AX031701 Single Universal Input Controller
“
Product Information
Specifications
- Product Name: Single Universal Input Controller
- Model Number: UMAX031701
- Part Number: AX031701
- Communication Protocol: CANopen
- Input Compatibility: Analog sensors for voltage, current,
frequency/RPM, PWM, and digital signals - Control Algorithms: Proportional-Integral-Derivative Control
(PID)
Product Usage Instructions
1. Installation Instructions
2.1 Dimensions and Pinout
Refer to the user manual for detailed dimensions and pinout
information.
2.2 Installation Instructions
Follow the installation instructions provided in the user manual
to set up the Single Universal Input Controller correctly.
2. Digital Input Function Block
The digital input function block is activated when object 6112h,
AI Operation, is set to digital input response.
When 6112h is set to 10 = Digital Input, object 2020h DI
Pullup/Down Mode determines if the input signal is active high or
active low.
Object 2021h DI Debounce Time is applied to the input before the
state is read by the processor, with a default debounce time of
10ms.
Refer to Table 1 for DI Pullup/Down Options:
| Value | Meaning |
|---|---|
| 0 | Pullup/Down Disabled (high impedance input) |
| 1 | 10k Pullup Resistor Enabled |
| 2 | 10k Pulldown Resistor Enabled |
Figure 3 shows the hysteresis on the input when switching a
discrete signal. A digital input can be switched up to +Vcc
(48Vmax).
FAQ
Q: Where can I find additional references for this
product?
A: Additional references for this product are available from the
CAN in Automation e.V. website at http://www.can-cia.org/.
“`
USER MANUAL UMAX031701 Version 1
SINGLE UNIVERSAL INPUT CONTROLLER
With CANopen®
USER MANUAL
P/N: AX031701
ACRONYMS AI CAN CANopen®
Analog Input (Universal) Controller Area Network CANopen® is a registered community trademark of CAN in Automation e.V.
CAN-ID
CAN 11-bit Identifier
COB
Communication Object
CTRL
Control
DI
Digital Input
EDS
Electronic Data Sheet
EMCY
Emergency
LSB
Least Significant Byte (or Bit)
LSS
Layer Settling Service
MSB
Most Significant Byte (or Bit)
NMT
Network Management
PID
Proportional-Integral-Derivative Control
RO
Read Only Object
RPDO
Received Process Data Object
RW
Read/Write Object
SDO
Service Data Object
TPDO
Transmitted Process Data Object
WO
Write Only Object
REFERENCES
[DS-301]CiA DS-301 V4.1 CANopen Application Layer and Communication Profile. CAN in Automation 2005
[DS-305]CiA DS-305 V2.0 Layer Setting Service (LSS) and Protocols. CAN in Automation 2006
[DS-404]CiA DS-404 V1.2 CANopen profile for Measurement Devices and Closed Loop Controllers. CAN in Automation 2002
These documents are available from the CAN in Automation e.V. website http://www.can-cia.org/.
UMAX031701, Single Input to CANopen Controller V1
ii
TABLE OF CONTENTS
1. OVERVIEW OF CONTROLLER ………………………………………………………………………………….1 1.1. Description of Single Universal Input Controller …………………………………………………….1 1.2. Digital Input Function Block………………………………………………………………………………2 1.3. Analog Input Function Block ……………………………………………………………………………..5 1.4. Lookup Table Function Block …………………………………………………………………………..10 1.5. Programmable Logic Function Block………………………………………………………………….16 1.6. Miscellaneous Function Block…………………………………………………………………………..23
2. INSTALLATION INSTRUCTIONS …………………………………………………………………………….25 2.1. Dimensions and Pinout…………………………………………………………………………………..25 2.2. Installation Instructions………………………………………………………………………………….26
3. CANOPEN ® OBJECT DICTIONARY ………………………………………………………………………..28 3.1. NODE ID and BAUDRATE ……………………………………………………………………………….28 3.2. COMMUNICATION OBJECTS (DS-301 and DS-404) ………………………………………………32 3.3. APPLICATION OBJECTS (DS-404) …………………………………………………………………….50 3.4. MANUFACTURER OBJECTS ……………………………………………………………………………..59
4. TECHNICAL SPECIFICATIONS ……………………………………………………………………………….84 4.1. Power Supply ………………………………………………………………………………………………84 4.2. Inputs………………………………………………………………………………………………………..84 4.3. Communication ……………………………………………………………………………………………84 4.4. General Specifications ……………………………………………………………………………………84
5. VERSION HISTORY……………………………………………………………………………………………..85
UMAX031701, Single Input to CANopen Controller V1
iii
1. OVERVIEW OF CONTROLLER
1.1. Description of Single Universal Input Controller
The following User Manual describes the architecture and functionality a single universal input CANopen ® controller.
The Single Input Controller (1IN-CAN) is designed for continuous measurements of analog sensors and broadcast information onto a CANopen network bus. Its flexible circuit design allows it to measure different types of signals, including voltage, current, frequency/RPM, PWM and digital signals. The firmware control algorithms allow the ability of performing data decisions before broadcasting onto the CANopen network without the need for custom software.
The various function blocks supported by the 1IN-CAN are outlined in the following sections. All objects are user-configurable using standard commercially available tools that can interact with a CANopen ® Object Dictionary via an .EDS file.
UMAX031701, Single Input to CANopen Controller V1
A-1
1.2. Digital Input Function Block
The digital input (DI) function block only becomes applicable on the input when object 6112h, AI Operation, is set to a digital input response.
Figure 2 Digital Input Objects
When 6112h is set to 10 = Digital Input, object 2020h DI Pullup/Down Mode will determine if the input signal is active high (10k pulldown enabled, switch to +V) or active low (10k pullup enabled, switched to GND) The options for object 2020h are shown in Table 1, with the default bolded.
Value 0 1 2
Meaning Pullup/Down Disabled (high impedance input) 10k Pullup Resistor Enabled 10k Pulldown Resistor Enabled
Table 1: DI Pullup/Down Options
Figure 3 shows the hysteresis on the input when switching a discrete signal. A digital input can be switched up to +Vcc (48Vmax.)
UMAX031701, Single Input to CANopen Controller V1
A-2
Inpu Voltage (V) Digital Signal
Input Voltage (V) Digital Signal
Discrete Input Active High Hysteresis
Discrete Input Active Low Hysteresis
5
1
5
1
4.5
0.9
4.5
0.9
4
0.8
4
0.8
3.5
0.7
3.5
0.7
3
0.6
3
0.6
2.5
0.5
2.5
0.5
2
0.4
2
0.4
1.5
0.3
1.5
0.3
1
0.2
1
0.2
0.5
0.1
0.5
0.1
0
0
0
0
Input Voltage Digital Hi/Lo
Input Voltage (V) Digital Hi/Lo
Figure 3 Discrete Input Hysteresis
UMAX031701, Single Input to CANopen Controller V1
A-3
Object 2021h DI Debounce Time is applied to the input before the state is read by the processor. By default, the debounce time is 10ms.
Figure 4 Digital Input Debouncing
Once the raw state has been evaluated, the logical state of the input is determined by object 6030h DI Polarity. The options for object 6030h are shown in Table 3. The `calculated’ state of the DI that will be written to read-only object 6020h DI Read State will be a combination of active high/low and the polarity selected. By default, normal on/off logic is used.
Value Meaning 0 Normal On/Off 1 Inverse On/Off 2 Latched Logic
Active High
Active Low
State
HIGH
LOW
ON
LOW or Open HIGH or Open
OFF
HIGH
LOW
OFF
LOW or Open HIGH or Open
ON
HIGH to LOW LOW to HIGH
No Change
LOW to HIGH HIGH to LOW State Change (i.e. OFF to ON)
Table 2: DI Polarity Options versus DI State
UMAX031701, Single Input to CANopen Controller V1
A-4
There is another type of `digital’ input that can be selected when 6112h is set to 20 = Analog On/Off. However, in this case, the input is still configured as an analog input, and therefore the objects from the Analog Input (AI) block are applied instead of those discussed above. Here, objects 2020h, 2030h and 6030h are ignored, and 6020h is written as per the logic shown in Figure 5. In this case, the MIN parameter is set by object 7120h AI Scaling 1 FV, and the MAX is set by 7122h AI Scaling 2 FV. For all other operating modes, object 6020h will always be zero.
Figure 5 Analog Input Read as Digital 1.3. Analog Input Function Block The analog input (AI) function block is the default logic associate with the universal input.
UMAX031701, Single Input to CANopen Controller V1
A-5
Figure 6 Analog Input Objects
Object 6112h, AI Operating Mode determines whether the AI or DI function block is associated with input. The options for object 6112h are shown in Table 4. No values other than what are shown here will be accepted.
Value Meaning 0 Channel Off 1 Normal Operation (analog) 10 Digital Input (on/off) 20 Analog and On/Off
Table 3: AI Operating Mode Options
The most important object associate with the AI function block is object 6110h AI Sensor Type. By changing this value, and associated with it object 2100h AI Input Range, other objects will be automatically updated by the controller. The options for object 6110h are shown in Table 5, and no values other than what are shown here will be accepted. The input is setup to measure voltage by default.
Value Meaning 40 Voltage Input 50 Current Input 60 Frequency Input (or RPM)
10000 PWM Input 10010 Counter
Table 4: AI Sensor Type Options
The allowable ranges will depend on the input sensor type selected. Table 6 shows the relationship between the sensor type, and the associated range options. The default value for each range is bolded, and object 2100h will automatically be updated with this value when 6110h is changed. Grayed out cells mean that the associate value is not allowed for the range object when that sensor type has been selected.
UMAX031701, Single Input to CANopen Controller V1
A-6
Value 0 1 2
Voltage 0 to 5V 0 to 10V
Current 0 to 20mA 4 to 20mA
Frequency
PWM
0.5Hz to 20kHz 0.5Hz to 20kHz
Table 5: AI Input Range Options Depending on Sensor Type
Counter Pulse Count Time Window Pulse Window
Not all objects apply to all input types. For example, object 2103h AI Filter Frequency for ADC is only applicable with a voltage, current or resistive input is being measured. In these cases, the ADC will automatically filter as per Table 7, and is set for 50Hz noise rejection by default.
Value Meaning 0 Input Filter Off 1 Filter 50Hz 2 Filter 60Hz 3 Filter 50Hz and 60Hz
Table 6: ADC Filter Frequency Options
Conversely, frequency and PWM inputs use object 2020h DI Pullup/Down Mode (see Table 1) while voltage, current and resistive inputs set this object to zero. Also, a frequency input can be automatically turned into an RPM measurement instead simply by setting object 2101h AI Number of Pulses Per Revolution to a non-zero value. All other input types ignore this object.
With Frequency/RPM and PWM input types, AI Debounce Time, object 2030h can be applied. The options for object 2030h are shown in Table 2, with the default bolded.
Value Meaning 0 Filter Disabled 1 Filter 111ns 2 Filter 1.78 us 3 Filter 14.22 us
Table 7: AI Debounce Filter Options
Irregardless of type, however, all analog inputs can be further filtered once the raw data has been measured (either from ADC or Timer.) Object 61A0h AI Filter Type determines what kind of filter is used per Table 8. By default, additional software filtering is disabled.
Value Meaning 0 No Filter 1 Moving Average 2 Repeating Average
Table 8: AI Filter Type Options
Object 61A1h AI Filter Constant is used with all three types of filters as per the formulas below:
Calculation with no filter: Value = Input The data is simply a `snapshot’ of the latest value measured by the ADC or timer.
UMAX031701, Single Input to CANopen Controller V1
A-7
Calculation with the moving average filter: (Input ValueN-1)
ValueN = ValueN-1 + FilterConstant
This filter is called every 1ms. The value FilterConstant stored in object 61A1h is 10 by default.
Calculation with the repeating average filter:
InputN
Value = N
At every reading of the input value, it is added to the sum. At every Nth read, the sum is divided by N, and the result is the new input value. The value and counter will be set to zero for the next read. The value of N is stored in object 61A1h, and is 10 by default. This filter is called every 1ms.
The value from the filter is shifted according to read-only object 2102h AI Decimal Digits FV and then written to read-only object 7100h AI Input Field Value.
The value of 2102h will depend on the AI Sensor Type and Input Range selected, and will be automatically updated per Table 9 when either 6110h or 2100h are changed. All other objects associated with the input field value also apply this object. These objects are 7120h AI Scaling 1 FV, 7122h AI Scaling 2 FV, 7148h AI Span Start, 7149h AI Span End, and 2111h AI Error Clear Hysteresis. These objects are also automatically updated when the Type or Range is changed.
Sensor Type and Range
Decimal
Digits
Voltage: All Ranges
3 [mV]
Current: All Ranges
3 [uA]
Frequency: 0.5Hz to 20kHz 0 [Hz]
Frequency: RPM Mode
1 [0.1 RPM]
PWM: All Ranges
1 [0.1 %]
Digital Input
0 [On/Off]
Counter: Pulse Count
0 [pulses]
Counter: Time/Pulse Window 3 [ms]
Table 9: AI Decimal Digits FV Depending on Sensor Type
It is the AI Input FV which is used by the application for error detection, and as a control signal for other logic blocks (i.e. output control.) Object 7100h is mappable to a TPDO, and is mapped to TPDO1 by default.
Read-only object 7130h AI Input Process Value is also mappable. However, the default values for objects 7121h AI Scaling 1 PV and 7123h AI Scaling 2 PV are set to equal 7120h and 7122h respectively, while object 6132h AI Decimal Digits PV is automatically initialize to equal 2102h. This means that the default relationship between the FV and PV is one-to-one, so object 7130h is not mapped to a TPDO by default.
Should a different linear relationship between what is measured versus what is sent to the CANopen bus be desired, objects 6132h, 7121h and 7123h can be changed. The linear
UMAX031701, Single Input to CANopen Controller V1
A-8
relationship profile is shown in Figure 7 below. Should a non-linear response be desired, the lookup table function block can be used instead, as described in section 1.7.
Figure 7 Analog Input Linear Scaling FV to PV As stated earlier, the FV scaling objects are automatically updated with the Sensor Type or Range changes. This is because objects 7120h and 7122h are not only used in a linear conversion from FV to PV as described above, but also as the minimum and maximum limits when the input is used to control another logic block. Therefore, the values in these objects are important, even when the AI Input PV object is not being used.
The AI Span Start and AI Span End objects are used for fault detection, so they too are automatically updated for sensible values as the Type/Range changes. The Error Clear Hysteresis object is also updated, as it too is measured in the same unit as the AI Input FV object.
Table 10 lists the default values that are loaded into objects 7120h, 7122h, 7148h, 7149h, and 2111h for each Sensor Type and Input Range combination. Recall that these objects all have the decimal digits applied to them as outlined in Table 9.
Sensor Type/ Input Range
Voltage: 0 to 5V Voltage: 0 to 10V Current: 0 to 20mA Current: 4 to 20mA Freq: 0.5Hz to 20kHz Freq: RPM Mode PWM: 0 to 100% Digital Input Counter Input
7148h
7120h
7122h
7149h
AI Span Start AI Scaling 1 FV AI Scaling 2 FV AI Span End
(i.e. Error Min) (i.e. Input Min) (i.e. Input Max) (i.e. Error Max)
200 [mV]
500 [mV]
4500 [mV]
4800 [mV]
200 [mV]
500 [mV]
9500 [mV]
9800 [mV]
0 [uA]
0 [uA]
20000 [uA]
20000 [uA]
1000 [uA]
4000 [uA]
20000 [uA]
21000 [uA]
100 [Hz]
150 [Hz]
2400 [Hz]
2500 Hz]
500 [0.1RPM] 1000 [0.1RPM] 30000 [0.1RPM] 33000 [0.1RPM]
10 [0.1%]
50 [0.1%]
950 [0.1%]
990 [0.1%]
OFF
OFF
ON
ON
0
0
60000
60000
Table 10: AI Object Defaults Based on Sensor Type and Input Range
2111h Error Clear Hysteresis
100 [mV] 200 [mV] 250 [uA] 250 [uA]
5 [Hz] 100 [0.1RPM]
10 [0.1%] 0
60000
When changing these objects, Table 11 outlines the range constraints places on each based on the Sensor Type and Input Range combination selected. In all cases, the MAX value is the upper end of the range (i.e. 5V or ) Object 7122h cannot be set higher than MAX, whereas 7149h can be set up to 110% of MAX. Object 2111h on the other hand can only be set up to maximum value of 10% of MAX. Table 11 uses the base unit of the input, but recall the limits will also have object 2102h apply to them as per Table 9.
Sensor Type/ Input Range
7148h
7120h
7122h
7149h 2111h
UMAX031701, Single Input to CANopen Controller V1
A-9
Voltage: 0 to 5V and 0 to
10V
Current: 0 to 20mA
0 to 7120h
7148h to 7122h
RPM: 0 to 6000RPM
7120h to 7149h
PWM: 0 to 100%
If(7149h>MAX)
Current: 4 to 20mA
0 to 7120h
7148h to 7122h If(7148h<4mA) 4mA to 7122h
7120h to MAX
Freq: 0.5Hz to 20kHz
0.1Hz to 7120h
7148h to 7122h If(7148h<0.5Hz) 0.5Hz to 7122h
Table 11: AI Object Ranges Based on Sensor Type and Input Range
7122h to 110% of
MAX
10% of MAX
The last objects associated with the analog input block left to discuss are those associated with fault detection. Should the calculated input (after measuring and filtering) fall outside of the allowable range, as defined by the AI Span Start and AI Span End objects, an error flag will be set in the application if and only if object 2110h AI Error Detect Enabled is set to TRUE (1).
When (7100h AI Input FV < 7148h AI Span Start), an “Out of Range Low” flag is set. If the flag stays active for the 2112h AI Error Reaction Delay time, an Input Overload Emergency (EMCY) message will be added to object 1003h Pre-Defined Error Field. Similarly, when (7100h AI Input FV > 7149h AI Span End), an “Out of Range High” flag is set, and will create an EMCY message should it stay active throughout the delay period. In either case, the application will react to the EMCY message as defined by object 1029h Error Behaviour at the sub-index corresponding to an Input Fault. Refer to section 3.2.4 and 3.2.13 for more information about objects 1003h and 1029h.
Once the fault has been detected, the associate flag will be cleared only once the input comes back into range. Object 2111h AI Error Clear Hysteresis is used here so that the error flag will not be set/cleared continuously while the AI Input FV hovers around the AI Span Start/End value.
To clear an “Out of Range Low” flag, AI Input FV >= (AI Span Start + AI Error Clear Hysteresis) To clear an “Out of Range High” flag, AI Input FV <= (AI Span End – AI Error Clear Hysteresis) Both flags cannot be active at once. Setting either one of these flags automatically clears the other.
1.4. Lookup Table Function Block
The lookup table (LTz) function blocks are not used by default.
UMAX031701, Single Input to CANopen Controller V1
A-10
Figure 16 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 30z4h LTz Point Response, 30z5h LTz Point X-Axis PV and 30z6h Point YAxis PV shown in the block diagram above is therefore 11.
Note: If more than 10 slopes are required, a Logic Block can be used to combine up to three tables to get 30 slopes, as is described in Section 1.8.
There are two key parameters that will affect how this function block will behave. The objects 30z0h Lookup Table z Input X-Axis Source and 30z1h Lookup Table z Input X-Axis Number together define the control source for the function block. When it is changed, the table the values in object 30z5h need to be updated with new defaults based on the X-Axis source selected as described in Tables 15 and 16.
The second parameter that will affect the function block, is object 30z4h sub-index 1 which defines the “X-Axis Type”. By default, the tables have a `Data Response’ output (0). Alternatively, it can be selected as a `Time Response’ (1), which is described later in Section 1.7.4.
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.
For example, if the control source is a Universal Input, setup as a 0-5V type, with an operating range of 0.5V to 4.5V. Object 30z2h LTz X-Axis Decimal Digits PV should be set to match that of object 2102 AI Decimal Digits FV. The X-Axis could be setup to have a “LTz Point X-Axis PV sub-index 2” of 500, and setpoint “LTz Point X-Axis PV sub-index 11” will be set to 4500. The first point “LTz Point X-Axis PV sub-index 1” should start from 0 in this case. For most `Data Responses’, the default value at point (1,1) is [0,0].
UMAX031701, Single Input to CANopen Controller V1
A-11
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 “LTz Point X-Axis PV sub-index 1” will be set to the minimum instead, in this case -40ºC.
The constraint on the X-Axis data is that the next index value is greater than or equal to the one below it, as shown in the equation below. Therefore, when adjusting the X-Axis data, it is recommended that X11 is changed first, then lower indexes in descending order.
MinInputRange <= X1<= X2<= X3<= X4<= X5<= X6<= X7<= X8<= X9<= X10<= X11<= MaxInputRange
As stated earlier, MinInputRange and MaxInputRange will be determined by the scaling objects associated with X-Axis Source that has been selected, as outlined in Table 17.
1.4.2. Y-Axis, Lookup Table Output
By default, it is assumed that the output from the lookup table function block will be a percentage value in the range of 0 to 100.
In fact, so long as all the data in the Y-Axis is 0<=Y[i]<=100 (where i = 1 to 11) then other function blocks using the lookup table as a control source will have 0 and 100 as the Scaling 1 and Scaling 2 values used in linear calculations shown in Table 17.
However, the Y-Axis has no constraints on the data that it represents. This means that inverse or increasing/decreasing or other responses can be easily established. The Y-Axis does not have to be a percentage output but could represent full scale process values instead.
For example, should the X-Axis of a table be a resistive value (as read from an analog input), the output of the table could be temperature from an NTC sensor in the range Y1=125ºC to Y11= -20ºC. If this table is used as the control source for another function block (i.e. feedback to a PID control), then Scaling 1 would be -20 and Scaling 2 would be 125 when used in a linear formula.
Figure 17 Lookup Table Example Resistance vs. NTC Temperature
In all cases the controller looks at the entire range of the data in the Y-Axis sub-indices and selects the lowest value as the MinOutRange and the highest value as the MaxOutRange. So long as they are not both within the 0 to 100 range, they are passed directly to other function blocks as the limits on the lookup table output. (i.e Scaling 1 and Scaling 2 values in linear calculations.)
UMAX031701, Single Input to CANopen Controller V1
A-12
Even if some of the data points are `Ignored’ as described in Section 1.7.3, they are still used in the Y-Axis range determination. If not all the data points are going to be used, it is recommended that Y10 be set to the minimum end of the range, and Y11 to the maximum first. This way, the user can get predictable results when using the table to drive another function block, such as an analog output.
1.4.3. Point to Point Response
By default, all six 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 30z4h LTz Point Response array is setup for a `Ramp To’ output.
Alternatively, the user could select a `Step To’ response for 30z4h, where N = 2 to 11. In this case, any input value between XN-1 to XN will result in an output from the lookup table function block of YN. (Recall: LTz Point Response sub-index 1 defines the X-Axis type)
Figure 18 shows the difference between these two response profiles with the default settings.
Figure 18 Lookup Table Defaults with Ramp and Step Responses
Lastly, any point except (1,1) can be selected for an `Ignore’ response. If LTz Point Response sub-index N is set to ignore, then all points from (XN, YN) to (X11, Y11) will also be ignored. For all data greater than XN-1, the output from the lookup table function block will be YN-1.
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 19. The example shows a dual slope percentage output response for each side of the deadband, but additional slopes can be easily added as needed. (Note: In this case, since the analog outputs are responding directly to the profile from the lookup tables, both would have object 2342h AO Control Response set to a `Single Output Profile.’)
UMAX031701, Single Input to CANopen Controller V1
A-13
Figure 19 Lookup Table Examples to Setup for Dual-Slope Joystick Deadband Response
To summarize, Table 24 outlines the different responses that can be selected for object 30z4h, both for the X-Axis type and for each point in the table.
Sub-Index 1
2 to 11 1
2 to 11 1
2 to 11
Value Meaning
0
Data Response (X-Axis Type) Ignore (this point and all following it)
1
Time Response (X-Axis Type) Ramp To (this point)
2
N/A (not an allowed option) Jump To (this point)
Table 12: LTz Point Response Options
1.4.4. X-Axis, Time Response
As mentioned in Section 1.5, a lookup table can also be used to get a custom output response where the “X-Axis Type” is a `Time Response.’ When this is selected, the X-Axis now represents time, in units of milliseconds, while the Y-Axis still represents the output of the function block.
In this case, the X-Axis control source is treated as a digital input. If the signal is actually an analog input, it is interpreted like a digital input per Figure 5. When the control input is ON, the output will be changed over a period of time based on the profile in the lookup table. Once the profile has finished (i.e. reached index 11, or an `Ignored’ response), the output will remain at the last output at the end of the profile until the control input turns OFF.
When the control input is OFF, the output is always at zero. When the input come ON, the profile ALWAYS starts at position (X1, Y1) which is 0 output for 0ms.
When using the lookup table to drive an output based on time, it is mandatory that objects 2330h Ramp Up and 2331h Ramp Down in the analog output function block be set to zero. Otherwise, the output result will not match the profile as expected. Recall, also, that the AO scaling should be
UMAX031701, Single Input to CANopen Controller V1
A-14
set to match the Y-Axis scaling of the table in order to get a 1:1 response of AO Output FV versus LTz Output Y-Axis PV. An application where the time response feature would be useful is filling a clutch when a transmission is engaged. An example of some fill profiles is shown in Figure 20.
Figure 20 Lookup Table Time Response Clutch Fill Profiles
In a time response, the data in object 30z5h LTz Point X-Axis PV is measured in milliseconds, and object 30z2h LTz X-Axis Decimal Digits PV is automatically set to 0. A minimum value of 1ms must be selected for all points other than sub-index 1 which is automatically set to [0,0]. The interval time between each point on the X-axis can be set anywhere from 1ms to 24 hours. [86,400,000 ms]
1.4.5. Lookup Table Final Note
One final note about the lookup tables is that if a digital input is selected as the control source for the X-Axis, only a 0 (Off) or 1 (On) will be measured. Ensure that the data range for the X-Axis on the table is updated appropriately in this condition.
UMAX031701, Single Input to CANopen Controller V1
A-15
1.5. Programmable Logic Function Block The programmable logic block (LBx) functions are not used by default.
Figure 21 Logic Block Objects
This function block is obviously the most complicated of them all, but very powerful. Any LBx (where X=1 to 4) 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 6) can be associated with the logic, and which ones are used is fully configurable on object 4×01 LBx Lookup Table Number.
Should the conditions be such that a particular table (A, B or C) has been selected as described in Section 1.8.2, then the output from the selected table, at any given time, will be passed directly to LBx’s corresponding sub-index X in read-only mappable object 4020h Logic Block Output PV. The active table number can read from read-only object 4010h Logic Block Selected Table.
Therefore, an LBx allows up to three different responses to the same input, or three different responses to different inputs, to become the control for another function block, such as an analog
UMAX031701, Single Input to CANopen Controller V1
A-16
output. Here, the “Control Source” for the reactive block would be selected to be the `Programmable Logic Function Block,’ as described in Section 1.5.
UMAX031701, Single Input to CANopen Controller V1
A-17
In order to enable any one of logic blocks, the corresponding sub-index in object 4000h Logic Block Enable must be set to TRUE. They are all disabled by default.
Logic is evaluated in the order shown in Figure 22. Only if a lower indexed table (A, B, C) has not been selected will the conditions for the next table be looked at. The default table is always selected as soon as it is evaluated. It is therefore required that the default table always be the highest index in any configuration.
UMAX031701, Single Input to CANopen Controller V1
A-18
Figure 22 Logic Block Flowchart
UMAX031701, Single Input to CANopen Controller V1
A-19
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 25.
Index Sub-Index Name
Data Type
4xyz*
0
Highest sub-index supported UNSIGNED8
1
Argument 1 Source
UNSIGNED8
2
Argument 1 Number
UNSIGNED8
3
Argument 2 Source
UNSIGNED8
4
Argument 2 Number
UNSIGNED8
5
Operator
UNSIGNED8
* Logic Block X Function Y Condition Z, where X = 1 to 4, Y = A, B or C, and Z = 1 to 3
Table 13: LBx Condition Structure Definition
Objects 4x11h, 4x12h and 4x13h are the conditions evaluated for selecting Table A. Objects 4x21h, 4x22h and 4x23h are the conditions evaluated for selecting Table B. Objects 4x31h, 4x32h and 4x33h are the conditions evaluated for selecting Table C.
Argument 1 is always a logical output from another function block, as listed in Table 15. As always, the input is a combination of the functional block objects 4xyzh sub-index 1 “Argument 1 Source” and “Argument 1 Number.”
Argument 2 on the other hand, could either be another logical output such as with Argument 1, OR a constant value set by the user. To use a constant as the second argument in the operation, set “Argument 2 Source” to `Constant Function Block’, and “Argument 2 Number” to the desired sub-index. When defining the constant, make sure it uses the same resolution (decimal digits) as the Argument 1 input.
Argument 1 is evaluated against Argument 2 based on the “Operator” selected in sub-index 5 of the condition object. The options for the operator are listed in Table 26, and the default value is always `Equal’ for all condition objects.
Value Meaning 0 =, Equal 1 !=, Not Equal 2 >, Greater Than 3 >=, Greater Than or Equal 4 <, Less Than 5 <=, Less Than or Equal
Table 14: LBx Condition Operator Options
For example, a condition for a transmission control shift selection, as shown in Figure 20 in the previous section, could be that the Engine RPM be less than a certain value to select a Soft Fill profile. In this case, “Argument 1 Source” could be set to `Analog Input Function Block’ (where the input is configured for RPM pickup), “Argument 2 Source” to `Constant Function Block’, and the “Operator” to `<, Less Than.’ Object 5010h Constant FV at sub-index “Argument 2 Number” would be set to whatever cutoff RPM the application required.
UMAX031701, Single Input to CANopen Controller V1
A-20
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 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 27.
Value 0 1 2 3
Meaning False True Error Not Applicable
Reason (Argument 1) Operator (Argument 2) = False (Argument 1) Operator (Argument 2) = True Argument 1 or 2 output was reported as being in an error state Argument 1 or 2 is not available (i.e. set to `Control Source Not Used’)
Table 15: LBx Condition Evaluation Results
1.5.2. Table Selection
In order to determine if a particular table will be selected, logical operations are performed on the results of the conditions as determined by the logic in Section 1.8.1. There are several logical combinations that can be selected, as listed in Table 28. The default value for object 4x02h LBx Function Logical Operator is dependent on the sub-index. For sub-index 1 (Table A) and 2 (Table B), the `Cnd1 And Cnd2 And Cnd3′ operator is used, whereas sub-index 3 (Table C) is setup as the `Default Table” response.
Value Meaning 0 Default Table 1 Cnd1 And Cnd2 And Cnd3 2 Cnd1 Or Cnd2 Or Cnd3 3 (Cnd1 And Cnd2) Or Cnd3 4 (Cnd1 Or Cnd2) And Cnd3
Table 16: LBx Function Logical Operator Options
Not every evaluation is going to need all three conditions. The case given in the earlier section, for example, only has one condition listed, i.e. that the Engine RPM be below a certain value. 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 29.
Logical Operator Default Table Cnd1 And Cnd2 And Cnd3
Select Conditions Criteria Associated table is automatically selected as soon as it is evaluated. Should be used when two or three conditions are relevant, and all must be True to select the table.
If any condition equals False or Error, the table is not selected. An N/A is treated like a True. If all three conditions are True (or N/A), the table is selected.
Cnd1 Or Cnd2 Or Cnd3
If((Cnd1==True) &&(Cnd2==True)&&(Cnd3==True)) Then Use Table Should be used when only one condition is relevant. Can also be used with two or three relevant conditions.
If any condition is evaluated as True, the table is selected. Error or N/A results are treated as False
If((Cnd1==True) || (Cnd2==True) || (Cnd3==True)) Then Use Table (Cnd1 And Cnd2) Or Cnd3 To be used only when all three conditions are relevant.
UMAX031701, Single Input to CANopen Controller V1
A-21
If both Condition 1 and Condition 2 are True, OR Condition 3 is True, the table is selected. Error or N/A results are treated as False
If( ((Cnd1==True)&&(Cnd2==True)) || (Cnd3==True) ) Then Use Table (Cnd1 Or Cnd2) And Cnd3 To be used only when all three conditions are relevant.
If Condition 1 And Condition 3 are True, OR Condition 2 And Condition 3 are True, the table is selected. Error or N/A results are treated as False
If( ((Cnd1==True)||(Cnd2==True)) && (Cnd3==True) ) Then Use Table
Table 17: LBx Conditions Evaluation Based on Selected Logical Operator
If the result of the function logic is TRUE, then the associated lookup table (see object 4x01h) is immediately selected as the source for the logic output. No further conditions for other tables are evaluated. For this reason, the `Default Table’ should always be setup as the highest letter table being used (A, B or C) If no default response has been setup, the Table A automatically becomes the default when no conditions are true for any table to be selected. This scenario should be avoided whenever possible so as to not result in unpredictable output responses.
The table number that has been selected as the output source is written to sub-index X of readonly object 4010h 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 LBx function block does NOT mean lookup table 1 to 3. Each table has object 4x01h LBx Lookup Table Number which allows the user to select which lookup tables they want associated with a particular logic block. The default tables associated with each logic block are listed in Table 30.
Programmable Logic Block Number
1 2 3 4
Table A Lookup
Table B Lookup
Table Block Number Table Block Number
1
2
4
5
1
2
4
5
Table 18: LBx Default Lookup Tables
Table C Lookup Table Block Number
3 6 3 6
If the associated Lookup Table Z (where Z equals 4010h sub-index X) does not have an “X-Axis Source” selected, then the output of LBx will always be “Not Available” so long as that table is selected. However, should LTz be configured for a valid response to an input, be it Data or Time, the output of the LTz function block (i.e. the Y-Axis data that has been selected based on the XAxis value) will become the output of the LBx function block so long as that table is selected.
The LBx output is always setup as a percentage, based on the range of the Y-Axis for the associated table (see Section 1.7.2) It is written to sub-index X of read-only object 4020h Logic Block Output PV with a resolution of 1 decimal place.
UMAX031701, Single Input to CANopen Controller V1
A-22
1.5.4. Application Ideas
This section is not meant to be a comprehensive list of all the possibilities that the Logic Block offers. Rather, it is meant to show how some common, but widely diversified functions can be achieved by using it.
a) Dual Speed Application Under certain conditions, an analog output could be driven between Min_A to Max_A while under others, the speed is limited by having the output respond to changes at the input between Min_B and Max _B.
b) Multi-Speed Transmission Control By using a Forward input as the enable of one analog output, and the Reverse input as the other, different clutch fill profiles could be selected based on Engine Speed as discussed in earlier examples.
c) Getting better resolution (i.e. up to 30 slopes) on a resistive to temperature curve for an NTC sensor. The condition for Table A would be input resistance <= R1, Table B is input <= R2 and Table C as the default for high resistance values.
1.6. 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.
Figure 23 Miscellaneous Objects
Objects 2500h Extra Control Received PV, 2502h EC Decimal Digits PV, 2502h EC Scaling 1 PV and EC Scaling 2 PV have been mentioned in Section 1.5, Table 16. These objects allow for additional data received on a CANopen ® RPDO to be mapped independently to various function blocks as a control source. For example, a PID loop must have two inputs (target and feedback), so one of them has to come from the CAN bus. The scaling objects are provided to define the limits of the data when it is used by another function block, as shown in Table 17.
Objects 5020h Power Supply FV and 5030h Processor Temperature FV are available as readonly feedback for additional diagnostics.
UMAX031701, Single Input to CANopen Controller V1
A-23
Object 5010h Constant Field Value is provided to give the user the option for a fixed value that can be used by other function blocks. Sub-index 1 is fixed as FALSE (0) and sub-index 2 is always TRUE (1). There are 4 other sub-indexes provided for user selectable values. (Defaults 25, 50, 75 and 100)
The constants are read as 32-bit real (float) data, so no decimal digit object is provided. When setting up the constant, make sure to do it with the resolution of the object that will be compared with it.
The False/True constants are provided primarily to be used with the logic block. The variable constants are also useful with the logic block, and they can also be used as a setpoint target for a PID control block.
The last object 5555h Start in Operational is provided as a `cheat’ when the unit is not intended to work with a CANopen network (i.e. a stand-alone control) or is working on a network comprised solely as slaves so the OPERATION command will never be received from a master. By default this object is disabled (FALSE).
When using the 1IN-CAN 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.
UMAX031701, Single Input to CANopen Controller V1
A-24
2. INSTALLATION INSTRUCTIONS
2.1. Dimensions and Pinout
The Single Input, Dual Output Valve Controller is packaged in an encapsulated aluminum enclosure, as shown in Figure 24. The assembly carries an IP67 rating.
Figure 24 Housing Dimensions
CAN and I/O Connector Pin # Function
1 BATT+ 2 Input+ 3 CAN_L 4 CAN_H 5 Input6 BATT-
Table 19: Connector Pinout
6 pin Deutsch IPD connector P/N: DT04-6P A mating plug kit is available as Axiomatic P/N: AX070119.
UMAX031701, Single Input to CANopen Controller V1
A-25
2.2. Installation Instructions
2.2.1. Notes & Warnings
Do not install near high-voltage or high-current devices. Ground the chassis for safety purposes and proper EMI shielding. 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). Do not connect or disconnect the unit while the circuit is live, unless the area is known to be
non-hazardous.
2.2.2. Mounting
The module is designed for mounting on the valve block. If it is mounted without an enclosure, the controller should be mounted horizontally with connectors facing left or right, or with the connectors facing down, to reduce likelihood of moisture entry.
Mask all labels if the unit is to be repainted, so label information remains visible.
Mounting legs include holes sized for #10 or M4.5 bolts. The bolt length will be determined by the end-user’s mounting plate thickness. Typically 20 mm (3/4 inch) is adequate.
If the module is mounted away from the valve block, no wire or cable in the harness should exceed 30 meters in length. The power input wiring should be limited to 10 meters.
2.2.3. Connections
Use the following Deutsch IPD mating plugs to connect to the integral receptacles. Wiring to these mating plugs must be in accordance with all applicable local codes. Suitable field wiring for the rated voltage and current must be used. The rating of the connecting cables must be at least 85°C. For ambient temperatures below 10°C and above +70°C, use field wiring suitable for both minimum and maximum ambient temperature.
Receptacle Mating Connector
Mating Sockets as appropriate (Refer to www.laddinc.com for more information on the contacts available for this mating plug.) DT06-12SA and wedge W12S
UMAX031701, Single Input to CANopen Controller V1
A-26
2.2.4. Noise Electrical Connections and Shielding
To reduce noise, separate all power and output wires from those of the input and CAN. Shielded wires will protect against injected noise. Shield wires should be connected at the power or input source, or at the output load.
The CAN shield can be connected at the controller using the CAN Shield pin provide on the connector. However the other end should not be connected in this case.
All wires used must be 16 or 18 AWG.
2.2.5. CAN Network Constructions
Axiomatic recommends that multi-drop networks be constructed using a “daisy chain” or “backbone” configuration with short drop lines.
2.2.6. CAN Termination
It is necessary to terminate the network; therefore an external CAN termination is required. No more than two network terminators should be used on any one single network. A terminator is a 121, 0.25 W, 1% metal film resistor placed between CAN_H and CAN_L terminals at the end two nodes on a network.
UMAX031701, Single Input to CANopen Controller V1
A-27
3. CANOPEN ® OBJECT DICTIONARY
The CANopen object dictionary of the 1IN-CAN Controller is based on CiA device profile DS-404 V1.2 (device profile for 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 1IN-CAN Controller ships factory programmed with a Node ID = 127 (0x7F) and with Baudrate = 125 kbps.
3.1.1. LSS Protocol to Update
The only means by which the Node-ID and Baudrate can be changed is to use Layer Settling Services (LSS) and protocols as defined by CANopen ® standard DS-305.
Follow the steps below to configure either variable using LSS protocol. If required, please refer to the standard for more detailed information about how to use the protocol.
3.1.2. Setting Node-ID
Set the module state to LSS-configuration by sending the following message:
Item COB-ID Length Data 0 Data 1
Value 0x7E5 2 0x04 0x01
(cs=4 for switch state global) (switches to configuration state)
Set the Node-ID by sending the following message:
Item COB-ID Length Data 0 Data 1
Value 0x7E5 2 0x11 Node-ID
(cs=17 for configure node-id) (set new Node-ID as a hexadecimal number)
The module will send the following response (any other response is a failure):
Item COB-ID Length Data 0 Data 1 Data 2
Value 0x7E4 3 0x11 0x00 0x00
(cs=17 for configure node-id)
UMAX031701, Single Input to CANopen Controller V1
A-28
Save the configuration by sending the following message:
Item COB-ID Length Data 0
Value 0x7E5 1 0x17
(cs=23 for store configuration)
The module will send the following response (any other response is a failure):
Item COB-ID Length Data 0 Data 1 Data 2
Value 0x7E4 3 0x17 0x00 0x00
(cs=23 for store configuration)
Set the module state to LSS-operation by sending the following message: (Note, the module will reset itself back to the pre-operational state)
Item COB-ID Length Data 0 Data 1
Value 0x7E5 2 0x04 0x00
(cs=4 for switch state global) (switches to waiting state)
3.1.3. Setting Baudrate
Set the module state to LSS-configuration by sending the following message:
Item COB-ID Length Data 0 Data 1
Value 0x7E5 2 0x04 0x01
(cs=4 for switch state global) (switches to configuration state)
Set the baudrate by sending the following message:
Item COB-ID Length Data 0 Data 1 Data 2
Value 0x7E5 3 0x13 0x00 Index
(cs=19 for configure bit timing parameters) (switches to waiting state) (select baudrate index per table 32)
UMAX031701, Single Input to CANopen Controller V1
A-29
Index
Bit Rate
0
1 Mbit/s
1 800 kbit/s
2 500 kbit/s
3 250 kbit/s
4 125 kbit/s (default)
5
reserved (100 kbit/s)
6
50 kbit/s
7
20 kbit/s
8
10 kbit/s
Table 20: LSS Baudrate Indexes
The module will send the following response (any other response is a failure):
Item COB-ID Length Data 0 Data 1 Data 2
Value 0x7E4 3 0x13 0x00 0x00
(cs=19 for configure bit timing parameters)
Activate bit timing parameters by sending the following message:
Item COB-ID Length Data 0 Data 1 Data 2
Value
0x7E5
3
0x15
(cs=19 for activate bit timing parameters)
<delay_lsb>
<delay_msb>
The delay individually defines the duration of the two periods of time to wait until the bit timing parameters switch is done (first period) and before transmitting any CAN message with the new bit timing parameters after performing the switch (second period). The time unit of switch delay is 1 ms.
Save the configuration by sending the following message (on the NEW baudrate):
Item COB-ID Length Data 0
Value 0x7E5 1 0x17
(cs=23 for store configuration)
UMAX031701, Single Input to CANopen Controller V1
A-30
The module will send the following response (any other response is a failure):
Item COB-ID Length Data 0 Data 1 Data 2
Value 0x7E4 3 0x17 0x00 0x00
(cs=23 for store configuration)
Set the module state to LSS-operation by sending the following message: (Note, the module will reset itself back to the pre-operational state)
Item COB-ID Length Data 0 Data 1
Value 0x7E5 2 0x04 0x00
(cs=4 for switch state global) (switches to waiting state)
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.
Between CAN Frame 98 and 99, the baudrate on the CAN Scope tool was changed from 125 to 250 kbps.
UMAX031701, Single Input to CANopen Controller V1
A-31
3.2. COMMUNICATION OBJECTS (DS-301 and DS-404)
The communication objects supported by the 1IN-CAN 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 protocol specification DS-301.
Index (hex)
1000 1001 1002 1003 100C 100D 1010 1011 1016 1017 1018 1020 1029 1400 1401 1402 1403 1600 1601 1602 1603 1800 1801 1802 1803 1A00 1A01 1A02 1A03
Object
Device Type Error Register Manufacturer Status Register Pre-Defined Error Field Guard Time Life Time Factor Store Parameters Restore Default Parameters Consumer Heartbeat Time Producer Heartbeat Time Identity Object Verify Configuration Error Behaviour RPDO1 Communication Parameter RPDO2 Communication Parameter RPDO3 Communication Parameter RPDO4 Communication Parameter RPDO1 Mapping Parameter RPDO2 Mapping Parameter RPDO3 Mapping Parameter RPDO4 Mapping Parameter TPDO1 Communication Parameter TPDO2 Communication Parameter TPDO3 Communication Parameter TPDO4 Communication Parameter TPDO1 Mapping Parameter TPDO2 Mapping Parameter TPDO3 Mapping Parameter TPDO4 Mapping Parameter
Object Type
VAR VAR VAR ARRAY VAR VAR ARRAY ARRAY ARRAY VAR RECORD ARRAY ARRAY RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD
Data Type
UNSIGNED32 UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED16 UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED16
UNSIGNED32 UNSIGNED8
Access
RO RO RO RO RW RW RW RW RW RW RO RW RW RW RW RW RW RO RO RO RO RW RW RW RW RW RW RW RW
PDO Mapping
No No No No No No No No No No No No No No No No No No No No No No No No No No No No No
UMAX031701, Single Input to CANopen Controller V1
A-32
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.
MSB Additional Information = 0x201F
LSB General Information = 0x0194 (404)
DS-404 defines the Additional Information field in the following manner: 0000h = reserved 0001h = digital input block 0002h = analog input block 0004h = digital output block 0008h = analog output block 0010h = controller block (aka PID) 0020h = alarm block 0040h … 0800h = reserved 1000h = reserved 2000h = lookup table block (manufacturer-specific) 4000h = programmable logic block (manufacturer-specific) 8000h = miscellaneous block (manufacturer-specific)
Object Description
Index
1000h
Name
Device Type
Object Type VAR
Data Type
UNSIGNED32
Entry Description
Access
RO
PDO Mapping No
Value Range 0xE01F0194
Default Value 0xE01F0194
UMAX031701, Single Input to CANopen Controller V1
A-33
3.2.2. Object 1001h: Error Register
This object is an error register for the device. Any time there is an error detected by the 1IN-CAN Controller, the Generic Error Bit (bit 0) is set. Only if there is no errors in the module will this bit will be cleared. No other bits in this register are used by the 1IN-CAN Controller.
Object Description
Index
1001h
Name
Error Register
Object Type VAR
Data Type
UNSIGNED8
Entry Description
Access
RO
PDO Mapping No
Value Range 00h or 01h
Default Value 0
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. An error is added to the top of the list when it occurs, and is immediately removed when the error condition has been cleared. The latest error is always at sub-index 1, with sub-index 0 containing the number of errors currently in the list. When the device is in an error-free state, the value of subindex 0 is zero.
The error list may be cleared by writing a zero to sub-index 0, which will clear all errors from the list, regardless of whether or not they are still present. Clearing the list does NOT mean that the module will return to the error-free behaviour state if at least one error is still active.
The 1IN-CAN Controller has a limitation of a maximum of 4 errors in the list. If the device registers more errors, the list will be truncated, and the oldest entries will be lost.
The error codes stored in the list are 32-bit unsigned numbers, consisting of two 16-bit fields. The lower 16-bit field is the EMCY error code, and the higher 16-bit field is a manufacturer-specific code. The manufacturer-specific code is divided into two 8-bit fields, with the higher byte indicating the error description, and the lower byte indicating the channel on which the error occurred.
MSB Error Description
Channel-ID
LSB EMCY Error Code
If node-guarding is used (not recommended per the latest standard) and a lifeguard event occurs, the manufacturer-specific field will be set to 0x1000. On the other hand, if a heartbeat consumer fails to be received within the expected timeframe, the Error Description will be set to 0x80 and the Channel-ID (nn) will reflect the Node-ID of the consumer channel that was not producing. In this case, the manufacturer-specific field will therefore be 0x80nn. In both cases, the corresponding EMCY Error Code will be the Guard Error 0x8130.
UMAX031701, Single Input to CANopen Controller V1
A-34
When an analog input fault is detect as described in Section 1.3 or an analog output is not working as described in Section 1.5, 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. Table 32 outlines the resulting Error Field Codes and their meanings.
Error Field Code
00000000h 2001F001h
4001F001h
00008100h 10008130h 80nn8130h
Error Description
20h
40h
00h 10h 80h
Meaning
ID
Meaning
EMCY Code
EMCY Error Reset (fault no longer active)
Positive Overload
01h Analog Input 1 F001h
(Out of Range High)
Negative Overload
01h Analog Input 1
F001h
(Out of Range Low)
RPDO Timeout
00h Unspecified
8100h
Lifeguard Event
00h Unspecified
8130h
Heartbeat Timeout
nn Node-ID
8130h
Table 21: Pre-Defined Error Field Codes
Meaning
Input Overload
Input Overload
Communication – generic Lifeguard/Heartbeat Error Lifeguard/Heartbeat Error
Object Description
Index
1003h
Name
Pre-Defined Error Field
Object Type ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index
0h
Description
Number of entries
Access
RW
PDO Mapping No
Value Range 0 to 4
Default Value 0
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 4 Standard error field RO No UNSIGNED32 0
UMAX031701, Single Input to CANopen Controller V1
A-35
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.
It should be noted that this object, and that of 100Dh are only supported for backwards compatibility. The standard recommends that newer networks do not use the life guarding protocol, but rather heartbeat monitoring instead. Both life guarding and heartbeats can NOT be active simultaneously.
Object Description
Index
100Ch
Name
Guard Time
Object Type VAR
Data Type
UNSIGNED16
Entry Description
Sub-Index
0h
Access
RW
PDO Mapping No
Value Range 0 to 65535
Default Value 0
3.2.6. Object 100Dh: Lifetime Factor
The life time factor multiplied with the guard time gives the life time for the life guarding protocol. A value of 00h shall disable life guarding.
Object Description
Index
100Dh
Name
Life time factor
Object Type VAR
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Access
RW
PDO Mapping No
Value Range 0 to 255
Default Value 0
UMAX031701, Single Input to CANopen Controller V1
A-36
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 signature is a 32-bit unsigned number, composed of the ASCII codes of the signature
characters, according to the following table:
MSB
LSB
e
v
a
s
65h 76h 61h 73h
On reception of the correct signature to an appropriate sub-index, the 1IN-CAN Controller will store the parameters in non-volatile memory, and then confirm the SDO transmission.
By read access, the object provides information about the module’s saving capabilities. For all subindexes, this value is 1h, indicating that the 1IN-CAN Controller saves parameters on command. This means that if power is removed before the Store object is written, changes to the Object Dictionary will NOT have been saved in the non-volatile memory, and will be lost on the next power cycle.
Object Description
Index
1010h
Name
Store Parameters
Object Type ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 4
Default Value 4
Sub-Index Description Access PDO Mapping Value Range
Default Value
1h
Save all parameters
RW
No
0x65766173 (write access)
1h
(read access)
1h
UMAX031701, Single Input to CANopen Controller V1
A-37
Sub-Index Description Access PDO Mapping Value Range
Default Value
2h
Save communication parameters
RW
No
0x65766173 (write access)
1h
(read access)
1h
Sub-Index Description Access PDO Mapping Value Range
Default Value
3h
Save application parameters
RW
No
0x65766173 (write access)
1h
(read access)
1h
Sub-Index Description Access PDO Mapping Value Range
Default Value
4h
Save manufacturer parameters
RW
No
0x65766173 (write access)
1h
(read access)
1h
3.2.8. Object 1011h: Restore Parameters
This object supports the restoring of the default values for the object dictionary in non-volatile memory. In order to avoid restoring of parameters by mistake, the device restores the defaults only when a specific signature is written to the appropriate sub-index. The signature is “load”.
The signature is a 32-bit unsigned number, composed of the ASCII codes of the signature
characters, according to the following table:
MSB
LSB
d
a
o
l
64h 61h 6Fh 6Ch
On reception of the correct signature to an appropriate sub-index, the 1IN-CAN Controller will restore the defaults in non-volatile memory, and then confirm the SDO transmission. The default values are set valid only after the device is reset or power-cycled. This means that the 1INCAN Controller will NOT start using the default values right away, but rather continue to run from whatever values were in the Object Dictionary prior to the restore operation.
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 1IN-CAN Controller restores defaults on command.
UMAX031701, Single Input to CANopen Controller V1
A-38
Object Description
Index
1011h
Name
Restore Default Parameters
Object Type ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 4
Default Value 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Restore all default parameters RW No 0x64616F6C (write access), 1h (read access) 1h
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Restore default communication parameters RW No 0x64616F6C (write access), 1h (read access) 1h
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Restore default application parameters RW No 0x64616F6C (write access), 1h (read access) 1h
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Restore default manufacturer parameters RW No 0x64616F6C (write access), 1h (read access) 1h
UMAX031701, Single Input to CANopen Controller V1
A-39
3.2.9. Object 1016h: Consumer Heartbeat Time
The 1IN-CAN Controller can be a consumer of heartbeat objects for up to four modules. This object defines the expected heartbeat cycle time for those modules, and if set to zero, it is not used. When non-zero, the time is a multiple of 1ms, and monitoring will start after the reception of the first heartbeat from the module. If the 1IN-CAN Controller fails to receive a heartbeat from a node in the expected timeframe, it will indicate a communication error, and respond as per object 1029h.
Bits 31-24
23-16
Value Reserved 00h Node-ID
Encoded as
UNSIGNED8
15-0 Heartbeat time UNSIGNED16
Object Description
Index
1016h
Name
Consumer heartbeat time
Object Type ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index
0h
Description
Number of entries
Access
RO
PDO Mapping No
Value Range 4
Default Value 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 4h Consumer heartbeat time RW No UNSIGNED32 0
UMAX031701, Single Input to CANopen Controller V1
A-40
3.2.10. Object 1017h: Producer Heartbeat Time
The 1IN-CAN Controller could be configured to produce a cyclical heartbeat by writing a non-zero value to this object. The value will be given in multiples of 1ms, and a value of 0 shall disable the heartbeat.
Object Description
Index
1017h
Name
Producer heartbeat time
Object Type VAR
Data Type
UNSIGNED16
Entry Description
Sub-Index
0h
Access
RW
PDO Mapping No
Value Range 10 to 65535
Default Value 0
3.2.11. Object 1018h: Identity Object
The identity object indicates the data of the 1IN-CAN Controller, including vendor id, device id, software and hardware version numbers, and the serial number.
In the Revision Number entry at sub-index 3, the format of the data is as shown below
MSB Major revision number (object dictionary)
Hardware Revision
LSB Software Version
Object Description
Index
1018h
Name
Identity Object
Object Type RECORD
Data Type
Identity Record
Entry Description
Sub-Index
0h
Description
Number of entries
Access
RO
PDO Mapping No
Value Range 4
Default Value 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Vendor ID RO No 0x00000055 0x00000055 (Axiomatic)
UMAX031701, Single Input to CANopen Controller V1
A-41
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Product Code RO No 0xAA031701 0xAA031701
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Revision Number RO No UNSIGNED32 0x00010100
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Serial Number RO No UNSIGNED32 No
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. The date is represented as a hexadecimal value showing day/month/year as per the format below. The time value at sub-index 2 is a hexadecimal value showing the time in a 24 hour clock
MSB Day (in 1-Byte Hex)
00
Month (in 1-Byte Hex) 00
LSB Year (in 2-Byte Hex) Time (in 2-Byte Hex)
For example, a value of 0x10082010 would indicate that the software was compiled on August 10th, 2010. A time value of 0x00001620 would indicate it was compiled at 4:20pm.
Object Description
Index
1020h
Name
Verify configuration
Object Type ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index
0h
Description
Number of entries
Access
RO
PDO Mapping No
Value Range 2
UMAX031701, Single Input to CANopen Controller V1
A-42
Default Value Sub-Index Description Access PDO Mapping Value Range Default Value
2 1h Configuration date RO No UNSIGNED32 No
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Configuration time RO No UNSIGNED32 No
3.2.13. Object 1029h: Error Behaviour
This object controls the state that the 1IN-CAN Controller will be set into in case of an error of the type associated with the sub-index.
A network fault is flagged when an RPDO is not received within the expected time period defined in the “Event Timer” of the associated communication objects, (see Section 3.2.14 for more information) or if a lifeguard or heartbeat message is not received as expected. Input faults are defined in Section 1.3, and output faults are defined in Section 1.5.
For all sub-indexes, the following definitions hold true:
0 = Pre-Operational (node reverts to a pre-operational state when this fault is detected)
1 = No State Change (node remains in the same state it was in when the fault occurred)
2 = Stopped
(node goes into stopped mode when the fault occurs)
Object Description
Index
1029h
Name
Error Behaviour
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Number of entries
Access
RO
PDO Mapping No
Value Range 5
Default Value 5
Sub-Index Description Access PDO Mapping
1h Communication Fault RW No
UMAX031701, Single Input to CANopen Controller V1
A-43
Value Range Default Value Sub-Index Description Access PDO Mapping Value Range Default Value
See above 1 (No State Change) 2h Digital Input Fault (not used) RW No See above 1 (No State Change)
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Analog Input Fault (AI1) RW No See above 1 (No State Change)
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Digital Output Fault (not used) RW No See above 1 (No State Change)
Sub-Index Description Access PDO Mapping Value Range Default Value
5h Analog Output Fault (not used) RW No See above 1 (No State Change)
3.2.14. RPDO Behaviour
Per the CANopen ® standard DS-301, the following procedure shall be used for re-mapping, and is the same for both RPDOs and TPDOs.
a) Destroy the PDO by setting bit exists (most significant bit) of sub-index 01h of the according PDO communication parameter to 1b
b) Disable mapping by setting sub-index 00h of the corresponding mapping object to 0
c) Modify the mapping by changing the values of the corresponding sub-indices
d) Enable mapping by setting sub-index 00h to the number of mapped objects
e) Create the PDO by setting bit exists (most significant bit) of sub-index 01h of the according PDO communication parameter to 0b
UMAX031701, Single Input to CANopen Controller V1
A-44
The 1IN-CAN Controller can support up to four RPDO messages. All RPDOs on the 1IN-CAN Controller use the similar default communication parameters, with the PDO IDs set according to the pre-defined connection set described in DS-301. Most RPDOs do not exist, there is no RTR allowed, they use 11-bit CAN-IDs (base frame valid) and they are all event-driven. While all four have valid default mappings defined (see below) only RPDO1 is enabled by default (i.e. RPDO exists).
RPDO1 Mapping at Object 1600h: Default ID 0x200 + Node ID
Sub-Index Value
Object
0
4
Number of mapped application objects in PDO
1
0x25000110
Extra Received 1 PV
2
0x25000210
Extra Received 2 PV
3
0x25000310
Extra Received 3 PV
4
0x25000410
Extra Received 4 PV
RTPDO2 Mapping at Object 1601h: Default ID 0x300 + Node ID
Sub-Index Value
Object
0
2
Number of mapped application objects in PDO
1
0x25000510
Extra Received 1 PV (i.e. PID Control Feedback 1 PV)
2
0x25000610
Extra Received 2 PV (i.e. PID Control Feedback 2 PV)
3
0
Not used by default
4
0
Not used by default
RPDO3 Mapping at Object 1602h: Default ID 0x400 + Node ID
Sub-Index Value
Object
0
0
Number of mapped application objects in PDO
1
0
Not used by default
2
0
Not used by default
3
0
Not used by default
4
0
Not used by default
RPDO4 Mapping at Object 1603h: Default ID 0x500 + Node ID
Sub-Index Value
Object
0
0
Number of mapped application objects in PDO
1
0
Not used by default
2
0
Not used by default
3
0
Not used by default
4
0
Not used by default
None of them have the timeout feature enabled, i.e. the “Event Timer” on sub-index 5 is set to zero. When this is changed to a non-zero value, if the RPDO has not been received from another node within the time period defined (while in Operational mode), a network fault is activated, and the controller will go to the operational state define in Object 1029h sub-index 4.
Object Description
Index
1400h to 1403h
Name
RPDO communication parameter
Object Type RECORD
UMAX031701, Single Input to CANopen Controller V1
A-45
Data Type
PDO Communication Record
Entry Description
Sub-Index
0h
Description
Number of entries
Access
RO
PDO Mapping No
Value Range 5
Default Value 5
Sub-Index
1h
Description
COB-ID used by RPDO
Access
RW
X RPDOx ID
PDO Mapping No
1
0200h
Value Range See value definition in DS-301
2
0300h
Default Value 40000000h + RPDO1 + Node ID
3
0400h
C0000000h + RPDOx + Node-ID
4
0500h
Node-ID = Node-ID of the module. The RPDO COB-IDs are automatically updated if the
Node-ID is changed by LSS protocol.
80000000h in the COB-ID indicates that the PDO does not exist (destroyed)
04000000h in the COB-ID indicates that there is no RTR allowed on the PDO
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Transmission type RO No See value definition in DS-301 255 (FFh) = Event Driven
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Inhibit Time RW No See value definition in DS-301 0
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Compatibility entry RW No UNSIGNED8 0
Sub-Index Description Access PDO Mapping Value Range
5 Event-timer RW No See value definition in DS-301
UMAX031701, Single Input to CANopen Controller V1
A-46
Default Value 0
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 1IN-CAN Controller can support up to four TPDO messages. All TPDOs on the 1IN-CAN Controller use the similar default communication parameters, with the PDO IDs set according to the pre-defined connection set described in DS-301. Most TPDOs do not exist, there is no RTR allowed, they use 11-bit CAN-IDs (base frame valid) and they are all time-driven. While all four have valid default mappings defined (see below) only TPDO1 is enabled by default (i.e. TPDO exists).
TPDO1 Mapping at Object 1A00h: Default ID 0x180 + Node ID
Sub-Index Value
Object
0
3
Number of mapped application objects in PDO
1
0x71000110
Analog Input 1 Field Value
2
0x71000210
Analog Input 1 Frequency Measured Field Value
3
0
Not used by default
4
0
Not used by default
TPDO2 Mapping at Object 1A01h: Default ID 0x280 + Node ID
Sub-Index Value
Object
0
0
Number of mapped application objects in PDO
1
0
Not used by default
2
0
Not used by default
3
0
Not used by default
4
0
Not used by default
TPDO3 Mapping at Object 1A02h: Default ID 0x380 + Node ID
Sub-Index Value
Object
0
2
Number of mapped application objects in PDO
1
0x24600110
PID Control Output 1 Field Value
2
0x24600210
PID Control Output 2 Field Value
3
0
Not used by default
4
0
Not used by default
TPDO4 Mapping at Object 1A03h: Default ID 0x480 + Node ID
Sub-Index Value
Object
0
2
Number of mapped application objects in PDO
1
0x50200020
Power Supply Field Value (measured)
2
0x50300020
Processor Temperature Field Value (measured)
3
0
Not used by default
4
0
Not used by default
Since all but TPDO1 has a zero value transmission rate (i.e. Event Timer in sub-index 5 of communication object), only TPDO1 will be automatically broadcasted when the unit goes into OPERATIONAL mode.
UMAX031701, Single Input to CANopen Controller V1
A-47
Object Description
Index
1800h to 1803h
Name
TPDO communication parameter
Object Type RECORD
Data Type
PDO Communication Record
Entry Description
Sub-Index
0h
Description
Number of entries
Access
RO
PDO Mapping No
Value Range 5
Default Value 5
Sub-Index
1h
Description
COB-ID used by TPDO
Access
RW
X
TPDOx ID
PDO Mapping No
1
0180h
Value Range See value definition in DS-301
2
0280h
Default Value 40000000h + TPDO1 + Node-ID
3
0380h
C0000000h + TPDOx + Node-ID
4
0480h
Node-ID = Node-ID of the module. The TPDO COB-IDs are automatically updated if the
Node-ID is changed by LSS protocol.
80000000h in the COB-ID indicates that the PDO does not exist (destroyed)
04000000h in the COB-ID indicates that there is no RTR allowed on the PDO
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Transmission type RO No See value definition in DS-301 254 (FEh) = Event Driven
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Inhibit Time RW No See value definition in DS-301 0
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Compatibility entry RW No UNSIGNED8 0
Sub-Index
5
UMAX031701, Single Input to CANopen Controller V1
A-48
Description Access PDO Mapping Value Range Default Value
Event-timer RW No See value definition in DS-301 100ms (on TPDO1) 0ms (on TPDO2, TPDO3, TPDO4)
UMAX031701, Single Input to CANopen Controller V1
A-49
3.3. APPLICATION OBJECTS (DS-404)
Index (hex)
6020 6030
7100 6110 6112 7120 7121 7122 7123 7130 6132 7148 7149 61A0 61A1
Object
DI Read State 1 Input Line DI Polarity 1 Input Line AI Input Field Value AI Sensor Type AI Operating Mode AI Input Scaling 1 FV AI Input Scaling 1 PV AI Input Scaling 2 FV AI Input Scaling 2 PV AI Input Process Value AI Decimal Digits PV AI Input Span Start AI Input Span End AI Filter Type AI Filter Constant
Object Type
ARRAY ARRAY
ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY
Data Type
BOOLEAN UNSIGNED8 INTEGER16 UNSIGNED16 UNSIGNED8 INTEGER16 INTEGER16 INTEGER16 INTEGER16 INTEGER16 UNSIGNED8 INTEGER16 INTEGER16 UNSIGNED8 UNSIGNED16
Access
RO RW RO RW RW RW RW RW RW RO RW RW RW RW RW
PDO Mapping
Yes No
Yes No No No No No No Yes No No No No No
UMAX031701, Single Input to CANopen Controller V1
A-50
3.3.1. Object 6020h: DI Read State 1 Input Line
This read-only object represents the digital input state from a single input line. Refer to Section 1.2 for more information
Object Description
Index
6020h
Name
DI Read State 1 Input Line
Object Type ARRAY
Data Type
BOOLEAN
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Digital Input 1 State RO Yes 0 (OFF) or 1 (ON) 0
3.3.2. Object 6030h: DI Polarity 1 Input Line
This object determines how the state read on the input pin corresponds to the logic state, in conjunction with manufacturer object 2020h, as defined in Table 3.
Object Description
Index
6030h
Name
DI Polarity 1 Input Line
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range
1h Digital Input 1 Polarity RW No See Table 3
UMAX031701, Single Input to CANopen Controller V1
A-51
Default Value 0 (Normal On/Off)
3.3.3. Object 7100h: AI Input Field Value
This object represents the measured value of an analog input that has been scaled as per manufacturer object 2102h AI Decimal Digits PV. The base unit for each type of input is defined in Table 9, as well as the read-only resolution (decimal digits) associated with the FV.
Object Description
Index
7100h
Name
AI Input Field Value
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 FV RO Yes Data Type Specific, see Table 11 No
3.3.4. Object 6110h: AI Sensor Type
This object defines the type of sensor (input) which is connected to the analog input pin.
Object Description
Index
6110h
Name
AI Sensor Type
Object Type ARRAY
Data Type
UNSIGNED16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access
1h AI1 Sensor Type RW
UMAX031701, Single Input to CANopen Controller V1
A-52
PDO Mapping Value Range Default Value
No See Table 5 40 (voltage)
3.3.5. Object 6112h: AI Operating Mode
This object enables special operating modes for the input.
Object Description
Index
6112h
Name
AI Operating Mode
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Operating Mode RW No See Table 4 1 (normal operation)
3.3.6. Object 7120h: AI Input Scaling 1 FV
This object describes the field value of the first calibration point for the analog input channel, as shown in Figure 7. It also defines the “minimum” value of the analog input range when using this input as a control source for another function block, as described in Table 17 in Section 1.5. It is scaled in the physical unit of the FV, i.e. object 2102h applies to this object.
Object Description
Index
7120h
Name
AI Input Scaling 1 FV
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index
1h
UMAX031701, Single Input to CANopen Controller V1
A-53
Description Access PDO Mapping Value Range Default Value
AI1 Scaling 1 FV RW No See Table 11 500 [mV]
3.3.7. Object 7121h: AI Input Scaling 1 PV
This object defines the process value of the first calibration point for the analog input channel, as shown in Figure 7. It is scaled in the physical unit of the PV, i.e. object 6132h applies to this object.
Object Description
Index
7121h
Name
AI Input Scaling 1 PV
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Scaling 1 PV RW No Integer16 500 [same as 7120h]
3.3.8. Object 7122h: AI Input Scaling 2 FV
This object describes the field value of the second calibration point for the analog input channel, as shown in Figure 7. It also defines the “maximum” value of the analog input range when using this input as a control source for another function block, as described in Table 17 in Section 1.5. It is scaled in the physical unit of the FV, i.e. object 2102h applies to this object.
Object Description
Index
7122h
Name
AI Input Scaling 2 FV
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
UMAX031701, Single Input to CANopen Controller V1
A-54
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Scaling 2 FV RW No See Table 11 4500 [mV]
3.3.9. Object 7123h: AI Input Scaling 2 PV
This object defines the process value of the second calibration point for the analog input channel,
as shown in Figure 7. It is scaled in the physical unit of the PV, i.e. object 6132h applies to this
object.
Object Description
Index
7123h
Name
AI Input Scaling 2 PV
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Scaling 2 PV RW No Integer16 4500 [same as 7122h]
3.3.10. Object 7130h: AI Input Process Value
This object represents the result of the input scaling applied per Figure 7, and gives the measured quantity scaled in the physical unit of the process value (i.e. °C, PSI, RPM, etc) with the resolution defined in object 6132h AI Decimal Digits PV.
Object Description
Index
7130h
Name
AI Input Process Value
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
UMAX031701, Single Input to CANopen Controller V1
A-55
Value Range 1 Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Process Value RO Yes Integer16 No
3.3.11. Object 6132h: AI Decimal Digits PV
This object describes the number of digits following the decimal point (i.e. resolution) of the input data, which is interpreted with data type Integer16 in the process value object.
Example: A process value of 1.230 (Float) will be coded as 1230 in Integer16 format if the number of decimal digits is set to 3.
Object Description
Index
6123h
Name
AI Decimal Digits PV
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Decimal Digits PV RW No 0 to 4 3 [Volt to mV]
3.3.12. Object 7148h: AI Span Start
This value specifies the lower limit where field values are expected. Field values which are lower than this limit are marked as negative overload. It is scaled in the physical unit of the FV, i.e. object 2102h applies to this object.
Object Description
Index
7148h
Name
AI Span Start
UMAX031701, Single Input to CANopen Controller V1
A-56
Object Type Data Type
ARRAY INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Span Start (Error Min) RW No See Table 11 200 [mV]
3.3.13. Object 7149h: AI Span End
This value specifies the upper limit where field values are expected. Field values which are higher than this limit are marked as positive overload. It is scaled in the physical unit of the FV, i.e. object 2102h applies to this object.
Object Description
Index
7149h
Name
AI Span End
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Span End (Error Max) RW No See Table 11 4800 [mV]
3.3.14. Object 61A0h: AI Filter Type
UMAX031701, Single Input to CANopen Controller V1
A-57
This object defines the type of data filter that will be applied to the raw input data, as read from the ADC or Timer, before it is passed to the field value object. The types of data filters are defined in Table 8, and how they are used is outlined in Section 1.3.
Object Description
Index
61A0h
Name
AI Filter Type
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Filter Type RW No See Table 8 0 (no filter)
3.3.15. Object 61A1h: AI Filter Constant
This object defines the number of steps used in the various filters, as defined in Section 1.3
Object Description
Index
61A0h
Name
AI Filter Constant
Object Type ARRAY
Data Type
UNSIGNED16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range
1h AI1 Filter Constant RW No 1 to 1000
UMAX031701, Single Input to CANopen Controller V1
A-58
Default Value 10
3.4. MANUFACTURER OBJECTS
Index (hex)
2020 2021 2030 2031 2040 2041 2031
2100 2101 2102 2103 2110 2111 2112
2500 2502 2520 2522
30z0 30z1 30z2 30z3 30z4 30z5 30z6 30z7
4000 4010 4020 4×01 4×02 4×11 4×12 4×13 4×21 4×22 4×23 4×31 4×32 4×33
5010
Object
DI Pull Up/Down Mode 1 Input Line DI Debounce Time DI Debounce Filter 1 Input Line DI Frequency Debounce Time DI Reset Pulse Count DI Time Window DI Pulse Window AI Input Range AI Number of Pulses Per Revolution AI Decimal Digits FV AI Filter Frequency for ADC AI Error Detect Enable AI Error Clear Hysteresis AI Error Reaction Delay EC Extra Received Process Value EC Decimal Digits PV EC Scaling 1 PV EC Scaling 2 PV LTz Input X-Axis Source LTz Input X-Axis Number LTz X-Axis Decimal Digits PV LTz Y-Axis Decimal Digits PV LTz Point Response LTz Point X-Axis PV LTz Point Y-Axis PV LTz Output Y-Axis PV Logic Block Enable Logic Block Selected Table Logic Output Process Value LBx Lookup Table Number LBx Function Logical Operator Logic Block A Function A Condition 1 Logic Block A Function A Condition 2 Logic Block A Function A Condition 3 Logic Block A Function B Condition 1 Logic Block A Function B Condition 2 Logic Block A Function B Condition 3 Logic Block A Function C Condition 1 Logic Block A Function C Condition 2 Logic Block A Function C Condition 3 Constant Field Value
UMAX031701, Single Input to CANopen Controller V1
Object Type
ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY
ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY
ARRAY ARRAY ARRAY ARRAY
VAR VAR VAR VAR ARRAY ARRAY ARRAY ARRAY
ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY
ARRAY
Data Type
UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED8 BOOLEAN INTEGER16 UNSIGNED16 INTEGER16 UNSIGNED8 INTEGER16 INTEGER16 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 INTEGER16 INTEGER16 INTEGER16 UNSIGNED8 UNSIGNED8 INTEGER16 UNSIGNED8 UNSIGNED8 RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD FLOAT32
Access
RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RO RW RW RO RW RW RW RW RW RW RW RW RW RW RW RW
PDO Mapping
No No No No No No No
No No No No No No No
Yes No No No
No No No No No No No Yes
No No Yes No No No No No No No No No No No
No
A-59
5020 Power Supply Field Value 5030 Processor Temperature Field Value 5555 Start in Operational Mode
Where z = 1 to 6 and x = 1 to 4
VAR
FLOAT32
RO
Yes
VAR
FLOAT32
RO
Yes
VAR
BOOLEAN
RW
No
UMAX031701, Single Input to CANopen Controller V1
A-60
3.4.1. Object 2020h: DI Pullup/Down Mode 1 Input Line
This object determines how the state read on the input pin corresponds to the logic state, in conjunction with application object 6020h, as defined in Table 3. The options for this object are listed in Table 1, and the controller will adjust the input hardware according to what is specified.
Object Description
Index
2020h
Name
DI Pullup/Down Mode 1 Input Line
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Digital Input 1 Pullup/Down RW No See Table 1 0 (pullup/down disabled)
3.4.2. Object 2020h: DI Debounce Time 1 Input Line
This object determines the debounce time applied when the input is configured as digital input type. The options for this object are listed below.
Object Description
Index
2021h
Name
DI Debounce Time 1 Input Line
Object Type ARRAY
Data Type
UNSIGNED16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range
1h Digital Input Debounce Time RW No 0 60000
UMAX031701, Single Input to CANopen Controller V1
A-61
Default Value 10 (ms)
3.4.3. Object 2030h: DI Debounce Filter 1 Input Line
This object determines the debounce time of a digital signal when the input is configured as Frequency/RPM or PWM input types. The options for this object are listed in Table 2.
Object Description
Index
2020h
Name
DI Debounce Filter 1 Input Line
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Digital Input Debounce Filter RW No See Table 2 2 [Filter 1.78 us]
3.4.4. Object 2031h: AI Frequency Overflow Value
This object determines the debounce time of a digital signal when the input is configured as Frequency/RPM or PWM input types.
Object Description
Index
2031h
Name
AI Frequency Overflow Value
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping
1h Frequency Overflow Value RW No
UMAX031701, Single Input to CANopen Controller V1
A-62
Value Range 0-50 Default Value 50 (Hz)
3.4.5. Object 2040h: AI Reset Pulse Count Value
This object determines the value (in pulses) which will reset the Counter input type to start count from 0 again. This value is considered when the input is selected as Counter Input type.
Object Description
Index
2040h
Name
AI Reset Pulse Count Value
Object Type ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI Reset Pulse Count Value RW No 0-0xFFFFFFFF 1000 (pulses)
3.4.6. Object 2041h: AI Counter Time Window
This object determines the value (in milliseconds) which will be used as a time window to count the pulses detected within it. This value is considered when the input is selected as Counter Input type.
Object Description
Index
2041h
Name
AI Counter Time Window
Object Type ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description
1h AI Counter Time Window
UMAX031701, Single Input to CANopen Controller V1
A-63
Access PDO Mapping Value Range Default Value
RW No 0-0xFFFFFFFF 500 (milliseconds)
3.4.7. Object 2041h: AI Counter Pulse Window
This object determines the value (in pulses) which will be used as a target count for the controller to detect and provide a time (in milliseconds) required to reach such count. This value is considered when the input is selected as Counter Input type.
Object Description
Index
2041h
Name
AI Counter Pulse Window
Object Type ARRAY
Data Type
UNSIGNED32
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI Counter Pulse Window RW No 0-0xFFFFFFFF 1000 (pulses)
3.4.8. Object 2100h: AI Input Range
This object, in conjunction with 6110h AI Sensor Type, defines the analog input defaults (Table 10) and allowable ranges (Table 11) for objects 2111h, 7120h, 7122h, 7148h and 7149h. The number and types of ranges will vary according to what type of sensor is connected to the input, as described in Table 6.
Object Description
Index
2100h
Name
AI Input Range
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
UMAX031701, Single Input to CANopen Controller V1
A-64
Value Range 1 Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Range RW No See Table 6 2 [0-5V]
3.4.9. Object 2101h: AI Number of Pulses Per Revolution
This object is only used when a “Frequency” input type has been selected by object 6110h. The controller will automatically convert frequency measurement from Hz to RPM when a non-zero value is specified. In this case, objects 2111h, 7120h, 7122h, 7148h and 7149h will be interpreted as RPM data. Object 2100h AI Input Range must still be specified in Hertz, and should be selected according to the expected frequencies that the RPM sensor will operate in.
Object Description
Index
2101h
Name
AI Number of Pulses Per Revolution
Object Type ARRAY
Data Type
UNSIGNED16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index
1h
Description
AI1 Pulses per Revolution
Access
RW
PDO Mapping No
Value Range 0 to 1000
Default Value 1
3.4.10. Object 2102h: AI Decimal Digits FV
This object describes the number of digits following the decimal point (i.e. resolution) of the input data, which is interpreted with data type Integer16 in the field value object.
Example: A field value of 1.230 (Float) will be coded as 1230 in Integer16 format if the number of decimal digits is set to 3.
UMAX031701, Single Input to CANopen Controller V1
A-65
In addition to the FV object 7100h, objects 2111h, 7120h, 7122h, 7148h and 7149h will also be specified with this resolution. This object is read-only, and will be automatically adjusted by the controller as per Table 9 depending on the analog input type and range that has been selected.
Object Description
Index
2102h
Name
AI Decimal Digits FV
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Decimal Digits FV RO No See Table 9 3 [Volt to mV]
3.4.11. Object 2103h: AI Filter Frequency for ADC
This object is used to specify the cutoff filter frequency for the ADC peripheral on the processor. The analog-to-digital converter is used with analog input types: voltage; current; and resistive. It is also used to measure: analog output current feedback; power supply voltage, and processor temperature. The available filters are listed in Table 7.
UMAX031701, Single Input to CANopen Controller V1
A-66
Object Description
Index
2104h
Name
AI Filter Frequency for ADC
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h ADC Filter Frequency RW No See Table 7 1 [Filter 50Hz]
3.4.12. Object 2110h: AI Error Detect Enable
This object enables error detection and reaction associated with the analog input function block. When disabled, the input will not generate an EMCY code in object 1003h Pre-Defined Error Field, nor will it disable any output controlled by the input should the input go out of range as defined by the objects 7148h AI Span Start and 7149h AI Span End.
Object Description
Index
2110h
Name
AI Error Detect Enable
Object Type ARRAY
Data Type
BOOLEAN
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Error Detect Enable RW No 0 (FALSE) or 1 (TRUE) 1 [TRUE]
UMAX031701, Single Input to CANopen Controller V1
A-67
3.4.13. Object 2111h: AI Error Clear Hysteresis
This object is used to prevent rapid activation/clearing of an input fault flag, and sending of object 1003h to the CANopen ® network. Once the input has gone above/below the thresholds that define the valid operating range, it must come back into range minus/plus this value to clear the fault. It is scaled in the physical unit of the FV, i.e. object 2102h applies to this object.
Object Description
Index
2111h
Name
AI Error Clear Hysteresis
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Error Clear Hysteresis RW No See Table 11 100 [mV]
3.4.14. Object 2112h: AI Error Reaction Delay
This object is used to filter out spurious signals and to prevent saturating the CANopen ® network with broadcasts of object 1003h as the fault is set/cleared. Before the fault is recognized (i.e. the EMCY code is added to the pre-defined error field list), it must remain active throughout the period of time defined in this object. The physical unit for this object is milliseconds.
Object Description
Index
2112h
Name
AI Error Reaction Delay
Object Type ARRAY
Data Type
UNSIGNED16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 1
UMAX031701, Single Input to CANopen Controller V1
A-68
Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Error Reaction Delay RW No 0 to 60,000 1000 [ms]
3.4.15. Object 2500h: EC Extra Received Process Value
This object provides an extra control source in order to allow other function blocks to be controlled by data received from a CANopen ® RPDO. It functions similarly to any other writeable, mappable PV object, such as 7300h AO Output PV.
Object Description
Index
2500h
Name
EC Extra Received PV
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 6
Default Value 6
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 6h (x = 1 to 6) ECx Received PV RW Yes Integer16 No
UMAX031701, Single Input to CANopen Controller V1
A-69
3.4.16. Object 2502h: EC Decimal Digits PV
This object describes the number of digits following the decimal point (i.e. resolution) of the extra control data, which is interpreted with data type Integer16 in the process value object.
Object Description
Index
2502h
Name
EC Decimal Digits PV
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 6
Default Value 6
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 6h (x = 1 to 6) ECx Decimal Digits PV RW No 0 to 4 1 (0.1 resolution)
3.4.17. Object 2520h: EC Scaling 1 PV
This object defines the minimum value of the extra control source. It used as the Scaling 1 value by other functions blocks when the EC has been selected as the source for the X-Axis data, i.e. as seen in Figure 11. There is no physical unit associate with the data, but 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
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 6
Default Value 6
UMAX031701, Single Input to CANopen Controller V1
A-70
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 6h (x = 1 to 6) ECx Scaling 1 PV RW No -32768 to 2522h sub-index X 0
3.4.18. Object 2522h: EC Scaling 2 PV
This object defines the maximum value of the extra control source. It used as the Scaling 2 value by other functions blocks when the EC has been selected as the source for the X-Axis data, i.e. as seen in Figure 11. There is no physical unit associate with the data, but it uses the same resolution as the received PV as defined in object 2502h, EC Decimal Digits PV. This object must always be larger than object 2520h EC Scaling 1 PV.
Object Description
Index
2522h
Name
EC Scaling 2 PV
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 6
Default Value 6
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 6h (x = 1 to 6) ECx Scaling 2 PV RW No 2520h sub-index X to 32767 1000 (100.0)
UMAX031701, Single Input to CANopen Controller V1
A-71
3.4.19. Object 30z0h: LTz 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. The available control sources on the 1IN-CAN controller are listed in Table 15. Not all sources would make sense to use as an X-Axis input, and it is the user’s responsibility to select a source that makes sense for the application. A selection of “Control Source Not Used” disables the associated lookup table function block.
Object Description
Index
30z0h (where z = 1 to 6)
Name
LTz Input X-Axis Source
Object Type VARIABLE
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Access
RW
PDO Mapping No
Value Range See Table 15
Default Value 0 (control not used, PID disabled)
3.4.20. Object 30z1h: LTz Input X-Axis Number
This object defines the number of the source that will be used as the X-Axis input PV for the lookup table function. The available control numbers are dependent on the source selected, as shown in Table 16. Once selected, the limits for the points on the X-Axis will be constrained by the scaling objects of the control source/number as defined in Table 17.
Object Description
Index
30z1h (where z = 1 to 6)
Name
LTz Input X-Axis Number
Object Type VARIABLE
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Access
RW
PDO Mapping No
Value Range See Table 16
Default Value 0 (null control source)
UMAX031701, Single Input to CANopen Controller V1
A-72
3.4.21. Object 30z2h: LTz X-Axis Decimal Digits PV
This object describes the number of digits following the decimal point (i.e. resolution) of the X-Axis input data and the points in the lookup table. It should be set equal to the decimal digits used by the PV from the control source/number as defined in Table 17.
Object Description
Index
30z2h (where z = 1 to 6)
Name
LTz X-Axis Decimal Digits PV
Object Type VARIABLE
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Access
RW
PDO Mapping No
Value Range 0 to 4 (see Table 17)
Default Value 0
3.4.22. Object 30z3h: LTz 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 (i.e. an analog output), 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.
Object Description
Index
30z3h (where z = 1 to 6)
Name
LTz Y-Axis Decimal Digits PV
Object Type VARIABLE
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Access
RW
PDO Mapping No
Value Range 0 to 4
Default Value 0
UMAX031701, Single Input to CANopen Controller V1
A-73
3.4.23. Object 30z4h: LTz Point Response
This object determines the Y-Axis output response to changes in the X-Axis input. The value set in sub-index 1 determines the X-Axis type (i.e. data or time), while all other sub-indexes determine the response (ramp, step, ignore) between two points on the curve. The options for this object are listed in Table 24. See Figure 18 for an example of the difference between a step and ramp response.
Object Description
Index
30z4h (where z = 1 to 6)
Name
LTz Point Response
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 11
Default Value 11
Sub-Index Description Access PDO Mapping Value Range Default Value
1h X-Axis Type RW No See Table 24 (0 or 1) 0 (x-axis data response)
Sub-Index Description Access PDO Mapping Value Range Default Value
2h to 11h (x = 2 to 11) LTz Point X Response RW No See Table 24 (0, 1 or 2) 1 (ramp to response)
3.4.24. Object 30z5h: LTz Point X-Axis PV
This object defines the X-Axis data for the 11 calibration points on the lookup table, resulting in 10 different output slopes.
When a data response is selected for the X-Axis type (sub-index 1 of object 30z4), this object is constrained such that X1 cannot be less than the Scaling 1 value of the selected control source/number, and X11 cannot be more than the Scaling 2 value. The rest of the points are constrained by the formula below. The physical unit associate with the data will be that of the selected input, and it will use the resolution defined in object 30z2h, LTz X-Axis Decimal Digits PV.
MinInputRange <= X1<= X2<= X3<= X4<= X5<= X6<= X7<= X8<= X9<= X10<= X11<= MaxInputRange
When a time response has been selected, each point on the X-Axis can be set anywhere from 1 to 86,400,000ms.
UMAX031701, Single Input to CANopen Controller V1
A-74
Object Description
Index
30z5h (where z = 1 to 6)
Name
LTz Point X-Axis PV
Object Type ARRAY
Data Type
INTEGER32
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 11
Default Value 11
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 11h (x = 1 to 11)
LTz Point X-Axis PVx
RW
No
See above (data) 1 to 86400000 (time)
10*(x-1)
No
3.4.25. Object 30z6h: LTz 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. The data is unconstrained and has no physical unit associate with it. It will use the resolution defined in object 30z3h, LTz Y-Axis Decimal Digits PV.
Object Description
Index
30z6h (where z = 1 to 6)
Name
LTz Point Y-Axis PV
Object Type ARRAY
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 11
Default Value 11
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 11h (x = 1 to 11) LTz Point Y-Axis PVx RW No Integer16 10*(x-1) [i.e. 0, 10, 20, 30, … 100]
UMAX031701, Single Input to CANopen Controller V1
A-75
3.4.26. Object 30z7h: LTz Output Y-Axis PV
This read-only object contains the lookup table function block PV that can be used as the input source for another function block (i.e. analog output.) The physical unit for this object is undefined, and it will use the resolution defined in object 30z3h, LTz Y-Axis Decimal Digits PV.
Object Description
Index
30z7h (where z = 1 to 6)
Name
LTz Output Y-Axis PV
Object Type VARIABLE
Data Type
INTEGER16
Entry Description
Sub-Index
0h
Access
RO
PDO Mapping Yes
Value Range Integer16
Default Value No
3.4.27. Object 4000h: Logic Block Enable
This object defines whether or not the logic shown in Figure 22 will be evaluated.
Object Description
Index
4000h
Name
Logic Block Enable
Object Type ARRAY
Data Type
BOOLEAN
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 4
Default Value 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 4h (x = 1 to 4) LBx Enable RW No 0 (FALSE) or 1 (TRUE) 0 [FALSE]
UMAX031701, Single Input to CANopen Controller V1
A-76
3.4.28. Object 4010h: Logic Block Selected Table
This read-only object reflects what table has been selected as the output source for the logic block after the evaluation shown in Figure 22 has been performed.
Object Description
Index
4010h
Name
Logic Block Selected Table
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 4
Default Value 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 4h (x = 1 to 4) LBx Selected Table RO Yes 1 to 6 No
3.4.29. Object 4020h: Logic Block Output PV
This read-only object reflects the output from the selected table, interpreted as a percentage. The limits for the percentage conversion are based on the range of the lookup tables Y-Axis Output PV as shown in Table 17.
Object Description
Index
4020h
Name
Logic Block Output PV
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 4
Default Value 4
Sub-Index Description Access PDO Mapping Value Range
1h to 4h (x = 1 to 4) LBx Output PV RO Yes Dependent on Selected Table
UMAX031701, Single Input to CANopen Controller V1
A-77
Default Value No
3.4.30. Object 4x01h: LBx Lookup Table Numbers
This object determines which of the six lookup tables supports on the 1IN-CAN 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
4x01h (where x = 1 to 4)
Name
LBx Lookup Table Numbers
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 3
Default Value 3
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 3h (y = A to C) LBx Lookup Table Y Number RW No 1 to 6 See Table 30
3.4.31. Object 4x02h: LBx Function Logical Operator
This object determines how the results of the three conditions for each function are to be compared to one another to determine the overall state of the function output. There are up to three functions that can be evaluated in each logic block. The options for this object are defined in Table 28. See Section 1.8 for more information about how this object is used.
Object Description
Index
4x02h (where x = 1 to 4)
Name
LBx Function Logical Operator
Object Type ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 3
Default Value 3
UMAX031701, Single Input to CANopen Controller V1
A-78
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 3h (y = A to C) LBx Function Y Logical Operator RW No See Table 28 Function A = 1 (and all) Function B = 1 (and all) Function C = 0 (default)
3.4.32. 3.4.33. 3.4.34. 3.4.35. 3.4.36. 3.4.37. 3.4.38. 3.4.39. 3.4.40.
Object 4x11h: LBx Function A Condition 1 Object 4x12h: LBx Function A Condition 2 Object 4x13h: LBx Function A Condition 3 Object 4x21h: LBx Function B Condition 1 Object 4x22h: LBx Function B Condition 2 Object 4x23h: LBx Function B Condition 3 Object 4x31h: LBx Function C Condition 1 Object 4x32h: LBx Function C Condition 2 Object 4x33h: LBx Function C Condition 3
These objects, 4xyzh, represent Logic Block z, Function y, Condition z, where x = 1 to 4, y = A to C, and z = 1 to 3. All of these objects are a special type of record, defined in Table 25. Information on how to use these objects is defined in Section 1.8.
Object Description
Index
4xyzh
Name
LBx Function y Condition z
Object Type RECORD
Data Type
UNSIGNED8
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 5
Default Value 5
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Argument 1 Source RW No See Table 15 1 (CANopen Message)
Sub-Index Description
2h Argument 1 Number
UMAX031701, Single Input to CANopen Controller V1
A-79
Access PDO Mapping Value Range Default Value Sub-Index Description Access PDO Mapping Value Range Default Value
RW No See Table 16 3 (EC Received PV 1) 3h Argument 2 Source RW No See Table 15 3 (Constant PV)
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Argument 2 Number RW No See Table 16 3 (Constant FV 3)
Sub-Index Description Access PDO Mapping Value Range Default Value
5h Operator RW No See Table 26 0 (Equals)
3.4.41. Object 5010h: Constant Field Value
This object is provided to allow the user to compare against a fixed value, i.e. for setpoint control in a PID loop, or 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 four other sub-indexes provide for other unconstrained data.
Object Description
Index
5010h
Name
Constant Field Value
Object Type ARRAY
Data Type
FLOAT32
Entry Description
Sub-Index
0h
Description
Largest sub-index supported
Access
RO
PDO Mapping No
Value Range 6
Default Value 6
Sub-Index Description Access
1h Constant False RO
UMAX031701, Single Input to CANopen Controller V1
A-80
PDO Mapping Value Range Default Value
No 0 0 (false)
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Constant True RO No 1 1 (true)
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Constant FV 3 RW No Float32 25.0
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Constant FV 4 RW No Float32 50.0
Sub-Index Description Access PDO Mapping Value Range Default Value
5h Constant FV 5 RW No Float32 75.0
Sub-Index Description Access PDO Mapping Value Range Default Value
6h Constant FV 6 RW No Float32 100.0
UMAX031701, Single Input to CANopen Controller V1
A-81
3.4.42. 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
Name
Power Supply Field Value
Object Type VARIABLE
Data Type
FLOAT32
Entry Description
Sub-Index
0h
Access
RO
PDO Mapping Yes
Value Range 0 to 70 [V]
Default Value No
3.4.43. Object 5030h: Processor Temperature Field Value
This read-only object is available for diagnostic feedback purposes. It reflects the measured temperature of the processor, which will always run approximately 10°C to 20°C above ambient. The physical unit for this object is degrees Celsius.
Object Description
Index
5030h
Name
Processor Temperature Field Value
Object Type VARIABLE
Data Type
FLOAT32
Entry Description
Sub-Index
0h
Access
RO
PDO Mapping Yes
Value Range -50 to 150 [°C]
Default Value No
UMAX031701, Single Input to CANopen Controller V1
A-82
3.4.44. Object 5555h: Start in Operational Mode
This object allows the unit to start in Operational mode without requiring the presence of a CANopen ® Master on the network. It is intended to be used only when running the 1IN-CAN controller as a stand-alone module. This should always be set FALSE whenever it is connected to a standard master/slave network.
Object Description
Index
5555h
Name
Start in Operational Mode
Object Type VARIABLE
Data Type
BOOLEAN
Entry Description
Sub-Index
0h
Access
RW
PDO Mapping No
Value Range 0 (FALSE) or 1 (TRUE)
Default Value 0 [FALSE]
UMAX031701, Single Input to CANopen Controller V1
A-83
4. TECHNICAL SPECIFICATIONS
4.1. Power Supply
Power Supply Input Protection
12, 24 VDC nominal (8…36VDC power supply range)
Reverse polarity protection is provided. Power supply input section protects against transient surges and shorts. Overvoltage protection up to 38V is provided. Overvoltage (undervoltage).
4.2. Inputs
Analog Input Functions Voltage Input
Current Input
PWM Input
Frequency Input
Counter Input Digital Input Function
Input Accuracy Analog Input Resolution Digital Input Resolution Error Detection/Reaction
Voltage [V], Current [mA], PWM [%], Frequency [Hz], RPM, Counter
0-5V 0-10V
(Impedance 204 K) (Impedance 136 K)
0-20mA 4-20mA
(Impedance 124 ) (Impedance 124 )
0 to 100% (at 0.5Hz to 20kHz) Selectable 10k pullup to +5V or pulldown to GND resistor
0.5Hz to 20kHz Selectable 10k pullup to +5V or pulldown to GND resistor
Pulse Count, Measuring Window, Pulses in Window
5V CMOS, Active High or Active Low Selectable 10k pullup to +5V or pulldown to GND resistor Normal, Inverse or Latched (push-button) response
<1% full scale error (all types)
12-bit ADC
16-bit timer
Out of Range High and Low detection EMCY code generation (object 1003h) and fault reaction possible (1029h).
4.3. Communication
CAN
Network Termination
1 CAN 2.0B port, protocol CiA CANopen ® By default, the 1IN-CAN Controller transmits measured input (FV object 7100h) and output current feedback (FV object 2370h) on TPDO1
According to the CAN standard, it is necessary to terminate the network with external termination resistors. The resistors are 120 Ohm, 0.25W minimum, metal film or similar type. They should be placed between CAN_H and CAN_L terminals at both ends of the network.
4.4. General Specifications
Microprocessor
STM32F103CBT7, 32-bit, 128 Kbytes Flash Program Memory
Quiescent Current
Contact Axiomatic.
Control Logic
User programmable functionality using Electronic Assistant®
Communications
1 CAN port (CANopen®), SAE J1939 is available on request.
Operating Conditions
-40 to 85 C (-40 to 185 F)
Protection
IP67
EMC Compliance
CE marking
Vibration
MIL-STD-202G, Test 204D and 214A (Sine and Random) 10 g peak (Sine); 7.86 Grms peak (Random) (Pending)
Shock
MIL-STD-202G, Test 213B, 50 g (Pending)
Approvals
CE marking
Electrical Connections
6 pin Deutsch IPD connector P/N: DT04-6P A mating plug kit is available as Axiomatic P/N: AX070119.
Pin # 1 2 3 4 5 6
Description BATT+ Input + CAN_H CAN_L Input BATT-
UMAX031701, Single Input to CANopen Controller V1
A-84
5. VERSION HISTORY
Version Date
1
May 31st, 2016
Author
Modifications
Gustavo Del Valle Initial Draft
UMAX031701, Single Input to CANopen Controller V1
A-85
OUR PRODUCTS
Actuator Controls Battery Chargers CAN bus Controls, Gateways CAN/Wifi, CAN/Bluetooth Current Converters DC/DC Power Converters DC Voltage/Current Signal Converters Engine Temperature Scanners Ethernet/CAN Converters Fan Drive Controllers Hydraulic Valve Controllers I/O Controls LVDT Simulators Machine Controls Motor Controls PID Controls Position Sensors, Angle Measurement Inclinometers Power Supplies PWM Signal Converters/Isolators Resolver Signal Conditioners Service Tools Signal Conditioners Strain Gauge CAN Controls Surge Suppressors
OUR COMPANY
Axiomatic provides electronic machine controls, components, and systems to the off-highway, commercial vehicle, electric vehicle, power generator set, material handling, renewable energy and industrial OEM markets.
We provide efficient, innovative solutions that focus on adding value for our customers.
We emphasize service and partnership with our customers, suppliers, and employees to build long term relationships and mutual trust.
QUALITY DESIGN AND MANUFACTURING
Axiomatic is an ISO 9001:2008 registered facility.
SERVICE
All products to be returned to Axiomatic require a Return Materials Authorization Number (RMA#).
Please provide the following information when requesting an RMA number: · Serial number, part number · Axiomatic invoice number and date · Hours of operation, description of problem · Wiring set up diagram, application · Other comments as needed
When preparing the return shipping paperwork, please note the following. The commercial invoice for customs (and packing slip) should state the harmonized international HS (tariff code), valuation and return goods terminology, as shown in italics below. The value of the units on the commercial invoice should be identical to their purchase price.
Goods Made In Canada (or Finland) Returned Goods for Warranty Evaluation, HS: 9813.00 Valuation Identical Goods Axiomatic RMA#
WARRANTY, APPLICATION APPROVALS/LIMITATIONS
Axiomatic Technologies Corporation reserves the right to make corrections, modifications, enhancements, improvements, and other changes to its products and services at any time and to discontinue any product or service without notice. Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete. 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.
CONTACTS
Axiomatic Technologies Corporation 5915 Wallace Street Mississauga, ON CANADA L4Z 1Z8 TEL: +1 905 602 9270 FAX: +1 905 602 9279 www.axiomatic.com
Axiomatic Technologies Oy Höytämöntie 6 33880 Lempäälä FINLAND TEL: +358 103 375 750 FAX: +358 3 3595 660 www.axiomatic.fi
Copyright 2018
Documents / Resources
 |
AXIOMATIC AX031701 Single Universal Input Controller [pdf] User Manual AX031701 Single Universal Input Controller, AX031701, Single Universal Input Controller, Universal Input Controller, Input Controller, Controller |