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Preliminary User Manual UMAX023241 - Version: 1.1 28-63

3. CANopen Interface and Object Dictionary

The CANopen ® object dictionary of the AX023241 Controller is based on CiA device profile DS-
404. The object dictionary includes Communication Objects beyond the minimum requirements in
the profile, as well as several manufacturer-specific objects for extended functionality.

1.1.

Node ID and Baud rate

By default, the AX023241 controller ships factory programmed with a

Node ID = 127 (0x7F)

and with

Baud rate = 125 kbps.

1.1.1. LSS Protocol to Update

The only means by which the Node-ID and Baud rate can be changed is to use Layer Settling
Services (LSS) and protocols as defined by CANopen ® standard DS-305.

Follow the steps below to configure either variable using LSS protocol. If required, please refer to
the standard for more detailed information about how to use the protocol

1.1.1.1. Setting

Node-ID



Set the module state to LSS-configuration by

sending

the following message:

Item Value

COB-ID 0x7E5
Length 2

Data 0

0x04

(cs=4 for switch state global)

Data 1

0x01

(switches to configuration state)



Set the Node-ID by

sending

the following message:

Item Value

COB-ID 0x7E5
Length 2

Data 0

0x11

(cs=17 for configure node-id)

Data 1

Node-ID (set new Node-ID as a hexadecimal number)

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Содержание AX023241

Страница 1: ...USER MANUAL UMAX023241 Version 1 1 DRAFT QUADRATURE ENCODER INPUT DUAL PROPORTIONAL VALVE HIGH TEMPERATURE CONTROLLER With CANopen USER MANUAL P N AX023241...

Страница 2: ...ure Encoder RO Read Only Object RPDO Received Process Data Object RPM Rotations per Minute RW Read Write Object SDO Service Data Object TPDO Transmitted Process Data Object WO Write Only Object Vps Vo...

Страница 3: ...2 3 1002h Manufacturer Status Object 33 1 2 4 1003h Pre Defined Error Field 33 1 2 5 1010h Store Parameters 33 1 2 6 1011h Restore Parameters 34 1 2 7 1016h Consumer Heartbeat Time 34 1 2 8 1017h Pro...

Страница 4: ...Preliminary User Manual UMAX023241 Version 1 1 4 63 4 2 INPUTS 60 4 3 OUTPUTS 61 4 4 GENERAL SPECIFICATIONS 61 5 VERSION HISTORY 63...

Страница 5: ...ects 10 Figure 5 Hotshot Digital Profile 14 Figure 6 Universal Output objects 14 Figure 7 Analog Output Linear Scaling PV to FV 15 Figure 8 Miscellaneous objects 16 Figure 9 Lookup Table Block objects...

Страница 6: ...p Pulldown Resistor Options 10 Table 5 Input Filtering Types 11 Table 6 Control Source Options 12 Table 7 Control Source Number Options 12 Table 8 Output Type Options 13 Table 9 Digital Output Respons...

Страница 7: ...The sophisticated control algorithms logical function blocks allow the user to configure the controller for a wide range of applications without the need for custom firmware The two digital inputs can...

Страница 8: ...unit parameters such as step count scaler direction polarity of rotation static step count offset and number of quadrature Encoder pulses per revolution for speed measurements The controller has two...

Страница 9: ...ode Options Value Meaning 0 Channel Off 10 Digital Input on off QD The allowable ranges will depend on the input sensor type selected Table 3 shows the relationship between the sensor type and the ass...

Страница 10: ...Types Digital and Quadrature Encoder types the user has the option of three 3 different pull up pull down options as listed in Table 4 Table 4 Pullup Pulldown Resistor Options 0 Pullup Pulldown Off 1...

Страница 11: ...lue Filter Constant The third option Repeating Average applies the Equation 2 below to measured input data where N is the value of Filter Constant object The filtered input Value is the average of all...

Страница 12: ...ol Source Control Source Number Range Control Not Used 0 Received CAN Message 1 5 Quadrature Encoder Input Measured 1 2 Output Target Value 1 2 Output Current Feedback 1 2 Lookup Table 1 3 Math Functi...

Страница 13: ...signal 0 Vps amplitude so that the average signal is the commanded target value Thus the output signal is not an analog one In order to create an analog signal a simple low pass filter can be connecte...

Страница 14: ...e to sudden changes in the command input the user can choose to use the independent up or down ramps to smooth out the coil s response The OBJECT DICTIONARY 6302h Digits PV 2321h Dither Frequency APPL...

Страница 15: ...onnect signal measured from Quadrature Encoder Input 1 to the output in question The input signal is scaled per input type range between 0 and 1 to form control signal Outputs respond in a linear fash...

Страница 16: ...ntrol input The Override Source and Override Number together determine the Override input signal Table 11 Override Response Options 0 Override When On 1 Override When Off If a fault is detected in any...

Страница 17: ...sets the limit values for which the faults occur when reached When any of these thresholds are reached the faults will clear when the values have lowered to values set in object 5042h FD Clear Thresho...

Страница 18: ...t was engaged while shorted the controller will automatically resume normal operation In the case of an open circuit there will be no interruption of the control for any of the outputs The processor w...

Страница 19: ...ta in the Y Axis objects and selects the lowest value as the Ymin and the highest value as the Ymax They are passed directly to other function blocks as the limits on the Lookup Table output i e used...

Страница 20: ...mp To response for Point N Response where N 1 to 10 In this case any input value between XN 1 to XN will result in an output from the Lookup Table function block of YN An example of a Math function bl...

Страница 21: ...e based on the profile in the Lookup Table There are two different scenarios on how the Lookup Table will react once the profile is finished The first option is when 30z2h Table Auto Cycle is set to F...

Страница 22: ...ed positions of both inputs A mathematical function block includes four selectable functions which each implements equation A operator B where A and B are function inputs and operator is function sele...

Страница 23: ...14 MAX Result Largest of InA and InB 15 MAX MIN Result Largest minus Smallest of InA and InB For logic operations 6 7 8 scaled input greater or equal to 1 is treated as TRUE For logic operations 0 to...

Страница 24: ...ected inputs as per the options listed in Table 14 Table 14 PID Response Options 0 Single Output 1 Setpoint Control 2 On When Over Target 3 On When Below Target When a Single Output response is select...

Страница 25: ...een 0 to 100 In Order to allow the output to stabilize the user can select a non zero value for 2450h PID Tolerance If the absolute value of ErrorK is less than this value ErrorK in the formula below...

Страница 26: ...roller AX023241 is packaged in a plastic housing from Deutsch IPD The assembly carries an IP67 rating Figure 14 Housing Dimensions Table 15 Connector Pinout CAN and I O Connector Pin Description Notes...

Страница 27: ...zed for bolts The bolt length will be determined by the end user s mounting plate thickness Typically 20 mm 3 4 inch is adequate If the module is mounted away from the valve block no wire or cable in...

Страница 28: ...pdate The only means by which the Node ID and Baud rate can be changed is to use Layer Settling Services LSS and protocols as defined by CANopen standard DS 305 Follow the steps below to configure eit...

Страница 29: ...any other response is a failure Item Value COB ID 0x7E4 Length 3 Data 0 0x17 cs 23 for store configuration Data 1 0x00 Data 2 0x00 Set the module state to LSS operation by sending the following messag...

Страница 30: ...dule will send the following response any other response is a failure Item Value COB ID 0x7E4 Length 3 Data 0 0x13 cs 19 for configure bit timing parameters Data 1 0x00 Data 2 0x00 Activate bit timing...

Страница 31: ...sending the following message Note the module will reset itself back to the pre operational state Item Value COB ID 0x7E5 Length 2 Data 0 0x04 cs 4 for switch state global Data 1 0x00 switches to wait...

Страница 32: ...on ARRAY UNSIGNED32 RO No 1029 Error Behavior ARRAY UNSIGNED8 RW No 1400 RPDO1 Communication Parameter RECORD RW No 1401 RPDO2 Communication Parameter RECORD RW No 1402 RPDO3 Communication Parameter R...

Страница 33: ...Value Description 1003 0 UINT8 RW No 15 15 Number of subindexes reset error codes 1 UINT32 RO UINT32 0 EMCY error code 1 2 EMCY error code 2 3 EMCY error code 3 4 EMCY error code 4 5 EMCY error code 5...

Страница 34: ...indexes 1 UINT32 RW UINT32 0 Consumer heartbeat time bits 31 24 reserved bits 23 16 Node ID bits 15 0 heartbeat time in milliseconds 2 3 4 1 2 8 1017h Producer Heartbeat Time Index Subindex Data Type...

Страница 35: ...Parameters Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 1401 0 UINT8 RO No 5 5 Number of subindexes 1 UINT32 RW UINT32 0xC000037F COB ID 2 UINT8 UINT8 0xFF Transm...

Страница 36: ...Parameters Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 1602 0 UINT8 RW No 0 4 0 Number of subindexes 1 UINT32 UINT32 0x25000510 EC Extra Received PV Value 5 2 0x...

Страница 37: ...vent timer 1 2 23 1803h TPDO 4 Communication Parameters Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 1803 0 UINT8 RO No 5 5 Number of subindexes 1 UINT32 RW UINT32...

Страница 38: ...UINT32 UINT32 0x50200020 Processor Temperature Field Value 2 0x50300020 Power Supply Field Value 3 0 Not used by default 4 0 Not used by default 1 2 27 1A03h TPDO 4 Mapping Parameters Index Subindex D...

Страница 39: ...W No 6200 DO Write State 8 Input Lines ARRAY UNSIGNED8 RW Yes 6202 DO Polarity 8 Input Lines ARRAY UNSIGNED8 RW No 6250 DO Fault Mode 1 Output Line ARRAY BOOLEAN RW No 6260 DO Fault State 1 Output Lin...

Страница 40: ...nge Default Value Description 7100 0 UINT8 RO No 6 6 Number of subindexes 1 INT16 RW INT16 0 Input 1 field value 2 Input 2 field value 1 3 4 6110h AI Sensor Type Index Subindex Data Type Access PDO Ma...

Страница 41: ...scription 7122 0 UINT8 RO No 6 6 Number of subindexes 1 INT16 RW INT16 0 Input 1 process value scaler 1 2 Input 2 process value scaler 1 1 3 10 7123h AI Input Scaling 2 PV Index Subindex Data Type Acc...

Страница 42: ...iption 61A0 0 UINT8 RO No 4 4 Number of subindexes 1 RW 0 2 0 Input 1 software filter type 2 Input 2 software filter type 1 3 16 61A1h AI Filter Constant Index Subindex Data Type Access PDO Mapping Va...

Страница 43: ...cimal digits in output process value 2 1 3 22 6310h AO Output Type Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 6310 0 UINT8 RO No 2 2 Number of subindexes 1 UINT1...

Страница 44: ...5000 Output PV to FV scaling value 2 2 1 3 29 7323h AO Output Scaling 2 FV Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 7323 0 UINT8 RO No 2 2 Number of subindexe...

Страница 45: ...PID controller derivative action time 1 3 35 7456h PID Cycle Time Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 7456 0 INT16 RW No 0 1000 10 Additional PID control...

Страница 46: ...Input Number ARRAY UNSIGNED8 RW No 2362 AO Override Response ARRAY UNSIGNED8 RW No 2370 AO Feedback Field Value ARRAY INTEGER16 RO Yes 2380 AO Output Frequency ARRAY UNSIGNED16 RW No 2450 PID Toleran...

Страница 47: ...INTEGER8 RW No 4x20 Math x Input Scaling 1 FV VAR UNSIGNED8 RW No 4x22 Math x Input Scaling 2 FV ARRAY UNSIGNED8 RW No 4x40 Math x Input Input Gain ARRAY UNSIGNED8 RW No 4x50 Math x Operator ARRAY UN...

Страница 48: ...umber of subindexes 1 RW 0 1 0 Input 1 error detect enable 2 Input 2 error detect enable 1 4 4 2111h AI Error Clear Hysteresis Index Subindex Data Type Access PDO Mapping Value Range Default Value Des...

Страница 49: ...o 2 2 Number of subindexes 1 INT16 RW INT16 0 Output 1 override field value 2 Output 2 override field value 1 4 10 2310h AO Error Detect Enable Index Subindex Data Type Access PDO Mapping Value Range...

Страница 50: ...No 2 2 Number of subindexes 1 RW 0 13 1 Output 1 control source see Table 6 2 Output 2 control source see Table 6 1 4 16 2341h AO Control Input Number Index Subindex Data Type Access PDO Mapping Valu...

Страница 51: ...0 Output 1 override response see Table 11 2 Output 2 override response see Table 11 1 4 22 2370h AO Feedback Field Value Index Subindex Data Type Access PDO Mapping Value Range Default Value Descripti...

Страница 52: ...5 0 UINT8 RW No 0 10 0 By default disabled see Table 6 1 4 30 2456h PID Feedback Number Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 4256 0 UINT8 RW No 0 16 1 By d...

Страница 53: ...process value scaler 1 6 EC 6 process value scaler 1 1 4 36 2522h EC Scaling 2 PV Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 2522 0 UINT8 RO No 6 6 Number of sub...

Страница 54: ...0 ramp LT0x transition 0 1 response 2 LT0x transition 1 2 response 3 LT0x transition 2 3 response 4 LT0x transition 3 4 response 5 LT0x transition 4 5 response 6 LT0x transition 5 6 response 7 LT0x t...

Страница 55: ...Data Type Access PDO Mapping Value Range Default Value Description 3410 0 REAL32 RW No REAL32 1 0 Quadrature Encoder scaler coefficient 1 4 47 3411h Input QD Dir Index Subindex Data Type Access PDO M...

Страница 56: ...ath Output Decimal Digits PV Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 4032 0 UINT8 RO No 2 2 Number of subindexes 1 RW 0 3 2 Math block 1 output PV decimal dig...

Страница 57: ...FV 1 4 59 4x22h Math x Input Scaling 2 FV Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 4x22 0 UINT8 RO No 5 5 Number of subindexes 1 INT16 RW INT16 10000 Math blo...

Страница 58: ...on 5030 0 FLOAT32 RO Yes FLOAT32 0 Measured CPU internal temperature 1 4 65 5040h FD Field Value Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 5040 0 UINT8 RO No 3...

Страница 59: ...rror response delay 1 Temperature 2 10 FD Error response delay 2 VPS 3 10 FD Error response delay 3 1 4 70 5555h Start In Operational Mode Index Subindex Data Type Access PDO Mapping Value Range Defau...

Страница 60: ...millisecond Protected against shorts to GND or Vps up to 60 Vdc All input channels can handle negative voltage inputs down to 2VDC due to voltage spikes or noise Response time to change at the input...

Страница 61: ...66 mA 24Vdc Typical Microprocessor TI TMS320F2806x 32 bit 256 KB flash program memory 100 KB RAM EMC Compliance CE marking Vibration Random Vibration 7 7 Grms peak Sinusoidal Component 10 g peak Base...

Страница 62: ...0413 204 2005 Installation Mounting holes sized for inch or M6 bolts The bolt length will be determined by the end user s mounting plate thickness The mounting flange of the controller is 0 63 inches...

Страница 63: ...March 5th 2019 Antti Ker nen Initial Draft largely based on the AX023240 user manual 1 March 29 2019 Amanda Wilkins Marketing Review updated to CANopen in Tech Spec Updated dimensions per drawing 1 1...

Страница 64: ...peration description of problem Wiring set up diagram application Other comments as needed When preparing the return shipping paperwork please note the following The commercial invoice for customs and...

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