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AXIOMATIC DSP RESOLVER User Manual

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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

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Summary of Contents for AXIOMATIC DSP RESOLVER

  • Page 1 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...

  • Page 2: Table Of Contents

    DSP resolver user manual User Manual Version 1.15 Table of Contents 1.VERSION HISTORY...........................4 2.GENERAL.............................5 2.1A ........................7 BBREVATIONS AND TERMS 3.SUMMARY OF TECHNICAL SPECIFICATIONS.................8 4.ORDER CODES..........................10 5.ATTACHING THE DEVICE INTO THE APPLICATION............11 5.1C ............................. 11 ONNECTORS 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)..............
  • Page 3 DSP resolver user manual User Manual Version 1.15 7.2.7The boot up print........................33 7.2.8The RS232 prints........................34 7.2.9The RS232 commands ......................35 8.CANOPEN MANUAL AND SUPPORTED DS301 SPECIFIC OBJECTS ......... 36 8.1O ..........................36 BJECT DICTIONARY 8.2N (NMT)......................36 ETWORK MANAGEMENT 8.3P (PDO)......................37 ROCESS DATA OBJECT 8.3.1PDO COB IDs........................

  • Page 4: Version History

    DSP resolver user manual User Manual Version 1.15 VERSION HISTORY Date Changes 1.11 26.6.2006 -Reference signal range corrected to 10V peak to peak - Version history added 1.12 6.7.2006 Accuracy corrected, object 0x6500 co_encoder_diagnostic corrected 1.13 10.7.2006 Accuracy corrected to the general chapter 1.14...

  • Page 5: General

    DSP resolver user manual User Manual Version 1.15 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.
  • Page 6 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.

  • Page 7: Abbrevations And Terms

    DSP resolver user manual User Manual Version 1.15 Abbrevations and terms Abbrevation description Lower layer CAN protocol for upper layer CAN protocols like CAN OPEN, J1939 and device net- CAN open Upper layer protocol for CAN networks CAN in Automation, CAN open standardization organization (www.canorg.net)

  • Page 8: Summary Of Technical Specifications

    DSP resolver user manual User Manual Version 1.15 SUMMARY OF TECHNICAL SPECIFICATIONS All specifications typical at nominal input voltage (24 V) and 25° C unless otherwise specified. 9 to 35 VDC for AXRES-CO-V2-1X-x Operating voltage 9 to 54 VDC AXRES-CO-1X-SL...
  • Page 9 DSP resolver user manual User Manual Version 1.15 -40 to +85°C (-40 to 185F), when speed is less than 10 revolutions per second. -20 to +85°C (-4 to 185F) at faster speeds Operating conditions Declaration of conformity (CE) EDS file...

  • Page 10: Order Codes

    DSP resolver user manual User Manual Version 1.15 ORDER CODES AXRES-CO-V2: AXRES - Can protocol Sensor Housing Customer element specific CO = CANopen H = closed type optional housing U = open type housing Table 4.1: Order codes of AXRES-CO-V2...

  • Page 11: Attaching The Device Into The Application

    DSP resolver user manual User Manual Version 1.15 ATTACHING THE DEVICE INTO THE APPLICATION 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). Both housing styles allow connecting the device to the bus as a chained node or with a drop line.

  • Page 12: 2Connector J2 (Available Only In Axres-Co-V2)

    DSP resolver user manual User Manual Version 1.15 Signal Type Function CAN sh CAN shield V supply Power supply Power supply ground CAN hi CAN bus hi signal CAN lo 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- CAN bus signals withstand short circuits to 40V and GND.

  • Page 13: 4Connector X2 (Available Only In Axres-Co-V2)

    DSP resolver user manual User Manual Version 1.15 5.1.4 Connector X2 (available only in AXRES-CO-V2) X2 is a 6 way spring loaded connector located on the PCB. It accepts wires up to AWG20 Signal Type Function System GND System ground, sensor body...

  • Page 14: Mechanics

    DSP resolver user manual User Manual Version 1.15 Baudrate Max total Max stub length Max accumulated bus length stub length 1 Mbit/s 1,5m 7,5m 800 kbit/s 2,5m 12,5m 500 kbit/s 100m 5,5m 27,5m 250 kbit/s 250m 125 kbit/s 500m 110m...
  • Page 15 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 Oy 15/56...
  • Page 16 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 Oy 16/56...
  • Page 17 DSP resolver user manual User Manual Version 1.15 Illustration 5.5: AXRES-CO-V2 open type seen from bottom Copyright © Axiomatic Technologies Oy 17/56...
  • Page 18 DSP resolver user manual User Manual Version 1.15 Illustration 5.6: AXRES-CO-V2 open type without PCB seen from the side Copyright © Axiomatic Technologies Oy 18/56...

  • Page 19: Software Updates

    Connector housing on the AXRES end is JST ZHR-4 and a suitable crimp is BZH-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.

  • Page 20: Downloading Instructions

    DSP resolver user manual User Manual Version 1.15 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 ->...

  • Page 21: Profile And Manufacturer Specific Features

    DSP resolver user manual User Manual Version 1.15 PROFILE AND MANUFACTURER SPECIFIC FEATURES This chapter describes the device profile and manufacturer specific features of the AXRES module. DS301 specific objects and features are described mainly in CAN open chapter. AXRES-CO-V2 is a Class 1 CANopen encoder (CiA DS406 ver 3.1) device supporting all mandatory and some optional objects that the profile specifies.

  • Page 22: 2Angle / Position Direction And Offset Configuration

    DSP resolver user manual User Manual Version 1.15 co_position_value. If the user now wants that the module output corresponds to the actual mechanical rotation angle, the co_units_per_revolution has to be set as 12000 and scaling has to be enabled. The table below shows the relationship between the value in co_units_per_revolution object and the value range of the sensor output object co_position_value.
  • Page 23 DSP resolver user manual User Manual Version 1.15 offset can always be read from co_offset_value object except when the offset feature is disabled. The offset defined in the co_offset_value object doesn't affect to the sensor output co_position_value unless the scaling bit ( bit 2 in co_operating_parameters variable ) is set as logic 1.

  • Page 24: 3Procedure To Configure Resolution, Positive Rotation Direction And Offset

    DSP resolver user manual User Manual Version 1.15 index type acce variable notes 0x6000 co_operating_parameters Bit 0 controls sensor positive rotation direction Bit 2 controls scaling and offset features 0x6001 co_units_per_revolution Number of sensor output steps per one revolution 0x6003...

  • Page 25: 5Speed Calculation

    DSP resolver user manual User Manual Version 1.15 index type access variable possible notes values 0x2106 co_CAN_period 2, 5, 10 Internal timer interval in milliseconds Table 7.5: Object dictionary variables related internal timing configuration 7.1.5 Speed calculation The device calculates the electrical rotational speed of the sensor. The speed information is available in co_speed_value[1] object (signed 16 bit variable in sub 1 of 0x6030) and in co_32bit_speed_value object (0x2010).

  • Page 26: 6Revolution Counter

    DSP resolver user manual User Manual Version 1.15 index type access variable values notes 0x2002 co_speed_difference_time 4-300 Difference time in milliseconds 0x2003 co_speed_buffer 2-30 Buffer length 0x2010 co_32bit_speed_value Sensor speed as resolution steps /sec, 32 bits 0x2106 co_CAN_period 2, 5, 10...

  • Page 27: Communication Configurations

    DSP resolver user manual User Manual Version 1.15 Communication configurations 7.2.1 Device type (0x1000) The device type object (0x1000) identifies the type of the product. Data in the lower 4 bytes 0x0196 ( 406 as decimal number) tells that the module fulfills the CIA encoder profile DS406.

  • Page 28: 4Can Bus Baudrate

    DSP resolver user manual User Manual Version 1.15 Error Meaning Support note Error bit in error code register (index 1001) 0x0000 Error reset or no error 0x1000 Generic error Generic 0x4200 Processor temperature not supported too high 0x6250 Incompatible hw and...

  • Page 29: 5Node-Id

    DSP resolver user manual User Manual Version 1.15 baubrate LSS index Serial command index 1 Mbit/s 0x00 1000 500 kbit/s 0x02 250 kbit/s 0x03 125 kbit/s 0x04 50 kbit/s 0x06 Table 7.12: Supported command indexes for baudrate setup 7.2.5 Node-id Each module connected to the same CAN bus must have an unique node-id.

  • Page 30: 6Pdo Configurations

    DSP resolver user manual User Manual Version 1.15 Saving the communication parameters (obj 0x1010 sub 2): CAN ID Length Module's respond if write succeeded: CAN ID Length Reset the module. In case that the automatic CAN ID calculation for the PDOs was on, the module should be ready to operate now.
  • Page 31 DSP resolver user manual User Manual Version 1.15 index type acce variable values notes 0x1800 co_tpdo_comm_par[0] 0x4000000 ->PDO's CAN-ID will be calculated during next boot up: 0x180 + node-id. PDO is enabled and RTR transmission type not allowed. To disable the PDO write...
  • Page 32 DSP resolver user manual User Manual Version 1.15 index type variable values notes 0x1801 co_tpdo_comm_par[1] 0x40000000 -> PDO's CAN-ID will be calculated during next boot up: 0x280 + node-id. PDO is enabled and RTR transmission type not allowed. To enable the PDO write...

  • Page 33: 7The Boot Up Print

    DSP resolver user manual User Manual Version 1.15 The mapping example below shows how to map co_position_value, co_speed_value[1] and co_counted_revolutions into the TPDO1: index type variable values notes 0x1A00 co_map_comm_par[0] Number of mapped objects 0x60040020 Mapped object: 0x6004, subindex 0, 32 bits.

  • Page 34: 8The Rs232 Prints

    DSP resolver user manual User Manual Version 1.15 Initializing TPDO 2 ID: 2FF, tr. type: 01 Mapped objects: 1 Mapping index: 6004 address: 518 size: 4 Adding id 80 index 4 ...init_canopen OK Start application CO: PRE-OPERATIONAL 7.2.8 The RS232 prints The measurement data can be achieved through the RS232 interface in addition of the CAN interface.

  • Page 35: 9The Rs232 Commands

    DSP resolver user manual User Manual Version 1.15 7.2.9 The RS232 commands Module supports the following RS232 commands: comma Value Available Description notes range trough CAN interface #SNxxx! 1-127 0x100b or LSS Sets the node ID. New node ID will be...

  • Page 36: Canopen Manual And Supported Ds301 Specific Objects

    DSP resolver user manual User Manual Version 1.15 CANOPEN MANUAL AND SUPPORTED DS301 SPECIFIC OBJECTS CANopen is a CAN-based higher layer protocol. It was developed as a standardized embedded network with highly flexible configuration capabilities. CANopen was designed for motion-oriented machine control networks, such as handling systems. By now it is used in many various fields.

  • Page 37: Process Data Object (Pdo)

    DSP resolver user manual User Manual Version 1.15 initializing, which a node enters automatically after power-on. Power-on values are the last stored parameters. The command specifiers (go to this state) are: Start • Stop • 128 (0x80) Enter pre-operational •...

  • Page 38: 1Pdo Cob Ids

    DSP resolver user manual User Manual Version 1.15 Index Value Parameter Notes 0x1800 Number of parameters For the first transmit PDO 0x1800 0x4000018A COB ID PDO is disabled and its CAN ID is 0x18A, 11 bit CAN ids, no RTR allowed...

  • Page 39: 2Disabling And Enabling A Pdo

    DSP resolver user manual User Manual Version 1.15 Index of the Default CAN Notes Communication object TPDO _0 1st transmit PDO 0x1800 0x180 + node ID TPDO _1 2nd transmit PDO 0x1801 0x280 + node ID TPDO _2 3rd transmit PDO...

  • Page 40: 3Pdo Transmissions

    If you now reset the module the changes should still be valid. The easiest way to configure the modules by hand is to buy a CAN open tool which provides a straight access to the objects in the object dictionary. Contact Axiomatic Technologies to get more information.

  • Page 41: 4Pdo Mapping

    If dynamic mapping during operational state is supported, the SDO Client (the configurator) is responsible for the data consistency. Axiomatic resolver allows remapping during the operational state but the PDO under remapping process will not be transmitted while PDO is disabled.

  • Page 42: Service Data Object (Sdo)

    User is able to decide which type of parameters he wants to save. Parameters are divided in 4 blocks: Communication objects, Manufacturer specific and Device profile specific. The block is calibration objects in most of the Axiomatic modules. User is also able to save all parameters at once excluding the calibration parameters by writing “evas”...

  • Page 43: Restoring The Default Values To The Object Dictionary

    4 blocks: Communication objects, Manufacturer specific and Device profile specific. The 4 block is calibration objects in most of the Axiomatic modules. User is also able to save all parameters at once excluding the calibration parameters by writing “daol” signature (0x64616F6C) to the sub 1 of co_restore_params object.

  • Page 44: 1Boot-Up Message

    The Sync Object is broadcasted periodically by the Sync Producer. It's possible that there is some time jitter in transmission due to some other objects with higher prior identifiers. Axiomatic Resolver module doesn't provide sync producer functionality. User is able to configure the CAN ID of the message to be received as sync message.

  • Page 45: 3Error Control ( Heartbeat Features)

    DSP resolver user manual User Manual Version 1.15 CAN ID length 0x80 Table 8.13: sync message on CAN bus 8.7.3 Error Control ( Heartbeat Features) The Heartbeat protocol provides an error control method by both monitoring states of one or more nodes (heart beat consumer feature) and by signaling Nodes own state (heart beat producer feature).

  • Page 46: 4Emergency Object (Emcy)

    0x00 if no errors 0x0000 if no errors Table 8.17: The structure of the emergency message EMCY related objects which are supported in Axiomatic CAN open devices are co_error_register (index 0x1001), co_predefined_error_codes object (index 0x1003) and co_cob_id_emcy object (index 0x1014). EMCY Inhibit time cannot be edited and it's constant 10 ms.

  • Page 47: 6Time Stamp Object (Time)

    DSP resolver user manual User Manual Version 1.15 appear when the module is reseted next time. NOTE that the contents of the co_verify_configuration object will be written to the eeprom only with the store all or store communication parameters commands! Example: Date value for 16.2.2006 is 8082 and time value for 12:01pm is 432060000.

  • Page 48: 2Protocol For Setting The Node-Id

    DSP resolver user manual User Manual Version 1.15 CAN ID length 0x7E5 0x15 D1 is lsb and D2 is msb of delay time. The delay time defines how many milliseconds will be waited until the bit timing will be changed. Similar delay will be spend before re- enabling communications.

  • Page 49: Object Dictionary

    DSP resolver user manual User Manual Version 1.15 OBJECT DICTIONARY VAR = variable, ARRAY = array of variables, RECORD = data structure I16 = 16 bit signed variable, U8 = 8 bit unsigned, U16 = 16 bit unsigned, U32 = 32 bit unsigned...
  • Page 50 DSP resolver user manual User Manual Version 1.15 index obj. variable type acce profile value Default value range notes value recent valid error 1005 co_cob_id_sync 0x00000080 0x00000080 Module supports synchronous TPDOs and waits for sync message with CAN ID 0x80. The CAN ID (lowest 11 bits) can be edited. Module doesn't create a sync message.
  • Page 51 Heartbeat producing interval (ms) 1018 RECORD co_identity 1 - 4 Object which identifies the device 0x00000055 0x55 Vendor ID (0x55 = Axiomatic Technologies Oy) Product code Revision number Bits 0-15 Revision number minor Bits 16-31 Revision number major Example: Revision 1.1000 Serial number.
  • Page 52 DSP resolver user manual User Manual Version 1.15 index obj. variable type acce profile value Default value range notes value 1800 RECORD co_tpdo_comm_par[0] 2 - 5 Communication parameters for the first transmit PDO 0x180 + 0x4000 PDO COB-ID nodeID 0000 If CAN-ID is zero, sw will calculate default CAN-ID Bits 0 –...
  • Page 53 DSP resolver user manual User Manual Version 1.15 index obj. variable type acce profile value Default value range notes value 1801 RECORD co_tpdo_comm_par[1] Communication parameters for second transmit PDO 0x280 + 0x4000 See notes on 0x1801[1] nodeID 0000 0x01 See notes on 0x1801[2]...
  • Page 54 DSP resolver user manual User Manual Version 1.15 index obj. variable type acce profile value Default value range notes value See notes on 0x1A00[1] See notes on 0x1A00[1] See notes on 0x1A00[1] See notes on 0x1A00[1] 2000 co_clear_revolution_counter Writing 0x0 1 clears sensors software based revolution counter. Always 0 _cmd after boot up.
  • Page 55 DSP resolver user manual User Manual Version 1.15 index obj. variable type acce profile value Default value range notes value 3X: 2 Note: If changed, sensor need to be re-calibrated. 2106 co_CAN_period 2, 5, 10 Internal CAN timer interval in milliseconds. Accepted values 2,5,10.
  • Page 56 DSP resolver user manual User Manual Version 1.15 index obj. variable type acce profile value Default value range notes value Bit 2 Output scaling, 0 = >disabled, 1 => enabled (sensor position is scaled with units per revolution value and preset value is...

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