2 Universal Inputs, Dual Valve Controller
Contents
1. Proportional Voltage or On Off Digital types Half bridge outputs current sensing grounded load High side sourcing up to 3A All output types have configurable minimum and maximum output levels within the range for the type selected Current Outputs 1mA resolution accuracy 2 error Software controlled PID current Range 0 to 3000 mA Fully configurable dither superimposed on top of output current Configurable from 50 to 400Hz amplitude High frequency output drive at 25kHz Note Both outputs use the same dither and drive frequencies Voltage Outputs 0 1V resolution accuracy 3 error Average voltage output based on unit power supply High frequency drive at 25kHz Additional external filtering is required to create a DC voltage PWM Outputs 0 1 resolution accuracy 1 error Range 0 to 100 Output Frequency 1 Hz to 25 kHz Configurable frequency ONLY if no current output types are used otherwise default 25kHz is used Outputs can be linked in this mode to provide mirrored output signals Note This is not a true half H bridge no deadband is provided Digital On Off Load at supply voltage must not draw more than 3A All responses were tested using 0 5V input full input step change commanding a full output range step change with no ramps on the output Response times accurate to 10ms Response Time Current response tested with 12V HydraForce coil 6507212 Response times will vary depending on th2. Electronic Assistant an USB CAN converter links the device s CAN port to a Windows based PC Model AX022410S includes a Simulink block library Simulink is a model based design tool from Mathworks Using Simulink the OEM machine designer may simulate their control system with the AX022410S module included This permits fine tuning of the design parameters and testing of functionality prior to machine prototype installation The CD AX022410S includes the Hardware Interface Library for Simulink Files and the controller s User Manual CAN Response Time Per the J1939 standard the maximum recommended transmit rate for any message is 10ms Response time of feedback on the CAN to changes at the I O will be a combination of the I O type s response time and the configurable software filtering ramps delays etc that were selected in the application Reflashing Software over CAN Reflash software over the CAN bus per the SAE J1939 standard using the Electronic Assistant Packaging Aluminum enclosure integral Deutsch IPD connector P N DTM15 12PA 4 03 x 4 25 x 1 68 inches 102 44 x 107 96 x 42 67 mm L x W x H including integral connector IP67 Weight 0 65 Ibs 0 295 kg without encapsulation Temperature Rating Operating 40 to 85 C 40 to 185 F Storage 50 to 105 C 58 to 221 F Network Termination It is necessary to terminate the network with external termination resistors The resistors are 120 Ohm 0 25W minimum meta
3. mm 5 740 in i io 4 033 In 102 44 mm INPUTS 2 UNIVERSAL mounting bot 2 OUTPUTS T 0 3 Sal ia 1 577 in 40 05 mm 1 772 in 45 01 mm 3 549 in 90 14 mm 42 67 mm A DUAL VALVE CONTROLLER J7935 250 in 1 680 in PIN AXO22410 8 6 35 mm 42 67 mm SIN 08012050 INPUTS 2 UNIVERSAL OUTPUTS 2 0 34 POWER 12WDC or 24V00 4 250 in 207 96 mm label detail DETAIL A DTM15 12PA receptacle Mating plug is Deutsch IPO P N OTMO6 1254 with 2 wedgelocks W125 and 12 contacts 0462 201 20141 All field wiring should be suitable for the operating temperature range Dimensions inches mm Electrical Connections 12 pin Deutsch IPD connector P N DTM15 12PA A mating plug kit is available as Axiomatic P N PL DTM06 12SA It is comprised of Deutsch IPD P N s 1 DTM06 12SA 1 WM12S 12 0462 201 20141 and 3 plugs for any unused pins Pin 6 BAT 8 O 9 Notes CANopen is a registered community trade mark of CAN in Automation e V Electronic Assistant is a registered U S trade mark of Axiomatic Technologies Corporation Simulink is a registered trademark of The Mathworks Inc 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 war
4. open or closed loop drive of the proportional outputs It can be operated as either a self contained control system driving the outputs directly from the on board inputs and or it can be integrated into a CAN J1939 network of controllers All I O and logical function blocks on the unit are inherently independent from one another but can be programmed to interact in a large number of ways While the Block Diagram shows the hardware features Figure 1 shows the logical function blocks software available in Model AX022410 There are a number of built in protection features that can shut off the outputs in adverse conditions They include hardware shutoffs to protect the circuits from being damaged as well as software shutdown features that can be enabled in safety critical systems All setpoints are user configurable using the Electronic Assistant in model AX022410 The model P N AX022410S operates with Simulink for easy graphical programming in a model based simulation and development environment The Axiomatic Hardware Interface Library HWIL is provided for this purpose For simulating models using Axiomatic HWIL licenses for Simulink and Stateflow are required Code generation requires the Simulink Coder license in addition Refer to Figure 2 0 BLOCK DIAGRAM I i POWER SUPPLY 9 60V i SURGE AND REVERSE 12V or 24V NOMINAL i POLARITY PROTECTION i S BIAS POWER I rr ee ee i i en aa errr rT UNIVERSAL OUTPUTS A
5. 1 to 2 Math Functions 1 to 4 CAN Receive Message 1 to 8 DTC React 1 to 5 Programmable Control Logic 1 to 4 CAN Transmit Message 1 to 8 Proportional Valve Coils or Voltage Drive or PWM or Digital unto e Loads Output Control and PID Control Logic 1 to 2 d Network Fault Power or Temperature Output Fault 1 to 2 Input Fault i te 2 J1939 CAN BUS TDAX022410 Logical Logical Input Output Figure 1B Logical Functional Block Diagram Bi 0022610 Sie os M File Edit View Simulation Format Tools Help Die Blt Seeleort Re a Data Store Dasta Store Memory8 Memory1 Dats Store Data Store Memory5 Memory2 input2_type Data Store Memory16 HOW TO BUILD binary executable for AX022400 UIn1_fault_detection first from Matlab prompt type A addPaths Data Store initMAPvariables Memory12 mrproper Then simulate the model in order to generste def files for CAN library Finally generate sources and compile by pressing CTRL B MAP variable initislization s 100 FixedStepDiscrete A Figure 2 Axiomatic s Simulink Library Browser fie Edit Yiew Simulation Fomat Took Hep DAS tejas an foo hema SH e BAB e ood Goll Cumect i ores eee biggered irom the Maa pcr E Gain 0 4 paahi G A inet So CAS Guthet Gumact i 8 Tgrrhetartee Diui JV bpas VO Sata Figure 3 AX022410S with Simulink TDAX022410 4 Technical Specif
6. Global Electronic Solutions TECHNICAL DATASHEET TDAX022410 2 Universal Inputs Dual Valve Controller 2 Universal Signal Inputs 2 3A Outputs Drive Hydraulic Valves CAN SAE J1939 Programmable with Electronic Assistant Simulink P N AX022410 and AX022410S Features e 2 universal signal inputs configurable as o Voltage o Current o Resistive o PWM o Frequency RPM o or Digital e 2 outputs to drive valves 0 3A e Outputs are user configurable as o Proportional Current o Proportional Voltage o Hotshot Digital o PWM Duty Cycle 1 Hz to 25 kHz o or On Off Digital 1 5V Reference Fully protected outputs 12V 24V or 48VDC nominal 1 CAN SAE J1939 port CANopen on request Rugged aluminum packaging and Deutsch IPD 12 pin connector IP67 Flexible user programming for application specific control logic via the CAN based Electronic Assistant in Model AX022410 e Simulink block library is available in Model AX022410S The controller is designed to meet the rugged demands of mobile equipment and heavy duty industrial machine control applications These applications include but are not limited to e Proportional Fan Drive Control PID Closed Loop Valve Control Hydraulic Valve Control Signal Conversion Ordering Part Numbers SAE J1939 version Controller interfacing with Electronic Assistant AX022410 SAE J1939 Controller with Simulink AX022410S Hardware Interface Library for Simulink Files and Use
7. INI UNIVERSAL ANALOG OR DIGITAL INPUT 1 WITH VOLTAGE CURRENT Proportional 0 3A or Hotshot Digital UNIVERSAL INPUT RESISTANCE AND PWM TYPES AND RANGES CAPABILITY ALL SOFTWARE VOLTAGE AIN_GND SELECTABLE 0 1V 0 2 5V 0 5V or 0 10V or PWM 0 to 100 or I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I I UNIVERSALOUT2 h Average Voltage 0 3A OV to Supply Fy POND I I I j I I I I I I I I j I I I I I I I I I I I I I I I j I I I CURRENT j ae ON OFF OUTPUT EPE i CONSTANT CURRENT with 4A protection 300 te 250k0 i SOURCE 10mA tmA FREQUENCY RPM 0 1mA and 0 01mA 0 5Hz to 50Hz i FOR RESISTANCE 10Hz to 1kHz or i MEASUREMENTS ARM CORTEX nea 0 z 100Hz to 10kHz CONTROLLER PWM DUTY CYCLE i STM32F103 RS 232 i7 O D to 100 i TRANCEIVER Bas F low or high freq AIN UNIVERSAL ANALOG OR DIGITAL DIGITAL INPUT 2 WITH OkO Pullup Pulldow i VOLTAGE CURRENT ii a ite maii ry i RESISTANCE AND PWM Normal inverse or Latc CAPABILITY ALL i SOFTWARE JTAG DEBUG AIN_GND SELECTABLE i Ww 1 I I Vv 1 CHANNEL SV_REF 1 CHANNEL 5 JOMA i 5V f mA D CAML VOLTAGE i 0 5 VOLTAGE CAN CAN BUS i Res TRANCEIVER D cay PORT REFERENCE AIN_GND REFERENCE CAN_SHLD NB gt TDAX022410 2 Voltage Current Freq RPM PWM Resistive or Digital Signals Universal Input
8. e load inductance Fully protected against short circuit to ground or Vps Grounded short circuit protection will engage at 4 5A 0 5A Unit will fail safe in the case of a short circuit condition and is self recovering when the short is removed Power GND Reference One Provided Protection General Specifications Quiescent Current 70 mA at 12 V Typical 40 mA at 24 V Typical 27 mA at 48 V Typical Microprocessor ARM 7 processor STM32103CB 32 bit 128 Kbyte flash program memory Each input and output channel can be configured to send diagnostic messages to Diagnostics the J1939 CAN network if the I O goes out of range Diagnostic data is stored in a non volatile log Refer to the User Manual for details There are several types of faults that the controller will detect and provide a Additional Fault Feedback response unit power supply undervoltage and overvoltage microprocessor over temperature and lost communication They can be sent to the J1939 CAN bus Control Logic User programmable functionality using Electronic Assistant service tool Refer to the User Manual for details TDAX022410 6 Communications Compliant to SAE CAN J1939 Standard 1 CAN port SAE J1939 CANopen is available on request CAN User Interface Compliant to SAE CAN J1939 Standard Model AX022410 interfaces with the Electronic Assistant P N AX070502 for Windows operating systems It comes with a royalty free license for use To use the
9. esolution accuracy 1 error Slower response time is due to the auto calibration feature It could take up to 2 Sec for the input reading to stabilize after a large change i e 50Q to 200kQ at the input or to detect an open circuit It is recommended to use software filtering type Moving Average with Filter Constant 100 for this input type Digital Input Functions Discrete Input PWM Input Frequency Input RPM Input 15 bit timer PWM Frequency RPM Digital Input Level 5V CMOS Vps 12V 24V PWM Input O to 100 Low Frequency lt 1kHz or High Frequency gt 100 Hz 0 01 resolution accuracy 1 error 1MQ Impedance or 10kQ Pullup Pulldown Response time is dependent on input frequency Frequency RPM Input 0 5 to 50Hz Range 0 01Hz resolution 10Hz to 1kKHz Range 0 1Hz resolution 100 Hz to 10kHz Range 1Hz resolution Accuracy 1 error 1 MQ Impedance or 10 kQ Pullup Pulldown Response time is dependent on input frequency Digital Input Active High or Active Low Normal Inverse or Latched pushbutton Configurable 10kQ pullup or pulldown resistor to GND resistor which can also be disabled floating input Rising edge ON threshold 3 7V 0 1V Falling edge OFF threshold 2 9V 0 1V Input debouncing selectable will slow response time TDAX022410 5 Outputs SAE J1939 Messages Universal Outputs Two independent software controlled outputs selectable as Proportional Current Hotshot Digital PWM Duty Cycle
10. ications Inputs Protection Reverse polarity protection is provided Surge protection up to 65V is provided Overvoltage shutdown of the output load is provided Undervoltage protection hardware and software shutdown at 7 5V is provided CAN SAE J1939 Commands CANopen is available in P N AX022411 and AX022411S One provided Voltage Reference 5V 0 2 error Can source up to 50mA without derating Analog GND Reference One provided Universal Signal Inputs 2 fully independent universal inputs are provided Refer to Table 1 0 All inputs are user selectable as Voltage Current Resistive Frequency RPM PWM or Digital input types Inputs are sampled multiple times per millisecond Protected against shorts to GND or Vps up to 60 Vdc All input channels can handle negative voltage inputs down to 2VDC due to voltage spikes or noise Response time to change at the input 2 mSec 1 mSec without software filtering unless otherwise noted Table 1 0 Input User Selectable Options Analog Input Functions Voltage Input Current Input or Resistive Input 12 bit Analog to Digital Voltage Input 0 1V Impedance 1 MQ 0 2 5V Impedance 1 MQ 0 5V Impedance 135 kQ 0 10V Impedance 127 KQ 1mV resolution accuracy 1 error Current Input 0 20 mA Current Sense Resistor 249 Q 4 20 mA Current Sense Resistor 249 Q 1uA resolution accuracy 2 error Resistive Input Self calibrating for range of 30 Q to 250 kQ 10 r
11. l film or similar type They should be placed between CAN_H and CAN L terminals at both ends of the network Installation Mounting holes sized for 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 25 inches 6 35 mm thick If the module is mounted without an enclosure it should be mounted to reduce the likelihood of moisture entry 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 Wires should be of the appropriate gauge to meet requirements of applicable electrical codes and suit the specifications of the connector s 16AWG or 18AWG wiring is recommended for this connector The CAN wiring is considered intrinsically safe The power wires are not considered intrinsically safe and so in hazardous locations they need to be located in conduit or conduit trays at all times The module must be mounted in an enclosure in hazardous locations for this purpose All field wiring should be suitable for the operating temperature range of the module All chassis grounding should go to a single ground point designated for the machine and all related equipment TDAX022410 7 Dimensional Drawing 3 750 in 95 25 mm B 5 1 329 in 33 76 mm 2 920 in 74 17 mm il B J stainless stecl nn ground stud AXOMETIC 2 281 in 7 14
12. r Manual CD AX022410S Accessories Mating Plug Kit DTM06 12SA WM12S 12 0462 201 20141 3 plugs PL DTM06 12SA Electronic Assistant 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 Description The Dual Input Dual Output Valve Controller is designed for extremely versatile control of up to two proportional outputs to directly drive hydraulic valve coils or other loads Its flexible circuit design gives the user a wide range of configurable input or output types The sophisticated control algorithms allow the user to program the controller for a wide range of applications without the need for custom software The controller has two fully programmable universal inputs that can be setup to read voltage current resistive PWM frequency RPM or digital input signals There are also two universal outputs that can be setup to drive proportional current up to 3A each hotshot digital current proportional voltage up to supply proportional PWM or straight on off digital loads All I O ports on the unit are independent from one another It is a highly programmable controller allowing the user to configure it for their application Its sophisticated control algorithms allow for
13. ranty 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 TDAX022410 06 06 13 TDAX022410 8
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