0x00 0 1 0 1 The Input State is the state of the voltage at the switch input pin If the pin has B on it it will read 1 if it has 0 volts on it it will read 0 If the active state on a switch is set High then the Input State and Switch Status will be the same If the active state is set ...

Page 79: ...t Input Resistance MONITOR VARIABLES INPUTS RTD Input VARIABLE DISPLAY RANGE DESCRIPTION RTD X Resistance RTD_X_R Monitor variable CAN Index RTD_X_R 1 0x3310 0x00 2 0x3311 0x00 3 0x3312 0x00 4 0x3313 0x00 0 20000 Ohms 0 20000 The measured RTD s resistance at the input pin Note Replace X with 1 4 for the specific RTD Input see example wiring diagram This read only variable is repeated in the RTD In...

Page 80: ...put 1 pin 15 see example wiring diagram X 2 High Speed Input 2 pin 14 see example wiring diagram This read only variable is repeated in the Input parameters Configuration Inputs High Speed Digital Input High Speed Input X Pulse Width MONITOR VARIABLES INPUTS ENCODER INPUT VARIABLE DISPLAY RANGE DESCRIPTION Encoder 1 Position Encoder_1_Position 0x3414 0x00 2147483648 2147483647 2147483648 214748364...

Page 81: ...er Note Replace X with 1 10 for the specific Driver_X_Current See example wiring diagram This variable is also located in the Configuration Outputs menu Configuration Outputs PWM Drivers Driver X Current MONITOR VARIABLES OUTPUTS Half Bridge Drivers VARIABLE DISPLAY RANGE DESCRIPTION Driver 11 and 12 PWM Driver_X_PWM Monitor variable CAN Index Driver_X_PWM 11 0x337A 0x00 12 0x337B 0x00 0 0 100 0 0...

Page 82: ...ut_X_State This monitor variable is also available in the configuration outputs menu Configuration Outputs Digital Drivers Digital Out X State Outputs MONITOR VARIABLES INPUTS Safety Output VARIABLE DISPLAY RANGE DESCRIPTION Safety Output State Safety_Output_State 0x3402 0x00 0 1 0 1 The present state of the output 0 ON 1 OFF This variable is also available in the parameter configuration menu Conf...

Page 83: ...itive 1 g and approximately 0 in the other two Y axis The accelerometer s y axis is from front to back on the 1351 If the 1351 is placed on its rear side 35 pin connector down the accelerator s y axis monitor variable Y will read positive 1 g and approximately 0 in the other two Z axis The accelerometer s z axis is from bottom to top on the 1351 If the 1351 is placed flat onitscoldplate connection...

Page 84: ...S VCL Studio app VCL Studio Help menu System Information The System Information file is always the most up to date source of VCL functions variables constants faults parameters CAN objects etc pertaining to the 1351 Its basis is from the actual software version of the 1351 System Controller SUMMARY OF VCL BASICS VCL is not case sensitive put_driver Put_Driver and PUT_DRIVER are identical Spaces in...

Page 85: ...eters can be defined up to 32 bit by using the P_User 1 300 variables These variables are typically written to FRAM through the CSS or 1313 HHP Programmer app i e when a dealership technician changes these created parameter settings using the 1313 HHP These P_User variables can be used changed in the VCL code but changing a P_User value with VCL will only change the variable value in RAM and will ...

Page 86: ...nly saves the parameter changes to ephemeral RAM memory VCL Function Examples These functions are applicable to the 1315 System Controller See the System Information sys info file that is available in the CSS and listed in Appendix A Set_Watchdog_Timeout p 81 Set_Watchdog_Fault_Action p 82 Kick_Watchdog p 83 MAP_TWO_POINTS p 84 Table 21 VCL variables by memory type Memory Quantity Name Object Rang...

Page 87: ...cificwatchdogtimeriscleared and the time out threshold is updated The watchdog must not be running when this function is called or the Watchdog fault and fault actions will be activated After the first Kick_Watchdog has been called for a timer the watchdog cannot be stopped or set to a new timeout This is to prevent faulty code from re enabling the watchdog constantly and thus subverting its funct...

Page 88: ...ut Down Driver 5 0x00010 Shut Down Driver 6 0x00020 Shut Down Digital Out 1 0x00040 Shut Down Digital Out 2 0x00080 Shut Down Driver 7 0x00100 Shut Down Driver 8 0x00200 Shut Down Driver 9 0x00400 Shut Down Driver 10 0x00800 Shut Down Driver 11 0x01000 Shut Down Driver 12 0x02000 Shut Down Digital Out 3 0x04000 Shut Down Primary Driver 0x000FF Shut Down Driver Supervisor 0x07F00 Shut Down Driver A...

Page 89: ...WD1 through WD5 returns None reported errors Bad_ID WD out of range CodeExample Two watchdogs setup Set_watchdog_timeout WD1 200 200 ms timer Set_watchdog_timeout WD2 1000 1000 ms 1 min timer Set_watchdog_fault_action WD1 ShutdownAll Set_watchdog_fault_action WD2 ShutdownDriver1 Do anything else to get the system setup the watchdog s is not running yet MainLoop do some functions Call Update_Everyt...

Page 90: ...ap_Two_Points X X1 X2 Y1 Y2 arguments X Input X1 Input point X1 X2 Input point X2 Y1 Output point Y1 Y2 Output point Y2 returns n Mapped value reported error None CodeExample Convert a controller value such as Steer_Angle to a voltage The input X is the Steer_Angle variable where X1 X2 is an angle between 0 and 90 Degrees The output is the interpolated value across Y axis points in Volts Enable th...

Page 91: ...as two CAN ports CAN1 Port_1_Node_Id and CAN2 Port_2_Node_ID The NMT state of each port is available by its specific read only monitor variable port_2_nmt_state and port_2_nmt_state function Send_NMT Control the state of the CANopen slave s This is the VCL s CAN NMT function ThroughNMTservices nodesareinitialized started monitored resetorstopped All nodes are regarded as NMT slaves An NMT Slave is...

Page 92: ...d errors function Setup_Heartbeat Sets the expected rate for a required Node ID s heartbeat If the Heartbeat from this node exceeds 2 timeout periods one missed heartbeat an error flag is set Time is set in milliseconds syntax Setup_Heartbeat Port Node_ID Time arguments Port_1 CAN1 The primary CAN port pins 3 4 Port_2 CAN2 The secondary CAN port pins 5 6 returns The function returns 0 if the node ...

Page 93: ...n0 iftheheartbeat time is over the set timeout parameter for that node ID the function will return the time since last heartbeat otherwise the normal case it will return the time between the last two heartbeats for that Node ID reported errors function Status Check_Heartbeat_Status Returnsthestatusoftheheartbeat timeout check the time between the last two heartbeats syntax Check_Heartbeat_Status P...

Page 94: ... function Enable_Emergency_Message_Monitor Starts Emergency Message monitoring Disable_ Emergency_Message_Monitor Disable will clear out ALL nodes from the monitoring list syntax Enable_Emergency_Message_Monitor Port Disable_ Emergency_Message_Monitor Port arguments Port_1 CAN1 The primary CAN port pins 3 4 Port_2 CAN2 The secondary CAN port pins 5 6 returns 0 did not execute 1 successfully execut...

Page 95: ...ater the number of messages buffered for that Node ID Basically the length of the buffer is returned reported errors function Status Get_CANopen_Emergency_Message Full 8 bytes of the message and ID Returns the first 8 bytes of an emergency message and Node_ID and places them intothefollowingpre definedVCLvariable s asillustrated asStatus Thebufferis 16 messages e g Status_01 through Status_16 Thes...

Page 96: ...ot been removed in a long time and the buffer is full Note that buffers will roll over and the oldest messages are lost replace with the latest messages syntax Clear_Emergency_Message_Buffer Port Node_ID Index arguments Port_1 CAN1 The primary CAN port pins 3 4 Port_2 CAN2 The secondary CAN port pins 5 6 Node_ID The Slave Node ID or Global for all slave nodes returns If the Index 0 ALL then all me...

Page 97: ... read it is pulled from the request buffer The buffer is 16 messages deep If a buffer is full the Request function will return an invalid ID of 0 valid IDs are 1 16 meaning no more messages can be requested until the pending messages 1 16 are checked and pulled from the buffer or the buffer is cleared When each request is made an individual timer is started If the timer expires a fault will be set...

Page 98: ...correct access level OBJECT_IS_WRITE_ONLY 5 0601 0001h Try to read a write only object OBJECT_IS_READ_ONLY 6 0601 0002h Try to write a read only object UNSUPPORTED_OBJECT 7 0602 0000h Object is not in the device or an error occurred while in a block or segmented SDO transfer PDO_MAPPING_ERROR 8 0604 0041h Any PDO mapping failure including a non map able parameter the device is not in Pre Operation...

Page 99: ...Code Example If SDO_Send_State 0 check if SDO_Send_State 0 request if only 0 Request_Switches_ID Request_SDO_Read Port_1 38 3226 00 60 Read request handle Request_Switches_ID port_1 CAN1 Slave Node ID 38d 0x26h Switches variable 0x3226 0x00 See E SE series Sys Info e g slave is an E SE series controller 60 millisecond timeout SDO_Send_State 1 reset SDO_Send_State 1 Else If Check_SDO_Read Request_S...

Page 100: ...of 0 valid IDs are 1 16 meaning no more messages can be sent until the pending messages are checked and pulled from the buffer or the write buffer is cleared Wheneachwriteismade anindividualtimerisstarted Ifthetimerexpiresbefore thewriteissuccessfullyexecuted afaultwillbeset Checkingthestatusofatimed out value will return a fault code see the error code table for Check_SDO_Write next page syntax W...

Page 101: ... length not 8 bytes as required by the CCIS V2 device CRC_FAILED 3 0504 0004h The CRC failed on the file UNSUPPORTED_ACCESS 4 0601 0000h Attempt to access an object using an incorrect access level OBJECT_IS_WRITE_ONLY 5 0601 0001h Try to read a write only object OBJECT_IS_READ_ONLY 6 0601 0002h Try to write a read only object UNSUPPORTED_OBJECT 7 0602 0000h Object is not in the device or an error ...

Page 102: ...r is full Note that once the buffers are full the Request and Red VCL command will return an invalid ID 0 syntax Clear_SDO_Read_Buffer Clear_SDO_Write_Buffer arguments None Clear all buffers associated with both CAN ports returns None reported errors function Status Remove_SDO_Read Clears a single read buffer Status Remove_SDO_Write Clears a single read buffer AllowtheVCLprogramtoremoveasingleRead...

Page 103: ...ctions the 1351 offers specific functions to simplify setting up mailboxes for the CANopen protocol The VCL writer may still use the normal VCL mailbox functions for other protocols or if you require features outside these CANopen specific functions If a CANopen function is used to start the setup of a CAN mailbox the VCL writer must use only these CANopen functions for that mailbox Likewise these...

Page 104: ...This function MUST BE called before defining the data for the mailbox or trying to use the mailbox syntax Setup_CANopen_Transmit_Mailbox Handle Messsge_ type Node_ID Method arguments Handle The mailbox ID Message type NMT SYNC EMR SDO_TX SDO_RX TPDO RPDO Node ID Node ID to include in the message Method If set to EVENT 0 then this mailbox with send on the send command One time or non recurring mess...

Page 105: ...rting at Bit 1 of Byte 1 The Mailbox must be disabled to use the Define Data function automatically done by the any setup transmit mailbox function syntax Define_CANopen_Transmit_Data Handle Data_Source Start_ Bit Num_Of_Bits arguments Handle Holds the ID of the mailbox Data_Source Address of Data to be sent such as P_USER_11 Start_Bit The first lowest order bit to be included 1 32 Num_OF_Bits How...

Page 106: ...andle Messsge_type Node_ ID Mask Service arguments Handle The mailbox ID Message type NMT SYNC EMR SDO_TX SDO_RX TPDO1 4 RPDO1 4 Node ID Node ID to include in the message Mask Set the bits in the 11 Bit ID that must match 1 must match 0 don t care Default set to MATCH_ALL 0x07FF vs RECEIVE_ALL 0x0000 Service HALT_ON_RECEPTION the Mailbox will stop receiving any more data until the buffer is read a...

Page 107: ... starting at bit 1 of Byte 1 The Mailbox must be disabled automatically done by the any setup transmit mailbox function syntax Define_CANopen_Receive_Data Handle Data_Source Start_ Bit Num_Of_Bits arguments Handle Holds the ID of the mailbox Data_Destination Address of Data where the bits will be stored such as P_USER_11 Start_Bit The first lowest order bit to be included 1 32 that will be packed ...

Page 108: ...led it cannot be sent Note basically any transmit mailbox can be used as the auto replay The number one usage is to send a RPDO when a TPDO is received reminder TX and RX are from the perspective of the slave device as per CANopen specifications syntax Setup_Recieve_Mailbox_Auto_Reply Handle Reply_Mailbox arguments Handle the ID of the receiving RX mailbox that triggers the auto reply i e 1351 Rep...

Page 109: ...e ID of the mailbox First_Timeout 0 NO_TIMEOUT Non zero is the maximum time in milliseconds allowed for the first message to be received after the mailbox is enabled After this first timeout is triggered a timeout flag is set in the OS This flag can be viewed by the VCL Function Check_RX_Mailbox_Status Ifthemailboxhastimedout itwillnolongerreceive data Cycle_Timeout 0 N0_TIMEOUT Non zero is the ma...

Page 110: ...n can be cleared If the VCL program code does this after each check of the mailbox then this counter will say how many message have been missed 1 The receive buffer is double buffered such that the incoming data is fully loaded before being set as the active receive mailbox The receive mailboxes can also be set to time out if they do not get new data This timeout works on the incoming data not the...

Page 111: ... message and mailbox to receive the inverted data message in the Supervisor port 2 The following VCL functions can then be used to send SRDOs and validate incoming SRDOs function SRDO_Handle Setup_Transmit_SRDO Links two mailboxes to be transmitted in a linked fashion syntax Setup_Transmit_SRDO Mailbox_Handle_1 Mailbox_Handle_2 Rate Interval arguments Mailbox_Handle_1 The Primary mailbox Primary_H...

Page 112: ... transmissions syntax Disable_Transmit_SRDO SRDO_Handle Disable_Receive_SRDO SRDO_Handle arguments SRDO_Handle See RETURN SRDO_Handle Setup_Transmit_ SRDO returns reported errors function Send_SRDO Initiates TX of the two SRDO messages Initiates TX of the two messages associated with this SRDO with an interspace timing syntax Send_SRDO SRDO_Handle arguments SRDO_Handle See RETURN SRDO_Handle Setup...

Page 113: ...isor inverteddata secondmessage Primary_Mailbox assign_can_mailbox CAN_PORT_1 C_XMT Supervisor_Mailbox assign_can_mailbox CAN_PORT_2 C_XMT Configure the two mailboxes as the SRDO type setup_canopen_transmit_mailbox Primary_Mailbox SRDO SRDO_FIRST_MESSAGE_ID 0 setup_canopen_transmit_mailbox Supervisor_Mailbox SRDO SRDO_SECOND_MESSAGE_ID 0 Configure mailbox data define_canopen_transmit_data Primary_...

Page 114: ... Primary_Handler Supervisor_Mailbox_Handle_first TheSupervisorymailbox Supervisor_Handler Supervisor_Mailbox_Handle_second TheSupervisorymailbox Supervisor_Handler Cycle_Timeout The max time allowed between Primary Mailbox first messages receives Interval_Timeout The max time in milliseconds allowed between reception of first and second mailbox receives returns The Handle to the SRDO reception fun...

Page 115: ...n_can_mailbox 1 C_RCV Configure these four mailboxes as SRDO type setup_canopen_receive_mailbox SRDO_Primary_First_Mailbox SRDO SRDO_RCV_ODD_ID 0x7FF 0 setup_canopen_receive_mailbox SRDO_Primary_Second_Mailbox SRDO SRDO_RCV_EVEN_ID 0x7FF 0 setup_canopen_receive_mailbox SRDO_Supervisor_First_Mailbox SRDO SRDO_RCV_ODD_ID 0x7FF 0 setup_canopen_receive_mailbox SRDO_Supervisor_Second_mailbox SRDO SRDO_...

Page 116: ...ple wiring diagram Figure 4 page 13 to complete a similar diagram for the application including an overall wiring diagram for the vehicle s other controllers Document how the 1351 will interface to the vehicle s hydraulics sensors electric motor controllers traction pump steer etc any ICE Internal Combustion Engine transmissions or generators as well as the vehicle operator controls and gauges Whe...

Page 117: ...e BDI parameters at their default settings is recommended Simply ignore the BDI output monitor variable BDI Reading in the VCL program For non lead acid batteries including Lithium Ion battery packs use the battery pack or cell manufacturer s approved Battery Management System BMS for determining the SOC The BMS aspect will almost always be via the CANbus External Supplies menu Based upon the appl...

Page 118: ...tional check the RTD s corresponding monitor variables Resistance and Value making adjustments to the map values to achieve the correct response The two High Speed Digital Inputs parameters have a Type and Direction setting Verify the RPM output variable is correct once the system is operational Often hand spinning of an encoder s device e g motor can be used to finalize the parameter settings Ref...

Page 119: ... i e the load to obtain acceptable results The PWM Driver outputs have a Test mode parameter Use this during setup to verify the driver s operation when evoked in the VCL program or via a CANbus command Test all drivers to ensure the load remains within the driver s current limits The Half Bridge Drivers also have the Test mode parameter Test the operation to remain within the current limits of th...

Page 120: ...d Invalid Software Fast Flash OFF The Normal OK state is shown by only on the yellow LED flashing a 1 at a 1 5 sec cycle rate Additionally the On time is lengthen to a full 500 ms thus further differentiates it from any Error flash code Programming is shown using two formats Initiate Programming and End of Programming Both LEDs ON 100 While data is incoming Red LED ON and Yellow LED fast flashing ...

Page 121: ...de list Repeats Each Fault Record has the following features defined Table 23 Table 23 Fault Record sub Index bytes Fault Record Sub index Size Description 01h 1 byte Status 02h 1 byte Associated flash code See Table 24 03h 3 bytes Fault Detection Count 04h 2 bytes Time of Last Detection 05h 4 bytes Time of First Detection 06h 4 bytes Fault Type Table 24 lists all the 1351 System Controller Faults...

Page 122: ...n or shorted Or Driver 2 current exceeded 3 5A Clear Correct open or short and then Reset Controller Shutdown driver 2 0x23 Driver 3 Fault Fault Type s 1 Driver Open 2 Driver Short 3 Driver Overcurrent Set Driver 3 is either open or shorted Or Driver 3 current exceeded 3 5A Clear Correct open or short and then Reset Controller Shutdown driver 3 0x24 Driver 4 Fault Fault Type s 1 Driver Open 2 Driv...

Page 123: ...ent exceed 4 1A Clear Correct open or short and then Reset Controller Shutdown digital output2 0x33 Digital Out 3 Fault Fault Type s 1 Set Digital Out3 is current exceed 4 1A Clear Correct open or short and then Reset Controller Shutdown digital output3 0x34 Safety Output Fault Fault Type s 1 Set Safety output current exceeded max limit Clear Reset the controller Shutdown safety output 0x35 NV Fai...

Page 124: ...s See User 1 fault above See User 1 fault above See User 1 fault above 0x47 User 6 Fault Fault Type s See User 1 fault above See User 1 fault above See User 1 fault above 0x48 User 7 Fault Fault Type s See User 1 fault above See User 1 fault above See User 1 fault above 0x49 User 8 Fault Fault Type s See User 1 fault above See User 1 fault above See User 1 fault above 0x4A 4 x 10 User 9 Fault Faul...

Page 125: ...ee User 1 fault above See User 1 fault above See User 1 fault above 0x5A 5 x 10 User 24 Fault Fault Type s See User 1 fault above See User 1 fault above See User 1 fault above 0x5B 5 x 11 User 25 Fault Fault Type s See User 1 fault above See User 1 fault above See User 1 fault above 0x5C 5 x 12 User 26 Fault Fault Type s See User 1 fault above See User 1 fault above See User 1 fault above 0x5D 5 x...

Page 126: ...stops work 0x74 Encoder 2 Fault Fault Type s See ENCODER_1_FAULT above See ENCODER_1_FAULT above Encoder stops work 0x75 Pot Input Fault Type s 1 POT resistance measurement exceeded the tolerance limit 2 POT position measurement exceeded the tolerance limit Set POT resistance or position measurement exceeded the tolerance limit Pot_Tolerance setting Clear The POT resistance or position measurement...

Page 127: ...ce Never use a high pressure washer to clean the system controller 2 Remove power by disconnecting the battery B first at the battery not the controller 3 Remove any dirt or corrosion from the power and signal connector areas The controller should be wiped clean with a moist rag Dry it before reconnecting the battery Connect the B last 4 Make sure the connections are tight Refer to Chapter 2 for t...

Page 128: ...called before defining the data for the mailbox see setup_mailbox_data or trying to use the mailbox Setup_CAN_Recieve_ Mailbox 10 Handle ID_high ID_Low Mask_ High Mask_Low Extended Reply Timeout Handshake Setup the General Parameters for a Mailbox Setup_CAN_Receive_Data 4 Handle_Id Data Length Endian Define the pointers used with a Message Buffer This function is used to define the data pointers f...

Page 129: ...ur Automate_Limited_Block_ Copy 9 Copy a block of Variables to another location automatically This function allows you to copy four variables from one location to another location The source and destination address for each variable to transfer must be specified A source destination pair will be ignored i e not transferred if either the source or the destination value is set to zero Setup_Delay 2 ...

Page 130: ...alue of its input multiplied by Multiplier parameter and then divided by Divisor parameter If the divisor is equal to 0 and both multiplier and value are greater than zero or if both multiplier and value are less than zero then the output will be MAXIMUM 32767 otherwise the output will be 32768 NVM_Write_Parameter 1 Write a parameter to non volatile memory This function writes the value of the par...

Page 131: ... new value for the rate On each clock tick 1 millisecond this value will be added or subtracted from the current ramp value if it is not already equal to the target value Random_Seed 1 Seed the random number generator The random number generator is automatically seeded with the value of KSI 2 when the system starts up If you want you can use some other pseudo random number as the seed or write a p...

Page 132: ...nged when the selector is non zero Automate_4p_Select 2 Automate a 4 Pole Select Variable This function causes the input selection to be performed automatically The second parameter identifies a Variable that will be used to select the output of the specified selector block If you set parameter 2 to 0 the selector block will be disabled Set_4p_Select 2 Enter a new value for a 4 pole select variabl...

Page 133: ...ault_Code 1 Get Fault Code The fault stack ranges from 0 to the number of faults current active This routine allows you to recover fault codes from the fault stack by passing the index to the fault stack and getting back the fault code To use this routine start with an index of zero Call this routine If you get back a value of zero there are NO faults If you get a value other than zero report the ...

Page 134: ...as been printed The number will be printed only if there is adequate space remaining after the post text has been printed PreText and PostText fields are left justified i e all truncation occurs on the furthest right characters Number field is right justified i e all truncation occurs on the furthest left characters Put_3140T_Timer 2 Puts an hourmeter timer value on the 3140 Gauge in tenths of hou...

Page 135: ... factor Get_Diagnostic_Timer 0 Returns the value of the system timer used for fault first time and fault last time Get_Master_Timer 0 Returns the value of the master timer which is total key on time Clear_Diagnostic_Timer 0 Clear the diagnostic history Timer Fault_Active 1 Check if a fault is currently active in the controller This function checks if a fault is currently active in the controller P...

Page 136: ...essage index is returned if there is one get_canopen_emergency_ message 1 Index read a specific message clear_emergency_ message_buffer 3 Port Node_ID Index Clear a specific message setup_transmit_SRDO 4 primary_handler supervisor_ handler SCT SRVT Setup the necessary CANopen compliant buffers timers and mailboxes to send a SRDO setup_receive_SRDO 6 primary_handler_odd primary_ handler_even superv...

Page 137: ...length variable Timeout Write data to a node ID and object The time out checks the response An index is returned where the response message will be stored in the buffer check_sdo_write 1 Handler Check of the response message remove_SDO_write 1 Handler remove a message for the response buffer clear_SDO_read_buffer 0 Clear the buffer clear_SDO_write_buffer 0 Clear the buffer set_watchdog_timeout 2 W...

Page 138: ...k of EMC problems in products that incorporate Curtis system and motor controllers Emissions High frequency signals can produce RF emissions that are measurable during Radiated Emissions testing Long cable and wire harness runs essentially become antennas for the emissions to travel beyond the source Therefore emission reduction techniques include making the battery and motor cables as short as po...

Page 139: ...tion between conductors and the ESD source so that a discharge will not occur DECOMMISSIONING AND RECYCLING THE CONTROLLER The controller is for installation into an Original Equipment Manufacturer OEM vehicle Ideally as the system master installed as part of the specific vehicles electrical or electro hydraulic control system For controller decommissioning and recycling 1 Follow the OEM s vehicle...

Page 140: ...to the CANbus is required CSS is compatible with many leading USB CAN interface dongles from Peak Kvaser iFAC Sondheim etc The Curtis Software SuiteTM CSS program has embedded help instructions A license key is required for the CSS program available from Curtis The Curtis Software SuiteTM main user interface known as the Launchpad controls access to the application tools used to Adjust set paramet...

Page 141: ...ed 1313 HHP The generic CANbus 1313 HHP is model 1313 xx31 It has the blue band Its operation is fully explained in the 1313 HHP user s manual CANbus 1313 HHP 53225 Rev A 3 18 downloadable from the Curtis website The 1313 HHP can upload new software to the 1351 yet it does not upload VCL programs 1313 HHP Contact your Curtis distributor or the regional Curtis sales office to obtain the Curtis Soft...

Page 142: ...ramming running major functions of the application Many applications will involve motions or other hazardous situations These hazards must be mitigated by VCL programming and are not inherent functions of the 1351 What the 1351 does provide is a secure and safe platform to develop these applications The 1351 includes the Operational Integrity Safety Function that ensures that the basic inputs and ...

Page 143: ...TFd is related to the expected reliability of the safety related parts used in the controller Only failures that can result in a dangerous situation are included in the calculation Diagnostic Coverage DC is a measure of the effectiveness of the control system s self test and monitoring measures to detect failures and provide a safe shutdown Common Cause Faults CCF are so named because some faults ...

Page 144: ...dge Outputs 2 Safety Output 1 Analog output 1 External Supply 2 Nominal Input Voltage 12 48 Volts 36 96 Volts Minimum Operating Voltage after startup 6 Volts 15 Volts Maximum Operating Voltage 60 Volts 120 Volts Electrical Isolation to Heatsink 500 Vac 1200 Vac Storage Ambient Temperature 40 85 C Operating Ambient Temperature 40 50 C Package Environmental Rating IP65 as per IEC60529 Weight 0 60 Kg...

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