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AXIOMATIC UMAX100280 User Manual

48v bldc motor controller with can, sae j1939
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USER MANUAL UMAX100280
USER MANUAL UMAX100280-01
USER MANUAL UMAX100280-02
48V BLDC MOTOR CONTROLLER
with CAN, SAE J1939
USER MANUAL
P/N: AX100280
P/N: AX100280-01 – J1939 500kbits/s Baud Rate
P/N: AX100280-02 – Custom J1939 Baud Rate, 1Mbits/s

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  • Page 1 USER MANUAL UMAX100280 USER MANUAL UMAX100280-01 USER MANUAL UMAX100280-02 48V BLDC MOTOR CONTROLLER with CAN, SAE J1939 USER MANUAL P/N: AX100280 P/N: AX100280-01 – J1939 500kbits/s Baud Rate P/N: AX100280-02 – Custom J1939 Baud Rate, 1Mbits/s...

  • Page 2: Version History

    Jan 19, 2021 Antti Keränen Initial version. 1.0.1 Jan 20, 2021 Antti Keränen TD section and a note concerning the IGNITION pin added. 1.0.2 September 1, 2023 Kiril Mojsov Performed Legacy Updates UMAX100280 Version 1.0.2 Documentation May be Subject to Change...
  • Page 3 Universal input used to measure voltage, current, frequency or digital inputs Voltage Power Supply (a.k.a. BATT+) Percent Duty Cycle (Measured from a PWM input) Note: An Axiomatic Electronic Assistant KIT may be ordered as P/N: AX070502, or AX070506K UMAX100280 Version 1.0.2 Documentation May be Subject to Change...

  • Page 4: Table Of Contents

    3.1. Introduction to Supported Messages ....................... 23 3.2. NAME, Address and Software ID ........................24 ECU SETPOINTS ACCESSED WITH THE AXIOMATIC ELECTRONIC ASSISTANT ......... 26 4.1. Accessing the ECU Using the Axiomatic EA ....................26 4.2. J1939 Network Parameters ..........................27 4.3.
  • Page 5 Table 22 – PID Control Setpoints ............................ 36 Table 23 – CAN Transmit Message Setpoints ........................ 38 Table 24 – CAN Receive Setpoints ..........................39 Table 25 – Diagnostic Block Setpoints ..........................41 UMAX100280 Version 1.0.2 Documentation May be Subject to Change...
  • Page 6 Figure 15 - Screen Capture of CAN Transmit Message Setpoints ................. 37 Figure 16 - Screen Capture of CAN Receive Message Setpoints .................. 39 Figure 17 - Screen Capture of Diagnostic Block Setpoints ..................... 40 UMAX100280 Version 1.0.2 Documentation May be Subject to Change...
  • Page 7 Technologies, 2023 This document assumes the reader is familiar with the SAE J1939 standard. Terminology from the standard is used, but not described in this document. NOTE: This product is supported by Axiomatic Electronic Assistant V5.xx.yy.0 and higher. UMAX100280 Version 1.0.2...

  • Page 8: Overview Of Controller

    SAE J1939 CAN Network as is or used in the BLDC controller function blocks for controlling how the BLDC motor is driven. The Windows-based Axiomatic Electronic Assistant (EA) is used to configure the controller via an USB-CAN (AX070501) device. Configurable properties, Axiomatic EA setpoints, are outlined in chapter 4.

  • Page 9: Bldc Motor Control Functionality

    The 48V BLDC Controller can drive brushless DC motors equipped with Hall sensors. Also, sensorless motor control using Back-EMF rotor position detection is supported. There are multiple setpoints accessible with the Axiomatic EA that allow the user to configure the 48V BLDC controller to drive a variety of different BLDC motors.
  • Page 10 Hall A signal instead of measuring it using the back emf. If this style of RPM measurement is required, the “RPM pickup style” setpoint in Motor Parameters should be set to 1 – Use Hall A. UMAX100280 Version 1.0.2 Documentation May be Subject to Change...

  • Page 11: Input Function Blocks

    Table 3. By default pull-down resistors are enabled for all inputs. 0 Pullup/down Off 1 10 kΩ Pullup 2 10 kΩ Pulldown Table 3 – Pullup/Pulldown Resistor Options UMAX100280 Version 1.0.2 Documentation May be Subject to Change 11 - 49...
  • Page 12 “Quadrature Decoder Scaler” defines the number of steps to add / subtract on every detected edge. The “Quadrature Decoder pulses per revolution” affects the reported Quadrature Decoder speed value. UMAX100280 Version 1.0.2 Documentation May be Subject to Change 12 - 49...

  • Page 13: Input Filtering

    Profile” will use the selected inputs as per the options listed in Table 7. When active, the PID algorithm will be called every “PID Loop Update Rate” in milliseconds. UMAX100280 Version 1.0.2 Documentation May be Subject to Change 13 - 49...
  • Page 14 Error in the formula below will be set to zero. The PID algorithm used is shown below, where G, Ki, Ti, Kd, Loop_Update_Rate configurable parameters. UMAX100280 Version 1.0.2 Documentation May be Subject to Change 14 - 49...
  • Page 15 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. UMAX100280 Version 1.0.2...

  • Page 16: Diagnostic Function Blocks

    If a previously inactive DTC becomes active, a DM1 will be sent immediately to reflect this. As soon as the last active DTC goes inactive, a DM1 indicating that there are no more active DTCs will be sent. UMAX100280 Version 1.0.2 Documentation May be Subject to Change 16 - 49...
  • Page 17 It is user’s responsibility to select SPN that will not violate J1939 standard. When the “SPN for Event” is changed, the OC of the associated error log is automatically reset to zero. UMAX100280 Version 1.0.2 Documentation May be Subject to Change 17 - 49...
  • Page 18 Operating Level – Moderately Severe Level Operating Range – Moderately Severe Level FMI=21, Data Drifted Low FMI=20, Data Drifted High Table 10 – Low Fault FMIs and corresponding High Fault FMIs UMAX100280 Version 1.0.2 Documentation May be Subject to Change 18 - 49...

  • Page 19: Can Transmit Message Function Block

    “Transmit Data Offset” setpoint determines the value that is subtracted from the signal data before it is scaled. Offset and Resolution are interpreted in units of the selected source signal. UMAX100280 Version 1.0.2 Documentation May be Subject to Change 19 - 49...

  • Page 20: Can Receive Function Block

    UMAX100280 Version 1.0.2 Documentation May be Subject to Change 20 - 49...
  • Page 21 Table 11 – Available Control Sources and Numbers Control Constant Data has no unit nor minimum and maximum assigned to it, therefore user has to assign appropriate constant values according to intended use. UMAX100280 Version 1.0.2 Documentation May be Subject to Change 21 - 49...

  • Page 22: Installation Instructions

    Motor PWM (Phase A) Universal Input 2 Motor PWM (Phase B) Analog GND Motor PWM (Phase C) Universal Input 1 CAN_L +5V Reference Table 12 – AX100280 Connector Pinout UMAX100280 Version 1.0.2 Documentation May be Subject to Change 22 - 49...

  • Page 23: Overview Of J1939 Features

    Setpoints are accessed using standard Memory Access Protocol (MAP) with proprietary addresses. The Axiomatic Electronic Assistant (EA) allows for quick and easy configuration of the unit over CAN network. UMAX100280 Version 1.0.2...

  • Page 24: Name, Address And Software Id

    The default value of the “ECU Address” setpoint is 128 (0x80), which is the preferred starting address for self-configurable ECUs as set by the SAE in J1939 tables B3 and B7. The Axiomatic EA supports the selection of any address between 0 and 253. It is user’s responsibility to select an address that complies with the standard.
  • Page 25 Byte 1 is set to 5, and the identification fields are as follows. (Part Number)*(Version)*(Date)*(Owner)*(Description) The Axiomatic EA shows all this information in “General ECU Information”, as shown below. Note: The information provided in the Software ID is available for any J1939 service tool which supports the PGN -SOFT.

  • Page 26: Ecu Setpoints Accessed With The Axiomatic Electronic Assistant

    The setpoints are divided into setpoint groups as they are shown in the Axiomatic EA. For more information on how each setpoint is used by the 48V BLDC Controller, refer to the relevant section in this user manual.

  • Page 27: J1939 Network Parameters

    NAME. If these setpoints are changing, it is recommended to close and re-open the CAN connection on the Axiomatic EA after the file is loaded so that only the new NAME and address appear in the J1939 CAN Network ECU list.

  • Page 28: Universal Input Setpoints

    Active High/Active Low Drop List Active High See Table 4 Software Filter Type Drop List No Filtering See Table 6 Software Filter Constant 1...1000 Table 14 – Universal Input Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 28 - 49...

  • Page 29: Quadrature Decoder Setpoints

    Notes Quadrature decoder scaler UINT32 1.000 Quadrature decoder direction Drop List Quadrature decoder offset Drop List Quadrature decoder pulses per UINT32 revolution Table 15 – Quadrature Decoder Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 29 - 49...

  • Page 30: Motor Parameter Setpoints

    Over temperature limit Celsius Protect action Drop List 1 – Derate Protect action parameter 0 … 60000 Max current derate slope coefficient Table 16 – Motor Parameter Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 30 - 49...

  • Page 31: Drive Control Setpoints

    Table 17 – Drive Control Setpoints SPN 7991 data Function Drive disabled Drive enabled, normal direction Drive enabled, reverse direction Reserved Table 18 – SPN 7991 style Enable+Direction command UMAX100280 Version 1.0.2 Documentation May be Subject to Change 31 - 49...

  • Page 32: Speed Controller Setpoints

    Open loop control Open loop gain 0 … 100.0 Closed loop P gain 0.0 ... 100.0 Closed loop I gain 0.0 ... 100.0 Table 19 – Speed Controller Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 32 - 49...

  • Page 33: Current Controller Setpoints

    No current control Closed loop current threshold 0.0 … 8.0 Closed loop P gain 0.0 ... 100.0 Closed loop I gain 0.0 ... 100.0 Table 20 – Current Controller Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 33 - 49...

  • Page 34: Speed Acceleration Control Setpoints

    Initial startup ramp step length 0…32767 ISR ticks Final startup ramp step length 0…32767 ISR ticks Startup ramp acceleration 0…32767 ISR ticks Table 21 – Speed Acceleration Control Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 34 - 49...

  • Page 35: Constant Data List

    (shown in Figure 13) are arbitrary and should be configured by the user as appropriate for their application. Figure 13 - Screen Capture of Constant Data List Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 35 - 49...
  • Page 36 0 to 10 1.00 0 disables integral, PD ctrl PID Derivative Coeffecient, Kd 0 to 10 1.00 0 disables derivative, PI ctrl Table 22 – PID Control Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 36 - 49...

  • Page 37: Can Transmit Setpoints

    Please refer to section 1.6 for detailed information how these setpoints are used. “Transmit Repetition Rate” is 0ms by default, thus no message will be sent. Figure 15 - Screen Capture of CAN Transmit Message Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 37 - 49...
  • Page 38 -10000 to 10000 Signal 4 Transmit Data Minimum -100000.0 to 100000 Signal 4 Transmit Data Maximum -100000.0 to 100000 Different for each Table 23 – CAN Transmit Message Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 38 - 49...

  • Page 39: Can Receive Setpoints

    Received Data Offset -10000 to 10000 Received Data Min (OFF Threshold) -1000000 to Max Received Data Max (ON Threshold) -100000 to 100000 Table 24 – CAN Receive Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 39 - 49...

  • Page 40: Diagnostics Blocks

    Controller. The Diagnostic Function Block is defined in section 0. Please refer there for detailed information how these setpoints are used. Figure 17 - Screen Capture of Diagnostic Block Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 40 - 49...
  • Page 41 Low Threshold, FMI for Event Drop List 4, Voltage Below Normal See Table 9 Low Threshold, Delay Before 0...60000 ms 1000 Event is Flagged Table 25 – Diagnostic Block Setpoints UMAX100280 Version 1.0.2 Documentation May be Subject to Change 41 - 49...

  • Page 42: Reflashing Over Can With The Axiomatic Ea Bootloader

    This section details the simple step-by-step instructions to upload new firmware provided by Axiomatic onto the unit via CAN, without requiring it to be disconnected from the J1939 network. Note: To upgrade the firmware use Axiomatic Electronic Assistant V5.xx.yy.0 or higher.
  • Page 43 ECU would show up as the bootloader. Once the ‘active’ bootloader returns to regular functionality, the other ECU(s) would have to be power cycled to re-activate the bootloader feature. UMAX100280 Version 1.0.2 Documentation May be Subject to Change...
  • Page 44 [Name]” if you so desire. This is not required, and you can leave the field blank if you do not want to use it. Note: You do not have to date/timestamp the file, as this is done automatically by the Axiomatic EA tool when you upload the new firmware.
  • Page 45 If you select to reset the ECU, the new version of the AX100280 application will start running, and the ECU will be identified as such by the Axiomatic EA. Otherwise, the next time the ECU is power-cycled, the AX100280 application will run rather than the bootloader function.
  • Page 46 Rather, when the ECU is reset or power-cycled the J1939 Bootloader will continue to be the default application until valid firmware has been successfully uploaded into the unit. UMAX100280 Version 1.0.2 Documentation May be Subject to Change 46 - 49...

  • Page 47: Appendix A - Technical Specification

    Users should satisfy themselves that the product is suitable for use in the intended application. All our products carry a limited warranty against defects in material and workmanship. Please refer to our Warranty, Application Approvals/Limitations and Return Materials Process as described on www.axiomatic.com/service.html. Input Specifications Power Supply Input - Nominal 12, 24 or 48Vdc nominal (9…65Vdc)
  • Page 48 The Axiomatic Electronic Assistant requires an USB-CAN converter to link the device’s CAN port to a Windows-based PC for initial configuration. Order the Axiomatic EA and Axiomatic USB-CAN as a kit (P/Ns: AX070502 or AX070506K), which includes all interconnecting cables. Refer to Figure 2.
  • Page 49 All field wiring should be suitable for the operating temperature range. Notes: CANopen® is a registered community trademark of CAN in Automation e.V. UMAX100280 Version 1.0.2 Documentation May be Subject to Change...

  • Page 50: Our Products

    Any inquiries should be sent to sales@axiomatic.com. Fan Drive Controllers SAFE USE Gateways, CAN/Modbus, RS-232 All products should be serviced by Axiomatic. Do not open the product and perform the service yourself. Gyroscopes, Inclinometers This product can expose you to chemicals which are known in the Hydraulic Valve Controllers State of California, USA to cause cancer and reproductive harm.

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Umax100280-01Umax100280-02

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