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AX100700

1. I I I I I I I I I I I I I I I I I I AHALOG INPUT ANION Q VOLTAGE CURRENT o atA i ANALOG INPUT OR gt ee f DIGITAL INPUT WITH Ky out iB Shawl AmA 10K P UP PDN D DIGITAL IH WTH AGND g MICO STEPPING MOTOR e l STEPPER MOTOR DRIVE I or j 1 i j DRIVER WITH OUTPUT OUTPUT 0 25A m OUT 2A I I I I FREQUENCY mpur FHION MAGNETIC SENSOR gt DN MAG A OUT_2B i INPUT WITH ACTIVE O INDUCTIVE PICKUP PULL UP DOWN FOR ARM CORTEX i EI PHIM A0 Be l HALL EFFECT PICKUP CONTROLLER i i ei i SENSORS OR T DIGITAL N WITH 10K PULL UD i INDUCTIVE SENSORS STM32F103 PWM TO VOLTAGE FOND MAG SEL REF PAMM l CPAN PRTA 4 i I I Whe I I I I I I I i l LOW SIDE DIGITAL a RELAY I I OUTPUT FOR SA LOAD ae I I I I l LOW SIDE DIGITAL I ri i GND OUTPUT FOR 5A LOAD Kp TLES i i 1 I I l l n 1 F i JTAG DEBUG CAN A CAN BUS I CONNECTOR TRANCEIVER PORT o ean i I l I i I I I I I Set up of SAE J1939 Controller on a CAN Network Other CAN Modules a and Termination 5 Axiomatic Electronic Assistant Z D Axiomatic Controller D with CAN 4 3 uJ USBCable pe a ee P l Axiomatic Controller A with CAN Axiomatic USB CAN AX070501 Axiomatic Controller Computer with CAN Other CAN Modules and Termination The controller belongs to a family of Axiomatic smart controllers with programmable internal architecture This provides users with flex
2. and right to reduce likelihood of moisture entry The CAN wiring is considered intrinsically safe The power wires are not considered intrinsically safe and so in hazardous locations they need to be TDAX100700 4 located in conduit or conduit trays at all times The module must be mounted in an enclosure in hazardous locations for this purpose No wire or cable harness should exceed 30 meters in length The power input wiring should be limited to 10 meters All field wiring should be suitable for the operating temperature range Install the unit with appropriate space available for servicing and for adequate wire harness access 6 inches or 15 cm and strain relief 12 inches or 30 cm 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 tyoe They should be placed between CAN_H and CAN _L terminals at both ends of the network 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 Typical Connections Key Arrangement B black Key Arrangement A grey FRONT VIEW 24 PIN RECEPTACLE Black Connector Function Function No Connection Phase 1 A CAN S
3. controlled by one of the inputs instead The output can be setup for a simple on off response or to blink indicating a fault has been detected by the drive 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 workmanship Please refer to our Warranty Application Approvals Limitations and Return Materials Process as described on www axiomatic com service html Form TDAX100700 07 16 12 TDAX100700 6
4. 8 mA 12Vdc 0 55 Ibs 0 25 kg 40 to 85 C 40 to 185 F 55 to 125 C 67 to 257 F IP67 Unit is conformal coated in the housing High Temperature Nylon housing Deutsch IPD PCB Enclosure EEC 325X4B Packaging and Dimensions 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 Dimensional Drawing 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 a Mounting Holes 1 417 FH eSS O90 Ir eee M through 2 pl for CEH g Hl eee eee 0 25 6 00 fastener Key Arrangement A grey PCB Enclosure Mounting flange 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 4 00 l Contact factory for contact specification 101 60 Distance between mounting holes Dimensions inches mm excluding mating plug s BOTTOM VIEW Mounting Mounting holes sized for 1 4 inch or M6 bolts The bolt length will be determined by the end user s mounting plate thickness The mounting flange of the controller is 0 63 inches 16 mm thick lf the module is mounted without an enclosure it should be mounted vertically with connectors facing left
5. Global Electronic Solutions TECHNICAL DATASHEET TDAX100700 Stepper Motor Drive 1 Analog Input 1 Frequency PWM Input Motor Output 2A Digital Output 5A 12V or 24VDC 5V Reference 1 CAN SAE J1939 with Electronic Assistant P N AX100700 Rugged and Programmable Motor Drive for 2 Phase Stepper Motors Features e Simple and accurate control of the levels waveforms timing and phase shifts of the current for a two phase stepper motor via SAE J1939 command messages e 1 analog input for voltage or current user selectable can act as a command source for a run time parameter feedback in a PID control loop or as an E stop command e 5V reference voltage to power a sensor or potentiometer 1 Frequency or PWM input for inductive or active sensors user selectable 12V 24VDC input power nominal Surge protection over and under voltage protection Motor output is 2A per phase for a Stepper Motor Motor direction is selectable 1 sinking digital output up to 5A for a relay brake or other load 1 CAN SAE J1939 CANopen module available on request Open or closed loop motor drive control logic user selectable Highly programmable to meet various application specific requirements STEPPER MOTOR DRIVE PIN AZ 100700 Diny Borage Bin i Boy epee n Sn a Electronic Assistant runs on a Windows operating system for user configuration and programming An Axiomatic USB CAN converter links the PC to th
6. e CAN bus e Fault detection over CAN bus e Rugged packaging and connectors Applications e Construction Equipment Mobile Equipment Material Transport Vehicles On road Vehicles Bus Ordering Part Numbers SAE J1939 Stepper Motor Drive AX100700 Accessories Mating Plug Kit PL DTM06 12SA 12SB The KIT is comprised of DIM06 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 AX070502IN CD P N CD AX070502 includes Electronic Assistant 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 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 Block Diagram I I I I I m 947 3 22W DE 4 maminal d I POWER SUPPLY INPUT 1 Cen SURGE AND REVERSE 32V 24 NOMINAL rr oli POLARITY PROTECTION i I i j i 1 i Gnd EARTH gi croup amp I I i 1
7. ed without it The default configuration for the drive is to be a purely reactive control based on the command data received from J1939 messages However it does have more sophisticated logic supported for more complex controls Contact Axiomatic for application specific programming The off the shelf logic blocks supported by the drive and selectable by the user are a Automatic PID control of the direction and step rate when the Motor Mode is selected to be controlled by the PID Control Function block b Diagnostic detection reaction and feedback c Up to five acceleration deceleration profiles that can be setup using EA then selected during operation via a CAN message d Automatic resetting of the Number of Steps command so that the controller can simply send the same CAN message again to step the same number of steps The drive also has two inputs that could be used as the command source for a run time parameter rather than a CAN message Alternatively the inputs could be used for feedback in a PID control or as simple digital controls for example to E Stop the device Lastly they could independently be sent to the J1939 network as input data for another device on the CAN bus Lastly the drive has a single digital output capable of sinking up to 5A to drive a relay brake or other load in a system By default the output is controlled by a CAN message received from the J1939 network but it too could be
8. hield Phase 2 B No Connection Digital Output Vcc Frequency GND Frame GND external connection 5V Reference GND AGND Battery Analog GND AGND Battery Analog Input Voltage Current 1 or Din1 Battery 5V Reference up to 10mA Battery Frequency Input Frame GND external connection Frequency PWM 1 or Din2 No Connection Digital Output up to 5A CAN Low Phase 2 B CAN High Phase 1 A o_o o_o CO NI amp 01 AIIN 00 N A AIIN TDAX100700 5 Control Logic The Stepper Motor Drive is designed to give the user full access to the 2A drive control chip A3979 via J1939 command messages It allows for simple and accurate control of the levels waveforms timing and phase shifts of the current for a two phase stepper motor The drive allows the user to set the default values for the stepper motor using the Axiomatic Electronic Assistant It also allows the user to set the default targets and ranges for the run time variables such as the step rate the motor is to run at or the number of steps the motor is to take before holding A unique feature of the drive is that not only are the run time variables accessible through EA but they can also be independently controlled by J1939 messages received while the unit is operational This means that while the EA tool is used for initial setup and configuration all the drive values can be changed as need
9. ibility allowing them to build their own custom controller with a required functionality from a set of predefined internal functional blocks using the PC based Axiomatic Electronic Assistant software tool Application programming is performed through the CAN interface without disconnecting the controller from the user s system TDAX100700 2 Technical Specifications Input Sp ecifications _ Provided s O 1 Analog Digital input user configurable e Voltage e Current Digital active high or active low Inputs are sampled every 1 msec Protected against shorts to GND or Vcc Accuracy 1 over range Resolution 1mV or 1uA depending on type 1 Frequency or PWM for inductive or active sensors User configurable for sampling range 0 5 Hz to 50Hz 10Hz to 1kHz or 100Hz to 10 kHz Can be configured as active high or low digital input Frequency Input Inputs are sampled every 1 msec Protected against shorts to GND or Vcc Accuracy 1 over range Resolution 0 01 Hz or 0 1 Hz or 1Hz depending on measuring range 0 1 for PWM input 2 Analog GND Input and 5Vref 1 Frequency GND 0 5V 1MOhm Input Impedance 0 20 mA 130 Ohms Frequency PWM 10 KOhm pullup or pulldown Analog Digital Input Signal Grounds Output Specifications Allegro DMOS Microstepping Driver A3979 Output to Motor Maximum 2A per phase for a Stepper Motor Some overcurrent protection is provided by the drive chip up to 2 5A User has full access t
10. o all the chip s features via CAN messages Motor can be disabled in a variety of ways including Motor Mode and E Stop Motor Disable input or when an error is detected Motor Direction Motor Direction can be user selected for Clockwise or Counter Clockwise Drive Refer to the User Manual for details Thermal Protection Thermal protection is built in to driver chip Digital Output 1 sinking switched to GND output for up to a 5A load relay brake or other load 5V 10 mA is available to power a sensor or potentiometer Reference Voltage and is referenced to Analog GND General Specifications STM32F 103 32 bit at 72MHz Standard embedded software is provided The stepper drive is a highly programmable controller allowing the user to configure it for their application Its sophisticated control algorithms allow for open or closed loop drive of the motor All I O on the unit are inherently independent from one another but can be programmed to interact in a large number of ways All configurable parameters are user selectable using the Electronic Assistant There are 2 types of function blocks associated with the stepper motor logic and Motor Drive Logic drive Stepper Drive Values Default run time values ranges for linear controls Stepper Drive Controls Selection of control sources for all the run time variables associated with the stepper and output drive Up to 15 independent CAN Receive messages can be
11. read from a J1939 network to control the various run time variables associated with the stepper drive Up to 10 independent CAN Transmit messages can be sent to a J1939 network for system diagnostics and feedback Each input and output channel can be configured to send diagnostic messages to Diagnostics the CAN network if the I O goes out of range Diagnostic data is stored in a non volatile log TDAX100700 3 There are several types of faults that the controller will detect and provide a Additional Fault Feedback response phase current winding problems power supply undervoltage and overvoltage and lost communication They can be sent to the CAN bus The Electronic Assistant for Windows operating systems comes with a royalty free license for use on multiple computers It requires an USB CAN converter to link the device s CAN port to a Windows based PC An Axiomatic USB CAN Converter AX070501 is available as part of the Axiomatic Configuration KIT CAN User Interface P N AX070502 the Axiomatic 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 AX070502IN CD P N CD AX070502 includes Electronic Assistant 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 32 8

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