AXIOMATIC Tri-Axial J1939 CAN User manual

User Manual UMAX0608XX-1000
Version 9B
Firmware 9.xx,
EA 5.15.108.0+
USER MANUAL
Tri-Axial J1939 CAN Inclinometer
P/N: AX060800, AX060830 – Two M12 Connectors, Both CAN
P/N: AX061000 – Two M12 Connectors, CAN, 3 Analog Outputs
P/N: AX060808, AX060838 – Vertical Mount, Two M12 Connectors, Both CAN
P/N: AX060806, AX060810 – One DT15-4P Connector
P/N: AX060807, AX060811 – One DT15-4P Connector, CAN Termination
In Europe:
Axiomatic Technologies Oy
Höytämöntie 6
33880 Lempäälä - Finland
Tel. [phone]
Fax. [phone]
www.axiomatic.fi
In North America:
Axiomatic Technologies Corporation
5915 Wallace Street
Mississauga, ON Canada L4Z 1Z8
Tel. [phone]
Fax. [phone]
www.axiomatic.com

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B ii
ACRONYMS
3D Three-Dimensional
CAN Controller Area Network
CE The CE mark, or formerly EC mark, is a mandatory conformity
marking for certain products sold within the European Economic Area
(
EEA
)
since 1985
DM Diagnostic message. Defined in J1939/73 standard
EA Electronic Assistant®. PC application software from Axiomatic,
primarily designed to view and program Axiomatic control
configuration parameters (setpoints) through CAN bus using J1939
Memor
y
Access Protocol
ECU Electronic control unit
EMC Electroma
g
netic compatibilit
y
EMI Electroma
g
netic Interference
G Gravitational Acceleration on Earth
GPS Global Positioning System
Grms Root Mean Square Acceleration in G units
Hz Hertz
IEC International Electrotechnical Commission
LSB Less Significant Byte
MEMS Microelectromechanical system
NED North-East-Down coordinate system
PC Personal Computer
PGN Parameter Group Number. Defined in J1939/73 standard
P/N Part Number
RoHS Restriction of Hazardous Substances
SAE J1939 CAN-based higher-level protocol designed and supported by the
Societ
y
of
A
utomobile En
g
ineers
(
SAE
)
SAE J670 Vehicle Dynamics Terminology standard designed and supported by
the Societ
y
of
A
utomobile En
g
ineers
(
SAE
)
SSI Slope Sensor Information (PGN 61459)
SSI2 Slope Sensor Information 2 (PGN 61481)
UM User Manual
USB Universal Serial Bus
VDS Voltage Direct Current or Vehicle Direction/Speed (PGN 65256)
VDS2 Vehicle Direction/Speed 2 (PGN 64905)
XOR Exclusive or, a logical operation

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B iii
TABLE OF CONTENTS
1INTRODUCTION ................................................................................................................. 5
2INCLINOMETER DESCRIPTION ........................................................................................ 6
2.1Theory of Operation ..................................................................................................... 6
2.1.1Unit Coordinate System ........................................................................................ 6
2.1.2Unit Reference Frames ......................................................................................... 6
2.1.3Angle measurements ............................................................................................ 7
2.1.3.1Tilt Angles ......................................................................................................... 8
2.1.3.2Rotation Angles ................................................................................................. 9
2.1.3.2.1Unit Rotation Angles ................................................................................. 10
2.1.3.2.2Euler Angles ............................................................................................. 11
2.1.3.2.3Gimbal Lock .............................................................................................. 12
2.1.3.3Maximum Gravity Acceleration Error ............................................................... 13
2.1.3.4Practical Recommendations ............................................................................ 13
2.1.3.5Default Settings ............................................................................................... 15
2.2Hardware Block Diagram ........................................................................................... 16
2.3Software Organization ............................................................................................... 16
2.4CAN Interface ............................................................................................................ 17
2.4.1CAN Baud Rate .................................................................................................. 18
2.4.2J1939 Name and Address .................................................................................. 18
2.4.3Slew Rate Control ............................................................................................... 19
2.4.4Network Bus Terminating Resistors .................................................................... 19
2.5Default Settings .......................................................................................................... 19
2.5.1CAN Interface ..................................................................................................... 19
2.5.1.1PGN 61459, Slope Sensor Information, SSI ................................................... 19
2.5.1.2PGN 61481, Slope Sensor Information 2, SSI2 .............................................. 21
2.5.1.3PGN 65256, Vehicle Direction/Speed, VDS .................................................... 22
2.5.1.4PGN 64905, Vehicle Direction/Speed 2, VDS2 ............................................... 23
2.5.2Analog Outputs ................................................................................................... 24
3INCLINOMETER LOGICAL STRUCTURE ....................................................................... 25
3.1Function Block Signals ............................................................................................... 26
3.1.1Undefined Signal ................................................................................................ 26
3.1.2Discrete Signal .................................................................................................... 26
3.1.3Continuous Signal ............................................................................................... 26
3.1.4Signal Type Conversion ...................................................................................... 27
3.1.4.1Discrete to Continuous Conversion ................................................................. 27
3.1.4.2Continuous to Discrete Conversion ................................................................. 27
3.1.4.3Undefined Signal Conversion .......................................................................... 27
3.2Accelerometer ............................................................................................................ 27
3.3Angle Measurement ................................................................................................... 28
3.4Unit Installation .......................................................................................................... 29
3.4.1.1Unit Frame Orientation Examples ................................................................... 30
3.5Sensor Calibration ..................................................................................................... 32
3.6Binary Functions ........................................................................................................ 32
3.7Analog Signal Outputs ............................................................................................... 34
3.8Global Parameters ..................................................................................................... 36
3.9J1939 Network ........................................................................................................... 36
3.9.1ECU Network Parameters ................................................................................... 37

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B iv
3.9.2CAN Network Parameters ................................................................................... 37
3.10CAN Input Signal ....................................................................................................... 38
3.11CAN Output Message ................................................................................................ 40
4CONFIGURATION PARAMETERS .................................................................................. 43
4.1Electronic Assistant Software ..................................................................................... 43
4.2Function blocks in EA ................................................................................................ 44
4.3Setpoint File ............................................................................................................... 46
4.4Configuration Example ............................................................................................... 47
4.4.1User Requirements ............................................................................................. 47
4.4.2Configuration Steps ............................................................................................ 47
4.4.3Configuring Analog Signal Outputs ..................................................................... 49
5FLASHING NEW FIRMWARE .......................................................................................... 51
6TECHNICAL SPECIFICATIONS ....................................................................................... 55
6.1Performance Parameters ........................................................................................... 55
6.1.1Angular Measurements ....................................................................................... 55
6.2Power Supply Input .................................................................................................... 55
6.3CAN Output ................................................................................................................ 56
6.4Analog Outputs .......................................................................................................... 56
6.5General Specifications ............................................................................................... 57
6.6Inclinometer Modifications.......................................................................................... 58
6.7Enclosures ................................................................................................................. 58
6.7.1AX060800 ........................................................................................................... 58
6.7.1.1Connector Pinout ............................................................................................ 59
6.7.1.1.1CAN Only .................................................................................................. 59
6.7.1.1.2CAN and Analog Signal Outputs ............................................................... 5 9 
6.7.1.2Unit Orientation ............................................................................................... 60
6.7.2AX060806 ........................................................................................................... 60
6.7.2.1Connector Pinout ............................................................................................ 61
6.7.2.2Unit Orientation ............................................................................................... 61
6.8Installation .................................................................................................................. 62
7VERSION HISTORY ......................................................................................................... 63

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B Page: 5-66
1 INTRODUCTION
The following user manual describes the architecture, functionality, configuration parameters
and flashing instructions for Tri-Axial J1939 CAN Inclinometers. It also contains technical
specifications and installation instructions for the devices.
The application firmware version numbers described in the user manual, together with the EA
version numbers supporting all inclinometer configuration parameters, are shown on the user
manual front page.
The user manual is usually valid for application firmware with the same major version number
as the user manual. For example, this user manual is valid for any inclinometer application
firmware version 9.xx.
Updates specific to the user manual are done by adding letters: A, B, …, Z to the user manual
version number.
The user should check whether the application firmware installed in the inclinometer is covered
by this user manual. It can be done using Axiomatic Electronic Assistant® (EA) software
through CAN bus.
The inclinometers support SAE J1939 CAN interface. It is assumed, that the user is familiar
with the J1939 group of standards. The terminology from these standards is widely used in this
manual.

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B Page: 6-66
2 INCLINOMETER DESCRIPTION
The inclinometer is designed to measures pitch and roll inclination angles in a full ±180-degree
orientation range. The unit can also output gravity angle and unit accelerations in three
orthogonal directions.
The inclinometer transmits data over CAN bus using a standard J1939 protocol. In addition to
the CAN bus, the AX0610000 inclinometer can output data using three analog signal outputs.
The J1939 inclinometer can operate at standard 250kbit/s and 500kbit/s baud rates or non-
standard 667kbit/s and 1000kbit/s (1Mbit/s) baud rates. The required baud rate is detected
automatically upon connection to the CAN network.1
1Inclinometers with firmware V1.xx…6.xx could operate only at 250kbit/s baud rate, and with firmware
V7.xx…8.xx – at 250, 500, and 1000 kbit/s baud rates.
The inclinometer can be configured through a set of configuration parameters to fit the user-
specific application requirements using Axiomatic Electronic Assistant® software.
2.1 Theory of Operation
2.1.1 Unit Coordinate System
The inclinometer uses a standard right-handed Z-down Cartesian coordinate system, see
Figure 1.
X‐Axis
Y‐Axis
Z‐axis
φ‐Roll
θ‐Pitch
Ψ‐Yaw
ax
az
ay
Figure 1. Inclinometer Coordinate System
The arrows in Figure 1 represent a direction of motion that produces a positive change of the
parameter. For ax, ay, az accelerations, the positive acceleration direction is the same as the
axis direction. For 𝜃,𝜙,𝜓 rotation angles the positive direction is contraclockwise about the axis
of rotation (right-hand rule).
The Z-down coordinate system is described by in the SAE J670 standard for automotive
applications. It is used in SAE J1939 slope sensor PGN definitions. This system is similar to
the NED (North-East-Down) coordinate system used in aerospace and navigation, but without
reference to the cardinal directions.
2.1.2 Unit Reference Frames
Several Z-down coordinate systems or frames are used to describe the inclinometer
orientation.

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B Page: 7-66
The (X,Y,Z) coordinate system attached to the unit forms a unit or inclinometer frame, see
Figure 2. The original (default) unit frame orientation is shown on the inclinometer label. It can
be changed using configuration parameters to facilitate the unit installation.
X‐Axis
Y‐Axis
Z‐axis
Gravi tyvectoris
coincidentwith
theZ
E
axis
X
E
Y
E
Z
E
Y
M
Z
M
X
M
UnitFrame
MachineFrame EarthFrame
Figure 2. Inclinometer Reference Frames
The (XM,YM,ZM) coordinate system attached to the machine, where the inclinometer is
installed, defines a machine frame. The Earth coordinate system (XE,YE,ZE), aligned with the
Earth gravity, defines the Earth absolute reference frame.
The machine frame is coincident with the Earth reference frame in the initial null-angle position
of the machine when it is leveled on the operation area.
The unit calculates accelerations and angles referred to the machine frame (XM,YM,ZM).
Conversion from the unit frame (X,Y,Z) to the machine frame (XM,YM,ZM) is performed
internally using the unit initial installation angles. They are set to zero by default.
After the inclinometer is installed on the machine at the customer site, the customer can set up
the unit initial installation angles through configuration parameters.
To simplify further description of inclinometer operations, unless specially mentioned, it will be
assumed that the unit frame orientation is original, initial installation angles are zero and all
inclinometer parameters are referred therefore to the unit frame (X,Y,Z).
2.1.3 Angle measurements
The inclination angles are measured by a three-axis MEMS accelerometer, which senses an
acceleration vector 𝑎 in three orthogonal directions X, Y and Z:
𝑎Α
󰇍
󰇍

𝑔, (1)
where: 𝑎𝑎
,𝑎,𝑎 – acceleration measured by the unit,
𝐴

𝐴
,
𝐴

,
𝐴
 – external acceleration applied to the unit,

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B Page: 8-66
𝑔𝑔
,𝑔,𝑔 – gravity acceleration.
The measured acceleration is then transformed into inclination angles based on the
assumption that the only acceleration applied to the unit is the gravity acceleration 𝑔 caused by
the gravity force:
𝑎𝑔, 𝑤ℎ𝑒𝑛
𝐴
0. (2)
The gravity acceleration is then:
𝑔𝑎. (3)
The unit calculates 𝜃 – pitch, 𝜙– roll, and 𝜌 – gravity angles. There is not enough information
based only on the unit accelerations to calculate the 𝜓 – yaw angle.
The pitch and roll angles can be calculated in two different ways: as tilt or rotation angles. The
gravity angle is always a tilt angle.
2.1.3.1 Tilt Angles
The pitch and roll tilt angles define the inclination of the unit relatively to the ground plane. The
gravity angle defines the inclination of the unit relatively the gravity vector.
The pitch 𝜃 and roll 𝜙 tilt angles define the inclination of the unit relatively to the (XE,YE)
ground plane parallel to the Earth surface in the Earth frame (XE,YE,ZE), see Figure 3. The
pitch angle 𝜃 is an angle between the vertical projection XE(XY)* of the unit X axis onto the
ground plane and the X axis. Similarly, the roll angle 𝜙 is an angle between the vertical
projection YE(XY)* of the unit Y axis onto the ground plane and the Y axis.
X‐Axis
Y‐Axi s
Z‐axis
Plane(X
E
,Y
E
)isparalleltotheEarthsurface
θ
t
‐Pitch
φ
t
‐Roll
X
E(XY)
*
Y
E(XY)
*
θ
t
>0
φ
t
<0
Gravityvector

𝑔  iscoincident
withtheZ
E
axis

Y
E
X
E
Z
E
ρ–GravityAngle
Figure 3. Tilt Angles
The angle between the axes projections XE(XY)* and YE(XY)* is not 90° in general case. It is 90°
when the unit is parallel and 180° – when perpendicular to the ground plane.
The gravity angle 𝜌 is an angle between the ZE axis of the Earth frame and the unit Z axis.

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B Page: 9-66
The sign of the pitch and roll tilt angles is defined by the right-hand rule and presented by
arrows about the Y and X axes. Since the pitch angle 𝜃 direction in Figure 3 is the same as
the positive direction defined by the yellow arrow about the Y axis, the angle is positive. The
same way, the roll angle 𝜙 direction is the opposite to the positive direction defined by the
green arrow about the X axis. Therefore, the roll angle 𝜙 in Figure 3 is negative.
Depending on the application requirements, pitch and roll tilt angles can be calculated either in
the ±90° or ±180° range using the unit measured accelerations: 𝑎, 𝑎, 𝑎.
For tilt angles in the ±90° range:
𝜃𝑎𝑡𝑎𝑛2𝑔
,𝑔
𝑔 
,
𝜃∈󰇟90°;90°󰇠,(4)
𝜙𝑎𝑡𝑎𝑛2𝑔,𝑔
𝑔 , 𝜙∈󰇟90°;90°󰇠,
For tilt angles in the ±180° range:
𝜃𝑎𝑡𝑎𝑛2𝑔
,𝑠𝑖𝑔𝑛󰇛𝑔󰇜∙𝑔
𝑔 
,
𝜃∈󰇟180°;180°󰇠,(5)
𝜙𝑎𝑡𝑎𝑛2𝑔,𝑠𝑖𝑔𝑛󰇛𝑔󰇜∙𝑔
𝑔 , 𝜙∈󰇟180°;180°󰇠,
where: 𝑠𝑖𝑔𝑛󰇛𝑥󰇜󰇥1, 𝑥  0
1, 𝑥  0 ,
and: 𝑔𝑎
,𝑔 𝑎 , 𝑔𝑎 .
When measured in the ±90° range, the tilt angles are the angles that a dual-axis inclinometer
(or two single-axis inclinometers placed in orthogonal directions) will measure in the same
position as the unit. They will not detect a roll-over condition.
To detect a roll-over, the gravity angle can be used. The gravity angle is calculated using the
following formula:
𝜌  𝑎𝑡𝑎𝑛2𝑔
𝑔 ,𝑔
,
𝜌∈󰇟0°;180°󰇠 .
(6)
When 𝜌90
°, the roll-over occurs.
When pitch 𝜃 and roll 𝜙 angles are measured in the ±180° range, the tilt angles will detect a
roll-over when: |𝜃|90° 𝑜𝑟 |𝜙|90°, but they will lose a smooth angular transition in the roll-
over points.
When the unit is parallel to the Earth surface, all tilt angles are zero: 𝜃𝜙𝜌0°.
2.1.3.2 Rotation Angles
In opposite to tilt angles that measure an inclination angle of the unit from a certain reference
plane or a vector, the rotation angles measure a rotation angle of the unit about a certain axis.
The unit can measure two types of rotation angles: unit rotation angles and Euler angles.

UMAX0608XX‐1000.Tri‐AxialJ1939CANInclinometer.Version9B Page: 10-66
2.1.3.2.1 Unit Rotation Angles
The unit rotation angles define rotations about the axes in the unit frame (X,Y,Z) the following
way, see Figure 4.
X‐Axis
Y‐Axi s Z‐axis
Plane(X
E
,Y
E
)isparalleltotheEarthsurface
θ
u
‐Pitch
φ
u
‐Roll
X
E(XZ)
*
Y
E(YZ)
*
θ
u
>0
φ
u
<0
Gravityvector

𝑔  iscoincident
withtheZ
E
axis

Y
E
X
E
Z
E
Figure 4. Simple Rotation Angles
The rotation about the Y-axis defines the pitch angle 𝜃 and the rotation about the X axis – the
roll angle 𝜙. The pitch angle 𝜃 is an angle between the horizontal projection XE(XZ)* of the
unit X axis onto the (XE,ZE) plane and the XE axis. Similarly, the roll angle 𝜙 is an angle
between the horizontal projection YE(YZ)* of the unit Y axis onto the (YE,ZE) plane and the YE
axis.
The (XE,ZE) and (YE,ZE) planes are perpendicular to the Earth surface (XE,YE) in the Earth
frame (XE,YE,ZE). The angle between XE(XZ)* and YE(YZ)* is always 90°.
The rotation about the Z-axis (yaw angle) is not shown in Figure 4. It cannot be calculated
based on the gravity acceleration 𝑔.
The sign of the pitch and roll angles is defined by the right-hand rule and presented by the
arrows about the Y and X axes. Since the pitch angle 𝜃 direction in Figure 4 is the same as
the positive direction defined by the yellow arrow about the Y axis, the angle is positive. The
same way, the roll angle 𝜙 direction is the opposite to the positive direction defined by the
green arrow about the X axis. Therefore, the roll angle 𝜙 in Figure 4 is negative.
The unit rotation angles are calculated using the following formulas:
𝜃𝑎𝑡𝑎𝑛2󰇛𝑔,𝑔󰇜
,
𝜃∈󰇟180°;180°󰇠,(7)
𝜙𝑎𝑡𝑎𝑛2𝑔,𝑔
,
𝜙∈󰇟180°;180°󰇠,
where: 𝑔𝑎
,𝑔 𝑎 , 𝑔𝑎 .
The roll-over condition is observed when: |𝜃|90° or |𝜙|90°.
When the unit is parallel to the Earth surface, the unit rotation angles are zero: 𝜃𝜙0°.