AX021200
Contents
1. 3 00 2 50 2 00 Intake Current Amps 1 50 1 00 0 50 0 00 24 32 48 65 80 Supply Voltage V WARNING The 9 outputs are user selectable from 0 to 2000 mA but the unit can only handle a maximum of 7A of controller power supply intake at one time At no time should the total intake current of the controller exceed 7A due to the rating of the connector Failure to do so will result in unpredictable damage to unit Input Specifications CAN commands SAE J1939 CANopen model AX020201 no physical inputs available There are eleven setpoints per channel that are associated with the J1939 command message that is received by the controller from the network bus Refer to the user manual for details Output Specifications Proportional Outputs High side sourcing 9 outputs 12 or 24V Each output is configurable up to 2A The number of outputs ON at one time is limited by the rating of the Deutsch IPD contacts pins on the connector NB The maximum total current draw permitted on the power supply input pins is 7 Amps 24VDC at one time Output Type The user can select between the following outputs Refer to Table 1 0 Output Disabled Proportional Current 0 2A Hotshot Digital 0 2A 0 10000 mSec On Off Digital 0 2A Proportional Voltage 0 85V PWM Duty Cyc2. Uf H yt Ahaa MANIC Global Electronic Solutions TECHNICAL DATASHEET TDAX021200 CAN to 9 Output Valve Controller P N AX021200 12V 24V 48V 72V CAN SAE J1939 with Electronic Assistant 3 Features e Command messages are received through the CAN network no physical inputs e 9 outputs are user selectable from the following up to a maximum of 7A of controller power supply intake at one time Output Disabled Proportional Current Hotshot Digital On Off Digital Proportional Voltage o PWM Duty Cycle 12V 24V 42V 48V or 72VDC nominal input power 1 CAN port SAE J1939 1 RS 232 port CANopen module available on request P N AX021201 Hardware is also available as a platform for application specific software e Electronic Assistant runs on a Windows operating system for user configuration An Axiomatic USB CAN converter links the PC to the CAN bus e Rugged IP67 packaging and connectors O ty a a Description The controller features 1 CAN port for controlling the outputs and diagnostics over the CAN bus It accepts a wide variety of nominal input power supply voltages 12V 24V 42V 48V or 72VDC Using the CAN network it can provide control of up to nine outputs configured for a wide variety of responses For example it can drive proportional valves on off valves or provide a hotshot control profile PWM signal or proportional voltage outputs are also user selectable Standard software is provid
3. 0 000 1 2 3 4 5 6 7 8 9 Number of Outputs ON qe S Upply Input Power Total Output Power Efficiency W W 4 Input vs Output Power and Efficiency over 20 80V range 140 120 100 80 60 40 20 20 07 24 011 32 084 48 091 65 051 72 055 80 005 Supply Voltage V eeu Out Power Out put Power Ef ficiency Figure 3 0 Efficiencies TDAX021200 CAN Interface 1 CAN port SAE J1939 The software was designed to provide flexibility and provides the following Configurable ECU Instance in the NAME for multiple ECU s on the network Configurable Inout Parameters Configurable Output Parameters Configurable PGN and Data Parameters Configurable Diagnostic Messaging Parameters as required Diagnostic Log maintained in non volatile memory Note Configurable parameters are also called setpoints There are ten setpoints per channel that are associated with the J1939 command message that is received by the ECU from the network bus There are setpoints used with both output and fault channels To use J1939 refer to the user manual The Axiomatic AX021200 is compliant with Bosch CAN protocol specification Rev 2 0 Part B and the following J1939 standards Table 2 J1939 Compliance OSI Network Model J1939 11 Physical Layer 250K bit s Twisted Shielded Pair Physical J1939 15 Reduced Physical Layer 250K bits sec Un Shielded Twisted Pair UTP J1939 21 Data Link Layer
4. 4 9 RTN4 OF PWMAS Pw in RTN9 EA Ma AOUTS O ANAS PROTECTED ANALOG OUTPUT 0 2A RNS O K Pm mna CONNECTOR PE pa an Sa RX TX RX TX O HIGH Eo I E CAN BUS Low TRANCEIVER TRANCEIVER a F Set up of AX021200 Controller on a CAN Network Axiomatic Electronic Assistant EA Other CAN AX070500 Modules and Termination Axiomatic USB CAN AX070501 USB Cable SAE J1939 Computer CAN bus Other CAN Modules and Termination Axiomatic Axiomatic Axiomatic Controller Controller Controller with CAN with CAN with CAN Technical Specifications Input Power Supply Specifications Power Supply Input Nominal 12V 24V 42V 48V or 72V DC nominal Maximum 80 VDC power supply 8 80VDC Surge protection is provided NB The maximum total current draw permitted on the power supply input pins is 7 Amps 24VDC at one time Reverse Polarity Protection Input Impedance 400 KOhms Supply Intake Current vs Total Output Current A 14 0 12 0 10 0 8 0 6 0 4 0 2 0 0 0 0 58 1 06 1 54 2 02 2 61 3 19 3 78 4 47 5 16 5 85 Supply Intake Current A TDAX021200 3 Supply Voltage vs Intake Current when all outputs ON at 1500 mA 5 00 4 50 4 00 3 50
5. lt Maximum so they will have to be adjusted in order A feedback signal sent to the network will be sent as a WORD with a 1mA bit resolution and OmA offset The data in the message will be the current through the load as measured by the controller For error detection if the absolute difference between the measured current and the target current is greater than or equal to 200mA the controller will flag an error at the output If the measured value is higher than the target the controller flags an overcurrent otherwise it flags an open circuit at the load These thresholds are not user configurable Accuracy 1 over the 2000 mA range Hotshot Digital In this mode the output can be hotshot with a current to turn the load on and then dropped to a holding current to keep the load on with less energy For digital loads that have a high duty cycle using this type of output can help improve the overall system efficiency The current at which the output is hotshot and the length of time it is held at this value are both configurable setpoints as is the holding current Refer to Figure 2 0 In this mode a command message less than or equal to the Off Threshold setpoint will turn the output off A message greater than or equal to the On Threshold will turn the output on Command message values between these two setpoints will have no affect on the state of the output Dither Breakpoint and Ramp setpoints do not apply in this mode F
6. E OO R ee EE D aura Single Slope Dual Slope Fa Either w Breakpoint pbb EE ERT E EE E EEEE o Minimum Minimum Breakpoint Maximum Figure 1 Proportional Output vs Command Profile COMMAND OFF hecipet yo tachabsiiisriiiisin rerin EE phy pakoolabetee tp obiatgecite Hotshot Current mA OUTPUT Hold Current mA 0 mA lt Hotshot Time ms gt Figure 2 Hotshot Digital Profile General Specifications Efficiency 85 5 24V 89 2 over entire voltage range Refer to Figure 3 0 Control Logic Standard embedded software Refer to the user manual for details Application specific software is available on request Communications 1 CAN port 2 0B SAE J1939 CANopen model AX021201 and other CAN based protocols available on request 1 RS 232 port User Interface User configuration and diagnostics are provided with the Axiomatic Electronic Assistant The Axiomatic Service Tool is a Windows based graphical user interface that allows easy configuration of the controller setpoints Refer to Table 3 0 for details 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_H and CAN _L terminals at both ends of the network TDAX021200 7 Input vs Output Power vs Efficiency 140 000 120 000 100 000 80 000 60 000 40 000 20 000
7. IN CD P N CD AX070502 includes Electronic Assistant AX070500 software EA amp USB CAN User Manual UMAX07050X USB CAN drivers amp documentation CAN Assistant Scope and Visual software amp documentation and the SDK Software Development Kit NOTE To order this kit you need only to specify P N AX070502 PC based CANopen Configuration Tool Industry standard CANopen PC based software Block Diagram 8V 80V DC POWER LO SURGE AND 5 SUPPLY REVERSE INPUT GND POLARITY 8V BOV e gt PROTECTION BIAS POWER SUPPLY W eV W AOUT1 y H aw ANAS E c AOUT6 PROTECTED ANALOG o __ PROTECTED ANALOG OUTPUT 0 2A lt DO A 4 gt OUTPUT 0 2A 1 OMD GND A 6 RTN1 O e lt PWHA PWMAA FA RTNG A A AOUT2 gt _ _ ANA ANAS E gt AOUT T PROTECTED ANALOG PROTECTED ANALOG OUTPUT 0 2A E OUTPUT 0 2A 2 7 RTN2 Seen eet PMA PWMAS hae e RTN EA A AOUT1 O ANAZ SOLOER ANAT gt AOUTS8 PROTECTED ANALOG PROTECTED ANALOG OUTPUT 0 2A e OUTPUT 0 2A 3 8 O au DSP56F8346 n ame EA A AOUT4 O ANAS ANBO O AOQUT9 PROTECTED ANALOG PROTECTED ANALOG OUTPUT 0 2A lt 1 OUTPUT 0 2A
8. The controller supports Transport Protocol for Diagnostic DM1 Hara iink and DM2 messages PGN 65226 and 65227 It supports responses on PGN Requests PGN 59904 and acknowledgements PGN 59392 It also supports Proprietary B messaging PGN 65280 to 65535 and uses a proprietary scheme described in the User Manual J1939 81 Network Management J1939 Appendix B Address and Identity Assignments Network Layer Arbitrary Address Capable ECU It can dynamically change its network address in real time The controller supports Address Claimed Messages PGN 60928 Requests for Address Claimed Messages PGN 59904 and Commanded Address Messages PGN 65240 J1939 71 Vehicle Application Layer None of the application layer PGN s are supported as part of the default configurations However the controller could be configured such that any of the input messages to be sent will use a PGN from this section or for the outputs to respond to the data in a message with a PGN from this section The data size index resolution and offset can all be configured for the appropriate SPN associated with the PGN It is the user s responsibility to configure the controller such that it will not violate the J1939 standard Application Layer J1939 73 Application Layer Diagnostics The controller can be configured to send Active Diagnostic Trouble Code DM1 messages PGN 65226 for any I O channel Warning and Protect diagnost
9. ed The sophisticated microprocessor can accommodate complex application specific control algorithms for advanced machine control on request Rugged IP67 rated packaging in addition to the wide ranging power supply input section suits the harsh environment of mobile equipment with on board battery power Settings are user configurable via a Windows based Electronic Assistant configuration tool interfacing to the controller via an USB CAN device Applications e Off highway construction equipment e Municipal vehicles e Material handling equipment forklifts etc In Europe In North America Axiomatic Technologies Oy Axiomatic Technologies Corporation H yt m ntie 6 5915 Wallace Street 33880 LEMPAALA 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 Ordering Part Numbers SAE J1939 version CANopen version Controller AX021200 Controller AX021201 Contact Axiomatic for a quotation to provide application specific EDS File EDS AX021201 control logic Accessories PL DTM06 12SA 12SB Mating Plug Kit no DB 9 The KIT is comprised of DTMO6 12S DIM06 12SB 2 W12S and 24 contacts The Axiomatic stock is FG IOCTRL 19 AX070502 Configuration KIT includes the following USB CAN Converter P N AX070501 1 ft 0 3 m USB Cable P N CBL USB AB MM 1 5 12 in 30 cm CAN Cable with female DB 9 P N CAB AX070501 AX070502
10. eedback messages and error detection properties are the same as for proportional current outputs Accuracy 1 over the 2000 mA range TDAX021200 5 On Off Digital Proportional Voltage PWM Duty Cycle TDAX021200 In this mode the output will either be off or switched to the power supply voltage The output will respond to changes in the command message the same way as for a hotshot digital response A feedback signal sent to the network will be sent as a WORD with a imA bit resolution and OmA offset The data in the message will be the current through the load as measured by the controller For error detection if the measured current at the load is less then 100mA an open circuit will be flagged If the current at the load is greater than or equal to 2500mA an overcurrent will be flagged These thresholds are not user configurable The controller will adjust the duty cycle of the output PWM signal such that the average voltage from the pin will be the target voltage The unit measures the power supply voltage and uses it to calculate the required duty cycle of the output signal Typically a high frequency signal 20kHz is used to provide an output that will have low ripple after filtering External filtering will be required to turn this signal into a voltage output Refer to Figure 1 0 The relationships between the Output setpoints and the Command setpoints are the same as with a current output Up and down ramps wo
11. for 0 25 6 00 fastener a oerdei Mounting flange Key Arrangement A grey Deutsch IPD P N 16 mm 0 63 in thick Mating Plug Assemblies for 24 pin receptacle Deutsch IPD P N DTM06 12SA and DTM06 12SB with wedgelocks WM12S and contacts ocd y Contact factory for contact specification Distance between mounting holes Dimensions inches mm BOTTOM VIEW excluding mating plug s Operating Conditions 40 to 70 C 40 to 158 F with all 9 outputs ON at 1 5A 40 to 85 C 40 to 185 F with less than 9 outputs ON at 1 5A 0 60 lbs 0 27 ko IP67 Unit is conformally coated in the housing Plugs carry an IP69 rating Table 4 0 Pin out AX021200 Grey Connector Black Connector Function Function Ground 5 Output 6 Ground 4 Output 7 Ground 3 Output 8 Ground 2 Output 9 Ground 1 RS232 TXD Not Used BATT CAN HI BATT CAN LO Output 1 RS232 RXD Not Used Output 2 Ground 9 Output 3 Ground 8 Output 4 Ground 7 Output 5 Ground 6 00 Nj 0 01 G PO CO 00 Ni Od 01 G PO Note CANopen is a registered community trade mark of CAN in Automation e V Specifications are indicative and subject to change Actual performance will vary depending on the application and operating conditions 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 workman
12. for a current output proportional or hotshot the PWM Frequency setpoint will be ignored and the output frequency will always be 20kHz The output channels that share a frequency are channels 1 to 6 and channels 7 to 9 respectively If both current and PWM output types are required they will have to be split between those two groups in order for the controller to perform as expected If condition a has been met no current output in that group of channels then the frequency that will be used for the group will be of the output channel with the LOWEST index number that has been configured as a PWM duty cycle output and has a non zero entry in this setpoint This parameter will be ignored for all the other channels The new PWM frequency will NOT take effect until the unit has been reset by cycling the power In this mode a feedback signal sent to the network will be sent as a WORD with a 0 01 dc bit resolution and 0 dc offset The data in the message will be the target output duty cycle as calculated based on the response profile variables For error detection if the measured current at the load is less then 100mA an open circuit will be flagged If the current at the load is greater than or equal to 2500mA an overcurrent will be flagged These thresholds are not user configurable Accuracy 1 15 average Output Response Profiles OUTPUT Maximum EN ARETE EA AE E E E E EE E T E A E E E AOO ae Siig cose tatiane ATES
13. from an output is available from this port as is the microprocessor s temperature It can also be used to verify that the CAN commands are truly assigning an output as ON or OFF For more detailed information please refer to the User Manual Table 3 0 AX070500 Electronic Assistant Electronic Assistant ah Goong tees Cpa The Electronic Assistant EA runs on any ie _ Set tee modern PC with the Microsoft Windows Output at or below Minimum Comman 0 mA 2000 operating system or higher It comes Opal i Areakport ommen a with a royalty free license for use on gt Up Gov to tn 1000 mp Down Max to Zero 1000 Dither Fre ney 200 rz system Requirements Dither i tude 0 mA Operating System Windows 2000 or Current to hold valve open ies terse acetates y shot Current to open velve trom O Pararneter not used with Ihis output type higher including 64 bit editions me to hold valve at Hotshot Current aaa dat OI aaa duit carat tees Port USB 1 1 or 2 0 full speed ETT Kcconshernel sont eit bie otteel tre Display VGA XGA or better with 1024 x se sent whe 768 recommended Setup and Configuration Refer to the User Manual UMAX07050X To order the EA software at the time of ae ses initial purchase order the KIT AX070502 Commend Osie OSan 00 see above which includes the soea OXF FAD Axiomatic USB CAN converter For eeddack Re additional EA and USB CAN software Eao tye aoe ee use orderin
14. g P N CD Figure 4 0 COT screen from the Electronic Assistant The Electronic Assistant EA is a software configuration tool that runs on a PC connected to a J1939 bus via a USB to CAN converter AX070501 Upon being connected to the bus the EA will find all the Electronic Control Units ECU on the bus and recognized those manufactured by Axiomatic Using this tool a user can quickly configure an Axiomatic ECU for the desired performance over a wide variety of applications Electrical Connections Deutsch DTM series 24 pin receptacle DTM13 12PA 12PB R008 Mating plug Deutsch DTM06 12SA and DTM06 12SB with 2 wedgelocks WM12S and 24 contacts 0462 201 20141 20 AWG wire is recommended for use with contacts 0462 201 20141 Use dielectric grease on the pins when installing the controller Key Arrangement B black Key Arrangement A grey FRONT VIEW 24 PIN RECEPTACLE Refer to Table 4 0 for the pin out TDAX021200 10 Packaging and Dimensions High Temperature Nylon housing Deutsch IPD PCB Enclosure EEC 325X4B 4 62 x 5 24 x 1 43 inches 117 42 x 133 09 x 36 36 mm W x L x H excluding mating plugs HOUSING DIMENSIONS Housing Material High Temperature Nylon Black 3D VIEW Housing with 24 Pin Receptacle 4 677 118 80 _ FRONT VIEW 24 PIN RECEPTACLE NOT TO SCALE Height 1 368 34 75 with 24 pin receptacle 3 976 101 00 Key Arrangement B black Mounting Holes 0 29 7 40 through 2 pl
15. ics will automatically become previously active when cleared Previously Active Diagnostic Trouble Codes DM2 messages PGN 65227 are available on request Shutdown diagnostics will be cleared upon receiving a Diagnostic Data Clear Reset for Active DTC s DM11 message PGN 65235 Occurrence counts in the diagnostic log will be cleared upon receiving a Diagnostic Data Clear Reset for Previously Active DTC s DM3 message PGN 65228 Diagnostics CAN Network Each output channel can be configured to send diagnostic messages to the network if the load goes out of range There are four setpoints per output channel and ten per fault channel that are associated with if and how diagnostic messages will be sent to the network bus Alternatively if the Axiomatic Proprietary B scheme is used the status byte of the feedback message could be used to recognize an error at the output How the controller detects a fault for a channel will depend on the output type In addition to the output channels three other types of fault channels can be reported to the network using diagnostic messaging They are Over Temperature of the processor Over Voltage and Under Voltage of the power supply Refer to the user manual for details TDAX021200 9 The RS 232 interface can be used to changes some setpoints during set up lt also provides the tools for troubleshooting and debugging the controller For example how much current is being sourced
16. le 150Hz 5000HZz 0 to 100 Output Adjustments Digital Current 0 to 2000 mA Hotshot Hold Time 0 to 10000 ms Proportional Current 0 to 2000 mA Proportional Voltage 0 to 85V PWM Duty Cycle 0 to 100 PWM Frequency 150 Hz to 5000 Hz Ramp Up 0 to 10000 ms Ramp Down 0 to 10000 ms Dither Frequency 50 to 400 Hz Dither Amplitude 0 to 500 mA For default settings refer to the user manual TDAX021200 4 Control Logic By default any output on the controller uses a Proprietary B message to receive command messages to control the output and to send feedback data to the network bus There are twelve setpoints per channel that are associated with the output and how it responds There are five setpoints per channel that are associated with the J1939 feedback message that can be sent by the ECU to the network bus Refer to the user manual for details Current Feedback The current feedback is sampled every 10ms The repetition rate is user selectable as well as the type of filter that is applied to the measured data before it is used in the PID control loop and or sent to the bus The available filters are e Filter Type 0 No Filter Filter Type 1 Moving Average Filter Type 2 Repeating Average Protection Overcurrent protection is provided Short circuit protection is provided NB Outputs are separately protected against short circuits to both power and GND If the current at the output exceeds 6A the protection circ
17. ship Please refer to our Warranty Application Approvals Limitations and Return Materials Process as described on www axiomatic com service html Form TDAX021200 07 20 09 TDAX021200 11
18. uitry will shut off the output signal regardless of what type of output mode had been selected for that channel Error Detection The controller can detect and flag overcurrent and open circuit loads which can be read via the J1939 network for diagnostic purposes Output Impedance 18 19 KOhms Table 1 0 Output Types for AX021200 Output Disabled The output channel is disabled and will not respond to any messages from the bus None of the other output setpoints apply Proportional Current The controller regulates the current through a solenoid to precisely control the response of a proportional valve The unit measures the current feedback and uses it in a high speed P I D loop to accurately set the current through the load A high frequency signal 20kHz is used to provide an output with low ripple If required a low frequency signal can be superimposed on the output to dither the load with adjustable frequency and amplitude The output current will vary linearly with respect to the command signal received from the bus with up to two slopes Refer to Figure 1 0 Minimum Breakpoint and Maximum currents can be set anywhere from OmA to 2000mMA If a single slope is required set the Breakpoint Output and Command setpoints equal to the Minimum setpoints If an inverse response profile is required simply set the Minimum Output higher than the Maximum Output Command setpoints are limited by each other in that the Minimum lt Breakpoint
19. uld also apply in the same manner as with a current output The Minimum Breakpoint and Maximum voltages can be set anywhere from OV to 85V In this mode a feedback signal sent to the network will be sent as a WORD with a 0 01 V bit resolution and OV offset The data in the message will be the target output voltage as calculated based on the response profile variables For error detection if the measured current at the load is less then 100mA an open circuit will be flagged If the current at the load is greater than or equal to 2500mA an overcurrent will be flagged These thresholds are not user configurable Accuracy 5 average of the actual output voltage with respect to the target commanded voltage In this mode the controller will adjust the duty cycle of the output PWM signal Refer to Figure 1 0 The relationships between the Output setpoints and the Command setpoints are the same as with a current output Up and down ramps would also apply in the same manner as with a current output The Minimum Breakpoint and Maximum duty cycles can be set anywhere from 0 to 100 Any output configured for a duty cycle response will have a setpoint available that will allow the user to adjust the frequency of the output signal However there are several restrictions for this parameter as listed below a Certain channels always have the same frequency for the output signal This means that if any one of these channels is configured
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