Page 1
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
Page 2
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
Curtis 1352 eXm Manual, R ev. D
6. DIAGNOSTICS AND TROUBLESHOOTING ....................31
Troubleshooting .................................................................31
Fault Log ............................................................................33
appendix a Vehicle Design Considerations
appendix b Specifications, 1352 eXm Module
ii
Page 3
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
iii
Curtis 1352 eXm Manual, R ev. D
Page 4
1
Fig. 1 Curtis 1352 eXm
expansion module.
1 — OVERVIEW
OVERVIEW
The Curtis 1352 eXm expansion module provides a simple, flexible, and lowcost 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.
floor cleaning, aerial platforms, and other electric vehicles as well as stationary
control systems utilizing the CANopen bus. Features include:
3 9 multi-purpose I/O pins in a compact low cost module
3 6 high-frequency PWM outputs rated at 3 amps each
3 Closed loop current, constant voltage, or direct PWM control on each
3 Each output can also be used as an active high digital input
3 Built-in programmable dither for hydraulic valves
Curtis 1352 eXm Manual, R ev. D
The Curtis 1352 eXm expansion module is ideal for material handling,
output
More Features
+
1
Page 5
1 — OVERVIEW
3 3 analog inputs (0–30V)
3 3 virtual digital inputs with programmable thresholds (using the analog
inputs)
3 2 analog inputs are selectable for voltage input or resistive sensors
3 Built-in coil flyback diodes
3 Software and hardware watchdog circuits ensure proper software operation
3 CANopen interface
3 Controlled by a fixed PDO map and programmable over SDOs
3 IP65-rated enclosure allows the eXm to be mounted in multiple
orientations, and protects it even in harsh environments
3 Status 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.
2
Curtis 1352 eXm Manual, R ev. D
Page 6
1 — OVERVIEW
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 PDOTX (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)
Curtis 1352 eXm Manual, R ev. D
3
Page 7
2 — INSTALLATION & WIRING
2
CAUTION
+
Fig. 2 Mounting
dimensions, Curtis 1352
eXm module.
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.
6.3 (0.25) dia.,
2 plcs
Status
LEDs
39
(1.5)
65 (2.6)
130 (5.2)
87
(3.4)
100
(3.9)
Dimensions in millimeters (and inches)
ommended that the module be mounted to a good heatsinking surface, such
as an aluminum plate.
4
If the outputs will be used at or near their maximum ratings, it is rec-
Curtis 1352 eXm Manual, R ev. D
Page 8
2 — INSTALLATION & WIRING
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 installation suggestions in Appendix A for protecting the module from ESD damage.
CAUTION
+
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.
Curtis 1352 eXm Manual, R ev. D
5
Page 9
2 — INSTALLATION & WIRING: Low Current Connections
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.
CAUTION
+
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.
Wiring recommendations
51
6 9
1410
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 120Ω ½W 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.
6
Curtis 1352 eXm Manual, R ev. D
Page 10
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.
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.
If the combined draws from the driver pins could exceed
9A, both B– pins must be connected to the battery’s B–
terminal
14 Input/Output 4 Active High input & high-power PWM active Low output.
Curtis 1352 eXm Manual, R ev. D
7
Page 11
2 — INSTALLATION & WIRING: Standard Wiring Diagram
WIRING: BASIC CONFIGURATION
A basic wiring diagram is shown in Figure 2, and described below. The diagram
shows shows the standard power and battery connections, as well as a variety
of basic uses for the inputs and outputs.
Pin 11
Pin 12
Pin 13
Pin 14
Pin 9
Pin 10
Pin 3
Pin 6
Pin 7
Pin 8
Fig. 3 Basic wiring diagram, Curtis 1352 eXm module.
Power Connection
The battery is connected to the module’s B+ pin though a fuse, an optional
diode, and a keyswitch. The fuse protects the wiring in the event of a short or
failure. The return path of the coils is also brought back to the B+ pin to utilize
the flyback diodes connected inside the eXm 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 eXm’s power supply brings up the module.
Outputs
Pin 2
Pin 1
Pin 5
Pin 4
All the drivers (Pins 9–14) are identical. Each is capable of driving a closed-loop
current-controlled proportional valve or a voltage-controlled contactor. Each
driver has independent mode, max, and dither settings.
8
Curtis 1352 eXm Manual, R ev. D
Page 12
2 — INSTALLATION & WIRING: Standard Wiring Diagram
These are high-power drivers. The internal impedance to ground will cause
leakage current to flow through the output even when the output driver is off.
This leakage current can be enough (>2 mA) to light high-efficiency LEDs.
In the wiring diagram, the output at Pin 11 is shown driving a proportional valve coil. This driver is programmed for Constant Current mode and
would have some Dither applied.
The second output shown (Pin 12) is driving 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 outputs can be used as Active High inputs (“On” when connected to
B+). It is important that the output command be set to 0% for each input used
or a direct short from B+ to B– will be generated when the driver is pulsed On,
which could damage the FET driver. In the wiring diagram, I/O 6 is shown as
an Active High input switching to B+.
Analog Inputs
The first analog input is shown being used with an RTD. This requires enabling
the Analog Input 1 pull-up, which allows the input to measure resistive sensors.
Note that Analog Input 3 can only be used with sensors that provide a voltage
output.
CAN Bus
The eXm has an internal 1kΩ bus termination resistor. This internal impedance
matches the system requirements for a mid-line connection or short stub
connection. If the eXm is to be used at the end of the CAN bus, an external
120Ω ½W resistor must be added externally across the CAN H and CAN L
lines at or near the eXm to provide proper termination. The higher the bit
rate (i.e., the higher the baud), the more critical this becomes. The eXm can
communicate up to 1Mbps on a properly terminated/wired bus.
Curtis 1352 eXm Manual, R ev. D
9
Page 13
2 — INSTALLATION & WIRING: I/O Signal Specications
INPUT/OUTPUT SIGNAL SPECIFICATIONS
The input/output signals wired to the 14-pin connector can be grouped by
type as follows; their electrical characteristics are discussed below.
Digital inputs
The six digital I/O lines can be used as digital (on/off) inputs. Normal “on”
connection is direct to B+; “off ” is direct to B–. Input will pull low (off) if no
connection is made.
— digital inputs
— digital outputs
— analog inputs with virtual digital input
— power
— communication lines.
6 9
51
logic
1410
signal name pin thresholds*
Input/Output 1 11 All models: 12–36V models: 12–36V models: All models:
Input/Output 2 12
Input/Output 3 13
Input/Output 4 14
Input/Output 5 9
Input/Output 6 10
DIGITAL INPUT SPECIFICATIONS
input protected esd
impedance* voltage range tolerance
Low = 2.8 V about 10 kΩ -0.5 to 50 V ±8 kV (air
High = 6.3 V
36–80V models: 36–80V models:
about 47 kΩ -0.5 to 105 V
discharge)
* Tolerance ±5%.
Because these six lines can also be used as driver outputs, it is important
to ensure that Output Driver Mode is set appropriately for each line. For each
pin that will be used as a digital input, Output Driver Mode must be set to
Input Only (see page 26). Otherwise, a direct short from the battery through
the internal driver FET will occur when the input is switched high and the
FET is turned on.
Digital outputs
The six digital I/O lines can also be used as outputs. They can be either digital
(on/off) or Pulse Width Modulated (PWM) outputs. Each driver is active low,
meaning the output will pull low (to B–) when On. The PWM is at a fixed
frequency (16 kHz), and can vary duty cycle from 0 to 100%.
51
6 9
1410
pwm &
signal name pin frequency
Input/Output 1 11 All models: All models: 12–36V models: All models:
Input/Output 2 12
Input/Output 3 13
Input/Output 4 14
Input/Output 5 9
Input/Output 6 10
* Tolerance ±5%.
Curtis 1352 eXm Manual, R ev. D
DIGITAL OUTPUT SPECIFICATIONS
output protected esd
current* voltage range tolerance
0–100%
duty cycle
at 16 kHz
Sink 3 A
36–80V models:
-0.5 to 50 V ±8 kV (air
-0.5 to 105 V
discharge)
10
Page 14
2 — INSTALLATION & WIRING: I/O Signal Specications
The drivers can be set for Constant Current, Constant Voltage, or Direct
PWM control mode.
In Constant Current mode, the driver command of 0 to 100%
is interpreted as a current from 0 to Max Output setting (up
to 3 amps). Internal current shunts are measured and fed back
to a closed loop PI controller to provide a steady current over
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 (up to 80
volts). The battery voltage is constantly monitored and fed
back to a closed loop PI controller to provide a steady voltage, compensating for battery droop and discharge. If the
command is higher than the driver can output, the PWM
will max out at 100%.
In Direct PWM mode, the driver command of 0 to 100% is
directly output on the driver.
6 9
Each driver is monitored and will detect a short in the load, a failed internal
driver FET, and/or an open in the load wiring. At near 0% and 100% PWM,
it is not possible to discern each fault and some faults will not be detected.
If the driver outputs are connected to inductive loads, the coil should
have a return line to the B+ pin of the eXm. This connection provides a path
for the internal freewheel diodes to clamp the turn-off spike. Failure to make
this connection with inductive loads can cause permanent damage to the eXm
module as well as propagate failures of other electronics in the system due
to the high voltage spike caused when an inductive load turns off without a
freewheel path.
Analog inputs
The three analog inputs can easily be configured for use with potentiometers,
pressure sensors, temperature sensors, and resistive sensors (like RTDs). Each
input is read 1000 times per second by a 12-bit ADC and filtered to provide
a clean signal. The voltage reading is returned over the PDO in hundredths
of a volt, so 30 volts at an analog input will be read back over the PDO-TX
(MISO) as 3000.
51
operating
1410
signal name pin voltage
Analog Input 1 6 0 to 30 V 20 kΩ; - 1 V to B+ ± 8 kV (air
Analog Input 2 7
Analog Input 3 8
* Tolerance ±5%.
ANALOG INPUT SPECIFICATIONS
input protected esd
impedance* voltage range tolerance
10 kΩ with
pull-up enabled
discharge)
provide a low voltage at the input. This allows the ADC to read resistive values,
11
Analog Inputs 1 and 2 have a pull-up resistor that can be programmed to
Curtis 1352 eXm Manual, R ev. D
Page 15
2 — INSTALLATION & WIRING: I/O Signal Specications
as the external resistance to ground will provide a divider with the internal pullup. The pull-up is 10 kΩ to ≈ 4.4 volts. The pull-up is turned on by setting the
correct bit in the Analog Source Enable parameter. The eXm will send back a
reading of the external resistance in ohms. The maximum resistance that can
be measured is 6.5 kΩ. An open pin will read 65535 (FFFFh).
These analog inputs can also be used simultaneously as virtual digital
inputs. These virtual digital inputs are created by comparing the filtered analog signal to the the High and Low Threshold parameters. These parameters
also provide hysteresis. Once the signal goes above the High Threshold and is
sensed as On, it must pass below the Low Threshold to be be considered Off;
simply going below the High Threshold is not enough. The same is true for
a Low to High transition. Note that the thresholds are always set in voltage;
therefore if the Analog Source Enable (pull-up) is set to On for any channel,
the thresholds must be below 4.4 V in order to be active.
6 9
51
Power
The power pins are each capable of carrying up to 9A when using 16 AWG wire.
1410
Every application must use B+ (pin 3) and at least one of the B– connections
(pins 1 and 2).
Since the eXm’s six drivers can sink a maximum combined load of 18 A,
you will need to determine the application’s maximum total loading on B–. To
prevent the pin from overheating, the proper wire gauge must be used* and, if
the load is greater than 9 amps, both B– pin connections are required.
If it is determined that both B– pins are required, you must also determine the load on B+. This requires either knowledge of the expected PWM or
actual in-application measurements. The combined average current recirculating
through the B+ pin cannot exceed 9 amps. This can be an issue if the inductive
loads are specified at a lower voltage than the battery supply as the applied
PWM would normally be reduced to not exceed the average applied voltage or
current. The lower PWM in turn raises the average current flowing through the
B+ pin as the load current recirculates for a great portion of the PWM period.
* 18 AWG is limited to 7.3 Amps. 20 AWG is limited to 6.6 Amps.
Communications lines
Pins 4 and 5 provide the CAN connections.
51
6 9
1410
Curtis 1352 eXm Manual, R ev. D
supported
signal name pin protocol/devices
CANH 5 CANopen up to 1 Mbps Continuous= ± 8 kV (air
CANL 4 - 36 V to discharge)
(MaxV + 10 V)
Transient=
± 200 V
CAN SIGNAL SPECIFICATIONS
protected esd
data rate voltage range tolerance
12
Page 16
3
3 — CANopen COMMUNICATIONS
CANopen COMMUNICATIONS
The eXm adheres to the industry standard CANopen communication protocol
and thus will easily connect into many CAN systems, including those using
the Curtis AC and Vehicle System controllers (1234/36/38, 1298, and 1310).
Any CANopen-compatible master can be programmed to control the eXm.
The eXm’s PDOs are fixed (see section 4). There is one incoming PDORX (MOSI) for the driver commands and one response PDO-TX (MISO) for
the input status. Expedited SDOs (see section 5) are used to access all eXm
parameters and allow monitoring of non-runtime variables and flags.
The time between incoming PDOs is monitored and if excessive, will
flag a fault. This allows the eXm to know that the system is still under master
control. The eXm will also produce a cyclic heartbeat message, which is the
CiA-preferred method of slave node error control.
Emergency messages are sent sporadically whenever an error status flag
within the eXm changes state.
MINIMUM STATE MACHINE
The eXm will run the CANopen minimum state machine as defined by CiA.
The CANopen minimum state machine has four defined states: Initialization,
Pre-Operational, Operational, and Stopped.
Power-On
Reset
Initialization
Transmit Boot-up
Pre-Operational
Operational
Reset
Module
Reset
Communication
Stopped
known as the Boot-up state. No CAN communications from the eXm are
transmitted in this state although the eXm listens to the CAN bus. When the
eXm has completed its startup and self-tests, it issues an initialization heartbeat
message and automatically goes to the Pre-Operational state.
and NMT commands, and will send its heartbeat. It will not receive or send
Curtis 1352 eXm Manual, R ev. D
When the eXm powers up, it goes to the Initialization state; this is also
In the Pre-Operational state, the eXm can receive and respond to SDOs
13
Page 17
3 — CANopen COMMUNICATIONS
PDOs. When the master issues a goto Operational State NMT command, the
eXm will go to full normal operation.
PDOs and process all other necessary CANopen messages.
nal fault, the eXm will go to the Stopped state. In the Stopped state the eXm
will listen for NMTs and produce its heartbeat message only. PDOs and SDOs
(including any timeouts) are ignored.
ule (warm boot), the eXm will go to the Initialization state as if there were a
power-cycle.
Baud Rates
The eXm will run at one of five selectable baud rates: 125k, 250k, 500k, 800k,
and 1M. Rates below 125k are not supported.
require an NMT rest or key-cycle to make the new rate active.
In the Operational state, the eXm will start receiving and responding to
If the master sends a Stop NMT command or the eXm detects an inter-
At any point, if the master sends a Reset Communication or Reset Mod-
The baud rate can be changed by an SDO. Changes in the baud rate
Node Addresses
The node address of the eXm can be 1 to 127 and is used by CANopen to route
messages to the eXm and to denote messages from the eXm. The node address
is part of the COB-ID and therefore also plays a part in message priority and
bus arbitration.
Changes to the node address require an NMT reset or power-cycle.
Standard Message Identiers
The eXm will produce—and respond to—the standard message types with the
following CANopen identifiers.
Message Type Message Identier
NMT 0000 – 00hXx
EMERGENCY 0001 – 01hXx
PDO-TX (MISO) 0011 – 03hXx
PDO-RX (MOSI) 0100 – 04hXx
SDO-TX (MISO) 1011 – 0BhXx
SDO-RX (MOSI) 1100 – 0ChXx
HEARTBEAT 1110 – 0EhXx
called the Communication OBject IDentification (COB-ID). This field is used
for arbitration on the bus. The COB-ID with the lowest value gets priority and
wins arbitration. Consequently, NMT messages have the highest priority of the
standard message types, and the heartbeat has the lowest priority.
14
The 11-bit identification field is a fixed part of the CANopen specification
Curtis 1352 eXm Manual, R ev. D
Page 18
3 — CANopen COMMUNICATIONS
The standard organization of the COB-ID puts the message type in the
upper four bits, and the Node ID in the bottom seven bits:
11 10 9 8 7 6 5 4 3 2 1
Message Type Node ID
NMT MESSAGES
NMT (Network Management Transmission) messages are the highest priority
message available. The NMT message puts the eXm into one of the four defined
states. These messages have 1 byte of data sent by the master; the slave does not
respond with any data to an NMT. The eXm state value is transmitted with
each heartbeat message.
Value State
00h Initialization (or “boot-up”)
04h StoppedXx
05h OperationalXx
7Fh 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 to zero.
The first data byte of the NMT command is the command specifier:
Value Command Specier
01h Enter the Operational state
02h Enter the Stopped stateXx
80h Enter the Pre-Operational statex
81h Reset the eXm (warm boot)Xx
82h Reset the CAN busXx
The second byte of the NMT command defines whether this NMT is for
all slaves on the bus (data byte = 00h) or for a specific node (data byte = Node
ID of the eXm)
Curtis 1352 eXm Manual, R ev. D
15
Page 19
3 — CANopen COMMUNICATIONS
EMERGENCY MESSAGES
Emergency messages are the second highest priority in CANopen and the
highest priority that a slave (like the eXm) can transmit. These messages are
sent sporadically whenever there is a change of state in the eXm’s fault flags.
An Emergency Message consists of 8 data bytes.
time between messages can be programmed.
specific category (FFXXh) per DS301. Therefore the upper byte is FFh when
a fault is present, and the lower byte is equal to the Curtis fault code. When
no faults are present and/or the last fault has just been cleared, the emergency
message will use the error code value of 0000h.
this as 01h if there is a fault present and 00h when all faults are clear.
current 16-bit hourmeter (Object 3140h) into data bytes 4 and 5, with the MSB
in byte 5. Note that bytes 6, 7, and 8 are not used by the eXm and are always
000000h. See Diagnostics (section 6) for more detail.
To prevent fast-changing fault bits from flooding the bus, a minimum
Data bytes 1 and 2 define the error category. The eXm will use the device-
Data byte 3 is the CANopen-required error register. Curtis products define
Data bytes 4 through 8 define the specific fault. The eXm will place the
Emergency Message Format indicating an error:
byte 1 byte 8
Curtis
FFh
Code
Error Category Hourmeter
01h Object 3140h 000000h
Emergency Message Format indicating all error(s) cleared:
byte 1 byte 8
0000h
Error Category Hourmeter
Object 3140h 000000h
00h
HEARTBEAT
The heartbeat message is a very low priority message, periodically sent by each
slave device on the bus. The heartbeat message has a single byte of data and
requires no response. Once the eXm is in the Pre-Operational state, the next
heartbeat will be issued and will continue until communication is stopped.
The heartbeat message has only one data byte. The top bit is reserved and
should be set to zero. The bottom 7 bits hold the current NMT device state as
defined previously.
16
Curtis 1352 eXm Manual, R ev. D
Page 20
4
4 — PDO COMMUNICATIONS
PDO COMMUNICATIONS
The Curtis eXm is easily controlled and monitored through two fixed
communication packets. Each data packet contains 8 bytes. One is received by
the eXm from another module (usually the system master) and in response, the
eXm sends out its packet of data. CANopen calls these packets Process Data
Objects (PDOs). PDO messages have a medium priority.
The PDO communication packets conserve bus bandwidth by bundling
the values of a group of objects into a single message. The content of these
PDOs is fixed, thus simplifying the interface.
The Curtis CANopen implementation requires that the incoming PDORX (MOSI) be responded to by an outgoing PDO TX (MISO). The eXm will
respond to the PDO-RX (MOSI) with its PDO-TX (MISO) within 4 ms.
The eXm normally requires that the PDO-RX (MOSI) be cyclic from the
master. The cycle time must be less than the programmed PDO Timeout. If the
PDO-RX (MOSI) is not received within the programmed time, the eXm will
flag a fault and the eXm will disable all output drivers. If the PDO Timeout
parameter is set to 0, the timeout fault is disabled and the eXm will respond to
any PDO incoming at any rate without faulting. Take care using this setting as
the last PDO commands will stay on the eXm indefinitely.
The 1352's PDO-TX (MISO) can also be set to cyclical transmission every
4ms to 1000ms rate as soon as the eXm put in Operational Mode. Finally, the
PDO-TX (MISO) can be set to one of 5 types. Each type sends a different set
of internal data. Type 0 is the present default.
PDO-RX (MOSI) (received from the system master)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output 1
Command
Output 2
Command
Output 3
Command
Output 4
Command
Output 5
Command
Output 6
Command
Not Used Not Used
PDO-TX (MISO): Type 0
Byte 1 Byte 2* Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Inputs 1-6
Status
Virtual
Inputs
(lower 3
bits)
Analog
Input 1
Low Byte
Analog
Input 1
High Byte
Analog
Input 2
Low Byte
Analog
Input 2
High Byte
Analog
Input 3
Low Byte
Analog
Input 3
High Byte
PDO-TX (MISO): Type 1 Driver PWM
Byte 1 Byte 2* Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Inputs 1-6
Status
Virtual
Inputs +
1 (upper
nibble)
Driver 1
PWM %
(0-100)
Driver 2
PWM %
(0-100)
Driver 3
PWM %
(0-100)
Driver 4
PWM %
(0-100)
Driver 5
PWM %
(0-100)
Driver 6
PWM %
(0-100)
Curtis 1352 eXm Manual, R ev. D
17
Page 21
4 — PDO COMMUNICATIONS
PDO-TX (MISO): Type 2 Driver Current
Byte 1 Byte 2* Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Inputs 1-6
Status
Virtual
Inputs +
2 (upper
nibble)
Driver 1
Current %
(0-100)
Driver 2
Current %
(0-100)
Driver 3
Current %
(0-100)
Driver 4
Current %
(0-100)
Driver 5
Current %
(0-100)
PDO-TX (MISO): Type 3 Driver 1-3 Information
Byte 1 Byte 2* Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Inputs 1-6
Status
Virtual
Inputs +
3 (upper
nibble)
Driver 1
PWM %
(0-100)
Driver 1
Current %
(0-100)
Driver 2
PWM %
(0-100)
Driver 2
Current %
(0-100)
Driver 3
PWM %
(0-100)
PDO-TX (MISO): Type 4 Driver 4-6 Information
Byte 1 Byte 2* Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Inputs 1-6
Status
Virtual
Inputs +
3 (upper
nibble)
Driver 4
PWM %
(0-100)
Driver 4
Current %
(0-100)
Driver 5
PWM %
(0-100)
Driver 5
Current %
(0-100)
Driver 6
PWM %
(0-100)
* Note that the PDO type is declared in the upper nibble of Byte 2
Output Command Bytes
Driver 6
Current %
(0-100)
Driver 3
Current %
(0-100)
Driver 6
Current %
(0-100)
The drivers are closed-loop controlled, either for current or voltage. This byte sets
the output command as a percent of the programmed maximum value; 0 – 255
= 0% – 100%. The maximum output is set by the Output Max Value parameter
in either current or volts, depending on the Driver Mode parameter setting.
Inputs 1–6 Status Bytes
The eXm monitors the inputs connected to the 6 drivers. The status of
these inputs appears in this byte with Input 1 being the LSB. A status of 1 (bit
set) means the input is active (pulled high to B+). The upper 2 bits are unused
and set to 0.
Analog Input High/Low Bytes
These bytes respond with either the voltage reading (in hundredths of a volt)
or the resistance (in ohms) depending on whether the input’s Analog Source
is enabled. If the Analog Source is enabled for an analog input, the internal
pull-up is activated allowing the measurement of resistive sensors at the input.
In this case the PDO reading will naturally be in ohms. Analog Input 3 does
not have an Analog Source (pull-up) and thus will always read in volts.
Virtual Inputs Byte
The analog inputs also produce a “virtual” digital input response. The lower
3 bits represent the status of the three virtual inputs associated with the three
analog inputs; Analog Input 1 is the LSB. The upper 5 bits are unused and set
to 0. If the analog input is above the High Threshold parameter the bit will be
set to 1. If the input is below the Low Threshold, it will be set to 0. If the input
is between the two thresholds, the bit will retain its previous state (hysteresis).
18
Curtis 1352 eXm Manual, R ev. D
Page 22
5
5 — SDO COMMUNICATIONS
SDO COMMUNICATIONS
CANopen uses Service Data Objects (SDOs) to change and view all internal
parameters, or “objects.” The SDO is an 8-byte packet that contains the address
and sub-address of the parameter in question, whether to read or write that
parameter, and the parameter data (if it is a write command). SDOs are sent
infrequently and have a low priority on the CAN bus.
SDOs are designed for sporadic and occasional use during normal runtime
operation. There are two types of SDOs: expedited and block transfer. The eXm
does not support large file uploads or downloads (using the block transfer), so
all SDOs in this specification are expedited SDOs.
The SDOs in the eXm are used to set up and parameterize the module.
They are also used to retrieve basic module information (such as version or
manufacture date), review the fault log, and monitor a few key internal variables
(mostly for system debug purposes).
SDO Master Request, SDO-RX (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 to 4 bytes of valid data. This
format is CANopen compliant.
SDO-MOSI (RX)(received from the system master)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Control CAN Object Index Sub-index Data Data Data Data
The first data byte contains R/W message control information.
Byte 1
Action
Value
Read 42h
Write 22h
The next two data bytes hold the CAN Object index. The least significant
byte of the index appears first, in byte 2, and the most significant byte appears
in byte 3. For example, if the index is 3021h, byte 2 holds the 21h and byte 3
holds the 30h.
Data byte 4 holds the CAN Object sub-index. When there is only one
instance of a parameter or value type, this value is 0. If there are several related
parameters or values, the sub-index is used.
The last four data bytes hold the data that is to be transferred. In the case
of a single-byte transfer, the data is placed into data byte 5, with bytes 6 through
8 being undefined (set to 0). In the case of a 16-bit transfer, the lower 8 bits
appear in data byte 5 and the upper 8 bits appear in data byte 6; bytes 7 and 8
are undefined (set to 0). The case of a 32-bit transfer follows the same strategy,
Curtis 1352 eXm Manual, R ev. D
19
Page 23
5 — SDO COMMUNICATIONS
with the least significant byte placed in data byte 5 and the most significant byte
placed in data byte 8.
SDO eXm Response, SDO-TX (MISO)
An SDO request is always acknowledged with a response message from the
eXm. The eXm can issue two kinds of response messages: a normal response
or, in case of an error in the request SDO, an Abort SDO Transfer message..
SDO-TX (MISO) (sent by the eXm in response to the system master)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Control CAN Object Index Sub-index
Data: either the requested Read values, or the
actual Write values, or an error code
The first data byte of the response contains an acknowledge code, which
depends on the type of transfer that was initially requested.
Byte 1
Action
Value
Read Response 40h
Write Acknowledge 60h
Abort SDO 80h
Data bytes 2, 3, and 4 hold the CAN Object index and sub-index of the
request SDO.
If the SDO was a read command (a request for data from the eXm),
data bytes 5 through 8 will be filled with the requested values, with the least
significant byte is data byte 5 and the next least significant in byte 6 and so
forth. All unused bytes are set to 0.
If the SDO was a write command, data bytes 5 through 8 will return back
the actual value written in bytes 5
– 8. In this way, if the eXm needs to limit or
round-down the SDO write request, the master will know—because the return
value will be different than the sent value.
If the SDO-RX (MOSI) did not properly read or tried to access a parameter improperly, an Abort SDO Transfer will be sent. Data bytes 5 through 8
will be filled with a 32-bit error code.
06020000h = Object does not exist
06010002h = Attempt to write to a read only object.
TYPES OF SDO OBJECTS
Three types of SDO objects are described in the following pages: Communications
Profile Objects (address range 1000h), Device Parameter Objects (address range
3000h), and Device Monitor Objects (address range 3100h).
20
Curtis 1352 eXm Manual, R ev. D
Page 24
5 — SDO: Communication Profile Objects
COMMUNICATION PROFILE OBJECTS
The objects found in the 1000h CAN Object address range are shown below
in Table 2. Explanations follow the table.
Table 2 Communication Objects
range
name access index sub-index CAN value description
Device Type RO 1000h 00h 00000000h Predened type of CAN module
(I/O)
Error Register RO 1001h 00h 1 or 0 = 1 if an there is an error
= 0 if there are no errors
Manufacturer’s Status RO 1002h 00h 4 bytes The value of the Status Register
Register
Fault Log RO 1003h 00h Array Contains an array of 16 fault code
RW 10h and time stamps as reported by the
Emergency Message. See Section 6.
Node ID RW 100Bh 00h 1 – 127 Node ID of this eXm.
Reset eXm or NMT Reset CAN
for new ID to take full effect.
Store Parameters RO 1010h 00h 1 Length of this object.
RW 01h 0 – 3 Index to read and write special
commands.
Restore Default RO 1011h 00h 1 Length of this object.
Parameters
commands.
Emergency COB ID RO 1014h 00h 00000080h – 11-bit Identier of the Emergency
000000FFh Message. Only the lowest 11 bits are
valid. All other bits must be 0.
Emergency Message RW 1015h 00h 0 – 1 Sets the minimum time that must
Inhibit Time 0 – 1000 elapse before another Emergency
Setting the parameter to 0 disables
the Emergency Message.
Heartbeat Rate RW 1017h 00h 0 – 1 s Sets the cyclic repetition rate of the
0 – 1000 Heartbeat Message.
Identity Object RO 1018h 00h 6 Length of this structure =
6 sub-indexes
01h 00004349h Curtis ID as dened by CiA
02h 05480FA1h Product Code
05481771h 2 upper bytes = 1352
2 lower bytes = model number,
-4001 or -6001
03h 01030204h Format is major version in upper 2
bytes and minor version in lower 2
bytes. The bytes are split upper byte
for HW and lower byte for SW;
example: HW version 1.2 with SW
version 3.4 = 01030204h
04h 0 to 999999 Serial Number up to 99,999
05h 1 to 99365 Date Code up to 99, Dec 31
06h A to Z ASCII code of the manufacturer’s
41h – 5Ah location.
RW 01h 0 – 2 Index to read and write special
Resolution = 4 Message can be sent by the eXm.
Resolution = 4 A setting of 0 disables the Heartbeat.
Must cycle power or send an NMT
Curtis 1352 eXm Manual, R ev. D
21
Page 25
5 — SDO: Communication Profile Objects
Table 2 Column Denitions
Access: RO = Read Only access; RW = Read/Write access
Index: The CAN address that is used to access this parameter.
Sub-index: Some parameters have several values associated with them. In these
Range, CAN Value, and Resolution:
10.3 volts = 103 (in tenths of a volt)
2.01 amps = 201 (in hundredths of an amp)
10.5% = 105 (in tenths of a percent)
0.025 sec = 25 (in milliseconds, thousandths of a second)
65000 hrs = 65000 (no scaling on time)
cases, a Sub-index is used to access each part of the parameter.
The Range is the natural value (volts, amps, hours) that we think of
when adjusting the settings. Settings will be in tenths, hundredths, or
thousandths, as applicable. Examples:
The CAN Value is the actual value that must be written or is read over
the CAN bus. The CAN Value is stated on the second line (in italics)
and provides the equivalent data value that must be sent to archive the
setting desired. For example, to set the Heartbeat Rate to 1 second, a
value of 1000 must be sent.
The Resolution (if present) provides the step-size for the CAN values.
For example, the Heartbeat Rate cannot be set to 1.003 seconds (CAN
value of 1003) because it has a resolution of 4. If a Heartbeat Rate of
803 is sent to the eXm, the eXm will truncate and write the value 800
internally and respond with an SDO Acknowledge of 800 (the value
written with a even step size of 4).
22
Curtis 1352 eXm Manual, R ev. D
Page 26
5 — SDO: Communication Profile Objects
Table 2 Parameter Denitions
Manufacturer’s Status Register, Store Parameters, and Restore Parameters require
further explanation.
Manufacturer’s Status Register
The Manufacturer’s Status Register reflects the present fault flags. Each fault
has its own bit in the Status Register. Unlike the LED Status of the Emergency
Message, which can only relay the highest priority fault, the 32-bit Status
Register shows all present faults.
Fault Bit Location Description *
Internal_Fault LSB: Bit 0 Internal hardware or Software fault
EEPROM_Fault Bit 1 EEPROM did not write, or checksum failure
Over_Voltage Bit 2 Supply is over the set voltage limit
Under_Voltage Bit 3 Supply is under the set voltage limit
Over_Temperature Bit 4 Temperature is over the 95°C limit
Under_Temperature Bit 5 Temperature is under the -50°C limit
Driver_Current_Limit Bits 6 – 11 Driver 1 – 6 is over the current limit
Driver_Open_Detect Bits 12 – 17 Driver 1 – 6 output pin is disconnected
PDO_Timeout Bit 18 Too much time between PDOs
SDO_Fault Bit 19 SDO was aborted
CAN_Bus Bit 20 CAN Bus error frame faults
Bits 21 – 31 Reserved (presently unused)
See Section 6: Diagnostics and Troubleshooting for more detailed descriptions
*
and probable causes of these faults.
Curtis 1352 eXm Manual, R ev. D
23
Page 27
5 — SDO: Communication Profile Objects
Store Parameters
Store Parameters controls when and if the changes made to a parameter (by
SDO Write) are backed up (stored) into EEPROM. An SDO read of Save All
Parameters sub-index 01h will return the present EEPROM Store Parameters
functionality (see Read data column). An SDO write to sub-index 01h will
change the EEPROM Store Parameters functionality (see Write Data column).
Note that when you write to Store Parameters, the data value is always
saved in EEPROM (even
desired mode.
Store Parameters Function Write Read Description
Data Data
NO_SAVE 0 0 Device will not save parameter
changes to EEPROM.
SAVE_ON_COMMAND 1 1 Device will save changes
to EEPROM on command.
AUTO_SAVE 2 2 Device will save each change
to EEPROM automatically.
BOTH_SAVE 3 3 Device will save each change
to EEPROM automatically and
all parameters on a “save”
command.
SAVE_COMMAND “save” N/A Text string that commands all
65766173h parameters to be saved from
working RAM to Normal
runtime EEPROM.
BACKUP_COMMAND “bkup” N/A Text string that commands all
70756B62h parameters to be saved from
working RAM to the Backup
EEPROM.
NO_SAVE). This allows the eXm to power up in the
BACKUP_COMMAND. At first glance, the ASCII looks “backward.” This is
because CANopen defines that the LSB goes first and MSB is sent last. Therefore
“save” (which is data bytes 5, 6, 7 and 8) is written as “evas” when converting
it to hex (data bytes in proper descending order). The ASCII hex values for
each character are 65h (“e”), 76h (“v”), 61h (“a”), and 73h (“s”), which results
in hex 65766173h.
the working RAM locations into the normal runtime EEPROM locations. The
Normal EEPROM block is accessed during SDO write requests. The “bkup”
string will write into the secondary Backup EEPROM block. This block can
not be written to by normal SDO write requests and can only be written to in
bulk by the “bkup” command.
24
For increased security, a text string is required for SAVE_COMMAND and
The “save” string will cause the eXm to write all RW parameters from
Curtis 1352 eXm Manual, R ev. D
Page 28
5 — SDO: Communication Profile Objects
Restore Default Parameters
Restore Default Parameters allows the master controller to restore all EEPROM
backed-up SDO objects to their Factory (hard-coded in software), Backup
(stored in a secondary/backup EEPROM section), or Normal settings (stored
in EEPROM and accessed by standard SDO). Restore Default Parameters is
also used to restore (Reset) the hourmeter value.
Writing a special text string to this sub-index (01h) will initiate a restore to
Factory, Backup, or Normal settings for all EEPROM backed-up SDO objects.
Once this parameter is written to, the next reset (by NMT or cycling power)
will cause the system settings to be pulled from the desired EEPROM locations
and put into the working RAM locations (Write String column, below).
An SDO read of Restore Default Parameters Sub-index 01h will return
the present settings of Restore Default Parameters (Read Data column, below).
Restore Default Write Read
Parameters Function String Data Description
RESTORE_FACTORY_DEFAULTS “fact” 0 Restore all parameter values
74636166h from built-in defaults. These
are hard-coded in the software
(Factory).
RESTORE_DEFAULTS_ “load” 1 Restore all parameter values
FROM_BACKUP_EEPROM 64616F6Ch from the Backup set EEPROM
data bank.
RESTORE_NORMAL_DEFAULTS “norm” 2 Restore all parameter values
6D726F6Eh from the Normal set EEPROM
data bank.
RESET_HOURMETER “hour” N/A Reset the hourmeter to the
72756F68h value loaded into the parameter
Reset Hour Meter (3040h).
restored on the next reset or power cycle after the Restore Default Parameters
parameter has been written to.
data values from the Backup EEPROM, place them in RAM, and over-write the
settings in the Normal EEPROM. Whatever changes were made to the Normal
EEPROM will be lost. A Restore Normal Defaults command (“norm”) will allow
the eXm to restore from the Normal EEPROM on the next reset or power cycle.
to this index will cause the eXm to reset the hourmeter to the value saved in the
Reset Hour Meter parameter (3040h). Note that only the hours can be set to a
programmed value; the minutes will always be reset to 0.
Curtis 1352 eXm Manual, R ev. D
Note that the working parameter values in the eXm RAM will only be
A Restore Defaults from Backup EEPROM command (“load”) will pull the
The hourmeter has a special function to reset it. Writing the string “hour”
25
Page 29
5 — SDO: Device Parameter Objects
DEVICE PARAMETER OBJECTS
The parameters found in the 3000h CAN Object address range are shown in
Table 3. All these parameters have Read/Write (RW) SDO access, except for
the sub-index 00h in a parameter array, which is Read Only (RO) as indicated.
Table 3 Device Parameter Objects
range
name index sub-index CaN value description
Output Driver Mode 3000h 00h 6 Length of this array (RO).
01h – 06h 0 – 7 Binary value that sets each driver
0 – 7 to Input Only (0), Constant Current (1),
the Driver Open Check (= 5, 6, 7).
Not applicable to Input Only mode.
Output Max Value 3001h 00h 6 Length of this array (RO).
01h – 06h
0.0 – 80.0 V commanded when the PDO command
0 – 800 is 100%. Could be a current, a voltage,
0.00 – 3.00 A setting.
0 – 300 The value and range will be
0.0 – 100.0 % the Driver Mode is changed.
0 – 1000
Dither Period 3002h 00h 6 Length of this array (RO).
01h – 06h 4 – 200 ms Sets the time between dither pulses
4 – 200 for each output.
provides a frequency range
of 250 Hz to 5 Hz.
Dither Amount 3003h 00h 6 Length of this array (RO).
01h – 06h 0 – 0.50 A Sets the amount (+/-) of dither
0 – 50 that will be added/subtracted
to the command. Only active when
the driver is in Constant Current mode.
Driver Proportional 3004h 00h 6 Length of this array (RO).
Gain 01h – 06h 1 – 100% Proportional gain factor of the
0 – 1000 PI Current Controller.
Driver Integral Gain 3005h 00h 6 Length of this array (RO).
01h – 06h 1 – 100% Integral gain factor of the
0 – 1000 PI Current Controller.
Nominal Battery 3010h 00h 12 – 80V Set to the nominal system/battery
120 – 800 voltage. This setting is used for detecting
both under and over voltage faults. See
Table 5 Troubleshoot Chart.
Analog Source 3020h 00h 0 – 3 Turns on/off the current sources
Enable 0 – 3 on Analog 1 or 2.
LSB is for Analog 1 and next
is for Analog 2.
Upper 6 bits are not used.
(Use bit = 1 to turn on source.)
Note: a Constant Voltage (2), or Direct PWM (3)
setting of 4 mode.
is non-valid. Adding 4 to Modes 1, 2, or 3 will enable
Voltage Mode Sets the maximum output that will be
Current Mode or a PWM % depending on the Mode
Direct Mode automatically changed when
Resolution = 2 A Dither Period of 4 ms to 200 ms
26
Curtis 1352 eXm Manual, R ev. D
Page 30
5 — SDO: Device Parameter Objects
Table 3 Device Parameter Objects, cont’d
range
name index sub-index CaN value description
High Threshold 3021h 00h 3 Length of this array (RO).
01h – 03h 0 – 30 V Sets the value that the analog input
0 – 300 must go above to set the virtual digital
input High.
Low Threshold 3022h 00h 3 Length of this array (RO).
01h – 03h 0 – 30 V Sets the value that the analog input
0 – 300 must go below to set the virtual digital
input Low.
Filter Gain 3023h 00h 3 Length of this array (RO).
01h – 02h 64 s – 4 ms Sets the amount of ltering on the
1 – 16384 Analog Inputs. Higher gains provide
faster ltering. Filtering affects the
analog reading and the Virtual Digital
Input responsiveness.
Debounce Time 3024h 00h 6 Length of this array (RO).
01h – 06h 0 – 1000 ms Debounce time of the digital inputs
0 – 1000 in milliseconds. The digital inputs are
Baud Rate 3030h 00h 0,1,2,3,4 Sets the CAN baud rate at 125k, 250k,
0,1,2,3,4 500k, 800k and 1M respectively. Must
reset eXm for new rate to take effect.
PDO Timeout 3031h 00h 0 – 1 s Sets the time interval within which the
0 – 1000 PDO-RX (MOSI) must be received; other
wise a fault will be agged.
If set to 0, the PDO timeout fault
is disabled.
PDO MISO Type 3032h 00h 0 – 15 Sets the PDO-TX (MISO) data mapping
0– 15 0 = Analog Inputs (default setting)
1 = Driver PWM Data
2 = Driver Current Data
3 = Driver 1,2 3 PWM & Current
4 = Driver 4,5,6 PWM & Current
Resolution = 4 processed and debounced at a 4ms rate.
PDO MISO Period 3033h 00h 0 – 1000 ms A non-zero value will set the PDO-TX
0 – 1000 (MISO) transmitting cyclically at the period
set as soon as the eXm is put in
Operational mode.
If it is zero, the PDO-TX (MISO) is only sent
after each PDO-RX (MOSI).
This is the original design conguration.
Reset Hour Meter 3040h 00h 0 – 65535 The Hour Meter will be set to this value
when “hour” is sent to the Restore
Default Parameters object.
Curtis 1352 eXm Manual, R ev. D
27
Page 31
5 — SDO: Device Parameter Objects
Output Driver Mode
The eXm allows four distinct output control modes:
Input Only: The driver output is disabled. This mode is used when the
output is used as an input.
Constant Current: The eXm continually samples the output load current
and automatically adjusts the output PWM (500 times per second) to
maintain the commanded current. The load current will stay constant
over varying battery voltage, load resistance variation, and temperature.
Current mode allows Dither, which puts a small variation on the current
command. Dither is used to keep proportional valves accurate and moving
freely. The frequency and the amount of dither can be adjusted.
Constant Voltage: The eXm continually samples the battery voltage and
automatically adjusts the output PWM to maintain an average output
voltage to the load. The load voltage is constant over varying battery voltage,
as long as there is enough voltage to supply the commanded output.
Direct PWM: The eXm simply outputs the commanded PWM.
The active modes (Constant Current, Constant Voltage and Direct PWM) can
also have an additional system check enabled called Open Detect. To enable this
function, add 4 to the active mode setting (i.e., Constant Current Mode = 1;
Constant Current Mode with Open Detect = 1+ 4 = 5). Open Detect checks that
the driver output pin is connected to a load whenever the command is zero. When
there is no PWM, the output pin is basically connected to B+ through the load.
If the load opens (wire is disconnected or load fails), the Open Detect will signal a
fault (Driver Open Fault) and shut down that driver until the load is reconnected.
PI Controller
Constant Current and Constant Voltage Modes use a Proportional/Integral (PI)
closed-loop controller. These controllers work to minimize the error between the
command and the actual output. To do this, the error is magnified by the Driver
Proportional and Integral Gains. Normally, the factory settings of these gains is
sufficient to control the load. However, there may be times when they need to
be adjusted to increase or decrease the responsiveness of the eXm.
If you find that the eXm over-reacts to changes in battery or load, lower
these gains. If it is too slow to react, increase them. If the gains are set too high,
the output may oscillate. Normally, the Proportional and Integral gains are increased or decreased together. It is not recommended to have one gain very high
while the other is very low.
Changing Modes
Because each Driver Mode has its own scaling (amps, volts, or %), changing the
mode also automatically changes the range of the Output Max Value parameter.
For safety, whenever the Driver Mode parameter is written to, the Output Max
Value parameter is set to minimum and the present command (as set by the
PDO-RX (MOSI) is set to 0. This is done because the eXm has no idea what
the desired output should be after a mode change, and the last setting of the
28
Curtis 1352 eXm Manual, R ev. D
Page 32
5 — SDO: Device Parameter Objects
Output Max Value could be out-of-range or unsafe. Therefore the Output Max
Value parameter must be written to with the desired setting after a mode change.
The next PDO-RX (MOSI) will then reset the command to the desired output
value.
Analog Filter Rates
The filter applied to each analog input provides an exponential response, and
Step Input
100%
63%
FILTER VALUE
Time
Constant
Filtered Response
TIME
the Filter Gain parameter responds exponentially as well.
Typically an exponential filter is known by its Time Constant (TC), which
is how long it takes the filter to respond to a step input and reach 63% of its
final value. It takes approximately 5 TCs before the filtered signal reaches its full
output. The table below provides a way to estimate filter response.
Exponential Filter Response
Setting TC Time to 100%
1 64.s 320.s
2 32.s 160.s
4 16.s 80.s
8 8.s 40.s
16 4.s 20.s
32 2.s 10.s
64 1.s 5.s
128 512.ms 2.5 s
256 256.ms 1.25 s
512 128.ms 640.ms
1024 64.ms 320.ms
2048 32.ms 160.ms
4096 16.ms 80.ms
8192 8.ms 40.ms
16384 4.ms 20.ms
Curtis 1352 eXm Manual, R ev. D
29
Page 33
5 — SDO: Device Monitor Objects
DEVICE MONITOR OBJECTS
The following monitor objects are found in the 3100h CAN Object address
range, as shown in Table 4.
sub-index 00h in a parameter array, which is Read Only (RO) as indicated.
These objects all have Read/Write (RW) SDO access, except for the
Table 4 Device Monitor Objects
range
name index sub-index CaN value description
Heatsink Temperature 3110h 00h -40 – 100 °C Temperature of the eXm drivers.
-400 – 1000
Battery Voltage 3120h 00h 0 – 120 V The battery voltage as read by the eXm.
0 – 1200
Driver Current 3130h 00h 6 Length of this array (RO).
01h – 06h 0.00 – 3.00 A Present current sunk by
0 – 300 Drivers 1 through 6.
Driver PWM 3131h 00h 6 Length of this array (RO).
01h – 06h 0 – 100 % Present PWM % of Drivers 1 though 6.
0 – 1000
Hour Meter 3140h 00h 0 – 65535 hrs Present value of the hourmeter.
0 – 65535
30
Curtis 1352 eXm Manual, R ev. D
Page 34
6
8 — DIAGNOSTICS & TROUBLESHOOTING
DIAGNOSTICS AND TROUBLESHOOTING
When an error occurs in the eXm, an emergency message is produced on the
CAN bus according to the CANopen standard. This message is sent once.
When the fault clears, a No Fault emergency message is transmitted; see page 16.
At each new fault, the fault code and hourmeter time are logged in a
16-error-deep FIFO buffer.
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
yellow LED enumerates the value. For example, a code 23 would be displayed
as one red flash, followed by two yellow flashes, followed by two red flashes
and finished with three yellow flashes. The eXm’s two LEDs will display this
repeating pattern:
red yellow red yellow
✱
(first digit)
✱
✲
✲
(2) (second digit) (3)
✱
✲
✲✲
The numerical codes used by the yellow LED are listed in the troubleshooting
chart (Table 5).
During normal operation, the yellow LED flashes continuously.
On power-up, the integrity of the code stored in memory is automatically
tested. If the software is found to be corrupted, the red Status LED will flash
rapidly. Should this occur, contact your Curtis representative as the unit will
require a new code download.
TROUBLESHOOTING
Table 5 provides the following information for each fault: name of fault, code,
description, effect of fault, possible causes, and how the eXm can recover from
the fault.
Whenever a fault is encountered and no wiring or vehicle fault can be
found, cycle power to see if the fault clears. If, after attempting to correct the
possible causes, the fault code persists, replace the unit. If replacing the eXm
does not resolve the problem, the eXm is likely good and should be re-installed
so that further debug can be carried out by a qualified technician.
Note: An EEPROM fault (code 12) can occur in either of the two
EEPROM blocks: Normal or Backup. If the fault is in the Normal runtime
EEPROM block, an SDO Write to any parameter in the 3000h address range
should clear the fault. If the fault is in the Backup EEPROM block, an SDO
Write issuing the Backup_Command to the Store Parameters object should
clear that fault. If neither procedure will clear the fault, the eXm may have a
bad EEPROM and will need to be replaced.
Curtis 1352 eXm Manual, R ev. D
31
Page 35
8 — DIAGNOSTICS & TROUBLESHOOTING
Table 5 TROUBLESHOOTING CHART
CODE FAULT DESCRIPTION EFFECT CAUSE(S) RECOVERY
Fast
Corrupt Code Internal code in eXm is shut down. Faulty memory chip. Requires repair or new
Red
LED
memory is corrupt. software detected. software download.
11 Internal Fault Critical circuits or eXm in Stopped ESD or EMI glitch. NMT Reset Bus
software detected. state. received, or cycle power.
12 EEPROM Fault EEPROM did not eXm in Stopped ESD or EMI glitch May need to reload or
properly write, or state & all drivers during a write. store defaults. See note
Checksum did not disabled. following table.
match.
21 Overvoltage Battery over limit. All drivers disabled. Battery overcharged Battery returns to
Limit = (Nominal or regen. normal range for >1 sec.
Battery * 1.25) + 5V.
22 Undervoltage Battery under limit. All drivers disabled. Battery discharged or Battery returns to
Battery * 0.70) - 5V.
Battery under limit.
Limit = (Nominal drooping. normal range for >1 sec.
The limit is based
upon the Nominal
Battery setting.
1. If nominal
> 26.6 volts,
Undervoltage is
fixed at 11.4 V.
2. If nominal
≤ 26.6 volts,
Undervoltage is
fixed at 8.0 V.
23 Overtemp Heatsink over All drivers disabled. Ambient temperature Temperature returns to
allowed temperature. too hot, or poor heat normal range (<95°C).
sinking.
24 Undertemp Heatsink below All drivers disabled. Ambient temperature Temperature returns to
allowed temperature. too cold. normal range (>-50°C).
31 Driver 1 Fault Driver is in over- Driver disabled. Driver pin is shorted Send a 0% PDO
32 Driver 2 Fault
33 Driver 3 Fault
34 Driver 4 Fault
35 Driver 5 Fault
36 Driver 6 Fault
current (>3.5 amps). to B+, or load is command to the faulted
shorted. driver.
41 Driver 1 Fault Driver output pin Driver not functional. Driver output pin is Driver pin is reconnected.
42 Driver 2 Fault
43 Driver 3 Fault
44 Driver 4 Fault
45 Driver 5 Fault
46 Driver 6 Fault
is low when driver disconnected, or the
is Off. This implies load is open.
the pin has been
left open.
51 PDO Timeout PDO from master All drivers disabled. Master has died, or New PDOs received
not received within CAN bus cable loose. within proper timing.
the time-out period.
52 SDO Fault SDO attempted to SDO aborted Master has tried to Automatically cleared.
be set out of range, message sent. access a non-valid
or is Read Only, or SDO.
is not present.
53 CAN Bus Fault Too many CAN bus eXm in Stopped Noise on the CAN NMT received, or bus
errors detected. state. bus, loose connection, reception & transmission
or poor termination. restored.
32
Curtis 1352 eXm Manual, R ev. D
Page 36
8 — DIAGNOSTICS & TROUBLESHOOTING
FAULT LOG
The eXm stores the last 16 faults with a time-stamp. The Fault Log is stored
in non-volatile memory with the last fault always at the top of the log and the
oldest fault at the end. If the buffer is full when a new fault occurs, the oldest
fault is pushed of the log, the previous faults all move down, and the newest
fault is placed at the top.
The Fault Log is accessed by SDO reads of the Standard Object at Index
1003h (called the Pre-defined Error Field in DS301). Reading the Fault Log
Length sub-index 00h will return a value of 16 (the depth of the fault log).
Reading from the sub-index 1 though 16 (01h – 10h) 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:
byte 5 byte 7 & 8byte 6
Fault
FFh
Code
Fault Time Stamp
Hourmeter *
* Note that the MSB of the hourmeter
is in Byte 8.
The first byte is the fault code; see Table 5. The next byte simply indicates a
fault and is consistent with the Emergency Message. If the SDO read of a fault
log sub-index returns a 0 in the fault data, the fault log is clear at that location,
and no fault was recorded.
The time-stamp uses the internal 16-bit running hourmeter. If several
error messages have occurred within one hour, the order of the fault messages
will indicate which came first.
The Fault Log can be cleared by writing 0 to the Fault Log Length object
(sub-index 00h). After clearing, all the data bytes in sub-indexes 01h through
10h will be 0.
Sub-
Name
Fault Log Length 1003h 00h Length of the log (always 16)
Fault 1 01h Newest faultXx
Fault 2 02h Previous fault
Fault 3 03h and so on . . .Xx
Fault 4 04h and so on . . .Xx
Fault 16 10h Oldest fault.Xx
.....
Xx
Index
Index
Description
Curtis 1352 eXm Manual, R ev. D
33
Page 37
APPENDIX A: EMC & ESD DESIGN CONSIDERATIONS
ELECTROMAGNETIC COMPATIBILITY (EMC)
Electromagnetic compatibility (EMC) encompasses two areas: emissions and
immunity. Emissions are radio frequency (RF) energy generated by a product.
This energy has the potential to interfere with communications systems such
as radio, television, cellular phones, dispatching, aircraft, etc. Immunity is the
ability of a product to operate normally in the presence of RF energy. EMC
is ultimately a system design issue. Part of the EMC performance is designed
into or inherent in each component; another part is designed into or inherent
in end product characteristics such as shielding, wiring, and layout; and, finally,
a portion is a function of the interactions between all these parts. The design
techniques presented below can enhance EMC performance in products that
use Curtis control products.
APPENDIX A
DESIGN CONSIDERATIONS
Emissions
Signals with high frequency content can produce significant emissions if
connected to a large enough radiating area (created by long wires spaced far
apart). PWM drivers can contribute to RF emissions. Pulse width modulated
square waves with fast rise and fall times are rich in harmonics. (Note: PWM
drivers at 100% do not contribute to emissions.) The impact of these switching
waveforms 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 very low emissions, the solution may involve
enclosing the system, interconnect wires and loads together in one shielded
box. Emissions can also couple to battery supply leads and circuit wires outside the box, so ferrite beads near the controller may also be required on these
unshielded wires in some applications. It is best to keep the noisy signals as far
as possible from sensitive wires.
Immunity
Immunity to radiated electric fields can be improved either by reducing overall
circuit sensitivity or by keeping undesired signals away from this circuitry.
The controller circuitry itself cannot be made less sensitive, since it must
accurately detect and process low level signals from sensors such as the throttle
potentiometer. Thus immunity is generally achieved by preventing the external
RF energy from coupling into sensitive circuitry. This RF energy can get into the
controller circuitry via conducted paths and radiated paths. Conducted paths
are created by the wires connected to the controller. These wires act as antennas
and the amount of RF energy coupled into them is generally proportional to
their length. The RF voltages and currents induced in each wire are applied to
the controller pin to which the wire is connected.
34
Curtis 1352 eXm Manual, R ev. D
Page 38
APPENDIX A: EMC & ESD DESIGN CONSIDERATIONS
The Curtis 1352 includes bypass capacitors on the printed circuit board’s
sensitive input signals to reduce the impact of this RF energy on the internal
circuitry. In some applications, additional filtering in the form of ferrite beads
may also be required on various wires to achieve desired performance levels. A
full metal enclosure can also improve immunity by shielding the 1352 from
outside RF energy.
ELECTROSTATIC DISCHARGE (ESD)
Curtis products, like most modern electronic devices, contain ESD-sensitive
components, and it is therefore necessary to protect them from ESD (electrostatic
discharge) damage. Most of the product’s signal connections have protection
for moderate ESD events, but must be protected from damage if higher levels
exist in a particular application.
ESD immunity is achieved either by providing sufficient distance between conductors and the ESD source so that a discharge will not occur, or by
providing an intentional path for the discharge current such that the circuit
is isolated from the electric and magnetic fields 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 occurring than to divert
the current path. A fundamental technique for ESD prevention is to provide
adequately thick insulation between all metal conductors and the outside environment so that the voltage gradient does not exceed the threshold required for
a discharge to occur. If the current diversion approach is used, all exposed metal
components must be grounded. The shielded enclosure, if properly grounded,
can be used to divert the discharge current; it should be noted that the location
of holes and seams can have a significant impact on ESD suppression. If the
enclosure is not grounded, the path of the discharge current becomes more
complex and less predictable, especially if holes and seams are involved. Some
experimentation may be required to optimize the selection and placement of
holes, wires, and grounding paths. Careful attention must be paid to the control
panel design so that it can tolerate a static discharge. MOV, transorbs, or other
devices can be placed between B¬and offending wires, plates, and touch points
if ESD shock cannot be otherwise avoided.
35
Curtis 1352 eXm Manual, R ev. D
Page 39
APPENDIX B: SPECIFICATIONS
APPENDIX B
SPECIFICATIONS
Table B-1 SPECIFICATIONS: 1352 eXm MODULE
Nominal input voltage 12 – 80 V, in two models
Electrical isolation to heatsink 500 V ac (minimum)
Storage ambient temperature range -50°C to 90°C (-58°F to 194°F)
Operating ambient temp. range -40°C to 50°C (-40°F to 122°F)
Enclosure protection rating IP65
Weight 0.4 kg (0.3 lbs)
Dimensions (L× W×H) 130 × 100 × 39 mm (5.2" × 3.9" × 1.5")
87 mm (3.4") between mounting holes
6.3 mm (0.25") mounting hole ID
MODEL NUMBER VOLTAGE (volts)
1352-4001 12 – 36
1352-6001 36 – 80
36
Curtis 1352 eXm Manual, R ev. D
Loading...