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AXIOMATIC AX100240 User Manual

50w bldc motor controller with can, sae j1939
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USER MANUAL UMAX100240
USER MANUAL UMAX100240-01
USER MANUAL UMAX100240-02
50W BLDC MOTOR CONTROLLER
with CAN, SAE J1939
USER MANUAL
P/N: AX100240
P/N: AX100240-01 – J1939 500kbits/s Baud Rate
P/N: AX100240-02 – Custom J1939 Baud Rate, 1Mbits/s

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  • Page 1 USER MANUAL UMAX100240 USER MANUAL UMAX100240-01 USER MANUAL UMAX100240-02 50W BLDC MOTOR CONTROLLER with CAN, SAE J1939 USER MANUAL P/N: AX100240 P/N: AX100240-01 – J1939 500kbits/s Baud Rate P/N: AX100240-02 – Custom J1939 Baud Rate, 1Mbits/s...

  • Page 2: Version History

    VERSION HISTORY Version Date Author Modification 1.0.0. Dec 9, 2021 Antti Keränen Initial version. 1.0.1 August 31, 2023 Kiril Mojsov Performed Legacy Updates UMAX100240 Version 1.0.1 Documentation May be Subject to Change...
  • Page 3 Suspect Parameter Number (from SAE J1939 standard) Transport Protocol 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 UMAX100240 Version 1.0.1 Documentation May be Subject to Change...

  • Page 4: Table Of Contents

    3.1. Introduction to Supported Messages ....................... 15 3.2. NAME, Address and Software ID ........................16 ECU SETPOINTS ACCESSED WITH THE AXIOMATIC ELECTRONIC ASSISTANT ......... 18 4.1. Accessing the ECU Using the Axiomatic EA ....................18 4.2. J1939 Network Parameters ..........................19 4.3.
  • Page 5 Table 2 – Available Control Sources and Numbers ......................13 Table 3 – Data available in Additional Data Control Source ................... 13 Table 4 – AX100240 Connector Pinout ........................... 14 Table 5 – J1939 Network Setpoints..........................19 Table 6 – Motor Parameter Setpoints..........................20 Table 7 –...
  • Page 6 Figure 1 – AX100240 Block Diagram ..........................8 Figure 2 - Sensorless drive startup steps ........................10 Figure 3 – AX100240 Dimensional Drawing ........................14 Figure 4 - Screen Capture of J1939 Setpoints ........................ 19 Figure 5 - Screen Capture of Motor Parameter Setpoints ....................20 Figure 6 - Screen Capture of Drive Control Setpoints .....................
  • Page 7 Axiomatic Technologies, August 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. UMAX100240 Version 1.0.1...

  • Page 8: Overview Of Controller

    1. OVERVIEW OF CONTROLLER Figure 1 – AX100240 Block Diagram The AX100240 BLDC / DC motor controller implements the 6 step sensorless BLDC commutation algorithm and also supports driving of a brushed DC motor. The Windows-based Axiomatic Electronic Assistant (EA) is used to configure the controller via a USB-CAN device (P/N: AX070501).

  • Page 9: Motor Control Functionality

    The 50W BLDC controller is capable of driving brushless DC motor using Back-EMF rotor position detection. As a configuration option, also brushed DC motor control is supported. There are multiple setpoints accessible with the Axiomatic EA that allow the user to configure the 50W BLDC controller to drive a variety of different BLDC motors.
  • Page 10 motor in question, the user has to tune the startup parameters in “Speed Acceleration Control” setpoint group (see section 4.7). 2. Normal 1. Ramp-Up Operation Figure 2 – Sensorless drive startup steps The sensorless startup is carried out in two steps, namely: 1.

  • Page 11: Can Transmit Message Function Block

    The CAN Transmit function block is used to send any output from another function block (i.e. measured motor data, CAN receive) to the J1939 network. The AX100240 ECU has two CAN Transmit Messages, and each message has four completely user defined signals.

  • Page 12: Can Receive Function Block

    1.3. CAN Receive Function Block The CAN Receive function block is designed to take any SPN from the J1939 network, and use it as an input to another function block (i.e. Motor drive). The “Receive Message Enabled” is the most important setpoint associated with this function block and it should be selected first.
  • Page 13 Sources Number Range Notes 0: Control Not Used When this is selected, it disables all other setpoints associated with the signal in question. 1: Received CAN Message 1 to 4 2: Control Constant Data 1 to 8 1 = FALSE, 2 = TRUE, 3 to 8 = User Selectable 3: Motor RPM Value Measured RPM reading.

  • Page 14: Installation Instructions

    2. INSTALLATION INSTRUCTIONS 2.1. Dimensions and Pinout Figure 3 – AX100240 Dimensional Drawing Connector PIN # Function Motor PWM (Phase C) Motor PWM (Phase B) Motor PWM (Phase A) CAN H CAN L Ignition Battery - Battery + Table 4 – AX100240 Connector Pinout UMAX100240 Version 1.0.1...

  • Page 15: 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. UMAX100240 Version 1.0.1...

  • Page 16: 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 17 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 18: 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 BLDC Controller, refer to the relevant section in this user manual.

  • Page 19: 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 20: Motor Parameter Setpoints

    4.3. Motor Parameter Setpoints The detailed description of Motor Parameters, please refer to section 0. Figure 5 - Screen Capture of Motor Parameter Setpoints Name Range Default Notes Motor Type Drop List 0 – BLDC 0 – BLDC, 1 – DC Number of pole pairs 0…255 Rated motor RPM...

  • Page 21: Drive Control Setpoints

    4.4. Drive Control Setpoints The Drive Control Setpoints let the user to specify which control signals are responsible for the motor driving. In case SPN 7991 style direction+enable signal needs to be used, the ‘Direction Control Source’ setpoint should be set to ‘Control not Used’. This forces the controller to read in the direction control signal together with enable signal.

  • Page 22: Speed Controller Setpoints

    4.5. Speed Controller Setpoints These setpoints configure the Open and Closed Loop speed control. The closed loop PI controller gains depend on the application in question, and it is on the user’s responsibility to find out the correct gains. The closed loop PI controller is executed at 10ms intervals. Figure 7 - Screen Capture of Speed Controller Setpoints Name Range...

  • Page 23: Current Controller Setpoints

    4.6. Current Controller Setpoints These setpoints configure the Open and Closed Loop current control. The closed loop PI controller gains depend on the application in question, and it is on the user’s responsibility to find out the correct gains. The closed loop PI controller is executed at 10ms intervals. The closed loop current control is applied only when the measured motor current exceeds the “Closed loop current threshold”...

  • Page 24: Speed Acceleration Control Setpoints

    4.7. Speed Acceleration Control Setpoints For detailed description of Speed Acceleration Control, please refer to section 1.1.1 Figure 9 - Screen Capture of Speed Acceleration Control Setpoints Name Range Default Notes Speed ramp up time 0…60000 1000 milliseconds Speed ramp down time 0…60000 1000 milliseconds...

  • Page 25: Constant Data List

    4.8. Constant Data List The Constant Data List Function Block is provided to allow the user to select values as desired for various logic block functions. The first two constants are fixed values of 0 (False) and 1 (True) for use in binary logic. The remaining 6 constants are fully user programmable to any value between +/- 1 000 000.

  • Page 26: Can Transmit Setpoints

    4.9. CAN Transmit Setpoints Please refer to section 0 for detailed information how these setpoints are used. Figure 11 - Screen Capture of CAN Transmit Message Setpoints UMAX100240 Version 1.0.1 Documentation May be Subject to Change 26 - 35...
  • Page 27 Name Range Default Notes Transmit PGN 0xff00 … 0xffff Different for each Transmit Repetition Rate 0 … 65000 ms 0ms disables transmit Transmit Message Priority 0...7 Destination Address 0...255 Not used by default Signal 1 Data Source Drop List Different for each See Table 2 Signal 1 Data Number Drop List...

  • Page 28: Can Receive Setpoints

    4.10. CAN Receive Setpoints Please refer to section 1.3 for detailed information about how these setpoints are used. Figure 12 - Screen Capture of CAN Receive Message Setpoints Name Range Default Notes Received Message Enabled Drop List False Received PGN 0 to 65536 Different for each Received Message Timeout...

  • Page 29: 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 30 3. When the prompt box asks if you want to reset the ECU, select Yes. 4. Upon reset, the ECU will no longer show up on the J1939 network as an AX100240 but rather as J1939 Bootloader #1. Note that the bootloader is NOT Arbitrary Address Capable. This means that if you want to have multiple bootloaders running simultaneously (not recommended) you would have to manually change the address for each one before activating the next, or there will be address conflicts.
  • Page 31 5. When the Bootloader Information section is selected, the same information is shown as when it was running the AX100240 firmware, but in this case the Flashing feature has been enabled. 6. Select the Flashing button and navigate to where you had saved the AF-20003-x.xx.bin file sent from Axiomatic.
  • Page 32 If this box is left unchecked, the firmware upload will FAIL. When proceeding to flashing with the “Erase All ECU Flash Memory” option checked, the Axiomatic EA will warn the user about erasing all setpoint data.
  • Page 33 Once the firmware has finished uploading, a message will pop up indicating the successful operation. If you select to reset the ECU, the new version of the AX100240 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 AX100240 application will run rather than the bootloader function.

  • Page 34: Appendix A - Technical Specification

    Refer to the user manual. Quiescent Current Contact Axiomatic. User Interface Via the Axiomatic Electronic Assistant, P/Ns: AX070502 or AX070506K The controller software can be reflashed over the CAN connection using the Flashing over CAN Axiomatic EA. 1 CAN port (SAE J1939)
  • Page 35 A mating plug kit is available. Ordering P/N: AX070112 is comprised of 1 DT06- 08SA, 1 W8S, 8 0462-201-16141, and 3 114017. PIN # FUNCTION BATT+ BATT- IGNITION CAN_L CAN_H MOTOR_A MOTOR_B MOTOR_C Mounting holes are sized for #8 or M4 bolts. The bolt length will be determined by the end-user’s mounting plate thickness.

  • Page 36: 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.

This manual is also suitable for:

Ax100240-01Ax100240-02

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