AXIOMATIC AX023241 User manual

USER MANUAL UMAX023241
Version 1.1 - DRAFT
QUADRATURE ENCODER INPUT
DUAL PROPORTIONAL VALVE
HIGH TEMPERATURE
CONTROLLER
With CANopen®
USER MANUAL
P/N: AX023241

Preliminary User Manual UMAX023241 - Version: 1.1 2-63
ACCRONYMS
CAN-ID CAN 11-bit Identifier
COB Communication Object
DIN Digital Input used to measure active high or low signals
EA Electronic Assistant
®, p/n AX070502 (A Service Tool for Axiomatic ECUs)
ECU Electronic Control Unit
EMCY Diagnostic Message (from CANopen standard)
GND Ground reference (a.k.a. BATT-)
I/O Inputs and Outputs
LUT Look Up Table
PID Proportional-Integral-Derivative Control
PWM Pulse Width Modulation
QD Quadrature Encoder
RO Read Only Object
RPDO Received Process Data Object
RPM Rotations per Minute
RW Read/Write Object
SDO Service Data Object
TPDO Transmitted Process Data Object
WO Write Only Object
Vps Voltage Power Supply (a.k.a. BATT+)
%dc Percent Duty Cycle (Measured from a PWM input)
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/.

Preliminary User Manual UMAX023241 - Version: 1.1 3-63
TABLE OF CONTENTS
1.OVERVIEW OF CONTROLLER .............................................................................................................................. 7
1.1.DESCRIPTION OF HIGH TEMPERATURE QUADRATURE ENCODER INPUT DUAL OUTPUT VALVE CONTROLLER.......... 7
1.2.QUADRATURE ENCODER INPUT FUNCTION BLOCK............................................................................................... 8
1.2.1.InputSensorTypes.......................................................................................................................................................9
1.2.2.Pullup/PulldownResistorOptions............................................................................................................................10
1.2.3.InputSoftwareFilterTypes........................................................................................................................................10
1.3.INTERNAL FUNCTION BLOCK CONTROL SOURCES ............................................................................................. 11
1.4.OUTPUT DRIVE FUNCTION BLOCKS ................................................................................................................... 12
1.5.MISCELLANEOUS FUNCTION BLOCK.................................................................................................................. 16
1.6.LOOKUP TABLE FUNCTION BLOCK.................................................................................................................... 18
1.6.1.X‐Axis,InputDataResponse......................................................................................................................................19
1.6.2.Y‐Axis,LookupTableOutput......................................................................................................................................19
1.6.3.DefaultConfiguration,DataResponse.......................................................................................................................19
1.6.4.PointToPointResponse............................................................................................................................................20
1.6.5.X‐Axis,TimeResponse................................................................................................................................................21
1.7.MATH FUNCTION BLOCK................................................................................................................................... 22
1.8.PID CONTROL FUNCTION BLOCK...................................................................................................................... 24
2.INSTALLATION INSTRUCTIONS ......................................................................................................................... 26
2.1.DIMENSIONS AND PINOUT ................................................................................................................................. 26
2.2.MOUNTING INSTRUCTIONS ................................................................................................................................ 27
1.1.NODE ID AND BAUD RATE................................................................................................................................. 28
1.1.1.LSSProtocoltoUpdate...............................................................................................................................................28
1.2.COMMUNICATION OBJECTS (DS-301)............................................................................................................... 32
1.2.1.1000hDeviceType.....................................................................................................................................................33
1.2.2.1001hErrorRegister..................................................................................................................................................33
1.2.3.1002hManufacturerStatusObject............................................................................................................................33
1.2.4.1003hPre‐DefinedErrorField....................................................................................................................................33
1.2.5.1010hStoreParameters............................................................................................................................................33
1.2.6.1011hRestoreParameters.........................................................................................................................................34
1.2.7.1016hConsumerHeartbeatTime..............................................................................................................................34
1.2.8.1017hProducerHeartbeatTime................................................................................................................................34
1.2.9.1018hIdentityObject................................................................................................................................................34
1.2.10.1020hVerifyConfiguration........................................................................................................................................34
1.2.11.1029hErrorBehavior.................................................................................................................................................35
1.2.12.1400hRPDO1CommunicationParameters..............................................................................................................35
1.2.13.1401hRPDO2CommunicationParameters..............................................................................................................35
1.2.14.1402hRPDO3CommunicationParameters..............................................................................................................35
1.2.15.1403hRPDO4CommunicationParameters..............................................................................................................35
1.2.16.1600hRPDO1MappingParameters..........................................................................................................................36
1.2.17.1601hRPDO2MappingParameters..........................................................................................................................36
1.2.18.1602hRPDO3MappingParameters..........................................................................................................................36
1.2.19.1603hRPDO4MappingParameters..........................................................................................................................36
1.2.20.1800hTPDO1CommunicationParameters...............................................................................................................36
1.2.21.1801hTPDO2CommunicationParameters...............................................................................................................37
1.2.22.1802hTPDO3CommunicationParameters...............................................................................................................37
1.2.23.1803hTPDO4CommunicationParameters...............................................................................................................37
1.2.24.1A00hTPDO1MappingParameters..........................................................................................................................37
1.2.25.1A01hTPDO2MappingParameters..........................................................................................................................37
1.2.26.1A02hTPDO3MappingParameters..........................................................................................................................38
1.2.27.1A03hTPDO4MappingParameters..........................................................................................................................38
1.3.APPLICATION OBJECTS (DS-404)..................................................................................................................... 39
1.4.MANUFACTURER OBJECTS ............................................................................................................................... 46
4.TECHNICAL SPECIFICATIONS............................................................................................................................ 60
4.1.POWER SUPPLY,CAN AND REFERENCE VOLTAGE............................................................................................ 60

Preliminary User Manual UMAX023241 - Version: 1.1 4-63
4.2.INPUTS............................................................................................................................................................. 60
4.3.OUTPUTS ......................................................................................................................................................... 61
4.4.GENERAL SPECIFICATIONS ............................................................................................................................... 61
5.VERSION HISTORY............................................................................................................................................... 63

Preliminary User Manual UMAX023241 - Version: 1.1 5-63
LIST OF FIGURES
Figure 1: Hardware Functional Block Diagram...........................................................................7
Figure 2: Quadrature Encoder Signals (QA&QB) and resulting Direction and Step count ...............8
Figure 3: Quadrature Encoder objects ......................................................................................9
Figure 4: Digital Input objects ...............................................................................................10
Figure 5: Hotshot Digital Profile .............................................................................................14
Figure 6: Universal Output objects......................................................................................... 14
Figure 7: Analog Output Linear Scaling PV to FV ..................................................................... 15
Figure 8: Miscellaneous objects.............................................................................................. 16
Figure 9: Lookup Table Block objects ..................................................................................... 18
Figure 10: Lookup Table with "Ramp To" Data Response......................................................... 20
Figure 11: Lookup Table with "Jump To" Data Response.......................................................... 20
Figure 12: Math Function Block objects .................................................................................. 22
Figure 13: PID Block objects.................................................................................................. 24
Figure 14: Housing Dimensions.............................................................................................. 26
Figure 15: LSS command message flow example..................................................................... 31

Preliminary User Manual UMAX023241 - Version: 1.1 6-63
LIST OF TABLES
Table 1: Object 6110h - AI Sensor Type Options.......................................................................9
Table 2: Object 6112h - AI Operating Mode Options..................................................................9
Table 3: Object 2100h - AI Input Range Options Depending on Sensor Type............................. 10
Table 4: Pullup/Pulldown Resistor Options.............................................................................. 10
Table 5: Input Filtering Types................................................................................................11
Table 6: Control Source Options ............................................................................................ 12
Table 7: Control Source Number Options................................................................................ 12
Table 8: Output Type Options................................................................................................ 13
Table 9: Digital Output Responses ......................................................................................... 13
Table 10: Enable Response Options ....................................................................................... 15
Table 11: Override Response Options..................................................................................... 16
Table 12: Fault Response Options.......................................................................................... 16
Table 13: Math Function Operators........................................................................................ 23
Table 14: PID Response Options............................................................................................ 24
Table 15: Connector Pinout...................................................................................................26
Table 16: LSS baud rate indices............................................................................................. 30

Preliminary User Manual UMAX023241 - Version: 1.1 7-63
1. OVERVIEW OF CONTROLLER
1.1. Description of High Temperature Quadrature Encoder Input Dual Output Valve
Controller
This User Manual describes the architecture and functionality of the High Temperature Quadrature
Encoder Input Dual Valve controller.
Figure 1: Hardware Functional Block Diagram
The High Temperature Quadrature Encoder Input 2 Output controller, later referred as AX023241,
is a highly configurable controller with versatile control of two digital inputs targeted for quadrature
Encoder interfacing and two universal outputs. Its flexible hardware design allows the controller to
have a wide range of output types. The sophisticated control algorithms/logical function blocks allow
the user to configure the controller for a wide range of applications without the need for custom
firmware.
The two digital inputs can be configured to read signals generated by a quadrature Encoder unit.
The inputs are described in more detail in section 1.2.
The two universal outputs can be configured to different types: Proportional Current, Voltage, PWM,
Hotshot Digital Current and Digital (ON/OFF). Each output consists of a high side half-bridge driver
able to source up to 2.5Amps with hardware shutdown at 4Amps. The outputs are described in more
detail in section 1.4.
The controller also offers a variety of logical/mathematical functions blocks that can be used to
perform application-specific logic or calculations. These functional blocks are explained in more
detailed in section 1.6 through section 1.8.

Preliminary User Manual UMAX023241 - Version: 1.1 8-63
Both outputs and the various logical function blocks on the unit are inherently independent from one
another but can be configured to interact in a large number of ways with each other.
The different blocks listed above are configured using any CANopen configuration software.
1.2. Quadrature Encoder Input Function Block
The controller consists of two digital inputs. The two inputs can be configured to measure digital
signals generated by a quadrature Encoder unit.
The AX023241 controller has configuration options for specifying various Quadrature Encoder unit
parameters, such as step count scaler, direction/polarity of rotation, static step count offset and
number of quadrature Encoder pulses per revolution (for speed measurements).
The controller has two inputs for detecting the pulses generated by a quadrature Encoder unit. The
three measurements (step count, direction and speed) are determined using these two input signals.
Figure 2: Quadrature Encoder Signals (QA&QB) and resulting Direction and Step count
The quadrature Encoder functionality can be configured using objects 3410h Quadrature Encoder
Scaler, 3411h Quadrature Encoder Direction, 3412h Quadrature Encoder Offset and 3413h
Quadrature Encoder Pulses Per Revolution.
The quadrature Encoder results are available in object 7100h Input FV and are processed
depending on the Input FV to PV scaling settings.

Preliminary User Manual UMAX023241 - Version: 1.1 9-63
Figure 3: Quadrature Encoder objects
1.2.1. Input Sensor Types
The most important object associate with the AI function block is object 6110h AI Sensor Type,
which accepts the input types described in Table 1. By changing this value, and associated with its
object 2100h AI Input Range, other objects will be automatically updated by the controller. The list
of affected objects include Input Scaling FV & PV objects (7120h, 7121h, 7122h & 7123h) and also
Span Start and End objects (7148h and 7149h). The options for object 6110h are shown in Table
1, and no values other than what are shown here will be accepted. The inputs are setup to read
quadrature Encoder signals by default.
Table 1: Object 6110h - AI Sensor Type Options
V
alue Meanin
g
60 Frequenc
y
Input
(
or RPM
)
10000 PWM Input
10002 Quadrature Encoder
Table 2: Object 6112h - AI Operating Mode Options
V
alue Meanin
g
0 Channel Off
10 Di
g
ital Input
(
on/of
f
/QD
)
The allowable ranges will depend on the input sensor type selected. Table 3 shows the relationship
between the sensor type, and the associated range options. The default value for each range is
bolded, and object 2100h AI Range will automatically be updated with this value when 6110h is
changed. The grayed cells mean that the associate value is not allowed for the range object when
that sensor type has been selected.
OBJECTDICTIONARYAPPLICATION
61A1h
FilterConst
2020h
Pull Up/
Down
61A0h
FilterType
Clear/Set
Err Flags
Local Ctrl
Signal
CANBUS
INPUT
PINS 1&2 TPDO
EMCY
7148h
SpanStart
7100h
InputFV
FV to PV
Calculation
2102h
DigitsFV
1029h
ErrBehave
2100h
Range
Calculated
Input
6110h
InputType
6112h
Operation
Raw Quadrature
Data Measured
7121h
Scale1PV
React to
Error
7149h
SpanEnd
7120h
Scale1FV
7122h
Scale2FV
2112h
ErrDelay
7123h
Scale2PV
2111h
Hysteresis
6132h
DigitsPV
7130h
InputPV
2110h
ErrDetect
1003h
ErrField
3410h
QDscaler
3411h
QDdirection
3412h
QDoffset
3413h
QDPPR

Preliminary User Manual UMAX023241 - Version: 1.1 10-63
Table 3: Object 2100h - AI Input Range Options Depending on Sensor Type
V
alue Frequency PWM Digital Quad.Dec
0 0.5Hz to 50Hz Low Freq
(<1kHz) Normal Edge count
1 10Hz to 1kHz High Freq
(>100Hz)
Inverse Direction
2 100Hz to 10kHz Latched Speed
Digital Input Sensor Types offers three modes: Normal, Inverse, and Latched. The measurements
taken with digital input types are 1 (ON) or 0 (OFF).
When a quadrature Encoder unit is read using the AX023241 controller, both digital inputs should
be connected to read the signals generated by the quadrature Encoder unit. Both inputs need to be
configured as one of the Quadrature Encoder input types, Step Count (2100h – ‘0’), Direction (2100h
– ‘1’) or Speed (2100h – ‘2’), measured as RPM).
Figure 4: Digital Input objects
1.2.2. Pullup / Pulldown Resistor Options
In all Input Sensor Types: Digital and Quadrature Encoder types, the user has the option of three
(3) different pull up/pull down options as listed in Table 4.
Table 4: Pullup/Pulldown Resistor Options
0 Pullup/Pulldown Of
f
1 1kΩPullup
2 10kΩPulldown
In order to create ‘Active High’/’Active Low’ configurations – a proper combination of Digital Input
modes: Normal, Inverse, Latched and Pullup/Pulldown Resistor: 1kΩPullup, 10kΩPulldown
needs selected. For example, when using a ‘floating’ input, in order to create an ‘Active Low’
configuration use Pullup/Pulldown Resistor: 1kΩPullup and Input Sensor Type: Digital (Inverse).
The pullup resistor will create a 1 (ON) value when the input is floating. Since it is placed in Digital
(Inverse), this value will be considered as OFF. Once the input is grounded this will create a 0 (OFF)
but since the input is Digital (Inverse) this be considered as ON.
1.2.3. Input Software Filter Types
All input types can be filtered using Filter Type and Filter Constant objects 61A0h and 61A1h.
There are three (3) filter types available as listed in Table 5.