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AXIOMATIC AX023241 User Manual

Quadrature encoder input dual proportional valve high temperature controller
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USER MANUAL UMAX023241
Version 1.1 - DRAFT
QUADRATURE ENCODER INPUT
DUAL PROPORTIONAL VALVE
HIGH TEMPERATURE
CONTROLLER
With CANopen®
USER MANUAL
P/N: AX023241

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Summary of Contents for AXIOMATIC AX023241

  • Page 1 USER MANUAL UMAX023241 Version 1.1 - DRAFT QUADRATURE ENCODER INPUT DUAL PROPORTIONAL VALVE HIGH TEMPERATURE CONTROLLER With CANopen® USER MANUAL P/N: AX023241...
  • Page 2 CAN 11-bit Identifier Communication Object Digital Input used to measure active high or low signals Electronic Assistant ® , p/n AX070502 (A Service Tool for Axiomatic ECUs) Electronic Control Unit EMCY Diagnostic Message (from CANopen standard) Ground reference (a.k.a. BATT-)

  • Page 3: Table Of Contents

    TABLE OF CONTENTS     OVERVIEW OF CONTROLLER ..........................7     1.1... 7 ESCRIPTION OF EMPERATURE UADRATURE NCODER NPUT UTPUT ALVE ONTROLLER     1.2....................8 UADRATURE NCODER NPUT UNCTION LOCK     1.2.1. Input Sensor Types ............................... 9     1.2.2.
  • Page 4     4.2................................60 NPUTS     4.3................................61 UTPUTS     4.4..........................61 ENERAL PECIFICATIONS     VERSION HISTORY ............................... 63 Preliminary User Manual UMAX023241 - Version: 1.1 4-63...
  • Page 5 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  ...
  • Page 6 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  ...

  • Page 7: Overview Of Controller

    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.

  • Page 8: 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).

  • Page 9: Input Sensor Types

    APPLICATION OBJECT DICTIONARY CAN BUS 7120h 6112h 6110h 2100h 2102h 7121h 6132h Operation Input Type Range Digits FV Scale 1 FV Scale 1 PV    Digits PV 7100h 7130h INPUT Raw Quadrature Calculated FV to PV TPDO Data Measured Input Calculation PINS 1&2 Input FV Input PV 3410h 3411h 61A0h 7148h 7122h 7123h QD scaler QD direction...

  • Page 10: Pullup / Pulldown Resistor Options

    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 –...

  • Page 11: Internal Function Block Control Sources

    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.

  • Page 12: Output Drive Function Blocks

    Table 6: Control Source Options Value Meaning Control Not Used Received CAN Message Quadrature Encoder Input Measured Output Target Value Output Current Feedback Lookup Table Math Function Block Programmable Logic Block PID Function Block Control Constant Data Set/Reset Block Diagnostic Trouble Code Power Supply Measured Processor Temperature Measured In addition to a source, each control also has a number which corresponds to the sub-index of the...

  • Page 13: Table 8: Output Type Options

    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 Value Meaning Range [Unit] Output Disabled Output Voltage 0 to 60 [V] Output Current...

  • Page 14: Figure 5: Hotshot Digital Profile

    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.

  • Page 15: Figure 7: Analog Output Linear Scaling Pv To Fv

    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.

  • Page 16: Miscellaneous Function Block

    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.
  • Page 17 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.

  • Page 18: Lookup Table Function Block

    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.

  • Page 19: X-Axis, Input Data Response

    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.

  • Page 20: Point To Point Response

    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 –...

  • Page 21: X-Axis, Time Response

    A combination of Ramp To, Jump To and Ignore responses can be used to create an application specific output profile. 1.6.5. X-Axis, Time Response As mentioned in Section 1.6, a Lookup Table can also be used to get a custom output response where the X-Axis Type is a ‘Time Response.’...

  • Page 22: Math Function Block

    1.7. Math Function Block APPLICATION OBJECT DICTIONARY CAN BUS 6302h 7300h Local Control RPDO Signal(s) Digits PV Output PV 6220h 4x00/01/02h 4x00/01/02h 4x00/01/02h 4x00/01/02h 4x00/01/02h 4x00/01/02h RPDO DO Write Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 State Src/Nmbr/Fcn Src/Nmbr/Fcn Src/Nmbr/Fcn Src/Nmbr/Fcn Src/Nmbr/Fcn Src/Nmbr/Fcn 2450h 4x03/20/22/40h 4x03/20/22/40h 4x03/20/22/40h 2502h...

  • Page 23: Table 13: Math Function Operators

    Input Y Number. If Function X Input B Source is set to 0 ‘Control not used’ signal goes through function unchanged. InA 1 InB1 2 InB2 3 InB3 Table 13: Math Function Operators True when InA Equals InB True when InA Not Equal InB >...

  • Page 24: Pid Control Function Block

    When the Control Source for an output has been setup as a ‘PID Function Block’, the command from the selected PID block drives the physical output on the AX023241 Controller. The 2453h PID Target Command Source and 2454h PID Target Command Number objects determine control input and the 2455h PID Feedback Input Source and 2456h PID Feedback Input Number setpoints determine the established the feedback signal to the PID function block.
  • Page 25 Each system will have to be turned for the optimum output response. Response times, overshoots and other variables will have to be decided by the customer using an appropriate PID tuning strategy. Axiomatic is not responsible for tuning the control system. Preliminary User Manual UMAX023241 - Version: 1.1...

  • Page 26: Installation Instructions

    2. Installation Instructions 2.1. Dimensions and Pinout The High Temperature Quadrature Encoder Input 2 Output Valve Controller AX023241 is packaged in a plastic housing from Deutsch IPD. The assembly carries an IP67 rating. Figure 14: Housing Dimensions Table 15: Connector Pinout...

  • Page 27: Mounting Instructions

    2.2. Mounting Instructions NOTES & WARNINGS  Do not install near high-voltage or high-current devices.  Note the operating temperature range. All field wiring must be suitable for that temperature range.  Install the unit with appropriate space available for servicing and for adequate wire harness access (15 cm) and strain relief (30 cm).

  • Page 28: Node Id And Baud Rate

    3. CANopen Interface and Object Dictionary The CANopen ® object dictionary of the AX023241 Controller is based on CiA device profile DS- 404. The object dictionary includes Communication Objects beyond the minimum requirements in the profile, as well as several manufacturer-specific objects for extended functionality.
  • Page 29  The module will send the following response (any other response is a failure). Item Value COB-ID 0x7E4 Length Data 0 0x11 (cs=17 for configure node-id) Data 1 0x00 Data 2 0x00  Save the configuration by sending the following message: Item Value COB-ID...

  • Page 30: Table 16: Lss Baud Rate Indices

     Set the baud rate by sending the following message: Item Value COB-ID 0x7E5 Length Data 0 0x13 (cs=19 for configure bit timing parameters) Data 1 0x00 (switches to waiting state) Data 2 Index (select baudrate index per Table 32) Table 16: LSS baud rate indices Index Bit Rate...

  • Page 31: Figure 15: Lss Command Message Flow Example

     Save the configuration by sending the following message (on the NEW baud rate): Item Value COB-ID 0x7E5 Length Data 0 0x17 (cs=23 for store configuration)  The module will send the following response (any other response is a failure): Item Value COB-ID...

  • Page 32: Communication Objects (Ds-301)

    1.2. Communication Objects (DS-301) Index Object Object Type Data Type Access (hex) Mapping 1000 Device Type UNSIGNED32 1001 Error Register UNSIGNED8 1002 Manufacturer Status Register UNSIGNED32 1003 Pre-Defined Error Field ARRAY UNSIGNED32 1010 Store Parameters ARRAY UNSIGNED32 1011 Restore Default Parameters ARRAY UNSIGNED32 1016...

  • Page 33: 1000H Device Type

    1.2.1. 1000h Device Type Index Subindex Data Access Value Default Description Type Mapping Range Value 1000 UINT32 0x192 0x192 DS-402 1.2.2. 1001h Error Register Index Subindex Data Access Value Default Description Type Mapping Range Value 1001 UINT8 0, 1 Error register 1.2.3.

  • Page 34: 1011H Restore Parameters

    Data Access Value Default Description Type Mapping Range Value 1018 UINT8 Number of subindexes UINT32 UINT32 0x55 Vendor ID (Axiomatic Technologies) 0xAA023241 Product Code Revision Number Serial Number 1.2.10. 1020h Verify Configuration Index Subindex Data Access Value Default Description Type...

  • Page 35: 1029H Error Behavior

    1.2.11. 1029h Error Behavior Index Subindex Data Access Value Default Description Type Mapping Range Value 1029 UINT8 Number of subindexes 1 (no State transition on Comm. fault change) State transition on DI fault State transition on AI fault State transition on DO fault State transition on AO fault State transition on other faults 1.2.12.

  • Page 36: 1600H Rpdo 1 Mapping Parameters

    1.2.16. 1600h RPDO 1 Mapping Parameters Index Subindex Data Access Value Default Description Type Mapping Range Value 1600 UINT8 Number of subindexes UINT32 UINT32 0x73000110 Output #1 FV 0x73000210 Output #2 FV Not used by default Not used by default 1.2.17.

  • Page 37: 1801H Tpdo 2 Communication Parameters

    1.2.21. 1801h TPDO 2 Communication Parameters Index Subindex Data Access Value Default Description Type Mapping Range Value 1801 UINT8 Number of subindexes UINT32 UINT32 0xC00002FF COB-ID UINT8 UINT8 0xFE Transmission type UINT16 UINT16 Inhibit time UINT8 UINT8 Compatibility entry UINT16 UINT16 Event timer 1.2.22.

  • Page 38: 1A02H Tpdo 3 Mapping Parameters

    1.2.26. 1A02h TPDO 3 Mapping Parameters Index Subindex Data Access Value Default Description Type Mapping Range Value 1A02 UINT8 Number of subindexes UINT32 UINT32 0x50200020 Processor Temperature Field Value 0x50300020 Power Supply Field Value Not used by default Not used by default 1.2.27.

  • Page 39: Application Objects (Ds-404)

    1.3. Application Objects (DS-404) Index Object Object Data Type Access (hex) Type Mapping 6000 DI Read State 8 Input Lines UNSIGNED8 6002 DI Polarity 8 Input Lines UNSIGNED8 7100 AI Input Field Value ARRAY INTEGER16 6110 AI Sensor Type ARRAY UNSIGNED16 6112 AI Operating Mode...
  • Page 40 1.3.1. 6000h DI Read State 8 Input Lines Index Subindex Data Access Value Default Description Type Mapping Range Value 6000 UINT8 Number of subindexes 0x0 … Digital Input state bitmap, one bit per input. 1.3.2. 6002h DI Polarity 8 Input Lines Index Subindex Data...
  • Page 41 1.3.7. 7120h AI Input Scaling 1 FV Index Subindex Data Access Value Default Description Type Mapping Range Value 7120 UINT8 Number of subindexes INT16 INT16 Input #1 field value scaler 1 Input #2 field value scaler 1 1.3.8. 7121h AI Input Scaling 2 FV Index Subindex Data...
  • Page 42 1.3.13. 7148h AI Input Span Start Index Subindex Data Access Value Default Description Type Mapping Range Value 7148 UINT8 Number of subindexes INT16 Input type Input #1 span start dependent Input #2 span start 1.3.14. 7149h AI Input Span End Index Subindex Data...
  • Page 43 1.3.19. 6250h DO Fault Mode 1 Output Line Index Subindex Data Access Value Default Description Type Mapping Range Value 6250 UINT8 Number of subindexes BOOL BOOL Output #1 fault mode Output #2 fault mode 1.3.20. 6260h DO Fault State 1 Output Line Index Subindex Data...
  • Page 44 1.3.26. 7320h AO Output Scaling 1 PV Index Subindex Data Access Value Default Description Type Mapping Range Value 7320 UINT8 Number of subindexes INT16 INT16 Output PV to FV scaling value 1 1.3.27. 7321h AO Output Scaling 1 FV Index Subindex Data Access...
  • Page 45 1.3.33. 7452h PID Integral Action Time Index Subindex Data Access Value Default Description Type Mapping Range Value 7452 INT16 0-1000 Additional PID controller integral action time 1.3.34. 7454h PID Derivative Action Time Index Subindex Data Access Value Default Description Type Mapping Range Value...

  • Page 46: Manufacturer Objects

    1.4. Manufacturer Objects Index Object Object Data Type Access (hex) Type Mapping 2100 AI Input Range ARRAY UNSIGNED8 2102 AI Decimal Digits FV ARRAY UNSIGNED8 2110 AI Error Detect Enable ARRAY BOOLEAN 2111 AI Error Clear Hysteresis ARRAY INTEGER16 2112 AI Error Reaction Delay ARRAY UNSIGNED16 2020...
  • Page 47 3412 Quadrature Encoder Offset INTEGER32 3413 Quadrature Encoder Pulses per Rev INTEGER32 4000 Math Function Enable ARRAY BOOLEAN 4021 Math Output Scaling 1 PV ARRAY INTEGER16 4023 Math Output Scaling 2 PV ARRAY INTEGER16 4030 Math Output Process Value ARRAY INTEGER16 4032 Math Output Decimal Digits PV ARRAY UNSIGNED8...
  • Page 48 1.4.1. 2100h AI Input Range Index Subindex Data Access Value Default Description Type Mapping Range Value 2100 UINT8 Number of subindexes Input type Input #1 range selection dependent Input #2 range selection 1.4.2. 2102h AI Decimal Digits FV Index Subindex Data Access Value...
  • Page 49 1.4.7. 2224h DO Delay Time 1 Output Line Index Subindex Data Access Value Default Description Type Mapping Range Value 2224 UINT8 Number of subindexes UINT16 UINT16 Output #1 delay time Output #2 delay time 1.4.8. 2225h DO Delay Polarity 1 Output Line Index Subindex Data...
  • Page 50 1.4.13. 2330h AO Ramp Up Index Subindex Data Access Value Default Description Type Mapping Range Value 2330 UINT8 Number of subindexes UINT16 0 … 1000 Output #1 ramp up time in ms 60000 Output #2 ramp up time in ms 1.4.14.
  • Page 51 1.4.19. 2360h AO Override Input Source Index Subindex Data Access Value Default Description Type Mapping Range Value 2360 UINT8 Number of subindexes 0 … 13 Output #1 override source, see Table 6 Output #2 override source, see Table 6 1.4.20. 2361h AO Override Input Number Index Subindex...
  • Page 52 1.4.26. 2452h PID Derivative Gain Index Subindex Data Access Value Default Description Type Mapping Range Value 2452 INT16 0-100 Additional PID controller derivative gain 1.4.27. 2453h PID Target Source Index Subindex Data Access Value Default Description Type Mapping Range Value 2453 UINT8 0-10...
  • Page 53 1.4.34. 2502h EC Decimal Digits PV Index Subindex Data Access Value Default Description Type Mapping Range Value 2502 UINT8 Number of subindexes Extra received PV 1 decimal digits Extra received PV 2 decimal digits Extra received PV 3 decimal digits Extra received PV 4 decimal digits Extra received PV 5 decimal digits Extra received PV 6 decimal digits...
  • Page 54 1.4.40. 30x3h LT0x X Axis Decimal Digits PV Index Subindex Data Access Value Default Description Type Mapping Range Value 30x3 UINT8 LT0x X Axis number of decimal digits in PV 1.4.41. 30x4h LT0x Y Axis Decimal Digits PV Index Subindex Data Access Value...
  • Page 55 1.4.44. 30x7h LT0x Point Y Axis PV Index Subindex Data Access Value Default Description Type Mapping Range Value 30x7 UINT8 Number of subindexes INT16 INT16 LT0x Y Axis PV 1 LT0x Y Axis PV 2 LT0x Y Axis PV 3 LT0x Y Axis PV 4 LT0x Y Axis PV 5 LT0x Y Axis PV 6...
  • Page 56 1.4.51. 4021h Math Output Scaling 1 PV Index Subindex Data Access Value Default Description Type Mapping Range Value 4021 UINT8 Number of subindexes INT16 INT16 Math block #1 output scaling 1 PV Math block #2 output scaling 1 PV 1.4.52. 4023h Math Output Scaling 2 PV Index Subindex...
  • Page 57 1.4.57. 4x03h Math x Input Decimal Digits FV Index Subindex Data Access Value Default Description Type Mapping Range Value 4x03 UINT8 Number of subindexes Math block #x Input 1 decimal digits in FV Math block #x Input 2 decimal digits in FV Math block #x Input 3 decimal digits in FV Math block #x Input 4 decimal digits in FV Math block #x Input 5 decimal digits in FV...
  • Page 58 1.4.62. 5010h Constant Field Value Index Subindex Data Access Value Default Description Type Mapping Range Value 5010 UINT8 Number of subindexes FLOAT32 FLOAT32 User modifiable constant values to be used in custom control application. 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0...
  • Page 59 1.4.68. 5050h FD Enable 3 Faults Index Subindex Data Access Value Default Description Type Mapping Range Value 5050 UINT8 Enable diagnostics: bit 0 – VPS bit 1 – CPU temperature 1.4.69. 5051h FD Error Response Delay Index Subindex Data Access Value Default Description...

  • Page 60: Technical Specifications

    4. TECHNICAL SPECIFICATIONS 4.1. Power Supply, CAN and Reference Voltage Power Supply Input - Nominal 12 or 24Vdc nominal (9…60 Vdc power supply range) Protection Reverse polarity protection is provided. Surge protection up to 65V is provided. Overvoltage shutdown of the output load is provided. Undervoltage protection (hardware and software shutdown at 7.5V) is provided.
  • Page 61 25kHz is used Digital On/Off: Load at supply voltage must not draw more than 3A. Response Time Contact Axiomatic. Fully protected against short circuit to ground or +Vps Grounded short circuit protection will engage at 4.5A +/- 0.5A. Protection Unit will fail safe in the case of a short-circuit condition, and is self-recovering when the short is removed.
  • Page 62 Output 1+ CAN_Shield BATT + Mating Plug Kit Axiomatic P/N: PL-DTM06-12SA. It is comprised of the following Deutsch IPD parts: plug (DTM06-12SA); wedgelock (WM12S); and 12 contacts (0462-201- 20141) as well as 6 sealing plugs (0413-204-2005). Installation Mounting holes sized for ¼ inch or M6 bolts. The bolt length will be determined by the end-user’s mounting plate thickness.
  • Page 63 5. Version History Version Date Author Modifications March 5 , 2019 Antti Keränen Initial Draft, largely based on the AX023240 user manual. March 29, 2019 Amanda Wilkins Marketing Review – updated to CANopen in Tech Spec Updated dimensions per drawing August 30, 2019 Amanda Wilkins Updated dimensional drawing with label revision,...
  • Page 64 Current Converters Axiomatic is an ISO 9001:2015 registered facility. DC/DC Power Converters SERVICE All products to be returned to Axiomatic require a Return Materials DC Voltage/Current Signal Authorization Number (RMA#). Converters Please provide the following information when requesting an RMA number: Engine Temperature Scanners •...

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