TM70Bi V3.2 (11/02)
1121174 L0.pdf
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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 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.
CAN bus
CANopen
Protocol
LR72
RECEIVER
LOGIC
BOARD
A2ICAN
VPP2
GND2
VO2
VR2
VPP1
GND1
VO1
VR1
PWM1 VO1
C
O
N
T
R
O
L
L
O
G
IC
BO
AR
D
(u
P)
+ Vi
PWM2 VO2
ISP
