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AXIOMATIC Tri-Axial J1939 CAN, Руководство пользователя

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AXIOMATIC Tri-Axial J1939 CAN Скачать руководство пользователя страница 16

 
 

 

UMAX0608XX‐1000. Tri‐Axial J1939 CAN Inclinometer. Version 9B 

Page: 16-66

The legacy vertical mounting modifications: AX060808, AX060838, originally designed for 
single-axis measurements in the roll angular direction, measure Euler angles by default. 
 

1

 Inclinometers with V1.xx firmware measure tilt angles in the ±180° range by default. 

2.2  Hardware Block Diagram 

The inclinometer contains a three-axis MEMS accelerometer, which senses acceleration in 
three orthogonal directions: X, Y, and Z.  
 
The outputs of MEMS accelerometer are processed by a 32-bit microcontroller to calculate the 
unit accelerations and inclination angles. The inclination angles are then output to CAN bus 
together with all other necessary information, see Figure 9. 
 

EMI Filter. 

Transient and Reverse 

Polarity Protection

BAT+

BAT ‐

Power Supply

3D Accelerometer

ARM Cortex‐M3 

Microcontroller

CAN

CAN_HI

CAN_LO

CAN_SHIELD*

*CAN_SHIELD is absent in AX060806 and AX060807 units.
**

Analog Outputs 

block and AOUT1...3, AGND1...2 are present only in AX061000 units.

Analog Outputs**

AOUT1**

AOUT2**

AOUT3**

AGND1**

AGND2**

PTC Resettable Fuse

 

Figure 9. The Inclinometer Hardware Block Diagram 

 
The inclinometer has a wide range of protection features including a transient and reverse 
polarity protection, see 

Technical Specifications

 section. 

2.3 Software 

Organization 

The Tri-Axial J1939 CAN Inclinometer belongs to a family of Axiomatic smart controllers with 
configurable internal architecture. This architecture allows building a controlling algorithm 
based on a set of predefined internal configurable function blocks without the need of custom 
software. 
 

Содержание Tri-Axial J1939 CAN

Страница 1: ...38 Vertical Mount Two M12 Connectors Both CAN P N AX060806 AX060810 One DT15 4P Connector P N AX060807 AX060811 One DT15 4P Connector CAN Termination In Europe Axiomatic Technologies Oy H yt m ntie 6...

Страница 2: ...rth GPS Global Positioning System Grms Root Mean Square Acceleration in G units Hz Hertz IEC International Electrotechnical Commission LSB Less Significant Byte MEMS Microelectromechanical system NED...

Страница 3: ...nating Resistors 19 2 5 Default Settings 19 2 5 1 CAN Interface 19 2 5 1 1 PGN 61459 Slope Sensor Information SSI 19 2 5 1 2 PGN 61481 Slope Sensor Information 2 SSI2 21 2 5 1 3 PGN 65256 Vehicle Dire...

Страница 4: ...Configuring Analog Signal Outputs 49 5 FLASHING NEW FIRMWARE 51 6 TECHNICAL SPECIFICATIONS 55 6 1 Performance Parameters 55 6 1 1 Angular Measurements 55 6 2 Power Supply Input 55 6 3 CAN Output 56 6...

Страница 5: ...anual front page The user manual is usually valid for application firmware with the same major version number as the user manual For example this user manual is valid for any inclinometer application...

Страница 6: ...through a set of configuration parameters to fit the user specific application requirements using Axiomatic Electronic Assistant software 2 1 Theory of Operation 2 1 1 Unit Coordinate System The incli...

Страница 7: ...e position of the machine when it is leveled on the operation area The unit calculates accelerations and angles referred to the machine frame XM YM ZM Conversion from the unit frame X Y Z to the machi...

Страница 8: ...le defines the inclination of the unit relatively the gravity vector The pitch and roll tilt angles define the inclination of the unit relatively to the XE YE ground plane parallel to the Earth surfac...

Страница 9: ...0 where 1 0 1 0 and When measured in the 90 range the tilt angles are the angles that a dual axis inclinometer or two single axis inclinometers placed in orthogonal directions will measure in the same...

Страница 10: ...YE axis The XE ZE and YE ZE planes are perpendicular to the Earth surface XE YE in the Earth frame XE YE ZE The angle between XE XZ and YE YZ is always 90 The rotation about the Z axis yaw angle is n...

Страница 11: ...An intermediate coordinate system XE YE ZE is a Z down coordinate system whose XE and YE axes are parallel to the ground plane XE YE with the XE axis aligned with the vertical projection of the X axis...

Страница 12: ...allel to the gravity vector see Figure 6 When this happens the unit effectively loses one degree of freedom and the roll angles and become undefined and can take any random value Z axis Y Axis X Axis...

Страница 13: ...high for the angular measurements 2 1 3 4 Practical Recommendations In the beginning the user defines an inclinometer position on the machine direction of the measurement angle or two angles in ortho...

Страница 14: ...ints 180 range for pitch and roll angles Roll over detection Numerically unstable pitch and roll angles in gimbal lock points Euler Angles Smooth angular transition inside the measurement range except...

Страница 15: ...hole measurement range Dual Axis Angle 90 Tilt Angle 90 Angular position in space Smooth angular transition No No No Tilt Angle 180 Pitch angle 180 Euler Angle Unit Rotation Angle No Yes Yes Yes Yes F...

Страница 16: ...necessary information see Figure 9 EMI Filter Transient and Reverse Polarity Protection BAT BAT Power Supply 3D Accelerometer ARM Cortex M3 Microcontroller CAN CAN_HI CAN_LO CAN_SHIELD CAN_SHIELD is a...

Страница 17: ...ess messages PGN 65240 ECU identification messages ECUID PGN 64965 and software identification messages SOFT PGN 65242 It also supports responses on PGN Requests PGN 59904 Please note that the Proprie...

Страница 18: ...are presented in the table below Table 3 J1939 Name Fields Field Name Field Length Field Value Configurable Arbitrary Address Capable 1 bit 1 Capable No Industry Group 3 bit 3 Construction Equipment...

Страница 19: ...r is shipped with the following pre configured settings to transmit angular data on the CAN bus 2 5 1 CAN Interface By default the inclinometer angular data is transmitted in a standard PGN PGN 61481...

Страница 20: ...eter Name Pitch Rate Not used by the inclinometer Populated with 0xFFFF Data Length 2 bytes Resolution 0 002 deg sec per bit 64 offset Data Range 64 to 64 51 deg sec Operational Range same as data ran...

Страница 21: ...ing parameters Transmission Repetition Rate 10 ms Data Length 8 Default Priority 3 Parameter Group Number 61481 Start Position Length Parameter Name SPN 1 3 3 bytes Pitch Angle Extended Range 4976 4 6...

Страница 22: ...ded Range Compensation Not used by the inclinometer Populated with 11b Data Length 2 bits Bit 2 Bit 1 0 0 On 0 1 Off 1 0 Error 1 1 Not available Type Status Parameter Name Roll Angle Extended Range Fi...

Страница 23: ...h Operational Range same as data range Type Measured Parameter Name Pitch Data Length 2 bytes Resolution 1 128 deg bit 200 deg offset Data Range 200 to 301 99 deg Operational Range 200 deg DECENT to...

Страница 24: ...igured as 0 5 V voltage outputs the following way1 AOUT1 Pitch Angle 90 0 V 90 5 V AOUT2 Roll Angle 90 0 V 90 5 V AOUT3 Gravity Angle 0 0 V 180 5 V 1 In firmware versions 4 xx 7 xx Voltage Range is se...

Страница 25: ...are defined by theconfiguration parameters Analog Signal Output 1 3 AOUT1 AOUT2 AOUT3 Present only in AX061000 Figure 10 The Inclinometer Logical Block Diagram Each function block is absolutely indepe...

Страница 26: ...ppropriate configuration parameter There is no limitation on the number of signal inputs connected to a signal output When a signal input is connected to a signal output data from the signal output of...

Страница 27: ...nal value configuration parameter is used in a function block In this case the configuration parameter value is used as a signal value when the signal is not defined see Binary Function blocks 3 2 Acc...

Страница 28: ...gle Angular Measurement Latency Angular Figure of Merit Gravity Acceleration Error Figure 12 Angle Measurement Function Block The Pitch Angle continuous signal output defines the unit pitch angle in d...

Страница 29: ...it Rotation Angle is not supported in firmware V1 xx 3 Not supported in firmware V1 xx The Tilt Angle Range is assumed to be 180 in firmware V1 xx 3 4 Unit Installation The Unit Installation function...

Страница 30: ...en the machine is in the initial null angle position leveled on the operation area The machine frame is coincident with the Earth reference frame in this position see Unit Reference Frames The user sh...

Страница 31: ...otation In the same way a horizontal mounting unit AX060800 can be converted into a vertical mounting unit AX060808 now legacy p n with a different original unit frame orientation using 90 90 0 coordi...

Страница 32: ...ed technician They are also written in a setpoint file together with other configuration parameters 3 6 Binary Functions There are ten Binary Function blocks available to the user for performing simpl...

Страница 33: ...y F x y y if x y min x y Minimum F x y x if x y F x y y if x y Equal F x y 1 if x y F x y 0 if x y Not Equal F x y 1 if x y F x y 0 if x y Great F x y 1 if x y F x y 0 if x y Great Equal F x y 1 if x...

Страница 34: ...a1 Scale 1 Offset 1 0 Any value b1 Offset 1 Input 2 Signal Source Not Connected Any signal output of any function block or Not Connected X2 Input Signal 2 Input 2 Signal Default No No Yes Defines whet...

Страница 35: ...nted as zero voltage in Output Voltage mode In Output Current mode the undefined signals are presented as zero current in 0 20mA and 0 24mA ranges or as 4mA in the 4 20mA range If the signal value is...

Страница 36: ...lock also contains Supply Voltage continuous signal output presenting the inclinometer supply voltage in V Please note that this voltage is not the voltage on the inclinometer power supply connector p...

Страница 37: ...multiple inclinometers on the same CAN network The list of available ECU instances is shown in the ECU Instance Number Setup dialog window in EA The user should select the required ECU instance numbe...

Страница 38: ...Fast slew rate in this case is used when the distance between CAN nodes substantially exceeds 40 m the maximum value defined by the J1939 11 15 standard 3 10 CAN Input Signal There are three CAN Inpu...

Страница 39: ...If Autoreset Time is 0 the auto reset is disabled 1Proprietary A PGN 61184 is excluded It is taken by Axiomatic Simple Proprietary Protocol and therefore cannot be used in function blocks The CAN inpu...

Страница 40: ...e Function Block Configuration parameters of the CAN Output Message function block are presented below Table 17 CAN Output Message Function Block Configuration Parameters Name Default Value1 Range Uni...

Страница 41: ...s Offset of the 2 nd CAN continuous output signal Signal 10 Type Undefined Undefined Discrete Continuous Type of the 10 th CAN output signal Signal 10 Source Not Connected Any signal output of any fun...

Страница 42: ...s are presented in the signal code with all bits set to 1 Discrete signals are directly assigned to the signal code without any conversion Continuous signals are converted to the signal code based on...

Страница 43: ...the user should use EA 5 15 108 0 or higher with the inclinometer application firmware version 9 xx described in this user manual The most recent EA software version can be downloaded from Axiomatic w...

Страница 44: ...r function block is presented by its own setpoint group in the Setpoint File main group Individual configuration parameters setpoints of a function block can be accessed through the function block set...

Страница 45: ...UMAX0608XX 1000 Tri Axial J1939 CAN Inclinometer Version 9B Page 45 66 Figure 26 Accelerometer Function Block in EA Figure 27 Changing a Configuration Parameter in EA...

Страница 46: ...the setpoint file view or print it and also flash the setpoint file into the inclinometer see Figure 28 Figure 28 EA Setpoint File The CAN network identification and read only configuration parameter...

Страница 47: ...5280 PDU2 Proprietary Start Position Length Parameter Name SPN 1 1 2 bits User Alarm Flag N A Parameter Name User Alarm Flag Data Length 2 bits Bit 2 Bit 1 0 0 Off Platform is not tilted 0 1 On Platfo...

Страница 48: ...n Rate 100 ms Length 1 Byte Priority 6 J1939 CAN Bus Signal 1 Type Discrete Signal 1 Byte Position 1 Signal 1 Bit Position 1 Signal 1 Size 2 Bit Figure 29 Block Diagram of the Example Configuration Fi...

Страница 49: ...clinometer configuration is finished Now the unit operates according to the new user requirements The configuration parameters are all set and are already written to the non volatile unit memory The u...

Страница 50: ...ction provides the tilt alarm internal signal see Figure 29 Then set Output Mode to Output Voltage Voltage Range to 0 5 V Scale to 5 and Offset to 0 see Figure 32 Figure 32 Analog Signal Output 3 Exam...

Страница 51: ...originally shipped with older versions of the application firmware the user should request a special application firmware file compatible with the installed bootloader version to upgrade the inclinome...

Страница 52: ...nformation controller hardware bootloader details and the currently installed application firmware remains the same in the bootloader mode and the user can read it in the Bootloader Information group...

Страница 53: ...the user can add any comments to the flashing operation in the Flashing Comments field They will be stored in the Bootloader Information group after flashing The user can also check the Erase All ECU...

Страница 54: ...running the new firmware see Figure 38 This will indicate that the flashing operation has been performed successfully For more information refer to the J1939 Bootloader section of the EA user manual F...

Страница 55: ...061000 Resolution 0 06 Effective Resolution 3 46 NoiseRMS Maximum at cut off frequency Fc 5Hz accelerometer range 1 5g Initial Accuracy 2 Maximum Temperature Drift 3 Maximum in the full temperature ra...

Страница 56: ...t s 120Ohm Internal Terminating Resistor AX060800 AX060806 AX060808 AX060830 AX061000 AX060838 AX060810 No AX060807 AX060811 Yes Bosch CAN protocol specification 2 0 Part A B For the internal CAN cont...

Страница 57: ...set to 10 10V Pitch Angle 90 10V 90 10V Roll Angle 90 10V 90 10V Gravity Angle 0 10V 180 10V 6 5 General Specifications Table 23 General Specifications Parameter Value Remarks Sensor Type MEMS Intern...

Страница 58: ...Resistor Sensor AX060800 AX060800 Two M12 Connectors No Regular AX0608081 AX060806 AX060806 4 pin Deutsch DT15 4P connector AX060807 Yes AX060830 AX060800 Two M12 Connectors No High performance AX0610...

Страница 59: ...out Inclinometers in AX060800 enclosure have two versions of the pinout 6 7 1 1 1 CAN Only The CAN only pinout is used in inclinometers AX060800 AX060808 AX060830 AX060838 that do not have any other i...

Страница 60: ...42 This orientation is suitable for a horizontal installation X Y Z Z points away from the viewer Roll Pitch Figure 42 Horizontal Unit Frame Orientation The legacy vertical mount inclinometers AX06080...

Страница 61: ...different part number on the label but retain the same pinout and unit orientation 6 7 2 1 Connector Pinout Inclinometers AX060806 AX060807 AX060810 AX060811 have the following connector pinout see F...

Страница 62: ...V5 00 6 8 Installation See mechanical installation information on the dimensional drawings The CAN wiring is considered intrinsically safe All field wiring should be suitable for the operating temper...

Страница 63: ...ek Bogush Updated Analog Signal Output Default Settings for AX061000 in Technical Specifications Updated Analog Outputs in Default Settings Updated Analog Signal Output Function Block Configuration Pa...

Страница 64: ...Orientation sub sections Added Analog Signal Output Default Settings for AX061000 in Analog Outputs sub section Updated CAN Parameters CAN and Analog Signal Outputs 4C 4 xx 5 13 98 0 or higher Nov 16...

Страница 65: ...version numbering in Version History 3B 3 xx 5 13 90 0 or higher August 4 2017 Olek Bogush In Static Parameters sub section changed Resolution remarks for clarity Added P N AX070140 for M12 sealing ca...

Страница 66: ...iptions 1D 1 xx 4 11 81 0 or higher March 29 2017 Olek Bogush Added DP15 4P versions Updated Hardware Block Diagram Network Bus Terminating Resistors and Technical Specifications sections 1C 1 xx 4 11...

Страница 67: ...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...

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