AXIOMATIC DSP RESOLVER Manuale utente
Author: JKA
File: reso_UM_1_15
For SW ver: 1.5
Version:1.15
Modified: 27.07.2007 11:33
DSP RESOLVER
User Manual
DSP resolver user manual User Manual Version 1.15
Table of Contents
1.VERSION HISTORY...........................................................................................................................
2.GENERAL.............................................................................................................................................5
2.1A REVATIONS AND TERMS....................................................................................................................7
3.SUMMARY OF TECHNICAL SPECIFICATIONS.........................................................................8
.ORDER CODES................................................................................................................................. 10
5.ATTACHING THE DEVICE INTO THE APPLICATION...........................................................11
5.1CONNECTORS..................................................................................................................................... 11
5.1.1Connector J1..........................................................................................................................11
5.1.2Connector J2 (available only in AXRES-CO-V2)..................................................................12
5.1.3Connector X1 (available only in AXRES-CO-V2)................................................................. 12
5.1.4Connector X2 (available only in AXRES-CO-V2)................................................................. 13
5.2CAN US CA LING............................................................................................................................ 13
5.3MECHANICS.......................................................................................................................................14
6.SOFTWARE UPDATES.................................................................................................................... 19
6.1PROGRAMMING CA LE......................................................................................................................... 19
6.2DOWNLOADING INSTRUCTIONS..............................................................................................................20
7.PROFILE AND MANUFACTURER SPECIFIC FEATURES .....................................................21
7.1ENCODER RELATED FUNCTIONS AND CONFIGURATIONS..............................................................................21
.1.1Angle / position resolution.....................................................................................................21
.1.2Angle / position direction and offset configuration............................................................... 22
.1.3Procedure to configure resolution, positive rotation direction and offset............................ 24
.1.4Internal timing ...................................................................................................................... 24
.1.5Speed calculation...................................................................................................................25
.1.6Revolution counter.................................................................................................................26
7.2COMMUNICATION CONFIGURATIONS .......................................................................................................27
.2.1Device type (0x1000)............................................................................................................. 2
.2.2Device identity (0x1018)........................................................................................................2
.2.3Emergency messages............................................................................................................. 2
.2.4CAN bus baudrate..................................................................................................................28
.2.5Node-id.................................................................................................................................. 29
.2.6PDO configurations...............................................................................................................30
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.2. The boot up print................................................................................................................... 33
.2.8The RS232 prints...................................................................................................................34
.2.9The RS232 commands ...........................................................................................................35
8.CANOPEN MANUAL AND SUPPORTED DS301 SPECIFIC OBJECTS ................................. 36
8.1O JECT DICTIONARY............................................................................................................................36
8.2NETWORK MANAGEMENT (NMT).........................................................................................................36
8.3PROCESS DATA O JECT (PDO).............................................................................................................37
8.3.1PDO COB IDs....................................................................................................................... 38
8.3.2Disabling and enabling a PDO............................................................................................. 39
8.3.3PDO transmissions................................................................................................................ 40
8.3.4PDO mapping........................................................................................................................ 41
8.4SERVICE DATA O JECT (SDO)............................................................................................................. 42
8.5SAVING THE O JECT DICTIONARY PARAMETERS........................................................................................ 42
8.6RESTORING THE DEFAULT VALUES TO THE O JECT DICTIONARY...................................................................43
8.7SPECIAL FUNCTIONS AND O JECTS..........................................................................................................43
8. .1Boot-up message....................................................................................................................44
8. .2Synchronization object (Sync)............................................................................................... 44
8. .3Error Control ( Heartbeat Features).....................................................................................45
8. .4Emergency object (Emcy)...................................................................................................... 46
8. .5co_verify_configuration object..............................................................................................46
8. .6Time stamp object (Time).......................................................................................................4
8.8LAYER SETTING SERVICE LSS.............................................................................................................. 47
8.8.1Protocol for setting the baudrate...........................................................................................4
8.8.2Protocol for setting the node-id.............................................................................................48
9.OBJECT DICTIONARY................................................................................................................... 9
Copyright © Axiomatic Technologies y 3/56
DSP resolver user manual User Manual Version 1.15
1. VERSION HISTORY
Ver Date Edi
tor
Changes
1.11 26.6.2006 JKA -Reference signal range corrected to 10V peak to peak
- Version history added
1.12 6.7.2006 JKA Accuracy corrected, object 0x6500 co_encoder_diagnostic corrected
1.13 10.7.2006 JKA Accuracy corrected to the general chapter
1.14 8.8.2006 JKA Corrected mistake in enabling PDO chapter
1.15 25th July JKA *Prelimenary data of new model AXRES-SL added
*MVRES prefix replaced with AXRES also in the older design
Copyright © Axiomatic Technologies y 4/56
DSP resolver user manual User Manual Version 1.15
2. GENERAL
The AXRES module is targeted for precise absolute rotational angle measurements in harsh
environments such as industrial environment and off road vehicles. Angle sensing is based
on a resolver element. In addition of the rotation angle module measures also the angular
speed and rotational position as whole revolutions. The measurement data is provided to
other devices via CAN open interface which fulfills CIA's (CAN in Automation) device
profile for the encoders (DS406 ver 3.1). Therefore the AXRES can be used as a rugged
replacement for an absolute rotary encoder. AXRES provides 12,5 ... 13.5 bits accuracy per
one electrical revolution. Resolution is sw configurable. The maximum resolution is 22 bits.
Three different form factors allow chosing the most suitable solution for each application.
The newest type AXRES-1X-SL provides very slim desing (diameter 32mm) allowing
resolver to be mounted even inside a hollow pin!
Module is designed to be attached to the application mechanics with two spring type
mounting brackets and an axes adapter. Type of the axis adapter depends on the type of the
housing. For V2 type the internal diameter of the axes adapter is 10mm. Locking to the axes
is secured with three locking screws.
AXRES module is available both in three different type of housings.
Copyright © Axiomatic Technologies y 5/56
Drawing 2: AXRES-CO-V2-1X-H, resolver
module with closed type housing
Drawing 3: AXRES-CO-V2-1X-U, re>
solver module with open type housing
Drawing 1: AXRES-CO-1X-SL
DSP resolver user manual User Manual Version 1.15
Resolved based sensors are not sensitive for vibrations so they provide long service life
without any maintenance even in very harsh environments.
Insensitivity to temperature variations and aging means that the full accuracy is always
achieved.
Product highlights:
•Measures absolute angular rotation (no home point needed), whole rotations and
angular speed
•fullfils CAN open DS301 ver 4.1 communication specification and encoder profile
DS406 ver 3.1
•IP65 protection class for closed type model
•12,5 .. 13,5 bits accuracy per electrical rotation
Applications:
•boom angle measurements (in excavators, lifts etc)
•shaft rotation angle measurements
Copyright © Axiomatic Technologies y 6/56
DSP resolver user manual User Manual Version 1.15
2.1 Abbrevations and ter s
Abbrevation description
CAN Lower layer CAN protocol for upper layer CAN protocols like CAN OPEN,
J1939 and device net-
CAN open Upper layer protocol for CAN networks
CIA CAN in Automation, CAN open standardization organization
(www.canorg.net)
CAN ID ID of the CAN message seen on the bus. Consist of 11 or 29 bits. Part of the
CO Ids which can be found in object dictionary
CO ID Consists of CAN ID and some control and informative bits. Found in object
dictionary. Note that in older communication specifications both the CAN
ID and COB ID were named as COB ID!
Object Variable which is accessable through CAN interface
Object Dictionary Consists of objects, Accessable from CAN bus with SDO writ and read
operations
DS406 ver 3.1 The CAN open device profile for encoders. Version 3.1 is published 21.st
December 2003
DS301 ver 4.1 The general communication profile for CAN open devices. This version is
published 21.st February 2006
1X Type of the resolver element . Distuingishible measuring range 360 degrees
physical rotation
3X Type of the resolver element . Distuingishible measuring range 120 degrees
physical rotation
PC Printed circuit board
EDS Electronic datasheet, desribes the structure of the object dictionary. CAN
configuration tools need often this.
Table 2.1: Abbrevations and terms
Font Meaning
italic internal inks, names of the tables and drawing
Bold and italic Names of the objects
Table 2.2: fonts and their meanings
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DSP resolver user manual User Manual Version 1.15
3. SUMMARY OF TECHNICAL SPECIFICATIONS
All specifications typical at nominal input voltage (24 V) and 25° C unless otherwise
specified.
Operating voltage
(power supply
requirement)
9 to 35 VDC for AXRES-CO-V2-1X-x
9 to 54 VDC AXRES-CO-1X-SL
Reverse polarity
protection
Provided
Current consumption 70mA with 24volts
RS232 audrates up to 115200 kbits/sec, TTL level in AXRES-CO-V2
CAN Philips TJA1050 Transceiver
audrates 50k to 1M
Sensor element AXRES-CO-V2:
•1X: LTN R58WURE151 24-031-07HA
•3X: LTN R58WURE153 24-031-07HA, on request
AXRES-CO-1X-SL
•LTN RE-10
Measuring range of
angular rotation as
degrees
360°, with 1X sensor element
120°, with 3X sensor element. 3 uniform sectors in one 360 degrees mechanical
rotation
Accuracy +-0,067° for 1X (12,5 bits)
+-0,028° for 3X (13,5 bits)
Resolution 0,01°, as default. SW adjustable.
Repeatibility +-0.005 degrees (15 bits)
Noise in position
output
+-0.0025 degrees (16 bits)
Delay between
mechanical rotation
and sensor output
less than 28 ms
Table 3.1: Electrical Specifications
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DSP resolver user manual User Manual Version 1.15
Operating conditions
-40 to +85°C (-40 to 185F), when speed is less than 10 revolutions per second.
-20 to +85°C (-4 to 185F) at faster speeds
Declaration of
conformity (CE)
Yes
EDS file Yes
Communications CAN bus, CANopen
RS232:
•AXRES-CO-V2: TTL -level. Connector inside the module. An
external level converter is recommended, if RS232 is used.
•AXRES-CO-1X-SL: Connector inside the module, no level converter
needed
LED indicators Inside the module: green power led and red/green status led.
Electrical connections AXRES-CO-V2:
•2x M12 connector (5 -pin), male and female in housed model. Open
style version contains two spring loaded connectors.
AXRES-CO-1X-SL
•1x M12 connector (5 -pin) male
EMC compatibility Fulfills the requirements of the industrial and mobile environments.
Emissions:
EN61000-6-4:2001
Immunity:
EN61000-6-2:1999
Protection class IP65, closed type housings. IP00, open type housing
Vibration Vibration compliance is suitable for mobile equipment and industrial
applications.
Weight AXRES-CO-V2: 540 g (housed model)
AXRES-CO-1X-SL : 230g
Packaging and
dimensions
Aluminium housing for sensor element and electronics
AXRES-CO-V2:
•70 x 86 mm (ØD x H), mounting brackets and connectors excluded
AXRES-CO-1X-SL :
•32*151 mm (ØD x L), mounting brackets and connectors excluded
Table 3.2: General specifications
Specifications are subject to update without notice.
Copyright © Axiomatic Technologies y 9/56
DSP resolver user manual User Manual Version 1.15
4. ORDER CODES
AXRES-CO-V2:
AXRES - CO - V2 - 1X - H (- x)
Can protocol Sensor
element
Housing Customer
specific
CO = CANopen 1X H = closed type
housing
optional
3X U = open type
housing
Table 4.1: Order codes of AXRES-CO-V2
AXRES-CO-1X-SL:
AXRES - CO - 1X - SL (- x)
Can protocol Sensor
element
Housing Customer
specific
CO = CANopen 1X optional
3X
Table 4.2: Order codes of AXRES-CO-1X-SL
Copyright © Axiomatic Technologies y 10/56
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