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

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4.2.INPUTS............................................................................................................................................................. 60
4.3.OUTPUTS ......................................................................................................................................................... 61
4.4.GENERAL SPECIFICATIONS ............................................................................................................................... 61
5.VERSION HISTORY............................................................................................................................................... 63

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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

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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.

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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.

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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

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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.

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Table 5: Input Filtering Types
0 No Filterin
g
1 Moving Average
2 Repeating Average
The first filter option, No Filtering, provides no filtering to the measured data. Thus, the measured
data will be directly used to the any function block which uses this data.
The second option, Moving Average, applies the ‘Equation 1’ below to measured input data, where
ValueN represents the current input measured data, while ValueN-1 represents the previous filtered
data. The Filter Constant is the Filter Constant object 61A1h.
Equation 1 - Moving Average Filter Function:
ValueValue 󰇛Input Value󰇜
FilterConstant
The third option, Repeating Average, applies the ‘Equation 2’ below to measured input data, where
N is the value of Filter Constant object. The filtered input, Value, is the average of all input
measurements taken in N (Filter Constant) number of reads. When the average is taken, the filtered
input will remain until the next average is ready.
Equation 2 - Repeating Average Transfer Function:
Value= ∑InputN
N
0
N
1.3. Internal Function Block Control Sources
The AX023241 controller allows for internal function block sources to be selected from the other
function blocks supported by the controller. As a result, any output from one function block can be
selected as the control source for another. Keep in mind that not all options make sense in all cases,
but the complete list of control sources is shown in Table 6.

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Table 6: Control Source Options
V
alue Meanin
g
0 Control Not Used
1 Received CAN Messa
g
e
2 Quadrature Encode
r
Input Measured
3 Output Tar
g
et Value
4 Output Current Feedback
5 Lookup Table
6 Math Function Block
7 Pro
g
rammable Lo
g
ic Block
8 PID Function Block
9 Control Constant Data
10 Set/Reset Block
11 Dia
g
nostic Trouble Code
12 Power Suppl
y
Measured
13 Processor Temperature Measured
In addition to a source, each control also has a number which corresponds to the sub-index of the
function block in question. Table 7 outlines the ranges supported for the number objects, depending
on the source that had been selected.
Table 7: Control Source Number Options
Control Source Control Source Number Ran
g
e
Control Not Used [0]
Received CAN Messa
g
e [1…5]
Quadrature Encode
r
Input Measured [1…2]
Output Tar
g
et Value [1…2]
Output Current Feedback [1…2]
Lookup Table [1…3]
Math Function Block [1...2]
Pro
g
rammable Lo
g
ic Block [1…1]
PID Function Block [1…1]
Control Constant Data [1…10]
Set/Reset Block [1…2]
Dia
g
nostic Trouble Code [1…3]
Power Suppl
y
Measured [1…1]
Processor Temperature Measured [1…1]
1.4. Output Drive Function Blocks
The controller consists of two proportional fully independent outputs. Each output consists of a high
side half-bridge driver able to source up to 2.5Amps. The outputs are connected to independent
microcontroller timer peripherals and thus can be configured independently from 1Hz to 25kHz.
The Output Type object 6310h determines what kind of signal the output produces. Changing this
object causes other output type related objects match the selected type. For this reason, the first

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object that should be changed prior to configuring other output objects is the Output Type object.
The supported output types by the controller are listed in Table 8 below:
Table 8: Output Type Options
V
alue Meanin
g
Ran
g
e [Unit]
0 Output Disabled N/
A
10 Output Volta
g
e 0 to 60 [V]
20 Output Current 0 to 2500 [mA]
40 Output PWM 0 to 100 [%]
1000 Output Di
g
ital On/Off 0
(
OFF
)
or 1
(
ON
)
1020 Output Di
g
ital Hotshot 0
(
OFF
)
or 1
(
ON
)
There are two objects that are associated to Proportional Current and Digital Hotshot Output Types
that are not with others - these are Dither Frequency and Dither Amplitude. The dither signal is used
in Proportional Current mode and is a low frequency signal superimposed on top of the high
frequency (25kHz) signal controlling the output current. The two outputs have independent dither
frequencies which can be adjusted at any time. The combination of Dither Amplitude and Dither
Frequency must be appropriately selected to ensure fast response to the coil to small changes in
the control inputs but not so large as to affect the accuracy or stability of the output.
In Proportional Voltage type, the controller measures the Vps applied to the unit and based on this
information, the controller will adjust the PWM duty cycle of the signal (0-Vps amplitude) so that the
average signal is the commanded target value. Thus, the output signal is not an analog one. In order
to create an analog signal, a simple low pass filter can be connected externally to the controller.
In PWM Duty Cycle Output Type, the controller outputs a signal (0-Vps amplitude) on a fixed output
frequency set by object 2380h Output Frequency with varying PWM Duty Cycle based on
commanded input. Since both outputs are connected to independent timers, the Output Frequency
object can be changed at any time for each output without affecting the other.
Digital Output Type offers the user with four different output responses as listed in Table 9. The
controller will source any current required in any of the options listed in Table 9 up to 2.5Amps.
Table 9: Digital Output Responses
0 Normal On/Off
1 Inverse Lo
g
ic
2 Latched Lo
g
ic
3 Blinkin
g
Lo
g
ic
In a ‘Normal’ response, when the Control input commands the output ON, then the output will be
turned ON. However, in an ‘Inverse’ response, the output will be ON unless the input commands the
output ON, in which case it turns OFF.
If a ‘Latched’ response is selected, when the input commands the state from OFF to ON, the output
will change state.
If a ‘Blinking’ response is selected, then while the input command the output ON, it will blink at the
rate defined in the Digital Blink Rate object. When commanded OFF, the output will stay off. A
blinking response is only available with a ‘Digital On/Off’ type of output (not a Hotshot type).

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The ‘Hotshot Digital’ type is different from ‘Digital On/Off’ in that it still controls the current through
the load. This type of output is used to turn on a coil then reduce the current so that the valve will
remain open, as shown in Figure 5. Since less energy is used to keep the output engaged, this type
of response is very useful to improve overall system efficiency. With this output type there are
associated three objects: Hold Current, Hotshot Current and Hotshot Time which are used to
configure form of the output signal as shown in Figure 5.
Figure 5: Hotshot Digital Profile
Figure 6: Universal Output objects
In order to prevent abrupt changes at the output due to sudden changes in the command input, the
user can choose to use the independent up or down ramps to smooth out the coil’s response. The
OBJECTDICTIONARY
6302h
DigitsPV
2321h
Dither
Frequency
APPLICATION
Output
Drive
Local Control
Signal(s)
CANopen BUS
2340/41h
Control
Src/Nmbr
2350/51h
Enable
Src/Nmbr
2502h
Digits
Extra
6220h
OutputPV
2500h
ExtraPV
2320h
Dither
Amplitude
2362h
Override
Response
7341h
FaultFV
6340h
FaultMode
2300h
OverrideFV
RPDO
RPDO
2370h
FeedbackFV
2380h
Output
Frequency
6332h
DigitsFV
2352h
Enable
Response
Control
PV
Enable
PV
Override
PV
2360/61h
Override
Src/Num
7322h
Scale2PV
7320h
Scale1PV
7323h
Scale2FV
7321h
Scale1FV
PV to FV
Calculation
7330h
OutputFV
6310h
Output
Type
Current
Sense
React to
Error
2330h
RampUp
2331h
RampDown
TPDO
TPDO
EMCY
Clear/Set
Error Flags
1029h
Error
Behaviour
2312h
ErrorDelay
1003h
Error
Field
2310h
Error
Detect
2311h
Hysteresis

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2330h Ramp Up and 2331h Ramp Down setpoints are in milliseconds, and the step size of the
output change will be determined by taking the absolute value of the output range and dividing it by
the ramp time.
Object 7300h (AO Output PV) can be used to control the proportional outputs.
The relationship between the Process Value (input) and the Field Value (output) is a linear one, as
shown in Figure 5. However, the output will actually use the AO Scaling FV objects as limits to the
drive, such that the output will hold at the minimum and maximum FV points, as shown in the figure.
Figure 7: Analog Output Linear Scaling PV to FV
The Control Source object 2340h together with Control Number object 2341h determine which
signal is used to drive the output. For example, setting Control Source to Quadrature Encoder Input
Measured and Control Number to (1) will connect signal measured from Quadrature Encoder Input
1 to the output in question. The input signal is scaled per input type range between 0 and 1 to form
control signal. Outputs respond in a linear fashion to changes in control signal.
In addition to the Control Source object, the controller offers two more options that help increase
its versatility – Enable Source/Number/Response and Override Source/Number/Response set
of objects (2350h/51h and 2360h/61h/62h).
The Enable Source object together with Enable Number object determine the enable signal for the
output in question. The Enable Response object is used to select how output will respond to the
selected Enable signal. Enable Response object options are listed in Table 10.
Table 10: Enable Response Options
0 Enable When On, Else Shutoff
1 Enable When On, Else Rampoff
2 Enable When On, Else Ramp To Max
3 Enable When On, Else Ramp To Min
4 Enable When On, Else Keep Last Value
5 Enable When Off, Else Shutoff
6 Enable When Off, Else Rampoff
7 Enable When Off, Else Ramp To Max
8 Enable When Off, Else Ramp To Min
9 Enable When Off, Else Keep Last Value

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Override input allows the output drive to be configured to go to a default value in the case of the
override input being engaged or disengaged, depending on the logic selected in Override
Response, presented on Table 11. When active, the output will be driven to the value in Output at
Override Command regardless of the value of the Control input. The Override Source and
Override Number together determine the Override input signal.
Table 11: Override Response Options
0 Override When On
1 Override When Off
If a fault is detected in any of the active inputs (Control/Enable/Override) the output will respond per
Control Fault Response object as outlined in Table 12. Fault Value is defined by Output in Fault
Mode object value, which is interpreted in selected output units.
Table 12: Fault Response Options
0 Shutoff Output
1
A
ppl
y
Fault Value
2 Hold Last Value
1.5. Miscellaneous Function Block
Figure 8: Miscellaneous objects

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Extra RPDO Messages
Objects 2500h Extra Control Received PV, 2502h EC Decimal Digits PV, 2502h EC Scaling 1
PV and EC Scaling 2 PV allow for additional data received on a CANopen ® RPDO to be mapped
independently to various function blocks as a control source. The scaling objects are provided to
define the limits of the data when it is used by another function block, as shown in Figure 7.
Constant Values
Object 5010h Constant Field Value is provided to give the user the option for a fixed value that can
be used by other function blocks. Sub-index 1 is fixed as FALSE (0) and sub-index 2 is always TRUE
(1). There are 13 other sub-indexes provided for user selectable values.
The constants are read as 32-bit real (float) data, so no decimal digit object is provided. When setting
up the constant, make sure to do it with the resolution of the object that will be compared with it.
The False/True constants are provided primarily to be used with the logic block. The variable
constants are also useful with the logic or math blocks.
Fault Detection Objects
Object 5040h FD Field Value is a read only object containing the field values of the over
temperature, over and under voltage. Object 5041h FD Set Threshold sets the limit values for which
the faults occur when reached. When any of these thresholds are reached, the faults will clear when
the values have lowered to values set in object 5042h FD Clear Threshold.
For the AX023241 controller to begin monitoring fault detections, object 5050h Error Check
Detection determines which Fault Detection is enabled through 1 byte data as bits. Once a fault is
detected, object 5051h Error Response Delay will determine how long (in 100ms steps) the fault
needs to be present to flag and error.
Startup
The last object 5555h Start in Operational is provided as a ‘cheat’ when the unit is not intended to
work with a CANopen network (i.e. a stand-alone control) or is working on a network comprised
solely as slaves so the OPERATION command will never be received from a master. By default, this
object is disabled (FALSE).
When using the AX023241 as a stand-alone controller where 5555h is set to TRUE, it is
recommended to disable all TPDOs (set the Event Timer to zero) so that it does not run with a
continuous CAN error when not connected to a bus.
Besides Enable and Override signals controlling a particular output; another fault mode than can
occur is that of a Power Supply. Power Supply fault can be enabled to detect over voltage or under
voltage which will automatically disable ALL outputs. This setpoint is associated with the Power
Supply Diag function block. Also, if the Over Temperature Diag function block is enabled, then a

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microprocessor over-temperature reading disables all the outputs until it has cooled back to the
operating range.
Fault detection is available for current output types. A current feedback signal is measured and
compared to desired output current value.
The outputs are inherently protected against a short to GND or Vps by hardware. In case of a dead
short, the hardware will automatically disable the output drive, regardless of what the processor is
commanding for the output. When this happens, the processor detects output hardware shutdown
and commands off the output in question. It will continue to drive non-shorted outputs normally and
periodically try to re-engage the short load, if still commanded to do so. If the fault has gone away
since the last time the output was engaged while shorted, the controller will automatically resume
normal operation.
In the case of an open circuit, there will be no interruption of the control for any of the outputs. The
processor will continue to attempt to drive the open load.
The measured current through the load is available to be broadcasted on a CAN message if desired.
It is also used as the input to the diagnostic function block for each output, and an open or shorted
output can be broadcasted in a DM1 message on the CAN network
1.6. Lookup Table Function Block
Figure 9: Lookup Table Block objects
Lookup Tables are used to give an output response of up to 10 slopes per Lookup Table. There are
two types of Lookup Table response based on X-Axis Type: Data Response and Time Response
Sections 1.6.1 through 1.6.5 will describe these two X-Axis Types in more detail.
There are two key setpoints that will affect this function block. The first is the X-Axis Source and X-
Axis Number which together define the Control Source for the function block.

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1.6.1. X-Axis, Input Data Response
In the case where the X-Axis Type = Data Response, the points on the X-Axis represents the data
of the control source. These values must be selected within the range of the control source.
When selecting X-Axis data values, there are no constraints on the value that can be entered into
any of the X-Axis points. The user should enter values in increasing order to be able to utilize the
entire table. Therefore, when adjusting the X-Axis data, it is recommended that X10 is changed first,
then lower indexes in descending order as to maintain the below:
Xmin <= X0 <= X1 <= X2<= X3<= X4<= X5 <= X6 <= X7 <= X8 <= X9 <= X10 <= Xmax
As stated earlier, Xmin and Xmax will be determined by the X-Axis Source that has been selected.
If some of the data points are ‘Ignored’ as described in Section 1.6.3, they will not be used in the X-
Axis calculation shown above. For example, if points X4 and higher are ignored, the formula becomes
Xmin <= X0 <= X1 <= X2<= X3<= Xmax instead.
1.6.2. Y-Axis, Lookup Table Output
The Y-Axis has no constraints on the data that it represents. This means that inverse or
increasing/decreasing or other responses can be easily established.
In all cases, the controller looks at the entire range of the data in the Y-Axis objects and selects the
lowest value as the Ymin and the highest value as the Ymax. They are passed directly to other
function blocks as the limits on the Lookup Table output. (i.e used as Xmin and Xmax values in linear
calculations.)
However, if some of the data points are ‘Ignored’ as described in Section 1.6.3, they will not be used
in the Y-Axis range determination.
1.6.3. Default Configuration, Data Response
By default, all Lookup Tables in the ECU are disabled (X-Axis Source equals Control Not Used).
Lookup Tables can be used to create the desired response profiles. If a Universal Input is used as
the X-Axis, the output of the Lookup Table will be what the user enters in Y-Values setpoints.
Recall, any controlled function block which uses the Lookup Table as an input source will also apply
a linearization to the data. Therefore, for a 1:1 control response, ensure that the minimum and
maximum values of the output correspond to the minimum and maximum values of the
table’s Y-Axis.
All tables (1 to 2) are disabled by default (no control source selected). However, should an X-Axis
Source be selected, the Y-Values defaults will be in the range of 0 to 100% as described in the “Y-
Axis, Lookup Table Output” section above. X-Axis minimum and maximum defaults will be set as
described in the “X-Axis, Data Response” section above.
By default, the X and Y axes data is setup for an equal value between each point from the
minimum to maximum in each case.

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1.6.4. Point To Point Response
By default, the X and Y axes are setup for a linear response from point (0,0) to (10,10), where the
output will use linearization between each point, as shown in Figure 4. To get the linearization, each
“Point N – Response”, where N = 1 to 10, is setup for a ‘Ramp To’ output response.
Figure 10: Lookup Table with "Ramp To" Data Response
Alternatively, the user could select a ‘Jump To’ response for “Point N – Response”, where N = 1 to
10. In this case, any input value between X
N-1
to X
N
will result in an output from the Lookup Table
function block of Y
N
.
An example of a Math function block (0 to 100) used to control a default table (0 to 100) but with a
‘Jump To’ response instead of the default ‘Ramp To’ is shown in Figure 5.
Figure 11: Lookup Table with "Jump To" Data Response
Lastly, any point except (0,0) can be selected for an ‘Ignore’ response. If “Point N – Response” is
set to ignore, then all points from (X
N
, Y
N
) to (X
10
, Y
10
) will also be ignored. For all data greater than
X
N-1
, the output from the Lookup Table function block will be Y
N-1.