AXIOMATIC AX130511 User manual

USER MANUAL UMAX130511
DUAL CHANNEL UNIVERSAL SIGNAL
CONTROLLER
With CANopen®
USER MANUAL
P/N: AX130511

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change ii
VERSION HISTORY
Version
Date
Author
Modofication
1.00.
Sep 2, 2021
Ilona Korpelainen
Initial Draft
1.00A
Sep 15, 2021
Ilona Korpelainen
Updated to match firmware
-
Dec. 20,
2021
Amanda Wilkins
Updated dimensional drawing

UMAX130511 Version 1.00A 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 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
MI Magnetic Input
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

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change iv
TABLE OF CONTENTS
1. OVERVIEW OF CONTROLLER............................................................................................................................. 12
1.1. Digital Function Block...................................................................................................................................... 15
1.2. Input Function Block........................................................................................................................................ 16
1.3. Digital Output Function Block.......................................................................................................................... 22
1.4. Analog Output Function Block......................................................................................................................... 24
1.5. Internal Function Block Control Source........................................................................................................... 29
1.6. PID Function Block.......................................................................................................................................... 31
1.7. Lookup Table Funtion Block............................................................................................................................ 33
1.7.1. X-Axis, Input Data Response .................................................................................................................. 34
1.7.2. Y-Axis, Lookup Table Output................................................................................................................... 34
1.7.3. Point to Point Response.......................................................................................................................... 34
1.8. Programmable Logic Function Block............................................................................................................... 36
1.8.1. Conditions Evaluation.............................................................................................................................. 39
1.8.2. Table Selection........................................................................................................................................ 41
1.8.3. Logic Block Output................................................................................................................................... 42
1.9. Math Function Block........................................................................................................................................ 42
1.10. Miscellaneous Function Block..................................................................................................................... 44
1.11. Inching Control Block................................................................................................................................... 46
2. CANOPEN® OBJECT DICTIONARY..................................................................................................................... 49
2.1. Node ID and Baudrate..................................................................................................................................... 49
2.1.1. LSS Protocol to Update........................................................................................................................... 49
2.2. Communication Objects (DS-301 and DS-404) .............................................................................................. 52
2.2.1. Object 1000h: Device Type ..................................................................................................................... 53
2.2.2. Object 1001h: Error Register................................................................................................................... 54
2.2.3. Object 1002h: Manufacturer Status Object............................................................................................. 54
2.2.4. Object 1003h: Pre-Defined Error Field.................................................................................................... 54
2.2.5. Object 100Ch: Guard Time...................................................................................................................... 56
2.2.6. Object 100Dh: Lifetime Factor................................................................................................................. 56
2.2.7. Object 1010h: Store Parameters............................................................................................................. 57
2.2.8. Object 1011h: Restore Parameters......................................................................................................... 58
2.2.9. Object 1016h: Consumer Heartbeat Time............................................................................................... 59
2.2.10. Object 1017h: Producer Heartbeat Time................................................................................................. 60
2.2.11. Object 1018h: Identity Object.................................................................................................................. 60
2.2.12. Object 1020h: Verify Configuration.......................................................................................................... 61
2.2.13. Object 1029h: Error Behavior.................................................................................................................. 62
2.2.14. RPDO Behavior....................................................................................................................................... 63
2.2.15. TPDO Behavior........................................................................................................................................ 66
2.3. Application Objects (DS-404).......................................................................................................................... 68
2.3.1. Object 6000: DI Read State 8 Input Lines............................................................................................... 68
2.3.2. Objetc 6002: DI Polarity 8 input Lines..................................................................................................... 69

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change v
2.3.3. Object 7100h: AI Input Field Value.......................................................................................................... 70
2.3.4. Object 6110h: AI Sensor Type ................................................................................................................ 70
2.3.5. Object 6112h: AI Operating Mode........................................................................................................... 71
2.3.6. Object 7120h: AI Input Scaling 1 FV ....................................................................................................... 71
2.3.7. Object 7121h: AI Input Scaling 1 PV....................................................................................................... 72
2.3.8. Object 7122h: AI Input Scaling 2 FV ....................................................................................................... 72
2.3.9. Object 7123h: AI Input Scaling 2 PV....................................................................................................... 73
2.3.10. Object 7130h: AI Input Process Value..................................................................................................... 73
2.3.11. Object 6132h: AI Decimal Digits PV........................................................................................................ 74
2.3.12. Object 7148h: AI Span Start.................................................................................................................... 74
2.3.13. Object 7149h: AI Span End..................................................................................................................... 75
2.3.14. Object 61A0h: AI Filter Type ................................................................................................................... 75
2.3.15. Object 61A1h: AI Filter Constant............................................................................................................. 76
2.3.16. Object 6200h: DO Write state 8 Output lines.......................................................................................... 77
2.3.17. Object 6202h: DO Polarity 8 Input Lines................................................................................................. 77
2.3.18. Object 6250h: DO Fault Mode 1 Output Line.......................................................................................... 77
2.3.19. Object 6260h: DO Fault State 1 Output Line........................................................................................... 78
2.3.20. Object 7300h: AO Output Process Value................................................................................................ 78
2.3.21. Object 6302h: AO Decimal Digits PV...................................................................................................... 79
2.3.22. Object 6310h: AO Output Type............................................................................................................... 79
2.3.23. Object 7320h: AO Output Scaling 1 PV................................................................................................... 80
2.3.24. Object 7321h: AO Output Scaling 1 FV................................................................................................... 81
2.3.25. Object 7322h: AO Output Scaling 2 PV................................................................................................... 81
2.3.26. Object 7323h: AO Output Scaling 2 FV................................................................................................... 82
2.3.27. Object 7330h: AO Output Field Value..................................................................................................... 82
2.3.28. Object 6332h: AO Decimal Digits FV ...................................................................................................... 83
2.3.29. Object 6340h: AO Fault Mode................................................................................................................. 83
2.3.30. Object 7341h: AO Fault Field Value........................................................................................................ 84
2.3.31. Object 7450h: PID Proportional Band ..................................................................................................... 84
2.3.32. Object 7452h: PID Integral Action Time.................................................................................................. 85
2.3.33. Object 7454h: PID Derivative Action Time.............................................................................................. 85
2.3.34. Object 7456h: PID Cycle Time................................................................................................................ 86
2.3.35. Object 6458h: PID Physical Unit Timing.................................................................................................. 86
2.3.36. Object 6459h: PID Decimal Digits Timing ............................................................................................... 87
2.4. Manufacturer Objects ...................................................................................................................................... 88
2.4.1. Object 2020h: DI Pull UP/Down Mode 1 Input Line ................................................................................ 89
2.4.2. Object 2100h: AI Input Range................................................................................................................. 90
2.4.3. Object 2101h: AI Number of Pulses Per Revolution ............................................................................... 90
2.4.4. Object 2102h: AI Decimal Digits FV........................................................................................................ 91
2.4.5. Object 2103h: AI Debounce Filter ........................................................................................................... 92

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change vi
2.4.6. Object 2110h: AI Error Detect Enable..................................................................................................... 92
2.4.7. Object 2111h: AI Error Clear Hysteresis ................................................................................................. 93
2.4.8. Object 2112h: AI Error Reaction Delay ................................................................................................... 93
2.4.9. Object 2224h: DO Delay Time 1 Output Line.......................................................................................... 94
2.4.10. Object 2225h: DO Delay Polarity 1 Output Line...................................................................................... 95
2.4.11. Object 2300h: AO Override Field Value.................................................................................................. 95
2.4.12. Object 2302h: AO Output Range............................................................................................................. 96
2.4.13. Object 2310h: AO Error Detect Enable ................................................................................................... 96
2.4.14. Object 2311h: AO Error Clear Hysteresis................................................................................................ 97
2.4.15. Object 2312h: AO Error Reaction Delay.................................................................................................. 97
2.4.16. Object 2330h: AO Ramp Up.................................................................................................................... 98
2.4.17. Object 2331h: AO Ramp Down............................................................................................................... 98
2.4.18. Object 2340h: AO Control Input Source.................................................................................................. 99
2.4.19. Object 2341h: AO Control Input Number................................................................................................. 99
2.4.20. Object 2350h: AO Enable Input Source ................................................................................................ 100
2.4.21. Object 2351h: AO Enable Input Number............................................................................................... 101
2.4.22. Object 2352h: AO Enable Response..................................................................................................... 101
2.4.23. Object 2360h: AO Override Input Source.............................................................................................. 102
2.4.24. Object 2361h: AO Override Input Number............................................................................................ 102
2.4.25. Object 2362h: AO Override Response.................................................................................................. 103
2.4.26. Object 2370h: AO Feedback Field Value.............................................................................................. 103
2.4.27. Object 2380h: AO Output Frequency.................................................................................................... 104
2.4.28. Object 2381h: AO Output Frequency PWM Amplitude......................................................................... 104
2.4.29. Object 2390h: AO Frequency Input Source........................................................................................... 105
2.4.30. Object 2391h: AO Frequency Input Number......................................................................................... 106
2.4.31. Object 2392h: AO Frequency Scaling 1 FV........................................................................................... 106
2.4.32. Object 2394h: AO Frequency Scaling 2 FV........................................................................................... 107
2.4.33. Object 2450h: PID Tolerance................................................................................................................ 107
2.4.34. Object 2451h: PID Integral Gain............................................................................................................ 108
2.4.35. Object 2452h: PID Derivative Gain........................................................................................................ 108
2.4.36. Object 2453h: PID Target Source ......................................................................................................... 109
2.4.37. Object 2454h: PID Target Number........................................................................................................ 109
2.4.38. Object 2455h: PID Feedback Source.................................................................................................... 110
2.4.39. Object 2456h: PID Feedback Number................................................................................................... 110
2.4.40. Object 2457h: PID Control Response ................................................................................................... 111
2.4.41. Object 2460h: PID Output Field Value .................................................................................................. 112
2.4.42. Object 2500h: EC Extra Received Process Value ................................................................................ 112
2.4.43. Object 2502h: EC Decimal Digits PV .................................................................................................... 113
2.4.44. Object 2520h: EC Scaling 1 PV............................................................................................................. 113
2.4.45. Object 2522h: EC Scaling 2 PV............................................................................................................. 114

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change vii
2.4.46. Object 3yz0h: LTyz Input X-Axis Source............................................................................................... 114
2.4.47. Object 3yz1h: LTyz Input X-Axis Number.............................................................................................. 115
2.4.48. Object 3yz2h: LTyz Auto Repeat........................................................................................................... 115
2.4.49. Object 3yz3h: LTyz X-Axis Decimal Digits PV ...................................................................................... 116
2.4.50. Object 3yz4h: LTyz Y-Axis Decimal Digits PV ...................................................................................... 116
2.4.51. Object 3yz5h: LTyz Point Response ..................................................................................................... 117
2.4.52. Object 3yz6h: LTyz Point X-Axis PV ..................................................................................................... 117
2.4.53. Object 3yz7h: LTyz Point Y-Axis PV ..................................................................................................... 118
2.4.54. Object 3yz8h: LTyz Output Y-Axis PV................................................................................................... 118
2.4.55. Object 3300h: Logic Block Enable......................................................................................................... 119
2.4.56. Object 3310h: Logic Block Selected Table............................................................................................ 119
2.4.57. Object 3320h: Logic Block Output PV................................................................................................... 120
2.4.58. Object 3x01h: LB(3-x) Lookup Table Numbers..................................................................................... 121
2.4.59. Object 3x02h: LB(3-x) Function Logical Operator................................................................................. 121
2.4.60. Object 3x11h: LB(3-x) Function A Condition 1...................................................................................... 122
2.4.61. Object 3x12h: LB(3-x) Function A Condition 2...................................................................................... 122
2.4.62. Object 3x13h: LB(3-x) Function A Condition 3...................................................................................... 122
2.4.63. Object 3x21h: LB(3-x) Function B Condition 1...................................................................................... 122
2.4.64. Object 3x22h: LB(3-x) Function B Condition 2...................................................................................... 122
2.4.65. Object 3x23h: LB(3-x) Function B Condition 3...................................................................................... 122
2.4.66. Object 3x31h: LB(3-x) Function C Condition 1...................................................................................... 122
2.4.67. Object 3x32h: LB(3-x) Function C Condition 2...................................................................................... 122
2.4.68. Object 3x33h: LB(3-x) Function C Condition 3...................................................................................... 122
2.4.69. Object 4000h: Math Function Enable.................................................................................................... 124
2.4.70. Object 4021h: Math Output Scaling 1 PV.............................................................................................. 124
2.4.71. Object 4023h: Math Output Scaling 2 PV.............................................................................................. 125
2.4.72. Object 4030h: Math Output Process Value........................................................................................... 125
2.4.73. Object 4032h: Math Output Decimal Digits PV ..................................................................................... 126
2.4.74. Object 4y00h: Math Y Input Source....................................................................................................... 126
2.4.75. Object 4y01h: Math Y Input Number..................................................................................................... 127
2.4.76. Object 4y03h: Math Y Input Decimal Digits FV..................................................................................... 128
2.4.77. Object 4y20h: Math Y Input Scaling 1 FV.............................................................................................. 128
2.4.78. Object 4y22h: Math Y Input Scaling 2 FV.............................................................................................. 129
2.4.79. Object 4y40h: Math Y Input Gain .......................................................................................................... 129
2.4.80. Object 4y50h: Math Y Operator............................................................................................................. 130
2.4.81. Object 5010h: Constant Field Value...................................................................................................... 131
2.4.82. Object 5040h: FD Field Value ............................................................................................................... 132
2.4.83. Object 5041h: FD Set Threshold........................................................................................................... 133
2.4.84. Object 5042h: FD Clear Threshold........................................................................................................ 134
2.4.85. Object 5050h: FD Enable Error Check 3 Faults.................................................................................... 135

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change viii
2.4.86. Object 5051h: FD Error Response Delay.............................................................................................. 136
2.4.87. Object 5550h: Enable Automatic Updates............................................................................................. 136
2.4.88. Object 5555h: Start in Operational Mode.............................................................................................. 137
APPENDIX A - TECHNICAL SPECIFICATION.............................................................................................................A-1

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change ix
Table 1 –DI Pullup/Down Options .................................................................................................................................. 15
Table 2 –Object 6002h DI Polarity 8 Input Lines Options.............................................................................................. 16
Table 3 –Object 6112h - AI Operating Mode Options.................................................................................................... 17
Table 4 –Object 6110h - AI Sensor Type Options.......................................................................................................... 17
Table 5 –AI Input Range Options Depending on Sensor Type...................................................................................... 18
Table 6 –DI Debounce Filter Options............................................................................................................................. 18
Table 7 –Object 61A0h - AI Filter Type Options............................................................................................................. 19
Table 8 –Object 2102h AI Decimal Digits FV Depending on Sensor Type.................................................................... 19
Table 9 –AI Object Defaults Based on Sensor Type and Input Range.......................................................................... 21
Table 10 –AI Object Ranges Based on Sensor Type and Input Range......................................................................... 21
Table 11 –Object 6202h DO Polarity Options................................................................................................................ 23
Table 12 –Object 2225h DO Delay Polarity Options...................................................................................................... 23
Table 13 –Object 6250h DO Fault Mode Options.......................................................................................................... 24
Table 14 –Object 6310h AO Output Type Options......................................................................................................... 24
Table 15 –AO Output Range Options Depending on Output Type................................................................................ 25
Table 16 –AO Object Defaults Based on Ouput Type and Input Range........................................................................ 25
Table 17 –Scaling Limits per Control Source................................................................................................................. 26
Table 18 –Object 2352h AO Enable Response Options................................................................................................ 27
Table 19 –Object 2362h AO Override Response Options............................................................................................. 27
Table 20 –Object 6340 AO Fault Mode Options ............................................................................................................ 27
Table 21 –Object 2381 AO Frequency PWM Amplitude Options .................................................................................. 27
Table 22 –Control Source Options................................................................................................................................. 29
Table 23 –Control Number Options Depending on Source Selected............................................................................. 31
Table 24 –PID Control Response Options..................................................................................................................... 32
Table 25 –LTyz Point Response Options....................................................................................................................... 36
Table 26 –LB(3-x) Condition Structure Definition........................................................................................................... 40
Table 27 –LB(3-x) Condition Operator Options.............................................................................................................. 40
Table 28 –LB(3-x) Condition Evaluation Results............................................................................................................ 41
Table 29 –LB(3-x) Function Logical Operator Options................................................................................................... 41
Table 30 –LB(3-x) Conditions Evaluation Based on Selected Logical Operator............................................................ 42
Table 31 –LB(3-x) Default Lookup Tables...................................................................................................................... 42
Table 32 –Object 4y50h Math Function Operators ........................................................................................................ 44
Table 33 –Inching Control Logic..................................................................................................................................... 47
Table 34 –Inc Response and Dec Response Options................................................................................................... 48
Table 35 –LSS Baudrate Indices.................................................................................................................................... 51
Table 36 –Pre-Defined Error Field Codes...................................................................................................................... 55
Figure 1 –Hardware Functional Block Diagram.............................................................................................................. 12
Figure 2 –Logic Functional Block Diagram..................................................................................................................... 14
Figure 3 –Digital Input Objects....................................................................................................................................... 15
Figure 4 –Discrete Input Hysteresis ............................................................................................................................... 15
Figure 5 –Analog Input Reads as Digital........................................................................................................................ 16
Figure 6 –Analog Input Objects...................................................................................................................................... 17
Figure 7 –Digital Input Debouncing................................................................................................................................ 18
Figure 8 –Analog Input Linear Scaling FV to PV............................................................................................................ 20
Figure 9 –Digital Output Objects .................................................................................................................................... 22
Figure 10 –Analog Output Objects................................................................................................................................. 24
Figure 11 –Analog Output Linear Scaling PV to FV....................................................................................................... 25
Figure 12 –Analog Output Logic Flowchart.................................................................................................................... 28
Figure 13 –PID Control Objects...................................................................................................................................... 31
Figure 14 –PID Control Algorithm................................................................................................................................... 32
Figure 15 –Lookup Table Objects.................................................................................................................................. 33
Figure 16 –Lookup Table Defaults with Ramp and Step Responses............................................................................ 35
Figure 17 –Lookup Table Examples to Setup for Dual-Slope Joystick Deadband Response....................................... 35
Figure 18 –Logic Block Objects...................................................................................................................................... 37

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change x
Figure 19 –Logic Block Flowchart .................................................................................................................................. 39
Figure 20 –Math Function Block Objects ....................................................................................................................... 43
Figure 21 –Miscellaneous Objects ................................................................................................................................. 45
Figure 22 –Inching Function Block Objetcs.................................................................................................................... 47

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change xi
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-404] 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/.

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change 12 - 141
1. OVERVIEW OF CONTROLLER
The Dual Channel Universal Signal Controller with CANopen ® (2IN-2OUT-SIG-CO) is designed
for extremely versatile control of up to two signal level outputs. The controller is widely configurable
through CANopen ® Objects. Its flexible circuit design gives the user a large range of configurable
input and output types. The sophisticated control algorithms allow the user to program the
controller for an extensive range of applications without the need for customer software.
Figure 1 –Hardware Functional Block Diagram
The controller has two fully programmable universal inputs that can be setup to read: voltage,
current, resistive, frequency or digital input signals. There are also two universal outputs that can
be setup to output: voltage (0-5V, 0-10V, +/-5V or +/-10V), current (0-20mA, 4-20mA), PWM (fixed
frequency), Frequency (fixed duty cycle), variable PWM and Freq, and Digital On/Off. All I/O ports
on the unit are fully independent from another.

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The controller is four way isolated. Power supply input is galvanic-isolated from bias power
supplies. Universal inputs are digitally isolated from universal outputs and CAN Bus. Each isolation
section is provided with individual ground. 5V Reference is provided from input section.
Logical (software) function blocks are depicted in Figure 2. To produce desired control 2 PID
Control Blocks, 8 Lookup Tables, 4 Programmable Control Logics, 4 Mathematical Function Blocks
and an Inching Block are provided. All functional blocks are independent from one another but can
be programmed to interact in numerous ways. The function blocks are outlined in following
sections. All objects are user-configurable using standard commercially available tools that can
interact with a CANopen ® Object Dictionary via an .EDS file.

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Figure 2 –Logic Functional Block Diagram

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1.1. Digital Function Block
The digital input (DI) function block only becomes applicable on the input when object 6112h, AI
Operation, is set to a digital input response.
Figure 3 –Digital Input Objects
When object 6112h is set to 10 = Digital Input, 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 1, with the default bolded.
Value
Meaning
0
Pullup/Down Disabled (high impedance input)
1
10kΩ Pullup Resistor Enabled
2
10kΩ Pulldown Resistor Enabled
Table 1 –DI Pullup/Down Options
Figure 4 shows the hysteresis on the input when switching a discrete signal. A digital input can be
switched up to +Vcc (42Vmax.)
Figure 4 –Discrete Input Hysteresis
Once the raw state has been evaluated, the logical state of the input is determined by object 6002h
DI_Polarity_8_Input_Lines. The options for object 6002h are shown in Table 2. The state of the
DI will be written to read-only object 6000h DI_Read_state_8_Input_Lines. By default, normal
on/off logic is used.
Value
Meaning
Discrete Input Active High Hysteresis
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
Inpu Voltage (V)
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Digital Signal
Input Voltage Digital Hi/Lo
Discrete Input Active Low Hysteresis
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
Input Voltage (V)
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Digital Signal
Input Voltage (V) Digital Hi/Lo

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0
Normal On/Off
1
Inverse On/Off
Table 2 –Object 6002h DI Polarity 8 Input Lines Options
The format to write to object 6002h is as follows:
Sub-index 1 will determine the following inputs polarities
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
-
-
-
-
-
-
UI2
UI1
The rest of the bits in sub-index 1 will be ignored.
As per the format of object 6002h, the bits in object 6000h DI_Read_state_8_Input_Lines will be
written to represent the same inputs’ states.
There is another type of ‘digital’ input that can be selected when 6112h is set to 20 = Analog
On/Off. However, in this case, the input is still configured as an analog input, and therefore the
objects from the Analog Input (AI) block are applied instead of those discussed above. The object
6000h is written as per the logic shown in Figure 5. In this case, the MIN parameter is set by object
7120h AI Scaling 1 FV, and the MAX is set by 7122h AI Scaling 2 FV. For all other operating
modes, object 6000h will always be zero.
Figure 5 –Analog Input Reads as Digital
1.2. Input Function Block

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Figure 6 –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 3. No values other than what are shown
here will be accepted.
Value
Meaning
0
Channel Off
1
Normal Operation (analog)
10
Digital Input (on/off)
20
Analog and On/Off
Table 3 –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 associated with it object 2100h AI Input Range, other objects will be
automatically updated by the controller. The options for object 6110h are shown in Table 4, 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 4 –Object 6110h - AI Sensor Type Options
The allowable ranges will depend on the input sensor type selected. Table 5 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

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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
-5 to 5V
0 to 200mA
100Hz to 10kHz
3
-10 to 10V
Table 5 –AI Input Range Options Depending on Sensor Type
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 1, 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 6, with the
default bolded.
Value
Meaning
0
Filter Disabled
1
Filter 111ns
2
Filter 1.78 us
3
Filter 14.22 us
Table 6 –DI Debounce Filter Options
Figure 7 –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 7. By default, additional software filtering is
disabled.
Value
Meaning
0
No Filter
1
Moving Average
2
Repeating Average

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Table 7 –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 1 by default. This filter is called every 10ms.
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.
The value of 2102h will depend on the AI Sensor Type and Pulses per Revolution selected and
will be automatically updated per Table 9 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: 0-20mA and 4-20mA
3 [uA]
Current: 0-200mA
2 [10 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 [0.01 kΩ]
PWM: All Ranges
1 [0.1 %]
Digital Input
0 [On/Off]
Table 8 –Object 2102h AI Decimal Digits FV Depending on Sensor Type

UMAX130511 Version 1.00A Preliminary Documentation –May be subject to change 20 - 141
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 1.6.
Figure 8 –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 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 9 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 10.
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
Voltage: 0 to 5V
200 [mV]
500 [mV]
4500 [mV]
4800 [mV]
100 [mV]
Voltage: 0 to 10V
200 [mV]
500 [mV]
9500 [mV]
9800 [mV]
200 [mV]
Voltage: -5V to 5V
-4800 [mV]
-4500 [mV]
4500 [mV]
4800 [mV]
200 [mV]
Voltage: -10V to 10V
-9800 [mV]
-9500 [mV]
9500 [mV]
9800 [mV]
400 [mV]