AXIOMATIC AX030541 User manual

USER MANUAL UMAX030541
Version V1
CAN TO
4 ANALOG OUTPUTS
CONTROLLER
With CANopen®
USER MANUAL
P/N: AX030541

User Manual UMAX030541. Version V1 ii
ACRONYMS
AO Analog Output
CAN Controller Area Network
CANopen® CANopen® is a registered community trademark of CAN in Automation e.V.
CAN-ID CAN 11-bit Identifier
COB Communication Object
CTRL Control
D.C. Duty Cycle
EDS Electronic Data Sheet
EMCY Emergency
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 Process Data Object
RW Read/Write Object
SDO Service Data Object
TPDO Transmitted Process Data Object
WO Write Only Object
REFERENCES
[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-401] CiA DS-404 V1.2 –CANopen® profile for Measurement Devices and Closed
Loop Controllers. CAN in Automation 2002
These documents are available from the CAN in Automation e.V. website http://www.can-cia.org/.

User Manual UMAX030541. Version V1 iii
Contents
1. OVERVIEW OF CONTROLLER .............................................................................................................................. 6
1.1. DESCRIPTION OF THE CONTROLLER .................................................................................................................... 6
1.2. DIGITAL OUTPUT FUNCTION BLOCK .................................................................................................................... 7
1.3. ANALOG OUTPUT FUNCTION BLOCK ................................................................................................................... 9
1.4. LOOKUP TABLE FUNCTION BLOCK.................................................................................................................... 17
1.4.1 X-Axis, Input Data Response ......................................................................................................................................18
1.4.2 Y-Axis, Lookup Table Output......................................................................................................................................18
1.4.3 Point to Point Response.............................................................................................................................................19
1.4.4 X-Axis, Time Response................................................................................................................................................20
1.5 PROGRAMMABLE LOGIC FUNCTION BLOCK ....................................................................................................... 22
1.5.1 Conditions Evaluation ................................................................................................................................................25
1.5.2 Table Selection...........................................................................................................................................................26
1.5.3 Logic Block Output .....................................................................................................................................................28
1.6 MATH FUNCTION BLOCK................................................................................................................................... 29
1.7 MISCELLANEOUS FUNCTION BLOCK.................................................................................................................. 32
2INSTALLING INSTRUCTIONS .............................................................................................................................. 35
2.1 DIMENSIONS AND PINOUT ................................................................................................................................. 35
2.2 INSTALLATION INSTRUCTIONS ........................................................................................................................... 36
3CANOPEN® OBJECT DICTIONARY.................................................................................................................... 37
3.1 NODE ID AND BAUDRATE ............................................................................................................................ 37
3.1.1 LSS Protocol to Update............................................................................................................................................... 37
3.2 COMMUNICATION OBJECTS (DS-301 AND DS-404) .................................................................................. 42
3.2.1 Object 1000h: Device Type ........................................................................................................................................43
3.2.2 Object 1001h: Error Register......................................................................................................................................43
3.2.3 Object 1002h: Manufacturer Status Register.............................................................................................................44
3.2.4 Object 1003h: Pre-Defined Error Field.......................................................................................................................44
3.2.5 Object 100Ch: Guard Time......................................................................................................................................... 46
3.2.6 Object 100Dh: Life Time Factor..................................................................................................................................46
3.2.7 Object 1010h: Store Parameters................................................................................................................................47
3.2.8 Object 1011h: Restore Parameters............................................................................................................................48
3.2.9 Object 1016h: Consumer Heartbeat Time .................................................................................................................50
3.2.10 Object 1017h: Producer Heartbeat Time...................................................................................................................50
3.2.11 Object 1018h: Identity Object....................................................................................................................................51
3.2.12 Object 1020h: Verify Configuration ...........................................................................................................................52
3.2.13 Object 1029h: Error Behaviour ..................................................................................................................................53
3.2.14 RPDO Behaviour.........................................................................................................................................................54
3.2.15 TPDO Behaviour .........................................................................................................................................................57
3.3 APPLICATION OBJECTS (DS-404) ............................................................................................................. 60
3.3.1 Object 6220h: DO Write State 1 Output Line............................................................................................................. 61
3.3.2 Object 6250h: DO Fault Mode 1 Output Line............................................................................................................. 61
3.3.3 Object 6260h: DO Fault State 1 Output Line..............................................................................................................62
3.3.4 Object 6302h: AO Decimal Digits PV.......................................................................................................................... 62
3.3.5 Object 6310h: AO Output Type..................................................................................................................................63
3.3.6 Object 6332h: AO Decimal Digits FV .......................................................................................................................... 63
3.3.7 Object 6340h: AO Fault Mode....................................................................................................................................64
3.3.8 Object 7300h: AO Output Process Value ................................................................................................................... 65
3.3.9 Object 7320h: AO Output Scaling 1 PV ......................................................................................................................65
3.3.10 Object 7321h: AO Output Scaling 1 FV....................................................................................................................... 66
3.3.11 Object 7322h: AO Output Scaling 2 PV ......................................................................................................................67
3.3.12 Object 7323h: AO Output Scaling 2 FV....................................................................................................................... 67
3.3.13 Object 7330h: AO Output Field Value........................................................................................................................ 68
3.3.14 Object 7341h: AO Fault Field Value ...........................................................................................................................69
3.4 MANUFACTURER OBJECTS....................................................................................................................... 70
3.4.1 Object 2223h: DO Blink Rate 1 Output Line............................................................................................................... 73

User Manual UMAX030541. Version V1 iv
3.4.2 Object 2240h: DO Digital Range.................................................................................................................................73
3.4.3 Object 2241h: DO Polarity 1 Output Line................................................................................................................... 74
3.4.4 Object 2300h: AO Override Field Value .....................................................................................................................74
3.4.5 Object 2330h: AO Ramp Up .......................................................................................................................................75
3.4.6 Object 2331h: AO Ramp Down ..................................................................................................................................76
3.4.7 Object 2340h: AO Control Input Source..................................................................................................................... 76
3.4.8 Object 2341h: AO Control Input Number ..................................................................................................................77
3.4.9 Object 2342h: AO Control Response..........................................................................................................................78
3.4.10 Object 2350h: AO Enable Input Source......................................................................................................................78
3.4.11 Object 2351h: AO Enable Input Number....................................................................................................................79
3.4.12 Object 2352h: AO Enable Response...........................................................................................................................80
3.4.13 Object 2360h: AO Override Input Source...................................................................................................................80
3.4.14 Object 2361h: AO Override Input Number ................................................................................................................81
3.4.15 Object 2362h: AO Override Response........................................................................................................................ 82
3.4.16 Object 2370h: AO Feedback Field Value ....................................................................................................................82
3.4.17 Object 2380h: AO Output Frequency.........................................................................................................................83
3.4.18 Object 2500h: EC Extra Received Process Value........................................................................................................83
3.4.19 Object 2502h: EC Decimal Digits PV...........................................................................................................................84
3.4.20 Object 2520h: EC Scaling 1 PV....................................................................................................................................84
3.4.21 Object 2522h: EC Scaling 2 PV....................................................................................................................................85
3.4.22 Object 3yz0h: LTyz Input X-Axis Source......................................................................................................................86
3.4.23 Object 3yz1h: LTyz Input X-Axis Number ...................................................................................................................86
3.4.24 Object 3yz2h: LTyz Auto Repeat.................................................................................................................................87
3.4.25 Object 3yz3h: LTyz X-Axis Decimal Digits PV.............................................................................................................. 87
3.4.26 Object 3yz4h: LTyz Y-Axis Decimal Digits PV..............................................................................................................88
3.4.27 Object 3yz5h: LTyz Point Response............................................................................................................................88
3.4.28 Object 3yz6h: LTyz Point X-Axis PV ............................................................................................................................89
3.4.29 Object 3yz7h: LTyz Point Y-Axis PV.............................................................................................................................90
3.4.30 Object 3yz8h: LTyz Output Y-Axis PV .........................................................................................................................90
3.4.31 Object 3300h: Logic Block Enable ..............................................................................................................................91
3.4.32 Object 3310h: Logic Block Selected Table..................................................................................................................91
3.4.33 Object 3320h: Logic Block Output PV......................................................................................................................... 92
3.4.34 Object 3x01h: LB(x-3) Lookup Table Numbers...........................................................................................................93
3.4.35 Object 3x02h: LB(x-3) Function Logical Operator ......................................................................................................93
3.4.36 Object 3x11h: LB(x-3) Function A Condition 1 ...........................................................................................................94
3.4.37 Object 3x12h: LB(x-3) Function A Condition 2 ...........................................................................................................94
3.4.38 Object 3x13h: LB(x-3) Function A Condition 3 ...........................................................................................................94
3.4.39 Object 3x21h: LB(x-3) Function B Condition 1............................................................................................................94
3.4.40 Object 3x22h: LB(x-3) Function B Condition 2............................................................................................................94
3.4.41 Object 3x23h: LB(x-3) Function B Condition 3............................................................................................................94
3.4.42 Object 3x31h: LB(x-3) Function C Condition 1............................................................................................................94
3.4.43 Object 3x32h: LB(x-3) Function C Condition 2............................................................................................................94
3.4.44 Object 3x33h: LB(x-3) Function C Condition 3............................................................................................................94
3.4.45 Object 4000h: Math Function Enable ........................................................................................................................95
3.4.46 Object 4021h: Math Output Scaling 1 PV................................................................................................................... 96
3.4.47 Object 4023h: Math Output Scaling 2 PV................................................................................................................... 97
3.4.48 Object 4030h: Math Output Process Value................................................................................................................97
3.4.49 Object 4032h: Math Output Decimal Digits PV..........................................................................................................98
3.4.50 Object 4y00h: Math Y Input Source ...........................................................................................................................98
3.4.51 Object 4y01h: Math Y Input Number.........................................................................................................................99
3.4.52 Object 4y02h: Math Y Input Function Number........................................................................................................100
3.4.53 Object 4y03h: Math Y Input Decimal Digits FV ........................................................................................................100
3.4.54 Object 4y20h: Math Y Input Scaling 1 FV .................................................................................................................101
3.4.55 Object 4y22h: Math Y Input Scaling 2 FV .................................................................................................................102
3.4.56 Object 4y40h: Math Y Input Gain.............................................................................................................................102
3.4.57 Object 4y50h: Math Y Operator...............................................................................................................................103
3.4.58 Object 5010h: Constant Field Value.........................................................................................................................104
3.4.59 Object 5020h: Power Supply Field Value ................................................................................................................. 107

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3.4.60 Object 5021h: Enable Error Detection on Power Supply .........................................................................................107
3.4.61 Object 5022h: Under Voltage Threshold..................................................................................................................108
3.4.62 Object 5023h: Over Voltage Threshold....................................................................................................................108
3.4.63 Object 5024h: Hysteresis to Clear Supply Fault........................................................................................................... 108
3.4.64 Object 5025h: Enable Power Supply Fault Disables Outputs...................................................................................109
3.4.65 Object 5030h: Processor Temperature Field Value .................................................................................................109
3.4.66 Object 5031h: Enable Error Detection on Temperature..........................................................................................110
3.4.67 Object 5032h: Over Temperature Threshold........................................................................................................... 110
3.4.68 Object 5033h: Hysteresis to Clear Temperature Fault.............................................................................................111
3.4.69 Object 5034h: Enable Temperature Fault Shutdown...............................................................................................111
3.4.70 Object 5550h: Enable Automatic Updates...............................................................................................................111
3.4.71 Object 5555h: Start in Operational Mode................................................................................................................112
3.4.72 Object 5B50h: Change Baud Rate ............................................................................................................................ 112
3.4.73 Object 5B51h: Change Node ID................................................................................................................................113
4TECHNICAL SPECIFICATIONS.......................................................................................................................... 114
5VERSION HISTORY............................................................................................................................................. 116

User Manual UMAX030541. Version V1 6-116
1. OVERVIEW OF CONTROLLER
1.1. Description of the Controller
This CAN to 4 Analog Outputs Controller (CAN-4AOUT) with CANopen® is designed for
versatile control of four digital/analog outputs. The sophisticated control algorithms allow
the user to program the controller for a wide range of applications without the need for
custom software. Figure 1 below shows the hardware features.
Figure 1 –Hardware Functional Block Diagram
The controller has 4 Digital/Analog outputs that can be configured as: Analog Current,
Analog Voltage, Digital PWM, Digital Frequency and Digital ON/OFF. All outputs can be
configured to use any of the on-board inputs as either a control signal or an enable signal
and/or it can be integrated into a CANopen® network of controllers.
All I/O and logical function blocks on the unit are inherently independent from one another
but can be programmed to interact in many ways. They will be described in the following
sections. All objects are user configurable using standard commercially available tools
that can interact with a CANopen® Object Dictionary via an .EDS file.

User Manual UMAX030541. Version V1 7-116
1.2. Digital Output Function Block
There are two types of universal output function blocks, one for the digital outputs and the
other for the analog outputs. While both types of function blocks are driving the same
outputs, they are just treated as separate function blocks here for ease of explanation.
The digital output (DO) function block only becomes applicable on the output when object
6310h, AO Output Type, is set to Digital ON/OFF output response (Type=1000).
Several other objects are associated with the Analog Output function block and will be
explained in detail in section 1.3. Therefore, this section will only elaborate on the objects
unique to the DO function block.
An output can be controlled either by an on-board control signal (such as the result from
a lookup table function) or a CANopen® object that has mapped to an RPDO. In the case
of an output configured for a digital response, when a CANopen® Message has been
selected as the 2340h AO Control Source (see Table 5), data from the appropriate sub-
index from the write-mappable object 6220h DO Write State will be used as the control
signal.
The Enable and Override Inputs and Responses for a digital output are the same as for
an Analog Output and are evaluated in the same order. Therefore, what will be described
in section 1.3 for these also applied for the DO function block.
As with the AO function, the output will respond to the Control Input if and only if the
following conditions have been met:
a) No fault is detected for any of the control signals
b) The override command is either ignored or false (Override Input)
c) The output has not been disabled by a secondary signal (Enable Input)
When the output is being driven by the Control Input, the state is logically set to OFF while
the Control Input is zero and is set to ON whenever a non-zero value is written. By default,
Normal On/Off logic is used. The resulting “DO Drive State” will depend on the object
2241h DO Polarity, as per Table 1.
Value
Meaning
DO Logic State
DO Drive State
0
Normal On/Off
OFF
OFF
ON
ON
1
Inverse On/Off
OFF
ON
ON
OFF
2
Latched Logic
ON to OFF
No Change
OFF to ON
State Change (i.e. OFF to ON)
3
Blinking Logic
OFF
OFF
ON
Toggling OFF and ON at the rate defined
in object 2223h DO Blink Rate (in ms)
Table 1 –DO Polarity Options

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The read-only mappable object 2370h AO Feedback FV will be loaded with the “DO Drive
State” (0=OFF, 1=ON) when the output is setup for a digital type.
There is an object 2240h DO Vps range determines if the output is at +5V or +12V when
ON, the options are shown in Table 2.
Value
Meaning
0
0-+5V
1
0-+12V
Table 2 –Object 2240h - DO VPS Range Options
For Digital ON/OFF, if a non-digital control is selected for this type, the command state
will be OFF at or below the minimum input, ON at or above the maximum input, and it will
not change in between those points. In other words, the input will have built in hysteresis,
as shown in Figure 1. This relationship is true for any function block that has a non-digital
input mapped to a digital control.
Figure 2 –Analog Input Read as Digital
As mentioned in the Controller Overview, any digital output can be setup to react to a fault
detected on any of the inputs to the function block (control, enable or override). Should
any one of these inputs be showing an error condition, object 6250h DO Fault Mode
determines how the output will respond, per Table 3. By default, 2, Apply Pre-Defined
State, is set for the digital output and it will revert to the state defined in object 6260h DO
Fault State (ON/OFF), which is set to 0, OFF by default.
Value
Meaning
0
Maintain Last State
1
Apply Pre-Defined State
Table 3 –Object 6250h - DO Fault Mode Options

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1.3. Analog Output Function Block
The analog output (AO) function block is the default logic associate with all four outputs.
There are many objects associated with the analog output function block, but not all of
them apply to all output types or control conditions. To start with, object 6310h AO Output
Type defines how the output drive circuitry will be configured as per Table 4. This table
also shows the output units and default ranges for each type. By default, analog outputs
are configured as 10, Output Voltage types.
Value
Meaning
Range [Unit]
0
Output Disabled
N/A
10
Output Voltage
-10000 to 10000 [mV]
20
Output Current
-20 to 20 [mA]
30
Output Frequency
0 to 30000 [Hz]
40
Output PWM
0 to 1000 [0.1% D.C.]
1000
Digital ON/OFF
0 (OFF) or 1 (ON)
Table 4 –Object 6310h - AO Output Type Options
When the output type is changed, all objects related to the output (scaling PV, Decimal
Digits PV, etc) are automatically updated by default. Object 5550h Enable Auto Updates
enables/disables automatic updates. When disabled (set to False), the objects are to be
manually configured.
Ranges in table are the largest ranges for each type, the actual ranges for the outputs
can be configured by Object 7320h AO Scaling 1 PV, 7321h AO Scaling 1 FV, 7322h
AO Scaling 2 PV and 7323h AO Scaling 2 FV, together when Objects 7300h AO Output
PV is used to control the proportional outputs. The control signal of the outputs will have
associated with it a minimum and maximum values. Besides type Digital ON/OFF, all the
other output types are always responding in a linear fashion to changes in the control
source per the calculation in Figure 3.
min*min
minmax minmax
XmYa
XX YY
m
amxy
−=
−
−
=
+=
Figure 3 –Linear Slope Calculations
X and Y are defined as:
Xmin = “AO Scaling 1 PV”Ymin = “AO Scaling 1 FV”
Xmax = “AO Sacling 2 PV”Ymax = “AO Scaling 2 FV”

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In all cases, while the X-axis has the constraint that Xmin < Xmax, there is no such
limitation on the Y-axis. This allows for a negative slope so that as the control input
signal increases, the target output value decreases. Or it allows output to follow control
signal inversely.
The relationship between the Process Value (input) and the Field Value (output) is a
linear one, as shown in Figure 4. However, the output will use the 7321h AO Scaling 1
FV as minimum and 7323h AO Scaling 2 FV as maximum limits to the drive, such that
the output will hold at the minimum and maximum FV points, as shown in the figure.
Figure 4 –Analog Output Linear Scaling PV to FV
The controller allows for the PV input can be selected from the list of the logical function
blocks supported by the controller. As a result, any output from one function block can
be selected as the control source for another. Keep in mind that not all options make
sense in all cases, but the complete list of control sources is shown in Table 5.
Value
Meaning
0
Control Source Not Used (Ignored)
1
CANopen® Message (RPDO)
2
Constant Function Block
3
Lookup Table Function Block
4
Mathematical Function Block
5
Programmable Logic Function Block
6
Output Commanded Field Value
7
Output Feedback Field Value
8
Power Supply Measured
9
Processor Temperature Measured
Table 5 –Control Source Options