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TM70Bi V3.1 (03/09) 1121174.pdf

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CONTR

OL LOG

IC BOARD

(uP)

VPP1

GND1

VO1

VR1

VPP2

GND2

VO2

VR2

18.1- INTRODUCTION & FUNCTIONAL DESCRIPTION

The A2VCAN electronic board gives to the modular TM70 systems an analogue output in current (PWM),

allow the government of electro-hydraulic proportional valves with input reference in current. The electronic

board contains two output stages galvanically each other separated and from the control common logic.

A2ICAN

CAN

bus

CANopen

Protocol

PWM1 VO1

LR72

RECEIVER

LOGIC

BOARD

+ Vi

PWM2 VO2

ISP

A2ICAN electronic board is an expansion of two analogue outputs controlled by the CANopen interface.

The A2ICAN electronic board implement, for integration into the TM70 system, an own resident software in

its microprocessor, that performs the following functions:

Communication with the LR72 electronic board through CANOpen protocol, using the standard

profile 401, input/output digital/analogue (CIA DS401 - CANopen Device Profile for Generic I/O

Modules).

Generates two analogue outputs in current according to the received instructions and the settings for

each output.

There are two types of response curves for each output:

Linear: response of the analogue output proportional to the input

Non-linear: the response of the analogue output is exponentially regarding the input. Variations of the

joystick inputs at the beginning of his movement will result in small changes of the output voltage,

while the same variations of the joystick input at the end of the movement will result in major

changes in the output voltage.

The choice of one or another profile is decided by a customization parameter P (customizable by EEPROM

or Tele-Alignment), which uses 0 for linear curve and 1, 2 or 3 for exponential curves from low to high grade.

It also can be programmed exit ramps on rise and/or fall per semiaxis. The form of response of the ramps is

under defined output type: linear or nonlinear.

The ramp speed is defined for each semiaxis by a parameter that can take a value between 0 and 15, by

default 0. Each of these values corresponds to a ramp time from minimum to maximum value given by the

following table:

1 2 ... 59 60 61 62 63 64 65 66 67 68 69 ... 75 76

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Cervis TM70 Manual de Instalação Página 64

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