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Curtis Instruments 1351 User Manual

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5 — VEHICLE CONTROL LANGUAGE (VCL)
pg. 85
Return to TOC Curtis Model 1351 – December 2018
CAN FUNCTIONS (VCL SETUP)
Beyond the parameters in the Programmer app CAN menu, setting up the 1351 to use CAN messages
requires a VCL program. e applicable 1351 CAN functions are described by topic in this section. An
applications requirements will determine whether a function will be used, as not all applications will
utilize every VCL function.
Port1(primary) has 30 receive and 30 transmit mailboxes that can be assigned/used by VCL.
Port2(supervisor), has 10 receive and 10 transmit mailboxes that can be assigned/used by VCL
Attempting to assign more that this (using the Assign_Mailbox() function will return an
error.
ere are four TPDO and four RPDO mailboxes that can be used and are shared between Port
1 and Port 2.
NMT Control
When a 1351 CAN port is enabled to be a master, it can then send Network Management (NMT)
commands to slave controllers. e 1351 has two CAN ports, CAN1 (Port_1_Node_Id) and CAN2
(Port_2_Node_ID). e NMT state of each port is available by its specic read-only monitor variable,
port_2_nmt_state and port_2_nmt_state.
 Send_NMT() Control the state of the CANopen slave(s). is is the VCLs CAN
NMT function.
rough NMT services, nodes are initialized, started, monitored, reset or stopped.
All nodes are regarded as NMT slaves. An NMT Slave is uniquely identied in
the network by its Node ID, a value in the range of 1-127, with the restriction that
a slave node cannot share its Node ID with either of the 1351’s CAN port IDs or
any other controller or device on the CANbus network.
Use the Node_ID to address a single device or use the constant GLOBAL to control
all devices on the CANbus. e NMT serves to congure, initialize, and handle
errors in a CAN network.
 Send_NMT (Port, Node_ID, NMT_Command)
:
Port_1 = CAN1 e primary CAN port, pins 3 & 4
Port_2 = CAN2 e secondary CAN port, pins 5 & 6
Node ID e Slave Node ID, or Global for all slave nodes
NMT Command GO_OPERATIONAL
GO_PREOPERATIONAL
STOP_COOMUNINCATIONS
RESET_COMMUNINCATION
RESET_DEVICE
: None
 :

Table of Contents

Questions and Answers:

Curtis Instruments 1351 Specifications

General IconGeneral
CategoryI/O Systems
Model1351
Operating Temperature Range-40°C to +85°C
Protection FeaturesOvervoltage, Short Circuit
Communication InterfaceCAN 2.0B

Summary

1 — OVERVIEW

How to Use This Manual

Explains how to use the manual's content and structure.

Getting the Most Out of Your Curtis Controller

Tips for optimal use and contact for technical support.

2 — INSTALLATION SPECIFICATIONS AND WIRING

Mounting and Safety Precautions

Guidelines for physical mounting and general safety warnings.

Wiring and Connections

Details on AMPSEAL connector, battery, low-power wiring, and voltages.

Input/Output Configuration

Overview of various input and output types and their configurations.

Communication Ports and Power

Details on CAN ports, power supply outputs, and keyswitch connections.

3 — PROGRAMMABLE PARAMETERS

Programming Menus and Format

Overview of parameter menus, chart format, and terminology.

System Controller Parameters

Parameters for power, BDI, external supplies, and temperature.

Input Parameters

Configuration for switches, virtual switches, analog, pot, RTD, high-speed, encoder inputs.

Output Parameters

Configuration for PWM drivers, half-bridge, digital drivers, safety, and analog outputs.

CAN Parameters

Settings for CAN ports and communication protocols.

4 — MONITOR VARIABLES

System Controller Monitor Variables

Read-only variables for system controller status and measurements.

Input Monitor Variables

Read-only variables for various input types like switches, analog, and encoders.

Output Monitor Variables

Read-only variables for PWM drivers, half-bridge drivers, and digital outputs.

Accelerometer Monitor Variables

Read-only variables for the 3-axis accelerometer data.

5 — VEHICLE CONTROL LANGUAGE (VCL)

VCL Overview and Basics

Introduction to VCL, its capabilities, and fundamental programming rules.

Variables and Constants

Explanation of VCL variable types, memory storage, and constants.

VCL, Watchdog Timer and Faults

Setting up watchdog timers and defining fault actions within VCL code.

CAN Functions (VCL Setup)

VCL functions for CAN setup, message handling, and NMT control.

SDO Management

VCL functions for managing Service Data Objects (SDOs) read/write operations.

CAN Mailbox Operations

Functions for allocating and configuring CAN mailboxes for data transmission/reception.

SRDO Functions

VCL functions for Safety Related Data Objects transmission and reception.

6 — INITIAL SETUP & COMMISSIONING

Initial Setup and Preparation

Steps for initial setup, safety, and preparation before commissioning.

Parameter Settings Method Overview

Recommended sequence for setting hardware and software parameters.

Output Parameter Configuration

Procedure for configuring PWM, half-bridge, digital, and analog outputs.

Fault Clearing Procedure

Steps to check, clear, and resolve controller faults and history.

7 — DIAGNOSTIC AND TROUBLESHOOTING

The Diagnostics Process

Methods for obtaining diagnostics information via LEDs, software, or CAN messages.

Error Flash Code Interpretation

Explanation of LED flash patterns and their meanings for fault codes.

8 — MAINTENANCE

Cleaning Procedures

Recommended procedure for cleaning the controller exterior.

Fault History Management

Accessing, checking, and clearing the controller's fault history file.

APPENDIX A — VCL FUNCTIONS

General VCL Functions

Core VCL functions for various operations like interpolation, timing, and scaling.

CANopen Functions

VCL functions for CANopen mailbox setup and configuration.

SRDO Functions

VCL functions for Safety Related Data Objects transmission and reception.

APPENDIX B — VEHICLE SYSTEM DESIGN CONSIDERATIONS-&-RECYCLING

Electromagnetic Compatibility (EMC)

Guidelines for EMC performance, emissions, RF immunity, and noise reduction.

Decommissioning and Recycling the Controller

Procedures for controller removal from OEM vehicle and disposal.

APPENDIX C — PROGRAMMING DEVICES FOR THE 1351

Curtis Software Suite™

PC-based software for controller setup, parameter adjustment, and diagnostics.

Curtis 1313 Handheld Programmer

Standalone programmer and diagnostic tool for the system controller.

APPENDIX D — EN 13849 COMPLIANCE

Safety-Related Performance Analysis

Summary of safety performance levels (PL, MTTFd, DC) for controller circuits.

APPENDIX E — 1351 MODELS AND SPECIFICATIONS

Table E Model Chart and Specifications

Technical specifications, model comparison, and environmental ratings.