Curtis 1352 Manuale utente
Manual
Model 1352
eXm Expansion Module
Read Instructions Carefully!
Specications are subject to change 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 Instruments, Inc. 38442, Rev D 10/16
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
Curtis 1352 eXm Manual, R e v. D ii
CONTENTS
1. OVERVIEW ..............................................................................1
2. INSTALLATION AND WIRING.............................................4
Mounting the Module .........................................................4
Connections and Wiring Guidelines....................................6
Wiring: Basic Configuration ...............................................8
Input/Output Specifications...............................................10
3. CANopen COMMUNICATIONS .........................................13
Minimum State Machine ...................................................13
NMT Messages .................................................................15
Emergency Messages .........................................................16
Heartbeat ..........................................................................16
4 PDO COMMUNICATIONS .................................................17
5. SDO COMMUNICATIONS..................................................19
SDO Master Request, SDO-RX (MOSI) .........................19
SDO eXm Response, SDO-TX (MISO) ...........................20
Types of SDO Objects ......................................................20
Communication Profile Objects ........................................21
Device Parameter Objects .................................................26
Device Monitor Objects ....................................................30
6. DIAGNOSTICS AND TROUBLESHOOTING....................31
Troubleshooting .................................................................31
Fault Log............................................................................33
appendix aVehicle Design Considerations
appendix bSpecifications, 1352 eXm Module
iii Curtis 1352 eXm Manual, R e v. D
FIGURES
fig.1: Curtis 1352 eXm module......................................................... 1
fig.2: Mounting dimensions, Curtis 1352 eXm module ................... 4
fig.3: Basic wiring diagram................................................................ 8
TABLES
table 1: Connector pinout................................................................... 7
table 2: Communication profile objects ............................................ 21
table 3: Device parameter objects...................................................... 26
table 4: Device monitor objects......................................................... 30
table 5: Troubleshooting chart........................................................... 32
table B-1: Specifications, Curtis 1352 eXm module ............................. 36
Curtis 1352 eXm Manual, R e v. D 1
OVERVIEW
The Curtis 1352 eXm expansion module provides a simple, flexible, and low-
cost method for adding additional and specialized I/O to a system. The eXm
utilizes the popular CANopen communication bus for all control, status, and
setup. This allows many CANopen-compatible modules—from Curtis or from
third-party vendors—to be interconnected and share I/O throughout a system.
Several eXm modules can be connected to a single CAN bus to provide a wide
range of I/O. Because of its small size and tight seal, the eXm module can be
mounted remotely near the system to be controlled, thus minimizing wiring
and improving EMC.
The eXm is part of a distributed I/O system with a master controller
coordinating the CAN communications. Curtis VCL-enabled controllers such
as the 1232/34/36/39 E/SE, 1298, and 1310 can provide this master control
using custom software developed with Curtis VCL (Vehicle Control Language).
Any CANopen master can be programmed to control the eXm.
1
1 — OVERVIEW
Fig. 1 Curtis 1352 eXm
expansion module.
The Curtis 1352 eXm expansion module is ideal for material handling,
floor cleaning, aerial platforms, and other electric vehicles as well as stationary
control systems utilizing the CANopen bus. Features include:
39 multi-purpose I/O pins in a compact low cost module
36 high-frequency PWM outputs rated at 3 amps each
3Closed loop current, constant voltage, or direct PWM control on each
output
3Each output can also be used as an active high digital input
3Built-in programmable dither for hydraulic valves
More Features +
2Curtis 1352 eXm Manual, R e v. D
33 analog inputs (0–30V)
33 virtual digital inputs with programmable thresholds (using the analog
inputs)
32 analog inputs are selectable for voltage input or resistive sensors
3Built-in coil flyback diodes
3Software and hardware watchdog circuits ensure proper software operation
3CANopen interface
3Controlled by a fixed PDO map and programmable over SDOs
3IP65-rated enclosure allows the eXm to be mounted in multiple
orientations, and protects it even in harsh environments
3Status LEDs provide external status of module.
DESCRIPTIONS OF KEY FEATURES
Versatile I/O
High frequency PWM outputs
Six identical FET drivers are designed to sink up to 3 amps through a resistive
or inductive load. High frequency PWM (>16kHz) provides smooth current
to the load. Internal flyback diodes to B+ are incorporated to reduce voltage
spikes caused when pulsing coils.
Constant current and constant voltage output modes
The eXm’s DSP runs at 32 MIPS (Million Instructions per Second), allowing
the eXm to run six fast PI (Proportional/Integral) closed loop controllers. The
eXm’s PI controllers provide an accurate constant current to the load, which is
important for precise control of proportional valves.
Each output can also be programmed for constant voltage mode. In this
mode, the battery voltage is monitored and the PWM command is corrected
to provide a constant average voltage, compensating for fluctuating battery
levels and droops.
Each output can also be set to provide a directly commanded PWM%
or turned off to be used as an input.
Programmable dither for hydraulic valves
The eXm can add a programmable level of dither to the PWM output. This
keeps the seals of a proportional valve oiled, allowing the valve to move freely for
accurate PV control. Dither is only active on drivers in Constant Current mode.
1 — OVERVIEW
Curtis 1352 eXm Manual, R e v. D 3
Output as an Active High digital input
Each output can be also be used as a digital input. Each input is digitally filtered
to eliminate switch “bounce” or noise in the signal. The eXm has internal resistor
pull-downs to B– to provide active high to B+ inputs (standard Curtis input
format). The inputs utilize Schmidt Trigger logic to provide signal hysteresis,
further improving noise immunity and reducing faulty readings.
Analog inputs
The eXm has three analog inputs that are scaled to read 0–30 volts. The analog
channels are read 1000 times/second by a 12-bit ADC, resulting in a resolution
of about 0.7 millivolts. Independently adjustable filters ensure a smooth signal.
RTD/resistive sensor inputs
Analog Inputs 1 and 2 can be used with resistive sensors, such as RTDs (Resistive
Temperature Devices).
Virtual Digital Inputs
The three analog inputs are also sensed and decoded as if they were digital inputs.
A unique feature of these digital inputs is that the active high/low thresholds are
completely programmable. Thus, these inputs can be used with analog sensors
to detect conditions like over/under pressure, high/low level points, etc.
CANopen Convenience
The eXm is CANopen compliant, responding to the standard NMT, PDO, and
SDO communications as well as the CANopen DS301-required identity and
standard objects. The Curtis CANopen extensions allow additional features,
such as OEM and User default configurations and time-stamped fault logging.
The eXm will receive* a single PDO and respond* with a single PDO.
Simplifying the VCL interface to the module, the PDO-RX (MOSI) mapping is
fixed while the PDO-TX (MISO) allows several fixed mapping setups.The PDO-
TX (MISO) can be set to cyclic or event driven. All programmable parameters
and viewable values within the eXm are accessible by standard SDO transfer.
The eXm provides CANopen safety and security features, such as
Heartbeat and Error Message. A time period watchdog will shut down the
drivers if new PDOs are not received in proper cyclic timing.
Familiarity with your Curtis eXm module will help you install and operate it
properly. We encourage you to read this manual carefully. If you have questions,
please contact the Curtis office nearest you.
* NOTE: MOSI (Master Out Slave In) = RX (Server to Client)
MISO (Master In Slave Out) = TX (Client to Server)
1 — OVERVIEW
4Curtis 1352 eXm Manual, R e v. D
2 — INSTALLATION & WIRING
2
Fig. 2 Mounting
dimensions, Curtis 1352
eXm module.
Dimensions in millimeters (and inches)
INSTALLATION AND WIRING
MOUNTING THE MODULE
The outline and mounting hole dimensions for the 1352 eXm module are shown
in Figure 2. The module should be mounted using two #10 or M5 screws.
Care should be taken to prevent contaminating the connector area
before the mating 14-pin connector is installed. Once the system is plugged
together, the eXm meets the IP65 requirements for environmental protection
against dust and water. Nevertheless, in order to prevent external corrosion
and leakage paths from developing, the mounting location should be carefully
chosen to keep the module as clean and dry as possible.
If the outputs will be used at or near their maximum ratings, it is rec-
ommended that the module be mounted to a good heatsinking surface, such
as an aluminum plate.
65 (2.6)
130 (5.2)
Status
LEDs
100
(3.9)
87
(3.4)
6.3 (0.25) dia.,
2 plcs
39
(1.5)
+
CAUTION
Curtis 1352 eXm Manual, R e v. D 5
You will need to take steps during the design and development of your
end product to ensure that its EMC performance complies with applicable
regulations; suggestions are presented in Appendix A.
The 1352 eXm contains ESD-sensitive components. Use appropriate
precautions in connecting, disconnecting, and handling the module. See instal-
lation suggestions in Appendix A for protecting the module from ESD damage.
2 — INSTALLATION & WIRING
Working on electrical systems is potentially dangerous. You should
protect yourself against uncontrolled operation, high current arcs, and
outgassing from lead acid batteries:
UNCONTROLLED OPERATION — Some conditions could cause the motor to
run out of control. Disconnect the motor or jack up the vehicle and get
the drive wheels off the ground before attempting any work on the motor
control circuitry.
HIGH CURRENT ARCS — Batteries can supply very high power, and arcing can
occur if they are short circuited. Always open the battery circuit before
working on the motor control circuit. Wear safety glasses, and use properly
insulated tools to prevent shorts.
LEAD ACID BATTERIES — Charging or discharging generates hydrogen gas, which
can build up in and around the batteries. Follow the battery manufacturer’s
safety recommendations. Wear safety glasses.
+
CAUTION
6Curtis 1352 eXm Manual, R e v. D
CONNECTIONS
All connections are made through the 14-pin AMPSEAL connector.The mating
plug housing is AMP p/n 776273-1, and the gold-plated socket terminals are
AMP p/n 770520-3 (Strip form) and 770854-3 (loose piece).The connector will
accept 20 to 16 AWG wire with a 1.7 to 2.7mm diameter thin-wall insulation.
Note that the eXm pins are not sealed until the mating connector is
fully engaged and locked. The cable harness connector has a silicone rubber
seal that is an integral part of the module’s sealing.
The 14 individual pins are characterized in Table 1.
2 — INSTALLATION & WIRING: Low Current Connections
Wiring recommendations
Power and ground (Pins 1–3)
The B+ and B– cables should be run close to each other between the module
and the battery. For best noise immunity the cables should not run across the
center section of the module.To prevent overheating these pins, the wire gauge
must be sufficient to carry the continuous and maximum loads that will be
seen at each pin.
PWM drivers (Pins 9–14)
The PWM drivers produce high frequency (16kHz) pulse waves that can radiate
RFI noise. The wire from the module to the load should be kept short and
routed with the return wire back to the module.
CAN bus (Pins 4 and 5)
It is recommended that the CAN wires be run as a twisted pair. However,
many successful applications at 125 kBaud are run without twisting, simply
using two lines bundled in with the rest of the low current wiring. CAN wiring
should be kept away from the high current cables and cross it at right angles
when necessary. If the eXm is at the end of the CAN bus, the bus needs to be
terminated by externally wiring a 120Ω½W resistor across CAN High and
CAN Low.
All other low current wiring (Pins 6–8)
The remaining low current wiring should be run according to standard
practices. Running low current wiring next to the high current wiring should
always be avoided.
51
1410
6 9
+
CAUTION
Curtis 1352 eXm Manual, R e v. D 7
2 — INSTALLATION & WIRING: Low Current Connections
Table 1 Connector Pinout
pin name description
1 B–Ground; connected to battery B– terminal.
2 B– Redundant ground, for high-current applications.
If the combined draws from the driver pins could exceed
9A, both B– pins must be connected to the battery’s B–
terminal
3 B+ Power; connected to the battery’s B+ terminal.
4 CAN L CAN bus Low communication line.
5 CAN H CAN bus High communication line.
6 Analog Input 1 Voltage or resistive input.
7 Analog Input 2 Voltage or resistive input.
8 Analog Input 3 Voltage input only.
9 Input/Output 5 Active High input & high-power PWM active Low output.
10 Input/Output 6 Active High input & high-power PWM active Low output.
11 Input/Output 1 Active High input & high-power PWM active Low output.
12 Input/Output 2 Active High input & high-power PWM active Low output.
13 Input/Output 3 Active High input & high-power PWM active Low output.
14 Input/Output 4 Active High input & high-power PWM active Low output.
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