AXIOMATIC AX030210 User manual
USER MANUAL UMAX030211
12 Input, 8 Signal Output
& 1 Relay Output Controller
with CANopen®
USER MANUAL
P/N: AX030211
Copyright 2020
OUR PRODUCTS
Actuator Controls
Automotive Ethernet Converters
Battery Chargers
CAN bus Controls
CAN/Wifi, CAN/Bluetooth
Current/Voltage Converters
DC/DC Power Converters
Engine Temperature Scanners
Ethernet/CAN Converters,
Switches
Fan Drive Controllers
Gateways, CAN/Modbus Protocols
Gyroscope Inclinometers
Hydraulic Valve Controllers
Inclinometers, Triaxial
I/O Controls
LVDT Simulators
Machine Controls
Modbus Controls
Motor Controls
Power Supplies
PWM Signal Converters/Isolators
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
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: +1 905 602 9270
FAX: +1 905 602 9279
www.axiomatic.com
Axiomatic Technologies Oy
Höytämöntie 6
33880 Lempäälä
FINLAND
TEL: +358 103 375 750
FAX: +358 3 3595 660
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
LISTOFCONTENTS
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
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change ix
LISTOFTABLES
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
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change x
LISTOFFIGURES
Figure 1 – AX030210 Block Diagram .............................................................................................................................. 12
Figure 2 – Analog Input Objects ...................................................................................................................................... 14
Figure 3 – Digital Input Debouncing ................................................................................................................................ 16
Figure 4 – Analog Input Linear Scaling FV to PV ............................................................................................................ 17
Figure 5 – Digital Input Objects ....................................................................................................................................... 20
Figure 6 – Discrete Input Hysteresis ............................................................................................................................... 21
Figure 7 – Analog Input 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 Objects .................................................................................................................................. 27
Figure 13 – Lookup Table Defaults with Ramp and Step Responses ............................................................................. 29
Figure 14 – Lookup Table Examples to Setup for Dual-Slope Joystick Deadband Response ....................................... 29
Figure 15 – Logic Block Objects ...................................................................................................................................... 31
Figure 16 – Logic Block Flowchart .................................................................................................................................. 33
Figure 17 – Math Function Block Objects ....................................................................................................................... 38
Figure 18 – Miscellaneous Objects ................................................................................................................................. 40
Figure 19 – AX030211 Dimensional Drawing ................................................................................................................. 44
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change xi
REFERENCES
TDAX030210 Technical Datasheet, 12 Inputs, 8 Signal Outputs & 1 Relay Output Controller
with CAN, Axiomatic Technologies 2018
[DS-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 V1.2 – CANopen profile for Measurement Devices and Closed Loop
Controllers. CAN in Automation 2002
The Communication/Device Profile documents are available from the CAN in Automation e.V.
website http://www.can-cia.org/.
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change 12 - 85
1.
OverviewofTheController
Figure 1 – AX030210 Block Diagram
The 12 Input, 8 Signal Outputs & 1 Relay Output Controller with CANopen (later 12IN-8SOUT-CO)
is designed for extremely versatile control of up to eight signal outputs for generating control signals
and one relay output to drive other loads. Its flexible circuit design gives the 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 software.
The controller has ten Universal inputs that can be configured to measure analog voltage or current,
frequency/PMW or digital signal, one resistive input capable of measuring resistances from 25Ω to
250kΩ and one Digital input that can be configured to measure digital on/off signals. Measured input
data can be sent to CANopen Network or used to drive outputs directly or through the configurable
control algorithms.
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change 13 - 85
Signal outputs can be configured to generate voltage and current signals. Any of the eight signal
outputs can be configured to use any of the on-board inputs as either a control signal or an enable
signal as well as CANopen Network data.
All CANopen objects supported by the AX030211 are 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 into function blocks, namely
Input Function Block, Output Function Block, Diagnostic Function Block, PID Control Function Block,
Lookup Table Function Block, Programmable Logic Function Block, Math Function Block, DTC React
Function Block, CAN Transmit Message Function Block and CAN Receive Message Function Block.
These function blocks are presented in detail in next subchapters.
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change 14 - 85
2.
ControllerFunctionBlocks
2.1.
InputFunctionBlocks
The controller has altogether twelve inputs. The ten Universal Inputs can be configured to measure
voltage, current, frequency, pulse width (PWM) or digital signals. The Resistive input can measure
resistances in range 25Ω … 250kΩ. The Digital Input can be configured to measure digital signals.
Figure 2 – Analog Input Objects
Object 6112h, AI Operating Mode determines whether the AI or DI block is associated with an input.
The options for object 6112h are shown in Table 1. No values other than what are shown here will
be accepted.
Value Meaning
0 Channel Of
f
1 Normal Operation (analog)
10 Digital Input (on/off)
20
A
nalog and On/Of
f
Table 1 – Object 6112h - AI Operating Mode Options
The most important object associate with the AI function block is object 6110h AI Sensor Type. By
changing this value, and the object 2100h AI Input Range associated with it, other objects will be
automatically updated by the controller. The options for object 6110h are shown in Table 2, and no
values other than what are shown here will be accepted. The inputs are setup to measure voltage
by default.
Value Meaning
40 Voltage Input
50 Current Input
60 Frequency Input (or RPM)
100 Resistive
10000 PWM Input
Table 2 – Object 6110h - AI Sensor Type Options
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change 15 - 85
The allowable ranges will depend on the input sensor type selected. Table 3 shows the relationship
between the sensor type, and the associated range options. The default value for each range is
bolded, and object 2100h AI Range will automatically be updated with this value when 6110h is
changed. The grayed cells mean that the associate value is not allowed for the range object when
that sensor type has been selected.
Value Voltage Current Frequency Resistive PWM
0 0 to 5V 0 to 20mA 0.5Hz to 50Hz 20 Ω to 250 kΩ Low Freq (<1kHz)
1 0 to 10V 4 to 20mA 10Hz to 1kHz High Freq (>100Hz)
2 100Hz to 10kHz
Table 3 – AI Input Range Options Depending on Sensor Type
NOTE: The input channels 3, 6, 7 and 8 have limited accuracy when used for
detecting edges (Frequency / PWM measurements). The measurement accuracy
can be enhanced using software 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 peripheral used for
Frequency / PWM measurements. This limits the Frequency and PWM
measurement configuration options available for these inputs. Both inputs of the
pair need to be confi
g
ured to use the same frequenc
y
detection ran
g
e.
Objects 2020h DI Pull-up/Pull-down Mode, 2030h DI Debounce Filter and 2101h AI Number of
Pulses per Revolution are used with frequency and PWM sensor types.
Object 2020h DI Pull-up/Pull-down Mode will determine the configuration of the internal Pull-
up/Pull-down resistors. The options for object 2020h are shown in Table 9, with the default bolded.
Object 2030h DI Debounce Filter is used to select input capture filter applied to the input before the
state is read by the processor. The options for object 2030h are shown in Table 4, with the default
bolded.
Value Meaning
0 Filter Disabled
1 Filter 111ns
2Filter 1.78 us
3 Filter 14.22 us
Table 4 – DI Debounce Filter Options
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change 16 - 85
Figure 3 – Digital Input Debouncing
Frequency measurement can be changed to RPM, by setting object 2101h AI Number of Pulses
per Revolution to a non-zero value.
All inputs can be further filtered once the raw data has been measured. Object 61A0h AI Filter Type
determines what kind of filter is used per Table 5. By default, additional software filtering is disabled.
Value Meaning
0 No Filter
1 Moving Average
2 Repeating Average
Table 5 – Object 61A0h - AI Filter Type Options
Object 61A1h AI Filter Constant is used with all three types of filters as per the formulas 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- ValueN-1
Filter Constant
This filter is called every 1ms. The value Filter Constant stored in object 61A1h is 10 by default.
Equation 2 - Repeating Average Transfer Function:
Value= ∑InputN
N
0
N
At every reading of the input value, it is added to the sum. At every Nth read, the sum is divided by
N, and the result is the new input value. The value and counter will be set to zero for the next read.
The value of N is stored in object 61A1h and is 10 by default. This filter is called every 1ms.
The value from the filter is shifted according to read-only object 2102h AI Decimal Digits FV and
then written to read-only object 7100h AI Input Field Value.
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change 17 - 85
The value of 2102h will depend on the AI Sensor Type and Pulses per Revolution selected and
will be automatically updated per Table 7 when either 6110h or 2101h are changed. All other objects
associated with the input field value also apply this object. These objects are 7120h AI Scaling 1
FV, 7122h AI Scaling 2 FV, 7148h AI Span Start, 7149h AI Span End, and 2111h AI Error Clear
Hysteresis. These objects are also automatically updated when the Type or Pulses per Rev are
changed.
Sensor Type Decimal Digits
Voltage: All Ranges 3 [mV]
Current: All Ranges 3 [uA]
Frequency: 0.5Hz to 50Hz 2 [0.01 Hz]
Frequency: 10Hz to 1kHz 1 [0.1 Hz]
Frequency: 100Hz to 10kHz 0 [Hz]
Frequency: RPM Mode 1 [0.1 RPM]
Resistive 0 [1 kΩ]
PWM: All Ranges 1 [0.1 %]
Digital Input 0 [On/Off]
Table 6 – Object 2102h AI Decimal Digits FV Depending on Sensor Type
It is the AI Input FV which is used by the application 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 Value is also mappable. However, the default values for
objects 7121h AI Scaling 1 PV and 7123h AI Scaling 2 PV are set to equal 7120h and 7122h
respectively, while object 6132h AI Decimal Digits PV is automatically initialize to equal 2102h. This
means that the default relationship between the FV and PV is one-to-one, so object 7130h is not
mapped to a TPDO by default.
Should a different linear relationship between what is measured versus what is sent to the CANopen
bus be desired, objects 6132h, 7121h and 7123h can be changed. The linear relationship profile is
shown in Figure 7 below. Should a non-linear response be desired, the lookup table function block
can be used instead, as described in Section 2.3.
Figure 4 – Analog Input Linear Scaling FV to PV
As stated earlier, the FV scaling objects are automatically updated with the Sensor Type or Range
changes. This is because objects 7120h and 7122h are not only used in a linear conversion from FV
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change 18 - 85
to PV as described above, but also as the minimum and maximum limits when the input is used to
control another logic block. Therefore, the values in these objects are important, even when the AI
Input PV object is not being used.
The AI Span Start and AI Span End objects are used for fault detection, so they too are automatically
updated for sensible values as the Type/Range changes. The Error Clear Hysteresis object is also
updated, as it too is measured in the same unit as the AI Input FV object.
Table 7 lists the default values that are loaded into objects 7120h, 7122h, 7148h, 7149h, and 2111h
for each Sensor Type and Pulses per Rev combination. Recall that these objects all have the decimal
digits applied to them as outlined in Table 8.
Sensor Type/
Input Range
7148h
AI Span Start
(i.e. Error
Min)
7120h
AI Scaling 1
FV
(i.e. Input
Min
)
7122h
AI Scaling 2 FV
(i.e. Input Max)
7149h
AI Span End
(i.e. Error Max)
2111h
Error Clear
Hysteresis
Volta
g
e: 0 to 5V 200 [mV] 500 [mV] 4500 [mV] 4800 [mV] 100 [mV]
Volta
g
e: 0 to 10V 200 [mV] 500 [mV] 9500 [mV] 9800 [mV] 200 [mV]
Current: 0 to 20m
A
0 [uA] 0 [uA] 20000 [uA] 20000 [uA] 250 [uA]
Current: 4 to 20m
A
1000 [uA] 4000 [uA] 20000 [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 [Hz] 10000 [Hz] 10500 [Hz] 10 [Hz]
Freq: RPM Mode 500 [0.1RPM] 1000 [0.1RPM] 30000 [0.1RPM] 33000 [0.1RPM] 100 [0.1RPM]
Resistive 1[1kΩ] 0[1kΩ] 250 [1kΩ] 249 [1kΩ] 1[1kΩ]
PWM: 0 to 100% 10 [0.1%] 50 [0.1%] 950 [0.1%] 990 [0.1%] 10 [0.1%]
Di
g
ital Inpu
t
OFF OFF ON ON 0
Table 7 – AI Object Defaults Based on Sensor Type and Input Range
It might not be desired in a particular application for the automatic updating of objects when a key
object is changed, i.e. AI Sensor Type. In this case, object 5550h Enable Automatic Updates can
be set to FALSE (true by default) in which case changing an object will have no impact on any other
objects. In this mode, the user must manually change all the objects for sensible values or the
controller will not work as expected.
When changing these objects, Table 8 outlines the range constraints places on each based on the
Sensor Type and Input Range combination selected. In all cases, the MAX value is the upper end of
the range (i.e. 50000Hz or ) Object 7122h cannot be set higher than MAX, whereas 7149h can be
set up to 110% of MAX. Object 2111h on the other hand can only be set up to maximum value of
10% of MAX. Table 8 uses the base unit of the input, but recall the limits will also have object 2102h
apply to them as per Table 6
UMAX030211 Version 1.0.2. Preliminary Documentation – May be subject to change 19 - 85
.
Sensor Type/
Pulses per Rev 7148h 7120h 7122h 7149h 2111h
Voltage: 0 to 5V and 0 to 10V
Current: 0 to 20mA and 4 to
20mA
RPM: 0 to 6000RPM
PWM: 0 to 100%
0 to 7120h 7148h to 7122h
7120h to 7149h
If(7149h>MAX)
7120h to MAX
7122h to
110% of
MAX
10% of
MAX
Current: 4 to 20mA 0 to 7120h 7148h to 7122h
If(7148h<4mA) 4mA to 7122h
Freq: 0.5Hz to 50Hz 0.1Hz to 7120h 7148h to 7122h
If(7148h<0.5Hz) 0.5Hz to 7122h
Freq: 10Hz to 1kHz 5Hz to 7120h 7148h to 7122h
If(7148h<10Hz) 10Hz to 7122h
Freq: 100Hz to 10kHz 50Hz to 7120h 7148h to 7122h
If(7148h<100Hz) 100Hz to 7122h
Voltage: 0 to 5V and 0 to 10V
Current: 0 to 20mA and 4 to
20mA
RPM: 0 to 6000RPM
PWM: 0 to 100%
0 to 7120h 7148h to 7122h
Table 8 – AI Object Ranges Based on Sensor Type and Input Range
The last objects associated with the analog input block left to discuss are those associated with fault
detection. Should the calculated input (after measuring and filtering) fall outside of the allowable
range, as defined by the AI Span Start and 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” flag is set. If the flag stays
active for the 2112h AI Error Reaction Delay time, an Input Overload Emergency (EMCY) message
will be added to object 1003h Pre-Defined Error Field. Similarly, when (7100h AI Input FV > 7149h
AI Span End), an “Out of Range High” flag is set and will create an EMCY message should it stay
active throughout the delay period. In either case, the application will react to the EMCY message
as defined by object 1029h Error Behaviour at the sub-index corresponding to an Input Fault.
Once the fault has been detected, the associate flag will be cleared only once the input comes back
into range. Object 2111h AI Error Clear Hysteresis is used here so that the error flag will not be
set/cleared continuously while the AI Input FV hovers around the AI Span Start/End value.
To clear an “Out of Range Low” flag, AI Input FV >= (AI Span Start + AI Error Clear Hysteresis)
To clear an “Out of Range High” flag, AI Input FV <= (AI Span End - AI Error Clear Hysteresis)
Both flags cannot be active at once. Setting either one of these flags automatically clears the other.
Table of contents
Other AXIOMATIC Controllers manuals
