Installation manual

TM70/3-10 & i-Kontrol Console RC System
U035.3-TM70_Console_Sys
70
23.0 A2ICAN Option
The CANopen interface controlled A2ICAN expansion board provides an analog output current
for Pulse Width Modulation (PWM) control of electro-hydraulic proportions valves. The board has
two isolated output stages isolated from each other and common control logic.
Figure 47. A2ICAN Block Diagram
The A2ICAN board has its own microprocessor (µP) that performs the following functions:
• Provides two (2) analog outputs with individual instruction sets
• Communicates with the LR72 board using CANopen input/output digital/analog 401
standard profile (CI DS401 – CANopen Device Profile for Generic I/O Modules).
23.1 Response Curve
The A2ICAN expansion board has two (2) types of response curves for each output:
• Linear, where the response of the analog output is proportional to the input
• Non-linear, where the response of the analog output is exponential to the input. Variations
of joystick input at the beginning of movement result in small changes of output, while the
same joystick input variations result in major changes in the output current towards the end
of the joystick movement.
Choice of response curve is made by changing parameter P — changed by programming the
EEPROM or by Tele-Alignment — where 0 represents a linear response and 1, 2, or 3 is chosen
for an exponential response (from low to high, respectively).
CAN bus
CANopen
Protocol
LR72
Receiver
Logic
Board
A2ICAN
VPP2
GND2
VO2
VR2
VPP1
GND1
VO1
VR1
PWM1 VO1
CONTROL LOGIC BOARD ( µP )
+ Vi
PWM2 VO2
ISP