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26

 

Curtis 1356/1356P CAN Expansion Module Manual, 

Rev. A

TYPES OF SDO OBJECTS

Three types of SDO objects are described in the following pages: Communications 

Profile Objects, Programmable Parameter Objects, and Monitor Parameter Objects.

COMMUNICATION PROFILE OBJECTS

The Communication Profile Objects are shown below in Table 2. 

5 — SDO: Communication Profile Objects

Table 2  Communication Profile Object Dictionary

   

 

 

 

range

 

 

 

name

 

access

 

index

 

sub

-

index

 

can

 

value

 

description

Device Type 

RO  0x1000 

0x00 

0x00000000  Predefined type of CAN module (I/O).

  Error Register 

RO  0x1001 

0x00  

0 or 1 

= 0 if there are no errors 

   

 

 

 

 

= 1 if there is an error

  Manufacturer’s Status  

RO 0x1002  0x00 

2 bytes

 

The value of the Status Register. 

  Register 1 

 

 

 

 

See Table 2a for more details.

  

RW   0x00  0x10 

Length of this object. Clear fault log  

  Fault Log 

 

 

 

 

by writing 0 into this address. 

 

(pre-defined error

  

0x1003 

 

 

Contains an array of 16 fault 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 dictionary. Must cycle 

   

 

 

 

 

power or send an NMT Reset 

   

 

 

 

 

1356 /1356P or NMT Reset CAN  

   

 

 

 

 

for new ID to take full effect.

   

 

 

 

  

1356 /1356P supports the mandatory  

  Store Parameters 

RW  0x1010 

0x00 

4 bytes

 

Save All Parameters sub-index. See  

   

 

 

 

 

Table 2b for more details.  

  Restore Default 

RW  0x1011 

0x00 

4 bytes

  

Controls normal, factory, or backup   

  Parameters 

 

 

 

 

restore. See Table 2c for more details.

    

 

 

 

0x00000080

  11-bit Identifier of the Emergency

 

  Emergency COB ID 

RO  0x1014 

0x00  –0x000000FF   Message. Only the lowest 11 bits are  

   

 

 

 

 

valid. All other bits must be 0.

   

 

 

 

  

Sets the minimum time that must 

   

 

 

 

0 – 1000  ms

 

elapse before another Emergency  

  Emergency Rate 

RW  0x1015 

0x00 

0 – 1000

 

Message can be sent by the   

   

 

 

 

in 4ms steps  1356 /1356P.  A setting of 0 disables  

   

 

 

 

 

the Emergency Message.

   

 

 

 

0 – 1000 ms   Sets the cyclic repetition rate of the  

  Heartbeat Rate 

RW  0x1017 

0x00 

0 – 1000

 

Heartbeat Message.  

   

 

 

 

in 4ms steps  A setting of 0 disables the Heartbeat.

Содержание 1356

Страница 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...

Страница 2: ......

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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