AXIOMATIC DSP RESOLVER User Manual Download Page 2

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DSP resolver user manual

User Manual

Version 1.15

Table of Contents

1.VERSION HISTORY...........................................................................................................................4

2.GENERAL.............................................................................................................................................5

2.1A

BBREVATIONS

AND

TERMS

....................................................................................................................7

3.SUMMARY OF TECHNICAL SPECIFICATIONS.........................................................................8

4.ORDER CODES................................................................................................................................. 10

5.ATTACHING THE DEVICE INTO THE APPLICATION...........................................................11

5.1C

ONNECTORS

..................................................................................................................................... 11

5.1.1Connector J1..........................................................................................................................11

5.1.2Connector J2 (available only in AXRES-CO-V2)..................................................................12

5.1.3Connector X1 (available only in AXRES-CO-V2).................................................................12

5.1.4Connector X2 (available only in AXRES-CO-V2).................................................................13

5.2CAN

BUS

CABLING

............................................................................................................................ 13

5.3M

ECHANICS

.......................................................................................................................................14

6.SOFTWARE UPDATES.................................................................................................................... 19

6.1P

ROGRAMMING

CABLE

......................................................................................................................... 19

6.2D

OWNLOADING

NSTRUCTIONS

..............................................................................................................20

7.PROFILE AND MANUFACTURER SPECIFIC FEATURES .....................................................21

7.1E

NCODER

FUNCTIONS

AND

CONFIGURATIONS

..............................................................................21

7.1.1Angle / position resolution.....................................................................................................21

7.1.2Angle / position direction and offset configuration............................................................... 22

7.1.3Procedure to configure resolution, positive rotation direction and offset............................ 24

7.1.4Internal timing ...................................................................................................................... 24

7.1.5Speed calculation...................................................................................................................25

7.1.6Revolution counter.................................................................................................................26

7.2C

OMMUNICATION

CONFIGURATIONS

.......................................................................................................27

7.2.1Device type (0x1000)............................................................................................................. 27

7.2.2Device identity (0x1018)........................................................................................................27

7.2.3Emergency messages............................................................................................................. 27

7.2.4CAN bus baudrate..................................................................................................................28

7.2.5Node-id.................................................................................................................................. 29

7.2.6PDO configurations...............................................................................................................30

Copyright

Axiomatic Technologies Oy

2/56

Summary of Contents for DSP RESOLVER

Page 1: ...Author JKA File reso_UM_1_15 For SW ver 1 5 Version 1 15 Modified 27 07 2007 11 33 DSP RESOLVER User Manual...

Page 2: ...14 6 SOFTWARE UPDATES 19 6 1PROGRAMMING CABLE 19 6 2DOWNLOADING INSTRUCTIONS 20 7 PROFILE AND MANUFACTURER SPECIFIC FEATURES 21 7 1ENCODER RELATED FUNCTIONS AND CONFIGURATIONS 21 7 1 1Angle position r...

Page 3: ...apping 41 8 4SERVICE DATA OBJECT SDO 42 8 5SAVING THE OBJECT DICTIONARY PARAMETERS 42 8 6RESTORING THE DEFAULT VALUES TO THE OBJECT DICTIONARY 43 8 7SPECIAL FUNCTIONS AND OBJECTS 43 8 7 1Boot up messa...

Page 4: ...ory added 1 12 6 7 2006 JKA Accuracy corrected object 0x6500 co_encoder_diagnostic corrected 1 13 10 7 2006 JKA Accuracy corrected to the general chapter 1 14 8 8 2006 JKA Corrected mistake in enablin...

Page 5: ...electrical revolution Resolution is sw configurable The maximum resolution is 22 bits Three different form factors allow chosing the most suitable solution for each application The newest type AXRES 1...

Page 6: ...ull accuracy is always achieved Product highlights Measures absolute angular rotation no home point needed whole rotations and angular speed fullfils CAN open DS301 ver 4 1 communication specification...

Page 7: ...hrough CAN interface Object Dictionary Consists of objects Accessable from CAN bus with SDO writ and read operations DS406 ver 3 1 The CAN open device profile for encoders Version 3 1 is published 21...

Page 8: ...0 Transceiver Baudrates 50kB to 1MB Sensor element AXRES CO V2 1X LTN R58WURE151B24 031 07HA 3X LTN R58WURE153B24 031 07HA on request AXRES CO 1X SL LTN RE 10 Measuring range of angular rotation as de...

Page 9: ...el Open style version contains two spring loaded connectors AXRES CO 1X SL 1x M12 connector 5 pin male EMC compatibility Fulfills the requirements of the industrial and mobile environments Emissions E...

Page 10: ...ousing Customer specific CO CANopen 1X H closed type housing optional 3X U open type housing Table 4 1 Order codes of AXRES CO V2 AXRES CO 1X SL AXRES CO 1X SL x Can protocol Sensor element Housing Cu...

Page 11: ...An external Signal level converter is required in case of AXRES CO V2 if module is connected to external devices like a laptop Serial interface connector is located so that it is accessable only in m...

Page 12: ...ison 8A5006 32 or equivalent Pin Signal Type Function 1 CAN sh CAN CAN shield 2 V supply PWR Power supply 3 GND GND Power supply ground 4 CAN hi CAN CAN bus hi signal 5 CAN lo CAN CAN bus lo signal Ta...

Page 13: ...R Power supply Table 5 5 Connector X2 Power supply voltage range is 9 35 V CAN bus signals withstand short circuits to 40V and GND 5 2 CAN bus cabling The bus should be routed continuously from one mo...

Page 14: ...bit s 1000m 55m 275m Table 5 6 Baudrates bus and stub lengths The grounds of all modules must be connected together using low impedance cabling It is recommended to use a system ground point to which...

Page 15: ...DSP resolver user manual User Manual Version 1 15 Illustration 5 2 Overview of AXRES CO V2 resolver with closed type housing Copyright Axiomatic Technologies Oy 15 56...

Page 16: ...ver user manual User Manual Version 1 15 Illustration 5 3 AXRES CO V2 closed type resolver seen from the side Illustration 5 4 AXRES CO V2 closed type seen from bottom Copyright Axiomatic Technologies...

Page 17: ...DSP resolver user manual User Manual Version 1 15 Illustration 5 5 AXRES CO V2 open type seen from bottom Copyright Axiomatic Technologies Oy 17 56...

Page 18: ...DSP resolver user manual User Manual Version 1 15 Copyright Axiomatic Technologies Oy 18 56 Illustration 5 6 AXRES CO V2 open type without PCB seen from the side...

Page 19: ...ogramming cable connection is shown in table XX The Connector housing on the AXRES end is JST ZHR 4 and a suitable crimp is BZH 003 PO 5 These accessories are available example from Farnell electronic...

Page 20: ...the window Connect using the serial port you have available on your PC for example Direct to COM1 3 Serial port settings window opens Enter the following values Bits per second 115200 Data bits 8 Pari...

Page 21: ...or s output co_position_value object This feature is common with the encoders and the reason why this document uses position instead of angle as the name of the primary output quantity of the module T...

Page 22: ...is scaling bit 0x6001 0 U32 RW co_units_per_revolution 1 0x400000 Number of sensor output steps in one rotation 0x6004 0 U32 RO co_position_value 0 co_single_turn _resolution 1 Sensor output 0x6501 0...

Page 23: ...s defined by the co_single_turn_resolution object Ensure that you set the resolution before setting the offset The value range of the co_preset_value is 0 co_single_turn_resolution 1 and the value ran...

Page 24: ...nd instructions available in network management chapter 2 Configure the resolution if non default value is used 1 Allow scaling by setting co_operating_parameters 0x6000 bit 2 as logic 1 2 Set the new...

Page 25: ...can smoothen the output of the speed calculation by increasing the length of the co_speed_buffer unsigned 16 bit variable at 0x2003 in the object dictionary The co_speed_buffer object defines how man...

Page 26: ...revolutions object The co_counted_revolutions object is located at 0x2001 Writing 0x1 to the co_clear_revolution_counter_cmd object 0x2000 clears the number of counted revolutions The trigging point f...

Page 27: ...ntifies the module vendor vendors product code and the revision number Serial number feature is not supported at the moment index sub type access variable values notes 0x1018 0 U32 RO co_identity 4 1...

Page 28: ...ted emergency EMCY message error codes Error bits resulting from the EMCY messages are listed in table below bit Error type Support note 0 Generic Set if generic or any other error is present 1 Curren...

Page 29: ...id into the co_node_id variable 0x100B in the object dictionary Save communication or all parameters by writing save signature to the co_store_param object 0x1010 subindex 1 all parameters or 2 just...

Page 30: ...Os was on the module should be ready to operate now 7 2 6 PDO configurations The device has two transmit PDOs process data object that deliver the measurement data from the resolver module to other mo...

Page 31: ...gers 3 U16 RW 0 Inhibit time not supported 4 U8 RW 0 Reserved 5 U16 RW 50 Event timer 50 milliseconds Table 7 14 TPDO1 s communication parameters index s u b type acc ess variable values notes 0x1A00...

Page 32: ...ic synchronous 3 U16 RW 0 Inhibit time 4 U8 RW 0 Reserved 5 U16 RW 0 Event timer Table 7 16 TPDO2 s communication parameters index s u b type acc ess variable values notes 0x1A01 0 RW co_map_comm_par...

Page 33: ...object 7 U32 RW No mapped object 8 U32 RW No mapped object Table 7 18 Content of TPDO_1 mapping object 0x1A00 when position value speed value and number of counted revolutions are mapped to it 7 2 7...

Page 34: ...led 255 debug printing is on Table 7 19 Object dictionary variable related to RS232 printing A print example while normal print mode is chosen The first line is printed only once 305 5 0 36000 305 5 0...

Page 35: ...ge Available trough CAN interface Description notes SNxxx 1 127 0x100b or LSS protocol Sets the node ID New node ID will be effective after module is reseted SBxxxx 125 250 500 1000 Through the LSS pr...

Page 36: ...ject dictionary is divided in the following segments 0x1000 0x1FFF Communication object area 0x2000 0x5FFF Manufacturer specific area 0x6000 0x9FFF Device profile specific area 0xA000 0xBFFF Interface...

Page 37: ...des process data to other CAN modules by sending transmit PDOs TPDO Receive PDOs RPDOs defines the messages which carries process data to the module from the other modules connected to the CAN bus Dev...

Page 38: ...bit CAN ID and what s the current CAN ID 31 30 29 28 11 10 0 Valid bit RTR frame 0x0 0000 11 bit CAN ID 0 1 Always 1 Always 0 29 bit CAN ID not supported in this module Set 0 to enable the PDO and 1...

Page 39: ...3 2 Disabling and enabling a PDO Transmission receive or transmit of an individual PDO is enabled by PDO s valid bit The valid bit is part of PDO s COB ID which is located for the first transmit PDO...

Page 40: ...e TPDO_1 is located in index 0x1800 sub index 2 Event or timer driven An event specified in the device profile triggers message transmission An elapsed timer may also trigger the transmission Note tha...

Page 41: ...mapping during operational state is supported the SDO Client the configurator is responsible for the data consistency Axiomatic resolver allows remapping during the operational state but the PDO unde...

Page 42: ...m of doubly received CAN frames The next three byte of the first segment contain index and sub index of the Object Dictionary entry to be read or written The last four byte of the first segment carrie...

Page 43: ...latile memory User is able to decide which type of parameters he wants to be restored Parameters are divided in 4 blocks Communication objects Manufacturer specific and Device profile specific The 4th...

Page 44: ...options 0 1 Bit 0 enables boot up message Table 8 11 Object dictionary variables related to boot up message send configuration 8 7 2 Synchronization object Sync The sync object 0x1005 defines whether...

Page 45: ...t message contains one byte of data and its CAN ID is 0x700 sender s node ID CAN ID lenght D0 D1 D2 D3 D4 D5 D6 D7 0x707 1 0x05 Table 8 14 An example of heart beat message coming from node 7 Module is...

Page 46: ...re of an EMCY message is described in table below The CAN ID of the EMCY message is counted by the following way sender s node ID 0x80 The emergency code table co_predefined_error_code and error code...

Page 47: ...t Time By means of Time Stamp a common time frame reference is provided to application devices It contains a value of the type Time of Day This object transmission follows the producer consumer push m...

Page 48: ...hanged CAN ID length D0 D1 D2 D3 D4 D5 D6 D7 0x7E5 2 0x04 0x01 8 8 2 Protocol for setting the node id CAN ID length D0 D1 D2 D3 D4 D5 D6 D7 0x7E5 2 0x04 0x01 CAN ID length D0 D1 D2 D3 D4 D5 D6 D7 0x7E...

Page 49: ...ic memory Value range Acceptable value range on device if limited indexh su b obj variable type b yt es acce ss M O pd o profile value Default value value range notes 1000 VAR co_device_type U32 4 RO...

Page 50: ...signature 0x65766173 in specified subindex You may use any CANopen object dictionary toolkit or generate SDO message SDO 600 node ID 23 10 10 subindex 73 61 76 65 all in hexadecimals 1 U32 4 RW m n 1...

Page 51: ...monitored Module is able to monitor one node 1 U32 4 RW m n 0 0 0 0x007F2710 Bits 0 15 Heartbeat time ms value range 0 10000 Bits 16 23 Node id to be listened value range 0 127 1017 VAR co_producer_h...

Page 52: ...ed 254 Asynchronous 255 Asynchronous Synchronous transmission means that the transmission is related to SYNC object PDO will be transmitted after SYNC receiving the SYNC message Asynchronous transmiss...

Page 53: ...040020 Mapped object Bits 0 7 Size of the mapped object Bits 8 15 Subindex of the mapped object Bits 16 31 Index of the mapped object Supported and recommended object sizes to map 0x20 32 bit 0x10 16...

Page 54: ...lowed More information in chapter 6 2 2004 VAR co_serial_cmd U8 1 RW n 0 This object controls serial printing 0 printing is off 1 prints position speed and counted revolutions interval is object value...

Page 55: ...it 3 Not supported with rotary sensors Bits 4 11 Reserved Bits 12 15 Reserved for manufacturer specific use 6001 VAR co_units_per_revolution U32 4 RW O n 36000 0x1 0x400000 Number of measuring units w...

Page 56: ...13 15 Reserved for manufacturer specific use 6501 VAR co_single_turn_resolution U32 4 RO M n 36000 0x1 0x400000 Tells the current resolution36000 if scaling is disabled Otherwise co_unit_per_revolutio...

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