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UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change

45 - 85

4.

CANopen INTERFACE AND OBJECT DICTIONARY

The CANopen ® object dictionary of the AX030211 Controller is based on CiA device profile DS-404
V4.1.0 (xxx device profile). The object dictionary includes Communication Objects beyond the
minimum requirements in the profile, as well as several manufacturer-specific objects for extended
functionality.

4.1.

Node ID and Baud rate

By default, the AX030211 controller ships factory programmed with a

Node ID = 127 (0x7F)

and with

Baud rate = 125 kbps.

4.1.1.

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

4.1.1.1.

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 AX030210

Страница 1: ...USER MANUAL UMAX030211 12 Input 8 Signal Output 1 Relay Output Controller with CANopen USER MANUAL P N AX030211...

Страница 2: ...m Please provide the following information when requesting an RMA number Serial number part number Axiomatic invoice number and date Hours of operation description of problem Wiring set up diagram app...

Страница 3: ...Ker nen Initial Version 1 0 1 Feb 24 2020 Antti Ker nen Objects 6340h 7341h and 2353h added Firmware reflashing instructions added Resistive input s defaults updated in section 2 1 April 21 2020 Amand...

Страница 4: ...29 bit Identifier COB Communication Object CTRL Control EDS Electronic Data Sheet EMCY Emergency GND Ground reference a k a BATT LSB Least Significant Byte or Bit LSS Layer Settling Service LUT Looku...

Страница 5: ...nditions Evaluation 34 2 5 2 Table Selection 35 2 5 3 Logic Block Output 37 2 6 Math Function Block 38 2 7 Miscellaneous Function Block 40 2 8 Available Control Sources 42 2 9 Diagnostics 43 3 INSTALL...

Страница 6: ...ing Parameters 54 4 2 25 1A01h TPDO 2 Mapping Parameters 54 4 2 26 1A02h TPDO 3 Mapping Parameters 55 4 2 27 1A03h TPDO 4 Mapping Parameters 55 4 3 Application Objects 56 4 3 1 6000h DI Read State 8 I...

Страница 7: ...l Digits FV 64 4 4 5 2103h AI Debounce Filter 64 4 4 6 2110h AI Error Detect Enable 64 4 4 7 2111h AI Error Clear Hysteresis 65 4 4 8 2112h AI Error Reaction Delay 65 4 4 9 2302h AO Output Range 65 4...

Страница 8: ...ion Logical Operator 71 4 4 48 3x11h Logic Block x 3 Function A Condition 1 71 4 4 49 3x12h Logic Block x 3 Function A Condition 2 72 4 4 50 3x13h Logic Block x 3 Function A Condition 3 72 4 4 51 3x21...

Страница 9: ...FD Field Value 76 4 4 73 5041h FD Set Threshold 76 4 4 74 5042h FD Clear Threshold 76 4 4 75 5050h FD Enable 3 Faults 76 4 4 76 5051h FD Error Response Delay 77 4 4 77 5120h VREF Control Source 77 4 4...

Страница 10: ...tions 21 Table 11 Object 6310h AO Output Type Options 23 Table 12 AO Output Range Options Depending on Output Type 23 Table 13 AO Object Defaults Based on Output Type and Input Range 23 Table 14 PID C...

Страница 11: ...Reads as Digital 22 Figure 8 Analog Output Objects 22 Figure 9 Analog Output Linear Scaling PV to FV 24 Figure 10 PID Control Objects 25 Figure 11 PID Control Algorithm 26 Figure 12 Lookup Table Objec...

Страница 12: ...301 CiA DS 301 V4 1 CANopen Application Layer and Communication Profile CAN in Automation 2005 DS 305 CiA DS 305 V2 0 Layer Setting Service LSS and Protocols CAN in Automation 2006 DS 404 CiA DS 404...

Страница 13: ...user a wide range of configurable input and output types The sophisticated control algorithms allow the user to program the controller for a wide range of applications without the need for custom soft...

Страница 14: ...user configurable using standard commercially available tools that can interact with a CANopen Object Dictionary via an EDS file In this document the configurable properties of the ECU are divided int...

Страница 15: ...2h are shown in Table 1 No values other than what are shown here will be accepted Value Meaning 0 Channel Off 1 Normal Operation analog 10 Digital Input on off 20 Analog and On Off Table 1 Object 6112...

Страница 16: ...tware filtering but in case the Frequency or PWM duty cycle measurements need to have high accuracy please avoid using these four channels NOTE The input channels 3 8 and 6 7 share the timer periphera...

Страница 17: ...mulas below Calculation with no filter Value Input The data is simply a snapshot of the latest value measured by the ADC or timer Equation 1 Moving Average Transfer Function ValueN ValueN 1 Input Valu...

Страница 18: ...for error detection and as a control signal for other logic blocks i e output control Object 7100h is mappable to a TPDO and is mapped to TPDO1 by default Read only object 7130h AI Input Process Valu...

Страница 19: ...0000 uA 21000 uA 250 uA Freq 0 5Hz to 50Hz 100 0 01Hz 500 0 01Hz 5000 0 01Hz 5500 0 01Hz 20 0 01Hz Freq 10Hz to 1kHz 50 0 1Hz 100 0 1Hz 10000 0 1Hz 11000 0 1Hz 50 0 1Hz Freq 100Hz to 10kHz 50 Hz 100 H...

Страница 20: ...AI Span End objects an error flag will be set in the application if and only if object 2110h AI Error Detect Enabled is set to TRUE 1 When 7100h AI Input FV 7148h AI Span Start an Out of Range Low fl...

Страница 21: ...n Deutsch connector is capable of detecting Digital On Off states It does not require any specific configuration the on off state can be read directly from AI Input Field Process Value objects and fro...

Страница 22: ...in object 6000h DI_Read_state_8_Input_Lines will be written to represent the same inputs states There is another type of digital input that can be selected when 6112h is set to 20 Analog On Off Howev...

Страница 23: ...e voltages In addition to output type configuration user can select control enable and override sources for each output Also fault mode functionality can be configured Figure 8 Analog Output Objects T...

Страница 24: ...caling PV Decimal Digits PV etc are automatically updated by default Object 5550h enables disables automatic updates When disabled set to False the objects are to be manually configured Sensor Type In...

Страница 25: ...ion block each one with a unique source and number object For the control function PV axis in Figure 9 objects 2340h AO Control Input Source and 2341h AO Control Input Number are used For the enable f...

Страница 26: ...h Derivative Time 7450h Proportional Band Gain Digits Equal1 Target Limits Feedback Limits Feedback Percentage 2450h Tolerance Figure 10 PID Control Objects As with the output function block the PID c...

Страница 27: ...fault the PID loop is assumed to be controlling a single output which will increase decrease as the feedback over undershoots the target However some systems may require a push pull response where one...

Страница 28: ...les to get 30 slopes as is described in Section 0 A parameter that will affect the function block is object 30z5h sub index 1 which defines the X Axis Type By default the tables have a Data Response o...

Страница 29: ...hed The Y Axis does not have to be a percentage output but could represent full scale process values instead In all cases the controller looks at the entire range of the data in the Y Axis sub indexes...

Страница 30: ...responses can be used to create an application specific output profile An example of where the same input is used as the X Axis for two tables but where the output profiles mirror each other for a de...

Страница 31: ...changed over a period of time based on the profile in the lookup table Once the profile has finished i e reached index 11 or an Ignored response the output will remain at the last output at the end of...

Страница 32: ...Version 1 0 2 Preliminary Documentation May be subject to change 31 85 2 5 Programmable Logic Function Block The programmable logic blocks LB x 3 functions are not used by default Figure 15 Logic Blo...

Страница 33: ...object 3310h Logic Block Selected Table Note In this document the term LB x 3 refers to Logic Blocks 1 to 2 Due to the CANopen Object indices Logic Block 1 begins at 3401h where x in this case is 4 Th...

Страница 34: ...UMAX030211 Version 1 0 2 Preliminary Documentation May be subject to change 33 85 Figure 16 Logic Block Flowchart...

Страница 35: ...ction block as listed in Table 18 As always the input is a combination of the functional block objects 3xyzh sub index 1 Argument 1 Source and Argument 1 Number Argument 2 on the other hand could eith...

Страница 36: ...mbinations that can be selected as listed in Table 19 The default value for object 3x02h LB x 3 Function Logical Operator is dependent on the sub index For sub index 1 Table A and 2 Table B the Cnd1 A...

Страница 37: ...results are treated as False If Cnd1 True Cnd2 True Cnd3 True Then Use Table Cnd1 Or Cnd2 And Cnd3 To be used only when all three conditions are relevant If Condition 1 And Condition 3 are True OR Co...

Страница 38: ...r 1 1 2 3 2 4 4 4 Table 21 LB x 3 Default Lookup Tables If the associated Lookup Table YZ where YZ equals 3310h sub index X does not have an X Axis Source selected then the output of LB x 3 will alway...

Страница 39: ...to a percentage value based on objects 4y20h Math Y Scaling 1 FV and 4y22h Math Y Scaling 2 FV Before being used in the calculation these objects apply the resolution shift defined by object 4y02h Mat...

Страница 40: ...output would be the result of the Function 3 operation For logical operators 6 to 8 any SCALED input greater than or equal to 0 5 is treated as a TRUE input For logic output operators 0 to 8 the resu...

Страница 41: ...sociated with one another but are all discussed here Figure 18 Miscellaneous Objects Extra RPDO Messages Objects 2500h Extra Control Received PV 2502h EC Decimal Digits PV 2502h EC Scaling 1 PV and EC...

Страница 42: ...h FD Set Threshold 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 504...

Страница 43: ...m 2500h subindexes 1 9 2 Universal Digital Input Measured 1 to 12 3 PID Function Block 1 to 2 User must enable the function block as it is disabled by default 4 Lookup Table 1 to 10 5 Programmable Log...

Страница 44: ...cations timeout power supply voltage CPU temperature built in temperature sensor and out of range status for each of the inputs are monitored by the firmware If any of the variables are out of range a...

Страница 45: ...ESISTIVE INPUT 17 ANALOG OUTPUT_GND 18 ANALOG OUTPUT_GND 19 ANALOG OUTPUT_GND 20 ANALOG OUTPUT_GND PIN Description 21 UNIVERSAL INPUT 1_GND 22 UNIVERSAL INPUT 3_GND 23 UNIVERSAL INPUT 5_GND 24 UNIVERS...

Страница 46: ...kbps 4 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...

Страница 47: ...iguration Data 1 0x00 Data 2 0x00 Set the module state to LSS operation by sending the following message Note the module will reset itself back to the pre operational state Item Value COB ID 0x7E5 Len...

Страница 48: ...D 0x7E5 Length 3 Data 0 0x15 cs 19 for activate bit timing parameters Data 1 delay_lsb Data 2 delay_msb The delay individually defines the duration of the two periods of time to wait until the bit tim...

Страница 49: ...h 2 Data 0 0x04 cs 4 for switch state global Data 1 0x00 switches to waiting state The following screen capture left shows the CAN data was sent 7E5h and received 7E4h by the tool when the baud rate w...

Страница 50: ...ify Configuration 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 Communicat...

Страница 51: ...Range Default 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 EM...

Страница 52: ...Number of subindexes 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 4 2 8 1017h Producer Heartbeat Time Index Subin...

Страница 53: ...2 Communication Parameters Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 1401 0 UINT8 RO No 4 4 Number of subindexes 1 UINT32 RW UINT32 0x4000037F COB ID 2 UINT8 UI...

Страница 54: ...lue 4 4 2 18 1602h RPDO 3 Mapping 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 0 Not used...

Страница 55: ...timer 4 2 23 1803h TPDO 4 Communication Parameters Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 1803 0 UINT8 RO No 4 4 Number of subindexes 1 UINT32 RW UINT32 0xC...

Страница 56: ...f subindexes 1 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 4 2 27 1A03h TPDO 4 Mapping Parameters I...

Страница 57: ...g ARRAY INTEGER8 RW No 7100 AI Input Field Value ARRAY INTEGER16 RO Yes 7120 AI Input Scaling 1 FV ARRAY INTEGER16 RW No 7121 AI Input Scaling 1 PV ARRAY INTEGER16 RW No 7122 AI Input Scaling 2 FV ARR...

Страница 58: ...put 1 8 polarity bitmap one bit per input 2 0 0x0F 0 Digital Input 9 12 polarity bitmap one bit per input 4 3 3 6110h AI Sensor Type Index Subindex Data Type Access PDO Mapping Value Range Default Val...

Страница 59: ...cimal digits 4 3 9 6310h AO Output Type Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 6310 0 UINT8 RO No 9 9 Number of subindexes 1 9 UINT16 RW 0 10 20 10 Output 1...

Страница 60: ...nput 1 12 field value scaler 1 4 3 6 7121h AI Input Scaling 1 PV Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 7121 0 UINT8 RO No 12 12 Number of subindexes 1 12 IN...

Страница 61: ...s PDO Mapping Value Range Default Value Description 7300 0 UINT8 RO No 9 9 Number of subindexes 1 9 INT16 RW INT16 0 Output 1 9 process value 4 3 13 7320h AO Output Scaling 1 PV Index Subindex Data Ty...

Страница 62: ...4 3 19 7450h PID Proportional Band Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 7450 0 UINT8 RO No 2 2 Number of subindexes 1 2 INT16 RW 0 100 5 Additional PID 1 2...

Страница 63: ...Number ARRAY UNSIGNED8 RW No 2362 AO Override Response ARRAY UNSIGNED8 RW No 2450 PID Tolerance VAR INTEGER16 RW No 2451 PID Integral Gain VAR INTEGER16 RW No 2452 PID Derivative Gain VAR INTEGER16 R...

Страница 64: ...utput Process Value ARRAY INTEGER16 RO Yes 4032 Math Output Decimal Digits PV ARRAY UNSIGNED8 RW No 4y00 Math Y Input Source ARRAY UNSIGNED8 RW No 4y01 Math Y Input Number ARRAY UNSIGNED8 RW No 4y03 M...

Страница 65: ...ype Access PDO Mapping Value Range Default Value Description 2101 0 UINT8 RO No 12 12 Number of subindexes 1 12 UINT16 RW 0 1000 0 Input 1 12 PPR When 0 no rpm conversion done 4 4 4 2102h AI Decimal D...

Страница 66: ...a Type Access PDO Mapping Value Range Default Value Description 2302 0 UINT8 RO No 9 9 Number of subindexes 1 9 RW 0 4 3 Output 1 9 range 4 4 10 2330h AO Ramp Up Index Subindex Data Type Access PDO Ma...

Страница 67: ...15 2351h AO Enable Input Number Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 2351 0 UINT8 RO No 9 9 Number of subindexes 1 9 RW depends on Enable Source 1 Output 1...

Страница 68: ...ta Type Access PDO Mapping Value Range Default Value Description 2362 0 UINT8 RO No 9 9 Number of subindexes 1 9 RW 0 1 0 0 Override when on 1 Override when off 4 4 21 2450h PID Tolerance Index Subind...

Страница 69: ...default disabled See Table 23 4 4 27 2456h PID Feedback Number Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 2456 0 UINT8 RO No 2 2 Number of subindexes 1 2 RW 0 16...

Страница 70: ...nge Default Value Description 2522 0 UINT8 RO No 9 9 Number of subindexes 1 9 INT16 RW INT16 0 EC 1 9 process value scaler 2 4 4 34 30z0h LT0z Input X Axis Source Index Subindex Data Type Access PDO M...

Страница 71: ...Default Value Description 30z5 0 UINT8 RO No 12 12 Number of subindexes 1 12 RW 0 2 1 LUT z point response 0 Ignore 1 Ramp to 2 Jump to 4 4 40 30z6h LT0z X Axis Process Value Index Subindex Data Type...

Страница 72: ...Table Number Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 3x01 0 UINT8 RO No 1 1 Number of subindexes 1 3 RW 0 4 0 Logic block x 3 lookup table number 1 3 objects...

Страница 73: ...dition 3 Arg 2 Source 4 1 LB x 3 Function A Condition 3 Arg 2 Number 5 Table 17 0 LB x 3 Function A Condition 3 Operator objects 3413h 3513h 4 4 51 3x21h Logic Block x 3 Function B Condition 1 Index S...

Страница 74: ...dition 1 Arg 2 Source 4 1 LB x 3 Function C Condition 1 Arg 2 Number 5 Table 17 0 LB x 3 Function C Condition 1 Operator objects 3431h 3531h 4 4 55 3x32h Logic Block x 3 Function C Condition 2 Index S...

Страница 75: ...PV 4 4 60 4030h Math Function Output Process Value Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 4030 0 UINT8 RO No 2 2 Number of subindexes 1 2 INT16 Yes INT16 0 M...

Страница 76: ...22 0 UINT8 RO No 5 5 Number of subindexes 1 5 INT16 RW INT16 0 Math block y input field value scaling 2 4 4 67 4y40h Math y Input Gain Index Subindex Data Type Access PDO Mapping Value Range Default V...

Страница 77: ...Value 1 2 FD Field Value 2 3 FD Field Value 3 4 4 73 5041h FD Set Threshold Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 5041 0 UINT8 RO No 3 3 Number of subindex...

Страница 78: ...trol Number Index Subindex Data Type Access PDO Mapping Value Range Default Value Description 5121 0 UINT8 RO No 9 9 Number of subindexes 1 2 RW depends on Control Source 1 Reference voltage output 1...

Страница 79: ...ex 0 of the object 55AAh 1 To do so the object 55AAh can be accessed using CANopen tools or by sending the following SDO write message using CAN Assistant Scope assuming default node id of 0x7F ID Len...

Страница 80: ...urns to regular functionality the other ECU s would have to be power cycled to re activate the bootloader feature 3 Select the Flashing button and navigate to where you had saved the AF 19135 x xx bin...

Страница 81: ...ustom settings those settings need to be saved to PC before reflashing A progress bar will show how much of the firmware has been sent as the upload progresses The more traffic there is on the J1939 n...

Страница 82: ...cksum or for any other reason the new firmware is not correct i e bootloader detects that the file loaded was not designed to run on the hardware platform the bad or corrupted application will not run...

Страница 83: ...mA Protection Reverse polarity protection is provided Power supply input section protects against transients surges per IEC 60533 Table 4 and short circuits and is isolated from inputs Undervoltage p...

Страница 84: ...A 1 PWM single channel 1 Frequency RPM single channel 1 16 bit counter single channel 3 mSec 50 Hz Input Resolution 0 5V or 0 10V 1 mV 0 20mA or 4 20 mA 1 A Input Impedance Voltage 1 MOhm Current 124...

Страница 85: ...er Interface EDS file Reflashing Axiomatic Electronic Assistant AX070502 Operating Conditions 40 to 85 C 40 to 185 F Protection IP67 Unit is conformally coated in the housing Marine Type Approval Test...

Страница 86: ...oduct safety requirements Refer to the CAN specification for more information Use CAN compatible cabling Shielded CAN cable is required The module provides the CAN port shield connection ac coupled to...

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