Page 1
Manual
Model 1353
CANopen Expansion Module
Read Instructions Carefully!
Specications are subject to change without notice.
© 2017 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. 53053, Rev F June 2017
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
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TABLE OF CONTENTS
CHAPTERS
1: OVERVIEW ...................................................................................................................................... 1
DESCRIPTIONS OF KEY FEATURES ................................................................................................ 2
2: INSTALLATION AND WIRING ............................................................................................................ 4
MOUNTING THE MODULE ..............................................................................................................4
CONNECTIONS ............................................................................................................................. 6
WIRING: BASIC CONFIGURATION ................................................................................................... 8
WIRING: APPLICATION EXAMPLE .................................................................................................. 10
INPUT/OUTPUT SIGNAL SPECIFICATIONS ...................................................................................... 11
3: CANOPEN COMMUNICATIONS ........................................................................................................ 15
MINIMUM STATE MACHINE .......................................................................................................... 15
NMT MESSAGES .......................................................................................................................... 18
EMERGENCY MESSAGES ............................................................................................................. 19
HEARTBEAT ................................................................................................................................. 19
4: PDO COMMUNICATIONS ................................................................................................................ 20
5: SDO COMMUNICATIONS ................................................................................................................ 23
SDO 1353 RESPONSE (SDO-MISO) .............................................................................................. 24
TYPES OF SDO OBJECTS ............................................................................................................. 24
COMMUNICATION PROFILE OBJECTS ............................................................................................ 25
Manufacturer’s Status Register ................................................................................................27
Store Parameter Object ........................................................................................................... 28
Restore Default Parameters ..................................................................................................... 29
PARAMETER PROFILE OBJECTS ................................................................................................... 30
MONITOR OBJECTS ..................................................................................................................... 35
6: DIAGNOSTICS AND TROUBLESHOOTING ......................................................................................... 37
FAULT LOG ................................................................................................................................... 39
7: SERIAL COMMUNICATIONS & PROGRAMMING ................................................................................ 40
PROGRAM MENUS ....................................................................................................................... 40
MONITOR MENUS ........................................................................................................................ 45
FAULT MENU ................................................................................................................................ 47
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Curtis 1353 CANopen Expansion Module Manual – June 2017
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TABLE OF CONTENTS cont’d
APPENDIX A: DESIGN CONSIDERATIONS ............................................................................................. 48
ELECTROMAGNETIC COMPATIBILITY (EMC) .................................................................................. 48
ELECTROSTATIC DISCHARGE (ESD) .............................................................................................. 49
APPENDIX B: PROGRAMMING DEVICES .............................................................................................. 50
PC PROGRAMMING STATION (1314) ............................................................................................. 50
HANDHELD PROGRAMMER (1313) ............................................................................................... 50
PROGRAMMER FUNCTIONS ......................................................................................................... 50
APPENDIX C: SPECIFICATIONS ........................................................................................................... 51
Curtis 1353 CANopen Expansion Module Manual – June 2017
pg. iii
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TABLE OF CONTENTS cont’d
TABLES
Table 1: Connector pinout .................................................................................................................. 7
Table 2: Communication prole object dictionary .............................................................................. 25
2a: Manufacturer’s status registers ..................................................................................... 27
2b: Store parameter object .................................................................................................. 28
2c: Restore default parameters object ................................................................................. 29
Table 3: Parameter prole object dictionary ...................................................................................... 30
Table 4: Monitor object dictionary ..................................................................................................... 35
Table 5: Troubleshooting chart ........................................................................................................... 38
Table 6: Program Menus: 1313/1314 Programmer ............................................................................. 40
Table 7: Monitor Menus: 1313/1314 Programmer .............................................................................. 45
Table C-1 Specications: 1353 Module .............................................................................................. 51
FIGURES
Figure 1: Curtis 1353 CANopen expansion module ............................................................................. 1
Figure 2: Mounting dimensions .......................................................................................................... 4
Figure 3: Basic wiring diagram ..........................................................................................................8
Figure 4: Application example ........................................................................................................... 10
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Curtis 1353 CANopen Expansion Module Manual – June 2017
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1 — OVERVIEW
e Curtis 1353 is a CANopen interface module with hydraulic system oriented functions, inputs,
and outputs. It provides simple, exible, and cost-eective control of up to nine proportional or on/
o hydraulic valves. It can be used on internal combustion engines and electric vehicles.
e 1353 can extend the I/O capabilities of the Curtis VCL-driven system and enhance the systems
that use Curtis AC controllers by providing additional I/O. Although the 1353 has specic features
orienting it towards hydraulic valve control, the I/O and rmware are designed to give it the exibility
to be used in many generic applications, such as Mobile Elevating Work Platforms (MEWPs) and
aerial lis.
e housing is designed to meet the dicult environment seen in material handling and outdoor
equipment. is water-tight design can survive high shock, vibration, freezing, and dust. One section
of the housing is aluminum which allows a simple method for heat-sinking the internal drivers.
Figure 1
Curtis 1353 CANopen
interface module.
Features include:
• 9 high-frequency output drivers, which can also be used as active-high digital inputs.
• Closed loop constant current, constant voltage, or direct PWM control on each output.
• Built-in programmable dither control for hydraulic valves.
• Min/Max current and Ramp up/down time setting for driver outputs.
• Built-in coil yback diodes.
• 6 analog inputs (0–15V), which can also be used as virtual digital inputs.
1 — OVERVIEW
pg. 1
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
• 2 quadrature encoder inputs.
• 5V and 12V current limited power supplies.
• Optional serial port, for Curtis programmer or display.
• CANopen communication port controlled by two xed PDO maps and programmable over
SDOs.
• CAN Node ID selectable through digital inputs or virtual digital inputs.
• Soware and hardware watchdog circuits ensure proper soware operation.
• IP65-rated enclosure allows the 1353 to be mounted in multiple orientations, and protects
it even in harsh environments.
• Status LEDs provide external monitoring.
DESCRIPTIONS OF KEY FEATURES
High Frequency Driver Outputs
e 1353 contains nine identical output drivers. ese drivers can sink up to 3amps each through an
inductive load, with the total current limited to 18 A. Internal yback diodes to B+ prevent voltage
spikes. High frequency PWM (16 kHz) provides smooth current to the load.
Constant Current or Voltage Outputs
In Constant Current mode, the soware runs a closed loop PI controller to provide an average
constant current. This current is commanded over PDO as a 0–100% command based on the
maximum current and minimum current settings with ramping features (set through SDO or a
Curtis programmer).
Each output can also be programmed for Constant Voltage mode. In this mode, the battery
voltage is monitored and the PWM command is corrected by a feed-forward controller to provide
a constant average voltage commanded over the PDO (a 0–100% command based on the maximum
voltage setting).
In addition, each output can also be programmed to provide a directly commanded PWM% output
(Direct PWM mode) or shut o to be used as an input (Input Only mode).
Programmable Dither for Hydraulic Valves
Dither is a small variation in the command that keeps the seals of a proportional valve oiled. is
lubrication allows the valve to move freely for accurate PV control. Dither is only active on drivers
in Constant Current mode.
Min/Max Current
Max Current parameter sets the maximum allowed driver current through the load when driver
command is 100%.
Most proportional valves need a non-zero closed current in order to start opening immediately.
Min Current parameter sets the minimum driver current through the load when driver start (driver
command > 0).
pg. 2
1 — OVERVIEW
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Ramp Up/Down
In 1353, each driver has a build-in ramping function that is applied to the command. ere are
separate values for ramping up and ramping down.
When driver is command on, the Ramp Up parameter sets the time (in ms) to go from the Min to
Max current. When driver is command o, the Ramp Down parameter sets the time (in ms) to go
from the Max to Min current.
Outputs as Active High Digital Inputs
Each output can be used as a digital input. Each input is digitally ltered to eliminate switch “bounce”
or noise in the signal. ere is a power resistor pull-down to B- at each input; therefore, these inputs
are active high to B+.
Voltage Analog Inputs
e 1353 has six analog inputs that are scaled to read 0 – 15 volts. e analog channels are read by
a 12-bit ADC, resulting in about 3.66 millivolt resolution. Independently adjustable lters ensure a
smooth signal.
Resistive Sensor Inputs
Each analog input can be used with resistive sensors, such as RTDs (Resistive Temperature Devices).
Virtual Digital Inputs
e six 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. us, these
inputs can be used with analog sensors to detect conditions like over/under pressure, high/low level
points, etc.
Encoder Interface
e 1353 has two quadrature encoder inputs, which share with the Analog 1–4 pins. e 1353 can
detect an open fault on the encoder input wire.
CAN Interface
e 1353 is CANopen compliant, responding to the standard NMT, PDO, and SDO communications
as well as the DS301-required identity and standard objects. e Curtis CANopen extensions allow
additional features, such as OEM and User default congurations and time-stamped fault logging.
PDO Map
e 1353 can receive two PDOs and respond with two PDOs. ese PDOs are xed, simplifying the
VCL interface to the module. All programmable parameters and viewable values within the 1353 are
accessible by SDOs or with a Curtis programmer.
Familiarity with your Curtis 1353 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.
1 — OVERVIEW
pg. 3
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2 — INSTALLATION AND WIRING
MOUNTING THE MODULE
e outline and mounting hole dimensions for the 1353 module are shown in Figure 2. e module
should be mounted using two #10 or M5 screws.
CAUTION
Figure 2
Mounting dimensions,
Curtis 1353 expansion
module.
Care should be taken to prevent contaminating the connector area before the mating 23-pin
connector is installed. Once the system is plugged together, the 1353 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
100
(3.9)
87
(3.4)
Status
LED
If the outputs will be used at or near their maximum ratings, it is recommended that the module be
mounted to a good heatsinking surface, such as an aluminum plate.
pg. 4
65 (2.6)
39
(1.5)
Dimensions in millimeters (and inches)
130 (5.2)
2 — INSTALLATION AND WIRING
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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 1353 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.
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.
CAUTION
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.
2 — INSTALLATION AND WIRING
pg. 5
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
CONNECTIONS
All connections are made through the 23-pin AMPSEAL connector. e mating plug housing is
AMP p/n 770680-1, and the contact pins are AMP p/n 770520-3. e connector will accept 20 to 16
AWG wire with a 1.7 to 2.7 mm diameter thin-wall insulation.
CAUTION
Note that the 1353’s pins are not sealed until the mating connector is fully engaged and locked.
e cable harness connector has a silicone rubber seal that is an integral part of the module’s sealing.
e 23 individual pins are characterized in Table 1.
81
9 15
2316
Wiring recommendations
Power and ground (Pins 1, 2, 9)
e 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 sucient to carry the continuous and maximum
loads that will be seen at each pin.
Driver outputs (Pins 15–23)
e driver outputs produce high frequency (16 kHz) pulse waves that can radiate RFI noise. e wire
from the module to the load should be kept short and routed with the return wire back to the module.
CANbus (Pins 7 and 8)
It is recommended that the CAN wires be run as a twisted pair. However, many successful applications
at 125 kbit/s 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 1353 is at the end of the CANbus, 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 3, 5–6, 10–14)
e 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.
pg. 6
2 — INSTALLATION AND WIRING
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Table 1 Connector Pinout
Pin Name Description
1 B+ Battery positive.
2 B- Battery negative.
3 +5 V Regulated low power +5 V output.
4 I/O GND Input and output ground reference.
5 Analog Input 4 / Encoder 2B Voltage or Resistive Input4 & Quadrature Encoder Input Phase 2B.
6 Analog Input 3 / Encoder 2A Voltage or Resistive Input3 & Quadrature Encoder Input Phase 2A.
7 CAN H CANbus High communication line.
8 CAN L CANbus Low communication line.
9 B- Redundant battery negative (for high current drive).
10 +12 V Unregulated low power +12 V output.
11 Analog Input 5 / Serial Tx Voltage or Resistive Input5 & serial transmit.
12 Analog Input 6 / Serial Rx Voltage or Resistive Input6 & serial receive.
13 Analog Input 2 / Encoder 1B Voltage or Resistive Input2 & Quadrature Encoder Input Phase 1B.
14 Analog Input 1 / Encoder 1A Voltage or Resistive Input1 & Quadrature Encoder Input Phase 1A.
15 Input/Output 9 Active high Input9 & high power PWM active low Output9.
16 Input/Output 8 Active high Input8 & high power PWM active low Output8.
17 Input/Output 7 Active high Input7 & high power PWM active low Output7.
18 Input/Output 6 Active high Input6 & high power PWM active low Output6.
19 Input/Output 5 Active high Input5 & high power PWM active low Output5.
20 Input/Output 3 Active high Input4 & high power PWM active low Output4.
21 Input/Output 3 Active high Input3 & high power PWM active low Output3.
22 Input/Output 2 Active high Input2 & high power PWM active low Output2.
23 Input/Output 1 Active high Input1 & high power PWM active low Output1.
2 — INSTALLATION AND WIRING
pg. 7
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WIRING: BASIC CONFIGURATION
A basic wiring diagram is shown in Figure 3, and described below. e diagram shows the standard
power and battery connections, as well as some basic uses for the inputs and outputs.
REVERSE
PROPORTIONAL
VALVE
CONTACTOR
J1-23
J1-22
INPUT/OUTPUT 1
INPUT/OUTPUT 2
J1-1
KEYSWITCH
POLARITY
PROTECTION
SWITCH
J1-21
J1-20
J1-19
J1-18
J1-17
J1-16
J1-15
INPUT/OUTPUT 3
INPUT/OUTPUT 4
INPUT/OUTPUT 5
INPUT/OUTPUT 6
INPUT/OUTPUT 7
INPUT/OUTPUT 8
INPUT/OUTPUT 9
CAN H
CAN L
+12V
ANALOG INPUT 5/TX
ANALOG INPUT 6/RX
+5V
ANALOG INPUT 1/ENCODER 1A
ANALOG INPUT 2/ENCODER 1B
ANALOG INPUT 3/ENCODER 2A
ANALOG INPUT 4/ENCODER 2B
I/O GND
J1-2
J1-9
J1-7
J1-8
J1-10
J1-11
J1-12
J1-3
J1-14
J1-13
J1-6
J1-5
J1-4
0–15V IN
CAN PORT
4
3
1
2
8
6
DISPLAY
5
RESISTIVE THROTTLE,
RTD, etc.
BATTERY
(12–80V)
SERIAL PORT
(4-pin Molex)
ENCODER
Figure 3
Basic wiring diagram, Curtis 1353 CANopen expansion module.
Power Connection
e battery is connected to the module’s B+ pin though a fuse, a diode, and a keyswitch. e fuse
protects the wiring in the event of a short or failure. e return path of the coils is also brought back
to the B+ pin to utilize the yback diodes connected inside the 1353 between B+ and each driver
output.
e keyswitch is used to turn on the system. When the keyswitch is closed, B+ goes high and the
1353’s power supply brings up the module.
pg. 8
1353
2 — INSTALLATION AND WIRING
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Driver Outputs
All nine drivers (Pins 15–23) 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.
ese are high-power drivers. e internal impedance to ground will cause leakage current to ow
through the output even when the output driver is o. is leakage current can be enough (>2 mA)
to light high-eciency LEDs.
In the wiring diagram, the output at Pin 23 is shown driving a proportional valve coil. is driver is
programmed for Constant Current mode and would have some Dither applied.
e second output shown (Pin 22) is driving a basic contactor coil. is 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 9 (Pin 15) is shown as an Active High input switching to B+.
Analog Inputs
e fourth analog input (Pin 5) is shown being used with an RTD. is requires enabling the Analog
Input 4 pull-up, which allows the input to measure resistive sensors.
CANbus
e 1353 has an internal 1 kΩ bus termination resistor. is internal impedance matches the system
requirements for a mid-line connection or short stub connection. If the 1353 is to be used at the
end of the CANbus, an external 120 Ω ½W resistor must be added externally across the CAN H
and CAN L lines at or near the module to provide proper termination. e higher the bit rate (i.e.,
the higher the baud), the more critical this becomes. e 1353 can communicate up to 1 Mbit/s on
a properly terminated/wired bus.
2 — INSTALLATION AND WIRING
pg. 9
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
WIRING: APPLICATION EXAMPLE
The wiring diagram in Figure 4 provides an example of proportional valve control for an
electric forklift.
REVERSE
POLARITY
LIFT-UP VALVE
J1-23
INPUT/OUTPUT 1
J1-1
KEYSWITCH
PROTECTION
LOWERING VALVE
TILT-UP VALVE
TILT-DOWN VALVE
SHIFT LEFT VALVE
SHIFT RIGHT VALVE
REACH FW VALVE
REACH BW VALVE
OPTION VALVE
J1-22
J1-21
J1-20
J1-19
J1-18
J1-17
J1-16
J1-15
INPUT/OUTPUT 2
INPUT/OUTPUT 3
INPUT/OUTPUT 4
INPUT/OUTPUT 5
INPUT/OUTPUT 6
INPUT/OUTPUT 7
INPUT/OUTPUT 8
INPUT/OUTPUT 9
CAN H
CAN L
+12V
ANALOG INPUT 5/TX
ANALOG INPUT 6/RX
+5V
ANALOG INPUT 1/ENCODER 1A
ANALOG INPUT 2/ENCODER 1B
ANALOG INPUT 3/ENCODER 2A
ANALOG INPUT 4/ENCODER 2B
I/O GND
J1-2
J1-9
J1-7
J1-8
J1-10
J1-11
J1-12
J1-3
J1-14
J1-13
J1-6
J1-5
J1-4
REACH
FW/BW
SHIFT
LEFT/
RIGHT
CAN PORT
4
3
1
2
BATTERY
(12–80V)
SERIAL PORT
(4-pin Molex)
TILT
UP/
DOWN
LIFT-UP/
LOWERING
Figure 4
Application example, Curtis 1353 CANopen expansion module.
pg. 10
1353
2 — INSTALLATION AND WIRING
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INPUT/OUTPUT SIGNAL SPECIFICATIONS
e input/output signals wired to the 23-pin connector can be grouped by type as follows; their
electrical characteristics are discussed below.
• driver outputs
• digital inputs
• analog inputs with virtual digital input
• encoder inputs
• serial port
• auxiliary power supplies
• CANbus interface
Driver Outputs
e 1353 contains nine identical driver outputs. ese outputs have all the features necessary to drive
proportional valves as well as many other inductive and non-inductive loads. A variable amount of
dither (xed frequency command “jitter”) can be added to the PWM to prevent proportional valves
from sticking in place.
9 15
DRIVER OUTPUT SPECIFICATIONS
81
Signal Name Pin Max Current Impedance Frequency
2316
Input/Output 9 15
Input/Output 8 16
Input/Output 7 17
Input/Output 6 18
Input/Output 5 19
Input/Output 4 20
Input/Output 3 21
Input/Output 2 22
Input/Output 1 23
Each driver:
3 amps
All 9 total:
18 amps
12 – 36 V models:
10 kΩ pulldown to B-
36 – 80 V models:
47 kΩ pulldown to B-
All models: 16 kHz
0–100% duty cycle
e 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). e 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.
2 — INSTALLATION AND WIRING
pg. 11
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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 1353. is connection provides a path for the internal freewheel diodes to clamp the turn-o
spike. Failure to make this connection with inductive loads can cause permanent damage to the 1353
as well as propagate failures of other electronics in the system due to the high voltage spike caused
when an inductive load turns o without a freewheel path.
Digital Inputs
e nine digital I/O lines can also be used as digital (on/o) inputs. Normal “on” connection is direct
to B+; “o” is direct to B-. Input will pull low (o) if no connection is made.
DIGITAL INPUT SPECFICATIONS
81
9 15
2316
Signal Name Pin Logic Threshold Input Impedance
Input/Output 9 15
Input/Output 8 16
Input/Output 7 17
Input/Output 6 18
Input/Output 5 19
Input/Output 4 20
All models:
Low = 1.6V
High = 4.0V
12 – 36 V models:
about 10 kΩ
36 – 80 V models:
about 47 kΩ
Input/Output 3 21
Input/Output 2 22
Input/Output 1 23
Because these nine lines can also be used as driver outputs, it is important to ensure that Operation
Mode is set appropriately for each line. For each pin that will be used as a digital input, Operation
Mode must be set to Input Only (see page 31). 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.
pg. 12
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Analog Inputs
e 1353 has four or six 0 – 15 V analog inputs, depending on the model. ese inputs are scaled
down by 5.76, clamped to 3.3 V, and read by a 12-bit ADC internal to the MCU.
ANALOG INPUT SPECIFICATIONS
9 15
81
Signal Name Pin Voltage Input Impedance
2316
Analog Input 1 14
Protected Voltage
Range
Analog Input 2 13
Analog Input 3 6
Analog Input 4 5
Nominal input voltage:
0–15V
Input Max. reverse
voltage: -1.7V
Voltage Input Type:
~21 KΩ
Resistance input type:
~1 KΩ
-1 V to B+
Analog Input 5* 11
-0.3 to 12 V
Analog Input 6* 12
* Can be used as serial port on 1353-4101 and -6101.
e maximum resistive input on each analog input is 7.5 kΩ. e resistive or voltage type of analog
input can be selected by a Curtis programmer (1313/1314) or CAN SDO message.
ese six analog inputs can also be used as digital inputs. A unique feature of these digital inputs is
that the active high/low thresholds are completely programmable. us, these inputs can be used
with analog sensors to detect conditions like over/under pressure, high/low level points, etc.
Encoder Inputs
Analog Inputs 1 – 4 can be congured as two encoder inputs (Encoder 1A&1B and Encoder 2A&2B).
ese standard quadrature encoder inputs accept open collector encoders with pull-up resistors. e
encoders can be powered from the +5V supply (Pin 3) or the +12V supply (Pin 10) while using the
I/O GND as a common.
ENCODER INPUTS SPECIFICATIONS
81
9 15
2316
Encoder Phase Vth LO Vth HI Frequency Max Input Impedance
A
B
2 — INSTALLATION AND WIRING
1.0 V 2.2 V 15 kHz
1KΩ (internal pull-up
to +4.4 V)
Protected
Voltage Range
-1 V to B+
pg. 13
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
Serial Port (Models 1353-4101 and 1353-6101 only)
On selected models, Pins 11 & 12 can be congured as a serial port or as analog inputs via SDO. e
Curtis programmer can connect to this serial port using pins 11 & 12 along with I/O GND (Pin 4)
and +12V supply (Pin 10); see wiring diagram, Figure3. e Curtis Model 840 also can be connected
to this port.
SERIAL PORT SPECIFICATIONS
9 15
81
Signal Name Pin Supported Protocol/Devices Data Rate
2316
TX 11
RX 12
1313 Handheld Programmer, 1314 PC
Programming Station. Curtis 840 Display
As required, 9.6
to 56kbps
Protected
Voltage Range
-0.3 V to 12 V
Auxiliary Power Supplies
e 1353 provides +12V and +5V auxiliary output power for low power circuits such as a ngertip
joystick, electronic throttle, Curtis programmer, or remote I/O boards. e return line for these low
power circuits is I/O GND (Pin 4). e maximum total combined output current is 200 mA.
9 15
9 15
9 15
AUXILIARY POWER SUPPLY SPECIFICATIONS
81
Signal Name Pin V out V out Tolerance I out (Max) Ripple/Noise
2316
-12 V 10 12 V 10 %
-5 V 3 5 V 5 %
–100 mA
–100 mA
2%
2%
CANbus Interface
81
e CANbus interface will comply with CAN2.0B, active from 50 kbit/s to 1Mbsp communication rate.
2316
The 1353 will be terminated by an internal 1 kΩ resistor across the CAN High and Low
communication pins. is assumes a mid-truck connection (not end-of-line). If the 1353 is placed at
the end of the communication lines, an external 120 Ω, ½ W resistor must be added across the lines.
Power
81
e power pins are each capable of carrying up to 9 A. Every application must use B+ (Pin 1) and
one or both of the B- connections (Pins 2, 9).
2316
Since the 1353’s nine 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 A, both B- pins connections are required.
If it is determined that both B- pins are required, you must also determine the load on B+. is
requires either knowledge of the expected PWM or actual in-application measurements. The
combined average current recirculating through the B+ pin cannot exceed 9 A. is can be an issue
if the inductive loads are specied at a lower voltage than the battery supply as the applied PWM
would normally be reduced so as not to exceed the average applied voltage or current. e lower
PWM in turn raises the average current owing theourgh the B+ pin as the load current recirculates
for a greater portion of the PWM period.
pg. 14
2 — INSTALLATION AND WIRING
Page 19
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
3 — CANOPEN COMMUNICATIONS
e 1353 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
(1232/34/36/38, 1298, and 1310). Any CANopen-compatible master can be programmed to control
the 1353.
e 1353 receives two PDOs and responds with two PDOs. ese PDOs are xed, simplifying the
VCL interface to the controller. All programmable parameters and monitor parameters are accessible
by standard SDO transfer.
e time between incoming PDOs is monitored and if excessive, will ag a fault. is allows the 1353
to know that the system is still under master control. e 1353 also produces Heartbeat and Error
messages, which is the CiA-preferred safety and security method.
MINIMUM STATE MACHINE
e 1353 will run the CANopen minimum state machine as dened by CiA. e CANopen minimum
state machine has four dened states: Initialization, Pre-Operational, Operational, and Stopped.
Power-On
Reset
Initialization
Transmit Boot-up
Pre-Operational
Operational
Reset
Module
Reset
Communication
Stopped
When the 1353 powers up, it goes to the Initialization state; this is also known as the Boot-up state.
No CAN communications from the 1353 are transmitted in this state although the 1353 listens to the
CANbus. When the 1353 has completed its startup and self-tests, it issues an initialization heartbeat
message and automatically goes to the Pre-Operational state.
In the Pre-Operational state, the 1353 can receive and respond to SDOs and NMT commands, and
will send its heartbeat. It will not receive or send PDOs. When the master issues a goto Operational
State NMT command, the 1353 will go to full normal operation.
In the Operational state, the 1353 will start receiving and responding to PDOs and process all other
necessary CANopen messages.
3 — CANOPEN COMMUNICATIONS
pg. 15
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
If the master sends a Stop NMT command or the 1353 detects an internal fault, the 1353 will go to the
Stopped state. In the Stopped state the 1353 will listen for NMTs and produce its heartbeat message
only. PDOs and SDOs (including any timeouts) are ignored.
At any point, if the master sends a Reset Communication or Reset Module (warm boot), the 1353
will go to the Initialization state as if there were a power-cycle.
Baud Rates
e 1353 runs at one of the seven selectable baud rates: 50 kbit/s, 100 kbit/s, 125 kbit/s, 250 kbit/s,
500 kbit/s, 800 kbit/s, and 1 Mbit/s. e baud rate can be changed by a Curtis programmer or by an
SDO. Changes in the baud rate require an NMT reset or KSI cycle.
CAN Node ID
In 1353, CAN Node ID can be selected from two parameters (Node ID Low and Node ID High) and
be determined by a wired input source. e parameter of Node ID Source selects which source is
used (see table below for detail). If no source is used, set this parameter to 0.
If Node ID Source is zero, or if selected Node ID Source is non-zero and the input of this Node ID
Source is low when 1353 power on, the Node ID Low parameter will be applied as the 1353 CAN
Node ID.
If selected Node ID Source is non-zero, and the input of this Node ID Source is high when 1353
power on, the Node ID High parameter will be applied as 1353 CAN Node ID.
Node ID Source Description
0 No source input. Parameter Node ID Low is the default CAN Node ID
1 Digital input1 is used as the Node ID Source
2 Digital input2 is used as the Node ID Source
3 Digital input3 is used as the Node ID Source
4 Digital input4 is used as the Node ID Source
5 Digital input5 is used as the Node ID Source
6 Digital input6 is used as the Node ID Source
7 Digital input7 is used as the Node ID Source
8 Digital input8 is used as the Node ID Source
9 Digital input9 is used as the Node ID Source
10 Virtual digital input1 is used as the Node ID Source
11 Virtual digital input2 is used as the Node ID Source
12 Virtual digital input3 is used as the Node ID Source
pg. 16
13 Virtual digital input4 is used as the Node ID Source
14 Virtual digital input5 is used as the Node ID Source
15 Virtual digital input6 is used as the Node ID Source
3 — CANOPEN COMMUNICATIONS
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Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
Changes to the node ID require an NMT reset or KSI cycle.
1353 will issue “Node ID Source Fault” when Node ID Source is set with conict. e following table
describes the detail for each source.
Node ID Source Description
0 NA
1 Input/Output1 isn’t set to input mode.
2 Input/Output2 isn’t set to input mode.
3 Input/Output3 isn’t set to input mode.
4 Input/Output4 isn’t set to input mode.
5 Input/Output5 isn’t set to input mode.
6 Input/Output6 isn’t set to input mode.
7 Input/Output7 isn’t set to input mode.
8 Input/Output8 isn’t set to input mode.
9 Input/Output9 isn’t set to input mode.
10
11
12
13
14
15
Encoder1 function is enabled.
Encoder2 function is enabled.
N/A
Standard Message Identiers
e standard message types are dened within a 4-bit eld in the COB ID (Communication OBject
IDentication). Consequently, there are 16 possible standard message types. e values for Curtis
products are:
Generic Type Message Identier Value (binary – hex)
NMT NMT 0000 – 0x0
EMERGENCY SYNC_ERR 0001 – 0x1
PDO PDO1_MISO 0011 – 0x3
PDO1_MOSI 0100 – 0x4
SDO SDO-MISO 1011 – 0xB
HEARTBEAT NODE 1110 – 0xE
3 — CANOPEN COMMUNICATIONS
PDO2_MISO 0101 – 0x5
PDO2_MOSI 0110 – 0x6
SDO_MOSI 1100 – 0xC
pg. 17
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
ese types and values comply with the CANopen spec and are used to invoke standard transfer or
information across the CANbus.
Identiers built using standard message types consist of three elds. e four upper bits hold the
message type. e Node ID is in the bottom 7 bits.
Below is the CANopen-compliant Curtis standard organization of the COB-ID.
11 10 9 8 7 6 5 4 3 2 1
Message Type Node ID
NMT messages have the highest priority of the standard message types, and the heartbeat has the
lowest priority.
NMT MESSAGES
NMT (Network Management Transmission) messages are the highest priority message available. e
NMT message puts the 1353 into a specic device state. ese messages have 2 bytes of data sent by
the master; the slave does not respond with any data to an NMT.
e 1353 state value can be queried over the CANbus using an SDO. e device state value is also
transmitted with each heartbeat message.
Value Device State
0 Initialization (or “boot-up”)
4 Stopped
5 Operational
127 Pre-Operational
e NMT message identier consists of the standard message type, NMT, in the top four bits. e
bottom seven bits must be set to zero.
e rst data byte of the NMT command is the command specier. e 1353 will respond to the
following commands.
Value Command Specier
0x01 Enter the Operational state
0x02 Enter the Stopped state
0x80 Enter the Pre-Operational state
0x81 Reset the 1353 (warm boot)
0x82 Reset the CANbus
e second byte of the NMT command denes whether this NMT is for all slaves on the bus (data
byte = 0x00) or for a specic node (data byte = Node ID of the 1353).
pg. 18
3 — CANOPEN COMMUNICATIONS
Page 23
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
EMERGENCY MESSAGES
Emergency messages are the second highest priority in CANopen and the highest priority that a
slave (like the 1353) can transmit. ese messages are sent sporadically whenever there is a change
of state in the 1353’s fault ags.
To prevent fast-changing fault bits from ooding the bus, a minimum Emergency Rate between
messages can be programmed by Curtis programmer or SDO.
An Emergency Message consists of 8 data bytes.
Data bytes 1 and 2 dene the error category.
Data byte 3 is the CANopen-required error register. Curtis products dene this as 0x01 if there is a
fault present and 0x00 when this fault is clear.
Data bytes 4 through 8 dene the specic fault. e 1353 will place the current 24-bit hour meter
into data bytes 4 through 6.
Bytes 7 and 8 are not used by the 1353 and are always 0x0000.
e emergency message format indicating an error is shown below.
byte 1 byte 8
Curtis
0xFF
Code
Error Code Hour Meter
0x01 0x0016-bit field 0x0000
HEARTBEAT
e heartbeat message is a very low priority message, periodically sent by each slave device on the
bus. e heartbeat message has a single byte of data and requires no response. Once the 1353 is in
the Pre-Operational state, the next heartbeat will be issued and will continue until communication
is stopped.
e heartbeat message has only one data byte. e top bit is reserved and should be set to zero. e
bottom 7 bits hold the current NMT device state.
3 — CANOPEN COMMUNICATIONS
pg. 19
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
4 — PDO COMMUNICATIONS
e 1353 is controlled and monitored through four xed communication packets. Each data packet
contains 8 bytes. Two are received by the 1353 from another module (usually the system master) and
in response, the 1353 sends out its packet of data. CANopen calls these packets Process Data Objects
(PDOs). PDO messages have a medium priority.
e PDO communication packets conserve bus bandwidth by bundling the values of a group of
objects into a single message. e content of these PDOs is xed, thus simplifying the interface.
e 1353 normally requires that the PDO-MOSI be cyclic from the master. e cycle time must be
less than the programmed PDO Timeout. If the PDO-MOSI is not received within the programmed
time, the 1353 will ag a fault and disable all output drivers. If the PDO Timeout parameter is set to
0, the timeout fault is disabled and the 1353 will respond to any PDO incoming at any rate without
faulting.
PDO1-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
Output 7
Command
PDO2-MOSI (received from the system master)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output 9
Command
BDI
(0 –10 0%)
[Reserved] [Reserved] [Reserved] [Reserved] [Reserved] [Reserved]
PDO1-MISO (sent in response to the system master)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Input 1–8
Status
Input 9
Status
6 Virtual
Digital
Inputs
[Reserved] Analog
Input 5
Low Byte
Analog
Input 5
High Byte
Analog
Input 6
Low Byte
PDO2-MISO (sent in response to the system master)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output 8
Command
Analog
Input 6
High Byte
Analog
Input 1
Low Byte
(Encoder1
byte1)
pg. 20
High Byte
(Encoder1
Analog
Input 1
byte2)
Analog
Input 2
Low Byte
(Encoder1
byte3)
Analog
Input 2
High Byte
(Encoder1
byte4)
Analog
Input 3
Low Byte
(Encoder2
byte1)
Analog
Input 3
High Byte
(Encoder2
byte2)
Analog
Input 4
Low Byte
(Encoder2
byte3)
4 — PDO COMMUNICATIONS
Analog
Input 4
High Byte
(Encoder2
byte4)
Page 25
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
Output Command Bytes
The drivers are closed-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
e 1353 can get the BDI value from PDO2-MOSI. is byte is a percent of the battery state of
discharge: 0–100 = 0–100%.
Inputs 1–9 Status Bytes
e 1353 monitors the inputs connected to the nine drivers. e status of these inputs appears in this
bit with Input 1 being the LSB of Byte 1 and Input 8 being the MSB of PDO1-MISO Byte 1 and Input
9 being the LSB of PDO1-MISO Byte2. A status of 1 (bit set) indicates the input is active (pulled
high to B+). e upper 7 bits of Byte 2 are unused and set to 0.
Virtual Digital Inputs Byte
e analog inputs also produce a “virtual” digital input response. e lower 6 bits of PDO1-MISO Byte
3 represent the status of the six virtual inputs associated with the six analog inputs; Analog Input 1 is
the LSB. e upper 2 bits are unused and set to 0. If the input is above the High reshold (set using a
Curtis programmer or an SDO) the bit will be set to 1. If the input is below the Low reshold, it will
be set to 0. If the input is between the two thresholds, the bit will retain its previous state.
Analog Input High/Low Bytes
If the voltage input type is enabled, the 0–15V scale is returned as 0.01 volt per count. For example,
15V is returned as 1500. is requires 2 bytes of the PDO data packet per input.
If the resistive input type is enabled, the value will be returned as ohms, up to 7.5 kΩ. If the pin is
open, the value will be returned as 0xFFFF (65535), which will be interpreted as innity (open pin).
When analog input pairs (1&2 or 3&4) are congured as encoder input, the relative PDO bytes
will carry the pulse count, RPM value, or position value of the encoder. e encoder output can be
congured as the following types, using a Curtis programmer or an SDO.
Pulse Count type
In this type, PDO will output the number of the encoder pulses accumulated. e value is signed and
thus can count up to 229-1 or down to -229 at which point it will roll back to zero. In PDO2-MISO,
for Encoder 1, byte 1 is the lowest byte of pulse count and byte 4 is the highest byte. For Encoder 2,
byte 5 is the lowest byte of pulse count and byte 8 is the highest byte.
4 — PDO COMMUNICATIONS
pg. 21
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
RPM type
In this type, PDO will send the RPM value (unit in revolutions per minute). In PDO2-MISO, for
Encoder 1, byte 1 is the lowest byte of RPM and byte 2 is the highest byte. For Encoder 2, byte 5 is
the lowest byte of RPM and byte 6 is the highest byte. Bytes 3&4 and bytes 7&8 are not used and
always return 0.
Position type
In this type, PDO will send the position value (unit in mm). In PDO2-MISO, for Encoder 1, byte 1
is the lowest byte of position and byte 2 is the highest byte. For Encoder 2, byte5 is the lowest byte
of position and byte 6 is the highest byte. Bytes 3&4 and bytes 7&8 are not used and always return 0.
pg. 22
4 — PDO COMMUNICATIONS
Page 27
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
5 — SDO COMMUNICATIONS
CANopen uses Service Data Objects (SDOs) to change and view all internal parameters, or “objects.”
e SDO is an 8-byte packet that contains the address and sub-address of the parameter in question,
whether to read or write the parameter, and the parameter data (if it is a write command). SDOs are
sent infrequently and have a low priority on the CANbus.
SDOs are designed for sporadic and occasional use during normal runtime operation. ere are
two types of SDOs: expedited and block transfer. e 1353 does not support large le uploads or
downloads (using the block transfer), so all the SDOs used by the 1353 are expedited SDOs.
e SDOs in the 1353 are used to set up and parameterize the module. ey 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-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. is format is CANopen compliant.
SDO-MOSI (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
e rst data byte contains R/W message control information.
Action Byte 1 Value
Read 0x4x
Write 0x2x
e next two data bytes hold the CAN Object index. e LSB of the index appears rst, in byte 2,
and the MSB appears in byte 3. For example, if the index is 0x3021, byte 2 holds the 0x21 and byte
3 holds the 0x30.
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.
e 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 undened (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 undened (set to 0). e case of a 32-bit transfer follows the same strategy, with the least
signicant byte placed in data byte 5 and the most signicant byte placed in data byte 8.
5 — SDO COMMUNICATIONS
pg. 23
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
SDO 1353 Response (SDO-MISO)
An SDO request is always acknowledged with a response message from the 1353. e 1353 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-MOSI (sent by the 1353 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
e rst data byte of the response contains an acknowledge code, which depends on the type of
transfer that was initially requested.
Action Byte 1 Value
Read Response 0x42
Write Acknowledge 0x60
Abort SDO 0x80
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 1353), data bytes 5 through 8 will be
lled with the requested values, with the LSB in data byte 5 and the next least signicant 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 the actual value written in bytes
5 – 8. In this way, if the 1353 needs to limit or round-down the SDO write request, the master will
know—because the return value will be dierent than the sent value.
If the SDO-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 lled with a 32-bit error code.
0x06020000 = Object does not exist
0x06010002 = Attempt to write to a read only object.
TYPES OF SDO OBJECTS
ree types of SDO objects are described in the following pages: Communications Prole Objects
(address range 0x1000), Device Parameter Objects (address range 0x3000), and Device Monitor Objects
(address range 0x3100).
pg. 24
5 — SDO COMMUNICATIONS
Page 29
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
COMMUNICATION PROFILE OBJECTS
e objects found in the 0x1000 CAN Object address range are shown below in Table 2.
Table 2 Communication Profile Object Dictionary
Name Access Index Sub-index
Device Type RO 0x1000 0x00 0x00000000 Predened type of CAN module (I/O).
Error Register RO 0x10 01 0x00 0 or 1 = 1 if there is an error
Manufacturer’s Status
Register 1
Manufacturer’s Status
Register 2
Fault Log RW
Node ID Low RW 0x100B 0x00 0x01 – 0 x7F If Node ID Source is zero, or if selected Node
Store Parameters RO
RO 0x1002 0x00 4 bytes The value of Status Register 1.
RO 0x1002 0x01 4 bytes The value of Status Register 2.
0x00 0x10 Length of this object. Clear fault log by writing
RO 0x01–0x10 4 bytes Contains an array of 16 fault code and
0x1003
0x00 0x01 Length of this object.
Range
Can Value
Description
= 0 if there are no errors
See Table 2a for more details.
See Table 2a for more details.
0 into this address.
time stamps as reported by the Emergency
Message.
ID Source is non-zero and the input of this
Node ID Source is low when 1353 power on,
the Node ID Low parameter will be applied as
the 1353 CAN Node ID.
Must cycle power or send an NMT Reset for
new value to take effect.
RW 0x01 4 bytes 1353 supports only the mandatory Save All
Restore Default
Parameters
Emergency COB ID RO 0x1014 0x00 0x00000080
Emergency Rate RW 0 x1015 0x00 0 – 1000 ms
Heartbeat Rate RW 0x1017 0x00 0 – 1000 ms
RO
RW 0x01 4 bytes Controls normal, factory, or backup restore.
0x1010
0x00 0x01 Length of this object.
0x1011
–0x000000FF
0 – 1000
in 4ms steps
0 – 1000
in 4ms steps
Parameters sub-index. See Table 2b for more
details.
See Table 2c for more details.
11-bit Identier of the Emergency Message.
Only the lowest 11 bits are valid. All other bits
must be 0.
Sets the minimum time that must elapse
before another Emergency Message can be
sent by the 1353.
A setting of 0 disables the Emergency
Message.
Sets the cyclic repetition rate of the Heartbeat
Message.
A setting of 0 disables the Heartbeat.
5 — SDO COMMUNICATIONS
pg. 25
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
Table 2 Communication Profile Object Dictionary cont'd
Name Access Index Sub-index
RO
RO 0x01 0x00004349 Curtis ID as dened by Ci A.
0x1018
0x00
Range
Can Value
0x06
Description
Length of this structure = 6 sub-indexes.
Identity Object
RO 0x02 0x05490FA1
0x05491005
0x05491771
0x054917D5
RO 0x03 4 bytes Format is Major version in upper 2 bytes and
RO 0x04 0 – 999999 Serial Number up to 999,999.
RO 0x05 1 – 99366 Date Code up to 99, Dec 31.
RO 0x06 A – Z
0x41 – 0x5A
Product code:
2 upper bytes = 1353
2 lower bytes = model number,
-4001, -4101, -6001, or -6101.
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 = 0x01032040
ASCI I code of the manufacturer’s location.
Table 2 Column Definitions
Access: RO = Read Only access; RW = Read/Write access
Index: e CAN address that is used to access this object.
Sub-index: Some objects have several values associated with them. In these cases, a Sub-index is
used to access each part of the object.
Detail on the Manufacturer’s Status Registers, Store Parameters, and Restore Parameters objects is
presented in Tables 2a, 2b, and 2c.
pg. 26
5 — SDO COMMUNICATIONS
Page 31
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
Manufacturer’s Status Register
e Manufacturer’s Status Register reects the present fault ags. 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 1 and Status Register 2 show all present faults. See Section 6:
Diagnostics and Troubleshooting for descriptions and probable causes of the faults.
Table 2a Manufacturer’s Status Registers
Status Register 1 Status Register 2
Bit Location Fault Bit Location Fault
LSB: Bit 0 Internal Fault LSB: Bit 0 CANbus Fault
Bit 1 5V Supply Fail Bit 1 Overcurrent
Bit 2 12V Supply Fail Bit 2 Node ID Source Fault
Bit 3 External Supply Out of Range
Bit 4 EEPROM Fault
Bit 5 Analog Input Fault
Bit 6 Encoder Fault
Bit 7 Overvoltage
Bit 8 Undervoltage
Bit 9 Over-Temp
Bit 10 Under-Temp
Bit 11 Overcurrent
Bits 12 – 20 Driver Fault (Bit 12 for Driver 1)
Bits 21 – 29 Coil Fault (Bit 21 for Driver 1)
Bit 30 PDO Timeout
Bit 31 CANbus Fault
Bits 3 – 31 [Reser ved]
5 — SDO COMMUNICATIONS
pg. 27
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
Store Parameter Object
e Store Parameter Object controls when and if the changes made to the Object Dictionary (by
SDO Write) are moved (stored) into EEPROM. An SDO read of the Save All Parameters sub-index
0x01 will return the present EEPROM Storage functionality. An SDO write to this sub-index is used
to change the EEPROM Storage functionality. Note that the Save Type is always saved to EEPROM
(even the No_Save option) so that the 1353 will power up in the desired mode.
e text strings “save” and “bkup” initiate a complete storage of all parameters to either the Normal
EEPROM space or the Backup EEPROM space.
Table 2b Store Parameter Object
Function Request Value RW Description
SET_NO_SAVE 0 RW
SET_SAVE_ON_COMMAND 1 RW Device will save parameter changes to EEPROM on
SET_AUTO_SAVE 2 RW Device will save parameter value to EEPROM
SET_BOTH_SAVE 3 RW Changes are saved on command and also
SAVE_COMMAND “save”
0x65766173
BACK_UP_COMMAND “bkup”
0x70756B62
RO Text string that commands all parameters to be
RO Text string that commands all parameters to be
Device will not save parameter changes to EEPROM.
command.
automatically upon the SDO Write request.
automatically.
saved from working RAM to normal EEPROM space.
saved from working RAM to the Backup EEPROM
space. Not that this function works independent of
the Save type setting (even No_Save).
At rst glance, the ASCII looks “backward.” is is because CANopen denes that the LSB goes rst
and MSB is sent last. erefore “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). Using the ASCII hex values for each
character, we get 65h (“e”), 76h (“v”), 61h (“a”), and 73h (“s”) for the nal resultant hex6 byte number
of 0x 65766173.
A text string is required (by DS301) for the SAVE_COMMAND to increase security. On reception
of the correct string, the 1353 stores the parameters and then conrms the SDO transmission. If the
storing failed, the 1353 responds with an Abort SDO. If a wrong string or unsupported command is
written, the 1353 will not store and responds with an Abort SDO.
e “save” string will cause the 1353 to write all RW parameters from the Working RAM locations
into the Normal EEPROM locations. e Normal EEPROM block is accessed during standard SDO
write requests.
e “bkup” string will write into the secondary Backup EEPROM block. is block is not written to
by normal SDO write requests and can only be accessed by the “load” command.
Note that of these six requests, only “save” is dened by DS301; the others are Curtis extensions.
pg. 28
5 — SDO COMMUNICATIONS
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Restore Default Parameters
e Restore Default Parameters Object allows the 1353 to restore all EEPROM backed-up SDO
objects to their Factory (hard-coded in soware), OEM (stored in a secondary/Backup EEPROM
section), or Normal (stored in primary/Normal EEPROM section and accessed by standard SDO)
settings. is object is also used to restore (reset) the hour meter value.
Writing a special text string to this sub-index will initiate a restore to Factory, Backup, or Normal
settings for all EEPROM backed-up SDO objects. Once this object is written to, the next reset (by
NMT or cycling power) will cause the system settings to load from the new desired EEPROM
locations and put into the working RAM locations (Shadow RAM).
A Restore Defaults from Backup EEPROM command (“load”) will load the 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. e Backup EEPROM Restore
Default Parameter should be set to Restore Normal Defaults (0x02) so that the 1353 will restore from
the Normal EEPROM on the next reset or power cycle.
Table 2c Restore Default Parameters Object
Restore Default
Parameters Function
Restore Factory Defaults “fact”
Restore the Back-Up
Defaults
Restore User Defaults “norm”
Preset the Hour Meter “hour”
Write
String
0x74636166
“load”
0x64616F6C
0x6D726F6E
0x72756F68
Data
Read Back
0 Restore all parameter values from built-in
defaults. These are hard-coded in the software.
1 Restore all parameter values from the Backup
EEPROM data bank. “load” is used to comply with
CANopen spec DS301.
2 Restore all parameter values from the Normal
EEPROM data bank.
N/A Preset the hour meter to the value loaded into the
parameter Preset Hour (0x3040).
Description
On reception of the correct string, the 1353 updates the EEPROM and then conrms the SDO
transmission. If the restore from FLASH into EEPROM failed, the 1353 responds with an Abort
SDO. If a wrong string or unsupported command is written, the 1353 will not set the restore ag
and responds with an Abort SDO.
A “fact” command will load the parameter values from the Factory section.To move these parameter
values into the Normal EEPROM section, issue a “save” command to the Store Parameter Object
and then cycle KSI.
e hour meter has a special function to reset it. Writing the string “hour” to this index will cause
the 1353 to preset the hour meter to the value saved in the Preset Hour Meter parameter (0x3040).
Note that only the hours can be set to a programmed value; the minutes always will be reset to 0.
5 — SDO COMMUNICATIONS
pg. 29
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PARAMETER PROFILE OBJECTS
e parameters found in the 0x3000 CAN Object address range are shown in Table 3. All these
parameters have Read/Write (RW) SDO access, except for the sub-index 0x00 in a parameter array,
which is Read Only (RO) as indicated.
Table 3 Parameter Profile Object Dictionary
Parameter
SDO Location
Index Sub-index
Range
Can Value Description
Operation Mode 0x3000 0x01 – 0x09 0 – 3, 5 – 7
0 – 3, 5 – 7
Max Current 0x3001 0x01 – 0x09 0.00 – 3.00 A
0 – 300
Min Current 0x30F4 0x01 – 0x09 0.00 – 3.00 A
0 – 300
PWM Limit 0x3002 0x01 – 0x09 0 – 100.0 %
0 – 1000
Voltage Limit 0x3003 0x01 – 0x09 0.0 – 36.0 V
0 – 360
(36V models)
0.0 – 80.0 V
0 – 800
(80V models)
Dither Period 0x3004 0x 01 – 0x09 4 – 200 ms
4 – 200
Dither Amount 0x3005 0 x01 – 0x09 0 – 500 mA
0 – 500
Kp 0x3006 0x01 – 0x09 0.1 – 100.0 %
1 – 1000
Ki 0x3007 0x01 – 0x09 0.1 – 100.0 %
1 – 1000
Ramp Up 0x30F5 0x01-0x09 1 – 1000ms
1 - 1000
Ramp Down 0x30F6 0x01-0x09 1 – 1000ms
1 - 1000
Nominal Voltage 0x3010 0x00 12.0V – 36.0 V
120 – 360
36.0V – 80.0 V
360 – 800
Analog Input Type 0x3020 0x00 0 – 63
0 – 63
Driver mode:
0 = Active High Digital Input mode.
1 = Constant Current mode.
2 = Constant Voltage mode.
3 = Direct PWM mode.
5 = Constant Current mode, with open detection.
6 = Constant Voltage mode, with open detection.
7 = Direct PWM mode, with open detection.
Sets the maximum current output when the PDO command
is 100% (255), when operating in Constant Current
mode.
Sets the minimum current output when the PDO command
is none-zero, when operating in Constant Current mode.
Sets the maximum PWM output when the PDO command is
100% (255), when operating in Direct PWM mode.
Sets the maximum voltage output when the PDO command
is 100% (255), when operating in Constant Voltage
mode.
Sets the time between dither pulses for each output (in
2 ms steps). A dither period of 4 – 200 ms provides a
frequency range of 250 – 5 Hz. Applicable only in Constant
Current mode.
Sets the amount (+/-) of dither that will be added/
subtracted from the command (in 10 mA steps). Applicable
only in Constant Current mode.
Sets the proportional gain factor of the PI current controller.
Sets the integral gain factor of the PI current controller.
Set the time (in ms) to go from min to max current.
Set the time (in ms) to go from max to min current.
Sets the nominal battery voltage, which is used in fault
detection.
1353-4101/4001: 12 V, 24V, 36V.
1353-6101/6001: 36 V, 48V, 60V, 72V, 80V.
Sets the input type on Analog 1 through 6. LSB is for Analog 1
and next is for Analog 2, etc. Upper two bits are not used.
Bit = 0, voltage input type.
Bit = 1, resistive input type.
pg. 30
5 — SDO COMMUNICATIONS
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Table 3 Parameter Profile Object Dictionary, cont’d
Parameter
SDO Location
Index Sub-index
Range
Can Value Description
High Threshold 0x3021 0x 01 – 0x06 0.0 – 15.0 V
0 – 150
Low Threshold 0x3022 0x01 – 0 x06 0.0 – 15.0 V
0 – 150
Filter Gain 0x3023 0x01 – 0x06 128 s – 8 ms
1 – 16384
Sets the threshold that the analog input must go above to
set the virtual digital input high.
Sets the threshold that the analog input must go below to
set the virtual digital input low.
Sets the amount of ltering on the analog inputs. Higher gains
provide faster ltering. Filtering affects the analog reading
and the virtual digital input responsiveness.
Analog Fault Enable 0x3072 0x00 0 - 63 Bit variable to enable (set to 1)/disable (set to 0) analog
fault detection.
bit0: analog1
bit1: analog2
. . .
bit5: analog6
Debounce Time 0x3024 0x01 – 0x09 8 – 1000 ms
8 – 1000
Baud Rate 0x3030 0x00 -2 – 4
-2 – 4
Sets the debounce time of the digital inputs in milliseconds
(in 8 ms steps)
Sets the CAN baud rate:
-2 = 50 kbit/s.
-1 = 100 kbit/s.
0 = 125 kbit/s.
1 = 250 kbit/s.
2 = 500 kbit/s.
3 = 800 kbit/s.
4 = 1Mbit/s.
Resets to 125 kbit/s when over-range. Must cycle KSI for
new rate to take effect.
PDO Timeout 0x3031 0x00 0 – 1000 ms
0 – 1000
Sets the time interval (in 4 ms steps) within which the PDO
MOSI must be received or a fault will be agged.
A setting of zero disables the PDO timeout fault.
Preset Hour 0x3040 0x00 0 – 65535 h
0 – 65535
Encoder Type 0x3050 0x01 – 0x02 0 – 4
0 – 4
Writing to this location will change the hours of hour meter
and reset the minutes to 0.
Encoder type:
0 = Encoder disabled.
1 = Pulse count type.
2 = RPM type.
3 = Position type.
4 = Analog 1 used for a single sine frequency input (not
a quadrature input); this option is available only for
Encoder 1.
Must cycle KSI for new setting to take effect.
Encoder Direction 0x3051 0x01 – 0x02 0, 1
0, 1
Sets the positive direction:
0 = Positive direction when phase A is ahead of phase B.
1 = Positive direction when phase B is ahead of phase A.
Must cycle KSI for new setting to take effect.
Pulses Per Meter 0x3052 0x01 – 0x02 0 – 65535
0 – 65535
This parameter should be set according to the pulses per
revolution and displacement per revolution of the encoder.
pulses per revolution
Pulses Per Meter =
displacement per revolution (unit m)
5 — SDO COMMUNICATIONS
pg. 31
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Table 3 Parameter Profile Object Dictionary, cont’d
SDO Location
Parameter
Pulse Per Revolution 0x3053 0x01 – 0x02 0 – 65535
Encoder Reset 0x3054 0x01 – 0x02 0, 1
Min RPM 0x30F7 0x01 – 0x02 0 – 65535 The min RPM value to start encoder fault check. Set to 0
Serial Port Enable 0x3060 0x00 0, 1
Node ID High 0x3070 0x00 1 – 127 If selected Node ID Source is non-zero, and the input of this
Node ID Source 0x3071 0x00 0 – 15 Select CAN Node ID source input.
Index Sub-index
Range
Can Value Description
This parameter should be set according to the encoder
0 – 65535
0, 1
0, 1
specication.
Must cycle KSI for new setting to take effect.
Writing 1 to this index will immediately set the encoder
counter to zero.
will disable encoder fault check.
1 = Serial port enabled (default for 1353-4101/6101)
0 = Serial port disabled (default for 1353-4001/6001).
Note: the serial port can be used as Analog Inputs 5&6 once
disabled.
Node ID Source is high when 1353 power on, the Node ID
High parameter will be applied as 1353 CAN Node ID
Must cycle power or send an NMT Reset for new value to
take effect
0: No source input
1–9: Digital input1– 9 is used as the Node ID source
10–15: Virtual digital input1-6 is used as the Node ID
source
Must cycle power or send an NMT Reset for new value to
take effect
Note: Parameter arrays have a sub-index 0x00 that is Read Only and returns the length of the array.
is is not true of calibrations. is sub-index was added to be DS301 compliant, and the calibrations
are Curtis proprietary and were not changed to be compatible with the ATS soware.
Scaling:
10.3 volts = 103
3.01 amps = 301
240 ohms = 240
10.5% = 105
25 ms = 25 (DS301 denes short time periods to be in ms)
65000 hours = 65000
pg. 32
5 — SDO COMMUNICATIONS
Page 37
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Application EEPROM Space
1353 provides 40 EEPROM spaces (32-bit) to store miscellaneous data for application use. ese
spaces can be accessed by SDO command as follows.
NAME R/W INDEX SUB-INDEX RANGE CAN
VALUE
Data 1
Data 2 0x3401
Data 3 0x3402
Data 4 0x3403
Data 5 0x3404
Data 6 0x3405
….. ….
….. ….
Data 39 0x3426
Data 40 0x3427
RW
0x3400
0 32bit
EEPROM spaces which can be used
to store miscellaneous data
DESCRIPTION
Driver Proportional Gain / Driver Integral Gain
e 1353 uses a Proportional/Integral (PI) controller to minimize the error between the command
and the actual output in Constant Current mode and Constant Voltage mode. e PI controller works
with two parameters, proportional gain (Kp) and integral gain (Ki). Normally, the default settings
of these gains are sucient to control the load. However, there may be times when they need to be
adjusted to increase or decrease the responsiveness of the 1353.
If the 1353 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.
5 — SDO COMMUNICATIONS
pg. 33
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
Analog Input Algorithms
e voltage range of the six analog inputs is 0–15V and is scaled as 0–4095. e analog inputs are
sampled aer the nine driver output currents have been sampled. Each analog input is ltered by a
single pole exponential lter. e Filter Gain parameter is associated with the Timer Constant (TC)
of the lter, which indicates how long it takes the lter to respond to a step input and reach 63% of
the nal value. It takes approximately 5 TCs before the ltered signal reaches its full output. e table
below provides a way to estimate lter response.
Step Input
100%
63%
FILTER VALUE
Filtered Response
Time
Constant
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
TIME
e analog input can be congured as voltage input type or as resistive input type. e value measured
at the six analog inputs is placed in the two MISO PDOs as ltered voltage (in units of 0.01 V) or
resistance (in units of ohms), depending on the input type.
pg. 34
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
5 — SDO COMMUNICATIONS
Page 39
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MONITOR OBJECTS
e following monitor objects are found in the 0x3100 CAN Object address range, as shown in
Table 4.
Table 4 Monitor Object Dictionary
SDO Location
Parameter
Analog 1 Resistor Value
Analog2 Resistor Value 0x02
Analog 3 Resistor Value 0x03
Analog 4 Resistor Value 0x04
Analog 5 Resistor Value 0x05
Analog 6 Resistor Value 0x06
Analog 1 Voltage Value
Analog 2 Voltage Value 0x02
Analog 3 Voltage Value 0x03
Analog 4 Voltage Value 0x04
Analog 5 Voltage Value 0x05
Analog 6 Voltage Value 0x06
Heatsink Temperature 0x3110 0x00
Battery Voltage 0x3120 0x00
Driver 1 Current
Driver 2 Current 0x02
Driver 3 Current 0x03
Driver 4 Current 0x04
Driver 5 Current 0x05
Driver 6 Current 0x06
Driver 7 Current 0x07
Driver 8 Current 0x08
Driver 9 Current 0x09
Driver 1 PWM
Driver 2 PWM 0x02
Driver 3 PWM 0x03
Driver 4 PWM 0x04
Driver 5 PWM 0x05
Driver 6 PWM 0x06
Driver 7 PWM 0x07
Driver 8 PWM 0x08
Driver 9 PWM 0x09
Index Sub-index
0x01
0x3100
0x01
0x3101
0x01
0x3130
0x01
0x3131
Range
Can Value Description
0 – 7500 Ω
0 – 7500
0.00 – 15.60 V
0 – 1560
–40.0 +100.0°C
–400 – 1000
0.0 – 120.0 V
0 – 1200
0.00 – 3.00 A
0 – 300
0.0 – 100.0%
0 – 1000
Resistive type analog input value. The scale is
returned as 1 ohm per count.
Voltage type analog input value. The scale is
returned as 0.01 volt per count.
Internal temperature of the 1353.
Battery voltage as read by the 1353.
Present current sunk by the driver.
Present PWM % of the driver.
5 — SDO COMMUNICATIONS
pg. 35
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
Table 4 Monitor Object Dictionary, cont’d
SDO Location
Parameter
Total Current of Drivers
Switch Input Status
Virtual Digital Input Status
5 V Voltage
12 V Voltage
Ext Current
Index Sub-index
0x3150 0x00 0.00 – 18.00 A
0x3160 0x00 0 – 0x1FF
0x3170 0x00 0 – 0x3F
0x3180 0x00 0.0 – 6.3 V
0x3190 0x00 0.0 – 16.0 V
0x31A0 0x00 0 – 250 mA
0x00
Encoder 1 Count
0x31B0
0x01 Current Encoder 2 pulse count.
Encoder 2 Count
Encoder 1 RPM
0x00
0x31C0
Encoder 2 RPM 0x01
Encoder 1 Position
0x00
0x31d0
Encoder 2 Position 0x01
Range
Can Value Description
Total current of all 9 drivers.
0 – 1800
Status of switch inputs
0 – 0x1FF
1: High, 0:Low
Status of virtual digital inputs:
0 – 0x3F
1: High, 0:Low
Voltage value of the +5 V output.
0 – 63
Voltage value of the +12 V output.
0 – 160
Total current on +5 V and +12 V outputs.
0 – 250
Current Encoder 1 pulse count.
Negative count means the encoder is running in the
–229 – 229–1
reverse direction of the zero position.
–229 – 229–1
Negative count means the encoder is running in the
reverse direction of the zero position.
Encoder 1 RPM in revolutions per minute when
0 – 65535 rpm
0 – 65535
Encoder 1 is congured as RPM type.
Encoder 2 RPM in revolutions per minute when
Encoder 2 is congured as RPM type.
Calculated position 1 value according to the pulse
per meter when Encoder 1 is congured as Position
–32.768 – 32.767 m
–32768 – 32767
type.
Calculated position 2 value according to the pulse
per meter when Encoder 2 is congured as Position
type.
pg. 36
5 — SDO COMMUNICATIONS
Page 41
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
6 — DIAGNOSTICS AND TROUBLESHOOTING
When an error occurs in the 1353, a fault message can be monitored through the Curtis programmer.
Meanwhile, an emergency message will be produced on the CANbus according to the CANopen
standard. is message will be sent once. When the fault clears, a No Fault emergency message will
be transmitted.
For each new fault, the fault code and timestamp will be logged in a 16-error-deep FIFO buer in
this format:
Byte5 Byte6 Byte7 Byte8
Fault Code FFh Hour LSB Hour MSB
Fault Time Stamp
e fault log is accessed by SDO reads of the Standard Object at Index 0x1003. 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 (0x01 – 0x10) will return the faults plus time stamps in order from newest
to oldest. e fault log can be cleared by writing 0 to the Fault Log Length object (sub-index 0x00).
Additionally, the highest priority fault code will be ashed on the red and yellow status LEDs. e
red LED enumerates the digit place and the yellow LED enumerates the value. For example, a code
23 would be displayed as one red ash, followed by two yellow ashes, followed by two red ashes
and nished with three yellow ashes. e 1353’s two LEDs will display this repeating pattern:
Red Yellow Red Yellow
(rst digit) (2) (second digit) (3)
e fault codes are listed in the troubleshooting chart (Table 5).
During normal operation, the yellow LED ashes continuously.
On power-up, the integrity of the code stored in memory is automatically tested. If the soware is
found to be corrupted, the red Status LED will ash rapidly.
6 — DIAGNOSTICS AND TROUBLESHOOTING
pg. 37
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
Table 5 Troubleshooting Chart
Code
Fast
Red
LED
11 Internal Fault
12 EEPROM Fault
13 5 V Supply Fail
14 12 V Supply Fail
15 External Supply Out of
16 Flash Fault
17 Analog Input Fault
18 Encoder Fault
21 Overvoltage
22 Undervoltage
23 Overtemp
24 Undertemp
25 Overcurrent
31 Driver1 Fault
Fault
Corrupt Code
Range
Description Effect Recovery
1353 in corrupted state.
Encryption failure.
EEPROM did not properly write, or
Checksum did not match.
External load impedance on +5 V
Supply is too low.
External load impedance on +12 V
Supply is too low.
External load on +5 V or +12 V
exceeds 200 mA.
The ash did not properly write.
Analog input exceeds 15.5 V(voltage
input) or 7.5 K(resistance input).
Encoder wire open.
Battery over limit. Limit = (Nominal
Voltage * 1.25) + 5 V.
Battery under limit.
Limit = 8.5V for 1353-4xxx
Limit = 15.5V for 1353-6xxx
Heatsink over allowed temperature
Heatsink below allowed.
Total current exceeds 18A.
1353 in Fault state. Requires repair or new software
download.
1353 in Stopped state. Requires repair and ATS test.
All outputs stopped. Write to failed location.
None. Bring voltage within range.
None. Bring voltage within range.
None. Bring external supply current
within range.
1353 in Stopped state. Write to failed location.
None. Bring analog input within range.
Encoder count stopped. Cycle KSI.
All outputs stopped. Battery returns to normal range for
>1 second.
All outputs stopped. Battery returns to normal range for
>1 second.
All outputs stopped. Temp returns to normal range
(<95°C).
All outputs stopped. Temp returns to normal range
(>-50°C).
All outputs stopped. Total current returns to normal
range (≤18A).
32 Driver2 Fault
33 Driver3 Fault
34 Driver4 Fault
35 Driver5 Fault
36 Driver6 Fault
37 Driver7 Fault
38 Driver8 Fault
39 Driver9 Fault
pg. 38
Driver is in overcurrent (>3.5 amps)
Output on the faulted driver
stopped.
Send a 0% PDO command to the
faulted driver.
6 — DIAGNOSTICS AND TROUBLESHOOTING
Page 43
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Table 5 Troubleshooting Chart cont’d
Code
41 Coil1 Fault
42 Coil2 Fault
43 Coil3 Fault
44 Coil4 Fault
45 Coil5 Fault
46 Coil6 Fault
47 Coil7 Fault
48 Coil8 Fault
Fault
Description Effect Recovery
Driver output pin is low when driver
is Off. This implies the pin has been
left open.
Output on the faulted driver
not functional.
Driver pin is reconnected.
49 Coil9 Fault
51 PDO Timeout PDO from master has not been
received within the time-out period.
All drivers disabled and
commands cleared.
New PDO received within proper
timing.
52 CANbus Fault Too many CANbus errors detected. 1353 is ofine. No CANbus errors.
54 CAN Node ID Source
Fault
Node ID Source is not set correctly. Node ID Low parameter
is applied to the CAN
Correct Node ID Source input
mode and Cycle KSI.
Node ID.
FAULT LOG
e 1353 stores the last 16 faults with a time-stamp. e 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 buer 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.
e Fault Log is accessed by SDO reads of the Standard Object at Index 0x1003 (called the Predened Error Field in DS301). Reading the Fault Log Length sub-index 0x00 will return a value of
16 (the depth of the fault log). Reading 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 elds in this format:
byte 5 byte 7 & 8byte 6
Fault
FFh
Code
Fault Time Stamp
e rst byte is the fault code; see Table 5. e 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.
e time-stamp uses the internal 16-bit running hour meter. If several error messages have occurred
within one hour, the order of the fault messages will indicate which came rst.
Hourmeter *
* Note that the MSB of the hourmeter is in Byte 8.
e Fault Log can be cleared by writing 0 to the Fault Log Length object (sub-index 0x00). Aer
clearing, all the data bytes in sub-indexes 0x01 through 0x10 will be 0.
6 — DIAGNOSTICS AND TROUBLESHOOTING
pg. 39
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Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
7 — SERIAL COMMUNICATIONS
& PROGRAMMING
e 1353 models with a serial port (1353-4101 and -6101) are compatible with Curtis programmers;
see App. B. e Analog 5 and 6 inputs are multiplexed with Serial Tx and Rx. e serial port function
is enabled via CANopen SDO. Once the serial port is enabled, it implements the ESP protocol and
can support the Curtis handheld 1313 programmers and the 1314 PC programming station. e
1353’s default serial baud rate is 9600bit/s.
The Curtis programmer can be used to adjust the programmable parameters, to read various
monitored values, and to access fault information.
PROGRAM MENUS
e programmable parameters are arranged in hierarchical menus, as shown in Table 6.
Table 6 Program Menus: 1313/1314 Programmer
ANALOG INPUT.............................. p. 41
— Analog1
— Input Type
— High Threshold
— Low Threshold
— Filter Gain
— Analog Fault
— Analog2 (same)
— Analog3 (same)
— Analog4 (same)
— Analog5 (same)
— Analog6 (same)
DIGITAL INPUT............................... p. 41
— Input1 Debounce Time
. . .
— Input9 Debounce Time
ENCODER INPUT........................... p. 41
— Encoder1
— Encoder Type
— Pulse Per Meter
— Pulse Per Revolution
— Swap Direction
— Reset
— Fault
— Min RPM
— Encoder2 (same)
DRIVER OUTPUT............................ p. 42
— Driver1
— Operation Mode
— Output Limits
— Current
— Max
— Min
— Voltage
— PWM
— Dither
— Period
— Amount
— PI
— Kp
— Ki
— Ramp
— Up
— Down
— Driver2 (same)
. . .
— Driver9 (same)
CAN INTERFACE........................... p. 43
— Baud Rate
— Node ID Source
— Node ID Low
— Node ID High
— Heartbeat Rate
— PDO Timeout
— Emergency Rate
CONFIGURATION........................... p. 44
— Nominal Voltage
— Preset Hour
— Restore Type
pg. 40
7 — SERIAL COMMUNICATIONS & PROGRAMMING
Page 45
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ANALOG INPUT PROGRAM MENU *
PARAMETER ALLOWABLE RANGE DESCRIPTION
Input Type 0, 1 Selects the analog type:
0 = Voltage type input.
1 = Resistive type input.
High Threshold 0.0 – 15.0 V Sets the threshold the analog input must go above to set the virtual digital
input High.
Low Threshold 0.0 – 15.0 V Sets the threshold the analog input must go below to set the virtual digital
input Low.
Filter Gain 1 – 16384 Sets the amount of ltering on the input.
Higher gains provide faster ltering. Filtering affects the analog reading and the
virtual digital input responsiveness.
Analog Fault On / Off On = Enable analog fault detection
Off = Disable analog fault detection
* This menu is repeated for Analog Inputs 1 – 6.
DIGITAL INPUT PROGRAM MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Input1 Debounce Time 8 – 1000 ms Sets the debounce time of Digital Input 1 in 8 ms steps.
Input2 Debounce Time 8 – 1000 ms Sets the debounce time of Digital Input 2 in 8 ms steps.
. . .
Input9 Debounce Time 8 – 1000 ms Sets the debounce time of Digital Input 9 in 8 ms steps.
ENCODER PROGRAM MENU *
PARAMETER ALLOWABLE RANGE DESCRIPTION
Encoder Type
Pulse Per Meter 0 – 65535 This parameter should be set according to the pulses per revolution and
Pulse Per Revolution 0 – 65535 This parameter should be set according to the encoder specication.
Swap Direction 0, 1 Sets the positive phase direction:
Reset 0 Sets the encoder counter to zero.
Min RPM 0 – 65535 The min RPM value to start encoder fault check. Set to 0 will disable encoder
0 – 4 Selects the encoder type:
0 = Encoder disabled.
1 = Pulse count type.
2 = RPM type.
3 = Position type.
4 = Analog 1 is used for a single sine frequency, not for a quadrature input.
Must cycle KSI for new encoder type to take effect.
Note: Type 4 is not available for Encoder 2.
displacement per revolution of the encoder:
pulses per revolution
Pulses Per Meter =
displacement per revolution (unit m)
Must cycle KSI for new setting to take effect.
0 = Positive phase when phase A is ahead of phase B
1 = Positive phase when phase B is ahead of Phase A.
Must cycle KSI for new setting to take effect.
fault detection.
* This menu is repeated for Encoders 1 and 2.
7 — SERIAL COMMUNICATIONS & PROGRAMMING
pg. 41
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DRIVER OUTPUT PROGRAM MENU *
PARAMETER ALLOWABLE RANGE DESCRIPTION
Operation Mode
Max Current 0.00 – 3.00 A Sets the maximum current output when the PDO command is 100%;
Min Current 0.00 – 3.00 A Set the minimum current output when the PDO command is none-zero;
Voltage Limit 0.0 – 36.0 V
PWM Limit 0.0 – 100.0 % Sets the maximum PWM output when the driver is operating in Direct
Dither Period 4 – 200 ms Sets the time between dither pulses (in 2 ms steps). A dither period of 4 –
Dither Amount 0 – 500 mA Sets the amount (+/-) of dither that will be added/subtracted from the
Kp 0.1 – 100.0 % Sets the proportional gain factor of the PI current controller.
Ki 0.1 – 100.0 % Sets the integral gain factor of the PI current controller.
Ramp Up 1 – 1000 ms Set the time (in ms) to go from Min to Max current.
Ramp Down 1 – 1000 ms Set the time (in ms) to go from Max to Min current.
0 – 3, 5 – 7 Selects the driver operation mode:
0 = Active High Digital Input mode.
1 = Constant Current mode.
2 = Constant Voltage mode.
3 = Direct PWM mode.
5 = Constant Current mode (with open detection).
6 = Constant Voltage mode (with open detection).
7 = Direct PWM mode (with open detection).
applicable only when the driver is operating in Constant Current mode.
applicable only when the driver is operating in Constant Current mode
Sets the maximum voltage output when the PDO command is 100%;
(36 V models)
0.0 – 80.0 V
(80 V models)
applicable only when the driver is operating in Constant Voltage mode.
PWM mode.
200 ms provides a frequency range of 250 – 5 Hz.
command (in 10 mA steps).
* This menu is repeated for Drivers 1 – 9.
pg. 42
7 — SERIAL COMMUNICATIONS & PROGRAMMING
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CAN INTERFACE PROGRAM MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Baud Rate -2 – 4 Sets the CAN baud rate:
-2 = 50 kbit/s.
-1 = 100 kbit/s.
0 = 125 kbit/s.
1 = 250 kbit/s.
2 = 500 kbit/s.
3 = 800 kbit/s.
4 = 1 Mbit/s.
Must cycle KSI or send an NMT RESET 1353 or send an NMT RESET CAN for
the new baud rate to take effect.
Node ID Source 0 – 15 Select CAN Node ID source input.
0 = No source input
1–9 = Digital input1-9 is used as the Node ID Source
10–15 = Virtual digital input1-6 is used as the Node ID Source.
Must cycle KSI or send an NMT Reset for new value to take effect.
Node ID Low 1 – 127 If Node ID Source is zero, or Node ID Source is none-zero and input value of
source is low, then apply this parameter to be the CAN Node ID.
Must cycle KSI or send an NMT Reset for new value to take effect.
Node ID High 1 – 127 If Node ID Source is none-zero and input value of source is high, then apply
this parameter to be the CAN Node ID.
Must cycle KSI or send an NMT Reset for new value to take effect.
Heartbeat Rate 0 – 1000 ms Sets the cyclic repetition rate of the heartbeat message, in 4 ms steps. Setting
this parameter to zero disables the heartbeat.
PDO Timeout 0 – 1000 ms Sets the time interval, in 4 ms steps, within which the PDO-MOSI must be
received. If the interval is longer than this set interval, a fault is agged.
Setting this parameter to zero disables the PDO timeout fault.
Emergency Rate 0 – 1000 ms Sets the minimum time, in 4 ms steps, the time that must elapse before the
1353 can send another emergency message. Setting this parameter to zero
disables the emergency message.
7 — SERIAL COMMUNICATIONS & PROGRAMMING
pg. 43
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CONFIGURATION PROGRAM MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Nominal Voltage
Preset Hour 0 – 65535 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 1353
1 – 7 Must be set to the vehicle’s nominal battery pack voltage. This parameter is
used in determining the overvoltage and undervoltage protection thresholds
for 1353
1 = 12 V
2 = 24 V
3 = 36 V
4 = 48 V
5 = 60 V
6 = 72 V
7 = 80 V
The Brownout Voltage is determined by the 1353 base type (1353-4xxx
or 1353-6xxx) and cannot be changed. If the B+ voltage stays below the
Brownout voltage for > 64 ms, the 1353 will reset (equivalent to cycling the
KSI). If the B+ voltage rises above the Brownout voltage before 64 ms have
passed, the 1353 will not reset.
is powered on.
1 = Load parameters from back-up EEPROM block.
2 = Load parameters from normal EEPROM block.
The default value for this parameter is 2. When it is programmed to 1, the
1353 will load all backup parameters after cycling KSI, and then the Restore
Type value will reset to 2.
36 V models
80 V models
pg. 44
7 — SERIAL COMMUNICATIONS & PROGRAMMING
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MONITOR MENUS
Through its monitor menus, the Curtis programmer provides access to real-time data during vehicle
operation. is information is helpful during diagnostics and troubleshooting, and also while adjusting
programmable parameters.
e monitored variables are arranged in hierarchical menus, as shown in Table 7.
Table 7 Monitor Menus: 1313/1314 Programmer
ANALOG INPUT.............................. p. 46
— Analog1
— Voltage
— Resistance
— Virtual Digital
— Analog2 (same)
— Analog3 (same)
— Analog4 (same)
— Analog5 (same)
— Analog6 (same)
DIGITAL INPUT............................... p. 46
— Input1
. . .
— Input9
ENCODER INPUT........................... p. 46
— Encoder1
— Pulse Counts
— RPM
— Position
— Encoder2 (same)
DRIVER OUTPUT............................ p. 46
— Driver1
— Current
— PWM
— Driver2 (same)
. . .
— Driver9 (same)
— Total Current
POWER SUPPLY OUTPUT............... p. 47
— 5V
— 12V
— EXT Current
TEMPERATURE............................ p. 47
BATTERY VOLTAGE........................ p. 47
HOUR METER.............................. p. 47
— Hours
— Minutes
7 — SERIAL COMMUNICATIONS& PROGRAMMING
pg. 45
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ANALOG INPUT MONITOR MENU *
PARAMETER ALLOWABLE RANGE DESCRIPTION
Voltage 0.0 – 15.6 V For modules that are congured as voltage input type, this variable displays the
input voltage value.
Resistance 0 – 7500 Ω For modules that are congured as resistive input type, this variable displays
the input resistance value.
Virtual Digital On / Off Virtual digital input state.
* This menu is repeated for Analog Inputs 1 – 6.
DIGITAL INPUT MONITOR MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Input1 On / Off Input state of Digital Input 1.
Input2 On / Off Input state of Digital Input 2
. . .
Input9 On / Off Input state of Digital Input 9
ENCODER MONITOR MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Pulse Counts -229 – 229-1 Current encoder pulse counts.
Negative counts indicate the encoder is running in the reverse direction of the
zero position.
RPM 0 – 65535 rpm Displays RPM, when the encoder type is congured as RPM mode.
Position -32.768 – 32.767 m Displays position, when the encoder type is congured as position mode.
Negative counts indicate the encoder is running in the reverse direction of the
zero position.
DRIVER OUTPUT MONITOR MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Driver1 Current 0.00 – 3.00 A Current sunk by Driver 1.
Driver1 PWM 0.0 – 100.0 % PWM % of Driver 1.
. . .
Driver9 Current 0.00 – 3.00 A Current sunk by Driver 9.
Driver9 PWM 0.0 – 100.0 % PWM % of Driver 9.
Total Current 0.00 – 18.00 A Total current of all nine drivers.
pg. 46
7 — SERIAL COMMUNICATIONS& PROGRAMMING
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POWER SUPPLY MONITOR MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Power Supply Output:
+5 V
Power Supply Output:
+12 V
Power Supply Output:
EXT Current
0.0 – 6.3 V Voltage of the +5 V output.
0.0 – 16.0 V Voltage of the +12 V output.
0 – 250 mA Combined current of the external +12 V and +5 V power supplies.
TEMPERATURE MONITOR PARAMETER
PARAMETER ALLOWABLE RANGE DESCRIPTION
Temperature -40.0 – 100.0 °C Internal temperature of the 1353.
BATTERY VOLTAGE MONITOR PARAMETER
PARAMETER ALLOWABLE RANGE DESCRIPTION
Battery Voltage 0.0 – 120.0 V Voltage of the battery.
HOUR METER MONITOR MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Hour Meter: Hours 0 – 65535 h Present hours of the hour meter.
The hourmeter runs all the time the 1353 is powered on.
Hour Meter: Minutes 0 – 59 min Present minutes of the hour meter.
FAULT MENU
e Curtis programmer provides a convenient way to access fault information; see Section 6: Faults
and Diagnostics. e programmer displays the faults by name. It displays all faults that are currently
set and also a history of all the faults that have been set since the history log was last cleared.
7 — SERIAL COMMUNICATIONS& PROGRAMMING
pg. 47
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APPENDIX A
DESIGN CONSIDERATIONS
ELECTROMAGNETIC COMPATIBILITY (EMC)
Electromagnetic compatibility (EMC) encompasses two areas: emissions and immunity. Emissions are
radio frequency (RF) energy generated by a product. is energy has the potential to interfere with
communications systems such as radio, television, cellular phones, dispatching, aircra, 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, nally, a portion is a function of the interactions between all these parts. e design techniques
presented below can enhance EMC performance in products that use Curtis motor controllers.
Emissions
Signals with high frequency content can produce signicant 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.) e 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 elds can be improved either by reducing overall circuit sensitivity
or by keeping undesired signals away from this circuitry. e 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. us immunity is generally achieved by preventing the external RF
energy from coupling into sensitive circuitry. is 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. ese wires act as antennas and the amount of RF energy coupled into them is generally
proportional to their length. e RF voltages and currents induced in each wire are applied to the
controller pin to which the wire is connected.
e Curtis 1353 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 ltering
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 1353 from outside RF
energy.
pg. 48
APPENDIX A
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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 sucient 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 elds 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. e 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 signicant 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 oending wires, plates, and touch points if ESD shock cannot
be otherwise avoided.
APPENDIX A
pg. 49
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APPENDIX B
PROGRAMMING DEVICES
Curtis programmers provide programming, diagnostic, and test capabilities for the 1353 models that
have a serial port. e power for operating the programmer is supplied by the host controller via a 4-pin
connector. When the programmer powers up, it gathers information from the controller.
Two types of programming devices are available: the 1314 PC Programming Station and the 1313
handheld programmer. e Programming Station has the advantage of a large, easily read screen; on the
other hand, the handheld programmer has the advantage of being more portable and hence convenient
for making adjustments in the eld.
Both programmers are available in User, Service, Dealer, and OEM versions. Each programmer can
perform the actions available at its own level and the levels below that—a User-access programmer can
operate at only the User level, whereas an OEM programmer has full access.
PC PROGRAMMING STATION (1314)
e Programming Station is an MS-Windows 32-bit application that runs on a standard Windows
PC. Instructions for using the Programming Station are included with the soware.
HANDHELD PROGRAMMER (1313)
e 1313 handheld programmer is functionally equivalent to the PC Programming Station; operating
instructions are provided in the 1313 manual. is programmer replaces the 1311, an earlier model
with fewer functions.
PROGRAMMER FUNCTIONS
Programmer functions include:
Parameter adjustment — provides access to the individual programmable parameters.
Monitoring — presents real-time values during vehicle operation; these include all inputs
and outputs.
Diagnostics and troubleshooting — presents diagnostic information, and also a means to clear the
fault history file.
Programming — allows you to save/restore custom parameter settings.
Favorites — allows you to create shortcuts to your frequently-used adjustable parameters and
monitor variables.
pg. 50
APPENDIX B
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APPENDIX C
SPECIFICATIONS
Table C-1 SPECIFICATIONS: 1353 MODULE
Nominal input voltage: 12 – 36 V, 36 – 80 V
Electrical isolation to heatsink: 500 V ac (minimum)
Storage ambient temperature range: –40°C to 85°C (–40°F to 185°F)
Operating ambient temperature 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
EMC: Designed to the requirements of EN 12895: 2000.
Safety: Designed to the requirements of EN 1175-1:1998+A1: 2010 and EN
13849-1: 2008 Category 2.
UL: UL recognized component per UL583.
MODEl NUMBER
1353-4001 12–36 V 8.5 V 50 V 7 V Six analog inputs; no serial port
1353-4101 12–36 V 8.5 V 50 V 7 V Four analog inputs and a serial port
1353-6001 36–80 V 15.5 V 105 V 13 V Six analog inputs; no serial port
1353-6101 36–80 V 15.5 V 105 V 13 V Four analog inputs and a serial port
NOMINAL
VOLTAGE
MINIMUM
VOLTAGE
MAXIMUM
VOLTAGE
BROWNOUT
VOLTAGE
DESCRIPTION
APPENDIX C
pg. 51
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