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