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AXIOMATIC AX030541 User Manual

4 analog outputs controller
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USER MANUAL UMAX030541
Version V1
CAN TO
4 ANALOG OUTPUTS
CONTROLLER
With CANopen®
USER MANUAL
P/N: AX030541

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Summary of Contents for AXIOMATIC AX030541

  • Page 1 USER MANUAL UMAX030541 Version V1 CAN TO 4 ANALOG OUTPUTS CONTROLLER With CANopen® USER MANUAL P/N: AX030541...
  • Page 2 ACRONYMS Analog Output Controller Area Network CANopen® CANopen® is a registered community trademark of CAN in Automation e.V. CAN-ID CAN 11-bit Identifier Communication Object CTRL Control D.C. Duty Cycle Electronic Data Sheet EMCY Emergency Least Significant Byte (or Bit) Layer Settling Service Lookup Table Most Significant Byte (or Bit) Network Management...

  • Page 3: Table Of Contents

    Contents OVERVIEW OF CONTROLLER ..........................6 1.1........................6 ESCRIPTION OF THE ONTROLLER 1.2........................7 IGITAL UTPUT UNCTION LOCK 1.3........................9 NALOG UTPUT UNCTION LOCK 1.4........................17 OOKUP ABLE UNCTION LOCK 1.4.1 X-Axis, Input Data Response ............................18 1.4.2 Y-Axis, Lookup Table Output ............................
  • Page 4 3.4.2 Object 2240h: DO Digital Range ..........................73 3.4.3 Object 2241h: DO Polarity 1 Output Line ........................74 3.4.4 Object 2300h: AO Override Field Value ........................74 3.4.5 Object 2330h: AO Ramp Up ............................75 3.4.6 Object 2331h: AO Ramp Down ..........................76 3.4.7 Object 2340h: AO Control Input Source ........................
  • Page 5 3.4.60 Object 5021h: Enable Error Detection on Power Supply ..................107 3.4.61 Object 5022h: Under Voltage Threshold ........................108 3.4.62 Object 5023h: Over Voltage Threshold ........................108 3.4.63 Object 5024h: Hysteresis to Clear Supply Fault ......................108 3.4.64 Object 5025h: Enable Power Supply Fault Disables Outputs ................... 109 3.4.65 Object 5030h: Processor Temperature Field Value ....................

  • Page 6: Overview Of Controller

    1. OVERVIEW OF CONTROLLER 1.1. Description of the Controller This CAN to 4 Analog Outputs Controller (CAN-4AOUT) with CANopen® is designed for versatile control of four digital/analog outputs. The sophisticated control algorithms allow the user to program the controller for a wide range of applications without the need for custom software.

  • Page 7: Digital Output Function Block

    1.2. Digital Output Function Block There are two types of universal output function blocks, one for the digital outputs and the other for the analog outputs. While both types of function blocks are driving the same outputs, they are just treated as separate function blocks here for ease of explanation. The digital output (DO) function block only becomes applicable on the output when object 6310h, AO Output Type, is set to Digital ON/OFF output response (Type=1000).
  • Page 8 The read-only mappable object 2370h AO Feedback FV will be loaded with the “DO Drive State” (0=OFF, 1=ON) when the output is setup for a digital type. There is an object 2240h DO Vps range determines if the output is at +5V or +12V when ON, the options are shown in Table 2.

  • Page 9: Analog Output Function Block

    1.3. Analog Output Function Block The analog output (AO) function block is the default logic associate with all four outputs. There are many objects associated with the analog output function block, but not all of them apply to all output types or control conditions. To start with, object 6310h AO Output Type defines how the output drive circuitry will be configured as per Table 4.
  • Page 10 In all cases, while the X-axis has the constraint that Xmin < Xmax, there is no such limitation on the Y-axis. This allows for a negative slope so that as the control input signal increases, the target output value decreases. Or it allows output to follow control signal inversely.
  • Page 11 In addition to a source, each control also has a number which corresponds to the sub- index of the function block in question. Table 6 outlines the ranges supported for the number objects, depending on the source that had been selected. Control Source Range Object (Meaning)
  • Page 12 4030h sub-index 1 (Math Output PV 1) 4030h sub-index 2 (Math Output PV 2) 4030h sub-index 3 (Math Output PV 3) Mathematical Function Block 4030h sub-index 4 (Math Output PV 4) 4030h sub-index 5 (Math Output PV 5) 4030h sub-index 6 (Math Output PV 6) 3xy8h (Lookup Table Selected by Logic 1) 3xy8h (Lookup Table Selected by Logic 2) Programmable Logic Function...
  • Page 13 When using any control source as the X-Axis input to a function block, the corresponding scaling limits are defined as per Table 7. It is the responsibility of the user to make sure that the scaling objects for any function block are setup appropriately depending on the source selected for the X-Axis input.
  • Page 14 Enable and Override inputs have been mentioned several times already. By default, neither inputs are used (Object 2350 Enable Source and Object 2360 Override Source are set to 0=Ignore), but they can be activated for safety interlocks or other more complex applications.
  • Page 15 The controller applies the logic shown in Figure 5 when evaluating what output FV to apply. Figure 5 – Analog Output Logic Flowchart Under normal conditions, i.e. when the control input is driving the output as shown in the green box, there are ramping objects that can be applied to soften the output response. Object 2330h AO Ramp Up and object 2331 AO Ramp Down are both millisecond numbers that define how long it will take to ramp from AO Scaling 1 FV to AO Scaling 2 User Manual UMAX030541.
  • Page 16 By default, when the outputs are in Output Current/Output Voltage mode, outputs are driven with a high frequency 25kHz signal. It can be changed through object 2380h AO Output Frequency. However, this value should not be lowered under these two modes without taking into consideration how this affects the accuracy and stability of the outputs.

  • Page 17: Lookup Table Function Block

    1.4. Lookup Table Function Block The lookup table (LTyz) function blocks are not used by default, where yz can be 01 to Figure 6 – Lookup Table Objects Lookup tables are used to give an output response of up to 10 slopes per input. The array size of the objects 3yz5h LTyz Point Response, 3yz6h LTyz Point X-Axis PV and 3yz7h Point Y-Axis PV shown in the block diagram above is therefore 11.

  • Page 18: X-Axis, Input Data Response

    1.4.1 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. However, should the minimum input be less than zero, for example a resistive input that is reflecting temperature in the range of -40ºC to 210ºC, then the object 3yz8h LTyz Point X-Axis PV sub-index 1 will be set to the minimum instead, in this case -40ºC.

  • Page 19: Point To Point Response

    1.4.3 Point to Point Response By default, all 10 lookup tables have a simple linear response from 0 to 100 in steps of 10 for both the X and Y axes. For a smooth linear response, each point in the 3yz5h LTyz Point Response array is setup for a ‘Ramp To’...

  • Page 20: X-Axis, Time Response

    A combination of ‘Ramp To’, ‘Jump To’ and ‘Ignore’ responses can be used to create an application specific output profile. An example of where the same input is used as the X- Axis for two tables, but where the output profiles ‘mirror’ each other for a deadband joystick response is shown in Figure 8.
  • Page 21 With this response, the sequence will start depending on two parameters: • Lookup Table yz Input X-Axis Source Object 3yz0h and; • Lookup Table yz Auto Repeat Object 3yz2h By default, the “Auto Repeat” object is set to FALSE (0). In this case, the lookup table will react in the following way: The X-Axis control source is treated as a digital input.

  • Page 22: Programmable Logic Function Block

    1.5 Programmable Logic Function Block The programmable logic blocks (LB(x-3)) functions are not used by default. Figure 9 – Logic Block Objects User Manual UMAX030541. Version V1 22-116...
  • Page 23 This function block is obviously the most complicated of them all, but very powerful. Any LB(x-3) (where X= 4 to 6) can be linked with up to three lookup tables, any one of which would be selected only under given conditions. Any three tables (of the available 10) can be associated with the logic, and which ones are used is fully configurable on object 3x01 LB(x-3) Lookup Table Number.
  • Page 24 Figure 10 – Logic Block Flowchart User Manual UMAX030541. Version V1 24-116...

  • Page 25: Conditions Evaluation

    1.5.1 Conditions Evaluation The first step in determining which table will be selected as the active table is to first evaluate the conditions associated with a given table. Each table has associated with it up to three conditions that can be evaluated. Conditional objects are custom DEFSTRUCT objects defined as shown in Table 13.
  • Page 26 By default, both arguments are set to ‘Control Source Not Used’ which disables the condition, and automatically results in a value of N/A as the result. Although it is generally considered that each condition will be evaluated as either TRUE or FALSE, the reality is that there could be four possible results, as described in Table 15.
  • Page 27 Not every evaluation is going to need all three conditions. For example, check if the Engine RPM is below a certain value only has one condition listed. Therefore, it is important to understand how the logical operators would evaluate an Error or N/A result for a condition, as outlined in Table 17.

  • Page 28: Logic Block Output

    The table number that has been selected as the output source is written to sub-index X of read-only object 3310h Logic Block Selected Table. This will change as different conditions result in different tables being used. 1.5.3 Logic Block Output Recall that Table Y, where Y = A, B or C in the LB(x-3) function block does NOT mean lookup table 1 to 3.

  • Page 29: Math Function Block

    1.6 Math Function Block There are 4 mathematic function blocks that allow the user to define basic algorithms. Math function block Z = 1 to 4 will be enabled based on sub-index Z in object 4000h Math Enable. Figure 11 – Math Function Block Objects A math function block can take up to four input signals, as listed in Table 5 in Section 1.3.
  • Page 30 For example, in the case where the user may want to combine two inputs such that a joystick (Input 1) is the primary control of an output, but the speed can be incremented or decremented based on a potentiometer (Input 2), it may be desired that 75% of the scale is controlled by the joystick position, while the potentiometer can increase or decrease the min/max output by up to 25%.
  • Page 31 This allows for more versatility within the Math Block. For a valid result in each Function, both inputs must be non-zero value (other than ‘Control Source Not Used’). Otherwise, the corresponding Function is ignored. Furthermore, for a valid/expected output result in each Math Block, it is necessary to keep in mind how the Functions link to one another within the Math Block.

  • Page 32: Miscellaneous Function Block

    1.7 Miscellaneous Function Block There are some other objects available which have not yet been discussed or mentioned briefly in passing (i.e. constants.) These objects are not necessarily associated with one another but are all discussed here. APPLICATION OBJECT DICTIONARY CANopen BUS 5010h 2502h...
  • Page 33 Power Supply and Processor Temperature Objects 5020h Power Supply FV and 5030h Processor Temperature FV are available as read-only feedback for additional diagnostics. Object 5021h is used to enable or disable Power Supply faults. If object 5021h is enabled (1), then objects 5022h, Under Voltage Threshold, and 5023h, Over Voltage Threshold are used by the controller.
  • Page 34 When using the CAN-4AOUT 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. User Manual UMAX030541.

  • Page 35: Installing Instructions

    INSTALLING INSTRUCTIONS 2.1 Dimensions and Pinout Figure 13 – Housing Dimensions PIN # FUNCTION Analog GND Analog GND Output 1+ CAN_L Output 2+ CAN_H Output 3+ CAN_Shield Output 4+ Power - Analog GND Power + Note: CANopen® is a registered community trademark of CAN in Automation e.V. Table 20 –...

  • Page 36: Installation Instructions

    2.2 Installation 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 37: Canopen® Object Dictionary

    3 CANOPEN® OBJECT DICTIONARY The CANopen® object dictionary of CAN-4AOUT is based on CiA device profile DS-404 V1.2 (device profile for measuring devices and closed-loop controllers). The object dictionary includes Communication Objects beyond the minimum requirements in the profile, as well as several manufacturer-specific objects for extended functionality. 3.1 NODE ID and BAUDRATE By default, the controller ships factory programmed with a Node ID = 127 (0x7F) and with Baudrate = 125 kbps.
  • Page 38 • 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 39 • Set the baudrate 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 21) Index Bit Rate 1 Mbit/s 800 kbit/s...
  • Page 40 • Save the configuration by sending the following message (on the NEW baudrate): 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 0x7E4...
  • Page 41 The following screen capture (left) shows the CAN data was sent (7E5h) and received (7E4h) by the tool when the baudrate was changed to 250 kbps using the LSS protocol. The other image (right) shows what was printed on an example debug RS-232 menu while the operation took place.

  • Page 42: Communication Objects (Ds-301 And Ds-404)

    3.2 COMMUNICATION OBJECTS (DS-301 and DS-404) The communication objects supported by this controller are listed in the following table. A more detailed description of some of the objects is given in the following subchapters. Only those objects that have device-profile specific information are described. For more information on the other objects, refer to the generic CANopen®...

  • Page 43: Object 1000H: Device Type

    3.2.1 Object 1000h: Device Type This object contains information about the device type as per device profile DS-404. The 32-bit parameter is divided into two 16-bit values, showing General and Additional information as shown below. Additional Information = 0xE00C General Information = 0x0194 (404) DS-404 defines the Additional Information field in the following manner: 0000h = reserved 0001h = digital input block...

  • Page 44: Object 1002H: Manufacturer Status Register

    Entry Description Access PDO Mapping Value Range 00h or 01h Default Value 3.2.3 Object 1002h: Manufacturer Status Register This object is used for manufacturer debug purposes. 3.2.4 Object 1003h: Pre-Defined Error Field This object provides an error history by listing the errors in the order that they have occurred.
  • Page 45 When an analog input/thermocouple is not working as described in the previous sections, then the Error Description will reflect what channel(s) is at fault using the following table. Also, if an RPDO is not received within the expected “Event Timer” period, an RPDO timeout will be flagged.

  • Page 46: Object 100Ch: Guard Time

    3.2.5 Object 100Ch: Guard Time The objects at index 100Ch and 100Dh shall indicate the configured guard time respective to the life time factor. The life time factor multiplied with the guard time gives the life time for the life guarding protocol described in DS-301. The Guard Time value shall be given in multiples of ms, and a value of 0000h shall disable the life guarding.

  • Page 47: Object 1010H: Store Parameters

    3.2.7 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 sub-index. The signature is “save”. The “save” action on either CAN buses will apply to the parameters on both buses.

  • Page 48: Object 1011H: Restore Parameters

    Sub-Index Description Save communication parameters Access PDO Mapping Value Range 0x65766173 (write access) (read access) Default Value Sub-Index Description Save application parameters Access PDO Mapping Value Range 0x65766173 (write access) (read access) Default Value Sub-Index Description Save manufacturer parameters Access PDO Mapping Value Range 0x65766173 (write access)
  • Page 49 By read access, the object provides information about the module’s default parameter restoring capabilities. For all sub-indexes, this value is 1h, indicating that the controller restores defaults on command. Object Description Index 1011h Name Restore Default Parameters Object Type ARRAY Data Type UNSIGNED32 Entry Description...

  • Page 50: Object 1016H: Consumer Heartbeat Time

    3.2.9 Object 1016h: Consumer Heartbeat Time The CAN-4AOUT can be a consumer of heartbeat objects for a single module. This object defines the expected heartbeat cycle time for that module, and if set to zero, it is not used. When the object is non-zero, the time is a multiple of 1ms, and monitoring will start after the reception of the first heartbeat from the module.

  • Page 51: Object 1018H: Identity Object

    Access PDO Mapping Value Range Default Value Sub-Index Description Vendor ID Access PDO Mapping Value Range 0x00000055 Default Value 0x00000055 (Axiomatic) Sub-Index Description Product Code Access PDO Mapping Value Range 0xAA030541 Default Value 0xAA030541 User Manual UMAX030541. Version V1 51-116...

  • Page 52: Object 1020H: Verify Configuration

    Sub-Index Description Revision Number Access PDO Mapping Value Range UNSIGNED32 Default Value 0x00010000 Sub-Index Description Serial Number Access PDO Mapping Value Range UNSIGNED32 Default Value 3.2.12 Object 1020h: Verify Configuration This object can be read to see what date the software (version identified in object 1018h) was compiled.

  • Page 53: Object 1029H: Error Behaviour

    Sub-Index Description Configuration date Access PDO Mapping Value Range UNSIGNED32 Default Value Sub-Index Description Configuration time Access PDO Mapping Value Range UNSIGNED32 Default Value 3.2.13 Object 1029h: Error Behaviour This object controls the state that the CAN-4AOUT will be set into in case of an error of the type associated with the sub-index.

  • Page 54: Rpdo Behaviour

    Sub-Index Description Communication Fault Access PDO Mapping Value Range See above Default Value 1 (No State Change) Sub-Index Description Digital Input Fault (Not Used) Access PDO Mapping Value Range See above Default Value 1 (No State Change) Sub-Index Description Analog Input Fault (Not Used) Access PDO Mapping Value Range...
  • Page 55 e) Create the PDO by setting bit exists (most significant bit) of sub-index 01h of the according PDO communication parameter to 0b The CAN-4AOUT can support up to four RPDO messages. All RPDOs on the controller use the similar default communication parameters, with the PDO IDs set according to the pre-defined connection set described in DS-301.
  • Page 56 Object Description Index 1400h to 1403h Name RPDO communication parameter Object Type RECORD Data Type PDO Communication Record Entry Description Sub-Index Description Number of entries Access PDO Mapping Value Range Default Value Sub-Index RPDOx ID Description COB-ID used by RPDO 0200h Access 0300h...

  • Page 57: Tpdo Behaviour

    Sub-Index Description Event-timer Access PDO Mapping Value Range See value definition in DS-301 Default Value Recall: A non-zero event timer for an RPDO means that it will result in a network fault being flagged if it has not been received within this timeframe while in Operational mode. 3.2.15 TPDO Behaviour The CAN-4AOUT can support up to four TPDO messages.
  • Page 58 TPDO4 Mapping at Object 1A03h: Default ID 0x480 + Node ID Sub-Index Value Object Number of mapped application objects in PDO 0x50200020 Power Supply Field Value (measured) 0x50300020 Processor Temperature Field Value (measured) Not used by default Not used by default Since only TPDO1 has non-zero value transmission rates (i.e.
  • Page 59 Sub-Index Description Inhibit Time Access PDO Mapping Value Range See value definition in DS-301 Default Value Sub-Index Description Compatibility entry Access PDO Mapping Value Range UNSIGNED8 Default Value Sub-Index Description Event-timer Access PDO Mapping Value Range See value definition in DS-301 Default Value 100ms (on TPDO1) 0ms (on TPDO2 to TPDO4)

  • Page 60: Application Objects (Ds-404)

    3.3 APPLICATION OBJECTS (DS-404) Index Object Object Data Type Access PDO (hex) Type Mapping 6220 DO Write State 1 Output Line ARRAY UNSIGNED8 6250 DO Fault Mode 1 Output Line ARRAY UNSIGNED8 6260 DO Fault State 1 Output Line ARRAY UNSIGNED8 6302 AO Decimal Digits PV ARRAY UNSIGNED8...

  • Page 61: Object 6220H: Do Write State 1 Output Line

    3.3.1 Object 6220h: DO Write State 1 Output Line This object shall set a single digital output logic state when the corresponding DO is being controlled by a CANopen® Message (per Table 5 in Section 1.3) Object Description Index 6220h Name DO Write State 1 Output Line Object Type...

  • Page 62: Object 6260H: Do Fault State 1 Output Line

    Sub-Index 1h to 4h (x = 1 to 4) Description DOx Fault Mode Access PDO Mapping Value Range See Table 3 Default Value 1 (Apply Pre-defined State) 3.3.3 Object 6260h: DO Fault State 1 Output Line This object defined the pre-defined state of a single digital output when a fault condition is present, and the corresponding sub-index in object 6250h is enabled.

  • Page 63: Object 6310H: Ao Output Type

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (x = 1 to 4) Description AOx Decimal Digits PV Access PDO Mapping Value Range 0 to 4 Default Value 3 [mV] 3.3.5 Object 6310h: AO Output Type This object specifies the type of analog output, as defined in Table 4.

  • Page 64: Object 6340H: Ao Fault Mode

    Object Description Index 6332h Name AO Decimal Digits FV Object Type ARRAY Data Type UNSIGNED8 Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (x = 1 to 4) Description AOx Decimal Digits FV Access PDO Mapping Value Range...

  • Page 65: Object 7300H: Ao Output Process Value

    3.3.8 Object 7300h: AO Output Process Value This object represents the process value of the output. It can be used as an input to the analog output function block when the input has been selected as controlled by a CANopen® Message (per Table 5 in Section 1.3). Object Description Index 7300h...

  • Page 66: Object 7321H: Ao Output Scaling 1 Fv

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (x = 1 to 4) Description AOx Scaling 1 PV Access PDO Mapping Value Range See Table 7 Default Value 0 [mV] 3.3.10 Object 7321h: AO Output Scaling 1 FV This object defines the output field value when the input data is at or below the AO Output Scaling 1 PV value as shown in Figure 4.

  • Page 67: Object 7322H: Ao Output Scaling 2 Pv

    3.3.11 Object 7322h: AO Output Scaling 2 PV This object defines the maximum value of the input, and should be specified to equal the corresponding scaling object of the control source, as outlined in Table 7. It will be scaled in the physical unit of the control source.

  • Page 68: Object 7330H: Ao Output Field Value

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (x = 1 to 4) Description AOx Scaling 2 FV Access PDO Mapping Value Range Dependent on range (see Table 4) Default Value 5000 [mV] 3.3.13 Object 7330h: AO Output Field Value This object represents the target output drive field value as a result of the output logic...

  • Page 69: Object 7341H: Ao Fault Field Value

    3.3.14 Object 7341h: AO Fault Field Value This object contains the pre-defined field value of an analog output when a fault condition is present, and the corresponding sub-index in object 7341h is enabled. It will be scaled in the physical unit of the output, dependent on type, with the resolution defined in object 6332h AO Decimal Digits FV.

  • Page 70: Manufacturer Objects

    3.4 MANUFACTURER OBJECTS Index Object Object Data Type Access PDO (hex) Type Mapping 2223 DO Blink Rate 1 Output ARRAY UNSIGNED16 Line ARRAY UNSIGNED8 2240 DO Digital Range ARRAY UNSIGNED8 2241 DO Polarity 2300 AO Override Field Value ARRAY INTEGER16 2330 AO Ramp Up ARRAY...
  • Page 71 3x12 LB(x-3) Function A Condition RECORD UNSIGNED8 3x13 LB(x-3) Function A Condition RECORD UNSIGNED8 3x21 LB(x-3) Function B Condition RECORD UNSIGNED8 3x22 LB(x-3) Function B Condition RECORD UNSIGNED8 3x23 LB(x-3) Function B Condition RECORD UNSIGNED8 3x31 LB(x-3) Function C Condition RECORD UNSIGNED8 3x32 LB(x-3) Function C Condition...
  • Page 72 5034 Temperature Fault UNSIGNED8 Shutdown 5550 Enable Auto Updates UNSIGEND8 5555 Start in Operational Mode BOOLEAN 5B50 Change Baud Rate UNSIGNED8 5B51 Change Node ID UNSIGNED8 Where yz = 01 to 12 (LUT 1 to 12) and x = 4 to 7 (Logic 1 to 4) and y = 1 to 6 (Math 1 to User Manual UMAX030541.

  • Page 73: Object 2223H: Do Blink Rate 1 Output Line

    3.4.1 Object 2223h: DO Blink Rate 1 Output Line This object is used only when an ON/OFF digital output has been specified for a blinking response by object 2241h DO Polarity. While the DO is commanded ON, it will blink ON/OFF at the rate specified in this object. The physical unit is milliseconds. Object Description Index 2223h...

  • Page 74: Object 2241H: Do Polarity 1 Output Line

    Sub-Index 1h to 4h (x = 1 to 4) Description DOx Digital Range Access PDO Mapping Value Range 0 (+5V) to 1(+12V) Default Value 0 (+5V) 3.4.3 Object 2241h: DO Polarity 1 Output Line This object defines the relationship between the logic state and the drive state of a single digital output, as described in Table 1.

  • Page 75: Object 2330H: Ao Ramp Up

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (x = 1 to 4) Description AOx Override FV Access PDO Mapping Value Range Dependent on range (see Table 4) Default Value 1000 [mV] 3.4.5 Object 2330h: AO Ramp Up This object defines the time it will take to ramp from the minimum output PV to the...

  • Page 76: Object 2331H: Ao Ramp Down

    3.4.6 Object 2331h: AO Ramp Down This object defines the time it will take to ramp from the maximum output PV to the minimum as defined by objects 7321h and 7323h. It can be used to soften the response to a step change at the input. The physical unit for this object is milliseconds. Object Description Index 2331h...

  • Page 77: Object 2341H: Ao Control Input Number

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (x = 1 to 4) Description AOx Control Input Source Access PDO Mapping Value Range See Table 5 Default Value 1 (CANopen® RPDO) 3.4.8 Object 2341h: AO Control Input Number This object defines the number of the source that will be used to control the analog (or digital) output as shown in the logic flowchart in Figure 5.

  • Page 78: Object 2342H: Ao Control Response

    3.4.9 Object 2342h: AO Control Response This object defines the response profile of the analog output FV with respect to the input PV (as selected by objects 2340h/2341h.) Normally it will follow the profile shown in Figure 5. However, in some cases the offset will be disabled (i.e. output at 0) when the PV is below 7320h Scaling 1 PV or alternatively above the 7322h Scaling 2 PV.

  • Page 79: Object 2351H: Ao Enable Input Number

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (x = 1 to 4) Description AOx Enable Input Source Access PDO Mapping Value Range See Table 5 Default Value 0 (control not used) 3.4.11 Object 2351h: AO Enable Input Number This object defines the number of the source that will be used to enable/disable the analog (or digital) output as shown in the logic flowchart in Figure 5.

  • Page 80: Object 2352H: Ao Enable Response

    3.4.12 Object 2352h: AO Enable Response This object determines if the input will act as an enable or safety interlock (i.e. input must be ON to engage the output) or a disable signal (i.e. the output will shutoff when the input is ON.) The options for this object for analog output 1 to 2 are listed in Table 9.

  • Page 81: Object 2361H: Ao Override Input Number

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (x = 1 to 4) Description AOx Override Input Source Access PDO Mapping Value Range See Table 5 Default Value 0 (control not used) 3.4.14 Object 2361h: AO Override Input Number This object defines the number of the source that will be used to override the analog outputs as shown in the logic flowchart in Figure 5.

  • Page 82: Object 2362H: Ao Override Response

    3.4.15 Object 2362h: AO Override Response This object determines how the override command will respond to the input state. The options for this object are listed in Table 10. Object Description Index 2362h Name AO Override Response Object Type ARRAY Data Type UNSIGNED8 Entry Description...

  • Page 83: Object 2380H: Ao Output Frequency

    Sub-Index 1h to 4h (x = 1 to 4) Description AOx Feedback Field Value Access PDO Mapping Value Range Dependent on range (see Table 4) Default Value 3.4.17 Object 2380h: AO Output Frequency This object is used to set the frequency of the outputs. When the output is under Frequency mode, it will be used to set duty cycle of the outputs.

  • Page 84: Object 2502H: Ec Decimal Digits Pv

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 6h (x = 1 to 6) Description ECx Received Process Value Access PDO Mapping Value Range Integer16 Default Value 3.4.19 Object 2502h: EC Decimal Digits PV This object describes the number of digits following the decimal point (i.e.

  • Page 85: Object 2522H: Ec Scaling 2 Pv

    it uses the same resolution as the received PV as defined in object 2502h, EC Decimal Digits PV. This object must always be smaller than object 2522h EC Scaling 2 PV. Object Description Index 2520h Name EC Scaling 1 PV Object Type ARRAY Data Type...

  • Page 86: Object 3Yz0H: Ltyz Input X-Axis Source

    Sub-Index 1h to 6h (x = 1 to 6) Description ECx Scaling 2 PV Access PDO Mapping Value Range 2520h sub-index X to 32767 Default Value 1000 (100.0) 3.4.22 Object 3yz0h: LTyz Input X-Axis Source This object defines the type of input that will be used to determine the X-Axis input process value for the lookup table function.

  • Page 87: Object 3Yz2H: Ltyz Auto Repeat

    Entry Description Sub-Index Access PDO Mapping Value Range See Table 6 Default Value 0 (null control source) 3.4.24 Object 3yz2h: LTyz Auto Repeat This object determines whether the lookup table sequence will repeat automatically once the last point in the lookup table has been completed. This object is only taken into effect when the response is set to ‘Time Response’.

  • Page 88: Object 3Yz4H: Ltyz Y-Axis Decimal Digits Pv

    3.4.26 Object 3yz4h: LTyz Y-Axis Decimal Digits PV This object describes the number of digits following the decimal point (i.e. resolution) of the Y-Axis points in the lookup table. When the Y-Axis output is going to be the input to another function block, it is recommended that this value be set equal to the decimal digits used by the block that is using the lookup table as the control source/number.

  • Page 89: Object 3Yz6H: Ltyz Point X-Axis Pv

    Sub-Index Description X-Axis Type Access PDO Mapping Value Range See Table 12 (0 or 1) Default Value 0 (x-axis data response) Sub-Index 2h to 11h (x = 2 to 11) Description LTyz Point X Response Access PDO Mapping Value Range See Table 12 (0, 1 or 2) Default Value 1 (ramp to response)

  • Page 90: Object 3Yz7H: Ltyz Point Y-Axis Pv

    Sub-Index 1h to 11h (x = 1 to 11) Description LTyz Point X-Axis PVx Access PDO Mapping Value Range See above (data) 1 to 86400000 (time) Default Value 10*(x-1) 3.4.29 Object 3yz7h: LTyz Point Y-Axis PV This object defines the Y-Axis data for the 11 calibration points on the lookup table, resulting in 10 different output slopes.

  • Page 91: Object 3300H: Logic Block Enable

    Entry Description Sub-Index Access PDO Mapping Value Range Integer16 Default Value 3.4.31 Object 3300h: Logic Block Enable This object defines whether or not the logic shown in Figure 10 will be evaluated. Object Description Index 3300h Name Logic Block Enable Object Type ARRAY Data Type...

  • Page 92: Object 3320H: Logic Block Output Pv

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 3h (x = 1 to 3) Description LBx Selected Table Access PDO Mapping Value Range 1 to 10 Default Value 3.4.33 Object 3320h: Logic Block Output PV This read-only object reflects the output from the selected table, interpreted as a percentage.

  • Page 93: Object 3X01H: Lb(X-3) Lookup Table Numbers

    3.4.34 Object 3x01h: LB(x-3) Lookup Table Numbers This object determines which of the ten lookup tables supports on the controller are associated with a particular function within the given logic block. Up to three tables can be linked to each logic function. Object Description Index 3x01h (where x = 4 to 6)

  • Page 94: Object 3X11H: Lb(X-3) Function A Condition 1

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 3h (y = A to C) Description LB(x-3) Function Y Logical Operator Access PDO Mapping Value Range See Table 16 Default Value Function A = 1 (and all) Function B = 1 (and all) Function C = 0 (default) 3.4.36 Object 3x11h: LB(x-3) Function A Condition 1...

  • Page 95: Object 4000H: Math Function Enable

    Sub-Index Description Argument 1 Source Access PDO Mapping Value Range See Table 5 Default Value 1 (CANopen® Message) Sub-Index Description Argument 1 Number Access PDO Mapping Value Range See Table 6 Default Value 2 (EC Received PV 1) Sub-Index Description Argument 2 Source Access PDO Mapping...

  • Page 96: Object 4021H: Math Output Scaling 1 Pv

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (Y = 1 to 4) Description Math Y Enable Access PDO Mapping Value Range 0 (FALSE) or 1 (TRUE) Default Value 0 [FALSE] 3.4.46 Object 4021h: Math Output Scaling 1 PV This object defines the process value that would correspond to 0% output from the math calculation.

  • Page 97: Object 4023H: Math Output Scaling 2 Pv

    3.4.47 Object 4023h: Math Output Scaling 2 PV This object defines the process value that would correspond to 100% output from the math calculation. The object would apply the resolution defined in object 4532h Math Output Decimal Digits PV. The physical unit is undefined. Object Description Index 4023h...

  • Page 98: Object 4032H: Math Output Decimal Digits Pv

    Sub-Index 1h to 4h (Y = 1 to 4) Description Math Y Output Process Value Access PDO Mapping Value Range -32768 to 32767 Default Value 3.4.49 Object 4032h: Math Output Decimal Digits PV This object describes the number of digits following the decimal point (i.e. resolution) of the output data, which is interpreted with data type Integer16 in the process value object.

  • Page 99: Object 4Y01H: Math Y Input Number

    Object Description Index 4y00h (y = 1 to 4) Name Math Y Input Source Object Type ARRAY Data Type UNSIGNED8 Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (X = 1 to 4) Description Math Y Input X Source Access...

  • Page 100: Object 4Y02H: Math Y Input Function Number

    Sub-Index 1h to 4h (X = 1 to 4) Description Math Y Input X Number Access PDO Mapping Value Range See Table 15 Default Value 0 (null input) 3.4.52 Object 4y02h: Math Y Input Function Number This object defines the number of the function within the Math Block will be used in the math calculation.

  • Page 101: Object 4Y20H: Math Y Input Scaling 1 Fv

    Object Description Index 4y03h (y = 1 to 4) Name Math Y Input Decimal Digits FV Object Type ARRAY Data Type UNSIGNED8 Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (X = 1 to 4) Description Math Y Input X Decimal Digits PV Access...

  • Page 102: Object 4Y22H: Math Y Input Scaling 2 Fv

    Sub-Index 1h to 4h (X = 1 to 4) Description Math Y Input X Scaling 1 FV Access PDO Mapping Value Range INTEGER16 Default Value 3.4.55 Object 4y22h: Math Y Input Scaling 2 FV This object defines the input field value that would correspond to 100% when scaling the input for use in the math calculation.

  • Page 103: Object 4Y50H: Math Y Operator

    Object Description Index 4y40h (y = 1 to 4) Name Math Y Input Gain Object Type ARRAY Data Type INTEGER8 Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index 1h to 4h (X = 1 to 4) Description Math Y Input X Gain Access...

  • Page 104: Object 5010H: Constant Field Value

    3.4.58 Object 5010h: Constant Field Value This object is provided to allow the user to compare against a fixed value, i.e. in a conditional evaluation for a logic block. The first two values in this object are fixed at FALSE (0) and TRUE (1). There are ten other sub-indexes provide for other unconstrained data.
  • Page 105 Sub-Index Description Constant FV 3 Access PDO Mapping Value Range Float32 Default Value 3.141593 Sub-Index Description Constant FV 4 Access PDO Mapping Value Range Float32 Default Value 2.718282 Sub-Index Description Constant FV 5 Access PDO Mapping Value Range Float32 Default Value 1.414214 Sub-Index Description...
  • Page 106 Sub-Index Description Constant FV 9 Access PDO Mapping Value Range Float32 Default Value 5.00 Sub-Index Description Constant FV 10 Access PDO Mapping Value Range Float32 Default Value 10.00 Sub-Index Description Constant FV 11 Access PDO Mapping Value Range Float32 Default Value 20.00 Sub-Index Description...

  • Page 107: Object 5020H: Power Supply Field Value

    Sub-Index Description Constant FV 15 Access PDO Mapping Value Range Float32 Default Value 100.00 3.4.59 Object 5020h: Power Supply Field Value This read-only object is available for diagnostic feedback purposes. It reflects the measured voltage powering the controller. The physical unit for this object is volts. Object Description Index 5020h...

  • Page 108: Object 5022H: Under Voltage Threshold

    3.4.61 Object 5022h: Under Voltage Threshold This object is used to set the value at which a supply fault will trigger if the measured supply falls below it. If object 5021h is disabled, this value is ignored. For more information, please refer to Section 1.7. Object Description Index 5022h...

  • Page 109: Object 5025H: Enable Power Supply Fault Disables Outputs

    Object Description Index 5024h Name Hysteresis to Clear Supply Fault Object Type VARIABLE Data Type UNSIGNED8 Entry Description Sub-Index Access PDO Mapping 1V…30V Value Range Default Value 3 (V) 3.4.64 Object 5025h: Enable Power Supply Fault Disables Outputs This write-able object is available to enable disable on all the outputs when there are faults on power supply measured in the system.

  • Page 110: Object 5031H: Enable Error Detection On Temperature

    Entry Description Sub-Index Access PDO Mapping Value Range -50 to 150 [DegC] Default Value 3.4.66 Object 5031h: Enable Error Detection on Temperature This write-able object is available to enable faults on temperature measured in the system. When this object is enabled, objects 5032h-5033h are used to determine fault triggers and fault clear thresholds.

  • Page 111: Object 5033H: Hysteresis To Clear Temperature Fault

    3.4.68 Object 5033h: Hysteresis to Clear Temperature Fault This object is used to set the value by which the temperature needs to decrease to clear the fault set by an over temperature event. If object 5031h is disabled, this value is ignored.

  • Page 112: Object 5555H: Start In Operational Mode

    Object Description Index 5550h Name Enable Auto Updates Object Type VARIABLE Data Type UNSIGNED8 Entry Description Sub-Index Access PDO Mapping Value Range 0 (FALSE) or 1 (TRUE) Default Value 1 [TRUE] 3.4.71 Object 5555h: Start in Operational Mode This object allows the unit to start in Operational mode without requiring the presence of a CANopen®...

  • Page 113: Object 5B51H: Change Node Id

    Entry Description Sub-Index Access PDO Mapping 0…8 Value Range Default Value 4 (125k) 3.4.73 Object 5B51h: Change Node ID This object is used to change the node ID of the module. Object Description Index 5B51h Name Change Node ID Object Type VARIABLE Data Type UNSIGNED8...

  • Page 114: Technical Specifications

    This feature can be used for monitoring and debugging purposes. 1 CAN port (CANopen®) User Interface (PC-based) EDS File Download from axiomatic.com log-in page. Contact sales@axiomatic.com for the password. Software Reflashing PC-based Axiomatic Electronic Assistant, AX070502.
  • Page 115 Vibration and Shock Compliance MIL-STD-202G, Test 204D, 214A and 213B 7.68 Grms (Random) 10 g peak (Sine) 50 g (Shock) Protection IP67, PCB is conformal coated and protected by the housing. Packaging and Dimensions High Temperature Nylon housing - Deutsch IPD PCB Enclosure (EEC-325X4B) 4.62 x 5.24 x 1.43 inches 117.42 x 133.09 x 36.36 mm (W x L x H excluding mating plugs) Refer to the dimensional drawing.

  • Page 116: Version History

    5 VERSION HISTORY Version Date Author Modifications March 5th, 2021 Jessica Chen Initial Draft March 15 , 2021 Jessica Chen Added Weight and Response time April 8 , 2021 Jessica Chen Modified Table of Contents May 31st, 2021 Jessica Chen Updated Drawing June 11, 2021 Amanda Wilkins...
  • Page 117 • 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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