AXIOMATIC Tri-Axial J1939 CAN User Manual
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AXIOMATIC Tri-Axial J1939 CAN User Manual

Inclinometer
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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. +358 103 375 750
Fax. +358 3 3595 660
www.axiomatic.fi
USER MANUAL
Tri-Axial J1939 CAN Inclinometer
User Manual UMAX0608XX-1000
In North America:
Axiomatic Technologies Corporation
5915 Wallace Street
Mississauga, ON Canada L4Z 1Z8
Tel. 1 905 602 9270
Fax. 1 905 602 9279
www.axiomatic.com
Version 9B
Firmware 9.xx,
EA 5.15.108.0+

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  • Page 1 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 –...
  • Page 2 (EEA) since 1985 Diagnostic message. Defined in J1939/73 standard ® Electronic Assistant . PC application software from Axiomatic, primarily designed to view and program Axiomatic control configuration parameters (setpoints) through CAN bus using J1939 Memory Access Protocol Electronic control unit Electromagnetic compatibility...

  • Page 3: Table Of Contents

    TABLE OF CONTENTS INTRODUCTION ......................... 5     INCLINOMETER DESCRIPTION ..................6     Theory of Operation ..................... 6     2.1.1 Unit Coordinate System ..................6     2.1.2 Unit Reference Frames ..................6     2.1.3 Angle measurements .................... 7  ...
  • Page 4 3.9.2 CAN Network Parameters ................... 37     3.10 CAN Input Signal ....................... 38     3.11 CAN Output Message ....................40     CONFIGURATION PARAMETERS .................. 43     Electronic Assistant Software ..................43     Function blocks in EA ....................44  ...

  • Page 5: Introduction

    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.

  • Page 6: Inclinometer Description

    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.

  • Page 7: Angle Measurements

    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. Gravity vector is ...

  • Page 8: Tilt Angles

    �� ⃗ �� , �� , �� – 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 �� ⃗ caused by the gravity force: ��...

  • Page 9: Rotation Angles

    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 �� 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 ��...

  • Page 10: Unit Rotation Angles

    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 θ  ‐ Pitch E(XZ)   Gravity vector  �� ⃗    is coincident  E(YZ) with the Z  axis Y ‐ Axis Z‐ axis θ  > 0 φ...

  • Page 11: Euler Angles

    The unit rotation angles do not uniquely define the unit angular position in space. If this is required, the Euler angles should be used. 2.1.3.2.2 Euler Angles The Euler angles are coordinate system rotation angles performed in a specific order to rotate the unit from its original position, parallel to the Earth surface, to its current position.

  • Page 12: Gimbal Lock

    The Euler angles are calculated using the following formulas: ° ° �� ��������2 �� , �� �� �� ∈ ; 90 ° ° �� ��������2 �� , �� �� ∈ ; 180 where: �� �� , �� �� , �� ��...

  • Page 13: Maximum Gravity Acceleration Error

    2.1.3.3 Maximum Gravity Acceleration Error All angular measurements are based on the assumption that the only acceleration applied to the unit is the gravity acceleration �� ⃗ , see (2). This is not entirely true when the inclinometer is installed on a moving machine and is experiencing various external accelerations. These accelerations will affect the angular calculations and, at some point, will make the accuracy of the calculations inacceptable.
  • Page 14 The vertical mount inclinometer modifications are the legacy products that were designed for a vertical inclinometer installation in the past when the unit frame orientation was not configurable. Starting from V5.0 firmware, they do not have any advantages over the regular (horizontal mounting) inclinometers with the unit frame orientation configured for the vertical installation.

  • Page 15: Default Settings

    Single‐Axis |Angle|>90°  Tilt Angle ±90°  Angle in pitch  direction  Euler or Unit  Unit Rotation Angle Rotation Angle Figure 7. Single-Axis Measurements In case it is necessary to get the ±180° range for both: pitch and roll angles with a smooth angular transition, the unit rotation angles should be used. Otherwise, the Euler angles are preferred, since they have a gimbal lock only for the roll angle, the pitch angle is numerically stable in the whole measurement range.

  • Page 16: Hardware Block Diagram

    2.3 Software Organization The Tri-Axial J1939 CAN Inclinometer belongs to a family of Axiomatic smart controllers with configurable internal architecture. This architecture allows building a controlling algorithm based on a set of predefined internal configurable function blocks without the need of custom software.

  • Page 17: Can Interface

    PGN Requests (PGN 59904). Please note that the Proprietary A PGN (PGN 61184) is taken by Axiomatic Simple Proprietary Protocol and is not available for the user. Network J1939, Appendix B – Address and Identity Assignments. Rev. FEB 2010 J1939/81 –...

  • Page 18: Can Baud Rate

    21 bit Calculated on the base of the microcontroller unique ID Axiomatic proprietary values for Tri-Axial J1939 CAN Inclinometers. The user can change the inclinometer ECU Instance using EA to accommodate multiple units on the same CAN network. The inclinometer takes its network ECU Address from a pool of addresses assigned to self- configurable ECUs.

  • Page 19: Slew Rate Control

    2.4.3 Slew Rate Control The inclinometer has an ability to adjust the CAN transceiver slew rate for better performance on the CAN physical network, see J1939 Network function block for further details. 2.4.4 Network Bus Terminating Resistors The majority of inclinometers do not have an embedded 120 Ohm CAN bus terminating resistor.
  • Page 20 Start Position Length Parameter Name 2 bytes Roll Angle 3319 2 bytes Pitch Rate 3322 2 bits Pitch Angle Figure of Merit 3323 2 bits Roll Angle Figure of Merit 3324 2 bits Pitch Rate Figure of Merit 3325 2 bits Pitch and Roll Compensated 3326 1 byte...

  • Page 21: Pgn 61481, Slope Sensor Information 2, Ssi2

    Pitch rate degraded. Data is suspect due to environmental conditions. Error Not available Type: Status Parameter Name: Pitch and Roll Compensated (Not used by the inclinometer. Populated with 11b) Data Length: 2 bits Bit 2 Bit 1 Compensation Off Compensation On Error Not available Type:...

  • Page 22: Pgn 65256, Vehicle Direction/Speed, Vds

    Parameter Name: Pitch Angle Extended Range Compensation (Not used by the inclinometer. Populated with 11b) Data Length: 2 bits Bit 2 Bit 1 Error Not available Type: Status Parameter Name: Pitch Angle Extended Range Figure of Merit Data Length: 2 bits Bit 2 Bit 1 Pitch angle fully functional.

  • Page 23: Pgn 64905, Vehicle Direction/Speed 2, Vds2

    Start Position Length Parameter Name 2 bytes Compass Bearing 2 bytes Navigation-Based Vehicle Speed 2 bytes Pitch 2 bytes Altitude Parameter Name: Compass Bearing. (Not used by the inclinometer. Populated with 0xFFFF) Data Length: 2 bytes Resolution: 1/128 deg/bit, 0 offset Data Range: 0 to 501.99 deg Operational Range: same as data range...

  • Page 24: Analog Outputs

    2.5.2 Analog Outputs Analog Outputs (only in AX061000) are preconfigured as 0…5 V voltage outputs the following  AOUT1. Pitch Angle. -90ᵒ → 0 V, 90ᵒ → 5 V;  AOUT2. Roll Angle. -90ᵒ → 0 V, 90ᵒ → 5 V; ...

  • Page 25: Inclinometer Logical Structure

    Each function block is absolutely independent and has its own set of configuration parameters or setpoints. The configuration parameters can be viewed and changed through CAN bus ® using Axiomatic Electronic Assistant (EA) software. The accelerometer sensor is presented by Accelerometer function block. Angle Measurement function block controls measurements of the inclination angles.

  • Page 26: Function Block Signals

    The J1939 CAN interface is presented by the CAN Input Signal, CAN Output Message and J1939 Network function blocks. The CAN Input Signal functional blocks are used to receive CAN signals transmitted on the CAN bus. They have one signal output, which is updated once the signal is received.

  • Page 27: Signal Type Conversion

    3.1.4 Signal Type Conversion Discrete and Continuous signals are automatically converted into each other when a signal input of one signal type is connected to a signal output of a different signal type. 3.1.4.1 Discrete to Continuous Conversion A Discrete signal is converted into a positive Continuous signal of the same value. 3.1.4.2 Continuous to Discrete Conversion A positive Continuous signal is converted into the same value Discrete signal.

  • Page 28: Angle Measurement

    The Accelerometer function block configuration parameters are defined below. Table 4. Accelerometer Function Block Configuration Parameters Name Default Value Range Units Description Input Filter {Off, On} – Low-pass input filter Input Filter Cut-Off [1…50] Cut-Off Frequency when Frequency Input Filter is On Accelerometer 1.5g {1.5, 3, 6}...

  • Page 29: Unit Installation

    Table 5. Angular Figure of Merit State Description Angular data is fully functional. Data is within the sensor specification. Angular data is suspect due to environmental conditions. Set when the accelerometer sensor temperature is less than -40°C or greater than +125°C. Error condition has been detected.

  • Page 30: Unit Frame Orientation Examples

    The Auto-Null Command is not a real configuration parameter. It always returns No value when being read. The Coordinate Rotation Yaw, Pitch and Roll Angles ��, ��, ��) are used to change the original orientation of the unit frame. The original orientation is shown on the inclinometer label. The coordinate rotation angles are Euler angles applied in the standard yaw-pitch-roll order to the unit frame.
  • Page 31 are rotated the way that the Y-axis points towards the viewer, X-axis points right, and rotation about the Y-axis gives the required pitch angle according to the right-hand rule, see Unit Coordinate System. To convert the original unit frame orientation into the required one, perform (0,0,-90°) coordinate system rotation, see Figure 15.

  • Page 32: Sensor Calibration

    In user applications, to avoid errors, it is recommended checking the new unit frame orientation on the bench before installing the inclinometer on the machine. The Axiomatic CAN Assistant – Visual, P/N: AX070501VIS can be used to verify angular directions and ranges after performing the unit frame coordinate rotation.
  • Page 33 Table 8. Unary Functions Function Name Description Comment Undefined f(x) = x Signal is not processed. ! Logical Not f(x) = !x x is converted into 4-byte unsigned integer before function is applied. ~ Bitwise Not f(x) = ~x x is converted into 4-byte unsigned integer before function is applied.

  • Page 34: Analog Signal Outputs

    The Binary Function has the following set of configuration parameters: Table 10. Binary Function Block Configuration Parameters Name Default Value Range Units Description Binary Function Undefined See Binary Function – F[x;y] – Binary function table Output Scale Any value – A –...
  • Page 35 The Analog Signal Output has the following set of configuration parameters: Table 11. Analog Signal Output Function Block Configuration Parameters Name Default Value Range Units Description Input Signal Source Pitch Angle Any signal output of – Source of the input any function block or signal “Not Connected”...

  • Page 36: Global Parameters

    All analog signal outputs will be reset to zero voltage or either zero (for 0…20mA, 0…24mA ranges) or 4mA current (for 4…20 mA range) and then re-initialized on the internal communication error on any of the output channels. The Global Error flag will be kept set until the normal operation on all signal outputs is restored.

  • Page 37: Ecu Network Parameters

    Configuration parameters of the J1939 Network function block are presented below. They contain ECU Network and CAN Network Parameters. Table 14. J1939 Network Function Block Configuration Parameters Name Default Value Range Units Description ECU Instance [0…7] – ECU Instance field of the J1939 Number ECU Name ECU Address...

  • Page 38: Can Input Signal

    To avoid an arbitrary selection of the CAN baud rate by ECUs involved in the automatic baud rate detection process, it is necessary to disable the automatic baud rate detection in ECUs that are already permanently installed on the CAN network. The Slew Rate configuration parameter defines the slew rate of the CAN transceiver the following way: Table 15.
  • Page 39 If Autoreset Time is 0, the auto-reset is disabled. Proprietary A PGN (61184) is excluded. It is taken by Axiomatic Simple Proprietary Protocol and therefore cannot be used in function blocks. The CAN input signal position is defined within the CAN message data frame by the Data Position Byte and Data Position Bit configuration parameters the same way as in the J1939 standard.

  • Page 40: Can Output Message

    When the Autoreset Time is not equal to 0, the function block will auto-reset the output signal to the undefined state if the output signal has not been updated within the auto-reset time frame by the new CAN message data. 3.11 CAN Output Message There are five CAN Output Message function blocks available to the user.
  • Page 41 For CAN Output Message #1. Yes – in firmware V1.xx for AX060800, AX060806, AX060807. Proprietary A PGN (61184) is excluded. It is taken by Axiomatic Simple Proprietary Protocol and therefore cannot be used in function blocks. Configuration parameters: Signal #1…10 Byte Position and Signal #1…10 Bit Position, together with the Signal #1…10 Size have the same meaning as in the CAN Input Signal...
  • Page 42 The following rules apply when converting function block signal data to the CAN output signal code:  Undefined signals are presented in the signal code with all bits set to 1.  Discrete signals are directly assigned to the signal code without any conversion. ...

  • Page 43: Configuration Parameters

    Axiomatic products, including this inclinometer. The software can be downloaded from Axiomatic website www.axiomatic.com. The EA uses the Axiomatic USB-CAN converter P/N AX070501 to connect to the CAN network. The converter with cables can be ordered as an EA kit P/N AX070502.

  • Page 44: Function Blocks In Ea

    The configuration parameters are grouped by function blocks. Please, refer to the appropriate section of this manual describing the required function block. In the General ECU Information group, the user will see the version number of the application firmware. Please, make sure that the user manual version number matches the most significant part of the application firmware version number.
  • Page 45 Figure 26. Accelerometer Function Block in EA Figure 27. Changing a Configuration Parameter in EA Page: 45-66 UMAX0608XX‐1000. Tri‐Axial J1939 CAN Inclinometer. Version 9B ...

  • Page 46: Setpoint File

    4.3 Setpoint File The EA can store all inclinometer configuration parameters in one setpoint file and then flash them into the unit in one operation. The setpoint file is created and stored on disk using a command Save Setpoint File from the EA menu or toolbar.

  • Page 47: Configuration Example

    parameters after flashing if the setpoint file was created by a different version of the application firmware. A setpoint file containing default configuration parameters is available upon request. 4.4 Configuration Example The user can change the default inclinometer functionality using the configuration parameters. A detailed description of the unit configuration process is presented below, as an example.
  • Page 48 Signal #1 PGN = 65280  Gravity Angle Transmission Enable = Yes Angle  Transmission Rate = 100 ms Measurement Binary Function  Length = 1 Byte CAN  Priority = 6 Output  Message  Default  = 30 [Deg] Signal #1 Type = Discrete F[x,y]  = { >= (Great Equal)} Signal #1 Byte Position = 1 Signal #1 Bit Position = 1 Signal #1 Size = 2 Bit J1939 CAN Bus Figure 29. Block Diagram of the Example Configuration Figure 30. Binary Function #1 Example Configuration Then, configure CAN Signal #1. Set Signal #1 Type to Discrete, Signal #1 Source to Binary Function #1, Signal #1 Byte Position to 1, Signal #1 Bit Position to 1, and Signal #1 Size to 2 Bits, see Figure 31.

  • Page 49: Configuring Analog Signal Outputs

    Figure 31. CAN Output Message #3 Example Configuration As the last step, if the default functionality is not required, the user can disable sending SSI2 CAN messages in the CAN Output Message #2 function block by setting the Transmission Enable configuration parameter to No. In firmware V1.xx for AX060800, AX060806, AX060807 the user will need to disable SSI CAN messages in the CAN Output Message #1 function block.
  • Page 50 After performing all configuration steps from 4.4.2, we need to configure the Analog Signal Output #3. Set Signal Source to Binary Function #1. This binary function provides the tilt alarm internal signal, see Figure 29. Then set Output Mode to Output Voltage, Voltage Range to 0…5 V, Scale to 5, and Offset to 0, see Figure 32.

  • Page 51: Flashing New Firmware

    FLASHING NEW FIRMWARE When the new firmware becomes available, the user can replace the inclinometer firmware in the field using the unit embedded bootloader. The firmware file can be received from Axiomatic on request. To flash the new firmware, the user should activate the embedded bootloader. To do so, start the EA and in the Bootloader Information group screen click on the Force Bootloader to Load on Reset parameter.
  • Page 52 Figure 34. Bootloader Activation. Final Reset All the bootloader specific information: controller hardware, bootloader details, and the currently installed application firmware remains the same in the bootloader mode and the user can read it in the Bootloader Information group screen, see Figure 35. The information can be slightly different for different versions of the bootloader.
  • Page 53 At this point, the user can return to the installed controller firmware by changing the Force Bootloader to Load on Reset flag back to No and resetting the ECU. To flash the new firmware, the user should click on toolbar icon or from the File menu select the Open Flash File command.
  • Page 54 Select Yes and see the ECU running the new firmware, see Figure 38. This will indicate that the flashing operation has been performed successfully. For more information, refer to the J1939 Bootloader section of the EA user manual. Figure 37. Flashing New Firmware. Final Reset Figure 38.

  • Page 55: Technical Specifications

    TECHNICAL SPECIFICATIONS 6.1 Performance Parameters Stated at 25°C unless otherwise specified. 6.1.1 Angular Measurements Table 18. Angular Measurement Parameters Parameter Value Remarks Measurement Range ±180° – Pitch & Roll ±90° default for Pitch & Roll 0…180° – Gravity AX060800, AX060806, AX060807, AX060808 Resolution 0.35°...

  • Page 56: Can Output

    Parameter Value Remarks 215 mA Maximum at 12V. All signal outputs are in Current Output mode at 24mA output current. CAN bus is connected. 6.3 CAN Output Table 20. CAN Parameters Parameter Value Remarks Number of ports 1 CAN Port To output data and change the internal configuration of the inclinometer Communication...

  • Page 57: General Specifications

    10V, Roll Angle -90ᵒ → -10V, 90ᵒ → 10V, Gravity Angle 0ᵒ → -10V, 180ᵒ → 10V. 6.5 General Specifications Table 23. General Specifications Parameter Value Remarks Sensor Type MEMS Internal Logic User Configurable Axiomatic Electronic Assistant ® , P/N: AX070502 Operating -40…+85 °C Industrial temperature range Temperature Environmental IP67 IEC 60529 with mated connectors...

  • Page 58: Inclinometer Modifications

    Table 24. EMC Compliances Standard Name Description AX060800, AX060808, AX060830, AX060838 EN 13309:2010 Construction Machinery. Electromagnetic Compatibility of Machines with Internal Electrical Power Supply 6.6 Inclinometer Modifications Table 25. Inclinometer Modifications Internal CAN Enclosure Connectors Sensor Terminating Resistor AX060800 AX060800 Two M12 Connectors AX060808 Regular AX060806...

  • Page 59: Connector Pinout

    If only one connector is used, an M12 sealing cap with IP67 rating should be installed on the unused connector. PROT-M12 FB – 1555538 from PHOENIX CONTACT is recommended for the unused output M12 connector, Axiomatic P/N AX070140. 6.7.1.1 Connector Pinout Inclinometers in AX060800 enclosure have two versions of the pinout.

  • Page 60: Unit Orientation

    The inclinometer Analog Outputs connector has two identical analog ground pins AGND. They are used as a return path for AOUT1…AOUT3. The pins are internally connected together and with the Power- pin on the CAN connector through a low resistance protection circuit, see Figure 9.

  • Page 61: Connector Pinout

    Figure 44. AX060806 Dimensional Drawing Use mating Deutsch connector DT06-4S. Inclinometers with the same enclosure, see Table 25, have a different part number on the label but retain the same pinout and unit orientation. 6.7.2.1 Connector Pinout Inclinometers: AX060806, AX060807, AX060810, AX060811 have the following connector pinout, see Figure 45.

  • Page 62: Installation

    The default unit frame orientation can be changed using configuration parameters starting from firmware V5.00. 6.8 Installation See mechanical installation information on the dimensional drawings. The CAN wiring is considered intrinsically safe. All field wiring should be suitable for the operating temperature range of the unit.

  • Page 63: Version History

    VERSION HISTORY Electronic User Firmware Assistant ® Manual Date Author Modifications version (EA) Version version  9.xx 5.15.108.0 Sep 14, Olek Added notes excluding Proprietary A or higher 2020 Bogush PGN (61184) from customer’s use in function blocks. Updated J1939 Standard Support table, CAN Input Signal and CAN Output Message function blocks.
  • Page 64 Electronic User Firmware Assistant ® Manual Date Author Modifications version (EA) Version version  6.xx 5.13.103.0 May 31, Olek Added Accelerometer Sensor Range or higher 2019 Bogush configuration parameter in Accelerometer function block. Updated Angular Measurement, Resolution remarks for high-performance inclinometers in Technical Specifications.
  • Page 65 Electronic User Firmware Assistant ® Manual Date Author Modifications version (EA) Version version  3.xx 5.13.90.0 August Olek Corrected default PGN in Technical or higher 13, 2018 Bogush Specifications, CAN Output.  Combined Static Parameters and Dynamic Parameters into Angular Measurements in Technical Specifications.
  • Page 66 Electronic User Firmware Assistant ® Manual Date Author Modifications version (EA) Version version  1.xx 4.11.81.0 April 25, Olek Updated Initial Accuracy in Technical or higher 2017 Bogush Specifications.  1.xx 4.11.81.0 April 17, Olek Added vertical mounting version or higher 2017 Bogush AX060808.
  • Page 67 • Hours of operation, description of problem Gateways, CAN/Modbus Protocols • Wiring set up diagram, application • Other comments as needed Gyroscope Inclinometers All products should be serviced by Axiomatic. Do not open the product and Hydraulic Valve Controllers perform the service yourself. DISPOSAL Inclinometers, Triaxial Axiomatic products are electronic waste.

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