Page 1
Manual
Model 1355
5x High Current Output
CANopen Slave Soft Starter Module
Read Instructions Carefully!
Specications are subject to change without notice.
© 2015 Curtis Instruments, Inc. ® Curtis is a registered trademark of Curtis Instruments, Inc.
© The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc. 53220, Rev A 7/5/15
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
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CONTENTS
1. OVERVIEW ............................................................................ 1
2. INSTALLATION AND WIRING .......................................... 3
Mounting the Module ........................................................ 3
High Power Connections .................................................... 5
Low Power Connections ..................................................... 5
Wiring: Basic Configuration, 1355-X001 .......................... 8
Wiring: Basic Configuration, 1355-X101 .......................... 9
3. PROGRAMMER MENUS ................................................... 10
Program Menus ................................................................. 10
Monitor Menus ................................................................ 17
4. CANopen COMMUNICATIONS ........................................ 21
Baud Rates ....................................................................... 21
Node Addresses ................................................................ 21
Heartbeat ......................................................................... 21
Emergency Messages ........................................................ 21
PDOs ............................................................................ 23
SDOs ........................................................................... 24
Communication Prole Objects ....................................... 24
Parameter Prole Objects ................................................. 25
CONTENTS
5. DIAGNOSTICS & TROUBLESHOOTING ...................... 35
Troubleshooting Chart ...................................................... 36
appendix a Vehicle Design Considerations
appendix b Programming Devices
appendix c Specifications, 1355 Module
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A iii
Page 4
FIGURES / TABLES
FIGURES
. 1: Curtis 1355 module ................................................................ 1
. 2: Mounting dimensions, Curtis 1355 ........................................ 3
. 3a: Basic wiring diagram, 3x full bridge actuators ......................... 8
. 3b: Basic wiring diagram, 6x digital inputs ................................... 9
Fig. 4: Driver acceleration ................................................................. 14
TABLES
1: Connector pinout .................................................................. 6
2: Program menus .................................................................... 10
3: Monitor menus .................................................................... 17
4: Communication prole object dictionary ............................ 24
5: Parameter prole object dictionary ....................................... 25
6: Troubleshooting chart .......................................................... 36
C-1: Specifications, Curtis 1355 ................................................. C-1
iv
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 5
1
Fig. 1 Curtis 1355
CANopen slave soft starter
module.
1 — OVERVIEW
OVERVIEW
e Curtis Model 1355 is a 5x high-current half bridge output module for soft
start of electrical motors. e 1355 is available with either three full actuator
outputs or six digital inputs.
e module is designed to give it the exibility to be used in a variety of
sweepers/scrubbers. Typically M1–M3 are used to drive the brushed permanent
magnet motors that power the scrubbing brush pads, and M4–M5 are used to
drive the series-wound DC vacuum motors used to recover the used cleaning
solution from the oor.
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, and dust.
Features include:
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
3 Programmable DC nominal supply: 24V, 36V, or 48V
3 Five high-current half bridge drivers for motor loads (M1–M5)
3 3A driver output for a main (line) contactor, with overload protection
3 KSI input
3 CAN bus port
3 Threaded busbars for B+, B-, and the five motor loads
3 14-pin AMPSEAL connector for low-power loads (actuator loads, CAN bus,
KSI, I/O, etc.)
More Features
+
1
Page 6
1 — OVERVIEW
3 Protection from short circuits, under/over voltage, and reverse polarity
3 Capacitor bank pre-charge circuit prevents arcing
3 Field upgradeable firmware
3 IP65 sealing
3 Externally viewable dual power/status LED clearly flash the fault code
3 Serial communication port for Curtis 1311/1313/1314 programmers
3 1355-X001: three full bridge drivers for linear actuators, typically used to lift/
lower the brush deck and the squeegee and control the detergent delivery pump
3 1355-X101: six digital inputs; Digital Input 6 can be used as an interlock.
SOFT START MODE
Soft Start mode provides a linear acceleration ramp from 0V to full voltage
(pure DC, no PWM), and linear deceleration from full voltage to 0V. In this
way, it can reduce the starting current of the motor, and also can eectively
mitigate the surging problem of the inertia system when stopping.
PWM MODE
If Soft Start mode is not desired, M1–M5 can drive motors at PWM% within
the 1-hour rating.
PARALLEL MODE (M4/M5) and H-BRIDGE MODE (M1/M2)
e M4 and M5 outputs can be used in parallel to drive a single large motor
load for vacuum. e 1355 uses the parameters of M4 to control the motor.
e M1 and M2 outputs can provide bi-directional motor control by
connecting one motor load in an H-bridge conguration. e 1355 uses the
parameters of M1 to control the motor.
Both Parallel mode and H-Bridge mode can run in either Soft Start mode
or PWM mode.
Familiarity with your Curtis 1355 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.
2
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 7
2
CAUTION
+
2 — INSTALLATION & WIRING
INSTALLATION AND WIRING
MOUNTING THE MODULE
e outline and mounting hole dimensions for the 1355 module are shown in
Figure 2. e module should be securely mounted to the vehicle using four
M5 screws.
Care should be taken to prevent contaminating the connector area
before the mating14-pin connector is installed. Once the system is plugged
together, the 1355 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.
Fig. 2 Mounting
dimensions, Curtis 1355
soft starter module.
M6 x 1.0, 10 min, 2 plcs
M5 x 0.8, 10 min, 5 plcs
M4
B+
M3M3
153
M5
M2
Ø 6.00, 4 plcs
120
108
M1
Dimensions in millimeters
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
165
72
8.0
3
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2 — INSTALLATION & WIRING
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.
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.
e 1355 contains ESD-sensitive components. Use appropriate precautions in connecting, disconnecting, and handling the module. See installation
suggestions in Appendix A for protecting the module from ESD damage.
CAUTION
+
Working on electrical systems is potentially dangerous. You should
protect yourself against uncontrolled operation, high current arcs, and
outgassing from lead acid batteries:
UNCONTROLLED OPERATION — Some conditions could cause the motor to
run out of control. Disconnect the motor or jack up the vehicle and get
the drive wheels o the ground before attempting any work on the motor
control circuitry.
HIGH CURRENT ARCS — Batteries can supply very high power, and arcing can
occur if they are short circuited. Always open the battery circuit before
working on the motor control circuit. Wear safety glasses, and use properly
insulated tools to prevent shorts.
LEAD ACID BATTERIES — Charging or discharging generates hydrogen gas,
which can build up in and around the batteries. Follow the battery manufacturer’s safety recommendations. Wear safety glasses.
4
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 9
2 — INSTALLATION & WIRING: Low Current Connections
HIGH POWER CONNECTIONS
e B+ and B- connections are via female-threaded M6 busbars; the suggested
torque in 5.5 N∙m. e ve motor outputs (M1, M2, M3, M4, M5) are connected
via female-threaded M5 busbars; the suggested tightening torque is 3.5 N∙m.
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.
M1 and M2 can be used together to provide bi-directional motor control
by connecting one motor load across these two outputs, making a full bridge
conguration. e motor is controlled by the M1 programable parameters.
M4 and M5 can be used together as parallel outputs to drive a single large
motor load for vacuum operation.
M1–M5 are protected from both over and under temperature; warnings
are issued when the temperature reaches the cutback threshold and output is
disabled when the temperature reaches the cuto threshold.
CAUTION
+
LOW POWER CONNECTIONS
All connections are made through the 14-pin AMPSEAL connector. e low
power connector will mate to a 14-pin AMPSEAL wire header.
51
6 9
1410
e module’s plastic cover features a molded-in receptacle that mates with
a standard 14-pin AMPSEAL housing and includes keying features to prevent
incorrect insertion.e connector will provide a proper seal and latch for the
o-the-shelf AMPSEAL wire header/plug. Note that the 1355’s pins are not
sealed until the mating connector is fully engaged and locked.
e 14 individual pins are characterized in Table 1, for the three actuator
model (1355-X001) and the six digital input model 1355-X101).
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
5
Page 10
2 — INSTALLATION & WIRING: Low Current Connections
PIN 1355-X001 1355-X101
1 Actuator 2B Digital Input 1
2 Main Contactor Driver Main Contactor Driver
3 CAN L CAN L
4 CAN H CAN H
5 +15V +15V
6 Actuator 2A Digital Input 2
7 Serial Rx Serial Rx
8 Serial Tx Serial Tx
9 KSI KSI
Table 1 Connector Pinout
10 Actuator 3B Digital Input 3
11 Actuator 3A Digital Input 4
12 B- B-
13 Actuator 1B Digital Input 5
14 Actuator 1A Digital Input 6 (Interlock)
e pins shared by both models are described below. e remaining pins (1,
6, 10, 11, 13, 14) are model-specic and are described below the individual
wiring diagrams.
Main Contactor Driver (pin 2)
is is a low side driver to switch the main contactor coil. e output is switched
On after KSI is closed and all power on seft-tests have been completed. It will
open in the event of some severe faults in the 1355 module.
CAN L/H (pins 3, 4)
e 1355 is congured to function as a CAN slave only. A CAN master can
read all inputs and outputs, monitor values and error codes, control all outputs,
and set parameter values. ere is no end-of-line termination resistor built into
the module; if the 1355 is placed at the end of the communication lines, an
external 120 Ω ½ W resistor must be added across the lines.
return two single 8 byte PDOs over the CANopen protocol. SDOs can be sent
to program various settings and features within the module.
6
e 1355 will be controlled by two single 8 byte CAN PDOs and will
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 11
2 — INSTALLATION & WIRING: Low Current Connections
e following CAN status messages are transmitted: actual current,
overload warning, overload trip, over current, motor open fault, motor short
fault, etc.
e following CAN commands are received: On, O, % PWM, current
limit value, overload time value, etc.
CAN wiring should be kept away from the high current cables and cross
it at right angles when necessary.
+15V and GND (pins 5, 12)
e +15V power supply for the programmer provides short circuit protection;
the maximum output is 60 mA. e ground at pin 12 completes the programmer circuit.
Serial Rx/Tx (pins 7, 8)
ese provide the serial receive and transmit data channels for the programmer.
KSI (pin 9)
e KSI input turns the 1355 on and o via the vehicle’s keyswitch. e internal
DC/DC has 0.51 A current limit protection, and a TVS clamps the KSI input
in the event of over voltage.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
7
Page 12
2 — INSTALLATION & WIRING: Standard Wiring Diagram, 1355-X001
WIRING: BASIC CONFIGURATION
Basic wiring diagrams are shown in Figure 3a (for the actuator models) and in
Figure 3b (for the digital input models).
KEY SWITCH
FROM MAIN
CONTROL BOARD
SQEEGEE
ACTUATOR
DECK
ACTUATOR
DETERGENT
PUMP
CAN PORT
SERIAL PORT
(4-pin Molex)
4
3
1
2
MAIN COIL
M
M
M
J2-2
J2-9
J2-14
J2-13
J2-6
J2-1
J2-11
J2-10
J2-4
J2-3
J2-5
J2-8
J2-7
J2-12
MAIN DRIVER
KSI
M6+
M6-
M7+
M7-
M8+
M8-
CAN H
CAN L
+15V
Tx
Rx
GND
B+
M1
M2
M3
M4
M5
B-
RIGHT BRUSH
M
LEFT BRUSH
M
SIDE SWEEP
M
VACUUM 1
M
VACUUM 2
M
MAIN
CONTACTOR
POWER
FUSE
BATTERY
Fig. 3a Basic wiring diagram, Curtis 1355-X001 module.
1355-X001 Actuator Outputs (pins 1, 6, 10, 11, 13, 14)
ree full bridge linear actuator drivers can be used to lift/lower the brush deck
and the squeegee, and control the detergent delivery pump with control logic
from the CAN master.
acceptable.
be stopped if a large increase of output current is detected. It is not possible to
operate the motor in the stalled direction until the actuator is rst operated in
the opposite direction.
onds. is allows for high start-up currents and momentary overloads.
8
1355-X001
100% PWM (pure DC) is not required; 0–95% PWM modulation is
Stall Current Limit is programmable from 2.0 to 10.0 A. e actuator will
e Stall Current Debounce Time is programmable from 0.0 to 5.0 sec-
Accel/Decel is programmable from 0.1 to 2.0 seconds.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 13
2 — INSTALLATION & WIRING: Standard Wiring Diagram, 1355-X101
KEY SWITCH
FROM MAIN
CONTROL BOARD
CAN PORT
SERIAL PORT
(4-pin Molex)
4
3
1
2
MAIN COIL
SWITCH 1
SWITCH 2
SWITCH 3
SWITCH 4
SWITCH 5
SWITCH 6
J2-2
J2-9
J2-1
J2-6
J2-10
J2-11
J2-13
J2-14
J2-4
J2-3
J2-5
J2-8
J2-7
J2-12
MAIN DRIVER
KSI
DIGITAL INPUT 1
DIGITAL INPUT 1
DIGITAL INPUT 2
DIGITAL INPUT 3
DIGITAL INPUT 4
DIGITAL INPUT 5
DIGITAL INPUT 6
(INTERLOCK)
CAN H
CAN L
+15V
Tx
Rx
GND
B+
M1
M2
M3
M4
M5
B-
RIGHT BRUSH
M
LEFT BRUSH
M
SIDE SWEEP
M
VACUUM 1
M
VACUUM 2
M
MAIN
CONTACTOR
POWER
FUSE
BATTERY
1355-X101
Fig. 3b Basic wiring diagram, Curtis 1355-X101 module.
1355-X101 Digital Inputs (pins 1, 6, 10, 11, 13, 14)
e six digital inputs can be programmed as remote inputs from CAN or as
command switches via a programmer or over the CAN bus (SDO).
Input voltage range:
1355-4101 0–60 V
1355-5101 0–80 V.
Sink current:
1355-4101 3 mA at 60 V
1355-5101 3 mA at 80 V.
High level threshold: >10 V.
Pin 14 can be used as a digital input or as an interlock. When it is used as an
interlock, this pin provides a second enable input such as a seat switch, a pedal
switch, or a charger inhibit.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
9
Page 14
3 — PROGRAMMER MENUS
PROGRAMMER MENUS
3
e Curtis handheld 1311/1313 programmer or 1314 PC programming station
can be used to adjust the programmable parameters, to read various monitored
values, and to access fault information. For information on the programmers,
see Appendix B.
Program Menus
e programmable parameters are arranged in menus, as shown in Table 2.
Table 2 Program Menus: 1311/1313 /1314 Programmer
CONFIGURATION .......................... p. 11
—Nominal Voltage
—Overvoltage Warning Range
—Undervoltage Warning Range
MAIN CONTACTOR ........................ p. 11
—Contactor Control
—Pull In Voltage
—Holding Voltage
—Main Contactor Current Limit
INTERLOCK b ................................ p. 12
—Interlock Type
—Startup Lockout Type
—Sequence Delay
M1–M5 ........................................ p. 13
—Enable
—Current Limit
—Regen Current Limit
—Motor Open Current
—Accel
—Decel
—PWM Demand
—Overload Time
—Controlled By
—Inhibited By
—Output Off Delay
a
1355-X001 only
b
1355-X101 only
b
b
b
b
b
b
ACTUATOR 1 – ACTUATOR 3 a ........ p. 14
—Enable
—Stall Current Limit
—Stall Current Debounce
—Accel
—Decel
MODE .......................................... p. 15
—Operation Mode b
—M1 PWM Mode
—M2 PWM Mode
—M3 PWM Mode
—M4 PWM Mode
—M5 PWM Mode
—M1 M2 H Bridge Mode
—M4 M5 Parallel Mode
—M1 M2 H Bridge Direction Input
CAN INTERFACE ........................... p. 16
—Node ID
—Baud Rate
—Heartbeat Rate
—PDO Timeout
MISC b ......................................... p. 16
—Digital Input 1 Normally Closed b
—Digital Input 2 Normally Closed
—Digital Input 3 Normally Closed
—Digital Input 4 Normally Closed
—Digital Input 5 Normally Closed
—Digital Input 6 Normally Closed
a
a
a
a
a
b
b
b
b
b
b
10
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 15
3 — PROGRAMMER: PROGRAM MENUS
CONFIGURATION MENU
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Nominal Voltage 24.0 – 36.0 V Sets the nominal voltage.
36.0 – 48.0 V 24.0 – 36.0 V for the 1355-4X01.
36.0 – 48.0 V for the 1355-5X01.
Overvoltage 2.0 – 14.0 V Sets the allowed voltage above the nominal
Warning Range voltage. When the capacitor bank voltage
exceeds (Nominal Voltage + Overvoltage
Warning Range), an Overvoltage Warning
message is issued on the CAN bus and
programmer.
Undervoltage 2.0 – 14.0 V Sets the allowed voltage below the nominal
Warning Range voltage. When the capacitor bank voltage drops
below (Nominal Voltage - Undervoltage Warning
Range), an Undervoltage Warning message is
issued on the CAN bus and programmer.
MAIN CONTACTOR MENU
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Contactor Control On / Off When programmed On, the 1355 controls
the main contactor.
When programmed Off, the main contactor
is controlled by an external device.
Pull In Voltage 0 – 100 % This parameter allows a high initial voltage
whenthemaincontactorrstturnson,thus
ensuring contactor closure. After 1 second,
this peak voltage drops to the contactor
holding voltage.
Holding Voltage 0 – 100 % This parameter allows a reduced average
voltage to be applied to the contactor coil
once it has closed. This parameter must be
set high enough to hold the contactor closed
under all shock and vibration conditions the
vehicle will be subjected to.
Main Contactor 150 – 250 A This parameter limits the max current on the
Current Limit contactor. If the current is higher than the
programmed limit, the 1355 will limit the
current of all the outputs so as to bring the
main contactor current below its allowed
limit. Meanwhile, the 1355 will report the
fault on the CAN bus and programmer.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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Page 16
3 — PROGRAMMER: PROGRAM MENUS
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Interlock Type 0 –4 1 Selects the interlock type.
0 = Interlock turns on with Digital Input 6.
Startup Lockout Type 0 – 2 Selects the startup lockout type.
0 = No startup lockout.
1 = KSI-type startup lockout.
2 = Interlock-type startup lockout.
INTERLOCK MENU (1355-X101 only)
1 = Interlock turns on with KSI.
To start the motors, KSI must be turned
on before a startup request is received.
Controller operation will be disabled
immediately if the startup request is
active before KSI is enabled, and a
sequence fault will be declared. If the
startup request is received before
interlock switch On but after KSI On,
the motor will accelerate to the
requested speed as soon as interlock
switch is closed.
To start the motors, the interlock must
be turned on before receiving a startup
request. Controller operation will be
disabled immediately if the startup
request is active before the interlock
switch is closed, and a sequence fault
will be declared.
Normal operation is restored after a startup lockout
by reapplying the startup request in the correct
sequence.
Sequence Delay 0.0 – 5.0 s Sets the PWM output shutoff delay after the
12
interlock switch is turned off.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 17
3 — PROGRAMMER: PROGRAM MENUS
M1 — M5 MENU *
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Enable On / Off This parameter enables/disables the driver
output and fault check.
Note: Some severe faults, such as motor
short and current sensor fault, will still be
checked even when this parameter is disabled.
Current Limit 10 – 100 A Sets the maximum current for the driver.
(24–36V models)
10 – 70 A
(36–48V models)
Regen Current 10 – 100 A Sets the maximum current for the driver when
Limit
(24–36V models)
operating in regen mode.
10 – 70 A
(36–48V models)
Motor Open 0.0 – 10.0 A Sets the minimum output current for this driver,
Current below which a motor open fault is declared
when the motor is running.
Accel 0.1 – 2.0 s Sets the rate (in seconds) at which the driver
output accelerates from zero to 100% PWM;
see Figure 4.
Decel 0.1 – 2.0 s Sets the rate (in seconds) at which the driver
output decelerates from 100% PWM to zero.
PWM Demand 0 – 100 % Sets the requested PWM when operating in
PWM mode.
Overload Time 1 – 20 s During current limiting, the Overload Trip
timer Increases. If the timer exceeds the
Overload Time, output will be shut down.
Controlled By 0 – 6 Thisparameterdeneswhichdigitalinputwill
(1355-X101 only) turn the driver.
0 = driver not controlled by any digital input.
1– 6 = driver controlled by digital input 1– 6.
Inhibited By 0 – 6 Thisparameterdeneswhichdigitalinputwill
(1355-X101 only) inhibit the driver.
0 = driver not inhibited by any digital input.
1– 6 = driver inhibited by digital input 1– 6.
Output Off Delay 0.0 – 30.0 s The PWM will be shut off after the programmed
* Thismenuisrepeatedforeach ofthevemotordrivers.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Output Off Delay time expires following a stop
command.
13
Page 18
3 — PROGRAMMER: PROGRAM MENUS
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Enable On / Off This parameter enables/disables the actuator
Stall Current Limit 2 – 10 A Sets the maximum stall current for this actuator.
Stall Current Debounce 0.0 – 5.0 s This parameter allows a high startup current
Accel 0.1 – 2.0 s Sets the rate (in seconds) at which the
ACTUATOR 1 — ACTUATOR 3 MENU (1355-X001 only) *
output and fault check.
Note: Some severe faults, such as motor
short and current sensor fault, will still be
checked even when this parameter is disabled.
and momentary overload. If the Stall timer
exceeds the programmed debounce time,
a stall fault is declared. It is not possible to
operate the motor in the stalled direction until
theactuatorisrstoperatedintheopposite
direction.
actuator output accelerates from zero to
100% PWM; see Figure 4.
Fig. 4 Driver acceleration.
Decel 0.1 – 2.0 s Sets the rate (in seconds) at which the
actuator decelerates.
* This menu is repeated for each of the three actuators.
PWM DEMAND
0 %
ACCEL
PWM accelerates from 0% to the programmed PWM Demand parameter at the rate
set by the Mx Accel or ActuatorX Accel parameters, and keeps that PWM setting. The
Accel parameters can be adjusted (over the CAN bus or with a Curtis programer) from
0.1 to 2.0 seconds.
Note: In Soft Start mode the PWM Demand is not programmed and is always 100%.
TIME
14
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 19
3 — PROGRAMMER: PROGRAM MENUS
MODE MENU
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Operation Mode 0 –4 1 Deneswhetherthe1355willbeindependent
(1355-X101 only) of the CAN system or be a CAN slave.
0 = Independent mode.
1 = CAN Slave mode.
M1 PWM Mode On / Off Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M2 PWM Mode On / Off Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M3 PWM Mode On / Off Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M4 PWM Mode On / Off Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M5 PWM Mode On / Off Determines whether the motor will run in PWM
mode or in Soft Start mode.
On = PWM mode.
Off = Soft Start mode.
M1 M2 H Bridge Mode On / Off Determines whether H Bridge mode is active.
On = H Bridge mode active.
Off = H Bridge mode inactive.
M4 M5 Parallel Mode On / Off Determines whether Parallel mode is active.
On = Parallel mode active.
Off = Parallel mode inactive.
M1 M2 H Bridge 1 – 6 Selects the digital input that will be the direction
Direction Input command for the M1 M2 H bridge.
(1355-X101 only) When the selected input is On, the motor
will run forward.
When the selected input is Off, the motor
will run in reverse.
This parameter is ignored when the 1355 is
working in CAN Slave mode.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
15
Page 20
3 — PROGRAMMER: PROGRAM MENUS
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Node ID 1 – 127 Sets the Node ID of the 1355 CANopen slave system.
Baud Rate 0 – 2 Sets the CAN bus baud rate.
0 = 125 kbps.
Heartbeat Rate 16 – 1000 ms Sets the rate at which heartbeat messages are sent
PDO Timeout 0 – 1000 ms Sets the PDO timeout period.
CAN INTERFACE MENU
Must cycle KSI or send an NMT RESET 1355
or an NMT RESET CAN for the new ID to take
full effect.
1 = 250 kbps.
2 = 500 kbps.
Must cycle KSI or send an NMT RESET 1355 or
an NMT RESET CAN for the new rate to take effect.
from the 1355.
After the 1355 has sent a PDO MISO, it will
declare a PDO Timeout Fault if the master controller
has not sent a reply PDO-MOSI message within the
programmed time. Either PDO1 MOSI or PDO2 MOSI
will reset the timer.
Setting this PDO Timeout = 0 will disable this fault
check.
MISC MENU (1355-X101 only)
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Digital Input 1 Normally Closed On / Off On = Normally closed.
Off = Normally open.
Digital Input 2 Normally Closed On / Off On = Normally closed.
Off = Normally open.
Digital Input 3 Normally Closed On / Off On = Normally closed.
Off = Normally open.
Digital Input 4 Normally Closed On / Off On = Normally closed.
Off = Normally open.
Digital Input 5 Normally Closed On / Off On = Normally closed.
Off = Normally open.
Digital Input 6 Normally Closed On / Off On = Normally closed.
Off = Normally open.
16
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 21
3 — PROGRAMMER: MONITOR MENUS
Monitor Menus
rough 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 menus, as shown in Table 3.
Table 3 Monitor Menus: 1311/1313 /1314 Programmer
CURRENT .................................. p. 18
—M1 Current
—M2 Current
—M3 Current
—M4 Current
—M5 Current
—Actuator 1 Current
—Actuator 2 Current
—Actuator 3 Current
VOLTAGE ................................... p. 18
—KSI Voltage
—Battery Voltage
DUTY CYCLE ............................. p. 19
—M1 Duty Cycle
—M2 Duty Cycle
—M3 Duty Cycle
—M4 Duty Cycle
—M5 Duty Cycle
—Actuator 1 Duty Cycle
—Actuator 2 Duty Cycle
—Actuator 3 Duty Cycle
a
a
a
a
a
a
CONTROLLER ............................ p. 20
—Internal Temperature
—Contactor State
—Interlock
—Digital Input 1
—Digital Input 2
—Digital Input 3
—Digital Input 4
—Digital Input 5
—Digital Input 6
b
b
b
b
b
b
b
—M1 Hourmeter
—M2 Hourmeter
—M3 Hourmeter
—M4 Hourmeter
—M5 Hourmeter
—Actuator 1 Hourmeter
—Actuator 2 Hourmeter
—Actuator 3 Hourmeter
a
a
a
—CAN NMT State
a
1355-X001 only
b
1355-X101 only
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
17
Page 22
3 — PROGRAMMER: MONITOR MENUS
DISPLAY
PARAMETER RANGE DESCRIPTION
M1 Current -150.0 – 150.0 A M1 motor current.
M2 Current -150.0 – 150.0 A M2 motor current.
M3 Current -150.0 – 150.0 A M3 motor current.
M4 Current -150.0 – 150.0 A M4 motor current.
M5 Current -150.0 – 150.0 A M5 motor current.
Actuator1 Current 0.0 – 15.0 A Actuator1 motor current.
(1355-X001 only)
Actuator2 Current 0.0 – 15.0 A Actuator2 motor current.
(1355-X001 only)
CURRENT MONITOR MENU
Actuator3 Current 0.0 – 15.0 A Actuator3 motor current.
(1355-X001 only)
VOLTAGE MONITOR MENU
DISPLAY
PARAMETER RANGE DESCRIPTION
KSI Voltage 0.0 – 80.0 V Voltage at KSI input, pin 9.
Battery Voltage 0.0 – 80.0 V Voltage at the B+ busbar.
18
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 23
3 — PROGRAMMER: MONITOR MENUS
DUTY CYCLE MONITOR MENU
DISPLAY
PARAMETER RANGE DESCRIPTION
M1 Duty Cycle 0 – 100 % M1 output duty cycle.
M2 Duty Cycle 0 – 100 % M2 output duty cycle.
M3 Duty Cycle 0 – 100 % M3 output duty cycle.
M4 Duty Cycle 0 – 100 % M4 output duty cycle.
M5 Duty Cycle 0 – 100 % M5 output duty cycle.
Actuator1 Duty Cycle -100 – 100 % Actuator1 output duty cycle.
(1355-X001 only)
Actuator2 Duty Cycle -100 – 100 % Actuator2 output duty cycle.
(1355-X001 only)
Actuator3 Duty Cycle -100 – 100 % Actuator3 output duty cycle.
(1355-X001 only)
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
19
Page 24
3 — PROGRAMMER: MONITOR MENUS
DISPLAY
PARAMETER RANGE DESCRIPTION
Internal Temperature -40 – 125°C The internal temperature of the
Contactor State On / Off Displays the state of the main
Interlock On / Off Displays the state of the interlock.
(1355-X101 only)
Digital Input 1 On / Off State of Digital Input 1.
(1355-X101 only)
. . .
Digital Input 6 On / Off State of Digital Input 6.
(1355-X101 only)
CONTROLLER MONITOR MENU
controller.
contactor.
On = main contactor closed.
Off = main contactor open.
M1 Hourmeter 0 – 65535 hr M3 output duty cycle.
M2 Hourmeter 0 – 65535 hr M3 output duty cycle.
Each hourmeter
M3 Hourmeter 0 – 65535 hr M3 output duty cycle.
accumulates
“On” time
M4 Hourmeter 0 – 65535 hr M3 output duty cycle.
while its
corresponding motor
M5 Hourmeter 0 – 65535 hr M3 output duty cycle.
is running.
Actuator1 Hourmeter 0 – 65535 hr Actuator1 output duty cycle.
(1355-X001 only)
Actuator2 Hourmeter 0 – 65535 hr Actuator2 output duty cycle.
(1355-X001 only)
Actuator3 Hourmeter 0 – 65535 hr Actuator3 output duty cycle.
(1355-X001 only)
CAN NMT State 0 – 127 Displays the NMT state of the 1355.
0 = Initialization.
4 = Stopped.
5 = Operational.
127 = Pre-operational.
20
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 25
4
4 — CANopen COMMUNICATIONS
CANopen COMMUNICATIONS
e 1355 follows the industry trend (which Curtis proposed and supports) toward
CANopen communications. e 1355 runs the minimum state machine, which
contains the standard mandatory objects and follows the recommended SDO
addressing scheme. e CANopen protocol application layer is fully compatible
with Curtis AC motor controllers and system controllers, such as the 1310.
e 1355 processes two incoming PDOs (MOSI) and responds with two
outgoing PDOs (MISO). ese PDOs use a dynamic mapping method. All
programmable parameters and monitor parameters are accessible by standard
SDO transfer.
e time between incoming PDOs is monitored and if excessive, a fault
will be reported. is allows the 1355 to know whether the system is under
master control. e 1355 also produces a cyclic Heartbeat message, which is
the CiA-preferred method for slave error control.
Emergency messages are sent sporadically whenever an error status ag
within the 1355 changes state. A minimum time between emergency messages
prevents the bus from being ooded.
BAUD RATES
e 1355 runs at one of three selectable baud rates: 125 kbps, 250 kbps, or
500 kbps. e baud rate can be changed by a Curtis programmer or by an SDO.
Changes in the baud rate require an NMT reset or key cycle.
NODE ADDRESSES
e node address is used to route messages to the 1355 and to denote messages
from the 1355. e node address is part of the COB ID and therefore also
plays a part in message priority and bus arbitration.
e 1355 can be assigned node address 1 through 127; node address 0
is reserved and unavailable.
Changes to the node address require an NMT reset or key cycle.
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 1355 completes its initialization, the rst
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.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
21
Page 26
4 — CANopen COMMUNICATIONS
EMERGENCY MESSAGES
Emergency messages are high priority messages that announce the setting or
clearing of a fault in a slave device. ese messages are originated by the slave,
which sends 8 bytes of data.
“Error Categories” from an extensive list of possible Error Categories dened
by CANopen. e fault reporting scheme ensures that one Emergency message
is sent in a CAN bus processing cycle during which one or more faults within
a given Error Category have been set or cleared. If a single fault has occurred
since the last processing cycle, then only one Emergency message is sent until
such time as either a new fault is detected or the previously reported fault has
cleared. If multiple faults are detected in a given cycle, the rst fault is sent
immediately, and the remaining faults are queued. Queued faults are sent on
successive processing cycles until the queue is empty. e same scheme applies to
the concurrent clearing of faults and their corresponding Emergency messages.
to the CANopen mandatory Error Register and Error Category. Note: Bit 0 of
the Error Register object must always be set to 1 in any error situation.
Internal to the device, each fault is mapped to one of the device’s supported
e Emergency message will have device-specic fault bytes in addition
Data Bytes 1 and 2 – Error Category
ese data bytes, which are not explicitly dened by CANopen, are used
to provide narrower categorization up to and including individual faults when
deemed appropriate. e error category value implies the values that will appear in bytes 4 through 8 of the error message (the “Manufacture Specic Error
Field”). ese additional bytes are used to provide supporting information about
the particular fault or faults being reported in an Error Category by a given
Emergency message. e following error categories are dened:
0x0000 Fault Reset or No Fault
0x1000 Generic Fault
0x1001 Generic Fault
Please refer to the product specic CANopen implementation manual for lists
of errors occurring under each of these categories
Data Byte 3 – Error Register
CANopen requires that the object ID of the error_register be included in
each Emergency message. Currently, only bit 0 of the Error Register is dened.
is bit is set when any of the faults are set.
Data Bytes 4 through 8 – Manufacture Specic Error Field
e values that appear in these last 5 bytes depend on the Error Category
that is being reported. e last 5 bytes are dened as follows.
0x1000 Diagnostic1 Diagnostic2 Diagnostic3 Diagnostic4 Diagnostic5
0x1001 Diagnostic6 Diagnostic7 Diagnostic8 Diagnostic9 Diagnostic10
22
Error
Category
Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 27
4 — CANopen COMMUNICATIONS: PDOs
PDOs
e PDO (Process Data Object) communication packets conserve bus bandwidth by bundling the values of a group of objects into a single message. e
1355 uses four PDOs, two from the system master and two responsive PDOs
sent from the 1355 itself. e content of these PDOs can be dynamic mapped
as Curtis AC motor controllers. PDO messages have a medium priority and
always carry 8 bytes of data. e Curtis CANopen implementation requires
that the incoming (Master Out Slave In) PDOs be immediately responded to
by an outgoing (Master In Slave Out) PDO. e 1355 will respond to the
PDO-MOSI with its PDO-MISO within 16 ms.
e 1355 requires that the PDO-MOSI be cyclic from the master. e
cycle time must be less than the programmed PDO Timeout. If the PDOMOSI is not received within the programmed time, the 1355 will ag a fault
and enter the Pre-Operational State. If the PDO Timeout parameter is set to 0,
the timeout fault is disabled and the 1355 will respond to any PDO incoming
at any rate without faulting.
ese charts show the PDOs exchanged by the 1355 with default mapping.
PDO1-MOSI (received from the system master)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Actuator 1 Actuator 1 Actuator 2 Actuator 2 Actuator 3 Actuator 3 M1 PWM M1 PWM
PWM Low PWM High PWM Low PWM High PWM Low PWM High Demand Demand
Low High
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
Actuator 1 Actuator 1 Actuator 2 Actuator 2 Actuator 3 Actuator 3 M1 PWM M1 PWM
Current Current Current Current Current Current Current Current
Low High Low High Low High/switch Low High
inputs status
PDO2-MOSI (received from the system master)
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
M2 PWM M2 PWM M3 PWM M3 PWM M4 PWM M4 PWM M5 PWM M5 PWM
Demand Demand Demand Demand Demand Demand Demand Demand
Low High Low High Low High Low High
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
M2 Current M2 Current M3 Current M3 Current M4 Current M4 Current M5 Current M5 Current
Low High Low High Low High Low High
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
PDO2-MISO (sent in response to the system master)
Note: Actuator objects are only for the 1355-X001.
The switch inputs status object is only for the 1355-X101.
23
Page 28
4 — CANopen COMMUNICATIONS: SDOs
SDOs
SDOs (Service Data Objects) are low priority packets that are designed for
sporadic and occasional use during normal runtime operation. ere are two
types of SDOs: expedited and block transfer. e 1355 does not support large
le uploads or downloads (using the block transfer), so all the SDOs used by
the 1355 are expedited SDOs.
e SDOs in the 1355 are used to set up and parameterize the module.
ey are also used to retrieve basic module information (such as version or
manufacture date) and monitor a few key internal variables (mostly for system
debug purposes). ere are two types of SDO objects: Communication Prole
Objects and Parameter Prole Objects.
COMMUNICATION PROFILE OBJECTS
e communiction prole objects are shown below in Table 4.
Table 4 Communication Prole Object Dictionary
value
name access index sub-index bytes description
DeviceType RO 0x1000 0x00 0x00000000 PredenedtypeofCANmodule.
4 bytes
Error Register RO 0x1001 0x00 0x00 or 0x01 = 0x01 if there is an error.
1 byte = 0x00 if there are no errors.
Node ID RW 0x100B 0x00 0x01 – 0x7F Node ID of this 1355 module.
1 byte
EmergencyCOBID RO 0x1014 0x00 0x00000080– 11-bitidentieroftheemergency
0x000000FF message. Only the lowest 11 bits
4 bytes are valid. All other bits must be 0.
Heartbeat Rate RW 0x1017 0x00 16 ms – 1 s, Sets the cyclic repetition rate of the
in 4 ms steps heartbeat message.
2 bytes
Identity Object RO 0x1018 0x00 0x06 Length of this structure = 6 subindexes.
1 byte
4 bytes
0x02 0x054B0FA1 Product code:
4 bytes 2 upper bytes = 1355.
2 lower bytes = model, X001 or X101.
0x03 0x01020304 Master version in upper 2 bytes and
4 bytes Slave version in lower 2 bytes.
The bytes are split upper byte for HW
and lower byte for SW.
Example: Master HW version 1 with
SW version 2, and Slave HW version 3
with SW version 4 = 01020304.
For 1355-X101, the lower 2 bytes are 0.
0x04 0 – 999999 Serial number, up to 999,999.
4 bytes
0x05 1–99366 Date code up to 99, Dec 31.
4 bytes
0x06 A–Z ASCII code of manufacturer’s location.
0x41 – 0x5A
0x01 0x00434900 CurtisIDasdenedbyCiA.
24
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 29
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
PARAMETER PROFILE OBJECTS
e parameter prole objects are shown in Table 5.
Table 5 Parameter Prole Object Dictionary
range
name access index sub-index raw mapping description
PDO1 MOSI Parameters RO 0x1400 0x00 1 No Number of PDO1 MOSI parameters.
0x01 n/a TherstparametersofPDO1MOSI.
PDO2 MOSI Parameters RO 0x1401 0x00 1 No Number of PDO2 MOSI parameters.
0x01 n/a TherstparametersofPDO2MOSI.
PDO1 MOSI Mapping RW 0x1600 0x00 n/a No Number of mapped application objects
in PDO1 MOSI.
PDO1 MOSI Mapping 1 0x01 PDO1 MOSI mapping for the 1st
application object to be mapped.
PDO1 MOSI Mapping 2 0x02 PDO1 MOSI mapping for the 2nd
application object to be mapped.
. . . . . .
PDO1 MOSI Mapping 8 0x08 PDO1 MOSI mapping for the 8th
application object to be mapped.
PDO2 MOSI Mapping RW 0x1601 0x00 n/a No Number of mapped application objects
in PDO2 MOSI.
PDO2 MOSI Mapping 1 0x01 n/a No PDO2 MOSI mapping for the 1st
application object to be mapped.
PDO2 MOSI Mapping 2 0x02 n/a No PDO2 MOSI mapping for the 2nd
application object to be mapped.
. . . . . .
PDO2 MOSI Mapping 8 0x08 PDO2 MOSI mapping for the 8th
application object to be mapped.
PDO1 MISO Parameters RO 0x1800 0x00 1 No Number of PDO1 MISO parameters.
0x01 n/a TherstparametersofPDO1MISO.
PDO2 MISO Parameters RO 0x1801 0x00 1 No Number of PDO2 MISO parameters.
0x01 n/a TherstparametersofPDO2MISO.
PDO1 MISO Mapping RW 0x1A00 0x00 n/a No Number of mapped application objects
in PDO1 MISO.
PDO1 MISO Mapping 1 0x01 n/a No PDO1 MISO mapping for the 1st
application object to be mapped.
PDO1 MISO Mapping 2 0x02 n/a No PDO1 MISO mapping for the 2nd
application object to be mapped.
. . . . . .
PDO1 MISO Mapping 8 0x08 n/a No PDO1 MISO mapping for the 8th
application object to be mapped.
PDO1 MOSI mapping for 3rd–7th objects.
n/a No PDO2 MOSI mapping for 3rd–7th objects.
n/a No PDO1 MISO mapping for 3rd–7th objects.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
25
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4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Prole Object Dictionary, cont’d
range
name access index sub-index raw mapping description
PDO2 MISO Mapping RW 0x1A01 0x00 n/a No Number of mapped application objects
in PDO2 MISO.
PDO2 MISO Mapping 1 0x01 PDO2 MISO mapping for the 1st
application object to be mapped.
PDO2 MISO Mapping 2 0x02 PDO2 MISO mapping for the 2nd
application object to be mapped.
. . . . . .
PDO2 MISO Mapping 8 0x08 PDO2 MISO mapping for the 8th
application object to be mapped.
Nominal Voltage RW 0x3048 0x00 1536 –2304, No 24–36V for 1355-4X01,
2304–3072 36–48V for 1355-5X01.
M1CurrentLimit RW 0x3101 0x00 100–1000, No DenesthemaximumcurrentofM1:
or 100 –700 10 –100A for 1355-4X01 and
10 –70A for 1355-5X01.
M2CurrentLimit RW 0x3102 0x00 100–1000, No DenesthemaximumcurrentofM2:
or 100 –700 ranges are as shown for M1.
M3CurrentLimit RW 0x3103 0x00 100–1000, No DenesthemaximumcurrentofM3:
or 100 –700 ranges are as shown for M1.
M4CurrentLimit RW 0x3104 0x00 100–1000, No DenesthemaximumcurrentofM4:
or 100 –700 ranges are as shown for M1.
M5CurrentLimit RW 0x3105 0x00 100–1000, No DenesthemaximumcurrentofM5:
or 100 –700 ranges are as shown for M1.
Motor Control RW 0x3106 0x00 0 –255 Yes bit0 controls M1 1=Run 0=Stop.
bit1 controls M2 1=Run 0=Stop.
bit2 controls M3 1=Run 0=Stop.
bit3 controls M4 1=Run 0=Stop.
bit4 controls M5 1=Run 0=Stop.
bit5 controls H Bridge direction:
1=Fwd 0=Rev. Note: in H-Bridge mode,
the 1355 uses the parameters of M1;
M2’sparametersareignored.
Motor Mode RW 0x3107 0x00 0 –255 Yes bit0 M1 PWM mode 1=Active 0=Inactive.
bit1 M2 PWM mode 1=Active 0=Inactive.
bit2 M3 PWM mode 1=Active 0=Inactive.
bit3 M4 PWM mode 1=Active 0=Inactive.
bit4 M5 PWM mode 1=Active 0=Inactive.
M1 Overload Time RW 0x3108 0x00 1000 –20000 No
M2 Overload Time RW 0x3109 0x00 1000 –20000 No
M3 Overload Time RW 0x310A 0x00 1000 –20000 No
M4 Overload Time RW 0x310B 0x00 1000 –20000 No
M5 Overload Time RW 0x310C 0x00 1000 –20000 No
PDO2 MISO mapping for 3rd–7th objects.
Denesthemaxoverloadtime:
1000 – 20000 ms.
The output is shut down once the
timer expires.
26
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 31
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Prole Object Dictionary, cont’d
range
name access index sub-index raw mapping description
M1 Accel RW 0x310D 0x00 1– 20 No 0.1– 2.0 s
M2 Accel RW 0x310E 0x00 1– 20 No 0.1– 2.0 s
M3 Accel RW 0x310F 0x00 1– 20 No 0.1– 2.0 s
M4 Accel RW 0x3113 0x00 1– 20 No 0.1– 2.0 s
M5 Accel RW 0x3114 0x00 1– 20 No 0.1– 2.0 s
M1 PWM Demand RW 0x3118 0x00 0 –32767 Yes 0 –100 %
M2 PWM Demand RW 0x3119 0x00 0 –32767 Yes 0 –100 %
M3 PWM Demand RW 0x311A 0x00 0 –32767 Yes 0 –100 %
M4 PWM Demand RW 0x311B 0x00 0 –32767 Yes 0 –100 %
M5 PWM Demand RW 0x311C 0x00 0 –32767 Yes 0 –100 %
M1 M2 H Bridge Mode RW 0x311D 0x00 0 –1 No 0 = H Bridge mode inactive; 1= H Bridge
mode active.
M4 M5 Parallel Mode RW 0x311E 0x00 0 –1 No 0 = Parallel mode inactive; 1= Parallel
mode active. Note: In Parallel mode,
the1355usesM4’sparameters.M5’s
parameters are ignored except for the
current limit. The current limit range in
Parallel mode is 20–200A, which is the
total current limit of M4 and M5.
Motor Enable RW 0x311F 0x00 0 –255 No bit0 M1 Enable.
bit1 M2 Enable.
bit2 M3 Enable.
bit3 M4 Enable.
bit4 M5 Enable.
bit5 Actuator1 Enable. a
bit6 Actuator2 Enable. a
bit7 Actuator3 Enable. a
When the output is disabled, the 1355
will not check the relative faults except
for some severe faults such as motor
short and current sensor fault.
M1 Duty Cycle RO 0x3120 0x00 0 –32767 Yes 0 – 100%
M2 Duty Cycle RO 0x3121 0x00 0 –32767 Yes 0 – 100%
M3 Duty Cycle RO 0x3122 0x00 0 –32767 Yes 0 – 100%
M4 Duty Cycle RO 0x3123 0x00 0 –32767 Yes 0 – 100%
M5 Duty Cycle RO 0x3124 0x00 0 –32767 Yes 0 – 100%
M1 Armature Current RO 0x3126 0x00 -1500 –1500 Yes -150.0 –150.0 A
M2 Armature Current RO 0x3127 0x00 -1500 –1500 Yes -150.0 –150.0 A
M3 Armature Current RO 0x3128 0x00 -1500 –1500 Yes -150.0 –150.0 A
M4 Armature Current RO 0x3129 0x00 -1500 –1500 Yes -150.0 –150.0 A
M5 Armature Current RO 0x312A 0x00 -1500 –1500 Yes -150.0 –150.0 A
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
a
1355-X001 only
27
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4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Prole Object Dictionary, cont’d
range
name access index sub-index raw mapping description
Baud Rate RW 0x3142 0x00 0 – 2 No 0 = 125 kbps.
1 = 250 kbps.
2 = 500 kbps.
The default setting is 1 (250 kbps).
PDO Timeout RW 0x3149 0x00 0 –1000 No Time interval within which the PDO-MOSI
mustbereceivedorafaultwillbeagged.
The default setting is 100 ms.
Diagnostic1 RO 0x3256 0x00 0 –255 Yes bit0 Precharge Fault.
bit1 Main Contactor Overload.
bit2 Main Weld Fault.
bit3 Main DNC Fault.
bit4 Overvoltage Warning.
bit5 Undervoltage Warning.
bit6 Overvoltage Cutoff.
bit7 Undervoltage Cutoff.
Diagnostic2 RO 0x3257 0x00 0 –255 Yes bit0 M1 Open.
bit1 M2 Open.
bit2 M3 Open.
bit3 M4 Open.
bit4 M5 Open.
bit5 Actuator1 Open. a
bit6 Actuator2 Open. a
bit7 Actuator3 Open.
Diagnostic3 RO 0x3258 0x00 0 –255 Yes bit0 M1 Overload Warning.
bit1 M2 Overload Warning.
bit2 M3 Overload Warning.
bit3 M4 Overload Warning.
bit4 M5 Overload Warning.
bit5 Actuator1 Overload Warning. a
bit6 Actuator2 Overload Warning. a
bit7 Actuator3 Overload Warning.
Diagnostic4 RO 0x3259 0x00 0 –255 Yes bit0 M1 Over Current.
bit1 M2 Over Current.
bit2 M3 Over Current.
bit3 M4 Over Current.
bit4 M5 Over Current.
bit5 Actuator1 Over Current. a
bit6 Actuator2 Over Current. a
bit7 Actuator3 Over Current.
Diagnostic5 RO 0x325A 0x00 0 –255 Yes bit0 M1 Motor Short.
bit1 M2 Motor Short.
bit2 M3 Motor Short.
bit3 M4 Motor Short.
bit4 M5 Motor Short.
bit5 Actuator1 Motor Short. a
bit6 Actuator2 Motor Short. a
bit7 Actuator3 Motor Short.
a
a
a
a
28
a
1355-X001 only
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 33
4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Prole Object Dictionary, cont’d
range
name access index sub-index raw mapping description
Diagnostic6 RO 0x325B 0x00 0 –255 Yes bit0 M1 Current Sensor Fault.
bit1 M2 Current Sensor Fault.
bit2 M3 Current Sensor Fault.
bit3 M4 Current Sensor Fault.
bit4 M5 Current Sensor Fault.
bit5 Over Temperature Cutoff.
bit6 Under Temperature Cutoff.
bit7 [reserved].
Diagnostic7 RO 0x325C 0x00 0 –255 Yes bit0 M1 Overload Trip.
bit1 M2 Overload Trip.
bit2 M3 Overload Trip.
bit3 M4 Overload Trip.
bit4 M5 Overload Trip.
bit5 Actuator1 Stall Fault. a
bit6 Actuator2 Stall Fault. a
bit7 Actuator3 Stall Fault.
Diagnostic8 RO 0x325D 0x00 0 –255 Yes bit0 EEPROM Fault.
bit1 PDO Timeout Fault.
bit2 CAN Bus Fault.
bit3 Actuator Timeout. a
bit4 Sequence Fault. b
bit5 Over Temperature Cutback.
bit6 Under Temperature Cutback.
bit7 Main Missing Fault.
Fault History1 RO 0x325E 0x00 0 –255 Yes bit0 Precharge Fault.
bit1 Main Contactor Overload.
bit2 Main Weld Fault.
bit3 Main DNC Fault.
bit4 [reserved].
bit5 [reserved].
bit6 Overvoltage Cutoff.
bit7 Undervoltage Cutoff.
Fault History2 RO 0x325F 0x00 0 –255 Yes See Diagostic2.
Fault History3 RO 0x3260 0x00 0 –255 Yes [reserved]
Fault History4 RO 0x3261 0x00 0 –255 Yes See Diagostic4.
Fault History5 RO 0x3262 0x00 0 –255 Yes See Diagostic5.
Fault History6 RO 0x3263 0x00 0 –255 Yes See Diagostic6.
Fault History7 RO 0x3264 0x00 0 –255 Yes See Diagostic7.
Fault History8 RO 0x3265 0x00 0 –255 Yes See Diagostic8.
M1 Hourmeter RO 0x3266 0x00 0 – 65535 Yes 0 – 65535 hr
M2 Hourmeter RO 0x3267 0x00 0 – 65535 Yes 0 – 65535 hr
M3 Hourmeter RO 0x3268 0x00 0 – 65535 Yes 0 – 65535 hr
M4 Hourmeter RO 0x3269 0x00 0 – 65535 Yes 0 – 65535 hr
M5 Hourmeter RO 0x326A 0x00 0 – 65535 Yes 0 – 65535 hr
a
1355-X001 only
b
1355-X101 only
a
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Prole Object Dictionary, cont’d
range
name access index sub-index raw mapping description
Internal Temperature RO 0x326E 0x00 -40 –125 Yes -40 –125 °C.
M1 Regen Current Limit RW 0x326F 0x00 100 –1000 Yes 1355-4X01: 10.0 –100.0 A
100 -700 1355-5X01: 10.0 –70.0 A
M2 Regen Current Limit RW 0x3270 0x00 100 –1000 Yes 1355-4X01: 10.0 –100.0 A
100 -700 1355-5X01: 10.0 –70.0 A
M3 Regen Current Limit RW 0x3271 0x00 100 –1000 Yes 1355-4X01: 10.0 –100.0 A
100 -700 1355-5X01: 10.0 –70.0 A
M4 Regen Current Limit RW 0x3272 0x00 100 –1000 Yes 1355-4X01: 10.0 –100.0 A
100 -700 1355-5X01: 10.0–70.0 A
M5 Regen Current Limit RW 0x3273 0x00 100 –1000 Yes 1355-4X01: 10.0 –100.0 A
100 -700 1355-5X01: 10.0 –70.0 A
M1 Open Current RW 0x3275 0x00 0 –100 Yes 0.0 –10.0 A
M2 Open Current RW 0x3276 0x00 0 –100 Yes 0.0 –10.0 A
M3 Open Current RW 0x3277 0x00 0 –100 Yes 0.0 –10.0 A
M4 Open Current RW 0x3278 0x00 0 –100 Yes 0.0 –10.0 A
M5 Open Current RW 0x3279 0x00 0 –100 Yes 0.0 –10.0 A
Overload Trip Reset RW 0x327A 0x00 0 –255 Yes bit0 1 Clear M1 Overload Trip Fault.
bit1 1 Clear M2 Overload Trip Fault.
bit2 1 Clear M3 Overload Trip Fault.
bit3 1 Clear M4 Overload Trip Fault.
bit4 1 Clear M5 Overload Trip Fault.
bit5–7 [reserved].
Diagnostic9 RO 0x3280 0x00 0 –255 Yes bit0 M1 HW Fault.
bit1 M2 HW Fault.
bit2 M3 HW Fault.
bit3 M4 HW Fault.
bit4 M5 HW Fault.
bit5 Parameter Change Fault.
bit6 Actuator1 Current Sensor Fault. a
bit7 Actuator2 Current Sensor Fault.
Diagnostic10 RO 0x3281 0x00 0 –255 Yes bit0 Actuator3 Current Sensor Fault. a
bit1 Thermal Sensor Fault.
bit2 Main Coil Short Fault.
bit3–7 [reserved].
Fault History9 RO 0x3282 0x00 0 –255 Yes See Diagostic9.
Fault History10 RO 0x3283 0x00 0 –255 Yes See Diagostic10.
M1 Decel RW 0x3284 0x00 1–20 No 0.1–2.0 s
M2 Decel RW 0x3285 0x00 1–20 No 0.1–2.0 s
M3 Decel RW 0x3286 0x00 1–20 No 0.1–2.0 s
M4 Decel RW 0x3287 0x00 1–20 No 0.1–2.0 s
M5 Decel RW 0x3288 0x00 1–20 No 0.1–2.0 s
a
30
a
1355-X001 only
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5 Parameter Prole Object Dictionary, cont’d
range
name access index sub-index raw mapping description
Overvoltage Warning RW 0x3604 0x00 0 –4096 No 2.0 –14.0 V. Sets voltage allowed above
Range nominal voltage. When the capacitor bank
voltage exceeds (Nominal Voltage +
Overvoltage Warning Range), an over-
voltage warning is sent on the CAN bus
and the programmer.
Undervoltage Warning RW 0x3605 0x00 0 –4096 No 2.0 –14.0 V. Sets voltage allowed below
Range nominal voltage. When the capacitor bank
voltage drops below (Nominal Voltage -
Overvoltage Warning Range), an under-
voltage warning is sent on the CAN bus
and the programmer.
Battery Voltage RO 0x3800 0x00 0 – 800 No 0.0 – 80.0 V
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
e objects in Table 5a apply only to the 1355-X001.
Note: ere are some actuator objects in the main table above (Table 5)
that also apply only to the 1355-X001.
Table 5a Parameter Prole Object Dictionary: 1355-X001 only
range
name access index sub-index raw mapping description
Actuator1 PWM Demand RW 0x312C 0x00 -32767– 32767 Yes -100 –100 %
Actuator2 PWM Demand RW 0x312D 0x00 -32767– 32767 Yes -100 –100 %
Actuator3 PWM Demand RW 0x312E 0x00 -32767– 32767 Yes -100 –100 %
Actuator1 Accel RW 0x312F 0x00 1–20 No 0.1–2.0 s
Actuator2 Accel RW 0x3130 0x00 1–20 No 0.1–2.0 s
Actuator3 Accel RW 0x3131 0x00 1–20 No 0.1–2.0 s
Actuator1 Decel RW 0x3132 0x00 1–20 No 0.1–2.0 s
Actuator2 Decel RW 0x3133 0x00 1–20 No 0.1–2.0 s
Actuator3 Decel RW 0x3134 0x00 1–20 No 0.1–2.0 s
Actuator1 Stal l Current Li mit RW 0x3135 0x00 20 –100 No 2.0 –10.0 A
Actuator2 Stal l Current Li mit RW 0x3136 0x00 20 –100 No 2.0 –10.0 A
Actuator3 Stal l Current Li mit RW 0x3137 0x00 20 –100 No 2.0 –10.0 A
Actuator1 Stall Debounce RW 0x3138 0x00 0 –50 No 0.0 –5.0 s
Actuator2 Stall Debounce RW 0x3139 0x00 0 –50 No 0.0 –5.0 s
Actuator3 Stall Debounce RW 0x313A 0x00 0 –50 No 0.0 –5.0 s
Actuator1 Duty Cycle RO 0x3250 0x00 -32767– 32767 Yes -100 –100 %
Actuator2 Duty Cycle RO 0x3251 0x00 -32767– 32767 Yes -100 –100 %
Actuator3 Duty Cycle RO 0x3252 0x00 -32767– 32767 Yes -100 –100 %
Actuator1 Arma ture Curren t RO 0x3253 0x00 0 –150 Yes 0.0 –15.0 A
Actuator2 Arma ture Curren t RO 0x3254 0x00 0 –150 Yes 0.0 –15.0 A
Actuator3 Arma ture Curren t RO 0x3255 0x00 0 –150 Yes 0.0 –15.0 A
Actuator1 Hourmeter RO 0x326B 0x00 0 – 65535 Yes 0 – 65535 hr
Actuator2 Hourmeter RO 0x326C 0x00 0 – 65535 Yes 0 – 65535 hr
Actuator3 Hourmeter RO 0x326D 0x00 0 – 65535 Yes 0 – 65535 hr
32
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
e objects in Table 5b apply only to the 1355-X101.
Note: Two items in the main table above (Table 5) also apply only to
the 1355-X101: Diagnostics8 bit4, Sequence Fault, and the corresponding bit
in Fault History8.
Table 5b Parameter Prole Object Dictionary: 1355-X101 only
range
name access index sub-index raw mapping description
Operation Mode RW 0x3801 0x00 0 –1 No 0: Independent mode.
1: CAN Slave mode.
M1ControlledBy RW 0x3802 0x00 0–6 No Deneswhichdigitalinputwillturn
the output of this motor on/off.
0: not controlled by digital input.
1– 6: controlled by digital input 1– 6.
M2 Controlled By RW 0x3803 0x00 0 – 6 No See above.
M3 Controlled By RW 0x3804 0x00 0 – 6 No See above.
M4 Controlled By RW 0x3805 0x00 0 – 6 No See above.
M5 Controlled By RW 0x3806 0x00 0 – 6 No See above.
M1InhibitedBy RW 0x3807 0x00 0–6 No Deneswhichdigitalinputwillinhibit
the output of this motor.
0: not controlled by digital input.
1– 6: controlled by digital input 1– 6.
M2 Inhibited By RW 0x3808 0x00 0 – 6 No See above.
M3 Inhibited By RW 0x3809 0x00 0 – 6 No See above.
M4 Inhibited By RW 0x380A 0x00 0 – 6 No See above.
M5 Inhibited By RW 0x380B 0x00 0 – 6 No See above.
M1 Output Off Delay RW 0x380C 0x00 0 –300 No 0.0 – 30.0 s
Thismotor’sPWMwillbeshutoffafter
the set delay time expires following a
stop command.
M2 Output Off Delay RW 0x380D 0x00 0 –300 No See above.
M3 Output Off Delay RW 0x380E 0x00 0 –300 No See above.
M4 Output Off Delay RW 0x380F 0x00 0 –300 No See above.
M5 Output Off Delay RW 0x3810 0x00 0 –300 No See above.
Digital Inputs Normally RW 0x3811 0x00 0 – 0x3F No Setting the relevant bit to 1 inverts
Closed the signal.
bit0 Digital input 1.
bit1 Digital input 2.
bit2 Digital input 3.
bit3 Digital input 4.
bit4 Digital input 5.
bit5 Digital input 6.
bit6–7 [reserved]..
Startup Lockout Type RW 0x3812 0x00 0 –2 No 0: No startup lockout.
1: KSI-type startup lockout.
2: Interlock-type startup lockout.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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4 — CANopen COMMUNICATIONS: SDOs > Parameter Profile Objects
Table 5b Parameter Prole Object Dictionary: 1355-X101 only, cont’d
range
name access index sub-index raw mapping description
Sequence Delay RW 0x3813 0x00 0 – 50 No 0.0 – 5.0 s. PWM shutoff delay when
the interlock switch is turned off.
M1 M2 Bridge Direction RW 0x3814 0x00 1– 6 No Selects which digital input (1– 6) will
Input provide the H Bridge direction command.
Digital input On = Forward.
Digital input Off = Reverse.
Note: When the 1355 is operating
in Can Slave mode, this parameter
is ignored.
Interlock Type RW 0x3815 0x00 0 –1 No 0: Interlock turns on with digital input 6.
1: Interlock turns on with KSI.
Switch Input States RO 0x3900 0x00 0 – 0x3F Yes States of the digital inputs.
1 = On.
0 = Off.
bit0 Digital input 1.
bit1 Digital input 2.
bit2 Digital input 3.
bit3 Digital input 4.
bit4 Digital input 5.
bit5 Digital input 6.
bit6–7 [reserved].
34
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 39
5
5 — DIAGNOSTICS & TROUBLESHOOTING
DIAGNOSTICS AND TROUBLESHOOTING
When an error occurs in the 1355, a fault message can be monitored through
the Curtis programmer. Meanwhile, an emergency message will be produced on
the CAN bus according to the CANopen standard. is message will be sent
once. When the fault clears, a No Fault emergency message will be transmitted.
e pair of LEDs built into the controller (one red, one yellow) produce ash
codes displaying all the currently set faults in a repeating cycle. e red LED
indicates the digit place and the yellow LED indicates 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.
red yellow red yellow
✱
(first digit)
✱✱
✲✲
(2) (second digit) (3)
✲✲✲
e fault codes are listed in the troubleshooting chart (Table 6).
During normal operation, the yellow LED ashes continuously.
On power-up, the integrity of the code stored in memory is automatically
tested. If the software is found to be corrupted, the red Status LED will ash
rapidly.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
35
Page 40
5 — DIAGNOSTICS & TROUBLESHOOTING
Table 6 TROUBLESHOOTING CHART
CODE FAULT DESCRIPTION EFFECT RECOVERY
Fast
Corrupt Code 1355 in corrupted state. 1355 in Fault state. Requires repair or new
Red
software download.
LED
11 Precharge Fault 1355 failed to charge the capacitor Main contactor cannot Clear condition & cycle KSI.
bank to the KSI voltage. be closed and disable
all PWM outputs.
12 Main Contactor Main contactor current is higher than Emergency message sent Clear condition.
Overload
the Main Contactor Current Limit. on CAN bus and all
output currents reduced
until main contactor
current is below limit.
13 Main Weld Fault Main contactor is welded. All PWM outputs Clear condition & cycle KSI.
disabled and main
contactor opened.
14 Main DNC Fault Main contactor did not close. All PWM outputs Clear condition & cycle KSI.
disabled and main
contactor opened.
15 Overvoltage Capacitor bank voltage exceeded the Warning message sent. Clear condition.
Warning
overvoltage warning limit.
16 Undervoltage Capacitor bank voltage dropped below Warning message sent. Clear condition.
Warning the undervoltage warning limit.
17 Overvoltage Capacitor bank voltage exceeded the All PWM outputs Clear condition.
Cutoff
overvoltage cuto limit. disabled and main
contactor opened.
18 Undervoltage Capacitor bank voltage dropped below All PWM outputs Clear condition.
Cutoff the undervoltage cuto limit. disabled.
21 M1 Open M1 Motor is open. None. Clear condition & cycle KSI.
22, 23, 24, 25 ese faults are like #21, for the remaining four motors: M2, M3, M4, M5.
26 a Actuator 1 Open Actuator 1 motor is open. None. Clear condition & cycle KSI.
27 a, 28 a ese faults are like #26, for the remaining two actuators: Actuator 2 and Actuator 3.
31 M1 Overload With M1 output at 100% PWM, the Emergency message Clear condition.
Warning load current exceeded the M1 current sent on CAN bus.
limit.
32, 33, 34, 35 ese faults are like #31, for the remaining four motors: M2, M3, M4, M5.
36 a Actuator 1 Actuator 1’s energy integral is higher Emergency message Clear condition.
Overload than the threshold. sent on CAN bus.
37 a, 38 a ese faults are like #36, for the remaining two actuators: Actuator 2 and Actuator 3.
41 M1 Over Current M1 current exceeded the max current M1 PWM output Clear condition & cycle KSI.
of the hardware trip. disabled and main
contactor opened.
42, 43, 44, 45 ese faults are like #41, for the remaining four motors: M2, M3, M4, M5.
46 a Actuator 1 Over Actuator 1 current exceeded the max Actuator 1 PWM output Clear condition & cycle KSI.
Current current of the hardware trip. disabled and main
contactor opened.
47 a, 48 a ese faults are like #46, for the remaining two actuators: Actuator 2 and Actuator 3.
a
1355-X001 only
36
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 41
5 — DIAGNOSTICS & TROUBLESHOOTING
Table 6 TROUBLESHOOTING CHART, cont’d
CODE FAULT DESCRIPTION EFFECT RECOVERY
51 M1 Motor Short M1 load is shorted. M1 PWM output Clear condition & cycle KSI.
disabled and main
contactor opened.
52, 53, 54, 55 ese faults are like #51, for the remaining four motors: M2, M3, M4, M5.
56 a Actuator 1 Motor Actuator 1 load is shorted. Actuator1 PWM output Clear condition & cycle KSI.
Short
disabled and main
contactor opened.
57 a, 58 a ese faults are like #56, for the remaining two actuators: Actuator 2 and Actuator 3.
61 M1 Current M1 current sensor has invalid reading. M1 PWM output Clear condition & cycle KSI.
Sensor Fault disabled.
62, 63, 64, 65 ese faults are like #61, for the remaining four motors: M2, M3, M4, M5.
66 Over Temperature Internal temperature exceeds cuto All PWM outputs Clear condition.
Cutoff temperature threshold. disabled.
67 Under Temperature Internal temperature below -40°C. All PWM outputs Clear condition.
Cutoff disabled.
71 M1 Overload Trip M1 overload timer expired. M1 PWM output Clear condition & cycle KSI,
disabled. or receive CAN Clear
message.
72, 73, 74, 75 ese faults are like #71, for the remaining four motors: M2, M3, M4, M5.
76 a Actuator 1 Stall Actuator 1 stall timer expired. Actuator1 PWM output Operate in the opposite
Fault disabled and main direction, or cycle KSI.
contactor opened.
77 a, 78 a ese faults are like #76, for the remaining two actuators: Actuator 2 and Actuator 3.
81 EEPROM Fault EEPROM checksum error. All PWM outputs Modify any programmable
disabled. parameter with programmer.
82 PDO Timeout Fault Time between PDO messages exceeded CANopen status in Receive NMT message or
the PDO Timeout setting. Pre-operation and all cycle KSI.
PWM outputs disabled.
83 CAN Bus Fault Internal CAN bus error counter Reset CAN bus. Clear condition.
register exceeded 128.
84 a Actuator Timeout Master did not receive any message All PWM outputs Clear condition & cycle KSI.
from the slave within timeout period. disabled.
85 b Sequence Fault KSI, interlock, and startup requests All PWM outputs Clear condition & cycle KSI.
applied in incorrect order. disabled.
86 Over Temperature Internal temperature exceeds cutback Current limit reduced. Clear condition.
Cutback temperature threshold.
87 Under Temp- Internal temperature below -25°C. Current limit reduced Clear condition.
erature Cutback to 50%.
88 Main Missing Fault Main contactor coil not connected All PWM outputs Clear condition & cycle KSI.
to main contactor driver. disabled.
91 M1 HW Fault M1 output defective. All PWM outputs Clear condition & cycle KSI.
disabled and main
contactor opened.
92, 93, 94, 95 ese faults are like #91, for the remaining four motors: M2, M3, M4, M5.
a
1355-X001 only
b
1355-X101 only
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
37
Page 42
5 — DIAGNOSTICS & TROUBLESHOOTING
Table 6 TROUBLESHOOTING CHART, cont’d
CODE FAULT DESCRIPTION EFFECT RECOVERY
96 Parameter Change Changing output mode (H Bridge All PWM outputs Clear condition & cycle KSI.
Fault Mode or Parallel Mode). disabled and main
For 1355-X101 only: contactor opened.
•Inappropriatefunctionsettingof
digital input (i.e., simultaneously
set as Mx Inhibited By and Mx Con trolled By), or
•InterlockTypechanged,or
•DigitalInput6usedasbothan
interlock and inhibited or controlled
input.
97 a Actuator 1 Current Actuator 1 current sensor has invalid Actuator 1 disabled. Clear condition & cycle KSI.
Sensor Fault
reading.
98 a, 101 a ese faults are like #97, for the remaining two actuators: Actuator 2 and Actuator 3.
102 Temperature Temperature sensor has invalid reading. All outputs disabled. Clear condition & cycle KSI.
Sensor Fault
103 Main Coil Short Main contactor coil shorted. All outputs disabled and Clear condition & cycle KSI.
Fault main contactor opened.
a
1355-X001 only
38
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 43
APPENDIX A: EMC & ESD DESIGN CONSIDERATIONS
APPENDIX A
VEHICLE 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, aircraft, etc. Immunity is the
ability of a product to operate normally in the presence of RF energy. EMC
is ultimately a system design issue. Part of the EMC performance is designed
into or inherent in each component; another part is designed into or inherent
in end product characteristics such as shielding, wiring, and layout; and, 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 control products.
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.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
A-1
Page 44
APPENDIX A: EMC & ESD DESIGN CONSIDERATIONS
e Curtis 1355 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 1355 from
outside RF energy.
ELECTROSTATIC DISCHARGE (ESD)
Curtis products, like most modern electronic devices, contain ESD-sensitive
components, and it is therefore necessary to protect them from ESD (electrostatic
discharge) damage. Most of the product’s signal connections have protection
for moderate ESD events, but must be protected from damage if higher levels
exist in a particular application.
ESD immunity is achieved either by providing 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.
A-2
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
Page 45
APPENDIX B: PROGRAMMING DEVICES
APPENDIX B
PROGRAMMING DEVICES
Curtis programmers provide programming, diagnostic, and test capabilities
for the 1355. 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 1311/1313 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 software.
HANDHELD PROGRAMMER (1313)
e handheld programmer is functionally equivalent to the PC Programming
Station; operating instructions are provided in the 1313 manual.
PROGRAMMER FUNCTIONS
Programmer functions include:
Parameter adjustment — provides access to the individual programmable pa-
rameters.
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.
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
B-1
Page 46
APPENDIX C: SPECIFICATIONS
Nominal input voltage 24 – 36 V, 36 – 48 V
Electrical isolation to heatsink 500 Vac (minimum)
Storage ambient temperature range -40°C to 85°C (-40°F to 185°F)
Operating ambient temp. range -25°C to 50°C (-40°F to 122°F)
Enclosure protection rating IP65 per IEC60529
Weight 1.23 kg
Dimensions (L× W×H) 165 × 120 × 72 mm
6.0 mm mounting hole ID
EMC Designed to the requirements
of EN12895:2000.
APPENDIX C
SPECIFICATIONS
Table C-1 SPECIFICATIONS: 1355 MODULE
Safety Designed to the requirements
of EN 1175-1:1998+A1: 2010
and EN 13849-1:2008 Category 2.
MODEL NUMBER VOLTAGE DESCRIPTION 10 s 1 hr 20 s 1 hr
CURRENT RATING OF M1-M5 LOADS CURRENT RATING
(ALL RUNNING TOGETHER) OF ACTUATORS
1355-4001 24 – 36 V Three full bridge actuators 100 A 40 A @100%PWM; 25 A @PWM% 10 A 5 A
1355-4101 24 – 36 V Six digital inputs 100 A 40 A @100%PWM; 25 A @PWM% n/a n/a
1355-5001 36 – 48 V Three full bridge actuators 70 A 35 A @100%PWM; 25 A @PWM% 10 A 5 A
1355-5101 36 – 48 V Six digital inputs 70 A 35 A @100%PWM; 25 A @PWM% n/a n/a
C-1
Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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