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AXIOMATIC AX030301 User Manual

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

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Summary of Contents for AXIOMATIC AX030301

  • Page 1 USER MANUAL UMAX030301 18 DIGITAL INPUT With CANopen® USER MANUAL P/N: AX030301...
  • Page 2 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 –...

  • Page 3: Table Of Contents

    TABLE OF CONTENTS 1. GENERAL …………………………………………………………………………………………………..………………. 1.1. Axiomatic 18 Digital Input.……………………………………………………………………………………….. 1.2. Dimensions and Pinout…………………………………………………………………………………………… 1.3. References…………………………………………………………………………………………………………. 2. USING 18 DIGITAL INPUT THROUGH CANOPEN…………………………………………………………………… 2.1. Node ID and Baudrate……………………………………………………………………………………………. 2.2. Digital Input Function Block…………………..………………………………………………………..………… 2.3. Analog Input Function Block…………………………………..…………………………………………………. 2.4.
  • Page 4 3.4. FAULT DETECTION BLOCK (AXIOMATIC)…………………………………………………………………… 3.4.1. Object 4000h: FD Field Value………………………………………………………………………………. 3.4.2. Object 4001h: FD Set Threshold……………………………………………………………………………. 3.4.3. Object 4002h: FD Clear Threshold…………………………………………………………………………. 3.4.4. Object 400Ah: FD Enable Error Checking 8 Faults………………………………………………………. 3.4.5. Object 400Bh: FD Error Response Delay………………………………………………………………….. 4. ERROR HANDLING…………………………………………………………………………………………….…………..

  • Page 5: 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.

  • Page 6: Dimensions And Pinout

    1.2. Dimensions and Pinout Grey Connector Black Connector Function Pin # Function Pin # CAN_H Digital Input 7 CAN_L Digital Input 8 CAN_Shield Digital Input 9 Digital Input 10 Power- Digital Input 11 Power+ Digital Input 12 Digital Input 6 Digital Input 18 Digital Input 5 Digital Input 17...

  • Page 7: References

    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...

  • Page 8: Using 18 Digital Input Through Canopen

    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.

  • Page 9: Analog Input Function Block

    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 ...

  • Page 10: Input Sensor Types

    Input Meas. Filter PWM Field Value Dec. Digits Proc. Val Count/ Scaling Calc. 61A0h 7100h 6132h 7130h Timer Constant Operation Window Scale 1 FV Scale 1 PV 6112h 61A1h 2090h 7120h 7121h Not 16-bit Input Type Scale 2 FV Scale 2 PV Counter 6110h 7122h...

  • Page 11: Fault Detection

    16-bit Counter: The input is configured to count pulse on the input until the value in the Measuring Window object (2090h) is reached. While the counter is active, a timer with a 1ms resolution is running in the background. When the count has been reached, the value in the 1ms timer is captured and updated to the Field Value object (7100h).

  • Page 12: Object Dictionary

    3. OBJECT DICTIONARY The CANopen object dictionary of the 18 Digital Inputs is based on CiA device profile DS-404 V1.2. (Device profile for measurement devices and closed-loop controllers.) The object dictionary also includes some manufacturer-specific objects for extended functionality. 3.1. COMMUNICATION OBJECTS The communication objects supported by the 18 Digital Input are listed in the following table.

  • Page 13: Pdo Parameters

    3.1.1. PDO Parameters All RPDOs and TPDOs in the 18 Digital Inputs use the same default communication parameters, respectively. The PDO IDs are set according to the pre-defined connection set described in [DS-301]. All receive PDOs are set to transmission type 255, and all transmit PDOs to transmission type 254, with the event timer (subindex 5) set to 100 (100ms).
  • Page 14 TPDO1: default ID 0x180 + node ID Subindex Value Object Number of mapped application objects in PDO 0x60000110 DI Input 1 to 8 (DI8 = Bit 8 and DI1 = Bit 1) 0x60000210 DI input 9 to 16 (DI6 = Bit 8 and DI9 = Bit 1) 0x60000310 DI input 17 to 18 (DI8 = Bit 2 and DI17 = Bit 1) Not used...

  • Page 15: Object 1000H: Device Type

    3.1.2. Object 1000h: Device Type This object contains information about the device type as per device profile DS-404. The value stored in this object is 0x00030194, indicating that the 18 Digital Input includes the following function blocks defined in the device profile. ...

  • Page 16: Object 1003H: Pre-Defined Error Field

    3.1.4. Object 1003h: Pre-Defined Error Field The object 1003h provides an error history by listing the errors in the order that they have occurred. An error is added to the top of the list when it occurs, and is immediately removed when the error condition has been cleared.

  • Page 17: Object 1010H: Store Parameters

    3.1.5. Object 1010h: Store Parameters This object supports the saving of parameters in non-volatile memory. In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the appropriate subindex. The signature is “save”. The signature is a 32-bit unsigned number, composed of the ASCII codes of the signature characters, according to the following table: On reception of the correct signature to an appropriate subindex, the 18 Digital Input will...

  • Page 18: Object 1011H: Restore Default Parameters

    Subindex Description Save manufacturer parameters Access PDO Mapping Value Range 0x65766173 (write access) (read access) Default Value 1h (saves parameters on command) 3.1.6. Object 1011h: Restore Default Parameters This object supports the restoring of the default values for the object dictionary in non- volatile memory.

  • Page 19: Object 1016H: Consumer Heartbeat Time

    Value Range 0x64616F6C (write access) (read access) Default Value 1h (restores defaults on command) Subindex Description Restore default application parameters Access PDO Mapping Value Range 0x64616F6C (write access) (read access) Default Value 1h (restores defaults on command) Subindex Description Restore default manufacturer parameters Access PDO Mapping Value Range...

  • Page 20: Object 1018H: Identity Object

    Number of entries Access PDO Mapping Value Range Default Value Subindex Description Vendor ID Access PDO Mapping Value Range 0x00000055 Default Value 0x00000055 (Axiomatic) Subindex Description Product Code Access PDO Mapping Value Range 0xAA030301 Default Value 0xAA030301 Subindex Description Revision Number...

  • Page 21: Object 1029H: Error Behaviour

    3.1.9. Object 1029h: Error Behaviour This object controls the state that the 18 Digital Input will be set into in case of an error of the type associated with the subindex. The behaviour of the 18 Digital Input in each state is described in detail in section 4.

  • Page 22: Object 5555H: Start In Operational

    Default Value 1 (no state change) NOTE: Subindexes 4 and 5 are not used by this module, and have been left for compatibility with other Axiomatic I/O Controllers 3.1.10. Object 5555h: Start in Operational This manufacturer specific object allows the unit to start in Operational mode without requiring the presence of a CANopen ®...

  • Page 23: Digital Input Function Block (Ds-404)

    3.2. DIGITAL INPUT FUNCTION BLOCK (DS-404) The application and manufacturer objects supported by the 18 Digital Input for the digital input block are listed in the following table. Index Object Object Type Data Type Access (hex) Mapping 2000 DI Level State (active high or low) ARRAY UNSIGNED8 6000...

  • Page 24: Object 6000H: Di Read State 8 Input Lines

    Subindex Description Level State of DI17 to DI18 Access PDO Mapping Value Range Bit value 0 = active low Bit value 1 = active high Default Value 3.2.2. Object 6000h: DI Read State 8 Input Lines This object is used for reading data from digital input lines in 8-bit blocks (see figure below). For inputs that are not configured as digital, the corresponding bit in the read byte is always set to 0.

  • Page 25: Object 6002H: Di Polarity 8 Input Lines

    Default Value Subindex Description Read State of DI 17 to DI 18 Access PDO Mapping Value Range Bit Value 0 = Input Off Bit Value 1 = Input On Default Value 3.2.3. Object 6002h: DI Polarity 8 Input Lines This object is used for setting the polarity of digital input lines in 8-bit blocks. For inputs that are not configured as digital inputs by object 6112h, the corresponding bit is ignored.

  • Page 26: Analog Input Function Block (Ds-404)

    3.3. ANALOG INPUT FUNCTION BLOCK (DS-404) The application and manufacturer objects supported by the 18 Digital Input for the analog input block are listed in the following table. The 18 Digital module only support the first 8 inputs as Analog. Index Object Object Type...

  • Page 27: Object 2080H: Ai Error Maximum

    Value Range 0 to 2080h at subindex Default Value 100 (1.00 % DC) 3.3.2. Object 2080h: AI Error Maximum This object sets the value that will flag an input error in the 18 Digital Input if the measured field value goes above this limit. If error checking on the input is enabled by object 20A0h, then the module will flag an “out of range high”...

  • Page 28: Object 20A0H: Ai Enable Error Checking 8 Input Lines

    Object Description Index 2090h Name AI Measuring Window Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Description Number of entries Access PDO Mapping Value Range Default Value Subindex 1h to 8h Description Measuring Window Access PDO Mapping Value Range Sensor Type Frequency: 10 to 10000 [ms] Sensor Type 16-Bit Counter:...

  • Page 29: Object 20B0H: Ai Error Response Delay

    3.3.5. Object 20B0h: AI Error Response Delay This object is used to prevent intermittent input faults from overloading the bus with error messages. The value is defined as a multiple of 1ms. If a fault has been present during the entirety of the delay time, the 18 Digital Input will flag an error at the input once the timer has expired.

  • Page 30: Object 7100H: Ai Input Field Value

    3.3.6. Object 7100h: AI Input Field Value This object reflects the measured value for the inputs AI 1 to AI 8. For analog inputs, the values are converted to either duty cycle, hertz or milliseconds depending on the object 6110h [sensor type]. For pulse inputs, the values are converted to either (duty cycle x 100) or hertz.

  • Page 31: Object 6110H: Ai Sensor Type

    3.3.7. Object 6110h: AI Sensor Type This object reflects the type of signal that is being applied to the input. For inputs AI 1 to AI 8, the following values are allowed for this object  Sensor Type 40 = voltage input, value range 0 to 5000 mV ...

  • Page 32: Object 7120H: Ai Input Scaling 1 Fv

    Object Description Index 6112h Name AI Operating Mode Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Description Number of entries Access PDO Mapping Value Range Default Value Subindex 1h to 12h Description Operating Mode, AI 1 to AI 18 Access PDO Mapping Value Range...

  • Page 33: Object 7121H: Ai Input Scaling 1 Pv

    3.3.10. Object 7121h: AI Input Scaling 1 PV This object defines the process value for the first calibration point for the input channel. The value is scaled in the physical unit of the input process value, object 7130h. Object Description Index 7121h Name...

  • Page 34: Object 7123H: Ai Input Scaling 2 Pv

    3.3.12. Object 7123h: AI Input Scaling 2 PV This object defines the process value for the second calibration point for the input channel. The value is scaled in the physical unit of the input process value, object 7130h. Object Description Index 7123h Name...

  • Page 35: Object 6125H: Ai Autozero

    3.3.14. Object 6125h: AI Autozero Writing a signature “zero” to this object causes a modification of object 7124h value, AI Input Offset, such that object 7130h [AI Input PV] becomes zero. This zeroing cycling is performed once, upon reception of the signature to the appropriate subindex, but the zeroing procedure can be performed any time, as many times as required.

  • Page 36: Object 6132H: Ai Decimal Digits Pv

    Entry Description Subindex Description Number of entries Access PDO Mapping Value Range Default Value Subindex 1h to 8h Description Process Value, AI 1 to AI 8 Access PDO Mapping Value Range INTEGER16 Default Value 3.3.16. Object 6132h: AI Decimal Digits PV This object sets the number of decimal digits included in the process value.

  • Page 37: Object 61A0H: Ai Filter Type

    3.3.17. Object 61A0h: AI Filter Type All inputs, except for frequency inputs, are sampled every 10ms. This object defines the filter type that is applied to the input field value. The available filters are  Filter Type 0 = No Filter ...

  • Page 38: Object 61A1H: Ai Filter Constant

    3.3.18. Object 61A1h: AI Filter Constant This object defines a constant used in filtering the AI Input PV. For different filter types, object 61A0h, this object has slightly different meanings:  With the moving average filter, this constant is used as the divisor for the sum term. ...

  • Page 39: Fault Detection Block (Axiomatic)

    3.4. FAULT DETECTION FUNCTION BLOCK (AXIOMATIC) The manufacturer objects supported by the 18 Digital Input for the fault detection block are listed in the following table. Index Object Object Type Data Type Access (hex) Mapping 4000 FD Field Value ARRAY...

  • Page 40: Object 4001H: Fd Set Threshold

    Subindex Description Under Voltage Field Value Access PDO Mapping Value Range [V x 10] 0 to 1000 Default Value 3.4.2. Object 4001h: FD Set Threshold This object sets the value that will flag a fault detection error in the 18 Digital Input if the measured field value (4000h) goes above (FD 1 and FD 2) or below (FD 3) this limit.

  • Page 41: Object 4002H: Fd Clear Threshold

    3.4.3. Object 4002h: FD Clear Threshold This object sets the value that will clear a fault detection error in the 18 Digital Input if the measured field value (4000h) goes below (FD 1 and FD 2) or above (FD 3) this threshold. This value must be in the same units as the field value for the fault, as determined by the subindex.

  • Page 42: Object 400Bh: Fd Error Response Delay

    Object Description Index 400Ah Name FD Enable Error Checking 8 Faults Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Description Number of entries Access PDO Mapping Value Range Default Value Subindex Description Error Check for FD 1 to FD 3 Access PDO Mapping Value Range...

  • Page 43: Error Handling

    4. ERROR HANDLING 4.1. Emergency Frame Codes (EMCY) The EMCY messages include the error code, which is a combination of the general error codes defined in DS-301 and the additional information of the error codes, as defined by DS-404. Object 1003h [Pre-Defined Error Field] maintains a list of all active error codes in the 18 Digital Input.

  • Page 44: Digital Input Fault Mode Behaviour

    4.2. 18 Digital Input Fault Mode Behaviour The objects associated with the error response in the 18 Digital Input are listed in the following table. See section 3 for a detailed description of each object. Index Object (hex) 1001 Error Register 1003 Pre-Defined Error Field 1029...

  • Page 45: Appendix - Technical Specifications

    Up to 18 digital inputs are selectable by the user. Refer to Table 1.0. Input Protection Full protection to all other physical pins (any other input, output or power terminal). CAN Commands CANopen® (model AX030301) Ground Connection 1 Digital GND connection is provided. Table 1.0 - Inputs Digital Inputs Up to 18 digital inputs are available.
  • Page 46 Refer to the user manual for details. The Axiomatic AX030301 is compliant with the following CAN in Automation (CiA) standards. CAN Interface CiA DS-301 V4.02 –...
  • Page 47 DC/DC Power Converters Axiomatic is an ISO 9001:2008 registered facility. DC Voltage/Current Signal SERVICE Converters All products to be returned to Axiomatic require a Return Materials Displays Authorization Number (RMA#). Please provide the following information when requesting an RMA number: Engine Temperature •...

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