AXIOMATIC DSP RESOLVER User manual
Author: JKA
File: reso_UM_1_15
For SW ver: 1.5
Version:1.15
Modified: 27.07.2007 11:33
DSP RESOLVER
User Manual
DSP resolver user manual User Manual Version 1.15
Table of Contents
1.VERSION HISTORY...........................................................................................................................
2.GENERAL.............................................................................................................................................5
2.1A REVATIONS AND TERMS....................................................................................................................7
3.SUMMARY OF TECHNICAL SPECIFICATIONS.........................................................................8
.ORDER CODES................................................................................................................................. 10
5.ATTACHING THE DEVICE INTO THE APPLICATION...........................................................11
5.1CONNECTORS..................................................................................................................................... 11
5.1.1Connector J1..........................................................................................................................11
5.1.2Connector J2 (available only in AXRES-CO-V2)..................................................................12
5.1.3Connector X1 (available only in AXRES-CO-V2)................................................................. 12
5.1.4Connector X2 (available only in AXRES-CO-V2)................................................................. 13
5.2CAN US CA LING............................................................................................................................ 13
5.3MECHANICS.......................................................................................................................................14
6.SOFTWARE UPDATES.................................................................................................................... 19
6.1PROGRAMMING CA LE......................................................................................................................... 19
6.2DOWNLOADING INSTRUCTIONS..............................................................................................................20
7.PROFILE AND MANUFACTURER SPECIFIC FEATURES .....................................................21
7.1ENCODER RELATED FUNCTIONS AND CONFIGURATIONS..............................................................................21
.1.1Angle / position resolution.....................................................................................................21
.1.2Angle / position direction and offset configuration............................................................... 22
.1.3Procedure to configure resolution, positive rotation direction and offset............................ 24
.1.4Internal timing ...................................................................................................................... 24
.1.5Speed calculation...................................................................................................................25
.1.6Revolution counter.................................................................................................................26
7.2COMMUNICATION CONFIGURATIONS .......................................................................................................27
.2.1Device type (0x1000)............................................................................................................. 2
.2.2Device identity (0x1018)........................................................................................................2
.2.3Emergency messages............................................................................................................. 2
.2.4CAN bus baudrate..................................................................................................................28
.2.5Node-id.................................................................................................................................. 29
.2.6PDO configurations...............................................................................................................30
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.2. The boot up print................................................................................................................... 33
.2.8The RS232 prints...................................................................................................................34
.2.9The RS232 commands ...........................................................................................................35
8.CANOPEN MANUAL AND SUPPORTED DS301 SPECIFIC OBJECTS ................................. 36
8.1O JECT DICTIONARY............................................................................................................................36
8.2NETWORK MANAGEMENT (NMT).........................................................................................................36
8.3PROCESS DATA O JECT (PDO).............................................................................................................37
8.3.1PDO COB IDs....................................................................................................................... 38
8.3.2Disabling and enabling a PDO............................................................................................. 39
8.3.3PDO transmissions................................................................................................................ 40
8.3.4PDO mapping........................................................................................................................ 41
8.4SERVICE DATA O JECT (SDO)............................................................................................................. 42
8.5SAVING THE O JECT DICTIONARY PARAMETERS........................................................................................ 42
8.6RESTORING THE DEFAULT VALUES TO THE O JECT DICTIONARY...................................................................43
8.7SPECIAL FUNCTIONS AND O JECTS..........................................................................................................43
8. .1Boot-up message....................................................................................................................44
8. .2Synchronization object (Sync)............................................................................................... 44
8. .3Error Control ( Heartbeat Features).....................................................................................45
8. .4Emergency object (Emcy)...................................................................................................... 46
8. .5co_verify_configuration object..............................................................................................46
8. .6Time stamp object (Time).......................................................................................................4
8.8LAYER SETTING SERVICE LSS.............................................................................................................. 47
8.8.1Protocol for setting the baudrate...........................................................................................4
8.8.2Protocol for setting the node-id.............................................................................................48
9.OBJECT DICTIONARY................................................................................................................... 9
Copyright © Axiomatic Technologies y 3/56
DSP resolver user manual User Manual Version 1.15
1. VERSION HISTORY
Ver Date Edi
tor
Changes
1.11 26.6.2006 JKA -Reference signal range corrected to 10V peak to peak
- Version history added
1.12 6.7.2006 JKA Accuracy corrected, object 0x6500 co_encoder_diagnostic corrected
1.13 10.7.2006 JKA Accuracy corrected to the general chapter
1.14 8.8.2006 JKA Corrected mistake in enabling PDO chapter
1.15 25th July JKA *Prelimenary data of new model AXRES-SL added
*MVRES prefix replaced with AXRES also in the older design
Copyright © Axiomatic Technologies y 4/56
DSP resolver user manual User Manual Version 1.15
2. GENERAL
The AXRES module is targeted for precise absolute rotational angle measurements in harsh
environments such as industrial environment and off road vehicles. Angle sensing is based
on a resolver element. In addition of the rotation angle module measures also the angular
speed and rotational position as whole revolutions. The measurement data is provided to
other devices via CAN open interface which fulfills CIA's (CAN in Automation) device
profile for the encoders (DS406 ver 3.1). Therefore the AXRES can be used as a rugged
replacement for an absolute rotary encoder. AXRES provides 12,5 ... 13.5 bits accuracy per
one electrical revolution. Resolution is sw configurable. The maximum resolution is 22 bits.
Three different form factors allow chosing the most suitable solution for each application.
The newest type AXRES-1X-SL provides very slim desing (diameter 32mm) allowing
resolver to be mounted even inside a hollow pin!
Module is designed to be attached to the application mechanics with two spring type
mounting brackets and an axes adapter. Type of the axis adapter depends on the type of the
housing. For V2 type the internal diameter of the axes adapter is 10mm. Locking to the axes
is secured with three locking screws.
AXRES module is available both in three different type of housings.
Copyright © Axiomatic Technologies y 5/56
Drawing 2: AXRES-CO-V2-1X-H, resolver
module with closed type housing
Drawing 3: AXRES-CO-V2-1X-U, re>
solver module with open type housing
Drawing 1: AXRES-CO-1X-SL
DSP resolver user manual User Manual Version 1.15
Resolved based sensors are not sensitive for vibrations so they provide long service life
without any maintenance even in very harsh environments.
Insensitivity to temperature variations and aging means that the full accuracy is always
achieved.
Product highlights:
•Measures absolute angular rotation (no home point needed), whole rotations and
angular speed
•fullfils CAN open DS301 ver 4.1 communication specification and encoder profile
DS406 ver 3.1
•IP65 protection class for closed type model
•12,5 .. 13,5 bits accuracy per electrical rotation
Applications:
•boom angle measurements (in excavators, lifts etc)
•shaft rotation angle measurements
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2.1 Abbrevations and ter s
Abbrevation description
CAN Lower layer CAN protocol for upper layer CAN protocols like CAN OPEN,
J1939 and device net-
CAN open Upper layer protocol for CAN networks
CIA CAN in Automation, CAN open standardization organization
(www.canorg.net)
CAN ID ID of the CAN message seen on the bus. Consist of 11 or 29 bits. Part of the
CO Ids which can be found in object dictionary
CO ID Consists of CAN ID and some control and informative bits. Found in object
dictionary. Note that in older communication specifications both the CAN
ID and COB ID were named as COB ID!
Object Variable which is accessable through CAN interface
Object Dictionary Consists of objects, Accessable from CAN bus with SDO writ and read
operations
DS406 ver 3.1 The CAN open device profile for encoders. Version 3.1 is published 21.st
December 2003
DS301 ver 4.1 The general communication profile for CAN open devices. This version is
published 21.st February 2006
1X Type of the resolver element . Distuingishible measuring range 360 degrees
physical rotation
3X Type of the resolver element . Distuingishible measuring range 120 degrees
physical rotation
PC Printed circuit board
EDS Electronic datasheet, desribes the structure of the object dictionary. CAN
configuration tools need often this.
Table 2.1: Abbrevations and terms
Font Meaning
italic internal inks, names of the tables and drawing
Bold and italic Names of the objects
Table 2.2: fonts and their meanings
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3. SUMMARY OF TECHNICAL SPECIFICATIONS
All specifications typical at nominal input voltage (24 V) and 25° C unless otherwise
specified.
Operating voltage
(power supply
requirement)
9 to 35 VDC for AXRES-CO-V2-1X-x
9 to 54 VDC AXRES-CO-1X-SL
Reverse polarity
protection
Provided
Current consumption 70mA with 24volts
RS232 audrates up to 115200 kbits/sec, TTL level in AXRES-CO-V2
CAN Philips TJA1050 Transceiver
audrates 50k to 1M
Sensor element AXRES-CO-V2:
•1X: LTN R58WURE151 24-031-07HA
•3X: LTN R58WURE153 24-031-07HA, on request
AXRES-CO-1X-SL
•LTN RE-10
Measuring range of
angular rotation as
degrees
360°, with 1X sensor element
120°, with 3X sensor element. 3 uniform sectors in one 360 degrees mechanical
rotation
Accuracy +-0,067° for 1X (12,5 bits)
+-0,028° for 3X (13,5 bits)
Resolution 0,01°, as default. SW adjustable.
Repeatibility +-0.005 degrees (15 bits)
Noise in position
output
+-0.0025 degrees (16 bits)
Delay between
mechanical rotation
and sensor output
less than 28 ms
Table 3.1: Electrical Specifications
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DSP resolver user manual User Manual Version 1.15
Operating conditions
-40 to +85°C (-40 to 185F), when speed is less than 10 revolutions per second.
-20 to +85°C (-4 to 185F) at faster speeds
Declaration of
conformity (CE)
Yes
EDS file Yes
Communications CAN bus, CANopen
RS232:
•AXRES-CO-V2: TTL -level. Connector inside the module. An
external level converter is recommended, if RS232 is used.
•AXRES-CO-1X-SL: Connector inside the module, no level converter
needed
LED indicators Inside the module: green power led and red/green status led.
Electrical connections AXRES-CO-V2:
•2x M12 connector (5 -pin), male and female in housed model. Open
style version contains two spring loaded connectors.
AXRES-CO-1X-SL
•1x M12 connector (5 -pin) male
EMC compatibility Fulfills the requirements of the industrial and mobile environments.
Emissions:
EN61000-6-4:2001
Immunity:
EN61000-6-2:1999
Protection class IP65, closed type housings. IP00, open type housing
Vibration Vibration compliance is suitable for mobile equipment and industrial
applications.
Weight AXRES-CO-V2: 540 g (housed model)
AXRES-CO-1X-SL : 230g
Packaging and
dimensions
Aluminium housing for sensor element and electronics
AXRES-CO-V2:
•70 x 86 mm (ØD x H), mounting brackets and connectors excluded
AXRES-CO-1X-SL :
•32*151 mm (ØD x L), mounting brackets and connectors excluded
Table 3.2: General specifications
Specifications are subject to update without notice.
Copyright © Axiomatic Technologies y 9/56
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4. ORDER CODES
AXRES-CO-V2:
AXRES - CO - V2 - 1X - H (- x)
Can protocol Sensor
element
Housing Customer
specific
CO = CANopen 1X H = closed type
housing
optional
3X U = open type
housing
Table 4.1: Order codes of AXRES-CO-V2
AXRES-CO-1X-SL:
AXRES - CO - 1X - SL (- x)
Can protocol Sensor
element
Housing Customer
specific
CO = CANopen 1X optional
3X
Table 4.2: Order codes of AXRES-CO-1X-SL
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5. ATTACHING THE DEVICE INTO THE APPLICATION
5.1 Connectors
The AXRES module can be connected to CAN bus with M12 connectors or spring loaded
connector terminals depending on the model (open or closed style housing). oth housing
styles allow connecting the device to the bus as a chained node or with a drop line. In case
that only one of the M12 connectors is used it is recommended to attach a dust cap to the
unused connector. In addition the female connector should be left unutilised in this case.
Module contains a serial interface for software downloads. The interface uses RS232
protocol and TTL level signals. An external Signal level converter is required in case of
AXRES-CO-V2 if module is connected to external devices like a laptop. Serial interface
connector is located so that it is accessable only in modules with open type housing. If
software has to be updated to a module with closed type housing the PC need to be
removed from the housing.
Connector pinouts are described in chapters 3.1 – 3.5. The following signal types are used:
Abbrev. Meaning
PWR Power supply signal
GND Ground level signal
CAN CAN bus signal (ISO 11898)
RS232 TTL RS-232 with TTL level signals
Table 5.1: Signal Types
5.1.1 Connector J1
Connector is M12 style 5-pin male.
AXRES-CO-V2:
•Connector is manufactured by rad Harrison and manufacturer's part number is
8R5E36E03C3003. Mating connector is rad Harrison 8A5000-32 or equivalent.
AXRES-CO-1X-SL:
•T D
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Pin Signal Type Function
1 CAN sh CAN CAN shield
2 V supply PWR Power supply
3 GND GND Power supply ground
4 CAN hi CAN CAN bus hi signal
5 CAN lo CAN CAN bus lo signal
Table 5.2: Connector J1 signals
Power supply voltage range is 9...35 V for AXRES-CO-V2 and 9..54V for AXRES-CO-1X-
SL
CAN bus signals withstand short circuits to 40V and GND.
5.1.2 Connector J2 (available only in AXRES-CO-V2)
Connector is Available only in or AXRES-CO-V2
M12 style 5-pin female.
Connector is manufactured by rad Harrison and manufacturer's part number is
8R5E30E03C3003. Mating connector is rad Harrison 8A5006-32 or equivalent.
Pin Signal Type Function
1 CAN sh CAN CAN shield
2 V supply PWR Power supply
3 GND GND Power supply ground
4 CAN hi CAN CAN bus hi signal
5 CAN lo CAN CAN bus lo signal
Table 5.3: Connector J2 signals
Power supply voltage range is 9...35 V.
CAN bus signals withstand short circuits to 40V and GND.
5.1.3 Connector X1 (available only in AXRES-CO-V2)
X1 is a 6 way spring loaded connector located on the PC . It accepts wires up to AWG20
Pin Signal Type Function
1 System GND GND System ground, sensor body
2 GND GND Power supply ground
3 CAN lo CAN CAN bus lo signal
4 CAN sh CAN CAN shield
5 CAN hi CAN CAN bus hi signal
6 V supply PWR Power supply
Table 5.4: connector X1
Power supply voltage range is 9...35 V.
CAN bus signals withstand short circuits to 40V and GND
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5.1. Connector X2 (available only in AXRES-CO-V2)
X2 is a 6 way spring loaded connector located on the PC . It accepts wires up to AWG20
Pin Signal Type Function
1 System GND GND System ground, sensor body
2 GND GND Power supply ground
3 CAN lo CAN CAN bus lo signal
4 CAN sh CAN CAN shield
5 CAN hi CAN CAN bus hi signal
6 V supply PWR Power supply
Table 5.5: Connector X2
Power supply voltage range is 9...35 V.
CAN bus signals withstand short circuits to 40V and GND
5.2 CAN bus cabling
The bus should be routed continuously from one module to another. A 120 ohms terminating
resistor must be attached to both ends of the bus. It is recommended to use at least 7W
resistors to ensure that they withstands short circuits to power supply lines.
Copyright © Axiomatic Technologies y 13/56
Illustration 5.1: CAN bus cabling
Master module
CAN H
MVRES CAN device
CAN H CAN L
CAN L
CAN H CAN L
120 Ω
7W
120 Ω
7W
...
CAN device
CAN H CAN L
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Baudrate Max total
bus length
Max stub length Max accumulated
stub length
1 Mbit/s 25m 1,5m 7,5m
800 kbit/s 50m 2,5m 12,5m
500 kbit/s 100m 5,5m 27,5m
250 kbit/s 250m 11m 55m
125 kbit/s 500m 22m 110m
50 kbit/s 1000m 55m 275m
Table 5.6: Baudrates, bus and stub lengths
The grounds of all modules must be connected together using low impedance cabling. It is
recommended to use a system ground point to which all ground lines are connected.
Common ground wires for devices consuming lot of current should also be avoided.
Otherwise potential differences may become too big.
5.3 Mechanics
Drawing 4: Dimensions of AXRES-CO-SL
Copyright © Axiomatic Technologies y 14/56
DSP resolver user manual User Manual Version 1.15
Illustration 5.2: Overview of AXRES-CO-V2 resolver with closed type
housing
Copyright © Axiomatic Technologies y 15/56
DSP resolver user manual User Manual Version 1.15
Illustration 5.3: AXRES-CO-V2 closed type resolver seen
from the side
Illustration 5.4: AXRES-CO-V2 closed type seen from bottom
Copyright © Axiomatic Technologies y 16/56
DSP resolver user manual User Manual Version 1.15
Illustration 5.5: AXRES-CO-V2 open type seen from bottom
Copyright © Axiomatic Technologies y 17/56
DSP resolver user manual User Manual Version 1.15
Copyright © Axiomatic Technologies y 18/56
Illustration 5.6: AXRES-CO-V2 open type without PCB seen
from the side
DSP resolver user manual User Manual Version 1.15
6. SOFTWARE UPDATES
Module contains a serial interface for software downloads. The interface utilises RS232
protocol and TTL level signals. An external Signal level converter is required in case of
AXRES-CO-V2 if module is connected to an external device like a laptop. Serial interface
connector is located so that it is accessable only in modules with open type housing. If
software has to be updated to a module with closed type housing the PC need to be
removed from the housing.
6.1 Programming cable
Connections of a PC level programming cable connection is shown in table XX. The
Connector housing on the AXRES end is JST ZHR-4 and a suitable crimp is ZH-003-
PO.5. These accessories are available example from Farnell electronics (in Europe) or from
Axiomatic Technologies. Serial signals must be converted from TTL to RS232 level or vica
versa by an external signal level converter. Axiomatic IFC-W1R-TTL-RS232-01-000 is a
recommended device. The signal level converter can be connected to PC by RS232 modem
cable.
J1 on Axiomatic RS232 level
converter
AXRES J4 Signal
2, 7 1 +5V
3 2 txd
5 3 rxd
1, 8 4 GND
Table 6.1: Programming cable pinouts
Copyright © Axiomatic Technologies y 19/56
Illustration 6.1: Setup for software updates
PC
MVRES
Serial port (COM1)
J4
Power supply 12 / 24V
J1, J2, X1
or X2
TTL to
RS232
converter
DSP resolver user manual User Manual Version 1.15
6.2 Downloading Instructions
What is needed :
1. PC with terminal software, for example the HyperTeminal, or the preferred one,
Teraterm
2. Programming cable. See instructions on chapter 6.1.1.
The HyperTerminal software is found normally in the Window´s “Start” menu ->
“Programs” -> “Accessories” -> “Communications” -> “HyperTerminal”.
The initial settings in HyperTerminal are done using the following steps:
1. Start HyperTerminal. “New connection” window opens, where you can type a name for
the connection. Type here “AXRES sw download” and press “Ok”.
2. “Connect” window opens. Select from the drop-down box at the bottom of the window
(“Connect using”) the serial port you have available on your PC, for example “Direct to
COM1”.
3. “Serial port settings” window opens. Enter the following values:
its per second: 115200
Data bits: 8
Parity: None
Stop bits: 1
Flow control: XON/XOFF
4. Now the actual terminal window opens. Press the 'd' button down and power up the
AXRES module. The terminal window should show text “Send S file”. If you don't see
anything, check the connection of the serial cable, and that the COM port you have
selected is really available on your PC, and try again.
5. Now you can download new software by clicking “File” -> “Send file”. File browsing
window pops up. Select correct S19 -file and click “OK”. You may also just drag and
drop the file into terminal window.
6. The applications boots up automatically after successful download
Copyright © Axiomatic Technologies y 20/56
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