AXIOMATIC AX030301 User manual

USER MANUAL UMAX030301
18 DIGITAL INPUT
With CANopen®
USER MANUAL
P/N: AX030301

Version 3.0.0 Preliminary Documentation – May be Subject to Change ii
VERSION HISTORY
Version Date Author Modifications
2.0.0 April 9, 2009 Roberto Romero Initial Draft
2.1.0 February 8, 2011 Anna Murray Added new object 5555h. Updated formatting.
3.0.0 March 4, 2013 Amanda Wilkins Reflects new hardware with EMC compliance and
added Technical Specifications

Version 3.0.0 Preliminary Documentation – May be Subject to Change iii
TABLE OF CONTENTS
1. GENERAL …………………………………………………………………………………………………..………………. 5
1.1. Axiomatic 18 Digital Input.……………………………………………………………………………………….. 5
1.2. Dimensions and Pinout…………………………………………………………………………………………… 6
1.3. References…………………………………………………………………………………………………………. 7
2. USING 18 DIGITAL INPUT THROUGH CANOPEN…………………………………………………………………… 8
2.1. Node ID and Baudrate……………………………………………………………………………………………. 8
2.2. Digital Input Function Block…………………..………………………………………………………..………… 8
2.3. Analog Input Function Block…………………………………..…………………………………………………. 9
2.4. Input Sensor Types……………………………………………………………………………………………….. 10
2.5. Fault Detection…………………………………………………………………………………………………….. 11
3. OBJECT DICTIONARY………………………………………………………………………………………...………….. 12
3.1. COMMUNICATION OBJECTS………………………………………………………………………..…………. 12
3.1.1. PDO Parameters……………………………………………………………………………………………… 13
3.1.2. Object 1000h: Device Type………………………………………………………………………..………… 15
3.1.3. Object 1001h: Error Register……………………………………………………………………...………… 15
3.1.4. Object 1003h: Pre-Defined Error Field…………………………………………………………...………… 16
3.1.5. Object 1010h: Store Parameters………………………………………………………………….………… 17
3.1.6. Object 1011h: Restore Default Parameters……………………………………………………………….. 18
3.1.7. Object 1016h: Consumer Heartbeat Time……………………………………………………….………… 19
3.1.8. Object 1018h: Identity Object……………………………………………………………………..………… 20
3.1.9. Object 1029h: Error Behaviour……………………………………………………………………………… 21
3.1.10. Object 5555h: Start in Operational……….………………………………………………………………… 22
3.2. DIGITAL INPUT FUNCTION BLOCK (DS-404)………………………………………………………………… 23
3.2.1. Object 2000h: DI Level State…………………………………………………………………………………
3.2.2. Object 6000h: DI Read State 8 Input Lines………………………………………………………………… 23
24
3.2.3. Object 6002h: DI Polarity 8 Input Lines…………………………………………………………..………... 25
3.3. ANALOG INPUT FUNCTION BLOCK (DS-404)……………………………………………………. ………… 26
3.3.1. Object 2010h: AI Error Minimum………………………………………………………………….………… 26
3.3.2. Object 2080h: AI Error Maximum…………………………………………………………………………… 27
3.3.3. Object 2090h: AI Measuring Window……………………………………………….……………………… 27
3.3.4. Object 20A0h: AI Enable Error Checking 8 Input Lines………………………………………..………… 28
3.3.5. Object 20B0h: AI Error Response Delay…………………………………………………….…..………… 29
3.3.6. Object 7100h: AI Input Field Value…………………………………………………….…………………… 30
3.3.7. Object 6110h: AI Sensor Type…………………………………………………….……………………….. 31
3.3.8. Object 6112h: AI Operating Mode…………………………………………………….………….………… 31
3.3.9. Object 7120h: AI Input Scaling 1 FV…………………………………………………….……….………… 32
3.3.10. Object 7121h: AI Input Scaling 1 PV…………………………………………………….……….………… 33
3.3.11. Object 7122h: AI Input Scaling 2 FV…………………………………………………….……….………… 33
3.3.12. Object 7123h: AI Input Scaling 2 PV…………………………………………………….……….………… 34
3.3.13. Object 7124h: AI Input Offset…………………………………………………….……………….………… 34
3.3.14. Object 6125h: AI Autozero…………………………………………………….…………………..………… 35
3.3.15. Object 7130h: AI Input Process Value…………………………………………………….……..………… 35
3.3.16. Object 6132h: AI Decimal Digits PV…………………………………………………….………..………… 36
3.3.17. Object 61A0h: AI Filter Type…………………………………………………….………………...……….. 37
3.3.18. Object 61A1h: AI Filter Constant…………………………………………………….……………………… 38

Version 3.0.0 Preliminary Documentation – May be Subject to Change iv
3.4. FAULT DETECTION BLOCK (AXIOMATIC)…………………………………………………………………… 39
3.4.1. Object 4000h: FD Field Value………………………………………………………………………………. 39
3.4.2. Object 4001h: FD Set Threshold……………………………………………………………………………. 40
3.4.3. Object 4002h: FD Clear Threshold…………………………………………………………………………. 41
3.4.4. Object 400Ah: FD Enable Error Checking 8 Faults………………………………………………………. 41
3.4.5. Object 400Bh: FD Error Response Delay………………………………………………………………….. 42
4. ERROR HANDLING…………………………………………………………………………………………….………….. 43
4.1. Emergency Frame Codes (EMCY)…………………………………………………………………… ……….. 43
4.2. 18 Digital Input Fault Mode Behaviour…………...……………………………………………………………. 44
5. APPENDIX – TECHNICAL SPECIFICATIONS ………………………………………………………………………… 45

Version 3.0.0 Preliminary Documentation – May be Subject to Change 5-46
1. GENERAL
1.1. Axiomatic 18 Digital Input
The Axiomatic 18 Digital Input is a CANopen compliant [DS-301] input module with a configurable
selection of input types. The object dictionary is compatible with the CiA DS-404 device profile.
(device profile for measurement devices and closed-loop controllers.) In addition to the standard
objects for this device profile, the 18 Digital Input also includes a number of manufacturer specific
objects to extend the functionality beyond that of the basic profile.
The module includes the following inputs:
Eighteen (18) digital inputs (DI1 to DI18) that can be configured (using a CANopen object) as
one of the following:
oActive High input (where a +V is = ON and 0 V = OFF)
oActive Low input (where a 0 V is = ON and +V = OFF)
Inputs 1 to 8 (AI1 to AI8) are the only software configurable inputs that can be individually
configured (using a CANopen object) as one of the following types:
oPWM [0-100%]
oFrequency [0 to 10kHz]
o16-bit Counter
Refer to the appendix for full electrical specifications of the inputs.

Version 3.0.0 Preliminary Documentation – May be Subject to Change 6-46
1.2. Dimensions and Pinout
2. Grey Connector Black Connector
Pin # Function Pin # Function
1 CAN_H 1 Digital Input 7
2 CAN_L 2 Digital Input 8
3 CAN_Shield 3 Digital Input 9
4 GND 4 Digital Input 10
5 Power- 5 Digital Input 11
6 Power+ 6 Digital Input 12
7 Digital Input 6 7 Digital Input 18
8 Digital Input 5 8 Digital Input 17
9 Digital Input 4 9 Digital Input 16
10 Digital Input 3 10 Digital Input 15
11 Digital Input 2 11 Digital Input 14
12 Digital Input 1 12 Digital Input 13

Version 3.0.0 Preliminary Documentation – May be Subject to Change 7-46
1.3. References
[DS-301] CiA DS-301 V4.02 – CANopen Application Layer and Communication
Profile. CAN in Automation 2002
[DS-404] CiA DS-404 V1.2 – Device Profile for Measurement Devices and
Closed-Loop Controllers. CAN in Automation 2002
[DS-305] CiA DS-305 V2.0 – Layer Setting Service (LSS) and Protocols. CAN in
Automation 2006
LSS Protocol, User’s Manual V1.2. Axiomatic Technologies 2004
TDAX030301 Technical Datasheet, AX030301 Series. Axiomatic Technologies

Version 3.0.0 Preliminary Documentation – May be Subject to Change 8-46
2. USING 18 Digital INPUT THROUGH CANOPEN
2.1. Node ID and Baudrate
The 18 Digital Input module supports the Layer Setting Service (LSS) protocols to configure the
node-id and baudrate. Refer to the document “LSS Protocol” for more details.
2.2. Digital Input Function Block
The digital input function block handles the reading of any input pin configured as a digital input.
Note, however, that the operating input mode for NORMAL operation (PWM, FREQ or COUNTER)
is set through the object 6112h, in the analog input function block. For inputs that are NOT
configured as digital, the rest of the objects associated with the digital input block are ignored.
On the 18 Digital Input, the inputs are hardware supported and are configured through object
2000h. This sets the input to either active high (+V) or active low (0 V) signal. The application
object 6002h allows the input polarity to be changed in software. The state of the input is a logical
combination of hardware and software polarity. See figure 3.2.1 for more details.
Figure 2.2.1 Digital Input Block Diagram
The application object 6000h holds the state (1 = ON, 0 = OFF) of each digital input in the following
manner:
For the 18 digital input lines on the controller, the bit order is as shown below.
Subindex 1:
Subindex 2:
Subindex 3:
DI 1DI 2DI 3DI 4DI 5DI 6DI 7DI 8 07
DI 9DI 10DI 11DI 12DI 13DI 14DI 15DI 16 07
DI 17DI 18XXXXXXXXXXXXXXXXXX 07

Version 3.0.0 Preliminary Documentation – May be Subject to Change 9-46
2.3. Analog Input Function Block
The analog input function block handles the reading of any input configured for normal operation
(analog) by the object 6112h. The type of input is determined by object 6110h, and can be set to
one of the following three modes
PWM Input, range 0-100% Duty Cycle
Frequency Input, range 0-10,000 Hz
16-bit Counter, range 1 to 65535
Important Note!
PWM inputs are sampled every 10ms.
The sampling time of frequency inputs are controlled by object 2090h [Measuring Window]
The 16-bit Counter has a 1ms resolution.
The conversion from input field value to process value is generally described as a linear
transformation. The two pairs of field values and their corresponding process values define
calibration points 1 and 2. (Input Scaling 1 FV/ Input Scaling 1 PV and Input Scaling 2 FV/ Input
Scaling 2 PV) See DS-404 for more information.
If error checking on an input is enabled by object 20A0h, then the controller will compare the
measured field value to the values in objects 2010h [Error Minimum] and 2080h [Error Maximum].
If less than 2010h, or greater than 2080h, the controller will flag an error after the delay time in
object 20B0h has passed. (See section 4 for more details on emergency objects, and the
controller’s response to errors.) Error checking is not available with a digital input or a 16-bit
counter input.
For the Field (7100h) and Process (7130h) objects values corresponding to the 8 analog input
lines on the controller, the bit order is as shown.

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Figure 2.3.1 PWM, Frequency or Counter Input Block Diagram
2.4. Input Sensor Types
The 18 Digital Inputs module is a device that measures inputs and sends the data to a CANopen
network. Each input can be configured for any one of the following options by selecting the desired
Operating Mode (6112h) set for 'Normal Operation’ and the Sensor Type (6110h) objects.
The properties and behavior of the input in each mode are described below.
Input Disabled: This mode is selected by setting the Operating Mode (6112h) to 'Not Used'.
The Field Value (7100h) and Process Value (7130h) are always 0.
Digital Input: This mode is selected by setting the Operating Mode (6112h) to 'Digital Input'.
This mode is configured to read the state of the digital input pin together with
the hardware polarity object (2000h) and the software polarity object (6002h)
to determine the logical state (ON/OFF) of the digital input channel.
The input is read by the DI Read State (6000h) object in the Digital Input
Block.
Error detection objects are not used, since error detection is not possible in
this mode. The Field Value (7100h) and Process Value (7130h) are always 0.
PWM Duty Cycle: The input is configured to measure the duty cycle of a pulse width modulated
(PWM) signal in the range of 0 to 100%dc, with a frequency between 10Hz to
10kHz. Field value (7100h) and error detection objects (2010h and 2080), will
be interpreted in percent duty cycle divided by 100 [%dc / 100].
Frequency: The input is configured to count the number of pulses that occur over the
period of the Measuring Window object (2090h). At the end of the measuring
window, the frequency of the pulses is calculated, and the FV is updated. Field
value (7100h) and error detection objects (2010h and 2080), will be interpreted
in hertz [Hz].
Window
2090h
Input Type
6110h
Operation
6112h Constant
61A1h
Input
Pin
Count/
Timer Meas.
Calc.
Scaling
Field Value
7100h Dec. Digits 6132h
Filter PWM
61A0h Proc. Val
7130h
Scale 1 FV
7120h
Scale 2 FV
7122h
Offset
7124h
Scale 1 PV
7121h
Scale 2 PV
7123h
Autozero
6125h
Error
Checking
Err Min
2010h
Err Max
2080h
Err Active
20A0h
Err Delay
20B0h Error
React Controller
CAN Bus
Not 16-bit
Counter