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Curtis 1356/1356P CAN Expansion Module Manual, 

Rev. A

  PDO2-MOSI Mapping   RO  0x1601  0x00 

N/A 

Number of mapped application  

  

 

 

 

 

objects in PDO2-MOSI.

  PDO2-MOSI 

 

 

 

 

PDO2-MOSI mapping for the 1st  

  Mapping 1st 

RW  0x1601 

0x01 

N/A 

application object to be mapped.  

   

 

 

 

 

Not mapped in default.

  PDO2-MOSI 

 

 

 

 

PDO2-MOSI mapping for the 2nd 

  Mapping 2nd 

RW  0x1601 

0x02 

N/A 

application object to be mapped.  

   

 

 

 

 

Not mapped in default.

  PDO2-MOSI 

 

 

 

 

PDO2-MOSI mapping for the 3rd  

  Mapping 3rd 

RW  0x1601 

0x03 

N/A 

application object to be mapped.  

   

 

 

 

 

Not mapped in default.

  PDO2-MOSI 

 

 

 

 

PDO2-MOSI mapping for the 4th  

  Mapping 4th 

RW  0x1601 

0x04 

N/A 

application object to be mapped.  

   

 

 

 

 

Not mapped in default.

  PDO2-MOSI 

 

 

 

 

PDO2-MOSI mapping for the 5th  

  Mapping 5th 

RW  0x1601 

0x05 

N/A 

application object to be mapped.  

   

 

 

 

 

Not mapped in default.

  PDO2-MOSI 

 

 

 

 

PDO2-MOSI mapping for the 6th  

  Mapping 6th 

RW  0x1601 

0x06 

N/A 

application object to be mapped.  

   

 

 

 

 

Not mapped in default.

  PDO2-MOSI 

 

 

 

 

PDO2-MOSI mapping for the 7th 

  Mapping 7th 

RW  0x1601 

0x07 

N/A 

application object to be mapped.  

   

 

 

 

 

Not mapped in default.

  PDO2-MOSI 

 

 

 

 

PDO2-MOSI mapping for the 8th  

  Mapping 8th 

RW  0x1601 

0x08 

N/A 

application object to be mapped.  

   

 

 

 

 

Not mapped in default.

    

 

 

0x00  

 

Number of PDO1-MISO  

  PDO1-MISO 

RO  0x1800  

N/A 

communication parameters.

  Parameters 

 

 

0x01 

 

COB-ID of PDO1-MISO

    

 

 

 

0 – 1000  ms  Periodic transmit rate of PDO1-MISO 

  TPDO1 Cycle Rate 

RW  0x1800 

0x05 

 

(in 4ms steps). Setting to 0 will  

  

 

 

 

0 – 1000

 

disable periodic transmit.

    

 

 

0x00  

 

Number of PDO2-MISO  

  PDO2-MISO 

RO  0x1801  

N/A 

communication parameters.

  Parameters 

 

 

0x01 

 

COB-ID of PDO2-MISO

    

 

 

 

0 – 1000  ms  Periodic transmit rate of PDO2-MISO 

  TPDO2 Cycle Rate 

RW  0x1801 

0x05 

 

(in 4ms steps). Setting to 0 will  

  

 

 

 

0 – 1000

 

disable periodic transmit.

  PDO1-MISO Mapping   RO  0x1A00  0x00 

N/A 

Number of mapped application  

  

 

 

 

 

objects in PDO1-MISO.

   

 

 

 

 

PDO1-MISO mapping for the 1st  

 PDO1-MISO 

RW 0x1A00  0x01 

N/A 

application object to be mapped.  

  Mapping 1st 

 

 

 

 

Default mapped to LSB byte of  

   

 

 

 

 

Switch Input States.

   

 

 

 

 

PDO1-MISO mapping for the 2nd  

 PDO1-MISO 

RW 0x1A00  0x02 

N/A 

application object to be mapped.  

  Mapping 2nd 

 

 

 

 

Default mapped to MSB byte of  

   

 

 

 

 

Switch Input States.

Table 2  Communication Profile Object Dictionary, cont’d

   

 

 

 

range

 

 

 

name

 

access

 

index

 

sub

-

index

 

can

 

value

 

description

5 — SDO: Communication Profile Objects

Summary of Contents for 1356

Page 1: ...e without notice 2015 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 Instrument...

Page 2: ......

Page 3: ...t 19 4 PDO COMMUNICATIONS 20 5 SDO COMMUNICATIONS 23 SDO Master Request SDO MOSI 23 SDO 1356 1356P Response SDO MISO 24 Using an SDO to Map a PDO 25 Types of SDO Objects 26 Communication Profile Objec...

Page 4: ...Connector pinout 6 table 2 Communication profile object dictionary 26 2a Manufacturer s status registers 31 2b Store parameter object 31 2c Restore default parameters object 32 table 3 Parameter prof...

Page 5: ...applications such as Mobile Elevating Work Platforms MEWPs electric forklifts aerial lifts etc Two versions of the module are available The 1356 is a PCBA for which customers develop their own case t...

Page 6: ...or a resistive load Internal flyback diodes to B prevent voltage spikes High frequency PWM 16kHz provides smooth current to the load Constant Current or Voltage Outputs The two driver outputs can wor...

Page 7: ...e The 1356 1356P is CANopen compliant responding to the standard NMT PDO and SDO communications as well as the DS301 required identity and standard objects The Curtis CANopen extensions allow addition...

Page 8: ...propriate case to provide environmental protection Mounting for the 1356 depends on the case Care should be taken to prevent contaminating the PCBA 1356 or connector 1356P In order to prevent external...

Page 9: ...king 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 con...

Page 10: ...5 Input 4 Active High Digital Input4 J1 16 Input 6 Active High Digital Input6 J1 17 Input 8 Active High Digital Input8 J1 18 Input 10 Active High Digital Input10 J1 19 Input 12 Active High Digital Inp...

Page 11: ...ld be kept short and routed with the return wire back to the module CAN bus Pins J1 11 and J1 23 It is recommended that the CAN wires be run as a twisted pair However many successful applications at 1...

Page 12: ...utilize the flyback diodes connected inside the module between B and each driver output The keyswitch is used to turn on the system When the keyswitch is closed B goes high and the 1356 1356P s power...

Page 13: ...ing a basic contactor coil This output is in the Constant Voltage mode and can be set to run at a lower voltage than the nominal battery voltage Switch Inputs All the inputs are used as Active High in...

Page 14: ...356 1356P OUTPUT 2 5V CAN H CAN L OUTPUT 1 J1 14 CURTIS AC CONTROLLER J2 4 J2 3 J2 1 4 3 1 2 12V RX TX J1 24 I O GND INPUT 9 J2 2 I O GND INPUT 13 J1 8 2 1 6 5 4 3 J1 6 J1 10 J1 18 ANALOG INPUT 4 INPU...

Page 15: ...tor is that there is a small leakage current in the two driver outputs when the output driver is Off This leakage can be enough 2mA to light high efficiency LEDs 2 INSTALLATION WIRING I O Signal Speci...

Page 16: ...changing loads and supply voltages In Constant Voltage mode the driver command of 0 to 100 is interpreted as a voltage from 0 to Max Output The battery voltage is constantly monitored and fed back to...

Page 17: ...electedbyaCurtisprogrammer 1313 1314 or CAN SDO message These five analog inputs can also be used as digital inputs A unique fea ture of these digital inputs is that the active high low thresholds are...

Page 18: ...RIAL PORT SPECIFICATIONS protected supported voltage signal name pin protocol devices data rate range TX J2 3 1313 Handheld Programmer As required RX J2 1 1314 PC Programming Station 9 6 to 56 kbit s...

Page 19: ...ttle Curtis programmer Curtis 840 display or remote I O boards The return line for these low power circuits is I O GND The maximum total combined output current is 200 mA 1 13 12 24 1 3 2 4 Power The...

Page 20: ...n the CANopen minimum state machine as defined by CiA The CANopen minimum state machine has four defined states Ini tialization Pre Operational Operational and Stopped When the 1356 1356P powers up it...

Page 21: ...e standard message types are defined within a 4 bit field in the COB ID Communication OBject IDentification Consequently there are 16 possible standard message types The values for Curtis products are...

Page 22: ...Initialization or boot up 4 StoppedXx 5 OperationalXx 127 Pre OperationalXx The NMT message identifier consists of the standard message type NMT in the top four bits The bottom seven bits must be set...

Page 23: ...fine the specific fault The 1356 1356P will place the current 24 bit hour meter into data bytes 4 through 6 Bytes 7 and 8 are not used by the 1356 1356P and are always 0x0000 The emergency message for...

Page 24: ...ode allows the 1356 1356P to periodically transmit the PDO MOSI at the programmed cycle rate The cycle rates are ad justable via two parameters TPDO1 Cycle Rate for PDO1 MISO andTPDO2 Cycle Rate for P...

Page 25: ...ed loop controlled either for current or voltage This byte sets the output command as a percent of the programmed output limit value 0 255 0 100 BDI The BDI value is a percent of the battery state of...

Page 26: ...DO MISOs Each voltage value requires 2 bytes of the PDO packet For each analog input if Resistive InputType is enabled and the resistance is mapped in PDO MISOs the value will be returned as ohms up t...

Page 27: ...SDO MOSI An SDO transfer always starts with a request message from the master Each SDO request message consists of one control byte a two byte CAN Object index a one byte CAN Object sub index and up t...

Page 28: ...s on the type of transfer that was initially requested Action Byte 1 Value Read Response 0x40 Write Acknowledge 0x60 Abort SDO 0x80 Data bytes 2 3 and 4 hold the CAN Object index and sub index of the...

Page 29: ...e take a 32 bit object To access the least significant byte of a long word 32 bits the sub index should be set to 0 To access the most significant byte of a long word 32 bits the sub index should be s...

Page 30: ...code field RO 0x01 0x10 4 bytes and time stamps as reported by the Emergency Message Node ID of this 1356 1356P This Object is not part of the CANopen Node ID RW 0x100B 0x00 0x01 0x7F mandatory dictio...

Page 31: ...mber of PDO2 MOSI PDO2 MOSI RO 0x1401 N A communication parameters Parameters 0x01 COB ID of PDO2 MOSI PDO1 MOSI Mapping RO 0x1600 0x00 N A Number of mapped application objects in PDO1 MOSI PDO1 MOSI...

Page 32: ...d Not mapped in default PDO2 MOSI PDO2 MOSI mapping for the 8th Mapping 8th RW 0x1601 0x08 N A application object to be mapped Not mapped in default 0x00 Number of PDO1 MISO PDO1 MISO RO 0x1800 N A co...

Page 33: ...age Value PDO1 MISO mapping for the 8th PDO1 MISO RW 0x1A00 0x08 N A application object to be mapped Mapping 8th Default mapped to MSB byte of Analog5 Voltage Value PDO2 MISO Mapping RO 0x1A01 0x00 N...

Page 34: ...ult PDO2 MISO PDO2 MISO mapping for the 8th Mapping 8th RW 0x1A01 0x08 N A application object to be mapped Not mapped in default Table 2 Column Definitions Access RO Read Only access RW Read Write acc...

Page 35: ...Normal parameter block after KSI cycle The text string bkup initiates a complete storage of all parameters to the Backup parameter block Table 2b Store Parameter Object Function Request Value Access D...

Page 36: ...lt Parameters function should be set to 0x02 Restore Normal Settings so that the 1356 1356P will restore from the Normal parameter block on the next reset or power cycle Table 2c Restore Default Param...

Page 37: ...bove See above Driver1 Voltage Limit 0x3006 0x00 0 0 36 0 V Sets the maximum voltage output when the PDO 0 360 command is 100 255 when operating in 36V models Constant Voltage mode 0 0 80 0 V 0 800 80...

Page 38: ...e above Analog5 Low Threshold 0x3034 0x00 See above See above Analog1 Filter Gain 0x3040 0x00 128 s 8 ms Sets the amount of filtering on the analog inputs 1 16384 Higher gains provide faster filtering...

Page 39: ...osition type Must cycle KSI for new setting to take effect Encoder Direction 0x3071 0x00 0 1 Sets the positive direction 0 1 0 Positive direction when phase A is ahead of phase B 1 Positive direction...

Page 40: ...ormally the default settings of these gains are sufficient to control the load However there may be times when they need to be adjusted to increase or decrease the responsiveness of the 1356 1356P If...

Page 41: ...o estimate filter response FILTER VALUE 100 63 TIME Time Constant Step Input Filtered Response 5 SDO Parameter Profile Objects Exponential Filter Response Setting TC Time to 100 1 64 s 320 s 2 32 s 16...

Page 42: ...0 00 3 00 A Present current sunk by Driver 1 0 300 Driver2 Current 0x3131 0x00 0 00 1 00 A Present current sunk by Driver 2 0 100 Total Driver Current 0x3132 0x00 0 00 4 00 A Present current sunk by b...

Page 43: ...00 Additionally the highest priority fault code will be flashed on the red and yellow status LEDs The red LED enumerates the digit place and the yel low LED enumerates the value For example a code 23...

Page 44: ...driver stopped to the faulted driver Driver 1 output pin is low when driver 33 Coil1 Fault is Off This implies the pin has been left open Output on the faulted Driver 2 output pin is low when driver d...

Page 45: ...from the sub index 1 though 16 0x01 0x10 will return the faults plus time stamps in order from newest to oldest Faults are stored in the Fault Log as 32 bit data fields in this format The first byte...

Page 46: ...arranged in hierarchical menus as shown in Table 6 7 ANALOG INPUT p 43 Analog1 Input Type High Threshold Low Threshold Filter Gain Analog2 same Analog3 same Analog4 same Analog5 same DIGITAL INPUT p...

Page 47: ...irtual digital input Low Filter Gain 1 16384 Sets the amount of filtering on the input Higher gains provide faster filtering Filtering affects the analog reading and the virtual digital input responsi...

Page 48: ...es per revolution and displacement per revolution of the encoder Pulse Per Meter pulses per revolution displacement per revolution unit m Pulse Per Revolution 0 65535 This parameter should be set acco...

Page 49: ...rrent mode Driver 2 Voltage Limit 0 0 36 0 V Sets the maximum voltage output when the PDO 36V models command is 100 applicable only when the driver 0 0 80 0 V is operating in Constant Voltage mode 80V...

Page 50: ...teps within which the PDO MOSI must be received If the interval is longer than this set interval a fault is flagged Setting this parameter to zero disables the PDO timeout fault Emergency Rate 0 1000...

Page 51: ...35 h Presets hours of the hour meter and resets the minutes to zero Restore Type 1 2 This parameter is used to select the source of the parameters when the 1356 1356P is powered on 1 Load parameters f...

Page 52: ...nput1 Input13 ENCODER INPUT p 50 Pulse Counts RPM Position POWER SUPPLY OUTPUT p 50 5V 12V EXT Current BATTERY VOLTAGE p 50 HOUR METER p 50 Hours Minutes Monitor Menus Through its monitor menus the Cu...

Page 53: ...igital input state This menu is repeated for Analog Inputs 1 5 DIGITAL INPUT MONITOR MENU ALLOWABLE PARAMETER RANGE DESCRIPTION Input1 Off On Input state of Digital Input 1 Input2 Off On Input state o...

Page 54: ...SCRIPTION 5V 0 0 6 3 V Voltage of the 5V output 12V 0 0 16 0 V Voltage of the 12V output EXT Current 0 250 mA Combined current of the external 12V and 5V power supplies BATTERY VOLTAGE MONITOR MENU AL...

Page 55: ...switching wave forms can be minimized by making the wires from the controller to the load as short as possible and by placing the load drive and return wires near each other For applications requiring...

Page 56: ...s produced by the discharge In general the guidelines presented above for increasing radiated immunity will also provide increased ESD immunity It is usually easier to prevent the discharge from occur...

Page 57: ...t a User access programmer can operate at only the User level whereas an OEM programmer has full access PC PROGRAMMING STATION 1314 The Programming Station is an MS Windows 32 bit application that run...

Page 58: ...between CAN H and CAN L Table C 1 SPECIFICATIONS 1356 1356P MODULE Nominal input voltage 12 36V 36 80V Storage ambient temperature range 40 C to 85 C 40 F to 185 F Operating ambient temp range 40 C t...

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