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6 — CANopen COMMUNICATIONS

Curtis Model 3401T – August 2022

pg. 46

6 — CANopen COMMUNICATIONS

The 3401T complies with the CAN in Automation (CiA) CANopen 301 specification. This chapter

describes the 3401T’s CANopen features.
Some familiarity with CANopen is a prerequisite. For CANopen information, see the following pages

on the CiA web site:

• Overview:

https://www.can-cia.org/canopen/

• Specifications:

https://www.can-cia.org/groups/specifications/

BYTE AND BIT SEQUENCE ORDER

CANopen message byte sequences are transmitted with the least significant byte first (little-

endian format).
Note: This manual uses the LSB 0 Numbering convention when referring to byte and bit

numbers.
For example, the following table shows an SDO that writes the data 04E2h to the object with the

index and sub-index 334C-01h:

Control Byte

Index

Sub-index

Data

2Bh

4Ch

33h

01h

E2h

04h

00h

Strings are read from left to right. The following example shows how the 3401T transmits an SDO

segment for the string "Curtis":

Control Byte

Data

00h

43h = "C"

75h = "u"

72h = "r"

74h = "t"

69h = "i"

73h = "s"

Bit sequences are transmitted from the most significant to the least significant bit (big-endian format).

The following example shows how the 3401T transmits the bits for the value 2Bh:

NODE IDS

The 3401T’s node ID is specified with the CAN Node ID parameter. The default node ID is 0x2E.
If the Curtis Electronic Code Switch (ECS) is on the CANbus, the ECS CAN Node ID parameter

specifies its node ID. Both parameters are on the

CAN menu

BAUD RATE

The baud rate is specified with the CAN Baud Rate parameter on the CAN menu. The default baud

rate is 125 Kbps.

Summary of Contents for CURTIS 3401T

Page 1: ...of Curtis Instruments Inc Kohler is a registered trademark of Kohler Co The design and appearance of the products depicted herein are the copyright of Curtis Instruments Inc 53249 Rev A August 2022 Curtis Instruments Inc 200 Kisco Avenue Mt Kisco NY 10549 www curtisinstruments com Software Device Profile 9 0 0 0 Model 3401T Digital Instrumentation ...

Page 2: ...ISCELLANEOUS CONVENTIONS 4 2 USING THE 3401T 5 BUTTONS 5 POWER ON 3401T PASSWORD OR ECS AUTHORIZATION 6 POWER ON 3401T PASSWORD 6 ECS AUTHORIZATION 8 VIEW FAULT NAMES 9 VIEW AND EDIT PARAMETERS 9 OPEN THE 3401T S MAIN MENU 10 OPEN THE 3401T S PARAMETER MENUS 10 OPEN PARAMETER MENUS FOR OTHER CURTIS DEVICES 12 OPEN PARAMETER MENUS OF DEVICES CONNECTED TO THE SERIAL PORT 13 USING THE PARAMETER MENU ...

Page 3: ...IGHT 19 KEYSWITCH HOUR METER 20 STEERING ANGLE 20 MESSAGE CENTER 20 FAULT CODES 21 3 INSTALLATION AND WIRING 22 INSTALLING THE 3401T 22 I O CONNECTOR 23 I O PINS 24 WIRING DIAGRAM 25 OPERATING VOLTAGE 26 OPERATING CURRENT 26 BATTERY CONNECTIONS 27 KEYSWITCH 27 SWITCH 1 5 INPUTS 27 SWITCH INPUTS 27 FAULT CODE INPUTS 28 SENDER INPUTS 28 MOSFET DRIVER 28 CAN CONNECTIONS 28 SERIAL COMMUNICATION INTERF...

Page 4: ...SUBMENU 32 CAN MENU 33 RPDO AND TPDO BYTE MAP MENUS 34 BDI MENU 37 PASSWORD MENU 38 MAINTENANCE MENU 38 ODOMETERS MENU 39 SENDERS MENU 39 OUTPUT MENU 40 RAMP MENU 40 INITIAL MENU 41 CURRENT LIMIT MENU 41 DITHER MENU 41 PI MENU 42 MISC MENU 42 5 MONITOR PARAMETERS 43 HOURMETERS MENU 43 MAINTENANCE MENU 44 ODOMETERS MENU 44 SENDERS MENU 44 OUTPUT MENU 45 ...

Page 5: ...EN COMMUNICATIONS 46 BYTE AND BIT SEQUENCE ORDER 46 NODE IDS 46 BAUD RATE 46 MESSAGE COB IDS 47 EXPEDITED SDOS 47 PDOS 48 PDO COB IDS 48 PDO TIMING 48 PRECONFIGURED PDOS 49 STANDARD CANOPEN OBJECTS 53 APPENDIX A CURTIS PROGRAMMING DEVICES 54 APPENDIX B SPECIFICATIONS 56 ...

Page 6: ...ABLE 3 4 OPERATING CURRENT LCD HEATER OFF 26 TABLE 3 5 OPERATING CURRENT LCD HEATER ON 26 TABLE 4 1 PDO BYTE MAP MENUS CAN INDEXES AND DEFAULT VALUES 35 TABLE OF CONTENTS cont d FIGURES FIGURE 1 1 CURTIS MODEL 3401T 1 FIGURE 2 1 COUNTERBALANCED FORKLIFTS APPLICATION 15 FIGURE 2 2 REACH TRUCKS AND ORDER PICKERS APPLICATION 16 FIGURE 2 3 SPEEDOMETER COUNTERBALANCED FORKLIFTS 19 FIGURE 2 4 SPEEDOMETE...

Page 7: ...ability allows various screen elements to be displayed These elements include gauges hour meters warning icons speedometers and so on The device provides two preset user interfaces one for counterbalanced forklifts and the other for reach trucks and order pickers For applications that require a tailor made user interface the 3401T is customizable by Curtis engineers The 3401T provides four inputs ...

Page 8: ...vehicle speed BDI percentage and steering angle Icons indicate states such as on off For example icons indicate whether the seat belt is on or lift lockout is active Hour meters provide a resolution of 0 1 hours and a maximum of 99999 9 hours There are three hour meters one is for the keyswitch and two are for Curtis devices Speed mode The 3401T provides buttons for four speed modes The selected m...

Page 9: ...ied The power on password is entered with either the 3401T s buttons or the Curtis Electronic Code Switch ECS Programming parameters for the 3401T and for other Curtis devices There are different passwords for the OEM and User access levels Resetting the hour meters The following optional features are available with customized models only A buzzer alarm that can be configured to activate when gaug...

Page 10: ...Numeral System Format Example Decimal Either of the following nnn nnnd 127 127d Hexadecimal Either of the following nnnh 0xnnn 62Ah 0x62A Binary nnnb 1011b In addition some CANopen examples have hexadecimal values without notation Those examples are formatted with a monospace font and with the bytes delimited by spaces as shown in the following example 21 FF 01 11 22 01 00 00 Miscellaneous Convent...

Page 11: ...s the number 1 Opens the 3401T s password protected parameter menus Returns to the home screen from the 3401T s password protected parameter menus Specifies the number 2 Opens the parameter menus of other Curtis devices connected through the CANbus or the serial port Returns to the home screen from the parameter menus of other Curtis devices Specifies the number 3 Opens the parameter menus of Curt...

Page 12: ...Log onto the Curtis Electronic Code Switch ECS Note The ECS ensures that only authorized users can operate a vehicle Users log on by entering a user ID and PIN code or by swiping an RFID tag For more information on the ECS see the Input Devices page on the Curtis Instruments website The following topics describe the two methods Power On 3401T Password If the 3401T is configured to require a passwo...

Page 13: ...f the screen turns blue when a button is pushed In the following example three numbers have been entered 1 2 3 4 5 Tip To clear the most recently entered number press the button the corresponding circle turns white 2 Press the button to submit the password If the password is correct the home screen is displayed If the password screen indicates that the wrong password was entered press the or butto...

Page 14: ... ECS by swiping an RFID tag or entering an ECS user ID and PIN code on the keypad If the RFID tag or user ID and PIN code are valid the home screen is displayed Note To log on with the ECS the 3401T and the ECS must be in the operational NMT state and the ECS s node ID must be specified If you are logged onto the ECS but the screen shown in the previous image is displayed the devices might not be ...

Page 15: ... contained by the menus described in the Programmable Parameters and Monitor Parameters chapters The parameter menus can be accessed when the home screen is visible Parameters have two access levels User and OEM The OEM level provides access to more parameters than the User level The following table describes how the 3401T access levels correspond to the access levels for Curtis programming device...

Page 16: ...the 3401T s Main Menu Take the following steps to open the main menu 1 Go to the home screen 2 Press the button The main menu displays and you can now view and edit parameters To exit the menu press the button Open the 3401T s Parameter Menus You must enter a password to open all of the 3401T s menus which include the main menu Program menu and Monitor menu Take the following steps to open these m...

Page 17: ... two numbers have been entered 1 2 3 4 5 Enter 3401T Menu Password OEM Tip To clear the most recently entered number press the button the corresponding circle turns white To exit the password screen press the button until the password is cleared then press the button again 5 Press the button to submit the password If the password is correct the main menu displays and you can now view and edit para...

Page 18: ...access level is active 3 To change the access level press the or button 4 Use the F1 F5 buttons to enter the five digit password which consists of the numbers 1 5 Pressing an F1 F5 button enters the number that follows the letter F for example the button enters 2 To indicate how many characters have been entered the corresponding circle in the middle of the screen turns blue when a button is pushe...

Page 19: ... The 3401T downloads the device s menu and then displays the main menu You can now view and edit parameters To exit the menu press the button IMPORTANT After you have finished working with parameters cycle the keyswitch to clear the password Open Parameter Menus of Devices Connected to the Serial Port The 3401T provides read only access to the main and Monitor menus of Curtis devices that support ...

Page 20: ...0 times you can increase the value by pressing a few buttons Take the following steps to rapidly change the selected parameter s value 1 Press the button until the screen s upper right corner indicates the factor by which to change the value The following table lists the indicators Indicator Factor 1 Note x1 is the default and indicates that the parameter value will be incremented or decremented b...

Page 21: ...es Counterbalanced forklifts Reach trucks and order pickers Figure 2 1 and Figure 2 2 show the home screens of both user interfaces The home screens consist of the areas indicated with callouts which are described in Table 2 3 FIgure 2 1 Counterbalanced Forklifts Application F1 F2 F3 F4 F5 H S E C S TRA OK HYD OK 5 0 10 25 30 20 15 100 P 00098 6H 10 2 km h 00122 8 T 00186 9 P Mode 29 2 3 4 5 9 8 7...

Page 22: ... Table 2 3 3401T Home Screen Areas Number Area 1 Speed mode 2 Signal icons 3 Direction 4 BDI 5 Speedometer 6 Hour meters cargo weight and lift height 7 Keyswitch hour meter 8 Steering angle counterbalanced forklifts application only 9 Fault codes 10 Steering angle reach trucks and order pickers application only The screens also include a message center which is not shown in the previous images Whe...

Page 23: ...tive speed mode and the buttons that specify the modes Icon Speed Mode Button Standard High speed Economy Turtle Signal Icons The signal icons indicate vehicle actions and states Icon Description P Parking Seat Seat belt Safety pedal Guardrail Lift lockout Fault active Note The fault icon blinks when a fault is detected or when the 3401T is not receiving fault signals from other devices ...

Page 24: ...tral Left turn Right turn BDI The BDI area uses the following gauges to indicate the battery s state of charge The battery voltage also may be displayed as shown in the example below for lead acid batteries The gauge colors depend upon the BDI percentage Icon BDI Status BDI Percentage The color depends upon the battery type Lithium Lead acid Okay 20 100 Warning 10 19 Low 0 9 ...

Page 25: ...erfaces display the speedometer Figure 2 3 Speedometer Counterbalanced Forklifts 5 0 10 25 30 20 15 10 2 km h Figure 2 4 Speedometer Reach Trucks and Order Pickers 10 2 km h MAX 20 0 Hour Meters Cargo Weight and Lift Height The hour meters cargo weight and lift height area displays up to two of the following items at any given time Icon Hour Meter 00186 9 P Pump controller hour meter 00122 8 T Tra...

Page 26: ...trucks and order pickers application Message Center The message center broadcasts information such as status and instructions The 3401T activates the message center which is hidden by default when certain conditions occur For example a message displays when the system detects that the brake should be released When the message center is activated the message displays in the screen s bottom center T...

Page 27: ...two traction controllers One controller TRA Two controllers TRA L TRA R Pump controller HYD Steering controller STR Lithium battery BAT OEM defined fault code OEM If a component has no active faults OK is displayed In the following example no faults are active for the traction controller pump controller and steering controller TRA OK HYD OK STR OK A fault code displays if a component has active fa...

Page 28: ...nd wire the 3401T INSTALLING THE 3401T Install the 3401T in a location that will keep the device clean and dry The recommended panel cutout is 92 1 0 8 0 138 1 0 8 0 mm with a panel thickness between 2 0 4 0mm Figure 3 1 describes the dimensions Figure 3 1 Mounting Dimensions 137 8 0 3 91 8 0 3 4X R5 5 160 1 102 1 4X R15 38 2 1 4 0 3 49 7 1 ...

Page 29: ...n to IP54 by using the parts listed in Table 3 2 The following tables list the TE Connectivity parts for IP40 and IP54 protection Table 3 1 Mating Connector Parts IP40 Protection Part TE Connectivity Part Number Connector Housing 770583 1 Terminal 18 22 AWG 770904 X Table 3 2 Mating Connector Parts IP54 Protection Part TE Connectivity Part Number Connector Housing 794824 1 Terminal 18 22 AWG 77090...

Page 30: ...quency signals 6 Switch Input3 Analog Input3 HYD Fault Code Input Input for switch analog or hydraulic controller fault code signals 7 Keyswitch 8 Switch Input5 MOSFET OUTPUT Switch input or driver output 9 SCI Tx Serial communications Tx 10 CAN_GND CAN ground 11 CAN_H CAN high 12 CAN_H Termination CAN 120Ω termination resistor high 13 Switch Input2 Analog Input2 Frequency Input 2 Input for switch...

Page 31: ...s distributor or the Curtis sales and support office in your region Figure 3 2 Wiring Diagram SCI Rx SCI Tx SCI GND CAN H CAN L CAN GND CONNECT JUMPER FOR 120Ω CANBUS TERMINATION CAN H TERM CAN L TERM SWITCH1 ANALOG1 FREQUENCY1 SWITCH2 ANALOG2 FREQUENCY2 SWITCH3 ANALOG3 HYD FAULT CODE SWITCH4 ANALOG4 TRA FAULT CODE KSI B B SWITCH5 DRIVER OUTPUT FUSE CAN PORT DC HYD CONTROLLER FAULT CODE INPUT DC T...

Page 32: ...ty connections continuously Note All voltages listed in this manual are DC voltages OPERATING CURRENT The following tables describe the B pin s operating current with the LCD heater off and on Table 3 4 Operating Current LCD Heater Off B Voltage V Keyswitch On mA Keyswitch Off mA Typical Maximum 12 166 207 112 24 80 99 56 36 56 68 40 48 45 53 33 60 39 46 29 72 36 41 27 80 34 39 26 96 33 37 25 Tabl...

Page 33: ...h Input Pin Switch Traction Fault Code Hydraulic Fault Code Analog Frequency Driver Parameter 1 5 x x x Sender 1 Type 2 13 x x x Sender 2 Type 3 6 x x x Sender 3 Type 4 14 x x x Sender 4 Type 5 8 x x Output Mode Note The frequency functions are reserved The following sections describe these inputs Switch Inputs The switch 1 4 inputs can be configured as active high switched to B or active low swit...

Page 34: ...ct your Curtis distributor or the Curtis sales and support office in your region MOSFET Driver Switch input 5 can be used as a low side MOSFET driver The continuous output current is limited to 1A The driver can be configured for the following output modes Current Voltage PWM Lift lockout In PWM mode the PWM frequency is 16 kHz In lift lockout mode the MOSFET output indicates On or Off The Output ...

Page 35: ...pty Discharge Full Discharge Empty OCR Reset Integration Rate Lift Lockout PASSWORD MENU p 38 OEM Menu Password USER Menu Password PIN Code MAINTENANCE MENU p 38 Maintenance Interval 1 Maintenance Interval 2 Maintenance Interval 3 Reset Maintenance Interval 1 Reset Maintenance Interval 2 Reset Maintenance Interval 3 ODOMETERS MENU p 39 Reset Odometer 1 Reset Odometer 2 Reset Odometer 3 SENDERS MEN...

Page 36: ... columns in the parameter description tables contain multiple types of information Parameter and CAN Index The parameter name followed by the CAN index and sub index This column also identifies parameters marked as PCF Note CAN indexes and sub indexes are delimited by colons For example a parameter with an index of 0x640F and a sub index of 0x00 would be represented as 0x640F 00 Values and Raw Val...

Page 37: ...sion RO OS Version 0x690C 00 2147483648 to 2147483647 2147483648 to 2147483647 32 bit Field Basic 0 Indicates the operating system s version RO LCD Backlight 0x640F 00 1 10 1 10 32 bit Field Basic 7 Indicates the brightness of the device s backlight with 10 indicating the maximum brightness Speed Unit 0x6040 00 Enumerated 0 1 32 bit Field Basic 0 Indicates the speedometer s unit of measurement 0 K...

Page 38: ...l password Confirm Input Password 0x6908 00 Off On 0 1 32 bit OEM Dealer Off Submits the password specified with the Input Hrm Password parameter Status of Set Hourmeters 0x6907 00 Enumerated 0 1 32 bit OEM Dealer Disable Indicates whether the hour meters can be reset 0 Disable 1 Enable When a valid hour meter password has been specified the value changes to Enable RO Set Hourmeters Submenu Use th...

Page 39: ...ransmit and receive data CAN MENU PARAMETER CAN INDEX VALUES RAW VALUES DATA SIZE ACCESS LEVEL DEFAULT VALUE DESCRIPTION CAN Node ID 0x2000 01 1 127 1 127 16 bit Field Intermediate 46 Specifies the device s node ID CAN Baud Rate 0x2001 01 1 to 4 1 to 4 16 bit Field Intermediate 0 Specifies the 3401T s baud rate 1 100 Kbps 0 125 Kbps 1 250 Kbps 2 500 Kbps 3 800 Kbps 4 1 Mbps ECS CAN Node ID 0x3104 ...

Page 40: ...dexes and default values RPDO AND TPDO BYTE MAP MENU PARAMETER VALUES RAW VALUES DATA SIZE ACCESS LEVEL DESCRIPTION Length 0 8 0 8 8 bit OEM Dealer Specifies the number of objects mapped to the PDO Map 1 0 FFFFFFFFh 0 FFFFFFFFh 32 bit OEM Dealer Specifies the PDO s first mapped object Map 2 0 FFFFFFFFh 0 FFFFFFFFh 32 bit OEM Dealer Specifies the PDO s second mapped object Map 3 0 FFFFFFFFh 0 FFFFF...

Page 41: ...5 0 Map 6 TPDO1 0x1A00 06 0 Map 7 TPDO1 0x1A00 07 0 Map 8 TPDO1 0x1A00 08 0 Length RPDO2 0x1601 00 7 Map 1 RPDO2 0x1601 01 0x66080008 Map 2 RPDO2 0x1601 02 0x66090008 Map 3 RPDO2 0x1601 03 0x660A0010 Map 4 RPDO2 0x1601 04 0x660D0008 Map 5 RPDO2 0x1601 05 0x660F0008 Map 6 RPDO2 0x1601 06 0x66100008 Map 7 RPDO2 0x1601 07 0x66140008 Map 8 RPDO2 0x1601 08 0 Length TPDO2 0x1A01 00 2 Map 1 TPDO2 0x1A01 ...

Page 42: ...02 08 0 Length RPDO4 0x1603 00 2 Map 1 RPDO4 0x1603 01 0x66120020 Map 2 RPDO4 0x1603 02 0x66130020 Map 3 RPDO4 0x1603 03 0 Map 4 RPDO4 0x1603 04 0 Map 5 RPDO4 0x1603 05 0 Map 6 RPDO4 0x1603 06 0 Map 7 RPDO4 0x1603 07 0 Map 8 RPDO4 0x1603 08 0 Length TPDO4 0x1A03 00 0 Map 1 TPDO4 0x1A03 01 0 Map 2 TPDO4 0x1A03 02 0 Map 3 TPDO4 0x1A03 03 0 Map 4 TPDO4 0x1A03 04 0 Map 5 TPDO4 0x1A03 05 0 Map 6 TPDO4 ...

Page 43: ...ischarge Full Discharge Full 0x641E 00 1 500 2 500V 1500 2500 32 bit Field Intermediate 2 040V Specifies the battery cell voltage at which the state of charge is considered 100 Discharge Full must be at least 0 120V more than Discharge Empty and must be between the following values Charge Empty 0 010V OCR Reset 0 030V Discharge Empty 0x641F 00 1 500 2 500V 1500 2500 32 bit Field Intermediate 1 730...

Page 44: ...NCE MENU The 3401T provides three countdown maintenance monitors The Maintenance parameters specify intervals for and reset the monitors Note The parameters on the Maintenance menu of the Monitor menu indicate how much time remains on the maintenance monitors MAINTENANCE MENU PARAMETER CAN INDEX VALUES RAW VALUES DATA SIZE ACCESS LEVEL DEFAULT VALUE DESCRIPTION Maintenance Interval 1 0x643E 00 0 0...

Page 45: ...y the types of data received by the switch 1 4 inputs SENDERS MENU PARAMETER CAN INDEX VALUES RAW VALUES DATA SIZE ACCESS LEVEL DEFAULT VALUE DESCRIPTION Sender 1 Type 0x6300 00 Enumerated 0 3 32 bit Field Intermediate 0 Configures the switch 1 input 0 Switch Input 1 Resistor Input 2 Voltage Input 3 Frequency Input reserved Sender 2 Type 0x6301 00 Enumerated 0 3 32 bit Field Intermediate 0 Configu...

Page 46: ...66F0 00 0 0 100 0 0 1000 16 bit OEM Dealer 0 0 Specifies the output when pin 8 is used as a driver How the parameter is used depends upon the Output Mode PWM mode The actual duty cycle Voltage mode The product of this value and the Nominal Voltage parameter is the actual output voltage Current mode The product of this value and the Maximum Current parameter is the actual output current Ramp Menu T...

Page 47: ...ode CURRENT LIMIT MENU PARAMETER CAN INDEX VALUES RAW VALUES DATA SIZE ACCESS LEVEL DEFAULT VALUE DESCRIPTION Maximum Current 0x6630 00 0 1000mA 0 1000 16 bit OEM Dealer 1000mA Specifies the maximum output current Minimum Current 0x6640 00 0 1000mA 0 1000 16 bit OEM Dealer 0mA Specifies the minimum output current Dither Menu The parameters on the Dither menu configure the driver s dither pulses Th...

Page 48: ...te None Specifies whether a password is required when the 3401T is powered up and whether the 3401T or the ECS is used to enter the password 0 None A password is not required 1 Internal The 3401T is used 2 External The ECS is used This value can be selected only when the 3401T and the ECS are in the operational NMT state and the ECS node ID is specified HYD Controller Enable 0x6900 00 Off On 0 1 3...

Page 49: ... of the columns in this chapter s parameter description tables see Programmable Parameters The parameter descriptions do not include the Default Value column HOURMETERS MENU The following table describes the parameters on the Hourmeters menu HOURMETERS MENU PARAMETER CAN INDEX VALUES RAW VALUES DATA SIZE ACCESS LEVEL DESCRIPTION Hourmeter 1 0x6800 00 0 99999 9 hours 0 999999 32 bit Field Intermedi...

Page 50: ...AN INDEX VALUES RAW VALUES DATA SIZE ACCESS LEVEL DESCRIPTION Sender 1 0x6312 00 0 4095 0 4095 32 bit Field Intermediate Indicates the raw AD data for switch input 1 Sender 2 0x6314 00 0 4095 0 4095 32 bit Field Intermediate Indicates the raw AD data for switch input 2 Sender 3 0x6318 00 0 4095 0 4095 32 bit Field Intermediate Indicates the raw AD data for switch input 3 Sender 4 0x631A 00 0 4095 ...

Page 51: ...s configured as a MOSFET driver OUTPUT MENU PARAMETER CAN INDEX VALUES RAW VALUES DATA SIZE ACCESS LEVEL DESCRIPTION PWM Duty 0x6700 00 0 0 100 0 0 1000 16 bit Field Intermediate Indicates the PWM percentage when pin 8 is configured as a driver Current 0x66E0 00 0 1000mA 0 1000 16 bit Field Intermediate Indicates the output current when the Output Mode parameter specifies Current Mode ...

Page 52: ...the data 04E2h to the object with the index and sub index 334C 01h 0 1 2 3 4 5 6 7 Control Byte Index Sub index Data 2Bh 4Ch 33h 01h E2h 04h 00h 00h Strings are read from left to right The following example shows how the 3401T transmits an SDO segment for the string Curtis 0 1 2 3 4 5 6 7 Control Byte Data 00h 43h C 75h u 72h r 74h t 69h i 73h s Bit sequences are transmitted from the most signific...

Page 53: ...ce 010b Device responds with requested data 010b Abort SDO 100b Bit 4 is always 0b The values of bits 0 3 depend upon whether the SDO transfers data If the SDO does not transfer data these bits are always 0b If the SDO transfers data the bit values are as follows n indicates the number of unused data bytes e 1b which indicates the message contains data s 1b which indicates that the n field specifi...

Page 54: ...ce supports only 11 bit COB IDs so the value is always 0 11 28 Bits that would be set for 29 bit COB IDs For the 3401T these bits 0 7 10 The PDO s function code The function codes are listed below RPDO1 0100b RPDO2 0110b RPDO3 1000b RPDO4 1010b TPDO1 0011b TPDO2 0101b TPDO3 0111b TPDO4 1001b 0 6 The device s node ID For example if the device s node ID is 2Eh and RPDO1 is enabled the RPDO1 COB ID i...

Page 55: ... Safety pedal status 7 Guardrail status reach trucks and order pickers screen only 3 The following bits indicate various types of data 0 Whether the right traction controller s fault code is from pin 14 Switch Input4 Analog Input4 TRA Fault Code Input or the CANbus 0b pin 14 1 Whether the left traction controller s fault code is from pin 14 Switch Input4 Analog Input4 TRA Fault Code Input or the C...

Page 56: ... 7 Safety pedal status 0b inactive 1 The BDI percentage The range of values is 0 100 which represents 0 100 2 5 The keyswitch hour meter data The range of values is 0 F423Fh which represents 0 99999 9 hours 6 Whether the vehicle is locked 0b locked 1b unlocked The vehicle status is locked if either of the following conditions is active The PIN Code Source parameter specifies Internal but the power...

Page 57: ...Pump hour meter and lift height 100 Pump hour meter and cargo weight 101 Lift height and cargo weight 101 Reserved 1 3 The data for the hour meter specified with bits 0 1 of byte 0 Byte 1 indicates the data s last two numbers The data ranges from 0 63h which represents 0 9 9 Bytes 2 3 indicate the data s first four numbers The data ranges from 0 270Fh which represents 0 9999 For example if byte 1 ...

Page 58: ... displayed as a circle or semicircle If a semicircle is specified the bits also specify the semicircle s location within the steering angle area 000b Circle 001b Semicircle on the top 010b Semicircle on the bottom 011b Semicircle on the left 100b Semicircle on the right Other values Reserved 3 4 The default wheel angle if RPDO3 does not receive data before its timeout expires 00b 0 01b 90 10b 180 ...

Page 59: ...u Parameters N A N A Emergency COB ID 1014h 00h Indicates the Emergency Message COB ID 0 The COB ID consists of the emergency message function code 0001b and the node ID Non zero The COB ID consists of the emergency message function code 0001b and the specified value The COB ID s four most significant bits represent the emergency message function code RO 0 16777215 32 bit Emergency Message Inhibit...

Page 60: ...e data for inputs and outputs Diagnostics and troubleshooting Display active faults and the fault history and clear the fault history Flashing Update firmware of Curtis devices The programmers are available for the following access levels The bullets are sorted from the highest to lowest access level OEM Factory OEM Dealer Field Advanced Field Intermediate Field Basic A Curtis programmer can perfo...

Page 61: ... following example shows the same menu in the Curtis 1313 handheld programmer To edit a parameter with the 1313 programmer select the parameter For more information on Curtis programming devices see the Curtis Instruments Programming page at https www curtisinstruments com products programming ...

Page 62: ...the connector s protection to IP54 Salt Spray Fog Designed to the requirements of ASTM B 117 as per SAE J1810 Shock Designed to the requirements of EN 60068 2 27 Vibration Designed to the following requirements General EN 60068 2 6 Random EN 60068 2 64 Resonance EN 60068 2 6 Safety Designed to the requirements of EN 61010 1 2010 Part 1 General safety requirements for measurement control and labora...

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