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
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
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
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Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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
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.
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Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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
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
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
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
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
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
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
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
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Curtis 1355 CANopen Slave Soft Starter Module Manual, Rev. A
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