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

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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

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In addition to a source, each control also has a number which corresponds to the sub-
index of the function block in question. Table 6 outlines the ranges supported for the
number objects, depending on the source that had been selected.
Control Source
Range
Object (Meaning)
Control Source Not Used
0
Ignored
CANopen®Message (RPDO)
1
7300h sub-index 1 or 6220 sub-index 1*
2
7300h sub-index 2 or 6220 sub-index 2*
3
7300h sub-index 3 or 6220 sub-index 3*
4
7300h sub-index 4 or 6220 sub-index 4*
5
2500h sub-index 1 (Extra Received PV 1)
6
2500h sub-index 2 (Extra Received PV 2)
7
2500h sub-index 3 (Extra Received PV 3)
8
2500h sub-index 4 (Extra Received PV 4)
9
2500h sub-index 5 (Extra Received PV 5)
10
2500h sub-index 6 (Extra Received PV 6)
*Depending on AO Output Type selected, either the AO Output PV or DO Write State will be used
Constant Function Block
1
5010h sub-index 1 (always FALSE)
2
5010h sub-index 2 (always TRUE)
3
5010h sub-index 3 (Constant FV 3)
4
5010h sub-index 4 (Constant FV 4)
5
5010h sub-index 5 (Constant FV 5)
6
5010h sub-index 6 (Constant FV 6)
7
5010h sub-index 7 (Constant FV 7)
8
5010h sub-index 8 (Constant FV 8)
9
5010h sub-index 9 (Constant FV 9)
10
5010h sub-index 10 (Constant FV 10)
11
5010h sub-index 11 (Constant FV 11)
12
5010h sub-index 12 (Constant FV 12)
13
5010h sub-index 13 (Constant FV 13)
14
5010h sub-index 14 (Constant FV 14)
15
5010h sub-index 15 (Constant FV 15)
Lookup Table Function Block
1
3018h (Lookup Table 1 Output Y-Axis PV)
2
3028h (Lookup Table 2 Output Y-Axis PV)
3
3038h (Lookup Table 3 Output Y-Axis PV)
4
3048h (Lookup Table 4 Output Y-Axis PV)
5
3058h (Lookup Table 5 Output Y-Axis PV)
6
3068h (Lookup Table 6 Output Y-Axis PV)
7
3078h (Lookup Table 7 Output Y-Axis PV)
8
3088h (Lookup Table 8 Output Y-Axis PV)
9
3098h (Lookup Table 9 Output Y-Axis PV)
10
3108h (Lookup Table 10 Output Y-Axis PV)
11
3118h (Lookup Table 11 Output Y-Axis PV)
12
3128h (Lookup Table 12 Output Y-Axis PV)

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Mathematical Function Block
1
4030h sub-index 1 (Math Output PV 1)
2
4030h sub-index 2 (Math Output PV 2)
3
4030h sub-index 3 (Math Output PV 3)
4
4030h sub-index 4 (Math Output PV 4)
5
4030h sub-index 5 (Math Output PV 5)
6
4030h sub-index 6 (Math Output PV 6)
Programmable Logic Function
Block
1
3xy8h (Lookup Table Selected by Logic 1)
2
3xy8h (Lookup Table Selected by Logic 2)
3
3xy8h (Lookup Table Selected by Logic 3)
4
3xy8h (Lookup Table Selected by Logic 4)
NOTE: The following options should be considered for diagnostic feedback, and should not
be selected as a control source for logic inputs (i.e. lookup table X-Axis)
Output Commanded Field Value
1
7330h sub-index 1
2
7330h sub-index 2
3
7330h sub-index 3
4
7330h sub-index 4
Output Feedback Field Value
1
2370h sub-index 1 (AO1/DO1 FB)
2
2370h sub-index 2 (AO2/DO2 FB)
3
2370h sub-index 3 (AO3/DO3 FB)
4
2370h sub-index 4 (AO4/DO4 FB)
Power Supply Measured
N/A
5020h (Power Supply FV)
Processor Temperature
Measured
N/A
5030h (Processor Temperature FV)
Table 6 –Control Number Options Depending on Source Selected

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When using any control source as the X-Axis input to a function block, the corresponding
scaling limits are defined as per Table 7. It is the responsibility of the user to make sure
that the scaling objects for any function block are setup appropriately depending on the
source selected for the X-Axis input.
Control Source
Scaling 1
Scaling 2
Dec Digits
CANopen® Message –Num 1 to 4
7320h
7322h
6302h
CANopen® Message –Num 5 to 10
2520h
2522h
2502h
Constant Function Block
N/A
N/A
N/A (float)
Lookup Table yz Function Block
(where yz = 01 to 12)
0 or lowest
from 3yz6h(*)
100 or highest
from 3yz6h(**)
3yz3h
Mathematical Function
4021h
4023h
4032h
Programmable Logic Function
0%
100%
1 (fixed)
Output Commanded Field Value
7320h
7322h
6302h
Output Feedback Field Value
7320h
7322h
6302h
Power Supply Measured
N/A
N/A
1 (fixed)
Processor Temperature Measured
N/A
N/A
1 (fixed)
(*) - Whichever value is smaller; (**) - Whichever value is larger
Table 7 –Scaling Limits per Control Source
As shown in Figure 5, the Output FV will be calculated based on the FV scaling selected.
Since 7321h represents the value at or below the lowest control input received, it
represents the minimum field value that will be applied at the output. Similarly, 7323h
represents the maximum FV that will be applied.
While (7320h < 7322h) must always hold true, in order to get an inverse response (i.e.
output decreases as the input increased), simply set 7321h higher than 7323h.
In general, the profile shown in Figure 5 holds true. However, in some cases it may be
desired that the minimum offset not to be applied when the value is outside of the range,
i.e. when using a joystick profile with a deadband. For this reason, object 2342h AO
Control Response has the options shown in Table 8.
Value
Meaning
0
Single Output Profile (Figure 5)
1
Output OFF below Scaling 1 PV
2
Output OFF above Scaling 2 PV
Table 8 –Object 2342 - AO Control Response Options

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Enable and Override inputs have been mentioned several times already. By default,
neither inputs are used (Object 2350 Enable Source and Object 2360 Override Source
are set to 0=Ignore), but they can be activated for safety interlocks or other more complex
applications. Table 9 shows the options for object 2352h AO Enable Response.
Value
Meaning
0
Enable When ON, Else Shut OFF
1
Enable When ON, Else Ramp OFF
2
Enable When ON, Else Keep Last Value
3
Enable When OFF, Else Shut OFF
4
Enable When OFF, Else Ramp OFF
5
Enable When OFF, Else Keep Last Value
Table 9 –Object 2352h - AO Enable Response Options
Table 10 shows options for object 2362h AO Override Response respectively. In both
cases, the default responses are bolded. When the override is applied, the output is
driven to the value defined in object 2300h, AO Override FV.
Value
Meaning
0
Override When ON
1
Override When OFF
Table 10 –Object 2362h - AO Override Response Options
When an input to the output block goes into an error condition, object 6340 AO Fault
Mode determines how the output will respond, per Table 11. By default, the output will be
driven to the value defined in object 7341h AO Fault FV.
Value
Meaning
0
Maintain Last State
1
Apply Pre-Defined FV
Table 11 –Object 6340 - AO Fault Mode Options

User Manual UMAX030541. Version V1 15-116
The controller applies the logic shown in Figure 5 when evaluating what output FV to
apply.
Figure 5 –Analog Output Logic Flowchart
Under normal conditions, i.e. when the control input is driving the output as shown in the
green box, there are ramping objects that can be applied to soften the output response.
Object 2330h AO Ramp Up and object 2331 AO Ramp Down are both millisecond
numbers that define how long it will take to ramp from AO Scaling 1 FV to AO Scaling 2
FV.

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By default, when the outputs are in Output Current/Output Voltage mode, outputs are
driven with a high frequency 25kHz signal. It can be changed through object 2380h AO
Output Frequency. However, this value should not be lowered under these two modes
without taking into consideration how this affects the accuracy and stability of the outputs.
When the outputs are in Output PWM mode, object 2380h can be used to change the
desired frequency of the waveform while when in Output Frequency mode, it is used to
change the duty cycle of the output waveform.
In addition to the read-only mappable object 7330h AO Output Field Value (as
represented by the green box above), there is another object 2370h AO Feedback FV,
also read-only mappable. This object reflects the actual sent value to the output.

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1.4. Lookup Table Function Block
The lookup table (LTyz) function blocks are not used by default, where yz can be 01 to
10.
Figure 6 –Lookup Table Objects
Lookup tables are used to give an output response of up to 10 slopes per input.
The array size of the objects 3yz5h LTyz Point Response, 3yz6h LTyz Point X-Axis PV
and 3yz7h Point Y-Axis PV shown in the block diagram above is therefore 11.
Note: If more than 10 slopes are required, a Programmable Logic Block can be used to
combine up to three tables to get 30 slopes, as is described in Section 1.5.
A parameter that will affect the function block is object 3yz5h LTyz Point Response sub-
index 1 which defines the “X-Axis Type”. By default, the table have a ‘Data Response’
output (0). Alternatively, it can be selected as a ‘Time Response’ (1).
There are two (or three) other key parameters that will affect how this function block will
behave depending on the “X-Axis Type” chosen. If chosen ‘Data Response’, then the
objects 3yz0h Lookup Table yz Input X-Axis Source and 3yz1h Lookup Table yz Input
X-Axis Number together define the control source for the function block. When it is
changed, the table values in object 3yz6h and 3yz3h LTyz X-Axis Decimal Digits PV
need to be updated with new defaults based on the X-Axis source selected as described
in Tables 5 and 6. If however, the “X-Axis Type” is chosen to be ‘Time Response’, an
additional parameter is taken into consideration - object 3yz2h, Lookup Table yz Auto
Repeat. These will be described in more detail in Section 1.4.4.

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1.4.1 X-Axis, Input Data Response
In the case where the “X-Axis Type” = ‘Data Response’, the points on the X-Axis
represents the data of the control source.
However, should the minimum input be less than zero, for example a resistive input that
is reflecting temperature in the range of -40ºC to 210ºC, then the object 3yz8h LTyz Point
X-Axis PV sub-index 1 will be set to the minimum instead, in this case -40ºC.
The constraint on the X-Axis data is that the next index value is greater than or equal to
the one below it, as shown in the equation below. Therefore, when adjusting the X-Axis
data, it is recommended that X11 is changed first, then lower indexes in descending order.
MinInputRange <= X1<= X2<= X3<= X4<= X5<= X6<= X7<= X8<= X9<= X10<= X11<=
MaxInputRange
As stated earlier, MinInputRange and MaxInputRange will be determined by the scaling
objects associated with X-Axis Source that has been selected, as outlined in Table 7.
1.4.2 Y-Axis, Lookup Table Output
By default, it is assumed that the output from the lookup table function block will
be a percentage value in the range of 0 to 100.
In fact, so long as all the data in the Y-Axis is 0<=Y[i]<=100 (where i = 1 to 11) then other
function blocks using the lookup table as a control source will have 0 and 100 as the
Scaling 1 and Scaling 2 values used in linear calculations shown in Table 7.
However, the Y-Axis has no constraints on the data that it represents. This means that
inverse, increasing/decreasing or other responses can be easily established. The Y-Axis
does not have to be a percentage output but could represent full scale process
values instead.
In all cases, the controller looks at the entire range of the data in the Y-Axis sub-indexes
and selects the lowest value as the MinOutRange and the highest value as the
MaxOutRange. So long as they are not both within the 0 to 100 range, they are passed
directly to other function blocks as the limits on the lookup table output. (i.e. Scaling 1 and
Scaling 2 values in linear calculations.)
Even if some of the data points are ‘Ignored’ as described in Section 1.4.3, they are still
used in the Y-Axis range determination. If not all the data points are going to be used, it
is recommended that Y10 be set to the minimum end of the range, and Y11 to the
maximum first. This way, the user can get predictable results when using the table to drive
another function block.

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1.4.3 Point to Point Response
By default, all 10 lookup tables have a simple linear response from 0 to 100 in steps of
10 for both the X and Y axes. For a smooth linear response, each point in the 3yz5h LTyz
Point Response array is setup for a ‘Ramp To’ output.
Alternatively, the user could select a ‘Step To’ response for 3yz5h sub-index N, where N
= 2 to 11. In this case, any input value between XN-1 to XNwill result in an output from the
lookup table function block of YN. (Recall: LTyz Point Response sub-index 1 defines the
X-Axis type)
Figure 7 shows the difference between these two response profiles with the default
settings.
Figure 7 –Lookup Table Defaults with Ramp and Step Responses
Lastly, any point except (1,1) can be selected for an ‘Ignore’ response. If object 3yz5h
LTyz Point Response sub-index N is set to Ignore, then all points from (XN, YN) to (X11,
Y11) will also be ignored. For all data greater than XN-1, the output from the lookup table
function block will be YN-1.

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A combination of ‘Ramp To’, ‘Jump To’ and ‘Ignore’ responses can be used to create an
application specific output profile. An example of where the same input is used as the X-
Axis for two tables, but where the output profiles ‘mirror’ each other for a deadband
joystick response is shown in Figure 8. The example shows a dual slope percentage
output response for each side of the deadband, but additional slopes can be easily added
as needed.
Figure 8 –Lookup Table Examples to Setup for Dual-Slope Joystick Deadband
Response
To summarize, Table 12 outlines the different responses that can be selected for object
3yz4h, both for the X-Axis type and for each point in the table.
Sub-Index
Value
Meaning
1
0
Data Response (X-Axis Type)
2 to 11
Ignore (this point and all following it)
1
1
Time Response (X-Axis Type)
2 to 11
Ramp To (this point)
1
2
N/A (not an allowed option)
2 to 11
Jump To (this point)
Table 12 –LTyz Point Response Options
1.4.4 X-Axis, Time Response
As mentioned in Section 1.4.1, a lookup table can also be used to get a custom output
response where the “X-Axis Type” is a ‘Time Response’. When this is selected, the X-
Axis now represents time, in units of milliseconds, while the Y-Axis still represents the
output of the function block.