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Curtis Instruments 1351 User Manual

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5 — VEHICLE CONTROL LANGUAGE (VCL)
pg. 89
Return to TOC Curtis Model 1351 – December 2018
 Error_Index = Check_CANopen_Emergency() Checks for message
on port & device
Check if there was an emergency message active on this port and slave device.
If the Node ID = GLOBAL (0) than any emergency message will be found.
Note, this “Error_Index” example is a variable name chosen by the VCL writer
that is set equal to the function in order to identify the emergency message by the
slave Node ID. e term “Error_Index” is used here to indicate how to use this
function in VCL (“Error_Index” it can be any VCL appropriate variable name).

Check_CANopen_Emergency(Port, Node_ID)
:
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
:
0 = no Emergency Messages
1 or greater = the number of messages buered for that Node ID,
(Basically, the length of the buer is returned)
 :
 Status = Get_CANopen_Emergency_Message() Full 8 bytes of the
message, and ID
Returns the rst 8 bytes of an emergency message and Node_ID and places them
into the following pre-dened VCL variable(s) as illustrated, as Status. e buer is
16 messages, e.g., Status_01 through Status_16. ese are the messages as indexed
by “Error_Index”, described above.

Get_CANopen_Emergency_Message(Error_Index)
:
Each call to the function will re-ll these variables.
Or, specify the VCL variable, Status (as illustrated here), with the
“Error-Index” argument.
:
Emergency_Message_Error_Code (bytes 0 and 1)
Emergency_Message_Error_Register (byte 2)
Emergency_Message_Data_1 (byte 3)
Emergency_Message_Data_2 (byte 4)
Emergency_Message_Data_3 (byte 5)
Emergency_Message_Data_4 (byte 6)
Emergency_Message_Data_5 (byte 7)
Emergency_Message_Node_ID 0 = if the buffer
is empty at the
specified location
 :

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.