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USER MANUAL UMAX020502 - Axiomatic Technologies Corporation

1. Subindex Value Object 0 4 Number of mapped application objects in PDO 1 0x73300110 AO Output Field Value for POUT 1 2 0x73300210 AO Output Field Value for POUT2 3 0x73300310 AO Output Field Value for POUT3 4 0x73300410 AO Output Field Value for POUT4 RPDO2 default ID 0x300 node ID Subindex Value Object 0 1 Number of mapped application objects in PDO 1 0x62000108 DO Write State 8 Output Lines 2 0 3 0 4 0 RPDO3 default ID 0x400 node ID Subindex Value Object 0 0 Number of mapped application objects in PDO 1 0 2 0 3 0 4 0 RPDO4 default ID 0x500 node ID Subindex Value Object 0 0 Number of mapped application objects in PDO 1 0 2 0 3 0 4 0 Version 2 00 Preliminary Documentation May be Subject to Change 15 71 TPDO1 default ID 0x180 node ID Subindex Value Object 0 4 Number of mapped application objects in PDO 1 0x71000110 Al Input Field Value for AIN1 2 0x71000210 Al Input Field Value for AIN2 3 0x71000310 Al Input Field Value for AIN3 4 0x71000410 Al Input Field Value for AIN4 TPDO2 default ID 0x280 node ID Subindex Value Object 0 2 Number of mapped application objects in PDO 1 0x71000510 Al Input Field Value for FIN1 2 0x71000610 Al Input Field Value for FIN2
2. Object Description Index 7124h Name Al Input Offset Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Input Offset AIN1 to FIN2 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 3 3 20 Object 6125h Al Autozero Writing a signature zero to this object causes a modification of object 7124h value Al Input Offset such that object 7130h Al Input PV becomes zero This zeroing cycling is performed once upon reception of the signature to the appropriate subindex but the zeroing procedure can be performed any time as many times as required The signature is a 32 bit unsigned number composed of the ASCII codes of the signature characters according to the following table MSB LSB o r e H GER 72h 65h 7Ah On reception of the correct signature to an appropriate subindex the Quad will perform the zeroing operation for that input and then confirm the SDO transmission Object Description Index 6125h Name Al Autozero Object Type ARRAY Data Type UNSIGNED32 Version 2 00 Preliminary Documentation May be Subject to Change 42 71 Entry Description Subindex Oh Description Number of entries Access RO PDO Ma
3. Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description AO Response POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 1 2 3 4 5 Default Value 0 Single Profile Single Slope For objects 3030h to 3050h the values must be in the same units as the field value for the output in this case milliamps The descriptions are valid only if the control input in object 3010h is non zero otherwise these objects are ignored 3 5 3 Object 3030h AO Minimum Current This object defines the current that will be applied to a load as per the minimum current part of the graphs in section 2 5 Object Description Index 3030h Name AO Minimum Current Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Minimum Current POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 to 2000 mA Default Value 0 mA Version 2 00 Preliminary Documentation May be Subject to Change 54 71 3 5 4 Object 3040h AO Breakpoint Current This object defines the current that will be applied to a load as per the breakpoint current parts of the graphs in section 2 5
4. Object Description Index 2001h Name DI Low Threshold Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description Low Threshold AIN1 to AIN4 Access RW PDO Mapping No Value Range 0 to 2002h at subindex Default Value 1500 mV Subindex 5h to 6h Description Low Threshold FIN1 to FIN2 Access RW PDO Mapping No Value Range 0 to 2002h at subindex Default Value 2500 25 00 Version 2 00 Preliminary Documentation May be Subject to Change 26 71 3 2 3 Object 2002h DI High Threshold This object sets the on threshold for analog inputs configured as ON OFF inputs If the input is greater than or egual to this value then the input state in object 6000h is set to ON This input must be in the same units as object 7100h the field value for that analog input Object Description Index 2002h Name DI High Threshold Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description High Threshold AIN1 to AIN4 Access RW PDO Mapping No Value Range 2001h at subindex to 5000 for 0 5V 2001h at subindex to 10000 for 0 10V 2001h at subinde
5. Index 300Ch Name DO Read State 8 Output Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Subindex 1h Description Read State all Digital Outputs Access RO PDO Mapping Yes default TPDO3 subindex 2 Value Range Bit Value 0 OFF Bit Value 1 ON Default Value 0 3 4 5 Object 6200h DO Write State 8 Output Lines This object is used for writing the state of digital output lines in 8 bit blocks For proportional outputs that are not configured as digital the corresponding bit in the byte is ignored For digital outputs with an on board control input non zero value in object 3001h writes to this object will have no effect on the state of the output Object Description Index 6200h Name DO Write State 8 Output Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Subindex 1h Description Write State all Digital Outputs Access RW PDO Mapping Yes default RPDO2 subindex 1 Value Range Bit Value 0 Set DO off Bit Value 1 Set DO on Default Value 0 Version 2 00 Preliminary Documentation May be Subject to Change 49 71 3 4 6 Object 6202h DO Polarity 8 Output Lines This object i
6. Grey Connector Black Connector Pin Function Pin Function 1 Power 1 CANH 12 Power 2 CANL 2 Proportional Solenoid 1 POUT1 3 Analog Input 1 Digital Input 1 AIN1 DIN1 11 Proportional Solenoid 1 4 Analog Input 2 Digital Input 2 AIN2 DIN2 3 Proportional Solenoid 2 POUT2 5 Analog Input 3 Digital Input 3 AIN3 DIN3 10 Proportional Solenoid 2 6 Analog Input 4 Digital Input 4 AIN4 DIN4 4 Proportional Solenoid 3 POUT3 7 RS 232 Transmit 9 Proportional Solenoid 3 8 RS 232 Receive 5 Proportional Solenoid 4 POUT4 9 Analog GND could be used as RS 232 GND 8 Proportional Solenoid 4 10 Analog 5V Reference 10mA 6 Digital Solenoid DOUT 11 Pulse Input 1 Digital Input 5 FIN1 DIN5 7 Digital Solenoid 12 Pulse Input 2 Digital Input 6 FIN2 DIN6 Note An analog input can be configured for 0 5V 0 10V 0 20mA or 4 20mA input types Connector to DB 9 Pinout RS 232 Connection Black Deutsch Connector DB 9 Female Pin Controller Function Pin PC Function 7 RS 232 Transmit 2 RS 232 Receive 8 RS 232 Receive 3 RS 232 Transmit 9 GND 5 GND Version 2 00 Preliminary Documentation May be Subject to Change 6 71 1 3 References DS 301 DS 404 DS 305 TDAX020502 Version 2 00 CIA DS 301 V4 02 CANopen Application Layer and Communication Profile CAN in Automation 2002 CIA DS 404 V1 2 Device Profile for Measurement Devi
7. Object Description Index 3040h Name AO Breakpoint Current Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Breakpoint Current POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 to 2000 mA Default Value 750 mA 3 5 5 Object 3050h AO Maximum Current This object defines the current that will be applied to a load as per the maximum current part of the graphs in section 2 5 Object Description Index 3050h Name AO Maximum Current Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Maximum Current POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 to 2000 mA Default Value 1500 mA Version 2 00 Preliminary Documentation May be Subject to Change 55 71 3 5 6 Object 3060h AO Dither Freguency This object defines the freguency of the dither that will be superimposed on top of the output signal for the proportional outputs The value is defined as a multiple of 1Hz Object Description Index 3060h Name AO Dither Freguency Object Type ARRAY Data Type UNSIGNED16 Entr
8. 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 Version 2 00 Preliminary Documentation May be Subject to Change 17 71 3 1 4 Object 1003h Pre Defined Error Field The object 1003h 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 subindex 1 with subindex O containing the number of errors currently in the list When the device is in an error free state the value of subindex O is zero The error list may be cleared by writing a zero to subindex 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 Ouad has a limitation of a maximum of 16 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
9. Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description PV Status POUT1 to POUT4 Access RW PDO Mapping Yes Value Range 0 1 Default Value 0 Received PV invalid Version 2 00 Preliminary Documentation May be Subject to Change 66 71 4 ERROR HANDLING 4 1 Emergency Frame Codes EMCY The EMCY messages include the error code which is a combination of the general error codes defined in DS 301 and the additional information of the error codes as defined by DS 404 Object 1003h Pre Defined Error Field maintains a list of all active error codes in the Quad 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 number where the error occurred MSB LSB Error Description Channel EMCY Error Code Supported EMCY Codes EMCY Error Code hex Meaning 0000 Error Reset or No Error 2320 Short Circuit at Output 3300 Open Circuit at Output 8130 Life Guard or Heartbeat Error FFOO Out of Range Low at Input FFO1 Out of Range High at Input FF0
10. In the stopped state all outputs are always off so objects 6206h 6207h 6340h and 7341h are ignored Version 2 00 Preliminary Documentation May be Subject to Change 69 71 APPENDIX A TECHNICAL SPECIFICATIONS Input Specifications Power Supply Input 12 or 24VDC nominal Nominal 8 36 VDC power supply range NB The maximum total current draw on the power supply pins is 6 Amps 24VDC at one time Surge and Provided Reverse Polarity Protection All Inputs Up to 6 inputs are selectable by the user and are arranged as 4 analog named as AIN1 AIN4 and 2 frequency named as FIN1 and FIN2 All inputs except for frequency and counter are sampled every 10ms All inputs operate over the full power supply range of 8 36VDC Note the current input is limited to a max of 10V for continuous operation With the CANopen model AX020502 all input channels are completely independent of each other as well as can simultaneously control an on board output and send a message to the CANopen bus A convenient feature of the CANopen Quad is the ability to map any input on the board as the control signal for any output Analog Input Configuration Up to 4 analog inputs are available Refer to Table 1 0 Each analog input can be configured for any one of the following options Disable input 0 5VDC or 0 10VDC 4 20mA or 0 20mA Digital input On Off Frequency Input Configuration Up to 2 frequency
11. PDO Mapping No Value Range UNSIGNED32 Default Value 0 Version 2 00 Preliminary Documentation May be Subject to Change 21 71 3 1 8 Object 1018h Identity Object The identity object indicates the data of the Quad including vendor id device id software and hardware version numbers and the serial number In the Revision Number entry at subindex 3 the format of the data is as shown below MSB LSB Major revision number object dictionary Hardware Revision Software Version Object Description Index 1018h Name Identity Object Type RECORD Data Type Identity Record Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h Description Vendor ID Access RO PDO Mapping No Value Range 0x00000055 Default Value 0x00000055 Axiomatic Subindex 2h Description Product Code Access RO PDO Mapping No Value Range 0xAA020502 Default Value 0xAA020502 Subindex 3h Description Revision Number Access RO PDO Mapping No Value Range UNSIGNED32 Default Value No Subindex 4h Description Serial Number Access RO PDO Mapping No Value Range UNSIGNED32 Default Value No Version 2 00 Preliminary Documentation May be Subject to Change 22 71 3 1 9 Object 1029h Er
12. Value Range 0to9 Default Value 0 3 3 23 Object 61A0h Al Filter Type All inputs except for frequency inputs are sampled every 10ms This object defines the filter type that is applied to the input field value The available filters are e Filter Type 0 No Filter e Filter Type 1 Moving Average e Filter Type 2 Repeating Average Frequency inputs are measured based on the value in object 2090h Frequency Measuring Window Filters are not available for frequency inputs object 6110h 60 at subindex 5 or 6 and object 61A0h is ignored Calculation of the moving average Input Valuen 1 Valuey Valuey 4 FilterConstant The filter constant is defined in object 61A1h Calculation of the repeating average Input Value 2 Input At every reading of the input value it is added to the sum At every N read the sum is divided by N and the result is written to object 7130h input process value The value and counter will be set to zero for the next read Object Description Index 61A0h Name Al Filter Type Object Type ARRAY Data Type UNSIGNED8 Version 2 00 Preliminary Documentation May be Subject to Change 44 71 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description PV Filter Type AIN1 to FIN2 Access RW PDO Mapping No
13. Value Range UNSIGNED8 Default Value 0 no filter 3 3 24 Object 61A1h Al Filter Constant This object defines a constant used in filtering the Al Input PV For different filter types object 61A0h this object has slightly different meanings e With the moving average filter this constant is used as the divisor for the sum term e With the repeating average filter this constant sets the number of samples taken into the filter before calculating the average Object Description Index 61A1h Name Al Filter Constant Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Filter Constant AIN1 to FIN2 Access RW PDO Mapping No Value Range UNSIGNED8 Default Value 1 Version 2 00 Preliminary Documentation May be Subject to Change 45 71 3 4 DIGITAL OUTPUT FUNCTION BLOCK DS 404 The application and manufacturer objects supported by the Quad for the digital output block are listed in the following table Index Object Object Type Data Type Access PDO hex Mapping 3001 DO Control Input ARRAY UNSIGNED8 RW No 3002 DO Response 8 Output Lines ARRAY UNSIGNED8 RW No 300B DO Error Response Delay ARRAY UNSIGNED16 RW No 300C DO Read State 8 Output Lines ARRAY UNS
14. proportional outputs that can be software configured for either closed loop current control or digital outputs Maximum is 2A channel sourcing Named POUT1 to POUT4 One 1 ON OFF output for up to 5A load sourcing Named DOUT Note Total current consumption of all the outputs combined must not exceed 6A A convenient feature of the CANopen Quad is the ability to map any input on the board as the control signal for any output This feature is described in greater detail in section 2 Refer to datasheet TDAX020502 for full electrical specifications of the inputs and outputs Version 2 00 Preliminary Documentation May be Subject to Change 5 71 1 2 Pinout HOUSING DIMENSIONS Housing Material High Temperature Nylon Black 3D VIEW Housing with 24 Pin Receptacle BOTTOM VIEW 4677 11880 FRONT VIEW NOT TO SCALE 1 0 0 e 24 PIN RECEPTACLE Height 1 368 34 75 133 03 d 2 EEC 325X4B 3 976 101 00 with 24 pin receptacle Key Arrangement B black Mounting Holes 0 29 7 40 through 2 pl for 0 25 6 00 fastener Deutsch IPD P N Key Arrangement A grey Pebienclosure Mating Plug Assemblies 24 pin receptacle DTM06 12SA and DTM06 12SB with wedgelocks WM12S and contacts Contact factory for contact specification Dimensions inches mm excluding mating plug s Deutsch Connector Pinout
15. AO Control Input Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description AO Control Input POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 1 2 3 4 5 6 Default Value 0 CANopen Message 3 5 2 Object 3020h AO Response This object defines the output response profile for the proportional outputs For more information on the profiles see section 2 5 The following values are allowed for this object Response 0 Single Profile Single Slope Response 1 Single Profile Dual Slope Response 2 Dual Profile A Single Slope Response 3 Dual Profile A Dual Slope Response 4 Dual Profile B Single Slope Response 5 Dual Profile B Dual Slope Only the mentioned responses are supported Writing a value other than those listed above will result in SDO abort download error and the previous value will remain unchanged The default value is 0 Single Profile Single Slope If the control input for the output in object 3010h is set to zero CANopen Message then this object is ignored Instead the output current is determined by object 7330h AO Output Field Value Object Description Index 3020h Name AO Response Object Type ARRAY Data Type UNSIGNED8 Version 2 00 Preliminary Documentation May be Subject to Change 53 71 Entry Description
16. May be Subject to Change 34 71 3 3 9 Object 2090h Al Freguency Measuring Window This object is only used with the pulse inputs that are configured for freguency measurements by object 6110h sensor type The value is defined as a multiple of 1ms The number of pulses will be sample at the end of the measuring window and the controller will then calculate the freguency of the signal This value can be mapped to a PDO to allow the CANopen master to dynamically change the measuring window for input signals that have a wide freguency range Object Description Index 2090h Name Al Freg Measuring Window Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 2 Default Value 2 Subindex 1h Description FIN1 Measuring Window Access RW PDO Mapping Yes Value Range 10 to 10000 ms Default Value 1000 ms Subindex 2h Description FIN2 Measuring Window Access RW PDO Mapping Yes Value Range 10 to 10000 ms Default Value 1000 ms 3 3 10 Object 20A0h Al Enable Error Checking 8 Input Lines This object enables or disables the input error checking feature for each input configured for Normal or ON OFF with programmable thresholds operation by object 6112h If the input is configured as a digital input error checking is automatically disable
17. The value is defined as a multiple of 1ms If a fault has been present during the entirety of the delay time the Quad will flag an error at the output once the timer has expired The object can be set to zero in which case a fault will immediately trigger an error response For proportional outputs that are not configured as digital the corresponding value in the subindex is ignored and instead the delay is determined by object 30BOh AO Error Response Delay Object Description Index 300Bh Name DO Error Response Delay Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 5 Default Value 5 Subindex 1h to 4h Description Error Delay POUT1 to POUT4 set as DO Access RW PDO Mapping No Value Range 0 to 10000 ms Default Value 1000 ms Subindex 5h Description Error Delay DOUT Access RW PDO Mapping No Value Range 0 to 10000 ms Default Value 1000 ms 3 4 4 Object 300Ch DO Read State 8 Output Lines This object is used for reading the actual state of digital output lines in 8 bit blocks For proportional outputs that are not configured as digital the corresponding bit in the read byte is always set to 0 Version 2 00 Preliminary Documentation May be Subject to Change 48 71 Object Description
18. USING QUAD THROUGH CANOPEN Node ID and Baudrate Digital le E Analog Mul TC Pulselmpue 442 SN 2 5 2 6 3 1 3 1 1 3 1 2 3 1 3 3 1 4 3 1 5 3 1 6 3 1 7 3 1 8 3 1 9 3 1 10 3 2 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 3 3 3 1 3 3 2 3 3 3 3 3 4 3 3 5 3 3 6 3 3 7 3 3 8 3 3 9 3 3 10 3 3 11 3 3 12 3 3 13 3 3 14 3 3 15 3 3 16 Version 2 00 Digital Outputs Proportional Outputs OBJECT DICTIONARY COMMUNICATION OBJECTS PDO Parameters Object 1000h Object 1001h Object 1003h Object 1010h Object 101 1h Object 1016h Object 1018h Object 1029h Object 5555h Device Type Error Register Pre Defined Error Field Store Barameiers nina aina annan Restore Defau It Parameters smasmii s astaan NT Sis TkL etsende Consumer Heartbeat Time Identity Object tal TE Start in Operation DIGITAL INPUT FUNCTION BLOCK DS A041 a naan naan naa n akan aka an aaaa vakaana aaeen Object 2000h DI Level 8 Input Lines Object 2001h DI Low Threshold cece eee a nananana aa ERANA E REESE EA Object 2002h DI High TNKEShold iisooussasasms sans aa aasta aa tanaan enaa aa AMA aa aa ea KENNS ANNE E Object 6000h DI Read State 8 Input LUnes 0 e cece eect e eee e cette eens aak naa nananana naan Object 6002h DI Polarity 8 Input Lines Object 201 0h Object 2020h Object 2030h Object 2040h Object 2050h Object 2060h Object 2070h O
19. active fault on the Quad bit 1 Generic Error of the Error Register will be set If and only if there are no active faults will this bit be clear If a heartbeat or life guard event is detected then the controller will add the appropriate error code see section 4 1 to the top of the list in object 1003h The channel portion of the error code will contain the node ID of the module that failed to send the heartbeat life guard message within the expected time The controller will check subindex 1 communication of object 1029h to see if it has to change state All other faults that the Quad can detect are related to the onboard I O Each type of I O has an object call Error Response Delay associated with the various I O channel Upon reset of the controller all possible faults that can be detected by the Ouad are in the inactive state When a fault is first detected it enters an error pending state and a timer is loaded with the delay time For a fault to become active it must remain present until the timer has decremented to zero If at any time during the delay period the fault is cleared the fault reverts back to the inactive state and the delay timer stops It is only active while an error is pending If the fault is still present when the timer has elapsed then the fault enters the active state and the appropriate error code see section 4 1 is add to the top of the list in object 1003h For Al DO and AO faults the controll
20. inputs are available Refer to Table 1 0 Each frequency input can be configured for any one of the following options Disable input PWM signal Pulse Hz or RPM Digital input On Off Analog Ground One analog ground connection is provided Output Reference Voltages 1 5V 10 mA NB Reference voltage is available if digital inputs are active high Regulation at 1 accuracy is provided Input Impedance 10 kOhms for all inputs except 0 4 20 mA which uses a 249 Ohm current sense resistor Table 1 0 Inputs to AX020502 Input Type Disable Inputs Universal Analog Inputs Digital Inputs PWM Signal Inputs Pulse Inputs Description Each input can be configured as a disable input command When disable is selected no CAN messages associated with that channel are sent to the network Up to 4 analog inputs are available 0 5VDC or 0 10VDC 4 20MA or 0 20mA Accuracy of 0 5V input inputs 1 4 is 50 mV Accuracy of 0 10V input 1 4 is 100 mV Up to 6 digital inputs are available The input can be configured for either an active high input switch is connected to a V signal when ON or an active low input switch is connected to a GND signal when ON and threshold levels are programmable Up to 2 PWM inputs are available to interface to a PWM signal from an ECM PLC or other PWM Signal Frequency 0 10 000 Hz Amplitude 5 12V PWM Duty Cycle 0 to 100 NB At lt 1 kHz
21. the higher byte indicating the error description and the lower byte indicating the channel number where the error occurred MSB LSB Error Description Channel EMCY Error Code See Section 4 for a complete list of the error code fields Object Description Index 1003h Name Pre Defined Error Field Object Type VAR Data Type UNSIGNED32 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 0 to 16 Default Value 0 Subindex 1h to 10h Description Standard error field Access RO PDO Mapping No Value Range UNSIGNED32 Default Value 0 Version 2 00 Preliminary Documentation May be Subject to Change 18 71 3 1 5 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 subindex 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 Vv a S 65h 76h 61h 73h On reception of the correct signature to an appropriate subindex the Ouad will store the parameters in non volatile memory and then confirm the SDO transmission By read access the object provides information a
22. the profile Note2 If object 3010h AO control input for that channel is set to zero CANopen Message then the highest current is always defined as the maximum rated current 2000mA Object Description Index 3080h Name AO Ramp Up Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Ramp Up POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 to 10000 ms Default Value 1500 ms 3 5 9 Object 3090h AO Ramp Down This object defines the length of time it would take for the output current to ramp down from the highest current on its output profile to zero The value is defined as a multiple of 1ms See Notes 1 and 2 in object 3080h Object Description Index 3090h Name AO Ramp Down Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Version 2 00 Preliminary Documentation May be Subject to Change 57 71 Subindex 1h to 4h Description Ramp Down POUT1 to POUT4 Access RW PDO Mapping No Value Range O to 10000 ms Default Value 1500 ms 3 5 10 Object 30A0h AO Ramp Control This object defines whether or not the co
23. to AIN4 Access RW PDO Mapping No Value Range 0 to 2020h at subindex Default Value 200 mV Subindex 5h to 6h Description Error Minimum FIN1 to FIN2 Access RW PDO Mapping No Value Range 0 to 2020h at subindex Default Value 100 1 00 For objects 2020h to 2070h the values must be in the same units as the field value for the input as determined by the object 6110h sensor type The descriptions are valid only if the input is being used as a control single on a proportional output channel SP Single Profile DP A Dual Profile A DP B Dual Profile B see section 2 5 ss Single Slope ds Dual Slope see section 2 5 3 3 2 Object 2020h Al Minimum This object is only used for SP or DP B responses For all other responses this object is ignored See the graphs in section 2 5 for more details on the output profiles Object Description Index 2020h Name Al Minimum Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description Minimum AIN1 to AIN4 Access RW PDO Mapping No Value Range 2010h to 2030 at subindex Default Value 500 mV Subindex 5h to 6h Description Minimum FIN1 to FIN2 Access RW PDO Mapping No Value Range 2010h to 2030 at subindex Default Value 500 5 00 Ver
24. to one of the analog inputs it uses the input field value as the control input See sections 2 4 and 2 5 for more details For objects corresponelng to 8 analog input lines on the controller the bit order is as shown 0 EIN EEIN ELA eA AN ESSA Version 2 00 Preliminary Documentation May be Subject to Change 9 71 2 4 Pulselnputs The analog input function block handles the reading of any pulse input configured as normal or ON OFF by the object 6112h The type of input is determined by object 6110h and can be set to one of the following two modes Note if the operation of the input has been configured as ON OFF with programmable threshold levels object 6110h also applies PWM inputs are sampled every 10ms The sampling time of freguency inputs is controlled by object 2090h Freguency Measuring Window e PWM Input range 0 100 Duty Cycle e Frequency Input range 0 10 000 Hz The conversion from input field value to process value and error checking is handled exactly the same as with analog inputs as described in Section 2 2 Either pulse input could also be used as a control signal for the outputs on the quad Input Count Meas Filter PWM Field Value Scaling Dec Digits Proc Val Pin Timer Calc 61A0h 7100h 6132h 7130h Minimum 2020h CAN Bus l 1 I I 1 I 1 I 1 i EA i N Em Max Error Err Delay Error 2080h Checking 20BOh React 1 Controller L N I N I I Fe I I I Through To Maximum 2070h For objects
25. 0 Object 6125h Al Autozen eee kaka a akan ETa a nananana an naa nanaa naa E 42 3 3 21 Object 7130h Al Input Process Value cece cece eect eee eee eee ee eee n a a nana naan eee aa na ana naaae 43 3 3 22 Object 6132h Al Decimal Digits PV 43 3 3 23 Object 61A0h Al Filter Type 44 3 3 24 Object 61A1h Al Filter Constant 45 3 4 DIGITAL OUTPUT FUNCTION BLOCK DS A041 aak an ana anaa ana aen ceeaeeeeeees 46 3 4 1 Object 3001h DO Control Input 46 3 4 2 Object 3002h DO Response 8 Output LUnes nananana nana a ana nana ana annan aanaanaen 47 3 4 3 Object 300Bh DO Error Response Delai 48 3 4 4 Object 300Ch DO Read State 8 Output Lines 48 3 4 5 Object 6200h DO Write State 8 Output LUnes 0 cece cece cee eee aak naan kanaa an aa na ana naaaea 49 3 4 6 Object 6202h DO Polarity 8 Output Lines 50 3 4 7 Object 6206h DO Fault Mode 8 Output Lines 50 3 4 8 Object 6207h DO Fault State 8 Output LUnes 0 cece eee eee eee ee cece eee eats a esaeaeeeeaeeeeas S 3 5 ANALOG OUTPUT FUNCTION BLOCK DS A041 0c ccccceeeeeee eee naakka naakka ana naan a akka naaa eeeeaeeeeaes 52 3 5 1 Object 3010h AO Control Input 52 3 5 2 Object 3020h AO Hesponse kka kaka a an akkaa kaakun aan nananana ana an aanaanaana anna 53 3 5 3 Object 3030h AO Minimum Current cece eee e ence ana kaanak nananana ana aa ana ana kaa kana naa naaae 54 3 5 4 Object 3040h AO Breakpoint Current 00 0 cece kanan k aka k a tessa eee eee kaan ee ee kanaa enaa n
26. 0 ms Version 2 00 Preliminary Documentation May be Subject to Change 36 71 3 3 12 Object 7100h Al Input Field Value This object reflects the measured value for the inputs AIN1 to AIN4 and FIN1 to FIN2 For analog inputs the values are converted to either millivolts or microamps depending on the object 6110h sensor type For pulse inputs the values are converted to either duty cycle x 100 or hertz Object Description Index 7100h Name Al Input Field Value Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description Field Value AIN1 to AIN4 Access RO PDO Mapping Yes AIN1 default TPDO1 subindex 1 AIN2 default TPDO1 subindex 2 AIN3 default TPDO1 subindex 3 AIN4 default TPDO1 subindex 4 Value Range 0 to 5000 mV or 0 to 10000 mV or 0 to 20000 uA Default Value No Subindex 5h to 6h Description Field Value FIN1 to FIN2 Access RO PDO Mapping Yes FIN1 default TPDO2 subindex 1 FIN2 default TPDO2 subindex 2 Value Range 0 to 10000 dc x 100 or 0 to 10000 Hz Default Value No Version 2 00 Preliminary Documentation May be Subject to Change 37 71 3 3 13 Object 6110h Al Sensor Type This object reflects the type of signal that is being applied to the input For inp
27. 080h 3090h 30A0h i Field Value 7330h Currents 3020h 3030h 3040h Analog Pulse Input Version 2 00 Preliminary Documentation May be Subject to Change 12 71 fay SINGLE PROFILE AO Maximum 7 TEE E saa 3050h EO Single Slope ot w Dual Slope i a Q Either with Error Checking 2 rm i soon Either no Error Checking a og Dei S DE ei i EE Ca E W gt AO Breakpoint 3040h AO Minimum 3030h EE EE gt INPUT Al Minimum Al Breakpoint Minimum Al Maximum 2020h 2030h 2070h Al Error Minimum Al Error Maximum 2010h 2080h I mA AO Maximum in ken a 3050h DT Single Slope Dual Slope J Either with Error Checking e Either no Error Checking ERROR MODE AO Breakpoint 3040h AO Minimum 3030h k b gt INPUT Al Deadband Maximum Al Breakpoint Maximum Al Maximum 2050h 2060h 2070h Al Error Maximum 2080h I mA AO Maximum a 3050h A mann Single Slope SS Dual Slope 3 o i Either with Error Checking amp NG nen Either no Error Checking 2 i D Ze AO Breakpoint 3040h AO Minimum 3030h JU INPUT Al Minimum Al Breakpoint Minimum Al Deadband Minimum 2020h 2030h 2040h Al Error Minimum 2010h Version 2 00 Preliminary Documentation May be Subject to Change 13 71 3 OBJECT DICTIONARY The CANopen object dictionary of the Quad Co
28. 2 Error at Digital Output DOUT only Supported Error Descriptions Description hex Meaning 01 Fault at an analog input 02 Fault at a digital output 04 Fault at a proportional output 08 Lost Heartbeat or Life Guard from a node Supported Channel Numbers A 195 Meaning 01 AIN1 or POUT1 depending on description 02 AIN2 or POUT2 depending on description 03 AIN3 or POUT3 depending on description 04 AIN4 or POUT4 depending on description 05 FIN1 or DOUT depending on description 06 FIN2 For example the Quad detects a short circuit on proportional output channel 3 EMCY Code 0x2320 Additional Information 0x0403 Resulting Code in 1003h 0x04032320 Version 2 00 Preliminary Documentation May be Subject to Change 67 71 4 2 Quad Fault Mode Behaviour The objects associated with the error response in the Quad are listed in the following table See section 3 for a detailed description of each object Index hex Object 1001 Error Register 1003 Pre Defined Error Field 1029 Error Behaviour 2010 Al Error Minimum 2080 Al Error Maximum 20B0 Al Error Response Delay 300B DO Error Response Delay 6206 DO Fault Mode 8 Output Lines 6207 DO Fault State 8 Output Lines 30B0 AO Error Response Delay 6340 AO Fault Mode 7341 AO Fault FV If at any time there is an
29. 3 0 4 0 TPDO3 default ID 0x380 node ID Subindex Value Object 0 2 Number of mapped application objects in PDO 1 0x60000108 DI Read State 8 Input Lines 2 0x300C0108 DO Read State 8 Output Lines 3 0 4 0 TPDO4 default ID 0x480 node ID Subindex Value Object 0 4 Number of mapped application objects in PDO 1 0x30C00110 AO Measured Current for POUT1 2 0x30C00210 AO Measured Current for POUT2 3 0x30C00310 AO Measured Current for POUT3 4 0x30C00410 AO Measured Current for POUT4 Version 2 00 Preliminary Documentation May be Subject to Change 16 71 3 1 2 Object 1000h Device Type This object contains information about the device type as per device profile DS 404 The value stored in this object is Ox000F0194 indicating that the Quad includes the following function blocks defined in the device profile e Digital Input DI e Analog Input Al e Digital Output DO e Analog Output AO Object Description Index 1000h Name Device Type Object Type VAR Data Type UNSIGNED32 Entry Description Access RO PDO Mapping No Value Range 0x000F0194 Default Value 0x000F0194 3 1 3 Object 1001h Error Register This object is an error register for the device Any time there is an error detected by the Quad the Generic Error Bit bit 0 is set Only if there are no errors in the module will this bit be cleared No other bits in this register are used by the Quad
30. AXIOMNIC obal Electronic Solutions USER MANUAL UMAX020502 QUAD CONTROLLER With CANopen USER MANUAL P N AX020502 In Europe In North America Axiomatic Technologies Oy Axiomatic Technologies Corporation H yt m ntie 6 5915 Wallace Street 33880 LEMP L Finland Mississauga ON Canada L4Z 1Z8 Tel 358 3 3595 600 Tel 1 905 602 9270 Fax 358 3 3595 660 Fax 1 905 602 9279 www axiomatic fi www axiomatic com VERSION HISTORY Version Date Author Modifications 1 00 March 6 2006 Anna Murray Initial Draft 1 01 March 17 2006 Anna Murray Changed PDO mappings from Optional to Yes Fixed Digital Output Bitmap Fixed a variety of typos 1 02 March 21 2006 Anna Murray Fixed some more typos Added LSS Reference Added description for Object 1011h 1 03 March 23 2006 Anna Murray Added hardware information Added Analog Input sample rate Added PWM Input filtering description March 24 2006 Anna Murray Fixed Analog Input Block diagram July 20 2010 Anna Murray Updated footer on cover page Updated reference to latest datasheet 1 06 Dec 9 2010 Amanda Wilkins Added Appendix A Technical Specifications 2 00 January 07 2011 Anna Murray Added new object 5555h Updated formating Version 2 00 Preliminary Documentation May be Subject to Change ii TABLE OF CONTENTS 1 GENERAL 1 1 1 2 1 3 2 1 2 2 2 3 2 4 Axiomatic Quad Controller POT PROLGF CIC CS ee ee
31. IGNED8 RO Yes 6200 DO Write State 8 Output Lines ARRAY UNSIGNED8 RW Yes 6202 DO Polarity 8 Output Lines ARRAY UNSIGNED8 RW No 6206 DO Fault Mode 8 Output Lines ARRAY UNSIGNED8 RW No 6207 DO Fault State 8 Output Lines ARRAY UNSIGNED8 RW No 3 4 1 Object 3001h DO Control Input This object defines the control signal for the digital output If set to 0 CANopen Message then the output will be controlled by writes to object 6200h However if set to one of the inputs on the Quad then it will respond to changes of state at the input without the need for any messages from the CANopen bus The following values are allowed for this object Control Input O CANopen Message in this case writes to object 6200h Control Input 1 Analog Input 1 Control Input 2 Analog Input 2 Control Input 3 Analog Input 3 Control Input 4 Analog Input 4 Control Input 5 Pulse Input 1 Control Input 6 Pulse Input 2 Control Input 11 Digital Input 1 Control Input 12 Digital Input 2 Control Input 13 Digital Input 3 Control Input 14 Digital Input 4 Control Input 15 Digital Input 5 Control Input 16 Digital Input 6 Only the mentioned control inputs are supported Writing a value other than those listed above will result in SDO abort download error and the previous value will remain unchanged The default value is 0 CANopen Message Note 1 If the control input is set from 1 to 6 the input will be interpreted as an ON OFF i
32. NTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Version 2 00 Preliminary Documentation May be Subject to Change 65 71 Subindex 1h to 4h Description Received PV POUT1 to POUT4 Access RW PDO Mapping Yes Value Range INTERGER16 Default Value 0 3 5 24 Object 6F52h Received PV Status This object is used to validate the value in object 7F50h Received PV such that the value will be copied to object 7300h AO output PV and subsequently used as the output command If this object is set to the non validated value the Received PV is not used However writes to object 7330h AO Output FV is allowed at any time thus the field value can be used to control the outputs even when the process values have not been validated The value of object 6F52h is invalidated after the value in object 7F50h is copied to 7300h Therefore if the object is not mapped into a PDO the user must validate the Received PV by SDO writes before the Received PV will be used The following status values are allowed for object 6F52h e Value 0 Received PV value not validated writes to object 7F50h are ignored e Value 1 Received PV value is validated value in object 7F50h is copied to 7300h Object Description Index 6F52h Name Received PV Status Object Type ARRAY
33. PV the status of object 6F52h must be validated The conversion from received process value to field value is generally described as a linear transformation The two pairs of process values and their corresponding field values define calibration points 1 and 2 Input Scaling 1 PV Input Scaling 1 FV and Input Scaling 2 PV Input Scaling 2 FV See DS 404 for more information Some manufacturer objects have been introduced for the case where a proportional output is being controlled by an input on the Ouad These objects are 3020h response 3030h minimum current 3040h breakpoint current and 3050h maximum current The response of the output will be as shown in one of the graphs below depending on the setting of object 3020h If the output s control signal is a CANopen message FV or PV then these objects are ignored Manufacturer dither objects 3060h freguency and 3070h amplitude apply regardless of which control signal is selected Ramp objects 3080h up and 3090h down can apply or not depending on the setting of object 30A0h ramp control If an error is detected on the output the controller will flag an error after the delay time in object 30BOh has passed Objects 6340h AO fault mode and objects 7341h AO fault FV apply to any output configured as a current output Refer to Section 4 for a detailed description of a proportional Received PV 7F50h PV Status 6F52h Wiese se se ee Dither 3060h 3070h Ramps 3
34. R HANDLINGimssnaaaaa saana ninnan vaa a ENNER ENEE NEEN aaa Ea EEN 67 4 1 Emergency Frame Codes EMCYT nannaa kakkaa kakkaa kankaan nana kana nananana ana aa nonenereene 67 4 2 Quad Fault Mode Behaviour oonan aan ana n aa aa EAEEREN EESAN ENRERE EEEE 68 APPENDIX A TECHNICAL SPECIFICATIONS oououusuusuii nt nina naama naan ana eee ease eee eee sane eee ana ana n annan A Version 2 00 Preliminary Documentation May be Subject to Change iv 1 GENERAL 1 1 Axiomatic Ouad Controller The Axiomatic Quad Controller is a CANopen compliant DS 301 I O module with a configurable selection of I O types The Quad object dictionary is compatible with the CIA DS 404 device profile Device profile for measurement devices and closed loop controllers In addition to the standard objects for this device profile the Quad also includes a number of manufacturer specific objects to extend the functionality beyond that of the basic profile The module includes the following I O Four 4 software configurable analog inputs that can be configured as voltage 0 5V or 0 10V current 0 20mA or 4 20mA or ON OFF input with programmable threshold levels or active high low digital input Named AIN1 to AIN4 Two 2 software configurable pulse inputs that can be configured as PWM 0 100 duty cycle or frequency 0 10 000Hz or ON OFF input with programmable threshold levels or active high low digital input Named FIN1 to FIN2 Four 4
35. T3 default TPDO4 subindex 3 POUT4 default TPDO4 subindex 4 Value Range 0 to 2000 mA Default Value No Version 2 00 Preliminary Documentation May be Subject to Change 59 71 3 5 13 Object 7300h AO Output Process Value This object is the process value that is fed into the analog output function block See block diagram in section 2 5 Since this is a read only object the only way this object is written is if the value in object 7F50h Received PV is validated by object 6F52h The process value can be in any physical unit bar rpm etc or in any custom format The output value is scaled into the field value using the scaling coefficients defined in objects 7320h to 7323h Object Description Index 7300h Name AO Output Process Value Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Process Value POUT1 to POUT4 Access RO PDO Mapping No Value Range INTEGER16 Default Value 0 3 5 14 Object 6302h AO Decimal Digits PV This object sets the number of decimal digits included in the process value Object Description Index 6302h Name AO Decimal Digits PV Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Desc
36. UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Version 2 00 Preliminary Documentation May be Subject to Change 64 71 Subindex 1h to 4h Description Fault Mode POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 1 Default Value 1 output as per 7341h 3 5 22 Object 7341h AO Fault FV This object defines the value that proportional outputs will be driven to in fault situations For proportional outputs that are configured as digital the object is ignored Object Description Index 7341h Name AO Fault FV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Fault FV POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 to 2000 mA Default Value 0 3 5 23 Object 7F50h Received PV 16 This object is a generic input process value that is used to write to the analog output function block s process value object 7300h If and only if the value of object 6F52h at the same subindex is set to validate the PV will the data from 7F50h be copied to object 7300h Object Description Index 7F50h Name Received PV 16 Object Type ARRAY Data Type I
37. W No 6112 Al Operating Mode ARRAY UNSIGNED8 RW No 7120 Al Input Scaling 1 FV ARRAY INTEGER16 RW No 7121 Al Input Scaling 1 PV ARRAY INTEGER16 RW No 7122 Al Input Scaling 2 FV ARRAY INTEGER16 RW No 7123 Al Input Scaling 2 PV ARRAY INTEGER16 RW No 7124 Al Input Offset ARRAY INTEGER16 RW No 6125 Al Autozero ARRAY UNSIGNED32 WO No 7130 Al Input Process Value ARRAY INTEGER16 RO Yes 6132 Al Decimal Digits PV ARRAY UNSIGNED8 RW No 61A0 Al Filter Type ARRAY UNSIGNED8 RW No 61A1 Al Filter Constant ARRAY UNSIGNED8 RW No 3 3 1 Object 2010h Al Error Minimum This object sets the value that will flag an input error in the Quad if the measured field value goes below this limit If error checking on the input is enabled by object 20A0h then the module will flag an out of range low error on that channel See section 4 for more details about error handling in the Quad This value must be in the same units as the field value for the input as determined by the object 6110h sensor type Object Description Index 2010h Name Al Error Minimum Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Version 2 00 Preliminary Documentation May be Subject to Change 29 71 Subindex 1h to 4h Description Error Minimum AIN1
38. anaanae 55 3 5 5 Object 3050h AO Maximum Cumemt 55 3 5 6 Object 3060h AO Dither Freouency 56 3 5 7 Object 3070h AO Dither Ampltude 0 0 cccecec cece nananana naakka ak ankan eaa n naan a naan anaaaen 56 3 5 8 Object 3080h AO Ramp Up ST 3 5 9 Object 3090h AO Ramp Down 57 3 5 10 Object 30A0h AO Ramp Control 58 3 5 11 Object 30B0h AO Error Response Deia 58 3 5 12 Object 30COh AO Measured Current onkaan ankan e eee e eee akkaa nananana akan eaten ee na naaaaan 59 3 5 13 Object 7300h AO Output Process Value nananana erent eee kanan aan nan aie a enaa na nan 60 3 5 14 Object 6302h AO Decimal Digits PV 60 3 5 15 Object 6310h AQ Output Type s vssusmsmamssmusaa ansa yavas va ENEE Saraan ANEN NEIN Ka AUEREN 61 3 5 16 Object 7320h AO Output Scaling 1 DV 62 3 5 17 Object 7321h AO Output Scaling IEN 62 3 5 18 Object 7322h AO Output Scaling 2 DV 63 3 5 19 Object 7323h AO Output Scaling 2EN 0 cece cece eee eee eee ee eee eee nananana aan n akan na naaae 63 3 5 20 Object 7330h AO Output Field Value 0 ccc ccc eece naan naakka ana aa ana nana aan ana aaa naan aa naan 64 3 5 21 Object 634012 AO Fault Mode vsuvasssoussssasasa ssa va va seraca deat yet Na dass a Ua ean en YK INA avaan v REESEN nese 64 3 5 22 Object 7341h AO FauhEN cee eee cece eee e aa naan naan ana naa a na AEAEE EErEE EEEE EEEE a naan annan 65 3 5 23 Object 7F50h Received PV IG 65 3 5 24 Object 6F52h Received PV Gates 66 4 ERRO
39. bject 2080h Object 2090h Object 20A0h Object 20BOh Object 7100h Object 6110h Object 6112h Object 7120h Object 712 1h Al Error Minim Al Minimum ANALOG INPUT FUNCTION BLOCK DGS A04 oo ities kanna aaa naan UM gaere ein KOSIA TTS Ka E mi dE Ee Egger eg Al Breakpoint Minimum Al Deadband Minimum Al Deadband Maximum v s32 ess0 0 ced ees eek BEN e HEEN AEN ENEE ne SUI ben OASE cei ded Al Breakpoint Maximum Al Maximum AVErfor MAXI MUI seen Al Frequency Measuring Wimdow eee ee eee ects eee ee eee eeeeeeeaeeeaeaeeeeaeed Al Enable Error Checking 8 Input Unes cece eee ee eee eee eeeeeteee eee eeaeaes Al Error Response Del Al Input Field Value cece ee cece e eee e a eee eae e eae a eee es kaan a nananana naa naaaa aan Al Sensor IND eege ENEE SEENEN NEEN AEN EEN E AAA SNE Al Operating Mode Al Input Scalin Al Input Scalin ep WR AE eg KE Preliminary Documentation May be Subject to Change l00 IN IG KO 100 Io CH ch BH e 60 JO U 60 W JO WO WO IG IIN NM NM II IN VM IN NM IDR ID IN IN kA A JA kA LA 3 5 8 18 IS 18 la la R 8 li 18 le 8 8 8 18 158 168 N 83 Jen 8 IP 18 N IR 8 lo le RA la fs is 3 3 17 Object 7122h Al Input Scaling 2EN kkka akkaa aak ana ka naa naan naan n aka a nanna nana 41 3 3 18 Object 7123h Al Input Scaling 2 DV 41 3 38 19 Object 7124N Al Input Offset anne sesisaa osata sn e aaan apside eda as 42 3 3 2
40. bout the Quad s saving capabilities Object Description Index 1010h Name Store Parameters Object Type ARRAY Data Type UNSIGNED32 Entry Description Subindex Oh Description Largest subindex supported Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h Description Save all parameters Access RW PDO Mapping No Value Range 0x65766173 write access 1h read access Default Value 1h saves parameters on command Subindex 2h Description Save communication parameters Access RW PDO Mapping No Value Range 0x65766173 write access 1h read access Default Value 1h saves parameters on command Subindex 3h Description Save application parameters Access RW PDO Mapping No Value Range 0x65766173 write access 1h read access Default Value 1h saves parameters on command Version 2 00 Preliminary Documentation May be Subject to Change 19 71 Subindex 4h Description Save manufacturer parameters Access RW PDO Mapping No Value Range 0x65766173 write access 1h read access Default Value 1h saves parameters on command 3 1 6 Object 1011h Restore Default 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 res
41. ces and Closed Loop Controllers CAN in Automation 2002 CIA DS 305 V2 0 Layer Setting Service LSS and Protocols CAN in Automation 2006 LSS Protocol User s Manual V1 2 Axiomatic Technologies 2004 Technical Datasheet CANopen Quad Axiomatic Technologies 2010 Preliminary Documentation May be Subject to Change 7 71 2 USING OUAD THROUGH CANOPEN 2 1 Node ID and Baudrate The Quad supports the Layer Setting Service LSS protocols to configure the node id and baudrate Refer to the document LSS Protocol for more details 2 2 Digital Inputs The digital input function block handles the reading of any input pin configured as either a digital input or an ON OFF input with programmable threshold levels Note however the analog input operating mode is set through the object 6112h in the analog input function block For inputs that are NOT configured as digital or ON OFF the objects associated with the digital input block are ignored A manufacturer specific object 2000h has been introduced for setting the digital input active level On the Quad the digital input pins have a software configurable hardware polarity so the inputs can act as either active high or active low inputs The application object 6002h also allows the input polarity to be changed in software The combination of the hardware level and software polarity allows the digital inputs to work with any wiring scheme and they are capable of acting as eith
42. corresponding to 8 pulse input lines on the controller the bit order is as shown 7 0 xxx xxx FIN2 FIN 1 AIN 4 AIN 3 AIN 2 AIN 1 Version 2 00 Preliminary Documentation May be Subject to Change 10 71 2 5 Digital Outputs The digital output function block handles the control of the digital output on the guad as well as any off the proportional outputs that have been configured as a digital output Note that for proportional outputs the digital output operating mode is set through the object 6310h in the analog output function block All digital outputs can be controlled by either a digital or ON OFF input on the controller or by writes to object 6200h DO Write States but not both methods at once Manufacturer object 3001h dictates the control signal for the output Since an output can be controlled independent of object 6200h a manufacturer object 300Ch has been introduced to show the read states of the digital outputs as a means of indicating states to the bus at any time Object 6202h sets the polarity of the output determining if the output will be on normal or off inverted when control input is on Manufacturer object 3002h determines if the output will have a standard on off response to the control input or if it will have a latched response In latched mode object 6202h is ignored and when the input comes on the output will come on and stay on When the input comes on again after having been off the output wi
43. d Object Description Index 20A0h Name Al Enable Error Checking 8 Input Lines Object Type ARRAY Data Type UNSIGNED8 Version 2 00 Preliminary Documentation May be Subject to Change 35 71 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Subindex 1h Description Error Check for AIN1 to FIN2 Access RW PDO Mapping No Value Range Bit Value 0 Error Check Disabled Bit Value 1 Error Check Enabled Default Value 00h all error check disabled 3 3 11 Object 20BOh Al Error Response Delay This object is used to prevent intermittent input faults from overloading the bus with error messages The value is defined as a multiple of 1ms If a fault has been present during the entirety of the delay time the Quad will flag an error at the input once the timer has expired The object can be set to zero in which case a fault will immediately trigger an error response Object Description Index 20BOh Name Al Error Response Delay Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Error Delay AIN1 to FIN2 Access RW PDO Mapping No Value Range 0 to 10000 ms Default Value 100
44. e field value for the first calibration point for the input channel The value is scaled in the physical unit of the input field value object 7100h Object Description Index 7120h Name Al Input Scaling 1 FV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Scaling 1 FV AIN1 to FIN2 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 3 3 16 Object 7121h Al Input Scaling 1 PV This object defines the process value for the first calibration point for the input channel The value is scaled in the physical unit of the input process value object 7130h Object Description Index 7121h Name Al Input Scaling 1 PV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Scaling 1 PV AIN1 to FIN2 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 Version 2 00 Preliminary Documentation May be Subject to Change 40 71 3 3 17 Object 7122h Al Input Scaling 2 FV This object defines the field value for the second calibration point for the input channel The value is scaled in the phys
45. er as an enable on when switch is closed or disable off when switch is closed signal n Digital Input H W Level S W Polarity Input Pin Operation Select Select If configured as an ON OFF input with programmable threshold levels the manufacturer specific objects 2001h and 2002h are used to determine the ON OFF state If the input measured is less than or equal to object 2001h low threshold the input is off If greater than or equal to object 2002h high threshold when 2001h not equal 2002h the input is on If the measured value is between the two thresholds the input does not change state from the last reading In this case the object 6002h is ignored n On Off Input Compare Compare Input Pin Operation Low Thres High Thres For objects corresponding to 8 digital input lines on the controller the bit order is as shown 7 0 DING DINS DIN4 DIN3 DIN2 DIN1 Version 2 00 Preliminary Documentation May be Subject to Change 8 71 2 3 Analog Inputs The analog input function block handles the reading of any input configured as an analog input by the object 6112h The type of input is determined by object 6110h and can be set to one of the following four modes Note if the operation of the input has been configured as ON OFF with programmable threshold levels object 6110h also applies Analog inputs are sampled every 10ms e Voltage input range 0 5V Voltage input range 0 10V Current input range 0 20mA Current
46. er will check subindexes 3 4 and 5 respectively of object 1029h to see if it has to change state Pre Operational Behaviour In the pre operational state the controller will not allow any SDO writes to control the outputs of the Quad PDO communication is disallowed by the standard DS 301 This means that if the subindex for an output in either object 3001h DO Control Input or 3010h AO Control Input depending on the type of output is zero CANopen Message then the output is always off in the pre operational state However if the control input is one of the inputs on the Ouad then the output will be controlled by the appropriate digital analog or pulse input PDO feedback of the I O is obviously disabled When there is at least one active fault in the controller the digital outputs will behave as per objects 6206h and 6207h while proportional outputs will behave as per objects 6340h and 7341h Version 2 00 Preliminary Documentation May be Subject to Change 68 71 Operational Behaviour In the operational state the controller behaves as per the descriptions in Section 2 When there is at least one active fault in the controller the digital outputs will behave as per objects 6206h and 6207h while proportional outputs will behave as per objects 6340h and 7341h Stopped Behaviour As per the standard DS 301 the controller stops all communication except for network management functions and node guarding heartbeat if active
47. escription Sensor Type FIN1 to FIN2 Access RW PDO Mapping No Value Range 60 10000 Default Value 10000 PWM duty cycle Version 2 00 Preliminary Documentation May be Subject to Change 38 71 3 3 14 Object 6112h Al Operating Mode This object determines how the input will operate The following values are allowed for this object e Operating Mode 0 Channel not used input disabled e Operating Mode 1 Normal operation sensor type selectable using object 6110h e Operating Mode 10 Digital controlled by Digital Input Block e Operating Mode 20 ON OFF with programmable threshold controlled by DI Block Only the mentioned operating modes are supported Writing a value other than those listed above will result in SDO abort download error and the previous value will remain unchanged The default value is 1 normal operation Object Description Index 6112h Name Al Operating Mode Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Operating Mode AIN1 to FIN2 Access RW PDO Mapping No Value Range 0 1 10 20 Default Value 1 normal operation Version 2 00 Preliminary Documentation May be Subject to Change 39 71 3 3 15 Object 7120h Al Input Scaling 1 FV This object defines th
48. ess RW PDO Mapping No Value Range 0 Pre Operational 1 No State Change 2 Stopped Default Value 1 no state change 3 1 10 Object 5555h Start in Operational This manufacturer specific 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 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 Oh Access RW PDO Mapping No Value Range 0 FALSE or 1 TRUE Default Value 0 FALSE Version 2 00 Preliminary Documentation May be Subject to Change 24 71 3 2 DIGITAL INPUT FUNCTION BLOCK DS 404 The application and manufacturer objects supported by the Ouad for the digital input block are listed in the following table Index Object Object Type Data Type Access PDO hex Mapping 2000 DI Level 8 Input Lines ARRAY UNSIGNED8 RW No 2001 DI Low Threshold ARRAY UNSIGNED16 RW No 2002 DI High Threshold ARRAY UNSIGNED16 RW No 6000 DI Read State 8 Input Lines ARRAY UNSIGNED8 RO Yes 6002 DI Polarity 8 Input Lines ARRAY UNSIGNED8 RW No 3 2 1 Object 2000h DI Level 8 Input Lines This
49. for the second calibration point for the output channel The value is scaled in the physical unit of the output process value object 7300h Object Description Index 7322h Name AO Output Scaling 2 PV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Scaling 2 PV POUT1 to POUT4 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 3 5 19 Object 7323h AO Output Scaling 2 FV This object defines the field value for the second calibration point for the output channel The value is scaled in the physical unit of the output field value object 7330h Object Description Index 7323h Name AO Output Scaling 2 FV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Scaling 2 FV POUT1 to POUT4 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 Version 2 00 Preliminary Documentation May be Subject to Change 63 71 3 5 20 Object 7330h AO Output Field Value This object defines the field value of the proportional outputs The FV is automatically updated if object 7300h AO Output Process Value i
50. ical unit of the input field value object 7100h Object Description Index 7122h Name Al Input Scaling 2 FV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Scaling 2 FV AIN1 to FIN2 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 3 3 18 Object 7123h Al Input Scaling 2 PV This object defines the process value for the second calibration point for the input channel The value is scaled in the physical unit of the input process value object 7130h Object Description Index 7123h Name Al Input Scaling 2 PV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Scaling 2 PV AIN1 to FIN2 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 Version 2 00 Preliminary Documentation May be Subject to Change 41 71 3 3 19 Object 7124h Al Input Offset This object defines an offset for the input channel which added to the input value after scaling the input field value to process value The value is scaled in the physical unit of the input process value object 7130h
51. ing One digital output lt 5A which is named as DOUT Output Accuracy 1 Protection Overcurrent protection is provided on both proportional and digital outputs Short circuit protection is provided on both proportional and digital outputs Error Conditions If an error on the input is detected the output of the controller shuts off General Specifications Microprocessor Motorola MC56F8346 Control Logic Standard embedded software is provided CAN Interface 1 CAN port CANopen Network Termination 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 Hand CAN L terminals at both ends of the network RS 232 Port Available for diagnostic purposes User Interface A CANopen master on the network or a PC based CANopen configuration tool not supplied to access the object dictionary and an USB CAN converter not supplied is used for configuration during initial set up Operating Conditions 40 to 85 C 40 to 185 F Weight 0 55 Ibs 0 25 kg Protection IP67 Unit is conformal coated within the housing Plugs carry an IP69 rating Note CANopen is a registered community trade mark of CAN in Automation e V Version 2 00 Preliminary Documentation May be Subject to Change A 2 lobal Electro
52. ing 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 H yt m ntie 6 33880 Lemp l FINLAND TEL 358 3 3595 600 FAX 358 3 3595 660 www axiomatic fi Copyright 2011
53. input range 4 20mA The conversion from input field value to process value is generally described as a linear transformation The two pairs of field values and their corresponding process values define calibration points 1 and 2 Input Scaling 1 FV Input Scaling 1 PV and Input Scaling 2 FV Input Scaling 2 PV See DS 404 for more information If error checking on an input is enabled by object 20A0h then the controller will compare the measured field value to the values in objects 2010h Error Minimum and 2080h Error Maximum If less than 2010h or greater than 2080h the controller will flag an error after the delay time in object 20BOh has passed See section 4 for more details on emergency objects and the controller s response to errors Input AtoD Meas Filter AIN Field Value Scaling Dec Digits Proc Val Pin Conv Calc 61A0h 7100h 6132h 7130h l Operation Input Type Constant 6112h 6110h 61A1h Scale 1 FV Scale 1 PV 7120h 7121h Output Control Controller Minimum 2020h CAN Bus l N I N U 1 I 1 I 1 1 I I i ErMax Error Err Delay Error 2080h i Checking 20B0h React i Controller 1 1 I N I I 1 Through To Maximum 2070h Since the analog inputs can be used to control any off the outputs on the guad independent of CANopen there are a number of manufacturer parameters that will determine how the output responds to a change at the inputs If an output control signal has been set
54. ion May be Subject to Change 31 71 Subindex 1h to 4h Description Deadband Minimum AIN1 to AIN4 Access RW PDO Mapping No Value Range 2030h to 2050 at subindex Default Value 2300 mV Subindex 5h to 6h Description Deadband Minimum FIN1 to FIN2 Access RW PDO Mapping No Value Range 2030h to 2050 at subindex Default Value 4500 45 00 3 3 5 Object 2050h Al Deadband Maximum This object is only used for DP A responses For all other responses this object is ignored See the graph in section 2 5 for more details on the output profiles Object Description Index 2050h Name Al Deadband Maximum Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description Deadband Maximum AIN1 to AIN4 Access RW PDO Mapping No Value Range 2040h to 2060 at subindex Default Value 2700 mV Subindex 5h to 6h Description Deadband Maximum FIN1 to FIN2 Access RW PDO Mapping No Value Range 2040h to 2060 at subindex Default Value 5500 55 00 Version 2 00 Preliminary Documentation May be Subject to Change 32 71 3 3 6 Object 2060h Al Breakpoint Maximum This object is only used for the DP A ds response For all other res
55. l Input This object defines the control signal for the digital output If set to 0 CANopen Message then the output will be controlled by writes to object 7330h FV or 7F50h PV However if set to one of the inputs on the Ouad then it will respond to changes of state at the input without the need for any messages from the CANopen bus The following values are allowed for this object Control Input 0 CANopen Message in this case writes to object 7330h or 7F50h Control Input 1 Analog Input 1 Control Input 2 Analog Input 2 Control Input 3 Analog Input 3 Control Input 4 Analog Input 4 Control Input 5 Pulse Input 1 Control Input 6 Pulse Input 2 Only the mentioned control inputs are supported Writing a value other than those listed above will result in SDO abort download error and the previous value will remain unchanged The default value is 0 CANopen Message Note 1 If the control input is non zero then the corresponding input must be configured for normal operation using object 6112h Version 2 00 Preliminary Documentation May be Subject to Change 52 71 Note 2 If outputs POUT1 to POUT4 are NOT configured as a current output by object 6310h then the controller ignores then the values in subindexes 1 to 4 and the control inputs for those channels are actually determined by object 3001h DO Control Input Object Description Index 3010h Name
56. ll turn off and stay off until the output comes on again repeating the cycle If an error is detected on the output the controller will flag an error after the delay time in object 300Bh has passed Objects 6206h DO fault mode and objects 6207h DO fault state apply to any output configured as a digital output Refer to Section 4 for a detailed description of a digital output s response to an error Latched Output Logic Digital ON OFF Input Load For objects corresponding to 8 digital output lines on the controller the bit order is as shown VA 0 Version 2 00 Preliminary Documentation May be Subject to Change 11 71 r 2 6 Proportional Outputs The analog output function block handles the control of the proportional outputs on the guad that have been configured for current output by object 6310h All proportional outputs can be controlled by either an analog or pulse input on the controller or by writes to object 7330h AO Field Value object 7F50h Received PV but not both methods at once Manufacturer object 3010h dictates the control signal for the output Since an output can be controlled independent of object 7330h a manufacturer object 30COh has been introduced as a means of indicating the measured feedback current of the outputs to the bus at any time The object 7F50h can be mapped to a PDO to send a process value to the controller In order for the controller to accept the received
57. lue Subindex 3h Description Restore default application parameters Access RW PDO Mapping No Value Range 0x64616F6C write access th read access th restores defaults on command Default Value Subindex 4h Description Restore default manufacturer parameters Access RW PDO Mapping No Value Range 0x64616F6C write access th read access h restores defaults on command Default Value 3 1 7 Object 1016h Consumer Heartbeat Time The Quad 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 Quad 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 15 0 Value Reserved 00h Node ID Heartbeat time Encoded as UNSIGNED8 UNSIGNED16 Object Description Index 1016h Name Consumer heartbeat time Object Type ARRAY Data Type UNSIGNED32 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex th to 4h Description Consumer heartbeat time Access RW
58. n Index 6206h Name DO Fault Mode 8 Output Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Version 2 00 Preliminary Documentation May be Subject to Change 50 71 Subindex 1h Description Fault Mode all Digital Outputs Access RW PDO Mapping No Value Range UNSIGNED8 Default Value 1Fh all as per object 6207h 3 4 8 Object 6207h DO Fault State 8 Output Lines This object defines the state that digital outputs will be driven to in fault situations in 8 bit blocks For proportional outputs that are not configured as digital the corresponding bit is ignored e Bit value O drive output off in controller fault state e Bit value 1 drive output on in controller fault state Object Description Index 6207h Name DO Fault State 8 Output Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Subindex 1h Description Fault State all Digital Outputs Access RW PDO Mapping No Value Range UNSIGNED8 Default Value OOh all off in fault mode Version 2 00 Preliminary Documentation May be Subject to Change 51 71 3 5 ANALOG OUTPUT FUNCTION BLOCK DS 404 The applicati
59. ndex 6000h Name DI Polarity 8 Input Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Subindex 1h Description Polarity of DIN1 to DIN6 Access RW PDO Mapping No Value Range Bit Value O normal polarity Bit Value 1 inverted polarity Default Value 00h all normal polarity Version 2 00 Preliminary Documentation May be Subject to Change 28 71 3 3 ANALOG INPUT FUNCTION BLOCK DS 404 The application and manufacturer objects supported by the Ouad for the analog input block are listed in the following table Index Object Object Type Data Type Access PDO hex Mapping 2010 Al Error Minimum ARRAY UNSIGNED16 RW No 2020 Al Minimum ARRAY UNSIGNED16 RW No 2030 Al Breakpoint Minimum ARRAY UNSIGNED16 RW No 2040 Al Deadband Minimum ARRAY UNSIGNED16 RW No 2050 Al Deadband Maximum ARRAY UNSIGNED16 RW No 2060 Al Breakpoint Maximum ARRAY UNSIGNED16 RW No 2070 Al Maximum ARRAY UNSIGNED16 RW No 2080 Al Error Maximum ARRAY UNSIGNED16 RW No 2090 Al Frequency Measuring Window ARRAY UNSIGNED16 RW Yes 20A0 Al Enable Error Checking 8 Lines ARRAY UNSIGNED8 RW No 20B0 Al Error Response Delay ARRAY UNSIGNED16 RW No 7100 Al Input Field Value ARRAY INTEGER16 RO Yes 6110 Al Sensor Type ARRAY UNSIGNED16 R
60. nic Solutions OUR PRODUCTS Battery Chargers CAN bus Controls Current Converters DC DC Power Converters DC Voltage Signal Converters Engine Management Controls Fan Drive Controllers Gateways Hydraulic Valve Controllers I O Controls LVDT Simulators Machine Control Systems Motor Controls PID Controls Position Sensors Angle Measurement Inclinometers Power Supplies PWM Signal Converters Resolver Signal Conditioners Service Tools Signal Conditioners Surge Suppressors OUR MISSION Axiomatic provides electronic machine controls components and systems to the off highway military power generation material handling 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 OUALITY DESIGN AND MANUFACTURING Axiomatic is an ISO9000 2001 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 e Axiomatic invoice number and date Hours of operation description of problem e Wiring set up diagram application e Other comments as needed When preparing the return shipping paperwork please note the following The commercial invoice for customs and pack
61. nput with programmable thresholds even if it isn t configured this way by object 6112h Al operating mode This means that the same input could be used as both a normal input signal for another output AND as an ON OFF input for a digital output so long as the low and high threshold values objects 2001h and 2002h are set to appropriate values Note 2 If the control input is set from 11 to 16 then the corresponding input MUST be configured as a digital input by object 6112h Al operating mode If the input is not configured as a digital input then the control input for the digital output will always read off Note 3 If outputs POUT1 to POUT4 are NOT configured as a digital output by object 6310h then the controller ignores then the values in subindexes 1 to 4 and the control inputs for those channels are actually determined by object 3010h AO Control Input Version 2 00 Preliminary Documentation May be Subject to Change 46 71 Object Description Index 3001h Name DO Control Input Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 5 Default Value 5 Subindex 1h to 4h Description DO Control Input POUT1 to POUT4 set as DO Access RW PDO Mapping No Value Range 0 1 2 3 4 5 6 11 12 13 14 15 16 Default Value 0 CANopen Message Subindex 5h Description DO Cont
62. ntroller is based on CA device profile DS 404 V1 2 Device profile for measurement devices and closed loop controllers The object dictionary also includes some manufacturer specific objects for extended functionality 3 1 COMMUNICATION OBJECTS The communication objects supported by the Quad 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 Object Object Type Data Type Access PDO hex Mapping 1000 Device Type VAR UNSIGNED32 RO No 1001 Error Register VAR UNSIGNED8 RO No 1002 Manufacturer Status Register VAR UNSIGNED32 RO No 1003 Pre Defined Error Field ARRAY UNSIGNED32 RO No 100C Guard Time VAR UNSIGNED16 RW No 100D Life Time Factor VAR UNSIGNED8 RW No 1010 Store Parameters ARRAY UNSIGNED32 RW No 1011 Restore Default Parameters ARRAY UNSIGNED32 RW No 1016 Consumer Heartbeat Time ARRAY UNSIGNED32 RW No 1017 Producer Heartbeat Time VAR UNSIGNED16 RW No 1018 Identity Object RECORD RO No 1020 Verify Configuration ARRAY UNSIGNED32 RW No 1029 Error Behaviour ARRAY UNSIGNED8 RW No 1400 RPDO1 Communication Parameter RECORD RW No 1401 RPDO2 Communica
63. ntroller will use ramps when adjusting the output current Ramps are a useful feature to prevent an abrupt jump in the current in the case of a large step change at the input In the case of an emergency shutoff due to a fault condition ramps are never used See section 4 for more details about error responses in the Quad The following values are allowed for this object e Ramp Control 0 Ramps are disabled e Ramp Control 1 Always use ramps except in emergency shutoffs e Ramp Control 2 Use ramps unless control input 0 CANopen Message Only the mentioned ramp controls are supported Writing a value other than those listed above will result in SDO abort download error and the previous value will remain unchanged The default value is 2 Object Description Index 30A0h Name AO Ramp Control Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Ramp Control POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 1 2 Default Value 2 3 5 11 Object 30BOh AO Error Response Delay This object is used to prevent intermittent proportional output faults from overloading the bus with error messages The value is defined as a multiple of 1ms If a fault has been present during the entirety of the delay time the Quad will flag an erro
64. o Change 61 71 3 5 16 Object 7320h AO Output Scaling 1 PV This object defines the process value for the first calibration point for the output channel The value is scaled in the physical unit of the output process value object 7300h Object Description Index 7320h Name AO Output Scaling 1 PV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Scaling 1 PV POUT1 to POUT4 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 3 5 17 Object 7321h AO Output Scaling 1 FV This object defines the field value for the first calibration point for the output channel The value is scaled in the physical unit of the output field value object 7330h Object Description Index 7321h Name AO Output Scaling 1 FV Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Scaling 1 FV POUT1 to POUT4 Access RW PDO Mapping No Value Range INTEGER16 Default Value 0 Version 2 00 Preliminary Documentation May be Subject to Change 62 71 3 5 18 Object 7322h AO Output Scaling 2 PV This object defines the process value
65. object sets the digital input active level for input pins configured as digital inputs The digital inputs have a software selectable pull up pull down resistor which is switched according to the state of the bit in this object In active high mode the pull down resistor is enabled so the input must be switched to a V signal to turn on In active low mode the pull up resistor is enabled so the input must be switched to a GND signal to turn on In either mode the inputs do not require any external components to function properly Object Description Index 2000h Name DI Level 8 Input Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Subindex 1h Description Active Level of DIN1 to DIN6 Access RW PDO Mapping No Value Range Bit Value 0 Active Low Input Bit Value 1 Active High Input Default Value 3Fh all active high Version 2 00 Preliminary Documentation May be Subject to Change 25 71 3 2 2 Object 2001h DI Low Threshold This object sets the off threshold for analog inputs configured as ON OFF inputs If the input is less than or egual to this value then the input state in object 6000h is set to OFF This input must be in the same units as object 7100h the field value for that analog input
66. on and manufacturer objects supported by the Ouad for the analog output block are listed in the following table Index Object Object Type Data Type Access PDO hex Mapping 3010 AO Control Input ARRAY UNSIGNED8 RW No 3020 AO Response ARRAY UNSIGNED8 RW No 3030 AO Minimum Current ARRAY INTEGER16 RW No 3040 AO Breakpoint Current ARRAY INTEGER16 RW No 3050 AO Maximum Current ARRAY INTEGER16 RW No 3060 AO Dither Frequency ARRAY UNSIGNED16 RW No 3070 AO Dither Amplitude ARRAY UNSIGNED16 RW No 3080 AO Ramp Up ARRAY UNSIGNED16 RW No 3090 AO Ramp Down ARRAY UNSIGNED16 RW No 30A0 AO Ramp Control ARRAY UNSIGNED8 RW No 30B0 AO Error Response Delay ARRAY UNSIGNED16 RW No 30C0 AO Measured Current ARRAY UNSIGNED16 RO Yes 7300 AO Output Process Value ARRAY INTEGER16 RO No 6302 AO Decimal Digits PV ARRAY UNSIGNED8 RW No 6310 AO Output Type ARRAY UNSIGNED16 RW No 7320 AO Output Scaling 1 PV ARRAY INTEGER16 RW No 7321 AO Output Scaling 1 FV ARRAY INTEGER16 RW No 7322 AO Output Scaling 2 PV ARRAY INTEGER16 RW No 7323 AO Output Scaling 2 FV ARRAY INTEGER16 RW No 7330 AO Output Field Value ARRAY INTEGER16 RW Yes 6340 AO Fault Mode ARRAY UNSIGNED8 RW No 7341 AO Fault FV ARRAY INTEGER16 RW No 7F50 Received PV 16 ARRAY INTEGER16 RW Yes 6F52 Received PV Status ARRAY UNSIGNED8 RW Yes 3 5 1 Object 3010h AO Contro
67. ponses this object is ignored See the graph in section 2 5 for more details on the output profile Object Description Index 2060h Name Al Breakpoint Maximum Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description Breakpoint Maximum AIN1 to AIN4 Access RW PDO Mapping No Value Range 2050h to 2070 at subindex Default Value 3600 mV Subindex 5h to 6h Description Breakpoint Maximum FIN1 to FIN2 Access RW PDO Mapping No Value Range 2050h to 2070 at subindex Default Value 7500 75 00 3 3 7 Object 2070h Al Maximum This object is only used for SP or DP A responses For all other responses this object is ignored See the graphs in section 2 5 for more details on the output profiles Object Description Index 2070h Name Al Maximum Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Version 2 00 Preliminary Documentation May be Subject to Change 33 71 Subindex 1h to 4h Description Maximum AIN1 to AIN4 Access RW PDO Mapping No Value Range 2060h to 2080 at subinde
68. pping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Autozero AIN1 to FIN2 Access WO PDO Mapping No Value Range 0x6F72657A Default Value No 3 3 21 Object 7130h Al Input Process Value This object reflects the input process value after having been scaled from the measured field value Object Description Index 7130h Name Al Input Process Value Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Process Value AIN1 to FIN2 Access RO PDO Mapping Yes Value Range INTEGER16 Default Value 0 3 3 22 Object 6132h Al Decimal Digits PV This object sets the number of decimal digits included in the process value For example if the number of decimal digits is set to 2 the process value 1 234 would be represented by a value of 123 as the process value Object Description Index 6132h Name Al Decimal Digits PV Object Type ARRAY Data Type UNSIGNED8 Version 2 00 Preliminary Documentation May be Subject to Change 43 71 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 6h Description Decimal Digits AIN1 to FIN2 Access RW PDO Mapping No
69. r at the output once the timer has expired The object can be set to zero in which case a fault will immediately trigger an error response For proportional outputs that are configured as digital the corresponding value in the subindex is ignored and instead the delay is determined by object 300Bh DO Error Response Delay Version 2 00 Preliminary Documentation May be Subject to Change 58 71 Object Description Index 30BOh Name AO Error Response Delay Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Error Delay POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 to 10000 ms Default Value 1000 ms 3 5 12 Object 30COh AO Measured Current This object indicates the actual current applied to the loads as measured by the controller The value is defined as a multiple of 1mA Object Description Index 30C0h Name AO Measured Current Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Measured Current POUT1 to POUT4 Access RW PDO Mapping Yes POUT1 default TPDO4 subindex 1 POUT2 default TPDO4 subindex 2 POU
70. ription Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Decimal Digits PV POUT1 to POUT4 Access RW PDO Mapping No Value Range 0to9 Default Value 0 Version 2 00 Preliminary Documentation May be Subject to Change 60 71 3 5 15 Object 6310h AO Output Type This object defines whether or not the output will act as a close loop current or a digital output If configured as a digital output the analog output block will no longer apply Instead the digital output block will apply to the output The following values are allowed for this object e Output Type 20 current output 0 to 2000mA e Output Type 1000 digital output up to 2000mA Only the mentioned output types are supported Writing a value other than those listed above will result in SDO abort download error and the previous value will remain unchanged The default value is 20 current output Object Description Index 6310h Name AO Output Type Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Output Type POUT1 to POUT4 Access RW PDO Mapping No Value Range 20 1000 Default Value 20 current output Version 2 00 Preliminary Documentation May be Subject t
71. rol Input DOUT Access RW PDO Mapping No Value Range 0 1 2 3 4 5 6 11 12 13 14 15 16 Default Value 0 CANopen Message 3 4 2 Object 3002h DO Response 8 Output Lines This object is used for setting the response for digital output lines in 8 bit blocks For proportional outputs that are not configured as digital the corresponding bit is ignored In normal ON OFF mode the output responds to changes of state at the input signal as per object 6202h DO polarity In latched mode object 6202h is ignored and when the input comes on the output will come on and stay on When the input comes on again after having been off the output will turn off and stay off until the output comes on again repeating the cycle Object Description Index 3002h Name DO Response 8 Output Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Version 2 00 Preliminary Documentation May be Subject to Change 47 71 Subindex 1h Description Response all Digital Outputs Access RW PDO Mapping No Value Range Bit Value O Normal ON OFF Bit Value 1 Latched Default Value 00h all normal ON OFF 3 4 3 Object 300Bh DO Error Response Delay This object is used to prevent intermittent digital output faults from overloading the bus with error messages
72. ror Behaviour This object controls the state that the Quad will be set into in case of an error of the type associated with the subindex The behaviour of the Ouad in each state is described in detail in section 4 Object Description Index 1029h Name Error Behaviour Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 5 Default Value 5 Subindex 1h Description Communication Error Access RW PDO Mapping No Value Range 0 Pre Operational 1 No State Change 2 Stopped Default Value 0 Pre Operational Subindex 2h Description Digital Input Error Access RW PDO Mapping No Value Range 0 Pre Operational 1 No State Change 2 Stopped Default Value 1 no state change Subindex 3h Description Analog Input Error Access RW PDO Mapping No Value Range 0 Pre Operational 1 No State Change 2 Stopped Default Value 1 no state change Version 2 00 Preliminary Documentation May be Subject to Change 23 71 Subindex 4h Description Digital Output Error Access RW PDO Mapping No Value Range 0 Pre Operational 1 No State Change 2 Stopped Default Value 1 no state change Subindex 5h Description Analog Output Error Acc
73. s changed Alternatively it can be written to directly to set the output as long as the corresponding bit in object 6F52h Received PV status is set to invalid The value is defined as a multiple of 1mA Object Description Index 7330h Name AO Output Field Value Object Type ARRAY Data Type INTEGER16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Field Value POUT1 to POUT4 Access RW PDO Mapping Yes POUT1 default RPDO1 subindex 1 POUT2 default RPDO1 subindex 2 POUT3 default RPDO1 subindex 3 POUT4 default RPDO1 subindex 4 Value Range INTEGER16 Default Value 0 3 5 21 Object 6340h AO Fault Mode This object defines the fault mode response for proportional outputs For proportional outputs that are configured as digital the corresponding subindex is ignored It determines whether the output shall continue to operate normally when the Quad detects an error or if the output shall be driven to the value defined in object 7341h For more details about the Quad error response see section 4 e Value 0 output continues to operate normally in controller fault state e Value 1 write the value defined in object 7341h in object 7330h in controller fault state Object Description Index 6340h Name AO Fault Mode Object Type ARRAY Data Type
74. s used for setting the polarity of digital output lines in 8 bit blocks For proportional outputs that are not configured as digital the corresponding bit is ignored When the bit is set inverse polarity is active such that the control input being ON will set the output OFF and vice versa Object Description Index 6202h Name DO Polarity 8 Output Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Subindex 1h Description Polarity all Digital Outputs Access RW PDO Mapping No Value Range Bit Value 0 Normal polarity Bit Value 1 Inverse polarity Default Value 00h all normal polarity 3 4 7 Object 6206h DO Fault Mode 8 Output Lines This object defines the fault mode response for digital outputs in 8 bit blocks For proportional outputs that are not configured as digital the corresponding bit is ignored It determines whether the output shall continue to operate normally when the Quad detects an error or if the output shall be driven to the state defined in object 6207h For more details about the Quad error response see section 4 e Bit value 0 output continues to operate normally in controller fault state e Bit value 1 take action defined in object 6207h in controller fault state Object Descriptio
75. sion 2 00 Preliminary Documentation May be Subject to Change 30 71 3 3 3 Object 2030h Al Breakpoint Minimum This object is only used for SP ds or DP B ds responses For all other responses this object is ignored See the graphs in section 2 5 for more details on the output profiles Object Description Index 2030h Name Al Breakpoint Minimum Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description Breakpoint Minimum AIN1 to AIN4 Access RW PDO Mapping No Value Range 2020h to 2040 at subindex Default Value 1400 mV Subindex 5h to 6h Description Breakpoint Minimum FIN1 to FIN2 Access RW PDO Mapping No Value Range 2020h to 2040 at subindex Default Value 2500 25 00 3 3 4 Object 2040h Al Deadband Minimum This object is only used for DP B responses For all other responses this object is ignored See the graph in section 2 5 for more details on the output profiles Object Description Index 2040h Name Al Deadband Minimum Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Version 2 00 Preliminary Documentat
76. the input accuracy is 1 At gt 1kHZz it is 5 Inputs 5 and 6 Up to 2 pulse inputs are available Hertz Accuracy of pulse input inputs 5 6 is 1 Version 2 00 Preliminary Documentation May be Subject to Change A 1 Output Specifications Proportional Outputs High side sourcing High freguency PWM The 4 outputs are configurable as proportional or on off as follows and are named POUT1 POUT4 Four independent proportional outputs 0 2A NB The maximum total current draw on the power supply pins is 6 Amps 24VDC at one time Table 2 0 Proportional Output Adjustments Adjustable Parameter Description Output Current Adjustments 0 Imax 2A Both minimum and maximum current settings are user configurable Dither adjustments are configurable for each channel Dither Amplitude 0 mA factory default Adjustable from 0 400 mA Dither Frequency 200 Hz factory default Adjustable from 50 400 Hz Ramp adjustments are configurable for each channel 1 000 mSec default Adjustable from 0 to 10 000 mSec 10 sec Superimposed Dither Ramp Rates Proportional Output Logic The output current is proportional to the control input signal For the proportional outputs there are up to six output profiles that can be selected to determine how the output will react to a change at the input Refer to the graphs below for details Digital Output High side sourc
77. tion Parameter RECORD RW No 1402 RPDO3 Communication Parameter RECORD RW No 1403 RPDO4 Communication Parameter RECORD RW No 1600 RPDO1 Mapping Parameter RECORD RW No 1601 RPDO2 Mapping Parameter RECORD RW No 1602 RPDO3 Mapping Parameter RECORD RW No 1603 RPDO4 Mapping Parameter RECORD RW No 1800 TPDO1 Communication Parameter RECORD RW No 1801 TPDO2 Communication Parameter RECORD RW No 1802 TPDO3 Communication Parameter RECORD RW No 1803 TPDO4 Communication Parameter RECORD RW No 1400 TPDO1 Mapping Parameter RECORD RW No 1A01 TPDO2 Mapping Parameter RECORD RW No 1A02 TPDO3 Mapping Parameter RECORD RW No 1403 TPDO4 Mapping Parameter RECORD RW No Version 2 00 Preliminary Documentation May be Subject to Change 14 71 3 1 1 PDO Parameters All RPDOs and TPDOs in the Quad use the same default communication parameters respectively The PDO IDs are set according to the pre defined connection set described in DS 301 All receive PDOs are set to transmission type 255 and all transmit PDOs to transmission type 254 with the event timer subindex 5 set to 100 100ms All PDOs are dynamically mappable and the user can therefore change the mapping of the PDOs The granularity is 8 bits so the objects can be mapped with byte offsets The mapping parameter records include 4 subindexes for the PDO mapping The default PDO mappings are listed in the following tables RPDO1 default ID 0x200 node ID
78. tores the defaults only when a specific signature is written to the appropriate subindex 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 64h 61h 6Fh 6Ch On reception of the correct signature to an appropriate subindex the Quad will restore the defaults in non volatile memory and then confirm the SDO transmission The default values are set valid after the device is reset or power cycled By read access the object provides information about the Quad s default parameter restoring capabilities Object Description Index 1011h Name Restore Default Parameters Object Type ARRAY Data Type UNSIGNED32 Entry Description Subindex Oh Description Largest subindex supported Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h Description Resiore all default parameters Access RW PDO Mapping No Value Range 0x64616F6C write access th read access Default Value 1h restores defaults on command Subindex 2h Description Restore default communication parameters Access RW PDO Mapping No Version 2 00 Preliminary Documentation May be Subject to Change 20 71 Value Range 0x64616F6C write access 1h read access 1h restores defaults on command Default Va
79. uts AIN1 to AIN4 the following values are allowed for this object e Sensor Type 40 voltage input value range 0 to 5000 mV e Sensor Type 42 voltage input value range 0 to 10000 mV e Sensor Type 51 current input value range 4000 to 20000 uA e Sensor Type 52 current input value range 0 to 20000 uA Only the mentioned sensor types are supported Writing a value other than those listed above will result in SDO abort download error and the previous value will remain unchanged The default value is 40 voltage input 0 to 5000mV For inputs FIN1 to FIN2 the following values are allowed for this object e Sensor Type 60 frequency input value range 0 to 10000 Hz e Sensor Type 10000 PWM duty cycle input value range 0 to 10000 0 to 100 00 Only the mentioned sensor types are supported Writing a value other than those listed above will result in SDO abort download error and the previous value will remain unchanged The default value is 10000 PWM duty cycle input Object Description Index 6110h Name Al Sensor Type Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description Sensor Type AIN1 to AIN4 Access RW PDO Mapping No Value Range 40 42 51 52 Default Value 40 voltage O to 5000mV Subindex 5h to 6h D
80. x Default Value 4500 mV Subindex 5h to 6h Description Maximum FIN1 to FIN2 Access RW PDO Mapping No Value Range 2060h to 2080 at subindex Default Value 9500 95 00 3 3 8 Object 2080h Al Error Maximum This object sets the value that will flag an input error in the Ouad if the measured field value goes above this limit If error checking on the input is enabled by object 20A0h then the module will flag an out of range high error on that channel See section 4 for more details about error handling in the Quad This value must be in the same units as the field value for the input as determined by the object 6110h sensor type Object Description Index 2080h Name Al Error Maximum Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 6 Default Value 6 Subindex 1h to 4h Description Error Maximum AIN1 to AIN4 Access RW PDO Mapping No Value Range 2070h at subindex to 5000 for0 5V 2070h at subindex to 10000 for 0 10V 2070h at subindex to 20000 for 0 20mA Default Value 4800 mV Subindex 5h to 6h Description Error Maximum FIN1 to FIN2 Access RW PDO Mapping No Value Range 2070h at subindex to 10000 for both 0 100 00 and 0 10000Hz Default Value 9900 99 00 Version 2 00 Preliminary Documentation
81. x to 20000 for 0 20mA Default Value 3500 mV Subindex 5h to 6h Description High Threshold FIN1 to FIN2 Access RW PDO Mapping No Value Range 2001h at subindex to 10000 for both 0 100 00 and 0 10000Hz Default Value 7500 75 00 Version 2 00 Preliminary Documentation May be Subject to Change 27 71 3 2 4 Object 6000h DI Read State 8 Input Lines This object is used for reading data from digital input lines in 8 bit blocks For inputs that are not configured as either digital or ON OFF with programmable threshold by object 6112h the corresponding bit in the read byte is always set to 0 Object Description Index 6000h Name DI Read State 8 Input Lines Object Type ARRAY Data Type UNSIGNED8 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 1 Default Value 1 Subindex 1h Description Read State of DIN1 to DIN6 Access RO PDO Mapping Yes default TPDO3 subindex 1 Value Range Bit Value O Input Off Bit Value 1 Input On Default Value 0 3 2 5 Object 6002h DI Polarity 8 Input Lines This object is used for setting the polarity of digital input lines in 8 bit blocks For inputs that are not configured as digital inputs by object 6112h the corresponding bit is ignored Object Description I
82. y Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Dither Freguency POUT1 to POUT4 Access RW PDO Mapping No Value Range 50 to 400 Hz Default Value 200 Hz 3 5 7 Object 3070h AO Dither Amplitude This object defines the amplitude of the dither that will be superimposed on top of the output signal for the proportional outputs The value is defined as a multiple of 1mA If set to zero the dithering is disabled for that output Object Description Index 3070h Name AO Dither Amplitude Object Type ARRAY Data Type UNSIGNED16 Entry Description Subindex Oh Description Number of entries Access RO PDO Mapping No Value Range 4 Default Value 4 Subindex 1h to 4h Description Dither Amplitude POUT1 to POUT4 Access RW PDO Mapping No Value Range 0 to 400 mA Default Value 0 mA Version 2 00 Preliminary Documentation May be Subject to Change 56 71 3 5 8 Object 3080h AO Ramp Up This object defines the length of time it would take for the output current to ramp up from zero to the highest current on its output profile The value is defined as a multiple of 1ms Note1 Since objects 3030h 3040h 3050h minimum breakpoint maximum current can be set anywhere from 0 to 2000mA any one of these objects could be the highest current on

USER MANUAL UMAX020502 - Axiomatic Technologies Corporation

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