AXIOMATIC UMAX024000 4 Output Servo Controller User Manual

AXIOMATIC UMAX024000 4 Output Servo Controller

Specifications

• Model: UMAX024000
• Version: 1.0.2
• Input: 4
• Output: 4
• Controller Type: Servo Controller with CAN, SAE J1939

Overview

The UMAX024000 Version 1.0.2 is a 4 Input, 4 Output Servo Controller with CAN, SAE J1939. It is designed for versatile control of servo outputs and signal generation.

Features

• Two servo outputs for driving servos or other loads.
• Two signal outputs with voltage and current signal generation
• Flexible circuit design for configurable input types
• Sophisticated control algorithms for programming a wide range of applications
• Universal and Analog inputs for various measurements
• H-bridge type servo outputs capable of driving up to 400mA
• Signal outputs are configurable for voltage signals up to 10V and current signals up to 20mA

Setup

1. Connect the power source to the controller.
2. Connect the servo outputs to the servos or loads you want to control.
3. Configure the input types based on your requirements.
4. Program the controller using the provided control algorithms or custom software if needed.

Data Transmission

You can send input data to a SAE J1939 CAN Network or use it to drive outputs directly through the configurable control algorithms.

Output Configuration

You can configure any of the four outputs to use any of the on-board inputs as either a control signal or an enable signal, as well as SAE J1939 CAN Network data.

FAQs

Q: What is the maximum current the servo outputs can drive?
A: The servo outputs are capable of driving up to 400mA through the load in both directions.

Q: Can I use custom software to program the controller?
A: Yes, you can program the controller using custom software in addition to the provided control algorithms.

Date Oct 30, 2015 Dec. 31, 2015 Jan. 28, 2016
June 3, 2016
June 3, 2016 July 12, 2016

Author Antti Keränen Amanda Wilkins Antti Keränen
Antti Keränen
Amanda Wilkins

1.0.2

December 31, 2023 M Ejaz Sue Thomas

Modification Initial Version Marketing Review Contents of Proportional Output Setpoints table corrected. Math block and overall diagnostics description updated. Added EA version CE marking, Voltage Signal Output range adjusted from 0 to 0.2 per March 11/16 Marketing review, legacy updates, new address

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ACRONYMS

ACK BATT +/DIN DM DTC EA ECU GND I/O MAP NAK PDU1
PDU2
PGN PropA PropB PWM RPM SPN TP UIN Vps %dc

Positive Acknowledgement (from SAE J1939 standard) Battery positive (a.k.a. Vps) or Battery Negative (a.k.a. GND) Digital Input used to measure active high or low signals. Diagnostic Message (from SAE J1939 standard) Diagnostic Trouble Code (from SAE J1939 standard) Axiomatic Electronic Assistant (A Service Tool for Axiomatic ECUs) Electronic Control Unit (from SAE J1939 standard) Ground reference (a.k.a. BATT-) Inputs and Outputs Memory Access Protocol Negative Acknowledgement (from SAE J1939 standard) A format for messages that are to be sent to a destination address, either specific or global (from SAE J1939 standard) A format used to send information that has been labeled using the Group Extension technique and does not contain a destination address.

Parameter Group Number (from SAE J1939 standard) Message that uses the Proprietary A PGN for peer-to-peer communication. Message that uses a Proprietary B PGN for broadcast communication. Pulse Width Modulation Rotations per Minute Suspect Parameter Number (from SAE J1939 standard) Transport Protocol Universal input used to measure voltage, current, frequency or digital inputs. Voltage Power Supply (a.k.a. BATT+) Percent Duty Cycle (Measured from a PWM input)

Recommended Practice for a Serial Control and Communications Vehicle Network, SAE, April 2011

J1939/21

Data Link Layer, SAE, December 2010

J1939/71

Vehicle Application Layer, SAE, March 2011

J1939/73

Application Layer-Diagnostics, SAE, February 2010

J1939/81

Network Management, SAE, March 2017

TDAX024000

Technical Datasheet, 4 Input, 4 Output Servo Controller with CAN, Axiomatic Technologies 2023

UMAX07050x

User Manual V5.11.82, Axiomatic Electronic Assistant and USB-CAN, Axiomatic Technologies, September 2023

This document assumes the reader is familiar with the SAE J1939 standard. Terminology from the standard is used, but not described in this document.

NOTE: This product is supported by Axiomatic Electronic Assistant V5.11.82.0 and higher.

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1. Overview Of The Controller

Figure 1 – AX024000 Block Diagram
The 4 Input 4 Output Servo Controller is designed for versatile control of two servo outputs to directly drive servos or other loads. In addition to the two servo outputs, there are two signal outputs with voltage and current signal generation. The controller’s flexible circuit design gives the user a wide range of configurable input 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 Universal inputs that can be configured to measure analog voltage or current, frequency/PMW or digital signal and two Analog inputs that can be configured to measure current and both positive and negative voltages. Measured input data can be sent to a SAE J1939 CAN Network or used to drive outputs directly or through the configurable control algorithms.
The servo outputs are of H-bridge type with capability of driving up to 400mA through the load in both directions. The signal outputs can be configured to source voltage signals up to 10V and current signals up to 20mA. Any of the four outputs can be configured to use any of the on-board inputs as either a control signal or an enable signal as well as SAE J1939 CAN Network data.

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A Windows-based Axiomatic Electronic Assistant (EA) is used to configure the controller via an USBCAN (AX070502 or AX070506K) device. Configurable properties, EA setpoints, are outlined in chapter 4. Setpoint configuration can be saved in a file which can be used to easily program the same configuration into another 4 Input 4 Output Servo Controller. Throughout this document EA setpoint names are referred to with bolded text in double-quotes and the setpoint option is referred with italicized text in single-quotes. For example, “Input Sensor Type” setpoint set to option `Voltage 0 to 5V’.

In this document the configurable properties of the ECU are divided into function blocks, namely Input Function Block, Output Function Block, Diagnostic Function Block, PID Control Function Block, Lookup Table Function Block, Programmable Logic Function Block, Math Function Block, DTC React Function Block, CAN Transmit Message Function Block and CAN Receive Message Function Block. These function blocks are presented in detail in the next subchapters.

The 4 Input 4 Output Servo Controller can be ordered using the following part numbers depending on the application.

AX024000 AX024000-01 AX024000-02

Controller with the default J1939 baud rate (250kbits/s). Controller with the 500kbits/s J1939 baud rate. Controller with a custom 1Mbits/s J1939 baud rate.

1.1. Input Function Blocks
The controller has altogether four inputs. The two Universal Inputs can be configured to measure voltage, current, frequency, pulse width (PWM) or digital signal. The two Analog Inputs can be configured to measure current and both negative and positive voltages.
Universal and Analog Input setpoint groups have the “Input Sensor Type” setpoint, which is used to configure input type. Selecting input type effects on other setpoints and how they are interpreted and should thus be selected first on this block. The input sensor types for Universal Inputs are listed in Table 1. Analog inputs do not have digital (40-62) sensor type options in “Input Sensor Type” options, as listed in Table 2.
0 Disabled 12 Voltage 0 to 5 V 13 Voltage 0 to 10 V 20 Current 0 to 20 mA 21 Current 4 to 20 mA 40 Frequency 0.5 to 50 Hz 41 Frequency 10 Hz to 1 kHz 42 Frequency 100 Hz to 10 kHz 50 PWM Low Frequency (<1kHz) 51 PWM High Frequency (>100Hz) 60 Digital (normal) 61 Digital (inverse) 62 Digital (latched)
Table 1 ­ Universal Input Sensor Type Options

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On Universal Inputs analog voltage (i.e. 0-5V, 0-10V) or current (0-20mA, 4-20mA) signals go directly to a 12-bit analog-to-digital converter (ADC) on the processor. The voltage input is a high impedance input protected against shorts to GND or Vcc. In current mode, a 250 resistor is used to measure the input signal. Input signals should be connected to the GND reference pins provided on the connector, per Table 24.
The Analog Inputs can also detect negative voltages. The Analog Inputs have the following input type options. In current mode, a 250 resistor is used to measure the input signal. Input signals should be connected to the GND reference pins provided on the connector.
0 Disabled 12 Voltage 0 to 5 V 13 Voltage 0 to 10 V 14 Voltage -5V to 5V 15 Voltage -10V to 10V 20 Current 0 to 20 mA 21 Current 4 to 20 mA Table 2 – Analog Input Sensor Type Options
0 None 1 111ns 2 1.78us 3 14.22us Table 3 ­ Debounce Time Options
An additional software debounce filter can be used with Universal Input types when configured to detect digital signals for filtering the inputs using longer time constants than with the default debounce filter. The available software implemented debounce times are listed in Table 4.
0 0ms 1 10ms 2 20ms 3 40ms 4 100ms 5 200ms 6 400ms 7 1000ms Table 4 – Software Debounce Filter Times
Frequency/RPM or Pulse Width Modulated (PWM) “Input Sensor Type” options connect an input to 16-bit timer pin on the processor. “Debounce Time” setpoint is used to select an input capture filter for the timer pin in question. “Pulse Per Revolution” setpoint is only associated with the frequency input type. If the setpoint is set to True, then the input data will be reported as in rotationsper-minute (RPM). Otherwise, frequency inputs are measured in Hertz.

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Universal Inputs have all available three Digital “Input Sensor Type” options: Normal, Inverse and Latched. With digital input sensor types, the input measurement is given, either 1 (ON) or 0 (OFF). Universal inputs measure digital voltage with 3V threshold.
On Frequency, PWM and digital input modes 22k pull-up or pull-down resistors can be enabled or disabled by setting the value of the “Pullup/Pulldown Resistor” setpoint. Setpoint options are given in Table 5. By default, pull- down resistors are enabled for all inputs.

0 Pullup/down Off 1 22 k Pullup 2 22 k Pulldown Table 5 ­ Pullup/Pulldown Resistor Options
“Active High/Active Low” setpoint is used to configure how signal high and low are interpreted. Setpoint options are given in Table 6. By default, all inputs are selected to be Active High, which means that signal high is interpreted as 1(ON) and signal low as 0(OFF).

0 Active High 1 Active Low
Table 6 ­ Active High/Low Options
Table 7 shows the effect of different digital input types on input signal measurement interpretation with recommended “Pullup/Pulldown Resistor” and “Active High/Low” combinations. Fault diagnostics are not available for digital input types.

Input Sensor Type 6 Digital (normal) 61 Digital (inverse) 62 Digital (latched)

Pulldown Active High High Low or Open High or Open Low High to Low Low to High

Pullup Active Low Low or Open High Low High or Open Low to High High to Low

Input measured (state)
1 (ON) 0 (OFF) 1 (ON) 0 (OFF) 0 (no change) 1 (state change)

Table 7 ­ Digital Input Sensor Type versus Input State

The “Minimum Range” and “Maximum Range” setpoints are used to define the range of the signal input outputs as a control source. For example, if “Maximum Range” is set to 4V for an input, the control signal is saturated at 4V if input signal rises above 4V. The “Minimum Range” and “Maximum Range” setpoints are interpreted in input types of units, thus they should be re-adjusted after editing “Input Sensor Type”.

Software filters can be applied to the measured input signal. Setpoints “Software Filter Type” and “Software Filter Constant” are used to configure the software filter. By default, no filter is applied to the signal. Software filtering is described in detail in section below.

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The rest of the setpoints in the Input setpoint group are used to configure input related fault diagnostics and are described in section 1.4.

1.2. Input Filtering
Measured input data from both universal and analog inputs can be filtered to form desired CAN message data. Input filters are configured with “Filter Type” and “Filter Constant” setpoints. Filters are configured for each input individually.

0 No Filtering 1 Moving Average 2 Repeating Average
Table 8 ­ Filter Type Options
“Filter Type” setpoint defines the type of software filter used. Setpoint options are No Filtering’,Moving Average’ and Repeating Average’. TheNo Filtering’ option applies no filtering to the measured input data. The `Moving Average’ option applies the transfer function below to the measured input data, where ValueN is the current value of the CAN message data, ValueN-1 is the previous CAN message data and Filter Constant is the value of the “Filter Constant setpoint”.

Equation 1 – Moving Average Transfer Function:

ValueN=

ValueN-1+

(Input- ValueN-1) Filter Constant

Equation 2 – Repeating Average Transfer Function:

Value=

N0 InputN N

The `Repeating Average’ option applies the transfer function above to the measured input data, where N is value of the “Filter Constant” setpoint. At every reading of the input value, the value is added to the sum. At every Nth read, the sum is divided by N, and the result is new CAN message
data. The sum is set to zero for the next read and summing is started again.

1.3. Output Function Blocks
The controller has four outputs, out of which two are targeted for servo driving and the other two are signal outputs. The Servo Outputs are H-bridge drives with capability of driving up to 400mA in both directions through the load. The two signal outputs support generation of Voltage signals up to 10V and current signals up to 20mA.
“Output Type” setpoint determines what kind of signal the output produces. Changing this setpoint causes other setpoints in the group to update to match selected type, thus the “Output Type” should

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be selected before configuring other setpoints within the setpoint group. “Output Type” setpoint options are listed in Table 9 and Table 10.
0 Disabled 1 Proportional Current -400mA … 400mA 2 Proportional Current -200mA … 200mA 3 Proportional Current -100mA … 100mA Table 9 ­ Output Type Options for Servo Output
0 Disabled 1 Voltage 0 to 5V 2 Voltage 0 to 10V 3 Current 0 to 20mA 4 Current 4 to 20mA
Table 10 – Output Type Options for Signal Output
`Proportional Current’ type has associated with it two setpoints not used by other types, which are the “Dither Frequency” and “Dither Amplitude” values. The output is controlled by high frequency signal (25kHz), with the low frequency dither superimposed on top. Both Servo Outputs run on same dither frequency, thus changing it to one output does change it for other output as well. The dither frequency will match exactly what is programmed into the setpoint, but the exact amplitude of the dither will depend on the properties of the load.
For Proportional outputs signal minimum and maximum values are configured with “Output At Minimum Command” and “Output At Maximum Command” setpoints. Value range for both setpoints is limited by selected “Output Type”.
The Signal Outputs generate analog output signals directly proportional to the selected driving signal. Because of the absence of any feedback and depending on the impedance of the load connected, the generated output signal might not follow the driving signal accurately in all operating conditions.
Regardless of what type of control input is selected, the output will always respond in a linear fashion to changes in the input per Equation 3.
= +

=

– –

= – Equation 3 – Linear Slope Calculations In the case of the Output Control Logic function block, X and Y are defined as Xmin = Control Input Minimum Ymin = “Output at Minimum Command” Xmax = Control Input Maximum Ymax = “Output at Maximum Command”

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In all cases, while X-axis has the constraint that Xmin < Xmax, there is no such limitation on the Yaxis. Thus configuring “Output At Minimum Command” to be greater than “Output At Maximum Command” allows output to follow control signal inversely.
In order to prevent abrupt changes at the output due to sudden changes in the command input, the user can choose to use the independent up or down ramps to smooth out the coil’s response. The “Ramp Up” and “Ramp Down” setpoints are in milliseconds, and the step size of the output change will be determined by taking the absolute value of the output range and dividing it by the ramp time.
The “Control Source” setpoint together with “Control Number” setpoint determine which signal is used to drive the output. For example, setting “Control Source” to Universal Input Measured’ and “Control Number” to1′, connects signal measured from Universal Input1 to the output in question. The input signal is scaled per input type range between 0 and 1 to form control signal. Outputs respond in a linear fashion to changes in control signal. If a non-digital signal is selected to drive digital output the command state will be 0 (OFF) at or below the “Output At Minimum Command”, 1 (ON) at or above “Output At Maximum Command” and will not change in between those points.
In addition to the Control input, Proportional Outputs also support Enable and Override inputs.
The “Enable Source” setpoint together with “Enable Number” setpoint determine the enable signal for the output in question. The “Enable Response” setpoint is used to select how output will respond to the selected Enable signal. “Enable Response” setpoint options are listed in Table 11. If a nondigital signal is selected as Enable signal the signal is interpreted as shown in Figure 3.

0 Enable When On, Else Shutoff 1 Enable When On, Else Rampoff 2 Enable When Off, Else Shutoff 3 Enable When Off, Else Rampoff 4 Enable When On, Else Ramp To Min 5 Enable When On, Else Ramp To Max
Table 11 ­ Enable Response Options
Override input allows the output drive to be configured to go to a default value in the case of the override input being engaged/disengaged, depending on the logic selected in “Override Response”, presented on Table 12. When active, the output will be driven to the value in “Output at Override Command” regardless of the value of the Control input. The “Override Source” and “Override Number” together determine the Override input signal.

0 Override When On 1 Override When Off
Table 12 ­ Override Response Options
If a fault is detected in any of the active inputs (Control/Enable/Override) the output will respond per “Control Fault Response” setpoint as outlined in Table 13. Fault Value is defined by “Output in Fault Mode” setpoint value, which is interpreted in selected output units. The output does not

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respond to faults (except to the critical faults described below) in case the “Fault Detection is Enabled” parameter is set to 0.
0 Shutoff Output 1 Apply Fault Value 2 Hold Last Value 3 Ramp Off Output 4 Ramp to Fault Value
Table 13 ­ Fault Response Options
Another fault response that can be enabled is that a power supply over voltage or under voltage will automatically disable ALL outputs. Note: this setpoint is associated with the Power Supply Diag function block. Also, if the Over Temperature Diag function block is enabled, then a microprocessor over- temperature reading disables all the outputs until it has cooled back to the operating range.
In case a CAN bus failure is detected, ALL outputs are turned off, independent of the control source.

When the Servo Controller’s configuration is modified using Axiomatic Electronic Assistant, the outputs are turned off while the settings are applied. The output driving automatically resumes after 5 second timeout.
Fault detection is available for all four outputs. For the servo outputs a current feedback signal is measured and compared to desired output current value. The signal outputs 3 and 4 have the feedback only in voltage mode (also when working in current mode). Fault detection and associated setpoints are presented in section 1.4.
The Servo Outputs are inherently protected against a short to GND or +Vps by circuitry. In case of a dead short, the hardware will automatically disable the output drive, regardless of what the processor is commanding for the output. When this happens, the processor detects output hardware shutdown and commands off the output in question. It will continue to drive non-short outputs normally. If the fault goes away, the controller will automatically resume normal operation.
In the case of an open circuit, there will be no interruption of the control for any of the outputs. The processor will continue to attempt to drive the open load.
The measured current through the load is available to be broadcasted on a CAN message if desired. It is also used as the input to the diagnostic function block for each output, and an open or shorted output can be broadcasted in a DM1 message on the CAN network.
1.4. Diagnostic Function Blocks
The 4 Input 4 Output Servo Controller supports diagnostic messaging. DM1 message is a message, containing Active Diagnostic Trouble Codes (DTC) that is sent to the J1939 network in case a fault has been detected. A Diagnostic Trouble Code is defined by the J1939 standard as a four-byte value.

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In addition to supporting the DM1 message, the following are supported:

SPN FMI CM OC DM2 DM3 DM11

Suspect Parameter Number (user defined)

Failure Mode Identifier

(see Table 15 and Table 16)

Conversion Method

(always set to 0)

Occurrence Count

(number of times the fault has happened)

Previously Active Diagnostic Trouble Codes

Sent only on request

Diagnostic Data Clear/Reset of Previously Active DTCs Done only on request

Diagnostic Data Clear/Reset for Active DTCs

Done only on request

Fault detection and reaction is a standalone functionality that can be configured to monitor and report diagnostics of various controller parameters. The 4 Input 4 Output Servo Controller supports 16 Diagnostics Definitions, each freely configurable by the user.

By default, the monitoring of operating voltage, CPU temperature and receive message timeouts is configured to diagnostics blocks 1, 2 and 3., In case any of these three diagnostics blocks are needed for some other use, the default settings can be adjusted by the user to suit the application.

There are 4 fault types that can be used, “Minimum and maximum error”, “Absolute value error”, “State error” and “Double minimum and maximum error”.

Minimum and maximum error has two thresholds, “MIN Shutdown” and “MAX Shutdown” that have configurable, independent diagnostics parameters (SPN, FMI, Generate DTCs, delay before flagging status). In case the parameter to monitor stays between these two thresholds, the diagnostic is not flagged.

Absolute value error has one configurable threshold with configurable parameters. In case the parameter to monitor stays below this threshold, the diagnostic is not flagged.

State error is similar to the Absolute value error, the only difference is that State error does not allow
the user to specify specific threshold values; thresholds 1′ and0′ are used instead. This is ideal for monitoring state information, such as received message timeouts.

Double minimum and maximum error let the user specify four thresholds, each with independent diagnostic parameters. The diagnostic status and threshold values is determined and expected as show in Figure 2 below.

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Figure 2 ­ Double Minimum and Maximum Error Thresholds
In case any of the Diagnostics blocks is configured to monitor Output Current Feedback, there is an internal error status flag maintained automatically for that particular output. This internal flag can be used for driving the particular output to a specified state in case of diagnostic event using Proportional Current Output setpoints “Control Fault Response”, “Output in Fault Mode” and “Fault Detection Enabled”.
There are also built in error status flags for power supply and CPU temperature monitoring. In case any of the diagnostics blocks is measuring these two parameters, the corresponding internal error status flags can be used for shutting down the unit in case of failure. The setpoints “Power Fault Disables Outputs” and “Over Temperature Shutdown” can be used for enabling the shutdown of the unit (shutdown == output driving is turned off).
While there are no active DTCs, the 4 Input 4 Servo Valve Controller will send “No Active Faults” message. If a previously inactive DTC becomes active, a DM1 will be sent immediately to reflect this. As soon as the last active DTC goes inactive, a DM1 indicating that there are no more active DTCs will be sent.
If there is more than one active DTC at any given time, the regular DM1 message will be sent using a multipacket message to the Requester Address using the Transport Protocol (TP).
At power up, the DM1 message will not be broadcasted until after 5 second delay. This is done to prevent any power up or initialization conditions from being flagged as an active error on the network.
When the fault is linked to a DTC, a non-volatile log of the occurrence count (OC) is kept. As soon as the controller detects a new (previously inactive) fault, it will start decrementing the “Delay before Event is flagged” timer for that Diagnostic function block. If the fault has remained present during the delay time, then the controller will set the DTC to active, and will increment the OC in the log. A DM1 will immediately be generated that includes the new DTC. The timer is provided so that intermittent faults do not overwhelm the network as the fault comes and goes, since a DM1 message would be sent every time the fault shows up or goes away.

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By default, the fault flag is cleared when the error condition that has caused it goes away. The DTC is made Previously Active and is it is no longer included in the DM1 message. To identify a fault having happened, even if the condition that has caused is one away, the “Event Cleared only by DM11” setpoint can be set to `True’. This configuration enables DTC to stay Active, even after the fault flag has been cleared, and be included in DM1 message until a Diagnostic Data Clear/Reset for Active DTCs (DM11) has been requested.

As defined by J1939 Standard the first byte of the DM1 message reflects the Lamp status. “Lamp Set by Event” setpoint determines the lamp type set in this byte of DTC. “Lamp Set by Event” setpoint options are listed in Table 14. By default, the `Amber, Warning’ lamp is typically the one set be any active fault.
0 Protect 1 Amber Warning 2 Red Stop 3 Malfunction

Table 14 ­ Lamp Set by Event in DM1 Options
“SPN for Event” defines suspect parameter number used as part of DTC. The default value zero is not allowed by the standard, thus no DM will be sent unless “SPN for Event” is configured to be different from zero. It is the user’s responsibility to select SPN that will not violate J1939 standard. When the “SPN for Event” is changed, the OC of the associated error log is automatically reset to zero.
0 Data Valid But Above Normal Operational Range – Most Severe Level 1 Data Valid But Below Normal Operational Range – Most Severe Level 2 Data Intermittent 3 Voltage Above Normal, Or Shorted To High Source 4 Voltage Below Normal, Or Shorted To Low Source 5 Current Below Normal Or Open Circuit 6 Current Above Normal Or Grounded Circuit 7 Mechanical Error 8 Abnormal Frequency Or Pulse Width Or Period 9 Abnormal Update Rate 10 Abnormal Rate Of Change 11 Root Cause Not Known 12 Bad Component 13 Out Of Calibration 14 Special Instructions 15 Data Valid But Above Normal Operating Range ­ Least Severe Level 16 Data Valid But Above Normal Operating Range ­ Moderately Severe Level 17 Data Valid But Below Normal Operating Range ­ Least Severe Level 18 Data Valid But Below Normal Operating Range ­ Moderately Severe Level 19 Network Error 20 Data Drifted High 21 Data Drifted Low 31 Condition Exists
Table 15 ­ FMI for Event Options

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Every fault has associated a default FMI with them. The used FMI can be configured with “FMI for Event” setpoint, presented in Table 15. When an FMI is selected from Low Fault FMIs in Table 16 for a fault that can be flagged either high or low occurrence, it is recommended that the user would
select the high occurrence FMI from the right column of Table 16. There is no automatic setting of
High and Low FMIs in the firmware, the user can configure these freely.

Low Fault FMIs FMI=1, Data Valid But Below Normal Operation Range ­ Most Severe Level FMI=4, Voltage Below Normal, Or Shorted to Low Source FMI=5, Current Below Normal Or Open Circuit
FMI=17, Data Valid But Below Normal Operating Range ­ Least Severe Level FMI=18, Data Valid But Below Normal Operating Level ­ Moderately Severe Level FMI=21, Data Drifted Low

High Fault FMIs
FMI=0, Data Valid But Above Normal Operational Range ­ Most Severe Level FMI=3, Voltage Above Normal, Or Shorted To High Source
FMI=6, Current Above Normal Or Grounded Circuit
FMI=15, Data Valid But Above Normal Operating Range ­ Least Severe Level FMI=16, Data Valid But Above Normal Operating Range ­ Moderately Severe Level FMI=20, Data Drifted High

Table 16 ­ Low Fault FMIs and corresponding High Fault FMIs

1.5. PID Control Function Block
The PID Control function block is an independent logic block, but it is normally intended to be associated with proportional output control blocks described earlier. When the “Control Source” for an output has been setup as a PID Function Block’, the command from the selected PID block drives the physical output on the 4 Input 4 Output Servo Controller. The “PID Target Command Source” and “PID Target Command Number” setpoints determine control input and the “PID Feedback Input Source” and “PID Feedback Input Number” setpoints determine the established feedback signal to the PID function block. The “PID Response Profile” will use the selected inputs as per the options listed in Table 17. When active, the PID algorithm will be called every “PID Loop Update Rate” in milliseconds. 0 Single Output 1 Setpoint Control 2 On When Over Target 3 On When Below Target Table 17 ­ PID Response Options When aSingle Output’ response is selected, the Target and Feedback inputs do not have to share the same units. In both cases, the signals are converted to a percentage value based on the minimum and maximum values associated with the source function block.
For example, a CAN command could be used to set the target value, in which case it would be converted to a percentage value using “Receive Data Min” and “Receive Data Max” setpoints in the appropriate CAN Receive X’ function block. The closed-loop feedback signal (i.e. a 0-5V input) could be connected toUniversal Input 1′ and selected as the feedback source. In this case the value of the input would be converted to a percentage based on the “Minimum Range” and “Maximum

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Range” setpoints in the input block. The output of the PID function would depend on the difference between the commanded target and the measured feedback as a percentage of each signals range. In this mode, the output of the block would be a value from -100% to 100%.
When a Setpoint Control’ response is selected, the “PID Target Command Source” automatically gets updated toControl Constant Data’ and cannot be changed. The value set in the associated constant in the Constant Data List function block becomes the desired target value. In this case, both the target and the feedback values are assumed to be in the same units and range. The minimum and maximum values for the feedback automatically become the constraints on the constant target. In this mode, the output of the block would be a value from 0% to 100%.
For example, if the feedback was set up as a 4-20mA input, a “Constant Value X” setpoint set to 14.2 would automatically be converted to 63.75%. The PID function would adjust the output as needed to have the measured feedback to maintain that target value. The last two response options, On When Over Target’ andOn When Under Target’, are designed to allow the user to combine the two proportional outputs as a push-pull drive for a system. Both outputs must be set up to use the same control input (linear response) and feedback signal in order to get the expected output response. In this mode, the output would be between 0% to 100%.
In Order to allow the output to stabilize, the user can select a non-zero value for “PID Delta Tolerance”. If the absolute value of ErrorK is less than this value, ErrorK in the formula below will be set to zero.
The PID algorithm used is shown below, where G, Ki, Ti, Kd, Td and Loop_UpdateRate are configurable parameters.
= + +
= = = ( – -1)
= – = -1 +
= = / (Note: If Ti is zero, IGain = 0) = /
= __ 0.001
Equation 4 – PID Control Algorithm

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Each system will have to be tuned for the optimum output response. Response times, overshoots and other variables will have to be decided by the customer using an appropriate PID tuning strategy. Axiomatic is not responsible for tuning the control system.
Lookup Tables are used to give output response up to 10 slopes per input. If more than 10 slopes are required, A Programmable Logic Block can be used to combine up to three tables to get 30 slopes as described in Section 1.7.
Lookup tables have two differing modes defined by “X-Axis Type” setpoint, given in Table 18. Option 0 ­ Data Response’ is the normal mode where block input signal is selected with the “X-Axis Source” and “X-Axis Number” setpoints and X values present directly input signal values. With option1 ­ Time Response’ the input signal is time and X values present time in milliseconds. And selected input signal is used as digital enable.
0 Data Response 1 Time Response Table 18 ­ X-Axis Type Options

The slopes are defined with (x, y) points and associated point response. X value presents input signal value and Y value corresponding Lookup Table output value. “PointN ­ Response” setpoint defines the type of the slope from preceding point to the point in question. Response options are given in Table 19. Ramp To’ gives a linearized slope between points, whereasJump to’ gives a point-to-point response, where any input value between XN-1 and XN will result Lookup Table output being YN. “Point0 ­ Response” is always Jump To’ and cannot be edited. ChoosingIgnored’ response causes associated points and all the following points to be ignored.
0 Ignore 1 Ramp To 2 Jump To Table 19 ­ PointN ­ Response Options
In case Time Response is used, the “Autocycle” setpoint can be used for generating a repeating, cyclic output while the selected control source enables the time response output of the particular lookup table.
The X values are limited by the minimum and maximum range of the selected input source if the source is one of the Input Blocks or a Math Function Block. For the fore mentioned sources X-Axis data will be redefined when ranges are changed, therefore inputs should be adjusted before changing X-Axis values. For other sources Xmin and Xmax are 0 and 1000. The X-Axis is constraint to be in rising order, thus the value of the next index is greater than or equal to preceding one. Therefore, when adjusting the X-Axis data, it is recommended that X10 is changed first, then lower indexes in descending order.
<= 0 <= 1 <= 2 <= 3 <= 4 <= 5 <= 6 <= 7 <= 8 <= 9 <= 10 <=

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The Y-Axis has no constraints on the data it presents, thus inverse, decreasing, increasing or other response can be easily established. The Smallest of the Y-Axis values is used as Lookup Table output min and the largest of the Y-Axis values is used as Lookup Table output max (i.e. used as Xmin and Xmax values in linear calculation, Section 1.3). Ignored points are not considered for min and max values.

Programmable Logic Function Block
The Programmable Logic Function Block is a very powerful tool. A Programmable Logic can be linked to up to three Lookup Tables, any of which would be selected only under given conditions. Thus, output of a Programmable Logic at any given time will be the output of the Lookup Table selected by defined logic. Therefore, up to three different responses to the same input, or three different responses to different inputs, can become the input to another function block.

To enable any one of the Programmable Logic blocks, the “Programmable Logic Enabled” setpoint must be set to True’. By default, all Logic blocks are disabled. The three associated tables are selected by setting “Table X ­ Lookup Table Block Number” setpoint to desired Lookup Table number, for example selecting 1 would set Lookup Table 1 as TableX. For each TableX there are three conditions that define the logic to select the associated Lookup Table as Logic output. Each condition implements function 1 2 where Operator is logical operator defined by setpoint “Table X ­ Condition Y, Operator”. Setpoint options are listed in Table 20. Condition arguments are selected with “Table x ­ Condition Y, Argument Z Source” and “Table x ­ Condition Y, Argument Z Number” setpoints. If0 ­ Control not Used’ option is selected as “Table x ­ Condition Y, Argument Z Source” the argument is interpreted as 0.
0 =, Equal 1 !=, Not Equal 2 >, Greater Than 3 >=, Greater Than or Equal 4 <, Less Than 5 <=, Less Than or Equal
Table 20 ­ Table X ­ Condition Y, Operator Options
The three conditions are evaluated and if the result satisfies logical operation defined with “Table X ­ Conditions Logical Operator” setpoint, given in Table 21, the associated Lookup Table is selected as output of the Logical block. Option `0 ­ Default Table’ selects associated Lookup Table in all conditions.
0 Default Table (Table1) 1 Cnd1 And Cnd2 And Cnd3 2 Cnd1 Or Cnd2 Or Cnd3 3 (Cnd1 And Cnd2) Or Cnd3 4 (Cnd1 Or Cnd2) And Cnd3
Table 21 ­ Table X ­ Conditions Logical Operator Options

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The three logical operations are evaluated in order and the first to satisfy gets selected, thus if Table1 logical operation is satisfied, the Lookup Table associated with Table1 gets selected regardless of two other logical operations. In addition, if none of the logical operations is satisfied the Lookup Table associated with Table1 gets selected.
1.8. Math Function Block

There are four mathematical function blocks that allow the user to define basic algorithms. A math function block can take up to five input signals. Each input is then scaled according to the associated limit and scaling setpoints.
The mathematical block’s input signal value can have values in the range -1000 to 1000. In case the signal value is larger than that, the “Function X Input Y Minimum” and “Function X Input Y Maximum” values can be used to rescale the value. For additional control the user can also adjust the “Function X Input Y Scaler”. By default, each input has a scaling weight’ of 1.0 However, each input can be scaled from -1.0 to 1.0 as necessary before it is applied in the function. A mathematical function block includes four selectable functions, which each implements equation A operator B, where A and B are function inputs and operator is function selected with setpoint “Math function X Operator”. Setpoint options are presented in Table 22. The functions are connected, so that result of the preceding function goes into Input A of the next function. Thus Function 1 has both Input A and Input B selectable with setpoints, where Functions 2 to 4 have only Input B selectable. Input is selected by setting “Function X Input Y Source” and “Function X Input Y Number”. If “Function X Input B Source” is set to 0Control not used’ signal goes through function unchanged.
= (((1 1 1)2 2)3 3 ) 4 4
0 =, True when InA equals InB 1 !=, True when InA not equal InB 2 >, True when InA greater than InB 3 >=, True when InA greater than or equal InB 4 <, True when InA less than InB 5 <=, True when InA less than or equal InB 6 OR, True when InA or InB is True 7 AND, True when InA and InB are True 8 XOR, True when either InA or InB is True, but not both 9 +, Result = InA plus InB 10 -, Result = InA minus InB 11 x, Result = InA times InB 12 /, Result = InA divided by InB 13 MIN, Result = Smallest of InA and InB 14 MAX, Result = Largest of InA and InB 15 MAX-MIN, Result = Absolute value of (InA ­ InB)
Table 22 ­ Math function X Operator Options
For logic operations (6, 7, 8) scaled input greater or equal to 1 is treated as TRUE. For logic operations (0 to 8), the result of the function will always be 0 (FALSE) of 1 (TRUE). For the arithmetic

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functions (9 to 14), it is recommended to scale the data such that the resulting operation will not exceed full scale (-1e6 to 1e6) and saturate the output result.
When dividing, a zero divider will always result in a full (1e6) output value for the associated function.
Lastly the resulting mathematical calculation, presented as real value, can be scaled into the appropriate physical units using the “Math Output Minimum Range” and “Math Output Maximum Range” setpoints. These values are also used as the limits when the Math Function I selected as the input source for another function block.

1.9. DTC React
The DTC React function block is a very simple function which will allow a received DTC, sent from another ECU on a DM1 message, to disable an output or be used as input to another type of logic block. Up to five SPN/FMI combinations can be selected.
Should a DM1 message be received with the SPN/FMI combination defined, the corresponding DTC State will be set to ON. Once ON, if the same SPN/FMI combination has not been received again after 3 seconds, the DTC State will be reset to OFF.
The DTC could be used as a digital (on/off) input for any function block as appropriate.

1.10. CAN Transmit Message Function Block

The CAN Transmit function block is used to send any output from another function block (i.e. input, CAN receive) to the J1939 network. The AX024000 ECU has six CAN Transmit Messages, and each message has four completely user defined signals.

1.10.1.

CAN Transmit Message Setpoints

Each CAN Transmit Message setpoint group includes setpoints that affect the whole message and are thus mutual for all signals of the message. These setpoints are presented in this section. The setpoints that configure an individual signal are presented in the next section.
The “Transmit PGN” setpoint sets PGN used with the message. Users should be familiar with the SAE J1939 standard and select values for PGN/SPN combinations as appropriate from section J1939/71.
“Repetition Rate” setpoint defines the interval used to send the message to the J1939 network. If the “Repetition Rate” is set to zero, the message is disabled unless it shares its PGN with another message. In the case of a shared PGN repetition rate of the LOWEST numbered message are used to send the message `bundle’.
At power up, transmitted message will not be broadcasted until after a 5 second delay. This is done to prevent any power up or initialization conditions from creating problems on the network.

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By default, all messages are sent on Proprietary B PGNs as broadcast messages. Thus “Transmit Message Priority” is always initialized to 6 (low priority) and the “Destination Address” setpoint is not used. This setpoint is only valid when a PDU1 PGN has been selected, and it can be set either
to the Global Address (0xFF) for broadcasts or sent to a specific address as setup by the user.

1.10.2.

CAN Transmit Signal Setpoints

Each CAN transmit message has four associated signals, which define data inside the Transmit message. “Control Source” setpoint together with “Control Number” setpoint define the signal source of the message. “Control Source” and “Control Number” options are listed in Table 23. Setting “Control Source” to `Control Not Used’ disables the signal.
“Transmit Data Size” setpoint determines how many bits signal reserves from the message. “Transmit Data Index in Array” determines in which of 8 bytes of the CAN message LSB of the signal is located. Similarly, “Transmit Bit Index in Byte” determines in which of 8 bits of a byte the LSB is located. These setpoints are freely configurable, thus it is the User’s responsibility to ensure that signals do not overlap and mask each other.
“Transmit Data Resolution” setpoint determines the scaling done on the signal data before it is sent to the bus. “Transmit Data Offset” setpoint determines the value that is subtracted from the signal data before it is scaled. Offset and Resolution are interpreted in units of the selected source signal.

1.11. CAN Receive Function Block

The CAN Receive function block is designed to take any SPN from the J1939 network, and use it as an input to another function block (i.e. Outputs).
The “Receive Message Enabled” is the most important setpoint associated with this function block and it should be selected first. Changing it will result in other setpoints being enabled/disabled as appropriate. By default, ALL receive messages are disabled.
Once a message has been enabled, a Lost Communication fault will be flagged if that message is not received off the bud within the “Receive Message Timeout” period. This could trigger a Lost Communication event as described in section 1.4. To avoid timeouts on a heavily saturated network, it is recommended to set the period at least three times longer than the expected update rate. To disable the timeout feature, simply set this value to zero, in which case the received message will never trigger a Lost Communication fault.
By default, all control messages are expected to be sent to the 4 Input 4 Output Servo Controller on Proprietary B PGNs. However, should a PDU1 message be selected, the 4 Input 4 Output Servo Controller can be setup to receive it from any ECU by setting the “Specific Address that sends the PGN” to the Global Address (0xFF). If a specific address is selected instead, then any other ECU data on the PGN will be ignored.
The “Receive Data Size”, “Receive Data Index in Array (LSB)”, “Receive Bit Index in Byte (LSB)”, “Receive Resolution” and “Receive Offset” can all be used to map any SPN supported by the J1939 standard to the output data of the Received function block.

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As mentioned earlier, a CAN receive function clock can be selected as the source of the control input for the output function blocks. When this is case, the “Received Data Min (Off Threshold)” and “Received Data Max (On Threshold)” setpoints determine the minimum and maximum values of the control signal. As the names imply, they are also used as the On/Off thresholds for digital output types. These values are in whatever units the data is AFTER the resolution and offset is applied to CAN receive signal.
The 4 Input 4 Output Servo Controller I/O supports up to five unique CAN Receive Messages.
1.12. Available Control Sources
Many of the Function Blocks have selectable input signals, which are determined with “[Name] Source” and “[Name] Number” setpoints. Together, these setpoints uniquely select how the I/O of the various function blocks are linked together. “[Name] Source” setpoint determines the type of the source and “[Name] Number” selects the actual source if there is more than one of the same types. Available “[Name] Source” options and associated “[Name] Number” ranges are listed in Table 23. All sources, except “CAN message reception timeout”, are available for all blocks, including output control blocks and CAN Transmit messages. Though input Sources are freely selectable, not all options would make sense for any particular input, and it is up to the user to program the controller in a logical and functional manner.

Sources 0: Control Not Used
1: Received CAN Message
2: Universal/Analog Input Measured 3: PID Function Block
4: Lookup Table 5: Programmable Logic Block
6: Math Function Block
7: Control Constant Data
8: Diagnostic Trouble Code
9: Output Target Value 10: Output Current Feedback
11: Output Signal Level Measured

Notes When this is selected, it disables all other setpoints associated with the signal in question. User must enable the function block, as it is disabled by default.
User must enable the function block, as it is disabled by default.
User must enable the function block, as it is disabled by default. User must enable the function block, as it is disabled by default. 1 = FALSE, 2 = TRUE, 3 to 14 = User Selectable Will only be valid if the corresponding DTC has a non-zero SPN
Measured Feedback current from the proportional output in mA, used in Output Diagnostics. Measured Feedback voltage from the signal output in V, used in Output Diagnostics.

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12: Power Supply Measured 0 to 255

13: Processor Temperature Measured

0 to 255

14: CAN Reception Timeout N/A 15: Reference Voltage Level 1 to 2

Measured power supply value in Volts. The Parameter sets the threshold in Volts to compare with. Measured processor temperature in °C. The Parameter sets the threshold in Celcius to compare with. Only available in Output blocks. Measured Reference Voltage (5V and 10V outputs). This drive signal evaluates as `1′ when the measured reference voltage is higher than 90% of the nominal reference voltage.

Table 23 ­ Available Control Sources and Numbers

If a non-digital signal is selected to drive a Universal Input in digital input mode, the signal is interpreted to be OFF at or below the minimum of selected source and ON at or above the maximum of the selected source, and it will not change in between those points. Thus, analog to digital interpretation has a built in hysteresis defined by minimum and maximum of the selected source, as shown in Figure 3. A Universal Input signal is interpreted to be ON at or above “Maximum Range” and OFF at or below “Minimum Range”.
Control Constant Data has no unit nor minimum and maximum assigned to it, thus user has to assign appropriate constant values according to intended use.

Figure 3 – Analog source to Digital input

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2. Installation Instructions 2.1. Dimensions and Pinout

Grey Connector PIN # 12 1 11 2 10 3 9 4 8 5 7 6

Figure 4 ­ AX024000 Dimensional Drawing

Function
CAN_L CAN_H Signal Output 2 Signal Output 2 GND Signal Output 1 Signal Output 1 GND Output 2+ Output 2Output 1+ Output 1Batt+ Batt-

Black Connector PIN # 6 7 5 8 4 9 3 10 2 11 1 12

Function
+10V Reference +10V Reference GND +5V Reference +5V Reference GND Analog/Digital Input 2 (Input 4) Common Input GND Analog/Digital Input 1 (Input 3) Common Input GND Bipolar Analog Input 2 (Input 2) Common Input GND Bipolar Analog Input 1 (Input 1) Common Input GND

Table 24 ­ AX024000 Connector Pinout

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3. Overview Of J1939 Features

The software was designed to provide flexibility to the user with respect to messages sent from the ECU by providing:
· Configurable ECU Instance in the NAME (to allow multiple ECUs on the same network) · Configurable Input Parameters · Configurable PGN and Data Parameters · Configurable Diagnostic Messaging Parameters, as required. · Diagnostic Log, maintained in non-volatile memory.

3.1. Introduction to Supported Messages

The ECU is compliant with the standard SAE J1939 and supports following PGNs from the standard.

From J1939-21 ­ Data Link Layer · Request
· Acknowledgement
· Transport Protocol ­ Connection Management · Transport Protocol ­ Data Transfer Message · Proprietary B

from to

59904 59392 60416 60160 65280 65535

0x00EA00 0x00E800 0x00EC00 0x00EB00 0x00FF00 0x00FFFF

From J1939-73 ­ Diagnostics · DM1 ­ Active Diagnostic Trouble Codes · DM2 ­ Previously Active Diagnostic Trouble Codes · DM3 ­ Diagnostic Data Clear/Reset for Previously Active DTCs · DM11 ­ Diagnostic Data Clear/Reset for Active DTCs · DM14 ­ Memory Access Request · DM15 ­ Memory Access Response · DM16 ­ Binary Data Transfer

65226 65227 65228 65235 55552 55296 55040

0x00FECA 0x00FECB 0x00FECC 0x00FED3 0x00D900 0x00D800 0x00D700

From J1939-81 ­ Network Management · Address Claimed/Cannot Claim
· Commanded Address

60928 0x00EE00 65240 0x00FED8

From J1939-71 ­ Vehicle Application Layer · Software Identification

65242 0x00FEDA

None of the application layer PGNs are supported as part of the default configurations, but they can be selected as desired for transmit function blocks.
Setpoints are accessed using standard Memory Access Protocol (MAP) with proprietary addresses. The Axiomatic Electronic Assistant (EA) allows for quick and easy configuration of the unit over CAN network.

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3.2. NAME, Address and Software ID

The 4 Input 4 Output Servo Controller I/O ECU has the following default for the J1939 NAME. The user should refer to the SAE J1939/81 standard for more information on these parameters and their ranges.

Arbitrary Address Capable Industry Group Vehicle System Instance Vehicle System Function Function Instance ECU Instance Manufacture Code Identity Number

Yes
0, Global 0
0, Non-specific system 125, Axiomatic I/O Controller 15, Axiomatic AX024000 0, First Instance 162, Axiomatic Technologies Variable, uniquely assigned during factory programming for each ECU

The ECU Instance is a configurable setpoint associated with the NAME. Changing this value will allow multiple ECUs of this type to be distinguishable from one another when they are connected on the same network.
The default value of the “ECU Address” setpoint is 128 (0x80), which is the preferred starting address for self-configurable ECUs as set by the SAE in J1939 tables B3 and B7. The EA will allow the selection of any address between 0 and 253. It is the user’s responsibility to select an address that complies with the standard. The user must also be aware that since the unit is arbitrary address capable, if another ECU with a higher priority NAME contends for the selected address, the 4 Input 4 Output Servo Controller I/O will continue select the next highest address until it finds one that it can claim. See J1939/81 for more details about address claiming.
Software Identifier

PGN 65242

Software Identification

– SOFT

Transmission Repetition Rate:

On request

Data Length: Extended Data Page: Data Page: PDU Format: PDU Specific: Default Priority: Parameter Group Number:

Variable 0 0 254 218 PGN Supporting Information: 6 65242 (0xFEDA)

Start Position 1 2-n

Length 1 Byte Variable

Parameter Name Number of software identification fields Software identification(s), Delimiter (ASCII “*”)

SPN 965 234

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Byte 1 is set to 5, and the identification fields are as follows.
(Part Number)(Version)(Date)(Owner)(Description)
The EA shows all this information in “General ECU Information”, as shown below. Note: The information provided in the Software ID is available for any J1939 service tool which supports the PGN -SOFT 4. ECU Setpoints Accessed With Axiomatic Electronic Assistant
This section describes in detail each setpoint, and their defaults and ranges. Default values presented in tables are values used when the setpoint in question is active. Many of the setpoints are dependent on other setpoints and they may not be active by default. Associated Figures show screen capture of initial operation, however some of the setpoints are not in default condition as they are set differently to activate more setpoints for the image. The setpoints are divided into setpoint groups as they are shown in EA. For more information on how each setpoint is used by the 4 Input 4 Output Servo controller, refer to the relevant section in this user manual.
4.1. Accessing the ECU Using EA
ECU with P/N AX024000 does not need any specific setup for EA. In order to access the high-speed versions, AX024000-01 and/or AX024000-02, the CAN bus Baud Rata needs to be set accordingly. The CAN Interface Setup can be found from “Options” menu in EA.

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4.2. J1939 Network Parameters “ECU Instance Number” and “ECU Address” setpoints and their effect are defined in Section 0.

Figure 5 – Screen Capture of J1939 Setpoints

Name ECU Address
ECU Instance

Range 0x80

Default 0-253

0-7

0x00

Table 25 ­ J1939 Network Setpoints

Notes Preferred address for a self-configurable ECU Per J1939-81

If non-default values for the “ECU Instance Number” or “ECU Address” are used, they will be mirrored during a setpoint file flashing, and will only take effect once the entire file has been downloaded to the unit. After the setpoint flashing is complete, the unit will claim the new address and/or re- claim the address with the new NAME. If these setpoints are changing, it is recommended to close and re-open the CAN connection on EA after the file is loaded so that only the new NAME and address are showing in the J1939 CAN Network ECU list.

4.3. Universal Input Setpoints
The Universal Inputs are defined in Section 1.1. The setpoint group includes diagnostic related setpoints, which are presented in Section 1.3 in detail.

Figure 6 – Screen Capture of Universal Input Setpoints

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Name Input Sensor Type Minimum Range
Maximum Range
Debounce Time Additional Software Debounce Filter Time Pulses per Revolution Pullup/Pulldown Resistor Active High/Active Low Software Filter Type Software Filter Constant

Range Drop List From Minimum Error to Maximum Range From Minimum Range to Maximum Error Drop List Drop List

Default VOLTAGE_0_TO_5V Depends on Input Sensor Type Depends on Input Sensor Type
None 0ms

Drop List Drop List Drop List Drop List 1..1000

FALSE 22k Pulldown Active High No Filtering 1

Table 26 ­ Universal Input Setpoints

4.4. Analog Input Setpoints

Notes See Table 1
See Table 3 See Table 4 See Section 1.1 See Table 5 See Table 6 See Table 8

The Analog Inputs are defined in Section 1.1. The setpoint group includes diagnostic related setpoints, which are presented in Section 1.3 in detail.

Figure 7 – Screen Capture of Analog Input Setpoints

Name Input Sensor Type Minimum Range
Maximum Range
Software Filter Type Software Filter Constant

Range Drop List From Minimum Error to Maximum Range From Minimum Range to Maximum Error Drop List 1..1000

Default Digital Normal Logic Depends on Input Sensor Type Depends on Input Sensor Type
No Filtering 1

Table 27 ­ Universal Input Setpoints

Notes See Table 1
See Table 8

4.5. Proportional Output Drive Setpoints
The Proportional Servo Control Output function Block is defined in Section 1.3. Please refer there for detailed information about how these setpoints are used. Outputs are disabled by default. In order to enable an output “Output Type” and “Control Source” have to be chosen.

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Figure 8 – Screen Capture of Proportional Output Setpoints

Name Output Type Output At Minimum Command Output At Maximum Command Output At Override Command Dither Frequency Dither Amplitude Ramp Up (Min to Max) Ramp Down (Max to Min) Control Source Control Number
Enable Source Enable Number
Enable Response Override Source Override Number
Override Response Output Fault Response Output in Fault Mode
Fault Detection is Enabled

Range Drop List 0 to Limit 0 to Limit 0 to Limit 50 to 400Hz 0 to 500 mA 0 to 10 000ms 0 to 10 000ms Drop List Depends on control source Drop List Depends on enable source Drop List Drop List Depends on enable source Drop List Drop List Depends on Output type Drop List

Default Proportional Current -400mA…400mA -400mA 400mA 0mA 200Hz 0 1000ms 1000ms Universal Input Measured 1
Control not used 1
Enable When On, else Shutoff Control not used 1
Override When On Shutoff Output 0mA
True

Table 28 ­ Proportional Output Setpoints

Notes See Table 9
See Table 23 See Table 23 See Table 23 See Table 23 See Table 11 See Table 23 See Table 23 See Table 12 See Table 13

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4.6. Constant Data List The Constant Data List Function Block is provided to allow the user to select values as desired for various logic block functions. The first two constants are fixed values of 0 (False) and 1 (True) for use in binary logic. The remaining 13 constants are fully user programmable to any value between +/. 1 000 000. The default values
(shown in Figure 9) are arbitrary and should be configured by the user as appropriate for their application.

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Figure 9 – Screen Capture of Constant Data List Setpoints
4.7. PID Control The PID Control Function Block is defined in Section 1.5. Please refer there for detailed information about how all these setpoints are used. Command Source is set to `Control Not Used’ by default. To enable a PID Control, select appropriate “PID Target Command Source” and “PID Feedback Input Source”.

Figure 10 – Screen Capture of PID Control Setpoints

Name PID Target Command Source PID Target Command Number
PID Feedback Input Source PID Feedback Input Number
PID Response Profile PID Delta Tolerance PID Loop Update Rate PID Gain Coefficient, G PID Integral Time Coefficient, Ti PID Derivative Time Coefficient, Td PID Integral Coefficient, Ki PID Derivative Coefficient, Kd

Range Drop List Depends on control source Drop List Depends on control source Drop List 0 to 100 1 to 60 000 ms 0.1 to 10 0.001 to 10 Sec 0.001 to 10 Sec 0 to 10 0 to 10

Default Control Not Used 1
Control Not Used 1
Single Output 1.00 % 10ms 0.5 0.005 Sec 0.001 Sec 1.00 1.00

Table 29 ­ Programmable Logic Setpoints

Notes See Table 23 See Table 23
See Table 23 See Table 23
See Table 17 % 1 ms resolution See Equation 4 0.001 Sec (1ms) resolution 0.001 Sec (1ms) resolution 0 disables integral, PD ctrl 0 disables derivative, PI ctrl

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4.9. Programmable Logic
The Programmable Logic function block is defined in Section 1.7. Please refer there for detailed information about how all these setpoints are used. “Programmable Logic Enabled” is False’ by default. To enable Logic set “Programmable Logic Enabled” toTrue’ and select appropriate “Argument Source”.

Figure 12 – Screen Capture of Programmable Logic Setpoints

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Setpoint ranges and default values for Programmable Logic Blocs are listed in Table 31. Only “Table1” setpoint are listed, because other “TableX” setpoints are similar, except for the default value of the “Lookup Table Block Number” setpoint, which is X for “TableX”.

Name Programmable Logic Enabled Table1 – Lookup Table Block Number Table1 – Conditions Logical Operation Table1 – Condition1, Argument 1 Source Table1 – Condition1, Argument 1 Number Table1 – Condition1, Operator Table1 – Condition1, Argument 2 Source Table1 – Condition1, Argument 2 Number Table1 – Condition2, Argument 1 Source Table1 – Condition2, Argument 1 Number Table1 – Condition2, Operator Table1 – Condition2, Argument 2 Source Table1 – Condition2, Argument 2 Number Table1 – Condition3, Argument 1 Source Table1 – Condition3, Argument 1 Number Table1 – Condition3, Operator Table1 – Condition3, Argument 2 Source Table1 – Condition3, Argument 2 Number

Range Drop List 1 to 4 Drop List Drop List Depends on control source Drop List Drop List Depends on control source Drop List Depends on control source Drop List Drop List Depends on control source Drop List Depends on control source Drop List Drop List Depends on control source

Default False Look up Table 1 Default Table Control Not Used 1 =, Equal Control Not Used 1 Control Not Used 1 =, Equal Control Not Used 1 Control Not Used 1 =, Equal Control Not Used 1

Table 31 ­ Programmable Logic Setpoints

Notes
See Table 21 See Table 23 See Table 23 See Table 20 See Table 23 See Table 23 See Table 23 See Table 23 See Table 20 See Table 23 See Table 23 See Table 23 See Table 23 See Table 20 See Table 23 See Table 23

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4.10. Math Function Block
The Math Function Block is defined in Section 1.8. Please refer there for detailed information about how all these setpoints are used. “Math Function Enabled” is False’ by default. To enable a Math function Block, set “Math Function Enabled” toTrue’ and select appropriate “Input Source”.

Figure 13 – Screen Capture of Math Function Block Setpoints

Name Math Function Enabled Function 1 Input A Source Function 1 Input A Number
Function 1 Input A Minimum Function 1 Input A Maximum Function 1 Input A Scaler Function 1 Input B Source Function 1 Input B Number
Function 1 Input B Minimum Function 1 Input B Maximum Function 1 Input B Scaler Math Function 1 Operation Function 2 Input B Source

Range Drop List Drop List Depends on control source -106 to 106 -106 to 106 -1.00 to 1.00 Drop List Depends on control source -106 to 106 -106 to 106 -1.00 to 1.00 Drop List Drop List

Default False Control not used 1
0.0 100.0 1.00 Control not used 1
0.0 100.0 1.00 =, True when InA Equals InB Control not used

Notes See Table 23 See Table 23
See Table 23 See Table 23
See Table 22 See Table 23

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4 Input, 4 Output Servo Controller with CAN, SAEJ1939

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Function 2 Input B Number
Function 2 Input B Minimum Function 2 Input B Maximum Function 2 Input B Scaler Math Function 3 Operation Function 3 Input B Source Function 3 Input B Number
Function 3 Input B Minimum Function 3 Input B Maximum Function 3 Input B Scaler Math Function 3 Operation Function 4 Input B Source Function 4 Input B Number
Function 4 Input B Minimum Function 4 Input B Maximum Function 4 Input B Scaler Math Function 4 Operation Math Output Minimum Range Math Output Maximum Range

Depends on control source -106 to 106 -106 to 106 -1.00 to 1.00 Drop List Drop List Depends on control source -106 to 106 -106 to 106 -1.00 to 1.00 Drop List Drop List Depends on control source -106 to 106 -106 to 106 -1.00 to 1.00 Drop List -106 to 106 -106 to 106

1
0.0 100.0 1.00 =, True when InA Equals InB Control not used 1
0.0 100.0 1.00 =, True when InA Equals InB Control not used 1
0.0 100.0 1.00 =, True when InA Equals InB 0.0 100.0

Table 32 ­ Math Function Setpoints

See Table 23
See Table 22 See Table 23 See Table 23
See Table 22 See Table 23 See Table 23
See Table 22

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4 Input, 4 Output Servo Controller with CAN, SAEJ1939

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4.11. CAN Transmit Setpoints
CAN Transmit Message Function Block is presented in section 1.10. Please refer there for detailed information on how these setpoints are used. “Transmit Repetition Rate” is 0ms by default, thus no message will be sent.

Figure 14 – Screen Capture of CAN Transmit Message Setpoints

Name Transmit PGN Transmit Repetition Rate Transmit Message Priority Destination Address Signal 1 Control Source Signal 1 Control Number Signal 1 Transmit Data Size
UMAX024000 Version 1.0.2.

Range 0xff00 … 0xffff 0 … 65000 ms 0…7 0…255 Drop List Drop List Drop List

Default Different for each 0ms 6 255 Different for each Different for each 2 bytes

Notes See Section 1.10.1 0ms disables transmit Proprietary B Priority Not used by default See Table 23 See 1.10.2

4 Input, 4 Output Servo Controller with CAN, SAEJ1939

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Signal 1 Transmit Data Index in Array Signal 1 Transmit Bit Index In Byte Signal 1 Transmit Data Resolution Signal 1 Transmit Data Offset Signal 2 Control Source Signal 2 Control Number Signal 2 Transmit Data Size Signal 2 Transmit Data Index in Array Signal 2 Transmit Bit Index In Byte Signal 2 Transmit Data Resolution Signal 2 Transmit Data Offset Signal 3 Control Source Signal 3 Control Number Signal 3 Transmit Data Size Signal 3 Transmit Data Index in Array Signal 3 Transmit Bit Index In Byte Signal 3 Transmit Data Resolution Signal 3 Transmit Data Offset Signal 4 Control Source Signal 4 Control Number Signal 4 Transmit Data Size Signal 4 Transmit Data Index in Array Signal 4 Transmit Bit Index In Byte Signal 4 Transmit Data Resolution Signal 4 Transmit Data Offset

0-7 0-7 -100000.0 to 100000 -10000 to 10000 Drop List Drop List Drop List 0-7 0-7 -100000.0 to 100000 -10000 to 10000 Drop List Drop List Drop List 0-7 0-7 -100000.0 to 100000 -10000 to 10000 Drop List Drop List Drop List 0-7 0-7 -100000.0 to 100000 -10000 to 10000

2 0 0.001 0.0 Signal undefined Signal undefined 2 bytes 0 0 0.001 0.0 Signal undefined Signal undefined 2 bytes 0 0 0.001 0.0 Signal undefined Signal undefined 2 bytes 0 0 0.001 0.0

See Table 23 See 1.10.2
See Table 23 See 1.10.2
See Table 23 See 1.10.2

Table 33 ­ CAN Transmit Message Setpoints

4.12. CAN Receive Setpoints

The Math Function Block is defined in Section 1.11. Please refer there for detailed information about how these setpoints are used. “Receive Message Timeout” is set to 0ms by default. To enable Receive message set “Receive Message Timeout” that differs from zero.

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4 Input, 4 Output Servo Controller with CAN, SAEJ1939

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Figure 15 – Screen Capture of CAN Receive Message Setpoints

Name Received Message Enabled Received PGN Received Message Timeout Specific Address that sends PGN Address That Sends Receive Transmit Data Size Receive Transmit Data Index in Array Receive Transmit Bit Index In Byte Receive Transmit Data Resolution
Receive Transmit Data Offset Receive Data Min (Off Threshold) Receive Data Max (On Threshold)

Range Drop List 0 to 65536 0 to 60 000 ms Drop List 0 to 255 Drop List 0-7 0-7 -100000.0 to 100000 -10000 to 10000 -1000000 to Max -100000 to 100000

Default False Different for each 0ms False 254 (0xFE, Null Addr) 2 bytes 0 0 0.001
0.0 0.0 2.0

Table 34 ­ CAN Receive Setpoints

Notes

4.13. DTC React

The DTC React Function Block is defined in Section 1.9. Please refer there for detailed information about how these setpoints are used.

Figure 16 – Screen Capture of DTC React Setpoints

Name SPN to Trigger Reaction #1
FMI to Trigger Reaction #X

Range 0 to 524287
Drop List

Default 0
31, Condition Exists

Table 35 ­ DTC React Setpoints

Notes 0 is an illegal value, and disables the DTC Supports all FMIs in the J1939 standard

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4 Input, 4 Output Servo Controller with CAN, SAEJ1939

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4.14. General Diagnostics Options
These setpoints control the shutdown of the ECU in case of a power supply or CPU temperature related errors. Refer to section 1.4 for more info.

Figure 17 – Screen Capture of General Diagnostics Options Setpoints

Name Power Fault Disables Outputs Over Temperature Shutdown

Range Drop List Drop List

Default 0 0

Notes

Table 36 ­ General Diagnostics Options Setpoints

4.15. Diagnostics Blocks
There are 16 Diagnostics blocks that can be configured to monitor various parameters of the Controller. The Diagnostic Function Block is defined in section 1.4. Please refer there for detailed information on how these setpoints are used.

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4 Input, 4 Output Servo Controller with CAN, SAEJ1939

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Figure 18 – Screen Capture of Diagnostic Block Setpoints

UMAX024000 Version 1.0.2.

4 Input, 4 Output Servo Controller with CAN, SAEJ1939

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Name Fault Detection is Enabled Function Type to Monitor Function parameter to Monitor Fault Detection Type Maximum Value for Diagnostic Data Minimum Value for Diagnostic Data Use Hysteresis When Defining Thresholds Hysteresis
Event Cleared only by DM11 Set Limit for MAXIMUM SHUTDOWN
Clear Limit for MAXIMUM SHUTDOWN
Set Limit for MAXIMUM WARNING
Clear Limit for MAXIMUM WARNING
Clear Limit for MINIMUM WARNING
Set Limit for MINIMUM WARNING
Clear Limit for MINIMUM SHUTDOWN
Set Limit for MINIMUM SHUTDOWN
MAXIMUM SHUTDOWN, Event Generates a DTC in DM1 MAXIMUM SHUTDOWN, Lamp Set by Event MAXIMUM SHUTDOWN, SPN for Event

Range Drop List Drop List Drop List
Drop List Minimum Value for Diagnostic Data … 4.28e9 0.0 … Maximum Value for Diagnostic Data Drop List
0.0 … Maximum Value for Diagnostic Data Drop List
Minimum Value for Diagnostic Data … Maximum Value for Diagnostics Data Minimum Value for Diagnostic Data … Maximum Value for Diagnostics Data Minimum Value for Diagnostic Data … Maximum Value for Diagnostics Data Minimum Value for Diagnostic Data … Maximum Value for Diagnostics Data Minimum Value for Diagnostic Data … Maximum Value for Diagnostics Data Minimum Value for Diagnostic Data … Maximum Value for Diagnostics Data Minimum Value for Diagnostic Data … Maximum Value for Diagnostics Data Minimum Value for Diagnostic Data … Maximum Value for Diagnostics Data Drop List
Drop List
0…524287

Default False 0 ­ Control not used 0 ­ No selection 1 ­ Min and Max Error 5.0 0.0 False 0.0 False 4.8
4.6
0.0
0.0
0.0
0.0
0.4
0.2
True 0 ­ Protect 520448 ($7F100)

Notes See section 1.4
See Table 14 It is the user’s responsibility to select an SPN that will not violate the J1939 standard.

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4 Input, 4 Output Servo Controller with CAN, SAEJ1939

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MAXIMUM SHUTDOWN, FMI for Event MAXIMUM SHUTDOWN, Delay Before Event is Flagged MAXIMUM WARNING, Event Generates a DTC in DM1 MAXIMUM WARNING, Lamp Set by Event MAXIMUM WARNING, SPN for Event

Drop List 0…60000 ms
Drop List
Drop List 0…524287

3, Voltage Above Normal 1000
True
0 ­ Protect 520704 ($7F200)

MAXIMUM WARNING, FMI for Event MAXIMUM WARNING, Delay Before Event is Flagged MINIMUM WARNING, Event Generates a DTC in DM1 MINIMUM WARNING, Lamp Set by Event MAXIMUM WARNING, SPN for Event

Drop List 0…60000 ms
Drop List
Drop List 0…524287

3, Voltage Above Normal 1000
True
0 ­ Protect 520960 ($7F300)

MINIMUM WARNING, FMI for Event MINIMUM WARNING, Delay Before Event is Flagged MINIMUM SHUTDOWN, Event Generates a DTC in DM1 MINIMUM SHUTDOWN, Lamp Set by Event MINIMUM SHUTDOWN, SPN for Event

Drop List 0…60000 ms
Drop List
Drop List 0…524287

4, Voltage Below Normal 1000
True
Amber Warning 521216 ($7F400)

MINIMUM SHUTDOWN, FMI for Event MINIMUM SHUTDOWN, Delay Before Event is Flagged

Drop List 0…60000 ms

4, Voltage Below Normal 1000

Table 37 ­ Diagnostic Block Setpoints

See Table 15
See Table 14 It is the user’s responsibility to select an SPN that will not violate the J1939 standard. See Table 15
See Table 14 It is the user’s responsibility to select an SPN that will not violate the J1939 standard. See Table 15
See Table 14 It is the user’s responsibility to select an SPN that will not violate the J1939 standard. See Table 15

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5. Reflashing Over CAN With EA Bootloader
The AX024000 can be upgraded with new application firmware using the Bootloader Information section. This section details the simple step-by-step instructions to upload new firmware provided by Axiomatic onto the unit via CAN, without requiring it to be disconnected from the J1939 network.
Note: To upgrade the firmware, use Axiomatic Electronic Assistant V4.x.xx.0 or higher.
1. When EA first connects to the ECU, the Bootloader Information section will display the following information.

2. To use the bootloader to upgrade the firmware running on the ECU, change the variable “Force Bootloader To Load on Reset” to Yes.

3. When the prompt box asks if you want to reset the ECU, select Yes.
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4. Upon reset, the ECU will no longer show up on the J1939 network as an AX024000 but rather as J1939 Bootloader #1.

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Note that the bootloader is NOT Arbitrary Address Capable. This means that if you want to have multiple bootloaders running simultaneously (not recommended) you would have to manually change the address for each one before activating the next, or there will be address conflicts. And only one ECU would show up as the bootloader. Once the `active’ bootloader returns to regular functionality, the other ECU(s) would have to be power cycled to re-activate the bootloader feature.
5. When the Bootloader Information section is selected, the same information is shown as when it was running the AX024000 firmware, but in this case the Flashing feature has been enabled.

6. Select the Flashing button and navigate to where you had saved the AX024000_Simulink.bin (or equivalent) file sent from Axiomatic. (Note: only binary (.bin) files can be flashed using the EA tool.)
7. Once the Flash Application Firmware window opens, you can enter comments such as “Firmware upgraded by [Name]” if you so desire. This is not required, and you can leave the field blank if you do not want to use it.
Note: You do not have to date/timestamp the file, as this is done automatically by the EA tool when you upload the new firmware.

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WARNING: Do not check the “Erase All ECU Flash Memory” box unless instructed to do so by your Axiomatic contact. Selecting this will erase ALL data stored in nonvolatile flash including the calibration from Axiomatic factory testing. It will also erase any configuration of the setpoints that might have been done to the ECU and reset all setpoints to their factory defaults. By leaving this box unchecked, none of the setpoints will be changed when the new firmware is uploaded.
A progress bar will show how much of the firmware has been sent as the upload progresses. The more traffic there is on the J1939 network, the longer the upload process will take.

Once the firmware has finished uploading, a message will pop up indicating the successful operation. If you select to reset the ECU, the new version of the AX024000 application will start

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running, and the ECU will be identified as such by EA. Otherwise, the next time the ECU is power cycled, the AX024000 application will run rather than the bootloader function.
Note: If at any time during the upload the process is interrupted, the data is corrupted (bad checksum) or for any other reason the new firmware is not correct, i.e. bootloader detects that the file loaded was not designed to run on the hardware platform, the bad or corrupted application will not run. Rather, when the ECU is reset or power-cycled the J1939 Bootloader will continue to be the default application until valid firmware has been successfully uploaded into the unit.

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APPENDIX A – TECHNICAL SPECIFICATION
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 https://www.axiomatic.com/service/.

Inputs
Power Supply Input Protection
Input Grounds Bipolar Analog Inputs

12V or 24Vdc nominal (8…36Vdc power supply range) Reverse polarity protection Overvoltage protection up to 150V Overvoltage (undervoltage) shutdown
Four common input GND connections are provided.
Two inputs (Input 1 and 2 in Table 2.0.) User selectable as Bipolar or Unipolar Voltage or Current

12-bit Analog to Digital Protected against shorts to GND or +Vsupply

Voltage Types: 1mV resolution, accuracy +/- 1% error Ranges: +/-5V or +/-10V or 0-5V or 0-10V

Analog or Digital Inputs (Voltage, Current or PWM)

Current Types: 1uA resolution, accuracy +/- 1% error Ranges: 0-20mA or 4-20mA
Two inputs (Inputs 3 and 4 in Table 2.0.) User selectable as : Voltage, Current, PWM or Digital

12-bit Analog to Digital (voltage, current) Protected against shorts to GND or +Vsupply

Voltage Types: 1mV resolution, accuracy +/- 1% error Ranges: 0-5V or 0-10V

Current Types: 1uA resolution, accuracy +/- 1% error Ramges: 0-20mA or 4-20mA

PWM Signal Frequency: 1 ­ 10,000 Hz PWM Duty Cycle: 0 to 100%
PWM Input: 0.01% resolution, accuracy +/- 1% error

Minimum and Maximum Ratings

Digital Input: Active High or Active Low. Amplitude: 3.3V to +Vsupply

Table 1.0. Absolute Maximum and Minimum Ratings

Characteristic

Min

Power Supply

8

Voltage Input

0

Current Input

0

Current Input ­ Voltage Level

0

Digital Type Input ­ Voltage Level

0

PWM Duty Cycle

0

PWM Frequency

50

PWM Voltage pk – pk

0

RPM Frequency

50

Max 36 36 21 12 36 100 10 000 36 10 000

Units V dc V dc mA Vdc Vdc % Hz V dc Hz

UMAX024000 Version 1.0.2.

4 Input, 4 Output Servo Controller with CAN, SAEJ1939

A-1

Outputs
Outputs
Signal Outputs Reference Voltages Protection for Output Terminals

Two +/- 400 mA bidirectional outputs, independent User selectable as: Servo Valve Control or Proportional Current Selectable current ranges from +/- 10mA to +/-400 mA Accuracy: +/- 1%
Output voltage up to 12V
Full bridge output Current sensing resistor
Overcurrent protection is provided. Short circuit protection is provided. Two signal outputs User selectable as voltage or current: Voltage: 0.2 – 5Vdc or 0.2 – 10Vdc, 1% accuracy, Current: 0-20mA or 4-20mA, 1% accuracy. Short circuit protected. One 5V, 100mA, 1% reference voltage One 10V, 100mA, 1% reference voltage Fully protected against short circuit to ground and short circuit to power supply rail. Unit will fail safe in the case of a short circuit condition, self-recovering when the short is removed.

General Specifications
Microcontroller Typical Quiescent Current Response Time Control Logic
Communications
Network Termination
User Interface Operating Conditions Electrical Connections

STM32F205 32-bit, 1MByte flash memory 87mA @ 12Vdc; 56mA @ 24Vdc 70 ms for 0-400 mA current change Standard embedded software is provided. (Application- specific control logic or factory programmed setpoints on request) Refer to the User Manual for details. 1 Isolated CAN port (SAE J1939) (The CANopen® version is model AX024001) Model AX024000 250 kbps baud rate Model AX024000-01 500 kbps baud rate Model AX024000-02 1 Mbps baud rate 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. Axiomatic Electronic Assistant KIT, P/N: AX070502, or AX070506K -40 to 85 C (-40 to 185 F) Refer to Pinout Table.
24-pin receptacle (equivalent TE Deutsch P/N: DTM13-12PA-12PB-R008)
Mating plugs kits are available on request and include equivalents to TE Deutsch P/Ns: 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.

Enclosure and Dimensions
Protection Vibration Shock

High Temperature Nylon PCB Enclosure ­ (equivalent TE Deutsch P/N: EEC-325X4B) 4.68 x 5.25 x 1.42 inches 118.80 x 133.50 x 36.00 mm (W x L x H excluding mating plug)
IP67
MIL-STD-202G, Method 204D test condition C (Sine) and Method 214A, test condition B (Random) 10 g peak (Sine); 7.68 Grms peak (Random)
MIL- STD-202G, Method 213B, test condition A

UMAX024000 Version 1.0.2.

4 Input, 4 Output Servo Controller with CAN, SAEJ1939

A-2

Compliance Weight Installation

50g (half sine pulse, 9ms long, 8 per axis)
CE marking
0.55 lb. (0.25 kg)
Mounting holes sized for ¼ 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. All field wiring should be suitable for the operating temperature range, rated voltage and current. Wiring to the product must be in accordance with all applicable local codes. Install the unit with appropriate space available for servicing and for adequate wire harness access (6 inches or 15 cm) and strain relief (12 in. or 30 cm).

CANopen® is a registered community trademark of CAN in Automation e.V.

UMAX024000 Version 1.0.2.

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A-3

OUR PRODUCTS
AC/DC Power Supplies Actuator Controls/Interfaces Automotive Ethernet Interfaces Battery Chargers CAN Controls, Routers, Repeaters CAN/WiFi, CAN/Bluetooth, Routers Current/Voltage/PWM Converters DC/DC Power Converters Engine Temperature Scanners Ethernet/CAN Converters, Gateways, Switches Fan Drive Controllers Gateways, CAN/Modbus, RS-232 Gyroscopes, Inclinometers Hydraulic Valve Controllers Inclinometers, Triaxial I/O Controls LVDT Signal Converters Machine Controls Modbus, RS-422, RS-485 Controls Motor Controls, Inverters Power Supplies, DC/DC, AC/DC PWM Signal Converters/Isolators Resolver Signal Conditioners Service Tools Signal Conditioners, Converters Strain Gauge CAN Controls Surge Suppressors

OUR COMPANY
Axiomatic provides electronic machine control components to the off-highway, commercial vehicle, electric vehicle, power generator set, material handling, renewable energy and industrial OEM markets. We innovate with engineered and off-the-shelf machine controls that add value for our customers.

QUALITY DESIGN AND MANUFACTURING
We have an ISO9001:2015 registered design/manufacturing facility in Canada.

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 at https://www.axiomatic.com/service/.

COMPLIANCE
Product compliance details can be found in the product literature and/or on axiomatic.com. Any inquiries should be sent to sales@axiomatic.com.

SAFE USE
All products should be serviced by Axiomatic. Do not open the product and perform the service yourself.
This product can expose you to chemicals which are known in the State of California, USA to cause cancer and reproductive harm. For more information go to www.P65Warnings.ca.gov.

SERVICE
All products to be returned to Axiomatic require a Return Materials Authorization Number (RMA#) from sales@axiomatic.com. Please provide the following information when requesting an RMA number:
· Serial number, part number · Runtime hours, description of problem · Wiring set up diagram, application and other comments as needed

DISPOSAL
Axiomatic products are electronic waste. Please follow your local environmental waste and recycling laws, regulations and policies for safe disposal or recycling of electronic waste.

CONTACTS
Axiomatic Technologies Corporation 1445 Courtneypark Drive E. Mississauga, ON CANADA L5T 2E3 TEL: +1 905 602 9270 FAX: +1 905 602 9279 www.axiomatic.com sales@axiomatic.com

References

• P65Warnings.ca.gov

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