AXIOMATIC AX030210 User manual

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USER MANUAL UMAX030211
12 Input, 8 Signal Output
& 1 Relay Output Controller
with CANopen®
USER MANUAL
P/N: AX030211

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Copyright 2020
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OUR PRODUCTS
Actuator Controls
Automotive Ethernet Converters
Battery Chargers
CAN bus Controls
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Switches
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Gateways, CAN/Modbus Protocols
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Resolver Signal Conditioners
Service Tools
Signal Conditioners, Converters
Strain Gauge CAN Controls
Surge Suppressors
OUR COMPANY
Axiomatic provides electronic machine controls, components, and systems to
the off-highway, commercial vehicle, electric vehicle, power generator set,
material handling, renewable energy and industrial OEM markets.
We innovate with engineered and off-the-shelf machine controls that add
value for our customers. We emphasize service and partnership with our
customers, suppliers, and employees to build long term relationships and
mutual trust.
QUALITY DESIGN AND MANUFACTURING
Axiomatic in Canada operates an ISO 9001:2015 registered design and
manufacturing facility.
SERVICE
All products to be returned to Axiomatic require a Return Materials
Authorization Number (RMA#). Please request an RMA# from
[email protected].
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, application
• Other comments as needed
All products should be serviced by Axiomatic. Do not open the product and
perform the service yourself.
DISPOSAL
Axiomatic products are electronic waste. Please follow your local environmental
waste and recycling laws, regulations and policies for safe disposal or recycling
of electronic waste.
WARRANTY, APPLICATION APPROVALS/LIMITATIONS
Axiomatic Technologies Corporation reserves the right to make corrections,
modifications, enhancements, improvements, and other changes to its products
and services at any time and to discontinue any product or service without
notice. Customers should obtain the latest relevant information before placing
orders and should verify that such information is current and complete. Users
should satisfy themselves that the product is suitable for use in the intended
application. All our products carry a limited warranty against defects in material
and workmanship. Please refer to our Warranty, Application
Approvals/Limitations and Return Materials Process as described on
www.axiomatic.com/service.html.
CONTACTS
Axiomatic Technologies Corporation
5915 Wallace Street
Mississauga, ON
CANADA L4Z 1Z8
TEL: [phone]
FAX: [phone]
www.axiomatic.com
Axiomatic Technologies Oy
Höytämöntie 6
33880 Lempäälä
FINLAND
TEL: [phone]
FAX: [phone]
www.axiomatic.fi

UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change ii
VERSION HISTORY
V
ersion Date
A
uthor Modification
1.0.0.
A
u
g
16, 2019
A
ntti Keränen Initial Version
1.0.1. Feb 24, 2020 Antti Keränen Objects 6340h, 7341h and 2353h
added. Firmware reflashing
instructions added. Resistive input’s
defaults updated in section 2.1.
- April 21, 2020 Amanda Wilkins Added Marine TAC, CE marking and
Vibration test results
1.0.2 Dec. 10, 2020 Antti Keränen Added a note about Frequency/PWM
input t
y
pe limitations.

UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change iii
ACRONYMS
BATT +/- Battery positive (a.k.a. Vps) or Battery Negative (a.k.a. GND)
CAN Control Area Network
CANopen ® CANopen ® is a registered community trademark of CAN in Automation e.V.
CAN-ID CAN (11-bit or 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 Lookup Table
MSB Most Significant Byte (or Bit)
NMT Network Management
RO Read Only Object
RPDO Received Data Object
RPM Rotations per Minute
RW Read/Write Object
SDO Service Data Object
TPDO Transmitted Process Data Object
Vps Voltage Power Supply (a.k.a. BATT+)
WO Write Only Object

UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change iv
LISTOFCONTENTS
1.  OVERVIEW OF THE CONTROLLER ..................................................................................................................... 12 
2.  CONTROLLER FUNCTION BLOCKS .................................................................................................................... 14 
2.1.  Input Function Blocks ...................................................................................................................................... 14 
2.1.1.  Resistive Input ............................................................................................................................................. 20 
2.1.2.  Digital Input .................................................................................................................................................. 20 
2.2.  Output Function Blocks.................................................................................................................................... 22 
2.2.1.  Relay Output ................................................................................................................................................ 24 
2.2.2.  Reference Voltages ..................................................................................................................................... 25 
2.3.  PID Function Block .......................................................................................................................................... 25 
2.4.  Lookup Table Function Block .......................................................................................................................... 27 
2.4.1.  X-Axis, Input Data Response ...................................................................................................................... 28 
2.4.2.  Y-Axis, Lookup Table Output ....................................................................................................................... 28 
2.4.3.  Point to Point Response .............................................................................................................................. 28 
2.4.4.  X-Axis, Time Response ............................................................................................................................... 30 
2.5.  Programmable Logic Function Block ............................................................................................................... 31 
2.5.1.  Conditions 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.  INSTALLATION INSTRUCTIONS .......................................................................................................................... 44 
3.1.  Dimensions and Pinout .................................................................................................................................... 44 
4.  CANOPEN INTERFACE AND OBJECT DICTIONARY ......................................................................................... 45 
4.1.  Node ID and Baud rate .................................................................................................................................... 45 
4.1.1.  LSS Protocol to Update ............................................................................................................................... 45 
4.1.1.1.  Setting Node-ID ....................................................................................................................................... 45 
4.1.1.2.  Setting Baud rate ..................................................................................................................................... 46 
4.2.  Communication Objects (DS-301) ................................................................................................................... 49 
4.2.1.  1000h Device Type ...................................................................................................................................... 50 
4.2.2.  1001h Error Register ................................................................................................................................... 50 
4.2.3.  1002h Manufacturer Status Object .............................................................................................................. 50 
4.2.4.  1003h Pre-Defined Error Field ..................................................................................................................... 50 
4.2.5.  1010h Store Parameters.............................................................................................................................. 50 
4.2.6.  1011h Restore Parameters ......................................................................................................................... 51 
4.2.7.  1016h Consumer Heartbeat Time ............................................................................................................... 51 
4.2.8.  1017h Producer Heartbeat Time ................................................................................................................. 51 
4.2.9.  1018h Identity Object ................................................................................................................................... 51 

UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change v
4.2.10.1020h Verify Configuration .......................................................................................................................... 51
4.2.11.1029h Error Behavior ................................................................................................................................... 52
4.2.12.1400h RPDO 1 Communication Parameters .............................................................................................. 52
4.2.13.1401h RPDO 2 Communication Parameters .............................................................................................. 52
4.2.14.1402h RPDO 3 Communication Parameters .............................................................................................. 52
4.2.15.1403h RPDO 4 Communication Parameters .............................................................................................. 52
4.2.16.1600h RPDO 1 Mapping Parameters .......................................................................................................... 53
4.2.17.1601h RPDO 2 Mapping Parameters .......................................................................................................... 53
4.2.18.1602h RPDO 3 Mapping Parameters .......................................................................................................... 53
4.2.19.1603h RPDO 4 Mapping Parameters .......................................................................................................... 53
4.2.20.1800h TPDO 1 Communication Parameters ............................................................................................... 53
4.2.21.1801h TPDO 2 Communication Parameters ............................................................................................... 54
4.2.22.1802h TPDO 3 Communication Parameters ............................................................................................... 54
4.2.23.1803h TPDO 4 Communication Parameters ............................................................................................... 54
4.2.24.1A00h TPDO 1 Mapping 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 Input Lines ............................................................................................................. 57
4.3.2.6002h DI Polarity 8 Input Lines ................................................................................................................... 57
4.3.3.6110h AI Sensor Type ................................................................................................................................. 57
4.3.4.6112h AI Operating Mode ........................................................................................................................... 57
4.3.5.6132h AI Decimal Digits PV ........................................................................................................................ 57
4.3.6.61A0h AI Filter Type .................................................................................................................................... 58
4.3.7.61A1h AI Filter Constant ............................................................................................................................. 58
4.3.8.6302h AO Decimal Digits PV ....................................................................................................................... 58
4.3.9.6310h AO Output Type ................................................................................................................................ 58
4.3.10.6332h AO Decimal Digits FV ....................................................................................................................... 58
4.3.1.6340h AO Fault Mode .................................................................................................................................. 58
4.3.2.6458h PID Physical Unit Timing .................................................................................................................. 58
4.3.3.6459h PID Decimal Digits Timing ................................................................................................................ 59
4.3.4.7100h AI Input Field Value .......................................................................................................................... 59
4.3.5.7120h AI Input Scaling 1 FV ........................................................................................................................ 59
4.3.6.7121h AI Input Scaling 1 PV ........................................................................................................................ 59
4.3.7.7122h AI Input Scaling 2 FV ........................................................................................................................ 59
4.3.8.7123h AI Input Scaling 2 PV ........................................................................................................................ 59
4.3.9.7130h AI Input Process Value ..................................................................................................................... 59
4.3.10.7148h AI Input Span Start ........................................................................................................................... 60
4.3.11.7149h AI Input Span End ............................................................................................................................ 60

UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change vi
4.3.12.7300h AO Output Process Value ................................................................................................................ 60
4.3.13.7320h AO Output Scaling 1 PV ................................................................................................................... 60
4.3.14.7321h AO Output Scaling 2 FV ................................................................................................................... 60
4.3.15.7322h AO Output Scaling 1 PV ................................................................................................................... 60
4.3.16.7323h AO Output Scaling 2 FV ................................................................................................................... 61
4.3.17.7330h AO Output Field Value ...................................................................................................................... 61
4.3.18.7341h AO Output Fault FV .......................................................................................................................... 61
4.3.19.7450h PID Proportional Band ...................................................................................................................... 61
4.3.20.7452h PID Integral Action Time ................................................................................................................... 61
4.3.21.7454h PID Derivative Action Time ............................................................................................................... 61
4.3.22.7456h PID Cycle Time ................................................................................................................................. 61
4.4.Manufacturer Objects ...................................................................................................................................... 62
4.4.1.2020h DI Pull Up Down Mode 1 Input Line ................................................................................................. 64
4.4.2.2100h AI Input Range .................................................................................................................................. 64
4.4.3.2101h AI Number of Pulses per Revolution ................................................................................................ 64
4.4.4.2102h AI Decimal 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
4.4.10.2330h AO Ramp Up .................................................................................................................................... 65
4.4.11.2331h AO Ramp Down ................................................................................................................................ 65
4.4.12.2340h AO Control Input Source .................................................................................................................. 65
4.4.13.2341h AO Control Input Number ................................................................................................................. 66
4.4.14.2350h AO Enable Input Source ................................................................................................................... 66
4.4.15.2351h AO Enable Input Number ................................................................................................................. 66
4.4.16.2352h AO Enable Response ....................................................................................................................... 66
4.4.17.2353h AO Disable Drive FV ........................................................................................................................ 66
4.4.18.2360h AO Override Input Source ................................................................................................................ 67
4.4.19.2361h AO Override Input Number ............................................................................................................... 67
4.4.20.2362h AO Override Response .................................................................................................................... 67
4.4.21.2450h PID Tolerance ................................................................................................................................... 67
4.4.22.2451h PID Integral Gain .............................................................................................................................. 67
4.4.23.2452h PID Derivative Gain .......................................................................................................................... 67
4.4.24.2453h PID Target Source ............................................................................................................................ 68
4.4.25.2454h PID Target Number .......................................................................................................................... 68
4.4.26.2455h PID Feedback Source ...................................................................................................................... 68
4.4.27.2456h PID Feedback Number ..................................................................................................................... 68
4.4.28.2457h PID Control Response ...................................................................................................................... 68

UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change vii
4.4.29.2460h PID Output FV .................................................................................................................................. 68
4.4.30.2500h EC Extra Received PV ..................................................................................................................... 68
4.4.31.2502h EC Decimal Digits PV ....................................................................................................................... 69
4.4.32.2520h EC Scaling 1 PV ............................................................................................................................... 69
4.4.33.2522h EC Scaling 2 PV ............................................................................................................................... 69
4.4.34.30z0h LT0z Input X Axis Source ................................................................................................................. 69
4.4.35.30z1h LT0z Input X Axis Number ................................................................................................................ 69
4.4.36.30z2h LT0z Auto Repeat ............................................................................................................................. 69
4.4.37.30z3h LT0z X Axis Decimal Digits ............................................................................................................... 70
4.4.38.30z4h LT0z Y Axis Decimal Digits ............................................................................................................... 70
4.4.39.30z5h LT0z Point Response ....................................................................................................................... 70
4.4.40.30z6h LT0z X Axis Process Value .............................................................................................................. 70
4.4.41.30z7h LT0z Y Axis Process Value .............................................................................................................. 70
4.4.42.30z8h LT0z Output Y Axis Process Value................................................................................................... 70
4.4.43.3300h Logic Block Enable ........................................................................................................................... 71
4.4.44.3310h Logic Block Selected Table .............................................................................................................. 71
4.4.45.3320h Logic Block Output Process Value ................................................................................................... 71
4.4.46.3x01h Logic Block (x-3) Lookup Table Number .......................................................................................... 71
4.4.47.3x02h Logic Block (x-3) Function 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.3x21h Logic Block (x-3) Function B Condition 1 ......................................................................................... 72
4.4.52.3x22h Logic Block (x-3) Function B Condition 2 ......................................................................................... 72
4.4.53.3x23h Logic Block (x-3) Function B Condition 3 ......................................................................................... 73
4.4.54.3x31h Logic Block (x-3) Function C Condition 1 ......................................................................................... 73
4.4.55.3x32h Logic Block (x-3) Function C Condition 2 ......................................................................................... 73
4.4.56.3x33h Logic Block (x-3) Function C Condition 3 ......................................................................................... 73
4.4.57.4000h Math Function Enable ....................................................................................................................... 74
4.4.58.4021h Math Function Output Scaling 1 PV ................................................................................................. 74
4.4.59.4023h Math Function Output Scaling 2 PV ................................................................................................. 74
4.4.60.4030h Math Function Output Process Value ............................................................................................... 74
4.4.61.4032h Math Function Output PV Decimal Digits ......................................................................................... 74
4.4.62.4y00h Math #y Input Source ........................................................................................................................ 74
4.4.63.4y01h Math #y Input Number ...................................................................................................................... 74
4.4.64.4y03h Math #y Input Decimal Digits FV ...................................................................................................... 75
4.4.65.4y20h Math #y Input Scaling 1 FV ............................................................................................................... 75
4.4.66.4y22h Math #y Input Scaling 2 FV ............................................................................................................... 75
4.4.67.4y40h Math #y Input Gain ........................................................................................................................... 75
4.4.68.4y50h Math #y Operator .............................................................................................................................. 75

UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change viii
4.4.69.5010h Constant Field Value ........................................................................................................................ 75
4.4.70.5020h Power Supply FV .............................................................................................................................. 76
4.4.71.5030h CPU Temperature FV ....................................................................................................................... 76
4.4.72.5040h 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
4.4.78.5121h VREF Control Number ...................................................................................................................... 77
4.4.79.5555h Start In Operational Mode ................................................................................................................ 77
4.4.80.5556h Start In Operational NMT Delay ....................................................................................................... 77
5.FIRMWARE REFLASHING INSTRUCTIONS ........................................................................................................ 78
APPENDIX A - TECHNICAL SPECIFICATION ............................................................................................................. A-1

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UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change ix
LISTOFTABLES
Table 1 – Object 6112h - AI Operating Mode Options .................................................................................................... 14 
Table 2 – Object 6110h - AI Sensor Type Options .......................................................................................................... 14 
Table 3 – AI Input Range Options Depending on Sensor Type ...................................................................................... 15 
Table 4 – DI Debounce Filter Options ............................................................................................................................. 15 
Table 5 – Object 61A0h - AI Filter Type Options ............................................................................................................. 16 
Table 6 – Object 2102h AI Decimal Digits FV Depending on Sensor Type .................................................................... 17 
Table 7 – AI Object Defaults Based on Sensor Type and Input Range .......................................................................... 18 
Table 8 – AI Object Ranges Based on Sensor Type and Input Range ........................................................................... 19 
Table 9 – DI Pullup/Down Options .................................................................................................................................. 20 
Table 10 – Object 6002h DI Polarity 8 Input Lines Options ............................................................................................ 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 Control Response Options ..................................................................................................................... 26 
Table 15 – LTyz Point Response Options ....................................................................................................................... 30 
Table 16 – LB(x-3) Condition Structure Definition ........................................................................................................... 34 
Table 17 – LB(x-3) Condition Operator Options .............................................................................................................. 34 
Table 18 – LB(x-3) Condition Evaluation Results ............................................................................................................ 35 
Table 19 – LB(x-3) Function Logical Operator Options ................................................................................................... 35 
Table 20 – LB(x-3) Conditions Evaluation Based on Selected Logical Operator ............................................................ 36 
Table 21 – LB(x-3) Default Lookup Tables ...................................................................................................................... 37 
Table 22 – Object 4y50h Math Function Operators ........................................................................................................ 39 
Table 23 – Available Control Sources and Numbers ...................................................................................................... 42 
Table 24 – Scaling Limits per Control Source ................................................................................................................. 43 
Table 25 – EMCY codes .................................................................................................................................................. 43 
Table 26 – AX030211 Connector Pinouts ....................................................................................................................... 44 
Table 27 – LSS Baud rate Indices ................................................................................................................................... 47 